VL53L0X_Condensed - Condensed Version of Public VL53L0X

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Condensed Version of Public VL53L0X

VL53L0X.cpp@1:834986cdde0a, 2017-10-04 (annotated)

Committer:: nikapov
Date:: Wed Oct 04 13:21:38 2017 +0000
Revision:: 1:834986cdde0a
Parent:: 0:a1a69d32f310
Child:: 2:d07edeaff6f1

First release.

Who changed what in which revision?

User	Revision	Line number	New contents of line
nikapov	0:a1a69d32f310	1	/**
nikapov	0:a1a69d32f310	2	******************************************************************************
nikapov	0:a1a69d32f310	3	* @file VL53L0X_class.cpp
nikapov	0:a1a69d32f310	4	* @author IMG
nikapov	0:a1a69d32f310	5	* @version V0.0.1
nikapov	0:a1a69d32f310	6	* @date 28-June-2016
nikapov	0:a1a69d32f310	7	* @brief Implementation file for the VL53L0X driver class
nikapov	0:a1a69d32f310	8	******************************************************************************
nikapov	0:a1a69d32f310	9	* @attention
nikapov	0:a1a69d32f310	10	*
nikapov	0:a1a69d32f310	11	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
nikapov	0:a1a69d32f310	12	*
nikapov	0:a1a69d32f310	13	* Redistribution and use in source and binary forms, with or without modification,
nikapov	0:a1a69d32f310	14	* are permitted provided that the following conditions are met:
nikapov	0:a1a69d32f310	15	* 1. Redistributions of source code must retain the above copyright notice,
nikapov	0:a1a69d32f310	16	* this list of conditions and the following disclaimer.
nikapov	0:a1a69d32f310	17	* 2. Redistributions in binary form must reproduce the above copyright notice,
nikapov	0:a1a69d32f310	18	* this list of conditions and the following disclaimer in the documentation
nikapov	0:a1a69d32f310	19	* and/or other materials provided with the distribution.
nikapov	0:a1a69d32f310	20	* 3. Neither the name of STMicroelectronics nor the names of its contributors
nikapov	0:a1a69d32f310	21	* may be used to endorse or promote products derived from this software
nikapov	0:a1a69d32f310	22	* without specific prior written permission.
nikapov	0:a1a69d32f310	23	*
nikapov	0:a1a69d32f310	24	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
nikapov	0:a1a69d32f310	25	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
nikapov	0:a1a69d32f310	26	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
nikapov	0:a1a69d32f310	27	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
nikapov	0:a1a69d32f310	28	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
nikapov	0:a1a69d32f310	29	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
nikapov	0:a1a69d32f310	30	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
nikapov	0:a1a69d32f310	31	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
nikapov	0:a1a69d32f310	32	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
nikapov	0:a1a69d32f310	33	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nikapov	0:a1a69d32f310	34	*
nikapov	0:a1a69d32f310	35	******************************************************************************
nikapov	0:a1a69d32f310	36	*/
nikapov	0:a1a69d32f310	37
nikapov	0:a1a69d32f310	38	/* Includes */
nikapov	0:a1a69d32f310	39	#include <stdlib.h>
nikapov	0:a1a69d32f310	40
nikapov	0:a1a69d32f310	41	#include "VL53L0X.h"
nikapov	0:a1a69d32f310	42
nikapov	0:a1a69d32f310	43	//#include "VL53L0X_api_core.h"
nikapov	0:a1a69d32f310	44	//#include "VL53L0X_api_calibration.h"
nikapov	0:a1a69d32f310	45	//#include "VL53L0X_api_strings.h"
nikapov	0:a1a69d32f310	46	#include "VL53L0X_interrupt_threshold_settings.h"
nikapov	0:a1a69d32f310	47	#include "VL53L0X_tuning.h"
nikapov	0:a1a69d32f310	48	#include "VL53L0X_types.h"
nikapov	0:a1a69d32f310	49
nikapov	0:a1a69d32f310	50
nikapov	0:a1a69d32f310	51	/**************** define for i2c configuration *****************************/
nikapov	0:a1a69d32f310	52
nikapov	0:a1a69d32f310	53	#define TEMP_BUF_SIZE 64
nikapov	0:a1a69d32f310	54
nikapov	0:a1a69d32f310	55	/** Maximum buffer size to be used in i2c */
nikapov	0:a1a69d32f310	56	#define VL53L0X_MAX_I2C_XFER_SIZE 64 /* Maximum buffer size to be used in i2c */
nikapov	0:a1a69d32f310	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 */
nikapov	0:a1a69d32f310	58
nikapov	0:a1a69d32f310	59
nikapov	0:a1a69d32f310	60	#define LOG_FUNCTION_START(fmt, ...) \
nikapov	0:a1a69d32f310	61	_LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__)
nikapov	0:a1a69d32f310	62	#define LOG_FUNCTION_END(status, ...) \
nikapov	0:a1a69d32f310	63	_LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__)
nikapov	0:a1a69d32f310	64	#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
nikapov	0:a1a69d32f310	65	_LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__)
nikapov	0:a1a69d32f310	66
nikapov	0:a1a69d32f310	67	#ifdef VL53L0X_LOG_ENABLE
nikapov	0:a1a69d32f310	68	#define trace_print(level, ...) trace_print_module_function(TRACE_MODULE_API, \
nikapov	0:a1a69d32f310	69	level, TRACE_FUNCTION_NONE, ##__VA_ARGS__)
nikapov	0:a1a69d32f310	70	#endif
nikapov	0:a1a69d32f310	71
nikapov	0:a1a69d32f310	72	#define REF_ARRAY_SPAD_0 0
nikapov	0:a1a69d32f310	73	#define REF_ARRAY_SPAD_5 5
nikapov	0:a1a69d32f310	74	#define REF_ARRAY_SPAD_10 10
nikapov	0:a1a69d32f310	75
nikapov	0:a1a69d32f310	76	uint32_t refArrayQuadrants[4] = {REF_ARRAY_SPAD_10, REF_ARRAY_SPAD_5,
nikapov	0:a1a69d32f310	77	REF_ARRAY_SPAD_0, REF_ARRAY_SPAD_5
nikapov	0:a1a69d32f310	78	};
nikapov	0:a1a69d32f310	79
nikapov	0:a1a69d32f310	80
nikapov	0:a1a69d32f310	81
nikapov	0:a1a69d32f310	82
nikapov	0:a1a69d32f310	83	VL53L0X_Error VL53L0X::VL53L0X_device_read_strobe(VL53L0X_DEV dev)
nikapov	0:a1a69d32f310	84	{
nikapov	0:a1a69d32f310	85	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	86	uint8_t strobe;
nikapov	0:a1a69d32f310	87	uint32_t loop_nb;
nikapov	0:a1a69d32f310	88	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	89
nikapov	0:a1a69d32f310	90	status \|= VL53L0X_write_byte(dev, 0x83, 0x00);
nikapov	0:a1a69d32f310	91
nikapov	0:a1a69d32f310	92	/* polling
nikapov	0:a1a69d32f310	93	* use timeout to avoid deadlock*/
nikapov	0:a1a69d32f310	94	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	95	loop_nb = 0;
nikapov	0:a1a69d32f310	96	do {
nikapov	0:a1a69d32f310	97	status = VL53L0X_read_byte(dev, 0x83, &strobe);
nikapov	0:a1a69d32f310	98	if ((strobe != 0x00) \|\| status != VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	99	break;
nikapov	0:a1a69d32f310	100	}
nikapov	0:a1a69d32f310	101
nikapov	0:a1a69d32f310	102	loop_nb = loop_nb + 1;
nikapov	0:a1a69d32f310	103	} while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
nikapov	0:a1a69d32f310	104
nikapov	0:a1a69d32f310	105	if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
nikapov	0:a1a69d32f310	106	status = VL53L0X_ERROR_TIME_OUT;
nikapov	0:a1a69d32f310	107	}
nikapov	0:a1a69d32f310	108	}
nikapov	0:a1a69d32f310	109
nikapov	0:a1a69d32f310	110	status \|= VL53L0X_write_byte(dev, 0x83, 0x01);
nikapov	0:a1a69d32f310	111
nikapov	0:a1a69d32f310	112	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	113	return status;
nikapov	0:a1a69d32f310	114	}
nikapov	0:a1a69d32f310	115
nikapov	0:a1a69d32f310	116	VL53L0X_Error VL53L0X::VL53L0X_get_info_from_device(VL53L0X_DEV dev, uint8_t option)
nikapov	0:a1a69d32f310	117	{
nikapov	0:a1a69d32f310	118	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	119	uint8_t byte;
nikapov	0:a1a69d32f310	120	uint32_t tmp_dword;
nikapov	0:a1a69d32f310	121	uint8_t module_id;
nikapov	0:a1a69d32f310	122	uint8_t revision;
nikapov	0:a1a69d32f310	123	uint8_t reference_spad_count = 0;
nikapov	0:a1a69d32f310	124	uint8_t reference_spad_type = 0;
nikapov	0:a1a69d32f310	125	uint32_t part_uid_upper = 0;
nikapov	0:a1a69d32f310	126	uint32_t part_uid_lower = 0;
nikapov	0:a1a69d32f310	127	uint32_t offset_fixed1104_mm = 0;
nikapov	0:a1a69d32f310	128	int16_t offset_micro_meters = 0;
nikapov	0:a1a69d32f310	129	uint32_t dist_meas_tgt_fixed1104_mm = 400 << 4;
nikapov	0:a1a69d32f310	130	uint32_t dist_meas_fixed1104_400_mm = 0;
nikapov	0:a1a69d32f310	131	uint32_t signal_rate_meas_fixed1104_400_mm = 0;
nikapov	0:a1a69d32f310	132	char product_id[19];
nikapov	0:a1a69d32f310	133	char *product_id_tmp;
nikapov	0:a1a69d32f310	134	uint8_t read_data_from_device_done;
nikapov	0:a1a69d32f310	135	FixPoint1616_t signal_rate_meas_fixed400_mm_fix = 0;
nikapov	0:a1a69d32f310	136	uint8_t nvm_ref_good_spad_map[VL53L0X_REF_SPAD_BUFFER_SIZE];
nikapov	0:a1a69d32f310	137	int i;
nikapov	0:a1a69d32f310	138
nikapov	0:a1a69d32f310	139
nikapov	0:a1a69d32f310	140	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	141
nikapov	0:a1a69d32f310	142	read_data_from_device_done = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	143	ReadDataFromDeviceDone);
nikapov	0:a1a69d32f310	144
nikapov	0:a1a69d32f310	145	/* This access is done only once after that a GetDeviceInfo or
nikapov	0:a1a69d32f310	146	* datainit is done*/
nikapov	0:a1a69d32f310	147	if (read_data_from_device_done != 7) {
nikapov	0:a1a69d32f310	148
nikapov	0:a1a69d32f310	149	status \|= VL53L0X_write_byte(dev, 0x80, 0x01);
nikapov	0:a1a69d32f310	150	status \|= VL53L0X_write_byte(dev, 0xFF, 0x01);
nikapov	0:a1a69d32f310	151	status \|= VL53L0X_write_byte(dev, 0x00, 0x00);
nikapov	0:a1a69d32f310	152
nikapov	0:a1a69d32f310	153	status \|= VL53L0X_write_byte(dev, 0xFF, 0x06);
nikapov	0:a1a69d32f310	154	status \|= VL53L0X_read_byte(dev, 0x83, &byte);
nikapov	0:a1a69d32f310	155	status \|= VL53L0X_write_byte(dev, 0x83, byte \| 4);
nikapov	0:a1a69d32f310	156	status \|= VL53L0X_write_byte(dev, 0xFF, 0x07);
nikapov	0:a1a69d32f310	157	status \|= VL53L0X_write_byte(dev, 0x81, 0x01);
nikapov	0:a1a69d32f310	158
nikapov	0:a1a69d32f310	159	status \|= VL53L0X_polling_delay(dev);
nikapov	0:a1a69d32f310	160
nikapov	0:a1a69d32f310	161	status \|= VL53L0X_write_byte(dev, 0x80, 0x01);
nikapov	0:a1a69d32f310	162
nikapov	0:a1a69d32f310	163	if (((option & 1) == 1) &&
nikapov	0:a1a69d32f310	164	((read_data_from_device_done & 1) == 0)) {
nikapov	0:a1a69d32f310	165	status \|= VL53L0X_write_byte(dev, 0x94, 0x6b);
nikapov	0:a1a69d32f310	166	status \|= VL53L0X_device_read_strobe(dev);
nikapov	0:a1a69d32f310	167	status \|= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
nikapov	0:a1a69d32f310	168
nikapov	0:a1a69d32f310	169	reference_spad_count = (uint8_t)((tmp_dword >> 8) & 0x07f);
nikapov	0:a1a69d32f310	170	reference_spad_type = (uint8_t)((tmp_dword >> 15) & 0x01);
nikapov	0:a1a69d32f310	171
nikapov	0:a1a69d32f310	172	status \|= VL53L0X_write_byte(dev, 0x94, 0x24);
nikapov	0:a1a69d32f310	173	status \|= VL53L0X_device_read_strobe(dev);
nikapov	0:a1a69d32f310	174	status \|= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
nikapov	0:a1a69d32f310	175
nikapov	0:a1a69d32f310	176
nikapov	0:a1a69d32f310	177	nvm_ref_good_spad_map[0] = (uint8_t)((tmp_dword >> 24)
nikapov	0:a1a69d32f310	178	& 0xff);
nikapov	0:a1a69d32f310	179	nvm_ref_good_spad_map[1] = (uint8_t)((tmp_dword >> 16)
nikapov	0:a1a69d32f310	180	& 0xff);
nikapov	0:a1a69d32f310	181	nvm_ref_good_spad_map[2] = (uint8_t)((tmp_dword >> 8)
nikapov	0:a1a69d32f310	182	& 0xff);
nikapov	0:a1a69d32f310	183	nvm_ref_good_spad_map[3] = (uint8_t)(tmp_dword & 0xff);
nikapov	0:a1a69d32f310	184
nikapov	0:a1a69d32f310	185	status \|= VL53L0X_write_byte(dev, 0x94, 0x25);
nikapov	0:a1a69d32f310	186	status \|= VL53L0X_device_read_strobe(dev);
nikapov	0:a1a69d32f310	187	status \|= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
nikapov	0:a1a69d32f310	188
nikapov	0:a1a69d32f310	189	nvm_ref_good_spad_map[4] = (uint8_t)((tmp_dword >> 24)
nikapov	0:a1a69d32f310	190	& 0xff);
nikapov	0:a1a69d32f310	191	nvm_ref_good_spad_map[5] = (uint8_t)((tmp_dword >> 16)
nikapov	0:a1a69d32f310	192	& 0xff);
nikapov	0:a1a69d32f310	193	}
nikapov	0:a1a69d32f310	194
nikapov	0:a1a69d32f310	195	if (((option & 2) == 2) &&
nikapov	0:a1a69d32f310	196	((read_data_from_device_done & 2) == 0)) {
nikapov	0:a1a69d32f310	197
nikapov	0:a1a69d32f310	198	status \|= VL53L0X_write_byte(dev, 0x94, 0x02);
nikapov	0:a1a69d32f310	199	status \|= VL53L0X_device_read_strobe(dev);
nikapov	0:a1a69d32f310	200	status \|= VL53L0X_read_byte(dev, 0x90, &module_id);
nikapov	0:a1a69d32f310	201
nikapov	0:a1a69d32f310	202	status \|= VL53L0X_write_byte(dev, 0x94, 0x7B);
nikapov	0:a1a69d32f310	203	status \|= VL53L0X_device_read_strobe(dev);
nikapov	0:a1a69d32f310	204	status \|= VL53L0X_read_byte(dev, 0x90, &revision);
nikapov	0:a1a69d32f310	205
nikapov	0:a1a69d32f310	206	status \|= VL53L0X_write_byte(dev, 0x94, 0x77);
nikapov	0:a1a69d32f310	207	status \|= VL53L0X_device_read_strobe(dev);
nikapov	0:a1a69d32f310	208	status \|= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
nikapov	0:a1a69d32f310	209
nikapov	0:a1a69d32f310	210	product_id[0] = (char)((tmp_dword >> 25) & 0x07f);
nikapov	0:a1a69d32f310	211	product_id[1] = (char)((tmp_dword >> 18) & 0x07f);
nikapov	0:a1a69d32f310	212	product_id[2] = (char)((tmp_dword >> 11) & 0x07f);
nikapov	0:a1a69d32f310	213	product_id[3] = (char)((tmp_dword >> 4) & 0x07f);
nikapov	0:a1a69d32f310	214
nikapov	0:a1a69d32f310	215	byte = (uint8_t)((tmp_dword & 0x00f) << 3);
nikapov	0:a1a69d32f310	216
nikapov	0:a1a69d32f310	217	status \|= VL53L0X_write_byte(dev, 0x94, 0x78);
nikapov	0:a1a69d32f310	218	status \|= VL53L0X_device_read_strobe(dev);
nikapov	0:a1a69d32f310	219	status \|= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
nikapov	0:a1a69d32f310	220
nikapov	0:a1a69d32f310	221	product_id[4] = (char)(byte +
nikapov	0:a1a69d32f310	222	((tmp_dword >> 29) & 0x07f));
nikapov	0:a1a69d32f310	223	product_id[5] = (char)((tmp_dword >> 22) & 0x07f);
nikapov	0:a1a69d32f310	224	product_id[6] = (char)((tmp_dword >> 15) & 0x07f);
nikapov	0:a1a69d32f310	225	product_id[7] = (char)((tmp_dword >> 8) & 0x07f);
nikapov	0:a1a69d32f310	226	product_id[8] = (char)((tmp_dword >> 1) & 0x07f);
nikapov	0:a1a69d32f310	227
nikapov	0:a1a69d32f310	228	byte = (uint8_t)((tmp_dword & 0x001) << 6);
nikapov	0:a1a69d32f310	229
nikapov	0:a1a69d32f310	230	status \|= VL53L0X_write_byte(dev, 0x94, 0x79);
nikapov	0:a1a69d32f310	231
nikapov	0:a1a69d32f310	232	status \|= VL53L0X_device_read_strobe(dev);
nikapov	0:a1a69d32f310	233
nikapov	0:a1a69d32f310	234	status \|= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
nikapov	0:a1a69d32f310	235
nikapov	0:a1a69d32f310	236	product_id[9] = (char)(byte +
nikapov	0:a1a69d32f310	237	((tmp_dword >> 26) & 0x07f));
nikapov	0:a1a69d32f310	238	product_id[10] = (char)((tmp_dword >> 19) & 0x07f);
nikapov	0:a1a69d32f310	239	product_id[11] = (char)((tmp_dword >> 12) & 0x07f);
nikapov	0:a1a69d32f310	240	product_id[12] = (char)((tmp_dword >> 5) & 0x07f);
nikapov	0:a1a69d32f310	241
nikapov	0:a1a69d32f310	242	byte = (uint8_t)((tmp_dword & 0x01f) << 2);
nikapov	0:a1a69d32f310	243
nikapov	0:a1a69d32f310	244	status \|= VL53L0X_write_byte(dev, 0x94, 0x7A);
nikapov	0:a1a69d32f310	245
nikapov	0:a1a69d32f310	246	status \|= VL53L0X_device_read_strobe(dev);
nikapov	0:a1a69d32f310	247
nikapov	0:a1a69d32f310	248	status \|= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
nikapov	0:a1a69d32f310	249
nikapov	0:a1a69d32f310	250	product_id[13] = (char)(byte +
nikapov	0:a1a69d32f310	251	((tmp_dword >> 30) & 0x07f));
nikapov	0:a1a69d32f310	252	product_id[14] = (char)((tmp_dword >> 23) & 0x07f);
nikapov	0:a1a69d32f310	253	product_id[15] = (char)((tmp_dword >> 16) & 0x07f);
nikapov	0:a1a69d32f310	254	product_id[16] = (char)((tmp_dword >> 9) & 0x07f);
nikapov	0:a1a69d32f310	255	product_id[17] = (char)((tmp_dword >> 2) & 0x07f);
nikapov	0:a1a69d32f310	256	product_id[18] = '\0';
nikapov	0:a1a69d32f310	257
nikapov	0:a1a69d32f310	258	}
nikapov	0:a1a69d32f310	259
nikapov	0:a1a69d32f310	260	if (((option & 4) == 4) &&
nikapov	0:a1a69d32f310	261	((read_data_from_device_done & 4) == 0)) {
nikapov	0:a1a69d32f310	262
nikapov	0:a1a69d32f310	263	status \|= VL53L0X_write_byte(dev, 0x94, 0x7B);
nikapov	0:a1a69d32f310	264	status \|= VL53L0X_device_read_strobe(dev);
nikapov	0:a1a69d32f310	265	status \|= VL53L0X_read_dword(dev, 0x90, &part_uid_upper);
nikapov	0:a1a69d32f310	266
nikapov	0:a1a69d32f310	267	status \|= VL53L0X_write_byte(dev, 0x94, 0x7C);
nikapov	0:a1a69d32f310	268	status \|= VL53L0X_device_read_strobe(dev);
nikapov	0:a1a69d32f310	269	status \|= VL53L0X_read_dword(dev, 0x90, &part_uid_lower);
nikapov	0:a1a69d32f310	270
nikapov	0:a1a69d32f310	271	status \|= VL53L0X_write_byte(dev, 0x94, 0x73);
nikapov	0:a1a69d32f310	272	status \|= VL53L0X_device_read_strobe(dev);
nikapov	0:a1a69d32f310	273	status \|= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
nikapov	0:a1a69d32f310	274
nikapov	0:a1a69d32f310	275	signal_rate_meas_fixed1104_400_mm = (tmp_dword &
nikapov	0:a1a69d32f310	276	0x0000000ff) << 8;
nikapov	0:a1a69d32f310	277
nikapov	0:a1a69d32f310	278	status \|= VL53L0X_write_byte(dev, 0x94, 0x74);
nikapov	0:a1a69d32f310	279	status \|= VL53L0X_device_read_strobe(dev);
nikapov	0:a1a69d32f310	280	status \|= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
nikapov	0:a1a69d32f310	281
nikapov	0:a1a69d32f310	282	signal_rate_meas_fixed1104_400_mm \|= ((tmp_dword &
nikapov	0:a1a69d32f310	283	0xff000000) >> 24);
nikapov	0:a1a69d32f310	284
nikapov	0:a1a69d32f310	285	status \|= VL53L0X_write_byte(dev, 0x94, 0x75);
nikapov	0:a1a69d32f310	286	status \|= VL53L0X_device_read_strobe(dev);
nikapov	0:a1a69d32f310	287	status \|= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
nikapov	0:a1a69d32f310	288
nikapov	0:a1a69d32f310	289	dist_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff)
nikapov	0:a1a69d32f310	290	<< 8;
nikapov	0:a1a69d32f310	291
nikapov	0:a1a69d32f310	292	status \|= VL53L0X_write_byte(dev, 0x94, 0x76);
nikapov	0:a1a69d32f310	293	status \|= VL53L0X_device_read_strobe(dev);
nikapov	0:a1a69d32f310	294	status \|= VL53L0X_read_dword(dev, 0x90, &tmp_dword);
nikapov	0:a1a69d32f310	295
nikapov	0:a1a69d32f310	296	dist_meas_fixed1104_400_mm \|= ((tmp_dword & 0xff000000)
nikapov	0:a1a69d32f310	297	>> 24);
nikapov	0:a1a69d32f310	298	}
nikapov	0:a1a69d32f310	299
nikapov	0:a1a69d32f310	300	status \|= VL53L0X_write_byte(dev, 0x81, 0x00);
nikapov	0:a1a69d32f310	301	status \|= VL53L0X_write_byte(dev, 0xFF, 0x06);
nikapov	0:a1a69d32f310	302	status \|= VL53L0X_read_byte(dev, 0x83, &byte);
nikapov	0:a1a69d32f310	303	status \|= VL53L0X_write_byte(dev, 0x83, byte & 0xfb);
nikapov	0:a1a69d32f310	304	status \|= VL53L0X_write_byte(dev, 0xFF, 0x01);
nikapov	0:a1a69d32f310	305	status \|= VL53L0X_write_byte(dev, 0x00, 0x01);
nikapov	0:a1a69d32f310	306
nikapov	0:a1a69d32f310	307	status \|= VL53L0X_write_byte(dev, 0xFF, 0x00);
nikapov	0:a1a69d32f310	308	status \|= VL53L0X_write_byte(dev, 0x80, 0x00);
nikapov	0:a1a69d32f310	309	}
nikapov	0:a1a69d32f310	310
nikapov	0:a1a69d32f310	311	if ((status == VL53L0X_ERROR_NONE) &&
nikapov	0:a1a69d32f310	312	(read_data_from_device_done != 7)) {
nikapov	0:a1a69d32f310	313	/* Assign to variable if status is ok */
nikapov	0:a1a69d32f310	314	if (((option & 1) == 1) &&
nikapov	0:a1a69d32f310	315	((read_data_from_device_done & 1) == 0)) {
nikapov	0:a1a69d32f310	316	VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	317	ReferenceSpadCount, reference_spad_count);
nikapov	0:a1a69d32f310	318
nikapov	0:a1a69d32f310	319	VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	320	ReferenceSpadType, reference_spad_type);
nikapov	0:a1a69d32f310	321
nikapov	0:a1a69d32f310	322	for (i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++) {
nikapov	0:a1a69d32f310	323	dev->Data.SpadData.RefGoodSpadMap[i] =
nikapov	0:a1a69d32f310	324	nvm_ref_good_spad_map[i];
nikapov	0:a1a69d32f310	325	}
nikapov	0:a1a69d32f310	326	}
nikapov	0:a1a69d32f310	327
nikapov	0:a1a69d32f310	328	if (((option & 2) == 2) &&
nikapov	0:a1a69d32f310	329	((read_data_from_device_done & 2) == 0)) {
nikapov	0:a1a69d32f310	330	VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	331	ModuleId, module_id);
nikapov	0:a1a69d32f310	332
nikapov	0:a1a69d32f310	333	VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	334	Revision, revision);
nikapov	0:a1a69d32f310	335
nikapov	0:a1a69d32f310	336	product_id_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	337	ProductId);
nikapov	0:a1a69d32f310	338	VL53L0X_COPYSTRING(product_id_tmp, product_id);
nikapov	0:a1a69d32f310	339
nikapov	0:a1a69d32f310	340	}
nikapov	0:a1a69d32f310	341
nikapov	0:a1a69d32f310	342	if (((option & 4) == 4) &&
nikapov	0:a1a69d32f310	343	((read_data_from_device_done & 4) == 0)) {
nikapov	0:a1a69d32f310	344	VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	345	PartUIDUpper, part_uid_upper);
nikapov	0:a1a69d32f310	346
nikapov	0:a1a69d32f310	347	VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	348	PartUIDLower, part_uid_lower);
nikapov	0:a1a69d32f310	349
nikapov	0:a1a69d32f310	350	signal_rate_meas_fixed400_mm_fix =
nikapov	0:a1a69d32f310	351	VL53L0X_FIXPOINT97TOFIXPOINT1616(
nikapov	0:a1a69d32f310	352	signal_rate_meas_fixed1104_400_mm);
nikapov	0:a1a69d32f310	353
nikapov	0:a1a69d32f310	354	VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	355	SignalRateMeasFixed400mm,
nikapov	0:a1a69d32f310	356	signal_rate_meas_fixed400_mm_fix);
nikapov	0:a1a69d32f310	357
nikapov	0:a1a69d32f310	358	offset_micro_meters = 0;
nikapov	0:a1a69d32f310	359	if (dist_meas_fixed1104_400_mm != 0) {
nikapov	0:a1a69d32f310	360	offset_fixed1104_mm =
nikapov	0:a1a69d32f310	361	dist_meas_fixed1104_400_mm -
nikapov	0:a1a69d32f310	362	dist_meas_tgt_fixed1104_mm;
nikapov	0:a1a69d32f310	363	offset_micro_meters = (offset_fixed1104_mm
nikapov	0:a1a69d32f310	364	* 1000) >> 4;
nikapov	0:a1a69d32f310	365	offset_micro_meters *= -1;
nikapov	0:a1a69d32f310	366	}
nikapov	0:a1a69d32f310	367
nikapov	0:a1a69d32f310	368	PALDevDataSet(dev,
nikapov	0:a1a69d32f310	369	Part2PartOffsetAdjustmentNVMMicroMeter,
nikapov	0:a1a69d32f310	370	offset_micro_meters);
nikapov	0:a1a69d32f310	371	}
nikapov	0:a1a69d32f310	372	byte = (uint8_t)(read_data_from_device_done \| option);
nikapov	0:a1a69d32f310	373	VL53L0X_SETDEVICESPECIFICPARAMETER(dev, ReadDataFromDeviceDone,
nikapov	0:a1a69d32f310	374	byte);
nikapov	0:a1a69d32f310	375	}
nikapov	0:a1a69d32f310	376
nikapov	0:a1a69d32f310	377	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	378	return status;
nikapov	0:a1a69d32f310	379	}
nikapov	0:a1a69d32f310	380
nikapov	0:a1a69d32f310	381	VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	382	int32_t *p_offset_calibration_data_micro_meter)
nikapov	0:a1a69d32f310	383	{
nikapov	0:a1a69d32f310	384	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	385	uint16_t range_offset_register;
nikapov	0:a1a69d32f310	386	int16_t c_max_offset = 2047;
nikapov	0:a1a69d32f310	387	int16_t c_offset_range = 4096;
nikapov	0:a1a69d32f310	388
nikapov	0:a1a69d32f310	389	/* Note that offset has 10.2 format */
nikapov	0:a1a69d32f310	390
nikapov	0:a1a69d32f310	391	status = VL53L0X_read_word(dev,
nikapov	0:a1a69d32f310	392	VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
nikapov	0:a1a69d32f310	393	&range_offset_register);
nikapov	0:a1a69d32f310	394
nikapov	0:a1a69d32f310	395	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	396	range_offset_register = (range_offset_register & 0x0fff);
nikapov	0:a1a69d32f310	397
nikapov	0:a1a69d32f310	398	/* Apply 12 bit 2's compliment conversion */
nikapov	0:a1a69d32f310	399	if (range_offset_register > c_max_offset) {
nikapov	0:a1a69d32f310	400	*p_offset_calibration_data_micro_meter =
nikapov	0:a1a69d32f310	401	(int16_t)(range_offset_register - c_offset_range)
nikapov	0:a1a69d32f310	402	* 250;
nikapov	0:a1a69d32f310	403	} else {
nikapov	0:a1a69d32f310	404	*p_offset_calibration_data_micro_meter =
nikapov	0:a1a69d32f310	405	(int16_t)range_offset_register * 250;
nikapov	0:a1a69d32f310	406	}
nikapov	0:a1a69d32f310	407
nikapov	0:a1a69d32f310	408	}
nikapov	0:a1a69d32f310	409
nikapov	0:a1a69d32f310	410	return status;
nikapov	0:a1a69d32f310	411	}
nikapov	0:a1a69d32f310	412
nikapov	0:a1a69d32f310	413	VL53L0X_Error VL53L0X::VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	414	int32_t *p_offset_calibration_data_micro_meter)
nikapov	0:a1a69d32f310	415	{
nikapov	0:a1a69d32f310	416	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	417	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	418
nikapov	0:a1a69d32f310	419	status = wrapped_VL53L0X_get_offset_calibration_data_micro_meter(dev,
nikapov	0:a1a69d32f310	420	p_offset_calibration_data_micro_meter);
nikapov	0:a1a69d32f310	421
nikapov	0:a1a69d32f310	422	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	423	return status;
nikapov	0:a1a69d32f310	424	}
nikapov	0:a1a69d32f310	425
nikapov	0:a1a69d32f310	426	VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	427	int32_t offset_calibration_data_micro_meter)
nikapov	0:a1a69d32f310	428	{
nikapov	0:a1a69d32f310	429	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	430	int32_t c_max_offset_micro_meter = 511000;
nikapov	0:a1a69d32f310	431	int32_t c_min_offset_micro_meter = -512000;
nikapov	0:a1a69d32f310	432	int16_t c_offset_range = 4096;
nikapov	0:a1a69d32f310	433	uint32_t encoded_offset_val;
nikapov	0:a1a69d32f310	434
nikapov	0:a1a69d32f310	435	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	436
nikapov	0:a1a69d32f310	437	if (offset_calibration_data_micro_meter > c_max_offset_micro_meter) {
nikapov	0:a1a69d32f310	438	offset_calibration_data_micro_meter = c_max_offset_micro_meter;
nikapov	0:a1a69d32f310	439	} else {
nikapov	0:a1a69d32f310	440	if (offset_calibration_data_micro_meter < c_min_offset_micro_meter) {
nikapov	0:a1a69d32f310	441	offset_calibration_data_micro_meter = c_min_offset_micro_meter;
nikapov	0:a1a69d32f310	442	}
nikapov	0:a1a69d32f310	443	}
nikapov	0:a1a69d32f310	444
nikapov	0:a1a69d32f310	445	/* The offset register is 10.2 format and units are mm
nikapov	0:a1a69d32f310	446	* therefore conversion is applied by a division of
nikapov	0:a1a69d32f310	447	* 250.
nikapov	0:a1a69d32f310	448	*/
nikapov	0:a1a69d32f310	449	if (offset_calibration_data_micro_meter >= 0) {
nikapov	0:a1a69d32f310	450	encoded_offset_val =
nikapov	0:a1a69d32f310	451	offset_calibration_data_micro_meter / 250;
nikapov	0:a1a69d32f310	452	} else {
nikapov	0:a1a69d32f310	453	encoded_offset_val =
nikapov	0:a1a69d32f310	454	c_offset_range +
nikapov	0:a1a69d32f310	455	offset_calibration_data_micro_meter / 250;
nikapov	0:a1a69d32f310	456	}
nikapov	0:a1a69d32f310	457
nikapov	0:a1a69d32f310	458	status = VL53L0X_write_word(dev,
nikapov	0:a1a69d32f310	459	VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
nikapov	0:a1a69d32f310	460	encoded_offset_val);
nikapov	0:a1a69d32f310	461
nikapov	0:a1a69d32f310	462	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	463	return status;
nikapov	0:a1a69d32f310	464	}
nikapov	0:a1a69d32f310	465
nikapov	0:a1a69d32f310	466	VL53L0X_Error VL53L0X::VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	467	int32_t offset_calibration_data_micro_meter)
nikapov	0:a1a69d32f310	468	{
nikapov	0:a1a69d32f310	469	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	470	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	471
nikapov	0:a1a69d32f310	472	status = wrapped_VL53L0X_set_offset_calibration_data_micro_meter(dev,
nikapov	0:a1a69d32f310	473	offset_calibration_data_micro_meter);
nikapov	0:a1a69d32f310	474
nikapov	0:a1a69d32f310	475	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	476	return status;
nikapov	0:a1a69d32f310	477	}
nikapov	0:a1a69d32f310	478
nikapov	0:a1a69d32f310	479	VL53L0X_Error VL53L0X::VL53L0X_apply_offset_adjustment(VL53L0X_DEV dev)
nikapov	0:a1a69d32f310	480	{
nikapov	0:a1a69d32f310	481	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	482	int32_t corrected_offset_micro_meters;
nikapov	0:a1a69d32f310	483	int32_t current_offset_micro_meters;
nikapov	0:a1a69d32f310	484
nikapov	0:a1a69d32f310	485	/* if we run on this function we can read all the NVM info
nikapov	0:a1a69d32f310	486	* used by the API */
nikapov	0:a1a69d32f310	487	status = VL53L0X_get_info_from_device(dev, 7);
nikapov	0:a1a69d32f310	488
nikapov	0:a1a69d32f310	489	/* Read back current device offset */
nikapov	0:a1a69d32f310	490	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	491	status = VL53L0X_get_offset_calibration_data_micro_meter(dev,
nikapov	0:a1a69d32f310	492	&current_offset_micro_meters);
nikapov	0:a1a69d32f310	493	}
nikapov	0:a1a69d32f310	494
nikapov	0:a1a69d32f310	495	/* Apply Offset Adjustment derived from 400mm measurements */
nikapov	0:a1a69d32f310	496	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	497
nikapov	0:a1a69d32f310	498	/* Store initial device offset */
nikapov	0:a1a69d32f310	499	PALDevDataSet(dev, Part2PartOffsetNVMMicroMeter,
nikapov	0:a1a69d32f310	500	current_offset_micro_meters);
nikapov	0:a1a69d32f310	501
nikapov	0:a1a69d32f310	502	corrected_offset_micro_meters = current_offset_micro_meters +
nikapov	0:a1a69d32f310	503	(int32_t)PALDevDataGet(dev,
nikapov	0:a1a69d32f310	504	Part2PartOffsetAdjustmentNVMMicroMeter);
nikapov	0:a1a69d32f310	505
nikapov	0:a1a69d32f310	506	status = VL53L0X_set_offset_calibration_data_micro_meter(dev,
nikapov	0:a1a69d32f310	507	corrected_offset_micro_meters);
nikapov	0:a1a69d32f310	508
nikapov	0:a1a69d32f310	509	/* store current, adjusted offset */
nikapov	0:a1a69d32f310	510	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	511	VL53L0X_SETPARAMETERFIELD(dev, RangeOffsetMicroMeters,
nikapov	0:a1a69d32f310	512	corrected_offset_micro_meters);
nikapov	0:a1a69d32f310	513	}
nikapov	0:a1a69d32f310	514	}
nikapov	0:a1a69d32f310	515
nikapov	0:a1a69d32f310	516	return status;
nikapov	0:a1a69d32f310	517	}
nikapov	0:a1a69d32f310	518
nikapov	0:a1a69d32f310	519	VL53L0X_Error VL53L0X::VL53L0X_get_device_mode(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	520	VL53L0X_DeviceModes *p_device_mode)
nikapov	0:a1a69d32f310	521	{
nikapov	0:a1a69d32f310	522	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	523	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	524
nikapov	0:a1a69d32f310	525	VL53L0X_GETPARAMETERFIELD(dev, DeviceMode, *p_device_mode);
nikapov	0:a1a69d32f310	526
nikapov	0:a1a69d32f310	527	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	528	return status;
nikapov	0:a1a69d32f310	529	}
nikapov	0:a1a69d32f310	530
nikapov	0:a1a69d32f310	531	VL53L0X_Error VL53L0X::VL53L0X_get_inter_measurement_period_milli_seconds(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	532	uint32_t *p_inter_measurement_period_milli_seconds)
nikapov	0:a1a69d32f310	533	{
nikapov	0:a1a69d32f310	534	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	535	uint16_t osc_calibrate_val;
nikapov	0:a1a69d32f310	536	uint32_t im_period_milli_seconds;
nikapov	0:a1a69d32f310	537
nikapov	0:a1a69d32f310	538	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	539
nikapov	0:a1a69d32f310	540	status = VL53L0X_read_word(dev, VL53L0X_REG_OSC_CALIBRATE_VAL,
nikapov	0:a1a69d32f310	541	&osc_calibrate_val);
nikapov	0:a1a69d32f310	542
nikapov	0:a1a69d32f310	543	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	544	status = VL53L0X_read_dword(dev,
nikapov	0:a1a69d32f310	545	VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD,
nikapov	0:a1a69d32f310	546	&im_period_milli_seconds);
nikapov	0:a1a69d32f310	547	}
nikapov	0:a1a69d32f310	548
nikapov	0:a1a69d32f310	549	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	550	if (osc_calibrate_val != 0) {
nikapov	0:a1a69d32f310	551	*p_inter_measurement_period_milli_seconds =
nikapov	0:a1a69d32f310	552	im_period_milli_seconds / osc_calibrate_val;
nikapov	0:a1a69d32f310	553	}
nikapov	0:a1a69d32f310	554	VL53L0X_SETPARAMETERFIELD(dev,
nikapov	0:a1a69d32f310	555	InterMeasurementPeriodMilliSeconds,
nikapov	0:a1a69d32f310	556	*p_inter_measurement_period_milli_seconds);
nikapov	0:a1a69d32f310	557	}
nikapov	0:a1a69d32f310	558
nikapov	0:a1a69d32f310	559	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	560	return status;
nikapov	0:a1a69d32f310	561	}
nikapov	0:a1a69d32f310	562
nikapov	0:a1a69d32f310	563	VL53L0X_Error VL53L0X::VL53L0X_get_x_talk_compensation_rate_mega_cps(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	564	FixPoint1616_t *p_xtalk_compensation_rate_mega_cps)
nikapov	0:a1a69d32f310	565	{
nikapov	0:a1a69d32f310	566	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	567	uint16_t value;
nikapov	0:a1a69d32f310	568	FixPoint1616_t temp_fix1616;
nikapov	0:a1a69d32f310	569
nikapov	0:a1a69d32f310	570	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	571
nikapov	0:a1a69d32f310	572	status = VL53L0X_read_word(dev,
nikapov	0:a1a69d32f310	573	VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, (uint16_t *)&value);
nikapov	0:a1a69d32f310	574	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	575	if (value == 0) {
nikapov	0:a1a69d32f310	576	/* the Xtalk is disabled return value from memory */
nikapov	0:a1a69d32f310	577	VL53L0X_GETPARAMETERFIELD(dev,
nikapov	0:a1a69d32f310	578	XTalkCompensationRateMegaCps, temp_fix1616);
nikapov	0:a1a69d32f310	579	*p_xtalk_compensation_rate_mega_cps = temp_fix1616;
nikapov	0:a1a69d32f310	580	VL53L0X_SETPARAMETERFIELD(dev, XTalkCompensationEnable,
nikapov	0:a1a69d32f310	581	0);
nikapov	0:a1a69d32f310	582	} else {
nikapov	0:a1a69d32f310	583	temp_fix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(value);
nikapov	0:a1a69d32f310	584	*p_xtalk_compensation_rate_mega_cps = temp_fix1616;
nikapov	0:a1a69d32f310	585	VL53L0X_SETPARAMETERFIELD(dev,
nikapov	0:a1a69d32f310	586	XTalkCompensationRateMegaCps, temp_fix1616);
nikapov	0:a1a69d32f310	587	VL53L0X_SETPARAMETERFIELD(dev, XTalkCompensationEnable,
nikapov	0:a1a69d32f310	588	1);
nikapov	0:a1a69d32f310	589	}
nikapov	0:a1a69d32f310	590	}
nikapov	0:a1a69d32f310	591
nikapov	0:a1a69d32f310	592	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	593	return status;
nikapov	0:a1a69d32f310	594	}
nikapov	0:a1a69d32f310	595
nikapov	0:a1a69d32f310	596	VL53L0X_Error VL53L0X::VL53L0X_get_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id,
nikapov	0:a1a69d32f310	597	FixPoint1616_t *p_limit_check_value)
nikapov	0:a1a69d32f310	598	{
nikapov	0:a1a69d32f310	599	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	600	uint8_t enable_zero_value = 0;
nikapov	0:a1a69d32f310	601	uint16_t temp16;
nikapov	0:a1a69d32f310	602	FixPoint1616_t temp_fix1616;
nikapov	0:a1a69d32f310	603
nikapov	0:a1a69d32f310	604	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	605
nikapov	0:a1a69d32f310	606	switch (limit_check_id) {
nikapov	0:a1a69d32f310	607
nikapov	0:a1a69d32f310	608	case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
nikapov	0:a1a69d32f310	609	/* internal computation: */
nikapov	0:a1a69d32f310	610	VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue,
nikapov	0:a1a69d32f310	611	VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, temp_fix1616);
nikapov	0:a1a69d32f310	612	enable_zero_value = 0;
nikapov	0:a1a69d32f310	613	break;
nikapov	0:a1a69d32f310	614
nikapov	0:a1a69d32f310	615	case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
nikapov	0:a1a69d32f310	616	status = VL53L0X_read_word(dev,
nikapov	0:a1a69d32f310	617	VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
nikapov	0:a1a69d32f310	618	&temp16);
nikapov	0:a1a69d32f310	619	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	620	temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(temp16);
nikapov	0:a1a69d32f310	621
nikapov	0:a1a69d32f310	622
nikapov	0:a1a69d32f310	623	enable_zero_value = 1;
nikapov	0:a1a69d32f310	624	break;
nikapov	0:a1a69d32f310	625
nikapov	0:a1a69d32f310	626	case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
nikapov	0:a1a69d32f310	627	/* internal computation: */
nikapov	0:a1a69d32f310	628	VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue,
nikapov	0:a1a69d32f310	629	VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, temp_fix1616);
nikapov	0:a1a69d32f310	630	enable_zero_value = 0;
nikapov	0:a1a69d32f310	631	break;
nikapov	0:a1a69d32f310	632
nikapov	0:a1a69d32f310	633	case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
nikapov	0:a1a69d32f310	634	/* internal computation: */
nikapov	0:a1a69d32f310	635	VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue,
nikapov	0:a1a69d32f310	636	VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, temp_fix1616);
nikapov	0:a1a69d32f310	637	enable_zero_value = 0;
nikapov	0:a1a69d32f310	638	break;
nikapov	0:a1a69d32f310	639
nikapov	0:a1a69d32f310	640	case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
nikapov	0:a1a69d32f310	641	case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
nikapov	0:a1a69d32f310	642	status = VL53L0X_read_word(dev,
nikapov	0:a1a69d32f310	643	VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
nikapov	0:a1a69d32f310	644	&temp16);
nikapov	0:a1a69d32f310	645	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	646	temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(temp16);
nikapov	0:a1a69d32f310	647
nikapov	0:a1a69d32f310	648
nikapov	0:a1a69d32f310	649	enable_zero_value = 0;
nikapov	0:a1a69d32f310	650	break;
nikapov	0:a1a69d32f310	651
nikapov	0:a1a69d32f310	652	default:
nikapov	0:a1a69d32f310	653	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	654
nikapov	0:a1a69d32f310	655	}
nikapov	0:a1a69d32f310	656
nikapov	0:a1a69d32f310	657	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	658
nikapov	0:a1a69d32f310	659	if (enable_zero_value == 1) {
nikapov	0:a1a69d32f310	660
nikapov	0:a1a69d32f310	661	if (temp_fix1616 == 0) {
nikapov	0:a1a69d32f310	662	/* disabled: return value from memory */
nikapov	0:a1a69d32f310	663	VL53L0X_GETARRAYPARAMETERFIELD(dev,
nikapov	0:a1a69d32f310	664	LimitChecksValue, limit_check_id,
nikapov	0:a1a69d32f310	665	temp_fix1616);
nikapov	0:a1a69d32f310	666	*p_limit_check_value = temp_fix1616;
nikapov	0:a1a69d32f310	667	VL53L0X_SETARRAYPARAMETERFIELD(dev,
nikapov	0:a1a69d32f310	668	LimitChecksEnable, limit_check_id, 0);
nikapov	0:a1a69d32f310	669	} else {
nikapov	0:a1a69d32f310	670	*p_limit_check_value = temp_fix1616;
nikapov	0:a1a69d32f310	671	VL53L0X_SETARRAYPARAMETERFIELD(dev,
nikapov	0:a1a69d32f310	672	LimitChecksValue, limit_check_id,
nikapov	0:a1a69d32f310	673	temp_fix1616);
nikapov	0:a1a69d32f310	674	VL53L0X_SETARRAYPARAMETERFIELD(dev,
nikapov	0:a1a69d32f310	675	LimitChecksEnable, limit_check_id, 1);
nikapov	0:a1a69d32f310	676	}
nikapov	0:a1a69d32f310	677	} else {
nikapov	0:a1a69d32f310	678	*p_limit_check_value = temp_fix1616;
nikapov	0:a1a69d32f310	679	}
nikapov	0:a1a69d32f310	680	}
nikapov	0:a1a69d32f310	681
nikapov	0:a1a69d32f310	682	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	683	return status;
nikapov	0:a1a69d32f310	684
nikapov	0:a1a69d32f310	685	}
nikapov	0:a1a69d32f310	686
nikapov	0:a1a69d32f310	687	VL53L0X_Error VL53L0X::VL53L0X_get_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id,
nikapov	0:a1a69d32f310	688	uint8_t *p_limit_check_enable)
nikapov	0:a1a69d32f310	689	{
nikapov	0:a1a69d32f310	690	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	691	uint8_t temp8;
nikapov	0:a1a69d32f310	692
nikapov	0:a1a69d32f310	693	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	694
nikapov	0:a1a69d32f310	695	if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
nikapov	0:a1a69d32f310	696	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	697	*p_limit_check_enable = 0;
nikapov	0:a1a69d32f310	698	} else {
nikapov	0:a1a69d32f310	699	VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
nikapov	0:a1a69d32f310	700	limit_check_id, temp8);
nikapov	0:a1a69d32f310	701	*p_limit_check_enable = temp8;
nikapov	0:a1a69d32f310	702	}
nikapov	0:a1a69d32f310	703
nikapov	0:a1a69d32f310	704	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	705	return status;
nikapov	0:a1a69d32f310	706	}
nikapov	0:a1a69d32f310	707
nikapov	0:a1a69d32f310	708	VL53L0X_Error VL53L0X::VL53L0X_get_wrap_around_check_enable(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	709	uint8_t *p_wrap_around_check_enable)
nikapov	0:a1a69d32f310	710	{
nikapov	0:a1a69d32f310	711	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	712	uint8_t data;
nikapov	0:a1a69d32f310	713
nikapov	0:a1a69d32f310	714	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	715
nikapov	0:a1a69d32f310	716	status = VL53L0X_read_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data);
nikapov	0:a1a69d32f310	717	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	718	PALDevDataSet(dev, SequenceConfig, data);
nikapov	0:a1a69d32f310	719	if (data & (0x01 << 7))
nikapov	0:a1a69d32f310	720	*p_wrap_around_check_enable = 0x01;
nikapov	0:a1a69d32f310	721	else
nikapov	0:a1a69d32f310	722	*p_wrap_around_check_enable = 0x00;
nikapov	0:a1a69d32f310	723	}
nikapov	0:a1a69d32f310	724	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	725	VL53L0X_SETPARAMETERFIELD(dev, WrapAroundCheckEnable,
nikapov	0:a1a69d32f310	726	*p_wrap_around_check_enable);
nikapov	0:a1a69d32f310	727	}
nikapov	0:a1a69d32f310	728
nikapov	0:a1a69d32f310	729	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	730	return status;
nikapov	0:a1a69d32f310	731	}
nikapov	0:a1a69d32f310	732
nikapov	0:a1a69d32f310	733	VL53L0X_Error VL53L0X::sequence_step_enabled(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	734	VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_config,
nikapov	0:a1a69d32f310	735	uint8_t *p_sequence_step_enabled)
nikapov	0:a1a69d32f310	736	{
nikapov	0:a1a69d32f310	737	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	738	*p_sequence_step_enabled = 0;
nikapov	0:a1a69d32f310	739	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	740
nikapov	0:a1a69d32f310	741	switch (sequence_step_id) {
nikapov	0:a1a69d32f310	742	case VL53L0X_SEQUENCESTEP_TCC:
nikapov	0:a1a69d32f310	743	*p_sequence_step_enabled = (sequence_config & 0x10) >> 4;
nikapov	0:a1a69d32f310	744	break;
nikapov	0:a1a69d32f310	745	case VL53L0X_SEQUENCESTEP_DSS:
nikapov	0:a1a69d32f310	746	*p_sequence_step_enabled = (sequence_config & 0x08) >> 3;
nikapov	0:a1a69d32f310	747	break;
nikapov	0:a1a69d32f310	748	case VL53L0X_SEQUENCESTEP_MSRC:
nikapov	0:a1a69d32f310	749	*p_sequence_step_enabled = (sequence_config & 0x04) >> 2;
nikapov	0:a1a69d32f310	750	break;
nikapov	0:a1a69d32f310	751	case VL53L0X_SEQUENCESTEP_PRE_RANGE:
nikapov	0:a1a69d32f310	752	*p_sequence_step_enabled = (sequence_config & 0x40) >> 6;
nikapov	0:a1a69d32f310	753	break;
nikapov	0:a1a69d32f310	754	case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
nikapov	0:a1a69d32f310	755	*p_sequence_step_enabled = (sequence_config & 0x80) >> 7;
nikapov	0:a1a69d32f310	756	break;
nikapov	0:a1a69d32f310	757	default:
nikapov	0:a1a69d32f310	758	Status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	759	}
nikapov	0:a1a69d32f310	760
nikapov	0:a1a69d32f310	761	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	762	return Status;
nikapov	0:a1a69d32f310	763	}
nikapov	0:a1a69d32f310	764
nikapov	0:a1a69d32f310	765	VL53L0X_Error VL53L0X::VL53L0X_get_sequence_step_enables(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	766	VL53L0X_SchedulerSequenceSteps_t *p_scheduler_sequence_steps)
nikapov	0:a1a69d32f310	767	{
nikapov	0:a1a69d32f310	768	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	769	uint8_t sequence_config = 0;
nikapov	0:a1a69d32f310	770	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	771
nikapov	0:a1a69d32f310	772	status = VL53L0X_read_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
nikapov	0:a1a69d32f310	773	&sequence_config);
nikapov	0:a1a69d32f310	774
nikapov	0:a1a69d32f310	775	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	776	status = sequence_step_enabled(dev,
nikapov	0:a1a69d32f310	777	VL53L0X_SEQUENCESTEP_TCC, sequence_config,
nikapov	0:a1a69d32f310	778	&p_scheduler_sequence_steps->TccOn);
nikapov	0:a1a69d32f310	779	}
nikapov	0:a1a69d32f310	780	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	781	status = sequence_step_enabled(dev,
nikapov	0:a1a69d32f310	782	VL53L0X_SEQUENCESTEP_DSS, sequence_config,
nikapov	0:a1a69d32f310	783	&p_scheduler_sequence_steps->DssOn);
nikapov	0:a1a69d32f310	784	}
nikapov	0:a1a69d32f310	785	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	786	status = sequence_step_enabled(dev,
nikapov	0:a1a69d32f310	787	VL53L0X_SEQUENCESTEP_MSRC, sequence_config,
nikapov	0:a1a69d32f310	788	&p_scheduler_sequence_steps->MsrcOn);
nikapov	0:a1a69d32f310	789	}
nikapov	0:a1a69d32f310	790	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	791	status = sequence_step_enabled(dev,
nikapov	0:a1a69d32f310	792	VL53L0X_SEQUENCESTEP_PRE_RANGE, sequence_config,
nikapov	0:a1a69d32f310	793	&p_scheduler_sequence_steps->PreRangeOn);
nikapov	0:a1a69d32f310	794	}
nikapov	0:a1a69d32f310	795	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	796	status = sequence_step_enabled(dev,
nikapov	0:a1a69d32f310	797	VL53L0X_SEQUENCESTEP_FINAL_RANGE, sequence_config,
nikapov	0:a1a69d32f310	798	&p_scheduler_sequence_steps->FinalRangeOn);
nikapov	0:a1a69d32f310	799	}
nikapov	0:a1a69d32f310	800
nikapov	0:a1a69d32f310	801	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	802	return status;
nikapov	0:a1a69d32f310	803	}
nikapov	0:a1a69d32f310	804
nikapov	0:a1a69d32f310	805	uint8_t VL53L0X::VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg)
nikapov	0:a1a69d32f310	806	{
nikapov	0:a1a69d32f310	807	/*!
nikapov	0:a1a69d32f310	808	* Converts the encoded VCSEL period register value into the real
nikapov	0:a1a69d32f310	809	* period in PLL clocks
nikapov	0:a1a69d32f310	810	*/
nikapov	0:a1a69d32f310	811
nikapov	0:a1a69d32f310	812	uint8_t vcsel_period_pclks = 0;
nikapov	0:a1a69d32f310	813
nikapov	0:a1a69d32f310	814	vcsel_period_pclks = (vcsel_period_reg + 1) << 1;
nikapov	0:a1a69d32f310	815
nikapov	0:a1a69d32f310	816	return vcsel_period_pclks;
nikapov	0:a1a69d32f310	817	}
nikapov	0:a1a69d32f310	818
nikapov	0:a1a69d32f310	819	uint8_t VL53L0X::lv53l0x_encode_vcsel_period(uint8_t vcsel_period_pclks)
nikapov	0:a1a69d32f310	820	{
nikapov	0:a1a69d32f310	821	/*!
nikapov	0:a1a69d32f310	822	* Converts the encoded VCSEL period register value into the real period
nikapov	0:a1a69d32f310	823	* in PLL clocks
nikapov	0:a1a69d32f310	824	*/
nikapov	0:a1a69d32f310	825
nikapov	0:a1a69d32f310	826	uint8_t vcsel_period_reg = 0;
nikapov	0:a1a69d32f310	827
nikapov	0:a1a69d32f310	828	vcsel_period_reg = (vcsel_period_pclks >> 1) - 1;
nikapov	0:a1a69d32f310	829
nikapov	0:a1a69d32f310	830	return vcsel_period_reg;
nikapov	0:a1a69d32f310	831	}
nikapov	0:a1a69d32f310	832
nikapov	0:a1a69d32f310	833
nikapov	0:a1a69d32f310	834	VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	835	VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period_pclk)
nikapov	0:a1a69d32f310	836	{
nikapov	0:a1a69d32f310	837	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	838	uint8_t vcsel_period_reg;
nikapov	0:a1a69d32f310	839	uint8_t min_pre_vcsel_period_pclk = 12;
nikapov	0:a1a69d32f310	840	uint8_t max_pre_vcsel_period_pclk = 18;
nikapov	0:a1a69d32f310	841	uint8_t min_final_vcsel_period_pclk = 8;
nikapov	0:a1a69d32f310	842	uint8_t max_final_vcsel_period_pclk = 14;
nikapov	0:a1a69d32f310	843	uint32_t measurement_timing_budget_micro_seconds;
nikapov	0:a1a69d32f310	844	uint32_t final_range_timeout_micro_seconds;
nikapov	0:a1a69d32f310	845	uint32_t pre_range_timeout_micro_seconds;
nikapov	0:a1a69d32f310	846	uint32_t msrc_timeout_micro_seconds;
nikapov	0:a1a69d32f310	847	uint8_t phase_cal_int = 0;
nikapov	0:a1a69d32f310	848
nikapov	0:a1a69d32f310	849	/* Check if valid clock period requested */
nikapov	0:a1a69d32f310	850
nikapov	0:a1a69d32f310	851	if ((vcsel_pulse_period_pclk % 2) != 0) {
nikapov	0:a1a69d32f310	852	/* Value must be an even number */
nikapov	0:a1a69d32f310	853	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	854	} else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE &&
nikapov	0:a1a69d32f310	855	(vcsel_pulse_period_pclk < min_pre_vcsel_period_pclk \|\|
nikapov	0:a1a69d32f310	856	vcsel_pulse_period_pclk > max_pre_vcsel_period_pclk)) {
nikapov	0:a1a69d32f310	857	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	858	} else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE &&
nikapov	0:a1a69d32f310	859	(vcsel_pulse_period_pclk < min_final_vcsel_period_pclk \|\|
nikapov	0:a1a69d32f310	860	vcsel_pulse_period_pclk > max_final_vcsel_period_pclk)) {
nikapov	0:a1a69d32f310	861
nikapov	0:a1a69d32f310	862	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	863	}
nikapov	0:a1a69d32f310	864
nikapov	0:a1a69d32f310	865	/* Apply specific settings for the requested clock period */
nikapov	0:a1a69d32f310	866
nikapov	0:a1a69d32f310	867	if (status != VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	868	return status;
nikapov	0:a1a69d32f310	869
nikapov	0:a1a69d32f310	870
nikapov	0:a1a69d32f310	871	if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE) {
nikapov	0:a1a69d32f310	872
nikapov	0:a1a69d32f310	873	/* Set phase check limits */
nikapov	0:a1a69d32f310	874	if (vcsel_pulse_period_pclk == 12) {
nikapov	0:a1a69d32f310	875
nikapov	0:a1a69d32f310	876	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	877	VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
nikapov	0:a1a69d32f310	878	0x18);
nikapov	0:a1a69d32f310	879	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	880	VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
nikapov	0:a1a69d32f310	881	0x08);
nikapov	0:a1a69d32f310	882	} else if (vcsel_pulse_period_pclk == 14) {
nikapov	0:a1a69d32f310	883
nikapov	0:a1a69d32f310	884	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	885	VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
nikapov	0:a1a69d32f310	886	0x30);
nikapov	0:a1a69d32f310	887	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	888	VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
nikapov	0:a1a69d32f310	889	0x08);
nikapov	0:a1a69d32f310	890	} else if (vcsel_pulse_period_pclk == 16) {
nikapov	0:a1a69d32f310	891
nikapov	0:a1a69d32f310	892	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	893	VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
nikapov	0:a1a69d32f310	894	0x40);
nikapov	0:a1a69d32f310	895	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	896	VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
nikapov	0:a1a69d32f310	897	0x08);
nikapov	0:a1a69d32f310	898	} else if (vcsel_pulse_period_pclk == 18) {
nikapov	0:a1a69d32f310	899
nikapov	0:a1a69d32f310	900	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	901	VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
nikapov	0:a1a69d32f310	902	0x50);
nikapov	0:a1a69d32f310	903	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	904	VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
nikapov	0:a1a69d32f310	905	0x08);
nikapov	0:a1a69d32f310	906	}
nikapov	0:a1a69d32f310	907	} else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) {
nikapov	0:a1a69d32f310	908
nikapov	0:a1a69d32f310	909	if (vcsel_pulse_period_pclk == 8) {
nikapov	0:a1a69d32f310	910
nikapov	0:a1a69d32f310	911	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	912	VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
nikapov	0:a1a69d32f310	913	0x10);
nikapov	0:a1a69d32f310	914	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	915	VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
nikapov	0:a1a69d32f310	916	0x08);
nikapov	0:a1a69d32f310	917
nikapov	0:a1a69d32f310	918	status \|= VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	919	VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02);
nikapov	0:a1a69d32f310	920	status \|= VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	921	VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C);
nikapov	0:a1a69d32f310	922
nikapov	0:a1a69d32f310	923	status \|= VL53L0X_write_byte(dev, 0xff, 0x01);
nikapov	0:a1a69d32f310	924	status \|= VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	925	VL53L0X_REG_ALGO_PHASECAL_LIM,
nikapov	0:a1a69d32f310	926	0x30);
nikapov	0:a1a69d32f310	927	status \|= VL53L0X_write_byte(dev, 0xff, 0x00);
nikapov	0:a1a69d32f310	928	} else if (vcsel_pulse_period_pclk == 10) {
nikapov	0:a1a69d32f310	929
nikapov	0:a1a69d32f310	930	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	931	VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
nikapov	0:a1a69d32f310	932	0x28);
nikapov	0:a1a69d32f310	933	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	934	VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
nikapov	0:a1a69d32f310	935	0x08);
nikapov	0:a1a69d32f310	936
nikapov	0:a1a69d32f310	937	status \|= VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	938	VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
nikapov	0:a1a69d32f310	939	status \|= VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	940	VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09);
nikapov	0:a1a69d32f310	941
nikapov	0:a1a69d32f310	942	status \|= VL53L0X_write_byte(dev, 0xff, 0x01);
nikapov	0:a1a69d32f310	943	status \|= VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	944	VL53L0X_REG_ALGO_PHASECAL_LIM,
nikapov	0:a1a69d32f310	945	0x20);
nikapov	0:a1a69d32f310	946	status \|= VL53L0X_write_byte(dev, 0xff, 0x00);
nikapov	0:a1a69d32f310	947	} else if (vcsel_pulse_period_pclk == 12) {
nikapov	0:a1a69d32f310	948
nikapov	0:a1a69d32f310	949	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	950	VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
nikapov	0:a1a69d32f310	951	0x38);
nikapov	0:a1a69d32f310	952	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	953	VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
nikapov	0:a1a69d32f310	954	0x08);
nikapov	0:a1a69d32f310	955
nikapov	0:a1a69d32f310	956	status \|= VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	957	VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
nikapov	0:a1a69d32f310	958	status \|= VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	959	VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08);
nikapov	0:a1a69d32f310	960
nikapov	0:a1a69d32f310	961	status \|= VL53L0X_write_byte(dev, 0xff, 0x01);
nikapov	0:a1a69d32f310	962	status \|= VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	963	VL53L0X_REG_ALGO_PHASECAL_LIM,
nikapov	0:a1a69d32f310	964	0x20);
nikapov	0:a1a69d32f310	965	status \|= VL53L0X_write_byte(dev, 0xff, 0x00);
nikapov	0:a1a69d32f310	966	} else if (vcsel_pulse_period_pclk == 14) {
nikapov	0:a1a69d32f310	967
nikapov	0:a1a69d32f310	968	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	969	VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
nikapov	0:a1a69d32f310	970	0x048);
nikapov	0:a1a69d32f310	971	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	972	VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
nikapov	0:a1a69d32f310	973	0x08);
nikapov	0:a1a69d32f310	974
nikapov	0:a1a69d32f310	975	status \|= VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	976	VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
nikapov	0:a1a69d32f310	977	status \|= VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	978	VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07);
nikapov	0:a1a69d32f310	979
nikapov	0:a1a69d32f310	980	status \|= VL53L0X_write_byte(dev, 0xff, 0x01);
nikapov	0:a1a69d32f310	981	status \|= VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	982	VL53L0X_REG_ALGO_PHASECAL_LIM,
nikapov	0:a1a69d32f310	983	0x20);
nikapov	0:a1a69d32f310	984	status \|= VL53L0X_write_byte(dev, 0xff, 0x00);
nikapov	0:a1a69d32f310	985	}
nikapov	0:a1a69d32f310	986	}
nikapov	0:a1a69d32f310	987
nikapov	0:a1a69d32f310	988
nikapov	0:a1a69d32f310	989	/* Re-calculate and apply timeouts, in macro periods */
nikapov	0:a1a69d32f310	990
nikapov	0:a1a69d32f310	991	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	992	vcsel_period_reg = lv53l0x_encode_vcsel_period((uint8_t)
nikapov	0:a1a69d32f310	993	vcsel_pulse_period_pclk);
nikapov	0:a1a69d32f310	994
nikapov	0:a1a69d32f310	995	/* When the VCSEL period for the pre or final range is changed,
nikapov	0:a1a69d32f310	996	* the corresponding timeout must be read from the device using
nikapov	0:a1a69d32f310	997	* the current VCSEL period, then the new VCSEL period can be
nikapov	0:a1a69d32f310	998	* applied. The timeout then must be written back to the device
nikapov	0:a1a69d32f310	999	* using the new VCSEL period.
nikapov	0:a1a69d32f310	1000	*
nikapov	0:a1a69d32f310	1001	* For the MSRC timeout, the same applies - this timeout being
nikapov	0:a1a69d32f310	1002	* dependant on the pre-range vcsel period.
nikapov	0:a1a69d32f310	1003	*/
nikapov	0:a1a69d32f310	1004	switch (vcsel_period_type) {
nikapov	0:a1a69d32f310	1005	case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
nikapov	0:a1a69d32f310	1006	status = get_sequence_step_timeout(dev,
nikapov	0:a1a69d32f310	1007	VL53L0X_SEQUENCESTEP_PRE_RANGE,
nikapov	0:a1a69d32f310	1008	&pre_range_timeout_micro_seconds);
nikapov	0:a1a69d32f310	1009
nikapov	0:a1a69d32f310	1010	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1011	status = get_sequence_step_timeout(dev,
nikapov	0:a1a69d32f310	1012	VL53L0X_SEQUENCESTEP_MSRC,
nikapov	0:a1a69d32f310	1013	&msrc_timeout_micro_seconds);
nikapov	0:a1a69d32f310	1014
nikapov	0:a1a69d32f310	1015	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1016	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	1017	VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
nikapov	0:a1a69d32f310	1018	vcsel_period_reg);
nikapov	0:a1a69d32f310	1019
nikapov	0:a1a69d32f310	1020
nikapov	0:a1a69d32f310	1021	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1022	status = set_sequence_step_timeout(dev,
nikapov	0:a1a69d32f310	1023	VL53L0X_SEQUENCESTEP_PRE_RANGE,
nikapov	0:a1a69d32f310	1024	pre_range_timeout_micro_seconds);
nikapov	0:a1a69d32f310	1025
nikapov	0:a1a69d32f310	1026
nikapov	0:a1a69d32f310	1027	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1028	status = set_sequence_step_timeout(dev,
nikapov	0:a1a69d32f310	1029	VL53L0X_SEQUENCESTEP_MSRC,
nikapov	0:a1a69d32f310	1030	msrc_timeout_micro_seconds);
nikapov	0:a1a69d32f310	1031
nikapov	0:a1a69d32f310	1032	VL53L0X_SETDEVICESPECIFICPARAMETER(
nikapov	0:a1a69d32f310	1033	dev,
nikapov	0:a1a69d32f310	1034	PreRangeVcselPulsePeriod,
nikapov	0:a1a69d32f310	1035	vcsel_pulse_period_pclk);
nikapov	0:a1a69d32f310	1036	break;
nikapov	0:a1a69d32f310	1037	case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
nikapov	0:a1a69d32f310	1038	status = get_sequence_step_timeout(dev,
nikapov	0:a1a69d32f310	1039	VL53L0X_SEQUENCESTEP_FINAL_RANGE,
nikapov	0:a1a69d32f310	1040	&final_range_timeout_micro_seconds);
nikapov	0:a1a69d32f310	1041
nikapov	0:a1a69d32f310	1042	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1043	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	1044	VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
nikapov	0:a1a69d32f310	1045	vcsel_period_reg);
nikapov	0:a1a69d32f310	1046
nikapov	0:a1a69d32f310	1047
nikapov	0:a1a69d32f310	1048	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1049	status = set_sequence_step_timeout(dev,
nikapov	0:a1a69d32f310	1050	VL53L0X_SEQUENCESTEP_FINAL_RANGE,
nikapov	0:a1a69d32f310	1051	final_range_timeout_micro_seconds);
nikapov	0:a1a69d32f310	1052
nikapov	0:a1a69d32f310	1053	VL53L0X_SETDEVICESPECIFICPARAMETER(
nikapov	0:a1a69d32f310	1054	dev,
nikapov	0:a1a69d32f310	1055	FinalRangeVcselPulsePeriod,
nikapov	0:a1a69d32f310	1056	vcsel_pulse_period_pclk);
nikapov	0:a1a69d32f310	1057	break;
nikapov	0:a1a69d32f310	1058	default:
nikapov	0:a1a69d32f310	1059	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	1060	}
nikapov	0:a1a69d32f310	1061	}
nikapov	0:a1a69d32f310	1062
nikapov	0:a1a69d32f310	1063	/* Finally, the timing budget must be re-applied */
nikapov	0:a1a69d32f310	1064	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1065	VL53L0X_GETPARAMETERFIELD(dev,
nikapov	0:a1a69d32f310	1066	MeasurementTimingBudgetMicroSeconds,
nikapov	0:a1a69d32f310	1067	measurement_timing_budget_micro_seconds);
nikapov	0:a1a69d32f310	1068
nikapov	0:a1a69d32f310	1069	status = VL53L0X_set_measurement_timing_budget_micro_seconds(dev,
nikapov	0:a1a69d32f310	1070	measurement_timing_budget_micro_seconds);
nikapov	0:a1a69d32f310	1071	}
nikapov	0:a1a69d32f310	1072
nikapov	0:a1a69d32f310	1073	/* Perform the phase calibration. This is needed after changing on
nikapov	0:a1a69d32f310	1074	* vcsel period.
nikapov	0:a1a69d32f310	1075	* get_data_enable = 0, restore_config = 1 */
nikapov	0:a1a69d32f310	1076	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1077	status = VL53L0X_perform_phase_calibration(
nikapov	0:a1a69d32f310	1078	dev, &phase_cal_int, 0, 1);
nikapov	0:a1a69d32f310	1079
nikapov	0:a1a69d32f310	1080	return status;
nikapov	0:a1a69d32f310	1081	}
nikapov	0:a1a69d32f310	1082
nikapov	0:a1a69d32f310	1083	VL53L0X_Error VL53L0X::VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	1084	VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period)
nikapov	0:a1a69d32f310	1085	{
nikapov	0:a1a69d32f310	1086	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1087	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	1088
nikapov	0:a1a69d32f310	1089	status = wrapped_VL53L0X_set_vcsel_pulse_period(dev, vcsel_period_type,
nikapov	0:a1a69d32f310	1090	vcsel_pulse_period);
nikapov	0:a1a69d32f310	1091
nikapov	0:a1a69d32f310	1092	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	1093	return status;
nikapov	0:a1a69d32f310	1094	}
nikapov	0:a1a69d32f310	1095
nikapov	0:a1a69d32f310	1096	VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	1097	VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk)
nikapov	0:a1a69d32f310	1098	{
nikapov	0:a1a69d32f310	1099	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1100	uint8_t vcsel_period_reg;
nikapov	0:a1a69d32f310	1101
nikapov	0:a1a69d32f310	1102	switch (vcsel_period_type) {
nikapov	0:a1a69d32f310	1103	case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
nikapov	0:a1a69d32f310	1104	status = VL53L0X_read_byte(dev,
nikapov	0:a1a69d32f310	1105	VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
nikapov	0:a1a69d32f310	1106	&vcsel_period_reg);
nikapov	0:a1a69d32f310	1107	break;
nikapov	0:a1a69d32f310	1108	case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
nikapov	0:a1a69d32f310	1109	status = VL53L0X_read_byte(dev,
nikapov	0:a1a69d32f310	1110	VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
nikapov	0:a1a69d32f310	1111	&vcsel_period_reg);
nikapov	0:a1a69d32f310	1112	break;
nikapov	0:a1a69d32f310	1113	default:
nikapov	0:a1a69d32f310	1114	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	1115	}
nikapov	0:a1a69d32f310	1116
nikapov	0:a1a69d32f310	1117	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1118	*p_vcsel_pulse_period_pclk =
nikapov	0:a1a69d32f310	1119	VL53L0X_decode_vcsel_period(vcsel_period_reg);
nikapov	0:a1a69d32f310	1120
nikapov	0:a1a69d32f310	1121	return status;
nikapov	0:a1a69d32f310	1122	}
nikapov	0:a1a69d32f310	1123
nikapov	0:a1a69d32f310	1124	VL53L0X_Error VL53L0X::VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	1125	VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk)
nikapov	0:a1a69d32f310	1126	{
nikapov	0:a1a69d32f310	1127	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1128	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	1129
nikapov	0:a1a69d32f310	1130	status = wrapped_VL53L0X_get_vcsel_pulse_period(dev, vcsel_period_type,
nikapov	0:a1a69d32f310	1131	p_vcsel_pulse_period_pclk);
nikapov	0:a1a69d32f310	1132
nikapov	0:a1a69d32f310	1133	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	1134	return status;
nikapov	0:a1a69d32f310	1135	}
nikapov	0:a1a69d32f310	1136
nikapov	0:a1a69d32f310	1137	uint32_t VL53L0X::VL53L0X_decode_timeout(uint16_t encoded_timeout)
nikapov	0:a1a69d32f310	1138	{
nikapov	0:a1a69d32f310	1139	/*!
nikapov	0:a1a69d32f310	1140	* Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1
nikapov	0:a1a69d32f310	1141	*/
nikapov	0:a1a69d32f310	1142
nikapov	0:a1a69d32f310	1143	uint32_t timeout_macro_clks = 0;
nikapov	0:a1a69d32f310	1144
nikapov	0:a1a69d32f310	1145	timeout_macro_clks = ((uint32_t)(encoded_timeout & 0x00FF)
nikapov	0:a1a69d32f310	1146	<< (uint32_t)((encoded_timeout & 0xFF00) >> 8)) + 1;
nikapov	0:a1a69d32f310	1147
nikapov	0:a1a69d32f310	1148	return timeout_macro_clks;
nikapov	0:a1a69d32f310	1149	}
nikapov	0:a1a69d32f310	1150
nikapov	0:a1a69d32f310	1151	uint32_t VL53L0X::VL53L0X_calc_macro_period_ps(VL53L0X_DEV dev, uint8_t vcsel_period_pclks)
nikapov	0:a1a69d32f310	1152	{
nikapov	0:a1a69d32f310	1153	uint64_t pll_period_ps;
nikapov	0:a1a69d32f310	1154	uint32_t macro_period_vclks;
nikapov	0:a1a69d32f310	1155	uint32_t macro_period_ps;
nikapov	0:a1a69d32f310	1156
nikapov	0:a1a69d32f310	1157	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	1158
nikapov	0:a1a69d32f310	1159	/* The above calculation will produce rounding errors,
nikapov	0:a1a69d32f310	1160	therefore set fixed value
nikapov	0:a1a69d32f310	1161	*/
nikapov	0:a1a69d32f310	1162	pll_period_ps = 1655;
nikapov	0:a1a69d32f310	1163
nikapov	0:a1a69d32f310	1164	macro_period_vclks = 2304;
nikapov	0:a1a69d32f310	1165	macro_period_ps = (uint32_t)(macro_period_vclks
nikapov	0:a1a69d32f310	1166	* vcsel_period_pclks * pll_period_ps);
nikapov	0:a1a69d32f310	1167
nikapov	0:a1a69d32f310	1168	LOG_FUNCTION_END("");
nikapov	0:a1a69d32f310	1169	return macro_period_ps;
nikapov	0:a1a69d32f310	1170	}
nikapov	0:a1a69d32f310	1171
nikapov	0:a1a69d32f310	1172	/* To convert register value into us */
nikapov	0:a1a69d32f310	1173	uint32_t VL53L0X::VL53L0X_calc_timeout_us(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	1174	uint16_t timeout_period_mclks,
nikapov	0:a1a69d32f310	1175	uint8_t vcsel_period_pclks)
nikapov	0:a1a69d32f310	1176	{
nikapov	0:a1a69d32f310	1177	uint32_t macro_period_ps;
nikapov	0:a1a69d32f310	1178	uint32_t macro_period_ns;
nikapov	0:a1a69d32f310	1179	uint32_t actual_timeout_period_us = 0;
nikapov	0:a1a69d32f310	1180
nikapov	0:a1a69d32f310	1181	macro_period_ps = VL53L0X_calc_macro_period_ps(dev, vcsel_period_pclks);
nikapov	0:a1a69d32f310	1182	macro_period_ns = (macro_period_ps + 500) / 1000;
nikapov	0:a1a69d32f310	1183
nikapov	0:a1a69d32f310	1184	actual_timeout_period_us =
nikapov	0:a1a69d32f310	1185	((timeout_period_mclks * macro_period_ns) + 500) / 1000;
nikapov	0:a1a69d32f310	1186
nikapov	0:a1a69d32f310	1187	return actual_timeout_period_us;
nikapov	0:a1a69d32f310	1188	}
nikapov	0:a1a69d32f310	1189
nikapov	0:a1a69d32f310	1190	VL53L0X_Error VL53L0X::get_sequence_step_timeout(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	1191	VL53L0X_SequenceStepId sequence_step_id,
nikapov	0:a1a69d32f310	1192	uint32_t *p_time_out_micro_secs)
nikapov	0:a1a69d32f310	1193	{
nikapov	0:a1a69d32f310	1194	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1195	uint8_t current_vcsel_pulse_period_p_clk;
nikapov	0:a1a69d32f310	1196	uint8_t encoded_time_out_byte = 0;
nikapov	0:a1a69d32f310	1197	uint32_t timeout_micro_seconds = 0;
nikapov	0:a1a69d32f310	1198	uint16_t pre_range_encoded_time_out = 0;
nikapov	0:a1a69d32f310	1199	uint16_t msrc_time_out_m_clks;
nikapov	0:a1a69d32f310	1200	uint16_t pre_range_time_out_m_clks;
nikapov	0:a1a69d32f310	1201	uint16_t final_range_time_out_m_clks = 0;
nikapov	0:a1a69d32f310	1202	uint16_t final_range_encoded_time_out;
nikapov	0:a1a69d32f310	1203	VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
nikapov	0:a1a69d32f310	1204
nikapov	0:a1a69d32f310	1205	if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC) \|\|
nikapov	0:a1a69d32f310	1206	(sequence_step_id == VL53L0X_SEQUENCESTEP_DSS) \|\|
nikapov	0:a1a69d32f310	1207	(sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC)) {
nikapov	0:a1a69d32f310	1208
nikapov	0:a1a69d32f310	1209	status = VL53L0X_get_vcsel_pulse_period(dev,
nikapov	0:a1a69d32f310	1210	VL53L0X_VCSEL_PERIOD_PRE_RANGE,
nikapov	0:a1a69d32f310	1211	&current_vcsel_pulse_period_p_clk);
nikapov	0:a1a69d32f310	1212	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1213	status = VL53L0X_read_byte(dev,
nikapov	0:a1a69d32f310	1214	VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
nikapov	0:a1a69d32f310	1215	&encoded_time_out_byte);
nikapov	0:a1a69d32f310	1216	}
nikapov	0:a1a69d32f310	1217	msrc_time_out_m_clks = VL53L0X_decode_timeout(encoded_time_out_byte);
nikapov	0:a1a69d32f310	1218
nikapov	0:a1a69d32f310	1219	timeout_micro_seconds = VL53L0X_calc_timeout_us(dev,
nikapov	0:a1a69d32f310	1220	msrc_time_out_m_clks,
nikapov	0:a1a69d32f310	1221	current_vcsel_pulse_period_p_clk);
nikapov	0:a1a69d32f310	1222	} else if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
nikapov	0:a1a69d32f310	1223	/* Retrieve PRE-RANGE VCSEL Period */
nikapov	0:a1a69d32f310	1224	status = VL53L0X_get_vcsel_pulse_period(dev,
nikapov	0:a1a69d32f310	1225	VL53L0X_VCSEL_PERIOD_PRE_RANGE,
nikapov	0:a1a69d32f310	1226	&current_vcsel_pulse_period_p_clk);
nikapov	0:a1a69d32f310	1227
nikapov	0:a1a69d32f310	1228	/* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */
nikapov	0:a1a69d32f310	1229	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1230
nikapov	0:a1a69d32f310	1231	/* Retrieve PRE-RANGE VCSEL Period */
nikapov	0:a1a69d32f310	1232	status = VL53L0X_get_vcsel_pulse_period(dev,
nikapov	0:a1a69d32f310	1233	VL53L0X_VCSEL_PERIOD_PRE_RANGE,
nikapov	0:a1a69d32f310	1234	&current_vcsel_pulse_period_p_clk);
nikapov	0:a1a69d32f310	1235
nikapov	0:a1a69d32f310	1236	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1237	status = VL53L0X_read_word(dev,
nikapov	0:a1a69d32f310	1238	VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
nikapov	0:a1a69d32f310	1239	&pre_range_encoded_time_out);
nikapov	0:a1a69d32f310	1240	}
nikapov	0:a1a69d32f310	1241
nikapov	0:a1a69d32f310	1242	pre_range_time_out_m_clks = VL53L0X_decode_timeout(
nikapov	0:a1a69d32f310	1243	pre_range_encoded_time_out);
nikapov	0:a1a69d32f310	1244
nikapov	0:a1a69d32f310	1245	timeout_micro_seconds = VL53L0X_calc_timeout_us(dev,
nikapov	0:a1a69d32f310	1246	pre_range_time_out_m_clks,
nikapov	0:a1a69d32f310	1247	current_vcsel_pulse_period_p_clk);
nikapov	0:a1a69d32f310	1248	}
nikapov	0:a1a69d32f310	1249	} else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
nikapov	0:a1a69d32f310	1250
nikapov	0:a1a69d32f310	1251	VL53L0X_get_sequence_step_enables(dev, &scheduler_sequence_steps);
nikapov	0:a1a69d32f310	1252	pre_range_time_out_m_clks = 0;
nikapov	0:a1a69d32f310	1253
nikapov	0:a1a69d32f310	1254	if (scheduler_sequence_steps.PreRangeOn) {
nikapov	0:a1a69d32f310	1255	/* Retrieve PRE-RANGE VCSEL Period */
nikapov	0:a1a69d32f310	1256	status = VL53L0X_get_vcsel_pulse_period(dev,
nikapov	0:a1a69d32f310	1257	VL53L0X_VCSEL_PERIOD_PRE_RANGE,
nikapov	0:a1a69d32f310	1258	&current_vcsel_pulse_period_p_clk);
nikapov	0:a1a69d32f310	1259
nikapov	0:a1a69d32f310	1260	/* Retrieve PRE-RANGE Timeout in Macro periods
nikapov	0:a1a69d32f310	1261	* (MCLKS) */
nikapov	0:a1a69d32f310	1262	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1263	status = VL53L0X_read_word(dev,
nikapov	0:a1a69d32f310	1264	VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
nikapov	0:a1a69d32f310	1265	&pre_range_encoded_time_out);
nikapov	0:a1a69d32f310	1266	pre_range_time_out_m_clks = VL53L0X_decode_timeout(
nikapov	0:a1a69d32f310	1267	pre_range_encoded_time_out);
nikapov	0:a1a69d32f310	1268	}
nikapov	0:a1a69d32f310	1269	}
nikapov	0:a1a69d32f310	1270
nikapov	0:a1a69d32f310	1271	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1272	/* Retrieve FINAL-RANGE VCSEL Period */
nikapov	0:a1a69d32f310	1273	status = VL53L0X_get_vcsel_pulse_period(dev,
nikapov	0:a1a69d32f310	1274	VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
nikapov	0:a1a69d32f310	1275	&current_vcsel_pulse_period_p_clk);
nikapov	0:a1a69d32f310	1276	}
nikapov	0:a1a69d32f310	1277
nikapov	0:a1a69d32f310	1278	/* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */
nikapov	0:a1a69d32f310	1279	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1280	status = VL53L0X_read_word(dev,
nikapov	0:a1a69d32f310	1281	VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI,
nikapov	0:a1a69d32f310	1282	&final_range_encoded_time_out);
nikapov	0:a1a69d32f310	1283	final_range_time_out_m_clks = VL53L0X_decode_timeout(
nikapov	0:a1a69d32f310	1284	final_range_encoded_time_out);
nikapov	0:a1a69d32f310	1285	}
nikapov	0:a1a69d32f310	1286
nikapov	0:a1a69d32f310	1287	final_range_time_out_m_clks -= pre_range_time_out_m_clks;
nikapov	0:a1a69d32f310	1288	timeout_micro_seconds = VL53L0X_calc_timeout_us(dev,
nikapov	0:a1a69d32f310	1289	final_range_time_out_m_clks,
nikapov	0:a1a69d32f310	1290	current_vcsel_pulse_period_p_clk);
nikapov	0:a1a69d32f310	1291	}
nikapov	0:a1a69d32f310	1292
nikapov	0:a1a69d32f310	1293	*p_time_out_micro_secs = timeout_micro_seconds;
nikapov	0:a1a69d32f310	1294
nikapov	0:a1a69d32f310	1295	return status;
nikapov	0:a1a69d32f310	1296	}
nikapov	0:a1a69d32f310	1297
nikapov	0:a1a69d32f310	1298	VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	1299	uint32_t *p_measurement_timing_budget_micro_seconds)
nikapov	0:a1a69d32f310	1300	{
nikapov	0:a1a69d32f310	1301	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1302	VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
nikapov	0:a1a69d32f310	1303	uint32_t final_range_timeout_micro_seconds;
nikapov	0:a1a69d32f310	1304	uint32_t msrc_dcc_tcc_timeout_micro_seconds = 2000;
nikapov	0:a1a69d32f310	1305	uint32_t start_overhead_micro_seconds = 1910;
nikapov	0:a1a69d32f310	1306	uint32_t end_overhead_micro_seconds = 960;
nikapov	0:a1a69d32f310	1307	uint32_t msrc_overhead_micro_seconds = 660;
nikapov	0:a1a69d32f310	1308	uint32_t tcc_overhead_micro_seconds = 590;
nikapov	0:a1a69d32f310	1309	uint32_t dss_overhead_micro_seconds = 690;
nikapov	0:a1a69d32f310	1310	uint32_t pre_range_overhead_micro_seconds = 660;
nikapov	0:a1a69d32f310	1311	uint32_t final_range_overhead_micro_seconds = 550;
nikapov	0:a1a69d32f310	1312	uint32_t pre_range_timeout_micro_seconds = 0;
nikapov	0:a1a69d32f310	1313
nikapov	0:a1a69d32f310	1314	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	1315
nikapov	0:a1a69d32f310	1316	/* Start and end overhead times always present */
nikapov	0:a1a69d32f310	1317	*p_measurement_timing_budget_micro_seconds
nikapov	0:a1a69d32f310	1318	= start_overhead_micro_seconds + end_overhead_micro_seconds;
nikapov	0:a1a69d32f310	1319
nikapov	0:a1a69d32f310	1320	status = VL53L0X_get_sequence_step_enables(dev, &scheduler_sequence_steps);
nikapov	0:a1a69d32f310	1321
nikapov	0:a1a69d32f310	1322	if (status != VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1323	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	1324	return status;
nikapov	0:a1a69d32f310	1325	}
nikapov	0:a1a69d32f310	1326
nikapov	0:a1a69d32f310	1327
nikapov	0:a1a69d32f310	1328	if (scheduler_sequence_steps.TccOn \|\|
nikapov	0:a1a69d32f310	1329	scheduler_sequence_steps.MsrcOn \|\|
nikapov	0:a1a69d32f310	1330	scheduler_sequence_steps.DssOn) {
nikapov	0:a1a69d32f310	1331
nikapov	0:a1a69d32f310	1332	status = get_sequence_step_timeout(dev,
nikapov	0:a1a69d32f310	1333	VL53L0X_SEQUENCESTEP_MSRC,
nikapov	0:a1a69d32f310	1334	&msrc_dcc_tcc_timeout_micro_seconds);
nikapov	0:a1a69d32f310	1335
nikapov	0:a1a69d32f310	1336	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1337	if (scheduler_sequence_steps.TccOn) {
nikapov	0:a1a69d32f310	1338	*p_measurement_timing_budget_micro_seconds +=
nikapov	0:a1a69d32f310	1339	msrc_dcc_tcc_timeout_micro_seconds +
nikapov	0:a1a69d32f310	1340	tcc_overhead_micro_seconds;
nikapov	0:a1a69d32f310	1341	}
nikapov	0:a1a69d32f310	1342
nikapov	0:a1a69d32f310	1343	if (scheduler_sequence_steps.DssOn) {
nikapov	0:a1a69d32f310	1344	*p_measurement_timing_budget_micro_seconds +=
nikapov	0:a1a69d32f310	1345	2 * (msrc_dcc_tcc_timeout_micro_seconds +
nikapov	0:a1a69d32f310	1346	dss_overhead_micro_seconds);
nikapov	0:a1a69d32f310	1347	} else if (scheduler_sequence_steps.MsrcOn) {
nikapov	0:a1a69d32f310	1348	*p_measurement_timing_budget_micro_seconds +=
nikapov	0:a1a69d32f310	1349	msrc_dcc_tcc_timeout_micro_seconds +
nikapov	0:a1a69d32f310	1350	msrc_overhead_micro_seconds;
nikapov	0:a1a69d32f310	1351	}
nikapov	0:a1a69d32f310	1352	}
nikapov	0:a1a69d32f310	1353	}
nikapov	0:a1a69d32f310	1354
nikapov	0:a1a69d32f310	1355	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1356	if (scheduler_sequence_steps.PreRangeOn) {
nikapov	0:a1a69d32f310	1357	status = get_sequence_step_timeout(dev,
nikapov	0:a1a69d32f310	1358	VL53L0X_SEQUENCESTEP_PRE_RANGE,
nikapov	0:a1a69d32f310	1359	&pre_range_timeout_micro_seconds);
nikapov	0:a1a69d32f310	1360	*p_measurement_timing_budget_micro_seconds +=
nikapov	0:a1a69d32f310	1361	pre_range_timeout_micro_seconds +
nikapov	0:a1a69d32f310	1362	pre_range_overhead_micro_seconds;
nikapov	0:a1a69d32f310	1363	}
nikapov	0:a1a69d32f310	1364	}
nikapov	0:a1a69d32f310	1365
nikapov	0:a1a69d32f310	1366	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1367	if (scheduler_sequence_steps.FinalRangeOn) {
nikapov	0:a1a69d32f310	1368	status = get_sequence_step_timeout(dev,
nikapov	0:a1a69d32f310	1369	VL53L0X_SEQUENCESTEP_FINAL_RANGE,
nikapov	0:a1a69d32f310	1370	&final_range_timeout_micro_seconds);
nikapov	0:a1a69d32f310	1371	*p_measurement_timing_budget_micro_seconds +=
nikapov	0:a1a69d32f310	1372	(final_range_timeout_micro_seconds +
nikapov	0:a1a69d32f310	1373	final_range_overhead_micro_seconds);
nikapov	0:a1a69d32f310	1374	}
nikapov	0:a1a69d32f310	1375	}
nikapov	0:a1a69d32f310	1376
nikapov	0:a1a69d32f310	1377	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1378	VL53L0X_SETPARAMETERFIELD(dev,
nikapov	0:a1a69d32f310	1379	MeasurementTimingBudgetMicroSeconds,
nikapov	0:a1a69d32f310	1380	*p_measurement_timing_budget_micro_seconds);
nikapov	0:a1a69d32f310	1381	}
nikapov	0:a1a69d32f310	1382
nikapov	0:a1a69d32f310	1383	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	1384	return status;
nikapov	0:a1a69d32f310	1385	}
nikapov	0:a1a69d32f310	1386
nikapov	0:a1a69d32f310	1387	VL53L0X_Error VL53L0X::VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	1388	uint32_t *p_measurement_timing_budget_micro_seconds)
nikapov	0:a1a69d32f310	1389	{
nikapov	0:a1a69d32f310	1390	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1391	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	1392
nikapov	0:a1a69d32f310	1393	status = wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(dev,
nikapov	0:a1a69d32f310	1394	p_measurement_timing_budget_micro_seconds);
nikapov	0:a1a69d32f310	1395
nikapov	0:a1a69d32f310	1396	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	1397	return status;
nikapov	0:a1a69d32f310	1398	}
nikapov	0:a1a69d32f310	1399
nikapov	0:a1a69d32f310	1400	VL53L0X_Error VL53L0X::VL53L0X_get_device_parameters(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	1401	VL53L0X_DeviceParameters_t *p_device_parameters)
nikapov	0:a1a69d32f310	1402	{
nikapov	0:a1a69d32f310	1403	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1404	int i;
nikapov	0:a1a69d32f310	1405
nikapov	0:a1a69d32f310	1406	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	1407
nikapov	0:a1a69d32f310	1408	status = VL53L0X_get_device_mode(dev, &(p_device_parameters->DeviceMode));
nikapov	0:a1a69d32f310	1409
nikapov	0:a1a69d32f310	1410	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1411	status = VL53L0X_get_inter_measurement_period_milli_seconds(dev,
nikapov	0:a1a69d32f310	1412	&(p_device_parameters->InterMeasurementPeriodMilliSeconds));
nikapov	0:a1a69d32f310	1413
nikapov	0:a1a69d32f310	1414
nikapov	0:a1a69d32f310	1415	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1416	p_device_parameters->XTalkCompensationEnable = 0;
nikapov	0:a1a69d32f310	1417
nikapov	0:a1a69d32f310	1418	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1419	status = VL53L0X_get_x_talk_compensation_rate_mega_cps(dev,
nikapov	0:a1a69d32f310	1420	&(p_device_parameters->XTalkCompensationRateMegaCps));
nikapov	0:a1a69d32f310	1421
nikapov	0:a1a69d32f310	1422
nikapov	0:a1a69d32f310	1423	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1424	status = VL53L0X_get_offset_calibration_data_micro_meter(dev,
nikapov	0:a1a69d32f310	1425	&(p_device_parameters->RangeOffsetMicroMeters));
nikapov	0:a1a69d32f310	1426
nikapov	0:a1a69d32f310	1427
nikapov	0:a1a69d32f310	1428	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1429	for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
nikapov	0:a1a69d32f310	1430	/* get first the values, then the enables.
nikapov	0:a1a69d32f310	1431	* VL53L0X_GetLimitCheckValue will modify the enable
nikapov	0:a1a69d32f310	1432	* flags
nikapov	0:a1a69d32f310	1433	*/
nikapov	0:a1a69d32f310	1434	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1435	status \|= VL53L0X_get_limit_check_value(dev, i,
nikapov	0:a1a69d32f310	1436	&(p_device_parameters->LimitChecksValue[i]));
nikapov	0:a1a69d32f310	1437	} else {
nikapov	0:a1a69d32f310	1438	break;
nikapov	0:a1a69d32f310	1439	}
nikapov	0:a1a69d32f310	1440	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1441	status \|= VL53L0X_get_limit_check_enable(dev, i,
nikapov	0:a1a69d32f310	1442	&(p_device_parameters->LimitChecksEnable[i]));
nikapov	0:a1a69d32f310	1443	} else {
nikapov	0:a1a69d32f310	1444	break;
nikapov	0:a1a69d32f310	1445	}
nikapov	0:a1a69d32f310	1446	}
nikapov	0:a1a69d32f310	1447	}
nikapov	0:a1a69d32f310	1448
nikapov	0:a1a69d32f310	1449	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1450	status = VL53L0X_get_wrap_around_check_enable(dev,
nikapov	0:a1a69d32f310	1451	&(p_device_parameters->WrapAroundCheckEnable));
nikapov	0:a1a69d32f310	1452	}
nikapov	0:a1a69d32f310	1453
nikapov	0:a1a69d32f310	1454	/* Need to be done at the end as it uses VCSELPulsePeriod */
nikapov	0:a1a69d32f310	1455	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1456	status = VL53L0X_get_measurement_timing_budget_micro_seconds(dev,
nikapov	0:a1a69d32f310	1457	&(p_device_parameters->MeasurementTimingBudgetMicroSeconds));
nikapov	0:a1a69d32f310	1458	}
nikapov	0:a1a69d32f310	1459
nikapov	0:a1a69d32f310	1460	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	1461	return status;
nikapov	0:a1a69d32f310	1462	}
nikapov	0:a1a69d32f310	1463
nikapov	0:a1a69d32f310	1464	VL53L0X_Error VL53L0X::VL53L0X_set_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id,
nikapov	0:a1a69d32f310	1465	FixPoint1616_t limit_check_value)
nikapov	0:a1a69d32f310	1466	{
nikapov	0:a1a69d32f310	1467	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1468	uint8_t temp8;
nikapov	0:a1a69d32f310	1469
nikapov	0:a1a69d32f310	1470	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	1471
nikapov	0:a1a69d32f310	1472	VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksEnable, limit_check_id,
nikapov	0:a1a69d32f310	1473	temp8);
nikapov	0:a1a69d32f310	1474
nikapov	0:a1a69d32f310	1475	if (temp8 == 0) { /* disabled write only internal value */
nikapov	0:a1a69d32f310	1476	VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
nikapov	0:a1a69d32f310	1477	limit_check_id, limit_check_value);
nikapov	0:a1a69d32f310	1478	} else {
nikapov	0:a1a69d32f310	1479
nikapov	0:a1a69d32f310	1480	switch (limit_check_id) {
nikapov	0:a1a69d32f310	1481
nikapov	0:a1a69d32f310	1482	case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
nikapov	0:a1a69d32f310	1483	/* internal computation: */
nikapov	0:a1a69d32f310	1484	VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
nikapov	0:a1a69d32f310	1485	VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
nikapov	0:a1a69d32f310	1486	limit_check_value);
nikapov	0:a1a69d32f310	1487	break;
nikapov	0:a1a69d32f310	1488
nikapov	0:a1a69d32f310	1489	case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
nikapov	0:a1a69d32f310	1490
nikapov	0:a1a69d32f310	1491	status = VL53L0X_write_word(dev,
nikapov	0:a1a69d32f310	1492	VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
nikapov	0:a1a69d32f310	1493	VL53L0X_FIXPOINT1616TOFIXPOINT97(
nikapov	0:a1a69d32f310	1494	limit_check_value));
nikapov	0:a1a69d32f310	1495
nikapov	0:a1a69d32f310	1496	break;
nikapov	0:a1a69d32f310	1497
nikapov	0:a1a69d32f310	1498	case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
nikapov	0:a1a69d32f310	1499
nikapov	0:a1a69d32f310	1500	/* internal computation: */
nikapov	0:a1a69d32f310	1501	VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
nikapov	0:a1a69d32f310	1502	VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
nikapov	0:a1a69d32f310	1503	limit_check_value);
nikapov	0:a1a69d32f310	1504
nikapov	0:a1a69d32f310	1505	break;
nikapov	0:a1a69d32f310	1506
nikapov	0:a1a69d32f310	1507	case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
nikapov	0:a1a69d32f310	1508
nikapov	0:a1a69d32f310	1509	/* internal computation: */
nikapov	0:a1a69d32f310	1510	VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
nikapov	0:a1a69d32f310	1511	VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
nikapov	0:a1a69d32f310	1512	limit_check_value);
nikapov	0:a1a69d32f310	1513
nikapov	0:a1a69d32f310	1514	break;
nikapov	0:a1a69d32f310	1515
nikapov	0:a1a69d32f310	1516	case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
nikapov	0:a1a69d32f310	1517	case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
nikapov	0:a1a69d32f310	1518
nikapov	0:a1a69d32f310	1519	status = VL53L0X_write_word(dev,
nikapov	0:a1a69d32f310	1520	VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
nikapov	0:a1a69d32f310	1521	VL53L0X_FIXPOINT1616TOFIXPOINT97(
nikapov	0:a1a69d32f310	1522	limit_check_value));
nikapov	0:a1a69d32f310	1523
nikapov	0:a1a69d32f310	1524	break;
nikapov	0:a1a69d32f310	1525
nikapov	0:a1a69d32f310	1526	default:
nikapov	0:a1a69d32f310	1527	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	1528
nikapov	0:a1a69d32f310	1529	}
nikapov	0:a1a69d32f310	1530
nikapov	0:a1a69d32f310	1531	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1532	VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue,
nikapov	0:a1a69d32f310	1533	limit_check_id, limit_check_value);
nikapov	0:a1a69d32f310	1534	}
nikapov	0:a1a69d32f310	1535	}
nikapov	0:a1a69d32f310	1536
nikapov	0:a1a69d32f310	1537	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	1538	return status;
nikapov	0:a1a69d32f310	1539	}
nikapov	0:a1a69d32f310	1540
nikapov	0:a1a69d32f310	1541	VL53L0X_Error VL53L0X::VL53L0X_data_init(VL53L0X_DEV dev)
nikapov	0:a1a69d32f310	1542	{
nikapov	0:a1a69d32f310	1543	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1544	VL53L0X_DeviceParameters_t CurrentParameters;
nikapov	0:a1a69d32f310	1545	int i;
nikapov	0:a1a69d32f310	1546	uint8_t StopVariable;
nikapov	0:a1a69d32f310	1547
nikapov	0:a1a69d32f310	1548	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	1549
nikapov	0:a1a69d32f310	1550	/* by default the I2C is running at 1V8 if you want to change it you
nikapov	0:a1a69d32f310	1551	* need to include this define at compilation level. */
nikapov	0:a1a69d32f310	1552	#ifdef USE_I2C_2V8
nikapov	0:a1a69d32f310	1553	Status = VL53L0X_UpdateByte(Dev,
nikapov	0:a1a69d32f310	1554	VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV,
nikapov	0:a1a69d32f310	1555	0xFE,
nikapov	0:a1a69d32f310	1556	0x01);
nikapov	0:a1a69d32f310	1557	#endif
nikapov	0:a1a69d32f310	1558
nikapov	0:a1a69d32f310	1559	/* Set I2C standard mode */
nikapov	0:a1a69d32f310	1560	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1561	status = VL53L0X_write_byte(dev, 0x88, 0x00);
nikapov	0:a1a69d32f310	1562
nikapov	0:a1a69d32f310	1563	VL53L0X_SETDEVICESPECIFICPARAMETER(dev, ReadDataFromDeviceDone, 0);
nikapov	0:a1a69d32f310	1564
nikapov	0:a1a69d32f310	1565	#ifdef USE_IQC_STATION
nikapov	0:a1a69d32f310	1566	if (Status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1567	Status = VL53L0X_apply_offset_adjustment(Dev);
nikapov	0:a1a69d32f310	1568	#endif
nikapov	0:a1a69d32f310	1569
nikapov	0:a1a69d32f310	1570	/* Default value is 1000 for Linearity Corrective Gain */
nikapov	0:a1a69d32f310	1571	PALDevDataSet(dev, LinearityCorrectiveGain, 1000);
nikapov	0:a1a69d32f310	1572
nikapov	0:a1a69d32f310	1573	/* Dmax default Parameter */
nikapov	0:a1a69d32f310	1574	PALDevDataSet(dev, DmaxCalRangeMilliMeter, 400);
nikapov	0:a1a69d32f310	1575	PALDevDataSet(dev, DmaxCalSignalRateRtnMegaCps,
nikapov	0:a1a69d32f310	1576	(FixPoint1616_t)((0x00016B85))); /* 1.42 No Cover Glass*/
nikapov	0:a1a69d32f310	1577
nikapov	0:a1a69d32f310	1578	/* Set Default static parameters
nikapov	0:a1a69d32f310	1579	set first temporary values 9.44MHz 65536 = 618660 */
nikapov	0:a1a69d32f310	1580	VL53L0X_SETDEVICESPECIFICPARAMETER(dev, OscFrequencyMHz, 618660);
nikapov	0:a1a69d32f310	1581
nikapov	0:a1a69d32f310	1582	/* Set Default XTalkCompensationRateMegaCps to 0 */
nikapov	0:a1a69d32f310	1583	VL53L0X_SETPARAMETERFIELD(dev, XTalkCompensationRateMegaCps, 0);
nikapov	0:a1a69d32f310	1584
nikapov	0:a1a69d32f310	1585	/* Get default parameters */
nikapov	0:a1a69d32f310	1586	status = VL53L0X_get_device_parameters(dev, &CurrentParameters);
nikapov	0:a1a69d32f310	1587	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1588	/* initialize PAL values */
nikapov	0:a1a69d32f310	1589	CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING;
nikapov	0:a1a69d32f310	1590	CurrentParameters.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED;
nikapov	0:a1a69d32f310	1591	PALDevDataSet(dev, CurrentParameters, CurrentParameters);
nikapov	0:a1a69d32f310	1592	}
nikapov	0:a1a69d32f310	1593
nikapov	0:a1a69d32f310	1594	/* Sigma estimator variable */
nikapov	0:a1a69d32f310	1595	PALDevDataSet(dev, SigmaEstRefArray, 100);
nikapov	0:a1a69d32f310	1596	PALDevDataSet(dev, SigmaEstEffPulseWidth, 900);
nikapov	0:a1a69d32f310	1597	PALDevDataSet(dev, SigmaEstEffAmbWidth, 500);
nikapov	0:a1a69d32f310	1598	PALDevDataSet(dev, targetRefRate, 0x0A00); /* 20 MCPS in 9:7 format */
nikapov	0:a1a69d32f310	1599
nikapov	0:a1a69d32f310	1600	/* Use internal default settings */
nikapov	0:a1a69d32f310	1601	PALDevDataSet(dev, UseInternalTuningSettings, 1);
nikapov	0:a1a69d32f310	1602
nikapov	0:a1a69d32f310	1603	status \|= VL53L0X_write_byte(dev, 0x80, 0x01);
nikapov	0:a1a69d32f310	1604	status \|= VL53L0X_write_byte(dev, 0xFF, 0x01);
nikapov	0:a1a69d32f310	1605	status \|= VL53L0X_write_byte(dev, 0x00, 0x00);
nikapov	0:a1a69d32f310	1606	status \|= VL53L0X_read_byte(dev, 0x91, &StopVariable);
nikapov	0:a1a69d32f310	1607	PALDevDataSet(dev, StopVariable, StopVariable);
nikapov	0:a1a69d32f310	1608	status \|= VL53L0X_write_byte(dev, 0x00, 0x01);
nikapov	0:a1a69d32f310	1609	status \|= VL53L0X_write_byte(dev, 0xFF, 0x00);
nikapov	0:a1a69d32f310	1610	status \|= VL53L0X_write_byte(dev, 0x80, 0x00);
nikapov	0:a1a69d32f310	1611
nikapov	0:a1a69d32f310	1612	/* Enable all check */
nikapov	0:a1a69d32f310	1613	for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
nikapov	0:a1a69d32f310	1614	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1615	status \|= VL53L0X_set_limit_check_enable(dev, i, 1);
nikapov	0:a1a69d32f310	1616	else
nikapov	0:a1a69d32f310	1617	break;
nikapov	0:a1a69d32f310	1618
nikapov	0:a1a69d32f310	1619	}
nikapov	0:a1a69d32f310	1620
nikapov	0:a1a69d32f310	1621	/* Disable the following checks */
nikapov	0:a1a69d32f310	1622	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1623	status = VL53L0X_set_limit_check_enable(dev,
nikapov	0:a1a69d32f310	1624	VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0);
nikapov	0:a1a69d32f310	1625
nikapov	0:a1a69d32f310	1626	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1627	status = VL53L0X_set_limit_check_enable(dev,
nikapov	0:a1a69d32f310	1628	VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0);
nikapov	0:a1a69d32f310	1629
nikapov	0:a1a69d32f310	1630	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1631	status = VL53L0X_set_limit_check_enable(dev,
nikapov	0:a1a69d32f310	1632	VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0);
nikapov	0:a1a69d32f310	1633
nikapov	0:a1a69d32f310	1634	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1635	status = VL53L0X_set_limit_check_enable(dev,
nikapov	0:a1a69d32f310	1636	VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0);
nikapov	0:a1a69d32f310	1637
nikapov	0:a1a69d32f310	1638	/* Limit default values */
nikapov	0:a1a69d32f310	1639	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1640	status = VL53L0X_set_limit_check_value(dev,
nikapov	0:a1a69d32f310	1641	VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
nikapov	0:a1a69d32f310	1642	(FixPoint1616_t)(18 * 65536));
nikapov	0:a1a69d32f310	1643	}
nikapov	0:a1a69d32f310	1644	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1645	status = VL53L0X_set_limit_check_value(dev,
nikapov	0:a1a69d32f310	1646	VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
nikapov	0:a1a69d32f310	1647	(FixPoint1616_t)(25 * 65536 / 100));
nikapov	0:a1a69d32f310	1648	/* 0.25 * 65536 */
nikapov	0:a1a69d32f310	1649	}
nikapov	0:a1a69d32f310	1650
nikapov	0:a1a69d32f310	1651	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1652	status = VL53L0X_set_limit_check_value(dev,
nikapov	0:a1a69d32f310	1653	VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
nikapov	0:a1a69d32f310	1654	(FixPoint1616_t)(35 * 65536));
nikapov	0:a1a69d32f310	1655	}
nikapov	0:a1a69d32f310	1656
nikapov	0:a1a69d32f310	1657	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1658	status = VL53L0X_set_limit_check_value(dev,
nikapov	0:a1a69d32f310	1659	VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
nikapov	0:a1a69d32f310	1660	(FixPoint1616_t)(0 * 65536));
nikapov	0:a1a69d32f310	1661	}
nikapov	0:a1a69d32f310	1662
nikapov	0:a1a69d32f310	1663	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1664
nikapov	0:a1a69d32f310	1665	PALDevDataSet(dev, SequenceConfig, 0xFF);
nikapov	0:a1a69d32f310	1666	status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
nikapov	0:a1a69d32f310	1667	0xFF);
nikapov	0:a1a69d32f310	1668
nikapov	0:a1a69d32f310	1669	/* Set PAL state to tell that we are waiting for call to
nikapov	0:a1a69d32f310	1670	* VL53L0X_StaticInit */
nikapov	0:a1a69d32f310	1671	PALDevDataSet(dev, PalState, VL53L0X_STATE_WAIT_STATICINIT);
nikapov	0:a1a69d32f310	1672	}
nikapov	0:a1a69d32f310	1673
nikapov	0:a1a69d32f310	1674	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	1675	VL53L0X_SETDEVICESPECIFICPARAMETER(dev, RefSpadsInitialised, 0);
nikapov	0:a1a69d32f310	1676
nikapov	0:a1a69d32f310	1677
nikapov	0:a1a69d32f310	1678	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	1679	return status;
nikapov	0:a1a69d32f310	1680	}
nikapov	0:a1a69d32f310	1681
nikapov	0:a1a69d32f310	1682	VL53L0X_Error VL53L0X::VL53L0X_check_part_used(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	1683	uint8_t *revision,
nikapov	0:a1a69d32f310	1684	VL53L0X_DeviceInfo_t *p_VL53L0X_device_info)
nikapov	0:a1a69d32f310	1685	{
nikapov	0:a1a69d32f310	1686	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1687	uint8_t module_id_int;
nikapov	0:a1a69d32f310	1688	char *product_id_tmp;
nikapov	0:a1a69d32f310	1689
nikapov	0:a1a69d32f310	1690	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	1691
nikapov	0:a1a69d32f310	1692	status = VL53L0X_get_info_from_device(dev, 2);
nikapov	0:a1a69d32f310	1693
nikapov	0:a1a69d32f310	1694	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1695	module_id_int = VL53L0X_GETDEVICESPECIFICPARAMETER(dev, ModuleId);
nikapov	0:a1a69d32f310	1696
nikapov	0:a1a69d32f310	1697	if (module_id_int == 0) {
nikapov	0:a1a69d32f310	1698	*revision = 0;
nikapov	0:a1a69d32f310	1699	VL53L0X_COPYSTRING(p_VL53L0X_device_info->ProductId, "");
nikapov	0:a1a69d32f310	1700	} else {
nikapov	0:a1a69d32f310	1701	*revision = VL53L0X_GETDEVICESPECIFICPARAMETER(dev, Revision);
nikapov	0:a1a69d32f310	1702	product_id_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	1703	ProductId);
nikapov	0:a1a69d32f310	1704	VL53L0X_COPYSTRING(p_VL53L0X_device_info->ProductId, product_id_tmp);
nikapov	0:a1a69d32f310	1705	}
nikapov	0:a1a69d32f310	1706	}
nikapov	0:a1a69d32f310	1707
nikapov	0:a1a69d32f310	1708	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	1709	return status;
nikapov	0:a1a69d32f310	1710	}
nikapov	0:a1a69d32f310	1711
nikapov	0:a1a69d32f310	1712	VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_device_info(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	1713	VL53L0X_DeviceInfo_t *p_VL53L0X_device_info)
nikapov	0:a1a69d32f310	1714	{
nikapov	0:a1a69d32f310	1715	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1716	uint8_t revision_id;
nikapov	0:a1a69d32f310	1717	uint8_t revision;
nikapov	0:a1a69d32f310	1718
nikapov	0:a1a69d32f310	1719	status = VL53L0X_check_part_used(dev, &revision, p_VL53L0X_device_info);
nikapov	0:a1a69d32f310	1720
nikapov	0:a1a69d32f310	1721	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1722	if (revision == 0) {
nikapov	0:a1a69d32f310	1723	VL53L0X_COPYSTRING(p_VL53L0X_device_info->Name,
nikapov	0:a1a69d32f310	1724	VL53L0X_STRING_DEVICE_INFO_NAME_TS0);
nikapov	0:a1a69d32f310	1725	} else if ((revision <= 34) && (revision != 32)) {
nikapov	0:a1a69d32f310	1726	VL53L0X_COPYSTRING(p_VL53L0X_device_info->Name,
nikapov	0:a1a69d32f310	1727	VL53L0X_STRING_DEVICE_INFO_NAME_TS1);
nikapov	0:a1a69d32f310	1728	} else if (revision < 39) {
nikapov	0:a1a69d32f310	1729	VL53L0X_COPYSTRING(p_VL53L0X_device_info->Name,
nikapov	0:a1a69d32f310	1730	VL53L0X_STRING_DEVICE_INFO_NAME_TS2);
nikapov	0:a1a69d32f310	1731	} else {
nikapov	0:a1a69d32f310	1732	VL53L0X_COPYSTRING(p_VL53L0X_device_info->Name,
nikapov	0:a1a69d32f310	1733	VL53L0X_STRING_DEVICE_INFO_NAME_ES1);
nikapov	0:a1a69d32f310	1734	}
nikapov	0:a1a69d32f310	1735
nikapov	0:a1a69d32f310	1736	VL53L0X_COPYSTRING(p_VL53L0X_device_info->Type,
nikapov	0:a1a69d32f310	1737	VL53L0X_STRING_DEVICE_INFO_TYPE);
nikapov	0:a1a69d32f310	1738
nikapov	0:a1a69d32f310	1739	}
nikapov	0:a1a69d32f310	1740
nikapov	0:a1a69d32f310	1741	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1742	status = VL53L0X_read_byte(dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID,
nikapov	0:a1a69d32f310	1743	&p_VL53L0X_device_info->ProductType);
nikapov	0:a1a69d32f310	1744	}
nikapov	0:a1a69d32f310	1745
nikapov	0:a1a69d32f310	1746	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1747	status = VL53L0X_read_byte(dev,
nikapov	0:a1a69d32f310	1748	VL53L0X_REG_IDENTIFICATION_REVISION_ID,
nikapov	0:a1a69d32f310	1749	&revision_id);
nikapov	0:a1a69d32f310	1750	p_VL53L0X_device_info->ProductRevisionMajor = 1;
nikapov	0:a1a69d32f310	1751	p_VL53L0X_device_info->ProductRevisionMinor =
nikapov	0:a1a69d32f310	1752	(revision_id & 0xF0) >> 4;
nikapov	0:a1a69d32f310	1753	}
nikapov	0:a1a69d32f310	1754
nikapov	0:a1a69d32f310	1755	return status;
nikapov	0:a1a69d32f310	1756	}
nikapov	0:a1a69d32f310	1757
nikapov	0:a1a69d32f310	1758	VL53L0X_Error VL53L0X::VL53L0X_get_device_info(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	1759	VL53L0X_DeviceInfo_t *p_VL53L0X_device_info)
nikapov	0:a1a69d32f310	1760	{
nikapov	0:a1a69d32f310	1761	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1762	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	1763
nikapov	0:a1a69d32f310	1764	status = wrapped_VL53L0X_get_device_info(dev, p_VL53L0X_device_info);
nikapov	0:a1a69d32f310	1765
nikapov	0:a1a69d32f310	1766	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	1767	return status;
nikapov	0:a1a69d32f310	1768	}
nikapov	0:a1a69d32f310	1769
nikapov	0:a1a69d32f310	1770	VL53L0X_Error VL53L0X::VL53L0X_get_interrupt_mask_status(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	1771	uint32_t *p_interrupt_mask_status)
nikapov	0:a1a69d32f310	1772	{
nikapov	0:a1a69d32f310	1773	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1774	uint8_t byte;
nikapov	0:a1a69d32f310	1775	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	1776
nikapov	0:a1a69d32f310	1777	status = VL53L0X_read_byte(dev, VL53L0X_REG_RESULT_INTERRUPT_STATUS, &byte);
nikapov	0:a1a69d32f310	1778	*p_interrupt_mask_status = byte & 0x07;
nikapov	0:a1a69d32f310	1779
nikapov	0:a1a69d32f310	1780	if (byte & 0x18) {
nikapov	0:a1a69d32f310	1781	status = VL53L0X_ERROR_RANGE_ERROR;
nikapov	0:a1a69d32f310	1782	}
nikapov	0:a1a69d32f310	1783
nikapov	0:a1a69d32f310	1784	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	1785	return status;
nikapov	0:a1a69d32f310	1786	}
nikapov	0:a1a69d32f310	1787
nikapov	0:a1a69d32f310	1788	VL53L0X_Error VL53L0X::VL53L0X_get_measurement_data_ready(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	1789	uint8_t *p_measurement_data_ready)
nikapov	0:a1a69d32f310	1790	{
nikapov	0:a1a69d32f310	1791	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1792	uint8_t sys_range_status_register;
nikapov	0:a1a69d32f310	1793	uint8_t interrupt_config;
nikapov	0:a1a69d32f310	1794	uint32_t interrupt_mask;
nikapov	0:a1a69d32f310	1795	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	1796
nikapov	0:a1a69d32f310	1797	interrupt_config = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	1798	Pin0GpioFunctionality);
nikapov	0:a1a69d32f310	1799
nikapov	0:a1a69d32f310	1800	if (interrupt_config ==
nikapov	0:a1a69d32f310	1801	VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
nikapov	0:a1a69d32f310	1802	status = VL53L0X_get_interrupt_mask_status(dev, &interrupt_mask);
nikapov	0:a1a69d32f310	1803	if (interrupt_mask ==
nikapov	0:a1a69d32f310	1804	VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
nikapov	0:a1a69d32f310	1805	*p_measurement_data_ready = 1;
nikapov	0:a1a69d32f310	1806	} else {
nikapov	0:a1a69d32f310	1807	*p_measurement_data_ready = 0;
nikapov	0:a1a69d32f310	1808	}
nikapov	0:a1a69d32f310	1809	} else {
nikapov	0:a1a69d32f310	1810	status = VL53L0X_read_byte(dev, VL53L0X_REG_RESULT_RANGE_STATUS,
nikapov	0:a1a69d32f310	1811	&sys_range_status_register);
nikapov	0:a1a69d32f310	1812	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1813	if (sys_range_status_register & 0x01) {
nikapov	0:a1a69d32f310	1814	*p_measurement_data_ready = 1;
nikapov	0:a1a69d32f310	1815	} else {
nikapov	0:a1a69d32f310	1816	*p_measurement_data_ready = 0;
nikapov	0:a1a69d32f310	1817	}
nikapov	0:a1a69d32f310	1818	}
nikapov	0:a1a69d32f310	1819	}
nikapov	0:a1a69d32f310	1820
nikapov	0:a1a69d32f310	1821	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	1822	return status;
nikapov	0:a1a69d32f310	1823	}
nikapov	0:a1a69d32f310	1824
nikapov	0:a1a69d32f310	1825	VL53L0X_Error VL53L0X::VL53L0X_polling_delay(VL53L0X_DEV dev)
nikapov	0:a1a69d32f310	1826	{
nikapov	0:a1a69d32f310	1827	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1828
nikapov	0:a1a69d32f310	1829	// do nothing
nikapov	0:a1a69d32f310	1830	VL53L0X_OsDelay();
nikapov	0:a1a69d32f310	1831	return status;
nikapov	0:a1a69d32f310	1832	}
nikapov	0:a1a69d32f310	1833
nikapov	0:a1a69d32f310	1834	VL53L0X_Error VL53L0X::VL53L0X_measurement_poll_for_completion(VL53L0X_DEV dev)
nikapov	0:a1a69d32f310	1835	{
nikapov	0:a1a69d32f310	1836	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1837	uint8_t new_data_ready = 0;
nikapov	0:a1a69d32f310	1838	uint32_t loop_nb;
nikapov	0:a1a69d32f310	1839
nikapov	0:a1a69d32f310	1840	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	1841
nikapov	0:a1a69d32f310	1842	loop_nb = 0;
nikapov	0:a1a69d32f310	1843
nikapov	0:a1a69d32f310	1844	do {
nikapov	0:a1a69d32f310	1845	status = VL53L0X_get_measurement_data_ready(dev, &new_data_ready);
nikapov	0:a1a69d32f310	1846	if (status != 0) {
nikapov	0:a1a69d32f310	1847	break; /* the error is set */
nikapov	0:a1a69d32f310	1848	}
nikapov	0:a1a69d32f310	1849
nikapov	0:a1a69d32f310	1850	if (new_data_ready == 1) {
nikapov	0:a1a69d32f310	1851	break; /* done note that status == 0 */
nikapov	0:a1a69d32f310	1852	}
nikapov	0:a1a69d32f310	1853
nikapov	0:a1a69d32f310	1854	loop_nb++;
nikapov	0:a1a69d32f310	1855	if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
nikapov	0:a1a69d32f310	1856	status = VL53L0X_ERROR_TIME_OUT;
nikapov	0:a1a69d32f310	1857	break;
nikapov	0:a1a69d32f310	1858	}
nikapov	0:a1a69d32f310	1859
nikapov	0:a1a69d32f310	1860	VL53L0X_polling_delay(dev);
nikapov	0:a1a69d32f310	1861	} while (1);
nikapov	0:a1a69d32f310	1862
nikapov	0:a1a69d32f310	1863	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	1864
nikapov	0:a1a69d32f310	1865	return status;
nikapov	0:a1a69d32f310	1866	}
nikapov	0:a1a69d32f310	1867
nikapov	0:a1a69d32f310	1868	/* Group PAL Interrupt Functions */
nikapov	0:a1a69d32f310	1869	VL53L0X_Error VL53L0X::VL53L0X_clear_interrupt_mask(VL53L0X_DEV dev, uint32_t interrupt_mask)
nikapov	0:a1a69d32f310	1870	{
nikapov	0:a1a69d32f310	1871	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1872	uint8_t loop_count;
nikapov	0:a1a69d32f310	1873	uint8_t byte;
nikapov	0:a1a69d32f310	1874	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	1875
nikapov	0:a1a69d32f310	1876	/* clear bit 0 range interrupt, bit 1 error interrupt */
nikapov	0:a1a69d32f310	1877	loop_count = 0;
nikapov	0:a1a69d32f310	1878	do {
nikapov	0:a1a69d32f310	1879	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	1880	VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01);
nikapov	0:a1a69d32f310	1881	status \|= VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	1882	VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00);
nikapov	0:a1a69d32f310	1883	status \|= VL53L0X_read_byte(dev,
nikapov	0:a1a69d32f310	1884	VL53L0X_REG_RESULT_INTERRUPT_STATUS, &byte);
nikapov	0:a1a69d32f310	1885	loop_count++;
nikapov	0:a1a69d32f310	1886	} while (((byte & 0x07) != 0x00)
nikapov	0:a1a69d32f310	1887	&& (loop_count < 3)
nikapov	0:a1a69d32f310	1888	&& (status == VL53L0X_ERROR_NONE));
nikapov	0:a1a69d32f310	1889
nikapov	0:a1a69d32f310	1890
nikapov	0:a1a69d32f310	1891	if (loop_count >= 3) {
nikapov	0:a1a69d32f310	1892	status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED;
nikapov	0:a1a69d32f310	1893	}
nikapov	0:a1a69d32f310	1894
nikapov	0:a1a69d32f310	1895	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	1896	return status;
nikapov	0:a1a69d32f310	1897	}
nikapov	0:a1a69d32f310	1898
nikapov	0:a1a69d32f310	1899	VL53L0X_Error VL53L0X::VL53L0X_perform_single_ref_calibration(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	1900	uint8_t vhv_init_byte)
nikapov	0:a1a69d32f310	1901	{
nikapov	0:a1a69d32f310	1902	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1903
nikapov	0:a1a69d32f310	1904	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1905	status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSRANGE_START,
nikapov	0:a1a69d32f310	1906	VL53L0X_REG_SYSRANGE_MODE_START_STOP \|
nikapov	0:a1a69d32f310	1907	vhv_init_byte);
nikapov	0:a1a69d32f310	1908	}
nikapov	0:a1a69d32f310	1909
nikapov	0:a1a69d32f310	1910	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1911	status = VL53L0X_measurement_poll_for_completion(dev);
nikapov	0:a1a69d32f310	1912	}
nikapov	0:a1a69d32f310	1913
nikapov	0:a1a69d32f310	1914	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1915	status = VL53L0X_clear_interrupt_mask(dev, 0);
nikapov	0:a1a69d32f310	1916	}
nikapov	0:a1a69d32f310	1917
nikapov	0:a1a69d32f310	1918	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1919	status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSRANGE_START, 0x00);
nikapov	0:a1a69d32f310	1920	}
nikapov	0:a1a69d32f310	1921
nikapov	0:a1a69d32f310	1922	return status;
nikapov	0:a1a69d32f310	1923	}
nikapov	0:a1a69d32f310	1924
nikapov	0:a1a69d32f310	1925	VL53L0X_Error VL53L0X::VL53L0X_ref_calibration_io(VL53L0X_DEV dev, uint8_t read_not_write,
nikapov	0:a1a69d32f310	1926	uint8_t vhv_settings, uint8_t phase_cal,
nikapov	0:a1a69d32f310	1927	uint8_t p_vhv_settings, uint8_t p_phase_cal,
nikapov	0:a1a69d32f310	1928	const uint8_t vhv_enable, const uint8_t phase_enable)
nikapov	0:a1a69d32f310	1929	{
nikapov	0:a1a69d32f310	1930	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1931	uint8_t phase_calint = 0;
nikapov	0:a1a69d32f310	1932
nikapov	0:a1a69d32f310	1933	/* Read VHV from device */
nikapov	0:a1a69d32f310	1934	status \|= VL53L0X_write_byte(dev, 0xFF, 0x01);
nikapov	0:a1a69d32f310	1935	status \|= VL53L0X_write_byte(dev, 0x00, 0x00);
nikapov	0:a1a69d32f310	1936	status \|= VL53L0X_write_byte(dev, 0xFF, 0x00);
nikapov	0:a1a69d32f310	1937
nikapov	0:a1a69d32f310	1938	if (read_not_write) {
nikapov	0:a1a69d32f310	1939	if (vhv_enable) {
nikapov	0:a1a69d32f310	1940	status \|= VL53L0X_read_byte(dev, 0xCB, p_vhv_settings);
nikapov	0:a1a69d32f310	1941	}
nikapov	0:a1a69d32f310	1942	if (phase_enable) {
nikapov	0:a1a69d32f310	1943	status \|= VL53L0X_read_byte(dev, 0xEE, &phase_calint);
nikapov	0:a1a69d32f310	1944	}
nikapov	0:a1a69d32f310	1945	} else {
nikapov	0:a1a69d32f310	1946	if (vhv_enable) {
nikapov	0:a1a69d32f310	1947	status \|= VL53L0X_write_byte(dev, 0xCB, vhv_settings);
nikapov	0:a1a69d32f310	1948	}
nikapov	0:a1a69d32f310	1949	if (phase_enable) {
nikapov	0:a1a69d32f310	1950	status \|= VL53L0X_update_byte(dev, 0xEE, 0x80, phase_cal);
nikapov	0:a1a69d32f310	1951	}
nikapov	0:a1a69d32f310	1952	}
nikapov	0:a1a69d32f310	1953
nikapov	0:a1a69d32f310	1954	status \|= VL53L0X_write_byte(dev, 0xFF, 0x01);
nikapov	0:a1a69d32f310	1955	status \|= VL53L0X_write_byte(dev, 0x00, 0x01);
nikapov	0:a1a69d32f310	1956	status \|= VL53L0X_write_byte(dev, 0xFF, 0x00);
nikapov	0:a1a69d32f310	1957
nikapov	0:a1a69d32f310	1958	*p_phase_cal = (uint8_t)(phase_calint & 0xEF);
nikapov	0:a1a69d32f310	1959
nikapov	0:a1a69d32f310	1960	return status;
nikapov	0:a1a69d32f310	1961	}
nikapov	0:a1a69d32f310	1962
nikapov	0:a1a69d32f310	1963	VL53L0X_Error VL53L0X::VL53L0X_perform_vhv_calibration(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	1964	uint8_t *p_vhv_settings, const uint8_t get_data_enable,
nikapov	0:a1a69d32f310	1965	const uint8_t restore_config)
nikapov	0:a1a69d32f310	1966	{
nikapov	0:a1a69d32f310	1967	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	1968	uint8_t sequence_config = 0;
nikapov	0:a1a69d32f310	1969	uint8_t vhv_settings = 0;
nikapov	0:a1a69d32f310	1970	uint8_t phase_cal = 0;
nikapov	0:a1a69d32f310	1971	uint8_t phase_cal_int = 0;
nikapov	0:a1a69d32f310	1972
nikapov	0:a1a69d32f310	1973	/* store the value of the sequence config,
nikapov	0:a1a69d32f310	1974	* this will be reset before the end of the function
nikapov	0:a1a69d32f310	1975	*/
nikapov	0:a1a69d32f310	1976
nikapov	0:a1a69d32f310	1977	if (restore_config) {
nikapov	0:a1a69d32f310	1978	sequence_config = PALDevDataGet(dev, SequenceConfig);
nikapov	0:a1a69d32f310	1979	}
nikapov	0:a1a69d32f310	1980
nikapov	0:a1a69d32f310	1981	/* Run VHV */
nikapov	0:a1a69d32f310	1982	status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x01);
nikapov	0:a1a69d32f310	1983
nikapov	0:a1a69d32f310	1984	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	1985	status = VL53L0X_perform_single_ref_calibration(dev, 0x40);
nikapov	0:a1a69d32f310	1986	}
nikapov	0:a1a69d32f310	1987
nikapov	0:a1a69d32f310	1988	/* Read VHV from device */
nikapov	0:a1a69d32f310	1989	if ((status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) {
nikapov	0:a1a69d32f310	1990	status = VL53L0X_ref_calibration_io(dev, 1,
nikapov	0:a1a69d32f310	1991	vhv_settings, phase_cal, /* Not used here */
nikapov	0:a1a69d32f310	1992	p_vhv_settings, &phase_cal_int,
nikapov	0:a1a69d32f310	1993	1, 0);
nikapov	0:a1a69d32f310	1994	} else {
nikapov	0:a1a69d32f310	1995	*p_vhv_settings = 0;
nikapov	0:a1a69d32f310	1996	}
nikapov	0:a1a69d32f310	1997
nikapov	0:a1a69d32f310	1998
nikapov	0:a1a69d32f310	1999	if ((status == VL53L0X_ERROR_NONE) && restore_config) {
nikapov	0:a1a69d32f310	2000	/* restore the previous Sequence Config */
nikapov	0:a1a69d32f310	2001	status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
nikapov	0:a1a69d32f310	2002	sequence_config);
nikapov	0:a1a69d32f310	2003	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	2004	PALDevDataSet(dev, SequenceConfig, sequence_config);
nikapov	0:a1a69d32f310	2005	}
nikapov	0:a1a69d32f310	2006
nikapov	0:a1a69d32f310	2007	}
nikapov	0:a1a69d32f310	2008
nikapov	0:a1a69d32f310	2009	return status;
nikapov	0:a1a69d32f310	2010	}
nikapov	0:a1a69d32f310	2011
nikapov	0:a1a69d32f310	2012	VL53L0X_Error VL53L0X::VL53L0X_perform_phase_calibration(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	2013	uint8_t *p_phase_cal, const uint8_t get_data_enable,
nikapov	0:a1a69d32f310	2014	const uint8_t restore_config)
nikapov	0:a1a69d32f310	2015	{
nikapov	0:a1a69d32f310	2016	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2017	uint8_t sequence_config = 0;
nikapov	0:a1a69d32f310	2018	uint8_t vhv_settings = 0;
nikapov	0:a1a69d32f310	2019	uint8_t phase_cal = 0;
nikapov	0:a1a69d32f310	2020	uint8_t vhv_settingsint;
nikapov	0:a1a69d32f310	2021
nikapov	0:a1a69d32f310	2022	/* store the value of the sequence config,
nikapov	0:a1a69d32f310	2023	* this will be reset before the end of the function
nikapov	0:a1a69d32f310	2024	*/
nikapov	0:a1a69d32f310	2025
nikapov	0:a1a69d32f310	2026	if (restore_config)
nikapov	0:a1a69d32f310	2027	sequence_config = PALDevDataGet(dev, SequenceConfig);
nikapov	0:a1a69d32f310	2028
nikapov	0:a1a69d32f310	2029	/* Run PhaseCal */
nikapov	0:a1a69d32f310	2030	status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x02);
nikapov	0:a1a69d32f310	2031
nikapov	0:a1a69d32f310	2032	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	2033	status = VL53L0X_perform_single_ref_calibration(dev, 0x0);
nikapov	0:a1a69d32f310	2034	}
nikapov	0:a1a69d32f310	2035
nikapov	0:a1a69d32f310	2036	/* Read PhaseCal from device */
nikapov	0:a1a69d32f310	2037	if ((status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) {
nikapov	0:a1a69d32f310	2038	status = VL53L0X_ref_calibration_io(dev, 1,
nikapov	0:a1a69d32f310	2039	vhv_settings, phase_cal, /* Not used here */
nikapov	0:a1a69d32f310	2040	&vhv_settingsint, p_phase_cal,
nikapov	0:a1a69d32f310	2041	0, 1);
nikapov	0:a1a69d32f310	2042	} else {
nikapov	0:a1a69d32f310	2043	*p_phase_cal = 0;
nikapov	0:a1a69d32f310	2044	}
nikapov	0:a1a69d32f310	2045
nikapov	0:a1a69d32f310	2046
nikapov	0:a1a69d32f310	2047	if ((status == VL53L0X_ERROR_NONE) && restore_config) {
nikapov	0:a1a69d32f310	2048	/* restore the previous Sequence Config */
nikapov	0:a1a69d32f310	2049	status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
nikapov	0:a1a69d32f310	2050	sequence_config);
nikapov	0:a1a69d32f310	2051	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	2052	PALDevDataSet(dev, SequenceConfig, sequence_config);
nikapov	0:a1a69d32f310	2053	}
nikapov	0:a1a69d32f310	2054
nikapov	0:a1a69d32f310	2055	}
nikapov	0:a1a69d32f310	2056
nikapov	0:a1a69d32f310	2057	return status;
nikapov	0:a1a69d32f310	2058	}
nikapov	0:a1a69d32f310	2059
nikapov	0:a1a69d32f310	2060	VL53L0X_Error VL53L0X::VL53L0X_perform_ref_calibration(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	2061	uint8_t p_vhv_settings, uint8_t p_phase_cal, uint8_t get_data_enable)
nikapov	0:a1a69d32f310	2062	{
nikapov	0:a1a69d32f310	2063	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2064	uint8_t sequence_config = 0;
nikapov	0:a1a69d32f310	2065
nikapov	0:a1a69d32f310	2066	/* store the value of the sequence config,
nikapov	0:a1a69d32f310	2067	* this will be reset before the end of the function
nikapov	0:a1a69d32f310	2068	*/
nikapov	0:a1a69d32f310	2069
nikapov	0:a1a69d32f310	2070	sequence_config = PALDevDataGet(dev, SequenceConfig);
nikapov	0:a1a69d32f310	2071
nikapov	0:a1a69d32f310	2072	/* In the following function we don't save the config to optimize
nikapov	0:a1a69d32f310	2073	* writes on device. Config is saved and restored only once. */
nikapov	0:a1a69d32f310	2074	status = VL53L0X_perform_vhv_calibration(
nikapov	0:a1a69d32f310	2075	dev, p_vhv_settings, get_data_enable, 0);
nikapov	0:a1a69d32f310	2076
nikapov	0:a1a69d32f310	2077	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	2078	status = VL53L0X_perform_phase_calibration(
nikapov	0:a1a69d32f310	2079	dev, p_phase_cal, get_data_enable, 0);
nikapov	0:a1a69d32f310	2080	}
nikapov	0:a1a69d32f310	2081
nikapov	0:a1a69d32f310	2082
nikapov	0:a1a69d32f310	2083	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	2084	/* restore the previous Sequence Config */
nikapov	0:a1a69d32f310	2085	status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
nikapov	0:a1a69d32f310	2086	sequence_config);
nikapov	0:a1a69d32f310	2087	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	2088	PALDevDataSet(dev, SequenceConfig, sequence_config);
nikapov	0:a1a69d32f310	2089	}
nikapov	0:a1a69d32f310	2090
nikapov	0:a1a69d32f310	2091	}
nikapov	0:a1a69d32f310	2092
nikapov	0:a1a69d32f310	2093	return status;
nikapov	0:a1a69d32f310	2094	}
nikapov	0:a1a69d32f310	2095
nikapov	0:a1a69d32f310	2096	void VL53L0X::get_next_good_spad(uint8_t good_spad_array[], uint32_t size,
nikapov	0:a1a69d32f310	2097	uint32_t curr, int32_t *p_next)
nikapov	0:a1a69d32f310	2098	{
nikapov	0:a1a69d32f310	2099	uint32_t start_index;
nikapov	0:a1a69d32f310	2100	uint32_t fine_offset;
nikapov	0:a1a69d32f310	2101	uint32_t c_spads_per_byte = 8;
nikapov	0:a1a69d32f310	2102	uint32_t coarse_index;
nikapov	0:a1a69d32f310	2103	uint32_t fine_index;
nikapov	0:a1a69d32f310	2104	uint8_t data_byte;
nikapov	0:a1a69d32f310	2105	uint8_t success = 0;
nikapov	0:a1a69d32f310	2106
nikapov	0:a1a69d32f310	2107	/*
nikapov	0:a1a69d32f310	2108	* Starting with the current good spad, loop through the array to find
nikapov	0:a1a69d32f310	2109	* the next. i.e. the next bit set in the sequence.
nikapov	0:a1a69d32f310	2110	*
nikapov	0:a1a69d32f310	2111	* The coarse index is the byte index of the array and the fine index is
nikapov	0:a1a69d32f310	2112	* the index of the bit within each byte.
nikapov	0:a1a69d32f310	2113	*/
nikapov	0:a1a69d32f310	2114
nikapov	0:a1a69d32f310	2115	*p_next = -1;
nikapov	0:a1a69d32f310	2116
nikapov	0:a1a69d32f310	2117	start_index = curr / c_spads_per_byte;
nikapov	0:a1a69d32f310	2118	fine_offset = curr % c_spads_per_byte;
nikapov	0:a1a69d32f310	2119
nikapov	0:a1a69d32f310	2120	for (coarse_index = start_index; ((coarse_index < size) && !success);
nikapov	0:a1a69d32f310	2121	coarse_index++) {
nikapov	0:a1a69d32f310	2122	fine_index = 0;
nikapov	0:a1a69d32f310	2123	data_byte = good_spad_array[coarse_index];
nikapov	0:a1a69d32f310	2124
nikapov	0:a1a69d32f310	2125	if (coarse_index == start_index) {
nikapov	0:a1a69d32f310	2126	/* locate the bit position of the provided current
nikapov	0:a1a69d32f310	2127	* spad bit before iterating */
nikapov	0:a1a69d32f310	2128	data_byte >>= fine_offset;
nikapov	0:a1a69d32f310	2129	fine_index = fine_offset;
nikapov	0:a1a69d32f310	2130	}
nikapov	0:a1a69d32f310	2131
nikapov	0:a1a69d32f310	2132	while (fine_index < c_spads_per_byte) {
nikapov	0:a1a69d32f310	2133	if ((data_byte & 0x1) == 1) {
nikapov	0:a1a69d32f310	2134	success = 1;
nikapov	0:a1a69d32f310	2135	p_next = coarse_index c_spads_per_byte + fine_index;
nikapov	0:a1a69d32f310	2136	break;
nikapov	0:a1a69d32f310	2137	}
nikapov	0:a1a69d32f310	2138	data_byte >>= 1;
nikapov	0:a1a69d32f310	2139	fine_index++;
nikapov	0:a1a69d32f310	2140	}
nikapov	0:a1a69d32f310	2141	}
nikapov	0:a1a69d32f310	2142	}
nikapov	0:a1a69d32f310	2143
nikapov	0:a1a69d32f310	2144	uint8_t VL53L0X::is_aperture(uint32_t spad_index)
nikapov	0:a1a69d32f310	2145	{
nikapov	0:a1a69d32f310	2146	/*
nikapov	0:a1a69d32f310	2147	* This function reports if a given spad index is an aperture SPAD by
nikapov	0:a1a69d32f310	2148	* deriving the quadrant.
nikapov	0:a1a69d32f310	2149	*/
nikapov	0:a1a69d32f310	2150	uint32_t quadrant;
nikapov	0:a1a69d32f310	2151	uint8_t is_aperture = 1;
nikapov	0:a1a69d32f310	2152	quadrant = spad_index >> 6;
nikapov	0:a1a69d32f310	2153	if (refArrayQuadrants[quadrant] == REF_ARRAY_SPAD_0) {
nikapov	0:a1a69d32f310	2154	is_aperture = 0;
nikapov	0:a1a69d32f310	2155	}
nikapov	0:a1a69d32f310	2156
nikapov	0:a1a69d32f310	2157	return is_aperture;
nikapov	0:a1a69d32f310	2158	}
nikapov	0:a1a69d32f310	2159
nikapov	0:a1a69d32f310	2160	VL53L0X_Error VL53L0X::enable_spad_bit(uint8_t spad_array[], uint32_t size,
nikapov	0:a1a69d32f310	2161	uint32_t spad_index)
nikapov	0:a1a69d32f310	2162	{
nikapov	0:a1a69d32f310	2163	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2164	uint32_t c_spads_per_byte = 8;
nikapov	0:a1a69d32f310	2165	uint32_t coarse_index;
nikapov	0:a1a69d32f310	2166	uint32_t fine_index;
nikapov	0:a1a69d32f310	2167
nikapov	0:a1a69d32f310	2168	coarse_index = spad_index / c_spads_per_byte;
nikapov	0:a1a69d32f310	2169	fine_index = spad_index % c_spads_per_byte;
nikapov	0:a1a69d32f310	2170	if (coarse_index >= size) {
nikapov	0:a1a69d32f310	2171	status = VL53L0X_ERROR_REF_SPAD_INIT;
nikapov	0:a1a69d32f310	2172	} else {
nikapov	0:a1a69d32f310	2173	spad_array[coarse_index] \|= (1 << fine_index);
nikapov	0:a1a69d32f310	2174	}
nikapov	0:a1a69d32f310	2175
nikapov	0:a1a69d32f310	2176	return status;
nikapov	0:a1a69d32f310	2177	}
nikapov	0:a1a69d32f310	2178
nikapov	0:a1a69d32f310	2179	VL53L0X_Error VL53L0X::set_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array)
nikapov	0:a1a69d32f310	2180	{
nikapov	0:a1a69d32f310	2181	VL53L0X_Error status = VL53L0X_write_multi(dev,
nikapov	0:a1a69d32f310	2182	VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
nikapov	0:a1a69d32f310	2183	p_ref_spad_array, 6);
nikapov	0:a1a69d32f310	2184
nikapov	0:a1a69d32f310	2185	return status;
nikapov	0:a1a69d32f310	2186	}
nikapov	0:a1a69d32f310	2187
nikapov	0:a1a69d32f310	2188	VL53L0X_Error VL53L0X::get_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array)
nikapov	0:a1a69d32f310	2189	{
nikapov	0:a1a69d32f310	2190	VL53L0X_Error status = VL53L0X_read_multi(dev,
nikapov	0:a1a69d32f310	2191	VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
nikapov	0:a1a69d32f310	2192	p_ref_spad_array,
nikapov	0:a1a69d32f310	2193	6);
nikapov	0:a1a69d32f310	2194	// VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2195	// uint8_t count=0;
nikapov	0:a1a69d32f310	2196
nikapov	0:a1a69d32f310	2197	// for (count = 0; count < 6; count++)
nikapov	0:a1a69d32f310	2198	// status = VL53L0X_RdByte(Dev, (VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 + count), &refSpadArray[count]);
nikapov	0:a1a69d32f310	2199	return status;
nikapov	0:a1a69d32f310	2200	}
nikapov	0:a1a69d32f310	2201
nikapov	0:a1a69d32f310	2202	VL53L0X_Error VL53L0X::enable_ref_spads(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	2203	uint8_t aperture_spads,
nikapov	0:a1a69d32f310	2204	uint8_t good_spad_array[],
nikapov	0:a1a69d32f310	2205	uint8_t spad_array[],
nikapov	0:a1a69d32f310	2206	uint32_t size,
nikapov	0:a1a69d32f310	2207	uint32_t start,
nikapov	0:a1a69d32f310	2208	uint32_t offset,
nikapov	0:a1a69d32f310	2209	uint32_t spad_count,
nikapov	0:a1a69d32f310	2210	uint32_t *p_last_spad)
nikapov	0:a1a69d32f310	2211	{
nikapov	0:a1a69d32f310	2212	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2213	uint32_t index;
nikapov	0:a1a69d32f310	2214	uint32_t i;
nikapov	0:a1a69d32f310	2215	int32_t next_good_spad = offset;
nikapov	0:a1a69d32f310	2216	uint32_t current_spad;
nikapov	0:a1a69d32f310	2217	uint8_t check_spad_array[6];
nikapov	0:a1a69d32f310	2218
nikapov	0:a1a69d32f310	2219	/*
nikapov	0:a1a69d32f310	2220	* This function takes in a spad array which may or may not have SPADS
nikapov	0:a1a69d32f310	2221	* already enabled and appends from a given offset a requested number
nikapov	0:a1a69d32f310	2222	* of new SPAD enables. The 'good spad map' is applied to
nikapov	0:a1a69d32f310	2223	* determine the next SPADs to enable.
nikapov	0:a1a69d32f310	2224	*
nikapov	0:a1a69d32f310	2225	* This function applies to only aperture or only non-aperture spads.
nikapov	0:a1a69d32f310	2226	* Checks are performed to ensure this.
nikapov	0:a1a69d32f310	2227	*/
nikapov	0:a1a69d32f310	2228
nikapov	0:a1a69d32f310	2229	current_spad = offset;
nikapov	0:a1a69d32f310	2230	for (index = 0; index < spad_count; index++) {
nikapov	0:a1a69d32f310	2231	get_next_good_spad(good_spad_array, size, current_spad,
nikapov	0:a1a69d32f310	2232	&next_good_spad);
nikapov	0:a1a69d32f310	2233
nikapov	0:a1a69d32f310	2234	if (next_good_spad == -1) {
nikapov	0:a1a69d32f310	2235	status = VL53L0X_ERROR_REF_SPAD_INIT;
nikapov	0:a1a69d32f310	2236	break;
nikapov	0:a1a69d32f310	2237	}
nikapov	0:a1a69d32f310	2238
nikapov	0:a1a69d32f310	2239	/* Confirm that the next good SPAD is non-aperture */
nikapov	0:a1a69d32f310	2240	if (is_aperture(start + next_good_spad) != aperture_spads) {
nikapov	0:a1a69d32f310	2241	/* if we can't get the required number of good aperture
nikapov	0:a1a69d32f310	2242	* spads from the current quadrant then this is an error
nikapov	0:a1a69d32f310	2243	*/
nikapov	0:a1a69d32f310	2244	status = VL53L0X_ERROR_REF_SPAD_INIT;
nikapov	0:a1a69d32f310	2245	break;
nikapov	0:a1a69d32f310	2246	}
nikapov	0:a1a69d32f310	2247	current_spad = (uint32_t)next_good_spad;
nikapov	0:a1a69d32f310	2248	enable_spad_bit(spad_array, size, current_spad);
nikapov	0:a1a69d32f310	2249	current_spad++;
nikapov	0:a1a69d32f310	2250	}
nikapov	0:a1a69d32f310	2251	*p_last_spad = current_spad;
nikapov	0:a1a69d32f310	2252
nikapov	0:a1a69d32f310	2253	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	2254	status = set_ref_spad_map(dev, spad_array);
nikapov	0:a1a69d32f310	2255	}
nikapov	0:a1a69d32f310	2256
nikapov	0:a1a69d32f310	2257
nikapov	0:a1a69d32f310	2258	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	2259	status = get_ref_spad_map(dev, check_spad_array);
nikapov	0:a1a69d32f310	2260
nikapov	0:a1a69d32f310	2261	i = 0;
nikapov	0:a1a69d32f310	2262
nikapov	0:a1a69d32f310	2263	/* Compare spad maps. If not equal report error. */
nikapov	0:a1a69d32f310	2264	while (i < size) {
nikapov	0:a1a69d32f310	2265	if (spad_array[i] != check_spad_array[i]) {
nikapov	0:a1a69d32f310	2266	status = VL53L0X_ERROR_REF_SPAD_INIT;
nikapov	0:a1a69d32f310	2267	break;
nikapov	0:a1a69d32f310	2268	}
nikapov	0:a1a69d32f310	2269	i++;
nikapov	0:a1a69d32f310	2270	}
nikapov	0:a1a69d32f310	2271	}
nikapov	0:a1a69d32f310	2272	return status;
nikapov	0:a1a69d32f310	2273	}
nikapov	0:a1a69d32f310	2274
nikapov	0:a1a69d32f310	2275	VL53L0X_Error VL53L0X::VL53L0X_set_device_mode(VL53L0X_DEV dev, VL53L0X_DeviceModes device_mode)
nikapov	0:a1a69d32f310	2276	{
nikapov	0:a1a69d32f310	2277	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2278
nikapov	0:a1a69d32f310	2279	LOG_FUNCTION_START("%d", (int)DeviceMode);
nikapov	0:a1a69d32f310	2280
nikapov	0:a1a69d32f310	2281	switch (device_mode) {
nikapov	0:a1a69d32f310	2282	case VL53L0X_DEVICEMODE_SINGLE_RANGING:
nikapov	0:a1a69d32f310	2283	case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
nikapov	0:a1a69d32f310	2284	case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
nikapov	0:a1a69d32f310	2285	case VL53L0X_DEVICEMODE_GPIO_DRIVE:
nikapov	0:a1a69d32f310	2286	case VL53L0X_DEVICEMODE_GPIO_OSC:
nikapov	0:a1a69d32f310	2287	/* Supported modes */
nikapov	0:a1a69d32f310	2288	VL53L0X_SETPARAMETERFIELD(dev, DeviceMode, device_mode);
nikapov	0:a1a69d32f310	2289	break;
nikapov	0:a1a69d32f310	2290	default:
nikapov	0:a1a69d32f310	2291	/* Unsupported mode */
nikapov	0:a1a69d32f310	2292	status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
nikapov	0:a1a69d32f310	2293	}
nikapov	0:a1a69d32f310	2294
nikapov	0:a1a69d32f310	2295	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	2296	return status;
nikapov	0:a1a69d32f310	2297	}
nikapov	0:a1a69d32f310	2298
nikapov	0:a1a69d32f310	2299	VL53L0X_Error VL53L0X::VL53L0X_set_interrupt_thresholds(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	2300	VL53L0X_DeviceModes device_mode, FixPoint1616_t threshold_low,
nikapov	0:a1a69d32f310	2301	FixPoint1616_t threshold_high)
nikapov	0:a1a69d32f310	2302	{
nikapov	0:a1a69d32f310	2303	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2304	uint16_t threshold16;
nikapov	0:a1a69d32f310	2305	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	2306
nikapov	0:a1a69d32f310	2307	/* no dependency on DeviceMode for Ewok */
nikapov	0:a1a69d32f310	2308	/* Need to divide by 2 because the FW will apply a x2 */
nikapov	0:a1a69d32f310	2309	threshold16 = (uint16_t)((threshold_low >> 17) & 0x00fff);
nikapov	0:a1a69d32f310	2310	status = VL53L0X_write_word(dev, VL53L0X_REG_SYSTEM_THRESH_LOW, threshold16);
nikapov	0:a1a69d32f310	2311
nikapov	0:a1a69d32f310	2312	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	2313	/* Need to divide by 2 because the FW will apply a x2 */
nikapov	0:a1a69d32f310	2314	threshold16 = (uint16_t)((threshold_high >> 17) & 0x00fff);
nikapov	0:a1a69d32f310	2315	status = VL53L0X_write_word(dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
nikapov	0:a1a69d32f310	2316	threshold16);
nikapov	0:a1a69d32f310	2317	}
nikapov	0:a1a69d32f310	2318
nikapov	0:a1a69d32f310	2319	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	2320	return status;
nikapov	0:a1a69d32f310	2321	}
nikapov	0:a1a69d32f310	2322
nikapov	0:a1a69d32f310	2323	VL53L0X_Error VL53L0X::VL53L0X_get_interrupt_thresholds(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	2324	VL53L0X_DeviceModes device_mode, FixPoint1616_t *p_threshold_low,
nikapov	0:a1a69d32f310	2325	FixPoint1616_t *p_threshold_high)
nikapov	0:a1a69d32f310	2326	{
nikapov	0:a1a69d32f310	2327	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2328	uint16_t threshold16;
nikapov	0:a1a69d32f310	2329	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	2330
nikapov	0:a1a69d32f310	2331	/* no dependency on DeviceMode for Ewok */
nikapov	0:a1a69d32f310	2332
nikapov	0:a1a69d32f310	2333	status = VL53L0X_read_word(dev, VL53L0X_REG_SYSTEM_THRESH_LOW, &threshold16);
nikapov	0:a1a69d32f310	2334	/* Need to multiply by 2 because the FW will apply a x2 */
nikapov	0:a1a69d32f310	2335	*p_threshold_low = (FixPoint1616_t)((0x00fff & threshold16) << 17);
nikapov	0:a1a69d32f310	2336
nikapov	0:a1a69d32f310	2337	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	2338	status = VL53L0X_read_word(dev, VL53L0X_REG_SYSTEM_THRESH_HIGH,
nikapov	0:a1a69d32f310	2339	&threshold16);
nikapov	0:a1a69d32f310	2340	/* Need to multiply by 2 because the FW will apply a x2 */
nikapov	0:a1a69d32f310	2341	*p_threshold_high =
nikapov	0:a1a69d32f310	2342	(FixPoint1616_t)((0x00fff & threshold16) << 17);
nikapov	0:a1a69d32f310	2343	}
nikapov	0:a1a69d32f310	2344
nikapov	0:a1a69d32f310	2345	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	2346	return status;
nikapov	0:a1a69d32f310	2347	}
nikapov	0:a1a69d32f310	2348
nikapov	0:a1a69d32f310	2349	VL53L0X_Error VL53L0X::VL53L0X_load_tuning_settings(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	2350	uint8_t *p_tuning_setting_buffer)
nikapov	0:a1a69d32f310	2351	{
nikapov	0:a1a69d32f310	2352	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2353	int i;
nikapov	0:a1a69d32f310	2354	int index;
nikapov	0:a1a69d32f310	2355	uint8_t msb;
nikapov	0:a1a69d32f310	2356	uint8_t lsb;
nikapov	0:a1a69d32f310	2357	uint8_t select_param;
nikapov	0:a1a69d32f310	2358	uint8_t number_of_writes;
nikapov	0:a1a69d32f310	2359	uint8_t address;
nikapov	0:a1a69d32f310	2360	uint8_t local_buffer[4]; /* max */
nikapov	0:a1a69d32f310	2361	uint16_t temp16;
nikapov	0:a1a69d32f310	2362
nikapov	0:a1a69d32f310	2363	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	2364
nikapov	0:a1a69d32f310	2365	index = 0;
nikapov	0:a1a69d32f310	2366
nikapov	0:a1a69d32f310	2367	while ((*(p_tuning_setting_buffer + index) != 0) &&
nikapov	0:a1a69d32f310	2368	(status == VL53L0X_ERROR_NONE)) {
nikapov	0:a1a69d32f310	2369	number_of_writes = *(p_tuning_setting_buffer + index);
nikapov	0:a1a69d32f310	2370	index++;
nikapov	0:a1a69d32f310	2371	if (number_of_writes == 0xFF) {
nikapov	0:a1a69d32f310	2372	/* internal parameters */
nikapov	0:a1a69d32f310	2373	select_param = *(p_tuning_setting_buffer + index);
nikapov	0:a1a69d32f310	2374	index++;
nikapov	0:a1a69d32f310	2375	switch (select_param) {
nikapov	0:a1a69d32f310	2376	case 0: /* uint16_t SigmaEstRefArray -> 2 bytes */
nikapov	0:a1a69d32f310	2377	msb = *(p_tuning_setting_buffer + index);
nikapov	0:a1a69d32f310	2378	index++;
nikapov	0:a1a69d32f310	2379	lsb = *(p_tuning_setting_buffer + index);
nikapov	0:a1a69d32f310	2380	index++;
nikapov	0:a1a69d32f310	2381	temp16 = VL53L0X_MAKEUINT16(lsb, msb);
nikapov	0:a1a69d32f310	2382	PALDevDataSet(dev, SigmaEstRefArray, temp16);
nikapov	0:a1a69d32f310	2383	break;
nikapov	0:a1a69d32f310	2384	case 1: /* uint16_t SigmaEstEffPulseWidth -> 2 bytes */
nikapov	0:a1a69d32f310	2385	msb = *(p_tuning_setting_buffer + index);
nikapov	0:a1a69d32f310	2386	index++;
nikapov	0:a1a69d32f310	2387	lsb = *(p_tuning_setting_buffer + index);
nikapov	0:a1a69d32f310	2388	index++;
nikapov	0:a1a69d32f310	2389	temp16 = VL53L0X_MAKEUINT16(lsb, msb);
nikapov	0:a1a69d32f310	2390	PALDevDataSet(dev, SigmaEstEffPulseWidth,
nikapov	0:a1a69d32f310	2391	temp16);
nikapov	0:a1a69d32f310	2392	break;
nikapov	0:a1a69d32f310	2393	case 2: /* uint16_t SigmaEstEffAmbWidth -> 2 bytes */
nikapov	0:a1a69d32f310	2394	msb = *(p_tuning_setting_buffer + index);
nikapov	0:a1a69d32f310	2395	index++;
nikapov	0:a1a69d32f310	2396	lsb = *(p_tuning_setting_buffer + index);
nikapov	0:a1a69d32f310	2397	index++;
nikapov	0:a1a69d32f310	2398	temp16 = VL53L0X_MAKEUINT16(lsb, msb);
nikapov	0:a1a69d32f310	2399	PALDevDataSet(dev, SigmaEstEffAmbWidth, temp16);
nikapov	0:a1a69d32f310	2400	break;
nikapov	0:a1a69d32f310	2401	case 3: /* uint16_t targetRefRate -> 2 bytes */
nikapov	0:a1a69d32f310	2402	msb = *(p_tuning_setting_buffer + index);
nikapov	0:a1a69d32f310	2403	index++;
nikapov	0:a1a69d32f310	2404	lsb = *(p_tuning_setting_buffer + index);
nikapov	0:a1a69d32f310	2405	index++;
nikapov	0:a1a69d32f310	2406	temp16 = VL53L0X_MAKEUINT16(lsb, msb);
nikapov	0:a1a69d32f310	2407	PALDevDataSet(dev, targetRefRate, temp16);
nikapov	0:a1a69d32f310	2408	break;
nikapov	0:a1a69d32f310	2409	default: /* invalid parameter */
nikapov	0:a1a69d32f310	2410	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	2411	}
nikapov	0:a1a69d32f310	2412
nikapov	0:a1a69d32f310	2413	} else if (number_of_writes <= 4) {
nikapov	0:a1a69d32f310	2414	address = *(p_tuning_setting_buffer + index);
nikapov	0:a1a69d32f310	2415	index++;
nikapov	0:a1a69d32f310	2416
nikapov	0:a1a69d32f310	2417	for (i = 0; i < number_of_writes; i++) {
nikapov	0:a1a69d32f310	2418	local_buffer[i] = *(p_tuning_setting_buffer +
nikapov	0:a1a69d32f310	2419	index);
nikapov	0:a1a69d32f310	2420	index++;
nikapov	0:a1a69d32f310	2421	}
nikapov	0:a1a69d32f310	2422
nikapov	0:a1a69d32f310	2423	status = VL53L0X_write_multi(dev, address, local_buffer,
nikapov	0:a1a69d32f310	2424	number_of_writes);
nikapov	0:a1a69d32f310	2425
nikapov	0:a1a69d32f310	2426	} else {
nikapov	0:a1a69d32f310	2427	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	2428	}
nikapov	0:a1a69d32f310	2429	}
nikapov	0:a1a69d32f310	2430
nikapov	0:a1a69d32f310	2431	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	2432	return status;
nikapov	0:a1a69d32f310	2433	}
nikapov	0:a1a69d32f310	2434
nikapov	0:a1a69d32f310	2435	VL53L0X_Error VL53L0X::VL53L0X_check_and_load_interrupt_settings(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	2436	uint8_t start_not_stopflag)
nikapov	0:a1a69d32f310	2437	{
nikapov	0:a1a69d32f310	2438	uint8_t interrupt_config;
nikapov	0:a1a69d32f310	2439	FixPoint1616_t threshold_low;
nikapov	0:a1a69d32f310	2440	FixPoint1616_t threshold_high;
nikapov	0:a1a69d32f310	2441	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2442
nikapov	0:a1a69d32f310	2443	interrupt_config = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	2444	Pin0GpioFunctionality);
nikapov	0:a1a69d32f310	2445
nikapov	0:a1a69d32f310	2446	if ((interrupt_config ==
nikapov	0:a1a69d32f310	2447	VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) \|\|
nikapov	0:a1a69d32f310	2448	(interrupt_config ==
nikapov	0:a1a69d32f310	2449	VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) \|\|
nikapov	0:a1a69d32f310	2450	(interrupt_config ==
nikapov	0:a1a69d32f310	2451	VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) {
nikapov	0:a1a69d32f310	2452
nikapov	0:a1a69d32f310	2453	status = VL53L0X_get_interrupt_thresholds(dev,
nikapov	0:a1a69d32f310	2454	VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
nikapov	0:a1a69d32f310	2455	&threshold_low, &threshold_high);
nikapov	0:a1a69d32f310	2456
nikapov	0:a1a69d32f310	2457	if (((threshold_low > 255 * 65536) \|\|
nikapov	0:a1a69d32f310	2458	(threshold_high > 255 * 65536)) &&
nikapov	0:a1a69d32f310	2459	(status == VL53L0X_ERROR_NONE)) {
nikapov	0:a1a69d32f310	2460
nikapov	0:a1a69d32f310	2461	if (start_not_stopflag != 0) {
nikapov	0:a1a69d32f310	2462	status = VL53L0X_load_tuning_settings(dev,
nikapov	0:a1a69d32f310	2463	InterruptThresholdSettings);
nikapov	0:a1a69d32f310	2464	} else {
nikapov	0:a1a69d32f310	2465	status \|= VL53L0X_write_byte(dev, 0xFF, 0x04);
nikapov	0:a1a69d32f310	2466	status \|= VL53L0X_write_byte(dev, 0x70, 0x00);
nikapov	0:a1a69d32f310	2467	status \|= VL53L0X_write_byte(dev, 0xFF, 0x00);
nikapov	0:a1a69d32f310	2468	status \|= VL53L0X_write_byte(dev, 0x80, 0x00);
nikapov	0:a1a69d32f310	2469	}
nikapov	0:a1a69d32f310	2470
nikapov	0:a1a69d32f310	2471	}
nikapov	0:a1a69d32f310	2472
nikapov	0:a1a69d32f310	2473
nikapov	0:a1a69d32f310	2474	}
nikapov	0:a1a69d32f310	2475
nikapov	0:a1a69d32f310	2476	return status;
nikapov	0:a1a69d32f310	2477
nikapov	0:a1a69d32f310	2478	}
nikapov	0:a1a69d32f310	2479
nikapov	0:a1a69d32f310	2480	VL53L0X_Error VL53L0X::VL53L0X_start_measurement(VL53L0X_DEV dev)
nikapov	0:a1a69d32f310	2481	{
nikapov	0:a1a69d32f310	2482	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2483	VL53L0X_DeviceModes device_mode;
nikapov	0:a1a69d32f310	2484	uint8_t byte;
nikapov	0:a1a69d32f310	2485	uint8_t start_stop_byte = VL53L0X_REG_SYSRANGE_MODE_START_STOP;
nikapov	0:a1a69d32f310	2486	uint32_t loop_nb;
nikapov	0:a1a69d32f310	2487	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	2488
nikapov	0:a1a69d32f310	2489	/* Get Current DeviceMode */
nikapov	0:a1a69d32f310	2490	VL53L0X_get_device_mode(dev, &device_mode);
nikapov	0:a1a69d32f310	2491
nikapov	0:a1a69d32f310	2492	status = VL53L0X_write_byte(dev, 0x80, 0x01);
nikapov	0:a1a69d32f310	2493	status = VL53L0X_write_byte(dev, 0xFF, 0x01);
nikapov	0:a1a69d32f310	2494	status = VL53L0X_write_byte(dev, 0x00, 0x00);
nikapov	0:a1a69d32f310	2495	status = VL53L0X_write_byte(dev, 0x91, PALDevDataGet(dev, StopVariable));
nikapov	0:a1a69d32f310	2496	status = VL53L0X_write_byte(dev, 0x00, 0x01);
nikapov	0:a1a69d32f310	2497	status = VL53L0X_write_byte(dev, 0xFF, 0x00);
nikapov	0:a1a69d32f310	2498	status = VL53L0X_write_byte(dev, 0x80, 0x00);
nikapov	0:a1a69d32f310	2499
nikapov	0:a1a69d32f310	2500	switch (device_mode) {
nikapov	0:a1a69d32f310	2501	case VL53L0X_DEVICEMODE_SINGLE_RANGING:
nikapov	0:a1a69d32f310	2502	status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSRANGE_START, 0x01);
nikapov	0:a1a69d32f310	2503
nikapov	0:a1a69d32f310	2504	byte = start_stop_byte;
nikapov	0:a1a69d32f310	2505	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	2506	/* Wait until start bit has been cleared */
nikapov	0:a1a69d32f310	2507	loop_nb = 0;
nikapov	0:a1a69d32f310	2508	do {
nikapov	0:a1a69d32f310	2509	if (loop_nb > 0)
nikapov	0:a1a69d32f310	2510	status = VL53L0X_read_byte(dev,
nikapov	0:a1a69d32f310	2511	VL53L0X_REG_SYSRANGE_START, &byte);
nikapov	0:a1a69d32f310	2512	loop_nb = loop_nb + 1;
nikapov	0:a1a69d32f310	2513	} while (((byte & start_stop_byte) == start_stop_byte)
nikapov	0:a1a69d32f310	2514	&& (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	2515	&& (loop_nb < VL53L0X_DEFAULT_MAX_LOOP));
nikapov	0:a1a69d32f310	2516
nikapov	0:a1a69d32f310	2517	if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP)
nikapov	0:a1a69d32f310	2518	status = VL53L0X_ERROR_TIME_OUT;
nikapov	0:a1a69d32f310	2519
nikapov	0:a1a69d32f310	2520	}
nikapov	0:a1a69d32f310	2521
nikapov	0:a1a69d32f310	2522	break;
nikapov	0:a1a69d32f310	2523	case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
nikapov	0:a1a69d32f310	2524	/* Back-to-back mode */
nikapov	0:a1a69d32f310	2525
nikapov	0:a1a69d32f310	2526	/* Check if need to apply interrupt settings */
nikapov	0:a1a69d32f310	2527	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	2528	status = VL53L0X_check_and_load_interrupt_settings(dev, 1);
nikapov	0:a1a69d32f310	2529
nikapov	0:a1a69d32f310	2530	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	2531	VL53L0X_REG_SYSRANGE_START,
nikapov	0:a1a69d32f310	2532	VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK);
nikapov	0:a1a69d32f310	2533	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	2534	/* Set PAL State to Running */
nikapov	0:a1a69d32f310	2535	PALDevDataSet(dev, PalState, VL53L0X_STATE_RUNNING);
nikapov	0:a1a69d32f310	2536	}
nikapov	0:a1a69d32f310	2537	break;
nikapov	0:a1a69d32f310	2538	case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
nikapov	0:a1a69d32f310	2539	/* Continuous mode */
nikapov	0:a1a69d32f310	2540	/* Check if need to apply interrupt settings */
nikapov	0:a1a69d32f310	2541	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	2542	status = VL53L0X_check_and_load_interrupt_settings(dev, 1);
nikapov	0:a1a69d32f310	2543
nikapov	0:a1a69d32f310	2544	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	2545	VL53L0X_REG_SYSRANGE_START,
nikapov	0:a1a69d32f310	2546	VL53L0X_REG_SYSRANGE_MODE_TIMED);
nikapov	0:a1a69d32f310	2547
nikapov	0:a1a69d32f310	2548	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	2549	/* Set PAL State to Running */
nikapov	0:a1a69d32f310	2550	PALDevDataSet(dev, PalState, VL53L0X_STATE_RUNNING);
nikapov	0:a1a69d32f310	2551	}
nikapov	0:a1a69d32f310	2552	break;
nikapov	0:a1a69d32f310	2553	default:
nikapov	0:a1a69d32f310	2554	/* Selected mode not supported */
nikapov	0:a1a69d32f310	2555	status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
nikapov	0:a1a69d32f310	2556	}
nikapov	0:a1a69d32f310	2557
nikapov	0:a1a69d32f310	2558
nikapov	0:a1a69d32f310	2559	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	2560	return status;
nikapov	0:a1a69d32f310	2561	}
nikapov	0:a1a69d32f310	2562
nikapov	0:a1a69d32f310	2563	/* Group PAL Measurement Functions */
nikapov	0:a1a69d32f310	2564	VL53L0X_Error VL53L0X::VL53L0X_perform_single_measurement(VL53L0X_DEV dev)
nikapov	0:a1a69d32f310	2565	{
nikapov	0:a1a69d32f310	2566	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2567	VL53L0X_DeviceModes device_mode;
nikapov	0:a1a69d32f310	2568
nikapov	0:a1a69d32f310	2569	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	2570
nikapov	0:a1a69d32f310	2571	/* Get Current DeviceMode */
nikapov	0:a1a69d32f310	2572	status = VL53L0X_get_device_mode(dev, &device_mode);
nikapov	0:a1a69d32f310	2573
nikapov	0:a1a69d32f310	2574	/* Start immediately to run a single ranging measurement in case of
nikapov	0:a1a69d32f310	2575	* single ranging or single histogram */
nikapov	0:a1a69d32f310	2576	if (status == VL53L0X_ERROR_NONE
nikapov	0:a1a69d32f310	2577	&& device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING) {
nikapov	0:a1a69d32f310	2578	status = VL53L0X_start_measurement(dev);
nikapov	0:a1a69d32f310	2579	}
nikapov	0:a1a69d32f310	2580
nikapov	0:a1a69d32f310	2581
nikapov	0:a1a69d32f310	2582	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	2583	status = VL53L0X_measurement_poll_for_completion(dev);
nikapov	0:a1a69d32f310	2584	}
nikapov	0:a1a69d32f310	2585
nikapov	0:a1a69d32f310	2586
nikapov	0:a1a69d32f310	2587	/* Change PAL State in case of single ranging or single histogram */
nikapov	0:a1a69d32f310	2588	if (status == VL53L0X_ERROR_NONE
nikapov	0:a1a69d32f310	2589	&& device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING)
nikapov	0:a1a69d32f310	2590	PALDevDataSet(dev, PalState, VL53L0X_STATE_IDLE);
nikapov	0:a1a69d32f310	2591
nikapov	0:a1a69d32f310	2592
nikapov	0:a1a69d32f310	2593	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	2594	return status;
nikapov	0:a1a69d32f310	2595	}
nikapov	0:a1a69d32f310	2596
nikapov	0:a1a69d32f310	2597	VL53L0X_Error VL53L0X::VL53L0X_get_x_talk_compensation_enable(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	2598	uint8_t *p_x_talk_compensation_enable)
nikapov	0:a1a69d32f310	2599	{
nikapov	0:a1a69d32f310	2600	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2601	uint8_t temp8;
nikapov	0:a1a69d32f310	2602	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	2603
nikapov	0:a1a69d32f310	2604	VL53L0X_GETPARAMETERFIELD(dev, XTalkCompensationEnable, temp8);
nikapov	0:a1a69d32f310	2605	*p_x_talk_compensation_enable = temp8;
nikapov	0:a1a69d32f310	2606
nikapov	0:a1a69d32f310	2607	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	2608	return status;
nikapov	0:a1a69d32f310	2609	}
nikapov	0:a1a69d32f310	2610
nikapov	0:a1a69d32f310	2611	VL53L0X_Error VL53L0X::VL53L0X_get_total_xtalk_rate(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	2612	VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
nikapov	0:a1a69d32f310	2613	FixPoint1616_t *p_total_xtalk_rate_mcps)
nikapov	0:a1a69d32f310	2614	{
nikapov	0:a1a69d32f310	2615	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2616
nikapov	0:a1a69d32f310	2617	uint8_t xtalk_comp_enable;
nikapov	0:a1a69d32f310	2618	FixPoint1616_t total_xtalk_mega_cps;
nikapov	0:a1a69d32f310	2619	FixPoint1616_t xtalk_per_spad_mega_cps;
nikapov	0:a1a69d32f310	2620
nikapov	0:a1a69d32f310	2621	*p_total_xtalk_rate_mcps = 0;
nikapov	0:a1a69d32f310	2622
nikapov	0:a1a69d32f310	2623	status = VL53L0X_get_x_talk_compensation_enable(dev, &xtalk_comp_enable);
nikapov	0:a1a69d32f310	2624	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	2625
nikapov	0:a1a69d32f310	2626	if (xtalk_comp_enable) {
nikapov	0:a1a69d32f310	2627
nikapov	0:a1a69d32f310	2628	VL53L0X_GETPARAMETERFIELD(
nikapov	0:a1a69d32f310	2629	dev,
nikapov	0:a1a69d32f310	2630	XTalkCompensationRateMegaCps,
nikapov	0:a1a69d32f310	2631	xtalk_per_spad_mega_cps);
nikapov	0:a1a69d32f310	2632
nikapov	0:a1a69d32f310	2633	/* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */
nikapov	0:a1a69d32f310	2634	total_xtalk_mega_cps =
nikapov	0:a1a69d32f310	2635	p_ranging_measurement_data->EffectiveSpadRtnCount *
nikapov	0:a1a69d32f310	2636	xtalk_per_spad_mega_cps;
nikapov	0:a1a69d32f310	2637
nikapov	0:a1a69d32f310	2638	/* FixPoint0824 >> 8 = FixPoint1616 */
nikapov	0:a1a69d32f310	2639	*p_total_xtalk_rate_mcps =
nikapov	0:a1a69d32f310	2640	(total_xtalk_mega_cps + 0x80) >> 8;
nikapov	0:a1a69d32f310	2641	}
nikapov	0:a1a69d32f310	2642	}
nikapov	0:a1a69d32f310	2643
nikapov	0:a1a69d32f310	2644	return status;
nikapov	0:a1a69d32f310	2645	}
nikapov	0:a1a69d32f310	2646
nikapov	0:a1a69d32f310	2647	VL53L0X_Error VL53L0X::VL53L0X_get_total_signal_rate(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	2648	VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
nikapov	0:a1a69d32f310	2649	FixPoint1616_t *p_total_signal_rate_mcps)
nikapov	0:a1a69d32f310	2650	{
nikapov	0:a1a69d32f310	2651	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2652	FixPoint1616_t total_xtalk_mega_cps;
nikapov	0:a1a69d32f310	2653
nikapov	0:a1a69d32f310	2654	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	2655
nikapov	0:a1a69d32f310	2656	*p_total_signal_rate_mcps =
nikapov	0:a1a69d32f310	2657	p_ranging_measurement_data->SignalRateRtnMegaCps;
nikapov	0:a1a69d32f310	2658
nikapov	0:a1a69d32f310	2659	status = VL53L0X_get_total_xtalk_rate(
nikapov	0:a1a69d32f310	2660	dev, p_ranging_measurement_data, &total_xtalk_mega_cps);
nikapov	0:a1a69d32f310	2661
nikapov	0:a1a69d32f310	2662	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	2663	*p_total_signal_rate_mcps += total_xtalk_mega_cps;
nikapov	0:a1a69d32f310	2664	}
nikapov	0:a1a69d32f310	2665
nikapov	0:a1a69d32f310	2666	return status;
nikapov	0:a1a69d32f310	2667	}
nikapov	0:a1a69d32f310	2668
nikapov	0:a1a69d32f310	2669	/* To convert ms into register value */
nikapov	0:a1a69d32f310	2670	uint32_t VL53L0X::VL53L0X_calc_timeout_mclks(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	2671	uint32_t timeout_period_us,
nikapov	0:a1a69d32f310	2672	uint8_t vcsel_period_pclks)
nikapov	0:a1a69d32f310	2673	{
nikapov	0:a1a69d32f310	2674	uint32_t macro_period_ps;
nikapov	0:a1a69d32f310	2675	uint32_t macro_period_ns;
nikapov	0:a1a69d32f310	2676	uint32_t timeout_period_mclks = 0;
nikapov	0:a1a69d32f310	2677
nikapov	0:a1a69d32f310	2678	macro_period_ps = VL53L0X_calc_macro_period_ps(dev, vcsel_period_pclks);
nikapov	0:a1a69d32f310	2679	macro_period_ns = (macro_period_ps + 500) / 1000;
nikapov	0:a1a69d32f310	2680
nikapov	0:a1a69d32f310	2681	timeout_period_mclks =
nikapov	0:a1a69d32f310	2682	(uint32_t)(((timeout_period_us * 1000)
nikapov	0:a1a69d32f310	2683	+ (macro_period_ns / 2)) / macro_period_ns);
nikapov	0:a1a69d32f310	2684
nikapov	0:a1a69d32f310	2685	return timeout_period_mclks;
nikapov	0:a1a69d32f310	2686	}
nikapov	0:a1a69d32f310	2687
nikapov	0:a1a69d32f310	2688	uint32_t VL53L0X::VL53L0X_isqrt(uint32_t num)
nikapov	0:a1a69d32f310	2689	{
nikapov	0:a1a69d32f310	2690	/*
nikapov	0:a1a69d32f310	2691	* Implements an integer square root
nikapov	0:a1a69d32f310	2692	*
nikapov	0:a1a69d32f310	2693	* From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
nikapov	0:a1a69d32f310	2694	*/
nikapov	0:a1a69d32f310	2695
nikapov	0:a1a69d32f310	2696	uint32_t res = 0;
nikapov	0:a1a69d32f310	2697	uint32_t bit = 1 << 30;
nikapov	0:a1a69d32f310	2698	/* The second-to-top bit is set:
nikapov	0:a1a69d32f310	2699	* 1 << 14 for 16-bits, 1 << 30 for 32 bits */
nikapov	0:a1a69d32f310	2700
nikapov	0:a1a69d32f310	2701	/* "bit" starts at the highest power of four <= the argument. */
nikapov	0:a1a69d32f310	2702	while (bit > num) {
nikapov	0:a1a69d32f310	2703	bit >>= 2;
nikapov	0:a1a69d32f310	2704	}
nikapov	0:a1a69d32f310	2705
nikapov	0:a1a69d32f310	2706
nikapov	0:a1a69d32f310	2707	while (bit != 0) {
nikapov	0:a1a69d32f310	2708	if (num >= res + bit) {
nikapov	0:a1a69d32f310	2709	num -= res + bit;
nikapov	0:a1a69d32f310	2710	res = (res >> 1) + bit;
nikapov	0:a1a69d32f310	2711	} else
nikapov	0:a1a69d32f310	2712	res >>= 1;
nikapov	0:a1a69d32f310	2713
nikapov	0:a1a69d32f310	2714	bit >>= 2;
nikapov	0:a1a69d32f310	2715	}
nikapov	0:a1a69d32f310	2716
nikapov	0:a1a69d32f310	2717	return res;
nikapov	0:a1a69d32f310	2718	}
nikapov	0:a1a69d32f310	2719
nikapov	0:a1a69d32f310	2720	VL53L0X_Error VL53L0X::VL53L0X_calc_dmax(
nikapov	0:a1a69d32f310	2721	VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	2722	FixPoint1616_t total_signal_rate_mcps,
nikapov	0:a1a69d32f310	2723	FixPoint1616_t total_corr_signal_rate_mcps,
nikapov	0:a1a69d32f310	2724	FixPoint1616_t pw_mult,
nikapov	0:a1a69d32f310	2725	uint32_t sigma_estimate_p1,
nikapov	0:a1a69d32f310	2726	FixPoint1616_t sigma_estimate_p2,
nikapov	0:a1a69d32f310	2727	uint32_t peak_vcsel_duration_us,
nikapov	0:a1a69d32f310	2728	uint32_t *pd_max_mm)
nikapov	0:a1a69d32f310	2729	{
nikapov	0:a1a69d32f310	2730	const uint32_t c_sigma_limit = 18;
nikapov	0:a1a69d32f310	2731	const FixPoint1616_t c_signal_limit = 0x4000; /* 0.25 */
nikapov	0:a1a69d32f310	2732	const FixPoint1616_t c_sigma_est_ref = 0x00000042; /* 0.001 */
nikapov	0:a1a69d32f310	2733	const uint32_t c_amb_eff_width_sigma_est_ns = 6;
nikapov	0:a1a69d32f310	2734	const uint32_t c_amb_eff_width_d_max_ns = 7;
nikapov	0:a1a69d32f310	2735	uint32_t dmax_cal_range_mm;
nikapov	0:a1a69d32f310	2736	FixPoint1616_t dmax_cal_signal_rate_rtn_mcps;
nikapov	0:a1a69d32f310	2737	FixPoint1616_t min_signal_needed;
nikapov	0:a1a69d32f310	2738	FixPoint1616_t min_signal_needed_p1;
nikapov	0:a1a69d32f310	2739	FixPoint1616_t min_signal_needed_p2;
nikapov	0:a1a69d32f310	2740	FixPoint1616_t min_signal_needed_p3;
nikapov	0:a1a69d32f310	2741	FixPoint1616_t min_signal_needed_p4;
nikapov	0:a1a69d32f310	2742	FixPoint1616_t sigma_limit_tmp;
nikapov	0:a1a69d32f310	2743	FixPoint1616_t sigma_est_sq_tmp;
nikapov	0:a1a69d32f310	2744	FixPoint1616_t signal_limit_tmp;
nikapov	0:a1a69d32f310	2745	FixPoint1616_t signal_at0_mm;
nikapov	0:a1a69d32f310	2746	FixPoint1616_t dmax_dark;
nikapov	0:a1a69d32f310	2747	FixPoint1616_t dmax_ambient;
nikapov	0:a1a69d32f310	2748	FixPoint1616_t dmax_dark_tmp;
nikapov	0:a1a69d32f310	2749	FixPoint1616_t sigma_est_p2_tmp;
nikapov	0:a1a69d32f310	2750	uint32_t signal_rate_temp_mcps;
nikapov	0:a1a69d32f310	2751
nikapov	0:a1a69d32f310	2752	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2753
nikapov	0:a1a69d32f310	2754	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	2755
nikapov	0:a1a69d32f310	2756	dmax_cal_range_mm =
nikapov	0:a1a69d32f310	2757	PALDevDataGet(dev, DmaxCalRangeMilliMeter);
nikapov	0:a1a69d32f310	2758
nikapov	0:a1a69d32f310	2759	dmax_cal_signal_rate_rtn_mcps =
nikapov	0:a1a69d32f310	2760	PALDevDataGet(dev, DmaxCalSignalRateRtnMegaCps);
nikapov	0:a1a69d32f310	2761
nikapov	0:a1a69d32f310	2762	/* uint32 * FixPoint1616 = FixPoint1616 */
nikapov	0:a1a69d32f310	2763	signal_at0_mm = dmax_cal_range_mm * dmax_cal_signal_rate_rtn_mcps;
nikapov	0:a1a69d32f310	2764
nikapov	0:a1a69d32f310	2765	/* FixPoint1616 >> 8 = FixPoint2408 */
nikapov	0:a1a69d32f310	2766	signal_at0_mm = (signal_at0_mm + 0x80) >> 8;
nikapov	0:a1a69d32f310	2767	signal_at0_mm *= dmax_cal_range_mm;
nikapov	0:a1a69d32f310	2768
nikapov	0:a1a69d32f310	2769	min_signal_needed_p1 = 0;
nikapov	0:a1a69d32f310	2770	if (total_corr_signal_rate_mcps > 0) {
nikapov	0:a1a69d32f310	2771
nikapov	0:a1a69d32f310	2772	/* Shift by 10 bits to increase resolution prior to the
nikapov	0:a1a69d32f310	2773	* division */
nikapov	0:a1a69d32f310	2774	signal_rate_temp_mcps = total_signal_rate_mcps << 10;
nikapov	0:a1a69d32f310	2775
nikapov	0:a1a69d32f310	2776	/* Add rounding value prior to division */
nikapov	0:a1a69d32f310	2777	min_signal_needed_p1 = signal_rate_temp_mcps +
nikapov	0:a1a69d32f310	2778	(total_corr_signal_rate_mcps / 2);
nikapov	0:a1a69d32f310	2779
nikapov	0:a1a69d32f310	2780	/* FixPoint0626/FixPoint1616 = FixPoint2210 */
nikapov	0:a1a69d32f310	2781	min_signal_needed_p1 /= total_corr_signal_rate_mcps;
nikapov	0:a1a69d32f310	2782
nikapov	0:a1a69d32f310	2783	/* Apply a factored version of the speed of light.
nikapov	0:a1a69d32f310	2784	Correction to be applied at the end */
nikapov	0:a1a69d32f310	2785	min_signal_needed_p1 *= 3;
nikapov	0:a1a69d32f310	2786
nikapov	0:a1a69d32f310	2787	/* FixPoint2210 * FixPoint2210 = FixPoint1220 */
nikapov	0:a1a69d32f310	2788	min_signal_needed_p1 *= min_signal_needed_p1;
nikapov	0:a1a69d32f310	2789
nikapov	0:a1a69d32f310	2790	/* FixPoint1220 >> 16 = FixPoint2804 */
nikapov	0:a1a69d32f310	2791	min_signal_needed_p1 = (min_signal_needed_p1 + 0x8000) >> 16;
nikapov	0:a1a69d32f310	2792	}
nikapov	0:a1a69d32f310	2793
nikapov	0:a1a69d32f310	2794	min_signal_needed_p2 = pw_mult * sigma_estimate_p1;
nikapov	0:a1a69d32f310	2795
nikapov	0:a1a69d32f310	2796	/* FixPoint1616 >> 16 = uint32 */
nikapov	0:a1a69d32f310	2797	min_signal_needed_p2 = (min_signal_needed_p2 + 0x8000) >> 16;
nikapov	0:a1a69d32f310	2798
nikapov	0:a1a69d32f310	2799	/* uint32 * uint32 = uint32 */
nikapov	0:a1a69d32f310	2800	min_signal_needed_p2 *= min_signal_needed_p2;
nikapov	0:a1a69d32f310	2801
nikapov	0:a1a69d32f310	2802	/* Check sigmaEstimateP2
nikapov	0:a1a69d32f310	2803	* If this value is too high there is not enough signal rate
nikapov	0:a1a69d32f310	2804	* to calculate dmax value so set a suitable value to ensure
nikapov	0:a1a69d32f310	2805	* a very small dmax.
nikapov	0:a1a69d32f310	2806	*/
nikapov	0:a1a69d32f310	2807	sigma_est_p2_tmp = (sigma_estimate_p2 + 0x8000) >> 16;
nikapov	0:a1a69d32f310	2808	sigma_est_p2_tmp = (sigma_est_p2_tmp + c_amb_eff_width_sigma_est_ns / 2) /
nikapov	0:a1a69d32f310	2809	c_amb_eff_width_sigma_est_ns;
nikapov	0:a1a69d32f310	2810	sigma_est_p2_tmp *= c_amb_eff_width_d_max_ns;
nikapov	0:a1a69d32f310	2811
nikapov	0:a1a69d32f310	2812	if (sigma_est_p2_tmp > 0xffff) {
nikapov	0:a1a69d32f310	2813	min_signal_needed_p3 = 0xfff00000;
nikapov	0:a1a69d32f310	2814	} else {
nikapov	0:a1a69d32f310	2815
nikapov	0:a1a69d32f310	2816	/* DMAX uses a different ambient width from sigma, so apply
nikapov	0:a1a69d32f310	2817	* correction.
nikapov	0:a1a69d32f310	2818	* Perform division before multiplication to prevent overflow.
nikapov	0:a1a69d32f310	2819	*/
nikapov	0:a1a69d32f310	2820	sigma_estimate_p2 = (sigma_estimate_p2 + c_amb_eff_width_sigma_est_ns / 2) /
nikapov	0:a1a69d32f310	2821	c_amb_eff_width_sigma_est_ns;
nikapov	0:a1a69d32f310	2822	sigma_estimate_p2 *= c_amb_eff_width_d_max_ns;
nikapov	0:a1a69d32f310	2823
nikapov	0:a1a69d32f310	2824	/* FixPoint1616 >> 16 = uint32 */
nikapov	0:a1a69d32f310	2825	min_signal_needed_p3 = (sigma_estimate_p2 + 0x8000) >> 16;
nikapov	0:a1a69d32f310	2826
nikapov	0:a1a69d32f310	2827	min_signal_needed_p3 *= min_signal_needed_p3;
nikapov	0:a1a69d32f310	2828
nikapov	0:a1a69d32f310	2829	}
nikapov	0:a1a69d32f310	2830
nikapov	0:a1a69d32f310	2831	/* FixPoint1814 / uint32 = FixPoint1814 */
nikapov	0:a1a69d32f310	2832	sigma_limit_tmp = ((c_sigma_limit << 14) + 500) / 1000;
nikapov	0:a1a69d32f310	2833
nikapov	0:a1a69d32f310	2834	/* FixPoint1814 * FixPoint1814 = FixPoint3628 := FixPoint0428 */
nikapov	0:a1a69d32f310	2835	sigma_limit_tmp *= sigma_limit_tmp;
nikapov	0:a1a69d32f310	2836
nikapov	0:a1a69d32f310	2837	/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
nikapov	0:a1a69d32f310	2838	sigma_est_sq_tmp = c_sigma_est_ref * c_sigma_est_ref;
nikapov	0:a1a69d32f310	2839
nikapov	0:a1a69d32f310	2840	/* FixPoint3232 >> 4 = FixPoint0428 */
nikapov	0:a1a69d32f310	2841	sigma_est_sq_tmp = (sigma_est_sq_tmp + 0x08) >> 4;
nikapov	0:a1a69d32f310	2842
nikapov	0:a1a69d32f310	2843	/* FixPoint0428 - FixPoint0428 = FixPoint0428 */
nikapov	0:a1a69d32f310	2844	sigma_limit_tmp -= sigma_est_sq_tmp;
nikapov	0:a1a69d32f310	2845
nikapov	0:a1a69d32f310	2846	/* uint32_t * FixPoint0428 = FixPoint0428 */
nikapov	0:a1a69d32f310	2847	min_signal_needed_p4 = 4 * 12 * sigma_limit_tmp;
nikapov	0:a1a69d32f310	2848
nikapov	0:a1a69d32f310	2849	/* FixPoint0428 >> 14 = FixPoint1814 */
nikapov	0:a1a69d32f310	2850	min_signal_needed_p4 = (min_signal_needed_p4 + 0x2000) >> 14;
nikapov	0:a1a69d32f310	2851
nikapov	0:a1a69d32f310	2852	/* uint32 + uint32 = uint32 */
nikapov	0:a1a69d32f310	2853	min_signal_needed = (min_signal_needed_p2 + min_signal_needed_p3);
nikapov	0:a1a69d32f310	2854
nikapov	0:a1a69d32f310	2855	/* uint32 / uint32 = uint32 */
nikapov	0:a1a69d32f310	2856	min_signal_needed += (peak_vcsel_duration_us / 2);
nikapov	0:a1a69d32f310	2857	min_signal_needed /= peak_vcsel_duration_us;
nikapov	0:a1a69d32f310	2858
nikapov	0:a1a69d32f310	2859	/* uint32 << 14 = FixPoint1814 */
nikapov	0:a1a69d32f310	2860	min_signal_needed <<= 14;
nikapov	0:a1a69d32f310	2861
nikapov	0:a1a69d32f310	2862	/* FixPoint1814 / FixPoint1814 = uint32 */
nikapov	0:a1a69d32f310	2863	min_signal_needed += (min_signal_needed_p4 / 2);
nikapov	0:a1a69d32f310	2864	min_signal_needed /= min_signal_needed_p4;
nikapov	0:a1a69d32f310	2865
nikapov	0:a1a69d32f310	2866	/* FixPoint3200 * FixPoint2804 := FixPoint2804*/
nikapov	0:a1a69d32f310	2867	min_signal_needed *= min_signal_needed_p1;
nikapov	0:a1a69d32f310	2868
nikapov	0:a1a69d32f310	2869	/* Apply correction by dividing by 1000000.
nikapov	0:a1a69d32f310	2870	* This assumes 10E16 on the numerator of the equation
nikapov	0:a1a69d32f310	2871	* and 10E-22 on the denominator.
nikapov	0:a1a69d32f310	2872	* We do this because 32bit fix point calculation can't
nikapov	0:a1a69d32f310	2873	* handle the larger and smaller elements of this equation,
nikapov	0:a1a69d32f310	2874	* i.e. speed of light and pulse widths.
nikapov	0:a1a69d32f310	2875	*/
nikapov	0:a1a69d32f310	2876	min_signal_needed = (min_signal_needed + 500) / 1000;
nikapov	0:a1a69d32f310	2877	min_signal_needed <<= 4;
nikapov	0:a1a69d32f310	2878
nikapov	0:a1a69d32f310	2879	min_signal_needed = (min_signal_needed + 500) / 1000;
nikapov	0:a1a69d32f310	2880
nikapov	0:a1a69d32f310	2881	/* FixPoint1616 >> 8 = FixPoint2408 */
nikapov	0:a1a69d32f310	2882	signal_limit_tmp = (c_signal_limit + 0x80) >> 8;
nikapov	0:a1a69d32f310	2883
nikapov	0:a1a69d32f310	2884	/* FixPoint2408/FixPoint2408 = uint32 */
nikapov	0:a1a69d32f310	2885	if (signal_limit_tmp != 0) {
nikapov	0:a1a69d32f310	2886	dmax_dark_tmp = (signal_at0_mm + (signal_limit_tmp / 2))
nikapov	0:a1a69d32f310	2887	/ signal_limit_tmp;
nikapov	0:a1a69d32f310	2888	} else {
nikapov	0:a1a69d32f310	2889	dmax_dark_tmp = 0;
nikapov	0:a1a69d32f310	2890	}
nikapov	0:a1a69d32f310	2891
nikapov	0:a1a69d32f310	2892	dmax_dark = VL53L0X_isqrt(dmax_dark_tmp);
nikapov	0:a1a69d32f310	2893
nikapov	0:a1a69d32f310	2894	/* FixPoint2408/FixPoint2408 = uint32 */
nikapov	0:a1a69d32f310	2895	if (min_signal_needed != 0) {
nikapov	0:a1a69d32f310	2896	dmax_ambient = (signal_at0_mm + min_signal_needed / 2)
nikapov	0:a1a69d32f310	2897	/ min_signal_needed;
nikapov	0:a1a69d32f310	2898	} else {
nikapov	0:a1a69d32f310	2899	dmax_ambient = 0;
nikapov	0:a1a69d32f310	2900	}
nikapov	0:a1a69d32f310	2901
nikapov	0:a1a69d32f310	2902	dmax_ambient = VL53L0X_isqrt(dmax_ambient);
nikapov	0:a1a69d32f310	2903
nikapov	0:a1a69d32f310	2904	*pd_max_mm = dmax_dark;
nikapov	0:a1a69d32f310	2905	if (dmax_dark > dmax_ambient) {
nikapov	0:a1a69d32f310	2906	*pd_max_mm = dmax_ambient;
nikapov	0:a1a69d32f310	2907	}
nikapov	0:a1a69d32f310	2908
nikapov	0:a1a69d32f310	2909	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	2910
nikapov	0:a1a69d32f310	2911	return status;
nikapov	0:a1a69d32f310	2912	}
nikapov	0:a1a69d32f310	2913
nikapov	0:a1a69d32f310	2914	VL53L0X_Error VL53L0X::VL53L0X_calc_sigma_estimate(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	2915	VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
nikapov	0:a1a69d32f310	2916	FixPoint1616_t *p_sigma_estimate,
nikapov	0:a1a69d32f310	2917	uint32_t *p_dmax_mm)
nikapov	0:a1a69d32f310	2918	{
nikapov	0:a1a69d32f310	2919	/* Expressed in 100ths of a ns, i.e. centi-ns */
nikapov	0:a1a69d32f310	2920	const uint32_t c_pulse_effective_width_centi_ns = 800;
nikapov	0:a1a69d32f310	2921	/* Expressed in 100ths of a ns, i.e. centi-ns */
nikapov	0:a1a69d32f310	2922	const uint32_t c_ambient_effective_width_centi_ns = 600;
nikapov	0:a1a69d32f310	2923	const FixPoint1616_t c_dflt_final_range_integration_time_milli_secs = 0x00190000; /* 25ms */
nikapov	0:a1a69d32f310	2924	const uint32_t c_vcsel_pulse_width_ps = 4700; /* pico secs */
nikapov	0:a1a69d32f310	2925	const FixPoint1616_t c_sigma_est_max = 0x028F87AE;
nikapov	0:a1a69d32f310	2926	const FixPoint1616_t c_sigma_est_rtn_max = 0xF000;
nikapov	0:a1a69d32f310	2927	const FixPoint1616_t c_amb_to_signal_ratio_max = 0xF0000000 /
nikapov	0:a1a69d32f310	2928	c_ambient_effective_width_centi_ns;
nikapov	0:a1a69d32f310	2929	/* Time Of Flight per mm (6.6 pico secs) */
nikapov	0:a1a69d32f310	2930	const FixPoint1616_t c_tof_per_mm_ps = 0x0006999A;
nikapov	0:a1a69d32f310	2931	const uint32_t c_16bit_rounding_param = 0x00008000;
nikapov	0:a1a69d32f310	2932	const FixPoint1616_t c_max_x_talk_kcps = 0x00320000;
nikapov	0:a1a69d32f310	2933	const uint32_t c_pll_period_ps = 1655;
nikapov	0:a1a69d32f310	2934
nikapov	0:a1a69d32f310	2935	uint32_t vcsel_total_events_rtn;
nikapov	0:a1a69d32f310	2936	uint32_t final_range_timeout_micro_secs;
nikapov	0:a1a69d32f310	2937	uint32_t pre_range_timeout_micro_secs;
nikapov	0:a1a69d32f310	2938	uint32_t final_range_integration_time_milli_secs;
nikapov	0:a1a69d32f310	2939	FixPoint1616_t sigma_estimate_p1;
nikapov	0:a1a69d32f310	2940	FixPoint1616_t sigma_estimate_p2;
nikapov	0:a1a69d32f310	2941	FixPoint1616_t sigma_estimate_p3;
nikapov	0:a1a69d32f310	2942	FixPoint1616_t delta_t_ps;
nikapov	0:a1a69d32f310	2943	FixPoint1616_t pw_mult;
nikapov	0:a1a69d32f310	2944	FixPoint1616_t sigma_est_rtn;
nikapov	0:a1a69d32f310	2945	FixPoint1616_t sigma_estimate;
nikapov	0:a1a69d32f310	2946	FixPoint1616_t x_talk_correction;
nikapov	0:a1a69d32f310	2947	FixPoint1616_t ambient_rate_kcps;
nikapov	0:a1a69d32f310	2948	FixPoint1616_t peak_signal_rate_kcps;
nikapov	0:a1a69d32f310	2949	FixPoint1616_t x_talk_comp_rate_mcps;
nikapov	0:a1a69d32f310	2950	uint32_t x_talk_comp_rate_kcps;
nikapov	0:a1a69d32f310	2951	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	2952	FixPoint1616_t diff1_mcps;
nikapov	0:a1a69d32f310	2953	FixPoint1616_t diff2_mcps;
nikapov	0:a1a69d32f310	2954	FixPoint1616_t sqr1;
nikapov	0:a1a69d32f310	2955	FixPoint1616_t sqr2;
nikapov	0:a1a69d32f310	2956	FixPoint1616_t sqr_sum;
nikapov	0:a1a69d32f310	2957	FixPoint1616_t sqrt_result_centi_ns;
nikapov	0:a1a69d32f310	2958	FixPoint1616_t sqrt_result;
nikapov	0:a1a69d32f310	2959	FixPoint1616_t total_signal_rate_mcps;
nikapov	0:a1a69d32f310	2960	FixPoint1616_t corrected_signal_rate_mcps;
nikapov	0:a1a69d32f310	2961	FixPoint1616_t sigma_est_ref;
nikapov	0:a1a69d32f310	2962	uint32_t vcsel_width;
nikapov	0:a1a69d32f310	2963	uint32_t final_range_macro_pclks;
nikapov	0:a1a69d32f310	2964	uint32_t pre_range_macro_pclks;
nikapov	0:a1a69d32f310	2965	uint32_t peak_vcsel_duration_us;
nikapov	0:a1a69d32f310	2966	uint8_t final_range_vcsel_pclks;
nikapov	0:a1a69d32f310	2967	uint8_t pre_range_vcsel_pclks;
nikapov	0:a1a69d32f310	2968	/*! \addtogroup calc_sigma_estimate
nikapov	0:a1a69d32f310	2969	* @{
nikapov	0:a1a69d32f310	2970	*
nikapov	0:a1a69d32f310	2971	* Estimates the range sigma
nikapov	0:a1a69d32f310	2972	*/
nikapov	0:a1a69d32f310	2973
nikapov	0:a1a69d32f310	2974	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	2975
nikapov	0:a1a69d32f310	2976	VL53L0X_GETPARAMETERFIELD(dev, XTalkCompensationRateMegaCps,
nikapov	0:a1a69d32f310	2977	x_talk_comp_rate_mcps);
nikapov	0:a1a69d32f310	2978
nikapov	0:a1a69d32f310	2979	/*
nikapov	0:a1a69d32f310	2980	* We work in kcps rather than mcps as this helps keep within the
nikapov	0:a1a69d32f310	2981	* confines of the 32 Fix1616 type.
nikapov	0:a1a69d32f310	2982	*/
nikapov	0:a1a69d32f310	2983
nikapov	0:a1a69d32f310	2984	ambient_rate_kcps =
nikapov	0:a1a69d32f310	2985	(p_ranging_measurement_data->AmbientRateRtnMegaCps * 1000) >> 16;
nikapov	0:a1a69d32f310	2986
nikapov	0:a1a69d32f310	2987	corrected_signal_rate_mcps =
nikapov	0:a1a69d32f310	2988	p_ranging_measurement_data->SignalRateRtnMegaCps;
nikapov	0:a1a69d32f310	2989
nikapov	0:a1a69d32f310	2990
nikapov	0:a1a69d32f310	2991	status = VL53L0X_get_total_signal_rate(
nikapov	0:a1a69d32f310	2992	dev, p_ranging_measurement_data, &total_signal_rate_mcps);
nikapov	0:a1a69d32f310	2993	status = VL53L0X_get_total_xtalk_rate(
nikapov	0:a1a69d32f310	2994	dev, p_ranging_measurement_data, &x_talk_comp_rate_mcps);
nikapov	0:a1a69d32f310	2995
nikapov	0:a1a69d32f310	2996
nikapov	0:a1a69d32f310	2997	/* Signal rate measurement provided by device is the
nikapov	0:a1a69d32f310	2998	* peak signal rate, not average.
nikapov	0:a1a69d32f310	2999	*/
nikapov	0:a1a69d32f310	3000	peak_signal_rate_kcps = (total_signal_rate_mcps * 1000);
nikapov	0:a1a69d32f310	3001	peak_signal_rate_kcps = (peak_signal_rate_kcps + 0x8000) >> 16;
nikapov	0:a1a69d32f310	3002
nikapov	0:a1a69d32f310	3003	x_talk_comp_rate_kcps = x_talk_comp_rate_mcps * 1000;
nikapov	0:a1a69d32f310	3004
nikapov	0:a1a69d32f310	3005	if (x_talk_comp_rate_kcps > c_max_x_talk_kcps) {
nikapov	0:a1a69d32f310	3006	x_talk_comp_rate_kcps = c_max_x_talk_kcps;
nikapov	0:a1a69d32f310	3007	}
nikapov	0:a1a69d32f310	3008
nikapov	0:a1a69d32f310	3009	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3010
nikapov	0:a1a69d32f310	3011	/* Calculate final range macro periods */
nikapov	0:a1a69d32f310	3012	final_range_timeout_micro_secs = VL53L0X_GETDEVICESPECIFICPARAMETER(
nikapov	0:a1a69d32f310	3013	dev, FinalRangeTimeoutMicroSecs);
nikapov	0:a1a69d32f310	3014
nikapov	0:a1a69d32f310	3015	final_range_vcsel_pclks = VL53L0X_GETDEVICESPECIFICPARAMETER(
nikapov	0:a1a69d32f310	3016	dev, FinalRangeVcselPulsePeriod);
nikapov	0:a1a69d32f310	3017
nikapov	0:a1a69d32f310	3018	final_range_macro_pclks = VL53L0X_calc_timeout_mclks(
nikapov	0:a1a69d32f310	3019	dev, final_range_timeout_micro_secs, final_range_vcsel_pclks);
nikapov	0:a1a69d32f310	3020
nikapov	0:a1a69d32f310	3021	/* Calculate pre-range macro periods */
nikapov	0:a1a69d32f310	3022	pre_range_timeout_micro_secs = VL53L0X_GETDEVICESPECIFICPARAMETER(
nikapov	0:a1a69d32f310	3023	dev, PreRangeTimeoutMicroSecs);
nikapov	0:a1a69d32f310	3024
nikapov	0:a1a69d32f310	3025	pre_range_vcsel_pclks = VL53L0X_GETDEVICESPECIFICPARAMETER(
nikapov	0:a1a69d32f310	3026	dev, PreRangeVcselPulsePeriod);
nikapov	0:a1a69d32f310	3027
nikapov	0:a1a69d32f310	3028	pre_range_macro_pclks = VL53L0X_calc_timeout_mclks(
nikapov	0:a1a69d32f310	3029	dev, pre_range_timeout_micro_secs, pre_range_vcsel_pclks);
nikapov	0:a1a69d32f310	3030
nikapov	0:a1a69d32f310	3031	vcsel_width = 3;
nikapov	0:a1a69d32f310	3032	if (final_range_vcsel_pclks == 8) {
nikapov	0:a1a69d32f310	3033	vcsel_width = 2;
nikapov	0:a1a69d32f310	3034	}
nikapov	0:a1a69d32f310	3035
nikapov	0:a1a69d32f310	3036
nikapov	0:a1a69d32f310	3037	peak_vcsel_duration_us = vcsel_width * 2048 *
nikapov	0:a1a69d32f310	3038	(pre_range_macro_pclks + final_range_macro_pclks);
nikapov	0:a1a69d32f310	3039	peak_vcsel_duration_us = (peak_vcsel_duration_us + 500) / 1000;
nikapov	0:a1a69d32f310	3040	peak_vcsel_duration_us *= c_pll_period_ps;
nikapov	0:a1a69d32f310	3041	peak_vcsel_duration_us = (peak_vcsel_duration_us + 500) / 1000;
nikapov	0:a1a69d32f310	3042
nikapov	0:a1a69d32f310	3043	/* Fix1616 >> 8 = Fix2408 */
nikapov	0:a1a69d32f310	3044	total_signal_rate_mcps = (total_signal_rate_mcps + 0x80) >> 8;
nikapov	0:a1a69d32f310	3045
nikapov	0:a1a69d32f310	3046	/* Fix2408 * uint32 = Fix2408 */
nikapov	0:a1a69d32f310	3047	vcsel_total_events_rtn = total_signal_rate_mcps *
nikapov	0:a1a69d32f310	3048	peak_vcsel_duration_us;
nikapov	0:a1a69d32f310	3049
nikapov	0:a1a69d32f310	3050	/* Fix2408 >> 8 = uint32 */
nikapov	0:a1a69d32f310	3051	vcsel_total_events_rtn = (vcsel_total_events_rtn + 0x80) >> 8;
nikapov	0:a1a69d32f310	3052
nikapov	0:a1a69d32f310	3053	/* Fix2408 << 8 = Fix1616 = */
nikapov	0:a1a69d32f310	3054	total_signal_rate_mcps <<= 8;
nikapov	0:a1a69d32f310	3055	}
nikapov	0:a1a69d32f310	3056
nikapov	0:a1a69d32f310	3057	if (status != VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3058	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	3059	return status;
nikapov	0:a1a69d32f310	3060	}
nikapov	0:a1a69d32f310	3061
nikapov	0:a1a69d32f310	3062	if (peak_signal_rate_kcps == 0) {
nikapov	0:a1a69d32f310	3063	*p_sigma_estimate = c_sigma_est_max;
nikapov	0:a1a69d32f310	3064	PALDevDataSet(dev, SigmaEstimate, c_sigma_est_max);
nikapov	0:a1a69d32f310	3065	*p_dmax_mm = 0;
nikapov	0:a1a69d32f310	3066	} else {
nikapov	0:a1a69d32f310	3067	if (vcsel_total_events_rtn < 1) {
nikapov	0:a1a69d32f310	3068	vcsel_total_events_rtn = 1;
nikapov	0:a1a69d32f310	3069	}
nikapov	0:a1a69d32f310	3070
nikapov	0:a1a69d32f310	3071	sigma_estimate_p1 = c_pulse_effective_width_centi_ns;
nikapov	0:a1a69d32f310	3072
nikapov	0:a1a69d32f310	3073	/* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */
nikapov	0:a1a69d32f310	3074	sigma_estimate_p2 = (ambient_rate_kcps << 16) / peak_signal_rate_kcps;
nikapov	0:a1a69d32f310	3075	if (sigma_estimate_p2 > c_amb_to_signal_ratio_max) {
nikapov	0:a1a69d32f310	3076	/* Clip to prevent overflow. Will ensure safe
nikapov	0:a1a69d32f310	3077	* max result. */
nikapov	0:a1a69d32f310	3078	sigma_estimate_p2 = c_amb_to_signal_ratio_max;
nikapov	0:a1a69d32f310	3079	}
nikapov	0:a1a69d32f310	3080	sigma_estimate_p2 *= c_ambient_effective_width_centi_ns;
nikapov	0:a1a69d32f310	3081
nikapov	0:a1a69d32f310	3082	sigma_estimate_p3 = 2 * VL53L0X_isqrt(vcsel_total_events_rtn * 12);
nikapov	0:a1a69d32f310	3083
nikapov	0:a1a69d32f310	3084	/* uint32 * FixPoint1616 = FixPoint1616 */
nikapov	0:a1a69d32f310	3085	delta_t_ps = p_ranging_measurement_data->RangeMilliMeter *
nikapov	0:a1a69d32f310	3086	c_tof_per_mm_ps;
nikapov	0:a1a69d32f310	3087
nikapov	0:a1a69d32f310	3088	/*
nikapov	0:a1a69d32f310	3089	* vcselRate - xtalkCompRate
nikapov	0:a1a69d32f310	3090	* (uint32 << 16) - FixPoint1616 = FixPoint1616.
nikapov	0:a1a69d32f310	3091	* Divide result by 1000 to convert to mcps.
nikapov	0:a1a69d32f310	3092	* 500 is added to ensure rounding when integer division
nikapov	0:a1a69d32f310	3093	* truncates.
nikapov	0:a1a69d32f310	3094	*/
nikapov	0:a1a69d32f310	3095	diff1_mcps = (((peak_signal_rate_kcps << 16) -
nikapov	0:a1a69d32f310	3096	2 * x_talk_comp_rate_kcps) + 500) / 1000;
nikapov	0:a1a69d32f310	3097
nikapov	0:a1a69d32f310	3098	/* vcselRate + xtalkCompRate */
nikapov	0:a1a69d32f310	3099	diff2_mcps = ((peak_signal_rate_kcps << 16) + 500) / 1000;
nikapov	0:a1a69d32f310	3100
nikapov	0:a1a69d32f310	3101	/* Shift by 8 bits to increase resolution prior to the
nikapov	0:a1a69d32f310	3102	* division */
nikapov	0:a1a69d32f310	3103	diff1_mcps <<= 8;
nikapov	0:a1a69d32f310	3104
nikapov	0:a1a69d32f310	3105	/* FixPoint0824/FixPoint1616 = FixPoint2408 */
nikapov	0:a1a69d32f310	3106	// xTalkCorrection = abs(diff1_mcps/diff2_mcps);
nikapov	0:a1a69d32f310	3107	// abs is causing compiler overloading isue in C++, but unsigned types. So, redundant call anyway!
nikapov	0:a1a69d32f310	3108	x_talk_correction = diff1_mcps / diff2_mcps;
nikapov	0:a1a69d32f310	3109
nikapov	0:a1a69d32f310	3110	/* FixPoint2408 << 8 = FixPoint1616 */
nikapov	0:a1a69d32f310	3111	x_talk_correction <<= 8;
nikapov	0:a1a69d32f310	3112
nikapov	0:a1a69d32f310	3113	if (p_ranging_measurement_data->RangeStatus != 0) {
nikapov	0:a1a69d32f310	3114	pw_mult = 1 << 16;
nikapov	0:a1a69d32f310	3115	} else {
nikapov	0:a1a69d32f310	3116	/* FixPoint1616/uint32 = FixPoint1616 */
nikapov	0:a1a69d32f310	3117	pw_mult = delta_t_ps / c_vcsel_pulse_width_ps; /* smaller than 1.0f */
nikapov	0:a1a69d32f310	3118
nikapov	0:a1a69d32f310	3119	/*
nikapov	0:a1a69d32f310	3120	* FixPoint1616 * FixPoint1616 = FixPoint3232, however both
nikapov	0:a1a69d32f310	3121	* values are small enough such that32 bits will not be
nikapov	0:a1a69d32f310	3122	* exceeded.
nikapov	0:a1a69d32f310	3123	*/
nikapov	0:a1a69d32f310	3124	pw_mult *= ((1 << 16) - x_talk_correction);
nikapov	0:a1a69d32f310	3125
nikapov	0:a1a69d32f310	3126	/* (FixPoint3232 >> 16) = FixPoint1616 */
nikapov	0:a1a69d32f310	3127	pw_mult = (pw_mult + c_16bit_rounding_param) >> 16;
nikapov	0:a1a69d32f310	3128
nikapov	0:a1a69d32f310	3129	/* FixPoint1616 + FixPoint1616 = FixPoint1616 */
nikapov	0:a1a69d32f310	3130	pw_mult += (1 << 16);
nikapov	0:a1a69d32f310	3131
nikapov	0:a1a69d32f310	3132	/*
nikapov	0:a1a69d32f310	3133	* At this point the value will be 1.xx, therefore if we square
nikapov	0:a1a69d32f310	3134	* the value this will exceed 32 bits. To address this perform
nikapov	0:a1a69d32f310	3135	* a single shift to the right before the multiplication.
nikapov	0:a1a69d32f310	3136	*/
nikapov	0:a1a69d32f310	3137	pw_mult >>= 1;
nikapov	0:a1a69d32f310	3138	/* FixPoint1715 * FixPoint1715 = FixPoint3430 */
nikapov	0:a1a69d32f310	3139	pw_mult = pw_mult * pw_mult;
nikapov	0:a1a69d32f310	3140
nikapov	0:a1a69d32f310	3141	/* (FixPoint3430 >> 14) = Fix1616 */
nikapov	0:a1a69d32f310	3142	pw_mult >>= 14;
nikapov	0:a1a69d32f310	3143	}
nikapov	0:a1a69d32f310	3144
nikapov	0:a1a69d32f310	3145	/* FixPoint1616 * uint32 = FixPoint1616 */
nikapov	0:a1a69d32f310	3146	sqr1 = pw_mult * sigma_estimate_p1;
nikapov	0:a1a69d32f310	3147
nikapov	0:a1a69d32f310	3148	/* (FixPoint1616 >> 16) = FixPoint3200 */
nikapov	0:a1a69d32f310	3149	sqr1 = (sqr1 + 0x8000) >> 16;
nikapov	0:a1a69d32f310	3150
nikapov	0:a1a69d32f310	3151	/* FixPoint3200 * FixPoint3200 = FixPoint6400 */
nikapov	0:a1a69d32f310	3152	sqr1 *= sqr1;
nikapov	0:a1a69d32f310	3153
nikapov	0:a1a69d32f310	3154	sqr2 = sigma_estimate_p2;
nikapov	0:a1a69d32f310	3155
nikapov	0:a1a69d32f310	3156	/* (FixPoint1616 >> 16) = FixPoint3200 */
nikapov	0:a1a69d32f310	3157	sqr2 = (sqr2 + 0x8000) >> 16;
nikapov	0:a1a69d32f310	3158
nikapov	0:a1a69d32f310	3159	/* FixPoint3200 * FixPoint3200 = FixPoint6400 */
nikapov	0:a1a69d32f310	3160	sqr2 *= sqr2;
nikapov	0:a1a69d32f310	3161
nikapov	0:a1a69d32f310	3162	/* FixPoint64000 + FixPoint6400 = FixPoint6400 */
nikapov	0:a1a69d32f310	3163	sqr_sum = sqr1 + sqr2;
nikapov	0:a1a69d32f310	3164
nikapov	0:a1a69d32f310	3165	/* SQRT(FixPoin6400) = FixPoint3200 */
nikapov	0:a1a69d32f310	3166	sqrt_result_centi_ns = VL53L0X_isqrt(sqr_sum);
nikapov	0:a1a69d32f310	3167
nikapov	0:a1a69d32f310	3168	/* (FixPoint3200 << 16) = FixPoint1616 */
nikapov	0:a1a69d32f310	3169	sqrt_result_centi_ns <<= 16;
nikapov	0:a1a69d32f310	3170
nikapov	0:a1a69d32f310	3171	/*
nikapov	0:a1a69d32f310	3172	* Note that the Speed Of Light is expressed in um per 1E-10
nikapov	0:a1a69d32f310	3173	* seconds (2997) Therefore to get mm/ns we have to divide by
nikapov	0:a1a69d32f310	3174	* 10000
nikapov	0:a1a69d32f310	3175	*/
nikapov	0:a1a69d32f310	3176	sigma_est_rtn = (((sqrt_result_centi_ns + 50) / 100) /
nikapov	0:a1a69d32f310	3177	sigma_estimate_p3);
nikapov	0:a1a69d32f310	3178	sigma_est_rtn *= VL53L0X_SPEED_OF_LIGHT_IN_AIR;
nikapov	0:a1a69d32f310	3179
nikapov	0:a1a69d32f310	3180	/* Add 5000 before dividing by 10000 to ensure rounding. */
nikapov	0:a1a69d32f310	3181	sigma_est_rtn += 5000;
nikapov	0:a1a69d32f310	3182	sigma_est_rtn /= 10000;
nikapov	0:a1a69d32f310	3183
nikapov	0:a1a69d32f310	3184	if (sigma_est_rtn > c_sigma_est_rtn_max) {
nikapov	0:a1a69d32f310	3185	/* Clip to prevent overflow. Will ensure safe
nikapov	0:a1a69d32f310	3186	* max result. */
nikapov	0:a1a69d32f310	3187	sigma_est_rtn = c_sigma_est_rtn_max;
nikapov	0:a1a69d32f310	3188	}
nikapov	0:a1a69d32f310	3189	final_range_integration_time_milli_secs =
nikapov	0:a1a69d32f310	3190	(final_range_timeout_micro_secs + pre_range_timeout_micro_secs + 500) / 1000;
nikapov	0:a1a69d32f310	3191
nikapov	0:a1a69d32f310	3192	/* sigmaEstRef = 1mm * 25ms/final range integration time (inc pre-range)
nikapov	0:a1a69d32f310	3193	* sqrt(FixPoint1616/int) = FixPoint2408)
nikapov	0:a1a69d32f310	3194	*/
nikapov	0:a1a69d32f310	3195	sigma_est_ref =
nikapov	0:a1a69d32f310	3196	VL53L0X_isqrt((c_dflt_final_range_integration_time_milli_secs +
nikapov	0:a1a69d32f310	3197	final_range_integration_time_milli_secs / 2) /
nikapov	0:a1a69d32f310	3198	final_range_integration_time_milli_secs);
nikapov	0:a1a69d32f310	3199
nikapov	0:a1a69d32f310	3200	/* FixPoint2408 << 8 = FixPoint1616 */
nikapov	0:a1a69d32f310	3201	sigma_est_ref <<= 8;
nikapov	0:a1a69d32f310	3202	sigma_est_ref = (sigma_est_ref + 500) / 1000;
nikapov	0:a1a69d32f310	3203
nikapov	0:a1a69d32f310	3204	/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
nikapov	0:a1a69d32f310	3205	sqr1 = sigma_est_rtn * sigma_est_rtn;
nikapov	0:a1a69d32f310	3206	/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
nikapov	0:a1a69d32f310	3207	sqr2 = sigma_est_ref * sigma_est_ref;
nikapov	0:a1a69d32f310	3208
nikapov	0:a1a69d32f310	3209	/* sqrt(FixPoint3232) = FixPoint1616 */
nikapov	0:a1a69d32f310	3210	sqrt_result = VL53L0X_isqrt((sqr1 + sqr2));
nikapov	0:a1a69d32f310	3211	/*
nikapov	0:a1a69d32f310	3212	* Note that the Shift by 4 bits increases resolution prior to
nikapov	0:a1a69d32f310	3213	* the sqrt, therefore the result must be shifted by 2 bits to
nikapov	0:a1a69d32f310	3214	* the right to revert back to the FixPoint1616 format.
nikapov	0:a1a69d32f310	3215	*/
nikapov	0:a1a69d32f310	3216
nikapov	0:a1a69d32f310	3217	sigma_estimate = 1000 * sqrt_result;
nikapov	0:a1a69d32f310	3218
nikapov	0:a1a69d32f310	3219	if ((peak_signal_rate_kcps < 1) \|\| (vcsel_total_events_rtn < 1) \|\|
nikapov	0:a1a69d32f310	3220	(sigma_estimate > c_sigma_est_max)) {
nikapov	0:a1a69d32f310	3221	sigma_estimate = c_sigma_est_max;
nikapov	0:a1a69d32f310	3222	}
nikapov	0:a1a69d32f310	3223
nikapov	0:a1a69d32f310	3224	*p_sigma_estimate = (uint32_t)(sigma_estimate);
nikapov	0:a1a69d32f310	3225	PALDevDataSet(dev, SigmaEstimate, *p_sigma_estimate);
nikapov	0:a1a69d32f310	3226	status = VL53L0X_calc_dmax(
nikapov	0:a1a69d32f310	3227	dev,
nikapov	0:a1a69d32f310	3228	total_signal_rate_mcps,
nikapov	0:a1a69d32f310	3229	corrected_signal_rate_mcps,
nikapov	0:a1a69d32f310	3230	pw_mult,
nikapov	0:a1a69d32f310	3231	sigma_estimate_p1,
nikapov	0:a1a69d32f310	3232	sigma_estimate_p2,
nikapov	0:a1a69d32f310	3233	peak_vcsel_duration_us,
nikapov	0:a1a69d32f310	3234	p_dmax_mm);
nikapov	0:a1a69d32f310	3235	}
nikapov	0:a1a69d32f310	3236
nikapov	0:a1a69d32f310	3237	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	3238	return status;
nikapov	0:a1a69d32f310	3239	}
nikapov	0:a1a69d32f310	3240
nikapov	0:a1a69d32f310	3241	VL53L0X_Error VL53L0X::VL53L0X_get_pal_range_status(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	3242	uint8_t device_range_status,
nikapov	0:a1a69d32f310	3243	FixPoint1616_t signal_rate,
nikapov	0:a1a69d32f310	3244	uint16_t effective_spad_rtn_count,
nikapov	0:a1a69d32f310	3245	VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
nikapov	0:a1a69d32f310	3246	uint8_t *p_pal_range_status)
nikapov	0:a1a69d32f310	3247	{
nikapov	0:a1a69d32f310	3248	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	3249	uint8_t none_flag;
nikapov	0:a1a69d32f310	3250	uint8_t sigma_limitflag = 0;
nikapov	0:a1a69d32f310	3251	uint8_t signal_ref_clipflag = 0;
nikapov	0:a1a69d32f310	3252	uint8_t range_ignore_thresholdflag = 0;
nikapov	0:a1a69d32f310	3253	uint8_t sigma_limit_check_enable = 0;
nikapov	0:a1a69d32f310	3254	uint8_t signal_rate_final_range_limit_check_enable = 0;
nikapov	0:a1a69d32f310	3255	uint8_t signal_ref_clip_limit_check_enable = 0;
nikapov	0:a1a69d32f310	3256	uint8_t range_ignore_threshold_limit_check_enable = 0;
nikapov	0:a1a69d32f310	3257	FixPoint1616_t sigma_estimate;
nikapov	0:a1a69d32f310	3258	FixPoint1616_t sigma_limit_value;
nikapov	0:a1a69d32f310	3259	FixPoint1616_t signal_ref_clip_value;
nikapov	0:a1a69d32f310	3260	FixPoint1616_t range_ignore_threshold_value;
nikapov	0:a1a69d32f310	3261	FixPoint1616_t signal_rate_per_spad;
nikapov	0:a1a69d32f310	3262	uint8_t device_range_status_internal = 0;
nikapov	0:a1a69d32f310	3263	uint16_t tmp_word = 0;
nikapov	0:a1a69d32f310	3264	uint8_t temp8;
nikapov	0:a1a69d32f310	3265	uint32_t dmax_mm = 0;
nikapov	0:a1a69d32f310	3266	FixPoint1616_t last_signal_ref_mcps;
nikapov	0:a1a69d32f310	3267
nikapov	0:a1a69d32f310	3268	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	3269
nikapov	0:a1a69d32f310	3270
nikapov	0:a1a69d32f310	3271	/*
nikapov	0:a1a69d32f310	3272	* VL53L0X has a good ranging when the value of the
nikapov	0:a1a69d32f310	3273	* DeviceRangeStatus = 11. This function will replace the value 0 with
nikapov	0:a1a69d32f310	3274	* the value 11 in the DeviceRangeStatus.
nikapov	0:a1a69d32f310	3275	* In addition, the SigmaEstimator is not included in the VL53L0X
nikapov	0:a1a69d32f310	3276	* DeviceRangeStatus, this will be added in the PalRangeStatus.
nikapov	0:a1a69d32f310	3277	*/
nikapov	0:a1a69d32f310	3278
nikapov	0:a1a69d32f310	3279	device_range_status_internal = ((device_range_status & 0x78) >> 3);
nikapov	0:a1a69d32f310	3280
nikapov	0:a1a69d32f310	3281	if (device_range_status_internal == 0 \|\|
nikapov	0:a1a69d32f310	3282	device_range_status_internal == 5 \|\|
nikapov	0:a1a69d32f310	3283	device_range_status_internal == 7 \|\|
nikapov	0:a1a69d32f310	3284	device_range_status_internal == 12 \|\|
nikapov	0:a1a69d32f310	3285	device_range_status_internal == 13 \|\|
nikapov	0:a1a69d32f310	3286	device_range_status_internal == 14 \|\|
nikapov	0:a1a69d32f310	3287	device_range_status_internal == 15
nikapov	0:a1a69d32f310	3288	) {
nikapov	0:a1a69d32f310	3289	none_flag = 1;
nikapov	0:a1a69d32f310	3290	} else {
nikapov	0:a1a69d32f310	3291	none_flag = 0;
nikapov	0:a1a69d32f310	3292	}
nikapov	0:a1a69d32f310	3293
nikapov	0:a1a69d32f310	3294	/*
nikapov	0:a1a69d32f310	3295	* Check if Sigma limit is enabled, if yes then do comparison with limit
nikapov	0:a1a69d32f310	3296	* value and put the result back into pPalRangeStatus.
nikapov	0:a1a69d32f310	3297	*/
nikapov	0:a1a69d32f310	3298	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3299	status = VL53L0X_get_limit_check_enable(dev,
nikapov	0:a1a69d32f310	3300	VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
nikapov	0:a1a69d32f310	3301	&sigma_limit_check_enable);
nikapov	0:a1a69d32f310	3302	}
nikapov	0:a1a69d32f310	3303
nikapov	0:a1a69d32f310	3304	if ((sigma_limit_check_enable != 0) && (status == VL53L0X_ERROR_NONE)) {
nikapov	0:a1a69d32f310	3305	/*
nikapov	0:a1a69d32f310	3306	* compute the Sigma and check with limit
nikapov	0:a1a69d32f310	3307	*/
nikapov	0:a1a69d32f310	3308	status = VL53L0X_calc_sigma_estimate(
nikapov	0:a1a69d32f310	3309	dev,
nikapov	0:a1a69d32f310	3310	p_ranging_measurement_data,
nikapov	0:a1a69d32f310	3311	&sigma_estimate,
nikapov	0:a1a69d32f310	3312	&dmax_mm);
nikapov	0:a1a69d32f310	3313	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3314	p_ranging_measurement_data->RangeDMaxMilliMeter = dmax_mm;
nikapov	0:a1a69d32f310	3315	}
nikapov	0:a1a69d32f310	3316
nikapov	0:a1a69d32f310	3317	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3318	status = VL53L0X_get_limit_check_value(dev,
nikapov	0:a1a69d32f310	3319	VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
nikapov	0:a1a69d32f310	3320	&sigma_limit_value);
nikapov	0:a1a69d32f310	3321
nikapov	0:a1a69d32f310	3322	if ((sigma_limit_value > 0) &&
nikapov	0:a1a69d32f310	3323	(sigma_estimate > sigma_limit_value)) {
nikapov	0:a1a69d32f310	3324	/* Limit Fail */
nikapov	0:a1a69d32f310	3325	sigma_limitflag = 1;
nikapov	0:a1a69d32f310	3326	}
nikapov	0:a1a69d32f310	3327	}
nikapov	0:a1a69d32f310	3328	}
nikapov	0:a1a69d32f310	3329
nikapov	0:a1a69d32f310	3330	/*
nikapov	0:a1a69d32f310	3331	* Check if Signal ref clip limit is enabled, if yes then do comparison
nikapov	0:a1a69d32f310	3332	* with limit value and put the result back into pPalRangeStatus.
nikapov	0:a1a69d32f310	3333	*/
nikapov	0:a1a69d32f310	3334	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3335	status = VL53L0X_get_limit_check_enable(dev,
nikapov	0:a1a69d32f310	3336	VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
nikapov	0:a1a69d32f310	3337	&signal_ref_clip_limit_check_enable);
nikapov	0:a1a69d32f310	3338	}
nikapov	0:a1a69d32f310	3339
nikapov	0:a1a69d32f310	3340	if ((signal_ref_clip_limit_check_enable != 0) &&
nikapov	0:a1a69d32f310	3341	(status == VL53L0X_ERROR_NONE)) {
nikapov	0:a1a69d32f310	3342
nikapov	0:a1a69d32f310	3343	status = VL53L0X_get_limit_check_value(dev,
nikapov	0:a1a69d32f310	3344	VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
nikapov	0:a1a69d32f310	3345	&signal_ref_clip_value);
nikapov	0:a1a69d32f310	3346
nikapov	0:a1a69d32f310	3347	/* Read LastSignalRefMcps from device */
nikapov	0:a1a69d32f310	3348	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3349	status = VL53L0X_write_byte(dev, 0xFF, 0x01);
nikapov	0:a1a69d32f310	3350	}
nikapov	0:a1a69d32f310	3351
nikapov	0:a1a69d32f310	3352	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3353	status = VL53L0X_read_word(dev,
nikapov	0:a1a69d32f310	3354	VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
nikapov	0:a1a69d32f310	3355	&tmp_word);
nikapov	0:a1a69d32f310	3356	}
nikapov	0:a1a69d32f310	3357
nikapov	0:a1a69d32f310	3358	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3359	status = VL53L0X_write_byte(dev, 0xFF, 0x00);
nikapov	0:a1a69d32f310	3360	}
nikapov	0:a1a69d32f310	3361
nikapov	0:a1a69d32f310	3362	last_signal_ref_mcps = VL53L0X_FIXPOINT97TOFIXPOINT1616(tmp_word);
nikapov	0:a1a69d32f310	3363	PALDevDataSet(dev, LastSignalRefMcps, last_signal_ref_mcps);
nikapov	0:a1a69d32f310	3364
nikapov	0:a1a69d32f310	3365	if ((signal_ref_clip_value > 0) &&
nikapov	0:a1a69d32f310	3366	(last_signal_ref_mcps > signal_ref_clip_value)) {
nikapov	0:a1a69d32f310	3367	/* Limit Fail */
nikapov	0:a1a69d32f310	3368	signal_ref_clipflag = 1;
nikapov	0:a1a69d32f310	3369	}
nikapov	0:a1a69d32f310	3370	}
nikapov	0:a1a69d32f310	3371
nikapov	0:a1a69d32f310	3372	/*
nikapov	0:a1a69d32f310	3373	* Check if Signal ref clip limit is enabled, if yes then do comparison
nikapov	0:a1a69d32f310	3374	* with limit value and put the result back into pPalRangeStatus.
nikapov	0:a1a69d32f310	3375	* EffectiveSpadRtnCount has a format 8.8
nikapov	0:a1a69d32f310	3376	* If (Return signal rate < (1.5 x Xtalk x number of Spads)) : FAIL
nikapov	0:a1a69d32f310	3377	*/
nikapov	0:a1a69d32f310	3378	if (status == VL53L0X_ERROR_NONE){
nikapov	0:a1a69d32f310	3379	status = VL53L0X_get_limit_check_enable(dev,
nikapov	0:a1a69d32f310	3380	VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
nikapov	0:a1a69d32f310	3381	&range_ignore_threshold_limit_check_enable);
nikapov	0:a1a69d32f310	3382	}
nikapov	0:a1a69d32f310	3383
nikapov	0:a1a69d32f310	3384	if ((range_ignore_threshold_limit_check_enable != 0) &&
nikapov	0:a1a69d32f310	3385	(status == VL53L0X_ERROR_NONE)) {
nikapov	0:a1a69d32f310	3386
nikapov	0:a1a69d32f310	3387	/* Compute the signal rate per spad */
nikapov	0:a1a69d32f310	3388	if (effective_spad_rtn_count == 0) {
nikapov	0:a1a69d32f310	3389	signal_rate_per_spad = 0;
nikapov	0:a1a69d32f310	3390	} else {
nikapov	0:a1a69d32f310	3391	signal_rate_per_spad = (FixPoint1616_t)((256 * signal_rate)
nikapov	0:a1a69d32f310	3392	/ effective_spad_rtn_count);
nikapov	0:a1a69d32f310	3393	}
nikapov	0:a1a69d32f310	3394
nikapov	0:a1a69d32f310	3395	status = VL53L0X_get_limit_check_value(dev,
nikapov	0:a1a69d32f310	3396	VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
nikapov	0:a1a69d32f310	3397	&range_ignore_threshold_value);
nikapov	0:a1a69d32f310	3398
nikapov	0:a1a69d32f310	3399	if ((range_ignore_threshold_value > 0) &&
nikapov	0:a1a69d32f310	3400	(signal_rate_per_spad < range_ignore_threshold_value)) {
nikapov	0:a1a69d32f310	3401	/* Limit Fail add 2^6 to range status */
nikapov	0:a1a69d32f310	3402	range_ignore_thresholdflag = 1;
nikapov	0:a1a69d32f310	3403	}
nikapov	0:a1a69d32f310	3404	}
nikapov	0:a1a69d32f310	3405
nikapov	0:a1a69d32f310	3406	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3407	if (none_flag == 1) {
nikapov	0:a1a69d32f310	3408	p_pal_range_status = 255; / NONE */
nikapov	0:a1a69d32f310	3409	} else if (device_range_status_internal == 1 \|\|
nikapov	0:a1a69d32f310	3410	device_range_status_internal == 2 \|\|
nikapov	0:a1a69d32f310	3411	device_range_status_internal == 3) {
nikapov	0:a1a69d32f310	3412	p_pal_range_status = 5; / HW fail */
nikapov	0:a1a69d32f310	3413	} else if (device_range_status_internal == 6 \|\|
nikapov	0:a1a69d32f310	3414	device_range_status_internal == 9) {
nikapov	0:a1a69d32f310	3415	p_pal_range_status = 4; / Phase fail */
nikapov	0:a1a69d32f310	3416	} else if (device_range_status_internal == 8 \|\|
nikapov	0:a1a69d32f310	3417	device_range_status_internal == 10 \|\|
nikapov	0:a1a69d32f310	3418	signal_ref_clipflag == 1) {
nikapov	0:a1a69d32f310	3419	p_pal_range_status = 3; / Min range */
nikapov	0:a1a69d32f310	3420	} else if (device_range_status_internal == 4 \|\|
nikapov	0:a1a69d32f310	3421	range_ignore_thresholdflag == 1) {
nikapov	0:a1a69d32f310	3422	p_pal_range_status = 2; / Signal Fail */
nikapov	0:a1a69d32f310	3423	} else if (sigma_limitflag == 1) {
nikapov	0:a1a69d32f310	3424	p_pal_range_status = 1; / Sigma Fail */
nikapov	0:a1a69d32f310	3425	} else {
nikapov	0:a1a69d32f310	3426	p_pal_range_status = 0; / Range Valid */
nikapov	0:a1a69d32f310	3427	}
nikapov	0:a1a69d32f310	3428	}
nikapov	0:a1a69d32f310	3429
nikapov	0:a1a69d32f310	3430	/* DMAX only relevant during range error */
nikapov	0:a1a69d32f310	3431	if (*p_pal_range_status == 0)
nikapov	0:a1a69d32f310	3432	p_ranging_measurement_data->RangeDMaxMilliMeter = 0;
nikapov	0:a1a69d32f310	3433
nikapov	0:a1a69d32f310	3434	/* fill the Limit Check Status */
nikapov	0:a1a69d32f310	3435
nikapov	0:a1a69d32f310	3436	status = VL53L0X_get_limit_check_enable(dev,
nikapov	0:a1a69d32f310	3437	VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
nikapov	0:a1a69d32f310	3438	&signal_rate_final_range_limit_check_enable);
nikapov	0:a1a69d32f310	3439
nikapov	0:a1a69d32f310	3440	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3441	if ((sigma_limit_check_enable == 0) \|\| (sigma_limitflag == 1)) {
nikapov	0:a1a69d32f310	3442	temp8 = 1;
nikapov	0:a1a69d32f310	3443	} else {
nikapov	0:a1a69d32f310	3444	temp8 = 0;
nikapov	0:a1a69d32f310	3445	}
nikapov	0:a1a69d32f310	3446	VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus,
nikapov	0:a1a69d32f310	3447	VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, temp8);
nikapov	0:a1a69d32f310	3448
nikapov	0:a1a69d32f310	3449	if ((device_range_status_internal == 4) \|\|
nikapov	0:a1a69d32f310	3450	(signal_rate_final_range_limit_check_enable == 0)) {
nikapov	0:a1a69d32f310	3451	temp8 = 1;
nikapov	0:a1a69d32f310	3452	} else {
nikapov	0:a1a69d32f310	3453	temp8 = 0;
nikapov	0:a1a69d32f310	3454	}
nikapov	0:a1a69d32f310	3455	VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus,
nikapov	0:a1a69d32f310	3456	VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
nikapov	0:a1a69d32f310	3457	temp8);
nikapov	0:a1a69d32f310	3458
nikapov	0:a1a69d32f310	3459	if ((signal_ref_clip_limit_check_enable == 0) \|\|
nikapov	0:a1a69d32f310	3460	(signal_ref_clipflag == 1)) {
nikapov	0:a1a69d32f310	3461	temp8 = 1;
nikapov	0:a1a69d32f310	3462	} else {
nikapov	0:a1a69d32f310	3463	temp8 = 0;
nikapov	0:a1a69d32f310	3464	}
nikapov	0:a1a69d32f310	3465
nikapov	0:a1a69d32f310	3466	VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus,
nikapov	0:a1a69d32f310	3467	VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, temp8);
nikapov	0:a1a69d32f310	3468
nikapov	0:a1a69d32f310	3469	if ((range_ignore_threshold_limit_check_enable == 0) \|\|
nikapov	0:a1a69d32f310	3470	(range_ignore_thresholdflag == 1)) {
nikapov	0:a1a69d32f310	3471	temp8 = 1;
nikapov	0:a1a69d32f310	3472	} else {
nikapov	0:a1a69d32f310	3473	temp8 = 0;
nikapov	0:a1a69d32f310	3474	}
nikapov	0:a1a69d32f310	3475
nikapov	0:a1a69d32f310	3476	VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus,
nikapov	0:a1a69d32f310	3477	VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
nikapov	0:a1a69d32f310	3478	temp8);
nikapov	0:a1a69d32f310	3479	}
nikapov	0:a1a69d32f310	3480
nikapov	0:a1a69d32f310	3481	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	3482	return status;
nikapov	0:a1a69d32f310	3483
nikapov	0:a1a69d32f310	3484	}
nikapov	0:a1a69d32f310	3485
nikapov	0:a1a69d32f310	3486	VL53L0X_Error VL53L0X::VL53L0X_get_ranging_measurement_data(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	3487	VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data)
nikapov	0:a1a69d32f310	3488	{
nikapov	0:a1a69d32f310	3489	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	3490	uint8_t device_range_status;
nikapov	0:a1a69d32f310	3491	uint8_t range_fractional_enable;
nikapov	0:a1a69d32f310	3492	uint8_t pal_range_status;
nikapov	0:a1a69d32f310	3493	uint8_t x_talk_compensation_enable;
nikapov	0:a1a69d32f310	3494	uint16_t ambient_rate;
nikapov	0:a1a69d32f310	3495	FixPoint1616_t signal_rate;
nikapov	0:a1a69d32f310	3496	uint16_t x_talk_compensation_rate_mega_cps;
nikapov	0:a1a69d32f310	3497	uint16_t effective_spad_rtn_count;
nikapov	0:a1a69d32f310	3498	uint16_t tmpuint16;
nikapov	0:a1a69d32f310	3499	uint16_t xtalk_range_milli_meter;
nikapov	0:a1a69d32f310	3500	uint16_t linearity_corrective_gain;
nikapov	0:a1a69d32f310	3501	uint8_t localBuffer[12];
nikapov	0:a1a69d32f310	3502	VL53L0X_RangingMeasurementData_t last_range_data_buffer;
nikapov	0:a1a69d32f310	3503
nikapov	0:a1a69d32f310	3504	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	3505
nikapov	0:a1a69d32f310	3506	/*
nikapov	0:a1a69d32f310	3507	* use multi read even if some registers are not useful, result will
nikapov	0:a1a69d32f310	3508	* be more efficient
nikapov	0:a1a69d32f310	3509	* start reading at 0x14 dec20
nikapov	0:a1a69d32f310	3510	* end reading at 0x21 dec33 total 14 bytes to read
nikapov	0:a1a69d32f310	3511	*/
nikapov	0:a1a69d32f310	3512	status = VL53L0X_read_multi(dev, 0x14, localBuffer, 12);
nikapov	0:a1a69d32f310	3513
nikapov	0:a1a69d32f310	3514	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3515
nikapov	0:a1a69d32f310	3516	p_ranging_measurement_data->ZoneId = 0; /* Only one zone */
nikapov	0:a1a69d32f310	3517	p_ranging_measurement_data->TimeStamp = 0; /* Not Implemented */
nikapov	0:a1a69d32f310	3518
nikapov	0:a1a69d32f310	3519	tmpuint16 = VL53L0X_MAKEUINT16(localBuffer[11], localBuffer[10]);
nikapov	0:a1a69d32f310	3520	/* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional
nikapov	0:a1a69d32f310	3521	*(format 11.2) else no fractional
nikapov	0:a1a69d32f310	3522	*/
nikapov	0:a1a69d32f310	3523
nikapov	0:a1a69d32f310	3524	p_ranging_measurement_data->MeasurementTimeUsec = 0;
nikapov	0:a1a69d32f310	3525
nikapov	0:a1a69d32f310	3526	signal_rate = VL53L0X_FIXPOINT97TOFIXPOINT1616(
nikapov	0:a1a69d32f310	3527	VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6]));
nikapov	0:a1a69d32f310	3528	/* peak_signal_count_rate_rtn_mcps */
nikapov	0:a1a69d32f310	3529	p_ranging_measurement_data->SignalRateRtnMegaCps = signal_rate;
nikapov	0:a1a69d32f310	3530
nikapov	0:a1a69d32f310	3531	ambient_rate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]);
nikapov	0:a1a69d32f310	3532	p_ranging_measurement_data->AmbientRateRtnMegaCps =
nikapov	0:a1a69d32f310	3533	VL53L0X_FIXPOINT97TOFIXPOINT1616(ambient_rate);
nikapov	0:a1a69d32f310	3534
nikapov	0:a1a69d32f310	3535	effective_spad_rtn_count = VL53L0X_MAKEUINT16(localBuffer[3],
nikapov	0:a1a69d32f310	3536	localBuffer[2]);
nikapov	0:a1a69d32f310	3537	/* EffectiveSpadRtnCount is 8.8 format */
nikapov	0:a1a69d32f310	3538	p_ranging_measurement_data->EffectiveSpadRtnCount =
nikapov	0:a1a69d32f310	3539	effective_spad_rtn_count;
nikapov	0:a1a69d32f310	3540
nikapov	0:a1a69d32f310	3541	device_range_status = localBuffer[0];
nikapov	0:a1a69d32f310	3542
nikapov	0:a1a69d32f310	3543	/* Get Linearity Corrective Gain */
nikapov	0:a1a69d32f310	3544	linearity_corrective_gain = PALDevDataGet(dev,
nikapov	0:a1a69d32f310	3545	LinearityCorrectiveGain);
nikapov	0:a1a69d32f310	3546
nikapov	0:a1a69d32f310	3547	/* Get ranging configuration */
nikapov	0:a1a69d32f310	3548	range_fractional_enable = PALDevDataGet(dev,
nikapov	0:a1a69d32f310	3549	RangeFractionalEnable);
nikapov	0:a1a69d32f310	3550
nikapov	0:a1a69d32f310	3551	if (linearity_corrective_gain != 1000) {
nikapov	0:a1a69d32f310	3552
nikapov	0:a1a69d32f310	3553	tmpuint16 = (uint16_t)((linearity_corrective_gain
nikapov	0:a1a69d32f310	3554	* tmpuint16 + 500) / 1000);
nikapov	0:a1a69d32f310	3555
nikapov	0:a1a69d32f310	3556	/* Implement Xtalk */
nikapov	0:a1a69d32f310	3557	VL53L0X_GETPARAMETERFIELD(dev,
nikapov	0:a1a69d32f310	3558	XTalkCompensationRateMegaCps,
nikapov	0:a1a69d32f310	3559	x_talk_compensation_rate_mega_cps);
nikapov	0:a1a69d32f310	3560	VL53L0X_GETPARAMETERFIELD(dev, XTalkCompensationEnable,
nikapov	0:a1a69d32f310	3561	x_talk_compensation_enable);
nikapov	0:a1a69d32f310	3562
nikapov	0:a1a69d32f310	3563	if (x_talk_compensation_enable) {
nikapov	0:a1a69d32f310	3564
nikapov	0:a1a69d32f310	3565	if ((signal_rate
nikapov	0:a1a69d32f310	3566	- ((x_talk_compensation_rate_mega_cps
nikapov	0:a1a69d32f310	3567	* effective_spad_rtn_count) >> 8))
nikapov	0:a1a69d32f310	3568	<= 0) {
nikapov	0:a1a69d32f310	3569	if (range_fractional_enable) {
nikapov	0:a1a69d32f310	3570	xtalk_range_milli_meter = 8888;
nikapov	0:a1a69d32f310	3571	} else {
nikapov	0:a1a69d32f310	3572	xtalk_range_milli_meter = 8888 << 2;
nikapov	0:a1a69d32f310	3573	}
nikapov	0:a1a69d32f310	3574	} else {
nikapov	0:a1a69d32f310	3575	xtalk_range_milli_meter =
nikapov	0:a1a69d32f310	3576	(tmpuint16 * signal_rate)
nikapov	0:a1a69d32f310	3577	/ (signal_rate
nikapov	0:a1a69d32f310	3578	- ((x_talk_compensation_rate_mega_cps
nikapov	0:a1a69d32f310	3579	* effective_spad_rtn_count)
nikapov	0:a1a69d32f310	3580	>> 8));
nikapov	0:a1a69d32f310	3581	}
nikapov	0:a1a69d32f310	3582
nikapov	0:a1a69d32f310	3583	tmpuint16 = xtalk_range_milli_meter;
nikapov	0:a1a69d32f310	3584	}
nikapov	0:a1a69d32f310	3585
nikapov	0:a1a69d32f310	3586	}
nikapov	0:a1a69d32f310	3587
nikapov	0:a1a69d32f310	3588	if (range_fractional_enable) {
nikapov	0:a1a69d32f310	3589	p_ranging_measurement_data->RangeMilliMeter =
nikapov	0:a1a69d32f310	3590	(uint16_t)((tmpuint16) >> 2);
nikapov	0:a1a69d32f310	3591	p_ranging_measurement_data->RangeFractionalPart =
nikapov	0:a1a69d32f310	3592	(uint8_t)((tmpuint16 & 0x03) << 6);
nikapov	0:a1a69d32f310	3593	} else {
nikapov	0:a1a69d32f310	3594	p_ranging_measurement_data->RangeMilliMeter = tmpuint16;
nikapov	0:a1a69d32f310	3595	p_ranging_measurement_data->RangeFractionalPart = 0;
nikapov	0:a1a69d32f310	3596	}
nikapov	0:a1a69d32f310	3597
nikapov	0:a1a69d32f310	3598	/*
nikapov	0:a1a69d32f310	3599	* For a standard definition of RangeStatus, this should
nikapov	0:a1a69d32f310	3600	* return 0 in case of good result after a ranging
nikapov	0:a1a69d32f310	3601	* The range status depends on the device so call a device
nikapov	0:a1a69d32f310	3602	* specific function to obtain the right Status.
nikapov	0:a1a69d32f310	3603	*/
nikapov	0:a1a69d32f310	3604	status \|= VL53L0X_get_pal_range_status(dev, device_range_status,
nikapov	0:a1a69d32f310	3605	signal_rate, effective_spad_rtn_count,
nikapov	0:a1a69d32f310	3606	p_ranging_measurement_data, &pal_range_status);
nikapov	0:a1a69d32f310	3607
nikapov	0:a1a69d32f310	3608	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3609	p_ranging_measurement_data->RangeStatus = pal_range_status;
nikapov	0:a1a69d32f310	3610	}
nikapov	0:a1a69d32f310	3611
nikapov	0:a1a69d32f310	3612	}
nikapov	0:a1a69d32f310	3613
nikapov	0:a1a69d32f310	3614	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3615	/* Copy last read data into Dev buffer */
nikapov	0:a1a69d32f310	3616	last_range_data_buffer = PALDevDataGet(dev, LastRangeMeasure);
nikapov	0:a1a69d32f310	3617
nikapov	0:a1a69d32f310	3618	last_range_data_buffer.RangeMilliMeter =
nikapov	0:a1a69d32f310	3619	p_ranging_measurement_data->RangeMilliMeter;
nikapov	0:a1a69d32f310	3620	last_range_data_buffer.RangeFractionalPart =
nikapov	0:a1a69d32f310	3621	p_ranging_measurement_data->RangeFractionalPart;
nikapov	0:a1a69d32f310	3622	last_range_data_buffer.RangeDMaxMilliMeter =
nikapov	0:a1a69d32f310	3623	p_ranging_measurement_data->RangeDMaxMilliMeter;
nikapov	0:a1a69d32f310	3624	last_range_data_buffer.MeasurementTimeUsec =
nikapov	0:a1a69d32f310	3625	p_ranging_measurement_data->MeasurementTimeUsec;
nikapov	0:a1a69d32f310	3626	last_range_data_buffer.SignalRateRtnMegaCps =
nikapov	0:a1a69d32f310	3627	p_ranging_measurement_data->SignalRateRtnMegaCps;
nikapov	0:a1a69d32f310	3628	last_range_data_buffer.AmbientRateRtnMegaCps =
nikapov	0:a1a69d32f310	3629	p_ranging_measurement_data->AmbientRateRtnMegaCps;
nikapov	0:a1a69d32f310	3630	last_range_data_buffer.EffectiveSpadRtnCount =
nikapov	0:a1a69d32f310	3631	p_ranging_measurement_data->EffectiveSpadRtnCount;
nikapov	0:a1a69d32f310	3632	last_range_data_buffer.RangeStatus =
nikapov	0:a1a69d32f310	3633	p_ranging_measurement_data->RangeStatus;
nikapov	0:a1a69d32f310	3634
nikapov	0:a1a69d32f310	3635	PALDevDataSet(dev, LastRangeMeasure, last_range_data_buffer);
nikapov	0:a1a69d32f310	3636	}
nikapov	0:a1a69d32f310	3637
nikapov	0:a1a69d32f310	3638	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	3639	return status;
nikapov	0:a1a69d32f310	3640	}
nikapov	0:a1a69d32f310	3641
nikapov	0:a1a69d32f310	3642	VL53L0X_Error VL53L0X::VL53L0X_perform_single_ranging_measurement(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	3643	VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data)
nikapov	0:a1a69d32f310	3644	{
nikapov	0:a1a69d32f310	3645	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	3646
nikapov	0:a1a69d32f310	3647	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	3648
nikapov	0:a1a69d32f310	3649	/* This function will do a complete single ranging
nikapov	0:a1a69d32f310	3650	* Here we fix the mode! */
nikapov	0:a1a69d32f310	3651	status = VL53L0X_set_device_mode(dev, VL53L0X_DEVICEMODE_SINGLE_RANGING);
nikapov	0:a1a69d32f310	3652
nikapov	0:a1a69d32f310	3653	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3654	status = VL53L0X_perform_single_measurement(dev);
nikapov	0:a1a69d32f310	3655	}
nikapov	0:a1a69d32f310	3656
nikapov	0:a1a69d32f310	3657	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3658	status = VL53L0X_get_ranging_measurement_data(dev,
nikapov	0:a1a69d32f310	3659	p_ranging_measurement_data);
nikapov	0:a1a69d32f310	3660	}
nikapov	0:a1a69d32f310	3661
nikapov	0:a1a69d32f310	3662	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3663	status = VL53L0X_clear_interrupt_mask(dev, 0);
nikapov	0:a1a69d32f310	3664	}
nikapov	0:a1a69d32f310	3665
nikapov	0:a1a69d32f310	3666	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	3667	return status;
nikapov	0:a1a69d32f310	3668	}
nikapov	0:a1a69d32f310	3669
nikapov	0:a1a69d32f310	3670	VL53L0X_Error VL53L0X::perform_ref_signal_measurement(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	3671	uint16_t *p_ref_signal_rate)
nikapov	0:a1a69d32f310	3672	{
nikapov	0:a1a69d32f310	3673	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	3674	VL53L0X_RangingMeasurementData_t ranging_measurement_data;
nikapov	0:a1a69d32f310	3675
nikapov	0:a1a69d32f310	3676	uint8_t sequence_config = 0;
nikapov	0:a1a69d32f310	3677
nikapov	0:a1a69d32f310	3678	/* store the value of the sequence config,
nikapov	0:a1a69d32f310	3679	* this will be reset before the end of the function
nikapov	0:a1a69d32f310	3680	*/
nikapov	0:a1a69d32f310	3681
nikapov	0:a1a69d32f310	3682	sequence_config = PALDevDataGet(dev, SequenceConfig);
nikapov	0:a1a69d32f310	3683
nikapov	0:a1a69d32f310	3684	/*
nikapov	0:a1a69d32f310	3685	* This function performs a reference signal rate measurement.
nikapov	0:a1a69d32f310	3686	*/
nikapov	0:a1a69d32f310	3687	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3688	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	3689	VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0xC0);
nikapov	0:a1a69d32f310	3690	}
nikapov	0:a1a69d32f310	3691
nikapov	0:a1a69d32f310	3692	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3693	status = VL53L0X_perform_single_ranging_measurement(dev,
nikapov	0:a1a69d32f310	3694	&ranging_measurement_data);
nikapov	0:a1a69d32f310	3695	}
nikapov	0:a1a69d32f310	3696
nikapov	0:a1a69d32f310	3697	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3698	status = VL53L0X_write_byte(dev, 0xFF, 0x01);
nikapov	0:a1a69d32f310	3699	}
nikapov	0:a1a69d32f310	3700
nikapov	0:a1a69d32f310	3701	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3702	status = VL53L0X_read_word(dev,
nikapov	0:a1a69d32f310	3703	VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
nikapov	0:a1a69d32f310	3704	p_ref_signal_rate);
nikapov	0:a1a69d32f310	3705	}
nikapov	0:a1a69d32f310	3706
nikapov	0:a1a69d32f310	3707	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3708	status = VL53L0X_write_byte(dev, 0xFF, 0x00);
nikapov	0:a1a69d32f310	3709	}
nikapov	0:a1a69d32f310	3710
nikapov	0:a1a69d32f310	3711	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3712	/* restore the previous Sequence Config */
nikapov	0:a1a69d32f310	3713	status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
nikapov	0:a1a69d32f310	3714	sequence_config);
nikapov	0:a1a69d32f310	3715	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3716	PALDevDataSet(dev, SequenceConfig, sequence_config);
nikapov	0:a1a69d32f310	3717	}
nikapov	0:a1a69d32f310	3718	}
nikapov	0:a1a69d32f310	3719
nikapov	0:a1a69d32f310	3720	return status;
nikapov	0:a1a69d32f310	3721	}
nikapov	0:a1a69d32f310	3722
nikapov	0:a1a69d32f310	3723	VL53L0X_Error VL53L0X::wrapped_VL53L0X_perform_ref_spad_management(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	3724	uint32_t *ref_spad_count,
nikapov	0:a1a69d32f310	3725	uint8_t *is_aperture_spads)
nikapov	0:a1a69d32f310	3726	{
nikapov	0:a1a69d32f310	3727	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	3728	uint8_t last_spad_array[6];
nikapov	0:a1a69d32f310	3729	uint8_t start_select = 0xB4;
nikapov	0:a1a69d32f310	3730	uint32_t minimum_spad_count = 3;
nikapov	0:a1a69d32f310	3731	uint32_t max_spad_count = 44;
nikapov	0:a1a69d32f310	3732	uint32_t current_spad_index = 0;
nikapov	0:a1a69d32f310	3733	uint32_t last_spad_index = 0;
nikapov	0:a1a69d32f310	3734	int32_t next_good_spad = 0;
nikapov	0:a1a69d32f310	3735	uint16_t target_ref_rate = 0x0A00; /* 20 MCPS in 9:7 format */
nikapov	0:a1a69d32f310	3736	uint16_t peak_signal_rate_ref;
nikapov	0:a1a69d32f310	3737	uint32_t need_apt_spads = 0;
nikapov	0:a1a69d32f310	3738	uint32_t index = 0;
nikapov	0:a1a69d32f310	3739	uint32_t spad_array_size = 6;
nikapov	0:a1a69d32f310	3740	uint32_t signal_rate_diff = 0;
nikapov	0:a1a69d32f310	3741	uint32_t last_signal_rate_diff = 0;
nikapov	0:a1a69d32f310	3742	uint8_t complete = 0;
nikapov	0:a1a69d32f310	3743	uint8_t vhv_settings = 0;
nikapov	0:a1a69d32f310	3744	uint8_t phase_cal = 0;
nikapov	0:a1a69d32f310	3745	uint32_t ref_spad_count_int = 0;
nikapov	0:a1a69d32f310	3746	uint8_t is_aperture_spads_int = 0;
nikapov	0:a1a69d32f310	3747
nikapov	0:a1a69d32f310	3748	/*
nikapov	0:a1a69d32f310	3749	* The reference SPAD initialization procedure determines the minimum
nikapov	0:a1a69d32f310	3750	* amount of reference spads to be enables to achieve a target reference
nikapov	0:a1a69d32f310	3751	* signal rate and should be performed once during initialization.
nikapov	0:a1a69d32f310	3752	*
nikapov	0:a1a69d32f310	3753	* Either aperture or non-aperture spads are applied but never both.
nikapov	0:a1a69d32f310	3754	* Firstly non-aperture spads are set, begining with 5 spads, and
nikapov	0:a1a69d32f310	3755	* increased one spad at a time until the closest measurement to the
nikapov	0:a1a69d32f310	3756	* target rate is achieved.
nikapov	0:a1a69d32f310	3757	*
nikapov	0:a1a69d32f310	3758	* If the target rate is exceeded when 5 non-aperture spads are enabled,
nikapov	0:a1a69d32f310	3759	* initialization is performed instead with aperture spads.
nikapov	0:a1a69d32f310	3760	*
nikapov	0:a1a69d32f310	3761	* When setting spads, a 'Good Spad Map' is applied.
nikapov	0:a1a69d32f310	3762	*
nikapov	0:a1a69d32f310	3763	* This procedure operates within a SPAD window of interest of a maximum
nikapov	0:a1a69d32f310	3764	* 44 spads.
nikapov	0:a1a69d32f310	3765	* The start point is currently fixed to 180, which lies towards the end
nikapov	0:a1a69d32f310	3766	* of the non-aperture quadrant and runs in to the adjacent aperture
nikapov	0:a1a69d32f310	3767	* quadrant.
nikapov	0:a1a69d32f310	3768	*/
nikapov	0:a1a69d32f310	3769	target_ref_rate = PALDevDataGet(dev, targetRefRate);
nikapov	0:a1a69d32f310	3770
nikapov	0:a1a69d32f310	3771	/*
nikapov	0:a1a69d32f310	3772	* Initialize Spad arrays.
nikapov	0:a1a69d32f310	3773	* Currently the good spad map is initialised to 'All good'.
nikapov	0:a1a69d32f310	3774	* This is a short term implementation. The good spad map will be
nikapov	0:a1a69d32f310	3775	* provided as an input.
nikapov	0:a1a69d32f310	3776	* Note that there are 6 bytes. Only the first 44 bits will be used to
nikapov	0:a1a69d32f310	3777	* represent spads.
nikapov	0:a1a69d32f310	3778	*/
nikapov	0:a1a69d32f310	3779	for (index = 0; index < spad_array_size; index++)
nikapov	0:a1a69d32f310	3780	dev->Data.SpadData.RefSpadEnables[index] = 0;
nikapov	0:a1a69d32f310	3781
nikapov	0:a1a69d32f310	3782
nikapov	0:a1a69d32f310	3783	status = VL53L0X_write_byte(dev, 0xFF, 0x01);
nikapov	0:a1a69d32f310	3784
nikapov	0:a1a69d32f310	3785	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3786	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	3787	VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
nikapov	0:a1a69d32f310	3788	}
nikapov	0:a1a69d32f310	3789
nikapov	0:a1a69d32f310	3790	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3791	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	3792	VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
nikapov	0:a1a69d32f310	3793	}
nikapov	0:a1a69d32f310	3794
nikapov	0:a1a69d32f310	3795	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3796	status = VL53L0X_write_byte(dev, 0xFF, 0x00);
nikapov	0:a1a69d32f310	3797	}
nikapov	0:a1a69d32f310	3798
nikapov	0:a1a69d32f310	3799	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3800	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	3801	VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
nikapov	0:a1a69d32f310	3802	start_select);
nikapov	0:a1a69d32f310	3803	}
nikapov	0:a1a69d32f310	3804
nikapov	0:a1a69d32f310	3805	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3806	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	3807	VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE, 0);
nikapov	0:a1a69d32f310	3808	}
nikapov	0:a1a69d32f310	3809
nikapov	0:a1a69d32f310	3810	/* Perform ref calibration */
nikapov	0:a1a69d32f310	3811	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3812	status = VL53L0X_perform_ref_calibration(dev, &vhv_settings,
nikapov	0:a1a69d32f310	3813	&phase_cal, 0);
nikapov	0:a1a69d32f310	3814	}
nikapov	0:a1a69d32f310	3815
nikapov	0:a1a69d32f310	3816	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3817	/* Enable Minimum NON-APERTURE Spads */
nikapov	0:a1a69d32f310	3818	current_spad_index = 0;
nikapov	0:a1a69d32f310	3819	last_spad_index = current_spad_index;
nikapov	0:a1a69d32f310	3820	need_apt_spads = 0;
nikapov	0:a1a69d32f310	3821	status = enable_ref_spads(dev,
nikapov	0:a1a69d32f310	3822	need_apt_spads,
nikapov	0:a1a69d32f310	3823	dev->Data.SpadData.RefGoodSpadMap,
nikapov	0:a1a69d32f310	3824	dev->Data.SpadData.RefSpadEnables,
nikapov	0:a1a69d32f310	3825	spad_array_size,
nikapov	0:a1a69d32f310	3826	start_select,
nikapov	0:a1a69d32f310	3827	current_spad_index,
nikapov	0:a1a69d32f310	3828	minimum_spad_count,
nikapov	0:a1a69d32f310	3829	&last_spad_index);
nikapov	0:a1a69d32f310	3830	}
nikapov	0:a1a69d32f310	3831
nikapov	0:a1a69d32f310	3832	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3833	current_spad_index = last_spad_index;
nikapov	0:a1a69d32f310	3834
nikapov	0:a1a69d32f310	3835	status = perform_ref_signal_measurement(dev,
nikapov	0:a1a69d32f310	3836	&peak_signal_rate_ref);
nikapov	0:a1a69d32f310	3837	if ((status == VL53L0X_ERROR_NONE) &&
nikapov	0:a1a69d32f310	3838	(peak_signal_rate_ref > target_ref_rate)) {
nikapov	0:a1a69d32f310	3839	/* Signal rate measurement too high,
nikapov	0:a1a69d32f310	3840	* switch to APERTURE SPADs */
nikapov	0:a1a69d32f310	3841
nikapov	0:a1a69d32f310	3842	for (index = 0; index < spad_array_size; index++) {
nikapov	0:a1a69d32f310	3843	dev->Data.SpadData.RefSpadEnables[index] = 0;
nikapov	0:a1a69d32f310	3844	}
nikapov	0:a1a69d32f310	3845
nikapov	0:a1a69d32f310	3846
nikapov	0:a1a69d32f310	3847	/* Increment to the first APERTURE spad */
nikapov	0:a1a69d32f310	3848	while ((is_aperture(start_select + current_spad_index)
nikapov	0:a1a69d32f310	3849	== 0) && (current_spad_index < max_spad_count)) {
nikapov	0:a1a69d32f310	3850	current_spad_index++;
nikapov	0:a1a69d32f310	3851	}
nikapov	0:a1a69d32f310	3852
nikapov	0:a1a69d32f310	3853	need_apt_spads = 1;
nikapov	0:a1a69d32f310	3854
nikapov	0:a1a69d32f310	3855	status = enable_ref_spads(dev,
nikapov	0:a1a69d32f310	3856	need_apt_spads,
nikapov	0:a1a69d32f310	3857	dev->Data.SpadData.RefGoodSpadMap,
nikapov	0:a1a69d32f310	3858	dev->Data.SpadData.RefSpadEnables,
nikapov	0:a1a69d32f310	3859	spad_array_size,
nikapov	0:a1a69d32f310	3860	start_select,
nikapov	0:a1a69d32f310	3861	current_spad_index,
nikapov	0:a1a69d32f310	3862	minimum_spad_count,
nikapov	0:a1a69d32f310	3863	&last_spad_index);
nikapov	0:a1a69d32f310	3864
nikapov	0:a1a69d32f310	3865	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3866	current_spad_index = last_spad_index;
nikapov	0:a1a69d32f310	3867	status = perform_ref_signal_measurement(dev,
nikapov	0:a1a69d32f310	3868	&peak_signal_rate_ref);
nikapov	0:a1a69d32f310	3869
nikapov	0:a1a69d32f310	3870	if ((status == VL53L0X_ERROR_NONE) &&
nikapov	0:a1a69d32f310	3871	(peak_signal_rate_ref > target_ref_rate)) {
nikapov	0:a1a69d32f310	3872	/* Signal rate still too high after
nikapov	0:a1a69d32f310	3873	* setting the minimum number of
nikapov	0:a1a69d32f310	3874	* APERTURE spads. Can do no more
nikapov	0:a1a69d32f310	3875	* therefore set the min number of
nikapov	0:a1a69d32f310	3876	* aperture spads as the result.
nikapov	0:a1a69d32f310	3877	*/
nikapov	0:a1a69d32f310	3878	is_aperture_spads_int = 1;
nikapov	0:a1a69d32f310	3879	ref_spad_count_int = minimum_spad_count;
nikapov	0:a1a69d32f310	3880	}
nikapov	0:a1a69d32f310	3881	}
nikapov	0:a1a69d32f310	3882	} else {
nikapov	0:a1a69d32f310	3883	need_apt_spads = 0;
nikapov	0:a1a69d32f310	3884	}
nikapov	0:a1a69d32f310	3885	}
nikapov	0:a1a69d32f310	3886
nikapov	0:a1a69d32f310	3887	if ((status == VL53L0X_ERROR_NONE) &&
nikapov	0:a1a69d32f310	3888	(peak_signal_rate_ref < target_ref_rate)) {
nikapov	0:a1a69d32f310	3889	/* At this point, the minimum number of either aperture
nikapov	0:a1a69d32f310	3890	* or non-aperture spads have been set. Proceed to add
nikapov	0:a1a69d32f310	3891	* spads and perform measurements until the target
nikapov	0:a1a69d32f310	3892	* reference is reached.
nikapov	0:a1a69d32f310	3893	*/
nikapov	0:a1a69d32f310	3894	is_aperture_spads_int = need_apt_spads;
nikapov	0:a1a69d32f310	3895	ref_spad_count_int = minimum_spad_count;
nikapov	0:a1a69d32f310	3896
nikapov	0:a1a69d32f310	3897	memcpy(last_spad_array, dev->Data.SpadData.RefSpadEnables,
nikapov	0:a1a69d32f310	3898	spad_array_size);
nikapov	0:a1a69d32f310	3899	last_signal_rate_diff = abs(peak_signal_rate_ref -
nikapov	0:a1a69d32f310	3900	target_ref_rate);
nikapov	0:a1a69d32f310	3901	complete = 0;
nikapov	0:a1a69d32f310	3902
nikapov	0:a1a69d32f310	3903	while (!complete) {
nikapov	0:a1a69d32f310	3904	get_next_good_spad(
nikapov	0:a1a69d32f310	3905	dev->Data.SpadData.RefGoodSpadMap,
nikapov	0:a1a69d32f310	3906	spad_array_size, current_spad_index,
nikapov	0:a1a69d32f310	3907	&next_good_spad);
nikapov	0:a1a69d32f310	3908
nikapov	0:a1a69d32f310	3909	if (next_good_spad == -1) {
nikapov	0:a1a69d32f310	3910	status = VL53L0X_ERROR_REF_SPAD_INIT;
nikapov	0:a1a69d32f310	3911	break;
nikapov	0:a1a69d32f310	3912	}
nikapov	0:a1a69d32f310	3913
nikapov	0:a1a69d32f310	3914	/* Cannot combine Aperture and Non-Aperture spads, so
nikapov	0:a1a69d32f310	3915	* ensure the current spad is of the correct type.
nikapov	0:a1a69d32f310	3916	*/
nikapov	0:a1a69d32f310	3917	if (is_aperture((uint32_t)start_select + next_good_spad) !=
nikapov	0:a1a69d32f310	3918	need_apt_spads) {
nikapov	0:a1a69d32f310	3919	/* At this point we have enabled the maximum
nikapov	0:a1a69d32f310	3920	* number of Aperture spads.
nikapov	0:a1a69d32f310	3921	*/
nikapov	0:a1a69d32f310	3922	complete = 1;
nikapov	0:a1a69d32f310	3923	break;
nikapov	0:a1a69d32f310	3924	}
nikapov	0:a1a69d32f310	3925
nikapov	0:a1a69d32f310	3926	(ref_spad_count_int)++;
nikapov	0:a1a69d32f310	3927
nikapov	0:a1a69d32f310	3928	current_spad_index = next_good_spad;
nikapov	0:a1a69d32f310	3929	status = enable_spad_bit(
nikapov	0:a1a69d32f310	3930	dev->Data.SpadData.RefSpadEnables,
nikapov	0:a1a69d32f310	3931	spad_array_size, current_spad_index);
nikapov	0:a1a69d32f310	3932
nikapov	0:a1a69d32f310	3933	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3934	current_spad_index++;
nikapov	0:a1a69d32f310	3935	/* Proceed to apply the additional spad and
nikapov	0:a1a69d32f310	3936	* perform measurement. */
nikapov	0:a1a69d32f310	3937	status = set_ref_spad_map(dev,
nikapov	0:a1a69d32f310	3938	dev->Data.SpadData.RefSpadEnables);
nikapov	0:a1a69d32f310	3939	}
nikapov	0:a1a69d32f310	3940
nikapov	0:a1a69d32f310	3941	if (status != VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3942	break;
nikapov	0:a1a69d32f310	3943	}
nikapov	0:a1a69d32f310	3944
nikapov	0:a1a69d32f310	3945	status = perform_ref_signal_measurement(dev,
nikapov	0:a1a69d32f310	3946	&peak_signal_rate_ref);
nikapov	0:a1a69d32f310	3947
nikapov	0:a1a69d32f310	3948	if (status != VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3949	break;
nikapov	0:a1a69d32f310	3950	}
nikapov	0:a1a69d32f310	3951
nikapov	0:a1a69d32f310	3952	signal_rate_diff = abs(peak_signal_rate_ref - target_ref_rate);
nikapov	0:a1a69d32f310	3953
nikapov	0:a1a69d32f310	3954	if (peak_signal_rate_ref > target_ref_rate) {
nikapov	0:a1a69d32f310	3955	/* Select the spad map that provides the
nikapov	0:a1a69d32f310	3956	* measurement closest to the target rate,
nikapov	0:a1a69d32f310	3957	* either above or below it.
nikapov	0:a1a69d32f310	3958	*/
nikapov	0:a1a69d32f310	3959	if (signal_rate_diff > last_signal_rate_diff) {
nikapov	0:a1a69d32f310	3960	/* Previous spad map produced a closer
nikapov	0:a1a69d32f310	3961	* measurement, so choose this. */
nikapov	0:a1a69d32f310	3962	status = set_ref_spad_map(dev,
nikapov	0:a1a69d32f310	3963	last_spad_array);
nikapov	0:a1a69d32f310	3964	memcpy(
nikapov	0:a1a69d32f310	3965	dev->Data.SpadData.RefSpadEnables,
nikapov	0:a1a69d32f310	3966	last_spad_array, spad_array_size);
nikapov	0:a1a69d32f310	3967
nikapov	0:a1a69d32f310	3968	(ref_spad_count_int)--;
nikapov	0:a1a69d32f310	3969	}
nikapov	0:a1a69d32f310	3970	complete = 1;
nikapov	0:a1a69d32f310	3971	} else {
nikapov	0:a1a69d32f310	3972	/* Continue to add spads */
nikapov	0:a1a69d32f310	3973	last_signal_rate_diff = signal_rate_diff;
nikapov	0:a1a69d32f310	3974	memcpy(last_spad_array,
nikapov	0:a1a69d32f310	3975	dev->Data.SpadData.RefSpadEnables,
nikapov	0:a1a69d32f310	3976	spad_array_size);
nikapov	0:a1a69d32f310	3977	}
nikapov	0:a1a69d32f310	3978
nikapov	0:a1a69d32f310	3979	} /* while */
nikapov	0:a1a69d32f310	3980	}
nikapov	0:a1a69d32f310	3981
nikapov	0:a1a69d32f310	3982	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	3983	*ref_spad_count = ref_spad_count_int;
nikapov	0:a1a69d32f310	3984	*is_aperture_spads = is_aperture_spads_int;
nikapov	0:a1a69d32f310	3985
nikapov	0:a1a69d32f310	3986	VL53L0X_SETDEVICESPECIFICPARAMETER(dev, RefSpadsInitialised, 1);
nikapov	0:a1a69d32f310	3987	VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	3988	ReferenceSpadCount, (uint8_t)(*ref_spad_count));
nikapov	0:a1a69d32f310	3989	VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	3990	ReferenceSpadType, *is_aperture_spads);
nikapov	0:a1a69d32f310	3991	}
nikapov	0:a1a69d32f310	3992
nikapov	0:a1a69d32f310	3993	return status;
nikapov	0:a1a69d32f310	3994	}
nikapov	0:a1a69d32f310	3995
nikapov	0:a1a69d32f310	3996	VL53L0X_Error VL53L0X::VL53L0X_set_reference_spads(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	3997	uint32_t count, uint8_t is_aperture_spads)
nikapov	0:a1a69d32f310	3998	{
nikapov	0:a1a69d32f310	3999	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	4000	uint32_t current_spad_index = 0;
nikapov	0:a1a69d32f310	4001	uint8_t start_select = 0xB4;
nikapov	0:a1a69d32f310	4002	uint32_t spad_array_size = 6;
nikapov	0:a1a69d32f310	4003	uint32_t max_spad_count = 44;
nikapov	0:a1a69d32f310	4004	uint32_t last_spad_index;
nikapov	0:a1a69d32f310	4005	uint32_t index;
nikapov	0:a1a69d32f310	4006
nikapov	0:a1a69d32f310	4007	/*
nikapov	0:a1a69d32f310	4008	* This function applies a requested number of reference spads, either
nikapov	0:a1a69d32f310	4009	* aperture or
nikapov	0:a1a69d32f310	4010	* non-aperture, as requested.
nikapov	0:a1a69d32f310	4011	* The good spad map will be applied.
nikapov	0:a1a69d32f310	4012	*/
nikapov	0:a1a69d32f310	4013
nikapov	0:a1a69d32f310	4014	status = VL53L0X_write_byte(dev, 0xFF, 0x01);
nikapov	0:a1a69d32f310	4015
nikapov	0:a1a69d32f310	4016	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4017	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	4018	VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
nikapov	0:a1a69d32f310	4019	}
nikapov	0:a1a69d32f310	4020
nikapov	0:a1a69d32f310	4021	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4022	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	4023	VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
nikapov	0:a1a69d32f310	4024	}
nikapov	0:a1a69d32f310	4025
nikapov	0:a1a69d32f310	4026	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4027	status = VL53L0X_write_byte(dev, 0xFF, 0x00);
nikapov	0:a1a69d32f310	4028	}
nikapov	0:a1a69d32f310	4029
nikapov	0:a1a69d32f310	4030	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4031	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	4032	VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
nikapov	0:a1a69d32f310	4033	start_select);
nikapov	0:a1a69d32f310	4034	}
nikapov	0:a1a69d32f310	4035
nikapov	0:a1a69d32f310	4036	for (index = 0; index < spad_array_size; index++) {
nikapov	0:a1a69d32f310	4037	dev->Data.SpadData.RefSpadEnables[index] = 0;
nikapov	0:a1a69d32f310	4038	}
nikapov	0:a1a69d32f310	4039
nikapov	0:a1a69d32f310	4040	if (is_aperture_spads) {
nikapov	0:a1a69d32f310	4041	/* Increment to the first APERTURE spad */
nikapov	0:a1a69d32f310	4042	while ((is_aperture(start_select + current_spad_index) == 0) &&
nikapov	0:a1a69d32f310	4043	(current_spad_index < max_spad_count)) {
nikapov	0:a1a69d32f310	4044	current_spad_index++;
nikapov	0:a1a69d32f310	4045	}
nikapov	0:a1a69d32f310	4046	}
nikapov	0:a1a69d32f310	4047	status = enable_ref_spads(dev,
nikapov	0:a1a69d32f310	4048	is_aperture_spads,
nikapov	0:a1a69d32f310	4049	dev->Data.SpadData.RefGoodSpadMap,
nikapov	0:a1a69d32f310	4050	dev->Data.SpadData.RefSpadEnables,
nikapov	0:a1a69d32f310	4051	spad_array_size,
nikapov	0:a1a69d32f310	4052	start_select,
nikapov	0:a1a69d32f310	4053	current_spad_index,
nikapov	0:a1a69d32f310	4054	count,
nikapov	0:a1a69d32f310	4055	&last_spad_index);
nikapov	0:a1a69d32f310	4056
nikapov	0:a1a69d32f310	4057	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4058	VL53L0X_SETDEVICESPECIFICPARAMETER(dev, RefSpadsInitialised, 1);
nikapov	0:a1a69d32f310	4059	VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	4060	ReferenceSpadCount, (uint8_t)(count));
nikapov	0:a1a69d32f310	4061	VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	4062	ReferenceSpadType, is_aperture_spads);
nikapov	0:a1a69d32f310	4063	}
nikapov	0:a1a69d32f310	4064
nikapov	0:a1a69d32f310	4065	return status;
nikapov	0:a1a69d32f310	4066	}
nikapov	0:a1a69d32f310	4067
nikapov	0:a1a69d32f310	4068	VL53L0X_Error VL53L0X::VL53L0X_wait_device_booted(VL53L0X_DEV dev)
nikapov	0:a1a69d32f310	4069	{
nikapov	0:a1a69d32f310	4070	VL53L0X_Error status = VL53L0X_ERROR_NOT_IMPLEMENTED;
nikapov	0:a1a69d32f310	4071	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	4072
nikapov	0:a1a69d32f310	4073	/* not implemented on VL53L0X */
nikapov	0:a1a69d32f310	4074
nikapov	0:a1a69d32f310	4075	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	4076	return status;
nikapov	0:a1a69d32f310	4077	}
nikapov	0:a1a69d32f310	4078
nikapov	0:a1a69d32f310	4079	VL53L0X_Error VL53L0X::VL53L0X_perform_ref_calibration(VL53L0X_DEV dev, uint8_t *p_vhv_settings,
nikapov	0:a1a69d32f310	4080	uint8_t *p_phase_cal)
nikapov	0:a1a69d32f310	4081	{
nikapov	0:a1a69d32f310	4082	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	4083	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	4084
nikapov	0:a1a69d32f310	4085	status = VL53L0X_perform_ref_calibration(dev, p_vhv_settings,
nikapov	0:a1a69d32f310	4086	p_phase_cal, 1);
nikapov	0:a1a69d32f310	4087
nikapov	0:a1a69d32f310	4088	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	4089	return status;
nikapov	0:a1a69d32f310	4090	}
nikapov	0:a1a69d32f310	4091
nikapov	0:a1a69d32f310	4092	VL53L0X_Error VL53L0X::VL53L0X_perform_ref_spad_management(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	4093	uint32_t ref_spad_count, uint8_t is_aperture_spads)
nikapov	0:a1a69d32f310	4094	{
nikapov	0:a1a69d32f310	4095	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	4096	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	4097
nikapov	0:a1a69d32f310	4098	status = wrapped_VL53L0X_perform_ref_spad_management(dev, ref_spad_count,
nikapov	0:a1a69d32f310	4099	is_aperture_spads);
nikapov	0:a1a69d32f310	4100
nikapov	0:a1a69d32f310	4101	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	4102
nikapov	0:a1a69d32f310	4103	return status;
nikapov	0:a1a69d32f310	4104	}
nikapov	0:a1a69d32f310	4105
nikapov	0:a1a69d32f310	4106	/* Group PAL Init Functions */
nikapov	0:a1a69d32f310	4107	VL53L0X_Error VL53L0X::VL53L0X_set_device_address(VL53L0X_DEV dev, uint8_t device_address)
nikapov	0:a1a69d32f310	4108	{
nikapov	0:a1a69d32f310	4109	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	4110	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	4111
nikapov	0:a1a69d32f310	4112	status = VL53L0X_write_byte(dev, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS,
nikapov	0:a1a69d32f310	4113	device_address / 2);
nikapov	0:a1a69d32f310	4114
nikapov	0:a1a69d32f310	4115	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	4116	return status;
nikapov	0:a1a69d32f310	4117	}
nikapov	0:a1a69d32f310	4118
nikapov	0:a1a69d32f310	4119	VL53L0X_Error VL53L0X::VL53L0X_set_gpio_config(VL53L0X_DEV dev, uint8_t pin,
nikapov	0:a1a69d32f310	4120	VL53L0X_DeviceModes device_mode, VL53L0X_GpioFunctionality functionality,
nikapov	0:a1a69d32f310	4121	VL53L0X_InterruptPolarity polarity)
nikapov	0:a1a69d32f310	4122	{
nikapov	0:a1a69d32f310	4123	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	4124	uint8_t data;
nikapov	0:a1a69d32f310	4125
nikapov	0:a1a69d32f310	4126	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	4127
nikapov	0:a1a69d32f310	4128	if (pin != 0) {
nikapov	0:a1a69d32f310	4129	status = VL53L0X_ERROR_GPIO_NOT_EXISTING;
nikapov	0:a1a69d32f310	4130	} else if (device_mode == VL53L0X_DEVICEMODE_GPIO_DRIVE) {
nikapov	0:a1a69d32f310	4131	if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW) {
nikapov	0:a1a69d32f310	4132	data = 0x10;
nikapov	0:a1a69d32f310	4133	} else {
nikapov	0:a1a69d32f310	4134	data = 1;
nikapov	0:a1a69d32f310	4135	}
nikapov	0:a1a69d32f310	4136
nikapov	0:a1a69d32f310	4137	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	4138	VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data);
nikapov	0:a1a69d32f310	4139
nikapov	0:a1a69d32f310	4140	} else {
nikapov	0:a1a69d32f310	4141	if (device_mode == VL53L0X_DEVICEMODE_GPIO_OSC) {
nikapov	0:a1a69d32f310	4142
nikapov	0:a1a69d32f310	4143	status \|= VL53L0X_write_byte(dev, 0xff, 0x01);
nikapov	0:a1a69d32f310	4144	status \|= VL53L0X_write_byte(dev, 0x00, 0x00);
nikapov	0:a1a69d32f310	4145
nikapov	0:a1a69d32f310	4146	status \|= VL53L0X_write_byte(dev, 0xff, 0x00);
nikapov	0:a1a69d32f310	4147	status \|= VL53L0X_write_byte(dev, 0x80, 0x01);
nikapov	0:a1a69d32f310	4148	status \|= VL53L0X_write_byte(dev, 0x85, 0x02);
nikapov	0:a1a69d32f310	4149
nikapov	0:a1a69d32f310	4150	status \|= VL53L0X_write_byte(dev, 0xff, 0x04);
nikapov	0:a1a69d32f310	4151	status \|= VL53L0X_write_byte(dev, 0xcd, 0x00);
nikapov	0:a1a69d32f310	4152	status \|= VL53L0X_write_byte(dev, 0xcc, 0x11);
nikapov	0:a1a69d32f310	4153
nikapov	0:a1a69d32f310	4154	status \|= VL53L0X_write_byte(dev, 0xff, 0x07);
nikapov	0:a1a69d32f310	4155	status \|= VL53L0X_write_byte(dev, 0xbe, 0x00);
nikapov	0:a1a69d32f310	4156
nikapov	0:a1a69d32f310	4157	status \|= VL53L0X_write_byte(dev, 0xff, 0x06);
nikapov	0:a1a69d32f310	4158	status \|= VL53L0X_write_byte(dev, 0xcc, 0x09);
nikapov	0:a1a69d32f310	4159
nikapov	0:a1a69d32f310	4160	status \|= VL53L0X_write_byte(dev, 0xff, 0x00);
nikapov	0:a1a69d32f310	4161	status \|= VL53L0X_write_byte(dev, 0xff, 0x01);
nikapov	0:a1a69d32f310	4162	status \|= VL53L0X_write_byte(dev, 0x00, 0x00);
nikapov	0:a1a69d32f310	4163
nikapov	0:a1a69d32f310	4164	} else {
nikapov	0:a1a69d32f310	4165
nikapov	0:a1a69d32f310	4166	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4167	switch (functionality) {
nikapov	0:a1a69d32f310	4168	case VL53L0X_GPIOFUNCTIONALITY_OFF:
nikapov	0:a1a69d32f310	4169	data = 0x00;
nikapov	0:a1a69d32f310	4170	break;
nikapov	0:a1a69d32f310	4171	case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW:
nikapov	0:a1a69d32f310	4172	data = 0x01;
nikapov	0:a1a69d32f310	4173	break;
nikapov	0:a1a69d32f310	4174	case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH:
nikapov	0:a1a69d32f310	4175	data = 0x02;
nikapov	0:a1a69d32f310	4176	break;
nikapov	0:a1a69d32f310	4177	case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT:
nikapov	0:a1a69d32f310	4178	data = 0x03;
nikapov	0:a1a69d32f310	4179	break;
nikapov	0:a1a69d32f310	4180	case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY:
nikapov	0:a1a69d32f310	4181	data = 0x04;
nikapov	0:a1a69d32f310	4182	break;
nikapov	0:a1a69d32f310	4183	default:
nikapov	0:a1a69d32f310	4184	status =
nikapov	0:a1a69d32f310	4185	VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED;
nikapov	0:a1a69d32f310	4186	}
nikapov	0:a1a69d32f310	4187	}
nikapov	0:a1a69d32f310	4188
nikapov	0:a1a69d32f310	4189	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4190	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	4191	VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data);
nikapov	0:a1a69d32f310	4192	}
nikapov	0:a1a69d32f310	4193
nikapov	0:a1a69d32f310	4194	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4195	if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW) {
nikapov	0:a1a69d32f310	4196	data = 0;
nikapov	0:a1a69d32f310	4197	} else {
nikapov	0:a1a69d32f310	4198	data = (uint8_t)(1 << 4);
nikapov	0:a1a69d32f310	4199	}
nikapov	0:a1a69d32f310	4200	status = VL53L0X_update_byte(dev,
nikapov	0:a1a69d32f310	4201	VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data);
nikapov	0:a1a69d32f310	4202	}
nikapov	0:a1a69d32f310	4203
nikapov	0:a1a69d32f310	4204	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4205	VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	4206	Pin0GpioFunctionality, functionality);
nikapov	0:a1a69d32f310	4207	}
nikapov	0:a1a69d32f310	4208
nikapov	0:a1a69d32f310	4209	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4210	status = VL53L0X_clear_interrupt_mask(dev, 0);
nikapov	0:a1a69d32f310	4211	}
nikapov	0:a1a69d32f310	4212	}
nikapov	0:a1a69d32f310	4213	}
nikapov	0:a1a69d32f310	4214	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	4215	return status;
nikapov	0:a1a69d32f310	4216	}
nikapov	0:a1a69d32f310	4217
nikapov	0:a1a69d32f310	4218	VL53L0X_Error VL53L0X::VL53L0X_get_fraction_enable(VL53L0X_DEV dev, uint8_t *p_enabled)
nikapov	0:a1a69d32f310	4219	{
nikapov	0:a1a69d32f310	4220	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	4221	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	4222
nikapov	0:a1a69d32f310	4223	status = VL53L0X_read_byte(dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, p_enabled);
nikapov	0:a1a69d32f310	4224
nikapov	0:a1a69d32f310	4225	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4226	p_enabled = (p_enabled & 1);
nikapov	0:a1a69d32f310	4227	}
nikapov	0:a1a69d32f310	4228
nikapov	0:a1a69d32f310	4229	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	4230	return status;
nikapov	0:a1a69d32f310	4231	}
nikapov	0:a1a69d32f310	4232
nikapov	0:a1a69d32f310	4233	uint16_t VL53L0X::VL53L0X_encode_timeout(uint32_t timeout_macro_clks)
nikapov	0:a1a69d32f310	4234	{
nikapov	0:a1a69d32f310	4235	/*!
nikapov	0:a1a69d32f310	4236	* Encode timeout in macro periods in (LSByte * 2^MSByte) + 1 format
nikapov	0:a1a69d32f310	4237	*/
nikapov	0:a1a69d32f310	4238
nikapov	0:a1a69d32f310	4239	uint16_t encoded_timeout = 0;
nikapov	0:a1a69d32f310	4240	uint32_t ls_byte = 0;
nikapov	0:a1a69d32f310	4241	uint16_t ms_byte = 0;
nikapov	0:a1a69d32f310	4242
nikapov	0:a1a69d32f310	4243	if (timeout_macro_clks > 0) {
nikapov	0:a1a69d32f310	4244	ls_byte = timeout_macro_clks - 1;
nikapov	0:a1a69d32f310	4245
nikapov	0:a1a69d32f310	4246	while ((ls_byte & 0xFFFFFF00) > 0) {
nikapov	0:a1a69d32f310	4247	ls_byte = ls_byte >> 1;
nikapov	0:a1a69d32f310	4248	ms_byte++;
nikapov	0:a1a69d32f310	4249	}
nikapov	0:a1a69d32f310	4250
nikapov	0:a1a69d32f310	4251	encoded_timeout = (ms_byte << 8)
nikapov	0:a1a69d32f310	4252	+ (uint16_t)(ls_byte & 0x000000FF);
nikapov	0:a1a69d32f310	4253	}
nikapov	0:a1a69d32f310	4254
nikapov	0:a1a69d32f310	4255	return encoded_timeout;
nikapov	0:a1a69d32f310	4256
nikapov	0:a1a69d32f310	4257	}
nikapov	0:a1a69d32f310	4258
nikapov	0:a1a69d32f310	4259	VL53L0X_Error VL53L0X::set_sequence_step_timeout(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	4260	VL53L0X_SequenceStepId sequence_step_id,
nikapov	0:a1a69d32f310	4261	uint32_t timeout_micro_secs)
nikapov	0:a1a69d32f310	4262	{
nikapov	0:a1a69d32f310	4263	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	4264	uint8_t current_vcsel_pulse_period_p_clk;
nikapov	0:a1a69d32f310	4265	uint8_t msrc_encoded_time_out;
nikapov	0:a1a69d32f310	4266	uint16_t pre_range_encoded_time_out;
nikapov	0:a1a69d32f310	4267	uint16_t pre_range_time_out_m_clks;
nikapov	0:a1a69d32f310	4268	uint16_t msrc_range_time_out_m_clks;
nikapov	0:a1a69d32f310	4269	uint32_t final_range_time_out_m_clks;
nikapov	0:a1a69d32f310	4270	uint16_t final_range_encoded_time_out;
nikapov	0:a1a69d32f310	4271	VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
nikapov	0:a1a69d32f310	4272
nikapov	0:a1a69d32f310	4273	if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC) \|\|
nikapov	0:a1a69d32f310	4274	(sequence_step_id == VL53L0X_SEQUENCESTEP_DSS) \|\|
nikapov	0:a1a69d32f310	4275	(sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC)) {
nikapov	0:a1a69d32f310	4276
nikapov	0:a1a69d32f310	4277	status = VL53L0X_get_vcsel_pulse_period(dev,
nikapov	0:a1a69d32f310	4278	VL53L0X_VCSEL_PERIOD_PRE_RANGE,
nikapov	0:a1a69d32f310	4279	&current_vcsel_pulse_period_p_clk);
nikapov	0:a1a69d32f310	4280
nikapov	0:a1a69d32f310	4281	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4282	msrc_range_time_out_m_clks = VL53L0X_calc_timeout_mclks(dev,
nikapov	0:a1a69d32f310	4283	timeout_micro_secs,
nikapov	0:a1a69d32f310	4284	(uint8_t)current_vcsel_pulse_period_p_clk);
nikapov	0:a1a69d32f310	4285
nikapov	0:a1a69d32f310	4286	if (msrc_range_time_out_m_clks > 256) {
nikapov	0:a1a69d32f310	4287	msrc_encoded_time_out = 255;
nikapov	0:a1a69d32f310	4288	} else {
nikapov	0:a1a69d32f310	4289	msrc_encoded_time_out =
nikapov	0:a1a69d32f310	4290	(uint8_t)msrc_range_time_out_m_clks - 1;
nikapov	0:a1a69d32f310	4291	}
nikapov	0:a1a69d32f310	4292
nikapov	0:a1a69d32f310	4293	VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	4294	LastEncodedTimeout,
nikapov	0:a1a69d32f310	4295	msrc_encoded_time_out);
nikapov	0:a1a69d32f310	4296	}
nikapov	0:a1a69d32f310	4297
nikapov	0:a1a69d32f310	4298	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4299	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	4300	VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
nikapov	0:a1a69d32f310	4301	msrc_encoded_time_out);
nikapov	0:a1a69d32f310	4302	}
nikapov	0:a1a69d32f310	4303	} else {
nikapov	0:a1a69d32f310	4304
nikapov	0:a1a69d32f310	4305	if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
nikapov	0:a1a69d32f310	4306
nikapov	0:a1a69d32f310	4307	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4308	status = VL53L0X_get_vcsel_pulse_period(dev,
nikapov	0:a1a69d32f310	4309	VL53L0X_VCSEL_PERIOD_PRE_RANGE,
nikapov	0:a1a69d32f310	4310	&current_vcsel_pulse_period_p_clk);
nikapov	0:a1a69d32f310	4311	pre_range_time_out_m_clks =
nikapov	0:a1a69d32f310	4312	VL53L0X_calc_timeout_mclks(dev,
nikapov	0:a1a69d32f310	4313	timeout_micro_secs,
nikapov	0:a1a69d32f310	4314	(uint8_t)current_vcsel_pulse_period_p_clk);
nikapov	0:a1a69d32f310	4315	pre_range_encoded_time_out = VL53L0X_encode_timeout(
nikapov	0:a1a69d32f310	4316	pre_range_time_out_m_clks);
nikapov	0:a1a69d32f310	4317
nikapov	0:a1a69d32f310	4318	VL53L0X_SETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	4319	LastEncodedTimeout,
nikapov	0:a1a69d32f310	4320	pre_range_encoded_time_out);
nikapov	0:a1a69d32f310	4321	}
nikapov	0:a1a69d32f310	4322
nikapov	0:a1a69d32f310	4323	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4324	status = VL53L0X_write_word(dev,
nikapov	0:a1a69d32f310	4325	VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
nikapov	0:a1a69d32f310	4326	pre_range_encoded_time_out);
nikapov	0:a1a69d32f310	4327	}
nikapov	0:a1a69d32f310	4328
nikapov	0:a1a69d32f310	4329	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4330	VL53L0X_SETDEVICESPECIFICPARAMETER(
nikapov	0:a1a69d32f310	4331	dev,
nikapov	0:a1a69d32f310	4332	PreRangeTimeoutMicroSecs,
nikapov	0:a1a69d32f310	4333	timeout_micro_secs);
nikapov	0:a1a69d32f310	4334	}
nikapov	0:a1a69d32f310	4335	} else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
nikapov	0:a1a69d32f310	4336
nikapov	0:a1a69d32f310	4337	/* For the final range timeout, the pre-range timeout
nikapov	0:a1a69d32f310	4338	* must be added. To do this both final and pre-range
nikapov	0:a1a69d32f310	4339	* timeouts must be expressed in macro periods MClks
nikapov	0:a1a69d32f310	4340	* because they have different vcsel periods.
nikapov	0:a1a69d32f310	4341	*/
nikapov	0:a1a69d32f310	4342
nikapov	0:a1a69d32f310	4343	VL53L0X_get_sequence_step_enables(dev,
nikapov	0:a1a69d32f310	4344	&scheduler_sequence_steps);
nikapov	0:a1a69d32f310	4345	pre_range_time_out_m_clks = 0;
nikapov	0:a1a69d32f310	4346	if (scheduler_sequence_steps.PreRangeOn) {
nikapov	0:a1a69d32f310	4347
nikapov	0:a1a69d32f310	4348	/* Retrieve PRE-RANGE VCSEL Period */
nikapov	0:a1a69d32f310	4349	status = VL53L0X_get_vcsel_pulse_period(dev,
nikapov	0:a1a69d32f310	4350	VL53L0X_VCSEL_PERIOD_PRE_RANGE,
nikapov	0:a1a69d32f310	4351	&current_vcsel_pulse_period_p_clk);
nikapov	0:a1a69d32f310	4352
nikapov	0:a1a69d32f310	4353	/* Retrieve PRE-RANGE Timeout in Macro periods
nikapov	0:a1a69d32f310	4354	* (MCLKS) */
nikapov	0:a1a69d32f310	4355	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4356	status = VL53L0X_read_word(dev, 0x51,
nikapov	0:a1a69d32f310	4357	&pre_range_encoded_time_out);
nikapov	0:a1a69d32f310	4358	pre_range_time_out_m_clks =
nikapov	0:a1a69d32f310	4359	VL53L0X_decode_timeout(
nikapov	0:a1a69d32f310	4360	pre_range_encoded_time_out);
nikapov	0:a1a69d32f310	4361	}
nikapov	0:a1a69d32f310	4362	}
nikapov	0:a1a69d32f310	4363
nikapov	0:a1a69d32f310	4364	/* Calculate FINAL RANGE Timeout in Macro Periods
nikapov	0:a1a69d32f310	4365	* (MCLKS) and add PRE-RANGE value
nikapov	0:a1a69d32f310	4366	*/
nikapov	0:a1a69d32f310	4367	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4368	status = VL53L0X_get_vcsel_pulse_period(dev,
nikapov	0:a1a69d32f310	4369	VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
nikapov	0:a1a69d32f310	4370	&current_vcsel_pulse_period_p_clk);
nikapov	0:a1a69d32f310	4371	}
nikapov	0:a1a69d32f310	4372	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4373	final_range_time_out_m_clks =
nikapov	0:a1a69d32f310	4374	VL53L0X_calc_timeout_mclks(dev,
nikapov	0:a1a69d32f310	4375	timeout_micro_secs,
nikapov	0:a1a69d32f310	4376	(uint8_t) current_vcsel_pulse_period_p_clk);
nikapov	0:a1a69d32f310	4377
nikapov	0:a1a69d32f310	4378	final_range_time_out_m_clks += pre_range_time_out_m_clks;
nikapov	0:a1a69d32f310	4379
nikapov	0:a1a69d32f310	4380	final_range_encoded_time_out =
nikapov	0:a1a69d32f310	4381	VL53L0X_encode_timeout(final_range_time_out_m_clks);
nikapov	0:a1a69d32f310	4382
nikapov	0:a1a69d32f310	4383	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4384	status = VL53L0X_write_word(dev, 0x71,
nikapov	0:a1a69d32f310	4385	final_range_encoded_time_out);
nikapov	0:a1a69d32f310	4386	}
nikapov	0:a1a69d32f310	4387
nikapov	0:a1a69d32f310	4388	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4389	VL53L0X_SETDEVICESPECIFICPARAMETER(
nikapov	0:a1a69d32f310	4390	dev,
nikapov	0:a1a69d32f310	4391	FinalRangeTimeoutMicroSecs,
nikapov	0:a1a69d32f310	4392	timeout_micro_secs);
nikapov	0:a1a69d32f310	4393	}
nikapov	0:a1a69d32f310	4394	}
nikapov	0:a1a69d32f310	4395	} else {
nikapov	0:a1a69d32f310	4396	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	4397	}
nikapov	0:a1a69d32f310	4398
nikapov	0:a1a69d32f310	4399	}
nikapov	0:a1a69d32f310	4400	return status;
nikapov	0:a1a69d32f310	4401	}
nikapov	0:a1a69d32f310	4402
nikapov	0:a1a69d32f310	4403	VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	4404	uint32_t measurement_timing_budget_micro_seconds)
nikapov	0:a1a69d32f310	4405	{
nikapov	0:a1a69d32f310	4406	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	4407	uint32_t final_range_timing_budget_micro_seconds;
nikapov	0:a1a69d32f310	4408	VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
nikapov	0:a1a69d32f310	4409	uint32_t msrc_dcc_tcc_timeout_micro_seconds = 2000;
nikapov	0:a1a69d32f310	4410	uint32_t start_overhead_micro_seconds = 1910;
nikapov	0:a1a69d32f310	4411	uint32_t end_overhead_micro_seconds = 960;
nikapov	0:a1a69d32f310	4412	uint32_t msrc_overhead_micro_seconds = 660;
nikapov	0:a1a69d32f310	4413	uint32_t tcc_overhead_micro_seconds = 590;
nikapov	0:a1a69d32f310	4414	uint32_t dss_overhead_micro_seconds = 690;
nikapov	0:a1a69d32f310	4415	uint32_t pre_range_overhead_micro_seconds = 660;
nikapov	0:a1a69d32f310	4416	uint32_t final_range_overhead_micro_seconds = 550;
nikapov	0:a1a69d32f310	4417	uint32_t pre_range_timeout_micro_seconds = 0;
nikapov	0:a1a69d32f310	4418	uint32_t c_min_timing_budget_micro_seconds = 20000;
nikapov	0:a1a69d32f310	4419	uint32_t sub_timeout = 0;
nikapov	0:a1a69d32f310	4420
nikapov	0:a1a69d32f310	4421	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	4422
nikapov	0:a1a69d32f310	4423	if (measurement_timing_budget_micro_seconds
nikapov	0:a1a69d32f310	4424	< c_min_timing_budget_micro_seconds) {
nikapov	0:a1a69d32f310	4425	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	4426	return status;
nikapov	0:a1a69d32f310	4427	}
nikapov	0:a1a69d32f310	4428
nikapov	0:a1a69d32f310	4429	final_range_timing_budget_micro_seconds =
nikapov	0:a1a69d32f310	4430	measurement_timing_budget_micro_seconds -
nikapov	0:a1a69d32f310	4431	(start_overhead_micro_seconds + end_overhead_micro_seconds);
nikapov	0:a1a69d32f310	4432
nikapov	0:a1a69d32f310	4433	status = VL53L0X_get_sequence_step_enables(dev, &scheduler_sequence_steps);
nikapov	0:a1a69d32f310	4434
nikapov	0:a1a69d32f310	4435	if (status == VL53L0X_ERROR_NONE &&
nikapov	0:a1a69d32f310	4436	(scheduler_sequence_steps.TccOn \|\|
nikapov	0:a1a69d32f310	4437	scheduler_sequence_steps.MsrcOn \|\|
nikapov	0:a1a69d32f310	4438	scheduler_sequence_steps.DssOn)) {
nikapov	0:a1a69d32f310	4439
nikapov	0:a1a69d32f310	4440	/* TCC, MSRC and DSS all share the same timeout */
nikapov	0:a1a69d32f310	4441	status = get_sequence_step_timeout(dev,
nikapov	0:a1a69d32f310	4442	VL53L0X_SEQUENCESTEP_MSRC,
nikapov	0:a1a69d32f310	4443	&msrc_dcc_tcc_timeout_micro_seconds);
nikapov	0:a1a69d32f310	4444
nikapov	0:a1a69d32f310	4445	/* Subtract the TCC, MSRC and DSS timeouts if they are
nikapov	0:a1a69d32f310	4446	* enabled. */
nikapov	0:a1a69d32f310	4447
nikapov	0:a1a69d32f310	4448	if (status != VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4449	return status;
nikapov	0:a1a69d32f310	4450	}
nikapov	0:a1a69d32f310	4451
nikapov	0:a1a69d32f310	4452	/* TCC */
nikapov	0:a1a69d32f310	4453	if (scheduler_sequence_steps.TccOn) {
nikapov	0:a1a69d32f310	4454
nikapov	0:a1a69d32f310	4455	sub_timeout = msrc_dcc_tcc_timeout_micro_seconds
nikapov	0:a1a69d32f310	4456	+ tcc_overhead_micro_seconds;
nikapov	0:a1a69d32f310	4457
nikapov	0:a1a69d32f310	4458	if (sub_timeout <
nikapov	0:a1a69d32f310	4459	final_range_timing_budget_micro_seconds) {
nikapov	0:a1a69d32f310	4460	final_range_timing_budget_micro_seconds -=
nikapov	0:a1a69d32f310	4461	sub_timeout;
nikapov	0:a1a69d32f310	4462	} else {
nikapov	0:a1a69d32f310	4463	/* Requested timeout too big. */
nikapov	0:a1a69d32f310	4464	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	4465	}
nikapov	0:a1a69d32f310	4466	}
nikapov	0:a1a69d32f310	4467
nikapov	0:a1a69d32f310	4468	if (status != VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4469	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	4470	return status;
nikapov	0:a1a69d32f310	4471	}
nikapov	0:a1a69d32f310	4472
nikapov	0:a1a69d32f310	4473	/* DSS */
nikapov	0:a1a69d32f310	4474	if (scheduler_sequence_steps.DssOn) {
nikapov	0:a1a69d32f310	4475
nikapov	0:a1a69d32f310	4476	sub_timeout = 2 * (msrc_dcc_tcc_timeout_micro_seconds +
nikapov	0:a1a69d32f310	4477	dss_overhead_micro_seconds);
nikapov	0:a1a69d32f310	4478
nikapov	0:a1a69d32f310	4479	if (sub_timeout < final_range_timing_budget_micro_seconds) {
nikapov	0:a1a69d32f310	4480	final_range_timing_budget_micro_seconds
nikapov	0:a1a69d32f310	4481	-= sub_timeout;
nikapov	0:a1a69d32f310	4482	} else {
nikapov	0:a1a69d32f310	4483	/* Requested timeout too big. */
nikapov	0:a1a69d32f310	4484	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	4485	}
nikapov	0:a1a69d32f310	4486	} else if (scheduler_sequence_steps.MsrcOn) {
nikapov	0:a1a69d32f310	4487	/* MSRC */
nikapov	0:a1a69d32f310	4488	sub_timeout = msrc_dcc_tcc_timeout_micro_seconds +
nikapov	0:a1a69d32f310	4489	msrc_overhead_micro_seconds;
nikapov	0:a1a69d32f310	4490
nikapov	0:a1a69d32f310	4491	if (sub_timeout < final_range_timing_budget_micro_seconds) {
nikapov	0:a1a69d32f310	4492	final_range_timing_budget_micro_seconds
nikapov	0:a1a69d32f310	4493	-= sub_timeout;
nikapov	0:a1a69d32f310	4494	} else {
nikapov	0:a1a69d32f310	4495	/* Requested timeout too big. */
nikapov	0:a1a69d32f310	4496	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	4497	}
nikapov	0:a1a69d32f310	4498	}
nikapov	0:a1a69d32f310	4499
nikapov	0:a1a69d32f310	4500	}
nikapov	0:a1a69d32f310	4501
nikapov	0:a1a69d32f310	4502	if (status != VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4503	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	4504	return status;
nikapov	0:a1a69d32f310	4505	}
nikapov	0:a1a69d32f310	4506
nikapov	0:a1a69d32f310	4507	if (scheduler_sequence_steps.PreRangeOn) {
nikapov	0:a1a69d32f310	4508
nikapov	0:a1a69d32f310	4509	/* Subtract the Pre-range timeout if enabled. */
nikapov	0:a1a69d32f310	4510
nikapov	0:a1a69d32f310	4511	status = get_sequence_step_timeout(dev,
nikapov	0:a1a69d32f310	4512	VL53L0X_SEQUENCESTEP_PRE_RANGE,
nikapov	0:a1a69d32f310	4513	&pre_range_timeout_micro_seconds);
nikapov	0:a1a69d32f310	4514
nikapov	0:a1a69d32f310	4515	sub_timeout = pre_range_timeout_micro_seconds +
nikapov	0:a1a69d32f310	4516	pre_range_overhead_micro_seconds;
nikapov	0:a1a69d32f310	4517
nikapov	0:a1a69d32f310	4518	if (sub_timeout < final_range_timing_budget_micro_seconds) {
nikapov	0:a1a69d32f310	4519	final_range_timing_budget_micro_seconds -= sub_timeout;
nikapov	0:a1a69d32f310	4520	} else {
nikapov	0:a1a69d32f310	4521	/* Requested timeout too big. */
nikapov	0:a1a69d32f310	4522	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	4523	}
nikapov	0:a1a69d32f310	4524	}
nikapov	0:a1a69d32f310	4525
nikapov	0:a1a69d32f310	4526
nikapov	0:a1a69d32f310	4527	if (status == VL53L0X_ERROR_NONE &&
nikapov	0:a1a69d32f310	4528	scheduler_sequence_steps.FinalRangeOn) {
nikapov	0:a1a69d32f310	4529
nikapov	0:a1a69d32f310	4530	final_range_timing_budget_micro_seconds -=
nikapov	0:a1a69d32f310	4531	final_range_overhead_micro_seconds;
nikapov	0:a1a69d32f310	4532
nikapov	0:a1a69d32f310	4533	/* Final Range Timeout
nikapov	0:a1a69d32f310	4534	* Note that the final range timeout is determined by the timing
nikapov	0:a1a69d32f310	4535	* budget and the sum of all other timeouts within the sequence.
nikapov	0:a1a69d32f310	4536	* If there is no room for the final range timeout, then an error
nikapov	0:a1a69d32f310	4537	* will be set. Otherwise the remaining time will be applied to
nikapov	0:a1a69d32f310	4538	* the final range.
nikapov	0:a1a69d32f310	4539	*/
nikapov	0:a1a69d32f310	4540	status = set_sequence_step_timeout(dev,
nikapov	0:a1a69d32f310	4541	VL53L0X_SEQUENCESTEP_FINAL_RANGE,
nikapov	0:a1a69d32f310	4542	final_range_timing_budget_micro_seconds);
nikapov	0:a1a69d32f310	4543
nikapov	0:a1a69d32f310	4544	VL53L0X_SETPARAMETERFIELD(dev,
nikapov	0:a1a69d32f310	4545	MeasurementTimingBudgetMicroSeconds,
nikapov	0:a1a69d32f310	4546	measurement_timing_budget_micro_seconds);
nikapov	0:a1a69d32f310	4547	}
nikapov	0:a1a69d32f310	4548
nikapov	0:a1a69d32f310	4549	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	4550
nikapov	0:a1a69d32f310	4551	return status;
nikapov	0:a1a69d32f310	4552	}
nikapov	0:a1a69d32f310	4553
nikapov	0:a1a69d32f310	4554	VL53L0X_Error VL53L0X::VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	4555	uint32_t measurement_timing_budget_micro_seconds)
nikapov	0:a1a69d32f310	4556	{
nikapov	0:a1a69d32f310	4557	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	4558	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	4559
nikapov	0:a1a69d32f310	4560	status = wrapped_VL53L0X_set_measurement_timing_budget_micro_seconds(dev,
nikapov	0:a1a69d32f310	4561	measurement_timing_budget_micro_seconds);
nikapov	0:a1a69d32f310	4562
nikapov	0:a1a69d32f310	4563	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	4564
nikapov	0:a1a69d32f310	4565	return status;
nikapov	0:a1a69d32f310	4566	}
nikapov	0:a1a69d32f310	4567
nikapov	0:a1a69d32f310	4568	VL53L0X_Error VL53L0X::VL53L0X_set_sequence_step_enable(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	4569	VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_step_enabled)
nikapov	0:a1a69d32f310	4570	{
nikapov	0:a1a69d32f310	4571	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	4572	uint8_t sequence_config = 0;
nikapov	0:a1a69d32f310	4573	uint8_t sequence_config_new = 0;
nikapov	0:a1a69d32f310	4574	uint32_t measurement_timing_budget_micro_seconds;
nikapov	0:a1a69d32f310	4575	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	4576
nikapov	0:a1a69d32f310	4577	status = VL53L0X_read_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
nikapov	0:a1a69d32f310	4578	&sequence_config);
nikapov	0:a1a69d32f310	4579
nikapov	0:a1a69d32f310	4580	sequence_config_new = sequence_config;
nikapov	0:a1a69d32f310	4581
nikapov	0:a1a69d32f310	4582	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4583	if (sequence_step_enabled == 1) {
nikapov	0:a1a69d32f310	4584
nikapov	0:a1a69d32f310	4585	/* Enable requested sequence step
nikapov	0:a1a69d32f310	4586	*/
nikapov	0:a1a69d32f310	4587	switch (sequence_step_id) {
nikapov	0:a1a69d32f310	4588	case VL53L0X_SEQUENCESTEP_TCC:
nikapov	0:a1a69d32f310	4589	sequence_config_new \|= 0x10;
nikapov	0:a1a69d32f310	4590	break;
nikapov	0:a1a69d32f310	4591	case VL53L0X_SEQUENCESTEP_DSS:
nikapov	0:a1a69d32f310	4592	sequence_config_new \|= 0x28;
nikapov	0:a1a69d32f310	4593	break;
nikapov	0:a1a69d32f310	4594	case VL53L0X_SEQUENCESTEP_MSRC:
nikapov	0:a1a69d32f310	4595	sequence_config_new \|= 0x04;
nikapov	0:a1a69d32f310	4596	break;
nikapov	0:a1a69d32f310	4597	case VL53L0X_SEQUENCESTEP_PRE_RANGE:
nikapov	0:a1a69d32f310	4598	sequence_config_new \|= 0x40;
nikapov	0:a1a69d32f310	4599	break;
nikapov	0:a1a69d32f310	4600	case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
nikapov	0:a1a69d32f310	4601	sequence_config_new \|= 0x80;
nikapov	0:a1a69d32f310	4602	break;
nikapov	0:a1a69d32f310	4603	default:
nikapov	0:a1a69d32f310	4604	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	4605	}
nikapov	0:a1a69d32f310	4606	} else {
nikapov	0:a1a69d32f310	4607	/* Disable requested sequence step
nikapov	0:a1a69d32f310	4608	*/
nikapov	0:a1a69d32f310	4609	switch (sequence_step_id) {
nikapov	0:a1a69d32f310	4610	case VL53L0X_SEQUENCESTEP_TCC:
nikapov	0:a1a69d32f310	4611	sequence_config_new &= 0xef;
nikapov	0:a1a69d32f310	4612	break;
nikapov	0:a1a69d32f310	4613	case VL53L0X_SEQUENCESTEP_DSS:
nikapov	0:a1a69d32f310	4614	sequence_config_new &= 0xd7;
nikapov	0:a1a69d32f310	4615	break;
nikapov	0:a1a69d32f310	4616	case VL53L0X_SEQUENCESTEP_MSRC:
nikapov	0:a1a69d32f310	4617	sequence_config_new &= 0xfb;
nikapov	0:a1a69d32f310	4618	break;
nikapov	0:a1a69d32f310	4619	case VL53L0X_SEQUENCESTEP_PRE_RANGE:
nikapov	0:a1a69d32f310	4620	sequence_config_new &= 0xbf;
nikapov	0:a1a69d32f310	4621	break;
nikapov	0:a1a69d32f310	4622	case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
nikapov	0:a1a69d32f310	4623	sequence_config_new &= 0x7f;
nikapov	0:a1a69d32f310	4624	break;
nikapov	0:a1a69d32f310	4625	default:
nikapov	0:a1a69d32f310	4626	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	4627	}
nikapov	0:a1a69d32f310	4628	}
nikapov	0:a1a69d32f310	4629	}
nikapov	0:a1a69d32f310	4630
nikapov	0:a1a69d32f310	4631	if (sequence_config_new != sequence_config) {
nikapov	0:a1a69d32f310	4632	/* Apply New Setting */
nikapov	0:a1a69d32f310	4633	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4634	status = VL53L0X_write_byte(dev,
nikapov	0:a1a69d32f310	4635	VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, sequence_config_new);
nikapov	0:a1a69d32f310	4636	}
nikapov	0:a1a69d32f310	4637	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4638	PALDevDataSet(dev, SequenceConfig, sequence_config_new);
nikapov	0:a1a69d32f310	4639	}
nikapov	0:a1a69d32f310	4640
nikapov	0:a1a69d32f310	4641
nikapov	0:a1a69d32f310	4642	/* Recalculate timing budget */
nikapov	0:a1a69d32f310	4643	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4644	VL53L0X_GETPARAMETERFIELD(dev,
nikapov	0:a1a69d32f310	4645	MeasurementTimingBudgetMicroSeconds,
nikapov	0:a1a69d32f310	4646	measurement_timing_budget_micro_seconds);
nikapov	0:a1a69d32f310	4647
nikapov	0:a1a69d32f310	4648	VL53L0X_set_measurement_timing_budget_micro_seconds(dev,
nikapov	0:a1a69d32f310	4649	measurement_timing_budget_micro_seconds);
nikapov	0:a1a69d32f310	4650	}
nikapov	0:a1a69d32f310	4651	}
nikapov	0:a1a69d32f310	4652
nikapov	0:a1a69d32f310	4653	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	4654
nikapov	0:a1a69d32f310	4655	return status;
nikapov	0:a1a69d32f310	4656	}
nikapov	0:a1a69d32f310	4657
nikapov	0:a1a69d32f310	4658	VL53L0X_Error VL53L0X::VL53L0X_set_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id,
nikapov	0:a1a69d32f310	4659	uint8_t limit_check_enable)
nikapov	0:a1a69d32f310	4660	{
nikapov	0:a1a69d32f310	4661	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	4662	FixPoint1616_t temp_fix1616 = 0;
nikapov	0:a1a69d32f310	4663	uint8_t limit_check_enable_int = 0;
nikapov	0:a1a69d32f310	4664	uint8_t limit_check_disable = 0;
nikapov	0:a1a69d32f310	4665	uint8_t temp8;
nikapov	0:a1a69d32f310	4666
nikapov	0:a1a69d32f310	4667	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	4668
nikapov	0:a1a69d32f310	4669	if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
nikapov	0:a1a69d32f310	4670	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	4671	} else {
nikapov	0:a1a69d32f310	4672	if (limit_check_enable == 0) {
nikapov	0:a1a69d32f310	4673	temp_fix1616 = 0;
nikapov	0:a1a69d32f310	4674	limit_check_enable_int = 0;
nikapov	0:a1a69d32f310	4675	limit_check_disable = 1;
nikapov	0:a1a69d32f310	4676
nikapov	0:a1a69d32f310	4677	} else {
nikapov	0:a1a69d32f310	4678	VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue,
nikapov	0:a1a69d32f310	4679	limit_check_id, temp_fix1616);
nikapov	0:a1a69d32f310	4680	limit_check_disable = 0;
nikapov	0:a1a69d32f310	4681	/* this to be sure to have either 0 or 1 */
nikapov	0:a1a69d32f310	4682	limit_check_enable_int = 1;
nikapov	0:a1a69d32f310	4683	}
nikapov	0:a1a69d32f310	4684
nikapov	0:a1a69d32f310	4685	switch (limit_check_id) {
nikapov	0:a1a69d32f310	4686
nikapov	0:a1a69d32f310	4687	case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
nikapov	0:a1a69d32f310	4688	/* internal computation: */
nikapov	0:a1a69d32f310	4689	VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
nikapov	0:a1a69d32f310	4690	VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
nikapov	0:a1a69d32f310	4691	limit_check_enable_int);
nikapov	0:a1a69d32f310	4692
nikapov	0:a1a69d32f310	4693	break;
nikapov	0:a1a69d32f310	4694
nikapov	0:a1a69d32f310	4695	case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
nikapov	0:a1a69d32f310	4696
nikapov	0:a1a69d32f310	4697	status = VL53L0X_write_word(dev,
nikapov	0:a1a69d32f310	4698	VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
nikapov	0:a1a69d32f310	4699	VL53L0X_FIXPOINT1616TOFIXPOINT97(temp_fix1616));
nikapov	0:a1a69d32f310	4700
nikapov	0:a1a69d32f310	4701	break;
nikapov	0:a1a69d32f310	4702
nikapov	0:a1a69d32f310	4703	case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
nikapov	0:a1a69d32f310	4704
nikapov	0:a1a69d32f310	4705	/* internal computation: */
nikapov	0:a1a69d32f310	4706	VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
nikapov	0:a1a69d32f310	4707	VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
nikapov	0:a1a69d32f310	4708	limit_check_enable_int);
nikapov	0:a1a69d32f310	4709
nikapov	0:a1a69d32f310	4710	break;
nikapov	0:a1a69d32f310	4711
nikapov	0:a1a69d32f310	4712	case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
nikapov	0:a1a69d32f310	4713
nikapov	0:a1a69d32f310	4714	/* internal computation: */
nikapov	0:a1a69d32f310	4715	VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
nikapov	0:a1a69d32f310	4716	VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
nikapov	0:a1a69d32f310	4717	limit_check_enable_int);
nikapov	0:a1a69d32f310	4718
nikapov	0:a1a69d32f310	4719	break;
nikapov	0:a1a69d32f310	4720
nikapov	0:a1a69d32f310	4721	case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
nikapov	0:a1a69d32f310	4722
nikapov	0:a1a69d32f310	4723	temp8 = (uint8_t)(limit_check_disable << 1);
nikapov	0:a1a69d32f310	4724	status = VL53L0X_update_byte(dev,
nikapov	0:a1a69d32f310	4725	VL53L0X_REG_MSRC_CONFIG_CONTROL,
nikapov	0:a1a69d32f310	4726	0xFE, temp8);
nikapov	0:a1a69d32f310	4727
nikapov	0:a1a69d32f310	4728	break;
nikapov	0:a1a69d32f310	4729
nikapov	0:a1a69d32f310	4730	case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
nikapov	0:a1a69d32f310	4731
nikapov	0:a1a69d32f310	4732	temp8 = (uint8_t)(limit_check_disable << 4);
nikapov	0:a1a69d32f310	4733	status = VL53L0X_update_byte(dev,
nikapov	0:a1a69d32f310	4734	VL53L0X_REG_MSRC_CONFIG_CONTROL,
nikapov	0:a1a69d32f310	4735	0xEF, temp8);
nikapov	0:a1a69d32f310	4736
nikapov	0:a1a69d32f310	4737	break;
nikapov	0:a1a69d32f310	4738
nikapov	0:a1a69d32f310	4739
nikapov	0:a1a69d32f310	4740	default:
nikapov	0:a1a69d32f310	4741	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	4742
nikapov	0:a1a69d32f310	4743	}
nikapov	0:a1a69d32f310	4744
nikapov	0:a1a69d32f310	4745	}
nikapov	0:a1a69d32f310	4746
nikapov	0:a1a69d32f310	4747	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4748	if (limit_check_enable == 0) {
nikapov	0:a1a69d32f310	4749	VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
nikapov	0:a1a69d32f310	4750	limit_check_id, 0);
nikapov	0:a1a69d32f310	4751	} else {
nikapov	0:a1a69d32f310	4752	VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable,
nikapov	0:a1a69d32f310	4753	limit_check_id, 1);
nikapov	0:a1a69d32f310	4754	}
nikapov	0:a1a69d32f310	4755	}
nikapov	0:a1a69d32f310	4756
nikapov	0:a1a69d32f310	4757	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	4758	return status;
nikapov	0:a1a69d32f310	4759	}
nikapov	0:a1a69d32f310	4760
nikapov	0:a1a69d32f310	4761	VL53L0X_Error VL53L0X::VL53L0X_static_init(VL53L0X_DEV dev)
nikapov	0:a1a69d32f310	4762	{
nikapov	0:a1a69d32f310	4763	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	4764	VL53L0X_DeviceParameters_t current_parameters = {0};
nikapov	0:a1a69d32f310	4765	uint8_t *p_tuning_setting_buffer;
nikapov	0:a1a69d32f310	4766	uint16_t tempword = 0;
nikapov	0:a1a69d32f310	4767	uint8_t tempbyte = 0;
nikapov	0:a1a69d32f310	4768	uint8_t use_internal_tuning_settings = 0;
nikapov	0:a1a69d32f310	4769	uint32_t count = 0;
nikapov	0:a1a69d32f310	4770	uint8_t is_aperture_spads = 0;
nikapov	0:a1a69d32f310	4771	uint32_t ref_spad_count = 0;
nikapov	0:a1a69d32f310	4772	uint8_t aperture_spads = 0;
nikapov	0:a1a69d32f310	4773	uint8_t vcsel_pulse_period_pclk;
nikapov	0:a1a69d32f310	4774	uint32_t seq_timeout_micro_secs;
nikapov	0:a1a69d32f310	4775
nikapov	0:a1a69d32f310	4776	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	4777
nikapov	0:a1a69d32f310	4778	status = VL53L0X_get_info_from_device(dev, 1);
nikapov	0:a1a69d32f310	4779
nikapov	0:a1a69d32f310	4780	/* set the ref spad from NVM */
nikapov	0:a1a69d32f310	4781	count = (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	4782	ReferenceSpadCount);
nikapov	0:a1a69d32f310	4783	aperture_spads = VL53L0X_GETDEVICESPECIFICPARAMETER(dev,
nikapov	0:a1a69d32f310	4784	ReferenceSpadType);
nikapov	0:a1a69d32f310	4785
nikapov	0:a1a69d32f310	4786	/* NVM value invalid */
nikapov	0:a1a69d32f310	4787	if ((aperture_spads > 1) \|\|
nikapov	0:a1a69d32f310	4788	((aperture_spads == 1) && (count > 32)) \|\|
nikapov	0:a1a69d32f310	4789	((aperture_spads == 0) && (count > 12))) {
nikapov	0:a1a69d32f310	4790	status = wrapped_VL53L0X_perform_ref_spad_management(dev, &ref_spad_count,
nikapov	0:a1a69d32f310	4791	&is_aperture_spads);
nikapov	0:a1a69d32f310	4792	} else {
nikapov	0:a1a69d32f310	4793	status = VL53L0X_set_reference_spads(dev, count, aperture_spads);
nikapov	0:a1a69d32f310	4794	}
nikapov	0:a1a69d32f310	4795
nikapov	0:a1a69d32f310	4796
nikapov	0:a1a69d32f310	4797	/* Initialize tuning settings buffer to prevent compiler warning. */
nikapov	0:a1a69d32f310	4798	p_tuning_setting_buffer = DefaultTuningSettings;
nikapov	0:a1a69d32f310	4799
nikapov	0:a1a69d32f310	4800	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4801	use_internal_tuning_settings = PALDevDataGet(dev,
nikapov	0:a1a69d32f310	4802	UseInternalTuningSettings);
nikapov	0:a1a69d32f310	4803
nikapov	0:a1a69d32f310	4804	if (use_internal_tuning_settings == 0) {
nikapov	0:a1a69d32f310	4805	p_tuning_setting_buffer = PALDevDataGet(dev,
nikapov	0:a1a69d32f310	4806	pTuningSettingsPointer);
nikapov	0:a1a69d32f310	4807	} else {
nikapov	0:a1a69d32f310	4808	p_tuning_setting_buffer = DefaultTuningSettings;
nikapov	0:a1a69d32f310	4809	}
nikapov	0:a1a69d32f310	4810
nikapov	0:a1a69d32f310	4811	}
nikapov	0:a1a69d32f310	4812
nikapov	0:a1a69d32f310	4813	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4814	status = VL53L0X_load_tuning_settings(dev, p_tuning_setting_buffer);
nikapov	0:a1a69d32f310	4815	}
nikapov	0:a1a69d32f310	4816
nikapov	0:a1a69d32f310	4817
nikapov	0:a1a69d32f310	4818	/* Set interrupt config to new sample ready */
nikapov	0:a1a69d32f310	4819	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4820	status = VL53L0X_set_gpio_config(dev, 0, 0,
nikapov	0:a1a69d32f310	4821	VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
nikapov	0:a1a69d32f310	4822	VL53L0X_INTERRUPTPOLARITY_LOW);
nikapov	0:a1a69d32f310	4823	}
nikapov	0:a1a69d32f310	4824
nikapov	0:a1a69d32f310	4825	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4826	status = VL53L0X_write_byte(dev, 0xFF, 0x01);
nikapov	0:a1a69d32f310	4827	status \|= VL53L0X_read_word(dev, 0x84, &tempword);
nikapov	0:a1a69d32f310	4828	status \|= VL53L0X_write_byte(dev, 0xFF, 0x00);
nikapov	0:a1a69d32f310	4829	}
nikapov	0:a1a69d32f310	4830
nikapov	0:a1a69d32f310	4831	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4832	VL53L0X_SETDEVICESPECIFICPARAMETER(dev, OscFrequencyMHz,
nikapov	0:a1a69d32f310	4833	VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword));
nikapov	0:a1a69d32f310	4834	}
nikapov	0:a1a69d32f310	4835
nikapov	0:a1a69d32f310	4836	/* After static init, some device parameters may be changed,
nikapov	0:a1a69d32f310	4837	* so update them */
nikapov	0:a1a69d32f310	4838	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4839	status = VL53L0X_get_device_parameters(dev, &current_parameters);
nikapov	0:a1a69d32f310	4840	}
nikapov	0:a1a69d32f310	4841
nikapov	0:a1a69d32f310	4842
nikapov	0:a1a69d32f310	4843	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4844	status = VL53L0X_get_fraction_enable(dev, &tempbyte);
nikapov	0:a1a69d32f310	4845	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	4846	PALDevDataSet(dev, RangeFractionalEnable, tempbyte);
nikapov	0:a1a69d32f310	4847
nikapov	0:a1a69d32f310	4848	}
nikapov	0:a1a69d32f310	4849
nikapov	0:a1a69d32f310	4850	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4851	PALDevDataSet(dev, CurrentParameters, current_parameters);
nikapov	0:a1a69d32f310	4852	}
nikapov	0:a1a69d32f310	4853
nikapov	0:a1a69d32f310	4854
nikapov	0:a1a69d32f310	4855	/* read the sequence config and save it */
nikapov	0:a1a69d32f310	4856	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4857	status = VL53L0X_read_byte(dev,
nikapov	0:a1a69d32f310	4858	VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte);
nikapov	0:a1a69d32f310	4859	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4860	PALDevDataSet(dev, SequenceConfig, tempbyte);
nikapov	0:a1a69d32f310	4861	}
nikapov	0:a1a69d32f310	4862	}
nikapov	0:a1a69d32f310	4863
nikapov	0:a1a69d32f310	4864	/* Disable MSRC and TCC by default */
nikapov	0:a1a69d32f310	4865	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4866	status = VL53L0X_set_sequence_step_enable(dev,
nikapov	0:a1a69d32f310	4867	VL53L0X_SEQUENCESTEP_TCC, 0);
nikapov	0:a1a69d32f310	4868	}
nikapov	0:a1a69d32f310	4869
nikapov	0:a1a69d32f310	4870	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4871	status = VL53L0X_set_sequence_step_enable(dev,
nikapov	0:a1a69d32f310	4872	VL53L0X_SEQUENCESTEP_MSRC, 0);
nikapov	0:a1a69d32f310	4873	}
nikapov	0:a1a69d32f310	4874
nikapov	0:a1a69d32f310	4875	/* Set PAL State to standby */
nikapov	0:a1a69d32f310	4876	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4877	PALDevDataSet(dev, PalState, VL53L0X_STATE_IDLE);
nikapov	0:a1a69d32f310	4878	}
nikapov	0:a1a69d32f310	4879
nikapov	0:a1a69d32f310	4880	/* Store pre-range vcsel period */
nikapov	0:a1a69d32f310	4881	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4882	status = VL53L0X_get_vcsel_pulse_period(
nikapov	0:a1a69d32f310	4883	dev,
nikapov	0:a1a69d32f310	4884	VL53L0X_VCSEL_PERIOD_PRE_RANGE,
nikapov	0:a1a69d32f310	4885	&vcsel_pulse_period_pclk);
nikapov	0:a1a69d32f310	4886	}
nikapov	0:a1a69d32f310	4887
nikapov	0:a1a69d32f310	4888	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4889	VL53L0X_SETDEVICESPECIFICPARAMETER(
nikapov	0:a1a69d32f310	4890	dev,
nikapov	0:a1a69d32f310	4891	PreRangeVcselPulsePeriod,
nikapov	0:a1a69d32f310	4892	vcsel_pulse_period_pclk);
nikapov	0:a1a69d32f310	4893	}
nikapov	0:a1a69d32f310	4894
nikapov	0:a1a69d32f310	4895	/* Store final-range vcsel period */
nikapov	0:a1a69d32f310	4896	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4897	status = VL53L0X_get_vcsel_pulse_period(
nikapov	0:a1a69d32f310	4898	dev,
nikapov	0:a1a69d32f310	4899	VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
nikapov	0:a1a69d32f310	4900	&vcsel_pulse_period_pclk);
nikapov	0:a1a69d32f310	4901	}
nikapov	0:a1a69d32f310	4902
nikapov	0:a1a69d32f310	4903	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4904	VL53L0X_SETDEVICESPECIFICPARAMETER(
nikapov	0:a1a69d32f310	4905	dev,
nikapov	0:a1a69d32f310	4906	FinalRangeVcselPulsePeriod,
nikapov	0:a1a69d32f310	4907	vcsel_pulse_period_pclk);
nikapov	0:a1a69d32f310	4908	}
nikapov	0:a1a69d32f310	4909
nikapov	0:a1a69d32f310	4910	/* Store pre-range timeout */
nikapov	0:a1a69d32f310	4911	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4912	status = get_sequence_step_timeout(
nikapov	0:a1a69d32f310	4913	dev,
nikapov	0:a1a69d32f310	4914	VL53L0X_SEQUENCESTEP_PRE_RANGE,
nikapov	0:a1a69d32f310	4915	&seq_timeout_micro_secs);
nikapov	0:a1a69d32f310	4916	}
nikapov	0:a1a69d32f310	4917
nikapov	0:a1a69d32f310	4918	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4919	VL53L0X_SETDEVICESPECIFICPARAMETER(
nikapov	0:a1a69d32f310	4920	dev,
nikapov	0:a1a69d32f310	4921	PreRangeTimeoutMicroSecs,
nikapov	0:a1a69d32f310	4922	seq_timeout_micro_secs);
nikapov	0:a1a69d32f310	4923	}
nikapov	0:a1a69d32f310	4924
nikapov	0:a1a69d32f310	4925	/* Store final-range timeout */
nikapov	0:a1a69d32f310	4926	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4927	status = get_sequence_step_timeout(
nikapov	0:a1a69d32f310	4928	dev,
nikapov	0:a1a69d32f310	4929	VL53L0X_SEQUENCESTEP_FINAL_RANGE,
nikapov	0:a1a69d32f310	4930	&seq_timeout_micro_secs);
nikapov	0:a1a69d32f310	4931	}
nikapov	0:a1a69d32f310	4932
nikapov	0:a1a69d32f310	4933	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4934	VL53L0X_SETDEVICESPECIFICPARAMETER(
nikapov	0:a1a69d32f310	4935	dev,
nikapov	0:a1a69d32f310	4936	FinalRangeTimeoutMicroSecs,
nikapov	0:a1a69d32f310	4937	seq_timeout_micro_secs);
nikapov	0:a1a69d32f310	4938	}
nikapov	0:a1a69d32f310	4939
nikapov	0:a1a69d32f310	4940	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	4941	return status;
nikapov	0:a1a69d32f310	4942	}
nikapov	0:a1a69d32f310	4943
nikapov	0:a1a69d32f310	4944
nikapov	0:a1a69d32f310	4945	VL53L0X_Error VL53L0X::VL53L0X_stop_measurement(VL53L0X_DEV dev)
nikapov	0:a1a69d32f310	4946	{
nikapov	0:a1a69d32f310	4947	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	4948	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	4949
nikapov	0:a1a69d32f310	4950	status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSRANGE_START,
nikapov	0:a1a69d32f310	4951	VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT);
nikapov	0:a1a69d32f310	4952
nikapov	0:a1a69d32f310	4953	status = VL53L0X_write_byte(dev, 0xFF, 0x01);
nikapov	0:a1a69d32f310	4954	status = VL53L0X_write_byte(dev, 0x00, 0x00);
nikapov	0:a1a69d32f310	4955	status = VL53L0X_write_byte(dev, 0x91, 0x00);
nikapov	0:a1a69d32f310	4956	status = VL53L0X_write_byte(dev, 0x00, 0x01);
nikapov	0:a1a69d32f310	4957	status = VL53L0X_write_byte(dev, 0xFF, 0x00);
nikapov	0:a1a69d32f310	4958
nikapov	0:a1a69d32f310	4959	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4960	/* Set PAL State to Idle */
nikapov	0:a1a69d32f310	4961	PALDevDataSet(dev, PalState, VL53L0X_STATE_IDLE);
nikapov	0:a1a69d32f310	4962	}
nikapov	0:a1a69d32f310	4963
nikapov	0:a1a69d32f310	4964	/* Check if need to apply interrupt settings */
nikapov	0:a1a69d32f310	4965	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4966	status = VL53L0X_check_and_load_interrupt_settings(dev, 0);
nikapov	0:a1a69d32f310	4967	}
nikapov	0:a1a69d32f310	4968
nikapov	0:a1a69d32f310	4969	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	4970	return status;
nikapov	0:a1a69d32f310	4971	}
nikapov	0:a1a69d32f310	4972
nikapov	0:a1a69d32f310	4973	VL53L0X_Error VL53L0X::VL53L0X_get_stop_completed_status(VL53L0X_DEV dev,
nikapov	0:a1a69d32f310	4974	uint32_t *p_stop_status)
nikapov	0:a1a69d32f310	4975	{
nikapov	0:a1a69d32f310	4976	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	4977	uint8_t byte = 0;
nikapov	0:a1a69d32f310	4978	LOG_FUNCTION_START("");
nikapov	0:a1a69d32f310	4979
nikapov	0:a1a69d32f310	4980	status = VL53L0X_write_byte(dev, 0xFF, 0x01);
nikapov	0:a1a69d32f310	4981
nikapov	0:a1a69d32f310	4982	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4983	status = VL53L0X_read_byte(dev, 0x04, &byte);
nikapov	0:a1a69d32f310	4984	}
nikapov	0:a1a69d32f310	4985
nikapov	0:a1a69d32f310	4986	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	4987	status = VL53L0X_write_byte(dev, 0xFF, 0x0);
nikapov	0:a1a69d32f310	4988	}
nikapov	0:a1a69d32f310	4989
nikapov	0:a1a69d32f310	4990	*p_stop_status = byte;
nikapov	0:a1a69d32f310	4991
nikapov	0:a1a69d32f310	4992	if (byte == 0) {
nikapov	0:a1a69d32f310	4993	status = VL53L0X_write_byte(dev, 0x80, 0x01);
nikapov	0:a1a69d32f310	4994	status = VL53L0X_write_byte(dev, 0xFF, 0x01);
nikapov	0:a1a69d32f310	4995	status = VL53L0X_write_byte(dev, 0x00, 0x00);
nikapov	0:a1a69d32f310	4996	status = VL53L0X_write_byte(dev, 0x91,
nikapov	0:a1a69d32f310	4997	PALDevDataGet(dev, StopVariable));
nikapov	0:a1a69d32f310	4998	status = VL53L0X_write_byte(dev, 0x00, 0x01);
nikapov	0:a1a69d32f310	4999	status = VL53L0X_write_byte(dev, 0xFF, 0x00);
nikapov	0:a1a69d32f310	5000	status = VL53L0X_write_byte(dev, 0x80, 0x00);
nikapov	0:a1a69d32f310	5001	}
nikapov	0:a1a69d32f310	5002
nikapov	0:a1a69d32f310	5003	LOG_FUNCTION_END(status);
nikapov	0:a1a69d32f310	5004	return status;
nikapov	0:a1a69d32f310	5005	}
nikapov	0:a1a69d32f310	5006
nikapov	0:a1a69d32f310	5007	/**************** Write and read functions from I2C ***********************/
nikapov	0:a1a69d32f310	5008
nikapov	0:a1a69d32f310	5009	VL53L0X_Error VL53L0X::VL53L0X_write_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count)
nikapov	0:a1a69d32f310	5010	{
nikapov	0:a1a69d32f310	5011	int status;
nikapov	0:a1a69d32f310	5012
nikapov	0:a1a69d32f310	5013	status = VL53L0X_i2c_write(dev->I2cDevAddr, index, p_data, (uint16_t)count);
nikapov	0:a1a69d32f310	5014	return status;
nikapov	0:a1a69d32f310	5015	}
nikapov	0:a1a69d32f310	5016
nikapov	0:a1a69d32f310	5017	VL53L0X_Error VL53L0X::VL53L0X_read_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count)
nikapov	0:a1a69d32f310	5018	{
nikapov	0:a1a69d32f310	5019	int status;
nikapov	0:a1a69d32f310	5020
nikapov	0:a1a69d32f310	5021	if (count >= VL53L0X_MAX_I2C_XFER_SIZE) {
nikapov	0:a1a69d32f310	5022	status = VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	5023	}
nikapov	0:a1a69d32f310	5024
nikapov	0:a1a69d32f310	5025	status = VL53L0X_i2c_read(dev->I2cDevAddr, index, p_data, (uint16_t)count);
nikapov	0:a1a69d32f310	5026
nikapov	0:a1a69d32f310	5027	return status;
nikapov	0:a1a69d32f310	5028	}
nikapov	0:a1a69d32f310	5029
nikapov	0:a1a69d32f310	5030
nikapov	0:a1a69d32f310	5031	VL53L0X_Error VL53L0X::VL53L0X_write_byte(VL53L0X_DEV Dev, uint8_t index, uint8_t data)
nikapov	0:a1a69d32f310	5032	{
nikapov	0:a1a69d32f310	5033	int status;
nikapov	0:a1a69d32f310	5034
nikapov	0:a1a69d32f310	5035	status = VL53L0X_i2c_write(Dev->I2cDevAddr, index, &data, 1);
nikapov	0:a1a69d32f310	5036	return status;
nikapov	0:a1a69d32f310	5037	}
nikapov	0:a1a69d32f310	5038
nikapov	0:a1a69d32f310	5039	VL53L0X_Error VL53L0X::VL53L0X_write_word(VL53L0X_DEV dev, uint8_t index, uint16_t data)
nikapov	0:a1a69d32f310	5040	{
nikapov	0:a1a69d32f310	5041	int status;
nikapov	0:a1a69d32f310	5042	uint8_t buffer[2];
nikapov	0:a1a69d32f310	5043
nikapov	0:a1a69d32f310	5044	buffer[0] = data >> 8;
nikapov	0:a1a69d32f310	5045	buffer[1] = data & 0x00FF;
nikapov	0:a1a69d32f310	5046	status = VL53L0X_i2c_write(dev->I2cDevAddr, index, (uint8_t *)buffer, 2);
nikapov	0:a1a69d32f310	5047	return status;
nikapov	0:a1a69d32f310	5048	}
nikapov	0:a1a69d32f310	5049
nikapov	0:a1a69d32f310	5050	VL53L0X_Error VL53L0X::VL53L0X_write_dword(VL53L0X_DEV Dev, uint8_t index, uint32_t data)
nikapov	0:a1a69d32f310	5051	{
nikapov	0:a1a69d32f310	5052	int status;
nikapov	0:a1a69d32f310	5053	uint8_t buffer[4];
nikapov	0:a1a69d32f310	5054
nikapov	0:a1a69d32f310	5055	buffer[0] = (data >> 24) & 0xFF;
nikapov	0:a1a69d32f310	5056	buffer[1] = (data >> 16) & 0xFF;
nikapov	0:a1a69d32f310	5057	buffer[2] = (data >> 8) & 0xFF;
nikapov	0:a1a69d32f310	5058	buffer[3] = (data >> 0) & 0xFF;
nikapov	0:a1a69d32f310	5059	status = VL53L0X_i2c_write(Dev->I2cDevAddr, index, (uint8_t *)buffer, 4);
nikapov	0:a1a69d32f310	5060	return status;
nikapov	0:a1a69d32f310	5061	}
nikapov	0:a1a69d32f310	5062
nikapov	0:a1a69d32f310	5063
nikapov	0:a1a69d32f310	5064	VL53L0X_Error VL53L0X::VL53L0X_read_byte(VL53L0X_DEV Dev, uint8_t index, uint8_t *p_data)
nikapov	0:a1a69d32f310	5065	{
nikapov	0:a1a69d32f310	5066	int status;
nikapov	0:a1a69d32f310	5067
nikapov	0:a1a69d32f310	5068	status = VL53L0X_i2c_read(Dev->I2cDevAddr, index, p_data, 1);
nikapov	0:a1a69d32f310	5069
nikapov	0:a1a69d32f310	5070	if (status)
nikapov	0:a1a69d32f310	5071	return -1;
nikapov	0:a1a69d32f310	5072
nikapov	0:a1a69d32f310	5073	return 0;
nikapov	0:a1a69d32f310	5074	}
nikapov	0:a1a69d32f310	5075
nikapov	0:a1a69d32f310	5076	VL53L0X_Error VL53L0X::VL53L0X_read_word(VL53L0X_DEV Dev, uint8_t index, uint16_t *p_data)
nikapov	0:a1a69d32f310	5077	{
nikapov	0:a1a69d32f310	5078	int status;
nikapov	0:a1a69d32f310	5079	uint8_t buffer[2] = {0, 0};
nikapov	0:a1a69d32f310	5080
nikapov	0:a1a69d32f310	5081	status = VL53L0X_i2c_read(Dev->I2cDevAddr, index, buffer, 2);
nikapov	0:a1a69d32f310	5082	if (!status) {
nikapov	0:a1a69d32f310	5083	*p_data = (buffer[0] << 8) + buffer[1];
nikapov	0:a1a69d32f310	5084	}
nikapov	0:a1a69d32f310	5085	return status;
nikapov	0:a1a69d32f310	5086
nikapov	0:a1a69d32f310	5087	}
nikapov	0:a1a69d32f310	5088
nikapov	0:a1a69d32f310	5089	VL53L0X_Error VL53L0X::VL53L0X_read_dword(VL53L0X_DEV Dev, uint8_t index, uint32_t *p_data)
nikapov	0:a1a69d32f310	5090	{
nikapov	0:a1a69d32f310	5091	int status;
nikapov	0:a1a69d32f310	5092	uint8_t buffer[4] = {0, 0, 0, 0};
nikapov	0:a1a69d32f310	5093
nikapov	0:a1a69d32f310	5094	status = VL53L0X_i2c_read(Dev->I2cDevAddr, index, buffer, 4);
nikapov	0:a1a69d32f310	5095	if (!status) {
nikapov	0:a1a69d32f310	5096	*p_data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3];
nikapov	0:a1a69d32f310	5097	}
nikapov	0:a1a69d32f310	5098	return status;
nikapov	0:a1a69d32f310	5099
nikapov	0:a1a69d32f310	5100	}
nikapov	0:a1a69d32f310	5101
nikapov	0:a1a69d32f310	5102	VL53L0X_Error VL53L0X::VL53L0X_update_byte(VL53L0X_DEV Dev, uint8_t index, uint8_t and_data, uint8_t or_data)
nikapov	0:a1a69d32f310	5103	{
nikapov	0:a1a69d32f310	5104	int status;
nikapov	0:a1a69d32f310	5105	uint8_t buffer = 0;
nikapov	0:a1a69d32f310	5106
nikapov	0:a1a69d32f310	5107	/* read data direct onto buffer */
nikapov	0:a1a69d32f310	5108	status = VL53L0X_i2c_read(Dev->I2cDevAddr, index, &buffer, 1);
nikapov	0:a1a69d32f310	5109	if (!status) {
nikapov	0:a1a69d32f310	5110	buffer = (buffer & and_data) \| or_data;
nikapov	0:a1a69d32f310	5111	status = VL53L0X_i2c_write(Dev->I2cDevAddr, index, &buffer, (uint8_t)1);
nikapov	0:a1a69d32f310	5112	}
nikapov	0:a1a69d32f310	5113	return status;
nikapov	0:a1a69d32f310	5114	}
nikapov	0:a1a69d32f310	5115
nikapov	0:a1a69d32f310	5116	VL53L0X_Error VL53L0X::VL53L0X_i2c_write(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t *p_data,
nikapov	0:a1a69d32f310	5117	uint16_t NumByteToWrite)
nikapov	0:a1a69d32f310	5118	{
nikapov	0:a1a69d32f310	5119	int ret;
nikapov	0:a1a69d32f310	5120
nikapov	0:a1a69d32f310	5121	ret = _dev_i2c->i2c_write(p_data, DeviceAddr, RegisterAddr, NumByteToWrite);
nikapov	0:a1a69d32f310	5122
nikapov	0:a1a69d32f310	5123	if (ret) {
nikapov	0:a1a69d32f310	5124	return -1;
nikapov	0:a1a69d32f310	5125	}
nikapov	0:a1a69d32f310	5126	return 0;
nikapov	0:a1a69d32f310	5127	}
nikapov	0:a1a69d32f310	5128
nikapov	0:a1a69d32f310	5129	VL53L0X_Error VL53L0X::VL53L0X_i2c_read(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t *p_data,
nikapov	0:a1a69d32f310	5130	uint16_t NumByteToRead)
nikapov	0:a1a69d32f310	5131	{
nikapov	0:a1a69d32f310	5132	int ret;
nikapov	0:a1a69d32f310	5133
nikapov	0:a1a69d32f310	5134	ret = _dev_i2c->i2c_read(p_data, DeviceAddr, RegisterAddr, NumByteToRead);
nikapov	0:a1a69d32f310	5135
nikapov	0:a1a69d32f310	5136	if (ret) {
nikapov	0:a1a69d32f310	5137	return -1;
nikapov	0:a1a69d32f310	5138	}
nikapov	0:a1a69d32f310	5139	return 0;
nikapov	0:a1a69d32f310	5140	}
nikapov	0:a1a69d32f310	5141
nikapov	0:a1a69d32f310	5142	int VL53L0X::read_id(uint8_t *id)
nikapov	0:a1a69d32f310	5143	{
nikapov	0:a1a69d32f310	5144	int status = 0;
nikapov	0:a1a69d32f310	5145	uint16_t rl_id = 0;
nikapov	0:a1a69d32f310	5146
nikapov	0:a1a69d32f310	5147	status = VL53L0X_read_word(_device, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &rl_id);
nikapov	0:a1a69d32f310	5148	if (rl_id == 0xEEAA) {
nikapov	0:a1a69d32f310	5149	return status;
nikapov	0:a1a69d32f310	5150	}
nikapov	0:a1a69d32f310	5151
nikapov	0:a1a69d32f310	5152	return -1;
nikapov	0:a1a69d32f310	5153	}
nikapov	0:a1a69d32f310	5154
nikapov	0:a1a69d32f310	5155
nikapov	0:a1a69d32f310	5156	VL53L0X_Error VL53L0X::wait_measurement_data_ready(VL53L0X_DEV dev)
nikapov	0:a1a69d32f310	5157	{
nikapov	0:a1a69d32f310	5158	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	5159	uint8_t new_dat_ready = 0;
nikapov	0:a1a69d32f310	5160	uint32_t loop_nb;
nikapov	0:a1a69d32f310	5161
nikapov	0:a1a69d32f310	5162	// Wait until it finished
nikapov	0:a1a69d32f310	5163	// use timeout to avoid deadlock
nikapov	0:a1a69d32f310	5164	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5165	loop_nb = 0;
nikapov	0:a1a69d32f310	5166	do {
nikapov	0:a1a69d32f310	5167	status = VL53L0X_get_measurement_data_ready(dev, &new_dat_ready);
nikapov	0:a1a69d32f310	5168	if ((new_dat_ready == 0x01) \|\| status != VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5169	break;
nikapov	0:a1a69d32f310	5170	}
nikapov	0:a1a69d32f310	5171	loop_nb = loop_nb + 1;
nikapov	0:a1a69d32f310	5172	VL53L0X_polling_delay(dev);
nikapov	0:a1a69d32f310	5173	} while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
nikapov	0:a1a69d32f310	5174
nikapov	0:a1a69d32f310	5175	if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
nikapov	0:a1a69d32f310	5176	status = VL53L0X_ERROR_TIME_OUT;
nikapov	0:a1a69d32f310	5177	}
nikapov	0:a1a69d32f310	5178	}
nikapov	0:a1a69d32f310	5179
nikapov	0:a1a69d32f310	5180	return status;
nikapov	0:a1a69d32f310	5181	}
nikapov	0:a1a69d32f310	5182
nikapov	0:a1a69d32f310	5183	VL53L0X_Error VL53L0X::wait_stop_completed(VL53L0X_DEV dev)
nikapov	0:a1a69d32f310	5184	{
nikapov	0:a1a69d32f310	5185	VL53L0X_Error status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	5186	uint32_t stop_completed = 0;
nikapov	0:a1a69d32f310	5187	uint32_t loop_nb;
nikapov	0:a1a69d32f310	5188
nikapov	0:a1a69d32f310	5189	// Wait until it finished
nikapov	0:a1a69d32f310	5190	// use timeout to avoid deadlock
nikapov	0:a1a69d32f310	5191	if (status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5192	loop_nb = 0;
nikapov	0:a1a69d32f310	5193	do {
nikapov	0:a1a69d32f310	5194	status = VL53L0X_get_stop_completed_status(dev, &stop_completed);
nikapov	0:a1a69d32f310	5195	if ((stop_completed == 0x00) \|\| status != VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5196	break;
nikapov	0:a1a69d32f310	5197	}
nikapov	0:a1a69d32f310	5198	loop_nb = loop_nb + 1;
nikapov	0:a1a69d32f310	5199	VL53L0X_polling_delay(dev);
nikapov	0:a1a69d32f310	5200	} while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
nikapov	0:a1a69d32f310	5201
nikapov	0:a1a69d32f310	5202	if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
nikapov	0:a1a69d32f310	5203	status = VL53L0X_ERROR_TIME_OUT;
nikapov	0:a1a69d32f310	5204	}
nikapov	0:a1a69d32f310	5205
nikapov	0:a1a69d32f310	5206	}
nikapov	0:a1a69d32f310	5207
nikapov	0:a1a69d32f310	5208	return status;
nikapov	0:a1a69d32f310	5209	}
nikapov	0:a1a69d32f310	5210
nikapov	0:a1a69d32f310	5211
nikapov	0:a1a69d32f310	5212	int VL53L0X::init_sensor(uint8_t new_addr)
nikapov	0:a1a69d32f310	5213	{
nikapov	0:a1a69d32f310	5214	int status;
nikapov	0:a1a69d32f310	5215
nikapov	0:a1a69d32f310	5216	VL53L0X_off();
nikapov	0:a1a69d32f310	5217	VL53L0X_on();
nikapov	0:a1a69d32f310	5218
nikapov	0:a1a69d32f310	5219	// status=VL53L0X_WaitDeviceBooted(Device);
nikapov	0:a1a69d32f310	5220	// if(status)
nikapov	0:a1a69d32f310	5221	// printf("WaitDeviceBooted fail\n\r");
nikapov	0:a1a69d32f310	5222	status = is_present();
nikapov	0:a1a69d32f310	5223	if (!status) {
nikapov	0:a1a69d32f310	5224	status = init(&_my_device);
nikapov	0:a1a69d32f310	5225	if (status != VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5226	printf("Failed to init VL53L0X sensor!\n\r");
nikapov	0:a1a69d32f310	5227	return status;
nikapov	0:a1a69d32f310	5228	}
nikapov	0:a1a69d32f310	5229
nikapov	0:a1a69d32f310	5230	// deduce silicon version
nikapov	0:a1a69d32f310	5231	status = VL53L0X_get_device_info(&_my_device, &_device_info);
nikapov	0:a1a69d32f310	5232
nikapov	0:a1a69d32f310	5233	status = prepare();
nikapov	0:a1a69d32f310	5234	if (status != VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5235	printf("Failed to prepare VL53L0X!\n\r");
nikapov	0:a1a69d32f310	5236	return status;
nikapov	0:a1a69d32f310	5237	}
nikapov	0:a1a69d32f310	5238
nikapov	1:834986cdde0a	5239	if (new_addr != VL53L0X_DEFAULT_ADDRESS) {
nikapov	0:a1a69d32f310	5240	status = set_device_address(new_addr);
nikapov	0:a1a69d32f310	5241	if (status) {
nikapov	0:a1a69d32f310	5242	printf("Failed to change I2C address!\n\r");
nikapov	0:a1a69d32f310	5243	return status;
nikapov	0:a1a69d32f310	5244	}
nikapov	0:a1a69d32f310	5245	} else {
nikapov	0:a1a69d32f310	5246	printf("Invalid new address!\n\r");
nikapov	0:a1a69d32f310	5247	return VL53L0X_ERROR_INVALID_PARAMS;
nikapov	0:a1a69d32f310	5248	}
nikapov	0:a1a69d32f310	5249	}
nikapov	0:a1a69d32f310	5250	return status;
nikapov	0:a1a69d32f310	5251	}
nikapov	0:a1a69d32f310	5252
nikapov	0:a1a69d32f310	5253	int VL53L0X::range_meas_int_continuous_mode(void (*fptr)(void))
nikapov	0:a1a69d32f310	5254	{
nikapov	0:a1a69d32f310	5255	int status, clr_status;
nikapov	0:a1a69d32f310	5256
nikapov	0:a1a69d32f310	5257	status = VL53L0X_stop_measurement(_device); // it is safer to do this while sensor is stopped
nikapov	0:a1a69d32f310	5258
nikapov	0:a1a69d32f310	5259	// status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
nikapov	0:a1a69d32f310	5260
nikapov	0:a1a69d32f310	5261	status = VL53L0X_set_gpio_config(_device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
nikapov	0:a1a69d32f310	5262	VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
nikapov	0:a1a69d32f310	5263	VL53L0X_INTERRUPTPOLARITY_HIGH);
nikapov	0:a1a69d32f310	5264
nikapov	0:a1a69d32f310	5265	if (!status) {
nikapov	0:a1a69d32f310	5266	attach_interrupt_measure_detection_irq(fptr);
nikapov	0:a1a69d32f310	5267	enable_interrupt_measure_detection_irq();
nikapov	0:a1a69d32f310	5268	}
nikapov	0:a1a69d32f310	5269
nikapov	0:a1a69d32f310	5270	clr_status = clear_interrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS \| VL53L0X_REG_RESULT_RANGE_STATUS);
nikapov	0:a1a69d32f310	5271	if (clr_status) {
nikapov	0:a1a69d32f310	5272	VL53L0X_ErrLog("VL53L0X_ClearErrorInterrupt fail\r\n");
nikapov	0:a1a69d32f310	5273	}
nikapov	0:a1a69d32f310	5274
nikapov	0:a1a69d32f310	5275	if (!status) {
nikapov	0:a1a69d32f310	5276	status = range_start_continuous_mode();
nikapov	0:a1a69d32f310	5277	}
nikapov	0:a1a69d32f310	5278	return status;
nikapov	0:a1a69d32f310	5279	}
nikapov	0:a1a69d32f310	5280
nikapov	0:a1a69d32f310	5281
nikapov	0:a1a69d32f310	5282	int VL53L0X::start_measurement(OperatingMode operating_mode, void (*fptr)(void))
nikapov	0:a1a69d32f310	5283	{
nikapov	0:a1a69d32f310	5284	int Status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	5285	int ClrStatus;
nikapov	0:a1a69d32f310	5286
nikapov	0:a1a69d32f310	5287	uint8_t VhvSettings;
nikapov	0:a1a69d32f310	5288	uint8_t PhaseCal;
nikapov	0:a1a69d32f310	5289	// *** from mass market cube expansion v1.1, ranging with satellites.
nikapov	0:a1a69d32f310	5290	// default settings, for normal range.
nikapov	0:a1a69d32f310	5291	FixPoint1616_t signalLimit = (FixPoint1616_t)(0.25 * 65536);
nikapov	0:a1a69d32f310	5292	FixPoint1616_t sigmaLimit = (FixPoint1616_t)(18 * 65536);
nikapov	0:a1a69d32f310	5293	uint32_t timingBudget = 33000;
nikapov	0:a1a69d32f310	5294	uint8_t preRangeVcselPeriod = 14;
nikapov	0:a1a69d32f310	5295	uint8_t finalRangeVcselPeriod = 10;
nikapov	0:a1a69d32f310	5296
nikapov	0:a1a69d32f310	5297	if (operating_mode == range_continuous_interrupt) {
nikapov	0:a1a69d32f310	5298	if (_gpio1Int == NULL) {
nikapov	0:a1a69d32f310	5299	printf("GPIO1 Error\r\n");
nikapov	0:a1a69d32f310	5300	return 1;
nikapov	0:a1a69d32f310	5301	}
nikapov	0:a1a69d32f310	5302
nikapov	0:a1a69d32f310	5303	Status = VL53L0X_stop_measurement(_device); // it is safer to do this while sensor is stopped
nikapov	0:a1a69d32f310	5304
nikapov	0:a1a69d32f310	5305	// Status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
nikapov	0:a1a69d32f310	5306
nikapov	0:a1a69d32f310	5307	Status = VL53L0X_set_gpio_config(_device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
nikapov	0:a1a69d32f310	5308	VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
nikapov	0:a1a69d32f310	5309	VL53L0X_INTERRUPTPOLARITY_HIGH);
nikapov	0:a1a69d32f310	5310
nikapov	0:a1a69d32f310	5311	if (Status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5312	attach_interrupt_measure_detection_irq(fptr);
nikapov	0:a1a69d32f310	5313	enable_interrupt_measure_detection_irq();
nikapov	0:a1a69d32f310	5314	}
nikapov	0:a1a69d32f310	5315
nikapov	0:a1a69d32f310	5316	ClrStatus = clear_interrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS \| VL53L0X_REG_RESULT_RANGE_STATUS);
nikapov	0:a1a69d32f310	5317	if (ClrStatus) {
nikapov	0:a1a69d32f310	5318	VL53L0X_ErrLog("VL53L0X_ClearErrorInterrupt fail\r\n");
nikapov	0:a1a69d32f310	5319	}
nikapov	0:a1a69d32f310	5320
nikapov	0:a1a69d32f310	5321	if (Status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5322	Status = VL53L0X_set_device_mode(_device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
nikapov	0:a1a69d32f310	5323	}
nikapov	0:a1a69d32f310	5324
nikapov	0:a1a69d32f310	5325	if (Status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5326	Status = VL53L0X_start_measurement(_device);
nikapov	0:a1a69d32f310	5327	}
nikapov	0:a1a69d32f310	5328	}
nikapov	0:a1a69d32f310	5329
nikapov	0:a1a69d32f310	5330	if (operating_mode == range_single_shot_polling) {
nikapov	0:a1a69d32f310	5331	// singelshot, polled ranging
nikapov	0:a1a69d32f310	5332	if (Status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5333	// no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
nikapov	0:a1a69d32f310	5334	Status = VL53L0X_set_device_mode(_device, VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode
nikapov	0:a1a69d32f310	5335	}
nikapov	0:a1a69d32f310	5336
nikapov	0:a1a69d32f310	5337	// Enable/Disable Sigma and Signal check
nikapov	0:a1a69d32f310	5338	if (Status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5339	Status = VL53L0X_set_limit_check_enable(_device,
nikapov	0:a1a69d32f310	5340	VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
nikapov	0:a1a69d32f310	5341	}
nikapov	0:a1a69d32f310	5342	if (Status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5343	Status = VL53L0X_set_limit_check_enable(_device,
nikapov	0:a1a69d32f310	5344	VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
nikapov	0:a1a69d32f310	5345	}
nikapov	0:a1a69d32f310	5346
nikapov	0:a1a69d32f310	5347	// *** from mass market cube expansion v1.1, ranging with satellites.
nikapov	0:a1a69d32f310	5348	/* Ranging configuration */
nikapov	0:a1a69d32f310	5349	//*
nikapov	0:a1a69d32f310	5350	// switch(rangingConfig) {
nikapov	0:a1a69d32f310	5351	// case LONG_RANGE:
nikapov	0:a1a69d32f310	5352	signalLimit = (FixPoint1616_t)(0.1 * 65536);
nikapov	0:a1a69d32f310	5353	sigmaLimit = (FixPoint1616_t)(60 * 65536);
nikapov	0:a1a69d32f310	5354	timingBudget = 33000;
nikapov	0:a1a69d32f310	5355	preRangeVcselPeriod = 18;
nikapov	0:a1a69d32f310	5356	finalRangeVcselPeriod = 14;
nikapov	0:a1a69d32f310	5357	/* break;
nikapov	0:a1a69d32f310	5358	case HIGH_ACCURACY:
nikapov	0:a1a69d32f310	5359	signalLimit = (FixPoint1616_t)(0.25*65536);
nikapov	0:a1a69d32f310	5360	sigmaLimit = (FixPoint1616_t)(18*65536);
nikapov	0:a1a69d32f310	5361	timingBudget = 200000;
nikapov	0:a1a69d32f310	5362	preRangeVcselPeriod = 14;
nikapov	0:a1a69d32f310	5363	finalRangeVcselPeriod = 10;
nikapov	0:a1a69d32f310	5364	break;
nikapov	0:a1a69d32f310	5365	case HIGH_SPEED:
nikapov	0:a1a69d32f310	5366	signalLimit = (FixPoint1616_t)(0.25*65536);
nikapov	0:a1a69d32f310	5367	sigmaLimit = (FixPoint1616_t)(32*65536);
nikapov	0:a1a69d32f310	5368	timingBudget = 20000;
nikapov	0:a1a69d32f310	5369	preRangeVcselPeriod = 14;
nikapov	0:a1a69d32f310	5370	finalRangeVcselPeriod = 10;
nikapov	0:a1a69d32f310	5371	break;
nikapov	0:a1a69d32f310	5372	default:
nikapov	0:a1a69d32f310	5373	debug_printf("Not Supported");
nikapov	0:a1a69d32f310	5374	}
nikapov	0:a1a69d32f310	5375	*/
nikapov	0:a1a69d32f310	5376
nikapov	0:a1a69d32f310	5377	if (Status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5378	Status = VL53L0X_set_limit_check_value(_device,
nikapov	0:a1a69d32f310	5379	VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, signalLimit);
nikapov	0:a1a69d32f310	5380	}
nikapov	0:a1a69d32f310	5381
nikapov	0:a1a69d32f310	5382	if (Status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5383	Status = VL53L0X_set_limit_check_value(_device,
nikapov	0:a1a69d32f310	5384	VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, sigmaLimit);
nikapov	0:a1a69d32f310	5385	}
nikapov	0:a1a69d32f310	5386
nikapov	0:a1a69d32f310	5387	if (Status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5388	Status = VL53L0X_set_measurement_timing_budget_micro_seconds(_device, timingBudget);
nikapov	0:a1a69d32f310	5389	}
nikapov	0:a1a69d32f310	5390
nikapov	0:a1a69d32f310	5391	if (Status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5392	Status = VL53L0X_set_vcsel_pulse_period(_device,
nikapov	0:a1a69d32f310	5393	VL53L0X_VCSEL_PERIOD_PRE_RANGE, preRangeVcselPeriod);
nikapov	0:a1a69d32f310	5394	}
nikapov	0:a1a69d32f310	5395
nikapov	0:a1a69d32f310	5396	if (Status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5397	Status = VL53L0X_set_vcsel_pulse_period(_device,
nikapov	0:a1a69d32f310	5398	VL53L0X_VCSEL_PERIOD_FINAL_RANGE, finalRangeVcselPeriod);
nikapov	0:a1a69d32f310	5399	}
nikapov	0:a1a69d32f310	5400
nikapov	0:a1a69d32f310	5401	if (Status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5402	Status = VL53L0X_perform_ref_calibration(_device, &VhvSettings, &PhaseCal);
nikapov	0:a1a69d32f310	5403	}
nikapov	0:a1a69d32f310	5404
nikapov	0:a1a69d32f310	5405	}
nikapov	0:a1a69d32f310	5406
nikapov	0:a1a69d32f310	5407	if (operating_mode == range_continuous_polling) {
nikapov	0:a1a69d32f310	5408	if (Status == VL53L0X_ERROR_NONE) {
nikapov	1:834986cdde0a	5409	//printf("Call of VL53L0X_SetDeviceMode\n");
nikapov	0:a1a69d32f310	5410	Status = VL53L0X_set_device_mode(_device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
nikapov	0:a1a69d32f310	5411	}
nikapov	0:a1a69d32f310	5412
nikapov	0:a1a69d32f310	5413	if (Status == VL53L0X_ERROR_NONE) {
nikapov	1:834986cdde0a	5414	//printf("Call of VL53L0X_StartMeasurement\n");
nikapov	0:a1a69d32f310	5415	Status = VL53L0X_start_measurement(_device);
nikapov	0:a1a69d32f310	5416	}
nikapov	0:a1a69d32f310	5417	}
nikapov	0:a1a69d32f310	5418
nikapov	0:a1a69d32f310	5419	return Status;
nikapov	0:a1a69d32f310	5420	}
nikapov	0:a1a69d32f310	5421
nikapov	0:a1a69d32f310	5422
nikapov	0:a1a69d32f310	5423	int VL53L0X::get_measurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *p_data)
nikapov	0:a1a69d32f310	5424	{
nikapov	0:a1a69d32f310	5425	int Status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	5426
nikapov	0:a1a69d32f310	5427	if (operating_mode == range_single_shot_polling) {
nikapov	0:a1a69d32f310	5428	Status = VL53L0X_perform_single_ranging_measurement(_device, p_data);
nikapov	0:a1a69d32f310	5429	}
nikapov	0:a1a69d32f310	5430
nikapov	0:a1a69d32f310	5431	if (operating_mode == range_continuous_polling) {
nikapov	0:a1a69d32f310	5432	if (Status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	5433	Status = VL53L0X_measurement_poll_for_completion(_device);
nikapov	0:a1a69d32f310	5434
nikapov	0:a1a69d32f310	5435	if (Status == VL53L0X_ERROR_NONE) {
nikapov	0:a1a69d32f310	5436	Status = VL53L0X_get_ranging_measurement_data(_device, p_data);
nikapov	0:a1a69d32f310	5437
nikapov	0:a1a69d32f310	5438	// Clear the interrupt
nikapov	0:a1a69d32f310	5439	VL53L0X_clear_interrupt_mask(_device, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
nikapov	0:a1a69d32f310	5440	VL53L0X_polling_delay(_device);
nikapov	0:a1a69d32f310	5441	}
nikapov	0:a1a69d32f310	5442	}
nikapov	0:a1a69d32f310	5443
nikapov	0:a1a69d32f310	5444	if (operating_mode == range_continuous_interrupt) {
nikapov	0:a1a69d32f310	5445	Status = VL53L0X_get_ranging_measurement_data(_device, p_data);
nikapov	0:a1a69d32f310	5446	VL53L0X_clear_interrupt_mask(_device, VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR \| VL53L0X_REG_RESULT_INTERRUPT_STATUS);
nikapov	0:a1a69d32f310	5447	}
nikapov	0:a1a69d32f310	5448
nikapov	0:a1a69d32f310	5449	return Status;
nikapov	0:a1a69d32f310	5450	}
nikapov	0:a1a69d32f310	5451
nikapov	0:a1a69d32f310	5452
nikapov	0:a1a69d32f310	5453	int VL53L0X::stop_measurement(OperatingMode operating_mode)
nikapov	0:a1a69d32f310	5454	{
nikapov	0:a1a69d32f310	5455	int status = VL53L0X_ERROR_NONE;
nikapov	0:a1a69d32f310	5456
nikapov	0:a1a69d32f310	5457
nikapov	0:a1a69d32f310	5458	// don't need to stop for a singleshot range!
nikapov	0:a1a69d32f310	5459	if (operating_mode == range_single_shot_polling) {
nikapov	0:a1a69d32f310	5460	}
nikapov	0:a1a69d32f310	5461
nikapov	0:a1a69d32f310	5462	if (operating_mode == range_continuous_interrupt \|\| operating_mode == range_continuous_polling) {
nikapov	0:a1a69d32f310	5463	// continuous mode
nikapov	0:a1a69d32f310	5464	if (status == VL53L0X_ERROR_NONE) {
nikapov	1:834986cdde0a	5465	//printf("Call of VL53L0X_StopMeasurement\n");
nikapov	0:a1a69d32f310	5466	status = VL53L0X_stop_measurement(_device);
nikapov	0:a1a69d32f310	5467	}
nikapov	0:a1a69d32f310	5468
nikapov	0:a1a69d32f310	5469	if (status == VL53L0X_ERROR_NONE) {
nikapov	1:834986cdde0a	5470	//printf("Wait Stop to be competed\n");
nikapov	0:a1a69d32f310	5471	status = wait_stop_completed(_device);
nikapov	0:a1a69d32f310	5472	}
nikapov	0:a1a69d32f310	5473
nikapov	0:a1a69d32f310	5474	if (status == VL53L0X_ERROR_NONE)
nikapov	0:a1a69d32f310	5475	status = VL53L0X_clear_interrupt_mask(_device,
nikapov	0:a1a69d32f310	5476	VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
nikapov	0:a1a69d32f310	5477	}
nikapov	0:a1a69d32f310	5478
nikapov	0:a1a69d32f310	5479	return status;
nikapov	0:a1a69d32f310	5480	}
nikapov	0:a1a69d32f310	5481
nikapov	0:a1a69d32f310	5482
nikapov	0:a1a69d32f310	5483	int VL53L0X::handle_irq(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *data)
nikapov	0:a1a69d32f310	5484	{
nikapov	0:a1a69d32f310	5485	int status;
nikapov	0:a1a69d32f310	5486	status = get_measurement(operating_mode, data);
nikapov	0:a1a69d32f310	5487	enable_interrupt_measure_detection_irq();
nikapov	0:a1a69d32f310	5488	return status;
nikapov	0:a1a69d32f310	5489	}
nikapov	0:a1a69d32f310	5490
nikapov	0:a1a69d32f310	5491
nikapov	0:a1a69d32f310	5492	/******************************************************************************/

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Type:	Library
Created:	23 Mar 2019
Imports:	20
Forks:	0
Commits:	13
Dependents:	1
Dependencies:	0
Followers:	2

VL53L0X.cpp@1:834986cdde0a, 2017-10-04 (annotated)

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