Tarek Lule
Greatly simplified Architecture, Identical Functions Removed: Platform Interfaces, STP6001 interface
Diff: VL53L0X.cpp
- Revision:
- 11:d8dbe3b87f9f
- Parent:
- 10:cd1758e186a4
- Child:
- 12:81f37e50f8f8
--- a/VL53L0X.cpp Thu Jun 27 12:51:34 2019 +0000
+++ b/VL53L0X.cpp Tue Jul 02 12:38:07 2019 +0000
@@ -35,7 +35,21 @@
******************************************************************************
*/
-/* Some example regular expressinos used to simplify the code:
+/*
+Simplifications versus the original library:
+
+Replace:
+ * "MicroSeconds" or "micro_seconds" by "us" or "_us"
+ * "MilliSeconds" or "milli_seconds" by "ms" or "_ms"
+ * "MegaCps" or "MCps" or "_mega_cps" by "MHz" or "_MHz"
+ * "MicroMeter" by "um" or "_um"
+ * "FIXEDPNT" by "FP"
+
+Everything related to histogram_mode seems completely not implemented, so all definitions removed.
+
+Everything related to x_talk_compensation seems also not implemented, all removed
+
+Some example regular expressinos used to simplify the code:
b) Search for: \QRead_Byte(\E([A-Za-z_\d]+)[[:punct:]](\s*)\Q&\E([A-Za-z\d_]+)\Q);\E
Replace by: \3 = Read_Byte\(\1\);
to replace: Read_Byte(0x90,&module_id);
@@ -112,14 +126,12 @@
/* by default the I2C is running at 1V8 if you want to change it you
* need to include this define at compilation level. */
#ifdef USE_I2C_2V8
- Status = VL53L0X_UpdateByte(VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV,
- 0xFE,0x01);
+ Status = VL53L0X_UpdateByte(VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV,0xFE,0x01);
#endif
/* Set I2C standard mode */
if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte( 0x88, 0x00);
- }
+ status = VL53L0X_write_byte( 0x88, 0x00); }
Data.ReadDataFromDeviceDone = 0;
Data.ReadDataFromDeviceDone = 0;
@@ -134,22 +146,21 @@
Data.LinearityCorrectiveGain = 1000;
/* Dmax default Parameter */
- Data.DmaxCalRangeMilliMeter = 400;
- Data.DmaxCalSignalRateRtnMegaCps = (FixPoint1616_t)((0x00016B85)); /* 1.42 No Cover Glass*/
+ Data.DmaxCalRange_mm = 400;
+ Data.DmaxCalSignalRateRtn_MHz = (FixPoint1616_t)((0x00016B85)); /* 1.42 No Cover Glass*/
/* Set Default static parameters
- *set first temporary values 9.44MHz * 65536 = 618660 */
- Data.OscFrequencyMHz = 618660;
-
- /* Set Default XTalkCompensationRateMegaCps to 0 */
- CurrentParameters.XTalkCompensationRateMegaCps = 0;
+ *set first temporary values 9.44_MHz * 65536 = 618660 */
+ Data.OscFrequency_MHz = 618660;
+
+ /* Set Default XTalkCompensationRate_MHz to 0 */
+ CurrentParameters.XTalkCompensationRate_MHz = 0;
/* Get default parameters */
status = VL53L0X_get_device_parameters( &CurrentParameters);
if (status == VL53L0X_ERROR_NONE) {
/* initialize PAL values */
CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING;
- CurrentParameters.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED;
CurrentParameters = CurrentParameters;
}
@@ -157,7 +168,7 @@
Data.SigmaEstRefArray = 100;
Data.SigmaEstEffPulseWidth = 900;
Data.SigmaEstEffAmbWidth = 500;
- Data.targetRefRate = 0x0A00; /* 20 MCPS in 9:7 format */
+ Data.targetRefRate = 0x0A00; /* 20 MHz in 9:7 format */
/* Use internal default settings */
Data.UseInternalTuningSettings = 1;
@@ -213,7 +224,6 @@
}
if (status == VL53L0X_ERROR_NONE) {
-
Data.SequenceConfig = 0xFF;
status = VL53L0X_write_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,0xFF);
@@ -236,19 +246,15 @@
uint8_t phase_cal;
if (status == VL53L0X_ERROR_NONE) {
- //printf("Call of VL53L0X_StaticInit\r\n");
status = VL53L0X_static_init(); // Device Initialization
}
if (status == VL53L0X_ERROR_NONE) {
- //printf("Call of VL53L0X_PerformRefCalibration\r\n");
status = VL53L0X_perform_ref_calibration(&vhv_settings, &phase_cal); // Device Initialization
}
if (status == VL53L0X_ERROR_NONE) {
- //printf("Call of VL53L0X_PerformRefSpadManagement\r\n");
status = VL53L0X_perform_ref_spad_management(&ref_spad_count, &is_aperture_spads); // Device Initialization
-// printf ("refSpadCount = %d, isApertureSpads = %d\r\n", refSpadCount, isApertureSpads);
}
return status;
@@ -356,7 +362,7 @@
Status = VL53L0X_set_limit_check_value(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, sigmaLimit);}
if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_measurement_timing_budget_micro_seconds( timingBudget);}
+ Status = VL53L0X_set_measurement_timing_budget_us( timingBudget);}
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_set_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE, preRangeVcselPeriod);}
@@ -443,9 +449,8 @@
if (!status) {
status = get_measurement(range_single_shot_polling, &p_ranging_measurement_data);
}
- if (p_ranging_measurement_data.RangeStatus == 0) {
- // we have a valid range.
- *p_data = p_ranging_measurement_data.RangeMilliMeter;
+ if (p_ranging_measurement_data.RangeStatus == 0) { // we have a valid range.
+ *p_data = p_ranging_measurement_data.Range_mm;
} else {
*p_data = 0;
status = VL53L0X_ERROR_RANGE_ERROR;
@@ -475,7 +480,6 @@
if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
status = VL53L0X_ERROR_TIME_OUT;
}
-
}
return status;
@@ -557,7 +561,6 @@
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t strobe;
uint32_t loop_nb;
-
status |= VL53L0X_write_byte( 0x83, 0x00);
@@ -617,9 +620,8 @@
status |= VL53L0X_write_byte( 0x80, 0x01);
status |= VL53L0X_write_byte( 0xFF, 0x01);
status |= VL53L0X_write_byte( 0x00, 0x00);
-
status |= VL53L0X_write_byte( 0xFF, 0x06);
- status |= VL53L0X_read_byte( 0x83, &byte);
+ status |= VL53L0X_read_byte ( 0x83, &byte);
status |= VL53L0X_write_byte( 0x83, byte | 4);
status |= VL53L0X_write_byte( 0xFF, 0x07);
status |= VL53L0X_write_byte( 0x81, 0x01);
@@ -641,22 +643,17 @@
status |= VL53L0X_device_read_strobe();
status |= VL53L0X_read_dword( 0x90, &tmp_dword);
- nvm_ref_good_spad_map[0] = (uint8_t)((tmp_dword >> 24)
- & 0xff);
- nvm_ref_good_spad_map[1] = (uint8_t)((tmp_dword >> 16)
- & 0xff);
- nvm_ref_good_spad_map[2] = (uint8_t)((tmp_dword >> 8)
- & 0xff);
+ nvm_ref_good_spad_map[0] = (uint8_t)((tmp_dword >> 24) & 0xff);
+ nvm_ref_good_spad_map[1] = (uint8_t)((tmp_dword >> 16) & 0xff);
+ nvm_ref_good_spad_map[2] = (uint8_t)((tmp_dword >> 8) & 0xff);
nvm_ref_good_spad_map[3] = (uint8_t)(tmp_dword & 0xff);
status |= VL53L0X_write_byte( 0x94, 0x25);
status |= VL53L0X_device_read_strobe();
status |= VL53L0X_read_dword( 0x90, &tmp_dword);
- nvm_ref_good_spad_map[4] = (uint8_t)((tmp_dword >> 24)
- & 0xff);
- nvm_ref_good_spad_map[5] = (uint8_t)((tmp_dword >> 16)
- & 0xff);
+ nvm_ref_good_spad_map[4] = (uint8_t)((tmp_dword >> 24) & 0xff);
+ nvm_ref_good_spad_map[5] = (uint8_t)((tmp_dword >> 16) & 0xff);
}
if (((option & 2) == 2) &&
@@ -739,29 +736,25 @@
status |= VL53L0X_device_read_strobe();
status |= VL53L0X_read_dword( 0x90, &tmp_dword);
- signal_rate_meas_fixed1104_400_mm = (tmp_dword &
- 0x0000000ff) << 8;
+ signal_rate_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff) << 8;
status |= VL53L0X_write_byte( 0x94, 0x74);
status |= VL53L0X_device_read_strobe();
status |= VL53L0X_read_dword( 0x90, &tmp_dword);
- signal_rate_meas_fixed1104_400_mm |= ((tmp_dword &
- 0xff000000) >> 24);
+ signal_rate_meas_fixed1104_400_mm |= ((tmp_dword & 0xff000000) >> 24);
status |= VL53L0X_write_byte( 0x94, 0x75);
status |= VL53L0X_device_read_strobe();
status |= VL53L0X_read_dword( 0x90, &tmp_dword);
- dist_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff)
- << 8;
+ dist_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff) << 8;
status |= VL53L0X_write_byte( 0x94, 0x76);
status |= VL53L0X_device_read_strobe();
status |= VL53L0X_read_dword( 0x90, &tmp_dword);
- dist_meas_fixed1104_400_mm |= ((tmp_dword & 0xff000000)
- >> 24);
+ dist_meas_fixed1104_400_mm |= ((tmp_dword & 0xff000000) >> 24);
}
status |= VL53L0X_write_byte( 0x81, 0x00);
@@ -781,11 +774,10 @@
if (((option & 1) == 1) &&
((read_data_from_device_done & 1) == 0)) {
Data.ReferenceSpadCount = reference_spad_count;
-
Data.ReferenceSpadType = reference_spad_type;
for (i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++) {
- Data.SpadData.RefGoodSpadMap[i] =
+ Data.RefGoodSpadMap[i] =
nvm_ref_good_spad_map[i];
}
}
@@ -793,23 +785,17 @@
if (((option & 2) == 2) &&
((read_data_from_device_done & 2) == 0)) {
Data.ModuleId = module_id;
-
Data.Revision = revision;
-
product_id_tmp = Data.ProductId;
VL53L0X_COPYSTRING(product_id_tmp, product_id);
-
}
if (((option & 4) == 4) &&
((read_data_from_device_done & 4) == 0)) {
Data.PartUIDUpper = part_uid_upper;
-
Data.PartUIDLower = part_uid_lower;
-
signal_rate_meas_fixed400_mm_fix =
- VL53L0X_FIXPOINT97TOFIXPOINT1616(signal_rate_meas_fixed1104_400_mm);
-
+ VL53L0X_FP97TOFP1616(signal_rate_meas_fixed1104_400_mm);
Data.SignalRateMeasFixed400mm = signal_rate_meas_fixed400_mm_fix;
offset_micro_meters = 0;
@@ -822,7 +808,7 @@
offset_micro_meters *= -1;
}
- Data.Part2PartOffsetAdjustmentNVMMicroMeter = offset_micro_meters;
+ Data.Part2PartOffsetAdjustNVM_um = offset_micro_meters;
}
byte = (uint8_t)(read_data_from_device_done | option);
Data.ReadDataFromDeviceDone = byte;
@@ -933,16 +919,16 @@
if (status == VL53L0X_ERROR_NONE) {
/* Store initial device offset */
- Data.Part2PartOffsetNVMMicroMeter = current_offset_micro_meters;
+ Data.Part2PartOffsetNVM_um = current_offset_micro_meters;
corrected_offset_micro_meters = current_offset_micro_meters +
- (int32_t)Data.Part2PartOffsetAdjustmentNVMMicroMeter;
+ (int32_t)Data.Part2PartOffsetAdjustNVM_um;
status = VL53L0X_set_offset_calibration_data_micro_meter(corrected_offset_micro_meters);
/* store current, adjusted offset */
if (status == VL53L0X_ERROR_NONE) {
- CurrentParameters.RangeOffsetMicroMeters = corrected_offset_micro_meters;
+ CurrentParameters.RangeOffset_um = corrected_offset_micro_meters;
}
}
@@ -959,10 +945,10 @@
return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_get_inter_measurement_period_milli_seconds(uint32_t *p_inter_measurement_period_milli_seconds)
+VL53L0X_Error VL53L0X::VL53L0X_get_inter_measurement_period_ms(uint32_t *p_inter_measurement_period_ms)
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint16_t osc_calibrate_val;
- uint32_t im_period_milli_seconds;
+ uint32_t im_period_ms;
@@ -971,39 +957,39 @@
if (status == VL53L0X_ERROR_NONE) {
status = VL53L0X_read_dword(VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD,
- &im_period_milli_seconds);
+ &im_period_ms);
}
if (status == VL53L0X_ERROR_NONE) {
if (osc_calibrate_val != 0) {
- *p_inter_measurement_period_milli_seconds =
- im_period_milli_seconds / osc_calibrate_val;
+ *p_inter_measurement_period_ms =
+ im_period_ms / osc_calibrate_val;
}
- CurrentParameters.InterMeasurementPeriodMilliSeconds = *p_inter_measurement_period_milli_seconds;
+ CurrentParameters.InterMeasurementPeriod_ms = *p_inter_measurement_period_ms;
}
return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_get_x_talk_compensation_rate_mega_cps(FixPoint1616_t *p_xtalk_compensation_rate_mega_cps)
+VL53L0X_Error VL53L0X::VL53L0X_get_x_talk_compensation_rate_MHz(FixPoint1616_t *p_xtalk_compensation_rate_MHz)
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint16_t value;
FixPoint1616_t temp_fix1616;
- status = VL53L0X_read_word(VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, (uint16_t *)&value);
+ status = VL53L0X_read_word(VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MHz, (uint16_t *)&value);
if (status == VL53L0X_ERROR_NONE) {
if (value == 0) {
/* the Xtalk is disabled return value from memory */
- temp_fix1616 = CurrentParameters.XTalkCompensationRateMegaCps ;
- *p_xtalk_compensation_rate_mega_cps = temp_fix1616;
+ temp_fix1616 = CurrentParameters.XTalkCompensationRate_MHz ;
+ *p_xtalk_compensation_rate_MHz = temp_fix1616;
CurrentParameters.XTalkCompensationEnable = 0;
} else {
- temp_fix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(value);
- *p_xtalk_compensation_rate_mega_cps = temp_fix1616;
- CurrentParameters.XTalkCompensationRateMegaCps = temp_fix1616;
+ temp_fix1616 = VL53L0X_FP313TOFP1616(value);
+ *p_xtalk_compensation_rate_MHz = temp_fix1616;
+ CurrentParameters.XTalkCompensationRate_MHz = temp_fix1616;
CurrentParameters.XTalkCompensationEnable = 1;
}
}
@@ -1033,7 +1019,7 @@
status = VL53L0X_read_word(VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
&temp16);
if (status == VL53L0X_ERROR_NONE) {
- temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(temp16);
+ temp_fix1616 = VL53L0X_FP97TOFP1616(temp16);
}
enable_zero_value = 1;
@@ -1056,7 +1042,7 @@
status = VL53L0X_read_word(VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
&temp16);
if (status == VL53L0X_ERROR_NONE) {
- temp_fix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(temp16);
+ temp_fix1616 = VL53L0X_FP97TOFP1616(temp16);
}
enable_zero_value = 0;
@@ -1229,10 +1215,10 @@
uint8_t max_pre_vcsel_period_pclk = 18;
uint8_t min_final_vcsel_period_pclk = 8;
uint8_t max_final_vcsel_period_pclk = 14;
- uint32_t measurement_timing_budget_micro_seconds;
- uint32_t final_range_timeout_micro_seconds;
- uint32_t pre_range_timeout_micro_seconds;
- uint32_t msrc_timeout_micro_seconds;
+ uint32_t measurement_timing_budget_us;
+ uint32_t final_range_timeout_us;
+ uint32_t pre_range_timeout_us;
+ uint32_t msrc_timeout_us;
uint8_t phase_cal_int = 0;
/* Check if valid clock period requested */
@@ -1289,31 +1275,25 @@
if (vcsel_pulse_period_pclk == 8) {
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x10);
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
+ status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,0x10);
+ status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,0x08);
status |= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02);
status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C);
status |= VL53L0X_write_byte( 0xff, 0x01);
- status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x30);
+ status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,0x30);
status |= VL53L0X_write_byte( 0xff, 0x00);
} else if (vcsel_pulse_period_pclk == 10) {
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x28);
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
+ status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,0x28);
+ status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,0x08);
status |= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09);
status |= VL53L0X_write_byte( 0xff, 0x01);
- status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x20);
+ status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,0x20);
status |= VL53L0X_write_byte( 0xff, 0x00);
} else if (vcsel_pulse_period_pclk == 12) {
@@ -1333,15 +1313,13 @@
status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
0x048);
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
+ status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,0x08);
status |= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07);
status |= VL53L0X_write_byte( 0xff, 0x01);
- status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x20);
+ status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,0x20);
status |= VL53L0X_write_byte( 0xff, 0x00);
}
}
@@ -1364,11 +1342,11 @@
switch (vcsel_period_type) {
case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &pre_range_timeout_micro_seconds);
+ &pre_range_timeout_us);
if (status == VL53L0X_ERROR_NONE)
status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_MSRC,
- &msrc_timeout_micro_seconds);
+ &msrc_timeout_us);
if (status == VL53L0X_ERROR_NONE)
status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
@@ -1376,17 +1354,17 @@
if (status == VL53L0X_ERROR_NONE)
status = set_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
- pre_range_timeout_micro_seconds);
+ pre_range_timeout_us);
if (status == VL53L0X_ERROR_NONE)
status = set_sequence_step_timeout(VL53L0X_SEQUENCESTEP_MSRC,
- msrc_timeout_micro_seconds);
+ msrc_timeout_us);
Data.PreRangeVcselPulsePeriod = vcsel_pulse_period_pclk;
break;
case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- &final_range_timeout_micro_seconds);
+ &final_range_timeout_us);
if (status == VL53L0X_ERROR_NONE)
status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
@@ -1394,7 +1372,7 @@
if (status == VL53L0X_ERROR_NONE)
status = set_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- final_range_timeout_micro_seconds);
+ final_range_timeout_us);
Data.FinalRangeVcselPulsePeriod = vcsel_pulse_period_pclk;
break;
@@ -1405,9 +1383,9 @@
/* Finally, the timing budget must be re-applied */
if (status == VL53L0X_ERROR_NONE) {
- measurement_timing_budget_micro_seconds = CurrentParameters.MeasurementTimingBudgetMicroSeconds ;
-
- status = VL53L0X_set_measurement_timing_budget_micro_seconds(measurement_timing_budget_micro_seconds);
+ measurement_timing_budget_us = CurrentParameters.MeasurementTimingBudget_us ;
+
+ status = VL53L0X_set_measurement_timing_budget_us(measurement_timing_budget_us);
}
/* Perform the phase calibration. This is needed after changing on
@@ -1518,7 +1496,7 @@
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t current_vcsel_pulse_period_p_clk;
uint8_t encoded_time_out_byte = 0;
- uint32_t timeout_micro_seconds = 0;
+ uint32_t timeout_us = 0;
uint16_t pre_range_encoded_time_out = 0;
uint16_t msrc_time_out_m_clks;
uint16_t pre_range_time_out_m_clks;
@@ -1538,7 +1516,7 @@
}
msrc_time_out_m_clks = VL53L0X_decode_timeout(encoded_time_out_byte);
- timeout_micro_seconds = VL53L0X_calc_timeout_us(msrc_time_out_m_clks,
+ timeout_us = VL53L0X_calc_timeout_us(msrc_time_out_m_clks,
current_vcsel_pulse_period_p_clk);
} else if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
/* Retrieve PRE-RANGE VCSEL Period */
@@ -1559,7 +1537,7 @@
pre_range_time_out_m_clks = VL53L0X_decode_timeout(pre_range_encoded_time_out);
- timeout_micro_seconds = VL53L0X_calc_timeout_us(pre_range_time_out_m_clks,
+ timeout_us = VL53L0X_calc_timeout_us(pre_range_time_out_m_clks,
current_vcsel_pulse_period_p_clk);
}
} else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
@@ -1595,34 +1573,34 @@
}
final_range_time_out_m_clks -= pre_range_time_out_m_clks;
- timeout_micro_seconds = VL53L0X_calc_timeout_us(final_range_time_out_m_clks,
+ timeout_us = VL53L0X_calc_timeout_us(final_range_time_out_m_clks,
current_vcsel_pulse_period_p_clk);
}
- *p_time_out_micro_secs = timeout_micro_seconds;
+ *p_time_out_micro_secs = timeout_us;
return status;
}
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(uint32_t *p_measurement_timing_budget_micro_seconds)
+VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_measurement_timing_budget_us(uint32_t *p_measurement_timing_budget_us)
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
- uint32_t final_range_timeout_micro_seconds;
- uint32_t msrc_dcc_tcc_timeout_micro_seconds = 2000;
- uint32_t start_overhead_micro_seconds = 1910;
- uint32_t end_overhead_micro_seconds = 960;
- uint32_t msrc_overhead_micro_seconds = 660;
- uint32_t tcc_overhead_micro_seconds = 590;
- uint32_t dss_overhead_micro_seconds = 690;
- uint32_t pre_range_overhead_micro_seconds = 660;
- uint32_t final_range_overhead_micro_seconds = 550;
- uint32_t pre_range_timeout_micro_seconds = 0;
+ uint32_t final_range_timeout_us;
+ uint32_t msrc_dcc_tcc_timeout_us = 2000;
+ uint32_t start_overhead_us = 1910;
+ uint32_t end_overhead_us = 960;
+ uint32_t msrc_overhead_us = 660;
+ uint32_t tcc_overhead_us = 590;
+ uint32_t dss_overhead_us = 690;
+ uint32_t pre_range_overhead_us = 660;
+ uint32_t final_range_overhead_us = 550;
+ uint32_t pre_range_timeout_us = 0;
/* Start and end overhead times always present */
- *p_measurement_timing_budget_micro_seconds
- = start_overhead_micro_seconds + end_overhead_micro_seconds;
+ *p_measurement_timing_budget_us
+ = start_overhead_us + end_overhead_us;
status = VL53L0X_get_sequence_step_enables( &scheduler_sequence_steps);
@@ -1636,23 +1614,23 @@
scheduler_sequence_steps.DssOn) {
status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_MSRC,
- &msrc_dcc_tcc_timeout_micro_seconds);
+ &msrc_dcc_tcc_timeout_us);
if (status == VL53L0X_ERROR_NONE) {
if (scheduler_sequence_steps.TccOn) {
- *p_measurement_timing_budget_micro_seconds +=
- msrc_dcc_tcc_timeout_micro_seconds +
- tcc_overhead_micro_seconds;
+ *p_measurement_timing_budget_us +=
+ msrc_dcc_tcc_timeout_us +
+ tcc_overhead_us;
}
if (scheduler_sequence_steps.DssOn) {
- *p_measurement_timing_budget_micro_seconds +=
- 2 * (msrc_dcc_tcc_timeout_micro_seconds +
- dss_overhead_micro_seconds);
+ *p_measurement_timing_budget_us +=
+ 2 * (msrc_dcc_tcc_timeout_us +
+ dss_overhead_us);
} else if (scheduler_sequence_steps.MsrcOn) {
- *p_measurement_timing_budget_micro_seconds +=
- msrc_dcc_tcc_timeout_micro_seconds +
- msrc_overhead_micro_seconds;
+ *p_measurement_timing_budget_us +=
+ msrc_dcc_tcc_timeout_us +
+ msrc_overhead_us;
}
}
}
@@ -1660,36 +1638,36 @@
if (status == VL53L0X_ERROR_NONE) {
if (scheduler_sequence_steps.PreRangeOn) {
status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &pre_range_timeout_micro_seconds);
- *p_measurement_timing_budget_micro_seconds +=
- pre_range_timeout_micro_seconds +
- pre_range_overhead_micro_seconds;
+ &pre_range_timeout_us);
+ *p_measurement_timing_budget_us +=
+ pre_range_timeout_us +
+ pre_range_overhead_us;
}
}
if (status == VL53L0X_ERROR_NONE) {
if (scheduler_sequence_steps.FinalRangeOn) {
status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- &final_range_timeout_micro_seconds);
- *p_measurement_timing_budget_micro_seconds +=
- (final_range_timeout_micro_seconds +
- final_range_overhead_micro_seconds);
+ &final_range_timeout_us);
+ *p_measurement_timing_budget_us +=
+ (final_range_timeout_us +
+ final_range_overhead_us);
}
}
if (status == VL53L0X_ERROR_NONE) {
- CurrentParameters.MeasurementTimingBudgetMicroSeconds = *p_measurement_timing_budget_micro_seconds;
+ CurrentParameters.MeasurementTimingBudget_us = *p_measurement_timing_budget_us;
}
return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_get_measurement_timing_budget_micro_seconds(uint32_t *p_measurement_timing_budget_micro_seconds)
+VL53L0X_Error VL53L0X::VL53L0X_get_measurement_timing_budget_us(uint32_t *p_measurement_timing_budget_us)
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
- status = wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(p_measurement_timing_budget_micro_seconds);
+ status = wrapped_VL53L0X_get_measurement_timing_budget_us(p_measurement_timing_budget_us);
return status;
@@ -1704,17 +1682,17 @@
status = VL53L0X_get_device_mode( &(p_device_parameters->DeviceMode));
if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_get_inter_measurement_period_milli_seconds(&(p_device_parameters->InterMeasurementPeriodMilliSeconds));
+ status = VL53L0X_get_inter_measurement_period_ms(&(p_device_parameters->InterMeasurementPeriod_ms));
if (status == VL53L0X_ERROR_NONE) {
p_device_parameters->XTalkCompensationEnable = 0;
}
if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_get_x_talk_compensation_rate_mega_cps(&(p_device_parameters->XTalkCompensationRateMegaCps));
+ status = VL53L0X_get_x_talk_compensation_rate_MHz(&(p_device_parameters->XTalkCompensationRate_MHz));
if (status == VL53L0X_ERROR_NONE)
- status = VL53L0X_get_offset_calibration_data_micro_meter(&(p_device_parameters->RangeOffsetMicroMeters));
+ status = VL53L0X_get_offset_calibration_data_micro_meter(&(p_device_parameters->RangeOffset_um));
if (status == VL53L0X_ERROR_NONE) {
for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
@@ -1743,7 +1721,7 @@
/* Need to be done at the end as it uses VCSELPulsePeriod */
if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_get_measurement_timing_budget_micro_seconds(&(p_device_parameters->MeasurementTimingBudgetMicroSeconds));
+ status = VL53L0X_get_measurement_timing_budget_us(&(p_device_parameters->MeasurementTimingBudget_us));
}
@@ -1773,7 +1751,7 @@
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
status = VL53L0X_write_word(VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
- VL53L0X_FIXPOINT1616TOFIXPOINT97(limit_check_value));
+ VL53L0X_FP1616TOFP97(limit_check_value));
break;
@@ -1792,7 +1770,7 @@
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
status = VL53L0X_write_word(VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
- VL53L0X_FIXPOINT1616TOFIXPOINT97(limit_check_value));
+ VL53L0X_FP1616TOFP97(limit_check_value));
break;
default:
@@ -2578,47 +2556,47 @@
}
VL53L0X_Error VL53L0X::VL53L0X_get_total_xtalk_rate(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_total_xtalk_rate_mcps)
+ FixPoint1616_t *p_total_xtalk_rate_MHz)
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t xtalk_comp_enable;
- FixPoint1616_t total_xtalk_mega_cps;
- FixPoint1616_t xtalk_per_spad_mega_cps;
-
- *p_total_xtalk_rate_mcps = 0;
+ FixPoint1616_t total_xtalk_MHz;
+ FixPoint1616_t xtalk_per_spad_MHz;
+
+ *p_total_xtalk_rate_MHz = 0;
status = VL53L0X_get_x_talk_compensation_enable( &xtalk_comp_enable);
if (status == VL53L0X_ERROR_NONE) {
if (xtalk_comp_enable) {
- xtalk_per_spad_mega_cps = CurrentParameters.XTalkCompensationRateMegaCps ;
+ xtalk_per_spad_MHz = CurrentParameters.XTalkCompensationRate_MHz ;
/* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */
- total_xtalk_mega_cps =
+ total_xtalk_MHz =
p_ranging_measurement_data->EffectiveSpadRtnCount *
- xtalk_per_spad_mega_cps;
+ xtalk_per_spad_MHz;
/* FixPoint0824 >> 8 = FixPoint1616 */
- *p_total_xtalk_rate_mcps =
- (total_xtalk_mega_cps + 0x80) >> 8;
+ *p_total_xtalk_rate_MHz =
+ (total_xtalk_MHz + 0x80) >> 8;
}
}
return status;
}
VL53L0X_Error VL53L0X::VL53L0X_get_total_signal_rate(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
- FixPoint1616_t *p_total_signal_rate_mcps)
+ FixPoint1616_t *p_total_signal_rate_MHz)
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
- FixPoint1616_t total_xtalk_mega_cps;
-
- *p_total_signal_rate_mcps =
- p_ranging_measurement_data->SignalRateRtnMegaCps;
-
- status = VL53L0X_get_total_xtalk_rate(p_ranging_measurement_data, &total_xtalk_mega_cps);
+ FixPoint1616_t total_xtalk_MHz;
+
+ *p_total_signal_rate_MHz =
+ p_ranging_measurement_data->SignalRateRtn_MHz;
+
+ status = VL53L0X_get_total_xtalk_rate(p_ranging_measurement_data, &total_xtalk_MHz);
if (status == VL53L0X_ERROR_NONE) {
- *p_total_signal_rate_mcps += total_xtalk_mega_cps; }
+ *p_total_signal_rate_MHz += total_xtalk_MHz; }
return status;
}
@@ -2661,8 +2639,8 @@
return res;
}
-VL53L0X_Error VL53L0X::VL53L0X_calc_dmax(FixPoint1616_t total_signal_rate_mcps,
- FixPoint1616_t total_corr_signal_rate_mcps,
+VL53L0X_Error VL53L0X::VL53L0X_calc_dmax(FixPoint1616_t total_signal_rate_MHz,
+ FixPoint1616_t total_corr_signal_rate_MHz,
FixPoint1616_t pw_mult,
uint32_t sigma_estimate_p1,
FixPoint1616_t sigma_estimate_p2,
@@ -2674,7 +2652,7 @@
const uint32_t c_amb_eff_width_sigma_est_ns = 6;
const uint32_t c_amb_eff_width_d_max_ns = 7;
uint32_t dmax_cal_range_mm;
- FixPoint1616_t dmax_cal_signal_rate_rtn_mcps;
+ FixPoint1616_t dmax_cal_signal_rate_rtn_MHz;
FixPoint1616_t min_signal_needed;
FixPoint1616_t min_signal_needed_p1;
FixPoint1616_t min_signal_needed_p2;
@@ -2688,33 +2666,33 @@
FixPoint1616_t dmax_ambient;
FixPoint1616_t dmax_dark_tmp;
FixPoint1616_t sigma_est_p2_tmp;
- uint32_t signal_rate_temp_mcps;
+ uint32_t signal_rate_temp_MHz;
VL53L0X_Error status = VL53L0X_ERROR_NONE;
- dmax_cal_range_mm = Data.DmaxCalRangeMilliMeter;
-
- dmax_cal_signal_rate_rtn_mcps = Data.DmaxCalSignalRateRtnMegaCps;
+ dmax_cal_range_mm = Data.DmaxCalRange_mm;
+
+ dmax_cal_signal_rate_rtn_MHz = Data.DmaxCalSignalRateRtn_MHz;
/* uint32 * FixPoint1616 = FixPoint1616 */
- signal_at0_mm = dmax_cal_range_mm * dmax_cal_signal_rate_rtn_mcps;
+ signal_at0_mm = dmax_cal_range_mm * dmax_cal_signal_rate_rtn_MHz;
/* FixPoint1616 >> 8 = FixPoint2408 */
signal_at0_mm = (signal_at0_mm + 0x80) >> 8;
signal_at0_mm *= dmax_cal_range_mm;
min_signal_needed_p1 = 0;
- if (total_corr_signal_rate_mcps > 0) {
+ if (total_corr_signal_rate_MHz > 0) {
/* Shift by 10 bits to increase resolution prior to the division */
- signal_rate_temp_mcps = total_signal_rate_mcps << 10;
+ signal_rate_temp_MHz = total_signal_rate_MHz << 10;
/* Add rounding value prior to division */
- min_signal_needed_p1 = signal_rate_temp_mcps +
- (total_corr_signal_rate_mcps / 2);
+ min_signal_needed_p1 = signal_rate_temp_MHz +
+ (total_corr_signal_rate_MHz / 2);
/* FixPoint0626/FixPoint1616 = FixPoint2210 */
- min_signal_needed_p1 /= total_corr_signal_rate_mcps;
+ min_signal_needed_p1 /= total_corr_signal_rate_MHz;
/* Apply a factored version of the speed of light.
Correction to be applied at the end */
@@ -2865,18 +2843,18 @@
FixPoint1616_t x_talk_correction;
FixPoint1616_t ambient_rate_kcps;
FixPoint1616_t peak_signal_rate_kcps;
- FixPoint1616_t x_talk_comp_rate_mcps;
+ FixPoint1616_t x_talk_comp_rate_MHz;
uint32_t x_talk_comp_rate_kcps;
VL53L0X_Error status = VL53L0X_ERROR_NONE;
- FixPoint1616_t diff1_mcps;
- FixPoint1616_t diff2_mcps;
+ FixPoint1616_t diff1_MHz;
+ FixPoint1616_t diff2_MHz;
FixPoint1616_t sqr1;
FixPoint1616_t sqr2;
FixPoint1616_t sqr_sum;
FixPoint1616_t sqrt_result_centi_ns;
FixPoint1616_t sqrt_result;
- FixPoint1616_t total_signal_rate_mcps;
- FixPoint1616_t corrected_signal_rate_mcps;
+ FixPoint1616_t total_signal_rate_MHz;
+ FixPoint1616_t corrected_signal_rate_MHz;
FixPoint1616_t sigma_est_ref;
uint32_t vcsel_width;
uint32_t final_range_macro_pclks;
@@ -2890,29 +2868,29 @@
* Estimates the range sigma
*/
- x_talk_comp_rate_mcps = CurrentParameters.XTalkCompensationRateMegaCps ;
+ x_talk_comp_rate_MHz = CurrentParameters.XTalkCompensationRate_MHz ;
/*
- * We work in kcps rather than mcps as this helps keep within the
+ * We work in kcps rather than MHz as this helps keep within the
* confines of the 32 Fix1616 type.
*/
ambient_rate_kcps =
- (p_ranging_measurement_data->AmbientRateRtnMegaCps * 1000) >> 16;
-
- corrected_signal_rate_mcps =
- p_ranging_measurement_data->SignalRateRtnMegaCps;
-
- status = VL53L0X_get_total_signal_rate(p_ranging_measurement_data, &total_signal_rate_mcps);
- status = VL53L0X_get_total_xtalk_rate(p_ranging_measurement_data, &x_talk_comp_rate_mcps);
+ (p_ranging_measurement_data->AmbientRateRtn_MHz * 1000) >> 16;
+
+ corrected_signal_rate_MHz =
+ p_ranging_measurement_data->SignalRateRtn_MHz;
+
+ status = VL53L0X_get_total_signal_rate(p_ranging_measurement_data, &total_signal_rate_MHz);
+ status = VL53L0X_get_total_xtalk_rate(p_ranging_measurement_data, &x_talk_comp_rate_MHz);
/* Signal rate measurement provided by device is the
* peak signal rate, not average.
*/
- peak_signal_rate_kcps = (total_signal_rate_mcps * 1000);
+ peak_signal_rate_kcps = (total_signal_rate_MHz * 1000);
peak_signal_rate_kcps = (peak_signal_rate_kcps + 0x8000) >> 16;
- x_talk_comp_rate_kcps = x_talk_comp_rate_mcps * 1000;
+ x_talk_comp_rate_kcps = x_talk_comp_rate_MHz * 1000;
if (x_talk_comp_rate_kcps > c_max_x_talk_kcps) {
x_talk_comp_rate_kcps = c_max_x_talk_kcps;
@@ -2921,12 +2899,12 @@
if (status == VL53L0X_ERROR_NONE) {
/* Calculate final range macro periods */
- final_range_timeout_micro_secs = Data.FinalRangeTimeoutMicroSecs;
+ final_range_timeout_micro_secs = Data.FinalRangeTimeout_us;
final_range_vcsel_pclks = Data.FinalRangeVcselPulsePeriod;
final_range_macro_pclks = VL53L0X_calc_timeout_mclks( final_range_timeout_micro_secs, final_range_vcsel_pclks);
/* Calculate pre-range macro periods */
- pre_range_timeout_micro_secs = Data.PreRangeTimeoutMicroSecs;
+ pre_range_timeout_micro_secs = Data.PreRangeTimeout_us;
pre_range_vcsel_pclks = Data.PreRangeVcselPulsePeriod;
pre_range_macro_pclks = VL53L0X_calc_timeout_mclks(pre_range_timeout_micro_secs, pre_range_vcsel_pclks);
@@ -2943,17 +2921,17 @@
peak_vcsel_duration_us = (peak_vcsel_duration_us + 500) / 1000;
/* Fix1616 >> 8 = Fix2408 */
- total_signal_rate_mcps = (total_signal_rate_mcps + 0x80) >> 8;
+ total_signal_rate_MHz = (total_signal_rate_MHz + 0x80) >> 8;
/* Fix2408 * uint32 = Fix2408 */
- vcsel_total_events_rtn = total_signal_rate_mcps *
+ vcsel_total_events_rtn = total_signal_rate_MHz *
peak_vcsel_duration_us;
/* Fix2408 >> 8 = uint32 */
vcsel_total_events_rtn = (vcsel_total_events_rtn + 0x80) >> 8;
/* Fix2408 << 8 = Fix1616 = */
- total_signal_rate_mcps <<= 8;
+ total_signal_rate_MHz <<= 8;
}
if (status != VL53L0X_ERROR_NONE) {
@@ -2984,30 +2962,30 @@
sigma_estimate_p3 = 2 * VL53L0X_isqrt(vcsel_total_events_rtn * 12);
/* uint32 * FixPoint1616 = FixPoint1616 */
- delta_t_ps = p_ranging_measurement_data->RangeMilliMeter *
+ delta_t_ps = p_ranging_measurement_data->Range_mm *
c_tof_per_mm_ps;
/*
* vcselRate - xtalkCompRate
* (uint32 << 16) - FixPoint1616 = FixPoint1616.
- * Divide result by 1000 to convert to mcps.
+ * Divide result by 1000 to convert to MHz.
* 500 is added to ensure rounding when integer division
* truncates.
*/
- diff1_mcps = (((peak_signal_rate_kcps << 16) -
+ diff1_MHz = (((peak_signal_rate_kcps << 16) -
2 * x_talk_comp_rate_kcps) + 500) / 1000;
/* vcselRate + xtalkCompRate */
- diff2_mcps = ((peak_signal_rate_kcps << 16) + 500) / 1000;
+ diff2_MHz = ((peak_signal_rate_kcps << 16) + 500) / 1000;
/* Shift by 8 bits to increase resolution prior to the
* division */
- diff1_mcps <<= 8;
+ diff1_MHz <<= 8;
/* FixPoint0824/FixPoint1616 = FixPoint2408 */
-// xTalkCorrection = abs(diff1_mcps/diff2_mcps);
+// xTalkCorrection = abs(diff1_MHz/diff2_MHz);
// abs is causing compiler overloading isue in C++, but unsigned types. So, redundant call anyway!
- x_talk_correction = diff1_mcps / diff2_mcps;
+ x_talk_correction = diff1_MHz / diff2_MHz;
/* FixPoint2408 << 8 = FixPoint1616 */
x_talk_correction <<= 8;
@@ -3125,8 +3103,8 @@
*p_sigma_estimate = (uint32_t)(sigma_estimate);
Data.SigmaEstimate = *p_sigma_estimate;
- status = VL53L0X_calc_dmax(total_signal_rate_mcps,
- corrected_signal_rate_mcps,
+ status = VL53L0X_calc_dmax(total_signal_rate_MHz,
+ corrected_signal_rate_MHz,
pw_mult,
sigma_estimate_p1,
sigma_estimate_p2,
@@ -3160,7 +3138,7 @@
uint16_t tmp_word = 0;
uint8_t temp8;
uint32_t dmax_mm = 0;
- FixPoint1616_t last_signal_ref_mcps;
+ FixPoint1616_t last_signal_ref_MHz;
/* VL53L0X has a good ranging when the value of the
* DeviceRangeStatus = 11. This function will replace the value 0 with
@@ -3200,7 +3178,7 @@
&sigma_estimate,
&dmax_mm);
if (status == VL53L0X_ERROR_NONE) {
- p_ranging_measurement_data->RangeDMaxMilliMeter = dmax_mm;
+ p_ranging_measurement_data->RangeDMax_mm = dmax_mm;
}
if (status == VL53L0X_ERROR_NONE) {
@@ -3230,7 +3208,7 @@
status = VL53L0X_get_limit_check_value(VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
&signal_ref_clip_value);
- /* Read LastSignalRefMcps from device */
+ /* Read LastSignalRef_MHz from device */
if (status == VL53L0X_ERROR_NONE) {
status = VL53L0X_write_byte( 0xFF, 0x01);
}
@@ -3244,11 +3222,11 @@
status = VL53L0X_write_byte( 0xFF, 0x00);
}
- last_signal_ref_mcps = VL53L0X_FIXPOINT97TOFIXPOINT1616(tmp_word);
- Data.LastSignalRefMcps = last_signal_ref_mcps;
+ last_signal_ref_MHz = VL53L0X_FP97TOFP1616(tmp_word);
+ Data.LastSignalRef_MHz = last_signal_ref_MHz;
if ((signal_ref_clip_value > 0) &&
- (last_signal_ref_mcps > signal_ref_clip_value)) {
+ (last_signal_ref_MHz > signal_ref_clip_value)) {
/* Limit Fail */
signal_ref_clipflag = 1;
}
@@ -3312,7 +3290,7 @@
/* DMAX only relevant during range error */
if (*p_pal_range_status == 0) {
- p_ranging_measurement_data->RangeDMaxMilliMeter = 0;
+ p_ranging_measurement_data->RangeDMax_mm = 0;
}
/* fill the Limit Check Status */
@@ -3366,14 +3344,13 @@
uint8_t x_talk_compensation_enable;
uint16_t ambient_rate;
FixPoint1616_t signal_rate;
- uint16_t x_talk_compensation_rate_mega_cps;
+ uint16_t x_talk_compensation_rate_MHz;
uint16_t effective_spad_rtn_count;
uint16_t tmpuint16;
uint16_t xtalk_range_milli_meter;
uint16_t linearity_corrective_gain;
uint8_t localBuffer[12];
- VL53L0X_RangingMeasurementData_t last_range_data_buffer;
-
+
/* use multi read even if some registers are not useful, result will
* be more efficient start reading at 0x14 dec20
* end reading at 0x21 dec33 total 14 bytes to read */
@@ -3385,13 +3362,13 @@
/* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional
*(format 11.2) else no fractional */
- signal_rate = VL53L0X_FIXPOINT97TOFIXPOINT1616(VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6]));
- /* peak_signal_count_rate_rtn_mcps */
- p_ranging_measurement_data->SignalRateRtnMegaCps = signal_rate;
+ signal_rate = VL53L0X_FP97TOFP1616(VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6]));
+ /* peak_signal_count_rate_rtn_MHz */
+ p_ranging_measurement_data->SignalRateRtn_MHz = signal_rate;
ambient_rate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]);
- p_ranging_measurement_data->AmbientRateRtnMegaCps =
- VL53L0X_FIXPOINT97TOFIXPOINT1616(ambient_rate);
+ p_ranging_measurement_data->AmbientRateRtn_MHz =
+ VL53L0X_FP97TOFP1616(ambient_rate);
effective_spad_rtn_count = VL53L0X_MAKEUINT16(localBuffer[3],
localBuffer[2]);
@@ -3412,13 +3389,13 @@
tmpuint16 = (uint16_t)((linearity_corrective_gain * tmpuint16 + 500) / 1000);
/* Implement Xtalk */
- x_talk_compensation_rate_mega_cps = CurrentParameters.XTalkCompensationRateMegaCps ;
+ x_talk_compensation_rate_MHz = CurrentParameters.XTalkCompensationRate_MHz ;
x_talk_compensation_enable = CurrentParameters.XTalkCompensationEnable ;
if (x_talk_compensation_enable) {
if ((signal_rate
- - ((x_talk_compensation_rate_mega_cps
+ - ((x_talk_compensation_rate_MHz
* effective_spad_rtn_count) >> 8))
<= 0) {
if (range_fractional_enable) {
@@ -3430,7 +3407,7 @@
xtalk_range_milli_meter =
(tmpuint16 * signal_rate)
/ (signal_rate
- - ((x_talk_compensation_rate_mega_cps
+ - ((x_talk_compensation_rate_MHz
* effective_spad_rtn_count)
>> 8));
}
@@ -3439,12 +3416,12 @@
}
if (range_fractional_enable) {
- p_ranging_measurement_data->RangeMilliMeter =
+ p_ranging_measurement_data->Range_mm =
(uint16_t)((tmpuint16) >> 2);
p_ranging_measurement_data->RangeFractionalPart =
(uint8_t)((tmpuint16 & 0x03) << 6);
} else {
- p_ranging_measurement_data->RangeMilliMeter = tmpuint16;
+ p_ranging_measurement_data->Range_mm = tmpuint16;
p_ranging_measurement_data->RangeFractionalPart = 0;
}
@@ -3462,26 +3439,14 @@
}
- if (status == VL53L0X_ERROR_NONE) {
- /* Copy last read data into Device buffer */
- last_range_data_buffer = Data.LastRangeMeasure;
-
- last_range_data_buffer.RangeMilliMeter =
- p_ranging_measurement_data->RangeMilliMeter;
- last_range_data_buffer.RangeFractionalPart =
- p_ranging_measurement_data->RangeFractionalPart;
- last_range_data_buffer.RangeDMaxMilliMeter =
- p_ranging_measurement_data->RangeDMaxMilliMeter;
- last_range_data_buffer.SignalRateRtnMegaCps =
- p_ranging_measurement_data->SignalRateRtnMegaCps;
- last_range_data_buffer.AmbientRateRtnMegaCps =
- p_ranging_measurement_data->AmbientRateRtnMegaCps;
- last_range_data_buffer.EffectiveSpadRtnCount =
- p_ranging_measurement_data->EffectiveSpadRtnCount;
- last_range_data_buffer.RangeStatus =
- p_ranging_measurement_data->RangeStatus;
-
- Data.LastRangeMeasure = last_range_data_buffer;
+ if (status == VL53L0X_ERROR_NONE) { /* Copy last read data into Device buffer */
+ LastRangeMeasure.Range_mm = p_ranging_measurement_data->Range_mm;
+ LastRangeMeasure.RangeFractionalPart = p_ranging_measurement_data->RangeFractionalPart;
+ LastRangeMeasure.RangeDMax_mm = p_ranging_measurement_data->RangeDMax_mm;
+ LastRangeMeasure.SignalRateRtn_MHz = p_ranging_measurement_data->SignalRateRtn_MHz;
+ LastRangeMeasure.AmbientRateRtn_MHz = p_ranging_measurement_data->AmbientRateRtn_MHz;
+ LastRangeMeasure.EffectiveSpadRtnCount = p_ranging_measurement_data->EffectiveSpadRtnCount;
+ LastRangeMeasure.RangeStatus = p_ranging_measurement_data->RangeStatus;
}
return status;
@@ -3556,7 +3521,7 @@
uint32_t current_spad_index = 0;
uint32_t last_spad_index = 0;
int32_t next_good_spad = 0;
- uint16_t target_ref_rate = 0x0A00; /* 20 MCPS in 9:7 format */
+ uint16_t target_ref_rate = 0x0A00; /* 20 MHz in 9:7 format */
uint16_t peak_signal_rate_ref;
uint32_t need_apt_spads = 0;
uint32_t index = 0;
@@ -3601,7 +3566,7 @@
* represent spads.
*/
for (index = 0; index < spad_array_size; index++) {
- Data.SpadData.RefSpadEnables[index] = 0;
+ Data.RefSpadEnables[index] = 0;
}
status = VL53L0X_write_byte( 0xFF, 0x01);
@@ -3639,8 +3604,8 @@
last_spad_index = current_spad_index;
need_apt_spads = 0;
status = enable_ref_spads(need_apt_spads,
- Data.SpadData.RefGoodSpadMap,
- Data.SpadData.RefSpadEnables,
+ Data.RefGoodSpadMap,
+ Data.RefSpadEnables,
spad_array_size,
start_select,
current_spad_index,
@@ -3658,7 +3623,7 @@
* switch to APERTURE SPADs */
for (index = 0; index < spad_array_size; index++) {
- Data.SpadData.RefSpadEnables[index] = 0;
+ Data.RefSpadEnables[index] = 0;
}
/* Increment to the first APERTURE spad */
@@ -3670,8 +3635,8 @@
need_apt_spads = 1;
status = enable_ref_spads(need_apt_spads,
- Data.SpadData.RefGoodSpadMap,
- Data.SpadData.RefSpadEnables,
+ Data.RefGoodSpadMap,
+ Data.RefSpadEnables,
spad_array_size,
start_select,
current_spad_index,
@@ -3709,14 +3674,14 @@
is_aperture_spads_int = need_apt_spads;
ref_spad_count_int = minimum_spad_count;
- memcpy(last_spad_array, Data.SpadData.RefSpadEnables,
+ memcpy(last_spad_array, Data.RefSpadEnables,
spad_array_size);
last_signal_rate_diff = abs(peak_signal_rate_ref -
target_ref_rate);
complete = 0;
while (!complete) {
- get_next_good_spad(Data.SpadData.RefGoodSpadMap,
+ get_next_good_spad(Data.RefGoodSpadMap,
spad_array_size, current_spad_index,
&next_good_spad);
@@ -3740,14 +3705,14 @@
(ref_spad_count_int)++;
current_spad_index = next_good_spad;
- status = enable_spad_bit(Data.SpadData.RefSpadEnables,
+ status = enable_spad_bit(Data.RefSpadEnables,
spad_array_size, current_spad_index);
if (status == VL53L0X_ERROR_NONE) {
current_spad_index++;
/* Proceed to apply the additional spad and
* perform measurement. */
- status = set_ref_spad_map(Data.SpadData.RefSpadEnables);
+ status = set_ref_spad_map(Data.RefSpadEnables);
}
if (status != VL53L0X_ERROR_NONE) {
@@ -3771,7 +3736,7 @@
/* Previous spad map produced a closer
* measurement, so choose this. */
status = set_ref_spad_map(last_spad_array);
- memcpy(Data.SpadData.RefSpadEnables,
+ memcpy(Data.RefSpadEnables,
last_spad_array, spad_array_size);
(ref_spad_count_int)--;
}
@@ -3780,7 +3745,7 @@
/* Continue to add spads */
last_signal_rate_diff = signal_rate_diff;
memcpy(last_spad_array,
- Data.SpadData.RefSpadEnables,
+ Data.RefSpadEnables,
spad_array_size);
}
@@ -3834,7 +3799,7 @@
}
for (index = 0; index < spad_array_size; index++) {
- Data.SpadData.RefSpadEnables[index] = 0;
+ Data.RefSpadEnables[index] = 0;
}
if (is_aperture_spads) {
@@ -3845,8 +3810,8 @@
}
}
status = enable_ref_spads(is_aperture_spads,
- Data.SpadData.RefGoodSpadMap,
- Data.SpadData.RefSpadEnables,
+ Data.RefGoodSpadMap,
+ Data.RefSpadEnables,
spad_array_size,
start_select,
current_spad_index,
@@ -3943,8 +3908,7 @@
data = 0x04;
break;
default:
- status =
- VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED;
+ status = VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED;
}
}
@@ -4050,7 +4014,7 @@
}
if (status == VL53L0X_ERROR_NONE) {
- Data.PreRangeTimeoutMicroSecs = timeout_micro_secs;
+ Data.PreRangeTimeout_us = timeout_micro_secs;
}
} else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
@@ -4097,7 +4061,7 @@
}
if (status == VL53L0X_ERROR_NONE) {
- Data.FinalRangeTimeoutMicroSecs = timeout_micro_secs;
+ Data.FinalRangeTimeout_us = timeout_micro_secs;
}
}
} else {
@@ -4107,30 +4071,30 @@
return status;
}
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_measurement_timing_budget_micro_seconds(uint32_t measurement_timing_budget_micro_seconds)
+VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_measurement_timing_budget_us(uint32_t measurement_timing_budget_us)
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
- uint32_t final_range_timing_budget_micro_seconds;
+ uint32_t final_range_timing_budget_us;
VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
- uint32_t msrc_dcc_tcc_timeout_micro_seconds = 2000;
- uint32_t start_overhead_micro_seconds = 1910;
- uint32_t end_overhead_micro_seconds = 960;
- uint32_t msrc_overhead_micro_seconds = 660;
- uint32_t tcc_overhead_micro_seconds = 590;
- uint32_t dss_overhead_micro_seconds = 690;
- uint32_t pre_range_overhead_micro_seconds = 660;
- uint32_t final_range_overhead_micro_seconds = 550;
- uint32_t pre_range_timeout_micro_seconds = 0;
- uint32_t c_min_timing_budget_micro_seconds = 20000;
+ uint32_t msrc_dcc_tcc_timeout_us = 2000;
+ uint32_t start_overhead_us = 1910;
+ uint32_t end_overhead_us = 960;
+ uint32_t msrc_overhead_us = 660;
+ uint32_t tcc_overhead_us = 590;
+ uint32_t dss_overhead_us = 690;
+ uint32_t pre_range_overhead_us = 660;
+ uint32_t final_range_overhead_us = 550;
+ uint32_t pre_range_timeout_us = 0;
+ uint32_t c_min_timing_budget_us = 20000;
uint32_t sub_timeout = 0;
- if (measurement_timing_budget_micro_seconds < c_min_timing_budget_micro_seconds)
+ if (measurement_timing_budget_us < c_min_timing_budget_us)
{ status = VL53L0X_ERROR_INVALID_PARAMS;
return status;
}
- final_range_timing_budget_micro_seconds =
- measurement_timing_budget_micro_seconds -
- (start_overhead_micro_seconds + end_overhead_micro_seconds);
+ final_range_timing_budget_us =
+ measurement_timing_budget_us -
+ (start_overhead_us + end_overhead_us);
status = VL53L0X_get_sequence_step_enables( &scheduler_sequence_steps);
@@ -4141,7 +4105,7 @@
/* TCC, MSRC and DSS all share the same timeout */
status = get_sequence_step_timeout( VL53L0X_SEQUENCESTEP_MSRC,
- &msrc_dcc_tcc_timeout_micro_seconds);
+ &msrc_dcc_tcc_timeout_us);
/* Subtract the TCC, MSRC and DSS timeouts if they are
* enabled. */
@@ -4153,12 +4117,12 @@
/* TCC */
if (scheduler_sequence_steps.TccOn) {
- sub_timeout = msrc_dcc_tcc_timeout_micro_seconds
- + tcc_overhead_micro_seconds;
+ sub_timeout = msrc_dcc_tcc_timeout_us
+ + tcc_overhead_us;
if (sub_timeout <
- final_range_timing_budget_micro_seconds) {
- final_range_timing_budget_micro_seconds -=
+ final_range_timing_budget_us) {
+ final_range_timing_budget_us -=
sub_timeout;
} else {
/* Requested timeout too big. */
@@ -4171,11 +4135,11 @@
/* DSS */
if (scheduler_sequence_steps.DssOn) {
- sub_timeout = 2 * (msrc_dcc_tcc_timeout_micro_seconds +
- dss_overhead_micro_seconds);
-
- if (sub_timeout < final_range_timing_budget_micro_seconds) {
- final_range_timing_budget_micro_seconds
+ sub_timeout = 2 * (msrc_dcc_tcc_timeout_us +
+ dss_overhead_us);
+
+ if (sub_timeout < final_range_timing_budget_us) {
+ final_range_timing_budget_us
-= sub_timeout;
} else {
/* Requested timeout too big. */
@@ -4183,11 +4147,11 @@
}
} else if (scheduler_sequence_steps.MsrcOn) {
/* MSRC */
- sub_timeout = msrc_dcc_tcc_timeout_micro_seconds +
- msrc_overhead_micro_seconds;
-
- if (sub_timeout < final_range_timing_budget_micro_seconds) {
- final_range_timing_budget_micro_seconds
+ sub_timeout = msrc_dcc_tcc_timeout_us +
+ msrc_overhead_us;
+
+ if (sub_timeout < final_range_timing_budget_us) {
+ final_range_timing_budget_us
-= sub_timeout;
} else {
/* Requested timeout too big. */
@@ -4203,13 +4167,13 @@
/* Subtract the Pre-range timeout if enabled. */
status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
- &pre_range_timeout_micro_seconds);
-
- sub_timeout = pre_range_timeout_micro_seconds +
- pre_range_overhead_micro_seconds;
-
- if (sub_timeout < final_range_timing_budget_micro_seconds) {
- final_range_timing_budget_micro_seconds -= sub_timeout;
+ &pre_range_timeout_us);
+
+ sub_timeout = pre_range_timeout_us +
+ pre_range_overhead_us;
+
+ if (sub_timeout < final_range_timing_budget_us) {
+ final_range_timing_budget_us -= sub_timeout;
} else {
/* Requested timeout too big. */
status = VL53L0X_ERROR_INVALID_PARAMS;
@@ -4219,8 +4183,8 @@
if (status == VL53L0X_ERROR_NONE &&
scheduler_sequence_steps.FinalRangeOn) {
- final_range_timing_budget_micro_seconds -=
- final_range_overhead_micro_seconds;
+ final_range_timing_budget_us -=
+ final_range_overhead_us;
/* Final Range Timeout
* Note that the final range timeout is determined by the timing
@@ -4230,16 +4194,16 @@
* the final range.
*/
status = set_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
- final_range_timing_budget_micro_seconds);
- CurrentParameters.MeasurementTimingBudgetMicroSeconds = measurement_timing_budget_micro_seconds;
+ final_range_timing_budget_us);
+ CurrentParameters.MeasurementTimingBudget_us = measurement_timing_budget_us;
}
return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_set_measurement_timing_budget_micro_seconds(uint32_t measurement_timing_budget_micro_seconds)
+VL53L0X_Error VL53L0X::VL53L0X_set_measurement_timing_budget_us(uint32_t measurement_timing_budget_us)
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
- status = wrapped_VL53L0X_set_measurement_timing_budget_micro_seconds(measurement_timing_budget_micro_seconds);
+ status = wrapped_VL53L0X_set_measurement_timing_budget_us(measurement_timing_budget_us);
return status;
}
@@ -4247,7 +4211,7 @@
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t sequence_config = 0;
uint8_t sequence_config_new = 0;
- uint32_t measurement_timing_budget_micro_seconds;
+ uint32_t measurement_timing_budget_us;
status = VL53L0X_read_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &sequence_config);
@@ -4311,8 +4275,8 @@
/* Recalculate timing budget */
if (status == VL53L0X_ERROR_NONE) {
- measurement_timing_budget_micro_seconds = CurrentParameters.MeasurementTimingBudgetMicroSeconds ;
- VL53L0X_set_measurement_timing_budget_micro_seconds(measurement_timing_budget_micro_seconds);
+ measurement_timing_budget_us = CurrentParameters.MeasurementTimingBudget_us ;
+ VL53L0X_set_measurement_timing_budget_us(measurement_timing_budget_us);
}
}
@@ -4350,7 +4314,7 @@
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
status = VL53L0X_write_word( VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
- VL53L0X_FIXPOINT1616TOFIXPOINT97(temp_fix1616));
+ VL53L0X_FP1616TOFP97(temp_fix1616));
break;
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:/* internal computation: */
@@ -4448,7 +4412,7 @@
}
if (status == VL53L0X_ERROR_NONE) {
- Data.OscFrequencyMHz = VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword) ;
+ Data.OscFrequency_MHz = VL53L0X_FP412TOFP1616(tempword) ;
}
/* After static init, some device parameters may be changed,
@@ -4515,7 +4479,7 @@
}
if (status == VL53L0X_ERROR_NONE) {
- Data.PreRangeTimeoutMicroSecs = seq_timeout_micro_secs;
+ Data.PreRangeTimeout_us = seq_timeout_micro_secs;
}
/* Store final-range timeout */
@@ -4524,7 +4488,7 @@
}
if (status == VL53L0X_ERROR_NONE) {
- Data.FinalRangeTimeoutMicroSecs = seq_timeout_micro_secs;
+ Data.FinalRangeTimeout_us = seq_timeout_micro_secs;
}
return status;
}
@@ -4534,7 +4498,6 @@
status = VL53L0X_write_byte( VL53L0X_REG_SYSRANGE_START,
VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT);
-
status = VL53L0X_write_byte( 0xFF, 0x01);
status = VL53L0X_write_byte( 0x00, 0x00);
status = VL53L0X_write_byte( 0x91, 0x00);
@@ -4561,12 +4524,10 @@
status = VL53L0X_write_byte( 0xFF, 0x01);
if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_read_byte( 0x04, &byte);
- }
+ status = VL53L0X_read_byte( 0x04, &byte);}
if (status == VL53L0X_ERROR_NONE) {
- status = VL53L0X_write_byte( 0xFF, 0x0);
- }
+ status = VL53L0X_write_byte( 0xFF, 0x0); }
*p_stop_status = byte;