Tarek Lule
Condensed Version of Public VL53L0X
Diff: VL53L0X.cpp
- Revision:
- 11:c6f95a42d4d7
- Parent:
- 10:cd251e0fc2fd
- Child:
- 12:aa177f0e4c10
--- a/VL53L0X.cpp Sun Mar 24 22:24:16 2019 +0000
+++ b/VL53L0X.cpp Mon Apr 08 16:26:19 2019 +0000
@@ -1,6 +1,6 @@
/**
******************************************************************************
- * @file VL53L0X_class.cpp
+ * @file Class.cpp
* @author IMG
* @version V0.0.1
* @date 28-June-2016
@@ -36,955 +36,525 @@
*/
// Some example regex that were used to replace useless macros
-// \QVL53L0X_SETDEVICESPECIFICPARAMETER(\E([A-Z\d]+)[[:punct:]]([[:space:]]*)([A-Z\d_]+)\Q);\E
-// _device->DevSpecParams.\1 = \3;
-
-// \QVL53L0X_GETDEVICESPECIFICPARAMETER(\E([A-Z\d]+)\Q);\E
-// _device->DevSpecParams.\1;
-
-// \QVL53L0X_SETPARAMETERFIELD(\E([A-Z\d]+)[[:punct:]]([[:space:]]*)([A-Z\d_]+)\Q);\E
-// _device->CurrentParameters.\1 = \3;
-
-// \QVL53L0X_GETPARAMETERFIELD(\E([A-Z\d]+)[[:punct:]]([[:space:]]*)([A-Z\d_]+)\Q);\E
-// \3 = _device->CurrentParameters.\1
-
// \QVL53L0X_SETARRAYPARAMETERFIELD(\E([A-Z\d]+)[[:punct:]](\s*)([A-Z\d_]+)[[:punct:]](\s*)([A-Z\d_]+)\Q);\E
-// _device->CurrentParameters.\1[\3] = \5;
-// is used to replace following macro for ex:
-// #define VL53L0X_SETARRAYPARAMETERFIELD(field, index, value) \
-//_device->CurrentParameters.field[index] = value
-
-// \QVL53L0X_GETARRAYPARAMETERFIELD(\E([A-Z\d]+)[[:punct:]](\s*)([A-Z\d_]+)[[:punct:]](\s*)([A-Z\d_]+)\Q);\E
-// \5 = _device->CurrentParameters.\1[\3]
-// is used to replace following macro for ex:
-// #define VL53L0X_GETARRAYPARAMETERFIELD(field, index, variable) \
-// variable = _device-> CurrentParameters.field[index]
-
-// \QPALDevDataSet(\E([A-Z\d]+)[[:punct:]]([[:space:]]*)([A-Z\d_]+)\Q);\E
-// _device->\1 = \3;
-// is used to replace:
-// #define PALDevDataSet(field, data) (Dev->field)=(data)
+// _device->CurrParams.\1[\3] = \5;
+// to replace this "#define VL53L0X_SETARRAYPARAMETERFIELD(field, index, value)" by "_device->CurrParams.field[index] = value"
+
+// to replace "Read_Byte(0x90,&module_id);" by "module_id = Read_Byte(0x90);" search and replace
+// \QRead_Byte(\E([A-Za-z_\d]+)[[:punct:]](\s*)\Q&\E([A-Za-z\d_]+)\Q);\E
+// \3 = Read_Byte\(\1\);
/* Includes */
#include <stdlib.h>
#include "VL53L0X.h"
#include "VL53L0X_tuning.h"
-#define REF_ARRAY_SPAD_0 0
-#define REF_ARRAY_SPAD_5 5
-#define REF_ARRAY_SPAD_10 10
-
-uint32_t refArrayQuadrants[4] = {REF_ARRAY_SPAD_10,REF_ARRAY_SPAD_5,
- REF_ARRAY_SPAD_0,REF_ARRAY_SPAD_5 };
-
-VL53L0X_Error VL53L0X::VL53L0X_device_read_strobe()
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t strobe;
- uint32_t loop_nb;
-
- status |= VL53L0X_write_byte(0x83,0x00);
-
- /* polling
- * use timeout to avoid deadlock*/
- if (status == VL53L0X_ERROR_NONE) {
- loop_nb = 0;
- do {status = VL53L0X_read_byte(0x83,&strobe);
- if ((strobe != 0x00) || status != VL53L0X_ERROR_NONE) {break;}
- loop_nb = loop_nb + 1;
- } while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
-
- if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
- status = VL53L0X_ERROR_TIME_OUT;
- }
- }
-
- status |= VL53L0X_write_byte(0x83,0x01);
- return status;
+// Function Data_init and Init_Sensor is united into Start_Sensor
+VL53L0X_Error VL53L0X::Start_Sensor(uint8_t new_addr)
+{ ErrState = VL53L0X_OK;
+
+ if (_gpio0) { // Can the shutdown pin be controlled?
+ *_gpio0 = 0; wait_ms(1); // quick shutdown
+ *_gpio0 = 1; wait_ms(10); // and back ON again
+ }
+
+ /* Setup the I2C bus. By default the I2C is running at 1V8 if you
+ * want to change it you need to include this define at compilation level. */
+#ifdef USE_I2C_2V8
+ VL53L0X_UpdateByte(REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, 0xFE, 0x01);
+#endif
+ /* Set I2C standard mode */
+ Write_Byte(0x88,0x00);
+
+ // read and check the device ID from the ID register
+ Device_Info.ProductType = Read_Byte(REG_IDENTIFICATION_MODEL_ID);
+ if ( (ErrState == VL53L0X_OK) && (Device_Info.ProductType != 0xEEAA) )
+ {return VL53L0X_ERROR_I2C_WRONG_DEV_ID; }
+
+ // reconfigure the address with a new address if requested
+ if ( (ErrState == VL53L0X_OK) && (new_addr != VL53L0X_DEFAULT_ADDRESS) )
+ { Write_Byte(REG_I2C_SLAVE_DEVICE_ADDRESS, new_addr / 2);
+ I2cDevAddr = new_addr;
+ }
+ // quite if an error was raised
+ if (ErrState != VL53L0X_OK) {return ErrState; }
+
+ /* Set Default static parameters
+ *set first temporary values 9.44MHz * 65536 = 618660 */
+ DevSpecParams.OscFrequencyMHz = 618660;
+ DevSpecParams.RefSPADSInitialised = 0;
+ DevSpecParams.ReadDataFromDeviceDone = 0;
+
+#ifdef USE_IQC_STATION
+ VL53L0X_Apply_Offset_Cal();
+#endif
+
+ /* Default value is 1000 for Linearity Corrective Gain */
+ LinearityCorrectiveGain = 1000;
+
+ /* Dmax default Parameter */
+ DmaxCalRangeMilliMeter = 400;
+ DmaxCalSignalRateRtnMHz = (TFP1616)((0x00016B85)); /* 1.42 No Cover Glass*/
+
+ /* Get default parameters */
+ CurrParams = Get_device_parameters();
+
+ /* Set Default Xtalk_CompRate_MHz to 0 */
+ CurrParams.Xtalk_CompRate_MHz = 0;
+
+ /* initialize CurrParams values */
+ CurrParams.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING;
+ CurrParams.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED;
+
+ /* Sigma estimator variable */
+ SigmaEstRefArray = 100;
+ SigmaEstEffPulseWidth = 900;
+ SigmaEstEffAmbWidth = 500;
+ targetRefRate = 0x0A00; /* 20 MHz in 9:7 format */
+
+ /* Use internal default settings */
+ UseInternalTuningSettings = 1;
+ Write_Byte(0x80,0x01);
+ Write_Byte(0xFF,0x01);
+ Write_Byte(0x00,0x00);
+ StopVariable = Read_Byte(0x91);
+ Write_Byte(0x00,0x01);
+ Write_Byte(0xFF,0x00);
+ Write_Byte(0x80,0x00);
+
+ // quite if an error was raised
+ if (ErrState != VL53L0X_OK) {return ErrState; }
+
+ /* Disable the following SW-internal checks plaus set some values */
+ CurrParams.Limit_Chk_En [VL53L0X_CHECKEN_SIG_REF_CLIP] = 0;
+ CurrParams.Limit_Chk_Val[VL53L0X_CHECKEN_SIG_REF_CLIP] = (35 * 65536);
+ CurrParams.Limit_Chk_En [VL53L0X_CHECKEN_RANGE_IGNORE_THRESHOLD] = 0;
+ CurrParams.Limit_Chk_Val[VL53L0X_CHECKEN_RANGE_IGNORE_THRESHOLD] = 0;
+
+ /* Disable the following Device-Internal Checks: */
+ CurrParams.Limit_Chk_En[VL53L0X_CHECKEN_SIG_RATE_MSRC] = 0;
+ CurrParams.Limit_Chk_En[VL53L0X_CHECKEN_SIG_RATE_PRE_RANGE] = 0;
+ Register_BitMask(REG_MSRC_CONFIG_CONTROL,0xEE, 0);
+
+ /* Only enable this internal Check : */
+ CurrParams.Limit_Chk_En [VL53L0X_CHECKEN_SIGMA_FINAL_RANGE] = 1;
+ CurrParams.Limit_Chk_Val[VL53L0X_CHECKEN_SIGMA_FINAL_RANGE] = (18 * 65536);
+
+ /* Plus Enable VL53L0X_CHECKEN_SIG_RATE_FINAL_RANGE check */
+ Set_limit_chk_en(VL53L0X_CHECKEN_SIG_RATE_FINAL_RANGE,1);
+
+ if (ErrState == VL53L0X_OK) { /* 0.25 in FP1616 notation 65536 */
+ Set_limit_chk_val(VL53L0X_CHECKEN_SIG_RATE_FINAL_RANGE,
+ (TFP1616)(25 * 65536 / 100)); }
+
+ // quit if an error was raised
+ if (ErrState != VL53L0X_OK) {return ErrState; }
+
+ // Preset the Config States
+ SequenceConfig = 0xFF ;
+
+ /* Set Device state to tell that we are waiting for call to VL53L0X_StaticInit */
+ Current_State = VL53L0X_STATE_WAIT_STATICINIT ;
+
+ Fill_device_info(); // Retrieve Silicon version, stored in Device_Info
+
+ uint32_t ref_SPAD_count;
+ uint8_t is_aperture_SPADS;
+ uint8_t vhv_settings;
+ uint8_t phase_cal;
+
+ if (ErrState == VL53L0X_OK) { Static_init(); } // Device Initialization
+
+ if (ErrState == VL53L0X_OK) { // Device Calibration
+ Perf_Ref_calibration( &vhv_settings, &phase_cal, 1); }
+
+ if (ErrState == VL53L0X_OK) { // SPAD Configuration
+ Perf_Ref_SPAD_management( &ref_SPAD_count, &is_aperture_SPADS); }
+
+ return ErrState;
+}
+
+void VL53L0X::Fill_device_info()
+{ uint8_t revision;
+
+ Get_info_from_device(2);
+
+ if (ErrState == VL53L0X_OK)
+ { if (DevSpecParams.ModuleId == 0)
+ { revision = 0;
+ strcpy(Device_Info.ProductId,""); }
+ else
+ { revision = DevSpecParams.Revision;
+ strcpy(Device_Info.ProductId,DevSpecParams.ProductId);
+ }
+ if (revision == 0)
+ { strcpy(Device_Info.Name,VL53L0X_STRING_DEVICE_INFO_NAME_TS0); }
+ else if ((revision <= 34) && (revision != 32))
+ { strcpy(Device_Info.Name,VL53L0X_STRING_DEVICE_INFO_NAME_TS1); }
+ else if (revision < 39)
+ { strcpy(Device_Info.Name,VL53L0X_STRING_DEVICE_INFO_NAME_TS2); }
+ else { strcpy(Device_Info.Name,VL53L0X_STRING_DEVICE_INFO_NAME_ES1); }
+ strcpy(Device_Info.Type,VL53L0X_STRING_DEVICE_INFO_TYPE);
+ }
+
+ Device_Info.ProductRevisionMajor = 1;
+ Device_Info.ProductRevisionMinor =
+ (Read_Byte(REG_IDENTIFICATION_REVISION_ID) & 0xF0) >> 4;
}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_info_from_device(uint8_t option)
-{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t byte;
- uint32_t tmp_dword;
- uint8_t module_id;
- uint8_t revision;
- uint8_t reference_spad_count = 0;
- uint8_t reference_spad_type = 0;
- uint32_t part_uid_upper = 0;
- uint32_t part_uid_lower = 0;
- uint32_t offset_fixed1104_mm = 0;
- int16_t offset_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];
- char *product_id_tmp;
- uint8_t read_data_from_device_done;
- FixPoint1616_t signal_rate_meas_fixed400_mm_fix = 0;
- uint8_t nvm_ref_good_spad_map[VL53L0X_REF_SPAD_BUFFER_SIZE];
- int i;
-
- 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) {
-
- status |= VL53L0X_write_byte(0x80,0x01);
- status |= VL53L0X_write_byte(0xFF,0x01);
- status |= VL53L0X_write_byte(0x00,0x00);
- status |= VL53L0X_write_byte(0xFF,0x06);
- status |= VL53L0X_read_byte(0x83,&byte);
- status |= VL53L0X_write_byte(0x83,byte | 4);
- status |= VL53L0X_write_byte(0xFF,0x07);
- status |= VL53L0X_write_byte(0x81,0x01);
- status |= VL53L0X_polling_delay();
- status |= VL53L0X_write_byte(0x80,0x01);
-
- if (((option & 1) == 1) &&
- ((read_data_from_device_done & 1) == 0)) {
- status |= VL53L0X_write_byte(0x94,0x6b);
- status |= VL53L0X_device_read_strobe();
- status |= VL53L0X_read_dword(0x90,&tmp_dword);
-
- reference_spad_count = (uint8_t)((tmp_dword >> 8) & 0x7f);
- reference_spad_type = (uint8_t)((tmp_dword >> 15) & 0x01);
-
- status |= VL53L0X_write_byte(0x94,0x24);
- status |= VL53L0X_device_read_strobe();
- status |= VL53L0X_read_dword(0x90,&tmp_dword);
-
-
- nvm_ref_good_spad_map[0] = (uint8_t)((tmp_dword >> 24)& 0xff);
- nvm_ref_good_spad_map[1] = (uint8_t)((tmp_dword >> 16)& 0xff);
- nvm_ref_good_spad_map[2] = (uint8_t)((tmp_dword >> 8)& 0xff);
- nvm_ref_good_spad_map[3] = (uint8_t)(tmp_dword & 0xff);
-
- status |= VL53L0X_write_byte(0x94,0x25);
- status |= VL53L0X_device_read_strobe();
- status |= VL53L0X_read_dword(0x90,&tmp_dword);
-
- nvm_ref_good_spad_map[4] = (uint8_t)((tmp_dword >> 24)& 0xff);
- nvm_ref_good_spad_map[5] = (uint8_t)((tmp_dword >> 16)& 0xff);
- }
-
- if (((option & 2) == 2) &&
- ((read_data_from_device_done & 2) == 0)) {
-
- status |= VL53L0X_write_byte(0x94,0x02);
- status |= VL53L0X_device_read_strobe();
- status |= VL53L0X_read_byte(0x90,&module_id);
-
- status |= VL53L0X_write_byte(0x94,0x7B);
- status |= VL53L0X_device_read_strobe();
- status |= VL53L0X_read_byte(0x90,&revision);
-
- status |= VL53L0X_write_byte(0x94,0x77);
- status |= VL53L0X_device_read_strobe();
- status |= VL53L0X_read_dword(0x90,&tmp_dword);
-
- product_id[0] = (char)((tmp_dword >> 25) & 0x07f);
- product_id[1] = (char)((tmp_dword >> 18) & 0x07f);
- product_id[2] = (char)((tmp_dword >> 11) & 0x07f);
- product_id[3] = (char)((tmp_dword >> 4) & 0x07f);
-
- byte = (uint8_t)((tmp_dword & 0x00f) << 3);
-
- status |= VL53L0X_write_byte(0x94,0x78);
- status |= VL53L0X_device_read_strobe();
- status |= VL53L0X_read_dword(0x90,&tmp_dword);
-
- product_id[4] = (char)(byte +((tmp_dword >> 29) & 0x07f));
- product_id[5] = (char)((tmp_dword >> 22) & 0x07f);
- product_id[6] = (char)((tmp_dword >> 15) & 0x07f);
- product_id[7] = (char)((tmp_dword >> 8) & 0x07f);
- product_id[8] = (char)((tmp_dword >> 1) & 0x07f);
-
- byte = (uint8_t)((tmp_dword & 0x001) << 6);
-
- status |= VL53L0X_write_byte(0x94,0x79);
- status |= VL53L0X_device_read_strobe();
- status |= VL53L0X_read_dword(0x90,&tmp_dword);
-
- product_id[9] = (char)(byte +
- ((tmp_dword >> 26) & 0x07f));
- product_id[10] = (char)((tmp_dword >> 19) & 0x07f);
- product_id[11] = (char)((tmp_dword >> 12) & 0x07f);
- product_id[12] = (char)((tmp_dword >> 5) & 0x07f);
-
- byte = (uint8_t)((tmp_dword & 0x01f) << 2);
-
- status |= VL53L0X_write_byte(0x94,0x7A);
- status |= VL53L0X_device_read_strobe();
- status |= VL53L0X_read_dword(0x90,&tmp_dword);
-
- product_id[13] = (char)(byte +
- ((tmp_dword >> 30) & 0x07f));
- product_id[14] = (char)((tmp_dword >> 23) & 0x07f);
- product_id[15] = (char)((tmp_dword >> 16) & 0x07f);
- product_id[16] = (char)((tmp_dword >> 9) & 0x07f);
- product_id[17] = (char)((tmp_dword >> 2) & 0x07f);
- product_id[18] = '\0';
-
- }
-
- if (((option & 4) == 4) && ((read_data_from_device_done & 4) == 0))
- {
- status |= VL53L0X_write_byte(0x94,0x7B);
- status |= VL53L0X_device_read_strobe();
- status |= VL53L0X_read_dword(0x90,&part_uid_upper);
-
- status |= VL53L0X_write_byte(0x94,0x7C);
- status |= VL53L0X_device_read_strobe();
- status |= VL53L0X_read_dword(0x90,&part_uid_lower);
-
- status |= VL53L0X_write_byte(0x94,0x73);
- status |= VL53L0X_device_read_strobe();
- status |= VL53L0X_read_dword(0x90,&tmp_dword);
-
- signal_rate_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff) << 8;
-
- status |= VL53L0X_write_byte(0x94,0x74);
- status |= VL53L0X_device_read_strobe();
- status |= VL53L0X_read_dword(0x90,&tmp_dword);
-
- signal_rate_meas_fixed1104_400_mm |= ((tmp_dword &
- 0xff000000) >> 24);
-
- status |= VL53L0X_write_byte(0x94,0x75);
- status |= VL53L0X_device_read_strobe();
- status |= VL53L0X_read_dword(0x90,&tmp_dword);
-
- dist_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff)<< 8;
-
- status |= VL53L0X_write_byte(0x94,0x76);
- status |= VL53L0X_device_read_strobe();
- status |= VL53L0X_read_dword(0x90,&tmp_dword);
-
- dist_meas_fixed1104_400_mm |= ((tmp_dword & 0xff000000) >> 24);
- }
-
- status |= VL53L0X_write_byte(0x81,0x00);
- status |= VL53L0X_write_byte(0xFF,0x06);
- status |= VL53L0X_read_byte(0x83,&byte);
- status |= VL53L0X_write_byte(0x83,byte & 0xfb);
- status |= VL53L0X_write_byte(0xFF,0x01);
- status |= VL53L0X_write_byte(0x00,0x01);
-
- status |= VL53L0X_write_byte(0xFF,0x00);
- status |= VL53L0X_write_byte(0x80,0x00);
- }
-
- if ((status == VL53L0X_ERROR_NONE) &&
- (read_data_from_device_done != 7)) {
- /* Assign to variable if status is ok */
- if (((option & 1) == 1) &&
- ((read_data_from_device_done & 1) == 0)) {
- DevSpecParams.ReferenceSpadCount=reference_spad_count;
- DevSpecParams.ReferenceSpadType =reference_spad_type;
- for (i = 0; i < VL53L0X_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;
- product_id_tmp = DevSpecParams.ProductId;
- strcpy(product_id_tmp,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 =
- VL53L0X_FIXPOINT97TOFIXPOINT1616(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;
- }
- Part2PartOffsetAdjustmentNVMMicroMeter = offset_um;
- }
- byte = (uint8_t)(read_data_from_device_done | option);
- DevSpecParams.ReadDataFromDeviceDone = byte;
- }
-
-
- return status;
+
+
+uint32_t VL53L0X::Get_distance()
+{ ErrState = VL53L0X_OK;
+ TRangeResults p_ranging_results;
+
+ Start_Measurement(op_single_shot_poll, NULL);
+ if (ErrState==VL53L0X_OK)
+ { p_ranging_results = Get_Measurement(op_single_shot_poll); }
+
+ Stop_Measurement(op_single_shot_poll);
+
+ if (p_ranging_results.RangeStatus == 0) // we have a valid range ?
+ { return p_ranging_results.RangeMilliMeter; }
+ else
+ { ErrState = VL53L0X_ERROR_RANGE_ERROR; return 0;}
}
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_offsetCallDat_um(int32_t *p_offsetCallDat_um)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint16_t range_offset_register;
+TRangeResults VL53L0X::Get_Measurement(TOperatingMode operating_mode)
+{ TRangeResults p_data;
+
+ switch (operating_mode) {
+ case op_single_shot_poll:
+ Perf_single_ranging_measurement(&p_data);
+ break;
+ case op_poll:
+ Poll_Measure_Completion();
+ Get_ranging_results(&p_data);
+ if (ErrState == VL53L0X_OK) { // Clear the interrupt
+ Clear_interrupt_mask(REG_SYSINT_GPIO_NEW_SAMPLE_READY);
+ Polling_delay();
+ }
+ break;
+ case op_INT:
+ Get_ranging_results(&p_data);
+ Clear_interrupt_mask(REG_SYSINT_CLEAR | REG_RESULT_INTERRUPT_STATUS);
+ } // switch
+ return p_data;
+}
+
+/** Get part to part calibration offset; Should only be used after a
+ successful call to @a VL53L0X_DataInit to backup device NVM value **/
+int32_t VL53L0X::Get_Offset_Cal_um()
+{ uint16_t range_offset_register;
int16_t c_max_offset = 2047;
int16_t c_offset_range = 4096;
/* Note that offset has 10.2 format */
-
- status = VL53L0X_read_word(VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
- &range_offset_register);
-
- if (status == VL53L0X_ERROR_NONE) {
+ range_offset_register = Read_Word(REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM);
+
+ if (ErrState == VL53L0X_OK) {
range_offset_register = (range_offset_register & 0x0fff);
- /* Apply 12 bit 2's compliment conversion */
- if (range_offset_register > c_max_offset) {
- *p_offsetCallDat_um =
- (int16_t)(range_offset_register - c_offset_range)
- * 250;
- } else {
- *p_offsetCallDat_um =
- (int16_t)range_offset_register * 250;
- }
-
+ /* Apply 12 bit 2's complement conversion */
+ if (range_offset_register > c_max_offset)
+ { return (int16_t)(range_offset_register - c_offset_range) * 250; }
+ else
+ { return (int16_t)range_offset_register * 250;}
}
-
- return status;
+ else return 0;
}
-VL53L0X_Error VL53L0X::VL53L0X_get_offsetCallDat_um(int32_t *p_offsetCallDat_um)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
-
- status = wrapped_VL53L0X_get_offsetCallDat_um(p_offsetCallDat_um);
-
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_offsetCallDat_um(int32_t offsetCallDat_um)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- int32_t c_max_offset_um = 511000;
+void VL53L0X::Set_Offset_Cal_um(int32_t Offset_Cal_um)
+{ int32_t c_max_offset_um = 511000;
int32_t c_min_offset_um = -512000;
- int16_t c_offset_range = 4096;
+ int16_t c_offset_range = 4096;
uint32_t encoded_offset_val;
-
-
- if (offsetCallDat_um > c_max_offset_um) {
- offsetCallDat_um = c_max_offset_um;
- } else {
- if (offsetCallDat_um < c_min_offset_um) {
- offsetCallDat_um = c_min_offset_um;
- }
- }
+ if (Offset_Cal_um > c_max_offset_um) { Offset_Cal_um = c_max_offset_um; }
+ else
+ if (Offset_Cal_um < c_min_offset_um) { Offset_Cal_um = c_min_offset_um; }
/* The offset register is 10.2 format and units are mm
* therefore conversion is applied by a division of 250. */
- if (offsetCallDat_um >= 0) {
- encoded_offset_val =
- offsetCallDat_um / 250;
- } else {
- encoded_offset_val =
- c_offset_range +
- offsetCallDat_um / 250;
- }
-
- status = VL53L0X_write_word(VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
- encoded_offset_val);
-
-
- return status;
+ if (Offset_Cal_um >= 0) { encoded_offset_val = Offset_Cal_um / 250; }
+ else { encoded_offset_val = c_offset_range + Offset_Cal_um / 250; }
+
+ Write_Word(REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM, encoded_offset_val);
}
-VL53L0X_Error VL53L0X::VL53L0X_set_offsetCallDat_um(int32_t offsetCallDat_um)
-{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- status = wrapped_VL53L0X_set_offsetCallDat_um(offsetCallDat_um);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_apply_offset_adjustment()
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- int32_t corrected_offset_um;
- int32_t current_offset_um;
-
- /* if we run on this function we can read all the NVM info
- * used by the API */
- status = VL53L0X_get_info_from_device(7);
-
- /* Read back current device offset */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_offsetCallDat_um(¤t_offset_um);
- }
+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(); }
/* Apply Offset Adjustment derived from 400mm measurements */
- if (status == VL53L0X_ERROR_NONE) {
-
- /* Store initial device offset */
- Part2PartOffsetNVMMicroMeter = current_offset_um;
-
- corrected_offset_um = current_offset_um +
- (int32_t) Part2PartOffsetAdjustmentNVMMicroMeter;
-
- status = VL53L0X_set_offsetCallDat_um(corrected_offset_um);
-
- /* store current,adjusted offset */
- if (status == VL53L0X_ERROR_NONE) {
- CurrentParameters.RangeOffsetMicroMeters = corrected_offset_um;
+ if (ErrState == VL53L0X_OK)
+ { Summed_Offset_Cal_um = Last_Offset_Cal_um + (int32_t) NVM_Offset_Cal_um;
+ Set_Offset_Cal_um(Summed_Offset_Cal_um);
+ /* remember current,adjusted offset */
+ if (ErrState == VL53L0X_OK) { CurrParams.Offset_Cal_um = Summed_Offset_Cal_um; }
+ }
+}
+
+void VL53L0X::Get_measure_period_ms(uint32_t *p_measure_period_ms)
+{ uint16_t osc_calibrate_val;
+ uint32_t im_period_ms;
+
+ osc_calibrate_val = Read_Word(REG_OSC_CALIBRATE_VAL);
+
+ if (ErrState == VL53L0X_OK) { im_period_ms = Read_DWord(REG_SYSTEM_MEASURE_PERIOD); }
+
+ if (ErrState == VL53L0X_OK) {
+ if (osc_calibrate_val != 0)
+ {*p_measure_period_ms = im_period_ms / osc_calibrate_val; }
+ CurrParams.Measure_Period_ms = *p_measure_period_ms;
+ }
+}
+
+void VL53L0X::Get_Xtalk_CompRate_MHz( TFP1616 *p_Xtalk_CompRate_MHz)
+{ uint16_t value;
+ TFP1616 temp_fix1616;
+
+ value = Read_Word(REG_XTALK_COMPENS_RATE_MHz);
+
+ if (ErrState == VL53L0X_OK) {
+ if (value == 0) {
+ /* the Xtalk is disabled return value from memory */
+ temp_fix1616 = CurrParams.Xtalk_CompRate_MHz;
+ *p_Xtalk_CompRate_MHz = temp_fix1616;
+ CurrParams.XTalk_Compens_En = 0;
+ } else {
+ temp_fix1616 = FP313_TO_FP1616(value);
+ *p_Xtalk_CompRate_MHz = temp_fix1616;
+ CurrParams.Xtalk_CompRate_MHz = temp_fix1616;
+ CurrParams.XTalk_Compens_En = 1;
}
}
-
- return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_get_device_mode(VL53L0X_DeviceModes *p_device_mode)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- *p_device_mode = CurrentParameters.DeviceMode;
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_inter_measurement_period_ms(uint32_t *p_inter_measurement_period_ms)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint16_t osc_calibrate_val;
- uint32_t im_period_ms;
-
-
-
- status = VL53L0X_read_word(VL53L0X_REG_OSC_CALIBRATE_VAL,
- &osc_calibrate_val);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_dword(VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD,
- &im_period_ms);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- if (osc_calibrate_val != 0) {
- *p_inter_measurement_period_ms =
- im_period_ms / osc_calibrate_val;
- }
- CurrentParameters.InterMeasurementPeriod_ms=
- *p_inter_measurement_period_ms;
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_x_talk_compensation_rate_mega_cps(
- FixPoint1616_t *p_xtalk_compensation_rate_mega_cps)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint16_t value;
- FixPoint1616_t temp_fix1616;
-
- status = VL53L0X_read_word(VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS,(uint16_t *)&value);
- if (status == VL53L0X_ERROR_NONE) {
- if (value == 0) {
- /* the Xtalk is disabled return value from memory */
- temp_fix1616 = CurrentParameters.XTalkCompensationRateMegaCps;
- *p_xtalk_compensation_rate_mega_cps = temp_fix1616;
- CurrentParameters.XTalkCompensationEnable = 0;
- } else {
- temp_fix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(value);
- *p_xtalk_compensation_rate_mega_cps = temp_fix1616;
- CurrentParameters.XTalkCompensationRateMegaCps = temp_fix1616;
- CurrentParameters.XTalkCompensationEnable = 1;
- }
- }
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_limit_check_value(uint16_t limit_check_id,
- FixPoint1616_t *p_limit_check_value)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t enable_zero_value = 0;
- uint16_t temp16;
- FixPoint1616_t temp_fix1616;
+TFP1616 VL53L0X::Get_limit_chk_val( uint16_t limit_check_id )
+{ uint16_t temp16;
+ TFP1616 temp_fix1616;
switch (limit_check_id) {
-
- case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
- /* internal computation: */
- temp_fix1616 = CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE];
- enable_zero_value = 0;
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
- status = VL53L0X_read_word(VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
- &temp16);
- if (status == VL53L0X_ERROR_NONE) {
- temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(temp16);
- }
-
-
- enable_zero_value = 1;
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
- /* internal computation: */
- temp_fix1616 = CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP];
- enable_zero_value = 0;
- break;
-
- case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
- /* internal computation: */
- temp_fix1616 = CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD];
- enable_zero_value = 0;
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
- status = VL53L0X_read_word(VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
- &temp16);
- if (status == VL53L0X_ERROR_NONE) {
- temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(temp16);
- }
-
- enable_zero_value = 0;
- break;
+ case VL53L0X_CHECKEN_SIGMA_FINAL_RANGE: /* only internal computations: */
+ case VL53L0X_CHECKEN_SIG_REF_CLIP:
+ case VL53L0X_CHECKEN_RANGE_IGNORE_THRESHOLD:
+ return CurrParams.Limit_Chk_Val[limit_check_id];// need no more 'break';
+
+ case VL53L0X_CHECKEN_SIG_RATE_FINAL_RANGE:
+ temp16 = Read_Word(REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT);
+ temp_fix1616 = FP97_TO_FP1616(temp16);
+ if (temp_fix1616 == 0) /* disabled: return value from memory instead*/
+ { temp_fix1616 = CurrParams.Limit_Chk_Val[limit_check_id];
+ CurrParams.Limit_Chk_En[limit_check_id] = 0; }
+ else
+ { CurrParams.Limit_Chk_Val[limit_check_id] = temp_fix1616;
+ CurrParams.Limit_Chk_En[limit_check_id] = 1; }
+ return temp_fix1616; // need no more 'break';
+
+ case VL53L0X_CHECKEN_SIG_RATE_MSRC:
+ case VL53L0X_CHECKEN_SIG_RATE_PRE_RANGE:
+ temp16 = Read_Word(REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT);
+ return FP97_TO_FP1616(temp16); // need no more break;
default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
+ ErrState = VL53L0X_ERROR_INVALID_PARAMS;
+ return 0;
}
-
- if (status == VL53L0X_ERROR_NONE) {
-
- if (enable_zero_value == 1) {
-
- if (temp_fix1616 == 0) {
- /* disabled: return value from memory */
- temp_fix1616 = CurrentParameters.LimitChecksValue[limit_check_id];
- *p_limit_check_value = temp_fix1616;
- CurrentParameters.LimitChecksEnable[limit_check_id] = 0;
- CurrentParameters.LimitChecksEnable[limit_check_id] = 0;
- } else {
- *p_limit_check_value = temp_fix1616;
- CurrentParameters.LimitChecksValue[limit_check_id] = temp_fix1616;
- CurrentParameters.LimitChecksEnable[limit_check_id] = 1;
- }
- } else {
- *p_limit_check_value = temp_fix1616;
- }
- }
-
-
- return status;
-
}
-VL53L0X_Error VL53L0X::VL53L0X_get_limit_check_enable(uint16_t limit_check_id,
- uint8_t *p_limit_check_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t temp8;
-
- if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- *p_limit_check_enable = 0;
- } else {
- temp8 = CurrentParameters.LimitChecksEnable[limit_check_id];
- *p_limit_check_enable = temp8;
- }
-
- return status;
+uint8_t VL53L0X::Get_limit_chk_en(uint16_t limit_check_id )
+{ if (limit_check_id >= VL53L0X_CHECKEN_NUMBER_OF_CHECKS)
+ { ErrState = VL53L0X_ERROR_INVALID_PARAMS;
+ return 0; }
+ else { return CurrParams.Limit_Chk_En[limit_check_id]; }
}
-VL53L0X_Error VL53L0X::VL53L0X_get_wrap_around_check_enable(uint8_t *p_wrap_around_check_enable)
-{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t data;
-
- status = VL53L0X_read_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,&data);
- if (status == VL53L0X_ERROR_NONE) {
- SequenceConfig = data;
- if (data & (0x01 << 7)) { *p_wrap_around_check_enable = 0x01; }
- else { *p_wrap_around_check_enable = 0x00; }
- }
- if (status == VL53L0X_ERROR_NONE) {
- CurrentParameters.WrapAroundCheckEnable=
- *p_wrap_around_check_enable; }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::sequence_step_enabled(VL53L0X_SequenceStepId sequence_step_id,uint8_t sequence_config,
- uint8_t *p_sequence_step_enabled)
-{
- VL53L0X_Error Status = VL53L0X_ERROR_NONE;
- *p_sequence_step_enabled = 0;
+uint8_t VL53L0X::Get_Wrap_Around_Chk_En()
+{ /* Now using the private state field SequenceConfig instead of reading from device:
+ uint8_t SequenceConfig;
+ SequenceConfig = Read_Byte(REG_SYSTEM_SEQUENCE_CONFIG);
+ Set_SequenceConfig( SequenceConfig ); // checks for ErrState
- switch (sequence_step_id) {
- case VL53L0X_SEQUENCESTEP_TCC:
- *p_sequence_step_enabled = (sequence_config & 0x10) >> 4;
- break;
- case VL53L0X_SEQUENCESTEP_DSS:
- *p_sequence_step_enabled = (sequence_config & 0x08) >> 3;
- break;
- case VL53L0X_SEQUENCESTEP_MSRC:
- *p_sequence_step_enabled = (sequence_config & 0x04) >> 2;
- break;
- case VL53L0X_SEQUENCESTEP_PRE_RANGE:
- *p_sequence_step_enabled = (sequence_config & 0x40) >> 6;
- break;
- case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
- *p_sequence_step_enabled = (sequence_config & 0x80) >> 7;
- break;
- default:
- Status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- return Status;
+ if (ErrState == VL53L0X_OK) {
+ */
+ CurrParams.Wrap_Around_Chk_En = (SequenceConfig >> 7) & 0x01;
+ return CurrParams.Wrap_Around_Chk_En;
+ // } else return 0;
}
-VL53L0X_Error VL53L0X::VL53L0X_get_sequence_step_enables(VL53L0X_SchedulerSequenceSteps_t *p_scheduler_sequence_steps)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sequence_config = 0;
-
- status = VL53L0X_read_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- &sequence_config);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = sequence_step_enabled(VL53L0X_SEQUENCESTEP_TCC,sequence_config,
- &p_scheduler_sequence_steps->TccOn);}
- if (status == VL53L0X_ERROR_NONE) {
- status = sequence_step_enabled(VL53L0X_SEQUENCESTEP_DSS,sequence_config,
- &p_scheduler_sequence_steps->DssOn);}
- if (status == VL53L0X_ERROR_NONE) {
- status = sequence_step_enabled(VL53L0X_SEQUENCESTEP_MSRC,sequence_config,
- &p_scheduler_sequence_steps->MsrcOn);}
- if (status == VL53L0X_ERROR_NONE) {
- status = sequence_step_enabled(VL53L0X_SEQUENCESTEP_PRE_RANGE,sequence_config,
- &p_scheduler_sequence_steps->PreRangeOn);}
- if (status == VL53L0X_ERROR_NONE) {
- status = sequence_step_enabled(VL53L0X_SEQUENCESTEP_FINAL_RANGE,sequence_config,
- &p_scheduler_sequence_steps->FinalRangeOn);}
- return status;
+VL53L0X_Sequence_Steps_t VL53L0X::Get_sequence_step_enables()
+{ VL53L0X_Sequence_Steps_t p_sequence_steps;
+ /* Now using the private state field SequenceConfig instead of reading from device:
+ uint8_t SequenceConfig;
+
+ SequenceConfig = Read_Byte(REG_SYSTEM_SEQUENCE_CONFIG);
+
+ if (ErrState == VL53L0X_OK) {
+ */
+ p_sequence_steps.TccOn = (SequenceConfig & 0x10) >> 4;
+ p_sequence_steps.DssOn = (SequenceConfig & 0x08) >> 3;
+ p_sequence_steps.MsrcOn = (SequenceConfig & 0x04) >> 2;
+ p_sequence_steps.PreRangeOn = (SequenceConfig & 0x40) >> 6;
+ p_sequence_steps.FinalRangeOn = (SequenceConfig & 0x80) >> 7;
+ // }
+ return p_sequence_steps;
}
-uint8_t VL53L0X::VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg)
-{
- /*!
- * Converts the encoded VCSEL period register value into the real
- * period in PLL clocks
- */
-
- uint8_t vcsel_period_pclks = 0;
- vcsel_period_pclks = (vcsel_period_reg + 1) << 1;
- return vcsel_period_pclks;
-}
-
-uint8_t VL53L0X::lv53l0x_encode_vcsel_period(uint8_t vcsel_period_pclks)
-{
- /*!
- * Converts the encoded VCSEL period register value into the real period
- * in PLL clocks
- */
- uint8_t vcsel_period_reg = 0;
- vcsel_period_reg = (vcsel_period_pclks >> 1) - 1;
- return vcsel_period_reg;
-}
-
-
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_vcsel_pulse_period(VL53L0X_VcselPeriod vcsel_period_type,uint8_t vcsel_pulse_period_pclk)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t vcsel_period_reg;
+void VL53L0X::Set_vcsel_PPeriod(VL53L0X_Range_Phase Vcsel_Range_Phase, uint8_t vcsel_PPeriod_pclk)
+{ uint8_t vcsel_period_reg;
uint8_t min_pre_vcsel_period_pclk = 12;
uint8_t max_pre_vcsel_period_pclk = 18;
uint8_t min_final_vcsel_period_pclk = 8;
uint8_t max_final_vcsel_period_pclk = 14;
- uint32_t measurement_timing_budget_us;
uint32_t final_range_timeout_us;
uint32_t pre_range_timeout_us;
uint32_t msrc_timeout_us;
uint8_t phase_cal_int = 0;
/* Check if valid clock period requested */
-
- if ((vcsel_pulse_period_pclk % 2) != 0) {
- /* Value must be an even number */
- status = VL53L0X_ERROR_INVALID_PARAMS;
- } else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE &&
- (vcsel_pulse_period_pclk < min_pre_vcsel_period_pclk ||
- vcsel_pulse_period_pclk > max_pre_vcsel_period_pclk)) {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- } else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE &&
- (vcsel_pulse_period_pclk < min_final_vcsel_period_pclk ||
- vcsel_pulse_period_pclk > max_final_vcsel_period_pclk)) {
-
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
+ if ( ((vcsel_PPeriod_pclk % 2) != 0 ) /* Value must be an even number */
+ ||
+ ( Vcsel_Range_Phase == VL53L0X_VCSEL_PRE_RANGE &&
+ ((vcsel_PPeriod_pclk < min_pre_vcsel_period_pclk)||
+ (vcsel_PPeriod_pclk > max_pre_vcsel_period_pclk) ) )
+ ||
+ ( Vcsel_Range_Phase == VL53L0X_VCSEL_FINAL_RANGE &&
+ (vcsel_PPeriod_pclk < min_final_vcsel_period_pclk ||
+ vcsel_PPeriod_pclk > max_final_vcsel_period_pclk) ) )
+ { ErrState = VL53L0X_ERROR_INVALID_PARAMS;
+ return;}
/* Apply specific settings for the requested clock period */
- if (status != VL53L0X_ERROR_NONE) { return status; }
-
- if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE) {
-
- /* Set phase check limits */
- if (vcsel_pulse_period_pclk == 12) {
-
- status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x18);
- status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
- } else if (vcsel_pulse_period_pclk == 14) {
-
- status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x30);
- status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
- } else if (vcsel_pulse_period_pclk == 16) {
-
- status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x40);
- status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
- } else if (vcsel_pulse_period_pclk == 18) {
-
- status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x50);
- status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
+ if (Vcsel_Range_Phase == VL53L0X_VCSEL_PRE_RANGE) {
+ /* Set phase check limits for pre-ranging*/
+ if (vcsel_PPeriod_pclk == 12) {
+ Write_Byte(REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,0x18);
+ Write_Byte(REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW ,0x08);
+ } else if (vcsel_PPeriod_pclk == 14) {
+ Write_Byte(REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,0x30);
+ Write_Byte(REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW ,0x08);
+ } else if (vcsel_PPeriod_pclk == 16) {
+ Write_Byte(REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,0x40);
+ Write_Byte(REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW ,0x08);
+ } else if (vcsel_PPeriod_pclk == 18) {
+ Write_Byte(REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,0x50);
+ Write_Byte(REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW ,0x08);
}
- } else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) {
-
- if (vcsel_pulse_period_pclk == 8) {
-
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x10);
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
- status |= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH,0x02);
- status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT,0x0C);
-
- status |= VL53L0X_write_byte(0xff,0x01);
- status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x30);
- status |= VL53L0X_write_byte(0xff,0x00);
- } else if (vcsel_pulse_period_pclk == 10) {
-
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x28);
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
- status |= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH,0x03);
- status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT,0x09);
-
- status |= VL53L0X_write_byte(0xff,0x01);
- status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,0x20);
- status |= VL53L0X_write_byte(0xff,0x00);
- } else if (vcsel_pulse_period_pclk == 12) {
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x38);
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
- status |= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH,0x03);
- status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT,0x08);
- status |= VL53L0X_write_byte(0xff,0x01);
- status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,0x20);
- status |= VL53L0X_write_byte(0xff,0x00);
- } else if (vcsel_pulse_period_pclk == 14) {
-
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x048);
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
- status |= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH,0x03);
- status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT,0x07);
- status |= VL53L0X_write_byte(0xff,0x01);
- status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM, 0x20);
- status |= VL53L0X_write_byte(0xff,0x00);
+ } else if (Vcsel_Range_Phase == VL53L0X_VCSEL_FINAL_RANGE) {
+ if (vcsel_PPeriod_pclk == 8) {
+ Write_Byte(REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,0x10);
+ Write_Byte(REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW ,0x08);
+ Write_Byte(REG_GLOBAL_CONFIG_VCSEL_WIDTH ,0x02);
+ Write_Byte(REG_ALGO_PHASECAL_CONFIG_TIMEOUT,0x0C);
+ Write_Byte(0xff,0x01);
+ Write_Byte(REG_ALGO_PHASECAL_LIM,0x30);
+ Write_Byte(0xff,0x00);
+ } else if (vcsel_PPeriod_pclk == 10) {
+ Write_Byte(REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,0x28);
+ Write_Byte(REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,0x08);
+ Write_Byte(REG_GLOBAL_CONFIG_VCSEL_WIDTH,0x03);
+ Write_Byte(REG_ALGO_PHASECAL_CONFIG_TIMEOUT,0x09);
+ Write_Byte(0xff,0x01);
+ Write_Byte(REG_ALGO_PHASECAL_LIM,0x20);
+ Write_Byte(0xff,0x00);
+ } else if (vcsel_PPeriod_pclk == 12) {
+ Write_Byte(REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,0x38);
+ Write_Byte(REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,0x08);
+ Write_Byte(REG_GLOBAL_CONFIG_VCSEL_WIDTH,0x03);
+ Write_Byte(REG_ALGO_PHASECAL_CONFIG_TIMEOUT,0x08);
+ Write_Byte(0xff,0x01);
+ Write_Byte(REG_ALGO_PHASECAL_LIM,0x20);
+ Write_Byte(0xff,0x00);
+ } else if (vcsel_PPeriod_pclk == 14) {
+ Write_Byte(REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,0x048);
+ Write_Byte(REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,0x08);
+ Write_Byte(REG_GLOBAL_CONFIG_VCSEL_WIDTH,0x03);
+ Write_Byte(REG_ALGO_PHASECAL_CONFIG_TIMEOUT,0x07);
+ Write_Byte(0xff,0x01);
+ Write_Byte(REG_ALGO_PHASECAL_LIM, 0x20);
+ Write_Byte(0xff,0x00);
}
}
-
/* Re-calculate and apply timeouts,in macro periods */
-
- if (status == VL53L0X_ERROR_NONE) {
- vcsel_period_reg = lv53l0x_encode_vcsel_period((uint8_t)
- vcsel_pulse_period_pclk);
-
+ if (ErrState == VL53L0X_OK) {
+ /* Converts the encoded VCSEL period register value into the real period in PLL clocks */
+ /* Flattened from procedure called Encode_vcsel_period */
+ vcsel_period_reg = (vcsel_PPeriod_pclk >> 1) - 1;
+
/* When the VCSEL period for the pre or final range is changed,
* the corresponding timeout must be read from the device using
* the current VCSEL period,then the new VCSEL period can be
* applied. The timeout then must be written back to the device
* using the new VCSEL period.
- *
* For the MSRC timeout,the same applies - this timeout being
* dependant on the pre-range vcsel period.
*/
- switch (vcsel_period_type) {
- case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
- status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &pre_range_timeout_us);
-
- if (status == VL53L0X_ERROR_NONE)
- status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_MSRC,
- &msrc_timeout_us);
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
- vcsel_period_reg);
-
-
- if (status == VL53L0X_ERROR_NONE)
- status = set_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
- pre_range_timeout_us);
-
-
- if (status == VL53L0X_ERROR_NONE)
- status = set_sequence_step_timeout(VL53L0X_SEQUENCESTEP_MSRC,
- msrc_timeout_us);
-
- DevSpecParams.PreRangeVcselPulsePeriod = vcsel_pulse_period_pclk;
- break;
- case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
- status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- &final_range_timeout_us);
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
- vcsel_period_reg);
-
- if (status == VL53L0X_ERROR_NONE)
- status = set_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- final_range_timeout_us);
-
- DevSpecParams.FinalRangeVcselPulsePeriod = vcsel_pulse_period_pclk;
- break;
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
+ switch (Vcsel_Range_Phase) {
+ case VL53L0X_VCSEL_PRE_RANGE:
+ Get_Sequence_Step_Timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,&pre_range_timeout_us);
+
+ if (ErrState == VL53L0X_OK)
+ Get_Sequence_Step_Timeout(VL53L0X_SEQUENCESTEP_MSRC,&msrc_timeout_us);
+
+ Write_Byte(REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,vcsel_period_reg);
+
+ if (ErrState == VL53L0X_OK)
+ Set_Sequence_Step_Timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,pre_range_timeout_us);
+
+ if (ErrState == VL53L0X_OK)
+ Set_Sequence_Step_Timeout(VL53L0X_SEQUENCESTEP_MSRC,msrc_timeout_us);
+
+ DevSpecParams.PreRangeVcselPPeriod = vcsel_PPeriod_pclk;
+ break;
+
+ case VL53L0X_VCSEL_FINAL_RANGE:
+ Get_Sequence_Step_Timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,&final_range_timeout_us);
+
+ Write_Byte(REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,vcsel_period_reg);
+
+ if (ErrState == VL53L0X_OK)
+ Set_Sequence_Step_Timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,final_range_timeout_us);
+
+ DevSpecParams.FinalRangeVcselPPeriod = vcsel_PPeriod_pclk;
+ break;
+ default: ErrState = VL53L0X_ERROR_INVALID_PARAMS;
}
}
- /* Finally,the timing budget must be re-applied */
- if (status == VL53L0X_ERROR_NONE) {
- measurement_timing_budget_us = CurrentParameters.MeasurementTimingBudget_us;
-
- status = VL53L0X_set_measurement_timing_budget_us(measurement_timing_budget_us);
- }
-
- /* Perform the phase calibration. This is needed after changing on
- * vcsel period.
+ /* Finally,the timing budget is re-applied */
+ if (ErrState == VL53L0X_OK)
+ { Set_Measure_Time_Budget_us(CurrParams.Measure_Time_Budget_us); }
+
+ /* Perform the phase calibration. This is needed after changing on vcsel period.
* get_data_enable = 0,restore_config = 1 */
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_perform_phase_calibration(&phase_cal_int,0,1);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_set_vcsel_pulse_period(VL53L0X_VcselPeriod vcsel_period_type,
- uint8_t vcsel_pulse_period)
-{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- status = wrapped_VL53L0X_set_vcsel_pulse_period(vcsel_period_type,
- vcsel_pulse_period);
-
- return status;
+ Perf_phase_calibration(&phase_cal_int,0,1);
}
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_vcsel_pulse_period(
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t vcsel_period_reg;
-
- switch (vcsel_period_type) {
- case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
- status = VL53L0X_read_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
- &vcsel_period_reg);
- break;
- case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
- status = VL53L0X_read_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
- &vcsel_period_reg);
- break;
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- if (status == VL53L0X_ERROR_NONE)
- *p_vcsel_pulse_period_pclk = VL53L0X_decode_vcsel_period(vcsel_period_reg);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_vcsel_pulse_period(VL53L0X_VcselPeriod vcsel_period_type,uint8_t *p_vcsel_pulse_period_pclk)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- status = wrapped_VL53L0X_get_vcsel_pulse_period(vcsel_period_type,
- p_vcsel_pulse_period_pclk);
-
- return status;
-}
-
-uint32_t VL53L0X::VL53L0X_decode_timeout(uint16_t encoded_timeout)
-{
- /*!
- * Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1
- */
-
- uint32_t timeout_macro_clks = 0;
-
- timeout_macro_clks = ((uint32_t)(encoded_timeout & 0x00FF)
- << (uint32_t)((encoded_timeout & 0xFF00) >> 8)) + 1;
- return timeout_macro_clks;
-}
-
-uint32_t VL53L0X::VL53L0X_calc_macro_period_ps(uint8_t vcsel_period_pclks)
-{
- uint64_t pll_period_ps;
- uint32_t macro_period_vclks;
- uint32_t macro_period_ps;
-
- /* The above calculation will produce rounding errors,
- therefore set fixed value */
- pll_period_ps = 1655;
- macro_period_vclks = 2304;
- macro_period_ps = (uint32_t)(macro_period_vclks
- * vcsel_period_pclks * pll_period_ps);
- return macro_period_ps;
-}
+#define VL53L0X_MACRO_PERIOD_NS 3813; // = ( VL53L0X_PLL_PERIOD_PS * VL53L0X_MACRO_PERIOD_VCLKS / 1000 )
/* To convert register value into us */
-uint32_t VL53L0X::VL53L0X_calc_timeout_us(uint16_t timeout_period_mclks,
+uint32_t VL53L0X::Calc_timeout_us(uint16_t timeout_period_mclks,
uint8_t vcsel_period_pclks)
{
- uint32_t macro_period_ps;
uint32_t macro_period_ns;
uint32_t actual_timeout_period_us = 0;
- macro_period_ps = VL53L0X_calc_macro_period_ps(vcsel_period_pclks);
- macro_period_ns = (macro_period_ps + 500) / 1000;
-
- actual_timeout_period_us =
- ((timeout_period_mclks * macro_period_ns) + 500) / 1000;
+ macro_period_ns = (uint32_t) (vcsel_period_pclks ) * VL53L0X_MACRO_PERIOD_NS;
+
+ actual_timeout_period_us = ((timeout_period_mclks * macro_period_ns) + 500) / 1000;
return actual_timeout_period_us;
}
-VL53L0X_Error VL53L0X::get_sequence_step_timeout(VL53L0X_SequenceStepId sequence_step_id,
+void VL53L0X::Get_Sequence_Step_Timeout(VL53L0X_SequenceStepId sequence_step_id,
uint32_t *p_time_out_micro_secs)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t current_vcsel_pulse_period_p_clk;
+{ uint8_t current_vcsel_PPeriod_p_clk;
uint8_t encoded_time_out_byte = 0;
uint32_t timeout_us = 0;
uint16_t pre_range_encoded_time_out = 0;
@@ -992,779 +562,389 @@
uint16_t pre_range_time_out_m_clks;
uint16_t final_range_time_out_m_clks = 0;
uint16_t final_range_encoded_time_out;
- VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
-
- if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC) ||
- (sequence_step_id == VL53L0X_SEQUENCESTEP_DSS) ||
- (sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC)) {
-
- status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_byte(VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
- &encoded_time_out_byte);
+ VL53L0X_Sequence_Steps_t sequence_steps;
+
+ if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC ) ||
+ (sequence_step_id == VL53L0X_SEQUENCESTEP_DSS ) ||
+ (sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC) ) {
+
+ current_vcsel_PPeriod_p_clk = /* Gets and converts the VCSEL period register into actual clock periods */
+ ( Read_Byte(REG_PRE_RANGE_CONFIG_VCSEL_PERIOD) + 1) << 1;
+
+ if (ErrState == VL53L0X_OK) {
+ encoded_time_out_byte = Read_Byte(REG_MSRC_CONFIG_TIMEOUT_MACROP);
}
- msrc_time_out_m_clks = VL53L0X_decode_timeout(encoded_time_out_byte);
-
- timeout_us = VL53L0X_calc_timeout_us(msrc_time_out_m_clks,
- current_vcsel_pulse_period_p_clk);
+ msrc_time_out_m_clks = Decode_timeout(encoded_time_out_byte);
+
+ timeout_us = Calc_timeout_us(msrc_time_out_m_clks,
+ current_vcsel_PPeriod_p_clk);
} else if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
- /* Retrieve PRE-RANGE VCSEL Period */
- status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
+
+ current_vcsel_PPeriod_p_clk = /* Gets and converts the VCSEL period register into actual clock periods */
+ ( Read_Byte(REG_PRE_RANGE_CONFIG_VCSEL_PERIOD) + 1) << 1;
/* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */
- if (status == VL53L0X_ERROR_NONE) {
-
- /* Retrieve PRE-RANGE VCSEL Period */
- status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_word(VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
- &pre_range_encoded_time_out);
- }
-
- pre_range_time_out_m_clks = VL53L0X_decode_timeout(pre_range_encoded_time_out);
-
- timeout_us = VL53L0X_calc_timeout_us(pre_range_time_out_m_clks,
- current_vcsel_pulse_period_p_clk);
+ if (ErrState == VL53L0X_OK) {
+
+ pre_range_encoded_time_out = Read_Word(REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI);
+
+ pre_range_time_out_m_clks = Decode_timeout(pre_range_encoded_time_out);
+
+ timeout_us = Calc_timeout_us(pre_range_time_out_m_clks,
+ current_vcsel_PPeriod_p_clk);
}
} else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
- VL53L0X_get_sequence_step_enables(&scheduler_sequence_steps);
+ sequence_steps = Get_sequence_step_enables();
pre_range_time_out_m_clks = 0;
- if (scheduler_sequence_steps.PreRangeOn) {
- /* Retrieve PRE-RANGE VCSEL Period */
- status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
-
- /* Retrieve PRE-RANGE Timeout in Macro periods
- * (MCLKS) */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_word(VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
- &pre_range_encoded_time_out);
- pre_range_time_out_m_clks = VL53L0X_decode_timeout(pre_range_encoded_time_out);
+ if (sequence_steps.PreRangeOn) {
+ current_vcsel_PPeriod_p_clk = /* Gets and converts the VCSEL period register into actual clock periods */
+ ( Read_Byte(REG_PRE_RANGE_CONFIG_VCSEL_PERIOD) + 1) << 1;
+
+ /* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */
+ if (ErrState == VL53L0X_OK) {
+ pre_range_encoded_time_out = Read_Word(REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI);
+ pre_range_time_out_m_clks = Decode_timeout(pre_range_encoded_time_out);
}
}
- if (status == VL53L0X_ERROR_NONE) {
- /* Retrieve FINAL-RANGE VCSEL Period */
- status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
+ if (ErrState == VL53L0X_OK) {
+ current_vcsel_PPeriod_p_clk = /* Get and converts the VCSEL period register into actual clock periods */
+ ( Read_Byte(REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD) + 1) << 1;
+
}
/* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_word(VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI,
- &final_range_encoded_time_out);
- final_range_time_out_m_clks = VL53L0X_decode_timeout(final_range_encoded_time_out);
+ if (ErrState == VL53L0X_OK) {
+ final_range_encoded_time_out = Read_Word(REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI);
+ final_range_time_out_m_clks = Decode_timeout(final_range_encoded_time_out);
}
final_range_time_out_m_clks -= pre_range_time_out_m_clks;
- timeout_us = VL53L0X_calc_timeout_us(final_range_time_out_m_clks,
- current_vcsel_pulse_period_p_clk);
+ timeout_us = Calc_timeout_us(final_range_time_out_m_clks,current_vcsel_PPeriod_p_clk);
}
*p_time_out_micro_secs = timeout_us;
-
- return status;
}
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_measurement_timing_budget_us(uint32_t *p_measurement_timing_budget_us)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
+uint32_t VL53L0X::Get_Measure_Time_Budget_us()
+{ VL53L0X_Sequence_Steps_t sequence_steps;
+ uint32_t p_Measure_Time_Budget_us;
uint32_t final_range_timeout_us;
- uint32_t msrc_dcc_tcc_timeout_us = 2000;
+ uint32_t msrc_dcc_tcc_timeout_us= 2000;
uint32_t start_overhead_us = 1910;
- uint32_t end_overhead_us = 960;
+ uint32_t end_overhead_us = 960;
uint32_t msrc_overhead_us = 660;
- uint32_t tcc_overhead_us = 590;
- uint32_t dss_overhead_us = 690;
+ uint32_t tcc_overhead_us = 590;
+ uint32_t dss_overhead_us = 690;
uint32_t pre_range_overhead_us = 660;
- uint32_t final_range_overhead_us = 550;
+ uint32_t final_range_overhead_us= 550;
uint32_t pre_range_timeout_us = 0;
+ if (ErrState != VL53L0X_OK) {return 0; } // do nothing while in Error State!!!!
+
/* Start and end overhead times always present */
- *p_measurement_timing_budget_us
- = start_overhead_us + end_overhead_us;
-
- status = VL53L0X_get_sequence_step_enables(&scheduler_sequence_steps);
-
- if (status != VL53L0X_ERROR_NONE) { return status; }
-
- if (scheduler_sequence_steps.TccOn || scheduler_sequence_steps.MsrcOn ||
- scheduler_sequence_steps.DssOn) {
-
- status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_MSRC,
- &msrc_dcc_tcc_timeout_us);
-
- if (status == VL53L0X_ERROR_NONE) {
- if (scheduler_sequence_steps.TccOn) {
- *p_measurement_timing_budget_us +=
- msrc_dcc_tcc_timeout_us +
- tcc_overhead_us;
- }
-
- if (scheduler_sequence_steps.DssOn) {
- *p_measurement_timing_budget_us +=
- 2 * (msrc_dcc_tcc_timeout_us +
- dss_overhead_us);
- } else if (scheduler_sequence_steps.MsrcOn) {
- *p_measurement_timing_budget_us +=
- msrc_dcc_tcc_timeout_us +
- msrc_overhead_us;
+ p_Measure_Time_Budget_us = start_overhead_us + end_overhead_us;
+
+ sequence_steps = Get_sequence_step_enables();
+
+ if (sequence_steps.TccOn || sequence_steps.MsrcOn || sequence_steps.DssOn)
+ { Get_Sequence_Step_Timeout(VL53L0X_SEQUENCESTEP_MSRC, &msrc_dcc_tcc_timeout_us);
+
+ if (ErrState == VL53L0X_OK) {
+ if (sequence_steps.TccOn)
+ { p_Measure_Time_Budget_us += msrc_dcc_tcc_timeout_us + tcc_overhead_us; }
+
+ if (sequence_steps.DssOn) {
+ p_Measure_Time_Budget_us += 2 * (msrc_dcc_tcc_timeout_us + dss_overhead_us);
+ } else if (sequence_steps.MsrcOn) {
+ p_Measure_Time_Budget_us += msrc_dcc_tcc_timeout_us + msrc_overhead_us;
}
}
}
- if (status == VL53L0X_ERROR_NONE) {
- if (scheduler_sequence_steps.PreRangeOn) {
- status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &pre_range_timeout_us);
- *p_measurement_timing_budget_us +=
- pre_range_timeout_us +
- pre_range_overhead_us;
- }
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- if (scheduler_sequence_steps.FinalRangeOn) {
- status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- &final_range_timeout_us);
- *p_measurement_timing_budget_us +=
- (final_range_timeout_us +
- final_range_overhead_us);
+ if ( (ErrState == VL53L0X_OK) && sequence_steps.PreRangeOn) {
+ Get_Sequence_Step_Timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE, &pre_range_timeout_us);
+ p_Measure_Time_Budget_us += pre_range_timeout_us + pre_range_overhead_us;
+ }
+
+ if (ErrState == VL53L0X_OK) {
+ if (sequence_steps.FinalRangeOn) {
+ Get_Sequence_Step_Timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE, &final_range_timeout_us);
+ p_Measure_Time_Budget_us += (final_range_timeout_us + final_range_overhead_us);
}
}
- if (status == VL53L0X_ERROR_NONE) {
- CurrentParameters.MeasurementTimingBudget_us =
- *p_measurement_timing_budget_us;
- }
-
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_measurement_timing_budget_us(
- uint32_t *p_measurement_timing_budget_us)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- status = wrapped_VL53L0X_get_measurement_timing_budget_us(
- p_measurement_timing_budget_us);
-
- return status;
+ if (ErrState == VL53L0X_OK)
+ { CurrParams.Measure_Time_Budget_us = p_Measure_Time_Budget_us; }
+
+ return p_Measure_Time_Budget_us;
}
-VL53L0X_Error VL53L0X::VL53L0X_get_device_parameters(
- VL53L0X_DeviceParameters_t *p_device_parameters)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- int i;
-
- status = VL53L0X_get_device_mode(&(p_device_parameters->DeviceMode));
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_get_inter_measurement_period_ms(&(p_device_parameters->InterMeasurementPeriod_ms));
-
- if (status == VL53L0X_ERROR_NONE) {
- p_device_parameters->XTalkCompensationEnable = 0; }
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_get_x_talk_compensation_rate_mega_cps(&(p_device_parameters->XTalkCompensationRateMegaCps));
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_get_offsetCallDat_um(&(p_device_parameters->RangeOffsetMicroMeters));
-
- if (status == VL53L0X_ERROR_NONE) {
- for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
- /* get first the values,then the enables.
- * VL53L0X_GetLimitCheckValue will modify the enable
- * flags
- */
- if (status == VL53L0X_ERROR_NONE) {
- status |= VL53L0X_get_limit_check_value(i,&(p_device_parameters->LimitChecksValue[i]));
- } else {
- break;
- }
- if (status == VL53L0X_ERROR_NONE) {
- status |= VL53L0X_get_limit_check_enable(i,
- &(p_device_parameters->LimitChecksEnable[i])); }
+VL53L0X_DeviceParams_t VL53L0X::Get_device_parameters()
+{ VL53L0X_DeviceParams_t device_params = {0};
+ int i;
+
+ if (ErrState != VL53L0X_OK) {return device_params; } // do nothing while in Error State!!!!
+
+ device_params.DeviceMode = CurrParams.DeviceMode;
+ device_params.XTalk_Compens_En = 0;
+ device_params.Offset_Cal_um = Get_Offset_Cal_um();
+
+ Get_measure_period_ms(&(device_params.Measure_Period_ms));
+
+ if (ErrState == VL53L0X_OK)
+ Get_Xtalk_CompRate_MHz(&(device_params.Xtalk_CompRate_MHz));
+
+ if (ErrState == VL53L0X_OK) {
+ for (i = 0; i < VL53L0X_CHECKEN_NUMBER_OF_CHECKS; i++)
+ {/* get first the values,then the enables. GetLimitCheckValue will
+ modify the enable flags */
+ if (ErrState == VL53L0X_OK)
+ { device_params.Limit_Chk_Val[i] = Get_limit_chk_val(i); }
+ else { break; }
+ if (ErrState == VL53L0X_OK)
+ { device_params.Limit_Chk_En[i]= Get_limit_chk_en(i);}
else { break; }
}
}
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_wrap_around_check_enable(&(p_device_parameters->WrapAroundCheckEnable));
- }
-
- /* Need to be done at the end as it uses VCSELPulsePeriod */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_measurement_timing_budget_us(
- &(p_device_parameters->MeasurementTimingBudget_us));
- }
-
- return status;
+ if (ErrState == VL53L0X_OK) {
+ device_params.Wrap_Around_Chk_En = Get_Wrap_Around_Chk_En();}
+
+ /* Need to be done at the end as it uses VCSELPPeriod */
+ if (ErrState == VL53L0X_OK) {
+ device_params.Measure_Time_Budget_us = Get_Measure_Time_Budget_us(); }
+
+ return device_params;
}
-VL53L0X_Error VL53L0X::VL53L0X_set_limit_check_value(uint16_t limit_check_id,
- FixPoint1616_t limit_check_value)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t temp8;
-
- temp8 = CurrentParameters.LimitChecksEnable[limit_check_id];
-
- if (temp8 == 0) { /* disabled write only internal value */
- CurrentParameters.LimitChecksValue[limit_check_id] = limit_check_value;
- } else {
-
+void VL53L0X::Set_limit_chk_val(uint16_t limit_check_id, TFP1616 limit_chk_val)
+{ /* first verify that the ID is within bounds .. */
+ if (limit_check_id>=VL53L0X_CHECKEN_NUMBER_OF_CHECKS)
+ { ErrState = VL53L0X_ERROR_INVALID_PARAMS; return; }
+
+ /* Under all other circumstances store value in local array: */
+ CurrParams.Limit_Chk_Val[limit_check_id] = limit_chk_val;
+
+ /* in addition, if enabled, then write the external ones also to the Registers */
+ if (CurrParams.Limit_Chk_En[ limit_check_id ])
switch (limit_check_id) {
-
- case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
- /* internal computation: */
- CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE] = limit_check_value;
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
- status = VL53L0X_write_word(VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
- VL53L0X_FIXPOINT1616TOFIXPOINT97(limit_check_value));
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
- /* internal computation: */
- CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP] = limit_check_value;
- break;
-
- case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
- /* internal computation: */
- CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD] = limit_check_value;
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
- status = VL53L0X_write_word(VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
- VL53L0X_FIXPOINT1616TOFIXPOINT97(limit_check_value));
+ case VL53L0X_CHECKEN_SIG_RATE_FINAL_RANGE:
+ Write_Word(REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
+ FP1616_TO_FP97(limit_chk_val));
break;
-
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- CurrentParameters.LimitChecksValue[limit_check_id] = limit_check_value;
- }
- }
-
- return status;
+ case VL53L0X_CHECKEN_SIG_RATE_MSRC:
+ case VL53L0X_CHECKEN_SIG_RATE_PRE_RANGE:
+ Write_Word(REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
+ FP1616_TO_FP97(limit_chk_val));
+ break;
+ } // switch
}
-VL53L0X_Error VL53L0X::VL53L0X_data_init()
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_DeviceParameters_t Updated_Curr_Params;
- int i;
-
- /* by default the I2C is running at 1V8 if you want to change it you
- * need to include this define at compilation level. */
-#ifdef USE_I2C_2V8
- Status = VL53L0X_UpdateByte(VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV,
- 0xFE, 0x01);
-#endif
-
- /* Set I2C standard mode */
- if (status == VL53L0X_ERROR_NONE) {status = VL53L0X_write_byte(0x88,0x00);}
- DevSpecParams.ReadDataFromDeviceDone = 0;
- DevSpecParams.ReadDataFromDeviceDone = 0;
-
-#ifdef USE_IQC_STATION
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_apply_offset_adjustment(); }
-#endif
-
- /* Default value is 1000 for Linearity Corrective Gain */
- LinearityCorrectiveGain = 1000;
-
- /* Dmax default Parameter */
- DmaxCalRangeMilliMeter = 400;
- DmaxCalSignalRateRtnMegaCps = (FixPoint1616_t)((0x00016B85)); /* 1.42 No Cover Glass*/
-
- /* Set Default static parameters
- *set first temporary values 9.44MHz * 65536 = 618660 */
- DevSpecParams.OscFrequencyMHz = 618660;
-
- /* Set Default XTalkCompensationRateMegaCps to 0 */
- CurrentParameters.XTalkCompensationRateMegaCps = 0;
-
- /* Get default parameters */
- status = VL53L0X_get_device_parameters(&Updated_Curr_Params);
- if (status == VL53L0X_ERROR_NONE) {
- /* initialize PAL values */
- Updated_Curr_Params.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING;
- Updated_Curr_Params.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED;
- CurrentParameters = Updated_Curr_Params;
+
+
+
+void VL53L0X::Get_interrupt_mask_status(uint32_t *p_interrupt_mask_status)
+{ uint8_t intStat;
+
+ intStat = Read_Byte(REG_RESULT_INTERRUPT_STATUS);
+ *p_interrupt_mask_status = intStat & 0x07;
+ if (intStat & 0x18) { ErrState = VL53L0X_ERROR_RANGE_ERROR; }
+}
+
+uint8_t VL53L0X::Get_Measurement_Ready()
+{ uint8_t sys_range_status_register;
+ uint32_t interrupt_mask;
+
+ if (DevSpecParams.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; }
+ }
+ else
+ { sys_range_status_register = Read_Byte(REG_RESULT_RANGE_STATUS);
+ if ( ( ErrState == VL53L0X_OK ) & (sys_range_status_register & 0x01) )
+ { return 1; } else { return 0; }
}
-
- /* Sigma estimator variable */
- SigmaEstRefArray = 100;
- SigmaEstEffPulseWidth = 900;
- SigmaEstEffAmbWidth = 500;
- targetRefRate = 0x0A00; /* 20 MCPS in 9:7 format */
-
- /* Use internal default settings */
- UseInternalTuningSettings = 1;
-
- status |= VL53L0X_write_byte(0x80,0x01);
- status |= VL53L0X_write_byte(0xFF,0x01);
- status |= VL53L0X_write_byte(0x00,0x00);
- status |= VL53L0X_read_byte (0x91,&StopVariable);
- status |= VL53L0X_write_byte(0x00,0x01);
- status |= VL53L0X_write_byte(0xFF,0x00);
- status |= VL53L0X_write_byte(0x80,0x00);
-
- /* Enable all check */
- for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
- if (status == VL53L0X_ERROR_NONE) {
- status |= VL53L0X_set_limit_check_enable(i,1);
- } else {
- break;
- }
-
- }
-
- /* Disable the following checks */
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,0);
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,0);
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC,0);
-
- if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE,0);
-
- /* Limit default values */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_set_limit_check_value(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- (FixPoint1616_t)(18 * 65536));
- }
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_set_limit_check_value(VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
- (FixPoint1616_t)(25 * 65536 / 100));
- /* 0.25 * 65536 */
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_set_limit_check_value(VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- (FixPoint1616_t)(35 * 65536));
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_set_limit_check_value(VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- (FixPoint1616_t)(0 * 65536));
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- SequenceConfig = 0xFF;
- status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0xFF);
- /* Set PAL state to tell that we are waiting for call to
- * VL53L0X_StaticInit */
- PalState = VL53L0X_STATE_WAIT_STATICINIT;
- }
-
- if (status == VL53L0X_ERROR_NONE) { DevSpecParams.RefSpadsInitialised = 0; }
-
- return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_check_part_used(uint8_t *revision,
- VL53L0X_DeviceInfo_t *p_VL53L0X_device_info)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t module_id_int;
- char *product_id_tmp;
-
- status = VL53L0X_get_info_from_device(2);
-
- if (status == VL53L0X_ERROR_NONE) {
- module_id_int = DevSpecParams.ModuleId;
-
- if (module_id_int == 0) {
- *revision = 0;
- strcpy(p_VL53L0X_device_info->ProductId,"");
- } else {
- *revision = DevSpecParams.Revision;
- product_id_tmp = DevSpecParams.ProductId;
- strcpy(p_VL53L0X_device_info->ProductId,product_id_tmp);
- }
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_device_info(VL53L0X_DeviceInfo_t *p_VL53L0X_device_info)
+void VL53L0X::Polling_delay()
{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t revision_id;
- uint8_t revision;
-
- status = VL53L0X_check_part_used(&revision,p_VL53L0X_device_info);
-
- if (status == VL53L0X_ERROR_NONE) {
- if (revision == 0) {
- strcpy(p_VL53L0X_device_info->Name,
- VL53L0X_STRING_DEVICE_INFO_NAME_TS0);
- } else if ((revision <= 34) && (revision != 32)) {
- strcpy(p_VL53L0X_device_info->Name,
- VL53L0X_STRING_DEVICE_INFO_NAME_TS1);
- } else if (revision < 39) {
- strcpy(p_VL53L0X_device_info->Name,
- VL53L0X_STRING_DEVICE_INFO_NAME_TS2);
- } else {
- strcpy(p_VL53L0X_device_info->Name,
- VL53L0X_STRING_DEVICE_INFO_NAME_ES1);
- }
-
- strcpy(p_VL53L0X_device_info->Type,VL53L0X_STRING_DEVICE_INFO_TYPE);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_byte(VL53L0X_REG_IDENTIFICATION_MODEL_ID,
- &p_VL53L0X_device_info->ProductType);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_byte(VL53L0X_REG_IDENTIFICATION_REVISION_ID,
- &revision_id);
- p_VL53L0X_device_info->ProductRevisionMajor = 1;
- p_VL53L0X_device_info->ProductRevisionMinor =
- (revision_id & 0xF0) >> 4;
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_interrupt_mask_status(uint32_t *p_interrupt_mask_status)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t intStat;
-
- status = VL53L0X_read_byte(VL53L0X_REG_RESULT_INTERRUPT_STATUS,&intStat);
- *p_interrupt_mask_status = intStat & 0x07;
-
- if (intStat & 0x18) { status = VL53L0X_ERROR_RANGE_ERROR; }
-
- return status;
+ // do nothing VL53L0X_OsDelay();
}
-VL53L0X_Error VL53L0X::VL53L0X_get_measurement_data_ready(uint8_t *p_measurement_data_ready)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sys_range_status_register;
- uint8_t interrupt_config;
- uint32_t interrupt_mask;
-
- interrupt_config = DevSpecParams.Pin0GpioFunctionality;
-
- if (interrupt_config ==
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
- status = VL53L0X_get_interrupt_mask_status(&interrupt_mask);
- if (interrupt_mask ==
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
- *p_measurement_data_ready = 1;
- } else {
- *p_measurement_data_ready = 0;
- }
- } else {
- status = VL53L0X_read_byte(VL53L0X_REG_RESULT_RANGE_STATUS,
- &sys_range_status_register);
- if (status == VL53L0X_ERROR_NONE) {
- if (sys_range_status_register & 0x01) {
- *p_measurement_data_ready = 1;
- } else {
- *p_measurement_data_ready = 0;
- }
- }
- }
- return status;
+void VL53L0X::Poll_Measure_Completion()
+{ uint8_t new_data_ready;
+ uint32_t loop_nb = 0;
+
+ if (ErrState != VL53L0X_OK) { return; } // Do nothing if not Cleared error
+
+ new_data_ready = Get_Measurement_Ready();
+
+ while ((ErrState==0) && (new_data_ready != 1) )
+ { Polling_delay();
+ new_data_ready = Get_Measurement_Ready();
+ if (loop_nb++ >= VL53L0X_DEFAULT_MAX_LOOP) ErrState=VL53L0X_ERROR_TIME_OUT;
+ } // while ;
}
-VL53L0X_Error VL53L0X::VL53L0X_polling_delay()
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- // do nothing VL53L0X_OsDelay();
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_measurement_poll_for_completion()
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t new_data_ready = 0;
- uint32_t loop_nb;
-
- loop_nb = 0;
-
- status = VL53L0X_get_measurement_data_ready(&new_data_ready);
-
- while ((status==0) && (new_data_ready != 1) &&
- (loop_nb < VL53L0X_DEFAULT_MAX_LOOP) )
- {
- VL53L0X_polling_delay();
- status = VL53L0X_get_measurement_data_ready(&new_data_ready);
- loop_nb++;
- } // while ;
-
- if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) status = VL53L0X_ERROR_TIME_OUT;
-
- return status;
-}
-
-/* Group PAL Interrupt Functions */
-VL53L0X_Error VL53L0X::VL53L0X_clear_interrupt_mask(uint32_t interrupt_mask)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t loop_count;
+/* Group Device Interrupt Functions */
+void VL53L0X::Clear_interrupt_mask(uint32_t interrupt_mask)
+{ uint8_t loop_count = 0;
uint8_t byte;
+ if (ErrState != VL53L0X_OK) { return; } // Do nothing if not Cleared error
+
/* clear bit 0 range interrupt,bit 1 error interrupt */
- loop_count = 0;
do {
- status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR,0x01);
- status |= VL53L0X_write_byte(VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR,0x00);
- status |= VL53L0X_read_byte(VL53L0X_REG_RESULT_INTERRUPT_STATUS,&byte);
- loop_count++;
- } while (((byte & 0x07) != 0x00)
- && (loop_count < 3)
- && (status == VL53L0X_ERROR_NONE));
-
- if (loop_count >= 3) {
- status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED;
- }
-
- return status;
+ Write_Byte(REG_SYSINT_CLEAR,0x01);
+ Write_Byte(REG_SYSINT_CLEAR,0x00);
+ byte = Read_Byte(REG_RESULT_INTERRUPT_STATUS);
+ if (loop_count++ > 3) {ErrState =VL53L0X_ERROR_INTERRUPT_NOT_CLEARED;}
+ } while (((byte & 0x07) != 0x00) && (ErrState == VL53L0X_OK));
+
}
-VL53L0X_Error VL53L0X::VL53L0X_perform_single_ref_calibration(uint8_t vhv_init_byte)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(VL53L0X_REG_SYSRANGE_START,
- VL53L0X_REG_SYSRANGE_MODE_START_STOP |
- vhv_init_byte);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_measurement_poll_for_completion();
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_clear_interrupt_mask(0);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(VL53L0X_REG_SYSRANGE_START,0x00);
- }
-
- return status;
+void VL53L0X::Perf_single_Ref_calibration(uint8_t vhv_init_byte)
+{ if (ErrState != VL53L0X_OK) {return; } // no activity while in Error State!!!!
+ Write_Byte(REG_SYSRANGE_START, REG_SYSRANGE_MODE_START_STOP | vhv_init_byte);
+ Poll_Measure_Completion();
+ Clear_interrupt_mask(0);
+ Write_Byte(REG_SYSRANGE_START,0x00);
}
-VL53L0X_Error VL53L0X::VL53L0X_ref_calibration_io(uint8_t read_not_write,
+void VL53L0X::Ref_calibration_io(uint8_t read_not_write,
uint8_t vhv_settings,uint8_t phase_cal,
uint8_t *p_vhv_settings,uint8_t *p_phase_cal,
const uint8_t vhv_enable,const uint8_t phase_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t phase_calint = 0;
+{ uint8_t phase_calint = 0;
/* Read VHV from device */
- status |= VL53L0X_write_byte(0xFF,0x01);
- status |= VL53L0X_write_byte(0x00,0x00);
- status |= VL53L0X_write_byte(0xFF,0x00);
+ Write_Byte(0xFF,0x01);
+ Write_Byte(0x00,0x00);
+ Write_Byte(0xFF,0x00);
if (read_not_write) {
- if (vhv_enable) {
- status |= VL53L0X_read_byte(0xCB,p_vhv_settings);
- }
- if (phase_enable) {
- status |= VL53L0X_read_byte(0xEE,&phase_calint);
- }
- } else {
- if (vhv_enable) {
- status |= VL53L0X_write_byte(0xCB,vhv_settings);
- }
- if (phase_enable) {
- status |= VL53L0X_update_byte(0xEE,0x80,phase_cal);
- }
- }
-
- status |= VL53L0X_write_byte(0xFF,0x01);
- status |= VL53L0X_write_byte(0x00,0x01);
- status |= VL53L0X_write_byte(0xFF,0x00);
+ if (vhv_enable ) { *p_vhv_settings = Read_Byte(0xCB); }
+ if (phase_enable) { phase_calint = Read_Byte(0xEE); }
+ }
+ else {
+ if (vhv_enable ) { Write_Byte(0xCB,vhv_settings); }
+ if (phase_enable) { Register_BitMask(0xEE,0x80,phase_cal); }
+ }
+
+ Write_Byte(0xFF,0x01);
+ Write_Byte(0x00,0x01);
+ Write_Byte(0xFF,0x00);
*p_phase_cal = (uint8_t)(phase_calint & 0xEF);
-
- return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_perform_vhv_calibration(uint8_t *p_vhv_settings,const uint8_t get_data_enable,
- const uint8_t restore_config)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sequence_config = 0;
+void VL53L0X::Perf_vhv_calibration(uint8_t *p_vhv_settings,
+ const uint8_t get_data_enable, const uint8_t restore_config)
+{ uint8_t orig_sequence_config = 0;
uint8_t vhv_settings = 0;
uint8_t phase_cal = 0;
uint8_t phase_cal_int = 0;
/* store the value of the sequence config,
- * this will be reset before the end of the function
- */
- if (restore_config) {sequence_config = SequenceConfig;}
+ * this will be reset before the end of the function */
+ orig_sequence_config = SequenceConfig;
/* Run VHV */
- status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,0x01);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_perform_single_ref_calibration(0x40);
- }
+ Set_SequenceConfig( 0x01 );
+ Perf_single_Ref_calibration(0x40);
/* Read VHV from device */
- if ((status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) {
- status = VL53L0X_ref_calibration_io(1,
- vhv_settings,phase_cal,/* Not used here */
- p_vhv_settings,&phase_cal_int,
- 1,0);
- } else {
- *p_vhv_settings = 0;
- }
-
- if ((status == VL53L0X_ERROR_NONE) && restore_config) {
- /* restore the previous Sequence Config */
- status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- sequence_config);
- if (status == VL53L0X_ERROR_NONE) {
- SequenceConfig = sequence_config;
- }
- }
-
- return status;
+ if ((ErrState == VL53L0X_OK) && (get_data_enable == 1))
+ { Ref_calibration_io(1,vhv_settings,phase_cal,/* Not used here */
+ p_vhv_settings,&phase_cal_int, 1,0); }
+ else { *p_vhv_settings = 0; }
+
+ if (restore_config) { /* restore the previous Sequence Config */
+ Set_SequenceConfig( orig_sequence_config ); } // checks for ErrState
}
-VL53L0X_Error VL53L0X::VL53L0X_perform_phase_calibration(uint8_t *p_phase_cal,const uint8_t get_data_enable,
+void VL53L0X::Perf_phase_calibration(uint8_t *p_phase_cal,const uint8_t get_data_enable,
const uint8_t restore_config)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sequence_config = 0;
+{ uint8_t orig_sequence_config;
uint8_t vhv_settings = 0;
uint8_t phase_cal = 0;
uint8_t vhv_settingsint;
- /* store the value of the sequence config,
- * this will be reset before the end of the function
- */
- if (restore_config) { sequence_config = SequenceConfig; }
-
- /* Run PhaseCal */
- status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,0x02);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_perform_single_ref_calibration(0x0);
- }
+ if (ErrState != VL53L0X_OK) { return; } // Do nothing if not Cleared error
+
+ /* store the value of the sequence config, this will be reset before the end of the function */
+ orig_sequence_config = SequenceConfig;
+
+ /* Run PhaseCal: */
+ Set_SequenceConfig( 0x02 ); // sets REG_SYSTEM_SEQUENCE_CONFIG
+ Perf_single_Ref_calibration(0x0);
/* Read PhaseCal from device */
- if ((status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) {
- status = VL53L0X_ref_calibration_io(1,
- vhv_settings,phase_cal,/* Not used here */
- &vhv_settingsint,p_phase_cal,
- 0,1);
- } else {
- *p_phase_cal = 0;
- }
-
- if ((status == VL53L0X_ERROR_NONE) && restore_config) {
- /* restore the previous Sequence Config */
- status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- sequence_config);
- if (status == VL53L0X_ERROR_NONE) {
- SequenceConfig = sequence_config;
- }
- }
-
- return status;
+ if ((ErrState == VL53L0X_OK) && (get_data_enable == 1))
+ { Ref_calibration_io(1,vhv_settings,phase_cal,/* Not used here */
+ &vhv_settingsint,p_phase_cal, 0,1); }
+ else { *p_phase_cal = 0; }
+
+ if (restore_config) { /* restore the previous Sequence Config */
+ Set_SequenceConfig( orig_sequence_config ); }
}
-VL53L0X_Error VL53L0X::VL53L0X_perform_ref_calibration(uint8_t *p_vhv_settings,
+void VL53L0X::Perf_Ref_calibration(uint8_t *p_vhv_settings,
uint8_t *p_phase_cal, uint8_t get_data_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sequence_config = 0;
+{ uint8_t orig_sequence_config;
/* store the value of the sequence config,
* this will be reset before the end of the function */
- sequence_config = SequenceConfig;
+ orig_sequence_config = SequenceConfig;
/* In the following function we don't save the config to optimize
* writes on device. Config is saved and restored only once. */
- status = VL53L0X_perform_vhv_calibration(p_vhv_settings,get_data_enable,0);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_perform_phase_calibration(p_phase_cal,get_data_enable,0);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- /* restore the previous Sequence Config */
- status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- sequence_config);
- if (status == VL53L0X_ERROR_NONE) {
- SequenceConfig = sequence_config; }
- }
- return status;
+ Perf_vhv_calibration(p_vhv_settings,get_data_enable,0);
+ Perf_phase_calibration(p_phase_cal,get_data_enable,0);
+
+ /* restore the previous Sequence Config */
+ Set_SequenceConfig( orig_sequence_config ); // sets REG_SYSTEM_SEQUENCE_CONFIG
}
-void VL53L0X::get_next_good_spad(uint8_t good_spad_array[],uint32_t size,
+void VL53L0X::Get_Next_Good_SPAD(uint8_t good_SPAD_array[],uint32_t size,
uint32_t curr,int32_t *p_next)
{ uint32_t start_index;
uint32_t fine_offset;
- uint32_t c_spads_per_byte = 8;
+ uint32_t c_SPADS_per_byte = 8;
uint32_t coarse_index;
uint32_t fine_index;
uint8_t data_byte;
uint8_t success = 0;
- /* Starting with the current good spad,loop through the array to find
+ /* Starting with the current good SPAD,loop through the array to find
* the next. i.e. the next bit set in the sequence.
- *
* The coarse index is the byte index of the array and the fine index is
- * the index of the bit within each byte.
- */
-
+ * the index of the bit within each byte. */
*p_next = -1;
- start_index = curr / c_spads_per_byte;
- fine_offset = curr % c_spads_per_byte;
+ start_index = curr / c_SPADS_per_byte;
+ fine_offset = curr % c_SPADS_per_byte;
for (coarse_index = start_index; ((coarse_index < size) && !success);
coarse_index++) {
fine_index = 0;
- data_byte = good_spad_array[coarse_index];
+ data_byte = good_SPAD_array[coarse_index];
if (coarse_index == start_index) {
/* locate the bit position of the provided current
- * spad bit before iterating */
+ * SPAD bit before iterating */
data_byte >>= fine_offset;
fine_index = fine_offset;
}
- while (fine_index < c_spads_per_byte) {
+ while (fine_index < c_SPADS_per_byte) {
if ((data_byte & 0x1) == 1) {
success = 1;
- *p_next = coarse_index * c_spads_per_byte + fine_index;
+ *p_next = coarse_index * c_SPADS_per_byte + fine_index;
break;
}
data_byte >>= 1;
@@ -1773,192 +953,124 @@
}
}
-uint8_t VL53L0X::is_aperture(uint32_t spad_index)
-{
- /*
- * This function reports if a given spad index is an aperture SPAD by
- * deriving the quadrant.
- */
- uint32_t quadrant;
- uint8_t is_aperture = 1;
- quadrant = spad_index >> 6;
- if (refArrayQuadrants[quadrant] == REF_ARRAY_SPAD_0) {
- is_aperture = 0;
- }
- return is_aperture;
-}
-
-VL53L0X_Error VL53L0X::enable_spad_bit(uint8_t spad_array[],uint32_t size,
- uint32_t spad_index)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t c_spads_per_byte = 8;
+void VL53L0X::Enable_SPAD_bit(uint8_t SPAD_array[],uint32_t size,uint32_t SPAD_index)
+{ uint32_t c_SPADS_per_byte = 8;
uint32_t coarse_index;
uint32_t fine_index;
- coarse_index = spad_index / c_spads_per_byte;
- fine_index = spad_index % c_spads_per_byte;
- if (coarse_index >= size) {
- status = VL53L0X_ERROR_REF_SPAD_INIT;
- } else {
- spad_array[coarse_index] |= (1 << fine_index);
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::set_ref_spad_map(uint8_t *p_ref_spad_array)
-{
- VL53L0X_Error status = VL53L0X_write_multi(VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
- p_ref_spad_array,6);
- return status;
-}
-
-VL53L0X_Error VL53L0X::get_ref_spad_map(uint8_t *p_ref_spad_array)
-{
- VL53L0X_Error status = VL53L0X_read_multi(VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
- p_ref_spad_array,
- 6);
- return status;
+ coarse_index = SPAD_index / c_SPADS_per_byte;
+ fine_index = SPAD_index % c_SPADS_per_byte;
+ if (coarse_index >= size) { ErrState = VL53L0X_ERROR_REF_SPAD_INIT; }
+ else { SPAD_array[coarse_index] |= (1 << fine_index); }
}
-VL53L0X_Error VL53L0X::enable_ref_spads(uint8_t aperture_spads,
- uint8_t good_spad_array[],
- uint8_t spad_array[],
- uint32_t size,
- uint32_t start,
- uint32_t offset,
- uint32_t spad_count,
- uint32_t *p_last_spad)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t index;
+void VL53L0X::Enable_Ref_SPADS( uint8_t aperture_SPADS, uint8_t good_SPAD_array[],
+ uint8_t SPAD_array[], uint32_t size, uint32_t start, uint32_t offset,
+ uint32_t SPAD_count, uint32_t *p_last_SPAD )
+{ uint32_t index;
uint32_t i;
- int32_t next_good_spad = offset;
- uint32_t current_spad;
- uint8_t check_spad_array[6];
-
- /*
- * This function takes in a spad array which may or may not have SPADS
+ int32_t next_good_SPAD = offset;
+ uint32_t current_SPAD;
+ uint8_t check_SPAD_array[6];
+
+ /* This function takes in a SPAD array which may or may not have SPADS
* already enabled and appends from a given offset a requested number
- * of new SPAD enables. The 'good spad map' is applied to
- * determine the next SPADs to enable.
+ * of new SPAD enables. The 'good SPAD map' is applied to
+ * determine the next SPADS to enable.
*
- * This function applies to only aperture or only non-aperture spads.
+ * This function applies to only aperture or only non-aperture SPADS.
* Checks are performed to ensure this.
*/
- current_spad = offset;
- for (index = 0; index < spad_count; index++) {
- get_next_good_spad(good_spad_array,size,current_spad,
- &next_good_spad);
-
- if (next_good_spad == -1) {
- status = VL53L0X_ERROR_REF_SPAD_INIT;
- break;
- }
+ current_SPAD = offset;
+ for (index = 0; index < SPAD_count; index++) {
+ Get_Next_Good_SPAD(good_SPAD_array,size,current_SPAD, &next_good_SPAD);
+
+ if (next_good_SPAD == -1)
+ { ErrState = VL53L0X_ERROR_REF_SPAD_INIT;
+ break; }
+
/* Confirm that the next good SPAD is non-aperture */
- if (is_aperture(start + next_good_spad) != aperture_spads) {
+ if (Is_ApertureSPAD(start + next_good_SPAD) != aperture_SPADS) {
/* if we can't get the required number of good aperture
- * spads from the current quadrant then this is an error
- */
- status = VL53L0X_ERROR_REF_SPAD_INIT;
- break;
- }
- current_spad = (uint32_t)next_good_spad;
- enable_spad_bit(spad_array,size,current_spad);
- current_spad++;
+ * SPADS from the current quadrant then this is an error */
+ ErrState = VL53L0X_ERROR_REF_SPAD_INIT;
+ break;}
+
+ current_SPAD = (uint32_t)next_good_SPAD;
+ Enable_SPAD_bit(SPAD_array,size,current_SPAD);
+ current_SPAD++;
}
- *p_last_spad = current_spad;
-
- if (status == VL53L0X_ERROR_NONE) {
- status = set_ref_spad_map(spad_array); }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = get_ref_spad_map(check_spad_array);
+ *p_last_SPAD = current_SPAD;
+
+ if (ErrState == VL53L0X_OK)
+ { I2c_Write(REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0, SPAD_array,6); } // set_Ref_SPAD_map()
+
+ if (ErrState == VL53L0X_OK) {
+ // Get the ref_SPAD_map from the device
+ I2c_Read(REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,check_SPAD_array,6);
+
+ /* Compare SPAD maps. If not equal report error. */
i = 0;
-
- /* Compare spad maps. If not equal report error. */
while (i < size) {
- if (spad_array[i] != check_spad_array[i]) {
- status = VL53L0X_ERROR_REF_SPAD_INIT;
+ if (SPAD_array[i] != check_SPAD_array[i]) {
+ ErrState = VL53L0X_ERROR_REF_SPAD_INIT;
break;
}
i++;
}
}
- return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_set_device_mode(VL53L0X_DeviceModes device_mode)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
+void VL53L0X::Set_device_mode(VL53L0X_DeviceModes device_mode)
+{ if (ErrState != VL53L0X_OK) {return; } // no reaction while in Error State!!!!
switch (device_mode) {
case VL53L0X_DEVICEMODE_SINGLE_RANGING:
case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
case VL53L0X_DEVICEMODE_GPIO_DRIVE:
- case VL53L0X_DEVICEMODE_GPIO_OSC:
- /* Supported modes */
- CurrentParameters.DeviceMode = device_mode;
+ case VL53L0X_DEVICEMODE_GPIO_OSC: /* Supported modes */
+ CurrParams.DeviceMode = device_mode;
break;
- default:
- /* Unsupported mode */
- status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
+ default: /* Unsupported mode */
+ ErrState = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
}
-
- return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_set_interrupt_thresholds(VL53L0X_DeviceModes device_mode,FixPoint1616_t threshold_low,
- FixPoint1616_t threshold_high)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint16_t threshold16;
-
+void VL53L0X::Set_interrupt_thresholds(VL53L0X_DeviceModes device_mode,TFP1616 threshold_low,
+ TFP1616 threshold_high)
+{ uint16_t threshold16;
/* no dependency on DeviceMode for FlightSense */
/* Need to divide by 2 because the FW will apply a x2 */
threshold16 = (uint16_t)((threshold_low >> 17) & 0x00fff);
- status = VL53L0X_write_word(VL53L0X_REG_SYSTEM_THRESH_LOW,threshold16);
-
- if (status == VL53L0X_ERROR_NONE) {
- /* Need to divide by 2 because the FW will apply a x2 */
- threshold16 = (uint16_t)((threshold_high >> 17) & 0x00fff);
- status = VL53L0X_write_word(VL53L0X_REG_SYSTEM_THRESH_HIGH,threshold16);
- }
-
- return status;
+ Write_Word(REG_SYSTEM_THRESH_LOW,threshold16);
+
+ /* Need to divide by 2 because the FW will apply a x2 */
+ threshold16 = (uint16_t)((threshold_high >> 17) & 0x00fff);
+ Write_Word(REG_SYSTEM_THRESH_HIGH,threshold16);
}
-VL53L0X_Error VL53L0X::VL53L0X_get_interrupt_thresholds(VL53L0X_DeviceModes device_mode,FixPoint1616_t *p_threshold_low,
- FixPoint1616_t *p_threshold_high)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint16_t threshold16;
+void VL53L0X::Get_interrupt_thresholds(VL53L0X_DeviceModes device_mode,TFP1616 *p_threshold_low,
+ TFP1616 *p_threshold_high)
+{ uint16_t threshold16;
/* no dependency on DeviceMode for FlightSense */
- status = VL53L0X_read_word(VL53L0X_REG_SYSTEM_THRESH_LOW,&threshold16);
+ threshold16 = Read_Word(REG_SYSTEM_THRESH_LOW);
/* Need to multiply by 2 because the FW will apply a x2 */
- *p_threshold_low = (FixPoint1616_t)((0x00fff & threshold16) << 17);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_word(VL53L0X_REG_SYSTEM_THRESH_HIGH,
- &threshold16);
+ *p_threshold_low = (TFP1616)((0x00fff & threshold16) << 17);
+
+ if (ErrState == VL53L0X_OK) {
+ threshold16 = Read_Word(REG_SYSTEM_THRESH_HIGH);
/* Need to multiply by 2 because the FW will apply a x2 */
- *p_threshold_high =
- (FixPoint1616_t)((0x00fff & threshold16) << 17);
+ *p_threshold_high = (TFP1616)((0x00fff & threshold16) << 17);
}
-
- return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_load_tuning_settings(uint8_t *p_tuning_setting_buffer)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- int i;
+void VL53L0X::Load_tuning_settings(uint8_t *p_tuning_setting_buffer)
+{ int i;
int index;
uint8_t msb;
uint8_t lsb;
@@ -1971,7 +1083,7 @@
index = 0;
while ((*(p_tuning_setting_buffer + index) != 0) &&
- (status == VL53L0X_ERROR_NONE)) {
+ (ErrState == VL53L0X_OK)) {
number_of_writes = *(p_tuning_setting_buffer + index);
index++;
if (number_of_writes == 0xFF) {
@@ -2012,263 +1124,172 @@
targetRefRate = temp16;
break;
default: /* invalid parameter */
- status = VL53L0X_ERROR_INVALID_PARAMS;
+ ErrState = VL53L0X_ERROR_INVALID_PARAMS;
}
} else if (number_of_writes <= 4) {
address = *(p_tuning_setting_buffer + index);
index++;
-
for (i = 0; i < number_of_writes; i++) {
- local_buffer[i] = *(p_tuning_setting_buffer +
- index);
+ local_buffer[i] = *(p_tuning_setting_buffer + index);
index++;
}
-
- status = VL53L0X_write_multi(address,local_buffer,
- number_of_writes);
-
+ I2c_Write(address,local_buffer,number_of_writes);
} else {
- status = VL53L0X_ERROR_INVALID_PARAMS;
+ ErrState = VL53L0X_ERROR_INVALID_PARAMS;
}
}
+}
+
+void VL53L0X::Check_and_load_interrupt_settings(uint8_t start_not_stopflag)
+{ uint8_t interrupt_config;
+ TFP1616 threshold_low;
+ TFP1616 threshold_high;
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_check_and_load_interrupt_settings(uint8_t start_not_stopflag)
-{
- uint8_t interrupt_config;
- FixPoint1616_t threshold_low;
- FixPoint1616_t threshold_high;
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- interrupt_config = DevSpecParams.Pin0GpioFunctionality;
-
- if ((interrupt_config ==
- VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) ||
- (interrupt_config ==
- VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) ||
- (interrupt_config ==
- VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) {
-
- status = VL53L0X_get_interrupt_thresholds(VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
+ if (ErrState != VL53L0X_OK) { return; } // Do nothing if not Cleared error
+
+ interrupt_config = DevSpecParams.GpioFunctionality;
+
+ if ((interrupt_config == GPIO_FUNC_THRESHOLD_CROSSED_LOW ) ||
+ (interrupt_config == GPIO_FUNC_THRESHOLD_CROSSED_HIGH) ||
+ (interrupt_config == GPIO_FUNC_THRESHOLD_CROSSED_OUT )) {
+ Get_interrupt_thresholds(VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
&threshold_low,&threshold_high);
- if (((threshold_low > 255 * 65536) ||
- (threshold_high > 255 * 65536)) &&
- (status == VL53L0X_ERROR_NONE)) {
-
- if (start_not_stopflag != 0) {
- status = VL53L0X_load_tuning_settings(InterruptThresholdSettings);
- } else {
- status |= VL53L0X_write_byte(0xFF,0x04);
- status |= VL53L0X_write_byte(0x70,0x00);
- status |= VL53L0X_write_byte(0xFF,0x00);
- status |= VL53L0X_write_byte(0x80,0x00);
- }
+ if (((threshold_low > 255 * 65536) || (threshold_high > 255 * 65536)) &&
+ (ErrState == VL53L0X_OK))
+ { if (start_not_stopflag != 0)
+ {Load_tuning_settings(InterruptThresholdSettings); }
+ else
+ {Write_Byte(0xFF,0x04);
+ Write_Byte(0x70,0x00);
+ Write_Byte(0xFF,0x00);
+ Write_Byte(0x80,0x00);
+ }
}
}
-
- return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_start_measurement()
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_DeviceModes device_mode;
+void VL53L0X::Start_Measurement()
+{ VL53L0X_DeviceModes device_mode;
uint8_t byte;
- uint8_t start_stop_byte = VL53L0X_REG_SYSRANGE_MODE_START_STOP;
+ uint8_t start_stop_byte = REG_SYSRANGE_MODE_START_STOP;
uint32_t loop_nb;
+ if (ErrState != VL53L0X_OK) {return; } // no activity while in Error State!!!!
+
/* Get Current DeviceMode */
- VL53L0X_get_device_mode(&device_mode);
-
- status = VL53L0X_write_byte(0x80,0x01);
- status = VL53L0X_write_byte(0xFF,0x01);
- status = VL53L0X_write_byte(0x00,0x00);
- status = VL53L0X_write_byte(0x91,StopVariable);
- status = VL53L0X_write_byte(0x00,0x01);
- status = VL53L0X_write_byte(0xFF,0x00);
- status = VL53L0X_write_byte(0x80,0x00);
+ device_mode = CurrParams.DeviceMode;
+
+ Write_Byte(0x80,0x01);
+ Write_Byte(0xFF,0x01);
+ Write_Byte(0x00,0x00);
+ Write_Byte(0x91,StopVariable);
+ Write_Byte(0x00,0x01);
+ Write_Byte(0xFF,0x00);
+ Write_Byte(0x80,0x00);
switch (device_mode) {
case VL53L0X_DEVICEMODE_SINGLE_RANGING:
- status = VL53L0X_write_byte(VL53L0X_REG_SYSRANGE_START,0x01);
+ Write_Byte(REG_SYSRANGE_START,0x01);
byte = start_stop_byte;
- if (status == VL53L0X_ERROR_NONE) {
+ if (ErrState == VL53L0X_OK) {
/* Wait until start bit has been cleared */
loop_nb = 0;
do {
if (loop_nb > 0)
- status = VL53L0X_read_byte(VL53L0X_REG_SYSRANGE_START,&byte);
+ byte = Read_Byte(REG_SYSRANGE_START);
loop_nb = loop_nb + 1;
} while (((byte & start_stop_byte) == start_stop_byte)
- && (status == VL53L0X_ERROR_NONE)
+ && (ErrState == VL53L0X_OK)
&& (loop_nb < VL53L0X_DEFAULT_MAX_LOOP));
if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
- status = VL53L0X_ERROR_TIME_OUT;
+ ErrState = VL53L0X_ERROR_TIME_OUT;
}
-
- }
-
- break;
- case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
- /* Back-to-back mode */
- /* Check if need to apply interrupt settings */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_check_and_load_interrupt_settings(1);
- }
-
- status = VL53L0X_write_byte(VL53L0X_REG_SYSRANGE_START,
- VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK);
- if (status == VL53L0X_ERROR_NONE) {
- /* Set PAL State to Running */
- PalState = VL53L0X_STATE_RUNNING;
}
break;
+
+ case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
+ /* Back-to-back mode, Check if need to apply interrupt settings */
+ Check_and_load_interrupt_settings(1);
+ Write_Byte(REG_SYSRANGE_START,REG_SYSRANGE_MODE_BACKTOBACK);
+ Set_Current_State( VL53L0X_STATE_RUNNING );
+ break;
case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
- /* Continuous mode */
- /* Check if need to apply interrupt settings */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_check_and_load_interrupt_settings(1);
- }
-
- status = VL53L0X_write_byte(VL53L0X_REG_SYSRANGE_START,
- VL53L0X_REG_SYSRANGE_MODE_TIMED);
-
- if (status == VL53L0X_ERROR_NONE) {
- /* Set PAL State to Running */
- PalState = VL53L0X_STATE_RUNNING;
- }
+ /* Continuous mode; Check if need to apply interrupt settings */
+ Check_and_load_interrupt_settings(1);
+ Write_Byte(REG_SYSRANGE_START, REG_SYSRANGE_MODE_TIMED);
+ Set_Current_State( VL53L0X_STATE_RUNNING );
break;
default:
/* Selected mode not supported */
- status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
+ ErrState = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
}
-
- return status;
}
-/* Group PAL Measurement Functions */
-VL53L0X_Error VL53L0X::VL53L0X_perform_single_measurement()
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_DeviceModes device_mode;
+/* Group Device Measurement Functions */
+void VL53L0X::Perf_single_measurement()
+{ VL53L0X_DeviceModes device_mode;
+
+ if (ErrState != VL53L0X_OK) {return; } // no activity while in Error State!!!!
/* Get Current DeviceMode */
- status = VL53L0X_get_device_mode(&device_mode);
+ device_mode = CurrParams.DeviceMode;
/* Start immediately to run a single ranging measurement in case of
* single ranging or single histogram */
- if (status == VL53L0X_ERROR_NONE
- && device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING) {
- status = VL53L0X_start_measurement();
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_measurement_poll_for_completion();
- }
-
- /* Change PAL State in case of single ranging or single histogram */
- if (status == VL53L0X_ERROR_NONE
- && device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING) {
- PalState = VL53L0X_STATE_IDLE;
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_x_talk_compensation_enable(uint8_t *p_x_talk_compensation_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t temp8;
-
- temp8 = CurrentParameters.XTalkCompensationEnable;
- *p_x_talk_compensation_enable = temp8;
-
- return status;
+ if (device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING) {Start_Measurement();}
+
+ Poll_Measure_Completion();
+
+ /* Change Device State in case of single ranging or single histogram */
+ if (device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING)
+ { Set_Current_State( VL53L0X_STATE_IDLE ); }
}
-VL53L0X_Error VL53L0X::VL53L0X_get_total_xtalk_rate(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_total_xtalk_rate_mcps)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- uint8_t xtalk_comp_enable;
- FixPoint1616_t total_xtalk_mega_cps;
- FixPoint1616_t xtalk_per_spad_mega_cps;
-
- *p_total_xtalk_rate_mcps = 0;
-
- status = VL53L0X_get_x_talk_compensation_enable(&xtalk_comp_enable);
- if (status == VL53L0X_ERROR_NONE) {
-
- if (xtalk_comp_enable) {
-
- xtalk_per_spad_mega_cps = CurrentParameters.XTalkCompensationRateMegaCps;
-
- /* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */
- total_xtalk_mega_cps =
- p_ranging_measurement_data->EffectiveSpadRtnCount *
- xtalk_per_spad_mega_cps;
-
- /* FixPoint0824 >> 8 = FixPoint1616 */
- *p_total_xtalk_rate_mcps =
- (total_xtalk_mega_cps + 0x80) >> 8;
- }
- }
-
- return status;
+TFP1616 VL53L0X::Get_total_xtalk_rate(TRangeResults *p_ranging_results)
+{ TFP1616 total_xtalk_MHz;
+
+ // CurrParams.XTalk_Compens_En was Get_xtalk_compensation_enable
+ if ( (ErrState == VL53L0X_OK) & (CurrParams.XTalk_Compens_En ) )
+ { /* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */
+ total_xtalk_MHz = p_ranging_results->EffectiveSPADRtnCount *
+ CurrParams.Xtalk_CompRate_MHz;
+
+ /* FixPoint0824 >> 8 = FixPoint1616 */
+ return (total_xtalk_MHz + 0x80) >> 8;
+ }
+ else { return 0; }
}
-VL53L0X_Error VL53L0X::VL53L0X_get_total_signal_rate(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_total_signal_rate_mcps)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- FixPoint1616_t total_xtalk_mega_cps;
+void VL53L0X::Get_total_SIG_rate(TRangeResults *p_ranging_results,
+ TFP1616 *p_total_SIG_rate_mcps)
+{ TFP1616 total_xtalk_MHz;
+
+ *p_total_SIG_rate_mcps = p_ranging_results->SignalRateRtnMHz;
+ total_xtalk_MHz = Get_total_xtalk_rate(p_ranging_results);
- *p_total_signal_rate_mcps =
- p_ranging_measurement_data->SignalRateRtnMegaCps;
-
- status = VL53L0X_get_total_xtalk_rate(p_ranging_measurement_data,&total_xtalk_mega_cps);
-
- if (status == VL53L0X_ERROR_NONE) {
- *p_total_signal_rate_mcps += total_xtalk_mega_cps;
- }
-
- return status;
+ if (ErrState == VL53L0X_OK) { *p_total_SIG_rate_mcps += total_xtalk_MHz;}
}
/* To convert ms into register value */
-uint32_t VL53L0X::VL53L0X_calc_timeout_mclks(uint32_t timeout_period_us,
+uint32_t VL53L0X::Calc_timeout_mclks(uint32_t timeout_period_us,
uint8_t vcsel_period_pclks)
-{
- uint32_t macro_period_ps;
- uint32_t macro_period_ns;
- uint32_t timeout_period_mclks = 0;
-
- macro_period_ps = VL53L0X_calc_macro_period_ps(vcsel_period_pclks);
- macro_period_ns = (macro_period_ps + 500) / 1000;
-
- timeout_period_mclks =
- (uint32_t)(((timeout_period_us * 1000)
- + (macro_period_ns / 2)) / macro_period_ns);
-
- return timeout_period_mclks;
+{ uint32_t macro_period_ns;
+
+ macro_period_ns = (uint32_t)(vcsel_period_pclks) * VL53L0X_MACRO_PERIOD_NS;
+
+ return (uint32_t)(((timeout_period_us * 1000)
+ + (macro_period_ns / 2)) / macro_period_ns);
}
-uint32_t VL53L0X::VL53L0X_isqrt(uint32_t num)
-{
- /* Implements an integer square root
- * From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
- */
-
+uint32_t VL53L0X::ISQRT(uint32_t num)
+{ /* Implements an integer square root
+ * From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots */
uint32_t res = 0;
uint32_t bit = 1 << 30;
- /* The second-to-top bit is set:
- * 1 << 14 for 16-bits,1 << 30 for 32 bits */
+ /* The second-to-top bit is set: 1 << 14 for 16-bits,1 << 30 for 32 bits */
/* "bit" starts at the highest power of four <= the argument. */
while (bit > num) { bit >>= 2; }
@@ -2277,116 +1298,102 @@
if (num >= res + bit) {
num -= res + bit;
res = (res >> 1) + bit;
- } else {
- res >>= 1;
- }
+ } else { res >>= 1; }
bit >>= 2;
}
-
return res;
}
-VL53L0X_Error VL53L0X::VL53L0X_calc_dmax(FixPoint1616_t total_signal_rate_mcps,
- FixPoint1616_t total_corr_signal_rate_mcps,
- FixPoint1616_t pw_mult,
+void VL53L0X::Calc_dmax(TFP1616 total_SIG_rate_mcps,
+ TFP1616 total_corr_SIG_rate_mcps,
+ TFP1616 pw_mult,
uint32_t sigma_estimate_p1,
- FixPoint1616_t sigma_estimate_p2,
+ TFP1616 sigma_estimate_p2,
uint32_t peak_vcsel_duration_us,
uint32_t *pd_max_mm)
-{
- const uint32_t c_sigma_limit = 18;
- const FixPoint1616_t c_signal_limit = 0x4000; /* 0.25 */
- const FixPoint1616_t c_sigma_est_ref = 0x00000042; /* 0.001 */
+{ const uint32_t c_sigma_limit = 18;
+ const TFP1616 c_SIG_limit = 0x4000; /* 0.25 */
+ const TFP1616 c_sigma_est_Ref = 0x00000042; /* 0.001 */
const uint32_t c_amb_eff_width_sigma_est_ns = 6;
const uint32_t c_amb_eff_width_d_max_ns = 7;
uint32_t dmax_cal_range_mm;
- FixPoint1616_t dmax_cal_signal_rate_rtn_mcps;
- FixPoint1616_t min_signal_needed;
- FixPoint1616_t min_signal_needed_p1;
- FixPoint1616_t min_signal_needed_p2;
- FixPoint1616_t min_signal_needed_p3;
- FixPoint1616_t min_signal_needed_p4;
- FixPoint1616_t sigma_limit_tmp;
- FixPoint1616_t sigma_est_sq_tmp;
- FixPoint1616_t signal_limit_tmp;
- FixPoint1616_t signal_at0_mm;
- FixPoint1616_t dmax_dark;
- FixPoint1616_t dmax_ambient;
- FixPoint1616_t dmax_dark_tmp;
- FixPoint1616_t sigma_est_p2_tmp;
+ TFP1616 dmax_cal_SIG_rate_rtn_mcps;
+ TFP1616 min_SIG_needed;
+ TFP1616 min_SIG_needed_p1;
+ TFP1616 min_SIG_needed_p2;
+ TFP1616 min_SIG_needed_p3;
+ TFP1616 min_SIG_needed_p4;
+ TFP1616 sigma_limit_tmp;
+ TFP1616 sigma_est_sq_tmp;
+ TFP1616 signal_limit_tmp;
+ TFP1616 signal_at0_mm;
+ TFP1616 dmax_dark;
+ TFP1616 dmax_ambient;
+ TFP1616 dmax_dark_tmp;
+ TFP1616 sigma_est_p2_tmp;
uint32_t signal_rate_temp_mcps;
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
dmax_cal_range_mm = DmaxCalRangeMilliMeter;
- dmax_cal_signal_rate_rtn_mcps = DmaxCalSignalRateRtnMegaCps;
+ dmax_cal_SIG_rate_rtn_mcps = DmaxCalSignalRateRtnMHz;
/* uint32 * FixPoint1616 = FixPoint1616 */
- signal_at0_mm = dmax_cal_range_mm * dmax_cal_signal_rate_rtn_mcps;
+ signal_at0_mm = dmax_cal_range_mm * dmax_cal_SIG_rate_rtn_mcps;
/* FixPoint1616 >> 8 = FixPoint2408 */
signal_at0_mm = (signal_at0_mm + 0x80) >> 8;
signal_at0_mm *= dmax_cal_range_mm;
- min_signal_needed_p1 = 0;
- if (total_corr_signal_rate_mcps > 0) {
-
- /* Shift by 10 bits to increase resolution prior to the
- * division */
- signal_rate_temp_mcps = total_signal_rate_mcps << 10;
+ min_SIG_needed_p1 = 0;
+ if (total_corr_SIG_rate_mcps > 0) {
+ /* Shift by 10 bits to increase resolution prior to the division */
+ signal_rate_temp_mcps = total_SIG_rate_mcps << 10;
/* Add rounding value prior to division */
- min_signal_needed_p1 = signal_rate_temp_mcps +
- (total_corr_signal_rate_mcps / 2);
+ min_SIG_needed_p1 = signal_rate_temp_mcps + (total_corr_SIG_rate_mcps / 2);
/* FixPoint0626/FixPoint1616 = FixPoint2210 */
- min_signal_needed_p1 /= total_corr_signal_rate_mcps;
+ min_SIG_needed_p1 /= total_corr_SIG_rate_mcps;
/* Apply a factored version of the speed of light.
Correction to be applied at the end */
- min_signal_needed_p1 *= 3;
+ min_SIG_needed_p1 *= 3;
/* FixPoint2210 * FixPoint2210 = FixPoint1220 */
- min_signal_needed_p1 *= min_signal_needed_p1;
+ min_SIG_needed_p1 *= min_SIG_needed_p1;
/* FixPoint1220 >> 16 = FixPoint2804 */
- min_signal_needed_p1 = (min_signal_needed_p1 + 0x8000) >> 16;
+ min_SIG_needed_p1 = (min_SIG_needed_p1 + 0x8000) >> 16;
}
- min_signal_needed_p2 = pw_mult * sigma_estimate_p1;
+ min_SIG_needed_p2 = pw_mult * sigma_estimate_p1;
/* FixPoint1616 >> 16 = uint32 */
- min_signal_needed_p2 = (min_signal_needed_p2 + 0x8000) >> 16;
+ min_SIG_needed_p2 = (min_SIG_needed_p2 + 0x8000) >> 16;
/* uint32 * uint32 = uint32 */
- min_signal_needed_p2 *= min_signal_needed_p2;
-
- /* Check sigmaEstimateP2
- * If this value is too high there is not enough signal rate
- * to calculate dmax value so set a suitable value to ensure
- * a very small dmax.
- */
+ min_SIG_needed_p2 *= min_SIG_needed_p2;
+
+ /* Check sigmaEstimateP2; If this value is too high, there is not enough
+ * signal rate to calculate dmax value so set a suitable value to ensure
+ * a very small dmax. */
sigma_est_p2_tmp = (sigma_estimate_p2 + 0x8000) >> 16;
sigma_est_p2_tmp = (sigma_est_p2_tmp + c_amb_eff_width_sigma_est_ns / 2) /
c_amb_eff_width_sigma_est_ns;
sigma_est_p2_tmp *= c_amb_eff_width_d_max_ns;
if (sigma_est_p2_tmp > 0xffff) {
- min_signal_needed_p3 = 0xfff00000;
+ min_SIG_needed_p3 = 0xfff00000;
} else {
- /* DMAX uses a different ambient width from sigma,so apply
- * correction.
- * Perform division before multiplication to prevent overflow.
- */
+ /* DMAX uses a different ambient width from sigma,so apply correction.
+ * Perform division before multiplication to prevent overflow. */
sigma_estimate_p2 = (sigma_estimate_p2 + c_amb_eff_width_sigma_est_ns / 2) /
c_amb_eff_width_sigma_est_ns;
sigma_estimate_p2 *= c_amb_eff_width_d_max_ns;
/* FixPoint1616 >> 16 = uint32 */
- min_signal_needed_p3 = (sigma_estimate_p2 + 0x8000) >> 16;
-
- min_signal_needed_p3 *= min_signal_needed_p3;
+ min_SIG_needed_p3 = (sigma_estimate_p2 + 0x8000) >> 16;
+ min_SIG_needed_p3 *= min_SIG_needed_p3;
}
/* FixPoint1814 / uint32 = FixPoint1814 */
@@ -2396,7 +1403,7 @@
sigma_limit_tmp *= sigma_limit_tmp;
/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
- sigma_est_sq_tmp = c_sigma_est_ref * c_sigma_est_ref;
+ sigma_est_sq_tmp = c_sigma_est_Ref * c_sigma_est_Ref;
/* FixPoint3232 >> 4 = FixPoint0428 */
sigma_est_sq_tmp = (sigma_est_sq_tmp + 0x08) >> 4;
@@ -2405,118 +1412,106 @@
sigma_limit_tmp -= sigma_est_sq_tmp;
/* uint32_t * FixPoint0428 = FixPoint0428 */
- min_signal_needed_p4 = 4 * 12 * sigma_limit_tmp;
+ min_SIG_needed_p4 = 4 * 12 * sigma_limit_tmp;
/* FixPoint0428 >> 14 = FixPoint1814 */
- min_signal_needed_p4 = (min_signal_needed_p4 + 0x2000) >> 14;
+ min_SIG_needed_p4 = (min_SIG_needed_p4 + 0x2000) >> 14;
/* uint32 + uint32 = uint32 */
- min_signal_needed = (min_signal_needed_p2 + min_signal_needed_p3);
+ min_SIG_needed = (min_SIG_needed_p2 + min_SIG_needed_p3);
/* uint32 / uint32 = uint32 */
- min_signal_needed += (peak_vcsel_duration_us / 2);
- min_signal_needed /= peak_vcsel_duration_us;
+ min_SIG_needed += (peak_vcsel_duration_us / 2);
+ min_SIG_needed /= peak_vcsel_duration_us;
/* uint32 << 14 = FixPoint1814 */
- min_signal_needed <<= 14;
+ min_SIG_needed <<= 14;
/* FixPoint1814 / FixPoint1814 = uint32 */
- min_signal_needed += (min_signal_needed_p4 / 2);
- min_signal_needed /= min_signal_needed_p4;
+ min_SIG_needed += (min_SIG_needed_p4 / 2);
+ min_SIG_needed /= min_SIG_needed_p4;
/* FixPoint3200 * FixPoint2804 := FixPoint2804*/
- min_signal_needed *= min_signal_needed_p1;
+ min_SIG_needed *= min_SIG_needed_p1;
/* Apply correction by dividing by 1000000.
- * This assumes 10E16 on the numerator of the equation
- * and 10E-22 on the denominator.
+ * This assumes 10E16 on the numerator of the equation and 10E-22 on the denominator.
* We do this because 32bit fix point calculation can't
* handle the larger and smaller elements of this equation,
* i.e. speed of light and pulse widths.
*/
- min_signal_needed = (min_signal_needed + 500) / 1000;
- min_signal_needed <<= 4;
-
- min_signal_needed = (min_signal_needed + 500) / 1000;
+ min_SIG_needed = (min_SIG_needed + 500) / 1000;
+ min_SIG_needed <<= 4;
+
+ min_SIG_needed = (min_SIG_needed + 500) / 1000;
/* FixPoint1616 >> 8 = FixPoint2408 */
- signal_limit_tmp = (c_signal_limit + 0x80) >> 8;
+ signal_limit_tmp = (c_SIG_limit + 0x80) >> 8;
/* FixPoint2408/FixPoint2408 = uint32 */
if (signal_limit_tmp != 0) {
dmax_dark_tmp = (signal_at0_mm + (signal_limit_tmp / 2))
/ signal_limit_tmp;
- } else {
- dmax_dark_tmp = 0;
- }
-
- dmax_dark = VL53L0X_isqrt(dmax_dark_tmp);
+ } else { dmax_dark_tmp = 0; }
+
+ dmax_dark = ISQRT(dmax_dark_tmp);
/* FixPoint2408/FixPoint2408 = uint32 */
- if (min_signal_needed != 0) {
- dmax_ambient = (signal_at0_mm + min_signal_needed / 2)
- / min_signal_needed;
- } else {
- dmax_ambient = 0;
- }
-
- dmax_ambient = VL53L0X_isqrt(dmax_ambient);
+ if (min_SIG_needed != 0)
+ { dmax_ambient = (signal_at0_mm + min_SIG_needed / 2) / min_SIG_needed; }
+ else { dmax_ambient = 0; }
+
+ dmax_ambient = ISQRT(dmax_ambient);
*pd_max_mm = dmax_dark;
- if (dmax_dark > dmax_ambient) {
- *pd_max_mm = dmax_ambient;
- }
-
- return status;
+ if (dmax_dark > dmax_ambient) { *pd_max_mm = dmax_ambient; }
}
-VL53L0X_Error VL53L0X::VL53L0X_calc_sigma_estimate(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_sigma_estimate,
- uint32_t *p_dmax_mm)
-{
- /* Expressed in 100ths of a ns,i.e. centi-ns */
+void VL53L0X::Calc_sigma_estimate(TRangeResults *p_ranging_results,
+ TFP1616 *p_sigma_estimate, uint32_t *p_dmax_mm)
+{ /* Expressed in 100ths of a ns,i.e. centi-ns */
const uint32_t c_pulse_effective_width_centi_ns = 800;
/* Expressed in 100ths of a ns,i.e. centi-ns */
const uint32_t c_ambient_effective_width_centi_ns = 600;
- const FixPoint1616_t c_dflt_final_range_integration_time_milli_secs = 0x00190000; /* 25ms */
+ const TFP1616 c_dflt_final_range_integration_time_milli_secs = 0x00190000; /* 25ms */
const uint32_t c_vcsel_pulse_width_ps = 4700; /* pico secs */
- const FixPoint1616_t c_sigma_est_max = 0x028F87AE;
- const FixPoint1616_t c_sigma_est_rtn_max = 0xF000;
- const FixPoint1616_t c_amb_to_signal_ratio_max = 0xF0000000 /
+ const TFP1616 c_sigma_est_max = 0x028F87AE;
+ const TFP1616 c_sigma_est_rtn_max = 0xF000;
+ const TFP1616 c_amb_to_SIG_ratio_max = 0xF0000000 /
c_ambient_effective_width_centi_ns;
/* Time Of Flight per mm (6.6 pico secs) */
- const FixPoint1616_t c_tof_per_mm_ps = 0x0006999A;
+ const TFP1616 c_tof_per_mm_ps = 0x0006999A;
const uint32_t c_16bit_rounding_param = 0x00008000;
- const FixPoint1616_t c_max_x_talk_kcps = 0x00320000;
+ const TFP1616 c_max_xtalk_kcps = 0x00320000;
const uint32_t c_pll_period_ps = 1655;
uint32_t vcsel_total_events_rtn;
uint32_t final_range_timeout_micro_secs;
uint32_t pre_range_timeout_micro_secs;
uint32_t final_range_integration_time_milli_secs;
- FixPoint1616_t sigma_estimate_p1;
- FixPoint1616_t sigma_estimate_p2;
- FixPoint1616_t sigma_estimate_p3;
- FixPoint1616_t delta_t_ps;
- FixPoint1616_t pw_mult;
- FixPoint1616_t sigma_est_rtn;
- FixPoint1616_t sigma_estimate;
- FixPoint1616_t x_talk_correction;
- FixPoint1616_t ambient_rate_kcps;
- FixPoint1616_t peak_signal_rate_kcps;
- FixPoint1616_t x_talk_comp_rate_mcps;
- uint32_t x_talk_comp_rate_kcps;
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- FixPoint1616_t diff1_mcps;
- FixPoint1616_t diff2_mcps;
- FixPoint1616_t sqr1;
- FixPoint1616_t sqr2;
- FixPoint1616_t sqr_sum;
- FixPoint1616_t sqrt_result_centi_ns;
- FixPoint1616_t sqrt_result;
- FixPoint1616_t total_signal_rate_mcps;
- FixPoint1616_t corrected_signal_rate_mcps;
- FixPoint1616_t sigma_est_ref;
+ TFP1616 sigma_estimate_p1;
+ TFP1616 sigma_estimate_p2;
+ TFP1616 sigma_estimate_p3;
+ TFP1616 delta_t_ps;
+ TFP1616 pw_mult;
+ TFP1616 sigma_est_rtn;
+ TFP1616 sigma_estimate;
+ TFP1616 xtalk_correction;
+ TFP1616 ambient_rate_kcps;
+ TFP1616 peak_SIG_rate_kcps;
+ TFP1616 xtalk_comp_rate_mcps;
+ uint32_t xtalk_comp_rate_kcps;
+
+ TFP1616 diff1_mcps;
+ TFP1616 diff2_mcps;
+ TFP1616 sqr1;
+ TFP1616 sqr2;
+ TFP1616 sqr_sum;
+ TFP1616 sqrt_result_centi_ns;
+ TFP1616 sqrt_result;
+ TFP1616 total_SIG_rate_mcps;
+ TFP1616 corrected_SIG_rate_mcps;
+ TFP1616 sigma_est_Ref;
uint32_t vcsel_width;
uint32_t final_range_macro_pclks;
uint32_t pre_range_macro_pclks;
@@ -2525,51 +1520,41 @@
uint8_t pre_range_vcsel_pclks;
/*! \addtogroup calc_sigma_estimate
* @{
- * Estimates the range sigma
- */
-
- x_talk_comp_rate_mcps = CurrentParameters.XTalkCompensationRateMegaCps;
+ * Estimates the range sigma */
+
+ xtalk_comp_rate_mcps = CurrParams.Xtalk_CompRate_MHz;
/* We work in kcps rather than mcps as this helps keep within the
- * confines of the 32 Fix1616 type.
- */
- ambient_rate_kcps =
- (p_ranging_measurement_data->AmbientRateRtnMegaCps * 1000) >> 16;
-
- corrected_signal_rate_mcps =
- p_ranging_measurement_data->SignalRateRtnMegaCps;
-
- status = VL53L0X_get_total_signal_rate(p_ranging_measurement_data,&total_signal_rate_mcps);
- status = VL53L0X_get_total_xtalk_rate(p_ranging_measurement_data,&x_talk_comp_rate_mcps);
+ * confines of the 32 Fix1616 type. */
+ ambient_rate_kcps = (p_ranging_results->AmbientRateRtnMHz * 1000) >> 16;
+
+ corrected_SIG_rate_mcps = p_ranging_results->SignalRateRtnMHz;
+
+ Get_total_SIG_rate(p_ranging_results,&total_SIG_rate_mcps);
+ xtalk_comp_rate_mcps = Get_total_xtalk_rate(p_ranging_results);
/* Signal rate measurement provided by device is the
- * peak signal rate,not average.
- */
- peak_signal_rate_kcps = (total_signal_rate_mcps * 1000);
- peak_signal_rate_kcps = (peak_signal_rate_kcps + 0x8000) >> 16;
-
- x_talk_comp_rate_kcps = x_talk_comp_rate_mcps * 1000;
-
- if (x_talk_comp_rate_kcps > c_max_x_talk_kcps) {
- x_talk_comp_rate_kcps = c_max_x_talk_kcps;
- }
-
- if (status == VL53L0X_ERROR_NONE) {
+ * peak signal rate,not average. */
+ peak_SIG_rate_kcps = (total_SIG_rate_mcps * 1000);
+ peak_SIG_rate_kcps = (peak_SIG_rate_kcps + 0x8000) >> 16;
+
+ xtalk_comp_rate_kcps = xtalk_comp_rate_mcps * 1000;
+
+ if (xtalk_comp_rate_kcps > c_max_xtalk_kcps)
+ { xtalk_comp_rate_kcps = c_max_xtalk_kcps; }
+
+ if (ErrState == VL53L0X_OK) {
/* Calculate final range macro periods */
final_range_timeout_micro_secs = DevSpecParams.FinalRangeTimeoutMicroSecs;
-
- final_range_vcsel_pclks = DevSpecParams.FinalRangeVcselPulsePeriod;
-
- final_range_macro_pclks = VL53L0X_calc_timeout_mclks(final_range_timeout_micro_secs,final_range_vcsel_pclks);
+ final_range_vcsel_pclks = DevSpecParams.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.PreRangeVcselPulsePeriod;
- pre_range_macro_pclks = VL53L0X_calc_timeout_mclks(pre_range_timeout_micro_secs,pre_range_vcsel_pclks);
+ pre_range_vcsel_pclks = DevSpecParams.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;
- }
+ if (final_range_vcsel_pclks == 8) { vcsel_width = 2; }
peak_vcsel_duration_us = vcsel_width * 2048 *
(pre_range_macro_pclks + final_range_macro_pclks);
@@ -2578,82 +1563,70 @@
peak_vcsel_duration_us = (peak_vcsel_duration_us + 500) / 1000;
/* Fix1616 >> 8 = Fix2408 */
- total_signal_rate_mcps = (total_signal_rate_mcps + 0x80) >> 8;
+ total_SIG_rate_mcps = (total_SIG_rate_mcps + 0x80) >> 8;
/* Fix2408 * uint32 = Fix2408 */
- vcsel_total_events_rtn = total_signal_rate_mcps *
- peak_vcsel_duration_us;
+ vcsel_total_events_rtn = total_SIG_rate_mcps * peak_vcsel_duration_us;
/* Fix2408 >> 8 = uint32 */
vcsel_total_events_rtn = (vcsel_total_events_rtn + 0x80) >> 8;
/* Fix2408 << 8 = Fix1616 = */
- total_signal_rate_mcps <<= 8;
+ total_SIG_rate_mcps <<= 8;
}
- if (status != VL53L0X_ERROR_NONE) { return status; }
-
- if (peak_signal_rate_kcps == 0) {
+ if (ErrState != VL53L0X_OK) { return ; }
+
+ if (peak_SIG_rate_kcps == 0) {
*p_sigma_estimate = c_sigma_est_max;
SigmaEstimate = c_sigma_est_max;
*p_dmax_mm = 0;
} else {
- if (vcsel_total_events_rtn < 1) {
- vcsel_total_events_rtn = 1;
- }
+ if (vcsel_total_events_rtn < 1) {vcsel_total_events_rtn = 1; }
sigma_estimate_p1 = c_pulse_effective_width_centi_ns;
/* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */
- sigma_estimate_p2 = (ambient_rate_kcps << 16) / peak_signal_rate_kcps;
- if (sigma_estimate_p2 > c_amb_to_signal_ratio_max) {
- /* Clip to prevent overflow. Will ensure safe
- * max result. */
- sigma_estimate_p2 = c_amb_to_signal_ratio_max;
- }
+ sigma_estimate_p2 = (ambient_rate_kcps << 16) / peak_SIG_rate_kcps;
+ if (sigma_estimate_p2 > c_amb_to_SIG_ratio_max)
+ /* Clip to prevent overflow. Will ensure safe max result. */
+ { sigma_estimate_p2 = c_amb_to_SIG_ratio_max; }
sigma_estimate_p2 *= c_ambient_effective_width_centi_ns;
- sigma_estimate_p3 = 2 * VL53L0X_isqrt(vcsel_total_events_rtn * 12);
+ sigma_estimate_p3 = 2 * ISQRT(vcsel_total_events_rtn * 12);
/* uint32 * FixPoint1616 = FixPoint1616 */
- delta_t_ps = p_ranging_measurement_data->RangeMilliMeter *
- c_tof_per_mm_ps;
-
- /*
- * vcselRate - xtalkCompRate
+ delta_t_ps = p_ranging_results->RangeMilliMeter * c_tof_per_mm_ps;
+
+ /* vcselRate - xtalkCompRate
* (uint32 << 16) - FixPoint1616 = FixPoint1616.
* Divide result by 1000 to convert to mcps.
- * 500 is added to ensure rounding when integer division
- * truncates.
- */
- diff1_mcps = (((peak_signal_rate_kcps << 16) -
- 2 * x_talk_comp_rate_kcps) + 500) / 1000;
+ * 500 is added to ensure rounding when integer division truncates. */
+ diff1_mcps = (((peak_SIG_rate_kcps << 16) - 2 * xtalk_comp_rate_kcps) + 500) / 1000;
/* vcselRate + xtalkCompRate */
- diff2_mcps = ((peak_signal_rate_kcps << 16) + 500) / 1000;
-
- /* Shift by 8 bits to increase resolution prior to the
- * division */
+ diff2_mcps = ((peak_SIG_rate_kcps << 16) + 500) / 1000;
+
+ /* Shift by 8 bits to increase resolution prior to the division */
diff1_mcps <<= 8;
/* FixPoint0824/FixPoint1616 = FixPoint2408 */
// xTalkCorrection = abs(diff1_mcps/diff2_mcps);
-// abs is causing compiler overloading isue in C++,but unsigned types. So,redundant call anyway!
- x_talk_correction = diff1_mcps / diff2_mcps;
+// abs is causing compiler overloading isue in C++, but unsigned types. So,redundant call anyway!
+ xtalk_correction = diff1_mcps / diff2_mcps;
/* FixPoint2408 << 8 = FixPoint1616 */
- x_talk_correction <<= 8;
-
- if (p_ranging_measurement_data->RangeStatus != 0) {
- pw_mult = 1 << 16;
- } else {
+ xtalk_correction <<= 8;
+
+ if (p_ranging_results->RangeStatus != 0)
+ { pw_mult = 1 << 16; }
+ else {
/* FixPoint1616/uint32 = FixPoint1616 */
pw_mult = delta_t_ps / c_vcsel_pulse_width_ps; /* smaller than 1.0f */
/* FixPoint1616 * FixPoint1616 = FixPoint3232,however both
* values are small enough such that32 bits will not be
- * exceeded.
- */
- pw_mult *= ((1 << 16) - x_talk_correction);
+ * exceeded. */
+ pw_mult *= ((1 << 16) - xtalk_correction);
/* (FixPoint3232 >> 16) = FixPoint1616 */
pw_mult = (pw_mult + c_16bit_rounding_param) >> 16;
@@ -2663,8 +1636,7 @@
/* At this point the value will be 1.xx,therefore if we square
* the value this will exceed 32 bits. To address this perform
- * a single shift to the right before the multiplication.
- */
+ * a single shift to the right before the multiplication. */
pw_mult >>= 1;
/* FixPoint1715 * FixPoint1715 = FixPoint3430 */
pw_mult = pw_mult * pw_mult;
@@ -2681,7 +1653,6 @@
/* FixPoint3200 * FixPoint3200 = FixPoint6400 */
sqr1 *= sqr1;
-
sqr2 = sigma_estimate_p2;
/* (FixPoint1616 >> 16) = FixPoint3200 */
@@ -2694,349 +1665,254 @@
sqr_sum = sqr1 + sqr2;
/* SQRT(FixPoin6400) = FixPoint3200 */
- sqrt_result_centi_ns = VL53L0X_isqrt(sqr_sum);
+ sqrt_result_centi_ns = ISQRT(sqr_sum);
/* (FixPoint3200 << 16) = FixPoint1616 */
sqrt_result_centi_ns <<= 16;
- /*
- * Note that the Speed Of Light is expressed in um per 1E-10
- * seconds (2997) Therefore to get mm/ns we have to divide by
- * 10000
- */
+ /* Note that the Speed Of Light is expressed in um per 1E-10
+ * seconds (2997) Therefore to get mm/ns we have to divide by 10000 */
sigma_est_rtn = (((sqrt_result_centi_ns + 50) / 100) /
sigma_estimate_p3);
sigma_est_rtn *= VL53L0X_SPEED_OF_LIGHT_IN_AIR;
/* Add 5000 before dividing by 10000 to ensure rounding. */
- sigma_est_rtn += 5000;
- sigma_est_rtn /= 10000;
-
- if (sigma_est_rtn > c_sigma_est_rtn_max) {
- /* Clip to prevent overflow. Will ensure safe
- * max result. */
- sigma_est_rtn = c_sigma_est_rtn_max;
- }
+ sigma_est_rtn = (sigma_est_rtn + 5000) / 10000;
+
+ if (sigma_est_rtn > c_sigma_est_rtn_max)
+ /* Clip to prevent overflow. Will ensure safe max result. */
+ { sigma_est_rtn = c_sigma_est_rtn_max; }
+
final_range_integration_time_milli_secs =
(final_range_timeout_micro_secs + pre_range_timeout_micro_secs + 500) / 1000;
/* sigmaEstRef = 1mm * 25ms/final range integration time (inc pre-range)
- * sqrt(FixPoint1616/int) = FixPoint2408)
- */
- sigma_est_ref =
- VL53L0X_isqrt((c_dflt_final_range_integration_time_milli_secs +
+ * sqrt(FixPoint1616/int) = FixPoint2408) */
+ sigma_est_Ref =
+ ISQRT((c_dflt_final_range_integration_time_milli_secs +
final_range_integration_time_milli_secs / 2) /
final_range_integration_time_milli_secs);
/* FixPoint2408 << 8 = FixPoint1616 */
- sigma_est_ref <<= 8;
- sigma_est_ref = (sigma_est_ref + 500) / 1000;
+ sigma_est_Ref <<= 8;
+ sigma_est_Ref = (sigma_est_Ref + 500) / 1000;
/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
sqr1 = sigma_est_rtn * sigma_est_rtn;
/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
- sqr2 = sigma_est_ref * sigma_est_ref;
+ sqr2 = sigma_est_Ref * sigma_est_Ref;
/* sqrt(FixPoint3232) = FixPoint1616 */
- sqrt_result = VL53L0X_isqrt((sqr1 + sqr2));
- /*
- * Note that the Shift by 4 bits increases resolution prior to
+ sqrt_result = ISQRT((sqr1 + sqr2));
+ /* Note that the Shift by 4 bits increases resolution prior to
* the sqrt,therefore the result must be shifted by 2 bits to
- * the right to revert back to the FixPoint1616 format.
- */
-
+ * the right to revert back to the FixPoint1616 format. */
sigma_estimate = 1000 * sqrt_result;
- if ((peak_signal_rate_kcps < 1) || (vcsel_total_events_rtn < 1) ||
+ if ((peak_SIG_rate_kcps < 1) || (vcsel_total_events_rtn < 1) ||
(sigma_estimate > c_sigma_est_max)) {
- sigma_estimate = c_sigma_est_max;
- }
+ sigma_estimate = c_sigma_est_max; }
*p_sigma_estimate = (uint32_t)(sigma_estimate);
SigmaEstimate = *p_sigma_estimate;
- status = VL53L0X_calc_dmax(total_signal_rate_mcps,
- corrected_signal_rate_mcps,
+ Calc_dmax(total_SIG_rate_mcps,
+ corrected_SIG_rate_mcps,
pw_mult,
sigma_estimate_p1,
sigma_estimate_p2,
peak_vcsel_duration_us,
p_dmax_mm);
}
-
- return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_get_pal_range_status(uint8_t device_range_status,
- FixPoint1616_t signal_rate,
- uint16_t effective_spad_rtn_count,
- VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- uint8_t *p_pal_range_status)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t none_flag;
+void VL53L0X::Get_Device_range_status(uint8_t device_range_status,
+ TFP1616 signal_rate,
+ uint16_t effective_SPAD_rtn_count,
+ TRangeResults *p_ranging_results,
+ uint8_t *p_Device_range_status)
+{ uint8_t none_flag;
uint8_t sigma_limitflag = 0;
- uint8_t signal_ref_clipflag = 0;
+ uint8_t signal_Ref_clipflag = 0;
uint8_t range_ignore_thresholdflag = 0;
- uint8_t sigma_limit_check_enable = 0;
- uint8_t signal_rate_final_range_limit_check_enable = 0;
- uint8_t signal_ref_clip_limit_check_enable = 0;
- uint8_t range_ignore_threshold_limit_check_enable = 0;
- FixPoint1616_t sigma_estimate;
- FixPoint1616_t sigma_limit_value;
- FixPoint1616_t signal_ref_clip_value;
- FixPoint1616_t range_ignore_threshold_value;
- FixPoint1616_t signal_rate_per_spad;
+ uint8_t sigma_limit_chk_en = 0;
+ uint8_t signal_rate_final_range_limit_chk_en = 0;
+ uint8_t signal_Ref_clip_limit_chk_en = 0;
+ uint8_t range_ignore_threshold_chk_en = 0;
+ TFP1616 sigma_estimate;
+ TFP1616 sigma_limit_value;
+ TFP1616 signal_Ref_clip_value;
+ TFP1616 range_ignore_threshold;
+ TFP1616 signal_rate_per_SPAD;
uint8_t device_range_status_internal = 0;
- uint16_t tmp_word = 0;
uint8_t temp8;
uint32_t dmax_mm = 0;
- FixPoint1616_t last_signal_ref_mcps;
-
- /*
- * VL53L0X has a good ranging when the value of the
+
+ /* VL53L0X has a good ranging when the value of the
* DeviceRangeStatus = 11. This function will replace the value 0 with
* the value 11 in the DeviceRangeStatus.
* In addition,the SigmaEstimator is not included in the VL53L0X
- * DeviceRangeStatus,this will be added in the PalRangeStatus.
- */
+ * DeviceRangeStatus,this will be added in the DeviceRangeStatus. */
device_range_status_internal = ((device_range_status & 0x78) >> 3);
- if ( device_range_status_internal == 0 ||
- device_range_status_internal == 5 ||
- device_range_status_internal == 7 ||
- device_range_status_internal == 12 ||
- device_range_status_internal == 13 ||
- device_range_status_internal == 14 ||
- device_range_status_internal == 15
- ) {
- none_flag = 1;
- } else { none_flag = 0; }
-
- /*
- * Check if Sigma limit is enabled,if yes then do comparison with limit
- * value and put the result back into pPalRangeStatus.
- */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_limit_check_enable(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- &sigma_limit_check_enable);
- }
-
- if ((sigma_limit_check_enable != 0) && (status == VL53L0X_ERROR_NONE)) {
- /*
- * compute the Sigma and check with limit
- */
- status = VL53L0X_calc_sigma_estimate(p_ranging_measurement_data,
- &sigma_estimate,
- &dmax_mm);
- if (status == VL53L0X_ERROR_NONE) {
- p_ranging_measurement_data->RangeDMaxMilliMeter = dmax_mm;
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_limit_check_value(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
- &sigma_limit_value);
-
- if ((sigma_limit_value > 0) &&
- (sigma_estimate > sigma_limit_value)) {
- /* Limit Fail */
- sigma_limitflag = 1;
- }
- }
- }
-
- /*
- * Check if Signal ref clip limit is enabled,if yes then do comparison
- * with limit value and put the result back into pPalRangeStatus.
- */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- &signal_ref_clip_limit_check_enable);
- }
-
- if ((signal_ref_clip_limit_check_enable != 0) &&
- (status == VL53L0X_ERROR_NONE)) {
-
- status = VL53L0X_get_limit_check_value(VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
- &signal_ref_clip_value);
+ if ( device_range_status_internal == 0 ||
+ device_range_status_internal == 5 ||
+ device_range_status_internal == 7 ||
+ device_range_status_internal == 12 ||
+ device_range_status_internal == 13 ||
+ device_range_status_internal == 14 ||
+ device_range_status_internal == 15 )
+ { none_flag = 1; }
+ else { none_flag = 0; }
+
+ /* Check if Sigma limit is enabled,if yes then do comparison with limit
+ * value and put the result back into pDeviceRangeStatus. */
+ if (ErrState == VL53L0X_OK)
+ { sigma_limit_chk_en = Get_limit_chk_en(VL53L0X_CHECKEN_SIGMA_FINAL_RANGE); }
+
+ if ((sigma_limit_chk_en != 0) && (ErrState == VL53L0X_OK)) {
+ /* compute the Sigma and check with limit */
+ Calc_sigma_estimate(p_ranging_results, &sigma_estimate, &dmax_mm);
+ if (ErrState == VL53L0X_OK)
+ { p_ranging_results->RangeDMaxMilliMeter = dmax_mm; }
+
+ if (ErrState == VL53L0X_OK)
+ { sigma_limit_value = Get_limit_chk_val(VL53L0X_CHECKEN_SIGMA_FINAL_RANGE);
+
+ if ((sigma_limit_value > 0) && (sigma_estimate > sigma_limit_value))
+ { sigma_limitflag = 1; }/* Limit Fail */
+ }
+ }
+
+ /* Check if Signal ref clip limit is enabled,if yes then do comparison
+ * with limit value and put the result back into pDeviceRangeStatus. */
+ if (ErrState == VL53L0X_OK)
+ {signal_Ref_clip_limit_chk_en = Get_limit_chk_en(VL53L0X_CHECKEN_SIG_REF_CLIP);}
+
+ if ((signal_Ref_clip_limit_chk_en != 0) && (ErrState == VL53L0X_OK))
+ { signal_Ref_clip_value = Get_limit_chk_val(VL53L0X_CHECKEN_SIG_REF_CLIP);
/* Read LastSignalRefMcps from device */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(0xFF,0x01);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_word(VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
- &tmp_word);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(0xFF,0x00);
- }
-
- last_signal_ref_mcps = VL53L0X_FIXPOINT97TOFIXPOINT1616(tmp_word);
- LastSignalRefMcps = last_signal_ref_mcps;
-
- if ((signal_ref_clip_value > 0) &&
- (last_signal_ref_mcps > signal_ref_clip_value)) {
- /* Limit Fail */
- signal_ref_clipflag = 1;
- }
- }
-
- /*
- * Check if Signal ref clip limit is enabled,if yes then do comparison
- * with limit value and put the result back into pPalRangeStatus.
- * EffectiveSpadRtnCount has a format 8.8
- * If (Return signal rate < (1.5 x Xtalk x number of Spads)) : FAIL
- */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_limit_check_enable(VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- &range_ignore_threshold_limit_check_enable);
- }
-
- if ((range_ignore_threshold_limit_check_enable != 0) &&
- (status == VL53L0X_ERROR_NONE)) {
-
- /* Compute the signal rate per spad */
- if (effective_spad_rtn_count == 0) {
- signal_rate_per_spad = 0;
- } else {
- signal_rate_per_spad = (FixPoint1616_t)((256 * signal_rate)
- / effective_spad_rtn_count);
- }
-
- status = VL53L0X_get_limit_check_value(VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
- &range_ignore_threshold_value);
-
- if ((range_ignore_threshold_value > 0) &&
- (signal_rate_per_spad < range_ignore_threshold_value)) {
- /* Limit Fail add 2^6 to range status */
+ Write_Byte(0xFF,0x01);
+ LastSignalRefMcps = FP97_TO_FP1616( Read_Word(REG_RESULT_PEAK_SIG_RATE_REF));
+ Write_Byte(0xFF,0x00);
+
+ if ((signal_Ref_clip_value > 0) && (LastSignalRefMcps > signal_Ref_clip_value)) \
+ { signal_Ref_clipflag = 1; /* Limit Fail */ }
+ }
+
+ /* Check if Signal ref clip limit is enabled,if yes then do comparison
+ * with limit value and put the result back into pDeviceRangeStatus.
+ * EffectiveSPADRtnCount has a format 8.8
+ * If (Return signal rate < (1.5 x Xtalk x number of SPADS)) : FAIL */
+ if (ErrState == VL53L0X_OK)
+ { range_ignore_threshold_chk_en = Get_limit_chk_en(VL53L0X_CHECKEN_RANGE_IGNORE_THRESHOLD); }
+
+ if ((range_ignore_threshold_chk_en != 0) && (ErrState == VL53L0X_OK))
+ {/* Compute the signal rate per SPAD */
+ if (effective_SPAD_rtn_count == 0) { signal_rate_per_SPAD = 0; }
+ else { signal_rate_per_SPAD =
+ (TFP1616)((256 * signal_rate) / effective_SPAD_rtn_count); }
+
+ range_ignore_threshold=Get_limit_chk_val(VL53L0X_CHECKEN_RANGE_IGNORE_THRESHOLD);
+
+ if ((range_ignore_threshold > 0) && (signal_rate_per_SPAD < range_ignore_threshold)) {
+ /* Limit Fail add 2^6 to range ErrState */
range_ignore_thresholdflag = 1;
}
}
- if (status == VL53L0X_ERROR_NONE) {
+ if (ErrState == VL53L0X_OK) {
if (none_flag == 1) {
- *p_pal_range_status = 255; /* NONE */
+ *p_Device_range_status = 255; /* NONE */
} else if (device_range_status_internal == 1 ||
device_range_status_internal == 2 ||
device_range_status_internal == 3) {
- *p_pal_range_status = 5; /* HW fail */
+ *p_Device_range_status = 5; /* HW fail */
} else if (device_range_status_internal == 6 ||
device_range_status_internal == 9) {
- *p_pal_range_status = 4; /* Phase fail */
+ *p_Device_range_status = 4; /* Phase fail */
} else if (device_range_status_internal == 8 ||
device_range_status_internal == 10 ||
- signal_ref_clipflag == 1) {
- *p_pal_range_status = 3; /* Min range */
+ signal_Ref_clipflag == 1) {
+ *p_Device_range_status = 3; /* Min range */
} else if (device_range_status_internal == 4 ||
range_ignore_thresholdflag == 1) {
- *p_pal_range_status = 2; /* Signal Fail */
+ *p_Device_range_status = 2; /* Signal Fail */
} else if (sigma_limitflag == 1) {
- *p_pal_range_status = 1; /* Sigma Fail */
+ *p_Device_range_status = 1; /* Sigma Fail */
} else {
- *p_pal_range_status = 0; /* Range Valid */
+ *p_Device_range_status = 0; /* Range Valid */
}
}
/* DMAX only relevant during range error */
- if (*p_pal_range_status == 0) {
- p_ranging_measurement_data->RangeDMaxMilliMeter = 0;
+ if (*p_Device_range_status == 0) { p_ranging_results->RangeDMaxMilliMeter = 0; }
+
+ /* fill the Limit Check ErrState */
+ signal_rate_final_range_limit_chk_en = Get_limit_chk_en(VL53L0X_CHECKEN_SIG_RATE_FINAL_RANGE);
+
+ if (ErrState == VL53L0X_OK) {
+ if ((sigma_limit_chk_en == 0) || (sigma_limitflag == 1))
+ { temp8 = 1; } else { temp8 = 0; }
+ CurrParams.LimitChecksStatus[VL53L0X_CHECKEN_SIGMA_FINAL_RANGE] = temp8;
+
+ if ((device_range_status_internal == 4) || (signal_rate_final_range_limit_chk_en == 0))
+ { temp8 = 1; } else { temp8 = 0; }
+ CurrParams.LimitChecksStatus[VL53L0X_CHECKEN_SIG_RATE_FINAL_RANGE] = temp8;
+
+ if ((signal_Ref_clip_limit_chk_en == 0) || (signal_Ref_clipflag == 1))
+ { temp8 = 1; } else { temp8 = 0; }
+ CurrParams.LimitChecksStatus[VL53L0X_CHECKEN_SIG_REF_CLIP] = temp8;
+
+ if ((range_ignore_threshold_chk_en == 0) || (range_ignore_thresholdflag == 1))
+ { temp8 = 1; } else { temp8 = 0;}
+ CurrParams.LimitChecksStatus[VL53L0X_CHECKEN_RANGE_IGNORE_THRESHOLD] = temp8;
}
-
- /* fill the Limit Check Status */
-
- status = VL53L0X_get_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
- &signal_rate_final_range_limit_check_enable);
-
- if (status == VL53L0X_ERROR_NONE) {
- if ((sigma_limit_check_enable == 0) || (sigma_limitflag == 1)) {
- temp8 = 1;
- } else {
- temp8 = 0;
- }
- CurrentParameters.LimitChecksStatus[VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE] = temp8;
-
- if ((device_range_status_internal == 4) ||
- (signal_rate_final_range_limit_check_enable == 0)) {
- temp8 = 1;
- } else {
- temp8 = 0;
- }
- CurrentParameters.LimitChecksStatus[VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE] = temp8;
-
- if ((signal_ref_clip_limit_check_enable == 0) ||
- (signal_ref_clipflag == 1)) {
- temp8 = 1;
- } else {
- temp8 = 0;
- }
-
- CurrentParameters.LimitChecksStatus[VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP] = temp8;
-
- if ((range_ignore_threshold_limit_check_enable == 0) ||
- (range_ignore_thresholdflag == 1)) {
- temp8 = 1;
- } else {
- temp8 = 0;
- }
- CurrentParameters.LimitChecksStatus[VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD] = temp8;
- }
-
- return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_get_ranging_measurement_data(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t device_range_status;
+void VL53L0X::Get_ranging_results(TRangeResults *p_ranging_results)
+{ uint8_t device_range_status;
uint8_t range_fractional_enable;
- uint8_t pal_range_status;
- uint8_t x_talk_compensation_enable;
+ uint8_t Device_range_status;
+ uint8_t xtalk_compensation_enable;
uint16_t ambient_rate;
- FixPoint1616_t signal_rate;
- uint16_t x_talk_compensation_rate_mega_cps;
- uint16_t effective_spad_rtn_count;
+ TFP1616 signal_rate;
+ uint16_t Xtalk_CompRate_MHz;
+ uint16_t effective_SPAD_rtn_count;
uint16_t tmpuint16;
uint16_t xtalk_range_milli_meter;
uint16_t linearity_corrective_gain;
uint8_t localBuffer[12];
- VL53L0X_RangingMeasurementData_t last_range_data_buffer;
-
- /*
- * use multi read even if some registers are not useful,result will
- * be more efficient
- * start reading at 0x14 dec20
- * end reading at 0x21 dec33 total 14 bytes to read
- */
- status = VL53L0X_read_multi(0x14,localBuffer,12);
-
- if (status == VL53L0X_ERROR_NONE) {
-
- p_ranging_measurement_data->ZoneId = 0; /* Only one zone */
- p_ranging_measurement_data->TimeStamp = 0; /* Not Implemented */
+ TRangeResults last_range_data_buffer;
+
+ if (ErrState != VL53L0X_OK) { return; } // Do nothing while in error state
+
+ /* use multi read even if some registers are not useful,result will
+ * be more efficient start reading at REG_RESULT_RANGE_STATUS = 0x14
+ * end reading at 0x21 dec33 total 14 bytes to read */
+ I2c_Read(REG_RESULT_RANGE_STATUS, localBuffer,12);
+
+ if (ErrState == VL53L0X_OK) {
+ p_ranging_results->ZoneId = 0; /* Only one zone */
+ p_ranging_results->TimeStamp = 0; /* Not Implemented */
tmpuint16 = VL53L0X_MAKEUINT16(localBuffer[11],localBuffer[10]);
/* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional
- *(format 11.2) else no fractional
- */
-
- p_ranging_measurement_data->MeasurementTimeUsec = 0;
-
- signal_rate = VL53L0X_FIXPOINT97TOFIXPOINT1616(VL53L0X_MAKEUINT16(localBuffer[7],localBuffer[6]));
- /* peak_signal_count_rate_rtn_mcps */
- p_ranging_measurement_data->SignalRateRtnMegaCps = signal_rate;
+ *(format 11.2) else no fractional */
+
+ p_ranging_results->MeasurementTimeUsec = 0;
+
+ signal_rate = FP97_TO_FP1616(VL53L0X_MAKEUINT16(localBuffer[7],localBuffer[6]));
+ /* peak_SIG_count_rate_rtn_mcps */
+ p_ranging_results->SignalRateRtnMHz = signal_rate;
ambient_rate = VL53L0X_MAKEUINT16(localBuffer[9],localBuffer[8]);
- p_ranging_measurement_data->AmbientRateRtnMegaCps =
- VL53L0X_FIXPOINT97TOFIXPOINT1616(ambient_rate);
-
- effective_spad_rtn_count = VL53L0X_MAKEUINT16(localBuffer[3],
- localBuffer[2]);
- /* EffectiveSpadRtnCount is 8.8 format */
- p_ranging_measurement_data->EffectiveSpadRtnCount =
- effective_spad_rtn_count;
+ p_ranging_results->AmbientRateRtnMHz = FP97_TO_FP1616(ambient_rate);
+
+ effective_SPAD_rtn_count = VL53L0X_MAKEUINT16(localBuffer[3], localBuffer[2]);
+ /* EffectiveSPADRtnCount is 8.8 format */
+ p_ranging_results->EffectiveSPADRtnCount = effective_SPAD_rtn_count;
device_range_status = localBuffer[0];
@@ -3051,846 +1927,575 @@
* tmpuint16 + 500) / 1000);
/* Implement Xtalk */
- x_talk_compensation_rate_mega_cps = CurrentParameters.XTalkCompensationRateMegaCps;
- x_talk_compensation_enable = CurrentParameters.XTalkCompensationEnable;
-
- if (x_talk_compensation_enable) {
-
- if ((signal_rate
- - ((x_talk_compensation_rate_mega_cps
- * effective_spad_rtn_count) >> 8))
- <= 0) {
- if (range_fractional_enable) {
- xtalk_range_milli_meter = 8888;
- } else {
- xtalk_range_milli_meter = 8888 << 2;
- }
+ Xtalk_CompRate_MHz = CurrParams.Xtalk_CompRate_MHz;
+ xtalk_compensation_enable = CurrParams.XTalk_Compens_En;
+
+ if (xtalk_compensation_enable) {
+ if ((signal_rate - ((Xtalk_CompRate_MHz
+ * effective_SPAD_rtn_count) >> 8)) <= 0) {
+ if (range_fractional_enable) { xtalk_range_milli_meter = 8888;
+ } else { xtalk_range_milli_meter = 8888 << 2; }
} else {
- xtalk_range_milli_meter =
- (tmpuint16 * signal_rate)
- / (signal_rate
- - ((x_talk_compensation_rate_mega_cps
- * effective_spad_rtn_count)
- >> 8));
+ xtalk_range_milli_meter = (tmpuint16 * signal_rate)
+ / (signal_rate - ((Xtalk_CompRate_MHz * effective_SPAD_rtn_count) >> 8));
}
-
tmpuint16 = xtalk_range_milli_meter;
}
}
if (range_fractional_enable) {
- p_ranging_measurement_data->RangeMilliMeter =
- (uint16_t)((tmpuint16) >> 2);
- p_ranging_measurement_data->RangeFractionalPart =
+ p_ranging_results->RangeMilliMeter = (uint16_t)((tmpuint16) >> 2);
+ p_ranging_results->RangeFractionalPart =
(uint8_t)((tmpuint16 & 0x03) << 6);
} else {
- p_ranging_measurement_data->RangeMilliMeter = tmpuint16;
- p_ranging_measurement_data->RangeFractionalPart = 0;
+ p_ranging_results->RangeMilliMeter = tmpuint16;
+ p_ranging_results->RangeFractionalPart = 0;
}
- /*
- * For a standard definition of RangeStatus,this should
+ /* For a standard definition of RangeStatus,this should
* return 0 in case of good result after a ranging
- * The range status depends on the device so call a device
- * specific function to obtain the right Status.
- */
- status |= VL53L0X_get_pal_range_status(device_range_status,
- signal_rate,effective_spad_rtn_count,
- p_ranging_measurement_data,&pal_range_status);
- if (status == VL53L0X_ERROR_NONE) {
- p_ranging_measurement_data->RangeStatus = pal_range_status;
+ * The range ErrState depends on the device so call a device
+ * specific function to obtain the right ErrState. */
+ Get_Device_range_status(device_range_status,signal_rate,effective_SPAD_rtn_count,
+ p_ranging_results,&Device_range_status);
+ if (ErrState == VL53L0X_OK) {
+ p_ranging_results->RangeStatus = Device_range_status;
}
}
- if (status == VL53L0X_ERROR_NONE) {
- /* Copy last read data into Dev buffer */
+ if (ErrState == VL53L0X_OK) {
+ /* Copy last read data into device+ buffer */
last_range_data_buffer = LastRangeMeasure;
last_range_data_buffer.RangeMilliMeter =
- p_ranging_measurement_data->RangeMilliMeter;
+ p_ranging_results->RangeMilliMeter;
last_range_data_buffer.RangeFractionalPart =
- p_ranging_measurement_data->RangeFractionalPart;
+ p_ranging_results->RangeFractionalPart;
last_range_data_buffer.RangeDMaxMilliMeter =
- p_ranging_measurement_data->RangeDMaxMilliMeter;
+ p_ranging_results->RangeDMaxMilliMeter;
last_range_data_buffer.MeasurementTimeUsec =
- p_ranging_measurement_data->MeasurementTimeUsec;
- last_range_data_buffer.SignalRateRtnMegaCps =
- p_ranging_measurement_data->SignalRateRtnMegaCps;
- last_range_data_buffer.AmbientRateRtnMegaCps =
- p_ranging_measurement_data->AmbientRateRtnMegaCps;
- last_range_data_buffer.EffectiveSpadRtnCount =
- p_ranging_measurement_data->EffectiveSpadRtnCount;
+ p_ranging_results->MeasurementTimeUsec;
+ last_range_data_buffer.SignalRateRtnMHz =
+ p_ranging_results->SignalRateRtnMHz;
+ last_range_data_buffer.AmbientRateRtnMHz =
+ p_ranging_results->AmbientRateRtnMHz;
+ last_range_data_buffer.EffectiveSPADRtnCount =
+ p_ranging_results->EffectiveSPADRtnCount;
last_range_data_buffer.RangeStatus =
- p_ranging_measurement_data->RangeStatus;
+ p_ranging_results->RangeStatus;
LastRangeMeasure = last_range_data_buffer;
}
- return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_perform_single_ranging_measurement(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- /* This function will do a complete single ranging
- * Here we fix the mode! */
- status = VL53L0X_set_device_mode(VL53L0X_DEVICEMODE_SINGLE_RANGING);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_perform_single_measurement();
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_ranging_measurement_data(p_ranging_measurement_data);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_clear_interrupt_mask(0);
- }
-
- return status;
+void VL53L0X::Perf_single_ranging_measurement(
+ TRangeResults *p_ranging_results)
+{ if (ErrState != VL53L0X_OK) {return; } // no activity while in Error State!!!!
+
+ /* This function will do a complete single ranging Here we fix the mode! */
+ Set_device_mode(VL53L0X_DEVICEMODE_SINGLE_RANGING);
+
+ Perf_single_measurement();
+
+ Get_ranging_results(p_ranging_results);
+
+ Clear_interrupt_mask(0);
}
-VL53L0X_Error VL53L0X::perform_ref_signal_measurement(uint16_t *p_ref_signal_rate)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_RangingMeasurementData_t ranging_measurement_data;
-
- uint8_t sequence_config = 0;
+uint16_t VL53L0X::Get_Perf_Ref_SIG_measurement()
+{ TRangeResults ranging_results;
+ uint8_t orig_sequence_config;
+ uint16_t Ref_SIG_rate ;
/* store the value of the sequence config,
* this will be reset before the end of the function*/
- sequence_config = SequenceConfig;
+ orig_sequence_config = SequenceConfig;
/* This function performs a reference signal rate measurement.*/
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,0xC0);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_perform_single_ranging_measurement(&ranging_measurement_data);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(0xFF,0x01);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_word(VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
- p_ref_signal_rate);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(0xFF,0x00);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- /* restore the previous Sequence Config */
- status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
- sequence_config);
- if (status == VL53L0X_ERROR_NONE) {
- SequenceConfig = sequence_config;
- }
- }
-
- return status;
+ Set_SequenceConfig( 0xC0 ); // sets REG_SYSTEM_SEQUENCE_CONFIG
+
+ Perf_single_ranging_measurement(&ranging_results);
+
+ Write_Byte(0xFF,0x01);
+ Ref_SIG_rate = Read_Word(REG_RESULT_PEAK_SIG_RATE_REF);
+ Write_Byte(0xFF,0x00);
+
+ /* restore the previous Sequence Config */
+ Set_SequenceConfig( orig_sequence_config ); // resets REG_SYSTEM_SEQUENCE_CONFIG
+
+ return Ref_SIG_rate;
}
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_perform_ref_spad_management(uint32_t *ref_spad_count,
- uint8_t *is_aperture_spads)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t last_spad_array[6];
+void VL53L0X::Perf_Ref_SPAD_management(uint32_t *ref_SPAD_count,
+ uint8_t *is_aperture_SPADS)
+{ uint8_t last_SPAD_array[6];
uint8_t start_select = 0xB4;
- uint32_t minimum_spad_count = 3;
- uint32_t max_spad_count = 44;
- uint32_t current_spad_index = 0;
- uint32_t last_spad_index = 0;
- int32_t next_good_spad = 0;
- uint16_t target_ref_rate = 0x0A00; /* 20 MCPS in 9:7 format */
- uint16_t peak_signal_rate_ref;
- uint32_t need_apt_spads = 0;
+ uint32_t minimum_SPAD_count = 3;
+ uint32_t max_SPAD_count = 44;
+ uint32_t current_SPAD_index = 0;
+ uint32_t last_SPAD_index = 0;
+ int32_t next_good_SPAD = 0;
+ uint16_t target_Ref_rate = 0x0A00; /* 20 MHz in 9:7 format */
+ uint16_t peak_SIG_rate_Ref;
+ uint32_t need_apt_SPADS = 0;
uint32_t index = 0;
- uint32_t spad_array_size = 6;
+ uint32_t SPAD_array_size = 6;
uint32_t signal_rate_diff = 0;
- uint32_t last_signal_rate_diff = 0;
+ uint32_t last_SIG_rate_diff = 0;
uint8_t complete = 0;
uint8_t vhv_settings = 0;
uint8_t phase_cal = 0;
- uint32_t ref_spad_count_int = 0;
- uint8_t is_aperture_spads_int = 0;
+ uint32_t ref_SPAD_count_int = 0;
+ uint8_t is_aperture_SPADS_int = 0;
/*
* The reference SPAD initialization procedure determines the minimum
- * amount of reference spads to be enables to achieve a target reference
+ * amount of reference SPADS to be enables to achieve a target reference
* signal rate and should be performed once during initialization.
*
- * Either aperture or non-aperture spads are applied but never both.
- * Firstly non-aperture spads are set,begining with 5 spads,and
- * increased one spad at a time until the closest measurement to the
+ * Either aperture or non-aperture SPADS are applied but never both.
+ * Firstly non-aperture SPADS are set,begining with 5 SPADS,and
+ * increased one SPAD at a time until the closest measurement to the
* target rate is achieved.
*
- * If the target rate is exceeded when 5 non-aperture spads are enabled,
- * initialization is performed instead with aperture spads.
+ * If the target rate is exceeded when 5 non-aperture SPADS are enabled,
+ * initialization is performed instead with aperture SPADS.
*
- * When setting spads,a 'Good Spad Map' is applied.
+ * When setting SPADS,a 'Good SPAD Map' is applied.
*
* This procedure operates within a SPAD window of interest of a maximum
- * 44 spads.
+ * 44 SPADS.
* The start point is currently fixed to 180,which lies towards the end
* of the non-aperture quadrant and runs in to the adjacent aperture
- * quadrant.
- */
- target_ref_rate = targetRefRate;
-
- /*
- * Initialize Spad arrays.
- * Currently the good spad map is initialised to 'All good'.
- * This is a short term implementation. The good spad map will be
+ * quadrant. */
+ target_Ref_rate = targetRefRate;
+
+ /* Initialize SPAD arrays.
+ * Currently the good SPAD map is initialised to 'All good'.
+ * This is a short term implementation. The good SPAD map will be
* provided as an input.
* Note that there are 6 bytes. Only the first 44 bits will be used to
- * represent spads.
- */
- for (index = 0; index < spad_array_size; index++) {
- SpadData.RefSpadEnables[index] = 0;
- }
-
- status = VL53L0X_write_byte(0xFF,0x01);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET,0x00);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD,0x2C);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(0xFF,0x00);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
- start_select);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE,0);
- }
+ * represent SPADS. */
+ for (index = 0; index < SPAD_array_size; index++) {
+ SPADData.RefSPADEnables[index] = 0; }
+
+ Write_Byte(0xFF,0x01);
+ Write_Byte(REG_DYNAMIC_SPAD_REF_EN_START_OFFSET,0x00);
+ Write_Byte(REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD,0x2C);
+ Write_Byte(0xFF,0x00);
+ Write_Byte(REG_GLOBAL_CONFIG_REF_EN_START_SELECT,start_select);
+ Write_Byte(REG_POWER_MANAGEMENT_GO1_POWER_FORCE,0);
/* Perform ref calibration */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_perform_ref_calibration(&vhv_settings, &phase_cal, 0);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- /* Enable Minimum NON-APERTURE Spads */
- current_spad_index = 0;
- last_spad_index = current_spad_index;
- need_apt_spads = 0;
- status = enable_ref_spads(need_apt_spads,
- SpadData.RefGoodSpadMap,
- SpadData.RefSpadEnables,
- spad_array_size,
+ if (ErrState == VL53L0X_OK)
+ {Perf_Ref_calibration(&vhv_settings, &phase_cal, 0);}
+
+ if (ErrState == VL53L0X_OK) {
+ /* Enable Minimum NON-APERTURE SPADS */
+ current_SPAD_index = 0;
+ last_SPAD_index = current_SPAD_index;
+ need_apt_SPADS = 0;
+ Enable_Ref_SPADS(need_apt_SPADS,
+ SPADData.RefGoodSPADMap,
+ SPADData.RefSPADEnables,
+ SPAD_array_size,
start_select,
- current_spad_index,
- minimum_spad_count,
- &last_spad_index);
+ current_SPAD_index,
+ minimum_SPAD_count,
+ &last_SPAD_index);
}
- if (status == VL53L0X_ERROR_NONE) {
- current_spad_index = last_spad_index;
-
- status = perform_ref_signal_measurement(&peak_signal_rate_ref);
- if ((status == VL53L0X_ERROR_NONE) &&
- (peak_signal_rate_ref > target_ref_rate)) {
- /* Signal rate measurement too high,
- * switch to APERTURE SPADs */
-
- for (index = 0; index < spad_array_size; index++) {
- SpadData.RefSpadEnables[index] = 0;
- }
-
-
- /* Increment to the first APERTURE spad */
- while ((is_aperture(start_select + current_spad_index)
- == 0) && (current_spad_index < max_spad_count)) {
- current_spad_index++;
- }
-
- need_apt_spads = 1;
-
- status = enable_ref_spads(need_apt_spads,
- SpadData.RefGoodSpadMap,
- SpadData.RefSpadEnables,
- spad_array_size,
+ if (ErrState == VL53L0X_OK) {
+ current_SPAD_index = last_SPAD_index;
+
+ 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++)
+ { SPADData.RefSPADEnables[index] = 0; }
+
+ /* Increment to the first APERTURE SPAD */
+ while ((Is_ApertureSPAD(start_select + current_SPAD_index)
+ == 0) && (current_SPAD_index < max_SPAD_count))
+ { current_SPAD_index++; }
+
+ need_apt_SPADS = 1;
+
+ Enable_Ref_SPADS(need_apt_SPADS,
+ SPADData.RefGoodSPADMap,
+ SPADData.RefSPADEnables,
+ SPAD_array_size,
start_select,
- current_spad_index,
- minimum_spad_count,
- &last_spad_index);
-
- if (status == VL53L0X_ERROR_NONE) {
- current_spad_index = last_spad_index;
- status = perform_ref_signal_measurement(&peak_signal_rate_ref);
-
- if ((status == VL53L0X_ERROR_NONE) &&
- (peak_signal_rate_ref > target_ref_rate)) {
- /* Signal rate still too high after
- * setting the minimum number of
- * APERTURE spads. Can do no more
- * therefore set the min number of
- * aperture spads as the result.
- */
- is_aperture_spads_int = 1;
- ref_spad_count_int = minimum_spad_count;
+ current_SPAD_index,
+ minimum_SPAD_count,
+ &last_SPAD_index);
+
+ if (ErrState == VL53L0X_OK) {
+ current_SPAD_index = last_SPAD_index;
+ peak_SIG_rate_Ref = Get_Perf_Ref_SIG_measurement();
+
+ if ((ErrState == VL53L0X_OK) && (peak_SIG_rate_Ref > target_Ref_rate))
+ { /* Signal rate still too high after setting the minimum number of
+ * APERTURE SPADS. Can do no more therefore set the min number of
+ * aperture SPADS as the result. */
+ is_aperture_SPADS_int = 1;
+ ref_SPAD_count_int = minimum_SPAD_count;
}
}
- } else { need_apt_spads = 0;}
+ } else { need_apt_SPADS = 0;}
}
- if ((status == VL53L0X_ERROR_NONE) &&
- (peak_signal_rate_ref < target_ref_rate)) {
- /* At this point,the minimum number of either aperture
- * or non-aperture spads have been set. Proceed to add
- * spads and perform measurements until the target
- * reference is reached.
- */
- is_aperture_spads_int = need_apt_spads;
- ref_spad_count_int = minimum_spad_count;
-
- memcpy(last_spad_array,SpadData.RefSpadEnables,
- spad_array_size);
- last_signal_rate_diff = abs(peak_signal_rate_ref -
- target_ref_rate);
+ if ((ErrState == VL53L0X_OK) && (peak_SIG_rate_Ref < target_Ref_rate))
+ { /* At this point,the minimum number of either aperture
+ * or non-aperture SPADS have been set. Proceed to add
+ * SPADS and perform measurements until the target reference is reached.*/
+ is_aperture_SPADS_int = need_apt_SPADS;
+ ref_SPAD_count_int = minimum_SPAD_count;
+
+ memcpy(last_SPAD_array,SPADData.RefSPADEnables, 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);
-
- if (next_good_spad == -1) {
- status = VL53L0X_ERROR_REF_SPAD_INIT;
+ Get_Next_Good_SPAD(SPADData.RefGoodSPADMap,
+ SPAD_array_size,current_SPAD_index, &next_good_SPAD);
+
+ if (next_good_SPAD == -1) {
+ ErrState = VL53L0X_ERROR_REF_SPAD_INIT;
break;
}
- /* Cannot combine Aperture and Non-Aperture spads,so
- * ensure the current spad is of the correct type.
- */
- if (is_aperture((uint32_t)start_select + next_good_spad) !=
- need_apt_spads) {
- /* At this point we have enabled the maximum
- * number of Aperture spads.
- */
+ /* Cannot combine Aperture and Non-Aperture SPADS,so
+ * ensure the current SPAD is of the correct type. */
+ if (Is_ApertureSPAD((uint32_t)start_select + next_good_SPAD) !=
+ need_apt_SPADS) {
+ /* At this point we have enabled the maximum number of Aperture SPADS. */
complete = 1;
break;
}
- (ref_spad_count_int)++;
-
- current_spad_index = next_good_spad;
- status = enable_spad_bit(SpadData.RefSpadEnables,
- spad_array_size,current_spad_index);
-
- if (status == VL53L0X_ERROR_NONE) {
- current_spad_index++;
- /* Proceed to apply the additional spad and
- * perform measurement. */
- status = set_ref_spad_map(SpadData.RefSpadEnables);
+ (ref_SPAD_count_int)++;
+
+ current_SPAD_index = next_good_SPAD;
+ Enable_SPAD_bit(SPADData.RefSPADEnables,
+ SPAD_array_size,current_SPAD_index);
+
+ if (ErrState == VL53L0X_OK) {
+ current_SPAD_index++;
+ /* Proceed to apply the additional SPAD and perform measurement. */
+ I2c_Write(REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0, SPADData.RefSPADEnables,6); //Set_Ref_SPAD_map
}
- if (status != VL53L0X_ERROR_NONE) { break; }
-
- status = perform_ref_signal_measurement(&peak_signal_rate_ref);
-
- if (status != VL53L0X_ERROR_NONE) { break; }
-
- signal_rate_diff = abs(peak_signal_rate_ref - target_ref_rate);
-
- if (peak_signal_rate_ref > target_ref_rate) {
- /* Select the spad map that provides the
+ if (ErrState != VL53L0X_OK) { break; }
+
+ peak_SIG_rate_Ref = Get_Perf_Ref_SIG_measurement();
+
+ if (ErrState != VL53L0X_OK) { break; }
+
+ signal_rate_diff = abs(peak_SIG_rate_Ref - target_Ref_rate);
+
+ if (peak_SIG_rate_Ref > target_Ref_rate) {
+ /* Select the SPAD map that provides the
* measurement closest to the target rate,
- * either above or below it.
- */
- if (signal_rate_diff > last_signal_rate_diff) {
- /* Previous spad map produced a closer
- * measurement,so choose this. */
- status = set_ref_spad_map(last_spad_array);
- memcpy(SpadData.RefSpadEnables,
- last_spad_array,spad_array_size);
-
- (ref_spad_count_int)--;
+ * either above or below it. */
+ 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);
+ (ref_SPAD_count_int)--;
}
complete = 1;
} else {
- /* Continue to add spads */
- last_signal_rate_diff = signal_rate_diff;
- memcpy(last_spad_array,
- SpadData.RefSpadEnables,
- spad_array_size);
+ /* Continue to add SPADS */
+ last_SIG_rate_diff = signal_rate_diff;
+ memcpy(last_SPAD_array, SPADData.RefSPADEnables,SPAD_array_size);
}
-
} /* while */
}
- if (status == VL53L0X_ERROR_NONE) {
- *ref_spad_count = ref_spad_count_int;
- *is_aperture_spads = is_aperture_spads_int;
-
- DevSpecParams.RefSpadsInitialised = 1;
- DevSpecParams.ReferenceSpadCount = (uint8_t)(*ref_spad_count);
- DevSpecParams.ReferenceSpadType = *is_aperture_spads;
+ 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;
}
-
- return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_set_reference_spads(uint32_t count,uint8_t is_aperture_spads)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t current_spad_index = 0;
- uint8_t start_select = 0xB4;
- uint32_t spad_array_size = 6;
- uint32_t max_spad_count = 44;
- uint32_t last_spad_index;
+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;
- /*
- * This function applies a requested number of reference spads,either
- * aperture or
- * non-aperture,as requested.
- * The good spad map will be applied.
- */
- status = VL53L0X_write_byte(0xFF,0x01);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET,0x00);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD,0x2C);
- }
-
- if (status == VL53L0X_ERROR_NONE) { status = VL53L0X_write_byte(0xFF,0x00); }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
- start_select);
- }
-
- for (index = 0; index < spad_array_size; index++) {
- SpadData.RefSpadEnables[index] = 0;
- }
-
- if (is_aperture_spads) {
- /* Increment to the first APERTURE spad */
- while ((is_aperture(start_select + current_spad_index) == 0) &&
- (current_spad_index < max_spad_count)) {
- current_spad_index++;
+ /* This function applies a requested number of reference SPADS,either
+ * aperture or non-aperture,as requested. The good SPAD map will be applied.*/
+ Write_Byte(0xFF,0x01);
+ Write_Byte(REG_DYNAMIC_SPAD_REF_EN_START_OFFSET,0x00);
+ Write_Byte(REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD,0x2C);
+ Write_Byte(0xFF,0x00);
+ Write_Byte(REG_GLOBAL_CONFIG_REF_EN_START_SELECT, start_select);
+
+ for (index = 0; index < SPAD_array_size; index++) {
+ SPADData.RefSPADEnables[index] = 0; }
+
+ if (is_aperture_SPADS) {
+ /* Increment to the first APERTURE SPAD */
+ while ((Is_ApertureSPAD(start_select + current_SPAD_index) == 0) &&
+ (current_SPAD_index < max_SPAD_count)) {
+ current_SPAD_index++;
}
}
- status = enable_ref_spads(is_aperture_spads,
- SpadData.RefGoodSpadMap,
- SpadData.RefSpadEnables,
- spad_array_size,
+ Enable_Ref_SPADS(is_aperture_SPADS,
+ SPADData.RefGoodSPADMap,
+ SPADData.RefSPADEnables,
+ SPAD_array_size,
start_select,
- current_spad_index,
+ current_SPAD_index,
count,
- &last_spad_index);
-
- if (status == VL53L0X_ERROR_NONE) {
- DevSpecParams.RefSpadsInitialised = 1;
- DevSpecParams.ReferenceSpadCount = (uint8_t)(count);
- DevSpecParams.ReferenceSpadType = is_aperture_spads;
+ &last_SPAD_index);
+
+ if (ErrState == VL53L0X_OK) {
+ DevSpecParams.RefSPADSInitialised = 1;
+ DevSpecParams.ReferenceSPADCount = (uint8_t)(count);
+ DevSpecParams.ReferenceSPADType = is_aperture_SPADS;
}
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_perform_ref_spad_management(uint32_t *ref_spad_count,uint8_t *is_aperture_spads)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- status = wrapped_VL53L0X_perform_ref_spad_management(ref_spad_count,
- is_aperture_spads);
-
- return status;
-}
-
-/* Group PAL Init Functions */
-VL53L0X_Error VL53L0X::VL53L0X_set_device_address(uint8_t device_address)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- status = VL53L0X_write_byte(VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS,
- device_address / 2);
- return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_set_gpio_config(uint8_t pin,
- VL53L0X_DeviceModes device_mode,VL53L0X_GpioFunctionality functionality,
- VL53L0X_InterruptPolarity polarity)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t data;
-
- if (pin != 0) {
- status = VL53L0X_ERROR_GPIO_NOT_EXISTING;
- } else if (device_mode == VL53L0X_DEVICEMODE_GPIO_DRIVE) {
- if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW) {
- data = 0x10;
- } else {
- data = 1;
- }
-
- status = VL53L0X_write_byte(VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH,data);
-
- } else {
- if (device_mode == VL53L0X_DEVICEMODE_GPIO_OSC) {
-
- status |= VL53L0X_write_byte(0xff,0x01);
- status |= VL53L0X_write_byte(0x00,0x00);
-
- status |= VL53L0X_write_byte(0xff,0x00);
- status |= VL53L0X_write_byte(0x80,0x01);
- status |= VL53L0X_write_byte(0x85,0x02);
-
- status |= VL53L0X_write_byte(0xff,0x04);
- status |= VL53L0X_write_byte(0xcd,0x00);
- status |= VL53L0X_write_byte(0xcc,0x11);
-
- status |= VL53L0X_write_byte(0xff,0x07);
- status |= VL53L0X_write_byte(0xbe,0x00);
-
- status |= VL53L0X_write_byte(0xff,0x06);
- status |= VL53L0X_write_byte(0xcc,0x09);
-
- status |= VL53L0X_write_byte(0xff,0x00);
- status |= VL53L0X_write_byte(0xff,0x01);
- status |= VL53L0X_write_byte(0x00,0x00);
-
- } else {
-
- if (status == VL53L0X_ERROR_NONE) {
- switch (functionality) {
- case VL53L0X_GPIOFUNCTIONALITY_OFF:
- data = 0x00;
- break;
- case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW:
- data = 0x01;
- break;
- case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH:
- data = 0x02;
- break;
- case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT:
- data = 0x03;
- break;
- case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY:
- data = 0x04;
- break;
- default:
- status =
- VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED;
- }
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO,data);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW) {
- data = 0;
- } else {
- data = (uint8_t)(1 << 4);
- }
- status = VL53L0X_update_byte(VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH,0xEF,data);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- DevSpecParams.Pin0GpioFunctionality = functionality;
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_clear_interrupt_mask(0);
- }
- }
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_fraction_enable(uint8_t *p_enabled)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- status = VL53L0X_read_byte(VL53L0X_REG_SYSTEM_RANGE_CONFIG,p_enabled);
-
- if (status == VL53L0X_ERROR_NONE) {*p_enabled = (*p_enabled & 1);}
-
- return status;
-}
-
-uint16_t VL53L0X::VL53L0X_encode_timeout(uint32_t timeout_macro_clks)
-{
- /*!
- * Encode timeout in macro periods in (LSByte * 2^MSByte) + 1 format
- */
-
- uint16_t encoded_timeout = 0;
- uint32_t ls_byte = 0;
+void VL53L0X::Set_GPIO_config(VL53L0X_DeviceModes device_mode,
+ TGPIO_Func functionality, VL53L0X_InterruptPolarity polarity)
+{ uint8_t pol_data;
+
+ if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW)
+ { pol_data = 0x00;} else { pol_data = 0x10;}
+
+ switch ( device_mode ) {
+ case VL53L0X_DEVICEMODE_GPIO_DRIVE:
+ Write_Byte(REG_GPIO_HV_MUX_ACTIVE_HIGH,pol_data);
+ break;
+ case VL53L0X_DEVICEMODE_GPIO_OSC:
+ Write_Byte(0xff,0x01);
+ Write_Byte(0x00,0x00);
+ Write_Byte(0xff,0x00);
+ Write_Byte(0x80,0x01);
+ Write_Byte(0x85,0x02);
+ Write_Byte(0xff,0x04);
+ Write_Byte(0xcd,0x00);
+ Write_Byte(0xcc,0x11);
+ Write_Byte(0xff,0x07);
+ Write_Byte(0xbe,0x00);
+ Write_Byte(0xff,0x06);
+ Write_Byte(0xcc,0x09);
+ Write_Byte(0xff,0x00);
+ Write_Byte(0xff,0x01);
+ Write_Byte(0x00,0x00);
+ break;
+ default:
+ if (functionality>GPIO_FUNC_NEW_MEASURE_READY)
+ { ErrState = VL53L0X_ERROR_GPIO_FUNC_NOT_SUPPORTED; }
+ else { Write_Byte(REG_SYSINT_CONFIG_GPIO,functionality); }
+
+ if (ErrState == VL53L0X_OK)
+ { Register_BitMask(REG_GPIO_HV_MUX_ACTIVE_HIGH,0xEF,pol_data); }
+
+ if (ErrState == VL53L0X_OK)
+ {DevSpecParams.GpioFunctionality = functionality; }
+
+ Clear_interrupt_mask(0);
+ } // switch
+} // Set_GPIO_config
+
+/* Encode timeout in macro periods in (LSByte * 2^MSByte) + 1 format */
+uint16_t VL53L0X::Encode_timeout(uint32_t timeout_macro_clks)
+{ uint16_t encoded_timeout = 0;
uint16_t ms_byte = 0;
if (timeout_macro_clks > 0) {
- ls_byte = timeout_macro_clks - 1;
-
- while ((ls_byte & 0xFFFFFF00) > 0) {
- ls_byte = ls_byte >> 1;
+ timeout_macro_clks = timeout_macro_clks - 1;
+ while ((timeout_macro_clks & 0xFFFFFF00) > 0) {
+ timeout_macro_clks = timeout_macro_clks >> 1;
ms_byte++;
- }
-
- encoded_timeout = (ms_byte << 8) + (uint16_t)(ls_byte & 0x000000FF);
- }
-
+ } // while
+ encoded_timeout = (ms_byte << 8) + (uint16_t)(timeout_macro_clks & 0x000000FF);
+ }
return encoded_timeout;
-
}
-VL53L0X_Error VL53L0X::set_sequence_step_timeout(VL53L0X_SequenceStepId sequence_step_id,
+void VL53L0X::Set_Sequence_Step_Timeout(VL53L0X_SequenceStepId sequence_step_id,
uint32_t timeout_micro_secs)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t current_vcsel_pulse_period_p_clk;
+{ uint8_t current_vcsel_PPeriod_p_clk;
uint8_t msrc_encoded_time_out;
uint16_t pre_range_encoded_time_out;
uint16_t pre_range_time_out_m_clks;
uint16_t msrc_range_time_out_m_clks;
uint32_t final_range_time_out_m_clks;
uint16_t final_range_encoded_time_out;
- VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
-
- if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC) ||
- (sequence_step_id == VL53L0X_SEQUENCESTEP_DSS) ||
- (sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC)) {
-
- status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
-
- if (status == VL53L0X_ERROR_NONE) {
- msrc_range_time_out_m_clks = VL53L0X_calc_timeout_mclks(timeout_micro_secs,
- (uint8_t)current_vcsel_pulse_period_p_clk);
-
- if (msrc_range_time_out_m_clks > 256) {
- msrc_encoded_time_out = 255;
- } else {
- msrc_encoded_time_out =
- (uint8_t)msrc_range_time_out_m_clks - 1;
- }
+ VL53L0X_Sequence_Steps_t sequence_steps;
+
+ switch (sequence_step_id) {
+ case VL53L0X_SEQUENCESTEP_TCC:
+ case VL53L0X_SEQUENCESTEP_DSS:
+ case VL53L0X_SEQUENCESTEP_MSRC:
+ current_vcsel_PPeriod_p_clk = /* Gets and converts the VCSEL period register into actual clock periods */
+ ( Read_Byte(REG_PRE_RANGE_CONFIG_VCSEL_PERIOD) + 1) << 1;
+
+ if (ErrState == VL53L0X_OK) {
+ msrc_range_time_out_m_clks = Calc_timeout_mclks(timeout_micro_secs,
+ (uint8_t)current_vcsel_PPeriod_p_clk);
+
+ if (msrc_range_time_out_m_clks > 256) { msrc_encoded_time_out = 255;}
+ else {msrc_encoded_time_out = (uint8_t)msrc_range_time_out_m_clks - 1; }
DevSpecParams.LastEncodedTimeout = msrc_encoded_time_out;
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
- msrc_encoded_time_out);
- }
- } else {
-
- if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
- pre_range_time_out_m_clks =
- VL53L0X_calc_timeout_mclks(timeout_micro_secs,
- (uint8_t)current_vcsel_pulse_period_p_clk);
- pre_range_encoded_time_out = VL53L0X_encode_timeout(pre_range_time_out_m_clks);
-
- DevSpecParams.LastEncodedTimeout = pre_range_encoded_time_out;
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_word(VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
- pre_range_encoded_time_out);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- DevSpecParams.PreRangeTimeoutMicroSecs=timeout_micro_secs;
- }
- } else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
-
- /* For the final range timeout,the pre-range timeout
- * must be added. To do this both final and pre-range
- * timeouts must be expressed in macro periods MClks
- * because they have different vcsel periods.
- */
-
- VL53L0X_get_sequence_step_enables(&scheduler_sequence_steps);
+ }
+ Write_Byte(REG_MSRC_CONFIG_TIMEOUT_MACROP,msrc_encoded_time_out);
+ break;
+
+ case VL53L0X_SEQUENCESTEP_PRE_RANGE:
+ current_vcsel_PPeriod_p_clk = /* Gets and converts the VCSEL period register into actual clock periods */
+ ( Read_Byte(REG_PRE_RANGE_CONFIG_VCSEL_PERIOD) + 1) << 1;
+
+ pre_range_time_out_m_clks = Calc_timeout_mclks(timeout_micro_secs,
+ (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;
+
+ Write_Word(REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,pre_range_encoded_time_out);
+
+ if (ErrState == VL53L0X_OK)
+ {DevSpecParams.PreRangeTimeoutMicroSecs=timeout_micro_secs; }
+ break;
+
+ case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
+ /* For the final range timeout,the pre-range timeout must be added.
+ * To do this both final and pre-range timeouts must be expressed in
+ * macro periods MClks because they have different vcsel periods.*/
+ sequence_steps = Get_sequence_step_enables();
pre_range_time_out_m_clks = 0;
- if (scheduler_sequence_steps.PreRangeOn) {
-
- /* Retrieve PRE-RANGE VCSEL Period */
- status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
-
- /* Retrieve PRE-RANGE Timeout in Macro periods
- * (MCLKS) */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_word(0x51,
- &pre_range_encoded_time_out);
- pre_range_time_out_m_clks =
- VL53L0X_decode_timeout(pre_range_encoded_time_out);
- }
- }
-
- /* Calculate FINAL RANGE Timeout in Macro Periods
- * (MCLKS) and add PRE-RANGE value
- */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
- ¤t_vcsel_pulse_period_p_clk);
- }
- if (status == VL53L0X_ERROR_NONE) {
- final_range_time_out_m_clks =
- VL53L0X_calc_timeout_mclks(timeout_micro_secs,
- (uint8_t) current_vcsel_pulse_period_p_clk);
+
+ if (sequence_steps.PreRangeOn)
+ { current_vcsel_PPeriod_p_clk = /* Gets and converts the VCSEL period register into actual clock periods */
+ ( Read_Byte(REG_PRE_RANGE_CONFIG_VCSEL_PERIOD) + 1) << 1;
+
+ /* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */
+ if (ErrState == VL53L0X_OK)
+ { pre_range_encoded_time_out = Read_Word(0x51);
+ pre_range_time_out_m_clks = Decode_timeout(pre_range_encoded_time_out);
+ }
+ }
+
+ /* Calculate FINAL RANGE Timeout in Macro Periode (MCLKS) and add PRE-RANGE value */
+ if (ErrState == VL53L0X_OK)
+ { current_vcsel_PPeriod_p_clk /* Get and converts the VCSEL period register into actual clock periods */
+ = ( Read_Byte(REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD) + 1) << 1; }
+
+ if (ErrState == VL53L0X_OK)
+ { final_range_time_out_m_clks = Calc_timeout_mclks(timeout_micro_secs,
+ (uint8_t) current_vcsel_PPeriod_p_clk);
final_range_time_out_m_clks += pre_range_time_out_m_clks;
- final_range_encoded_time_out =
- VL53L0X_encode_timeout(final_range_time_out_m_clks);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_word(0x71,
- final_range_encoded_time_out);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- DevSpecParams.FinalRangeTimeoutMicroSecs = timeout_micro_secs;
- }
- }
- } else {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_measurement_timing_budget_us
- (uint32_t measurement_timing_budget_us)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t final_range_timing_budget_us;
- VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
- uint32_t msrc_dcc_tcc_timeout_us = 2000;
+ final_range_encoded_time_out = Encode_timeout(final_range_time_out_m_clks);
+
+ Write_Word(0x71,final_range_encoded_time_out);
+ }
+
+ if (ErrState == VL53L0X_OK)
+ { DevSpecParams.FinalRangeTimeoutMicroSecs = timeout_micro_secs; }
+ break;
+
+ default: ErrState = VL53L0X_ERROR_INVALID_PARAMS;
+ } // switch (sequence_step_id)
+ }
+
+void VL53L0X::Set_Measure_Time_Budget_us (uint32_t Measure_Time_Budget_us)
+{ uint32_t final_range_timing_budget_us;
+ VL53L0X_Sequence_Steps_t sequence_steps;
+ uint32_t msrc_dcc_tcc_timeout_us= 2000;
uint32_t start_overhead_us = 1910;
uint32_t end_overhead_us = 960;
uint32_t msrc_overhead_us = 660;
uint32_t tcc_overhead_us = 590;
uint32_t dss_overhead_us = 690;
uint32_t pre_range_overhead_us = 660;
- uint32_t final_range_overhead_us = 550;
+ uint32_t final_range_overhead_us= 550;
uint32_t pre_range_timeout_us = 0;
uint32_t c_min_timing_budget_us = 20000;
uint32_t sub_timeout = 0;
- if (measurement_timing_budget_us
- < c_min_timing_budget_us) {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- return status;
- }
-
- final_range_timing_budget_us =
- measurement_timing_budget_us -
- (start_overhead_us + end_overhead_us);
-
- status = VL53L0X_get_sequence_step_enables(&scheduler_sequence_steps);
-
- if (status == VL53L0X_ERROR_NONE &&
- (scheduler_sequence_steps.TccOn ||
- scheduler_sequence_steps.MsrcOn ||
- scheduler_sequence_steps.DssOn)) {
+ if (Measure_Time_Budget_us < c_min_timing_budget_us)
+ { ErrState = VL53L0X_ERROR_INVALID_PARAMS;
+ return ; }
+
+ final_range_timing_budget_us = Measure_Time_Budget_us -
+ (start_overhead_us + end_overhead_us);
+
+ sequence_steps = Get_sequence_step_enables();
+
+ if (ErrState == VL53L0X_OK &&
+ (sequence_steps.TccOn ||
+ sequence_steps.MsrcOn ||
+ sequence_steps.DssOn)) {
/* TCC,MSRC and DSS all share the same timeout */
- status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_MSRC,
+ Get_Sequence_Step_Timeout(VL53L0X_SEQUENCESTEP_MSRC,
&msrc_dcc_tcc_timeout_us);
- /* Subtract the TCC,MSRC and DSS timeouts if they are
- * enabled. */
-
- if (status != VL53L0X_ERROR_NONE) { return status; }
+ /* Subtract the TCC,MSRC and DSS timeouts if they are enabled. */
+ if (ErrState != VL53L0X_OK) {return ; }
/* TCC */
- if (scheduler_sequence_steps.TccOn) {
-
- sub_timeout = msrc_dcc_tcc_timeout_us
- + tcc_overhead_us;
-
- if (sub_timeout <
- final_range_timing_budget_us) {
- final_range_timing_budget_us -=
- sub_timeout;
- } else {
- /* Requested timeout too big. */
- status = VL53L0X_ERROR_INVALID_PARAMS;
+ if (sequence_steps.TccOn) {
+
+ sub_timeout = msrc_dcc_tcc_timeout_us + tcc_overhead_us;
+
+ if (sub_timeout < final_range_timing_budget_us) {
+ final_range_timing_budget_us -= sub_timeout;
+ } else { /* Requested timeout too big. */
+ ErrState = VL53L0X_ERROR_INVALID_PARAMS;
}
}
- if (status != VL53L0X_ERROR_NONE) { return status; }
+ if (ErrState != VL53L0X_OK) {return; }
/* DSS */
- if (scheduler_sequence_steps.DssOn) {
-
- sub_timeout = 2 * (msrc_dcc_tcc_timeout_us +
- dss_overhead_us);
-
- if (sub_timeout < final_range_timing_budget_us) {
- final_range_timing_budget_us
- -= sub_timeout;
- } else {
- /* Requested timeout too big. */
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- } else if (scheduler_sequence_steps.MsrcOn) {
- /* MSRC */
- sub_timeout = msrc_dcc_tcc_timeout_us +
- msrc_overhead_us;
-
- if (sub_timeout < final_range_timing_budget_us) {
- final_range_timing_budget_us
- -= sub_timeout;
- } else {
- /* Requested timeout too big. */
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
+ if (sequence_steps.DssOn)
+ { sub_timeout = 2 * (msrc_dcc_tcc_timeout_us + dss_overhead_us);
+
+ if (sub_timeout < final_range_timing_budget_us)
+ { final_range_timing_budget_us -= sub_timeout; }
+ else { /* Requested timeout too big. */
+ ErrState = VL53L0X_ERROR_INVALID_PARAMS; }
+ }
+ else if (sequence_steps.MsrcOn) /* MSRC */
+ { sub_timeout = msrc_dcc_tcc_timeout_us + msrc_overhead_us;
+
+ if (sub_timeout < final_range_timing_budget_us)
+ { final_range_timing_budget_us -= sub_timeout; }
+ else /* Requested timeout too big. */
+ { ErrState = VL53L0X_ERROR_INVALID_PARAMS; }
+ }
}
- if (status != VL53L0X_ERROR_NONE) { return status; }
-
- if (scheduler_sequence_steps.PreRangeOn) {
-
+ if (ErrState != VL53L0X_OK) {return; }
+
+ if (sequence_steps.PreRangeOn) {
/* Subtract the Pre-range timeout if enabled. */
-
- status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
+ Get_Sequence_Step_Timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
&pre_range_timeout_us);
-
- sub_timeout = pre_range_timeout_us +
- pre_range_overhead_us;
+ sub_timeout = pre_range_timeout_us + pre_range_overhead_us;
if (sub_timeout < final_range_timing_budget_us) {
final_range_timing_budget_us -= sub_timeout;
} else {
/* Requested timeout too big. */
- status = VL53L0X_ERROR_INVALID_PARAMS;
+ ErrState = VL53L0X_ERROR_INVALID_PARAMS;
}
}
-
- if (status == VL53L0X_ERROR_NONE &&
- scheduler_sequence_steps.FinalRangeOn) {
-
- final_range_timing_budget_us -=
- final_range_overhead_us;
+ if (ErrState == VL53L0X_OK && sequence_steps.FinalRangeOn)
+ { final_range_timing_budget_us -= final_range_overhead_us;
/* Final Range Timeout
* Note that the final range timeout is determined by the timing
@@ -3899,716 +2504,305 @@
* will be set. Otherwise the remaining time will be applied to
* the final range.
*/
- status = set_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
+ Set_Sequence_Step_Timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
final_range_timing_budget_us);
- CurrentParameters.MeasurementTimingBudget_us = measurement_timing_budget_us;
+ CurrParams.Measure_Time_Budget_us = Measure_Time_Budget_us;
}
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_set_measurement_timing_budget_us(uint32_t measurement_timing_budget_us)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- status = wrapped_VL53L0X_set_measurement_timing_budget_us(measurement_timing_budget_us);
-
- return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_set_sequence_step_enable(VL53L0X_SequenceStepId sequence_step_id,uint8_t sequence_step_enabled)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t sequence_config = 0;
- uint8_t sequence_config_new = 0;
- uint32_t measurement_timing_budget_us;
-
- status = VL53L0X_read_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &sequence_config);
-
- sequence_config_new = sequence_config;
-
- if (status == VL53L0X_ERROR_NONE) {
- if (sequence_step_enabled == 1) {
-
- /* Enable requested sequence step
- */
- switch (sequence_step_id) {
- case VL53L0X_SEQUENCESTEP_TCC:
- sequence_config_new |= 0x10;
- break;
- case VL53L0X_SEQUENCESTEP_DSS:
- sequence_config_new |= 0x28;
- break;
- case VL53L0X_SEQUENCESTEP_MSRC:
- sequence_config_new |= 0x04;
- break;
- case VL53L0X_SEQUENCESTEP_PRE_RANGE:
- sequence_config_new |= 0x40;
- break;
- case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
- sequence_config_new |= 0x80;
- break;
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- } else {
- /* Disable requested sequence step
- */
- switch (sequence_step_id) {
- case VL53L0X_SEQUENCESTEP_TCC:
- sequence_config_new &= 0xef;
- break;
- case VL53L0X_SEQUENCESTEP_DSS:
- sequence_config_new &= 0xd7;
- break;
- case VL53L0X_SEQUENCESTEP_MSRC:
- sequence_config_new &= 0xfb;
- break;
- case VL53L0X_SEQUENCESTEP_PRE_RANGE:
- sequence_config_new &= 0xbf;
- break;
- case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
- sequence_config_new &= 0x7f;
- break;
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
- }
-
- if (sequence_config_new != sequence_config) {
- /* Apply New Setting */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,sequence_config_new);
- }
- if (status == VL53L0X_ERROR_NONE) {
- SequenceConfig = sequence_config_new;
- }
-
- /* Recalculate timing budget */
- if (status == VL53L0X_ERROR_NONE) {
- measurement_timing_budget_us = CurrentParameters.MeasurementTimingBudget_us;
- VL53L0X_set_measurement_timing_budget_us(measurement_timing_budget_us);
- }
- }
-
- return status;
+const uint8_t SEQUENCESTEP_MASK[] =
+{ 0x10, //VL53L0X_SEQUENCESTEP_TCC = 0
+ 0x28, //VL53L0X_SEQUENCESTEP_DSS = 1
+ 0x04, //VL53L0X_SEQUENCESTEP_MSRC= 2
+ 0x40, //VL53L0X_SEQUENCESTEP_PRE_RANGE= 3
+ 0x80}; //VL53L0X_SEQUENCESTEP_FINAL_RANGE = 4
+
+void VL53L0X::Set_sequence_step_enable(VL53L0X_SequenceStepId sequence_step_id,
+ uint8_t sequence_step_enabled)
+{ uint8_t new_config = 0;
+
+ // SequenceConfig = Read_Byte(REG_SYSTEM_SEQUENCE_CONFIG);
+ // instead of reading from the device, use the SequenceConfig local data field!!
+
+ if (sequence_step_enabled == 1) /* Enable requested sequence step */
+ { new_config = SequenceConfig | SEQUENCESTEP_MASK[sequence_step_id]; }
+ else /* Disable requested sequence step */
+ { new_config = SequenceConfig & (0xff - SEQUENCESTEP_MASK[sequence_step_id]); }
+
+ if (new_config != SequenceConfig) { /* Apply New Setting */
+ Set_SequenceConfig( new_config );
+ if (ErrState == VL53L0X_OK) /* Recalculate timing budget */
+ { Set_Measure_Time_Budget_us(CurrParams.Measure_Time_Budget_us); }
+ } // if (new_config != sequence_config)
}
-VL53L0X_Error VL53L0X::VL53L0X_set_limit_check_enable(uint16_t limit_check_id,
- uint8_t limit_check_enable)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- FixPoint1616_t temp_fix1616 = 0;
- uint8_t limit_check_enable_int = 0;
- uint8_t limit_check_disable = 0;
- uint8_t temp8;
-
- if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- } else {
- if (limit_check_enable == 0) {
- temp_fix1616 = 0;
- limit_check_enable_int = 0;
- limit_check_disable = 1;
-
- } else {
- temp_fix1616 = CurrentParameters.LimitChecksValue[limit_check_id];
- limit_check_disable = 0;
- /* this to be sure to have either 0 or 1 */
- limit_check_enable_int = 1;
- }
-
- switch (limit_check_id) {
-
- case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
- /* internal computation: */
- CurrentParameters.LimitChecksEnable[VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE] = limit_check_enable_int;
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
-
- status = VL53L0X_write_word(VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
- VL53L0X_FIXPOINT1616TOFIXPOINT97(temp_fix1616));
-
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
- /* internal computation: */
- CurrentParameters.LimitChecksEnable[VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP] = limit_check_enable_int;
- break;
-
- case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
- /* internal computation: */
- CurrentParameters.LimitChecksEnable[VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD] = limit_check_enable_int;
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
- temp8 = (uint8_t)(limit_check_disable << 1);
- status = VL53L0X_update_byte(VL53L0X_REG_MSRC_CONFIG_CONTROL,
- 0xFE,temp8);
- break;
-
- case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
- temp8 = (uint8_t)(limit_check_disable << 4);
- status = VL53L0X_update_byte(VL53L0X_REG_MSRC_CONFIG_CONTROL,
- 0xEF,temp8);
- break;
-
- default:
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- if (limit_check_enable == 0) {
- CurrentParameters.LimitChecksEnable[limit_check_id] = 0;
- } else {
- CurrentParameters.LimitChecksEnable[limit_check_id] = 1;
- }
- }
-
- return status;
+void VL53L0X::Set_limit_chk_en(uint16_t limit_check_id, uint8_t limit_chk_en)
+{ TFP1616 temp_fix1616 = 0;
+ if (limit_chk_en!=0) {limit_chk_en=1;} // make sure we only have 0 or 1 as values!!!
+
+ switch (limit_check_id) {
+ case VL53L0X_CHECKEN_SIGMA_FINAL_RANGE: /* internal computation: */
+ case VL53L0X_CHECKEN_SIG_REF_CLIP: /* internal computation: */
+ case VL53L0X_CHECKEN_RANGE_IGNORE_THRESHOLD: /* internal computation: */
+ CurrParams.Limit_Chk_En[limit_check_id] = limit_chk_en;
+ break;
+
+ case VL53L0X_CHECKEN_SIG_RATE_FINAL_RANGE:
+ temp_fix1616 = limit_chk_en * CurrParams.Limit_Chk_Val[limit_check_id];
+ Write_Word(REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
+ FP1616_TO_FP97(temp_fix1616));
+ break;
+
+ case VL53L0X_CHECKEN_SIG_RATE_MSRC:
+ Register_BitMask(REG_MSRC_CONFIG_CONTROL,0xFE, (1-limit_chk_en)<< 1);
+ break;
+
+ case VL53L0X_CHECKEN_SIG_RATE_PRE_RANGE:
+ Register_BitMask(REG_MSRC_CONFIG_CONTROL,0xEF, (1-limit_chk_en)<< 4);
+ break;
+
+ default: ErrState = VL53L0X_ERROR_INVALID_PARAMS;
+ } // switch
+
+ if (ErrState == VL53L0X_OK) { CurrParams.Limit_Chk_En[limit_check_id] = limit_chk_en; }
}
-VL53L0X_Error VL53L0X::VL53L0X_static_init()
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- VL53L0X_DeviceParameters_t new_curr_parameters = {0};
- uint8_t *p_tuning_setting_buffer;
+void VL53L0X::Static_init()
+{ VL53L0X_DeviceParams_t new_curr_parameters;
+ uint8_t *p_tuning_setting_buffer;
uint16_t tempword = 0;
- uint8_t tempbyte = 0;
- uint8_t use_internal_tuning_settings = 0;
+ uint8_t tempbyte = 0;
uint32_t count = 0;
- uint8_t is_aperture_spads = 0;
- uint32_t ref_spad_count = 0;
- uint8_t aperture_spads = 0;
- uint8_t vcsel_pulse_period_pclk;
+ uint8_t is_aperture_SPADS = 0;
+ uint32_t ref_SPAD_count = 0;
+ uint8_t aperture_SPADS = 0;
+ uint8_t vcsel_PPeriod_pclk;
uint32_t seq_timeout_micro_secs;
- status = VL53L0X_get_info_from_device(1);
-
- /* set the ref spad from NVM */
- count = (uint32_t)DevSpecParams.ReferenceSpadCount;
- aperture_spads = DevSpecParams.ReferenceSpadType;
+ Get_info_from_device(1);
+
+ /* set the ref SPAD from NVM */
+ count = (uint32_t)DevSpecParams.ReferenceSPADCount;
+ aperture_SPADS = DevSpecParams.ReferenceSPADType;
/* NVM value invalid */
- if ((aperture_spads > 1) ||
- ((aperture_spads == 1) && (count > 32)) ||
- ((aperture_spads == 0) && (count > 12))) {
- status = wrapped_VL53L0X_perform_ref_spad_management(&ref_spad_count,
- &is_aperture_spads);
- } else {
- status = VL53L0X_set_reference_spads(count,aperture_spads);
- }
-
+ if ((aperture_SPADS > 1) || ((aperture_SPADS == 1) && (count > 32)) ||
+ ((aperture_SPADS == 0) && (count > 12)))
+ { Perf_Ref_SPAD_management(&ref_SPAD_count, &is_aperture_SPADS); }
+ else
+ { Set_Reference_SPADS(count,aperture_SPADS); }
/* Initialize tuning settings buffer to prevent compiler warning. */
p_tuning_setting_buffer = DefaultTuningSettings;
- if (status == VL53L0X_ERROR_NONE) {
- use_internal_tuning_settings = UseInternalTuningSettings;
-
- if (use_internal_tuning_settings == 0) {
- p_tuning_setting_buffer = pTuningSettingsPointer;
- } else {
- p_tuning_setting_buffer = DefaultTuningSettings;
- }
-
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_load_tuning_settings(p_tuning_setting_buffer);
- }
-
-
- /* Set interrupt config to new sample ready */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_set_gpio_config(0,0,
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
- VL53L0X_INTERRUPTPOLARITY_LOW);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(0xFF,0x01);
- status |= VL53L0X_read_word(0x84,&tempword);
- status |= VL53L0X_write_byte(0xFF,0x00);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- DevSpecParams.OscFrequencyMHz=
- VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword);
- }
-
- /* After static init,some device parameters may be changed,
- * so update them */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_device_parameters(&new_curr_parameters); }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_fraction_enable(&tempbyte);
- if (status == VL53L0X_ERROR_NONE) {
- RangeFractionalEnable = tempbyte; }
- }
-
- if (status == VL53L0X_ERROR_NONE) { CurrentParameters = new_curr_parameters; }
-
+ if (ErrState == VL53L0X_OK) {
+ if (UseInternalTuningSettings == 0)
+ { p_tuning_setting_buffer = pTuningSettingsPointer; }
+ else
+ { p_tuning_setting_buffer = DefaultTuningSettings; }
+ }
+
+ if (ErrState == VL53L0X_OK)
+ { Load_tuning_settings(p_tuning_setting_buffer); }
+
+ /* Set interrupt config to new sample ready */
+ if (ErrState == VL53L0X_OK)
+ { Set_GPIO_config(0,GPIO_FUNC_NEW_MEASURE_READY,VL53L0X_INTERRUPTPOLARITY_LOW); }
+
+ Write_Byte(0xFF,0x01);
+ tempword = Read_Word(0x84);
+ Write_Byte(0xFF,0x00);
+
+ if (ErrState == VL53L0X_OK)
+ { DevSpecParams.OscFrequencyMHz=FP412_TO_FP1616(tempword); }
+
+ /* After static init,some device parameters may be changed, so update them */
+ new_curr_parameters = Get_device_parameters();
+
+ if (ErrState == VL53L0X_OK) { tempbyte = Read_Byte(REG_SYSTEM_RANGE_CONFIG); }
+ if (ErrState == VL53L0X_OK) { RangeFractionalEnable = (tempbyte & 1); }
+ if (ErrState == VL53L0X_OK) { CurrParams = new_curr_parameters; }
/* read the sequence config and save it */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,&tempbyte);
- if (status == VL53L0X_ERROR_NONE) {
- SequenceConfig = tempbyte;
- }
- }
+ Set_SequenceConfig( Read_Byte(REG_SYSTEM_SEQUENCE_CONFIG) ); // checks for ErrState
/* Disable MSRC and TCC by default */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_set_sequence_step_enable(VL53L0X_SEQUENCESTEP_TCC,0);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_set_sequence_step_enable(VL53L0X_SEQUENCESTEP_MSRC,0);
- }
-
- /* Set PAL State to standby */
- if (status == VL53L0X_ERROR_NONE) { PalState = VL53L0X_STATE_IDLE; }
+ if (ErrState == VL53L0X_OK)
+ { Set_sequence_step_enable(VL53L0X_SEQUENCESTEP_TCC,0); }
+
+ if (ErrState == VL53L0X_OK)
+ { Set_sequence_step_enable(VL53L0X_SEQUENCESTEP_MSRC,0); }
+
+ /* Set State to standby */
+ Set_Current_State( VL53L0X_STATE_IDLE) ;
/* Store pre-range vcsel period */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_vcsel_pulse_period(
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,
- &vcsel_pulse_period_pclk);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- DevSpecParams.PreRangeVcselPulsePeriod = vcsel_pulse_period_pclk;
- }
+ if (ErrState == VL53L0X_OK)/* Gets and converts the VCSEL period register into actual clock periods */
+ { vcsel_PPeriod_pclk = (Read_Byte(REG_PRE_RANGE_CONFIG_VCSEL_PERIOD) + 1) << 1; }
+
+ if ( ErrState == VL53L0X_OK)
+ { DevSpecParams.PreRangeVcselPPeriod = vcsel_PPeriod_pclk; }
/* Store final-range vcsel period */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_vcsel_pulse_period(
- VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
- &vcsel_pulse_period_pclk);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- DevSpecParams.FinalRangeVcselPulsePeriod = vcsel_pulse_period_pclk;
- }
+ if (ErrState == VL53L0X_OK)
+ { vcsel_PPeriod_pclk /* Get and convert the VCSEL period register into actual clock periods */
+ = ( Read_Byte(REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD) + 1) << 1; }
+
+ if (ErrState == VL53L0X_OK)
+ { DevSpecParams.FinalRangeVcselPPeriod = vcsel_PPeriod_pclk; }
/* Store pre-range timeout */
- if (status == VL53L0X_ERROR_NONE) {
- status = get_sequence_step_timeout(
- VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &seq_timeout_micro_secs);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- DevSpecParams.PreRangeTimeoutMicroSecs = seq_timeout_micro_secs;
- }
+ if (ErrState == VL53L0X_OK)
+ { Get_Sequence_Step_Timeout( VL53L0X_SEQUENCESTEP_PRE_RANGE,
+ &seq_timeout_micro_secs); }
+
+ if (ErrState == VL53L0X_OK)
+ { DevSpecParams.PreRangeTimeoutMicroSecs = seq_timeout_micro_secs; }
/* Store final-range timeout */
- if (status == VL53L0X_ERROR_NONE) {
- status = get_sequence_step_timeout(
- VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- &seq_timeout_micro_secs);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- DevSpecParams.FinalRangeTimeoutMicroSecs = seq_timeout_micro_secs;
- }
-
- return status;
+ if (ErrState == VL53L0X_OK)
+ { Get_Sequence_Step_Timeout( VL53L0X_SEQUENCESTEP_FINAL_RANGE,
+ &seq_timeout_micro_secs);}
+
+ if (ErrState == VL53L0X_OK)
+ { DevSpecParams.FinalRangeTimeoutMicroSecs = seq_timeout_micro_secs; }
}
-
-VL53L0X_Error VL53L0X::VL53L0X_stop_measurement()
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
- status = VL53L0X_write_byte(VL53L0X_REG_SYSRANGE_START,
- VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT);
-
- status = VL53L0X_write_byte(0xFF,0x01);
- status = VL53L0X_write_byte(0x00,0x00);
- status = VL53L0X_write_byte(0x91,0x00);
- status = VL53L0X_write_byte(0x00,0x01);
- status = VL53L0X_write_byte(0xFF,0x00);
-
- if (status == VL53L0X_ERROR_NONE) {
- /* Set PAL State to Idle */
- PalState = VL53L0X_STATE_IDLE;
- }
+void VL53L0X::Stop_Measurement()
+{ Write_Byte(REG_SYSRANGE_START, REG_SYSRANGE_MODE_SINGLESHOT);
+ Write_Byte(0xFF,0x01);
+ Write_Byte(0x00,0x00);
+ Write_Byte(0x91,0x00);
+ Write_Byte(0x00,0x01);
+ Write_Byte(0xFF,0x00);
+
+ Set_Current_State( VL53L0X_STATE_IDLE );
/* Check if need to apply interrupt settings */
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_check_and_load_interrupt_settings(0);
- }
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_stop_completed_status(uint32_t *p_stop_status)
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t byte = 0;
-
- status = VL53L0X_write_byte(0xFF,0x01);
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_byte(0x04,&byte);
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte(0xFF,0x0);
- }
-
- *p_stop_status = byte;
-
- if (byte == 0) {
- status = VL53L0X_write_byte(0x80,0x01);
- status = VL53L0X_write_byte(0xFF,0x01);
- status = VL53L0X_write_byte(0x00,0x00);
- status = VL53L0X_write_byte(0x91,StopVariable);
- status = VL53L0X_write_byte(0x00,0x01);
- status = VL53L0X_write_byte(0xFF,0x00);
- status = VL53L0X_write_byte(0x80,0x00);
- }
-
- return status;
-}
-
-/****************** Write and read functions from I2C *************************/
-
-VL53L0X_Error VL53L0X::VL53L0X_write_multi(uint8_t index,uint8_t *p_data,uint32_t count)
-{
- int status;
- status = VL53L0X_i2c_write(index,p_data,(uint16_t)count);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_read_multi(uint8_t index,uint8_t *p_data,uint32_t count)
-{
- int status;
-
- if (count >= VL53L0X_MAX_I2C_XFER_SIZE) {
- status = VL53L0X_ERROR_INVALID_PARAMS;
- }
-
- status = VL53L0X_i2c_read(index,p_data,(uint16_t)count);
-
- return status;
-}
-
-
-VL53L0X_Error VL53L0X::VL53L0X_write_byte(uint8_t index,uint8_t data)
-{
- int status;
- status = VL53L0X_i2c_write(index,&data,1);
- return status;
+ Check_and_load_interrupt_settings(0);
}
-VL53L0X_Error VL53L0X::VL53L0X_write_word(uint8_t index,uint16_t data)
-{
- int status;
- uint8_t buffer[2];
-
- buffer[0] = data >> 8;
- buffer[1] = data & 0x00FF;
- status = VL53L0X_i2c_write(index,(uint8_t *)buffer,2);
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_write_dword(uint8_t index,uint32_t data)
-{
- int status;
- uint8_t buffer[4];
-
- buffer[0] = (data >> 24) & 0xFF;
- buffer[1] = (data >> 16) & 0xFF;
- buffer[2] = (data >> 8) & 0xFF;
- buffer[3] = (data >> 0) & 0xFF;
- status = VL53L0X_i2c_write(index,(uint8_t *)buffer,4);
- return status;
-}
-
-
-VL53L0X_Error VL53L0X::VL53L0X_read_byte(uint8_t index,uint8_t *p_data)
-{
- int status;
- status = VL53L0X_i2c_read(index,p_data,1);
-
- if (status) { return -1; }
- return 0;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_read_word(uint8_t index,uint16_t *p_data)
-{
- int status;
- uint8_t buffer[2] = {0,0};
-
- status = VL53L0X_i2c_read(index,buffer,2);
- if (!status) { *p_data = (buffer[0] << 8) + buffer[1]; }
- return status;
-
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_read_dword(uint8_t index,uint32_t *p_data)
-{
- int status;
- uint8_t buffer[4] = {0,0,0,0};
-
- status = VL53L0X_i2c_read(index,buffer,4);
- if (!status) {
- *p_data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3];
- }
- return status;
-
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_update_byte(uint8_t index,uint8_t and_data,uint8_t or_data)
-{
- int status;
- uint8_t buffer = 0;
-
- /* read data direct onto buffer */
- status = VL53L0X_i2c_read(index,&buffer,1);
- if (!status) {
- buffer = (buffer & and_data) | or_data;
- status = VL53L0X_i2c_write(index,&buffer,(uint8_t)1);
- }
- return status;
+uint8_t VL53L0X::Get_Stop_Completed()
+{ uint8_t Abyte = 0;
+
+ Write_Byte(0xFF,0x01);
+ Abyte = Read_Byte(0x04);
+ Write_Byte(0xFF,0x0);
+
+ if ((ErrState == VL53L0X_OK) & (Abyte == 0))
+ { Write_Byte(0x80,0x01);
+ Write_Byte(0xFF,0x01);
+ Write_Byte(0x00,0x00);
+ Write_Byte(0x91,StopVariable);
+ Write_Byte(0x00,0x01);
+ Write_Byte(0xFF,0x00);
+ Write_Byte(0x80,0x00);
+ }
+ return Abyte;
}
-VL53L0X_Error VL53L0X::VL53L0X_i2c_write(uint8_t RegisterAddr,uint8_t *p_data,
- uint16_t NumByteToWrite)
-{
- int ret;
- ret = _dev_i2c->i2c_write(p_data,I2cDevAddr,RegisterAddr,NumByteToWrite);
-
- if (ret) { return -1; }
- return 0;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_i2c_read(uint8_t RegisterAddr,uint8_t *p_data,
- uint16_t NumByteToRead)
-{
- int ret;
- ret = _dev_i2c->i2c_read(p_data,I2cDevAddr,RegisterAddr,NumByteToRead);
-
- if (ret) { return -1; }
- return 0;
-}
-
-int VL53L0X::read_id(uint8_t *id)
-{
- int status = 0;
- uint16_t rl_id = 0;
-
- status = VL53L0X_read_word(VL53L0X_REG_IDENTIFICATION_MODEL_ID,&rl_id);
- if (rl_id == 0xEEAA) { return status; }
-
- return -1;
-}
-
-
-VL53L0X_Error VL53L0X::wait_measurement_data_ready()
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint8_t new_dat_ready = 0;
- uint32_t loop_nb;
-
- // Wait until it finished
- // use timeout to avoid deadlock
- if (status == VL53L0X_ERROR_NONE) {
- loop_nb = 0;
- do {
- status = VL53L0X_get_measurement_data_ready(&new_dat_ready);
- if ((new_dat_ready == 0x01) || status != VL53L0X_ERROR_NONE) {
- break;
- }
- loop_nb = loop_nb + 1;
- VL53L0X_polling_delay();
- } while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
-
- if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
- status = VL53L0X_ERROR_TIME_OUT;
- }
- }
-
- return status;
+void VL53L0X::Wait_Measurement_Ready()
+{ uint32_t loop_nb = 0;
+
+ // Wait until it finished, or loopo count reached = avoids deadlock
+ while ( !Get_Measurement_Ready() & (ErrState == VL53L0X_OK) )
+ { if (loop_nb++ >= VL53L0X_DEFAULT_MAX_LOOP)
+ { ErrState = VL53L0X_ERROR_TIME_OUT;}
+ else { Polling_delay(); }
+ } // while ends
}
-VL53L0X_Error VL53L0X::wait_stop_completed()
-{
- VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t stop_completed = 0;
- uint32_t loop_nb;
-
- // Wait until it finished
- // use timeout to avoid deadlock
- if (status == VL53L0X_ERROR_NONE) {
- loop_nb = 0;
- do {
- status = VL53L0X_get_stop_completed_status(&stop_completed);
- if ((stop_completed == 0x00) || status != VL53L0X_ERROR_NONE) {
- break;
- }
- loop_nb = loop_nb + 1;
- VL53L0X_polling_delay();
- } while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
-
- if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
- status = VL53L0X_ERROR_TIME_OUT;
- }
- }
-
- return status;
+void VL53L0X::Wait_Stop_Completed()
+{ uint32_t loop_nb = 0;
+
+ // Wait until Stop_Completed, or loopo count reached = avoids deadlock
+ while ( (ErrState == VL53L0X_OK) & !Get_Stop_Completed() )
+ { if (loop_nb++ >= VL53L0X_DEFAULT_MAX_LOOP)
+ { ErrState = VL53L0X_ERROR_TIME_OUT;}
+ else { Polling_delay(); }
+ } // while ends
}
-
-int VL53L0X::init_sensor(uint8_t new_addr)
-{ int status;
-
- VL53L0X_off();
- VL53L0X_on();
-
- status = is_present();
- if (!status) {
- status = VL53L0X_data_init();
- if (status != VL53L0X_ERROR_NONE) {
- printf("Failed to init VL53L0X sensor!\n\r");
- return status;
- }
-
- // deduce silicon version
- status = VL53L0X_get_device_info(&_device_info);
- status = prepare();
- if (status != VL53L0X_ERROR_NONE) {
- printf("Failed to prepare VL53L0X!\n\r");
- return status;
- }
-
- if (new_addr != VL53L0X_DEFAULT_ADDRESS) {
- status = set_device_address(new_addr);
- if (status) {
- printf("Failed to change I2C address!\n\r");
- return status;
- }
- } else {
- printf("Invalid new address!\n\r");
- return VL53L0X_ERROR_INVALID_PARAMS;
- }
- }
- return status;
+void VL53L0X::Range_meas_int_continuous_mode(void (*fptr)(void))
+{ Stop_Measurement(); // it is safer to do this while sensor is stopped
+
+ Set_GPIO_config(VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
+ GPIO_FUNC_NEW_MEASURE_READY, VL53L0X_INTERRUPTPOLARITY_HIGH);
+ if (ErrState==VL53L0X_OK) {
+ Attach_interrupt_measure_detection_irq(fptr);
+ Enable_interrupt_measure_detection_irq(); }
+
+ Clear_interrupt_mask(REG_RESULT_INTERRUPT_STATUS | REG_RESULT_RANGE_STATUS);
+ // NB: return value was previously only passed to logging macro,but did not get passed back
+
+ if (ErrState==VL53L0X_OK) { Range_start_continuous_mode(); }
}
-int VL53L0X::range_meas_int_continuous_mode(void (*fptr)(void))
-{
- int status;
-
- status = VL53L0X_stop_measurement(); // it is safer to do this while sensor is stopped
-
- status = VL53L0X_set_gpio_config(0,VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
- VL53L0X_INTERRUPTPOLARITY_HIGH);
- if (!status) {
- attach_interrupt_measure_detection_irq(fptr);
- enable_interrupt_measure_detection_irq();
- }
-
- clear_interrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS | VL53L0X_REG_RESULT_RANGE_STATUS);
- // NB: return value was previously only passed to logging macro,but did not get passed back
-
- if (!status) {
- status = range_start_continuous_mode();
- }
- return status;
-}
-
-
-int VL53L0X::start_measurement(OperatingMode operating_mode,void (*fptr)(void))
-{
- int Status = VL53L0X_ERROR_NONE;
- uint8_t VhvSettings;
+
+VL53L0X_Error VL53L0X::Start_Measurement(TOperatingMode operating_mode, void (*fptr)(void))
+{ uint8_t VhvSettings;
uint8_t PhaseCal;
// *** from mass market cube expansion v1.1,ranging with satellites.
// default settings,for normal range.
- FixPoint1616_t signalLimit = (FixPoint1616_t)(0.25 * 65536);
- FixPoint1616_t sigmaLimit = (FixPoint1616_t)(18 * 65536);
+ TFP1616 signalLimit = (TFP1616)(0.25 * 65536);
+ TFP1616 sigmaLimit = (TFP1616)(18 * 65536);
uint32_t timingBudget = 33000;
uint8_t preRangeVcselPeriod = 14;
uint8_t finalRangeVcselPeriod = 10;
- if (operating_mode == range_continuous_interrupt) {
- if (_gpio1Int == NULL) {
- printf("GPIO1 Error\r\n");
- return 1;
- }
-
- Status = VL53L0X_stop_measurement(); // it is safer to do this while sensor is stopped
-
- Status = VL53L0X_set_gpio_config(0,VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
- VL53L0X_INTERRUPTPOLARITY_HIGH);
-
- if (Status == VL53L0X_ERROR_NONE) {
- attach_interrupt_measure_detection_irq(fptr);
- enable_interrupt_measure_detection_irq();
- }
-
- clear_interrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS | VL53L0X_REG_RESULT_RANGE_STATUS);
- // NB: return value was previously only passed to logging macro,but did not get passed back
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_device_mode(VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_start_measurement();
- }
- }
-
- if (operating_mode == range_single_shot_polling) {
- // singelshot,polled ranging
- if (Status == VL53L0X_ERROR_NONE) {
- // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
- Status = VL53L0X_set_device_mode(VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode
- }
+ switch (operating_mode) {
+ case op_INT:
+ if (_gpio1Int == NULL) { ErrState=1; return ErrState; }
+ Stop_Measurement(); // it is safer to do this while sensor is stopped
+
+ Set_GPIO_config(VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
+ GPIO_FUNC_NEW_MEASURE_READY, VL53L0X_INTERRUPTPOLARITY_HIGH);
+
+ if (ErrState == VL53L0X_OK)
+ { Attach_interrupt_measure_detection_irq(fptr);
+ Enable_interrupt_measure_detection_irq(); }
+
+ Clear_interrupt_mask(REG_RESULT_INTERRUPT_STATUS | REG_RESULT_RANGE_STATUS);
+ // NB: return value was previously only passed to logging macro, but did not get passed back
+
+ // Setup in continuous ranging mode
+ Set_device_mode(VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);
+ Start_Measurement();
+ break;
+
+ case op_single_shot_poll:
+ // singelshot,polled ranging; no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
+ Set_device_mode(VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode
// Enable/Disable Sigma and Signal check
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_limit_check_enable(
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,1);
- }
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_limit_check_enable(
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,1);
- }
-
-// *** from mass market cube expansion v1.1,ranging with satellites.
- /* Ranging configuration */
-//*
-// switch(rangingConfig) {
-// case LONG_RANGE:
- signalLimit = (FixPoint1616_t)(0.1 * 65536);
- sigmaLimit = (FixPoint1616_t)(60 * 65536);
+ if (ErrState == VL53L0X_OK)
+ { Set_limit_chk_en(VL53L0X_CHECKEN_SIGMA_FINAL_RANGE,1); }
+
+ if (ErrState == VL53L0X_OK)
+ { Set_limit_chk_en(VL53L0X_CHECKEN_SIG_RATE_FINAL_RANGE,1); }
+
+
+ /* Ranging configuration */
+ // *** from mass market cube expansion v1.1,ranging with satellites.
+ // switch(rangingConfig) {
+ // case LONG_RANGE:
+ signalLimit = (TFP1616)(0.1 * 65536);
+ sigmaLimit = (TFP1616)(60 * 65536);
timingBudget = 33000;
preRangeVcselPeriod = 18;
finalRangeVcselPeriod = 14;
/* break;
case HIGH_ACCURACY:
- signalLimit = (FixPoint1616_t)(0.25*65536);
- sigmaLimit = (FixPoint1616_t)(18*65536);
+ signalLimit = (TFP1616)(0.25*65536);
+ sigmaLimit = (TFP1616)(18*65536);
timingBudget = 200000;
preRangeVcselPeriod = 14;
finalRangeVcselPeriod = 10;
break;
case HIGH_SPEED:
- signalLimit = (FixPoint1616_t)(0.25*65536);
- sigmaLimit = (FixPoint1616_t)(32*65536);
+ signalLimit = (TFP1616)(0.25*65536);
+ sigmaLimit = (TFP1616)(32*65536);
timingBudget = 20000;
preRangeVcselPeriod = 14;
finalRangeVcselPeriod = 10;
@@ -4618,116 +2812,366 @@
}
*/
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_limit_check_value(
- VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,signalLimit);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_limit_check_value(
- VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,sigmaLimit);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_measurement_timing_budget_us(timingBudget);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_vcsel_pulse_period(
- VL53L0X_VCSEL_PERIOD_PRE_RANGE,preRangeVcselPeriod);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_vcsel_pulse_period(
- VL53L0X_VCSEL_PERIOD_FINAL_RANGE,finalRangeVcselPeriod);
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_perform_ref_calibration(&VhvSettings,&PhaseCal,1);
- }
- }
-
- if (operating_mode == range_continuous_polling) {
- if (Status == VL53L0X_ERROR_NONE) {
- //printf("Call of VL53L0X_SetDeviceMode\n");
- Status = VL53L0X_set_device_mode(VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- //printf("Call of VL53L0X_StartMeasurement\n");
- Status = VL53L0X_start_measurement();
- }
- }
-
- return Status;
+ if (ErrState == VL53L0X_OK)
+ { Set_limit_chk_val(VL53L0X_CHECKEN_SIG_RATE_FINAL_RANGE,signalLimit);}
+
+ if (ErrState == VL53L0X_OK)
+ { Set_limit_chk_val(VL53L0X_CHECKEN_SIGMA_FINAL_RANGE,sigmaLimit);}
+
+ if (ErrState == VL53L0X_OK)
+ { Set_Measure_Time_Budget_us(timingBudget);}
+
+ if (ErrState == VL53L0X_OK)
+ { Set_vcsel_PPeriod(VL53L0X_VCSEL_PRE_RANGE,preRangeVcselPeriod); }
+
+ if (ErrState == VL53L0X_OK)
+ { Set_vcsel_PPeriod(VL53L0X_VCSEL_FINAL_RANGE,finalRangeVcselPeriod);}
+
+ if (ErrState == VL53L0X_OK)
+ { Perf_Ref_calibration(&VhvSettings,&PhaseCal,1); }
+ break;
+ case op_poll: // Setup in continuous ranging mode
+ Set_device_mode(VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);
+ Start_Measurement();
+ } // switch
+ return ErrState;
+}
+
+VL53L0X_Error VL53L0X::Stop_Measurement(TOperatingMode operating_mode)
+{ if ((ErrState == VL53L0X_OK) &
+ (operating_mode == op_INT || operating_mode == op_poll) )
+ { // only stop if in one of the continuous modes !!!!
+ Stop_Measurement();
+ Wait_Stop_Completed();
+ Clear_interrupt_mask( REG_SYSINT_GPIO_NEW_SAMPLE_READY);
+ }
+ return ErrState;
+}
+
+TRangeResults VL53L0X::Handle_irq(TOperatingMode operating_mode)
+{ TRangeResults RangeResults;
+ RangeResults = Get_Measurement(operating_mode);
+ Enable_interrupt_measure_detection_irq();
+ return RangeResults;
+}
+
+/****************** Private device functions *************************/
+
+void VL53L0X::Wait_read_strobe()
+{ uint32_t loop_nb = 0;
+
+ Write_Byte(0x83,0x00); // set strobe register to 0
+
+ /* polling while no error, no strobe, and not reached max number of loop to avoid deadlock*/
+ while ((ErrState == VL53L0X_OK) && (Read_Byte(0x83) == 0x00) )
+ { if (loop_nb++ >= VL53L0X_DEFAULT_MAX_LOOP)
+ { ErrState = VL53L0X_ERROR_TIME_OUT; } }
+
+ Write_Byte(0x83,0x01); // set strobe register back to 1 'manually'
}
-
-int VL53L0X::get_measurement(OperatingMode operating_mode,VL53L0X_RangingMeasurementData_t *p_data)
-{
- int Status = VL53L0X_ERROR_NONE;
-
- if (operating_mode == range_single_shot_polling) {
- Status = VL53L0X_perform_single_ranging_measurement(p_data); }
-
- if (operating_mode == range_continuous_polling) {
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_measurement_poll_for_completion(); }
-
- if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_get_ranging_measurement_data(p_data);
- // Clear the interrupt
- VL53L0X_clear_interrupt_mask(VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
- VL53L0X_polling_delay();
+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 (operating_mode == range_continuous_interrupt) {
- Status = VL53L0X_get_ranging_measurement_data(p_data);
- VL53L0X_clear_interrupt_mask(VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR |
- VL53L0X_REG_RESULT_INTERRUPT_STATUS);
+
+ 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);
}
- return Status;
-}
-
-
-int VL53L0X::stop_measurement(OperatingMode operating_mode)
-{
- int status = VL53L0X_ERROR_NONE;
-
- // don't need to stop for a singleshot range!
- if (operating_mode == range_single_shot_polling) { }
-
- if (operating_mode == range_continuous_interrupt ||
- operating_mode == range_continuous_polling) {
- // continuous mode
- if (status == VL53L0X_ERROR_NONE) {
- //printf("Call of VL53L0X_StopMeasurement\n");
- status = VL53L0X_stop_measurement();
+ 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;
}
-
- if (status == VL53L0X_ERROR_NONE) {
- //printf("Wait Stop to be competed\n");
- status = wait_stop_completed();
- }
-
- if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_clear_interrupt_mask(
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY); }
+ byte = (uint8_t)(read_data_from_device_done | option);
+ DevSpecParams.ReadDataFromDeviceDone = byte;
}
-
- return status;
-}
-
-
-int VL53L0X::handle_irq(OperatingMode operating_mode,
- VL53L0X_RangingMeasurementData_t *data)
-{
- int status;
- status = get_measurement(operating_mode,data);
- enable_interrupt_measure_detection_irq();
- return status;
}
/******************************************************************************/
+/****************** Small Service and wrapper functions **********************/
+/******************************************************************************/
+uint32_t refArrayQuadrants[4] = {REF_ARRAY_SPAD_10,REF_ARRAY_SPAD_5,
+ REF_ARRAY_SPAD_0,REF_ARRAY_SPAD_5 };
+
+
+uint32_t VL53L0X::Decode_timeout(uint16_t encoded_timeout)
+{ /*Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1 */
+ return ((uint32_t) (encoded_timeout & 0x00FF)
+ << (uint32_t)((encoded_timeout & 0xFF00) >> 8)) + 1;
+}
+
+uint8_t VL53L0X::Is_ApertureSPAD(uint32_t SPAD_index)
+{ /* This function reports if a given SPAD index is an aperture SPAD by
+ * deriving the quadrant = SPAD_index >> 6. */
+ if (refArrayQuadrants[SPAD_index >> 6] == REF_ARRAY_SPAD_0)
+ { return 0; } else { return 1; }
+}
+
+/******************************************************************************/
+/****************** Write and read functions from I2C *************************/
+/******************************************************************************/
+
+void VL53L0X::Write_Byte(uint8_t index, uint8_t data)
+{ I2c_Write(index,&data,1); }
+
+void VL53L0X::Write_Word(uint8_t index,uint16_t data)
+{ uint8_t buffer[2];
+ buffer[0] = data >> 8;
+ buffer[1] = data & 0x00FF;
+ I2c_Write(index,(uint8_t *)buffer,2);
+}
+
+void VL53L0X::Write_DWord(uint8_t index, uint32_t data)
+{ uint8_t buffer[4];
+ buffer[0] = (data >> 24) & 0xFF;
+ buffer[1] = (data >> 16) & 0xFF;
+ buffer[2] = (data >> 8) & 0xFF;
+ buffer[3] = (data >> 0) & 0xFF;
+ I2c_Write(index,(uint8_t *)buffer,4);
+}
+
+uint8_t VL53L0X::Read_Byte(uint8_t index)
+{ uint8_t result;
+ I2c_Read(index,&result,1);
+ return result;
+}
+
+uint16_t VL53L0X::Read_Word(uint8_t index)
+{ uint8_t buffer[2] = {0,0};
+ I2c_Read(index, &buffer[0], 2);
+ return (buffer[0] << 8) + buffer[1];
+}
+
+uint32_t VL53L0X::Read_DWord(uint8_t index)
+{ uint8_t buffer[4] = {0,0,0,0};
+ I2c_Read(index,buffer,4);
+ return (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3];
+}
+
+void VL53L0X::Register_BitMask(uint8_t index,uint8_t and_mask,uint8_t or_mask)
+{ uint8_t buffer = 0;
+ /* read data direct onto buffer */
+ I2c_Read(index,&buffer,1);
+ if (ErrState==VL53L0X_OK) {
+ buffer = (buffer & and_mask) | or_mask;
+ I2c_Write(index,&buffer,(uint8_t)1);
+ }
+}
+
+/**
+ * @brief Writes a buffer towards the I2C peripheral device.
+ * @param RegisterAddr specifies the internal address register
+ * @param p_data pointer to the byte-array data to send
+ * where to start writing to (must be correctly masked).
+ * @param NumByteToWrite number of bytes to be written.
+ * @note On some devices if NumByteToWrite is greater
+ * than one, the RegisterAddr must be masked correctly! */
+void VL53L0X::I2c_Write( uint8_t RegisterAddr, uint8_t *p_data,
+ uint16_t NumByteToWrite )
+{ int ret;
+ uint8_t tmp[TEMP_BUF_SIZE];
+
+ if (ErrState != VL53L0X_OK) {return; } // no comms while in Error State!!!!
+
+ if (NumByteToWrite >= TEMP_BUF_SIZE)
+ {ErrState = VL53L0X_ERROR_I2C_BUF_OVERFLOW; return; };
+
+ /* First, send device address. Then, send data and terminate with STOP condition */
+ tmp[0] = RegisterAddr;
+ memcpy(tmp+1, p_data, NumByteToWrite);
+ ret = _dev_i2c->write(I2cDevAddr, (const char*)tmp, NumByteToWrite+1, false);
+
+ if (ret) { ErrState = VL53L0X_ERROR_CONTROL_INTERFACE; }
+}
+
+ /**@brief Reads a buffer from the I2C peripheral device.
+ * @param pBuffer pointer to the byte-array to read data in to
+ * @param I2cDevAddr specifies the peripheral device slave address.
+ * @param RegisterAddr specifies the internal address register
+ * where to start reading from (must be correctly masked).
+ * @param NumByteToRead number of bytes to be read, maximum VL53L0X_MAX_I2C_XFER_SIZE
+ * @note On some devices if NumByteToWrite is greater
+ * than one, the RegisterAddr must be masked correctly!
+ */
+void VL53L0X::I2c_Read(uint8_t RegisterAddr, uint8_t *p_data,
+ uint16_t NumByteToRead)
+{ int ret;
+ if (ErrState != VL53L0X_OK) {return; } // no comms while in Error State, return value undefined!!!!
+
+ /* Send device address, without STOP condition */
+ ret = _dev_i2c->write(I2cDevAddr, (const char*)&RegisterAddr, 1, true);
+ if(!ret) /* Read data, with STOP condition */
+ { ret = _dev_i2c->read(I2cDevAddr, (char*)p_data, NumByteToRead, false); }
+
+ if (ret) { ErrState = VL53L0X_ERROR_CONTROL_INTERFACE; }
+}
+
+/******************************************************************************/