VL53L0X_Condensed2 - Greatly simplified Architecture, Identical Functi…

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Greatly simplified Architecture, Identical Functions Removed: Platform Interfaces, STP6001 interface

VL53L0X.cpp@8:2fd7cb217068, 2019-06-20 (annotated)

Committer:: sepp_nepp
Date:: Thu Jun 20 15:19:03 2019 +0000
Revision:: 8:2fd7cb217068
Parent:: 7:3a1115c2556b
Child:: 9:cb4c6d4e5030

Removed further more function stubs, non-implemented method declarations.; Removed access to device parameter through macros, instead use direct access to fields.

Who changed what in which revision?

User	Revision	Line number	New contents of line
sepp_nepp	6:fb11b746ceb5	1	/**
sepp_nepp	6:fb11b746ceb5	2	******************************************************************************
sepp_nepp	6:fb11b746ceb5	3	* @file VL53L0X_class.cpp
sepp_nepp	6:fb11b746ceb5	4	* @author IMG
sepp_nepp	6:fb11b746ceb5	5	* @version V0.0.1
sepp_nepp	6:fb11b746ceb5	6	* @date 28-June-2016
sepp_nepp	6:fb11b746ceb5	7	* @brief Implementation file for the VL53L0X driver class
sepp_nepp	6:fb11b746ceb5	8	******************************************************************************
sepp_nepp	6:fb11b746ceb5	9	* @attention
sepp_nepp	6:fb11b746ceb5	10	*
sepp_nepp	6:fb11b746ceb5	11	* <h2><center>© COPYRIGHT(c) 2016 STMicroelectronics</center></h2>
sepp_nepp	6:fb11b746ceb5	12	*
sepp_nepp	6:fb11b746ceb5	13	* Redistribution and use in source and binary forms, with or without modification,
sepp_nepp	6:fb11b746ceb5	14	* are permitted provided that the following conditions are met:
sepp_nepp	6:fb11b746ceb5	15	* 1. Redistributions of source code must retain the above copyright notice,
sepp_nepp	6:fb11b746ceb5	16	* this list of conditions and the following disclaimer.
sepp_nepp	6:fb11b746ceb5	17	* 2. Redistributions in binary form must reproduce the above copyright notice,
sepp_nepp	6:fb11b746ceb5	18	* this list of conditions and the following disclaimer in the documentation
sepp_nepp	6:fb11b746ceb5	19	* and/or other materials provided with the distribution.
sepp_nepp	6:fb11b746ceb5	20	* 3. Neither the name of STMicroelectronics nor the names of its contributors
sepp_nepp	6:fb11b746ceb5	21	* may be used to endorse or promote products derived from this software
sepp_nepp	6:fb11b746ceb5	22	* without specific prior written permission.
sepp_nepp	6:fb11b746ceb5	23	*
sepp_nepp	6:fb11b746ceb5	24	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
sepp_nepp	6:fb11b746ceb5	25	* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
sepp_nepp	6:fb11b746ceb5	26	* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
sepp_nepp	6:fb11b746ceb5	27	* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
sepp_nepp	6:fb11b746ceb5	28	* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
sepp_nepp	6:fb11b746ceb5	29	* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
sepp_nepp	6:fb11b746ceb5	30	* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
sepp_nepp	6:fb11b746ceb5	31	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
sepp_nepp	6:fb11b746ceb5	32	* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
sepp_nepp	6:fb11b746ceb5	33	* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
sepp_nepp	6:fb11b746ceb5	34	*
sepp_nepp	6:fb11b746ceb5	35	******************************************************************************
sepp_nepp	6:fb11b746ceb5	36	*/
sepp_nepp	6:fb11b746ceb5	37
sepp_nepp	8:2fd7cb217068	38	/* Some example regular expressinos used to simplify the code:
sepp_nepp	8:2fd7cb217068	39	b) Search for: \QRead_Byte(\E([A-Za-z_\d]+)[[:punct:]](\s*)\Q&\E([A-Za-z\d_]+)\Q);\E
sepp_nepp	8:2fd7cb217068	40	Replace by: \3 = Read_Byte\(\1\);
sepp_nepp	8:2fd7cb217068	41	to replace: Read_Byte(0x90,&module_id);
sepp_nepp	8:2fd7cb217068	42	by this: module_id = Read_Byte(0x90);
sepp_nepp	8:2fd7cb217068	43
sepp_nepp	8:2fd7cb217068	44	c) Search for: ([A-Za-z_\d]+)\Q(\E\r\n(\s*)
sepp_nepp	8:2fd7cb217068	45	Replace by: \1\(
sepp_nepp	8:2fd7cb217068	46	To join lines where the first line has an open bracket, and the next line starts listing the parameters.
sepp_nepp	8:2fd7cb217068	47	for example: Status = VL53L0X_UpdateByte(V
sepp_nepp	8:2fd7cb217068	48	L53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, ....
sepp_nepp	8:2fd7cb217068	49	becomes: Status = VL53L0X_UpdateByte(VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, ....
sepp_nepp	8:2fd7cb217068	50
sepp_nepp	8:2fd7cb217068	51	*/
sepp_nepp	8:2fd7cb217068	52
sepp_nepp	6:fb11b746ceb5	53	/* Includes */
sepp_nepp	6:fb11b746ceb5	54	#include <stdlib.h>
sepp_nepp	6:fb11b746ceb5	55	#include "VL53L0X.h"
sepp_nepp	6:fb11b746ceb5	56
sepp_nepp	6:fb11b746ceb5	57	int VL53L0X::read_id(uint8_t *id)
sepp_nepp	8:2fd7cb217068	58	{ int status = 0;
sepp_nepp	6:fb11b746ceb5	59	uint16_t rl_id = 0;
sepp_nepp	6:fb11b746ceb5	60
sepp_nepp	7:3a1115c2556b	61	status = VL53L0X_read_word(VL53L0X_REG_IDENTIFICATION_MODEL_ID, &rl_id);
sepp_nepp	6:fb11b746ceb5	62	if (rl_id == 0xEEAA) {
sepp_nepp	6:fb11b746ceb5	63	return status;
sepp_nepp	6:fb11b746ceb5	64	}
sepp_nepp	6:fb11b746ceb5	65	return -1;
sepp_nepp	6:fb11b746ceb5	66	}
sepp_nepp	6:fb11b746ceb5	67
sepp_nepp	6:fb11b746ceb5	68	int VL53L0X::init_sensor(uint8_t new_addr)
sepp_nepp	6:fb11b746ceb5	69	{ int status;
sepp_nepp	6:fb11b746ceb5	70
sepp_nepp	6:fb11b746ceb5	71	VL53L0X_off();
sepp_nepp	6:fb11b746ceb5	72	VL53L0X_on();
sepp_nepp	6:fb11b746ceb5	73
sepp_nepp	6:fb11b746ceb5	74	// Verify if the device is actually present
sepp_nepp	6:fb11b746ceb5	75	uint8_t id = 0;
sepp_nepp	6:fb11b746ceb5	76	status = read_id(&id);
sepp_nepp	6:fb11b746ceb5	77	if (status != 0) {
sepp_nepp	6:fb11b746ceb5	78	printf("VL53L0X sensor is not present!\n\r");
sepp_nepp	6:fb11b746ceb5	79	return 99; } // device is not present
sepp_nepp	6:fb11b746ceb5	80
sepp_nepp	7:3a1115c2556b	81	status = VL53L0X_data_init();
sepp_nepp	6:fb11b746ceb5	82	if (status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	83	printf("Failed to init VL53L0X sensor!\n\r");
sepp_nepp	6:fb11b746ceb5	84	return status;
sepp_nepp	6:fb11b746ceb5	85	}
sepp_nepp	6:fb11b746ceb5	86
sepp_nepp	6:fb11b746ceb5	87	// deduce silicon version
sepp_nepp	7:3a1115c2556b	88	status = VL53L0X_get_device_info(&_device_info);
sepp_nepp	6:fb11b746ceb5	89
sepp_nepp	6:fb11b746ceb5	90	status = prepare();
sepp_nepp	6:fb11b746ceb5	91	if (status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	92	printf("Failed to prepare VL53L0X!\n\r");
sepp_nepp	6:fb11b746ceb5	93	return status;
sepp_nepp	6:fb11b746ceb5	94	}
sepp_nepp	6:fb11b746ceb5	95
sepp_nepp	6:fb11b746ceb5	96	if (new_addr != VL53L0X_DEFAULT_ADDRESS) {
sepp_nepp	6:fb11b746ceb5	97	status = set_device_address(new_addr);
sepp_nepp	6:fb11b746ceb5	98	if (status) {
sepp_nepp	6:fb11b746ceb5	99	printf("Failed to change I2C address!\n\r");
sepp_nepp	6:fb11b746ceb5	100	return status;
sepp_nepp	6:fb11b746ceb5	101	}
sepp_nepp	6:fb11b746ceb5	102	}
sepp_nepp	6:fb11b746ceb5	103	return status;
sepp_nepp	6:fb11b746ceb5	104	}
sepp_nepp	6:fb11b746ceb5	105
sepp_nepp	7:3a1115c2556b	106	VL53L0X_Error VL53L0X::VL53L0X_data_init(void)
sepp_nepp	8:2fd7cb217068	107	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	108	VL53L0X_DeviceParameters_t CurrentParameters;
sepp_nepp	6:fb11b746ceb5	109	int i;
sepp_nepp	6:fb11b746ceb5	110	uint8_t StopVariable;
sepp_nepp	6:fb11b746ceb5	111
sepp_nepp	6:fb11b746ceb5	112	/* by default the I2C is running at 1V8 if you want to change it you
sepp_nepp	6:fb11b746ceb5	113	* need to include this define at compilation level. */
sepp_nepp	6:fb11b746ceb5	114	#ifdef USE_I2C_2V8
sepp_nepp	8:2fd7cb217068	115	Status = VL53L0X_UpdateByte(VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV,
sepp_nepp	6:fb11b746ceb5	116	0xFE,0x01);
sepp_nepp	6:fb11b746ceb5	117	#endif
sepp_nepp	6:fb11b746ceb5	118
sepp_nepp	6:fb11b746ceb5	119	/* Set I2C standard mode */
sepp_nepp	6:fb11b746ceb5	120	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	121	status = VL53L0X_write_byte( 0x88, 0x00);
sepp_nepp	6:fb11b746ceb5	122	}
sepp_nepp	6:fb11b746ceb5	123
sepp_nepp	8:2fd7cb217068	124	Data.ReadDataFromDeviceDone = 0;
sepp_nepp	8:2fd7cb217068	125	Data.ReadDataFromDeviceDone = 0;
sepp_nepp	6:fb11b746ceb5	126
sepp_nepp	6:fb11b746ceb5	127	#ifdef USE_IQC_STATION
sepp_nepp	6:fb11b746ceb5	128	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	129	Status = VL53L0X_apply_offset_adjustment();
sepp_nepp	6:fb11b746ceb5	130	}
sepp_nepp	6:fb11b746ceb5	131	#endif
sepp_nepp	6:fb11b746ceb5	132
sepp_nepp	6:fb11b746ceb5	133	/* Default value is 1000 for Linearity Corrective Gain */
sepp_nepp	8:2fd7cb217068	134	Data.LinearityCorrectiveGain = 1000;
sepp_nepp	6:fb11b746ceb5	135
sepp_nepp	6:fb11b746ceb5	136	/* Dmax default Parameter */
sepp_nepp	8:2fd7cb217068	137	Data.DmaxCalRangeMilliMeter = 400;
sepp_nepp	8:2fd7cb217068	138	Data.DmaxCalSignalRateRtnMegaCps = (FixPoint1616_t)((0x00016B85)); /* 1.42 No Cover Glass*/
sepp_nepp	6:fb11b746ceb5	139
sepp_nepp	6:fb11b746ceb5	140	/* Set Default static parameters
sepp_nepp	6:fb11b746ceb5	141	set first temporary values 9.44MHz 65536 = 618660 */
sepp_nepp	8:2fd7cb217068	142	Data.OscFrequencyMHz = 618660;
sepp_nepp	6:fb11b746ceb5	143
sepp_nepp	6:fb11b746ceb5	144	/* Set Default XTalkCompensationRateMegaCps to 0 */
sepp_nepp	8:2fd7cb217068	145	Data.CurrentParameters.XTalkCompensationRateMegaCps = 0;
sepp_nepp	6:fb11b746ceb5	146
sepp_nepp	6:fb11b746ceb5	147	/* Get default parameters */
sepp_nepp	7:3a1115c2556b	148	status = VL53L0X_get_device_parameters( &CurrentParameters);
sepp_nepp	6:fb11b746ceb5	149	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	150	/* initialize PAL values */
sepp_nepp	6:fb11b746ceb5	151	CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING;
sepp_nepp	6:fb11b746ceb5	152	CurrentParameters.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED;
sepp_nepp	8:2fd7cb217068	153	Data.CurrentParameters = CurrentParameters;
sepp_nepp	6:fb11b746ceb5	154	}
sepp_nepp	6:fb11b746ceb5	155
sepp_nepp	6:fb11b746ceb5	156	/* Sigma estimator variable */
sepp_nepp	8:2fd7cb217068	157	Data.SigmaEstRefArray = 100;
sepp_nepp	8:2fd7cb217068	158	Data.SigmaEstEffPulseWidth = 900;
sepp_nepp	8:2fd7cb217068	159	Data.SigmaEstEffAmbWidth = 500;
sepp_nepp	8:2fd7cb217068	160	Data.targetRefRate = 0x0A00; /* 20 MCPS in 9:7 format */
sepp_nepp	6:fb11b746ceb5	161
sepp_nepp	6:fb11b746ceb5	162	/* Use internal default settings */
sepp_nepp	8:2fd7cb217068	163	Data.UseInternalTuningSettings = 1;
sepp_nepp	7:3a1115c2556b	164
sepp_nepp	7:3a1115c2556b	165	status \|= VL53L0X_write_byte( 0x80, 0x01);
sepp_nepp	7:3a1115c2556b	166	status \|= VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	167	status \|= VL53L0X_write_byte( 0x00, 0x00);
sepp_nepp	7:3a1115c2556b	168	status \|= VL53L0X_read_byte( 0x91, &StopVariable);
sepp_nepp	8:2fd7cb217068	169	Data.StopVariable = StopVariable;
sepp_nepp	7:3a1115c2556b	170	status \|= VL53L0X_write_byte( 0x00, 0x01);
sepp_nepp	7:3a1115c2556b	171	status \|= VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	7:3a1115c2556b	172	status \|= VL53L0X_write_byte( 0x80, 0x00);
sepp_nepp	6:fb11b746ceb5	173
sepp_nepp	6:fb11b746ceb5	174	/* Enable all check */
sepp_nepp	6:fb11b746ceb5	175	for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
sepp_nepp	6:fb11b746ceb5	176	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	177	status \|= VL53L0X_set_limit_check_enable( i, 1);
sepp_nepp	8:2fd7cb217068	178	} else { break; }
sepp_nepp	6:fb11b746ceb5	179	}
sepp_nepp	6:fb11b746ceb5	180
sepp_nepp	6:fb11b746ceb5	181	/* Disable the following checks */
sepp_nepp	6:fb11b746ceb5	182	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	183	status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0);
sepp_nepp	6:fb11b746ceb5	184
sepp_nepp	6:fb11b746ceb5	185	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	186	status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0);
sepp_nepp	6:fb11b746ceb5	187
sepp_nepp	6:fb11b746ceb5	188	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	189	status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0);
sepp_nepp	6:fb11b746ceb5	190
sepp_nepp	6:fb11b746ceb5	191	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	192	status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0);
sepp_nepp	6:fb11b746ceb5	193
sepp_nepp	6:fb11b746ceb5	194	/* Limit default values */
sepp_nepp	6:fb11b746ceb5	195	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	196	status = VL53L0X_set_limit_check_value(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	197	(FixPoint1616_t)(18 * 65536));
sepp_nepp	6:fb11b746ceb5	198	}
sepp_nepp	6:fb11b746ceb5	199	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	200	status = VL53L0X_set_limit_check_value(VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	201	(FixPoint1616_t)(25 * 65536 / 100));
sepp_nepp	6:fb11b746ceb5	202	/* 0.25 * 65536 */
sepp_nepp	6:fb11b746ceb5	203	}
sepp_nepp	6:fb11b746ceb5	204
sepp_nepp	6:fb11b746ceb5	205	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	206	status = VL53L0X_set_limit_check_value(VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
sepp_nepp	6:fb11b746ceb5	207	(FixPoint1616_t)(35 * 65536));
sepp_nepp	6:fb11b746ceb5	208	}
sepp_nepp	6:fb11b746ceb5	209
sepp_nepp	6:fb11b746ceb5	210	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	211	status = VL53L0X_set_limit_check_value(VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
sepp_nepp	6:fb11b746ceb5	212	(FixPoint1616_t)(0 * 65536));
sepp_nepp	6:fb11b746ceb5	213	}
sepp_nepp	6:fb11b746ceb5	214
sepp_nepp	6:fb11b746ceb5	215	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	216
sepp_nepp	8:2fd7cb217068	217	Data.SequenceConfig = 0xFF;
sepp_nepp	7:3a1115c2556b	218	status = VL53L0X_write_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,0xFF);
sepp_nepp	6:fb11b746ceb5	219
sepp_nepp	6:fb11b746ceb5	220	/* Set PAL state to tell that we are waiting for call to VL53L0X_StaticInit */
sepp_nepp	8:2fd7cb217068	221	Data.PalState = VL53L0X_STATE_WAIT_STATICINIT;
sepp_nepp	6:fb11b746ceb5	222	}
sepp_nepp	6:fb11b746ceb5	223
sepp_nepp	6:fb11b746ceb5	224	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	225	Data.RefSpadsInitialised = 0;
sepp_nepp	6:fb11b746ceb5	226	}
sepp_nepp	6:fb11b746ceb5	227
sepp_nepp	6:fb11b746ceb5	228	return status;
sepp_nepp	6:fb11b746ceb5	229	}
sepp_nepp	6:fb11b746ceb5	230
sepp_nepp	6:fb11b746ceb5	231	int VL53L0X::prepare()
sepp_nepp	8:2fd7cb217068	232	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	233	uint32_t ref_spad_count;
sepp_nepp	6:fb11b746ceb5	234	uint8_t is_aperture_spads;
sepp_nepp	6:fb11b746ceb5	235	uint8_t vhv_settings;
sepp_nepp	6:fb11b746ceb5	236	uint8_t phase_cal;
sepp_nepp	6:fb11b746ceb5	237
sepp_nepp	6:fb11b746ceb5	238	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	239	//printf("Call of VL53L0X_StaticInit\r\n");
sepp_nepp	7:3a1115c2556b	240	status = VL53L0X_static_init(); // Device Initialization
sepp_nepp	6:fb11b746ceb5	241	}
sepp_nepp	6:fb11b746ceb5	242
sepp_nepp	6:fb11b746ceb5	243	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	244	//printf("Call of VL53L0X_PerformRefCalibration\r\n");
sepp_nepp	7:3a1115c2556b	245	status = VL53L0X_perform_ref_calibration(&vhv_settings, &phase_cal); // Device Initialization
sepp_nepp	6:fb11b746ceb5	246	}
sepp_nepp	6:fb11b746ceb5	247
sepp_nepp	6:fb11b746ceb5	248	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	249	//printf("Call of VL53L0X_PerformRefSpadManagement\r\n");
sepp_nepp	7:3a1115c2556b	250	status = VL53L0X_perform_ref_spad_management(&ref_spad_count, &is_aperture_spads); // Device Initialization
sepp_nepp	6:fb11b746ceb5	251	// printf ("refSpadCount = %d, isApertureSpads = %d\r\n", refSpadCount, isApertureSpads);
sepp_nepp	6:fb11b746ceb5	252	}
sepp_nepp	6:fb11b746ceb5	253
sepp_nepp	6:fb11b746ceb5	254	return status;
sepp_nepp	6:fb11b746ceb5	255	}
sepp_nepp	6:fb11b746ceb5	256
sepp_nepp	6:fb11b746ceb5	257	int VL53L0X::start_measurement(OperatingMode operating_mode, void (*fptr)(void),
sepp_nepp	6:fb11b746ceb5	258	VL53L0X_RangingConfig rangingConfig)
sepp_nepp	6:fb11b746ceb5	259	{ int Status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	260	int ClrStatus;
sepp_nepp	6:fb11b746ceb5	261
sepp_nepp	6:fb11b746ceb5	262	uint8_t VhvSettings;
sepp_nepp	6:fb11b746ceb5	263	uint8_t PhaseCal;
sepp_nepp	6:fb11b746ceb5	264	// default settings, for normal range.
sepp_nepp	6:fb11b746ceb5	265	FixPoint1616_t signalLimit = (FixPoint1616_t)(0.25 * 65536);
sepp_nepp	6:fb11b746ceb5	266	FixPoint1616_t sigmaLimit = (FixPoint1616_t)(18 * 65536);
sepp_nepp	6:fb11b746ceb5	267	uint32_t timingBudget = 33000;
sepp_nepp	6:fb11b746ceb5	268	uint8_t preRangeVcselPeriod = 14;
sepp_nepp	6:fb11b746ceb5	269	uint8_t finalRangeVcselPeriod = 10;
sepp_nepp	6:fb11b746ceb5	270
sepp_nepp	6:fb11b746ceb5	271	if (operating_mode == range_continuous_interrupt) {
sepp_nepp	6:fb11b746ceb5	272	if (_gpio1Int == NULL) {
sepp_nepp	6:fb11b746ceb5	273	printf("GPIO1 Error\r\n");
sepp_nepp	6:fb11b746ceb5	274	return 1;
sepp_nepp	6:fb11b746ceb5	275	}
sepp_nepp	6:fb11b746ceb5	276
sepp_nepp	7:3a1115c2556b	277	Status = VL53L0X_stop_measurement(); // it is safer to do this while sensor is stopped
sepp_nepp	6:fb11b746ceb5	278
sepp_nepp	6:fb11b746ceb5	279	// Status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
sepp_nepp	6:fb11b746ceb5	280
sepp_nepp	7:3a1115c2556b	281	Status = VL53L0X_set_gpio_config(0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
sepp_nepp	6:fb11b746ceb5	282	VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
sepp_nepp	6:fb11b746ceb5	283	VL53L0X_INTERRUPTPOLARITY_HIGH);
sepp_nepp	6:fb11b746ceb5	284
sepp_nepp	6:fb11b746ceb5	285	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	286	attach_interrupt_measure_detection_irq(fptr);
sepp_nepp	6:fb11b746ceb5	287	enable_interrupt_measure_detection_irq();
sepp_nepp	6:fb11b746ceb5	288	}
sepp_nepp	6:fb11b746ceb5	289
sepp_nepp	6:fb11b746ceb5	290	ClrStatus = clear_interrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS \| VL53L0X_REG_RESULT_RANGE_STATUS);
sepp_nepp	6:fb11b746ceb5	291	if (ClrStatus) { Status = 97; } // VL53L0X_ClearErrorInterrupt fail
sepp_nepp	6:fb11b746ceb5	292
sepp_nepp	6:fb11b746ceb5	293	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	294	Status = VL53L0X_set_device_mode(VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
sepp_nepp	6:fb11b746ceb5	295	}
sepp_nepp	6:fb11b746ceb5	296
sepp_nepp	6:fb11b746ceb5	297	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	298	Status = VL53L0X_start_measurement();
sepp_nepp	6:fb11b746ceb5	299	}
sepp_nepp	6:fb11b746ceb5	300	}
sepp_nepp	6:fb11b746ceb5	301
sepp_nepp	6:fb11b746ceb5	302	if (operating_mode == range_single_shot_polling) {
sepp_nepp	6:fb11b746ceb5	303	// singelshot, polled ranging
sepp_nepp	6:fb11b746ceb5	304	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	305	// no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
sepp_nepp	7:3a1115c2556b	306	Status = VL53L0X_set_device_mode( VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode
sepp_nepp	6:fb11b746ceb5	307	}
sepp_nepp	6:fb11b746ceb5	308
sepp_nepp	6:fb11b746ceb5	309	// Enable/Disable Sigma and Signal check
sepp_nepp	6:fb11b746ceb5	310	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	311	Status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
sepp_nepp	6:fb11b746ceb5	312	}
sepp_nepp	6:fb11b746ceb5	313	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	314	Status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
sepp_nepp	6:fb11b746ceb5	315	}
sepp_nepp	6:fb11b746ceb5	316
sepp_nepp	6:fb11b746ceb5	317	/* Preselected Ranging configurations */
sepp_nepp	6:fb11b746ceb5	318	switch(rangingConfig) {
sepp_nepp	6:fb11b746ceb5	319	case Range_Config_DEFAULT:
sepp_nepp	6:fb11b746ceb5	320	// default settings, for normal range.
sepp_nepp	6:fb11b746ceb5	321	signalLimit = (FixPoint1616_t)(0.25 * 65536);
sepp_nepp	6:fb11b746ceb5	322	sigmaLimit = (FixPoint1616_t)(18 * 65536);
sepp_nepp	6:fb11b746ceb5	323	timingBudget = 33000;
sepp_nepp	6:fb11b746ceb5	324	preRangeVcselPeriod = 14;
sepp_nepp	6:fb11b746ceb5	325	finalRangeVcselPeriod = 10;
sepp_nepp	6:fb11b746ceb5	326	break;
sepp_nepp	6:fb11b746ceb5	327	case Range_Config_LONG_RANGE: // *** from mass market cube expansion v1.1, ranging with satellites.
sepp_nepp	6:fb11b746ceb5	328	signalLimit = (FixPoint1616_t)(0.1 * 65536);
sepp_nepp	6:fb11b746ceb5	329	sigmaLimit = (FixPoint1616_t)(60 * 65536);
sepp_nepp	6:fb11b746ceb5	330	timingBudget = 33000;
sepp_nepp	6:fb11b746ceb5	331	preRangeVcselPeriod = 18;
sepp_nepp	6:fb11b746ceb5	332	finalRangeVcselPeriod = 14;
sepp_nepp	6:fb11b746ceb5	333	break;
sepp_nepp	6:fb11b746ceb5	334	case Range_Config_HIGH_ACCURACY:
sepp_nepp	6:fb11b746ceb5	335	signalLimit = (FixPoint1616_t)(0.25*65536);
sepp_nepp	6:fb11b746ceb5	336	sigmaLimit = (FixPoint1616_t)(18*65536);
sepp_nepp	6:fb11b746ceb5	337	timingBudget = 200000;
sepp_nepp	6:fb11b746ceb5	338	preRangeVcselPeriod = 14;
sepp_nepp	6:fb11b746ceb5	339	finalRangeVcselPeriod = 10;
sepp_nepp	6:fb11b746ceb5	340	break;
sepp_nepp	6:fb11b746ceb5	341	case Range_Config_HIGH_SPEED:
sepp_nepp	6:fb11b746ceb5	342	signalLimit = (FixPoint1616_t)(0.25*65536);
sepp_nepp	6:fb11b746ceb5	343	sigmaLimit = (FixPoint1616_t)(32*65536);
sepp_nepp	6:fb11b746ceb5	344	timingBudget = 20000;
sepp_nepp	6:fb11b746ceb5	345	preRangeVcselPeriod = 14;
sepp_nepp	6:fb11b746ceb5	346	finalRangeVcselPeriod = 10;
sepp_nepp	6:fb11b746ceb5	347	break;
sepp_nepp	6:fb11b746ceb5	348	default:
sepp_nepp	6:fb11b746ceb5	349	Status = 96; // Config Not Supported
sepp_nepp	6:fb11b746ceb5	350	}
sepp_nepp	6:fb11b746ceb5	351
sepp_nepp	6:fb11b746ceb5	352	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	353	Status = VL53L0X_set_limit_check_value(VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, signalLimit);}
sepp_nepp	6:fb11b746ceb5	354
sepp_nepp	6:fb11b746ceb5	355	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	356	Status = VL53L0X_set_limit_check_value(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, sigmaLimit);}
sepp_nepp	6:fb11b746ceb5	357
sepp_nepp	6:fb11b746ceb5	358	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	359	Status = VL53L0X_set_measurement_timing_budget_micro_seconds( timingBudget);}
sepp_nepp	6:fb11b746ceb5	360
sepp_nepp	6:fb11b746ceb5	361	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	362	Status = VL53L0X_set_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE, preRangeVcselPeriod);}
sepp_nepp	6:fb11b746ceb5	363
sepp_nepp	6:fb11b746ceb5	364	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	365	Status = VL53L0X_set_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_FINAL_RANGE, finalRangeVcselPeriod);}
sepp_nepp	6:fb11b746ceb5	366
sepp_nepp	6:fb11b746ceb5	367	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	368	Status = VL53L0X_perform_ref_calibration( &VhvSettings, &PhaseCal);}
sepp_nepp	6:fb11b746ceb5	369
sepp_nepp	6:fb11b746ceb5	370	}
sepp_nepp	6:fb11b746ceb5	371
sepp_nepp	6:fb11b746ceb5	372	if (operating_mode == range_continuous_polling) {
sepp_nepp	6:fb11b746ceb5	373	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	374	//printf("Call of VL53L0X_SetDeviceMode\n");
sepp_nepp	7:3a1115c2556b	375	Status = VL53L0X_set_device_mode( VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
sepp_nepp	6:fb11b746ceb5	376	}
sepp_nepp	6:fb11b746ceb5	377
sepp_nepp	6:fb11b746ceb5	378	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	379	//printf("Call of VL53L0X_StartMeasurement\n");
sepp_nepp	7:3a1115c2556b	380	Status = VL53L0X_start_measurement();
sepp_nepp	6:fb11b746ceb5	381	}
sepp_nepp	6:fb11b746ceb5	382	}
sepp_nepp	6:fb11b746ceb5	383	return Status;
sepp_nepp	6:fb11b746ceb5	384	}
sepp_nepp	6:fb11b746ceb5	385
sepp_nepp	6:fb11b746ceb5	386	int VL53L0X::range_meas_int_continuous_mode(void (*fptr)(void))
sepp_nepp	8:2fd7cb217068	387	{ int status, clr_status;
sepp_nepp	6:fb11b746ceb5	388
sepp_nepp	7:3a1115c2556b	389	status = VL53L0X_stop_measurement(); // it is safer to do this while sensor is stopped
sepp_nepp	6:fb11b746ceb5	390
sepp_nepp	6:fb11b746ceb5	391	// status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
sepp_nepp	6:fb11b746ceb5	392
sepp_nepp	7:3a1115c2556b	393	status = VL53L0X_set_gpio_config( 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
sepp_nepp	6:fb11b746ceb5	394	VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
sepp_nepp	6:fb11b746ceb5	395	VL53L0X_INTERRUPTPOLARITY_HIGH);
sepp_nepp	6:fb11b746ceb5	396
sepp_nepp	6:fb11b746ceb5	397	if (!status) {
sepp_nepp	6:fb11b746ceb5	398	attach_interrupt_measure_detection_irq(fptr);
sepp_nepp	6:fb11b746ceb5	399	enable_interrupt_measure_detection_irq();
sepp_nepp	6:fb11b746ceb5	400	}
sepp_nepp	6:fb11b746ceb5	401
sepp_nepp	6:fb11b746ceb5	402	clr_status = clear_interrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS \| VL53L0X_REG_RESULT_RANGE_STATUS);
sepp_nepp	6:fb11b746ceb5	403	if (clr_status!=0) { status = 98; } // VL53L0X_ClearErrorInterrupt_fail;
sepp_nepp	6:fb11b746ceb5	404
sepp_nepp	6:fb11b746ceb5	405	if (!status) {
sepp_nepp	6:fb11b746ceb5	406	status = range_start_continuous_mode();
sepp_nepp	6:fb11b746ceb5	407	}
sepp_nepp	6:fb11b746ceb5	408	return status;
sepp_nepp	6:fb11b746ceb5	409	}
sepp_nepp	6:fb11b746ceb5	410
sepp_nepp	7:3a1115c2556b	411	VL53L0X_Error VL53L0X::wait_measurement_data_ready(void)
sepp_nepp	8:2fd7cb217068	412	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	413	uint8_t new_dat_ready = 0;
sepp_nepp	6:fb11b746ceb5	414	uint32_t loop_nb;
sepp_nepp	6:fb11b746ceb5	415
sepp_nepp	6:fb11b746ceb5	416	// Wait until it finished
sepp_nepp	6:fb11b746ceb5	417	// use timeout to avoid deadlock
sepp_nepp	6:fb11b746ceb5	418	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	419	loop_nb = 0;
sepp_nepp	6:fb11b746ceb5	420	do {
sepp_nepp	7:3a1115c2556b	421	status = VL53L0X_get_measurement_data_ready( &new_dat_ready);
sepp_nepp	6:fb11b746ceb5	422	if ((new_dat_ready == 0x01) \|\| status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	423	break;
sepp_nepp	6:fb11b746ceb5	424	}
sepp_nepp	6:fb11b746ceb5	425	loop_nb = loop_nb + 1;
sepp_nepp	7:3a1115c2556b	426	VL53L0X_polling_delay();
sepp_nepp	6:fb11b746ceb5	427	} while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
sepp_nepp	6:fb11b746ceb5	428
sepp_nepp	6:fb11b746ceb5	429	if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
sepp_nepp	6:fb11b746ceb5	430	status = VL53L0X_ERROR_TIME_OUT;
sepp_nepp	6:fb11b746ceb5	431	}
sepp_nepp	6:fb11b746ceb5	432	}
sepp_nepp	6:fb11b746ceb5	433
sepp_nepp	6:fb11b746ceb5	434	return status;
sepp_nepp	6:fb11b746ceb5	435	}
sepp_nepp	6:fb11b746ceb5	436
sepp_nepp	8:2fd7cb217068	437	int VL53L0X::get_distance(uint32_t *p_data)
sepp_nepp	6:fb11b746ceb5	438	{
sepp_nepp	8:2fd7cb217068	439	int status = 0;
sepp_nepp	8:2fd7cb217068	440	VL53L0X_RangingMeasurementData_t p_ranging_measurement_data;
sepp_nepp	8:2fd7cb217068	441
sepp_nepp	8:2fd7cb217068	442	status = start_measurement(range_single_shot_polling, NULL);
sepp_nepp	8:2fd7cb217068	443	if (!status) {
sepp_nepp	8:2fd7cb217068	444	status = get_measurement(range_single_shot_polling, &p_ranging_measurement_data);
sepp_nepp	8:2fd7cb217068	445	}
sepp_nepp	8:2fd7cb217068	446	if (p_ranging_measurement_data.RangeStatus == 0) {
sepp_nepp	8:2fd7cb217068	447	// we have a valid range.
sepp_nepp	8:2fd7cb217068	448	*p_data = p_ranging_measurement_data.RangeMilliMeter;
sepp_nepp	8:2fd7cb217068	449	} else {
sepp_nepp	8:2fd7cb217068	450	*p_data = 0;
sepp_nepp	8:2fd7cb217068	451	status = VL53L0X_ERROR_RANGE_ERROR;
sepp_nepp	8:2fd7cb217068	452	}
sepp_nepp	8:2fd7cb217068	453	stop_measurement(range_single_shot_polling);
sepp_nepp	8:2fd7cb217068	454	return status;
sepp_nepp	8:2fd7cb217068	455	}
sepp_nepp	8:2fd7cb217068	456
sepp_nepp	8:2fd7cb217068	457	VL53L0X_Error VL53L0X::wait_stop_completed(void)
sepp_nepp	8:2fd7cb217068	458	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	459	uint32_t stop_completed = 0;
sepp_nepp	6:fb11b746ceb5	460	uint32_t loop_nb;
sepp_nepp	6:fb11b746ceb5	461
sepp_nepp	6:fb11b746ceb5	462	// Wait until it finished
sepp_nepp	6:fb11b746ceb5	463	// use timeout to avoid deadlock
sepp_nepp	6:fb11b746ceb5	464	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	465	loop_nb = 0;
sepp_nepp	6:fb11b746ceb5	466	do {
sepp_nepp	7:3a1115c2556b	467	status = VL53L0X_get_stop_completed_status( &stop_completed);
sepp_nepp	6:fb11b746ceb5	468	if ((stop_completed == 0x00) \|\| status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	469	break;
sepp_nepp	6:fb11b746ceb5	470	}
sepp_nepp	6:fb11b746ceb5	471	loop_nb = loop_nb + 1;
sepp_nepp	7:3a1115c2556b	472	VL53L0X_polling_delay();
sepp_nepp	6:fb11b746ceb5	473	} while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
sepp_nepp	6:fb11b746ceb5	474
sepp_nepp	6:fb11b746ceb5	475	if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
sepp_nepp	6:fb11b746ceb5	476	status = VL53L0X_ERROR_TIME_OUT;
sepp_nepp	6:fb11b746ceb5	477	}
sepp_nepp	6:fb11b746ceb5	478
sepp_nepp	6:fb11b746ceb5	479	}
sepp_nepp	6:fb11b746ceb5	480
sepp_nepp	6:fb11b746ceb5	481	return status;
sepp_nepp	6:fb11b746ceb5	482	}
sepp_nepp	6:fb11b746ceb5	483
sepp_nepp	6:fb11b746ceb5	484	int VL53L0X::get_measurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *p_data)
sepp_nepp	8:2fd7cb217068	485	{ int Status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	486
sepp_nepp	6:fb11b746ceb5	487	if (operating_mode == range_single_shot_polling) {
sepp_nepp	7:3a1115c2556b	488	Status = VL53L0X_perform_single_ranging_measurement( p_data);
sepp_nepp	6:fb11b746ceb5	489	}
sepp_nepp	6:fb11b746ceb5	490
sepp_nepp	6:fb11b746ceb5	491	if (operating_mode == range_continuous_polling) {
sepp_nepp	6:fb11b746ceb5	492	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	493	Status = VL53L0X_measurement_poll_for_completion();
sepp_nepp	6:fb11b746ceb5	494	}
sepp_nepp	6:fb11b746ceb5	495
sepp_nepp	6:fb11b746ceb5	496	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	497	Status = VL53L0X_get_ranging_measurement_data( p_data);
sepp_nepp	6:fb11b746ceb5	498
sepp_nepp	6:fb11b746ceb5	499	// Clear the interrupt
sepp_nepp	7:3a1115c2556b	500	VL53L0X_clear_interrupt_mask( VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
sepp_nepp	7:3a1115c2556b	501	VL53L0X_polling_delay();
sepp_nepp	6:fb11b746ceb5	502	}
sepp_nepp	6:fb11b746ceb5	503	}
sepp_nepp	6:fb11b746ceb5	504
sepp_nepp	6:fb11b746ceb5	505	if (operating_mode == range_continuous_interrupt) {
sepp_nepp	7:3a1115c2556b	506	Status = VL53L0X_get_ranging_measurement_data( p_data);
sepp_nepp	7:3a1115c2556b	507	VL53L0X_clear_interrupt_mask( VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR \| VL53L0X_REG_RESULT_INTERRUPT_STATUS);
sepp_nepp	6:fb11b746ceb5	508	}
sepp_nepp	6:fb11b746ceb5	509
sepp_nepp	6:fb11b746ceb5	510	return Status;
sepp_nepp	6:fb11b746ceb5	511	}
sepp_nepp	6:fb11b746ceb5	512
sepp_nepp	6:fb11b746ceb5	513	int VL53L0X::stop_measurement(OperatingMode operating_mode)
sepp_nepp	8:2fd7cb217068	514	{ int status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	515
sepp_nepp	6:fb11b746ceb5	516	// don't need to stop for a singleshot range!
sepp_nepp	6:fb11b746ceb5	517	if (operating_mode == range_single_shot_polling) {
sepp_nepp	6:fb11b746ceb5	518	}
sepp_nepp	6:fb11b746ceb5	519
sepp_nepp	6:fb11b746ceb5	520	if (operating_mode == range_continuous_interrupt \|\| operating_mode == range_continuous_polling) {
sepp_nepp	6:fb11b746ceb5	521	// continuous mode
sepp_nepp	6:fb11b746ceb5	522	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	523	//printf("Call of VL53L0X_StopMeasurement\n");
sepp_nepp	7:3a1115c2556b	524	status = VL53L0X_stop_measurement();
sepp_nepp	6:fb11b746ceb5	525	}
sepp_nepp	6:fb11b746ceb5	526
sepp_nepp	6:fb11b746ceb5	527	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	528	//printf("Wait Stop to be competed\n");
sepp_nepp	7:3a1115c2556b	529	status = wait_stop_completed();
sepp_nepp	6:fb11b746ceb5	530	}
sepp_nepp	6:fb11b746ceb5	531
sepp_nepp	6:fb11b746ceb5	532	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	533	status = VL53L0X_clear_interrupt_mask(VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
sepp_nepp	6:fb11b746ceb5	534	}
sepp_nepp	6:fb11b746ceb5	535
sepp_nepp	6:fb11b746ceb5	536	return status;
sepp_nepp	6:fb11b746ceb5	537	}
sepp_nepp	6:fb11b746ceb5	538
sepp_nepp	6:fb11b746ceb5	539	int VL53L0X::handle_irq(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *data)
sepp_nepp	8:2fd7cb217068	540	{ int status;
sepp_nepp	6:fb11b746ceb5	541	status = get_measurement(operating_mode, data);
sepp_nepp	6:fb11b746ceb5	542	enable_interrupt_measure_detection_irq();
sepp_nepp	6:fb11b746ceb5	543	return status;
sepp_nepp	6:fb11b746ceb5	544	}
sepp_nepp	6:fb11b746ceb5	545
sepp_nepp	6:fb11b746ceb5	546	int VL53L0X::range_start_continuous_mode()
sepp_nepp	6:fb11b746ceb5	547	{ int status;
sepp_nepp	7:3a1115c2556b	548	status = VL53L0X_set_device_mode( VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);
sepp_nepp	6:fb11b746ceb5	549
sepp_nepp	6:fb11b746ceb5	550	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	7:3a1115c2556b	551	{ status = VL53L0X_start_measurement(); }
sepp_nepp	6:fb11b746ceb5	552
sepp_nepp	6:fb11b746ceb5	553	return status;
sepp_nepp	6:fb11b746ceb5	554	}
sepp_nepp	6:fb11b746ceb5	555
sepp_nepp	7:3a1115c2556b	556	VL53L0X_Error VL53L0X::VL53L0X_device_read_strobe(void)
sepp_nepp	8:2fd7cb217068	557	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	558	uint8_t strobe;
sepp_nepp	6:fb11b746ceb5	559	uint32_t loop_nb;
sepp_nepp	6:fb11b746ceb5	560
sepp_nepp	6:fb11b746ceb5	561
sepp_nepp	7:3a1115c2556b	562	status \|= VL53L0X_write_byte( 0x83, 0x00);
sepp_nepp	6:fb11b746ceb5	563
sepp_nepp	6:fb11b746ceb5	564	/* polling
sepp_nepp	6:fb11b746ceb5	565	* use timeout to avoid deadlock*/
sepp_nepp	6:fb11b746ceb5	566	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	567	loop_nb = 0;
sepp_nepp	6:fb11b746ceb5	568	do {
sepp_nepp	7:3a1115c2556b	569	status = VL53L0X_read_byte( 0x83, &strobe);
sepp_nepp	6:fb11b746ceb5	570	if ((strobe != 0x00) \|\| status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	571	break;
sepp_nepp	6:fb11b746ceb5	572	}
sepp_nepp	6:fb11b746ceb5	573
sepp_nepp	6:fb11b746ceb5	574	loop_nb = loop_nb + 1;
sepp_nepp	6:fb11b746ceb5	575	} while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
sepp_nepp	6:fb11b746ceb5	576
sepp_nepp	6:fb11b746ceb5	577	if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
sepp_nepp	6:fb11b746ceb5	578	status = VL53L0X_ERROR_TIME_OUT;
sepp_nepp	6:fb11b746ceb5	579	}
sepp_nepp	6:fb11b746ceb5	580	}
sepp_nepp	6:fb11b746ceb5	581
sepp_nepp	7:3a1115c2556b	582	status \|= VL53L0X_write_byte( 0x83, 0x01);
sepp_nepp	6:fb11b746ceb5	583
sepp_nepp	6:fb11b746ceb5	584	return status;
sepp_nepp	6:fb11b746ceb5	585	}
sepp_nepp	6:fb11b746ceb5	586
sepp_nepp	7:3a1115c2556b	587	VL53L0X_Error VL53L0X::VL53L0X_get_info_from_device( uint8_t option)
sepp_nepp	8:2fd7cb217068	588	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	589	uint8_t byte;
sepp_nepp	6:fb11b746ceb5	590	uint32_t tmp_dword;
sepp_nepp	6:fb11b746ceb5	591	uint8_t module_id;
sepp_nepp	6:fb11b746ceb5	592	uint8_t revision;
sepp_nepp	6:fb11b746ceb5	593	uint8_t reference_spad_count = 0;
sepp_nepp	6:fb11b746ceb5	594	uint8_t reference_spad_type = 0;
sepp_nepp	6:fb11b746ceb5	595	uint32_t part_uid_upper = 0;
sepp_nepp	6:fb11b746ceb5	596	uint32_t part_uid_lower = 0;
sepp_nepp	6:fb11b746ceb5	597	uint32_t offset_fixed1104_mm = 0;
sepp_nepp	6:fb11b746ceb5	598	int16_t offset_micro_meters = 0;
sepp_nepp	6:fb11b746ceb5	599	uint32_t dist_meas_tgt_fixed1104_mm = 400 << 4;
sepp_nepp	6:fb11b746ceb5	600	uint32_t dist_meas_fixed1104_400_mm = 0;
sepp_nepp	6:fb11b746ceb5	601	uint32_t signal_rate_meas_fixed1104_400_mm = 0;
sepp_nepp	6:fb11b746ceb5	602	char product_id[19];
sepp_nepp	6:fb11b746ceb5	603	char *product_id_tmp;
sepp_nepp	6:fb11b746ceb5	604	uint8_t read_data_from_device_done;
sepp_nepp	6:fb11b746ceb5	605	FixPoint1616_t signal_rate_meas_fixed400_mm_fix = 0;
sepp_nepp	6:fb11b746ceb5	606	uint8_t nvm_ref_good_spad_map[VL53L0X_REF_SPAD_BUFFER_SIZE];
sepp_nepp	6:fb11b746ceb5	607	int i;
sepp_nepp	6:fb11b746ceb5	608
sepp_nepp	8:2fd7cb217068	609	read_data_from_device_done = Data.ReadDataFromDeviceDone;
sepp_nepp	8:2fd7cb217068	610	read_data_from_device_done = Data.ReadDataFromDeviceDone;
sepp_nepp	8:2fd7cb217068	611	read_data_from_device_done = Data.ReadDataFromDeviceDone;
sepp_nepp	6:fb11b746ceb5	612
sepp_nepp	6:fb11b746ceb5	613	/* This access is done only once after that a GetDeviceInfo or
sepp_nepp	6:fb11b746ceb5	614	* datainit is done*/
sepp_nepp	6:fb11b746ceb5	615	if (read_data_from_device_done != 7) {
sepp_nepp	6:fb11b746ceb5	616
sepp_nepp	7:3a1115c2556b	617	status \|= VL53L0X_write_byte( 0x80, 0x01);
sepp_nepp	7:3a1115c2556b	618	status \|= VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	619	status \|= VL53L0X_write_byte( 0x00, 0x00);
sepp_nepp	7:3a1115c2556b	620
sepp_nepp	7:3a1115c2556b	621	status \|= VL53L0X_write_byte( 0xFF, 0x06);
sepp_nepp	7:3a1115c2556b	622	status \|= VL53L0X_read_byte( 0x83, &byte);
sepp_nepp	7:3a1115c2556b	623	status \|= VL53L0X_write_byte( 0x83, byte \| 4);
sepp_nepp	7:3a1115c2556b	624	status \|= VL53L0X_write_byte( 0xFF, 0x07);
sepp_nepp	7:3a1115c2556b	625	status \|= VL53L0X_write_byte( 0x81, 0x01);
sepp_nepp	7:3a1115c2556b	626
sepp_nepp	7:3a1115c2556b	627	status \|= VL53L0X_polling_delay();
sepp_nepp	7:3a1115c2556b	628
sepp_nepp	7:3a1115c2556b	629	status \|= VL53L0X_write_byte( 0x80, 0x01);
sepp_nepp	6:fb11b746ceb5	630
sepp_nepp	6:fb11b746ceb5	631	if (((option & 1) == 1) &&
sepp_nepp	6:fb11b746ceb5	632	((read_data_from_device_done & 1) == 0)) {
sepp_nepp	7:3a1115c2556b	633	status \|= VL53L0X_write_byte( 0x94, 0x6b);
sepp_nepp	7:3a1115c2556b	634	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	635	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	636
sepp_nepp	6:fb11b746ceb5	637	reference_spad_count = (uint8_t)((tmp_dword >> 8) & 0x07f);
sepp_nepp	6:fb11b746ceb5	638	reference_spad_type = (uint8_t)((tmp_dword >> 15) & 0x01);
sepp_nepp	6:fb11b746ceb5	639
sepp_nepp	7:3a1115c2556b	640	status \|= VL53L0X_write_byte( 0x94, 0x24);
sepp_nepp	7:3a1115c2556b	641	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	642	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	643
sepp_nepp	6:fb11b746ceb5	644	nvm_ref_good_spad_map[0] = (uint8_t)((tmp_dword >> 24)
sepp_nepp	6:fb11b746ceb5	645	& 0xff);
sepp_nepp	6:fb11b746ceb5	646	nvm_ref_good_spad_map[1] = (uint8_t)((tmp_dword >> 16)
sepp_nepp	6:fb11b746ceb5	647	& 0xff);
sepp_nepp	6:fb11b746ceb5	648	nvm_ref_good_spad_map[2] = (uint8_t)((tmp_dword >> 8)
sepp_nepp	6:fb11b746ceb5	649	& 0xff);
sepp_nepp	6:fb11b746ceb5	650	nvm_ref_good_spad_map[3] = (uint8_t)(tmp_dword & 0xff);
sepp_nepp	6:fb11b746ceb5	651
sepp_nepp	7:3a1115c2556b	652	status \|= VL53L0X_write_byte( 0x94, 0x25);
sepp_nepp	7:3a1115c2556b	653	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	654	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	655
sepp_nepp	6:fb11b746ceb5	656	nvm_ref_good_spad_map[4] = (uint8_t)((tmp_dword >> 24)
sepp_nepp	6:fb11b746ceb5	657	& 0xff);
sepp_nepp	6:fb11b746ceb5	658	nvm_ref_good_spad_map[5] = (uint8_t)((tmp_dword >> 16)
sepp_nepp	6:fb11b746ceb5	659	& 0xff);
sepp_nepp	6:fb11b746ceb5	660	}
sepp_nepp	6:fb11b746ceb5	661
sepp_nepp	6:fb11b746ceb5	662	if (((option & 2) == 2) &&
sepp_nepp	6:fb11b746ceb5	663	((read_data_from_device_done & 2) == 0)) {
sepp_nepp	6:fb11b746ceb5	664
sepp_nepp	7:3a1115c2556b	665	status \|= VL53L0X_write_byte( 0x94, 0x02);
sepp_nepp	7:3a1115c2556b	666	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	667	status \|= VL53L0X_read_byte( 0x90, &module_id);
sepp_nepp	7:3a1115c2556b	668
sepp_nepp	7:3a1115c2556b	669	status \|= VL53L0X_write_byte( 0x94, 0x7B);
sepp_nepp	7:3a1115c2556b	670	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	671	status \|= VL53L0X_read_byte( 0x90, &revision);
sepp_nepp	7:3a1115c2556b	672
sepp_nepp	7:3a1115c2556b	673	status \|= VL53L0X_write_byte( 0x94, 0x77);
sepp_nepp	7:3a1115c2556b	674	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	675	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	676
sepp_nepp	6:fb11b746ceb5	677	product_id[0] = (char)((tmp_dword >> 25) & 0x07f);
sepp_nepp	6:fb11b746ceb5	678	product_id[1] = (char)((tmp_dword >> 18) & 0x07f);
sepp_nepp	6:fb11b746ceb5	679	product_id[2] = (char)((tmp_dword >> 11) & 0x07f);
sepp_nepp	6:fb11b746ceb5	680	product_id[3] = (char)((tmp_dword >> 4) & 0x07f);
sepp_nepp	6:fb11b746ceb5	681
sepp_nepp	6:fb11b746ceb5	682	byte = (uint8_t)((tmp_dword & 0x00f) << 3);
sepp_nepp	6:fb11b746ceb5	683
sepp_nepp	7:3a1115c2556b	684	status \|= VL53L0X_write_byte( 0x94, 0x78);
sepp_nepp	7:3a1115c2556b	685	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	686	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	687
sepp_nepp	6:fb11b746ceb5	688	product_id[4] = (char)(byte +
sepp_nepp	6:fb11b746ceb5	689	((tmp_dword >> 29) & 0x07f));
sepp_nepp	6:fb11b746ceb5	690	product_id[5] = (char)((tmp_dword >> 22) & 0x07f);
sepp_nepp	6:fb11b746ceb5	691	product_id[6] = (char)((tmp_dword >> 15) & 0x07f);
sepp_nepp	6:fb11b746ceb5	692	product_id[7] = (char)((tmp_dword >> 8) & 0x07f);
sepp_nepp	6:fb11b746ceb5	693	product_id[8] = (char)((tmp_dword >> 1) & 0x07f);
sepp_nepp	6:fb11b746ceb5	694
sepp_nepp	6:fb11b746ceb5	695	byte = (uint8_t)((tmp_dword & 0x001) << 6);
sepp_nepp	6:fb11b746ceb5	696
sepp_nepp	7:3a1115c2556b	697	status \|= VL53L0X_write_byte( 0x94, 0x79);
sepp_nepp	7:3a1115c2556b	698
sepp_nepp	7:3a1115c2556b	699	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	700
sepp_nepp	7:3a1115c2556b	701	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	702
sepp_nepp	6:fb11b746ceb5	703	product_id[9] = (char)(byte +
sepp_nepp	6:fb11b746ceb5	704	((tmp_dword >> 26) & 0x07f));
sepp_nepp	6:fb11b746ceb5	705	product_id[10] = (char)((tmp_dword >> 19) & 0x07f);
sepp_nepp	6:fb11b746ceb5	706	product_id[11] = (char)((tmp_dword >> 12) & 0x07f);
sepp_nepp	6:fb11b746ceb5	707	product_id[12] = (char)((tmp_dword >> 5) & 0x07f);
sepp_nepp	6:fb11b746ceb5	708
sepp_nepp	6:fb11b746ceb5	709	byte = (uint8_t)((tmp_dword & 0x01f) << 2);
sepp_nepp	6:fb11b746ceb5	710
sepp_nepp	7:3a1115c2556b	711	status \|= VL53L0X_write_byte( 0x94, 0x7A);
sepp_nepp	7:3a1115c2556b	712
sepp_nepp	7:3a1115c2556b	713	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	714
sepp_nepp	7:3a1115c2556b	715	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	716
sepp_nepp	6:fb11b746ceb5	717	product_id[13] = (char)(byte +
sepp_nepp	6:fb11b746ceb5	718	((tmp_dword >> 30) & 0x07f));
sepp_nepp	6:fb11b746ceb5	719	product_id[14] = (char)((tmp_dword >> 23) & 0x07f);
sepp_nepp	6:fb11b746ceb5	720	product_id[15] = (char)((tmp_dword >> 16) & 0x07f);
sepp_nepp	6:fb11b746ceb5	721	product_id[16] = (char)((tmp_dword >> 9) & 0x07f);
sepp_nepp	6:fb11b746ceb5	722	product_id[17] = (char)((tmp_dword >> 2) & 0x07f);
sepp_nepp	6:fb11b746ceb5	723	product_id[18] = '\0';
sepp_nepp	6:fb11b746ceb5	724
sepp_nepp	6:fb11b746ceb5	725	}
sepp_nepp	6:fb11b746ceb5	726
sepp_nepp	6:fb11b746ceb5	727	if (((option & 4) == 4) &&
sepp_nepp	6:fb11b746ceb5	728	((read_data_from_device_done & 4) == 0)) {
sepp_nepp	6:fb11b746ceb5	729
sepp_nepp	7:3a1115c2556b	730	status \|= VL53L0X_write_byte( 0x94, 0x7B);
sepp_nepp	7:3a1115c2556b	731	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	732	status \|= VL53L0X_read_dword( 0x90, &part_uid_upper);
sepp_nepp	7:3a1115c2556b	733
sepp_nepp	7:3a1115c2556b	734	status \|= VL53L0X_write_byte( 0x94, 0x7C);
sepp_nepp	7:3a1115c2556b	735	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	736	status \|= VL53L0X_read_dword( 0x90, &part_uid_lower);
sepp_nepp	7:3a1115c2556b	737
sepp_nepp	7:3a1115c2556b	738	status \|= VL53L0X_write_byte( 0x94, 0x73);
sepp_nepp	7:3a1115c2556b	739	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	740	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	741
sepp_nepp	6:fb11b746ceb5	742	signal_rate_meas_fixed1104_400_mm = (tmp_dword &
sepp_nepp	6:fb11b746ceb5	743	0x0000000ff) << 8;
sepp_nepp	6:fb11b746ceb5	744
sepp_nepp	7:3a1115c2556b	745	status \|= VL53L0X_write_byte( 0x94, 0x74);
sepp_nepp	7:3a1115c2556b	746	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	747	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	748
sepp_nepp	6:fb11b746ceb5	749	signal_rate_meas_fixed1104_400_mm \|= ((tmp_dword &
sepp_nepp	6:fb11b746ceb5	750	0xff000000) >> 24);
sepp_nepp	6:fb11b746ceb5	751
sepp_nepp	7:3a1115c2556b	752	status \|= VL53L0X_write_byte( 0x94, 0x75);
sepp_nepp	7:3a1115c2556b	753	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	754	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	755
sepp_nepp	6:fb11b746ceb5	756	dist_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff)
sepp_nepp	6:fb11b746ceb5	757	<< 8;
sepp_nepp	6:fb11b746ceb5	758
sepp_nepp	7:3a1115c2556b	759	status \|= VL53L0X_write_byte( 0x94, 0x76);
sepp_nepp	7:3a1115c2556b	760	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	761	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	762
sepp_nepp	6:fb11b746ceb5	763	dist_meas_fixed1104_400_mm \|= ((tmp_dword & 0xff000000)
sepp_nepp	6:fb11b746ceb5	764	>> 24);
sepp_nepp	6:fb11b746ceb5	765	}
sepp_nepp	6:fb11b746ceb5	766
sepp_nepp	7:3a1115c2556b	767	status \|= VL53L0X_write_byte( 0x81, 0x00);
sepp_nepp	7:3a1115c2556b	768	status \|= VL53L0X_write_byte( 0xFF, 0x06);
sepp_nepp	7:3a1115c2556b	769	status \|= VL53L0X_read_byte( 0x83, &byte);
sepp_nepp	7:3a1115c2556b	770	status \|= VL53L0X_write_byte( 0x83, byte & 0xfb);
sepp_nepp	7:3a1115c2556b	771	status \|= VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	772	status \|= VL53L0X_write_byte( 0x00, 0x01);
sepp_nepp	7:3a1115c2556b	773
sepp_nepp	7:3a1115c2556b	774	status \|= VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	7:3a1115c2556b	775	status \|= VL53L0X_write_byte( 0x80, 0x00);
sepp_nepp	6:fb11b746ceb5	776	}
sepp_nepp	6:fb11b746ceb5	777
sepp_nepp	6:fb11b746ceb5	778	if ((status == VL53L0X_ERROR_NONE) &&
sepp_nepp	6:fb11b746ceb5	779	(read_data_from_device_done != 7)) {
sepp_nepp	6:fb11b746ceb5	780	/* Assign to variable if status is ok */
sepp_nepp	6:fb11b746ceb5	781	if (((option & 1) == 1) &&
sepp_nepp	6:fb11b746ceb5	782	((read_data_from_device_done & 1) == 0)) {
sepp_nepp	8:2fd7cb217068	783	Data.ReferenceSpadCount = reference_spad_count;
sepp_nepp	8:2fd7cb217068	784
sepp_nepp	8:2fd7cb217068	785	Data.ReferenceSpadType = reference_spad_type;
sepp_nepp	6:fb11b746ceb5	786
sepp_nepp	6:fb11b746ceb5	787	for (i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++) {
sepp_nepp	7:3a1115c2556b	788	Data.SpadData.RefGoodSpadMap[i] =
sepp_nepp	6:fb11b746ceb5	789	nvm_ref_good_spad_map[i];
sepp_nepp	6:fb11b746ceb5	790	}
sepp_nepp	6:fb11b746ceb5	791	}
sepp_nepp	6:fb11b746ceb5	792
sepp_nepp	6:fb11b746ceb5	793	if (((option & 2) == 2) &&
sepp_nepp	6:fb11b746ceb5	794	((read_data_from_device_done & 2) == 0)) {
sepp_nepp	8:2fd7cb217068	795	Data.ModuleId = module_id;
sepp_nepp	8:2fd7cb217068	796
sepp_nepp	8:2fd7cb217068	797	Data.Revision = revision;
sepp_nepp	8:2fd7cb217068	798
sepp_nepp	8:2fd7cb217068	799	product_id_tmp = Data.ProductId;
sepp_nepp	6:fb11b746ceb5	800	VL53L0X_COPYSTRING(product_id_tmp, product_id);
sepp_nepp	6:fb11b746ceb5	801
sepp_nepp	6:fb11b746ceb5	802	}
sepp_nepp	6:fb11b746ceb5	803
sepp_nepp	6:fb11b746ceb5	804	if (((option & 4) == 4) &&
sepp_nepp	6:fb11b746ceb5	805	((read_data_from_device_done & 4) == 0)) {
sepp_nepp	8:2fd7cb217068	806	Data.PartUIDUpper = part_uid_upper;
sepp_nepp	8:2fd7cb217068	807
sepp_nepp	8:2fd7cb217068	808	Data.PartUIDLower = part_uid_lower;
sepp_nepp	6:fb11b746ceb5	809
sepp_nepp	6:fb11b746ceb5	810	signal_rate_meas_fixed400_mm_fix =
sepp_nepp	8:2fd7cb217068	811	VL53L0X_FIXPOINT97TOFIXPOINT1616(signal_rate_meas_fixed1104_400_mm);
sepp_nepp	8:2fd7cb217068	812
sepp_nepp	8:2fd7cb217068	813	Data.SignalRateMeasFixed400mm = signal_rate_meas_fixed400_mm_fix;
sepp_nepp	6:fb11b746ceb5	814
sepp_nepp	6:fb11b746ceb5	815	offset_micro_meters = 0;
sepp_nepp	6:fb11b746ceb5	816	if (dist_meas_fixed1104_400_mm != 0) {
sepp_nepp	6:fb11b746ceb5	817	offset_fixed1104_mm =
sepp_nepp	6:fb11b746ceb5	818	dist_meas_fixed1104_400_mm -
sepp_nepp	6:fb11b746ceb5	819	dist_meas_tgt_fixed1104_mm;
sepp_nepp	6:fb11b746ceb5	820	offset_micro_meters = (offset_fixed1104_mm
sepp_nepp	6:fb11b746ceb5	821	* 1000) >> 4;
sepp_nepp	6:fb11b746ceb5	822	offset_micro_meters *= -1;
sepp_nepp	6:fb11b746ceb5	823	}
sepp_nepp	6:fb11b746ceb5	824
sepp_nepp	8:2fd7cb217068	825	Data.Part2PartOffsetAdjustmentNVMMicroMeter = offset_micro_meters;
sepp_nepp	6:fb11b746ceb5	826	}
sepp_nepp	6:fb11b746ceb5	827	byte = (uint8_t)(read_data_from_device_done \| option);
sepp_nepp	8:2fd7cb217068	828	Data.ReadDataFromDeviceDone = byte;
sepp_nepp	6:fb11b746ceb5	829	}
sepp_nepp	6:fb11b746ceb5	830	return status;
sepp_nepp	6:fb11b746ceb5	831	}
sepp_nepp	6:fb11b746ceb5	832
sepp_nepp	8:2fd7cb217068	833	VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_offset_calibration_data_micro_meter(int32_t *p_offset_calibration_data_micro_meter)
sepp_nepp	8:2fd7cb217068	834	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	835	uint16_t range_offset_register;
sepp_nepp	6:fb11b746ceb5	836	int16_t c_max_offset = 2047;
sepp_nepp	6:fb11b746ceb5	837	int16_t c_offset_range = 4096;
sepp_nepp	6:fb11b746ceb5	838
sepp_nepp	6:fb11b746ceb5	839	/* Note that offset has 10.2 format */
sepp_nepp	6:fb11b746ceb5	840
sepp_nepp	8:2fd7cb217068	841	status = VL53L0X_read_word(VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
sepp_nepp	6:fb11b746ceb5	842	&range_offset_register);
sepp_nepp	6:fb11b746ceb5	843
sepp_nepp	6:fb11b746ceb5	844	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	845	range_offset_register = (range_offset_register & 0x0fff);
sepp_nepp	6:fb11b746ceb5	846
sepp_nepp	6:fb11b746ceb5	847	/* Apply 12 bit 2's compliment conversion */
sepp_nepp	6:fb11b746ceb5	848	if (range_offset_register > c_max_offset) {
sepp_nepp	6:fb11b746ceb5	849	*p_offset_calibration_data_micro_meter =
sepp_nepp	6:fb11b746ceb5	850	(int16_t)(range_offset_register - c_offset_range)
sepp_nepp	6:fb11b746ceb5	851	* 250;
sepp_nepp	6:fb11b746ceb5	852	} else {
sepp_nepp	6:fb11b746ceb5	853	*p_offset_calibration_data_micro_meter =
sepp_nepp	6:fb11b746ceb5	854	(int16_t)range_offset_register * 250;
sepp_nepp	6:fb11b746ceb5	855	}
sepp_nepp	6:fb11b746ceb5	856
sepp_nepp	6:fb11b746ceb5	857	}
sepp_nepp	6:fb11b746ceb5	858
sepp_nepp	6:fb11b746ceb5	859	return status;
sepp_nepp	6:fb11b746ceb5	860	}
sepp_nepp	6:fb11b746ceb5	861
sepp_nepp	8:2fd7cb217068	862	VL53L0X_Error VL53L0X::VL53L0X_get_offset_calibration_data_micro_meter(int32_t *p_offset_calibration_data_micro_meter)
sepp_nepp	8:2fd7cb217068	863	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	864
sepp_nepp	6:fb11b746ceb5	865
sepp_nepp	8:2fd7cb217068	866	status = wrapped_VL53L0X_get_offset_calibration_data_micro_meter(p_offset_calibration_data_micro_meter);
sepp_nepp	6:fb11b746ceb5	867
sepp_nepp	6:fb11b746ceb5	868
sepp_nepp	6:fb11b746ceb5	869	return status;
sepp_nepp	6:fb11b746ceb5	870	}
sepp_nepp	6:fb11b746ceb5	871
sepp_nepp	8:2fd7cb217068	872	VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_offset_calibration_data_micro_meter(int32_t offset_calibration_data_micro_meter)
sepp_nepp	8:2fd7cb217068	873	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	874	int32_t c_max_offset_micro_meter = 511000;
sepp_nepp	6:fb11b746ceb5	875	int32_t c_min_offset_micro_meter = -512000;
sepp_nepp	6:fb11b746ceb5	876	int16_t c_offset_range = 4096;
sepp_nepp	6:fb11b746ceb5	877	uint32_t encoded_offset_val;
sepp_nepp	6:fb11b746ceb5	878
sepp_nepp	6:fb11b746ceb5	879
sepp_nepp	6:fb11b746ceb5	880
sepp_nepp	6:fb11b746ceb5	881	if (offset_calibration_data_micro_meter > c_max_offset_micro_meter) {
sepp_nepp	6:fb11b746ceb5	882	offset_calibration_data_micro_meter = c_max_offset_micro_meter;
sepp_nepp	6:fb11b746ceb5	883	} else {
sepp_nepp	6:fb11b746ceb5	884	if (offset_calibration_data_micro_meter < c_min_offset_micro_meter) {
sepp_nepp	6:fb11b746ceb5	885	offset_calibration_data_micro_meter = c_min_offset_micro_meter;
sepp_nepp	6:fb11b746ceb5	886	}
sepp_nepp	6:fb11b746ceb5	887	}
sepp_nepp	6:fb11b746ceb5	888
sepp_nepp	6:fb11b746ceb5	889	/* The offset register is 10.2 format and units are mm
sepp_nepp	6:fb11b746ceb5	890	* therefore conversion is applied by a division of
sepp_nepp	6:fb11b746ceb5	891	* 250.
sepp_nepp	6:fb11b746ceb5	892	*/
sepp_nepp	6:fb11b746ceb5	893	if (offset_calibration_data_micro_meter >= 0) {
sepp_nepp	6:fb11b746ceb5	894	encoded_offset_val =
sepp_nepp	6:fb11b746ceb5	895	offset_calibration_data_micro_meter / 250;
sepp_nepp	6:fb11b746ceb5	896	} else {
sepp_nepp	6:fb11b746ceb5	897	encoded_offset_val =
sepp_nepp	6:fb11b746ceb5	898	c_offset_range +
sepp_nepp	6:fb11b746ceb5	899	offset_calibration_data_micro_meter / 250;
sepp_nepp	6:fb11b746ceb5	900	}
sepp_nepp	6:fb11b746ceb5	901
sepp_nepp	8:2fd7cb217068	902	status = VL53L0X_write_word(VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
sepp_nepp	6:fb11b746ceb5	903	encoded_offset_val);
sepp_nepp	6:fb11b746ceb5	904
sepp_nepp	6:fb11b746ceb5	905
sepp_nepp	6:fb11b746ceb5	906	return status;
sepp_nepp	6:fb11b746ceb5	907	}
sepp_nepp	6:fb11b746ceb5	908
sepp_nepp	8:2fd7cb217068	909	VL53L0X_Error VL53L0X::VL53L0X_set_offset_calibration_data_micro_meter(int32_t offset_calibration_data_micro_meter)
sepp_nepp	8:2fd7cb217068	910	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	911
sepp_nepp	6:fb11b746ceb5	912
sepp_nepp	8:2fd7cb217068	913	status = wrapped_VL53L0X_set_offset_calibration_data_micro_meter(offset_calibration_data_micro_meter);
sepp_nepp	6:fb11b746ceb5	914
sepp_nepp	6:fb11b746ceb5	915
sepp_nepp	6:fb11b746ceb5	916	return status;
sepp_nepp	6:fb11b746ceb5	917	}
sepp_nepp	6:fb11b746ceb5	918
sepp_nepp	7:3a1115c2556b	919	VL53L0X_Error VL53L0X::VL53L0X_apply_offset_adjustment(void)
sepp_nepp	8:2fd7cb217068	920	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	921	int32_t corrected_offset_micro_meters;
sepp_nepp	6:fb11b746ceb5	922	int32_t current_offset_micro_meters;
sepp_nepp	6:fb11b746ceb5	923
sepp_nepp	8:2fd7cb217068	924	/* if we run on this function we can read all the NVM info used by the API */
sepp_nepp	7:3a1115c2556b	925	status = VL53L0X_get_info_from_device( 7);
sepp_nepp	6:fb11b746ceb5	926
sepp_nepp	6:fb11b746ceb5	927	/* Read back current device offset */
sepp_nepp	6:fb11b746ceb5	928	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	929	status = VL53L0X_get_offset_calibration_data_micro_meter(&current_offset_micro_meters);
sepp_nepp	6:fb11b746ceb5	930	}
sepp_nepp	6:fb11b746ceb5	931
sepp_nepp	6:fb11b746ceb5	932	/* Apply Offset Adjustment derived from 400mm measurements */
sepp_nepp	6:fb11b746ceb5	933	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	934
sepp_nepp	6:fb11b746ceb5	935	/* Store initial device offset */
sepp_nepp	8:2fd7cb217068	936	Data.Part2PartOffsetNVMMicroMeter = current_offset_micro_meters;
sepp_nepp	6:fb11b746ceb5	937
sepp_nepp	6:fb11b746ceb5	938	corrected_offset_micro_meters = current_offset_micro_meters +
sepp_nepp	8:2fd7cb217068	939	(int32_t)Data.Part2PartOffsetAdjustmentNVMMicroMeter;
sepp_nepp	8:2fd7cb217068	940
sepp_nepp	8:2fd7cb217068	941	status = VL53L0X_set_offset_calibration_data_micro_meter(corrected_offset_micro_meters);
sepp_nepp	6:fb11b746ceb5	942
sepp_nepp	6:fb11b746ceb5	943	/* store current, adjusted offset */
sepp_nepp	6:fb11b746ceb5	944	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	945	Data.CurrentParameters.RangeOffsetMicroMeters = corrected_offset_micro_meters;
sepp_nepp	6:fb11b746ceb5	946	}
sepp_nepp	6:fb11b746ceb5	947	}
sepp_nepp	6:fb11b746ceb5	948
sepp_nepp	6:fb11b746ceb5	949	return status;
sepp_nepp	6:fb11b746ceb5	950	}
sepp_nepp	6:fb11b746ceb5	951
sepp_nepp	8:2fd7cb217068	952	VL53L0X_Error VL53L0X::VL53L0X_get_device_mode(VL53L0X_DeviceModes *p_device_mode)
sepp_nepp	8:2fd7cb217068	953	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	954
sepp_nepp	6:fb11b746ceb5	955
sepp_nepp	8:2fd7cb217068	956	*p_device_mode = Data.CurrentParameters.DeviceMode ;
sepp_nepp	6:fb11b746ceb5	957
sepp_nepp	6:fb11b746ceb5	958
sepp_nepp	6:fb11b746ceb5	959	return status;
sepp_nepp	6:fb11b746ceb5	960	}
sepp_nepp	6:fb11b746ceb5	961
sepp_nepp	8:2fd7cb217068	962	VL53L0X_Error VL53L0X::VL53L0X_get_inter_measurement_period_milli_seconds(uint32_t *p_inter_measurement_period_milli_seconds)
sepp_nepp	8:2fd7cb217068	963	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	964	uint16_t osc_calibrate_val;
sepp_nepp	6:fb11b746ceb5	965	uint32_t im_period_milli_seconds;
sepp_nepp	6:fb11b746ceb5	966
sepp_nepp	6:fb11b746ceb5	967
sepp_nepp	6:fb11b746ceb5	968
sepp_nepp	7:3a1115c2556b	969	status = VL53L0X_read_word( VL53L0X_REG_OSC_CALIBRATE_VAL,
sepp_nepp	6:fb11b746ceb5	970	&osc_calibrate_val);
sepp_nepp	6:fb11b746ceb5	971
sepp_nepp	6:fb11b746ceb5	972	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	973	status = VL53L0X_read_dword(VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD,
sepp_nepp	6:fb11b746ceb5	974	&im_period_milli_seconds);
sepp_nepp	6:fb11b746ceb5	975	}
sepp_nepp	6:fb11b746ceb5	976
sepp_nepp	6:fb11b746ceb5	977	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	978	if (osc_calibrate_val != 0) {
sepp_nepp	6:fb11b746ceb5	979	*p_inter_measurement_period_milli_seconds =
sepp_nepp	6:fb11b746ceb5	980	im_period_milli_seconds / osc_calibrate_val;
sepp_nepp	6:fb11b746ceb5	981	}
sepp_nepp	8:2fd7cb217068	982	Data.CurrentParameters.InterMeasurementPeriodMilliSeconds = *p_inter_measurement_period_milli_seconds;
sepp_nepp	6:fb11b746ceb5	983	}
sepp_nepp	6:fb11b746ceb5	984
sepp_nepp	6:fb11b746ceb5	985
sepp_nepp	6:fb11b746ceb5	986	return status;
sepp_nepp	6:fb11b746ceb5	987	}
sepp_nepp	6:fb11b746ceb5	988
sepp_nepp	8:2fd7cb217068	989	VL53L0X_Error VL53L0X::VL53L0X_get_x_talk_compensation_rate_mega_cps(FixPoint1616_t *p_xtalk_compensation_rate_mega_cps)
sepp_nepp	8:2fd7cb217068	990	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	991	uint16_t value;
sepp_nepp	6:fb11b746ceb5	992	FixPoint1616_t temp_fix1616;
sepp_nepp	6:fb11b746ceb5	993
sepp_nepp	6:fb11b746ceb5	994
sepp_nepp	6:fb11b746ceb5	995
sepp_nepp	8:2fd7cb217068	996	status = VL53L0X_read_word(VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, (uint16_t *)&value);
sepp_nepp	6:fb11b746ceb5	997	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	998	if (value == 0) {
sepp_nepp	6:fb11b746ceb5	999	/* the Xtalk is disabled return value from memory */
sepp_nepp	8:2fd7cb217068	1000	temp_fix1616 = Data.CurrentParameters.XTalkCompensationRateMegaCps ;
sepp_nepp	6:fb11b746ceb5	1001	*p_xtalk_compensation_rate_mega_cps = temp_fix1616;
sepp_nepp	8:2fd7cb217068	1002	Data.CurrentParameters.XTalkCompensationEnable = 0;
sepp_nepp	6:fb11b746ceb5	1003	} else {
sepp_nepp	6:fb11b746ceb5	1004	temp_fix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(value);
sepp_nepp	6:fb11b746ceb5	1005	*p_xtalk_compensation_rate_mega_cps = temp_fix1616;
sepp_nepp	8:2fd7cb217068	1006	Data.CurrentParameters.XTalkCompensationRateMegaCps = temp_fix1616;
sepp_nepp	8:2fd7cb217068	1007	Data.CurrentParameters.XTalkCompensationEnable = 1;
sepp_nepp	6:fb11b746ceb5	1008	}
sepp_nepp	6:fb11b746ceb5	1009	}
sepp_nepp	6:fb11b746ceb5	1010
sepp_nepp	6:fb11b746ceb5	1011
sepp_nepp	6:fb11b746ceb5	1012	return status;
sepp_nepp	6:fb11b746ceb5	1013	}
sepp_nepp	6:fb11b746ceb5	1014
sepp_nepp	7:3a1115c2556b	1015	VL53L0X_Error VL53L0X::VL53L0X_get_limit_check_value( uint16_t limit_check_id,
sepp_nepp	6:fb11b746ceb5	1016	FixPoint1616_t *p_limit_check_value)
sepp_nepp	8:2fd7cb217068	1017	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1018	uint8_t enable_zero_value = 0;
sepp_nepp	6:fb11b746ceb5	1019	uint16_t temp16;
sepp_nepp	6:fb11b746ceb5	1020	FixPoint1616_t temp_fix1616;
sepp_nepp	6:fb11b746ceb5	1021
sepp_nepp	6:fb11b746ceb5	1022
sepp_nepp	6:fb11b746ceb5	1023
sepp_nepp	6:fb11b746ceb5	1024	switch (limit_check_id) {
sepp_nepp	6:fb11b746ceb5	1025
sepp_nepp	6:fb11b746ceb5	1026	case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
sepp_nepp	6:fb11b746ceb5	1027	/* internal computation: */
sepp_nepp	8:2fd7cb217068	1028	temp_fix1616 = Data.CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE];
sepp_nepp	6:fb11b746ceb5	1029	enable_zero_value = 0;
sepp_nepp	6:fb11b746ceb5	1030	break;
sepp_nepp	6:fb11b746ceb5	1031
sepp_nepp	6:fb11b746ceb5	1032	case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
sepp_nepp	8:2fd7cb217068	1033	status = VL53L0X_read_word(VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
sepp_nepp	6:fb11b746ceb5	1034	&temp16);
sepp_nepp	6:fb11b746ceb5	1035	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1036	temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(temp16);
sepp_nepp	6:fb11b746ceb5	1037	}
sepp_nepp	6:fb11b746ceb5	1038
sepp_nepp	6:fb11b746ceb5	1039	enable_zero_value = 1;
sepp_nepp	6:fb11b746ceb5	1040	break;
sepp_nepp	6:fb11b746ceb5	1041
sepp_nepp	6:fb11b746ceb5	1042	case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
sepp_nepp	6:fb11b746ceb5	1043	/* internal computation: */
sepp_nepp	8:2fd7cb217068	1044	temp_fix1616 = Data.CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP];
sepp_nepp	6:fb11b746ceb5	1045	enable_zero_value = 0;
sepp_nepp	6:fb11b746ceb5	1046	break;
sepp_nepp	6:fb11b746ceb5	1047
sepp_nepp	6:fb11b746ceb5	1048	case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
sepp_nepp	6:fb11b746ceb5	1049	/* internal computation: */
sepp_nepp	8:2fd7cb217068	1050	temp_fix1616 = Data.CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD];
sepp_nepp	6:fb11b746ceb5	1051	enable_zero_value = 0;
sepp_nepp	6:fb11b746ceb5	1052	break;
sepp_nepp	6:fb11b746ceb5	1053
sepp_nepp	6:fb11b746ceb5	1054	case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
sepp_nepp	6:fb11b746ceb5	1055	case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
sepp_nepp	8:2fd7cb217068	1056	status = VL53L0X_read_word(VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
sepp_nepp	6:fb11b746ceb5	1057	&temp16);
sepp_nepp	6:fb11b746ceb5	1058	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1059	temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(temp16);
sepp_nepp	6:fb11b746ceb5	1060	}
sepp_nepp	6:fb11b746ceb5	1061
sepp_nepp	6:fb11b746ceb5	1062	enable_zero_value = 0;
sepp_nepp	6:fb11b746ceb5	1063	break;
sepp_nepp	6:fb11b746ceb5	1064
sepp_nepp	6:fb11b746ceb5	1065	default:
sepp_nepp	6:fb11b746ceb5	1066	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1067
sepp_nepp	6:fb11b746ceb5	1068	}
sepp_nepp	6:fb11b746ceb5	1069
sepp_nepp	6:fb11b746ceb5	1070	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1071
sepp_nepp	6:fb11b746ceb5	1072	if (enable_zero_value == 1) {
sepp_nepp	6:fb11b746ceb5	1073
sepp_nepp	6:fb11b746ceb5	1074	if (temp_fix1616 == 0) {
sepp_nepp	6:fb11b746ceb5	1075	/* disabled: return value from memory */
sepp_nepp	8:2fd7cb217068	1076	temp_fix1616 = Data.CurrentParameters.LimitChecksValue[limit_check_id];
sepp_nepp	6:fb11b746ceb5	1077	*p_limit_check_value = temp_fix1616;
sepp_nepp	8:2fd7cb217068	1078	Data.CurrentParameters.LimitChecksEnable[limit_check_id] = 0;
sepp_nepp	6:fb11b746ceb5	1079	} else {
sepp_nepp	6:fb11b746ceb5	1080	*p_limit_check_value = temp_fix1616;
sepp_nepp	8:2fd7cb217068	1081	Data.CurrentParameters.LimitChecksValue[limit_check_id] = temp_fix1616;
sepp_nepp	8:2fd7cb217068	1082	Data.CurrentParameters.LimitChecksEnable[limit_check_id] = 1;
sepp_nepp	6:fb11b746ceb5	1083	}
sepp_nepp	6:fb11b746ceb5	1084	} else {
sepp_nepp	6:fb11b746ceb5	1085	*p_limit_check_value = temp_fix1616;
sepp_nepp	6:fb11b746ceb5	1086	}
sepp_nepp	6:fb11b746ceb5	1087	}
sepp_nepp	6:fb11b746ceb5	1088
sepp_nepp	6:fb11b746ceb5	1089
sepp_nepp	6:fb11b746ceb5	1090	return status;
sepp_nepp	6:fb11b746ceb5	1091
sepp_nepp	6:fb11b746ceb5	1092	}
sepp_nepp	6:fb11b746ceb5	1093
sepp_nepp	7:3a1115c2556b	1094	VL53L0X_Error VL53L0X::VL53L0X_get_limit_check_enable( uint16_t limit_check_id,
sepp_nepp	6:fb11b746ceb5	1095	uint8_t *p_limit_check_enable)
sepp_nepp	8:2fd7cb217068	1096	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1097	uint8_t temp8;
sepp_nepp	6:fb11b746ceb5	1098
sepp_nepp	6:fb11b746ceb5	1099
sepp_nepp	6:fb11b746ceb5	1100
sepp_nepp	6:fb11b746ceb5	1101	if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
sepp_nepp	6:fb11b746ceb5	1102	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1103	*p_limit_check_enable = 0;
sepp_nepp	6:fb11b746ceb5	1104	} else {
sepp_nepp	8:2fd7cb217068	1105	temp8 = Data.CurrentParameters.LimitChecksEnable[limit_check_id];
sepp_nepp	6:fb11b746ceb5	1106	*p_limit_check_enable = temp8;
sepp_nepp	6:fb11b746ceb5	1107	}
sepp_nepp	6:fb11b746ceb5	1108
sepp_nepp	6:fb11b746ceb5	1109
sepp_nepp	6:fb11b746ceb5	1110	return status;
sepp_nepp	6:fb11b746ceb5	1111	}
sepp_nepp	6:fb11b746ceb5	1112
sepp_nepp	8:2fd7cb217068	1113	VL53L0X_Error VL53L0X::VL53L0X_get_wrap_around_check_enable(uint8_t *p_wrap_around_check_enable)
sepp_nepp	8:2fd7cb217068	1114	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1115	uint8_t data;
sepp_nepp	6:fb11b746ceb5	1116
sepp_nepp	6:fb11b746ceb5	1117
sepp_nepp	6:fb11b746ceb5	1118
sepp_nepp	7:3a1115c2556b	1119	status = VL53L0X_read_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data);
sepp_nepp	6:fb11b746ceb5	1120	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1121	Data.SequenceConfig = data;
sepp_nepp	6:fb11b746ceb5	1122	if (data & (0x01 << 7)) {
sepp_nepp	6:fb11b746ceb5	1123	*p_wrap_around_check_enable = 0x01;
sepp_nepp	6:fb11b746ceb5	1124	} else {
sepp_nepp	6:fb11b746ceb5	1125	*p_wrap_around_check_enable = 0x00;
sepp_nepp	6:fb11b746ceb5	1126	}
sepp_nepp	6:fb11b746ceb5	1127	}
sepp_nepp	6:fb11b746ceb5	1128	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1129	Data.CurrentParameters.WrapAroundCheckEnable = *p_wrap_around_check_enable;
sepp_nepp	6:fb11b746ceb5	1130	}
sepp_nepp	6:fb11b746ceb5	1131
sepp_nepp	6:fb11b746ceb5	1132
sepp_nepp	6:fb11b746ceb5	1133	return status;
sepp_nepp	6:fb11b746ceb5	1134	}
sepp_nepp	6:fb11b746ceb5	1135
sepp_nepp	8:2fd7cb217068	1136	VL53L0X_Error VL53L0X::sequence_step_enabled(VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_config,
sepp_nepp	6:fb11b746ceb5	1137	uint8_t *p_sequence_step_enabled)
sepp_nepp	8:2fd7cb217068	1138	{ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1139	*p_sequence_step_enabled = 0;
sepp_nepp	6:fb11b746ceb5	1140
sepp_nepp	6:fb11b746ceb5	1141
sepp_nepp	6:fb11b746ceb5	1142	switch (sequence_step_id) {
sepp_nepp	6:fb11b746ceb5	1143	case VL53L0X_SEQUENCESTEP_TCC:
sepp_nepp	6:fb11b746ceb5	1144	*p_sequence_step_enabled = (sequence_config & 0x10) >> 4;
sepp_nepp	6:fb11b746ceb5	1145	break;
sepp_nepp	6:fb11b746ceb5	1146	case VL53L0X_SEQUENCESTEP_DSS:
sepp_nepp	6:fb11b746ceb5	1147	*p_sequence_step_enabled = (sequence_config & 0x08) >> 3;
sepp_nepp	6:fb11b746ceb5	1148	break;
sepp_nepp	6:fb11b746ceb5	1149	case VL53L0X_SEQUENCESTEP_MSRC:
sepp_nepp	6:fb11b746ceb5	1150	*p_sequence_step_enabled = (sequence_config & 0x04) >> 2;
sepp_nepp	6:fb11b746ceb5	1151	break;
sepp_nepp	6:fb11b746ceb5	1152	case VL53L0X_SEQUENCESTEP_PRE_RANGE:
sepp_nepp	6:fb11b746ceb5	1153	*p_sequence_step_enabled = (sequence_config & 0x40) >> 6;
sepp_nepp	6:fb11b746ceb5	1154	break;
sepp_nepp	6:fb11b746ceb5	1155	case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
sepp_nepp	6:fb11b746ceb5	1156	*p_sequence_step_enabled = (sequence_config & 0x80) >> 7;
sepp_nepp	6:fb11b746ceb5	1157	break;
sepp_nepp	6:fb11b746ceb5	1158	default:
sepp_nepp	6:fb11b746ceb5	1159	Status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1160	}
sepp_nepp	6:fb11b746ceb5	1161
sepp_nepp	6:fb11b746ceb5	1162
sepp_nepp	6:fb11b746ceb5	1163	return Status;
sepp_nepp	6:fb11b746ceb5	1164	}
sepp_nepp	6:fb11b746ceb5	1165
sepp_nepp	8:2fd7cb217068	1166	VL53L0X_Error VL53L0X::VL53L0X_get_sequence_step_enables(VL53L0X_SchedulerSequenceSteps_t *p_scheduler_sequence_steps)
sepp_nepp	8:2fd7cb217068	1167	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1168	uint8_t sequence_config = 0;
sepp_nepp	6:fb11b746ceb5	1169
sepp_nepp	6:fb11b746ceb5	1170
sepp_nepp	7:3a1115c2556b	1171	status = VL53L0X_read_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
sepp_nepp	6:fb11b746ceb5	1172	&sequence_config);
sepp_nepp	6:fb11b746ceb5	1173
sepp_nepp	6:fb11b746ceb5	1174	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1175	status = sequence_step_enabled(VL53L0X_SEQUENCESTEP_TCC, sequence_config,
sepp_nepp	6:fb11b746ceb5	1176	&p_scheduler_sequence_steps->TccOn);
sepp_nepp	6:fb11b746ceb5	1177	}
sepp_nepp	6:fb11b746ceb5	1178	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1179	status = sequence_step_enabled(VL53L0X_SEQUENCESTEP_DSS, sequence_config,
sepp_nepp	6:fb11b746ceb5	1180	&p_scheduler_sequence_steps->DssOn);
sepp_nepp	6:fb11b746ceb5	1181	}
sepp_nepp	6:fb11b746ceb5	1182	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1183	status = sequence_step_enabled(VL53L0X_SEQUENCESTEP_MSRC, sequence_config,
sepp_nepp	6:fb11b746ceb5	1184	&p_scheduler_sequence_steps->MsrcOn);
sepp_nepp	6:fb11b746ceb5	1185	}
sepp_nepp	6:fb11b746ceb5	1186	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1187	status = sequence_step_enabled(VL53L0X_SEQUENCESTEP_PRE_RANGE, sequence_config,
sepp_nepp	6:fb11b746ceb5	1188	&p_scheduler_sequence_steps->PreRangeOn);
sepp_nepp	6:fb11b746ceb5	1189	}
sepp_nepp	6:fb11b746ceb5	1190	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1191	status = sequence_step_enabled(VL53L0X_SEQUENCESTEP_FINAL_RANGE, sequence_config,
sepp_nepp	6:fb11b746ceb5	1192	&p_scheduler_sequence_steps->FinalRangeOn);
sepp_nepp	6:fb11b746ceb5	1193	}
sepp_nepp	6:fb11b746ceb5	1194
sepp_nepp	6:fb11b746ceb5	1195
sepp_nepp	6:fb11b746ceb5	1196	return status;
sepp_nepp	6:fb11b746ceb5	1197	}
sepp_nepp	6:fb11b746ceb5	1198
sepp_nepp	6:fb11b746ceb5	1199	uint8_t VL53L0X::VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg)
sepp_nepp	8:2fd7cb217068	1200	{ /*!
sepp_nepp	6:fb11b746ceb5	1201	* Converts the encoded VCSEL period register value into the real
sepp_nepp	6:fb11b746ceb5	1202	* period in PLL clocks
sepp_nepp	6:fb11b746ceb5	1203	*/
sepp_nepp	6:fb11b746ceb5	1204
sepp_nepp	6:fb11b746ceb5	1205	uint8_t vcsel_period_pclks = 0;
sepp_nepp	6:fb11b746ceb5	1206
sepp_nepp	6:fb11b746ceb5	1207	vcsel_period_pclks = (vcsel_period_reg + 1) << 1;
sepp_nepp	6:fb11b746ceb5	1208
sepp_nepp	6:fb11b746ceb5	1209	return vcsel_period_pclks;
sepp_nepp	6:fb11b746ceb5	1210	}
sepp_nepp	6:fb11b746ceb5	1211
sepp_nepp	6:fb11b746ceb5	1212	uint8_t VL53L0X::lv53l0x_encode_vcsel_period(uint8_t vcsel_period_pclks)
sepp_nepp	8:2fd7cb217068	1213	{ /*!
sepp_nepp	6:fb11b746ceb5	1214	* Converts the encoded VCSEL period register value into the real period
sepp_nepp	6:fb11b746ceb5	1215	* in PLL clocks
sepp_nepp	6:fb11b746ceb5	1216	*/
sepp_nepp	6:fb11b746ceb5	1217
sepp_nepp	6:fb11b746ceb5	1218	uint8_t vcsel_period_reg = 0;
sepp_nepp	6:fb11b746ceb5	1219
sepp_nepp	6:fb11b746ceb5	1220	vcsel_period_reg = (vcsel_period_pclks >> 1) - 1;
sepp_nepp	6:fb11b746ceb5	1221
sepp_nepp	6:fb11b746ceb5	1222	return vcsel_period_reg;
sepp_nepp	6:fb11b746ceb5	1223	}
sepp_nepp	6:fb11b746ceb5	1224
sepp_nepp	8:2fd7cb217068	1225	VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_vcsel_pulse_period(VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period_pclk)
sepp_nepp	8:2fd7cb217068	1226	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1227	uint8_t vcsel_period_reg;
sepp_nepp	6:fb11b746ceb5	1228	uint8_t min_pre_vcsel_period_pclk = 12;
sepp_nepp	6:fb11b746ceb5	1229	uint8_t max_pre_vcsel_period_pclk = 18;
sepp_nepp	6:fb11b746ceb5	1230	uint8_t min_final_vcsel_period_pclk = 8;
sepp_nepp	6:fb11b746ceb5	1231	uint8_t max_final_vcsel_period_pclk = 14;
sepp_nepp	6:fb11b746ceb5	1232	uint32_t measurement_timing_budget_micro_seconds;
sepp_nepp	6:fb11b746ceb5	1233	uint32_t final_range_timeout_micro_seconds;
sepp_nepp	6:fb11b746ceb5	1234	uint32_t pre_range_timeout_micro_seconds;
sepp_nepp	6:fb11b746ceb5	1235	uint32_t msrc_timeout_micro_seconds;
sepp_nepp	6:fb11b746ceb5	1236	uint8_t phase_cal_int = 0;
sepp_nepp	6:fb11b746ceb5	1237
sepp_nepp	6:fb11b746ceb5	1238	/* Check if valid clock period requested */
sepp_nepp	6:fb11b746ceb5	1239
sepp_nepp	6:fb11b746ceb5	1240	if ((vcsel_pulse_period_pclk % 2) != 0) {
sepp_nepp	6:fb11b746ceb5	1241	/* Value must be an even number */
sepp_nepp	6:fb11b746ceb5	1242	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1243	} else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE &&
sepp_nepp	6:fb11b746ceb5	1244	(vcsel_pulse_period_pclk < min_pre_vcsel_period_pclk \|\|
sepp_nepp	6:fb11b746ceb5	1245	vcsel_pulse_period_pclk > max_pre_vcsel_period_pclk)) {
sepp_nepp	6:fb11b746ceb5	1246	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1247	} else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE &&
sepp_nepp	6:fb11b746ceb5	1248	(vcsel_pulse_period_pclk < min_final_vcsel_period_pclk \|\|
sepp_nepp	6:fb11b746ceb5	1249	vcsel_pulse_period_pclk > max_final_vcsel_period_pclk)) {
sepp_nepp	6:fb11b746ceb5	1250
sepp_nepp	6:fb11b746ceb5	1251	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1252	}
sepp_nepp	6:fb11b746ceb5	1253
sepp_nepp	6:fb11b746ceb5	1254	/* Apply specific settings for the requested clock period */
sepp_nepp	6:fb11b746ceb5	1255
sepp_nepp	6:fb11b746ceb5	1256	if (status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1257	return status;
sepp_nepp	6:fb11b746ceb5	1258	}
sepp_nepp	6:fb11b746ceb5	1259
sepp_nepp	6:fb11b746ceb5	1260	if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE) {
sepp_nepp	6:fb11b746ceb5	1261
sepp_nepp	6:fb11b746ceb5	1262	/* Set phase check limits */
sepp_nepp	6:fb11b746ceb5	1263	if (vcsel_pulse_period_pclk == 12) {
sepp_nepp	6:fb11b746ceb5	1264
sepp_nepp	8:2fd7cb217068	1265	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
sepp_nepp	6:fb11b746ceb5	1266	0x18);
sepp_nepp	8:2fd7cb217068	1267	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
sepp_nepp	6:fb11b746ceb5	1268	0x08);
sepp_nepp	6:fb11b746ceb5	1269	} else if (vcsel_pulse_period_pclk == 14) {
sepp_nepp	6:fb11b746ceb5	1270
sepp_nepp	8:2fd7cb217068	1271	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
sepp_nepp	6:fb11b746ceb5	1272	0x30);
sepp_nepp	8:2fd7cb217068	1273	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
sepp_nepp	6:fb11b746ceb5	1274	0x08);
sepp_nepp	6:fb11b746ceb5	1275	} else if (vcsel_pulse_period_pclk == 16) {
sepp_nepp	6:fb11b746ceb5	1276
sepp_nepp	8:2fd7cb217068	1277	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
sepp_nepp	6:fb11b746ceb5	1278	0x40);
sepp_nepp	8:2fd7cb217068	1279	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
sepp_nepp	6:fb11b746ceb5	1280	0x08);
sepp_nepp	6:fb11b746ceb5	1281	} else if (vcsel_pulse_period_pclk == 18) {
sepp_nepp	6:fb11b746ceb5	1282
sepp_nepp	8:2fd7cb217068	1283	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
sepp_nepp	6:fb11b746ceb5	1284	0x50);
sepp_nepp	8:2fd7cb217068	1285	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
sepp_nepp	6:fb11b746ceb5	1286	0x08);
sepp_nepp	6:fb11b746ceb5	1287	}
sepp_nepp	6:fb11b746ceb5	1288	} else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) {
sepp_nepp	6:fb11b746ceb5	1289
sepp_nepp	6:fb11b746ceb5	1290	if (vcsel_pulse_period_pclk == 8) {
sepp_nepp	6:fb11b746ceb5	1291
sepp_nepp	8:2fd7cb217068	1292	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
sepp_nepp	6:fb11b746ceb5	1293	0x10);
sepp_nepp	8:2fd7cb217068	1294	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
sepp_nepp	6:fb11b746ceb5	1295	0x08);
sepp_nepp	6:fb11b746ceb5	1296
sepp_nepp	8:2fd7cb217068	1297	status \|= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02);
sepp_nepp	8:2fd7cb217068	1298	status \|= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C);
sepp_nepp	6:fb11b746ceb5	1299
sepp_nepp	7:3a1115c2556b	1300	status \|= VL53L0X_write_byte( 0xff, 0x01);
sepp_nepp	8:2fd7cb217068	1301	status \|= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,
sepp_nepp	6:fb11b746ceb5	1302	0x30);
sepp_nepp	7:3a1115c2556b	1303	status \|= VL53L0X_write_byte( 0xff, 0x00);
sepp_nepp	6:fb11b746ceb5	1304	} else if (vcsel_pulse_period_pclk == 10) {
sepp_nepp	6:fb11b746ceb5	1305
sepp_nepp	8:2fd7cb217068	1306	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
sepp_nepp	6:fb11b746ceb5	1307	0x28);
sepp_nepp	8:2fd7cb217068	1308	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
sepp_nepp	6:fb11b746ceb5	1309	0x08);
sepp_nepp	6:fb11b746ceb5	1310
sepp_nepp	8:2fd7cb217068	1311	status \|= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
sepp_nepp	8:2fd7cb217068	1312	status \|= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09);
sepp_nepp	6:fb11b746ceb5	1313
sepp_nepp	7:3a1115c2556b	1314	status \|= VL53L0X_write_byte( 0xff, 0x01);
sepp_nepp	8:2fd7cb217068	1315	status \|= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,
sepp_nepp	6:fb11b746ceb5	1316	0x20);
sepp_nepp	7:3a1115c2556b	1317	status \|= VL53L0X_write_byte( 0xff, 0x00);
sepp_nepp	6:fb11b746ceb5	1318	} else if (vcsel_pulse_period_pclk == 12) {
sepp_nepp	6:fb11b746ceb5	1319
sepp_nepp	8:2fd7cb217068	1320	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
sepp_nepp	6:fb11b746ceb5	1321	0x38);
sepp_nepp	8:2fd7cb217068	1322	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
sepp_nepp	6:fb11b746ceb5	1323	0x08);
sepp_nepp	6:fb11b746ceb5	1324
sepp_nepp	8:2fd7cb217068	1325	status \|= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
sepp_nepp	8:2fd7cb217068	1326	status \|= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08);
sepp_nepp	6:fb11b746ceb5	1327
sepp_nepp	7:3a1115c2556b	1328	status \|= VL53L0X_write_byte( 0xff, 0x01);
sepp_nepp	8:2fd7cb217068	1329	status \|= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,
sepp_nepp	6:fb11b746ceb5	1330	0x20);
sepp_nepp	7:3a1115c2556b	1331	status \|= VL53L0X_write_byte( 0xff, 0x00);
sepp_nepp	6:fb11b746ceb5	1332	} else if (vcsel_pulse_period_pclk == 14) {
sepp_nepp	6:fb11b746ceb5	1333
sepp_nepp	8:2fd7cb217068	1334	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
sepp_nepp	6:fb11b746ceb5	1335	0x048);
sepp_nepp	8:2fd7cb217068	1336	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
sepp_nepp	6:fb11b746ceb5	1337	0x08);
sepp_nepp	6:fb11b746ceb5	1338
sepp_nepp	8:2fd7cb217068	1339	status \|= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
sepp_nepp	8:2fd7cb217068	1340	status \|= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07);
sepp_nepp	6:fb11b746ceb5	1341
sepp_nepp	7:3a1115c2556b	1342	status \|= VL53L0X_write_byte( 0xff, 0x01);
sepp_nepp	8:2fd7cb217068	1343	status \|= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,
sepp_nepp	6:fb11b746ceb5	1344	0x20);
sepp_nepp	7:3a1115c2556b	1345	status \|= VL53L0X_write_byte( 0xff, 0x00);
sepp_nepp	6:fb11b746ceb5	1346	}
sepp_nepp	6:fb11b746ceb5	1347	}
sepp_nepp	6:fb11b746ceb5	1348
sepp_nepp	6:fb11b746ceb5	1349	/* Re-calculate and apply timeouts, in macro periods */
sepp_nepp	6:fb11b746ceb5	1350
sepp_nepp	6:fb11b746ceb5	1351	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1352	vcsel_period_reg = lv53l0x_encode_vcsel_period((uint8_t)
sepp_nepp	6:fb11b746ceb5	1353	vcsel_pulse_period_pclk);
sepp_nepp	6:fb11b746ceb5	1354
sepp_nepp	6:fb11b746ceb5	1355	/* When the VCSEL period for the pre or final range is changed,
sepp_nepp	6:fb11b746ceb5	1356	* the corresponding timeout must be read from the device using
sepp_nepp	6:fb11b746ceb5	1357	* the current VCSEL period, then the new VCSEL period can be
sepp_nepp	6:fb11b746ceb5	1358	* applied. The timeout then must be written back to the device
sepp_nepp	6:fb11b746ceb5	1359	* using the new VCSEL period.
sepp_nepp	6:fb11b746ceb5	1360	*
sepp_nepp	6:fb11b746ceb5	1361	* For the MSRC timeout, the same applies - this timeout being
sepp_nepp	6:fb11b746ceb5	1362	* dependant on the pre-range vcsel period.
sepp_nepp	6:fb11b746ceb5	1363	*/
sepp_nepp	6:fb11b746ceb5	1364	switch (vcsel_period_type) {
sepp_nepp	6:fb11b746ceb5	1365	case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
sepp_nepp	8:2fd7cb217068	1366	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	1367	&pre_range_timeout_micro_seconds);
sepp_nepp	6:fb11b746ceb5	1368
sepp_nepp	6:fb11b746ceb5	1369	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	1370	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_MSRC,
sepp_nepp	6:fb11b746ceb5	1371	&msrc_timeout_micro_seconds);
sepp_nepp	6:fb11b746ceb5	1372
sepp_nepp	6:fb11b746ceb5	1373	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	1374	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
sepp_nepp	6:fb11b746ceb5	1375	vcsel_period_reg);
sepp_nepp	6:fb11b746ceb5	1376
sepp_nepp	6:fb11b746ceb5	1377	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	7:3a1115c2556b	1378	status = set_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	1379	pre_range_timeout_micro_seconds);
sepp_nepp	6:fb11b746ceb5	1380
sepp_nepp	6:fb11b746ceb5	1381	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	7:3a1115c2556b	1382	status = set_sequence_step_timeout(VL53L0X_SEQUENCESTEP_MSRC,
sepp_nepp	6:fb11b746ceb5	1383	msrc_timeout_micro_seconds);
sepp_nepp	6:fb11b746ceb5	1384
sepp_nepp	8:2fd7cb217068	1385	Data.PreRangeVcselPulsePeriod = vcsel_pulse_period_pclk;
sepp_nepp	6:fb11b746ceb5	1386	break;
sepp_nepp	6:fb11b746ceb5	1387	case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
sepp_nepp	7:3a1115c2556b	1388	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	1389	&final_range_timeout_micro_seconds);
sepp_nepp	6:fb11b746ceb5	1390
sepp_nepp	6:fb11b746ceb5	1391	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	1392	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
sepp_nepp	6:fb11b746ceb5	1393	vcsel_period_reg);
sepp_nepp	6:fb11b746ceb5	1394
sepp_nepp	6:fb11b746ceb5	1395	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	1396	status = set_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	1397	final_range_timeout_micro_seconds);
sepp_nepp	6:fb11b746ceb5	1398
sepp_nepp	8:2fd7cb217068	1399	Data.FinalRangeVcselPulsePeriod = vcsel_pulse_period_pclk;
sepp_nepp	6:fb11b746ceb5	1400	break;
sepp_nepp	6:fb11b746ceb5	1401	default:
sepp_nepp	6:fb11b746ceb5	1402	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1403	}
sepp_nepp	6:fb11b746ceb5	1404	}
sepp_nepp	6:fb11b746ceb5	1405
sepp_nepp	6:fb11b746ceb5	1406	/* Finally, the timing budget must be re-applied */
sepp_nepp	6:fb11b746ceb5	1407	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1408	measurement_timing_budget_micro_seconds = Data.CurrentParameters.MeasurementTimingBudgetMicroSeconds ;
sepp_nepp	8:2fd7cb217068	1409
sepp_nepp	8:2fd7cb217068	1410	status = VL53L0X_set_measurement_timing_budget_micro_seconds(measurement_timing_budget_micro_seconds);
sepp_nepp	6:fb11b746ceb5	1411	}
sepp_nepp	6:fb11b746ceb5	1412
sepp_nepp	6:fb11b746ceb5	1413	/* Perform the phase calibration. This is needed after changing on
sepp_nepp	6:fb11b746ceb5	1414	* vcsel period.
sepp_nepp	6:fb11b746ceb5	1415	* get_data_enable = 0, restore_config = 1 */
sepp_nepp	6:fb11b746ceb5	1416	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	7:3a1115c2556b	1417	status = VL53L0X_perform_phase_calibration(&phase_cal_int, 0, 1);
sepp_nepp	6:fb11b746ceb5	1418
sepp_nepp	6:fb11b746ceb5	1419	return status;
sepp_nepp	6:fb11b746ceb5	1420	}
sepp_nepp	6:fb11b746ceb5	1421
sepp_nepp	8:2fd7cb217068	1422	VL53L0X_Error VL53L0X::VL53L0X_set_vcsel_pulse_period(VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period)
sepp_nepp	8:2fd7cb217068	1423	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1424
sepp_nepp	6:fb11b746ceb5	1425
sepp_nepp	7:3a1115c2556b	1426	status = wrapped_VL53L0X_set_vcsel_pulse_period( vcsel_period_type,
sepp_nepp	6:fb11b746ceb5	1427	vcsel_pulse_period);
sepp_nepp	6:fb11b746ceb5	1428
sepp_nepp	6:fb11b746ceb5	1429
sepp_nepp	6:fb11b746ceb5	1430	return status;
sepp_nepp	6:fb11b746ceb5	1431	}
sepp_nepp	6:fb11b746ceb5	1432
sepp_nepp	8:2fd7cb217068	1433	VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_vcsel_pulse_period(VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk)
sepp_nepp	8:2fd7cb217068	1434	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1435	uint8_t vcsel_period_reg;
sepp_nepp	6:fb11b746ceb5	1436
sepp_nepp	6:fb11b746ceb5	1437	switch (vcsel_period_type) {
sepp_nepp	6:fb11b746ceb5	1438	case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
sepp_nepp	8:2fd7cb217068	1439	status = VL53L0X_read_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
sepp_nepp	6:fb11b746ceb5	1440	&vcsel_period_reg);
sepp_nepp	6:fb11b746ceb5	1441	break;
sepp_nepp	6:fb11b746ceb5	1442	case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
sepp_nepp	8:2fd7cb217068	1443	status = VL53L0X_read_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
sepp_nepp	6:fb11b746ceb5	1444	&vcsel_period_reg);
sepp_nepp	6:fb11b746ceb5	1445	break;
sepp_nepp	6:fb11b746ceb5	1446	default:
sepp_nepp	6:fb11b746ceb5	1447	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1448	}
sepp_nepp	6:fb11b746ceb5	1449
sepp_nepp	6:fb11b746ceb5	1450	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	6:fb11b746ceb5	1451	*p_vcsel_pulse_period_pclk =
sepp_nepp	6:fb11b746ceb5	1452	VL53L0X_decode_vcsel_period(vcsel_period_reg);
sepp_nepp	6:fb11b746ceb5	1453
sepp_nepp	6:fb11b746ceb5	1454	return status;
sepp_nepp	6:fb11b746ceb5	1455	}
sepp_nepp	6:fb11b746ceb5	1456
sepp_nepp	8:2fd7cb217068	1457	VL53L0X_Error VL53L0X::VL53L0X_get_vcsel_pulse_period(VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk)
sepp_nepp	8:2fd7cb217068	1458	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1459
sepp_nepp	6:fb11b746ceb5	1460
sepp_nepp	7:3a1115c2556b	1461	status = wrapped_VL53L0X_get_vcsel_pulse_period( vcsel_period_type,
sepp_nepp	6:fb11b746ceb5	1462	p_vcsel_pulse_period_pclk);
sepp_nepp	6:fb11b746ceb5	1463
sepp_nepp	6:fb11b746ceb5	1464
sepp_nepp	6:fb11b746ceb5	1465	return status;
sepp_nepp	6:fb11b746ceb5	1466	}
sepp_nepp	6:fb11b746ceb5	1467
sepp_nepp	6:fb11b746ceb5	1468	uint32_t VL53L0X::VL53L0X_decode_timeout(uint16_t encoded_timeout)
sepp_nepp	8:2fd7cb217068	1469	{ /*!
sepp_nepp	6:fb11b746ceb5	1470	* Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1
sepp_nepp	6:fb11b746ceb5	1471	*/
sepp_nepp	6:fb11b746ceb5	1472
sepp_nepp	6:fb11b746ceb5	1473	uint32_t timeout_macro_clks = 0;
sepp_nepp	6:fb11b746ceb5	1474
sepp_nepp	6:fb11b746ceb5	1475	timeout_macro_clks = ((uint32_t)(encoded_timeout & 0x00FF)
sepp_nepp	6:fb11b746ceb5	1476	<< (uint32_t)((encoded_timeout & 0xFF00) >> 8)) + 1;
sepp_nepp	6:fb11b746ceb5	1477
sepp_nepp	6:fb11b746ceb5	1478	return timeout_macro_clks;
sepp_nepp	6:fb11b746ceb5	1479	}
sepp_nepp	6:fb11b746ceb5	1480
sepp_nepp	7:3a1115c2556b	1481	uint32_t VL53L0X::VL53L0X_calc_macro_period_ps( uint8_t vcsel_period_pclks)
sepp_nepp	8:2fd7cb217068	1482	{ uint64_t pll_period_ps;
sepp_nepp	6:fb11b746ceb5	1483	uint32_t macro_period_vclks;
sepp_nepp	6:fb11b746ceb5	1484	uint32_t macro_period_ps;
sepp_nepp	6:fb11b746ceb5	1485
sepp_nepp	6:fb11b746ceb5	1486
sepp_nepp	6:fb11b746ceb5	1487
sepp_nepp	6:fb11b746ceb5	1488	/* The above calculation will produce rounding errors,
sepp_nepp	6:fb11b746ceb5	1489	therefore set fixed value
sepp_nepp	6:fb11b746ceb5	1490	*/
sepp_nepp	6:fb11b746ceb5	1491	pll_period_ps = 1655;
sepp_nepp	6:fb11b746ceb5	1492
sepp_nepp	6:fb11b746ceb5	1493	macro_period_vclks = 2304;
sepp_nepp	6:fb11b746ceb5	1494	macro_period_ps = (uint32_t)(macro_period_vclks
sepp_nepp	6:fb11b746ceb5	1495	* vcsel_period_pclks * pll_period_ps);
sepp_nepp	6:fb11b746ceb5	1496
sepp_nepp	6:fb11b746ceb5	1497	return macro_period_ps;
sepp_nepp	6:fb11b746ceb5	1498	}
sepp_nepp	6:fb11b746ceb5	1499
sepp_nepp	6:fb11b746ceb5	1500	/* To convert register value into us */
sepp_nepp	8:2fd7cb217068	1501	uint32_t VL53L0X::VL53L0X_calc_timeout_us(uint16_t timeout_period_mclks,
sepp_nepp	6:fb11b746ceb5	1502	uint8_t vcsel_period_pclks)
sepp_nepp	8:2fd7cb217068	1503	{ uint32_t macro_period_ps;
sepp_nepp	6:fb11b746ceb5	1504	uint32_t macro_period_ns;
sepp_nepp	6:fb11b746ceb5	1505	uint32_t actual_timeout_period_us = 0;
sepp_nepp	6:fb11b746ceb5	1506
sepp_nepp	7:3a1115c2556b	1507	macro_period_ps = VL53L0X_calc_macro_period_ps( vcsel_period_pclks);
sepp_nepp	6:fb11b746ceb5	1508	macro_period_ns = (macro_period_ps + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	1509
sepp_nepp	6:fb11b746ceb5	1510	actual_timeout_period_us =
sepp_nepp	6:fb11b746ceb5	1511	((timeout_period_mclks * macro_period_ns) + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	1512
sepp_nepp	6:fb11b746ceb5	1513	return actual_timeout_period_us;
sepp_nepp	6:fb11b746ceb5	1514	}
sepp_nepp	6:fb11b746ceb5	1515
sepp_nepp	8:2fd7cb217068	1516	VL53L0X_Error VL53L0X::get_sequence_step_timeout(VL53L0X_SequenceStepId sequence_step_id,
sepp_nepp	6:fb11b746ceb5	1517	uint32_t *p_time_out_micro_secs)
sepp_nepp	8:2fd7cb217068	1518	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1519	uint8_t current_vcsel_pulse_period_p_clk;
sepp_nepp	6:fb11b746ceb5	1520	uint8_t encoded_time_out_byte = 0;
sepp_nepp	6:fb11b746ceb5	1521	uint32_t timeout_micro_seconds = 0;
sepp_nepp	6:fb11b746ceb5	1522	uint16_t pre_range_encoded_time_out = 0;
sepp_nepp	6:fb11b746ceb5	1523	uint16_t msrc_time_out_m_clks;
sepp_nepp	6:fb11b746ceb5	1524	uint16_t pre_range_time_out_m_clks;
sepp_nepp	6:fb11b746ceb5	1525	uint16_t final_range_time_out_m_clks = 0;
sepp_nepp	6:fb11b746ceb5	1526	uint16_t final_range_encoded_time_out;
sepp_nepp	6:fb11b746ceb5	1527	VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
sepp_nepp	6:fb11b746ceb5	1528
sepp_nepp	6:fb11b746ceb5	1529	if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC) \|\|
sepp_nepp	6:fb11b746ceb5	1530	(sequence_step_id == VL53L0X_SEQUENCESTEP_DSS) \|\|
sepp_nepp	6:fb11b746ceb5	1531	(sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC)) {
sepp_nepp	6:fb11b746ceb5	1532
sepp_nepp	8:2fd7cb217068	1533	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	1534	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	1535	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1536	status = VL53L0X_read_byte(VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
sepp_nepp	6:fb11b746ceb5	1537	&encoded_time_out_byte);
sepp_nepp	6:fb11b746ceb5	1538	}
sepp_nepp	6:fb11b746ceb5	1539	msrc_time_out_m_clks = VL53L0X_decode_timeout(encoded_time_out_byte);
sepp_nepp	6:fb11b746ceb5	1540
sepp_nepp	8:2fd7cb217068	1541	timeout_micro_seconds = VL53L0X_calc_timeout_us(msrc_time_out_m_clks,
sepp_nepp	6:fb11b746ceb5	1542	current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	1543	} else if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
sepp_nepp	6:fb11b746ceb5	1544	/* Retrieve PRE-RANGE VCSEL Period */
sepp_nepp	8:2fd7cb217068	1545	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	1546	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	1547
sepp_nepp	6:fb11b746ceb5	1548	/* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */
sepp_nepp	6:fb11b746ceb5	1549	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1550
sepp_nepp	6:fb11b746ceb5	1551	/* Retrieve PRE-RANGE VCSEL Period */
sepp_nepp	8:2fd7cb217068	1552	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	1553	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	1554
sepp_nepp	6:fb11b746ceb5	1555	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1556	status = VL53L0X_read_word(VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
sepp_nepp	6:fb11b746ceb5	1557	&pre_range_encoded_time_out);
sepp_nepp	6:fb11b746ceb5	1558	}
sepp_nepp	6:fb11b746ceb5	1559
sepp_nepp	8:2fd7cb217068	1560	pre_range_time_out_m_clks = VL53L0X_decode_timeout(pre_range_encoded_time_out);
sepp_nepp	8:2fd7cb217068	1561
sepp_nepp	8:2fd7cb217068	1562	timeout_micro_seconds = VL53L0X_calc_timeout_us(pre_range_time_out_m_clks,
sepp_nepp	6:fb11b746ceb5	1563	current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	1564	}
sepp_nepp	6:fb11b746ceb5	1565	} else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
sepp_nepp	6:fb11b746ceb5	1566
sepp_nepp	7:3a1115c2556b	1567	VL53L0X_get_sequence_step_enables( &scheduler_sequence_steps);
sepp_nepp	6:fb11b746ceb5	1568	pre_range_time_out_m_clks = 0;
sepp_nepp	6:fb11b746ceb5	1569
sepp_nepp	6:fb11b746ceb5	1570	if (scheduler_sequence_steps.PreRangeOn) {
sepp_nepp	6:fb11b746ceb5	1571	/* Retrieve PRE-RANGE VCSEL Period */
sepp_nepp	8:2fd7cb217068	1572	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	1573	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	1574
sepp_nepp	6:fb11b746ceb5	1575	/* Retrieve PRE-RANGE Timeout in Macro periods
sepp_nepp	6:fb11b746ceb5	1576	* (MCLKS) */
sepp_nepp	6:fb11b746ceb5	1577	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1578	status = VL53L0X_read_word(VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
sepp_nepp	6:fb11b746ceb5	1579	&pre_range_encoded_time_out);
sepp_nepp	8:2fd7cb217068	1580	pre_range_time_out_m_clks = VL53L0X_decode_timeout(pre_range_encoded_time_out);
sepp_nepp	6:fb11b746ceb5	1581	}
sepp_nepp	6:fb11b746ceb5	1582	}
sepp_nepp	6:fb11b746ceb5	1583
sepp_nepp	6:fb11b746ceb5	1584	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1585	/* Retrieve FINAL-RANGE VCSEL Period */
sepp_nepp	8:2fd7cb217068	1586	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	1587	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	1588	}
sepp_nepp	6:fb11b746ceb5	1589
sepp_nepp	6:fb11b746ceb5	1590	/* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */
sepp_nepp	6:fb11b746ceb5	1591	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1592	status = VL53L0X_read_word(VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI,
sepp_nepp	6:fb11b746ceb5	1593	&final_range_encoded_time_out);
sepp_nepp	8:2fd7cb217068	1594	final_range_time_out_m_clks = VL53L0X_decode_timeout(final_range_encoded_time_out);
sepp_nepp	6:fb11b746ceb5	1595	}
sepp_nepp	6:fb11b746ceb5	1596
sepp_nepp	6:fb11b746ceb5	1597	final_range_time_out_m_clks -= pre_range_time_out_m_clks;
sepp_nepp	8:2fd7cb217068	1598	timeout_micro_seconds = VL53L0X_calc_timeout_us(final_range_time_out_m_clks,
sepp_nepp	6:fb11b746ceb5	1599	current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	1600	}
sepp_nepp	6:fb11b746ceb5	1601
sepp_nepp	6:fb11b746ceb5	1602	*p_time_out_micro_secs = timeout_micro_seconds;
sepp_nepp	6:fb11b746ceb5	1603
sepp_nepp	6:fb11b746ceb5	1604	return status;
sepp_nepp	6:fb11b746ceb5	1605	}
sepp_nepp	6:fb11b746ceb5	1606
sepp_nepp	8:2fd7cb217068	1607	VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(uint32_t *p_measurement_timing_budget_micro_seconds)
sepp_nepp	8:2fd7cb217068	1608	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1609	VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
sepp_nepp	6:fb11b746ceb5	1610	uint32_t final_range_timeout_micro_seconds;
sepp_nepp	6:fb11b746ceb5	1611	uint32_t msrc_dcc_tcc_timeout_micro_seconds = 2000;
sepp_nepp	6:fb11b746ceb5	1612	uint32_t start_overhead_micro_seconds = 1910;
sepp_nepp	6:fb11b746ceb5	1613	uint32_t end_overhead_micro_seconds = 960;
sepp_nepp	6:fb11b746ceb5	1614	uint32_t msrc_overhead_micro_seconds = 660;
sepp_nepp	6:fb11b746ceb5	1615	uint32_t tcc_overhead_micro_seconds = 590;
sepp_nepp	6:fb11b746ceb5	1616	uint32_t dss_overhead_micro_seconds = 690;
sepp_nepp	6:fb11b746ceb5	1617	uint32_t pre_range_overhead_micro_seconds = 660;
sepp_nepp	6:fb11b746ceb5	1618	uint32_t final_range_overhead_micro_seconds = 550;
sepp_nepp	6:fb11b746ceb5	1619	uint32_t pre_range_timeout_micro_seconds = 0;
sepp_nepp	6:fb11b746ceb5	1620
sepp_nepp	6:fb11b746ceb5	1621
sepp_nepp	6:fb11b746ceb5	1622
sepp_nepp	6:fb11b746ceb5	1623	/* Start and end overhead times always present */
sepp_nepp	6:fb11b746ceb5	1624	*p_measurement_timing_budget_micro_seconds
sepp_nepp	6:fb11b746ceb5	1625	= start_overhead_micro_seconds + end_overhead_micro_seconds;
sepp_nepp	6:fb11b746ceb5	1626
sepp_nepp	7:3a1115c2556b	1627	status = VL53L0X_get_sequence_step_enables( &scheduler_sequence_steps);
sepp_nepp	6:fb11b746ceb5	1628
sepp_nepp	6:fb11b746ceb5	1629	if (status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1630
sepp_nepp	6:fb11b746ceb5	1631	return status;
sepp_nepp	6:fb11b746ceb5	1632	}
sepp_nepp	6:fb11b746ceb5	1633
sepp_nepp	6:fb11b746ceb5	1634	if (scheduler_sequence_steps.TccOn \|\|
sepp_nepp	6:fb11b746ceb5	1635	scheduler_sequence_steps.MsrcOn \|\|
sepp_nepp	6:fb11b746ceb5	1636	scheduler_sequence_steps.DssOn) {
sepp_nepp	6:fb11b746ceb5	1637
sepp_nepp	8:2fd7cb217068	1638	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_MSRC,
sepp_nepp	6:fb11b746ceb5	1639	&msrc_dcc_tcc_timeout_micro_seconds);
sepp_nepp	6:fb11b746ceb5	1640
sepp_nepp	6:fb11b746ceb5	1641	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1642	if (scheduler_sequence_steps.TccOn) {
sepp_nepp	6:fb11b746ceb5	1643	*p_measurement_timing_budget_micro_seconds +=
sepp_nepp	6:fb11b746ceb5	1644	msrc_dcc_tcc_timeout_micro_seconds +
sepp_nepp	6:fb11b746ceb5	1645	tcc_overhead_micro_seconds;
sepp_nepp	6:fb11b746ceb5	1646	}
sepp_nepp	6:fb11b746ceb5	1647
sepp_nepp	6:fb11b746ceb5	1648	if (scheduler_sequence_steps.DssOn) {
sepp_nepp	6:fb11b746ceb5	1649	*p_measurement_timing_budget_micro_seconds +=
sepp_nepp	6:fb11b746ceb5	1650	2 * (msrc_dcc_tcc_timeout_micro_seconds +
sepp_nepp	6:fb11b746ceb5	1651	dss_overhead_micro_seconds);
sepp_nepp	6:fb11b746ceb5	1652	} else if (scheduler_sequence_steps.MsrcOn) {
sepp_nepp	6:fb11b746ceb5	1653	*p_measurement_timing_budget_micro_seconds +=
sepp_nepp	6:fb11b746ceb5	1654	msrc_dcc_tcc_timeout_micro_seconds +
sepp_nepp	6:fb11b746ceb5	1655	msrc_overhead_micro_seconds;
sepp_nepp	6:fb11b746ceb5	1656	}
sepp_nepp	6:fb11b746ceb5	1657	}
sepp_nepp	6:fb11b746ceb5	1658	}
sepp_nepp	6:fb11b746ceb5	1659
sepp_nepp	6:fb11b746ceb5	1660	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1661	if (scheduler_sequence_steps.PreRangeOn) {
sepp_nepp	8:2fd7cb217068	1662	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	1663	&pre_range_timeout_micro_seconds);
sepp_nepp	6:fb11b746ceb5	1664	*p_measurement_timing_budget_micro_seconds +=
sepp_nepp	6:fb11b746ceb5	1665	pre_range_timeout_micro_seconds +
sepp_nepp	6:fb11b746ceb5	1666	pre_range_overhead_micro_seconds;
sepp_nepp	6:fb11b746ceb5	1667	}
sepp_nepp	6:fb11b746ceb5	1668	}
sepp_nepp	6:fb11b746ceb5	1669
sepp_nepp	6:fb11b746ceb5	1670	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1671	if (scheduler_sequence_steps.FinalRangeOn) {
sepp_nepp	8:2fd7cb217068	1672	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	1673	&final_range_timeout_micro_seconds);
sepp_nepp	6:fb11b746ceb5	1674	*p_measurement_timing_budget_micro_seconds +=
sepp_nepp	6:fb11b746ceb5	1675	(final_range_timeout_micro_seconds +
sepp_nepp	6:fb11b746ceb5	1676	final_range_overhead_micro_seconds);
sepp_nepp	6:fb11b746ceb5	1677	}
sepp_nepp	6:fb11b746ceb5	1678	}
sepp_nepp	6:fb11b746ceb5	1679
sepp_nepp	6:fb11b746ceb5	1680	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1681	Data.CurrentParameters.MeasurementTimingBudgetMicroSeconds = *p_measurement_timing_budget_micro_seconds;
sepp_nepp	6:fb11b746ceb5	1682	}
sepp_nepp	6:fb11b746ceb5	1683
sepp_nepp	6:fb11b746ceb5	1684
sepp_nepp	6:fb11b746ceb5	1685	return status;
sepp_nepp	6:fb11b746ceb5	1686	}
sepp_nepp	6:fb11b746ceb5	1687
sepp_nepp	8:2fd7cb217068	1688	VL53L0X_Error VL53L0X::VL53L0X_get_measurement_timing_budget_micro_seconds(uint32_t *p_measurement_timing_budget_micro_seconds)
sepp_nepp	8:2fd7cb217068	1689	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1690
sepp_nepp	6:fb11b746ceb5	1691
sepp_nepp	8:2fd7cb217068	1692	status = wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(p_measurement_timing_budget_micro_seconds);
sepp_nepp	6:fb11b746ceb5	1693
sepp_nepp	6:fb11b746ceb5	1694
sepp_nepp	6:fb11b746ceb5	1695	return status;
sepp_nepp	6:fb11b746ceb5	1696	}
sepp_nepp	6:fb11b746ceb5	1697
sepp_nepp	8:2fd7cb217068	1698	VL53L0X_Error VL53L0X::VL53L0X_get_device_parameters(VL53L0X_DeviceParameters_t *p_device_parameters)
sepp_nepp	8:2fd7cb217068	1699	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1700	int i;
sepp_nepp	6:fb11b746ceb5	1701
sepp_nepp	6:fb11b746ceb5	1702
sepp_nepp	6:fb11b746ceb5	1703
sepp_nepp	7:3a1115c2556b	1704	status = VL53L0X_get_device_mode( &(p_device_parameters->DeviceMode));
sepp_nepp	6:fb11b746ceb5	1705
sepp_nepp	6:fb11b746ceb5	1706	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	1707	status = VL53L0X_get_inter_measurement_period_milli_seconds(&(p_device_parameters->InterMeasurementPeriodMilliSeconds));
sepp_nepp	6:fb11b746ceb5	1708
sepp_nepp	6:fb11b746ceb5	1709	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1710	p_device_parameters->XTalkCompensationEnable = 0;
sepp_nepp	6:fb11b746ceb5	1711	}
sepp_nepp	6:fb11b746ceb5	1712
sepp_nepp	6:fb11b746ceb5	1713	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	1714	status = VL53L0X_get_x_talk_compensation_rate_mega_cps(&(p_device_parameters->XTalkCompensationRateMegaCps));
sepp_nepp	6:fb11b746ceb5	1715
sepp_nepp	6:fb11b746ceb5	1716	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	1717	status = VL53L0X_get_offset_calibration_data_micro_meter(&(p_device_parameters->RangeOffsetMicroMeters));
sepp_nepp	6:fb11b746ceb5	1718
sepp_nepp	6:fb11b746ceb5	1719	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1720	for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
sepp_nepp	6:fb11b746ceb5	1721	/* get first the values, then the enables.
sepp_nepp	6:fb11b746ceb5	1722	* VL53L0X_GetLimitCheckValue will modify the enable
sepp_nepp	6:fb11b746ceb5	1723	* flags
sepp_nepp	6:fb11b746ceb5	1724	*/
sepp_nepp	6:fb11b746ceb5	1725	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	1726	status \|= VL53L0X_get_limit_check_value( i,
sepp_nepp	6:fb11b746ceb5	1727	&(p_device_parameters->LimitChecksValue[i]));
sepp_nepp	6:fb11b746ceb5	1728	} else {
sepp_nepp	6:fb11b746ceb5	1729	break;
sepp_nepp	6:fb11b746ceb5	1730	}
sepp_nepp	6:fb11b746ceb5	1731	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	1732	status \|= VL53L0X_get_limit_check_enable( i,
sepp_nepp	6:fb11b746ceb5	1733	&(p_device_parameters->LimitChecksEnable[i]));
sepp_nepp	6:fb11b746ceb5	1734	} else {
sepp_nepp	6:fb11b746ceb5	1735	break;
sepp_nepp	6:fb11b746ceb5	1736	}
sepp_nepp	6:fb11b746ceb5	1737	}
sepp_nepp	6:fb11b746ceb5	1738	}
sepp_nepp	6:fb11b746ceb5	1739
sepp_nepp	6:fb11b746ceb5	1740	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1741	status = VL53L0X_get_wrap_around_check_enable(&(p_device_parameters->WrapAroundCheckEnable));
sepp_nepp	6:fb11b746ceb5	1742	}
sepp_nepp	6:fb11b746ceb5	1743
sepp_nepp	6:fb11b746ceb5	1744	/* Need to be done at the end as it uses VCSELPulsePeriod */
sepp_nepp	6:fb11b746ceb5	1745	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1746	status = VL53L0X_get_measurement_timing_budget_micro_seconds(&(p_device_parameters->MeasurementTimingBudgetMicroSeconds));
sepp_nepp	6:fb11b746ceb5	1747	}
sepp_nepp	6:fb11b746ceb5	1748
sepp_nepp	6:fb11b746ceb5	1749
sepp_nepp	6:fb11b746ceb5	1750	return status;
sepp_nepp	6:fb11b746ceb5	1751	}
sepp_nepp	6:fb11b746ceb5	1752
sepp_nepp	7:3a1115c2556b	1753	VL53L0X_Error VL53L0X::VL53L0X_set_limit_check_value( uint16_t limit_check_id,
sepp_nepp	6:fb11b746ceb5	1754	FixPoint1616_t limit_check_value)
sepp_nepp	8:2fd7cb217068	1755	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1756	uint8_t temp8;
sepp_nepp	6:fb11b746ceb5	1757
sepp_nepp	6:fb11b746ceb5	1758
sepp_nepp	6:fb11b746ceb5	1759
sepp_nepp	8:2fd7cb217068	1760	temp8 = Data.CurrentParameters.LimitChecksEnable[limit_check_id];
sepp_nepp	6:fb11b746ceb5	1761
sepp_nepp	6:fb11b746ceb5	1762	if (temp8 == 0) { /* disabled write only internal value */
sepp_nepp	8:2fd7cb217068	1763	Data.CurrentParameters.LimitChecksValue[limit_check_id] = limit_check_value;
sepp_nepp	6:fb11b746ceb5	1764	} else {
sepp_nepp	6:fb11b746ceb5	1765
sepp_nepp	6:fb11b746ceb5	1766	switch (limit_check_id) {
sepp_nepp	6:fb11b746ceb5	1767
sepp_nepp	6:fb11b746ceb5	1768	case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
sepp_nepp	6:fb11b746ceb5	1769	/* internal computation: */
sepp_nepp	8:2fd7cb217068	1770	Data.CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE] = limit_check_value;
sepp_nepp	6:fb11b746ceb5	1771	break;
sepp_nepp	6:fb11b746ceb5	1772
sepp_nepp	6:fb11b746ceb5	1773	case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
sepp_nepp	6:fb11b746ceb5	1774
sepp_nepp	8:2fd7cb217068	1775	status = VL53L0X_write_word(VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
sepp_nepp	8:2fd7cb217068	1776	VL53L0X_FIXPOINT1616TOFIXPOINT97(limit_check_value));
sepp_nepp	6:fb11b746ceb5	1777
sepp_nepp	6:fb11b746ceb5	1778	break;
sepp_nepp	6:fb11b746ceb5	1779
sepp_nepp	6:fb11b746ceb5	1780	case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
sepp_nepp	6:fb11b746ceb5	1781
sepp_nepp	6:fb11b746ceb5	1782	/* internal computation: */
sepp_nepp	8:2fd7cb217068	1783	Data.CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP] = limit_check_value;
sepp_nepp	6:fb11b746ceb5	1784
sepp_nepp	6:fb11b746ceb5	1785	break;
sepp_nepp	6:fb11b746ceb5	1786
sepp_nepp	6:fb11b746ceb5	1787	case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
sepp_nepp	6:fb11b746ceb5	1788
sepp_nepp	6:fb11b746ceb5	1789	/* internal computation: */
sepp_nepp	8:2fd7cb217068	1790	Data.CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD] = limit_check_value;
sepp_nepp	6:fb11b746ceb5	1791
sepp_nepp	6:fb11b746ceb5	1792	break;
sepp_nepp	6:fb11b746ceb5	1793
sepp_nepp	6:fb11b746ceb5	1794	case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
sepp_nepp	6:fb11b746ceb5	1795	case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
sepp_nepp	6:fb11b746ceb5	1796
sepp_nepp	8:2fd7cb217068	1797	status = VL53L0X_write_word(VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
sepp_nepp	8:2fd7cb217068	1798	VL53L0X_FIXPOINT1616TOFIXPOINT97(limit_check_value));
sepp_nepp	6:fb11b746ceb5	1799
sepp_nepp	6:fb11b746ceb5	1800	break;
sepp_nepp	6:fb11b746ceb5	1801
sepp_nepp	6:fb11b746ceb5	1802	default:
sepp_nepp	6:fb11b746ceb5	1803	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1804
sepp_nepp	6:fb11b746ceb5	1805	}
sepp_nepp	6:fb11b746ceb5	1806
sepp_nepp	6:fb11b746ceb5	1807	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1808	Data.CurrentParameters.LimitChecksValue[limit_check_id] = limit_check_value;
sepp_nepp	6:fb11b746ceb5	1809	}
sepp_nepp	6:fb11b746ceb5	1810	}
sepp_nepp	6:fb11b746ceb5	1811
sepp_nepp	6:fb11b746ceb5	1812
sepp_nepp	6:fb11b746ceb5	1813	return status;
sepp_nepp	6:fb11b746ceb5	1814	}
sepp_nepp	6:fb11b746ceb5	1815
sepp_nepp	7:3a1115c2556b	1816	VL53L0X_Error VL53L0X::VL53L0X_check_part_used( uint8_t *revision,
sepp_nepp	6:fb11b746ceb5	1817	VL53L0X_DeviceInfo_t *p_VL53L0X_device_info)
sepp_nepp	8:2fd7cb217068	1818	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1819	uint8_t module_id_int;
sepp_nepp	6:fb11b746ceb5	1820	char *product_id_tmp;
sepp_nepp	6:fb11b746ceb5	1821
sepp_nepp	7:3a1115c2556b	1822	status = VL53L0X_get_info_from_device( 2);
sepp_nepp	6:fb11b746ceb5	1823
sepp_nepp	6:fb11b746ceb5	1824	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1825	module_id_int = Data.ModuleId;
sepp_nepp	6:fb11b746ceb5	1826
sepp_nepp	6:fb11b746ceb5	1827	if (module_id_int == 0) {
sepp_nepp	6:fb11b746ceb5	1828	*revision = 0;
sepp_nepp	6:fb11b746ceb5	1829	VL53L0X_COPYSTRING(p_VL53L0X_device_info->ProductId, "");
sepp_nepp	6:fb11b746ceb5	1830	} else {
sepp_nepp	8:2fd7cb217068	1831	*revision = Data.Revision;
sepp_nepp	8:2fd7cb217068	1832	product_id_tmp = Data.ProductId;
sepp_nepp	6:fb11b746ceb5	1833	VL53L0X_COPYSTRING(p_VL53L0X_device_info->ProductId, product_id_tmp);
sepp_nepp	6:fb11b746ceb5	1834	}
sepp_nepp	6:fb11b746ceb5	1835	}
sepp_nepp	6:fb11b746ceb5	1836	return status;
sepp_nepp	6:fb11b746ceb5	1837	}
sepp_nepp	6:fb11b746ceb5	1838
sepp_nepp	8:2fd7cb217068	1839	VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_device_info(VL53L0X_DeviceInfo_t *p_VL53L0X_device_info)
sepp_nepp	7:3a1115c2556b	1840	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1841	uint8_t revision_id;
sepp_nepp	6:fb11b746ceb5	1842	uint8_t revision;
sepp_nepp	6:fb11b746ceb5	1843
sepp_nepp	7:3a1115c2556b	1844	status = VL53L0X_check_part_used( &revision, p_VL53L0X_device_info);
sepp_nepp	6:fb11b746ceb5	1845
sepp_nepp	6:fb11b746ceb5	1846	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1847	if (revision == 0) {
sepp_nepp	6:fb11b746ceb5	1848	VL53L0X_COPYSTRING(p_VL53L0X_device_info->Name,
sepp_nepp	6:fb11b746ceb5	1849	VL53L0X_STRING_DEVICE_INFO_NAME_TS0);
sepp_nepp	6:fb11b746ceb5	1850	} else if ((revision <= 34) && (revision != 32)) {
sepp_nepp	6:fb11b746ceb5	1851	VL53L0X_COPYSTRING(p_VL53L0X_device_info->Name,
sepp_nepp	6:fb11b746ceb5	1852	VL53L0X_STRING_DEVICE_INFO_NAME_TS1);
sepp_nepp	6:fb11b746ceb5	1853	} else if (revision < 39) {
sepp_nepp	6:fb11b746ceb5	1854	VL53L0X_COPYSTRING(p_VL53L0X_device_info->Name,
sepp_nepp	6:fb11b746ceb5	1855	VL53L0X_STRING_DEVICE_INFO_NAME_TS2);
sepp_nepp	7:3a1115c2556b	1856	} else {VL53L0X_COPYSTRING(p_VL53L0X_device_info->Name,
sepp_nepp	6:fb11b746ceb5	1857	VL53L0X_STRING_DEVICE_INFO_NAME_ES1);
sepp_nepp	6:fb11b746ceb5	1858	}
sepp_nepp	6:fb11b746ceb5	1859
sepp_nepp	6:fb11b746ceb5	1860	VL53L0X_COPYSTRING(p_VL53L0X_device_info->Type,
sepp_nepp	6:fb11b746ceb5	1861	VL53L0X_STRING_DEVICE_INFO_TYPE);
sepp_nepp	6:fb11b746ceb5	1862	}
sepp_nepp	6:fb11b746ceb5	1863
sepp_nepp	6:fb11b746ceb5	1864	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	1865	status = VL53L0X_read_byte( VL53L0X_REG_IDENTIFICATION_MODEL_ID,
sepp_nepp	7:3a1115c2556b	1866	&p_VL53L0X_device_info->ProductType);}
sepp_nepp	6:fb11b746ceb5	1867
sepp_nepp	6:fb11b746ceb5	1868	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	1869	status = VL53L0X_read_byte(VL53L0X_REG_IDENTIFICATION_REVISION_ID,
sepp_nepp	6:fb11b746ceb5	1870	&revision_id);
sepp_nepp	6:fb11b746ceb5	1871	p_VL53L0X_device_info->ProductRevisionMajor = 1;
sepp_nepp	6:fb11b746ceb5	1872	p_VL53L0X_device_info->ProductRevisionMinor =
sepp_nepp	6:fb11b746ceb5	1873	(revision_id & 0xF0) >> 4;
sepp_nepp	6:fb11b746ceb5	1874	}
sepp_nepp	6:fb11b746ceb5	1875
sepp_nepp	6:fb11b746ceb5	1876	return status;
sepp_nepp	6:fb11b746ceb5	1877	}
sepp_nepp	6:fb11b746ceb5	1878
sepp_nepp	8:2fd7cb217068	1879	VL53L0X_Error VL53L0X::VL53L0X_get_device_info(VL53L0X_DeviceInfo_t *p_VL53L0X_device_info)
sepp_nepp	8:2fd7cb217068	1880	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	7:3a1115c2556b	1881
sepp_nepp	7:3a1115c2556b	1882	status = wrapped_VL53L0X_get_device_info( p_VL53L0X_device_info);
sepp_nepp	7:3a1115c2556b	1883
sepp_nepp	6:fb11b746ceb5	1884	return status;
sepp_nepp	6:fb11b746ceb5	1885	}
sepp_nepp	6:fb11b746ceb5	1886
sepp_nepp	8:2fd7cb217068	1887	VL53L0X_Error VL53L0X::VL53L0X_get_interrupt_mask_status(uint32_t *p_interrupt_mask_status)
sepp_nepp	7:3a1115c2556b	1888	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1889	uint8_t byte;
sepp_nepp	6:fb11b746ceb5	1890
sepp_nepp	7:3a1115c2556b	1891	status = VL53L0X_read_byte( VL53L0X_REG_RESULT_INTERRUPT_STATUS, &byte);
sepp_nepp	6:fb11b746ceb5	1892	*p_interrupt_mask_status = byte & 0x07;
sepp_nepp	6:fb11b746ceb5	1893
sepp_nepp	7:3a1115c2556b	1894	if (byte & 0x18) { status = VL53L0X_ERROR_RANGE_ERROR;}
sepp_nepp	7:3a1115c2556b	1895
sepp_nepp	6:fb11b746ceb5	1896	return status;
sepp_nepp	6:fb11b746ceb5	1897	}
sepp_nepp	6:fb11b746ceb5	1898
sepp_nepp	8:2fd7cb217068	1899	VL53L0X_Error VL53L0X::VL53L0X_get_measurement_data_ready(uint8_t *p_measurement_data_ready)
sepp_nepp	7:3a1115c2556b	1900	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1901	uint8_t sys_range_status_register;
sepp_nepp	6:fb11b746ceb5	1902	uint8_t interrupt_config;
sepp_nepp	6:fb11b746ceb5	1903	uint32_t interrupt_mask;
sepp_nepp	6:fb11b746ceb5	1904
sepp_nepp	8:2fd7cb217068	1905	interrupt_config = Data.Pin0GpioFunctionality;
sepp_nepp	6:fb11b746ceb5	1906
sepp_nepp	6:fb11b746ceb5	1907	if (interrupt_config ==
sepp_nepp	6:fb11b746ceb5	1908	VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
sepp_nepp	7:3a1115c2556b	1909	status = VL53L0X_get_interrupt_mask_status( &interrupt_mask);
sepp_nepp	6:fb11b746ceb5	1910	if (interrupt_mask ==
sepp_nepp	6:fb11b746ceb5	1911	VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
sepp_nepp	6:fb11b746ceb5	1912	*p_measurement_data_ready = 1;
sepp_nepp	6:fb11b746ceb5	1913	} else {
sepp_nepp	6:fb11b746ceb5	1914	*p_measurement_data_ready = 0;
sepp_nepp	6:fb11b746ceb5	1915	}
sepp_nepp	6:fb11b746ceb5	1916	} else {
sepp_nepp	7:3a1115c2556b	1917	status = VL53L0X_read_byte( VL53L0X_REG_RESULT_RANGE_STATUS,
sepp_nepp	6:fb11b746ceb5	1918	&sys_range_status_register);
sepp_nepp	6:fb11b746ceb5	1919	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1920	if (sys_range_status_register & 0x01) {
sepp_nepp	6:fb11b746ceb5	1921	*p_measurement_data_ready = 1;
sepp_nepp	7:3a1115c2556b	1922	} else { *p_measurement_data_ready = 0; }
sepp_nepp	6:fb11b746ceb5	1923	}
sepp_nepp	6:fb11b746ceb5	1924	}
sepp_nepp	6:fb11b746ceb5	1925
sepp_nepp	6:fb11b746ceb5	1926	return status;
sepp_nepp	6:fb11b746ceb5	1927	}
sepp_nepp	6:fb11b746ceb5	1928
sepp_nepp	7:3a1115c2556b	1929	VL53L0X_Error VL53L0X::VL53L0X_polling_delay(void)
sepp_nepp	7:3a1115c2556b	1930	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1931
sepp_nepp	6:fb11b746ceb5	1932	// do nothing
sepp_nepp	6:fb11b746ceb5	1933	VL53L0X_OsDelay();
sepp_nepp	6:fb11b746ceb5	1934	return status;
sepp_nepp	6:fb11b746ceb5	1935	}
sepp_nepp	6:fb11b746ceb5	1936
sepp_nepp	7:3a1115c2556b	1937	VL53L0X_Error VL53L0X::VL53L0X_measurement_poll_for_completion(void)
sepp_nepp	7:3a1115c2556b	1938	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1939	uint8_t new_data_ready = 0;
sepp_nepp	6:fb11b746ceb5	1940	uint32_t loop_nb;
sepp_nepp	6:fb11b746ceb5	1941
sepp_nepp	6:fb11b746ceb5	1942	loop_nb = 0;
sepp_nepp	6:fb11b746ceb5	1943
sepp_nepp	7:3a1115c2556b	1944	do {status = VL53L0X_get_measurement_data_ready( &new_data_ready);
sepp_nepp	6:fb11b746ceb5	1945	if (status != 0) {
sepp_nepp	6:fb11b746ceb5	1946	break; /* the error is set */
sepp_nepp	6:fb11b746ceb5	1947	}
sepp_nepp	6:fb11b746ceb5	1948
sepp_nepp	6:fb11b746ceb5	1949	if (new_data_ready == 1) {
sepp_nepp	6:fb11b746ceb5	1950	break; /* done note that status == 0 */
sepp_nepp	6:fb11b746ceb5	1951	}
sepp_nepp	6:fb11b746ceb5	1952
sepp_nepp	6:fb11b746ceb5	1953	loop_nb++;
sepp_nepp	6:fb11b746ceb5	1954	if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
sepp_nepp	6:fb11b746ceb5	1955	status = VL53L0X_ERROR_TIME_OUT;
sepp_nepp	6:fb11b746ceb5	1956	break;
sepp_nepp	6:fb11b746ceb5	1957	}
sepp_nepp	6:fb11b746ceb5	1958
sepp_nepp	7:3a1115c2556b	1959	VL53L0X_polling_delay();
sepp_nepp	6:fb11b746ceb5	1960	} while (1);
sepp_nepp	6:fb11b746ceb5	1961
sepp_nepp	6:fb11b746ceb5	1962	return status;
sepp_nepp	6:fb11b746ceb5	1963	}
sepp_nepp	6:fb11b746ceb5	1964
sepp_nepp	6:fb11b746ceb5	1965	/* Group PAL Interrupt Functions */
sepp_nepp	7:3a1115c2556b	1966	VL53L0X_Error VL53L0X::VL53L0X_clear_interrupt_mask( uint32_t interrupt_mask)
sepp_nepp	7:3a1115c2556b	1967	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1968	uint8_t loop_count;
sepp_nepp	6:fb11b746ceb5	1969	uint8_t byte;
sepp_nepp	6:fb11b746ceb5	1970
sepp_nepp	6:fb11b746ceb5	1971	/* clear bit 0 range interrupt, bit 1 error interrupt */
sepp_nepp	6:fb11b746ceb5	1972	loop_count = 0;
sepp_nepp	6:fb11b746ceb5	1973	do {
sepp_nepp	7:3a1115c2556b	1974	status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01);
sepp_nepp	7:3a1115c2556b	1975	status \|= VL53L0X_write_byte(VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00);
sepp_nepp	7:3a1115c2556b	1976	status \|= VL53L0X_read_byte(VL53L0X_REG_RESULT_INTERRUPT_STATUS, &byte);
sepp_nepp	6:fb11b746ceb5	1977	loop_count++;
sepp_nepp	6:fb11b746ceb5	1978	} while (((byte & 0x07) != 0x00)
sepp_nepp	6:fb11b746ceb5	1979	&& (loop_count < 3)
sepp_nepp	6:fb11b746ceb5	1980	&& (status == VL53L0X_ERROR_NONE));
sepp_nepp	6:fb11b746ceb5	1981
sepp_nepp	6:fb11b746ceb5	1982	if (loop_count >= 3) {
sepp_nepp	6:fb11b746ceb5	1983	status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED;
sepp_nepp	6:fb11b746ceb5	1984	}
sepp_nepp	6:fb11b746ceb5	1985
sepp_nepp	6:fb11b746ceb5	1986
sepp_nepp	6:fb11b746ceb5	1987	return status;
sepp_nepp	6:fb11b746ceb5	1988	}
sepp_nepp	6:fb11b746ceb5	1989
sepp_nepp	8:2fd7cb217068	1990	VL53L0X_Error VL53L0X::VL53L0X_perform_single_ref_calibration(uint8_t vhv_init_byte)
sepp_nepp	8:2fd7cb217068	1991	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1992
sepp_nepp	6:fb11b746ceb5	1993	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	1994	status = VL53L0X_write_byte( VL53L0X_REG_SYSRANGE_START,
sepp_nepp	6:fb11b746ceb5	1995	VL53L0X_REG_SYSRANGE_MODE_START_STOP \|
sepp_nepp	6:fb11b746ceb5	1996	vhv_init_byte);
sepp_nepp	6:fb11b746ceb5	1997	}
sepp_nepp	6:fb11b746ceb5	1998
sepp_nepp	6:fb11b746ceb5	1999	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2000	status = VL53L0X_measurement_poll_for_completion();}
sepp_nepp	6:fb11b746ceb5	2001
sepp_nepp	6:fb11b746ceb5	2002	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2003	status = VL53L0X_clear_interrupt_mask( 0);}
sepp_nepp	6:fb11b746ceb5	2004
sepp_nepp	6:fb11b746ceb5	2005	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2006	status = VL53L0X_write_byte( VL53L0X_REG_SYSRANGE_START, 0x00);
sepp_nepp	6:fb11b746ceb5	2007	}
sepp_nepp	6:fb11b746ceb5	2008
sepp_nepp	6:fb11b746ceb5	2009	return status;
sepp_nepp	6:fb11b746ceb5	2010	}
sepp_nepp	6:fb11b746ceb5	2011
sepp_nepp	7:3a1115c2556b	2012	VL53L0X_Error VL53L0X::VL53L0X_ref_calibration_io( uint8_t read_not_write,
sepp_nepp	6:fb11b746ceb5	2013	uint8_t vhv_settings, uint8_t phase_cal,
sepp_nepp	6:fb11b746ceb5	2014	uint8_t p_vhv_settings, uint8_t p_phase_cal,
sepp_nepp	6:fb11b746ceb5	2015	const uint8_t vhv_enable, const uint8_t phase_enable)
sepp_nepp	8:2fd7cb217068	2016	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2017	uint8_t phase_calint = 0;
sepp_nepp	6:fb11b746ceb5	2018
sepp_nepp	6:fb11b746ceb5	2019	/* Read VHV from device */
sepp_nepp	7:3a1115c2556b	2020	status \|= VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	2021	status \|= VL53L0X_write_byte( 0x00, 0x00);
sepp_nepp	7:3a1115c2556b	2022	status \|= VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	6:fb11b746ceb5	2023
sepp_nepp	6:fb11b746ceb5	2024	if (read_not_write) {
sepp_nepp	6:fb11b746ceb5	2025	if (vhv_enable) {
sepp_nepp	7:3a1115c2556b	2026	status \|= VL53L0X_read_byte( 0xCB, p_vhv_settings);}
sepp_nepp	6:fb11b746ceb5	2027	if (phase_enable) {
sepp_nepp	7:3a1115c2556b	2028	status \|= VL53L0X_read_byte( 0xEE, &phase_calint);}
sepp_nepp	6:fb11b746ceb5	2029	} else {
sepp_nepp	6:fb11b746ceb5	2030	if (vhv_enable) {
sepp_nepp	7:3a1115c2556b	2031	status \|= VL53L0X_write_byte( 0xCB, vhv_settings);}
sepp_nepp	6:fb11b746ceb5	2032	if (phase_enable) {
sepp_nepp	7:3a1115c2556b	2033	status \|= VL53L0X_update_byte( 0xEE, 0x80, phase_cal);}
sepp_nepp	6:fb11b746ceb5	2034	}
sepp_nepp	6:fb11b746ceb5	2035
sepp_nepp	7:3a1115c2556b	2036	status \|= VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	2037	status \|= VL53L0X_write_byte( 0x00, 0x01);
sepp_nepp	7:3a1115c2556b	2038	status \|= VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	6:fb11b746ceb5	2039
sepp_nepp	6:fb11b746ceb5	2040	*p_phase_cal = (uint8_t)(phase_calint & 0xEF);
sepp_nepp	6:fb11b746ceb5	2041
sepp_nepp	6:fb11b746ceb5	2042	return status;
sepp_nepp	6:fb11b746ceb5	2043	}
sepp_nepp	6:fb11b746ceb5	2044
sepp_nepp	8:2fd7cb217068	2045	VL53L0X_Error VL53L0X::VL53L0X_perform_vhv_calibration(uint8_t *p_vhv_settings, const uint8_t get_data_enable,
sepp_nepp	6:fb11b746ceb5	2046	const uint8_t restore_config)
sepp_nepp	8:2fd7cb217068	2047	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2048	uint8_t sequence_config = 0;
sepp_nepp	6:fb11b746ceb5	2049	uint8_t vhv_settings = 0;
sepp_nepp	6:fb11b746ceb5	2050	uint8_t phase_cal = 0;
sepp_nepp	6:fb11b746ceb5	2051	uint8_t phase_cal_int = 0;
sepp_nepp	6:fb11b746ceb5	2052
sepp_nepp	6:fb11b746ceb5	2053	/* store the value of the sequence config,
sepp_nepp	6:fb11b746ceb5	2054	* this will be reset before the end of the function
sepp_nepp	6:fb11b746ceb5	2055	*/
sepp_nepp	6:fb11b746ceb5	2056
sepp_nepp	6:fb11b746ceb5	2057	if (restore_config) {
sepp_nepp	8:2fd7cb217068	2058	sequence_config = Data.SequenceConfig;
sepp_nepp	6:fb11b746ceb5	2059	}
sepp_nepp	6:fb11b746ceb5	2060
sepp_nepp	6:fb11b746ceb5	2061	/* Run VHV */
sepp_nepp	7:3a1115c2556b	2062	status = VL53L0X_write_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x01);
sepp_nepp	6:fb11b746ceb5	2063
sepp_nepp	6:fb11b746ceb5	2064	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2065	status = VL53L0X_perform_single_ref_calibration( 0x40);}
sepp_nepp	6:fb11b746ceb5	2066
sepp_nepp	6:fb11b746ceb5	2067	/* Read VHV from device */
sepp_nepp	6:fb11b746ceb5	2068	if ((status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) {
sepp_nepp	7:3a1115c2556b	2069	status = VL53L0X_ref_calibration_io( 1, vhv_settings, phase_cal, /* Not used here */
sepp_nepp	7:3a1115c2556b	2070	p_vhv_settings, &phase_cal_int, 1, 0);
sepp_nepp	7:3a1115c2556b	2071	} else {*p_vhv_settings = 0; }
sepp_nepp	6:fb11b746ceb5	2072
sepp_nepp	6:fb11b746ceb5	2073	if ((status == VL53L0X_ERROR_NONE) && restore_config) {
sepp_nepp	6:fb11b746ceb5	2074	/* restore the previous Sequence Config */
sepp_nepp	7:3a1115c2556b	2075	status = VL53L0X_write_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
sepp_nepp	6:fb11b746ceb5	2076	sequence_config);
sepp_nepp	6:fb11b746ceb5	2077	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	2078	Data.SequenceConfig = sequence_config; }
sepp_nepp	6:fb11b746ceb5	2079	}
sepp_nepp	6:fb11b746ceb5	2080
sepp_nepp	6:fb11b746ceb5	2081	return status;
sepp_nepp	6:fb11b746ceb5	2082	}
sepp_nepp	6:fb11b746ceb5	2083
sepp_nepp	8:2fd7cb217068	2084	VL53L0X_Error VL53L0X::VL53L0X_perform_phase_calibration(uint8_t *p_phase_cal, const uint8_t get_data_enable,
sepp_nepp	6:fb11b746ceb5	2085	const uint8_t restore_config)
sepp_nepp	7:3a1115c2556b	2086	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2087	uint8_t sequence_config = 0;
sepp_nepp	6:fb11b746ceb5	2088	uint8_t vhv_settings = 0;
sepp_nepp	6:fb11b746ceb5	2089	uint8_t phase_cal = 0;
sepp_nepp	6:fb11b746ceb5	2090	uint8_t vhv_settingsint;
sepp_nepp	6:fb11b746ceb5	2091
sepp_nepp	6:fb11b746ceb5	2092	/* store the value of the sequence config,
sepp_nepp	7:3a1115c2556b	2093	* this will be reset before the end of the function */
sepp_nepp	6:fb11b746ceb5	2094
sepp_nepp	6:fb11b746ceb5	2095	if (restore_config) {
sepp_nepp	8:2fd7cb217068	2096	sequence_config = Data.SequenceConfig;
sepp_nepp	6:fb11b746ceb5	2097	}
sepp_nepp	6:fb11b746ceb5	2098
sepp_nepp	6:fb11b746ceb5	2099	/* Run PhaseCal */
sepp_nepp	7:3a1115c2556b	2100	status = VL53L0X_write_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x02);
sepp_nepp	6:fb11b746ceb5	2101
sepp_nepp	6:fb11b746ceb5	2102	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2103	status = VL53L0X_perform_single_ref_calibration( 0x0);
sepp_nepp	6:fb11b746ceb5	2104	}
sepp_nepp	6:fb11b746ceb5	2105
sepp_nepp	6:fb11b746ceb5	2106	/* Read PhaseCal from device */
sepp_nepp	6:fb11b746ceb5	2107	if ((status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) {
sepp_nepp	7:3a1115c2556b	2108	status = VL53L0X_ref_calibration_io( 1,
sepp_nepp	6:fb11b746ceb5	2109	vhv_settings, phase_cal, /* Not used here */
sepp_nepp	6:fb11b746ceb5	2110	&vhv_settingsint, p_phase_cal,
sepp_nepp	6:fb11b746ceb5	2111	0, 1);
sepp_nepp	6:fb11b746ceb5	2112	} else {
sepp_nepp	6:fb11b746ceb5	2113	*p_phase_cal = 0;
sepp_nepp	6:fb11b746ceb5	2114	}
sepp_nepp	6:fb11b746ceb5	2115
sepp_nepp	6:fb11b746ceb5	2116	if ((status == VL53L0X_ERROR_NONE) && restore_config) {
sepp_nepp	6:fb11b746ceb5	2117	/* restore the previous Sequence Config */
sepp_nepp	7:3a1115c2556b	2118	status = VL53L0X_write_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
sepp_nepp	6:fb11b746ceb5	2119	sequence_config);
sepp_nepp	6:fb11b746ceb5	2120	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	2121	Data.SequenceConfig = sequence_config;
sepp_nepp	6:fb11b746ceb5	2122	}
sepp_nepp	6:fb11b746ceb5	2123
sepp_nepp	6:fb11b746ceb5	2124	}
sepp_nepp	6:fb11b746ceb5	2125
sepp_nepp	6:fb11b746ceb5	2126	return status;
sepp_nepp	6:fb11b746ceb5	2127	}
sepp_nepp	6:fb11b746ceb5	2128
sepp_nepp	8:2fd7cb217068	2129	VL53L0X_Error VL53L0X::VL53L0X_perform_ref_calibration(uint8_t p_vhv_settings, uint8_t p_phase_cal, uint8_t get_data_enable)
sepp_nepp	8:2fd7cb217068	2130	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2131	uint8_t sequence_config = 0;
sepp_nepp	6:fb11b746ceb5	2132
sepp_nepp	6:fb11b746ceb5	2133	/* store the value of the sequence config,
sepp_nepp	7:3a1115c2556b	2134	* this will be reset before the end of the function */
sepp_nepp	7:3a1115c2556b	2135
sepp_nepp	8:2fd7cb217068	2136	sequence_config = Data.SequenceConfig;
sepp_nepp	6:fb11b746ceb5	2137
sepp_nepp	6:fb11b746ceb5	2138	/* In the following function we don't save the config to optimize
sepp_nepp	6:fb11b746ceb5	2139	* writes on device. Config is saved and restored only once. */
sepp_nepp	7:3a1115c2556b	2140	status = VL53L0X_perform_vhv_calibration(p_vhv_settings, get_data_enable, 0);
sepp_nepp	6:fb11b746ceb5	2141
sepp_nepp	6:fb11b746ceb5	2142	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2143	status = VL53L0X_perform_phase_calibration(p_phase_cal, get_data_enable, 0); }
sepp_nepp	6:fb11b746ceb5	2144
sepp_nepp	6:fb11b746ceb5	2145	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	2146	/* restore the previous Sequence Config */
sepp_nepp	7:3a1115c2556b	2147	status = VL53L0X_write_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
sepp_nepp	6:fb11b746ceb5	2148	sequence_config);
sepp_nepp	6:fb11b746ceb5	2149	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	2150	Data.SequenceConfig = sequence_config; }
sepp_nepp	6:fb11b746ceb5	2151	}
sepp_nepp	6:fb11b746ceb5	2152
sepp_nepp	6:fb11b746ceb5	2153	return status;
sepp_nepp	6:fb11b746ceb5	2154	}
sepp_nepp	6:fb11b746ceb5	2155
sepp_nepp	6:fb11b746ceb5	2156	void VL53L0X::get_next_good_spad(uint8_t good_spad_array[], uint32_t size,
sepp_nepp	6:fb11b746ceb5	2157	uint32_t curr, int32_t *p_next)
sepp_nepp	8:2fd7cb217068	2158	{ uint32_t start_index;
sepp_nepp	6:fb11b746ceb5	2159	uint32_t fine_offset;
sepp_nepp	6:fb11b746ceb5	2160	uint32_t c_spads_per_byte = 8;
sepp_nepp	6:fb11b746ceb5	2161	uint32_t coarse_index;
sepp_nepp	6:fb11b746ceb5	2162	uint32_t fine_index;
sepp_nepp	6:fb11b746ceb5	2163	uint8_t data_byte;
sepp_nepp	6:fb11b746ceb5	2164	uint8_t success = 0;
sepp_nepp	6:fb11b746ceb5	2165
sepp_nepp	7:3a1115c2556b	2166	/* Starting with the current good spad, loop through the array to find
sepp_nepp	6:fb11b746ceb5	2167	* the next. i.e. the next bit set in the sequence.
sepp_nepp	6:fb11b746ceb5	2168	*
sepp_nepp	6:fb11b746ceb5	2169	* The coarse index is the byte index of the array and the fine index is
sepp_nepp	7:3a1115c2556b	2170	* the index of the bit within each byte. */
sepp_nepp	6:fb11b746ceb5	2171
sepp_nepp	6:fb11b746ceb5	2172	*p_next = -1;
sepp_nepp	6:fb11b746ceb5	2173
sepp_nepp	6:fb11b746ceb5	2174	start_index = curr / c_spads_per_byte;
sepp_nepp	6:fb11b746ceb5	2175	fine_offset = curr % c_spads_per_byte;
sepp_nepp	6:fb11b746ceb5	2176
sepp_nepp	6:fb11b746ceb5	2177	for (coarse_index = start_index; ((coarse_index < size) && !success);
sepp_nepp	6:fb11b746ceb5	2178	coarse_index++) {
sepp_nepp	6:fb11b746ceb5	2179	fine_index = 0;
sepp_nepp	6:fb11b746ceb5	2180	data_byte = good_spad_array[coarse_index];
sepp_nepp	6:fb11b746ceb5	2181
sepp_nepp	6:fb11b746ceb5	2182	if (coarse_index == start_index) {
sepp_nepp	6:fb11b746ceb5	2183	/* locate the bit position of the provided current
sepp_nepp	6:fb11b746ceb5	2184	* spad bit before iterating */
sepp_nepp	6:fb11b746ceb5	2185	data_byte >>= fine_offset;
sepp_nepp	6:fb11b746ceb5	2186	fine_index = fine_offset;
sepp_nepp	6:fb11b746ceb5	2187	}
sepp_nepp	6:fb11b746ceb5	2188
sepp_nepp	6:fb11b746ceb5	2189	while (fine_index < c_spads_per_byte) {
sepp_nepp	6:fb11b746ceb5	2190	if ((data_byte & 0x1) == 1) {
sepp_nepp	6:fb11b746ceb5	2191	success = 1;
sepp_nepp	6:fb11b746ceb5	2192	p_next = coarse_index c_spads_per_byte + fine_index;
sepp_nepp	6:fb11b746ceb5	2193	break;
sepp_nepp	6:fb11b746ceb5	2194	}
sepp_nepp	6:fb11b746ceb5	2195	data_byte >>= 1;
sepp_nepp	6:fb11b746ceb5	2196	fine_index++;
sepp_nepp	6:fb11b746ceb5	2197	}
sepp_nepp	6:fb11b746ceb5	2198	}
sepp_nepp	6:fb11b746ceb5	2199	}
sepp_nepp	6:fb11b746ceb5	2200
sepp_nepp	6:fb11b746ceb5	2201	uint8_t VL53L0X::is_aperture(uint32_t spad_index)
sepp_nepp	8:2fd7cb217068	2202	{ /* This function reports if a given spad index is an aperture SPAD by
sepp_nepp	7:3a1115c2556b	2203	* deriving the quadrant.*/
sepp_nepp	6:fb11b746ceb5	2204	uint32_t quadrant;
sepp_nepp	6:fb11b746ceb5	2205	uint8_t is_aperture = 1;
sepp_nepp	6:fb11b746ceb5	2206	quadrant = spad_index >> 6;
sepp_nepp	6:fb11b746ceb5	2207	if (refArrayQuadrants[quadrant] == REF_ARRAY_SPAD_0) {
sepp_nepp	6:fb11b746ceb5	2208	is_aperture = 0;
sepp_nepp	6:fb11b746ceb5	2209	}
sepp_nepp	6:fb11b746ceb5	2210
sepp_nepp	6:fb11b746ceb5	2211	return is_aperture;
sepp_nepp	6:fb11b746ceb5	2212	}
sepp_nepp	6:fb11b746ceb5	2213
sepp_nepp	6:fb11b746ceb5	2214	VL53L0X_Error VL53L0X::enable_spad_bit(uint8_t spad_array[], uint32_t size,
sepp_nepp	6:fb11b746ceb5	2215	uint32_t spad_index)
sepp_nepp	7:3a1115c2556b	2216	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2217	uint32_t c_spads_per_byte = 8;
sepp_nepp	6:fb11b746ceb5	2218	uint32_t coarse_index;
sepp_nepp	6:fb11b746ceb5	2219	uint32_t fine_index;
sepp_nepp	6:fb11b746ceb5	2220
sepp_nepp	6:fb11b746ceb5	2221	coarse_index = spad_index / c_spads_per_byte;
sepp_nepp	6:fb11b746ceb5	2222	fine_index = spad_index % c_spads_per_byte;
sepp_nepp	6:fb11b746ceb5	2223	if (coarse_index >= size) {
sepp_nepp	6:fb11b746ceb5	2224	status = VL53L0X_ERROR_REF_SPAD_INIT;
sepp_nepp	6:fb11b746ceb5	2225	} else {
sepp_nepp	6:fb11b746ceb5	2226	spad_array[coarse_index] \|= (1 << fine_index);
sepp_nepp	6:fb11b746ceb5	2227	}
sepp_nepp	6:fb11b746ceb5	2228
sepp_nepp	6:fb11b746ceb5	2229	return status;
sepp_nepp	6:fb11b746ceb5	2230	}
sepp_nepp	6:fb11b746ceb5	2231
sepp_nepp	7:3a1115c2556b	2232	VL53L0X_Error VL53L0X::set_ref_spad_map( uint8_t *p_ref_spad_array)
sepp_nepp	8:2fd7cb217068	2233	{ VL53L0X_Error status = VL53L0X_write_multi(VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
sepp_nepp	6:fb11b746ceb5	2234	p_ref_spad_array, 6);
sepp_nepp	6:fb11b746ceb5	2235
sepp_nepp	6:fb11b746ceb5	2236	return status;
sepp_nepp	6:fb11b746ceb5	2237	}
sepp_nepp	6:fb11b746ceb5	2238
sepp_nepp	7:3a1115c2556b	2239	VL53L0X_Error VL53L0X::get_ref_spad_map( uint8_t *p_ref_spad_array)
sepp_nepp	8:2fd7cb217068	2240	{ VL53L0X_Error status = VL53L0X_read_multi(VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
sepp_nepp	6:fb11b746ceb5	2241	p_ref_spad_array,
sepp_nepp	6:fb11b746ceb5	2242	6);
sepp_nepp	6:fb11b746ceb5	2243	// VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2244	// uint8_t count=0;
sepp_nepp	6:fb11b746ceb5	2245
sepp_nepp	6:fb11b746ceb5	2246	// for (count = 0; count < 6; count++)
sepp_nepp	7:3a1115c2556b	2247	// status = VL53L0X_RdByte( (VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 + count), &refSpadArray[count]);
sepp_nepp	6:fb11b746ceb5	2248	return status;
sepp_nepp	6:fb11b746ceb5	2249	}
sepp_nepp	6:fb11b746ceb5	2250
sepp_nepp	8:2fd7cb217068	2251	VL53L0X_Error VL53L0X::enable_ref_spads(uint8_t aperture_spads,
sepp_nepp	6:fb11b746ceb5	2252	uint8_t good_spad_array[],
sepp_nepp	6:fb11b746ceb5	2253	uint8_t spad_array[],
sepp_nepp	6:fb11b746ceb5	2254	uint32_t size,
sepp_nepp	6:fb11b746ceb5	2255	uint32_t start,
sepp_nepp	6:fb11b746ceb5	2256	uint32_t offset,
sepp_nepp	6:fb11b746ceb5	2257	uint32_t spad_count,
sepp_nepp	6:fb11b746ceb5	2258	uint32_t *p_last_spad)
sepp_nepp	8:2fd7cb217068	2259	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2260	uint32_t index;
sepp_nepp	6:fb11b746ceb5	2261	uint32_t i;
sepp_nepp	6:fb11b746ceb5	2262	int32_t next_good_spad = offset;
sepp_nepp	6:fb11b746ceb5	2263	uint32_t current_spad;
sepp_nepp	6:fb11b746ceb5	2264	uint8_t check_spad_array[6];
sepp_nepp	6:fb11b746ceb5	2265
sepp_nepp	6:fb11b746ceb5	2266	/*
sepp_nepp	6:fb11b746ceb5	2267	* This function takes in a spad array which may or may not have SPADS
sepp_nepp	6:fb11b746ceb5	2268	* already enabled and appends from a given offset a requested number
sepp_nepp	6:fb11b746ceb5	2269	* of new SPAD enables. The 'good spad map' is applied to
sepp_nepp	6:fb11b746ceb5	2270	* determine the next SPADs to enable.
sepp_nepp	6:fb11b746ceb5	2271	*
sepp_nepp	6:fb11b746ceb5	2272	* This function applies to only aperture or only non-aperture spads.
sepp_nepp	6:fb11b746ceb5	2273	* Checks are performed to ensure this.
sepp_nepp	6:fb11b746ceb5	2274	*/
sepp_nepp	6:fb11b746ceb5	2275
sepp_nepp	6:fb11b746ceb5	2276	current_spad = offset;
sepp_nepp	6:fb11b746ceb5	2277	for (index = 0; index < spad_count; index++) {
sepp_nepp	6:fb11b746ceb5	2278	get_next_good_spad(good_spad_array, size, current_spad,
sepp_nepp	6:fb11b746ceb5	2279	&next_good_spad);
sepp_nepp	6:fb11b746ceb5	2280
sepp_nepp	6:fb11b746ceb5	2281	if (next_good_spad == -1) {
sepp_nepp	6:fb11b746ceb5	2282	status = VL53L0X_ERROR_REF_SPAD_INIT;
sepp_nepp	6:fb11b746ceb5	2283	break;
sepp_nepp	6:fb11b746ceb5	2284	}
sepp_nepp	6:fb11b746ceb5	2285
sepp_nepp	6:fb11b746ceb5	2286	/* Confirm that the next good SPAD is non-aperture */
sepp_nepp	6:fb11b746ceb5	2287	if (is_aperture(start + next_good_spad) != aperture_spads) {
sepp_nepp	6:fb11b746ceb5	2288	/* if we can't get the required number of good aperture
sepp_nepp	6:fb11b746ceb5	2289	* spads from the current quadrant then this is an error
sepp_nepp	6:fb11b746ceb5	2290	*/
sepp_nepp	6:fb11b746ceb5	2291	status = VL53L0X_ERROR_REF_SPAD_INIT;
sepp_nepp	6:fb11b746ceb5	2292	break;
sepp_nepp	6:fb11b746ceb5	2293	}
sepp_nepp	6:fb11b746ceb5	2294	current_spad = (uint32_t)next_good_spad;
sepp_nepp	6:fb11b746ceb5	2295	enable_spad_bit(spad_array, size, current_spad);
sepp_nepp	6:fb11b746ceb5	2296	current_spad++;
sepp_nepp	6:fb11b746ceb5	2297	}
sepp_nepp	6:fb11b746ceb5	2298	*p_last_spad = current_spad;
sepp_nepp	6:fb11b746ceb5	2299
sepp_nepp	6:fb11b746ceb5	2300	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2301	status = set_ref_spad_map( spad_array);
sepp_nepp	6:fb11b746ceb5	2302	}
sepp_nepp	6:fb11b746ceb5	2303
sepp_nepp	6:fb11b746ceb5	2304	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2305	status = get_ref_spad_map( check_spad_array);
sepp_nepp	6:fb11b746ceb5	2306
sepp_nepp	6:fb11b746ceb5	2307	i = 0;
sepp_nepp	6:fb11b746ceb5	2308
sepp_nepp	6:fb11b746ceb5	2309	/* Compare spad maps. If not equal report error. */
sepp_nepp	6:fb11b746ceb5	2310	while (i < size) {
sepp_nepp	6:fb11b746ceb5	2311	if (spad_array[i] != check_spad_array[i]) {
sepp_nepp	6:fb11b746ceb5	2312	status = VL53L0X_ERROR_REF_SPAD_INIT;
sepp_nepp	6:fb11b746ceb5	2313	break;
sepp_nepp	6:fb11b746ceb5	2314	}
sepp_nepp	6:fb11b746ceb5	2315	i++;
sepp_nepp	6:fb11b746ceb5	2316	}
sepp_nepp	6:fb11b746ceb5	2317	}
sepp_nepp	6:fb11b746ceb5	2318	return status;
sepp_nepp	6:fb11b746ceb5	2319	}
sepp_nepp	6:fb11b746ceb5	2320
sepp_nepp	7:3a1115c2556b	2321	VL53L0X_Error VL53L0X::VL53L0X_set_device_mode( VL53L0X_DeviceModes device_mode)
sepp_nepp	8:2fd7cb217068	2322	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2323
sepp_nepp	6:fb11b746ceb5	2324	switch (device_mode) {
sepp_nepp	6:fb11b746ceb5	2325	case VL53L0X_DEVICEMODE_SINGLE_RANGING:
sepp_nepp	6:fb11b746ceb5	2326	case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
sepp_nepp	6:fb11b746ceb5	2327	case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
sepp_nepp	6:fb11b746ceb5	2328	case VL53L0X_DEVICEMODE_GPIO_DRIVE:
sepp_nepp	6:fb11b746ceb5	2329	case VL53L0X_DEVICEMODE_GPIO_OSC:
sepp_nepp	6:fb11b746ceb5	2330	/* Supported modes */
sepp_nepp	8:2fd7cb217068	2331	Data.CurrentParameters.DeviceMode = device_mode;
sepp_nepp	6:fb11b746ceb5	2332	break;
sepp_nepp	6:fb11b746ceb5	2333	default:
sepp_nepp	6:fb11b746ceb5	2334	/* Unsupported mode */
sepp_nepp	6:fb11b746ceb5	2335	status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
sepp_nepp	6:fb11b746ceb5	2336	}
sepp_nepp	6:fb11b746ceb5	2337
sepp_nepp	6:fb11b746ceb5	2338
sepp_nepp	6:fb11b746ceb5	2339	return status;
sepp_nepp	6:fb11b746ceb5	2340	}
sepp_nepp	6:fb11b746ceb5	2341
sepp_nepp	8:2fd7cb217068	2342	VL53L0X_Error VL53L0X::VL53L0X_set_interrupt_thresholds(VL53L0X_DeviceModes device_mode, FixPoint1616_t threshold_low,
sepp_nepp	6:fb11b746ceb5	2343	FixPoint1616_t threshold_high)
sepp_nepp	8:2fd7cb217068	2344	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2345	uint16_t threshold16;
sepp_nepp	6:fb11b746ceb5	2346
sepp_nepp	6:fb11b746ceb5	2347
sepp_nepp	6:fb11b746ceb5	2348	/* no dependency on DeviceMode for Ewok */
sepp_nepp	6:fb11b746ceb5	2349	/* Need to divide by 2 because the FW will apply a x2 */
sepp_nepp	6:fb11b746ceb5	2350	threshold16 = (uint16_t)((threshold_low >> 17) & 0x00fff);
sepp_nepp	7:3a1115c2556b	2351	status = VL53L0X_write_word( VL53L0X_REG_SYSTEM_THRESH_LOW, threshold16);
sepp_nepp	6:fb11b746ceb5	2352
sepp_nepp	6:fb11b746ceb5	2353	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	2354	/* Need to divide by 2 because the FW will apply a x2 */
sepp_nepp	6:fb11b746ceb5	2355	threshold16 = (uint16_t)((threshold_high >> 17) & 0x00fff);
sepp_nepp	7:3a1115c2556b	2356	status = VL53L0X_write_word( VL53L0X_REG_SYSTEM_THRESH_HIGH,
sepp_nepp	6:fb11b746ceb5	2357	threshold16);
sepp_nepp	6:fb11b746ceb5	2358	}
sepp_nepp	6:fb11b746ceb5	2359
sepp_nepp	6:fb11b746ceb5	2360
sepp_nepp	6:fb11b746ceb5	2361	return status;
sepp_nepp	6:fb11b746ceb5	2362	}
sepp_nepp	6:fb11b746ceb5	2363
sepp_nepp	8:2fd7cb217068	2364	VL53L0X_Error VL53L0X::VL53L0X_get_interrupt_thresholds(VL53L0X_DeviceModes device_mode, FixPoint1616_t *p_threshold_low,
sepp_nepp	6:fb11b746ceb5	2365	FixPoint1616_t *p_threshold_high)
sepp_nepp	8:2fd7cb217068	2366	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2367	uint16_t threshold16;
sepp_nepp	6:fb11b746ceb5	2368
sepp_nepp	6:fb11b746ceb5	2369
sepp_nepp	6:fb11b746ceb5	2370	/* no dependency on DeviceMode for Ewok */
sepp_nepp	6:fb11b746ceb5	2371
sepp_nepp	7:3a1115c2556b	2372	status = VL53L0X_read_word( VL53L0X_REG_SYSTEM_THRESH_LOW, &threshold16);
sepp_nepp	6:fb11b746ceb5	2373	/* Need to multiply by 2 because the FW will apply a x2 */
sepp_nepp	6:fb11b746ceb5	2374	*p_threshold_low = (FixPoint1616_t)((0x00fff & threshold16) << 17);
sepp_nepp	6:fb11b746ceb5	2375
sepp_nepp	6:fb11b746ceb5	2376	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2377	status = VL53L0X_read_word( VL53L0X_REG_SYSTEM_THRESH_HIGH,
sepp_nepp	6:fb11b746ceb5	2378	&threshold16);
sepp_nepp	6:fb11b746ceb5	2379	/* Need to multiply by 2 because the FW will apply a x2 */
sepp_nepp	6:fb11b746ceb5	2380	*p_threshold_high =
sepp_nepp	6:fb11b746ceb5	2381	(FixPoint1616_t)((0x00fff & threshold16) << 17);
sepp_nepp	6:fb11b746ceb5	2382	}
sepp_nepp	6:fb11b746ceb5	2383
sepp_nepp	6:fb11b746ceb5	2384
sepp_nepp	6:fb11b746ceb5	2385	return status;
sepp_nepp	6:fb11b746ceb5	2386	}
sepp_nepp	6:fb11b746ceb5	2387
sepp_nepp	8:2fd7cb217068	2388	VL53L0X_Error VL53L0X::VL53L0X_load_tuning_settings(uint8_t *p_tuning_setting_buffer)
sepp_nepp	8:2fd7cb217068	2389	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2390	int i;
sepp_nepp	6:fb11b746ceb5	2391	int index;
sepp_nepp	6:fb11b746ceb5	2392	uint8_t msb;
sepp_nepp	6:fb11b746ceb5	2393	uint8_t lsb;
sepp_nepp	6:fb11b746ceb5	2394	uint8_t select_param;
sepp_nepp	6:fb11b746ceb5	2395	uint8_t number_of_writes;
sepp_nepp	6:fb11b746ceb5	2396	uint8_t address;
sepp_nepp	6:fb11b746ceb5	2397	uint8_t local_buffer[4]; /* max */
sepp_nepp	6:fb11b746ceb5	2398	uint16_t temp16;
sepp_nepp	8:2fd7cb217068	2399
sepp_nepp	6:fb11b746ceb5	2400	index = 0;
sepp_nepp	6:fb11b746ceb5	2401
sepp_nepp	6:fb11b746ceb5	2402	while ((*(p_tuning_setting_buffer + index) != 0) &&
sepp_nepp	6:fb11b746ceb5	2403	(status == VL53L0X_ERROR_NONE)) {
sepp_nepp	6:fb11b746ceb5	2404	number_of_writes = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2405	index++;
sepp_nepp	6:fb11b746ceb5	2406	if (number_of_writes == 0xFF) {
sepp_nepp	6:fb11b746ceb5	2407	/* internal parameters */
sepp_nepp	6:fb11b746ceb5	2408	select_param = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2409	index++;
sepp_nepp	6:fb11b746ceb5	2410	switch (select_param) {
sepp_nepp	6:fb11b746ceb5	2411	case 0: /* uint16_t SigmaEstRefArray -> 2 bytes */
sepp_nepp	6:fb11b746ceb5	2412	msb = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2413	index++;
sepp_nepp	6:fb11b746ceb5	2414	lsb = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2415	index++;
sepp_nepp	6:fb11b746ceb5	2416	temp16 = VL53L0X_MAKEUINT16(lsb, msb);
sepp_nepp	8:2fd7cb217068	2417	Data.SigmaEstRefArray = temp16;
sepp_nepp	6:fb11b746ceb5	2418	break;
sepp_nepp	6:fb11b746ceb5	2419	case 1: /* uint16_t SigmaEstEffPulseWidth -> 2 bytes */
sepp_nepp	6:fb11b746ceb5	2420	msb = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2421	index++;
sepp_nepp	6:fb11b746ceb5	2422	lsb = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2423	index++;
sepp_nepp	6:fb11b746ceb5	2424	temp16 = VL53L0X_MAKEUINT16(lsb, msb);
sepp_nepp	8:2fd7cb217068	2425	Data.SigmaEstEffPulseWidth = temp16;
sepp_nepp	6:fb11b746ceb5	2426	break;
sepp_nepp	6:fb11b746ceb5	2427	case 2: /* uint16_t SigmaEstEffAmbWidth -> 2 bytes */
sepp_nepp	6:fb11b746ceb5	2428	msb = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2429	index++;
sepp_nepp	6:fb11b746ceb5	2430	lsb = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2431	index++;
sepp_nepp	6:fb11b746ceb5	2432	temp16 = VL53L0X_MAKEUINT16(lsb, msb);
sepp_nepp	8:2fd7cb217068	2433	Data.SigmaEstEffAmbWidth = temp16;
sepp_nepp	6:fb11b746ceb5	2434	break;
sepp_nepp	6:fb11b746ceb5	2435	case 3: /* uint16_t targetRefRate -> 2 bytes */
sepp_nepp	6:fb11b746ceb5	2436	msb = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2437	index++;
sepp_nepp	6:fb11b746ceb5	2438	lsb = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2439	index++;
sepp_nepp	6:fb11b746ceb5	2440	temp16 = VL53L0X_MAKEUINT16(lsb, msb);
sepp_nepp	8:2fd7cb217068	2441	Data.targetRefRate = temp16;
sepp_nepp	6:fb11b746ceb5	2442	break;
sepp_nepp	6:fb11b746ceb5	2443	default: /* invalid parameter */
sepp_nepp	6:fb11b746ceb5	2444	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	2445	}
sepp_nepp	6:fb11b746ceb5	2446
sepp_nepp	6:fb11b746ceb5	2447	} else if (number_of_writes <= 4) {
sepp_nepp	6:fb11b746ceb5	2448	address = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2449	index++;
sepp_nepp	6:fb11b746ceb5	2450
sepp_nepp	6:fb11b746ceb5	2451	for (i = 0; i < number_of_writes; i++) {
sepp_nepp	6:fb11b746ceb5	2452	local_buffer[i] = *(p_tuning_setting_buffer +
sepp_nepp	6:fb11b746ceb5	2453	index);
sepp_nepp	6:fb11b746ceb5	2454	index++;
sepp_nepp	6:fb11b746ceb5	2455	}
sepp_nepp	6:fb11b746ceb5	2456
sepp_nepp	8:2fd7cb217068	2457	status = VL53L0X_write_multi( address, local_buffer, number_of_writes);
sepp_nepp	8:2fd7cb217068	2458
sepp_nepp	8:2fd7cb217068	2459	} else { status = VL53L0X_ERROR_INVALID_PARAMS; }
sepp_nepp	6:fb11b746ceb5	2460	}
sepp_nepp	6:fb11b746ceb5	2461	return status;
sepp_nepp	6:fb11b746ceb5	2462	}
sepp_nepp	6:fb11b746ceb5	2463
sepp_nepp	8:2fd7cb217068	2464	VL53L0X_Error VL53L0X::VL53L0X_check_and_load_interrupt_settings(uint8_t start_not_stopflag)
sepp_nepp	8:2fd7cb217068	2465	{ uint8_t interrupt_config;
sepp_nepp	6:fb11b746ceb5	2466	FixPoint1616_t threshold_low;
sepp_nepp	6:fb11b746ceb5	2467	FixPoint1616_t threshold_high;
sepp_nepp	6:fb11b746ceb5	2468	VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2469
sepp_nepp	8:2fd7cb217068	2470	interrupt_config = Data.Pin0GpioFunctionality;
sepp_nepp	6:fb11b746ceb5	2471
sepp_nepp	6:fb11b746ceb5	2472	if ((interrupt_config ==
sepp_nepp	6:fb11b746ceb5	2473	VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) \|\|
sepp_nepp	6:fb11b746ceb5	2474	(interrupt_config ==
sepp_nepp	6:fb11b746ceb5	2475	VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) \|\|
sepp_nepp	6:fb11b746ceb5	2476	(interrupt_config ==
sepp_nepp	6:fb11b746ceb5	2477	VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) {
sepp_nepp	6:fb11b746ceb5	2478
sepp_nepp	8:2fd7cb217068	2479	status = VL53L0X_get_interrupt_thresholds(VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
sepp_nepp	6:fb11b746ceb5	2480	&threshold_low, &threshold_high);
sepp_nepp	6:fb11b746ceb5	2481
sepp_nepp	6:fb11b746ceb5	2482	if (((threshold_low > 255 * 65536) \|\|
sepp_nepp	6:fb11b746ceb5	2483	(threshold_high > 255 * 65536)) &&
sepp_nepp	6:fb11b746ceb5	2484	(status == VL53L0X_ERROR_NONE)) {
sepp_nepp	6:fb11b746ceb5	2485
sepp_nepp	6:fb11b746ceb5	2486	if (start_not_stopflag != 0) {
sepp_nepp	8:2fd7cb217068	2487	status = VL53L0X_load_tuning_settings(InterruptThresholdSettings);
sepp_nepp	6:fb11b746ceb5	2488	} else {
sepp_nepp	7:3a1115c2556b	2489	status \|= VL53L0X_write_byte( 0xFF, 0x04);
sepp_nepp	7:3a1115c2556b	2490	status \|= VL53L0X_write_byte( 0x70, 0x00);
sepp_nepp	7:3a1115c2556b	2491	status \|= VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	7:3a1115c2556b	2492	status \|= VL53L0X_write_byte( 0x80, 0x00);
sepp_nepp	6:fb11b746ceb5	2493	}
sepp_nepp	6:fb11b746ceb5	2494	}
sepp_nepp	6:fb11b746ceb5	2495	}
sepp_nepp	6:fb11b746ceb5	2496	return status;
sepp_nepp	6:fb11b746ceb5	2497	}
sepp_nepp	6:fb11b746ceb5	2498
sepp_nepp	7:3a1115c2556b	2499	VL53L0X_Error VL53L0X::VL53L0X_start_measurement(void)
sepp_nepp	8:2fd7cb217068	2500	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2501	VL53L0X_DeviceModes device_mode;
sepp_nepp	6:fb11b746ceb5	2502	uint8_t byte;
sepp_nepp	6:fb11b746ceb5	2503	uint8_t start_stop_byte = VL53L0X_REG_SYSRANGE_MODE_START_STOP;
sepp_nepp	6:fb11b746ceb5	2504	uint32_t loop_nb;
sepp_nepp	6:fb11b746ceb5	2505
sepp_nepp	6:fb11b746ceb5	2506
sepp_nepp	6:fb11b746ceb5	2507	/* Get Current DeviceMode */
sepp_nepp	7:3a1115c2556b	2508	VL53L0X_get_device_mode( &device_mode);
sepp_nepp	7:3a1115c2556b	2509
sepp_nepp	7:3a1115c2556b	2510	status = VL53L0X_write_byte( 0x80, 0x01);
sepp_nepp	7:3a1115c2556b	2511	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	2512	status = VL53L0X_write_byte( 0x00, 0x00);
sepp_nepp	8:2fd7cb217068	2513	status = VL53L0X_write_byte( 0x91, Data.StopVariable);
sepp_nepp	7:3a1115c2556b	2514	status = VL53L0X_write_byte( 0x00, 0x01);
sepp_nepp	7:3a1115c2556b	2515	status = VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	7:3a1115c2556b	2516	status = VL53L0X_write_byte( 0x80, 0x00);
sepp_nepp	6:fb11b746ceb5	2517
sepp_nepp	6:fb11b746ceb5	2518	switch (device_mode) {
sepp_nepp	6:fb11b746ceb5	2519	case VL53L0X_DEVICEMODE_SINGLE_RANGING:
sepp_nepp	7:3a1115c2556b	2520	status = VL53L0X_write_byte( VL53L0X_REG_SYSRANGE_START, 0x01);
sepp_nepp	6:fb11b746ceb5	2521
sepp_nepp	6:fb11b746ceb5	2522	byte = start_stop_byte;
sepp_nepp	6:fb11b746ceb5	2523	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	2524	/* Wait until start bit has been cleared */
sepp_nepp	6:fb11b746ceb5	2525	loop_nb = 0;
sepp_nepp	6:fb11b746ceb5	2526	do {
sepp_nepp	6:fb11b746ceb5	2527	if (loop_nb > 0)
sepp_nepp	8:2fd7cb217068	2528	status = VL53L0X_read_byte(VL53L0X_REG_SYSRANGE_START, &byte);
sepp_nepp	6:fb11b746ceb5	2529	loop_nb = loop_nb + 1;
sepp_nepp	6:fb11b746ceb5	2530	} while (((byte & start_stop_byte) == start_stop_byte)
sepp_nepp	6:fb11b746ceb5	2531	&& (status == VL53L0X_ERROR_NONE)
sepp_nepp	6:fb11b746ceb5	2532	&& (loop_nb < VL53L0X_DEFAULT_MAX_LOOP));
sepp_nepp	6:fb11b746ceb5	2533
sepp_nepp	6:fb11b746ceb5	2534	if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
sepp_nepp	6:fb11b746ceb5	2535	status = VL53L0X_ERROR_TIME_OUT;
sepp_nepp	6:fb11b746ceb5	2536	}
sepp_nepp	6:fb11b746ceb5	2537
sepp_nepp	6:fb11b746ceb5	2538	}
sepp_nepp	6:fb11b746ceb5	2539
sepp_nepp	6:fb11b746ceb5	2540	break;
sepp_nepp	6:fb11b746ceb5	2541	case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
sepp_nepp	6:fb11b746ceb5	2542	/* Back-to-back mode */
sepp_nepp	6:fb11b746ceb5	2543
sepp_nepp	6:fb11b746ceb5	2544	/* Check if need to apply interrupt settings */
sepp_nepp	6:fb11b746ceb5	2545	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2546	status = VL53L0X_check_and_load_interrupt_settings( 1);
sepp_nepp	6:fb11b746ceb5	2547	}
sepp_nepp	6:fb11b746ceb5	2548
sepp_nepp	8:2fd7cb217068	2549	status = VL53L0X_write_byte(VL53L0X_REG_SYSRANGE_START,
sepp_nepp	6:fb11b746ceb5	2550	VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK);
sepp_nepp	6:fb11b746ceb5	2551	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	2552	/* Set PAL State to Running */
sepp_nepp	8:2fd7cb217068	2553	Data.PalState = VL53L0X_STATE_RUNNING;
sepp_nepp	6:fb11b746ceb5	2554	}
sepp_nepp	6:fb11b746ceb5	2555	break;
sepp_nepp	6:fb11b746ceb5	2556	case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
sepp_nepp	6:fb11b746ceb5	2557	/* Continuous mode */
sepp_nepp	6:fb11b746ceb5	2558	/* Check if need to apply interrupt settings */
sepp_nepp	6:fb11b746ceb5	2559	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2560	status = VL53L0X_check_and_load_interrupt_settings( 1);
sepp_nepp	6:fb11b746ceb5	2561	}
sepp_nepp	6:fb11b746ceb5	2562
sepp_nepp	8:2fd7cb217068	2563	status = VL53L0X_write_byte(VL53L0X_REG_SYSRANGE_START,
sepp_nepp	6:fb11b746ceb5	2564	VL53L0X_REG_SYSRANGE_MODE_TIMED);
sepp_nepp	6:fb11b746ceb5	2565
sepp_nepp	6:fb11b746ceb5	2566	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	2567	/* Set PAL State to Running */
sepp_nepp	8:2fd7cb217068	2568	Data.PalState = VL53L0X_STATE_RUNNING;
sepp_nepp	6:fb11b746ceb5	2569	}
sepp_nepp	6:fb11b746ceb5	2570	break;
sepp_nepp	6:fb11b746ceb5	2571	default:
sepp_nepp	6:fb11b746ceb5	2572	/* Selected mode not supported */
sepp_nepp	6:fb11b746ceb5	2573	status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
sepp_nepp	6:fb11b746ceb5	2574	}
sepp_nepp	6:fb11b746ceb5	2575
sepp_nepp	6:fb11b746ceb5	2576
sepp_nepp	6:fb11b746ceb5	2577	return status;
sepp_nepp	6:fb11b746ceb5	2578	}
sepp_nepp	6:fb11b746ceb5	2579
sepp_nepp	6:fb11b746ceb5	2580	/* Group PAL Measurement Functions */
sepp_nepp	7:3a1115c2556b	2581	VL53L0X_Error VL53L0X::VL53L0X_perform_single_measurement(void)
sepp_nepp	8:2fd7cb217068	2582	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2583	VL53L0X_DeviceModes device_mode;
sepp_nepp	6:fb11b746ceb5	2584
sepp_nepp	6:fb11b746ceb5	2585
sepp_nepp	6:fb11b746ceb5	2586
sepp_nepp	6:fb11b746ceb5	2587	/* Get Current DeviceMode */
sepp_nepp	7:3a1115c2556b	2588	status = VL53L0X_get_device_mode( &device_mode);
sepp_nepp	6:fb11b746ceb5	2589
sepp_nepp	6:fb11b746ceb5	2590	/* Start immediately to run a single ranging measurement in case of
sepp_nepp	6:fb11b746ceb5	2591	* single ranging or single histogram */
sepp_nepp	6:fb11b746ceb5	2592	if (status == VL53L0X_ERROR_NONE
sepp_nepp	6:fb11b746ceb5	2593	&& device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING) {
sepp_nepp	7:3a1115c2556b	2594	status = VL53L0X_start_measurement();
sepp_nepp	6:fb11b746ceb5	2595	}
sepp_nepp	6:fb11b746ceb5	2596
sepp_nepp	6:fb11b746ceb5	2597	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2598	status = VL53L0X_measurement_poll_for_completion();
sepp_nepp	6:fb11b746ceb5	2599	}
sepp_nepp	6:fb11b746ceb5	2600
sepp_nepp	6:fb11b746ceb5	2601	/* Change PAL State in case of single ranging or single histogram */
sepp_nepp	7:3a1115c2556b	2602	if (status == VL53L0X_ERROR_NONE && device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING) {
sepp_nepp	8:2fd7cb217068	2603	Data.PalState = VL53L0X_STATE_IDLE; }
sepp_nepp	7:3a1115c2556b	2604
sepp_nepp	6:fb11b746ceb5	2605	return status;
sepp_nepp	6:fb11b746ceb5	2606	}
sepp_nepp	6:fb11b746ceb5	2607
sepp_nepp	8:2fd7cb217068	2608	VL53L0X_Error VL53L0X::VL53L0X_get_x_talk_compensation_enable(uint8_t *p_x_talk_compensation_enable)
sepp_nepp	7:3a1115c2556b	2609	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2610	uint8_t temp8;
sepp_nepp	7:3a1115c2556b	2611
sepp_nepp	8:2fd7cb217068	2612	temp8 = Data.CurrentParameters.XTalkCompensationEnable ;
sepp_nepp	6:fb11b746ceb5	2613	*p_x_talk_compensation_enable = temp8;
sepp_nepp	6:fb11b746ceb5	2614
sepp_nepp	6:fb11b746ceb5	2615	return status;
sepp_nepp	6:fb11b746ceb5	2616	}
sepp_nepp	6:fb11b746ceb5	2617
sepp_nepp	8:2fd7cb217068	2618	VL53L0X_Error VL53L0X::VL53L0X_get_total_xtalk_rate(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
sepp_nepp	6:fb11b746ceb5	2619	FixPoint1616_t *p_total_xtalk_rate_mcps)
sepp_nepp	8:2fd7cb217068	2620	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2621
sepp_nepp	6:fb11b746ceb5	2622	uint8_t xtalk_comp_enable;
sepp_nepp	6:fb11b746ceb5	2623	FixPoint1616_t total_xtalk_mega_cps;
sepp_nepp	6:fb11b746ceb5	2624	FixPoint1616_t xtalk_per_spad_mega_cps;
sepp_nepp	6:fb11b746ceb5	2625
sepp_nepp	6:fb11b746ceb5	2626	*p_total_xtalk_rate_mcps = 0;
sepp_nepp	6:fb11b746ceb5	2627
sepp_nepp	7:3a1115c2556b	2628	status = VL53L0X_get_x_talk_compensation_enable( &xtalk_comp_enable);
sepp_nepp	6:fb11b746ceb5	2629	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	2630
sepp_nepp	6:fb11b746ceb5	2631	if (xtalk_comp_enable) {
sepp_nepp	6:fb11b746ceb5	2632
sepp_nepp	8:2fd7cb217068	2633	xtalk_per_spad_mega_cps = Data.CurrentParameters.XTalkCompensationRateMegaCps ;
sepp_nepp	6:fb11b746ceb5	2634
sepp_nepp	6:fb11b746ceb5	2635	/* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */
sepp_nepp	6:fb11b746ceb5	2636	total_xtalk_mega_cps =
sepp_nepp	6:fb11b746ceb5	2637	p_ranging_measurement_data->EffectiveSpadRtnCount *
sepp_nepp	6:fb11b746ceb5	2638	xtalk_per_spad_mega_cps;
sepp_nepp	6:fb11b746ceb5	2639
sepp_nepp	6:fb11b746ceb5	2640	/* FixPoint0824 >> 8 = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	2641	*p_total_xtalk_rate_mcps =
sepp_nepp	6:fb11b746ceb5	2642	(total_xtalk_mega_cps + 0x80) >> 8;
sepp_nepp	6:fb11b746ceb5	2643	}
sepp_nepp	6:fb11b746ceb5	2644	}
sepp_nepp	6:fb11b746ceb5	2645
sepp_nepp	6:fb11b746ceb5	2646	return status;
sepp_nepp	6:fb11b746ceb5	2647	}
sepp_nepp	6:fb11b746ceb5	2648
sepp_nepp	8:2fd7cb217068	2649	VL53L0X_Error VL53L0X::VL53L0X_get_total_signal_rate(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
sepp_nepp	6:fb11b746ceb5	2650	FixPoint1616_t *p_total_signal_rate_mcps)
sepp_nepp	8:2fd7cb217068	2651	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2652	FixPoint1616_t total_xtalk_mega_cps;
sepp_nepp	6:fb11b746ceb5	2653
sepp_nepp	6:fb11b746ceb5	2654
sepp_nepp	6:fb11b746ceb5	2655
sepp_nepp	6:fb11b746ceb5	2656	*p_total_signal_rate_mcps =
sepp_nepp	6:fb11b746ceb5	2657	p_ranging_measurement_data->SignalRateRtnMegaCps;
sepp_nepp	6:fb11b746ceb5	2658
sepp_nepp	7:3a1115c2556b	2659	status = VL53L0X_get_total_xtalk_rate(p_ranging_measurement_data, &total_xtalk_mega_cps);
sepp_nepp	6:fb11b746ceb5	2660
sepp_nepp	6:fb11b746ceb5	2661	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	2662	*p_total_signal_rate_mcps += total_xtalk_mega_cps;
sepp_nepp	6:fb11b746ceb5	2663	}
sepp_nepp	6:fb11b746ceb5	2664
sepp_nepp	6:fb11b746ceb5	2665	return status;
sepp_nepp	6:fb11b746ceb5	2666	}
sepp_nepp	6:fb11b746ceb5	2667
sepp_nepp	6:fb11b746ceb5	2668	/* To convert ms into register value */
sepp_nepp	8:2fd7cb217068	2669	uint32_t VL53L0X::VL53L0X_calc_timeout_mclks(uint32_t timeout_period_us,
sepp_nepp	6:fb11b746ceb5	2670	uint8_t vcsel_period_pclks)
sepp_nepp	8:2fd7cb217068	2671	{ uint32_t macro_period_ps;
sepp_nepp	6:fb11b746ceb5	2672	uint32_t macro_period_ns;
sepp_nepp	6:fb11b746ceb5	2673	uint32_t timeout_period_mclks = 0;
sepp_nepp	6:fb11b746ceb5	2674
sepp_nepp	7:3a1115c2556b	2675	macro_period_ps = VL53L0X_calc_macro_period_ps( vcsel_period_pclks);
sepp_nepp	6:fb11b746ceb5	2676	macro_period_ns = (macro_period_ps + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	2677
sepp_nepp	6:fb11b746ceb5	2678	timeout_period_mclks =
sepp_nepp	6:fb11b746ceb5	2679	(uint32_t)(((timeout_period_us * 1000)
sepp_nepp	6:fb11b746ceb5	2680	+ (macro_period_ns / 2)) / macro_period_ns);
sepp_nepp	6:fb11b746ceb5	2681
sepp_nepp	6:fb11b746ceb5	2682	return timeout_period_mclks;
sepp_nepp	6:fb11b746ceb5	2683	}
sepp_nepp	6:fb11b746ceb5	2684
sepp_nepp	6:fb11b746ceb5	2685	uint32_t VL53L0X::VL53L0X_isqrt(uint32_t num)
sepp_nepp	8:2fd7cb217068	2686	{ /*
sepp_nepp	6:fb11b746ceb5	2687	* Implements an integer square root
sepp_nepp	6:fb11b746ceb5	2688	*
sepp_nepp	6:fb11b746ceb5	2689	* From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
sepp_nepp	6:fb11b746ceb5	2690	*/
sepp_nepp	6:fb11b746ceb5	2691
sepp_nepp	6:fb11b746ceb5	2692	uint32_t res = 0;
sepp_nepp	6:fb11b746ceb5	2693	uint32_t bit = 1 << 30;
sepp_nepp	6:fb11b746ceb5	2694	/* The second-to-top bit is set:
sepp_nepp	6:fb11b746ceb5	2695	* 1 << 14 for 16-bits, 1 << 30 for 32 bits */
sepp_nepp	6:fb11b746ceb5	2696
sepp_nepp	6:fb11b746ceb5	2697	/* "bit" starts at the highest power of four <= the argument. */
sepp_nepp	6:fb11b746ceb5	2698	while (bit > num) {
sepp_nepp	6:fb11b746ceb5	2699	bit >>= 2;
sepp_nepp	6:fb11b746ceb5	2700	}
sepp_nepp	6:fb11b746ceb5	2701
sepp_nepp	6:fb11b746ceb5	2702	while (bit != 0) {
sepp_nepp	6:fb11b746ceb5	2703	if (num >= res + bit) {
sepp_nepp	6:fb11b746ceb5	2704	num -= res + bit;
sepp_nepp	6:fb11b746ceb5	2705	res = (res >> 1) + bit;
sepp_nepp	6:fb11b746ceb5	2706	} else {
sepp_nepp	6:fb11b746ceb5	2707	res >>= 1;
sepp_nepp	6:fb11b746ceb5	2708	}
sepp_nepp	6:fb11b746ceb5	2709
sepp_nepp	6:fb11b746ceb5	2710	bit >>= 2;
sepp_nepp	6:fb11b746ceb5	2711	}
sepp_nepp	6:fb11b746ceb5	2712
sepp_nepp	6:fb11b746ceb5	2713	return res;
sepp_nepp	6:fb11b746ceb5	2714	}
sepp_nepp	6:fb11b746ceb5	2715
sepp_nepp	8:2fd7cb217068	2716	VL53L0X_Error VL53L0X::VL53L0X_calc_dmax(FixPoint1616_t total_signal_rate_mcps,
sepp_nepp	6:fb11b746ceb5	2717	FixPoint1616_t total_corr_signal_rate_mcps,
sepp_nepp	6:fb11b746ceb5	2718	FixPoint1616_t pw_mult,
sepp_nepp	6:fb11b746ceb5	2719	uint32_t sigma_estimate_p1,
sepp_nepp	6:fb11b746ceb5	2720	FixPoint1616_t sigma_estimate_p2,
sepp_nepp	6:fb11b746ceb5	2721	uint32_t peak_vcsel_duration_us,
sepp_nepp	6:fb11b746ceb5	2722	uint32_t *pd_max_mm)
sepp_nepp	8:2fd7cb217068	2723	{ const uint32_t c_sigma_limit = 18;
sepp_nepp	6:fb11b746ceb5	2724	const FixPoint1616_t c_signal_limit = 0x4000; /* 0.25 */
sepp_nepp	6:fb11b746ceb5	2725	const FixPoint1616_t c_sigma_est_ref = 0x00000042; /* 0.001 */
sepp_nepp	6:fb11b746ceb5	2726	const uint32_t c_amb_eff_width_sigma_est_ns = 6;
sepp_nepp	6:fb11b746ceb5	2727	const uint32_t c_amb_eff_width_d_max_ns = 7;
sepp_nepp	6:fb11b746ceb5	2728	uint32_t dmax_cal_range_mm;
sepp_nepp	6:fb11b746ceb5	2729	FixPoint1616_t dmax_cal_signal_rate_rtn_mcps;
sepp_nepp	6:fb11b746ceb5	2730	FixPoint1616_t min_signal_needed;
sepp_nepp	6:fb11b746ceb5	2731	FixPoint1616_t min_signal_needed_p1;
sepp_nepp	6:fb11b746ceb5	2732	FixPoint1616_t min_signal_needed_p2;
sepp_nepp	6:fb11b746ceb5	2733	FixPoint1616_t min_signal_needed_p3;
sepp_nepp	6:fb11b746ceb5	2734	FixPoint1616_t min_signal_needed_p4;
sepp_nepp	6:fb11b746ceb5	2735	FixPoint1616_t sigma_limit_tmp;
sepp_nepp	6:fb11b746ceb5	2736	FixPoint1616_t sigma_est_sq_tmp;
sepp_nepp	6:fb11b746ceb5	2737	FixPoint1616_t signal_limit_tmp;
sepp_nepp	6:fb11b746ceb5	2738	FixPoint1616_t signal_at0_mm;
sepp_nepp	6:fb11b746ceb5	2739	FixPoint1616_t dmax_dark;
sepp_nepp	6:fb11b746ceb5	2740	FixPoint1616_t dmax_ambient;
sepp_nepp	6:fb11b746ceb5	2741	FixPoint1616_t dmax_dark_tmp;
sepp_nepp	6:fb11b746ceb5	2742	FixPoint1616_t sigma_est_p2_tmp;
sepp_nepp	6:fb11b746ceb5	2743	uint32_t signal_rate_temp_mcps;
sepp_nepp	6:fb11b746ceb5	2744
sepp_nepp	6:fb11b746ceb5	2745	VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2746
sepp_nepp	6:fb11b746ceb5	2747
sepp_nepp	6:fb11b746ceb5	2748
sepp_nepp	6:fb11b746ceb5	2749	dmax_cal_range_mm =
sepp_nepp	8:2fd7cb217068	2750	Data.DmaxCalRangeMilliMeter;
sepp_nepp	6:fb11b746ceb5	2751
sepp_nepp	6:fb11b746ceb5	2752	dmax_cal_signal_rate_rtn_mcps =
sepp_nepp	8:2fd7cb217068	2753	Data.DmaxCalSignalRateRtnMegaCps;
sepp_nepp	6:fb11b746ceb5	2754
sepp_nepp	6:fb11b746ceb5	2755	/* uint32 * FixPoint1616 = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	2756	signal_at0_mm = dmax_cal_range_mm * dmax_cal_signal_rate_rtn_mcps;
sepp_nepp	6:fb11b746ceb5	2757
sepp_nepp	6:fb11b746ceb5	2758	/* FixPoint1616 >> 8 = FixPoint2408 */
sepp_nepp	6:fb11b746ceb5	2759	signal_at0_mm = (signal_at0_mm + 0x80) >> 8;
sepp_nepp	6:fb11b746ceb5	2760	signal_at0_mm *= dmax_cal_range_mm;
sepp_nepp	6:fb11b746ceb5	2761
sepp_nepp	6:fb11b746ceb5	2762	min_signal_needed_p1 = 0;
sepp_nepp	6:fb11b746ceb5	2763	if (total_corr_signal_rate_mcps > 0) {
sepp_nepp	6:fb11b746ceb5	2764
sepp_nepp	6:fb11b746ceb5	2765	/* Shift by 10 bits to increase resolution prior to the
sepp_nepp	6:fb11b746ceb5	2766	* division */
sepp_nepp	6:fb11b746ceb5	2767	signal_rate_temp_mcps = total_signal_rate_mcps << 10;
sepp_nepp	6:fb11b746ceb5	2768
sepp_nepp	6:fb11b746ceb5	2769	/* Add rounding value prior to division */
sepp_nepp	6:fb11b746ceb5	2770	min_signal_needed_p1 = signal_rate_temp_mcps +
sepp_nepp	6:fb11b746ceb5	2771	(total_corr_signal_rate_mcps / 2);
sepp_nepp	6:fb11b746ceb5	2772
sepp_nepp	6:fb11b746ceb5	2773	/* FixPoint0626/FixPoint1616 = FixPoint2210 */
sepp_nepp	6:fb11b746ceb5	2774	min_signal_needed_p1 /= total_corr_signal_rate_mcps;
sepp_nepp	6:fb11b746ceb5	2775
sepp_nepp	6:fb11b746ceb5	2776	/* Apply a factored version of the speed of light.
sepp_nepp	6:fb11b746ceb5	2777	Correction to be applied at the end */
sepp_nepp	6:fb11b746ceb5	2778	min_signal_needed_p1 *= 3;
sepp_nepp	6:fb11b746ceb5	2779
sepp_nepp	6:fb11b746ceb5	2780	/* FixPoint2210 * FixPoint2210 = FixPoint1220 */
sepp_nepp	6:fb11b746ceb5	2781	min_signal_needed_p1 *= min_signal_needed_p1;
sepp_nepp	6:fb11b746ceb5	2782
sepp_nepp	6:fb11b746ceb5	2783	/* FixPoint1220 >> 16 = FixPoint2804 */
sepp_nepp	6:fb11b746ceb5	2784	min_signal_needed_p1 = (min_signal_needed_p1 + 0x8000) >> 16;
sepp_nepp	6:fb11b746ceb5	2785	}
sepp_nepp	6:fb11b746ceb5	2786
sepp_nepp	6:fb11b746ceb5	2787	min_signal_needed_p2 = pw_mult * sigma_estimate_p1;
sepp_nepp	6:fb11b746ceb5	2788
sepp_nepp	6:fb11b746ceb5	2789	/* FixPoint1616 >> 16 = uint32 */
sepp_nepp	6:fb11b746ceb5	2790	min_signal_needed_p2 = (min_signal_needed_p2 + 0x8000) >> 16;
sepp_nepp	6:fb11b746ceb5	2791
sepp_nepp	6:fb11b746ceb5	2792	/* uint32 * uint32 = uint32 */
sepp_nepp	6:fb11b746ceb5	2793	min_signal_needed_p2 *= min_signal_needed_p2;
sepp_nepp	6:fb11b746ceb5	2794
sepp_nepp	6:fb11b746ceb5	2795	/* Check sigmaEstimateP2
sepp_nepp	6:fb11b746ceb5	2796	* If this value is too high there is not enough signal rate
sepp_nepp	6:fb11b746ceb5	2797	* to calculate dmax value so set a suitable value to ensure
sepp_nepp	6:fb11b746ceb5	2798	* a very small dmax.
sepp_nepp	6:fb11b746ceb5	2799	*/
sepp_nepp	6:fb11b746ceb5	2800	sigma_est_p2_tmp = (sigma_estimate_p2 + 0x8000) >> 16;
sepp_nepp	6:fb11b746ceb5	2801	sigma_est_p2_tmp = (sigma_est_p2_tmp + c_amb_eff_width_sigma_est_ns / 2) /
sepp_nepp	6:fb11b746ceb5	2802	c_amb_eff_width_sigma_est_ns;
sepp_nepp	6:fb11b746ceb5	2803	sigma_est_p2_tmp *= c_amb_eff_width_d_max_ns;
sepp_nepp	6:fb11b746ceb5	2804
sepp_nepp	6:fb11b746ceb5	2805	if (sigma_est_p2_tmp > 0xffff) {
sepp_nepp	6:fb11b746ceb5	2806	min_signal_needed_p3 = 0xfff00000;
sepp_nepp	6:fb11b746ceb5	2807	} else {
sepp_nepp	6:fb11b746ceb5	2808
sepp_nepp	6:fb11b746ceb5	2809	/* DMAX uses a different ambient width from sigma, so apply
sepp_nepp	6:fb11b746ceb5	2810	* correction.
sepp_nepp	6:fb11b746ceb5	2811	* Perform division before multiplication to prevent overflow.
sepp_nepp	6:fb11b746ceb5	2812	*/
sepp_nepp	6:fb11b746ceb5	2813	sigma_estimate_p2 = (sigma_estimate_p2 + c_amb_eff_width_sigma_est_ns / 2) /
sepp_nepp	6:fb11b746ceb5	2814	c_amb_eff_width_sigma_est_ns;
sepp_nepp	6:fb11b746ceb5	2815	sigma_estimate_p2 *= c_amb_eff_width_d_max_ns;
sepp_nepp	6:fb11b746ceb5	2816
sepp_nepp	6:fb11b746ceb5	2817	/* FixPoint1616 >> 16 = uint32 */
sepp_nepp	6:fb11b746ceb5	2818	min_signal_needed_p3 = (sigma_estimate_p2 + 0x8000) >> 16;
sepp_nepp	6:fb11b746ceb5	2819
sepp_nepp	6:fb11b746ceb5	2820	min_signal_needed_p3 *= min_signal_needed_p3;
sepp_nepp	6:fb11b746ceb5	2821
sepp_nepp	6:fb11b746ceb5	2822	}
sepp_nepp	6:fb11b746ceb5	2823
sepp_nepp	6:fb11b746ceb5	2824	/* FixPoint1814 / uint32 = FixPoint1814 */
sepp_nepp	6:fb11b746ceb5	2825	sigma_limit_tmp = ((c_sigma_limit << 14) + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	2826
sepp_nepp	6:fb11b746ceb5	2827	/* FixPoint1814 * FixPoint1814 = FixPoint3628 := FixPoint0428 */
sepp_nepp	6:fb11b746ceb5	2828	sigma_limit_tmp *= sigma_limit_tmp;
sepp_nepp	6:fb11b746ceb5	2829
sepp_nepp	6:fb11b746ceb5	2830	/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
sepp_nepp	6:fb11b746ceb5	2831	sigma_est_sq_tmp = c_sigma_est_ref * c_sigma_est_ref;
sepp_nepp	6:fb11b746ceb5	2832
sepp_nepp	6:fb11b746ceb5	2833	/* FixPoint3232 >> 4 = FixPoint0428 */
sepp_nepp	6:fb11b746ceb5	2834	sigma_est_sq_tmp = (sigma_est_sq_tmp + 0x08) >> 4;
sepp_nepp	6:fb11b746ceb5	2835
sepp_nepp	6:fb11b746ceb5	2836	/* FixPoint0428 - FixPoint0428 = FixPoint0428 */
sepp_nepp	6:fb11b746ceb5	2837	sigma_limit_tmp -= sigma_est_sq_tmp;
sepp_nepp	6:fb11b746ceb5	2838
sepp_nepp	6:fb11b746ceb5	2839	/* uint32_t * FixPoint0428 = FixPoint0428 */
sepp_nepp	6:fb11b746ceb5	2840	min_signal_needed_p4 = 4 * 12 * sigma_limit_tmp;
sepp_nepp	6:fb11b746ceb5	2841
sepp_nepp	6:fb11b746ceb5	2842	/* FixPoint0428 >> 14 = FixPoint1814 */
sepp_nepp	6:fb11b746ceb5	2843	min_signal_needed_p4 = (min_signal_needed_p4 + 0x2000) >> 14;
sepp_nepp	6:fb11b746ceb5	2844
sepp_nepp	6:fb11b746ceb5	2845	/* uint32 + uint32 = uint32 */
sepp_nepp	6:fb11b746ceb5	2846	min_signal_needed = (min_signal_needed_p2 + min_signal_needed_p3);
sepp_nepp	6:fb11b746ceb5	2847
sepp_nepp	6:fb11b746ceb5	2848	/* uint32 / uint32 = uint32 */
sepp_nepp	6:fb11b746ceb5	2849	min_signal_needed += (peak_vcsel_duration_us / 2);
sepp_nepp	6:fb11b746ceb5	2850	min_signal_needed /= peak_vcsel_duration_us;
sepp_nepp	6:fb11b746ceb5	2851
sepp_nepp	6:fb11b746ceb5	2852	/* uint32 << 14 = FixPoint1814 */
sepp_nepp	6:fb11b746ceb5	2853	min_signal_needed <<= 14;
sepp_nepp	6:fb11b746ceb5	2854
sepp_nepp	6:fb11b746ceb5	2855	/* FixPoint1814 / FixPoint1814 = uint32 */
sepp_nepp	6:fb11b746ceb5	2856	min_signal_needed += (min_signal_needed_p4 / 2);
sepp_nepp	6:fb11b746ceb5	2857	min_signal_needed /= min_signal_needed_p4;
sepp_nepp	6:fb11b746ceb5	2858
sepp_nepp	6:fb11b746ceb5	2859	/* FixPoint3200 * FixPoint2804 := FixPoint2804*/
sepp_nepp	6:fb11b746ceb5	2860	min_signal_needed *= min_signal_needed_p1;
sepp_nepp	6:fb11b746ceb5	2861
sepp_nepp	6:fb11b746ceb5	2862	/* Apply correction by dividing by 1000000.
sepp_nepp	6:fb11b746ceb5	2863	* This assumes 10E16 on the numerator of the equation
sepp_nepp	6:fb11b746ceb5	2864	* and 10E-22 on the denominator.
sepp_nepp	6:fb11b746ceb5	2865	* We do this because 32bit fix point calculation can't
sepp_nepp	6:fb11b746ceb5	2866	* handle the larger and smaller elements of this equation,
sepp_nepp	6:fb11b746ceb5	2867	* i.e. speed of light and pulse widths.
sepp_nepp	6:fb11b746ceb5	2868	*/
sepp_nepp	6:fb11b746ceb5	2869	min_signal_needed = (min_signal_needed + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	2870	min_signal_needed <<= 4;
sepp_nepp	6:fb11b746ceb5	2871
sepp_nepp	6:fb11b746ceb5	2872	min_signal_needed = (min_signal_needed + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	2873
sepp_nepp	6:fb11b746ceb5	2874	/* FixPoint1616 >> 8 = FixPoint2408 */
sepp_nepp	6:fb11b746ceb5	2875	signal_limit_tmp = (c_signal_limit + 0x80) >> 8;
sepp_nepp	6:fb11b746ceb5	2876
sepp_nepp	6:fb11b746ceb5	2877	/* FixPoint2408/FixPoint2408 = uint32 */
sepp_nepp	6:fb11b746ceb5	2878	if (signal_limit_tmp != 0) {
sepp_nepp	6:fb11b746ceb5	2879	dmax_dark_tmp = (signal_at0_mm + (signal_limit_tmp / 2))
sepp_nepp	6:fb11b746ceb5	2880	/ signal_limit_tmp;
sepp_nepp	6:fb11b746ceb5	2881	} else {
sepp_nepp	6:fb11b746ceb5	2882	dmax_dark_tmp = 0;
sepp_nepp	6:fb11b746ceb5	2883	}
sepp_nepp	6:fb11b746ceb5	2884
sepp_nepp	6:fb11b746ceb5	2885	dmax_dark = VL53L0X_isqrt(dmax_dark_tmp);
sepp_nepp	6:fb11b746ceb5	2886
sepp_nepp	6:fb11b746ceb5	2887	/* FixPoint2408/FixPoint2408 = uint32 */
sepp_nepp	6:fb11b746ceb5	2888	if (min_signal_needed != 0) {
sepp_nepp	6:fb11b746ceb5	2889	dmax_ambient = (signal_at0_mm + min_signal_needed / 2)
sepp_nepp	6:fb11b746ceb5	2890	/ min_signal_needed;
sepp_nepp	6:fb11b746ceb5	2891	} else {
sepp_nepp	6:fb11b746ceb5	2892	dmax_ambient = 0;
sepp_nepp	6:fb11b746ceb5	2893	}
sepp_nepp	6:fb11b746ceb5	2894
sepp_nepp	6:fb11b746ceb5	2895	dmax_ambient = VL53L0X_isqrt(dmax_ambient);
sepp_nepp	6:fb11b746ceb5	2896
sepp_nepp	6:fb11b746ceb5	2897	*pd_max_mm = dmax_dark;
sepp_nepp	6:fb11b746ceb5	2898	if (dmax_dark > dmax_ambient) {
sepp_nepp	6:fb11b746ceb5	2899	*pd_max_mm = dmax_ambient;
sepp_nepp	6:fb11b746ceb5	2900	}
sepp_nepp	6:fb11b746ceb5	2901
sepp_nepp	6:fb11b746ceb5	2902
sepp_nepp	6:fb11b746ceb5	2903
sepp_nepp	6:fb11b746ceb5	2904	return status;
sepp_nepp	6:fb11b746ceb5	2905	}
sepp_nepp	6:fb11b746ceb5	2906
sepp_nepp	8:2fd7cb217068	2907	VL53L0X_Error VL53L0X::VL53L0X_calc_sigma_estimate(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
sepp_nepp	6:fb11b746ceb5	2908	FixPoint1616_t *p_sigma_estimate,
sepp_nepp	6:fb11b746ceb5	2909	uint32_t *p_dmax_mm)
sepp_nepp	8:2fd7cb217068	2910	{ /* Expressed in 100ths of a ns, i.e. centi-ns */
sepp_nepp	6:fb11b746ceb5	2911	const uint32_t c_pulse_effective_width_centi_ns = 800;
sepp_nepp	6:fb11b746ceb5	2912	/* Expressed in 100ths of a ns, i.e. centi-ns */
sepp_nepp	6:fb11b746ceb5	2913	const uint32_t c_ambient_effective_width_centi_ns = 600;
sepp_nepp	6:fb11b746ceb5	2914	const FixPoint1616_t c_dflt_final_range_integration_time_milli_secs = 0x00190000; /* 25ms */
sepp_nepp	6:fb11b746ceb5	2915	const uint32_t c_vcsel_pulse_width_ps = 4700; /* pico secs */
sepp_nepp	6:fb11b746ceb5	2916	const FixPoint1616_t c_sigma_est_max = 0x028F87AE;
sepp_nepp	6:fb11b746ceb5	2917	const FixPoint1616_t c_sigma_est_rtn_max = 0xF000;
sepp_nepp	6:fb11b746ceb5	2918	const FixPoint1616_t c_amb_to_signal_ratio_max = 0xF0000000 /
sepp_nepp	6:fb11b746ceb5	2919	c_ambient_effective_width_centi_ns;
sepp_nepp	6:fb11b746ceb5	2920	/* Time Of Flight per mm (6.6 pico secs) */
sepp_nepp	6:fb11b746ceb5	2921	const FixPoint1616_t c_tof_per_mm_ps = 0x0006999A;
sepp_nepp	6:fb11b746ceb5	2922	const uint32_t c_16bit_rounding_param = 0x00008000;
sepp_nepp	6:fb11b746ceb5	2923	const FixPoint1616_t c_max_x_talk_kcps = 0x00320000;
sepp_nepp	6:fb11b746ceb5	2924	const uint32_t c_pll_period_ps = 1655;
sepp_nepp	6:fb11b746ceb5	2925
sepp_nepp	6:fb11b746ceb5	2926	uint32_t vcsel_total_events_rtn;
sepp_nepp	6:fb11b746ceb5	2927	uint32_t final_range_timeout_micro_secs;
sepp_nepp	6:fb11b746ceb5	2928	uint32_t pre_range_timeout_micro_secs;
sepp_nepp	6:fb11b746ceb5	2929	uint32_t final_range_integration_time_milli_secs;
sepp_nepp	6:fb11b746ceb5	2930	FixPoint1616_t sigma_estimate_p1;
sepp_nepp	6:fb11b746ceb5	2931	FixPoint1616_t sigma_estimate_p2;
sepp_nepp	6:fb11b746ceb5	2932	FixPoint1616_t sigma_estimate_p3;
sepp_nepp	6:fb11b746ceb5	2933	FixPoint1616_t delta_t_ps;
sepp_nepp	6:fb11b746ceb5	2934	FixPoint1616_t pw_mult;
sepp_nepp	6:fb11b746ceb5	2935	FixPoint1616_t sigma_est_rtn;
sepp_nepp	6:fb11b746ceb5	2936	FixPoint1616_t sigma_estimate;
sepp_nepp	6:fb11b746ceb5	2937	FixPoint1616_t x_talk_correction;
sepp_nepp	6:fb11b746ceb5	2938	FixPoint1616_t ambient_rate_kcps;
sepp_nepp	6:fb11b746ceb5	2939	FixPoint1616_t peak_signal_rate_kcps;
sepp_nepp	6:fb11b746ceb5	2940	FixPoint1616_t x_talk_comp_rate_mcps;
sepp_nepp	6:fb11b746ceb5	2941	uint32_t x_talk_comp_rate_kcps;
sepp_nepp	6:fb11b746ceb5	2942	VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2943	FixPoint1616_t diff1_mcps;
sepp_nepp	6:fb11b746ceb5	2944	FixPoint1616_t diff2_mcps;
sepp_nepp	6:fb11b746ceb5	2945	FixPoint1616_t sqr1;
sepp_nepp	6:fb11b746ceb5	2946	FixPoint1616_t sqr2;
sepp_nepp	6:fb11b746ceb5	2947	FixPoint1616_t sqr_sum;
sepp_nepp	6:fb11b746ceb5	2948	FixPoint1616_t sqrt_result_centi_ns;
sepp_nepp	6:fb11b746ceb5	2949	FixPoint1616_t sqrt_result;
sepp_nepp	6:fb11b746ceb5	2950	FixPoint1616_t total_signal_rate_mcps;
sepp_nepp	6:fb11b746ceb5	2951	FixPoint1616_t corrected_signal_rate_mcps;
sepp_nepp	6:fb11b746ceb5	2952	FixPoint1616_t sigma_est_ref;
sepp_nepp	6:fb11b746ceb5	2953	uint32_t vcsel_width;
sepp_nepp	6:fb11b746ceb5	2954	uint32_t final_range_macro_pclks;
sepp_nepp	6:fb11b746ceb5	2955	uint32_t pre_range_macro_pclks;
sepp_nepp	6:fb11b746ceb5	2956	uint32_t peak_vcsel_duration_us;
sepp_nepp	6:fb11b746ceb5	2957	uint8_t final_range_vcsel_pclks;
sepp_nepp	6:fb11b746ceb5	2958	uint8_t pre_range_vcsel_pclks;
sepp_nepp	6:fb11b746ceb5	2959	/*! \addtogroup calc_sigma_estimate
sepp_nepp	6:fb11b746ceb5	2960	* @{
sepp_nepp	6:fb11b746ceb5	2961	*
sepp_nepp	6:fb11b746ceb5	2962	* Estimates the range sigma
sepp_nepp	6:fb11b746ceb5	2963	*/
sepp_nepp	6:fb11b746ceb5	2964
sepp_nepp	6:fb11b746ceb5	2965
sepp_nepp	6:fb11b746ceb5	2966
sepp_nepp	8:2fd7cb217068	2967	x_talk_comp_rate_mcps = Data.CurrentParameters.XTalkCompensationRateMegaCps ;
sepp_nepp	6:fb11b746ceb5	2968
sepp_nepp	6:fb11b746ceb5	2969	/*
sepp_nepp	6:fb11b746ceb5	2970	* We work in kcps rather than mcps as this helps keep within the
sepp_nepp	6:fb11b746ceb5	2971	* confines of the 32 Fix1616 type.
sepp_nepp	6:fb11b746ceb5	2972	*/
sepp_nepp	6:fb11b746ceb5	2973
sepp_nepp	6:fb11b746ceb5	2974	ambient_rate_kcps =
sepp_nepp	6:fb11b746ceb5	2975	(p_ranging_measurement_data->AmbientRateRtnMegaCps * 1000) >> 16;
sepp_nepp	6:fb11b746ceb5	2976
sepp_nepp	6:fb11b746ceb5	2977	corrected_signal_rate_mcps =
sepp_nepp	6:fb11b746ceb5	2978	p_ranging_measurement_data->SignalRateRtnMegaCps;
sepp_nepp	6:fb11b746ceb5	2979
sepp_nepp	7:3a1115c2556b	2980	status = VL53L0X_get_total_signal_rate(p_ranging_measurement_data, &total_signal_rate_mcps);
sepp_nepp	7:3a1115c2556b	2981	status = VL53L0X_get_total_xtalk_rate(p_ranging_measurement_data, &x_talk_comp_rate_mcps);
sepp_nepp	6:fb11b746ceb5	2982
sepp_nepp	6:fb11b746ceb5	2983	/* Signal rate measurement provided by device is the
sepp_nepp	6:fb11b746ceb5	2984	* peak signal rate, not average.
sepp_nepp	6:fb11b746ceb5	2985	*/
sepp_nepp	6:fb11b746ceb5	2986	peak_signal_rate_kcps = (total_signal_rate_mcps * 1000);
sepp_nepp	6:fb11b746ceb5	2987	peak_signal_rate_kcps = (peak_signal_rate_kcps + 0x8000) >> 16;
sepp_nepp	6:fb11b746ceb5	2988
sepp_nepp	6:fb11b746ceb5	2989	x_talk_comp_rate_kcps = x_talk_comp_rate_mcps * 1000;
sepp_nepp	6:fb11b746ceb5	2990
sepp_nepp	6:fb11b746ceb5	2991	if (x_talk_comp_rate_kcps > c_max_x_talk_kcps) {
sepp_nepp	6:fb11b746ceb5	2992	x_talk_comp_rate_kcps = c_max_x_talk_kcps;
sepp_nepp	6:fb11b746ceb5	2993	}
sepp_nepp	6:fb11b746ceb5	2994
sepp_nepp	6:fb11b746ceb5	2995	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	2996
sepp_nepp	6:fb11b746ceb5	2997	/* Calculate final range macro periods */
sepp_nepp	8:2fd7cb217068	2998	final_range_timeout_micro_secs = Data.FinalRangeTimeoutMicroSecs;
sepp_nepp	8:2fd7cb217068	2999	final_range_vcsel_pclks = Data.FinalRangeVcselPulsePeriod;
sepp_nepp	7:3a1115c2556b	3000	final_range_macro_pclks = VL53L0X_calc_timeout_mclks( final_range_timeout_micro_secs, final_range_vcsel_pclks);
sepp_nepp	6:fb11b746ceb5	3001
sepp_nepp	6:fb11b746ceb5	3002	/* Calculate pre-range macro periods */
sepp_nepp	8:2fd7cb217068	3003	pre_range_timeout_micro_secs = Data.PreRangeTimeoutMicroSecs;
sepp_nepp	8:2fd7cb217068	3004	pre_range_vcsel_pclks = Data.PreRangeVcselPulsePeriod;
sepp_nepp	7:3a1115c2556b	3005
sepp_nepp	7:3a1115c2556b	3006	pre_range_macro_pclks = VL53L0X_calc_timeout_mclks(pre_range_timeout_micro_secs, pre_range_vcsel_pclks);
sepp_nepp	6:fb11b746ceb5	3007
sepp_nepp	6:fb11b746ceb5	3008	vcsel_width = 3;
sepp_nepp	6:fb11b746ceb5	3009	if (final_range_vcsel_pclks == 8) {
sepp_nepp	6:fb11b746ceb5	3010	vcsel_width = 2;
sepp_nepp	6:fb11b746ceb5	3011	}
sepp_nepp	6:fb11b746ceb5	3012
sepp_nepp	6:fb11b746ceb5	3013	peak_vcsel_duration_us = vcsel_width * 2048 *
sepp_nepp	6:fb11b746ceb5	3014	(pre_range_macro_pclks + final_range_macro_pclks);
sepp_nepp	6:fb11b746ceb5	3015	peak_vcsel_duration_us = (peak_vcsel_duration_us + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	3016	peak_vcsel_duration_us *= c_pll_period_ps;
sepp_nepp	6:fb11b746ceb5	3017	peak_vcsel_duration_us = (peak_vcsel_duration_us + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	3018
sepp_nepp	6:fb11b746ceb5	3019	/* Fix1616 >> 8 = Fix2408 */
sepp_nepp	6:fb11b746ceb5	3020	total_signal_rate_mcps = (total_signal_rate_mcps + 0x80) >> 8;
sepp_nepp	6:fb11b746ceb5	3021
sepp_nepp	6:fb11b746ceb5	3022	/* Fix2408 * uint32 = Fix2408 */
sepp_nepp	6:fb11b746ceb5	3023	vcsel_total_events_rtn = total_signal_rate_mcps *
sepp_nepp	6:fb11b746ceb5	3024	peak_vcsel_duration_us;
sepp_nepp	6:fb11b746ceb5	3025
sepp_nepp	6:fb11b746ceb5	3026	/* Fix2408 >> 8 = uint32 */
sepp_nepp	6:fb11b746ceb5	3027	vcsel_total_events_rtn = (vcsel_total_events_rtn + 0x80) >> 8;
sepp_nepp	6:fb11b746ceb5	3028
sepp_nepp	6:fb11b746ceb5	3029	/* Fix2408 << 8 = Fix1616 = */
sepp_nepp	6:fb11b746ceb5	3030	total_signal_rate_mcps <<= 8;
sepp_nepp	6:fb11b746ceb5	3031	}
sepp_nepp	6:fb11b746ceb5	3032
sepp_nepp	6:fb11b746ceb5	3033	if (status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3034
sepp_nepp	6:fb11b746ceb5	3035	return status;
sepp_nepp	6:fb11b746ceb5	3036	}
sepp_nepp	6:fb11b746ceb5	3037
sepp_nepp	6:fb11b746ceb5	3038	if (peak_signal_rate_kcps == 0) {
sepp_nepp	6:fb11b746ceb5	3039	*p_sigma_estimate = c_sigma_est_max;
sepp_nepp	8:2fd7cb217068	3040	Data.SigmaEstimate = c_sigma_est_max;
sepp_nepp	6:fb11b746ceb5	3041	*p_dmax_mm = 0;
sepp_nepp	6:fb11b746ceb5	3042	} else {
sepp_nepp	6:fb11b746ceb5	3043	if (vcsel_total_events_rtn < 1) {
sepp_nepp	6:fb11b746ceb5	3044	vcsel_total_events_rtn = 1;
sepp_nepp	6:fb11b746ceb5	3045	}
sepp_nepp	6:fb11b746ceb5	3046
sepp_nepp	6:fb11b746ceb5	3047	sigma_estimate_p1 = c_pulse_effective_width_centi_ns;
sepp_nepp	6:fb11b746ceb5	3048
sepp_nepp	6:fb11b746ceb5	3049	/* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	3050	sigma_estimate_p2 = (ambient_rate_kcps << 16) / peak_signal_rate_kcps;
sepp_nepp	6:fb11b746ceb5	3051	if (sigma_estimate_p2 > c_amb_to_signal_ratio_max) {
sepp_nepp	6:fb11b746ceb5	3052	/* Clip to prevent overflow. Will ensure safe
sepp_nepp	6:fb11b746ceb5	3053	* max result. */
sepp_nepp	6:fb11b746ceb5	3054	sigma_estimate_p2 = c_amb_to_signal_ratio_max;
sepp_nepp	6:fb11b746ceb5	3055	}
sepp_nepp	6:fb11b746ceb5	3056	sigma_estimate_p2 *= c_ambient_effective_width_centi_ns;
sepp_nepp	6:fb11b746ceb5	3057
sepp_nepp	6:fb11b746ceb5	3058	sigma_estimate_p3 = 2 * VL53L0X_isqrt(vcsel_total_events_rtn * 12);
sepp_nepp	6:fb11b746ceb5	3059
sepp_nepp	6:fb11b746ceb5	3060	/* uint32 * FixPoint1616 = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	3061	delta_t_ps = p_ranging_measurement_data->RangeMilliMeter *
sepp_nepp	6:fb11b746ceb5	3062	c_tof_per_mm_ps;
sepp_nepp	6:fb11b746ceb5	3063
sepp_nepp	6:fb11b746ceb5	3064	/*
sepp_nepp	6:fb11b746ceb5	3065	* vcselRate - xtalkCompRate
sepp_nepp	6:fb11b746ceb5	3066	* (uint32 << 16) - FixPoint1616 = FixPoint1616.
sepp_nepp	6:fb11b746ceb5	3067	* Divide result by 1000 to convert to mcps.
sepp_nepp	6:fb11b746ceb5	3068	* 500 is added to ensure rounding when integer division
sepp_nepp	6:fb11b746ceb5	3069	* truncates.
sepp_nepp	6:fb11b746ceb5	3070	*/
sepp_nepp	6:fb11b746ceb5	3071	diff1_mcps = (((peak_signal_rate_kcps << 16) -
sepp_nepp	6:fb11b746ceb5	3072	2 * x_talk_comp_rate_kcps) + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	3073
sepp_nepp	6:fb11b746ceb5	3074	/* vcselRate + xtalkCompRate */
sepp_nepp	6:fb11b746ceb5	3075	diff2_mcps = ((peak_signal_rate_kcps << 16) + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	3076
sepp_nepp	6:fb11b746ceb5	3077	/* Shift by 8 bits to increase resolution prior to the
sepp_nepp	6:fb11b746ceb5	3078	* division */
sepp_nepp	6:fb11b746ceb5	3079	diff1_mcps <<= 8;
sepp_nepp	6:fb11b746ceb5	3080
sepp_nepp	6:fb11b746ceb5	3081	/* FixPoint0824/FixPoint1616 = FixPoint2408 */
sepp_nepp	6:fb11b746ceb5	3082	// xTalkCorrection = abs(diff1_mcps/diff2_mcps);
sepp_nepp	6:fb11b746ceb5	3083	// abs is causing compiler overloading isue in C++, but unsigned types. So, redundant call anyway!
sepp_nepp	6:fb11b746ceb5	3084	x_talk_correction = diff1_mcps / diff2_mcps;
sepp_nepp	6:fb11b746ceb5	3085
sepp_nepp	6:fb11b746ceb5	3086	/* FixPoint2408 << 8 = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	3087	x_talk_correction <<= 8;
sepp_nepp	6:fb11b746ceb5	3088
sepp_nepp	6:fb11b746ceb5	3089	if (p_ranging_measurement_data->RangeStatus != 0) {
sepp_nepp	6:fb11b746ceb5	3090	pw_mult = 1 << 16;
sepp_nepp	6:fb11b746ceb5	3091	} else {
sepp_nepp	6:fb11b746ceb5	3092	/* FixPoint1616/uint32 = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	3093	pw_mult = delta_t_ps / c_vcsel_pulse_width_ps; /* smaller than 1.0f */
sepp_nepp	6:fb11b746ceb5	3094
sepp_nepp	6:fb11b746ceb5	3095	/*
sepp_nepp	6:fb11b746ceb5	3096	* FixPoint1616 * FixPoint1616 = FixPoint3232, however both
sepp_nepp	6:fb11b746ceb5	3097	* values are small enough such that32 bits will not be
sepp_nepp	6:fb11b746ceb5	3098	* exceeded.
sepp_nepp	6:fb11b746ceb5	3099	*/
sepp_nepp	6:fb11b746ceb5	3100	pw_mult *= ((1 << 16) - x_talk_correction);
sepp_nepp	6:fb11b746ceb5	3101
sepp_nepp	6:fb11b746ceb5	3102	/* (FixPoint3232 >> 16) = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	3103	pw_mult = (pw_mult + c_16bit_rounding_param) >> 16;
sepp_nepp	6:fb11b746ceb5	3104
sepp_nepp	6:fb11b746ceb5	3105	/* FixPoint1616 + FixPoint1616 = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	3106	pw_mult += (1 << 16);
sepp_nepp	6:fb11b746ceb5	3107
sepp_nepp	6:fb11b746ceb5	3108	/*
sepp_nepp	6:fb11b746ceb5	3109	* At this point the value will be 1.xx, therefore if we square
sepp_nepp	6:fb11b746ceb5	3110	* the value this will exceed 32 bits. To address this perform
sepp_nepp	6:fb11b746ceb5	3111	* a single shift to the right before the multiplication.
sepp_nepp	6:fb11b746ceb5	3112	*/
sepp_nepp	6:fb11b746ceb5	3113	pw_mult >>= 1;
sepp_nepp	6:fb11b746ceb5	3114	/* FixPoint1715 * FixPoint1715 = FixPoint3430 */
sepp_nepp	6:fb11b746ceb5	3115	pw_mult = pw_mult * pw_mult;
sepp_nepp	6:fb11b746ceb5	3116
sepp_nepp	6:fb11b746ceb5	3117	/* (FixPoint3430 >> 14) = Fix1616 */
sepp_nepp	6:fb11b746ceb5	3118	pw_mult >>= 14;
sepp_nepp	6:fb11b746ceb5	3119	}
sepp_nepp	6:fb11b746ceb5	3120
sepp_nepp	6:fb11b746ceb5	3121	/* FixPoint1616 * uint32 = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	3122	sqr1 = pw_mult * sigma_estimate_p1;
sepp_nepp	6:fb11b746ceb5	3123
sepp_nepp	6:fb11b746ceb5	3124	/* (FixPoint1616 >> 16) = FixPoint3200 */
sepp_nepp	6:fb11b746ceb5	3125	sqr1 = (sqr1 + 0x8000) >> 16;
sepp_nepp	6:fb11b746ceb5	3126
sepp_nepp	6:fb11b746ceb5	3127	/* FixPoint3200 * FixPoint3200 = FixPoint6400 */
sepp_nepp	6:fb11b746ceb5	3128	sqr1 *= sqr1;
sepp_nepp	6:fb11b746ceb5	3129
sepp_nepp	6:fb11b746ceb5	3130	sqr2 = sigma_estimate_p2;
sepp_nepp	6:fb11b746ceb5	3131
sepp_nepp	6:fb11b746ceb5	3132	/* (FixPoint1616 >> 16) = FixPoint3200 */
sepp_nepp	6:fb11b746ceb5	3133	sqr2 = (sqr2 + 0x8000) >> 16;
sepp_nepp	6:fb11b746ceb5	3134
sepp_nepp	6:fb11b746ceb5	3135	/* FixPoint3200 * FixPoint3200 = FixPoint6400 */
sepp_nepp	6:fb11b746ceb5	3136	sqr2 *= sqr2;
sepp_nepp	6:fb11b746ceb5	3137
sepp_nepp	6:fb11b746ceb5	3138	/* FixPoint64000 + FixPoint6400 = FixPoint6400 */
sepp_nepp	6:fb11b746ceb5	3139	sqr_sum = sqr1 + sqr2;
sepp_nepp	6:fb11b746ceb5	3140
sepp_nepp	6:fb11b746ceb5	3141	/* SQRT(FixPoin6400) = FixPoint3200 */
sepp_nepp	6:fb11b746ceb5	3142	sqrt_result_centi_ns = VL53L0X_isqrt(sqr_sum);
sepp_nepp	6:fb11b746ceb5	3143
sepp_nepp	6:fb11b746ceb5	3144	/* (FixPoint3200 << 16) = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	3145	sqrt_result_centi_ns <<= 16;
sepp_nepp	6:fb11b746ceb5	3146
sepp_nepp	6:fb11b746ceb5	3147	/*
sepp_nepp	6:fb11b746ceb5	3148	* Note that the Speed Of Light is expressed in um per 1E-10
sepp_nepp	6:fb11b746ceb5	3149	* seconds (2997) Therefore to get mm/ns we have to divide by
sepp_nepp	6:fb11b746ceb5	3150	* 10000
sepp_nepp	6:fb11b746ceb5	3151	*/
sepp_nepp	6:fb11b746ceb5	3152	sigma_est_rtn = (((sqrt_result_centi_ns + 50) / 100) /
sepp_nepp	6:fb11b746ceb5	3153	sigma_estimate_p3);
sepp_nepp	6:fb11b746ceb5	3154	sigma_est_rtn *= VL53L0X_SPEED_OF_LIGHT_IN_AIR;
sepp_nepp	6:fb11b746ceb5	3155
sepp_nepp	6:fb11b746ceb5	3156	/* Add 5000 before dividing by 10000 to ensure rounding. */
sepp_nepp	6:fb11b746ceb5	3157	sigma_est_rtn += 5000;
sepp_nepp	6:fb11b746ceb5	3158	sigma_est_rtn /= 10000;
sepp_nepp	6:fb11b746ceb5	3159
sepp_nepp	6:fb11b746ceb5	3160	if (sigma_est_rtn > c_sigma_est_rtn_max) {
sepp_nepp	6:fb11b746ceb5	3161	/* Clip to prevent overflow. Will ensure safe
sepp_nepp	6:fb11b746ceb5	3162	* max result. */
sepp_nepp	6:fb11b746ceb5	3163	sigma_est_rtn = c_sigma_est_rtn_max;
sepp_nepp	6:fb11b746ceb5	3164	}
sepp_nepp	6:fb11b746ceb5	3165	final_range_integration_time_milli_secs =
sepp_nepp	6:fb11b746ceb5	3166	(final_range_timeout_micro_secs + pre_range_timeout_micro_secs + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	3167
sepp_nepp	6:fb11b746ceb5	3168	/* sigmaEstRef = 1mm * 25ms/final range integration time (inc pre-range)
sepp_nepp	6:fb11b746ceb5	3169	* sqrt(FixPoint1616/int) = FixPoint2408)
sepp_nepp	6:fb11b746ceb5	3170	*/
sepp_nepp	6:fb11b746ceb5	3171	sigma_est_ref =
sepp_nepp	6:fb11b746ceb5	3172	VL53L0X_isqrt((c_dflt_final_range_integration_time_milli_secs +
sepp_nepp	6:fb11b746ceb5	3173	final_range_integration_time_milli_secs / 2) /
sepp_nepp	6:fb11b746ceb5	3174	final_range_integration_time_milli_secs);
sepp_nepp	6:fb11b746ceb5	3175
sepp_nepp	6:fb11b746ceb5	3176	/* FixPoint2408 << 8 = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	3177	sigma_est_ref <<= 8;
sepp_nepp	6:fb11b746ceb5	3178	sigma_est_ref = (sigma_est_ref + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	3179
sepp_nepp	6:fb11b746ceb5	3180	/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
sepp_nepp	6:fb11b746ceb5	3181	sqr1 = sigma_est_rtn * sigma_est_rtn;
sepp_nepp	6:fb11b746ceb5	3182	/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
sepp_nepp	6:fb11b746ceb5	3183	sqr2 = sigma_est_ref * sigma_est_ref;
sepp_nepp	6:fb11b746ceb5	3184
sepp_nepp	6:fb11b746ceb5	3185	/* sqrt(FixPoint3232) = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	3186	sqrt_result = VL53L0X_isqrt((sqr1 + sqr2));
sepp_nepp	6:fb11b746ceb5	3187	/*
sepp_nepp	6:fb11b746ceb5	3188	* Note that the Shift by 4 bits increases resolution prior to
sepp_nepp	6:fb11b746ceb5	3189	* the sqrt, therefore the result must be shifted by 2 bits to
sepp_nepp	6:fb11b746ceb5	3190	* the right to revert back to the FixPoint1616 format.
sepp_nepp	6:fb11b746ceb5	3191	*/
sepp_nepp	6:fb11b746ceb5	3192
sepp_nepp	6:fb11b746ceb5	3193	sigma_estimate = 1000 * sqrt_result;
sepp_nepp	6:fb11b746ceb5	3194
sepp_nepp	6:fb11b746ceb5	3195	if ((peak_signal_rate_kcps < 1) \|\| (vcsel_total_events_rtn < 1) \|\|
sepp_nepp	6:fb11b746ceb5	3196	(sigma_estimate > c_sigma_est_max)) {
sepp_nepp	6:fb11b746ceb5	3197	sigma_estimate = c_sigma_est_max;
sepp_nepp	6:fb11b746ceb5	3198	}
sepp_nepp	6:fb11b746ceb5	3199
sepp_nepp	6:fb11b746ceb5	3200	*p_sigma_estimate = (uint32_t)(sigma_estimate);
sepp_nepp	8:2fd7cb217068	3201	Data.SigmaEstimate = *p_sigma_estimate;
sepp_nepp	7:3a1115c2556b	3202	status = VL53L0X_calc_dmax(total_signal_rate_mcps,
sepp_nepp	6:fb11b746ceb5	3203	corrected_signal_rate_mcps,
sepp_nepp	6:fb11b746ceb5	3204	pw_mult,
sepp_nepp	6:fb11b746ceb5	3205	sigma_estimate_p1,
sepp_nepp	6:fb11b746ceb5	3206	sigma_estimate_p2,
sepp_nepp	6:fb11b746ceb5	3207	peak_vcsel_duration_us,
sepp_nepp	6:fb11b746ceb5	3208	p_dmax_mm);
sepp_nepp	6:fb11b746ceb5	3209	}
sepp_nepp	6:fb11b746ceb5	3210
sepp_nepp	6:fb11b746ceb5	3211
sepp_nepp	6:fb11b746ceb5	3212	return status;
sepp_nepp	6:fb11b746ceb5	3213	}
sepp_nepp	6:fb11b746ceb5	3214
sepp_nepp	8:2fd7cb217068	3215	VL53L0X_Error VL53L0X::VL53L0X_get_pal_range_status(uint8_t device_range_status,
sepp_nepp	6:fb11b746ceb5	3216	FixPoint1616_t signal_rate,
sepp_nepp	6:fb11b746ceb5	3217	uint16_t effective_spad_rtn_count,
sepp_nepp	6:fb11b746ceb5	3218	VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
sepp_nepp	6:fb11b746ceb5	3219	uint8_t *p_pal_range_status)
sepp_nepp	8:2fd7cb217068	3220	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3221	uint8_t none_flag;
sepp_nepp	6:fb11b746ceb5	3222	uint8_t sigma_limitflag = 0;
sepp_nepp	6:fb11b746ceb5	3223	uint8_t signal_ref_clipflag = 0;
sepp_nepp	6:fb11b746ceb5	3224	uint8_t range_ignore_thresholdflag = 0;
sepp_nepp	6:fb11b746ceb5	3225	uint8_t sigma_limit_check_enable = 0;
sepp_nepp	6:fb11b746ceb5	3226	uint8_t signal_rate_final_range_limit_check_enable = 0;
sepp_nepp	6:fb11b746ceb5	3227	uint8_t signal_ref_clip_limit_check_enable = 0;
sepp_nepp	6:fb11b746ceb5	3228	uint8_t range_ignore_threshold_limit_check_enable = 0;
sepp_nepp	6:fb11b746ceb5	3229	FixPoint1616_t sigma_estimate;
sepp_nepp	6:fb11b746ceb5	3230	FixPoint1616_t sigma_limit_value;
sepp_nepp	6:fb11b746ceb5	3231	FixPoint1616_t signal_ref_clip_value;
sepp_nepp	6:fb11b746ceb5	3232	FixPoint1616_t range_ignore_threshold_value;
sepp_nepp	6:fb11b746ceb5	3233	FixPoint1616_t signal_rate_per_spad;
sepp_nepp	6:fb11b746ceb5	3234	uint8_t device_range_status_internal = 0;
sepp_nepp	6:fb11b746ceb5	3235	uint16_t tmp_word = 0;
sepp_nepp	6:fb11b746ceb5	3236	uint8_t temp8;
sepp_nepp	6:fb11b746ceb5	3237	uint32_t dmax_mm = 0;
sepp_nepp	6:fb11b746ceb5	3238	FixPoint1616_t last_signal_ref_mcps;
sepp_nepp	6:fb11b746ceb5	3239
sepp_nepp	6:fb11b746ceb5	3240
sepp_nepp	6:fb11b746ceb5	3241
sepp_nepp	6:fb11b746ceb5	3242	/*
sepp_nepp	6:fb11b746ceb5	3243	* VL53L0X has a good ranging when the value of the
sepp_nepp	6:fb11b746ceb5	3244	* DeviceRangeStatus = 11. This function will replace the value 0 with
sepp_nepp	6:fb11b746ceb5	3245	* the value 11 in the DeviceRangeStatus.
sepp_nepp	6:fb11b746ceb5	3246	* In addition, the SigmaEstimator is not included in the VL53L0X
sepp_nepp	6:fb11b746ceb5	3247	* DeviceRangeStatus, this will be added in the PalRangeStatus.
sepp_nepp	6:fb11b746ceb5	3248	*/
sepp_nepp	6:fb11b746ceb5	3249
sepp_nepp	6:fb11b746ceb5	3250	device_range_status_internal = ((device_range_status & 0x78) >> 3);
sepp_nepp	6:fb11b746ceb5	3251
sepp_nepp	6:fb11b746ceb5	3252	if (device_range_status_internal == 0 \|\|
sepp_nepp	6:fb11b746ceb5	3253	device_range_status_internal == 5 \|\|
sepp_nepp	6:fb11b746ceb5	3254	device_range_status_internal == 7 \|\|
sepp_nepp	6:fb11b746ceb5	3255	device_range_status_internal == 12 \|\|
sepp_nepp	6:fb11b746ceb5	3256	device_range_status_internal == 13 \|\|
sepp_nepp	6:fb11b746ceb5	3257	device_range_status_internal == 14 \|\|
sepp_nepp	6:fb11b746ceb5	3258	device_range_status_internal == 15
sepp_nepp	6:fb11b746ceb5	3259	) {
sepp_nepp	6:fb11b746ceb5	3260	none_flag = 1;
sepp_nepp	6:fb11b746ceb5	3261	} else {
sepp_nepp	6:fb11b746ceb5	3262	none_flag = 0;
sepp_nepp	6:fb11b746ceb5	3263	}
sepp_nepp	6:fb11b746ceb5	3264
sepp_nepp	6:fb11b746ceb5	3265	/*
sepp_nepp	6:fb11b746ceb5	3266	* Check if Sigma limit is enabled, if yes then do comparison with limit
sepp_nepp	6:fb11b746ceb5	3267	* value and put the result back into pPalRangeStatus.
sepp_nepp	6:fb11b746ceb5	3268	*/
sepp_nepp	6:fb11b746ceb5	3269	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3270	status = VL53L0X_get_limit_check_enable(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	3271	&sigma_limit_check_enable);
sepp_nepp	6:fb11b746ceb5	3272	}
sepp_nepp	6:fb11b746ceb5	3273
sepp_nepp	6:fb11b746ceb5	3274	if ((sigma_limit_check_enable != 0) && (status == VL53L0X_ERROR_NONE)) {
sepp_nepp	6:fb11b746ceb5	3275	/*
sepp_nepp	6:fb11b746ceb5	3276	* compute the Sigma and check with limit
sepp_nepp	6:fb11b746ceb5	3277	*/
sepp_nepp	7:3a1115c2556b	3278	status = VL53L0X_calc_sigma_estimate(p_ranging_measurement_data,
sepp_nepp	6:fb11b746ceb5	3279	&sigma_estimate,
sepp_nepp	6:fb11b746ceb5	3280	&dmax_mm);
sepp_nepp	6:fb11b746ceb5	3281	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3282	p_ranging_measurement_data->RangeDMaxMilliMeter = dmax_mm;
sepp_nepp	6:fb11b746ceb5	3283	}
sepp_nepp	6:fb11b746ceb5	3284
sepp_nepp	6:fb11b746ceb5	3285	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3286	status = VL53L0X_get_limit_check_value(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	3287	&sigma_limit_value);
sepp_nepp	6:fb11b746ceb5	3288
sepp_nepp	6:fb11b746ceb5	3289	if ((sigma_limit_value > 0) &&
sepp_nepp	6:fb11b746ceb5	3290	(sigma_estimate > sigma_limit_value)) {
sepp_nepp	6:fb11b746ceb5	3291	/* Limit Fail */
sepp_nepp	6:fb11b746ceb5	3292	sigma_limitflag = 1;
sepp_nepp	6:fb11b746ceb5	3293	}
sepp_nepp	6:fb11b746ceb5	3294	}
sepp_nepp	6:fb11b746ceb5	3295	}
sepp_nepp	6:fb11b746ceb5	3296
sepp_nepp	6:fb11b746ceb5	3297	/*
sepp_nepp	6:fb11b746ceb5	3298	* Check if Signal ref clip limit is enabled, if yes then do comparison
sepp_nepp	6:fb11b746ceb5	3299	* with limit value and put the result back into pPalRangeStatus.
sepp_nepp	6:fb11b746ceb5	3300	*/
sepp_nepp	6:fb11b746ceb5	3301	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3302	status = VL53L0X_get_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
sepp_nepp	6:fb11b746ceb5	3303	&signal_ref_clip_limit_check_enable);
sepp_nepp	6:fb11b746ceb5	3304	}
sepp_nepp	6:fb11b746ceb5	3305
sepp_nepp	6:fb11b746ceb5	3306	if ((signal_ref_clip_limit_check_enable != 0) &&
sepp_nepp	6:fb11b746ceb5	3307	(status == VL53L0X_ERROR_NONE)) {
sepp_nepp	6:fb11b746ceb5	3308
sepp_nepp	8:2fd7cb217068	3309	status = VL53L0X_get_limit_check_value(VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
sepp_nepp	6:fb11b746ceb5	3310	&signal_ref_clip_value);
sepp_nepp	6:fb11b746ceb5	3311
sepp_nepp	6:fb11b746ceb5	3312	/* Read LastSignalRefMcps from device */
sepp_nepp	6:fb11b746ceb5	3313	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3314	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	6:fb11b746ceb5	3315	}
sepp_nepp	6:fb11b746ceb5	3316
sepp_nepp	6:fb11b746ceb5	3317	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3318	status = VL53L0X_read_word(VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
sepp_nepp	6:fb11b746ceb5	3319	&tmp_word);
sepp_nepp	6:fb11b746ceb5	3320	}
sepp_nepp	6:fb11b746ceb5	3321
sepp_nepp	6:fb11b746ceb5	3322	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3323	status = VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	6:fb11b746ceb5	3324	}
sepp_nepp	6:fb11b746ceb5	3325
sepp_nepp	6:fb11b746ceb5	3326	last_signal_ref_mcps = VL53L0X_FIXPOINT97TOFIXPOINT1616(tmp_word);
sepp_nepp	8:2fd7cb217068	3327	Data.LastSignalRefMcps = last_signal_ref_mcps;
sepp_nepp	6:fb11b746ceb5	3328
sepp_nepp	6:fb11b746ceb5	3329	if ((signal_ref_clip_value > 0) &&
sepp_nepp	6:fb11b746ceb5	3330	(last_signal_ref_mcps > signal_ref_clip_value)) {
sepp_nepp	6:fb11b746ceb5	3331	/* Limit Fail */
sepp_nepp	6:fb11b746ceb5	3332	signal_ref_clipflag = 1;
sepp_nepp	6:fb11b746ceb5	3333	}
sepp_nepp	6:fb11b746ceb5	3334	}
sepp_nepp	6:fb11b746ceb5	3335
sepp_nepp	6:fb11b746ceb5	3336	/*
sepp_nepp	6:fb11b746ceb5	3337	* Check if Signal ref clip limit is enabled, if yes then do comparison
sepp_nepp	6:fb11b746ceb5	3338	* with limit value and put the result back into pPalRangeStatus.
sepp_nepp	6:fb11b746ceb5	3339	* EffectiveSpadRtnCount has a format 8.8
sepp_nepp	6:fb11b746ceb5	3340	* If (Return signal rate < (1.5 x Xtalk x number of Spads)) : FAIL
sepp_nepp	6:fb11b746ceb5	3341	*/
sepp_nepp	6:fb11b746ceb5	3342	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3343	status = VL53L0X_get_limit_check_enable(VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
sepp_nepp	6:fb11b746ceb5	3344	&range_ignore_threshold_limit_check_enable);
sepp_nepp	6:fb11b746ceb5	3345	}
sepp_nepp	6:fb11b746ceb5	3346
sepp_nepp	6:fb11b746ceb5	3347	if ((range_ignore_threshold_limit_check_enable != 0) &&
sepp_nepp	6:fb11b746ceb5	3348	(status == VL53L0X_ERROR_NONE)) {
sepp_nepp	6:fb11b746ceb5	3349
sepp_nepp	6:fb11b746ceb5	3350	/* Compute the signal rate per spad */
sepp_nepp	6:fb11b746ceb5	3351	if (effective_spad_rtn_count == 0) {
sepp_nepp	6:fb11b746ceb5	3352	signal_rate_per_spad = 0;
sepp_nepp	6:fb11b746ceb5	3353	} else {
sepp_nepp	6:fb11b746ceb5	3354	signal_rate_per_spad = (FixPoint1616_t)((256 * signal_rate)
sepp_nepp	6:fb11b746ceb5	3355	/ effective_spad_rtn_count);
sepp_nepp	6:fb11b746ceb5	3356	}
sepp_nepp	6:fb11b746ceb5	3357
sepp_nepp	8:2fd7cb217068	3358	status = VL53L0X_get_limit_check_value(VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
sepp_nepp	6:fb11b746ceb5	3359	&range_ignore_threshold_value);
sepp_nepp	6:fb11b746ceb5	3360
sepp_nepp	6:fb11b746ceb5	3361	if ((range_ignore_threshold_value > 0) &&
sepp_nepp	6:fb11b746ceb5	3362	(signal_rate_per_spad < range_ignore_threshold_value)) {
sepp_nepp	6:fb11b746ceb5	3363	/* Limit Fail add 2^6 to range status */
sepp_nepp	6:fb11b746ceb5	3364	range_ignore_thresholdflag = 1;
sepp_nepp	6:fb11b746ceb5	3365	}
sepp_nepp	6:fb11b746ceb5	3366	}
sepp_nepp	6:fb11b746ceb5	3367
sepp_nepp	6:fb11b746ceb5	3368	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3369	if (none_flag == 1) {
sepp_nepp	6:fb11b746ceb5	3370	p_pal_range_status = 255; / NONE */
sepp_nepp	6:fb11b746ceb5	3371	} else if (device_range_status_internal == 1 \|\|
sepp_nepp	6:fb11b746ceb5	3372	device_range_status_internal == 2 \|\|
sepp_nepp	6:fb11b746ceb5	3373	device_range_status_internal == 3) {
sepp_nepp	6:fb11b746ceb5	3374	p_pal_range_status = 5; / HW fail */
sepp_nepp	6:fb11b746ceb5	3375	} else if (device_range_status_internal == 6 \|\|
sepp_nepp	6:fb11b746ceb5	3376	device_range_status_internal == 9) {
sepp_nepp	6:fb11b746ceb5	3377	p_pal_range_status = 4; / Phase fail */
sepp_nepp	6:fb11b746ceb5	3378	} else if (device_range_status_internal == 8 \|\|
sepp_nepp	6:fb11b746ceb5	3379	device_range_status_internal == 10 \|\|
sepp_nepp	6:fb11b746ceb5	3380	signal_ref_clipflag == 1) {
sepp_nepp	6:fb11b746ceb5	3381	p_pal_range_status = 3; / Min range */
sepp_nepp	6:fb11b746ceb5	3382	} else if (device_range_status_internal == 4 \|\|
sepp_nepp	6:fb11b746ceb5	3383	range_ignore_thresholdflag == 1) {
sepp_nepp	6:fb11b746ceb5	3384	p_pal_range_status = 2; / Signal Fail */
sepp_nepp	6:fb11b746ceb5	3385	} else if (sigma_limitflag == 1) {
sepp_nepp	6:fb11b746ceb5	3386	p_pal_range_status = 1; / Sigma Fail */
sepp_nepp	6:fb11b746ceb5	3387	} else {
sepp_nepp	6:fb11b746ceb5	3388	p_pal_range_status = 0; / Range Valid */
sepp_nepp	6:fb11b746ceb5	3389	}
sepp_nepp	6:fb11b746ceb5	3390	}
sepp_nepp	6:fb11b746ceb5	3391
sepp_nepp	6:fb11b746ceb5	3392	/* DMAX only relevant during range error */
sepp_nepp	6:fb11b746ceb5	3393	if (*p_pal_range_status == 0) {
sepp_nepp	6:fb11b746ceb5	3394	p_ranging_measurement_data->RangeDMaxMilliMeter = 0;
sepp_nepp	6:fb11b746ceb5	3395	}
sepp_nepp	6:fb11b746ceb5	3396
sepp_nepp	6:fb11b746ceb5	3397	/* fill the Limit Check Status */
sepp_nepp	6:fb11b746ceb5	3398
sepp_nepp	8:2fd7cb217068	3399	status = VL53L0X_get_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	3400	&signal_rate_final_range_limit_check_enable);
sepp_nepp	6:fb11b746ceb5	3401
sepp_nepp	6:fb11b746ceb5	3402	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3403	if ((sigma_limit_check_enable == 0) \|\| (sigma_limitflag == 1)) {
sepp_nepp	6:fb11b746ceb5	3404	temp8 = 1;
sepp_nepp	6:fb11b746ceb5	3405	} else {
sepp_nepp	6:fb11b746ceb5	3406	temp8 = 0;
sepp_nepp	6:fb11b746ceb5	3407	}
sepp_nepp	8:2fd7cb217068	3408	Data.CurrentParameters.LimitChecksStatus[VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE] = temp8;
sepp_nepp	6:fb11b746ceb5	3409
sepp_nepp	6:fb11b746ceb5	3410	if ((device_range_status_internal == 4) \|\|
sepp_nepp	6:fb11b746ceb5	3411	(signal_rate_final_range_limit_check_enable == 0)) {
sepp_nepp	6:fb11b746ceb5	3412	temp8 = 1;
sepp_nepp	6:fb11b746ceb5	3413	} else {
sepp_nepp	6:fb11b746ceb5	3414	temp8 = 0;
sepp_nepp	6:fb11b746ceb5	3415	}
sepp_nepp	8:2fd7cb217068	3416	Data.CurrentParameters.LimitChecksStatus[VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE] = temp8;
sepp_nepp	6:fb11b746ceb5	3417
sepp_nepp	6:fb11b746ceb5	3418	if ((signal_ref_clip_limit_check_enable == 0) \|\|
sepp_nepp	6:fb11b746ceb5	3419	(signal_ref_clipflag == 1)) {
sepp_nepp	6:fb11b746ceb5	3420	temp8 = 1;
sepp_nepp	6:fb11b746ceb5	3421	} else {
sepp_nepp	6:fb11b746ceb5	3422	temp8 = 0;
sepp_nepp	6:fb11b746ceb5	3423	}
sepp_nepp	6:fb11b746ceb5	3424
sepp_nepp	8:2fd7cb217068	3425	Data.CurrentParameters.LimitChecksStatus[VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP] = temp8;
sepp_nepp	6:fb11b746ceb5	3426
sepp_nepp	6:fb11b746ceb5	3427	if ((range_ignore_threshold_limit_check_enable == 0) \|\|
sepp_nepp	6:fb11b746ceb5	3428	(range_ignore_thresholdflag == 1)) {
sepp_nepp	6:fb11b746ceb5	3429	temp8 = 1;
sepp_nepp	6:fb11b746ceb5	3430	} else {
sepp_nepp	6:fb11b746ceb5	3431	temp8 = 0;
sepp_nepp	6:fb11b746ceb5	3432	}
sepp_nepp	6:fb11b746ceb5	3433
sepp_nepp	8:2fd7cb217068	3434	Data.CurrentParameters.LimitChecksStatus[VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD] = temp8;
sepp_nepp	6:fb11b746ceb5	3435	}
sepp_nepp	6:fb11b746ceb5	3436
sepp_nepp	6:fb11b746ceb5	3437
sepp_nepp	6:fb11b746ceb5	3438	return status;
sepp_nepp	6:fb11b746ceb5	3439
sepp_nepp	6:fb11b746ceb5	3440	}
sepp_nepp	6:fb11b746ceb5	3441
sepp_nepp	8:2fd7cb217068	3442	VL53L0X_Error VL53L0X::VL53L0X_get_ranging_measurement_data(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data)
sepp_nepp	8:2fd7cb217068	3443	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3444	uint8_t device_range_status;
sepp_nepp	6:fb11b746ceb5	3445	uint8_t range_fractional_enable;
sepp_nepp	6:fb11b746ceb5	3446	uint8_t pal_range_status;
sepp_nepp	6:fb11b746ceb5	3447	uint8_t x_talk_compensation_enable;
sepp_nepp	6:fb11b746ceb5	3448	uint16_t ambient_rate;
sepp_nepp	6:fb11b746ceb5	3449	FixPoint1616_t signal_rate;
sepp_nepp	6:fb11b746ceb5	3450	uint16_t x_talk_compensation_rate_mega_cps;
sepp_nepp	6:fb11b746ceb5	3451	uint16_t effective_spad_rtn_count;
sepp_nepp	6:fb11b746ceb5	3452	uint16_t tmpuint16;
sepp_nepp	6:fb11b746ceb5	3453	uint16_t xtalk_range_milli_meter;
sepp_nepp	6:fb11b746ceb5	3454	uint16_t linearity_corrective_gain;
sepp_nepp	6:fb11b746ceb5	3455	uint8_t localBuffer[12];
sepp_nepp	6:fb11b746ceb5	3456	VL53L0X_RangingMeasurementData_t last_range_data_buffer;
sepp_nepp	6:fb11b746ceb5	3457
sepp_nepp	6:fb11b746ceb5	3458
sepp_nepp	6:fb11b746ceb5	3459
sepp_nepp	6:fb11b746ceb5	3460	/* use multi read even if some registers are not useful, result will
sepp_nepp	6:fb11b746ceb5	3461	* be more efficient
sepp_nepp	6:fb11b746ceb5	3462	* start reading at 0x14 dec20
sepp_nepp	6:fb11b746ceb5	3463	* end reading at 0x21 dec33 total 14 bytes to read
sepp_nepp	6:fb11b746ceb5	3464	*/
sepp_nepp	7:3a1115c2556b	3465	status = VL53L0X_read_multi( 0x14, localBuffer, 12);
sepp_nepp	6:fb11b746ceb5	3466
sepp_nepp	6:fb11b746ceb5	3467	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3468
sepp_nepp	6:fb11b746ceb5	3469	tmpuint16 = VL53L0X_MAKEUINT16(localBuffer[11], localBuffer[10]);
sepp_nepp	6:fb11b746ceb5	3470	/* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional
sepp_nepp	6:fb11b746ceb5	3471	(format 11.2) else no fractional /
sepp_nepp	6:fb11b746ceb5	3472
sepp_nepp	8:2fd7cb217068	3473	signal_rate = VL53L0X_FIXPOINT97TOFIXPOINT1616(VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6]));
sepp_nepp	6:fb11b746ceb5	3474	/* peak_signal_count_rate_rtn_mcps */
sepp_nepp	6:fb11b746ceb5	3475	p_ranging_measurement_data->SignalRateRtnMegaCps = signal_rate;
sepp_nepp	6:fb11b746ceb5	3476
sepp_nepp	6:fb11b746ceb5	3477	ambient_rate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]);
sepp_nepp	6:fb11b746ceb5	3478	p_ranging_measurement_data->AmbientRateRtnMegaCps =
sepp_nepp	6:fb11b746ceb5	3479	VL53L0X_FIXPOINT97TOFIXPOINT1616(ambient_rate);
sepp_nepp	6:fb11b746ceb5	3480
sepp_nepp	6:fb11b746ceb5	3481	effective_spad_rtn_count = VL53L0X_MAKEUINT16(localBuffer[3],
sepp_nepp	6:fb11b746ceb5	3482	localBuffer[2]);
sepp_nepp	6:fb11b746ceb5	3483	/* EffectiveSpadRtnCount is 8.8 format */
sepp_nepp	6:fb11b746ceb5	3484	p_ranging_measurement_data->EffectiveSpadRtnCount =
sepp_nepp	6:fb11b746ceb5	3485	effective_spad_rtn_count;
sepp_nepp	6:fb11b746ceb5	3486
sepp_nepp	6:fb11b746ceb5	3487	device_range_status = localBuffer[0];
sepp_nepp	6:fb11b746ceb5	3488
sepp_nepp	6:fb11b746ceb5	3489	/* Get Linearity Corrective Gain */
sepp_nepp	8:2fd7cb217068	3490	linearity_corrective_gain = Data.LinearityCorrectiveGain;
sepp_nepp	6:fb11b746ceb5	3491
sepp_nepp	6:fb11b746ceb5	3492	/* Get ranging configuration */
sepp_nepp	8:2fd7cb217068	3493	range_fractional_enable = Data.RangeFractionalEnable;
sepp_nepp	6:fb11b746ceb5	3494
sepp_nepp	6:fb11b746ceb5	3495	if (linearity_corrective_gain != 1000) {
sepp_nepp	6:fb11b746ceb5	3496
sepp_nepp	6:fb11b746ceb5	3497	tmpuint16 = (uint16_t)((linearity_corrective_gain
sepp_nepp	6:fb11b746ceb5	3498	* tmpuint16 + 500) / 1000);
sepp_nepp	6:fb11b746ceb5	3499
sepp_nepp	6:fb11b746ceb5	3500	/* Implement Xtalk */
sepp_nepp	8:2fd7cb217068	3501	x_talk_compensation_rate_mega_cps = Data.CurrentParameters.XTalkCompensationRateMegaCps ;
sepp_nepp	8:2fd7cb217068	3502	x_talk_compensation_enable = Data.CurrentParameters.XTalkCompensationEnable ;
sepp_nepp	6:fb11b746ceb5	3503
sepp_nepp	6:fb11b746ceb5	3504	if (x_talk_compensation_enable) {
sepp_nepp	6:fb11b746ceb5	3505
sepp_nepp	6:fb11b746ceb5	3506	if ((signal_rate
sepp_nepp	6:fb11b746ceb5	3507	- ((x_talk_compensation_rate_mega_cps
sepp_nepp	6:fb11b746ceb5	3508	* effective_spad_rtn_count) >> 8))
sepp_nepp	6:fb11b746ceb5	3509	<= 0) {
sepp_nepp	6:fb11b746ceb5	3510	if (range_fractional_enable) {
sepp_nepp	6:fb11b746ceb5	3511	xtalk_range_milli_meter = 8888;
sepp_nepp	6:fb11b746ceb5	3512	} else {
sepp_nepp	6:fb11b746ceb5	3513	xtalk_range_milli_meter = 8888 << 2;
sepp_nepp	6:fb11b746ceb5	3514	}
sepp_nepp	6:fb11b746ceb5	3515	} else {
sepp_nepp	6:fb11b746ceb5	3516	xtalk_range_milli_meter =
sepp_nepp	6:fb11b746ceb5	3517	(tmpuint16 * signal_rate)
sepp_nepp	6:fb11b746ceb5	3518	/ (signal_rate
sepp_nepp	6:fb11b746ceb5	3519	- ((x_talk_compensation_rate_mega_cps
sepp_nepp	6:fb11b746ceb5	3520	* effective_spad_rtn_count)
sepp_nepp	6:fb11b746ceb5	3521	>> 8));
sepp_nepp	6:fb11b746ceb5	3522	}
sepp_nepp	6:fb11b746ceb5	3523
sepp_nepp	6:fb11b746ceb5	3524	tmpuint16 = xtalk_range_milli_meter;
sepp_nepp	6:fb11b746ceb5	3525	}
sepp_nepp	6:fb11b746ceb5	3526
sepp_nepp	6:fb11b746ceb5	3527	}
sepp_nepp	6:fb11b746ceb5	3528
sepp_nepp	6:fb11b746ceb5	3529	if (range_fractional_enable) {
sepp_nepp	6:fb11b746ceb5	3530	p_ranging_measurement_data->RangeMilliMeter =
sepp_nepp	6:fb11b746ceb5	3531	(uint16_t)((tmpuint16) >> 2);
sepp_nepp	6:fb11b746ceb5	3532	p_ranging_measurement_data->RangeFractionalPart =
sepp_nepp	6:fb11b746ceb5	3533	(uint8_t)((tmpuint16 & 0x03) << 6);
sepp_nepp	6:fb11b746ceb5	3534	} else {
sepp_nepp	6:fb11b746ceb5	3535	p_ranging_measurement_data->RangeMilliMeter = tmpuint16;
sepp_nepp	6:fb11b746ceb5	3536	p_ranging_measurement_data->RangeFractionalPart = 0;
sepp_nepp	6:fb11b746ceb5	3537	}
sepp_nepp	6:fb11b746ceb5	3538
sepp_nepp	6:fb11b746ceb5	3539	/*
sepp_nepp	6:fb11b746ceb5	3540	* For a standard definition of RangeStatus, this should
sepp_nepp	6:fb11b746ceb5	3541	* return 0 in case of good result after a ranging
sepp_nepp	6:fb11b746ceb5	3542	* The range status depends on the device so call a device
sepp_nepp	6:fb11b746ceb5	3543	* specific function to obtain the right Status.
sepp_nepp	6:fb11b746ceb5	3544	*/
sepp_nepp	7:3a1115c2556b	3545	status \|= VL53L0X_get_pal_range_status( device_range_status,
sepp_nepp	6:fb11b746ceb5	3546	signal_rate, effective_spad_rtn_count,
sepp_nepp	6:fb11b746ceb5	3547	p_ranging_measurement_data, &pal_range_status);
sepp_nepp	6:fb11b746ceb5	3548
sepp_nepp	6:fb11b746ceb5	3549	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3550	p_ranging_measurement_data->RangeStatus = pal_range_status;}
sepp_nepp	6:fb11b746ceb5	3551
sepp_nepp	6:fb11b746ceb5	3552	}
sepp_nepp	6:fb11b746ceb5	3553
sepp_nepp	6:fb11b746ceb5	3554	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3555	/* Copy last read data into Device buffer */
sepp_nepp	8:2fd7cb217068	3556	last_range_data_buffer = Data.LastRangeMeasure;
sepp_nepp	6:fb11b746ceb5	3557
sepp_nepp	6:fb11b746ceb5	3558	last_range_data_buffer.RangeMilliMeter =
sepp_nepp	6:fb11b746ceb5	3559	p_ranging_measurement_data->RangeMilliMeter;
sepp_nepp	6:fb11b746ceb5	3560	last_range_data_buffer.RangeFractionalPart =
sepp_nepp	6:fb11b746ceb5	3561	p_ranging_measurement_data->RangeFractionalPart;
sepp_nepp	6:fb11b746ceb5	3562	last_range_data_buffer.RangeDMaxMilliMeter =
sepp_nepp	6:fb11b746ceb5	3563	p_ranging_measurement_data->RangeDMaxMilliMeter;
sepp_nepp	6:fb11b746ceb5	3564	last_range_data_buffer.SignalRateRtnMegaCps =
sepp_nepp	6:fb11b746ceb5	3565	p_ranging_measurement_data->SignalRateRtnMegaCps;
sepp_nepp	6:fb11b746ceb5	3566	last_range_data_buffer.AmbientRateRtnMegaCps =
sepp_nepp	6:fb11b746ceb5	3567	p_ranging_measurement_data->AmbientRateRtnMegaCps;
sepp_nepp	6:fb11b746ceb5	3568	last_range_data_buffer.EffectiveSpadRtnCount =
sepp_nepp	6:fb11b746ceb5	3569	p_ranging_measurement_data->EffectiveSpadRtnCount;
sepp_nepp	6:fb11b746ceb5	3570	last_range_data_buffer.RangeStatus =
sepp_nepp	6:fb11b746ceb5	3571	p_ranging_measurement_data->RangeStatus;
sepp_nepp	6:fb11b746ceb5	3572
sepp_nepp	8:2fd7cb217068	3573	Data.LastRangeMeasure = last_range_data_buffer;
sepp_nepp	6:fb11b746ceb5	3574	}
sepp_nepp	6:fb11b746ceb5	3575
sepp_nepp	6:fb11b746ceb5	3576
sepp_nepp	6:fb11b746ceb5	3577	return status;
sepp_nepp	6:fb11b746ceb5	3578	}
sepp_nepp	6:fb11b746ceb5	3579
sepp_nepp	8:2fd7cb217068	3580	VL53L0X_Error VL53L0X::VL53L0X_perform_single_ranging_measurement(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data)
sepp_nepp	8:2fd7cb217068	3581	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3582
sepp_nepp	6:fb11b746ceb5	3583
sepp_nepp	6:fb11b746ceb5	3584
sepp_nepp	6:fb11b746ceb5	3585	/* This function will do a complete single ranging
sepp_nepp	6:fb11b746ceb5	3586	* Here we fix the mode! */
sepp_nepp	7:3a1115c2556b	3587	status = VL53L0X_set_device_mode( VL53L0X_DEVICEMODE_SINGLE_RANGING);
sepp_nepp	6:fb11b746ceb5	3588
sepp_nepp	6:fb11b746ceb5	3589	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3590	status = VL53L0X_perform_single_measurement();
sepp_nepp	6:fb11b746ceb5	3591	}
sepp_nepp	6:fb11b746ceb5	3592
sepp_nepp	6:fb11b746ceb5	3593	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3594	status = VL53L0X_get_ranging_measurement_data(p_ranging_measurement_data);
sepp_nepp	6:fb11b746ceb5	3595	}
sepp_nepp	6:fb11b746ceb5	3596
sepp_nepp	6:fb11b746ceb5	3597	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3598	status = VL53L0X_clear_interrupt_mask( 0);
sepp_nepp	6:fb11b746ceb5	3599	}
sepp_nepp	6:fb11b746ceb5	3600
sepp_nepp	6:fb11b746ceb5	3601
sepp_nepp	6:fb11b746ceb5	3602	return status;
sepp_nepp	6:fb11b746ceb5	3603	}
sepp_nepp	6:fb11b746ceb5	3604
sepp_nepp	8:2fd7cb217068	3605	VL53L0X_Error VL53L0X::perform_ref_signal_measurement(uint16_t *p_ref_signal_rate)
sepp_nepp	8:2fd7cb217068	3606	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3607	VL53L0X_RangingMeasurementData_t ranging_measurement_data;
sepp_nepp	6:fb11b746ceb5	3608
sepp_nepp	6:fb11b746ceb5	3609	uint8_t sequence_config = 0;
sepp_nepp	6:fb11b746ceb5	3610
sepp_nepp	6:fb11b746ceb5	3611	/* store the value of the sequence config,
sepp_nepp	6:fb11b746ceb5	3612	* this will be reset before the end of the function
sepp_nepp	6:fb11b746ceb5	3613	*/
sepp_nepp	6:fb11b746ceb5	3614
sepp_nepp	8:2fd7cb217068	3615	sequence_config = Data.SequenceConfig;
sepp_nepp	6:fb11b746ceb5	3616
sepp_nepp	6:fb11b746ceb5	3617	/*
sepp_nepp	6:fb11b746ceb5	3618	* This function performs a reference signal rate measurement.
sepp_nepp	6:fb11b746ceb5	3619	*/
sepp_nepp	6:fb11b746ceb5	3620	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3621	status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0xC0);
sepp_nepp	6:fb11b746ceb5	3622	}
sepp_nepp	6:fb11b746ceb5	3623
sepp_nepp	6:fb11b746ceb5	3624	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3625	status = VL53L0X_perform_single_ranging_measurement(&ranging_measurement_data);
sepp_nepp	6:fb11b746ceb5	3626	}
sepp_nepp	6:fb11b746ceb5	3627
sepp_nepp	6:fb11b746ceb5	3628	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3629	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	6:fb11b746ceb5	3630	}
sepp_nepp	6:fb11b746ceb5	3631
sepp_nepp	6:fb11b746ceb5	3632	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3633	status = VL53L0X_read_word(VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
sepp_nepp	6:fb11b746ceb5	3634	p_ref_signal_rate);
sepp_nepp	6:fb11b746ceb5	3635	}
sepp_nepp	6:fb11b746ceb5	3636
sepp_nepp	6:fb11b746ceb5	3637	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3638	status = VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	6:fb11b746ceb5	3639	}
sepp_nepp	6:fb11b746ceb5	3640
sepp_nepp	6:fb11b746ceb5	3641	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3642	/* restore the previous Sequence Config */
sepp_nepp	7:3a1115c2556b	3643	status = VL53L0X_write_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
sepp_nepp	6:fb11b746ceb5	3644	sequence_config);
sepp_nepp	6:fb11b746ceb5	3645	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3646	Data.SequenceConfig = sequence_config;
sepp_nepp	6:fb11b746ceb5	3647	}
sepp_nepp	6:fb11b746ceb5	3648	}
sepp_nepp	6:fb11b746ceb5	3649
sepp_nepp	6:fb11b746ceb5	3650	return status;
sepp_nepp	6:fb11b746ceb5	3651	}
sepp_nepp	6:fb11b746ceb5	3652
sepp_nepp	8:2fd7cb217068	3653	VL53L0X_Error VL53L0X::wrapped_VL53L0X_perform_ref_spad_management(uint32_t *ref_spad_count,
sepp_nepp	6:fb11b746ceb5	3654	uint8_t *is_aperture_spads)
sepp_nepp	8:2fd7cb217068	3655	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3656	uint8_t last_spad_array[6];
sepp_nepp	6:fb11b746ceb5	3657	uint8_t start_select = 0xB4;
sepp_nepp	6:fb11b746ceb5	3658	uint32_t minimum_spad_count = 3;
sepp_nepp	6:fb11b746ceb5	3659	uint32_t max_spad_count = 44;
sepp_nepp	6:fb11b746ceb5	3660	uint32_t current_spad_index = 0;
sepp_nepp	6:fb11b746ceb5	3661	uint32_t last_spad_index = 0;
sepp_nepp	6:fb11b746ceb5	3662	int32_t next_good_spad = 0;
sepp_nepp	6:fb11b746ceb5	3663	uint16_t target_ref_rate = 0x0A00; /* 20 MCPS in 9:7 format */
sepp_nepp	6:fb11b746ceb5	3664	uint16_t peak_signal_rate_ref;
sepp_nepp	6:fb11b746ceb5	3665	uint32_t need_apt_spads = 0;
sepp_nepp	6:fb11b746ceb5	3666	uint32_t index = 0;
sepp_nepp	6:fb11b746ceb5	3667	uint32_t spad_array_size = 6;
sepp_nepp	6:fb11b746ceb5	3668	uint32_t signal_rate_diff = 0;
sepp_nepp	6:fb11b746ceb5	3669	uint32_t last_signal_rate_diff = 0;
sepp_nepp	6:fb11b746ceb5	3670	uint8_t complete = 0;
sepp_nepp	6:fb11b746ceb5	3671	uint8_t vhv_settings = 0;
sepp_nepp	6:fb11b746ceb5	3672	uint8_t phase_cal = 0;
sepp_nepp	6:fb11b746ceb5	3673	uint32_t ref_spad_count_int = 0;
sepp_nepp	6:fb11b746ceb5	3674	uint8_t is_aperture_spads_int = 0;
sepp_nepp	6:fb11b746ceb5	3675
sepp_nepp	6:fb11b746ceb5	3676	/*
sepp_nepp	6:fb11b746ceb5	3677	* The reference SPAD initialization procedure determines the minimum
sepp_nepp	6:fb11b746ceb5	3678	* amount of reference spads to be enables to achieve a target reference
sepp_nepp	6:fb11b746ceb5	3679	* signal rate and should be performed once during initialization.
sepp_nepp	6:fb11b746ceb5	3680	*
sepp_nepp	6:fb11b746ceb5	3681	* Either aperture or non-aperture spads are applied but never both.
sepp_nepp	6:fb11b746ceb5	3682	* Firstly non-aperture spads are set, begining with 5 spads, and
sepp_nepp	6:fb11b746ceb5	3683	* increased one spad at a time until the closest measurement to the
sepp_nepp	6:fb11b746ceb5	3684	* target rate is achieved.
sepp_nepp	6:fb11b746ceb5	3685	*
sepp_nepp	6:fb11b746ceb5	3686	* If the target rate is exceeded when 5 non-aperture spads are enabled,
sepp_nepp	6:fb11b746ceb5	3687	* initialization is performed instead with aperture spads.
sepp_nepp	6:fb11b746ceb5	3688	*
sepp_nepp	6:fb11b746ceb5	3689	* When setting spads, a 'Good Spad Map' is applied.
sepp_nepp	6:fb11b746ceb5	3690	*
sepp_nepp	6:fb11b746ceb5	3691	* This procedure operates within a SPAD window of interest of a maximum
sepp_nepp	6:fb11b746ceb5	3692	* 44 spads.
sepp_nepp	6:fb11b746ceb5	3693	* The start point is currently fixed to 180, which lies towards the end
sepp_nepp	6:fb11b746ceb5	3694	* of the non-aperture quadrant and runs in to the adjacent aperture
sepp_nepp	6:fb11b746ceb5	3695	* quadrant.
sepp_nepp	6:fb11b746ceb5	3696	*/
sepp_nepp	8:2fd7cb217068	3697	target_ref_rate = Data.targetRefRate;
sepp_nepp	6:fb11b746ceb5	3698
sepp_nepp	6:fb11b746ceb5	3699	/*
sepp_nepp	6:fb11b746ceb5	3700	* Initialize Spad arrays.
sepp_nepp	6:fb11b746ceb5	3701	* Currently the good spad map is initialised to 'All good'.
sepp_nepp	6:fb11b746ceb5	3702	* This is a short term implementation. The good spad map will be
sepp_nepp	6:fb11b746ceb5	3703	* provided as an input.
sepp_nepp	6:fb11b746ceb5	3704	* Note that there are 6 bytes. Only the first 44 bits will be used to
sepp_nepp	6:fb11b746ceb5	3705	* represent spads.
sepp_nepp	6:fb11b746ceb5	3706	*/
sepp_nepp	6:fb11b746ceb5	3707	for (index = 0; index < spad_array_size; index++) {
sepp_nepp	7:3a1115c2556b	3708	Data.SpadData.RefSpadEnables[index] = 0;
sepp_nepp	6:fb11b746ceb5	3709	}
sepp_nepp	6:fb11b746ceb5	3710
sepp_nepp	7:3a1115c2556b	3711	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	6:fb11b746ceb5	3712
sepp_nepp	6:fb11b746ceb5	3713	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3714	status = VL53L0X_write_byte(VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
sepp_nepp	6:fb11b746ceb5	3715	}
sepp_nepp	6:fb11b746ceb5	3716
sepp_nepp	6:fb11b746ceb5	3717	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3718	status = VL53L0X_write_byte(VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
sepp_nepp	6:fb11b746ceb5	3719	}
sepp_nepp	6:fb11b746ceb5	3720
sepp_nepp	6:fb11b746ceb5	3721	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3722	status = VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	6:fb11b746ceb5	3723	}
sepp_nepp	6:fb11b746ceb5	3724
sepp_nepp	6:fb11b746ceb5	3725	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3726	status = VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
sepp_nepp	6:fb11b746ceb5	3727	start_select);
sepp_nepp	6:fb11b746ceb5	3728	}
sepp_nepp	6:fb11b746ceb5	3729
sepp_nepp	6:fb11b746ceb5	3730	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3731	status = VL53L0X_write_byte(VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE, 0);
sepp_nepp	6:fb11b746ceb5	3732	}
sepp_nepp	6:fb11b746ceb5	3733
sepp_nepp	6:fb11b746ceb5	3734	/* Perform ref calibration */
sepp_nepp	6:fb11b746ceb5	3735	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3736	status = VL53L0X_perform_ref_calibration( &vhv_settings,
sepp_nepp	6:fb11b746ceb5	3737	&phase_cal, 0);
sepp_nepp	6:fb11b746ceb5	3738	}
sepp_nepp	6:fb11b746ceb5	3739
sepp_nepp	6:fb11b746ceb5	3740	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3741	/* Enable Minimum NON-APERTURE Spads */
sepp_nepp	6:fb11b746ceb5	3742	current_spad_index = 0;
sepp_nepp	6:fb11b746ceb5	3743	last_spad_index = current_spad_index;
sepp_nepp	6:fb11b746ceb5	3744	need_apt_spads = 0;
sepp_nepp	8:2fd7cb217068	3745	status = enable_ref_spads(need_apt_spads,
sepp_nepp	7:3a1115c2556b	3746	Data.SpadData.RefGoodSpadMap,
sepp_nepp	7:3a1115c2556b	3747	Data.SpadData.RefSpadEnables,
sepp_nepp	6:fb11b746ceb5	3748	spad_array_size,
sepp_nepp	6:fb11b746ceb5	3749	start_select,
sepp_nepp	6:fb11b746ceb5	3750	current_spad_index,
sepp_nepp	6:fb11b746ceb5	3751	minimum_spad_count,
sepp_nepp	6:fb11b746ceb5	3752	&last_spad_index);
sepp_nepp	6:fb11b746ceb5	3753	}
sepp_nepp	6:fb11b746ceb5	3754
sepp_nepp	6:fb11b746ceb5	3755	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3756	current_spad_index = last_spad_index;
sepp_nepp	6:fb11b746ceb5	3757
sepp_nepp	8:2fd7cb217068	3758	status = perform_ref_signal_measurement(&peak_signal_rate_ref);
sepp_nepp	6:fb11b746ceb5	3759	if ((status == VL53L0X_ERROR_NONE) &&
sepp_nepp	6:fb11b746ceb5	3760	(peak_signal_rate_ref > target_ref_rate)) {
sepp_nepp	6:fb11b746ceb5	3761	/* Signal rate measurement too high,
sepp_nepp	6:fb11b746ceb5	3762	* switch to APERTURE SPADs */
sepp_nepp	6:fb11b746ceb5	3763
sepp_nepp	6:fb11b746ceb5	3764	for (index = 0; index < spad_array_size; index++) {
sepp_nepp	7:3a1115c2556b	3765	Data.SpadData.RefSpadEnables[index] = 0;
sepp_nepp	6:fb11b746ceb5	3766	}
sepp_nepp	6:fb11b746ceb5	3767
sepp_nepp	6:fb11b746ceb5	3768	/* Increment to the first APERTURE spad */
sepp_nepp	6:fb11b746ceb5	3769	while ((is_aperture(start_select + current_spad_index)
sepp_nepp	6:fb11b746ceb5	3770	== 0) && (current_spad_index < max_spad_count)) {
sepp_nepp	6:fb11b746ceb5	3771	current_spad_index++;
sepp_nepp	6:fb11b746ceb5	3772	}
sepp_nepp	6:fb11b746ceb5	3773
sepp_nepp	6:fb11b746ceb5	3774	need_apt_spads = 1;
sepp_nepp	6:fb11b746ceb5	3775
sepp_nepp	7:3a1115c2556b	3776	status = enable_ref_spads(need_apt_spads,
sepp_nepp	7:3a1115c2556b	3777	Data.SpadData.RefGoodSpadMap,
sepp_nepp	7:3a1115c2556b	3778	Data.SpadData.RefSpadEnables,
sepp_nepp	6:fb11b746ceb5	3779	spad_array_size,
sepp_nepp	6:fb11b746ceb5	3780	start_select,
sepp_nepp	6:fb11b746ceb5	3781	current_spad_index,
sepp_nepp	6:fb11b746ceb5	3782	minimum_spad_count,
sepp_nepp	6:fb11b746ceb5	3783	&last_spad_index);
sepp_nepp	6:fb11b746ceb5	3784
sepp_nepp	6:fb11b746ceb5	3785	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3786	current_spad_index = last_spad_index;
sepp_nepp	8:2fd7cb217068	3787	status = perform_ref_signal_measurement(&peak_signal_rate_ref);
sepp_nepp	6:fb11b746ceb5	3788
sepp_nepp	6:fb11b746ceb5	3789	if ((status == VL53L0X_ERROR_NONE) &&
sepp_nepp	6:fb11b746ceb5	3790	(peak_signal_rate_ref > target_ref_rate)) {
sepp_nepp	6:fb11b746ceb5	3791	/* Signal rate still too high after
sepp_nepp	6:fb11b746ceb5	3792	* setting the minimum number of
sepp_nepp	6:fb11b746ceb5	3793	* APERTURE spads. Can do no more
sepp_nepp	6:fb11b746ceb5	3794	* therefore set the min number of
sepp_nepp	6:fb11b746ceb5	3795	* aperture spads as the result.
sepp_nepp	6:fb11b746ceb5	3796	*/
sepp_nepp	6:fb11b746ceb5	3797	is_aperture_spads_int = 1;
sepp_nepp	6:fb11b746ceb5	3798	ref_spad_count_int = minimum_spad_count;
sepp_nepp	6:fb11b746ceb5	3799	}
sepp_nepp	6:fb11b746ceb5	3800	}
sepp_nepp	6:fb11b746ceb5	3801	} else {
sepp_nepp	6:fb11b746ceb5	3802	need_apt_spads = 0;
sepp_nepp	6:fb11b746ceb5	3803	}
sepp_nepp	6:fb11b746ceb5	3804	}
sepp_nepp	6:fb11b746ceb5	3805
sepp_nepp	6:fb11b746ceb5	3806	if ((status == VL53L0X_ERROR_NONE) &&
sepp_nepp	6:fb11b746ceb5	3807	(peak_signal_rate_ref < target_ref_rate)) {
sepp_nepp	6:fb11b746ceb5	3808	/* At this point, the minimum number of either aperture
sepp_nepp	6:fb11b746ceb5	3809	* or non-aperture spads have been set. Proceed to add
sepp_nepp	6:fb11b746ceb5	3810	* spads and perform measurements until the target
sepp_nepp	6:fb11b746ceb5	3811	* reference is reached.
sepp_nepp	6:fb11b746ceb5	3812	*/
sepp_nepp	6:fb11b746ceb5	3813	is_aperture_spads_int = need_apt_spads;
sepp_nepp	6:fb11b746ceb5	3814	ref_spad_count_int = minimum_spad_count;
sepp_nepp	6:fb11b746ceb5	3815
sepp_nepp	7:3a1115c2556b	3816	memcpy(last_spad_array, Data.SpadData.RefSpadEnables,
sepp_nepp	6:fb11b746ceb5	3817	spad_array_size);
sepp_nepp	6:fb11b746ceb5	3818	last_signal_rate_diff = abs(peak_signal_rate_ref -
sepp_nepp	6:fb11b746ceb5	3819	target_ref_rate);
sepp_nepp	6:fb11b746ceb5	3820	complete = 0;
sepp_nepp	6:fb11b746ceb5	3821
sepp_nepp	6:fb11b746ceb5	3822	while (!complete) {
sepp_nepp	8:2fd7cb217068	3823	get_next_good_spad(Data.SpadData.RefGoodSpadMap,
sepp_nepp	6:fb11b746ceb5	3824	spad_array_size, current_spad_index,
sepp_nepp	6:fb11b746ceb5	3825	&next_good_spad);
sepp_nepp	6:fb11b746ceb5	3826
sepp_nepp	6:fb11b746ceb5	3827	if (next_good_spad == -1) {
sepp_nepp	6:fb11b746ceb5	3828	status = VL53L0X_ERROR_REF_SPAD_INIT;
sepp_nepp	6:fb11b746ceb5	3829	break;
sepp_nepp	6:fb11b746ceb5	3830	}
sepp_nepp	6:fb11b746ceb5	3831
sepp_nepp	6:fb11b746ceb5	3832	/* Cannot combine Aperture and Non-Aperture spads, so
sepp_nepp	6:fb11b746ceb5	3833	* ensure the current spad is of the correct type.
sepp_nepp	6:fb11b746ceb5	3834	*/
sepp_nepp	6:fb11b746ceb5	3835	if (is_aperture((uint32_t)start_select + next_good_spad) !=
sepp_nepp	6:fb11b746ceb5	3836	need_apt_spads) {
sepp_nepp	6:fb11b746ceb5	3837	/* At this point we have enabled the maximum
sepp_nepp	6:fb11b746ceb5	3838	* number of Aperture spads.
sepp_nepp	6:fb11b746ceb5	3839	*/
sepp_nepp	6:fb11b746ceb5	3840	complete = 1;
sepp_nepp	6:fb11b746ceb5	3841	break;
sepp_nepp	6:fb11b746ceb5	3842	}
sepp_nepp	6:fb11b746ceb5	3843
sepp_nepp	6:fb11b746ceb5	3844	(ref_spad_count_int)++;
sepp_nepp	6:fb11b746ceb5	3845
sepp_nepp	6:fb11b746ceb5	3846	current_spad_index = next_good_spad;
sepp_nepp	7:3a1115c2556b	3847	status = enable_spad_bit(Data.SpadData.RefSpadEnables,
sepp_nepp	6:fb11b746ceb5	3848	spad_array_size, current_spad_index);
sepp_nepp	6:fb11b746ceb5	3849
sepp_nepp	6:fb11b746ceb5	3850	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3851	current_spad_index++;
sepp_nepp	6:fb11b746ceb5	3852	/* Proceed to apply the additional spad and
sepp_nepp	6:fb11b746ceb5	3853	* perform measurement. */
sepp_nepp	7:3a1115c2556b	3854	status = set_ref_spad_map(Data.SpadData.RefSpadEnables);
sepp_nepp	6:fb11b746ceb5	3855	}
sepp_nepp	6:fb11b746ceb5	3856
sepp_nepp	6:fb11b746ceb5	3857	if (status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3858	break;
sepp_nepp	6:fb11b746ceb5	3859	}
sepp_nepp	6:fb11b746ceb5	3860
sepp_nepp	7:3a1115c2556b	3861	status = perform_ref_signal_measurement(&peak_signal_rate_ref);
sepp_nepp	6:fb11b746ceb5	3862
sepp_nepp	6:fb11b746ceb5	3863	if (status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3864	break;
sepp_nepp	6:fb11b746ceb5	3865	}
sepp_nepp	6:fb11b746ceb5	3866
sepp_nepp	6:fb11b746ceb5	3867	signal_rate_diff = abs(peak_signal_rate_ref - target_ref_rate);
sepp_nepp	6:fb11b746ceb5	3868
sepp_nepp	6:fb11b746ceb5	3869	if (peak_signal_rate_ref > target_ref_rate) {
sepp_nepp	6:fb11b746ceb5	3870	/* Select the spad map that provides the
sepp_nepp	6:fb11b746ceb5	3871	* measurement closest to the target rate,
sepp_nepp	6:fb11b746ceb5	3872	* either above or below it.
sepp_nepp	6:fb11b746ceb5	3873	*/
sepp_nepp	6:fb11b746ceb5	3874	if (signal_rate_diff > last_signal_rate_diff) {
sepp_nepp	6:fb11b746ceb5	3875	/* Previous spad map produced a closer
sepp_nepp	6:fb11b746ceb5	3876	* measurement, so choose this. */
sepp_nepp	7:3a1115c2556b	3877	status = set_ref_spad_map(last_spad_array);
sepp_nepp	7:3a1115c2556b	3878	memcpy(Data.SpadData.RefSpadEnables,
sepp_nepp	6:fb11b746ceb5	3879	last_spad_array, spad_array_size);
sepp_nepp	6:fb11b746ceb5	3880	(ref_spad_count_int)--;
sepp_nepp	6:fb11b746ceb5	3881	}
sepp_nepp	6:fb11b746ceb5	3882	complete = 1;
sepp_nepp	6:fb11b746ceb5	3883	} else {
sepp_nepp	6:fb11b746ceb5	3884	/* Continue to add spads */
sepp_nepp	6:fb11b746ceb5	3885	last_signal_rate_diff = signal_rate_diff;
sepp_nepp	6:fb11b746ceb5	3886	memcpy(last_spad_array,
sepp_nepp	7:3a1115c2556b	3887	Data.SpadData.RefSpadEnables,
sepp_nepp	6:fb11b746ceb5	3888	spad_array_size);
sepp_nepp	6:fb11b746ceb5	3889	}
sepp_nepp	6:fb11b746ceb5	3890
sepp_nepp	6:fb11b746ceb5	3891	} /* while */
sepp_nepp	6:fb11b746ceb5	3892	}
sepp_nepp	6:fb11b746ceb5	3893
sepp_nepp	6:fb11b746ceb5	3894	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3895	*ref_spad_count = ref_spad_count_int;
sepp_nepp	6:fb11b746ceb5	3896	*is_aperture_spads = is_aperture_spads_int;
sepp_nepp	6:fb11b746ceb5	3897
sepp_nepp	8:2fd7cb217068	3898	Data.RefSpadsInitialised = 1;
sepp_nepp	8:2fd7cb217068	3899	Data.ReferenceSpadCount = (uint8_t)(*ref_spad_count);
sepp_nepp	8:2fd7cb217068	3900	Data.ReferenceSpadType = *is_aperture_spads;
sepp_nepp	6:fb11b746ceb5	3901	}
sepp_nepp	6:fb11b746ceb5	3902
sepp_nepp	6:fb11b746ceb5	3903	return status;
sepp_nepp	6:fb11b746ceb5	3904	}
sepp_nepp	6:fb11b746ceb5	3905
sepp_nepp	8:2fd7cb217068	3906	VL53L0X_Error VL53L0X::VL53L0X_set_reference_spads(uint32_t count, uint8_t is_aperture_spads)
sepp_nepp	8:2fd7cb217068	3907	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3908	uint32_t current_spad_index = 0;
sepp_nepp	6:fb11b746ceb5	3909	uint8_t start_select = 0xB4;
sepp_nepp	6:fb11b746ceb5	3910	uint32_t spad_array_size = 6;
sepp_nepp	6:fb11b746ceb5	3911	uint32_t max_spad_count = 44;
sepp_nepp	6:fb11b746ceb5	3912	uint32_t last_spad_index;
sepp_nepp	6:fb11b746ceb5	3913	uint32_t index;
sepp_nepp	6:fb11b746ceb5	3914
sepp_nepp	6:fb11b746ceb5	3915	/*
sepp_nepp	6:fb11b746ceb5	3916	* This function applies a requested number of reference spads, either
sepp_nepp	6:fb11b746ceb5	3917	* aperture or
sepp_nepp	6:fb11b746ceb5	3918	* non-aperture, as requested.
sepp_nepp	6:fb11b746ceb5	3919	* The good spad map will be applied.
sepp_nepp	6:fb11b746ceb5	3920	*/
sepp_nepp	6:fb11b746ceb5	3921
sepp_nepp	7:3a1115c2556b	3922	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	6:fb11b746ceb5	3923
sepp_nepp	6:fb11b746ceb5	3924	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3925	status = VL53L0X_write_byte(VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
sepp_nepp	6:fb11b746ceb5	3926	}
sepp_nepp	6:fb11b746ceb5	3927
sepp_nepp	6:fb11b746ceb5	3928	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3929	status = VL53L0X_write_byte( VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
sepp_nepp	6:fb11b746ceb5	3930	}
sepp_nepp	6:fb11b746ceb5	3931
sepp_nepp	6:fb11b746ceb5	3932	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3933	status = VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	6:fb11b746ceb5	3934	}
sepp_nepp	6:fb11b746ceb5	3935
sepp_nepp	6:fb11b746ceb5	3936	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3937	status = VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
sepp_nepp	6:fb11b746ceb5	3938	start_select);
sepp_nepp	6:fb11b746ceb5	3939	}
sepp_nepp	6:fb11b746ceb5	3940
sepp_nepp	6:fb11b746ceb5	3941	for (index = 0; index < spad_array_size; index++) {
sepp_nepp	7:3a1115c2556b	3942	Data.SpadData.RefSpadEnables[index] = 0;
sepp_nepp	6:fb11b746ceb5	3943	}
sepp_nepp	6:fb11b746ceb5	3944
sepp_nepp	6:fb11b746ceb5	3945	if (is_aperture_spads) {
sepp_nepp	6:fb11b746ceb5	3946	/* Increment to the first APERTURE spad */
sepp_nepp	6:fb11b746ceb5	3947	while ((is_aperture(start_select + current_spad_index) == 0) &&
sepp_nepp	6:fb11b746ceb5	3948	(current_spad_index < max_spad_count)) {
sepp_nepp	6:fb11b746ceb5	3949	current_spad_index++;
sepp_nepp	6:fb11b746ceb5	3950	}
sepp_nepp	6:fb11b746ceb5	3951	}
sepp_nepp	7:3a1115c2556b	3952	status = enable_ref_spads(is_aperture_spads,
sepp_nepp	7:3a1115c2556b	3953	Data.SpadData.RefGoodSpadMap,
sepp_nepp	7:3a1115c2556b	3954	Data.SpadData.RefSpadEnables,
sepp_nepp	6:fb11b746ceb5	3955	spad_array_size,
sepp_nepp	6:fb11b746ceb5	3956	start_select,
sepp_nepp	6:fb11b746ceb5	3957	current_spad_index,
sepp_nepp	6:fb11b746ceb5	3958	count,
sepp_nepp	6:fb11b746ceb5	3959	&last_spad_index);
sepp_nepp	6:fb11b746ceb5	3960
sepp_nepp	6:fb11b746ceb5	3961	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3962	Data.RefSpadsInitialised = 1;
sepp_nepp	8:2fd7cb217068	3963	Data.ReferenceSpadCount = (uint8_t)(count);
sepp_nepp	8:2fd7cb217068	3964	Data.ReferenceSpadType = is_aperture_spads;
sepp_nepp	6:fb11b746ceb5	3965	}
sepp_nepp	6:fb11b746ceb5	3966
sepp_nepp	6:fb11b746ceb5	3967	return status;
sepp_nepp	6:fb11b746ceb5	3968	}
sepp_nepp	6:fb11b746ceb5	3969
sepp_nepp	7:3a1115c2556b	3970	VL53L0X_Error VL53L0X::VL53L0X_perform_ref_calibration( uint8_t *p_vhv_settings,
sepp_nepp	6:fb11b746ceb5	3971	uint8_t *p_phase_cal)
sepp_nepp	8:2fd7cb217068	3972	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3973
sepp_nepp	7:3a1115c2556b	3974	status = VL53L0X_perform_ref_calibration( p_vhv_settings, p_phase_cal, 1);
sepp_nepp	6:fb11b746ceb5	3975
sepp_nepp	6:fb11b746ceb5	3976	return status;
sepp_nepp	6:fb11b746ceb5	3977	}
sepp_nepp	6:fb11b746ceb5	3978
sepp_nepp	8:2fd7cb217068	3979	VL53L0X_Error VL53L0X::VL53L0X_perform_ref_spad_management(uint32_t ref_spad_count, uint8_t is_aperture_spads)
sepp_nepp	8:2fd7cb217068	3980	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3981
sepp_nepp	7:3a1115c2556b	3982	status = wrapped_VL53L0X_perform_ref_spad_management( ref_spad_count,
sepp_nepp	6:fb11b746ceb5	3983	is_aperture_spads);
sepp_nepp	6:fb11b746ceb5	3984
sepp_nepp	6:fb11b746ceb5	3985	return status;
sepp_nepp	6:fb11b746ceb5	3986	}
sepp_nepp	6:fb11b746ceb5	3987
sepp_nepp	6:fb11b746ceb5	3988	/* Group PAL Init Functions */
sepp_nepp	7:3a1115c2556b	3989	VL53L0X_Error VL53L0X::VL53L0X_set_device_address( uint8_t device_address)
sepp_nepp	7:3a1115c2556b	3990	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3991
sepp_nepp	7:3a1115c2556b	3992	status = VL53L0X_write_byte( VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS,
sepp_nepp	6:fb11b746ceb5	3993	device_address / 2);
sepp_nepp	6:fb11b746ceb5	3994	return status;
sepp_nepp	6:fb11b746ceb5	3995	}
sepp_nepp	6:fb11b746ceb5	3996
sepp_nepp	7:3a1115c2556b	3997	VL53L0X_Error VL53L0X::VL53L0X_set_gpio_config( uint8_t pin,
sepp_nepp	6:fb11b746ceb5	3998	VL53L0X_DeviceModes device_mode, VL53L0X_GpioFunctionality functionality,
sepp_nepp	6:fb11b746ceb5	3999	VL53L0X_InterruptPolarity polarity)
sepp_nepp	7:3a1115c2556b	4000	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	4001	uint8_t data;
sepp_nepp	6:fb11b746ceb5	4002
sepp_nepp	6:fb11b746ceb5	4003	if (pin != 0) {
sepp_nepp	6:fb11b746ceb5	4004	status = VL53L0X_ERROR_GPIO_NOT_EXISTING;
sepp_nepp	6:fb11b746ceb5	4005	} else if (device_mode == VL53L0X_DEVICEMODE_GPIO_DRIVE) {
sepp_nepp	6:fb11b746ceb5	4006	if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW) {
sepp_nepp	6:fb11b746ceb5	4007	data = 0x10;
sepp_nepp	7:3a1115c2556b	4008	} else {data = 1;}
sepp_nepp	7:3a1115c2556b	4009
sepp_nepp	7:3a1115c2556b	4010	status = VL53L0X_write_byte(VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data);
sepp_nepp	6:fb11b746ceb5	4011
sepp_nepp	6:fb11b746ceb5	4012	} else {
sepp_nepp	6:fb11b746ceb5	4013	if (device_mode == VL53L0X_DEVICEMODE_GPIO_OSC) {
sepp_nepp	6:fb11b746ceb5	4014
sepp_nepp	7:3a1115c2556b	4015	status \|= VL53L0X_write_byte( 0xff, 0x01);
sepp_nepp	7:3a1115c2556b	4016	status \|= VL53L0X_write_byte( 0x00, 0x00);
sepp_nepp	7:3a1115c2556b	4017	status \|= VL53L0X_write_byte( 0xff, 0x00);
sepp_nepp	7:3a1115c2556b	4018	status \|= VL53L0X_write_byte( 0x80, 0x01);
sepp_nepp	7:3a1115c2556b	4019	status \|= VL53L0X_write_byte( 0x85, 0x02);
sepp_nepp	7:3a1115c2556b	4020	status \|= VL53L0X_write_byte( 0xff, 0x04);
sepp_nepp	7:3a1115c2556b	4021	status \|= VL53L0X_write_byte( 0xcd, 0x00);
sepp_nepp	7:3a1115c2556b	4022	status \|= VL53L0X_write_byte( 0xcc, 0x11);
sepp_nepp	7:3a1115c2556b	4023	status \|= VL53L0X_write_byte( 0xff, 0x07);
sepp_nepp	7:3a1115c2556b	4024	status \|= VL53L0X_write_byte( 0xbe, 0x00);
sepp_nepp	7:3a1115c2556b	4025	status \|= VL53L0X_write_byte( 0xff, 0x06);
sepp_nepp	7:3a1115c2556b	4026	status \|= VL53L0X_write_byte( 0xcc, 0x09);
sepp_nepp	7:3a1115c2556b	4027	status \|= VL53L0X_write_byte( 0xff, 0x00);
sepp_nepp	7:3a1115c2556b	4028	status \|= VL53L0X_write_byte( 0xff, 0x01);
sepp_nepp	7:3a1115c2556b	4029	status \|= VL53L0X_write_byte( 0x00, 0x00);
sepp_nepp	6:fb11b746ceb5	4030
sepp_nepp	6:fb11b746ceb5	4031	} else {
sepp_nepp	6:fb11b746ceb5	4032
sepp_nepp	6:fb11b746ceb5	4033	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	4034	switch (functionality) {
sepp_nepp	6:fb11b746ceb5	4035	case VL53L0X_GPIOFUNCTIONALITY_OFF:
sepp_nepp	6:fb11b746ceb5	4036	data = 0x00;
sepp_nepp	6:fb11b746ceb5	4037	break;
sepp_nepp	6:fb11b746ceb5	4038	case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW:
sepp_nepp	6:fb11b746ceb5	4039	data = 0x01;
sepp_nepp	6:fb11b746ceb5	4040	break;
sepp_nepp	6:fb11b746ceb5	4041	case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH:
sepp_nepp	6:fb11b746ceb5	4042	data = 0x02;
sepp_nepp	6:fb11b746ceb5	4043	break;
sepp_nepp	6:fb11b746ceb5	4044	case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT:
sepp_nepp	6:fb11b746ceb5	4045	data = 0x03;
sepp_nepp	6:fb11b746ceb5	4046	break;
sepp_nepp	6:fb11b746ceb5	4047	case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY:
sepp_nepp	6:fb11b746ceb5	4048	data = 0x04;
sepp_nepp	6:fb11b746ceb5	4049	break;
sepp_nepp	6:fb11b746ceb5	4050	default:
sepp_nepp	6:fb11b746ceb5	4051	status =
sepp_nepp	6:fb11b746ceb5	4052	VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED;
sepp_nepp	6:fb11b746ceb5	4053	}
sepp_nepp	6:fb11b746ceb5	4054	}
sepp_nepp	6:fb11b746ceb5	4055
sepp_nepp	6:fb11b746ceb5	4056	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4057	status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data);
sepp_nepp	6:fb11b746ceb5	4058	}
sepp_nepp	6:fb11b746ceb5	4059
sepp_nepp	6:fb11b746ceb5	4060	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	4061	if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW) {
sepp_nepp	6:fb11b746ceb5	4062	data = 0;
sepp_nepp	7:3a1115c2556b	4063	} else { data = (uint8_t)(1 << 4); }
sepp_nepp	7:3a1115c2556b	4064	status = VL53L0X_update_byte(VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data);
sepp_nepp	6:fb11b746ceb5	4065	}
sepp_nepp	6:fb11b746ceb5	4066
sepp_nepp	6:fb11b746ceb5	4067	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4068	Data.Pin0GpioFunctionality = functionality; }
sepp_nepp	7:3a1115c2556b	4069
sepp_nepp	7:3a1115c2556b	4070	if (status == VL53L0X_ERROR_NONE) { status = VL53L0X_clear_interrupt_mask( 0); }
sepp_nepp	6:fb11b746ceb5	4071	}
sepp_nepp	6:fb11b746ceb5	4072	}
sepp_nepp	6:fb11b746ceb5	4073
sepp_nepp	6:fb11b746ceb5	4074	return status;
sepp_nepp	6:fb11b746ceb5	4075	}
sepp_nepp	6:fb11b746ceb5	4076
sepp_nepp	7:3a1115c2556b	4077	VL53L0X_Error VL53L0X::VL53L0X_get_fraction_enable( uint8_t *p_enabled)
sepp_nepp	8:2fd7cb217068	4078	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	4079
sepp_nepp	7:3a1115c2556b	4080	status = VL53L0X_read_byte( VL53L0X_REG_SYSTEM_RANGE_CONFIG, p_enabled);
sepp_nepp	7:3a1115c2556b	4081
sepp_nepp	7:3a1115c2556b	4082	if (status == VL53L0X_ERROR_NONE) { p_enabled = (p_enabled & 1); }
sepp_nepp	6:fb11b746ceb5	4083
sepp_nepp	6:fb11b746ceb5	4084	return status;
sepp_nepp	6:fb11b746ceb5	4085	}
sepp_nepp	6:fb11b746ceb5	4086
sepp_nepp	6:fb11b746ceb5	4087	uint16_t VL53L0X::VL53L0X_encode_timeout(uint32_t timeout_macro_clks)
sepp_nepp	7:3a1115c2556b	4088	{ /!Encode timeout in macro periods in (LSByte 2^MSByte) + 1 format*/
sepp_nepp	6:fb11b746ceb5	4089
sepp_nepp	6:fb11b746ceb5	4090	uint16_t encoded_timeout = 0;
sepp_nepp	6:fb11b746ceb5	4091	uint32_t ls_byte = 0;
sepp_nepp	6:fb11b746ceb5	4092	uint16_t ms_byte = 0;
sepp_nepp	6:fb11b746ceb5	4093
sepp_nepp	6:fb11b746ceb5	4094	if (timeout_macro_clks > 0) {
sepp_nepp	6:fb11b746ceb5	4095	ls_byte = timeout_macro_clks - 1;
sepp_nepp	6:fb11b746ceb5	4096
sepp_nepp	6:fb11b746ceb5	4097	while ((ls_byte & 0xFFFFFF00) > 0) {
sepp_nepp	6:fb11b746ceb5	4098	ls_byte = ls_byte >> 1;
sepp_nepp	6:fb11b746ceb5	4099	ms_byte++;
sepp_nepp	6:fb11b746ceb5	4100	}
sepp_nepp	7:3a1115c2556b	4101	encoded_timeout = (ms_byte << 8) + (uint16_t)(ls_byte & 0x000000FF);
sepp_nepp	6:fb11b746ceb5	4102	}
sepp_nepp	6:fb11b746ceb5	4103
sepp_nepp	6:fb11b746ceb5	4104	return encoded_timeout;
sepp_nepp	6:fb11b746ceb5	4105	}
sepp_nepp	6:fb11b746ceb5	4106
sepp_nepp	8:2fd7cb217068	4107	VL53L0X_Error VL53L0X::set_sequence_step_timeout(VL53L0X_SequenceStepId sequence_step_id,
sepp_nepp	6:fb11b746ceb5	4108	uint32_t timeout_micro_secs)
sepp_nepp	8:2fd7cb217068	4109	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	4110	uint8_t current_vcsel_pulse_period_p_clk;
sepp_nepp	6:fb11b746ceb5	4111	uint8_t msrc_encoded_time_out;
sepp_nepp	6:fb11b746ceb5	4112	uint16_t pre_range_encoded_time_out;
sepp_nepp	6:fb11b746ceb5	4113	uint16_t pre_range_time_out_m_clks;
sepp_nepp	6:fb11b746ceb5	4114	uint16_t msrc_range_time_out_m_clks;
sepp_nepp	6:fb11b746ceb5	4115	uint32_t final_range_time_out_m_clks;
sepp_nepp	6:fb11b746ceb5	4116	uint16_t final_range_encoded_time_out;
sepp_nepp	6:fb11b746ceb5	4117	VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
sepp_nepp	6:fb11b746ceb5	4118
sepp_nepp	6:fb11b746ceb5	4119	if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC) \|\|
sepp_nepp	6:fb11b746ceb5	4120	(sequence_step_id == VL53L0X_SEQUENCESTEP_DSS) \|\|
sepp_nepp	6:fb11b746ceb5	4121	(sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC)) {
sepp_nepp	6:fb11b746ceb5	4122
sepp_nepp	8:2fd7cb217068	4123	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	4124	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	4125
sepp_nepp	6:fb11b746ceb5	4126	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4127	msrc_range_time_out_m_clks = VL53L0X_calc_timeout_mclks(timeout_micro_secs,
sepp_nepp	6:fb11b746ceb5	4128	(uint8_t)current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	4129
sepp_nepp	6:fb11b746ceb5	4130	if (msrc_range_time_out_m_clks > 256) {
sepp_nepp	6:fb11b746ceb5	4131	msrc_encoded_time_out = 255;
sepp_nepp	6:fb11b746ceb5	4132	} else {
sepp_nepp	6:fb11b746ceb5	4133	msrc_encoded_time_out =
sepp_nepp	6:fb11b746ceb5	4134	(uint8_t)msrc_range_time_out_m_clks - 1;
sepp_nepp	6:fb11b746ceb5	4135	}
sepp_nepp	8:2fd7cb217068	4136	Data.LastEncodedTimeout = msrc_encoded_time_out;
sepp_nepp	6:fb11b746ceb5	4137	}
sepp_nepp	6:fb11b746ceb5	4138
sepp_nepp	6:fb11b746ceb5	4139	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4140	status = VL53L0X_write_byte(VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
sepp_nepp	6:fb11b746ceb5	4141	msrc_encoded_time_out);
sepp_nepp	6:fb11b746ceb5	4142	}
sepp_nepp	6:fb11b746ceb5	4143	} else {
sepp_nepp	6:fb11b746ceb5	4144
sepp_nepp	6:fb11b746ceb5	4145	if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
sepp_nepp	6:fb11b746ceb5	4146
sepp_nepp	6:fb11b746ceb5	4147	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4148	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	4149	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	4150	pre_range_time_out_m_clks =
sepp_nepp	7:3a1115c2556b	4151	VL53L0X_calc_timeout_mclks(timeout_micro_secs,
sepp_nepp	6:fb11b746ceb5	4152	(uint8_t)current_vcsel_pulse_period_p_clk);
sepp_nepp	8:2fd7cb217068	4153	pre_range_encoded_time_out = VL53L0X_encode_timeout(pre_range_time_out_m_clks);
sepp_nepp	8:2fd7cb217068	4154
sepp_nepp	8:2fd7cb217068	4155	Data.LastEncodedTimeout = pre_range_encoded_time_out;
sepp_nepp	6:fb11b746ceb5	4156	}
sepp_nepp	6:fb11b746ceb5	4157
sepp_nepp	6:fb11b746ceb5	4158	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4159	status = VL53L0X_write_word(VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
sepp_nepp	6:fb11b746ceb5	4160	pre_range_encoded_time_out);
sepp_nepp	6:fb11b746ceb5	4161	}
sepp_nepp	6:fb11b746ceb5	4162
sepp_nepp	6:fb11b746ceb5	4163	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4164	Data.PreRangeTimeoutMicroSecs = timeout_micro_secs;
sepp_nepp	6:fb11b746ceb5	4165	}
sepp_nepp	6:fb11b746ceb5	4166	} else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
sepp_nepp	6:fb11b746ceb5	4167
sepp_nepp	6:fb11b746ceb5	4168	/* For the final range timeout, the pre-range timeout
sepp_nepp	6:fb11b746ceb5	4169	* must be added. To do this both final and pre-range
sepp_nepp	6:fb11b746ceb5	4170	* timeouts must be expressed in macro periods MClks
sepp_nepp	6:fb11b746ceb5	4171	* because they have different vcsel periods.
sepp_nepp	6:fb11b746ceb5	4172	*/
sepp_nepp	6:fb11b746ceb5	4173
sepp_nepp	7:3a1115c2556b	4174	VL53L0X_get_sequence_step_enables(&scheduler_sequence_steps);
sepp_nepp	6:fb11b746ceb5	4175	pre_range_time_out_m_clks = 0;
sepp_nepp	6:fb11b746ceb5	4176	if (scheduler_sequence_steps.PreRangeOn) {
sepp_nepp	6:fb11b746ceb5	4177
sepp_nepp	6:fb11b746ceb5	4178	/* Retrieve PRE-RANGE VCSEL Period */
sepp_nepp	7:3a1115c2556b	4179	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	4180	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	4181
sepp_nepp	6:fb11b746ceb5	4182	/* Retrieve PRE-RANGE Timeout in Macro periods
sepp_nepp	6:fb11b746ceb5	4183	* (MCLKS) */
sepp_nepp	6:fb11b746ceb5	4184	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4185	status = VL53L0X_read_word( 0x51, &pre_range_encoded_time_out);
sepp_nepp	6:fb11b746ceb5	4186	pre_range_time_out_m_clks =
sepp_nepp	7:3a1115c2556b	4187	VL53L0X_decode_timeout( pre_range_encoded_time_out);
sepp_nepp	6:fb11b746ceb5	4188	}
sepp_nepp	6:fb11b746ceb5	4189	}
sepp_nepp	6:fb11b746ceb5	4190
sepp_nepp	6:fb11b746ceb5	4191	/* Calculate FINAL RANGE Timeout in Macro Periods
sepp_nepp	6:fb11b746ceb5	4192	* (MCLKS) and add PRE-RANGE value
sepp_nepp	6:fb11b746ceb5	4193	*/
sepp_nepp	6:fb11b746ceb5	4194	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4195	status = VL53L0X_get_vcsel_pulse_period( VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	4196	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	4197	}
sepp_nepp	6:fb11b746ceb5	4198	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	4199	final_range_time_out_m_clks =
sepp_nepp	7:3a1115c2556b	4200	VL53L0X_calc_timeout_mclks( timeout_micro_secs,
sepp_nepp	6:fb11b746ceb5	4201	(uint8_t) current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	4202
sepp_nepp	6:fb11b746ceb5	4203	final_range_time_out_m_clks += pre_range_time_out_m_clks;
sepp_nepp	6:fb11b746ceb5	4204
sepp_nepp	6:fb11b746ceb5	4205	final_range_encoded_time_out =
sepp_nepp	6:fb11b746ceb5	4206	VL53L0X_encode_timeout(final_range_time_out_m_clks);
sepp_nepp	6:fb11b746ceb5	4207
sepp_nepp	6:fb11b746ceb5	4208	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4209	status = VL53L0X_write_word( 0x71, final_range_encoded_time_out);
sepp_nepp	6:fb11b746ceb5	4210	}
sepp_nepp	6:fb11b746ceb5	4211
sepp_nepp	6:fb11b746ceb5	4212	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4213	Data.FinalRangeTimeoutMicroSecs = timeout_micro_secs;
sepp_nepp	6:fb11b746ceb5	4214	}
sepp_nepp	6:fb11b746ceb5	4215	}
sepp_nepp	6:fb11b746ceb5	4216	} else {
sepp_nepp	6:fb11b746ceb5	4217	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4218	}
sepp_nepp	6:fb11b746ceb5	4219
sepp_nepp	6:fb11b746ceb5	4220	}
sepp_nepp	6:fb11b746ceb5	4221	return status;
sepp_nepp	6:fb11b746ceb5	4222	}
sepp_nepp	6:fb11b746ceb5	4223
sepp_nepp	8:2fd7cb217068	4224	VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_measurement_timing_budget_micro_seconds(uint32_t measurement_timing_budget_micro_seconds)
sepp_nepp	8:2fd7cb217068	4225	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	4226	uint32_t final_range_timing_budget_micro_seconds;
sepp_nepp	6:fb11b746ceb5	4227	VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
sepp_nepp	6:fb11b746ceb5	4228	uint32_t msrc_dcc_tcc_timeout_micro_seconds = 2000;
sepp_nepp	6:fb11b746ceb5	4229	uint32_t start_overhead_micro_seconds = 1910;
sepp_nepp	6:fb11b746ceb5	4230	uint32_t end_overhead_micro_seconds = 960;
sepp_nepp	6:fb11b746ceb5	4231	uint32_t msrc_overhead_micro_seconds = 660;
sepp_nepp	6:fb11b746ceb5	4232	uint32_t tcc_overhead_micro_seconds = 590;
sepp_nepp	6:fb11b746ceb5	4233	uint32_t dss_overhead_micro_seconds = 690;
sepp_nepp	6:fb11b746ceb5	4234	uint32_t pre_range_overhead_micro_seconds = 660;
sepp_nepp	6:fb11b746ceb5	4235	uint32_t final_range_overhead_micro_seconds = 550;
sepp_nepp	6:fb11b746ceb5	4236	uint32_t pre_range_timeout_micro_seconds = 0;
sepp_nepp	6:fb11b746ceb5	4237	uint32_t c_min_timing_budget_micro_seconds = 20000;
sepp_nepp	6:fb11b746ceb5	4238	uint32_t sub_timeout = 0;
sepp_nepp	6:fb11b746ceb5	4239
sepp_nepp	7:3a1115c2556b	4240	if (measurement_timing_budget_micro_seconds < c_min_timing_budget_micro_seconds)
sepp_nepp	7:3a1115c2556b	4241	{ status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	7:3a1115c2556b	4242	return status;
sepp_nepp	7:3a1115c2556b	4243	}
sepp_nepp	6:fb11b746ceb5	4244
sepp_nepp	6:fb11b746ceb5	4245	final_range_timing_budget_micro_seconds =
sepp_nepp	6:fb11b746ceb5	4246	measurement_timing_budget_micro_seconds -
sepp_nepp	6:fb11b746ceb5	4247	(start_overhead_micro_seconds + end_overhead_micro_seconds);
sepp_nepp	6:fb11b746ceb5	4248
sepp_nepp	7:3a1115c2556b	4249	status = VL53L0X_get_sequence_step_enables( &scheduler_sequence_steps);
sepp_nepp	6:fb11b746ceb5	4250
sepp_nepp	6:fb11b746ceb5	4251	if (status == VL53L0X_ERROR_NONE &&
sepp_nepp	6:fb11b746ceb5	4252	(scheduler_sequence_steps.TccOn \|\|
sepp_nepp	6:fb11b746ceb5	4253	scheduler_sequence_steps.MsrcOn \|\|
sepp_nepp	6:fb11b746ceb5	4254	scheduler_sequence_steps.DssOn)) {
sepp_nepp	6:fb11b746ceb5	4255
sepp_nepp	6:fb11b746ceb5	4256	/* TCC, MSRC and DSS all share the same timeout */
sepp_nepp	7:3a1115c2556b	4257	status = get_sequence_step_timeout( VL53L0X_SEQUENCESTEP_MSRC,
sepp_nepp	6:fb11b746ceb5	4258	&msrc_dcc_tcc_timeout_micro_seconds);
sepp_nepp	6:fb11b746ceb5	4259
sepp_nepp	6:fb11b746ceb5	4260	/* Subtract the TCC, MSRC and DSS timeouts if they are
sepp_nepp	6:fb11b746ceb5	4261	* enabled. */
sepp_nepp	6:fb11b746ceb5	4262
sepp_nepp	6:fb11b746ceb5	4263	if (status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	4264	return status;
sepp_nepp	6:fb11b746ceb5	4265	}
sepp_nepp	6:fb11b746ceb5	4266
sepp_nepp	6:fb11b746ceb5	4267	/* TCC */
sepp_nepp	6:fb11b746ceb5	4268	if (scheduler_sequence_steps.TccOn) {
sepp_nepp	6:fb11b746ceb5	4269
sepp_nepp	6:fb11b746ceb5	4270	sub_timeout = msrc_dcc_tcc_timeout_micro_seconds
sepp_nepp	6:fb11b746ceb5	4271	+ tcc_overhead_micro_seconds;
sepp_nepp	6:fb11b746ceb5	4272
sepp_nepp	6:fb11b746ceb5	4273	if (sub_timeout <
sepp_nepp	6:fb11b746ceb5	4274	final_range_timing_budget_micro_seconds) {
sepp_nepp	6:fb11b746ceb5	4275	final_range_timing_budget_micro_seconds -=
sepp_nepp	6:fb11b746ceb5	4276	sub_timeout;
sepp_nepp	6:fb11b746ceb5	4277	} else {
sepp_nepp	6:fb11b746ceb5	4278	/* Requested timeout too big. */
sepp_nepp	6:fb11b746ceb5	4279	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4280	}
sepp_nepp	6:fb11b746ceb5	4281	}
sepp_nepp	6:fb11b746ceb5	4282
sepp_nepp	7:3a1115c2556b	4283	if (status != VL53L0X_ERROR_NONE) {return status;}
sepp_nepp	6:fb11b746ceb5	4284
sepp_nepp	6:fb11b746ceb5	4285	/* DSS */
sepp_nepp	6:fb11b746ceb5	4286	if (scheduler_sequence_steps.DssOn) {
sepp_nepp	6:fb11b746ceb5	4287
sepp_nepp	6:fb11b746ceb5	4288	sub_timeout = 2 * (msrc_dcc_tcc_timeout_micro_seconds +
sepp_nepp	6:fb11b746ceb5	4289	dss_overhead_micro_seconds);
sepp_nepp	6:fb11b746ceb5	4290
sepp_nepp	6:fb11b746ceb5	4291	if (sub_timeout < final_range_timing_budget_micro_seconds) {
sepp_nepp	6:fb11b746ceb5	4292	final_range_timing_budget_micro_seconds
sepp_nepp	6:fb11b746ceb5	4293	-= sub_timeout;
sepp_nepp	6:fb11b746ceb5	4294	} else {
sepp_nepp	6:fb11b746ceb5	4295	/* Requested timeout too big. */
sepp_nepp	6:fb11b746ceb5	4296	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4297	}
sepp_nepp	6:fb11b746ceb5	4298	} else if (scheduler_sequence_steps.MsrcOn) {
sepp_nepp	6:fb11b746ceb5	4299	/* MSRC */
sepp_nepp	6:fb11b746ceb5	4300	sub_timeout = msrc_dcc_tcc_timeout_micro_seconds +
sepp_nepp	6:fb11b746ceb5	4301	msrc_overhead_micro_seconds;
sepp_nepp	6:fb11b746ceb5	4302
sepp_nepp	6:fb11b746ceb5	4303	if (sub_timeout < final_range_timing_budget_micro_seconds) {
sepp_nepp	6:fb11b746ceb5	4304	final_range_timing_budget_micro_seconds
sepp_nepp	6:fb11b746ceb5	4305	-= sub_timeout;
sepp_nepp	6:fb11b746ceb5	4306	} else {
sepp_nepp	6:fb11b746ceb5	4307	/* Requested timeout too big. */
sepp_nepp	6:fb11b746ceb5	4308	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4309	}
sepp_nepp	6:fb11b746ceb5	4310	}
sepp_nepp	6:fb11b746ceb5	4311
sepp_nepp	6:fb11b746ceb5	4312	}
sepp_nepp	6:fb11b746ceb5	4313
sepp_nepp	6:fb11b746ceb5	4314	if (status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	4315
sepp_nepp	6:fb11b746ceb5	4316	return status;
sepp_nepp	6:fb11b746ceb5	4317	}
sepp_nepp	6:fb11b746ceb5	4318
sepp_nepp	6:fb11b746ceb5	4319	if (scheduler_sequence_steps.PreRangeOn) {
sepp_nepp	6:fb11b746ceb5	4320
sepp_nepp	6:fb11b746ceb5	4321	/* Subtract the Pre-range timeout if enabled. */
sepp_nepp	6:fb11b746ceb5	4322
sepp_nepp	8:2fd7cb217068	4323	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	4324	&pre_range_timeout_micro_seconds);
sepp_nepp	6:fb11b746ceb5	4325
sepp_nepp	6:fb11b746ceb5	4326	sub_timeout = pre_range_timeout_micro_seconds +
sepp_nepp	6:fb11b746ceb5	4327	pre_range_overhead_micro_seconds;
sepp_nepp	6:fb11b746ceb5	4328
sepp_nepp	6:fb11b746ceb5	4329	if (sub_timeout < final_range_timing_budget_micro_seconds) {
sepp_nepp	6:fb11b746ceb5	4330	final_range_timing_budget_micro_seconds -= sub_timeout;
sepp_nepp	6:fb11b746ceb5	4331	} else {
sepp_nepp	6:fb11b746ceb5	4332	/* Requested timeout too big. */
sepp_nepp	6:fb11b746ceb5	4333	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4334	}
sepp_nepp	6:fb11b746ceb5	4335	}
sepp_nepp	6:fb11b746ceb5	4336
sepp_nepp	6:fb11b746ceb5	4337	if (status == VL53L0X_ERROR_NONE &&
sepp_nepp	6:fb11b746ceb5	4338	scheduler_sequence_steps.FinalRangeOn) {
sepp_nepp	6:fb11b746ceb5	4339
sepp_nepp	6:fb11b746ceb5	4340	final_range_timing_budget_micro_seconds -=
sepp_nepp	6:fb11b746ceb5	4341	final_range_overhead_micro_seconds;
sepp_nepp	6:fb11b746ceb5	4342
sepp_nepp	6:fb11b746ceb5	4343	/* Final Range Timeout
sepp_nepp	6:fb11b746ceb5	4344	* Note that the final range timeout is determined by the timing
sepp_nepp	6:fb11b746ceb5	4345	* budget and the sum of all other timeouts within the sequence.
sepp_nepp	6:fb11b746ceb5	4346	* If there is no room for the final range timeout, then an error
sepp_nepp	6:fb11b746ceb5	4347	* will be set. Otherwise the remaining time will be applied to
sepp_nepp	6:fb11b746ceb5	4348	* the final range.
sepp_nepp	6:fb11b746ceb5	4349	*/
sepp_nepp	7:3a1115c2556b	4350	status = set_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	4351	final_range_timing_budget_micro_seconds);
sepp_nepp	8:2fd7cb217068	4352	Data.CurrentParameters.MeasurementTimingBudgetMicroSeconds = measurement_timing_budget_micro_seconds;
sepp_nepp	6:fb11b746ceb5	4353	}
sepp_nepp	6:fb11b746ceb5	4354
sepp_nepp	6:fb11b746ceb5	4355	return status;
sepp_nepp	6:fb11b746ceb5	4356	}
sepp_nepp	6:fb11b746ceb5	4357
sepp_nepp	8:2fd7cb217068	4358	VL53L0X_Error VL53L0X::VL53L0X_set_measurement_timing_budget_micro_seconds(uint32_t measurement_timing_budget_micro_seconds)
sepp_nepp	7:3a1115c2556b	4359	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	7:3a1115c2556b	4360
sepp_nepp	8:2fd7cb217068	4361	status = wrapped_VL53L0X_set_measurement_timing_budget_micro_seconds(measurement_timing_budget_micro_seconds);
sepp_nepp	6:fb11b746ceb5	4362
sepp_nepp	6:fb11b746ceb5	4363	return status;
sepp_nepp	6:fb11b746ceb5	4364	}
sepp_nepp	6:fb11b746ceb5	4365
sepp_nepp	8:2fd7cb217068	4366	VL53L0X_Error VL53L0X::VL53L0X_set_sequence_step_enable(VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_step_enabled)
sepp_nepp	8:2fd7cb217068	4367	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	4368	uint8_t sequence_config = 0;
sepp_nepp	6:fb11b746ceb5	4369	uint8_t sequence_config_new = 0;
sepp_nepp	6:fb11b746ceb5	4370	uint32_t measurement_timing_budget_micro_seconds;
sepp_nepp	6:fb11b746ceb5	4371
sepp_nepp	7:3a1115c2556b	4372	status = VL53L0X_read_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &sequence_config);
sepp_nepp	6:fb11b746ceb5	4373
sepp_nepp	6:fb11b746ceb5	4374	sequence_config_new = sequence_config;
sepp_nepp	6:fb11b746ceb5	4375
sepp_nepp	6:fb11b746ceb5	4376	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	4377	if (sequence_step_enabled == 1) {
sepp_nepp	6:fb11b746ceb5	4378
sepp_nepp	6:fb11b746ceb5	4379	/* Enable requested sequence step
sepp_nepp	6:fb11b746ceb5	4380	*/
sepp_nepp	6:fb11b746ceb5	4381	switch (sequence_step_id) {
sepp_nepp	6:fb11b746ceb5	4382	case VL53L0X_SEQUENCESTEP_TCC:
sepp_nepp	6:fb11b746ceb5	4383	sequence_config_new \|= 0x10;
sepp_nepp	6:fb11b746ceb5	4384	break;
sepp_nepp	6:fb11b746ceb5	4385	case VL53L0X_SEQUENCESTEP_DSS:
sepp_nepp	6:fb11b746ceb5	4386	sequence_config_new \|= 0x28;
sepp_nepp	6:fb11b746ceb5	4387	break;
sepp_nepp	6:fb11b746ceb5	4388	case VL53L0X_SEQUENCESTEP_MSRC:
sepp_nepp	6:fb11b746ceb5	4389	sequence_config_new \|= 0x04;
sepp_nepp	6:fb11b746ceb5	4390	break;
sepp_nepp	6:fb11b746ceb5	4391	case VL53L0X_SEQUENCESTEP_PRE_RANGE:
sepp_nepp	6:fb11b746ceb5	4392	sequence_config_new \|= 0x40;
sepp_nepp	6:fb11b746ceb5	4393	break;
sepp_nepp	6:fb11b746ceb5	4394	case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
sepp_nepp	6:fb11b746ceb5	4395	sequence_config_new \|= 0x80;
sepp_nepp	6:fb11b746ceb5	4396	break;
sepp_nepp	6:fb11b746ceb5	4397	default:
sepp_nepp	6:fb11b746ceb5	4398	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4399	}
sepp_nepp	6:fb11b746ceb5	4400	} else {
sepp_nepp	7:3a1115c2556b	4401	/* Disable requested sequence step */
sepp_nepp	6:fb11b746ceb5	4402	switch (sequence_step_id) {
sepp_nepp	6:fb11b746ceb5	4403	case VL53L0X_SEQUENCESTEP_TCC:
sepp_nepp	6:fb11b746ceb5	4404	sequence_config_new &= 0xef;
sepp_nepp	6:fb11b746ceb5	4405	break;
sepp_nepp	6:fb11b746ceb5	4406	case VL53L0X_SEQUENCESTEP_DSS:
sepp_nepp	6:fb11b746ceb5	4407	sequence_config_new &= 0xd7;
sepp_nepp	6:fb11b746ceb5	4408	break;
sepp_nepp	6:fb11b746ceb5	4409	case VL53L0X_SEQUENCESTEP_MSRC:
sepp_nepp	6:fb11b746ceb5	4410	sequence_config_new &= 0xfb;
sepp_nepp	6:fb11b746ceb5	4411	break;
sepp_nepp	6:fb11b746ceb5	4412	case VL53L0X_SEQUENCESTEP_PRE_RANGE:
sepp_nepp	6:fb11b746ceb5	4413	sequence_config_new &= 0xbf;
sepp_nepp	6:fb11b746ceb5	4414	break;
sepp_nepp	6:fb11b746ceb5	4415	case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
sepp_nepp	6:fb11b746ceb5	4416	sequence_config_new &= 0x7f;
sepp_nepp	6:fb11b746ceb5	4417	break;
sepp_nepp	6:fb11b746ceb5	4418	default:
sepp_nepp	6:fb11b746ceb5	4419	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4420	}
sepp_nepp	6:fb11b746ceb5	4421	}
sepp_nepp	6:fb11b746ceb5	4422	}
sepp_nepp	6:fb11b746ceb5	4423
sepp_nepp	6:fb11b746ceb5	4424	if (sequence_config_new != sequence_config) {
sepp_nepp	6:fb11b746ceb5	4425	/* Apply New Setting */
sepp_nepp	6:fb11b746ceb5	4426	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4427	status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, sequence_config_new);
sepp_nepp	6:fb11b746ceb5	4428	}
sepp_nepp	6:fb11b746ceb5	4429	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4430	Data.SequenceConfig = sequence_config_new;}
sepp_nepp	6:fb11b746ceb5	4431
sepp_nepp	6:fb11b746ceb5	4432	/* Recalculate timing budget */
sepp_nepp	6:fb11b746ceb5	4433	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4434	measurement_timing_budget_micro_seconds = Data.CurrentParameters.MeasurementTimingBudgetMicroSeconds ;
sepp_nepp	8:2fd7cb217068	4435
sepp_nepp	8:2fd7cb217068	4436	VL53L0X_set_measurement_timing_budget_micro_seconds(measurement_timing_budget_micro_seconds);
sepp_nepp	6:fb11b746ceb5	4437	}
sepp_nepp	6:fb11b746ceb5	4438	}
sepp_nepp	6:fb11b746ceb5	4439
sepp_nepp	6:fb11b746ceb5	4440	return status;
sepp_nepp	6:fb11b746ceb5	4441	}
sepp_nepp	6:fb11b746ceb5	4442
sepp_nepp	7:3a1115c2556b	4443	VL53L0X_Error VL53L0X::VL53L0X_set_limit_check_enable( uint16_t limit_check_id,
sepp_nepp	6:fb11b746ceb5	4444	uint8_t limit_check_enable)
sepp_nepp	8:2fd7cb217068	4445	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	4446	FixPoint1616_t temp_fix1616 = 0;
sepp_nepp	6:fb11b746ceb5	4447	uint8_t limit_check_enable_int = 0;
sepp_nepp	6:fb11b746ceb5	4448	uint8_t limit_check_disable = 0;
sepp_nepp	6:fb11b746ceb5	4449	uint8_t temp8;
sepp_nepp	6:fb11b746ceb5	4450
sepp_nepp	6:fb11b746ceb5	4451	if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
sepp_nepp	6:fb11b746ceb5	4452	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4453	} else {
sepp_nepp	6:fb11b746ceb5	4454	if (limit_check_enable == 0) {
sepp_nepp	6:fb11b746ceb5	4455	temp_fix1616 = 0;
sepp_nepp	6:fb11b746ceb5	4456	limit_check_enable_int = 0;
sepp_nepp	6:fb11b746ceb5	4457	limit_check_disable = 1;
sepp_nepp	6:fb11b746ceb5	4458	} else {
sepp_nepp	8:2fd7cb217068	4459	temp_fix1616 = Data.CurrentParameters.LimitChecksValue[limit_check_id];
sepp_nepp	6:fb11b746ceb5	4460	limit_check_disable = 0;
sepp_nepp	6:fb11b746ceb5	4461	/* this to be sure to have either 0 or 1 */
sepp_nepp	6:fb11b746ceb5	4462	limit_check_enable_int = 1;
sepp_nepp	6:fb11b746ceb5	4463	}
sepp_nepp	6:fb11b746ceb5	4464
sepp_nepp	6:fb11b746ceb5	4465	switch (limit_check_id) {
sepp_nepp	6:fb11b746ceb5	4466
sepp_nepp	6:fb11b746ceb5	4467	case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
sepp_nepp	6:fb11b746ceb5	4468	/* internal computation: */
sepp_nepp	8:2fd7cb217068	4469	Data.CurrentParameters.LimitChecksEnable[VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE] = limit_check_enable_int;
sepp_nepp	6:fb11b746ceb5	4470	break;
sepp_nepp	6:fb11b746ceb5	4471
sepp_nepp	6:fb11b746ceb5	4472	case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
sepp_nepp	7:3a1115c2556b	4473	status = VL53L0X_write_word( VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
sepp_nepp	6:fb11b746ceb5	4474	VL53L0X_FIXPOINT1616TOFIXPOINT97(temp_fix1616));
sepp_nepp	6:fb11b746ceb5	4475	break;
sepp_nepp	6:fb11b746ceb5	4476
sepp_nepp	7:3a1115c2556b	4477	case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:/* internal computation: */
sepp_nepp	8:2fd7cb217068	4478	Data.CurrentParameters.LimitChecksEnable[VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP] = limit_check_enable_int;
sepp_nepp	6:fb11b746ceb5	4479	break;
sepp_nepp	6:fb11b746ceb5	4480
sepp_nepp	7:3a1115c2556b	4481	case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:/* internal computation: */
sepp_nepp	8:2fd7cb217068	4482	Data.CurrentParameters.LimitChecksEnable[VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD] = limit_check_enable_int;
sepp_nepp	6:fb11b746ceb5	4483	break;
sepp_nepp	6:fb11b746ceb5	4484
sepp_nepp	6:fb11b746ceb5	4485	case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
sepp_nepp	6:fb11b746ceb5	4486	temp8 = (uint8_t)(limit_check_disable << 1);
sepp_nepp	7:3a1115c2556b	4487	status = VL53L0X_update_byte(VL53L0X_REG_MSRC_CONFIG_CONTROL,
sepp_nepp	6:fb11b746ceb5	4488	0xFE, temp8);
sepp_nepp	6:fb11b746ceb5	4489	break;
sepp_nepp	6:fb11b746ceb5	4490
sepp_nepp	6:fb11b746ceb5	4491	case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
sepp_nepp	6:fb11b746ceb5	4492
sepp_nepp	6:fb11b746ceb5	4493	temp8 = (uint8_t)(limit_check_disable << 4);
sepp_nepp	7:3a1115c2556b	4494	status = VL53L0X_update_byte(VL53L0X_REG_MSRC_CONFIG_CONTROL,
sepp_nepp	6:fb11b746ceb5	4495	0xEF, temp8);
sepp_nepp	6:fb11b746ceb5	4496	break;
sepp_nepp	6:fb11b746ceb5	4497
sepp_nepp	6:fb11b746ceb5	4498	default:
sepp_nepp	6:fb11b746ceb5	4499	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4500	}
sepp_nepp	6:fb11b746ceb5	4501	}
sepp_nepp	6:fb11b746ceb5	4502
sepp_nepp	6:fb11b746ceb5	4503	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	4504	if (limit_check_enable == 0) {
sepp_nepp	8:2fd7cb217068	4505	Data.CurrentParameters.LimitChecksEnable[limit_check_id] = 0;
sepp_nepp	6:fb11b746ceb5	4506	} else {
sepp_nepp	8:2fd7cb217068	4507	Data.CurrentParameters.LimitChecksEnable[limit_check_id] = 1;
sepp_nepp	6:fb11b746ceb5	4508	}
sepp_nepp	6:fb11b746ceb5	4509	}
sepp_nepp	6:fb11b746ceb5	4510	return status;
sepp_nepp	6:fb11b746ceb5	4511	}
sepp_nepp	6:fb11b746ceb5	4512
sepp_nepp	7:3a1115c2556b	4513	VL53L0X_Error VL53L0X::VL53L0X_static_init(void)
sepp_nepp	8:2fd7cb217068	4514	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	4515	VL53L0X_DeviceParameters_t current_parameters = {0};
sepp_nepp	6:fb11b746ceb5	4516	uint8_t *p_tuning_setting_buffer;
sepp_nepp	6:fb11b746ceb5	4517	uint16_t tempword = 0;
sepp_nepp	6:fb11b746ceb5	4518	uint8_t tempbyte = 0;
sepp_nepp	6:fb11b746ceb5	4519	uint8_t use_internal_tuning_settings = 0;
sepp_nepp	6:fb11b746ceb5	4520	uint32_t count = 0;
sepp_nepp	6:fb11b746ceb5	4521	uint8_t is_aperture_spads = 0;
sepp_nepp	6:fb11b746ceb5	4522	uint32_t ref_spad_count = 0;
sepp_nepp	6:fb11b746ceb5	4523	uint8_t aperture_spads = 0;
sepp_nepp	6:fb11b746ceb5	4524	uint8_t vcsel_pulse_period_pclk;
sepp_nepp	6:fb11b746ceb5	4525	uint32_t seq_timeout_micro_secs;
sepp_nepp	6:fb11b746ceb5	4526
sepp_nepp	7:3a1115c2556b	4527	status = VL53L0X_get_info_from_device( 1);
sepp_nepp	6:fb11b746ceb5	4528
sepp_nepp	6:fb11b746ceb5	4529	/* set the ref spad from NVM */
sepp_nepp	8:2fd7cb217068	4530	count = (uint32_t)Data.ReferenceSpadCount;
sepp_nepp	8:2fd7cb217068	4531	aperture_spads = Data.ReferenceSpadType;
sepp_nepp	6:fb11b746ceb5	4532
sepp_nepp	6:fb11b746ceb5	4533	/* NVM value invalid */
sepp_nepp	6:fb11b746ceb5	4534	if ((aperture_spads > 1) \|\|
sepp_nepp	6:fb11b746ceb5	4535	((aperture_spads == 1) && (count > 32)) \|\|
sepp_nepp	6:fb11b746ceb5	4536	((aperture_spads == 0) && (count > 12))) {
sepp_nepp	7:3a1115c2556b	4537	status = wrapped_VL53L0X_perform_ref_spad_management( &ref_spad_count,
sepp_nepp	6:fb11b746ceb5	4538	&is_aperture_spads);
sepp_nepp	6:fb11b746ceb5	4539	} else {
sepp_nepp	7:3a1115c2556b	4540	status = VL53L0X_set_reference_spads( count, aperture_spads);
sepp_nepp	6:fb11b746ceb5	4541	}
sepp_nepp	6:fb11b746ceb5	4542
sepp_nepp	6:fb11b746ceb5	4543	/* Initialize tuning settings buffer to prevent compiler warning. */
sepp_nepp	6:fb11b746ceb5	4544	p_tuning_setting_buffer = DefaultTuningSettings;
sepp_nepp	6:fb11b746ceb5	4545
sepp_nepp	6:fb11b746ceb5	4546	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4547	use_internal_tuning_settings = Data.UseInternalTuningSettings;
sepp_nepp	6:fb11b746ceb5	4548
sepp_nepp	6:fb11b746ceb5	4549	if (use_internal_tuning_settings == 0) {
sepp_nepp	8:2fd7cb217068	4550	p_tuning_setting_buffer = Data.pTuningSettingsPointer; }
sepp_nepp	7:3a1115c2556b	4551	else { p_tuning_setting_buffer = DefaultTuningSettings; }
sepp_nepp	6:fb11b746ceb5	4552
sepp_nepp	6:fb11b746ceb5	4553	}
sepp_nepp	6:fb11b746ceb5	4554
sepp_nepp	6:fb11b746ceb5	4555	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4556	status = VL53L0X_load_tuning_settings( p_tuning_setting_buffer); }
sepp_nepp	6:fb11b746ceb5	4557
sepp_nepp	6:fb11b746ceb5	4558	/* Set interrupt config to new sample ready */
sepp_nepp	6:fb11b746ceb5	4559	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4560	status = VL53L0X_set_gpio_config( 0, 0,
sepp_nepp	6:fb11b746ceb5	4561	VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
sepp_nepp	6:fb11b746ceb5	4562	VL53L0X_INTERRUPTPOLARITY_LOW);
sepp_nepp	6:fb11b746ceb5	4563	}
sepp_nepp	6:fb11b746ceb5	4564
sepp_nepp	6:fb11b746ceb5	4565	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4566	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	4567	status \|= VL53L0X_read_word ( 0x84, &tempword);
sepp_nepp	7:3a1115c2556b	4568	status \|= VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	6:fb11b746ceb5	4569	}
sepp_nepp	6:fb11b746ceb5	4570
sepp_nepp	6:fb11b746ceb5	4571	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4572	Data.OscFrequencyMHz = VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword) ;
sepp_nepp	6:fb11b746ceb5	4573	}
sepp_nepp	6:fb11b746ceb5	4574
sepp_nepp	6:fb11b746ceb5	4575	/* After static init, some device parameters may be changed,
sepp_nepp	6:fb11b746ceb5	4576	* so update them */
sepp_nepp	6:fb11b746ceb5	4577	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4578	status = VL53L0X_get_device_parameters( &current_parameters);
sepp_nepp	6:fb11b746ceb5	4579	}
sepp_nepp	6:fb11b746ceb5	4580
sepp_nepp	6:fb11b746ceb5	4581	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4582	status = VL53L0X_get_fraction_enable( &tempbyte);
sepp_nepp	6:fb11b746ceb5	4583	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4584	Data.RangeFractionalEnable = tempbyte;
sepp_nepp	6:fb11b746ceb5	4585	}
sepp_nepp	6:fb11b746ceb5	4586	}
sepp_nepp	6:fb11b746ceb5	4587
sepp_nepp	6:fb11b746ceb5	4588	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4589	Data.CurrentParameters = current_parameters;
sepp_nepp	6:fb11b746ceb5	4590	}
sepp_nepp	6:fb11b746ceb5	4591
sepp_nepp	6:fb11b746ceb5	4592	/* read the sequence config and save it */
sepp_nepp	6:fb11b746ceb5	4593	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4594	status = VL53L0X_read_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte);
sepp_nepp	6:fb11b746ceb5	4595	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4596	Data.SequenceConfig = tempbyte;
sepp_nepp	6:fb11b746ceb5	4597	}
sepp_nepp	6:fb11b746ceb5	4598	}
sepp_nepp	6:fb11b746ceb5	4599
sepp_nepp	6:fb11b746ceb5	4600	/* Disable MSRC and TCC by default */
sepp_nepp	6:fb11b746ceb5	4601	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4602	status = VL53L0X_set_sequence_step_enable(VL53L0X_SEQUENCESTEP_TCC, 0);
sepp_nepp	6:fb11b746ceb5	4603	}
sepp_nepp	6:fb11b746ceb5	4604
sepp_nepp	6:fb11b746ceb5	4605	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4606	status = VL53L0X_set_sequence_step_enable(VL53L0X_SEQUENCESTEP_MSRC, 0);
sepp_nepp	6:fb11b746ceb5	4607	}
sepp_nepp	6:fb11b746ceb5	4608
sepp_nepp	6:fb11b746ceb5	4609	/* Set PAL State to standby */
sepp_nepp	6:fb11b746ceb5	4610	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4611	Data.PalState = VL53L0X_STATE_IDLE;
sepp_nepp	6:fb11b746ceb5	4612	}
sepp_nepp	6:fb11b746ceb5	4613
sepp_nepp	6:fb11b746ceb5	4614	/* Store pre-range vcsel period */
sepp_nepp	6:fb11b746ceb5	4615	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4616	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,&vcsel_pulse_period_pclk);
sepp_nepp	6:fb11b746ceb5	4617	}
sepp_nepp	6:fb11b746ceb5	4618
sepp_nepp	6:fb11b746ceb5	4619	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4620	Data.PreRangeVcselPulsePeriod = vcsel_pulse_period_pclk;
sepp_nepp	6:fb11b746ceb5	4621	}
sepp_nepp	6:fb11b746ceb5	4622
sepp_nepp	6:fb11b746ceb5	4623	/* Store final-range vcsel period */
sepp_nepp	6:fb11b746ceb5	4624	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4625	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	4626	&vcsel_pulse_period_pclk);
sepp_nepp	6:fb11b746ceb5	4627	}
sepp_nepp	6:fb11b746ceb5	4628
sepp_nepp	6:fb11b746ceb5	4629	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4630	Data.FinalRangeVcselPulsePeriod = vcsel_pulse_period_pclk;
sepp_nepp	6:fb11b746ceb5	4631	}
sepp_nepp	6:fb11b746ceb5	4632
sepp_nepp	6:fb11b746ceb5	4633	/* Store pre-range timeout */
sepp_nepp	6:fb11b746ceb5	4634	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4635	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,&seq_timeout_micro_secs);
sepp_nepp	6:fb11b746ceb5	4636	}
sepp_nepp	6:fb11b746ceb5	4637
sepp_nepp	6:fb11b746ceb5	4638	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4639	Data.PreRangeTimeoutMicroSecs = seq_timeout_micro_secs;
sepp_nepp	6:fb11b746ceb5	4640	}
sepp_nepp	6:fb11b746ceb5	4641
sepp_nepp	6:fb11b746ceb5	4642	/* Store final-range timeout */
sepp_nepp	6:fb11b746ceb5	4643	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4644	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,&seq_timeout_micro_secs);
sepp_nepp	6:fb11b746ceb5	4645	}
sepp_nepp	6:fb11b746ceb5	4646
sepp_nepp	6:fb11b746ceb5	4647	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4648	Data.FinalRangeTimeoutMicroSecs = seq_timeout_micro_secs;
sepp_nepp	6:fb11b746ceb5	4649	}
sepp_nepp	6:fb11b746ceb5	4650	return status;
sepp_nepp	6:fb11b746ceb5	4651	}
sepp_nepp	6:fb11b746ceb5	4652
sepp_nepp	7:3a1115c2556b	4653	VL53L0X_Error VL53L0X::VL53L0X_stop_measurement(void)
sepp_nepp	8:2fd7cb217068	4654	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	4655
sepp_nepp	6:fb11b746ceb5	4656
sepp_nepp	7:3a1115c2556b	4657	status = VL53L0X_write_byte( VL53L0X_REG_SYSRANGE_START,
sepp_nepp	6:fb11b746ceb5	4658	VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT);
sepp_nepp	6:fb11b746ceb5	4659
sepp_nepp	7:3a1115c2556b	4660	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	4661	status = VL53L0X_write_byte( 0x00, 0x00);
sepp_nepp	7:3a1115c2556b	4662	status = VL53L0X_write_byte( 0x91, 0x00);
sepp_nepp	7:3a1115c2556b	4663	status = VL53L0X_write_byte( 0x00, 0x01);
sepp_nepp	7:3a1115c2556b	4664	status = VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	6:fb11b746ceb5	4665
sepp_nepp	6:fb11b746ceb5	4666	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	4667	/* Set PAL State to Idle */
sepp_nepp	8:2fd7cb217068	4668	Data.PalState = VL53L0X_STATE_IDLE;
sepp_nepp	6:fb11b746ceb5	4669	}
sepp_nepp	6:fb11b746ceb5	4670
sepp_nepp	6:fb11b746ceb5	4671	/* Check if need to apply interrupt settings */
sepp_nepp	6:fb11b746ceb5	4672	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4673	status = VL53L0X_check_and_load_interrupt_settings( 0);
sepp_nepp	6:fb11b746ceb5	4674	}
sepp_nepp	6:fb11b746ceb5	4675
sepp_nepp	6:fb11b746ceb5	4676
sepp_nepp	6:fb11b746ceb5	4677	return status;
sepp_nepp	6:fb11b746ceb5	4678	}
sepp_nepp	6:fb11b746ceb5	4679
sepp_nepp	8:2fd7cb217068	4680	VL53L0X_Error VL53L0X::VL53L0X_get_stop_completed_status(uint32_t *p_stop_status)
sepp_nepp	8:2fd7cb217068	4681	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	4682	uint8_t byte = 0;
sepp_nepp	6:fb11b746ceb5	4683
sepp_nepp	6:fb11b746ceb5	4684
sepp_nepp	7:3a1115c2556b	4685	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	6:fb11b746ceb5	4686
sepp_nepp	6:fb11b746ceb5	4687	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4688	status = VL53L0X_read_byte( 0x04, &byte);
sepp_nepp	6:fb11b746ceb5	4689	}
sepp_nepp	6:fb11b746ceb5	4690
sepp_nepp	6:fb11b746ceb5	4691	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4692	status = VL53L0X_write_byte( 0xFF, 0x0);
sepp_nepp	6:fb11b746ceb5	4693	}
sepp_nepp	6:fb11b746ceb5	4694
sepp_nepp	6:fb11b746ceb5	4695	*p_stop_status = byte;
sepp_nepp	6:fb11b746ceb5	4696
sepp_nepp	6:fb11b746ceb5	4697	if (byte == 0) {
sepp_nepp	7:3a1115c2556b	4698	status = VL53L0X_write_byte( 0x80, 0x01);
sepp_nepp	7:3a1115c2556b	4699	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	4700	status = VL53L0X_write_byte( 0x00, 0x00);
sepp_nepp	8:2fd7cb217068	4701	status = VL53L0X_write_byte( 0x91,Data.StopVariable);
sepp_nepp	7:3a1115c2556b	4702	status = VL53L0X_write_byte( 0x00, 0x01);
sepp_nepp	7:3a1115c2556b	4703	status = VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	7:3a1115c2556b	4704	status = VL53L0X_write_byte( 0x80, 0x00);
sepp_nepp	6:fb11b746ceb5	4705	}
sepp_nepp	6:fb11b746ceb5	4706	return status;
sepp_nepp	6:fb11b746ceb5	4707	}
sepp_nepp	6:fb11b746ceb5	4708
sepp_nepp	6:fb11b746ceb5	4709	/******************************************************************************/
sepp_nepp	6:fb11b746ceb5	4710
sepp_nepp	6:fb11b746ceb5	4711	/**************** Write and read functions from I2C ***********************/
sepp_nepp	6:fb11b746ceb5	4712
sepp_nepp	7:3a1115c2556b	4713	VL53L0X_Error VL53L0X::VL53L0X_write_multi( uint8_t index, uint8_t *p_data, uint32_t count)
sepp_nepp	8:2fd7cb217068	4714	{ int status;
sepp_nepp	6:fb11b746ceb5	4715
sepp_nepp	7:3a1115c2556b	4716	status = VL53L0X_i2c_write(index, p_data, (uint16_t)count);
sepp_nepp	6:fb11b746ceb5	4717	return status;
sepp_nepp	6:fb11b746ceb5	4718	}
sepp_nepp	6:fb11b746ceb5	4719
sepp_nepp	7:3a1115c2556b	4720	VL53L0X_Error VL53L0X::VL53L0X_read_multi( uint8_t index, uint8_t *p_data, uint32_t count)
sepp_nepp	8:2fd7cb217068	4721	{ int status;
sepp_nepp	6:fb11b746ceb5	4722
sepp_nepp	6:fb11b746ceb5	4723	if (count >= VL53L0X_MAX_I2C_XFER_SIZE) {
sepp_nepp	8:2fd7cb217068	4724	status = VL53L0X_ERROR_INVALID_PARAMS;}
sepp_nepp	6:fb11b746ceb5	4725
sepp_nepp	7:3a1115c2556b	4726	status = VL53L0X_i2c_read(index, p_data, (uint16_t)count);
sepp_nepp	6:fb11b746ceb5	4727
sepp_nepp	6:fb11b746ceb5	4728	return status;
sepp_nepp	6:fb11b746ceb5	4729	}
sepp_nepp	6:fb11b746ceb5	4730
sepp_nepp	7:3a1115c2556b	4731	VL53L0X_Error VL53L0X::VL53L0X_write_byte( uint8_t index, uint8_t data)
sepp_nepp	8:2fd7cb217068	4732	{ int status;
sepp_nepp	6:fb11b746ceb5	4733
sepp_nepp	7:3a1115c2556b	4734	status = VL53L0X_i2c_write(index, &data, 1);
sepp_nepp	6:fb11b746ceb5	4735	return status;
sepp_nepp	6:fb11b746ceb5	4736	}
sepp_nepp	6:fb11b746ceb5	4737
sepp_nepp	7:3a1115c2556b	4738	VL53L0X_Error VL53L0X::VL53L0X_write_word( uint8_t index, uint16_t data)
sepp_nepp	8:2fd7cb217068	4739	{ int status;
sepp_nepp	6:fb11b746ceb5	4740	uint8_t buffer[2];
sepp_nepp	6:fb11b746ceb5	4741
sepp_nepp	6:fb11b746ceb5	4742	buffer[0] = data >> 8;
sepp_nepp	6:fb11b746ceb5	4743	buffer[1] = data & 0x00FF;
sepp_nepp	7:3a1115c2556b	4744	status = VL53L0X_i2c_write(index, (uint8_t *)buffer, 2);
sepp_nepp	6:fb11b746ceb5	4745	return status;
sepp_nepp	6:fb11b746ceb5	4746	}
sepp_nepp	6:fb11b746ceb5	4747
sepp_nepp	7:3a1115c2556b	4748	VL53L0X_Error VL53L0X::VL53L0X_write_dword( uint8_t index, uint32_t data)
sepp_nepp	8:2fd7cb217068	4749	{ int status;
sepp_nepp	6:fb11b746ceb5	4750	uint8_t buffer[4];
sepp_nepp	6:fb11b746ceb5	4751
sepp_nepp	6:fb11b746ceb5	4752	buffer[0] = (data >> 24) & 0xFF;
sepp_nepp	6:fb11b746ceb5	4753	buffer[1] = (data >> 16) & 0xFF;
sepp_nepp	6:fb11b746ceb5	4754	buffer[2] = (data >> 8) & 0xFF;
sepp_nepp	6:fb11b746ceb5	4755	buffer[3] = (data >> 0) & 0xFF;
sepp_nepp	7:3a1115c2556b	4756	status = VL53L0X_i2c_write(index, (uint8_t *)buffer, 4);
sepp_nepp	6:fb11b746ceb5	4757	return status;
sepp_nepp	6:fb11b746ceb5	4758	}
sepp_nepp	6:fb11b746ceb5	4759
sepp_nepp	7:3a1115c2556b	4760	VL53L0X_Error VL53L0X::VL53L0X_read_byte( uint8_t index, uint8_t *p_data)
sepp_nepp	8:2fd7cb217068	4761	{ int status;
sepp_nepp	6:fb11b746ceb5	4762
sepp_nepp	7:3a1115c2556b	4763	status = VL53L0X_i2c_read(index, p_data, 1);
sepp_nepp	6:fb11b746ceb5	4764
sepp_nepp	6:fb11b746ceb5	4765	if (status) {
sepp_nepp	6:fb11b746ceb5	4766	return -1;
sepp_nepp	6:fb11b746ceb5	4767	}
sepp_nepp	6:fb11b746ceb5	4768
sepp_nepp	6:fb11b746ceb5	4769	return 0;
sepp_nepp	6:fb11b746ceb5	4770	}
sepp_nepp	6:fb11b746ceb5	4771
sepp_nepp	7:3a1115c2556b	4772	VL53L0X_Error VL53L0X::VL53L0X_read_word( uint8_t index, uint16_t *p_data)
sepp_nepp	8:2fd7cb217068	4773	{ int status;
sepp_nepp	6:fb11b746ceb5	4774	uint8_t buffer[2] = {0, 0};
sepp_nepp	6:fb11b746ceb5	4775
sepp_nepp	7:3a1115c2556b	4776	status = VL53L0X_i2c_read(index, buffer, 2);
sepp_nepp	6:fb11b746ceb5	4777	if (!status) {
sepp_nepp	6:fb11b746ceb5	4778	*p_data = (buffer[0] << 8) + buffer[1];
sepp_nepp	6:fb11b746ceb5	4779	}
sepp_nepp	6:fb11b746ceb5	4780	return status;
sepp_nepp	6:fb11b746ceb5	4781
sepp_nepp	6:fb11b746ceb5	4782	}
sepp_nepp	6:fb11b746ceb5	4783
sepp_nepp	7:3a1115c2556b	4784	VL53L0X_Error VL53L0X::VL53L0X_read_dword( uint8_t index, uint32_t *p_data)
sepp_nepp	8:2fd7cb217068	4785	{ int status;
sepp_nepp	6:fb11b746ceb5	4786	uint8_t buffer[4] = {0, 0, 0, 0};
sepp_nepp	6:fb11b746ceb5	4787
sepp_nepp	7:3a1115c2556b	4788	status = VL53L0X_i2c_read(index, buffer, 4);
sepp_nepp	6:fb11b746ceb5	4789	if (!status) {
sepp_nepp	6:fb11b746ceb5	4790	*p_data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3];
sepp_nepp	6:fb11b746ceb5	4791	}
sepp_nepp	6:fb11b746ceb5	4792	return status;
sepp_nepp	6:fb11b746ceb5	4793
sepp_nepp	6:fb11b746ceb5	4794	}
sepp_nepp	6:fb11b746ceb5	4795
sepp_nepp	7:3a1115c2556b	4796	VL53L0X_Error VL53L0X::VL53L0X_update_byte( uint8_t index, uint8_t and_data, uint8_t or_data)
sepp_nepp	8:2fd7cb217068	4797	{ int status;
sepp_nepp	6:fb11b746ceb5	4798	uint8_t buffer = 0;
sepp_nepp	6:fb11b746ceb5	4799
sepp_nepp	6:fb11b746ceb5	4800	/* read data direct onto buffer */
sepp_nepp	7:3a1115c2556b	4801	status = VL53L0X_i2c_read(index, &buffer, 1);
sepp_nepp	6:fb11b746ceb5	4802	if (!status) {
sepp_nepp	6:fb11b746ceb5	4803	buffer = (buffer & and_data) \| or_data;
sepp_nepp	7:3a1115c2556b	4804	status = VL53L0X_i2c_write(index, &buffer, (uint8_t)1);
sepp_nepp	6:fb11b746ceb5	4805	}
sepp_nepp	6:fb11b746ceb5	4806	return status;
sepp_nepp	6:fb11b746ceb5	4807	}
sepp_nepp	6:fb11b746ceb5	4808
sepp_nepp	7:3a1115c2556b	4809	VL53L0X_Error VL53L0X::VL53L0X_i2c_write(uint8_t RegisterAddr, uint8_t *p_data,
sepp_nepp	6:fb11b746ceb5	4810	uint16_t NumByteToWrite)
sepp_nepp	8:2fd7cb217068	4811	{ /** Writes a buffer towards the I2C peripheral device. */
sepp_nepp	8:2fd7cb217068	4812	static uint8_t tmp[VL53L0X_MAX_I2C_XFER_SIZE];
sepp_nepp	6:fb11b746ceb5	4813
sepp_nepp	6:fb11b746ceb5	4814	if(NumByteToWrite >= VL53L0X_MAX_I2C_XFER_SIZE) return -2;
sepp_nepp	6:fb11b746ceb5	4815
sepp_nepp	6:fb11b746ceb5	4816	/* First, send device address. Then, send data and STOP condition */
sepp_nepp	6:fb11b746ceb5	4817	tmp[0] = RegisterAddr;
sepp_nepp	8:2fd7cb217068	4818	memcpy(tmp+1, p_data, NumByteToWrite);
sepp_nepp	8:2fd7cb217068	4819
sepp_nepp	8:2fd7cb217068	4820	if (_dev_i2c->write(I2cDevAddr, (const char*)tmp, NumByteToWrite+1, false) != 0 )
sepp_nepp	8:2fd7cb217068	4821	{ return -1; }
sepp_nepp	8:2fd7cb217068	4822	return 0;
sepp_nepp	8:2fd7cb217068	4823	}
sepp_nepp	8:2fd7cb217068	4824
sepp_nepp	8:2fd7cb217068	4825	VL53L0X_Error VL53L0X::VL53L0X_i2c_read(uint8_t RegisterAddr, uint8_t *p_data, uint16_t NumByteToRead)
sepp_nepp	8:2fd7cb217068	4826	{ /** Reads a buffer from the I2C peripheral device. */
sepp_nepp	8:2fd7cb217068	4827
sepp_nepp	8:2fd7cb217068	4828	/* First Send device address, with no STOP condition */
sepp_nepp	8:2fd7cb217068	4829	int ret = _dev_i2c->write(I2cDevAddr, (const char*)&RegisterAddr, 1, true);
sepp_nepp	8:2fd7cb217068	4830
sepp_nepp	8:2fd7cb217068	4831	/* all ok ? then Read data, with STOP condition */
sepp_nepp	8:2fd7cb217068	4832	if(ret == 0) { ret = _dev_i2c->read(I2cDevAddr, (char*)p_data, NumByteToRead, false); }
sepp_nepp	8:2fd7cb217068	4833
sepp_nepp	6:fb11b746ceb5	4834	if (ret != 0 ){ return -1; }
sepp_nepp	6:fb11b746ceb5	4835	return 0;
sepp_nepp	6:fb11b746ceb5	4836	}
sepp_nepp	6:fb11b746ceb5	4837

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Type:	Library
Created:	20 Jun 2019
Imports:	2
Forks:	0
Commits:	14
Dependents:	0
Dependencies:	0
Followers:	1

VL53L0X.cpp@8:2fd7cb217068, 2019-06-20 (annotated)

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