Tarek Lule
Condensed Version of Public VL53L0X
Diff: VL53L0X.cpp
- Revision:
- 12:aa177f0e4c10
- Parent:
- 11:c6f95a42d4d7
--- a/VL53L0X.cpp Mon Apr 08 16:26:19 2019 +0000
+++ b/VL53L0X.cpp Wed Apr 10 19:03:16 2019 +0000
@@ -49,6 +49,12 @@
#include "VL53L0X.h"
#include "VL53L0X_tuning.h"
+/******************************************************************************/
+/******************************************************************************/
+/****************** All initialization functions *************************/
+/******************************************************************************/
+/******************************************************************************/
+
// Function Data_init and Init_Sensor is united into Start_Sensor
VL53L0X_Error VL53L0X::Start_Sensor(uint8_t new_addr)
{ ErrState = VL53L0X_OK;
@@ -81,11 +87,15 @@
/* Set Default static parameters
*set first temporary values 9.44MHz * 65536 = 618660 */
- DevSpecParams.OscFrequencyMHz = 618660;
- DevSpecParams.RefSPADSInitialised = 0;
- DevSpecParams.ReadDataFromDeviceDone = 0;
+ OscFrequencyMHz = 618660;
+ RefSPADSInitialised = 0;
+
+ // Read All NVM from device
+ ReadNVMDataFromDeviceDone = 0;
+ Get_all_NVM_info_from_device();
#ifdef USE_IQC_STATION
+ // must make sure that first your read all NVM info used by the API */
VL53L0X_Apply_Offset_Cal();
#endif
@@ -163,6 +173,7 @@
uint8_t vhv_settings;
uint8_t phase_cal;
+ // make sure the Get_all_NVM_info_from_device was called before calling static init
if (ErrState == VL53L0X_OK) { Static_init(); } // Device Initialization
if (ErrState == VL53L0X_OK) { // Device Calibration
@@ -177,15 +188,13 @@
void VL53L0X::Fill_device_info()
{ uint8_t revision;
- Get_info_from_device(2);
-
if (ErrState == VL53L0X_OK)
- { if (DevSpecParams.ModuleId == 0)
+ { if (ModuleId == 0)
{ revision = 0;
strcpy(Device_Info.ProductId,""); }
else
- { revision = DevSpecParams.Revision;
- strcpy(Device_Info.ProductId,DevSpecParams.ProductId);
+ { revision = Revision;
+ strcpy(Device_Info.ProductId,ProductId);
}
if (revision == 0)
{ strcpy(Device_Info.Name,VL53L0X_STRING_DEVICE_INFO_NAME_TS0); }
@@ -202,6 +211,116 @@
(Read_Byte(REG_IDENTIFICATION_REVISION_ID) & 0xF0) >> 4;
}
+/* That was 'Get_info_from_device( unit8_t option)' where option was composed of
+ 1, 2, 4 depending what info was requested.
+ It was decided to combine all that into a single Get ALL infos from the device
+ that is called once at Sensor Init so all the job is done.
+ In addition, originally values would first be read into local variables and then
+ only copied to class fields if no errors.
+ However, if at device initialization an error is raised the whole class instance
+ cannot be used anyway, so decided that we directly read into class fields. */
+
+void VL53L0X::Get_all_NVM_info_from_device()
+{ uint32_t tmp_dword;
+ uint32_t offset_fixed1104_mm = 0;
+ int16_t offset_um = 0;
+ uint32_t dist_meas_tgt_fixed1104_mm = 400 << 4;
+ uint32_t dist_meas_fixed1104_400_mm = 0;
+ uint32_t signal_rate_meas_fixed1104_400_mm = 0;
+ int i;
+
+ /* This access is done only once after that a GetDeviceInfo or datainit is done*/
+ if (ReadNVMDataFromDeviceDone == 7) { return ; }
+
+ Write_Byte(0x80,0x01);
+ Write_Byte(0xFF,0x01);
+ Write_Byte(0x00,0x00);
+ Write_Byte(0xFF,0x06);
+ Register_BitMask(0x83,0xFF,0x04)
+ Write_Byte(0xFF,0x07);
+ Write_Byte(0x81,0x01);
+ Polling_delay(); // warning, does nothing!!
+ Write_Byte(0x80,0x01);
+
+ /* ************* First Block of NVM data is read: ************/
+ tmp_dword = Get_NVM_DWord(0x6b);
+ ReferenceSPADCount = (uint8_t)((tmp_dword >> 8) & 0x7f);
+ ReferenceSPADType = (uint8_t)((tmp_dword >> 15) & 0x01);
+
+ tmp_dword = Get_NVM_DWord(0x24);
+ SPADData.RefGoodSPADMap[0] = (uint8_t)((tmp_dword >> 24)& 0xff);
+ SPADData.RefGoodSPADMap[1] = (uint8_t)((tmp_dword >> 16)& 0xff);
+ SPADData.RefGoodSPADMap[2] = (uint8_t)((tmp_dword >> 8)& 0xff);
+ SPADData.RefGoodSPADMap[3] = (uint8_t)(tmp_dword & 0xff);
+
+ tmp_dword = Get_NVM_DWord(0x25);
+ SPADData.RefGoodSPADMap[4] = (uint8_t)((tmp_dword >> 24)& 0xff);
+ SPADData.RefGoodSPADMap[5] = (uint8_t)((tmp_dword >> 16)& 0xff);
+
+ /* ************* Second Block of NVM data is read: ************/
+ ModuleId = Get_NVM_Byte(0x02);
+ Revision = Get_NVM_Byte(0x02);
+
+ tmp_dword = Get_NVM_DWord(0x77);
+ ProductId[0] = (char)((tmp_dword >> 25) & 0x07f);
+ ProductId[1] = (char)((tmp_dword >> 18) & 0x07f);
+ ProductId[2] = (char)((tmp_dword >> 11) & 0x07f);
+ ProductId[3] = (char)((tmp_dword >> 4) & 0x07f);
+ ProductId[4] = (char)((tmp_dword << 3) & 0x07f);
+
+ tmp_dword = Get_NVM_DWord(0x78);
+ ProductId[4] = ProductId[4] |
+ (char)((tmp_dword >> 29) & 0x07f));
+ ProductId[5] = (char)((tmp_dword >> 22) & 0x07f);
+ ProductId[6] = (char)((tmp_dword >> 15) & 0x07f);
+ ProductId[7] = (char)((tmp_dword >> 8) & 0x07f);
+ ProductId[8] = (char)((tmp_dword >> 1) & 0x07f);
+ ProductId[9] = (char)((tmp_dword << 6) & 0x07f);
+
+ tmp_dword = Get_NVM_DWord(0x79);
+ ProductId[9] = ProductId[9] |
+ (char)((tmp_dword >> 26) & 0x07f);
+ ProductId[10] = (char)((tmp_dword >> 19) & 0x07f);
+ ProductId[11] = (char)((tmp_dword >> 12) & 0x07f);
+ ProductId[12] = (char)((tmp_dword >> 5) & 0x07f);
+ ProductId[13] = (char)((tmp_dword << 2) & 0x07f);
+
+ tmp_dword = Get_NVM_DWord(0x7A);
+ ProductId[13] = ProductId[13] |
+ (char)((tmp_dword >> 30) & 0x07f));
+ ProductId[14] = (char)((tmp_dword >> 23) & 0x07f);
+ ProductId[15] = (char)((tmp_dword >> 16) & 0x07f);
+ ProductId[16] = (char)((tmp_dword >> 9) & 0x07f);
+ ProductId[17] = (char)((tmp_dword >> 2) & 0x07f);
+ ProductId[18] = '\0';
+
+ /* ************* Third Block of NVM data is read: ************/
+ PartUIDUpper = Get_NVM_DWord(0x7B);
+ PartUIDLower = Get_NVM_DWord(0x7C);
+ SignalRateMeasFixed400mm = // convert from FP97_TO_FP1616
+ ( (( Get_NVM_DWord(0x73) << 17) & 0x1fE0000) |
+ (( Get_NVM_DWord(0x74) >> 15) & 0x001fE00) ) ;
+
+ dist_meas_fixed1104_400_mm =
+ (( Get_NVM_DWord(0x75) << 8) & 0xff00) |
+ (( Get_NVM_DWord(0x76) >> 24) & 0x00ff);
+
+ if (dist_meas_fixed1104_400_mm != 0) {
+ offset_fixed1104_mm = dist_meas_fixed1104_400_mm -
+ dist_meas_tgt_fixed1104_mm;
+ NVM_Offset_Cal_um = (offset_fixed1104_mm * 1000) >> 4;
+ NVM_Offset_Cal_um *= -1; }
+ else { NVM_Offset_Cal_um = 0; }
+
+ Write_Byte(0x81,0x00);
+ Write_Byte(0xFF,0x06);
+ Register_BitMask(0x83,0xfb,0x00)
+ Write_Byte(0xFF,0x01);
+ Write_Byte(0x00,0x01);
+ Write_Byte(0xFF,0x00);
+ Write_Byte(0x80,0x00);
+ ReadNVMDataFromDeviceDone = 7;
+}
uint32_t VL53L0X::Get_distance()
{ ErrState = VL53L0X_OK;
@@ -219,6 +338,12 @@
{ ErrState = VL53L0X_ERROR_RANGE_ERROR; return 0;}
}
+/******************************************************************************/
+/******************************************************************************/
+/****************** Actual Measurement functions *************************/
+/******************************************************************************/
+/******************************************************************************/
+
TRangeResults VL53L0X::Get_Measurement(TOperatingMode operating_mode)
{ TRangeResults p_data;
@@ -284,9 +409,6 @@
void VL53L0X::VL53L0X_Apply_Offset_Cal()
{ int32_t Summed_Offset_Cal_um;
- /* read all NVM info used by the API */
- Get_info_from_device(7);
-
/* Read back current device offset, and remember in case later someone wants to use it */
if (ErrState == VL53L0X_OK) { Last_Offset_Cal_um = Get_Offset_Cal_um(); }
@@ -510,7 +632,7 @@
if (ErrState == VL53L0X_OK)
Set_Sequence_Step_Timeout(VL53L0X_SEQUENCESTEP_MSRC,msrc_timeout_us);
- DevSpecParams.PreRangeVcselPPeriod = vcsel_PPeriod_pclk;
+ PreRangeVcselPPeriod = vcsel_PPeriod_pclk;
break;
case VL53L0X_VCSEL_FINAL_RANGE:
@@ -521,7 +643,7 @@
if (ErrState == VL53L0X_OK)
Set_Sequence_Step_Timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,final_range_timeout_us);
- DevSpecParams.FinalRangeVcselPPeriod = vcsel_PPeriod_pclk;
+ FinalRangeVcselPPeriod = vcsel_PPeriod_pclk;
break;
default: ErrState = VL53L0X_ERROR_INVALID_PARAMS;
}
@@ -758,7 +880,7 @@
{ uint8_t sys_range_status_register;
uint32_t interrupt_mask;
- if (DevSpecParams.GpioFunctionality == REG_SYSINT_GPIO_NEW_SAMPLE_READY)
+ if (GpioFunctionality == REG_SYSINT_GPIO_NEW_SAMPLE_READY)
{ Get_interrupt_mask_status(&interrupt_mask);
if (interrupt_mask == REG_SYSINT_GPIO_NEW_SAMPLE_READY)
{ return 1; } else { return 0; }
@@ -1147,7 +1269,7 @@
if (ErrState != VL53L0X_OK) { return; } // Do nothing if not Cleared error
- interrupt_config = DevSpecParams.GpioFunctionality;
+ interrupt_config = GpioFunctionality;
if ((interrupt_config == GPIO_FUNC_THRESHOLD_CROSSED_LOW ) ||
(interrupt_config == GPIO_FUNC_THRESHOLD_CROSSED_HIGH) ||
@@ -1545,13 +1667,13 @@
if (ErrState == VL53L0X_OK) {
/* Calculate final range macro periods */
- final_range_timeout_micro_secs = DevSpecParams.FinalRangeTimeoutMicroSecs;
- final_range_vcsel_pclks = DevSpecParams.FinalRangeVcselPPeriod;
+ final_range_timeout_micro_secs = FinalRangeTimeoutMicroSecs;
+ final_range_vcsel_pclks = FinalRangeVcselPPeriod;
final_range_macro_pclks = Calc_timeout_mclks(final_range_timeout_micro_secs,final_range_vcsel_pclks);
/* Calculate pre-range macro periods */
- pre_range_timeout_micro_secs = DevSpecParams.PreRangeTimeoutMicroSecs;
- pre_range_vcsel_pclks = DevSpecParams.PreRangeVcselPPeriod;
+ pre_range_timeout_micro_secs = PreRangeTimeoutMicroSecs;
+ pre_range_vcsel_pclks = PreRangeVcselPPeriod;
pre_range_macro_pclks = Calc_timeout_mclks(pre_range_timeout_micro_secs,pre_range_vcsel_pclks);
vcsel_width = 3;
if (final_range_vcsel_pclks == 8) { vcsel_width = 2; }
@@ -2037,7 +2159,7 @@
uint16_t peak_SIG_rate_Ref;
uint32_t need_apt_SPADS = 0;
uint32_t index = 0;
- uint32_t SPAD_array_size = 6;
+ uint32_t REF_SPAD_ARRAY_SIZE = 6;
uint32_t signal_rate_diff = 0;
uint32_t last_SIG_rate_diff = 0;
uint8_t complete = 0;
@@ -2074,7 +2196,7 @@
* provided as an input.
* Note that there are 6 bytes. Only the first 44 bits will be used to
* represent SPADS. */
- for (index = 0; index < SPAD_array_size; index++) {
+ for (index = 0; index < REF_SPAD_ARRAY_SIZE; index++) {
SPADData.RefSPADEnables[index] = 0; }
Write_Byte(0xFF,0x01);
@@ -2096,7 +2218,7 @@
Enable_Ref_SPADS(need_apt_SPADS,
SPADData.RefGoodSPADMap,
SPADData.RefSPADEnables,
- SPAD_array_size,
+ REF_SPAD_ARRAY_SIZE,
start_select,
current_SPAD_index,
minimum_SPAD_count,
@@ -2109,7 +2231,7 @@
peak_SIG_rate_Ref = Get_Perf_Ref_SIG_measurement();
if ((ErrState == VL53L0X_OK) && (peak_SIG_rate_Ref > target_Ref_rate))
{ /* Signal rate measurement too high, switch to APERTURE SPADS */
- for (index = 0; index < SPAD_array_size; index++)
+ for (index = 0; index < REF_SPAD_ARRAY_SIZE; index++)
{ SPADData.RefSPADEnables[index] = 0; }
/* Increment to the first APERTURE SPAD */
@@ -2122,7 +2244,7 @@
Enable_Ref_SPADS(need_apt_SPADS,
SPADData.RefGoodSPADMap,
SPADData.RefSPADEnables,
- SPAD_array_size,
+ REF_SPAD_ARRAY_SIZE,
start_select,
current_SPAD_index,
minimum_SPAD_count,
@@ -2150,13 +2272,13 @@
is_aperture_SPADS_int = need_apt_SPADS;
ref_SPAD_count_int = minimum_SPAD_count;
- memcpy(last_SPAD_array,SPADData.RefSPADEnables, SPAD_array_size);
+ memcpy(last_SPAD_array,SPADData.RefSPADEnables, REF_SPAD_ARRAY_SIZE);
last_SIG_rate_diff = abs(peak_SIG_rate_Ref - target_Ref_rate);
complete = 0;
while (!complete) {
Get_Next_Good_SPAD(SPADData.RefGoodSPADMap,
- SPAD_array_size,current_SPAD_index, &next_good_SPAD);
+ REF_SPAD_ARRAY_SIZE,current_SPAD_index, &next_good_SPAD);
if (next_good_SPAD == -1) {
ErrState = VL53L0X_ERROR_REF_SPAD_INIT;
@@ -2176,7 +2298,7 @@
current_SPAD_index = next_good_SPAD;
Enable_SPAD_bit(SPADData.RefSPADEnables,
- SPAD_array_size,current_SPAD_index);
+ REF_SPAD_ARRAY_SIZE,current_SPAD_index);
if (ErrState == VL53L0X_OK) {
current_SPAD_index++;
@@ -2199,14 +2321,14 @@
if (signal_rate_diff > last_SIG_rate_diff) {
/* Previous SPAD map produced a closer measurement,so choose this. */
I2c_Write(REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0, last_SPAD_array,6); // Set_Ref_SPAD_map();
- memcpy(SPADData.RefSPADEnables,last_SPAD_array,SPAD_array_size);
+ memcpy(SPADData.RefSPADEnables,last_SPAD_array,REF_SPAD_ARRAY_SIZE);
(ref_SPAD_count_int)--;
}
complete = 1;
} else {
/* Continue to add SPADS */
last_SIG_rate_diff = signal_rate_diff;
- memcpy(last_SPAD_array, SPADData.RefSPADEnables,SPAD_array_size);
+ memcpy(last_SPAD_array, SPADData.RefSPADEnables,REF_SPAD_ARRAY_SIZE);
}
} /* while */
}
@@ -2214,16 +2336,15 @@
if (ErrState == VL53L0X_OK) {
*ref_SPAD_count = ref_SPAD_count_int;
*is_aperture_SPADS = is_aperture_SPADS_int;
- DevSpecParams.RefSPADSInitialised = 1;
- DevSpecParams.ReferenceSPADCount = (uint8_t)(*ref_SPAD_count);
- DevSpecParams.ReferenceSPADType = *is_aperture_SPADS;
+ RefSPADSInitialised = 1;
+ ReferenceSPADCount = (uint8_t)(*ref_SPAD_count);
+ ReferenceSPADType = *is_aperture_SPADS;
}
}
void VL53L0X::Set_Reference_SPADS(uint32_t count,uint8_t is_aperture_SPADS)
{ uint32_t current_SPAD_index = 0;
uint8_t start_select = 0xB4;
- uint32_t SPAD_array_size = 6;
uint32_t max_SPAD_count = 44;
uint32_t last_SPAD_index;
uint32_t index;
@@ -2236,7 +2357,7 @@
Write_Byte(0xFF,0x00);
Write_Byte(REG_GLOBAL_CONFIG_REF_EN_START_SELECT, start_select);
- for (index = 0; index < SPAD_array_size; index++) {
+ for (index = 0; index < REF_SPAD_ARRAY_SIZE; index++) {
SPADData.RefSPADEnables[index] = 0; }
if (is_aperture_SPADS) {
@@ -2246,19 +2367,18 @@
current_SPAD_index++;
}
}
- Enable_Ref_SPADS(is_aperture_SPADS,
- SPADData.RefGoodSPADMap,
+ Enable_Ref_SPADS(is_aperture_SPADS, SPADData.RefGoodSPADMap,
SPADData.RefSPADEnables,
- SPAD_array_size,
+ REF_SPAD_ARRAY_SIZE,
start_select,
current_SPAD_index,
count,
&last_SPAD_index);
if (ErrState == VL53L0X_OK) {
- DevSpecParams.RefSPADSInitialised = 1;
- DevSpecParams.ReferenceSPADCount = (uint8_t)(count);
- DevSpecParams.ReferenceSPADType = is_aperture_SPADS;
+ RefSPADSInitialised = 1;
+ ReferenceSPADCount = (uint8_t)(count);
+ ReferenceSPADType = is_aperture_SPADS;
}
}
@@ -2299,7 +2419,7 @@
{ Register_BitMask(REG_GPIO_HV_MUX_ACTIVE_HIGH,0xEF,pol_data); }
if (ErrState == VL53L0X_OK)
- {DevSpecParams.GpioFunctionality = functionality; }
+ {GpioFunctionality = functionality; }
Clear_interrupt_mask(0);
} // switch
@@ -2346,7 +2466,7 @@
if (msrc_range_time_out_m_clks > 256) { msrc_encoded_time_out = 255;}
else {msrc_encoded_time_out = (uint8_t)msrc_range_time_out_m_clks - 1; }
- DevSpecParams.LastEncodedTimeout = msrc_encoded_time_out;
+ LastEncodedTimeout = msrc_encoded_time_out;
}
Write_Byte(REG_MSRC_CONFIG_TIMEOUT_MACROP,msrc_encoded_time_out);
break;
@@ -2359,12 +2479,12 @@
(uint8_t)current_vcsel_PPeriod_p_clk);
pre_range_encoded_time_out = Encode_timeout(pre_range_time_out_m_clks);
- DevSpecParams.LastEncodedTimeout = pre_range_encoded_time_out;
+ LastEncodedTimeout = pre_range_encoded_time_out;
Write_Word(REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,pre_range_encoded_time_out);
if (ErrState == VL53L0X_OK)
- {DevSpecParams.PreRangeTimeoutMicroSecs=timeout_micro_secs; }
+ {PreRangeTimeoutMicroSecs=timeout_micro_secs; }
break;
case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
@@ -2402,7 +2522,7 @@
}
if (ErrState == VL53L0X_OK)
- { DevSpecParams.FinalRangeTimeoutMicroSecs = timeout_micro_secs; }
+ { FinalRangeTimeoutMicroSecs = timeout_micro_secs; }
break;
default: ErrState = VL53L0X_ERROR_INVALID_PARAMS;
@@ -2580,11 +2700,9 @@
uint8_t vcsel_PPeriod_pclk;
uint32_t seq_timeout_micro_secs;
- Get_info_from_device(1);
-
/* set the ref SPAD from NVM */
- count = (uint32_t)DevSpecParams.ReferenceSPADCount;
- aperture_SPADS = DevSpecParams.ReferenceSPADType;
+ count = (uint32_t)ReferenceSPADCount;
+ aperture_SPADS = ReferenceSPADType;
/* NVM value invalid */
if ((aperture_SPADS > 1) || ((aperture_SPADS == 1) && (count > 32)) ||
@@ -2615,7 +2733,7 @@
Write_Byte(0xFF,0x00);
if (ErrState == VL53L0X_OK)
- { DevSpecParams.OscFrequencyMHz=FP412_TO_FP1616(tempword); }
+ { OscFrequencyMHz=FP412_TO_FP1616(tempword); }
/* After static init,some device parameters may be changed, so update them */
new_curr_parameters = Get_device_parameters();
@@ -2642,7 +2760,7 @@
{ vcsel_PPeriod_pclk = (Read_Byte(REG_PRE_RANGE_CONFIG_VCSEL_PERIOD) + 1) << 1; }
if ( ErrState == VL53L0X_OK)
- { DevSpecParams.PreRangeVcselPPeriod = vcsel_PPeriod_pclk; }
+ { PreRangeVcselPPeriod = vcsel_PPeriod_pclk; }
/* Store final-range vcsel period */
if (ErrState == VL53L0X_OK)
@@ -2650,7 +2768,7 @@
= ( Read_Byte(REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD) + 1) << 1; }
if (ErrState == VL53L0X_OK)
- { DevSpecParams.FinalRangeVcselPPeriod = vcsel_PPeriod_pclk; }
+ { FinalRangeVcselPPeriod = vcsel_PPeriod_pclk; }
/* Store pre-range timeout */
if (ErrState == VL53L0X_OK)
@@ -2658,7 +2776,7 @@
&seq_timeout_micro_secs); }
if (ErrState == VL53L0X_OK)
- { DevSpecParams.PreRangeTimeoutMicroSecs = seq_timeout_micro_secs; }
+ { PreRangeTimeoutMicroSecs = seq_timeout_micro_secs; }
/* Store final-range timeout */
if (ErrState == VL53L0X_OK)
@@ -2666,7 +2784,7 @@
&seq_timeout_micro_secs);}
if (ErrState == VL53L0X_OK)
- { DevSpecParams.FinalRangeTimeoutMicroSecs = seq_timeout_micro_secs; }
+ { FinalRangeTimeoutMicroSecs = seq_timeout_micro_secs; }
}
void VL53L0X::Stop_Measurement()
@@ -2870,191 +2988,6 @@
Write_Byte(0x83,0x01); // set strobe register back to 1 'manually'
}
-void VL53L0X::Get_info_from_device(uint8_t option)
-{ uint8_t byte;
- uint32_t tmp_dword;
- uint8_t module_id;
- uint8_t revision;
- uint8_t reference_SPAD_count = 0;
- uint8_t reference_SPAD_type = 0;
- uint32_t part_uid_upper = 0;
- uint32_t part_uid_lower = 0;
- uint32_t offset_fixed1104_mm = 0;
- int16_t offset_um = 0;
- uint32_t dist_meas_tgt_fixed1104_mm = 400 << 4;
- uint32_t dist_meas_fixed1104_400_mm = 0;
- uint32_t signal_rate_meas_fixed1104_400_mm = 0;
- char product_id[19];
- uint8_t read_data_from_device_done;
- TFP1616 signal_rate_meas_fixed400_mm_fix = 0;
- uint8_t nvm_Ref_good_SPAD_map[REF_SPAD_BUFFER_SIZE];
- int i;
-
- read_data_from_device_done = DevSpecParams.ReadDataFromDeviceDone;
-
- /* This access is done only once after that a GetDeviceInfo or datainit is done*/
- if (read_data_from_device_done != 7) {
- Write_Byte(0x80,0x01);
- Write_Byte(0xFF,0x01);
- Write_Byte(0x00,0x00);
- Write_Byte(0xFF,0x06);
- byte = Read_Byte(0x83);
- Write_Byte(0x83,byte | 4);
- Write_Byte(0xFF,0x07);
- Write_Byte(0x81,0x01);
- Polling_delay(); // warning, does nothing!!
- Write_Byte(0x80,0x01);
-
- if (((option & 1) == 1) &&
- ((read_data_from_device_done & 1) == 0)) {
- Write_Byte(0x94,0x6b);
- Wait_read_strobe();
- tmp_dword = Read_DWord(0x90);
- reference_SPAD_count = (uint8_t)((tmp_dword >> 8) & 0x7f);
- reference_SPAD_type = (uint8_t)((tmp_dword >> 15) & 0x01);
-
- Write_Byte(0x94,0x24);
- Wait_read_strobe();
- tmp_dword = Read_DWord(0x90);
- nvm_Ref_good_SPAD_map[0] = (uint8_t)((tmp_dword >> 24)& 0xff);
- nvm_Ref_good_SPAD_map[1] = (uint8_t)((tmp_dword >> 16)& 0xff);
- nvm_Ref_good_SPAD_map[2] = (uint8_t)((tmp_dword >> 8)& 0xff);
- nvm_Ref_good_SPAD_map[3] = (uint8_t)(tmp_dword & 0xff);
-
- Write_Byte(0x94,0x25);
- Wait_read_strobe();
- tmp_dword = Read_DWord(0x90);
- nvm_Ref_good_SPAD_map[4] = (uint8_t)((tmp_dword >> 24)& 0xff);
- nvm_Ref_good_SPAD_map[5] = (uint8_t)((tmp_dword >> 16)& 0xff);
- }
-
- if (((option & 2) == 2) && ((read_data_from_device_done & 2) == 0)) {
- Write_Byte(0x94,0x02);
- Wait_read_strobe();
- module_id = Read_Byte(0x90);
-
- Write_Byte(0x94,0x7B);
- Wait_read_strobe();
- revision = Read_Byte(0x90);
-
- Write_Byte(0x94,0x77);
- Wait_read_strobe();
- tmp_dword = Read_DWord(0x90);
- product_id[0] = (char)((tmp_dword >> 25) & 0x07f);
- product_id[1] = (char)((tmp_dword >> 18) & 0x07f);
- product_id[2] = (char)((tmp_dword >> 11) & 0x07f);
- product_id[3] = (char)((tmp_dword >> 4) & 0x07f);
-
- byte = (uint8_t)((tmp_dword & 0x00f) << 3);
-
- Write_Byte(0x94,0x78);
- Wait_read_strobe();
- tmp_dword = Read_DWord(0x90);
- product_id[4] = (char)(byte +((tmp_dword >> 29) & 0x07f));
- product_id[5] = (char)((tmp_dword >> 22) & 0x07f);
- product_id[6] = (char)((tmp_dword >> 15) & 0x07f);
- product_id[7] = (char)((tmp_dword >> 8) & 0x07f);
- product_id[8] = (char)((tmp_dword >> 1) & 0x07f);
- byte = (uint8_t)((tmp_dword & 0x001) << 6);
-
- Write_Byte(0x94,0x79);
- Wait_read_strobe();
- tmp_dword = Read_DWord(0x90);
- product_id[9] = (char)(byte +((tmp_dword >> 26) & 0x07f));
- product_id[10] = (char)((tmp_dword >> 19) & 0x07f);
- product_id[11] = (char)((tmp_dword >> 12) & 0x07f);
- product_id[12] = (char)((tmp_dword >> 5) & 0x07f);
-
- byte = (uint8_t)((tmp_dword & 0x01f) << 2);
-
- Write_Byte(0x94,0x7A);
- Wait_read_strobe();
- tmp_dword = Read_DWord(0x90);
- product_id[13] = (char)(byte +((tmp_dword >> 30) & 0x07f));
- product_id[14] = (char)((tmp_dword >> 23) & 0x07f);
- product_id[15] = (char)((tmp_dword >> 16) & 0x07f);
- product_id[16] = (char)((tmp_dword >> 9) & 0x07f);
- product_id[17] = (char)((tmp_dword >> 2) & 0x07f);
- product_id[18] = '\0';
- }
-
- if (((option & 4) == 4) && ((read_data_from_device_done & 4) == 0))
- { Write_Byte(0x94,0x7B);
- Wait_read_strobe();
- part_uid_upper = Read_DWord(0x90);
-
- Write_Byte(0x94,0x7C);
- Wait_read_strobe();
- part_uid_lower = Read_DWord(0x90);
-
- Write_Byte(0x94,0x73);
- Wait_read_strobe();
- tmp_dword = Read_DWord(0x90);
- signal_rate_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff) << 8;
-
- Write_Byte(0x94,0x74);
- Wait_read_strobe();
- tmp_dword = Read_DWord(0x90);
- signal_rate_meas_fixed1104_400_mm |= ((tmp_dword &
- 0xff000000) >> 24);
-
- Write_Byte(0x94,0x75);
- Wait_read_strobe();
- tmp_dword = Read_DWord(0x90);
- dist_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff)<< 8;
-
- Write_Byte(0x94,0x76);
- Wait_read_strobe();
- tmp_dword = Read_DWord(0x90);
- dist_meas_fixed1104_400_mm |= ((tmp_dword & 0xff000000) >> 24);
- }
-
- Write_Byte(0x81,0x00);
- Write_Byte(0xFF,0x06);
- Write_Byte(0x83,Read_Byte(0x83) & 0xfb);
- Write_Byte(0xFF,0x01);
- Write_Byte(0x00,0x01);
- Write_Byte(0xFF,0x00);
- Write_Byte(0x80,0x00);
- }
-
- if ((ErrState == VL53L0X_OK) && (read_data_from_device_done != 7)) {
- /* Assign to variable if ErrState is ok */
- if (((option & 1) == 1) && ((read_data_from_device_done & 1) == 0))
- { DevSpecParams.ReferenceSPADCount=reference_SPAD_count;
- DevSpecParams.ReferenceSPADType =reference_SPAD_type;
- for (i = 0; i < REF_SPAD_BUFFER_SIZE; i++)
- { SPADData.RefGoodSPADMap[i] = nvm_Ref_good_SPAD_map[i]; }
- }
-
- if (((option & 2) == 2) &&((read_data_from_device_done & 2) == 0))
- { DevSpecParams.ModuleId = module_id;
- DevSpecParams.Revision = revision;
- strcpy(DevSpecParams.ProductId, product_id);
- }
-
- if (((option & 4) == 4) && ((read_data_from_device_done & 4) == 0)) {
- DevSpecParams.PartUIDUpper = part_uid_upper;
- DevSpecParams.PartUIDLower = part_uid_lower;
- signal_rate_meas_fixed400_mm_fix =
- FP97_TO_FP1616(signal_rate_meas_fixed1104_400_mm);
- DevSpecParams.SignalRateMeasFixed400mm = signal_rate_meas_fixed400_mm_fix;
- DevSpecParams.SignalRateMeasFixed400mm = signal_rate_meas_fixed400_mm_fix;
-
- offset_um = 0;
- if (dist_meas_fixed1104_400_mm != 0) {
- offset_fixed1104_mm = dist_meas_fixed1104_400_mm -
- dist_meas_tgt_fixed1104_mm;
- offset_um = (offset_fixed1104_mm * 1000) >> 4;
- offset_um *= -1;
- }
- NVM_Offset_Cal_um = offset_um;
- }
- byte = (uint8_t)(read_data_from_device_done | option);
- DevSpecParams.ReadDataFromDeviceDone = byte;
- }
-}
-
/******************************************************************************/
/****************** Small Service and wrapper functions **********************/
/******************************************************************************/
@@ -3079,6 +3012,22 @@
/****************** Write and read functions from I2C *************************/
/******************************************************************************/
+
+uint32_t VL53L0X::Get_NVM_DWord(uint8_t NVM_Address)
+{ Write_Byte(0x94,NVM_Address);
+ Wait_read_strobe();
+ return Read_DWord(0x90);
+}
+uint16_t VL53L0X::Get_NVM_Word(uint8_t NVM_Address)
+{ Write_Byte(0x94,NVM_Address);
+ Wait_read_strobe();
+ return Read_Word(0x90);
+}
+uint8_t VL53L0X::Get_NVM_Byte(uint8_t NVM_Address)
+{ Write_Byte(0x94,NVM_Address);
+ Wait_read_strobe();
+ return Read_Byte(0x90);
+}
void VL53L0X::Write_Byte(uint8_t index, uint8_t data)
{ I2c_Write(index,&data,1); }