Fixed STMPE1600 writeSYS_CTRL, enabled multi sensors support
Dependencies: ST_INTERFACES X_NUCLEO_COMMON
Fork of X_NUCLEO_53L0A1 by
Components/VL53L0X/vl53l0x_class.cpp@0:c523920bcc09, 2016-11-28 (annotated)
- Committer:
- johnAlexander
- Date:
- Mon Nov 28 11:25:33 2016 +0000
- Revision:
- 0:c523920bcc09
- Child:
- 2:58b5e9097aa3
- Child:
- 4:4e1576541eed
Singleshot, polled ranging example using central VL53L0X sensor.; Compatible with mass-market v1.1 C API.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
johnAlexander | 0:c523920bcc09 | 1 | /** |
johnAlexander | 0:c523920bcc09 | 2 | ****************************************************************************** |
johnAlexander | 0:c523920bcc09 | 3 | * @file vl53l0x_class.cpp |
johnAlexander | 0:c523920bcc09 | 4 | * @author IMG |
johnAlexander | 0:c523920bcc09 | 5 | * @version V0.0.1 |
johnAlexander | 0:c523920bcc09 | 6 | * @date 28-June-2016 |
johnAlexander | 0:c523920bcc09 | 7 | * @brief Implementation file for the VL53L0X driver class |
johnAlexander | 0:c523920bcc09 | 8 | ****************************************************************************** |
johnAlexander | 0:c523920bcc09 | 9 | * @attention |
johnAlexander | 0:c523920bcc09 | 10 | * |
johnAlexander | 0:c523920bcc09 | 11 | * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> |
johnAlexander | 0:c523920bcc09 | 12 | * |
johnAlexander | 0:c523920bcc09 | 13 | * Redistribution and use in source and binary forms, with or without modification, |
johnAlexander | 0:c523920bcc09 | 14 | * are permitted provided that the following conditions are met: |
johnAlexander | 0:c523920bcc09 | 15 | * 1. Redistributions of source code must retain the above copyright notice, |
johnAlexander | 0:c523920bcc09 | 16 | * this list of conditions and the following disclaimer. |
johnAlexander | 0:c523920bcc09 | 17 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
johnAlexander | 0:c523920bcc09 | 18 | * this list of conditions and the following disclaimer in the documentation |
johnAlexander | 0:c523920bcc09 | 19 | * and/or other materials provided with the distribution. |
johnAlexander | 0:c523920bcc09 | 20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
johnAlexander | 0:c523920bcc09 | 21 | * may be used to endorse or promote products derived from this software |
johnAlexander | 0:c523920bcc09 | 22 | * without specific prior written permission. |
johnAlexander | 0:c523920bcc09 | 23 | * |
johnAlexander | 0:c523920bcc09 | 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
johnAlexander | 0:c523920bcc09 | 25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
johnAlexander | 0:c523920bcc09 | 26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
johnAlexander | 0:c523920bcc09 | 27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
johnAlexander | 0:c523920bcc09 | 28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
johnAlexander | 0:c523920bcc09 | 29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
johnAlexander | 0:c523920bcc09 | 30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
johnAlexander | 0:c523920bcc09 | 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
johnAlexander | 0:c523920bcc09 | 32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
johnAlexander | 0:c523920bcc09 | 33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
johnAlexander | 0:c523920bcc09 | 34 | * |
johnAlexander | 0:c523920bcc09 | 35 | ****************************************************************************** |
johnAlexander | 0:c523920bcc09 | 36 | */ |
johnAlexander | 0:c523920bcc09 | 37 | |
johnAlexander | 0:c523920bcc09 | 38 | /* Includes */ |
johnAlexander | 0:c523920bcc09 | 39 | #include <stdlib.h> |
johnAlexander | 0:c523920bcc09 | 40 | |
johnAlexander | 0:c523920bcc09 | 41 | #include "vl53l0x_class.h" |
johnAlexander | 0:c523920bcc09 | 42 | |
johnAlexander | 0:c523920bcc09 | 43 | //#include "vl53l0x_api_core.h" |
johnAlexander | 0:c523920bcc09 | 44 | //#include "vl53l0x_api_calibration.h" |
johnAlexander | 0:c523920bcc09 | 45 | //#include "vl53l0x_api_strings.h" |
johnAlexander | 0:c523920bcc09 | 46 | #include "vl53l0x_interrupt_threshold_settings.h" |
johnAlexander | 0:c523920bcc09 | 47 | #include "vl53l0x_tuning.h" |
johnAlexander | 0:c523920bcc09 | 48 | #include "vl53l0x_types.h" |
johnAlexander | 0:c523920bcc09 | 49 | |
johnAlexander | 0:c523920bcc09 | 50 | |
johnAlexander | 0:c523920bcc09 | 51 | /****************** define for i2c configuration *******************************/ |
johnAlexander | 0:c523920bcc09 | 52 | |
johnAlexander | 0:c523920bcc09 | 53 | #define TEMP_BUF_SIZE 64 |
johnAlexander | 0:c523920bcc09 | 54 | |
johnAlexander | 0:c523920bcc09 | 55 | /** Maximum buffer size to be used in i2c */ |
johnAlexander | 0:c523920bcc09 | 56 | #define VL53L0X_MAX_I2C_XFER_SIZE 64 /* Maximum buffer size to be used in i2c */ |
johnAlexander | 0:c523920bcc09 | 57 | #define VL53L0X_I2C_USER_VAR /* none but could be for a flag var to get/pass to mutex interruptible return flags and try again */ |
johnAlexander | 0:c523920bcc09 | 58 | |
johnAlexander | 0:c523920bcc09 | 59 | |
johnAlexander | 0:c523920bcc09 | 60 | #define LOG_FUNCTION_START(fmt, ...) \ |
johnAlexander | 0:c523920bcc09 | 61 | _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) |
johnAlexander | 0:c523920bcc09 | 62 | #define LOG_FUNCTION_END(status, ...) \ |
johnAlexander | 0:c523920bcc09 | 63 | _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) |
johnAlexander | 0:c523920bcc09 | 64 | #define LOG_FUNCTION_END_FMT(status, fmt, ...) \ |
johnAlexander | 0:c523920bcc09 | 65 | _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) |
johnAlexander | 0:c523920bcc09 | 66 | |
johnAlexander | 0:c523920bcc09 | 67 | #ifdef VL53L0X_LOG_ENABLE |
johnAlexander | 0:c523920bcc09 | 68 | #define trace_print(level, ...) trace_print_module_function(TRACE_MODULE_API, \ |
johnAlexander | 0:c523920bcc09 | 69 | level, TRACE_FUNCTION_NONE, ##__VA_ARGS__) |
johnAlexander | 0:c523920bcc09 | 70 | #endif |
johnAlexander | 0:c523920bcc09 | 71 | |
johnAlexander | 0:c523920bcc09 | 72 | #define REF_ARRAY_SPAD_0 0 |
johnAlexander | 0:c523920bcc09 | 73 | #define REF_ARRAY_SPAD_5 5 |
johnAlexander | 0:c523920bcc09 | 74 | #define REF_ARRAY_SPAD_10 10 |
johnAlexander | 0:c523920bcc09 | 75 | |
johnAlexander | 0:c523920bcc09 | 76 | uint32_t refArrayQuadrants[4] = {REF_ARRAY_SPAD_10, REF_ARRAY_SPAD_5, |
johnAlexander | 0:c523920bcc09 | 77 | REF_ARRAY_SPAD_0, REF_ARRAY_SPAD_5 }; |
johnAlexander | 0:c523920bcc09 | 78 | |
johnAlexander | 0:c523920bcc09 | 79 | |
johnAlexander | 0:c523920bcc09 | 80 | |
johnAlexander | 0:c523920bcc09 | 81 | |
johnAlexander | 0:c523920bcc09 | 82 | VL53L0X_Error VL53L0X::VL53L0X_device_read_strobe(VL53L0X_DEV Dev) |
johnAlexander | 0:c523920bcc09 | 83 | { |
johnAlexander | 0:c523920bcc09 | 84 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 85 | uint8_t strobe; |
johnAlexander | 0:c523920bcc09 | 86 | uint32_t LoopNb; |
johnAlexander | 0:c523920bcc09 | 87 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 88 | |
johnAlexander | 0:c523920bcc09 | 89 | Status |= VL53L0X_WrByte(Dev, 0x83, 0x00); |
johnAlexander | 0:c523920bcc09 | 90 | |
johnAlexander | 0:c523920bcc09 | 91 | /* polling |
johnAlexander | 0:c523920bcc09 | 92 | * use timeout to avoid deadlock*/ |
johnAlexander | 0:c523920bcc09 | 93 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 94 | LoopNb = 0; |
johnAlexander | 0:c523920bcc09 | 95 | do { |
johnAlexander | 0:c523920bcc09 | 96 | Status = VL53L0X_RdByte(Dev, 0x83, &strobe); |
johnAlexander | 0:c523920bcc09 | 97 | if ((strobe != 0x00) || Status != VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 98 | break; |
johnAlexander | 0:c523920bcc09 | 99 | |
johnAlexander | 0:c523920bcc09 | 100 | LoopNb = LoopNb + 1; |
johnAlexander | 0:c523920bcc09 | 101 | } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP); |
johnAlexander | 0:c523920bcc09 | 102 | |
johnAlexander | 0:c523920bcc09 | 103 | if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) |
johnAlexander | 0:c523920bcc09 | 104 | Status = VL53L0X_ERROR_TIME_OUT; |
johnAlexander | 0:c523920bcc09 | 105 | |
johnAlexander | 0:c523920bcc09 | 106 | } |
johnAlexander | 0:c523920bcc09 | 107 | |
johnAlexander | 0:c523920bcc09 | 108 | Status |= VL53L0X_WrByte(Dev, 0x83, 0x01); |
johnAlexander | 0:c523920bcc09 | 109 | |
johnAlexander | 0:c523920bcc09 | 110 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 111 | return Status; |
johnAlexander | 0:c523920bcc09 | 112 | |
johnAlexander | 0:c523920bcc09 | 113 | } |
johnAlexander | 0:c523920bcc09 | 114 | |
johnAlexander | 0:c523920bcc09 | 115 | VL53L0X_Error VL53L0X::VL53L0X_get_info_from_device(VL53L0X_DEV Dev, uint8_t option) |
johnAlexander | 0:c523920bcc09 | 116 | { |
johnAlexander | 0:c523920bcc09 | 117 | |
johnAlexander | 0:c523920bcc09 | 118 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 119 | uint8_t byte; |
johnAlexander | 0:c523920bcc09 | 120 | uint32_t TmpDWord; |
johnAlexander | 0:c523920bcc09 | 121 | uint8_t ModuleId; |
johnAlexander | 0:c523920bcc09 | 122 | uint8_t Revision; |
johnAlexander | 0:c523920bcc09 | 123 | uint8_t ReferenceSpadCount = 0; |
johnAlexander | 0:c523920bcc09 | 124 | uint8_t ReferenceSpadType = 0; |
johnAlexander | 0:c523920bcc09 | 125 | uint32_t PartUIDUpper = 0; |
johnAlexander | 0:c523920bcc09 | 126 | uint32_t PartUIDLower = 0; |
johnAlexander | 0:c523920bcc09 | 127 | uint32_t OffsetFixed1104_mm = 0; |
johnAlexander | 0:c523920bcc09 | 128 | int16_t OffsetMicroMeters = 0; |
johnAlexander | 0:c523920bcc09 | 129 | uint32_t DistMeasTgtFixed1104_mm = 400 << 4; |
johnAlexander | 0:c523920bcc09 | 130 | uint32_t DistMeasFixed1104_400_mm = 0; |
johnAlexander | 0:c523920bcc09 | 131 | uint32_t SignalRateMeasFixed1104_400_mm = 0; |
johnAlexander | 0:c523920bcc09 | 132 | char ProductId[19]; |
johnAlexander | 0:c523920bcc09 | 133 | char *ProductId_tmp; |
johnAlexander | 0:c523920bcc09 | 134 | uint8_t ReadDataFromDeviceDone; |
johnAlexander | 0:c523920bcc09 | 135 | FixPoint1616_t SignalRateMeasFixed400mmFix = 0; |
johnAlexander | 0:c523920bcc09 | 136 | uint8_t NvmRefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE]; |
johnAlexander | 0:c523920bcc09 | 137 | int i; |
johnAlexander | 0:c523920bcc09 | 138 | |
johnAlexander | 0:c523920bcc09 | 139 | |
johnAlexander | 0:c523920bcc09 | 140 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 141 | |
johnAlexander | 0:c523920bcc09 | 142 | ReadDataFromDeviceDone = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 143 | ReadDataFromDeviceDone); |
johnAlexander | 0:c523920bcc09 | 144 | |
johnAlexander | 0:c523920bcc09 | 145 | /* This access is done only once after that a GetDeviceInfo or |
johnAlexander | 0:c523920bcc09 | 146 | * datainit is done*/ |
johnAlexander | 0:c523920bcc09 | 147 | if (ReadDataFromDeviceDone != 7) { |
johnAlexander | 0:c523920bcc09 | 148 | |
johnAlexander | 0:c523920bcc09 | 149 | Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); |
johnAlexander | 0:c523920bcc09 | 150 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); |
johnAlexander | 0:c523920bcc09 | 151 | Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); |
johnAlexander | 0:c523920bcc09 | 152 | |
johnAlexander | 0:c523920bcc09 | 153 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x06); |
johnAlexander | 0:c523920bcc09 | 154 | Status |= VL53L0X_RdByte(Dev, 0x83, &byte); |
johnAlexander | 0:c523920bcc09 | 155 | Status |= VL53L0X_WrByte(Dev, 0x83, byte|4); |
johnAlexander | 0:c523920bcc09 | 156 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x07); |
johnAlexander | 0:c523920bcc09 | 157 | Status |= VL53L0X_WrByte(Dev, 0x81, 0x01); |
johnAlexander | 0:c523920bcc09 | 158 | |
johnAlexander | 0:c523920bcc09 | 159 | Status |= VL53L0X_PollingDelay(Dev); |
johnAlexander | 0:c523920bcc09 | 160 | |
johnAlexander | 0:c523920bcc09 | 161 | Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); |
johnAlexander | 0:c523920bcc09 | 162 | |
johnAlexander | 0:c523920bcc09 | 163 | if (((option & 1) == 1) && |
johnAlexander | 0:c523920bcc09 | 164 | ((ReadDataFromDeviceDone & 1) == 0)) { |
johnAlexander | 0:c523920bcc09 | 165 | Status |= VL53L0X_WrByte(Dev, 0x94, 0x6b); |
johnAlexander | 0:c523920bcc09 | 166 | Status |= VL53L0X_device_read_strobe(Dev); |
johnAlexander | 0:c523920bcc09 | 167 | Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); |
johnAlexander | 0:c523920bcc09 | 168 | |
johnAlexander | 0:c523920bcc09 | 169 | ReferenceSpadCount = (uint8_t)((TmpDWord >> 8) & 0x07f); |
johnAlexander | 0:c523920bcc09 | 170 | ReferenceSpadType = (uint8_t)((TmpDWord >> 15) & 0x01); |
johnAlexander | 0:c523920bcc09 | 171 | |
johnAlexander | 0:c523920bcc09 | 172 | Status |= VL53L0X_WrByte(Dev, 0x94, 0x24); |
johnAlexander | 0:c523920bcc09 | 173 | Status |= VL53L0X_device_read_strobe(Dev); |
johnAlexander | 0:c523920bcc09 | 174 | Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); |
johnAlexander | 0:c523920bcc09 | 175 | |
johnAlexander | 0:c523920bcc09 | 176 | |
johnAlexander | 0:c523920bcc09 | 177 | NvmRefGoodSpadMap[0] = (uint8_t)((TmpDWord >> 24) |
johnAlexander | 0:c523920bcc09 | 178 | & 0xff); |
johnAlexander | 0:c523920bcc09 | 179 | NvmRefGoodSpadMap[1] = (uint8_t)((TmpDWord >> 16) |
johnAlexander | 0:c523920bcc09 | 180 | & 0xff); |
johnAlexander | 0:c523920bcc09 | 181 | NvmRefGoodSpadMap[2] = (uint8_t)((TmpDWord >> 8) |
johnAlexander | 0:c523920bcc09 | 182 | & 0xff); |
johnAlexander | 0:c523920bcc09 | 183 | NvmRefGoodSpadMap[3] = (uint8_t)(TmpDWord & 0xff); |
johnAlexander | 0:c523920bcc09 | 184 | |
johnAlexander | 0:c523920bcc09 | 185 | Status |= VL53L0X_WrByte(Dev, 0x94, 0x25); |
johnAlexander | 0:c523920bcc09 | 186 | Status |= VL53L0X_device_read_strobe(Dev); |
johnAlexander | 0:c523920bcc09 | 187 | Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); |
johnAlexander | 0:c523920bcc09 | 188 | |
johnAlexander | 0:c523920bcc09 | 189 | NvmRefGoodSpadMap[4] = (uint8_t)((TmpDWord >> 24) |
johnAlexander | 0:c523920bcc09 | 190 | & 0xff); |
johnAlexander | 0:c523920bcc09 | 191 | NvmRefGoodSpadMap[5] = (uint8_t)((TmpDWord >> 16) |
johnAlexander | 0:c523920bcc09 | 192 | & 0xff); |
johnAlexander | 0:c523920bcc09 | 193 | } |
johnAlexander | 0:c523920bcc09 | 194 | |
johnAlexander | 0:c523920bcc09 | 195 | if (((option & 2) == 2) && |
johnAlexander | 0:c523920bcc09 | 196 | ((ReadDataFromDeviceDone & 2) == 0)) { |
johnAlexander | 0:c523920bcc09 | 197 | |
johnAlexander | 0:c523920bcc09 | 198 | Status |= VL53L0X_WrByte(Dev, 0x94, 0x02); |
johnAlexander | 0:c523920bcc09 | 199 | Status |= VL53L0X_device_read_strobe(Dev); |
johnAlexander | 0:c523920bcc09 | 200 | Status |= VL53L0X_RdByte(Dev, 0x90, &ModuleId); |
johnAlexander | 0:c523920bcc09 | 201 | |
johnAlexander | 0:c523920bcc09 | 202 | Status |= VL53L0X_WrByte(Dev, 0x94, 0x7B); |
johnAlexander | 0:c523920bcc09 | 203 | Status |= VL53L0X_device_read_strobe(Dev); |
johnAlexander | 0:c523920bcc09 | 204 | Status |= VL53L0X_RdByte(Dev, 0x90, &Revision); |
johnAlexander | 0:c523920bcc09 | 205 | |
johnAlexander | 0:c523920bcc09 | 206 | Status |= VL53L0X_WrByte(Dev, 0x94, 0x77); |
johnAlexander | 0:c523920bcc09 | 207 | Status |= VL53L0X_device_read_strobe(Dev); |
johnAlexander | 0:c523920bcc09 | 208 | Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); |
johnAlexander | 0:c523920bcc09 | 209 | |
johnAlexander | 0:c523920bcc09 | 210 | ProductId[0] = (char)((TmpDWord >> 25) & 0x07f); |
johnAlexander | 0:c523920bcc09 | 211 | ProductId[1] = (char)((TmpDWord >> 18) & 0x07f); |
johnAlexander | 0:c523920bcc09 | 212 | ProductId[2] = (char)((TmpDWord >> 11) & 0x07f); |
johnAlexander | 0:c523920bcc09 | 213 | ProductId[3] = (char)((TmpDWord >> 4) & 0x07f); |
johnAlexander | 0:c523920bcc09 | 214 | |
johnAlexander | 0:c523920bcc09 | 215 | byte = (uint8_t)((TmpDWord & 0x00f) << 3); |
johnAlexander | 0:c523920bcc09 | 216 | |
johnAlexander | 0:c523920bcc09 | 217 | Status |= VL53L0X_WrByte(Dev, 0x94, 0x78); |
johnAlexander | 0:c523920bcc09 | 218 | Status |= VL53L0X_device_read_strobe(Dev); |
johnAlexander | 0:c523920bcc09 | 219 | Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); |
johnAlexander | 0:c523920bcc09 | 220 | |
johnAlexander | 0:c523920bcc09 | 221 | ProductId[4] = (char)(byte + |
johnAlexander | 0:c523920bcc09 | 222 | ((TmpDWord >> 29) & 0x07f)); |
johnAlexander | 0:c523920bcc09 | 223 | ProductId[5] = (char)((TmpDWord >> 22) & 0x07f); |
johnAlexander | 0:c523920bcc09 | 224 | ProductId[6] = (char)((TmpDWord >> 15) & 0x07f); |
johnAlexander | 0:c523920bcc09 | 225 | ProductId[7] = (char)((TmpDWord >> 8) & 0x07f); |
johnAlexander | 0:c523920bcc09 | 226 | ProductId[8] = (char)((TmpDWord >> 1) & 0x07f); |
johnAlexander | 0:c523920bcc09 | 227 | |
johnAlexander | 0:c523920bcc09 | 228 | byte = (uint8_t)((TmpDWord & 0x001) << 6); |
johnAlexander | 0:c523920bcc09 | 229 | |
johnAlexander | 0:c523920bcc09 | 230 | Status |= VL53L0X_WrByte(Dev, 0x94, 0x79); |
johnAlexander | 0:c523920bcc09 | 231 | |
johnAlexander | 0:c523920bcc09 | 232 | Status |= VL53L0X_device_read_strobe(Dev); |
johnAlexander | 0:c523920bcc09 | 233 | |
johnAlexander | 0:c523920bcc09 | 234 | Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); |
johnAlexander | 0:c523920bcc09 | 235 | |
johnAlexander | 0:c523920bcc09 | 236 | ProductId[9] = (char)(byte + |
johnAlexander | 0:c523920bcc09 | 237 | ((TmpDWord >> 26) & 0x07f)); |
johnAlexander | 0:c523920bcc09 | 238 | ProductId[10] = (char)((TmpDWord >> 19) & 0x07f); |
johnAlexander | 0:c523920bcc09 | 239 | ProductId[11] = (char)((TmpDWord >> 12) & 0x07f); |
johnAlexander | 0:c523920bcc09 | 240 | ProductId[12] = (char)((TmpDWord >> 5) & 0x07f); |
johnAlexander | 0:c523920bcc09 | 241 | |
johnAlexander | 0:c523920bcc09 | 242 | byte = (uint8_t)((TmpDWord & 0x01f) << 2); |
johnAlexander | 0:c523920bcc09 | 243 | |
johnAlexander | 0:c523920bcc09 | 244 | Status |= VL53L0X_WrByte(Dev, 0x94, 0x7A); |
johnAlexander | 0:c523920bcc09 | 245 | |
johnAlexander | 0:c523920bcc09 | 246 | Status |= VL53L0X_device_read_strobe(Dev); |
johnAlexander | 0:c523920bcc09 | 247 | |
johnAlexander | 0:c523920bcc09 | 248 | Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); |
johnAlexander | 0:c523920bcc09 | 249 | |
johnAlexander | 0:c523920bcc09 | 250 | ProductId[13] = (char)(byte + |
johnAlexander | 0:c523920bcc09 | 251 | ((TmpDWord >> 30) & 0x07f)); |
johnAlexander | 0:c523920bcc09 | 252 | ProductId[14] = (char)((TmpDWord >> 23) & 0x07f); |
johnAlexander | 0:c523920bcc09 | 253 | ProductId[15] = (char)((TmpDWord >> 16) & 0x07f); |
johnAlexander | 0:c523920bcc09 | 254 | ProductId[16] = (char)((TmpDWord >> 9) & 0x07f); |
johnAlexander | 0:c523920bcc09 | 255 | ProductId[17] = (char)((TmpDWord >> 2) & 0x07f); |
johnAlexander | 0:c523920bcc09 | 256 | ProductId[18] = '\0'; |
johnAlexander | 0:c523920bcc09 | 257 | |
johnAlexander | 0:c523920bcc09 | 258 | } |
johnAlexander | 0:c523920bcc09 | 259 | |
johnAlexander | 0:c523920bcc09 | 260 | if (((option & 4) == 4) && |
johnAlexander | 0:c523920bcc09 | 261 | ((ReadDataFromDeviceDone & 4) == 0)) { |
johnAlexander | 0:c523920bcc09 | 262 | |
johnAlexander | 0:c523920bcc09 | 263 | Status |= VL53L0X_WrByte(Dev, 0x94, 0x7B); |
johnAlexander | 0:c523920bcc09 | 264 | Status |= VL53L0X_device_read_strobe(Dev); |
johnAlexander | 0:c523920bcc09 | 265 | Status |= VL53L0X_RdDWord(Dev, 0x90, &PartUIDUpper); |
johnAlexander | 0:c523920bcc09 | 266 | |
johnAlexander | 0:c523920bcc09 | 267 | Status |= VL53L0X_WrByte(Dev, 0x94, 0x7C); |
johnAlexander | 0:c523920bcc09 | 268 | Status |= VL53L0X_device_read_strobe(Dev); |
johnAlexander | 0:c523920bcc09 | 269 | Status |= VL53L0X_RdDWord(Dev, 0x90, &PartUIDLower); |
johnAlexander | 0:c523920bcc09 | 270 | |
johnAlexander | 0:c523920bcc09 | 271 | Status |= VL53L0X_WrByte(Dev, 0x94, 0x73); |
johnAlexander | 0:c523920bcc09 | 272 | Status |= VL53L0X_device_read_strobe(Dev); |
johnAlexander | 0:c523920bcc09 | 273 | Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); |
johnAlexander | 0:c523920bcc09 | 274 | |
johnAlexander | 0:c523920bcc09 | 275 | SignalRateMeasFixed1104_400_mm = (TmpDWord & |
johnAlexander | 0:c523920bcc09 | 276 | 0x0000000ff) << 8; |
johnAlexander | 0:c523920bcc09 | 277 | |
johnAlexander | 0:c523920bcc09 | 278 | Status |= VL53L0X_WrByte(Dev, 0x94, 0x74); |
johnAlexander | 0:c523920bcc09 | 279 | Status |= VL53L0X_device_read_strobe(Dev); |
johnAlexander | 0:c523920bcc09 | 280 | Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); |
johnAlexander | 0:c523920bcc09 | 281 | |
johnAlexander | 0:c523920bcc09 | 282 | SignalRateMeasFixed1104_400_mm |= ((TmpDWord & |
johnAlexander | 0:c523920bcc09 | 283 | 0xff000000) >> 24); |
johnAlexander | 0:c523920bcc09 | 284 | |
johnAlexander | 0:c523920bcc09 | 285 | Status |= VL53L0X_WrByte(Dev, 0x94, 0x75); |
johnAlexander | 0:c523920bcc09 | 286 | Status |= VL53L0X_device_read_strobe(Dev); |
johnAlexander | 0:c523920bcc09 | 287 | Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); |
johnAlexander | 0:c523920bcc09 | 288 | |
johnAlexander | 0:c523920bcc09 | 289 | DistMeasFixed1104_400_mm = (TmpDWord & 0x0000000ff) |
johnAlexander | 0:c523920bcc09 | 290 | << 8; |
johnAlexander | 0:c523920bcc09 | 291 | |
johnAlexander | 0:c523920bcc09 | 292 | Status |= VL53L0X_WrByte(Dev, 0x94, 0x76); |
johnAlexander | 0:c523920bcc09 | 293 | Status |= VL53L0X_device_read_strobe(Dev); |
johnAlexander | 0:c523920bcc09 | 294 | Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); |
johnAlexander | 0:c523920bcc09 | 295 | |
johnAlexander | 0:c523920bcc09 | 296 | DistMeasFixed1104_400_mm |= ((TmpDWord & 0xff000000) |
johnAlexander | 0:c523920bcc09 | 297 | >> 24); |
johnAlexander | 0:c523920bcc09 | 298 | } |
johnAlexander | 0:c523920bcc09 | 299 | |
johnAlexander | 0:c523920bcc09 | 300 | Status |= VL53L0X_WrByte(Dev, 0x81, 0x00); |
johnAlexander | 0:c523920bcc09 | 301 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x06); |
johnAlexander | 0:c523920bcc09 | 302 | Status |= VL53L0X_RdByte(Dev, 0x83, &byte); |
johnAlexander | 0:c523920bcc09 | 303 | Status |= VL53L0X_WrByte(Dev, 0x83, byte&0xfb); |
johnAlexander | 0:c523920bcc09 | 304 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); |
johnAlexander | 0:c523920bcc09 | 305 | Status |= VL53L0X_WrByte(Dev, 0x00, 0x01); |
johnAlexander | 0:c523920bcc09 | 306 | |
johnAlexander | 0:c523920bcc09 | 307 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
johnAlexander | 0:c523920bcc09 | 308 | Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); |
johnAlexander | 0:c523920bcc09 | 309 | } |
johnAlexander | 0:c523920bcc09 | 310 | |
johnAlexander | 0:c523920bcc09 | 311 | if ((Status == VL53L0X_ERROR_NONE) && |
johnAlexander | 0:c523920bcc09 | 312 | (ReadDataFromDeviceDone != 7)) { |
johnAlexander | 0:c523920bcc09 | 313 | /* Assign to variable if status is ok */ |
johnAlexander | 0:c523920bcc09 | 314 | if (((option & 1) == 1) && |
johnAlexander | 0:c523920bcc09 | 315 | ((ReadDataFromDeviceDone & 1) == 0)) { |
johnAlexander | 0:c523920bcc09 | 316 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 317 | ReferenceSpadCount, ReferenceSpadCount); |
johnAlexander | 0:c523920bcc09 | 318 | |
johnAlexander | 0:c523920bcc09 | 319 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 320 | ReferenceSpadType, ReferenceSpadType); |
johnAlexander | 0:c523920bcc09 | 321 | |
johnAlexander | 0:c523920bcc09 | 322 | for (i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++) { |
johnAlexander | 0:c523920bcc09 | 323 | Dev->Data.SpadData.RefGoodSpadMap[i] = |
johnAlexander | 0:c523920bcc09 | 324 | NvmRefGoodSpadMap[i]; |
johnAlexander | 0:c523920bcc09 | 325 | } |
johnAlexander | 0:c523920bcc09 | 326 | } |
johnAlexander | 0:c523920bcc09 | 327 | |
johnAlexander | 0:c523920bcc09 | 328 | if (((option & 2) == 2) && |
johnAlexander | 0:c523920bcc09 | 329 | ((ReadDataFromDeviceDone & 2) == 0)) { |
johnAlexander | 0:c523920bcc09 | 330 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 331 | ModuleId, ModuleId); |
johnAlexander | 0:c523920bcc09 | 332 | |
johnAlexander | 0:c523920bcc09 | 333 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 334 | Revision, Revision); |
johnAlexander | 0:c523920bcc09 | 335 | |
johnAlexander | 0:c523920bcc09 | 336 | ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 337 | ProductId); |
johnAlexander | 0:c523920bcc09 | 338 | VL53L0X_COPYSTRING(ProductId_tmp, ProductId); |
johnAlexander | 0:c523920bcc09 | 339 | |
johnAlexander | 0:c523920bcc09 | 340 | } |
johnAlexander | 0:c523920bcc09 | 341 | |
johnAlexander | 0:c523920bcc09 | 342 | if (((option & 4) == 4) && |
johnAlexander | 0:c523920bcc09 | 343 | ((ReadDataFromDeviceDone & 4) == 0)) { |
johnAlexander | 0:c523920bcc09 | 344 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 345 | PartUIDUpper, PartUIDUpper); |
johnAlexander | 0:c523920bcc09 | 346 | |
johnAlexander | 0:c523920bcc09 | 347 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 348 | PartUIDLower, PartUIDLower); |
johnAlexander | 0:c523920bcc09 | 349 | |
johnAlexander | 0:c523920bcc09 | 350 | SignalRateMeasFixed400mmFix = |
johnAlexander | 0:c523920bcc09 | 351 | VL53L0X_FIXPOINT97TOFIXPOINT1616( |
johnAlexander | 0:c523920bcc09 | 352 | SignalRateMeasFixed1104_400_mm); |
johnAlexander | 0:c523920bcc09 | 353 | |
johnAlexander | 0:c523920bcc09 | 354 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 355 | SignalRateMeasFixed400mm, |
johnAlexander | 0:c523920bcc09 | 356 | SignalRateMeasFixed400mmFix); |
johnAlexander | 0:c523920bcc09 | 357 | |
johnAlexander | 0:c523920bcc09 | 358 | OffsetMicroMeters = 0; |
johnAlexander | 0:c523920bcc09 | 359 | if (DistMeasFixed1104_400_mm != 0) { |
johnAlexander | 0:c523920bcc09 | 360 | OffsetFixed1104_mm = |
johnAlexander | 0:c523920bcc09 | 361 | DistMeasFixed1104_400_mm - |
johnAlexander | 0:c523920bcc09 | 362 | DistMeasTgtFixed1104_mm; |
johnAlexander | 0:c523920bcc09 | 363 | OffsetMicroMeters = (OffsetFixed1104_mm |
johnAlexander | 0:c523920bcc09 | 364 | * 1000) >> 4; |
johnAlexander | 0:c523920bcc09 | 365 | OffsetMicroMeters *= -1; |
johnAlexander | 0:c523920bcc09 | 366 | } |
johnAlexander | 0:c523920bcc09 | 367 | |
johnAlexander | 0:c523920bcc09 | 368 | PALDevDataSet(Dev, |
johnAlexander | 0:c523920bcc09 | 369 | Part2PartOffsetAdjustmentNVMMicroMeter, |
johnAlexander | 0:c523920bcc09 | 370 | OffsetMicroMeters); |
johnAlexander | 0:c523920bcc09 | 371 | } |
johnAlexander | 0:c523920bcc09 | 372 | byte = (uint8_t)(ReadDataFromDeviceDone|option); |
johnAlexander | 0:c523920bcc09 | 373 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone, |
johnAlexander | 0:c523920bcc09 | 374 | byte); |
johnAlexander | 0:c523920bcc09 | 375 | } |
johnAlexander | 0:c523920bcc09 | 376 | |
johnAlexander | 0:c523920bcc09 | 377 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 378 | return Status; |
johnAlexander | 0:c523920bcc09 | 379 | } |
johnAlexander | 0:c523920bcc09 | 380 | |
johnAlexander | 0:c523920bcc09 | 381 | VL53L0X_Error VL53L0X::VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 382 | int32_t *pOffsetCalibrationDataMicroMeter) |
johnAlexander | 0:c523920bcc09 | 383 | { |
johnAlexander | 0:c523920bcc09 | 384 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 385 | uint16_t RangeOffsetRegister; |
johnAlexander | 0:c523920bcc09 | 386 | int16_t cMaxOffset = 2047; |
johnAlexander | 0:c523920bcc09 | 387 | int16_t cOffsetRange = 4096; |
johnAlexander | 0:c523920bcc09 | 388 | |
johnAlexander | 0:c523920bcc09 | 389 | /* Note that offset has 10.2 format */ |
johnAlexander | 0:c523920bcc09 | 390 | |
johnAlexander | 0:c523920bcc09 | 391 | Status = VL53L0X_RdWord(Dev, |
johnAlexander | 0:c523920bcc09 | 392 | VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM, |
johnAlexander | 0:c523920bcc09 | 393 | &RangeOffsetRegister); |
johnAlexander | 0:c523920bcc09 | 394 | |
johnAlexander | 0:c523920bcc09 | 395 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 396 | RangeOffsetRegister = (RangeOffsetRegister & 0x0fff); |
johnAlexander | 0:c523920bcc09 | 397 | |
johnAlexander | 0:c523920bcc09 | 398 | /* Apply 12 bit 2's compliment conversion */ |
johnAlexander | 0:c523920bcc09 | 399 | if (RangeOffsetRegister > cMaxOffset) |
johnAlexander | 0:c523920bcc09 | 400 | *pOffsetCalibrationDataMicroMeter = |
johnAlexander | 0:c523920bcc09 | 401 | (int16_t)(RangeOffsetRegister - cOffsetRange) |
johnAlexander | 0:c523920bcc09 | 402 | * 250; |
johnAlexander | 0:c523920bcc09 | 403 | else |
johnAlexander | 0:c523920bcc09 | 404 | *pOffsetCalibrationDataMicroMeter = |
johnAlexander | 0:c523920bcc09 | 405 | (int16_t)RangeOffsetRegister * 250; |
johnAlexander | 0:c523920bcc09 | 406 | |
johnAlexander | 0:c523920bcc09 | 407 | } |
johnAlexander | 0:c523920bcc09 | 408 | |
johnAlexander | 0:c523920bcc09 | 409 | return Status; |
johnAlexander | 0:c523920bcc09 | 410 | } |
johnAlexander | 0:c523920bcc09 | 411 | |
johnAlexander | 0:c523920bcc09 | 412 | VL53L0X_Error VL53L0X::VL53L0X_GetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 413 | int32_t *pOffsetCalibrationDataMicroMeter) |
johnAlexander | 0:c523920bcc09 | 414 | { |
johnAlexander | 0:c523920bcc09 | 415 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 416 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 417 | |
johnAlexander | 0:c523920bcc09 | 418 | Status = VL53L0X_get_offset_calibration_data_micro_meter(Dev, |
johnAlexander | 0:c523920bcc09 | 419 | pOffsetCalibrationDataMicroMeter); |
johnAlexander | 0:c523920bcc09 | 420 | |
johnAlexander | 0:c523920bcc09 | 421 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 422 | return Status; |
johnAlexander | 0:c523920bcc09 | 423 | } |
johnAlexander | 0:c523920bcc09 | 424 | |
johnAlexander | 0:c523920bcc09 | 425 | VL53L0X_Error VL53L0X::VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 426 | int32_t OffsetCalibrationDataMicroMeter) |
johnAlexander | 0:c523920bcc09 | 427 | { |
johnAlexander | 0:c523920bcc09 | 428 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 429 | int32_t cMaxOffsetMicroMeter = 511000; |
johnAlexander | 0:c523920bcc09 | 430 | int32_t cMinOffsetMicroMeter = -512000; |
johnAlexander | 0:c523920bcc09 | 431 | int16_t cOffsetRange = 4096; |
johnAlexander | 0:c523920bcc09 | 432 | uint32_t encodedOffsetVal; |
johnAlexander | 0:c523920bcc09 | 433 | |
johnAlexander | 0:c523920bcc09 | 434 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 435 | |
johnAlexander | 0:c523920bcc09 | 436 | if (OffsetCalibrationDataMicroMeter > cMaxOffsetMicroMeter) |
johnAlexander | 0:c523920bcc09 | 437 | OffsetCalibrationDataMicroMeter = cMaxOffsetMicroMeter; |
johnAlexander | 0:c523920bcc09 | 438 | else if (OffsetCalibrationDataMicroMeter < cMinOffsetMicroMeter) |
johnAlexander | 0:c523920bcc09 | 439 | OffsetCalibrationDataMicroMeter = cMinOffsetMicroMeter; |
johnAlexander | 0:c523920bcc09 | 440 | |
johnAlexander | 0:c523920bcc09 | 441 | /* The offset register is 10.2 format and units are mm |
johnAlexander | 0:c523920bcc09 | 442 | * therefore conversion is applied by a division of |
johnAlexander | 0:c523920bcc09 | 443 | * 250. |
johnAlexander | 0:c523920bcc09 | 444 | */ |
johnAlexander | 0:c523920bcc09 | 445 | if (OffsetCalibrationDataMicroMeter >= 0) { |
johnAlexander | 0:c523920bcc09 | 446 | encodedOffsetVal = |
johnAlexander | 0:c523920bcc09 | 447 | OffsetCalibrationDataMicroMeter/250; |
johnAlexander | 0:c523920bcc09 | 448 | } else { |
johnAlexander | 0:c523920bcc09 | 449 | encodedOffsetVal = |
johnAlexander | 0:c523920bcc09 | 450 | cOffsetRange + |
johnAlexander | 0:c523920bcc09 | 451 | OffsetCalibrationDataMicroMeter/250; |
johnAlexander | 0:c523920bcc09 | 452 | } |
johnAlexander | 0:c523920bcc09 | 453 | |
johnAlexander | 0:c523920bcc09 | 454 | Status = VL53L0X_WrWord(Dev, |
johnAlexander | 0:c523920bcc09 | 455 | VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM, |
johnAlexander | 0:c523920bcc09 | 456 | encodedOffsetVal); |
johnAlexander | 0:c523920bcc09 | 457 | |
johnAlexander | 0:c523920bcc09 | 458 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 459 | return Status; |
johnAlexander | 0:c523920bcc09 | 460 | } |
johnAlexander | 0:c523920bcc09 | 461 | |
johnAlexander | 0:c523920bcc09 | 462 | VL53L0X_Error VL53L0X::VL53L0X_SetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 463 | int32_t OffsetCalibrationDataMicroMeter) |
johnAlexander | 0:c523920bcc09 | 464 | { |
johnAlexander | 0:c523920bcc09 | 465 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 466 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 467 | |
johnAlexander | 0:c523920bcc09 | 468 | Status = VL53L0X_set_offset_calibration_data_micro_meter(Dev, |
johnAlexander | 0:c523920bcc09 | 469 | OffsetCalibrationDataMicroMeter); |
johnAlexander | 0:c523920bcc09 | 470 | |
johnAlexander | 0:c523920bcc09 | 471 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 472 | return Status; |
johnAlexander | 0:c523920bcc09 | 473 | } |
johnAlexander | 0:c523920bcc09 | 474 | |
johnAlexander | 0:c523920bcc09 | 475 | VL53L0X_Error VL53L0X::VL53L0X_apply_offset_adjustment(VL53L0X_DEV Dev) |
johnAlexander | 0:c523920bcc09 | 476 | { |
johnAlexander | 0:c523920bcc09 | 477 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 478 | int32_t CorrectedOffsetMicroMeters; |
johnAlexander | 0:c523920bcc09 | 479 | int32_t CurrentOffsetMicroMeters; |
johnAlexander | 0:c523920bcc09 | 480 | |
johnAlexander | 0:c523920bcc09 | 481 | /* if we run on this function we can read all the NVM info |
johnAlexander | 0:c523920bcc09 | 482 | * used by the API */ |
johnAlexander | 0:c523920bcc09 | 483 | Status = VL53L0X_get_info_from_device(Dev, 7); |
johnAlexander | 0:c523920bcc09 | 484 | |
johnAlexander | 0:c523920bcc09 | 485 | /* Read back current device offset */ |
johnAlexander | 0:c523920bcc09 | 486 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 487 | Status = VL53L0X_GetOffsetCalibrationDataMicroMeter(Dev, |
johnAlexander | 0:c523920bcc09 | 488 | &CurrentOffsetMicroMeters); |
johnAlexander | 0:c523920bcc09 | 489 | } |
johnAlexander | 0:c523920bcc09 | 490 | |
johnAlexander | 0:c523920bcc09 | 491 | /* Apply Offset Adjustment derived from 400mm measurements */ |
johnAlexander | 0:c523920bcc09 | 492 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 493 | |
johnAlexander | 0:c523920bcc09 | 494 | /* Store initial device offset */ |
johnAlexander | 0:c523920bcc09 | 495 | PALDevDataSet(Dev, Part2PartOffsetNVMMicroMeter, |
johnAlexander | 0:c523920bcc09 | 496 | CurrentOffsetMicroMeters); |
johnAlexander | 0:c523920bcc09 | 497 | |
johnAlexander | 0:c523920bcc09 | 498 | CorrectedOffsetMicroMeters = CurrentOffsetMicroMeters + |
johnAlexander | 0:c523920bcc09 | 499 | (int32_t)PALDevDataGet(Dev, |
johnAlexander | 0:c523920bcc09 | 500 | Part2PartOffsetAdjustmentNVMMicroMeter); |
johnAlexander | 0:c523920bcc09 | 501 | |
johnAlexander | 0:c523920bcc09 | 502 | Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(Dev, |
johnAlexander | 0:c523920bcc09 | 503 | CorrectedOffsetMicroMeters); |
johnAlexander | 0:c523920bcc09 | 504 | |
johnAlexander | 0:c523920bcc09 | 505 | /* store current, adjusted offset */ |
johnAlexander | 0:c523920bcc09 | 506 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 507 | VL53L0X_SETPARAMETERFIELD(Dev, RangeOffsetMicroMeters, |
johnAlexander | 0:c523920bcc09 | 508 | CorrectedOffsetMicroMeters); |
johnAlexander | 0:c523920bcc09 | 509 | } |
johnAlexander | 0:c523920bcc09 | 510 | } |
johnAlexander | 0:c523920bcc09 | 511 | |
johnAlexander | 0:c523920bcc09 | 512 | return Status; |
johnAlexander | 0:c523920bcc09 | 513 | } |
johnAlexander | 0:c523920bcc09 | 514 | |
johnAlexander | 0:c523920bcc09 | 515 | VL53L0X_Error VL53L0X::VL53L0X_GetDeviceMode(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 516 | VL53L0X_DeviceModes *pDeviceMode) |
johnAlexander | 0:c523920bcc09 | 517 | { |
johnAlexander | 0:c523920bcc09 | 518 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 519 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 520 | |
johnAlexander | 0:c523920bcc09 | 521 | VL53L0X_GETPARAMETERFIELD(Dev, DeviceMode, *pDeviceMode); |
johnAlexander | 0:c523920bcc09 | 522 | |
johnAlexander | 0:c523920bcc09 | 523 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 524 | return Status; |
johnAlexander | 0:c523920bcc09 | 525 | } |
johnAlexander | 0:c523920bcc09 | 526 | |
johnAlexander | 0:c523920bcc09 | 527 | VL53L0X_Error VL53L0X::VL53L0X_GetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 528 | uint32_t *pInterMeasurementPeriodMilliSeconds) |
johnAlexander | 0:c523920bcc09 | 529 | { |
johnAlexander | 0:c523920bcc09 | 530 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 531 | uint16_t osc_calibrate_val; |
johnAlexander | 0:c523920bcc09 | 532 | uint32_t IMPeriodMilliSeconds; |
johnAlexander | 0:c523920bcc09 | 533 | |
johnAlexander | 0:c523920bcc09 | 534 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 535 | |
johnAlexander | 0:c523920bcc09 | 536 | Status = VL53L0X_RdWord(Dev, VL53L0X_REG_OSC_CALIBRATE_VAL, |
johnAlexander | 0:c523920bcc09 | 537 | &osc_calibrate_val); |
johnAlexander | 0:c523920bcc09 | 538 | |
johnAlexander | 0:c523920bcc09 | 539 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 540 | Status = VL53L0X_RdDWord(Dev, |
johnAlexander | 0:c523920bcc09 | 541 | VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD, |
johnAlexander | 0:c523920bcc09 | 542 | &IMPeriodMilliSeconds); |
johnAlexander | 0:c523920bcc09 | 543 | } |
johnAlexander | 0:c523920bcc09 | 544 | |
johnAlexander | 0:c523920bcc09 | 545 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 546 | if (osc_calibrate_val != 0) { |
johnAlexander | 0:c523920bcc09 | 547 | *pInterMeasurementPeriodMilliSeconds = |
johnAlexander | 0:c523920bcc09 | 548 | IMPeriodMilliSeconds / osc_calibrate_val; |
johnAlexander | 0:c523920bcc09 | 549 | } |
johnAlexander | 0:c523920bcc09 | 550 | VL53L0X_SETPARAMETERFIELD(Dev, |
johnAlexander | 0:c523920bcc09 | 551 | InterMeasurementPeriodMilliSeconds, |
johnAlexander | 0:c523920bcc09 | 552 | *pInterMeasurementPeriodMilliSeconds); |
johnAlexander | 0:c523920bcc09 | 553 | } |
johnAlexander | 0:c523920bcc09 | 554 | |
johnAlexander | 0:c523920bcc09 | 555 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 556 | return Status; |
johnAlexander | 0:c523920bcc09 | 557 | } |
johnAlexander | 0:c523920bcc09 | 558 | |
johnAlexander | 0:c523920bcc09 | 559 | VL53L0X_Error VL53L0X::VL53L0X_GetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 560 | FixPoint1616_t *pXTalkCompensationRateMegaCps) |
johnAlexander | 0:c523920bcc09 | 561 | { |
johnAlexander | 0:c523920bcc09 | 562 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 563 | uint16_t Value; |
johnAlexander | 0:c523920bcc09 | 564 | FixPoint1616_t TempFix1616; |
johnAlexander | 0:c523920bcc09 | 565 | |
johnAlexander | 0:c523920bcc09 | 566 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 567 | |
johnAlexander | 0:c523920bcc09 | 568 | Status = VL53L0X_RdWord(Dev, |
johnAlexander | 0:c523920bcc09 | 569 | VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, (uint16_t *)&Value); |
johnAlexander | 0:c523920bcc09 | 570 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 571 | if (Value == 0) { |
johnAlexander | 0:c523920bcc09 | 572 | /* the Xtalk is disabled return value from memory */ |
johnAlexander | 0:c523920bcc09 | 573 | VL53L0X_GETPARAMETERFIELD(Dev, |
johnAlexander | 0:c523920bcc09 | 574 | XTalkCompensationRateMegaCps, TempFix1616); |
johnAlexander | 0:c523920bcc09 | 575 | *pXTalkCompensationRateMegaCps = TempFix1616; |
johnAlexander | 0:c523920bcc09 | 576 | VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
johnAlexander | 0:c523920bcc09 | 577 | 0); |
johnAlexander | 0:c523920bcc09 | 578 | } else { |
johnAlexander | 0:c523920bcc09 | 579 | TempFix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(Value); |
johnAlexander | 0:c523920bcc09 | 580 | *pXTalkCompensationRateMegaCps = TempFix1616; |
johnAlexander | 0:c523920bcc09 | 581 | VL53L0X_SETPARAMETERFIELD(Dev, |
johnAlexander | 0:c523920bcc09 | 582 | XTalkCompensationRateMegaCps, TempFix1616); |
johnAlexander | 0:c523920bcc09 | 583 | VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
johnAlexander | 0:c523920bcc09 | 584 | 1); |
johnAlexander | 0:c523920bcc09 | 585 | } |
johnAlexander | 0:c523920bcc09 | 586 | } |
johnAlexander | 0:c523920bcc09 | 587 | |
johnAlexander | 0:c523920bcc09 | 588 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 589 | return Status; |
johnAlexander | 0:c523920bcc09 | 590 | } |
johnAlexander | 0:c523920bcc09 | 591 | |
johnAlexander | 0:c523920bcc09 | 592 | VL53L0X_Error VL53L0X::VL53L0X_GetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
johnAlexander | 0:c523920bcc09 | 593 | FixPoint1616_t *pLimitCheckValue) |
johnAlexander | 0:c523920bcc09 | 594 | { |
johnAlexander | 0:c523920bcc09 | 595 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 596 | uint8_t EnableZeroValue = 0; |
johnAlexander | 0:c523920bcc09 | 597 | uint16_t Temp16; |
johnAlexander | 0:c523920bcc09 | 598 | FixPoint1616_t TempFix1616; |
johnAlexander | 0:c523920bcc09 | 599 | |
johnAlexander | 0:c523920bcc09 | 600 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 601 | |
johnAlexander | 0:c523920bcc09 | 602 | switch (LimitCheckId) { |
johnAlexander | 0:c523920bcc09 | 603 | |
johnAlexander | 0:c523920bcc09 | 604 | case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE: |
johnAlexander | 0:c523920bcc09 | 605 | /* internal computation: */ |
johnAlexander | 0:c523920bcc09 | 606 | VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
johnAlexander | 0:c523920bcc09 | 607 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, TempFix1616); |
johnAlexander | 0:c523920bcc09 | 608 | EnableZeroValue = 0; |
johnAlexander | 0:c523920bcc09 | 609 | break; |
johnAlexander | 0:c523920bcc09 | 610 | |
johnAlexander | 0:c523920bcc09 | 611 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: |
johnAlexander | 0:c523920bcc09 | 612 | Status = VL53L0X_RdWord(Dev, |
johnAlexander | 0:c523920bcc09 | 613 | VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, |
johnAlexander | 0:c523920bcc09 | 614 | &Temp16); |
johnAlexander | 0:c523920bcc09 | 615 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 616 | TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16); |
johnAlexander | 0:c523920bcc09 | 617 | |
johnAlexander | 0:c523920bcc09 | 618 | |
johnAlexander | 0:c523920bcc09 | 619 | EnableZeroValue = 1; |
johnAlexander | 0:c523920bcc09 | 620 | break; |
johnAlexander | 0:c523920bcc09 | 621 | |
johnAlexander | 0:c523920bcc09 | 622 | case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP: |
johnAlexander | 0:c523920bcc09 | 623 | /* internal computation: */ |
johnAlexander | 0:c523920bcc09 | 624 | VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
johnAlexander | 0:c523920bcc09 | 625 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, TempFix1616); |
johnAlexander | 0:c523920bcc09 | 626 | EnableZeroValue = 0; |
johnAlexander | 0:c523920bcc09 | 627 | break; |
johnAlexander | 0:c523920bcc09 | 628 | |
johnAlexander | 0:c523920bcc09 | 629 | case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD: |
johnAlexander | 0:c523920bcc09 | 630 | /* internal computation: */ |
johnAlexander | 0:c523920bcc09 | 631 | VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
johnAlexander | 0:c523920bcc09 | 632 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, TempFix1616); |
johnAlexander | 0:c523920bcc09 | 633 | EnableZeroValue = 0; |
johnAlexander | 0:c523920bcc09 | 634 | break; |
johnAlexander | 0:c523920bcc09 | 635 | |
johnAlexander | 0:c523920bcc09 | 636 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC: |
johnAlexander | 0:c523920bcc09 | 637 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: |
johnAlexander | 0:c523920bcc09 | 638 | Status = VL53L0X_RdWord(Dev, |
johnAlexander | 0:c523920bcc09 | 639 | VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, |
johnAlexander | 0:c523920bcc09 | 640 | &Temp16); |
johnAlexander | 0:c523920bcc09 | 641 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 642 | TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16); |
johnAlexander | 0:c523920bcc09 | 643 | |
johnAlexander | 0:c523920bcc09 | 644 | |
johnAlexander | 0:c523920bcc09 | 645 | EnableZeroValue = 0; |
johnAlexander | 0:c523920bcc09 | 646 | break; |
johnAlexander | 0:c523920bcc09 | 647 | |
johnAlexander | 0:c523920bcc09 | 648 | default: |
johnAlexander | 0:c523920bcc09 | 649 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 650 | |
johnAlexander | 0:c523920bcc09 | 651 | } |
johnAlexander | 0:c523920bcc09 | 652 | |
johnAlexander | 0:c523920bcc09 | 653 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 654 | |
johnAlexander | 0:c523920bcc09 | 655 | if (EnableZeroValue == 1) { |
johnAlexander | 0:c523920bcc09 | 656 | |
johnAlexander | 0:c523920bcc09 | 657 | if (TempFix1616 == 0) { |
johnAlexander | 0:c523920bcc09 | 658 | /* disabled: return value from memory */ |
johnAlexander | 0:c523920bcc09 | 659 | VL53L0X_GETARRAYPARAMETERFIELD(Dev, |
johnAlexander | 0:c523920bcc09 | 660 | LimitChecksValue, LimitCheckId, |
johnAlexander | 0:c523920bcc09 | 661 | TempFix1616); |
johnAlexander | 0:c523920bcc09 | 662 | *pLimitCheckValue = TempFix1616; |
johnAlexander | 0:c523920bcc09 | 663 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, |
johnAlexander | 0:c523920bcc09 | 664 | LimitChecksEnable, LimitCheckId, 0); |
johnAlexander | 0:c523920bcc09 | 665 | } else { |
johnAlexander | 0:c523920bcc09 | 666 | *pLimitCheckValue = TempFix1616; |
johnAlexander | 0:c523920bcc09 | 667 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, |
johnAlexander | 0:c523920bcc09 | 668 | LimitChecksValue, LimitCheckId, |
johnAlexander | 0:c523920bcc09 | 669 | TempFix1616); |
johnAlexander | 0:c523920bcc09 | 670 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, |
johnAlexander | 0:c523920bcc09 | 671 | LimitChecksEnable, LimitCheckId, 1); |
johnAlexander | 0:c523920bcc09 | 672 | } |
johnAlexander | 0:c523920bcc09 | 673 | } else { |
johnAlexander | 0:c523920bcc09 | 674 | *pLimitCheckValue = TempFix1616; |
johnAlexander | 0:c523920bcc09 | 675 | } |
johnAlexander | 0:c523920bcc09 | 676 | } |
johnAlexander | 0:c523920bcc09 | 677 | |
johnAlexander | 0:c523920bcc09 | 678 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 679 | return Status; |
johnAlexander | 0:c523920bcc09 | 680 | |
johnAlexander | 0:c523920bcc09 | 681 | } |
johnAlexander | 0:c523920bcc09 | 682 | |
johnAlexander | 0:c523920bcc09 | 683 | VL53L0X_Error VL53L0X::VL53L0X_GetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
johnAlexander | 0:c523920bcc09 | 684 | uint8_t *pLimitCheckEnable) |
johnAlexander | 0:c523920bcc09 | 685 | { |
johnAlexander | 0:c523920bcc09 | 686 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 687 | uint8_t Temp8; |
johnAlexander | 0:c523920bcc09 | 688 | |
johnAlexander | 0:c523920bcc09 | 689 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 690 | |
johnAlexander | 0:c523920bcc09 | 691 | if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) { |
johnAlexander | 0:c523920bcc09 | 692 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 693 | *pLimitCheckEnable = 0; |
johnAlexander | 0:c523920bcc09 | 694 | } else { |
johnAlexander | 0:c523920bcc09 | 695 | VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
johnAlexander | 0:c523920bcc09 | 696 | LimitCheckId, Temp8); |
johnAlexander | 0:c523920bcc09 | 697 | *pLimitCheckEnable = Temp8; |
johnAlexander | 0:c523920bcc09 | 698 | } |
johnAlexander | 0:c523920bcc09 | 699 | |
johnAlexander | 0:c523920bcc09 | 700 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 701 | return Status; |
johnAlexander | 0:c523920bcc09 | 702 | } |
johnAlexander | 0:c523920bcc09 | 703 | |
johnAlexander | 0:c523920bcc09 | 704 | VL53L0X_Error VL53L0X::VL53L0X_GetWrapAroundCheckEnable(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 705 | uint8_t *pWrapAroundCheckEnable) |
johnAlexander | 0:c523920bcc09 | 706 | { |
johnAlexander | 0:c523920bcc09 | 707 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 708 | uint8_t data; |
johnAlexander | 0:c523920bcc09 | 709 | |
johnAlexander | 0:c523920bcc09 | 710 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 711 | |
johnAlexander | 0:c523920bcc09 | 712 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data); |
johnAlexander | 0:c523920bcc09 | 713 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 714 | PALDevDataSet(Dev, SequenceConfig, data); |
johnAlexander | 0:c523920bcc09 | 715 | if (data & (0x01 << 7)) |
johnAlexander | 0:c523920bcc09 | 716 | *pWrapAroundCheckEnable = 0x01; |
johnAlexander | 0:c523920bcc09 | 717 | else |
johnAlexander | 0:c523920bcc09 | 718 | *pWrapAroundCheckEnable = 0x00; |
johnAlexander | 0:c523920bcc09 | 719 | } |
johnAlexander | 0:c523920bcc09 | 720 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 721 | VL53L0X_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable, |
johnAlexander | 0:c523920bcc09 | 722 | *pWrapAroundCheckEnable); |
johnAlexander | 0:c523920bcc09 | 723 | } |
johnAlexander | 0:c523920bcc09 | 724 | |
johnAlexander | 0:c523920bcc09 | 725 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 726 | return Status; |
johnAlexander | 0:c523920bcc09 | 727 | } |
johnAlexander | 0:c523920bcc09 | 728 | |
johnAlexander | 0:c523920bcc09 | 729 | VL53L0X_Error VL53L0X::sequence_step_enabled(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 730 | VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceConfig, |
johnAlexander | 0:c523920bcc09 | 731 | uint8_t *pSequenceStepEnabled) |
johnAlexander | 0:c523920bcc09 | 732 | { |
johnAlexander | 0:c523920bcc09 | 733 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 734 | *pSequenceStepEnabled = 0; |
johnAlexander | 0:c523920bcc09 | 735 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 736 | |
johnAlexander | 0:c523920bcc09 | 737 | switch (SequenceStepId) { |
johnAlexander | 0:c523920bcc09 | 738 | case VL53L0X_SEQUENCESTEP_TCC: |
johnAlexander | 0:c523920bcc09 | 739 | *pSequenceStepEnabled = (SequenceConfig & 0x10) >> 4; |
johnAlexander | 0:c523920bcc09 | 740 | break; |
johnAlexander | 0:c523920bcc09 | 741 | case VL53L0X_SEQUENCESTEP_DSS: |
johnAlexander | 0:c523920bcc09 | 742 | *pSequenceStepEnabled = (SequenceConfig & 0x08) >> 3; |
johnAlexander | 0:c523920bcc09 | 743 | break; |
johnAlexander | 0:c523920bcc09 | 744 | case VL53L0X_SEQUENCESTEP_MSRC: |
johnAlexander | 0:c523920bcc09 | 745 | *pSequenceStepEnabled = (SequenceConfig & 0x04) >> 2; |
johnAlexander | 0:c523920bcc09 | 746 | break; |
johnAlexander | 0:c523920bcc09 | 747 | case VL53L0X_SEQUENCESTEP_PRE_RANGE: |
johnAlexander | 0:c523920bcc09 | 748 | *pSequenceStepEnabled = (SequenceConfig & 0x40) >> 6; |
johnAlexander | 0:c523920bcc09 | 749 | break; |
johnAlexander | 0:c523920bcc09 | 750 | case VL53L0X_SEQUENCESTEP_FINAL_RANGE: |
johnAlexander | 0:c523920bcc09 | 751 | *pSequenceStepEnabled = (SequenceConfig & 0x80) >> 7; |
johnAlexander | 0:c523920bcc09 | 752 | break; |
johnAlexander | 0:c523920bcc09 | 753 | default: |
johnAlexander | 0:c523920bcc09 | 754 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 755 | } |
johnAlexander | 0:c523920bcc09 | 756 | |
johnAlexander | 0:c523920bcc09 | 757 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 758 | return Status; |
johnAlexander | 0:c523920bcc09 | 759 | } |
johnAlexander | 0:c523920bcc09 | 760 | |
johnAlexander | 0:c523920bcc09 | 761 | VL53L0X_Error VL53L0X::VL53L0X_GetSequenceStepEnables(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 762 | VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps) |
johnAlexander | 0:c523920bcc09 | 763 | { |
johnAlexander | 0:c523920bcc09 | 764 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 765 | uint8_t SequenceConfig = 0; |
johnAlexander | 0:c523920bcc09 | 766 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 767 | |
johnAlexander | 0:c523920bcc09 | 768 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
johnAlexander | 0:c523920bcc09 | 769 | &SequenceConfig); |
johnAlexander | 0:c523920bcc09 | 770 | |
johnAlexander | 0:c523920bcc09 | 771 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 772 | Status = sequence_step_enabled(Dev, |
johnAlexander | 0:c523920bcc09 | 773 | VL53L0X_SEQUENCESTEP_TCC, SequenceConfig, |
johnAlexander | 0:c523920bcc09 | 774 | &pSchedulerSequenceSteps->TccOn); |
johnAlexander | 0:c523920bcc09 | 775 | } |
johnAlexander | 0:c523920bcc09 | 776 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 777 | Status = sequence_step_enabled(Dev, |
johnAlexander | 0:c523920bcc09 | 778 | VL53L0X_SEQUENCESTEP_DSS, SequenceConfig, |
johnAlexander | 0:c523920bcc09 | 779 | &pSchedulerSequenceSteps->DssOn); |
johnAlexander | 0:c523920bcc09 | 780 | } |
johnAlexander | 0:c523920bcc09 | 781 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 782 | Status = sequence_step_enabled(Dev, |
johnAlexander | 0:c523920bcc09 | 783 | VL53L0X_SEQUENCESTEP_MSRC, SequenceConfig, |
johnAlexander | 0:c523920bcc09 | 784 | &pSchedulerSequenceSteps->MsrcOn); |
johnAlexander | 0:c523920bcc09 | 785 | } |
johnAlexander | 0:c523920bcc09 | 786 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 787 | Status = sequence_step_enabled(Dev, |
johnAlexander | 0:c523920bcc09 | 788 | VL53L0X_SEQUENCESTEP_PRE_RANGE, SequenceConfig, |
johnAlexander | 0:c523920bcc09 | 789 | &pSchedulerSequenceSteps->PreRangeOn); |
johnAlexander | 0:c523920bcc09 | 790 | } |
johnAlexander | 0:c523920bcc09 | 791 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 792 | Status = sequence_step_enabled(Dev, |
johnAlexander | 0:c523920bcc09 | 793 | VL53L0X_SEQUENCESTEP_FINAL_RANGE, SequenceConfig, |
johnAlexander | 0:c523920bcc09 | 794 | &pSchedulerSequenceSteps->FinalRangeOn); |
johnAlexander | 0:c523920bcc09 | 795 | } |
johnAlexander | 0:c523920bcc09 | 796 | |
johnAlexander | 0:c523920bcc09 | 797 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 798 | return Status; |
johnAlexander | 0:c523920bcc09 | 799 | } |
johnAlexander | 0:c523920bcc09 | 800 | |
johnAlexander | 0:c523920bcc09 | 801 | uint8_t VL53L0X::VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg) |
johnAlexander | 0:c523920bcc09 | 802 | { |
johnAlexander | 0:c523920bcc09 | 803 | /*! |
johnAlexander | 0:c523920bcc09 | 804 | * Converts the encoded VCSEL period register value into the real |
johnAlexander | 0:c523920bcc09 | 805 | * period in PLL clocks |
johnAlexander | 0:c523920bcc09 | 806 | */ |
johnAlexander | 0:c523920bcc09 | 807 | |
johnAlexander | 0:c523920bcc09 | 808 | uint8_t vcsel_period_pclks = 0; |
johnAlexander | 0:c523920bcc09 | 809 | |
johnAlexander | 0:c523920bcc09 | 810 | vcsel_period_pclks = (vcsel_period_reg + 1) << 1; |
johnAlexander | 0:c523920bcc09 | 811 | |
johnAlexander | 0:c523920bcc09 | 812 | return vcsel_period_pclks; |
johnAlexander | 0:c523920bcc09 | 813 | } |
johnAlexander | 0:c523920bcc09 | 814 | |
johnAlexander | 0:c523920bcc09 | 815 | uint8_t VL53L0X::VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks) |
johnAlexander | 0:c523920bcc09 | 816 | { |
johnAlexander | 0:c523920bcc09 | 817 | /*! |
johnAlexander | 0:c523920bcc09 | 818 | * Converts the encoded VCSEL period register value into the real period |
johnAlexander | 0:c523920bcc09 | 819 | * in PLL clocks |
johnAlexander | 0:c523920bcc09 | 820 | */ |
johnAlexander | 0:c523920bcc09 | 821 | |
johnAlexander | 0:c523920bcc09 | 822 | uint8_t vcsel_period_reg = 0; |
johnAlexander | 0:c523920bcc09 | 823 | |
johnAlexander | 0:c523920bcc09 | 824 | vcsel_period_reg = (vcsel_period_pclks >> 1) - 1; |
johnAlexander | 0:c523920bcc09 | 825 | |
johnAlexander | 0:c523920bcc09 | 826 | return vcsel_period_reg; |
johnAlexander | 0:c523920bcc09 | 827 | } |
johnAlexander | 0:c523920bcc09 | 828 | |
johnAlexander | 0:c523920bcc09 | 829 | |
johnAlexander | 0:c523920bcc09 | 830 | VL53L0X_Error VL53L0X::VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 831 | VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK) |
johnAlexander | 0:c523920bcc09 | 832 | { |
johnAlexander | 0:c523920bcc09 | 833 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 834 | uint8_t vcsel_period_reg; |
johnAlexander | 0:c523920bcc09 | 835 | uint8_t MinPreVcselPeriodPCLK = 12; |
johnAlexander | 0:c523920bcc09 | 836 | uint8_t MaxPreVcselPeriodPCLK = 18; |
johnAlexander | 0:c523920bcc09 | 837 | uint8_t MinFinalVcselPeriodPCLK = 8; |
johnAlexander | 0:c523920bcc09 | 838 | uint8_t MaxFinalVcselPeriodPCLK = 14; |
johnAlexander | 0:c523920bcc09 | 839 | uint32_t MeasurementTimingBudgetMicroSeconds; |
johnAlexander | 0:c523920bcc09 | 840 | uint32_t FinalRangeTimeoutMicroSeconds; |
johnAlexander | 0:c523920bcc09 | 841 | uint32_t PreRangeTimeoutMicroSeconds; |
johnAlexander | 0:c523920bcc09 | 842 | uint32_t MsrcTimeoutMicroSeconds; |
johnAlexander | 0:c523920bcc09 | 843 | uint8_t PhaseCalInt = 0; |
johnAlexander | 0:c523920bcc09 | 844 | |
johnAlexander | 0:c523920bcc09 | 845 | /* Check if valid clock period requested */ |
johnAlexander | 0:c523920bcc09 | 846 | |
johnAlexander | 0:c523920bcc09 | 847 | if ((VCSELPulsePeriodPCLK % 2) != 0) { |
johnAlexander | 0:c523920bcc09 | 848 | /* Value must be an even number */ |
johnAlexander | 0:c523920bcc09 | 849 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 850 | } else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_PRE_RANGE && |
johnAlexander | 0:c523920bcc09 | 851 | (VCSELPulsePeriodPCLK < MinPreVcselPeriodPCLK || |
johnAlexander | 0:c523920bcc09 | 852 | VCSELPulsePeriodPCLK > MaxPreVcselPeriodPCLK)) { |
johnAlexander | 0:c523920bcc09 | 853 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 854 | } else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_FINAL_RANGE && |
johnAlexander | 0:c523920bcc09 | 855 | (VCSELPulsePeriodPCLK < MinFinalVcselPeriodPCLK || |
johnAlexander | 0:c523920bcc09 | 856 | VCSELPulsePeriodPCLK > MaxFinalVcselPeriodPCLK)) { |
johnAlexander | 0:c523920bcc09 | 857 | |
johnAlexander | 0:c523920bcc09 | 858 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 859 | } |
johnAlexander | 0:c523920bcc09 | 860 | |
johnAlexander | 0:c523920bcc09 | 861 | /* Apply specific settings for the requested clock period */ |
johnAlexander | 0:c523920bcc09 | 862 | |
johnAlexander | 0:c523920bcc09 | 863 | if (Status != VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 864 | return Status; |
johnAlexander | 0:c523920bcc09 | 865 | |
johnAlexander | 0:c523920bcc09 | 866 | |
johnAlexander | 0:c523920bcc09 | 867 | if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_PRE_RANGE) { |
johnAlexander | 0:c523920bcc09 | 868 | |
johnAlexander | 0:c523920bcc09 | 869 | /* Set phase check limits */ |
johnAlexander | 0:c523920bcc09 | 870 | if (VCSELPulsePeriodPCLK == 12) { |
johnAlexander | 0:c523920bcc09 | 871 | |
johnAlexander | 0:c523920bcc09 | 872 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 873 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, |
johnAlexander | 0:c523920bcc09 | 874 | 0x18); |
johnAlexander | 0:c523920bcc09 | 875 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 876 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, |
johnAlexander | 0:c523920bcc09 | 877 | 0x08); |
johnAlexander | 0:c523920bcc09 | 878 | } else if (VCSELPulsePeriodPCLK == 14) { |
johnAlexander | 0:c523920bcc09 | 879 | |
johnAlexander | 0:c523920bcc09 | 880 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 881 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, |
johnAlexander | 0:c523920bcc09 | 882 | 0x30); |
johnAlexander | 0:c523920bcc09 | 883 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 884 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, |
johnAlexander | 0:c523920bcc09 | 885 | 0x08); |
johnAlexander | 0:c523920bcc09 | 886 | } else if (VCSELPulsePeriodPCLK == 16) { |
johnAlexander | 0:c523920bcc09 | 887 | |
johnAlexander | 0:c523920bcc09 | 888 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 889 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, |
johnAlexander | 0:c523920bcc09 | 890 | 0x40); |
johnAlexander | 0:c523920bcc09 | 891 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 892 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, |
johnAlexander | 0:c523920bcc09 | 893 | 0x08); |
johnAlexander | 0:c523920bcc09 | 894 | } else if (VCSELPulsePeriodPCLK == 18) { |
johnAlexander | 0:c523920bcc09 | 895 | |
johnAlexander | 0:c523920bcc09 | 896 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 897 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, |
johnAlexander | 0:c523920bcc09 | 898 | 0x50); |
johnAlexander | 0:c523920bcc09 | 899 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 900 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, |
johnAlexander | 0:c523920bcc09 | 901 | 0x08); |
johnAlexander | 0:c523920bcc09 | 902 | } |
johnAlexander | 0:c523920bcc09 | 903 | } else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) { |
johnAlexander | 0:c523920bcc09 | 904 | |
johnAlexander | 0:c523920bcc09 | 905 | if (VCSELPulsePeriodPCLK == 8) { |
johnAlexander | 0:c523920bcc09 | 906 | |
johnAlexander | 0:c523920bcc09 | 907 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 908 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, |
johnAlexander | 0:c523920bcc09 | 909 | 0x10); |
johnAlexander | 0:c523920bcc09 | 910 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 911 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, |
johnAlexander | 0:c523920bcc09 | 912 | 0x08); |
johnAlexander | 0:c523920bcc09 | 913 | |
johnAlexander | 0:c523920bcc09 | 914 | Status |= VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 915 | VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02); |
johnAlexander | 0:c523920bcc09 | 916 | Status |= VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 917 | VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C); |
johnAlexander | 0:c523920bcc09 | 918 | |
johnAlexander | 0:c523920bcc09 | 919 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); |
johnAlexander | 0:c523920bcc09 | 920 | Status |= VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 921 | VL53L0X_REG_ALGO_PHASECAL_LIM, |
johnAlexander | 0:c523920bcc09 | 922 | 0x30); |
johnAlexander | 0:c523920bcc09 | 923 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); |
johnAlexander | 0:c523920bcc09 | 924 | } else if (VCSELPulsePeriodPCLK == 10) { |
johnAlexander | 0:c523920bcc09 | 925 | |
johnAlexander | 0:c523920bcc09 | 926 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 927 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, |
johnAlexander | 0:c523920bcc09 | 928 | 0x28); |
johnAlexander | 0:c523920bcc09 | 929 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 930 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, |
johnAlexander | 0:c523920bcc09 | 931 | 0x08); |
johnAlexander | 0:c523920bcc09 | 932 | |
johnAlexander | 0:c523920bcc09 | 933 | Status |= VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 934 | VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); |
johnAlexander | 0:c523920bcc09 | 935 | Status |= VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 936 | VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09); |
johnAlexander | 0:c523920bcc09 | 937 | |
johnAlexander | 0:c523920bcc09 | 938 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); |
johnAlexander | 0:c523920bcc09 | 939 | Status |= VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 940 | VL53L0X_REG_ALGO_PHASECAL_LIM, |
johnAlexander | 0:c523920bcc09 | 941 | 0x20); |
johnAlexander | 0:c523920bcc09 | 942 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); |
johnAlexander | 0:c523920bcc09 | 943 | } else if (VCSELPulsePeriodPCLK == 12) { |
johnAlexander | 0:c523920bcc09 | 944 | |
johnAlexander | 0:c523920bcc09 | 945 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 946 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, |
johnAlexander | 0:c523920bcc09 | 947 | 0x38); |
johnAlexander | 0:c523920bcc09 | 948 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 949 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, |
johnAlexander | 0:c523920bcc09 | 950 | 0x08); |
johnAlexander | 0:c523920bcc09 | 951 | |
johnAlexander | 0:c523920bcc09 | 952 | Status |= VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 953 | VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); |
johnAlexander | 0:c523920bcc09 | 954 | Status |= VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 955 | VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08); |
johnAlexander | 0:c523920bcc09 | 956 | |
johnAlexander | 0:c523920bcc09 | 957 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); |
johnAlexander | 0:c523920bcc09 | 958 | Status |= VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 959 | VL53L0X_REG_ALGO_PHASECAL_LIM, |
johnAlexander | 0:c523920bcc09 | 960 | 0x20); |
johnAlexander | 0:c523920bcc09 | 961 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); |
johnAlexander | 0:c523920bcc09 | 962 | } else if (VCSELPulsePeriodPCLK == 14) { |
johnAlexander | 0:c523920bcc09 | 963 | |
johnAlexander | 0:c523920bcc09 | 964 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 965 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, |
johnAlexander | 0:c523920bcc09 | 966 | 0x048); |
johnAlexander | 0:c523920bcc09 | 967 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 968 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, |
johnAlexander | 0:c523920bcc09 | 969 | 0x08); |
johnAlexander | 0:c523920bcc09 | 970 | |
johnAlexander | 0:c523920bcc09 | 971 | Status |= VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 972 | VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); |
johnAlexander | 0:c523920bcc09 | 973 | Status |= VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 974 | VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07); |
johnAlexander | 0:c523920bcc09 | 975 | |
johnAlexander | 0:c523920bcc09 | 976 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); |
johnAlexander | 0:c523920bcc09 | 977 | Status |= VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 978 | VL53L0X_REG_ALGO_PHASECAL_LIM, |
johnAlexander | 0:c523920bcc09 | 979 | 0x20); |
johnAlexander | 0:c523920bcc09 | 980 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); |
johnAlexander | 0:c523920bcc09 | 981 | } |
johnAlexander | 0:c523920bcc09 | 982 | } |
johnAlexander | 0:c523920bcc09 | 983 | |
johnAlexander | 0:c523920bcc09 | 984 | |
johnAlexander | 0:c523920bcc09 | 985 | /* Re-calculate and apply timeouts, in macro periods */ |
johnAlexander | 0:c523920bcc09 | 986 | |
johnAlexander | 0:c523920bcc09 | 987 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 988 | vcsel_period_reg = VL53L0X_encode_vcsel_period((uint8_t) |
johnAlexander | 0:c523920bcc09 | 989 | VCSELPulsePeriodPCLK); |
johnAlexander | 0:c523920bcc09 | 990 | |
johnAlexander | 0:c523920bcc09 | 991 | /* When the VCSEL period for the pre or final range is changed, |
johnAlexander | 0:c523920bcc09 | 992 | * the corresponding timeout must be read from the device using |
johnAlexander | 0:c523920bcc09 | 993 | * the current VCSEL period, then the new VCSEL period can be |
johnAlexander | 0:c523920bcc09 | 994 | * applied. The timeout then must be written back to the device |
johnAlexander | 0:c523920bcc09 | 995 | * using the new VCSEL period. |
johnAlexander | 0:c523920bcc09 | 996 | * |
johnAlexander | 0:c523920bcc09 | 997 | * For the MSRC timeout, the same applies - this timeout being |
johnAlexander | 0:c523920bcc09 | 998 | * dependant on the pre-range vcsel period. |
johnAlexander | 0:c523920bcc09 | 999 | */ |
johnAlexander | 0:c523920bcc09 | 1000 | switch (VcselPeriodType) { |
johnAlexander | 0:c523920bcc09 | 1001 | case VL53L0X_VCSEL_PERIOD_PRE_RANGE: |
johnAlexander | 0:c523920bcc09 | 1002 | Status = get_sequence_step_timeout(Dev, |
johnAlexander | 0:c523920bcc09 | 1003 | VL53L0X_SEQUENCESTEP_PRE_RANGE, |
johnAlexander | 0:c523920bcc09 | 1004 | &PreRangeTimeoutMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 1005 | |
johnAlexander | 0:c523920bcc09 | 1006 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1007 | Status = get_sequence_step_timeout(Dev, |
johnAlexander | 0:c523920bcc09 | 1008 | VL53L0X_SEQUENCESTEP_MSRC, |
johnAlexander | 0:c523920bcc09 | 1009 | &MsrcTimeoutMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 1010 | |
johnAlexander | 0:c523920bcc09 | 1011 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1012 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 1013 | VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD, |
johnAlexander | 0:c523920bcc09 | 1014 | vcsel_period_reg); |
johnAlexander | 0:c523920bcc09 | 1015 | |
johnAlexander | 0:c523920bcc09 | 1016 | |
johnAlexander | 0:c523920bcc09 | 1017 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1018 | Status = set_sequence_step_timeout(Dev, |
johnAlexander | 0:c523920bcc09 | 1019 | VL53L0X_SEQUENCESTEP_PRE_RANGE, |
johnAlexander | 0:c523920bcc09 | 1020 | PreRangeTimeoutMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 1021 | |
johnAlexander | 0:c523920bcc09 | 1022 | |
johnAlexander | 0:c523920bcc09 | 1023 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1024 | Status = set_sequence_step_timeout(Dev, |
johnAlexander | 0:c523920bcc09 | 1025 | VL53L0X_SEQUENCESTEP_MSRC, |
johnAlexander | 0:c523920bcc09 | 1026 | MsrcTimeoutMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 1027 | |
johnAlexander | 0:c523920bcc09 | 1028 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
johnAlexander | 0:c523920bcc09 | 1029 | Dev, |
johnAlexander | 0:c523920bcc09 | 1030 | PreRangeVcselPulsePeriod, |
johnAlexander | 0:c523920bcc09 | 1031 | VCSELPulsePeriodPCLK); |
johnAlexander | 0:c523920bcc09 | 1032 | break; |
johnAlexander | 0:c523920bcc09 | 1033 | case VL53L0X_VCSEL_PERIOD_FINAL_RANGE: |
johnAlexander | 0:c523920bcc09 | 1034 | Status = get_sequence_step_timeout(Dev, |
johnAlexander | 0:c523920bcc09 | 1035 | VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
johnAlexander | 0:c523920bcc09 | 1036 | &FinalRangeTimeoutMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 1037 | |
johnAlexander | 0:c523920bcc09 | 1038 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1039 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 1040 | VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD, |
johnAlexander | 0:c523920bcc09 | 1041 | vcsel_period_reg); |
johnAlexander | 0:c523920bcc09 | 1042 | |
johnAlexander | 0:c523920bcc09 | 1043 | |
johnAlexander | 0:c523920bcc09 | 1044 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1045 | Status = set_sequence_step_timeout(Dev, |
johnAlexander | 0:c523920bcc09 | 1046 | VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
johnAlexander | 0:c523920bcc09 | 1047 | FinalRangeTimeoutMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 1048 | |
johnAlexander | 0:c523920bcc09 | 1049 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
johnAlexander | 0:c523920bcc09 | 1050 | Dev, |
johnAlexander | 0:c523920bcc09 | 1051 | FinalRangeVcselPulsePeriod, |
johnAlexander | 0:c523920bcc09 | 1052 | VCSELPulsePeriodPCLK); |
johnAlexander | 0:c523920bcc09 | 1053 | break; |
johnAlexander | 0:c523920bcc09 | 1054 | default: |
johnAlexander | 0:c523920bcc09 | 1055 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 1056 | } |
johnAlexander | 0:c523920bcc09 | 1057 | } |
johnAlexander | 0:c523920bcc09 | 1058 | |
johnAlexander | 0:c523920bcc09 | 1059 | /* Finally, the timing budget must be re-applied */ |
johnAlexander | 0:c523920bcc09 | 1060 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1061 | VL53L0X_GETPARAMETERFIELD(Dev, |
johnAlexander | 0:c523920bcc09 | 1062 | MeasurementTimingBudgetMicroSeconds, |
johnAlexander | 0:c523920bcc09 | 1063 | MeasurementTimingBudgetMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 1064 | |
johnAlexander | 0:c523920bcc09 | 1065 | Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, |
johnAlexander | 0:c523920bcc09 | 1066 | MeasurementTimingBudgetMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 1067 | } |
johnAlexander | 0:c523920bcc09 | 1068 | |
johnAlexander | 0:c523920bcc09 | 1069 | /* Perform the phase calibration. This is needed after changing on |
johnAlexander | 0:c523920bcc09 | 1070 | * vcsel period. |
johnAlexander | 0:c523920bcc09 | 1071 | * get_data_enable = 0, restore_config = 1 */ |
johnAlexander | 0:c523920bcc09 | 1072 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1073 | Status = VL53L0X_perform_phase_calibration( |
johnAlexander | 0:c523920bcc09 | 1074 | Dev, &PhaseCalInt, 0, 1); |
johnAlexander | 0:c523920bcc09 | 1075 | |
johnAlexander | 0:c523920bcc09 | 1076 | return Status; |
johnAlexander | 0:c523920bcc09 | 1077 | } |
johnAlexander | 0:c523920bcc09 | 1078 | |
johnAlexander | 0:c523920bcc09 | 1079 | VL53L0X_Error VL53L0X::VL53L0X_SetVcselPulsePeriod(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 1080 | VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK) |
johnAlexander | 0:c523920bcc09 | 1081 | { |
johnAlexander | 0:c523920bcc09 | 1082 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1083 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 1084 | |
johnAlexander | 0:c523920bcc09 | 1085 | Status = VL53L0X_set_vcsel_pulse_period(Dev, VcselPeriodType, |
johnAlexander | 0:c523920bcc09 | 1086 | VCSELPulsePeriodPCLK); |
johnAlexander | 0:c523920bcc09 | 1087 | |
johnAlexander | 0:c523920bcc09 | 1088 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 1089 | return Status; |
johnAlexander | 0:c523920bcc09 | 1090 | } |
johnAlexander | 0:c523920bcc09 | 1091 | |
johnAlexander | 0:c523920bcc09 | 1092 | VL53L0X_Error VL53L0X::VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 1093 | VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK) |
johnAlexander | 0:c523920bcc09 | 1094 | { |
johnAlexander | 0:c523920bcc09 | 1095 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1096 | uint8_t vcsel_period_reg; |
johnAlexander | 0:c523920bcc09 | 1097 | |
johnAlexander | 0:c523920bcc09 | 1098 | switch (VcselPeriodType) { |
johnAlexander | 0:c523920bcc09 | 1099 | case VL53L0X_VCSEL_PERIOD_PRE_RANGE: |
johnAlexander | 0:c523920bcc09 | 1100 | Status = VL53L0X_RdByte(Dev, |
johnAlexander | 0:c523920bcc09 | 1101 | VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD, |
johnAlexander | 0:c523920bcc09 | 1102 | &vcsel_period_reg); |
johnAlexander | 0:c523920bcc09 | 1103 | break; |
johnAlexander | 0:c523920bcc09 | 1104 | case VL53L0X_VCSEL_PERIOD_FINAL_RANGE: |
johnAlexander | 0:c523920bcc09 | 1105 | Status = VL53L0X_RdByte(Dev, |
johnAlexander | 0:c523920bcc09 | 1106 | VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD, |
johnAlexander | 0:c523920bcc09 | 1107 | &vcsel_period_reg); |
johnAlexander | 0:c523920bcc09 | 1108 | break; |
johnAlexander | 0:c523920bcc09 | 1109 | default: |
johnAlexander | 0:c523920bcc09 | 1110 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 1111 | } |
johnAlexander | 0:c523920bcc09 | 1112 | |
johnAlexander | 0:c523920bcc09 | 1113 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1114 | *pVCSELPulsePeriodPCLK = |
johnAlexander | 0:c523920bcc09 | 1115 | VL53L0X_decode_vcsel_period(vcsel_period_reg); |
johnAlexander | 0:c523920bcc09 | 1116 | |
johnAlexander | 0:c523920bcc09 | 1117 | return Status; |
johnAlexander | 0:c523920bcc09 | 1118 | } |
johnAlexander | 0:c523920bcc09 | 1119 | |
johnAlexander | 0:c523920bcc09 | 1120 | VL53L0X_Error VL53L0X::VL53L0X_GetVcselPulsePeriod(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 1121 | VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK) |
johnAlexander | 0:c523920bcc09 | 1122 | { |
johnAlexander | 0:c523920bcc09 | 1123 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1124 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 1125 | |
johnAlexander | 0:c523920bcc09 | 1126 | Status = VL53L0X_get_vcsel_pulse_period(Dev, VcselPeriodType, |
johnAlexander | 0:c523920bcc09 | 1127 | pVCSELPulsePeriodPCLK); |
johnAlexander | 0:c523920bcc09 | 1128 | |
johnAlexander | 0:c523920bcc09 | 1129 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 1130 | return Status; |
johnAlexander | 0:c523920bcc09 | 1131 | } |
johnAlexander | 0:c523920bcc09 | 1132 | |
johnAlexander | 0:c523920bcc09 | 1133 | uint32_t VL53L0X::VL53L0X_decode_timeout(uint16_t encoded_timeout) |
johnAlexander | 0:c523920bcc09 | 1134 | { |
johnAlexander | 0:c523920bcc09 | 1135 | /*! |
johnAlexander | 0:c523920bcc09 | 1136 | * Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1 |
johnAlexander | 0:c523920bcc09 | 1137 | */ |
johnAlexander | 0:c523920bcc09 | 1138 | |
johnAlexander | 0:c523920bcc09 | 1139 | uint32_t timeout_macro_clks = 0; |
johnAlexander | 0:c523920bcc09 | 1140 | |
johnAlexander | 0:c523920bcc09 | 1141 | timeout_macro_clks = ((uint32_t) (encoded_timeout & 0x00FF) |
johnAlexander | 0:c523920bcc09 | 1142 | << (uint32_t) ((encoded_timeout & 0xFF00) >> 8)) + 1; |
johnAlexander | 0:c523920bcc09 | 1143 | |
johnAlexander | 0:c523920bcc09 | 1144 | return timeout_macro_clks; |
johnAlexander | 0:c523920bcc09 | 1145 | } |
johnAlexander | 0:c523920bcc09 | 1146 | |
johnAlexander | 0:c523920bcc09 | 1147 | uint32_t VL53L0X::VL53L0X_calc_macro_period_ps(VL53L0X_DEV Dev, uint8_t vcsel_period_pclks) |
johnAlexander | 0:c523920bcc09 | 1148 | { |
johnAlexander | 0:c523920bcc09 | 1149 | uint64_t PLL_period_ps; |
johnAlexander | 0:c523920bcc09 | 1150 | uint32_t macro_period_vclks; |
johnAlexander | 0:c523920bcc09 | 1151 | uint32_t macro_period_ps; |
johnAlexander | 0:c523920bcc09 | 1152 | |
johnAlexander | 0:c523920bcc09 | 1153 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 1154 | |
johnAlexander | 0:c523920bcc09 | 1155 | /* The above calculation will produce rounding errors, |
johnAlexander | 0:c523920bcc09 | 1156 | therefore set fixed value |
johnAlexander | 0:c523920bcc09 | 1157 | */ |
johnAlexander | 0:c523920bcc09 | 1158 | PLL_period_ps = 1655; |
johnAlexander | 0:c523920bcc09 | 1159 | |
johnAlexander | 0:c523920bcc09 | 1160 | macro_period_vclks = 2304; |
johnAlexander | 0:c523920bcc09 | 1161 | macro_period_ps = (uint32_t)(macro_period_vclks |
johnAlexander | 0:c523920bcc09 | 1162 | * vcsel_period_pclks * PLL_period_ps); |
johnAlexander | 0:c523920bcc09 | 1163 | |
johnAlexander | 0:c523920bcc09 | 1164 | LOG_FUNCTION_END(""); |
johnAlexander | 0:c523920bcc09 | 1165 | return macro_period_ps; |
johnAlexander | 0:c523920bcc09 | 1166 | } |
johnAlexander | 0:c523920bcc09 | 1167 | |
johnAlexander | 0:c523920bcc09 | 1168 | /* To convert register value into us */ |
johnAlexander | 0:c523920bcc09 | 1169 | uint32_t VL53L0X::VL53L0X_calc_timeout_us(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 1170 | uint16_t timeout_period_mclks, |
johnAlexander | 0:c523920bcc09 | 1171 | uint8_t vcsel_period_pclks) |
johnAlexander | 0:c523920bcc09 | 1172 | { |
johnAlexander | 0:c523920bcc09 | 1173 | uint32_t macro_period_ps; |
johnAlexander | 0:c523920bcc09 | 1174 | uint32_t macro_period_ns; |
johnAlexander | 0:c523920bcc09 | 1175 | uint32_t actual_timeout_period_us = 0; |
johnAlexander | 0:c523920bcc09 | 1176 | |
johnAlexander | 0:c523920bcc09 | 1177 | macro_period_ps = VL53L0X_calc_macro_period_ps(Dev, vcsel_period_pclks); |
johnAlexander | 0:c523920bcc09 | 1178 | macro_period_ns = (macro_period_ps + 500) / 1000; |
johnAlexander | 0:c523920bcc09 | 1179 | |
johnAlexander | 0:c523920bcc09 | 1180 | actual_timeout_period_us = |
johnAlexander | 0:c523920bcc09 | 1181 | ((timeout_period_mclks * macro_period_ns) + 500) / 1000; |
johnAlexander | 0:c523920bcc09 | 1182 | |
johnAlexander | 0:c523920bcc09 | 1183 | return actual_timeout_period_us; |
johnAlexander | 0:c523920bcc09 | 1184 | } |
johnAlexander | 0:c523920bcc09 | 1185 | |
johnAlexander | 0:c523920bcc09 | 1186 | VL53L0X_Error VL53L0X::get_sequence_step_timeout(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 1187 | VL53L0X_SequenceStepId SequenceStepId, |
johnAlexander | 0:c523920bcc09 | 1188 | uint32_t *pTimeOutMicroSecs) |
johnAlexander | 0:c523920bcc09 | 1189 | { |
johnAlexander | 0:c523920bcc09 | 1190 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1191 | uint8_t CurrentVCSELPulsePeriodPClk; |
johnAlexander | 0:c523920bcc09 | 1192 | uint8_t EncodedTimeOutByte = 0; |
johnAlexander | 0:c523920bcc09 | 1193 | uint32_t TimeoutMicroSeconds = 0; |
johnAlexander | 0:c523920bcc09 | 1194 | uint16_t PreRangeEncodedTimeOut = 0; |
johnAlexander | 0:c523920bcc09 | 1195 | uint16_t MsrcTimeOutMClks; |
johnAlexander | 0:c523920bcc09 | 1196 | uint16_t PreRangeTimeOutMClks; |
johnAlexander | 0:c523920bcc09 | 1197 | uint16_t FinalRangeTimeOutMClks = 0; |
johnAlexander | 0:c523920bcc09 | 1198 | uint16_t FinalRangeEncodedTimeOut; |
johnAlexander | 0:c523920bcc09 | 1199 | VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps; |
johnAlexander | 0:c523920bcc09 | 1200 | |
johnAlexander | 0:c523920bcc09 | 1201 | if ((SequenceStepId == VL53L0X_SEQUENCESTEP_TCC) || |
johnAlexander | 0:c523920bcc09 | 1202 | (SequenceStepId == VL53L0X_SEQUENCESTEP_DSS) || |
johnAlexander | 0:c523920bcc09 | 1203 | (SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)) { |
johnAlexander | 0:c523920bcc09 | 1204 | |
johnAlexander | 0:c523920bcc09 | 1205 | Status = VL53L0X_GetVcselPulsePeriod(Dev, |
johnAlexander | 0:c523920bcc09 | 1206 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
johnAlexander | 0:c523920bcc09 | 1207 | &CurrentVCSELPulsePeriodPClk); |
johnAlexander | 0:c523920bcc09 | 1208 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1209 | Status = VL53L0X_RdByte(Dev, |
johnAlexander | 0:c523920bcc09 | 1210 | VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP, |
johnAlexander | 0:c523920bcc09 | 1211 | &EncodedTimeOutByte); |
johnAlexander | 0:c523920bcc09 | 1212 | } |
johnAlexander | 0:c523920bcc09 | 1213 | MsrcTimeOutMClks = VL53L0X_decode_timeout(EncodedTimeOutByte); |
johnAlexander | 0:c523920bcc09 | 1214 | |
johnAlexander | 0:c523920bcc09 | 1215 | TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev, |
johnAlexander | 0:c523920bcc09 | 1216 | MsrcTimeOutMClks, |
johnAlexander | 0:c523920bcc09 | 1217 | CurrentVCSELPulsePeriodPClk); |
johnAlexander | 0:c523920bcc09 | 1218 | } else if (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) { |
johnAlexander | 0:c523920bcc09 | 1219 | /* Retrieve PRE-RANGE VCSEL Period */ |
johnAlexander | 0:c523920bcc09 | 1220 | Status = VL53L0X_GetVcselPulsePeriod(Dev, |
johnAlexander | 0:c523920bcc09 | 1221 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
johnAlexander | 0:c523920bcc09 | 1222 | &CurrentVCSELPulsePeriodPClk); |
johnAlexander | 0:c523920bcc09 | 1223 | |
johnAlexander | 0:c523920bcc09 | 1224 | /* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */ |
johnAlexander | 0:c523920bcc09 | 1225 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1226 | |
johnAlexander | 0:c523920bcc09 | 1227 | /* Retrieve PRE-RANGE VCSEL Period */ |
johnAlexander | 0:c523920bcc09 | 1228 | Status = VL53L0X_GetVcselPulsePeriod(Dev, |
johnAlexander | 0:c523920bcc09 | 1229 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
johnAlexander | 0:c523920bcc09 | 1230 | &CurrentVCSELPulsePeriodPClk); |
johnAlexander | 0:c523920bcc09 | 1231 | |
johnAlexander | 0:c523920bcc09 | 1232 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1233 | Status = VL53L0X_RdWord(Dev, |
johnAlexander | 0:c523920bcc09 | 1234 | VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, |
johnAlexander | 0:c523920bcc09 | 1235 | &PreRangeEncodedTimeOut); |
johnAlexander | 0:c523920bcc09 | 1236 | } |
johnAlexander | 0:c523920bcc09 | 1237 | |
johnAlexander | 0:c523920bcc09 | 1238 | PreRangeTimeOutMClks = VL53L0X_decode_timeout( |
johnAlexander | 0:c523920bcc09 | 1239 | PreRangeEncodedTimeOut); |
johnAlexander | 0:c523920bcc09 | 1240 | |
johnAlexander | 0:c523920bcc09 | 1241 | TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev, |
johnAlexander | 0:c523920bcc09 | 1242 | PreRangeTimeOutMClks, |
johnAlexander | 0:c523920bcc09 | 1243 | CurrentVCSELPulsePeriodPClk); |
johnAlexander | 0:c523920bcc09 | 1244 | } |
johnAlexander | 0:c523920bcc09 | 1245 | } else if (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE) { |
johnAlexander | 0:c523920bcc09 | 1246 | |
johnAlexander | 0:c523920bcc09 | 1247 | VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps); |
johnAlexander | 0:c523920bcc09 | 1248 | PreRangeTimeOutMClks = 0; |
johnAlexander | 0:c523920bcc09 | 1249 | |
johnAlexander | 0:c523920bcc09 | 1250 | if (SchedulerSequenceSteps.PreRangeOn) { |
johnAlexander | 0:c523920bcc09 | 1251 | /* Retrieve PRE-RANGE VCSEL Period */ |
johnAlexander | 0:c523920bcc09 | 1252 | Status = VL53L0X_GetVcselPulsePeriod(Dev, |
johnAlexander | 0:c523920bcc09 | 1253 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
johnAlexander | 0:c523920bcc09 | 1254 | &CurrentVCSELPulsePeriodPClk); |
johnAlexander | 0:c523920bcc09 | 1255 | |
johnAlexander | 0:c523920bcc09 | 1256 | /* Retrieve PRE-RANGE Timeout in Macro periods |
johnAlexander | 0:c523920bcc09 | 1257 | * (MCLKS) */ |
johnAlexander | 0:c523920bcc09 | 1258 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1259 | Status = VL53L0X_RdWord(Dev, |
johnAlexander | 0:c523920bcc09 | 1260 | VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, |
johnAlexander | 0:c523920bcc09 | 1261 | &PreRangeEncodedTimeOut); |
johnAlexander | 0:c523920bcc09 | 1262 | PreRangeTimeOutMClks = VL53L0X_decode_timeout( |
johnAlexander | 0:c523920bcc09 | 1263 | PreRangeEncodedTimeOut); |
johnAlexander | 0:c523920bcc09 | 1264 | } |
johnAlexander | 0:c523920bcc09 | 1265 | } |
johnAlexander | 0:c523920bcc09 | 1266 | |
johnAlexander | 0:c523920bcc09 | 1267 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1268 | /* Retrieve FINAL-RANGE VCSEL Period */ |
johnAlexander | 0:c523920bcc09 | 1269 | Status = VL53L0X_GetVcselPulsePeriod(Dev, |
johnAlexander | 0:c523920bcc09 | 1270 | VL53L0X_VCSEL_PERIOD_FINAL_RANGE, |
johnAlexander | 0:c523920bcc09 | 1271 | &CurrentVCSELPulsePeriodPClk); |
johnAlexander | 0:c523920bcc09 | 1272 | } |
johnAlexander | 0:c523920bcc09 | 1273 | |
johnAlexander | 0:c523920bcc09 | 1274 | /* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */ |
johnAlexander | 0:c523920bcc09 | 1275 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1276 | Status = VL53L0X_RdWord(Dev, |
johnAlexander | 0:c523920bcc09 | 1277 | VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, |
johnAlexander | 0:c523920bcc09 | 1278 | &FinalRangeEncodedTimeOut); |
johnAlexander | 0:c523920bcc09 | 1279 | FinalRangeTimeOutMClks = VL53L0X_decode_timeout( |
johnAlexander | 0:c523920bcc09 | 1280 | FinalRangeEncodedTimeOut); |
johnAlexander | 0:c523920bcc09 | 1281 | } |
johnAlexander | 0:c523920bcc09 | 1282 | |
johnAlexander | 0:c523920bcc09 | 1283 | FinalRangeTimeOutMClks -= PreRangeTimeOutMClks; |
johnAlexander | 0:c523920bcc09 | 1284 | TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev, |
johnAlexander | 0:c523920bcc09 | 1285 | FinalRangeTimeOutMClks, |
johnAlexander | 0:c523920bcc09 | 1286 | CurrentVCSELPulsePeriodPClk); |
johnAlexander | 0:c523920bcc09 | 1287 | } |
johnAlexander | 0:c523920bcc09 | 1288 | |
johnAlexander | 0:c523920bcc09 | 1289 | *pTimeOutMicroSecs = TimeoutMicroSeconds; |
johnAlexander | 0:c523920bcc09 | 1290 | |
johnAlexander | 0:c523920bcc09 | 1291 | return Status; |
johnAlexander | 0:c523920bcc09 | 1292 | } |
johnAlexander | 0:c523920bcc09 | 1293 | |
johnAlexander | 0:c523920bcc09 | 1294 | VL53L0X_Error VL53L0X::VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 1295 | uint32_t *pMeasurementTimingBudgetMicroSeconds) |
johnAlexander | 0:c523920bcc09 | 1296 | { |
johnAlexander | 0:c523920bcc09 | 1297 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1298 | VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps; |
johnAlexander | 0:c523920bcc09 | 1299 | uint32_t FinalRangeTimeoutMicroSeconds; |
johnAlexander | 0:c523920bcc09 | 1300 | uint32_t MsrcDccTccTimeoutMicroSeconds = 2000; |
johnAlexander | 0:c523920bcc09 | 1301 | uint32_t StartOverheadMicroSeconds = 1910; |
johnAlexander | 0:c523920bcc09 | 1302 | uint32_t EndOverheadMicroSeconds = 960; |
johnAlexander | 0:c523920bcc09 | 1303 | uint32_t MsrcOverheadMicroSeconds = 660; |
johnAlexander | 0:c523920bcc09 | 1304 | uint32_t TccOverheadMicroSeconds = 590; |
johnAlexander | 0:c523920bcc09 | 1305 | uint32_t DssOverheadMicroSeconds = 690; |
johnAlexander | 0:c523920bcc09 | 1306 | uint32_t PreRangeOverheadMicroSeconds = 660; |
johnAlexander | 0:c523920bcc09 | 1307 | uint32_t FinalRangeOverheadMicroSeconds = 550; |
johnAlexander | 0:c523920bcc09 | 1308 | uint32_t PreRangeTimeoutMicroSeconds = 0; |
johnAlexander | 0:c523920bcc09 | 1309 | |
johnAlexander | 0:c523920bcc09 | 1310 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 1311 | |
johnAlexander | 0:c523920bcc09 | 1312 | /* Start and end overhead times always present */ |
johnAlexander | 0:c523920bcc09 | 1313 | *pMeasurementTimingBudgetMicroSeconds |
johnAlexander | 0:c523920bcc09 | 1314 | = StartOverheadMicroSeconds + EndOverheadMicroSeconds; |
johnAlexander | 0:c523920bcc09 | 1315 | |
johnAlexander | 0:c523920bcc09 | 1316 | Status = VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps); |
johnAlexander | 0:c523920bcc09 | 1317 | |
johnAlexander | 0:c523920bcc09 | 1318 | if (Status != VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1319 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 1320 | return Status; |
johnAlexander | 0:c523920bcc09 | 1321 | } |
johnAlexander | 0:c523920bcc09 | 1322 | |
johnAlexander | 0:c523920bcc09 | 1323 | |
johnAlexander | 0:c523920bcc09 | 1324 | if (SchedulerSequenceSteps.TccOn || |
johnAlexander | 0:c523920bcc09 | 1325 | SchedulerSequenceSteps.MsrcOn || |
johnAlexander | 0:c523920bcc09 | 1326 | SchedulerSequenceSteps.DssOn) { |
johnAlexander | 0:c523920bcc09 | 1327 | |
johnAlexander | 0:c523920bcc09 | 1328 | Status = get_sequence_step_timeout(Dev, |
johnAlexander | 0:c523920bcc09 | 1329 | VL53L0X_SEQUENCESTEP_MSRC, |
johnAlexander | 0:c523920bcc09 | 1330 | &MsrcDccTccTimeoutMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 1331 | |
johnAlexander | 0:c523920bcc09 | 1332 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1333 | if (SchedulerSequenceSteps.TccOn) { |
johnAlexander | 0:c523920bcc09 | 1334 | *pMeasurementTimingBudgetMicroSeconds += |
johnAlexander | 0:c523920bcc09 | 1335 | MsrcDccTccTimeoutMicroSeconds + |
johnAlexander | 0:c523920bcc09 | 1336 | TccOverheadMicroSeconds; |
johnAlexander | 0:c523920bcc09 | 1337 | } |
johnAlexander | 0:c523920bcc09 | 1338 | |
johnAlexander | 0:c523920bcc09 | 1339 | if (SchedulerSequenceSteps.DssOn) { |
johnAlexander | 0:c523920bcc09 | 1340 | *pMeasurementTimingBudgetMicroSeconds += |
johnAlexander | 0:c523920bcc09 | 1341 | 2 * (MsrcDccTccTimeoutMicroSeconds + |
johnAlexander | 0:c523920bcc09 | 1342 | DssOverheadMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 1343 | } else if (SchedulerSequenceSteps.MsrcOn) { |
johnAlexander | 0:c523920bcc09 | 1344 | *pMeasurementTimingBudgetMicroSeconds += |
johnAlexander | 0:c523920bcc09 | 1345 | MsrcDccTccTimeoutMicroSeconds + |
johnAlexander | 0:c523920bcc09 | 1346 | MsrcOverheadMicroSeconds; |
johnAlexander | 0:c523920bcc09 | 1347 | } |
johnAlexander | 0:c523920bcc09 | 1348 | } |
johnAlexander | 0:c523920bcc09 | 1349 | } |
johnAlexander | 0:c523920bcc09 | 1350 | |
johnAlexander | 0:c523920bcc09 | 1351 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1352 | if (SchedulerSequenceSteps.PreRangeOn) { |
johnAlexander | 0:c523920bcc09 | 1353 | Status = get_sequence_step_timeout(Dev, |
johnAlexander | 0:c523920bcc09 | 1354 | VL53L0X_SEQUENCESTEP_PRE_RANGE, |
johnAlexander | 0:c523920bcc09 | 1355 | &PreRangeTimeoutMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 1356 | *pMeasurementTimingBudgetMicroSeconds += |
johnAlexander | 0:c523920bcc09 | 1357 | PreRangeTimeoutMicroSeconds + |
johnAlexander | 0:c523920bcc09 | 1358 | PreRangeOverheadMicroSeconds; |
johnAlexander | 0:c523920bcc09 | 1359 | } |
johnAlexander | 0:c523920bcc09 | 1360 | } |
johnAlexander | 0:c523920bcc09 | 1361 | |
johnAlexander | 0:c523920bcc09 | 1362 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1363 | if (SchedulerSequenceSteps.FinalRangeOn) { |
johnAlexander | 0:c523920bcc09 | 1364 | Status = get_sequence_step_timeout(Dev, |
johnAlexander | 0:c523920bcc09 | 1365 | VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
johnAlexander | 0:c523920bcc09 | 1366 | &FinalRangeTimeoutMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 1367 | *pMeasurementTimingBudgetMicroSeconds += |
johnAlexander | 0:c523920bcc09 | 1368 | (FinalRangeTimeoutMicroSeconds + |
johnAlexander | 0:c523920bcc09 | 1369 | FinalRangeOverheadMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 1370 | } |
johnAlexander | 0:c523920bcc09 | 1371 | } |
johnAlexander | 0:c523920bcc09 | 1372 | |
johnAlexander | 0:c523920bcc09 | 1373 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1374 | VL53L0X_SETPARAMETERFIELD(Dev, |
johnAlexander | 0:c523920bcc09 | 1375 | MeasurementTimingBudgetMicroSeconds, |
johnAlexander | 0:c523920bcc09 | 1376 | *pMeasurementTimingBudgetMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 1377 | } |
johnAlexander | 0:c523920bcc09 | 1378 | |
johnAlexander | 0:c523920bcc09 | 1379 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 1380 | return Status; |
johnAlexander | 0:c523920bcc09 | 1381 | } |
johnAlexander | 0:c523920bcc09 | 1382 | |
johnAlexander | 0:c523920bcc09 | 1383 | VL53L0X_Error VL53L0X::VL53L0X_GetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 1384 | uint32_t *pMeasurementTimingBudgetMicroSeconds) |
johnAlexander | 0:c523920bcc09 | 1385 | { |
johnAlexander | 0:c523920bcc09 | 1386 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1387 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 1388 | |
johnAlexander | 0:c523920bcc09 | 1389 | Status = VL53L0X_get_measurement_timing_budget_micro_seconds(Dev, |
johnAlexander | 0:c523920bcc09 | 1390 | pMeasurementTimingBudgetMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 1391 | |
johnAlexander | 0:c523920bcc09 | 1392 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 1393 | return Status; |
johnAlexander | 0:c523920bcc09 | 1394 | } |
johnAlexander | 0:c523920bcc09 | 1395 | |
johnAlexander | 0:c523920bcc09 | 1396 | VL53L0X_Error VL53L0X::VL53L0X_GetDeviceParameters(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 1397 | VL53L0X_DeviceParameters_t *pDeviceParameters) |
johnAlexander | 0:c523920bcc09 | 1398 | { |
johnAlexander | 0:c523920bcc09 | 1399 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1400 | int i; |
johnAlexander | 0:c523920bcc09 | 1401 | |
johnAlexander | 0:c523920bcc09 | 1402 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 1403 | |
johnAlexander | 0:c523920bcc09 | 1404 | Status = VL53L0X_GetDeviceMode(Dev, &(pDeviceParameters->DeviceMode)); |
johnAlexander | 0:c523920bcc09 | 1405 | |
johnAlexander | 0:c523920bcc09 | 1406 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1407 | Status = VL53L0X_GetInterMeasurementPeriodMilliSeconds(Dev, |
johnAlexander | 0:c523920bcc09 | 1408 | &(pDeviceParameters->InterMeasurementPeriodMilliSeconds)); |
johnAlexander | 0:c523920bcc09 | 1409 | |
johnAlexander | 0:c523920bcc09 | 1410 | |
johnAlexander | 0:c523920bcc09 | 1411 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1412 | pDeviceParameters->XTalkCompensationEnable = 0; |
johnAlexander | 0:c523920bcc09 | 1413 | |
johnAlexander | 0:c523920bcc09 | 1414 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1415 | Status = VL53L0X_GetXTalkCompensationRateMegaCps(Dev, |
johnAlexander | 0:c523920bcc09 | 1416 | &(pDeviceParameters->XTalkCompensationRateMegaCps)); |
johnAlexander | 0:c523920bcc09 | 1417 | |
johnAlexander | 0:c523920bcc09 | 1418 | |
johnAlexander | 0:c523920bcc09 | 1419 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1420 | Status = VL53L0X_GetOffsetCalibrationDataMicroMeter(Dev, |
johnAlexander | 0:c523920bcc09 | 1421 | &(pDeviceParameters->RangeOffsetMicroMeters)); |
johnAlexander | 0:c523920bcc09 | 1422 | |
johnAlexander | 0:c523920bcc09 | 1423 | |
johnAlexander | 0:c523920bcc09 | 1424 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1425 | for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) { |
johnAlexander | 0:c523920bcc09 | 1426 | /* get first the values, then the enables. |
johnAlexander | 0:c523920bcc09 | 1427 | * VL53L0X_GetLimitCheckValue will modify the enable |
johnAlexander | 0:c523920bcc09 | 1428 | * flags |
johnAlexander | 0:c523920bcc09 | 1429 | */ |
johnAlexander | 0:c523920bcc09 | 1430 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1431 | Status |= VL53L0X_GetLimitCheckValue(Dev, i, |
johnAlexander | 0:c523920bcc09 | 1432 | &(pDeviceParameters->LimitChecksValue[i])); |
johnAlexander | 0:c523920bcc09 | 1433 | } else { |
johnAlexander | 0:c523920bcc09 | 1434 | break; |
johnAlexander | 0:c523920bcc09 | 1435 | } |
johnAlexander | 0:c523920bcc09 | 1436 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1437 | Status |= VL53L0X_GetLimitCheckEnable(Dev, i, |
johnAlexander | 0:c523920bcc09 | 1438 | &(pDeviceParameters->LimitChecksEnable[i])); |
johnAlexander | 0:c523920bcc09 | 1439 | } else { |
johnAlexander | 0:c523920bcc09 | 1440 | break; |
johnAlexander | 0:c523920bcc09 | 1441 | } |
johnAlexander | 0:c523920bcc09 | 1442 | } |
johnAlexander | 0:c523920bcc09 | 1443 | } |
johnAlexander | 0:c523920bcc09 | 1444 | |
johnAlexander | 0:c523920bcc09 | 1445 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1446 | Status = VL53L0X_GetWrapAroundCheckEnable(Dev, |
johnAlexander | 0:c523920bcc09 | 1447 | &(pDeviceParameters->WrapAroundCheckEnable)); |
johnAlexander | 0:c523920bcc09 | 1448 | } |
johnAlexander | 0:c523920bcc09 | 1449 | |
johnAlexander | 0:c523920bcc09 | 1450 | /* Need to be done at the end as it uses VCSELPulsePeriod */ |
johnAlexander | 0:c523920bcc09 | 1451 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1452 | Status = VL53L0X_GetMeasurementTimingBudgetMicroSeconds(Dev, |
johnAlexander | 0:c523920bcc09 | 1453 | &(pDeviceParameters->MeasurementTimingBudgetMicroSeconds)); |
johnAlexander | 0:c523920bcc09 | 1454 | } |
johnAlexander | 0:c523920bcc09 | 1455 | |
johnAlexander | 0:c523920bcc09 | 1456 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 1457 | return Status; |
johnAlexander | 0:c523920bcc09 | 1458 | } |
johnAlexander | 0:c523920bcc09 | 1459 | |
johnAlexander | 0:c523920bcc09 | 1460 | VL53L0X_Error VL53L0X::VL53L0X_SetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
johnAlexander | 0:c523920bcc09 | 1461 | FixPoint1616_t LimitCheckValue) |
johnAlexander | 0:c523920bcc09 | 1462 | { |
johnAlexander | 0:c523920bcc09 | 1463 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1464 | uint8_t Temp8; |
johnAlexander | 0:c523920bcc09 | 1465 | |
johnAlexander | 0:c523920bcc09 | 1466 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 1467 | |
johnAlexander | 0:c523920bcc09 | 1468 | VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, LimitCheckId, |
johnAlexander | 0:c523920bcc09 | 1469 | Temp8); |
johnAlexander | 0:c523920bcc09 | 1470 | |
johnAlexander | 0:c523920bcc09 | 1471 | if (Temp8 == 0) { /* disabled write only internal value */ |
johnAlexander | 0:c523920bcc09 | 1472 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
johnAlexander | 0:c523920bcc09 | 1473 | LimitCheckId, LimitCheckValue); |
johnAlexander | 0:c523920bcc09 | 1474 | } else { |
johnAlexander | 0:c523920bcc09 | 1475 | |
johnAlexander | 0:c523920bcc09 | 1476 | switch (LimitCheckId) { |
johnAlexander | 0:c523920bcc09 | 1477 | |
johnAlexander | 0:c523920bcc09 | 1478 | case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE: |
johnAlexander | 0:c523920bcc09 | 1479 | /* internal computation: */ |
johnAlexander | 0:c523920bcc09 | 1480 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
johnAlexander | 0:c523920bcc09 | 1481 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
johnAlexander | 0:c523920bcc09 | 1482 | LimitCheckValue); |
johnAlexander | 0:c523920bcc09 | 1483 | break; |
johnAlexander | 0:c523920bcc09 | 1484 | |
johnAlexander | 0:c523920bcc09 | 1485 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: |
johnAlexander | 0:c523920bcc09 | 1486 | |
johnAlexander | 0:c523920bcc09 | 1487 | Status = VL53L0X_WrWord(Dev, |
johnAlexander | 0:c523920bcc09 | 1488 | VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, |
johnAlexander | 0:c523920bcc09 | 1489 | VL53L0X_FIXPOINT1616TOFIXPOINT97( |
johnAlexander | 0:c523920bcc09 | 1490 | LimitCheckValue)); |
johnAlexander | 0:c523920bcc09 | 1491 | |
johnAlexander | 0:c523920bcc09 | 1492 | break; |
johnAlexander | 0:c523920bcc09 | 1493 | |
johnAlexander | 0:c523920bcc09 | 1494 | case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP: |
johnAlexander | 0:c523920bcc09 | 1495 | |
johnAlexander | 0:c523920bcc09 | 1496 | /* internal computation: */ |
johnAlexander | 0:c523920bcc09 | 1497 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
johnAlexander | 0:c523920bcc09 | 1498 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
johnAlexander | 0:c523920bcc09 | 1499 | LimitCheckValue); |
johnAlexander | 0:c523920bcc09 | 1500 | |
johnAlexander | 0:c523920bcc09 | 1501 | break; |
johnAlexander | 0:c523920bcc09 | 1502 | |
johnAlexander | 0:c523920bcc09 | 1503 | case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD: |
johnAlexander | 0:c523920bcc09 | 1504 | |
johnAlexander | 0:c523920bcc09 | 1505 | /* internal computation: */ |
johnAlexander | 0:c523920bcc09 | 1506 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
johnAlexander | 0:c523920bcc09 | 1507 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
johnAlexander | 0:c523920bcc09 | 1508 | LimitCheckValue); |
johnAlexander | 0:c523920bcc09 | 1509 | |
johnAlexander | 0:c523920bcc09 | 1510 | break; |
johnAlexander | 0:c523920bcc09 | 1511 | |
johnAlexander | 0:c523920bcc09 | 1512 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC: |
johnAlexander | 0:c523920bcc09 | 1513 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: |
johnAlexander | 0:c523920bcc09 | 1514 | |
johnAlexander | 0:c523920bcc09 | 1515 | Status = VL53L0X_WrWord(Dev, |
johnAlexander | 0:c523920bcc09 | 1516 | VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, |
johnAlexander | 0:c523920bcc09 | 1517 | VL53L0X_FIXPOINT1616TOFIXPOINT97( |
johnAlexander | 0:c523920bcc09 | 1518 | LimitCheckValue)); |
johnAlexander | 0:c523920bcc09 | 1519 | |
johnAlexander | 0:c523920bcc09 | 1520 | break; |
johnAlexander | 0:c523920bcc09 | 1521 | |
johnAlexander | 0:c523920bcc09 | 1522 | default: |
johnAlexander | 0:c523920bcc09 | 1523 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 1524 | |
johnAlexander | 0:c523920bcc09 | 1525 | } |
johnAlexander | 0:c523920bcc09 | 1526 | |
johnAlexander | 0:c523920bcc09 | 1527 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1528 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
johnAlexander | 0:c523920bcc09 | 1529 | LimitCheckId, LimitCheckValue); |
johnAlexander | 0:c523920bcc09 | 1530 | } |
johnAlexander | 0:c523920bcc09 | 1531 | } |
johnAlexander | 0:c523920bcc09 | 1532 | |
johnAlexander | 0:c523920bcc09 | 1533 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 1534 | return Status; |
johnAlexander | 0:c523920bcc09 | 1535 | } |
johnAlexander | 0:c523920bcc09 | 1536 | |
johnAlexander | 0:c523920bcc09 | 1537 | VL53L0X_Error VL53L0X::VL53L0X_DataInit(VL53L0X_DEV Dev) |
johnAlexander | 0:c523920bcc09 | 1538 | { |
johnAlexander | 0:c523920bcc09 | 1539 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1540 | VL53L0X_DeviceParameters_t CurrentParameters; |
johnAlexander | 0:c523920bcc09 | 1541 | int i; |
johnAlexander | 0:c523920bcc09 | 1542 | uint8_t StopVariable; |
johnAlexander | 0:c523920bcc09 | 1543 | |
johnAlexander | 0:c523920bcc09 | 1544 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 1545 | |
johnAlexander | 0:c523920bcc09 | 1546 | /* by default the I2C is running at 1V8 if you want to change it you |
johnAlexander | 0:c523920bcc09 | 1547 | * need to include this define at compilation level. */ |
johnAlexander | 0:c523920bcc09 | 1548 | #ifdef USE_I2C_2V8 |
johnAlexander | 0:c523920bcc09 | 1549 | Status = VL53L0X_UpdateByte(Dev, |
johnAlexander | 0:c523920bcc09 | 1550 | VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, |
johnAlexander | 0:c523920bcc09 | 1551 | 0xFE, |
johnAlexander | 0:c523920bcc09 | 1552 | 0x01); |
johnAlexander | 0:c523920bcc09 | 1553 | #endif |
johnAlexander | 0:c523920bcc09 | 1554 | |
johnAlexander | 0:c523920bcc09 | 1555 | /* Set I2C standard mode */ |
johnAlexander | 0:c523920bcc09 | 1556 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1557 | Status = VL53L0X_WrByte(Dev, 0x88, 0x00); |
johnAlexander | 0:c523920bcc09 | 1558 | |
johnAlexander | 0:c523920bcc09 | 1559 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone, 0); |
johnAlexander | 0:c523920bcc09 | 1560 | |
johnAlexander | 0:c523920bcc09 | 1561 | #ifdef USE_IQC_STATION |
johnAlexander | 0:c523920bcc09 | 1562 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1563 | Status = VL53L0X_apply_offset_adjustment(Dev); |
johnAlexander | 0:c523920bcc09 | 1564 | #endif |
johnAlexander | 0:c523920bcc09 | 1565 | |
johnAlexander | 0:c523920bcc09 | 1566 | /* Default value is 1000 for Linearity Corrective Gain */ |
johnAlexander | 0:c523920bcc09 | 1567 | PALDevDataSet(Dev, LinearityCorrectiveGain, 1000); |
johnAlexander | 0:c523920bcc09 | 1568 | |
johnAlexander | 0:c523920bcc09 | 1569 | /* Dmax default Parameter */ |
johnAlexander | 0:c523920bcc09 | 1570 | PALDevDataSet(Dev, DmaxCalRangeMilliMeter, 400); |
johnAlexander | 0:c523920bcc09 | 1571 | PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps, |
johnAlexander | 0:c523920bcc09 | 1572 | (FixPoint1616_t)((0x00016B85))); /* 1.42 No Cover Glass*/ |
johnAlexander | 0:c523920bcc09 | 1573 | |
johnAlexander | 0:c523920bcc09 | 1574 | /* Set Default static parameters |
johnAlexander | 0:c523920bcc09 | 1575 | *set first temporary values 9.44MHz * 65536 = 618660 */ |
johnAlexander | 0:c523920bcc09 | 1576 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, 618660); |
johnAlexander | 0:c523920bcc09 | 1577 | |
johnAlexander | 0:c523920bcc09 | 1578 | /* Set Default XTalkCompensationRateMegaCps to 0 */ |
johnAlexander | 0:c523920bcc09 | 1579 | VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, 0); |
johnAlexander | 0:c523920bcc09 | 1580 | |
johnAlexander | 0:c523920bcc09 | 1581 | /* Get default parameters */ |
johnAlexander | 0:c523920bcc09 | 1582 | Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters); |
johnAlexander | 0:c523920bcc09 | 1583 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1584 | /* initialize PAL values */ |
johnAlexander | 0:c523920bcc09 | 1585 | CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING; |
johnAlexander | 0:c523920bcc09 | 1586 | CurrentParameters.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED; |
johnAlexander | 0:c523920bcc09 | 1587 | PALDevDataSet(Dev, CurrentParameters, CurrentParameters); |
johnAlexander | 0:c523920bcc09 | 1588 | } |
johnAlexander | 0:c523920bcc09 | 1589 | |
johnAlexander | 0:c523920bcc09 | 1590 | /* Sigma estimator variable */ |
johnAlexander | 0:c523920bcc09 | 1591 | PALDevDataSet(Dev, SigmaEstRefArray, 100); |
johnAlexander | 0:c523920bcc09 | 1592 | PALDevDataSet(Dev, SigmaEstEffPulseWidth, 900); |
johnAlexander | 0:c523920bcc09 | 1593 | PALDevDataSet(Dev, SigmaEstEffAmbWidth, 500); |
johnAlexander | 0:c523920bcc09 | 1594 | PALDevDataSet(Dev, targetRefRate, 0x0A00); /* 20 MCPS in 9:7 format */ |
johnAlexander | 0:c523920bcc09 | 1595 | |
johnAlexander | 0:c523920bcc09 | 1596 | /* Use internal default settings */ |
johnAlexander | 0:c523920bcc09 | 1597 | PALDevDataSet(Dev, UseInternalTuningSettings, 1); |
johnAlexander | 0:c523920bcc09 | 1598 | |
johnAlexander | 0:c523920bcc09 | 1599 | Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); |
johnAlexander | 0:c523920bcc09 | 1600 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); |
johnAlexander | 0:c523920bcc09 | 1601 | Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); |
johnAlexander | 0:c523920bcc09 | 1602 | Status |= VL53L0X_RdByte(Dev, 0x91, &StopVariable); |
johnAlexander | 0:c523920bcc09 | 1603 | PALDevDataSet(Dev, StopVariable, StopVariable); |
johnAlexander | 0:c523920bcc09 | 1604 | Status |= VL53L0X_WrByte(Dev, 0x00, 0x01); |
johnAlexander | 0:c523920bcc09 | 1605 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
johnAlexander | 0:c523920bcc09 | 1606 | Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); |
johnAlexander | 0:c523920bcc09 | 1607 | |
johnAlexander | 0:c523920bcc09 | 1608 | /* Enable all check */ |
johnAlexander | 0:c523920bcc09 | 1609 | for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) { |
johnAlexander | 0:c523920bcc09 | 1610 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1611 | Status |= VL53L0X_SetLimitCheckEnable(Dev, i, 1); |
johnAlexander | 0:c523920bcc09 | 1612 | else |
johnAlexander | 0:c523920bcc09 | 1613 | break; |
johnAlexander | 0:c523920bcc09 | 1614 | |
johnAlexander | 0:c523920bcc09 | 1615 | } |
johnAlexander | 0:c523920bcc09 | 1616 | |
johnAlexander | 0:c523920bcc09 | 1617 | /* Disable the following checks */ |
johnAlexander | 0:c523920bcc09 | 1618 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1619 | Status = VL53L0X_SetLimitCheckEnable(Dev, |
johnAlexander | 0:c523920bcc09 | 1620 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0); |
johnAlexander | 0:c523920bcc09 | 1621 | |
johnAlexander | 0:c523920bcc09 | 1622 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1623 | Status = VL53L0X_SetLimitCheckEnable(Dev, |
johnAlexander | 0:c523920bcc09 | 1624 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0); |
johnAlexander | 0:c523920bcc09 | 1625 | |
johnAlexander | 0:c523920bcc09 | 1626 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1627 | Status = VL53L0X_SetLimitCheckEnable(Dev, |
johnAlexander | 0:c523920bcc09 | 1628 | VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0); |
johnAlexander | 0:c523920bcc09 | 1629 | |
johnAlexander | 0:c523920bcc09 | 1630 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1631 | Status = VL53L0X_SetLimitCheckEnable(Dev, |
johnAlexander | 0:c523920bcc09 | 1632 | VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0); |
johnAlexander | 0:c523920bcc09 | 1633 | |
johnAlexander | 0:c523920bcc09 | 1634 | /* Limit default values */ |
johnAlexander | 0:c523920bcc09 | 1635 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1636 | Status = VL53L0X_SetLimitCheckValue(Dev, |
johnAlexander | 0:c523920bcc09 | 1637 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
johnAlexander | 0:c523920bcc09 | 1638 | (FixPoint1616_t)(18 * 65536)); |
johnAlexander | 0:c523920bcc09 | 1639 | } |
johnAlexander | 0:c523920bcc09 | 1640 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1641 | Status = VL53L0X_SetLimitCheckValue(Dev, |
johnAlexander | 0:c523920bcc09 | 1642 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
johnAlexander | 0:c523920bcc09 | 1643 | (FixPoint1616_t)(25 * 65536 / 100)); |
johnAlexander | 0:c523920bcc09 | 1644 | /* 0.25 * 65536 */ |
johnAlexander | 0:c523920bcc09 | 1645 | } |
johnAlexander | 0:c523920bcc09 | 1646 | |
johnAlexander | 0:c523920bcc09 | 1647 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1648 | Status = VL53L0X_SetLimitCheckValue(Dev, |
johnAlexander | 0:c523920bcc09 | 1649 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
johnAlexander | 0:c523920bcc09 | 1650 | (FixPoint1616_t)(35 * 65536)); |
johnAlexander | 0:c523920bcc09 | 1651 | } |
johnAlexander | 0:c523920bcc09 | 1652 | |
johnAlexander | 0:c523920bcc09 | 1653 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1654 | Status = VL53L0X_SetLimitCheckValue(Dev, |
johnAlexander | 0:c523920bcc09 | 1655 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
johnAlexander | 0:c523920bcc09 | 1656 | (FixPoint1616_t)(0 * 65536)); |
johnAlexander | 0:c523920bcc09 | 1657 | } |
johnAlexander | 0:c523920bcc09 | 1658 | |
johnAlexander | 0:c523920bcc09 | 1659 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1660 | |
johnAlexander | 0:c523920bcc09 | 1661 | PALDevDataSet(Dev, SequenceConfig, 0xFF); |
johnAlexander | 0:c523920bcc09 | 1662 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
johnAlexander | 0:c523920bcc09 | 1663 | 0xFF); |
johnAlexander | 0:c523920bcc09 | 1664 | |
johnAlexander | 0:c523920bcc09 | 1665 | /* Set PAL state to tell that we are waiting for call to |
johnAlexander | 0:c523920bcc09 | 1666 | * VL53L0X_StaticInit */ |
johnAlexander | 0:c523920bcc09 | 1667 | PALDevDataSet(Dev, PalState, VL53L0X_STATE_WAIT_STATICINIT); |
johnAlexander | 0:c523920bcc09 | 1668 | } |
johnAlexander | 0:c523920bcc09 | 1669 | |
johnAlexander | 0:c523920bcc09 | 1670 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1671 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 0); |
johnAlexander | 0:c523920bcc09 | 1672 | |
johnAlexander | 0:c523920bcc09 | 1673 | |
johnAlexander | 0:c523920bcc09 | 1674 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 1675 | return Status; |
johnAlexander | 0:c523920bcc09 | 1676 | } |
johnAlexander | 0:c523920bcc09 | 1677 | |
johnAlexander | 0:c523920bcc09 | 1678 | VL53L0X_Error VL53L0X::VL53L0X_check_part_used(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 1679 | uint8_t *Revision, |
johnAlexander | 0:c523920bcc09 | 1680 | VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo) |
johnAlexander | 0:c523920bcc09 | 1681 | { |
johnAlexander | 0:c523920bcc09 | 1682 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1683 | uint8_t ModuleIdInt; |
johnAlexander | 0:c523920bcc09 | 1684 | char *ProductId_tmp; |
johnAlexander | 0:c523920bcc09 | 1685 | |
johnAlexander | 0:c523920bcc09 | 1686 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 1687 | |
johnAlexander | 0:c523920bcc09 | 1688 | Status = VL53L0X_get_info_from_device(Dev, 2); |
johnAlexander | 0:c523920bcc09 | 1689 | |
johnAlexander | 0:c523920bcc09 | 1690 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1691 | ModuleIdInt = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, ModuleId); |
johnAlexander | 0:c523920bcc09 | 1692 | |
johnAlexander | 0:c523920bcc09 | 1693 | if (ModuleIdInt == 0) { |
johnAlexander | 0:c523920bcc09 | 1694 | *Revision = 0; |
johnAlexander | 0:c523920bcc09 | 1695 | VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId, ""); |
johnAlexander | 0:c523920bcc09 | 1696 | } else { |
johnAlexander | 0:c523920bcc09 | 1697 | *Revision = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, Revision); |
johnAlexander | 0:c523920bcc09 | 1698 | ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 1699 | ProductId); |
johnAlexander | 0:c523920bcc09 | 1700 | VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId, ProductId_tmp); |
johnAlexander | 0:c523920bcc09 | 1701 | } |
johnAlexander | 0:c523920bcc09 | 1702 | } |
johnAlexander | 0:c523920bcc09 | 1703 | |
johnAlexander | 0:c523920bcc09 | 1704 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 1705 | return Status; |
johnAlexander | 0:c523920bcc09 | 1706 | } |
johnAlexander | 0:c523920bcc09 | 1707 | |
johnAlexander | 0:c523920bcc09 | 1708 | VL53L0X_Error VL53L0X::VL53L0X_get_device_info(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 1709 | VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo) |
johnAlexander | 0:c523920bcc09 | 1710 | { |
johnAlexander | 0:c523920bcc09 | 1711 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1712 | uint8_t revision_id; |
johnAlexander | 0:c523920bcc09 | 1713 | uint8_t Revision; |
johnAlexander | 0:c523920bcc09 | 1714 | |
johnAlexander | 0:c523920bcc09 | 1715 | Status = VL53L0X_check_part_used(Dev, &Revision, pVL53L0X_DeviceInfo); |
johnAlexander | 0:c523920bcc09 | 1716 | |
johnAlexander | 0:c523920bcc09 | 1717 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1718 | if (Revision == 0) { |
johnAlexander | 0:c523920bcc09 | 1719 | VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name, |
johnAlexander | 0:c523920bcc09 | 1720 | VL53L0X_STRING_DEVICE_INFO_NAME_TS0); |
johnAlexander | 0:c523920bcc09 | 1721 | } else if ((Revision <= 34) && (Revision != 32)) { |
johnAlexander | 0:c523920bcc09 | 1722 | VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name, |
johnAlexander | 0:c523920bcc09 | 1723 | VL53L0X_STRING_DEVICE_INFO_NAME_TS1); |
johnAlexander | 0:c523920bcc09 | 1724 | } else if (Revision < 39) { |
johnAlexander | 0:c523920bcc09 | 1725 | VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name, |
johnAlexander | 0:c523920bcc09 | 1726 | VL53L0X_STRING_DEVICE_INFO_NAME_TS2); |
johnAlexander | 0:c523920bcc09 | 1727 | } else { |
johnAlexander | 0:c523920bcc09 | 1728 | VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name, |
johnAlexander | 0:c523920bcc09 | 1729 | VL53L0X_STRING_DEVICE_INFO_NAME_ES1); |
johnAlexander | 0:c523920bcc09 | 1730 | } |
johnAlexander | 0:c523920bcc09 | 1731 | |
johnAlexander | 0:c523920bcc09 | 1732 | VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Type, |
johnAlexander | 0:c523920bcc09 | 1733 | VL53L0X_STRING_DEVICE_INFO_TYPE); |
johnAlexander | 0:c523920bcc09 | 1734 | |
johnAlexander | 0:c523920bcc09 | 1735 | } |
johnAlexander | 0:c523920bcc09 | 1736 | |
johnAlexander | 0:c523920bcc09 | 1737 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1738 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID, |
johnAlexander | 0:c523920bcc09 | 1739 | &pVL53L0X_DeviceInfo->ProductType); |
johnAlexander | 0:c523920bcc09 | 1740 | } |
johnAlexander | 0:c523920bcc09 | 1741 | |
johnAlexander | 0:c523920bcc09 | 1742 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1743 | Status = VL53L0X_RdByte(Dev, |
johnAlexander | 0:c523920bcc09 | 1744 | VL53L0X_REG_IDENTIFICATION_REVISION_ID, |
johnAlexander | 0:c523920bcc09 | 1745 | &revision_id); |
johnAlexander | 0:c523920bcc09 | 1746 | pVL53L0X_DeviceInfo->ProductRevisionMajor = 1; |
johnAlexander | 0:c523920bcc09 | 1747 | pVL53L0X_DeviceInfo->ProductRevisionMinor = |
johnAlexander | 0:c523920bcc09 | 1748 | (revision_id & 0xF0) >> 4; |
johnAlexander | 0:c523920bcc09 | 1749 | } |
johnAlexander | 0:c523920bcc09 | 1750 | |
johnAlexander | 0:c523920bcc09 | 1751 | return Status; |
johnAlexander | 0:c523920bcc09 | 1752 | } |
johnAlexander | 0:c523920bcc09 | 1753 | |
johnAlexander | 0:c523920bcc09 | 1754 | VL53L0X_Error VL53L0X::VL53L0X_GetDeviceInfo(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 1755 | VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo) |
johnAlexander | 0:c523920bcc09 | 1756 | { |
johnAlexander | 0:c523920bcc09 | 1757 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1758 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 1759 | |
johnAlexander | 0:c523920bcc09 | 1760 | Status = VL53L0X_get_device_info(Dev, pVL53L0X_DeviceInfo); |
johnAlexander | 0:c523920bcc09 | 1761 | |
johnAlexander | 0:c523920bcc09 | 1762 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 1763 | return Status; |
johnAlexander | 0:c523920bcc09 | 1764 | } |
johnAlexander | 0:c523920bcc09 | 1765 | |
johnAlexander | 0:c523920bcc09 | 1766 | VL53L0X_Error VL53L0X::VL53L0X_GetInterruptMaskStatus(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 1767 | uint32_t *pInterruptMaskStatus) |
johnAlexander | 0:c523920bcc09 | 1768 | { |
johnAlexander | 0:c523920bcc09 | 1769 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1770 | uint8_t Byte; |
johnAlexander | 0:c523920bcc09 | 1771 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 1772 | |
johnAlexander | 0:c523920bcc09 | 1773 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte); |
johnAlexander | 0:c523920bcc09 | 1774 | *pInterruptMaskStatus = Byte & 0x07; |
johnAlexander | 0:c523920bcc09 | 1775 | |
johnAlexander | 0:c523920bcc09 | 1776 | if (Byte & 0x18) |
johnAlexander | 0:c523920bcc09 | 1777 | Status = VL53L0X_ERROR_RANGE_ERROR; |
johnAlexander | 0:c523920bcc09 | 1778 | |
johnAlexander | 0:c523920bcc09 | 1779 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 1780 | return Status; |
johnAlexander | 0:c523920bcc09 | 1781 | } |
johnAlexander | 0:c523920bcc09 | 1782 | |
johnAlexander | 0:c523920bcc09 | 1783 | VL53L0X_Error VL53L0X::VL53L0X_GetMeasurementDataReady(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 1784 | uint8_t *pMeasurementDataReady) |
johnAlexander | 0:c523920bcc09 | 1785 | { |
johnAlexander | 0:c523920bcc09 | 1786 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1787 | uint8_t SysRangeStatusRegister; |
johnAlexander | 0:c523920bcc09 | 1788 | uint8_t InterruptConfig; |
johnAlexander | 0:c523920bcc09 | 1789 | uint32_t InterruptMask; |
johnAlexander | 0:c523920bcc09 | 1790 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 1791 | |
johnAlexander | 0:c523920bcc09 | 1792 | InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 1793 | Pin0GpioFunctionality); |
johnAlexander | 0:c523920bcc09 | 1794 | |
johnAlexander | 0:c523920bcc09 | 1795 | if (InterruptConfig == |
johnAlexander | 0:c523920bcc09 | 1796 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) { |
johnAlexander | 0:c523920bcc09 | 1797 | Status = VL53L0X_GetInterruptMaskStatus(Dev, &InterruptMask); |
johnAlexander | 0:c523920bcc09 | 1798 | if (InterruptMask == |
johnAlexander | 0:c523920bcc09 | 1799 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) |
johnAlexander | 0:c523920bcc09 | 1800 | *pMeasurementDataReady = 1; |
johnAlexander | 0:c523920bcc09 | 1801 | else |
johnAlexander | 0:c523920bcc09 | 1802 | *pMeasurementDataReady = 0; |
johnAlexander | 0:c523920bcc09 | 1803 | } else { |
johnAlexander | 0:c523920bcc09 | 1804 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_RANGE_STATUS, |
johnAlexander | 0:c523920bcc09 | 1805 | &SysRangeStatusRegister); |
johnAlexander | 0:c523920bcc09 | 1806 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 1807 | if (SysRangeStatusRegister & 0x01) |
johnAlexander | 0:c523920bcc09 | 1808 | *pMeasurementDataReady = 1; |
johnAlexander | 0:c523920bcc09 | 1809 | else |
johnAlexander | 0:c523920bcc09 | 1810 | *pMeasurementDataReady = 0; |
johnAlexander | 0:c523920bcc09 | 1811 | } |
johnAlexander | 0:c523920bcc09 | 1812 | } |
johnAlexander | 0:c523920bcc09 | 1813 | |
johnAlexander | 0:c523920bcc09 | 1814 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 1815 | return Status; |
johnAlexander | 0:c523920bcc09 | 1816 | } |
johnAlexander | 0:c523920bcc09 | 1817 | |
johnAlexander | 0:c523920bcc09 | 1818 | VL53L0X_Error VL53L0X::VL53L0X_PollingDelay(VL53L0X_DEV Dev) { |
johnAlexander | 0:c523920bcc09 | 1819 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1820 | |
johnAlexander | 0:c523920bcc09 | 1821 | // do nothing |
johnAlexander | 0:c523920bcc09 | 1822 | VL53L0X_OsDelay(); |
johnAlexander | 0:c523920bcc09 | 1823 | return status; |
johnAlexander | 0:c523920bcc09 | 1824 | } |
johnAlexander | 0:c523920bcc09 | 1825 | |
johnAlexander | 0:c523920bcc09 | 1826 | VL53L0X_Error VL53L0X::VL53L0X_measurement_poll_for_completion(VL53L0X_DEV Dev) |
johnAlexander | 0:c523920bcc09 | 1827 | { |
johnAlexander | 0:c523920bcc09 | 1828 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1829 | uint8_t NewDataReady = 0; |
johnAlexander | 0:c523920bcc09 | 1830 | uint32_t LoopNb; |
johnAlexander | 0:c523920bcc09 | 1831 | |
johnAlexander | 0:c523920bcc09 | 1832 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 1833 | |
johnAlexander | 0:c523920bcc09 | 1834 | LoopNb = 0; |
johnAlexander | 0:c523920bcc09 | 1835 | |
johnAlexander | 0:c523920bcc09 | 1836 | do { |
johnAlexander | 0:c523920bcc09 | 1837 | Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDataReady); |
johnAlexander | 0:c523920bcc09 | 1838 | if (Status != 0) |
johnAlexander | 0:c523920bcc09 | 1839 | break; /* the error is set */ |
johnAlexander | 0:c523920bcc09 | 1840 | |
johnAlexander | 0:c523920bcc09 | 1841 | if (NewDataReady == 1) |
johnAlexander | 0:c523920bcc09 | 1842 | break; /* done note that status == 0 */ |
johnAlexander | 0:c523920bcc09 | 1843 | |
johnAlexander | 0:c523920bcc09 | 1844 | LoopNb++; |
johnAlexander | 0:c523920bcc09 | 1845 | if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) { |
johnAlexander | 0:c523920bcc09 | 1846 | Status = VL53L0X_ERROR_TIME_OUT; |
johnAlexander | 0:c523920bcc09 | 1847 | break; |
johnAlexander | 0:c523920bcc09 | 1848 | } |
johnAlexander | 0:c523920bcc09 | 1849 | |
johnAlexander | 0:c523920bcc09 | 1850 | VL53L0X_PollingDelay(Dev); |
johnAlexander | 0:c523920bcc09 | 1851 | } while (1); |
johnAlexander | 0:c523920bcc09 | 1852 | |
johnAlexander | 0:c523920bcc09 | 1853 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 1854 | |
johnAlexander | 0:c523920bcc09 | 1855 | return Status; |
johnAlexander | 0:c523920bcc09 | 1856 | } |
johnAlexander | 0:c523920bcc09 | 1857 | |
johnAlexander | 0:c523920bcc09 | 1858 | /* Group PAL Interrupt Functions */ |
johnAlexander | 0:c523920bcc09 | 1859 | VL53L0X_Error VL53L0X::VL53L0X_ClearInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask) |
johnAlexander | 0:c523920bcc09 | 1860 | { |
johnAlexander | 0:c523920bcc09 | 1861 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1862 | uint8_t LoopCount; |
johnAlexander | 0:c523920bcc09 | 1863 | uint8_t Byte; |
johnAlexander | 0:c523920bcc09 | 1864 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 1865 | |
johnAlexander | 0:c523920bcc09 | 1866 | /* clear bit 0 range interrupt, bit 1 error interrupt */ |
johnAlexander | 0:c523920bcc09 | 1867 | LoopCount = 0; |
johnAlexander | 0:c523920bcc09 | 1868 | do { |
johnAlexander | 0:c523920bcc09 | 1869 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 1870 | VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01); |
johnAlexander | 0:c523920bcc09 | 1871 | Status |= VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 1872 | VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00); |
johnAlexander | 0:c523920bcc09 | 1873 | Status |= VL53L0X_RdByte(Dev, |
johnAlexander | 0:c523920bcc09 | 1874 | VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte); |
johnAlexander | 0:c523920bcc09 | 1875 | LoopCount++; |
johnAlexander | 0:c523920bcc09 | 1876 | } while (((Byte & 0x07) != 0x00) |
johnAlexander | 0:c523920bcc09 | 1877 | && (LoopCount < 3) |
johnAlexander | 0:c523920bcc09 | 1878 | && (Status == VL53L0X_ERROR_NONE)); |
johnAlexander | 0:c523920bcc09 | 1879 | |
johnAlexander | 0:c523920bcc09 | 1880 | |
johnAlexander | 0:c523920bcc09 | 1881 | if (LoopCount >= 3) |
johnAlexander | 0:c523920bcc09 | 1882 | Status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED; |
johnAlexander | 0:c523920bcc09 | 1883 | |
johnAlexander | 0:c523920bcc09 | 1884 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 1885 | return Status; |
johnAlexander | 0:c523920bcc09 | 1886 | } |
johnAlexander | 0:c523920bcc09 | 1887 | |
johnAlexander | 0:c523920bcc09 | 1888 | VL53L0X_Error VL53L0X::VL53L0X_perform_single_ref_calibration(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 1889 | uint8_t vhv_init_byte) |
johnAlexander | 0:c523920bcc09 | 1890 | { |
johnAlexander | 0:c523920bcc09 | 1891 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1892 | |
johnAlexander | 0:c523920bcc09 | 1893 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1894 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, |
johnAlexander | 0:c523920bcc09 | 1895 | VL53L0X_REG_SYSRANGE_MODE_START_STOP | |
johnAlexander | 0:c523920bcc09 | 1896 | vhv_init_byte); |
johnAlexander | 0:c523920bcc09 | 1897 | |
johnAlexander | 0:c523920bcc09 | 1898 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1899 | Status = VL53L0X_measurement_poll_for_completion(Dev); |
johnAlexander | 0:c523920bcc09 | 1900 | |
johnAlexander | 0:c523920bcc09 | 1901 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1902 | Status = VL53L0X_ClearInterruptMask(Dev, 0); |
johnAlexander | 0:c523920bcc09 | 1903 | |
johnAlexander | 0:c523920bcc09 | 1904 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1905 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, 0x00); |
johnAlexander | 0:c523920bcc09 | 1906 | |
johnAlexander | 0:c523920bcc09 | 1907 | return Status; |
johnAlexander | 0:c523920bcc09 | 1908 | } |
johnAlexander | 0:c523920bcc09 | 1909 | |
johnAlexander | 0:c523920bcc09 | 1910 | VL53L0X_Error VL53L0X::VL53L0X_ref_calibration_io(VL53L0X_DEV Dev, uint8_t read_not_write, |
johnAlexander | 0:c523920bcc09 | 1911 | uint8_t VhvSettings, uint8_t PhaseCal, |
johnAlexander | 0:c523920bcc09 | 1912 | uint8_t *pVhvSettings, uint8_t *pPhaseCal, |
johnAlexander | 0:c523920bcc09 | 1913 | const uint8_t vhv_enable, const uint8_t phase_enable) |
johnAlexander | 0:c523920bcc09 | 1914 | { |
johnAlexander | 0:c523920bcc09 | 1915 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1916 | uint8_t PhaseCalint = 0; |
johnAlexander | 0:c523920bcc09 | 1917 | |
johnAlexander | 0:c523920bcc09 | 1918 | /* Read VHV from device */ |
johnAlexander | 0:c523920bcc09 | 1919 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); |
johnAlexander | 0:c523920bcc09 | 1920 | Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); |
johnAlexander | 0:c523920bcc09 | 1921 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
johnAlexander | 0:c523920bcc09 | 1922 | |
johnAlexander | 0:c523920bcc09 | 1923 | if (read_not_write) { |
johnAlexander | 0:c523920bcc09 | 1924 | if (vhv_enable) |
johnAlexander | 0:c523920bcc09 | 1925 | Status |= VL53L0X_RdByte(Dev, 0xCB, pVhvSettings); |
johnAlexander | 0:c523920bcc09 | 1926 | if (phase_enable) |
johnAlexander | 0:c523920bcc09 | 1927 | Status |= VL53L0X_RdByte(Dev, 0xEE, &PhaseCalint); |
johnAlexander | 0:c523920bcc09 | 1928 | } else { |
johnAlexander | 0:c523920bcc09 | 1929 | if (vhv_enable) |
johnAlexander | 0:c523920bcc09 | 1930 | Status |= VL53L0X_WrByte(Dev, 0xCB, VhvSettings); |
johnAlexander | 0:c523920bcc09 | 1931 | if (phase_enable) |
johnAlexander | 0:c523920bcc09 | 1932 | Status |= VL53L0X_UpdateByte(Dev, 0xEE, 0x80, PhaseCal); |
johnAlexander | 0:c523920bcc09 | 1933 | } |
johnAlexander | 0:c523920bcc09 | 1934 | |
johnAlexander | 0:c523920bcc09 | 1935 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); |
johnAlexander | 0:c523920bcc09 | 1936 | Status |= VL53L0X_WrByte(Dev, 0x00, 0x01); |
johnAlexander | 0:c523920bcc09 | 1937 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
johnAlexander | 0:c523920bcc09 | 1938 | |
johnAlexander | 0:c523920bcc09 | 1939 | *pPhaseCal = (uint8_t)(PhaseCalint&0xEF); |
johnAlexander | 0:c523920bcc09 | 1940 | |
johnAlexander | 0:c523920bcc09 | 1941 | return Status; |
johnAlexander | 0:c523920bcc09 | 1942 | } |
johnAlexander | 0:c523920bcc09 | 1943 | |
johnAlexander | 0:c523920bcc09 | 1944 | VL53L0X_Error VL53L0X::VL53L0X_perform_vhv_calibration(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 1945 | uint8_t *pVhvSettings, const uint8_t get_data_enable, |
johnAlexander | 0:c523920bcc09 | 1946 | const uint8_t restore_config) |
johnAlexander | 0:c523920bcc09 | 1947 | { |
johnAlexander | 0:c523920bcc09 | 1948 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1949 | uint8_t SequenceConfig = 0; |
johnAlexander | 0:c523920bcc09 | 1950 | uint8_t VhvSettings = 0; |
johnAlexander | 0:c523920bcc09 | 1951 | uint8_t PhaseCal = 0; |
johnAlexander | 0:c523920bcc09 | 1952 | uint8_t PhaseCalInt = 0; |
johnAlexander | 0:c523920bcc09 | 1953 | |
johnAlexander | 0:c523920bcc09 | 1954 | /* store the value of the sequence config, |
johnAlexander | 0:c523920bcc09 | 1955 | * this will be reset before the end of the function |
johnAlexander | 0:c523920bcc09 | 1956 | */ |
johnAlexander | 0:c523920bcc09 | 1957 | |
johnAlexander | 0:c523920bcc09 | 1958 | if (restore_config) |
johnAlexander | 0:c523920bcc09 | 1959 | SequenceConfig = PALDevDataGet(Dev, SequenceConfig); |
johnAlexander | 0:c523920bcc09 | 1960 | |
johnAlexander | 0:c523920bcc09 | 1961 | /* Run VHV */ |
johnAlexander | 0:c523920bcc09 | 1962 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x01); |
johnAlexander | 0:c523920bcc09 | 1963 | |
johnAlexander | 0:c523920bcc09 | 1964 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1965 | Status = VL53L0X_perform_single_ref_calibration(Dev, 0x40); |
johnAlexander | 0:c523920bcc09 | 1966 | |
johnAlexander | 0:c523920bcc09 | 1967 | /* Read VHV from device */ |
johnAlexander | 0:c523920bcc09 | 1968 | if ((Status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) { |
johnAlexander | 0:c523920bcc09 | 1969 | Status = VL53L0X_ref_calibration_io(Dev, 1, |
johnAlexander | 0:c523920bcc09 | 1970 | VhvSettings, PhaseCal, /* Not used here */ |
johnAlexander | 0:c523920bcc09 | 1971 | pVhvSettings, &PhaseCalInt, |
johnAlexander | 0:c523920bcc09 | 1972 | 1, 0); |
johnAlexander | 0:c523920bcc09 | 1973 | } else |
johnAlexander | 0:c523920bcc09 | 1974 | *pVhvSettings = 0; |
johnAlexander | 0:c523920bcc09 | 1975 | |
johnAlexander | 0:c523920bcc09 | 1976 | |
johnAlexander | 0:c523920bcc09 | 1977 | if ((Status == VL53L0X_ERROR_NONE) && restore_config) { |
johnAlexander | 0:c523920bcc09 | 1978 | /* restore the previous Sequence Config */ |
johnAlexander | 0:c523920bcc09 | 1979 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
johnAlexander | 0:c523920bcc09 | 1980 | SequenceConfig); |
johnAlexander | 0:c523920bcc09 | 1981 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 1982 | PALDevDataSet(Dev, SequenceConfig, SequenceConfig); |
johnAlexander | 0:c523920bcc09 | 1983 | |
johnAlexander | 0:c523920bcc09 | 1984 | } |
johnAlexander | 0:c523920bcc09 | 1985 | |
johnAlexander | 0:c523920bcc09 | 1986 | return Status; |
johnAlexander | 0:c523920bcc09 | 1987 | } |
johnAlexander | 0:c523920bcc09 | 1988 | |
johnAlexander | 0:c523920bcc09 | 1989 | VL53L0X_Error VL53L0X::VL53L0X_perform_phase_calibration(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 1990 | uint8_t *pPhaseCal, const uint8_t get_data_enable, |
johnAlexander | 0:c523920bcc09 | 1991 | const uint8_t restore_config) |
johnAlexander | 0:c523920bcc09 | 1992 | { |
johnAlexander | 0:c523920bcc09 | 1993 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 1994 | uint8_t SequenceConfig = 0; |
johnAlexander | 0:c523920bcc09 | 1995 | uint8_t VhvSettings = 0; |
johnAlexander | 0:c523920bcc09 | 1996 | uint8_t PhaseCal = 0; |
johnAlexander | 0:c523920bcc09 | 1997 | uint8_t VhvSettingsint; |
johnAlexander | 0:c523920bcc09 | 1998 | |
johnAlexander | 0:c523920bcc09 | 1999 | /* store the value of the sequence config, |
johnAlexander | 0:c523920bcc09 | 2000 | * this will be reset before the end of the function |
johnAlexander | 0:c523920bcc09 | 2001 | */ |
johnAlexander | 0:c523920bcc09 | 2002 | |
johnAlexander | 0:c523920bcc09 | 2003 | if (restore_config) |
johnAlexander | 0:c523920bcc09 | 2004 | SequenceConfig = PALDevDataGet(Dev, SequenceConfig); |
johnAlexander | 0:c523920bcc09 | 2005 | |
johnAlexander | 0:c523920bcc09 | 2006 | /* Run PhaseCal */ |
johnAlexander | 0:c523920bcc09 | 2007 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x02); |
johnAlexander | 0:c523920bcc09 | 2008 | |
johnAlexander | 0:c523920bcc09 | 2009 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 2010 | Status = VL53L0X_perform_single_ref_calibration(Dev, 0x0); |
johnAlexander | 0:c523920bcc09 | 2011 | |
johnAlexander | 0:c523920bcc09 | 2012 | /* Read PhaseCal from device */ |
johnAlexander | 0:c523920bcc09 | 2013 | if ((Status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) { |
johnAlexander | 0:c523920bcc09 | 2014 | Status = VL53L0X_ref_calibration_io(Dev, 1, |
johnAlexander | 0:c523920bcc09 | 2015 | VhvSettings, PhaseCal, /* Not used here */ |
johnAlexander | 0:c523920bcc09 | 2016 | &VhvSettingsint, pPhaseCal, |
johnAlexander | 0:c523920bcc09 | 2017 | 0, 1); |
johnAlexander | 0:c523920bcc09 | 2018 | } else |
johnAlexander | 0:c523920bcc09 | 2019 | *pPhaseCal = 0; |
johnAlexander | 0:c523920bcc09 | 2020 | |
johnAlexander | 0:c523920bcc09 | 2021 | |
johnAlexander | 0:c523920bcc09 | 2022 | if ((Status == VL53L0X_ERROR_NONE) && restore_config) { |
johnAlexander | 0:c523920bcc09 | 2023 | /* restore the previous Sequence Config */ |
johnAlexander | 0:c523920bcc09 | 2024 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
johnAlexander | 0:c523920bcc09 | 2025 | SequenceConfig); |
johnAlexander | 0:c523920bcc09 | 2026 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 2027 | PALDevDataSet(Dev, SequenceConfig, SequenceConfig); |
johnAlexander | 0:c523920bcc09 | 2028 | |
johnAlexander | 0:c523920bcc09 | 2029 | } |
johnAlexander | 0:c523920bcc09 | 2030 | |
johnAlexander | 0:c523920bcc09 | 2031 | return Status; |
johnAlexander | 0:c523920bcc09 | 2032 | } |
johnAlexander | 0:c523920bcc09 | 2033 | |
johnAlexander | 0:c523920bcc09 | 2034 | VL53L0X_Error VL53L0X::VL53L0X_perform_ref_calibration(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 2035 | uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable) |
johnAlexander | 0:c523920bcc09 | 2036 | { |
johnAlexander | 0:c523920bcc09 | 2037 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 2038 | uint8_t SequenceConfig = 0; |
johnAlexander | 0:c523920bcc09 | 2039 | |
johnAlexander | 0:c523920bcc09 | 2040 | /* store the value of the sequence config, |
johnAlexander | 0:c523920bcc09 | 2041 | * this will be reset before the end of the function |
johnAlexander | 0:c523920bcc09 | 2042 | */ |
johnAlexander | 0:c523920bcc09 | 2043 | |
johnAlexander | 0:c523920bcc09 | 2044 | SequenceConfig = PALDevDataGet(Dev, SequenceConfig); |
johnAlexander | 0:c523920bcc09 | 2045 | |
johnAlexander | 0:c523920bcc09 | 2046 | /* In the following function we don't save the config to optimize |
johnAlexander | 0:c523920bcc09 | 2047 | * writes on device. Config is saved and restored only once. */ |
johnAlexander | 0:c523920bcc09 | 2048 | Status = VL53L0X_perform_vhv_calibration( |
johnAlexander | 0:c523920bcc09 | 2049 | Dev, pVhvSettings, get_data_enable, 0); |
johnAlexander | 0:c523920bcc09 | 2050 | |
johnAlexander | 0:c523920bcc09 | 2051 | |
johnAlexander | 0:c523920bcc09 | 2052 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 2053 | Status = VL53L0X_perform_phase_calibration( |
johnAlexander | 0:c523920bcc09 | 2054 | Dev, pPhaseCal, get_data_enable, 0); |
johnAlexander | 0:c523920bcc09 | 2055 | |
johnAlexander | 0:c523920bcc09 | 2056 | |
johnAlexander | 0:c523920bcc09 | 2057 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 2058 | /* restore the previous Sequence Config */ |
johnAlexander | 0:c523920bcc09 | 2059 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
johnAlexander | 0:c523920bcc09 | 2060 | SequenceConfig); |
johnAlexander | 0:c523920bcc09 | 2061 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 2062 | PALDevDataSet(Dev, SequenceConfig, SequenceConfig); |
johnAlexander | 0:c523920bcc09 | 2063 | |
johnAlexander | 0:c523920bcc09 | 2064 | } |
johnAlexander | 0:c523920bcc09 | 2065 | |
johnAlexander | 0:c523920bcc09 | 2066 | return Status; |
johnAlexander | 0:c523920bcc09 | 2067 | } |
johnAlexander | 0:c523920bcc09 | 2068 | |
johnAlexander | 0:c523920bcc09 | 2069 | void VL53L0X::get_next_good_spad(uint8_t goodSpadArray[], uint32_t size, |
johnAlexander | 0:c523920bcc09 | 2070 | uint32_t curr, int32_t *next) |
johnAlexander | 0:c523920bcc09 | 2071 | { |
johnAlexander | 0:c523920bcc09 | 2072 | uint32_t startIndex; |
johnAlexander | 0:c523920bcc09 | 2073 | uint32_t fineOffset; |
johnAlexander | 0:c523920bcc09 | 2074 | uint32_t cSpadsPerByte = 8; |
johnAlexander | 0:c523920bcc09 | 2075 | uint32_t coarseIndex; |
johnAlexander | 0:c523920bcc09 | 2076 | uint32_t fineIndex; |
johnAlexander | 0:c523920bcc09 | 2077 | uint8_t dataByte; |
johnAlexander | 0:c523920bcc09 | 2078 | uint8_t success = 0; |
johnAlexander | 0:c523920bcc09 | 2079 | |
johnAlexander | 0:c523920bcc09 | 2080 | /* |
johnAlexander | 0:c523920bcc09 | 2081 | * Starting with the current good spad, loop through the array to find |
johnAlexander | 0:c523920bcc09 | 2082 | * the next. i.e. the next bit set in the sequence. |
johnAlexander | 0:c523920bcc09 | 2083 | * |
johnAlexander | 0:c523920bcc09 | 2084 | * The coarse index is the byte index of the array and the fine index is |
johnAlexander | 0:c523920bcc09 | 2085 | * the index of the bit within each byte. |
johnAlexander | 0:c523920bcc09 | 2086 | */ |
johnAlexander | 0:c523920bcc09 | 2087 | |
johnAlexander | 0:c523920bcc09 | 2088 | *next = -1; |
johnAlexander | 0:c523920bcc09 | 2089 | |
johnAlexander | 0:c523920bcc09 | 2090 | startIndex = curr / cSpadsPerByte; |
johnAlexander | 0:c523920bcc09 | 2091 | fineOffset = curr % cSpadsPerByte; |
johnAlexander | 0:c523920bcc09 | 2092 | |
johnAlexander | 0:c523920bcc09 | 2093 | for (coarseIndex = startIndex; ((coarseIndex < size) && !success); |
johnAlexander | 0:c523920bcc09 | 2094 | coarseIndex++) { |
johnAlexander | 0:c523920bcc09 | 2095 | fineIndex = 0; |
johnAlexander | 0:c523920bcc09 | 2096 | dataByte = goodSpadArray[coarseIndex]; |
johnAlexander | 0:c523920bcc09 | 2097 | |
johnAlexander | 0:c523920bcc09 | 2098 | if (coarseIndex == startIndex) { |
johnAlexander | 0:c523920bcc09 | 2099 | /* locate the bit position of the provided current |
johnAlexander | 0:c523920bcc09 | 2100 | * spad bit before iterating */ |
johnAlexander | 0:c523920bcc09 | 2101 | dataByte >>= fineOffset; |
johnAlexander | 0:c523920bcc09 | 2102 | fineIndex = fineOffset; |
johnAlexander | 0:c523920bcc09 | 2103 | } |
johnAlexander | 0:c523920bcc09 | 2104 | |
johnAlexander | 0:c523920bcc09 | 2105 | while (fineIndex < cSpadsPerByte) { |
johnAlexander | 0:c523920bcc09 | 2106 | if ((dataByte & 0x1) == 1) { |
johnAlexander | 0:c523920bcc09 | 2107 | success = 1; |
johnAlexander | 0:c523920bcc09 | 2108 | *next = coarseIndex * cSpadsPerByte + fineIndex; |
johnAlexander | 0:c523920bcc09 | 2109 | break; |
johnAlexander | 0:c523920bcc09 | 2110 | } |
johnAlexander | 0:c523920bcc09 | 2111 | dataByte >>= 1; |
johnAlexander | 0:c523920bcc09 | 2112 | fineIndex++; |
johnAlexander | 0:c523920bcc09 | 2113 | } |
johnAlexander | 0:c523920bcc09 | 2114 | } |
johnAlexander | 0:c523920bcc09 | 2115 | } |
johnAlexander | 0:c523920bcc09 | 2116 | |
johnAlexander | 0:c523920bcc09 | 2117 | uint8_t VL53L0X::is_aperture(uint32_t spadIndex) |
johnAlexander | 0:c523920bcc09 | 2118 | { |
johnAlexander | 0:c523920bcc09 | 2119 | /* |
johnAlexander | 0:c523920bcc09 | 2120 | * This function reports if a given spad index is an aperture SPAD by |
johnAlexander | 0:c523920bcc09 | 2121 | * deriving the quadrant. |
johnAlexander | 0:c523920bcc09 | 2122 | */ |
johnAlexander | 0:c523920bcc09 | 2123 | uint32_t quadrant; |
johnAlexander | 0:c523920bcc09 | 2124 | uint8_t isAperture = 1; |
johnAlexander | 0:c523920bcc09 | 2125 | quadrant = spadIndex >> 6; |
johnAlexander | 0:c523920bcc09 | 2126 | if (refArrayQuadrants[quadrant] == REF_ARRAY_SPAD_0) |
johnAlexander | 0:c523920bcc09 | 2127 | isAperture = 0; |
johnAlexander | 0:c523920bcc09 | 2128 | |
johnAlexander | 0:c523920bcc09 | 2129 | return isAperture; |
johnAlexander | 0:c523920bcc09 | 2130 | } |
johnAlexander | 0:c523920bcc09 | 2131 | |
johnAlexander | 0:c523920bcc09 | 2132 | VL53L0X_Error VL53L0X::enable_spad_bit(uint8_t spadArray[], uint32_t size, |
johnAlexander | 0:c523920bcc09 | 2133 | uint32_t spadIndex) |
johnAlexander | 0:c523920bcc09 | 2134 | { |
johnAlexander | 0:c523920bcc09 | 2135 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 2136 | uint32_t cSpadsPerByte = 8; |
johnAlexander | 0:c523920bcc09 | 2137 | uint32_t coarseIndex; |
johnAlexander | 0:c523920bcc09 | 2138 | uint32_t fineIndex; |
johnAlexander | 0:c523920bcc09 | 2139 | |
johnAlexander | 0:c523920bcc09 | 2140 | coarseIndex = spadIndex / cSpadsPerByte; |
johnAlexander | 0:c523920bcc09 | 2141 | fineIndex = spadIndex % cSpadsPerByte; |
johnAlexander | 0:c523920bcc09 | 2142 | if (coarseIndex >= size) |
johnAlexander | 0:c523920bcc09 | 2143 | status = VL53L0X_ERROR_REF_SPAD_INIT; |
johnAlexander | 0:c523920bcc09 | 2144 | else |
johnAlexander | 0:c523920bcc09 | 2145 | spadArray[coarseIndex] |= (1 << fineIndex); |
johnAlexander | 0:c523920bcc09 | 2146 | |
johnAlexander | 0:c523920bcc09 | 2147 | return status; |
johnAlexander | 0:c523920bcc09 | 2148 | } |
johnAlexander | 0:c523920bcc09 | 2149 | |
johnAlexander | 0:c523920bcc09 | 2150 | VL53L0X_Error VL53L0X::set_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray) |
johnAlexander | 0:c523920bcc09 | 2151 | { |
johnAlexander | 0:c523920bcc09 | 2152 | VL53L0X_Error status = VL53L0X_WriteMulti(Dev, |
johnAlexander | 0:c523920bcc09 | 2153 | VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0, |
johnAlexander | 0:c523920bcc09 | 2154 | refSpadArray, 6); |
johnAlexander | 0:c523920bcc09 | 2155 | |
johnAlexander | 0:c523920bcc09 | 2156 | return status; |
johnAlexander | 0:c523920bcc09 | 2157 | } |
johnAlexander | 0:c523920bcc09 | 2158 | |
johnAlexander | 0:c523920bcc09 | 2159 | VL53L0X_Error VL53L0X::get_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray) |
johnAlexander | 0:c523920bcc09 | 2160 | { |
johnAlexander | 0:c523920bcc09 | 2161 | VL53L0X_Error status = VL53L0X_ReadMulti(Dev, |
johnAlexander | 0:c523920bcc09 | 2162 | VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0, |
johnAlexander | 0:c523920bcc09 | 2163 | refSpadArray, |
johnAlexander | 0:c523920bcc09 | 2164 | 6); |
johnAlexander | 0:c523920bcc09 | 2165 | // VL53L0X_Error status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 2166 | // uint8_t count=0; |
johnAlexander | 0:c523920bcc09 | 2167 | |
johnAlexander | 0:c523920bcc09 | 2168 | // for (count = 0; count < 6; count++) |
johnAlexander | 0:c523920bcc09 | 2169 | // status = VL53L0X_RdByte(Dev, (VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 + count), &refSpadArray[count]); |
johnAlexander | 0:c523920bcc09 | 2170 | return status; |
johnAlexander | 0:c523920bcc09 | 2171 | } |
johnAlexander | 0:c523920bcc09 | 2172 | |
johnAlexander | 0:c523920bcc09 | 2173 | VL53L0X_Error VL53L0X::enable_ref_spads(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 2174 | uint8_t apertureSpads, |
johnAlexander | 0:c523920bcc09 | 2175 | uint8_t goodSpadArray[], |
johnAlexander | 0:c523920bcc09 | 2176 | uint8_t spadArray[], |
johnAlexander | 0:c523920bcc09 | 2177 | uint32_t size, |
johnAlexander | 0:c523920bcc09 | 2178 | uint32_t start, |
johnAlexander | 0:c523920bcc09 | 2179 | uint32_t offset, |
johnAlexander | 0:c523920bcc09 | 2180 | uint32_t spadCount, |
johnAlexander | 0:c523920bcc09 | 2181 | uint32_t *lastSpad) |
johnAlexander | 0:c523920bcc09 | 2182 | { |
johnAlexander | 0:c523920bcc09 | 2183 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 2184 | uint32_t index; |
johnAlexander | 0:c523920bcc09 | 2185 | uint32_t i; |
johnAlexander | 0:c523920bcc09 | 2186 | int32_t nextGoodSpad = offset; |
johnAlexander | 0:c523920bcc09 | 2187 | uint32_t currentSpad; |
johnAlexander | 0:c523920bcc09 | 2188 | uint8_t checkSpadArray[6]; |
johnAlexander | 0:c523920bcc09 | 2189 | |
johnAlexander | 0:c523920bcc09 | 2190 | /* |
johnAlexander | 0:c523920bcc09 | 2191 | * This function takes in a spad array which may or may not have SPADS |
johnAlexander | 0:c523920bcc09 | 2192 | * already enabled and appends from a given offset a requested number |
johnAlexander | 0:c523920bcc09 | 2193 | * of new SPAD enables. The 'good spad map' is applied to |
johnAlexander | 0:c523920bcc09 | 2194 | * determine the next SPADs to enable. |
johnAlexander | 0:c523920bcc09 | 2195 | * |
johnAlexander | 0:c523920bcc09 | 2196 | * This function applies to only aperture or only non-aperture spads. |
johnAlexander | 0:c523920bcc09 | 2197 | * Checks are performed to ensure this. |
johnAlexander | 0:c523920bcc09 | 2198 | */ |
johnAlexander | 0:c523920bcc09 | 2199 | |
johnAlexander | 0:c523920bcc09 | 2200 | currentSpad = offset; |
johnAlexander | 0:c523920bcc09 | 2201 | for (index = 0; index < spadCount; index++) { |
johnAlexander | 0:c523920bcc09 | 2202 | get_next_good_spad(goodSpadArray, size, currentSpad, |
johnAlexander | 0:c523920bcc09 | 2203 | &nextGoodSpad); |
johnAlexander | 0:c523920bcc09 | 2204 | |
johnAlexander | 0:c523920bcc09 | 2205 | if (nextGoodSpad == -1) { |
johnAlexander | 0:c523920bcc09 | 2206 | status = VL53L0X_ERROR_REF_SPAD_INIT; |
johnAlexander | 0:c523920bcc09 | 2207 | break; |
johnAlexander | 0:c523920bcc09 | 2208 | } |
johnAlexander | 0:c523920bcc09 | 2209 | |
johnAlexander | 0:c523920bcc09 | 2210 | /* Confirm that the next good SPAD is non-aperture */ |
johnAlexander | 0:c523920bcc09 | 2211 | if (is_aperture(start + nextGoodSpad) != apertureSpads) { |
johnAlexander | 0:c523920bcc09 | 2212 | /* if we can't get the required number of good aperture |
johnAlexander | 0:c523920bcc09 | 2213 | * spads from the current quadrant then this is an error |
johnAlexander | 0:c523920bcc09 | 2214 | */ |
johnAlexander | 0:c523920bcc09 | 2215 | status = VL53L0X_ERROR_REF_SPAD_INIT; |
johnAlexander | 0:c523920bcc09 | 2216 | break; |
johnAlexander | 0:c523920bcc09 | 2217 | } |
johnAlexander | 0:c523920bcc09 | 2218 | currentSpad = (uint32_t)nextGoodSpad; |
johnAlexander | 0:c523920bcc09 | 2219 | enable_spad_bit(spadArray, size, currentSpad); |
johnAlexander | 0:c523920bcc09 | 2220 | currentSpad++; |
johnAlexander | 0:c523920bcc09 | 2221 | } |
johnAlexander | 0:c523920bcc09 | 2222 | *lastSpad = currentSpad; |
johnAlexander | 0:c523920bcc09 | 2223 | |
johnAlexander | 0:c523920bcc09 | 2224 | if (status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 2225 | status = set_ref_spad_map(Dev, spadArray); |
johnAlexander | 0:c523920bcc09 | 2226 | |
johnAlexander | 0:c523920bcc09 | 2227 | |
johnAlexander | 0:c523920bcc09 | 2228 | if (status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 2229 | status = get_ref_spad_map(Dev, checkSpadArray); |
johnAlexander | 0:c523920bcc09 | 2230 | |
johnAlexander | 0:c523920bcc09 | 2231 | i = 0; |
johnAlexander | 0:c523920bcc09 | 2232 | |
johnAlexander | 0:c523920bcc09 | 2233 | /* Compare spad maps. If not equal report error. */ |
johnAlexander | 0:c523920bcc09 | 2234 | while (i < size) { |
johnAlexander | 0:c523920bcc09 | 2235 | if (spadArray[i] != checkSpadArray[i]) { |
johnAlexander | 0:c523920bcc09 | 2236 | status = VL53L0X_ERROR_REF_SPAD_INIT; |
johnAlexander | 0:c523920bcc09 | 2237 | break; |
johnAlexander | 0:c523920bcc09 | 2238 | } |
johnAlexander | 0:c523920bcc09 | 2239 | i++; |
johnAlexander | 0:c523920bcc09 | 2240 | } |
johnAlexander | 0:c523920bcc09 | 2241 | } |
johnAlexander | 0:c523920bcc09 | 2242 | return status; |
johnAlexander | 0:c523920bcc09 | 2243 | } |
johnAlexander | 0:c523920bcc09 | 2244 | |
johnAlexander | 0:c523920bcc09 | 2245 | VL53L0X_Error VL53L0X::VL53L0X_SetDeviceMode(VL53L0X_DEV Dev, VL53L0X_DeviceModes DeviceMode) |
johnAlexander | 0:c523920bcc09 | 2246 | { |
johnAlexander | 0:c523920bcc09 | 2247 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 2248 | |
johnAlexander | 0:c523920bcc09 | 2249 | LOG_FUNCTION_START("%d", (int)DeviceMode); |
johnAlexander | 0:c523920bcc09 | 2250 | |
johnAlexander | 0:c523920bcc09 | 2251 | switch (DeviceMode) { |
johnAlexander | 0:c523920bcc09 | 2252 | case VL53L0X_DEVICEMODE_SINGLE_RANGING: |
johnAlexander | 0:c523920bcc09 | 2253 | case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING: |
johnAlexander | 0:c523920bcc09 | 2254 | case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING: |
johnAlexander | 0:c523920bcc09 | 2255 | case VL53L0X_DEVICEMODE_GPIO_DRIVE: |
johnAlexander | 0:c523920bcc09 | 2256 | case VL53L0X_DEVICEMODE_GPIO_OSC: |
johnAlexander | 0:c523920bcc09 | 2257 | /* Supported modes */ |
johnAlexander | 0:c523920bcc09 | 2258 | VL53L0X_SETPARAMETERFIELD(Dev, DeviceMode, DeviceMode); |
johnAlexander | 0:c523920bcc09 | 2259 | break; |
johnAlexander | 0:c523920bcc09 | 2260 | default: |
johnAlexander | 0:c523920bcc09 | 2261 | /* Unsupported mode */ |
johnAlexander | 0:c523920bcc09 | 2262 | Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; |
johnAlexander | 0:c523920bcc09 | 2263 | } |
johnAlexander | 0:c523920bcc09 | 2264 | |
johnAlexander | 0:c523920bcc09 | 2265 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 2266 | return Status; |
johnAlexander | 0:c523920bcc09 | 2267 | } |
johnAlexander | 0:c523920bcc09 | 2268 | |
johnAlexander | 0:c523920bcc09 | 2269 | VL53L0X_Error VL53L0X::VL53L0X_GetInterruptThresholds(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 2270 | VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow, |
johnAlexander | 0:c523920bcc09 | 2271 | FixPoint1616_t *pThresholdHigh) |
johnAlexander | 0:c523920bcc09 | 2272 | { |
johnAlexander | 0:c523920bcc09 | 2273 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 2274 | uint16_t Threshold16; |
johnAlexander | 0:c523920bcc09 | 2275 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 2276 | |
johnAlexander | 0:c523920bcc09 | 2277 | /* no dependency on DeviceMode for Ewok */ |
johnAlexander | 0:c523920bcc09 | 2278 | |
johnAlexander | 0:c523920bcc09 | 2279 | Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_LOW, &Threshold16); |
johnAlexander | 0:c523920bcc09 | 2280 | /* Need to multiply by 2 because the FW will apply a x2 */ |
johnAlexander | 0:c523920bcc09 | 2281 | *pThresholdLow = (FixPoint1616_t)((0x00fff & Threshold16) << 17); |
johnAlexander | 0:c523920bcc09 | 2282 | |
johnAlexander | 0:c523920bcc09 | 2283 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 2284 | Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH, |
johnAlexander | 0:c523920bcc09 | 2285 | &Threshold16); |
johnAlexander | 0:c523920bcc09 | 2286 | /* Need to multiply by 2 because the FW will apply a x2 */ |
johnAlexander | 0:c523920bcc09 | 2287 | *pThresholdHigh = |
johnAlexander | 0:c523920bcc09 | 2288 | (FixPoint1616_t)((0x00fff & Threshold16) << 17); |
johnAlexander | 0:c523920bcc09 | 2289 | } |
johnAlexander | 0:c523920bcc09 | 2290 | |
johnAlexander | 0:c523920bcc09 | 2291 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 2292 | return Status; |
johnAlexander | 0:c523920bcc09 | 2293 | } |
johnAlexander | 0:c523920bcc09 | 2294 | |
johnAlexander | 0:c523920bcc09 | 2295 | VL53L0X_Error VL53L0X::VL53L0X_load_tuning_settings(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 2296 | uint8_t *pTuningSettingBuffer) |
johnAlexander | 0:c523920bcc09 | 2297 | { |
johnAlexander | 0:c523920bcc09 | 2298 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 2299 | int i; |
johnAlexander | 0:c523920bcc09 | 2300 | int Index; |
johnAlexander | 0:c523920bcc09 | 2301 | uint8_t msb; |
johnAlexander | 0:c523920bcc09 | 2302 | uint8_t lsb; |
johnAlexander | 0:c523920bcc09 | 2303 | uint8_t SelectParam; |
johnAlexander | 0:c523920bcc09 | 2304 | uint8_t NumberOfWrites; |
johnAlexander | 0:c523920bcc09 | 2305 | uint8_t Address; |
johnAlexander | 0:c523920bcc09 | 2306 | uint8_t localBuffer[4]; /* max */ |
johnAlexander | 0:c523920bcc09 | 2307 | uint16_t Temp16; |
johnAlexander | 0:c523920bcc09 | 2308 | |
johnAlexander | 0:c523920bcc09 | 2309 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 2310 | |
johnAlexander | 0:c523920bcc09 | 2311 | Index = 0; |
johnAlexander | 0:c523920bcc09 | 2312 | |
johnAlexander | 0:c523920bcc09 | 2313 | while ((*(pTuningSettingBuffer + Index) != 0) && |
johnAlexander | 0:c523920bcc09 | 2314 | (Status == VL53L0X_ERROR_NONE)) { |
johnAlexander | 0:c523920bcc09 | 2315 | NumberOfWrites = *(pTuningSettingBuffer + Index); |
johnAlexander | 0:c523920bcc09 | 2316 | Index++; |
johnAlexander | 0:c523920bcc09 | 2317 | if (NumberOfWrites == 0xFF) { |
johnAlexander | 0:c523920bcc09 | 2318 | /* internal parameters */ |
johnAlexander | 0:c523920bcc09 | 2319 | SelectParam = *(pTuningSettingBuffer + Index); |
johnAlexander | 0:c523920bcc09 | 2320 | Index++; |
johnAlexander | 0:c523920bcc09 | 2321 | switch (SelectParam) { |
johnAlexander | 0:c523920bcc09 | 2322 | case 0: /* uint16_t SigmaEstRefArray -> 2 bytes */ |
johnAlexander | 0:c523920bcc09 | 2323 | msb = *(pTuningSettingBuffer + Index); |
johnAlexander | 0:c523920bcc09 | 2324 | Index++; |
johnAlexander | 0:c523920bcc09 | 2325 | lsb = *(pTuningSettingBuffer + Index); |
johnAlexander | 0:c523920bcc09 | 2326 | Index++; |
johnAlexander | 0:c523920bcc09 | 2327 | Temp16 = VL53L0X_MAKEUINT16(lsb, msb); |
johnAlexander | 0:c523920bcc09 | 2328 | PALDevDataSet(Dev, SigmaEstRefArray, Temp16); |
johnAlexander | 0:c523920bcc09 | 2329 | break; |
johnAlexander | 0:c523920bcc09 | 2330 | case 1: /* uint16_t SigmaEstEffPulseWidth -> 2 bytes */ |
johnAlexander | 0:c523920bcc09 | 2331 | msb = *(pTuningSettingBuffer + Index); |
johnAlexander | 0:c523920bcc09 | 2332 | Index++; |
johnAlexander | 0:c523920bcc09 | 2333 | lsb = *(pTuningSettingBuffer + Index); |
johnAlexander | 0:c523920bcc09 | 2334 | Index++; |
johnAlexander | 0:c523920bcc09 | 2335 | Temp16 = VL53L0X_MAKEUINT16(lsb, msb); |
johnAlexander | 0:c523920bcc09 | 2336 | PALDevDataSet(Dev, SigmaEstEffPulseWidth, |
johnAlexander | 0:c523920bcc09 | 2337 | Temp16); |
johnAlexander | 0:c523920bcc09 | 2338 | break; |
johnAlexander | 0:c523920bcc09 | 2339 | case 2: /* uint16_t SigmaEstEffAmbWidth -> 2 bytes */ |
johnAlexander | 0:c523920bcc09 | 2340 | msb = *(pTuningSettingBuffer + Index); |
johnAlexander | 0:c523920bcc09 | 2341 | Index++; |
johnAlexander | 0:c523920bcc09 | 2342 | lsb = *(pTuningSettingBuffer + Index); |
johnAlexander | 0:c523920bcc09 | 2343 | Index++; |
johnAlexander | 0:c523920bcc09 | 2344 | Temp16 = VL53L0X_MAKEUINT16(lsb, msb); |
johnAlexander | 0:c523920bcc09 | 2345 | PALDevDataSet(Dev, SigmaEstEffAmbWidth, Temp16); |
johnAlexander | 0:c523920bcc09 | 2346 | break; |
johnAlexander | 0:c523920bcc09 | 2347 | case 3: /* uint16_t targetRefRate -> 2 bytes */ |
johnAlexander | 0:c523920bcc09 | 2348 | msb = *(pTuningSettingBuffer + Index); |
johnAlexander | 0:c523920bcc09 | 2349 | Index++; |
johnAlexander | 0:c523920bcc09 | 2350 | lsb = *(pTuningSettingBuffer + Index); |
johnAlexander | 0:c523920bcc09 | 2351 | Index++; |
johnAlexander | 0:c523920bcc09 | 2352 | Temp16 = VL53L0X_MAKEUINT16(lsb, msb); |
johnAlexander | 0:c523920bcc09 | 2353 | PALDevDataSet(Dev, targetRefRate, Temp16); |
johnAlexander | 0:c523920bcc09 | 2354 | break; |
johnAlexander | 0:c523920bcc09 | 2355 | default: /* invalid parameter */ |
johnAlexander | 0:c523920bcc09 | 2356 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 2357 | } |
johnAlexander | 0:c523920bcc09 | 2358 | |
johnAlexander | 0:c523920bcc09 | 2359 | } else if (NumberOfWrites <= 4) { |
johnAlexander | 0:c523920bcc09 | 2360 | Address = *(pTuningSettingBuffer + Index); |
johnAlexander | 0:c523920bcc09 | 2361 | Index++; |
johnAlexander | 0:c523920bcc09 | 2362 | |
johnAlexander | 0:c523920bcc09 | 2363 | for (i = 0; i < NumberOfWrites; i++) { |
johnAlexander | 0:c523920bcc09 | 2364 | localBuffer[i] = *(pTuningSettingBuffer + |
johnAlexander | 0:c523920bcc09 | 2365 | Index); |
johnAlexander | 0:c523920bcc09 | 2366 | Index++; |
johnAlexander | 0:c523920bcc09 | 2367 | } |
johnAlexander | 0:c523920bcc09 | 2368 | |
johnAlexander | 0:c523920bcc09 | 2369 | Status = VL53L0X_WriteMulti(Dev, Address, localBuffer, |
johnAlexander | 0:c523920bcc09 | 2370 | NumberOfWrites); |
johnAlexander | 0:c523920bcc09 | 2371 | |
johnAlexander | 0:c523920bcc09 | 2372 | } else { |
johnAlexander | 0:c523920bcc09 | 2373 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 2374 | } |
johnAlexander | 0:c523920bcc09 | 2375 | } |
johnAlexander | 0:c523920bcc09 | 2376 | |
johnAlexander | 0:c523920bcc09 | 2377 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 2378 | return Status; |
johnAlexander | 0:c523920bcc09 | 2379 | } |
johnAlexander | 0:c523920bcc09 | 2380 | |
johnAlexander | 0:c523920bcc09 | 2381 | VL53L0X_Error VL53L0X::VL53L0X_CheckAndLoadInterruptSettings(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 2382 | uint8_t StartNotStopFlag) |
johnAlexander | 0:c523920bcc09 | 2383 | { |
johnAlexander | 0:c523920bcc09 | 2384 | uint8_t InterruptConfig; |
johnAlexander | 0:c523920bcc09 | 2385 | FixPoint1616_t ThresholdLow; |
johnAlexander | 0:c523920bcc09 | 2386 | FixPoint1616_t ThresholdHigh; |
johnAlexander | 0:c523920bcc09 | 2387 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 2388 | |
johnAlexander | 0:c523920bcc09 | 2389 | InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 2390 | Pin0GpioFunctionality); |
johnAlexander | 0:c523920bcc09 | 2391 | |
johnAlexander | 0:c523920bcc09 | 2392 | if ((InterruptConfig == |
johnAlexander | 0:c523920bcc09 | 2393 | VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) || |
johnAlexander | 0:c523920bcc09 | 2394 | (InterruptConfig == |
johnAlexander | 0:c523920bcc09 | 2395 | VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) || |
johnAlexander | 0:c523920bcc09 | 2396 | (InterruptConfig == |
johnAlexander | 0:c523920bcc09 | 2397 | VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) { |
johnAlexander | 0:c523920bcc09 | 2398 | |
johnAlexander | 0:c523920bcc09 | 2399 | Status = VL53L0X_GetInterruptThresholds(Dev, |
johnAlexander | 0:c523920bcc09 | 2400 | VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, |
johnAlexander | 0:c523920bcc09 | 2401 | &ThresholdLow, &ThresholdHigh); |
johnAlexander | 0:c523920bcc09 | 2402 | |
johnAlexander | 0:c523920bcc09 | 2403 | if (((ThresholdLow > 255*65536) || |
johnAlexander | 0:c523920bcc09 | 2404 | (ThresholdHigh > 255*65536)) && |
johnAlexander | 0:c523920bcc09 | 2405 | (Status == VL53L0X_ERROR_NONE)) { |
johnAlexander | 0:c523920bcc09 | 2406 | |
johnAlexander | 0:c523920bcc09 | 2407 | if (StartNotStopFlag != 0) { |
johnAlexander | 0:c523920bcc09 | 2408 | Status = VL53L0X_load_tuning_settings(Dev, |
johnAlexander | 0:c523920bcc09 | 2409 | InterruptThresholdSettings); |
johnAlexander | 0:c523920bcc09 | 2410 | } else { |
johnAlexander | 0:c523920bcc09 | 2411 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x04); |
johnAlexander | 0:c523920bcc09 | 2412 | Status |= VL53L0X_WrByte(Dev, 0x70, 0x00); |
johnAlexander | 0:c523920bcc09 | 2413 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
johnAlexander | 0:c523920bcc09 | 2414 | Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); |
johnAlexander | 0:c523920bcc09 | 2415 | } |
johnAlexander | 0:c523920bcc09 | 2416 | |
johnAlexander | 0:c523920bcc09 | 2417 | } |
johnAlexander | 0:c523920bcc09 | 2418 | |
johnAlexander | 0:c523920bcc09 | 2419 | |
johnAlexander | 0:c523920bcc09 | 2420 | } |
johnAlexander | 0:c523920bcc09 | 2421 | |
johnAlexander | 0:c523920bcc09 | 2422 | return Status; |
johnAlexander | 0:c523920bcc09 | 2423 | |
johnAlexander | 0:c523920bcc09 | 2424 | } |
johnAlexander | 0:c523920bcc09 | 2425 | |
johnAlexander | 0:c523920bcc09 | 2426 | VL53L0X_Error VL53L0X::VL53L0X_StartMeasurement(VL53L0X_DEV Dev) |
johnAlexander | 0:c523920bcc09 | 2427 | { |
johnAlexander | 0:c523920bcc09 | 2428 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 2429 | VL53L0X_DeviceModes DeviceMode; |
johnAlexander | 0:c523920bcc09 | 2430 | uint8_t Byte; |
johnAlexander | 0:c523920bcc09 | 2431 | uint8_t StartStopByte = VL53L0X_REG_SYSRANGE_MODE_START_STOP; |
johnAlexander | 0:c523920bcc09 | 2432 | uint32_t LoopNb; |
johnAlexander | 0:c523920bcc09 | 2433 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 2434 | |
johnAlexander | 0:c523920bcc09 | 2435 | /* Get Current DeviceMode */ |
johnAlexander | 0:c523920bcc09 | 2436 | VL53L0X_GetDeviceMode(Dev, &DeviceMode); |
johnAlexander | 0:c523920bcc09 | 2437 | |
johnAlexander | 0:c523920bcc09 | 2438 | Status = VL53L0X_WrByte(Dev, 0x80, 0x01); |
johnAlexander | 0:c523920bcc09 | 2439 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
johnAlexander | 0:c523920bcc09 | 2440 | Status = VL53L0X_WrByte(Dev, 0x00, 0x00); |
johnAlexander | 0:c523920bcc09 | 2441 | Status = VL53L0X_WrByte(Dev, 0x91, PALDevDataGet(Dev, StopVariable)); |
johnAlexander | 0:c523920bcc09 | 2442 | Status = VL53L0X_WrByte(Dev, 0x00, 0x01); |
johnAlexander | 0:c523920bcc09 | 2443 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
johnAlexander | 0:c523920bcc09 | 2444 | Status = VL53L0X_WrByte(Dev, 0x80, 0x00); |
johnAlexander | 0:c523920bcc09 | 2445 | |
johnAlexander | 0:c523920bcc09 | 2446 | switch (DeviceMode) { |
johnAlexander | 0:c523920bcc09 | 2447 | case VL53L0X_DEVICEMODE_SINGLE_RANGING: |
johnAlexander | 0:c523920bcc09 | 2448 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, 0x01); |
johnAlexander | 0:c523920bcc09 | 2449 | |
johnAlexander | 0:c523920bcc09 | 2450 | Byte = StartStopByte; |
johnAlexander | 0:c523920bcc09 | 2451 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 2452 | /* Wait until start bit has been cleared */ |
johnAlexander | 0:c523920bcc09 | 2453 | LoopNb = 0; |
johnAlexander | 0:c523920bcc09 | 2454 | do { |
johnAlexander | 0:c523920bcc09 | 2455 | if (LoopNb > 0) |
johnAlexander | 0:c523920bcc09 | 2456 | Status = VL53L0X_RdByte(Dev, |
johnAlexander | 0:c523920bcc09 | 2457 | VL53L0X_REG_SYSRANGE_START, &Byte); |
johnAlexander | 0:c523920bcc09 | 2458 | LoopNb = LoopNb + 1; |
johnAlexander | 0:c523920bcc09 | 2459 | } while (((Byte & StartStopByte) == StartStopByte) |
johnAlexander | 0:c523920bcc09 | 2460 | && (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 2461 | && (LoopNb < VL53L0X_DEFAULT_MAX_LOOP)); |
johnAlexander | 0:c523920bcc09 | 2462 | |
johnAlexander | 0:c523920bcc09 | 2463 | if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) |
johnAlexander | 0:c523920bcc09 | 2464 | Status = VL53L0X_ERROR_TIME_OUT; |
johnAlexander | 0:c523920bcc09 | 2465 | |
johnAlexander | 0:c523920bcc09 | 2466 | } |
johnAlexander | 0:c523920bcc09 | 2467 | |
johnAlexander | 0:c523920bcc09 | 2468 | break; |
johnAlexander | 0:c523920bcc09 | 2469 | case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING: |
johnAlexander | 0:c523920bcc09 | 2470 | /* Back-to-back mode */ |
johnAlexander | 0:c523920bcc09 | 2471 | |
johnAlexander | 0:c523920bcc09 | 2472 | /* Check if need to apply interrupt settings */ |
johnAlexander | 0:c523920bcc09 | 2473 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 2474 | Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 1); |
johnAlexander | 0:c523920bcc09 | 2475 | |
johnAlexander | 0:c523920bcc09 | 2476 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 2477 | VL53L0X_REG_SYSRANGE_START, |
johnAlexander | 0:c523920bcc09 | 2478 | VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK); |
johnAlexander | 0:c523920bcc09 | 2479 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 2480 | /* Set PAL State to Running */ |
johnAlexander | 0:c523920bcc09 | 2481 | PALDevDataSet(Dev, PalState, VL53L0X_STATE_RUNNING); |
johnAlexander | 0:c523920bcc09 | 2482 | } |
johnAlexander | 0:c523920bcc09 | 2483 | break; |
johnAlexander | 0:c523920bcc09 | 2484 | case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING: |
johnAlexander | 0:c523920bcc09 | 2485 | /* Continuous mode */ |
johnAlexander | 0:c523920bcc09 | 2486 | /* Check if need to apply interrupt settings */ |
johnAlexander | 0:c523920bcc09 | 2487 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 2488 | Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 1); |
johnAlexander | 0:c523920bcc09 | 2489 | |
johnAlexander | 0:c523920bcc09 | 2490 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 2491 | VL53L0X_REG_SYSRANGE_START, |
johnAlexander | 0:c523920bcc09 | 2492 | VL53L0X_REG_SYSRANGE_MODE_TIMED); |
johnAlexander | 0:c523920bcc09 | 2493 | |
johnAlexander | 0:c523920bcc09 | 2494 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 2495 | /* Set PAL State to Running */ |
johnAlexander | 0:c523920bcc09 | 2496 | PALDevDataSet(Dev, PalState, VL53L0X_STATE_RUNNING); |
johnAlexander | 0:c523920bcc09 | 2497 | } |
johnAlexander | 0:c523920bcc09 | 2498 | break; |
johnAlexander | 0:c523920bcc09 | 2499 | default: |
johnAlexander | 0:c523920bcc09 | 2500 | /* Selected mode not supported */ |
johnAlexander | 0:c523920bcc09 | 2501 | Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; |
johnAlexander | 0:c523920bcc09 | 2502 | } |
johnAlexander | 0:c523920bcc09 | 2503 | |
johnAlexander | 0:c523920bcc09 | 2504 | |
johnAlexander | 0:c523920bcc09 | 2505 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 2506 | return Status; |
johnAlexander | 0:c523920bcc09 | 2507 | } |
johnAlexander | 0:c523920bcc09 | 2508 | |
johnAlexander | 0:c523920bcc09 | 2509 | /* Group PAL Measurement Functions */ |
johnAlexander | 0:c523920bcc09 | 2510 | VL53L0X_Error VL53L0X::VL53L0X_PerformSingleMeasurement(VL53L0X_DEV Dev) |
johnAlexander | 0:c523920bcc09 | 2511 | { |
johnAlexander | 0:c523920bcc09 | 2512 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 2513 | VL53L0X_DeviceModes DeviceMode; |
johnAlexander | 0:c523920bcc09 | 2514 | |
johnAlexander | 0:c523920bcc09 | 2515 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 2516 | |
johnAlexander | 0:c523920bcc09 | 2517 | /* Get Current DeviceMode */ |
johnAlexander | 0:c523920bcc09 | 2518 | Status = VL53L0X_GetDeviceMode(Dev, &DeviceMode); |
johnAlexander | 0:c523920bcc09 | 2519 | |
johnAlexander | 0:c523920bcc09 | 2520 | /* Start immediately to run a single ranging measurement in case of |
johnAlexander | 0:c523920bcc09 | 2521 | * single ranging or single histogram */ |
johnAlexander | 0:c523920bcc09 | 2522 | if (Status == VL53L0X_ERROR_NONE |
johnAlexander | 0:c523920bcc09 | 2523 | && DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) |
johnAlexander | 0:c523920bcc09 | 2524 | Status = VL53L0X_StartMeasurement(Dev); |
johnAlexander | 0:c523920bcc09 | 2525 | |
johnAlexander | 0:c523920bcc09 | 2526 | |
johnAlexander | 0:c523920bcc09 | 2527 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 2528 | Status = VL53L0X_measurement_poll_for_completion(Dev); |
johnAlexander | 0:c523920bcc09 | 2529 | |
johnAlexander | 0:c523920bcc09 | 2530 | |
johnAlexander | 0:c523920bcc09 | 2531 | /* Change PAL State in case of single ranging or single histogram */ |
johnAlexander | 0:c523920bcc09 | 2532 | if (Status == VL53L0X_ERROR_NONE |
johnAlexander | 0:c523920bcc09 | 2533 | && DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) |
johnAlexander | 0:c523920bcc09 | 2534 | PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); |
johnAlexander | 0:c523920bcc09 | 2535 | |
johnAlexander | 0:c523920bcc09 | 2536 | |
johnAlexander | 0:c523920bcc09 | 2537 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 2538 | return Status; |
johnAlexander | 0:c523920bcc09 | 2539 | } |
johnAlexander | 0:c523920bcc09 | 2540 | |
johnAlexander | 0:c523920bcc09 | 2541 | VL53L0X_Error VL53L0X::VL53L0X_GetXTalkCompensationEnable(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 2542 | uint8_t *pXTalkCompensationEnable) |
johnAlexander | 0:c523920bcc09 | 2543 | { |
johnAlexander | 0:c523920bcc09 | 2544 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 2545 | uint8_t Temp8; |
johnAlexander | 0:c523920bcc09 | 2546 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 2547 | |
johnAlexander | 0:c523920bcc09 | 2548 | VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8); |
johnAlexander | 0:c523920bcc09 | 2549 | *pXTalkCompensationEnable = Temp8; |
johnAlexander | 0:c523920bcc09 | 2550 | |
johnAlexander | 0:c523920bcc09 | 2551 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 2552 | return Status; |
johnAlexander | 0:c523920bcc09 | 2553 | } |
johnAlexander | 0:c523920bcc09 | 2554 | |
johnAlexander | 0:c523920bcc09 | 2555 | VL53L0X_Error VL53L0X::VL53L0X_get_total_xtalk_rate(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 2556 | VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, |
johnAlexander | 0:c523920bcc09 | 2557 | FixPoint1616_t *ptotal_xtalk_rate_mcps) |
johnAlexander | 0:c523920bcc09 | 2558 | { |
johnAlexander | 0:c523920bcc09 | 2559 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 2560 | |
johnAlexander | 0:c523920bcc09 | 2561 | uint8_t xtalkCompEnable; |
johnAlexander | 0:c523920bcc09 | 2562 | FixPoint1616_t totalXtalkMegaCps; |
johnAlexander | 0:c523920bcc09 | 2563 | FixPoint1616_t xtalkPerSpadMegaCps; |
johnAlexander | 0:c523920bcc09 | 2564 | |
johnAlexander | 0:c523920bcc09 | 2565 | *ptotal_xtalk_rate_mcps = 0; |
johnAlexander | 0:c523920bcc09 | 2566 | |
johnAlexander | 0:c523920bcc09 | 2567 | Status = VL53L0X_GetXTalkCompensationEnable(Dev, &xtalkCompEnable); |
johnAlexander | 0:c523920bcc09 | 2568 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 2569 | |
johnAlexander | 0:c523920bcc09 | 2570 | if (xtalkCompEnable) { |
johnAlexander | 0:c523920bcc09 | 2571 | |
johnAlexander | 0:c523920bcc09 | 2572 | VL53L0X_GETPARAMETERFIELD( |
johnAlexander | 0:c523920bcc09 | 2573 | Dev, |
johnAlexander | 0:c523920bcc09 | 2574 | XTalkCompensationRateMegaCps, |
johnAlexander | 0:c523920bcc09 | 2575 | xtalkPerSpadMegaCps); |
johnAlexander | 0:c523920bcc09 | 2576 | |
johnAlexander | 0:c523920bcc09 | 2577 | /* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */ |
johnAlexander | 0:c523920bcc09 | 2578 | totalXtalkMegaCps = |
johnAlexander | 0:c523920bcc09 | 2579 | pRangingMeasurementData->EffectiveSpadRtnCount * |
johnAlexander | 0:c523920bcc09 | 2580 | xtalkPerSpadMegaCps; |
johnAlexander | 0:c523920bcc09 | 2581 | |
johnAlexander | 0:c523920bcc09 | 2582 | /* FixPoint0824 >> 8 = FixPoint1616 */ |
johnAlexander | 0:c523920bcc09 | 2583 | *ptotal_xtalk_rate_mcps = |
johnAlexander | 0:c523920bcc09 | 2584 | (totalXtalkMegaCps + 0x80) >> 8; |
johnAlexander | 0:c523920bcc09 | 2585 | } |
johnAlexander | 0:c523920bcc09 | 2586 | } |
johnAlexander | 0:c523920bcc09 | 2587 | |
johnAlexander | 0:c523920bcc09 | 2588 | return Status; |
johnAlexander | 0:c523920bcc09 | 2589 | } |
johnAlexander | 0:c523920bcc09 | 2590 | |
johnAlexander | 0:c523920bcc09 | 2591 | VL53L0X_Error VL53L0X::VL53L0X_get_total_signal_rate(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 2592 | VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, |
johnAlexander | 0:c523920bcc09 | 2593 | FixPoint1616_t *ptotal_signal_rate_mcps) |
johnAlexander | 0:c523920bcc09 | 2594 | { |
johnAlexander | 0:c523920bcc09 | 2595 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 2596 | FixPoint1616_t totalXtalkMegaCps; |
johnAlexander | 0:c523920bcc09 | 2597 | |
johnAlexander | 0:c523920bcc09 | 2598 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 2599 | |
johnAlexander | 0:c523920bcc09 | 2600 | *ptotal_signal_rate_mcps = |
johnAlexander | 0:c523920bcc09 | 2601 | pRangingMeasurementData->SignalRateRtnMegaCps; |
johnAlexander | 0:c523920bcc09 | 2602 | |
johnAlexander | 0:c523920bcc09 | 2603 | Status = VL53L0X_get_total_xtalk_rate( |
johnAlexander | 0:c523920bcc09 | 2604 | Dev, pRangingMeasurementData, &totalXtalkMegaCps); |
johnAlexander | 0:c523920bcc09 | 2605 | |
johnAlexander | 0:c523920bcc09 | 2606 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 2607 | *ptotal_signal_rate_mcps += totalXtalkMegaCps; |
johnAlexander | 0:c523920bcc09 | 2608 | |
johnAlexander | 0:c523920bcc09 | 2609 | return Status; |
johnAlexander | 0:c523920bcc09 | 2610 | } |
johnAlexander | 0:c523920bcc09 | 2611 | |
johnAlexander | 0:c523920bcc09 | 2612 | /* To convert ms into register value */ |
johnAlexander | 0:c523920bcc09 | 2613 | uint32_t VL53L0X::VL53L0X_calc_timeout_mclks(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 2614 | uint32_t timeout_period_us, |
johnAlexander | 0:c523920bcc09 | 2615 | uint8_t vcsel_period_pclks) |
johnAlexander | 0:c523920bcc09 | 2616 | { |
johnAlexander | 0:c523920bcc09 | 2617 | uint32_t macro_period_ps; |
johnAlexander | 0:c523920bcc09 | 2618 | uint32_t macro_period_ns; |
johnAlexander | 0:c523920bcc09 | 2619 | uint32_t timeout_period_mclks = 0; |
johnAlexander | 0:c523920bcc09 | 2620 | |
johnAlexander | 0:c523920bcc09 | 2621 | macro_period_ps = VL53L0X_calc_macro_period_ps(Dev, vcsel_period_pclks); |
johnAlexander | 0:c523920bcc09 | 2622 | macro_period_ns = (macro_period_ps + 500) / 1000; |
johnAlexander | 0:c523920bcc09 | 2623 | |
johnAlexander | 0:c523920bcc09 | 2624 | timeout_period_mclks = |
johnAlexander | 0:c523920bcc09 | 2625 | (uint32_t) (((timeout_period_us * 1000) |
johnAlexander | 0:c523920bcc09 | 2626 | + (macro_period_ns / 2)) / macro_period_ns); |
johnAlexander | 0:c523920bcc09 | 2627 | |
johnAlexander | 0:c523920bcc09 | 2628 | return timeout_period_mclks; |
johnAlexander | 0:c523920bcc09 | 2629 | } |
johnAlexander | 0:c523920bcc09 | 2630 | |
johnAlexander | 0:c523920bcc09 | 2631 | uint32_t VL53L0X::VL53L0X_isqrt(uint32_t num) |
johnAlexander | 0:c523920bcc09 | 2632 | { |
johnAlexander | 0:c523920bcc09 | 2633 | /* |
johnAlexander | 0:c523920bcc09 | 2634 | * Implements an integer square root |
johnAlexander | 0:c523920bcc09 | 2635 | * |
johnAlexander | 0:c523920bcc09 | 2636 | * From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots |
johnAlexander | 0:c523920bcc09 | 2637 | */ |
johnAlexander | 0:c523920bcc09 | 2638 | |
johnAlexander | 0:c523920bcc09 | 2639 | uint32_t res = 0; |
johnAlexander | 0:c523920bcc09 | 2640 | uint32_t bit = 1 << 30; |
johnAlexander | 0:c523920bcc09 | 2641 | /* The second-to-top bit is set: |
johnAlexander | 0:c523920bcc09 | 2642 | * 1 << 14 for 16-bits, 1 << 30 for 32 bits */ |
johnAlexander | 0:c523920bcc09 | 2643 | |
johnAlexander | 0:c523920bcc09 | 2644 | /* "bit" starts at the highest power of four <= the argument. */ |
johnAlexander | 0:c523920bcc09 | 2645 | while (bit > num) |
johnAlexander | 0:c523920bcc09 | 2646 | bit >>= 2; |
johnAlexander | 0:c523920bcc09 | 2647 | |
johnAlexander | 0:c523920bcc09 | 2648 | |
johnAlexander | 0:c523920bcc09 | 2649 | while (bit != 0) { |
johnAlexander | 0:c523920bcc09 | 2650 | if (num >= res + bit) { |
johnAlexander | 0:c523920bcc09 | 2651 | num -= res + bit; |
johnAlexander | 0:c523920bcc09 | 2652 | res = (res >> 1) + bit; |
johnAlexander | 0:c523920bcc09 | 2653 | } else |
johnAlexander | 0:c523920bcc09 | 2654 | res >>= 1; |
johnAlexander | 0:c523920bcc09 | 2655 | |
johnAlexander | 0:c523920bcc09 | 2656 | bit >>= 2; |
johnAlexander | 0:c523920bcc09 | 2657 | } |
johnAlexander | 0:c523920bcc09 | 2658 | |
johnAlexander | 0:c523920bcc09 | 2659 | return res; |
johnAlexander | 0:c523920bcc09 | 2660 | } |
johnAlexander | 0:c523920bcc09 | 2661 | |
johnAlexander | 0:c523920bcc09 | 2662 | VL53L0X_Error VL53L0X::VL53L0X_calc_dmax( |
johnAlexander | 0:c523920bcc09 | 2663 | VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 2664 | FixPoint1616_t totalSignalRate_mcps, |
johnAlexander | 0:c523920bcc09 | 2665 | FixPoint1616_t totalCorrSignalRate_mcps, |
johnAlexander | 0:c523920bcc09 | 2666 | FixPoint1616_t pwMult, |
johnAlexander | 0:c523920bcc09 | 2667 | uint32_t sigmaEstimateP1, |
johnAlexander | 0:c523920bcc09 | 2668 | FixPoint1616_t sigmaEstimateP2, |
johnAlexander | 0:c523920bcc09 | 2669 | uint32_t peakVcselDuration_us, |
johnAlexander | 0:c523920bcc09 | 2670 | uint32_t *pdmax_mm) |
johnAlexander | 0:c523920bcc09 | 2671 | { |
johnAlexander | 0:c523920bcc09 | 2672 | const uint32_t cSigmaLimit = 18; |
johnAlexander | 0:c523920bcc09 | 2673 | const FixPoint1616_t cSignalLimit = 0x4000; /* 0.25 */ |
johnAlexander | 0:c523920bcc09 | 2674 | const FixPoint1616_t cSigmaEstRef = 0x00000042; /* 0.001 */ |
johnAlexander | 0:c523920bcc09 | 2675 | const uint32_t cAmbEffWidthSigmaEst_ns = 6; |
johnAlexander | 0:c523920bcc09 | 2676 | const uint32_t cAmbEffWidthDMax_ns = 7; |
johnAlexander | 0:c523920bcc09 | 2677 | uint32_t dmaxCalRange_mm; |
johnAlexander | 0:c523920bcc09 | 2678 | FixPoint1616_t dmaxCalSignalRateRtn_mcps; |
johnAlexander | 0:c523920bcc09 | 2679 | FixPoint1616_t minSignalNeeded; |
johnAlexander | 0:c523920bcc09 | 2680 | FixPoint1616_t minSignalNeeded_p1; |
johnAlexander | 0:c523920bcc09 | 2681 | FixPoint1616_t minSignalNeeded_p2; |
johnAlexander | 0:c523920bcc09 | 2682 | FixPoint1616_t minSignalNeeded_p3; |
johnAlexander | 0:c523920bcc09 | 2683 | FixPoint1616_t minSignalNeeded_p4; |
johnAlexander | 0:c523920bcc09 | 2684 | FixPoint1616_t sigmaLimitTmp; |
johnAlexander | 0:c523920bcc09 | 2685 | FixPoint1616_t sigmaEstSqTmp; |
johnAlexander | 0:c523920bcc09 | 2686 | FixPoint1616_t signalLimitTmp; |
johnAlexander | 0:c523920bcc09 | 2687 | FixPoint1616_t SignalAt0mm; |
johnAlexander | 0:c523920bcc09 | 2688 | FixPoint1616_t dmaxDark; |
johnAlexander | 0:c523920bcc09 | 2689 | FixPoint1616_t dmaxAmbient; |
johnAlexander | 0:c523920bcc09 | 2690 | FixPoint1616_t dmaxDarkTmp; |
johnAlexander | 0:c523920bcc09 | 2691 | FixPoint1616_t sigmaEstP2Tmp; |
johnAlexander | 0:c523920bcc09 | 2692 | uint32_t signalRateTemp_mcps; |
johnAlexander | 0:c523920bcc09 | 2693 | |
johnAlexander | 0:c523920bcc09 | 2694 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 2695 | |
johnAlexander | 0:c523920bcc09 | 2696 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 2697 | |
johnAlexander | 0:c523920bcc09 | 2698 | dmaxCalRange_mm = |
johnAlexander | 0:c523920bcc09 | 2699 | PALDevDataGet(Dev, DmaxCalRangeMilliMeter); |
johnAlexander | 0:c523920bcc09 | 2700 | |
johnAlexander | 0:c523920bcc09 | 2701 | dmaxCalSignalRateRtn_mcps = |
johnAlexander | 0:c523920bcc09 | 2702 | PALDevDataGet(Dev, DmaxCalSignalRateRtnMegaCps); |
johnAlexander | 0:c523920bcc09 | 2703 | |
johnAlexander | 0:c523920bcc09 | 2704 | /* uint32 * FixPoint1616 = FixPoint1616 */ |
johnAlexander | 0:c523920bcc09 | 2705 | SignalAt0mm = dmaxCalRange_mm * dmaxCalSignalRateRtn_mcps; |
johnAlexander | 0:c523920bcc09 | 2706 | |
johnAlexander | 0:c523920bcc09 | 2707 | /* FixPoint1616 >> 8 = FixPoint2408 */ |
johnAlexander | 0:c523920bcc09 | 2708 | SignalAt0mm = (SignalAt0mm + 0x80) >> 8; |
johnAlexander | 0:c523920bcc09 | 2709 | SignalAt0mm *= dmaxCalRange_mm; |
johnAlexander | 0:c523920bcc09 | 2710 | |
johnAlexander | 0:c523920bcc09 | 2711 | minSignalNeeded_p1 = 0; |
johnAlexander | 0:c523920bcc09 | 2712 | if (totalCorrSignalRate_mcps > 0) { |
johnAlexander | 0:c523920bcc09 | 2713 | |
johnAlexander | 0:c523920bcc09 | 2714 | /* Shift by 10 bits to increase resolution prior to the |
johnAlexander | 0:c523920bcc09 | 2715 | * division */ |
johnAlexander | 0:c523920bcc09 | 2716 | signalRateTemp_mcps = totalSignalRate_mcps << 10; |
johnAlexander | 0:c523920bcc09 | 2717 | |
johnAlexander | 0:c523920bcc09 | 2718 | /* Add rounding value prior to division */ |
johnAlexander | 0:c523920bcc09 | 2719 | minSignalNeeded_p1 = signalRateTemp_mcps + |
johnAlexander | 0:c523920bcc09 | 2720 | (totalCorrSignalRate_mcps/2); |
johnAlexander | 0:c523920bcc09 | 2721 | |
johnAlexander | 0:c523920bcc09 | 2722 | /* FixPoint0626/FixPoint1616 = FixPoint2210 */ |
johnAlexander | 0:c523920bcc09 | 2723 | minSignalNeeded_p1 /= totalCorrSignalRate_mcps; |
johnAlexander | 0:c523920bcc09 | 2724 | |
johnAlexander | 0:c523920bcc09 | 2725 | /* Apply a factored version of the speed of light. |
johnAlexander | 0:c523920bcc09 | 2726 | Correction to be applied at the end */ |
johnAlexander | 0:c523920bcc09 | 2727 | minSignalNeeded_p1 *= 3; |
johnAlexander | 0:c523920bcc09 | 2728 | |
johnAlexander | 0:c523920bcc09 | 2729 | /* FixPoint2210 * FixPoint2210 = FixPoint1220 */ |
johnAlexander | 0:c523920bcc09 | 2730 | minSignalNeeded_p1 *= minSignalNeeded_p1; |
johnAlexander | 0:c523920bcc09 | 2731 | |
johnAlexander | 0:c523920bcc09 | 2732 | /* FixPoint1220 >> 16 = FixPoint2804 */ |
johnAlexander | 0:c523920bcc09 | 2733 | minSignalNeeded_p1 = (minSignalNeeded_p1 + 0x8000) >> 16; |
johnAlexander | 0:c523920bcc09 | 2734 | } |
johnAlexander | 0:c523920bcc09 | 2735 | |
johnAlexander | 0:c523920bcc09 | 2736 | minSignalNeeded_p2 = pwMult * sigmaEstimateP1; |
johnAlexander | 0:c523920bcc09 | 2737 | |
johnAlexander | 0:c523920bcc09 | 2738 | /* FixPoint1616 >> 16 = uint32 */ |
johnAlexander | 0:c523920bcc09 | 2739 | minSignalNeeded_p2 = (minSignalNeeded_p2 + 0x8000) >> 16; |
johnAlexander | 0:c523920bcc09 | 2740 | |
johnAlexander | 0:c523920bcc09 | 2741 | /* uint32 * uint32 = uint32 */ |
johnAlexander | 0:c523920bcc09 | 2742 | minSignalNeeded_p2 *= minSignalNeeded_p2; |
johnAlexander | 0:c523920bcc09 | 2743 | |
johnAlexander | 0:c523920bcc09 | 2744 | /* Check sigmaEstimateP2 |
johnAlexander | 0:c523920bcc09 | 2745 | * If this value is too high there is not enough signal rate |
johnAlexander | 0:c523920bcc09 | 2746 | * to calculate dmax value so set a suitable value to ensure |
johnAlexander | 0:c523920bcc09 | 2747 | * a very small dmax. |
johnAlexander | 0:c523920bcc09 | 2748 | */ |
johnAlexander | 0:c523920bcc09 | 2749 | sigmaEstP2Tmp = (sigmaEstimateP2 + 0x8000) >> 16; |
johnAlexander | 0:c523920bcc09 | 2750 | sigmaEstP2Tmp = (sigmaEstP2Tmp + cAmbEffWidthSigmaEst_ns/2)/ |
johnAlexander | 0:c523920bcc09 | 2751 | cAmbEffWidthSigmaEst_ns; |
johnAlexander | 0:c523920bcc09 | 2752 | sigmaEstP2Tmp *= cAmbEffWidthDMax_ns; |
johnAlexander | 0:c523920bcc09 | 2753 | |
johnAlexander | 0:c523920bcc09 | 2754 | if (sigmaEstP2Tmp > 0xffff) { |
johnAlexander | 0:c523920bcc09 | 2755 | minSignalNeeded_p3 = 0xfff00000; |
johnAlexander | 0:c523920bcc09 | 2756 | } else { |
johnAlexander | 0:c523920bcc09 | 2757 | |
johnAlexander | 0:c523920bcc09 | 2758 | /* DMAX uses a different ambient width from sigma, so apply |
johnAlexander | 0:c523920bcc09 | 2759 | * correction. |
johnAlexander | 0:c523920bcc09 | 2760 | * Perform division before multiplication to prevent overflow. |
johnAlexander | 0:c523920bcc09 | 2761 | */ |
johnAlexander | 0:c523920bcc09 | 2762 | sigmaEstimateP2 = (sigmaEstimateP2 + cAmbEffWidthSigmaEst_ns/2)/ |
johnAlexander | 0:c523920bcc09 | 2763 | cAmbEffWidthSigmaEst_ns; |
johnAlexander | 0:c523920bcc09 | 2764 | sigmaEstimateP2 *= cAmbEffWidthDMax_ns; |
johnAlexander | 0:c523920bcc09 | 2765 | |
johnAlexander | 0:c523920bcc09 | 2766 | /* FixPoint1616 >> 16 = uint32 */ |
johnAlexander | 0:c523920bcc09 | 2767 | minSignalNeeded_p3 = (sigmaEstimateP2 + 0x8000) >> 16; |
johnAlexander | 0:c523920bcc09 | 2768 | |
johnAlexander | 0:c523920bcc09 | 2769 | minSignalNeeded_p3 *= minSignalNeeded_p3; |
johnAlexander | 0:c523920bcc09 | 2770 | |
johnAlexander | 0:c523920bcc09 | 2771 | } |
johnAlexander | 0:c523920bcc09 | 2772 | |
johnAlexander | 0:c523920bcc09 | 2773 | /* FixPoint1814 / uint32 = FixPoint1814 */ |
johnAlexander | 0:c523920bcc09 | 2774 | sigmaLimitTmp = ((cSigmaLimit << 14) + 500) / 1000; |
johnAlexander | 0:c523920bcc09 | 2775 | |
johnAlexander | 0:c523920bcc09 | 2776 | /* FixPoint1814 * FixPoint1814 = FixPoint3628 := FixPoint0428 */ |
johnAlexander | 0:c523920bcc09 | 2777 | sigmaLimitTmp *= sigmaLimitTmp; |
johnAlexander | 0:c523920bcc09 | 2778 | |
johnAlexander | 0:c523920bcc09 | 2779 | /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ |
johnAlexander | 0:c523920bcc09 | 2780 | sigmaEstSqTmp = cSigmaEstRef * cSigmaEstRef; |
johnAlexander | 0:c523920bcc09 | 2781 | |
johnAlexander | 0:c523920bcc09 | 2782 | /* FixPoint3232 >> 4 = FixPoint0428 */ |
johnAlexander | 0:c523920bcc09 | 2783 | sigmaEstSqTmp = (sigmaEstSqTmp + 0x08) >> 4; |
johnAlexander | 0:c523920bcc09 | 2784 | |
johnAlexander | 0:c523920bcc09 | 2785 | /* FixPoint0428 - FixPoint0428 = FixPoint0428 */ |
johnAlexander | 0:c523920bcc09 | 2786 | sigmaLimitTmp -= sigmaEstSqTmp; |
johnAlexander | 0:c523920bcc09 | 2787 | |
johnAlexander | 0:c523920bcc09 | 2788 | /* uint32_t * FixPoint0428 = FixPoint0428 */ |
johnAlexander | 0:c523920bcc09 | 2789 | minSignalNeeded_p4 = 4 * 12 * sigmaLimitTmp; |
johnAlexander | 0:c523920bcc09 | 2790 | |
johnAlexander | 0:c523920bcc09 | 2791 | /* FixPoint0428 >> 14 = FixPoint1814 */ |
johnAlexander | 0:c523920bcc09 | 2792 | minSignalNeeded_p4 = (minSignalNeeded_p4 + 0x2000) >> 14; |
johnAlexander | 0:c523920bcc09 | 2793 | |
johnAlexander | 0:c523920bcc09 | 2794 | /* uint32 + uint32 = uint32 */ |
johnAlexander | 0:c523920bcc09 | 2795 | minSignalNeeded = (minSignalNeeded_p2 + minSignalNeeded_p3); |
johnAlexander | 0:c523920bcc09 | 2796 | |
johnAlexander | 0:c523920bcc09 | 2797 | /* uint32 / uint32 = uint32 */ |
johnAlexander | 0:c523920bcc09 | 2798 | minSignalNeeded += (peakVcselDuration_us/2); |
johnAlexander | 0:c523920bcc09 | 2799 | minSignalNeeded /= peakVcselDuration_us; |
johnAlexander | 0:c523920bcc09 | 2800 | |
johnAlexander | 0:c523920bcc09 | 2801 | /* uint32 << 14 = FixPoint1814 */ |
johnAlexander | 0:c523920bcc09 | 2802 | minSignalNeeded <<= 14; |
johnAlexander | 0:c523920bcc09 | 2803 | |
johnAlexander | 0:c523920bcc09 | 2804 | /* FixPoint1814 / FixPoint1814 = uint32 */ |
johnAlexander | 0:c523920bcc09 | 2805 | minSignalNeeded += (minSignalNeeded_p4/2); |
johnAlexander | 0:c523920bcc09 | 2806 | minSignalNeeded /= minSignalNeeded_p4; |
johnAlexander | 0:c523920bcc09 | 2807 | |
johnAlexander | 0:c523920bcc09 | 2808 | /* FixPoint3200 * FixPoint2804 := FixPoint2804*/ |
johnAlexander | 0:c523920bcc09 | 2809 | minSignalNeeded *= minSignalNeeded_p1; |
johnAlexander | 0:c523920bcc09 | 2810 | |
johnAlexander | 0:c523920bcc09 | 2811 | /* Apply correction by dividing by 1000000. |
johnAlexander | 0:c523920bcc09 | 2812 | * This assumes 10E16 on the numerator of the equation |
johnAlexander | 0:c523920bcc09 | 2813 | * and 10E-22 on the denominator. |
johnAlexander | 0:c523920bcc09 | 2814 | * We do this because 32bit fix point calculation can't |
johnAlexander | 0:c523920bcc09 | 2815 | * handle the larger and smaller elements of this equation, |
johnAlexander | 0:c523920bcc09 | 2816 | * i.e. speed of light and pulse widths. |
johnAlexander | 0:c523920bcc09 | 2817 | */ |
johnAlexander | 0:c523920bcc09 | 2818 | minSignalNeeded = (minSignalNeeded + 500) / 1000; |
johnAlexander | 0:c523920bcc09 | 2819 | minSignalNeeded <<= 4; |
johnAlexander | 0:c523920bcc09 | 2820 | |
johnAlexander | 0:c523920bcc09 | 2821 | minSignalNeeded = (minSignalNeeded + 500) / 1000; |
johnAlexander | 0:c523920bcc09 | 2822 | |
johnAlexander | 0:c523920bcc09 | 2823 | /* FixPoint1616 >> 8 = FixPoint2408 */ |
johnAlexander | 0:c523920bcc09 | 2824 | signalLimitTmp = (cSignalLimit + 0x80) >> 8; |
johnAlexander | 0:c523920bcc09 | 2825 | |
johnAlexander | 0:c523920bcc09 | 2826 | /* FixPoint2408/FixPoint2408 = uint32 */ |
johnAlexander | 0:c523920bcc09 | 2827 | if (signalLimitTmp != 0) |
johnAlexander | 0:c523920bcc09 | 2828 | dmaxDarkTmp = (SignalAt0mm + (signalLimitTmp / 2)) |
johnAlexander | 0:c523920bcc09 | 2829 | / signalLimitTmp; |
johnAlexander | 0:c523920bcc09 | 2830 | else |
johnAlexander | 0:c523920bcc09 | 2831 | dmaxDarkTmp = 0; |
johnAlexander | 0:c523920bcc09 | 2832 | |
johnAlexander | 0:c523920bcc09 | 2833 | dmaxDark = VL53L0X_isqrt(dmaxDarkTmp); |
johnAlexander | 0:c523920bcc09 | 2834 | |
johnAlexander | 0:c523920bcc09 | 2835 | /* FixPoint2408/FixPoint2408 = uint32 */ |
johnAlexander | 0:c523920bcc09 | 2836 | if (minSignalNeeded != 0) |
johnAlexander | 0:c523920bcc09 | 2837 | dmaxAmbient = (SignalAt0mm + minSignalNeeded/2) |
johnAlexander | 0:c523920bcc09 | 2838 | / minSignalNeeded; |
johnAlexander | 0:c523920bcc09 | 2839 | else |
johnAlexander | 0:c523920bcc09 | 2840 | dmaxAmbient = 0; |
johnAlexander | 0:c523920bcc09 | 2841 | |
johnAlexander | 0:c523920bcc09 | 2842 | dmaxAmbient = VL53L0X_isqrt(dmaxAmbient); |
johnAlexander | 0:c523920bcc09 | 2843 | |
johnAlexander | 0:c523920bcc09 | 2844 | *pdmax_mm = dmaxDark; |
johnAlexander | 0:c523920bcc09 | 2845 | if (dmaxDark > dmaxAmbient) |
johnAlexander | 0:c523920bcc09 | 2846 | *pdmax_mm = dmaxAmbient; |
johnAlexander | 0:c523920bcc09 | 2847 | |
johnAlexander | 0:c523920bcc09 | 2848 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 2849 | |
johnAlexander | 0:c523920bcc09 | 2850 | return Status; |
johnAlexander | 0:c523920bcc09 | 2851 | } |
johnAlexander | 0:c523920bcc09 | 2852 | |
johnAlexander | 0:c523920bcc09 | 2853 | VL53L0X_Error VL53L0X::VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 2854 | VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, |
johnAlexander | 0:c523920bcc09 | 2855 | FixPoint1616_t *pSigmaEstimate, |
johnAlexander | 0:c523920bcc09 | 2856 | uint32_t *pDmax_mm) |
johnAlexander | 0:c523920bcc09 | 2857 | { |
johnAlexander | 0:c523920bcc09 | 2858 | /* Expressed in 100ths of a ns, i.e. centi-ns */ |
johnAlexander | 0:c523920bcc09 | 2859 | const uint32_t cPulseEffectiveWidth_centi_ns = 800; |
johnAlexander | 0:c523920bcc09 | 2860 | /* Expressed in 100ths of a ns, i.e. centi-ns */ |
johnAlexander | 0:c523920bcc09 | 2861 | const uint32_t cAmbientEffectiveWidth_centi_ns = 600; |
johnAlexander | 0:c523920bcc09 | 2862 | const FixPoint1616_t cDfltFinalRangeIntegrationTimeMilliSecs = 0x00190000; /* 25ms */ |
johnAlexander | 0:c523920bcc09 | 2863 | const uint32_t cVcselPulseWidth_ps = 4700; /* pico secs */ |
johnAlexander | 0:c523920bcc09 | 2864 | const FixPoint1616_t cSigmaEstMax = 0x028F87AE; |
johnAlexander | 0:c523920bcc09 | 2865 | const FixPoint1616_t cSigmaEstRtnMax = 0xF000; |
johnAlexander | 0:c523920bcc09 | 2866 | const FixPoint1616_t cAmbToSignalRatioMax = 0xF0000000/ |
johnAlexander | 0:c523920bcc09 | 2867 | cAmbientEffectiveWidth_centi_ns; |
johnAlexander | 0:c523920bcc09 | 2868 | /* Time Of Flight per mm (6.6 pico secs) */ |
johnAlexander | 0:c523920bcc09 | 2869 | const FixPoint1616_t cTOF_per_mm_ps = 0x0006999A; |
johnAlexander | 0:c523920bcc09 | 2870 | const uint32_t c16BitRoundingParam = 0x00008000; |
johnAlexander | 0:c523920bcc09 | 2871 | const FixPoint1616_t cMaxXTalk_kcps = 0x00320000; |
johnAlexander | 0:c523920bcc09 | 2872 | const uint32_t cPllPeriod_ps = 1655; |
johnAlexander | 0:c523920bcc09 | 2873 | |
johnAlexander | 0:c523920bcc09 | 2874 | uint32_t vcselTotalEventsRtn; |
johnAlexander | 0:c523920bcc09 | 2875 | uint32_t finalRangeTimeoutMicroSecs; |
johnAlexander | 0:c523920bcc09 | 2876 | uint32_t preRangeTimeoutMicroSecs; |
johnAlexander | 0:c523920bcc09 | 2877 | uint32_t finalRangeIntegrationTimeMilliSecs; |
johnAlexander | 0:c523920bcc09 | 2878 | FixPoint1616_t sigmaEstimateP1; |
johnAlexander | 0:c523920bcc09 | 2879 | FixPoint1616_t sigmaEstimateP2; |
johnAlexander | 0:c523920bcc09 | 2880 | FixPoint1616_t sigmaEstimateP3; |
johnAlexander | 0:c523920bcc09 | 2881 | FixPoint1616_t deltaT_ps; |
johnAlexander | 0:c523920bcc09 | 2882 | FixPoint1616_t pwMult; |
johnAlexander | 0:c523920bcc09 | 2883 | FixPoint1616_t sigmaEstRtn; |
johnAlexander | 0:c523920bcc09 | 2884 | FixPoint1616_t sigmaEstimate; |
johnAlexander | 0:c523920bcc09 | 2885 | FixPoint1616_t xTalkCorrection; |
johnAlexander | 0:c523920bcc09 | 2886 | FixPoint1616_t ambientRate_kcps; |
johnAlexander | 0:c523920bcc09 | 2887 | FixPoint1616_t peakSignalRate_kcps; |
johnAlexander | 0:c523920bcc09 | 2888 | FixPoint1616_t xTalkCompRate_mcps; |
johnAlexander | 0:c523920bcc09 | 2889 | uint32_t xTalkCompRate_kcps; |
johnAlexander | 0:c523920bcc09 | 2890 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 2891 | FixPoint1616_t diff1_mcps; |
johnAlexander | 0:c523920bcc09 | 2892 | FixPoint1616_t diff2_mcps; |
johnAlexander | 0:c523920bcc09 | 2893 | FixPoint1616_t sqr1; |
johnAlexander | 0:c523920bcc09 | 2894 | FixPoint1616_t sqr2; |
johnAlexander | 0:c523920bcc09 | 2895 | FixPoint1616_t sqrSum; |
johnAlexander | 0:c523920bcc09 | 2896 | FixPoint1616_t sqrtResult_centi_ns; |
johnAlexander | 0:c523920bcc09 | 2897 | FixPoint1616_t sqrtResult; |
johnAlexander | 0:c523920bcc09 | 2898 | FixPoint1616_t totalSignalRate_mcps; |
johnAlexander | 0:c523920bcc09 | 2899 | FixPoint1616_t correctedSignalRate_mcps; |
johnAlexander | 0:c523920bcc09 | 2900 | FixPoint1616_t sigmaEstRef; |
johnAlexander | 0:c523920bcc09 | 2901 | uint32_t vcselWidth; |
johnAlexander | 0:c523920bcc09 | 2902 | uint32_t finalRangeMacroPCLKS; |
johnAlexander | 0:c523920bcc09 | 2903 | uint32_t preRangeMacroPCLKS; |
johnAlexander | 0:c523920bcc09 | 2904 | uint32_t peakVcselDuration_us; |
johnAlexander | 0:c523920bcc09 | 2905 | uint8_t finalRangeVcselPCLKS; |
johnAlexander | 0:c523920bcc09 | 2906 | uint8_t preRangeVcselPCLKS; |
johnAlexander | 0:c523920bcc09 | 2907 | /*! \addtogroup calc_sigma_estimate |
johnAlexander | 0:c523920bcc09 | 2908 | * @{ |
johnAlexander | 0:c523920bcc09 | 2909 | * |
johnAlexander | 0:c523920bcc09 | 2910 | * Estimates the range sigma |
johnAlexander | 0:c523920bcc09 | 2911 | */ |
johnAlexander | 0:c523920bcc09 | 2912 | |
johnAlexander | 0:c523920bcc09 | 2913 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 2914 | |
johnAlexander | 0:c523920bcc09 | 2915 | VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, |
johnAlexander | 0:c523920bcc09 | 2916 | xTalkCompRate_mcps); |
johnAlexander | 0:c523920bcc09 | 2917 | |
johnAlexander | 0:c523920bcc09 | 2918 | /* |
johnAlexander | 0:c523920bcc09 | 2919 | * We work in kcps rather than mcps as this helps keep within the |
johnAlexander | 0:c523920bcc09 | 2920 | * confines of the 32 Fix1616 type. |
johnAlexander | 0:c523920bcc09 | 2921 | */ |
johnAlexander | 0:c523920bcc09 | 2922 | |
johnAlexander | 0:c523920bcc09 | 2923 | ambientRate_kcps = |
johnAlexander | 0:c523920bcc09 | 2924 | (pRangingMeasurementData->AmbientRateRtnMegaCps * 1000) >> 16; |
johnAlexander | 0:c523920bcc09 | 2925 | |
johnAlexander | 0:c523920bcc09 | 2926 | correctedSignalRate_mcps = |
johnAlexander | 0:c523920bcc09 | 2927 | pRangingMeasurementData->SignalRateRtnMegaCps; |
johnAlexander | 0:c523920bcc09 | 2928 | |
johnAlexander | 0:c523920bcc09 | 2929 | |
johnAlexander | 0:c523920bcc09 | 2930 | Status = VL53L0X_get_total_signal_rate( |
johnAlexander | 0:c523920bcc09 | 2931 | Dev, pRangingMeasurementData, &totalSignalRate_mcps); |
johnAlexander | 0:c523920bcc09 | 2932 | Status = VL53L0X_get_total_xtalk_rate( |
johnAlexander | 0:c523920bcc09 | 2933 | Dev, pRangingMeasurementData, &xTalkCompRate_mcps); |
johnAlexander | 0:c523920bcc09 | 2934 | |
johnAlexander | 0:c523920bcc09 | 2935 | |
johnAlexander | 0:c523920bcc09 | 2936 | /* Signal rate measurement provided by device is the |
johnAlexander | 0:c523920bcc09 | 2937 | * peak signal rate, not average. |
johnAlexander | 0:c523920bcc09 | 2938 | */ |
johnAlexander | 0:c523920bcc09 | 2939 | peakSignalRate_kcps = (totalSignalRate_mcps * 1000); |
johnAlexander | 0:c523920bcc09 | 2940 | peakSignalRate_kcps = (peakSignalRate_kcps + 0x8000) >> 16; |
johnAlexander | 0:c523920bcc09 | 2941 | |
johnAlexander | 0:c523920bcc09 | 2942 | xTalkCompRate_kcps = xTalkCompRate_mcps * 1000; |
johnAlexander | 0:c523920bcc09 | 2943 | |
johnAlexander | 0:c523920bcc09 | 2944 | if (xTalkCompRate_kcps > cMaxXTalk_kcps) |
johnAlexander | 0:c523920bcc09 | 2945 | xTalkCompRate_kcps = cMaxXTalk_kcps; |
johnAlexander | 0:c523920bcc09 | 2946 | |
johnAlexander | 0:c523920bcc09 | 2947 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 2948 | |
johnAlexander | 0:c523920bcc09 | 2949 | /* Calculate final range macro periods */ |
johnAlexander | 0:c523920bcc09 | 2950 | finalRangeTimeoutMicroSecs = VL53L0X_GETDEVICESPECIFICPARAMETER( |
johnAlexander | 0:c523920bcc09 | 2951 | Dev, FinalRangeTimeoutMicroSecs); |
johnAlexander | 0:c523920bcc09 | 2952 | |
johnAlexander | 0:c523920bcc09 | 2953 | finalRangeVcselPCLKS = VL53L0X_GETDEVICESPECIFICPARAMETER( |
johnAlexander | 0:c523920bcc09 | 2954 | Dev, FinalRangeVcselPulsePeriod); |
johnAlexander | 0:c523920bcc09 | 2955 | |
johnAlexander | 0:c523920bcc09 | 2956 | finalRangeMacroPCLKS = VL53L0X_calc_timeout_mclks( |
johnAlexander | 0:c523920bcc09 | 2957 | Dev, finalRangeTimeoutMicroSecs, finalRangeVcselPCLKS); |
johnAlexander | 0:c523920bcc09 | 2958 | |
johnAlexander | 0:c523920bcc09 | 2959 | /* Calculate pre-range macro periods */ |
johnAlexander | 0:c523920bcc09 | 2960 | preRangeTimeoutMicroSecs = VL53L0X_GETDEVICESPECIFICPARAMETER( |
johnAlexander | 0:c523920bcc09 | 2961 | Dev, PreRangeTimeoutMicroSecs); |
johnAlexander | 0:c523920bcc09 | 2962 | |
johnAlexander | 0:c523920bcc09 | 2963 | preRangeVcselPCLKS = VL53L0X_GETDEVICESPECIFICPARAMETER( |
johnAlexander | 0:c523920bcc09 | 2964 | Dev, PreRangeVcselPulsePeriod); |
johnAlexander | 0:c523920bcc09 | 2965 | |
johnAlexander | 0:c523920bcc09 | 2966 | preRangeMacroPCLKS = VL53L0X_calc_timeout_mclks( |
johnAlexander | 0:c523920bcc09 | 2967 | Dev, preRangeTimeoutMicroSecs, preRangeVcselPCLKS); |
johnAlexander | 0:c523920bcc09 | 2968 | |
johnAlexander | 0:c523920bcc09 | 2969 | vcselWidth = 3; |
johnAlexander | 0:c523920bcc09 | 2970 | if (finalRangeVcselPCLKS == 8) |
johnAlexander | 0:c523920bcc09 | 2971 | vcselWidth = 2; |
johnAlexander | 0:c523920bcc09 | 2972 | |
johnAlexander | 0:c523920bcc09 | 2973 | |
johnAlexander | 0:c523920bcc09 | 2974 | peakVcselDuration_us = vcselWidth * 2048 * |
johnAlexander | 0:c523920bcc09 | 2975 | (preRangeMacroPCLKS + finalRangeMacroPCLKS); |
johnAlexander | 0:c523920bcc09 | 2976 | peakVcselDuration_us = (peakVcselDuration_us + 500)/1000; |
johnAlexander | 0:c523920bcc09 | 2977 | peakVcselDuration_us *= cPllPeriod_ps; |
johnAlexander | 0:c523920bcc09 | 2978 | peakVcselDuration_us = (peakVcselDuration_us + 500)/1000; |
johnAlexander | 0:c523920bcc09 | 2979 | |
johnAlexander | 0:c523920bcc09 | 2980 | /* Fix1616 >> 8 = Fix2408 */ |
johnAlexander | 0:c523920bcc09 | 2981 | totalSignalRate_mcps = (totalSignalRate_mcps + 0x80) >> 8; |
johnAlexander | 0:c523920bcc09 | 2982 | |
johnAlexander | 0:c523920bcc09 | 2983 | /* Fix2408 * uint32 = Fix2408 */ |
johnAlexander | 0:c523920bcc09 | 2984 | vcselTotalEventsRtn = totalSignalRate_mcps * |
johnAlexander | 0:c523920bcc09 | 2985 | peakVcselDuration_us; |
johnAlexander | 0:c523920bcc09 | 2986 | |
johnAlexander | 0:c523920bcc09 | 2987 | /* Fix2408 >> 8 = uint32 */ |
johnAlexander | 0:c523920bcc09 | 2988 | vcselTotalEventsRtn = (vcselTotalEventsRtn + 0x80) >> 8; |
johnAlexander | 0:c523920bcc09 | 2989 | |
johnAlexander | 0:c523920bcc09 | 2990 | /* Fix2408 << 8 = Fix1616 = */ |
johnAlexander | 0:c523920bcc09 | 2991 | totalSignalRate_mcps <<= 8; |
johnAlexander | 0:c523920bcc09 | 2992 | } |
johnAlexander | 0:c523920bcc09 | 2993 | |
johnAlexander | 0:c523920bcc09 | 2994 | if (Status != VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 2995 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 2996 | return Status; |
johnAlexander | 0:c523920bcc09 | 2997 | } |
johnAlexander | 0:c523920bcc09 | 2998 | |
johnAlexander | 0:c523920bcc09 | 2999 | if (peakSignalRate_kcps == 0) { |
johnAlexander | 0:c523920bcc09 | 3000 | *pSigmaEstimate = cSigmaEstMax; |
johnAlexander | 0:c523920bcc09 | 3001 | PALDevDataSet(Dev, SigmaEstimate, cSigmaEstMax); |
johnAlexander | 0:c523920bcc09 | 3002 | *pDmax_mm = 0; |
johnAlexander | 0:c523920bcc09 | 3003 | } else { |
johnAlexander | 0:c523920bcc09 | 3004 | if (vcselTotalEventsRtn < 1) |
johnAlexander | 0:c523920bcc09 | 3005 | vcselTotalEventsRtn = 1; |
johnAlexander | 0:c523920bcc09 | 3006 | |
johnAlexander | 0:c523920bcc09 | 3007 | sigmaEstimateP1 = cPulseEffectiveWidth_centi_ns; |
johnAlexander | 0:c523920bcc09 | 3008 | |
johnAlexander | 0:c523920bcc09 | 3009 | /* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */ |
johnAlexander | 0:c523920bcc09 | 3010 | sigmaEstimateP2 = (ambientRate_kcps << 16)/peakSignalRate_kcps; |
johnAlexander | 0:c523920bcc09 | 3011 | if (sigmaEstimateP2 > cAmbToSignalRatioMax) { |
johnAlexander | 0:c523920bcc09 | 3012 | /* Clip to prevent overflow. Will ensure safe |
johnAlexander | 0:c523920bcc09 | 3013 | * max result. */ |
johnAlexander | 0:c523920bcc09 | 3014 | sigmaEstimateP2 = cAmbToSignalRatioMax; |
johnAlexander | 0:c523920bcc09 | 3015 | } |
johnAlexander | 0:c523920bcc09 | 3016 | sigmaEstimateP2 *= cAmbientEffectiveWidth_centi_ns; |
johnAlexander | 0:c523920bcc09 | 3017 | |
johnAlexander | 0:c523920bcc09 | 3018 | sigmaEstimateP3 = 2 * VL53L0X_isqrt(vcselTotalEventsRtn * 12); |
johnAlexander | 0:c523920bcc09 | 3019 | |
johnAlexander | 0:c523920bcc09 | 3020 | /* uint32 * FixPoint1616 = FixPoint1616 */ |
johnAlexander | 0:c523920bcc09 | 3021 | deltaT_ps = pRangingMeasurementData->RangeMilliMeter * |
johnAlexander | 0:c523920bcc09 | 3022 | cTOF_per_mm_ps; |
johnAlexander | 0:c523920bcc09 | 3023 | |
johnAlexander | 0:c523920bcc09 | 3024 | /* |
johnAlexander | 0:c523920bcc09 | 3025 | * vcselRate - xtalkCompRate |
johnAlexander | 0:c523920bcc09 | 3026 | * (uint32 << 16) - FixPoint1616 = FixPoint1616. |
johnAlexander | 0:c523920bcc09 | 3027 | * Divide result by 1000 to convert to mcps. |
johnAlexander | 0:c523920bcc09 | 3028 | * 500 is added to ensure rounding when integer division |
johnAlexander | 0:c523920bcc09 | 3029 | * truncates. |
johnAlexander | 0:c523920bcc09 | 3030 | */ |
johnAlexander | 0:c523920bcc09 | 3031 | diff1_mcps = (((peakSignalRate_kcps << 16) - |
johnAlexander | 0:c523920bcc09 | 3032 | 2 * xTalkCompRate_kcps) + 500)/1000; |
johnAlexander | 0:c523920bcc09 | 3033 | |
johnAlexander | 0:c523920bcc09 | 3034 | /* vcselRate + xtalkCompRate */ |
johnAlexander | 0:c523920bcc09 | 3035 | diff2_mcps = ((peakSignalRate_kcps << 16) + 500)/1000; |
johnAlexander | 0:c523920bcc09 | 3036 | |
johnAlexander | 0:c523920bcc09 | 3037 | /* Shift by 8 bits to increase resolution prior to the |
johnAlexander | 0:c523920bcc09 | 3038 | * division */ |
johnAlexander | 0:c523920bcc09 | 3039 | diff1_mcps <<= 8; |
johnAlexander | 0:c523920bcc09 | 3040 | |
johnAlexander | 0:c523920bcc09 | 3041 | /* FixPoint0824/FixPoint1616 = FixPoint2408 */ |
johnAlexander | 0:c523920bcc09 | 3042 | // xTalkCorrection = abs(diff1_mcps/diff2_mcps); |
johnAlexander | 0:c523920bcc09 | 3043 | // abs is causing compiler overloading isue in C++, but unsigned types. So, redundant call anyway! |
johnAlexander | 0:c523920bcc09 | 3044 | xTalkCorrection = diff1_mcps/diff2_mcps; |
johnAlexander | 0:c523920bcc09 | 3045 | |
johnAlexander | 0:c523920bcc09 | 3046 | /* FixPoint2408 << 8 = FixPoint1616 */ |
johnAlexander | 0:c523920bcc09 | 3047 | xTalkCorrection <<= 8; |
johnAlexander | 0:c523920bcc09 | 3048 | |
johnAlexander | 0:c523920bcc09 | 3049 | if(pRangingMeasurementData->RangeStatus != 0){ |
johnAlexander | 0:c523920bcc09 | 3050 | pwMult = 1 << 16; |
johnAlexander | 0:c523920bcc09 | 3051 | } else { |
johnAlexander | 0:c523920bcc09 | 3052 | /* FixPoint1616/uint32 = FixPoint1616 */ |
johnAlexander | 0:c523920bcc09 | 3053 | pwMult = deltaT_ps/cVcselPulseWidth_ps; /* smaller than 1.0f */ |
johnAlexander | 0:c523920bcc09 | 3054 | |
johnAlexander | 0:c523920bcc09 | 3055 | /* |
johnAlexander | 0:c523920bcc09 | 3056 | * FixPoint1616 * FixPoint1616 = FixPoint3232, however both |
johnAlexander | 0:c523920bcc09 | 3057 | * values are small enough such that32 bits will not be |
johnAlexander | 0:c523920bcc09 | 3058 | * exceeded. |
johnAlexander | 0:c523920bcc09 | 3059 | */ |
johnAlexander | 0:c523920bcc09 | 3060 | pwMult *= ((1 << 16) - xTalkCorrection); |
johnAlexander | 0:c523920bcc09 | 3061 | |
johnAlexander | 0:c523920bcc09 | 3062 | /* (FixPoint3232 >> 16) = FixPoint1616 */ |
johnAlexander | 0:c523920bcc09 | 3063 | pwMult = (pwMult + c16BitRoundingParam) >> 16; |
johnAlexander | 0:c523920bcc09 | 3064 | |
johnAlexander | 0:c523920bcc09 | 3065 | /* FixPoint1616 + FixPoint1616 = FixPoint1616 */ |
johnAlexander | 0:c523920bcc09 | 3066 | pwMult += (1 << 16); |
johnAlexander | 0:c523920bcc09 | 3067 | |
johnAlexander | 0:c523920bcc09 | 3068 | /* |
johnAlexander | 0:c523920bcc09 | 3069 | * At this point the value will be 1.xx, therefore if we square |
johnAlexander | 0:c523920bcc09 | 3070 | * the value this will exceed 32 bits. To address this perform |
johnAlexander | 0:c523920bcc09 | 3071 | * a single shift to the right before the multiplication. |
johnAlexander | 0:c523920bcc09 | 3072 | */ |
johnAlexander | 0:c523920bcc09 | 3073 | pwMult >>= 1; |
johnAlexander | 0:c523920bcc09 | 3074 | /* FixPoint1715 * FixPoint1715 = FixPoint3430 */ |
johnAlexander | 0:c523920bcc09 | 3075 | pwMult = pwMult * pwMult; |
johnAlexander | 0:c523920bcc09 | 3076 | |
johnAlexander | 0:c523920bcc09 | 3077 | /* (FixPoint3430 >> 14) = Fix1616 */ |
johnAlexander | 0:c523920bcc09 | 3078 | pwMult >>= 14; |
johnAlexander | 0:c523920bcc09 | 3079 | } |
johnAlexander | 0:c523920bcc09 | 3080 | |
johnAlexander | 0:c523920bcc09 | 3081 | /* FixPoint1616 * uint32 = FixPoint1616 */ |
johnAlexander | 0:c523920bcc09 | 3082 | sqr1 = pwMult * sigmaEstimateP1; |
johnAlexander | 0:c523920bcc09 | 3083 | |
johnAlexander | 0:c523920bcc09 | 3084 | /* (FixPoint1616 >> 16) = FixPoint3200 */ |
johnAlexander | 0:c523920bcc09 | 3085 | sqr1 = (sqr1 + 0x8000) >> 16; |
johnAlexander | 0:c523920bcc09 | 3086 | |
johnAlexander | 0:c523920bcc09 | 3087 | /* FixPoint3200 * FixPoint3200 = FixPoint6400 */ |
johnAlexander | 0:c523920bcc09 | 3088 | sqr1 *= sqr1; |
johnAlexander | 0:c523920bcc09 | 3089 | |
johnAlexander | 0:c523920bcc09 | 3090 | sqr2 = sigmaEstimateP2; |
johnAlexander | 0:c523920bcc09 | 3091 | |
johnAlexander | 0:c523920bcc09 | 3092 | /* (FixPoint1616 >> 16) = FixPoint3200 */ |
johnAlexander | 0:c523920bcc09 | 3093 | sqr2 = (sqr2 + 0x8000) >> 16; |
johnAlexander | 0:c523920bcc09 | 3094 | |
johnAlexander | 0:c523920bcc09 | 3095 | /* FixPoint3200 * FixPoint3200 = FixPoint6400 */ |
johnAlexander | 0:c523920bcc09 | 3096 | sqr2 *= sqr2; |
johnAlexander | 0:c523920bcc09 | 3097 | |
johnAlexander | 0:c523920bcc09 | 3098 | /* FixPoint64000 + FixPoint6400 = FixPoint6400 */ |
johnAlexander | 0:c523920bcc09 | 3099 | sqrSum = sqr1 + sqr2; |
johnAlexander | 0:c523920bcc09 | 3100 | |
johnAlexander | 0:c523920bcc09 | 3101 | /* SQRT(FixPoin6400) = FixPoint3200 */ |
johnAlexander | 0:c523920bcc09 | 3102 | sqrtResult_centi_ns = VL53L0X_isqrt(sqrSum); |
johnAlexander | 0:c523920bcc09 | 3103 | |
johnAlexander | 0:c523920bcc09 | 3104 | /* (FixPoint3200 << 16) = FixPoint1616 */ |
johnAlexander | 0:c523920bcc09 | 3105 | sqrtResult_centi_ns <<= 16; |
johnAlexander | 0:c523920bcc09 | 3106 | |
johnAlexander | 0:c523920bcc09 | 3107 | /* |
johnAlexander | 0:c523920bcc09 | 3108 | * Note that the Speed Of Light is expressed in um per 1E-10 |
johnAlexander | 0:c523920bcc09 | 3109 | * seconds (2997) Therefore to get mm/ns we have to divide by |
johnAlexander | 0:c523920bcc09 | 3110 | * 10000 |
johnAlexander | 0:c523920bcc09 | 3111 | */ |
johnAlexander | 0:c523920bcc09 | 3112 | sigmaEstRtn = (((sqrtResult_centi_ns+50)/100) / |
johnAlexander | 0:c523920bcc09 | 3113 | sigmaEstimateP3); |
johnAlexander | 0:c523920bcc09 | 3114 | sigmaEstRtn *= VL53L0X_SPEED_OF_LIGHT_IN_AIR; |
johnAlexander | 0:c523920bcc09 | 3115 | |
johnAlexander | 0:c523920bcc09 | 3116 | /* Add 5000 before dividing by 10000 to ensure rounding. */ |
johnAlexander | 0:c523920bcc09 | 3117 | sigmaEstRtn += 5000; |
johnAlexander | 0:c523920bcc09 | 3118 | sigmaEstRtn /= 10000; |
johnAlexander | 0:c523920bcc09 | 3119 | |
johnAlexander | 0:c523920bcc09 | 3120 | if (sigmaEstRtn > cSigmaEstRtnMax) { |
johnAlexander | 0:c523920bcc09 | 3121 | /* Clip to prevent overflow. Will ensure safe |
johnAlexander | 0:c523920bcc09 | 3122 | * max result. */ |
johnAlexander | 0:c523920bcc09 | 3123 | sigmaEstRtn = cSigmaEstRtnMax; |
johnAlexander | 0:c523920bcc09 | 3124 | } |
johnAlexander | 0:c523920bcc09 | 3125 | finalRangeIntegrationTimeMilliSecs = |
johnAlexander | 0:c523920bcc09 | 3126 | (finalRangeTimeoutMicroSecs + preRangeTimeoutMicroSecs + 500)/1000; |
johnAlexander | 0:c523920bcc09 | 3127 | |
johnAlexander | 0:c523920bcc09 | 3128 | /* sigmaEstRef = 1mm * 25ms/final range integration time (inc pre-range) |
johnAlexander | 0:c523920bcc09 | 3129 | * sqrt(FixPoint1616/int) = FixPoint2408) |
johnAlexander | 0:c523920bcc09 | 3130 | */ |
johnAlexander | 0:c523920bcc09 | 3131 | sigmaEstRef = |
johnAlexander | 0:c523920bcc09 | 3132 | VL53L0X_isqrt((cDfltFinalRangeIntegrationTimeMilliSecs + |
johnAlexander | 0:c523920bcc09 | 3133 | finalRangeIntegrationTimeMilliSecs/2)/ |
johnAlexander | 0:c523920bcc09 | 3134 | finalRangeIntegrationTimeMilliSecs); |
johnAlexander | 0:c523920bcc09 | 3135 | |
johnAlexander | 0:c523920bcc09 | 3136 | /* FixPoint2408 << 8 = FixPoint1616 */ |
johnAlexander | 0:c523920bcc09 | 3137 | sigmaEstRef <<= 8; |
johnAlexander | 0:c523920bcc09 | 3138 | sigmaEstRef = (sigmaEstRef + 500)/1000; |
johnAlexander | 0:c523920bcc09 | 3139 | |
johnAlexander | 0:c523920bcc09 | 3140 | /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ |
johnAlexander | 0:c523920bcc09 | 3141 | sqr1 = sigmaEstRtn * sigmaEstRtn; |
johnAlexander | 0:c523920bcc09 | 3142 | /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ |
johnAlexander | 0:c523920bcc09 | 3143 | sqr2 = sigmaEstRef * sigmaEstRef; |
johnAlexander | 0:c523920bcc09 | 3144 | |
johnAlexander | 0:c523920bcc09 | 3145 | /* sqrt(FixPoint3232) = FixPoint1616 */ |
johnAlexander | 0:c523920bcc09 | 3146 | sqrtResult = VL53L0X_isqrt((sqr1 + sqr2)); |
johnAlexander | 0:c523920bcc09 | 3147 | /* |
johnAlexander | 0:c523920bcc09 | 3148 | * Note that the Shift by 4 bits increases resolution prior to |
johnAlexander | 0:c523920bcc09 | 3149 | * the sqrt, therefore the result must be shifted by 2 bits to |
johnAlexander | 0:c523920bcc09 | 3150 | * the right to revert back to the FixPoint1616 format. |
johnAlexander | 0:c523920bcc09 | 3151 | */ |
johnAlexander | 0:c523920bcc09 | 3152 | |
johnAlexander | 0:c523920bcc09 | 3153 | sigmaEstimate = 1000 * sqrtResult; |
johnAlexander | 0:c523920bcc09 | 3154 | |
johnAlexander | 0:c523920bcc09 | 3155 | if ((peakSignalRate_kcps < 1) || (vcselTotalEventsRtn < 1) || |
johnAlexander | 0:c523920bcc09 | 3156 | (sigmaEstimate > cSigmaEstMax)) { |
johnAlexander | 0:c523920bcc09 | 3157 | sigmaEstimate = cSigmaEstMax; |
johnAlexander | 0:c523920bcc09 | 3158 | } |
johnAlexander | 0:c523920bcc09 | 3159 | |
johnAlexander | 0:c523920bcc09 | 3160 | *pSigmaEstimate = (uint32_t)(sigmaEstimate); |
johnAlexander | 0:c523920bcc09 | 3161 | PALDevDataSet(Dev, SigmaEstimate, *pSigmaEstimate); |
johnAlexander | 0:c523920bcc09 | 3162 | Status = VL53L0X_calc_dmax( |
johnAlexander | 0:c523920bcc09 | 3163 | Dev, |
johnAlexander | 0:c523920bcc09 | 3164 | totalSignalRate_mcps, |
johnAlexander | 0:c523920bcc09 | 3165 | correctedSignalRate_mcps, |
johnAlexander | 0:c523920bcc09 | 3166 | pwMult, |
johnAlexander | 0:c523920bcc09 | 3167 | sigmaEstimateP1, |
johnAlexander | 0:c523920bcc09 | 3168 | sigmaEstimateP2, |
johnAlexander | 0:c523920bcc09 | 3169 | peakVcselDuration_us, |
johnAlexander | 0:c523920bcc09 | 3170 | pDmax_mm); |
johnAlexander | 0:c523920bcc09 | 3171 | } |
johnAlexander | 0:c523920bcc09 | 3172 | |
johnAlexander | 0:c523920bcc09 | 3173 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 3174 | return Status; |
johnAlexander | 0:c523920bcc09 | 3175 | } |
johnAlexander | 0:c523920bcc09 | 3176 | |
johnAlexander | 0:c523920bcc09 | 3177 | VL53L0X_Error VL53L0X::VL53L0X_get_pal_range_status(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 3178 | uint8_t DeviceRangeStatus, |
johnAlexander | 0:c523920bcc09 | 3179 | FixPoint1616_t SignalRate, |
johnAlexander | 0:c523920bcc09 | 3180 | uint16_t EffectiveSpadRtnCount, |
johnAlexander | 0:c523920bcc09 | 3181 | VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, |
johnAlexander | 0:c523920bcc09 | 3182 | uint8_t *pPalRangeStatus) |
johnAlexander | 0:c523920bcc09 | 3183 | { |
johnAlexander | 0:c523920bcc09 | 3184 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 3185 | uint8_t NoneFlag; |
johnAlexander | 0:c523920bcc09 | 3186 | uint8_t SigmaLimitflag = 0; |
johnAlexander | 0:c523920bcc09 | 3187 | uint8_t SignalRefClipflag = 0; |
johnAlexander | 0:c523920bcc09 | 3188 | uint8_t RangeIgnoreThresholdflag = 0; |
johnAlexander | 0:c523920bcc09 | 3189 | uint8_t SigmaLimitCheckEnable = 0; |
johnAlexander | 0:c523920bcc09 | 3190 | uint8_t SignalRateFinalRangeLimitCheckEnable = 0; |
johnAlexander | 0:c523920bcc09 | 3191 | uint8_t SignalRefClipLimitCheckEnable = 0; |
johnAlexander | 0:c523920bcc09 | 3192 | uint8_t RangeIgnoreThresholdLimitCheckEnable = 0; |
johnAlexander | 0:c523920bcc09 | 3193 | FixPoint1616_t SigmaEstimate; |
johnAlexander | 0:c523920bcc09 | 3194 | FixPoint1616_t SigmaLimitValue; |
johnAlexander | 0:c523920bcc09 | 3195 | FixPoint1616_t SignalRefClipValue; |
johnAlexander | 0:c523920bcc09 | 3196 | FixPoint1616_t RangeIgnoreThresholdValue; |
johnAlexander | 0:c523920bcc09 | 3197 | FixPoint1616_t SignalRatePerSpad; |
johnAlexander | 0:c523920bcc09 | 3198 | uint8_t DeviceRangeStatusInternal = 0; |
johnAlexander | 0:c523920bcc09 | 3199 | uint16_t tmpWord = 0; |
johnAlexander | 0:c523920bcc09 | 3200 | uint8_t Temp8; |
johnAlexander | 0:c523920bcc09 | 3201 | uint32_t Dmax_mm = 0; |
johnAlexander | 0:c523920bcc09 | 3202 | FixPoint1616_t LastSignalRefMcps; |
johnAlexander | 0:c523920bcc09 | 3203 | |
johnAlexander | 0:c523920bcc09 | 3204 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 3205 | |
johnAlexander | 0:c523920bcc09 | 3206 | |
johnAlexander | 0:c523920bcc09 | 3207 | /* |
johnAlexander | 0:c523920bcc09 | 3208 | * VL53L0X has a good ranging when the value of the |
johnAlexander | 0:c523920bcc09 | 3209 | * DeviceRangeStatus = 11. This function will replace the value 0 with |
johnAlexander | 0:c523920bcc09 | 3210 | * the value 11 in the DeviceRangeStatus. |
johnAlexander | 0:c523920bcc09 | 3211 | * In addition, the SigmaEstimator is not included in the VL53L0X |
johnAlexander | 0:c523920bcc09 | 3212 | * DeviceRangeStatus, this will be added in the PalRangeStatus. |
johnAlexander | 0:c523920bcc09 | 3213 | */ |
johnAlexander | 0:c523920bcc09 | 3214 | |
johnAlexander | 0:c523920bcc09 | 3215 | DeviceRangeStatusInternal = ((DeviceRangeStatus & 0x78) >> 3); |
johnAlexander | 0:c523920bcc09 | 3216 | |
johnAlexander | 0:c523920bcc09 | 3217 | if (DeviceRangeStatusInternal == 0 || |
johnAlexander | 0:c523920bcc09 | 3218 | DeviceRangeStatusInternal == 5 || |
johnAlexander | 0:c523920bcc09 | 3219 | DeviceRangeStatusInternal == 7 || |
johnAlexander | 0:c523920bcc09 | 3220 | DeviceRangeStatusInternal == 12 || |
johnAlexander | 0:c523920bcc09 | 3221 | DeviceRangeStatusInternal == 13 || |
johnAlexander | 0:c523920bcc09 | 3222 | DeviceRangeStatusInternal == 14 || |
johnAlexander | 0:c523920bcc09 | 3223 | DeviceRangeStatusInternal == 15 |
johnAlexander | 0:c523920bcc09 | 3224 | ) { |
johnAlexander | 0:c523920bcc09 | 3225 | NoneFlag = 1; |
johnAlexander | 0:c523920bcc09 | 3226 | } else { |
johnAlexander | 0:c523920bcc09 | 3227 | NoneFlag = 0; |
johnAlexander | 0:c523920bcc09 | 3228 | } |
johnAlexander | 0:c523920bcc09 | 3229 | |
johnAlexander | 0:c523920bcc09 | 3230 | /* |
johnAlexander | 0:c523920bcc09 | 3231 | * Check if Sigma limit is enabled, if yes then do comparison with limit |
johnAlexander | 0:c523920bcc09 | 3232 | * value and put the result back into pPalRangeStatus. |
johnAlexander | 0:c523920bcc09 | 3233 | */ |
johnAlexander | 0:c523920bcc09 | 3234 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3235 | Status = VL53L0X_GetLimitCheckEnable(Dev, |
johnAlexander | 0:c523920bcc09 | 3236 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
johnAlexander | 0:c523920bcc09 | 3237 | &SigmaLimitCheckEnable); |
johnAlexander | 0:c523920bcc09 | 3238 | |
johnAlexander | 0:c523920bcc09 | 3239 | if ((SigmaLimitCheckEnable != 0) && (Status == VL53L0X_ERROR_NONE)) { |
johnAlexander | 0:c523920bcc09 | 3240 | /* |
johnAlexander | 0:c523920bcc09 | 3241 | * compute the Sigma and check with limit |
johnAlexander | 0:c523920bcc09 | 3242 | */ |
johnAlexander | 0:c523920bcc09 | 3243 | Status = VL53L0X_calc_sigma_estimate( |
johnAlexander | 0:c523920bcc09 | 3244 | Dev, |
johnAlexander | 0:c523920bcc09 | 3245 | pRangingMeasurementData, |
johnAlexander | 0:c523920bcc09 | 3246 | &SigmaEstimate, |
johnAlexander | 0:c523920bcc09 | 3247 | &Dmax_mm); |
johnAlexander | 0:c523920bcc09 | 3248 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3249 | pRangingMeasurementData->RangeDMaxMilliMeter = Dmax_mm; |
johnAlexander | 0:c523920bcc09 | 3250 | |
johnAlexander | 0:c523920bcc09 | 3251 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 3252 | Status = VL53L0X_GetLimitCheckValue(Dev, |
johnAlexander | 0:c523920bcc09 | 3253 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
johnAlexander | 0:c523920bcc09 | 3254 | &SigmaLimitValue); |
johnAlexander | 0:c523920bcc09 | 3255 | |
johnAlexander | 0:c523920bcc09 | 3256 | if ((SigmaLimitValue > 0) && |
johnAlexander | 0:c523920bcc09 | 3257 | (SigmaEstimate > SigmaLimitValue)) |
johnAlexander | 0:c523920bcc09 | 3258 | /* Limit Fail */ |
johnAlexander | 0:c523920bcc09 | 3259 | SigmaLimitflag = 1; |
johnAlexander | 0:c523920bcc09 | 3260 | } |
johnAlexander | 0:c523920bcc09 | 3261 | } |
johnAlexander | 0:c523920bcc09 | 3262 | |
johnAlexander | 0:c523920bcc09 | 3263 | /* |
johnAlexander | 0:c523920bcc09 | 3264 | * Check if Signal ref clip limit is enabled, if yes then do comparison |
johnAlexander | 0:c523920bcc09 | 3265 | * with limit value and put the result back into pPalRangeStatus. |
johnAlexander | 0:c523920bcc09 | 3266 | */ |
johnAlexander | 0:c523920bcc09 | 3267 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3268 | Status = VL53L0X_GetLimitCheckEnable(Dev, |
johnAlexander | 0:c523920bcc09 | 3269 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
johnAlexander | 0:c523920bcc09 | 3270 | &SignalRefClipLimitCheckEnable); |
johnAlexander | 0:c523920bcc09 | 3271 | |
johnAlexander | 0:c523920bcc09 | 3272 | if ((SignalRefClipLimitCheckEnable != 0) && |
johnAlexander | 0:c523920bcc09 | 3273 | (Status == VL53L0X_ERROR_NONE)) { |
johnAlexander | 0:c523920bcc09 | 3274 | |
johnAlexander | 0:c523920bcc09 | 3275 | Status = VL53L0X_GetLimitCheckValue(Dev, |
johnAlexander | 0:c523920bcc09 | 3276 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
johnAlexander | 0:c523920bcc09 | 3277 | &SignalRefClipValue); |
johnAlexander | 0:c523920bcc09 | 3278 | |
johnAlexander | 0:c523920bcc09 | 3279 | /* Read LastSignalRefMcps from device */ |
johnAlexander | 0:c523920bcc09 | 3280 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3281 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
johnAlexander | 0:c523920bcc09 | 3282 | |
johnAlexander | 0:c523920bcc09 | 3283 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3284 | Status = VL53L0X_RdWord(Dev, |
johnAlexander | 0:c523920bcc09 | 3285 | VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF, |
johnAlexander | 0:c523920bcc09 | 3286 | &tmpWord); |
johnAlexander | 0:c523920bcc09 | 3287 | |
johnAlexander | 0:c523920bcc09 | 3288 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3289 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
johnAlexander | 0:c523920bcc09 | 3290 | |
johnAlexander | 0:c523920bcc09 | 3291 | LastSignalRefMcps = VL53L0X_FIXPOINT97TOFIXPOINT1616(tmpWord); |
johnAlexander | 0:c523920bcc09 | 3292 | PALDevDataSet(Dev, LastSignalRefMcps, LastSignalRefMcps); |
johnAlexander | 0:c523920bcc09 | 3293 | |
johnAlexander | 0:c523920bcc09 | 3294 | if ((SignalRefClipValue > 0) && |
johnAlexander | 0:c523920bcc09 | 3295 | (LastSignalRefMcps > SignalRefClipValue)) { |
johnAlexander | 0:c523920bcc09 | 3296 | /* Limit Fail */ |
johnAlexander | 0:c523920bcc09 | 3297 | SignalRefClipflag = 1; |
johnAlexander | 0:c523920bcc09 | 3298 | } |
johnAlexander | 0:c523920bcc09 | 3299 | } |
johnAlexander | 0:c523920bcc09 | 3300 | |
johnAlexander | 0:c523920bcc09 | 3301 | /* |
johnAlexander | 0:c523920bcc09 | 3302 | * Check if Signal ref clip limit is enabled, if yes then do comparison |
johnAlexander | 0:c523920bcc09 | 3303 | * with limit value and put the result back into pPalRangeStatus. |
johnAlexander | 0:c523920bcc09 | 3304 | * EffectiveSpadRtnCount has a format 8.8 |
johnAlexander | 0:c523920bcc09 | 3305 | * If (Return signal rate < (1.5 x Xtalk x number of Spads)) : FAIL |
johnAlexander | 0:c523920bcc09 | 3306 | */ |
johnAlexander | 0:c523920bcc09 | 3307 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3308 | Status = VL53L0X_GetLimitCheckEnable(Dev, |
johnAlexander | 0:c523920bcc09 | 3309 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
johnAlexander | 0:c523920bcc09 | 3310 | &RangeIgnoreThresholdLimitCheckEnable); |
johnAlexander | 0:c523920bcc09 | 3311 | |
johnAlexander | 0:c523920bcc09 | 3312 | if ((RangeIgnoreThresholdLimitCheckEnable != 0) && |
johnAlexander | 0:c523920bcc09 | 3313 | (Status == VL53L0X_ERROR_NONE)) { |
johnAlexander | 0:c523920bcc09 | 3314 | |
johnAlexander | 0:c523920bcc09 | 3315 | /* Compute the signal rate per spad */ |
johnAlexander | 0:c523920bcc09 | 3316 | if (EffectiveSpadRtnCount == 0) { |
johnAlexander | 0:c523920bcc09 | 3317 | SignalRatePerSpad = 0; |
johnAlexander | 0:c523920bcc09 | 3318 | } else { |
johnAlexander | 0:c523920bcc09 | 3319 | SignalRatePerSpad = (FixPoint1616_t)((256 * SignalRate) |
johnAlexander | 0:c523920bcc09 | 3320 | / EffectiveSpadRtnCount); |
johnAlexander | 0:c523920bcc09 | 3321 | } |
johnAlexander | 0:c523920bcc09 | 3322 | |
johnAlexander | 0:c523920bcc09 | 3323 | Status = VL53L0X_GetLimitCheckValue(Dev, |
johnAlexander | 0:c523920bcc09 | 3324 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
johnAlexander | 0:c523920bcc09 | 3325 | &RangeIgnoreThresholdValue); |
johnAlexander | 0:c523920bcc09 | 3326 | |
johnAlexander | 0:c523920bcc09 | 3327 | if ((RangeIgnoreThresholdValue > 0) && |
johnAlexander | 0:c523920bcc09 | 3328 | (SignalRatePerSpad < RangeIgnoreThresholdValue)) { |
johnAlexander | 0:c523920bcc09 | 3329 | /* Limit Fail add 2^6 to range status */ |
johnAlexander | 0:c523920bcc09 | 3330 | RangeIgnoreThresholdflag = 1; |
johnAlexander | 0:c523920bcc09 | 3331 | } |
johnAlexander | 0:c523920bcc09 | 3332 | } |
johnAlexander | 0:c523920bcc09 | 3333 | |
johnAlexander | 0:c523920bcc09 | 3334 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 3335 | if (NoneFlag == 1) { |
johnAlexander | 0:c523920bcc09 | 3336 | *pPalRangeStatus = 255; /* NONE */ |
johnAlexander | 0:c523920bcc09 | 3337 | } else if (DeviceRangeStatusInternal == 1 || |
johnAlexander | 0:c523920bcc09 | 3338 | DeviceRangeStatusInternal == 2 || |
johnAlexander | 0:c523920bcc09 | 3339 | DeviceRangeStatusInternal == 3) { |
johnAlexander | 0:c523920bcc09 | 3340 | *pPalRangeStatus = 5; /* HW fail */ |
johnAlexander | 0:c523920bcc09 | 3341 | } else if (DeviceRangeStatusInternal == 6 || |
johnAlexander | 0:c523920bcc09 | 3342 | DeviceRangeStatusInternal == 9) { |
johnAlexander | 0:c523920bcc09 | 3343 | *pPalRangeStatus = 4; /* Phase fail */ |
johnAlexander | 0:c523920bcc09 | 3344 | } else if (DeviceRangeStatusInternal == 8 || |
johnAlexander | 0:c523920bcc09 | 3345 | DeviceRangeStatusInternal == 10 || |
johnAlexander | 0:c523920bcc09 | 3346 | SignalRefClipflag == 1) { |
johnAlexander | 0:c523920bcc09 | 3347 | *pPalRangeStatus = 3; /* Min range */ |
johnAlexander | 0:c523920bcc09 | 3348 | } else if (DeviceRangeStatusInternal == 4 || |
johnAlexander | 0:c523920bcc09 | 3349 | RangeIgnoreThresholdflag == 1) { |
johnAlexander | 0:c523920bcc09 | 3350 | *pPalRangeStatus = 2; /* Signal Fail */ |
johnAlexander | 0:c523920bcc09 | 3351 | } else if (SigmaLimitflag == 1) { |
johnAlexander | 0:c523920bcc09 | 3352 | *pPalRangeStatus = 1; /* Sigma Fail */ |
johnAlexander | 0:c523920bcc09 | 3353 | } else { |
johnAlexander | 0:c523920bcc09 | 3354 | *pPalRangeStatus = 0; /* Range Valid */ |
johnAlexander | 0:c523920bcc09 | 3355 | } |
johnAlexander | 0:c523920bcc09 | 3356 | } |
johnAlexander | 0:c523920bcc09 | 3357 | |
johnAlexander | 0:c523920bcc09 | 3358 | /* DMAX only relevant during range error */ |
johnAlexander | 0:c523920bcc09 | 3359 | if (*pPalRangeStatus == 0) |
johnAlexander | 0:c523920bcc09 | 3360 | pRangingMeasurementData->RangeDMaxMilliMeter = 0; |
johnAlexander | 0:c523920bcc09 | 3361 | |
johnAlexander | 0:c523920bcc09 | 3362 | /* fill the Limit Check Status */ |
johnAlexander | 0:c523920bcc09 | 3363 | |
johnAlexander | 0:c523920bcc09 | 3364 | Status = VL53L0X_GetLimitCheckEnable(Dev, |
johnAlexander | 0:c523920bcc09 | 3365 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
johnAlexander | 0:c523920bcc09 | 3366 | &SignalRateFinalRangeLimitCheckEnable); |
johnAlexander | 0:c523920bcc09 | 3367 | |
johnAlexander | 0:c523920bcc09 | 3368 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 3369 | if ((SigmaLimitCheckEnable == 0) || (SigmaLimitflag == 1)) |
johnAlexander | 0:c523920bcc09 | 3370 | Temp8 = 1; |
johnAlexander | 0:c523920bcc09 | 3371 | else |
johnAlexander | 0:c523920bcc09 | 3372 | Temp8 = 0; |
johnAlexander | 0:c523920bcc09 | 3373 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
johnAlexander | 0:c523920bcc09 | 3374 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8); |
johnAlexander | 0:c523920bcc09 | 3375 | |
johnAlexander | 0:c523920bcc09 | 3376 | if ((DeviceRangeStatusInternal == 4) || |
johnAlexander | 0:c523920bcc09 | 3377 | (SignalRateFinalRangeLimitCheckEnable == 0)) |
johnAlexander | 0:c523920bcc09 | 3378 | Temp8 = 1; |
johnAlexander | 0:c523920bcc09 | 3379 | else |
johnAlexander | 0:c523920bcc09 | 3380 | Temp8 = 0; |
johnAlexander | 0:c523920bcc09 | 3381 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
johnAlexander | 0:c523920bcc09 | 3382 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
johnAlexander | 0:c523920bcc09 | 3383 | Temp8); |
johnAlexander | 0:c523920bcc09 | 3384 | |
johnAlexander | 0:c523920bcc09 | 3385 | if ((SignalRefClipLimitCheckEnable == 0) || |
johnAlexander | 0:c523920bcc09 | 3386 | (SignalRefClipflag == 1)) |
johnAlexander | 0:c523920bcc09 | 3387 | Temp8 = 1; |
johnAlexander | 0:c523920bcc09 | 3388 | else |
johnAlexander | 0:c523920bcc09 | 3389 | Temp8 = 0; |
johnAlexander | 0:c523920bcc09 | 3390 | |
johnAlexander | 0:c523920bcc09 | 3391 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
johnAlexander | 0:c523920bcc09 | 3392 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, Temp8); |
johnAlexander | 0:c523920bcc09 | 3393 | |
johnAlexander | 0:c523920bcc09 | 3394 | if ((RangeIgnoreThresholdLimitCheckEnable == 0) || |
johnAlexander | 0:c523920bcc09 | 3395 | (RangeIgnoreThresholdflag == 1)) |
johnAlexander | 0:c523920bcc09 | 3396 | Temp8 = 1; |
johnAlexander | 0:c523920bcc09 | 3397 | else |
johnAlexander | 0:c523920bcc09 | 3398 | Temp8 = 0; |
johnAlexander | 0:c523920bcc09 | 3399 | |
johnAlexander | 0:c523920bcc09 | 3400 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
johnAlexander | 0:c523920bcc09 | 3401 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
johnAlexander | 0:c523920bcc09 | 3402 | Temp8); |
johnAlexander | 0:c523920bcc09 | 3403 | } |
johnAlexander | 0:c523920bcc09 | 3404 | |
johnAlexander | 0:c523920bcc09 | 3405 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 3406 | return Status; |
johnAlexander | 0:c523920bcc09 | 3407 | |
johnAlexander | 0:c523920bcc09 | 3408 | } |
johnAlexander | 0:c523920bcc09 | 3409 | |
johnAlexander | 0:c523920bcc09 | 3410 | VL53L0X_Error VL53L0X::VL53L0X_GetRangingMeasurementData(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 3411 | VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) |
johnAlexander | 0:c523920bcc09 | 3412 | { |
johnAlexander | 0:c523920bcc09 | 3413 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 3414 | uint8_t DeviceRangeStatus; |
johnAlexander | 0:c523920bcc09 | 3415 | uint8_t RangeFractionalEnable; |
johnAlexander | 0:c523920bcc09 | 3416 | uint8_t PalRangeStatus; |
johnAlexander | 0:c523920bcc09 | 3417 | uint8_t XTalkCompensationEnable; |
johnAlexander | 0:c523920bcc09 | 3418 | uint16_t AmbientRate; |
johnAlexander | 0:c523920bcc09 | 3419 | FixPoint1616_t SignalRate; |
johnAlexander | 0:c523920bcc09 | 3420 | uint16_t XTalkCompensationRateMegaCps; |
johnAlexander | 0:c523920bcc09 | 3421 | uint16_t EffectiveSpadRtnCount; |
johnAlexander | 0:c523920bcc09 | 3422 | uint16_t tmpuint16; |
johnAlexander | 0:c523920bcc09 | 3423 | uint16_t XtalkRangeMilliMeter; |
johnAlexander | 0:c523920bcc09 | 3424 | uint16_t LinearityCorrectiveGain; |
johnAlexander | 0:c523920bcc09 | 3425 | uint8_t localBuffer[12]; |
johnAlexander | 0:c523920bcc09 | 3426 | VL53L0X_RangingMeasurementData_t LastRangeDataBuffer; |
johnAlexander | 0:c523920bcc09 | 3427 | |
johnAlexander | 0:c523920bcc09 | 3428 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 3429 | |
johnAlexander | 0:c523920bcc09 | 3430 | /* |
johnAlexander | 0:c523920bcc09 | 3431 | * use multi read even if some registers are not useful, result will |
johnAlexander | 0:c523920bcc09 | 3432 | * be more efficient |
johnAlexander | 0:c523920bcc09 | 3433 | * start reading at 0x14 dec20 |
johnAlexander | 0:c523920bcc09 | 3434 | * end reading at 0x21 dec33 total 14 bytes to read |
johnAlexander | 0:c523920bcc09 | 3435 | */ |
johnAlexander | 0:c523920bcc09 | 3436 | Status = VL53L0X_ReadMulti(Dev, 0x14, localBuffer, 12); |
johnAlexander | 0:c523920bcc09 | 3437 | |
johnAlexander | 0:c523920bcc09 | 3438 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 3439 | |
johnAlexander | 0:c523920bcc09 | 3440 | pRangingMeasurementData->ZoneId = 0; /* Only one zone */ |
johnAlexander | 0:c523920bcc09 | 3441 | pRangingMeasurementData->TimeStamp = 0; /* Not Implemented */ |
johnAlexander | 0:c523920bcc09 | 3442 | |
johnAlexander | 0:c523920bcc09 | 3443 | tmpuint16 = VL53L0X_MAKEUINT16(localBuffer[11], localBuffer[10]); |
johnAlexander | 0:c523920bcc09 | 3444 | /* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional |
johnAlexander | 0:c523920bcc09 | 3445 | *(format 11.2) else no fractional |
johnAlexander | 0:c523920bcc09 | 3446 | */ |
johnAlexander | 0:c523920bcc09 | 3447 | |
johnAlexander | 0:c523920bcc09 | 3448 | pRangingMeasurementData->MeasurementTimeUsec = 0; |
johnAlexander | 0:c523920bcc09 | 3449 | |
johnAlexander | 0:c523920bcc09 | 3450 | SignalRate = VL53L0X_FIXPOINT97TOFIXPOINT1616( |
johnAlexander | 0:c523920bcc09 | 3451 | VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6])); |
johnAlexander | 0:c523920bcc09 | 3452 | /* peak_signal_count_rate_rtn_mcps */ |
johnAlexander | 0:c523920bcc09 | 3453 | pRangingMeasurementData->SignalRateRtnMegaCps = SignalRate; |
johnAlexander | 0:c523920bcc09 | 3454 | |
johnAlexander | 0:c523920bcc09 | 3455 | AmbientRate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]); |
johnAlexander | 0:c523920bcc09 | 3456 | pRangingMeasurementData->AmbientRateRtnMegaCps = |
johnAlexander | 0:c523920bcc09 | 3457 | VL53L0X_FIXPOINT97TOFIXPOINT1616(AmbientRate); |
johnAlexander | 0:c523920bcc09 | 3458 | |
johnAlexander | 0:c523920bcc09 | 3459 | EffectiveSpadRtnCount = VL53L0X_MAKEUINT16(localBuffer[3], |
johnAlexander | 0:c523920bcc09 | 3460 | localBuffer[2]); |
johnAlexander | 0:c523920bcc09 | 3461 | /* EffectiveSpadRtnCount is 8.8 format */ |
johnAlexander | 0:c523920bcc09 | 3462 | pRangingMeasurementData->EffectiveSpadRtnCount = |
johnAlexander | 0:c523920bcc09 | 3463 | EffectiveSpadRtnCount; |
johnAlexander | 0:c523920bcc09 | 3464 | |
johnAlexander | 0:c523920bcc09 | 3465 | DeviceRangeStatus = localBuffer[0]; |
johnAlexander | 0:c523920bcc09 | 3466 | |
johnAlexander | 0:c523920bcc09 | 3467 | /* Get Linearity Corrective Gain */ |
johnAlexander | 0:c523920bcc09 | 3468 | LinearityCorrectiveGain = PALDevDataGet(Dev, |
johnAlexander | 0:c523920bcc09 | 3469 | LinearityCorrectiveGain); |
johnAlexander | 0:c523920bcc09 | 3470 | |
johnAlexander | 0:c523920bcc09 | 3471 | /* Get ranging configuration */ |
johnAlexander | 0:c523920bcc09 | 3472 | RangeFractionalEnable = PALDevDataGet(Dev, |
johnAlexander | 0:c523920bcc09 | 3473 | RangeFractionalEnable); |
johnAlexander | 0:c523920bcc09 | 3474 | |
johnAlexander | 0:c523920bcc09 | 3475 | if (LinearityCorrectiveGain != 1000) { |
johnAlexander | 0:c523920bcc09 | 3476 | |
johnAlexander | 0:c523920bcc09 | 3477 | tmpuint16 = (uint16_t)((LinearityCorrectiveGain |
johnAlexander | 0:c523920bcc09 | 3478 | * tmpuint16 + 500) / 1000); |
johnAlexander | 0:c523920bcc09 | 3479 | |
johnAlexander | 0:c523920bcc09 | 3480 | /* Implement Xtalk */ |
johnAlexander | 0:c523920bcc09 | 3481 | VL53L0X_GETPARAMETERFIELD(Dev, |
johnAlexander | 0:c523920bcc09 | 3482 | XTalkCompensationRateMegaCps, |
johnAlexander | 0:c523920bcc09 | 3483 | XTalkCompensationRateMegaCps); |
johnAlexander | 0:c523920bcc09 | 3484 | VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
johnAlexander | 0:c523920bcc09 | 3485 | XTalkCompensationEnable); |
johnAlexander | 0:c523920bcc09 | 3486 | |
johnAlexander | 0:c523920bcc09 | 3487 | if (XTalkCompensationEnable) { |
johnAlexander | 0:c523920bcc09 | 3488 | |
johnAlexander | 0:c523920bcc09 | 3489 | if ((SignalRate |
johnAlexander | 0:c523920bcc09 | 3490 | - ((XTalkCompensationRateMegaCps |
johnAlexander | 0:c523920bcc09 | 3491 | * EffectiveSpadRtnCount) >> 8)) |
johnAlexander | 0:c523920bcc09 | 3492 | <= 0) { |
johnAlexander | 0:c523920bcc09 | 3493 | if (RangeFractionalEnable) |
johnAlexander | 0:c523920bcc09 | 3494 | XtalkRangeMilliMeter = 8888; |
johnAlexander | 0:c523920bcc09 | 3495 | else |
johnAlexander | 0:c523920bcc09 | 3496 | XtalkRangeMilliMeter = 8888 |
johnAlexander | 0:c523920bcc09 | 3497 | << 2; |
johnAlexander | 0:c523920bcc09 | 3498 | } else { |
johnAlexander | 0:c523920bcc09 | 3499 | XtalkRangeMilliMeter = |
johnAlexander | 0:c523920bcc09 | 3500 | (tmpuint16 * SignalRate) |
johnAlexander | 0:c523920bcc09 | 3501 | / (SignalRate |
johnAlexander | 0:c523920bcc09 | 3502 | - ((XTalkCompensationRateMegaCps |
johnAlexander | 0:c523920bcc09 | 3503 | * EffectiveSpadRtnCount) |
johnAlexander | 0:c523920bcc09 | 3504 | >> 8)); |
johnAlexander | 0:c523920bcc09 | 3505 | } |
johnAlexander | 0:c523920bcc09 | 3506 | |
johnAlexander | 0:c523920bcc09 | 3507 | tmpuint16 = XtalkRangeMilliMeter; |
johnAlexander | 0:c523920bcc09 | 3508 | } |
johnAlexander | 0:c523920bcc09 | 3509 | |
johnAlexander | 0:c523920bcc09 | 3510 | } |
johnAlexander | 0:c523920bcc09 | 3511 | |
johnAlexander | 0:c523920bcc09 | 3512 | if (RangeFractionalEnable) { |
johnAlexander | 0:c523920bcc09 | 3513 | pRangingMeasurementData->RangeMilliMeter = |
johnAlexander | 0:c523920bcc09 | 3514 | (uint16_t)((tmpuint16) >> 2); |
johnAlexander | 0:c523920bcc09 | 3515 | pRangingMeasurementData->RangeFractionalPart = |
johnAlexander | 0:c523920bcc09 | 3516 | (uint8_t)((tmpuint16 & 0x03) << 6); |
johnAlexander | 0:c523920bcc09 | 3517 | } else { |
johnAlexander | 0:c523920bcc09 | 3518 | pRangingMeasurementData->RangeMilliMeter = tmpuint16; |
johnAlexander | 0:c523920bcc09 | 3519 | pRangingMeasurementData->RangeFractionalPart = 0; |
johnAlexander | 0:c523920bcc09 | 3520 | } |
johnAlexander | 0:c523920bcc09 | 3521 | |
johnAlexander | 0:c523920bcc09 | 3522 | /* |
johnAlexander | 0:c523920bcc09 | 3523 | * For a standard definition of RangeStatus, this should |
johnAlexander | 0:c523920bcc09 | 3524 | * return 0 in case of good result after a ranging |
johnAlexander | 0:c523920bcc09 | 3525 | * The range status depends on the device so call a device |
johnAlexander | 0:c523920bcc09 | 3526 | * specific function to obtain the right Status. |
johnAlexander | 0:c523920bcc09 | 3527 | */ |
johnAlexander | 0:c523920bcc09 | 3528 | Status |= VL53L0X_get_pal_range_status(Dev, DeviceRangeStatus, |
johnAlexander | 0:c523920bcc09 | 3529 | SignalRate, EffectiveSpadRtnCount, |
johnAlexander | 0:c523920bcc09 | 3530 | pRangingMeasurementData, &PalRangeStatus); |
johnAlexander | 0:c523920bcc09 | 3531 | |
johnAlexander | 0:c523920bcc09 | 3532 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3533 | pRangingMeasurementData->RangeStatus = PalRangeStatus; |
johnAlexander | 0:c523920bcc09 | 3534 | |
johnAlexander | 0:c523920bcc09 | 3535 | } |
johnAlexander | 0:c523920bcc09 | 3536 | |
johnAlexander | 0:c523920bcc09 | 3537 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 3538 | /* Copy last read data into Dev buffer */ |
johnAlexander | 0:c523920bcc09 | 3539 | LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure); |
johnAlexander | 0:c523920bcc09 | 3540 | |
johnAlexander | 0:c523920bcc09 | 3541 | LastRangeDataBuffer.RangeMilliMeter = |
johnAlexander | 0:c523920bcc09 | 3542 | pRangingMeasurementData->RangeMilliMeter; |
johnAlexander | 0:c523920bcc09 | 3543 | LastRangeDataBuffer.RangeFractionalPart = |
johnAlexander | 0:c523920bcc09 | 3544 | pRangingMeasurementData->RangeFractionalPart; |
johnAlexander | 0:c523920bcc09 | 3545 | LastRangeDataBuffer.RangeDMaxMilliMeter = |
johnAlexander | 0:c523920bcc09 | 3546 | pRangingMeasurementData->RangeDMaxMilliMeter; |
johnAlexander | 0:c523920bcc09 | 3547 | LastRangeDataBuffer.MeasurementTimeUsec = |
johnAlexander | 0:c523920bcc09 | 3548 | pRangingMeasurementData->MeasurementTimeUsec; |
johnAlexander | 0:c523920bcc09 | 3549 | LastRangeDataBuffer.SignalRateRtnMegaCps = |
johnAlexander | 0:c523920bcc09 | 3550 | pRangingMeasurementData->SignalRateRtnMegaCps; |
johnAlexander | 0:c523920bcc09 | 3551 | LastRangeDataBuffer.AmbientRateRtnMegaCps = |
johnAlexander | 0:c523920bcc09 | 3552 | pRangingMeasurementData->AmbientRateRtnMegaCps; |
johnAlexander | 0:c523920bcc09 | 3553 | LastRangeDataBuffer.EffectiveSpadRtnCount = |
johnAlexander | 0:c523920bcc09 | 3554 | pRangingMeasurementData->EffectiveSpadRtnCount; |
johnAlexander | 0:c523920bcc09 | 3555 | LastRangeDataBuffer.RangeStatus = |
johnAlexander | 0:c523920bcc09 | 3556 | pRangingMeasurementData->RangeStatus; |
johnAlexander | 0:c523920bcc09 | 3557 | |
johnAlexander | 0:c523920bcc09 | 3558 | PALDevDataSet(Dev, LastRangeMeasure, LastRangeDataBuffer); |
johnAlexander | 0:c523920bcc09 | 3559 | } |
johnAlexander | 0:c523920bcc09 | 3560 | |
johnAlexander | 0:c523920bcc09 | 3561 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 3562 | return Status; |
johnAlexander | 0:c523920bcc09 | 3563 | } |
johnAlexander | 0:c523920bcc09 | 3564 | |
johnAlexander | 0:c523920bcc09 | 3565 | VL53L0X_Error VL53L0X::VL53L0X_PerformSingleRangingMeasurement(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 3566 | VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) |
johnAlexander | 0:c523920bcc09 | 3567 | { |
johnAlexander | 0:c523920bcc09 | 3568 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 3569 | |
johnAlexander | 0:c523920bcc09 | 3570 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 3571 | |
johnAlexander | 0:c523920bcc09 | 3572 | /* This function will do a complete single ranging |
johnAlexander | 0:c523920bcc09 | 3573 | * Here we fix the mode! */ |
johnAlexander | 0:c523920bcc09 | 3574 | Status = VL53L0X_SetDeviceMode(Dev, VL53L0X_DEVICEMODE_SINGLE_RANGING); |
johnAlexander | 0:c523920bcc09 | 3575 | |
johnAlexander | 0:c523920bcc09 | 3576 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3577 | Status = VL53L0X_PerformSingleMeasurement(Dev); |
johnAlexander | 0:c523920bcc09 | 3578 | |
johnAlexander | 0:c523920bcc09 | 3579 | |
johnAlexander | 0:c523920bcc09 | 3580 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3581 | Status = VL53L0X_GetRangingMeasurementData(Dev, |
johnAlexander | 0:c523920bcc09 | 3582 | pRangingMeasurementData); |
johnAlexander | 0:c523920bcc09 | 3583 | |
johnAlexander | 0:c523920bcc09 | 3584 | |
johnAlexander | 0:c523920bcc09 | 3585 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3586 | Status = VL53L0X_ClearInterruptMask(Dev, 0); |
johnAlexander | 0:c523920bcc09 | 3587 | |
johnAlexander | 0:c523920bcc09 | 3588 | |
johnAlexander | 0:c523920bcc09 | 3589 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 3590 | return Status; |
johnAlexander | 0:c523920bcc09 | 3591 | } |
johnAlexander | 0:c523920bcc09 | 3592 | |
johnAlexander | 0:c523920bcc09 | 3593 | VL53L0X_Error VL53L0X::perform_ref_signal_measurement(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 3594 | uint16_t *refSignalRate) |
johnAlexander | 0:c523920bcc09 | 3595 | { |
johnAlexander | 0:c523920bcc09 | 3596 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 3597 | VL53L0X_RangingMeasurementData_t rangingMeasurementData; |
johnAlexander | 0:c523920bcc09 | 3598 | |
johnAlexander | 0:c523920bcc09 | 3599 | uint8_t SequenceConfig = 0; |
johnAlexander | 0:c523920bcc09 | 3600 | |
johnAlexander | 0:c523920bcc09 | 3601 | /* store the value of the sequence config, |
johnAlexander | 0:c523920bcc09 | 3602 | * this will be reset before the end of the function |
johnAlexander | 0:c523920bcc09 | 3603 | */ |
johnAlexander | 0:c523920bcc09 | 3604 | |
johnAlexander | 0:c523920bcc09 | 3605 | SequenceConfig = PALDevDataGet(Dev, SequenceConfig); |
johnAlexander | 0:c523920bcc09 | 3606 | |
johnAlexander | 0:c523920bcc09 | 3607 | /* |
johnAlexander | 0:c523920bcc09 | 3608 | * This function performs a reference signal rate measurement. |
johnAlexander | 0:c523920bcc09 | 3609 | */ |
johnAlexander | 0:c523920bcc09 | 3610 | if (status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3611 | status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 3612 | VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0xC0); |
johnAlexander | 0:c523920bcc09 | 3613 | |
johnAlexander | 0:c523920bcc09 | 3614 | if (status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3615 | status = VL53L0X_PerformSingleRangingMeasurement(Dev, |
johnAlexander | 0:c523920bcc09 | 3616 | &rangingMeasurementData); |
johnAlexander | 0:c523920bcc09 | 3617 | |
johnAlexander | 0:c523920bcc09 | 3618 | if (status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3619 | status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
johnAlexander | 0:c523920bcc09 | 3620 | |
johnAlexander | 0:c523920bcc09 | 3621 | if (status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3622 | status = VL53L0X_RdWord(Dev, |
johnAlexander | 0:c523920bcc09 | 3623 | VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF, |
johnAlexander | 0:c523920bcc09 | 3624 | refSignalRate); |
johnAlexander | 0:c523920bcc09 | 3625 | |
johnAlexander | 0:c523920bcc09 | 3626 | if (status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3627 | status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
johnAlexander | 0:c523920bcc09 | 3628 | |
johnAlexander | 0:c523920bcc09 | 3629 | if (status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 3630 | /* restore the previous Sequence Config */ |
johnAlexander | 0:c523920bcc09 | 3631 | status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
johnAlexander | 0:c523920bcc09 | 3632 | SequenceConfig); |
johnAlexander | 0:c523920bcc09 | 3633 | if (status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3634 | PALDevDataSet(Dev, SequenceConfig, SequenceConfig); |
johnAlexander | 0:c523920bcc09 | 3635 | } |
johnAlexander | 0:c523920bcc09 | 3636 | |
johnAlexander | 0:c523920bcc09 | 3637 | return status; |
johnAlexander | 0:c523920bcc09 | 3638 | } |
johnAlexander | 0:c523920bcc09 | 3639 | |
johnAlexander | 0:c523920bcc09 | 3640 | VL53L0X_Error VL53L0X::VL53L0X_perform_ref_spad_management(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 3641 | uint32_t *refSpadCount, |
johnAlexander | 0:c523920bcc09 | 3642 | uint8_t *isApertureSpads) |
johnAlexander | 0:c523920bcc09 | 3643 | { |
johnAlexander | 0:c523920bcc09 | 3644 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 3645 | uint8_t lastSpadArray[6]; |
johnAlexander | 0:c523920bcc09 | 3646 | uint8_t startSelect = 0xB4; |
johnAlexander | 0:c523920bcc09 | 3647 | uint32_t minimumSpadCount = 3; |
johnAlexander | 0:c523920bcc09 | 3648 | uint32_t maxSpadCount = 44; |
johnAlexander | 0:c523920bcc09 | 3649 | uint32_t currentSpadIndex = 0; |
johnAlexander | 0:c523920bcc09 | 3650 | uint32_t lastSpadIndex = 0; |
johnAlexander | 0:c523920bcc09 | 3651 | int32_t nextGoodSpad = 0; |
johnAlexander | 0:c523920bcc09 | 3652 | uint16_t targetRefRate = 0x0A00; /* 20 MCPS in 9:7 format */ |
johnAlexander | 0:c523920bcc09 | 3653 | uint16_t peakSignalRateRef; |
johnAlexander | 0:c523920bcc09 | 3654 | uint32_t needAptSpads = 0; |
johnAlexander | 0:c523920bcc09 | 3655 | uint32_t index = 0; |
johnAlexander | 0:c523920bcc09 | 3656 | uint32_t spadArraySize = 6; |
johnAlexander | 0:c523920bcc09 | 3657 | uint32_t signalRateDiff = 0; |
johnAlexander | 0:c523920bcc09 | 3658 | uint32_t lastSignalRateDiff = 0; |
johnAlexander | 0:c523920bcc09 | 3659 | uint8_t complete = 0; |
johnAlexander | 0:c523920bcc09 | 3660 | uint8_t VhvSettings = 0; |
johnAlexander | 0:c523920bcc09 | 3661 | uint8_t PhaseCal = 0; |
johnAlexander | 0:c523920bcc09 | 3662 | uint32_t refSpadCount_int = 0; |
johnAlexander | 0:c523920bcc09 | 3663 | uint8_t isApertureSpads_int = 0; |
johnAlexander | 0:c523920bcc09 | 3664 | |
johnAlexander | 0:c523920bcc09 | 3665 | /* |
johnAlexander | 0:c523920bcc09 | 3666 | * The reference SPAD initialization procedure determines the minimum |
johnAlexander | 0:c523920bcc09 | 3667 | * amount of reference spads to be enables to achieve a target reference |
johnAlexander | 0:c523920bcc09 | 3668 | * signal rate and should be performed once during initialization. |
johnAlexander | 0:c523920bcc09 | 3669 | * |
johnAlexander | 0:c523920bcc09 | 3670 | * Either aperture or non-aperture spads are applied but never both. |
johnAlexander | 0:c523920bcc09 | 3671 | * Firstly non-aperture spads are set, begining with 5 spads, and |
johnAlexander | 0:c523920bcc09 | 3672 | * increased one spad at a time until the closest measurement to the |
johnAlexander | 0:c523920bcc09 | 3673 | * target rate is achieved. |
johnAlexander | 0:c523920bcc09 | 3674 | * |
johnAlexander | 0:c523920bcc09 | 3675 | * If the target rate is exceeded when 5 non-aperture spads are enabled, |
johnAlexander | 0:c523920bcc09 | 3676 | * initialization is performed instead with aperture spads. |
johnAlexander | 0:c523920bcc09 | 3677 | * |
johnAlexander | 0:c523920bcc09 | 3678 | * When setting spads, a 'Good Spad Map' is applied. |
johnAlexander | 0:c523920bcc09 | 3679 | * |
johnAlexander | 0:c523920bcc09 | 3680 | * This procedure operates within a SPAD window of interest of a maximum |
johnAlexander | 0:c523920bcc09 | 3681 | * 44 spads. |
johnAlexander | 0:c523920bcc09 | 3682 | * The start point is currently fixed to 180, which lies towards the end |
johnAlexander | 0:c523920bcc09 | 3683 | * of the non-aperture quadrant and runs in to the adjacent aperture |
johnAlexander | 0:c523920bcc09 | 3684 | * quadrant. |
johnAlexander | 0:c523920bcc09 | 3685 | */ |
johnAlexander | 0:c523920bcc09 | 3686 | |
johnAlexander | 0:c523920bcc09 | 3687 | |
johnAlexander | 0:c523920bcc09 | 3688 | targetRefRate = PALDevDataGet(Dev, targetRefRate); |
johnAlexander | 0:c523920bcc09 | 3689 | |
johnAlexander | 0:c523920bcc09 | 3690 | /* |
johnAlexander | 0:c523920bcc09 | 3691 | * Initialize Spad arrays. |
johnAlexander | 0:c523920bcc09 | 3692 | * Currently the good spad map is initialised to 'All good'. |
johnAlexander | 0:c523920bcc09 | 3693 | * This is a short term implementation. The good spad map will be |
johnAlexander | 0:c523920bcc09 | 3694 | * provided as an input. |
johnAlexander | 0:c523920bcc09 | 3695 | * Note that there are 6 bytes. Only the first 44 bits will be used to |
johnAlexander | 0:c523920bcc09 | 3696 | * represent spads. |
johnAlexander | 0:c523920bcc09 | 3697 | */ |
johnAlexander | 0:c523920bcc09 | 3698 | for (index = 0; index < spadArraySize; index++) |
johnAlexander | 0:c523920bcc09 | 3699 | Dev->Data.SpadData.RefSpadEnables[index] = 0; |
johnAlexander | 0:c523920bcc09 | 3700 | |
johnAlexander | 0:c523920bcc09 | 3701 | |
johnAlexander | 0:c523920bcc09 | 3702 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
johnAlexander | 0:c523920bcc09 | 3703 | |
johnAlexander | 0:c523920bcc09 | 3704 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3705 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 3706 | VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00); |
johnAlexander | 0:c523920bcc09 | 3707 | |
johnAlexander | 0:c523920bcc09 | 3708 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3709 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 3710 | VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C); |
johnAlexander | 0:c523920bcc09 | 3711 | |
johnAlexander | 0:c523920bcc09 | 3712 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3713 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
johnAlexander | 0:c523920bcc09 | 3714 | |
johnAlexander | 0:c523920bcc09 | 3715 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3716 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 3717 | VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT, |
johnAlexander | 0:c523920bcc09 | 3718 | startSelect); |
johnAlexander | 0:c523920bcc09 | 3719 | |
johnAlexander | 0:c523920bcc09 | 3720 | |
johnAlexander | 0:c523920bcc09 | 3721 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3722 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 3723 | VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE, 0); |
johnAlexander | 0:c523920bcc09 | 3724 | |
johnAlexander | 0:c523920bcc09 | 3725 | /* Perform ref calibration */ |
johnAlexander | 0:c523920bcc09 | 3726 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3727 | Status = VL53L0X_perform_ref_calibration(Dev, &VhvSettings, |
johnAlexander | 0:c523920bcc09 | 3728 | &PhaseCal, 0); |
johnAlexander | 0:c523920bcc09 | 3729 | |
johnAlexander | 0:c523920bcc09 | 3730 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 3731 | /* Enable Minimum NON-APERTURE Spads */ |
johnAlexander | 0:c523920bcc09 | 3732 | currentSpadIndex = 0; |
johnAlexander | 0:c523920bcc09 | 3733 | lastSpadIndex = currentSpadIndex; |
johnAlexander | 0:c523920bcc09 | 3734 | needAptSpads = 0; |
johnAlexander | 0:c523920bcc09 | 3735 | Status = enable_ref_spads(Dev, |
johnAlexander | 0:c523920bcc09 | 3736 | needAptSpads, |
johnAlexander | 0:c523920bcc09 | 3737 | Dev->Data.SpadData.RefGoodSpadMap, |
johnAlexander | 0:c523920bcc09 | 3738 | Dev->Data.SpadData.RefSpadEnables, |
johnAlexander | 0:c523920bcc09 | 3739 | spadArraySize, |
johnAlexander | 0:c523920bcc09 | 3740 | startSelect, |
johnAlexander | 0:c523920bcc09 | 3741 | currentSpadIndex, |
johnAlexander | 0:c523920bcc09 | 3742 | minimumSpadCount, |
johnAlexander | 0:c523920bcc09 | 3743 | &lastSpadIndex); |
johnAlexander | 0:c523920bcc09 | 3744 | } |
johnAlexander | 0:c523920bcc09 | 3745 | |
johnAlexander | 0:c523920bcc09 | 3746 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 3747 | currentSpadIndex = lastSpadIndex; |
johnAlexander | 0:c523920bcc09 | 3748 | |
johnAlexander | 0:c523920bcc09 | 3749 | Status = perform_ref_signal_measurement(Dev, |
johnAlexander | 0:c523920bcc09 | 3750 | &peakSignalRateRef); |
johnAlexander | 0:c523920bcc09 | 3751 | if ((Status == VL53L0X_ERROR_NONE) && |
johnAlexander | 0:c523920bcc09 | 3752 | (peakSignalRateRef > targetRefRate)) { |
johnAlexander | 0:c523920bcc09 | 3753 | /* Signal rate measurement too high, |
johnAlexander | 0:c523920bcc09 | 3754 | * switch to APERTURE SPADs */ |
johnAlexander | 0:c523920bcc09 | 3755 | |
johnAlexander | 0:c523920bcc09 | 3756 | for (index = 0; index < spadArraySize; index++) |
johnAlexander | 0:c523920bcc09 | 3757 | Dev->Data.SpadData.RefSpadEnables[index] = 0; |
johnAlexander | 0:c523920bcc09 | 3758 | |
johnAlexander | 0:c523920bcc09 | 3759 | |
johnAlexander | 0:c523920bcc09 | 3760 | /* Increment to the first APERTURE spad */ |
johnAlexander | 0:c523920bcc09 | 3761 | while ((is_aperture(startSelect + currentSpadIndex) |
johnAlexander | 0:c523920bcc09 | 3762 | == 0) && (currentSpadIndex < maxSpadCount)) { |
johnAlexander | 0:c523920bcc09 | 3763 | currentSpadIndex++; |
johnAlexander | 0:c523920bcc09 | 3764 | } |
johnAlexander | 0:c523920bcc09 | 3765 | |
johnAlexander | 0:c523920bcc09 | 3766 | needAptSpads = 1; |
johnAlexander | 0:c523920bcc09 | 3767 | |
johnAlexander | 0:c523920bcc09 | 3768 | Status = enable_ref_spads(Dev, |
johnAlexander | 0:c523920bcc09 | 3769 | needAptSpads, |
johnAlexander | 0:c523920bcc09 | 3770 | Dev->Data.SpadData.RefGoodSpadMap, |
johnAlexander | 0:c523920bcc09 | 3771 | Dev->Data.SpadData.RefSpadEnables, |
johnAlexander | 0:c523920bcc09 | 3772 | spadArraySize, |
johnAlexander | 0:c523920bcc09 | 3773 | startSelect, |
johnAlexander | 0:c523920bcc09 | 3774 | currentSpadIndex, |
johnAlexander | 0:c523920bcc09 | 3775 | minimumSpadCount, |
johnAlexander | 0:c523920bcc09 | 3776 | &lastSpadIndex); |
johnAlexander | 0:c523920bcc09 | 3777 | |
johnAlexander | 0:c523920bcc09 | 3778 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 3779 | currentSpadIndex = lastSpadIndex; |
johnAlexander | 0:c523920bcc09 | 3780 | Status = perform_ref_signal_measurement(Dev, |
johnAlexander | 0:c523920bcc09 | 3781 | &peakSignalRateRef); |
johnAlexander | 0:c523920bcc09 | 3782 | |
johnAlexander | 0:c523920bcc09 | 3783 | if ((Status == VL53L0X_ERROR_NONE) && |
johnAlexander | 0:c523920bcc09 | 3784 | (peakSignalRateRef > targetRefRate)) { |
johnAlexander | 0:c523920bcc09 | 3785 | /* Signal rate still too high after |
johnAlexander | 0:c523920bcc09 | 3786 | * setting the minimum number of |
johnAlexander | 0:c523920bcc09 | 3787 | * APERTURE spads. Can do no more |
johnAlexander | 0:c523920bcc09 | 3788 | * therefore set the min number of |
johnAlexander | 0:c523920bcc09 | 3789 | * aperture spads as the result. |
johnAlexander | 0:c523920bcc09 | 3790 | */ |
johnAlexander | 0:c523920bcc09 | 3791 | isApertureSpads_int = 1; |
johnAlexander | 0:c523920bcc09 | 3792 | refSpadCount_int = minimumSpadCount; |
johnAlexander | 0:c523920bcc09 | 3793 | } |
johnAlexander | 0:c523920bcc09 | 3794 | } |
johnAlexander | 0:c523920bcc09 | 3795 | } else { |
johnAlexander | 0:c523920bcc09 | 3796 | needAptSpads = 0; |
johnAlexander | 0:c523920bcc09 | 3797 | } |
johnAlexander | 0:c523920bcc09 | 3798 | } |
johnAlexander | 0:c523920bcc09 | 3799 | |
johnAlexander | 0:c523920bcc09 | 3800 | if ((Status == VL53L0X_ERROR_NONE) && |
johnAlexander | 0:c523920bcc09 | 3801 | (peakSignalRateRef < targetRefRate)) { |
johnAlexander | 0:c523920bcc09 | 3802 | /* At this point, the minimum number of either aperture |
johnAlexander | 0:c523920bcc09 | 3803 | * or non-aperture spads have been set. Proceed to add |
johnAlexander | 0:c523920bcc09 | 3804 | * spads and perform measurements until the target |
johnAlexander | 0:c523920bcc09 | 3805 | * reference is reached. |
johnAlexander | 0:c523920bcc09 | 3806 | */ |
johnAlexander | 0:c523920bcc09 | 3807 | isApertureSpads_int = needAptSpads; |
johnAlexander | 0:c523920bcc09 | 3808 | refSpadCount_int = minimumSpadCount; |
johnAlexander | 0:c523920bcc09 | 3809 | |
johnAlexander | 0:c523920bcc09 | 3810 | memcpy(lastSpadArray, Dev->Data.SpadData.RefSpadEnables, |
johnAlexander | 0:c523920bcc09 | 3811 | spadArraySize); |
johnAlexander | 0:c523920bcc09 | 3812 | lastSignalRateDiff = abs(peakSignalRateRef - |
johnAlexander | 0:c523920bcc09 | 3813 | targetRefRate); |
johnAlexander | 0:c523920bcc09 | 3814 | complete = 0; |
johnAlexander | 0:c523920bcc09 | 3815 | |
johnAlexander | 0:c523920bcc09 | 3816 | while (!complete) { |
johnAlexander | 0:c523920bcc09 | 3817 | get_next_good_spad( |
johnAlexander | 0:c523920bcc09 | 3818 | Dev->Data.SpadData.RefGoodSpadMap, |
johnAlexander | 0:c523920bcc09 | 3819 | spadArraySize, currentSpadIndex, |
johnAlexander | 0:c523920bcc09 | 3820 | &nextGoodSpad); |
johnAlexander | 0:c523920bcc09 | 3821 | |
johnAlexander | 0:c523920bcc09 | 3822 | if (nextGoodSpad == -1) { |
johnAlexander | 0:c523920bcc09 | 3823 | Status = VL53L0X_ERROR_REF_SPAD_INIT; |
johnAlexander | 0:c523920bcc09 | 3824 | break; |
johnAlexander | 0:c523920bcc09 | 3825 | } |
johnAlexander | 0:c523920bcc09 | 3826 | |
johnAlexander | 0:c523920bcc09 | 3827 | /* Cannot combine Aperture and Non-Aperture spads, so |
johnAlexander | 0:c523920bcc09 | 3828 | * ensure the current spad is of the correct type. |
johnAlexander | 0:c523920bcc09 | 3829 | */ |
johnAlexander | 0:c523920bcc09 | 3830 | if (is_aperture((uint32_t)startSelect + nextGoodSpad) != |
johnAlexander | 0:c523920bcc09 | 3831 | needAptSpads) { |
johnAlexander | 0:c523920bcc09 | 3832 | /* At this point we have enabled the maximum |
johnAlexander | 0:c523920bcc09 | 3833 | * number of Aperture spads. |
johnAlexander | 0:c523920bcc09 | 3834 | */ |
johnAlexander | 0:c523920bcc09 | 3835 | complete = 1; |
johnAlexander | 0:c523920bcc09 | 3836 | break; |
johnAlexander | 0:c523920bcc09 | 3837 | } |
johnAlexander | 0:c523920bcc09 | 3838 | |
johnAlexander | 0:c523920bcc09 | 3839 | (refSpadCount_int)++; |
johnAlexander | 0:c523920bcc09 | 3840 | |
johnAlexander | 0:c523920bcc09 | 3841 | currentSpadIndex = nextGoodSpad; |
johnAlexander | 0:c523920bcc09 | 3842 | Status = enable_spad_bit( |
johnAlexander | 0:c523920bcc09 | 3843 | Dev->Data.SpadData.RefSpadEnables, |
johnAlexander | 0:c523920bcc09 | 3844 | spadArraySize, currentSpadIndex); |
johnAlexander | 0:c523920bcc09 | 3845 | |
johnAlexander | 0:c523920bcc09 | 3846 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 3847 | currentSpadIndex++; |
johnAlexander | 0:c523920bcc09 | 3848 | /* Proceed to apply the additional spad and |
johnAlexander | 0:c523920bcc09 | 3849 | * perform measurement. */ |
johnAlexander | 0:c523920bcc09 | 3850 | Status = set_ref_spad_map(Dev, |
johnAlexander | 0:c523920bcc09 | 3851 | Dev->Data.SpadData.RefSpadEnables); |
johnAlexander | 0:c523920bcc09 | 3852 | } |
johnAlexander | 0:c523920bcc09 | 3853 | |
johnAlexander | 0:c523920bcc09 | 3854 | if (Status != VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3855 | break; |
johnAlexander | 0:c523920bcc09 | 3856 | |
johnAlexander | 0:c523920bcc09 | 3857 | Status = perform_ref_signal_measurement(Dev, |
johnAlexander | 0:c523920bcc09 | 3858 | &peakSignalRateRef); |
johnAlexander | 0:c523920bcc09 | 3859 | |
johnAlexander | 0:c523920bcc09 | 3860 | if (Status != VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3861 | break; |
johnAlexander | 0:c523920bcc09 | 3862 | |
johnAlexander | 0:c523920bcc09 | 3863 | signalRateDiff = abs(peakSignalRateRef - targetRefRate); |
johnAlexander | 0:c523920bcc09 | 3864 | |
johnAlexander | 0:c523920bcc09 | 3865 | if (peakSignalRateRef > targetRefRate) { |
johnAlexander | 0:c523920bcc09 | 3866 | /* Select the spad map that provides the |
johnAlexander | 0:c523920bcc09 | 3867 | * measurement closest to the target rate, |
johnAlexander | 0:c523920bcc09 | 3868 | * either above or below it. |
johnAlexander | 0:c523920bcc09 | 3869 | */ |
johnAlexander | 0:c523920bcc09 | 3870 | if (signalRateDiff > lastSignalRateDiff) { |
johnAlexander | 0:c523920bcc09 | 3871 | /* Previous spad map produced a closer |
johnAlexander | 0:c523920bcc09 | 3872 | * measurement, so choose this. */ |
johnAlexander | 0:c523920bcc09 | 3873 | Status = set_ref_spad_map(Dev, |
johnAlexander | 0:c523920bcc09 | 3874 | lastSpadArray); |
johnAlexander | 0:c523920bcc09 | 3875 | memcpy( |
johnAlexander | 0:c523920bcc09 | 3876 | Dev->Data.SpadData.RefSpadEnables, |
johnAlexander | 0:c523920bcc09 | 3877 | lastSpadArray, spadArraySize); |
johnAlexander | 0:c523920bcc09 | 3878 | |
johnAlexander | 0:c523920bcc09 | 3879 | (refSpadCount_int)--; |
johnAlexander | 0:c523920bcc09 | 3880 | } |
johnAlexander | 0:c523920bcc09 | 3881 | complete = 1; |
johnAlexander | 0:c523920bcc09 | 3882 | } else { |
johnAlexander | 0:c523920bcc09 | 3883 | /* Continue to add spads */ |
johnAlexander | 0:c523920bcc09 | 3884 | lastSignalRateDiff = signalRateDiff; |
johnAlexander | 0:c523920bcc09 | 3885 | memcpy(lastSpadArray, |
johnAlexander | 0:c523920bcc09 | 3886 | Dev->Data.SpadData.RefSpadEnables, |
johnAlexander | 0:c523920bcc09 | 3887 | spadArraySize); |
johnAlexander | 0:c523920bcc09 | 3888 | } |
johnAlexander | 0:c523920bcc09 | 3889 | |
johnAlexander | 0:c523920bcc09 | 3890 | } /* while */ |
johnAlexander | 0:c523920bcc09 | 3891 | } |
johnAlexander | 0:c523920bcc09 | 3892 | |
johnAlexander | 0:c523920bcc09 | 3893 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 3894 | *refSpadCount = refSpadCount_int; |
johnAlexander | 0:c523920bcc09 | 3895 | *isApertureSpads = isApertureSpads_int; |
johnAlexander | 0:c523920bcc09 | 3896 | |
johnAlexander | 0:c523920bcc09 | 3897 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 1); |
johnAlexander | 0:c523920bcc09 | 3898 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 3899 | ReferenceSpadCount, (uint8_t)(*refSpadCount)); |
johnAlexander | 0:c523920bcc09 | 3900 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 3901 | ReferenceSpadType, *isApertureSpads); |
johnAlexander | 0:c523920bcc09 | 3902 | } |
johnAlexander | 0:c523920bcc09 | 3903 | |
johnAlexander | 0:c523920bcc09 | 3904 | return Status; |
johnAlexander | 0:c523920bcc09 | 3905 | } |
johnAlexander | 0:c523920bcc09 | 3906 | |
johnAlexander | 0:c523920bcc09 | 3907 | VL53L0X_Error VL53L0X::VL53L0X_set_reference_spads(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 3908 | uint32_t count, uint8_t isApertureSpads) |
johnAlexander | 0:c523920bcc09 | 3909 | { |
johnAlexander | 0:c523920bcc09 | 3910 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 3911 | uint32_t currentSpadIndex = 0; |
johnAlexander | 0:c523920bcc09 | 3912 | uint8_t startSelect = 0xB4; |
johnAlexander | 0:c523920bcc09 | 3913 | uint32_t spadArraySize = 6; |
johnAlexander | 0:c523920bcc09 | 3914 | uint32_t maxSpadCount = 44; |
johnAlexander | 0:c523920bcc09 | 3915 | uint32_t lastSpadIndex; |
johnAlexander | 0:c523920bcc09 | 3916 | uint32_t index; |
johnAlexander | 0:c523920bcc09 | 3917 | |
johnAlexander | 0:c523920bcc09 | 3918 | /* |
johnAlexander | 0:c523920bcc09 | 3919 | * This function applies a requested number of reference spads, either |
johnAlexander | 0:c523920bcc09 | 3920 | * aperture or |
johnAlexander | 0:c523920bcc09 | 3921 | * non-aperture, as requested. |
johnAlexander | 0:c523920bcc09 | 3922 | * The good spad map will be applied. |
johnAlexander | 0:c523920bcc09 | 3923 | */ |
johnAlexander | 0:c523920bcc09 | 3924 | |
johnAlexander | 0:c523920bcc09 | 3925 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
johnAlexander | 0:c523920bcc09 | 3926 | |
johnAlexander | 0:c523920bcc09 | 3927 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3928 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 3929 | VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00); |
johnAlexander | 0:c523920bcc09 | 3930 | |
johnAlexander | 0:c523920bcc09 | 3931 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3932 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 3933 | VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C); |
johnAlexander | 0:c523920bcc09 | 3934 | |
johnAlexander | 0:c523920bcc09 | 3935 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3936 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
johnAlexander | 0:c523920bcc09 | 3937 | |
johnAlexander | 0:c523920bcc09 | 3938 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 3939 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 3940 | VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT, |
johnAlexander | 0:c523920bcc09 | 3941 | startSelect); |
johnAlexander | 0:c523920bcc09 | 3942 | |
johnAlexander | 0:c523920bcc09 | 3943 | for (index = 0; index < spadArraySize; index++) |
johnAlexander | 0:c523920bcc09 | 3944 | Dev->Data.SpadData.RefSpadEnables[index] = 0; |
johnAlexander | 0:c523920bcc09 | 3945 | |
johnAlexander | 0:c523920bcc09 | 3946 | if (isApertureSpads) { |
johnAlexander | 0:c523920bcc09 | 3947 | /* Increment to the first APERTURE spad */ |
johnAlexander | 0:c523920bcc09 | 3948 | while ((is_aperture(startSelect + currentSpadIndex) == 0) && |
johnAlexander | 0:c523920bcc09 | 3949 | (currentSpadIndex < maxSpadCount)) { |
johnAlexander | 0:c523920bcc09 | 3950 | currentSpadIndex++; |
johnAlexander | 0:c523920bcc09 | 3951 | } |
johnAlexander | 0:c523920bcc09 | 3952 | } |
johnAlexander | 0:c523920bcc09 | 3953 | Status = enable_ref_spads(Dev, |
johnAlexander | 0:c523920bcc09 | 3954 | isApertureSpads, |
johnAlexander | 0:c523920bcc09 | 3955 | Dev->Data.SpadData.RefGoodSpadMap, |
johnAlexander | 0:c523920bcc09 | 3956 | Dev->Data.SpadData.RefSpadEnables, |
johnAlexander | 0:c523920bcc09 | 3957 | spadArraySize, |
johnAlexander | 0:c523920bcc09 | 3958 | startSelect, |
johnAlexander | 0:c523920bcc09 | 3959 | currentSpadIndex, |
johnAlexander | 0:c523920bcc09 | 3960 | count, |
johnAlexander | 0:c523920bcc09 | 3961 | &lastSpadIndex); |
johnAlexander | 0:c523920bcc09 | 3962 | |
johnAlexander | 0:c523920bcc09 | 3963 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 3964 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 1); |
johnAlexander | 0:c523920bcc09 | 3965 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 3966 | ReferenceSpadCount, (uint8_t)(count)); |
johnAlexander | 0:c523920bcc09 | 3967 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 3968 | ReferenceSpadType, isApertureSpads); |
johnAlexander | 0:c523920bcc09 | 3969 | } |
johnAlexander | 0:c523920bcc09 | 3970 | |
johnAlexander | 0:c523920bcc09 | 3971 | return Status; |
johnAlexander | 0:c523920bcc09 | 3972 | } |
johnAlexander | 0:c523920bcc09 | 3973 | |
johnAlexander | 0:c523920bcc09 | 3974 | VL53L0X_Error VL53L0X::VL53L0X_WaitDeviceBooted(VL53L0X_DEV Dev) |
johnAlexander | 0:c523920bcc09 | 3975 | { |
johnAlexander | 0:c523920bcc09 | 3976 | VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
johnAlexander | 0:c523920bcc09 | 3977 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 3978 | |
johnAlexander | 0:c523920bcc09 | 3979 | /* not implemented on VL53L0X */ |
johnAlexander | 0:c523920bcc09 | 3980 | |
johnAlexander | 0:c523920bcc09 | 3981 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 3982 | return Status; |
johnAlexander | 0:c523920bcc09 | 3983 | } |
johnAlexander | 0:c523920bcc09 | 3984 | |
johnAlexander | 0:c523920bcc09 | 3985 | VL53L0X_Error VL53L0X::VL53L0X_PerformRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings, |
johnAlexander | 0:c523920bcc09 | 3986 | uint8_t *pPhaseCal) |
johnAlexander | 0:c523920bcc09 | 3987 | { |
johnAlexander | 0:c523920bcc09 | 3988 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 3989 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 3990 | |
johnAlexander | 0:c523920bcc09 | 3991 | Status = VL53L0X_perform_ref_calibration(Dev, pVhvSettings, |
johnAlexander | 0:c523920bcc09 | 3992 | pPhaseCal, 1); |
johnAlexander | 0:c523920bcc09 | 3993 | |
johnAlexander | 0:c523920bcc09 | 3994 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 3995 | return Status; |
johnAlexander | 0:c523920bcc09 | 3996 | } |
johnAlexander | 0:c523920bcc09 | 3997 | |
johnAlexander | 0:c523920bcc09 | 3998 | VL53L0X_Error VL53L0X::VL53L0X_PerformRefSpadManagement(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 3999 | uint32_t *refSpadCount, uint8_t *isApertureSpads) |
johnAlexander | 0:c523920bcc09 | 4000 | { |
johnAlexander | 0:c523920bcc09 | 4001 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 4002 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 4003 | |
johnAlexander | 0:c523920bcc09 | 4004 | Status = VL53L0X_perform_ref_spad_management(Dev, refSpadCount, |
johnAlexander | 0:c523920bcc09 | 4005 | isApertureSpads); |
johnAlexander | 0:c523920bcc09 | 4006 | |
johnAlexander | 0:c523920bcc09 | 4007 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 4008 | |
johnAlexander | 0:c523920bcc09 | 4009 | return Status; |
johnAlexander | 0:c523920bcc09 | 4010 | } |
johnAlexander | 0:c523920bcc09 | 4011 | |
johnAlexander | 0:c523920bcc09 | 4012 | /* Group PAL Init Functions */ |
johnAlexander | 0:c523920bcc09 | 4013 | VL53L0X_Error VL53L0X::VL53L0X_SetDeviceAddress(VL53L0X_DEV Dev, uint8_t DeviceAddress) |
johnAlexander | 0:c523920bcc09 | 4014 | { |
johnAlexander | 0:c523920bcc09 | 4015 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 4016 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 4017 | |
johnAlexander | 0:c523920bcc09 | 4018 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, |
johnAlexander | 0:c523920bcc09 | 4019 | DeviceAddress / 2); |
johnAlexander | 0:c523920bcc09 | 4020 | |
johnAlexander | 0:c523920bcc09 | 4021 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 4022 | return Status; |
johnAlexander | 0:c523920bcc09 | 4023 | } |
johnAlexander | 0:c523920bcc09 | 4024 | |
johnAlexander | 0:c523920bcc09 | 4025 | VL53L0X_Error VL53L0X::VL53L0X_SetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin, |
johnAlexander | 0:c523920bcc09 | 4026 | VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality, |
johnAlexander | 0:c523920bcc09 | 4027 | VL53L0X_InterruptPolarity Polarity) |
johnAlexander | 0:c523920bcc09 | 4028 | { |
johnAlexander | 0:c523920bcc09 | 4029 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 4030 | uint8_t data; |
johnAlexander | 0:c523920bcc09 | 4031 | |
johnAlexander | 0:c523920bcc09 | 4032 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 4033 | |
johnAlexander | 0:c523920bcc09 | 4034 | if (Pin != 0) { |
johnAlexander | 0:c523920bcc09 | 4035 | Status = VL53L0X_ERROR_GPIO_NOT_EXISTING; |
johnAlexander | 0:c523920bcc09 | 4036 | } else if (DeviceMode == VL53L0X_DEVICEMODE_GPIO_DRIVE) { |
johnAlexander | 0:c523920bcc09 | 4037 | if (Polarity == VL53L0X_INTERRUPTPOLARITY_LOW) |
johnAlexander | 0:c523920bcc09 | 4038 | data = 0x10; |
johnAlexander | 0:c523920bcc09 | 4039 | else |
johnAlexander | 0:c523920bcc09 | 4040 | data = 1; |
johnAlexander | 0:c523920bcc09 | 4041 | |
johnAlexander | 0:c523920bcc09 | 4042 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 4043 | VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data); |
johnAlexander | 0:c523920bcc09 | 4044 | |
johnAlexander | 0:c523920bcc09 | 4045 | } else if (DeviceMode == VL53L0X_DEVICEMODE_GPIO_OSC) { |
johnAlexander | 0:c523920bcc09 | 4046 | |
johnAlexander | 0:c523920bcc09 | 4047 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); |
johnAlexander | 0:c523920bcc09 | 4048 | Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); |
johnAlexander | 0:c523920bcc09 | 4049 | |
johnAlexander | 0:c523920bcc09 | 4050 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); |
johnAlexander | 0:c523920bcc09 | 4051 | Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); |
johnAlexander | 0:c523920bcc09 | 4052 | Status |= VL53L0X_WrByte(Dev, 0x85, 0x02); |
johnAlexander | 0:c523920bcc09 | 4053 | |
johnAlexander | 0:c523920bcc09 | 4054 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x04); |
johnAlexander | 0:c523920bcc09 | 4055 | Status |= VL53L0X_WrByte(Dev, 0xcd, 0x00); |
johnAlexander | 0:c523920bcc09 | 4056 | Status |= VL53L0X_WrByte(Dev, 0xcc, 0x11); |
johnAlexander | 0:c523920bcc09 | 4057 | |
johnAlexander | 0:c523920bcc09 | 4058 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x07); |
johnAlexander | 0:c523920bcc09 | 4059 | Status |= VL53L0X_WrByte(Dev, 0xbe, 0x00); |
johnAlexander | 0:c523920bcc09 | 4060 | |
johnAlexander | 0:c523920bcc09 | 4061 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x06); |
johnAlexander | 0:c523920bcc09 | 4062 | Status |= VL53L0X_WrByte(Dev, 0xcc, 0x09); |
johnAlexander | 0:c523920bcc09 | 4063 | |
johnAlexander | 0:c523920bcc09 | 4064 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); |
johnAlexander | 0:c523920bcc09 | 4065 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); |
johnAlexander | 0:c523920bcc09 | 4066 | Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); |
johnAlexander | 0:c523920bcc09 | 4067 | |
johnAlexander | 0:c523920bcc09 | 4068 | } else { |
johnAlexander | 0:c523920bcc09 | 4069 | |
johnAlexander | 0:c523920bcc09 | 4070 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4071 | switch (Functionality) { |
johnAlexander | 0:c523920bcc09 | 4072 | case VL53L0X_GPIOFUNCTIONALITY_OFF: |
johnAlexander | 0:c523920bcc09 | 4073 | data = 0x00; |
johnAlexander | 0:c523920bcc09 | 4074 | break; |
johnAlexander | 0:c523920bcc09 | 4075 | case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW: |
johnAlexander | 0:c523920bcc09 | 4076 | data = 0x01; |
johnAlexander | 0:c523920bcc09 | 4077 | break; |
johnAlexander | 0:c523920bcc09 | 4078 | case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH: |
johnAlexander | 0:c523920bcc09 | 4079 | data = 0x02; |
johnAlexander | 0:c523920bcc09 | 4080 | break; |
johnAlexander | 0:c523920bcc09 | 4081 | case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT: |
johnAlexander | 0:c523920bcc09 | 4082 | data = 0x03; |
johnAlexander | 0:c523920bcc09 | 4083 | break; |
johnAlexander | 0:c523920bcc09 | 4084 | case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY: |
johnAlexander | 0:c523920bcc09 | 4085 | data = 0x04; |
johnAlexander | 0:c523920bcc09 | 4086 | break; |
johnAlexander | 0:c523920bcc09 | 4087 | default: |
johnAlexander | 0:c523920bcc09 | 4088 | Status = |
johnAlexander | 0:c523920bcc09 | 4089 | VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED; |
johnAlexander | 0:c523920bcc09 | 4090 | } |
johnAlexander | 0:c523920bcc09 | 4091 | } |
johnAlexander | 0:c523920bcc09 | 4092 | |
johnAlexander | 0:c523920bcc09 | 4093 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4094 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 4095 | VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data); |
johnAlexander | 0:c523920bcc09 | 4096 | |
johnAlexander | 0:c523920bcc09 | 4097 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4098 | if (Polarity == VL53L0X_INTERRUPTPOLARITY_LOW) |
johnAlexander | 0:c523920bcc09 | 4099 | data = 0; |
johnAlexander | 0:c523920bcc09 | 4100 | else |
johnAlexander | 0:c523920bcc09 | 4101 | data = (uint8_t)(1 << 4); |
johnAlexander | 0:c523920bcc09 | 4102 | |
johnAlexander | 0:c523920bcc09 | 4103 | Status = VL53L0X_UpdateByte(Dev, |
johnAlexander | 0:c523920bcc09 | 4104 | VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data); |
johnAlexander | 0:c523920bcc09 | 4105 | } |
johnAlexander | 0:c523920bcc09 | 4106 | |
johnAlexander | 0:c523920bcc09 | 4107 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4108 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 4109 | Pin0GpioFunctionality, Functionality); |
johnAlexander | 0:c523920bcc09 | 4110 | |
johnAlexander | 0:c523920bcc09 | 4111 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4112 | Status = VL53L0X_ClearInterruptMask(Dev, 0); |
johnAlexander | 0:c523920bcc09 | 4113 | |
johnAlexander | 0:c523920bcc09 | 4114 | } |
johnAlexander | 0:c523920bcc09 | 4115 | |
johnAlexander | 0:c523920bcc09 | 4116 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 4117 | return Status; |
johnAlexander | 0:c523920bcc09 | 4118 | } |
johnAlexander | 0:c523920bcc09 | 4119 | |
johnAlexander | 0:c523920bcc09 | 4120 | VL53L0X_Error VL53L0X::VL53L0X_GetFractionEnable(VL53L0X_DEV Dev, uint8_t *pEnabled) |
johnAlexander | 0:c523920bcc09 | 4121 | { |
johnAlexander | 0:c523920bcc09 | 4122 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 4123 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 4124 | |
johnAlexander | 0:c523920bcc09 | 4125 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, pEnabled); |
johnAlexander | 0:c523920bcc09 | 4126 | |
johnAlexander | 0:c523920bcc09 | 4127 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4128 | *pEnabled = (*pEnabled & 1); |
johnAlexander | 0:c523920bcc09 | 4129 | |
johnAlexander | 0:c523920bcc09 | 4130 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 4131 | return Status; |
johnAlexander | 0:c523920bcc09 | 4132 | } |
johnAlexander | 0:c523920bcc09 | 4133 | |
johnAlexander | 0:c523920bcc09 | 4134 | uint16_t VL53L0X::VL53L0X_encode_timeout(uint32_t timeout_macro_clks) |
johnAlexander | 0:c523920bcc09 | 4135 | { |
johnAlexander | 0:c523920bcc09 | 4136 | /*! |
johnAlexander | 0:c523920bcc09 | 4137 | * Encode timeout in macro periods in (LSByte * 2^MSByte) + 1 format |
johnAlexander | 0:c523920bcc09 | 4138 | */ |
johnAlexander | 0:c523920bcc09 | 4139 | |
johnAlexander | 0:c523920bcc09 | 4140 | uint16_t encoded_timeout = 0; |
johnAlexander | 0:c523920bcc09 | 4141 | uint32_t ls_byte = 0; |
johnAlexander | 0:c523920bcc09 | 4142 | uint16_t ms_byte = 0; |
johnAlexander | 0:c523920bcc09 | 4143 | |
johnAlexander | 0:c523920bcc09 | 4144 | if (timeout_macro_clks > 0) { |
johnAlexander | 0:c523920bcc09 | 4145 | ls_byte = timeout_macro_clks - 1; |
johnAlexander | 0:c523920bcc09 | 4146 | |
johnAlexander | 0:c523920bcc09 | 4147 | while ((ls_byte & 0xFFFFFF00) > 0) { |
johnAlexander | 0:c523920bcc09 | 4148 | ls_byte = ls_byte >> 1; |
johnAlexander | 0:c523920bcc09 | 4149 | ms_byte++; |
johnAlexander | 0:c523920bcc09 | 4150 | } |
johnAlexander | 0:c523920bcc09 | 4151 | |
johnAlexander | 0:c523920bcc09 | 4152 | encoded_timeout = (ms_byte << 8) |
johnAlexander | 0:c523920bcc09 | 4153 | + (uint16_t) (ls_byte & 0x000000FF); |
johnAlexander | 0:c523920bcc09 | 4154 | } |
johnAlexander | 0:c523920bcc09 | 4155 | |
johnAlexander | 0:c523920bcc09 | 4156 | return encoded_timeout; |
johnAlexander | 0:c523920bcc09 | 4157 | |
johnAlexander | 0:c523920bcc09 | 4158 | } |
johnAlexander | 0:c523920bcc09 | 4159 | |
johnAlexander | 0:c523920bcc09 | 4160 | VL53L0X_Error VL53L0X::set_sequence_step_timeout(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 4161 | VL53L0X_SequenceStepId SequenceStepId, |
johnAlexander | 0:c523920bcc09 | 4162 | uint32_t TimeOutMicroSecs) |
johnAlexander | 0:c523920bcc09 | 4163 | { |
johnAlexander | 0:c523920bcc09 | 4164 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 4165 | uint8_t CurrentVCSELPulsePeriodPClk; |
johnAlexander | 0:c523920bcc09 | 4166 | uint8_t MsrcEncodedTimeOut; |
johnAlexander | 0:c523920bcc09 | 4167 | uint16_t PreRangeEncodedTimeOut; |
johnAlexander | 0:c523920bcc09 | 4168 | uint16_t PreRangeTimeOutMClks; |
johnAlexander | 0:c523920bcc09 | 4169 | uint16_t MsrcRangeTimeOutMClks; |
johnAlexander | 0:c523920bcc09 | 4170 | uint32_t FinalRangeTimeOutMClks; |
johnAlexander | 0:c523920bcc09 | 4171 | uint16_t FinalRangeEncodedTimeOut; |
johnAlexander | 0:c523920bcc09 | 4172 | VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps; |
johnAlexander | 0:c523920bcc09 | 4173 | |
johnAlexander | 0:c523920bcc09 | 4174 | if ((SequenceStepId == VL53L0X_SEQUENCESTEP_TCC) || |
johnAlexander | 0:c523920bcc09 | 4175 | (SequenceStepId == VL53L0X_SEQUENCESTEP_DSS) || |
johnAlexander | 0:c523920bcc09 | 4176 | (SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)) { |
johnAlexander | 0:c523920bcc09 | 4177 | |
johnAlexander | 0:c523920bcc09 | 4178 | Status = VL53L0X_GetVcselPulsePeriod(Dev, |
johnAlexander | 0:c523920bcc09 | 4179 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
johnAlexander | 0:c523920bcc09 | 4180 | &CurrentVCSELPulsePeriodPClk); |
johnAlexander | 0:c523920bcc09 | 4181 | |
johnAlexander | 0:c523920bcc09 | 4182 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4183 | MsrcRangeTimeOutMClks = VL53L0X_calc_timeout_mclks(Dev, |
johnAlexander | 0:c523920bcc09 | 4184 | TimeOutMicroSecs, |
johnAlexander | 0:c523920bcc09 | 4185 | (uint8_t)CurrentVCSELPulsePeriodPClk); |
johnAlexander | 0:c523920bcc09 | 4186 | |
johnAlexander | 0:c523920bcc09 | 4187 | if (MsrcRangeTimeOutMClks > 256) |
johnAlexander | 0:c523920bcc09 | 4188 | MsrcEncodedTimeOut = 255; |
johnAlexander | 0:c523920bcc09 | 4189 | else |
johnAlexander | 0:c523920bcc09 | 4190 | MsrcEncodedTimeOut = |
johnAlexander | 0:c523920bcc09 | 4191 | (uint8_t)MsrcRangeTimeOutMClks - 1; |
johnAlexander | 0:c523920bcc09 | 4192 | |
johnAlexander | 0:c523920bcc09 | 4193 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 4194 | LastEncodedTimeout, |
johnAlexander | 0:c523920bcc09 | 4195 | MsrcEncodedTimeOut); |
johnAlexander | 0:c523920bcc09 | 4196 | } |
johnAlexander | 0:c523920bcc09 | 4197 | |
johnAlexander | 0:c523920bcc09 | 4198 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4199 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 4200 | VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP, |
johnAlexander | 0:c523920bcc09 | 4201 | MsrcEncodedTimeOut); |
johnAlexander | 0:c523920bcc09 | 4202 | } |
johnAlexander | 0:c523920bcc09 | 4203 | } else { |
johnAlexander | 0:c523920bcc09 | 4204 | |
johnAlexander | 0:c523920bcc09 | 4205 | if (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) { |
johnAlexander | 0:c523920bcc09 | 4206 | |
johnAlexander | 0:c523920bcc09 | 4207 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4208 | Status = VL53L0X_GetVcselPulsePeriod(Dev, |
johnAlexander | 0:c523920bcc09 | 4209 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
johnAlexander | 0:c523920bcc09 | 4210 | &CurrentVCSELPulsePeriodPClk); |
johnAlexander | 0:c523920bcc09 | 4211 | PreRangeTimeOutMClks = |
johnAlexander | 0:c523920bcc09 | 4212 | VL53L0X_calc_timeout_mclks(Dev, |
johnAlexander | 0:c523920bcc09 | 4213 | TimeOutMicroSecs, |
johnAlexander | 0:c523920bcc09 | 4214 | (uint8_t)CurrentVCSELPulsePeriodPClk); |
johnAlexander | 0:c523920bcc09 | 4215 | PreRangeEncodedTimeOut = VL53L0X_encode_timeout( |
johnAlexander | 0:c523920bcc09 | 4216 | PreRangeTimeOutMClks); |
johnAlexander | 0:c523920bcc09 | 4217 | |
johnAlexander | 0:c523920bcc09 | 4218 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 4219 | LastEncodedTimeout, |
johnAlexander | 0:c523920bcc09 | 4220 | PreRangeEncodedTimeOut); |
johnAlexander | 0:c523920bcc09 | 4221 | } |
johnAlexander | 0:c523920bcc09 | 4222 | |
johnAlexander | 0:c523920bcc09 | 4223 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4224 | Status = VL53L0X_WrWord(Dev, |
johnAlexander | 0:c523920bcc09 | 4225 | VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, |
johnAlexander | 0:c523920bcc09 | 4226 | PreRangeEncodedTimeOut); |
johnAlexander | 0:c523920bcc09 | 4227 | } |
johnAlexander | 0:c523920bcc09 | 4228 | |
johnAlexander | 0:c523920bcc09 | 4229 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4230 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
johnAlexander | 0:c523920bcc09 | 4231 | Dev, |
johnAlexander | 0:c523920bcc09 | 4232 | PreRangeTimeoutMicroSecs, |
johnAlexander | 0:c523920bcc09 | 4233 | TimeOutMicroSecs); |
johnAlexander | 0:c523920bcc09 | 4234 | } |
johnAlexander | 0:c523920bcc09 | 4235 | } else if (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE) { |
johnAlexander | 0:c523920bcc09 | 4236 | |
johnAlexander | 0:c523920bcc09 | 4237 | /* For the final range timeout, the pre-range timeout |
johnAlexander | 0:c523920bcc09 | 4238 | * must be added. To do this both final and pre-range |
johnAlexander | 0:c523920bcc09 | 4239 | * timeouts must be expressed in macro periods MClks |
johnAlexander | 0:c523920bcc09 | 4240 | * because they have different vcsel periods. |
johnAlexander | 0:c523920bcc09 | 4241 | */ |
johnAlexander | 0:c523920bcc09 | 4242 | |
johnAlexander | 0:c523920bcc09 | 4243 | VL53L0X_GetSequenceStepEnables(Dev, |
johnAlexander | 0:c523920bcc09 | 4244 | &SchedulerSequenceSteps); |
johnAlexander | 0:c523920bcc09 | 4245 | PreRangeTimeOutMClks = 0; |
johnAlexander | 0:c523920bcc09 | 4246 | if (SchedulerSequenceSteps.PreRangeOn) { |
johnAlexander | 0:c523920bcc09 | 4247 | |
johnAlexander | 0:c523920bcc09 | 4248 | /* Retrieve PRE-RANGE VCSEL Period */ |
johnAlexander | 0:c523920bcc09 | 4249 | Status = VL53L0X_GetVcselPulsePeriod(Dev, |
johnAlexander | 0:c523920bcc09 | 4250 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
johnAlexander | 0:c523920bcc09 | 4251 | &CurrentVCSELPulsePeriodPClk); |
johnAlexander | 0:c523920bcc09 | 4252 | |
johnAlexander | 0:c523920bcc09 | 4253 | /* Retrieve PRE-RANGE Timeout in Macro periods |
johnAlexander | 0:c523920bcc09 | 4254 | * (MCLKS) */ |
johnAlexander | 0:c523920bcc09 | 4255 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4256 | Status = VL53L0X_RdWord(Dev, 0x51, |
johnAlexander | 0:c523920bcc09 | 4257 | &PreRangeEncodedTimeOut); |
johnAlexander | 0:c523920bcc09 | 4258 | PreRangeTimeOutMClks = |
johnAlexander | 0:c523920bcc09 | 4259 | VL53L0X_decode_timeout( |
johnAlexander | 0:c523920bcc09 | 4260 | PreRangeEncodedTimeOut); |
johnAlexander | 0:c523920bcc09 | 4261 | } |
johnAlexander | 0:c523920bcc09 | 4262 | } |
johnAlexander | 0:c523920bcc09 | 4263 | |
johnAlexander | 0:c523920bcc09 | 4264 | /* Calculate FINAL RANGE Timeout in Macro Periods |
johnAlexander | 0:c523920bcc09 | 4265 | * (MCLKS) and add PRE-RANGE value |
johnAlexander | 0:c523920bcc09 | 4266 | */ |
johnAlexander | 0:c523920bcc09 | 4267 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4268 | |
johnAlexander | 0:c523920bcc09 | 4269 | Status = VL53L0X_GetVcselPulsePeriod(Dev, |
johnAlexander | 0:c523920bcc09 | 4270 | VL53L0X_VCSEL_PERIOD_FINAL_RANGE, |
johnAlexander | 0:c523920bcc09 | 4271 | &CurrentVCSELPulsePeriodPClk); |
johnAlexander | 0:c523920bcc09 | 4272 | } |
johnAlexander | 0:c523920bcc09 | 4273 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4274 | |
johnAlexander | 0:c523920bcc09 | 4275 | FinalRangeTimeOutMClks = |
johnAlexander | 0:c523920bcc09 | 4276 | VL53L0X_calc_timeout_mclks(Dev, |
johnAlexander | 0:c523920bcc09 | 4277 | TimeOutMicroSecs, |
johnAlexander | 0:c523920bcc09 | 4278 | (uint8_t) CurrentVCSELPulsePeriodPClk); |
johnAlexander | 0:c523920bcc09 | 4279 | |
johnAlexander | 0:c523920bcc09 | 4280 | FinalRangeTimeOutMClks += PreRangeTimeOutMClks; |
johnAlexander | 0:c523920bcc09 | 4281 | |
johnAlexander | 0:c523920bcc09 | 4282 | FinalRangeEncodedTimeOut = |
johnAlexander | 0:c523920bcc09 | 4283 | VL53L0X_encode_timeout(FinalRangeTimeOutMClks); |
johnAlexander | 0:c523920bcc09 | 4284 | |
johnAlexander | 0:c523920bcc09 | 4285 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4286 | Status = VL53L0X_WrWord(Dev, 0x71, |
johnAlexander | 0:c523920bcc09 | 4287 | FinalRangeEncodedTimeOut); |
johnAlexander | 0:c523920bcc09 | 4288 | } |
johnAlexander | 0:c523920bcc09 | 4289 | |
johnAlexander | 0:c523920bcc09 | 4290 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4291 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
johnAlexander | 0:c523920bcc09 | 4292 | Dev, |
johnAlexander | 0:c523920bcc09 | 4293 | FinalRangeTimeoutMicroSecs, |
johnAlexander | 0:c523920bcc09 | 4294 | TimeOutMicroSecs); |
johnAlexander | 0:c523920bcc09 | 4295 | } |
johnAlexander | 0:c523920bcc09 | 4296 | } |
johnAlexander | 0:c523920bcc09 | 4297 | } else |
johnAlexander | 0:c523920bcc09 | 4298 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 4299 | |
johnAlexander | 0:c523920bcc09 | 4300 | } |
johnAlexander | 0:c523920bcc09 | 4301 | return Status; |
johnAlexander | 0:c523920bcc09 | 4302 | } |
johnAlexander | 0:c523920bcc09 | 4303 | |
johnAlexander | 0:c523920bcc09 | 4304 | VL53L0X_Error VL53L0X::VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 4305 | uint32_t MeasurementTimingBudgetMicroSeconds) |
johnAlexander | 0:c523920bcc09 | 4306 | { |
johnAlexander | 0:c523920bcc09 | 4307 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 4308 | uint32_t FinalRangeTimingBudgetMicroSeconds; |
johnAlexander | 0:c523920bcc09 | 4309 | VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps; |
johnAlexander | 0:c523920bcc09 | 4310 | uint32_t MsrcDccTccTimeoutMicroSeconds = 2000; |
johnAlexander | 0:c523920bcc09 | 4311 | uint32_t StartOverheadMicroSeconds = 1910; |
johnAlexander | 0:c523920bcc09 | 4312 | uint32_t EndOverheadMicroSeconds = 960; |
johnAlexander | 0:c523920bcc09 | 4313 | uint32_t MsrcOverheadMicroSeconds = 660; |
johnAlexander | 0:c523920bcc09 | 4314 | uint32_t TccOverheadMicroSeconds = 590; |
johnAlexander | 0:c523920bcc09 | 4315 | uint32_t DssOverheadMicroSeconds = 690; |
johnAlexander | 0:c523920bcc09 | 4316 | uint32_t PreRangeOverheadMicroSeconds = 660; |
johnAlexander | 0:c523920bcc09 | 4317 | uint32_t FinalRangeOverheadMicroSeconds = 550; |
johnAlexander | 0:c523920bcc09 | 4318 | uint32_t PreRangeTimeoutMicroSeconds = 0; |
johnAlexander | 0:c523920bcc09 | 4319 | uint32_t cMinTimingBudgetMicroSeconds = 20000; |
johnAlexander | 0:c523920bcc09 | 4320 | uint32_t SubTimeout = 0; |
johnAlexander | 0:c523920bcc09 | 4321 | |
johnAlexander | 0:c523920bcc09 | 4322 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 4323 | |
johnAlexander | 0:c523920bcc09 | 4324 | if (MeasurementTimingBudgetMicroSeconds |
johnAlexander | 0:c523920bcc09 | 4325 | < cMinTimingBudgetMicroSeconds) { |
johnAlexander | 0:c523920bcc09 | 4326 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 4327 | return Status; |
johnAlexander | 0:c523920bcc09 | 4328 | } |
johnAlexander | 0:c523920bcc09 | 4329 | |
johnAlexander | 0:c523920bcc09 | 4330 | FinalRangeTimingBudgetMicroSeconds = |
johnAlexander | 0:c523920bcc09 | 4331 | MeasurementTimingBudgetMicroSeconds - |
johnAlexander | 0:c523920bcc09 | 4332 | (StartOverheadMicroSeconds + EndOverheadMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 4333 | |
johnAlexander | 0:c523920bcc09 | 4334 | Status = VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps); |
johnAlexander | 0:c523920bcc09 | 4335 | |
johnAlexander | 0:c523920bcc09 | 4336 | if (Status == VL53L0X_ERROR_NONE && |
johnAlexander | 0:c523920bcc09 | 4337 | (SchedulerSequenceSteps.TccOn || |
johnAlexander | 0:c523920bcc09 | 4338 | SchedulerSequenceSteps.MsrcOn || |
johnAlexander | 0:c523920bcc09 | 4339 | SchedulerSequenceSteps.DssOn)) { |
johnAlexander | 0:c523920bcc09 | 4340 | |
johnAlexander | 0:c523920bcc09 | 4341 | /* TCC, MSRC and DSS all share the same timeout */ |
johnAlexander | 0:c523920bcc09 | 4342 | Status = get_sequence_step_timeout(Dev, |
johnAlexander | 0:c523920bcc09 | 4343 | VL53L0X_SEQUENCESTEP_MSRC, |
johnAlexander | 0:c523920bcc09 | 4344 | &MsrcDccTccTimeoutMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 4345 | |
johnAlexander | 0:c523920bcc09 | 4346 | /* Subtract the TCC, MSRC and DSS timeouts if they are |
johnAlexander | 0:c523920bcc09 | 4347 | * enabled. */ |
johnAlexander | 0:c523920bcc09 | 4348 | |
johnAlexander | 0:c523920bcc09 | 4349 | if (Status != VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4350 | return Status; |
johnAlexander | 0:c523920bcc09 | 4351 | |
johnAlexander | 0:c523920bcc09 | 4352 | /* TCC */ |
johnAlexander | 0:c523920bcc09 | 4353 | if (SchedulerSequenceSteps.TccOn) { |
johnAlexander | 0:c523920bcc09 | 4354 | |
johnAlexander | 0:c523920bcc09 | 4355 | SubTimeout = MsrcDccTccTimeoutMicroSeconds |
johnAlexander | 0:c523920bcc09 | 4356 | + TccOverheadMicroSeconds; |
johnAlexander | 0:c523920bcc09 | 4357 | |
johnAlexander | 0:c523920bcc09 | 4358 | if (SubTimeout < |
johnAlexander | 0:c523920bcc09 | 4359 | FinalRangeTimingBudgetMicroSeconds) { |
johnAlexander | 0:c523920bcc09 | 4360 | FinalRangeTimingBudgetMicroSeconds -= |
johnAlexander | 0:c523920bcc09 | 4361 | SubTimeout; |
johnAlexander | 0:c523920bcc09 | 4362 | } else { |
johnAlexander | 0:c523920bcc09 | 4363 | /* Requested timeout too big. */ |
johnAlexander | 0:c523920bcc09 | 4364 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 4365 | } |
johnAlexander | 0:c523920bcc09 | 4366 | } |
johnAlexander | 0:c523920bcc09 | 4367 | |
johnAlexander | 0:c523920bcc09 | 4368 | if (Status != VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4369 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 4370 | return Status; |
johnAlexander | 0:c523920bcc09 | 4371 | } |
johnAlexander | 0:c523920bcc09 | 4372 | |
johnAlexander | 0:c523920bcc09 | 4373 | /* DSS */ |
johnAlexander | 0:c523920bcc09 | 4374 | if (SchedulerSequenceSteps.DssOn) { |
johnAlexander | 0:c523920bcc09 | 4375 | |
johnAlexander | 0:c523920bcc09 | 4376 | SubTimeout = 2 * (MsrcDccTccTimeoutMicroSeconds + |
johnAlexander | 0:c523920bcc09 | 4377 | DssOverheadMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 4378 | |
johnAlexander | 0:c523920bcc09 | 4379 | if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) { |
johnAlexander | 0:c523920bcc09 | 4380 | FinalRangeTimingBudgetMicroSeconds |
johnAlexander | 0:c523920bcc09 | 4381 | -= SubTimeout; |
johnAlexander | 0:c523920bcc09 | 4382 | } else { |
johnAlexander | 0:c523920bcc09 | 4383 | /* Requested timeout too big. */ |
johnAlexander | 0:c523920bcc09 | 4384 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 4385 | } |
johnAlexander | 0:c523920bcc09 | 4386 | } else if (SchedulerSequenceSteps.MsrcOn) { |
johnAlexander | 0:c523920bcc09 | 4387 | /* MSRC */ |
johnAlexander | 0:c523920bcc09 | 4388 | SubTimeout = MsrcDccTccTimeoutMicroSeconds + |
johnAlexander | 0:c523920bcc09 | 4389 | MsrcOverheadMicroSeconds; |
johnAlexander | 0:c523920bcc09 | 4390 | |
johnAlexander | 0:c523920bcc09 | 4391 | if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) { |
johnAlexander | 0:c523920bcc09 | 4392 | FinalRangeTimingBudgetMicroSeconds |
johnAlexander | 0:c523920bcc09 | 4393 | -= SubTimeout; |
johnAlexander | 0:c523920bcc09 | 4394 | } else { |
johnAlexander | 0:c523920bcc09 | 4395 | /* Requested timeout too big. */ |
johnAlexander | 0:c523920bcc09 | 4396 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 4397 | } |
johnAlexander | 0:c523920bcc09 | 4398 | } |
johnAlexander | 0:c523920bcc09 | 4399 | |
johnAlexander | 0:c523920bcc09 | 4400 | } |
johnAlexander | 0:c523920bcc09 | 4401 | |
johnAlexander | 0:c523920bcc09 | 4402 | if (Status != VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4403 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 4404 | return Status; |
johnAlexander | 0:c523920bcc09 | 4405 | } |
johnAlexander | 0:c523920bcc09 | 4406 | |
johnAlexander | 0:c523920bcc09 | 4407 | if (SchedulerSequenceSteps.PreRangeOn) { |
johnAlexander | 0:c523920bcc09 | 4408 | |
johnAlexander | 0:c523920bcc09 | 4409 | /* Subtract the Pre-range timeout if enabled. */ |
johnAlexander | 0:c523920bcc09 | 4410 | |
johnAlexander | 0:c523920bcc09 | 4411 | Status = get_sequence_step_timeout(Dev, |
johnAlexander | 0:c523920bcc09 | 4412 | VL53L0X_SEQUENCESTEP_PRE_RANGE, |
johnAlexander | 0:c523920bcc09 | 4413 | &PreRangeTimeoutMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 4414 | |
johnAlexander | 0:c523920bcc09 | 4415 | SubTimeout = PreRangeTimeoutMicroSeconds + |
johnAlexander | 0:c523920bcc09 | 4416 | PreRangeOverheadMicroSeconds; |
johnAlexander | 0:c523920bcc09 | 4417 | |
johnAlexander | 0:c523920bcc09 | 4418 | if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) { |
johnAlexander | 0:c523920bcc09 | 4419 | FinalRangeTimingBudgetMicroSeconds -= SubTimeout; |
johnAlexander | 0:c523920bcc09 | 4420 | } else { |
johnAlexander | 0:c523920bcc09 | 4421 | /* Requested timeout too big. */ |
johnAlexander | 0:c523920bcc09 | 4422 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 4423 | } |
johnAlexander | 0:c523920bcc09 | 4424 | } |
johnAlexander | 0:c523920bcc09 | 4425 | |
johnAlexander | 0:c523920bcc09 | 4426 | |
johnAlexander | 0:c523920bcc09 | 4427 | if (Status == VL53L0X_ERROR_NONE && |
johnAlexander | 0:c523920bcc09 | 4428 | SchedulerSequenceSteps.FinalRangeOn) { |
johnAlexander | 0:c523920bcc09 | 4429 | |
johnAlexander | 0:c523920bcc09 | 4430 | FinalRangeTimingBudgetMicroSeconds -= |
johnAlexander | 0:c523920bcc09 | 4431 | FinalRangeOverheadMicroSeconds; |
johnAlexander | 0:c523920bcc09 | 4432 | |
johnAlexander | 0:c523920bcc09 | 4433 | /* Final Range Timeout |
johnAlexander | 0:c523920bcc09 | 4434 | * Note that the final range timeout is determined by the timing |
johnAlexander | 0:c523920bcc09 | 4435 | * budget and the sum of all other timeouts within the sequence. |
johnAlexander | 0:c523920bcc09 | 4436 | * If there is no room for the final range timeout, then an error |
johnAlexander | 0:c523920bcc09 | 4437 | * will be set. Otherwise the remaining time will be applied to |
johnAlexander | 0:c523920bcc09 | 4438 | * the final range. |
johnAlexander | 0:c523920bcc09 | 4439 | */ |
johnAlexander | 0:c523920bcc09 | 4440 | Status = set_sequence_step_timeout(Dev, |
johnAlexander | 0:c523920bcc09 | 4441 | VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
johnAlexander | 0:c523920bcc09 | 4442 | FinalRangeTimingBudgetMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 4443 | |
johnAlexander | 0:c523920bcc09 | 4444 | VL53L0X_SETPARAMETERFIELD(Dev, |
johnAlexander | 0:c523920bcc09 | 4445 | MeasurementTimingBudgetMicroSeconds, |
johnAlexander | 0:c523920bcc09 | 4446 | MeasurementTimingBudgetMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 4447 | } |
johnAlexander | 0:c523920bcc09 | 4448 | |
johnAlexander | 0:c523920bcc09 | 4449 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 4450 | |
johnAlexander | 0:c523920bcc09 | 4451 | return Status; |
johnAlexander | 0:c523920bcc09 | 4452 | } |
johnAlexander | 0:c523920bcc09 | 4453 | |
johnAlexander | 0:c523920bcc09 | 4454 | VL53L0X_Error VL53L0X::VL53L0X_SetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 4455 | uint32_t MeasurementTimingBudgetMicroSeconds) |
johnAlexander | 0:c523920bcc09 | 4456 | { |
johnAlexander | 0:c523920bcc09 | 4457 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 4458 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 4459 | |
johnAlexander | 0:c523920bcc09 | 4460 | Status = VL53L0X_set_measurement_timing_budget_micro_seconds(Dev, |
johnAlexander | 0:c523920bcc09 | 4461 | MeasurementTimingBudgetMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 4462 | |
johnAlexander | 0:c523920bcc09 | 4463 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 4464 | |
johnAlexander | 0:c523920bcc09 | 4465 | return Status; |
johnAlexander | 0:c523920bcc09 | 4466 | } |
johnAlexander | 0:c523920bcc09 | 4467 | |
johnAlexander | 0:c523920bcc09 | 4468 | VL53L0X_Error VL53L0X::VL53L0X_SetSequenceStepEnable(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 4469 | VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled) |
johnAlexander | 0:c523920bcc09 | 4470 | { |
johnAlexander | 0:c523920bcc09 | 4471 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 4472 | uint8_t SequenceConfig = 0; |
johnAlexander | 0:c523920bcc09 | 4473 | uint8_t SequenceConfigNew = 0; |
johnAlexander | 0:c523920bcc09 | 4474 | uint32_t MeasurementTimingBudgetMicroSeconds; |
johnAlexander | 0:c523920bcc09 | 4475 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 4476 | |
johnAlexander | 0:c523920bcc09 | 4477 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
johnAlexander | 0:c523920bcc09 | 4478 | &SequenceConfig); |
johnAlexander | 0:c523920bcc09 | 4479 | |
johnAlexander | 0:c523920bcc09 | 4480 | SequenceConfigNew = SequenceConfig; |
johnAlexander | 0:c523920bcc09 | 4481 | |
johnAlexander | 0:c523920bcc09 | 4482 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4483 | if (SequenceStepEnabled == 1) { |
johnAlexander | 0:c523920bcc09 | 4484 | |
johnAlexander | 0:c523920bcc09 | 4485 | /* Enable requested sequence step |
johnAlexander | 0:c523920bcc09 | 4486 | */ |
johnAlexander | 0:c523920bcc09 | 4487 | switch (SequenceStepId) { |
johnAlexander | 0:c523920bcc09 | 4488 | case VL53L0X_SEQUENCESTEP_TCC: |
johnAlexander | 0:c523920bcc09 | 4489 | SequenceConfigNew |= 0x10; |
johnAlexander | 0:c523920bcc09 | 4490 | break; |
johnAlexander | 0:c523920bcc09 | 4491 | case VL53L0X_SEQUENCESTEP_DSS: |
johnAlexander | 0:c523920bcc09 | 4492 | SequenceConfigNew |= 0x28; |
johnAlexander | 0:c523920bcc09 | 4493 | break; |
johnAlexander | 0:c523920bcc09 | 4494 | case VL53L0X_SEQUENCESTEP_MSRC: |
johnAlexander | 0:c523920bcc09 | 4495 | SequenceConfigNew |= 0x04; |
johnAlexander | 0:c523920bcc09 | 4496 | break; |
johnAlexander | 0:c523920bcc09 | 4497 | case VL53L0X_SEQUENCESTEP_PRE_RANGE: |
johnAlexander | 0:c523920bcc09 | 4498 | SequenceConfigNew |= 0x40; |
johnAlexander | 0:c523920bcc09 | 4499 | break; |
johnAlexander | 0:c523920bcc09 | 4500 | case VL53L0X_SEQUENCESTEP_FINAL_RANGE: |
johnAlexander | 0:c523920bcc09 | 4501 | SequenceConfigNew |= 0x80; |
johnAlexander | 0:c523920bcc09 | 4502 | break; |
johnAlexander | 0:c523920bcc09 | 4503 | default: |
johnAlexander | 0:c523920bcc09 | 4504 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 4505 | } |
johnAlexander | 0:c523920bcc09 | 4506 | } else { |
johnAlexander | 0:c523920bcc09 | 4507 | /* Disable requested sequence step |
johnAlexander | 0:c523920bcc09 | 4508 | */ |
johnAlexander | 0:c523920bcc09 | 4509 | switch (SequenceStepId) { |
johnAlexander | 0:c523920bcc09 | 4510 | case VL53L0X_SEQUENCESTEP_TCC: |
johnAlexander | 0:c523920bcc09 | 4511 | SequenceConfigNew &= 0xef; |
johnAlexander | 0:c523920bcc09 | 4512 | break; |
johnAlexander | 0:c523920bcc09 | 4513 | case VL53L0X_SEQUENCESTEP_DSS: |
johnAlexander | 0:c523920bcc09 | 4514 | SequenceConfigNew &= 0xd7; |
johnAlexander | 0:c523920bcc09 | 4515 | break; |
johnAlexander | 0:c523920bcc09 | 4516 | case VL53L0X_SEQUENCESTEP_MSRC: |
johnAlexander | 0:c523920bcc09 | 4517 | SequenceConfigNew &= 0xfb; |
johnAlexander | 0:c523920bcc09 | 4518 | break; |
johnAlexander | 0:c523920bcc09 | 4519 | case VL53L0X_SEQUENCESTEP_PRE_RANGE: |
johnAlexander | 0:c523920bcc09 | 4520 | SequenceConfigNew &= 0xbf; |
johnAlexander | 0:c523920bcc09 | 4521 | break; |
johnAlexander | 0:c523920bcc09 | 4522 | case VL53L0X_SEQUENCESTEP_FINAL_RANGE: |
johnAlexander | 0:c523920bcc09 | 4523 | SequenceConfigNew &= 0x7f; |
johnAlexander | 0:c523920bcc09 | 4524 | break; |
johnAlexander | 0:c523920bcc09 | 4525 | default: |
johnAlexander | 0:c523920bcc09 | 4526 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 4527 | } |
johnAlexander | 0:c523920bcc09 | 4528 | } |
johnAlexander | 0:c523920bcc09 | 4529 | } |
johnAlexander | 0:c523920bcc09 | 4530 | |
johnAlexander | 0:c523920bcc09 | 4531 | if (SequenceConfigNew != SequenceConfig) { |
johnAlexander | 0:c523920bcc09 | 4532 | /* Apply New Setting */ |
johnAlexander | 0:c523920bcc09 | 4533 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4534 | Status = VL53L0X_WrByte(Dev, |
johnAlexander | 0:c523920bcc09 | 4535 | VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, SequenceConfigNew); |
johnAlexander | 0:c523920bcc09 | 4536 | } |
johnAlexander | 0:c523920bcc09 | 4537 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4538 | PALDevDataSet(Dev, SequenceConfig, SequenceConfigNew); |
johnAlexander | 0:c523920bcc09 | 4539 | |
johnAlexander | 0:c523920bcc09 | 4540 | |
johnAlexander | 0:c523920bcc09 | 4541 | /* Recalculate timing budget */ |
johnAlexander | 0:c523920bcc09 | 4542 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4543 | VL53L0X_GETPARAMETERFIELD(Dev, |
johnAlexander | 0:c523920bcc09 | 4544 | MeasurementTimingBudgetMicroSeconds, |
johnAlexander | 0:c523920bcc09 | 4545 | MeasurementTimingBudgetMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 4546 | |
johnAlexander | 0:c523920bcc09 | 4547 | VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, |
johnAlexander | 0:c523920bcc09 | 4548 | MeasurementTimingBudgetMicroSeconds); |
johnAlexander | 0:c523920bcc09 | 4549 | } |
johnAlexander | 0:c523920bcc09 | 4550 | } |
johnAlexander | 0:c523920bcc09 | 4551 | |
johnAlexander | 0:c523920bcc09 | 4552 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 4553 | |
johnAlexander | 0:c523920bcc09 | 4554 | return Status; |
johnAlexander | 0:c523920bcc09 | 4555 | } |
johnAlexander | 0:c523920bcc09 | 4556 | |
johnAlexander | 0:c523920bcc09 | 4557 | VL53L0X_Error VL53L0X::VL53L0X_SetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
johnAlexander | 0:c523920bcc09 | 4558 | uint8_t LimitCheckEnable) |
johnAlexander | 0:c523920bcc09 | 4559 | { |
johnAlexander | 0:c523920bcc09 | 4560 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 4561 | FixPoint1616_t TempFix1616 = 0; |
johnAlexander | 0:c523920bcc09 | 4562 | uint8_t LimitCheckEnableInt = 0; |
johnAlexander | 0:c523920bcc09 | 4563 | uint8_t LimitCheckDisable = 0; |
johnAlexander | 0:c523920bcc09 | 4564 | uint8_t Temp8; |
johnAlexander | 0:c523920bcc09 | 4565 | |
johnAlexander | 0:c523920bcc09 | 4566 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 4567 | |
johnAlexander | 0:c523920bcc09 | 4568 | if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) { |
johnAlexander | 0:c523920bcc09 | 4569 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 4570 | } else { |
johnAlexander | 0:c523920bcc09 | 4571 | if (LimitCheckEnable == 0) { |
johnAlexander | 0:c523920bcc09 | 4572 | TempFix1616 = 0; |
johnAlexander | 0:c523920bcc09 | 4573 | LimitCheckEnableInt = 0; |
johnAlexander | 0:c523920bcc09 | 4574 | LimitCheckDisable = 1; |
johnAlexander | 0:c523920bcc09 | 4575 | |
johnAlexander | 0:c523920bcc09 | 4576 | } else { |
johnAlexander | 0:c523920bcc09 | 4577 | VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
johnAlexander | 0:c523920bcc09 | 4578 | LimitCheckId, TempFix1616); |
johnAlexander | 0:c523920bcc09 | 4579 | LimitCheckDisable = 0; |
johnAlexander | 0:c523920bcc09 | 4580 | /* this to be sure to have either 0 or 1 */ |
johnAlexander | 0:c523920bcc09 | 4581 | LimitCheckEnableInt = 1; |
johnAlexander | 0:c523920bcc09 | 4582 | } |
johnAlexander | 0:c523920bcc09 | 4583 | |
johnAlexander | 0:c523920bcc09 | 4584 | switch (LimitCheckId) { |
johnAlexander | 0:c523920bcc09 | 4585 | |
johnAlexander | 0:c523920bcc09 | 4586 | case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE: |
johnAlexander | 0:c523920bcc09 | 4587 | /* internal computation: */ |
johnAlexander | 0:c523920bcc09 | 4588 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
johnAlexander | 0:c523920bcc09 | 4589 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
johnAlexander | 0:c523920bcc09 | 4590 | LimitCheckEnableInt); |
johnAlexander | 0:c523920bcc09 | 4591 | |
johnAlexander | 0:c523920bcc09 | 4592 | break; |
johnAlexander | 0:c523920bcc09 | 4593 | |
johnAlexander | 0:c523920bcc09 | 4594 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: |
johnAlexander | 0:c523920bcc09 | 4595 | |
johnAlexander | 0:c523920bcc09 | 4596 | Status = VL53L0X_WrWord(Dev, |
johnAlexander | 0:c523920bcc09 | 4597 | VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, |
johnAlexander | 0:c523920bcc09 | 4598 | VL53L0X_FIXPOINT1616TOFIXPOINT97(TempFix1616)); |
johnAlexander | 0:c523920bcc09 | 4599 | |
johnAlexander | 0:c523920bcc09 | 4600 | break; |
johnAlexander | 0:c523920bcc09 | 4601 | |
johnAlexander | 0:c523920bcc09 | 4602 | case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP: |
johnAlexander | 0:c523920bcc09 | 4603 | |
johnAlexander | 0:c523920bcc09 | 4604 | /* internal computation: */ |
johnAlexander | 0:c523920bcc09 | 4605 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
johnAlexander | 0:c523920bcc09 | 4606 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
johnAlexander | 0:c523920bcc09 | 4607 | LimitCheckEnableInt); |
johnAlexander | 0:c523920bcc09 | 4608 | |
johnAlexander | 0:c523920bcc09 | 4609 | break; |
johnAlexander | 0:c523920bcc09 | 4610 | |
johnAlexander | 0:c523920bcc09 | 4611 | case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD: |
johnAlexander | 0:c523920bcc09 | 4612 | |
johnAlexander | 0:c523920bcc09 | 4613 | /* internal computation: */ |
johnAlexander | 0:c523920bcc09 | 4614 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
johnAlexander | 0:c523920bcc09 | 4615 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
johnAlexander | 0:c523920bcc09 | 4616 | LimitCheckEnableInt); |
johnAlexander | 0:c523920bcc09 | 4617 | |
johnAlexander | 0:c523920bcc09 | 4618 | break; |
johnAlexander | 0:c523920bcc09 | 4619 | |
johnAlexander | 0:c523920bcc09 | 4620 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC: |
johnAlexander | 0:c523920bcc09 | 4621 | |
johnAlexander | 0:c523920bcc09 | 4622 | Temp8 = (uint8_t)(LimitCheckDisable << 1); |
johnAlexander | 0:c523920bcc09 | 4623 | Status = VL53L0X_UpdateByte(Dev, |
johnAlexander | 0:c523920bcc09 | 4624 | VL53L0X_REG_MSRC_CONFIG_CONTROL, |
johnAlexander | 0:c523920bcc09 | 4625 | 0xFE, Temp8); |
johnAlexander | 0:c523920bcc09 | 4626 | |
johnAlexander | 0:c523920bcc09 | 4627 | break; |
johnAlexander | 0:c523920bcc09 | 4628 | |
johnAlexander | 0:c523920bcc09 | 4629 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: |
johnAlexander | 0:c523920bcc09 | 4630 | |
johnAlexander | 0:c523920bcc09 | 4631 | Temp8 = (uint8_t)(LimitCheckDisable << 4); |
johnAlexander | 0:c523920bcc09 | 4632 | Status = VL53L0X_UpdateByte(Dev, |
johnAlexander | 0:c523920bcc09 | 4633 | VL53L0X_REG_MSRC_CONFIG_CONTROL, |
johnAlexander | 0:c523920bcc09 | 4634 | 0xEF, Temp8); |
johnAlexander | 0:c523920bcc09 | 4635 | |
johnAlexander | 0:c523920bcc09 | 4636 | break; |
johnAlexander | 0:c523920bcc09 | 4637 | |
johnAlexander | 0:c523920bcc09 | 4638 | |
johnAlexander | 0:c523920bcc09 | 4639 | default: |
johnAlexander | 0:c523920bcc09 | 4640 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 4641 | |
johnAlexander | 0:c523920bcc09 | 4642 | } |
johnAlexander | 0:c523920bcc09 | 4643 | |
johnAlexander | 0:c523920bcc09 | 4644 | } |
johnAlexander | 0:c523920bcc09 | 4645 | |
johnAlexander | 0:c523920bcc09 | 4646 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4647 | if (LimitCheckEnable == 0) { |
johnAlexander | 0:c523920bcc09 | 4648 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
johnAlexander | 0:c523920bcc09 | 4649 | LimitCheckId, 0); |
johnAlexander | 0:c523920bcc09 | 4650 | } else { |
johnAlexander | 0:c523920bcc09 | 4651 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
johnAlexander | 0:c523920bcc09 | 4652 | LimitCheckId, 1); |
johnAlexander | 0:c523920bcc09 | 4653 | } |
johnAlexander | 0:c523920bcc09 | 4654 | } |
johnAlexander | 0:c523920bcc09 | 4655 | |
johnAlexander | 0:c523920bcc09 | 4656 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 4657 | return Status; |
johnAlexander | 0:c523920bcc09 | 4658 | } |
johnAlexander | 0:c523920bcc09 | 4659 | |
johnAlexander | 0:c523920bcc09 | 4660 | VL53L0X_Error VL53L0X::VL53L0X_StaticInit(VL53L0X_DEV Dev) |
johnAlexander | 0:c523920bcc09 | 4661 | { |
johnAlexander | 0:c523920bcc09 | 4662 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 4663 | VL53L0X_DeviceParameters_t CurrentParameters = {0}; |
johnAlexander | 0:c523920bcc09 | 4664 | uint8_t *pTuningSettingBuffer; |
johnAlexander | 0:c523920bcc09 | 4665 | uint16_t tempword = 0; |
johnAlexander | 0:c523920bcc09 | 4666 | uint8_t tempbyte = 0; |
johnAlexander | 0:c523920bcc09 | 4667 | uint8_t UseInternalTuningSettings = 0; |
johnAlexander | 0:c523920bcc09 | 4668 | uint32_t count = 0; |
johnAlexander | 0:c523920bcc09 | 4669 | uint8_t isApertureSpads = 0; |
johnAlexander | 0:c523920bcc09 | 4670 | uint32_t refSpadCount = 0; |
johnAlexander | 0:c523920bcc09 | 4671 | uint8_t ApertureSpads = 0; |
johnAlexander | 0:c523920bcc09 | 4672 | uint8_t vcselPulsePeriodPCLK; |
johnAlexander | 0:c523920bcc09 | 4673 | uint32_t seqTimeoutMicroSecs; |
johnAlexander | 0:c523920bcc09 | 4674 | |
johnAlexander | 0:c523920bcc09 | 4675 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 4676 | |
johnAlexander | 0:c523920bcc09 | 4677 | Status = VL53L0X_get_info_from_device(Dev, 1); |
johnAlexander | 0:c523920bcc09 | 4678 | |
johnAlexander | 0:c523920bcc09 | 4679 | /* set the ref spad from NVM */ |
johnAlexander | 0:c523920bcc09 | 4680 | count = (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 4681 | ReferenceSpadCount); |
johnAlexander | 0:c523920bcc09 | 4682 | ApertureSpads = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
johnAlexander | 0:c523920bcc09 | 4683 | ReferenceSpadType); |
johnAlexander | 0:c523920bcc09 | 4684 | |
johnAlexander | 0:c523920bcc09 | 4685 | /* NVM value invalid */ |
johnAlexander | 0:c523920bcc09 | 4686 | if ((ApertureSpads > 1) || |
johnAlexander | 0:c523920bcc09 | 4687 | ((ApertureSpads == 1) && (count > 32)) || |
johnAlexander | 0:c523920bcc09 | 4688 | ((ApertureSpads == 0) && (count > 12))) |
johnAlexander | 0:c523920bcc09 | 4689 | Status = VL53L0X_perform_ref_spad_management(Dev, &refSpadCount, |
johnAlexander | 0:c523920bcc09 | 4690 | &isApertureSpads); |
johnAlexander | 0:c523920bcc09 | 4691 | else |
johnAlexander | 0:c523920bcc09 | 4692 | Status = VL53L0X_set_reference_spads(Dev, count, ApertureSpads); |
johnAlexander | 0:c523920bcc09 | 4693 | |
johnAlexander | 0:c523920bcc09 | 4694 | |
johnAlexander | 0:c523920bcc09 | 4695 | /* Initialize tuning settings buffer to prevent compiler warning. */ |
johnAlexander | 0:c523920bcc09 | 4696 | pTuningSettingBuffer = DefaultTuningSettings; |
johnAlexander | 0:c523920bcc09 | 4697 | |
johnAlexander | 0:c523920bcc09 | 4698 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4699 | UseInternalTuningSettings = PALDevDataGet(Dev, |
johnAlexander | 0:c523920bcc09 | 4700 | UseInternalTuningSettings); |
johnAlexander | 0:c523920bcc09 | 4701 | |
johnAlexander | 0:c523920bcc09 | 4702 | if (UseInternalTuningSettings == 0) |
johnAlexander | 0:c523920bcc09 | 4703 | pTuningSettingBuffer = PALDevDataGet(Dev, |
johnAlexander | 0:c523920bcc09 | 4704 | pTuningSettingsPointer); |
johnAlexander | 0:c523920bcc09 | 4705 | else |
johnAlexander | 0:c523920bcc09 | 4706 | pTuningSettingBuffer = DefaultTuningSettings; |
johnAlexander | 0:c523920bcc09 | 4707 | |
johnAlexander | 0:c523920bcc09 | 4708 | } |
johnAlexander | 0:c523920bcc09 | 4709 | |
johnAlexander | 0:c523920bcc09 | 4710 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4711 | Status = VL53L0X_load_tuning_settings(Dev, pTuningSettingBuffer); |
johnAlexander | 0:c523920bcc09 | 4712 | |
johnAlexander | 0:c523920bcc09 | 4713 | |
johnAlexander | 0:c523920bcc09 | 4714 | /* Set interrupt config to new sample ready */ |
johnAlexander | 0:c523920bcc09 | 4715 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4716 | Status = VL53L0X_SetGpioConfig(Dev, 0, 0, |
johnAlexander | 0:c523920bcc09 | 4717 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY, |
johnAlexander | 0:c523920bcc09 | 4718 | VL53L0X_INTERRUPTPOLARITY_LOW); |
johnAlexander | 0:c523920bcc09 | 4719 | } |
johnAlexander | 0:c523920bcc09 | 4720 | |
johnAlexander | 0:c523920bcc09 | 4721 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4722 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
johnAlexander | 0:c523920bcc09 | 4723 | Status |= VL53L0X_RdWord(Dev, 0x84, &tempword); |
johnAlexander | 0:c523920bcc09 | 4724 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
johnAlexander | 0:c523920bcc09 | 4725 | } |
johnAlexander | 0:c523920bcc09 | 4726 | |
johnAlexander | 0:c523920bcc09 | 4727 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4728 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, |
johnAlexander | 0:c523920bcc09 | 4729 | VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword)); |
johnAlexander | 0:c523920bcc09 | 4730 | } |
johnAlexander | 0:c523920bcc09 | 4731 | |
johnAlexander | 0:c523920bcc09 | 4732 | /* After static init, some device parameters may be changed, |
johnAlexander | 0:c523920bcc09 | 4733 | * so update them */ |
johnAlexander | 0:c523920bcc09 | 4734 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4735 | Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters); |
johnAlexander | 0:c523920bcc09 | 4736 | |
johnAlexander | 0:c523920bcc09 | 4737 | |
johnAlexander | 0:c523920bcc09 | 4738 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4739 | Status = VL53L0X_GetFractionEnable(Dev, &tempbyte); |
johnAlexander | 0:c523920bcc09 | 4740 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4741 | PALDevDataSet(Dev, RangeFractionalEnable, tempbyte); |
johnAlexander | 0:c523920bcc09 | 4742 | |
johnAlexander | 0:c523920bcc09 | 4743 | } |
johnAlexander | 0:c523920bcc09 | 4744 | |
johnAlexander | 0:c523920bcc09 | 4745 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4746 | PALDevDataSet(Dev, CurrentParameters, CurrentParameters); |
johnAlexander | 0:c523920bcc09 | 4747 | |
johnAlexander | 0:c523920bcc09 | 4748 | |
johnAlexander | 0:c523920bcc09 | 4749 | /* read the sequence config and save it */ |
johnAlexander | 0:c523920bcc09 | 4750 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4751 | Status = VL53L0X_RdByte(Dev, |
johnAlexander | 0:c523920bcc09 | 4752 | VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte); |
johnAlexander | 0:c523920bcc09 | 4753 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4754 | PALDevDataSet(Dev, SequenceConfig, tempbyte); |
johnAlexander | 0:c523920bcc09 | 4755 | |
johnAlexander | 0:c523920bcc09 | 4756 | } |
johnAlexander | 0:c523920bcc09 | 4757 | |
johnAlexander | 0:c523920bcc09 | 4758 | /* Disable MSRC and TCC by default */ |
johnAlexander | 0:c523920bcc09 | 4759 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4760 | Status = VL53L0X_SetSequenceStepEnable(Dev, |
johnAlexander | 0:c523920bcc09 | 4761 | VL53L0X_SEQUENCESTEP_TCC, 0); |
johnAlexander | 0:c523920bcc09 | 4762 | |
johnAlexander | 0:c523920bcc09 | 4763 | |
johnAlexander | 0:c523920bcc09 | 4764 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4765 | Status = VL53L0X_SetSequenceStepEnable(Dev, |
johnAlexander | 0:c523920bcc09 | 4766 | VL53L0X_SEQUENCESTEP_MSRC, 0); |
johnAlexander | 0:c523920bcc09 | 4767 | |
johnAlexander | 0:c523920bcc09 | 4768 | |
johnAlexander | 0:c523920bcc09 | 4769 | /* Set PAL State to standby */ |
johnAlexander | 0:c523920bcc09 | 4770 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4771 | PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); |
johnAlexander | 0:c523920bcc09 | 4772 | |
johnAlexander | 0:c523920bcc09 | 4773 | |
johnAlexander | 0:c523920bcc09 | 4774 | |
johnAlexander | 0:c523920bcc09 | 4775 | /* Store pre-range vcsel period */ |
johnAlexander | 0:c523920bcc09 | 4776 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4777 | Status = VL53L0X_GetVcselPulsePeriod( |
johnAlexander | 0:c523920bcc09 | 4778 | Dev, |
johnAlexander | 0:c523920bcc09 | 4779 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
johnAlexander | 0:c523920bcc09 | 4780 | &vcselPulsePeriodPCLK); |
johnAlexander | 0:c523920bcc09 | 4781 | } |
johnAlexander | 0:c523920bcc09 | 4782 | |
johnAlexander | 0:c523920bcc09 | 4783 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4784 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
johnAlexander | 0:c523920bcc09 | 4785 | Dev, |
johnAlexander | 0:c523920bcc09 | 4786 | PreRangeVcselPulsePeriod, |
johnAlexander | 0:c523920bcc09 | 4787 | vcselPulsePeriodPCLK); |
johnAlexander | 0:c523920bcc09 | 4788 | } |
johnAlexander | 0:c523920bcc09 | 4789 | |
johnAlexander | 0:c523920bcc09 | 4790 | /* Store final-range vcsel period */ |
johnAlexander | 0:c523920bcc09 | 4791 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4792 | Status = VL53L0X_GetVcselPulsePeriod( |
johnAlexander | 0:c523920bcc09 | 4793 | Dev, |
johnAlexander | 0:c523920bcc09 | 4794 | VL53L0X_VCSEL_PERIOD_FINAL_RANGE, |
johnAlexander | 0:c523920bcc09 | 4795 | &vcselPulsePeriodPCLK); |
johnAlexander | 0:c523920bcc09 | 4796 | } |
johnAlexander | 0:c523920bcc09 | 4797 | |
johnAlexander | 0:c523920bcc09 | 4798 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4799 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
johnAlexander | 0:c523920bcc09 | 4800 | Dev, |
johnAlexander | 0:c523920bcc09 | 4801 | FinalRangeVcselPulsePeriod, |
johnAlexander | 0:c523920bcc09 | 4802 | vcselPulsePeriodPCLK); |
johnAlexander | 0:c523920bcc09 | 4803 | } |
johnAlexander | 0:c523920bcc09 | 4804 | |
johnAlexander | 0:c523920bcc09 | 4805 | /* Store pre-range timeout */ |
johnAlexander | 0:c523920bcc09 | 4806 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4807 | Status = get_sequence_step_timeout( |
johnAlexander | 0:c523920bcc09 | 4808 | Dev, |
johnAlexander | 0:c523920bcc09 | 4809 | VL53L0X_SEQUENCESTEP_PRE_RANGE, |
johnAlexander | 0:c523920bcc09 | 4810 | &seqTimeoutMicroSecs); |
johnAlexander | 0:c523920bcc09 | 4811 | } |
johnAlexander | 0:c523920bcc09 | 4812 | |
johnAlexander | 0:c523920bcc09 | 4813 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4814 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
johnAlexander | 0:c523920bcc09 | 4815 | Dev, |
johnAlexander | 0:c523920bcc09 | 4816 | PreRangeTimeoutMicroSecs, |
johnAlexander | 0:c523920bcc09 | 4817 | seqTimeoutMicroSecs); |
johnAlexander | 0:c523920bcc09 | 4818 | } |
johnAlexander | 0:c523920bcc09 | 4819 | |
johnAlexander | 0:c523920bcc09 | 4820 | /* Store final-range timeout */ |
johnAlexander | 0:c523920bcc09 | 4821 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4822 | Status = get_sequence_step_timeout( |
johnAlexander | 0:c523920bcc09 | 4823 | Dev, |
johnAlexander | 0:c523920bcc09 | 4824 | VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
johnAlexander | 0:c523920bcc09 | 4825 | &seqTimeoutMicroSecs); |
johnAlexander | 0:c523920bcc09 | 4826 | } |
johnAlexander | 0:c523920bcc09 | 4827 | |
johnAlexander | 0:c523920bcc09 | 4828 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4829 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
johnAlexander | 0:c523920bcc09 | 4830 | Dev, |
johnAlexander | 0:c523920bcc09 | 4831 | FinalRangeTimeoutMicroSecs, |
johnAlexander | 0:c523920bcc09 | 4832 | seqTimeoutMicroSecs); |
johnAlexander | 0:c523920bcc09 | 4833 | } |
johnAlexander | 0:c523920bcc09 | 4834 | |
johnAlexander | 0:c523920bcc09 | 4835 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 4836 | return Status; |
johnAlexander | 0:c523920bcc09 | 4837 | } |
johnAlexander | 0:c523920bcc09 | 4838 | |
johnAlexander | 0:c523920bcc09 | 4839 | |
johnAlexander | 0:c523920bcc09 | 4840 | VL53L0X_Error VL53L0X::VL53L0X_StopMeasurement(VL53L0X_DEV Dev) |
johnAlexander | 0:c523920bcc09 | 4841 | { |
johnAlexander | 0:c523920bcc09 | 4842 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 4843 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 4844 | |
johnAlexander | 0:c523920bcc09 | 4845 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, |
johnAlexander | 0:c523920bcc09 | 4846 | VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT); |
johnAlexander | 0:c523920bcc09 | 4847 | |
johnAlexander | 0:c523920bcc09 | 4848 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
johnAlexander | 0:c523920bcc09 | 4849 | Status = VL53L0X_WrByte(Dev, 0x00, 0x00); |
johnAlexander | 0:c523920bcc09 | 4850 | Status = VL53L0X_WrByte(Dev, 0x91, 0x00); |
johnAlexander | 0:c523920bcc09 | 4851 | Status = VL53L0X_WrByte(Dev, 0x00, 0x01); |
johnAlexander | 0:c523920bcc09 | 4852 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
johnAlexander | 0:c523920bcc09 | 4853 | |
johnAlexander | 0:c523920bcc09 | 4854 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 4855 | /* Set PAL State to Idle */ |
johnAlexander | 0:c523920bcc09 | 4856 | PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); |
johnAlexander | 0:c523920bcc09 | 4857 | } |
johnAlexander | 0:c523920bcc09 | 4858 | |
johnAlexander | 0:c523920bcc09 | 4859 | /* Check if need to apply interrupt settings */ |
johnAlexander | 0:c523920bcc09 | 4860 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4861 | Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 0); |
johnAlexander | 0:c523920bcc09 | 4862 | |
johnAlexander | 0:c523920bcc09 | 4863 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 4864 | return Status; |
johnAlexander | 0:c523920bcc09 | 4865 | } |
johnAlexander | 0:c523920bcc09 | 4866 | |
johnAlexander | 0:c523920bcc09 | 4867 | VL53L0X_Error VL53L0X::VL53L0X_GetStopCompletedStatus(VL53L0X_DEV Dev, |
johnAlexander | 0:c523920bcc09 | 4868 | uint32_t *pStopStatus) |
johnAlexander | 0:c523920bcc09 | 4869 | { |
johnAlexander | 0:c523920bcc09 | 4870 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 4871 | uint8_t Byte = 0; |
johnAlexander | 0:c523920bcc09 | 4872 | LOG_FUNCTION_START(""); |
johnAlexander | 0:c523920bcc09 | 4873 | |
johnAlexander | 0:c523920bcc09 | 4874 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
johnAlexander | 0:c523920bcc09 | 4875 | |
johnAlexander | 0:c523920bcc09 | 4876 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4877 | Status = VL53L0X_RdByte(Dev, 0x04, &Byte); |
johnAlexander | 0:c523920bcc09 | 4878 | |
johnAlexander | 0:c523920bcc09 | 4879 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 4880 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x0); |
johnAlexander | 0:c523920bcc09 | 4881 | |
johnAlexander | 0:c523920bcc09 | 4882 | *pStopStatus = Byte; |
johnAlexander | 0:c523920bcc09 | 4883 | |
johnAlexander | 0:c523920bcc09 | 4884 | if (Byte == 0) { |
johnAlexander | 0:c523920bcc09 | 4885 | Status = VL53L0X_WrByte(Dev, 0x80, 0x01); |
johnAlexander | 0:c523920bcc09 | 4886 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
johnAlexander | 0:c523920bcc09 | 4887 | Status = VL53L0X_WrByte(Dev, 0x00, 0x00); |
johnAlexander | 0:c523920bcc09 | 4888 | Status = VL53L0X_WrByte(Dev, 0x91, |
johnAlexander | 0:c523920bcc09 | 4889 | PALDevDataGet(Dev, StopVariable)); |
johnAlexander | 0:c523920bcc09 | 4890 | Status = VL53L0X_WrByte(Dev, 0x00, 0x01); |
johnAlexander | 0:c523920bcc09 | 4891 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
johnAlexander | 0:c523920bcc09 | 4892 | Status = VL53L0X_WrByte(Dev, 0x80, 0x00); |
johnAlexander | 0:c523920bcc09 | 4893 | } |
johnAlexander | 0:c523920bcc09 | 4894 | |
johnAlexander | 0:c523920bcc09 | 4895 | LOG_FUNCTION_END(Status); |
johnAlexander | 0:c523920bcc09 | 4896 | return Status; |
johnAlexander | 0:c523920bcc09 | 4897 | } |
johnAlexander | 0:c523920bcc09 | 4898 | |
johnAlexander | 0:c523920bcc09 | 4899 | /****************** Write and read functions from I2C *************************/ |
johnAlexander | 0:c523920bcc09 | 4900 | |
johnAlexander | 0:c523920bcc09 | 4901 | VL53L0X_Error VL53L0X::VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count) |
johnAlexander | 0:c523920bcc09 | 4902 | { |
johnAlexander | 0:c523920bcc09 | 4903 | int status; |
johnAlexander | 0:c523920bcc09 | 4904 | |
johnAlexander | 0:c523920bcc09 | 4905 | status = VL53L0X_I2CWrite(Dev->I2cDevAddr, index, pdata, (uint16_t)count); |
johnAlexander | 0:c523920bcc09 | 4906 | return status; |
johnAlexander | 0:c523920bcc09 | 4907 | } |
johnAlexander | 0:c523920bcc09 | 4908 | |
johnAlexander | 0:c523920bcc09 | 4909 | VL53L0X_Error VL53L0X::VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count) |
johnAlexander | 0:c523920bcc09 | 4910 | { |
johnAlexander | 0:c523920bcc09 | 4911 | int status; |
johnAlexander | 0:c523920bcc09 | 4912 | |
johnAlexander | 0:c523920bcc09 | 4913 | if (count>=VL53L0X_MAX_I2C_XFER_SIZE){ |
johnAlexander | 0:c523920bcc09 | 4914 | status = VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 4915 | } |
johnAlexander | 0:c523920bcc09 | 4916 | |
johnAlexander | 0:c523920bcc09 | 4917 | status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, pdata, (uint16_t)count); |
johnAlexander | 0:c523920bcc09 | 4918 | |
johnAlexander | 0:c523920bcc09 | 4919 | return status; |
johnAlexander | 0:c523920bcc09 | 4920 | } |
johnAlexander | 0:c523920bcc09 | 4921 | |
johnAlexander | 0:c523920bcc09 | 4922 | |
johnAlexander | 0:c523920bcc09 | 4923 | VL53L0X_Error VL53L0X::VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data) |
johnAlexander | 0:c523920bcc09 | 4924 | { |
johnAlexander | 0:c523920bcc09 | 4925 | int status; |
johnAlexander | 0:c523920bcc09 | 4926 | |
johnAlexander | 0:c523920bcc09 | 4927 | status=VL53L0X_I2CWrite(Dev->I2cDevAddr, index, &data, 1); |
johnAlexander | 0:c523920bcc09 | 4928 | return status; |
johnAlexander | 0:c523920bcc09 | 4929 | } |
johnAlexander | 0:c523920bcc09 | 4930 | |
johnAlexander | 0:c523920bcc09 | 4931 | VL53L0X_Error VL53L0X::VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data) |
johnAlexander | 0:c523920bcc09 | 4932 | { |
johnAlexander | 0:c523920bcc09 | 4933 | int status; |
johnAlexander | 0:c523920bcc09 | 4934 | uint8_t buffer[2]; |
johnAlexander | 0:c523920bcc09 | 4935 | |
johnAlexander | 0:c523920bcc09 | 4936 | buffer[0] = data >> 8; |
johnAlexander | 0:c523920bcc09 | 4937 | buffer[1] = data & 0x00FF; |
johnAlexander | 0:c523920bcc09 | 4938 | status=VL53L0X_I2CWrite(Dev->I2cDevAddr, index, (uint8_t *)buffer, 2); |
johnAlexander | 0:c523920bcc09 | 4939 | return status; |
johnAlexander | 0:c523920bcc09 | 4940 | } |
johnAlexander | 0:c523920bcc09 | 4941 | |
johnAlexander | 0:c523920bcc09 | 4942 | VL53L0X_Error VL53L0X::VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data) |
johnAlexander | 0:c523920bcc09 | 4943 | { |
johnAlexander | 0:c523920bcc09 | 4944 | int status; |
johnAlexander | 0:c523920bcc09 | 4945 | uint8_t buffer[4]; |
johnAlexander | 0:c523920bcc09 | 4946 | |
johnAlexander | 0:c523920bcc09 | 4947 | buffer[0] = (data >> 24) & 0xFF; |
johnAlexander | 0:c523920bcc09 | 4948 | buffer[1] = (data >> 16) & 0xFF; |
johnAlexander | 0:c523920bcc09 | 4949 | buffer[2] = (data >> 8) & 0xFF; |
johnAlexander | 0:c523920bcc09 | 4950 | buffer[3] = (data >> 0) & 0xFF; |
johnAlexander | 0:c523920bcc09 | 4951 | status=VL53L0X_I2CWrite(Dev->I2cDevAddr, index, (uint8_t *)buffer, 4); |
johnAlexander | 0:c523920bcc09 | 4952 | return status; |
johnAlexander | 0:c523920bcc09 | 4953 | } |
johnAlexander | 0:c523920bcc09 | 4954 | |
johnAlexander | 0:c523920bcc09 | 4955 | |
johnAlexander | 0:c523920bcc09 | 4956 | VL53L0X_Error VL53L0X::VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data) |
johnAlexander | 0:c523920bcc09 | 4957 | { |
johnAlexander | 0:c523920bcc09 | 4958 | int status; |
johnAlexander | 0:c523920bcc09 | 4959 | |
johnAlexander | 0:c523920bcc09 | 4960 | status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, data, 1); |
johnAlexander | 0:c523920bcc09 | 4961 | |
johnAlexander | 0:c523920bcc09 | 4962 | if(status) |
johnAlexander | 0:c523920bcc09 | 4963 | return -1; |
johnAlexander | 0:c523920bcc09 | 4964 | |
johnAlexander | 0:c523920bcc09 | 4965 | return 0; |
johnAlexander | 0:c523920bcc09 | 4966 | } |
johnAlexander | 0:c523920bcc09 | 4967 | |
johnAlexander | 0:c523920bcc09 | 4968 | VL53L0X_Error VL53L0X::VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data) |
johnAlexander | 0:c523920bcc09 | 4969 | { |
johnAlexander | 0:c523920bcc09 | 4970 | int status; |
johnAlexander | 0:c523920bcc09 | 4971 | uint8_t buffer[2] = {0,0}; |
johnAlexander | 0:c523920bcc09 | 4972 | |
johnAlexander | 0:c523920bcc09 | 4973 | status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, buffer, 2); |
johnAlexander | 0:c523920bcc09 | 4974 | if (!status) |
johnAlexander | 0:c523920bcc09 | 4975 | { |
johnAlexander | 0:c523920bcc09 | 4976 | *data = (buffer[0] << 8) + buffer[1]; |
johnAlexander | 0:c523920bcc09 | 4977 | } |
johnAlexander | 0:c523920bcc09 | 4978 | return status; |
johnAlexander | 0:c523920bcc09 | 4979 | |
johnAlexander | 0:c523920bcc09 | 4980 | } |
johnAlexander | 0:c523920bcc09 | 4981 | |
johnAlexander | 0:c523920bcc09 | 4982 | VL53L0X_Error VL53L0X::VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data) |
johnAlexander | 0:c523920bcc09 | 4983 | { |
johnAlexander | 0:c523920bcc09 | 4984 | int status; |
johnAlexander | 0:c523920bcc09 | 4985 | uint8_t buffer[4] = {0,0,0,0}; |
johnAlexander | 0:c523920bcc09 | 4986 | |
johnAlexander | 0:c523920bcc09 | 4987 | status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, buffer, 4); |
johnAlexander | 0:c523920bcc09 | 4988 | if(!status) |
johnAlexander | 0:c523920bcc09 | 4989 | { |
johnAlexander | 0:c523920bcc09 | 4990 | *data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3]; |
johnAlexander | 0:c523920bcc09 | 4991 | } |
johnAlexander | 0:c523920bcc09 | 4992 | return status; |
johnAlexander | 0:c523920bcc09 | 4993 | |
johnAlexander | 0:c523920bcc09 | 4994 | } |
johnAlexander | 0:c523920bcc09 | 4995 | |
johnAlexander | 0:c523920bcc09 | 4996 | VL53L0X_Error VL53L0X::VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData) |
johnAlexander | 0:c523920bcc09 | 4997 | { |
johnAlexander | 0:c523920bcc09 | 4998 | int status; |
johnAlexander | 0:c523920bcc09 | 4999 | uint8_t buffer = 0; |
johnAlexander | 0:c523920bcc09 | 5000 | |
johnAlexander | 0:c523920bcc09 | 5001 | /* read data direct onto buffer */ |
johnAlexander | 0:c523920bcc09 | 5002 | status = VL53L0X_I2CRead(Dev->I2cDevAddr, index, &buffer,1); |
johnAlexander | 0:c523920bcc09 | 5003 | if (!status) |
johnAlexander | 0:c523920bcc09 | 5004 | { |
johnAlexander | 0:c523920bcc09 | 5005 | buffer = (buffer & AndData) | OrData; |
johnAlexander | 0:c523920bcc09 | 5006 | status = VL53L0X_I2CWrite(Dev->I2cDevAddr, index, &buffer, (uint8_t)1); |
johnAlexander | 0:c523920bcc09 | 5007 | } |
johnAlexander | 0:c523920bcc09 | 5008 | return status; |
johnAlexander | 0:c523920bcc09 | 5009 | } |
johnAlexander | 0:c523920bcc09 | 5010 | |
johnAlexander | 0:c523920bcc09 | 5011 | VL53L0X_Error VL53L0X::VL53L0X_I2CWrite(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToWrite) |
johnAlexander | 0:c523920bcc09 | 5012 | { |
johnAlexander | 0:c523920bcc09 | 5013 | int ret; |
johnAlexander | 0:c523920bcc09 | 5014 | |
johnAlexander | 0:c523920bcc09 | 5015 | ret = dev_i2c.i2c_write(pBuffer, DeviceAddr, RegisterAddr, NumByteToWrite); |
johnAlexander | 0:c523920bcc09 | 5016 | |
johnAlexander | 0:c523920bcc09 | 5017 | if(ret) |
johnAlexander | 0:c523920bcc09 | 5018 | return -1; |
johnAlexander | 0:c523920bcc09 | 5019 | return 0; |
johnAlexander | 0:c523920bcc09 | 5020 | } |
johnAlexander | 0:c523920bcc09 | 5021 | |
johnAlexander | 0:c523920bcc09 | 5022 | VL53L0X_Error VL53L0X::VL53L0X_I2CRead(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t* pBuffer, uint16_t NumByteToRead) |
johnAlexander | 0:c523920bcc09 | 5023 | { |
johnAlexander | 0:c523920bcc09 | 5024 | int ret; |
johnAlexander | 0:c523920bcc09 | 5025 | |
johnAlexander | 0:c523920bcc09 | 5026 | ret = dev_i2c.i2c_read(pBuffer, DeviceAddr, RegisterAddr, NumByteToRead); |
johnAlexander | 0:c523920bcc09 | 5027 | |
johnAlexander | 0:c523920bcc09 | 5028 | if(ret) |
johnAlexander | 0:c523920bcc09 | 5029 | return -1; |
johnAlexander | 0:c523920bcc09 | 5030 | return 0; |
johnAlexander | 0:c523920bcc09 | 5031 | } |
johnAlexander | 0:c523920bcc09 | 5032 | |
johnAlexander | 0:c523920bcc09 | 5033 | |
johnAlexander | 0:c523920bcc09 | 5034 | int VL53L0X::ReadID() |
johnAlexander | 0:c523920bcc09 | 5035 | { |
johnAlexander | 0:c523920bcc09 | 5036 | int status = 0; |
johnAlexander | 0:c523920bcc09 | 5037 | uint16_t rl_id=0; |
johnAlexander | 0:c523920bcc09 | 5038 | |
johnAlexander | 0:c523920bcc09 | 5039 | status = VL53L0X_RdWord(Device, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &rl_id); |
johnAlexander | 0:c523920bcc09 | 5040 | if (rl_id == 0xEEAA) |
johnAlexander | 0:c523920bcc09 | 5041 | return status; |
johnAlexander | 0:c523920bcc09 | 5042 | |
johnAlexander | 0:c523920bcc09 | 5043 | return -1; |
johnAlexander | 0:c523920bcc09 | 5044 | } |
johnAlexander | 0:c523920bcc09 | 5045 | |
johnAlexander | 0:c523920bcc09 | 5046 | |
johnAlexander | 0:c523920bcc09 | 5047 | VL53L0X_Error VL53L0X::WaitMeasurementDataReady(VL53L0X_DEV Dev) |
johnAlexander | 0:c523920bcc09 | 5048 | { |
johnAlexander | 0:c523920bcc09 | 5049 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 5050 | uint8_t NewDatReady=0; |
johnAlexander | 0:c523920bcc09 | 5051 | uint32_t LoopNb; |
johnAlexander | 0:c523920bcc09 | 5052 | |
johnAlexander | 0:c523920bcc09 | 5053 | // Wait until it finished |
johnAlexander | 0:c523920bcc09 | 5054 | // use timeout to avoid deadlock |
johnAlexander | 0:c523920bcc09 | 5055 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 5056 | LoopNb = 0; |
johnAlexander | 0:c523920bcc09 | 5057 | do { |
johnAlexander | 0:c523920bcc09 | 5058 | Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDatReady); |
johnAlexander | 0:c523920bcc09 | 5059 | if ((NewDatReady == 0x01) || Status != VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 5060 | break; |
johnAlexander | 0:c523920bcc09 | 5061 | } |
johnAlexander | 0:c523920bcc09 | 5062 | LoopNb = LoopNb + 1; |
johnAlexander | 0:c523920bcc09 | 5063 | VL53L0X_PollingDelay(Dev); |
johnAlexander | 0:c523920bcc09 | 5064 | } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP); |
johnAlexander | 0:c523920bcc09 | 5065 | |
johnAlexander | 0:c523920bcc09 | 5066 | if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) { |
johnAlexander | 0:c523920bcc09 | 5067 | Status = VL53L0X_ERROR_TIME_OUT; |
johnAlexander | 0:c523920bcc09 | 5068 | } |
johnAlexander | 0:c523920bcc09 | 5069 | } |
johnAlexander | 0:c523920bcc09 | 5070 | |
johnAlexander | 0:c523920bcc09 | 5071 | return Status; |
johnAlexander | 0:c523920bcc09 | 5072 | } |
johnAlexander | 0:c523920bcc09 | 5073 | |
johnAlexander | 0:c523920bcc09 | 5074 | VL53L0X_Error VL53L0X::WaitStopCompleted(VL53L0X_DEV Dev) |
johnAlexander | 0:c523920bcc09 | 5075 | { |
johnAlexander | 0:c523920bcc09 | 5076 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 5077 | uint32_t StopCompleted=0; |
johnAlexander | 0:c523920bcc09 | 5078 | uint32_t LoopNb; |
johnAlexander | 0:c523920bcc09 | 5079 | |
johnAlexander | 0:c523920bcc09 | 5080 | // Wait until it finished |
johnAlexander | 0:c523920bcc09 | 5081 | // use timeout to avoid deadlock |
johnAlexander | 0:c523920bcc09 | 5082 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 5083 | LoopNb = 0; |
johnAlexander | 0:c523920bcc09 | 5084 | do { |
johnAlexander | 0:c523920bcc09 | 5085 | Status = VL53L0X_GetStopCompletedStatus(Dev, &StopCompleted); |
johnAlexander | 0:c523920bcc09 | 5086 | if ((StopCompleted == 0x00) || Status != VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 5087 | break; |
johnAlexander | 0:c523920bcc09 | 5088 | } |
johnAlexander | 0:c523920bcc09 | 5089 | LoopNb = LoopNb + 1; |
johnAlexander | 0:c523920bcc09 | 5090 | VL53L0X_PollingDelay(Dev); |
johnAlexander | 0:c523920bcc09 | 5091 | } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP); |
johnAlexander | 0:c523920bcc09 | 5092 | |
johnAlexander | 0:c523920bcc09 | 5093 | if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) { |
johnAlexander | 0:c523920bcc09 | 5094 | Status = VL53L0X_ERROR_TIME_OUT; |
johnAlexander | 0:c523920bcc09 | 5095 | } |
johnAlexander | 0:c523920bcc09 | 5096 | |
johnAlexander | 0:c523920bcc09 | 5097 | } |
johnAlexander | 0:c523920bcc09 | 5098 | |
johnAlexander | 0:c523920bcc09 | 5099 | return Status; |
johnAlexander | 0:c523920bcc09 | 5100 | } |
johnAlexander | 0:c523920bcc09 | 5101 | |
johnAlexander | 0:c523920bcc09 | 5102 | |
johnAlexander | 0:c523920bcc09 | 5103 | int VL53L0X::InitSensor(uint8_t NewAddr) |
johnAlexander | 0:c523920bcc09 | 5104 | { |
johnAlexander | 0:c523920bcc09 | 5105 | int status; |
johnAlexander | 0:c523920bcc09 | 5106 | |
johnAlexander | 0:c523920bcc09 | 5107 | VL53L0X_Off(); |
johnAlexander | 0:c523920bcc09 | 5108 | VL53L0X_On(); |
johnAlexander | 0:c523920bcc09 | 5109 | |
johnAlexander | 0:c523920bcc09 | 5110 | // status=VL53L0X_WaitDeviceBooted(Device); |
johnAlexander | 0:c523920bcc09 | 5111 | // if(status) |
johnAlexander | 0:c523920bcc09 | 5112 | // printf("WaitDeviceBooted fail\n\r"); |
johnAlexander | 0:c523920bcc09 | 5113 | status=IsPresent(); |
johnAlexander | 0:c523920bcc09 | 5114 | if(!status) |
johnAlexander | 0:c523920bcc09 | 5115 | { |
johnAlexander | 0:c523920bcc09 | 5116 | status=Init(); |
johnAlexander | 0:c523920bcc09 | 5117 | if(status != VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 5118 | { |
johnAlexander | 0:c523920bcc09 | 5119 | printf("Failed to init VL53L0X sensor!\n\r"); |
johnAlexander | 0:c523920bcc09 | 5120 | return status; |
johnAlexander | 0:c523920bcc09 | 5121 | } |
johnAlexander | 0:c523920bcc09 | 5122 | |
johnAlexander | 0:c523920bcc09 | 5123 | // deduce silicon version |
johnAlexander | 0:c523920bcc09 | 5124 | status = VL53L0X_GetDeviceInfo(&MyDevice, &DeviceInfo); |
johnAlexander | 0:c523920bcc09 | 5125 | |
johnAlexander | 0:c523920bcc09 | 5126 | |
johnAlexander | 0:c523920bcc09 | 5127 | status=Prepare(); |
johnAlexander | 0:c523920bcc09 | 5128 | if(status != VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 5129 | { |
johnAlexander | 0:c523920bcc09 | 5130 | printf("Failed to prepare VL53L0X!\n\r"); |
johnAlexander | 0:c523920bcc09 | 5131 | return status; |
johnAlexander | 0:c523920bcc09 | 5132 | } |
johnAlexander | 0:c523920bcc09 | 5133 | |
johnAlexander | 0:c523920bcc09 | 5134 | /* |
johnAlexander | 0:c523920bcc09 | 5135 | if(NewAddr!=DEFAULT_DEVICE_ADDRESS) |
johnAlexander | 0:c523920bcc09 | 5136 | { |
johnAlexander | 0:c523920bcc09 | 5137 | status=SetDeviceAddress(NewAddr); |
johnAlexander | 0:c523920bcc09 | 5138 | if(status) |
johnAlexander | 0:c523920bcc09 | 5139 | { |
johnAlexander | 0:c523920bcc09 | 5140 | printf("Failed to change I2C address!\n\r"); |
johnAlexander | 0:c523920bcc09 | 5141 | return status; |
johnAlexander | 0:c523920bcc09 | 5142 | } |
johnAlexander | 0:c523920bcc09 | 5143 | } |
johnAlexander | 0:c523920bcc09 | 5144 | else |
johnAlexander | 0:c523920bcc09 | 5145 | { |
johnAlexander | 0:c523920bcc09 | 5146 | printf("Invalid new address!\n\r"); |
johnAlexander | 0:c523920bcc09 | 5147 | return VL53L0X_ERROR_INVALID_PARAMS; |
johnAlexander | 0:c523920bcc09 | 5148 | } |
johnAlexander | 0:c523920bcc09 | 5149 | */ |
johnAlexander | 0:c523920bcc09 | 5150 | // Device->Ready=1; |
johnAlexander | 0:c523920bcc09 | 5151 | } |
johnAlexander | 0:c523920bcc09 | 5152 | return status; |
johnAlexander | 0:c523920bcc09 | 5153 | } |
johnAlexander | 0:c523920bcc09 | 5154 | |
johnAlexander | 0:c523920bcc09 | 5155 | |
johnAlexander | 0:c523920bcc09 | 5156 | |
johnAlexander | 0:c523920bcc09 | 5157 | |
johnAlexander | 0:c523920bcc09 | 5158 | |
johnAlexander | 0:c523920bcc09 | 5159 | int VL53L0X::StartMeasurement(OperatingMode operating_mode, void (*fptr)(void)) |
johnAlexander | 0:c523920bcc09 | 5160 | { |
johnAlexander | 0:c523920bcc09 | 5161 | int Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 5162 | |
johnAlexander | 0:c523920bcc09 | 5163 | uint8_t VhvSettings; |
johnAlexander | 0:c523920bcc09 | 5164 | uint8_t PhaseCal; |
johnAlexander | 0:c523920bcc09 | 5165 | // *** from mass market cube expansion v1.1, ranging with satellites. |
johnAlexander | 0:c523920bcc09 | 5166 | // default settings, for normal range. |
johnAlexander | 0:c523920bcc09 | 5167 | FixPoint1616_t signalLimit = (FixPoint1616_t)(0.25*65536); |
johnAlexander | 0:c523920bcc09 | 5168 | FixPoint1616_t sigmaLimit = (FixPoint1616_t)(18*65536); |
johnAlexander | 0:c523920bcc09 | 5169 | uint32_t timingBudget = 33000; |
johnAlexander | 0:c523920bcc09 | 5170 | uint8_t preRangeVcselPeriod = 14; |
johnAlexander | 0:c523920bcc09 | 5171 | uint8_t finalRangeVcselPeriod = 10; |
johnAlexander | 0:c523920bcc09 | 5172 | |
johnAlexander | 0:c523920bcc09 | 5173 | |
johnAlexander | 0:c523920bcc09 | 5174 | if (operating_mode == range_single_shot_polling) |
johnAlexander | 0:c523920bcc09 | 5175 | { |
johnAlexander | 0:c523920bcc09 | 5176 | // singelshot, polled ranging |
johnAlexander | 0:c523920bcc09 | 5177 | if(Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 5178 | { |
johnAlexander | 0:c523920bcc09 | 5179 | // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement |
johnAlexander | 0:c523920bcc09 | 5180 | Status = VL53L0X_SetDeviceMode(Device, VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode |
johnAlexander | 0:c523920bcc09 | 5181 | } |
johnAlexander | 0:c523920bcc09 | 5182 | |
johnAlexander | 0:c523920bcc09 | 5183 | // Enable/Disable Sigma and Signal check |
johnAlexander | 0:c523920bcc09 | 5184 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 5185 | Status = VL53L0X_SetLimitCheckEnable(Device, |
johnAlexander | 0:c523920bcc09 | 5186 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1); |
johnAlexander | 0:c523920bcc09 | 5187 | } |
johnAlexander | 0:c523920bcc09 | 5188 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 5189 | Status = VL53L0X_SetLimitCheckEnable(Device, |
johnAlexander | 0:c523920bcc09 | 5190 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1); |
johnAlexander | 0:c523920bcc09 | 5191 | } |
johnAlexander | 0:c523920bcc09 | 5192 | |
johnAlexander | 0:c523920bcc09 | 5193 | // *** from mass market cube expansion v1.1, ranging with satellites. |
johnAlexander | 0:c523920bcc09 | 5194 | /* Ranging configuration */ |
johnAlexander | 0:c523920bcc09 | 5195 | //* |
johnAlexander | 0:c523920bcc09 | 5196 | // switch(rangingConfig) { |
johnAlexander | 0:c523920bcc09 | 5197 | // case LONG_RANGE: |
johnAlexander | 0:c523920bcc09 | 5198 | signalLimit = (FixPoint1616_t)(0.1*65536); |
johnAlexander | 0:c523920bcc09 | 5199 | sigmaLimit = (FixPoint1616_t)(60*65536); |
johnAlexander | 0:c523920bcc09 | 5200 | timingBudget = 33000; |
johnAlexander | 0:c523920bcc09 | 5201 | preRangeVcselPeriod = 18; |
johnAlexander | 0:c523920bcc09 | 5202 | finalRangeVcselPeriod = 14; |
johnAlexander | 0:c523920bcc09 | 5203 | /* break; |
johnAlexander | 0:c523920bcc09 | 5204 | case HIGH_ACCURACY: |
johnAlexander | 0:c523920bcc09 | 5205 | signalLimit = (FixPoint1616_t)(0.25*65536); |
johnAlexander | 0:c523920bcc09 | 5206 | sigmaLimit = (FixPoint1616_t)(18*65536); |
johnAlexander | 0:c523920bcc09 | 5207 | timingBudget = 200000; |
johnAlexander | 0:c523920bcc09 | 5208 | preRangeVcselPeriod = 14; |
johnAlexander | 0:c523920bcc09 | 5209 | finalRangeVcselPeriod = 10; |
johnAlexander | 0:c523920bcc09 | 5210 | break; |
johnAlexander | 0:c523920bcc09 | 5211 | case HIGH_SPEED: |
johnAlexander | 0:c523920bcc09 | 5212 | signalLimit = (FixPoint1616_t)(0.25*65536); |
johnAlexander | 0:c523920bcc09 | 5213 | sigmaLimit = (FixPoint1616_t)(32*65536); |
johnAlexander | 0:c523920bcc09 | 5214 | timingBudget = 20000; |
johnAlexander | 0:c523920bcc09 | 5215 | preRangeVcselPeriod = 14; |
johnAlexander | 0:c523920bcc09 | 5216 | finalRangeVcselPeriod = 10; |
johnAlexander | 0:c523920bcc09 | 5217 | break; |
johnAlexander | 0:c523920bcc09 | 5218 | default: |
johnAlexander | 0:c523920bcc09 | 5219 | debug_printf("Not Supported"); |
johnAlexander | 0:c523920bcc09 | 5220 | } |
johnAlexander | 0:c523920bcc09 | 5221 | */ |
johnAlexander | 0:c523920bcc09 | 5222 | |
johnAlexander | 0:c523920bcc09 | 5223 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 5224 | Status = VL53L0X_SetLimitCheckValue(Device, |
johnAlexander | 0:c523920bcc09 | 5225 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, signalLimit); |
johnAlexander | 0:c523920bcc09 | 5226 | } |
johnAlexander | 0:c523920bcc09 | 5227 | |
johnAlexander | 0:c523920bcc09 | 5228 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 5229 | Status = VL53L0X_SetLimitCheckValue(Device, |
johnAlexander | 0:c523920bcc09 | 5230 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, sigmaLimit); |
johnAlexander | 0:c523920bcc09 | 5231 | } |
johnAlexander | 0:c523920bcc09 | 5232 | |
johnAlexander | 0:c523920bcc09 | 5233 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 5234 | Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Device, timingBudget); |
johnAlexander | 0:c523920bcc09 | 5235 | } |
johnAlexander | 0:c523920bcc09 | 5236 | |
johnAlexander | 0:c523920bcc09 | 5237 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 5238 | Status = VL53L0X_SetVcselPulsePeriod(Device, |
johnAlexander | 0:c523920bcc09 | 5239 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, preRangeVcselPeriod); |
johnAlexander | 0:c523920bcc09 | 5240 | } |
johnAlexander | 0:c523920bcc09 | 5241 | |
johnAlexander | 0:c523920bcc09 | 5242 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 5243 | Status = VL53L0X_SetVcselPulsePeriod(Device, |
johnAlexander | 0:c523920bcc09 | 5244 | VL53L0X_VCSEL_PERIOD_FINAL_RANGE, finalRangeVcselPeriod); |
johnAlexander | 0:c523920bcc09 | 5245 | } |
johnAlexander | 0:c523920bcc09 | 5246 | |
johnAlexander | 0:c523920bcc09 | 5247 | if (Status == VL53L0X_ERROR_NONE) { |
johnAlexander | 0:c523920bcc09 | 5248 | Status = VL53L0X_PerformRefCalibration(Device, &VhvSettings, &PhaseCal); |
johnAlexander | 0:c523920bcc09 | 5249 | } |
johnAlexander | 0:c523920bcc09 | 5250 | |
johnAlexander | 0:c523920bcc09 | 5251 | } |
johnAlexander | 0:c523920bcc09 | 5252 | |
johnAlexander | 0:c523920bcc09 | 5253 | if (operating_mode == range_continuous_polling) |
johnAlexander | 0:c523920bcc09 | 5254 | { |
johnAlexander | 0:c523920bcc09 | 5255 | if(Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 5256 | { |
johnAlexander | 0:c523920bcc09 | 5257 | printf ("Call of VL53L0X_SetDeviceMode\n"); |
johnAlexander | 0:c523920bcc09 | 5258 | Status = VL53L0X_SetDeviceMode(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode |
johnAlexander | 0:c523920bcc09 | 5259 | } |
johnAlexander | 0:c523920bcc09 | 5260 | |
johnAlexander | 0:c523920bcc09 | 5261 | if(Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 5262 | { |
johnAlexander | 0:c523920bcc09 | 5263 | printf ("Call of VL53L0X_StartMeasurement\n"); |
johnAlexander | 0:c523920bcc09 | 5264 | Status = VL53L0X_StartMeasurement(Device); |
johnAlexander | 0:c523920bcc09 | 5265 | } |
johnAlexander | 0:c523920bcc09 | 5266 | } |
johnAlexander | 0:c523920bcc09 | 5267 | |
johnAlexander | 0:c523920bcc09 | 5268 | return Status; |
johnAlexander | 0:c523920bcc09 | 5269 | } |
johnAlexander | 0:c523920bcc09 | 5270 | |
johnAlexander | 0:c523920bcc09 | 5271 | |
johnAlexander | 0:c523920bcc09 | 5272 | int VL53L0X::GetMeasurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data) |
johnAlexander | 0:c523920bcc09 | 5273 | { |
johnAlexander | 0:c523920bcc09 | 5274 | int Status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 5275 | |
johnAlexander | 0:c523920bcc09 | 5276 | if (operating_mode == range_single_shot_polling) |
johnAlexander | 0:c523920bcc09 | 5277 | { |
johnAlexander | 0:c523920bcc09 | 5278 | Status = VL53L0X_PerformSingleRangingMeasurement(Device, Data); |
johnAlexander | 0:c523920bcc09 | 5279 | } |
johnAlexander | 0:c523920bcc09 | 5280 | |
johnAlexander | 0:c523920bcc09 | 5281 | if (operating_mode == range_continuous_polling) |
johnAlexander | 0:c523920bcc09 | 5282 | { |
johnAlexander | 0:c523920bcc09 | 5283 | if (Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 5284 | Status = VL53L0X_measurement_poll_for_completion(Device); |
johnAlexander | 0:c523920bcc09 | 5285 | |
johnAlexander | 0:c523920bcc09 | 5286 | if(Status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 5287 | { |
johnAlexander | 0:c523920bcc09 | 5288 | Status = VL53L0X_GetRangingMeasurementData(Device, Data); |
johnAlexander | 0:c523920bcc09 | 5289 | |
johnAlexander | 0:c523920bcc09 | 5290 | // Clear the interrupt |
johnAlexander | 0:c523920bcc09 | 5291 | VL53L0X_ClearInterruptMask(Device, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY); |
johnAlexander | 0:c523920bcc09 | 5292 | VL53L0X_PollingDelay(Device); |
johnAlexander | 0:c523920bcc09 | 5293 | } |
johnAlexander | 0:c523920bcc09 | 5294 | } |
johnAlexander | 0:c523920bcc09 | 5295 | |
johnAlexander | 0:c523920bcc09 | 5296 | |
johnAlexander | 0:c523920bcc09 | 5297 | return Status; |
johnAlexander | 0:c523920bcc09 | 5298 | } |
johnAlexander | 0:c523920bcc09 | 5299 | |
johnAlexander | 0:c523920bcc09 | 5300 | |
johnAlexander | 0:c523920bcc09 | 5301 | int VL53L0X::StopMeasurement(OperatingMode operating_mode) |
johnAlexander | 0:c523920bcc09 | 5302 | { |
johnAlexander | 0:c523920bcc09 | 5303 | int status = VL53L0X_ERROR_NONE; |
johnAlexander | 0:c523920bcc09 | 5304 | |
johnAlexander | 0:c523920bcc09 | 5305 | |
johnAlexander | 0:c523920bcc09 | 5306 | // don't need to stop for a singleshot range! |
johnAlexander | 0:c523920bcc09 | 5307 | if (operating_mode==range_single_shot_polling) |
johnAlexander | 0:c523920bcc09 | 5308 | { |
johnAlexander | 0:c523920bcc09 | 5309 | } |
johnAlexander | 0:c523920bcc09 | 5310 | |
johnAlexander | 0:c523920bcc09 | 5311 | if (operating_mode==range_continuous_interrupt || operating_mode==range_continuous_polling) |
johnAlexander | 0:c523920bcc09 | 5312 | { |
johnAlexander | 0:c523920bcc09 | 5313 | // continuous mode |
johnAlexander | 0:c523920bcc09 | 5314 | if(status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 5315 | { |
johnAlexander | 0:c523920bcc09 | 5316 | printf ("Call of VL53L0X_StopMeasurement\n"); |
johnAlexander | 0:c523920bcc09 | 5317 | status = VL53L0X_StopMeasurement(Device); |
johnAlexander | 0:c523920bcc09 | 5318 | } |
johnAlexander | 0:c523920bcc09 | 5319 | |
johnAlexander | 0:c523920bcc09 | 5320 | if(status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 5321 | { |
johnAlexander | 0:c523920bcc09 | 5322 | printf ("Wait Stop to be competed\n"); |
johnAlexander | 0:c523920bcc09 | 5323 | status = WaitStopCompleted(Device); |
johnAlexander | 0:c523920bcc09 | 5324 | } |
johnAlexander | 0:c523920bcc09 | 5325 | |
johnAlexander | 0:c523920bcc09 | 5326 | if(status == VL53L0X_ERROR_NONE) |
johnAlexander | 0:c523920bcc09 | 5327 | status = VL53L0X_ClearInterruptMask(Device, |
johnAlexander | 0:c523920bcc09 | 5328 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY); |
johnAlexander | 0:c523920bcc09 | 5329 | } |
johnAlexander | 0:c523920bcc09 | 5330 | |
johnAlexander | 0:c523920bcc09 | 5331 | return status; |
johnAlexander | 0:c523920bcc09 | 5332 | } |
johnAlexander | 0:c523920bcc09 | 5333 | |
johnAlexander | 0:c523920bcc09 | 5334 | |
johnAlexander | 0:c523920bcc09 | 5335 | int VL53L0X::HandleIRQ(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data) |
johnAlexander | 0:c523920bcc09 | 5336 | { |
johnAlexander | 0:c523920bcc09 | 5337 | int status; |
johnAlexander | 0:c523920bcc09 | 5338 | |
johnAlexander | 0:c523920bcc09 | 5339 | EnableInterruptMeasureDetectionIRQ(); |
johnAlexander | 0:c523920bcc09 | 5340 | status=GetMeasurement(operating_mode, Data); |
johnAlexander | 0:c523920bcc09 | 5341 | return status; |
johnAlexander | 0:c523920bcc09 | 5342 | } |
johnAlexander | 0:c523920bcc09 | 5343 | |
johnAlexander | 0:c523920bcc09 | 5344 | |
johnAlexander | 0:c523920bcc09 | 5345 | |
johnAlexander | 0:c523920bcc09 | 5346 | /******************************************************************************/ |
johnAlexander | 0:c523920bcc09 | 5347 | |
johnAlexander | 0:c523920bcc09 | 5348 | |
johnAlexander | 0:c523920bcc09 | 5349 |