Condensed Version of Public VL53L0X
VL53L0X.cpp@6:1976f4afed97, 2019-03-23 (annotated)
- Committer:
- sepp_nepp
- Date:
- Sat Mar 23 21:42:03 2019 +0000
- Revision:
- 6:1976f4afed97
- Parent:
- 5:b95f6951f7d5
- Child:
- 7:41cbc431e1f4
Compiles now
Who changed what in which revision?
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nikapov | 0:a1a69d32f310 | 1 | /** |
nikapov | 0:a1a69d32f310 | 2 | ****************************************************************************** |
nikapov | 0:a1a69d32f310 | 3 | * @file VL53L0X_class.cpp |
nikapov | 0:a1a69d32f310 | 4 | * @author IMG |
nikapov | 0:a1a69d32f310 | 5 | * @version V0.0.1 |
nikapov | 0:a1a69d32f310 | 6 | * @date 28-June-2016 |
nikapov | 0:a1a69d32f310 | 7 | * @brief Implementation file for the VL53L0X driver class |
nikapov | 0:a1a69d32f310 | 8 | ****************************************************************************** |
nikapov | 0:a1a69d32f310 | 9 | * @attention |
nikapov | 0:a1a69d32f310 | 10 | * |
nikapov | 0:a1a69d32f310 | 11 | * <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2> |
nikapov | 0:a1a69d32f310 | 12 | * |
nikapov | 0:a1a69d32f310 | 13 | * Redistribution and use in source and binary forms, with or without modification, |
nikapov | 0:a1a69d32f310 | 14 | * are permitted provided that the following conditions are met: |
nikapov | 0:a1a69d32f310 | 15 | * 1. Redistributions of source code must retain the above copyright notice, |
nikapov | 0:a1a69d32f310 | 16 | * this list of conditions and the following disclaimer. |
nikapov | 0:a1a69d32f310 | 17 | * 2. Redistributions in binary form must reproduce the above copyright notice, |
nikapov | 0:a1a69d32f310 | 18 | * this list of conditions and the following disclaimer in the documentation |
nikapov | 0:a1a69d32f310 | 19 | * and/or other materials provided with the distribution. |
nikapov | 0:a1a69d32f310 | 20 | * 3. Neither the name of STMicroelectronics nor the names of its contributors |
nikapov | 0:a1a69d32f310 | 21 | * may be used to endorse or promote products derived from this software |
nikapov | 0:a1a69d32f310 | 22 | * without specific prior written permission. |
nikapov | 0:a1a69d32f310 | 23 | * |
nikapov | 0:a1a69d32f310 | 24 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
nikapov | 0:a1a69d32f310 | 25 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
nikapov | 0:a1a69d32f310 | 26 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
nikapov | 0:a1a69d32f310 | 27 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE |
nikapov | 0:a1a69d32f310 | 28 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
nikapov | 0:a1a69d32f310 | 29 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR |
nikapov | 0:a1a69d32f310 | 30 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
nikapov | 0:a1a69d32f310 | 31 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, |
nikapov | 0:a1a69d32f310 | 32 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
nikapov | 0:a1a69d32f310 | 33 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
nikapov | 0:a1a69d32f310 | 34 | * |
nikapov | 0:a1a69d32f310 | 35 | ****************************************************************************** |
nikapov | 0:a1a69d32f310 | 36 | */ |
nikapov | 0:a1a69d32f310 | 37 | |
nikapov | 0:a1a69d32f310 | 38 | /* Includes */ |
nikapov | 0:a1a69d32f310 | 39 | #include <stdlib.h> |
nikapov | 0:a1a69d32f310 | 40 | |
nikapov | 0:a1a69d32f310 | 41 | #include "VL53L0X.h" |
nikapov | 0:a1a69d32f310 | 42 | #include "VL53L0X_tuning.h" |
nikapov | 0:a1a69d32f310 | 43 | |
nikapov | 0:a1a69d32f310 | 44 | #define REF_ARRAY_SPAD_0 0 |
nikapov | 0:a1a69d32f310 | 45 | #define REF_ARRAY_SPAD_5 5 |
nikapov | 0:a1a69d32f310 | 46 | #define REF_ARRAY_SPAD_10 10 |
nikapov | 0:a1a69d32f310 | 47 | |
nikapov | 0:a1a69d32f310 | 48 | uint32_t refArrayQuadrants[4] = {REF_ARRAY_SPAD_10, REF_ARRAY_SPAD_5, |
sepp_nepp | 5:b95f6951f7d5 | 49 | REF_ARRAY_SPAD_0, REF_ARRAY_SPAD_5 }; |
nikapov | 0:a1a69d32f310 | 50 | |
nikapov | 0:a1a69d32f310 | 51 | VL53L0X_Error VL53L0X::VL53L0X_device_read_strobe(VL53L0X_DEV dev) |
nikapov | 0:a1a69d32f310 | 52 | { |
nikapov | 0:a1a69d32f310 | 53 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 54 | uint8_t strobe; |
nikapov | 0:a1a69d32f310 | 55 | uint32_t loop_nb; |
nikapov | 0:a1a69d32f310 | 56 | |
nikapov | 0:a1a69d32f310 | 57 | status |= VL53L0X_write_byte(dev, 0x83, 0x00); |
nikapov | 0:a1a69d32f310 | 58 | |
nikapov | 0:a1a69d32f310 | 59 | /* polling |
nikapov | 0:a1a69d32f310 | 60 | * use timeout to avoid deadlock*/ |
nikapov | 0:a1a69d32f310 | 61 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 62 | loop_nb = 0; |
nikapov | 0:a1a69d32f310 | 63 | do { |
nikapov | 0:a1a69d32f310 | 64 | status = VL53L0X_read_byte(dev, 0x83, &strobe); |
nikapov | 0:a1a69d32f310 | 65 | if ((strobe != 0x00) || status != VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 66 | break; |
nikapov | 0:a1a69d32f310 | 67 | } |
nikapov | 0:a1a69d32f310 | 68 | |
nikapov | 0:a1a69d32f310 | 69 | loop_nb = loop_nb + 1; |
nikapov | 0:a1a69d32f310 | 70 | } while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP); |
nikapov | 0:a1a69d32f310 | 71 | |
nikapov | 0:a1a69d32f310 | 72 | if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) { |
nikapov | 0:a1a69d32f310 | 73 | status = VL53L0X_ERROR_TIME_OUT; |
nikapov | 0:a1a69d32f310 | 74 | } |
nikapov | 0:a1a69d32f310 | 75 | } |
nikapov | 0:a1a69d32f310 | 76 | |
nikapov | 0:a1a69d32f310 | 77 | status |= VL53L0X_write_byte(dev, 0x83, 0x01); |
nikapov | 0:a1a69d32f310 | 78 | |
nikapov | 0:a1a69d32f310 | 79 | return status; |
nikapov | 0:a1a69d32f310 | 80 | } |
nikapov | 0:a1a69d32f310 | 81 | |
nikapov | 0:a1a69d32f310 | 82 | VL53L0X_Error VL53L0X::VL53L0X_get_info_from_device(VL53L0X_DEV dev, uint8_t option) |
nikapov | 0:a1a69d32f310 | 83 | { |
nikapov | 0:a1a69d32f310 | 84 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 85 | uint8_t byte; |
nikapov | 0:a1a69d32f310 | 86 | uint32_t tmp_dword; |
nikapov | 0:a1a69d32f310 | 87 | uint8_t module_id; |
nikapov | 0:a1a69d32f310 | 88 | uint8_t revision; |
nikapov | 0:a1a69d32f310 | 89 | uint8_t reference_spad_count = 0; |
nikapov | 0:a1a69d32f310 | 90 | uint8_t reference_spad_type = 0; |
nikapov | 0:a1a69d32f310 | 91 | uint32_t part_uid_upper = 0; |
nikapov | 0:a1a69d32f310 | 92 | uint32_t part_uid_lower = 0; |
nikapov | 0:a1a69d32f310 | 93 | uint32_t offset_fixed1104_mm = 0; |
nikapov | 0:a1a69d32f310 | 94 | int16_t offset_micro_meters = 0; |
nikapov | 0:a1a69d32f310 | 95 | uint32_t dist_meas_tgt_fixed1104_mm = 400 << 4; |
nikapov | 0:a1a69d32f310 | 96 | uint32_t dist_meas_fixed1104_400_mm = 0; |
nikapov | 0:a1a69d32f310 | 97 | uint32_t signal_rate_meas_fixed1104_400_mm = 0; |
nikapov | 0:a1a69d32f310 | 98 | char product_id[19]; |
nikapov | 0:a1a69d32f310 | 99 | char *product_id_tmp; |
nikapov | 0:a1a69d32f310 | 100 | uint8_t read_data_from_device_done; |
nikapov | 0:a1a69d32f310 | 101 | FixPoint1616_t signal_rate_meas_fixed400_mm_fix = 0; |
nikapov | 0:a1a69d32f310 | 102 | uint8_t nvm_ref_good_spad_map[VL53L0X_REF_SPAD_BUFFER_SIZE]; |
nikapov | 0:a1a69d32f310 | 103 | int i; |
sepp_nepp | 5:b95f6951f7d5 | 104 | |
nikapov | 0:a1a69d32f310 | 105 | |
nikapov | 0:a1a69d32f310 | 106 | read_data_from_device_done = VL53L0X_GETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 107 | ReadDataFromDeviceDone); |
nikapov | 0:a1a69d32f310 | 108 | |
nikapov | 0:a1a69d32f310 | 109 | /* This access is done only once after that a GetDeviceInfo or |
nikapov | 0:a1a69d32f310 | 110 | * datainit is done*/ |
nikapov | 0:a1a69d32f310 | 111 | if (read_data_from_device_done != 7) { |
nikapov | 0:a1a69d32f310 | 112 | |
nikapov | 0:a1a69d32f310 | 113 | status |= VL53L0X_write_byte(dev, 0x80, 0x01); |
nikapov | 0:a1a69d32f310 | 114 | status |= VL53L0X_write_byte(dev, 0xFF, 0x01); |
nikapov | 0:a1a69d32f310 | 115 | status |= VL53L0X_write_byte(dev, 0x00, 0x00); |
nikapov | 0:a1a69d32f310 | 116 | |
nikapov | 0:a1a69d32f310 | 117 | status |= VL53L0X_write_byte(dev, 0xFF, 0x06); |
nikapov | 0:a1a69d32f310 | 118 | status |= VL53L0X_read_byte(dev, 0x83, &byte); |
nikapov | 0:a1a69d32f310 | 119 | status |= VL53L0X_write_byte(dev, 0x83, byte | 4); |
nikapov | 0:a1a69d32f310 | 120 | status |= VL53L0X_write_byte(dev, 0xFF, 0x07); |
nikapov | 0:a1a69d32f310 | 121 | status |= VL53L0X_write_byte(dev, 0x81, 0x01); |
nikapov | 0:a1a69d32f310 | 122 | |
nikapov | 0:a1a69d32f310 | 123 | status |= VL53L0X_polling_delay(dev); |
nikapov | 0:a1a69d32f310 | 124 | |
nikapov | 0:a1a69d32f310 | 125 | status |= VL53L0X_write_byte(dev, 0x80, 0x01); |
nikapov | 0:a1a69d32f310 | 126 | |
nikapov | 0:a1a69d32f310 | 127 | if (((option & 1) == 1) && |
nikapov | 0:a1a69d32f310 | 128 | ((read_data_from_device_done & 1) == 0)) { |
nikapov | 0:a1a69d32f310 | 129 | status |= VL53L0X_write_byte(dev, 0x94, 0x6b); |
nikapov | 0:a1a69d32f310 | 130 | status |= VL53L0X_device_read_strobe(dev); |
nikapov | 0:a1a69d32f310 | 131 | status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword); |
nikapov | 0:a1a69d32f310 | 132 | |
nikapov | 0:a1a69d32f310 | 133 | reference_spad_count = (uint8_t)((tmp_dword >> 8) & 0x07f); |
nikapov | 0:a1a69d32f310 | 134 | reference_spad_type = (uint8_t)((tmp_dword >> 15) & 0x01); |
nikapov | 0:a1a69d32f310 | 135 | |
nikapov | 0:a1a69d32f310 | 136 | status |= VL53L0X_write_byte(dev, 0x94, 0x24); |
nikapov | 0:a1a69d32f310 | 137 | status |= VL53L0X_device_read_strobe(dev); |
nikapov | 0:a1a69d32f310 | 138 | status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword); |
nikapov | 0:a1a69d32f310 | 139 | |
nikapov | 0:a1a69d32f310 | 140 | |
nikapov | 0:a1a69d32f310 | 141 | nvm_ref_good_spad_map[0] = (uint8_t)((tmp_dword >> 24) |
nikapov | 0:a1a69d32f310 | 142 | & 0xff); |
nikapov | 0:a1a69d32f310 | 143 | nvm_ref_good_spad_map[1] = (uint8_t)((tmp_dword >> 16) |
nikapov | 0:a1a69d32f310 | 144 | & 0xff); |
nikapov | 0:a1a69d32f310 | 145 | nvm_ref_good_spad_map[2] = (uint8_t)((tmp_dword >> 8) |
nikapov | 0:a1a69d32f310 | 146 | & 0xff); |
nikapov | 0:a1a69d32f310 | 147 | nvm_ref_good_spad_map[3] = (uint8_t)(tmp_dword & 0xff); |
nikapov | 0:a1a69d32f310 | 148 | |
nikapov | 0:a1a69d32f310 | 149 | status |= VL53L0X_write_byte(dev, 0x94, 0x25); |
nikapov | 0:a1a69d32f310 | 150 | status |= VL53L0X_device_read_strobe(dev); |
nikapov | 0:a1a69d32f310 | 151 | status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword); |
nikapov | 0:a1a69d32f310 | 152 | |
nikapov | 0:a1a69d32f310 | 153 | nvm_ref_good_spad_map[4] = (uint8_t)((tmp_dword >> 24) |
nikapov | 0:a1a69d32f310 | 154 | & 0xff); |
nikapov | 0:a1a69d32f310 | 155 | nvm_ref_good_spad_map[5] = (uint8_t)((tmp_dword >> 16) |
nikapov | 0:a1a69d32f310 | 156 | & 0xff); |
nikapov | 0:a1a69d32f310 | 157 | } |
nikapov | 0:a1a69d32f310 | 158 | |
nikapov | 0:a1a69d32f310 | 159 | if (((option & 2) == 2) && |
nikapov | 0:a1a69d32f310 | 160 | ((read_data_from_device_done & 2) == 0)) { |
nikapov | 0:a1a69d32f310 | 161 | |
nikapov | 0:a1a69d32f310 | 162 | status |= VL53L0X_write_byte(dev, 0x94, 0x02); |
nikapov | 0:a1a69d32f310 | 163 | status |= VL53L0X_device_read_strobe(dev); |
nikapov | 0:a1a69d32f310 | 164 | status |= VL53L0X_read_byte(dev, 0x90, &module_id); |
nikapov | 0:a1a69d32f310 | 165 | |
nikapov | 0:a1a69d32f310 | 166 | status |= VL53L0X_write_byte(dev, 0x94, 0x7B); |
nikapov | 0:a1a69d32f310 | 167 | status |= VL53L0X_device_read_strobe(dev); |
nikapov | 0:a1a69d32f310 | 168 | status |= VL53L0X_read_byte(dev, 0x90, &revision); |
nikapov | 0:a1a69d32f310 | 169 | |
nikapov | 0:a1a69d32f310 | 170 | status |= VL53L0X_write_byte(dev, 0x94, 0x77); |
nikapov | 0:a1a69d32f310 | 171 | status |= VL53L0X_device_read_strobe(dev); |
nikapov | 0:a1a69d32f310 | 172 | status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword); |
nikapov | 0:a1a69d32f310 | 173 | |
nikapov | 0:a1a69d32f310 | 174 | product_id[0] = (char)((tmp_dword >> 25) & 0x07f); |
nikapov | 0:a1a69d32f310 | 175 | product_id[1] = (char)((tmp_dword >> 18) & 0x07f); |
nikapov | 0:a1a69d32f310 | 176 | product_id[2] = (char)((tmp_dword >> 11) & 0x07f); |
nikapov | 0:a1a69d32f310 | 177 | product_id[3] = (char)((tmp_dword >> 4) & 0x07f); |
nikapov | 0:a1a69d32f310 | 178 | |
nikapov | 0:a1a69d32f310 | 179 | byte = (uint8_t)((tmp_dword & 0x00f) << 3); |
nikapov | 0:a1a69d32f310 | 180 | |
nikapov | 0:a1a69d32f310 | 181 | status |= VL53L0X_write_byte(dev, 0x94, 0x78); |
nikapov | 0:a1a69d32f310 | 182 | status |= VL53L0X_device_read_strobe(dev); |
nikapov | 0:a1a69d32f310 | 183 | status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword); |
nikapov | 0:a1a69d32f310 | 184 | |
nikapov | 0:a1a69d32f310 | 185 | product_id[4] = (char)(byte + |
nikapov | 0:a1a69d32f310 | 186 | ((tmp_dword >> 29) & 0x07f)); |
nikapov | 0:a1a69d32f310 | 187 | product_id[5] = (char)((tmp_dword >> 22) & 0x07f); |
nikapov | 0:a1a69d32f310 | 188 | product_id[6] = (char)((tmp_dword >> 15) & 0x07f); |
nikapov | 0:a1a69d32f310 | 189 | product_id[7] = (char)((tmp_dword >> 8) & 0x07f); |
nikapov | 0:a1a69d32f310 | 190 | product_id[8] = (char)((tmp_dword >> 1) & 0x07f); |
nikapov | 0:a1a69d32f310 | 191 | |
nikapov | 0:a1a69d32f310 | 192 | byte = (uint8_t)((tmp_dword & 0x001) << 6); |
nikapov | 0:a1a69d32f310 | 193 | |
nikapov | 0:a1a69d32f310 | 194 | status |= VL53L0X_write_byte(dev, 0x94, 0x79); |
nikapov | 0:a1a69d32f310 | 195 | |
nikapov | 0:a1a69d32f310 | 196 | status |= VL53L0X_device_read_strobe(dev); |
nikapov | 0:a1a69d32f310 | 197 | |
nikapov | 0:a1a69d32f310 | 198 | status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword); |
nikapov | 0:a1a69d32f310 | 199 | |
nikapov | 0:a1a69d32f310 | 200 | product_id[9] = (char)(byte + |
nikapov | 0:a1a69d32f310 | 201 | ((tmp_dword >> 26) & 0x07f)); |
nikapov | 0:a1a69d32f310 | 202 | product_id[10] = (char)((tmp_dword >> 19) & 0x07f); |
nikapov | 0:a1a69d32f310 | 203 | product_id[11] = (char)((tmp_dword >> 12) & 0x07f); |
nikapov | 0:a1a69d32f310 | 204 | product_id[12] = (char)((tmp_dword >> 5) & 0x07f); |
nikapov | 0:a1a69d32f310 | 205 | |
nikapov | 0:a1a69d32f310 | 206 | byte = (uint8_t)((tmp_dword & 0x01f) << 2); |
nikapov | 0:a1a69d32f310 | 207 | |
nikapov | 0:a1a69d32f310 | 208 | status |= VL53L0X_write_byte(dev, 0x94, 0x7A); |
nikapov | 0:a1a69d32f310 | 209 | |
nikapov | 0:a1a69d32f310 | 210 | status |= VL53L0X_device_read_strobe(dev); |
nikapov | 0:a1a69d32f310 | 211 | |
nikapov | 0:a1a69d32f310 | 212 | status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword); |
nikapov | 0:a1a69d32f310 | 213 | |
nikapov | 0:a1a69d32f310 | 214 | product_id[13] = (char)(byte + |
nikapov | 0:a1a69d32f310 | 215 | ((tmp_dword >> 30) & 0x07f)); |
nikapov | 0:a1a69d32f310 | 216 | product_id[14] = (char)((tmp_dword >> 23) & 0x07f); |
nikapov | 0:a1a69d32f310 | 217 | product_id[15] = (char)((tmp_dword >> 16) & 0x07f); |
nikapov | 0:a1a69d32f310 | 218 | product_id[16] = (char)((tmp_dword >> 9) & 0x07f); |
nikapov | 0:a1a69d32f310 | 219 | product_id[17] = (char)((tmp_dword >> 2) & 0x07f); |
nikapov | 0:a1a69d32f310 | 220 | product_id[18] = '\0'; |
nikapov | 0:a1a69d32f310 | 221 | |
nikapov | 0:a1a69d32f310 | 222 | } |
nikapov | 0:a1a69d32f310 | 223 | |
nikapov | 0:a1a69d32f310 | 224 | if (((option & 4) == 4) && |
nikapov | 0:a1a69d32f310 | 225 | ((read_data_from_device_done & 4) == 0)) { |
nikapov | 0:a1a69d32f310 | 226 | |
nikapov | 0:a1a69d32f310 | 227 | status |= VL53L0X_write_byte(dev, 0x94, 0x7B); |
nikapov | 0:a1a69d32f310 | 228 | status |= VL53L0X_device_read_strobe(dev); |
nikapov | 0:a1a69d32f310 | 229 | status |= VL53L0X_read_dword(dev, 0x90, &part_uid_upper); |
nikapov | 0:a1a69d32f310 | 230 | |
nikapov | 0:a1a69d32f310 | 231 | status |= VL53L0X_write_byte(dev, 0x94, 0x7C); |
nikapov | 0:a1a69d32f310 | 232 | status |= VL53L0X_device_read_strobe(dev); |
nikapov | 0:a1a69d32f310 | 233 | status |= VL53L0X_read_dword(dev, 0x90, &part_uid_lower); |
nikapov | 0:a1a69d32f310 | 234 | |
nikapov | 0:a1a69d32f310 | 235 | status |= VL53L0X_write_byte(dev, 0x94, 0x73); |
nikapov | 0:a1a69d32f310 | 236 | status |= VL53L0X_device_read_strobe(dev); |
nikapov | 0:a1a69d32f310 | 237 | status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword); |
nikapov | 0:a1a69d32f310 | 238 | |
nikapov | 0:a1a69d32f310 | 239 | signal_rate_meas_fixed1104_400_mm = (tmp_dword & |
nikapov | 0:a1a69d32f310 | 240 | 0x0000000ff) << 8; |
nikapov | 0:a1a69d32f310 | 241 | |
nikapov | 0:a1a69d32f310 | 242 | status |= VL53L0X_write_byte(dev, 0x94, 0x74); |
nikapov | 0:a1a69d32f310 | 243 | status |= VL53L0X_device_read_strobe(dev); |
nikapov | 0:a1a69d32f310 | 244 | status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword); |
nikapov | 0:a1a69d32f310 | 245 | |
nikapov | 0:a1a69d32f310 | 246 | signal_rate_meas_fixed1104_400_mm |= ((tmp_dword & |
nikapov | 0:a1a69d32f310 | 247 | 0xff000000) >> 24); |
nikapov | 0:a1a69d32f310 | 248 | |
nikapov | 0:a1a69d32f310 | 249 | status |= VL53L0X_write_byte(dev, 0x94, 0x75); |
nikapov | 0:a1a69d32f310 | 250 | status |= VL53L0X_device_read_strobe(dev); |
nikapov | 0:a1a69d32f310 | 251 | status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword); |
nikapov | 0:a1a69d32f310 | 252 | |
nikapov | 0:a1a69d32f310 | 253 | dist_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff) |
nikapov | 0:a1a69d32f310 | 254 | << 8; |
nikapov | 0:a1a69d32f310 | 255 | |
nikapov | 0:a1a69d32f310 | 256 | status |= VL53L0X_write_byte(dev, 0x94, 0x76); |
nikapov | 0:a1a69d32f310 | 257 | status |= VL53L0X_device_read_strobe(dev); |
nikapov | 0:a1a69d32f310 | 258 | status |= VL53L0X_read_dword(dev, 0x90, &tmp_dword); |
nikapov | 0:a1a69d32f310 | 259 | |
nikapov | 0:a1a69d32f310 | 260 | dist_meas_fixed1104_400_mm |= ((tmp_dword & 0xff000000) |
nikapov | 0:a1a69d32f310 | 261 | >> 24); |
nikapov | 0:a1a69d32f310 | 262 | } |
nikapov | 0:a1a69d32f310 | 263 | |
nikapov | 0:a1a69d32f310 | 264 | status |= VL53L0X_write_byte(dev, 0x81, 0x00); |
nikapov | 0:a1a69d32f310 | 265 | status |= VL53L0X_write_byte(dev, 0xFF, 0x06); |
nikapov | 0:a1a69d32f310 | 266 | status |= VL53L0X_read_byte(dev, 0x83, &byte); |
nikapov | 0:a1a69d32f310 | 267 | status |= VL53L0X_write_byte(dev, 0x83, byte & 0xfb); |
nikapov | 0:a1a69d32f310 | 268 | status |= VL53L0X_write_byte(dev, 0xFF, 0x01); |
nikapov | 0:a1a69d32f310 | 269 | status |= VL53L0X_write_byte(dev, 0x00, 0x01); |
nikapov | 0:a1a69d32f310 | 270 | |
nikapov | 0:a1a69d32f310 | 271 | status |= VL53L0X_write_byte(dev, 0xFF, 0x00); |
nikapov | 0:a1a69d32f310 | 272 | status |= VL53L0X_write_byte(dev, 0x80, 0x00); |
nikapov | 0:a1a69d32f310 | 273 | } |
nikapov | 0:a1a69d32f310 | 274 | |
nikapov | 0:a1a69d32f310 | 275 | if ((status == VL53L0X_ERROR_NONE) && |
nikapov | 0:a1a69d32f310 | 276 | (read_data_from_device_done != 7)) { |
nikapov | 0:a1a69d32f310 | 277 | /* Assign to variable if status is ok */ |
nikapov | 0:a1a69d32f310 | 278 | if (((option & 1) == 1) && |
nikapov | 0:a1a69d32f310 | 279 | ((read_data_from_device_done & 1) == 0)) { |
nikapov | 0:a1a69d32f310 | 280 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 281 | ReferenceSpadCount, reference_spad_count); |
nikapov | 0:a1a69d32f310 | 282 | |
nikapov | 0:a1a69d32f310 | 283 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 284 | ReferenceSpadType, reference_spad_type); |
nikapov | 0:a1a69d32f310 | 285 | |
nikapov | 0:a1a69d32f310 | 286 | for (i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++) { |
sepp_nepp | 5:b95f6951f7d5 | 287 | dev->SpadData.RefGoodSpadMap[i] = |
nikapov | 0:a1a69d32f310 | 288 | nvm_ref_good_spad_map[i]; |
nikapov | 0:a1a69d32f310 | 289 | } |
nikapov | 0:a1a69d32f310 | 290 | } |
nikapov | 0:a1a69d32f310 | 291 | |
nikapov | 0:a1a69d32f310 | 292 | if (((option & 2) == 2) && |
nikapov | 0:a1a69d32f310 | 293 | ((read_data_from_device_done & 2) == 0)) { |
nikapov | 0:a1a69d32f310 | 294 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 295 | ModuleId, module_id); |
nikapov | 0:a1a69d32f310 | 296 | |
nikapov | 0:a1a69d32f310 | 297 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 298 | Revision, revision); |
nikapov | 0:a1a69d32f310 | 299 | |
nikapov | 0:a1a69d32f310 | 300 | product_id_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 301 | ProductId); |
sepp_nepp | 5:b95f6951f7d5 | 302 | strcpy(product_id_tmp, product_id); |
nikapov | 0:a1a69d32f310 | 303 | |
nikapov | 0:a1a69d32f310 | 304 | } |
nikapov | 0:a1a69d32f310 | 305 | |
nikapov | 0:a1a69d32f310 | 306 | if (((option & 4) == 4) && |
nikapov | 0:a1a69d32f310 | 307 | ((read_data_from_device_done & 4) == 0)) { |
nikapov | 0:a1a69d32f310 | 308 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 309 | PartUIDUpper, part_uid_upper); |
nikapov | 0:a1a69d32f310 | 310 | |
nikapov | 0:a1a69d32f310 | 311 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 312 | PartUIDLower, part_uid_lower); |
nikapov | 0:a1a69d32f310 | 313 | |
nikapov | 0:a1a69d32f310 | 314 | signal_rate_meas_fixed400_mm_fix = |
nikapov | 0:a1a69d32f310 | 315 | VL53L0X_FIXPOINT97TOFIXPOINT1616( |
nikapov | 0:a1a69d32f310 | 316 | signal_rate_meas_fixed1104_400_mm); |
nikapov | 0:a1a69d32f310 | 317 | |
nikapov | 0:a1a69d32f310 | 318 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 319 | SignalRateMeasFixed400mm, |
nikapov | 0:a1a69d32f310 | 320 | signal_rate_meas_fixed400_mm_fix); |
nikapov | 0:a1a69d32f310 | 321 | |
nikapov | 0:a1a69d32f310 | 322 | offset_micro_meters = 0; |
nikapov | 0:a1a69d32f310 | 323 | if (dist_meas_fixed1104_400_mm != 0) { |
nikapov | 0:a1a69d32f310 | 324 | offset_fixed1104_mm = |
nikapov | 0:a1a69d32f310 | 325 | dist_meas_fixed1104_400_mm - |
nikapov | 0:a1a69d32f310 | 326 | dist_meas_tgt_fixed1104_mm; |
nikapov | 0:a1a69d32f310 | 327 | offset_micro_meters = (offset_fixed1104_mm |
nikapov | 0:a1a69d32f310 | 328 | * 1000) >> 4; |
nikapov | 0:a1a69d32f310 | 329 | offset_micro_meters *= -1; |
nikapov | 0:a1a69d32f310 | 330 | } |
nikapov | 0:a1a69d32f310 | 331 | |
nikapov | 0:a1a69d32f310 | 332 | PALDevDataSet(dev, |
nikapov | 0:a1a69d32f310 | 333 | Part2PartOffsetAdjustmentNVMMicroMeter, |
nikapov | 0:a1a69d32f310 | 334 | offset_micro_meters); |
nikapov | 0:a1a69d32f310 | 335 | } |
nikapov | 0:a1a69d32f310 | 336 | byte = (uint8_t)(read_data_from_device_done | option); |
nikapov | 0:a1a69d32f310 | 337 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, ReadDataFromDeviceDone, |
nikapov | 0:a1a69d32f310 | 338 | byte); |
nikapov | 0:a1a69d32f310 | 339 | } |
nikapov | 0:a1a69d32f310 | 340 | |
sepp_nepp | 5:b95f6951f7d5 | 341 | |
nikapov | 0:a1a69d32f310 | 342 | return status; |
nikapov | 0:a1a69d32f310 | 343 | } |
nikapov | 0:a1a69d32f310 | 344 | |
nikapov | 0:a1a69d32f310 | 345 | VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 346 | int32_t *p_offset_calibration_data_micro_meter) |
nikapov | 0:a1a69d32f310 | 347 | { |
nikapov | 0:a1a69d32f310 | 348 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 349 | uint16_t range_offset_register; |
nikapov | 0:a1a69d32f310 | 350 | int16_t c_max_offset = 2047; |
nikapov | 0:a1a69d32f310 | 351 | int16_t c_offset_range = 4096; |
nikapov | 0:a1a69d32f310 | 352 | |
nikapov | 0:a1a69d32f310 | 353 | /* Note that offset has 10.2 format */ |
nikapov | 0:a1a69d32f310 | 354 | |
nikapov | 0:a1a69d32f310 | 355 | status = VL53L0X_read_word(dev, |
nikapov | 0:a1a69d32f310 | 356 | VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM, |
nikapov | 0:a1a69d32f310 | 357 | &range_offset_register); |
nikapov | 0:a1a69d32f310 | 358 | |
nikapov | 0:a1a69d32f310 | 359 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 360 | range_offset_register = (range_offset_register & 0x0fff); |
nikapov | 0:a1a69d32f310 | 361 | |
nikapov | 0:a1a69d32f310 | 362 | /* Apply 12 bit 2's compliment conversion */ |
nikapov | 0:a1a69d32f310 | 363 | if (range_offset_register > c_max_offset) { |
nikapov | 0:a1a69d32f310 | 364 | *p_offset_calibration_data_micro_meter = |
nikapov | 0:a1a69d32f310 | 365 | (int16_t)(range_offset_register - c_offset_range) |
nikapov | 0:a1a69d32f310 | 366 | * 250; |
nikapov | 0:a1a69d32f310 | 367 | } else { |
nikapov | 0:a1a69d32f310 | 368 | *p_offset_calibration_data_micro_meter = |
nikapov | 0:a1a69d32f310 | 369 | (int16_t)range_offset_register * 250; |
nikapov | 0:a1a69d32f310 | 370 | } |
nikapov | 0:a1a69d32f310 | 371 | |
nikapov | 0:a1a69d32f310 | 372 | } |
nikapov | 0:a1a69d32f310 | 373 | |
nikapov | 0:a1a69d32f310 | 374 | return status; |
nikapov | 0:a1a69d32f310 | 375 | } |
nikapov | 0:a1a69d32f310 | 376 | |
nikapov | 0:a1a69d32f310 | 377 | VL53L0X_Error VL53L0X::VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 378 | int32_t *p_offset_calibration_data_micro_meter) |
nikapov | 0:a1a69d32f310 | 379 | { |
nikapov | 0:a1a69d32f310 | 380 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
sepp_nepp | 5:b95f6951f7d5 | 381 | |
nikapov | 0:a1a69d32f310 | 382 | |
nikapov | 0:a1a69d32f310 | 383 | status = wrapped_VL53L0X_get_offset_calibration_data_micro_meter(dev, |
nikapov | 0:a1a69d32f310 | 384 | p_offset_calibration_data_micro_meter); |
nikapov | 0:a1a69d32f310 | 385 | |
sepp_nepp | 5:b95f6951f7d5 | 386 | |
nikapov | 0:a1a69d32f310 | 387 | return status; |
nikapov | 0:a1a69d32f310 | 388 | } |
nikapov | 0:a1a69d32f310 | 389 | |
nikapov | 0:a1a69d32f310 | 390 | VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 391 | int32_t offset_calibration_data_micro_meter) |
nikapov | 0:a1a69d32f310 | 392 | { |
nikapov | 0:a1a69d32f310 | 393 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 394 | int32_t c_max_offset_micro_meter = 511000; |
nikapov | 0:a1a69d32f310 | 395 | int32_t c_min_offset_micro_meter = -512000; |
nikapov | 0:a1a69d32f310 | 396 | int16_t c_offset_range = 4096; |
nikapov | 0:a1a69d32f310 | 397 | uint32_t encoded_offset_val; |
nikapov | 0:a1a69d32f310 | 398 | |
sepp_nepp | 5:b95f6951f7d5 | 399 | |
nikapov | 0:a1a69d32f310 | 400 | |
nikapov | 0:a1a69d32f310 | 401 | if (offset_calibration_data_micro_meter > c_max_offset_micro_meter) { |
nikapov | 0:a1a69d32f310 | 402 | offset_calibration_data_micro_meter = c_max_offset_micro_meter; |
nikapov | 0:a1a69d32f310 | 403 | } else { |
nikapov | 0:a1a69d32f310 | 404 | if (offset_calibration_data_micro_meter < c_min_offset_micro_meter) { |
Davidroid | 2:d07edeaff6f1 | 405 | offset_calibration_data_micro_meter = c_min_offset_micro_meter; |
Davidroid | 2:d07edeaff6f1 | 406 | } |
Davidroid | 2:d07edeaff6f1 | 407 | } |
nikapov | 0:a1a69d32f310 | 408 | |
nikapov | 0:a1a69d32f310 | 409 | /* The offset register is 10.2 format and units are mm |
nikapov | 0:a1a69d32f310 | 410 | * therefore conversion is applied by a division of |
nikapov | 0:a1a69d32f310 | 411 | * 250. |
nikapov | 0:a1a69d32f310 | 412 | */ |
nikapov | 0:a1a69d32f310 | 413 | if (offset_calibration_data_micro_meter >= 0) { |
nikapov | 0:a1a69d32f310 | 414 | encoded_offset_val = |
nikapov | 0:a1a69d32f310 | 415 | offset_calibration_data_micro_meter / 250; |
nikapov | 0:a1a69d32f310 | 416 | } else { |
nikapov | 0:a1a69d32f310 | 417 | encoded_offset_val = |
nikapov | 0:a1a69d32f310 | 418 | c_offset_range + |
nikapov | 0:a1a69d32f310 | 419 | offset_calibration_data_micro_meter / 250; |
nikapov | 0:a1a69d32f310 | 420 | } |
nikapov | 0:a1a69d32f310 | 421 | |
nikapov | 0:a1a69d32f310 | 422 | status = VL53L0X_write_word(dev, |
nikapov | 0:a1a69d32f310 | 423 | VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM, |
nikapov | 0:a1a69d32f310 | 424 | encoded_offset_val); |
nikapov | 0:a1a69d32f310 | 425 | |
sepp_nepp | 5:b95f6951f7d5 | 426 | |
nikapov | 0:a1a69d32f310 | 427 | return status; |
nikapov | 0:a1a69d32f310 | 428 | } |
nikapov | 0:a1a69d32f310 | 429 | |
nikapov | 0:a1a69d32f310 | 430 | VL53L0X_Error VL53L0X::VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 431 | int32_t offset_calibration_data_micro_meter) |
nikapov | 0:a1a69d32f310 | 432 | { |
nikapov | 0:a1a69d32f310 | 433 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
sepp_nepp | 5:b95f6951f7d5 | 434 | |
nikapov | 0:a1a69d32f310 | 435 | |
nikapov | 0:a1a69d32f310 | 436 | status = wrapped_VL53L0X_set_offset_calibration_data_micro_meter(dev, |
nikapov | 0:a1a69d32f310 | 437 | offset_calibration_data_micro_meter); |
nikapov | 0:a1a69d32f310 | 438 | |
sepp_nepp | 5:b95f6951f7d5 | 439 | |
nikapov | 0:a1a69d32f310 | 440 | return status; |
nikapov | 0:a1a69d32f310 | 441 | } |
nikapov | 0:a1a69d32f310 | 442 | |
nikapov | 0:a1a69d32f310 | 443 | VL53L0X_Error VL53L0X::VL53L0X_apply_offset_adjustment(VL53L0X_DEV dev) |
nikapov | 0:a1a69d32f310 | 444 | { |
nikapov | 0:a1a69d32f310 | 445 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 446 | int32_t corrected_offset_micro_meters; |
nikapov | 0:a1a69d32f310 | 447 | int32_t current_offset_micro_meters; |
nikapov | 0:a1a69d32f310 | 448 | |
nikapov | 0:a1a69d32f310 | 449 | /* if we run on this function we can read all the NVM info |
nikapov | 0:a1a69d32f310 | 450 | * used by the API */ |
nikapov | 0:a1a69d32f310 | 451 | status = VL53L0X_get_info_from_device(dev, 7); |
nikapov | 0:a1a69d32f310 | 452 | |
nikapov | 0:a1a69d32f310 | 453 | /* Read back current device offset */ |
nikapov | 0:a1a69d32f310 | 454 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 455 | status = VL53L0X_get_offset_calibration_data_micro_meter(dev, |
nikapov | 0:a1a69d32f310 | 456 | ¤t_offset_micro_meters); |
nikapov | 0:a1a69d32f310 | 457 | } |
nikapov | 0:a1a69d32f310 | 458 | |
nikapov | 0:a1a69d32f310 | 459 | /* Apply Offset Adjustment derived from 400mm measurements */ |
nikapov | 0:a1a69d32f310 | 460 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 461 | |
nikapov | 0:a1a69d32f310 | 462 | /* Store initial device offset */ |
nikapov | 0:a1a69d32f310 | 463 | PALDevDataSet(dev, Part2PartOffsetNVMMicroMeter, |
nikapov | 0:a1a69d32f310 | 464 | current_offset_micro_meters); |
nikapov | 0:a1a69d32f310 | 465 | |
nikapov | 0:a1a69d32f310 | 466 | corrected_offset_micro_meters = current_offset_micro_meters + |
nikapov | 0:a1a69d32f310 | 467 | (int32_t)PALDevDataGet(dev, |
nikapov | 0:a1a69d32f310 | 468 | Part2PartOffsetAdjustmentNVMMicroMeter); |
nikapov | 0:a1a69d32f310 | 469 | |
nikapov | 0:a1a69d32f310 | 470 | status = VL53L0X_set_offset_calibration_data_micro_meter(dev, |
nikapov | 0:a1a69d32f310 | 471 | corrected_offset_micro_meters); |
nikapov | 0:a1a69d32f310 | 472 | |
nikapov | 0:a1a69d32f310 | 473 | /* store current, adjusted offset */ |
nikapov | 0:a1a69d32f310 | 474 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 475 | VL53L0X_SETPARAMETERFIELD(dev, RangeOffsetMicroMeters, |
nikapov | 0:a1a69d32f310 | 476 | corrected_offset_micro_meters); |
nikapov | 0:a1a69d32f310 | 477 | } |
nikapov | 0:a1a69d32f310 | 478 | } |
nikapov | 0:a1a69d32f310 | 479 | |
nikapov | 0:a1a69d32f310 | 480 | return status; |
nikapov | 0:a1a69d32f310 | 481 | } |
nikapov | 0:a1a69d32f310 | 482 | |
nikapov | 0:a1a69d32f310 | 483 | VL53L0X_Error VL53L0X::VL53L0X_get_device_mode(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 484 | VL53L0X_DeviceModes *p_device_mode) |
nikapov | 0:a1a69d32f310 | 485 | { |
nikapov | 0:a1a69d32f310 | 486 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
sepp_nepp | 5:b95f6951f7d5 | 487 | |
nikapov | 0:a1a69d32f310 | 488 | |
nikapov | 0:a1a69d32f310 | 489 | VL53L0X_GETPARAMETERFIELD(dev, DeviceMode, *p_device_mode); |
nikapov | 0:a1a69d32f310 | 490 | |
sepp_nepp | 5:b95f6951f7d5 | 491 | |
nikapov | 0:a1a69d32f310 | 492 | return status; |
nikapov | 0:a1a69d32f310 | 493 | } |
nikapov | 0:a1a69d32f310 | 494 | |
nikapov | 0:a1a69d32f310 | 495 | VL53L0X_Error VL53L0X::VL53L0X_get_inter_measurement_period_milli_seconds(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 496 | uint32_t *p_inter_measurement_period_milli_seconds) |
nikapov | 0:a1a69d32f310 | 497 | { |
nikapov | 0:a1a69d32f310 | 498 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 499 | uint16_t osc_calibrate_val; |
nikapov | 0:a1a69d32f310 | 500 | uint32_t im_period_milli_seconds; |
nikapov | 0:a1a69d32f310 | 501 | |
sepp_nepp | 5:b95f6951f7d5 | 502 | |
nikapov | 0:a1a69d32f310 | 503 | |
nikapov | 0:a1a69d32f310 | 504 | status = VL53L0X_read_word(dev, VL53L0X_REG_OSC_CALIBRATE_VAL, |
nikapov | 0:a1a69d32f310 | 505 | &osc_calibrate_val); |
nikapov | 0:a1a69d32f310 | 506 | |
nikapov | 0:a1a69d32f310 | 507 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 508 | status = VL53L0X_read_dword(dev, |
nikapov | 0:a1a69d32f310 | 509 | VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD, |
nikapov | 0:a1a69d32f310 | 510 | &im_period_milli_seconds); |
nikapov | 0:a1a69d32f310 | 511 | } |
nikapov | 0:a1a69d32f310 | 512 | |
nikapov | 0:a1a69d32f310 | 513 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 514 | if (osc_calibrate_val != 0) { |
nikapov | 0:a1a69d32f310 | 515 | *p_inter_measurement_period_milli_seconds = |
nikapov | 0:a1a69d32f310 | 516 | im_period_milli_seconds / osc_calibrate_val; |
nikapov | 0:a1a69d32f310 | 517 | } |
nikapov | 0:a1a69d32f310 | 518 | VL53L0X_SETPARAMETERFIELD(dev, |
nikapov | 0:a1a69d32f310 | 519 | InterMeasurementPeriodMilliSeconds, |
nikapov | 0:a1a69d32f310 | 520 | *p_inter_measurement_period_milli_seconds); |
nikapov | 0:a1a69d32f310 | 521 | } |
nikapov | 0:a1a69d32f310 | 522 | |
sepp_nepp | 5:b95f6951f7d5 | 523 | |
nikapov | 0:a1a69d32f310 | 524 | return status; |
nikapov | 0:a1a69d32f310 | 525 | } |
nikapov | 0:a1a69d32f310 | 526 | |
nikapov | 0:a1a69d32f310 | 527 | VL53L0X_Error VL53L0X::VL53L0X_get_x_talk_compensation_rate_mega_cps(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 528 | FixPoint1616_t *p_xtalk_compensation_rate_mega_cps) |
nikapov | 0:a1a69d32f310 | 529 | { |
nikapov | 0:a1a69d32f310 | 530 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 531 | uint16_t value; |
nikapov | 0:a1a69d32f310 | 532 | FixPoint1616_t temp_fix1616; |
nikapov | 0:a1a69d32f310 | 533 | |
sepp_nepp | 5:b95f6951f7d5 | 534 | |
nikapov | 0:a1a69d32f310 | 535 | |
nikapov | 0:a1a69d32f310 | 536 | status = VL53L0X_read_word(dev, |
nikapov | 0:a1a69d32f310 | 537 | VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, (uint16_t *)&value); |
nikapov | 0:a1a69d32f310 | 538 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 539 | if (value == 0) { |
nikapov | 0:a1a69d32f310 | 540 | /* the Xtalk is disabled return value from memory */ |
nikapov | 0:a1a69d32f310 | 541 | VL53L0X_GETPARAMETERFIELD(dev, |
nikapov | 0:a1a69d32f310 | 542 | XTalkCompensationRateMegaCps, temp_fix1616); |
nikapov | 0:a1a69d32f310 | 543 | *p_xtalk_compensation_rate_mega_cps = temp_fix1616; |
nikapov | 0:a1a69d32f310 | 544 | VL53L0X_SETPARAMETERFIELD(dev, XTalkCompensationEnable, |
nikapov | 0:a1a69d32f310 | 545 | 0); |
nikapov | 0:a1a69d32f310 | 546 | } else { |
nikapov | 0:a1a69d32f310 | 547 | temp_fix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(value); |
nikapov | 0:a1a69d32f310 | 548 | *p_xtalk_compensation_rate_mega_cps = temp_fix1616; |
nikapov | 0:a1a69d32f310 | 549 | VL53L0X_SETPARAMETERFIELD(dev, |
nikapov | 0:a1a69d32f310 | 550 | XTalkCompensationRateMegaCps, temp_fix1616); |
nikapov | 0:a1a69d32f310 | 551 | VL53L0X_SETPARAMETERFIELD(dev, XTalkCompensationEnable, |
nikapov | 0:a1a69d32f310 | 552 | 1); |
nikapov | 0:a1a69d32f310 | 553 | } |
nikapov | 0:a1a69d32f310 | 554 | } |
nikapov | 0:a1a69d32f310 | 555 | |
sepp_nepp | 5:b95f6951f7d5 | 556 | |
nikapov | 0:a1a69d32f310 | 557 | return status; |
nikapov | 0:a1a69d32f310 | 558 | } |
nikapov | 0:a1a69d32f310 | 559 | |
nikapov | 0:a1a69d32f310 | 560 | VL53L0X_Error VL53L0X::VL53L0X_get_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id, |
nikapov | 0:a1a69d32f310 | 561 | FixPoint1616_t *p_limit_check_value) |
nikapov | 0:a1a69d32f310 | 562 | { |
nikapov | 0:a1a69d32f310 | 563 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 564 | uint8_t enable_zero_value = 0; |
nikapov | 0:a1a69d32f310 | 565 | uint16_t temp16; |
nikapov | 0:a1a69d32f310 | 566 | FixPoint1616_t temp_fix1616; |
nikapov | 0:a1a69d32f310 | 567 | |
sepp_nepp | 5:b95f6951f7d5 | 568 | |
nikapov | 0:a1a69d32f310 | 569 | |
nikapov | 0:a1a69d32f310 | 570 | switch (limit_check_id) { |
nikapov | 0:a1a69d32f310 | 571 | |
nikapov | 0:a1a69d32f310 | 572 | case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE: |
nikapov | 0:a1a69d32f310 | 573 | /* internal computation: */ |
nikapov | 0:a1a69d32f310 | 574 | VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue, |
nikapov | 0:a1a69d32f310 | 575 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, temp_fix1616); |
nikapov | 0:a1a69d32f310 | 576 | enable_zero_value = 0; |
nikapov | 0:a1a69d32f310 | 577 | break; |
nikapov | 0:a1a69d32f310 | 578 | |
nikapov | 0:a1a69d32f310 | 579 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: |
nikapov | 0:a1a69d32f310 | 580 | status = VL53L0X_read_word(dev, |
nikapov | 0:a1a69d32f310 | 581 | VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, |
nikapov | 0:a1a69d32f310 | 582 | &temp16); |
Davidroid | 3:e9269ff624ed | 583 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 584 | temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(temp16); |
Davidroid | 3:e9269ff624ed | 585 | } |
nikapov | 0:a1a69d32f310 | 586 | |
nikapov | 0:a1a69d32f310 | 587 | |
nikapov | 0:a1a69d32f310 | 588 | enable_zero_value = 1; |
nikapov | 0:a1a69d32f310 | 589 | break; |
nikapov | 0:a1a69d32f310 | 590 | |
nikapov | 0:a1a69d32f310 | 591 | case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP: |
nikapov | 0:a1a69d32f310 | 592 | /* internal computation: */ |
nikapov | 0:a1a69d32f310 | 593 | VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue, |
nikapov | 0:a1a69d32f310 | 594 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, temp_fix1616); |
nikapov | 0:a1a69d32f310 | 595 | enable_zero_value = 0; |
nikapov | 0:a1a69d32f310 | 596 | break; |
nikapov | 0:a1a69d32f310 | 597 | |
nikapov | 0:a1a69d32f310 | 598 | case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD: |
nikapov | 0:a1a69d32f310 | 599 | /* internal computation: */ |
nikapov | 0:a1a69d32f310 | 600 | VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue, |
nikapov | 0:a1a69d32f310 | 601 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, temp_fix1616); |
nikapov | 0:a1a69d32f310 | 602 | enable_zero_value = 0; |
nikapov | 0:a1a69d32f310 | 603 | break; |
nikapov | 0:a1a69d32f310 | 604 | |
nikapov | 0:a1a69d32f310 | 605 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC: |
nikapov | 0:a1a69d32f310 | 606 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: |
nikapov | 0:a1a69d32f310 | 607 | status = VL53L0X_read_word(dev, |
nikapov | 0:a1a69d32f310 | 608 | VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, |
nikapov | 0:a1a69d32f310 | 609 | &temp16); |
Davidroid | 3:e9269ff624ed | 610 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 611 | temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(temp16); |
Davidroid | 3:e9269ff624ed | 612 | } |
nikapov | 0:a1a69d32f310 | 613 | |
nikapov | 0:a1a69d32f310 | 614 | |
nikapov | 0:a1a69d32f310 | 615 | enable_zero_value = 0; |
nikapov | 0:a1a69d32f310 | 616 | break; |
nikapov | 0:a1a69d32f310 | 617 | |
nikapov | 0:a1a69d32f310 | 618 | default: |
nikapov | 0:a1a69d32f310 | 619 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 620 | |
nikapov | 0:a1a69d32f310 | 621 | } |
nikapov | 0:a1a69d32f310 | 622 | |
nikapov | 0:a1a69d32f310 | 623 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 624 | |
nikapov | 0:a1a69d32f310 | 625 | if (enable_zero_value == 1) { |
nikapov | 0:a1a69d32f310 | 626 | |
nikapov | 0:a1a69d32f310 | 627 | if (temp_fix1616 == 0) { |
nikapov | 0:a1a69d32f310 | 628 | /* disabled: return value from memory */ |
nikapov | 0:a1a69d32f310 | 629 | VL53L0X_GETARRAYPARAMETERFIELD(dev, |
nikapov | 0:a1a69d32f310 | 630 | LimitChecksValue, limit_check_id, |
nikapov | 0:a1a69d32f310 | 631 | temp_fix1616); |
nikapov | 0:a1a69d32f310 | 632 | *p_limit_check_value = temp_fix1616; |
nikapov | 0:a1a69d32f310 | 633 | VL53L0X_SETARRAYPARAMETERFIELD(dev, |
nikapov | 0:a1a69d32f310 | 634 | LimitChecksEnable, limit_check_id, 0); |
nikapov | 0:a1a69d32f310 | 635 | } else { |
nikapov | 0:a1a69d32f310 | 636 | *p_limit_check_value = temp_fix1616; |
nikapov | 0:a1a69d32f310 | 637 | VL53L0X_SETARRAYPARAMETERFIELD(dev, |
nikapov | 0:a1a69d32f310 | 638 | LimitChecksValue, limit_check_id, |
nikapov | 0:a1a69d32f310 | 639 | temp_fix1616); |
nikapov | 0:a1a69d32f310 | 640 | VL53L0X_SETARRAYPARAMETERFIELD(dev, |
nikapov | 0:a1a69d32f310 | 641 | LimitChecksEnable, limit_check_id, 1); |
nikapov | 0:a1a69d32f310 | 642 | } |
nikapov | 0:a1a69d32f310 | 643 | } else { |
nikapov | 0:a1a69d32f310 | 644 | *p_limit_check_value = temp_fix1616; |
nikapov | 0:a1a69d32f310 | 645 | } |
nikapov | 0:a1a69d32f310 | 646 | } |
nikapov | 0:a1a69d32f310 | 647 | |
sepp_nepp | 5:b95f6951f7d5 | 648 | |
nikapov | 0:a1a69d32f310 | 649 | return status; |
nikapov | 0:a1a69d32f310 | 650 | |
nikapov | 0:a1a69d32f310 | 651 | } |
nikapov | 0:a1a69d32f310 | 652 | |
nikapov | 0:a1a69d32f310 | 653 | VL53L0X_Error VL53L0X::VL53L0X_get_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id, |
nikapov | 0:a1a69d32f310 | 654 | uint8_t *p_limit_check_enable) |
nikapov | 0:a1a69d32f310 | 655 | { |
nikapov | 0:a1a69d32f310 | 656 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 657 | uint8_t temp8; |
nikapov | 0:a1a69d32f310 | 658 | |
sepp_nepp | 5:b95f6951f7d5 | 659 | |
nikapov | 0:a1a69d32f310 | 660 | |
nikapov | 0:a1a69d32f310 | 661 | if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) { |
nikapov | 0:a1a69d32f310 | 662 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 663 | *p_limit_check_enable = 0; |
nikapov | 0:a1a69d32f310 | 664 | } else { |
nikapov | 0:a1a69d32f310 | 665 | VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksEnable, |
nikapov | 0:a1a69d32f310 | 666 | limit_check_id, temp8); |
nikapov | 0:a1a69d32f310 | 667 | *p_limit_check_enable = temp8; |
nikapov | 0:a1a69d32f310 | 668 | } |
nikapov | 0:a1a69d32f310 | 669 | |
sepp_nepp | 5:b95f6951f7d5 | 670 | |
nikapov | 0:a1a69d32f310 | 671 | return status; |
nikapov | 0:a1a69d32f310 | 672 | } |
nikapov | 0:a1a69d32f310 | 673 | |
nikapov | 0:a1a69d32f310 | 674 | VL53L0X_Error VL53L0X::VL53L0X_get_wrap_around_check_enable(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 675 | uint8_t *p_wrap_around_check_enable) |
nikapov | 0:a1a69d32f310 | 676 | { |
nikapov | 0:a1a69d32f310 | 677 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 678 | uint8_t data; |
nikapov | 0:a1a69d32f310 | 679 | |
sepp_nepp | 5:b95f6951f7d5 | 680 | |
nikapov | 0:a1a69d32f310 | 681 | |
nikapov | 0:a1a69d32f310 | 682 | status = VL53L0X_read_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data); |
nikapov | 0:a1a69d32f310 | 683 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 684 | PALDevDataSet(dev, SequenceConfig, data); |
Davidroid | 3:e9269ff624ed | 685 | if (data & (0x01 << 7)) { |
nikapov | 0:a1a69d32f310 | 686 | *p_wrap_around_check_enable = 0x01; |
Davidroid | 3:e9269ff624ed | 687 | } else { |
nikapov | 0:a1a69d32f310 | 688 | *p_wrap_around_check_enable = 0x00; |
Davidroid | 3:e9269ff624ed | 689 | } |
nikapov | 0:a1a69d32f310 | 690 | } |
nikapov | 0:a1a69d32f310 | 691 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 692 | VL53L0X_SETPARAMETERFIELD(dev, WrapAroundCheckEnable, |
nikapov | 0:a1a69d32f310 | 693 | *p_wrap_around_check_enable); |
nikapov | 0:a1a69d32f310 | 694 | } |
nikapov | 0:a1a69d32f310 | 695 | |
sepp_nepp | 5:b95f6951f7d5 | 696 | |
nikapov | 0:a1a69d32f310 | 697 | return status; |
nikapov | 0:a1a69d32f310 | 698 | } |
nikapov | 0:a1a69d32f310 | 699 | |
nikapov | 0:a1a69d32f310 | 700 | VL53L0X_Error VL53L0X::sequence_step_enabled(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 701 | VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_config, |
nikapov | 0:a1a69d32f310 | 702 | uint8_t *p_sequence_step_enabled) |
nikapov | 0:a1a69d32f310 | 703 | { |
nikapov | 0:a1a69d32f310 | 704 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 705 | *p_sequence_step_enabled = 0; |
sepp_nepp | 5:b95f6951f7d5 | 706 | |
nikapov | 0:a1a69d32f310 | 707 | |
nikapov | 0:a1a69d32f310 | 708 | switch (sequence_step_id) { |
nikapov | 0:a1a69d32f310 | 709 | case VL53L0X_SEQUENCESTEP_TCC: |
nikapov | 0:a1a69d32f310 | 710 | *p_sequence_step_enabled = (sequence_config & 0x10) >> 4; |
nikapov | 0:a1a69d32f310 | 711 | break; |
nikapov | 0:a1a69d32f310 | 712 | case VL53L0X_SEQUENCESTEP_DSS: |
nikapov | 0:a1a69d32f310 | 713 | *p_sequence_step_enabled = (sequence_config & 0x08) >> 3; |
nikapov | 0:a1a69d32f310 | 714 | break; |
nikapov | 0:a1a69d32f310 | 715 | case VL53L0X_SEQUENCESTEP_MSRC: |
nikapov | 0:a1a69d32f310 | 716 | *p_sequence_step_enabled = (sequence_config & 0x04) >> 2; |
nikapov | 0:a1a69d32f310 | 717 | break; |
nikapov | 0:a1a69d32f310 | 718 | case VL53L0X_SEQUENCESTEP_PRE_RANGE: |
nikapov | 0:a1a69d32f310 | 719 | *p_sequence_step_enabled = (sequence_config & 0x40) >> 6; |
nikapov | 0:a1a69d32f310 | 720 | break; |
nikapov | 0:a1a69d32f310 | 721 | case VL53L0X_SEQUENCESTEP_FINAL_RANGE: |
nikapov | 0:a1a69d32f310 | 722 | *p_sequence_step_enabled = (sequence_config & 0x80) >> 7; |
nikapov | 0:a1a69d32f310 | 723 | break; |
nikapov | 0:a1a69d32f310 | 724 | default: |
nikapov | 0:a1a69d32f310 | 725 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 726 | } |
nikapov | 0:a1a69d32f310 | 727 | |
sepp_nepp | 5:b95f6951f7d5 | 728 | |
nikapov | 0:a1a69d32f310 | 729 | return Status; |
nikapov | 0:a1a69d32f310 | 730 | } |
nikapov | 0:a1a69d32f310 | 731 | |
nikapov | 0:a1a69d32f310 | 732 | VL53L0X_Error VL53L0X::VL53L0X_get_sequence_step_enables(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 733 | VL53L0X_SchedulerSequenceSteps_t *p_scheduler_sequence_steps) |
nikapov | 0:a1a69d32f310 | 734 | { |
nikapov | 0:a1a69d32f310 | 735 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 736 | uint8_t sequence_config = 0; |
sepp_nepp | 5:b95f6951f7d5 | 737 | |
nikapov | 0:a1a69d32f310 | 738 | |
nikapov | 0:a1a69d32f310 | 739 | status = VL53L0X_read_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
nikapov | 0:a1a69d32f310 | 740 | &sequence_config); |
nikapov | 0:a1a69d32f310 | 741 | |
nikapov | 0:a1a69d32f310 | 742 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 743 | status = sequence_step_enabled(dev, |
nikapov | 0:a1a69d32f310 | 744 | VL53L0X_SEQUENCESTEP_TCC, sequence_config, |
nikapov | 0:a1a69d32f310 | 745 | &p_scheduler_sequence_steps->TccOn); |
nikapov | 0:a1a69d32f310 | 746 | } |
nikapov | 0:a1a69d32f310 | 747 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 748 | status = sequence_step_enabled(dev, |
nikapov | 0:a1a69d32f310 | 749 | VL53L0X_SEQUENCESTEP_DSS, sequence_config, |
nikapov | 0:a1a69d32f310 | 750 | &p_scheduler_sequence_steps->DssOn); |
nikapov | 0:a1a69d32f310 | 751 | } |
nikapov | 0:a1a69d32f310 | 752 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 753 | status = sequence_step_enabled(dev, |
nikapov | 0:a1a69d32f310 | 754 | VL53L0X_SEQUENCESTEP_MSRC, sequence_config, |
nikapov | 0:a1a69d32f310 | 755 | &p_scheduler_sequence_steps->MsrcOn); |
nikapov | 0:a1a69d32f310 | 756 | } |
nikapov | 0:a1a69d32f310 | 757 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 758 | status = sequence_step_enabled(dev, |
nikapov | 0:a1a69d32f310 | 759 | VL53L0X_SEQUENCESTEP_PRE_RANGE, sequence_config, |
nikapov | 0:a1a69d32f310 | 760 | &p_scheduler_sequence_steps->PreRangeOn); |
nikapov | 0:a1a69d32f310 | 761 | } |
nikapov | 0:a1a69d32f310 | 762 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 763 | status = sequence_step_enabled(dev, |
nikapov | 0:a1a69d32f310 | 764 | VL53L0X_SEQUENCESTEP_FINAL_RANGE, sequence_config, |
nikapov | 0:a1a69d32f310 | 765 | &p_scheduler_sequence_steps->FinalRangeOn); |
nikapov | 0:a1a69d32f310 | 766 | } |
nikapov | 0:a1a69d32f310 | 767 | |
sepp_nepp | 5:b95f6951f7d5 | 768 | |
nikapov | 0:a1a69d32f310 | 769 | return status; |
nikapov | 0:a1a69d32f310 | 770 | } |
nikapov | 0:a1a69d32f310 | 771 | |
nikapov | 0:a1a69d32f310 | 772 | uint8_t VL53L0X::VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg) |
nikapov | 0:a1a69d32f310 | 773 | { |
nikapov | 0:a1a69d32f310 | 774 | /*! |
nikapov | 0:a1a69d32f310 | 775 | * Converts the encoded VCSEL period register value into the real |
nikapov | 0:a1a69d32f310 | 776 | * period in PLL clocks |
nikapov | 0:a1a69d32f310 | 777 | */ |
nikapov | 0:a1a69d32f310 | 778 | |
nikapov | 0:a1a69d32f310 | 779 | uint8_t vcsel_period_pclks = 0; |
nikapov | 0:a1a69d32f310 | 780 | |
nikapov | 0:a1a69d32f310 | 781 | vcsel_period_pclks = (vcsel_period_reg + 1) << 1; |
nikapov | 0:a1a69d32f310 | 782 | |
nikapov | 0:a1a69d32f310 | 783 | return vcsel_period_pclks; |
nikapov | 0:a1a69d32f310 | 784 | } |
nikapov | 0:a1a69d32f310 | 785 | |
nikapov | 0:a1a69d32f310 | 786 | uint8_t VL53L0X::lv53l0x_encode_vcsel_period(uint8_t vcsel_period_pclks) |
nikapov | 0:a1a69d32f310 | 787 | { |
nikapov | 0:a1a69d32f310 | 788 | /*! |
nikapov | 0:a1a69d32f310 | 789 | * Converts the encoded VCSEL period register value into the real period |
nikapov | 0:a1a69d32f310 | 790 | * in PLL clocks |
nikapov | 0:a1a69d32f310 | 791 | */ |
nikapov | 0:a1a69d32f310 | 792 | |
nikapov | 0:a1a69d32f310 | 793 | uint8_t vcsel_period_reg = 0; |
nikapov | 0:a1a69d32f310 | 794 | |
nikapov | 0:a1a69d32f310 | 795 | vcsel_period_reg = (vcsel_period_pclks >> 1) - 1; |
nikapov | 0:a1a69d32f310 | 796 | |
nikapov | 0:a1a69d32f310 | 797 | return vcsel_period_reg; |
nikapov | 0:a1a69d32f310 | 798 | } |
nikapov | 0:a1a69d32f310 | 799 | |
nikapov | 0:a1a69d32f310 | 800 | |
nikapov | 0:a1a69d32f310 | 801 | VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 802 | VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period_pclk) |
nikapov | 0:a1a69d32f310 | 803 | { |
nikapov | 0:a1a69d32f310 | 804 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 805 | uint8_t vcsel_period_reg; |
nikapov | 0:a1a69d32f310 | 806 | uint8_t min_pre_vcsel_period_pclk = 12; |
nikapov | 0:a1a69d32f310 | 807 | uint8_t max_pre_vcsel_period_pclk = 18; |
nikapov | 0:a1a69d32f310 | 808 | uint8_t min_final_vcsel_period_pclk = 8; |
nikapov | 0:a1a69d32f310 | 809 | uint8_t max_final_vcsel_period_pclk = 14; |
nikapov | 0:a1a69d32f310 | 810 | uint32_t measurement_timing_budget_micro_seconds; |
nikapov | 0:a1a69d32f310 | 811 | uint32_t final_range_timeout_micro_seconds; |
nikapov | 0:a1a69d32f310 | 812 | uint32_t pre_range_timeout_micro_seconds; |
nikapov | 0:a1a69d32f310 | 813 | uint32_t msrc_timeout_micro_seconds; |
nikapov | 0:a1a69d32f310 | 814 | uint8_t phase_cal_int = 0; |
nikapov | 0:a1a69d32f310 | 815 | |
nikapov | 0:a1a69d32f310 | 816 | /* Check if valid clock period requested */ |
nikapov | 0:a1a69d32f310 | 817 | |
nikapov | 0:a1a69d32f310 | 818 | if ((vcsel_pulse_period_pclk % 2) != 0) { |
nikapov | 0:a1a69d32f310 | 819 | /* Value must be an even number */ |
nikapov | 0:a1a69d32f310 | 820 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 821 | } else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE && |
nikapov | 0:a1a69d32f310 | 822 | (vcsel_pulse_period_pclk < min_pre_vcsel_period_pclk || |
nikapov | 0:a1a69d32f310 | 823 | vcsel_pulse_period_pclk > max_pre_vcsel_period_pclk)) { |
nikapov | 0:a1a69d32f310 | 824 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 825 | } else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE && |
nikapov | 0:a1a69d32f310 | 826 | (vcsel_pulse_period_pclk < min_final_vcsel_period_pclk || |
nikapov | 0:a1a69d32f310 | 827 | vcsel_pulse_period_pclk > max_final_vcsel_period_pclk)) { |
nikapov | 0:a1a69d32f310 | 828 | |
nikapov | 0:a1a69d32f310 | 829 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 830 | } |
nikapov | 0:a1a69d32f310 | 831 | |
nikapov | 0:a1a69d32f310 | 832 | /* Apply specific settings for the requested clock period */ |
nikapov | 0:a1a69d32f310 | 833 | |
Davidroid | 3:e9269ff624ed | 834 | if (status != VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 835 | return status; |
Davidroid | 3:e9269ff624ed | 836 | } |
nikapov | 0:a1a69d32f310 | 837 | |
nikapov | 0:a1a69d32f310 | 838 | |
nikapov | 0:a1a69d32f310 | 839 | if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE) { |
nikapov | 0:a1a69d32f310 | 840 | |
nikapov | 0:a1a69d32f310 | 841 | /* Set phase check limits */ |
nikapov | 0:a1a69d32f310 | 842 | if (vcsel_pulse_period_pclk == 12) { |
nikapov | 0:a1a69d32f310 | 843 | |
nikapov | 0:a1a69d32f310 | 844 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 845 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, |
nikapov | 0:a1a69d32f310 | 846 | 0x18); |
nikapov | 0:a1a69d32f310 | 847 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 848 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, |
nikapov | 0:a1a69d32f310 | 849 | 0x08); |
nikapov | 0:a1a69d32f310 | 850 | } else if (vcsel_pulse_period_pclk == 14) { |
nikapov | 0:a1a69d32f310 | 851 | |
nikapov | 0:a1a69d32f310 | 852 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 853 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, |
nikapov | 0:a1a69d32f310 | 854 | 0x30); |
nikapov | 0:a1a69d32f310 | 855 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 856 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, |
nikapov | 0:a1a69d32f310 | 857 | 0x08); |
nikapov | 0:a1a69d32f310 | 858 | } else if (vcsel_pulse_period_pclk == 16) { |
nikapov | 0:a1a69d32f310 | 859 | |
nikapov | 0:a1a69d32f310 | 860 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 861 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, |
nikapov | 0:a1a69d32f310 | 862 | 0x40); |
nikapov | 0:a1a69d32f310 | 863 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 864 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, |
nikapov | 0:a1a69d32f310 | 865 | 0x08); |
nikapov | 0:a1a69d32f310 | 866 | } else if (vcsel_pulse_period_pclk == 18) { |
nikapov | 0:a1a69d32f310 | 867 | |
nikapov | 0:a1a69d32f310 | 868 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 869 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, |
nikapov | 0:a1a69d32f310 | 870 | 0x50); |
nikapov | 0:a1a69d32f310 | 871 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 872 | VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, |
nikapov | 0:a1a69d32f310 | 873 | 0x08); |
nikapov | 0:a1a69d32f310 | 874 | } |
nikapov | 0:a1a69d32f310 | 875 | } else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) { |
nikapov | 0:a1a69d32f310 | 876 | |
nikapov | 0:a1a69d32f310 | 877 | if (vcsel_pulse_period_pclk == 8) { |
nikapov | 0:a1a69d32f310 | 878 | |
nikapov | 0:a1a69d32f310 | 879 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 880 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, |
nikapov | 0:a1a69d32f310 | 881 | 0x10); |
nikapov | 0:a1a69d32f310 | 882 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 883 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, |
nikapov | 0:a1a69d32f310 | 884 | 0x08); |
nikapov | 0:a1a69d32f310 | 885 | |
nikapov | 0:a1a69d32f310 | 886 | status |= VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 887 | VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02); |
nikapov | 0:a1a69d32f310 | 888 | status |= VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 889 | VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C); |
nikapov | 0:a1a69d32f310 | 890 | |
nikapov | 0:a1a69d32f310 | 891 | status |= VL53L0X_write_byte(dev, 0xff, 0x01); |
nikapov | 0:a1a69d32f310 | 892 | status |= VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 893 | VL53L0X_REG_ALGO_PHASECAL_LIM, |
nikapov | 0:a1a69d32f310 | 894 | 0x30); |
nikapov | 0:a1a69d32f310 | 895 | status |= VL53L0X_write_byte(dev, 0xff, 0x00); |
nikapov | 0:a1a69d32f310 | 896 | } else if (vcsel_pulse_period_pclk == 10) { |
nikapov | 0:a1a69d32f310 | 897 | |
nikapov | 0:a1a69d32f310 | 898 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 899 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, |
nikapov | 0:a1a69d32f310 | 900 | 0x28); |
nikapov | 0:a1a69d32f310 | 901 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 902 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, |
nikapov | 0:a1a69d32f310 | 903 | 0x08); |
nikapov | 0:a1a69d32f310 | 904 | |
nikapov | 0:a1a69d32f310 | 905 | status |= VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 906 | VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); |
nikapov | 0:a1a69d32f310 | 907 | status |= VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 908 | VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09); |
nikapov | 0:a1a69d32f310 | 909 | |
nikapov | 0:a1a69d32f310 | 910 | status |= VL53L0X_write_byte(dev, 0xff, 0x01); |
nikapov | 0:a1a69d32f310 | 911 | status |= VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 912 | VL53L0X_REG_ALGO_PHASECAL_LIM, |
nikapov | 0:a1a69d32f310 | 913 | 0x20); |
nikapov | 0:a1a69d32f310 | 914 | status |= VL53L0X_write_byte(dev, 0xff, 0x00); |
nikapov | 0:a1a69d32f310 | 915 | } else if (vcsel_pulse_period_pclk == 12) { |
nikapov | 0:a1a69d32f310 | 916 | |
nikapov | 0:a1a69d32f310 | 917 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 918 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, |
nikapov | 0:a1a69d32f310 | 919 | 0x38); |
nikapov | 0:a1a69d32f310 | 920 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 921 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, |
nikapov | 0:a1a69d32f310 | 922 | 0x08); |
nikapov | 0:a1a69d32f310 | 923 | |
nikapov | 0:a1a69d32f310 | 924 | status |= VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 925 | VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); |
nikapov | 0:a1a69d32f310 | 926 | status |= VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 927 | VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08); |
nikapov | 0:a1a69d32f310 | 928 | |
nikapov | 0:a1a69d32f310 | 929 | status |= VL53L0X_write_byte(dev, 0xff, 0x01); |
nikapov | 0:a1a69d32f310 | 930 | status |= VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 931 | VL53L0X_REG_ALGO_PHASECAL_LIM, |
nikapov | 0:a1a69d32f310 | 932 | 0x20); |
nikapov | 0:a1a69d32f310 | 933 | status |= VL53L0X_write_byte(dev, 0xff, 0x00); |
nikapov | 0:a1a69d32f310 | 934 | } else if (vcsel_pulse_period_pclk == 14) { |
nikapov | 0:a1a69d32f310 | 935 | |
nikapov | 0:a1a69d32f310 | 936 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 937 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, |
nikapov | 0:a1a69d32f310 | 938 | 0x048); |
nikapov | 0:a1a69d32f310 | 939 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 940 | VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, |
nikapov | 0:a1a69d32f310 | 941 | 0x08); |
nikapov | 0:a1a69d32f310 | 942 | |
nikapov | 0:a1a69d32f310 | 943 | status |= VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 944 | VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); |
nikapov | 0:a1a69d32f310 | 945 | status |= VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 946 | VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07); |
nikapov | 0:a1a69d32f310 | 947 | |
nikapov | 0:a1a69d32f310 | 948 | status |= VL53L0X_write_byte(dev, 0xff, 0x01); |
nikapov | 0:a1a69d32f310 | 949 | status |= VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 950 | VL53L0X_REG_ALGO_PHASECAL_LIM, |
nikapov | 0:a1a69d32f310 | 951 | 0x20); |
nikapov | 0:a1a69d32f310 | 952 | status |= VL53L0X_write_byte(dev, 0xff, 0x00); |
nikapov | 0:a1a69d32f310 | 953 | } |
nikapov | 0:a1a69d32f310 | 954 | } |
nikapov | 0:a1a69d32f310 | 955 | |
nikapov | 0:a1a69d32f310 | 956 | |
nikapov | 0:a1a69d32f310 | 957 | /* Re-calculate and apply timeouts, in macro periods */ |
nikapov | 0:a1a69d32f310 | 958 | |
nikapov | 0:a1a69d32f310 | 959 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 960 | vcsel_period_reg = lv53l0x_encode_vcsel_period((uint8_t) |
nikapov | 0:a1a69d32f310 | 961 | vcsel_pulse_period_pclk); |
nikapov | 0:a1a69d32f310 | 962 | |
nikapov | 0:a1a69d32f310 | 963 | /* When the VCSEL period for the pre or final range is changed, |
nikapov | 0:a1a69d32f310 | 964 | * the corresponding timeout must be read from the device using |
nikapov | 0:a1a69d32f310 | 965 | * the current VCSEL period, then the new VCSEL period can be |
nikapov | 0:a1a69d32f310 | 966 | * applied. The timeout then must be written back to the device |
nikapov | 0:a1a69d32f310 | 967 | * using the new VCSEL period. |
nikapov | 0:a1a69d32f310 | 968 | * |
nikapov | 0:a1a69d32f310 | 969 | * For the MSRC timeout, the same applies - this timeout being |
nikapov | 0:a1a69d32f310 | 970 | * dependant on the pre-range vcsel period. |
nikapov | 0:a1a69d32f310 | 971 | */ |
nikapov | 0:a1a69d32f310 | 972 | switch (vcsel_period_type) { |
nikapov | 0:a1a69d32f310 | 973 | case VL53L0X_VCSEL_PERIOD_PRE_RANGE: |
nikapov | 0:a1a69d32f310 | 974 | status = get_sequence_step_timeout(dev, |
nikapov | 0:a1a69d32f310 | 975 | VL53L0X_SEQUENCESTEP_PRE_RANGE, |
nikapov | 0:a1a69d32f310 | 976 | &pre_range_timeout_micro_seconds); |
nikapov | 0:a1a69d32f310 | 977 | |
nikapov | 0:a1a69d32f310 | 978 | if (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 979 | status = get_sequence_step_timeout(dev, |
nikapov | 0:a1a69d32f310 | 980 | VL53L0X_SEQUENCESTEP_MSRC, |
nikapov | 0:a1a69d32f310 | 981 | &msrc_timeout_micro_seconds); |
nikapov | 0:a1a69d32f310 | 982 | |
nikapov | 0:a1a69d32f310 | 983 | if (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 984 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 985 | VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD, |
nikapov | 0:a1a69d32f310 | 986 | vcsel_period_reg); |
nikapov | 0:a1a69d32f310 | 987 | |
nikapov | 0:a1a69d32f310 | 988 | |
nikapov | 0:a1a69d32f310 | 989 | if (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 990 | status = set_sequence_step_timeout(dev, |
nikapov | 0:a1a69d32f310 | 991 | VL53L0X_SEQUENCESTEP_PRE_RANGE, |
nikapov | 0:a1a69d32f310 | 992 | pre_range_timeout_micro_seconds); |
nikapov | 0:a1a69d32f310 | 993 | |
nikapov | 0:a1a69d32f310 | 994 | |
nikapov | 0:a1a69d32f310 | 995 | if (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 996 | status = set_sequence_step_timeout(dev, |
nikapov | 0:a1a69d32f310 | 997 | VL53L0X_SEQUENCESTEP_MSRC, |
nikapov | 0:a1a69d32f310 | 998 | msrc_timeout_micro_seconds); |
nikapov | 0:a1a69d32f310 | 999 | |
nikapov | 0:a1a69d32f310 | 1000 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
nikapov | 0:a1a69d32f310 | 1001 | dev, |
nikapov | 0:a1a69d32f310 | 1002 | PreRangeVcselPulsePeriod, |
nikapov | 0:a1a69d32f310 | 1003 | vcsel_pulse_period_pclk); |
nikapov | 0:a1a69d32f310 | 1004 | break; |
nikapov | 0:a1a69d32f310 | 1005 | case VL53L0X_VCSEL_PERIOD_FINAL_RANGE: |
nikapov | 0:a1a69d32f310 | 1006 | status = get_sequence_step_timeout(dev, |
nikapov | 0:a1a69d32f310 | 1007 | VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
nikapov | 0:a1a69d32f310 | 1008 | &final_range_timeout_micro_seconds); |
nikapov | 0:a1a69d32f310 | 1009 | |
nikapov | 0:a1a69d32f310 | 1010 | if (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 1011 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 1012 | VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD, |
nikapov | 0:a1a69d32f310 | 1013 | vcsel_period_reg); |
nikapov | 0:a1a69d32f310 | 1014 | |
nikapov | 0:a1a69d32f310 | 1015 | |
nikapov | 0:a1a69d32f310 | 1016 | if (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 1017 | status = set_sequence_step_timeout(dev, |
nikapov | 0:a1a69d32f310 | 1018 | VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
nikapov | 0:a1a69d32f310 | 1019 | final_range_timeout_micro_seconds); |
nikapov | 0:a1a69d32f310 | 1020 | |
nikapov | 0:a1a69d32f310 | 1021 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
nikapov | 0:a1a69d32f310 | 1022 | dev, |
nikapov | 0:a1a69d32f310 | 1023 | FinalRangeVcselPulsePeriod, |
nikapov | 0:a1a69d32f310 | 1024 | vcsel_pulse_period_pclk); |
nikapov | 0:a1a69d32f310 | 1025 | break; |
nikapov | 0:a1a69d32f310 | 1026 | default: |
nikapov | 0:a1a69d32f310 | 1027 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 1028 | } |
nikapov | 0:a1a69d32f310 | 1029 | } |
nikapov | 0:a1a69d32f310 | 1030 | |
nikapov | 0:a1a69d32f310 | 1031 | /* Finally, the timing budget must be re-applied */ |
nikapov | 0:a1a69d32f310 | 1032 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1033 | VL53L0X_GETPARAMETERFIELD(dev, |
nikapov | 0:a1a69d32f310 | 1034 | MeasurementTimingBudgetMicroSeconds, |
nikapov | 0:a1a69d32f310 | 1035 | measurement_timing_budget_micro_seconds); |
nikapov | 0:a1a69d32f310 | 1036 | |
nikapov | 0:a1a69d32f310 | 1037 | status = VL53L0X_set_measurement_timing_budget_micro_seconds(dev, |
nikapov | 0:a1a69d32f310 | 1038 | measurement_timing_budget_micro_seconds); |
nikapov | 0:a1a69d32f310 | 1039 | } |
nikapov | 0:a1a69d32f310 | 1040 | |
nikapov | 0:a1a69d32f310 | 1041 | /* Perform the phase calibration. This is needed after changing on |
nikapov | 0:a1a69d32f310 | 1042 | * vcsel period. |
nikapov | 0:a1a69d32f310 | 1043 | * get_data_enable = 0, restore_config = 1 */ |
nikapov | 0:a1a69d32f310 | 1044 | if (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 1045 | status = VL53L0X_perform_phase_calibration( |
nikapov | 0:a1a69d32f310 | 1046 | dev, &phase_cal_int, 0, 1); |
nikapov | 0:a1a69d32f310 | 1047 | |
nikapov | 0:a1a69d32f310 | 1048 | return status; |
nikapov | 0:a1a69d32f310 | 1049 | } |
nikapov | 0:a1a69d32f310 | 1050 | |
nikapov | 0:a1a69d32f310 | 1051 | VL53L0X_Error VL53L0X::VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 1052 | VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period) |
nikapov | 0:a1a69d32f310 | 1053 | { |
nikapov | 0:a1a69d32f310 | 1054 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
sepp_nepp | 5:b95f6951f7d5 | 1055 | |
nikapov | 0:a1a69d32f310 | 1056 | |
nikapov | 0:a1a69d32f310 | 1057 | status = wrapped_VL53L0X_set_vcsel_pulse_period(dev, vcsel_period_type, |
nikapov | 0:a1a69d32f310 | 1058 | vcsel_pulse_period); |
nikapov | 0:a1a69d32f310 | 1059 | |
sepp_nepp | 5:b95f6951f7d5 | 1060 | |
nikapov | 0:a1a69d32f310 | 1061 | return status; |
nikapov | 0:a1a69d32f310 | 1062 | } |
nikapov | 0:a1a69d32f310 | 1063 | |
nikapov | 0:a1a69d32f310 | 1064 | VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 1065 | VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk) |
nikapov | 0:a1a69d32f310 | 1066 | { |
nikapov | 0:a1a69d32f310 | 1067 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1068 | uint8_t vcsel_period_reg; |
nikapov | 0:a1a69d32f310 | 1069 | |
nikapov | 0:a1a69d32f310 | 1070 | switch (vcsel_period_type) { |
nikapov | 0:a1a69d32f310 | 1071 | case VL53L0X_VCSEL_PERIOD_PRE_RANGE: |
nikapov | 0:a1a69d32f310 | 1072 | status = VL53L0X_read_byte(dev, |
nikapov | 0:a1a69d32f310 | 1073 | VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD, |
nikapov | 0:a1a69d32f310 | 1074 | &vcsel_period_reg); |
nikapov | 0:a1a69d32f310 | 1075 | break; |
nikapov | 0:a1a69d32f310 | 1076 | case VL53L0X_VCSEL_PERIOD_FINAL_RANGE: |
nikapov | 0:a1a69d32f310 | 1077 | status = VL53L0X_read_byte(dev, |
nikapov | 0:a1a69d32f310 | 1078 | VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD, |
nikapov | 0:a1a69d32f310 | 1079 | &vcsel_period_reg); |
nikapov | 0:a1a69d32f310 | 1080 | break; |
nikapov | 0:a1a69d32f310 | 1081 | default: |
nikapov | 0:a1a69d32f310 | 1082 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 1083 | } |
nikapov | 0:a1a69d32f310 | 1084 | |
nikapov | 0:a1a69d32f310 | 1085 | if (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 1086 | *p_vcsel_pulse_period_pclk = |
nikapov | 0:a1a69d32f310 | 1087 | VL53L0X_decode_vcsel_period(vcsel_period_reg); |
nikapov | 0:a1a69d32f310 | 1088 | |
nikapov | 0:a1a69d32f310 | 1089 | return status; |
nikapov | 0:a1a69d32f310 | 1090 | } |
nikapov | 0:a1a69d32f310 | 1091 | |
nikapov | 0:a1a69d32f310 | 1092 | VL53L0X_Error VL53L0X::VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 1093 | VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk) |
nikapov | 0:a1a69d32f310 | 1094 | { |
nikapov | 0:a1a69d32f310 | 1095 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
sepp_nepp | 5:b95f6951f7d5 | 1096 | |
nikapov | 0:a1a69d32f310 | 1097 | |
nikapov | 0:a1a69d32f310 | 1098 | status = wrapped_VL53L0X_get_vcsel_pulse_period(dev, vcsel_period_type, |
nikapov | 0:a1a69d32f310 | 1099 | p_vcsel_pulse_period_pclk); |
nikapov | 0:a1a69d32f310 | 1100 | |
sepp_nepp | 5:b95f6951f7d5 | 1101 | |
nikapov | 0:a1a69d32f310 | 1102 | return status; |
nikapov | 0:a1a69d32f310 | 1103 | } |
nikapov | 0:a1a69d32f310 | 1104 | |
nikapov | 0:a1a69d32f310 | 1105 | uint32_t VL53L0X::VL53L0X_decode_timeout(uint16_t encoded_timeout) |
nikapov | 0:a1a69d32f310 | 1106 | { |
nikapov | 0:a1a69d32f310 | 1107 | /*! |
nikapov | 0:a1a69d32f310 | 1108 | * Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1 |
nikapov | 0:a1a69d32f310 | 1109 | */ |
nikapov | 0:a1a69d32f310 | 1110 | |
nikapov | 0:a1a69d32f310 | 1111 | uint32_t timeout_macro_clks = 0; |
nikapov | 0:a1a69d32f310 | 1112 | |
nikapov | 0:a1a69d32f310 | 1113 | timeout_macro_clks = ((uint32_t)(encoded_timeout & 0x00FF) |
nikapov | 0:a1a69d32f310 | 1114 | << (uint32_t)((encoded_timeout & 0xFF00) >> 8)) + 1; |
nikapov | 0:a1a69d32f310 | 1115 | |
nikapov | 0:a1a69d32f310 | 1116 | return timeout_macro_clks; |
nikapov | 0:a1a69d32f310 | 1117 | } |
nikapov | 0:a1a69d32f310 | 1118 | |
nikapov | 0:a1a69d32f310 | 1119 | uint32_t VL53L0X::VL53L0X_calc_macro_period_ps(VL53L0X_DEV dev, uint8_t vcsel_period_pclks) |
nikapov | 0:a1a69d32f310 | 1120 | { |
nikapov | 0:a1a69d32f310 | 1121 | uint64_t pll_period_ps; |
nikapov | 0:a1a69d32f310 | 1122 | uint32_t macro_period_vclks; |
nikapov | 0:a1a69d32f310 | 1123 | uint32_t macro_period_ps; |
nikapov | 0:a1a69d32f310 | 1124 | |
sepp_nepp | 5:b95f6951f7d5 | 1125 | |
nikapov | 0:a1a69d32f310 | 1126 | |
nikapov | 0:a1a69d32f310 | 1127 | /* The above calculation will produce rounding errors, |
nikapov | 0:a1a69d32f310 | 1128 | therefore set fixed value |
nikapov | 0:a1a69d32f310 | 1129 | */ |
nikapov | 0:a1a69d32f310 | 1130 | pll_period_ps = 1655; |
nikapov | 0:a1a69d32f310 | 1131 | |
nikapov | 0:a1a69d32f310 | 1132 | macro_period_vclks = 2304; |
nikapov | 0:a1a69d32f310 | 1133 | macro_period_ps = (uint32_t)(macro_period_vclks |
nikapov | 0:a1a69d32f310 | 1134 | * vcsel_period_pclks * pll_period_ps); |
nikapov | 0:a1a69d32f310 | 1135 | return macro_period_ps; |
nikapov | 0:a1a69d32f310 | 1136 | } |
nikapov | 0:a1a69d32f310 | 1137 | |
nikapov | 0:a1a69d32f310 | 1138 | /* To convert register value into us */ |
nikapov | 0:a1a69d32f310 | 1139 | uint32_t VL53L0X::VL53L0X_calc_timeout_us(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 1140 | uint16_t timeout_period_mclks, |
nikapov | 0:a1a69d32f310 | 1141 | uint8_t vcsel_period_pclks) |
nikapov | 0:a1a69d32f310 | 1142 | { |
nikapov | 0:a1a69d32f310 | 1143 | uint32_t macro_period_ps; |
nikapov | 0:a1a69d32f310 | 1144 | uint32_t macro_period_ns; |
nikapov | 0:a1a69d32f310 | 1145 | uint32_t actual_timeout_period_us = 0; |
nikapov | 0:a1a69d32f310 | 1146 | |
nikapov | 0:a1a69d32f310 | 1147 | macro_period_ps = VL53L0X_calc_macro_period_ps(dev, vcsel_period_pclks); |
nikapov | 0:a1a69d32f310 | 1148 | macro_period_ns = (macro_period_ps + 500) / 1000; |
nikapov | 0:a1a69d32f310 | 1149 | |
nikapov | 0:a1a69d32f310 | 1150 | actual_timeout_period_us = |
nikapov | 0:a1a69d32f310 | 1151 | ((timeout_period_mclks * macro_period_ns) + 500) / 1000; |
nikapov | 0:a1a69d32f310 | 1152 | |
nikapov | 0:a1a69d32f310 | 1153 | return actual_timeout_period_us; |
nikapov | 0:a1a69d32f310 | 1154 | } |
nikapov | 0:a1a69d32f310 | 1155 | |
nikapov | 0:a1a69d32f310 | 1156 | VL53L0X_Error VL53L0X::get_sequence_step_timeout(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 1157 | VL53L0X_SequenceStepId sequence_step_id, |
nikapov | 0:a1a69d32f310 | 1158 | uint32_t *p_time_out_micro_secs) |
nikapov | 0:a1a69d32f310 | 1159 | { |
nikapov | 0:a1a69d32f310 | 1160 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1161 | uint8_t current_vcsel_pulse_period_p_clk; |
nikapov | 0:a1a69d32f310 | 1162 | uint8_t encoded_time_out_byte = 0; |
nikapov | 0:a1a69d32f310 | 1163 | uint32_t timeout_micro_seconds = 0; |
nikapov | 0:a1a69d32f310 | 1164 | uint16_t pre_range_encoded_time_out = 0; |
nikapov | 0:a1a69d32f310 | 1165 | uint16_t msrc_time_out_m_clks; |
nikapov | 0:a1a69d32f310 | 1166 | uint16_t pre_range_time_out_m_clks; |
nikapov | 0:a1a69d32f310 | 1167 | uint16_t final_range_time_out_m_clks = 0; |
nikapov | 0:a1a69d32f310 | 1168 | uint16_t final_range_encoded_time_out; |
nikapov | 0:a1a69d32f310 | 1169 | VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps; |
nikapov | 0:a1a69d32f310 | 1170 | |
nikapov | 0:a1a69d32f310 | 1171 | if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC) || |
nikapov | 0:a1a69d32f310 | 1172 | (sequence_step_id == VL53L0X_SEQUENCESTEP_DSS) || |
nikapov | 0:a1a69d32f310 | 1173 | (sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC)) { |
nikapov | 0:a1a69d32f310 | 1174 | |
nikapov | 0:a1a69d32f310 | 1175 | status = VL53L0X_get_vcsel_pulse_period(dev, |
nikapov | 0:a1a69d32f310 | 1176 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
nikapov | 0:a1a69d32f310 | 1177 | ¤t_vcsel_pulse_period_p_clk); |
nikapov | 0:a1a69d32f310 | 1178 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1179 | status = VL53L0X_read_byte(dev, |
nikapov | 0:a1a69d32f310 | 1180 | VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP, |
nikapov | 0:a1a69d32f310 | 1181 | &encoded_time_out_byte); |
nikapov | 0:a1a69d32f310 | 1182 | } |
nikapov | 0:a1a69d32f310 | 1183 | msrc_time_out_m_clks = VL53L0X_decode_timeout(encoded_time_out_byte); |
nikapov | 0:a1a69d32f310 | 1184 | |
nikapov | 0:a1a69d32f310 | 1185 | timeout_micro_seconds = VL53L0X_calc_timeout_us(dev, |
nikapov | 0:a1a69d32f310 | 1186 | msrc_time_out_m_clks, |
nikapov | 0:a1a69d32f310 | 1187 | current_vcsel_pulse_period_p_clk); |
nikapov | 0:a1a69d32f310 | 1188 | } else if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) { |
nikapov | 0:a1a69d32f310 | 1189 | /* Retrieve PRE-RANGE VCSEL Period */ |
nikapov | 0:a1a69d32f310 | 1190 | status = VL53L0X_get_vcsel_pulse_period(dev, |
nikapov | 0:a1a69d32f310 | 1191 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
nikapov | 0:a1a69d32f310 | 1192 | ¤t_vcsel_pulse_period_p_clk); |
nikapov | 0:a1a69d32f310 | 1193 | |
nikapov | 0:a1a69d32f310 | 1194 | /* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */ |
nikapov | 0:a1a69d32f310 | 1195 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1196 | |
nikapov | 0:a1a69d32f310 | 1197 | /* Retrieve PRE-RANGE VCSEL Period */ |
nikapov | 0:a1a69d32f310 | 1198 | status = VL53L0X_get_vcsel_pulse_period(dev, |
nikapov | 0:a1a69d32f310 | 1199 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
nikapov | 0:a1a69d32f310 | 1200 | ¤t_vcsel_pulse_period_p_clk); |
nikapov | 0:a1a69d32f310 | 1201 | |
nikapov | 0:a1a69d32f310 | 1202 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1203 | status = VL53L0X_read_word(dev, |
nikapov | 0:a1a69d32f310 | 1204 | VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, |
nikapov | 0:a1a69d32f310 | 1205 | &pre_range_encoded_time_out); |
nikapov | 0:a1a69d32f310 | 1206 | } |
nikapov | 0:a1a69d32f310 | 1207 | |
nikapov | 0:a1a69d32f310 | 1208 | pre_range_time_out_m_clks = VL53L0X_decode_timeout( |
nikapov | 0:a1a69d32f310 | 1209 | pre_range_encoded_time_out); |
nikapov | 0:a1a69d32f310 | 1210 | |
nikapov | 0:a1a69d32f310 | 1211 | timeout_micro_seconds = VL53L0X_calc_timeout_us(dev, |
nikapov | 0:a1a69d32f310 | 1212 | pre_range_time_out_m_clks, |
nikapov | 0:a1a69d32f310 | 1213 | current_vcsel_pulse_period_p_clk); |
nikapov | 0:a1a69d32f310 | 1214 | } |
nikapov | 0:a1a69d32f310 | 1215 | } else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) { |
nikapov | 0:a1a69d32f310 | 1216 | |
nikapov | 0:a1a69d32f310 | 1217 | VL53L0X_get_sequence_step_enables(dev, &scheduler_sequence_steps); |
nikapov | 0:a1a69d32f310 | 1218 | pre_range_time_out_m_clks = 0; |
nikapov | 0:a1a69d32f310 | 1219 | |
nikapov | 0:a1a69d32f310 | 1220 | if (scheduler_sequence_steps.PreRangeOn) { |
nikapov | 0:a1a69d32f310 | 1221 | /* Retrieve PRE-RANGE VCSEL Period */ |
nikapov | 0:a1a69d32f310 | 1222 | status = VL53L0X_get_vcsel_pulse_period(dev, |
nikapov | 0:a1a69d32f310 | 1223 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
nikapov | 0:a1a69d32f310 | 1224 | ¤t_vcsel_pulse_period_p_clk); |
nikapov | 0:a1a69d32f310 | 1225 | |
nikapov | 0:a1a69d32f310 | 1226 | /* Retrieve PRE-RANGE Timeout in Macro periods |
nikapov | 0:a1a69d32f310 | 1227 | * (MCLKS) */ |
nikapov | 0:a1a69d32f310 | 1228 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1229 | status = VL53L0X_read_word(dev, |
nikapov | 0:a1a69d32f310 | 1230 | VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, |
nikapov | 0:a1a69d32f310 | 1231 | &pre_range_encoded_time_out); |
nikapov | 0:a1a69d32f310 | 1232 | pre_range_time_out_m_clks = VL53L0X_decode_timeout( |
nikapov | 0:a1a69d32f310 | 1233 | pre_range_encoded_time_out); |
nikapov | 0:a1a69d32f310 | 1234 | } |
nikapov | 0:a1a69d32f310 | 1235 | } |
nikapov | 0:a1a69d32f310 | 1236 | |
nikapov | 0:a1a69d32f310 | 1237 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1238 | /* Retrieve FINAL-RANGE VCSEL Period */ |
nikapov | 0:a1a69d32f310 | 1239 | status = VL53L0X_get_vcsel_pulse_period(dev, |
nikapov | 0:a1a69d32f310 | 1240 | VL53L0X_VCSEL_PERIOD_FINAL_RANGE, |
nikapov | 0:a1a69d32f310 | 1241 | ¤t_vcsel_pulse_period_p_clk); |
nikapov | 0:a1a69d32f310 | 1242 | } |
nikapov | 0:a1a69d32f310 | 1243 | |
nikapov | 0:a1a69d32f310 | 1244 | /* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */ |
nikapov | 0:a1a69d32f310 | 1245 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1246 | status = VL53L0X_read_word(dev, |
nikapov | 0:a1a69d32f310 | 1247 | VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, |
nikapov | 0:a1a69d32f310 | 1248 | &final_range_encoded_time_out); |
nikapov | 0:a1a69d32f310 | 1249 | final_range_time_out_m_clks = VL53L0X_decode_timeout( |
nikapov | 0:a1a69d32f310 | 1250 | final_range_encoded_time_out); |
nikapov | 0:a1a69d32f310 | 1251 | } |
nikapov | 0:a1a69d32f310 | 1252 | |
nikapov | 0:a1a69d32f310 | 1253 | final_range_time_out_m_clks -= pre_range_time_out_m_clks; |
nikapov | 0:a1a69d32f310 | 1254 | timeout_micro_seconds = VL53L0X_calc_timeout_us(dev, |
nikapov | 0:a1a69d32f310 | 1255 | final_range_time_out_m_clks, |
nikapov | 0:a1a69d32f310 | 1256 | current_vcsel_pulse_period_p_clk); |
nikapov | 0:a1a69d32f310 | 1257 | } |
nikapov | 0:a1a69d32f310 | 1258 | |
nikapov | 0:a1a69d32f310 | 1259 | *p_time_out_micro_secs = timeout_micro_seconds; |
nikapov | 0:a1a69d32f310 | 1260 | |
nikapov | 0:a1a69d32f310 | 1261 | return status; |
nikapov | 0:a1a69d32f310 | 1262 | } |
nikapov | 0:a1a69d32f310 | 1263 | |
nikapov | 0:a1a69d32f310 | 1264 | VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 1265 | uint32_t *p_measurement_timing_budget_micro_seconds) |
nikapov | 0:a1a69d32f310 | 1266 | { |
nikapov | 0:a1a69d32f310 | 1267 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1268 | VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps; |
nikapov | 0:a1a69d32f310 | 1269 | uint32_t final_range_timeout_micro_seconds; |
nikapov | 0:a1a69d32f310 | 1270 | uint32_t msrc_dcc_tcc_timeout_micro_seconds = 2000; |
nikapov | 0:a1a69d32f310 | 1271 | uint32_t start_overhead_micro_seconds = 1910; |
nikapov | 0:a1a69d32f310 | 1272 | uint32_t end_overhead_micro_seconds = 960; |
nikapov | 0:a1a69d32f310 | 1273 | uint32_t msrc_overhead_micro_seconds = 660; |
nikapov | 0:a1a69d32f310 | 1274 | uint32_t tcc_overhead_micro_seconds = 590; |
nikapov | 0:a1a69d32f310 | 1275 | uint32_t dss_overhead_micro_seconds = 690; |
nikapov | 0:a1a69d32f310 | 1276 | uint32_t pre_range_overhead_micro_seconds = 660; |
nikapov | 0:a1a69d32f310 | 1277 | uint32_t final_range_overhead_micro_seconds = 550; |
nikapov | 0:a1a69d32f310 | 1278 | uint32_t pre_range_timeout_micro_seconds = 0; |
nikapov | 0:a1a69d32f310 | 1279 | |
sepp_nepp | 5:b95f6951f7d5 | 1280 | |
nikapov | 0:a1a69d32f310 | 1281 | |
nikapov | 0:a1a69d32f310 | 1282 | /* Start and end overhead times always present */ |
nikapov | 0:a1a69d32f310 | 1283 | *p_measurement_timing_budget_micro_seconds |
nikapov | 0:a1a69d32f310 | 1284 | = start_overhead_micro_seconds + end_overhead_micro_seconds; |
nikapov | 0:a1a69d32f310 | 1285 | |
nikapov | 0:a1a69d32f310 | 1286 | status = VL53L0X_get_sequence_step_enables(dev, &scheduler_sequence_steps); |
nikapov | 0:a1a69d32f310 | 1287 | |
nikapov | 0:a1a69d32f310 | 1288 | if (status != VL53L0X_ERROR_NONE) { |
sepp_nepp | 5:b95f6951f7d5 | 1289 | |
nikapov | 0:a1a69d32f310 | 1290 | return status; |
nikapov | 0:a1a69d32f310 | 1291 | } |
nikapov | 0:a1a69d32f310 | 1292 | |
nikapov | 0:a1a69d32f310 | 1293 | |
nikapov | 0:a1a69d32f310 | 1294 | if (scheduler_sequence_steps.TccOn || |
nikapov | 0:a1a69d32f310 | 1295 | scheduler_sequence_steps.MsrcOn || |
nikapov | 0:a1a69d32f310 | 1296 | scheduler_sequence_steps.DssOn) { |
nikapov | 0:a1a69d32f310 | 1297 | |
nikapov | 0:a1a69d32f310 | 1298 | status = get_sequence_step_timeout(dev, |
nikapov | 0:a1a69d32f310 | 1299 | VL53L0X_SEQUENCESTEP_MSRC, |
nikapov | 0:a1a69d32f310 | 1300 | &msrc_dcc_tcc_timeout_micro_seconds); |
nikapov | 0:a1a69d32f310 | 1301 | |
nikapov | 0:a1a69d32f310 | 1302 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1303 | if (scheduler_sequence_steps.TccOn) { |
nikapov | 0:a1a69d32f310 | 1304 | *p_measurement_timing_budget_micro_seconds += |
nikapov | 0:a1a69d32f310 | 1305 | msrc_dcc_tcc_timeout_micro_seconds + |
nikapov | 0:a1a69d32f310 | 1306 | tcc_overhead_micro_seconds; |
nikapov | 0:a1a69d32f310 | 1307 | } |
nikapov | 0:a1a69d32f310 | 1308 | |
nikapov | 0:a1a69d32f310 | 1309 | if (scheduler_sequence_steps.DssOn) { |
nikapov | 0:a1a69d32f310 | 1310 | *p_measurement_timing_budget_micro_seconds += |
nikapov | 0:a1a69d32f310 | 1311 | 2 * (msrc_dcc_tcc_timeout_micro_seconds + |
nikapov | 0:a1a69d32f310 | 1312 | dss_overhead_micro_seconds); |
nikapov | 0:a1a69d32f310 | 1313 | } else if (scheduler_sequence_steps.MsrcOn) { |
nikapov | 0:a1a69d32f310 | 1314 | *p_measurement_timing_budget_micro_seconds += |
nikapov | 0:a1a69d32f310 | 1315 | msrc_dcc_tcc_timeout_micro_seconds + |
nikapov | 0:a1a69d32f310 | 1316 | msrc_overhead_micro_seconds; |
nikapov | 0:a1a69d32f310 | 1317 | } |
nikapov | 0:a1a69d32f310 | 1318 | } |
nikapov | 0:a1a69d32f310 | 1319 | } |
nikapov | 0:a1a69d32f310 | 1320 | |
nikapov | 0:a1a69d32f310 | 1321 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1322 | if (scheduler_sequence_steps.PreRangeOn) { |
nikapov | 0:a1a69d32f310 | 1323 | status = get_sequence_step_timeout(dev, |
nikapov | 0:a1a69d32f310 | 1324 | VL53L0X_SEQUENCESTEP_PRE_RANGE, |
nikapov | 0:a1a69d32f310 | 1325 | &pre_range_timeout_micro_seconds); |
nikapov | 0:a1a69d32f310 | 1326 | *p_measurement_timing_budget_micro_seconds += |
nikapov | 0:a1a69d32f310 | 1327 | pre_range_timeout_micro_seconds + |
nikapov | 0:a1a69d32f310 | 1328 | pre_range_overhead_micro_seconds; |
nikapov | 0:a1a69d32f310 | 1329 | } |
nikapov | 0:a1a69d32f310 | 1330 | } |
nikapov | 0:a1a69d32f310 | 1331 | |
nikapov | 0:a1a69d32f310 | 1332 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1333 | if (scheduler_sequence_steps.FinalRangeOn) { |
nikapov | 0:a1a69d32f310 | 1334 | status = get_sequence_step_timeout(dev, |
nikapov | 0:a1a69d32f310 | 1335 | VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
nikapov | 0:a1a69d32f310 | 1336 | &final_range_timeout_micro_seconds); |
nikapov | 0:a1a69d32f310 | 1337 | *p_measurement_timing_budget_micro_seconds += |
nikapov | 0:a1a69d32f310 | 1338 | (final_range_timeout_micro_seconds + |
nikapov | 0:a1a69d32f310 | 1339 | final_range_overhead_micro_seconds); |
nikapov | 0:a1a69d32f310 | 1340 | } |
nikapov | 0:a1a69d32f310 | 1341 | } |
nikapov | 0:a1a69d32f310 | 1342 | |
nikapov | 0:a1a69d32f310 | 1343 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1344 | VL53L0X_SETPARAMETERFIELD(dev, |
nikapov | 0:a1a69d32f310 | 1345 | MeasurementTimingBudgetMicroSeconds, |
nikapov | 0:a1a69d32f310 | 1346 | *p_measurement_timing_budget_micro_seconds); |
nikapov | 0:a1a69d32f310 | 1347 | } |
nikapov | 0:a1a69d32f310 | 1348 | |
sepp_nepp | 5:b95f6951f7d5 | 1349 | |
nikapov | 0:a1a69d32f310 | 1350 | return status; |
nikapov | 0:a1a69d32f310 | 1351 | } |
nikapov | 0:a1a69d32f310 | 1352 | |
nikapov | 0:a1a69d32f310 | 1353 | VL53L0X_Error VL53L0X::VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 1354 | uint32_t *p_measurement_timing_budget_micro_seconds) |
nikapov | 0:a1a69d32f310 | 1355 | { |
nikapov | 0:a1a69d32f310 | 1356 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
sepp_nepp | 5:b95f6951f7d5 | 1357 | |
nikapov | 0:a1a69d32f310 | 1358 | |
nikapov | 0:a1a69d32f310 | 1359 | status = wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(dev, |
nikapov | 0:a1a69d32f310 | 1360 | p_measurement_timing_budget_micro_seconds); |
nikapov | 0:a1a69d32f310 | 1361 | |
sepp_nepp | 5:b95f6951f7d5 | 1362 | |
nikapov | 0:a1a69d32f310 | 1363 | return status; |
nikapov | 0:a1a69d32f310 | 1364 | } |
nikapov | 0:a1a69d32f310 | 1365 | |
nikapov | 0:a1a69d32f310 | 1366 | VL53L0X_Error VL53L0X::VL53L0X_get_device_parameters(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 1367 | VL53L0X_DeviceParameters_t *p_device_parameters) |
nikapov | 0:a1a69d32f310 | 1368 | { |
nikapov | 0:a1a69d32f310 | 1369 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1370 | int i; |
nikapov | 0:a1a69d32f310 | 1371 | |
sepp_nepp | 5:b95f6951f7d5 | 1372 | |
nikapov | 0:a1a69d32f310 | 1373 | |
nikapov | 0:a1a69d32f310 | 1374 | status = VL53L0X_get_device_mode(dev, &(p_device_parameters->DeviceMode)); |
nikapov | 0:a1a69d32f310 | 1375 | |
nikapov | 0:a1a69d32f310 | 1376 | if (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 1377 | status = VL53L0X_get_inter_measurement_period_milli_seconds(dev, |
nikapov | 0:a1a69d32f310 | 1378 | &(p_device_parameters->InterMeasurementPeriodMilliSeconds)); |
nikapov | 0:a1a69d32f310 | 1379 | |
nikapov | 0:a1a69d32f310 | 1380 | |
Davidroid | 3:e9269ff624ed | 1381 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1382 | p_device_parameters->XTalkCompensationEnable = 0; |
Davidroid | 3:e9269ff624ed | 1383 | } |
nikapov | 0:a1a69d32f310 | 1384 | |
nikapov | 0:a1a69d32f310 | 1385 | if (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 1386 | status = VL53L0X_get_x_talk_compensation_rate_mega_cps(dev, |
nikapov | 0:a1a69d32f310 | 1387 | &(p_device_parameters->XTalkCompensationRateMegaCps)); |
nikapov | 0:a1a69d32f310 | 1388 | |
nikapov | 0:a1a69d32f310 | 1389 | |
nikapov | 0:a1a69d32f310 | 1390 | if (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 1391 | status = VL53L0X_get_offset_calibration_data_micro_meter(dev, |
nikapov | 0:a1a69d32f310 | 1392 | &(p_device_parameters->RangeOffsetMicroMeters)); |
nikapov | 0:a1a69d32f310 | 1393 | |
nikapov | 0:a1a69d32f310 | 1394 | |
nikapov | 0:a1a69d32f310 | 1395 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1396 | for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) { |
nikapov | 0:a1a69d32f310 | 1397 | /* get first the values, then the enables. |
nikapov | 0:a1a69d32f310 | 1398 | * VL53L0X_GetLimitCheckValue will modify the enable |
nikapov | 0:a1a69d32f310 | 1399 | * flags |
nikapov | 0:a1a69d32f310 | 1400 | */ |
nikapov | 0:a1a69d32f310 | 1401 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1402 | status |= VL53L0X_get_limit_check_value(dev, i, |
nikapov | 0:a1a69d32f310 | 1403 | &(p_device_parameters->LimitChecksValue[i])); |
nikapov | 0:a1a69d32f310 | 1404 | } else { |
nikapov | 0:a1a69d32f310 | 1405 | break; |
nikapov | 0:a1a69d32f310 | 1406 | } |
nikapov | 0:a1a69d32f310 | 1407 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1408 | status |= VL53L0X_get_limit_check_enable(dev, i, |
nikapov | 0:a1a69d32f310 | 1409 | &(p_device_parameters->LimitChecksEnable[i])); |
nikapov | 0:a1a69d32f310 | 1410 | } else { |
nikapov | 0:a1a69d32f310 | 1411 | break; |
nikapov | 0:a1a69d32f310 | 1412 | } |
nikapov | 0:a1a69d32f310 | 1413 | } |
nikapov | 0:a1a69d32f310 | 1414 | } |
nikapov | 0:a1a69d32f310 | 1415 | |
nikapov | 0:a1a69d32f310 | 1416 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1417 | status = VL53L0X_get_wrap_around_check_enable(dev, |
nikapov | 0:a1a69d32f310 | 1418 | &(p_device_parameters->WrapAroundCheckEnable)); |
nikapov | 0:a1a69d32f310 | 1419 | } |
nikapov | 0:a1a69d32f310 | 1420 | |
nikapov | 0:a1a69d32f310 | 1421 | /* Need to be done at the end as it uses VCSELPulsePeriod */ |
nikapov | 0:a1a69d32f310 | 1422 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1423 | status = VL53L0X_get_measurement_timing_budget_micro_seconds(dev, |
nikapov | 0:a1a69d32f310 | 1424 | &(p_device_parameters->MeasurementTimingBudgetMicroSeconds)); |
nikapov | 0:a1a69d32f310 | 1425 | } |
nikapov | 0:a1a69d32f310 | 1426 | |
sepp_nepp | 5:b95f6951f7d5 | 1427 | |
nikapov | 0:a1a69d32f310 | 1428 | return status; |
nikapov | 0:a1a69d32f310 | 1429 | } |
nikapov | 0:a1a69d32f310 | 1430 | |
nikapov | 0:a1a69d32f310 | 1431 | VL53L0X_Error VL53L0X::VL53L0X_set_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id, |
nikapov | 0:a1a69d32f310 | 1432 | FixPoint1616_t limit_check_value) |
nikapov | 0:a1a69d32f310 | 1433 | { |
nikapov | 0:a1a69d32f310 | 1434 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1435 | uint8_t temp8; |
nikapov | 0:a1a69d32f310 | 1436 | |
sepp_nepp | 5:b95f6951f7d5 | 1437 | |
nikapov | 0:a1a69d32f310 | 1438 | |
nikapov | 0:a1a69d32f310 | 1439 | VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksEnable, limit_check_id, |
nikapov | 0:a1a69d32f310 | 1440 | temp8); |
nikapov | 0:a1a69d32f310 | 1441 | |
nikapov | 0:a1a69d32f310 | 1442 | if (temp8 == 0) { /* disabled write only internal value */ |
nikapov | 0:a1a69d32f310 | 1443 | VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue, |
nikapov | 0:a1a69d32f310 | 1444 | limit_check_id, limit_check_value); |
nikapov | 0:a1a69d32f310 | 1445 | } else { |
nikapov | 0:a1a69d32f310 | 1446 | |
nikapov | 0:a1a69d32f310 | 1447 | switch (limit_check_id) { |
nikapov | 0:a1a69d32f310 | 1448 | |
nikapov | 0:a1a69d32f310 | 1449 | case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE: |
nikapov | 0:a1a69d32f310 | 1450 | /* internal computation: */ |
nikapov | 0:a1a69d32f310 | 1451 | VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue, |
nikapov | 0:a1a69d32f310 | 1452 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
nikapov | 0:a1a69d32f310 | 1453 | limit_check_value); |
nikapov | 0:a1a69d32f310 | 1454 | break; |
nikapov | 0:a1a69d32f310 | 1455 | |
nikapov | 0:a1a69d32f310 | 1456 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: |
nikapov | 0:a1a69d32f310 | 1457 | |
nikapov | 0:a1a69d32f310 | 1458 | status = VL53L0X_write_word(dev, |
nikapov | 0:a1a69d32f310 | 1459 | VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, |
nikapov | 0:a1a69d32f310 | 1460 | VL53L0X_FIXPOINT1616TOFIXPOINT97( |
nikapov | 0:a1a69d32f310 | 1461 | limit_check_value)); |
nikapov | 0:a1a69d32f310 | 1462 | |
nikapov | 0:a1a69d32f310 | 1463 | break; |
nikapov | 0:a1a69d32f310 | 1464 | |
nikapov | 0:a1a69d32f310 | 1465 | case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP: |
nikapov | 0:a1a69d32f310 | 1466 | |
nikapov | 0:a1a69d32f310 | 1467 | /* internal computation: */ |
nikapov | 0:a1a69d32f310 | 1468 | VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue, |
nikapov | 0:a1a69d32f310 | 1469 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
nikapov | 0:a1a69d32f310 | 1470 | limit_check_value); |
nikapov | 0:a1a69d32f310 | 1471 | |
nikapov | 0:a1a69d32f310 | 1472 | break; |
nikapov | 0:a1a69d32f310 | 1473 | |
nikapov | 0:a1a69d32f310 | 1474 | case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD: |
nikapov | 0:a1a69d32f310 | 1475 | |
nikapov | 0:a1a69d32f310 | 1476 | /* internal computation: */ |
nikapov | 0:a1a69d32f310 | 1477 | VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue, |
nikapov | 0:a1a69d32f310 | 1478 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
nikapov | 0:a1a69d32f310 | 1479 | limit_check_value); |
nikapov | 0:a1a69d32f310 | 1480 | |
nikapov | 0:a1a69d32f310 | 1481 | break; |
nikapov | 0:a1a69d32f310 | 1482 | |
nikapov | 0:a1a69d32f310 | 1483 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC: |
nikapov | 0:a1a69d32f310 | 1484 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: |
nikapov | 0:a1a69d32f310 | 1485 | |
nikapov | 0:a1a69d32f310 | 1486 | status = VL53L0X_write_word(dev, |
nikapov | 0:a1a69d32f310 | 1487 | VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, |
nikapov | 0:a1a69d32f310 | 1488 | VL53L0X_FIXPOINT1616TOFIXPOINT97( |
nikapov | 0:a1a69d32f310 | 1489 | limit_check_value)); |
nikapov | 0:a1a69d32f310 | 1490 | |
nikapov | 0:a1a69d32f310 | 1491 | break; |
nikapov | 0:a1a69d32f310 | 1492 | |
nikapov | 0:a1a69d32f310 | 1493 | default: |
nikapov | 0:a1a69d32f310 | 1494 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 1495 | |
nikapov | 0:a1a69d32f310 | 1496 | } |
nikapov | 0:a1a69d32f310 | 1497 | |
nikapov | 0:a1a69d32f310 | 1498 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1499 | VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksValue, |
nikapov | 0:a1a69d32f310 | 1500 | limit_check_id, limit_check_value); |
nikapov | 0:a1a69d32f310 | 1501 | } |
nikapov | 0:a1a69d32f310 | 1502 | } |
nikapov | 0:a1a69d32f310 | 1503 | |
sepp_nepp | 5:b95f6951f7d5 | 1504 | |
nikapov | 0:a1a69d32f310 | 1505 | return status; |
nikapov | 0:a1a69d32f310 | 1506 | } |
nikapov | 0:a1a69d32f310 | 1507 | |
nikapov | 0:a1a69d32f310 | 1508 | VL53L0X_Error VL53L0X::VL53L0X_data_init(VL53L0X_DEV dev) |
nikapov | 0:a1a69d32f310 | 1509 | { |
nikapov | 0:a1a69d32f310 | 1510 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1511 | VL53L0X_DeviceParameters_t CurrentParameters; |
nikapov | 0:a1a69d32f310 | 1512 | int i; |
nikapov | 0:a1a69d32f310 | 1513 | uint8_t StopVariable; |
nikapov | 0:a1a69d32f310 | 1514 | |
sepp_nepp | 5:b95f6951f7d5 | 1515 | |
nikapov | 0:a1a69d32f310 | 1516 | |
nikapov | 0:a1a69d32f310 | 1517 | /* by default the I2C is running at 1V8 if you want to change it you |
nikapov | 0:a1a69d32f310 | 1518 | * need to include this define at compilation level. */ |
nikapov | 0:a1a69d32f310 | 1519 | #ifdef USE_I2C_2V8 |
nikapov | 0:a1a69d32f310 | 1520 | Status = VL53L0X_UpdateByte(Dev, |
nikapov | 0:a1a69d32f310 | 1521 | VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, |
nikapov | 0:a1a69d32f310 | 1522 | 0xFE, |
nikapov | 0:a1a69d32f310 | 1523 | 0x01); |
nikapov | 0:a1a69d32f310 | 1524 | #endif |
nikapov | 0:a1a69d32f310 | 1525 | |
nikapov | 0:a1a69d32f310 | 1526 | /* Set I2C standard mode */ |
Davidroid | 3:e9269ff624ed | 1527 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1528 | status = VL53L0X_write_byte(dev, 0x88, 0x00); |
Davidroid | 3:e9269ff624ed | 1529 | } |
nikapov | 0:a1a69d32f310 | 1530 | |
nikapov | 0:a1a69d32f310 | 1531 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, ReadDataFromDeviceDone, 0); |
nikapov | 0:a1a69d32f310 | 1532 | |
nikapov | 0:a1a69d32f310 | 1533 | #ifdef USE_IQC_STATION |
Davidroid | 3:e9269ff624ed | 1534 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1535 | Status = VL53L0X_apply_offset_adjustment(Dev); |
Davidroid | 3:e9269ff624ed | 1536 | } |
nikapov | 0:a1a69d32f310 | 1537 | #endif |
nikapov | 0:a1a69d32f310 | 1538 | |
nikapov | 0:a1a69d32f310 | 1539 | /* Default value is 1000 for Linearity Corrective Gain */ |
nikapov | 0:a1a69d32f310 | 1540 | PALDevDataSet(dev, LinearityCorrectiveGain, 1000); |
nikapov | 0:a1a69d32f310 | 1541 | |
nikapov | 0:a1a69d32f310 | 1542 | /* Dmax default Parameter */ |
nikapov | 0:a1a69d32f310 | 1543 | PALDevDataSet(dev, DmaxCalRangeMilliMeter, 400); |
nikapov | 0:a1a69d32f310 | 1544 | PALDevDataSet(dev, DmaxCalSignalRateRtnMegaCps, |
nikapov | 0:a1a69d32f310 | 1545 | (FixPoint1616_t)((0x00016B85))); /* 1.42 No Cover Glass*/ |
nikapov | 0:a1a69d32f310 | 1546 | |
nikapov | 0:a1a69d32f310 | 1547 | /* Set Default static parameters |
nikapov | 0:a1a69d32f310 | 1548 | *set first temporary values 9.44MHz * 65536 = 618660 */ |
nikapov | 0:a1a69d32f310 | 1549 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, OscFrequencyMHz, 618660); |
nikapov | 0:a1a69d32f310 | 1550 | |
nikapov | 0:a1a69d32f310 | 1551 | /* Set Default XTalkCompensationRateMegaCps to 0 */ |
nikapov | 0:a1a69d32f310 | 1552 | VL53L0X_SETPARAMETERFIELD(dev, XTalkCompensationRateMegaCps, 0); |
nikapov | 0:a1a69d32f310 | 1553 | |
nikapov | 0:a1a69d32f310 | 1554 | /* Get default parameters */ |
nikapov | 0:a1a69d32f310 | 1555 | status = VL53L0X_get_device_parameters(dev, &CurrentParameters); |
nikapov | 0:a1a69d32f310 | 1556 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1557 | /* initialize PAL values */ |
nikapov | 0:a1a69d32f310 | 1558 | CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING; |
nikapov | 0:a1a69d32f310 | 1559 | CurrentParameters.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED; |
nikapov | 0:a1a69d32f310 | 1560 | PALDevDataSet(dev, CurrentParameters, CurrentParameters); |
nikapov | 0:a1a69d32f310 | 1561 | } |
nikapov | 0:a1a69d32f310 | 1562 | |
nikapov | 0:a1a69d32f310 | 1563 | /* Sigma estimator variable */ |
nikapov | 0:a1a69d32f310 | 1564 | PALDevDataSet(dev, SigmaEstRefArray, 100); |
nikapov | 0:a1a69d32f310 | 1565 | PALDevDataSet(dev, SigmaEstEffPulseWidth, 900); |
nikapov | 0:a1a69d32f310 | 1566 | PALDevDataSet(dev, SigmaEstEffAmbWidth, 500); |
nikapov | 0:a1a69d32f310 | 1567 | PALDevDataSet(dev, targetRefRate, 0x0A00); /* 20 MCPS in 9:7 format */ |
nikapov | 0:a1a69d32f310 | 1568 | |
nikapov | 0:a1a69d32f310 | 1569 | /* Use internal default settings */ |
nikapov | 0:a1a69d32f310 | 1570 | PALDevDataSet(dev, UseInternalTuningSettings, 1); |
nikapov | 0:a1a69d32f310 | 1571 | |
nikapov | 0:a1a69d32f310 | 1572 | status |= VL53L0X_write_byte(dev, 0x80, 0x01); |
nikapov | 0:a1a69d32f310 | 1573 | status |= VL53L0X_write_byte(dev, 0xFF, 0x01); |
nikapov | 0:a1a69d32f310 | 1574 | status |= VL53L0X_write_byte(dev, 0x00, 0x00); |
nikapov | 0:a1a69d32f310 | 1575 | status |= VL53L0X_read_byte(dev, 0x91, &StopVariable); |
nikapov | 0:a1a69d32f310 | 1576 | PALDevDataSet(dev, StopVariable, StopVariable); |
nikapov | 0:a1a69d32f310 | 1577 | status |= VL53L0X_write_byte(dev, 0x00, 0x01); |
nikapov | 0:a1a69d32f310 | 1578 | status |= VL53L0X_write_byte(dev, 0xFF, 0x00); |
nikapov | 0:a1a69d32f310 | 1579 | status |= VL53L0X_write_byte(dev, 0x80, 0x00); |
nikapov | 0:a1a69d32f310 | 1580 | |
nikapov | 0:a1a69d32f310 | 1581 | /* Enable all check */ |
nikapov | 0:a1a69d32f310 | 1582 | for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) { |
Davidroid | 3:e9269ff624ed | 1583 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1584 | status |= VL53L0X_set_limit_check_enable(dev, i, 1); |
Davidroid | 3:e9269ff624ed | 1585 | } else { |
nikapov | 0:a1a69d32f310 | 1586 | break; |
Davidroid | 3:e9269ff624ed | 1587 | } |
nikapov | 0:a1a69d32f310 | 1588 | |
nikapov | 0:a1a69d32f310 | 1589 | } |
nikapov | 0:a1a69d32f310 | 1590 | |
nikapov | 0:a1a69d32f310 | 1591 | /* Disable the following checks */ |
nikapov | 0:a1a69d32f310 | 1592 | if (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 1593 | status = VL53L0X_set_limit_check_enable(dev, |
nikapov | 0:a1a69d32f310 | 1594 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0); |
nikapov | 0:a1a69d32f310 | 1595 | |
nikapov | 0:a1a69d32f310 | 1596 | if (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 1597 | status = VL53L0X_set_limit_check_enable(dev, |
nikapov | 0:a1a69d32f310 | 1598 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0); |
nikapov | 0:a1a69d32f310 | 1599 | |
nikapov | 0:a1a69d32f310 | 1600 | if (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 1601 | status = VL53L0X_set_limit_check_enable(dev, |
nikapov | 0:a1a69d32f310 | 1602 | VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0); |
nikapov | 0:a1a69d32f310 | 1603 | |
nikapov | 0:a1a69d32f310 | 1604 | if (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 1605 | status = VL53L0X_set_limit_check_enable(dev, |
nikapov | 0:a1a69d32f310 | 1606 | VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0); |
nikapov | 0:a1a69d32f310 | 1607 | |
nikapov | 0:a1a69d32f310 | 1608 | /* Limit default values */ |
nikapov | 0:a1a69d32f310 | 1609 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1610 | status = VL53L0X_set_limit_check_value(dev, |
nikapov | 0:a1a69d32f310 | 1611 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
nikapov | 0:a1a69d32f310 | 1612 | (FixPoint1616_t)(18 * 65536)); |
nikapov | 0:a1a69d32f310 | 1613 | } |
nikapov | 0:a1a69d32f310 | 1614 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1615 | status = VL53L0X_set_limit_check_value(dev, |
nikapov | 0:a1a69d32f310 | 1616 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
nikapov | 0:a1a69d32f310 | 1617 | (FixPoint1616_t)(25 * 65536 / 100)); |
nikapov | 0:a1a69d32f310 | 1618 | /* 0.25 * 65536 */ |
nikapov | 0:a1a69d32f310 | 1619 | } |
nikapov | 0:a1a69d32f310 | 1620 | |
nikapov | 0:a1a69d32f310 | 1621 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1622 | status = VL53L0X_set_limit_check_value(dev, |
nikapov | 0:a1a69d32f310 | 1623 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
nikapov | 0:a1a69d32f310 | 1624 | (FixPoint1616_t)(35 * 65536)); |
nikapov | 0:a1a69d32f310 | 1625 | } |
nikapov | 0:a1a69d32f310 | 1626 | |
nikapov | 0:a1a69d32f310 | 1627 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1628 | status = VL53L0X_set_limit_check_value(dev, |
nikapov | 0:a1a69d32f310 | 1629 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
nikapov | 0:a1a69d32f310 | 1630 | (FixPoint1616_t)(0 * 65536)); |
nikapov | 0:a1a69d32f310 | 1631 | } |
nikapov | 0:a1a69d32f310 | 1632 | |
nikapov | 0:a1a69d32f310 | 1633 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1634 | |
nikapov | 0:a1a69d32f310 | 1635 | PALDevDataSet(dev, SequenceConfig, 0xFF); |
nikapov | 0:a1a69d32f310 | 1636 | status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
nikapov | 0:a1a69d32f310 | 1637 | 0xFF); |
nikapov | 0:a1a69d32f310 | 1638 | |
nikapov | 0:a1a69d32f310 | 1639 | /* Set PAL state to tell that we are waiting for call to |
nikapov | 0:a1a69d32f310 | 1640 | * VL53L0X_StaticInit */ |
nikapov | 0:a1a69d32f310 | 1641 | PALDevDataSet(dev, PalState, VL53L0X_STATE_WAIT_STATICINIT); |
nikapov | 0:a1a69d32f310 | 1642 | } |
nikapov | 0:a1a69d32f310 | 1643 | |
Davidroid | 3:e9269ff624ed | 1644 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1645 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, RefSpadsInitialised, 0); |
Davidroid | 3:e9269ff624ed | 1646 | } |
nikapov | 0:a1a69d32f310 | 1647 | |
nikapov | 0:a1a69d32f310 | 1648 | |
sepp_nepp | 5:b95f6951f7d5 | 1649 | |
nikapov | 0:a1a69d32f310 | 1650 | return status; |
nikapov | 0:a1a69d32f310 | 1651 | } |
nikapov | 0:a1a69d32f310 | 1652 | |
nikapov | 0:a1a69d32f310 | 1653 | VL53L0X_Error VL53L0X::VL53L0X_check_part_used(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 1654 | uint8_t *revision, |
nikapov | 0:a1a69d32f310 | 1655 | VL53L0X_DeviceInfo_t *p_VL53L0X_device_info) |
nikapov | 0:a1a69d32f310 | 1656 | { |
nikapov | 0:a1a69d32f310 | 1657 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1658 | uint8_t module_id_int; |
nikapov | 0:a1a69d32f310 | 1659 | char *product_id_tmp; |
nikapov | 0:a1a69d32f310 | 1660 | |
sepp_nepp | 5:b95f6951f7d5 | 1661 | |
nikapov | 0:a1a69d32f310 | 1662 | |
nikapov | 0:a1a69d32f310 | 1663 | status = VL53L0X_get_info_from_device(dev, 2); |
nikapov | 0:a1a69d32f310 | 1664 | |
nikapov | 0:a1a69d32f310 | 1665 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1666 | module_id_int = VL53L0X_GETDEVICESPECIFICPARAMETER(dev, ModuleId); |
nikapov | 0:a1a69d32f310 | 1667 | |
nikapov | 0:a1a69d32f310 | 1668 | if (module_id_int == 0) { |
nikapov | 0:a1a69d32f310 | 1669 | *revision = 0; |
sepp_nepp | 5:b95f6951f7d5 | 1670 | strcpy(p_VL53L0X_device_info->ProductId, ""); |
nikapov | 0:a1a69d32f310 | 1671 | } else { |
nikapov | 0:a1a69d32f310 | 1672 | *revision = VL53L0X_GETDEVICESPECIFICPARAMETER(dev, Revision); |
nikapov | 0:a1a69d32f310 | 1673 | product_id_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 1674 | ProductId); |
sepp_nepp | 5:b95f6951f7d5 | 1675 | strcpy(p_VL53L0X_device_info->ProductId, product_id_tmp); |
nikapov | 0:a1a69d32f310 | 1676 | } |
nikapov | 0:a1a69d32f310 | 1677 | } |
nikapov | 0:a1a69d32f310 | 1678 | |
sepp_nepp | 5:b95f6951f7d5 | 1679 | |
nikapov | 0:a1a69d32f310 | 1680 | return status; |
nikapov | 0:a1a69d32f310 | 1681 | } |
nikapov | 0:a1a69d32f310 | 1682 | |
nikapov | 0:a1a69d32f310 | 1683 | VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_device_info(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 1684 | VL53L0X_DeviceInfo_t *p_VL53L0X_device_info) |
nikapov | 0:a1a69d32f310 | 1685 | { |
nikapov | 0:a1a69d32f310 | 1686 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1687 | uint8_t revision_id; |
nikapov | 0:a1a69d32f310 | 1688 | uint8_t revision; |
nikapov | 0:a1a69d32f310 | 1689 | |
nikapov | 0:a1a69d32f310 | 1690 | status = VL53L0X_check_part_used(dev, &revision, p_VL53L0X_device_info); |
nikapov | 0:a1a69d32f310 | 1691 | |
nikapov | 0:a1a69d32f310 | 1692 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1693 | if (revision == 0) { |
sepp_nepp | 5:b95f6951f7d5 | 1694 | strcpy(p_VL53L0X_device_info->Name, |
nikapov | 0:a1a69d32f310 | 1695 | VL53L0X_STRING_DEVICE_INFO_NAME_TS0); |
nikapov | 0:a1a69d32f310 | 1696 | } else if ((revision <= 34) && (revision != 32)) { |
sepp_nepp | 5:b95f6951f7d5 | 1697 | strcpy(p_VL53L0X_device_info->Name, |
nikapov | 0:a1a69d32f310 | 1698 | VL53L0X_STRING_DEVICE_INFO_NAME_TS1); |
nikapov | 0:a1a69d32f310 | 1699 | } else if (revision < 39) { |
sepp_nepp | 5:b95f6951f7d5 | 1700 | strcpy(p_VL53L0X_device_info->Name, |
nikapov | 0:a1a69d32f310 | 1701 | VL53L0X_STRING_DEVICE_INFO_NAME_TS2); |
nikapov | 0:a1a69d32f310 | 1702 | } else { |
sepp_nepp | 5:b95f6951f7d5 | 1703 | strcpy(p_VL53L0X_device_info->Name, |
nikapov | 0:a1a69d32f310 | 1704 | VL53L0X_STRING_DEVICE_INFO_NAME_ES1); |
nikapov | 0:a1a69d32f310 | 1705 | } |
nikapov | 0:a1a69d32f310 | 1706 | |
sepp_nepp | 5:b95f6951f7d5 | 1707 | strcpy(p_VL53L0X_device_info->Type, |
nikapov | 0:a1a69d32f310 | 1708 | VL53L0X_STRING_DEVICE_INFO_TYPE); |
nikapov | 0:a1a69d32f310 | 1709 | |
nikapov | 0:a1a69d32f310 | 1710 | } |
nikapov | 0:a1a69d32f310 | 1711 | |
nikapov | 0:a1a69d32f310 | 1712 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1713 | status = VL53L0X_read_byte(dev, VL53L0X_REG_IDENTIFICATION_MODEL_ID, |
nikapov | 0:a1a69d32f310 | 1714 | &p_VL53L0X_device_info->ProductType); |
nikapov | 0:a1a69d32f310 | 1715 | } |
nikapov | 0:a1a69d32f310 | 1716 | |
nikapov | 0:a1a69d32f310 | 1717 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1718 | status = VL53L0X_read_byte(dev, |
nikapov | 0:a1a69d32f310 | 1719 | VL53L0X_REG_IDENTIFICATION_REVISION_ID, |
nikapov | 0:a1a69d32f310 | 1720 | &revision_id); |
nikapov | 0:a1a69d32f310 | 1721 | p_VL53L0X_device_info->ProductRevisionMajor = 1; |
nikapov | 0:a1a69d32f310 | 1722 | p_VL53L0X_device_info->ProductRevisionMinor = |
nikapov | 0:a1a69d32f310 | 1723 | (revision_id & 0xF0) >> 4; |
nikapov | 0:a1a69d32f310 | 1724 | } |
nikapov | 0:a1a69d32f310 | 1725 | |
nikapov | 0:a1a69d32f310 | 1726 | return status; |
nikapov | 0:a1a69d32f310 | 1727 | } |
nikapov | 0:a1a69d32f310 | 1728 | |
nikapov | 0:a1a69d32f310 | 1729 | VL53L0X_Error VL53L0X::VL53L0X_get_device_info(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 1730 | VL53L0X_DeviceInfo_t *p_VL53L0X_device_info) |
nikapov | 0:a1a69d32f310 | 1731 | { |
nikapov | 0:a1a69d32f310 | 1732 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1733 | |
nikapov | 0:a1a69d32f310 | 1734 | status = wrapped_VL53L0X_get_device_info(dev, p_VL53L0X_device_info); |
nikapov | 0:a1a69d32f310 | 1735 | |
nikapov | 0:a1a69d32f310 | 1736 | return status; |
nikapov | 0:a1a69d32f310 | 1737 | } |
nikapov | 0:a1a69d32f310 | 1738 | |
nikapov | 0:a1a69d32f310 | 1739 | VL53L0X_Error VL53L0X::VL53L0X_get_interrupt_mask_status(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 1740 | uint32_t *p_interrupt_mask_status) |
nikapov | 0:a1a69d32f310 | 1741 | { |
nikapov | 0:a1a69d32f310 | 1742 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1743 | uint8_t byte; |
sepp_nepp | 5:b95f6951f7d5 | 1744 | |
nikapov | 0:a1a69d32f310 | 1745 | |
nikapov | 0:a1a69d32f310 | 1746 | status = VL53L0X_read_byte(dev, VL53L0X_REG_RESULT_INTERRUPT_STATUS, &byte); |
nikapov | 0:a1a69d32f310 | 1747 | *p_interrupt_mask_status = byte & 0x07; |
nikapov | 0:a1a69d32f310 | 1748 | |
nikapov | 0:a1a69d32f310 | 1749 | if (byte & 0x18) { |
nikapov | 0:a1a69d32f310 | 1750 | status = VL53L0X_ERROR_RANGE_ERROR; |
nikapov | 0:a1a69d32f310 | 1751 | } |
nikapov | 0:a1a69d32f310 | 1752 | |
sepp_nepp | 5:b95f6951f7d5 | 1753 | |
nikapov | 0:a1a69d32f310 | 1754 | return status; |
nikapov | 0:a1a69d32f310 | 1755 | } |
nikapov | 0:a1a69d32f310 | 1756 | |
nikapov | 0:a1a69d32f310 | 1757 | VL53L0X_Error VL53L0X::VL53L0X_get_measurement_data_ready(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 1758 | uint8_t *p_measurement_data_ready) |
nikapov | 0:a1a69d32f310 | 1759 | { |
nikapov | 0:a1a69d32f310 | 1760 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1761 | uint8_t sys_range_status_register; |
nikapov | 0:a1a69d32f310 | 1762 | uint8_t interrupt_config; |
nikapov | 0:a1a69d32f310 | 1763 | uint32_t interrupt_mask; |
sepp_nepp | 5:b95f6951f7d5 | 1764 | |
nikapov | 0:a1a69d32f310 | 1765 | |
nikapov | 0:a1a69d32f310 | 1766 | interrupt_config = VL53L0X_GETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 1767 | Pin0GpioFunctionality); |
nikapov | 0:a1a69d32f310 | 1768 | |
nikapov | 0:a1a69d32f310 | 1769 | if (interrupt_config == |
nikapov | 0:a1a69d32f310 | 1770 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) { |
nikapov | 0:a1a69d32f310 | 1771 | status = VL53L0X_get_interrupt_mask_status(dev, &interrupt_mask); |
nikapov | 0:a1a69d32f310 | 1772 | if (interrupt_mask == |
nikapov | 0:a1a69d32f310 | 1773 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) { |
nikapov | 0:a1a69d32f310 | 1774 | *p_measurement_data_ready = 1; |
nikapov | 0:a1a69d32f310 | 1775 | } else { |
nikapov | 0:a1a69d32f310 | 1776 | *p_measurement_data_ready = 0; |
nikapov | 0:a1a69d32f310 | 1777 | } |
nikapov | 0:a1a69d32f310 | 1778 | } else { |
nikapov | 0:a1a69d32f310 | 1779 | status = VL53L0X_read_byte(dev, VL53L0X_REG_RESULT_RANGE_STATUS, |
nikapov | 0:a1a69d32f310 | 1780 | &sys_range_status_register); |
nikapov | 0:a1a69d32f310 | 1781 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1782 | if (sys_range_status_register & 0x01) { |
nikapov | 0:a1a69d32f310 | 1783 | *p_measurement_data_ready = 1; |
nikapov | 0:a1a69d32f310 | 1784 | } else { |
nikapov | 0:a1a69d32f310 | 1785 | *p_measurement_data_ready = 0; |
nikapov | 0:a1a69d32f310 | 1786 | } |
nikapov | 0:a1a69d32f310 | 1787 | } |
nikapov | 0:a1a69d32f310 | 1788 | } |
nikapov | 0:a1a69d32f310 | 1789 | |
sepp_nepp | 5:b95f6951f7d5 | 1790 | |
nikapov | 0:a1a69d32f310 | 1791 | return status; |
nikapov | 0:a1a69d32f310 | 1792 | } |
nikapov | 0:a1a69d32f310 | 1793 | |
sepp_nepp | 6:1976f4afed97 | 1794 | VL53L0X_Error VL53L0X::VL53L0X_polling_delay( VL53L0X_DEV dev) |
sepp_nepp | 6:1976f4afed97 | 1795 | { |
sepp_nepp | 6:1976f4afed97 | 1796 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
sepp_nepp | 6:1976f4afed97 | 1797 | |
sepp_nepp | 6:1976f4afed97 | 1798 | // do nothing VL53L0X_OsDelay(); |
sepp_nepp | 6:1976f4afed97 | 1799 | return status; |
sepp_nepp | 6:1976f4afed97 | 1800 | } |
sepp_nepp | 6:1976f4afed97 | 1801 | |
nikapov | 0:a1a69d32f310 | 1802 | VL53L0X_Error VL53L0X::VL53L0X_measurement_poll_for_completion(VL53L0X_DEV dev) |
nikapov | 0:a1a69d32f310 | 1803 | { |
nikapov | 0:a1a69d32f310 | 1804 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1805 | uint8_t new_data_ready = 0; |
nikapov | 0:a1a69d32f310 | 1806 | uint32_t loop_nb; |
nikapov | 0:a1a69d32f310 | 1807 | |
nikapov | 0:a1a69d32f310 | 1808 | loop_nb = 0; |
sepp_nepp | 5:b95f6951f7d5 | 1809 | |
sepp_nepp | 5:b95f6951f7d5 | 1810 | status = VL53L0X_get_measurement_data_ready(dev, &new_data_ready); |
sepp_nepp | 5:b95f6951f7d5 | 1811 | |
sepp_nepp | 5:b95f6951f7d5 | 1812 | while ( (status==0) && (new_data_ready != 1) && |
sepp_nepp | 5:b95f6951f7d5 | 1813 | (loop_nb < VL53L0X_DEFAULT_MAX_LOOP) ) |
sepp_nepp | 5:b95f6951f7d5 | 1814 | { |
sepp_nepp | 5:b95f6951f7d5 | 1815 | VL53L0X_polling_delay(dev); |
nikapov | 0:a1a69d32f310 | 1816 | status = VL53L0X_get_measurement_data_ready(dev, &new_data_ready); |
sepp_nepp | 5:b95f6951f7d5 | 1817 | loop_nb++; |
sepp_nepp | 5:b95f6951f7d5 | 1818 | } // while ; |
sepp_nepp | 5:b95f6951f7d5 | 1819 | |
sepp_nepp | 5:b95f6951f7d5 | 1820 | if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) status = VL53L0X_ERROR_TIME_OUT; |
sepp_nepp | 5:b95f6951f7d5 | 1821 | |
nikapov | 0:a1a69d32f310 | 1822 | return status; |
nikapov | 0:a1a69d32f310 | 1823 | } |
nikapov | 0:a1a69d32f310 | 1824 | |
nikapov | 0:a1a69d32f310 | 1825 | /* Group PAL Interrupt Functions */ |
nikapov | 0:a1a69d32f310 | 1826 | VL53L0X_Error VL53L0X::VL53L0X_clear_interrupt_mask(VL53L0X_DEV dev, uint32_t interrupt_mask) |
nikapov | 0:a1a69d32f310 | 1827 | { |
nikapov | 0:a1a69d32f310 | 1828 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1829 | uint8_t loop_count; |
nikapov | 0:a1a69d32f310 | 1830 | uint8_t byte; |
sepp_nepp | 5:b95f6951f7d5 | 1831 | |
nikapov | 0:a1a69d32f310 | 1832 | |
nikapov | 0:a1a69d32f310 | 1833 | /* clear bit 0 range interrupt, bit 1 error interrupt */ |
nikapov | 0:a1a69d32f310 | 1834 | loop_count = 0; |
nikapov | 0:a1a69d32f310 | 1835 | do { |
nikapov | 0:a1a69d32f310 | 1836 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 1837 | VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01); |
nikapov | 0:a1a69d32f310 | 1838 | status |= VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 1839 | VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00); |
nikapov | 0:a1a69d32f310 | 1840 | status |= VL53L0X_read_byte(dev, |
nikapov | 0:a1a69d32f310 | 1841 | VL53L0X_REG_RESULT_INTERRUPT_STATUS, &byte); |
nikapov | 0:a1a69d32f310 | 1842 | loop_count++; |
nikapov | 0:a1a69d32f310 | 1843 | } while (((byte & 0x07) != 0x00) |
nikapov | 0:a1a69d32f310 | 1844 | && (loop_count < 3) |
nikapov | 0:a1a69d32f310 | 1845 | && (status == VL53L0X_ERROR_NONE)); |
nikapov | 0:a1a69d32f310 | 1846 | |
nikapov | 0:a1a69d32f310 | 1847 | |
nikapov | 0:a1a69d32f310 | 1848 | if (loop_count >= 3) { |
nikapov | 0:a1a69d32f310 | 1849 | status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED; |
nikapov | 0:a1a69d32f310 | 1850 | } |
nikapov | 0:a1a69d32f310 | 1851 | |
sepp_nepp | 5:b95f6951f7d5 | 1852 | |
nikapov | 0:a1a69d32f310 | 1853 | return status; |
nikapov | 0:a1a69d32f310 | 1854 | } |
nikapov | 0:a1a69d32f310 | 1855 | |
nikapov | 0:a1a69d32f310 | 1856 | VL53L0X_Error VL53L0X::VL53L0X_perform_single_ref_calibration(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 1857 | uint8_t vhv_init_byte) |
nikapov | 0:a1a69d32f310 | 1858 | { |
nikapov | 0:a1a69d32f310 | 1859 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1860 | |
nikapov | 0:a1a69d32f310 | 1861 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1862 | status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSRANGE_START, |
nikapov | 0:a1a69d32f310 | 1863 | VL53L0X_REG_SYSRANGE_MODE_START_STOP | |
nikapov | 0:a1a69d32f310 | 1864 | vhv_init_byte); |
nikapov | 0:a1a69d32f310 | 1865 | } |
nikapov | 0:a1a69d32f310 | 1866 | |
nikapov | 0:a1a69d32f310 | 1867 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1868 | status = VL53L0X_measurement_poll_for_completion(dev); |
nikapov | 0:a1a69d32f310 | 1869 | } |
nikapov | 0:a1a69d32f310 | 1870 | |
nikapov | 0:a1a69d32f310 | 1871 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1872 | status = VL53L0X_clear_interrupt_mask(dev, 0); |
nikapov | 0:a1a69d32f310 | 1873 | } |
nikapov | 0:a1a69d32f310 | 1874 | |
nikapov | 0:a1a69d32f310 | 1875 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1876 | status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSRANGE_START, 0x00); |
nikapov | 0:a1a69d32f310 | 1877 | } |
nikapov | 0:a1a69d32f310 | 1878 | |
nikapov | 0:a1a69d32f310 | 1879 | return status; |
nikapov | 0:a1a69d32f310 | 1880 | } |
nikapov | 0:a1a69d32f310 | 1881 | |
nikapov | 0:a1a69d32f310 | 1882 | VL53L0X_Error VL53L0X::VL53L0X_ref_calibration_io(VL53L0X_DEV dev, uint8_t read_not_write, |
nikapov | 0:a1a69d32f310 | 1883 | uint8_t vhv_settings, uint8_t phase_cal, |
nikapov | 0:a1a69d32f310 | 1884 | uint8_t *p_vhv_settings, uint8_t *p_phase_cal, |
nikapov | 0:a1a69d32f310 | 1885 | const uint8_t vhv_enable, const uint8_t phase_enable) |
nikapov | 0:a1a69d32f310 | 1886 | { |
nikapov | 0:a1a69d32f310 | 1887 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1888 | uint8_t phase_calint = 0; |
nikapov | 0:a1a69d32f310 | 1889 | |
nikapov | 0:a1a69d32f310 | 1890 | /* Read VHV from device */ |
nikapov | 0:a1a69d32f310 | 1891 | status |= VL53L0X_write_byte(dev, 0xFF, 0x01); |
nikapov | 0:a1a69d32f310 | 1892 | status |= VL53L0X_write_byte(dev, 0x00, 0x00); |
nikapov | 0:a1a69d32f310 | 1893 | status |= VL53L0X_write_byte(dev, 0xFF, 0x00); |
nikapov | 0:a1a69d32f310 | 1894 | |
nikapov | 0:a1a69d32f310 | 1895 | if (read_not_write) { |
nikapov | 0:a1a69d32f310 | 1896 | if (vhv_enable) { |
nikapov | 0:a1a69d32f310 | 1897 | status |= VL53L0X_read_byte(dev, 0xCB, p_vhv_settings); |
nikapov | 0:a1a69d32f310 | 1898 | } |
nikapov | 0:a1a69d32f310 | 1899 | if (phase_enable) { |
nikapov | 0:a1a69d32f310 | 1900 | status |= VL53L0X_read_byte(dev, 0xEE, &phase_calint); |
nikapov | 0:a1a69d32f310 | 1901 | } |
nikapov | 0:a1a69d32f310 | 1902 | } else { |
nikapov | 0:a1a69d32f310 | 1903 | if (vhv_enable) { |
nikapov | 0:a1a69d32f310 | 1904 | status |= VL53L0X_write_byte(dev, 0xCB, vhv_settings); |
nikapov | 0:a1a69d32f310 | 1905 | } |
nikapov | 0:a1a69d32f310 | 1906 | if (phase_enable) { |
nikapov | 0:a1a69d32f310 | 1907 | status |= VL53L0X_update_byte(dev, 0xEE, 0x80, phase_cal); |
nikapov | 0:a1a69d32f310 | 1908 | } |
nikapov | 0:a1a69d32f310 | 1909 | } |
nikapov | 0:a1a69d32f310 | 1910 | |
nikapov | 0:a1a69d32f310 | 1911 | status |= VL53L0X_write_byte(dev, 0xFF, 0x01); |
nikapov | 0:a1a69d32f310 | 1912 | status |= VL53L0X_write_byte(dev, 0x00, 0x01); |
nikapov | 0:a1a69d32f310 | 1913 | status |= VL53L0X_write_byte(dev, 0xFF, 0x00); |
nikapov | 0:a1a69d32f310 | 1914 | |
nikapov | 0:a1a69d32f310 | 1915 | *p_phase_cal = (uint8_t)(phase_calint & 0xEF); |
nikapov | 0:a1a69d32f310 | 1916 | |
nikapov | 0:a1a69d32f310 | 1917 | return status; |
nikapov | 0:a1a69d32f310 | 1918 | } |
nikapov | 0:a1a69d32f310 | 1919 | |
nikapov | 0:a1a69d32f310 | 1920 | VL53L0X_Error VL53L0X::VL53L0X_perform_vhv_calibration(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 1921 | uint8_t *p_vhv_settings, const uint8_t get_data_enable, |
nikapov | 0:a1a69d32f310 | 1922 | const uint8_t restore_config) |
nikapov | 0:a1a69d32f310 | 1923 | { |
nikapov | 0:a1a69d32f310 | 1924 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1925 | uint8_t sequence_config = 0; |
nikapov | 0:a1a69d32f310 | 1926 | uint8_t vhv_settings = 0; |
nikapov | 0:a1a69d32f310 | 1927 | uint8_t phase_cal = 0; |
nikapov | 0:a1a69d32f310 | 1928 | uint8_t phase_cal_int = 0; |
nikapov | 0:a1a69d32f310 | 1929 | |
nikapov | 0:a1a69d32f310 | 1930 | /* store the value of the sequence config, |
nikapov | 0:a1a69d32f310 | 1931 | * this will be reset before the end of the function |
nikapov | 0:a1a69d32f310 | 1932 | */ |
nikapov | 0:a1a69d32f310 | 1933 | |
nikapov | 0:a1a69d32f310 | 1934 | if (restore_config) { |
nikapov | 0:a1a69d32f310 | 1935 | sequence_config = PALDevDataGet(dev, SequenceConfig); |
nikapov | 0:a1a69d32f310 | 1936 | } |
nikapov | 0:a1a69d32f310 | 1937 | |
nikapov | 0:a1a69d32f310 | 1938 | /* Run VHV */ |
nikapov | 0:a1a69d32f310 | 1939 | status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x01); |
nikapov | 0:a1a69d32f310 | 1940 | |
nikapov | 0:a1a69d32f310 | 1941 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1942 | status = VL53L0X_perform_single_ref_calibration(dev, 0x40); |
nikapov | 0:a1a69d32f310 | 1943 | } |
nikapov | 0:a1a69d32f310 | 1944 | |
nikapov | 0:a1a69d32f310 | 1945 | /* Read VHV from device */ |
nikapov | 0:a1a69d32f310 | 1946 | if ((status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) { |
nikapov | 0:a1a69d32f310 | 1947 | status = VL53L0X_ref_calibration_io(dev, 1, |
nikapov | 0:a1a69d32f310 | 1948 | vhv_settings, phase_cal, /* Not used here */ |
nikapov | 0:a1a69d32f310 | 1949 | p_vhv_settings, &phase_cal_int, |
nikapov | 0:a1a69d32f310 | 1950 | 1, 0); |
nikapov | 0:a1a69d32f310 | 1951 | } else { |
nikapov | 0:a1a69d32f310 | 1952 | *p_vhv_settings = 0; |
nikapov | 0:a1a69d32f310 | 1953 | } |
nikapov | 0:a1a69d32f310 | 1954 | |
nikapov | 0:a1a69d32f310 | 1955 | |
nikapov | 0:a1a69d32f310 | 1956 | if ((status == VL53L0X_ERROR_NONE) && restore_config) { |
nikapov | 0:a1a69d32f310 | 1957 | /* restore the previous Sequence Config */ |
nikapov | 0:a1a69d32f310 | 1958 | status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
nikapov | 0:a1a69d32f310 | 1959 | sequence_config); |
nikapov | 0:a1a69d32f310 | 1960 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1961 | PALDevDataSet(dev, SequenceConfig, sequence_config); |
nikapov | 0:a1a69d32f310 | 1962 | } |
nikapov | 0:a1a69d32f310 | 1963 | |
nikapov | 0:a1a69d32f310 | 1964 | } |
nikapov | 0:a1a69d32f310 | 1965 | |
nikapov | 0:a1a69d32f310 | 1966 | return status; |
nikapov | 0:a1a69d32f310 | 1967 | } |
nikapov | 0:a1a69d32f310 | 1968 | |
nikapov | 0:a1a69d32f310 | 1969 | VL53L0X_Error VL53L0X::VL53L0X_perform_phase_calibration(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 1970 | uint8_t *p_phase_cal, const uint8_t get_data_enable, |
nikapov | 0:a1a69d32f310 | 1971 | const uint8_t restore_config) |
nikapov | 0:a1a69d32f310 | 1972 | { |
nikapov | 0:a1a69d32f310 | 1973 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 1974 | uint8_t sequence_config = 0; |
nikapov | 0:a1a69d32f310 | 1975 | uint8_t vhv_settings = 0; |
nikapov | 0:a1a69d32f310 | 1976 | uint8_t phase_cal = 0; |
nikapov | 0:a1a69d32f310 | 1977 | uint8_t vhv_settingsint; |
nikapov | 0:a1a69d32f310 | 1978 | |
nikapov | 0:a1a69d32f310 | 1979 | /* store the value of the sequence config, |
nikapov | 0:a1a69d32f310 | 1980 | * this will be reset before the end of the function |
nikapov | 0:a1a69d32f310 | 1981 | */ |
nikapov | 0:a1a69d32f310 | 1982 | |
Davidroid | 3:e9269ff624ed | 1983 | if (restore_config) { |
nikapov | 0:a1a69d32f310 | 1984 | sequence_config = PALDevDataGet(dev, SequenceConfig); |
Davidroid | 3:e9269ff624ed | 1985 | } |
nikapov | 0:a1a69d32f310 | 1986 | |
nikapov | 0:a1a69d32f310 | 1987 | /* Run PhaseCal */ |
nikapov | 0:a1a69d32f310 | 1988 | status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x02); |
nikapov | 0:a1a69d32f310 | 1989 | |
nikapov | 0:a1a69d32f310 | 1990 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 1991 | status = VL53L0X_perform_single_ref_calibration(dev, 0x0); |
nikapov | 0:a1a69d32f310 | 1992 | } |
nikapov | 0:a1a69d32f310 | 1993 | |
nikapov | 0:a1a69d32f310 | 1994 | /* Read PhaseCal from device */ |
nikapov | 0:a1a69d32f310 | 1995 | if ((status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) { |
nikapov | 0:a1a69d32f310 | 1996 | status = VL53L0X_ref_calibration_io(dev, 1, |
nikapov | 0:a1a69d32f310 | 1997 | vhv_settings, phase_cal, /* Not used here */ |
nikapov | 0:a1a69d32f310 | 1998 | &vhv_settingsint, p_phase_cal, |
nikapov | 0:a1a69d32f310 | 1999 | 0, 1); |
nikapov | 0:a1a69d32f310 | 2000 | } else { |
nikapov | 0:a1a69d32f310 | 2001 | *p_phase_cal = 0; |
nikapov | 0:a1a69d32f310 | 2002 | } |
nikapov | 0:a1a69d32f310 | 2003 | |
nikapov | 0:a1a69d32f310 | 2004 | |
nikapov | 0:a1a69d32f310 | 2005 | if ((status == VL53L0X_ERROR_NONE) && restore_config) { |
nikapov | 0:a1a69d32f310 | 2006 | /* restore the previous Sequence Config */ |
nikapov | 0:a1a69d32f310 | 2007 | status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
nikapov | 0:a1a69d32f310 | 2008 | sequence_config); |
nikapov | 0:a1a69d32f310 | 2009 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2010 | PALDevDataSet(dev, SequenceConfig, sequence_config); |
nikapov | 0:a1a69d32f310 | 2011 | } |
nikapov | 0:a1a69d32f310 | 2012 | |
nikapov | 0:a1a69d32f310 | 2013 | } |
nikapov | 0:a1a69d32f310 | 2014 | |
nikapov | 0:a1a69d32f310 | 2015 | return status; |
nikapov | 0:a1a69d32f310 | 2016 | } |
nikapov | 0:a1a69d32f310 | 2017 | |
nikapov | 0:a1a69d32f310 | 2018 | VL53L0X_Error VL53L0X::VL53L0X_perform_ref_calibration(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 2019 | uint8_t *p_vhv_settings, uint8_t *p_phase_cal, uint8_t get_data_enable) |
nikapov | 0:a1a69d32f310 | 2020 | { |
nikapov | 0:a1a69d32f310 | 2021 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 2022 | uint8_t sequence_config = 0; |
nikapov | 0:a1a69d32f310 | 2023 | |
nikapov | 0:a1a69d32f310 | 2024 | /* store the value of the sequence config, |
nikapov | 0:a1a69d32f310 | 2025 | * this will be reset before the end of the function |
nikapov | 0:a1a69d32f310 | 2026 | */ |
nikapov | 0:a1a69d32f310 | 2027 | |
nikapov | 0:a1a69d32f310 | 2028 | sequence_config = PALDevDataGet(dev, SequenceConfig); |
nikapov | 0:a1a69d32f310 | 2029 | |
nikapov | 0:a1a69d32f310 | 2030 | /* In the following function we don't save the config to optimize |
nikapov | 0:a1a69d32f310 | 2031 | * writes on device. Config is saved and restored only once. */ |
nikapov | 0:a1a69d32f310 | 2032 | status = VL53L0X_perform_vhv_calibration( |
nikapov | 0:a1a69d32f310 | 2033 | dev, p_vhv_settings, get_data_enable, 0); |
nikapov | 0:a1a69d32f310 | 2034 | |
nikapov | 0:a1a69d32f310 | 2035 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2036 | status = VL53L0X_perform_phase_calibration( |
nikapov | 0:a1a69d32f310 | 2037 | dev, p_phase_cal, get_data_enable, 0); |
Davidroid | 2:d07edeaff6f1 | 2038 | } |
nikapov | 0:a1a69d32f310 | 2039 | |
nikapov | 0:a1a69d32f310 | 2040 | |
nikapov | 0:a1a69d32f310 | 2041 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2042 | /* restore the previous Sequence Config */ |
nikapov | 0:a1a69d32f310 | 2043 | status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
nikapov | 0:a1a69d32f310 | 2044 | sequence_config); |
nikapov | 0:a1a69d32f310 | 2045 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2046 | PALDevDataSet(dev, SequenceConfig, sequence_config); |
nikapov | 0:a1a69d32f310 | 2047 | } |
nikapov | 0:a1a69d32f310 | 2048 | |
nikapov | 0:a1a69d32f310 | 2049 | } |
nikapov | 0:a1a69d32f310 | 2050 | |
nikapov | 0:a1a69d32f310 | 2051 | return status; |
nikapov | 0:a1a69d32f310 | 2052 | } |
nikapov | 0:a1a69d32f310 | 2053 | |
nikapov | 0:a1a69d32f310 | 2054 | void VL53L0X::get_next_good_spad(uint8_t good_spad_array[], uint32_t size, |
nikapov | 0:a1a69d32f310 | 2055 | uint32_t curr, int32_t *p_next) |
nikapov | 0:a1a69d32f310 | 2056 | { |
nikapov | 0:a1a69d32f310 | 2057 | uint32_t start_index; |
nikapov | 0:a1a69d32f310 | 2058 | uint32_t fine_offset; |
nikapov | 0:a1a69d32f310 | 2059 | uint32_t c_spads_per_byte = 8; |
nikapov | 0:a1a69d32f310 | 2060 | uint32_t coarse_index; |
nikapov | 0:a1a69d32f310 | 2061 | uint32_t fine_index; |
nikapov | 0:a1a69d32f310 | 2062 | uint8_t data_byte; |
nikapov | 0:a1a69d32f310 | 2063 | uint8_t success = 0; |
nikapov | 0:a1a69d32f310 | 2064 | |
nikapov | 0:a1a69d32f310 | 2065 | /* |
nikapov | 0:a1a69d32f310 | 2066 | * Starting with the current good spad, loop through the array to find |
nikapov | 0:a1a69d32f310 | 2067 | * the next. i.e. the next bit set in the sequence. |
nikapov | 0:a1a69d32f310 | 2068 | * |
nikapov | 0:a1a69d32f310 | 2069 | * The coarse index is the byte index of the array and the fine index is |
nikapov | 0:a1a69d32f310 | 2070 | * the index of the bit within each byte. |
nikapov | 0:a1a69d32f310 | 2071 | */ |
nikapov | 0:a1a69d32f310 | 2072 | |
nikapov | 0:a1a69d32f310 | 2073 | *p_next = -1; |
nikapov | 0:a1a69d32f310 | 2074 | |
nikapov | 0:a1a69d32f310 | 2075 | start_index = curr / c_spads_per_byte; |
nikapov | 0:a1a69d32f310 | 2076 | fine_offset = curr % c_spads_per_byte; |
nikapov | 0:a1a69d32f310 | 2077 | |
nikapov | 0:a1a69d32f310 | 2078 | for (coarse_index = start_index; ((coarse_index < size) && !success); |
nikapov | 0:a1a69d32f310 | 2079 | coarse_index++) { |
nikapov | 0:a1a69d32f310 | 2080 | fine_index = 0; |
nikapov | 0:a1a69d32f310 | 2081 | data_byte = good_spad_array[coarse_index]; |
nikapov | 0:a1a69d32f310 | 2082 | |
nikapov | 0:a1a69d32f310 | 2083 | if (coarse_index == start_index) { |
nikapov | 0:a1a69d32f310 | 2084 | /* locate the bit position of the provided current |
nikapov | 0:a1a69d32f310 | 2085 | * spad bit before iterating */ |
nikapov | 0:a1a69d32f310 | 2086 | data_byte >>= fine_offset; |
nikapov | 0:a1a69d32f310 | 2087 | fine_index = fine_offset; |
nikapov | 0:a1a69d32f310 | 2088 | } |
nikapov | 0:a1a69d32f310 | 2089 | |
nikapov | 0:a1a69d32f310 | 2090 | while (fine_index < c_spads_per_byte) { |
nikapov | 0:a1a69d32f310 | 2091 | if ((data_byte & 0x1) == 1) { |
nikapov | 0:a1a69d32f310 | 2092 | success = 1; |
nikapov | 0:a1a69d32f310 | 2093 | *p_next = coarse_index * c_spads_per_byte + fine_index; |
nikapov | 0:a1a69d32f310 | 2094 | break; |
nikapov | 0:a1a69d32f310 | 2095 | } |
nikapov | 0:a1a69d32f310 | 2096 | data_byte >>= 1; |
nikapov | 0:a1a69d32f310 | 2097 | fine_index++; |
nikapov | 0:a1a69d32f310 | 2098 | } |
nikapov | 0:a1a69d32f310 | 2099 | } |
nikapov | 0:a1a69d32f310 | 2100 | } |
nikapov | 0:a1a69d32f310 | 2101 | |
nikapov | 0:a1a69d32f310 | 2102 | uint8_t VL53L0X::is_aperture(uint32_t spad_index) |
nikapov | 0:a1a69d32f310 | 2103 | { |
nikapov | 0:a1a69d32f310 | 2104 | /* |
nikapov | 0:a1a69d32f310 | 2105 | * This function reports if a given spad index is an aperture SPAD by |
nikapov | 0:a1a69d32f310 | 2106 | * deriving the quadrant. |
nikapov | 0:a1a69d32f310 | 2107 | */ |
nikapov | 0:a1a69d32f310 | 2108 | uint32_t quadrant; |
nikapov | 0:a1a69d32f310 | 2109 | uint8_t is_aperture = 1; |
nikapov | 0:a1a69d32f310 | 2110 | quadrant = spad_index >> 6; |
nikapov | 0:a1a69d32f310 | 2111 | if (refArrayQuadrants[quadrant] == REF_ARRAY_SPAD_0) { |
nikapov | 0:a1a69d32f310 | 2112 | is_aperture = 0; |
Davidroid | 2:d07edeaff6f1 | 2113 | } |
nikapov | 0:a1a69d32f310 | 2114 | |
nikapov | 0:a1a69d32f310 | 2115 | return is_aperture; |
nikapov | 0:a1a69d32f310 | 2116 | } |
nikapov | 0:a1a69d32f310 | 2117 | |
nikapov | 0:a1a69d32f310 | 2118 | VL53L0X_Error VL53L0X::enable_spad_bit(uint8_t spad_array[], uint32_t size, |
nikapov | 0:a1a69d32f310 | 2119 | uint32_t spad_index) |
nikapov | 0:a1a69d32f310 | 2120 | { |
nikapov | 0:a1a69d32f310 | 2121 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 2122 | uint32_t c_spads_per_byte = 8; |
nikapov | 0:a1a69d32f310 | 2123 | uint32_t coarse_index; |
nikapov | 0:a1a69d32f310 | 2124 | uint32_t fine_index; |
nikapov | 0:a1a69d32f310 | 2125 | |
nikapov | 0:a1a69d32f310 | 2126 | coarse_index = spad_index / c_spads_per_byte; |
nikapov | 0:a1a69d32f310 | 2127 | fine_index = spad_index % c_spads_per_byte; |
nikapov | 0:a1a69d32f310 | 2128 | if (coarse_index >= size) { |
nikapov | 0:a1a69d32f310 | 2129 | status = VL53L0X_ERROR_REF_SPAD_INIT; |
nikapov | 0:a1a69d32f310 | 2130 | } else { |
nikapov | 0:a1a69d32f310 | 2131 | spad_array[coarse_index] |= (1 << fine_index); |
nikapov | 0:a1a69d32f310 | 2132 | } |
nikapov | 0:a1a69d32f310 | 2133 | |
nikapov | 0:a1a69d32f310 | 2134 | return status; |
nikapov | 0:a1a69d32f310 | 2135 | } |
nikapov | 0:a1a69d32f310 | 2136 | |
nikapov | 0:a1a69d32f310 | 2137 | VL53L0X_Error VL53L0X::set_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array) |
nikapov | 0:a1a69d32f310 | 2138 | { |
nikapov | 0:a1a69d32f310 | 2139 | VL53L0X_Error status = VL53L0X_write_multi(dev, |
nikapov | 0:a1a69d32f310 | 2140 | VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0, |
nikapov | 0:a1a69d32f310 | 2141 | p_ref_spad_array, 6); |
nikapov | 0:a1a69d32f310 | 2142 | |
nikapov | 0:a1a69d32f310 | 2143 | return status; |
nikapov | 0:a1a69d32f310 | 2144 | } |
nikapov | 0:a1a69d32f310 | 2145 | |
nikapov | 0:a1a69d32f310 | 2146 | VL53L0X_Error VL53L0X::get_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array) |
nikapov | 0:a1a69d32f310 | 2147 | { |
nikapov | 0:a1a69d32f310 | 2148 | VL53L0X_Error status = VL53L0X_read_multi(dev, |
nikapov | 0:a1a69d32f310 | 2149 | VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0, |
nikapov | 0:a1a69d32f310 | 2150 | p_ref_spad_array, |
nikapov | 0:a1a69d32f310 | 2151 | 6); |
nikapov | 0:a1a69d32f310 | 2152 | // VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 2153 | // uint8_t count=0; |
nikapov | 0:a1a69d32f310 | 2154 | |
nikapov | 0:a1a69d32f310 | 2155 | // for (count = 0; count < 6; count++) |
nikapov | 0:a1a69d32f310 | 2156 | // status = VL53L0X_RdByte(Dev, (VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 + count), &refSpadArray[count]); |
nikapov | 0:a1a69d32f310 | 2157 | return status; |
nikapov | 0:a1a69d32f310 | 2158 | } |
nikapov | 0:a1a69d32f310 | 2159 | |
nikapov | 0:a1a69d32f310 | 2160 | VL53L0X_Error VL53L0X::enable_ref_spads(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 2161 | uint8_t aperture_spads, |
nikapov | 0:a1a69d32f310 | 2162 | uint8_t good_spad_array[], |
nikapov | 0:a1a69d32f310 | 2163 | uint8_t spad_array[], |
nikapov | 0:a1a69d32f310 | 2164 | uint32_t size, |
nikapov | 0:a1a69d32f310 | 2165 | uint32_t start, |
nikapov | 0:a1a69d32f310 | 2166 | uint32_t offset, |
nikapov | 0:a1a69d32f310 | 2167 | uint32_t spad_count, |
nikapov | 0:a1a69d32f310 | 2168 | uint32_t *p_last_spad) |
nikapov | 0:a1a69d32f310 | 2169 | { |
nikapov | 0:a1a69d32f310 | 2170 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 2171 | uint32_t index; |
nikapov | 0:a1a69d32f310 | 2172 | uint32_t i; |
nikapov | 0:a1a69d32f310 | 2173 | int32_t next_good_spad = offset; |
nikapov | 0:a1a69d32f310 | 2174 | uint32_t current_spad; |
nikapov | 0:a1a69d32f310 | 2175 | uint8_t check_spad_array[6]; |
nikapov | 0:a1a69d32f310 | 2176 | |
nikapov | 0:a1a69d32f310 | 2177 | /* |
nikapov | 0:a1a69d32f310 | 2178 | * This function takes in a spad array which may or may not have SPADS |
nikapov | 0:a1a69d32f310 | 2179 | * already enabled and appends from a given offset a requested number |
nikapov | 0:a1a69d32f310 | 2180 | * of new SPAD enables. The 'good spad map' is applied to |
nikapov | 0:a1a69d32f310 | 2181 | * determine the next SPADs to enable. |
nikapov | 0:a1a69d32f310 | 2182 | * |
nikapov | 0:a1a69d32f310 | 2183 | * This function applies to only aperture or only non-aperture spads. |
nikapov | 0:a1a69d32f310 | 2184 | * Checks are performed to ensure this. |
nikapov | 0:a1a69d32f310 | 2185 | */ |
nikapov | 0:a1a69d32f310 | 2186 | |
nikapov | 0:a1a69d32f310 | 2187 | current_spad = offset; |
nikapov | 0:a1a69d32f310 | 2188 | for (index = 0; index < spad_count; index++) { |
nikapov | 0:a1a69d32f310 | 2189 | get_next_good_spad(good_spad_array, size, current_spad, |
nikapov | 0:a1a69d32f310 | 2190 | &next_good_spad); |
nikapov | 0:a1a69d32f310 | 2191 | |
nikapov | 0:a1a69d32f310 | 2192 | if (next_good_spad == -1) { |
nikapov | 0:a1a69d32f310 | 2193 | status = VL53L0X_ERROR_REF_SPAD_INIT; |
nikapov | 0:a1a69d32f310 | 2194 | break; |
nikapov | 0:a1a69d32f310 | 2195 | } |
nikapov | 0:a1a69d32f310 | 2196 | |
nikapov | 0:a1a69d32f310 | 2197 | /* Confirm that the next good SPAD is non-aperture */ |
nikapov | 0:a1a69d32f310 | 2198 | if (is_aperture(start + next_good_spad) != aperture_spads) { |
nikapov | 0:a1a69d32f310 | 2199 | /* if we can't get the required number of good aperture |
nikapov | 0:a1a69d32f310 | 2200 | * spads from the current quadrant then this is an error |
nikapov | 0:a1a69d32f310 | 2201 | */ |
nikapov | 0:a1a69d32f310 | 2202 | status = VL53L0X_ERROR_REF_SPAD_INIT; |
nikapov | 0:a1a69d32f310 | 2203 | break; |
nikapov | 0:a1a69d32f310 | 2204 | } |
nikapov | 0:a1a69d32f310 | 2205 | current_spad = (uint32_t)next_good_spad; |
nikapov | 0:a1a69d32f310 | 2206 | enable_spad_bit(spad_array, size, current_spad); |
nikapov | 0:a1a69d32f310 | 2207 | current_spad++; |
nikapov | 0:a1a69d32f310 | 2208 | } |
nikapov | 0:a1a69d32f310 | 2209 | *p_last_spad = current_spad; |
nikapov | 0:a1a69d32f310 | 2210 | |
nikapov | 0:a1a69d32f310 | 2211 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2212 | status = set_ref_spad_map(dev, spad_array); |
nikapov | 0:a1a69d32f310 | 2213 | } |
nikapov | 0:a1a69d32f310 | 2214 | |
nikapov | 0:a1a69d32f310 | 2215 | |
nikapov | 0:a1a69d32f310 | 2216 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2217 | status = get_ref_spad_map(dev, check_spad_array); |
nikapov | 0:a1a69d32f310 | 2218 | |
nikapov | 0:a1a69d32f310 | 2219 | i = 0; |
nikapov | 0:a1a69d32f310 | 2220 | |
nikapov | 0:a1a69d32f310 | 2221 | /* Compare spad maps. If not equal report error. */ |
nikapov | 0:a1a69d32f310 | 2222 | while (i < size) { |
nikapov | 0:a1a69d32f310 | 2223 | if (spad_array[i] != check_spad_array[i]) { |
nikapov | 0:a1a69d32f310 | 2224 | status = VL53L0X_ERROR_REF_SPAD_INIT; |
nikapov | 0:a1a69d32f310 | 2225 | break; |
nikapov | 0:a1a69d32f310 | 2226 | } |
nikapov | 0:a1a69d32f310 | 2227 | i++; |
nikapov | 0:a1a69d32f310 | 2228 | } |
nikapov | 0:a1a69d32f310 | 2229 | } |
nikapov | 0:a1a69d32f310 | 2230 | return status; |
nikapov | 0:a1a69d32f310 | 2231 | } |
nikapov | 0:a1a69d32f310 | 2232 | |
nikapov | 0:a1a69d32f310 | 2233 | VL53L0X_Error VL53L0X::VL53L0X_set_device_mode(VL53L0X_DEV dev, VL53L0X_DeviceModes device_mode) |
nikapov | 0:a1a69d32f310 | 2234 | { |
nikapov | 0:a1a69d32f310 | 2235 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 2236 | |
nikapov | 0:a1a69d32f310 | 2237 | switch (device_mode) { |
nikapov | 0:a1a69d32f310 | 2238 | case VL53L0X_DEVICEMODE_SINGLE_RANGING: |
nikapov | 0:a1a69d32f310 | 2239 | case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING: |
nikapov | 0:a1a69d32f310 | 2240 | case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING: |
nikapov | 0:a1a69d32f310 | 2241 | case VL53L0X_DEVICEMODE_GPIO_DRIVE: |
nikapov | 0:a1a69d32f310 | 2242 | case VL53L0X_DEVICEMODE_GPIO_OSC: |
nikapov | 0:a1a69d32f310 | 2243 | /* Supported modes */ |
nikapov | 0:a1a69d32f310 | 2244 | VL53L0X_SETPARAMETERFIELD(dev, DeviceMode, device_mode); |
nikapov | 0:a1a69d32f310 | 2245 | break; |
nikapov | 0:a1a69d32f310 | 2246 | default: |
nikapov | 0:a1a69d32f310 | 2247 | /* Unsupported mode */ |
nikapov | 0:a1a69d32f310 | 2248 | status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; |
nikapov | 0:a1a69d32f310 | 2249 | } |
nikapov | 0:a1a69d32f310 | 2250 | |
sepp_nepp | 5:b95f6951f7d5 | 2251 | |
nikapov | 0:a1a69d32f310 | 2252 | return status; |
nikapov | 0:a1a69d32f310 | 2253 | } |
nikapov | 0:a1a69d32f310 | 2254 | |
nikapov | 0:a1a69d32f310 | 2255 | VL53L0X_Error VL53L0X::VL53L0X_set_interrupt_thresholds(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 2256 | VL53L0X_DeviceModes device_mode, FixPoint1616_t threshold_low, |
nikapov | 0:a1a69d32f310 | 2257 | FixPoint1616_t threshold_high) |
nikapov | 0:a1a69d32f310 | 2258 | { |
nikapov | 0:a1a69d32f310 | 2259 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 2260 | uint16_t threshold16; |
sepp_nepp | 5:b95f6951f7d5 | 2261 | |
sepp_nepp | 5:b95f6951f7d5 | 2262 | |
sepp_nepp | 5:b95f6951f7d5 | 2263 | /* no dependency on DeviceMode for FlightSense */ |
nikapov | 0:a1a69d32f310 | 2264 | /* Need to divide by 2 because the FW will apply a x2 */ |
nikapov | 0:a1a69d32f310 | 2265 | threshold16 = (uint16_t)((threshold_low >> 17) & 0x00fff); |
nikapov | 0:a1a69d32f310 | 2266 | status = VL53L0X_write_word(dev, VL53L0X_REG_SYSTEM_THRESH_LOW, threshold16); |
nikapov | 0:a1a69d32f310 | 2267 | |
nikapov | 0:a1a69d32f310 | 2268 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2269 | /* Need to divide by 2 because the FW will apply a x2 */ |
nikapov | 0:a1a69d32f310 | 2270 | threshold16 = (uint16_t)((threshold_high >> 17) & 0x00fff); |
nikapov | 0:a1a69d32f310 | 2271 | status = VL53L0X_write_word(dev, VL53L0X_REG_SYSTEM_THRESH_HIGH, |
nikapov | 0:a1a69d32f310 | 2272 | threshold16); |
nikapov | 0:a1a69d32f310 | 2273 | } |
nikapov | 0:a1a69d32f310 | 2274 | |
sepp_nepp | 5:b95f6951f7d5 | 2275 | |
nikapov | 0:a1a69d32f310 | 2276 | return status; |
nikapov | 0:a1a69d32f310 | 2277 | } |
nikapov | 0:a1a69d32f310 | 2278 | |
nikapov | 0:a1a69d32f310 | 2279 | VL53L0X_Error VL53L0X::VL53L0X_get_interrupt_thresholds(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 2280 | VL53L0X_DeviceModes device_mode, FixPoint1616_t *p_threshold_low, |
nikapov | 0:a1a69d32f310 | 2281 | FixPoint1616_t *p_threshold_high) |
nikapov | 0:a1a69d32f310 | 2282 | { |
nikapov | 0:a1a69d32f310 | 2283 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 2284 | uint16_t threshold16; |
sepp_nepp | 5:b95f6951f7d5 | 2285 | |
sepp_nepp | 5:b95f6951f7d5 | 2286 | |
sepp_nepp | 5:b95f6951f7d5 | 2287 | /* no dependency on DeviceMode for FlightSense */ |
nikapov | 0:a1a69d32f310 | 2288 | |
nikapov | 0:a1a69d32f310 | 2289 | status = VL53L0X_read_word(dev, VL53L0X_REG_SYSTEM_THRESH_LOW, &threshold16); |
nikapov | 0:a1a69d32f310 | 2290 | /* Need to multiply by 2 because the FW will apply a x2 */ |
nikapov | 0:a1a69d32f310 | 2291 | *p_threshold_low = (FixPoint1616_t)((0x00fff & threshold16) << 17); |
nikapov | 0:a1a69d32f310 | 2292 | |
nikapov | 0:a1a69d32f310 | 2293 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2294 | status = VL53L0X_read_word(dev, VL53L0X_REG_SYSTEM_THRESH_HIGH, |
nikapov | 0:a1a69d32f310 | 2295 | &threshold16); |
nikapov | 0:a1a69d32f310 | 2296 | /* Need to multiply by 2 because the FW will apply a x2 */ |
nikapov | 0:a1a69d32f310 | 2297 | *p_threshold_high = |
nikapov | 0:a1a69d32f310 | 2298 | (FixPoint1616_t)((0x00fff & threshold16) << 17); |
nikapov | 0:a1a69d32f310 | 2299 | } |
nikapov | 0:a1a69d32f310 | 2300 | |
sepp_nepp | 5:b95f6951f7d5 | 2301 | |
nikapov | 0:a1a69d32f310 | 2302 | return status; |
nikapov | 0:a1a69d32f310 | 2303 | } |
nikapov | 0:a1a69d32f310 | 2304 | |
nikapov | 0:a1a69d32f310 | 2305 | VL53L0X_Error VL53L0X::VL53L0X_load_tuning_settings(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 2306 | uint8_t *p_tuning_setting_buffer) |
nikapov | 0:a1a69d32f310 | 2307 | { |
nikapov | 0:a1a69d32f310 | 2308 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 2309 | int i; |
nikapov | 0:a1a69d32f310 | 2310 | int index; |
nikapov | 0:a1a69d32f310 | 2311 | uint8_t msb; |
nikapov | 0:a1a69d32f310 | 2312 | uint8_t lsb; |
nikapov | 0:a1a69d32f310 | 2313 | uint8_t select_param; |
nikapov | 0:a1a69d32f310 | 2314 | uint8_t number_of_writes; |
nikapov | 0:a1a69d32f310 | 2315 | uint8_t address; |
nikapov | 0:a1a69d32f310 | 2316 | uint8_t local_buffer[4]; /* max */ |
nikapov | 0:a1a69d32f310 | 2317 | uint16_t temp16; |
nikapov | 0:a1a69d32f310 | 2318 | |
sepp_nepp | 5:b95f6951f7d5 | 2319 | |
nikapov | 0:a1a69d32f310 | 2320 | |
nikapov | 0:a1a69d32f310 | 2321 | index = 0; |
nikapov | 0:a1a69d32f310 | 2322 | |
nikapov | 0:a1a69d32f310 | 2323 | while ((*(p_tuning_setting_buffer + index) != 0) && |
nikapov | 0:a1a69d32f310 | 2324 | (status == VL53L0X_ERROR_NONE)) { |
nikapov | 0:a1a69d32f310 | 2325 | number_of_writes = *(p_tuning_setting_buffer + index); |
nikapov | 0:a1a69d32f310 | 2326 | index++; |
nikapov | 0:a1a69d32f310 | 2327 | if (number_of_writes == 0xFF) { |
nikapov | 0:a1a69d32f310 | 2328 | /* internal parameters */ |
nikapov | 0:a1a69d32f310 | 2329 | select_param = *(p_tuning_setting_buffer + index); |
nikapov | 0:a1a69d32f310 | 2330 | index++; |
nikapov | 0:a1a69d32f310 | 2331 | switch (select_param) { |
nikapov | 0:a1a69d32f310 | 2332 | case 0: /* uint16_t SigmaEstRefArray -> 2 bytes */ |
nikapov | 0:a1a69d32f310 | 2333 | msb = *(p_tuning_setting_buffer + index); |
nikapov | 0:a1a69d32f310 | 2334 | index++; |
nikapov | 0:a1a69d32f310 | 2335 | lsb = *(p_tuning_setting_buffer + index); |
nikapov | 0:a1a69d32f310 | 2336 | index++; |
nikapov | 0:a1a69d32f310 | 2337 | temp16 = VL53L0X_MAKEUINT16(lsb, msb); |
nikapov | 0:a1a69d32f310 | 2338 | PALDevDataSet(dev, SigmaEstRefArray, temp16); |
nikapov | 0:a1a69d32f310 | 2339 | break; |
nikapov | 0:a1a69d32f310 | 2340 | case 1: /* uint16_t SigmaEstEffPulseWidth -> 2 bytes */ |
nikapov | 0:a1a69d32f310 | 2341 | msb = *(p_tuning_setting_buffer + index); |
nikapov | 0:a1a69d32f310 | 2342 | index++; |
nikapov | 0:a1a69d32f310 | 2343 | lsb = *(p_tuning_setting_buffer + index); |
nikapov | 0:a1a69d32f310 | 2344 | index++; |
nikapov | 0:a1a69d32f310 | 2345 | temp16 = VL53L0X_MAKEUINT16(lsb, msb); |
nikapov | 0:a1a69d32f310 | 2346 | PALDevDataSet(dev, SigmaEstEffPulseWidth, |
nikapov | 0:a1a69d32f310 | 2347 | temp16); |
nikapov | 0:a1a69d32f310 | 2348 | break; |
nikapov | 0:a1a69d32f310 | 2349 | case 2: /* uint16_t SigmaEstEffAmbWidth -> 2 bytes */ |
nikapov | 0:a1a69d32f310 | 2350 | msb = *(p_tuning_setting_buffer + index); |
nikapov | 0:a1a69d32f310 | 2351 | index++; |
nikapov | 0:a1a69d32f310 | 2352 | lsb = *(p_tuning_setting_buffer + index); |
nikapov | 0:a1a69d32f310 | 2353 | index++; |
nikapov | 0:a1a69d32f310 | 2354 | temp16 = VL53L0X_MAKEUINT16(lsb, msb); |
nikapov | 0:a1a69d32f310 | 2355 | PALDevDataSet(dev, SigmaEstEffAmbWidth, temp16); |
nikapov | 0:a1a69d32f310 | 2356 | break; |
nikapov | 0:a1a69d32f310 | 2357 | case 3: /* uint16_t targetRefRate -> 2 bytes */ |
nikapov | 0:a1a69d32f310 | 2358 | msb = *(p_tuning_setting_buffer + index); |
nikapov | 0:a1a69d32f310 | 2359 | index++; |
nikapov | 0:a1a69d32f310 | 2360 | lsb = *(p_tuning_setting_buffer + index); |
nikapov | 0:a1a69d32f310 | 2361 | index++; |
nikapov | 0:a1a69d32f310 | 2362 | temp16 = VL53L0X_MAKEUINT16(lsb, msb); |
nikapov | 0:a1a69d32f310 | 2363 | PALDevDataSet(dev, targetRefRate, temp16); |
nikapov | 0:a1a69d32f310 | 2364 | break; |
nikapov | 0:a1a69d32f310 | 2365 | default: /* invalid parameter */ |
nikapov | 0:a1a69d32f310 | 2366 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 2367 | } |
nikapov | 0:a1a69d32f310 | 2368 | |
nikapov | 0:a1a69d32f310 | 2369 | } else if (number_of_writes <= 4) { |
nikapov | 0:a1a69d32f310 | 2370 | address = *(p_tuning_setting_buffer + index); |
nikapov | 0:a1a69d32f310 | 2371 | index++; |
nikapov | 0:a1a69d32f310 | 2372 | |
nikapov | 0:a1a69d32f310 | 2373 | for (i = 0; i < number_of_writes; i++) { |
nikapov | 0:a1a69d32f310 | 2374 | local_buffer[i] = *(p_tuning_setting_buffer + |
nikapov | 0:a1a69d32f310 | 2375 | index); |
nikapov | 0:a1a69d32f310 | 2376 | index++; |
nikapov | 0:a1a69d32f310 | 2377 | } |
nikapov | 0:a1a69d32f310 | 2378 | |
nikapov | 0:a1a69d32f310 | 2379 | status = VL53L0X_write_multi(dev, address, local_buffer, |
nikapov | 0:a1a69d32f310 | 2380 | number_of_writes); |
nikapov | 0:a1a69d32f310 | 2381 | |
nikapov | 0:a1a69d32f310 | 2382 | } else { |
nikapov | 0:a1a69d32f310 | 2383 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 2384 | } |
nikapov | 0:a1a69d32f310 | 2385 | } |
nikapov | 0:a1a69d32f310 | 2386 | |
sepp_nepp | 5:b95f6951f7d5 | 2387 | |
nikapov | 0:a1a69d32f310 | 2388 | return status; |
nikapov | 0:a1a69d32f310 | 2389 | } |
nikapov | 0:a1a69d32f310 | 2390 | |
nikapov | 0:a1a69d32f310 | 2391 | VL53L0X_Error VL53L0X::VL53L0X_check_and_load_interrupt_settings(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 2392 | uint8_t start_not_stopflag) |
nikapov | 0:a1a69d32f310 | 2393 | { |
nikapov | 0:a1a69d32f310 | 2394 | uint8_t interrupt_config; |
nikapov | 0:a1a69d32f310 | 2395 | FixPoint1616_t threshold_low; |
nikapov | 0:a1a69d32f310 | 2396 | FixPoint1616_t threshold_high; |
nikapov | 0:a1a69d32f310 | 2397 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 2398 | |
nikapov | 0:a1a69d32f310 | 2399 | interrupt_config = VL53L0X_GETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 2400 | Pin0GpioFunctionality); |
nikapov | 0:a1a69d32f310 | 2401 | |
nikapov | 0:a1a69d32f310 | 2402 | if ((interrupt_config == |
nikapov | 0:a1a69d32f310 | 2403 | VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) || |
nikapov | 0:a1a69d32f310 | 2404 | (interrupt_config == |
nikapov | 0:a1a69d32f310 | 2405 | VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) || |
nikapov | 0:a1a69d32f310 | 2406 | (interrupt_config == |
nikapov | 0:a1a69d32f310 | 2407 | VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) { |
nikapov | 0:a1a69d32f310 | 2408 | |
nikapov | 0:a1a69d32f310 | 2409 | status = VL53L0X_get_interrupt_thresholds(dev, |
nikapov | 0:a1a69d32f310 | 2410 | VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, |
nikapov | 0:a1a69d32f310 | 2411 | &threshold_low, &threshold_high); |
nikapov | 0:a1a69d32f310 | 2412 | |
nikapov | 0:a1a69d32f310 | 2413 | if (((threshold_low > 255 * 65536) || |
nikapov | 0:a1a69d32f310 | 2414 | (threshold_high > 255 * 65536)) && |
nikapov | 0:a1a69d32f310 | 2415 | (status == VL53L0X_ERROR_NONE)) { |
nikapov | 0:a1a69d32f310 | 2416 | |
nikapov | 0:a1a69d32f310 | 2417 | if (start_not_stopflag != 0) { |
nikapov | 0:a1a69d32f310 | 2418 | status = VL53L0X_load_tuning_settings(dev, |
nikapov | 0:a1a69d32f310 | 2419 | InterruptThresholdSettings); |
nikapov | 0:a1a69d32f310 | 2420 | } else { |
nikapov | 0:a1a69d32f310 | 2421 | status |= VL53L0X_write_byte(dev, 0xFF, 0x04); |
nikapov | 0:a1a69d32f310 | 2422 | status |= VL53L0X_write_byte(dev, 0x70, 0x00); |
nikapov | 0:a1a69d32f310 | 2423 | status |= VL53L0X_write_byte(dev, 0xFF, 0x00); |
nikapov | 0:a1a69d32f310 | 2424 | status |= VL53L0X_write_byte(dev, 0x80, 0x00); |
nikapov | 0:a1a69d32f310 | 2425 | } |
nikapov | 0:a1a69d32f310 | 2426 | |
nikapov | 0:a1a69d32f310 | 2427 | } |
nikapov | 0:a1a69d32f310 | 2428 | |
nikapov | 0:a1a69d32f310 | 2429 | |
nikapov | 0:a1a69d32f310 | 2430 | } |
nikapov | 0:a1a69d32f310 | 2431 | |
nikapov | 0:a1a69d32f310 | 2432 | return status; |
nikapov | 0:a1a69d32f310 | 2433 | |
nikapov | 0:a1a69d32f310 | 2434 | } |
nikapov | 0:a1a69d32f310 | 2435 | |
nikapov | 0:a1a69d32f310 | 2436 | VL53L0X_Error VL53L0X::VL53L0X_start_measurement(VL53L0X_DEV dev) |
nikapov | 0:a1a69d32f310 | 2437 | { |
nikapov | 0:a1a69d32f310 | 2438 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 2439 | VL53L0X_DeviceModes device_mode; |
nikapov | 0:a1a69d32f310 | 2440 | uint8_t byte; |
nikapov | 0:a1a69d32f310 | 2441 | uint8_t start_stop_byte = VL53L0X_REG_SYSRANGE_MODE_START_STOP; |
nikapov | 0:a1a69d32f310 | 2442 | uint32_t loop_nb; |
sepp_nepp | 5:b95f6951f7d5 | 2443 | |
nikapov | 0:a1a69d32f310 | 2444 | |
nikapov | 0:a1a69d32f310 | 2445 | /* Get Current DeviceMode */ |
nikapov | 0:a1a69d32f310 | 2446 | VL53L0X_get_device_mode(dev, &device_mode); |
nikapov | 0:a1a69d32f310 | 2447 | |
nikapov | 0:a1a69d32f310 | 2448 | status = VL53L0X_write_byte(dev, 0x80, 0x01); |
nikapov | 0:a1a69d32f310 | 2449 | status = VL53L0X_write_byte(dev, 0xFF, 0x01); |
nikapov | 0:a1a69d32f310 | 2450 | status = VL53L0X_write_byte(dev, 0x00, 0x00); |
nikapov | 0:a1a69d32f310 | 2451 | status = VL53L0X_write_byte(dev, 0x91, PALDevDataGet(dev, StopVariable)); |
nikapov | 0:a1a69d32f310 | 2452 | status = VL53L0X_write_byte(dev, 0x00, 0x01); |
nikapov | 0:a1a69d32f310 | 2453 | status = VL53L0X_write_byte(dev, 0xFF, 0x00); |
nikapov | 0:a1a69d32f310 | 2454 | status = VL53L0X_write_byte(dev, 0x80, 0x00); |
nikapov | 0:a1a69d32f310 | 2455 | |
nikapov | 0:a1a69d32f310 | 2456 | switch (device_mode) { |
nikapov | 0:a1a69d32f310 | 2457 | case VL53L0X_DEVICEMODE_SINGLE_RANGING: |
nikapov | 0:a1a69d32f310 | 2458 | status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSRANGE_START, 0x01); |
nikapov | 0:a1a69d32f310 | 2459 | |
nikapov | 0:a1a69d32f310 | 2460 | byte = start_stop_byte; |
nikapov | 0:a1a69d32f310 | 2461 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2462 | /* Wait until start bit has been cleared */ |
nikapov | 0:a1a69d32f310 | 2463 | loop_nb = 0; |
nikapov | 0:a1a69d32f310 | 2464 | do { |
nikapov | 0:a1a69d32f310 | 2465 | if (loop_nb > 0) |
nikapov | 0:a1a69d32f310 | 2466 | status = VL53L0X_read_byte(dev, |
nikapov | 0:a1a69d32f310 | 2467 | VL53L0X_REG_SYSRANGE_START, &byte); |
nikapov | 0:a1a69d32f310 | 2468 | loop_nb = loop_nb + 1; |
nikapov | 0:a1a69d32f310 | 2469 | } while (((byte & start_stop_byte) == start_stop_byte) |
nikapov | 0:a1a69d32f310 | 2470 | && (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 2471 | && (loop_nb < VL53L0X_DEFAULT_MAX_LOOP)); |
nikapov | 0:a1a69d32f310 | 2472 | |
Davidroid | 3:e9269ff624ed | 2473 | if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) { |
nikapov | 0:a1a69d32f310 | 2474 | status = VL53L0X_ERROR_TIME_OUT; |
Davidroid | 3:e9269ff624ed | 2475 | } |
nikapov | 0:a1a69d32f310 | 2476 | |
nikapov | 0:a1a69d32f310 | 2477 | } |
nikapov | 0:a1a69d32f310 | 2478 | |
nikapov | 0:a1a69d32f310 | 2479 | break; |
nikapov | 0:a1a69d32f310 | 2480 | case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING: |
nikapov | 0:a1a69d32f310 | 2481 | /* Back-to-back mode */ |
nikapov | 0:a1a69d32f310 | 2482 | |
nikapov | 0:a1a69d32f310 | 2483 | /* Check if need to apply interrupt settings */ |
Davidroid | 3:e9269ff624ed | 2484 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2485 | status = VL53L0X_check_and_load_interrupt_settings(dev, 1); |
Davidroid | 3:e9269ff624ed | 2486 | } |
nikapov | 0:a1a69d32f310 | 2487 | |
nikapov | 0:a1a69d32f310 | 2488 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 2489 | VL53L0X_REG_SYSRANGE_START, |
nikapov | 0:a1a69d32f310 | 2490 | VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK); |
nikapov | 0:a1a69d32f310 | 2491 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2492 | /* Set PAL State to Running */ |
nikapov | 0:a1a69d32f310 | 2493 | PALDevDataSet(dev, PalState, VL53L0X_STATE_RUNNING); |
nikapov | 0:a1a69d32f310 | 2494 | } |
nikapov | 0:a1a69d32f310 | 2495 | break; |
nikapov | 0:a1a69d32f310 | 2496 | case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING: |
nikapov | 0:a1a69d32f310 | 2497 | /* Continuous mode */ |
nikapov | 0:a1a69d32f310 | 2498 | /* Check if need to apply interrupt settings */ |
Davidroid | 3:e9269ff624ed | 2499 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2500 | status = VL53L0X_check_and_load_interrupt_settings(dev, 1); |
Davidroid | 3:e9269ff624ed | 2501 | } |
nikapov | 0:a1a69d32f310 | 2502 | |
nikapov | 0:a1a69d32f310 | 2503 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 2504 | VL53L0X_REG_SYSRANGE_START, |
nikapov | 0:a1a69d32f310 | 2505 | VL53L0X_REG_SYSRANGE_MODE_TIMED); |
nikapov | 0:a1a69d32f310 | 2506 | |
nikapov | 0:a1a69d32f310 | 2507 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2508 | /* Set PAL State to Running */ |
nikapov | 0:a1a69d32f310 | 2509 | PALDevDataSet(dev, PalState, VL53L0X_STATE_RUNNING); |
nikapov | 0:a1a69d32f310 | 2510 | } |
nikapov | 0:a1a69d32f310 | 2511 | break; |
nikapov | 0:a1a69d32f310 | 2512 | default: |
nikapov | 0:a1a69d32f310 | 2513 | /* Selected mode not supported */ |
nikapov | 0:a1a69d32f310 | 2514 | status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; |
nikapov | 0:a1a69d32f310 | 2515 | } |
nikapov | 0:a1a69d32f310 | 2516 | |
nikapov | 0:a1a69d32f310 | 2517 | |
sepp_nepp | 5:b95f6951f7d5 | 2518 | |
nikapov | 0:a1a69d32f310 | 2519 | return status; |
nikapov | 0:a1a69d32f310 | 2520 | } |
nikapov | 0:a1a69d32f310 | 2521 | |
nikapov | 0:a1a69d32f310 | 2522 | /* Group PAL Measurement Functions */ |
nikapov | 0:a1a69d32f310 | 2523 | VL53L0X_Error VL53L0X::VL53L0X_perform_single_measurement(VL53L0X_DEV dev) |
nikapov | 0:a1a69d32f310 | 2524 | { |
nikapov | 0:a1a69d32f310 | 2525 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 2526 | VL53L0X_DeviceModes device_mode; |
nikapov | 0:a1a69d32f310 | 2527 | |
sepp_nepp | 5:b95f6951f7d5 | 2528 | |
nikapov | 0:a1a69d32f310 | 2529 | |
nikapov | 0:a1a69d32f310 | 2530 | /* Get Current DeviceMode */ |
nikapov | 0:a1a69d32f310 | 2531 | status = VL53L0X_get_device_mode(dev, &device_mode); |
nikapov | 0:a1a69d32f310 | 2532 | |
nikapov | 0:a1a69d32f310 | 2533 | /* Start immediately to run a single ranging measurement in case of |
nikapov | 0:a1a69d32f310 | 2534 | * single ranging or single histogram */ |
nikapov | 0:a1a69d32f310 | 2535 | if (status == VL53L0X_ERROR_NONE |
nikapov | 0:a1a69d32f310 | 2536 | && device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING) { |
nikapov | 0:a1a69d32f310 | 2537 | status = VL53L0X_start_measurement(dev); |
nikapov | 0:a1a69d32f310 | 2538 | } |
nikapov | 0:a1a69d32f310 | 2539 | |
nikapov | 0:a1a69d32f310 | 2540 | |
nikapov | 0:a1a69d32f310 | 2541 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2542 | status = VL53L0X_measurement_poll_for_completion(dev); |
nikapov | 0:a1a69d32f310 | 2543 | } |
nikapov | 0:a1a69d32f310 | 2544 | |
nikapov | 0:a1a69d32f310 | 2545 | |
nikapov | 0:a1a69d32f310 | 2546 | /* Change PAL State in case of single ranging or single histogram */ |
nikapov | 0:a1a69d32f310 | 2547 | if (status == VL53L0X_ERROR_NONE |
Davidroid | 3:e9269ff624ed | 2548 | && device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING) { |
nikapov | 0:a1a69d32f310 | 2549 | PALDevDataSet(dev, PalState, VL53L0X_STATE_IDLE); |
Davidroid | 3:e9269ff624ed | 2550 | } |
nikapov | 0:a1a69d32f310 | 2551 | |
nikapov | 0:a1a69d32f310 | 2552 | |
sepp_nepp | 5:b95f6951f7d5 | 2553 | |
nikapov | 0:a1a69d32f310 | 2554 | return status; |
nikapov | 0:a1a69d32f310 | 2555 | } |
nikapov | 0:a1a69d32f310 | 2556 | |
nikapov | 0:a1a69d32f310 | 2557 | VL53L0X_Error VL53L0X::VL53L0X_get_x_talk_compensation_enable(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 2558 | uint8_t *p_x_talk_compensation_enable) |
nikapov | 0:a1a69d32f310 | 2559 | { |
nikapov | 0:a1a69d32f310 | 2560 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 2561 | uint8_t temp8; |
sepp_nepp | 5:b95f6951f7d5 | 2562 | |
nikapov | 0:a1a69d32f310 | 2563 | |
nikapov | 0:a1a69d32f310 | 2564 | VL53L0X_GETPARAMETERFIELD(dev, XTalkCompensationEnable, temp8); |
nikapov | 0:a1a69d32f310 | 2565 | *p_x_talk_compensation_enable = temp8; |
nikapov | 0:a1a69d32f310 | 2566 | |
sepp_nepp | 5:b95f6951f7d5 | 2567 | |
nikapov | 0:a1a69d32f310 | 2568 | return status; |
nikapov | 0:a1a69d32f310 | 2569 | } |
nikapov | 0:a1a69d32f310 | 2570 | |
nikapov | 0:a1a69d32f310 | 2571 | VL53L0X_Error VL53L0X::VL53L0X_get_total_xtalk_rate(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 2572 | VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data, |
nikapov | 0:a1a69d32f310 | 2573 | FixPoint1616_t *p_total_xtalk_rate_mcps) |
nikapov | 0:a1a69d32f310 | 2574 | { |
nikapov | 0:a1a69d32f310 | 2575 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 2576 | |
nikapov | 0:a1a69d32f310 | 2577 | uint8_t xtalk_comp_enable; |
nikapov | 0:a1a69d32f310 | 2578 | FixPoint1616_t total_xtalk_mega_cps; |
nikapov | 0:a1a69d32f310 | 2579 | FixPoint1616_t xtalk_per_spad_mega_cps; |
nikapov | 0:a1a69d32f310 | 2580 | |
nikapov | 0:a1a69d32f310 | 2581 | *p_total_xtalk_rate_mcps = 0; |
nikapov | 0:a1a69d32f310 | 2582 | |
nikapov | 0:a1a69d32f310 | 2583 | status = VL53L0X_get_x_talk_compensation_enable(dev, &xtalk_comp_enable); |
nikapov | 0:a1a69d32f310 | 2584 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2585 | |
nikapov | 0:a1a69d32f310 | 2586 | if (xtalk_comp_enable) { |
nikapov | 0:a1a69d32f310 | 2587 | |
nikapov | 0:a1a69d32f310 | 2588 | VL53L0X_GETPARAMETERFIELD( |
nikapov | 0:a1a69d32f310 | 2589 | dev, |
nikapov | 0:a1a69d32f310 | 2590 | XTalkCompensationRateMegaCps, |
nikapov | 0:a1a69d32f310 | 2591 | xtalk_per_spad_mega_cps); |
nikapov | 0:a1a69d32f310 | 2592 | |
nikapov | 0:a1a69d32f310 | 2593 | /* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */ |
nikapov | 0:a1a69d32f310 | 2594 | total_xtalk_mega_cps = |
nikapov | 0:a1a69d32f310 | 2595 | p_ranging_measurement_data->EffectiveSpadRtnCount * |
nikapov | 0:a1a69d32f310 | 2596 | xtalk_per_spad_mega_cps; |
nikapov | 0:a1a69d32f310 | 2597 | |
nikapov | 0:a1a69d32f310 | 2598 | /* FixPoint0824 >> 8 = FixPoint1616 */ |
nikapov | 0:a1a69d32f310 | 2599 | *p_total_xtalk_rate_mcps = |
nikapov | 0:a1a69d32f310 | 2600 | (total_xtalk_mega_cps + 0x80) >> 8; |
nikapov | 0:a1a69d32f310 | 2601 | } |
nikapov | 0:a1a69d32f310 | 2602 | } |
nikapov | 0:a1a69d32f310 | 2603 | |
nikapov | 0:a1a69d32f310 | 2604 | return status; |
nikapov | 0:a1a69d32f310 | 2605 | } |
nikapov | 0:a1a69d32f310 | 2606 | |
nikapov | 0:a1a69d32f310 | 2607 | VL53L0X_Error VL53L0X::VL53L0X_get_total_signal_rate(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 2608 | VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data, |
nikapov | 0:a1a69d32f310 | 2609 | FixPoint1616_t *p_total_signal_rate_mcps) |
nikapov | 0:a1a69d32f310 | 2610 | { |
nikapov | 0:a1a69d32f310 | 2611 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 2612 | FixPoint1616_t total_xtalk_mega_cps; |
nikapov | 0:a1a69d32f310 | 2613 | |
sepp_nepp | 5:b95f6951f7d5 | 2614 | |
nikapov | 0:a1a69d32f310 | 2615 | |
nikapov | 0:a1a69d32f310 | 2616 | *p_total_signal_rate_mcps = |
nikapov | 0:a1a69d32f310 | 2617 | p_ranging_measurement_data->SignalRateRtnMegaCps; |
nikapov | 0:a1a69d32f310 | 2618 | |
nikapov | 0:a1a69d32f310 | 2619 | status = VL53L0X_get_total_xtalk_rate( |
nikapov | 0:a1a69d32f310 | 2620 | dev, p_ranging_measurement_data, &total_xtalk_mega_cps); |
nikapov | 0:a1a69d32f310 | 2621 | |
nikapov | 0:a1a69d32f310 | 2622 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2623 | *p_total_signal_rate_mcps += total_xtalk_mega_cps; |
nikapov | 0:a1a69d32f310 | 2624 | } |
nikapov | 0:a1a69d32f310 | 2625 | |
nikapov | 0:a1a69d32f310 | 2626 | return status; |
nikapov | 0:a1a69d32f310 | 2627 | } |
nikapov | 0:a1a69d32f310 | 2628 | |
nikapov | 0:a1a69d32f310 | 2629 | /* To convert ms into register value */ |
nikapov | 0:a1a69d32f310 | 2630 | uint32_t VL53L0X::VL53L0X_calc_timeout_mclks(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 2631 | uint32_t timeout_period_us, |
nikapov | 0:a1a69d32f310 | 2632 | uint8_t vcsel_period_pclks) |
nikapov | 0:a1a69d32f310 | 2633 | { |
nikapov | 0:a1a69d32f310 | 2634 | uint32_t macro_period_ps; |
nikapov | 0:a1a69d32f310 | 2635 | uint32_t macro_period_ns; |
nikapov | 0:a1a69d32f310 | 2636 | uint32_t timeout_period_mclks = 0; |
nikapov | 0:a1a69d32f310 | 2637 | |
nikapov | 0:a1a69d32f310 | 2638 | macro_period_ps = VL53L0X_calc_macro_period_ps(dev, vcsel_period_pclks); |
nikapov | 0:a1a69d32f310 | 2639 | macro_period_ns = (macro_period_ps + 500) / 1000; |
nikapov | 0:a1a69d32f310 | 2640 | |
nikapov | 0:a1a69d32f310 | 2641 | timeout_period_mclks = |
nikapov | 0:a1a69d32f310 | 2642 | (uint32_t)(((timeout_period_us * 1000) |
nikapov | 0:a1a69d32f310 | 2643 | + (macro_period_ns / 2)) / macro_period_ns); |
nikapov | 0:a1a69d32f310 | 2644 | |
nikapov | 0:a1a69d32f310 | 2645 | return timeout_period_mclks; |
nikapov | 0:a1a69d32f310 | 2646 | } |
nikapov | 0:a1a69d32f310 | 2647 | |
nikapov | 0:a1a69d32f310 | 2648 | uint32_t VL53L0X::VL53L0X_isqrt(uint32_t num) |
nikapov | 0:a1a69d32f310 | 2649 | { |
nikapov | 0:a1a69d32f310 | 2650 | /* |
nikapov | 0:a1a69d32f310 | 2651 | * Implements an integer square root |
nikapov | 0:a1a69d32f310 | 2652 | * |
nikapov | 0:a1a69d32f310 | 2653 | * From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots |
nikapov | 0:a1a69d32f310 | 2654 | */ |
nikapov | 0:a1a69d32f310 | 2655 | |
nikapov | 0:a1a69d32f310 | 2656 | uint32_t res = 0; |
nikapov | 0:a1a69d32f310 | 2657 | uint32_t bit = 1 << 30; |
nikapov | 0:a1a69d32f310 | 2658 | /* The second-to-top bit is set: |
nikapov | 0:a1a69d32f310 | 2659 | * 1 << 14 for 16-bits, 1 << 30 for 32 bits */ |
nikapov | 0:a1a69d32f310 | 2660 | |
nikapov | 0:a1a69d32f310 | 2661 | /* "bit" starts at the highest power of four <= the argument. */ |
nikapov | 0:a1a69d32f310 | 2662 | while (bit > num) { |
nikapov | 0:a1a69d32f310 | 2663 | bit >>= 2; |
nikapov | 0:a1a69d32f310 | 2664 | } |
nikapov | 0:a1a69d32f310 | 2665 | |
nikapov | 0:a1a69d32f310 | 2666 | |
nikapov | 0:a1a69d32f310 | 2667 | while (bit != 0) { |
nikapov | 0:a1a69d32f310 | 2668 | if (num >= res + bit) { |
nikapov | 0:a1a69d32f310 | 2669 | num -= res + bit; |
nikapov | 0:a1a69d32f310 | 2670 | res = (res >> 1) + bit; |
Davidroid | 3:e9269ff624ed | 2671 | } else { |
nikapov | 0:a1a69d32f310 | 2672 | res >>= 1; |
Davidroid | 3:e9269ff624ed | 2673 | } |
nikapov | 0:a1a69d32f310 | 2674 | |
nikapov | 0:a1a69d32f310 | 2675 | bit >>= 2; |
nikapov | 0:a1a69d32f310 | 2676 | } |
nikapov | 0:a1a69d32f310 | 2677 | |
nikapov | 0:a1a69d32f310 | 2678 | return res; |
nikapov | 0:a1a69d32f310 | 2679 | } |
nikapov | 0:a1a69d32f310 | 2680 | |
nikapov | 0:a1a69d32f310 | 2681 | VL53L0X_Error VL53L0X::VL53L0X_calc_dmax( |
nikapov | 0:a1a69d32f310 | 2682 | VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 2683 | FixPoint1616_t total_signal_rate_mcps, |
nikapov | 0:a1a69d32f310 | 2684 | FixPoint1616_t total_corr_signal_rate_mcps, |
nikapov | 0:a1a69d32f310 | 2685 | FixPoint1616_t pw_mult, |
nikapov | 0:a1a69d32f310 | 2686 | uint32_t sigma_estimate_p1, |
nikapov | 0:a1a69d32f310 | 2687 | FixPoint1616_t sigma_estimate_p2, |
nikapov | 0:a1a69d32f310 | 2688 | uint32_t peak_vcsel_duration_us, |
nikapov | 0:a1a69d32f310 | 2689 | uint32_t *pd_max_mm) |
nikapov | 0:a1a69d32f310 | 2690 | { |
nikapov | 0:a1a69d32f310 | 2691 | const uint32_t c_sigma_limit = 18; |
nikapov | 0:a1a69d32f310 | 2692 | const FixPoint1616_t c_signal_limit = 0x4000; /* 0.25 */ |
nikapov | 0:a1a69d32f310 | 2693 | const FixPoint1616_t c_sigma_est_ref = 0x00000042; /* 0.001 */ |
nikapov | 0:a1a69d32f310 | 2694 | const uint32_t c_amb_eff_width_sigma_est_ns = 6; |
nikapov | 0:a1a69d32f310 | 2695 | const uint32_t c_amb_eff_width_d_max_ns = 7; |
nikapov | 0:a1a69d32f310 | 2696 | uint32_t dmax_cal_range_mm; |
nikapov | 0:a1a69d32f310 | 2697 | FixPoint1616_t dmax_cal_signal_rate_rtn_mcps; |
nikapov | 0:a1a69d32f310 | 2698 | FixPoint1616_t min_signal_needed; |
nikapov | 0:a1a69d32f310 | 2699 | FixPoint1616_t min_signal_needed_p1; |
nikapov | 0:a1a69d32f310 | 2700 | FixPoint1616_t min_signal_needed_p2; |
nikapov | 0:a1a69d32f310 | 2701 | FixPoint1616_t min_signal_needed_p3; |
nikapov | 0:a1a69d32f310 | 2702 | FixPoint1616_t min_signal_needed_p4; |
nikapov | 0:a1a69d32f310 | 2703 | FixPoint1616_t sigma_limit_tmp; |
nikapov | 0:a1a69d32f310 | 2704 | FixPoint1616_t sigma_est_sq_tmp; |
nikapov | 0:a1a69d32f310 | 2705 | FixPoint1616_t signal_limit_tmp; |
nikapov | 0:a1a69d32f310 | 2706 | FixPoint1616_t signal_at0_mm; |
nikapov | 0:a1a69d32f310 | 2707 | FixPoint1616_t dmax_dark; |
nikapov | 0:a1a69d32f310 | 2708 | FixPoint1616_t dmax_ambient; |
nikapov | 0:a1a69d32f310 | 2709 | FixPoint1616_t dmax_dark_tmp; |
nikapov | 0:a1a69d32f310 | 2710 | FixPoint1616_t sigma_est_p2_tmp; |
nikapov | 0:a1a69d32f310 | 2711 | uint32_t signal_rate_temp_mcps; |
nikapov | 0:a1a69d32f310 | 2712 | |
nikapov | 0:a1a69d32f310 | 2713 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 2714 | |
sepp_nepp | 5:b95f6951f7d5 | 2715 | |
nikapov | 0:a1a69d32f310 | 2716 | |
nikapov | 0:a1a69d32f310 | 2717 | dmax_cal_range_mm = |
nikapov | 0:a1a69d32f310 | 2718 | PALDevDataGet(dev, DmaxCalRangeMilliMeter); |
nikapov | 0:a1a69d32f310 | 2719 | |
nikapov | 0:a1a69d32f310 | 2720 | dmax_cal_signal_rate_rtn_mcps = |
nikapov | 0:a1a69d32f310 | 2721 | PALDevDataGet(dev, DmaxCalSignalRateRtnMegaCps); |
nikapov | 0:a1a69d32f310 | 2722 | |
nikapov | 0:a1a69d32f310 | 2723 | /* uint32 * FixPoint1616 = FixPoint1616 */ |
nikapov | 0:a1a69d32f310 | 2724 | signal_at0_mm = dmax_cal_range_mm * dmax_cal_signal_rate_rtn_mcps; |
nikapov | 0:a1a69d32f310 | 2725 | |
nikapov | 0:a1a69d32f310 | 2726 | /* FixPoint1616 >> 8 = FixPoint2408 */ |
nikapov | 0:a1a69d32f310 | 2727 | signal_at0_mm = (signal_at0_mm + 0x80) >> 8; |
nikapov | 0:a1a69d32f310 | 2728 | signal_at0_mm *= dmax_cal_range_mm; |
nikapov | 0:a1a69d32f310 | 2729 | |
nikapov | 0:a1a69d32f310 | 2730 | min_signal_needed_p1 = 0; |
nikapov | 0:a1a69d32f310 | 2731 | if (total_corr_signal_rate_mcps > 0) { |
nikapov | 0:a1a69d32f310 | 2732 | |
nikapov | 0:a1a69d32f310 | 2733 | /* Shift by 10 bits to increase resolution prior to the |
nikapov | 0:a1a69d32f310 | 2734 | * division */ |
nikapov | 0:a1a69d32f310 | 2735 | signal_rate_temp_mcps = total_signal_rate_mcps << 10; |
nikapov | 0:a1a69d32f310 | 2736 | |
nikapov | 0:a1a69d32f310 | 2737 | /* Add rounding value prior to division */ |
nikapov | 0:a1a69d32f310 | 2738 | min_signal_needed_p1 = signal_rate_temp_mcps + |
nikapov | 0:a1a69d32f310 | 2739 | (total_corr_signal_rate_mcps / 2); |
nikapov | 0:a1a69d32f310 | 2740 | |
nikapov | 0:a1a69d32f310 | 2741 | /* FixPoint0626/FixPoint1616 = FixPoint2210 */ |
nikapov | 0:a1a69d32f310 | 2742 | min_signal_needed_p1 /= total_corr_signal_rate_mcps; |
nikapov | 0:a1a69d32f310 | 2743 | |
nikapov | 0:a1a69d32f310 | 2744 | /* Apply a factored version of the speed of light. |
nikapov | 0:a1a69d32f310 | 2745 | Correction to be applied at the end */ |
nikapov | 0:a1a69d32f310 | 2746 | min_signal_needed_p1 *= 3; |
nikapov | 0:a1a69d32f310 | 2747 | |
nikapov | 0:a1a69d32f310 | 2748 | /* FixPoint2210 * FixPoint2210 = FixPoint1220 */ |
nikapov | 0:a1a69d32f310 | 2749 | min_signal_needed_p1 *= min_signal_needed_p1; |
nikapov | 0:a1a69d32f310 | 2750 | |
nikapov | 0:a1a69d32f310 | 2751 | /* FixPoint1220 >> 16 = FixPoint2804 */ |
nikapov | 0:a1a69d32f310 | 2752 | min_signal_needed_p1 = (min_signal_needed_p1 + 0x8000) >> 16; |
nikapov | 0:a1a69d32f310 | 2753 | } |
nikapov | 0:a1a69d32f310 | 2754 | |
nikapov | 0:a1a69d32f310 | 2755 | min_signal_needed_p2 = pw_mult * sigma_estimate_p1; |
nikapov | 0:a1a69d32f310 | 2756 | |
nikapov | 0:a1a69d32f310 | 2757 | /* FixPoint1616 >> 16 = uint32 */ |
nikapov | 0:a1a69d32f310 | 2758 | min_signal_needed_p2 = (min_signal_needed_p2 + 0x8000) >> 16; |
nikapov | 0:a1a69d32f310 | 2759 | |
nikapov | 0:a1a69d32f310 | 2760 | /* uint32 * uint32 = uint32 */ |
nikapov | 0:a1a69d32f310 | 2761 | min_signal_needed_p2 *= min_signal_needed_p2; |
nikapov | 0:a1a69d32f310 | 2762 | |
nikapov | 0:a1a69d32f310 | 2763 | /* Check sigmaEstimateP2 |
nikapov | 0:a1a69d32f310 | 2764 | * If this value is too high there is not enough signal rate |
nikapov | 0:a1a69d32f310 | 2765 | * to calculate dmax value so set a suitable value to ensure |
nikapov | 0:a1a69d32f310 | 2766 | * a very small dmax. |
nikapov | 0:a1a69d32f310 | 2767 | */ |
nikapov | 0:a1a69d32f310 | 2768 | sigma_est_p2_tmp = (sigma_estimate_p2 + 0x8000) >> 16; |
nikapov | 0:a1a69d32f310 | 2769 | sigma_est_p2_tmp = (sigma_est_p2_tmp + c_amb_eff_width_sigma_est_ns / 2) / |
nikapov | 0:a1a69d32f310 | 2770 | c_amb_eff_width_sigma_est_ns; |
nikapov | 0:a1a69d32f310 | 2771 | sigma_est_p2_tmp *= c_amb_eff_width_d_max_ns; |
nikapov | 0:a1a69d32f310 | 2772 | |
nikapov | 0:a1a69d32f310 | 2773 | if (sigma_est_p2_tmp > 0xffff) { |
nikapov | 0:a1a69d32f310 | 2774 | min_signal_needed_p3 = 0xfff00000; |
nikapov | 0:a1a69d32f310 | 2775 | } else { |
nikapov | 0:a1a69d32f310 | 2776 | |
nikapov | 0:a1a69d32f310 | 2777 | /* DMAX uses a different ambient width from sigma, so apply |
nikapov | 0:a1a69d32f310 | 2778 | * correction. |
nikapov | 0:a1a69d32f310 | 2779 | * Perform division before multiplication to prevent overflow. |
nikapov | 0:a1a69d32f310 | 2780 | */ |
nikapov | 0:a1a69d32f310 | 2781 | sigma_estimate_p2 = (sigma_estimate_p2 + c_amb_eff_width_sigma_est_ns / 2) / |
nikapov | 0:a1a69d32f310 | 2782 | c_amb_eff_width_sigma_est_ns; |
nikapov | 0:a1a69d32f310 | 2783 | sigma_estimate_p2 *= c_amb_eff_width_d_max_ns; |
nikapov | 0:a1a69d32f310 | 2784 | |
nikapov | 0:a1a69d32f310 | 2785 | /* FixPoint1616 >> 16 = uint32 */ |
nikapov | 0:a1a69d32f310 | 2786 | min_signal_needed_p3 = (sigma_estimate_p2 + 0x8000) >> 16; |
nikapov | 0:a1a69d32f310 | 2787 | |
nikapov | 0:a1a69d32f310 | 2788 | min_signal_needed_p3 *= min_signal_needed_p3; |
nikapov | 0:a1a69d32f310 | 2789 | |
nikapov | 0:a1a69d32f310 | 2790 | } |
nikapov | 0:a1a69d32f310 | 2791 | |
nikapov | 0:a1a69d32f310 | 2792 | /* FixPoint1814 / uint32 = FixPoint1814 */ |
nikapov | 0:a1a69d32f310 | 2793 | sigma_limit_tmp = ((c_sigma_limit << 14) + 500) / 1000; |
nikapov | 0:a1a69d32f310 | 2794 | |
nikapov | 0:a1a69d32f310 | 2795 | /* FixPoint1814 * FixPoint1814 = FixPoint3628 := FixPoint0428 */ |
nikapov | 0:a1a69d32f310 | 2796 | sigma_limit_tmp *= sigma_limit_tmp; |
nikapov | 0:a1a69d32f310 | 2797 | |
nikapov | 0:a1a69d32f310 | 2798 | /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ |
nikapov | 0:a1a69d32f310 | 2799 | sigma_est_sq_tmp = c_sigma_est_ref * c_sigma_est_ref; |
nikapov | 0:a1a69d32f310 | 2800 | |
nikapov | 0:a1a69d32f310 | 2801 | /* FixPoint3232 >> 4 = FixPoint0428 */ |
nikapov | 0:a1a69d32f310 | 2802 | sigma_est_sq_tmp = (sigma_est_sq_tmp + 0x08) >> 4; |
nikapov | 0:a1a69d32f310 | 2803 | |
nikapov | 0:a1a69d32f310 | 2804 | /* FixPoint0428 - FixPoint0428 = FixPoint0428 */ |
nikapov | 0:a1a69d32f310 | 2805 | sigma_limit_tmp -= sigma_est_sq_tmp; |
nikapov | 0:a1a69d32f310 | 2806 | |
nikapov | 0:a1a69d32f310 | 2807 | /* uint32_t * FixPoint0428 = FixPoint0428 */ |
nikapov | 0:a1a69d32f310 | 2808 | min_signal_needed_p4 = 4 * 12 * sigma_limit_tmp; |
nikapov | 0:a1a69d32f310 | 2809 | |
nikapov | 0:a1a69d32f310 | 2810 | /* FixPoint0428 >> 14 = FixPoint1814 */ |
nikapov | 0:a1a69d32f310 | 2811 | min_signal_needed_p4 = (min_signal_needed_p4 + 0x2000) >> 14; |
nikapov | 0:a1a69d32f310 | 2812 | |
nikapov | 0:a1a69d32f310 | 2813 | /* uint32 + uint32 = uint32 */ |
nikapov | 0:a1a69d32f310 | 2814 | min_signal_needed = (min_signal_needed_p2 + min_signal_needed_p3); |
nikapov | 0:a1a69d32f310 | 2815 | |
nikapov | 0:a1a69d32f310 | 2816 | /* uint32 / uint32 = uint32 */ |
nikapov | 0:a1a69d32f310 | 2817 | min_signal_needed += (peak_vcsel_duration_us / 2); |
nikapov | 0:a1a69d32f310 | 2818 | min_signal_needed /= peak_vcsel_duration_us; |
nikapov | 0:a1a69d32f310 | 2819 | |
nikapov | 0:a1a69d32f310 | 2820 | /* uint32 << 14 = FixPoint1814 */ |
nikapov | 0:a1a69d32f310 | 2821 | min_signal_needed <<= 14; |
nikapov | 0:a1a69d32f310 | 2822 | |
nikapov | 0:a1a69d32f310 | 2823 | /* FixPoint1814 / FixPoint1814 = uint32 */ |
nikapov | 0:a1a69d32f310 | 2824 | min_signal_needed += (min_signal_needed_p4 / 2); |
nikapov | 0:a1a69d32f310 | 2825 | min_signal_needed /= min_signal_needed_p4; |
nikapov | 0:a1a69d32f310 | 2826 | |
nikapov | 0:a1a69d32f310 | 2827 | /* FixPoint3200 * FixPoint2804 := FixPoint2804*/ |
nikapov | 0:a1a69d32f310 | 2828 | min_signal_needed *= min_signal_needed_p1; |
nikapov | 0:a1a69d32f310 | 2829 | |
nikapov | 0:a1a69d32f310 | 2830 | /* Apply correction by dividing by 1000000. |
nikapov | 0:a1a69d32f310 | 2831 | * This assumes 10E16 on the numerator of the equation |
nikapov | 0:a1a69d32f310 | 2832 | * and 10E-22 on the denominator. |
nikapov | 0:a1a69d32f310 | 2833 | * We do this because 32bit fix point calculation can't |
nikapov | 0:a1a69d32f310 | 2834 | * handle the larger and smaller elements of this equation, |
nikapov | 0:a1a69d32f310 | 2835 | * i.e. speed of light and pulse widths. |
nikapov | 0:a1a69d32f310 | 2836 | */ |
nikapov | 0:a1a69d32f310 | 2837 | min_signal_needed = (min_signal_needed + 500) / 1000; |
nikapov | 0:a1a69d32f310 | 2838 | min_signal_needed <<= 4; |
nikapov | 0:a1a69d32f310 | 2839 | |
nikapov | 0:a1a69d32f310 | 2840 | min_signal_needed = (min_signal_needed + 500) / 1000; |
nikapov | 0:a1a69d32f310 | 2841 | |
nikapov | 0:a1a69d32f310 | 2842 | /* FixPoint1616 >> 8 = FixPoint2408 */ |
nikapov | 0:a1a69d32f310 | 2843 | signal_limit_tmp = (c_signal_limit + 0x80) >> 8; |
nikapov | 0:a1a69d32f310 | 2844 | |
nikapov | 0:a1a69d32f310 | 2845 | /* FixPoint2408/FixPoint2408 = uint32 */ |
nikapov | 0:a1a69d32f310 | 2846 | if (signal_limit_tmp != 0) { |
nikapov | 0:a1a69d32f310 | 2847 | dmax_dark_tmp = (signal_at0_mm + (signal_limit_tmp / 2)) |
nikapov | 0:a1a69d32f310 | 2848 | / signal_limit_tmp; |
nikapov | 0:a1a69d32f310 | 2849 | } else { |
nikapov | 0:a1a69d32f310 | 2850 | dmax_dark_tmp = 0; |
nikapov | 0:a1a69d32f310 | 2851 | } |
nikapov | 0:a1a69d32f310 | 2852 | |
nikapov | 0:a1a69d32f310 | 2853 | dmax_dark = VL53L0X_isqrt(dmax_dark_tmp); |
nikapov | 0:a1a69d32f310 | 2854 | |
nikapov | 0:a1a69d32f310 | 2855 | /* FixPoint2408/FixPoint2408 = uint32 */ |
nikapov | 0:a1a69d32f310 | 2856 | if (min_signal_needed != 0) { |
nikapov | 0:a1a69d32f310 | 2857 | dmax_ambient = (signal_at0_mm + min_signal_needed / 2) |
nikapov | 0:a1a69d32f310 | 2858 | / min_signal_needed; |
nikapov | 0:a1a69d32f310 | 2859 | } else { |
nikapov | 0:a1a69d32f310 | 2860 | dmax_ambient = 0; |
nikapov | 0:a1a69d32f310 | 2861 | } |
nikapov | 0:a1a69d32f310 | 2862 | |
nikapov | 0:a1a69d32f310 | 2863 | dmax_ambient = VL53L0X_isqrt(dmax_ambient); |
nikapov | 0:a1a69d32f310 | 2864 | |
nikapov | 0:a1a69d32f310 | 2865 | *pd_max_mm = dmax_dark; |
nikapov | 0:a1a69d32f310 | 2866 | if (dmax_dark > dmax_ambient) { |
nikapov | 0:a1a69d32f310 | 2867 | *pd_max_mm = dmax_ambient; |
nikapov | 0:a1a69d32f310 | 2868 | } |
nikapov | 0:a1a69d32f310 | 2869 | |
sepp_nepp | 5:b95f6951f7d5 | 2870 | |
nikapov | 0:a1a69d32f310 | 2871 | |
nikapov | 0:a1a69d32f310 | 2872 | return status; |
nikapov | 0:a1a69d32f310 | 2873 | } |
nikapov | 0:a1a69d32f310 | 2874 | |
nikapov | 0:a1a69d32f310 | 2875 | VL53L0X_Error VL53L0X::VL53L0X_calc_sigma_estimate(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 2876 | VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data, |
nikapov | 0:a1a69d32f310 | 2877 | FixPoint1616_t *p_sigma_estimate, |
nikapov | 0:a1a69d32f310 | 2878 | uint32_t *p_dmax_mm) |
nikapov | 0:a1a69d32f310 | 2879 | { |
nikapov | 0:a1a69d32f310 | 2880 | /* Expressed in 100ths of a ns, i.e. centi-ns */ |
nikapov | 0:a1a69d32f310 | 2881 | const uint32_t c_pulse_effective_width_centi_ns = 800; |
nikapov | 0:a1a69d32f310 | 2882 | /* Expressed in 100ths of a ns, i.e. centi-ns */ |
nikapov | 0:a1a69d32f310 | 2883 | const uint32_t c_ambient_effective_width_centi_ns = 600; |
nikapov | 0:a1a69d32f310 | 2884 | const FixPoint1616_t c_dflt_final_range_integration_time_milli_secs = 0x00190000; /* 25ms */ |
nikapov | 0:a1a69d32f310 | 2885 | const uint32_t c_vcsel_pulse_width_ps = 4700; /* pico secs */ |
nikapov | 0:a1a69d32f310 | 2886 | const FixPoint1616_t c_sigma_est_max = 0x028F87AE; |
nikapov | 0:a1a69d32f310 | 2887 | const FixPoint1616_t c_sigma_est_rtn_max = 0xF000; |
nikapov | 0:a1a69d32f310 | 2888 | const FixPoint1616_t c_amb_to_signal_ratio_max = 0xF0000000 / |
nikapov | 0:a1a69d32f310 | 2889 | c_ambient_effective_width_centi_ns; |
nikapov | 0:a1a69d32f310 | 2890 | /* Time Of Flight per mm (6.6 pico secs) */ |
nikapov | 0:a1a69d32f310 | 2891 | const FixPoint1616_t c_tof_per_mm_ps = 0x0006999A; |
nikapov | 0:a1a69d32f310 | 2892 | const uint32_t c_16bit_rounding_param = 0x00008000; |
nikapov | 0:a1a69d32f310 | 2893 | const FixPoint1616_t c_max_x_talk_kcps = 0x00320000; |
nikapov | 0:a1a69d32f310 | 2894 | const uint32_t c_pll_period_ps = 1655; |
nikapov | 0:a1a69d32f310 | 2895 | |
nikapov | 0:a1a69d32f310 | 2896 | uint32_t vcsel_total_events_rtn; |
nikapov | 0:a1a69d32f310 | 2897 | uint32_t final_range_timeout_micro_secs; |
nikapov | 0:a1a69d32f310 | 2898 | uint32_t pre_range_timeout_micro_secs; |
nikapov | 0:a1a69d32f310 | 2899 | uint32_t final_range_integration_time_milli_secs; |
nikapov | 0:a1a69d32f310 | 2900 | FixPoint1616_t sigma_estimate_p1; |
nikapov | 0:a1a69d32f310 | 2901 | FixPoint1616_t sigma_estimate_p2; |
nikapov | 0:a1a69d32f310 | 2902 | FixPoint1616_t sigma_estimate_p3; |
nikapov | 0:a1a69d32f310 | 2903 | FixPoint1616_t delta_t_ps; |
nikapov | 0:a1a69d32f310 | 2904 | FixPoint1616_t pw_mult; |
nikapov | 0:a1a69d32f310 | 2905 | FixPoint1616_t sigma_est_rtn; |
nikapov | 0:a1a69d32f310 | 2906 | FixPoint1616_t sigma_estimate; |
nikapov | 0:a1a69d32f310 | 2907 | FixPoint1616_t x_talk_correction; |
nikapov | 0:a1a69d32f310 | 2908 | FixPoint1616_t ambient_rate_kcps; |
nikapov | 0:a1a69d32f310 | 2909 | FixPoint1616_t peak_signal_rate_kcps; |
nikapov | 0:a1a69d32f310 | 2910 | FixPoint1616_t x_talk_comp_rate_mcps; |
nikapov | 0:a1a69d32f310 | 2911 | uint32_t x_talk_comp_rate_kcps; |
nikapov | 0:a1a69d32f310 | 2912 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 2913 | FixPoint1616_t diff1_mcps; |
nikapov | 0:a1a69d32f310 | 2914 | FixPoint1616_t diff2_mcps; |
nikapov | 0:a1a69d32f310 | 2915 | FixPoint1616_t sqr1; |
nikapov | 0:a1a69d32f310 | 2916 | FixPoint1616_t sqr2; |
nikapov | 0:a1a69d32f310 | 2917 | FixPoint1616_t sqr_sum; |
nikapov | 0:a1a69d32f310 | 2918 | FixPoint1616_t sqrt_result_centi_ns; |
nikapov | 0:a1a69d32f310 | 2919 | FixPoint1616_t sqrt_result; |
nikapov | 0:a1a69d32f310 | 2920 | FixPoint1616_t total_signal_rate_mcps; |
nikapov | 0:a1a69d32f310 | 2921 | FixPoint1616_t corrected_signal_rate_mcps; |
nikapov | 0:a1a69d32f310 | 2922 | FixPoint1616_t sigma_est_ref; |
nikapov | 0:a1a69d32f310 | 2923 | uint32_t vcsel_width; |
nikapov | 0:a1a69d32f310 | 2924 | uint32_t final_range_macro_pclks; |
nikapov | 0:a1a69d32f310 | 2925 | uint32_t pre_range_macro_pclks; |
nikapov | 0:a1a69d32f310 | 2926 | uint32_t peak_vcsel_duration_us; |
nikapov | 0:a1a69d32f310 | 2927 | uint8_t final_range_vcsel_pclks; |
nikapov | 0:a1a69d32f310 | 2928 | uint8_t pre_range_vcsel_pclks; |
nikapov | 0:a1a69d32f310 | 2929 | /*! \addtogroup calc_sigma_estimate |
nikapov | 0:a1a69d32f310 | 2930 | * @{ |
nikapov | 0:a1a69d32f310 | 2931 | * |
nikapov | 0:a1a69d32f310 | 2932 | * Estimates the range sigma |
nikapov | 0:a1a69d32f310 | 2933 | */ |
nikapov | 0:a1a69d32f310 | 2934 | |
sepp_nepp | 5:b95f6951f7d5 | 2935 | |
nikapov | 0:a1a69d32f310 | 2936 | |
nikapov | 0:a1a69d32f310 | 2937 | VL53L0X_GETPARAMETERFIELD(dev, XTalkCompensationRateMegaCps, |
nikapov | 0:a1a69d32f310 | 2938 | x_talk_comp_rate_mcps); |
nikapov | 0:a1a69d32f310 | 2939 | |
nikapov | 0:a1a69d32f310 | 2940 | /* |
nikapov | 0:a1a69d32f310 | 2941 | * We work in kcps rather than mcps as this helps keep within the |
nikapov | 0:a1a69d32f310 | 2942 | * confines of the 32 Fix1616 type. |
nikapov | 0:a1a69d32f310 | 2943 | */ |
nikapov | 0:a1a69d32f310 | 2944 | |
nikapov | 0:a1a69d32f310 | 2945 | ambient_rate_kcps = |
nikapov | 0:a1a69d32f310 | 2946 | (p_ranging_measurement_data->AmbientRateRtnMegaCps * 1000) >> 16; |
nikapov | 0:a1a69d32f310 | 2947 | |
nikapov | 0:a1a69d32f310 | 2948 | corrected_signal_rate_mcps = |
nikapov | 0:a1a69d32f310 | 2949 | p_ranging_measurement_data->SignalRateRtnMegaCps; |
nikapov | 0:a1a69d32f310 | 2950 | |
nikapov | 0:a1a69d32f310 | 2951 | |
nikapov | 0:a1a69d32f310 | 2952 | status = VL53L0X_get_total_signal_rate( |
nikapov | 0:a1a69d32f310 | 2953 | dev, p_ranging_measurement_data, &total_signal_rate_mcps); |
nikapov | 0:a1a69d32f310 | 2954 | status = VL53L0X_get_total_xtalk_rate( |
nikapov | 0:a1a69d32f310 | 2955 | dev, p_ranging_measurement_data, &x_talk_comp_rate_mcps); |
nikapov | 0:a1a69d32f310 | 2956 | |
nikapov | 0:a1a69d32f310 | 2957 | |
nikapov | 0:a1a69d32f310 | 2958 | /* Signal rate measurement provided by device is the |
nikapov | 0:a1a69d32f310 | 2959 | * peak signal rate, not average. |
nikapov | 0:a1a69d32f310 | 2960 | */ |
nikapov | 0:a1a69d32f310 | 2961 | peak_signal_rate_kcps = (total_signal_rate_mcps * 1000); |
nikapov | 0:a1a69d32f310 | 2962 | peak_signal_rate_kcps = (peak_signal_rate_kcps + 0x8000) >> 16; |
nikapov | 0:a1a69d32f310 | 2963 | |
nikapov | 0:a1a69d32f310 | 2964 | x_talk_comp_rate_kcps = x_talk_comp_rate_mcps * 1000; |
nikapov | 0:a1a69d32f310 | 2965 | |
nikapov | 0:a1a69d32f310 | 2966 | if (x_talk_comp_rate_kcps > c_max_x_talk_kcps) { |
nikapov | 0:a1a69d32f310 | 2967 | x_talk_comp_rate_kcps = c_max_x_talk_kcps; |
nikapov | 0:a1a69d32f310 | 2968 | } |
nikapov | 0:a1a69d32f310 | 2969 | |
nikapov | 0:a1a69d32f310 | 2970 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 2971 | |
nikapov | 0:a1a69d32f310 | 2972 | /* Calculate final range macro periods */ |
nikapov | 0:a1a69d32f310 | 2973 | final_range_timeout_micro_secs = VL53L0X_GETDEVICESPECIFICPARAMETER( |
nikapov | 0:a1a69d32f310 | 2974 | dev, FinalRangeTimeoutMicroSecs); |
nikapov | 0:a1a69d32f310 | 2975 | |
nikapov | 0:a1a69d32f310 | 2976 | final_range_vcsel_pclks = VL53L0X_GETDEVICESPECIFICPARAMETER( |
nikapov | 0:a1a69d32f310 | 2977 | dev, FinalRangeVcselPulsePeriod); |
nikapov | 0:a1a69d32f310 | 2978 | |
nikapov | 0:a1a69d32f310 | 2979 | final_range_macro_pclks = VL53L0X_calc_timeout_mclks( |
nikapov | 0:a1a69d32f310 | 2980 | dev, final_range_timeout_micro_secs, final_range_vcsel_pclks); |
nikapov | 0:a1a69d32f310 | 2981 | |
nikapov | 0:a1a69d32f310 | 2982 | /* Calculate pre-range macro periods */ |
nikapov | 0:a1a69d32f310 | 2983 | pre_range_timeout_micro_secs = VL53L0X_GETDEVICESPECIFICPARAMETER( |
nikapov | 0:a1a69d32f310 | 2984 | dev, PreRangeTimeoutMicroSecs); |
nikapov | 0:a1a69d32f310 | 2985 | |
nikapov | 0:a1a69d32f310 | 2986 | pre_range_vcsel_pclks = VL53L0X_GETDEVICESPECIFICPARAMETER( |
nikapov | 0:a1a69d32f310 | 2987 | dev, PreRangeVcselPulsePeriod); |
nikapov | 0:a1a69d32f310 | 2988 | |
nikapov | 0:a1a69d32f310 | 2989 | pre_range_macro_pclks = VL53L0X_calc_timeout_mclks( |
nikapov | 0:a1a69d32f310 | 2990 | dev, pre_range_timeout_micro_secs, pre_range_vcsel_pclks); |
nikapov | 0:a1a69d32f310 | 2991 | |
nikapov | 0:a1a69d32f310 | 2992 | vcsel_width = 3; |
nikapov | 0:a1a69d32f310 | 2993 | if (final_range_vcsel_pclks == 8) { |
nikapov | 0:a1a69d32f310 | 2994 | vcsel_width = 2; |
nikapov | 0:a1a69d32f310 | 2995 | } |
nikapov | 0:a1a69d32f310 | 2996 | |
nikapov | 0:a1a69d32f310 | 2997 | |
nikapov | 0:a1a69d32f310 | 2998 | peak_vcsel_duration_us = vcsel_width * 2048 * |
nikapov | 0:a1a69d32f310 | 2999 | (pre_range_macro_pclks + final_range_macro_pclks); |
nikapov | 0:a1a69d32f310 | 3000 | peak_vcsel_duration_us = (peak_vcsel_duration_us + 500) / 1000; |
nikapov | 0:a1a69d32f310 | 3001 | peak_vcsel_duration_us *= c_pll_period_ps; |
nikapov | 0:a1a69d32f310 | 3002 | peak_vcsel_duration_us = (peak_vcsel_duration_us + 500) / 1000; |
nikapov | 0:a1a69d32f310 | 3003 | |
nikapov | 0:a1a69d32f310 | 3004 | /* Fix1616 >> 8 = Fix2408 */ |
nikapov | 0:a1a69d32f310 | 3005 | total_signal_rate_mcps = (total_signal_rate_mcps + 0x80) >> 8; |
nikapov | 0:a1a69d32f310 | 3006 | |
nikapov | 0:a1a69d32f310 | 3007 | /* Fix2408 * uint32 = Fix2408 */ |
nikapov | 0:a1a69d32f310 | 3008 | vcsel_total_events_rtn = total_signal_rate_mcps * |
nikapov | 0:a1a69d32f310 | 3009 | peak_vcsel_duration_us; |
nikapov | 0:a1a69d32f310 | 3010 | |
nikapov | 0:a1a69d32f310 | 3011 | /* Fix2408 >> 8 = uint32 */ |
nikapov | 0:a1a69d32f310 | 3012 | vcsel_total_events_rtn = (vcsel_total_events_rtn + 0x80) >> 8; |
nikapov | 0:a1a69d32f310 | 3013 | |
nikapov | 0:a1a69d32f310 | 3014 | /* Fix2408 << 8 = Fix1616 = */ |
nikapov | 0:a1a69d32f310 | 3015 | total_signal_rate_mcps <<= 8; |
nikapov | 0:a1a69d32f310 | 3016 | } |
nikapov | 0:a1a69d32f310 | 3017 | |
nikapov | 0:a1a69d32f310 | 3018 | if (status != VL53L0X_ERROR_NONE) { |
sepp_nepp | 5:b95f6951f7d5 | 3019 | |
nikapov | 0:a1a69d32f310 | 3020 | return status; |
nikapov | 0:a1a69d32f310 | 3021 | } |
nikapov | 0:a1a69d32f310 | 3022 | |
nikapov | 0:a1a69d32f310 | 3023 | if (peak_signal_rate_kcps == 0) { |
nikapov | 0:a1a69d32f310 | 3024 | *p_sigma_estimate = c_sigma_est_max; |
nikapov | 0:a1a69d32f310 | 3025 | PALDevDataSet(dev, SigmaEstimate, c_sigma_est_max); |
nikapov | 0:a1a69d32f310 | 3026 | *p_dmax_mm = 0; |
nikapov | 0:a1a69d32f310 | 3027 | } else { |
nikapov | 0:a1a69d32f310 | 3028 | if (vcsel_total_events_rtn < 1) { |
nikapov | 0:a1a69d32f310 | 3029 | vcsel_total_events_rtn = 1; |
nikapov | 0:a1a69d32f310 | 3030 | } |
nikapov | 0:a1a69d32f310 | 3031 | |
nikapov | 0:a1a69d32f310 | 3032 | sigma_estimate_p1 = c_pulse_effective_width_centi_ns; |
nikapov | 0:a1a69d32f310 | 3033 | |
nikapov | 0:a1a69d32f310 | 3034 | /* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */ |
nikapov | 0:a1a69d32f310 | 3035 | sigma_estimate_p2 = (ambient_rate_kcps << 16) / peak_signal_rate_kcps; |
nikapov | 0:a1a69d32f310 | 3036 | if (sigma_estimate_p2 > c_amb_to_signal_ratio_max) { |
nikapov | 0:a1a69d32f310 | 3037 | /* Clip to prevent overflow. Will ensure safe |
nikapov | 0:a1a69d32f310 | 3038 | * max result. */ |
nikapov | 0:a1a69d32f310 | 3039 | sigma_estimate_p2 = c_amb_to_signal_ratio_max; |
nikapov | 0:a1a69d32f310 | 3040 | } |
nikapov | 0:a1a69d32f310 | 3041 | sigma_estimate_p2 *= c_ambient_effective_width_centi_ns; |
nikapov | 0:a1a69d32f310 | 3042 | |
nikapov | 0:a1a69d32f310 | 3043 | sigma_estimate_p3 = 2 * VL53L0X_isqrt(vcsel_total_events_rtn * 12); |
nikapov | 0:a1a69d32f310 | 3044 | |
nikapov | 0:a1a69d32f310 | 3045 | /* uint32 * FixPoint1616 = FixPoint1616 */ |
nikapov | 0:a1a69d32f310 | 3046 | delta_t_ps = p_ranging_measurement_data->RangeMilliMeter * |
nikapov | 0:a1a69d32f310 | 3047 | c_tof_per_mm_ps; |
nikapov | 0:a1a69d32f310 | 3048 | |
nikapov | 0:a1a69d32f310 | 3049 | /* |
nikapov | 0:a1a69d32f310 | 3050 | * vcselRate - xtalkCompRate |
nikapov | 0:a1a69d32f310 | 3051 | * (uint32 << 16) - FixPoint1616 = FixPoint1616. |
nikapov | 0:a1a69d32f310 | 3052 | * Divide result by 1000 to convert to mcps. |
nikapov | 0:a1a69d32f310 | 3053 | * 500 is added to ensure rounding when integer division |
nikapov | 0:a1a69d32f310 | 3054 | * truncates. |
nikapov | 0:a1a69d32f310 | 3055 | */ |
nikapov | 0:a1a69d32f310 | 3056 | diff1_mcps = (((peak_signal_rate_kcps << 16) - |
nikapov | 0:a1a69d32f310 | 3057 | 2 * x_talk_comp_rate_kcps) + 500) / 1000; |
nikapov | 0:a1a69d32f310 | 3058 | |
nikapov | 0:a1a69d32f310 | 3059 | /* vcselRate + xtalkCompRate */ |
nikapov | 0:a1a69d32f310 | 3060 | diff2_mcps = ((peak_signal_rate_kcps << 16) + 500) / 1000; |
nikapov | 0:a1a69d32f310 | 3061 | |
nikapov | 0:a1a69d32f310 | 3062 | /* Shift by 8 bits to increase resolution prior to the |
nikapov | 0:a1a69d32f310 | 3063 | * division */ |
nikapov | 0:a1a69d32f310 | 3064 | diff1_mcps <<= 8; |
nikapov | 0:a1a69d32f310 | 3065 | |
nikapov | 0:a1a69d32f310 | 3066 | /* FixPoint0824/FixPoint1616 = FixPoint2408 */ |
nikapov | 0:a1a69d32f310 | 3067 | // xTalkCorrection = abs(diff1_mcps/diff2_mcps); |
nikapov | 0:a1a69d32f310 | 3068 | // abs is causing compiler overloading isue in C++, but unsigned types. So, redundant call anyway! |
nikapov | 0:a1a69d32f310 | 3069 | x_talk_correction = diff1_mcps / diff2_mcps; |
nikapov | 0:a1a69d32f310 | 3070 | |
nikapov | 0:a1a69d32f310 | 3071 | /* FixPoint2408 << 8 = FixPoint1616 */ |
nikapov | 0:a1a69d32f310 | 3072 | x_talk_correction <<= 8; |
nikapov | 0:a1a69d32f310 | 3073 | |
nikapov | 0:a1a69d32f310 | 3074 | if (p_ranging_measurement_data->RangeStatus != 0) { |
nikapov | 0:a1a69d32f310 | 3075 | pw_mult = 1 << 16; |
nikapov | 0:a1a69d32f310 | 3076 | } else { |
nikapov | 0:a1a69d32f310 | 3077 | /* FixPoint1616/uint32 = FixPoint1616 */ |
nikapov | 0:a1a69d32f310 | 3078 | pw_mult = delta_t_ps / c_vcsel_pulse_width_ps; /* smaller than 1.0f */ |
nikapov | 0:a1a69d32f310 | 3079 | |
nikapov | 0:a1a69d32f310 | 3080 | /* |
nikapov | 0:a1a69d32f310 | 3081 | * FixPoint1616 * FixPoint1616 = FixPoint3232, however both |
nikapov | 0:a1a69d32f310 | 3082 | * values are small enough such that32 bits will not be |
nikapov | 0:a1a69d32f310 | 3083 | * exceeded. |
nikapov | 0:a1a69d32f310 | 3084 | */ |
nikapov | 0:a1a69d32f310 | 3085 | pw_mult *= ((1 << 16) - x_talk_correction); |
nikapov | 0:a1a69d32f310 | 3086 | |
nikapov | 0:a1a69d32f310 | 3087 | /* (FixPoint3232 >> 16) = FixPoint1616 */ |
nikapov | 0:a1a69d32f310 | 3088 | pw_mult = (pw_mult + c_16bit_rounding_param) >> 16; |
nikapov | 0:a1a69d32f310 | 3089 | |
nikapov | 0:a1a69d32f310 | 3090 | /* FixPoint1616 + FixPoint1616 = FixPoint1616 */ |
nikapov | 0:a1a69d32f310 | 3091 | pw_mult += (1 << 16); |
nikapov | 0:a1a69d32f310 | 3092 | |
nikapov | 0:a1a69d32f310 | 3093 | /* |
nikapov | 0:a1a69d32f310 | 3094 | * At this point the value will be 1.xx, therefore if we square |
nikapov | 0:a1a69d32f310 | 3095 | * the value this will exceed 32 bits. To address this perform |
nikapov | 0:a1a69d32f310 | 3096 | * a single shift to the right before the multiplication. |
nikapov | 0:a1a69d32f310 | 3097 | */ |
nikapov | 0:a1a69d32f310 | 3098 | pw_mult >>= 1; |
nikapov | 0:a1a69d32f310 | 3099 | /* FixPoint1715 * FixPoint1715 = FixPoint3430 */ |
nikapov | 0:a1a69d32f310 | 3100 | pw_mult = pw_mult * pw_mult; |
nikapov | 0:a1a69d32f310 | 3101 | |
nikapov | 0:a1a69d32f310 | 3102 | /* (FixPoint3430 >> 14) = Fix1616 */ |
nikapov | 0:a1a69d32f310 | 3103 | pw_mult >>= 14; |
nikapov | 0:a1a69d32f310 | 3104 | } |
nikapov | 0:a1a69d32f310 | 3105 | |
nikapov | 0:a1a69d32f310 | 3106 | /* FixPoint1616 * uint32 = FixPoint1616 */ |
nikapov | 0:a1a69d32f310 | 3107 | sqr1 = pw_mult * sigma_estimate_p1; |
nikapov | 0:a1a69d32f310 | 3108 | |
nikapov | 0:a1a69d32f310 | 3109 | /* (FixPoint1616 >> 16) = FixPoint3200 */ |
nikapov | 0:a1a69d32f310 | 3110 | sqr1 = (sqr1 + 0x8000) >> 16; |
nikapov | 0:a1a69d32f310 | 3111 | |
nikapov | 0:a1a69d32f310 | 3112 | /* FixPoint3200 * FixPoint3200 = FixPoint6400 */ |
nikapov | 0:a1a69d32f310 | 3113 | sqr1 *= sqr1; |
nikapov | 0:a1a69d32f310 | 3114 | |
nikapov | 0:a1a69d32f310 | 3115 | sqr2 = sigma_estimate_p2; |
nikapov | 0:a1a69d32f310 | 3116 | |
nikapov | 0:a1a69d32f310 | 3117 | /* (FixPoint1616 >> 16) = FixPoint3200 */ |
nikapov | 0:a1a69d32f310 | 3118 | sqr2 = (sqr2 + 0x8000) >> 16; |
nikapov | 0:a1a69d32f310 | 3119 | |
nikapov | 0:a1a69d32f310 | 3120 | /* FixPoint3200 * FixPoint3200 = FixPoint6400 */ |
nikapov | 0:a1a69d32f310 | 3121 | sqr2 *= sqr2; |
nikapov | 0:a1a69d32f310 | 3122 | |
nikapov | 0:a1a69d32f310 | 3123 | /* FixPoint64000 + FixPoint6400 = FixPoint6400 */ |
nikapov | 0:a1a69d32f310 | 3124 | sqr_sum = sqr1 + sqr2; |
nikapov | 0:a1a69d32f310 | 3125 | |
nikapov | 0:a1a69d32f310 | 3126 | /* SQRT(FixPoin6400) = FixPoint3200 */ |
nikapov | 0:a1a69d32f310 | 3127 | sqrt_result_centi_ns = VL53L0X_isqrt(sqr_sum); |
nikapov | 0:a1a69d32f310 | 3128 | |
nikapov | 0:a1a69d32f310 | 3129 | /* (FixPoint3200 << 16) = FixPoint1616 */ |
nikapov | 0:a1a69d32f310 | 3130 | sqrt_result_centi_ns <<= 16; |
nikapov | 0:a1a69d32f310 | 3131 | |
nikapov | 0:a1a69d32f310 | 3132 | /* |
nikapov | 0:a1a69d32f310 | 3133 | * Note that the Speed Of Light is expressed in um per 1E-10 |
nikapov | 0:a1a69d32f310 | 3134 | * seconds (2997) Therefore to get mm/ns we have to divide by |
nikapov | 0:a1a69d32f310 | 3135 | * 10000 |
nikapov | 0:a1a69d32f310 | 3136 | */ |
nikapov | 0:a1a69d32f310 | 3137 | sigma_est_rtn = (((sqrt_result_centi_ns + 50) / 100) / |
nikapov | 0:a1a69d32f310 | 3138 | sigma_estimate_p3); |
nikapov | 0:a1a69d32f310 | 3139 | sigma_est_rtn *= VL53L0X_SPEED_OF_LIGHT_IN_AIR; |
nikapov | 0:a1a69d32f310 | 3140 | |
nikapov | 0:a1a69d32f310 | 3141 | /* Add 5000 before dividing by 10000 to ensure rounding. */ |
nikapov | 0:a1a69d32f310 | 3142 | sigma_est_rtn += 5000; |
nikapov | 0:a1a69d32f310 | 3143 | sigma_est_rtn /= 10000; |
nikapov | 0:a1a69d32f310 | 3144 | |
nikapov | 0:a1a69d32f310 | 3145 | if (sigma_est_rtn > c_sigma_est_rtn_max) { |
nikapov | 0:a1a69d32f310 | 3146 | /* Clip to prevent overflow. Will ensure safe |
nikapov | 0:a1a69d32f310 | 3147 | * max result. */ |
nikapov | 0:a1a69d32f310 | 3148 | sigma_est_rtn = c_sigma_est_rtn_max; |
nikapov | 0:a1a69d32f310 | 3149 | } |
nikapov | 0:a1a69d32f310 | 3150 | final_range_integration_time_milli_secs = |
nikapov | 0:a1a69d32f310 | 3151 | (final_range_timeout_micro_secs + pre_range_timeout_micro_secs + 500) / 1000; |
nikapov | 0:a1a69d32f310 | 3152 | |
nikapov | 0:a1a69d32f310 | 3153 | /* sigmaEstRef = 1mm * 25ms/final range integration time (inc pre-range) |
nikapov | 0:a1a69d32f310 | 3154 | * sqrt(FixPoint1616/int) = FixPoint2408) |
nikapov | 0:a1a69d32f310 | 3155 | */ |
nikapov | 0:a1a69d32f310 | 3156 | sigma_est_ref = |
nikapov | 0:a1a69d32f310 | 3157 | VL53L0X_isqrt((c_dflt_final_range_integration_time_milli_secs + |
nikapov | 0:a1a69d32f310 | 3158 | final_range_integration_time_milli_secs / 2) / |
nikapov | 0:a1a69d32f310 | 3159 | final_range_integration_time_milli_secs); |
nikapov | 0:a1a69d32f310 | 3160 | |
nikapov | 0:a1a69d32f310 | 3161 | /* FixPoint2408 << 8 = FixPoint1616 */ |
nikapov | 0:a1a69d32f310 | 3162 | sigma_est_ref <<= 8; |
nikapov | 0:a1a69d32f310 | 3163 | sigma_est_ref = (sigma_est_ref + 500) / 1000; |
nikapov | 0:a1a69d32f310 | 3164 | |
nikapov | 0:a1a69d32f310 | 3165 | /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ |
nikapov | 0:a1a69d32f310 | 3166 | sqr1 = sigma_est_rtn * sigma_est_rtn; |
nikapov | 0:a1a69d32f310 | 3167 | /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ |
nikapov | 0:a1a69d32f310 | 3168 | sqr2 = sigma_est_ref * sigma_est_ref; |
nikapov | 0:a1a69d32f310 | 3169 | |
nikapov | 0:a1a69d32f310 | 3170 | /* sqrt(FixPoint3232) = FixPoint1616 */ |
nikapov | 0:a1a69d32f310 | 3171 | sqrt_result = VL53L0X_isqrt((sqr1 + sqr2)); |
nikapov | 0:a1a69d32f310 | 3172 | /* |
nikapov | 0:a1a69d32f310 | 3173 | * Note that the Shift by 4 bits increases resolution prior to |
nikapov | 0:a1a69d32f310 | 3174 | * the sqrt, therefore the result must be shifted by 2 bits to |
nikapov | 0:a1a69d32f310 | 3175 | * the right to revert back to the FixPoint1616 format. |
nikapov | 0:a1a69d32f310 | 3176 | */ |
nikapov | 0:a1a69d32f310 | 3177 | |
nikapov | 0:a1a69d32f310 | 3178 | sigma_estimate = 1000 * sqrt_result; |
nikapov | 0:a1a69d32f310 | 3179 | |
nikapov | 0:a1a69d32f310 | 3180 | if ((peak_signal_rate_kcps < 1) || (vcsel_total_events_rtn < 1) || |
nikapov | 0:a1a69d32f310 | 3181 | (sigma_estimate > c_sigma_est_max)) { |
nikapov | 0:a1a69d32f310 | 3182 | sigma_estimate = c_sigma_est_max; |
nikapov | 0:a1a69d32f310 | 3183 | } |
nikapov | 0:a1a69d32f310 | 3184 | |
nikapov | 0:a1a69d32f310 | 3185 | *p_sigma_estimate = (uint32_t)(sigma_estimate); |
nikapov | 0:a1a69d32f310 | 3186 | PALDevDataSet(dev, SigmaEstimate, *p_sigma_estimate); |
nikapov | 0:a1a69d32f310 | 3187 | status = VL53L0X_calc_dmax( |
nikapov | 0:a1a69d32f310 | 3188 | dev, |
nikapov | 0:a1a69d32f310 | 3189 | total_signal_rate_mcps, |
nikapov | 0:a1a69d32f310 | 3190 | corrected_signal_rate_mcps, |
nikapov | 0:a1a69d32f310 | 3191 | pw_mult, |
nikapov | 0:a1a69d32f310 | 3192 | sigma_estimate_p1, |
nikapov | 0:a1a69d32f310 | 3193 | sigma_estimate_p2, |
nikapov | 0:a1a69d32f310 | 3194 | peak_vcsel_duration_us, |
nikapov | 0:a1a69d32f310 | 3195 | p_dmax_mm); |
nikapov | 0:a1a69d32f310 | 3196 | } |
nikapov | 0:a1a69d32f310 | 3197 | |
sepp_nepp | 5:b95f6951f7d5 | 3198 | |
nikapov | 0:a1a69d32f310 | 3199 | return status; |
nikapov | 0:a1a69d32f310 | 3200 | } |
nikapov | 0:a1a69d32f310 | 3201 | |
nikapov | 0:a1a69d32f310 | 3202 | VL53L0X_Error VL53L0X::VL53L0X_get_pal_range_status(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 3203 | uint8_t device_range_status, |
nikapov | 0:a1a69d32f310 | 3204 | FixPoint1616_t signal_rate, |
nikapov | 0:a1a69d32f310 | 3205 | uint16_t effective_spad_rtn_count, |
nikapov | 0:a1a69d32f310 | 3206 | VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data, |
nikapov | 0:a1a69d32f310 | 3207 | uint8_t *p_pal_range_status) |
nikapov | 0:a1a69d32f310 | 3208 | { |
nikapov | 0:a1a69d32f310 | 3209 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 3210 | uint8_t none_flag; |
nikapov | 0:a1a69d32f310 | 3211 | uint8_t sigma_limitflag = 0; |
nikapov | 0:a1a69d32f310 | 3212 | uint8_t signal_ref_clipflag = 0; |
nikapov | 0:a1a69d32f310 | 3213 | uint8_t range_ignore_thresholdflag = 0; |
nikapov | 0:a1a69d32f310 | 3214 | uint8_t sigma_limit_check_enable = 0; |
nikapov | 0:a1a69d32f310 | 3215 | uint8_t signal_rate_final_range_limit_check_enable = 0; |
nikapov | 0:a1a69d32f310 | 3216 | uint8_t signal_ref_clip_limit_check_enable = 0; |
nikapov | 0:a1a69d32f310 | 3217 | uint8_t range_ignore_threshold_limit_check_enable = 0; |
nikapov | 0:a1a69d32f310 | 3218 | FixPoint1616_t sigma_estimate; |
nikapov | 0:a1a69d32f310 | 3219 | FixPoint1616_t sigma_limit_value; |
nikapov | 0:a1a69d32f310 | 3220 | FixPoint1616_t signal_ref_clip_value; |
nikapov | 0:a1a69d32f310 | 3221 | FixPoint1616_t range_ignore_threshold_value; |
nikapov | 0:a1a69d32f310 | 3222 | FixPoint1616_t signal_rate_per_spad; |
nikapov | 0:a1a69d32f310 | 3223 | uint8_t device_range_status_internal = 0; |
nikapov | 0:a1a69d32f310 | 3224 | uint16_t tmp_word = 0; |
nikapov | 0:a1a69d32f310 | 3225 | uint8_t temp8; |
nikapov | 0:a1a69d32f310 | 3226 | uint32_t dmax_mm = 0; |
nikapov | 0:a1a69d32f310 | 3227 | FixPoint1616_t last_signal_ref_mcps; |
nikapov | 0:a1a69d32f310 | 3228 | |
sepp_nepp | 5:b95f6951f7d5 | 3229 | |
nikapov | 0:a1a69d32f310 | 3230 | |
nikapov | 0:a1a69d32f310 | 3231 | |
nikapov | 0:a1a69d32f310 | 3232 | /* |
nikapov | 0:a1a69d32f310 | 3233 | * VL53L0X has a good ranging when the value of the |
nikapov | 0:a1a69d32f310 | 3234 | * DeviceRangeStatus = 11. This function will replace the value 0 with |
nikapov | 0:a1a69d32f310 | 3235 | * the value 11 in the DeviceRangeStatus. |
nikapov | 0:a1a69d32f310 | 3236 | * In addition, the SigmaEstimator is not included in the VL53L0X |
nikapov | 0:a1a69d32f310 | 3237 | * DeviceRangeStatus, this will be added in the PalRangeStatus. |
nikapov | 0:a1a69d32f310 | 3238 | */ |
nikapov | 0:a1a69d32f310 | 3239 | |
nikapov | 0:a1a69d32f310 | 3240 | device_range_status_internal = ((device_range_status & 0x78) >> 3); |
nikapov | 0:a1a69d32f310 | 3241 | |
nikapov | 0:a1a69d32f310 | 3242 | if (device_range_status_internal == 0 || |
nikapov | 0:a1a69d32f310 | 3243 | device_range_status_internal == 5 || |
nikapov | 0:a1a69d32f310 | 3244 | device_range_status_internal == 7 || |
nikapov | 0:a1a69d32f310 | 3245 | device_range_status_internal == 12 || |
nikapov | 0:a1a69d32f310 | 3246 | device_range_status_internal == 13 || |
nikapov | 0:a1a69d32f310 | 3247 | device_range_status_internal == 14 || |
nikapov | 0:a1a69d32f310 | 3248 | device_range_status_internal == 15 |
nikapov | 0:a1a69d32f310 | 3249 | ) { |
nikapov | 0:a1a69d32f310 | 3250 | none_flag = 1; |
nikapov | 0:a1a69d32f310 | 3251 | } else { |
nikapov | 0:a1a69d32f310 | 3252 | none_flag = 0; |
nikapov | 0:a1a69d32f310 | 3253 | } |
nikapov | 0:a1a69d32f310 | 3254 | |
nikapov | 0:a1a69d32f310 | 3255 | /* |
nikapov | 0:a1a69d32f310 | 3256 | * Check if Sigma limit is enabled, if yes then do comparison with limit |
nikapov | 0:a1a69d32f310 | 3257 | * value and put the result back into pPalRangeStatus. |
nikapov | 0:a1a69d32f310 | 3258 | */ |
nikapov | 0:a1a69d32f310 | 3259 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3260 | status = VL53L0X_get_limit_check_enable(dev, |
nikapov | 0:a1a69d32f310 | 3261 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
nikapov | 0:a1a69d32f310 | 3262 | &sigma_limit_check_enable); |
Davidroid | 2:d07edeaff6f1 | 3263 | } |
nikapov | 0:a1a69d32f310 | 3264 | |
nikapov | 0:a1a69d32f310 | 3265 | if ((sigma_limit_check_enable != 0) && (status == VL53L0X_ERROR_NONE)) { |
nikapov | 0:a1a69d32f310 | 3266 | /* |
nikapov | 0:a1a69d32f310 | 3267 | * compute the Sigma and check with limit |
nikapov | 0:a1a69d32f310 | 3268 | */ |
nikapov | 0:a1a69d32f310 | 3269 | status = VL53L0X_calc_sigma_estimate( |
nikapov | 0:a1a69d32f310 | 3270 | dev, |
nikapov | 0:a1a69d32f310 | 3271 | p_ranging_measurement_data, |
nikapov | 0:a1a69d32f310 | 3272 | &sigma_estimate, |
nikapov | 0:a1a69d32f310 | 3273 | &dmax_mm); |
nikapov | 0:a1a69d32f310 | 3274 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3275 | p_ranging_measurement_data->RangeDMaxMilliMeter = dmax_mm; |
nikapov | 0:a1a69d32f310 | 3276 | } |
nikapov | 0:a1a69d32f310 | 3277 | |
nikapov | 0:a1a69d32f310 | 3278 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3279 | status = VL53L0X_get_limit_check_value(dev, |
nikapov | 0:a1a69d32f310 | 3280 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
nikapov | 0:a1a69d32f310 | 3281 | &sigma_limit_value); |
nikapov | 0:a1a69d32f310 | 3282 | |
nikapov | 0:a1a69d32f310 | 3283 | if ((sigma_limit_value > 0) && |
nikapov | 0:a1a69d32f310 | 3284 | (sigma_estimate > sigma_limit_value)) { |
nikapov | 0:a1a69d32f310 | 3285 | /* Limit Fail */ |
nikapov | 0:a1a69d32f310 | 3286 | sigma_limitflag = 1; |
nikapov | 0:a1a69d32f310 | 3287 | } |
nikapov | 0:a1a69d32f310 | 3288 | } |
nikapov | 0:a1a69d32f310 | 3289 | } |
nikapov | 0:a1a69d32f310 | 3290 | |
nikapov | 0:a1a69d32f310 | 3291 | /* |
nikapov | 0:a1a69d32f310 | 3292 | * Check if Signal ref clip limit is enabled, if yes then do comparison |
nikapov | 0:a1a69d32f310 | 3293 | * with limit value and put the result back into pPalRangeStatus. |
nikapov | 0:a1a69d32f310 | 3294 | */ |
nikapov | 0:a1a69d32f310 | 3295 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3296 | status = VL53L0X_get_limit_check_enable(dev, |
nikapov | 0:a1a69d32f310 | 3297 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
nikapov | 0:a1a69d32f310 | 3298 | &signal_ref_clip_limit_check_enable); |
nikapov | 0:a1a69d32f310 | 3299 | } |
nikapov | 0:a1a69d32f310 | 3300 | |
nikapov | 0:a1a69d32f310 | 3301 | if ((signal_ref_clip_limit_check_enable != 0) && |
nikapov | 0:a1a69d32f310 | 3302 | (status == VL53L0X_ERROR_NONE)) { |
nikapov | 0:a1a69d32f310 | 3303 | |
nikapov | 0:a1a69d32f310 | 3304 | status = VL53L0X_get_limit_check_value(dev, |
nikapov | 0:a1a69d32f310 | 3305 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
nikapov | 0:a1a69d32f310 | 3306 | &signal_ref_clip_value); |
nikapov | 0:a1a69d32f310 | 3307 | |
nikapov | 0:a1a69d32f310 | 3308 | /* Read LastSignalRefMcps from device */ |
nikapov | 0:a1a69d32f310 | 3309 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3310 | status = VL53L0X_write_byte(dev, 0xFF, 0x01); |
nikapov | 0:a1a69d32f310 | 3311 | } |
nikapov | 0:a1a69d32f310 | 3312 | |
nikapov | 0:a1a69d32f310 | 3313 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3314 | status = VL53L0X_read_word(dev, |
nikapov | 0:a1a69d32f310 | 3315 | VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF, |
nikapov | 0:a1a69d32f310 | 3316 | &tmp_word); |
nikapov | 0:a1a69d32f310 | 3317 | } |
nikapov | 0:a1a69d32f310 | 3318 | |
nikapov | 0:a1a69d32f310 | 3319 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3320 | status = VL53L0X_write_byte(dev, 0xFF, 0x00); |
nikapov | 0:a1a69d32f310 | 3321 | } |
nikapov | 0:a1a69d32f310 | 3322 | |
nikapov | 0:a1a69d32f310 | 3323 | last_signal_ref_mcps = VL53L0X_FIXPOINT97TOFIXPOINT1616(tmp_word); |
nikapov | 0:a1a69d32f310 | 3324 | PALDevDataSet(dev, LastSignalRefMcps, last_signal_ref_mcps); |
nikapov | 0:a1a69d32f310 | 3325 | |
nikapov | 0:a1a69d32f310 | 3326 | if ((signal_ref_clip_value > 0) && |
nikapov | 0:a1a69d32f310 | 3327 | (last_signal_ref_mcps > signal_ref_clip_value)) { |
nikapov | 0:a1a69d32f310 | 3328 | /* Limit Fail */ |
nikapov | 0:a1a69d32f310 | 3329 | signal_ref_clipflag = 1; |
nikapov | 0:a1a69d32f310 | 3330 | } |
nikapov | 0:a1a69d32f310 | 3331 | } |
nikapov | 0:a1a69d32f310 | 3332 | |
nikapov | 0:a1a69d32f310 | 3333 | /* |
nikapov | 0:a1a69d32f310 | 3334 | * Check if Signal ref clip limit is enabled, if yes then do comparison |
nikapov | 0:a1a69d32f310 | 3335 | * with limit value and put the result back into pPalRangeStatus. |
nikapov | 0:a1a69d32f310 | 3336 | * EffectiveSpadRtnCount has a format 8.8 |
nikapov | 0:a1a69d32f310 | 3337 | * If (Return signal rate < (1.5 x Xtalk x number of Spads)) : FAIL |
nikapov | 0:a1a69d32f310 | 3338 | */ |
Davidroid | 2:d07edeaff6f1 | 3339 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3340 | status = VL53L0X_get_limit_check_enable(dev, |
nikapov | 0:a1a69d32f310 | 3341 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
nikapov | 0:a1a69d32f310 | 3342 | &range_ignore_threshold_limit_check_enable); |
Davidroid | 2:d07edeaff6f1 | 3343 | } |
nikapov | 0:a1a69d32f310 | 3344 | |
nikapov | 0:a1a69d32f310 | 3345 | if ((range_ignore_threshold_limit_check_enable != 0) && |
nikapov | 0:a1a69d32f310 | 3346 | (status == VL53L0X_ERROR_NONE)) { |
nikapov | 0:a1a69d32f310 | 3347 | |
nikapov | 0:a1a69d32f310 | 3348 | /* Compute the signal rate per spad */ |
nikapov | 0:a1a69d32f310 | 3349 | if (effective_spad_rtn_count == 0) { |
nikapov | 0:a1a69d32f310 | 3350 | signal_rate_per_spad = 0; |
nikapov | 0:a1a69d32f310 | 3351 | } else { |
nikapov | 0:a1a69d32f310 | 3352 | signal_rate_per_spad = (FixPoint1616_t)((256 * signal_rate) |
nikapov | 0:a1a69d32f310 | 3353 | / effective_spad_rtn_count); |
nikapov | 0:a1a69d32f310 | 3354 | } |
nikapov | 0:a1a69d32f310 | 3355 | |
nikapov | 0:a1a69d32f310 | 3356 | status = VL53L0X_get_limit_check_value(dev, |
nikapov | 0:a1a69d32f310 | 3357 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
nikapov | 0:a1a69d32f310 | 3358 | &range_ignore_threshold_value); |
nikapov | 0:a1a69d32f310 | 3359 | |
nikapov | 0:a1a69d32f310 | 3360 | if ((range_ignore_threshold_value > 0) && |
nikapov | 0:a1a69d32f310 | 3361 | (signal_rate_per_spad < range_ignore_threshold_value)) { |
nikapov | 0:a1a69d32f310 | 3362 | /* Limit Fail add 2^6 to range status */ |
nikapov | 0:a1a69d32f310 | 3363 | range_ignore_thresholdflag = 1; |
nikapov | 0:a1a69d32f310 | 3364 | } |
nikapov | 0:a1a69d32f310 | 3365 | } |
nikapov | 0:a1a69d32f310 | 3366 | |
nikapov | 0:a1a69d32f310 | 3367 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3368 | if (none_flag == 1) { |
nikapov | 0:a1a69d32f310 | 3369 | *p_pal_range_status = 255; /* NONE */ |
nikapov | 0:a1a69d32f310 | 3370 | } else if (device_range_status_internal == 1 || |
nikapov | 0:a1a69d32f310 | 3371 | device_range_status_internal == 2 || |
nikapov | 0:a1a69d32f310 | 3372 | device_range_status_internal == 3) { |
nikapov | 0:a1a69d32f310 | 3373 | *p_pal_range_status = 5; /* HW fail */ |
nikapov | 0:a1a69d32f310 | 3374 | } else if (device_range_status_internal == 6 || |
nikapov | 0:a1a69d32f310 | 3375 | device_range_status_internal == 9) { |
nikapov | 0:a1a69d32f310 | 3376 | *p_pal_range_status = 4; /* Phase fail */ |
nikapov | 0:a1a69d32f310 | 3377 | } else if (device_range_status_internal == 8 || |
nikapov | 0:a1a69d32f310 | 3378 | device_range_status_internal == 10 || |
nikapov | 0:a1a69d32f310 | 3379 | signal_ref_clipflag == 1) { |
nikapov | 0:a1a69d32f310 | 3380 | *p_pal_range_status = 3; /* Min range */ |
nikapov | 0:a1a69d32f310 | 3381 | } else if (device_range_status_internal == 4 || |
nikapov | 0:a1a69d32f310 | 3382 | range_ignore_thresholdflag == 1) { |
nikapov | 0:a1a69d32f310 | 3383 | *p_pal_range_status = 2; /* Signal Fail */ |
nikapov | 0:a1a69d32f310 | 3384 | } else if (sigma_limitflag == 1) { |
nikapov | 0:a1a69d32f310 | 3385 | *p_pal_range_status = 1; /* Sigma Fail */ |
nikapov | 0:a1a69d32f310 | 3386 | } else { |
nikapov | 0:a1a69d32f310 | 3387 | *p_pal_range_status = 0; /* Range Valid */ |
nikapov | 0:a1a69d32f310 | 3388 | } |
nikapov | 0:a1a69d32f310 | 3389 | } |
nikapov | 0:a1a69d32f310 | 3390 | |
nikapov | 0:a1a69d32f310 | 3391 | /* DMAX only relevant during range error */ |
Davidroid | 3:e9269ff624ed | 3392 | if (*p_pal_range_status == 0) { |
nikapov | 0:a1a69d32f310 | 3393 | p_ranging_measurement_data->RangeDMaxMilliMeter = 0; |
Davidroid | 3:e9269ff624ed | 3394 | } |
nikapov | 0:a1a69d32f310 | 3395 | |
nikapov | 0:a1a69d32f310 | 3396 | /* fill the Limit Check Status */ |
nikapov | 0:a1a69d32f310 | 3397 | |
nikapov | 0:a1a69d32f310 | 3398 | status = VL53L0X_get_limit_check_enable(dev, |
nikapov | 0:a1a69d32f310 | 3399 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
nikapov | 0:a1a69d32f310 | 3400 | &signal_rate_final_range_limit_check_enable); |
nikapov | 0:a1a69d32f310 | 3401 | |
nikapov | 0:a1a69d32f310 | 3402 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3403 | if ((sigma_limit_check_enable == 0) || (sigma_limitflag == 1)) { |
nikapov | 0:a1a69d32f310 | 3404 | temp8 = 1; |
nikapov | 0:a1a69d32f310 | 3405 | } else { |
nikapov | 0:a1a69d32f310 | 3406 | temp8 = 0; |
nikapov | 0:a1a69d32f310 | 3407 | } |
nikapov | 0:a1a69d32f310 | 3408 | VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus, |
nikapov | 0:a1a69d32f310 | 3409 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, temp8); |
nikapov | 0:a1a69d32f310 | 3410 | |
nikapov | 0:a1a69d32f310 | 3411 | if ((device_range_status_internal == 4) || |
nikapov | 0:a1a69d32f310 | 3412 | (signal_rate_final_range_limit_check_enable == 0)) { |
nikapov | 0:a1a69d32f310 | 3413 | temp8 = 1; |
nikapov | 0:a1a69d32f310 | 3414 | } else { |
nikapov | 0:a1a69d32f310 | 3415 | temp8 = 0; |
nikapov | 0:a1a69d32f310 | 3416 | } |
nikapov | 0:a1a69d32f310 | 3417 | VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus, |
nikapov | 0:a1a69d32f310 | 3418 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
nikapov | 0:a1a69d32f310 | 3419 | temp8); |
nikapov | 0:a1a69d32f310 | 3420 | |
nikapov | 0:a1a69d32f310 | 3421 | if ((signal_ref_clip_limit_check_enable == 0) || |
nikapov | 0:a1a69d32f310 | 3422 | (signal_ref_clipflag == 1)) { |
nikapov | 0:a1a69d32f310 | 3423 | temp8 = 1; |
nikapov | 0:a1a69d32f310 | 3424 | } else { |
nikapov | 0:a1a69d32f310 | 3425 | temp8 = 0; |
nikapov | 0:a1a69d32f310 | 3426 | } |
nikapov | 0:a1a69d32f310 | 3427 | |
nikapov | 0:a1a69d32f310 | 3428 | VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus, |
nikapov | 0:a1a69d32f310 | 3429 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, temp8); |
nikapov | 0:a1a69d32f310 | 3430 | |
nikapov | 0:a1a69d32f310 | 3431 | if ((range_ignore_threshold_limit_check_enable == 0) || |
nikapov | 0:a1a69d32f310 | 3432 | (range_ignore_thresholdflag == 1)) { |
nikapov | 0:a1a69d32f310 | 3433 | temp8 = 1; |
nikapov | 0:a1a69d32f310 | 3434 | } else { |
nikapov | 0:a1a69d32f310 | 3435 | temp8 = 0; |
nikapov | 0:a1a69d32f310 | 3436 | } |
nikapov | 0:a1a69d32f310 | 3437 | |
nikapov | 0:a1a69d32f310 | 3438 | VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksStatus, |
nikapov | 0:a1a69d32f310 | 3439 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
nikapov | 0:a1a69d32f310 | 3440 | temp8); |
nikapov | 0:a1a69d32f310 | 3441 | } |
nikapov | 0:a1a69d32f310 | 3442 | |
sepp_nepp | 5:b95f6951f7d5 | 3443 | |
nikapov | 0:a1a69d32f310 | 3444 | return status; |
nikapov | 0:a1a69d32f310 | 3445 | |
nikapov | 0:a1a69d32f310 | 3446 | } |
nikapov | 0:a1a69d32f310 | 3447 | |
nikapov | 0:a1a69d32f310 | 3448 | VL53L0X_Error VL53L0X::VL53L0X_get_ranging_measurement_data(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 3449 | VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data) |
nikapov | 0:a1a69d32f310 | 3450 | { |
nikapov | 0:a1a69d32f310 | 3451 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 3452 | uint8_t device_range_status; |
nikapov | 0:a1a69d32f310 | 3453 | uint8_t range_fractional_enable; |
nikapov | 0:a1a69d32f310 | 3454 | uint8_t pal_range_status; |
nikapov | 0:a1a69d32f310 | 3455 | uint8_t x_talk_compensation_enable; |
nikapov | 0:a1a69d32f310 | 3456 | uint16_t ambient_rate; |
nikapov | 0:a1a69d32f310 | 3457 | FixPoint1616_t signal_rate; |
nikapov | 0:a1a69d32f310 | 3458 | uint16_t x_talk_compensation_rate_mega_cps; |
nikapov | 0:a1a69d32f310 | 3459 | uint16_t effective_spad_rtn_count; |
nikapov | 0:a1a69d32f310 | 3460 | uint16_t tmpuint16; |
nikapov | 0:a1a69d32f310 | 3461 | uint16_t xtalk_range_milli_meter; |
nikapov | 0:a1a69d32f310 | 3462 | uint16_t linearity_corrective_gain; |
nikapov | 0:a1a69d32f310 | 3463 | uint8_t localBuffer[12]; |
nikapov | 0:a1a69d32f310 | 3464 | VL53L0X_RangingMeasurementData_t last_range_data_buffer; |
nikapov | 0:a1a69d32f310 | 3465 | |
sepp_nepp | 5:b95f6951f7d5 | 3466 | |
nikapov | 0:a1a69d32f310 | 3467 | |
nikapov | 0:a1a69d32f310 | 3468 | /* |
nikapov | 0:a1a69d32f310 | 3469 | * use multi read even if some registers are not useful, result will |
nikapov | 0:a1a69d32f310 | 3470 | * be more efficient |
nikapov | 0:a1a69d32f310 | 3471 | * start reading at 0x14 dec20 |
nikapov | 0:a1a69d32f310 | 3472 | * end reading at 0x21 dec33 total 14 bytes to read |
nikapov | 0:a1a69d32f310 | 3473 | */ |
nikapov | 0:a1a69d32f310 | 3474 | status = VL53L0X_read_multi(dev, 0x14, localBuffer, 12); |
nikapov | 0:a1a69d32f310 | 3475 | |
nikapov | 0:a1a69d32f310 | 3476 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3477 | |
nikapov | 0:a1a69d32f310 | 3478 | p_ranging_measurement_data->ZoneId = 0; /* Only one zone */ |
nikapov | 0:a1a69d32f310 | 3479 | p_ranging_measurement_data->TimeStamp = 0; /* Not Implemented */ |
nikapov | 0:a1a69d32f310 | 3480 | |
nikapov | 0:a1a69d32f310 | 3481 | tmpuint16 = VL53L0X_MAKEUINT16(localBuffer[11], localBuffer[10]); |
nikapov | 0:a1a69d32f310 | 3482 | /* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional |
nikapov | 0:a1a69d32f310 | 3483 | *(format 11.2) else no fractional |
nikapov | 0:a1a69d32f310 | 3484 | */ |
nikapov | 0:a1a69d32f310 | 3485 | |
nikapov | 0:a1a69d32f310 | 3486 | p_ranging_measurement_data->MeasurementTimeUsec = 0; |
nikapov | 0:a1a69d32f310 | 3487 | |
nikapov | 0:a1a69d32f310 | 3488 | signal_rate = VL53L0X_FIXPOINT97TOFIXPOINT1616( |
nikapov | 0:a1a69d32f310 | 3489 | VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6])); |
nikapov | 0:a1a69d32f310 | 3490 | /* peak_signal_count_rate_rtn_mcps */ |
nikapov | 0:a1a69d32f310 | 3491 | p_ranging_measurement_data->SignalRateRtnMegaCps = signal_rate; |
nikapov | 0:a1a69d32f310 | 3492 | |
nikapov | 0:a1a69d32f310 | 3493 | ambient_rate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]); |
nikapov | 0:a1a69d32f310 | 3494 | p_ranging_measurement_data->AmbientRateRtnMegaCps = |
nikapov | 0:a1a69d32f310 | 3495 | VL53L0X_FIXPOINT97TOFIXPOINT1616(ambient_rate); |
nikapov | 0:a1a69d32f310 | 3496 | |
nikapov | 0:a1a69d32f310 | 3497 | effective_spad_rtn_count = VL53L0X_MAKEUINT16(localBuffer[3], |
nikapov | 0:a1a69d32f310 | 3498 | localBuffer[2]); |
nikapov | 0:a1a69d32f310 | 3499 | /* EffectiveSpadRtnCount is 8.8 format */ |
nikapov | 0:a1a69d32f310 | 3500 | p_ranging_measurement_data->EffectiveSpadRtnCount = |
nikapov | 0:a1a69d32f310 | 3501 | effective_spad_rtn_count; |
nikapov | 0:a1a69d32f310 | 3502 | |
nikapov | 0:a1a69d32f310 | 3503 | device_range_status = localBuffer[0]; |
nikapov | 0:a1a69d32f310 | 3504 | |
nikapov | 0:a1a69d32f310 | 3505 | /* Get Linearity Corrective Gain */ |
nikapov | 0:a1a69d32f310 | 3506 | linearity_corrective_gain = PALDevDataGet(dev, |
nikapov | 0:a1a69d32f310 | 3507 | LinearityCorrectiveGain); |
nikapov | 0:a1a69d32f310 | 3508 | |
nikapov | 0:a1a69d32f310 | 3509 | /* Get ranging configuration */ |
nikapov | 0:a1a69d32f310 | 3510 | range_fractional_enable = PALDevDataGet(dev, |
nikapov | 0:a1a69d32f310 | 3511 | RangeFractionalEnable); |
nikapov | 0:a1a69d32f310 | 3512 | |
nikapov | 0:a1a69d32f310 | 3513 | if (linearity_corrective_gain != 1000) { |
nikapov | 0:a1a69d32f310 | 3514 | |
nikapov | 0:a1a69d32f310 | 3515 | tmpuint16 = (uint16_t)((linearity_corrective_gain |
nikapov | 0:a1a69d32f310 | 3516 | * tmpuint16 + 500) / 1000); |
nikapov | 0:a1a69d32f310 | 3517 | |
nikapov | 0:a1a69d32f310 | 3518 | /* Implement Xtalk */ |
nikapov | 0:a1a69d32f310 | 3519 | VL53L0X_GETPARAMETERFIELD(dev, |
nikapov | 0:a1a69d32f310 | 3520 | XTalkCompensationRateMegaCps, |
nikapov | 0:a1a69d32f310 | 3521 | x_talk_compensation_rate_mega_cps); |
nikapov | 0:a1a69d32f310 | 3522 | VL53L0X_GETPARAMETERFIELD(dev, XTalkCompensationEnable, |
nikapov | 0:a1a69d32f310 | 3523 | x_talk_compensation_enable); |
nikapov | 0:a1a69d32f310 | 3524 | |
nikapov | 0:a1a69d32f310 | 3525 | if (x_talk_compensation_enable) { |
nikapov | 0:a1a69d32f310 | 3526 | |
nikapov | 0:a1a69d32f310 | 3527 | if ((signal_rate |
nikapov | 0:a1a69d32f310 | 3528 | - ((x_talk_compensation_rate_mega_cps |
nikapov | 0:a1a69d32f310 | 3529 | * effective_spad_rtn_count) >> 8)) |
nikapov | 0:a1a69d32f310 | 3530 | <= 0) { |
nikapov | 0:a1a69d32f310 | 3531 | if (range_fractional_enable) { |
nikapov | 0:a1a69d32f310 | 3532 | xtalk_range_milli_meter = 8888; |
nikapov | 0:a1a69d32f310 | 3533 | } else { |
nikapov | 0:a1a69d32f310 | 3534 | xtalk_range_milli_meter = 8888 << 2; |
nikapov | 0:a1a69d32f310 | 3535 | } |
nikapov | 0:a1a69d32f310 | 3536 | } else { |
nikapov | 0:a1a69d32f310 | 3537 | xtalk_range_milli_meter = |
nikapov | 0:a1a69d32f310 | 3538 | (tmpuint16 * signal_rate) |
nikapov | 0:a1a69d32f310 | 3539 | / (signal_rate |
nikapov | 0:a1a69d32f310 | 3540 | - ((x_talk_compensation_rate_mega_cps |
nikapov | 0:a1a69d32f310 | 3541 | * effective_spad_rtn_count) |
nikapov | 0:a1a69d32f310 | 3542 | >> 8)); |
nikapov | 0:a1a69d32f310 | 3543 | } |
nikapov | 0:a1a69d32f310 | 3544 | |
nikapov | 0:a1a69d32f310 | 3545 | tmpuint16 = xtalk_range_milli_meter; |
nikapov | 0:a1a69d32f310 | 3546 | } |
nikapov | 0:a1a69d32f310 | 3547 | |
nikapov | 0:a1a69d32f310 | 3548 | } |
nikapov | 0:a1a69d32f310 | 3549 | |
nikapov | 0:a1a69d32f310 | 3550 | if (range_fractional_enable) { |
nikapov | 0:a1a69d32f310 | 3551 | p_ranging_measurement_data->RangeMilliMeter = |
nikapov | 0:a1a69d32f310 | 3552 | (uint16_t)((tmpuint16) >> 2); |
nikapov | 0:a1a69d32f310 | 3553 | p_ranging_measurement_data->RangeFractionalPart = |
nikapov | 0:a1a69d32f310 | 3554 | (uint8_t)((tmpuint16 & 0x03) << 6); |
nikapov | 0:a1a69d32f310 | 3555 | } else { |
nikapov | 0:a1a69d32f310 | 3556 | p_ranging_measurement_data->RangeMilliMeter = tmpuint16; |
nikapov | 0:a1a69d32f310 | 3557 | p_ranging_measurement_data->RangeFractionalPart = 0; |
nikapov | 0:a1a69d32f310 | 3558 | } |
nikapov | 0:a1a69d32f310 | 3559 | |
nikapov | 0:a1a69d32f310 | 3560 | /* |
nikapov | 0:a1a69d32f310 | 3561 | * For a standard definition of RangeStatus, this should |
nikapov | 0:a1a69d32f310 | 3562 | * return 0 in case of good result after a ranging |
nikapov | 0:a1a69d32f310 | 3563 | * The range status depends on the device so call a device |
nikapov | 0:a1a69d32f310 | 3564 | * specific function to obtain the right Status. |
nikapov | 0:a1a69d32f310 | 3565 | */ |
nikapov | 0:a1a69d32f310 | 3566 | status |= VL53L0X_get_pal_range_status(dev, device_range_status, |
nikapov | 0:a1a69d32f310 | 3567 | signal_rate, effective_spad_rtn_count, |
nikapov | 0:a1a69d32f310 | 3568 | p_ranging_measurement_data, &pal_range_status); |
nikapov | 0:a1a69d32f310 | 3569 | |
nikapov | 0:a1a69d32f310 | 3570 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3571 | p_ranging_measurement_data->RangeStatus = pal_range_status; |
nikapov | 0:a1a69d32f310 | 3572 | } |
nikapov | 0:a1a69d32f310 | 3573 | |
nikapov | 0:a1a69d32f310 | 3574 | } |
nikapov | 0:a1a69d32f310 | 3575 | |
nikapov | 0:a1a69d32f310 | 3576 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3577 | /* Copy last read data into Dev buffer */ |
nikapov | 0:a1a69d32f310 | 3578 | last_range_data_buffer = PALDevDataGet(dev, LastRangeMeasure); |
nikapov | 0:a1a69d32f310 | 3579 | |
nikapov | 0:a1a69d32f310 | 3580 | last_range_data_buffer.RangeMilliMeter = |
nikapov | 0:a1a69d32f310 | 3581 | p_ranging_measurement_data->RangeMilliMeter; |
nikapov | 0:a1a69d32f310 | 3582 | last_range_data_buffer.RangeFractionalPart = |
nikapov | 0:a1a69d32f310 | 3583 | p_ranging_measurement_data->RangeFractionalPart; |
nikapov | 0:a1a69d32f310 | 3584 | last_range_data_buffer.RangeDMaxMilliMeter = |
nikapov | 0:a1a69d32f310 | 3585 | p_ranging_measurement_data->RangeDMaxMilliMeter; |
nikapov | 0:a1a69d32f310 | 3586 | last_range_data_buffer.MeasurementTimeUsec = |
nikapov | 0:a1a69d32f310 | 3587 | p_ranging_measurement_data->MeasurementTimeUsec; |
nikapov | 0:a1a69d32f310 | 3588 | last_range_data_buffer.SignalRateRtnMegaCps = |
nikapov | 0:a1a69d32f310 | 3589 | p_ranging_measurement_data->SignalRateRtnMegaCps; |
nikapov | 0:a1a69d32f310 | 3590 | last_range_data_buffer.AmbientRateRtnMegaCps = |
nikapov | 0:a1a69d32f310 | 3591 | p_ranging_measurement_data->AmbientRateRtnMegaCps; |
nikapov | 0:a1a69d32f310 | 3592 | last_range_data_buffer.EffectiveSpadRtnCount = |
nikapov | 0:a1a69d32f310 | 3593 | p_ranging_measurement_data->EffectiveSpadRtnCount; |
nikapov | 0:a1a69d32f310 | 3594 | last_range_data_buffer.RangeStatus = |
nikapov | 0:a1a69d32f310 | 3595 | p_ranging_measurement_data->RangeStatus; |
nikapov | 0:a1a69d32f310 | 3596 | |
nikapov | 0:a1a69d32f310 | 3597 | PALDevDataSet(dev, LastRangeMeasure, last_range_data_buffer); |
nikapov | 0:a1a69d32f310 | 3598 | } |
nikapov | 0:a1a69d32f310 | 3599 | |
sepp_nepp | 5:b95f6951f7d5 | 3600 | |
nikapov | 0:a1a69d32f310 | 3601 | return status; |
nikapov | 0:a1a69d32f310 | 3602 | } |
nikapov | 0:a1a69d32f310 | 3603 | |
nikapov | 0:a1a69d32f310 | 3604 | VL53L0X_Error VL53L0X::VL53L0X_perform_single_ranging_measurement(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 3605 | VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data) |
nikapov | 0:a1a69d32f310 | 3606 | { |
nikapov | 0:a1a69d32f310 | 3607 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 3608 | |
sepp_nepp | 5:b95f6951f7d5 | 3609 | |
nikapov | 0:a1a69d32f310 | 3610 | |
nikapov | 0:a1a69d32f310 | 3611 | /* This function will do a complete single ranging |
nikapov | 0:a1a69d32f310 | 3612 | * Here we fix the mode! */ |
nikapov | 0:a1a69d32f310 | 3613 | status = VL53L0X_set_device_mode(dev, VL53L0X_DEVICEMODE_SINGLE_RANGING); |
nikapov | 0:a1a69d32f310 | 3614 | |
nikapov | 0:a1a69d32f310 | 3615 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3616 | status = VL53L0X_perform_single_measurement(dev); |
nikapov | 0:a1a69d32f310 | 3617 | } |
nikapov | 0:a1a69d32f310 | 3618 | |
nikapov | 0:a1a69d32f310 | 3619 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3620 | status = VL53L0X_get_ranging_measurement_data(dev, |
nikapov | 0:a1a69d32f310 | 3621 | p_ranging_measurement_data); |
nikapov | 0:a1a69d32f310 | 3622 | } |
nikapov | 0:a1a69d32f310 | 3623 | |
nikapov | 0:a1a69d32f310 | 3624 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3625 | status = VL53L0X_clear_interrupt_mask(dev, 0); |
nikapov | 0:a1a69d32f310 | 3626 | } |
nikapov | 0:a1a69d32f310 | 3627 | |
sepp_nepp | 5:b95f6951f7d5 | 3628 | |
nikapov | 0:a1a69d32f310 | 3629 | return status; |
nikapov | 0:a1a69d32f310 | 3630 | } |
nikapov | 0:a1a69d32f310 | 3631 | |
nikapov | 0:a1a69d32f310 | 3632 | VL53L0X_Error VL53L0X::perform_ref_signal_measurement(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 3633 | uint16_t *p_ref_signal_rate) |
nikapov | 0:a1a69d32f310 | 3634 | { |
nikapov | 0:a1a69d32f310 | 3635 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 3636 | VL53L0X_RangingMeasurementData_t ranging_measurement_data; |
nikapov | 0:a1a69d32f310 | 3637 | |
nikapov | 0:a1a69d32f310 | 3638 | uint8_t sequence_config = 0; |
nikapov | 0:a1a69d32f310 | 3639 | |
nikapov | 0:a1a69d32f310 | 3640 | /* store the value of the sequence config, |
nikapov | 0:a1a69d32f310 | 3641 | * this will be reset before the end of the function |
nikapov | 0:a1a69d32f310 | 3642 | */ |
nikapov | 0:a1a69d32f310 | 3643 | |
nikapov | 0:a1a69d32f310 | 3644 | sequence_config = PALDevDataGet(dev, SequenceConfig); |
nikapov | 0:a1a69d32f310 | 3645 | |
nikapov | 0:a1a69d32f310 | 3646 | /* |
nikapov | 0:a1a69d32f310 | 3647 | * This function performs a reference signal rate measurement. |
nikapov | 0:a1a69d32f310 | 3648 | */ |
nikapov | 0:a1a69d32f310 | 3649 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3650 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 3651 | VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0xC0); |
nikapov | 0:a1a69d32f310 | 3652 | } |
nikapov | 0:a1a69d32f310 | 3653 | |
nikapov | 0:a1a69d32f310 | 3654 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3655 | status = VL53L0X_perform_single_ranging_measurement(dev, |
nikapov | 0:a1a69d32f310 | 3656 | &ranging_measurement_data); |
nikapov | 0:a1a69d32f310 | 3657 | } |
nikapov | 0:a1a69d32f310 | 3658 | |
nikapov | 0:a1a69d32f310 | 3659 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3660 | status = VL53L0X_write_byte(dev, 0xFF, 0x01); |
nikapov | 0:a1a69d32f310 | 3661 | } |
nikapov | 0:a1a69d32f310 | 3662 | |
nikapov | 0:a1a69d32f310 | 3663 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3664 | status = VL53L0X_read_word(dev, |
nikapov | 0:a1a69d32f310 | 3665 | VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF, |
nikapov | 0:a1a69d32f310 | 3666 | p_ref_signal_rate); |
Davidroid | 2:d07edeaff6f1 | 3667 | } |
nikapov | 0:a1a69d32f310 | 3668 | |
nikapov | 0:a1a69d32f310 | 3669 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3670 | status = VL53L0X_write_byte(dev, 0xFF, 0x00); |
Davidroid | 2:d07edeaff6f1 | 3671 | } |
nikapov | 0:a1a69d32f310 | 3672 | |
nikapov | 0:a1a69d32f310 | 3673 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3674 | /* restore the previous Sequence Config */ |
nikapov | 0:a1a69d32f310 | 3675 | status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
nikapov | 0:a1a69d32f310 | 3676 | sequence_config); |
nikapov | 0:a1a69d32f310 | 3677 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3678 | PALDevDataSet(dev, SequenceConfig, sequence_config); |
nikapov | 0:a1a69d32f310 | 3679 | } |
nikapov | 0:a1a69d32f310 | 3680 | } |
nikapov | 0:a1a69d32f310 | 3681 | |
nikapov | 0:a1a69d32f310 | 3682 | return status; |
nikapov | 0:a1a69d32f310 | 3683 | } |
nikapov | 0:a1a69d32f310 | 3684 | |
nikapov | 0:a1a69d32f310 | 3685 | VL53L0X_Error VL53L0X::wrapped_VL53L0X_perform_ref_spad_management(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 3686 | uint32_t *ref_spad_count, |
nikapov | 0:a1a69d32f310 | 3687 | uint8_t *is_aperture_spads) |
nikapov | 0:a1a69d32f310 | 3688 | { |
nikapov | 0:a1a69d32f310 | 3689 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 3690 | uint8_t last_spad_array[6]; |
nikapov | 0:a1a69d32f310 | 3691 | uint8_t start_select = 0xB4; |
nikapov | 0:a1a69d32f310 | 3692 | uint32_t minimum_spad_count = 3; |
nikapov | 0:a1a69d32f310 | 3693 | uint32_t max_spad_count = 44; |
nikapov | 0:a1a69d32f310 | 3694 | uint32_t current_spad_index = 0; |
nikapov | 0:a1a69d32f310 | 3695 | uint32_t last_spad_index = 0; |
nikapov | 0:a1a69d32f310 | 3696 | int32_t next_good_spad = 0; |
nikapov | 0:a1a69d32f310 | 3697 | uint16_t target_ref_rate = 0x0A00; /* 20 MCPS in 9:7 format */ |
nikapov | 0:a1a69d32f310 | 3698 | uint16_t peak_signal_rate_ref; |
nikapov | 0:a1a69d32f310 | 3699 | uint32_t need_apt_spads = 0; |
nikapov | 0:a1a69d32f310 | 3700 | uint32_t index = 0; |
nikapov | 0:a1a69d32f310 | 3701 | uint32_t spad_array_size = 6; |
nikapov | 0:a1a69d32f310 | 3702 | uint32_t signal_rate_diff = 0; |
nikapov | 0:a1a69d32f310 | 3703 | uint32_t last_signal_rate_diff = 0; |
nikapov | 0:a1a69d32f310 | 3704 | uint8_t complete = 0; |
nikapov | 0:a1a69d32f310 | 3705 | uint8_t vhv_settings = 0; |
nikapov | 0:a1a69d32f310 | 3706 | uint8_t phase_cal = 0; |
nikapov | 0:a1a69d32f310 | 3707 | uint32_t ref_spad_count_int = 0; |
nikapov | 0:a1a69d32f310 | 3708 | uint8_t is_aperture_spads_int = 0; |
nikapov | 0:a1a69d32f310 | 3709 | |
nikapov | 0:a1a69d32f310 | 3710 | /* |
nikapov | 0:a1a69d32f310 | 3711 | * The reference SPAD initialization procedure determines the minimum |
nikapov | 0:a1a69d32f310 | 3712 | * amount of reference spads to be enables to achieve a target reference |
nikapov | 0:a1a69d32f310 | 3713 | * signal rate and should be performed once during initialization. |
nikapov | 0:a1a69d32f310 | 3714 | * |
nikapov | 0:a1a69d32f310 | 3715 | * Either aperture or non-aperture spads are applied but never both. |
nikapov | 0:a1a69d32f310 | 3716 | * Firstly non-aperture spads are set, begining with 5 spads, and |
nikapov | 0:a1a69d32f310 | 3717 | * increased one spad at a time until the closest measurement to the |
nikapov | 0:a1a69d32f310 | 3718 | * target rate is achieved. |
nikapov | 0:a1a69d32f310 | 3719 | * |
nikapov | 0:a1a69d32f310 | 3720 | * If the target rate is exceeded when 5 non-aperture spads are enabled, |
nikapov | 0:a1a69d32f310 | 3721 | * initialization is performed instead with aperture spads. |
nikapov | 0:a1a69d32f310 | 3722 | * |
nikapov | 0:a1a69d32f310 | 3723 | * When setting spads, a 'Good Spad Map' is applied. |
nikapov | 0:a1a69d32f310 | 3724 | * |
nikapov | 0:a1a69d32f310 | 3725 | * This procedure operates within a SPAD window of interest of a maximum |
nikapov | 0:a1a69d32f310 | 3726 | * 44 spads. |
nikapov | 0:a1a69d32f310 | 3727 | * The start point is currently fixed to 180, which lies towards the end |
nikapov | 0:a1a69d32f310 | 3728 | * of the non-aperture quadrant and runs in to the adjacent aperture |
nikapov | 0:a1a69d32f310 | 3729 | * quadrant. |
nikapov | 0:a1a69d32f310 | 3730 | */ |
nikapov | 0:a1a69d32f310 | 3731 | target_ref_rate = PALDevDataGet(dev, targetRefRate); |
nikapov | 0:a1a69d32f310 | 3732 | |
nikapov | 0:a1a69d32f310 | 3733 | /* |
nikapov | 0:a1a69d32f310 | 3734 | * Initialize Spad arrays. |
nikapov | 0:a1a69d32f310 | 3735 | * Currently the good spad map is initialised to 'All good'. |
nikapov | 0:a1a69d32f310 | 3736 | * This is a short term implementation. The good spad map will be |
nikapov | 0:a1a69d32f310 | 3737 | * provided as an input. |
nikapov | 0:a1a69d32f310 | 3738 | * Note that there are 6 bytes. Only the first 44 bits will be used to |
nikapov | 0:a1a69d32f310 | 3739 | * represent spads. |
nikapov | 0:a1a69d32f310 | 3740 | */ |
Davidroid | 3:e9269ff624ed | 3741 | for (index = 0; index < spad_array_size; index++) { |
sepp_nepp | 5:b95f6951f7d5 | 3742 | dev->SpadData.RefSpadEnables[index] = 0; |
Davidroid | 3:e9269ff624ed | 3743 | } |
nikapov | 0:a1a69d32f310 | 3744 | |
nikapov | 0:a1a69d32f310 | 3745 | |
nikapov | 0:a1a69d32f310 | 3746 | status = VL53L0X_write_byte(dev, 0xFF, 0x01); |
nikapov | 0:a1a69d32f310 | 3747 | |
nikapov | 0:a1a69d32f310 | 3748 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3749 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 3750 | VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00); |
nikapov | 0:a1a69d32f310 | 3751 | } |
nikapov | 0:a1a69d32f310 | 3752 | |
nikapov | 0:a1a69d32f310 | 3753 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3754 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 3755 | VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C); |
Davidroid | 2:d07edeaff6f1 | 3756 | } |
nikapov | 0:a1a69d32f310 | 3757 | |
nikapov | 0:a1a69d32f310 | 3758 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3759 | status = VL53L0X_write_byte(dev, 0xFF, 0x00); |
nikapov | 0:a1a69d32f310 | 3760 | } |
nikapov | 0:a1a69d32f310 | 3761 | |
nikapov | 0:a1a69d32f310 | 3762 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3763 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 3764 | VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT, |
nikapov | 0:a1a69d32f310 | 3765 | start_select); |
Davidroid | 2:d07edeaff6f1 | 3766 | } |
nikapov | 0:a1a69d32f310 | 3767 | |
nikapov | 0:a1a69d32f310 | 3768 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3769 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 3770 | VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE, 0); |
Davidroid | 2:d07edeaff6f1 | 3771 | } |
nikapov | 0:a1a69d32f310 | 3772 | |
nikapov | 0:a1a69d32f310 | 3773 | /* Perform ref calibration */ |
nikapov | 0:a1a69d32f310 | 3774 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3775 | status = VL53L0X_perform_ref_calibration(dev, &vhv_settings, |
nikapov | 0:a1a69d32f310 | 3776 | &phase_cal, 0); |
Davidroid | 2:d07edeaff6f1 | 3777 | } |
nikapov | 0:a1a69d32f310 | 3778 | |
nikapov | 0:a1a69d32f310 | 3779 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3780 | /* Enable Minimum NON-APERTURE Spads */ |
nikapov | 0:a1a69d32f310 | 3781 | current_spad_index = 0; |
nikapov | 0:a1a69d32f310 | 3782 | last_spad_index = current_spad_index; |
nikapov | 0:a1a69d32f310 | 3783 | need_apt_spads = 0; |
nikapov | 0:a1a69d32f310 | 3784 | status = enable_ref_spads(dev, |
nikapov | 0:a1a69d32f310 | 3785 | need_apt_spads, |
sepp_nepp | 5:b95f6951f7d5 | 3786 | dev->SpadData.RefGoodSpadMap, |
sepp_nepp | 5:b95f6951f7d5 | 3787 | dev->SpadData.RefSpadEnables, |
nikapov | 0:a1a69d32f310 | 3788 | spad_array_size, |
nikapov | 0:a1a69d32f310 | 3789 | start_select, |
nikapov | 0:a1a69d32f310 | 3790 | current_spad_index, |
nikapov | 0:a1a69d32f310 | 3791 | minimum_spad_count, |
nikapov | 0:a1a69d32f310 | 3792 | &last_spad_index); |
nikapov | 0:a1a69d32f310 | 3793 | } |
nikapov | 0:a1a69d32f310 | 3794 | |
nikapov | 0:a1a69d32f310 | 3795 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3796 | current_spad_index = last_spad_index; |
nikapov | 0:a1a69d32f310 | 3797 | |
nikapov | 0:a1a69d32f310 | 3798 | status = perform_ref_signal_measurement(dev, |
nikapov | 0:a1a69d32f310 | 3799 | &peak_signal_rate_ref); |
nikapov | 0:a1a69d32f310 | 3800 | if ((status == VL53L0X_ERROR_NONE) && |
nikapov | 0:a1a69d32f310 | 3801 | (peak_signal_rate_ref > target_ref_rate)) { |
nikapov | 0:a1a69d32f310 | 3802 | /* Signal rate measurement too high, |
nikapov | 0:a1a69d32f310 | 3803 | * switch to APERTURE SPADs */ |
nikapov | 0:a1a69d32f310 | 3804 | |
nikapov | 0:a1a69d32f310 | 3805 | for (index = 0; index < spad_array_size; index++) { |
sepp_nepp | 5:b95f6951f7d5 | 3806 | dev->SpadData.RefSpadEnables[index] = 0; |
nikapov | 0:a1a69d32f310 | 3807 | } |
nikapov | 0:a1a69d32f310 | 3808 | |
nikapov | 0:a1a69d32f310 | 3809 | |
nikapov | 0:a1a69d32f310 | 3810 | /* Increment to the first APERTURE spad */ |
nikapov | 0:a1a69d32f310 | 3811 | while ((is_aperture(start_select + current_spad_index) |
nikapov | 0:a1a69d32f310 | 3812 | == 0) && (current_spad_index < max_spad_count)) { |
nikapov | 0:a1a69d32f310 | 3813 | current_spad_index++; |
nikapov | 0:a1a69d32f310 | 3814 | } |
nikapov | 0:a1a69d32f310 | 3815 | |
nikapov | 0:a1a69d32f310 | 3816 | need_apt_spads = 1; |
nikapov | 0:a1a69d32f310 | 3817 | |
nikapov | 0:a1a69d32f310 | 3818 | status = enable_ref_spads(dev, |
nikapov | 0:a1a69d32f310 | 3819 | need_apt_spads, |
sepp_nepp | 5:b95f6951f7d5 | 3820 | dev->SpadData.RefGoodSpadMap, |
sepp_nepp | 5:b95f6951f7d5 | 3821 | dev->SpadData.RefSpadEnables, |
nikapov | 0:a1a69d32f310 | 3822 | spad_array_size, |
nikapov | 0:a1a69d32f310 | 3823 | start_select, |
nikapov | 0:a1a69d32f310 | 3824 | current_spad_index, |
nikapov | 0:a1a69d32f310 | 3825 | minimum_spad_count, |
nikapov | 0:a1a69d32f310 | 3826 | &last_spad_index); |
nikapov | 0:a1a69d32f310 | 3827 | |
nikapov | 0:a1a69d32f310 | 3828 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3829 | current_spad_index = last_spad_index; |
nikapov | 0:a1a69d32f310 | 3830 | status = perform_ref_signal_measurement(dev, |
nikapov | 0:a1a69d32f310 | 3831 | &peak_signal_rate_ref); |
nikapov | 0:a1a69d32f310 | 3832 | |
nikapov | 0:a1a69d32f310 | 3833 | if ((status == VL53L0X_ERROR_NONE) && |
nikapov | 0:a1a69d32f310 | 3834 | (peak_signal_rate_ref > target_ref_rate)) { |
nikapov | 0:a1a69d32f310 | 3835 | /* Signal rate still too high after |
nikapov | 0:a1a69d32f310 | 3836 | * setting the minimum number of |
nikapov | 0:a1a69d32f310 | 3837 | * APERTURE spads. Can do no more |
nikapov | 0:a1a69d32f310 | 3838 | * therefore set the min number of |
nikapov | 0:a1a69d32f310 | 3839 | * aperture spads as the result. |
nikapov | 0:a1a69d32f310 | 3840 | */ |
nikapov | 0:a1a69d32f310 | 3841 | is_aperture_spads_int = 1; |
nikapov | 0:a1a69d32f310 | 3842 | ref_spad_count_int = minimum_spad_count; |
nikapov | 0:a1a69d32f310 | 3843 | } |
nikapov | 0:a1a69d32f310 | 3844 | } |
nikapov | 0:a1a69d32f310 | 3845 | } else { |
nikapov | 0:a1a69d32f310 | 3846 | need_apt_spads = 0; |
nikapov | 0:a1a69d32f310 | 3847 | } |
nikapov | 0:a1a69d32f310 | 3848 | } |
nikapov | 0:a1a69d32f310 | 3849 | |
nikapov | 0:a1a69d32f310 | 3850 | if ((status == VL53L0X_ERROR_NONE) && |
nikapov | 0:a1a69d32f310 | 3851 | (peak_signal_rate_ref < target_ref_rate)) { |
nikapov | 0:a1a69d32f310 | 3852 | /* At this point, the minimum number of either aperture |
nikapov | 0:a1a69d32f310 | 3853 | * or non-aperture spads have been set. Proceed to add |
nikapov | 0:a1a69d32f310 | 3854 | * spads and perform measurements until the target |
nikapov | 0:a1a69d32f310 | 3855 | * reference is reached. |
nikapov | 0:a1a69d32f310 | 3856 | */ |
nikapov | 0:a1a69d32f310 | 3857 | is_aperture_spads_int = need_apt_spads; |
nikapov | 0:a1a69d32f310 | 3858 | ref_spad_count_int = minimum_spad_count; |
nikapov | 0:a1a69d32f310 | 3859 | |
sepp_nepp | 5:b95f6951f7d5 | 3860 | memcpy(last_spad_array, dev->SpadData.RefSpadEnables, |
nikapov | 0:a1a69d32f310 | 3861 | spad_array_size); |
nikapov | 0:a1a69d32f310 | 3862 | last_signal_rate_diff = abs(peak_signal_rate_ref - |
nikapov | 0:a1a69d32f310 | 3863 | target_ref_rate); |
nikapov | 0:a1a69d32f310 | 3864 | complete = 0; |
nikapov | 0:a1a69d32f310 | 3865 | |
nikapov | 0:a1a69d32f310 | 3866 | while (!complete) { |
nikapov | 0:a1a69d32f310 | 3867 | get_next_good_spad( |
sepp_nepp | 5:b95f6951f7d5 | 3868 | dev->SpadData.RefGoodSpadMap, |
nikapov | 0:a1a69d32f310 | 3869 | spad_array_size, current_spad_index, |
nikapov | 0:a1a69d32f310 | 3870 | &next_good_spad); |
nikapov | 0:a1a69d32f310 | 3871 | |
nikapov | 0:a1a69d32f310 | 3872 | if (next_good_spad == -1) { |
nikapov | 0:a1a69d32f310 | 3873 | status = VL53L0X_ERROR_REF_SPAD_INIT; |
nikapov | 0:a1a69d32f310 | 3874 | break; |
nikapov | 0:a1a69d32f310 | 3875 | } |
nikapov | 0:a1a69d32f310 | 3876 | |
nikapov | 0:a1a69d32f310 | 3877 | /* Cannot combine Aperture and Non-Aperture spads, so |
nikapov | 0:a1a69d32f310 | 3878 | * ensure the current spad is of the correct type. |
nikapov | 0:a1a69d32f310 | 3879 | */ |
nikapov | 0:a1a69d32f310 | 3880 | if (is_aperture((uint32_t)start_select + next_good_spad) != |
nikapov | 0:a1a69d32f310 | 3881 | need_apt_spads) { |
nikapov | 0:a1a69d32f310 | 3882 | /* At this point we have enabled the maximum |
nikapov | 0:a1a69d32f310 | 3883 | * number of Aperture spads. |
nikapov | 0:a1a69d32f310 | 3884 | */ |
nikapov | 0:a1a69d32f310 | 3885 | complete = 1; |
nikapov | 0:a1a69d32f310 | 3886 | break; |
nikapov | 0:a1a69d32f310 | 3887 | } |
nikapov | 0:a1a69d32f310 | 3888 | |
nikapov | 0:a1a69d32f310 | 3889 | (ref_spad_count_int)++; |
nikapov | 0:a1a69d32f310 | 3890 | |
nikapov | 0:a1a69d32f310 | 3891 | current_spad_index = next_good_spad; |
nikapov | 0:a1a69d32f310 | 3892 | status = enable_spad_bit( |
sepp_nepp | 5:b95f6951f7d5 | 3893 | dev->SpadData.RefSpadEnables, |
nikapov | 0:a1a69d32f310 | 3894 | spad_array_size, current_spad_index); |
nikapov | 0:a1a69d32f310 | 3895 | |
nikapov | 0:a1a69d32f310 | 3896 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3897 | current_spad_index++; |
nikapov | 0:a1a69d32f310 | 3898 | /* Proceed to apply the additional spad and |
nikapov | 0:a1a69d32f310 | 3899 | * perform measurement. */ |
nikapov | 0:a1a69d32f310 | 3900 | status = set_ref_spad_map(dev, |
sepp_nepp | 5:b95f6951f7d5 | 3901 | dev->SpadData.RefSpadEnables); |
nikapov | 0:a1a69d32f310 | 3902 | } |
nikapov | 0:a1a69d32f310 | 3903 | |
nikapov | 0:a1a69d32f310 | 3904 | if (status != VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3905 | break; |
nikapov | 0:a1a69d32f310 | 3906 | } |
nikapov | 0:a1a69d32f310 | 3907 | |
nikapov | 0:a1a69d32f310 | 3908 | status = perform_ref_signal_measurement(dev, |
nikapov | 0:a1a69d32f310 | 3909 | &peak_signal_rate_ref); |
nikapov | 0:a1a69d32f310 | 3910 | |
nikapov | 0:a1a69d32f310 | 3911 | if (status != VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3912 | break; |
nikapov | 0:a1a69d32f310 | 3913 | } |
nikapov | 0:a1a69d32f310 | 3914 | |
nikapov | 0:a1a69d32f310 | 3915 | signal_rate_diff = abs(peak_signal_rate_ref - target_ref_rate); |
nikapov | 0:a1a69d32f310 | 3916 | |
nikapov | 0:a1a69d32f310 | 3917 | if (peak_signal_rate_ref > target_ref_rate) { |
nikapov | 0:a1a69d32f310 | 3918 | /* Select the spad map that provides the |
nikapov | 0:a1a69d32f310 | 3919 | * measurement closest to the target rate, |
nikapov | 0:a1a69d32f310 | 3920 | * either above or below it. |
nikapov | 0:a1a69d32f310 | 3921 | */ |
nikapov | 0:a1a69d32f310 | 3922 | if (signal_rate_diff > last_signal_rate_diff) { |
nikapov | 0:a1a69d32f310 | 3923 | /* Previous spad map produced a closer |
nikapov | 0:a1a69d32f310 | 3924 | * measurement, so choose this. */ |
nikapov | 0:a1a69d32f310 | 3925 | status = set_ref_spad_map(dev, |
nikapov | 0:a1a69d32f310 | 3926 | last_spad_array); |
nikapov | 0:a1a69d32f310 | 3927 | memcpy( |
sepp_nepp | 5:b95f6951f7d5 | 3928 | dev->SpadData.RefSpadEnables, |
nikapov | 0:a1a69d32f310 | 3929 | last_spad_array, spad_array_size); |
nikapov | 0:a1a69d32f310 | 3930 | |
nikapov | 0:a1a69d32f310 | 3931 | (ref_spad_count_int)--; |
nikapov | 0:a1a69d32f310 | 3932 | } |
nikapov | 0:a1a69d32f310 | 3933 | complete = 1; |
nikapov | 0:a1a69d32f310 | 3934 | } else { |
nikapov | 0:a1a69d32f310 | 3935 | /* Continue to add spads */ |
nikapov | 0:a1a69d32f310 | 3936 | last_signal_rate_diff = signal_rate_diff; |
nikapov | 0:a1a69d32f310 | 3937 | memcpy(last_spad_array, |
sepp_nepp | 5:b95f6951f7d5 | 3938 | dev->SpadData.RefSpadEnables, |
nikapov | 0:a1a69d32f310 | 3939 | spad_array_size); |
nikapov | 0:a1a69d32f310 | 3940 | } |
nikapov | 0:a1a69d32f310 | 3941 | |
nikapov | 0:a1a69d32f310 | 3942 | } /* while */ |
nikapov | 0:a1a69d32f310 | 3943 | } |
nikapov | 0:a1a69d32f310 | 3944 | |
nikapov | 0:a1a69d32f310 | 3945 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3946 | *ref_spad_count = ref_spad_count_int; |
nikapov | 0:a1a69d32f310 | 3947 | *is_aperture_spads = is_aperture_spads_int; |
nikapov | 0:a1a69d32f310 | 3948 | |
nikapov | 0:a1a69d32f310 | 3949 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, RefSpadsInitialised, 1); |
nikapov | 0:a1a69d32f310 | 3950 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 3951 | ReferenceSpadCount, (uint8_t)(*ref_spad_count)); |
nikapov | 0:a1a69d32f310 | 3952 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 3953 | ReferenceSpadType, *is_aperture_spads); |
nikapov | 0:a1a69d32f310 | 3954 | } |
nikapov | 0:a1a69d32f310 | 3955 | |
nikapov | 0:a1a69d32f310 | 3956 | return status; |
nikapov | 0:a1a69d32f310 | 3957 | } |
nikapov | 0:a1a69d32f310 | 3958 | |
nikapov | 0:a1a69d32f310 | 3959 | VL53L0X_Error VL53L0X::VL53L0X_set_reference_spads(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 3960 | uint32_t count, uint8_t is_aperture_spads) |
nikapov | 0:a1a69d32f310 | 3961 | { |
nikapov | 0:a1a69d32f310 | 3962 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 3963 | uint32_t current_spad_index = 0; |
nikapov | 0:a1a69d32f310 | 3964 | uint8_t start_select = 0xB4; |
nikapov | 0:a1a69d32f310 | 3965 | uint32_t spad_array_size = 6; |
nikapov | 0:a1a69d32f310 | 3966 | uint32_t max_spad_count = 44; |
nikapov | 0:a1a69d32f310 | 3967 | uint32_t last_spad_index; |
nikapov | 0:a1a69d32f310 | 3968 | uint32_t index; |
nikapov | 0:a1a69d32f310 | 3969 | |
nikapov | 0:a1a69d32f310 | 3970 | /* |
nikapov | 0:a1a69d32f310 | 3971 | * This function applies a requested number of reference spads, either |
nikapov | 0:a1a69d32f310 | 3972 | * aperture or |
nikapov | 0:a1a69d32f310 | 3973 | * non-aperture, as requested. |
nikapov | 0:a1a69d32f310 | 3974 | * The good spad map will be applied. |
nikapov | 0:a1a69d32f310 | 3975 | */ |
nikapov | 0:a1a69d32f310 | 3976 | |
nikapov | 0:a1a69d32f310 | 3977 | status = VL53L0X_write_byte(dev, 0xFF, 0x01); |
nikapov | 0:a1a69d32f310 | 3978 | |
nikapov | 0:a1a69d32f310 | 3979 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3980 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 3981 | VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00); |
Davidroid | 2:d07edeaff6f1 | 3982 | } |
nikapov | 0:a1a69d32f310 | 3983 | |
nikapov | 0:a1a69d32f310 | 3984 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3985 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 3986 | VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C); |
Davidroid | 2:d07edeaff6f1 | 3987 | } |
nikapov | 0:a1a69d32f310 | 3988 | |
nikapov | 0:a1a69d32f310 | 3989 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3990 | status = VL53L0X_write_byte(dev, 0xFF, 0x00); |
Davidroid | 2:d07edeaff6f1 | 3991 | } |
nikapov | 0:a1a69d32f310 | 3992 | |
nikapov | 0:a1a69d32f310 | 3993 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 3994 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 3995 | VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT, |
nikapov | 0:a1a69d32f310 | 3996 | start_select); |
Davidroid | 2:d07edeaff6f1 | 3997 | } |
nikapov | 0:a1a69d32f310 | 3998 | |
nikapov | 0:a1a69d32f310 | 3999 | for (index = 0; index < spad_array_size; index++) { |
sepp_nepp | 5:b95f6951f7d5 | 4000 | dev->SpadData.RefSpadEnables[index] = 0; |
Davidroid | 2:d07edeaff6f1 | 4001 | } |
nikapov | 0:a1a69d32f310 | 4002 | |
nikapov | 0:a1a69d32f310 | 4003 | if (is_aperture_spads) { |
nikapov | 0:a1a69d32f310 | 4004 | /* Increment to the first APERTURE spad */ |
nikapov | 0:a1a69d32f310 | 4005 | while ((is_aperture(start_select + current_spad_index) == 0) && |
nikapov | 0:a1a69d32f310 | 4006 | (current_spad_index < max_spad_count)) { |
nikapov | 0:a1a69d32f310 | 4007 | current_spad_index++; |
nikapov | 0:a1a69d32f310 | 4008 | } |
nikapov | 0:a1a69d32f310 | 4009 | } |
nikapov | 0:a1a69d32f310 | 4010 | status = enable_ref_spads(dev, |
nikapov | 0:a1a69d32f310 | 4011 | is_aperture_spads, |
sepp_nepp | 5:b95f6951f7d5 | 4012 | dev->SpadData.RefGoodSpadMap, |
sepp_nepp | 5:b95f6951f7d5 | 4013 | dev->SpadData.RefSpadEnables, |
nikapov | 0:a1a69d32f310 | 4014 | spad_array_size, |
nikapov | 0:a1a69d32f310 | 4015 | start_select, |
nikapov | 0:a1a69d32f310 | 4016 | current_spad_index, |
nikapov | 0:a1a69d32f310 | 4017 | count, |
nikapov | 0:a1a69d32f310 | 4018 | &last_spad_index); |
nikapov | 0:a1a69d32f310 | 4019 | |
nikapov | 0:a1a69d32f310 | 4020 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4021 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, RefSpadsInitialised, 1); |
nikapov | 0:a1a69d32f310 | 4022 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 4023 | ReferenceSpadCount, (uint8_t)(count)); |
nikapov | 0:a1a69d32f310 | 4024 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 4025 | ReferenceSpadType, is_aperture_spads); |
nikapov | 0:a1a69d32f310 | 4026 | } |
nikapov | 0:a1a69d32f310 | 4027 | |
nikapov | 0:a1a69d32f310 | 4028 | return status; |
nikapov | 0:a1a69d32f310 | 4029 | } |
nikapov | 0:a1a69d32f310 | 4030 | |
nikapov | 0:a1a69d32f310 | 4031 | VL53L0X_Error VL53L0X::VL53L0X_wait_device_booted(VL53L0X_DEV dev) |
nikapov | 0:a1a69d32f310 | 4032 | { |
nikapov | 0:a1a69d32f310 | 4033 | VL53L0X_Error status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
sepp_nepp | 5:b95f6951f7d5 | 4034 | |
nikapov | 0:a1a69d32f310 | 4035 | |
nikapov | 0:a1a69d32f310 | 4036 | /* not implemented on VL53L0X */ |
nikapov | 0:a1a69d32f310 | 4037 | |
sepp_nepp | 5:b95f6951f7d5 | 4038 | |
nikapov | 0:a1a69d32f310 | 4039 | return status; |
nikapov | 0:a1a69d32f310 | 4040 | } |
nikapov | 0:a1a69d32f310 | 4041 | |
nikapov | 0:a1a69d32f310 | 4042 | VL53L0X_Error VL53L0X::VL53L0X_perform_ref_calibration(VL53L0X_DEV dev, uint8_t *p_vhv_settings, |
nikapov | 0:a1a69d32f310 | 4043 | uint8_t *p_phase_cal) |
nikapov | 0:a1a69d32f310 | 4044 | { |
nikapov | 0:a1a69d32f310 | 4045 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
sepp_nepp | 5:b95f6951f7d5 | 4046 | |
nikapov | 0:a1a69d32f310 | 4047 | |
nikapov | 0:a1a69d32f310 | 4048 | status = VL53L0X_perform_ref_calibration(dev, p_vhv_settings, |
nikapov | 0:a1a69d32f310 | 4049 | p_phase_cal, 1); |
nikapov | 0:a1a69d32f310 | 4050 | |
sepp_nepp | 5:b95f6951f7d5 | 4051 | |
nikapov | 0:a1a69d32f310 | 4052 | return status; |
nikapov | 0:a1a69d32f310 | 4053 | } |
nikapov | 0:a1a69d32f310 | 4054 | |
nikapov | 0:a1a69d32f310 | 4055 | VL53L0X_Error VL53L0X::VL53L0X_perform_ref_spad_management(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 4056 | uint32_t *ref_spad_count, uint8_t *is_aperture_spads) |
nikapov | 0:a1a69d32f310 | 4057 | { |
nikapov | 0:a1a69d32f310 | 4058 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
sepp_nepp | 5:b95f6951f7d5 | 4059 | |
nikapov | 0:a1a69d32f310 | 4060 | |
nikapov | 0:a1a69d32f310 | 4061 | status = wrapped_VL53L0X_perform_ref_spad_management(dev, ref_spad_count, |
nikapov | 0:a1a69d32f310 | 4062 | is_aperture_spads); |
nikapov | 0:a1a69d32f310 | 4063 | |
sepp_nepp | 5:b95f6951f7d5 | 4064 | |
nikapov | 0:a1a69d32f310 | 4065 | |
nikapov | 0:a1a69d32f310 | 4066 | return status; |
nikapov | 0:a1a69d32f310 | 4067 | } |
nikapov | 0:a1a69d32f310 | 4068 | |
nikapov | 0:a1a69d32f310 | 4069 | /* Group PAL Init Functions */ |
nikapov | 0:a1a69d32f310 | 4070 | VL53L0X_Error VL53L0X::VL53L0X_set_device_address(VL53L0X_DEV dev, uint8_t device_address) |
nikapov | 0:a1a69d32f310 | 4071 | { |
nikapov | 0:a1a69d32f310 | 4072 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
sepp_nepp | 5:b95f6951f7d5 | 4073 | |
nikapov | 0:a1a69d32f310 | 4074 | |
nikapov | 0:a1a69d32f310 | 4075 | status = VL53L0X_write_byte(dev, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, |
nikapov | 0:a1a69d32f310 | 4076 | device_address / 2); |
nikapov | 0:a1a69d32f310 | 4077 | |
sepp_nepp | 5:b95f6951f7d5 | 4078 | |
nikapov | 0:a1a69d32f310 | 4079 | return status; |
nikapov | 0:a1a69d32f310 | 4080 | } |
nikapov | 0:a1a69d32f310 | 4081 | |
nikapov | 0:a1a69d32f310 | 4082 | VL53L0X_Error VL53L0X::VL53L0X_set_gpio_config(VL53L0X_DEV dev, uint8_t pin, |
nikapov | 0:a1a69d32f310 | 4083 | VL53L0X_DeviceModes device_mode, VL53L0X_GpioFunctionality functionality, |
nikapov | 0:a1a69d32f310 | 4084 | VL53L0X_InterruptPolarity polarity) |
nikapov | 0:a1a69d32f310 | 4085 | { |
nikapov | 0:a1a69d32f310 | 4086 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 4087 | uint8_t data; |
nikapov | 0:a1a69d32f310 | 4088 | |
sepp_nepp | 5:b95f6951f7d5 | 4089 | |
nikapov | 0:a1a69d32f310 | 4090 | |
nikapov | 0:a1a69d32f310 | 4091 | if (pin != 0) { |
nikapov | 0:a1a69d32f310 | 4092 | status = VL53L0X_ERROR_GPIO_NOT_EXISTING; |
nikapov | 0:a1a69d32f310 | 4093 | } else if (device_mode == VL53L0X_DEVICEMODE_GPIO_DRIVE) { |
nikapov | 0:a1a69d32f310 | 4094 | if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW) { |
nikapov | 0:a1a69d32f310 | 4095 | data = 0x10; |
nikapov | 0:a1a69d32f310 | 4096 | } else { |
nikapov | 0:a1a69d32f310 | 4097 | data = 1; |
nikapov | 0:a1a69d32f310 | 4098 | } |
nikapov | 0:a1a69d32f310 | 4099 | |
nikapov | 0:a1a69d32f310 | 4100 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 4101 | VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data); |
nikapov | 0:a1a69d32f310 | 4102 | |
nikapov | 0:a1a69d32f310 | 4103 | } else { |
Davidroid | 2:d07edeaff6f1 | 4104 | if (device_mode == VL53L0X_DEVICEMODE_GPIO_OSC) { |
Davidroid | 2:d07edeaff6f1 | 4105 | |
Davidroid | 2:d07edeaff6f1 | 4106 | status |= VL53L0X_write_byte(dev, 0xff, 0x01); |
Davidroid | 2:d07edeaff6f1 | 4107 | status |= VL53L0X_write_byte(dev, 0x00, 0x00); |
Davidroid | 2:d07edeaff6f1 | 4108 | |
Davidroid | 2:d07edeaff6f1 | 4109 | status |= VL53L0X_write_byte(dev, 0xff, 0x00); |
Davidroid | 2:d07edeaff6f1 | 4110 | status |= VL53L0X_write_byte(dev, 0x80, 0x01); |
Davidroid | 2:d07edeaff6f1 | 4111 | status |= VL53L0X_write_byte(dev, 0x85, 0x02); |
Davidroid | 2:d07edeaff6f1 | 4112 | |
Davidroid | 2:d07edeaff6f1 | 4113 | status |= VL53L0X_write_byte(dev, 0xff, 0x04); |
Davidroid | 2:d07edeaff6f1 | 4114 | status |= VL53L0X_write_byte(dev, 0xcd, 0x00); |
Davidroid | 2:d07edeaff6f1 | 4115 | status |= VL53L0X_write_byte(dev, 0xcc, 0x11); |
Davidroid | 2:d07edeaff6f1 | 4116 | |
Davidroid | 2:d07edeaff6f1 | 4117 | status |= VL53L0X_write_byte(dev, 0xff, 0x07); |
Davidroid | 2:d07edeaff6f1 | 4118 | status |= VL53L0X_write_byte(dev, 0xbe, 0x00); |
Davidroid | 2:d07edeaff6f1 | 4119 | |
Davidroid | 2:d07edeaff6f1 | 4120 | status |= VL53L0X_write_byte(dev, 0xff, 0x06); |
Davidroid | 2:d07edeaff6f1 | 4121 | status |= VL53L0X_write_byte(dev, 0xcc, 0x09); |
Davidroid | 2:d07edeaff6f1 | 4122 | |
Davidroid | 2:d07edeaff6f1 | 4123 | status |= VL53L0X_write_byte(dev, 0xff, 0x00); |
Davidroid | 2:d07edeaff6f1 | 4124 | status |= VL53L0X_write_byte(dev, 0xff, 0x01); |
Davidroid | 2:d07edeaff6f1 | 4125 | status |= VL53L0X_write_byte(dev, 0x00, 0x00); |
Davidroid | 2:d07edeaff6f1 | 4126 | |
Davidroid | 2:d07edeaff6f1 | 4127 | } else { |
Davidroid | 2:d07edeaff6f1 | 4128 | |
Davidroid | 2:d07edeaff6f1 | 4129 | if (status == VL53L0X_ERROR_NONE) { |
Davidroid | 2:d07edeaff6f1 | 4130 | switch (functionality) { |
Davidroid | 2:d07edeaff6f1 | 4131 | case VL53L0X_GPIOFUNCTIONALITY_OFF: |
Davidroid | 2:d07edeaff6f1 | 4132 | data = 0x00; |
Davidroid | 2:d07edeaff6f1 | 4133 | break; |
Davidroid | 2:d07edeaff6f1 | 4134 | case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW: |
Davidroid | 2:d07edeaff6f1 | 4135 | data = 0x01; |
Davidroid | 2:d07edeaff6f1 | 4136 | break; |
Davidroid | 2:d07edeaff6f1 | 4137 | case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH: |
Davidroid | 2:d07edeaff6f1 | 4138 | data = 0x02; |
Davidroid | 2:d07edeaff6f1 | 4139 | break; |
Davidroid | 2:d07edeaff6f1 | 4140 | case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT: |
Davidroid | 2:d07edeaff6f1 | 4141 | data = 0x03; |
Davidroid | 2:d07edeaff6f1 | 4142 | break; |
Davidroid | 2:d07edeaff6f1 | 4143 | case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY: |
Davidroid | 2:d07edeaff6f1 | 4144 | data = 0x04; |
Davidroid | 2:d07edeaff6f1 | 4145 | break; |
Davidroid | 2:d07edeaff6f1 | 4146 | default: |
Davidroid | 2:d07edeaff6f1 | 4147 | status = |
Davidroid | 2:d07edeaff6f1 | 4148 | VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED; |
Davidroid | 2:d07edeaff6f1 | 4149 | } |
Davidroid | 2:d07edeaff6f1 | 4150 | } |
Davidroid | 2:d07edeaff6f1 | 4151 | |
Davidroid | 2:d07edeaff6f1 | 4152 | if (status == VL53L0X_ERROR_NONE) { |
Davidroid | 2:d07edeaff6f1 | 4153 | status = VL53L0X_write_byte(dev, |
Davidroid | 2:d07edeaff6f1 | 4154 | VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data); |
Davidroid | 2:d07edeaff6f1 | 4155 | } |
Davidroid | 2:d07edeaff6f1 | 4156 | |
Davidroid | 2:d07edeaff6f1 | 4157 | if (status == VL53L0X_ERROR_NONE) { |
Davidroid | 2:d07edeaff6f1 | 4158 | if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW) { |
Davidroid | 2:d07edeaff6f1 | 4159 | data = 0; |
Davidroid | 2:d07edeaff6f1 | 4160 | } else { |
Davidroid | 2:d07edeaff6f1 | 4161 | data = (uint8_t)(1 << 4); |
Davidroid | 2:d07edeaff6f1 | 4162 | } |
Davidroid | 2:d07edeaff6f1 | 4163 | status = VL53L0X_update_byte(dev, |
Davidroid | 2:d07edeaff6f1 | 4164 | VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data); |
Davidroid | 2:d07edeaff6f1 | 4165 | } |
Davidroid | 2:d07edeaff6f1 | 4166 | |
Davidroid | 2:d07edeaff6f1 | 4167 | if (status == VL53L0X_ERROR_NONE) { |
Davidroid | 2:d07edeaff6f1 | 4168 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, |
Davidroid | 2:d07edeaff6f1 | 4169 | Pin0GpioFunctionality, functionality); |
Davidroid | 2:d07edeaff6f1 | 4170 | } |
Davidroid | 2:d07edeaff6f1 | 4171 | |
Davidroid | 2:d07edeaff6f1 | 4172 | if (status == VL53L0X_ERROR_NONE) { |
Davidroid | 2:d07edeaff6f1 | 4173 | status = VL53L0X_clear_interrupt_mask(dev, 0); |
Davidroid | 2:d07edeaff6f1 | 4174 | } |
Davidroid | 2:d07edeaff6f1 | 4175 | } |
nikapov | 0:a1a69d32f310 | 4176 | } |
sepp_nepp | 5:b95f6951f7d5 | 4177 | |
nikapov | 0:a1a69d32f310 | 4178 | return status; |
nikapov | 0:a1a69d32f310 | 4179 | } |
nikapov | 0:a1a69d32f310 | 4180 | |
nikapov | 0:a1a69d32f310 | 4181 | VL53L0X_Error VL53L0X::VL53L0X_get_fraction_enable(VL53L0X_DEV dev, uint8_t *p_enabled) |
nikapov | 0:a1a69d32f310 | 4182 | { |
nikapov | 0:a1a69d32f310 | 4183 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
sepp_nepp | 5:b95f6951f7d5 | 4184 | |
nikapov | 0:a1a69d32f310 | 4185 | |
nikapov | 0:a1a69d32f310 | 4186 | status = VL53L0X_read_byte(dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, p_enabled); |
nikapov | 0:a1a69d32f310 | 4187 | |
nikapov | 0:a1a69d32f310 | 4188 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4189 | *p_enabled = (*p_enabled & 1); |
nikapov | 0:a1a69d32f310 | 4190 | } |
nikapov | 0:a1a69d32f310 | 4191 | |
sepp_nepp | 5:b95f6951f7d5 | 4192 | |
nikapov | 0:a1a69d32f310 | 4193 | return status; |
nikapov | 0:a1a69d32f310 | 4194 | } |
nikapov | 0:a1a69d32f310 | 4195 | |
nikapov | 0:a1a69d32f310 | 4196 | uint16_t VL53L0X::VL53L0X_encode_timeout(uint32_t timeout_macro_clks) |
nikapov | 0:a1a69d32f310 | 4197 | { |
nikapov | 0:a1a69d32f310 | 4198 | /*! |
nikapov | 0:a1a69d32f310 | 4199 | * Encode timeout in macro periods in (LSByte * 2^MSByte) + 1 format |
nikapov | 0:a1a69d32f310 | 4200 | */ |
nikapov | 0:a1a69d32f310 | 4201 | |
nikapov | 0:a1a69d32f310 | 4202 | uint16_t encoded_timeout = 0; |
nikapov | 0:a1a69d32f310 | 4203 | uint32_t ls_byte = 0; |
nikapov | 0:a1a69d32f310 | 4204 | uint16_t ms_byte = 0; |
nikapov | 0:a1a69d32f310 | 4205 | |
nikapov | 0:a1a69d32f310 | 4206 | if (timeout_macro_clks > 0) { |
nikapov | 0:a1a69d32f310 | 4207 | ls_byte = timeout_macro_clks - 1; |
nikapov | 0:a1a69d32f310 | 4208 | |
nikapov | 0:a1a69d32f310 | 4209 | while ((ls_byte & 0xFFFFFF00) > 0) { |
nikapov | 0:a1a69d32f310 | 4210 | ls_byte = ls_byte >> 1; |
nikapov | 0:a1a69d32f310 | 4211 | ms_byte++; |
nikapov | 0:a1a69d32f310 | 4212 | } |
nikapov | 0:a1a69d32f310 | 4213 | |
nikapov | 0:a1a69d32f310 | 4214 | encoded_timeout = (ms_byte << 8) |
nikapov | 0:a1a69d32f310 | 4215 | + (uint16_t)(ls_byte & 0x000000FF); |
nikapov | 0:a1a69d32f310 | 4216 | } |
nikapov | 0:a1a69d32f310 | 4217 | |
nikapov | 0:a1a69d32f310 | 4218 | return encoded_timeout; |
nikapov | 0:a1a69d32f310 | 4219 | |
nikapov | 0:a1a69d32f310 | 4220 | } |
nikapov | 0:a1a69d32f310 | 4221 | |
nikapov | 0:a1a69d32f310 | 4222 | VL53L0X_Error VL53L0X::set_sequence_step_timeout(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 4223 | VL53L0X_SequenceStepId sequence_step_id, |
nikapov | 0:a1a69d32f310 | 4224 | uint32_t timeout_micro_secs) |
nikapov | 0:a1a69d32f310 | 4225 | { |
nikapov | 0:a1a69d32f310 | 4226 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 4227 | uint8_t current_vcsel_pulse_period_p_clk; |
nikapov | 0:a1a69d32f310 | 4228 | uint8_t msrc_encoded_time_out; |
nikapov | 0:a1a69d32f310 | 4229 | uint16_t pre_range_encoded_time_out; |
nikapov | 0:a1a69d32f310 | 4230 | uint16_t pre_range_time_out_m_clks; |
nikapov | 0:a1a69d32f310 | 4231 | uint16_t msrc_range_time_out_m_clks; |
nikapov | 0:a1a69d32f310 | 4232 | uint32_t final_range_time_out_m_clks; |
nikapov | 0:a1a69d32f310 | 4233 | uint16_t final_range_encoded_time_out; |
nikapov | 0:a1a69d32f310 | 4234 | VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps; |
nikapov | 0:a1a69d32f310 | 4235 | |
nikapov | 0:a1a69d32f310 | 4236 | if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC) || |
nikapov | 0:a1a69d32f310 | 4237 | (sequence_step_id == VL53L0X_SEQUENCESTEP_DSS) || |
nikapov | 0:a1a69d32f310 | 4238 | (sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC)) { |
nikapov | 0:a1a69d32f310 | 4239 | |
nikapov | 0:a1a69d32f310 | 4240 | status = VL53L0X_get_vcsel_pulse_period(dev, |
nikapov | 0:a1a69d32f310 | 4241 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
nikapov | 0:a1a69d32f310 | 4242 | ¤t_vcsel_pulse_period_p_clk); |
nikapov | 0:a1a69d32f310 | 4243 | |
nikapov | 0:a1a69d32f310 | 4244 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4245 | msrc_range_time_out_m_clks = VL53L0X_calc_timeout_mclks(dev, |
nikapov | 0:a1a69d32f310 | 4246 | timeout_micro_secs, |
nikapov | 0:a1a69d32f310 | 4247 | (uint8_t)current_vcsel_pulse_period_p_clk); |
nikapov | 0:a1a69d32f310 | 4248 | |
nikapov | 0:a1a69d32f310 | 4249 | if (msrc_range_time_out_m_clks > 256) { |
nikapov | 0:a1a69d32f310 | 4250 | msrc_encoded_time_out = 255; |
nikapov | 0:a1a69d32f310 | 4251 | } else { |
nikapov | 0:a1a69d32f310 | 4252 | msrc_encoded_time_out = |
nikapov | 0:a1a69d32f310 | 4253 | (uint8_t)msrc_range_time_out_m_clks - 1; |
nikapov | 0:a1a69d32f310 | 4254 | } |
nikapov | 0:a1a69d32f310 | 4255 | |
nikapov | 0:a1a69d32f310 | 4256 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 4257 | LastEncodedTimeout, |
nikapov | 0:a1a69d32f310 | 4258 | msrc_encoded_time_out); |
nikapov | 0:a1a69d32f310 | 4259 | } |
nikapov | 0:a1a69d32f310 | 4260 | |
nikapov | 0:a1a69d32f310 | 4261 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4262 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 4263 | VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP, |
nikapov | 0:a1a69d32f310 | 4264 | msrc_encoded_time_out); |
nikapov | 0:a1a69d32f310 | 4265 | } |
nikapov | 0:a1a69d32f310 | 4266 | } else { |
nikapov | 0:a1a69d32f310 | 4267 | |
nikapov | 0:a1a69d32f310 | 4268 | if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) { |
nikapov | 0:a1a69d32f310 | 4269 | |
nikapov | 0:a1a69d32f310 | 4270 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4271 | status = VL53L0X_get_vcsel_pulse_period(dev, |
nikapov | 0:a1a69d32f310 | 4272 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
nikapov | 0:a1a69d32f310 | 4273 | ¤t_vcsel_pulse_period_p_clk); |
nikapov | 0:a1a69d32f310 | 4274 | pre_range_time_out_m_clks = |
nikapov | 0:a1a69d32f310 | 4275 | VL53L0X_calc_timeout_mclks(dev, |
nikapov | 0:a1a69d32f310 | 4276 | timeout_micro_secs, |
nikapov | 0:a1a69d32f310 | 4277 | (uint8_t)current_vcsel_pulse_period_p_clk); |
nikapov | 0:a1a69d32f310 | 4278 | pre_range_encoded_time_out = VL53L0X_encode_timeout( |
nikapov | 0:a1a69d32f310 | 4279 | pre_range_time_out_m_clks); |
nikapov | 0:a1a69d32f310 | 4280 | |
nikapov | 0:a1a69d32f310 | 4281 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 4282 | LastEncodedTimeout, |
nikapov | 0:a1a69d32f310 | 4283 | pre_range_encoded_time_out); |
nikapov | 0:a1a69d32f310 | 4284 | } |
nikapov | 0:a1a69d32f310 | 4285 | |
nikapov | 0:a1a69d32f310 | 4286 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4287 | status = VL53L0X_write_word(dev, |
nikapov | 0:a1a69d32f310 | 4288 | VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, |
nikapov | 0:a1a69d32f310 | 4289 | pre_range_encoded_time_out); |
nikapov | 0:a1a69d32f310 | 4290 | } |
nikapov | 0:a1a69d32f310 | 4291 | |
nikapov | 0:a1a69d32f310 | 4292 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4293 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
nikapov | 0:a1a69d32f310 | 4294 | dev, |
nikapov | 0:a1a69d32f310 | 4295 | PreRangeTimeoutMicroSecs, |
nikapov | 0:a1a69d32f310 | 4296 | timeout_micro_secs); |
nikapov | 0:a1a69d32f310 | 4297 | } |
nikapov | 0:a1a69d32f310 | 4298 | } else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) { |
nikapov | 0:a1a69d32f310 | 4299 | |
nikapov | 0:a1a69d32f310 | 4300 | /* For the final range timeout, the pre-range timeout |
nikapov | 0:a1a69d32f310 | 4301 | * must be added. To do this both final and pre-range |
nikapov | 0:a1a69d32f310 | 4302 | * timeouts must be expressed in macro periods MClks |
nikapov | 0:a1a69d32f310 | 4303 | * because they have different vcsel periods. |
nikapov | 0:a1a69d32f310 | 4304 | */ |
nikapov | 0:a1a69d32f310 | 4305 | |
nikapov | 0:a1a69d32f310 | 4306 | VL53L0X_get_sequence_step_enables(dev, |
nikapov | 0:a1a69d32f310 | 4307 | &scheduler_sequence_steps); |
nikapov | 0:a1a69d32f310 | 4308 | pre_range_time_out_m_clks = 0; |
nikapov | 0:a1a69d32f310 | 4309 | if (scheduler_sequence_steps.PreRangeOn) { |
nikapov | 0:a1a69d32f310 | 4310 | |
nikapov | 0:a1a69d32f310 | 4311 | /* Retrieve PRE-RANGE VCSEL Period */ |
nikapov | 0:a1a69d32f310 | 4312 | status = VL53L0X_get_vcsel_pulse_period(dev, |
nikapov | 0:a1a69d32f310 | 4313 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
nikapov | 0:a1a69d32f310 | 4314 | ¤t_vcsel_pulse_period_p_clk); |
nikapov | 0:a1a69d32f310 | 4315 | |
nikapov | 0:a1a69d32f310 | 4316 | /* Retrieve PRE-RANGE Timeout in Macro periods |
nikapov | 0:a1a69d32f310 | 4317 | * (MCLKS) */ |
nikapov | 0:a1a69d32f310 | 4318 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4319 | status = VL53L0X_read_word(dev, 0x51, |
nikapov | 0:a1a69d32f310 | 4320 | &pre_range_encoded_time_out); |
nikapov | 0:a1a69d32f310 | 4321 | pre_range_time_out_m_clks = |
nikapov | 0:a1a69d32f310 | 4322 | VL53L0X_decode_timeout( |
nikapov | 0:a1a69d32f310 | 4323 | pre_range_encoded_time_out); |
nikapov | 0:a1a69d32f310 | 4324 | } |
nikapov | 0:a1a69d32f310 | 4325 | } |
nikapov | 0:a1a69d32f310 | 4326 | |
nikapov | 0:a1a69d32f310 | 4327 | /* Calculate FINAL RANGE Timeout in Macro Periods |
nikapov | 0:a1a69d32f310 | 4328 | * (MCLKS) and add PRE-RANGE value |
nikapov | 0:a1a69d32f310 | 4329 | */ |
nikapov | 0:a1a69d32f310 | 4330 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4331 | status = VL53L0X_get_vcsel_pulse_period(dev, |
nikapov | 0:a1a69d32f310 | 4332 | VL53L0X_VCSEL_PERIOD_FINAL_RANGE, |
nikapov | 0:a1a69d32f310 | 4333 | ¤t_vcsel_pulse_period_p_clk); |
nikapov | 0:a1a69d32f310 | 4334 | } |
nikapov | 0:a1a69d32f310 | 4335 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4336 | final_range_time_out_m_clks = |
nikapov | 0:a1a69d32f310 | 4337 | VL53L0X_calc_timeout_mclks(dev, |
nikapov | 0:a1a69d32f310 | 4338 | timeout_micro_secs, |
nikapov | 0:a1a69d32f310 | 4339 | (uint8_t) current_vcsel_pulse_period_p_clk); |
nikapov | 0:a1a69d32f310 | 4340 | |
nikapov | 0:a1a69d32f310 | 4341 | final_range_time_out_m_clks += pre_range_time_out_m_clks; |
nikapov | 0:a1a69d32f310 | 4342 | |
nikapov | 0:a1a69d32f310 | 4343 | final_range_encoded_time_out = |
nikapov | 0:a1a69d32f310 | 4344 | VL53L0X_encode_timeout(final_range_time_out_m_clks); |
nikapov | 0:a1a69d32f310 | 4345 | |
nikapov | 0:a1a69d32f310 | 4346 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4347 | status = VL53L0X_write_word(dev, 0x71, |
nikapov | 0:a1a69d32f310 | 4348 | final_range_encoded_time_out); |
nikapov | 0:a1a69d32f310 | 4349 | } |
nikapov | 0:a1a69d32f310 | 4350 | |
nikapov | 0:a1a69d32f310 | 4351 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4352 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
nikapov | 0:a1a69d32f310 | 4353 | dev, |
nikapov | 0:a1a69d32f310 | 4354 | FinalRangeTimeoutMicroSecs, |
nikapov | 0:a1a69d32f310 | 4355 | timeout_micro_secs); |
nikapov | 0:a1a69d32f310 | 4356 | } |
nikapov | 0:a1a69d32f310 | 4357 | } |
nikapov | 0:a1a69d32f310 | 4358 | } else { |
nikapov | 0:a1a69d32f310 | 4359 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 4360 | } |
nikapov | 0:a1a69d32f310 | 4361 | |
nikapov | 0:a1a69d32f310 | 4362 | } |
nikapov | 0:a1a69d32f310 | 4363 | return status; |
nikapov | 0:a1a69d32f310 | 4364 | } |
nikapov | 0:a1a69d32f310 | 4365 | |
nikapov | 0:a1a69d32f310 | 4366 | VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 4367 | uint32_t measurement_timing_budget_micro_seconds) |
nikapov | 0:a1a69d32f310 | 4368 | { |
nikapov | 0:a1a69d32f310 | 4369 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 4370 | uint32_t final_range_timing_budget_micro_seconds; |
nikapov | 0:a1a69d32f310 | 4371 | VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps; |
nikapov | 0:a1a69d32f310 | 4372 | uint32_t msrc_dcc_tcc_timeout_micro_seconds = 2000; |
nikapov | 0:a1a69d32f310 | 4373 | uint32_t start_overhead_micro_seconds = 1910; |
nikapov | 0:a1a69d32f310 | 4374 | uint32_t end_overhead_micro_seconds = 960; |
nikapov | 0:a1a69d32f310 | 4375 | uint32_t msrc_overhead_micro_seconds = 660; |
nikapov | 0:a1a69d32f310 | 4376 | uint32_t tcc_overhead_micro_seconds = 590; |
nikapov | 0:a1a69d32f310 | 4377 | uint32_t dss_overhead_micro_seconds = 690; |
nikapov | 0:a1a69d32f310 | 4378 | uint32_t pre_range_overhead_micro_seconds = 660; |
nikapov | 0:a1a69d32f310 | 4379 | uint32_t final_range_overhead_micro_seconds = 550; |
nikapov | 0:a1a69d32f310 | 4380 | uint32_t pre_range_timeout_micro_seconds = 0; |
nikapov | 0:a1a69d32f310 | 4381 | uint32_t c_min_timing_budget_micro_seconds = 20000; |
nikapov | 0:a1a69d32f310 | 4382 | uint32_t sub_timeout = 0; |
nikapov | 0:a1a69d32f310 | 4383 | |
sepp_nepp | 5:b95f6951f7d5 | 4384 | |
nikapov | 0:a1a69d32f310 | 4385 | |
nikapov | 0:a1a69d32f310 | 4386 | if (measurement_timing_budget_micro_seconds |
nikapov | 0:a1a69d32f310 | 4387 | < c_min_timing_budget_micro_seconds) { |
nikapov | 0:a1a69d32f310 | 4388 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 4389 | return status; |
nikapov | 0:a1a69d32f310 | 4390 | } |
nikapov | 0:a1a69d32f310 | 4391 | |
nikapov | 0:a1a69d32f310 | 4392 | final_range_timing_budget_micro_seconds = |
nikapov | 0:a1a69d32f310 | 4393 | measurement_timing_budget_micro_seconds - |
nikapov | 0:a1a69d32f310 | 4394 | (start_overhead_micro_seconds + end_overhead_micro_seconds); |
nikapov | 0:a1a69d32f310 | 4395 | |
nikapov | 0:a1a69d32f310 | 4396 | status = VL53L0X_get_sequence_step_enables(dev, &scheduler_sequence_steps); |
nikapov | 0:a1a69d32f310 | 4397 | |
nikapov | 0:a1a69d32f310 | 4398 | if (status == VL53L0X_ERROR_NONE && |
nikapov | 0:a1a69d32f310 | 4399 | (scheduler_sequence_steps.TccOn || |
nikapov | 0:a1a69d32f310 | 4400 | scheduler_sequence_steps.MsrcOn || |
nikapov | 0:a1a69d32f310 | 4401 | scheduler_sequence_steps.DssOn)) { |
nikapov | 0:a1a69d32f310 | 4402 | |
nikapov | 0:a1a69d32f310 | 4403 | /* TCC, MSRC and DSS all share the same timeout */ |
nikapov | 0:a1a69d32f310 | 4404 | status = get_sequence_step_timeout(dev, |
nikapov | 0:a1a69d32f310 | 4405 | VL53L0X_SEQUENCESTEP_MSRC, |
nikapov | 0:a1a69d32f310 | 4406 | &msrc_dcc_tcc_timeout_micro_seconds); |
nikapov | 0:a1a69d32f310 | 4407 | |
nikapov | 0:a1a69d32f310 | 4408 | /* Subtract the TCC, MSRC and DSS timeouts if they are |
nikapov | 0:a1a69d32f310 | 4409 | * enabled. */ |
nikapov | 0:a1a69d32f310 | 4410 | |
nikapov | 0:a1a69d32f310 | 4411 | if (status != VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4412 | return status; |
nikapov | 0:a1a69d32f310 | 4413 | } |
nikapov | 0:a1a69d32f310 | 4414 | |
nikapov | 0:a1a69d32f310 | 4415 | /* TCC */ |
nikapov | 0:a1a69d32f310 | 4416 | if (scheduler_sequence_steps.TccOn) { |
nikapov | 0:a1a69d32f310 | 4417 | |
nikapov | 0:a1a69d32f310 | 4418 | sub_timeout = msrc_dcc_tcc_timeout_micro_seconds |
nikapov | 0:a1a69d32f310 | 4419 | + tcc_overhead_micro_seconds; |
nikapov | 0:a1a69d32f310 | 4420 | |
nikapov | 0:a1a69d32f310 | 4421 | if (sub_timeout < |
nikapov | 0:a1a69d32f310 | 4422 | final_range_timing_budget_micro_seconds) { |
nikapov | 0:a1a69d32f310 | 4423 | final_range_timing_budget_micro_seconds -= |
nikapov | 0:a1a69d32f310 | 4424 | sub_timeout; |
nikapov | 0:a1a69d32f310 | 4425 | } else { |
nikapov | 0:a1a69d32f310 | 4426 | /* Requested timeout too big. */ |
nikapov | 0:a1a69d32f310 | 4427 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 4428 | } |
nikapov | 0:a1a69d32f310 | 4429 | } |
nikapov | 0:a1a69d32f310 | 4430 | |
nikapov | 0:a1a69d32f310 | 4431 | if (status != VL53L0X_ERROR_NONE) { |
sepp_nepp | 5:b95f6951f7d5 | 4432 | |
nikapov | 0:a1a69d32f310 | 4433 | return status; |
nikapov | 0:a1a69d32f310 | 4434 | } |
nikapov | 0:a1a69d32f310 | 4435 | |
nikapov | 0:a1a69d32f310 | 4436 | /* DSS */ |
nikapov | 0:a1a69d32f310 | 4437 | if (scheduler_sequence_steps.DssOn) { |
nikapov | 0:a1a69d32f310 | 4438 | |
nikapov | 0:a1a69d32f310 | 4439 | sub_timeout = 2 * (msrc_dcc_tcc_timeout_micro_seconds + |
nikapov | 0:a1a69d32f310 | 4440 | dss_overhead_micro_seconds); |
nikapov | 0:a1a69d32f310 | 4441 | |
nikapov | 0:a1a69d32f310 | 4442 | if (sub_timeout < final_range_timing_budget_micro_seconds) { |
nikapov | 0:a1a69d32f310 | 4443 | final_range_timing_budget_micro_seconds |
nikapov | 0:a1a69d32f310 | 4444 | -= sub_timeout; |
nikapov | 0:a1a69d32f310 | 4445 | } else { |
nikapov | 0:a1a69d32f310 | 4446 | /* Requested timeout too big. */ |
nikapov | 0:a1a69d32f310 | 4447 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 4448 | } |
nikapov | 0:a1a69d32f310 | 4449 | } else if (scheduler_sequence_steps.MsrcOn) { |
nikapov | 0:a1a69d32f310 | 4450 | /* MSRC */ |
nikapov | 0:a1a69d32f310 | 4451 | sub_timeout = msrc_dcc_tcc_timeout_micro_seconds + |
nikapov | 0:a1a69d32f310 | 4452 | msrc_overhead_micro_seconds; |
nikapov | 0:a1a69d32f310 | 4453 | |
nikapov | 0:a1a69d32f310 | 4454 | if (sub_timeout < final_range_timing_budget_micro_seconds) { |
nikapov | 0:a1a69d32f310 | 4455 | final_range_timing_budget_micro_seconds |
nikapov | 0:a1a69d32f310 | 4456 | -= sub_timeout; |
nikapov | 0:a1a69d32f310 | 4457 | } else { |
nikapov | 0:a1a69d32f310 | 4458 | /* Requested timeout too big. */ |
nikapov | 0:a1a69d32f310 | 4459 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 4460 | } |
nikapov | 0:a1a69d32f310 | 4461 | } |
nikapov | 0:a1a69d32f310 | 4462 | |
nikapov | 0:a1a69d32f310 | 4463 | } |
nikapov | 0:a1a69d32f310 | 4464 | |
nikapov | 0:a1a69d32f310 | 4465 | if (status != VL53L0X_ERROR_NONE) { |
sepp_nepp | 5:b95f6951f7d5 | 4466 | |
nikapov | 0:a1a69d32f310 | 4467 | return status; |
nikapov | 0:a1a69d32f310 | 4468 | } |
nikapov | 0:a1a69d32f310 | 4469 | |
nikapov | 0:a1a69d32f310 | 4470 | if (scheduler_sequence_steps.PreRangeOn) { |
nikapov | 0:a1a69d32f310 | 4471 | |
nikapov | 0:a1a69d32f310 | 4472 | /* Subtract the Pre-range timeout if enabled. */ |
nikapov | 0:a1a69d32f310 | 4473 | |
nikapov | 0:a1a69d32f310 | 4474 | status = get_sequence_step_timeout(dev, |
nikapov | 0:a1a69d32f310 | 4475 | VL53L0X_SEQUENCESTEP_PRE_RANGE, |
nikapov | 0:a1a69d32f310 | 4476 | &pre_range_timeout_micro_seconds); |
nikapov | 0:a1a69d32f310 | 4477 | |
nikapov | 0:a1a69d32f310 | 4478 | sub_timeout = pre_range_timeout_micro_seconds + |
nikapov | 0:a1a69d32f310 | 4479 | pre_range_overhead_micro_seconds; |
nikapov | 0:a1a69d32f310 | 4480 | |
nikapov | 0:a1a69d32f310 | 4481 | if (sub_timeout < final_range_timing_budget_micro_seconds) { |
nikapov | 0:a1a69d32f310 | 4482 | final_range_timing_budget_micro_seconds -= sub_timeout; |
nikapov | 0:a1a69d32f310 | 4483 | } else { |
nikapov | 0:a1a69d32f310 | 4484 | /* Requested timeout too big. */ |
nikapov | 0:a1a69d32f310 | 4485 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 4486 | } |
nikapov | 0:a1a69d32f310 | 4487 | } |
nikapov | 0:a1a69d32f310 | 4488 | |
nikapov | 0:a1a69d32f310 | 4489 | |
nikapov | 0:a1a69d32f310 | 4490 | if (status == VL53L0X_ERROR_NONE && |
nikapov | 0:a1a69d32f310 | 4491 | scheduler_sequence_steps.FinalRangeOn) { |
nikapov | 0:a1a69d32f310 | 4492 | |
nikapov | 0:a1a69d32f310 | 4493 | final_range_timing_budget_micro_seconds -= |
nikapov | 0:a1a69d32f310 | 4494 | final_range_overhead_micro_seconds; |
nikapov | 0:a1a69d32f310 | 4495 | |
nikapov | 0:a1a69d32f310 | 4496 | /* Final Range Timeout |
nikapov | 0:a1a69d32f310 | 4497 | * Note that the final range timeout is determined by the timing |
nikapov | 0:a1a69d32f310 | 4498 | * budget and the sum of all other timeouts within the sequence. |
nikapov | 0:a1a69d32f310 | 4499 | * If there is no room for the final range timeout, then an error |
nikapov | 0:a1a69d32f310 | 4500 | * will be set. Otherwise the remaining time will be applied to |
nikapov | 0:a1a69d32f310 | 4501 | * the final range. |
nikapov | 0:a1a69d32f310 | 4502 | */ |
nikapov | 0:a1a69d32f310 | 4503 | status = set_sequence_step_timeout(dev, |
nikapov | 0:a1a69d32f310 | 4504 | VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
nikapov | 0:a1a69d32f310 | 4505 | final_range_timing_budget_micro_seconds); |
nikapov | 0:a1a69d32f310 | 4506 | |
nikapov | 0:a1a69d32f310 | 4507 | VL53L0X_SETPARAMETERFIELD(dev, |
nikapov | 0:a1a69d32f310 | 4508 | MeasurementTimingBudgetMicroSeconds, |
nikapov | 0:a1a69d32f310 | 4509 | measurement_timing_budget_micro_seconds); |
nikapov | 0:a1a69d32f310 | 4510 | } |
nikapov | 0:a1a69d32f310 | 4511 | |
sepp_nepp | 5:b95f6951f7d5 | 4512 | |
nikapov | 0:a1a69d32f310 | 4513 | |
nikapov | 0:a1a69d32f310 | 4514 | return status; |
nikapov | 0:a1a69d32f310 | 4515 | } |
nikapov | 0:a1a69d32f310 | 4516 | |
nikapov | 0:a1a69d32f310 | 4517 | VL53L0X_Error VL53L0X::VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 4518 | uint32_t measurement_timing_budget_micro_seconds) |
nikapov | 0:a1a69d32f310 | 4519 | { |
nikapov | 0:a1a69d32f310 | 4520 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
sepp_nepp | 5:b95f6951f7d5 | 4521 | |
nikapov | 0:a1a69d32f310 | 4522 | |
nikapov | 0:a1a69d32f310 | 4523 | status = wrapped_VL53L0X_set_measurement_timing_budget_micro_seconds(dev, |
nikapov | 0:a1a69d32f310 | 4524 | measurement_timing_budget_micro_seconds); |
nikapov | 0:a1a69d32f310 | 4525 | |
sepp_nepp | 5:b95f6951f7d5 | 4526 | |
nikapov | 0:a1a69d32f310 | 4527 | |
nikapov | 0:a1a69d32f310 | 4528 | return status; |
nikapov | 0:a1a69d32f310 | 4529 | } |
nikapov | 0:a1a69d32f310 | 4530 | |
nikapov | 0:a1a69d32f310 | 4531 | VL53L0X_Error VL53L0X::VL53L0X_set_sequence_step_enable(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 4532 | VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_step_enabled) |
nikapov | 0:a1a69d32f310 | 4533 | { |
nikapov | 0:a1a69d32f310 | 4534 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 4535 | uint8_t sequence_config = 0; |
nikapov | 0:a1a69d32f310 | 4536 | uint8_t sequence_config_new = 0; |
nikapov | 0:a1a69d32f310 | 4537 | uint32_t measurement_timing_budget_micro_seconds; |
sepp_nepp | 5:b95f6951f7d5 | 4538 | |
nikapov | 0:a1a69d32f310 | 4539 | |
nikapov | 0:a1a69d32f310 | 4540 | status = VL53L0X_read_byte(dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
nikapov | 0:a1a69d32f310 | 4541 | &sequence_config); |
nikapov | 0:a1a69d32f310 | 4542 | |
nikapov | 0:a1a69d32f310 | 4543 | sequence_config_new = sequence_config; |
nikapov | 0:a1a69d32f310 | 4544 | |
nikapov | 0:a1a69d32f310 | 4545 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4546 | if (sequence_step_enabled == 1) { |
nikapov | 0:a1a69d32f310 | 4547 | |
nikapov | 0:a1a69d32f310 | 4548 | /* Enable requested sequence step |
nikapov | 0:a1a69d32f310 | 4549 | */ |
nikapov | 0:a1a69d32f310 | 4550 | switch (sequence_step_id) { |
nikapov | 0:a1a69d32f310 | 4551 | case VL53L0X_SEQUENCESTEP_TCC: |
nikapov | 0:a1a69d32f310 | 4552 | sequence_config_new |= 0x10; |
nikapov | 0:a1a69d32f310 | 4553 | break; |
nikapov | 0:a1a69d32f310 | 4554 | case VL53L0X_SEQUENCESTEP_DSS: |
nikapov | 0:a1a69d32f310 | 4555 | sequence_config_new |= 0x28; |
nikapov | 0:a1a69d32f310 | 4556 | break; |
nikapov | 0:a1a69d32f310 | 4557 | case VL53L0X_SEQUENCESTEP_MSRC: |
nikapov | 0:a1a69d32f310 | 4558 | sequence_config_new |= 0x04; |
nikapov | 0:a1a69d32f310 | 4559 | break; |
nikapov | 0:a1a69d32f310 | 4560 | case VL53L0X_SEQUENCESTEP_PRE_RANGE: |
nikapov | 0:a1a69d32f310 | 4561 | sequence_config_new |= 0x40; |
nikapov | 0:a1a69d32f310 | 4562 | break; |
nikapov | 0:a1a69d32f310 | 4563 | case VL53L0X_SEQUENCESTEP_FINAL_RANGE: |
nikapov | 0:a1a69d32f310 | 4564 | sequence_config_new |= 0x80; |
nikapov | 0:a1a69d32f310 | 4565 | break; |
nikapov | 0:a1a69d32f310 | 4566 | default: |
nikapov | 0:a1a69d32f310 | 4567 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 4568 | } |
nikapov | 0:a1a69d32f310 | 4569 | } else { |
nikapov | 0:a1a69d32f310 | 4570 | /* Disable requested sequence step |
nikapov | 0:a1a69d32f310 | 4571 | */ |
nikapov | 0:a1a69d32f310 | 4572 | switch (sequence_step_id) { |
nikapov | 0:a1a69d32f310 | 4573 | case VL53L0X_SEQUENCESTEP_TCC: |
nikapov | 0:a1a69d32f310 | 4574 | sequence_config_new &= 0xef; |
nikapov | 0:a1a69d32f310 | 4575 | break; |
nikapov | 0:a1a69d32f310 | 4576 | case VL53L0X_SEQUENCESTEP_DSS: |
nikapov | 0:a1a69d32f310 | 4577 | sequence_config_new &= 0xd7; |
nikapov | 0:a1a69d32f310 | 4578 | break; |
nikapov | 0:a1a69d32f310 | 4579 | case VL53L0X_SEQUENCESTEP_MSRC: |
nikapov | 0:a1a69d32f310 | 4580 | sequence_config_new &= 0xfb; |
nikapov | 0:a1a69d32f310 | 4581 | break; |
nikapov | 0:a1a69d32f310 | 4582 | case VL53L0X_SEQUENCESTEP_PRE_RANGE: |
nikapov | 0:a1a69d32f310 | 4583 | sequence_config_new &= 0xbf; |
nikapov | 0:a1a69d32f310 | 4584 | break; |
nikapov | 0:a1a69d32f310 | 4585 | case VL53L0X_SEQUENCESTEP_FINAL_RANGE: |
nikapov | 0:a1a69d32f310 | 4586 | sequence_config_new &= 0x7f; |
nikapov | 0:a1a69d32f310 | 4587 | break; |
nikapov | 0:a1a69d32f310 | 4588 | default: |
nikapov | 0:a1a69d32f310 | 4589 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 4590 | } |
nikapov | 0:a1a69d32f310 | 4591 | } |
nikapov | 0:a1a69d32f310 | 4592 | } |
nikapov | 0:a1a69d32f310 | 4593 | |
nikapov | 0:a1a69d32f310 | 4594 | if (sequence_config_new != sequence_config) { |
nikapov | 0:a1a69d32f310 | 4595 | /* Apply New Setting */ |
nikapov | 0:a1a69d32f310 | 4596 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4597 | status = VL53L0X_write_byte(dev, |
nikapov | 0:a1a69d32f310 | 4598 | VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, sequence_config_new); |
nikapov | 0:a1a69d32f310 | 4599 | } |
nikapov | 0:a1a69d32f310 | 4600 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4601 | PALDevDataSet(dev, SequenceConfig, sequence_config_new); |
nikapov | 0:a1a69d32f310 | 4602 | } |
nikapov | 0:a1a69d32f310 | 4603 | |
nikapov | 0:a1a69d32f310 | 4604 | |
nikapov | 0:a1a69d32f310 | 4605 | /* Recalculate timing budget */ |
nikapov | 0:a1a69d32f310 | 4606 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4607 | VL53L0X_GETPARAMETERFIELD(dev, |
nikapov | 0:a1a69d32f310 | 4608 | MeasurementTimingBudgetMicroSeconds, |
nikapov | 0:a1a69d32f310 | 4609 | measurement_timing_budget_micro_seconds); |
nikapov | 0:a1a69d32f310 | 4610 | |
nikapov | 0:a1a69d32f310 | 4611 | VL53L0X_set_measurement_timing_budget_micro_seconds(dev, |
nikapov | 0:a1a69d32f310 | 4612 | measurement_timing_budget_micro_seconds); |
nikapov | 0:a1a69d32f310 | 4613 | } |
nikapov | 0:a1a69d32f310 | 4614 | } |
nikapov | 0:a1a69d32f310 | 4615 | |
sepp_nepp | 5:b95f6951f7d5 | 4616 | |
nikapov | 0:a1a69d32f310 | 4617 | |
nikapov | 0:a1a69d32f310 | 4618 | return status; |
nikapov | 0:a1a69d32f310 | 4619 | } |
nikapov | 0:a1a69d32f310 | 4620 | |
nikapov | 0:a1a69d32f310 | 4621 | VL53L0X_Error VL53L0X::VL53L0X_set_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id, |
nikapov | 0:a1a69d32f310 | 4622 | uint8_t limit_check_enable) |
nikapov | 0:a1a69d32f310 | 4623 | { |
nikapov | 0:a1a69d32f310 | 4624 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 4625 | FixPoint1616_t temp_fix1616 = 0; |
nikapov | 0:a1a69d32f310 | 4626 | uint8_t limit_check_enable_int = 0; |
nikapov | 0:a1a69d32f310 | 4627 | uint8_t limit_check_disable = 0; |
nikapov | 0:a1a69d32f310 | 4628 | uint8_t temp8; |
nikapov | 0:a1a69d32f310 | 4629 | |
sepp_nepp | 5:b95f6951f7d5 | 4630 | |
nikapov | 0:a1a69d32f310 | 4631 | |
nikapov | 0:a1a69d32f310 | 4632 | if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) { |
nikapov | 0:a1a69d32f310 | 4633 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 4634 | } else { |
nikapov | 0:a1a69d32f310 | 4635 | if (limit_check_enable == 0) { |
nikapov | 0:a1a69d32f310 | 4636 | temp_fix1616 = 0; |
nikapov | 0:a1a69d32f310 | 4637 | limit_check_enable_int = 0; |
nikapov | 0:a1a69d32f310 | 4638 | limit_check_disable = 1; |
nikapov | 0:a1a69d32f310 | 4639 | |
nikapov | 0:a1a69d32f310 | 4640 | } else { |
nikapov | 0:a1a69d32f310 | 4641 | VL53L0X_GETARRAYPARAMETERFIELD(dev, LimitChecksValue, |
nikapov | 0:a1a69d32f310 | 4642 | limit_check_id, temp_fix1616); |
nikapov | 0:a1a69d32f310 | 4643 | limit_check_disable = 0; |
nikapov | 0:a1a69d32f310 | 4644 | /* this to be sure to have either 0 or 1 */ |
nikapov | 0:a1a69d32f310 | 4645 | limit_check_enable_int = 1; |
nikapov | 0:a1a69d32f310 | 4646 | } |
nikapov | 0:a1a69d32f310 | 4647 | |
nikapov | 0:a1a69d32f310 | 4648 | switch (limit_check_id) { |
nikapov | 0:a1a69d32f310 | 4649 | |
nikapov | 0:a1a69d32f310 | 4650 | case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE: |
nikapov | 0:a1a69d32f310 | 4651 | /* internal computation: */ |
nikapov | 0:a1a69d32f310 | 4652 | VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable, |
nikapov | 0:a1a69d32f310 | 4653 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
nikapov | 0:a1a69d32f310 | 4654 | limit_check_enable_int); |
nikapov | 0:a1a69d32f310 | 4655 | |
nikapov | 0:a1a69d32f310 | 4656 | break; |
nikapov | 0:a1a69d32f310 | 4657 | |
nikapov | 0:a1a69d32f310 | 4658 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: |
nikapov | 0:a1a69d32f310 | 4659 | |
nikapov | 0:a1a69d32f310 | 4660 | status = VL53L0X_write_word(dev, |
nikapov | 0:a1a69d32f310 | 4661 | VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, |
nikapov | 0:a1a69d32f310 | 4662 | VL53L0X_FIXPOINT1616TOFIXPOINT97(temp_fix1616)); |
nikapov | 0:a1a69d32f310 | 4663 | |
nikapov | 0:a1a69d32f310 | 4664 | break; |
nikapov | 0:a1a69d32f310 | 4665 | |
nikapov | 0:a1a69d32f310 | 4666 | case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP: |
nikapov | 0:a1a69d32f310 | 4667 | |
nikapov | 0:a1a69d32f310 | 4668 | /* internal computation: */ |
nikapov | 0:a1a69d32f310 | 4669 | VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable, |
nikapov | 0:a1a69d32f310 | 4670 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
nikapov | 0:a1a69d32f310 | 4671 | limit_check_enable_int); |
nikapov | 0:a1a69d32f310 | 4672 | |
nikapov | 0:a1a69d32f310 | 4673 | break; |
nikapov | 0:a1a69d32f310 | 4674 | |
nikapov | 0:a1a69d32f310 | 4675 | case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD: |
nikapov | 0:a1a69d32f310 | 4676 | |
nikapov | 0:a1a69d32f310 | 4677 | /* internal computation: */ |
nikapov | 0:a1a69d32f310 | 4678 | VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable, |
nikapov | 0:a1a69d32f310 | 4679 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
nikapov | 0:a1a69d32f310 | 4680 | limit_check_enable_int); |
nikapov | 0:a1a69d32f310 | 4681 | |
nikapov | 0:a1a69d32f310 | 4682 | break; |
nikapov | 0:a1a69d32f310 | 4683 | |
nikapov | 0:a1a69d32f310 | 4684 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC: |
nikapov | 0:a1a69d32f310 | 4685 | |
nikapov | 0:a1a69d32f310 | 4686 | temp8 = (uint8_t)(limit_check_disable << 1); |
nikapov | 0:a1a69d32f310 | 4687 | status = VL53L0X_update_byte(dev, |
nikapov | 0:a1a69d32f310 | 4688 | VL53L0X_REG_MSRC_CONFIG_CONTROL, |
nikapov | 0:a1a69d32f310 | 4689 | 0xFE, temp8); |
nikapov | 0:a1a69d32f310 | 4690 | |
nikapov | 0:a1a69d32f310 | 4691 | break; |
nikapov | 0:a1a69d32f310 | 4692 | |
nikapov | 0:a1a69d32f310 | 4693 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: |
nikapov | 0:a1a69d32f310 | 4694 | |
nikapov | 0:a1a69d32f310 | 4695 | temp8 = (uint8_t)(limit_check_disable << 4); |
nikapov | 0:a1a69d32f310 | 4696 | status = VL53L0X_update_byte(dev, |
nikapov | 0:a1a69d32f310 | 4697 | VL53L0X_REG_MSRC_CONFIG_CONTROL, |
nikapov | 0:a1a69d32f310 | 4698 | 0xEF, temp8); |
nikapov | 0:a1a69d32f310 | 4699 | |
nikapov | 0:a1a69d32f310 | 4700 | break; |
nikapov | 0:a1a69d32f310 | 4701 | |
nikapov | 0:a1a69d32f310 | 4702 | |
nikapov | 0:a1a69d32f310 | 4703 | default: |
nikapov | 0:a1a69d32f310 | 4704 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 4705 | |
nikapov | 0:a1a69d32f310 | 4706 | } |
nikapov | 0:a1a69d32f310 | 4707 | |
nikapov | 0:a1a69d32f310 | 4708 | } |
nikapov | 0:a1a69d32f310 | 4709 | |
nikapov | 0:a1a69d32f310 | 4710 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4711 | if (limit_check_enable == 0) { |
nikapov | 0:a1a69d32f310 | 4712 | VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable, |
nikapov | 0:a1a69d32f310 | 4713 | limit_check_id, 0); |
nikapov | 0:a1a69d32f310 | 4714 | } else { |
nikapov | 0:a1a69d32f310 | 4715 | VL53L0X_SETARRAYPARAMETERFIELD(dev, LimitChecksEnable, |
nikapov | 0:a1a69d32f310 | 4716 | limit_check_id, 1); |
nikapov | 0:a1a69d32f310 | 4717 | } |
nikapov | 0:a1a69d32f310 | 4718 | } |
nikapov | 0:a1a69d32f310 | 4719 | |
sepp_nepp | 5:b95f6951f7d5 | 4720 | |
nikapov | 0:a1a69d32f310 | 4721 | return status; |
nikapov | 0:a1a69d32f310 | 4722 | } |
nikapov | 0:a1a69d32f310 | 4723 | |
nikapov | 0:a1a69d32f310 | 4724 | VL53L0X_Error VL53L0X::VL53L0X_static_init(VL53L0X_DEV dev) |
nikapov | 0:a1a69d32f310 | 4725 | { |
nikapov | 0:a1a69d32f310 | 4726 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 4727 | VL53L0X_DeviceParameters_t current_parameters = {0}; |
nikapov | 0:a1a69d32f310 | 4728 | uint8_t *p_tuning_setting_buffer; |
nikapov | 0:a1a69d32f310 | 4729 | uint16_t tempword = 0; |
nikapov | 0:a1a69d32f310 | 4730 | uint8_t tempbyte = 0; |
nikapov | 0:a1a69d32f310 | 4731 | uint8_t use_internal_tuning_settings = 0; |
nikapov | 0:a1a69d32f310 | 4732 | uint32_t count = 0; |
nikapov | 0:a1a69d32f310 | 4733 | uint8_t is_aperture_spads = 0; |
nikapov | 0:a1a69d32f310 | 4734 | uint32_t ref_spad_count = 0; |
nikapov | 0:a1a69d32f310 | 4735 | uint8_t aperture_spads = 0; |
nikapov | 0:a1a69d32f310 | 4736 | uint8_t vcsel_pulse_period_pclk; |
nikapov | 0:a1a69d32f310 | 4737 | uint32_t seq_timeout_micro_secs; |
nikapov | 0:a1a69d32f310 | 4738 | |
sepp_nepp | 5:b95f6951f7d5 | 4739 | |
nikapov | 0:a1a69d32f310 | 4740 | |
nikapov | 0:a1a69d32f310 | 4741 | status = VL53L0X_get_info_from_device(dev, 1); |
nikapov | 0:a1a69d32f310 | 4742 | |
nikapov | 0:a1a69d32f310 | 4743 | /* set the ref spad from NVM */ |
nikapov | 0:a1a69d32f310 | 4744 | count = (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 4745 | ReferenceSpadCount); |
nikapov | 0:a1a69d32f310 | 4746 | aperture_spads = VL53L0X_GETDEVICESPECIFICPARAMETER(dev, |
nikapov | 0:a1a69d32f310 | 4747 | ReferenceSpadType); |
nikapov | 0:a1a69d32f310 | 4748 | |
nikapov | 0:a1a69d32f310 | 4749 | /* NVM value invalid */ |
nikapov | 0:a1a69d32f310 | 4750 | if ((aperture_spads > 1) || |
nikapov | 0:a1a69d32f310 | 4751 | ((aperture_spads == 1) && (count > 32)) || |
nikapov | 0:a1a69d32f310 | 4752 | ((aperture_spads == 0) && (count > 12))) { |
nikapov | 0:a1a69d32f310 | 4753 | status = wrapped_VL53L0X_perform_ref_spad_management(dev, &ref_spad_count, |
nikapov | 0:a1a69d32f310 | 4754 | &is_aperture_spads); |
nikapov | 0:a1a69d32f310 | 4755 | } else { |
nikapov | 0:a1a69d32f310 | 4756 | status = VL53L0X_set_reference_spads(dev, count, aperture_spads); |
nikapov | 0:a1a69d32f310 | 4757 | } |
nikapov | 0:a1a69d32f310 | 4758 | |
nikapov | 0:a1a69d32f310 | 4759 | |
nikapov | 0:a1a69d32f310 | 4760 | /* Initialize tuning settings buffer to prevent compiler warning. */ |
nikapov | 0:a1a69d32f310 | 4761 | p_tuning_setting_buffer = DefaultTuningSettings; |
nikapov | 0:a1a69d32f310 | 4762 | |
nikapov | 0:a1a69d32f310 | 4763 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4764 | use_internal_tuning_settings = PALDevDataGet(dev, |
nikapov | 0:a1a69d32f310 | 4765 | UseInternalTuningSettings); |
nikapov | 0:a1a69d32f310 | 4766 | |
nikapov | 0:a1a69d32f310 | 4767 | if (use_internal_tuning_settings == 0) { |
nikapov | 0:a1a69d32f310 | 4768 | p_tuning_setting_buffer = PALDevDataGet(dev, |
nikapov | 0:a1a69d32f310 | 4769 | pTuningSettingsPointer); |
nikapov | 0:a1a69d32f310 | 4770 | } else { |
nikapov | 0:a1a69d32f310 | 4771 | p_tuning_setting_buffer = DefaultTuningSettings; |
nikapov | 0:a1a69d32f310 | 4772 | } |
nikapov | 0:a1a69d32f310 | 4773 | |
nikapov | 0:a1a69d32f310 | 4774 | } |
nikapov | 0:a1a69d32f310 | 4775 | |
nikapov | 0:a1a69d32f310 | 4776 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4777 | status = VL53L0X_load_tuning_settings(dev, p_tuning_setting_buffer); |
nikapov | 0:a1a69d32f310 | 4778 | } |
nikapov | 0:a1a69d32f310 | 4779 | |
nikapov | 0:a1a69d32f310 | 4780 | |
nikapov | 0:a1a69d32f310 | 4781 | /* Set interrupt config to new sample ready */ |
nikapov | 0:a1a69d32f310 | 4782 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4783 | status = VL53L0X_set_gpio_config(dev, 0, 0, |
nikapov | 0:a1a69d32f310 | 4784 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY, |
nikapov | 0:a1a69d32f310 | 4785 | VL53L0X_INTERRUPTPOLARITY_LOW); |
nikapov | 0:a1a69d32f310 | 4786 | } |
nikapov | 0:a1a69d32f310 | 4787 | |
nikapov | 0:a1a69d32f310 | 4788 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4789 | status = VL53L0X_write_byte(dev, 0xFF, 0x01); |
nikapov | 0:a1a69d32f310 | 4790 | status |= VL53L0X_read_word(dev, 0x84, &tempword); |
nikapov | 0:a1a69d32f310 | 4791 | status |= VL53L0X_write_byte(dev, 0xFF, 0x00); |
nikapov | 0:a1a69d32f310 | 4792 | } |
nikapov | 0:a1a69d32f310 | 4793 | |
nikapov | 0:a1a69d32f310 | 4794 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4795 | VL53L0X_SETDEVICESPECIFICPARAMETER(dev, OscFrequencyMHz, |
nikapov | 0:a1a69d32f310 | 4796 | VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword)); |
nikapov | 0:a1a69d32f310 | 4797 | } |
nikapov | 0:a1a69d32f310 | 4798 | |
nikapov | 0:a1a69d32f310 | 4799 | /* After static init, some device parameters may be changed, |
nikapov | 0:a1a69d32f310 | 4800 | * so update them */ |
nikapov | 0:a1a69d32f310 | 4801 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4802 | status = VL53L0X_get_device_parameters(dev, ¤t_parameters); |
nikapov | 0:a1a69d32f310 | 4803 | } |
nikapov | 0:a1a69d32f310 | 4804 | |
nikapov | 0:a1a69d32f310 | 4805 | |
nikapov | 0:a1a69d32f310 | 4806 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4807 | status = VL53L0X_get_fraction_enable(dev, &tempbyte); |
Davidroid | 3:e9269ff624ed | 4808 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4809 | PALDevDataSet(dev, RangeFractionalEnable, tempbyte); |
Davidroid | 3:e9269ff624ed | 4810 | } |
nikapov | 0:a1a69d32f310 | 4811 | |
nikapov | 0:a1a69d32f310 | 4812 | } |
nikapov | 0:a1a69d32f310 | 4813 | |
nikapov | 0:a1a69d32f310 | 4814 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4815 | PALDevDataSet(dev, CurrentParameters, current_parameters); |
nikapov | 0:a1a69d32f310 | 4816 | } |
nikapov | 0:a1a69d32f310 | 4817 | |
nikapov | 0:a1a69d32f310 | 4818 | |
nikapov | 0:a1a69d32f310 | 4819 | /* read the sequence config and save it */ |
nikapov | 0:a1a69d32f310 | 4820 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4821 | status = VL53L0X_read_byte(dev, |
nikapov | 0:a1a69d32f310 | 4822 | VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte); |
nikapov | 0:a1a69d32f310 | 4823 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4824 | PALDevDataSet(dev, SequenceConfig, tempbyte); |
nikapov | 0:a1a69d32f310 | 4825 | } |
nikapov | 0:a1a69d32f310 | 4826 | } |
nikapov | 0:a1a69d32f310 | 4827 | |
nikapov | 0:a1a69d32f310 | 4828 | /* Disable MSRC and TCC by default */ |
nikapov | 0:a1a69d32f310 | 4829 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4830 | status = VL53L0X_set_sequence_step_enable(dev, |
nikapov | 0:a1a69d32f310 | 4831 | VL53L0X_SEQUENCESTEP_TCC, 0); |
Davidroid | 2:d07edeaff6f1 | 4832 | } |
nikapov | 0:a1a69d32f310 | 4833 | |
nikapov | 0:a1a69d32f310 | 4834 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4835 | status = VL53L0X_set_sequence_step_enable(dev, |
nikapov | 0:a1a69d32f310 | 4836 | VL53L0X_SEQUENCESTEP_MSRC, 0); |
Davidroid | 2:d07edeaff6f1 | 4837 | } |
nikapov | 0:a1a69d32f310 | 4838 | |
nikapov | 0:a1a69d32f310 | 4839 | /* Set PAL State to standby */ |
nikapov | 0:a1a69d32f310 | 4840 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4841 | PALDevDataSet(dev, PalState, VL53L0X_STATE_IDLE); |
nikapov | 0:a1a69d32f310 | 4842 | } |
nikapov | 0:a1a69d32f310 | 4843 | |
nikapov | 0:a1a69d32f310 | 4844 | /* Store pre-range vcsel period */ |
nikapov | 0:a1a69d32f310 | 4845 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4846 | status = VL53L0X_get_vcsel_pulse_period( |
nikapov | 0:a1a69d32f310 | 4847 | dev, |
nikapov | 0:a1a69d32f310 | 4848 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
nikapov | 0:a1a69d32f310 | 4849 | &vcsel_pulse_period_pclk); |
nikapov | 0:a1a69d32f310 | 4850 | } |
nikapov | 0:a1a69d32f310 | 4851 | |
nikapov | 0:a1a69d32f310 | 4852 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4853 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
nikapov | 0:a1a69d32f310 | 4854 | dev, |
nikapov | 0:a1a69d32f310 | 4855 | PreRangeVcselPulsePeriod, |
nikapov | 0:a1a69d32f310 | 4856 | vcsel_pulse_period_pclk); |
nikapov | 0:a1a69d32f310 | 4857 | } |
nikapov | 0:a1a69d32f310 | 4858 | |
nikapov | 0:a1a69d32f310 | 4859 | /* Store final-range vcsel period */ |
nikapov | 0:a1a69d32f310 | 4860 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4861 | status = VL53L0X_get_vcsel_pulse_period( |
nikapov | 0:a1a69d32f310 | 4862 | dev, |
nikapov | 0:a1a69d32f310 | 4863 | VL53L0X_VCSEL_PERIOD_FINAL_RANGE, |
nikapov | 0:a1a69d32f310 | 4864 | &vcsel_pulse_period_pclk); |
nikapov | 0:a1a69d32f310 | 4865 | } |
nikapov | 0:a1a69d32f310 | 4866 | |
nikapov | 0:a1a69d32f310 | 4867 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4868 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
nikapov | 0:a1a69d32f310 | 4869 | dev, |
nikapov | 0:a1a69d32f310 | 4870 | FinalRangeVcselPulsePeriod, |
nikapov | 0:a1a69d32f310 | 4871 | vcsel_pulse_period_pclk); |
nikapov | 0:a1a69d32f310 | 4872 | } |
nikapov | 0:a1a69d32f310 | 4873 | |
nikapov | 0:a1a69d32f310 | 4874 | /* Store pre-range timeout */ |
nikapov | 0:a1a69d32f310 | 4875 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4876 | status = get_sequence_step_timeout( |
nikapov | 0:a1a69d32f310 | 4877 | dev, |
nikapov | 0:a1a69d32f310 | 4878 | VL53L0X_SEQUENCESTEP_PRE_RANGE, |
nikapov | 0:a1a69d32f310 | 4879 | &seq_timeout_micro_secs); |
nikapov | 0:a1a69d32f310 | 4880 | } |
nikapov | 0:a1a69d32f310 | 4881 | |
nikapov | 0:a1a69d32f310 | 4882 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4883 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
nikapov | 0:a1a69d32f310 | 4884 | dev, |
nikapov | 0:a1a69d32f310 | 4885 | PreRangeTimeoutMicroSecs, |
nikapov | 0:a1a69d32f310 | 4886 | seq_timeout_micro_secs); |
nikapov | 0:a1a69d32f310 | 4887 | } |
nikapov | 0:a1a69d32f310 | 4888 | |
nikapov | 0:a1a69d32f310 | 4889 | /* Store final-range timeout */ |
nikapov | 0:a1a69d32f310 | 4890 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4891 | status = get_sequence_step_timeout( |
nikapov | 0:a1a69d32f310 | 4892 | dev, |
nikapov | 0:a1a69d32f310 | 4893 | VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
nikapov | 0:a1a69d32f310 | 4894 | &seq_timeout_micro_secs); |
nikapov | 0:a1a69d32f310 | 4895 | } |
nikapov | 0:a1a69d32f310 | 4896 | |
nikapov | 0:a1a69d32f310 | 4897 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4898 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
nikapov | 0:a1a69d32f310 | 4899 | dev, |
nikapov | 0:a1a69d32f310 | 4900 | FinalRangeTimeoutMicroSecs, |
nikapov | 0:a1a69d32f310 | 4901 | seq_timeout_micro_secs); |
nikapov | 0:a1a69d32f310 | 4902 | } |
nikapov | 0:a1a69d32f310 | 4903 | |
sepp_nepp | 5:b95f6951f7d5 | 4904 | |
nikapov | 0:a1a69d32f310 | 4905 | return status; |
nikapov | 0:a1a69d32f310 | 4906 | } |
nikapov | 0:a1a69d32f310 | 4907 | |
nikapov | 0:a1a69d32f310 | 4908 | |
nikapov | 0:a1a69d32f310 | 4909 | VL53L0X_Error VL53L0X::VL53L0X_stop_measurement(VL53L0X_DEV dev) |
nikapov | 0:a1a69d32f310 | 4910 | { |
nikapov | 0:a1a69d32f310 | 4911 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
sepp_nepp | 5:b95f6951f7d5 | 4912 | |
nikapov | 0:a1a69d32f310 | 4913 | |
nikapov | 0:a1a69d32f310 | 4914 | status = VL53L0X_write_byte(dev, VL53L0X_REG_SYSRANGE_START, |
nikapov | 0:a1a69d32f310 | 4915 | VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT); |
nikapov | 0:a1a69d32f310 | 4916 | |
nikapov | 0:a1a69d32f310 | 4917 | status = VL53L0X_write_byte(dev, 0xFF, 0x01); |
nikapov | 0:a1a69d32f310 | 4918 | status = VL53L0X_write_byte(dev, 0x00, 0x00); |
nikapov | 0:a1a69d32f310 | 4919 | status = VL53L0X_write_byte(dev, 0x91, 0x00); |
nikapov | 0:a1a69d32f310 | 4920 | status = VL53L0X_write_byte(dev, 0x00, 0x01); |
nikapov | 0:a1a69d32f310 | 4921 | status = VL53L0X_write_byte(dev, 0xFF, 0x00); |
nikapov | 0:a1a69d32f310 | 4922 | |
nikapov | 0:a1a69d32f310 | 4923 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4924 | /* Set PAL State to Idle */ |
nikapov | 0:a1a69d32f310 | 4925 | PALDevDataSet(dev, PalState, VL53L0X_STATE_IDLE); |
nikapov | 0:a1a69d32f310 | 4926 | } |
nikapov | 0:a1a69d32f310 | 4927 | |
nikapov | 0:a1a69d32f310 | 4928 | /* Check if need to apply interrupt settings */ |
nikapov | 0:a1a69d32f310 | 4929 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4930 | status = VL53L0X_check_and_load_interrupt_settings(dev, 0); |
nikapov | 0:a1a69d32f310 | 4931 | } |
nikapov | 0:a1a69d32f310 | 4932 | |
sepp_nepp | 5:b95f6951f7d5 | 4933 | |
nikapov | 0:a1a69d32f310 | 4934 | return status; |
nikapov | 0:a1a69d32f310 | 4935 | } |
nikapov | 0:a1a69d32f310 | 4936 | |
nikapov | 0:a1a69d32f310 | 4937 | VL53L0X_Error VL53L0X::VL53L0X_get_stop_completed_status(VL53L0X_DEV dev, |
nikapov | 0:a1a69d32f310 | 4938 | uint32_t *p_stop_status) |
nikapov | 0:a1a69d32f310 | 4939 | { |
nikapov | 0:a1a69d32f310 | 4940 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 4941 | uint8_t byte = 0; |
sepp_nepp | 5:b95f6951f7d5 | 4942 | |
nikapov | 0:a1a69d32f310 | 4943 | |
nikapov | 0:a1a69d32f310 | 4944 | status = VL53L0X_write_byte(dev, 0xFF, 0x01); |
nikapov | 0:a1a69d32f310 | 4945 | |
nikapov | 0:a1a69d32f310 | 4946 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4947 | status = VL53L0X_read_byte(dev, 0x04, &byte); |
nikapov | 0:a1a69d32f310 | 4948 | } |
nikapov | 0:a1a69d32f310 | 4949 | |
nikapov | 0:a1a69d32f310 | 4950 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 4951 | status = VL53L0X_write_byte(dev, 0xFF, 0x0); |
nikapov | 0:a1a69d32f310 | 4952 | } |
nikapov | 0:a1a69d32f310 | 4953 | |
nikapov | 0:a1a69d32f310 | 4954 | *p_stop_status = byte; |
nikapov | 0:a1a69d32f310 | 4955 | |
nikapov | 0:a1a69d32f310 | 4956 | if (byte == 0) { |
nikapov | 0:a1a69d32f310 | 4957 | status = VL53L0X_write_byte(dev, 0x80, 0x01); |
nikapov | 0:a1a69d32f310 | 4958 | status = VL53L0X_write_byte(dev, 0xFF, 0x01); |
nikapov | 0:a1a69d32f310 | 4959 | status = VL53L0X_write_byte(dev, 0x00, 0x00); |
nikapov | 0:a1a69d32f310 | 4960 | status = VL53L0X_write_byte(dev, 0x91, |
nikapov | 0:a1a69d32f310 | 4961 | PALDevDataGet(dev, StopVariable)); |
nikapov | 0:a1a69d32f310 | 4962 | status = VL53L0X_write_byte(dev, 0x00, 0x01); |
nikapov | 0:a1a69d32f310 | 4963 | status = VL53L0X_write_byte(dev, 0xFF, 0x00); |
nikapov | 0:a1a69d32f310 | 4964 | status = VL53L0X_write_byte(dev, 0x80, 0x00); |
nikapov | 0:a1a69d32f310 | 4965 | } |
nikapov | 0:a1a69d32f310 | 4966 | |
sepp_nepp | 5:b95f6951f7d5 | 4967 | |
nikapov | 0:a1a69d32f310 | 4968 | return status; |
nikapov | 0:a1a69d32f310 | 4969 | } |
nikapov | 0:a1a69d32f310 | 4970 | |
nikapov | 0:a1a69d32f310 | 4971 | /****************** Write and read functions from I2C *************************/ |
nikapov | 0:a1a69d32f310 | 4972 | |
nikapov | 0:a1a69d32f310 | 4973 | VL53L0X_Error VL53L0X::VL53L0X_write_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count) |
nikapov | 0:a1a69d32f310 | 4974 | { |
nikapov | 0:a1a69d32f310 | 4975 | int status; |
nikapov | 0:a1a69d32f310 | 4976 | |
nikapov | 0:a1a69d32f310 | 4977 | status = VL53L0X_i2c_write(dev->I2cDevAddr, index, p_data, (uint16_t)count); |
nikapov | 0:a1a69d32f310 | 4978 | return status; |
nikapov | 0:a1a69d32f310 | 4979 | } |
nikapov | 0:a1a69d32f310 | 4980 | |
nikapov | 0:a1a69d32f310 | 4981 | VL53L0X_Error VL53L0X::VL53L0X_read_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count) |
nikapov | 0:a1a69d32f310 | 4982 | { |
nikapov | 0:a1a69d32f310 | 4983 | int status; |
nikapov | 0:a1a69d32f310 | 4984 | |
nikapov | 0:a1a69d32f310 | 4985 | if (count >= VL53L0X_MAX_I2C_XFER_SIZE) { |
nikapov | 0:a1a69d32f310 | 4986 | status = VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 4987 | } |
nikapov | 0:a1a69d32f310 | 4988 | |
nikapov | 0:a1a69d32f310 | 4989 | status = VL53L0X_i2c_read(dev->I2cDevAddr, index, p_data, (uint16_t)count); |
nikapov | 0:a1a69d32f310 | 4990 | |
nikapov | 0:a1a69d32f310 | 4991 | return status; |
nikapov | 0:a1a69d32f310 | 4992 | } |
nikapov | 0:a1a69d32f310 | 4993 | |
nikapov | 0:a1a69d32f310 | 4994 | |
nikapov | 0:a1a69d32f310 | 4995 | VL53L0X_Error VL53L0X::VL53L0X_write_byte(VL53L0X_DEV Dev, uint8_t index, uint8_t data) |
nikapov | 0:a1a69d32f310 | 4996 | { |
nikapov | 0:a1a69d32f310 | 4997 | int status; |
nikapov | 0:a1a69d32f310 | 4998 | |
nikapov | 0:a1a69d32f310 | 4999 | status = VL53L0X_i2c_write(Dev->I2cDevAddr, index, &data, 1); |
nikapov | 0:a1a69d32f310 | 5000 | return status; |
nikapov | 0:a1a69d32f310 | 5001 | } |
nikapov | 0:a1a69d32f310 | 5002 | |
nikapov | 0:a1a69d32f310 | 5003 | VL53L0X_Error VL53L0X::VL53L0X_write_word(VL53L0X_DEV dev, uint8_t index, uint16_t data) |
nikapov | 0:a1a69d32f310 | 5004 | { |
nikapov | 0:a1a69d32f310 | 5005 | int status; |
nikapov | 0:a1a69d32f310 | 5006 | uint8_t buffer[2]; |
nikapov | 0:a1a69d32f310 | 5007 | |
nikapov | 0:a1a69d32f310 | 5008 | buffer[0] = data >> 8; |
nikapov | 0:a1a69d32f310 | 5009 | buffer[1] = data & 0x00FF; |
nikapov | 0:a1a69d32f310 | 5010 | status = VL53L0X_i2c_write(dev->I2cDevAddr, index, (uint8_t *)buffer, 2); |
nikapov | 0:a1a69d32f310 | 5011 | return status; |
nikapov | 0:a1a69d32f310 | 5012 | } |
nikapov | 0:a1a69d32f310 | 5013 | |
nikapov | 0:a1a69d32f310 | 5014 | VL53L0X_Error VL53L0X::VL53L0X_write_dword(VL53L0X_DEV Dev, uint8_t index, uint32_t data) |
nikapov | 0:a1a69d32f310 | 5015 | { |
nikapov | 0:a1a69d32f310 | 5016 | int status; |
nikapov | 0:a1a69d32f310 | 5017 | uint8_t buffer[4]; |
nikapov | 0:a1a69d32f310 | 5018 | |
nikapov | 0:a1a69d32f310 | 5019 | buffer[0] = (data >> 24) & 0xFF; |
nikapov | 0:a1a69d32f310 | 5020 | buffer[1] = (data >> 16) & 0xFF; |
nikapov | 0:a1a69d32f310 | 5021 | buffer[2] = (data >> 8) & 0xFF; |
nikapov | 0:a1a69d32f310 | 5022 | buffer[3] = (data >> 0) & 0xFF; |
nikapov | 0:a1a69d32f310 | 5023 | status = VL53L0X_i2c_write(Dev->I2cDevAddr, index, (uint8_t *)buffer, 4); |
nikapov | 0:a1a69d32f310 | 5024 | return status; |
nikapov | 0:a1a69d32f310 | 5025 | } |
nikapov | 0:a1a69d32f310 | 5026 | |
nikapov | 0:a1a69d32f310 | 5027 | |
nikapov | 0:a1a69d32f310 | 5028 | VL53L0X_Error VL53L0X::VL53L0X_read_byte(VL53L0X_DEV Dev, uint8_t index, uint8_t *p_data) |
nikapov | 0:a1a69d32f310 | 5029 | { |
nikapov | 0:a1a69d32f310 | 5030 | int status; |
nikapov | 0:a1a69d32f310 | 5031 | |
nikapov | 0:a1a69d32f310 | 5032 | status = VL53L0X_i2c_read(Dev->I2cDevAddr, index, p_data, 1); |
nikapov | 0:a1a69d32f310 | 5033 | |
Davidroid | 3:e9269ff624ed | 5034 | if (status) { |
nikapov | 0:a1a69d32f310 | 5035 | return -1; |
Davidroid | 3:e9269ff624ed | 5036 | } |
nikapov | 0:a1a69d32f310 | 5037 | |
nikapov | 0:a1a69d32f310 | 5038 | return 0; |
nikapov | 0:a1a69d32f310 | 5039 | } |
nikapov | 0:a1a69d32f310 | 5040 | |
nikapov | 0:a1a69d32f310 | 5041 | VL53L0X_Error VL53L0X::VL53L0X_read_word(VL53L0X_DEV Dev, uint8_t index, uint16_t *p_data) |
nikapov | 0:a1a69d32f310 | 5042 | { |
nikapov | 0:a1a69d32f310 | 5043 | int status; |
nikapov | 0:a1a69d32f310 | 5044 | uint8_t buffer[2] = {0, 0}; |
nikapov | 0:a1a69d32f310 | 5045 | |
nikapov | 0:a1a69d32f310 | 5046 | status = VL53L0X_i2c_read(Dev->I2cDevAddr, index, buffer, 2); |
nikapov | 0:a1a69d32f310 | 5047 | if (!status) { |
nikapov | 0:a1a69d32f310 | 5048 | *p_data = (buffer[0] << 8) + buffer[1]; |
nikapov | 0:a1a69d32f310 | 5049 | } |
nikapov | 0:a1a69d32f310 | 5050 | return status; |
nikapov | 0:a1a69d32f310 | 5051 | |
nikapov | 0:a1a69d32f310 | 5052 | } |
nikapov | 0:a1a69d32f310 | 5053 | |
nikapov | 0:a1a69d32f310 | 5054 | VL53L0X_Error VL53L0X::VL53L0X_read_dword(VL53L0X_DEV Dev, uint8_t index, uint32_t *p_data) |
nikapov | 0:a1a69d32f310 | 5055 | { |
nikapov | 0:a1a69d32f310 | 5056 | int status; |
nikapov | 0:a1a69d32f310 | 5057 | uint8_t buffer[4] = {0, 0, 0, 0}; |
nikapov | 0:a1a69d32f310 | 5058 | |
nikapov | 0:a1a69d32f310 | 5059 | status = VL53L0X_i2c_read(Dev->I2cDevAddr, index, buffer, 4); |
nikapov | 0:a1a69d32f310 | 5060 | if (!status) { |
nikapov | 0:a1a69d32f310 | 5061 | *p_data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3]; |
nikapov | 0:a1a69d32f310 | 5062 | } |
nikapov | 0:a1a69d32f310 | 5063 | return status; |
nikapov | 0:a1a69d32f310 | 5064 | |
nikapov | 0:a1a69d32f310 | 5065 | } |
nikapov | 0:a1a69d32f310 | 5066 | |
nikapov | 0:a1a69d32f310 | 5067 | VL53L0X_Error VL53L0X::VL53L0X_update_byte(VL53L0X_DEV Dev, uint8_t index, uint8_t and_data, uint8_t or_data) |
nikapov | 0:a1a69d32f310 | 5068 | { |
nikapov | 0:a1a69d32f310 | 5069 | int status; |
nikapov | 0:a1a69d32f310 | 5070 | uint8_t buffer = 0; |
nikapov | 0:a1a69d32f310 | 5071 | |
nikapov | 0:a1a69d32f310 | 5072 | /* read data direct onto buffer */ |
nikapov | 0:a1a69d32f310 | 5073 | status = VL53L0X_i2c_read(Dev->I2cDevAddr, index, &buffer, 1); |
nikapov | 0:a1a69d32f310 | 5074 | if (!status) { |
nikapov | 0:a1a69d32f310 | 5075 | buffer = (buffer & and_data) | or_data; |
nikapov | 0:a1a69d32f310 | 5076 | status = VL53L0X_i2c_write(Dev->I2cDevAddr, index, &buffer, (uint8_t)1); |
nikapov | 0:a1a69d32f310 | 5077 | } |
nikapov | 0:a1a69d32f310 | 5078 | return status; |
nikapov | 0:a1a69d32f310 | 5079 | } |
nikapov | 0:a1a69d32f310 | 5080 | |
nikapov | 0:a1a69d32f310 | 5081 | VL53L0X_Error VL53L0X::VL53L0X_i2c_write(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t *p_data, |
nikapov | 0:a1a69d32f310 | 5082 | uint16_t NumByteToWrite) |
nikapov | 0:a1a69d32f310 | 5083 | { |
nikapov | 0:a1a69d32f310 | 5084 | int ret; |
nikapov | 0:a1a69d32f310 | 5085 | |
nikapov | 0:a1a69d32f310 | 5086 | ret = _dev_i2c->i2c_write(p_data, DeviceAddr, RegisterAddr, NumByteToWrite); |
nikapov | 0:a1a69d32f310 | 5087 | |
nikapov | 0:a1a69d32f310 | 5088 | if (ret) { |
nikapov | 0:a1a69d32f310 | 5089 | return -1; |
nikapov | 0:a1a69d32f310 | 5090 | } |
nikapov | 0:a1a69d32f310 | 5091 | return 0; |
nikapov | 0:a1a69d32f310 | 5092 | } |
nikapov | 0:a1a69d32f310 | 5093 | |
nikapov | 0:a1a69d32f310 | 5094 | VL53L0X_Error VL53L0X::VL53L0X_i2c_read(uint8_t DeviceAddr, uint8_t RegisterAddr, uint8_t *p_data, |
nikapov | 0:a1a69d32f310 | 5095 | uint16_t NumByteToRead) |
nikapov | 0:a1a69d32f310 | 5096 | { |
nikapov | 0:a1a69d32f310 | 5097 | int ret; |
nikapov | 0:a1a69d32f310 | 5098 | |
nikapov | 0:a1a69d32f310 | 5099 | ret = _dev_i2c->i2c_read(p_data, DeviceAddr, RegisterAddr, NumByteToRead); |
nikapov | 0:a1a69d32f310 | 5100 | |
nikapov | 0:a1a69d32f310 | 5101 | if (ret) { |
nikapov | 0:a1a69d32f310 | 5102 | return -1; |
nikapov | 0:a1a69d32f310 | 5103 | } |
nikapov | 0:a1a69d32f310 | 5104 | return 0; |
nikapov | 0:a1a69d32f310 | 5105 | } |
nikapov | 0:a1a69d32f310 | 5106 | |
nikapov | 0:a1a69d32f310 | 5107 | int VL53L0X::read_id(uint8_t *id) |
nikapov | 0:a1a69d32f310 | 5108 | { |
nikapov | 0:a1a69d32f310 | 5109 | int status = 0; |
nikapov | 0:a1a69d32f310 | 5110 | uint16_t rl_id = 0; |
nikapov | 0:a1a69d32f310 | 5111 | |
nikapov | 0:a1a69d32f310 | 5112 | status = VL53L0X_read_word(_device, VL53L0X_REG_IDENTIFICATION_MODEL_ID, &rl_id); |
nikapov | 0:a1a69d32f310 | 5113 | if (rl_id == 0xEEAA) { |
nikapov | 0:a1a69d32f310 | 5114 | return status; |
nikapov | 0:a1a69d32f310 | 5115 | } |
nikapov | 0:a1a69d32f310 | 5116 | |
nikapov | 0:a1a69d32f310 | 5117 | return -1; |
nikapov | 0:a1a69d32f310 | 5118 | } |
nikapov | 0:a1a69d32f310 | 5119 | |
nikapov | 0:a1a69d32f310 | 5120 | |
nikapov | 0:a1a69d32f310 | 5121 | VL53L0X_Error VL53L0X::wait_measurement_data_ready(VL53L0X_DEV dev) |
nikapov | 0:a1a69d32f310 | 5122 | { |
nikapov | 0:a1a69d32f310 | 5123 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 5124 | uint8_t new_dat_ready = 0; |
nikapov | 0:a1a69d32f310 | 5125 | uint32_t loop_nb; |
nikapov | 0:a1a69d32f310 | 5126 | |
nikapov | 0:a1a69d32f310 | 5127 | // Wait until it finished |
nikapov | 0:a1a69d32f310 | 5128 | // use timeout to avoid deadlock |
nikapov | 0:a1a69d32f310 | 5129 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5130 | loop_nb = 0; |
nikapov | 0:a1a69d32f310 | 5131 | do { |
nikapov | 0:a1a69d32f310 | 5132 | status = VL53L0X_get_measurement_data_ready(dev, &new_dat_ready); |
nikapov | 0:a1a69d32f310 | 5133 | if ((new_dat_ready == 0x01) || status != VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5134 | break; |
nikapov | 0:a1a69d32f310 | 5135 | } |
nikapov | 0:a1a69d32f310 | 5136 | loop_nb = loop_nb + 1; |
nikapov | 0:a1a69d32f310 | 5137 | VL53L0X_polling_delay(dev); |
nikapov | 0:a1a69d32f310 | 5138 | } while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP); |
nikapov | 0:a1a69d32f310 | 5139 | |
nikapov | 0:a1a69d32f310 | 5140 | if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) { |
nikapov | 0:a1a69d32f310 | 5141 | status = VL53L0X_ERROR_TIME_OUT; |
nikapov | 0:a1a69d32f310 | 5142 | } |
nikapov | 0:a1a69d32f310 | 5143 | } |
nikapov | 0:a1a69d32f310 | 5144 | |
nikapov | 0:a1a69d32f310 | 5145 | return status; |
nikapov | 0:a1a69d32f310 | 5146 | } |
nikapov | 0:a1a69d32f310 | 5147 | |
nikapov | 0:a1a69d32f310 | 5148 | VL53L0X_Error VL53L0X::wait_stop_completed(VL53L0X_DEV dev) |
nikapov | 0:a1a69d32f310 | 5149 | { |
nikapov | 0:a1a69d32f310 | 5150 | VL53L0X_Error status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 5151 | uint32_t stop_completed = 0; |
nikapov | 0:a1a69d32f310 | 5152 | uint32_t loop_nb; |
nikapov | 0:a1a69d32f310 | 5153 | |
nikapov | 0:a1a69d32f310 | 5154 | // Wait until it finished |
nikapov | 0:a1a69d32f310 | 5155 | // use timeout to avoid deadlock |
nikapov | 0:a1a69d32f310 | 5156 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5157 | loop_nb = 0; |
nikapov | 0:a1a69d32f310 | 5158 | do { |
nikapov | 0:a1a69d32f310 | 5159 | status = VL53L0X_get_stop_completed_status(dev, &stop_completed); |
nikapov | 0:a1a69d32f310 | 5160 | if ((stop_completed == 0x00) || status != VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5161 | break; |
nikapov | 0:a1a69d32f310 | 5162 | } |
nikapov | 0:a1a69d32f310 | 5163 | loop_nb = loop_nb + 1; |
nikapov | 0:a1a69d32f310 | 5164 | VL53L0X_polling_delay(dev); |
nikapov | 0:a1a69d32f310 | 5165 | } while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP); |
nikapov | 0:a1a69d32f310 | 5166 | |
nikapov | 0:a1a69d32f310 | 5167 | if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) { |
nikapov | 0:a1a69d32f310 | 5168 | status = VL53L0X_ERROR_TIME_OUT; |
nikapov | 0:a1a69d32f310 | 5169 | } |
nikapov | 0:a1a69d32f310 | 5170 | |
nikapov | 0:a1a69d32f310 | 5171 | } |
nikapov | 0:a1a69d32f310 | 5172 | |
nikapov | 0:a1a69d32f310 | 5173 | return status; |
nikapov | 0:a1a69d32f310 | 5174 | } |
nikapov | 0:a1a69d32f310 | 5175 | |
nikapov | 0:a1a69d32f310 | 5176 | |
nikapov | 0:a1a69d32f310 | 5177 | int VL53L0X::init_sensor(uint8_t new_addr) |
nikapov | 0:a1a69d32f310 | 5178 | { |
nikapov | 0:a1a69d32f310 | 5179 | int status; |
nikapov | 0:a1a69d32f310 | 5180 | |
nikapov | 0:a1a69d32f310 | 5181 | VL53L0X_off(); |
nikapov | 0:a1a69d32f310 | 5182 | VL53L0X_on(); |
nikapov | 0:a1a69d32f310 | 5183 | |
nikapov | 0:a1a69d32f310 | 5184 | // status=VL53L0X_WaitDeviceBooted(Device); |
nikapov | 0:a1a69d32f310 | 5185 | // if(status) |
nikapov | 0:a1a69d32f310 | 5186 | // printf("WaitDeviceBooted fail\n\r"); |
nikapov | 0:a1a69d32f310 | 5187 | status = is_present(); |
nikapov | 0:a1a69d32f310 | 5188 | if (!status) { |
nikapov | 0:a1a69d32f310 | 5189 | status = init(&_my_device); |
nikapov | 0:a1a69d32f310 | 5190 | if (status != VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5191 | printf("Failed to init VL53L0X sensor!\n\r"); |
nikapov | 0:a1a69d32f310 | 5192 | return status; |
nikapov | 0:a1a69d32f310 | 5193 | } |
nikapov | 0:a1a69d32f310 | 5194 | |
nikapov | 0:a1a69d32f310 | 5195 | // deduce silicon version |
nikapov | 0:a1a69d32f310 | 5196 | status = VL53L0X_get_device_info(&_my_device, &_device_info); |
nikapov | 0:a1a69d32f310 | 5197 | |
nikapov | 0:a1a69d32f310 | 5198 | status = prepare(); |
nikapov | 0:a1a69d32f310 | 5199 | if (status != VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5200 | printf("Failed to prepare VL53L0X!\n\r"); |
nikapov | 0:a1a69d32f310 | 5201 | return status; |
nikapov | 0:a1a69d32f310 | 5202 | } |
nikapov | 0:a1a69d32f310 | 5203 | |
nikapov | 1:834986cdde0a | 5204 | if (new_addr != VL53L0X_DEFAULT_ADDRESS) { |
nikapov | 0:a1a69d32f310 | 5205 | status = set_device_address(new_addr); |
nikapov | 0:a1a69d32f310 | 5206 | if (status) { |
nikapov | 0:a1a69d32f310 | 5207 | printf("Failed to change I2C address!\n\r"); |
nikapov | 0:a1a69d32f310 | 5208 | return status; |
nikapov | 0:a1a69d32f310 | 5209 | } |
nikapov | 0:a1a69d32f310 | 5210 | } else { |
nikapov | 0:a1a69d32f310 | 5211 | printf("Invalid new address!\n\r"); |
nikapov | 0:a1a69d32f310 | 5212 | return VL53L0X_ERROR_INVALID_PARAMS; |
nikapov | 0:a1a69d32f310 | 5213 | } |
nikapov | 0:a1a69d32f310 | 5214 | } |
nikapov | 0:a1a69d32f310 | 5215 | return status; |
nikapov | 0:a1a69d32f310 | 5216 | } |
nikapov | 0:a1a69d32f310 | 5217 | |
nikapov | 0:a1a69d32f310 | 5218 | int VL53L0X::range_meas_int_continuous_mode(void (*fptr)(void)) |
nikapov | 0:a1a69d32f310 | 5219 | { |
sepp_nepp | 5:b95f6951f7d5 | 5220 | int status; |
nikapov | 0:a1a69d32f310 | 5221 | |
nikapov | 0:a1a69d32f310 | 5222 | status = VL53L0X_stop_measurement(_device); // it is safer to do this while sensor is stopped |
nikapov | 0:a1a69d32f310 | 5223 | |
nikapov | 0:a1a69d32f310 | 5224 | // status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300); |
nikapov | 0:a1a69d32f310 | 5225 | |
nikapov | 0:a1a69d32f310 | 5226 | status = VL53L0X_set_gpio_config(_device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, |
nikapov | 0:a1a69d32f310 | 5227 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY, |
nikapov | 0:a1a69d32f310 | 5228 | VL53L0X_INTERRUPTPOLARITY_HIGH); |
nikapov | 0:a1a69d32f310 | 5229 | |
nikapov | 0:a1a69d32f310 | 5230 | if (!status) { |
nikapov | 0:a1a69d32f310 | 5231 | attach_interrupt_measure_detection_irq(fptr); |
nikapov | 0:a1a69d32f310 | 5232 | enable_interrupt_measure_detection_irq(); |
nikapov | 0:a1a69d32f310 | 5233 | } |
nikapov | 0:a1a69d32f310 | 5234 | |
sepp_nepp | 5:b95f6951f7d5 | 5235 | clear_interrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS | VL53L0X_REG_RESULT_RANGE_STATUS); |
sepp_nepp | 5:b95f6951f7d5 | 5236 | // NB: return value was previously only passed to logging macro, but did not get passed back |
nikapov | 0:a1a69d32f310 | 5237 | |
nikapov | 0:a1a69d32f310 | 5238 | if (!status) { |
nikapov | 0:a1a69d32f310 | 5239 | status = range_start_continuous_mode(); |
nikapov | 0:a1a69d32f310 | 5240 | } |
nikapov | 0:a1a69d32f310 | 5241 | return status; |
nikapov | 0:a1a69d32f310 | 5242 | } |
nikapov | 0:a1a69d32f310 | 5243 | |
nikapov | 0:a1a69d32f310 | 5244 | |
nikapov | 0:a1a69d32f310 | 5245 | int VL53L0X::start_measurement(OperatingMode operating_mode, void (*fptr)(void)) |
nikapov | 0:a1a69d32f310 | 5246 | { |
nikapov | 0:a1a69d32f310 | 5247 | int Status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 5248 | |
nikapov | 0:a1a69d32f310 | 5249 | uint8_t VhvSettings; |
nikapov | 0:a1a69d32f310 | 5250 | uint8_t PhaseCal; |
nikapov | 0:a1a69d32f310 | 5251 | // *** from mass market cube expansion v1.1, ranging with satellites. |
nikapov | 0:a1a69d32f310 | 5252 | // default settings, for normal range. |
nikapov | 0:a1a69d32f310 | 5253 | FixPoint1616_t signalLimit = (FixPoint1616_t)(0.25 * 65536); |
nikapov | 0:a1a69d32f310 | 5254 | FixPoint1616_t sigmaLimit = (FixPoint1616_t)(18 * 65536); |
nikapov | 0:a1a69d32f310 | 5255 | uint32_t timingBudget = 33000; |
nikapov | 0:a1a69d32f310 | 5256 | uint8_t preRangeVcselPeriod = 14; |
nikapov | 0:a1a69d32f310 | 5257 | uint8_t finalRangeVcselPeriod = 10; |
nikapov | 0:a1a69d32f310 | 5258 | |
nikapov | 0:a1a69d32f310 | 5259 | if (operating_mode == range_continuous_interrupt) { |
nikapov | 0:a1a69d32f310 | 5260 | if (_gpio1Int == NULL) { |
nikapov | 0:a1a69d32f310 | 5261 | printf("GPIO1 Error\r\n"); |
nikapov | 0:a1a69d32f310 | 5262 | return 1; |
nikapov | 0:a1a69d32f310 | 5263 | } |
nikapov | 0:a1a69d32f310 | 5264 | |
nikapov | 0:a1a69d32f310 | 5265 | Status = VL53L0X_stop_measurement(_device); // it is safer to do this while sensor is stopped |
nikapov | 0:a1a69d32f310 | 5266 | |
nikapov | 0:a1a69d32f310 | 5267 | // Status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300); |
nikapov | 0:a1a69d32f310 | 5268 | |
nikapov | 0:a1a69d32f310 | 5269 | Status = VL53L0X_set_gpio_config(_device, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, |
nikapov | 0:a1a69d32f310 | 5270 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY, |
nikapov | 0:a1a69d32f310 | 5271 | VL53L0X_INTERRUPTPOLARITY_HIGH); |
nikapov | 0:a1a69d32f310 | 5272 | |
nikapov | 0:a1a69d32f310 | 5273 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5274 | attach_interrupt_measure_detection_irq(fptr); |
nikapov | 0:a1a69d32f310 | 5275 | enable_interrupt_measure_detection_irq(); |
nikapov | 0:a1a69d32f310 | 5276 | } |
nikapov | 0:a1a69d32f310 | 5277 | |
sepp_nepp | 5:b95f6951f7d5 | 5278 | clear_interrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS | VL53L0X_REG_RESULT_RANGE_STATUS); |
sepp_nepp | 5:b95f6951f7d5 | 5279 | // NB: return value was previously only passed to logging macro, but did not get passed back |
nikapov | 0:a1a69d32f310 | 5280 | |
nikapov | 0:a1a69d32f310 | 5281 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5282 | Status = VL53L0X_set_device_mode(_device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode |
nikapov | 0:a1a69d32f310 | 5283 | } |
nikapov | 0:a1a69d32f310 | 5284 | |
nikapov | 0:a1a69d32f310 | 5285 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5286 | Status = VL53L0X_start_measurement(_device); |
nikapov | 0:a1a69d32f310 | 5287 | } |
nikapov | 0:a1a69d32f310 | 5288 | } |
nikapov | 0:a1a69d32f310 | 5289 | |
nikapov | 0:a1a69d32f310 | 5290 | if (operating_mode == range_single_shot_polling) { |
nikapov | 0:a1a69d32f310 | 5291 | // singelshot, polled ranging |
nikapov | 0:a1a69d32f310 | 5292 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5293 | // no need to do this when we use VL53L0X_PerformSingleRangingMeasurement |
nikapov | 0:a1a69d32f310 | 5294 | Status = VL53L0X_set_device_mode(_device, VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode |
nikapov | 0:a1a69d32f310 | 5295 | } |
nikapov | 0:a1a69d32f310 | 5296 | |
nikapov | 0:a1a69d32f310 | 5297 | // Enable/Disable Sigma and Signal check |
nikapov | 0:a1a69d32f310 | 5298 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5299 | Status = VL53L0X_set_limit_check_enable(_device, |
nikapov | 0:a1a69d32f310 | 5300 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1); |
nikapov | 0:a1a69d32f310 | 5301 | } |
nikapov | 0:a1a69d32f310 | 5302 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5303 | Status = VL53L0X_set_limit_check_enable(_device, |
nikapov | 0:a1a69d32f310 | 5304 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1); |
nikapov | 0:a1a69d32f310 | 5305 | } |
nikapov | 0:a1a69d32f310 | 5306 | |
nikapov | 0:a1a69d32f310 | 5307 | // *** from mass market cube expansion v1.1, ranging with satellites. |
nikapov | 0:a1a69d32f310 | 5308 | /* Ranging configuration */ |
nikapov | 0:a1a69d32f310 | 5309 | //* |
nikapov | 0:a1a69d32f310 | 5310 | // switch(rangingConfig) { |
nikapov | 0:a1a69d32f310 | 5311 | // case LONG_RANGE: |
nikapov | 0:a1a69d32f310 | 5312 | signalLimit = (FixPoint1616_t)(0.1 * 65536); |
nikapov | 0:a1a69d32f310 | 5313 | sigmaLimit = (FixPoint1616_t)(60 * 65536); |
nikapov | 0:a1a69d32f310 | 5314 | timingBudget = 33000; |
nikapov | 0:a1a69d32f310 | 5315 | preRangeVcselPeriod = 18; |
nikapov | 0:a1a69d32f310 | 5316 | finalRangeVcselPeriod = 14; |
nikapov | 0:a1a69d32f310 | 5317 | /* break; |
nikapov | 0:a1a69d32f310 | 5318 | case HIGH_ACCURACY: |
nikapov | 0:a1a69d32f310 | 5319 | signalLimit = (FixPoint1616_t)(0.25*65536); |
nikapov | 0:a1a69d32f310 | 5320 | sigmaLimit = (FixPoint1616_t)(18*65536); |
nikapov | 0:a1a69d32f310 | 5321 | timingBudget = 200000; |
nikapov | 0:a1a69d32f310 | 5322 | preRangeVcselPeriod = 14; |
nikapov | 0:a1a69d32f310 | 5323 | finalRangeVcselPeriod = 10; |
nikapov | 0:a1a69d32f310 | 5324 | break; |
nikapov | 0:a1a69d32f310 | 5325 | case HIGH_SPEED: |
nikapov | 0:a1a69d32f310 | 5326 | signalLimit = (FixPoint1616_t)(0.25*65536); |
nikapov | 0:a1a69d32f310 | 5327 | sigmaLimit = (FixPoint1616_t)(32*65536); |
nikapov | 0:a1a69d32f310 | 5328 | timingBudget = 20000; |
nikapov | 0:a1a69d32f310 | 5329 | preRangeVcselPeriod = 14; |
nikapov | 0:a1a69d32f310 | 5330 | finalRangeVcselPeriod = 10; |
nikapov | 0:a1a69d32f310 | 5331 | break; |
nikapov | 0:a1a69d32f310 | 5332 | default: |
nikapov | 0:a1a69d32f310 | 5333 | debug_printf("Not Supported"); |
nikapov | 0:a1a69d32f310 | 5334 | } |
nikapov | 0:a1a69d32f310 | 5335 | */ |
nikapov | 0:a1a69d32f310 | 5336 | |
nikapov | 0:a1a69d32f310 | 5337 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5338 | Status = VL53L0X_set_limit_check_value(_device, |
nikapov | 0:a1a69d32f310 | 5339 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, signalLimit); |
nikapov | 0:a1a69d32f310 | 5340 | } |
nikapov | 0:a1a69d32f310 | 5341 | |
nikapov | 0:a1a69d32f310 | 5342 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5343 | Status = VL53L0X_set_limit_check_value(_device, |
nikapov | 0:a1a69d32f310 | 5344 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, sigmaLimit); |
nikapov | 0:a1a69d32f310 | 5345 | } |
nikapov | 0:a1a69d32f310 | 5346 | |
nikapov | 0:a1a69d32f310 | 5347 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5348 | Status = VL53L0X_set_measurement_timing_budget_micro_seconds(_device, timingBudget); |
nikapov | 0:a1a69d32f310 | 5349 | } |
nikapov | 0:a1a69d32f310 | 5350 | |
nikapov | 0:a1a69d32f310 | 5351 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5352 | Status = VL53L0X_set_vcsel_pulse_period(_device, |
nikapov | 0:a1a69d32f310 | 5353 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, preRangeVcselPeriod); |
nikapov | 0:a1a69d32f310 | 5354 | } |
nikapov | 0:a1a69d32f310 | 5355 | |
nikapov | 0:a1a69d32f310 | 5356 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5357 | Status = VL53L0X_set_vcsel_pulse_period(_device, |
nikapov | 0:a1a69d32f310 | 5358 | VL53L0X_VCSEL_PERIOD_FINAL_RANGE, finalRangeVcselPeriod); |
nikapov | 0:a1a69d32f310 | 5359 | } |
nikapov | 0:a1a69d32f310 | 5360 | |
nikapov | 0:a1a69d32f310 | 5361 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5362 | Status = VL53L0X_perform_ref_calibration(_device, &VhvSettings, &PhaseCal); |
nikapov | 0:a1a69d32f310 | 5363 | } |
nikapov | 0:a1a69d32f310 | 5364 | |
nikapov | 0:a1a69d32f310 | 5365 | } |
nikapov | 0:a1a69d32f310 | 5366 | |
nikapov | 0:a1a69d32f310 | 5367 | if (operating_mode == range_continuous_polling) { |
nikapov | 0:a1a69d32f310 | 5368 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 1:834986cdde0a | 5369 | //printf("Call of VL53L0X_SetDeviceMode\n"); |
nikapov | 0:a1a69d32f310 | 5370 | Status = VL53L0X_set_device_mode(_device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode |
nikapov | 0:a1a69d32f310 | 5371 | } |
nikapov | 0:a1a69d32f310 | 5372 | |
nikapov | 0:a1a69d32f310 | 5373 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 1:834986cdde0a | 5374 | //printf("Call of VL53L0X_StartMeasurement\n"); |
nikapov | 0:a1a69d32f310 | 5375 | Status = VL53L0X_start_measurement(_device); |
nikapov | 0:a1a69d32f310 | 5376 | } |
nikapov | 0:a1a69d32f310 | 5377 | } |
nikapov | 0:a1a69d32f310 | 5378 | |
nikapov | 0:a1a69d32f310 | 5379 | return Status; |
nikapov | 0:a1a69d32f310 | 5380 | } |
nikapov | 0:a1a69d32f310 | 5381 | |
nikapov | 0:a1a69d32f310 | 5382 | |
nikapov | 0:a1a69d32f310 | 5383 | int VL53L0X::get_measurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *p_data) |
nikapov | 0:a1a69d32f310 | 5384 | { |
nikapov | 0:a1a69d32f310 | 5385 | int Status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 5386 | |
nikapov | 0:a1a69d32f310 | 5387 | if (operating_mode == range_single_shot_polling) { |
nikapov | 0:a1a69d32f310 | 5388 | Status = VL53L0X_perform_single_ranging_measurement(_device, p_data); |
nikapov | 0:a1a69d32f310 | 5389 | } |
nikapov | 0:a1a69d32f310 | 5390 | |
nikapov | 0:a1a69d32f310 | 5391 | if (operating_mode == range_continuous_polling) { |
Davidroid | 3:e9269ff624ed | 5392 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5393 | Status = VL53L0X_measurement_poll_for_completion(_device); |
Davidroid | 3:e9269ff624ed | 5394 | } |
nikapov | 0:a1a69d32f310 | 5395 | |
nikapov | 0:a1a69d32f310 | 5396 | if (Status == VL53L0X_ERROR_NONE) { |
nikapov | 0:a1a69d32f310 | 5397 | Status = VL53L0X_get_ranging_measurement_data(_device, p_data); |
nikapov | 0:a1a69d32f310 | 5398 | |
nikapov | 0:a1a69d32f310 | 5399 | // Clear the interrupt |
nikapov | 0:a1a69d32f310 | 5400 | VL53L0X_clear_interrupt_mask(_device, VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY); |
nikapov | 0:a1a69d32f310 | 5401 | VL53L0X_polling_delay(_device); |
nikapov | 0:a1a69d32f310 | 5402 | } |
nikapov | 0:a1a69d32f310 | 5403 | } |
nikapov | 0:a1a69d32f310 | 5404 | |
nikapov | 0:a1a69d32f310 | 5405 | if (operating_mode == range_continuous_interrupt) { |
nikapov | 0:a1a69d32f310 | 5406 | Status = VL53L0X_get_ranging_measurement_data(_device, p_data); |
nikapov | 0:a1a69d32f310 | 5407 | VL53L0X_clear_interrupt_mask(_device, VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR | VL53L0X_REG_RESULT_INTERRUPT_STATUS); |
nikapov | 0:a1a69d32f310 | 5408 | } |
nikapov | 0:a1a69d32f310 | 5409 | |
nikapov | 0:a1a69d32f310 | 5410 | return Status; |
nikapov | 0:a1a69d32f310 | 5411 | } |
nikapov | 0:a1a69d32f310 | 5412 | |
nikapov | 0:a1a69d32f310 | 5413 | |
nikapov | 0:a1a69d32f310 | 5414 | int VL53L0X::stop_measurement(OperatingMode operating_mode) |
nikapov | 0:a1a69d32f310 | 5415 | { |
nikapov | 0:a1a69d32f310 | 5416 | int status = VL53L0X_ERROR_NONE; |
nikapov | 0:a1a69d32f310 | 5417 | |
nikapov | 0:a1a69d32f310 | 5418 | |
nikapov | 0:a1a69d32f310 | 5419 | // don't need to stop for a singleshot range! |
nikapov | 0:a1a69d32f310 | 5420 | if (operating_mode == range_single_shot_polling) { |
nikapov | 0:a1a69d32f310 | 5421 | } |
nikapov | 0:a1a69d32f310 | 5422 | |
nikapov | 0:a1a69d32f310 | 5423 | if (operating_mode == range_continuous_interrupt || operating_mode == range_continuous_polling) { |
nikapov | 0:a1a69d32f310 | 5424 | // continuous mode |
nikapov | 0:a1a69d32f310 | 5425 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 1:834986cdde0a | 5426 | //printf("Call of VL53L0X_StopMeasurement\n"); |
nikapov | 0:a1a69d32f310 | 5427 | status = VL53L0X_stop_measurement(_device); |
nikapov | 0:a1a69d32f310 | 5428 | } |
nikapov | 0:a1a69d32f310 | 5429 | |
nikapov | 0:a1a69d32f310 | 5430 | if (status == VL53L0X_ERROR_NONE) { |
nikapov | 1:834986cdde0a | 5431 | //printf("Wait Stop to be competed\n"); |
nikapov | 0:a1a69d32f310 | 5432 | status = wait_stop_completed(_device); |
nikapov | 0:a1a69d32f310 | 5433 | } |
nikapov | 0:a1a69d32f310 | 5434 | |
nikapov | 0:a1a69d32f310 | 5435 | if (status == VL53L0X_ERROR_NONE) |
nikapov | 0:a1a69d32f310 | 5436 | status = VL53L0X_clear_interrupt_mask(_device, |
nikapov | 0:a1a69d32f310 | 5437 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY); |
nikapov | 0:a1a69d32f310 | 5438 | } |
nikapov | 0:a1a69d32f310 | 5439 | |
nikapov | 0:a1a69d32f310 | 5440 | return status; |
nikapov | 0:a1a69d32f310 | 5441 | } |
nikapov | 0:a1a69d32f310 | 5442 | |
nikapov | 0:a1a69d32f310 | 5443 | |
nikapov | 0:a1a69d32f310 | 5444 | int VL53L0X::handle_irq(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *data) |
nikapov | 0:a1a69d32f310 | 5445 | { |
nikapov | 0:a1a69d32f310 | 5446 | int status; |
nikapov | 0:a1a69d32f310 | 5447 | status = get_measurement(operating_mode, data); |
nikapov | 0:a1a69d32f310 | 5448 | enable_interrupt_measure_detection_irq(); |
nikapov | 0:a1a69d32f310 | 5449 | return status; |
nikapov | 0:a1a69d32f310 | 5450 | } |
nikapov | 0:a1a69d32f310 | 5451 | |
nikapov | 0:a1a69d32f310 | 5452 | |
nikapov | 0:a1a69d32f310 | 5453 | /******************************************************************************/ |