VL53L0X_Condensed2 - Greatly simplified Architecture, Identical Functi…

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

VL53L0X.cpp@13:253cb4ea3fcc, 2019-07-20 (annotated)

Committer:: sepp_nepp
Date:: Sat Jul 20 08:48:49 2019 +0000
Revision:: 13:253cb4ea3fcc
Parent:: 12:81f37e50f8f8

Proven to work with TOF-Synth-III

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	11:d8dbe3b87f9f	38	/*
sepp_nepp	11:d8dbe3b87f9f	39	Simplifications versus the original library:
sepp_nepp	11:d8dbe3b87f9f	40
sepp_nepp	11:d8dbe3b87f9f	41	Replace:
sepp_nepp	11:d8dbe3b87f9f	42	* "MicroSeconds" or "micro_seconds" by "us" or "_us"
sepp_nepp	11:d8dbe3b87f9f	43	* "MilliSeconds" or "milli_seconds" by "ms" or "_ms"
sepp_nepp	11:d8dbe3b87f9f	44	* "MegaCps" or "MCps" or "_mega_cps" by "MHz" or "_MHz"
sepp_nepp	11:d8dbe3b87f9f	45	* "MicroMeter" by "um" or "_um"
sepp_nepp	11:d8dbe3b87f9f	46	* "FIXEDPNT" by "FP"
sepp_nepp	11:d8dbe3b87f9f	47
sepp_nepp	11:d8dbe3b87f9f	48	Everything related to histogram_mode seems completely not implemented, so all definitions removed.
sepp_nepp	11:d8dbe3b87f9f	49
sepp_nepp	11:d8dbe3b87f9f	50	Everything related to x_talk_compensation seems also not implemented, all removed
sepp_nepp	11:d8dbe3b87f9f	51
sepp_nepp	11:d8dbe3b87f9f	52	Some example regular expressinos used to simplify the code:
sepp_nepp	8:2fd7cb217068	53	b) Search for: \QRead_Byte(\E([A-Za-z_\d]+)[[:punct:]](\s*)\Q&\E([A-Za-z\d_]+)\Q);\E
sepp_nepp	8:2fd7cb217068	54	Replace by: \3 = Read_Byte\(\1\);
sepp_nepp	8:2fd7cb217068	55	to replace: Read_Byte(0x90,&module_id);
sepp_nepp	8:2fd7cb217068	56	by this: module_id = Read_Byte(0x90);
sepp_nepp	8:2fd7cb217068	57
sepp_nepp	8:2fd7cb217068	58	c) Search for: ([A-Za-z_\d]+)\Q(\E\r\n(\s*)
sepp_nepp	8:2fd7cb217068	59	Replace by: \1\(
sepp_nepp	8:2fd7cb217068	60	To join lines where the first line has an open bracket, and the next line starts listing the parameters.
sepp_nepp	8:2fd7cb217068	61	for example: Status = VL53L0X_UpdateByte(V
sepp_nepp	8:2fd7cb217068	62	L53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, ....
sepp_nepp	8:2fd7cb217068	63	becomes: Status = VL53L0X_UpdateByte(VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, ....
sepp_nepp	8:2fd7cb217068	64
sepp_nepp	8:2fd7cb217068	65	*/
sepp_nepp	8:2fd7cb217068	66
sepp_nepp	6:fb11b746ceb5	67	/* Includes */
sepp_nepp	6:fb11b746ceb5	68	#include <stdlib.h>
sepp_nepp	6:fb11b746ceb5	69	#include "VL53L0X.h"
sepp_nepp	6:fb11b746ceb5	70
sepp_nepp	13:253cb4ea3fcc	71	void Report_Range_Infos(VL53L0X_RangingMeasurementData_t RangeResults, Serial *aSerial )
sepp_nepp	12:81f37e50f8f8	72	{
sepp_nepp	13:253cb4ea3fcc	73	aSerial->printf("\n\r Reporting All Fields of VL53L0X_RangingMeasurementData_t structure \n\r" );
sepp_nepp	13:253cb4ea3fcc	74	aSerial->printf(" .Range_mm = %dmm; Ranged distance. \n\r", RangeResults.Range_mm );
sepp_nepp	13:253cb4ea3fcc	75	aSerial->printf(" .RangeDMax_mm = %dmm; maximum detection distance in current setup and environment conditions \n\r", RangeResults.RangeDMax_mm );
sepp_nepp	13:253cb4ea3fcc	76	aSerial->printf(" .SignalRateRtn_MHz = %3.3fMHz; effectively a measure of target reflectance \n\r", RangeResults.SignalRateRtn_MHz / 65535.01);
sepp_nepp	13:253cb4ea3fcc	77	aSerial->printf(" .AmbientRateRtn_MHz = %3.3fMHz; effectively a measure of the ambient light \n\r", RangeResults.AmbientRateRtn_MHz / 65535.01 );
sepp_nepp	13:253cb4ea3fcc	78	aSerial->printf(" .EffectiveSpadRtnCount = %3.3f; effective SPAD count for the return signal \n\r", RangeResults.EffectiveSpadRtnCount / 256.001 );
sepp_nepp	13:253cb4ea3fcc	79	aSerial->printf(" .RangeFractionalPart = %d; Fractional part of range distance. \n\r", RangeResults.RangeFractionalPart >> 6 );
sepp_nepp	13:253cb4ea3fcc	80	aSerial->printf(" .RangeStatus = %d[u8]; Status for the current measurement, 0 = value is valid \n\r", RangeResults.RangeStatus );
sepp_nepp	13:253cb4ea3fcc	81	aSerial->printf(" .SigmaEstimate = %3.2f; Estimated Sigma - based on ambient & VCSEL rates and signal_total_events \n\r", RangeResults.SigmaEstimate/ 65535.01 );
sepp_nepp	12:81f37e50f8f8	82	};
sepp_nepp	12:81f37e50f8f8	83
sepp_nepp	13:253cb4ea3fcc	84	void Report_Deep_Infos(VL53L0X TOF1, Serial *aSerial)
sepp_nepp	12:81f37e50f8f8	85	{
sepp_nepp	13:253cb4ea3fcc	86	aSerial->printf("\n\r Reporting All Top Level Infos of the class \n\r" );
sepp_nepp	13:253cb4ea3fcc	87	aSerial->printf("I2cDevAddr = %d. \n\r", TOF1.I2cDevAddr );
sepp_nepp	13:253cb4ea3fcc	88	aSerial->printf("comms_type = %d. Type of comms: 1=VL53L0X_COMMS_I2C or VL53L0X_COMMS_SPI \n\r", TOF1.comms_type );
sepp_nepp	13:253cb4ea3fcc	89	aSerial->printf("comms_speed = %d. Communication speed [kHz] : typically 400kHz for I2C \n\r", TOF1.comms_speed_khz );
sepp_nepp	12:81f37e50f8f8	90
sepp_nepp	13:253cb4ea3fcc	91	aSerial->printf("\n\r Reporting All Infos of the Device_Info structure: \n\r" );
sepp_nepp	13:253cb4ea3fcc	92	aSerial->printf("Device_Info.ProductType = 0x%2X. VL53L0X = 1, VL53L1 = 2 \n\r", TOF1.Device_Info.ProductType );
sepp_nepp	13:253cb4ea3fcc	93	aSerial->printf("Device_Info.ProductRevision = %d.%d. Revision NR, major.minor \n\r",
sepp_nepp	12:81f37e50f8f8	94	TOF1.Device_Info.ProductRevisionMajor, TOF1.Device_Info.ProductRevisionMinor );
sepp_nepp	13:253cb4ea3fcc	95	aSerial->printf("Device_Info.Name = %s. Name of Device e.g. Left_Distance\n\r", TOF1.Device_Info.Name );
sepp_nepp	13:253cb4ea3fcc	96	aSerial->printf("Device_Info.Type = %s. Type of Device e.g VL53L0X \n\r", TOF1.Device_Info.Type );
sepp_nepp	13:253cb4ea3fcc	97	aSerial->printf("Device_Info.ProductId = %s. Product Identifier String \n\r", TOF1.Device_Info.ProductId );
sepp_nepp	13:253cb4ea3fcc	98
sepp_nepp	13:253cb4ea3fcc	99	aSerial->printf("\n\r Reporting All Fields of CurrentParameters \n\r" );
sepp_nepp	13:253cb4ea3fcc	100	aSerial->printf(" .DeviceMode = %d. Defines type of measurement to be done for the next measurement \n\r",
sepp_nepp	12:81f37e50f8f8	101	TOF1.CurrentParameters.DeviceMode );
sepp_nepp	13:253cb4ea3fcc	102	aSerial->printf(" .Measure_Time_Budget_us= %dus. Allowed total time for a single measurement \n\r",
sepp_nepp	12:81f37e50f8f8	103	TOF1.CurrentParameters.MeasurementTimingBudget_us );
sepp_nepp	13:253cb4ea3fcc	104	aSerial->printf(" .Measure_Period_ms = %dms. Time between two consecutive measurements \n\r",
sepp_nepp	12:81f37e50f8f8	105	TOF1.CurrentParameters.InterMeasurementPeriod_ms );
sepp_nepp	13:253cb4ea3fcc	106	aSerial->printf(" .XTalk_Compens_En = %d. Crosstalk compensation enable or not (0, default) \n\r",
sepp_nepp	12:81f37e50f8f8	107	TOF1.CurrentParameters.XTalkCompensationEnable );
sepp_nepp	13:253cb4ea3fcc	108	aSerial->printf(" .XTalk_CompRange_mm = %dmm. CrossTalk compensation range, seems never used \n\r",
sepp_nepp	12:81f37e50f8f8	109	TOF1.CurrentParameters.XTalkCompensationRange_mm );
sepp_nepp	13:253cb4ea3fcc	110	aSerial->printf(" .XTalk_CompRate_MHz = %3.2fMHz. CrossTalk compensation rate . \n\r",
sepp_nepp	12:81f37e50f8f8	111	(float) TOF1.CurrentParameters.XTalkCompensationRate_MHz / 65536);
sepp_nepp	13:253cb4ea3fcc	112	aSerial->printf(" .RangeOffset_um = %d. Range offset adjustment (um) last programmed.\n\r",
sepp_nepp	12:81f37e50f8f8	113	TOF1.CurrentParameters.RangeOffset_um );
sepp_nepp	13:253cb4ea3fcc	114	aSerial->printf(" .LimitChecks ... = SIGMA_FINAL, SIGNAL_RATE_FINAL, SIGNAL_REF_CLIP, IGNORE_THRESHOLD, SIGNAL_RATE_MSRC, SIGNAL_RATE_PRE.\n\r");
sepp_nepp	13:253cb4ea3fcc	115	aSerial->printf(" .LimitChecksEnable[x] = %d %d %d %d %d %d. The Limit Checks enabled or not.\n\r",
sepp_nepp	12:81f37e50f8f8	116	TOF1.CurrentParameters.LimitChecksEnable[0],TOF1.CurrentParameters.LimitChecksEnable[1] ,TOF1.CurrentParameters.LimitChecksEnable[2],
sepp_nepp	12:81f37e50f8f8	117	TOF1.CurrentParameters.LimitChecksEnable[3],TOF1.CurrentParameters.LimitChecksEnable[4] ,TOF1.CurrentParameters.LimitChecksEnable[5] );
sepp_nepp	13:253cb4ea3fcc	118	aSerial->printf(" .LimitChecksStatus[x] = %d %d %d %d %d %d. Status of checks of last measurement.\n\r",
sepp_nepp	12:81f37e50f8f8	119	TOF1.CurrentParameters.LimitChecksStatus[0],TOF1.CurrentParameters.LimitChecksStatus[1] ,TOF1.CurrentParameters.LimitChecksStatus[2],
sepp_nepp	12:81f37e50f8f8	120	TOF1.CurrentParameters.LimitChecksStatus[3],TOF1.CurrentParameters.LimitChecksStatus[4] ,TOF1.CurrentParameters.LimitChecksStatus[5] );
sepp_nepp	13:253cb4ea3fcc	121	aSerial->printf(" .LimitChecksValue[x] = %d %d %d %d %d %d [FP1616]. The Limit Check values \n\r",
sepp_nepp	12:81f37e50f8f8	122	TOF1.CurrentParameters.LimitChecksValue[0],TOF1.CurrentParameters.LimitChecksValue[1] ,TOF1.CurrentParameters.LimitChecksValue[2],
sepp_nepp	12:81f37e50f8f8	123	TOF1.CurrentParameters.LimitChecksValue[3],TOF1.CurrentParameters.LimitChecksValue[4] ,TOF1.CurrentParameters.LimitChecksValue[5] );
sepp_nepp	13:253cb4ea3fcc	124	aSerial->printf(" .WrapAroundCheckEnable = %d. Wrap Around Check enabled or not \n\r",
sepp_nepp	12:81f37e50f8f8	125	TOF1.CurrentParameters.WrapAroundCheckEnable );
sepp_nepp	12:81f37e50f8f8	126
sepp_nepp	13:253cb4ea3fcc	127	aSerial->printf("\n\r Reporting All Fields of VL53L0X_DevData_t Data structure \n\r" );
sepp_nepp	13:253cb4ea3fcc	128	aSerial->printf(" .OscFrequency_MHz = %3.2fMHz; Frequency used \n\r", (float) TOF1.Data.OscFrequency_MHz/65536 );
sepp_nepp	13:253cb4ea3fcc	129	aSerial->printf(" .LastEncodedTimeout = %d[u16]; Last encoded Time out used for timing budget \n\r", TOF1.Data.LastEncodedTimeout );
sepp_nepp	13:253cb4ea3fcc	130	aSerial->printf(" .Pin0GpioFunctionality = %d[u8]; functionality of the GPIO: pin0 \n\r", TOF1.Data.Pin0GpioFunctionality );
sepp_nepp	13:253cb4ea3fcc	131	aSerial->printf(" .FinalRangeTimeout_us = %d[u32]; Execution time of the final ranging \n\r", TOF1.Data.FinalRangeTimeout_us );
sepp_nepp	13:253cb4ea3fcc	132	aSerial->printf(" .FinalRangeVcselPulsePeriod= %d[u8]; Vcsel pulse period (pll clocks) for the final range measurement \n\r", TOF1.Data.FinalRangeVcselPulsePeriod );
sepp_nepp	13:253cb4ea3fcc	133	aSerial->printf(" .PreRangeTimeout_us = %d[u32]; Execution time of the final range \n\r", TOF1.Data.PreRangeTimeout_us );
sepp_nepp	13:253cb4ea3fcc	134	aSerial->printf(" .PreRangeVcselPulsePeriod = %d[u8]; Vcsel pulse period (pll clocks) for the pre-range measurement \n\r", TOF1.Data.PreRangeVcselPulsePeriod );
sepp_nepp	13:253cb4ea3fcc	135	aSerial->printf(" .ReadDataFromDeviceDone = %2d; reads from device has been done (>0) or not. \n\r", TOF1.Data.ReadDataFromDeviceDone );
sepp_nepp	13:253cb4ea3fcc	136	aSerial->printf(" .ModuleId = %X; Module ID \n\r", TOF1.Data.ModuleId );
sepp_nepp	13:253cb4ea3fcc	137	aSerial->printf(" .Revision = %d[u8]; test Revision \n\r", TOF1.Data.Revision );
sepp_nepp	13:253cb4ea3fcc	138	aSerial->printf(" .ProductId = %s[char*]; Product Identifier String \n\r", TOF1.Data.ProductId );
sepp_nepp	13:253cb4ea3fcc	139	aSerial->printf(" .ReferenceSpadCount = %d[u8]; used for ref spad management \n\r", TOF1.Data.ReferenceSpadCount );
sepp_nepp	13:253cb4ea3fcc	140	aSerial->printf(" .ReferenceSpadType = %d[u8]; used for ref spad management \n\r", TOF1.Data.ReferenceSpadType );
sepp_nepp	13:253cb4ea3fcc	141	aSerial->printf(" .RefSpadsInitialised = %d[u8]; reports if ref spads are initialised. \n\r", TOF1.Data.RefSpadsInitialised );
sepp_nepp	13:253cb4ea3fcc	142	aSerial->printf(" .PartUIDUpper = %d[u32]; Unique Part ID Upper \n\r", TOF1.Data.PartUIDUpper );
sepp_nepp	13:253cb4ea3fcc	143	aSerial->printf(" .PartUIDLower = %d[u32]; Unique Part ID Lower \n\r", TOF1.Data.PartUIDLower );
sepp_nepp	13:253cb4ea3fcc	144	aSerial->printf(" .SignalRateMeasFixed400mm = %3.3f; Peak Signal rate at 400 mm \n\r", 1.0 / 65535.0 * TOF1.Data.SignalRateMeasFixed400mm );
sepp_nepp	13:253cb4ea3fcc	145	aSerial->printf(" .RefSpadEnables[x] = %X %X %X %X %X %X[hex8]; Reference Spad Enables \n\r",
sepp_nepp	12:81f37e50f8f8	146	TOF1.Data.RefSpadEnables[0], TOF1.Data.RefSpadEnables[1], TOF1.Data.RefSpadEnables[2],
sepp_nepp	12:81f37e50f8f8	147	TOF1.Data.RefSpadEnables[3], TOF1.Data.RefSpadEnables[4], TOF1.Data.RefSpadEnables[5] );
sepp_nepp	13:253cb4ea3fcc	148	aSerial->printf(" .RefGoodSpadMap[x] = %X %X %X %X %X %X[hex8]; Reference Spad Good Spad Map\n\r",
sepp_nepp	12:81f37e50f8f8	149	TOF1.Data.RefGoodSpadMap[0], TOF1.Data.RefGoodSpadMap[1], TOF1.Data.RefGoodSpadMap[2],
sepp_nepp	12:81f37e50f8f8	150	TOF1.Data.RefGoodSpadMap[3], TOF1.Data.RefGoodSpadMap[4], TOF1.Data.RefGoodSpadMap[5] );
sepp_nepp	13:253cb4ea3fcc	151	aSerial->printf(" .Part2PartOffsetNVM_um = %d[i32]; backed up NVM value \n\r", TOF1.Data.Part2PartOffsetNVM_um );
sepp_nepp	13:253cb4ea3fcc	152	aSerial->printf(" .Part2PartOffsetAdjustNVM_um= %d[i32]; backed up NVM value of additional offset adjustment \n\r", TOF1.Data.Part2PartOffsetAdjustNVM_um );
sepp_nepp	13:253cb4ea3fcc	153	aSerial->printf(" .SequenceConfig = %d[u8]; Internal value for the sequence config \n\r", TOF1.Data.SequenceConfig );
sepp_nepp	13:253cb4ea3fcc	154	aSerial->printf(" .RangeFractionalEnable = %d[u8]; Enable/Disable fractional part of range data \n\r", TOF1.Data.RangeFractionalEnable);
sepp_nepp	13:253cb4ea3fcc	155	aSerial->printf(" .PalState = %d[u8]; Current state of the PAL \n\r", TOF1.Data.PalState );
sepp_nepp	13:253cb4ea3fcc	156	aSerial->printf(" .PowerMode = %d[u8]; Current Power Mode; Stdby1/2, Idle1/2 \n\r", TOF1.Data.PowerMode );
sepp_nepp	13:253cb4ea3fcc	157	aSerial->printf(" .SigmaEstRefArray = %d[u16]; Reference array sigma value in 1/100th of [mm] \n\r", TOF1.Data.SigmaEstRefArray );
sepp_nepp	13:253cb4ea3fcc	158	aSerial->printf(" .SigmaEstEffPulseWidth = %d[u16]; Effective Pulse width for sigma estimate in 1/100th of ns \n\r", TOF1.Data.SigmaEstEffPulseWidth );
sepp_nepp	13:253cb4ea3fcc	159	aSerial->printf(" .SigmaEstEffAmbWidth = %d. Effective Ambient width for sigma estimate in 1/100th of ns \n\r", TOF1.Data.SigmaEstEffAmbWidth );
sepp_nepp	13:253cb4ea3fcc	160	aSerial->printf(" .StopVariable = %d[u8]; StopVariable used during the stop sequence \n\r", TOF1.Data.StopVariable );
sepp_nepp	13:253cb4ea3fcc	161	aSerial->printf(" .targetRefRate = %d. Target Ambient Rate for Ref spad management \n\r", TOF1.Data.targetRefRate );
sepp_nepp	13:253cb4ea3fcc	162	aSerial->printf(" .LastSignalRef_MHz = %3.3fMHz; Latest Signal ref \n\r", TOF1.Data.LastSignalRef_MHz / 65535.01 );
sepp_nepp	13:253cb4ea3fcc	163	aSerial->printf(" .UseInternalTuningSetting = %d[u8]; Indicate if we use Tuning Settings table \n\r", TOF1.Data.UseInternalTuningSettings );
sepp_nepp	13:253cb4ea3fcc	164	aSerial->printf(" .LinearityCorrectiveGain = %d[u8]; Linearity Corrective Gain value in x1000 \n\r", TOF1.Data.LinearityCorrectiveGain );
sepp_nepp	13:253cb4ea3fcc	165	aSerial->printf(" .DmaxCalRange_mm = %dmm; Dmax Calibration Range \n\r", TOF1.Data.DmaxCalRange_mm );
sepp_nepp	13:253cb4ea3fcc	166	aSerial->printf(" .DmaxCalSignalRateRtn_MHz = %3.3fMHz; Dmax Calibration Signal Rate Return \n\r", TOF1.Data.DmaxCalSignalRateRtn_MHz / 65535.01 );
sepp_nepp	12:81f37e50f8f8	167	}
sepp_nepp	12:81f37e50f8f8	168
sepp_nepp	6:fb11b746ceb5	169	int VL53L0X::read_id(uint8_t *id)
sepp_nepp	8:2fd7cb217068	170	{ int status = 0;
sepp_nepp	6:fb11b746ceb5	171	uint16_t rl_id = 0;
sepp_nepp	6:fb11b746ceb5	172
sepp_nepp	7:3a1115c2556b	173	status = VL53L0X_read_word(VL53L0X_REG_IDENTIFICATION_MODEL_ID, &rl_id);
sepp_nepp	6:fb11b746ceb5	174	if (rl_id == 0xEEAA) {
sepp_nepp	6:fb11b746ceb5	175	return status;
sepp_nepp	6:fb11b746ceb5	176	}
sepp_nepp	6:fb11b746ceb5	177	return -1;
sepp_nepp	6:fb11b746ceb5	178	}
sepp_nepp	6:fb11b746ceb5	179
sepp_nepp	6:fb11b746ceb5	180	int VL53L0X::init_sensor(uint8_t new_addr)
sepp_nepp	6:fb11b746ceb5	181	{ int status;
sepp_nepp	6:fb11b746ceb5	182
sepp_nepp	6:fb11b746ceb5	183	VL53L0X_off();
sepp_nepp	6:fb11b746ceb5	184	VL53L0X_on();
sepp_nepp	6:fb11b746ceb5	185
sepp_nepp	6:fb11b746ceb5	186	// Verify if the device is actually present
sepp_nepp	6:fb11b746ceb5	187	uint8_t id = 0;
sepp_nepp	6:fb11b746ceb5	188	status = read_id(&id);
sepp_nepp	6:fb11b746ceb5	189	if (status != 0) {
sepp_nepp	13:253cb4ea3fcc	190	//aSerial->printf("VL53L0X sensor is not present!\n\r");
sepp_nepp	6:fb11b746ceb5	191	return 99; } // device is not present
sepp_nepp	6:fb11b746ceb5	192
sepp_nepp	7:3a1115c2556b	193	status = VL53L0X_data_init();
sepp_nepp	6:fb11b746ceb5	194	if (status != VL53L0X_ERROR_NONE) {
sepp_nepp	13:253cb4ea3fcc	195	//aSerial->printf("Failed to init VL53L0X sensor!\n\r");
sepp_nepp	6:fb11b746ceb5	196	return status;
sepp_nepp	6:fb11b746ceb5	197	}
sepp_nepp	6:fb11b746ceb5	198
sepp_nepp	6:fb11b746ceb5	199	// deduce silicon version
sepp_nepp	10:cd1758e186a4	200	status = VL53L0X_get_device_info();
sepp_nepp	6:fb11b746ceb5	201
sepp_nepp	6:fb11b746ceb5	202	status = prepare();
sepp_nepp	6:fb11b746ceb5	203	if (status != VL53L0X_ERROR_NONE) {
sepp_nepp	13:253cb4ea3fcc	204	//aSerial->printf("Failed to prepare VL53L0X!\n\r");
sepp_nepp	6:fb11b746ceb5	205	return status;
sepp_nepp	6:fb11b746ceb5	206	}
sepp_nepp	6:fb11b746ceb5	207
sepp_nepp	6:fb11b746ceb5	208	if (new_addr != VL53L0X_DEFAULT_ADDRESS) {
sepp_nepp	6:fb11b746ceb5	209	status = set_device_address(new_addr);
sepp_nepp	6:fb11b746ceb5	210	if (status) {
sepp_nepp	13:253cb4ea3fcc	211	//aSerial->printf("Failed to change I2C address!\n\r");
sepp_nepp	6:fb11b746ceb5	212	return status;
sepp_nepp	6:fb11b746ceb5	213	}
sepp_nepp	6:fb11b746ceb5	214	}
sepp_nepp	6:fb11b746ceb5	215	return status;
sepp_nepp	6:fb11b746ceb5	216	}
sepp_nepp	6:fb11b746ceb5	217
sepp_nepp	7:3a1115c2556b	218	VL53L0X_Error VL53L0X::VL53L0X_data_init(void)
sepp_nepp	8:2fd7cb217068	219	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	220	VL53L0X_DeviceParameters_t CurrentParameters;
sepp_nepp	6:fb11b746ceb5	221	int i;
sepp_nepp	6:fb11b746ceb5	222	uint8_t StopVariable;
sepp_nepp	6:fb11b746ceb5	223
sepp_nepp	6:fb11b746ceb5	224	/* by default the I2C is running at 1V8 if you want to change it you
sepp_nepp	6:fb11b746ceb5	225	* need to include this define at compilation level. */
sepp_nepp	6:fb11b746ceb5	226	#ifdef USE_I2C_2V8
sepp_nepp	11:d8dbe3b87f9f	227	Status = VL53L0X_UpdateByte(VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV,0xFE,0x01);
sepp_nepp	6:fb11b746ceb5	228	#endif
sepp_nepp	6:fb11b746ceb5	229
sepp_nepp	6:fb11b746ceb5	230	/* Set I2C standard mode */
sepp_nepp	6:fb11b746ceb5	231	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	11:d8dbe3b87f9f	232	status = VL53L0X_write_byte( 0x88, 0x00); }
sepp_nepp	6:fb11b746ceb5	233
sepp_nepp	8:2fd7cb217068	234	Data.ReadDataFromDeviceDone = 0;
sepp_nepp	8:2fd7cb217068	235	Data.ReadDataFromDeviceDone = 0;
sepp_nepp	6:fb11b746ceb5	236
sepp_nepp	6:fb11b746ceb5	237	#ifdef USE_IQC_STATION
sepp_nepp	6:fb11b746ceb5	238	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	239	Status = VL53L0X_apply_offset_adjustment();
sepp_nepp	6:fb11b746ceb5	240	}
sepp_nepp	6:fb11b746ceb5	241	#endif
sepp_nepp	6:fb11b746ceb5	242
sepp_nepp	6:fb11b746ceb5	243	/* Default value is 1000 for Linearity Corrective Gain */
sepp_nepp	8:2fd7cb217068	244	Data.LinearityCorrectiveGain = 1000;
sepp_nepp	6:fb11b746ceb5	245
sepp_nepp	6:fb11b746ceb5	246	/* Dmax default Parameter */
sepp_nepp	11:d8dbe3b87f9f	247	Data.DmaxCalRange_mm = 400;
sepp_nepp	11:d8dbe3b87f9f	248	Data.DmaxCalSignalRateRtn_MHz = (FixPoint1616_t)((0x00016B85)); /* 1.42 No Cover Glass*/
sepp_nepp	6:fb11b746ceb5	249
sepp_nepp	6:fb11b746ceb5	250	/* Set Default static parameters
sepp_nepp	11:d8dbe3b87f9f	251	set first temporary values 9.44_MHz 65536 = 618660 */
sepp_nepp	11:d8dbe3b87f9f	252	Data.OscFrequency_MHz = 618660;
sepp_nepp	11:d8dbe3b87f9f	253
sepp_nepp	11:d8dbe3b87f9f	254	/* Set Default XTalkCompensationRate_MHz to 0 */
sepp_nepp	11:d8dbe3b87f9f	255	CurrentParameters.XTalkCompensationRate_MHz = 0;
sepp_nepp	6:fb11b746ceb5	256
sepp_nepp	6:fb11b746ceb5	257	/* Get default parameters */
sepp_nepp	7:3a1115c2556b	258	status = VL53L0X_get_device_parameters( &CurrentParameters);
sepp_nepp	6:fb11b746ceb5	259	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	260	/* initialize PAL values */
sepp_nepp	6:fb11b746ceb5	261	CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING;
sepp_nepp	10:cd1758e186a4	262	CurrentParameters = CurrentParameters;
sepp_nepp	6:fb11b746ceb5	263	}
sepp_nepp	6:fb11b746ceb5	264
sepp_nepp	6:fb11b746ceb5	265	/* Sigma estimator variable */
sepp_nepp	8:2fd7cb217068	266	Data.SigmaEstRefArray = 100;
sepp_nepp	8:2fd7cb217068	267	Data.SigmaEstEffPulseWidth = 900;
sepp_nepp	8:2fd7cb217068	268	Data.SigmaEstEffAmbWidth = 500;
sepp_nepp	11:d8dbe3b87f9f	269	Data.targetRefRate = 0x0A00; /* 20 MHz in 9:7 format */
sepp_nepp	6:fb11b746ceb5	270
sepp_nepp	6:fb11b746ceb5	271	/* Use internal default settings */
sepp_nepp	8:2fd7cb217068	272	Data.UseInternalTuningSettings = 1;
sepp_nepp	7:3a1115c2556b	273
sepp_nepp	7:3a1115c2556b	274	status \|= VL53L0X_write_byte( 0x80, 0x01);
sepp_nepp	7:3a1115c2556b	275	status \|= VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	276	status \|= VL53L0X_write_byte( 0x00, 0x00);
sepp_nepp	7:3a1115c2556b	277	status \|= VL53L0X_read_byte( 0x91, &StopVariable);
sepp_nepp	8:2fd7cb217068	278	Data.StopVariable = StopVariable;
sepp_nepp	7:3a1115c2556b	279	status \|= VL53L0X_write_byte( 0x00, 0x01);
sepp_nepp	7:3a1115c2556b	280	status \|= VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	7:3a1115c2556b	281	status \|= VL53L0X_write_byte( 0x80, 0x00);
sepp_nepp	6:fb11b746ceb5	282
sepp_nepp	6:fb11b746ceb5	283	/* Enable all check */
sepp_nepp	6:fb11b746ceb5	284	for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
sepp_nepp	6:fb11b746ceb5	285	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	286	status \|= VL53L0X_set_limit_check_enable( i, 1);
sepp_nepp	8:2fd7cb217068	287	} else { break; }
sepp_nepp	6:fb11b746ceb5	288	}
sepp_nepp	6:fb11b746ceb5	289
sepp_nepp	6:fb11b746ceb5	290	/* Disable the following checks */
sepp_nepp	6:fb11b746ceb5	291	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	292	status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0);
sepp_nepp	6:fb11b746ceb5	293
sepp_nepp	6:fb11b746ceb5	294	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	295	status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0);
sepp_nepp	6:fb11b746ceb5	296
sepp_nepp	6:fb11b746ceb5	297	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	298	status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0);
sepp_nepp	6:fb11b746ceb5	299
sepp_nepp	6:fb11b746ceb5	300	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	301	status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0);
sepp_nepp	6:fb11b746ceb5	302
sepp_nepp	6:fb11b746ceb5	303	/* Limit default values */
sepp_nepp	6:fb11b746ceb5	304	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	305	status = VL53L0X_set_limit_check_value(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	306	(FixPoint1616_t)(18 * 65536));
sepp_nepp	6:fb11b746ceb5	307	}
sepp_nepp	6:fb11b746ceb5	308	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	309	status = VL53L0X_set_limit_check_value(VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
sepp_nepp	12:81f37e50f8f8	310	(FixPoint1616_t)(25 * 65536 / 100)); /* 0.25 * 65536 */
sepp_nepp	6:fb11b746ceb5	311	}
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_value(VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
sepp_nepp	6:fb11b746ceb5	315	(FixPoint1616_t)(35 * 65536));
sepp_nepp	6:fb11b746ceb5	316	}
sepp_nepp	6:fb11b746ceb5	317
sepp_nepp	6:fb11b746ceb5	318	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	319	status = VL53L0X_set_limit_check_value(VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
sepp_nepp	6:fb11b746ceb5	320	(FixPoint1616_t)(0 * 65536));
sepp_nepp	6:fb11b746ceb5	321	}
sepp_nepp	6:fb11b746ceb5	322
sepp_nepp	6:fb11b746ceb5	323	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	324	Data.SequenceConfig = 0xFF;
sepp_nepp	7:3a1115c2556b	325	status = VL53L0X_write_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,0xFF);
sepp_nepp	6:fb11b746ceb5	326
sepp_nepp	6:fb11b746ceb5	327	/* Set PAL state to tell that we are waiting for call to VL53L0X_StaticInit */
sepp_nepp	8:2fd7cb217068	328	Data.PalState = VL53L0X_STATE_WAIT_STATICINIT;
sepp_nepp	6:fb11b746ceb5	329	}
sepp_nepp	6:fb11b746ceb5	330
sepp_nepp	6:fb11b746ceb5	331	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	332	Data.RefSpadsInitialised = 0;
sepp_nepp	6:fb11b746ceb5	333	}
sepp_nepp	6:fb11b746ceb5	334
sepp_nepp	6:fb11b746ceb5	335	return status;
sepp_nepp	6:fb11b746ceb5	336	}
sepp_nepp	6:fb11b746ceb5	337
sepp_nepp	6:fb11b746ceb5	338	int VL53L0X::prepare()
sepp_nepp	8:2fd7cb217068	339	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	340	uint32_t ref_spad_count;
sepp_nepp	6:fb11b746ceb5	341	uint8_t is_aperture_spads;
sepp_nepp	6:fb11b746ceb5	342	uint8_t vhv_settings;
sepp_nepp	6:fb11b746ceb5	343	uint8_t phase_cal;
sepp_nepp	6:fb11b746ceb5	344
sepp_nepp	6:fb11b746ceb5	345	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	346	status = VL53L0X_static_init(); // Device Initialization
sepp_nepp	6:fb11b746ceb5	347	}
sepp_nepp	6:fb11b746ceb5	348
sepp_nepp	6:fb11b746ceb5	349	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	350	status = VL53L0X_perform_ref_calibration(&vhv_settings, &phase_cal); // Device Initialization
sepp_nepp	6:fb11b746ceb5	351	}
sepp_nepp	6:fb11b746ceb5	352
sepp_nepp	6:fb11b746ceb5	353	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	354	status = VL53L0X_perform_ref_spad_management(&ref_spad_count, &is_aperture_spads); // Device Initialization
sepp_nepp	6:fb11b746ceb5	355	}
sepp_nepp	6:fb11b746ceb5	356
sepp_nepp	6:fb11b746ceb5	357	return status;
sepp_nepp	6:fb11b746ceb5	358	}
sepp_nepp	6:fb11b746ceb5	359
sepp_nepp	6:fb11b746ceb5	360	int VL53L0X::start_measurement(OperatingMode operating_mode, void (*fptr)(void),
sepp_nepp	6:fb11b746ceb5	361	VL53L0X_RangingConfig rangingConfig)
sepp_nepp	6:fb11b746ceb5	362	{ int Status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	363	int ClrStatus;
sepp_nepp	6:fb11b746ceb5	364
sepp_nepp	6:fb11b746ceb5	365	uint8_t VhvSettings;
sepp_nepp	6:fb11b746ceb5	366	uint8_t PhaseCal;
sepp_nepp	6:fb11b746ceb5	367	// default settings, for normal range.
sepp_nepp	6:fb11b746ceb5	368	FixPoint1616_t signalLimit = (FixPoint1616_t)(0.25 * 65536);
sepp_nepp	13:253cb4ea3fcc	369	FixPoint1616_t sigmaLimit = (FixPoint1616_t)(25 * 65536);
sepp_nepp	6:fb11b746ceb5	370	uint32_t timingBudget = 33000;
sepp_nepp	6:fb11b746ceb5	371	uint8_t preRangeVcselPeriod = 14;
sepp_nepp	6:fb11b746ceb5	372	uint8_t finalRangeVcselPeriod = 10;
sepp_nepp	6:fb11b746ceb5	373
sepp_nepp	6:fb11b746ceb5	374	if (operating_mode == range_continuous_interrupt) {
sepp_nepp	6:fb11b746ceb5	375	if (_gpio1Int == NULL) {
sepp_nepp	13:253cb4ea3fcc	376	//aSerial->printf("GPIO1 Error\r\n");
sepp_nepp	6:fb11b746ceb5	377	return 1;
sepp_nepp	6:fb11b746ceb5	378	}
sepp_nepp	6:fb11b746ceb5	379
sepp_nepp	7:3a1115c2556b	380	Status = VL53L0X_stop_measurement(); // it is safer to do this while sensor is stopped
sepp_nepp	6:fb11b746ceb5	381
sepp_nepp	6:fb11b746ceb5	382	// Status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
sepp_nepp	6:fb11b746ceb5	383
sepp_nepp	7:3a1115c2556b	384	Status = VL53L0X_set_gpio_config(0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
sepp_nepp	6:fb11b746ceb5	385	VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
sepp_nepp	6:fb11b746ceb5	386	VL53L0X_INTERRUPTPOLARITY_HIGH);
sepp_nepp	6:fb11b746ceb5	387
sepp_nepp	6:fb11b746ceb5	388	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	389	attach_interrupt_measure_detection_irq(fptr);
sepp_nepp	6:fb11b746ceb5	390	enable_interrupt_measure_detection_irq();
sepp_nepp	6:fb11b746ceb5	391	}
sepp_nepp	6:fb11b746ceb5	392
sepp_nepp	6:fb11b746ceb5	393	ClrStatus = clear_interrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS \| VL53L0X_REG_RESULT_RANGE_STATUS);
sepp_nepp	6:fb11b746ceb5	394	if (ClrStatus) { Status = 97; } // VL53L0X_ClearErrorInterrupt fail
sepp_nepp	6:fb11b746ceb5	395
sepp_nepp	6:fb11b746ceb5	396	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	13:253cb4ea3fcc	397	CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_CONTINUOUS_RANGING; // Setup in continuous ranging mode
sepp_nepp	7:3a1115c2556b	398	Status = VL53L0X_start_measurement();
sepp_nepp	6:fb11b746ceb5	399	}
sepp_nepp	6:fb11b746ceb5	400	}
sepp_nepp	6:fb11b746ceb5	401
sepp_nepp	6:fb11b746ceb5	402	if (operating_mode == range_single_shot_polling) {
sepp_nepp	6:fb11b746ceb5	403	// singelshot, polled ranging
sepp_nepp	6:fb11b746ceb5	404	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	405	// no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
sepp_nepp	13:253cb4ea3fcc	406	CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING; // Setup in single ranging mode
sepp_nepp	13:253cb4ea3fcc	407	// Enable/Disable Sigma and Signal check
sepp_nepp	8:2fd7cb217068	408	Status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
sepp_nepp	6:fb11b746ceb5	409	}
sepp_nepp	6:fb11b746ceb5	410	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	411	Status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1);
sepp_nepp	6:fb11b746ceb5	412	}
sepp_nepp	6:fb11b746ceb5	413
sepp_nepp	6:fb11b746ceb5	414	/* Preselected Ranging configurations */
sepp_nepp	6:fb11b746ceb5	415	switch(rangingConfig) {
sepp_nepp	6:fb11b746ceb5	416	case Range_Config_DEFAULT:
sepp_nepp	6:fb11b746ceb5	417	// default settings, for normal range.
sepp_nepp	6:fb11b746ceb5	418	signalLimit = (FixPoint1616_t)(0.25 * 65536);
sepp_nepp	13:253cb4ea3fcc	419	sigmaLimit = (FixPoint1616_t)(16 * 65536);
sepp_nepp	6:fb11b746ceb5	420	timingBudget = 33000;
sepp_nepp	6:fb11b746ceb5	421	preRangeVcselPeriod = 14;
sepp_nepp	6:fb11b746ceb5	422	finalRangeVcselPeriod = 10;
sepp_nepp	6:fb11b746ceb5	423	break;
sepp_nepp	6:fb11b746ceb5	424	case Range_Config_LONG_RANGE: // *** from mass market cube expansion v1.1, ranging with satellites.
sepp_nepp	6:fb11b746ceb5	425	signalLimit = (FixPoint1616_t)(0.1 * 65536);
sepp_nepp	6:fb11b746ceb5	426	sigmaLimit = (FixPoint1616_t)(60 * 65536);
sepp_nepp	6:fb11b746ceb5	427	timingBudget = 33000;
sepp_nepp	6:fb11b746ceb5	428	preRangeVcselPeriod = 18;
sepp_nepp	6:fb11b746ceb5	429	finalRangeVcselPeriod = 14;
sepp_nepp	6:fb11b746ceb5	430	break;
sepp_nepp	6:fb11b746ceb5	431	case Range_Config_HIGH_ACCURACY:
sepp_nepp	6:fb11b746ceb5	432	signalLimit = (FixPoint1616_t)(0.25*65536);
sepp_nepp	6:fb11b746ceb5	433	sigmaLimit = (FixPoint1616_t)(18*65536);
sepp_nepp	6:fb11b746ceb5	434	timingBudget = 200000;
sepp_nepp	6:fb11b746ceb5	435	preRangeVcselPeriod = 14;
sepp_nepp	6:fb11b746ceb5	436	finalRangeVcselPeriod = 10;
sepp_nepp	6:fb11b746ceb5	437	break;
sepp_nepp	6:fb11b746ceb5	438	case Range_Config_HIGH_SPEED:
sepp_nepp	6:fb11b746ceb5	439	signalLimit = (FixPoint1616_t)(0.25*65536);
sepp_nepp	13:253cb4ea3fcc	440	sigmaLimit = (FixPoint1616_t)(60*65536);
sepp_nepp	6:fb11b746ceb5	441	timingBudget = 20000;
sepp_nepp	6:fb11b746ceb5	442	preRangeVcselPeriod = 14;
sepp_nepp	6:fb11b746ceb5	443	finalRangeVcselPeriod = 10;
sepp_nepp	6:fb11b746ceb5	444	break;
sepp_nepp	6:fb11b746ceb5	445	default:
sepp_nepp	6:fb11b746ceb5	446	Status = 96; // Config Not Supported
sepp_nepp	6:fb11b746ceb5	447	}
sepp_nepp	6:fb11b746ceb5	448
sepp_nepp	6:fb11b746ceb5	449	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	450	Status = VL53L0X_set_limit_check_value(VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, signalLimit);}
sepp_nepp	6:fb11b746ceb5	451
sepp_nepp	6:fb11b746ceb5	452	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	453	Status = VL53L0X_set_limit_check_value(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, sigmaLimit);}
sepp_nepp	6:fb11b746ceb5	454
sepp_nepp	6:fb11b746ceb5	455	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	11:d8dbe3b87f9f	456	Status = VL53L0X_set_measurement_timing_budget_us( timingBudget);}
sepp_nepp	6:fb11b746ceb5	457
sepp_nepp	6:fb11b746ceb5	458	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	459	Status = VL53L0X_set_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE, preRangeVcselPeriod);}
sepp_nepp	6:fb11b746ceb5	460
sepp_nepp	6:fb11b746ceb5	461	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	462	Status = VL53L0X_set_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_FINAL_RANGE, finalRangeVcselPeriod);}
sepp_nepp	6:fb11b746ceb5	463
sepp_nepp	6:fb11b746ceb5	464	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	465	Status = VL53L0X_perform_ref_calibration( &VhvSettings, &PhaseCal);}
sepp_nepp	6:fb11b746ceb5	466
sepp_nepp	6:fb11b746ceb5	467	}
sepp_nepp	6:fb11b746ceb5	468
sepp_nepp	6:fb11b746ceb5	469	if (operating_mode == range_continuous_polling) {
sepp_nepp	6:fb11b746ceb5	470	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	13:253cb4ea3fcc	471	CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_CONTINUOUS_RANGING; // Setup in continuous ranging mode
sepp_nepp	7:3a1115c2556b	472	Status = VL53L0X_start_measurement();
sepp_nepp	6:fb11b746ceb5	473	}
sepp_nepp	6:fb11b746ceb5	474	}
sepp_nepp	6:fb11b746ceb5	475	return Status;
sepp_nepp	6:fb11b746ceb5	476	}
sepp_nepp	6:fb11b746ceb5	477
sepp_nepp	6:fb11b746ceb5	478	int VL53L0X::range_meas_int_continuous_mode(void (*fptr)(void))
sepp_nepp	8:2fd7cb217068	479	{ int status, clr_status;
sepp_nepp	6:fb11b746ceb5	480
sepp_nepp	7:3a1115c2556b	481	status = VL53L0X_stop_measurement(); // it is safer to do this while sensor is stopped
sepp_nepp	6:fb11b746ceb5	482
sepp_nepp	6:fb11b746ceb5	483	// status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
sepp_nepp	6:fb11b746ceb5	484
sepp_nepp	7:3a1115c2556b	485	status = VL53L0X_set_gpio_config( 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
sepp_nepp	13:253cb4ea3fcc	486	VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY, VL53L0X_INTERRUPTPOLARITY_HIGH);
sepp_nepp	6:fb11b746ceb5	487
sepp_nepp	6:fb11b746ceb5	488	if (!status) {
sepp_nepp	6:fb11b746ceb5	489	attach_interrupt_measure_detection_irq(fptr);
sepp_nepp	6:fb11b746ceb5	490	enable_interrupt_measure_detection_irq();
sepp_nepp	6:fb11b746ceb5	491	}
sepp_nepp	6:fb11b746ceb5	492
sepp_nepp	6:fb11b746ceb5	493	clr_status = clear_interrupt(VL53L0X_REG_RESULT_INTERRUPT_STATUS \| VL53L0X_REG_RESULT_RANGE_STATUS);
sepp_nepp	6:fb11b746ceb5	494	if (clr_status!=0) { status = 98; } // VL53L0X_ClearErrorInterrupt_fail;
sepp_nepp	6:fb11b746ceb5	495
sepp_nepp	6:fb11b746ceb5	496	if (!status) {
sepp_nepp	6:fb11b746ceb5	497	status = range_start_continuous_mode();
sepp_nepp	6:fb11b746ceb5	498	}
sepp_nepp	6:fb11b746ceb5	499	return status;
sepp_nepp	6:fb11b746ceb5	500	}
sepp_nepp	6:fb11b746ceb5	501
sepp_nepp	7:3a1115c2556b	502	VL53L0X_Error VL53L0X::wait_measurement_data_ready(void)
sepp_nepp	8:2fd7cb217068	503	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	504	uint8_t new_dat_ready = 0;
sepp_nepp	6:fb11b746ceb5	505	uint32_t loop_nb;
sepp_nepp	6:fb11b746ceb5	506
sepp_nepp	6:fb11b746ceb5	507	// Wait until it finished
sepp_nepp	6:fb11b746ceb5	508	// use timeout to avoid deadlock
sepp_nepp	6:fb11b746ceb5	509	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	510	loop_nb = 0;
sepp_nepp	6:fb11b746ceb5	511	do {
sepp_nepp	7:3a1115c2556b	512	status = VL53L0X_get_measurement_data_ready( &new_dat_ready);
sepp_nepp	6:fb11b746ceb5	513	if ((new_dat_ready == 0x01) \|\| status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	514	break;
sepp_nepp	6:fb11b746ceb5	515	}
sepp_nepp	6:fb11b746ceb5	516	loop_nb = loop_nb + 1;
sepp_nepp	7:3a1115c2556b	517	VL53L0X_polling_delay();
sepp_nepp	6:fb11b746ceb5	518	} while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
sepp_nepp	6:fb11b746ceb5	519
sepp_nepp	6:fb11b746ceb5	520	if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
sepp_nepp	6:fb11b746ceb5	521	status = VL53L0X_ERROR_TIME_OUT;
sepp_nepp	6:fb11b746ceb5	522	}
sepp_nepp	6:fb11b746ceb5	523	}
sepp_nepp	6:fb11b746ceb5	524
sepp_nepp	6:fb11b746ceb5	525	return status;
sepp_nepp	6:fb11b746ceb5	526	}
sepp_nepp	6:fb11b746ceb5	527
sepp_nepp	8:2fd7cb217068	528	int VL53L0X::get_distance(uint32_t *p_data)
sepp_nepp	6:fb11b746ceb5	529	{
sepp_nepp	8:2fd7cb217068	530	int status = 0;
sepp_nepp	8:2fd7cb217068	531	VL53L0X_RangingMeasurementData_t p_ranging_measurement_data;
sepp_nepp	8:2fd7cb217068	532
sepp_nepp	13:253cb4ea3fcc	533	status = start_measurement(range_single_shot_polling, NULL, Range_Config_DEFAULT);
sepp_nepp	8:2fd7cb217068	534	if (!status) {
sepp_nepp	8:2fd7cb217068	535	status = get_measurement(range_single_shot_polling, &p_ranging_measurement_data);
sepp_nepp	8:2fd7cb217068	536	}
sepp_nepp	11:d8dbe3b87f9f	537	if (p_ranging_measurement_data.RangeStatus == 0) { // we have a valid range.
sepp_nepp	11:d8dbe3b87f9f	538	*p_data = p_ranging_measurement_data.Range_mm;
sepp_nepp	8:2fd7cb217068	539	} else {
sepp_nepp	8:2fd7cb217068	540	*p_data = 0;
sepp_nepp	8:2fd7cb217068	541	status = VL53L0X_ERROR_RANGE_ERROR;
sepp_nepp	8:2fd7cb217068	542	}
sepp_nepp	8:2fd7cb217068	543	stop_measurement(range_single_shot_polling);
sepp_nepp	8:2fd7cb217068	544	return status;
sepp_nepp	8:2fd7cb217068	545	}
sepp_nepp	8:2fd7cb217068	546
sepp_nepp	8:2fd7cb217068	547	VL53L0X_Error VL53L0X::wait_stop_completed(void)
sepp_nepp	8:2fd7cb217068	548	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	549	uint32_t stop_completed = 0;
sepp_nepp	6:fb11b746ceb5	550	uint32_t loop_nb;
sepp_nepp	6:fb11b746ceb5	551
sepp_nepp	6:fb11b746ceb5	552	// Wait until it finished
sepp_nepp	6:fb11b746ceb5	553	// use timeout to avoid deadlock
sepp_nepp	6:fb11b746ceb5	554	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	555	loop_nb = 0;
sepp_nepp	6:fb11b746ceb5	556	do {
sepp_nepp	7:3a1115c2556b	557	status = VL53L0X_get_stop_completed_status( &stop_completed);
sepp_nepp	6:fb11b746ceb5	558	if ((stop_completed == 0x00) \|\| status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	559	break;
sepp_nepp	6:fb11b746ceb5	560	}
sepp_nepp	6:fb11b746ceb5	561	loop_nb = loop_nb + 1;
sepp_nepp	7:3a1115c2556b	562	VL53L0X_polling_delay();
sepp_nepp	6:fb11b746ceb5	563	} while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
sepp_nepp	6:fb11b746ceb5	564
sepp_nepp	6:fb11b746ceb5	565	if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
sepp_nepp	6:fb11b746ceb5	566	status = VL53L0X_ERROR_TIME_OUT;
sepp_nepp	6:fb11b746ceb5	567	}
sepp_nepp	6:fb11b746ceb5	568	}
sepp_nepp	6:fb11b746ceb5	569
sepp_nepp	6:fb11b746ceb5	570	return status;
sepp_nepp	6:fb11b746ceb5	571	}
sepp_nepp	6:fb11b746ceb5	572
sepp_nepp	6:fb11b746ceb5	573	int VL53L0X::get_measurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *p_data)
sepp_nepp	8:2fd7cb217068	574	{ int Status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	575
sepp_nepp	6:fb11b746ceb5	576	if (operating_mode == range_single_shot_polling) {
sepp_nepp	7:3a1115c2556b	577	Status = VL53L0X_perform_single_ranging_measurement( p_data);
sepp_nepp	6:fb11b746ceb5	578	}
sepp_nepp	6:fb11b746ceb5	579
sepp_nepp	6:fb11b746ceb5	580	if (operating_mode == range_continuous_polling) {
sepp_nepp	6:fb11b746ceb5	581	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	582	Status = VL53L0X_measurement_poll_for_completion();
sepp_nepp	6:fb11b746ceb5	583	}
sepp_nepp	6:fb11b746ceb5	584
sepp_nepp	6:fb11b746ceb5	585	if (Status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	586	Status = VL53L0X_get_ranging_measurement_data( p_data);
sepp_nepp	6:fb11b746ceb5	587
sepp_nepp	6:fb11b746ceb5	588	// Clear the interrupt
sepp_nepp	7:3a1115c2556b	589	VL53L0X_clear_interrupt_mask( VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
sepp_nepp	7:3a1115c2556b	590	VL53L0X_polling_delay();
sepp_nepp	6:fb11b746ceb5	591	}
sepp_nepp	6:fb11b746ceb5	592	}
sepp_nepp	6:fb11b746ceb5	593
sepp_nepp	6:fb11b746ceb5	594	if (operating_mode == range_continuous_interrupt) {
sepp_nepp	7:3a1115c2556b	595	Status = VL53L0X_get_ranging_measurement_data( p_data);
sepp_nepp	7:3a1115c2556b	596	VL53L0X_clear_interrupt_mask( VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR \| VL53L0X_REG_RESULT_INTERRUPT_STATUS);
sepp_nepp	6:fb11b746ceb5	597	}
sepp_nepp	6:fb11b746ceb5	598
sepp_nepp	6:fb11b746ceb5	599	return Status;
sepp_nepp	6:fb11b746ceb5	600	}
sepp_nepp	6:fb11b746ceb5	601
sepp_nepp	6:fb11b746ceb5	602	int VL53L0X::stop_measurement(OperatingMode operating_mode)
sepp_nepp	8:2fd7cb217068	603	{ int status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	604
sepp_nepp	6:fb11b746ceb5	605	// don't need to stop for a singleshot range!
sepp_nepp	6:fb11b746ceb5	606	if (operating_mode == range_single_shot_polling) {
sepp_nepp	6:fb11b746ceb5	607	}
sepp_nepp	6:fb11b746ceb5	608
sepp_nepp	6:fb11b746ceb5	609	if (operating_mode == range_continuous_interrupt \|\| operating_mode == range_continuous_polling) {
sepp_nepp	6:fb11b746ceb5	610	// continuous mode
sepp_nepp	6:fb11b746ceb5	611	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	13:253cb4ea3fcc	612	//aSerial->printf("Call of VL53L0X_StopMeasurement\n");
sepp_nepp	7:3a1115c2556b	613	status = VL53L0X_stop_measurement();
sepp_nepp	6:fb11b746ceb5	614	}
sepp_nepp	6:fb11b746ceb5	615
sepp_nepp	6:fb11b746ceb5	616	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	13:253cb4ea3fcc	617	//aSerial->printf("Wait Stop to be competed\n");
sepp_nepp	7:3a1115c2556b	618	status = wait_stop_completed();
sepp_nepp	6:fb11b746ceb5	619	}
sepp_nepp	6:fb11b746ceb5	620
sepp_nepp	6:fb11b746ceb5	621	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	622	status = VL53L0X_clear_interrupt_mask(VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY);
sepp_nepp	6:fb11b746ceb5	623	}
sepp_nepp	6:fb11b746ceb5	624
sepp_nepp	6:fb11b746ceb5	625	return status;
sepp_nepp	6:fb11b746ceb5	626	}
sepp_nepp	6:fb11b746ceb5	627
sepp_nepp	6:fb11b746ceb5	628	int VL53L0X::handle_irq(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *data)
sepp_nepp	8:2fd7cb217068	629	{ int status;
sepp_nepp	6:fb11b746ceb5	630	status = get_measurement(operating_mode, data);
sepp_nepp	6:fb11b746ceb5	631	enable_interrupt_measure_detection_irq();
sepp_nepp	6:fb11b746ceb5	632	return status;
sepp_nepp	6:fb11b746ceb5	633	}
sepp_nepp	6:fb11b746ceb5	634
sepp_nepp	6:fb11b746ceb5	635	int VL53L0X::range_start_continuous_mode()
sepp_nepp	13:253cb4ea3fcc	636	{ CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_CONTINUOUS_RANGING;
sepp_nepp	13:253cb4ea3fcc	637
sepp_nepp	13:253cb4ea3fcc	638	return VL53L0X_start_measurement();
sepp_nepp	13:253cb4ea3fcc	639
sepp_nepp	6:fb11b746ceb5	640	}
sepp_nepp	6:fb11b746ceb5	641
sepp_nepp	7:3a1115c2556b	642	VL53L0X_Error VL53L0X::VL53L0X_device_read_strobe(void)
sepp_nepp	8:2fd7cb217068	643	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	644	uint8_t strobe;
sepp_nepp	6:fb11b746ceb5	645	uint32_t loop_nb;
sepp_nepp	6:fb11b746ceb5	646
sepp_nepp	7:3a1115c2556b	647	status \|= VL53L0X_write_byte( 0x83, 0x00);
sepp_nepp	6:fb11b746ceb5	648
sepp_nepp	6:fb11b746ceb5	649	/* polling
sepp_nepp	6:fb11b746ceb5	650	* use timeout to avoid deadlock*/
sepp_nepp	6:fb11b746ceb5	651	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	652	loop_nb = 0;
sepp_nepp	6:fb11b746ceb5	653	do {
sepp_nepp	7:3a1115c2556b	654	status = VL53L0X_read_byte( 0x83, &strobe);
sepp_nepp	6:fb11b746ceb5	655	if ((strobe != 0x00) \|\| status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	656	break;
sepp_nepp	6:fb11b746ceb5	657	}
sepp_nepp	6:fb11b746ceb5	658
sepp_nepp	6:fb11b746ceb5	659	loop_nb = loop_nb + 1;
sepp_nepp	6:fb11b746ceb5	660	} while (loop_nb < VL53L0X_DEFAULT_MAX_LOOP);
sepp_nepp	6:fb11b746ceb5	661
sepp_nepp	6:fb11b746ceb5	662	if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
sepp_nepp	6:fb11b746ceb5	663	status = VL53L0X_ERROR_TIME_OUT;
sepp_nepp	6:fb11b746ceb5	664	}
sepp_nepp	6:fb11b746ceb5	665	}
sepp_nepp	6:fb11b746ceb5	666
sepp_nepp	7:3a1115c2556b	667	status \|= VL53L0X_write_byte( 0x83, 0x01);
sepp_nepp	6:fb11b746ceb5	668
sepp_nepp	6:fb11b746ceb5	669	return status;
sepp_nepp	6:fb11b746ceb5	670	}
sepp_nepp	6:fb11b746ceb5	671
sepp_nepp	7:3a1115c2556b	672	VL53L0X_Error VL53L0X::VL53L0X_get_info_from_device( uint8_t option)
sepp_nepp	8:2fd7cb217068	673	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	674	uint8_t byte;
sepp_nepp	6:fb11b746ceb5	675	uint32_t tmp_dword;
sepp_nepp	6:fb11b746ceb5	676	uint8_t module_id;
sepp_nepp	6:fb11b746ceb5	677	uint8_t revision;
sepp_nepp	6:fb11b746ceb5	678	uint8_t reference_spad_count = 0;
sepp_nepp	6:fb11b746ceb5	679	uint8_t reference_spad_type = 0;
sepp_nepp	6:fb11b746ceb5	680	uint32_t part_uid_upper = 0;
sepp_nepp	6:fb11b746ceb5	681	uint32_t part_uid_lower = 0;
sepp_nepp	6:fb11b746ceb5	682	uint32_t offset_fixed1104_mm = 0;
sepp_nepp	6:fb11b746ceb5	683	int16_t offset_micro_meters = 0;
sepp_nepp	6:fb11b746ceb5	684	uint32_t dist_meas_tgt_fixed1104_mm = 400 << 4;
sepp_nepp	6:fb11b746ceb5	685	uint32_t dist_meas_fixed1104_400_mm = 0;
sepp_nepp	6:fb11b746ceb5	686	uint32_t signal_rate_meas_fixed1104_400_mm = 0;
sepp_nepp	6:fb11b746ceb5	687	char product_id[19];
sepp_nepp	6:fb11b746ceb5	688	char *product_id_tmp;
sepp_nepp	6:fb11b746ceb5	689	uint8_t read_data_from_device_done;
sepp_nepp	6:fb11b746ceb5	690	FixPoint1616_t signal_rate_meas_fixed400_mm_fix = 0;
sepp_nepp	6:fb11b746ceb5	691	uint8_t nvm_ref_good_spad_map[VL53L0X_REF_SPAD_BUFFER_SIZE];
sepp_nepp	6:fb11b746ceb5	692	int i;
sepp_nepp	6:fb11b746ceb5	693
sepp_nepp	8:2fd7cb217068	694	read_data_from_device_done = Data.ReadDataFromDeviceDone;
sepp_nepp	8:2fd7cb217068	695	read_data_from_device_done = Data.ReadDataFromDeviceDone;
sepp_nepp	8:2fd7cb217068	696	read_data_from_device_done = Data.ReadDataFromDeviceDone;
sepp_nepp	6:fb11b746ceb5	697
sepp_nepp	6:fb11b746ceb5	698	/* This access is done only once after that a GetDeviceInfo or
sepp_nepp	6:fb11b746ceb5	699	* datainit is done*/
sepp_nepp	6:fb11b746ceb5	700	if (read_data_from_device_done != 7) {
sepp_nepp	6:fb11b746ceb5	701
sepp_nepp	7:3a1115c2556b	702	status \|= VL53L0X_write_byte( 0x80, 0x01);
sepp_nepp	7:3a1115c2556b	703	status \|= VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	704	status \|= VL53L0X_write_byte( 0x00, 0x00);
sepp_nepp	7:3a1115c2556b	705	status \|= VL53L0X_write_byte( 0xFF, 0x06);
sepp_nepp	11:d8dbe3b87f9f	706	status \|= VL53L0X_read_byte ( 0x83, &byte);
sepp_nepp	7:3a1115c2556b	707	status \|= VL53L0X_write_byte( 0x83, byte \| 4);
sepp_nepp	7:3a1115c2556b	708	status \|= VL53L0X_write_byte( 0xFF, 0x07);
sepp_nepp	7:3a1115c2556b	709	status \|= VL53L0X_write_byte( 0x81, 0x01);
sepp_nepp	7:3a1115c2556b	710
sepp_nepp	7:3a1115c2556b	711	status \|= VL53L0X_polling_delay();
sepp_nepp	7:3a1115c2556b	712
sepp_nepp	7:3a1115c2556b	713	status \|= VL53L0X_write_byte( 0x80, 0x01);
sepp_nepp	6:fb11b746ceb5	714
sepp_nepp	6:fb11b746ceb5	715	if (((option & 1) == 1) &&
sepp_nepp	6:fb11b746ceb5	716	((read_data_from_device_done & 1) == 0)) {
sepp_nepp	7:3a1115c2556b	717	status \|= VL53L0X_write_byte( 0x94, 0x6b);
sepp_nepp	7:3a1115c2556b	718	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	719	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	720
sepp_nepp	6:fb11b746ceb5	721	reference_spad_count = (uint8_t)((tmp_dword >> 8) & 0x07f);
sepp_nepp	6:fb11b746ceb5	722	reference_spad_type = (uint8_t)((tmp_dword >> 15) & 0x01);
sepp_nepp	6:fb11b746ceb5	723
sepp_nepp	7:3a1115c2556b	724	status \|= VL53L0X_write_byte( 0x94, 0x24);
sepp_nepp	7:3a1115c2556b	725	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	726	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	727
sepp_nepp	11:d8dbe3b87f9f	728	nvm_ref_good_spad_map[0] = (uint8_t)((tmp_dword >> 24) & 0xff);
sepp_nepp	11:d8dbe3b87f9f	729	nvm_ref_good_spad_map[1] = (uint8_t)((tmp_dword >> 16) & 0xff);
sepp_nepp	11:d8dbe3b87f9f	730	nvm_ref_good_spad_map[2] = (uint8_t)((tmp_dword >> 8) & 0xff);
sepp_nepp	6:fb11b746ceb5	731	nvm_ref_good_spad_map[3] = (uint8_t)(tmp_dword & 0xff);
sepp_nepp	6:fb11b746ceb5	732
sepp_nepp	7:3a1115c2556b	733	status \|= VL53L0X_write_byte( 0x94, 0x25);
sepp_nepp	7:3a1115c2556b	734	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	735	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	736
sepp_nepp	11:d8dbe3b87f9f	737	nvm_ref_good_spad_map[4] = (uint8_t)((tmp_dword >> 24) & 0xff);
sepp_nepp	11:d8dbe3b87f9f	738	nvm_ref_good_spad_map[5] = (uint8_t)((tmp_dword >> 16) & 0xff);
sepp_nepp	6:fb11b746ceb5	739	}
sepp_nepp	6:fb11b746ceb5	740
sepp_nepp	6:fb11b746ceb5	741	if (((option & 2) == 2) &&
sepp_nepp	6:fb11b746ceb5	742	((read_data_from_device_done & 2) == 0)) {
sepp_nepp	6:fb11b746ceb5	743
sepp_nepp	7:3a1115c2556b	744	status \|= VL53L0X_write_byte( 0x94, 0x02);
sepp_nepp	7:3a1115c2556b	745	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	746	status \|= VL53L0X_read_byte( 0x90, &module_id);
sepp_nepp	7:3a1115c2556b	747
sepp_nepp	7:3a1115c2556b	748	status \|= VL53L0X_write_byte( 0x94, 0x7B);
sepp_nepp	7:3a1115c2556b	749	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	750	status \|= VL53L0X_read_byte( 0x90, &revision);
sepp_nepp	7:3a1115c2556b	751
sepp_nepp	7:3a1115c2556b	752	status \|= VL53L0X_write_byte( 0x94, 0x77);
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	product_id[0] = (char)((tmp_dword >> 25) & 0x07f);
sepp_nepp	6:fb11b746ceb5	757	product_id[1] = (char)((tmp_dword >> 18) & 0x07f);
sepp_nepp	6:fb11b746ceb5	758	product_id[2] = (char)((tmp_dword >> 11) & 0x07f);
sepp_nepp	6:fb11b746ceb5	759	product_id[3] = (char)((tmp_dword >> 4) & 0x07f);
sepp_nepp	6:fb11b746ceb5	760
sepp_nepp	6:fb11b746ceb5	761	byte = (uint8_t)((tmp_dword & 0x00f) << 3);
sepp_nepp	6:fb11b746ceb5	762
sepp_nepp	7:3a1115c2556b	763	status \|= VL53L0X_write_byte( 0x94, 0x78);
sepp_nepp	7:3a1115c2556b	764	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	765	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	766
sepp_nepp	6:fb11b746ceb5	767	product_id[4] = (char)(byte +
sepp_nepp	6:fb11b746ceb5	768	((tmp_dword >> 29) & 0x07f));
sepp_nepp	6:fb11b746ceb5	769	product_id[5] = (char)((tmp_dword >> 22) & 0x07f);
sepp_nepp	6:fb11b746ceb5	770	product_id[6] = (char)((tmp_dword >> 15) & 0x07f);
sepp_nepp	6:fb11b746ceb5	771	product_id[7] = (char)((tmp_dword >> 8) & 0x07f);
sepp_nepp	6:fb11b746ceb5	772	product_id[8] = (char)((tmp_dword >> 1) & 0x07f);
sepp_nepp	6:fb11b746ceb5	773
sepp_nepp	6:fb11b746ceb5	774	byte = (uint8_t)((tmp_dword & 0x001) << 6);
sepp_nepp	6:fb11b746ceb5	775
sepp_nepp	7:3a1115c2556b	776	status \|= VL53L0X_write_byte( 0x94, 0x79);
sepp_nepp	7:3a1115c2556b	777
sepp_nepp	7:3a1115c2556b	778	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	779
sepp_nepp	7:3a1115c2556b	780	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	781
sepp_nepp	6:fb11b746ceb5	782	product_id[9] = (char)(byte +
sepp_nepp	6:fb11b746ceb5	783	((tmp_dword >> 26) & 0x07f));
sepp_nepp	6:fb11b746ceb5	784	product_id[10] = (char)((tmp_dword >> 19) & 0x07f);
sepp_nepp	6:fb11b746ceb5	785	product_id[11] = (char)((tmp_dword >> 12) & 0x07f);
sepp_nepp	6:fb11b746ceb5	786	product_id[12] = (char)((tmp_dword >> 5) & 0x07f);
sepp_nepp	6:fb11b746ceb5	787
sepp_nepp	6:fb11b746ceb5	788	byte = (uint8_t)((tmp_dword & 0x01f) << 2);
sepp_nepp	6:fb11b746ceb5	789
sepp_nepp	7:3a1115c2556b	790	status \|= VL53L0X_write_byte( 0x94, 0x7A);
sepp_nepp	7:3a1115c2556b	791
sepp_nepp	7:3a1115c2556b	792	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	793
sepp_nepp	7:3a1115c2556b	794	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	6:fb11b746ceb5	795
sepp_nepp	6:fb11b746ceb5	796	product_id[13] = (char)(byte +
sepp_nepp	6:fb11b746ceb5	797	((tmp_dword >> 30) & 0x07f));
sepp_nepp	6:fb11b746ceb5	798	product_id[14] = (char)((tmp_dword >> 23) & 0x07f);
sepp_nepp	6:fb11b746ceb5	799	product_id[15] = (char)((tmp_dword >> 16) & 0x07f);
sepp_nepp	6:fb11b746ceb5	800	product_id[16] = (char)((tmp_dword >> 9) & 0x07f);
sepp_nepp	6:fb11b746ceb5	801	product_id[17] = (char)((tmp_dword >> 2) & 0x07f);
sepp_nepp	6:fb11b746ceb5	802	product_id[18] = '\0';
sepp_nepp	6:fb11b746ceb5	803
sepp_nepp	6:fb11b746ceb5	804	}
sepp_nepp	6:fb11b746ceb5	805
sepp_nepp	6:fb11b746ceb5	806	if (((option & 4) == 4) &&
sepp_nepp	6:fb11b746ceb5	807	((read_data_from_device_done & 4) == 0)) {
sepp_nepp	6:fb11b746ceb5	808
sepp_nepp	7:3a1115c2556b	809	status \|= VL53L0X_write_byte( 0x94, 0x7B);
sepp_nepp	7:3a1115c2556b	810	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	811	status \|= VL53L0X_read_dword( 0x90, &part_uid_upper);
sepp_nepp	7:3a1115c2556b	812	status \|= VL53L0X_write_byte( 0x94, 0x7C);
sepp_nepp	7:3a1115c2556b	813	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	814	status \|= VL53L0X_read_dword( 0x90, &part_uid_lower);
sepp_nepp	7:3a1115c2556b	815
sepp_nepp	7:3a1115c2556b	816	status \|= VL53L0X_write_byte( 0x94, 0x73);
sepp_nepp	7:3a1115c2556b	817	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	818	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	11:d8dbe3b87f9f	819	signal_rate_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff) << 8;
sepp_nepp	6:fb11b746ceb5	820
sepp_nepp	7:3a1115c2556b	821	status \|= VL53L0X_write_byte( 0x94, 0x74);
sepp_nepp	7:3a1115c2556b	822	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	823	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	11:d8dbe3b87f9f	824	signal_rate_meas_fixed1104_400_mm \|= ((tmp_dword & 0xff000000) >> 24);
sepp_nepp	6:fb11b746ceb5	825
sepp_nepp	7:3a1115c2556b	826	status \|= VL53L0X_write_byte( 0x94, 0x75);
sepp_nepp	7:3a1115c2556b	827	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	828	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	11:d8dbe3b87f9f	829	dist_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff) << 8;
sepp_nepp	6:fb11b746ceb5	830
sepp_nepp	7:3a1115c2556b	831	status \|= VL53L0X_write_byte( 0x94, 0x76);
sepp_nepp	7:3a1115c2556b	832	status \|= VL53L0X_device_read_strobe();
sepp_nepp	7:3a1115c2556b	833	status \|= VL53L0X_read_dword( 0x90, &tmp_dword);
sepp_nepp	11:d8dbe3b87f9f	834	dist_meas_fixed1104_400_mm \|= ((tmp_dword & 0xff000000) >> 24);
sepp_nepp	6:fb11b746ceb5	835	}
sepp_nepp	6:fb11b746ceb5	836
sepp_nepp	7:3a1115c2556b	837	status \|= VL53L0X_write_byte( 0x81, 0x00);
sepp_nepp	7:3a1115c2556b	838	status \|= VL53L0X_write_byte( 0xFF, 0x06);
sepp_nepp	7:3a1115c2556b	839	status \|= VL53L0X_read_byte( 0x83, &byte);
sepp_nepp	7:3a1115c2556b	840	status \|= VL53L0X_write_byte( 0x83, byte & 0xfb);
sepp_nepp	7:3a1115c2556b	841	status \|= VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	842	status \|= VL53L0X_write_byte( 0x00, 0x01);
sepp_nepp	7:3a1115c2556b	843	status \|= VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	7:3a1115c2556b	844	status \|= VL53L0X_write_byte( 0x80, 0x00);
sepp_nepp	6:fb11b746ceb5	845	}
sepp_nepp	6:fb11b746ceb5	846
sepp_nepp	6:fb11b746ceb5	847	if ((status == VL53L0X_ERROR_NONE) &&
sepp_nepp	6:fb11b746ceb5	848	(read_data_from_device_done != 7)) {
sepp_nepp	6:fb11b746ceb5	849	/* Assign to variable if status is ok */
sepp_nepp	6:fb11b746ceb5	850	if (((option & 1) == 1) &&
sepp_nepp	6:fb11b746ceb5	851	((read_data_from_device_done & 1) == 0)) {
sepp_nepp	8:2fd7cb217068	852	Data.ReferenceSpadCount = reference_spad_count;
sepp_nepp	8:2fd7cb217068	853	Data.ReferenceSpadType = reference_spad_type;
sepp_nepp	6:fb11b746ceb5	854
sepp_nepp	6:fb11b746ceb5	855	for (i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++) {
sepp_nepp	11:d8dbe3b87f9f	856	Data.RefGoodSpadMap[i] =
sepp_nepp	6:fb11b746ceb5	857	nvm_ref_good_spad_map[i];
sepp_nepp	6:fb11b746ceb5	858	}
sepp_nepp	6:fb11b746ceb5	859	}
sepp_nepp	6:fb11b746ceb5	860
sepp_nepp	6:fb11b746ceb5	861	if (((option & 2) == 2) &&
sepp_nepp	6:fb11b746ceb5	862	((read_data_from_device_done & 2) == 0)) {
sepp_nepp	8:2fd7cb217068	863	Data.ModuleId = module_id;
sepp_nepp	8:2fd7cb217068	864	Data.Revision = revision;
sepp_nepp	8:2fd7cb217068	865	product_id_tmp = Data.ProductId;
sepp_nepp	6:fb11b746ceb5	866	VL53L0X_COPYSTRING(product_id_tmp, product_id);
sepp_nepp	6:fb11b746ceb5	867	}
sepp_nepp	6:fb11b746ceb5	868
sepp_nepp	6:fb11b746ceb5	869	if (((option & 4) == 4) &&
sepp_nepp	6:fb11b746ceb5	870	((read_data_from_device_done & 4) == 0)) {
sepp_nepp	8:2fd7cb217068	871	Data.PartUIDUpper = part_uid_upper;
sepp_nepp	8:2fd7cb217068	872	Data.PartUIDLower = part_uid_lower;
sepp_nepp	6:fb11b746ceb5	873	signal_rate_meas_fixed400_mm_fix =
sepp_nepp	11:d8dbe3b87f9f	874	VL53L0X_FP97TOFP1616(signal_rate_meas_fixed1104_400_mm);
sepp_nepp	8:2fd7cb217068	875	Data.SignalRateMeasFixed400mm = signal_rate_meas_fixed400_mm_fix;
sepp_nepp	6:fb11b746ceb5	876
sepp_nepp	6:fb11b746ceb5	877	offset_micro_meters = 0;
sepp_nepp	6:fb11b746ceb5	878	if (dist_meas_fixed1104_400_mm != 0) {
sepp_nepp	6:fb11b746ceb5	879	offset_fixed1104_mm =
sepp_nepp	6:fb11b746ceb5	880	dist_meas_fixed1104_400_mm -
sepp_nepp	6:fb11b746ceb5	881	dist_meas_tgt_fixed1104_mm;
sepp_nepp	6:fb11b746ceb5	882	offset_micro_meters = (offset_fixed1104_mm
sepp_nepp	6:fb11b746ceb5	883	* 1000) >> 4;
sepp_nepp	6:fb11b746ceb5	884	offset_micro_meters *= -1;
sepp_nepp	6:fb11b746ceb5	885	}
sepp_nepp	6:fb11b746ceb5	886
sepp_nepp	11:d8dbe3b87f9f	887	Data.Part2PartOffsetAdjustNVM_um = offset_micro_meters;
sepp_nepp	6:fb11b746ceb5	888	}
sepp_nepp	6:fb11b746ceb5	889	byte = (uint8_t)(read_data_from_device_done \| option);
sepp_nepp	8:2fd7cb217068	890	Data.ReadDataFromDeviceDone = byte;
sepp_nepp	6:fb11b746ceb5	891	}
sepp_nepp	6:fb11b746ceb5	892	return status;
sepp_nepp	6:fb11b746ceb5	893	}
sepp_nepp	6:fb11b746ceb5	894
sepp_nepp	13:253cb4ea3fcc	895	VL53L0X_Error VL53L0X::VL53L0X_get_offset_calibration_data_micro_meter(int32_t *p_offset_calibration_data_micro_meter)
sepp_nepp	8:2fd7cb217068	896	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	897	uint16_t range_offset_register;
sepp_nepp	6:fb11b746ceb5	898	int16_t c_max_offset = 2047;
sepp_nepp	6:fb11b746ceb5	899	int16_t c_offset_range = 4096;
sepp_nepp	6:fb11b746ceb5	900
sepp_nepp	13:253cb4ea3fcc	901	/* Note, that offset has 10.2 format */
sepp_nepp	8:2fd7cb217068	902	status = VL53L0X_read_word(VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
sepp_nepp	6:fb11b746ceb5	903	&range_offset_register);
sepp_nepp	6:fb11b746ceb5	904
sepp_nepp	6:fb11b746ceb5	905	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	906	range_offset_register = (range_offset_register & 0x0fff);
sepp_nepp	6:fb11b746ceb5	907
sepp_nepp	6:fb11b746ceb5	908	/* Apply 12 bit 2's compliment conversion */
sepp_nepp	6:fb11b746ceb5	909	if (range_offset_register > c_max_offset) {
sepp_nepp	6:fb11b746ceb5	910	*p_offset_calibration_data_micro_meter =
sepp_nepp	13:253cb4ea3fcc	911	(int16_t)(range_offset_register - c_offset_range) * 250;
sepp_nepp	6:fb11b746ceb5	912	} else {
sepp_nepp	6:fb11b746ceb5	913	*p_offset_calibration_data_micro_meter =
sepp_nepp	13:253cb4ea3fcc	914	(int16_t)range_offset_register * 250; }
sepp_nepp	6:fb11b746ceb5	915	}
sepp_nepp	6:fb11b746ceb5	916
sepp_nepp	6:fb11b746ceb5	917	return status;
sepp_nepp	6:fb11b746ceb5	918	}
sepp_nepp	6:fb11b746ceb5	919
sepp_nepp	13:253cb4ea3fcc	920	VL53L0X_Error VL53L0X::VL53L0X_set_offset_calibration_data_micro_meter(int32_t offset_calibration_data_micro_meter)
sepp_nepp	8:2fd7cb217068	921	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	922	int32_t c_max_offset_micro_meter = 511000;
sepp_nepp	6:fb11b746ceb5	923	int32_t c_min_offset_micro_meter = -512000;
sepp_nepp	6:fb11b746ceb5	924	int16_t c_offset_range = 4096;
sepp_nepp	6:fb11b746ceb5	925	uint32_t encoded_offset_val;
sepp_nepp	6:fb11b746ceb5	926
sepp_nepp	6:fb11b746ceb5	927	if (offset_calibration_data_micro_meter > c_max_offset_micro_meter) {
sepp_nepp	6:fb11b746ceb5	928	offset_calibration_data_micro_meter = c_max_offset_micro_meter;
sepp_nepp	6:fb11b746ceb5	929	} else {
sepp_nepp	6:fb11b746ceb5	930	if (offset_calibration_data_micro_meter < c_min_offset_micro_meter) {
sepp_nepp	6:fb11b746ceb5	931	offset_calibration_data_micro_meter = c_min_offset_micro_meter;
sepp_nepp	6:fb11b746ceb5	932	}
sepp_nepp	6:fb11b746ceb5	933	}
sepp_nepp	6:fb11b746ceb5	934
sepp_nepp	6:fb11b746ceb5	935	/* The offset register is 10.2 format and units are mm
sepp_nepp	13:253cb4ea3fcc	936	* therefore conversion is applied by a division of 250. */
sepp_nepp	6:fb11b746ceb5	937	if (offset_calibration_data_micro_meter >= 0) {
sepp_nepp	13:253cb4ea3fcc	938	encoded_offset_val = offset_calibration_data_micro_meter / 250;
sepp_nepp	6:fb11b746ceb5	939	} else {
sepp_nepp	6:fb11b746ceb5	940	encoded_offset_val =
sepp_nepp	13:253cb4ea3fcc	941	c_offset_range + offset_calibration_data_micro_meter / 250;
sepp_nepp	6:fb11b746ceb5	942	}
sepp_nepp	6:fb11b746ceb5	943
sepp_nepp	8:2fd7cb217068	944	status = VL53L0X_write_word(VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
sepp_nepp	6:fb11b746ceb5	945	encoded_offset_val);
sepp_nepp	6:fb11b746ceb5	946	return status;
sepp_nepp	6:fb11b746ceb5	947	}
sepp_nepp	6:fb11b746ceb5	948
sepp_nepp	7:3a1115c2556b	949	VL53L0X_Error VL53L0X::VL53L0X_apply_offset_adjustment(void)
sepp_nepp	8:2fd7cb217068	950	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	951	int32_t corrected_offset_micro_meters;
sepp_nepp	6:fb11b746ceb5	952	int32_t current_offset_micro_meters;
sepp_nepp	6:fb11b746ceb5	953
sepp_nepp	8:2fd7cb217068	954	/* if we run on this function we can read all the NVM info used by the API */
sepp_nepp	7:3a1115c2556b	955	status = VL53L0X_get_info_from_device( 7);
sepp_nepp	6:fb11b746ceb5	956
sepp_nepp	6:fb11b746ceb5	957	/* Read back current device offset */
sepp_nepp	6:fb11b746ceb5	958	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	959	status = VL53L0X_get_offset_calibration_data_micro_meter(&current_offset_micro_meters);
sepp_nepp	6:fb11b746ceb5	960	}
sepp_nepp	6:fb11b746ceb5	961
sepp_nepp	6:fb11b746ceb5	962	/* Apply Offset Adjustment derived from 400mm measurements */
sepp_nepp	6:fb11b746ceb5	963	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	964
sepp_nepp	6:fb11b746ceb5	965	/* Store initial device offset */
sepp_nepp	11:d8dbe3b87f9f	966	Data.Part2PartOffsetNVM_um = current_offset_micro_meters;
sepp_nepp	6:fb11b746ceb5	967
sepp_nepp	6:fb11b746ceb5	968	corrected_offset_micro_meters = current_offset_micro_meters +
sepp_nepp	11:d8dbe3b87f9f	969	(int32_t)Data.Part2PartOffsetAdjustNVM_um;
sepp_nepp	8:2fd7cb217068	970
sepp_nepp	8:2fd7cb217068	971	status = VL53L0X_set_offset_calibration_data_micro_meter(corrected_offset_micro_meters);
sepp_nepp	6:fb11b746ceb5	972
sepp_nepp	6:fb11b746ceb5	973	/* store current, adjusted offset */
sepp_nepp	6:fb11b746ceb5	974	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	11:d8dbe3b87f9f	975	CurrentParameters.RangeOffset_um = corrected_offset_micro_meters;
sepp_nepp	6:fb11b746ceb5	976	}
sepp_nepp	6:fb11b746ceb5	977	}
sepp_nepp	6:fb11b746ceb5	978	return status;
sepp_nepp	6:fb11b746ceb5	979	}
sepp_nepp	6:fb11b746ceb5	980
sepp_nepp	11:d8dbe3b87f9f	981	VL53L0X_Error VL53L0X::VL53L0X_get_inter_measurement_period_ms(uint32_t *p_inter_measurement_period_ms)
sepp_nepp	8:2fd7cb217068	982	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	983	uint16_t osc_calibrate_val;
sepp_nepp	11:d8dbe3b87f9f	984	uint32_t im_period_ms;
sepp_nepp	6:fb11b746ceb5	985
sepp_nepp	6:fb11b746ceb5	986
sepp_nepp	6:fb11b746ceb5	987
sepp_nepp	7:3a1115c2556b	988	status = VL53L0X_read_word( VL53L0X_REG_OSC_CALIBRATE_VAL,
sepp_nepp	6:fb11b746ceb5	989	&osc_calibrate_val);
sepp_nepp	6:fb11b746ceb5	990
sepp_nepp	6:fb11b746ceb5	991	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	992	status = VL53L0X_read_dword(VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD,
sepp_nepp	11:d8dbe3b87f9f	993	&im_period_ms);
sepp_nepp	6:fb11b746ceb5	994	}
sepp_nepp	6:fb11b746ceb5	995
sepp_nepp	6:fb11b746ceb5	996	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	997	if (osc_calibrate_val != 0) {
sepp_nepp	11:d8dbe3b87f9f	998	*p_inter_measurement_period_ms =
sepp_nepp	11:d8dbe3b87f9f	999	im_period_ms / osc_calibrate_val;
sepp_nepp	6:fb11b746ceb5	1000	}
sepp_nepp	11:d8dbe3b87f9f	1001	CurrentParameters.InterMeasurementPeriod_ms = *p_inter_measurement_period_ms;
sepp_nepp	6:fb11b746ceb5	1002	}
sepp_nepp	6:fb11b746ceb5	1003
sepp_nepp	6:fb11b746ceb5	1004	return status;
sepp_nepp	6:fb11b746ceb5	1005	}
sepp_nepp	6:fb11b746ceb5	1006
sepp_nepp	11:d8dbe3b87f9f	1007	VL53L0X_Error VL53L0X::VL53L0X_get_x_talk_compensation_rate_MHz(FixPoint1616_t *p_xtalk_compensation_rate_MHz)
sepp_nepp	8:2fd7cb217068	1008	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1009	uint16_t value;
sepp_nepp	6:fb11b746ceb5	1010	FixPoint1616_t temp_fix1616;
sepp_nepp	6:fb11b746ceb5	1011
sepp_nepp	11:d8dbe3b87f9f	1012	status = VL53L0X_read_word(VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MHz, (uint16_t *)&value);
sepp_nepp	6:fb11b746ceb5	1013	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1014	if (value == 0) {
sepp_nepp	6:fb11b746ceb5	1015	/* the Xtalk is disabled return value from memory */
sepp_nepp	11:d8dbe3b87f9f	1016	temp_fix1616 = CurrentParameters.XTalkCompensationRate_MHz ;
sepp_nepp	11:d8dbe3b87f9f	1017	*p_xtalk_compensation_rate_MHz = temp_fix1616;
sepp_nepp	10:cd1758e186a4	1018	CurrentParameters.XTalkCompensationEnable = 0;
sepp_nepp	6:fb11b746ceb5	1019	} else {
sepp_nepp	11:d8dbe3b87f9f	1020	temp_fix1616 = VL53L0X_FP313TOFP1616(value);
sepp_nepp	11:d8dbe3b87f9f	1021	*p_xtalk_compensation_rate_MHz = temp_fix1616;
sepp_nepp	11:d8dbe3b87f9f	1022	CurrentParameters.XTalkCompensationRate_MHz = temp_fix1616;
sepp_nepp	10:cd1758e186a4	1023	CurrentParameters.XTalkCompensationEnable = 1;
sepp_nepp	6:fb11b746ceb5	1024	}
sepp_nepp	6:fb11b746ceb5	1025	}
sepp_nepp	6:fb11b746ceb5	1026
sepp_nepp	6:fb11b746ceb5	1027	return status;
sepp_nepp	6:fb11b746ceb5	1028	}
sepp_nepp	6:fb11b746ceb5	1029
sepp_nepp	7:3a1115c2556b	1030	VL53L0X_Error VL53L0X::VL53L0X_get_limit_check_value( uint16_t limit_check_id,
sepp_nepp	6:fb11b746ceb5	1031	FixPoint1616_t *p_limit_check_value)
sepp_nepp	8:2fd7cb217068	1032	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1033	uint8_t enable_zero_value = 0;
sepp_nepp	6:fb11b746ceb5	1034	uint16_t temp16;
sepp_nepp	6:fb11b746ceb5	1035	FixPoint1616_t temp_fix1616;
sepp_nepp	6:fb11b746ceb5	1036
sepp_nepp	6:fb11b746ceb5	1037	switch (limit_check_id) {
sepp_nepp	6:fb11b746ceb5	1038
sepp_nepp	6:fb11b746ceb5	1039	case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
sepp_nepp	6:fb11b746ceb5	1040	/* internal computation: */
sepp_nepp	10:cd1758e186a4	1041	temp_fix1616 = CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE];
sepp_nepp	6:fb11b746ceb5	1042	enable_zero_value = 0;
sepp_nepp	6:fb11b746ceb5	1043	break;
sepp_nepp	6:fb11b746ceb5	1044
sepp_nepp	6:fb11b746ceb5	1045	case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
sepp_nepp	13:253cb4ea3fcc	1046	status = VL53L0X_read_word(VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, &temp16);
sepp_nepp	6:fb11b746ceb5	1047	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	11:d8dbe3b87f9f	1048	temp_fix1616 = VL53L0X_FP97TOFP1616(temp16);
sepp_nepp	6:fb11b746ceb5	1049	}
sepp_nepp	6:fb11b746ceb5	1050	enable_zero_value = 1;
sepp_nepp	6:fb11b746ceb5	1051	break;
sepp_nepp	6:fb11b746ceb5	1052
sepp_nepp	6:fb11b746ceb5	1053	case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
sepp_nepp	6:fb11b746ceb5	1054	/* internal computation: */
sepp_nepp	10:cd1758e186a4	1055	temp_fix1616 = CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP];
sepp_nepp	6:fb11b746ceb5	1056	enable_zero_value = 0;
sepp_nepp	6:fb11b746ceb5	1057	break;
sepp_nepp	6:fb11b746ceb5	1058
sepp_nepp	6:fb11b746ceb5	1059	case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
sepp_nepp	6:fb11b746ceb5	1060	/* internal computation: */
sepp_nepp	10:cd1758e186a4	1061	temp_fix1616 = CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD];
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	case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
sepp_nepp	6:fb11b746ceb5	1066	case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
sepp_nepp	8:2fd7cb217068	1067	status = VL53L0X_read_word(VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
sepp_nepp	6:fb11b746ceb5	1068	&temp16);
sepp_nepp	6:fb11b746ceb5	1069	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	11:d8dbe3b87f9f	1070	temp_fix1616 = VL53L0X_FP97TOFP1616(temp16);
sepp_nepp	6:fb11b746ceb5	1071	}
sepp_nepp	6:fb11b746ceb5	1072
sepp_nepp	6:fb11b746ceb5	1073	enable_zero_value = 0;
sepp_nepp	6:fb11b746ceb5	1074	break;
sepp_nepp	6:fb11b746ceb5	1075
sepp_nepp	6:fb11b746ceb5	1076	default:
sepp_nepp	6:fb11b746ceb5	1077	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1078
sepp_nepp	6:fb11b746ceb5	1079	}
sepp_nepp	6:fb11b746ceb5	1080
sepp_nepp	6:fb11b746ceb5	1081	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1082	if (enable_zero_value == 1) {
sepp_nepp	6:fb11b746ceb5	1083
sepp_nepp	6:fb11b746ceb5	1084	if (temp_fix1616 == 0) {
sepp_nepp	6:fb11b746ceb5	1085	/* disabled: return value from memory */
sepp_nepp	10:cd1758e186a4	1086	temp_fix1616 = CurrentParameters.LimitChecksValue[limit_check_id];
sepp_nepp	6:fb11b746ceb5	1087	*p_limit_check_value = temp_fix1616;
sepp_nepp	10:cd1758e186a4	1088	CurrentParameters.LimitChecksEnable[limit_check_id] = 0;
sepp_nepp	6:fb11b746ceb5	1089	} else {
sepp_nepp	6:fb11b746ceb5	1090	*p_limit_check_value = temp_fix1616;
sepp_nepp	10:cd1758e186a4	1091	CurrentParameters.LimitChecksValue[limit_check_id] = temp_fix1616;
sepp_nepp	10:cd1758e186a4	1092	CurrentParameters.LimitChecksEnable[limit_check_id] = 1;
sepp_nepp	6:fb11b746ceb5	1093	}
sepp_nepp	13:253cb4ea3fcc	1094	} else { *p_limit_check_value = temp_fix1616; }
sepp_nepp	6:fb11b746ceb5	1095	}
sepp_nepp	6:fb11b746ceb5	1096
sepp_nepp	6:fb11b746ceb5	1097	return status;
sepp_nepp	6:fb11b746ceb5	1098	}
sepp_nepp	6:fb11b746ceb5	1099
sepp_nepp	7:3a1115c2556b	1100	VL53L0X_Error VL53L0X::VL53L0X_get_limit_check_enable( uint16_t limit_check_id,
sepp_nepp	6:fb11b746ceb5	1101	uint8_t *p_limit_check_enable)
sepp_nepp	8:2fd7cb217068	1102	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1103	uint8_t temp8;
sepp_nepp	6:fb11b746ceb5	1104
sepp_nepp	6:fb11b746ceb5	1105	if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
sepp_nepp	6:fb11b746ceb5	1106	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1107	*p_limit_check_enable = 0;
sepp_nepp	6:fb11b746ceb5	1108	} else {
sepp_nepp	10:cd1758e186a4	1109	temp8 = CurrentParameters.LimitChecksEnable[limit_check_id];
sepp_nepp	6:fb11b746ceb5	1110	*p_limit_check_enable = temp8;
sepp_nepp	6:fb11b746ceb5	1111	}
sepp_nepp	6:fb11b746ceb5	1112
sepp_nepp	6:fb11b746ceb5	1113	return status;
sepp_nepp	6:fb11b746ceb5	1114	}
sepp_nepp	6:fb11b746ceb5	1115
sepp_nepp	8:2fd7cb217068	1116	VL53L0X_Error VL53L0X::VL53L0X_get_wrap_around_check_enable(uint8_t *p_wrap_around_check_enable)
sepp_nepp	8:2fd7cb217068	1117	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1118	uint8_t data;
sepp_nepp	6:fb11b746ceb5	1119
sepp_nepp	7:3a1115c2556b	1120	status = VL53L0X_read_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data);
sepp_nepp	6:fb11b746ceb5	1121	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1122	Data.SequenceConfig = data;
sepp_nepp	6:fb11b746ceb5	1123	if (data & (0x01 << 7)) {
sepp_nepp	6:fb11b746ceb5	1124	*p_wrap_around_check_enable = 0x01;
sepp_nepp	6:fb11b746ceb5	1125	} else {
sepp_nepp	6:fb11b746ceb5	1126	*p_wrap_around_check_enable = 0x00;
sepp_nepp	6:fb11b746ceb5	1127	}
sepp_nepp	6:fb11b746ceb5	1128	}
sepp_nepp	6:fb11b746ceb5	1129	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	10:cd1758e186a4	1130	CurrentParameters.WrapAroundCheckEnable = *p_wrap_around_check_enable;
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	switch (sequence_step_id) {
sepp_nepp	6:fb11b746ceb5	1142	case VL53L0X_SEQUENCESTEP_TCC:
sepp_nepp	6:fb11b746ceb5	1143	*p_sequence_step_enabled = (sequence_config & 0x10) >> 4;
sepp_nepp	6:fb11b746ceb5	1144	break;
sepp_nepp	6:fb11b746ceb5	1145	case VL53L0X_SEQUENCESTEP_DSS:
sepp_nepp	6:fb11b746ceb5	1146	*p_sequence_step_enabled = (sequence_config & 0x08) >> 3;
sepp_nepp	6:fb11b746ceb5	1147	break;
sepp_nepp	6:fb11b746ceb5	1148	case VL53L0X_SEQUENCESTEP_MSRC:
sepp_nepp	6:fb11b746ceb5	1149	*p_sequence_step_enabled = (sequence_config & 0x04) >> 2;
sepp_nepp	6:fb11b746ceb5	1150	break;
sepp_nepp	6:fb11b746ceb5	1151	case VL53L0X_SEQUENCESTEP_PRE_RANGE:
sepp_nepp	6:fb11b746ceb5	1152	*p_sequence_step_enabled = (sequence_config & 0x40) >> 6;
sepp_nepp	6:fb11b746ceb5	1153	break;
sepp_nepp	6:fb11b746ceb5	1154	case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
sepp_nepp	6:fb11b746ceb5	1155	*p_sequence_step_enabled = (sequence_config & 0x80) >> 7;
sepp_nepp	6:fb11b746ceb5	1156	break;
sepp_nepp	6:fb11b746ceb5	1157	default:
sepp_nepp	6:fb11b746ceb5	1158	Status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1159	}
sepp_nepp	6:fb11b746ceb5	1160	return Status;
sepp_nepp	6:fb11b746ceb5	1161	}
sepp_nepp	6:fb11b746ceb5	1162
sepp_nepp	8:2fd7cb217068	1163	VL53L0X_Error VL53L0X::VL53L0X_get_sequence_step_enables(VL53L0X_SchedulerSequenceSteps_t *p_scheduler_sequence_steps)
sepp_nepp	8:2fd7cb217068	1164	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1165	uint8_t sequence_config = 0;
sepp_nepp	6:fb11b746ceb5	1166
sepp_nepp	7:3a1115c2556b	1167	status = VL53L0X_read_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
sepp_nepp	6:fb11b746ceb5	1168	&sequence_config);
sepp_nepp	6:fb11b746ceb5	1169
sepp_nepp	6:fb11b746ceb5	1170	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1171	status = sequence_step_enabled(VL53L0X_SEQUENCESTEP_TCC, sequence_config,
sepp_nepp	6:fb11b746ceb5	1172	&p_scheduler_sequence_steps->TccOn);
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_DSS, sequence_config,
sepp_nepp	6:fb11b746ceb5	1176	&p_scheduler_sequence_steps->DssOn);
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_MSRC, sequence_config,
sepp_nepp	6:fb11b746ceb5	1180	&p_scheduler_sequence_steps->MsrcOn);
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_PRE_RANGE, sequence_config,
sepp_nepp	6:fb11b746ceb5	1184	&p_scheduler_sequence_steps->PreRangeOn);
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_FINAL_RANGE, sequence_config,
sepp_nepp	6:fb11b746ceb5	1188	&p_scheduler_sequence_steps->FinalRangeOn);
sepp_nepp	6:fb11b746ceb5	1189	}
sepp_nepp	6:fb11b746ceb5	1190	return status;
sepp_nepp	6:fb11b746ceb5	1191	}
sepp_nepp	6:fb11b746ceb5	1192
sepp_nepp	6:fb11b746ceb5	1193	uint8_t VL53L0X::VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg)
sepp_nepp	13:253cb4ea3fcc	1194	{ /! Converts the encoded VCSEL period register value into the real period in PLL clocks /
sepp_nepp	6:fb11b746ceb5	1195	uint8_t vcsel_period_pclks = 0;
sepp_nepp	6:fb11b746ceb5	1196
sepp_nepp	6:fb11b746ceb5	1197	vcsel_period_pclks = (vcsel_period_reg + 1) << 1;
sepp_nepp	6:fb11b746ceb5	1198
sepp_nepp	6:fb11b746ceb5	1199	return vcsel_period_pclks;
sepp_nepp	6:fb11b746ceb5	1200	}
sepp_nepp	6:fb11b746ceb5	1201
sepp_nepp	6:fb11b746ceb5	1202	uint8_t VL53L0X::lv53l0x_encode_vcsel_period(uint8_t vcsel_period_pclks)
sepp_nepp	13:253cb4ea3fcc	1203	{ /! Converts the encoded VCSEL period register value into the real period in PLL clocks /
sepp_nepp	6:fb11b746ceb5	1204
sepp_nepp	6:fb11b746ceb5	1205	uint8_t vcsel_period_reg = 0;
sepp_nepp	6:fb11b746ceb5	1206
sepp_nepp	6:fb11b746ceb5	1207	vcsel_period_reg = (vcsel_period_pclks >> 1) - 1;
sepp_nepp	6:fb11b746ceb5	1208
sepp_nepp	6:fb11b746ceb5	1209	return vcsel_period_reg;
sepp_nepp	6:fb11b746ceb5	1210	}
sepp_nepp	6:fb11b746ceb5	1211
sepp_nepp	8:2fd7cb217068	1212	VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_vcsel_pulse_period(VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period_pclk)
sepp_nepp	8:2fd7cb217068	1213	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1214	uint8_t vcsel_period_reg;
sepp_nepp	6:fb11b746ceb5	1215	uint8_t min_pre_vcsel_period_pclk = 12;
sepp_nepp	6:fb11b746ceb5	1216	uint8_t max_pre_vcsel_period_pclk = 18;
sepp_nepp	6:fb11b746ceb5	1217	uint8_t min_final_vcsel_period_pclk = 8;
sepp_nepp	6:fb11b746ceb5	1218	uint8_t max_final_vcsel_period_pclk = 14;
sepp_nepp	11:d8dbe3b87f9f	1219	uint32_t measurement_timing_budget_us;
sepp_nepp	11:d8dbe3b87f9f	1220	uint32_t final_range_timeout_us;
sepp_nepp	11:d8dbe3b87f9f	1221	uint32_t pre_range_timeout_us;
sepp_nepp	11:d8dbe3b87f9f	1222	uint32_t msrc_timeout_us;
sepp_nepp	6:fb11b746ceb5	1223	uint8_t phase_cal_int = 0;
sepp_nepp	6:fb11b746ceb5	1224
sepp_nepp	6:fb11b746ceb5	1225	/* Check if valid clock period requested */
sepp_nepp	6:fb11b746ceb5	1226
sepp_nepp	6:fb11b746ceb5	1227	if ((vcsel_pulse_period_pclk % 2) != 0) {
sepp_nepp	6:fb11b746ceb5	1228	/* Value must be an even number */
sepp_nepp	6:fb11b746ceb5	1229	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1230	} else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE &&
sepp_nepp	6:fb11b746ceb5	1231	(vcsel_pulse_period_pclk < min_pre_vcsel_period_pclk \|\|
sepp_nepp	6:fb11b746ceb5	1232	vcsel_pulse_period_pclk > max_pre_vcsel_period_pclk)) {
sepp_nepp	6:fb11b746ceb5	1233	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1234	} else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE &&
sepp_nepp	6:fb11b746ceb5	1235	(vcsel_pulse_period_pclk < min_final_vcsel_period_pclk \|\|
sepp_nepp	6:fb11b746ceb5	1236	vcsel_pulse_period_pclk > max_final_vcsel_period_pclk)) {
sepp_nepp	6:fb11b746ceb5	1237
sepp_nepp	6:fb11b746ceb5	1238	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1239	}
sepp_nepp	6:fb11b746ceb5	1240
sepp_nepp	6:fb11b746ceb5	1241	/* Apply specific settings for the requested clock period */
sepp_nepp	6:fb11b746ceb5	1242
sepp_nepp	13:253cb4ea3fcc	1243	if (status != VL53L0X_ERROR_NONE) { return status; }
sepp_nepp	6:fb11b746ceb5	1244
sepp_nepp	6:fb11b746ceb5	1245	if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE) {
sepp_nepp	6:fb11b746ceb5	1246
sepp_nepp	6:fb11b746ceb5	1247	/* Set phase check limits */
sepp_nepp	6:fb11b746ceb5	1248	if (vcsel_pulse_period_pclk == 12) {
sepp_nepp	6:fb11b746ceb5	1249
sepp_nepp	8:2fd7cb217068	1250	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
sepp_nepp	6:fb11b746ceb5	1251	0x18);
sepp_nepp	8:2fd7cb217068	1252	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
sepp_nepp	6:fb11b746ceb5	1253	0x08);
sepp_nepp	6:fb11b746ceb5	1254	} else if (vcsel_pulse_period_pclk == 14) {
sepp_nepp	6:fb11b746ceb5	1255
sepp_nepp	8:2fd7cb217068	1256	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
sepp_nepp	6:fb11b746ceb5	1257	0x30);
sepp_nepp	8:2fd7cb217068	1258	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
sepp_nepp	6:fb11b746ceb5	1259	0x08);
sepp_nepp	6:fb11b746ceb5	1260	} else if (vcsel_pulse_period_pclk == 16) {
sepp_nepp	6:fb11b746ceb5	1261
sepp_nepp	8:2fd7cb217068	1262	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
sepp_nepp	6:fb11b746ceb5	1263	0x40);
sepp_nepp	8:2fd7cb217068	1264	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
sepp_nepp	6:fb11b746ceb5	1265	0x08);
sepp_nepp	6:fb11b746ceb5	1266	} else if (vcsel_pulse_period_pclk == 18) {
sepp_nepp	6:fb11b746ceb5	1267
sepp_nepp	8:2fd7cb217068	1268	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
sepp_nepp	6:fb11b746ceb5	1269	0x50);
sepp_nepp	8:2fd7cb217068	1270	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
sepp_nepp	6:fb11b746ceb5	1271	0x08);
sepp_nepp	6:fb11b746ceb5	1272	}
sepp_nepp	6:fb11b746ceb5	1273	} else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) {
sepp_nepp	6:fb11b746ceb5	1274	if (vcsel_pulse_period_pclk == 8) {
sepp_nepp	11:d8dbe3b87f9f	1275	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,0x10);
sepp_nepp	11:d8dbe3b87f9f	1276	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,0x08);
sepp_nepp	8:2fd7cb217068	1277	status \|= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02);
sepp_nepp	8:2fd7cb217068	1278	status \|= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C);
sepp_nepp	7:3a1115c2556b	1279	status \|= VL53L0X_write_byte( 0xff, 0x01);
sepp_nepp	11:d8dbe3b87f9f	1280	status \|= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,0x30);
sepp_nepp	7:3a1115c2556b	1281	status \|= VL53L0X_write_byte( 0xff, 0x00);
sepp_nepp	6:fb11b746ceb5	1282	} else if (vcsel_pulse_period_pclk == 10) {
sepp_nepp	11:d8dbe3b87f9f	1283	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,0x28);
sepp_nepp	11:d8dbe3b87f9f	1284	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,0x08);
sepp_nepp	8:2fd7cb217068	1285	status \|= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
sepp_nepp	8:2fd7cb217068	1286	status \|= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09);
sepp_nepp	7:3a1115c2556b	1287	status \|= VL53L0X_write_byte( 0xff, 0x01);
sepp_nepp	11:d8dbe3b87f9f	1288	status \|= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,0x20);
sepp_nepp	7:3a1115c2556b	1289	status \|= VL53L0X_write_byte( 0xff, 0x00);
sepp_nepp	6:fb11b746ceb5	1290	} else if (vcsel_pulse_period_pclk == 12) {
sepp_nepp	13:253cb4ea3fcc	1291	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x38);
sepp_nepp	13:253cb4ea3fcc	1292	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08);
sepp_nepp	8:2fd7cb217068	1293	status \|= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
sepp_nepp	8:2fd7cb217068	1294	status \|= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08);
sepp_nepp	7:3a1115c2556b	1295	status \|= VL53L0X_write_byte( 0xff, 0x01);
sepp_nepp	13:253cb4ea3fcc	1296	status \|= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,0x20);
sepp_nepp	7:3a1115c2556b	1297	status \|= VL53L0X_write_byte( 0xff, 0x00);
sepp_nepp	6:fb11b746ceb5	1298	} else if (vcsel_pulse_period_pclk == 14) {
sepp_nepp	13:253cb4ea3fcc	1299	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,0x048);
sepp_nepp	11:d8dbe3b87f9f	1300	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,0x08);
sepp_nepp	8:2fd7cb217068	1301	status \|= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
sepp_nepp	8:2fd7cb217068	1302	status \|= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07);
sepp_nepp	7:3a1115c2556b	1303	status \|= VL53L0X_write_byte( 0xff, 0x01);
sepp_nepp	11:d8dbe3b87f9f	1304	status \|= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,0x20);
sepp_nepp	7:3a1115c2556b	1305	status \|= VL53L0X_write_byte( 0xff, 0x00);
sepp_nepp	6:fb11b746ceb5	1306	}
sepp_nepp	6:fb11b746ceb5	1307	}
sepp_nepp	6:fb11b746ceb5	1308
sepp_nepp	6:fb11b746ceb5	1309	/* Re-calculate and apply timeouts, in macro periods */
sepp_nepp	6:fb11b746ceb5	1310
sepp_nepp	6:fb11b746ceb5	1311	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	13:253cb4ea3fcc	1312	vcsel_period_reg = lv53l0x_encode_vcsel_period((uint8_t) vcsel_pulse_period_pclk);
sepp_nepp	6:fb11b746ceb5	1313
sepp_nepp	6:fb11b746ceb5	1314	/* When the VCSEL period for the pre or final range is changed,
sepp_nepp	6:fb11b746ceb5	1315	* the corresponding timeout must be read from the device using
sepp_nepp	6:fb11b746ceb5	1316	* the current VCSEL period, then the new VCSEL period can be
sepp_nepp	6:fb11b746ceb5	1317	* applied. The timeout then must be written back to the device
sepp_nepp	6:fb11b746ceb5	1318	* using the new VCSEL period.
sepp_nepp	6:fb11b746ceb5	1319	*
sepp_nepp	6:fb11b746ceb5	1320	* For the MSRC timeout, the same applies - this timeout being
sepp_nepp	6:fb11b746ceb5	1321	* dependant on the pre-range vcsel period.
sepp_nepp	6:fb11b746ceb5	1322	*/
sepp_nepp	6:fb11b746ceb5	1323	switch (vcsel_period_type) {
sepp_nepp	6:fb11b746ceb5	1324	case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
sepp_nepp	8:2fd7cb217068	1325	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
sepp_nepp	11:d8dbe3b87f9f	1326	&pre_range_timeout_us);
sepp_nepp	6:fb11b746ceb5	1327
sepp_nepp	6:fb11b746ceb5	1328	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	1329	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_MSRC,
sepp_nepp	11:d8dbe3b87f9f	1330	&msrc_timeout_us);
sepp_nepp	6:fb11b746ceb5	1331
sepp_nepp	6:fb11b746ceb5	1332	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	1333	status = VL53L0X_write_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
sepp_nepp	6:fb11b746ceb5	1334	vcsel_period_reg);
sepp_nepp	6:fb11b746ceb5	1335
sepp_nepp	6:fb11b746ceb5	1336	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	7:3a1115c2556b	1337	status = set_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
sepp_nepp	11:d8dbe3b87f9f	1338	pre_range_timeout_us);
sepp_nepp	6:fb11b746ceb5	1339
sepp_nepp	6:fb11b746ceb5	1340	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	7:3a1115c2556b	1341	status = set_sequence_step_timeout(VL53L0X_SEQUENCESTEP_MSRC,
sepp_nepp	11:d8dbe3b87f9f	1342	msrc_timeout_us);
sepp_nepp	6:fb11b746ceb5	1343
sepp_nepp	8:2fd7cb217068	1344	Data.PreRangeVcselPulsePeriod = vcsel_pulse_period_pclk;
sepp_nepp	6:fb11b746ceb5	1345	break;
sepp_nepp	6:fb11b746ceb5	1346	case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
sepp_nepp	7:3a1115c2556b	1347	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
sepp_nepp	11:d8dbe3b87f9f	1348	&final_range_timeout_us);
sepp_nepp	6:fb11b746ceb5	1349
sepp_nepp	6:fb11b746ceb5	1350	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	1351	status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
sepp_nepp	6:fb11b746ceb5	1352	vcsel_period_reg);
sepp_nepp	6:fb11b746ceb5	1353
sepp_nepp	6:fb11b746ceb5	1354	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	8:2fd7cb217068	1355	status = set_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
sepp_nepp	11:d8dbe3b87f9f	1356	final_range_timeout_us);
sepp_nepp	6:fb11b746ceb5	1357
sepp_nepp	8:2fd7cb217068	1358	Data.FinalRangeVcselPulsePeriod = vcsel_pulse_period_pclk;
sepp_nepp	6:fb11b746ceb5	1359	break;
sepp_nepp	6:fb11b746ceb5	1360	default:
sepp_nepp	6:fb11b746ceb5	1361	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1362	}
sepp_nepp	6:fb11b746ceb5	1363	}
sepp_nepp	6:fb11b746ceb5	1364
sepp_nepp	6:fb11b746ceb5	1365	/* Finally, the timing budget must be re-applied */
sepp_nepp	6:fb11b746ceb5	1366	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	11:d8dbe3b87f9f	1367	measurement_timing_budget_us = CurrentParameters.MeasurementTimingBudget_us ;
sepp_nepp	11:d8dbe3b87f9f	1368	status = VL53L0X_set_measurement_timing_budget_us(measurement_timing_budget_us);
sepp_nepp	6:fb11b746ceb5	1369	}
sepp_nepp	6:fb11b746ceb5	1370
sepp_nepp	6:fb11b746ceb5	1371	/* Perform the phase calibration. This is needed after changing on
sepp_nepp	13:253cb4ea3fcc	1372	* vcsel period. get_data_enable = 0, restore_config = 1 */
sepp_nepp	6:fb11b746ceb5	1373	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	7:3a1115c2556b	1374	status = VL53L0X_perform_phase_calibration(&phase_cal_int, 0, 1);
sepp_nepp	6:fb11b746ceb5	1375
sepp_nepp	6:fb11b746ceb5	1376	return status;
sepp_nepp	6:fb11b746ceb5	1377	}
sepp_nepp	6:fb11b746ceb5	1378
sepp_nepp	8:2fd7cb217068	1379	VL53L0X_Error VL53L0X::VL53L0X_set_vcsel_pulse_period(VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period)
sepp_nepp	8:2fd7cb217068	1380	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	13:253cb4ea3fcc	1381
sepp_nepp	13:253cb4ea3fcc	1382	status = wrapped_VL53L0X_set_vcsel_pulse_period( vcsel_period_type, vcsel_pulse_period);
sepp_nepp	13:253cb4ea3fcc	1383
sepp_nepp	6:fb11b746ceb5	1384	return status;
sepp_nepp	6:fb11b746ceb5	1385	}
sepp_nepp	6:fb11b746ceb5	1386
sepp_nepp	13:253cb4ea3fcc	1387	VL53L0X_Error VL53L0X::VL53L0X_get_vcsel_pulse_period(VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk)
sepp_nepp	8:2fd7cb217068	1388	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1389	uint8_t vcsel_period_reg;
sepp_nepp	6:fb11b746ceb5	1390
sepp_nepp	6:fb11b746ceb5	1391	switch (vcsel_period_type) {
sepp_nepp	6:fb11b746ceb5	1392	case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
sepp_nepp	8:2fd7cb217068	1393	status = VL53L0X_read_byte(VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD,
sepp_nepp	6:fb11b746ceb5	1394	&vcsel_period_reg);
sepp_nepp	6:fb11b746ceb5	1395	break;
sepp_nepp	6:fb11b746ceb5	1396	case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
sepp_nepp	8:2fd7cb217068	1397	status = VL53L0X_read_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD,
sepp_nepp	6:fb11b746ceb5	1398	&vcsel_period_reg);
sepp_nepp	6:fb11b746ceb5	1399	break;
sepp_nepp	6:fb11b746ceb5	1400	default:
sepp_nepp	6:fb11b746ceb5	1401	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1402	}
sepp_nepp	6:fb11b746ceb5	1403
sepp_nepp	6:fb11b746ceb5	1404	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	13:253cb4ea3fcc	1405	*p_vcsel_pulse_period_pclk = VL53L0X_decode_vcsel_period(vcsel_period_reg);
sepp_nepp	13:253cb4ea3fcc	1406
sepp_nepp	6:fb11b746ceb5	1407	return status;
sepp_nepp	6:fb11b746ceb5	1408	}
sepp_nepp	6:fb11b746ceb5	1409
sepp_nepp	6:fb11b746ceb5	1410	uint32_t VL53L0X::VL53L0X_decode_timeout(uint16_t encoded_timeout)
sepp_nepp	13:253cb4ea3fcc	1411	{ /! Decode 16-bit timeout register value - format (LSByte 2^MSByte) + 1 */
sepp_nepp	6:fb11b746ceb5	1412	uint32_t timeout_macro_clks = 0;
sepp_nepp	6:fb11b746ceb5	1413
sepp_nepp	6:fb11b746ceb5	1414	timeout_macro_clks = ((uint32_t)(encoded_timeout & 0x00FF)
sepp_nepp	6:fb11b746ceb5	1415	<< (uint32_t)((encoded_timeout & 0xFF00) >> 8)) + 1;
sepp_nepp	6:fb11b746ceb5	1416
sepp_nepp	6:fb11b746ceb5	1417	return timeout_macro_clks;
sepp_nepp	6:fb11b746ceb5	1418	}
sepp_nepp	6:fb11b746ceb5	1419
sepp_nepp	7:3a1115c2556b	1420	uint32_t VL53L0X::VL53L0X_calc_macro_period_ps( uint8_t vcsel_period_pclks)
sepp_nepp	8:2fd7cb217068	1421	{ uint64_t pll_period_ps;
sepp_nepp	6:fb11b746ceb5	1422	uint32_t macro_period_vclks;
sepp_nepp	6:fb11b746ceb5	1423	uint32_t macro_period_ps;
sepp_nepp	6:fb11b746ceb5	1424
sepp_nepp	13:253cb4ea3fcc	1425	/* The above calculation will produce rounding errors, therefore set fixed value*/
sepp_nepp	6:fb11b746ceb5	1426	pll_period_ps = 1655;
sepp_nepp	6:fb11b746ceb5	1427	macro_period_vclks = 2304;
sepp_nepp	6:fb11b746ceb5	1428	macro_period_ps = (uint32_t)(macro_period_vclks
sepp_nepp	6:fb11b746ceb5	1429	* vcsel_period_pclks * pll_period_ps);
sepp_nepp	6:fb11b746ceb5	1430	return macro_period_ps;
sepp_nepp	6:fb11b746ceb5	1431	}
sepp_nepp	6:fb11b746ceb5	1432
sepp_nepp	6:fb11b746ceb5	1433	/* To convert register value into us */
sepp_nepp	8:2fd7cb217068	1434	uint32_t VL53L0X::VL53L0X_calc_timeout_us(uint16_t timeout_period_mclks,
sepp_nepp	6:fb11b746ceb5	1435	uint8_t vcsel_period_pclks)
sepp_nepp	8:2fd7cb217068	1436	{ uint32_t macro_period_ps;
sepp_nepp	6:fb11b746ceb5	1437	uint32_t macro_period_ns;
sepp_nepp	6:fb11b746ceb5	1438	uint32_t actual_timeout_period_us = 0;
sepp_nepp	6:fb11b746ceb5	1439
sepp_nepp	7:3a1115c2556b	1440	macro_period_ps = VL53L0X_calc_macro_period_ps( vcsel_period_pclks);
sepp_nepp	6:fb11b746ceb5	1441	macro_period_ns = (macro_period_ps + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	1442
sepp_nepp	6:fb11b746ceb5	1443	actual_timeout_period_us =
sepp_nepp	6:fb11b746ceb5	1444	((timeout_period_mclks * macro_period_ns) + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	1445
sepp_nepp	6:fb11b746ceb5	1446	return actual_timeout_period_us;
sepp_nepp	6:fb11b746ceb5	1447	}
sepp_nepp	6:fb11b746ceb5	1448
sepp_nepp	8:2fd7cb217068	1449	VL53L0X_Error VL53L0X::get_sequence_step_timeout(VL53L0X_SequenceStepId sequence_step_id,
sepp_nepp	6:fb11b746ceb5	1450	uint32_t *p_time_out_micro_secs)
sepp_nepp	8:2fd7cb217068	1451	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1452	uint8_t current_vcsel_pulse_period_p_clk;
sepp_nepp	6:fb11b746ceb5	1453	uint8_t encoded_time_out_byte = 0;
sepp_nepp	11:d8dbe3b87f9f	1454	uint32_t timeout_us = 0;
sepp_nepp	6:fb11b746ceb5	1455	uint16_t pre_range_encoded_time_out = 0;
sepp_nepp	6:fb11b746ceb5	1456	uint16_t msrc_time_out_m_clks;
sepp_nepp	6:fb11b746ceb5	1457	uint16_t pre_range_time_out_m_clks;
sepp_nepp	6:fb11b746ceb5	1458	uint16_t final_range_time_out_m_clks = 0;
sepp_nepp	6:fb11b746ceb5	1459	uint16_t final_range_encoded_time_out;
sepp_nepp	6:fb11b746ceb5	1460	VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
sepp_nepp	6:fb11b746ceb5	1461
sepp_nepp	6:fb11b746ceb5	1462	if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC) \|\|
sepp_nepp	6:fb11b746ceb5	1463	(sequence_step_id == VL53L0X_SEQUENCESTEP_DSS) \|\|
sepp_nepp	6:fb11b746ceb5	1464	(sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC)) {
sepp_nepp	6:fb11b746ceb5	1465
sepp_nepp	8:2fd7cb217068	1466	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	1467	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	1468	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1469	status = VL53L0X_read_byte(VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
sepp_nepp	6:fb11b746ceb5	1470	&encoded_time_out_byte);
sepp_nepp	6:fb11b746ceb5	1471	}
sepp_nepp	6:fb11b746ceb5	1472	msrc_time_out_m_clks = VL53L0X_decode_timeout(encoded_time_out_byte);
sepp_nepp	6:fb11b746ceb5	1473
sepp_nepp	11:d8dbe3b87f9f	1474	timeout_us = VL53L0X_calc_timeout_us(msrc_time_out_m_clks,
sepp_nepp	6:fb11b746ceb5	1475	current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	1476	} else if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
sepp_nepp	6:fb11b746ceb5	1477	/* Retrieve PRE-RANGE VCSEL Period */
sepp_nepp	8:2fd7cb217068	1478	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	1479	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	1480
sepp_nepp	6:fb11b746ceb5	1481	/* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */
sepp_nepp	6:fb11b746ceb5	1482	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1483
sepp_nepp	6:fb11b746ceb5	1484	/* Retrieve PRE-RANGE VCSEL Period */
sepp_nepp	8:2fd7cb217068	1485	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	1486	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	1487
sepp_nepp	6:fb11b746ceb5	1488	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1489	status = VL53L0X_read_word(VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
sepp_nepp	6:fb11b746ceb5	1490	&pre_range_encoded_time_out);
sepp_nepp	6:fb11b746ceb5	1491	}
sepp_nepp	6:fb11b746ceb5	1492
sepp_nepp	8:2fd7cb217068	1493	pre_range_time_out_m_clks = VL53L0X_decode_timeout(pre_range_encoded_time_out);
sepp_nepp	8:2fd7cb217068	1494
sepp_nepp	11:d8dbe3b87f9f	1495	timeout_us = VL53L0X_calc_timeout_us(pre_range_time_out_m_clks,
sepp_nepp	6:fb11b746ceb5	1496	current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	1497	}
sepp_nepp	6:fb11b746ceb5	1498	} else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
sepp_nepp	6:fb11b746ceb5	1499
sepp_nepp	7:3a1115c2556b	1500	VL53L0X_get_sequence_step_enables( &scheduler_sequence_steps);
sepp_nepp	6:fb11b746ceb5	1501	pre_range_time_out_m_clks = 0;
sepp_nepp	6:fb11b746ceb5	1502
sepp_nepp	6:fb11b746ceb5	1503	if (scheduler_sequence_steps.PreRangeOn) {
sepp_nepp	6:fb11b746ceb5	1504	/* Retrieve PRE-RANGE VCSEL Period */
sepp_nepp	8:2fd7cb217068	1505	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	1506	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	1507
sepp_nepp	6:fb11b746ceb5	1508	/* Retrieve PRE-RANGE Timeout in Macro periods
sepp_nepp	6:fb11b746ceb5	1509	* (MCLKS) */
sepp_nepp	6:fb11b746ceb5	1510	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1511	status = VL53L0X_read_word(VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
sepp_nepp	6:fb11b746ceb5	1512	&pre_range_encoded_time_out);
sepp_nepp	8:2fd7cb217068	1513	pre_range_time_out_m_clks = VL53L0X_decode_timeout(pre_range_encoded_time_out);
sepp_nepp	6:fb11b746ceb5	1514	}
sepp_nepp	6:fb11b746ceb5	1515	}
sepp_nepp	6:fb11b746ceb5	1516
sepp_nepp	6:fb11b746ceb5	1517	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1518	/* Retrieve FINAL-RANGE VCSEL Period */
sepp_nepp	8:2fd7cb217068	1519	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	1520	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	1521	}
sepp_nepp	6:fb11b746ceb5	1522
sepp_nepp	6:fb11b746ceb5	1523	/* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */
sepp_nepp	6:fb11b746ceb5	1524	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1525	status = VL53L0X_read_word(VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI,
sepp_nepp	6:fb11b746ceb5	1526	&final_range_encoded_time_out);
sepp_nepp	8:2fd7cb217068	1527	final_range_time_out_m_clks = VL53L0X_decode_timeout(final_range_encoded_time_out);
sepp_nepp	6:fb11b746ceb5	1528	}
sepp_nepp	6:fb11b746ceb5	1529
sepp_nepp	6:fb11b746ceb5	1530	final_range_time_out_m_clks -= pre_range_time_out_m_clks;
sepp_nepp	11:d8dbe3b87f9f	1531	timeout_us = VL53L0X_calc_timeout_us(final_range_time_out_m_clks,
sepp_nepp	6:fb11b746ceb5	1532	current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	1533	}
sepp_nepp	6:fb11b746ceb5	1534
sepp_nepp	11:d8dbe3b87f9f	1535	*p_time_out_micro_secs = timeout_us;
sepp_nepp	6:fb11b746ceb5	1536
sepp_nepp	6:fb11b746ceb5	1537	return status;
sepp_nepp	6:fb11b746ceb5	1538	}
sepp_nepp	6:fb11b746ceb5	1539
sepp_nepp	13:253cb4ea3fcc	1540	VL53L0X_Error VL53L0X::VL53L0X_get_measurement_timing_budget_us(uint32_t *p_measurement_timing_budget_us)
sepp_nepp	8:2fd7cb217068	1541	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1542	VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
sepp_nepp	11:d8dbe3b87f9f	1543	uint32_t final_range_timeout_us;
sepp_nepp	11:d8dbe3b87f9f	1544	uint32_t msrc_dcc_tcc_timeout_us = 2000;
sepp_nepp	11:d8dbe3b87f9f	1545	uint32_t start_overhead_us = 1910;
sepp_nepp	11:d8dbe3b87f9f	1546	uint32_t end_overhead_us = 960;
sepp_nepp	11:d8dbe3b87f9f	1547	uint32_t msrc_overhead_us = 660;
sepp_nepp	11:d8dbe3b87f9f	1548	uint32_t tcc_overhead_us = 590;
sepp_nepp	11:d8dbe3b87f9f	1549	uint32_t dss_overhead_us = 690;
sepp_nepp	11:d8dbe3b87f9f	1550	uint32_t pre_range_overhead_us = 660;
sepp_nepp	11:d8dbe3b87f9f	1551	uint32_t final_range_overhead_us = 550;
sepp_nepp	11:d8dbe3b87f9f	1552	uint32_t pre_range_timeout_us = 0;
sepp_nepp	6:fb11b746ceb5	1553
sepp_nepp	6:fb11b746ceb5	1554	/* Start and end overhead times always present */
sepp_nepp	11:d8dbe3b87f9f	1555	*p_measurement_timing_budget_us
sepp_nepp	11:d8dbe3b87f9f	1556	= start_overhead_us + end_overhead_us;
sepp_nepp	6:fb11b746ceb5	1557
sepp_nepp	7:3a1115c2556b	1558	status = VL53L0X_get_sequence_step_enables( &scheduler_sequence_steps);
sepp_nepp	6:fb11b746ceb5	1559
sepp_nepp	13:253cb4ea3fcc	1560	if (status != VL53L0X_ERROR_NONE) { return status; }
sepp_nepp	6:fb11b746ceb5	1561
sepp_nepp	6:fb11b746ceb5	1562	if (scheduler_sequence_steps.TccOn \|\|
sepp_nepp	6:fb11b746ceb5	1563	scheduler_sequence_steps.MsrcOn \|\|
sepp_nepp	6:fb11b746ceb5	1564	scheduler_sequence_steps.DssOn) {
sepp_nepp	6:fb11b746ceb5	1565
sepp_nepp	8:2fd7cb217068	1566	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_MSRC,
sepp_nepp	11:d8dbe3b87f9f	1567	&msrc_dcc_tcc_timeout_us);
sepp_nepp	6:fb11b746ceb5	1568
sepp_nepp	6:fb11b746ceb5	1569	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1570	if (scheduler_sequence_steps.TccOn) {
sepp_nepp	11:d8dbe3b87f9f	1571	*p_measurement_timing_budget_us +=
sepp_nepp	13:253cb4ea3fcc	1572	msrc_dcc_tcc_timeout_us + tcc_overhead_us;
sepp_nepp	6:fb11b746ceb5	1573	}
sepp_nepp	6:fb11b746ceb5	1574
sepp_nepp	6:fb11b746ceb5	1575	if (scheduler_sequence_steps.DssOn) {
sepp_nepp	11:d8dbe3b87f9f	1576	*p_measurement_timing_budget_us +=
sepp_nepp	13:253cb4ea3fcc	1577	2 * (msrc_dcc_tcc_timeout_us + dss_overhead_us);
sepp_nepp	6:fb11b746ceb5	1578	} else if (scheduler_sequence_steps.MsrcOn) {
sepp_nepp	11:d8dbe3b87f9f	1579	*p_measurement_timing_budget_us +=
sepp_nepp	13:253cb4ea3fcc	1580	msrc_dcc_tcc_timeout_us + msrc_overhead_us;
sepp_nepp	6:fb11b746ceb5	1581	}
sepp_nepp	6:fb11b746ceb5	1582	}
sepp_nepp	6:fb11b746ceb5	1583	}
sepp_nepp	6:fb11b746ceb5	1584
sepp_nepp	6:fb11b746ceb5	1585	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1586	if (scheduler_sequence_steps.PreRangeOn) {
sepp_nepp	8:2fd7cb217068	1587	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
sepp_nepp	11:d8dbe3b87f9f	1588	&pre_range_timeout_us);
sepp_nepp	11:d8dbe3b87f9f	1589	*p_measurement_timing_budget_us +=
sepp_nepp	13:253cb4ea3fcc	1590	pre_range_timeout_us + pre_range_overhead_us;
sepp_nepp	6:fb11b746ceb5	1591	}
sepp_nepp	6:fb11b746ceb5	1592	}
sepp_nepp	6:fb11b746ceb5	1593
sepp_nepp	6:fb11b746ceb5	1594	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1595	if (scheduler_sequence_steps.FinalRangeOn) {
sepp_nepp	8:2fd7cb217068	1596	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
sepp_nepp	11:d8dbe3b87f9f	1597	&final_range_timeout_us);
sepp_nepp	11:d8dbe3b87f9f	1598	*p_measurement_timing_budget_us +=
sepp_nepp	13:253cb4ea3fcc	1599	(final_range_timeout_us + final_range_overhead_us);
sepp_nepp	6:fb11b746ceb5	1600	}
sepp_nepp	6:fb11b746ceb5	1601	}
sepp_nepp	6:fb11b746ceb5	1602
sepp_nepp	6:fb11b746ceb5	1603	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	13:253cb4ea3fcc	1604	CurrentParameters.MeasurementTimingBudget_us = *p_measurement_timing_budget_us;}
sepp_nepp	13:253cb4ea3fcc	1605
sepp_nepp	6:fb11b746ceb5	1606	return status;
sepp_nepp	6:fb11b746ceb5	1607	}
sepp_nepp	6:fb11b746ceb5	1608
sepp_nepp	8:2fd7cb217068	1609	VL53L0X_Error VL53L0X::VL53L0X_get_device_parameters(VL53L0X_DeviceParameters_t *p_device_parameters)
sepp_nepp	8:2fd7cb217068	1610	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1611	int i;
sepp_nepp	6:fb11b746ceb5	1612
sepp_nepp	13:253cb4ea3fcc	1613	p_device_parameters->DeviceMode = CurrentParameters.DeviceMode;
sepp_nepp	6:fb11b746ceb5	1614
sepp_nepp	6:fb11b746ceb5	1615	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	11:d8dbe3b87f9f	1616	status = VL53L0X_get_inter_measurement_period_ms(&(p_device_parameters->InterMeasurementPeriod_ms));
sepp_nepp	6:fb11b746ceb5	1617
sepp_nepp	6:fb11b746ceb5	1618	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1619	p_device_parameters->XTalkCompensationEnable = 0;
sepp_nepp	6:fb11b746ceb5	1620	}
sepp_nepp	6:fb11b746ceb5	1621
sepp_nepp	6:fb11b746ceb5	1622	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	11:d8dbe3b87f9f	1623	status = VL53L0X_get_x_talk_compensation_rate_MHz(&(p_device_parameters->XTalkCompensationRate_MHz));
sepp_nepp	6:fb11b746ceb5	1624
sepp_nepp	6:fb11b746ceb5	1625	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	11:d8dbe3b87f9f	1626	status = VL53L0X_get_offset_calibration_data_micro_meter(&(p_device_parameters->RangeOffset_um));
sepp_nepp	6:fb11b746ceb5	1627
sepp_nepp	6:fb11b746ceb5	1628	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1629	for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) {
sepp_nepp	6:fb11b746ceb5	1630	/* get first the values, then the enables.
sepp_nepp	6:fb11b746ceb5	1631	* VL53L0X_GetLimitCheckValue will modify the enable
sepp_nepp	6:fb11b746ceb5	1632	* flags
sepp_nepp	6:fb11b746ceb5	1633	*/
sepp_nepp	6:fb11b746ceb5	1634	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	1635	status \|= VL53L0X_get_limit_check_value( i,
sepp_nepp	6:fb11b746ceb5	1636	&(p_device_parameters->LimitChecksValue[i]));
sepp_nepp	6:fb11b746ceb5	1637	} else {
sepp_nepp	6:fb11b746ceb5	1638	break;
sepp_nepp	6:fb11b746ceb5	1639	}
sepp_nepp	6:fb11b746ceb5	1640	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	1641	status \|= VL53L0X_get_limit_check_enable( i,
sepp_nepp	6:fb11b746ceb5	1642	&(p_device_parameters->LimitChecksEnable[i]));
sepp_nepp	6:fb11b746ceb5	1643	} else {
sepp_nepp	6:fb11b746ceb5	1644	break;
sepp_nepp	6:fb11b746ceb5	1645	}
sepp_nepp	6:fb11b746ceb5	1646	}
sepp_nepp	6:fb11b746ceb5	1647	}
sepp_nepp	6:fb11b746ceb5	1648
sepp_nepp	6:fb11b746ceb5	1649	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1650	status = VL53L0X_get_wrap_around_check_enable(&(p_device_parameters->WrapAroundCheckEnable));
sepp_nepp	6:fb11b746ceb5	1651	}
sepp_nepp	6:fb11b746ceb5	1652
sepp_nepp	6:fb11b746ceb5	1653	/* Need to be done at the end as it uses VCSELPulsePeriod */
sepp_nepp	6:fb11b746ceb5	1654	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	11:d8dbe3b87f9f	1655	status = VL53L0X_get_measurement_timing_budget_us(&(p_device_parameters->MeasurementTimingBudget_us));
sepp_nepp	6:fb11b746ceb5	1656	}
sepp_nepp	6:fb11b746ceb5	1657
sepp_nepp	6:fb11b746ceb5	1658
sepp_nepp	6:fb11b746ceb5	1659	return status;
sepp_nepp	6:fb11b746ceb5	1660	}
sepp_nepp	6:fb11b746ceb5	1661
sepp_nepp	7:3a1115c2556b	1662	VL53L0X_Error VL53L0X::VL53L0X_set_limit_check_value( uint16_t limit_check_id,
sepp_nepp	6:fb11b746ceb5	1663	FixPoint1616_t limit_check_value)
sepp_nepp	8:2fd7cb217068	1664	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1665	uint8_t temp8;
sepp_nepp	6:fb11b746ceb5	1666
sepp_nepp	10:cd1758e186a4	1667	temp8 = CurrentParameters.LimitChecksEnable[limit_check_id];
sepp_nepp	6:fb11b746ceb5	1668
sepp_nepp	6:fb11b746ceb5	1669	if (temp8 == 0) { /* disabled write only internal value */
sepp_nepp	10:cd1758e186a4	1670	CurrentParameters.LimitChecksValue[limit_check_id] = limit_check_value;
sepp_nepp	6:fb11b746ceb5	1671	} else {
sepp_nepp	6:fb11b746ceb5	1672
sepp_nepp	6:fb11b746ceb5	1673	switch (limit_check_id) {
sepp_nepp	6:fb11b746ceb5	1674
sepp_nepp	13:253cb4ea3fcc	1675	case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:/* internal computation: */
sepp_nepp	10:cd1758e186a4	1676	CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE] = limit_check_value;
sepp_nepp	6:fb11b746ceb5	1677	break;
sepp_nepp	6:fb11b746ceb5	1678
sepp_nepp	6:fb11b746ceb5	1679	case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
sepp_nepp	8:2fd7cb217068	1680	status = VL53L0X_write_word(VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
sepp_nepp	11:d8dbe3b87f9f	1681	VL53L0X_FP1616TOFP97(limit_check_value));
sepp_nepp	6:fb11b746ceb5	1682	break;
sepp_nepp	6:fb11b746ceb5	1683
sepp_nepp	13:253cb4ea3fcc	1684	case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:/* internal computation: */
sepp_nepp	10:cd1758e186a4	1685	CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP] = limit_check_value;
sepp_nepp	6:fb11b746ceb5	1686	break;
sepp_nepp	6:fb11b746ceb5	1687
sepp_nepp	13:253cb4ea3fcc	1688	case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:/* internal computation: */
sepp_nepp	10:cd1758e186a4	1689	CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD] = limit_check_value;
sepp_nepp	6:fb11b746ceb5	1690	break;
sepp_nepp	6:fb11b746ceb5	1691
sepp_nepp	6:fb11b746ceb5	1692	case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
sepp_nepp	6:fb11b746ceb5	1693	case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
sepp_nepp	8:2fd7cb217068	1694	status = VL53L0X_write_word(VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT,
sepp_nepp	11:d8dbe3b87f9f	1695	VL53L0X_FP1616TOFP97(limit_check_value));
sepp_nepp	6:fb11b746ceb5	1696	break;
sepp_nepp	6:fb11b746ceb5	1697
sepp_nepp	6:fb11b746ceb5	1698	default:
sepp_nepp	6:fb11b746ceb5	1699	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	1700	}
sepp_nepp	6:fb11b746ceb5	1701
sepp_nepp	6:fb11b746ceb5	1702	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	10:cd1758e186a4	1703	CurrentParameters.LimitChecksValue[limit_check_id] = limit_check_value;
sepp_nepp	6:fb11b746ceb5	1704	}
sepp_nepp	6:fb11b746ceb5	1705	}
sepp_nepp	6:fb11b746ceb5	1706	return status;
sepp_nepp	6:fb11b746ceb5	1707	}
sepp_nepp	6:fb11b746ceb5	1708
sepp_nepp	10:cd1758e186a4	1709	// instead of passing VL53L0X_DeviceInfo_t *p_VL53L0X_device_info, directly fill Device_Info
sepp_nepp	10:cd1758e186a4	1710	VL53L0X_Error VL53L0X::VL53L0X_get_device_info()
sepp_nepp	8:2fd7cb217068	1711	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	10:cd1758e186a4	1712	uint8_t revision_id;
sepp_nepp	10:cd1758e186a4	1713	uint8_t revision;
sepp_nepp	6:fb11b746ceb5	1714	char *product_id_tmp;
sepp_nepp	6:fb11b746ceb5	1715
sepp_nepp	7:3a1115c2556b	1716	status = VL53L0X_get_info_from_device( 2);
sepp_nepp	6:fb11b746ceb5	1717
sepp_nepp	6:fb11b746ceb5	1718	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	10:cd1758e186a4	1719	if (Data.ModuleId == 0) {
sepp_nepp	10:cd1758e186a4	1720	revision = 0;
sepp_nepp	10:cd1758e186a4	1721	VL53L0X_COPYSTRING(Device_Info.ProductId, "");
sepp_nepp	6:fb11b746ceb5	1722	} else {
sepp_nepp	10:cd1758e186a4	1723	revision = Data.Revision;
sepp_nepp	8:2fd7cb217068	1724	product_id_tmp = Data.ProductId;
sepp_nepp	10:cd1758e186a4	1725	VL53L0X_COPYSTRING(Device_Info.ProductId, product_id_tmp);
sepp_nepp	6:fb11b746ceb5	1726	}
sepp_nepp	6:fb11b746ceb5	1727	}
sepp_nepp	10:cd1758e186a4	1728
sepp_nepp	10:cd1758e186a4	1729	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1730	if (revision == 0) {
sepp_nepp	10:cd1758e186a4	1731	VL53L0X_COPYSTRING(Device_Info.Name,
sepp_nepp	6:fb11b746ceb5	1732	VL53L0X_STRING_DEVICE_INFO_NAME_TS0);
sepp_nepp	6:fb11b746ceb5	1733	} else if ((revision <= 34) && (revision != 32)) {
sepp_nepp	10:cd1758e186a4	1734	VL53L0X_COPYSTRING(Device_Info.Name,
sepp_nepp	6:fb11b746ceb5	1735	VL53L0X_STRING_DEVICE_INFO_NAME_TS1);
sepp_nepp	6:fb11b746ceb5	1736	} else if (revision < 39) {
sepp_nepp	10:cd1758e186a4	1737	VL53L0X_COPYSTRING(Device_Info.Name,
sepp_nepp	6:fb11b746ceb5	1738	VL53L0X_STRING_DEVICE_INFO_NAME_TS2);
sepp_nepp	10:cd1758e186a4	1739	} else {VL53L0X_COPYSTRING(Device_Info.Name,
sepp_nepp	6:fb11b746ceb5	1740	VL53L0X_STRING_DEVICE_INFO_NAME_ES1);
sepp_nepp	6:fb11b746ceb5	1741	}
sepp_nepp	6:fb11b746ceb5	1742
sepp_nepp	10:cd1758e186a4	1743	VL53L0X_COPYSTRING(Device_Info.Type, VL53L0X_STRING_DEVICE_INFO_TYPE);
sepp_nepp	6:fb11b746ceb5	1744	}
sepp_nepp	6:fb11b746ceb5	1745
sepp_nepp	6:fb11b746ceb5	1746	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	1747	status = VL53L0X_read_byte( VL53L0X_REG_IDENTIFICATION_MODEL_ID,
sepp_nepp	10:cd1758e186a4	1748	&Device_Info.ProductType);}
sepp_nepp	6:fb11b746ceb5	1749
sepp_nepp	6:fb11b746ceb5	1750	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	1751	status = VL53L0X_read_byte(VL53L0X_REG_IDENTIFICATION_REVISION_ID,
sepp_nepp	6:fb11b746ceb5	1752	&revision_id);
sepp_nepp	10:cd1758e186a4	1753	Device_Info.ProductRevisionMajor = 1;
sepp_nepp	10:cd1758e186a4	1754	Device_Info.ProductRevisionMinor =
sepp_nepp	6:fb11b746ceb5	1755	(revision_id & 0xF0) >> 4;
sepp_nepp	6:fb11b746ceb5	1756	}
sepp_nepp	6:fb11b746ceb5	1757	return status;
sepp_nepp	6:fb11b746ceb5	1758	}
sepp_nepp	6:fb11b746ceb5	1759
sepp_nepp	8:2fd7cb217068	1760	VL53L0X_Error VL53L0X::VL53L0X_get_interrupt_mask_status(uint32_t *p_interrupt_mask_status)
sepp_nepp	7:3a1115c2556b	1761	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1762	uint8_t byte;
sepp_nepp	6:fb11b746ceb5	1763
sepp_nepp	7:3a1115c2556b	1764	status = VL53L0X_read_byte( VL53L0X_REG_RESULT_INTERRUPT_STATUS, &byte);
sepp_nepp	6:fb11b746ceb5	1765	*p_interrupt_mask_status = byte & 0x07;
sepp_nepp	6:fb11b746ceb5	1766
sepp_nepp	7:3a1115c2556b	1767	if (byte & 0x18) { status = VL53L0X_ERROR_RANGE_ERROR;}
sepp_nepp	7:3a1115c2556b	1768
sepp_nepp	6:fb11b746ceb5	1769	return status;
sepp_nepp	6:fb11b746ceb5	1770	}
sepp_nepp	6:fb11b746ceb5	1771
sepp_nepp	8:2fd7cb217068	1772	VL53L0X_Error VL53L0X::VL53L0X_get_measurement_data_ready(uint8_t *p_measurement_data_ready)
sepp_nepp	7:3a1115c2556b	1773	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1774	uint8_t sys_range_status_register;
sepp_nepp	6:fb11b746ceb5	1775	uint8_t interrupt_config;
sepp_nepp	6:fb11b746ceb5	1776	uint32_t interrupt_mask;
sepp_nepp	6:fb11b746ceb5	1777
sepp_nepp	8:2fd7cb217068	1778	interrupt_config = Data.Pin0GpioFunctionality;
sepp_nepp	6:fb11b746ceb5	1779
sepp_nepp	6:fb11b746ceb5	1780	if (interrupt_config ==
sepp_nepp	6:fb11b746ceb5	1781	VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
sepp_nepp	7:3a1115c2556b	1782	status = VL53L0X_get_interrupt_mask_status( &interrupt_mask);
sepp_nepp	6:fb11b746ceb5	1783	if (interrupt_mask ==
sepp_nepp	6:fb11b746ceb5	1784	VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
sepp_nepp	6:fb11b746ceb5	1785	*p_measurement_data_ready = 1;
sepp_nepp	6:fb11b746ceb5	1786	} else {
sepp_nepp	6:fb11b746ceb5	1787	*p_measurement_data_ready = 0;
sepp_nepp	6:fb11b746ceb5	1788	}
sepp_nepp	6:fb11b746ceb5	1789	} else {
sepp_nepp	7:3a1115c2556b	1790	status = VL53L0X_read_byte( VL53L0X_REG_RESULT_RANGE_STATUS,
sepp_nepp	6:fb11b746ceb5	1791	&sys_range_status_register);
sepp_nepp	6:fb11b746ceb5	1792	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	1793	if (sys_range_status_register & 0x01) {
sepp_nepp	6:fb11b746ceb5	1794	*p_measurement_data_ready = 1;
sepp_nepp	7:3a1115c2556b	1795	} else { *p_measurement_data_ready = 0; }
sepp_nepp	6:fb11b746ceb5	1796	}
sepp_nepp	6:fb11b746ceb5	1797	}
sepp_nepp	6:fb11b746ceb5	1798
sepp_nepp	6:fb11b746ceb5	1799	return status;
sepp_nepp	6:fb11b746ceb5	1800	}
sepp_nepp	6:fb11b746ceb5	1801
sepp_nepp	7:3a1115c2556b	1802	VL53L0X_Error VL53L0X::VL53L0X_polling_delay(void)
sepp_nepp	7:3a1115c2556b	1803	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1804
sepp_nepp	6:fb11b746ceb5	1805	// do nothing
sepp_nepp	6:fb11b746ceb5	1806	VL53L0X_OsDelay();
sepp_nepp	6:fb11b746ceb5	1807	return status;
sepp_nepp	6:fb11b746ceb5	1808	}
sepp_nepp	6:fb11b746ceb5	1809
sepp_nepp	7:3a1115c2556b	1810	VL53L0X_Error VL53L0X::VL53L0X_measurement_poll_for_completion(void)
sepp_nepp	7:3a1115c2556b	1811	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1812	uint8_t new_data_ready = 0;
sepp_nepp	6:fb11b746ceb5	1813	uint32_t loop_nb;
sepp_nepp	6:fb11b746ceb5	1814
sepp_nepp	6:fb11b746ceb5	1815	loop_nb = 0;
sepp_nepp	6:fb11b746ceb5	1816
sepp_nepp	12:81f37e50f8f8	1817	do {
sepp_nepp	12:81f37e50f8f8	1818	status = VL53L0X_get_measurement_data_ready( &new_data_ready);
sepp_nepp	6:fb11b746ceb5	1819	if (status != 0) {
sepp_nepp	6:fb11b746ceb5	1820	break; /* the error is set */
sepp_nepp	6:fb11b746ceb5	1821	}
sepp_nepp	6:fb11b746ceb5	1822
sepp_nepp	6:fb11b746ceb5	1823	if (new_data_ready == 1) {
sepp_nepp	6:fb11b746ceb5	1824	break; /* done note that status == 0 */
sepp_nepp	6:fb11b746ceb5	1825	}
sepp_nepp	6:fb11b746ceb5	1826
sepp_nepp	6:fb11b746ceb5	1827	loop_nb++;
sepp_nepp	6:fb11b746ceb5	1828	if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
sepp_nepp	6:fb11b746ceb5	1829	status = VL53L0X_ERROR_TIME_OUT;
sepp_nepp	6:fb11b746ceb5	1830	break;
sepp_nepp	6:fb11b746ceb5	1831	}
sepp_nepp	6:fb11b746ceb5	1832
sepp_nepp	7:3a1115c2556b	1833	VL53L0X_polling_delay();
sepp_nepp	6:fb11b746ceb5	1834	} while (1);
sepp_nepp	6:fb11b746ceb5	1835
sepp_nepp	6:fb11b746ceb5	1836	return status;
sepp_nepp	6:fb11b746ceb5	1837	}
sepp_nepp	6:fb11b746ceb5	1838
sepp_nepp	6:fb11b746ceb5	1839	/* Group PAL Interrupt Functions */
sepp_nepp	7:3a1115c2556b	1840	VL53L0X_Error VL53L0X::VL53L0X_clear_interrupt_mask( uint32_t interrupt_mask)
sepp_nepp	7:3a1115c2556b	1841	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1842	uint8_t loop_count;
sepp_nepp	6:fb11b746ceb5	1843	uint8_t byte;
sepp_nepp	6:fb11b746ceb5	1844
sepp_nepp	6:fb11b746ceb5	1845	/* clear bit 0 range interrupt, bit 1 error interrupt */
sepp_nepp	6:fb11b746ceb5	1846	loop_count = 0;
sepp_nepp	6:fb11b746ceb5	1847	do {
sepp_nepp	7:3a1115c2556b	1848	status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01);
sepp_nepp	7:3a1115c2556b	1849	status \|= VL53L0X_write_byte(VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00);
sepp_nepp	7:3a1115c2556b	1850	status \|= VL53L0X_read_byte(VL53L0X_REG_RESULT_INTERRUPT_STATUS, &byte);
sepp_nepp	6:fb11b746ceb5	1851	loop_count++;
sepp_nepp	6:fb11b746ceb5	1852	} while (((byte & 0x07) != 0x00)
sepp_nepp	6:fb11b746ceb5	1853	&& (loop_count < 3)
sepp_nepp	6:fb11b746ceb5	1854	&& (status == VL53L0X_ERROR_NONE));
sepp_nepp	6:fb11b746ceb5	1855
sepp_nepp	6:fb11b746ceb5	1856	if (loop_count >= 3) {
sepp_nepp	6:fb11b746ceb5	1857	status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED;
sepp_nepp	6:fb11b746ceb5	1858	}
sepp_nepp	6:fb11b746ceb5	1859
sepp_nepp	6:fb11b746ceb5	1860
sepp_nepp	6:fb11b746ceb5	1861	return status;
sepp_nepp	6:fb11b746ceb5	1862	}
sepp_nepp	6:fb11b746ceb5	1863
sepp_nepp	8:2fd7cb217068	1864	VL53L0X_Error VL53L0X::VL53L0X_perform_single_ref_calibration(uint8_t vhv_init_byte)
sepp_nepp	8:2fd7cb217068	1865	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1866
sepp_nepp	6:fb11b746ceb5	1867	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	1868	status = VL53L0X_write_byte( VL53L0X_REG_SYSRANGE_START,
sepp_nepp	6:fb11b746ceb5	1869	VL53L0X_REG_SYSRANGE_MODE_START_STOP \|
sepp_nepp	6:fb11b746ceb5	1870	vhv_init_byte);
sepp_nepp	6:fb11b746ceb5	1871	}
sepp_nepp	6:fb11b746ceb5	1872
sepp_nepp	6:fb11b746ceb5	1873	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	1874	status = VL53L0X_measurement_poll_for_completion();}
sepp_nepp	6:fb11b746ceb5	1875
sepp_nepp	6:fb11b746ceb5	1876	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	1877	status = VL53L0X_clear_interrupt_mask( 0);}
sepp_nepp	6:fb11b746ceb5	1878
sepp_nepp	6:fb11b746ceb5	1879	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	1880	status = VL53L0X_write_byte( VL53L0X_REG_SYSRANGE_START, 0x00);
sepp_nepp	6:fb11b746ceb5	1881	}
sepp_nepp	6:fb11b746ceb5	1882
sepp_nepp	6:fb11b746ceb5	1883	return status;
sepp_nepp	6:fb11b746ceb5	1884	}
sepp_nepp	6:fb11b746ceb5	1885
sepp_nepp	7:3a1115c2556b	1886	VL53L0X_Error VL53L0X::VL53L0X_ref_calibration_io( uint8_t read_not_write,
sepp_nepp	6:fb11b746ceb5	1887	uint8_t vhv_settings, uint8_t phase_cal,
sepp_nepp	6:fb11b746ceb5	1888	uint8_t p_vhv_settings, uint8_t p_phase_cal,
sepp_nepp	6:fb11b746ceb5	1889	const uint8_t vhv_enable, const uint8_t phase_enable)
sepp_nepp	8:2fd7cb217068	1890	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1891	uint8_t phase_calint = 0;
sepp_nepp	6:fb11b746ceb5	1892
sepp_nepp	6:fb11b746ceb5	1893	/* Read VHV from device */
sepp_nepp	7:3a1115c2556b	1894	status \|= VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	1895	status \|= VL53L0X_write_byte( 0x00, 0x00);
sepp_nepp	7:3a1115c2556b	1896	status \|= VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	6:fb11b746ceb5	1897
sepp_nepp	6:fb11b746ceb5	1898	if (read_not_write) {
sepp_nepp	6:fb11b746ceb5	1899	if (vhv_enable) {
sepp_nepp	7:3a1115c2556b	1900	status \|= VL53L0X_read_byte( 0xCB, p_vhv_settings);}
sepp_nepp	6:fb11b746ceb5	1901	if (phase_enable) {
sepp_nepp	7:3a1115c2556b	1902	status \|= VL53L0X_read_byte( 0xEE, &phase_calint);}
sepp_nepp	6:fb11b746ceb5	1903	} else {
sepp_nepp	6:fb11b746ceb5	1904	if (vhv_enable) {
sepp_nepp	7:3a1115c2556b	1905	status \|= VL53L0X_write_byte( 0xCB, vhv_settings);}
sepp_nepp	6:fb11b746ceb5	1906	if (phase_enable) {
sepp_nepp	7:3a1115c2556b	1907	status \|= VL53L0X_update_byte( 0xEE, 0x80, phase_cal);}
sepp_nepp	6:fb11b746ceb5	1908	}
sepp_nepp	6:fb11b746ceb5	1909
sepp_nepp	7:3a1115c2556b	1910	status \|= VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	1911	status \|= VL53L0X_write_byte( 0x00, 0x01);
sepp_nepp	7:3a1115c2556b	1912	status \|= VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	6:fb11b746ceb5	1913
sepp_nepp	6:fb11b746ceb5	1914	*p_phase_cal = (uint8_t)(phase_calint & 0xEF);
sepp_nepp	6:fb11b746ceb5	1915
sepp_nepp	6:fb11b746ceb5	1916	return status;
sepp_nepp	6:fb11b746ceb5	1917	}
sepp_nepp	6:fb11b746ceb5	1918
sepp_nepp	8:2fd7cb217068	1919	VL53L0X_Error VL53L0X::VL53L0X_perform_vhv_calibration(uint8_t *p_vhv_settings, const uint8_t get_data_enable,
sepp_nepp	6:fb11b746ceb5	1920	const uint8_t restore_config)
sepp_nepp	8:2fd7cb217068	1921	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1922	uint8_t sequence_config = 0;
sepp_nepp	6:fb11b746ceb5	1923	uint8_t vhv_settings = 0;
sepp_nepp	6:fb11b746ceb5	1924	uint8_t phase_cal = 0;
sepp_nepp	6:fb11b746ceb5	1925	uint8_t phase_cal_int = 0;
sepp_nepp	6:fb11b746ceb5	1926
sepp_nepp	6:fb11b746ceb5	1927	/* store the value of the sequence config,
sepp_nepp	6:fb11b746ceb5	1928	* this will be reset before the end of the function
sepp_nepp	6:fb11b746ceb5	1929	*/
sepp_nepp	6:fb11b746ceb5	1930
sepp_nepp	6:fb11b746ceb5	1931	if (restore_config) {
sepp_nepp	8:2fd7cb217068	1932	sequence_config = Data.SequenceConfig;
sepp_nepp	6:fb11b746ceb5	1933	}
sepp_nepp	6:fb11b746ceb5	1934
sepp_nepp	6:fb11b746ceb5	1935	/* Run VHV */
sepp_nepp	7:3a1115c2556b	1936	status = VL53L0X_write_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x01);
sepp_nepp	6:fb11b746ceb5	1937
sepp_nepp	6:fb11b746ceb5	1938	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	1939	status = VL53L0X_perform_single_ref_calibration( 0x40);}
sepp_nepp	6:fb11b746ceb5	1940
sepp_nepp	6:fb11b746ceb5	1941	/* Read VHV from device */
sepp_nepp	6:fb11b746ceb5	1942	if ((status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) {
sepp_nepp	7:3a1115c2556b	1943	status = VL53L0X_ref_calibration_io( 1, vhv_settings, phase_cal, /* Not used here */
sepp_nepp	7:3a1115c2556b	1944	p_vhv_settings, &phase_cal_int, 1, 0);
sepp_nepp	7:3a1115c2556b	1945	} else {*p_vhv_settings = 0; }
sepp_nepp	6:fb11b746ceb5	1946
sepp_nepp	6:fb11b746ceb5	1947	if ((status == VL53L0X_ERROR_NONE) && restore_config) {
sepp_nepp	6:fb11b746ceb5	1948	/* restore the previous Sequence Config */
sepp_nepp	7:3a1115c2556b	1949	status = VL53L0X_write_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
sepp_nepp	6:fb11b746ceb5	1950	sequence_config);
sepp_nepp	6:fb11b746ceb5	1951	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1952	Data.SequenceConfig = sequence_config; }
sepp_nepp	6:fb11b746ceb5	1953	}
sepp_nepp	6:fb11b746ceb5	1954
sepp_nepp	6:fb11b746ceb5	1955	return status;
sepp_nepp	6:fb11b746ceb5	1956	}
sepp_nepp	6:fb11b746ceb5	1957
sepp_nepp	8:2fd7cb217068	1958	VL53L0X_Error VL53L0X::VL53L0X_perform_phase_calibration(uint8_t *p_phase_cal, const uint8_t get_data_enable,
sepp_nepp	6:fb11b746ceb5	1959	const uint8_t restore_config)
sepp_nepp	7:3a1115c2556b	1960	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	1961	uint8_t sequence_config = 0;
sepp_nepp	6:fb11b746ceb5	1962	uint8_t vhv_settings = 0;
sepp_nepp	6:fb11b746ceb5	1963	uint8_t phase_cal = 0;
sepp_nepp	6:fb11b746ceb5	1964	uint8_t vhv_settingsint;
sepp_nepp	6:fb11b746ceb5	1965
sepp_nepp	6:fb11b746ceb5	1966	/* store the value of the sequence config,
sepp_nepp	7:3a1115c2556b	1967	* this will be reset before the end of the function */
sepp_nepp	6:fb11b746ceb5	1968
sepp_nepp	6:fb11b746ceb5	1969	if (restore_config) {
sepp_nepp	8:2fd7cb217068	1970	sequence_config = Data.SequenceConfig;
sepp_nepp	6:fb11b746ceb5	1971	}
sepp_nepp	6:fb11b746ceb5	1972
sepp_nepp	6:fb11b746ceb5	1973	/* Run PhaseCal */
sepp_nepp	7:3a1115c2556b	1974	status = VL53L0X_write_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x02);
sepp_nepp	6:fb11b746ceb5	1975
sepp_nepp	6:fb11b746ceb5	1976	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	1977	status = VL53L0X_perform_single_ref_calibration( 0x0);
sepp_nepp	6:fb11b746ceb5	1978	}
sepp_nepp	6:fb11b746ceb5	1979
sepp_nepp	6:fb11b746ceb5	1980	/* Read PhaseCal from device */
sepp_nepp	6:fb11b746ceb5	1981	if ((status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) {
sepp_nepp	7:3a1115c2556b	1982	status = VL53L0X_ref_calibration_io( 1,
sepp_nepp	6:fb11b746ceb5	1983	vhv_settings, phase_cal, /* Not used here */
sepp_nepp	6:fb11b746ceb5	1984	&vhv_settingsint, p_phase_cal,
sepp_nepp	6:fb11b746ceb5	1985	0, 1);
sepp_nepp	6:fb11b746ceb5	1986	} else {
sepp_nepp	6:fb11b746ceb5	1987	*p_phase_cal = 0;
sepp_nepp	6:fb11b746ceb5	1988	}
sepp_nepp	6:fb11b746ceb5	1989
sepp_nepp	6:fb11b746ceb5	1990	if ((status == VL53L0X_ERROR_NONE) && restore_config) {
sepp_nepp	6:fb11b746ceb5	1991	/* restore the previous Sequence Config */
sepp_nepp	7:3a1115c2556b	1992	status = VL53L0X_write_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
sepp_nepp	6:fb11b746ceb5	1993	sequence_config);
sepp_nepp	6:fb11b746ceb5	1994	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	1995	Data.SequenceConfig = sequence_config;
sepp_nepp	6:fb11b746ceb5	1996	}
sepp_nepp	6:fb11b746ceb5	1997
sepp_nepp	6:fb11b746ceb5	1998	}
sepp_nepp	6:fb11b746ceb5	1999
sepp_nepp	6:fb11b746ceb5	2000	return status;
sepp_nepp	6:fb11b746ceb5	2001	}
sepp_nepp	6:fb11b746ceb5	2002
sepp_nepp	8:2fd7cb217068	2003	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	2004	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2005	uint8_t sequence_config = 0;
sepp_nepp	6:fb11b746ceb5	2006
sepp_nepp	6:fb11b746ceb5	2007	/* store the value of the sequence config,
sepp_nepp	7:3a1115c2556b	2008	* this will be reset before the end of the function */
sepp_nepp	7:3a1115c2556b	2009
sepp_nepp	8:2fd7cb217068	2010	sequence_config = Data.SequenceConfig;
sepp_nepp	6:fb11b746ceb5	2011
sepp_nepp	6:fb11b746ceb5	2012	/* In the following function we don't save the config to optimize
sepp_nepp	6:fb11b746ceb5	2013	* writes on device. Config is saved and restored only once. */
sepp_nepp	7:3a1115c2556b	2014	status = VL53L0X_perform_vhv_calibration(p_vhv_settings, get_data_enable, 0);
sepp_nepp	6:fb11b746ceb5	2015
sepp_nepp	6:fb11b746ceb5	2016	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2017	status = VL53L0X_perform_phase_calibration(p_phase_cal, get_data_enable, 0); }
sepp_nepp	6:fb11b746ceb5	2018
sepp_nepp	6:fb11b746ceb5	2019	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	2020	/* restore the previous Sequence Config */
sepp_nepp	7:3a1115c2556b	2021	status = VL53L0X_write_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
sepp_nepp	6:fb11b746ceb5	2022	sequence_config);
sepp_nepp	6:fb11b746ceb5	2023	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	2024	Data.SequenceConfig = sequence_config; }
sepp_nepp	6:fb11b746ceb5	2025	}
sepp_nepp	6:fb11b746ceb5	2026
sepp_nepp	6:fb11b746ceb5	2027	return status;
sepp_nepp	6:fb11b746ceb5	2028	}
sepp_nepp	6:fb11b746ceb5	2029
sepp_nepp	6:fb11b746ceb5	2030	void VL53L0X::get_next_good_spad(uint8_t good_spad_array[], uint32_t size,
sepp_nepp	6:fb11b746ceb5	2031	uint32_t curr, int32_t *p_next)
sepp_nepp	8:2fd7cb217068	2032	{ uint32_t start_index;
sepp_nepp	6:fb11b746ceb5	2033	uint32_t fine_offset;
sepp_nepp	6:fb11b746ceb5	2034	uint32_t c_spads_per_byte = 8;
sepp_nepp	6:fb11b746ceb5	2035	uint32_t coarse_index;
sepp_nepp	6:fb11b746ceb5	2036	uint32_t fine_index;
sepp_nepp	6:fb11b746ceb5	2037	uint8_t data_byte;
sepp_nepp	6:fb11b746ceb5	2038	uint8_t success = 0;
sepp_nepp	6:fb11b746ceb5	2039
sepp_nepp	7:3a1115c2556b	2040	/* Starting with the current good spad, loop through the array to find
sepp_nepp	6:fb11b746ceb5	2041	* the next. i.e. the next bit set in the sequence.
sepp_nepp	6:fb11b746ceb5	2042	*
sepp_nepp	6:fb11b746ceb5	2043	* The coarse index is the byte index of the array and the fine index is
sepp_nepp	7:3a1115c2556b	2044	* the index of the bit within each byte. */
sepp_nepp	6:fb11b746ceb5	2045
sepp_nepp	6:fb11b746ceb5	2046	*p_next = -1;
sepp_nepp	6:fb11b746ceb5	2047
sepp_nepp	6:fb11b746ceb5	2048	start_index = curr / c_spads_per_byte;
sepp_nepp	6:fb11b746ceb5	2049	fine_offset = curr % c_spads_per_byte;
sepp_nepp	6:fb11b746ceb5	2050
sepp_nepp	6:fb11b746ceb5	2051	for (coarse_index = start_index; ((coarse_index < size) && !success);
sepp_nepp	6:fb11b746ceb5	2052	coarse_index++) {
sepp_nepp	6:fb11b746ceb5	2053	fine_index = 0;
sepp_nepp	6:fb11b746ceb5	2054	data_byte = good_spad_array[coarse_index];
sepp_nepp	6:fb11b746ceb5	2055
sepp_nepp	6:fb11b746ceb5	2056	if (coarse_index == start_index) {
sepp_nepp	6:fb11b746ceb5	2057	/* locate the bit position of the provided current
sepp_nepp	6:fb11b746ceb5	2058	* spad bit before iterating */
sepp_nepp	6:fb11b746ceb5	2059	data_byte >>= fine_offset;
sepp_nepp	6:fb11b746ceb5	2060	fine_index = fine_offset;
sepp_nepp	6:fb11b746ceb5	2061	}
sepp_nepp	6:fb11b746ceb5	2062
sepp_nepp	6:fb11b746ceb5	2063	while (fine_index < c_spads_per_byte) {
sepp_nepp	6:fb11b746ceb5	2064	if ((data_byte & 0x1) == 1) {
sepp_nepp	6:fb11b746ceb5	2065	success = 1;
sepp_nepp	6:fb11b746ceb5	2066	p_next = coarse_index c_spads_per_byte + fine_index;
sepp_nepp	6:fb11b746ceb5	2067	break;
sepp_nepp	6:fb11b746ceb5	2068	}
sepp_nepp	6:fb11b746ceb5	2069	data_byte >>= 1;
sepp_nepp	6:fb11b746ceb5	2070	fine_index++;
sepp_nepp	6:fb11b746ceb5	2071	}
sepp_nepp	6:fb11b746ceb5	2072	}
sepp_nepp	6:fb11b746ceb5	2073	}
sepp_nepp	6:fb11b746ceb5	2074
sepp_nepp	6:fb11b746ceb5	2075	uint8_t VL53L0X::is_aperture(uint32_t spad_index)
sepp_nepp	8:2fd7cb217068	2076	{ /* This function reports if a given spad index is an aperture SPAD by
sepp_nepp	7:3a1115c2556b	2077	* deriving the quadrant.*/
sepp_nepp	6:fb11b746ceb5	2078	uint32_t quadrant;
sepp_nepp	6:fb11b746ceb5	2079	uint8_t is_aperture = 1;
sepp_nepp	6:fb11b746ceb5	2080	quadrant = spad_index >> 6;
sepp_nepp	6:fb11b746ceb5	2081	if (refArrayQuadrants[quadrant] == REF_ARRAY_SPAD_0) {
sepp_nepp	6:fb11b746ceb5	2082	is_aperture = 0;
sepp_nepp	6:fb11b746ceb5	2083	}
sepp_nepp	6:fb11b746ceb5	2084
sepp_nepp	6:fb11b746ceb5	2085	return is_aperture;
sepp_nepp	6:fb11b746ceb5	2086	}
sepp_nepp	6:fb11b746ceb5	2087
sepp_nepp	6:fb11b746ceb5	2088	VL53L0X_Error VL53L0X::enable_spad_bit(uint8_t spad_array[], uint32_t size,
sepp_nepp	6:fb11b746ceb5	2089	uint32_t spad_index)
sepp_nepp	7:3a1115c2556b	2090	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2091	uint32_t c_spads_per_byte = 8;
sepp_nepp	6:fb11b746ceb5	2092	uint32_t coarse_index;
sepp_nepp	6:fb11b746ceb5	2093	uint32_t fine_index;
sepp_nepp	6:fb11b746ceb5	2094
sepp_nepp	6:fb11b746ceb5	2095	coarse_index = spad_index / c_spads_per_byte;
sepp_nepp	6:fb11b746ceb5	2096	fine_index = spad_index % c_spads_per_byte;
sepp_nepp	6:fb11b746ceb5	2097	if (coarse_index >= size) {
sepp_nepp	6:fb11b746ceb5	2098	status = VL53L0X_ERROR_REF_SPAD_INIT;
sepp_nepp	6:fb11b746ceb5	2099	} else {
sepp_nepp	6:fb11b746ceb5	2100	spad_array[coarse_index] \|= (1 << fine_index);
sepp_nepp	6:fb11b746ceb5	2101	}
sepp_nepp	6:fb11b746ceb5	2102
sepp_nepp	6:fb11b746ceb5	2103	return status;
sepp_nepp	6:fb11b746ceb5	2104	}
sepp_nepp	6:fb11b746ceb5	2105
sepp_nepp	7:3a1115c2556b	2106	VL53L0X_Error VL53L0X::set_ref_spad_map( uint8_t *p_ref_spad_array)
sepp_nepp	9:cb4c6d4e5030	2107	{ VL53L0X_Error status = VL53L0X_i2c_write(VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
sepp_nepp	6:fb11b746ceb5	2108	p_ref_spad_array, 6);
sepp_nepp	6:fb11b746ceb5	2109
sepp_nepp	6:fb11b746ceb5	2110	return status;
sepp_nepp	6:fb11b746ceb5	2111	}
sepp_nepp	6:fb11b746ceb5	2112
sepp_nepp	7:3a1115c2556b	2113	VL53L0X_Error VL53L0X::get_ref_spad_map( uint8_t *p_ref_spad_array)
sepp_nepp	8:2fd7cb217068	2114	{ VL53L0X_Error status = VL53L0X_read_multi(VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0,
sepp_nepp	6:fb11b746ceb5	2115	p_ref_spad_array,
sepp_nepp	6:fb11b746ceb5	2116	6);
sepp_nepp	6:fb11b746ceb5	2117	// VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2118	// uint8_t count=0;
sepp_nepp	6:fb11b746ceb5	2119
sepp_nepp	6:fb11b746ceb5	2120	// for (count = 0; count < 6; count++)
sepp_nepp	7:3a1115c2556b	2121	// status = VL53L0X_RdByte( (VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 + count), &refSpadArray[count]);
sepp_nepp	6:fb11b746ceb5	2122	return status;
sepp_nepp	6:fb11b746ceb5	2123	}
sepp_nepp	6:fb11b746ceb5	2124
sepp_nepp	8:2fd7cb217068	2125	VL53L0X_Error VL53L0X::enable_ref_spads(uint8_t aperture_spads,
sepp_nepp	6:fb11b746ceb5	2126	uint8_t good_spad_array[],
sepp_nepp	6:fb11b746ceb5	2127	uint8_t spad_array[],
sepp_nepp	6:fb11b746ceb5	2128	uint32_t size,
sepp_nepp	6:fb11b746ceb5	2129	uint32_t start,
sepp_nepp	6:fb11b746ceb5	2130	uint32_t offset,
sepp_nepp	6:fb11b746ceb5	2131	uint32_t spad_count,
sepp_nepp	6:fb11b746ceb5	2132	uint32_t *p_last_spad)
sepp_nepp	8:2fd7cb217068	2133	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2134	uint32_t index;
sepp_nepp	6:fb11b746ceb5	2135	uint32_t i;
sepp_nepp	6:fb11b746ceb5	2136	int32_t next_good_spad = offset;
sepp_nepp	6:fb11b746ceb5	2137	uint32_t current_spad;
sepp_nepp	6:fb11b746ceb5	2138	uint8_t check_spad_array[6];
sepp_nepp	6:fb11b746ceb5	2139
sepp_nepp	6:fb11b746ceb5	2140	/*
sepp_nepp	6:fb11b746ceb5	2141	* This function takes in a spad array which may or may not have SPADS
sepp_nepp	6:fb11b746ceb5	2142	* already enabled and appends from a given offset a requested number
sepp_nepp	6:fb11b746ceb5	2143	* of new SPAD enables. The 'good spad map' is applied to
sepp_nepp	6:fb11b746ceb5	2144	* determine the next SPADs to enable.
sepp_nepp	6:fb11b746ceb5	2145	*
sepp_nepp	6:fb11b746ceb5	2146	* This function applies to only aperture or only non-aperture spads.
sepp_nepp	6:fb11b746ceb5	2147	* Checks are performed to ensure this.
sepp_nepp	6:fb11b746ceb5	2148	*/
sepp_nepp	6:fb11b746ceb5	2149
sepp_nepp	6:fb11b746ceb5	2150	current_spad = offset;
sepp_nepp	6:fb11b746ceb5	2151	for (index = 0; index < spad_count; index++) {
sepp_nepp	6:fb11b746ceb5	2152	get_next_good_spad(good_spad_array, size, current_spad,
sepp_nepp	6:fb11b746ceb5	2153	&next_good_spad);
sepp_nepp	6:fb11b746ceb5	2154
sepp_nepp	6:fb11b746ceb5	2155	if (next_good_spad == -1) {
sepp_nepp	6:fb11b746ceb5	2156	status = VL53L0X_ERROR_REF_SPAD_INIT;
sepp_nepp	6:fb11b746ceb5	2157	break;
sepp_nepp	6:fb11b746ceb5	2158	}
sepp_nepp	6:fb11b746ceb5	2159
sepp_nepp	6:fb11b746ceb5	2160	/* Confirm that the next good SPAD is non-aperture */
sepp_nepp	6:fb11b746ceb5	2161	if (is_aperture(start + next_good_spad) != aperture_spads) {
sepp_nepp	6:fb11b746ceb5	2162	/* if we can't get the required number of good aperture
sepp_nepp	6:fb11b746ceb5	2163	* spads from the current quadrant then this is an error
sepp_nepp	6:fb11b746ceb5	2164	*/
sepp_nepp	6:fb11b746ceb5	2165	status = VL53L0X_ERROR_REF_SPAD_INIT;
sepp_nepp	6:fb11b746ceb5	2166	break;
sepp_nepp	6:fb11b746ceb5	2167	}
sepp_nepp	6:fb11b746ceb5	2168	current_spad = (uint32_t)next_good_spad;
sepp_nepp	6:fb11b746ceb5	2169	enable_spad_bit(spad_array, size, current_spad);
sepp_nepp	6:fb11b746ceb5	2170	current_spad++;
sepp_nepp	6:fb11b746ceb5	2171	}
sepp_nepp	6:fb11b746ceb5	2172	*p_last_spad = current_spad;
sepp_nepp	6:fb11b746ceb5	2173
sepp_nepp	6:fb11b746ceb5	2174	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2175	status = set_ref_spad_map( spad_array);
sepp_nepp	6:fb11b746ceb5	2176	}
sepp_nepp	6:fb11b746ceb5	2177
sepp_nepp	6:fb11b746ceb5	2178	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2179	status = get_ref_spad_map( check_spad_array);
sepp_nepp	6:fb11b746ceb5	2180
sepp_nepp	6:fb11b746ceb5	2181	i = 0;
sepp_nepp	6:fb11b746ceb5	2182
sepp_nepp	6:fb11b746ceb5	2183	/* Compare spad maps. If not equal report error. */
sepp_nepp	6:fb11b746ceb5	2184	while (i < size) {
sepp_nepp	6:fb11b746ceb5	2185	if (spad_array[i] != check_spad_array[i]) {
sepp_nepp	6:fb11b746ceb5	2186	status = VL53L0X_ERROR_REF_SPAD_INIT;
sepp_nepp	6:fb11b746ceb5	2187	break;
sepp_nepp	6:fb11b746ceb5	2188	}
sepp_nepp	6:fb11b746ceb5	2189	i++;
sepp_nepp	6:fb11b746ceb5	2190	}
sepp_nepp	6:fb11b746ceb5	2191	}
sepp_nepp	6:fb11b746ceb5	2192	return status;
sepp_nepp	6:fb11b746ceb5	2193	}
sepp_nepp	6:fb11b746ceb5	2194
sepp_nepp	7:3a1115c2556b	2195	VL53L0X_Error VL53L0X::VL53L0X_set_device_mode( VL53L0X_DeviceModes device_mode)
sepp_nepp	8:2fd7cb217068	2196	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2197
sepp_nepp	6:fb11b746ceb5	2198	switch (device_mode) {
sepp_nepp	6:fb11b746ceb5	2199	case VL53L0X_DEVICEMODE_SINGLE_RANGING:
sepp_nepp	6:fb11b746ceb5	2200	case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
sepp_nepp	6:fb11b746ceb5	2201	case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
sepp_nepp	6:fb11b746ceb5	2202	case VL53L0X_DEVICEMODE_GPIO_DRIVE:
sepp_nepp	6:fb11b746ceb5	2203	case VL53L0X_DEVICEMODE_GPIO_OSC:
sepp_nepp	6:fb11b746ceb5	2204	/* Supported modes */
sepp_nepp	10:cd1758e186a4	2205	CurrentParameters.DeviceMode = device_mode;
sepp_nepp	6:fb11b746ceb5	2206	break;
sepp_nepp	6:fb11b746ceb5	2207	default:
sepp_nepp	6:fb11b746ceb5	2208	/* Unsupported mode */
sepp_nepp	6:fb11b746ceb5	2209	status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
sepp_nepp	6:fb11b746ceb5	2210	}
sepp_nepp	6:fb11b746ceb5	2211
sepp_nepp	6:fb11b746ceb5	2212
sepp_nepp	6:fb11b746ceb5	2213	return status;
sepp_nepp	6:fb11b746ceb5	2214	}
sepp_nepp	6:fb11b746ceb5	2215
sepp_nepp	8:2fd7cb217068	2216	VL53L0X_Error VL53L0X::VL53L0X_set_interrupt_thresholds(VL53L0X_DeviceModes device_mode, FixPoint1616_t threshold_low,
sepp_nepp	6:fb11b746ceb5	2217	FixPoint1616_t threshold_high)
sepp_nepp	8:2fd7cb217068	2218	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2219	uint16_t threshold16;
sepp_nepp	6:fb11b746ceb5	2220
sepp_nepp	6:fb11b746ceb5	2221
sepp_nepp	6:fb11b746ceb5	2222	/* no dependency on DeviceMode for Ewok */
sepp_nepp	6:fb11b746ceb5	2223	/* Need to divide by 2 because the FW will apply a x2 */
sepp_nepp	6:fb11b746ceb5	2224	threshold16 = (uint16_t)((threshold_low >> 17) & 0x00fff);
sepp_nepp	7:3a1115c2556b	2225	status = VL53L0X_write_word( VL53L0X_REG_SYSTEM_THRESH_LOW, threshold16);
sepp_nepp	6:fb11b746ceb5	2226
sepp_nepp	6:fb11b746ceb5	2227	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	2228	/* Need to divide by 2 because the FW will apply a x2 */
sepp_nepp	6:fb11b746ceb5	2229	threshold16 = (uint16_t)((threshold_high >> 17) & 0x00fff);
sepp_nepp	7:3a1115c2556b	2230	status = VL53L0X_write_word( VL53L0X_REG_SYSTEM_THRESH_HIGH,
sepp_nepp	6:fb11b746ceb5	2231	threshold16);
sepp_nepp	6:fb11b746ceb5	2232	}
sepp_nepp	6:fb11b746ceb5	2233
sepp_nepp	6:fb11b746ceb5	2234
sepp_nepp	6:fb11b746ceb5	2235	return status;
sepp_nepp	6:fb11b746ceb5	2236	}
sepp_nepp	6:fb11b746ceb5	2237
sepp_nepp	8:2fd7cb217068	2238	VL53L0X_Error VL53L0X::VL53L0X_get_interrupt_thresholds(VL53L0X_DeviceModes device_mode, FixPoint1616_t *p_threshold_low,
sepp_nepp	6:fb11b746ceb5	2239	FixPoint1616_t *p_threshold_high)
sepp_nepp	8:2fd7cb217068	2240	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2241	uint16_t threshold16;
sepp_nepp	6:fb11b746ceb5	2242
sepp_nepp	6:fb11b746ceb5	2243
sepp_nepp	6:fb11b746ceb5	2244	/* no dependency on DeviceMode for Ewok */
sepp_nepp	6:fb11b746ceb5	2245
sepp_nepp	7:3a1115c2556b	2246	status = VL53L0X_read_word( VL53L0X_REG_SYSTEM_THRESH_LOW, &threshold16);
sepp_nepp	6:fb11b746ceb5	2247	/* Need to multiply by 2 because the FW will apply a x2 */
sepp_nepp	6:fb11b746ceb5	2248	*p_threshold_low = (FixPoint1616_t)((0x00fff & threshold16) << 17);
sepp_nepp	6:fb11b746ceb5	2249
sepp_nepp	6:fb11b746ceb5	2250	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2251	status = VL53L0X_read_word( VL53L0X_REG_SYSTEM_THRESH_HIGH,
sepp_nepp	6:fb11b746ceb5	2252	&threshold16);
sepp_nepp	6:fb11b746ceb5	2253	/* Need to multiply by 2 because the FW will apply a x2 */
sepp_nepp	6:fb11b746ceb5	2254	*p_threshold_high =
sepp_nepp	6:fb11b746ceb5	2255	(FixPoint1616_t)((0x00fff & threshold16) << 17);
sepp_nepp	6:fb11b746ceb5	2256	}
sepp_nepp	6:fb11b746ceb5	2257
sepp_nepp	6:fb11b746ceb5	2258
sepp_nepp	6:fb11b746ceb5	2259	return status;
sepp_nepp	6:fb11b746ceb5	2260	}
sepp_nepp	6:fb11b746ceb5	2261
sepp_nepp	8:2fd7cb217068	2262	VL53L0X_Error VL53L0X::VL53L0X_load_tuning_settings(uint8_t *p_tuning_setting_buffer)
sepp_nepp	8:2fd7cb217068	2263	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2264	int i;
sepp_nepp	6:fb11b746ceb5	2265	int index;
sepp_nepp	6:fb11b746ceb5	2266	uint8_t msb;
sepp_nepp	6:fb11b746ceb5	2267	uint8_t lsb;
sepp_nepp	6:fb11b746ceb5	2268	uint8_t select_param;
sepp_nepp	9:cb4c6d4e5030	2269	uint16_t number_of_writes;
sepp_nepp	6:fb11b746ceb5	2270	uint8_t address;
sepp_nepp	6:fb11b746ceb5	2271	uint8_t local_buffer[4]; /* max */
sepp_nepp	6:fb11b746ceb5	2272	uint16_t temp16;
sepp_nepp	8:2fd7cb217068	2273
sepp_nepp	6:fb11b746ceb5	2274	index = 0;
sepp_nepp	6:fb11b746ceb5	2275
sepp_nepp	6:fb11b746ceb5	2276	while ((*(p_tuning_setting_buffer + index) != 0) &&
sepp_nepp	6:fb11b746ceb5	2277	(status == VL53L0X_ERROR_NONE)) {
sepp_nepp	6:fb11b746ceb5	2278	number_of_writes = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2279	index++;
sepp_nepp	6:fb11b746ceb5	2280	if (number_of_writes == 0xFF) {
sepp_nepp	6:fb11b746ceb5	2281	/* internal parameters */
sepp_nepp	6:fb11b746ceb5	2282	select_param = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2283	index++;
sepp_nepp	6:fb11b746ceb5	2284	switch (select_param) {
sepp_nepp	6:fb11b746ceb5	2285	case 0: /* uint16_t SigmaEstRefArray -> 2 bytes */
sepp_nepp	6:fb11b746ceb5	2286	msb = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2287	index++;
sepp_nepp	6:fb11b746ceb5	2288	lsb = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2289	index++;
sepp_nepp	6:fb11b746ceb5	2290	temp16 = VL53L0X_MAKEUINT16(lsb, msb);
sepp_nepp	8:2fd7cb217068	2291	Data.SigmaEstRefArray = temp16;
sepp_nepp	6:fb11b746ceb5	2292	break;
sepp_nepp	6:fb11b746ceb5	2293	case 1: /* uint16_t SigmaEstEffPulseWidth -> 2 bytes */
sepp_nepp	6:fb11b746ceb5	2294	msb = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2295	index++;
sepp_nepp	6:fb11b746ceb5	2296	lsb = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2297	index++;
sepp_nepp	6:fb11b746ceb5	2298	temp16 = VL53L0X_MAKEUINT16(lsb, msb);
sepp_nepp	8:2fd7cb217068	2299	Data.SigmaEstEffPulseWidth = temp16;
sepp_nepp	6:fb11b746ceb5	2300	break;
sepp_nepp	6:fb11b746ceb5	2301	case 2: /* uint16_t SigmaEstEffAmbWidth -> 2 bytes */
sepp_nepp	6:fb11b746ceb5	2302	msb = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2303	index++;
sepp_nepp	6:fb11b746ceb5	2304	lsb = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2305	index++;
sepp_nepp	6:fb11b746ceb5	2306	temp16 = VL53L0X_MAKEUINT16(lsb, msb);
sepp_nepp	8:2fd7cb217068	2307	Data.SigmaEstEffAmbWidth = temp16;
sepp_nepp	6:fb11b746ceb5	2308	break;
sepp_nepp	6:fb11b746ceb5	2309	case 3: /* uint16_t targetRefRate -> 2 bytes */
sepp_nepp	6:fb11b746ceb5	2310	msb = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2311	index++;
sepp_nepp	6:fb11b746ceb5	2312	lsb = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2313	index++;
sepp_nepp	6:fb11b746ceb5	2314	temp16 = VL53L0X_MAKEUINT16(lsb, msb);
sepp_nepp	8:2fd7cb217068	2315	Data.targetRefRate = temp16;
sepp_nepp	6:fb11b746ceb5	2316	break;
sepp_nepp	6:fb11b746ceb5	2317	default: /* invalid parameter */
sepp_nepp	6:fb11b746ceb5	2318	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	2319	}
sepp_nepp	6:fb11b746ceb5	2320
sepp_nepp	6:fb11b746ceb5	2321	} else if (number_of_writes <= 4) {
sepp_nepp	6:fb11b746ceb5	2322	address = *(p_tuning_setting_buffer + index);
sepp_nepp	6:fb11b746ceb5	2323	index++;
sepp_nepp	6:fb11b746ceb5	2324
sepp_nepp	6:fb11b746ceb5	2325	for (i = 0; i < number_of_writes; i++) {
sepp_nepp	6:fb11b746ceb5	2326	local_buffer[i] = *(p_tuning_setting_buffer +
sepp_nepp	6:fb11b746ceb5	2327	index);
sepp_nepp	6:fb11b746ceb5	2328	index++;
sepp_nepp	6:fb11b746ceb5	2329	}
sepp_nepp	6:fb11b746ceb5	2330
sepp_nepp	9:cb4c6d4e5030	2331	status = VL53L0X_i2c_write( address, local_buffer, number_of_writes);
sepp_nepp	8:2fd7cb217068	2332
sepp_nepp	8:2fd7cb217068	2333	} else { status = VL53L0X_ERROR_INVALID_PARAMS; }
sepp_nepp	6:fb11b746ceb5	2334	}
sepp_nepp	6:fb11b746ceb5	2335	return status;
sepp_nepp	6:fb11b746ceb5	2336	}
sepp_nepp	6:fb11b746ceb5	2337
sepp_nepp	8:2fd7cb217068	2338	VL53L0X_Error VL53L0X::VL53L0X_check_and_load_interrupt_settings(uint8_t start_not_stopflag)
sepp_nepp	8:2fd7cb217068	2339	{ uint8_t interrupt_config;
sepp_nepp	6:fb11b746ceb5	2340	FixPoint1616_t threshold_low;
sepp_nepp	6:fb11b746ceb5	2341	FixPoint1616_t threshold_high;
sepp_nepp	6:fb11b746ceb5	2342	VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2343
sepp_nepp	8:2fd7cb217068	2344	interrupt_config = Data.Pin0GpioFunctionality;
sepp_nepp	6:fb11b746ceb5	2345
sepp_nepp	6:fb11b746ceb5	2346	if ((interrupt_config ==
sepp_nepp	6:fb11b746ceb5	2347	VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) \|\|
sepp_nepp	6:fb11b746ceb5	2348	(interrupt_config ==
sepp_nepp	6:fb11b746ceb5	2349	VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) \|\|
sepp_nepp	6:fb11b746ceb5	2350	(interrupt_config ==
sepp_nepp	6:fb11b746ceb5	2351	VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) {
sepp_nepp	6:fb11b746ceb5	2352
sepp_nepp	8:2fd7cb217068	2353	status = VL53L0X_get_interrupt_thresholds(VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
sepp_nepp	6:fb11b746ceb5	2354	&threshold_low, &threshold_high);
sepp_nepp	6:fb11b746ceb5	2355
sepp_nepp	6:fb11b746ceb5	2356	if (((threshold_low > 255 * 65536) \|\|
sepp_nepp	6:fb11b746ceb5	2357	(threshold_high > 255 * 65536)) &&
sepp_nepp	6:fb11b746ceb5	2358	(status == VL53L0X_ERROR_NONE)) {
sepp_nepp	6:fb11b746ceb5	2359
sepp_nepp	6:fb11b746ceb5	2360	if (start_not_stopflag != 0) {
sepp_nepp	8:2fd7cb217068	2361	status = VL53L0X_load_tuning_settings(InterruptThresholdSettings);
sepp_nepp	6:fb11b746ceb5	2362	} else {
sepp_nepp	7:3a1115c2556b	2363	status \|= VL53L0X_write_byte( 0xFF, 0x04);
sepp_nepp	7:3a1115c2556b	2364	status \|= VL53L0X_write_byte( 0x70, 0x00);
sepp_nepp	7:3a1115c2556b	2365	status \|= VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	7:3a1115c2556b	2366	status \|= VL53L0X_write_byte( 0x80, 0x00);
sepp_nepp	6:fb11b746ceb5	2367	}
sepp_nepp	6:fb11b746ceb5	2368	}
sepp_nepp	6:fb11b746ceb5	2369	}
sepp_nepp	6:fb11b746ceb5	2370	return status;
sepp_nepp	6:fb11b746ceb5	2371	}
sepp_nepp	6:fb11b746ceb5	2372
sepp_nepp	7:3a1115c2556b	2373	VL53L0X_Error VL53L0X::VL53L0X_start_measurement(void)
sepp_nepp	8:2fd7cb217068	2374	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2375	VL53L0X_DeviceModes device_mode;
sepp_nepp	6:fb11b746ceb5	2376	uint8_t byte;
sepp_nepp	6:fb11b746ceb5	2377	uint8_t start_stop_byte = VL53L0X_REG_SYSRANGE_MODE_START_STOP;
sepp_nepp	6:fb11b746ceb5	2378	uint32_t loop_nb;
sepp_nepp	6:fb11b746ceb5	2379
sepp_nepp	6:fb11b746ceb5	2380
sepp_nepp	6:fb11b746ceb5	2381	/* Get Current DeviceMode */
sepp_nepp	13:253cb4ea3fcc	2382	device_mode = CurrentParameters.DeviceMode;
sepp_nepp	7:3a1115c2556b	2383
sepp_nepp	7:3a1115c2556b	2384	status = VL53L0X_write_byte( 0x80, 0x01);
sepp_nepp	7:3a1115c2556b	2385	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	2386	status = VL53L0X_write_byte( 0x00, 0x00);
sepp_nepp	8:2fd7cb217068	2387	status = VL53L0X_write_byte( 0x91, Data.StopVariable);
sepp_nepp	7:3a1115c2556b	2388	status = VL53L0X_write_byte( 0x00, 0x01);
sepp_nepp	7:3a1115c2556b	2389	status = VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	7:3a1115c2556b	2390	status = VL53L0X_write_byte( 0x80, 0x00);
sepp_nepp	6:fb11b746ceb5	2391
sepp_nepp	6:fb11b746ceb5	2392	switch (device_mode) {
sepp_nepp	6:fb11b746ceb5	2393	case VL53L0X_DEVICEMODE_SINGLE_RANGING:
sepp_nepp	7:3a1115c2556b	2394	status = VL53L0X_write_byte( VL53L0X_REG_SYSRANGE_START, 0x01);
sepp_nepp	6:fb11b746ceb5	2395
sepp_nepp	6:fb11b746ceb5	2396	byte = start_stop_byte;
sepp_nepp	6:fb11b746ceb5	2397	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	2398	/* Wait until start bit has been cleared */
sepp_nepp	6:fb11b746ceb5	2399	loop_nb = 0;
sepp_nepp	6:fb11b746ceb5	2400	do {
sepp_nepp	6:fb11b746ceb5	2401	if (loop_nb > 0)
sepp_nepp	8:2fd7cb217068	2402	status = VL53L0X_read_byte(VL53L0X_REG_SYSRANGE_START, &byte);
sepp_nepp	6:fb11b746ceb5	2403	loop_nb = loop_nb + 1;
sepp_nepp	6:fb11b746ceb5	2404	} while (((byte & start_stop_byte) == start_stop_byte)
sepp_nepp	6:fb11b746ceb5	2405	&& (status == VL53L0X_ERROR_NONE)
sepp_nepp	6:fb11b746ceb5	2406	&& (loop_nb < VL53L0X_DEFAULT_MAX_LOOP));
sepp_nepp	6:fb11b746ceb5	2407
sepp_nepp	6:fb11b746ceb5	2408	if (loop_nb >= VL53L0X_DEFAULT_MAX_LOOP) {
sepp_nepp	6:fb11b746ceb5	2409	status = VL53L0X_ERROR_TIME_OUT;
sepp_nepp	6:fb11b746ceb5	2410	}
sepp_nepp	6:fb11b746ceb5	2411	}
sepp_nepp	6:fb11b746ceb5	2412
sepp_nepp	6:fb11b746ceb5	2413	break;
sepp_nepp	9:cb4c6d4e5030	2414	case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING: /* Back-to-back mode */
sepp_nepp	6:fb11b746ceb5	2415
sepp_nepp	6:fb11b746ceb5	2416	/* Check if need to apply interrupt settings */
sepp_nepp	9:cb4c6d4e5030	2417	if (status == VL53L0X_ERROR_NONE)
sepp_nepp	9:cb4c6d4e5030	2418	{ status = VL53L0X_check_and_load_interrupt_settings( 1); }
sepp_nepp	6:fb11b746ceb5	2419
sepp_nepp	8:2fd7cb217068	2420	status = VL53L0X_write_byte(VL53L0X_REG_SYSRANGE_START,
sepp_nepp	6:fb11b746ceb5	2421	VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK);
sepp_nepp	6:fb11b746ceb5	2422	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	2423	/* Set PAL State to Running */
sepp_nepp	8:2fd7cb217068	2424	Data.PalState = VL53L0X_STATE_RUNNING;
sepp_nepp	6:fb11b746ceb5	2425	}
sepp_nepp	6:fb11b746ceb5	2426	break;
sepp_nepp	6:fb11b746ceb5	2427	case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
sepp_nepp	6:fb11b746ceb5	2428	/* Continuous mode */
sepp_nepp	6:fb11b746ceb5	2429	/* Check if need to apply interrupt settings */
sepp_nepp	6:fb11b746ceb5	2430	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	2431	status = VL53L0X_check_and_load_interrupt_settings( 1);
sepp_nepp	6:fb11b746ceb5	2432	}
sepp_nepp	6:fb11b746ceb5	2433
sepp_nepp	8:2fd7cb217068	2434	status = VL53L0X_write_byte(VL53L0X_REG_SYSRANGE_START,
sepp_nepp	6:fb11b746ceb5	2435	VL53L0X_REG_SYSRANGE_MODE_TIMED);
sepp_nepp	6:fb11b746ceb5	2436
sepp_nepp	9:cb4c6d4e5030	2437	if (status == VL53L0X_ERROR_NONE)/* Set PAL State to Running */
sepp_nepp	9:cb4c6d4e5030	2438	{ Data.PalState = VL53L0X_STATE_RUNNING; }
sepp_nepp	6:fb11b746ceb5	2439	break;
sepp_nepp	6:fb11b746ceb5	2440	default:
sepp_nepp	6:fb11b746ceb5	2441	/* Selected mode not supported */
sepp_nepp	6:fb11b746ceb5	2442	status = VL53L0X_ERROR_MODE_NOT_SUPPORTED;
sepp_nepp	6:fb11b746ceb5	2443	}
sepp_nepp	9:cb4c6d4e5030	2444
sepp_nepp	6:fb11b746ceb5	2445	return status;
sepp_nepp	6:fb11b746ceb5	2446	}
sepp_nepp	6:fb11b746ceb5	2447
sepp_nepp	6:fb11b746ceb5	2448	/* Group PAL Measurement Functions */
sepp_nepp	7:3a1115c2556b	2449	VL53L0X_Error VL53L0X::VL53L0X_perform_single_measurement(void)
sepp_nepp	8:2fd7cb217068	2450	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	9:cb4c6d4e5030	2451	VL53L0X_DeviceModes device_mode;
sepp_nepp	6:fb11b746ceb5	2452
sepp_nepp	6:fb11b746ceb5	2453	/* Get Current DeviceMode */
sepp_nepp	13:253cb4ea3fcc	2454	device_mode = CurrentParameters.DeviceMode;
sepp_nepp	6:fb11b746ceb5	2455
sepp_nepp	6:fb11b746ceb5	2456	/* Start immediately to run a single ranging measurement in case of
sepp_nepp	6:fb11b746ceb5	2457	* single ranging or single histogram */
sepp_nepp	9:cb4c6d4e5030	2458	if (status == VL53L0X_ERROR_NONE && device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING) {
sepp_nepp	9:cb4c6d4e5030	2459	status = VL53L0X_start_measurement(); }
sepp_nepp	6:fb11b746ceb5	2460
sepp_nepp	6:fb11b746ceb5	2461	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	9:cb4c6d4e5030	2462	status = VL53L0X_measurement_poll_for_completion(); }
sepp_nepp	6:fb11b746ceb5	2463
sepp_nepp	6:fb11b746ceb5	2464	/* Change PAL State in case of single ranging or single histogram */
sepp_nepp	7:3a1115c2556b	2465	if (status == VL53L0X_ERROR_NONE && device_mode == VL53L0X_DEVICEMODE_SINGLE_RANGING) {
sepp_nepp	8:2fd7cb217068	2466	Data.PalState = VL53L0X_STATE_IDLE; }
sepp_nepp	7:3a1115c2556b	2467
sepp_nepp	6:fb11b746ceb5	2468	return status;
sepp_nepp	6:fb11b746ceb5	2469	}
sepp_nepp	6:fb11b746ceb5	2470
sepp_nepp	8:2fd7cb217068	2471	VL53L0X_Error VL53L0X::VL53L0X_get_x_talk_compensation_enable(uint8_t *p_x_talk_compensation_enable)
sepp_nepp	7:3a1115c2556b	2472	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2473	uint8_t temp8;
sepp_nepp	7:3a1115c2556b	2474
sepp_nepp	10:cd1758e186a4	2475	temp8 = CurrentParameters.XTalkCompensationEnable ;
sepp_nepp	6:fb11b746ceb5	2476	*p_x_talk_compensation_enable = temp8;
sepp_nepp	6:fb11b746ceb5	2477
sepp_nepp	6:fb11b746ceb5	2478	return status;
sepp_nepp	6:fb11b746ceb5	2479	}
sepp_nepp	6:fb11b746ceb5	2480
sepp_nepp	8:2fd7cb217068	2481	VL53L0X_Error VL53L0X::VL53L0X_get_total_xtalk_rate(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
sepp_nepp	11:d8dbe3b87f9f	2482	FixPoint1616_t *p_total_xtalk_rate_MHz)
sepp_nepp	8:2fd7cb217068	2483	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2484
sepp_nepp	6:fb11b746ceb5	2485	uint8_t xtalk_comp_enable;
sepp_nepp	11:d8dbe3b87f9f	2486	FixPoint1616_t total_xtalk_MHz;
sepp_nepp	11:d8dbe3b87f9f	2487	FixPoint1616_t xtalk_per_spad_MHz;
sepp_nepp	11:d8dbe3b87f9f	2488
sepp_nepp	11:d8dbe3b87f9f	2489	*p_total_xtalk_rate_MHz = 0;
sepp_nepp	6:fb11b746ceb5	2490
sepp_nepp	7:3a1115c2556b	2491	status = VL53L0X_get_x_talk_compensation_enable( &xtalk_comp_enable);
sepp_nepp	6:fb11b746ceb5	2492	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	2493
sepp_nepp	6:fb11b746ceb5	2494	if (xtalk_comp_enable) {
sepp_nepp	6:fb11b746ceb5	2495
sepp_nepp	11:d8dbe3b87f9f	2496	xtalk_per_spad_MHz = CurrentParameters.XTalkCompensationRate_MHz ;
sepp_nepp	6:fb11b746ceb5	2497
sepp_nepp	6:fb11b746ceb5	2498	/* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */
sepp_nepp	11:d8dbe3b87f9f	2499	total_xtalk_MHz =
sepp_nepp	6:fb11b746ceb5	2500	p_ranging_measurement_data->EffectiveSpadRtnCount *
sepp_nepp	11:d8dbe3b87f9f	2501	xtalk_per_spad_MHz;
sepp_nepp	6:fb11b746ceb5	2502
sepp_nepp	6:fb11b746ceb5	2503	/* FixPoint0824 >> 8 = FixPoint1616 */
sepp_nepp	11:d8dbe3b87f9f	2504	*p_total_xtalk_rate_MHz =
sepp_nepp	11:d8dbe3b87f9f	2505	(total_xtalk_MHz + 0x80) >> 8;
sepp_nepp	6:fb11b746ceb5	2506	}
sepp_nepp	6:fb11b746ceb5	2507	}
sepp_nepp	6:fb11b746ceb5	2508	return status;
sepp_nepp	6:fb11b746ceb5	2509	}
sepp_nepp	6:fb11b746ceb5	2510
sepp_nepp	8:2fd7cb217068	2511	VL53L0X_Error VL53L0X::VL53L0X_get_total_signal_rate(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
sepp_nepp	11:d8dbe3b87f9f	2512	FixPoint1616_t *p_total_signal_rate_MHz)
sepp_nepp	8:2fd7cb217068	2513	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	11:d8dbe3b87f9f	2514	FixPoint1616_t total_xtalk_MHz;
sepp_nepp	11:d8dbe3b87f9f	2515
sepp_nepp	11:d8dbe3b87f9f	2516	*p_total_signal_rate_MHz =
sepp_nepp	11:d8dbe3b87f9f	2517	p_ranging_measurement_data->SignalRateRtn_MHz;
sepp_nepp	11:d8dbe3b87f9f	2518
sepp_nepp	11:d8dbe3b87f9f	2519	status = VL53L0X_get_total_xtalk_rate(p_ranging_measurement_data, &total_xtalk_MHz);
sepp_nepp	6:fb11b746ceb5	2520
sepp_nepp	6:fb11b746ceb5	2521	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	11:d8dbe3b87f9f	2522	*p_total_signal_rate_MHz += total_xtalk_MHz; }
sepp_nepp	6:fb11b746ceb5	2523
sepp_nepp	6:fb11b746ceb5	2524	return status;
sepp_nepp	6:fb11b746ceb5	2525	}
sepp_nepp	6:fb11b746ceb5	2526
sepp_nepp	6:fb11b746ceb5	2527	/* To convert ms into register value */
sepp_nepp	8:2fd7cb217068	2528	uint32_t VL53L0X::VL53L0X_calc_timeout_mclks(uint32_t timeout_period_us,
sepp_nepp	6:fb11b746ceb5	2529	uint8_t vcsel_period_pclks)
sepp_nepp	8:2fd7cb217068	2530	{ uint32_t macro_period_ps;
sepp_nepp	6:fb11b746ceb5	2531	uint32_t macro_period_ns;
sepp_nepp	6:fb11b746ceb5	2532	uint32_t timeout_period_mclks = 0;
sepp_nepp	6:fb11b746ceb5	2533
sepp_nepp	7:3a1115c2556b	2534	macro_period_ps = VL53L0X_calc_macro_period_ps( vcsel_period_pclks);
sepp_nepp	6:fb11b746ceb5	2535	macro_period_ns = (macro_period_ps + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	2536
sepp_nepp	9:cb4c6d4e5030	2537	timeout_period_mclks = (uint32_t)(((timeout_period_us * 1000)
sepp_nepp	6:fb11b746ceb5	2538	+ (macro_period_ns / 2)) / macro_period_ns);
sepp_nepp	6:fb11b746ceb5	2539
sepp_nepp	6:fb11b746ceb5	2540	return timeout_period_mclks;
sepp_nepp	6:fb11b746ceb5	2541	}
sepp_nepp	6:fb11b746ceb5	2542
sepp_nepp	6:fb11b746ceb5	2543	uint32_t VL53L0X::VL53L0X_isqrt(uint32_t num)
sepp_nepp	9:cb4c6d4e5030	2544	{ /* Implements an integer square root
sepp_nepp	9:cb4c6d4e5030	2545	* From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots */
sepp_nepp	6:fb11b746ceb5	2546
sepp_nepp	6:fb11b746ceb5	2547	uint32_t res = 0;
sepp_nepp	6:fb11b746ceb5	2548	uint32_t bit = 1 << 30;
sepp_nepp	9:cb4c6d4e5030	2549	/* The second-to-top bit is set: 1 << 14 for 16-bits, 1 << 30 for 32 bits */
sepp_nepp	6:fb11b746ceb5	2550
sepp_nepp	6:fb11b746ceb5	2551	/* "bit" starts at the highest power of four <= the argument. */
sepp_nepp	9:cb4c6d4e5030	2552	while (bit > num) { bit >>= 2; }
sepp_nepp	6:fb11b746ceb5	2553
sepp_nepp	6:fb11b746ceb5	2554	while (bit != 0) {
sepp_nepp	6:fb11b746ceb5	2555	if (num >= res + bit) {
sepp_nepp	6:fb11b746ceb5	2556	num -= res + bit;
sepp_nepp	6:fb11b746ceb5	2557	res = (res >> 1) + bit;
sepp_nepp	9:cb4c6d4e5030	2558	}
sepp_nepp	9:cb4c6d4e5030	2559	else { res >>= 1; }
sepp_nepp	6:fb11b746ceb5	2560	bit >>= 2;
sepp_nepp	6:fb11b746ceb5	2561	}
sepp_nepp	6:fb11b746ceb5	2562	return res;
sepp_nepp	6:fb11b746ceb5	2563	}
sepp_nepp	6:fb11b746ceb5	2564
sepp_nepp	11:d8dbe3b87f9f	2565	VL53L0X_Error VL53L0X::VL53L0X_calc_dmax(FixPoint1616_t total_signal_rate_MHz,
sepp_nepp	11:d8dbe3b87f9f	2566	FixPoint1616_t total_corr_signal_rate_MHz,
sepp_nepp	6:fb11b746ceb5	2567	FixPoint1616_t pw_mult,
sepp_nepp	6:fb11b746ceb5	2568	uint32_t sigma_estimate_p1,
sepp_nepp	6:fb11b746ceb5	2569	FixPoint1616_t sigma_estimate_p2,
sepp_nepp	6:fb11b746ceb5	2570	uint32_t peak_vcsel_duration_us,
sepp_nepp	6:fb11b746ceb5	2571	uint32_t *pd_max_mm)
sepp_nepp	8:2fd7cb217068	2572	{ const uint32_t c_sigma_limit = 18;
sepp_nepp	6:fb11b746ceb5	2573	const FixPoint1616_t c_signal_limit = 0x4000; /* 0.25 */
sepp_nepp	6:fb11b746ceb5	2574	const FixPoint1616_t c_sigma_est_ref = 0x00000042; /* 0.001 */
sepp_nepp	6:fb11b746ceb5	2575	const uint32_t c_amb_eff_width_sigma_est_ns = 6;
sepp_nepp	6:fb11b746ceb5	2576	const uint32_t c_amb_eff_width_d_max_ns = 7;
sepp_nepp	6:fb11b746ceb5	2577	uint32_t dmax_cal_range_mm;
sepp_nepp	11:d8dbe3b87f9f	2578	FixPoint1616_t dmax_cal_signal_rate_rtn_MHz;
sepp_nepp	6:fb11b746ceb5	2579	FixPoint1616_t min_signal_needed;
sepp_nepp	6:fb11b746ceb5	2580	FixPoint1616_t min_signal_needed_p1;
sepp_nepp	6:fb11b746ceb5	2581	FixPoint1616_t min_signal_needed_p2;
sepp_nepp	6:fb11b746ceb5	2582	FixPoint1616_t min_signal_needed_p3;
sepp_nepp	6:fb11b746ceb5	2583	FixPoint1616_t min_signal_needed_p4;
sepp_nepp	6:fb11b746ceb5	2584	FixPoint1616_t sigma_limit_tmp;
sepp_nepp	6:fb11b746ceb5	2585	FixPoint1616_t sigma_est_sq_tmp;
sepp_nepp	6:fb11b746ceb5	2586	FixPoint1616_t signal_limit_tmp;
sepp_nepp	6:fb11b746ceb5	2587	FixPoint1616_t signal_at0_mm;
sepp_nepp	6:fb11b746ceb5	2588	FixPoint1616_t dmax_dark;
sepp_nepp	6:fb11b746ceb5	2589	FixPoint1616_t dmax_ambient;
sepp_nepp	6:fb11b746ceb5	2590	FixPoint1616_t dmax_dark_tmp;
sepp_nepp	6:fb11b746ceb5	2591	FixPoint1616_t sigma_est_p2_tmp;
sepp_nepp	11:d8dbe3b87f9f	2592	uint32_t signal_rate_temp_MHz;
sepp_nepp	6:fb11b746ceb5	2593
sepp_nepp	6:fb11b746ceb5	2594	VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	2595
sepp_nepp	11:d8dbe3b87f9f	2596	dmax_cal_range_mm = Data.DmaxCalRange_mm;
sepp_nepp	11:d8dbe3b87f9f	2597
sepp_nepp	11:d8dbe3b87f9f	2598	dmax_cal_signal_rate_rtn_MHz = Data.DmaxCalSignalRateRtn_MHz;
sepp_nepp	6:fb11b746ceb5	2599
sepp_nepp	6:fb11b746ceb5	2600	/* uint32 * FixPoint1616 = FixPoint1616 */
sepp_nepp	11:d8dbe3b87f9f	2601	signal_at0_mm = dmax_cal_range_mm * dmax_cal_signal_rate_rtn_MHz;
sepp_nepp	6:fb11b746ceb5	2602
sepp_nepp	6:fb11b746ceb5	2603	/* FixPoint1616 >> 8 = FixPoint2408 */
sepp_nepp	6:fb11b746ceb5	2604	signal_at0_mm = (signal_at0_mm + 0x80) >> 8;
sepp_nepp	6:fb11b746ceb5	2605	signal_at0_mm *= dmax_cal_range_mm;
sepp_nepp	6:fb11b746ceb5	2606
sepp_nepp	6:fb11b746ceb5	2607	min_signal_needed_p1 = 0;
sepp_nepp	11:d8dbe3b87f9f	2608	if (total_corr_signal_rate_MHz > 0) {
sepp_nepp	6:fb11b746ceb5	2609
sepp_nepp	9:cb4c6d4e5030	2610	/* Shift by 10 bits to increase resolution prior to the division */
sepp_nepp	11:d8dbe3b87f9f	2611	signal_rate_temp_MHz = total_signal_rate_MHz << 10;
sepp_nepp	6:fb11b746ceb5	2612
sepp_nepp	6:fb11b746ceb5	2613	/* Add rounding value prior to division */
sepp_nepp	11:d8dbe3b87f9f	2614	min_signal_needed_p1 = signal_rate_temp_MHz +
sepp_nepp	11:d8dbe3b87f9f	2615	(total_corr_signal_rate_MHz / 2);
sepp_nepp	6:fb11b746ceb5	2616
sepp_nepp	6:fb11b746ceb5	2617	/* FixPoint0626/FixPoint1616 = FixPoint2210 */
sepp_nepp	11:d8dbe3b87f9f	2618	min_signal_needed_p1 /= total_corr_signal_rate_MHz;
sepp_nepp	6:fb11b746ceb5	2619
sepp_nepp	6:fb11b746ceb5	2620	/* Apply a factored version of the speed of light.
sepp_nepp	6:fb11b746ceb5	2621	Correction to be applied at the end */
sepp_nepp	6:fb11b746ceb5	2622	min_signal_needed_p1 *= 3;
sepp_nepp	6:fb11b746ceb5	2623
sepp_nepp	6:fb11b746ceb5	2624	/* FixPoint2210 * FixPoint2210 = FixPoint1220 */
sepp_nepp	6:fb11b746ceb5	2625	min_signal_needed_p1 *= min_signal_needed_p1;
sepp_nepp	6:fb11b746ceb5	2626
sepp_nepp	6:fb11b746ceb5	2627	/* FixPoint1220 >> 16 = FixPoint2804 */
sepp_nepp	6:fb11b746ceb5	2628	min_signal_needed_p1 = (min_signal_needed_p1 + 0x8000) >> 16;
sepp_nepp	6:fb11b746ceb5	2629	}
sepp_nepp	6:fb11b746ceb5	2630	min_signal_needed_p2 = pw_mult * sigma_estimate_p1;
sepp_nepp	6:fb11b746ceb5	2631
sepp_nepp	6:fb11b746ceb5	2632	/* FixPoint1616 >> 16 = uint32 */
sepp_nepp	6:fb11b746ceb5	2633	min_signal_needed_p2 = (min_signal_needed_p2 + 0x8000) >> 16;
sepp_nepp	6:fb11b746ceb5	2634
sepp_nepp	6:fb11b746ceb5	2635	/* uint32 * uint32 = uint32 */
sepp_nepp	6:fb11b746ceb5	2636	min_signal_needed_p2 *= min_signal_needed_p2;
sepp_nepp	6:fb11b746ceb5	2637
sepp_nepp	6:fb11b746ceb5	2638	/* Check sigmaEstimateP2
sepp_nepp	6:fb11b746ceb5	2639	* If this value is too high there is not enough signal rate
sepp_nepp	6:fb11b746ceb5	2640	* to calculate dmax value so set a suitable value to ensure
sepp_nepp	9:cb4c6d4e5030	2641	* a very small dmax. */
sepp_nepp	6:fb11b746ceb5	2642	sigma_est_p2_tmp = (sigma_estimate_p2 + 0x8000) >> 16;
sepp_nepp	6:fb11b746ceb5	2643	sigma_est_p2_tmp = (sigma_est_p2_tmp + c_amb_eff_width_sigma_est_ns / 2) /
sepp_nepp	6:fb11b746ceb5	2644	c_amb_eff_width_sigma_est_ns;
sepp_nepp	6:fb11b746ceb5	2645	sigma_est_p2_tmp *= c_amb_eff_width_d_max_ns;
sepp_nepp	6:fb11b746ceb5	2646
sepp_nepp	6:fb11b746ceb5	2647	if (sigma_est_p2_tmp > 0xffff) {
sepp_nepp	6:fb11b746ceb5	2648	min_signal_needed_p3 = 0xfff00000;
sepp_nepp	6:fb11b746ceb5	2649	} else {
sepp_nepp	9:cb4c6d4e5030	2650	/* DMAX uses a different ambient width from sigma, so apply correction.
sepp_nepp	9:cb4c6d4e5030	2651	* Perform division before multiplication to prevent overflow. */
sepp_nepp	6:fb11b746ceb5	2652	sigma_estimate_p2 = (sigma_estimate_p2 + c_amb_eff_width_sigma_est_ns / 2) /
sepp_nepp	6:fb11b746ceb5	2653	c_amb_eff_width_sigma_est_ns;
sepp_nepp	6:fb11b746ceb5	2654	sigma_estimate_p2 *= c_amb_eff_width_d_max_ns;
sepp_nepp	6:fb11b746ceb5	2655
sepp_nepp	6:fb11b746ceb5	2656	/* FixPoint1616 >> 16 = uint32 */
sepp_nepp	6:fb11b746ceb5	2657	min_signal_needed_p3 = (sigma_estimate_p2 + 0x8000) >> 16;
sepp_nepp	6:fb11b746ceb5	2658	min_signal_needed_p3 *= min_signal_needed_p3;
sepp_nepp	6:fb11b746ceb5	2659	}
sepp_nepp	6:fb11b746ceb5	2660
sepp_nepp	6:fb11b746ceb5	2661	/* FixPoint1814 / uint32 = FixPoint1814 */
sepp_nepp	6:fb11b746ceb5	2662	sigma_limit_tmp = ((c_sigma_limit << 14) + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	2663
sepp_nepp	6:fb11b746ceb5	2664	/* FixPoint1814 * FixPoint1814 = FixPoint3628 := FixPoint0428 */
sepp_nepp	6:fb11b746ceb5	2665	sigma_limit_tmp *= sigma_limit_tmp;
sepp_nepp	6:fb11b746ceb5	2666
sepp_nepp	6:fb11b746ceb5	2667	/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
sepp_nepp	6:fb11b746ceb5	2668	sigma_est_sq_tmp = c_sigma_est_ref * c_sigma_est_ref;
sepp_nepp	6:fb11b746ceb5	2669
sepp_nepp	6:fb11b746ceb5	2670	/* FixPoint3232 >> 4 = FixPoint0428 */
sepp_nepp	6:fb11b746ceb5	2671	sigma_est_sq_tmp = (sigma_est_sq_tmp + 0x08) >> 4;
sepp_nepp	6:fb11b746ceb5	2672
sepp_nepp	6:fb11b746ceb5	2673	/* FixPoint0428 - FixPoint0428 = FixPoint0428 */
sepp_nepp	6:fb11b746ceb5	2674	sigma_limit_tmp -= sigma_est_sq_tmp;
sepp_nepp	6:fb11b746ceb5	2675
sepp_nepp	6:fb11b746ceb5	2676	/* uint32_t * FixPoint0428 = FixPoint0428 */
sepp_nepp	6:fb11b746ceb5	2677	min_signal_needed_p4 = 4 * 12 * sigma_limit_tmp;
sepp_nepp	6:fb11b746ceb5	2678
sepp_nepp	6:fb11b746ceb5	2679	/* FixPoint0428 >> 14 = FixPoint1814 */
sepp_nepp	6:fb11b746ceb5	2680	min_signal_needed_p4 = (min_signal_needed_p4 + 0x2000) >> 14;
sepp_nepp	6:fb11b746ceb5	2681
sepp_nepp	6:fb11b746ceb5	2682	/* uint32 + uint32 = uint32 */
sepp_nepp	6:fb11b746ceb5	2683	min_signal_needed = (min_signal_needed_p2 + min_signal_needed_p3);
sepp_nepp	6:fb11b746ceb5	2684
sepp_nepp	6:fb11b746ceb5	2685	/* uint32 / uint32 = uint32 */
sepp_nepp	6:fb11b746ceb5	2686	min_signal_needed += (peak_vcsel_duration_us / 2);
sepp_nepp	6:fb11b746ceb5	2687	min_signal_needed /= peak_vcsel_duration_us;
sepp_nepp	6:fb11b746ceb5	2688
sepp_nepp	6:fb11b746ceb5	2689	/* uint32 << 14 = FixPoint1814 */
sepp_nepp	6:fb11b746ceb5	2690	min_signal_needed <<= 14;
sepp_nepp	6:fb11b746ceb5	2691
sepp_nepp	6:fb11b746ceb5	2692	/* FixPoint1814 / FixPoint1814 = uint32 */
sepp_nepp	6:fb11b746ceb5	2693	min_signal_needed += (min_signal_needed_p4 / 2);
sepp_nepp	6:fb11b746ceb5	2694	min_signal_needed /= min_signal_needed_p4;
sepp_nepp	6:fb11b746ceb5	2695
sepp_nepp	6:fb11b746ceb5	2696	/* FixPoint3200 * FixPoint2804 := FixPoint2804*/
sepp_nepp	6:fb11b746ceb5	2697	min_signal_needed *= min_signal_needed_p1;
sepp_nepp	6:fb11b746ceb5	2698
sepp_nepp	6:fb11b746ceb5	2699	/* Apply correction by dividing by 1000000.
sepp_nepp	6:fb11b746ceb5	2700	* This assumes 10E16 on the numerator of the equation
sepp_nepp	6:fb11b746ceb5	2701	* and 10E-22 on the denominator.
sepp_nepp	6:fb11b746ceb5	2702	* We do this because 32bit fix point calculation can't
sepp_nepp	6:fb11b746ceb5	2703	* handle the larger and smaller elements of this equation,
sepp_nepp	6:fb11b746ceb5	2704	* i.e. speed of light and pulse widths.
sepp_nepp	6:fb11b746ceb5	2705	*/
sepp_nepp	6:fb11b746ceb5	2706	min_signal_needed = (min_signal_needed + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	2707	min_signal_needed <<= 4;
sepp_nepp	6:fb11b746ceb5	2708
sepp_nepp	6:fb11b746ceb5	2709	min_signal_needed = (min_signal_needed + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	2710
sepp_nepp	6:fb11b746ceb5	2711	/* FixPoint1616 >> 8 = FixPoint2408 */
sepp_nepp	6:fb11b746ceb5	2712	signal_limit_tmp = (c_signal_limit + 0x80) >> 8;
sepp_nepp	6:fb11b746ceb5	2713
sepp_nepp	6:fb11b746ceb5	2714	/* FixPoint2408/FixPoint2408 = uint32 */
sepp_nepp	6:fb11b746ceb5	2715	if (signal_limit_tmp != 0) {
sepp_nepp	6:fb11b746ceb5	2716	dmax_dark_tmp = (signal_at0_mm + (signal_limit_tmp / 2))
sepp_nepp	6:fb11b746ceb5	2717	/ signal_limit_tmp;
sepp_nepp	9:cb4c6d4e5030	2718	} else { dmax_dark_tmp = 0; }
sepp_nepp	6:fb11b746ceb5	2719
sepp_nepp	6:fb11b746ceb5	2720	dmax_dark = VL53L0X_isqrt(dmax_dark_tmp);
sepp_nepp	6:fb11b746ceb5	2721
sepp_nepp	6:fb11b746ceb5	2722	/* FixPoint2408/FixPoint2408 = uint32 */
sepp_nepp	6:fb11b746ceb5	2723	if (min_signal_needed != 0) {
sepp_nepp	6:fb11b746ceb5	2724	dmax_ambient = (signal_at0_mm + min_signal_needed / 2)
sepp_nepp	6:fb11b746ceb5	2725	/ min_signal_needed;
sepp_nepp	9:cb4c6d4e5030	2726	} else { dmax_ambient = 0; }
sepp_nepp	6:fb11b746ceb5	2727
sepp_nepp	6:fb11b746ceb5	2728	dmax_ambient = VL53L0X_isqrt(dmax_ambient);
sepp_nepp	6:fb11b746ceb5	2729
sepp_nepp	6:fb11b746ceb5	2730	*pd_max_mm = dmax_dark;
sepp_nepp	9:cb4c6d4e5030	2731	if (dmax_dark > dmax_ambient) { *pd_max_mm = dmax_ambient; }
sepp_nepp	6:fb11b746ceb5	2732
sepp_nepp	6:fb11b746ceb5	2733	return status;
sepp_nepp	6:fb11b746ceb5	2734	}
sepp_nepp	6:fb11b746ceb5	2735
sepp_nepp	8:2fd7cb217068	2736	VL53L0X_Error VL53L0X::VL53L0X_calc_sigma_estimate(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
sepp_nepp	12:81f37e50f8f8	2737	FixPoint1616_t p_sigma_estimate, uint32_t p_dmax_mm)
sepp_nepp	8:2fd7cb217068	2738	{ /* Expressed in 100ths of a ns, i.e. centi-ns */
sepp_nepp	6:fb11b746ceb5	2739	const uint32_t c_pulse_effective_width_centi_ns = 800;
sepp_nepp	6:fb11b746ceb5	2740	/* Expressed in 100ths of a ns, i.e. centi-ns */
sepp_nepp	6:fb11b746ceb5	2741	const uint32_t c_ambient_effective_width_centi_ns = 600;
sepp_nepp	6:fb11b746ceb5	2742	const FixPoint1616_t c_dflt_final_range_integration_time_milli_secs = 0x00190000; /* 25ms */
sepp_nepp	6:fb11b746ceb5	2743	const uint32_t c_vcsel_pulse_width_ps = 4700; /* pico secs */
sepp_nepp	6:fb11b746ceb5	2744	const FixPoint1616_t c_sigma_est_max = 0x028F87AE;
sepp_nepp	6:fb11b746ceb5	2745	const FixPoint1616_t c_sigma_est_rtn_max = 0xF000;
sepp_nepp	6:fb11b746ceb5	2746	const FixPoint1616_t c_amb_to_signal_ratio_max = 0xF0000000 /
sepp_nepp	6:fb11b746ceb5	2747	c_ambient_effective_width_centi_ns;
sepp_nepp	6:fb11b746ceb5	2748	/* Time Of Flight per mm (6.6 pico secs) */
sepp_nepp	6:fb11b746ceb5	2749	const FixPoint1616_t c_tof_per_mm_ps = 0x0006999A;
sepp_nepp	6:fb11b746ceb5	2750	const uint32_t c_16bit_rounding_param = 0x00008000;
sepp_nepp	6:fb11b746ceb5	2751	const FixPoint1616_t c_max_x_talk_kcps = 0x00320000;
sepp_nepp	6:fb11b746ceb5	2752	const uint32_t c_pll_period_ps = 1655;
sepp_nepp	6:fb11b746ceb5	2753
sepp_nepp	6:fb11b746ceb5	2754	uint32_t vcsel_total_events_rtn;
sepp_nepp	6:fb11b746ceb5	2755	uint32_t final_range_timeout_micro_secs;
sepp_nepp	6:fb11b746ceb5	2756	uint32_t pre_range_timeout_micro_secs;
sepp_nepp	6:fb11b746ceb5	2757	uint32_t final_range_integration_time_milli_secs;
sepp_nepp	6:fb11b746ceb5	2758	FixPoint1616_t sigma_estimate_p1;
sepp_nepp	6:fb11b746ceb5	2759	FixPoint1616_t sigma_estimate_p2;
sepp_nepp	6:fb11b746ceb5	2760	FixPoint1616_t sigma_estimate_p3;
sepp_nepp	6:fb11b746ceb5	2761	FixPoint1616_t delta_t_ps;
sepp_nepp	6:fb11b746ceb5	2762	FixPoint1616_t pw_mult;
sepp_nepp	6:fb11b746ceb5	2763	FixPoint1616_t sigma_est_rtn;
sepp_nepp	6:fb11b746ceb5	2764	FixPoint1616_t sigma_estimate;
sepp_nepp	6:fb11b746ceb5	2765	FixPoint1616_t x_talk_correction;
sepp_nepp	6:fb11b746ceb5	2766	FixPoint1616_t ambient_rate_kcps;
sepp_nepp	6:fb11b746ceb5	2767	FixPoint1616_t peak_signal_rate_kcps;
sepp_nepp	11:d8dbe3b87f9f	2768	FixPoint1616_t x_talk_comp_rate_MHz;
sepp_nepp	6:fb11b746ceb5	2769	uint32_t x_talk_comp_rate_kcps;
sepp_nepp	6:fb11b746ceb5	2770	VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	11:d8dbe3b87f9f	2771	FixPoint1616_t diff1_MHz;
sepp_nepp	11:d8dbe3b87f9f	2772	FixPoint1616_t diff2_MHz;
sepp_nepp	6:fb11b746ceb5	2773	FixPoint1616_t sqr1;
sepp_nepp	6:fb11b746ceb5	2774	FixPoint1616_t sqr2;
sepp_nepp	6:fb11b746ceb5	2775	FixPoint1616_t sqr_sum;
sepp_nepp	6:fb11b746ceb5	2776	FixPoint1616_t sqrt_result_centi_ns;
sepp_nepp	6:fb11b746ceb5	2777	FixPoint1616_t sqrt_result;
sepp_nepp	11:d8dbe3b87f9f	2778	FixPoint1616_t total_signal_rate_MHz;
sepp_nepp	11:d8dbe3b87f9f	2779	FixPoint1616_t corrected_signal_rate_MHz;
sepp_nepp	6:fb11b746ceb5	2780	FixPoint1616_t sigma_est_ref;
sepp_nepp	6:fb11b746ceb5	2781	uint32_t vcsel_width;
sepp_nepp	6:fb11b746ceb5	2782	uint32_t final_range_macro_pclks;
sepp_nepp	6:fb11b746ceb5	2783	uint32_t pre_range_macro_pclks;
sepp_nepp	6:fb11b746ceb5	2784	uint32_t peak_vcsel_duration_us;
sepp_nepp	6:fb11b746ceb5	2785	uint8_t final_range_vcsel_pclks;
sepp_nepp	6:fb11b746ceb5	2786	uint8_t pre_range_vcsel_pclks;
sepp_nepp	6:fb11b746ceb5	2787	/*! \addtogroup calc_sigma_estimate
sepp_nepp	6:fb11b746ceb5	2788	* @{
sepp_nepp	6:fb11b746ceb5	2789	*
sepp_nepp	6:fb11b746ceb5	2790	* Estimates the range sigma
sepp_nepp	6:fb11b746ceb5	2791	*/
sepp_nepp	6:fb11b746ceb5	2792
sepp_nepp	11:d8dbe3b87f9f	2793	x_talk_comp_rate_MHz = CurrentParameters.XTalkCompensationRate_MHz ;
sepp_nepp	6:fb11b746ceb5	2794
sepp_nepp	6:fb11b746ceb5	2795	/*
sepp_nepp	11:d8dbe3b87f9f	2796	* We work in kcps rather than MHz as this helps keep within the
sepp_nepp	6:fb11b746ceb5	2797	* confines of the 32 Fix1616 type.
sepp_nepp	6:fb11b746ceb5	2798	*/
sepp_nepp	6:fb11b746ceb5	2799
sepp_nepp	12:81f37e50f8f8	2800	ambient_rate_kcps = (p_ranging_measurement_data->AmbientRateRtn_MHz * 1000) >> 16;
sepp_nepp	12:81f37e50f8f8	2801
sepp_nepp	12:81f37e50f8f8	2802	corrected_signal_rate_MHz = p_ranging_measurement_data->SignalRateRtn_MHz;
sepp_nepp	11:d8dbe3b87f9f	2803
sepp_nepp	11:d8dbe3b87f9f	2804	status = VL53L0X_get_total_signal_rate(p_ranging_measurement_data, &total_signal_rate_MHz);
sepp_nepp	11:d8dbe3b87f9f	2805	status = VL53L0X_get_total_xtalk_rate(p_ranging_measurement_data, &x_talk_comp_rate_MHz);
sepp_nepp	6:fb11b746ceb5	2806
sepp_nepp	6:fb11b746ceb5	2807	/* Signal rate measurement provided by device is the
sepp_nepp	6:fb11b746ceb5	2808	* peak signal rate, not average.
sepp_nepp	6:fb11b746ceb5	2809	*/
sepp_nepp	11:d8dbe3b87f9f	2810	peak_signal_rate_kcps = (total_signal_rate_MHz * 1000);
sepp_nepp	6:fb11b746ceb5	2811	peak_signal_rate_kcps = (peak_signal_rate_kcps + 0x8000) >> 16;
sepp_nepp	6:fb11b746ceb5	2812
sepp_nepp	11:d8dbe3b87f9f	2813	x_talk_comp_rate_kcps = x_talk_comp_rate_MHz * 1000;
sepp_nepp	6:fb11b746ceb5	2814
sepp_nepp	6:fb11b746ceb5	2815	if (x_talk_comp_rate_kcps > c_max_x_talk_kcps) {
sepp_nepp	6:fb11b746ceb5	2816	x_talk_comp_rate_kcps = c_max_x_talk_kcps;
sepp_nepp	6:fb11b746ceb5	2817	}
sepp_nepp	6:fb11b746ceb5	2818
sepp_nepp	6:fb11b746ceb5	2819	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	2820
sepp_nepp	6:fb11b746ceb5	2821	/* Calculate final range macro periods */
sepp_nepp	11:d8dbe3b87f9f	2822	final_range_timeout_micro_secs = Data.FinalRangeTimeout_us;
sepp_nepp	8:2fd7cb217068	2823	final_range_vcsel_pclks = Data.FinalRangeVcselPulsePeriod;
sepp_nepp	7:3a1115c2556b	2824	final_range_macro_pclks = VL53L0X_calc_timeout_mclks( final_range_timeout_micro_secs, final_range_vcsel_pclks);
sepp_nepp	6:fb11b746ceb5	2825
sepp_nepp	6:fb11b746ceb5	2826	/* Calculate pre-range macro periods */
sepp_nepp	11:d8dbe3b87f9f	2827	pre_range_timeout_micro_secs = Data.PreRangeTimeout_us;
sepp_nepp	8:2fd7cb217068	2828	pre_range_vcsel_pclks = Data.PreRangeVcselPulsePeriod;
sepp_nepp	7:3a1115c2556b	2829
sepp_nepp	7:3a1115c2556b	2830	pre_range_macro_pclks = VL53L0X_calc_timeout_mclks(pre_range_timeout_micro_secs, pre_range_vcsel_pclks);
sepp_nepp	6:fb11b746ceb5	2831
sepp_nepp	6:fb11b746ceb5	2832	vcsel_width = 3;
sepp_nepp	6:fb11b746ceb5	2833	if (final_range_vcsel_pclks == 8) {
sepp_nepp	6:fb11b746ceb5	2834	vcsel_width = 2;
sepp_nepp	6:fb11b746ceb5	2835	}
sepp_nepp	6:fb11b746ceb5	2836
sepp_nepp	6:fb11b746ceb5	2837	peak_vcsel_duration_us = vcsel_width * 2048 *
sepp_nepp	6:fb11b746ceb5	2838	(pre_range_macro_pclks + final_range_macro_pclks);
sepp_nepp	6:fb11b746ceb5	2839	peak_vcsel_duration_us = (peak_vcsel_duration_us + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	2840	peak_vcsel_duration_us *= c_pll_period_ps;
sepp_nepp	6:fb11b746ceb5	2841	peak_vcsel_duration_us = (peak_vcsel_duration_us + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	2842
sepp_nepp	6:fb11b746ceb5	2843	/* Fix1616 >> 8 = Fix2408 */
sepp_nepp	11:d8dbe3b87f9f	2844	total_signal_rate_MHz = (total_signal_rate_MHz + 0x80) >> 8;
sepp_nepp	6:fb11b746ceb5	2845
sepp_nepp	6:fb11b746ceb5	2846	/* Fix2408 * uint32 = Fix2408 */
sepp_nepp	11:d8dbe3b87f9f	2847	vcsel_total_events_rtn = total_signal_rate_MHz *
sepp_nepp	6:fb11b746ceb5	2848	peak_vcsel_duration_us;
sepp_nepp	6:fb11b746ceb5	2849
sepp_nepp	6:fb11b746ceb5	2850	/* Fix2408 >> 8 = uint32 */
sepp_nepp	6:fb11b746ceb5	2851	vcsel_total_events_rtn = (vcsel_total_events_rtn + 0x80) >> 8;
sepp_nepp	6:fb11b746ceb5	2852
sepp_nepp	6:fb11b746ceb5	2853	/* Fix2408 << 8 = Fix1616 = */
sepp_nepp	11:d8dbe3b87f9f	2854	total_signal_rate_MHz <<= 8;
sepp_nepp	6:fb11b746ceb5	2855	}
sepp_nepp	6:fb11b746ceb5	2856
sepp_nepp	12:81f37e50f8f8	2857	if (status != VL53L0X_ERROR_NONE) { return status; }
sepp_nepp	6:fb11b746ceb5	2858
sepp_nepp	6:fb11b746ceb5	2859	if (peak_signal_rate_kcps == 0) {
sepp_nepp	6:fb11b746ceb5	2860	*p_sigma_estimate = c_sigma_est_max;
sepp_nepp	12:81f37e50f8f8	2861	p_ranging_measurement_data->SigmaEstimate = c_sigma_est_max;
sepp_nepp	6:fb11b746ceb5	2862	*p_dmax_mm = 0;
sepp_nepp	6:fb11b746ceb5	2863	} else {
sepp_nepp	12:81f37e50f8f8	2864	if (vcsel_total_events_rtn < 1) { vcsel_total_events_rtn = 1; }
sepp_nepp	6:fb11b746ceb5	2865
sepp_nepp	6:fb11b746ceb5	2866	sigma_estimate_p1 = c_pulse_effective_width_centi_ns;
sepp_nepp	6:fb11b746ceb5	2867
sepp_nepp	6:fb11b746ceb5	2868	/* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	2869	sigma_estimate_p2 = (ambient_rate_kcps << 16) / peak_signal_rate_kcps;
sepp_nepp	6:fb11b746ceb5	2870	if (sigma_estimate_p2 > c_amb_to_signal_ratio_max) {
sepp_nepp	6:fb11b746ceb5	2871	/* Clip to prevent overflow. Will ensure safe
sepp_nepp	6:fb11b746ceb5	2872	* max result. */
sepp_nepp	6:fb11b746ceb5	2873	sigma_estimate_p2 = c_amb_to_signal_ratio_max;
sepp_nepp	6:fb11b746ceb5	2874	}
sepp_nepp	6:fb11b746ceb5	2875	sigma_estimate_p2 *= c_ambient_effective_width_centi_ns;
sepp_nepp	6:fb11b746ceb5	2876
sepp_nepp	6:fb11b746ceb5	2877	sigma_estimate_p3 = 2 * VL53L0X_isqrt(vcsel_total_events_rtn * 12);
sepp_nepp	6:fb11b746ceb5	2878
sepp_nepp	6:fb11b746ceb5	2879	/* uint32 * FixPoint1616 = FixPoint1616 */
sepp_nepp	12:81f37e50f8f8	2880	delta_t_ps = p_ranging_measurement_data->Range_mm * c_tof_per_mm_ps;
sepp_nepp	12:81f37e50f8f8	2881
sepp_nepp	12:81f37e50f8f8	2882	/* vcselRate - xtalkCompRate
sepp_nepp	6:fb11b746ceb5	2883	* (uint32 << 16) - FixPoint1616 = FixPoint1616.
sepp_nepp	11:d8dbe3b87f9f	2884	* Divide result by 1000 to convert to MHz.
sepp_nepp	12:81f37e50f8f8	2885	* 500 is added to ensure rounding when integer division truncates. */
sepp_nepp	11:d8dbe3b87f9f	2886	diff1_MHz = (((peak_signal_rate_kcps << 16) -
sepp_nepp	6:fb11b746ceb5	2887	2 * x_talk_comp_rate_kcps) + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	2888
sepp_nepp	6:fb11b746ceb5	2889	/* vcselRate + xtalkCompRate */
sepp_nepp	11:d8dbe3b87f9f	2890	diff2_MHz = ((peak_signal_rate_kcps << 16) + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	2891
sepp_nepp	12:81f37e50f8f8	2892	/* Shift by 8 bits to increase resolution prior to the division */
sepp_nepp	11:d8dbe3b87f9f	2893	diff1_MHz <<= 8;
sepp_nepp	6:fb11b746ceb5	2894
sepp_nepp	6:fb11b746ceb5	2895	/* FixPoint0824/FixPoint1616 = FixPoint2408 */
sepp_nepp	11:d8dbe3b87f9f	2896	x_talk_correction = diff1_MHz / diff2_MHz;
sepp_nepp	6:fb11b746ceb5	2897
sepp_nepp	6:fb11b746ceb5	2898	/* FixPoint2408 << 8 = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	2899	x_talk_correction <<= 8;
sepp_nepp	6:fb11b746ceb5	2900
sepp_nepp	6:fb11b746ceb5	2901	if (p_ranging_measurement_data->RangeStatus != 0) {
sepp_nepp	6:fb11b746ceb5	2902	pw_mult = 1 << 16;
sepp_nepp	6:fb11b746ceb5	2903	} else {
sepp_nepp	6:fb11b746ceb5	2904	/* FixPoint1616/uint32 = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	2905	pw_mult = delta_t_ps / c_vcsel_pulse_width_ps; /* smaller than 1.0f */
sepp_nepp	6:fb11b746ceb5	2906
sepp_nepp	12:81f37e50f8f8	2907	/* FixPoint1616 * FixPoint1616 = FixPoint3232, however both
sepp_nepp	12:81f37e50f8f8	2908	* values are small enough such that32 bits will not be exceeded. */
sepp_nepp	6:fb11b746ceb5	2909	pw_mult *= ((1 << 16) - x_talk_correction);
sepp_nepp	6:fb11b746ceb5	2910
sepp_nepp	6:fb11b746ceb5	2911	/* (FixPoint3232 >> 16) = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	2912	pw_mult = (pw_mult + c_16bit_rounding_param) >> 16;
sepp_nepp	6:fb11b746ceb5	2913
sepp_nepp	6:fb11b746ceb5	2914	/* FixPoint1616 + FixPoint1616 = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	2915	pw_mult += (1 << 16);
sepp_nepp	6:fb11b746ceb5	2916
sepp_nepp	12:81f37e50f8f8	2917	/* At this point the value will be 1.xx, therefore if we square
sepp_nepp	6:fb11b746ceb5	2918	* the value this will exceed 32 bits. To address this perform
sepp_nepp	12:81f37e50f8f8	2919	* a single shift to the right before the multiplication. */
sepp_nepp	6:fb11b746ceb5	2920	pw_mult >>= 1;
sepp_nepp	6:fb11b746ceb5	2921	/* FixPoint1715 * FixPoint1715 = FixPoint3430 */
sepp_nepp	6:fb11b746ceb5	2922	pw_mult = pw_mult * pw_mult;
sepp_nepp	6:fb11b746ceb5	2923
sepp_nepp	6:fb11b746ceb5	2924	/* (FixPoint3430 >> 14) = Fix1616 */
sepp_nepp	6:fb11b746ceb5	2925	pw_mult >>= 14;
sepp_nepp	6:fb11b746ceb5	2926	}
sepp_nepp	6:fb11b746ceb5	2927
sepp_nepp	6:fb11b746ceb5	2928	/* FixPoint1616 * uint32 = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	2929	sqr1 = pw_mult * sigma_estimate_p1;
sepp_nepp	6:fb11b746ceb5	2930
sepp_nepp	6:fb11b746ceb5	2931	/* (FixPoint1616 >> 16) = FixPoint3200 */
sepp_nepp	6:fb11b746ceb5	2932	sqr1 = (sqr1 + 0x8000) >> 16;
sepp_nepp	6:fb11b746ceb5	2933
sepp_nepp	6:fb11b746ceb5	2934	/* FixPoint3200 * FixPoint3200 = FixPoint6400 */
sepp_nepp	6:fb11b746ceb5	2935	sqr1 *= sqr1;
sepp_nepp	6:fb11b746ceb5	2936
sepp_nepp	6:fb11b746ceb5	2937	sqr2 = sigma_estimate_p2;
sepp_nepp	6:fb11b746ceb5	2938
sepp_nepp	6:fb11b746ceb5	2939	/* (FixPoint1616 >> 16) = FixPoint3200 */
sepp_nepp	6:fb11b746ceb5	2940	sqr2 = (sqr2 + 0x8000) >> 16;
sepp_nepp	6:fb11b746ceb5	2941
sepp_nepp	6:fb11b746ceb5	2942	/* FixPoint3200 * FixPoint3200 = FixPoint6400 */
sepp_nepp	6:fb11b746ceb5	2943	sqr2 *= sqr2;
sepp_nepp	6:fb11b746ceb5	2944
sepp_nepp	6:fb11b746ceb5	2945	/* FixPoint64000 + FixPoint6400 = FixPoint6400 */
sepp_nepp	6:fb11b746ceb5	2946	sqr_sum = sqr1 + sqr2;
sepp_nepp	6:fb11b746ceb5	2947
sepp_nepp	6:fb11b746ceb5	2948	/* SQRT(FixPoin6400) = FixPoint3200 */
sepp_nepp	6:fb11b746ceb5	2949	sqrt_result_centi_ns = VL53L0X_isqrt(sqr_sum);
sepp_nepp	6:fb11b746ceb5	2950
sepp_nepp	6:fb11b746ceb5	2951	/* (FixPoint3200 << 16) = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	2952	sqrt_result_centi_ns <<= 16;
sepp_nepp	6:fb11b746ceb5	2953
sepp_nepp	12:81f37e50f8f8	2954	/* Note that the Speed Of Light is expressed in um per 1E-10
sepp_nepp	6:fb11b746ceb5	2955	* seconds (2997) Therefore to get mm/ns we have to divide by
sepp_nepp	6:fb11b746ceb5	2956	* 10000
sepp_nepp	6:fb11b746ceb5	2957	*/
sepp_nepp	6:fb11b746ceb5	2958	sigma_est_rtn = (((sqrt_result_centi_ns + 50) / 100) /
sepp_nepp	6:fb11b746ceb5	2959	sigma_estimate_p3);
sepp_nepp	6:fb11b746ceb5	2960	sigma_est_rtn *= VL53L0X_SPEED_OF_LIGHT_IN_AIR;
sepp_nepp	6:fb11b746ceb5	2961
sepp_nepp	6:fb11b746ceb5	2962	/* Add 5000 before dividing by 10000 to ensure rounding. */
sepp_nepp	6:fb11b746ceb5	2963	sigma_est_rtn += 5000;
sepp_nepp	6:fb11b746ceb5	2964	sigma_est_rtn /= 10000;
sepp_nepp	6:fb11b746ceb5	2965
sepp_nepp	6:fb11b746ceb5	2966	if (sigma_est_rtn > c_sigma_est_rtn_max) {
sepp_nepp	6:fb11b746ceb5	2967	/* Clip to prevent overflow. Will ensure safe
sepp_nepp	6:fb11b746ceb5	2968	* max result. */
sepp_nepp	6:fb11b746ceb5	2969	sigma_est_rtn = c_sigma_est_rtn_max;
sepp_nepp	6:fb11b746ceb5	2970	}
sepp_nepp	6:fb11b746ceb5	2971	final_range_integration_time_milli_secs =
sepp_nepp	6:fb11b746ceb5	2972	(final_range_timeout_micro_secs + pre_range_timeout_micro_secs + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	2973
sepp_nepp	6:fb11b746ceb5	2974	/* sigmaEstRef = 1mm * 25ms/final range integration time (inc pre-range)
sepp_nepp	6:fb11b746ceb5	2975	* sqrt(FixPoint1616/int) = FixPoint2408)
sepp_nepp	6:fb11b746ceb5	2976	*/
sepp_nepp	6:fb11b746ceb5	2977	sigma_est_ref =
sepp_nepp	6:fb11b746ceb5	2978	VL53L0X_isqrt((c_dflt_final_range_integration_time_milli_secs +
sepp_nepp	6:fb11b746ceb5	2979	final_range_integration_time_milli_secs / 2) /
sepp_nepp	6:fb11b746ceb5	2980	final_range_integration_time_milli_secs);
sepp_nepp	6:fb11b746ceb5	2981
sepp_nepp	6:fb11b746ceb5	2982	/* FixPoint2408 << 8 = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	2983	sigma_est_ref <<= 8;
sepp_nepp	6:fb11b746ceb5	2984	sigma_est_ref = (sigma_est_ref + 500) / 1000;
sepp_nepp	6:fb11b746ceb5	2985
sepp_nepp	6:fb11b746ceb5	2986	/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
sepp_nepp	6:fb11b746ceb5	2987	sqr1 = sigma_est_rtn * sigma_est_rtn;
sepp_nepp	6:fb11b746ceb5	2988	/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
sepp_nepp	6:fb11b746ceb5	2989	sqr2 = sigma_est_ref * sigma_est_ref;
sepp_nepp	6:fb11b746ceb5	2990
sepp_nepp	6:fb11b746ceb5	2991	/* sqrt(FixPoint3232) = FixPoint1616 */
sepp_nepp	6:fb11b746ceb5	2992	sqrt_result = VL53L0X_isqrt((sqr1 + sqr2));
sepp_nepp	6:fb11b746ceb5	2993	/*
sepp_nepp	6:fb11b746ceb5	2994	* Note that the Shift by 4 bits increases resolution prior to
sepp_nepp	6:fb11b746ceb5	2995	* the sqrt, therefore the result must be shifted by 2 bits to
sepp_nepp	6:fb11b746ceb5	2996	* the right to revert back to the FixPoint1616 format.
sepp_nepp	6:fb11b746ceb5	2997	*/
sepp_nepp	6:fb11b746ceb5	2998
sepp_nepp	6:fb11b746ceb5	2999	sigma_estimate = 1000 * sqrt_result;
sepp_nepp	6:fb11b746ceb5	3000
sepp_nepp	6:fb11b746ceb5	3001	if ((peak_signal_rate_kcps < 1) \|\| (vcsel_total_events_rtn < 1) \|\|
sepp_nepp	6:fb11b746ceb5	3002	(sigma_estimate > c_sigma_est_max)) {
sepp_nepp	6:fb11b746ceb5	3003	sigma_estimate = c_sigma_est_max;
sepp_nepp	6:fb11b746ceb5	3004	}
sepp_nepp	6:fb11b746ceb5	3005
sepp_nepp	6:fb11b746ceb5	3006	*p_sigma_estimate = (uint32_t)(sigma_estimate);
sepp_nepp	12:81f37e50f8f8	3007	p_ranging_measurement_data->SigmaEstimate = *p_sigma_estimate;
sepp_nepp	11:d8dbe3b87f9f	3008	status = VL53L0X_calc_dmax(total_signal_rate_MHz,
sepp_nepp	11:d8dbe3b87f9f	3009	corrected_signal_rate_MHz,
sepp_nepp	6:fb11b746ceb5	3010	pw_mult,
sepp_nepp	6:fb11b746ceb5	3011	sigma_estimate_p1,
sepp_nepp	6:fb11b746ceb5	3012	sigma_estimate_p2,
sepp_nepp	6:fb11b746ceb5	3013	peak_vcsel_duration_us,
sepp_nepp	6:fb11b746ceb5	3014	p_dmax_mm);
sepp_nepp	6:fb11b746ceb5	3015	}
sepp_nepp	6:fb11b746ceb5	3016
sepp_nepp	6:fb11b746ceb5	3017	return status;
sepp_nepp	6:fb11b746ceb5	3018	}
sepp_nepp	6:fb11b746ceb5	3019
sepp_nepp	8:2fd7cb217068	3020	VL53L0X_Error VL53L0X::VL53L0X_get_pal_range_status(uint8_t device_range_status,
sepp_nepp	6:fb11b746ceb5	3021	FixPoint1616_t signal_rate,
sepp_nepp	6:fb11b746ceb5	3022	uint16_t effective_spad_rtn_count,
sepp_nepp	6:fb11b746ceb5	3023	VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
sepp_nepp	6:fb11b746ceb5	3024	uint8_t *p_pal_range_status)
sepp_nepp	8:2fd7cb217068	3025	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3026	uint8_t none_flag;
sepp_nepp	6:fb11b746ceb5	3027	uint8_t sigma_limitflag = 0;
sepp_nepp	6:fb11b746ceb5	3028	uint8_t signal_ref_clipflag = 0;
sepp_nepp	6:fb11b746ceb5	3029	uint8_t range_ignore_thresholdflag = 0;
sepp_nepp	6:fb11b746ceb5	3030	uint8_t sigma_limit_check_enable = 0;
sepp_nepp	6:fb11b746ceb5	3031	uint8_t signal_rate_final_range_limit_check_enable = 0;
sepp_nepp	6:fb11b746ceb5	3032	uint8_t signal_ref_clip_limit_check_enable = 0;
sepp_nepp	6:fb11b746ceb5	3033	uint8_t range_ignore_threshold_limit_check_enable = 0;
sepp_nepp	6:fb11b746ceb5	3034	FixPoint1616_t sigma_estimate;
sepp_nepp	6:fb11b746ceb5	3035	FixPoint1616_t sigma_limit_value;
sepp_nepp	6:fb11b746ceb5	3036	FixPoint1616_t signal_ref_clip_value;
sepp_nepp	6:fb11b746ceb5	3037	FixPoint1616_t range_ignore_threshold_value;
sepp_nepp	6:fb11b746ceb5	3038	FixPoint1616_t signal_rate_per_spad;
sepp_nepp	6:fb11b746ceb5	3039	uint8_t device_range_status_internal = 0;
sepp_nepp	6:fb11b746ceb5	3040	uint16_t tmp_word = 0;
sepp_nepp	6:fb11b746ceb5	3041	uint8_t temp8;
sepp_nepp	6:fb11b746ceb5	3042	uint32_t dmax_mm = 0;
sepp_nepp	11:d8dbe3b87f9f	3043	FixPoint1616_t last_signal_ref_MHz;
sepp_nepp	9:cb4c6d4e5030	3044
sepp_nepp	9:cb4c6d4e5030	3045	/* VL53L0X has a good ranging when the value of the
sepp_nepp	6:fb11b746ceb5	3046	* DeviceRangeStatus = 11. This function will replace the value 0 with
sepp_nepp	6:fb11b746ceb5	3047	* the value 11 in the DeviceRangeStatus.
sepp_nepp	6:fb11b746ceb5	3048	* In addition, the SigmaEstimator is not included in the VL53L0X
sepp_nepp	9:cb4c6d4e5030	3049	* DeviceRangeStatus, this will be added in the PalRangeStatus. */
sepp_nepp	6:fb11b746ceb5	3050
sepp_nepp	6:fb11b746ceb5	3051	device_range_status_internal = ((device_range_status & 0x78) >> 3);
sepp_nepp	6:fb11b746ceb5	3052
sepp_nepp	6:fb11b746ceb5	3053	if (device_range_status_internal == 0 \|\|
sepp_nepp	6:fb11b746ceb5	3054	device_range_status_internal == 5 \|\|
sepp_nepp	6:fb11b746ceb5	3055	device_range_status_internal == 7 \|\|
sepp_nepp	6:fb11b746ceb5	3056	device_range_status_internal == 12 \|\|
sepp_nepp	6:fb11b746ceb5	3057	device_range_status_internal == 13 \|\|
sepp_nepp	6:fb11b746ceb5	3058	device_range_status_internal == 14 \|\|
sepp_nepp	6:fb11b746ceb5	3059	device_range_status_internal == 15
sepp_nepp	6:fb11b746ceb5	3060	) {
sepp_nepp	6:fb11b746ceb5	3061	none_flag = 1;
sepp_nepp	6:fb11b746ceb5	3062	} else {
sepp_nepp	6:fb11b746ceb5	3063	none_flag = 0;
sepp_nepp	6:fb11b746ceb5	3064	}
sepp_nepp	6:fb11b746ceb5	3065
sepp_nepp	12:81f37e50f8f8	3066	/* Check if Sigma limit is enabled, if yes then do comparison with limit
sepp_nepp	12:81f37e50f8f8	3067	* value and put the result back into pPalRangeStatus. */
sepp_nepp	6:fb11b746ceb5	3068	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3069	status = VL53L0X_get_limit_check_enable(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	3070	&sigma_limit_check_enable);
sepp_nepp	6:fb11b746ceb5	3071	}
sepp_nepp	6:fb11b746ceb5	3072
sepp_nepp	6:fb11b746ceb5	3073	if ((sigma_limit_check_enable != 0) && (status == VL53L0X_ERROR_NONE)) {
sepp_nepp	12:81f37e50f8f8	3074	/* compute the Sigma and check with limit */
sepp_nepp	12:81f37e50f8f8	3075	status = VL53L0X_calc_sigma_estimate(p_ranging_measurement_data, &sigma_estimate, &dmax_mm);
sepp_nepp	12:81f37e50f8f8	3076	if (status == VL53L0X_ERROR_NONE) { p_ranging_measurement_data->RangeDMax_mm = dmax_mm; }
sepp_nepp	6:fb11b746ceb5	3077
sepp_nepp	6:fb11b746ceb5	3078	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3079	status = VL53L0X_get_limit_check_value(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	3080	&sigma_limit_value);
sepp_nepp	6:fb11b746ceb5	3081
sepp_nepp	12:81f37e50f8f8	3082	if ((sigma_limit_value > 0) && (sigma_estimate > sigma_limit_value))
sepp_nepp	12:81f37e50f8f8	3083	{ sigma_limitflag = 1; } /* Limit Fail */
sepp_nepp	6:fb11b746ceb5	3084	}
sepp_nepp	6:fb11b746ceb5	3085	}
sepp_nepp	6:fb11b746ceb5	3086
sepp_nepp	12:81f37e50f8f8	3087	/* Check if Signal ref clip limit is enabled, if yes then do comparison
sepp_nepp	12:81f37e50f8f8	3088	* with limit value and put the result back into pPalRangeStatus. */
sepp_nepp	6:fb11b746ceb5	3089	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3090	status = VL53L0X_get_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
sepp_nepp	6:fb11b746ceb5	3091	&signal_ref_clip_limit_check_enable);
sepp_nepp	6:fb11b746ceb5	3092	}
sepp_nepp	6:fb11b746ceb5	3093
sepp_nepp	6:fb11b746ceb5	3094	if ((signal_ref_clip_limit_check_enable != 0) &&
sepp_nepp	6:fb11b746ceb5	3095	(status == VL53L0X_ERROR_NONE)) {
sepp_nepp	6:fb11b746ceb5	3096
sepp_nepp	8:2fd7cb217068	3097	status = VL53L0X_get_limit_check_value(VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP,
sepp_nepp	6:fb11b746ceb5	3098	&signal_ref_clip_value);
sepp_nepp	6:fb11b746ceb5	3099
sepp_nepp	11:d8dbe3b87f9f	3100	/* Read LastSignalRef_MHz from device */
sepp_nepp	6:fb11b746ceb5	3101	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3102	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	6:fb11b746ceb5	3103	}
sepp_nepp	6:fb11b746ceb5	3104
sepp_nepp	6:fb11b746ceb5	3105	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3106	status = VL53L0X_read_word(VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
sepp_nepp	6:fb11b746ceb5	3107	&tmp_word);
sepp_nepp	6:fb11b746ceb5	3108	}
sepp_nepp	6:fb11b746ceb5	3109
sepp_nepp	6:fb11b746ceb5	3110	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3111	status = VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	6:fb11b746ceb5	3112	}
sepp_nepp	6:fb11b746ceb5	3113
sepp_nepp	11:d8dbe3b87f9f	3114	last_signal_ref_MHz = VL53L0X_FP97TOFP1616(tmp_word);
sepp_nepp	11:d8dbe3b87f9f	3115	Data.LastSignalRef_MHz = last_signal_ref_MHz;
sepp_nepp	6:fb11b746ceb5	3116
sepp_nepp	6:fb11b746ceb5	3117	if ((signal_ref_clip_value > 0) &&
sepp_nepp	11:d8dbe3b87f9f	3118	(last_signal_ref_MHz > signal_ref_clip_value)) {
sepp_nepp	6:fb11b746ceb5	3119	/* Limit Fail */
sepp_nepp	6:fb11b746ceb5	3120	signal_ref_clipflag = 1;
sepp_nepp	6:fb11b746ceb5	3121	}
sepp_nepp	6:fb11b746ceb5	3122	}
sepp_nepp	6:fb11b746ceb5	3123
sepp_nepp	6:fb11b746ceb5	3124	/*
sepp_nepp	6:fb11b746ceb5	3125	* Check if Signal ref clip limit is enabled, if yes then do comparison
sepp_nepp	6:fb11b746ceb5	3126	* with limit value and put the result back into pPalRangeStatus.
sepp_nepp	6:fb11b746ceb5	3127	* EffectiveSpadRtnCount has a format 8.8
sepp_nepp	6:fb11b746ceb5	3128	* If (Return signal rate < (1.5 x Xtalk x number of Spads)) : FAIL
sepp_nepp	6:fb11b746ceb5	3129	*/
sepp_nepp	6:fb11b746ceb5	3130	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3131	status = VL53L0X_get_limit_check_enable(VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
sepp_nepp	6:fb11b746ceb5	3132	&range_ignore_threshold_limit_check_enable);
sepp_nepp	6:fb11b746ceb5	3133	}
sepp_nepp	6:fb11b746ceb5	3134
sepp_nepp	6:fb11b746ceb5	3135	if ((range_ignore_threshold_limit_check_enable != 0) &&
sepp_nepp	6:fb11b746ceb5	3136	(status == VL53L0X_ERROR_NONE)) {
sepp_nepp	6:fb11b746ceb5	3137
sepp_nepp	6:fb11b746ceb5	3138	/* Compute the signal rate per spad */
sepp_nepp	6:fb11b746ceb5	3139	if (effective_spad_rtn_count == 0) {
sepp_nepp	6:fb11b746ceb5	3140	signal_rate_per_spad = 0;
sepp_nepp	6:fb11b746ceb5	3141	} else {
sepp_nepp	6:fb11b746ceb5	3142	signal_rate_per_spad = (FixPoint1616_t)((256 * signal_rate)
sepp_nepp	6:fb11b746ceb5	3143	/ effective_spad_rtn_count);
sepp_nepp	6:fb11b746ceb5	3144	}
sepp_nepp	6:fb11b746ceb5	3145
sepp_nepp	8:2fd7cb217068	3146	status = VL53L0X_get_limit_check_value(VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD,
sepp_nepp	6:fb11b746ceb5	3147	&range_ignore_threshold_value);
sepp_nepp	6:fb11b746ceb5	3148
sepp_nepp	6:fb11b746ceb5	3149	if ((range_ignore_threshold_value > 0) &&
sepp_nepp	6:fb11b746ceb5	3150	(signal_rate_per_spad < range_ignore_threshold_value)) {
sepp_nepp	6:fb11b746ceb5	3151	/* Limit Fail add 2^6 to range status */
sepp_nepp	6:fb11b746ceb5	3152	range_ignore_thresholdflag = 1;
sepp_nepp	6:fb11b746ceb5	3153	}
sepp_nepp	6:fb11b746ceb5	3154	}
sepp_nepp	6:fb11b746ceb5	3155
sepp_nepp	6:fb11b746ceb5	3156	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3157	if (none_flag == 1) {
sepp_nepp	6:fb11b746ceb5	3158	p_pal_range_status = 255; / NONE */
sepp_nepp	6:fb11b746ceb5	3159	} else if (device_range_status_internal == 1 \|\|
sepp_nepp	6:fb11b746ceb5	3160	device_range_status_internal == 2 \|\|
sepp_nepp	6:fb11b746ceb5	3161	device_range_status_internal == 3) {
sepp_nepp	6:fb11b746ceb5	3162	p_pal_range_status = 5; / HW fail */
sepp_nepp	6:fb11b746ceb5	3163	} else if (device_range_status_internal == 6 \|\|
sepp_nepp	6:fb11b746ceb5	3164	device_range_status_internal == 9) {
sepp_nepp	6:fb11b746ceb5	3165	p_pal_range_status = 4; / Phase fail */
sepp_nepp	6:fb11b746ceb5	3166	} else if (device_range_status_internal == 8 \|\|
sepp_nepp	6:fb11b746ceb5	3167	device_range_status_internal == 10 \|\|
sepp_nepp	6:fb11b746ceb5	3168	signal_ref_clipflag == 1) {
sepp_nepp	6:fb11b746ceb5	3169	p_pal_range_status = 3; / Min range */
sepp_nepp	6:fb11b746ceb5	3170	} else if (device_range_status_internal == 4 \|\|
sepp_nepp	6:fb11b746ceb5	3171	range_ignore_thresholdflag == 1) {
sepp_nepp	6:fb11b746ceb5	3172	p_pal_range_status = 2; / Signal Fail */
sepp_nepp	6:fb11b746ceb5	3173	} else if (sigma_limitflag == 1) {
sepp_nepp	6:fb11b746ceb5	3174	p_pal_range_status = 1; / Sigma Fail */
sepp_nepp	6:fb11b746ceb5	3175	} else {
sepp_nepp	6:fb11b746ceb5	3176	p_pal_range_status = 0; / Range Valid */
sepp_nepp	6:fb11b746ceb5	3177	}
sepp_nepp	6:fb11b746ceb5	3178	}
sepp_nepp	6:fb11b746ceb5	3179
sepp_nepp	6:fb11b746ceb5	3180	/* DMAX only relevant during range error */
sepp_nepp	6:fb11b746ceb5	3181	if (*p_pal_range_status == 0) {
sepp_nepp	11:d8dbe3b87f9f	3182	p_ranging_measurement_data->RangeDMax_mm = 0;
sepp_nepp	6:fb11b746ceb5	3183	}
sepp_nepp	6:fb11b746ceb5	3184
sepp_nepp	6:fb11b746ceb5	3185	/* fill the Limit Check Status */
sepp_nepp	6:fb11b746ceb5	3186
sepp_nepp	8:2fd7cb217068	3187	status = VL53L0X_get_limit_check_enable(VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	3188	&signal_rate_final_range_limit_check_enable);
sepp_nepp	6:fb11b746ceb5	3189
sepp_nepp	6:fb11b746ceb5	3190	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3191	if ((sigma_limit_check_enable == 0) \|\| (sigma_limitflag == 1)) {
sepp_nepp	6:fb11b746ceb5	3192	temp8 = 1;
sepp_nepp	6:fb11b746ceb5	3193	} else {
sepp_nepp	6:fb11b746ceb5	3194	temp8 = 0;
sepp_nepp	6:fb11b746ceb5	3195	}
sepp_nepp	10:cd1758e186a4	3196	CurrentParameters.LimitChecksStatus[VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE] = temp8;
sepp_nepp	6:fb11b746ceb5	3197
sepp_nepp	6:fb11b746ceb5	3198	if ((device_range_status_internal == 4) \|\|
sepp_nepp	6:fb11b746ceb5	3199	(signal_rate_final_range_limit_check_enable == 0)) {
sepp_nepp	6:fb11b746ceb5	3200	temp8 = 1;
sepp_nepp	6:fb11b746ceb5	3201	} else {
sepp_nepp	6:fb11b746ceb5	3202	temp8 = 0;
sepp_nepp	6:fb11b746ceb5	3203	}
sepp_nepp	10:cd1758e186a4	3204	CurrentParameters.LimitChecksStatus[VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE] = temp8;
sepp_nepp	6:fb11b746ceb5	3205
sepp_nepp	6:fb11b746ceb5	3206	if ((signal_ref_clip_limit_check_enable == 0) \|\|
sepp_nepp	6:fb11b746ceb5	3207	(signal_ref_clipflag == 1)) {
sepp_nepp	6:fb11b746ceb5	3208	temp8 = 1;
sepp_nepp	6:fb11b746ceb5	3209	} else {
sepp_nepp	6:fb11b746ceb5	3210	temp8 = 0;
sepp_nepp	6:fb11b746ceb5	3211	}
sepp_nepp	6:fb11b746ceb5	3212
sepp_nepp	10:cd1758e186a4	3213	CurrentParameters.LimitChecksStatus[VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP] = temp8;
sepp_nepp	6:fb11b746ceb5	3214
sepp_nepp	6:fb11b746ceb5	3215	if ((range_ignore_threshold_limit_check_enable == 0) \|\|
sepp_nepp	6:fb11b746ceb5	3216	(range_ignore_thresholdflag == 1)) {
sepp_nepp	6:fb11b746ceb5	3217	temp8 = 1;
sepp_nepp	6:fb11b746ceb5	3218	} else {
sepp_nepp	6:fb11b746ceb5	3219	temp8 = 0;
sepp_nepp	6:fb11b746ceb5	3220	}
sepp_nepp	6:fb11b746ceb5	3221
sepp_nepp	10:cd1758e186a4	3222	CurrentParameters.LimitChecksStatus[VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD] = temp8;
sepp_nepp	6:fb11b746ceb5	3223	}
sepp_nepp	6:fb11b746ceb5	3224
sepp_nepp	6:fb11b746ceb5	3225	return status;
sepp_nepp	6:fb11b746ceb5	3226	}
sepp_nepp	6:fb11b746ceb5	3227
sepp_nepp	8:2fd7cb217068	3228	VL53L0X_Error VL53L0X::VL53L0X_get_ranging_measurement_data(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data)
sepp_nepp	8:2fd7cb217068	3229	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3230	uint8_t device_range_status;
sepp_nepp	6:fb11b746ceb5	3231	uint8_t range_fractional_enable;
sepp_nepp	6:fb11b746ceb5	3232	uint8_t pal_range_status;
sepp_nepp	6:fb11b746ceb5	3233	uint8_t x_talk_compensation_enable;
sepp_nepp	6:fb11b746ceb5	3234	uint16_t ambient_rate;
sepp_nepp	6:fb11b746ceb5	3235	FixPoint1616_t signal_rate;
sepp_nepp	11:d8dbe3b87f9f	3236	uint16_t x_talk_compensation_rate_MHz;
sepp_nepp	6:fb11b746ceb5	3237	uint16_t effective_spad_rtn_count;
sepp_nepp	6:fb11b746ceb5	3238	uint16_t tmpuint16;
sepp_nepp	6:fb11b746ceb5	3239	uint16_t xtalk_range_milli_meter;
sepp_nepp	6:fb11b746ceb5	3240	uint16_t linearity_corrective_gain;
sepp_nepp	6:fb11b746ceb5	3241	uint8_t localBuffer[12];
sepp_nepp	11:d8dbe3b87f9f	3242
sepp_nepp	6:fb11b746ceb5	3243	/* use multi read even if some registers are not useful, result will
sepp_nepp	9:cb4c6d4e5030	3244	* be more efficient start reading at 0x14 dec20
sepp_nepp	9:cb4c6d4e5030	3245	* end reading at 0x21 dec33 total 14 bytes to read */
sepp_nepp	7:3a1115c2556b	3246	status = VL53L0X_read_multi( 0x14, localBuffer, 12);
sepp_nepp	6:fb11b746ceb5	3247
sepp_nepp	6:fb11b746ceb5	3248	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3249
sepp_nepp	6:fb11b746ceb5	3250	tmpuint16 = VL53L0X_MAKEUINT16(localBuffer[11], localBuffer[10]);
sepp_nepp	6:fb11b746ceb5	3251	/* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional
sepp_nepp	6:fb11b746ceb5	3252	(format 11.2) else no fractional /
sepp_nepp	6:fb11b746ceb5	3253
sepp_nepp	11:d8dbe3b87f9f	3254	signal_rate = VL53L0X_FP97TOFP1616(VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6]));
sepp_nepp	11:d8dbe3b87f9f	3255	/* peak_signal_count_rate_rtn_MHz */
sepp_nepp	11:d8dbe3b87f9f	3256	p_ranging_measurement_data->SignalRateRtn_MHz = signal_rate;
sepp_nepp	6:fb11b746ceb5	3257
sepp_nepp	6:fb11b746ceb5	3258	ambient_rate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]);
sepp_nepp	11:d8dbe3b87f9f	3259	p_ranging_measurement_data->AmbientRateRtn_MHz =
sepp_nepp	11:d8dbe3b87f9f	3260	VL53L0X_FP97TOFP1616(ambient_rate);
sepp_nepp	6:fb11b746ceb5	3261
sepp_nepp	6:fb11b746ceb5	3262	effective_spad_rtn_count = VL53L0X_MAKEUINT16(localBuffer[3],
sepp_nepp	6:fb11b746ceb5	3263	localBuffer[2]);
sepp_nepp	6:fb11b746ceb5	3264	/* EffectiveSpadRtnCount is 8.8 format */
sepp_nepp	6:fb11b746ceb5	3265	p_ranging_measurement_data->EffectiveSpadRtnCount =
sepp_nepp	6:fb11b746ceb5	3266	effective_spad_rtn_count;
sepp_nepp	6:fb11b746ceb5	3267
sepp_nepp	6:fb11b746ceb5	3268	device_range_status = localBuffer[0];
sepp_nepp	6:fb11b746ceb5	3269
sepp_nepp	6:fb11b746ceb5	3270	/* Get Linearity Corrective Gain */
sepp_nepp	8:2fd7cb217068	3271	linearity_corrective_gain = Data.LinearityCorrectiveGain;
sepp_nepp	6:fb11b746ceb5	3272
sepp_nepp	6:fb11b746ceb5	3273	/* Get ranging configuration */
sepp_nepp	8:2fd7cb217068	3274	range_fractional_enable = Data.RangeFractionalEnable;
sepp_nepp	6:fb11b746ceb5	3275
sepp_nepp	6:fb11b746ceb5	3276	if (linearity_corrective_gain != 1000) {
sepp_nepp	6:fb11b746ceb5	3277
sepp_nepp	9:cb4c6d4e5030	3278	tmpuint16 = (uint16_t)((linearity_corrective_gain * tmpuint16 + 500) / 1000);
sepp_nepp	6:fb11b746ceb5	3279
sepp_nepp	6:fb11b746ceb5	3280	/* Implement Xtalk */
sepp_nepp	11:d8dbe3b87f9f	3281	x_talk_compensation_rate_MHz = CurrentParameters.XTalkCompensationRate_MHz ;
sepp_nepp	10:cd1758e186a4	3282	x_talk_compensation_enable = CurrentParameters.XTalkCompensationEnable ;
sepp_nepp	6:fb11b746ceb5	3283
sepp_nepp	6:fb11b746ceb5	3284	if (x_talk_compensation_enable) {
sepp_nepp	6:fb11b746ceb5	3285
sepp_nepp	6:fb11b746ceb5	3286	if ((signal_rate
sepp_nepp	11:d8dbe3b87f9f	3287	- ((x_talk_compensation_rate_MHz
sepp_nepp	6:fb11b746ceb5	3288	* effective_spad_rtn_count) >> 8))
sepp_nepp	6:fb11b746ceb5	3289	<= 0) {
sepp_nepp	6:fb11b746ceb5	3290	if (range_fractional_enable) {
sepp_nepp	6:fb11b746ceb5	3291	xtalk_range_milli_meter = 8888;
sepp_nepp	6:fb11b746ceb5	3292	} else {
sepp_nepp	6:fb11b746ceb5	3293	xtalk_range_milli_meter = 8888 << 2;
sepp_nepp	6:fb11b746ceb5	3294	}
sepp_nepp	6:fb11b746ceb5	3295	} else {
sepp_nepp	6:fb11b746ceb5	3296	xtalk_range_milli_meter =
sepp_nepp	6:fb11b746ceb5	3297	(tmpuint16 * signal_rate)
sepp_nepp	6:fb11b746ceb5	3298	/ (signal_rate
sepp_nepp	11:d8dbe3b87f9f	3299	- ((x_talk_compensation_rate_MHz
sepp_nepp	6:fb11b746ceb5	3300	* effective_spad_rtn_count)
sepp_nepp	6:fb11b746ceb5	3301	>> 8));
sepp_nepp	6:fb11b746ceb5	3302	}
sepp_nepp	6:fb11b746ceb5	3303	tmpuint16 = xtalk_range_milli_meter;
sepp_nepp	6:fb11b746ceb5	3304	}
sepp_nepp	6:fb11b746ceb5	3305	}
sepp_nepp	6:fb11b746ceb5	3306
sepp_nepp	6:fb11b746ceb5	3307	if (range_fractional_enable) {
sepp_nepp	11:d8dbe3b87f9f	3308	p_ranging_measurement_data->Range_mm =
sepp_nepp	6:fb11b746ceb5	3309	(uint16_t)((tmpuint16) >> 2);
sepp_nepp	6:fb11b746ceb5	3310	p_ranging_measurement_data->RangeFractionalPart =
sepp_nepp	6:fb11b746ceb5	3311	(uint8_t)((tmpuint16 & 0x03) << 6);
sepp_nepp	6:fb11b746ceb5	3312	} else {
sepp_nepp	11:d8dbe3b87f9f	3313	p_ranging_measurement_data->Range_mm = tmpuint16;
sepp_nepp	6:fb11b746ceb5	3314	p_ranging_measurement_data->RangeFractionalPart = 0;
sepp_nepp	6:fb11b746ceb5	3315	}
sepp_nepp	6:fb11b746ceb5	3316
sepp_nepp	9:cb4c6d4e5030	3317	/* For a standard definition of RangeStatus, this should
sepp_nepp	6:fb11b746ceb5	3318	* return 0 in case of good result after a ranging
sepp_nepp	6:fb11b746ceb5	3319	* The range status depends on the device so call a device
sepp_nepp	6:fb11b746ceb5	3320	* specific function to obtain the right Status.
sepp_nepp	6:fb11b746ceb5	3321	*/
sepp_nepp	7:3a1115c2556b	3322	status \|= VL53L0X_get_pal_range_status( device_range_status,
sepp_nepp	6:fb11b746ceb5	3323	signal_rate, effective_spad_rtn_count,
sepp_nepp	6:fb11b746ceb5	3324	p_ranging_measurement_data, &pal_range_status);
sepp_nepp	6:fb11b746ceb5	3325
sepp_nepp	6:fb11b746ceb5	3326	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3327	p_ranging_measurement_data->RangeStatus = pal_range_status;}
sepp_nepp	6:fb11b746ceb5	3328
sepp_nepp	6:fb11b746ceb5	3329	}
sepp_nepp	6:fb11b746ceb5	3330
sepp_nepp	11:d8dbe3b87f9f	3331	if (status == VL53L0X_ERROR_NONE) { /* Copy last read data into Device buffer */
sepp_nepp	11:d8dbe3b87f9f	3332	LastRangeMeasure.Range_mm = p_ranging_measurement_data->Range_mm;
sepp_nepp	11:d8dbe3b87f9f	3333	LastRangeMeasure.RangeFractionalPart = p_ranging_measurement_data->RangeFractionalPart;
sepp_nepp	11:d8dbe3b87f9f	3334	LastRangeMeasure.RangeDMax_mm = p_ranging_measurement_data->RangeDMax_mm;
sepp_nepp	11:d8dbe3b87f9f	3335	LastRangeMeasure.SignalRateRtn_MHz = p_ranging_measurement_data->SignalRateRtn_MHz;
sepp_nepp	11:d8dbe3b87f9f	3336	LastRangeMeasure.AmbientRateRtn_MHz = p_ranging_measurement_data->AmbientRateRtn_MHz;
sepp_nepp	11:d8dbe3b87f9f	3337	LastRangeMeasure.EffectiveSpadRtnCount = p_ranging_measurement_data->EffectiveSpadRtnCount;
sepp_nepp	11:d8dbe3b87f9f	3338	LastRangeMeasure.RangeStatus = p_ranging_measurement_data->RangeStatus;
sepp_nepp	6:fb11b746ceb5	3339	}
sepp_nepp	9:cb4c6d4e5030	3340
sepp_nepp	6:fb11b746ceb5	3341	return status;
sepp_nepp	6:fb11b746ceb5	3342	}
sepp_nepp	6:fb11b746ceb5	3343
sepp_nepp	8:2fd7cb217068	3344	VL53L0X_Error VL53L0X::VL53L0X_perform_single_ranging_measurement(VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data)
sepp_nepp	8:2fd7cb217068	3345	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3346
sepp_nepp	6:fb11b746ceb5	3347	/* This function will do a complete single ranging
sepp_nepp	6:fb11b746ceb5	3348	* Here we fix the mode! */
sepp_nepp	13:253cb4ea3fcc	3349	CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING;
sepp_nepp	6:fb11b746ceb5	3350
sepp_nepp	6:fb11b746ceb5	3351	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	9:cb4c6d4e5030	3352	status = VL53L0X_perform_single_measurement(); }
sepp_nepp	6:fb11b746ceb5	3353
sepp_nepp	6:fb11b746ceb5	3354	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	9:cb4c6d4e5030	3355	status = VL53L0X_get_ranging_measurement_data(p_ranging_measurement_data); }
sepp_nepp	6:fb11b746ceb5	3356
sepp_nepp	6:fb11b746ceb5	3357	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	9:cb4c6d4e5030	3358	status = VL53L0X_clear_interrupt_mask( 0);}
sepp_nepp	9:cb4c6d4e5030	3359
sepp_nepp	6:fb11b746ceb5	3360	return status;
sepp_nepp	6:fb11b746ceb5	3361	}
sepp_nepp	6:fb11b746ceb5	3362
sepp_nepp	8:2fd7cb217068	3363	VL53L0X_Error VL53L0X::perform_ref_signal_measurement(uint16_t *p_ref_signal_rate)
sepp_nepp	8:2fd7cb217068	3364	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3365	VL53L0X_RangingMeasurementData_t ranging_measurement_data;
sepp_nepp	6:fb11b746ceb5	3366
sepp_nepp	6:fb11b746ceb5	3367	uint8_t sequence_config = 0;
sepp_nepp	6:fb11b746ceb5	3368
sepp_nepp	6:fb11b746ceb5	3369	/* store the value of the sequence config,
sepp_nepp	9:cb4c6d4e5030	3370	* this will be reset before the end of the function*/
sepp_nepp	8:2fd7cb217068	3371	sequence_config = Data.SequenceConfig;
sepp_nepp	6:fb11b746ceb5	3372
sepp_nepp	6:fb11b746ceb5	3373	/*
sepp_nepp	6:fb11b746ceb5	3374	* This function performs a reference signal rate measurement.
sepp_nepp	6:fb11b746ceb5	3375	*/
sepp_nepp	6:fb11b746ceb5	3376	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	9:cb4c6d4e5030	3377	status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0xC0);}
sepp_nepp	6:fb11b746ceb5	3378
sepp_nepp	6:fb11b746ceb5	3379	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	9:cb4c6d4e5030	3380	status = VL53L0X_perform_single_ranging_measurement(&ranging_measurement_data); }
sepp_nepp	6:fb11b746ceb5	3381
sepp_nepp	6:fb11b746ceb5	3382	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	9:cb4c6d4e5030	3383	status = VL53L0X_write_byte( 0xFF, 0x01); }
sepp_nepp	6:fb11b746ceb5	3384
sepp_nepp	6:fb11b746ceb5	3385	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3386	status = VL53L0X_read_word(VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF,
sepp_nepp	9:cb4c6d4e5030	3387	p_ref_signal_rate);}
sepp_nepp	6:fb11b746ceb5	3388
sepp_nepp	6:fb11b746ceb5	3389	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	9:cb4c6d4e5030	3390	status = VL53L0X_write_byte( 0xFF, 0x00);}
sepp_nepp	6:fb11b746ceb5	3391
sepp_nepp	6:fb11b746ceb5	3392	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3393	/* restore the previous Sequence Config */
sepp_nepp	7:3a1115c2556b	3394	status = VL53L0X_write_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
sepp_nepp	6:fb11b746ceb5	3395	sequence_config);
sepp_nepp	6:fb11b746ceb5	3396	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3397	Data.SequenceConfig = sequence_config;
sepp_nepp	6:fb11b746ceb5	3398	}
sepp_nepp	6:fb11b746ceb5	3399	}
sepp_nepp	6:fb11b746ceb5	3400	return status;
sepp_nepp	6:fb11b746ceb5	3401	}
sepp_nepp	6:fb11b746ceb5	3402
sepp_nepp	8:2fd7cb217068	3403	VL53L0X_Error VL53L0X::wrapped_VL53L0X_perform_ref_spad_management(uint32_t *ref_spad_count,
sepp_nepp	6:fb11b746ceb5	3404	uint8_t *is_aperture_spads)
sepp_nepp	8:2fd7cb217068	3405	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3406	uint8_t last_spad_array[6];
sepp_nepp	6:fb11b746ceb5	3407	uint8_t start_select = 0xB4;
sepp_nepp	6:fb11b746ceb5	3408	uint32_t minimum_spad_count = 3;
sepp_nepp	6:fb11b746ceb5	3409	uint32_t max_spad_count = 44;
sepp_nepp	6:fb11b746ceb5	3410	uint32_t current_spad_index = 0;
sepp_nepp	6:fb11b746ceb5	3411	uint32_t last_spad_index = 0;
sepp_nepp	6:fb11b746ceb5	3412	int32_t next_good_spad = 0;
sepp_nepp	11:d8dbe3b87f9f	3413	uint16_t target_ref_rate = 0x0A00; /* 20 MHz in 9:7 format */
sepp_nepp	6:fb11b746ceb5	3414	uint16_t peak_signal_rate_ref;
sepp_nepp	6:fb11b746ceb5	3415	uint32_t need_apt_spads = 0;
sepp_nepp	6:fb11b746ceb5	3416	uint32_t index = 0;
sepp_nepp	6:fb11b746ceb5	3417	uint32_t spad_array_size = 6;
sepp_nepp	6:fb11b746ceb5	3418	uint32_t signal_rate_diff = 0;
sepp_nepp	6:fb11b746ceb5	3419	uint32_t last_signal_rate_diff = 0;
sepp_nepp	6:fb11b746ceb5	3420	uint8_t complete = 0;
sepp_nepp	6:fb11b746ceb5	3421	uint8_t vhv_settings = 0;
sepp_nepp	6:fb11b746ceb5	3422	uint8_t phase_cal = 0;
sepp_nepp	6:fb11b746ceb5	3423	uint32_t ref_spad_count_int = 0;
sepp_nepp	6:fb11b746ceb5	3424	uint8_t is_aperture_spads_int = 0;
sepp_nepp	6:fb11b746ceb5	3425
sepp_nepp	6:fb11b746ceb5	3426	/*
sepp_nepp	6:fb11b746ceb5	3427	* The reference SPAD initialization procedure determines the minimum
sepp_nepp	6:fb11b746ceb5	3428	* amount of reference spads to be enables to achieve a target reference
sepp_nepp	6:fb11b746ceb5	3429	* signal rate and should be performed once during initialization.
sepp_nepp	6:fb11b746ceb5	3430	*
sepp_nepp	6:fb11b746ceb5	3431	* Either aperture or non-aperture spads are applied but never both.
sepp_nepp	6:fb11b746ceb5	3432	* Firstly non-aperture spads are set, begining with 5 spads, and
sepp_nepp	6:fb11b746ceb5	3433	* increased one spad at a time until the closest measurement to the
sepp_nepp	6:fb11b746ceb5	3434	* target rate is achieved.
sepp_nepp	6:fb11b746ceb5	3435	*
sepp_nepp	6:fb11b746ceb5	3436	* If the target rate is exceeded when 5 non-aperture spads are enabled,
sepp_nepp	6:fb11b746ceb5	3437	* initialization is performed instead with aperture spads.
sepp_nepp	6:fb11b746ceb5	3438	*
sepp_nepp	6:fb11b746ceb5	3439	* When setting spads, a 'Good Spad Map' is applied.
sepp_nepp	6:fb11b746ceb5	3440	*
sepp_nepp	6:fb11b746ceb5	3441	* This procedure operates within a SPAD window of interest of a maximum
sepp_nepp	6:fb11b746ceb5	3442	* 44 spads.
sepp_nepp	6:fb11b746ceb5	3443	* The start point is currently fixed to 180, which lies towards the end
sepp_nepp	6:fb11b746ceb5	3444	* of the non-aperture quadrant and runs in to the adjacent aperture
sepp_nepp	6:fb11b746ceb5	3445	* quadrant.
sepp_nepp	6:fb11b746ceb5	3446	*/
sepp_nepp	8:2fd7cb217068	3447	target_ref_rate = Data.targetRefRate;
sepp_nepp	6:fb11b746ceb5	3448
sepp_nepp	6:fb11b746ceb5	3449	/*
sepp_nepp	6:fb11b746ceb5	3450	* Initialize Spad arrays.
sepp_nepp	6:fb11b746ceb5	3451	* Currently the good spad map is initialised to 'All good'.
sepp_nepp	6:fb11b746ceb5	3452	* This is a short term implementation. The good spad map will be
sepp_nepp	6:fb11b746ceb5	3453	* provided as an input.
sepp_nepp	6:fb11b746ceb5	3454	* Note that there are 6 bytes. Only the first 44 bits will be used to
sepp_nepp	6:fb11b746ceb5	3455	* represent spads.
sepp_nepp	6:fb11b746ceb5	3456	*/
sepp_nepp	6:fb11b746ceb5	3457	for (index = 0; index < spad_array_size; index++) {
sepp_nepp	11:d8dbe3b87f9f	3458	Data.RefSpadEnables[index] = 0;
sepp_nepp	6:fb11b746ceb5	3459	}
sepp_nepp	6:fb11b746ceb5	3460
sepp_nepp	7:3a1115c2556b	3461	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	6:fb11b746ceb5	3462
sepp_nepp	6:fb11b746ceb5	3463	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3464	status = VL53L0X_write_byte(VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
sepp_nepp	6:fb11b746ceb5	3465	}
sepp_nepp	6:fb11b746ceb5	3466
sepp_nepp	6:fb11b746ceb5	3467	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3468	status = VL53L0X_write_byte(VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
sepp_nepp	6:fb11b746ceb5	3469	}
sepp_nepp	6:fb11b746ceb5	3470
sepp_nepp	6:fb11b746ceb5	3471	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3472	status = VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	6:fb11b746ceb5	3473	}
sepp_nepp	6:fb11b746ceb5	3474
sepp_nepp	6:fb11b746ceb5	3475	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3476	status = VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
sepp_nepp	6:fb11b746ceb5	3477	start_select);
sepp_nepp	6:fb11b746ceb5	3478	}
sepp_nepp	6:fb11b746ceb5	3479
sepp_nepp	6:fb11b746ceb5	3480	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3481	status = VL53L0X_write_byte(VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE, 0);
sepp_nepp	6:fb11b746ceb5	3482	}
sepp_nepp	6:fb11b746ceb5	3483
sepp_nepp	6:fb11b746ceb5	3484	/* Perform ref calibration */
sepp_nepp	6:fb11b746ceb5	3485	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3486	status = VL53L0X_perform_ref_calibration( &vhv_settings,
sepp_nepp	6:fb11b746ceb5	3487	&phase_cal, 0);
sepp_nepp	6:fb11b746ceb5	3488	}
sepp_nepp	6:fb11b746ceb5	3489
sepp_nepp	6:fb11b746ceb5	3490	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3491	/* Enable Minimum NON-APERTURE Spads */
sepp_nepp	6:fb11b746ceb5	3492	current_spad_index = 0;
sepp_nepp	6:fb11b746ceb5	3493	last_spad_index = current_spad_index;
sepp_nepp	6:fb11b746ceb5	3494	need_apt_spads = 0;
sepp_nepp	8:2fd7cb217068	3495	status = enable_ref_spads(need_apt_spads,
sepp_nepp	11:d8dbe3b87f9f	3496	Data.RefGoodSpadMap,
sepp_nepp	11:d8dbe3b87f9f	3497	Data.RefSpadEnables,
sepp_nepp	6:fb11b746ceb5	3498	spad_array_size,
sepp_nepp	6:fb11b746ceb5	3499	start_select,
sepp_nepp	6:fb11b746ceb5	3500	current_spad_index,
sepp_nepp	6:fb11b746ceb5	3501	minimum_spad_count,
sepp_nepp	6:fb11b746ceb5	3502	&last_spad_index);
sepp_nepp	6:fb11b746ceb5	3503	}
sepp_nepp	6:fb11b746ceb5	3504
sepp_nepp	6:fb11b746ceb5	3505	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3506	current_spad_index = last_spad_index;
sepp_nepp	6:fb11b746ceb5	3507
sepp_nepp	8:2fd7cb217068	3508	status = perform_ref_signal_measurement(&peak_signal_rate_ref);
sepp_nepp	6:fb11b746ceb5	3509	if ((status == VL53L0X_ERROR_NONE) &&
sepp_nepp	6:fb11b746ceb5	3510	(peak_signal_rate_ref > target_ref_rate)) {
sepp_nepp	6:fb11b746ceb5	3511	/* Signal rate measurement too high,
sepp_nepp	6:fb11b746ceb5	3512	* switch to APERTURE SPADs */
sepp_nepp	6:fb11b746ceb5	3513
sepp_nepp	6:fb11b746ceb5	3514	for (index = 0; index < spad_array_size; index++) {
sepp_nepp	11:d8dbe3b87f9f	3515	Data.RefSpadEnables[index] = 0;
sepp_nepp	6:fb11b746ceb5	3516	}
sepp_nepp	6:fb11b746ceb5	3517
sepp_nepp	6:fb11b746ceb5	3518	/* Increment to the first APERTURE spad */
sepp_nepp	6:fb11b746ceb5	3519	while ((is_aperture(start_select + current_spad_index)
sepp_nepp	6:fb11b746ceb5	3520	== 0) && (current_spad_index < max_spad_count)) {
sepp_nepp	6:fb11b746ceb5	3521	current_spad_index++;
sepp_nepp	6:fb11b746ceb5	3522	}
sepp_nepp	6:fb11b746ceb5	3523
sepp_nepp	6:fb11b746ceb5	3524	need_apt_spads = 1;
sepp_nepp	6:fb11b746ceb5	3525
sepp_nepp	7:3a1115c2556b	3526	status = enable_ref_spads(need_apt_spads,
sepp_nepp	11:d8dbe3b87f9f	3527	Data.RefGoodSpadMap,
sepp_nepp	11:d8dbe3b87f9f	3528	Data.RefSpadEnables,
sepp_nepp	6:fb11b746ceb5	3529	spad_array_size,
sepp_nepp	6:fb11b746ceb5	3530	start_select,
sepp_nepp	6:fb11b746ceb5	3531	current_spad_index,
sepp_nepp	6:fb11b746ceb5	3532	minimum_spad_count,
sepp_nepp	6:fb11b746ceb5	3533	&last_spad_index);
sepp_nepp	6:fb11b746ceb5	3534
sepp_nepp	6:fb11b746ceb5	3535	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3536	current_spad_index = last_spad_index;
sepp_nepp	8:2fd7cb217068	3537	status = perform_ref_signal_measurement(&peak_signal_rate_ref);
sepp_nepp	6:fb11b746ceb5	3538
sepp_nepp	6:fb11b746ceb5	3539	if ((status == VL53L0X_ERROR_NONE) &&
sepp_nepp	6:fb11b746ceb5	3540	(peak_signal_rate_ref > target_ref_rate)) {
sepp_nepp	6:fb11b746ceb5	3541	/* Signal rate still too high after
sepp_nepp	6:fb11b746ceb5	3542	* setting the minimum number of
sepp_nepp	6:fb11b746ceb5	3543	* APERTURE spads. Can do no more
sepp_nepp	6:fb11b746ceb5	3544	* therefore set the min number of
sepp_nepp	6:fb11b746ceb5	3545	* aperture spads as the result.
sepp_nepp	6:fb11b746ceb5	3546	*/
sepp_nepp	6:fb11b746ceb5	3547	is_aperture_spads_int = 1;
sepp_nepp	6:fb11b746ceb5	3548	ref_spad_count_int = minimum_spad_count;
sepp_nepp	6:fb11b746ceb5	3549	}
sepp_nepp	6:fb11b746ceb5	3550	}
sepp_nepp	6:fb11b746ceb5	3551	} else {
sepp_nepp	6:fb11b746ceb5	3552	need_apt_spads = 0;
sepp_nepp	6:fb11b746ceb5	3553	}
sepp_nepp	6:fb11b746ceb5	3554	}
sepp_nepp	6:fb11b746ceb5	3555
sepp_nepp	6:fb11b746ceb5	3556	if ((status == VL53L0X_ERROR_NONE) &&
sepp_nepp	6:fb11b746ceb5	3557	(peak_signal_rate_ref < target_ref_rate)) {
sepp_nepp	6:fb11b746ceb5	3558	/* At this point, the minimum number of either aperture
sepp_nepp	6:fb11b746ceb5	3559	* or non-aperture spads have been set. Proceed to add
sepp_nepp	6:fb11b746ceb5	3560	* spads and perform measurements until the target
sepp_nepp	6:fb11b746ceb5	3561	* reference is reached.
sepp_nepp	6:fb11b746ceb5	3562	*/
sepp_nepp	6:fb11b746ceb5	3563	is_aperture_spads_int = need_apt_spads;
sepp_nepp	6:fb11b746ceb5	3564	ref_spad_count_int = minimum_spad_count;
sepp_nepp	6:fb11b746ceb5	3565
sepp_nepp	11:d8dbe3b87f9f	3566	memcpy(last_spad_array, Data.RefSpadEnables,
sepp_nepp	6:fb11b746ceb5	3567	spad_array_size);
sepp_nepp	6:fb11b746ceb5	3568	last_signal_rate_diff = abs(peak_signal_rate_ref -
sepp_nepp	6:fb11b746ceb5	3569	target_ref_rate);
sepp_nepp	6:fb11b746ceb5	3570	complete = 0;
sepp_nepp	6:fb11b746ceb5	3571
sepp_nepp	6:fb11b746ceb5	3572	while (!complete) {
sepp_nepp	11:d8dbe3b87f9f	3573	get_next_good_spad(Data.RefGoodSpadMap,
sepp_nepp	6:fb11b746ceb5	3574	spad_array_size, current_spad_index,
sepp_nepp	6:fb11b746ceb5	3575	&next_good_spad);
sepp_nepp	6:fb11b746ceb5	3576
sepp_nepp	6:fb11b746ceb5	3577	if (next_good_spad == -1) {
sepp_nepp	6:fb11b746ceb5	3578	status = VL53L0X_ERROR_REF_SPAD_INIT;
sepp_nepp	6:fb11b746ceb5	3579	break;
sepp_nepp	6:fb11b746ceb5	3580	}
sepp_nepp	6:fb11b746ceb5	3581
sepp_nepp	6:fb11b746ceb5	3582	/* Cannot combine Aperture and Non-Aperture spads, so
sepp_nepp	6:fb11b746ceb5	3583	* ensure the current spad is of the correct type.
sepp_nepp	6:fb11b746ceb5	3584	*/
sepp_nepp	6:fb11b746ceb5	3585	if (is_aperture((uint32_t)start_select + next_good_spad) !=
sepp_nepp	6:fb11b746ceb5	3586	need_apt_spads) {
sepp_nepp	6:fb11b746ceb5	3587	/* At this point we have enabled the maximum
sepp_nepp	6:fb11b746ceb5	3588	* number of Aperture spads.
sepp_nepp	6:fb11b746ceb5	3589	*/
sepp_nepp	6:fb11b746ceb5	3590	complete = 1;
sepp_nepp	6:fb11b746ceb5	3591	break;
sepp_nepp	6:fb11b746ceb5	3592	}
sepp_nepp	6:fb11b746ceb5	3593
sepp_nepp	6:fb11b746ceb5	3594	(ref_spad_count_int)++;
sepp_nepp	6:fb11b746ceb5	3595
sepp_nepp	6:fb11b746ceb5	3596	current_spad_index = next_good_spad;
sepp_nepp	11:d8dbe3b87f9f	3597	status = enable_spad_bit(Data.RefSpadEnables,
sepp_nepp	6:fb11b746ceb5	3598	spad_array_size, current_spad_index);
sepp_nepp	6:fb11b746ceb5	3599
sepp_nepp	6:fb11b746ceb5	3600	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3601	current_spad_index++;
sepp_nepp	6:fb11b746ceb5	3602	/* Proceed to apply the additional spad and
sepp_nepp	6:fb11b746ceb5	3603	* perform measurement. */
sepp_nepp	11:d8dbe3b87f9f	3604	status = set_ref_spad_map(Data.RefSpadEnables);
sepp_nepp	6:fb11b746ceb5	3605	}
sepp_nepp	6:fb11b746ceb5	3606
sepp_nepp	6:fb11b746ceb5	3607	if (status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3608	break;
sepp_nepp	6:fb11b746ceb5	3609	}
sepp_nepp	6:fb11b746ceb5	3610
sepp_nepp	7:3a1115c2556b	3611	status = perform_ref_signal_measurement(&peak_signal_rate_ref);
sepp_nepp	6:fb11b746ceb5	3612
sepp_nepp	6:fb11b746ceb5	3613	if (status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3614	break;
sepp_nepp	6:fb11b746ceb5	3615	}
sepp_nepp	6:fb11b746ceb5	3616
sepp_nepp	6:fb11b746ceb5	3617	signal_rate_diff = abs(peak_signal_rate_ref - target_ref_rate);
sepp_nepp	6:fb11b746ceb5	3618
sepp_nepp	6:fb11b746ceb5	3619	if (peak_signal_rate_ref > target_ref_rate) {
sepp_nepp	6:fb11b746ceb5	3620	/* Select the spad map that provides the
sepp_nepp	6:fb11b746ceb5	3621	* measurement closest to the target rate,
sepp_nepp	6:fb11b746ceb5	3622	* either above or below it.
sepp_nepp	6:fb11b746ceb5	3623	*/
sepp_nepp	6:fb11b746ceb5	3624	if (signal_rate_diff > last_signal_rate_diff) {
sepp_nepp	6:fb11b746ceb5	3625	/* Previous spad map produced a closer
sepp_nepp	6:fb11b746ceb5	3626	* measurement, so choose this. */
sepp_nepp	7:3a1115c2556b	3627	status = set_ref_spad_map(last_spad_array);
sepp_nepp	11:d8dbe3b87f9f	3628	memcpy(Data.RefSpadEnables,
sepp_nepp	6:fb11b746ceb5	3629	last_spad_array, spad_array_size);
sepp_nepp	6:fb11b746ceb5	3630	(ref_spad_count_int)--;
sepp_nepp	6:fb11b746ceb5	3631	}
sepp_nepp	6:fb11b746ceb5	3632	complete = 1;
sepp_nepp	6:fb11b746ceb5	3633	} else {
sepp_nepp	6:fb11b746ceb5	3634	/* Continue to add spads */
sepp_nepp	6:fb11b746ceb5	3635	last_signal_rate_diff = signal_rate_diff;
sepp_nepp	6:fb11b746ceb5	3636	memcpy(last_spad_array,
sepp_nepp	11:d8dbe3b87f9f	3637	Data.RefSpadEnables,
sepp_nepp	6:fb11b746ceb5	3638	spad_array_size);
sepp_nepp	6:fb11b746ceb5	3639	}
sepp_nepp	6:fb11b746ceb5	3640
sepp_nepp	6:fb11b746ceb5	3641	} /* while */
sepp_nepp	6:fb11b746ceb5	3642	}
sepp_nepp	6:fb11b746ceb5	3643
sepp_nepp	6:fb11b746ceb5	3644	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3645	*ref_spad_count = ref_spad_count_int;
sepp_nepp	6:fb11b746ceb5	3646	*is_aperture_spads = is_aperture_spads_int;
sepp_nepp	8:2fd7cb217068	3647	Data.RefSpadsInitialised = 1;
sepp_nepp	8:2fd7cb217068	3648	Data.ReferenceSpadCount = (uint8_t)(*ref_spad_count);
sepp_nepp	9:cb4c6d4e5030	3649	Data.ReferenceSpadType = *is_aperture_spads;
sepp_nepp	6:fb11b746ceb5	3650	}
sepp_nepp	6:fb11b746ceb5	3651
sepp_nepp	6:fb11b746ceb5	3652	return status;
sepp_nepp	6:fb11b746ceb5	3653	}
sepp_nepp	6:fb11b746ceb5	3654
sepp_nepp	8:2fd7cb217068	3655	VL53L0X_Error VL53L0X::VL53L0X_set_reference_spads(uint32_t count, uint8_t is_aperture_spads)
sepp_nepp	8:2fd7cb217068	3656	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3657	uint32_t current_spad_index = 0;
sepp_nepp	6:fb11b746ceb5	3658	uint8_t start_select = 0xB4;
sepp_nepp	6:fb11b746ceb5	3659	uint32_t spad_array_size = 6;
sepp_nepp	6:fb11b746ceb5	3660	uint32_t max_spad_count = 44;
sepp_nepp	6:fb11b746ceb5	3661	uint32_t last_spad_index;
sepp_nepp	6:fb11b746ceb5	3662	uint32_t index;
sepp_nepp	6:fb11b746ceb5	3663
sepp_nepp	6:fb11b746ceb5	3664	/*
sepp_nepp	6:fb11b746ceb5	3665	* This function applies a requested number of reference spads, either
sepp_nepp	6:fb11b746ceb5	3666	* aperture or
sepp_nepp	6:fb11b746ceb5	3667	* non-aperture, as requested.
sepp_nepp	6:fb11b746ceb5	3668	* The good spad map will be applied.
sepp_nepp	6:fb11b746ceb5	3669	*/
sepp_nepp	6:fb11b746ceb5	3670
sepp_nepp	7:3a1115c2556b	3671	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	6:fb11b746ceb5	3672
sepp_nepp	6:fb11b746ceb5	3673	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3674	status = VL53L0X_write_byte(VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00);
sepp_nepp	6:fb11b746ceb5	3675	}
sepp_nepp	6:fb11b746ceb5	3676
sepp_nepp	6:fb11b746ceb5	3677	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3678	status = VL53L0X_write_byte( VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C);
sepp_nepp	6:fb11b746ceb5	3679	}
sepp_nepp	6:fb11b746ceb5	3680
sepp_nepp	6:fb11b746ceb5	3681	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3682	status = VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	6:fb11b746ceb5	3683	}
sepp_nepp	6:fb11b746ceb5	3684
sepp_nepp	6:fb11b746ceb5	3685	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3686	status = VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT,
sepp_nepp	6:fb11b746ceb5	3687	start_select);
sepp_nepp	6:fb11b746ceb5	3688	}
sepp_nepp	6:fb11b746ceb5	3689
sepp_nepp	6:fb11b746ceb5	3690	for (index = 0; index < spad_array_size; index++) {
sepp_nepp	11:d8dbe3b87f9f	3691	Data.RefSpadEnables[index] = 0;
sepp_nepp	6:fb11b746ceb5	3692	}
sepp_nepp	6:fb11b746ceb5	3693
sepp_nepp	6:fb11b746ceb5	3694	if (is_aperture_spads) {
sepp_nepp	6:fb11b746ceb5	3695	/* Increment to the first APERTURE spad */
sepp_nepp	6:fb11b746ceb5	3696	while ((is_aperture(start_select + current_spad_index) == 0) &&
sepp_nepp	6:fb11b746ceb5	3697	(current_spad_index < max_spad_count)) {
sepp_nepp	6:fb11b746ceb5	3698	current_spad_index++;
sepp_nepp	6:fb11b746ceb5	3699	}
sepp_nepp	6:fb11b746ceb5	3700	}
sepp_nepp	7:3a1115c2556b	3701	status = enable_ref_spads(is_aperture_spads,
sepp_nepp	11:d8dbe3b87f9f	3702	Data.RefGoodSpadMap,
sepp_nepp	11:d8dbe3b87f9f	3703	Data.RefSpadEnables,
sepp_nepp	6:fb11b746ceb5	3704	spad_array_size,
sepp_nepp	6:fb11b746ceb5	3705	start_select,
sepp_nepp	6:fb11b746ceb5	3706	current_spad_index,
sepp_nepp	6:fb11b746ceb5	3707	count,
sepp_nepp	6:fb11b746ceb5	3708	&last_spad_index);
sepp_nepp	6:fb11b746ceb5	3709
sepp_nepp	6:fb11b746ceb5	3710	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3711	Data.RefSpadsInitialised = 1;
sepp_nepp	8:2fd7cb217068	3712	Data.ReferenceSpadCount = (uint8_t)(count);
sepp_nepp	8:2fd7cb217068	3713	Data.ReferenceSpadType = is_aperture_spads;
sepp_nepp	6:fb11b746ceb5	3714	}
sepp_nepp	6:fb11b746ceb5	3715
sepp_nepp	6:fb11b746ceb5	3716	return status;
sepp_nepp	6:fb11b746ceb5	3717	}
sepp_nepp	6:fb11b746ceb5	3718
sepp_nepp	7:3a1115c2556b	3719	VL53L0X_Error VL53L0X::VL53L0X_perform_ref_calibration( uint8_t *p_vhv_settings,
sepp_nepp	6:fb11b746ceb5	3720	uint8_t *p_phase_cal)
sepp_nepp	8:2fd7cb217068	3721	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3722
sepp_nepp	7:3a1115c2556b	3723	status = VL53L0X_perform_ref_calibration( p_vhv_settings, p_phase_cal, 1);
sepp_nepp	6:fb11b746ceb5	3724
sepp_nepp	6:fb11b746ceb5	3725	return status;
sepp_nepp	6:fb11b746ceb5	3726	}
sepp_nepp	6:fb11b746ceb5	3727
sepp_nepp	8:2fd7cb217068	3728	VL53L0X_Error VL53L0X::VL53L0X_perform_ref_spad_management(uint32_t ref_spad_count, uint8_t is_aperture_spads)
sepp_nepp	8:2fd7cb217068	3729	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3730
sepp_nepp	7:3a1115c2556b	3731	status = wrapped_VL53L0X_perform_ref_spad_management( ref_spad_count,
sepp_nepp	6:fb11b746ceb5	3732	is_aperture_spads);
sepp_nepp	6:fb11b746ceb5	3733
sepp_nepp	6:fb11b746ceb5	3734	return status;
sepp_nepp	6:fb11b746ceb5	3735	}
sepp_nepp	6:fb11b746ceb5	3736
sepp_nepp	6:fb11b746ceb5	3737	/* Group PAL Init Functions */
sepp_nepp	7:3a1115c2556b	3738	VL53L0X_Error VL53L0X::VL53L0X_set_device_address( uint8_t device_address)
sepp_nepp	7:3a1115c2556b	3739	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3740
sepp_nepp	7:3a1115c2556b	3741	status = VL53L0X_write_byte( VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS,
sepp_nepp	6:fb11b746ceb5	3742	device_address / 2);
sepp_nepp	6:fb11b746ceb5	3743	return status;
sepp_nepp	6:fb11b746ceb5	3744	}
sepp_nepp	6:fb11b746ceb5	3745
sepp_nepp	7:3a1115c2556b	3746	VL53L0X_Error VL53L0X::VL53L0X_set_gpio_config( uint8_t pin,
sepp_nepp	6:fb11b746ceb5	3747	VL53L0X_DeviceModes device_mode, VL53L0X_GpioFunctionality functionality,
sepp_nepp	6:fb11b746ceb5	3748	VL53L0X_InterruptPolarity polarity)
sepp_nepp	7:3a1115c2556b	3749	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3750	uint8_t data;
sepp_nepp	6:fb11b746ceb5	3751
sepp_nepp	6:fb11b746ceb5	3752	if (pin != 0) {
sepp_nepp	6:fb11b746ceb5	3753	status = VL53L0X_ERROR_GPIO_NOT_EXISTING;
sepp_nepp	6:fb11b746ceb5	3754	} else if (device_mode == VL53L0X_DEVICEMODE_GPIO_DRIVE) {
sepp_nepp	6:fb11b746ceb5	3755	if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW) {
sepp_nepp	6:fb11b746ceb5	3756	data = 0x10;
sepp_nepp	7:3a1115c2556b	3757	} else {data = 1;}
sepp_nepp	7:3a1115c2556b	3758
sepp_nepp	7:3a1115c2556b	3759	status = VL53L0X_write_byte(VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data);
sepp_nepp	6:fb11b746ceb5	3760
sepp_nepp	6:fb11b746ceb5	3761	} else {
sepp_nepp	6:fb11b746ceb5	3762	if (device_mode == VL53L0X_DEVICEMODE_GPIO_OSC) {
sepp_nepp	6:fb11b746ceb5	3763
sepp_nepp	7:3a1115c2556b	3764	status \|= VL53L0X_write_byte( 0xff, 0x01);
sepp_nepp	7:3a1115c2556b	3765	status \|= VL53L0X_write_byte( 0x00, 0x00);
sepp_nepp	7:3a1115c2556b	3766	status \|= VL53L0X_write_byte( 0xff, 0x00);
sepp_nepp	7:3a1115c2556b	3767	status \|= VL53L0X_write_byte( 0x80, 0x01);
sepp_nepp	7:3a1115c2556b	3768	status \|= VL53L0X_write_byte( 0x85, 0x02);
sepp_nepp	7:3a1115c2556b	3769	status \|= VL53L0X_write_byte( 0xff, 0x04);
sepp_nepp	7:3a1115c2556b	3770	status \|= VL53L0X_write_byte( 0xcd, 0x00);
sepp_nepp	7:3a1115c2556b	3771	status \|= VL53L0X_write_byte( 0xcc, 0x11);
sepp_nepp	7:3a1115c2556b	3772	status \|= VL53L0X_write_byte( 0xff, 0x07);
sepp_nepp	7:3a1115c2556b	3773	status \|= VL53L0X_write_byte( 0xbe, 0x00);
sepp_nepp	7:3a1115c2556b	3774	status \|= VL53L0X_write_byte( 0xff, 0x06);
sepp_nepp	7:3a1115c2556b	3775	status \|= VL53L0X_write_byte( 0xcc, 0x09);
sepp_nepp	7:3a1115c2556b	3776	status \|= VL53L0X_write_byte( 0xff, 0x00);
sepp_nepp	7:3a1115c2556b	3777	status \|= VL53L0X_write_byte( 0xff, 0x01);
sepp_nepp	7:3a1115c2556b	3778	status \|= VL53L0X_write_byte( 0x00, 0x00);
sepp_nepp	6:fb11b746ceb5	3779
sepp_nepp	6:fb11b746ceb5	3780	} else {
sepp_nepp	6:fb11b746ceb5	3781
sepp_nepp	6:fb11b746ceb5	3782	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3783	switch (functionality) {
sepp_nepp	6:fb11b746ceb5	3784	case VL53L0X_GPIOFUNCTIONALITY_OFF:
sepp_nepp	6:fb11b746ceb5	3785	data = 0x00;
sepp_nepp	6:fb11b746ceb5	3786	break;
sepp_nepp	6:fb11b746ceb5	3787	case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW:
sepp_nepp	6:fb11b746ceb5	3788	data = 0x01;
sepp_nepp	6:fb11b746ceb5	3789	break;
sepp_nepp	6:fb11b746ceb5	3790	case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH:
sepp_nepp	6:fb11b746ceb5	3791	data = 0x02;
sepp_nepp	6:fb11b746ceb5	3792	break;
sepp_nepp	6:fb11b746ceb5	3793	case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT:
sepp_nepp	6:fb11b746ceb5	3794	data = 0x03;
sepp_nepp	6:fb11b746ceb5	3795	break;
sepp_nepp	6:fb11b746ceb5	3796	case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY:
sepp_nepp	6:fb11b746ceb5	3797	data = 0x04;
sepp_nepp	6:fb11b746ceb5	3798	break;
sepp_nepp	6:fb11b746ceb5	3799	default:
sepp_nepp	11:d8dbe3b87f9f	3800	status = VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED;
sepp_nepp	6:fb11b746ceb5	3801	}
sepp_nepp	6:fb11b746ceb5	3802	}
sepp_nepp	6:fb11b746ceb5	3803
sepp_nepp	6:fb11b746ceb5	3804	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3805	status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data);
sepp_nepp	6:fb11b746ceb5	3806	}
sepp_nepp	6:fb11b746ceb5	3807
sepp_nepp	6:fb11b746ceb5	3808	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3809	if (polarity == VL53L0X_INTERRUPTPOLARITY_LOW) {
sepp_nepp	6:fb11b746ceb5	3810	data = 0;
sepp_nepp	7:3a1115c2556b	3811	} else { data = (uint8_t)(1 << 4); }
sepp_nepp	7:3a1115c2556b	3812	status = VL53L0X_update_byte(VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data);
sepp_nepp	6:fb11b746ceb5	3813	}
sepp_nepp	6:fb11b746ceb5	3814
sepp_nepp	6:fb11b746ceb5	3815	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3816	Data.Pin0GpioFunctionality = functionality; }
sepp_nepp	7:3a1115c2556b	3817
sepp_nepp	7:3a1115c2556b	3818	if (status == VL53L0X_ERROR_NONE) { status = VL53L0X_clear_interrupt_mask( 0); }
sepp_nepp	6:fb11b746ceb5	3819	}
sepp_nepp	6:fb11b746ceb5	3820	}
sepp_nepp	6:fb11b746ceb5	3821	return status;
sepp_nepp	6:fb11b746ceb5	3822	}
sepp_nepp	6:fb11b746ceb5	3823
sepp_nepp	7:3a1115c2556b	3824	VL53L0X_Error VL53L0X::VL53L0X_get_fraction_enable( uint8_t *p_enabled)
sepp_nepp	8:2fd7cb217068	3825	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	7:3a1115c2556b	3826	status = VL53L0X_read_byte( VL53L0X_REG_SYSTEM_RANGE_CONFIG, p_enabled);
sepp_nepp	7:3a1115c2556b	3827	if (status == VL53L0X_ERROR_NONE) { p_enabled = (p_enabled & 1); }
sepp_nepp	6:fb11b746ceb5	3828	return status;
sepp_nepp	6:fb11b746ceb5	3829	}
sepp_nepp	6:fb11b746ceb5	3830
sepp_nepp	6:fb11b746ceb5	3831	uint16_t VL53L0X::VL53L0X_encode_timeout(uint32_t timeout_macro_clks)
sepp_nepp	7:3a1115c2556b	3832	{ /!Encode timeout in macro periods in (LSByte 2^MSByte) + 1 format*/
sepp_nepp	6:fb11b746ceb5	3833
sepp_nepp	6:fb11b746ceb5	3834	uint16_t encoded_timeout = 0;
sepp_nepp	6:fb11b746ceb5	3835	uint32_t ls_byte = 0;
sepp_nepp	6:fb11b746ceb5	3836	uint16_t ms_byte = 0;
sepp_nepp	6:fb11b746ceb5	3837
sepp_nepp	6:fb11b746ceb5	3838	if (timeout_macro_clks > 0) {
sepp_nepp	6:fb11b746ceb5	3839	ls_byte = timeout_macro_clks - 1;
sepp_nepp	6:fb11b746ceb5	3840
sepp_nepp	6:fb11b746ceb5	3841	while ((ls_byte & 0xFFFFFF00) > 0) {
sepp_nepp	6:fb11b746ceb5	3842	ls_byte = ls_byte >> 1;
sepp_nepp	6:fb11b746ceb5	3843	ms_byte++;
sepp_nepp	6:fb11b746ceb5	3844	}
sepp_nepp	7:3a1115c2556b	3845	encoded_timeout = (ms_byte << 8) + (uint16_t)(ls_byte & 0x000000FF);
sepp_nepp	6:fb11b746ceb5	3846	}
sepp_nepp	6:fb11b746ceb5	3847	return encoded_timeout;
sepp_nepp	6:fb11b746ceb5	3848	}
sepp_nepp	6:fb11b746ceb5	3849
sepp_nepp	8:2fd7cb217068	3850	VL53L0X_Error VL53L0X::set_sequence_step_timeout(VL53L0X_SequenceStepId sequence_step_id,
sepp_nepp	6:fb11b746ceb5	3851	uint32_t timeout_micro_secs)
sepp_nepp	8:2fd7cb217068	3852	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	3853	uint8_t current_vcsel_pulse_period_p_clk;
sepp_nepp	6:fb11b746ceb5	3854	uint8_t msrc_encoded_time_out;
sepp_nepp	6:fb11b746ceb5	3855	uint16_t pre_range_encoded_time_out;
sepp_nepp	6:fb11b746ceb5	3856	uint16_t pre_range_time_out_m_clks;
sepp_nepp	6:fb11b746ceb5	3857	uint16_t msrc_range_time_out_m_clks;
sepp_nepp	6:fb11b746ceb5	3858	uint32_t final_range_time_out_m_clks;
sepp_nepp	6:fb11b746ceb5	3859	uint16_t final_range_encoded_time_out;
sepp_nepp	6:fb11b746ceb5	3860	VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
sepp_nepp	6:fb11b746ceb5	3861
sepp_nepp	6:fb11b746ceb5	3862	if ((sequence_step_id == VL53L0X_SEQUENCESTEP_TCC) \|\|
sepp_nepp	6:fb11b746ceb5	3863	(sequence_step_id == VL53L0X_SEQUENCESTEP_DSS) \|\|
sepp_nepp	6:fb11b746ceb5	3864	(sequence_step_id == VL53L0X_SEQUENCESTEP_MSRC)) {
sepp_nepp	6:fb11b746ceb5	3865
sepp_nepp	8:2fd7cb217068	3866	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	3867	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	3868
sepp_nepp	6:fb11b746ceb5	3869	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	3870	msrc_range_time_out_m_clks = VL53L0X_calc_timeout_mclks(timeout_micro_secs,
sepp_nepp	6:fb11b746ceb5	3871	(uint8_t)current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	3872
sepp_nepp	6:fb11b746ceb5	3873	if (msrc_range_time_out_m_clks > 256) {
sepp_nepp	6:fb11b746ceb5	3874	msrc_encoded_time_out = 255;
sepp_nepp	6:fb11b746ceb5	3875	} else {
sepp_nepp	6:fb11b746ceb5	3876	msrc_encoded_time_out =
sepp_nepp	6:fb11b746ceb5	3877	(uint8_t)msrc_range_time_out_m_clks - 1;
sepp_nepp	6:fb11b746ceb5	3878	}
sepp_nepp	8:2fd7cb217068	3879	Data.LastEncodedTimeout = msrc_encoded_time_out;
sepp_nepp	6:fb11b746ceb5	3880	}
sepp_nepp	6:fb11b746ceb5	3881
sepp_nepp	6:fb11b746ceb5	3882	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3883	status = VL53L0X_write_byte(VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
sepp_nepp	6:fb11b746ceb5	3884	msrc_encoded_time_out);
sepp_nepp	6:fb11b746ceb5	3885	}
sepp_nepp	6:fb11b746ceb5	3886	} else {
sepp_nepp	6:fb11b746ceb5	3887
sepp_nepp	6:fb11b746ceb5	3888	if (sequence_step_id == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
sepp_nepp	6:fb11b746ceb5	3889
sepp_nepp	6:fb11b746ceb5	3890	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3891	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	3892	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	3893	pre_range_time_out_m_clks =
sepp_nepp	7:3a1115c2556b	3894	VL53L0X_calc_timeout_mclks(timeout_micro_secs,
sepp_nepp	6:fb11b746ceb5	3895	(uint8_t)current_vcsel_pulse_period_p_clk);
sepp_nepp	8:2fd7cb217068	3896	pre_range_encoded_time_out = VL53L0X_encode_timeout(pre_range_time_out_m_clks);
sepp_nepp	8:2fd7cb217068	3897	Data.LastEncodedTimeout = pre_range_encoded_time_out;
sepp_nepp	6:fb11b746ceb5	3898	}
sepp_nepp	6:fb11b746ceb5	3899
sepp_nepp	6:fb11b746ceb5	3900	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3901	status = VL53L0X_write_word(VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
sepp_nepp	6:fb11b746ceb5	3902	pre_range_encoded_time_out);
sepp_nepp	6:fb11b746ceb5	3903	}
sepp_nepp	6:fb11b746ceb5	3904
sepp_nepp	6:fb11b746ceb5	3905	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	11:d8dbe3b87f9f	3906	Data.PreRangeTimeout_us = timeout_micro_secs;
sepp_nepp	6:fb11b746ceb5	3907	}
sepp_nepp	6:fb11b746ceb5	3908	} else if (sequence_step_id == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
sepp_nepp	6:fb11b746ceb5	3909
sepp_nepp	6:fb11b746ceb5	3910	/* For the final range timeout, the pre-range timeout
sepp_nepp	6:fb11b746ceb5	3911	* must be added. To do this both final and pre-range
sepp_nepp	6:fb11b746ceb5	3912	* timeouts must be expressed in macro periods MClks
sepp_nepp	9:cb4c6d4e5030	3913	* because they have different vcsel periods. */
sepp_nepp	6:fb11b746ceb5	3914
sepp_nepp	7:3a1115c2556b	3915	VL53L0X_get_sequence_step_enables(&scheduler_sequence_steps);
sepp_nepp	6:fb11b746ceb5	3916	pre_range_time_out_m_clks = 0;
sepp_nepp	6:fb11b746ceb5	3917	if (scheduler_sequence_steps.PreRangeOn) {
sepp_nepp	6:fb11b746ceb5	3918
sepp_nepp	6:fb11b746ceb5	3919	/* Retrieve PRE-RANGE VCSEL Period */
sepp_nepp	7:3a1115c2556b	3920	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,
sepp_nepp	6:fb11b746ceb5	3921	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	3922
sepp_nepp	6:fb11b746ceb5	3923	/* Retrieve PRE-RANGE Timeout in Macro periods
sepp_nepp	6:fb11b746ceb5	3924	* (MCLKS) */
sepp_nepp	6:fb11b746ceb5	3925	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3926	status = VL53L0X_read_word( 0x51, &pre_range_encoded_time_out);
sepp_nepp	6:fb11b746ceb5	3927	pre_range_time_out_m_clks =
sepp_nepp	7:3a1115c2556b	3928	VL53L0X_decode_timeout( pre_range_encoded_time_out);
sepp_nepp	6:fb11b746ceb5	3929	}
sepp_nepp	6:fb11b746ceb5	3930	}
sepp_nepp	6:fb11b746ceb5	3931
sepp_nepp	6:fb11b746ceb5	3932	/* Calculate FINAL RANGE Timeout in Macro Periods
sepp_nepp	6:fb11b746ceb5	3933	* (MCLKS) and add PRE-RANGE value
sepp_nepp	6:fb11b746ceb5	3934	*/
sepp_nepp	6:fb11b746ceb5	3935	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3936	status = VL53L0X_get_vcsel_pulse_period( VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	3937	&current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	3938	}
sepp_nepp	6:fb11b746ceb5	3939	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	3940	final_range_time_out_m_clks =
sepp_nepp	7:3a1115c2556b	3941	VL53L0X_calc_timeout_mclks( timeout_micro_secs,
sepp_nepp	6:fb11b746ceb5	3942	(uint8_t) current_vcsel_pulse_period_p_clk);
sepp_nepp	6:fb11b746ceb5	3943
sepp_nepp	6:fb11b746ceb5	3944	final_range_time_out_m_clks += pre_range_time_out_m_clks;
sepp_nepp	6:fb11b746ceb5	3945	final_range_encoded_time_out =
sepp_nepp	6:fb11b746ceb5	3946	VL53L0X_encode_timeout(final_range_time_out_m_clks);
sepp_nepp	6:fb11b746ceb5	3947
sepp_nepp	6:fb11b746ceb5	3948	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	3949	status = VL53L0X_write_word( 0x71, final_range_encoded_time_out);
sepp_nepp	6:fb11b746ceb5	3950	}
sepp_nepp	6:fb11b746ceb5	3951
sepp_nepp	6:fb11b746ceb5	3952	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	11:d8dbe3b87f9f	3953	Data.FinalRangeTimeout_us = timeout_micro_secs;
sepp_nepp	6:fb11b746ceb5	3954	}
sepp_nepp	6:fb11b746ceb5	3955	}
sepp_nepp	6:fb11b746ceb5	3956	} else {
sepp_nepp	6:fb11b746ceb5	3957	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	3958	}
sepp_nepp	6:fb11b746ceb5	3959	}
sepp_nepp	6:fb11b746ceb5	3960	return status;
sepp_nepp	6:fb11b746ceb5	3961	}
sepp_nepp	6:fb11b746ceb5	3962
sepp_nepp	11:d8dbe3b87f9f	3963	VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_measurement_timing_budget_us(uint32_t measurement_timing_budget_us)
sepp_nepp	8:2fd7cb217068	3964	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	11:d8dbe3b87f9f	3965	uint32_t final_range_timing_budget_us;
sepp_nepp	6:fb11b746ceb5	3966	VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
sepp_nepp	11:d8dbe3b87f9f	3967	uint32_t msrc_dcc_tcc_timeout_us = 2000;
sepp_nepp	11:d8dbe3b87f9f	3968	uint32_t start_overhead_us = 1910;
sepp_nepp	11:d8dbe3b87f9f	3969	uint32_t end_overhead_us = 960;
sepp_nepp	11:d8dbe3b87f9f	3970	uint32_t msrc_overhead_us = 660;
sepp_nepp	11:d8dbe3b87f9f	3971	uint32_t tcc_overhead_us = 590;
sepp_nepp	11:d8dbe3b87f9f	3972	uint32_t dss_overhead_us = 690;
sepp_nepp	11:d8dbe3b87f9f	3973	uint32_t pre_range_overhead_us = 660;
sepp_nepp	11:d8dbe3b87f9f	3974	uint32_t final_range_overhead_us = 550;
sepp_nepp	11:d8dbe3b87f9f	3975	uint32_t pre_range_timeout_us = 0;
sepp_nepp	11:d8dbe3b87f9f	3976	uint32_t c_min_timing_budget_us = 20000;
sepp_nepp	6:fb11b746ceb5	3977	uint32_t sub_timeout = 0;
sepp_nepp	6:fb11b746ceb5	3978
sepp_nepp	11:d8dbe3b87f9f	3979	if (measurement_timing_budget_us < c_min_timing_budget_us)
sepp_nepp	7:3a1115c2556b	3980	{ status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	7:3a1115c2556b	3981	return status;
sepp_nepp	7:3a1115c2556b	3982	}
sepp_nepp	6:fb11b746ceb5	3983
sepp_nepp	11:d8dbe3b87f9f	3984	final_range_timing_budget_us =
sepp_nepp	13:253cb4ea3fcc	3985	measurement_timing_budget_us - (start_overhead_us + end_overhead_us);
sepp_nepp	6:fb11b746ceb5	3986
sepp_nepp	7:3a1115c2556b	3987	status = VL53L0X_get_sequence_step_enables( &scheduler_sequence_steps);
sepp_nepp	6:fb11b746ceb5	3988
sepp_nepp	6:fb11b746ceb5	3989	if (status == VL53L0X_ERROR_NONE &&
sepp_nepp	6:fb11b746ceb5	3990	(scheduler_sequence_steps.TccOn \|\|
sepp_nepp	6:fb11b746ceb5	3991	scheduler_sequence_steps.MsrcOn \|\|
sepp_nepp	6:fb11b746ceb5	3992	scheduler_sequence_steps.DssOn)) {
sepp_nepp	6:fb11b746ceb5	3993
sepp_nepp	6:fb11b746ceb5	3994	/* TCC, MSRC and DSS all share the same timeout */
sepp_nepp	7:3a1115c2556b	3995	status = get_sequence_step_timeout( VL53L0X_SEQUENCESTEP_MSRC,
sepp_nepp	11:d8dbe3b87f9f	3996	&msrc_dcc_tcc_timeout_us);
sepp_nepp	6:fb11b746ceb5	3997
sepp_nepp	6:fb11b746ceb5	3998	/* Subtract the TCC, MSRC and DSS timeouts if they are
sepp_nepp	6:fb11b746ceb5	3999	* enabled. */
sepp_nepp	6:fb11b746ceb5	4000
sepp_nepp	6:fb11b746ceb5	4001	if (status != VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	4002	return status;
sepp_nepp	6:fb11b746ceb5	4003	}
sepp_nepp	6:fb11b746ceb5	4004
sepp_nepp	6:fb11b746ceb5	4005	/* TCC */
sepp_nepp	6:fb11b746ceb5	4006	if (scheduler_sequence_steps.TccOn) {
sepp_nepp	6:fb11b746ceb5	4007
sepp_nepp	11:d8dbe3b87f9f	4008	sub_timeout = msrc_dcc_tcc_timeout_us
sepp_nepp	11:d8dbe3b87f9f	4009	+ tcc_overhead_us;
sepp_nepp	6:fb11b746ceb5	4010
sepp_nepp	6:fb11b746ceb5	4011	if (sub_timeout <
sepp_nepp	11:d8dbe3b87f9f	4012	final_range_timing_budget_us) {
sepp_nepp	11:d8dbe3b87f9f	4013	final_range_timing_budget_us -=
sepp_nepp	6:fb11b746ceb5	4014	sub_timeout;
sepp_nepp	6:fb11b746ceb5	4015	} else {
sepp_nepp	6:fb11b746ceb5	4016	/* Requested timeout too big. */
sepp_nepp	6:fb11b746ceb5	4017	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4018	}
sepp_nepp	6:fb11b746ceb5	4019	}
sepp_nepp	6:fb11b746ceb5	4020
sepp_nepp	7:3a1115c2556b	4021	if (status != VL53L0X_ERROR_NONE) {return status;}
sepp_nepp	6:fb11b746ceb5	4022
sepp_nepp	6:fb11b746ceb5	4023	/* DSS */
sepp_nepp	6:fb11b746ceb5	4024	if (scheduler_sequence_steps.DssOn) {
sepp_nepp	6:fb11b746ceb5	4025
sepp_nepp	11:d8dbe3b87f9f	4026	sub_timeout = 2 * (msrc_dcc_tcc_timeout_us +
sepp_nepp	11:d8dbe3b87f9f	4027	dss_overhead_us);
sepp_nepp	11:d8dbe3b87f9f	4028
sepp_nepp	11:d8dbe3b87f9f	4029	if (sub_timeout < final_range_timing_budget_us) {
sepp_nepp	11:d8dbe3b87f9f	4030	final_range_timing_budget_us
sepp_nepp	6:fb11b746ceb5	4031	-= sub_timeout;
sepp_nepp	6:fb11b746ceb5	4032	} else {
sepp_nepp	6:fb11b746ceb5	4033	/* Requested timeout too big. */
sepp_nepp	6:fb11b746ceb5	4034	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4035	}
sepp_nepp	6:fb11b746ceb5	4036	} else if (scheduler_sequence_steps.MsrcOn) {
sepp_nepp	6:fb11b746ceb5	4037	/* MSRC */
sepp_nepp	11:d8dbe3b87f9f	4038	sub_timeout = msrc_dcc_tcc_timeout_us +
sepp_nepp	11:d8dbe3b87f9f	4039	msrc_overhead_us;
sepp_nepp	11:d8dbe3b87f9f	4040
sepp_nepp	11:d8dbe3b87f9f	4041	if (sub_timeout < final_range_timing_budget_us) {
sepp_nepp	11:d8dbe3b87f9f	4042	final_range_timing_budget_us
sepp_nepp	6:fb11b746ceb5	4043	-= sub_timeout;
sepp_nepp	6:fb11b746ceb5	4044	} else {
sepp_nepp	6:fb11b746ceb5	4045	/* Requested timeout too big. */
sepp_nepp	6:fb11b746ceb5	4046	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4047	}
sepp_nepp	6:fb11b746ceb5	4048	}
sepp_nepp	6:fb11b746ceb5	4049	}
sepp_nepp	6:fb11b746ceb5	4050
sepp_nepp	9:cb4c6d4e5030	4051	if (status != VL53L0X_ERROR_NONE) { return status; }
sepp_nepp	6:fb11b746ceb5	4052
sepp_nepp	6:fb11b746ceb5	4053	if (scheduler_sequence_steps.PreRangeOn) {
sepp_nepp	6:fb11b746ceb5	4054
sepp_nepp	6:fb11b746ceb5	4055	/* Subtract the Pre-range timeout if enabled. */
sepp_nepp	6:fb11b746ceb5	4056
sepp_nepp	8:2fd7cb217068	4057	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
sepp_nepp	11:d8dbe3b87f9f	4058	&pre_range_timeout_us);
sepp_nepp	11:d8dbe3b87f9f	4059
sepp_nepp	11:d8dbe3b87f9f	4060	sub_timeout = pre_range_timeout_us +
sepp_nepp	11:d8dbe3b87f9f	4061	pre_range_overhead_us;
sepp_nepp	11:d8dbe3b87f9f	4062
sepp_nepp	11:d8dbe3b87f9f	4063	if (sub_timeout < final_range_timing_budget_us) {
sepp_nepp	11:d8dbe3b87f9f	4064	final_range_timing_budget_us -= sub_timeout;
sepp_nepp	6:fb11b746ceb5	4065	} else {
sepp_nepp	6:fb11b746ceb5	4066	/* Requested timeout too big. */
sepp_nepp	6:fb11b746ceb5	4067	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4068	}
sepp_nepp	6:fb11b746ceb5	4069	}
sepp_nepp	6:fb11b746ceb5	4070
sepp_nepp	6:fb11b746ceb5	4071	if (status == VL53L0X_ERROR_NONE &&
sepp_nepp	6:fb11b746ceb5	4072	scheduler_sequence_steps.FinalRangeOn) {
sepp_nepp	6:fb11b746ceb5	4073
sepp_nepp	11:d8dbe3b87f9f	4074	final_range_timing_budget_us -=
sepp_nepp	11:d8dbe3b87f9f	4075	final_range_overhead_us;
sepp_nepp	6:fb11b746ceb5	4076
sepp_nepp	6:fb11b746ceb5	4077	/* Final Range Timeout
sepp_nepp	6:fb11b746ceb5	4078	* Note that the final range timeout is determined by the timing
sepp_nepp	6:fb11b746ceb5	4079	* budget and the sum of all other timeouts within the sequence.
sepp_nepp	6:fb11b746ceb5	4080	* If there is no room for the final range timeout, then an error
sepp_nepp	6:fb11b746ceb5	4081	* will be set. Otherwise the remaining time will be applied to
sepp_nepp	6:fb11b746ceb5	4082	* the final range.
sepp_nepp	6:fb11b746ceb5	4083	*/
sepp_nepp	7:3a1115c2556b	4084	status = set_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
sepp_nepp	11:d8dbe3b87f9f	4085	final_range_timing_budget_us);
sepp_nepp	11:d8dbe3b87f9f	4086	CurrentParameters.MeasurementTimingBudget_us = measurement_timing_budget_us;
sepp_nepp	6:fb11b746ceb5	4087	}
sepp_nepp	6:fb11b746ceb5	4088
sepp_nepp	6:fb11b746ceb5	4089	return status;
sepp_nepp	6:fb11b746ceb5	4090	}
sepp_nepp	6:fb11b746ceb5	4091
sepp_nepp	11:d8dbe3b87f9f	4092	VL53L0X_Error VL53L0X::VL53L0X_set_measurement_timing_budget_us(uint32_t measurement_timing_budget_us)
sepp_nepp	7:3a1115c2556b	4093	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	11:d8dbe3b87f9f	4094	status = wrapped_VL53L0X_set_measurement_timing_budget_us(measurement_timing_budget_us);
sepp_nepp	6:fb11b746ceb5	4095	return status;
sepp_nepp	6:fb11b746ceb5	4096	}
sepp_nepp	6:fb11b746ceb5	4097
sepp_nepp	8:2fd7cb217068	4098	VL53L0X_Error VL53L0X::VL53L0X_set_sequence_step_enable(VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_step_enabled)
sepp_nepp	8:2fd7cb217068	4099	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	4100	uint8_t sequence_config = 0;
sepp_nepp	6:fb11b746ceb5	4101	uint8_t sequence_config_new = 0;
sepp_nepp	11:d8dbe3b87f9f	4102	uint32_t measurement_timing_budget_us;
sepp_nepp	6:fb11b746ceb5	4103
sepp_nepp	7:3a1115c2556b	4104	status = VL53L0X_read_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &sequence_config);
sepp_nepp	6:fb11b746ceb5	4105
sepp_nepp	6:fb11b746ceb5	4106	sequence_config_new = sequence_config;
sepp_nepp	6:fb11b746ceb5	4107
sepp_nepp	6:fb11b746ceb5	4108	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	4109	if (sequence_step_enabled == 1) {
sepp_nepp	6:fb11b746ceb5	4110
sepp_nepp	6:fb11b746ceb5	4111	/* Enable requested sequence step
sepp_nepp	6:fb11b746ceb5	4112	*/
sepp_nepp	6:fb11b746ceb5	4113	switch (sequence_step_id) {
sepp_nepp	6:fb11b746ceb5	4114	case VL53L0X_SEQUENCESTEP_TCC:
sepp_nepp	6:fb11b746ceb5	4115	sequence_config_new \|= 0x10;
sepp_nepp	6:fb11b746ceb5	4116	break;
sepp_nepp	6:fb11b746ceb5	4117	case VL53L0X_SEQUENCESTEP_DSS:
sepp_nepp	6:fb11b746ceb5	4118	sequence_config_new \|= 0x28;
sepp_nepp	6:fb11b746ceb5	4119	break;
sepp_nepp	6:fb11b746ceb5	4120	case VL53L0X_SEQUENCESTEP_MSRC:
sepp_nepp	6:fb11b746ceb5	4121	sequence_config_new \|= 0x04;
sepp_nepp	6:fb11b746ceb5	4122	break;
sepp_nepp	6:fb11b746ceb5	4123	case VL53L0X_SEQUENCESTEP_PRE_RANGE:
sepp_nepp	6:fb11b746ceb5	4124	sequence_config_new \|= 0x40;
sepp_nepp	6:fb11b746ceb5	4125	break;
sepp_nepp	6:fb11b746ceb5	4126	case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
sepp_nepp	6:fb11b746ceb5	4127	sequence_config_new \|= 0x80;
sepp_nepp	6:fb11b746ceb5	4128	break;
sepp_nepp	6:fb11b746ceb5	4129	default:
sepp_nepp	6:fb11b746ceb5	4130	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4131	}
sepp_nepp	6:fb11b746ceb5	4132	} else {
sepp_nepp	7:3a1115c2556b	4133	/* Disable requested sequence step */
sepp_nepp	6:fb11b746ceb5	4134	switch (sequence_step_id) {
sepp_nepp	6:fb11b746ceb5	4135	case VL53L0X_SEQUENCESTEP_TCC:
sepp_nepp	6:fb11b746ceb5	4136	sequence_config_new &= 0xef;
sepp_nepp	6:fb11b746ceb5	4137	break;
sepp_nepp	6:fb11b746ceb5	4138	case VL53L0X_SEQUENCESTEP_DSS:
sepp_nepp	6:fb11b746ceb5	4139	sequence_config_new &= 0xd7;
sepp_nepp	6:fb11b746ceb5	4140	break;
sepp_nepp	6:fb11b746ceb5	4141	case VL53L0X_SEQUENCESTEP_MSRC:
sepp_nepp	6:fb11b746ceb5	4142	sequence_config_new &= 0xfb;
sepp_nepp	6:fb11b746ceb5	4143	break;
sepp_nepp	6:fb11b746ceb5	4144	case VL53L0X_SEQUENCESTEP_PRE_RANGE:
sepp_nepp	6:fb11b746ceb5	4145	sequence_config_new &= 0xbf;
sepp_nepp	6:fb11b746ceb5	4146	break;
sepp_nepp	6:fb11b746ceb5	4147	case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
sepp_nepp	6:fb11b746ceb5	4148	sequence_config_new &= 0x7f;
sepp_nepp	6:fb11b746ceb5	4149	break;
sepp_nepp	6:fb11b746ceb5	4150	default:
sepp_nepp	6:fb11b746ceb5	4151	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4152	}
sepp_nepp	6:fb11b746ceb5	4153	}
sepp_nepp	6:fb11b746ceb5	4154	}
sepp_nepp	6:fb11b746ceb5	4155
sepp_nepp	6:fb11b746ceb5	4156	if (sequence_config_new != sequence_config) {
sepp_nepp	6:fb11b746ceb5	4157	/* Apply New Setting */
sepp_nepp	6:fb11b746ceb5	4158	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4159	status = VL53L0X_write_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, sequence_config_new);
sepp_nepp	6:fb11b746ceb5	4160	}
sepp_nepp	6:fb11b746ceb5	4161	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4162	Data.SequenceConfig = sequence_config_new;}
sepp_nepp	6:fb11b746ceb5	4163
sepp_nepp	6:fb11b746ceb5	4164	/* Recalculate timing budget */
sepp_nepp	6:fb11b746ceb5	4165	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	11:d8dbe3b87f9f	4166	measurement_timing_budget_us = CurrentParameters.MeasurementTimingBudget_us ;
sepp_nepp	11:d8dbe3b87f9f	4167	VL53L0X_set_measurement_timing_budget_us(measurement_timing_budget_us);
sepp_nepp	6:fb11b746ceb5	4168	}
sepp_nepp	6:fb11b746ceb5	4169	}
sepp_nepp	6:fb11b746ceb5	4170
sepp_nepp	6:fb11b746ceb5	4171	return status;
sepp_nepp	6:fb11b746ceb5	4172	}
sepp_nepp	6:fb11b746ceb5	4173
sepp_nepp	7:3a1115c2556b	4174	VL53L0X_Error VL53L0X::VL53L0X_set_limit_check_enable( uint16_t limit_check_id,
sepp_nepp	6:fb11b746ceb5	4175	uint8_t limit_check_enable)
sepp_nepp	8:2fd7cb217068	4176	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	4177	FixPoint1616_t temp_fix1616 = 0;
sepp_nepp	6:fb11b746ceb5	4178	uint8_t limit_check_enable_int = 0;
sepp_nepp	6:fb11b746ceb5	4179	uint8_t limit_check_disable = 0;
sepp_nepp	6:fb11b746ceb5	4180	uint8_t temp8;
sepp_nepp	6:fb11b746ceb5	4181
sepp_nepp	6:fb11b746ceb5	4182	if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
sepp_nepp	6:fb11b746ceb5	4183	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4184	} else {
sepp_nepp	6:fb11b746ceb5	4185	if (limit_check_enable == 0) {
sepp_nepp	6:fb11b746ceb5	4186	temp_fix1616 = 0;
sepp_nepp	6:fb11b746ceb5	4187	limit_check_enable_int = 0;
sepp_nepp	6:fb11b746ceb5	4188	limit_check_disable = 1;
sepp_nepp	6:fb11b746ceb5	4189	} else {
sepp_nepp	10:cd1758e186a4	4190	temp_fix1616 = CurrentParameters.LimitChecksValue[limit_check_id];
sepp_nepp	6:fb11b746ceb5	4191	limit_check_disable = 0;
sepp_nepp	6:fb11b746ceb5	4192	/* this to be sure to have either 0 or 1 */
sepp_nepp	6:fb11b746ceb5	4193	limit_check_enable_int = 1;
sepp_nepp	6:fb11b746ceb5	4194	}
sepp_nepp	6:fb11b746ceb5	4195
sepp_nepp	6:fb11b746ceb5	4196	switch (limit_check_id) {
sepp_nepp	6:fb11b746ceb5	4197
sepp_nepp	6:fb11b746ceb5	4198	case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
sepp_nepp	6:fb11b746ceb5	4199	/* internal computation: */
sepp_nepp	10:cd1758e186a4	4200	CurrentParameters.LimitChecksEnable[VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE] = limit_check_enable_int;
sepp_nepp	6:fb11b746ceb5	4201	break;
sepp_nepp	6:fb11b746ceb5	4202
sepp_nepp	6:fb11b746ceb5	4203	case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
sepp_nepp	7:3a1115c2556b	4204	status = VL53L0X_write_word( VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
sepp_nepp	11:d8dbe3b87f9f	4205	VL53L0X_FP1616TOFP97(temp_fix1616));
sepp_nepp	6:fb11b746ceb5	4206	break;
sepp_nepp	6:fb11b746ceb5	4207
sepp_nepp	7:3a1115c2556b	4208	case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:/* internal computation: */
sepp_nepp	10:cd1758e186a4	4209	CurrentParameters.LimitChecksEnable[VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP] = limit_check_enable_int;
sepp_nepp	6:fb11b746ceb5	4210	break;
sepp_nepp	6:fb11b746ceb5	4211
sepp_nepp	7:3a1115c2556b	4212	case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:/* internal computation: */
sepp_nepp	10:cd1758e186a4	4213	CurrentParameters.LimitChecksEnable[VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD] = limit_check_enable_int;
sepp_nepp	6:fb11b746ceb5	4214	break;
sepp_nepp	6:fb11b746ceb5	4215
sepp_nepp	6:fb11b746ceb5	4216	case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
sepp_nepp	6:fb11b746ceb5	4217	temp8 = (uint8_t)(limit_check_disable << 1);
sepp_nepp	7:3a1115c2556b	4218	status = VL53L0X_update_byte(VL53L0X_REG_MSRC_CONFIG_CONTROL,
sepp_nepp	6:fb11b746ceb5	4219	0xFE, temp8);
sepp_nepp	6:fb11b746ceb5	4220	break;
sepp_nepp	6:fb11b746ceb5	4221
sepp_nepp	6:fb11b746ceb5	4222	case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
sepp_nepp	6:fb11b746ceb5	4223
sepp_nepp	6:fb11b746ceb5	4224	temp8 = (uint8_t)(limit_check_disable << 4);
sepp_nepp	7:3a1115c2556b	4225	status = VL53L0X_update_byte(VL53L0X_REG_MSRC_CONFIG_CONTROL,
sepp_nepp	6:fb11b746ceb5	4226	0xEF, temp8);
sepp_nepp	6:fb11b746ceb5	4227	break;
sepp_nepp	6:fb11b746ceb5	4228
sepp_nepp	6:fb11b746ceb5	4229	default:
sepp_nepp	6:fb11b746ceb5	4230	status = VL53L0X_ERROR_INVALID_PARAMS;
sepp_nepp	6:fb11b746ceb5	4231	}
sepp_nepp	6:fb11b746ceb5	4232	}
sepp_nepp	6:fb11b746ceb5	4233
sepp_nepp	6:fb11b746ceb5	4234	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	4235	if (limit_check_enable == 0) {
sepp_nepp	10:cd1758e186a4	4236	CurrentParameters.LimitChecksEnable[limit_check_id] = 0;
sepp_nepp	6:fb11b746ceb5	4237	} else {
sepp_nepp	10:cd1758e186a4	4238	CurrentParameters.LimitChecksEnable[limit_check_id] = 1;
sepp_nepp	6:fb11b746ceb5	4239	}
sepp_nepp	6:fb11b746ceb5	4240	}
sepp_nepp	6:fb11b746ceb5	4241	return status;
sepp_nepp	6:fb11b746ceb5	4242	}
sepp_nepp	6:fb11b746ceb5	4243
sepp_nepp	7:3a1115c2556b	4244	VL53L0X_Error VL53L0X::VL53L0X_static_init(void)
sepp_nepp	8:2fd7cb217068	4245	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	4246	VL53L0X_DeviceParameters_t current_parameters = {0};
sepp_nepp	6:fb11b746ceb5	4247	uint8_t *p_tuning_setting_buffer;
sepp_nepp	6:fb11b746ceb5	4248	uint16_t tempword = 0;
sepp_nepp	6:fb11b746ceb5	4249	uint8_t tempbyte = 0;
sepp_nepp	6:fb11b746ceb5	4250	uint8_t use_internal_tuning_settings = 0;
sepp_nepp	6:fb11b746ceb5	4251	uint32_t count = 0;
sepp_nepp	6:fb11b746ceb5	4252	uint8_t is_aperture_spads = 0;
sepp_nepp	6:fb11b746ceb5	4253	uint32_t ref_spad_count = 0;
sepp_nepp	6:fb11b746ceb5	4254	uint8_t aperture_spads = 0;
sepp_nepp	6:fb11b746ceb5	4255	uint8_t vcsel_pulse_period_pclk;
sepp_nepp	6:fb11b746ceb5	4256	uint32_t seq_timeout_micro_secs;
sepp_nepp	6:fb11b746ceb5	4257
sepp_nepp	7:3a1115c2556b	4258	status = VL53L0X_get_info_from_device( 1);
sepp_nepp	6:fb11b746ceb5	4259
sepp_nepp	6:fb11b746ceb5	4260	/* set the ref spad from NVM */
sepp_nepp	8:2fd7cb217068	4261	count = (uint32_t)Data.ReferenceSpadCount;
sepp_nepp	8:2fd7cb217068	4262	aperture_spads = Data.ReferenceSpadType;
sepp_nepp	6:fb11b746ceb5	4263
sepp_nepp	6:fb11b746ceb5	4264	/* NVM value invalid */
sepp_nepp	6:fb11b746ceb5	4265	if ((aperture_spads > 1) \|\|
sepp_nepp	6:fb11b746ceb5	4266	((aperture_spads == 1) && (count > 32)) \|\|
sepp_nepp	6:fb11b746ceb5	4267	((aperture_spads == 0) && (count > 12))) {
sepp_nepp	7:3a1115c2556b	4268	status = wrapped_VL53L0X_perform_ref_spad_management( &ref_spad_count,
sepp_nepp	6:fb11b746ceb5	4269	&is_aperture_spads);
sepp_nepp	6:fb11b746ceb5	4270	} else {
sepp_nepp	7:3a1115c2556b	4271	status = VL53L0X_set_reference_spads( count, aperture_spads);
sepp_nepp	6:fb11b746ceb5	4272	}
sepp_nepp	6:fb11b746ceb5	4273
sepp_nepp	6:fb11b746ceb5	4274	/* Initialize tuning settings buffer to prevent compiler warning. */
sepp_nepp	6:fb11b746ceb5	4275	p_tuning_setting_buffer = DefaultTuningSettings;
sepp_nepp	6:fb11b746ceb5	4276
sepp_nepp	6:fb11b746ceb5	4277	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4278	use_internal_tuning_settings = Data.UseInternalTuningSettings;
sepp_nepp	6:fb11b746ceb5	4279
sepp_nepp	6:fb11b746ceb5	4280	if (use_internal_tuning_settings == 0) {
sepp_nepp	8:2fd7cb217068	4281	p_tuning_setting_buffer = Data.pTuningSettingsPointer; }
sepp_nepp	7:3a1115c2556b	4282	else { p_tuning_setting_buffer = DefaultTuningSettings; }
sepp_nepp	6:fb11b746ceb5	4283
sepp_nepp	6:fb11b746ceb5	4284	}
sepp_nepp	6:fb11b746ceb5	4285
sepp_nepp	6:fb11b746ceb5	4286	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4287	status = VL53L0X_load_tuning_settings( p_tuning_setting_buffer); }
sepp_nepp	6:fb11b746ceb5	4288
sepp_nepp	6:fb11b746ceb5	4289	/* Set interrupt config to new sample ready */
sepp_nepp	6:fb11b746ceb5	4290	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4291	status = VL53L0X_set_gpio_config( 0, 0,
sepp_nepp	6:fb11b746ceb5	4292	VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
sepp_nepp	6:fb11b746ceb5	4293	VL53L0X_INTERRUPTPOLARITY_LOW);
sepp_nepp	6:fb11b746ceb5	4294	}
sepp_nepp	6:fb11b746ceb5	4295
sepp_nepp	6:fb11b746ceb5	4296	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4297	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	4298	status \|= VL53L0X_read_word ( 0x84, &tempword);
sepp_nepp	7:3a1115c2556b	4299	status \|= VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	6:fb11b746ceb5	4300	}
sepp_nepp	6:fb11b746ceb5	4301
sepp_nepp	6:fb11b746ceb5	4302	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	11:d8dbe3b87f9f	4303	Data.OscFrequency_MHz = VL53L0X_FP412TOFP1616(tempword) ;
sepp_nepp	6:fb11b746ceb5	4304	}
sepp_nepp	6:fb11b746ceb5	4305
sepp_nepp	6:fb11b746ceb5	4306	/* After static init, some device parameters may be changed,
sepp_nepp	6:fb11b746ceb5	4307	* so update them */
sepp_nepp	6:fb11b746ceb5	4308	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4309	status = VL53L0X_get_device_parameters( &current_parameters);
sepp_nepp	6:fb11b746ceb5	4310	}
sepp_nepp	6:fb11b746ceb5	4311
sepp_nepp	6:fb11b746ceb5	4312	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4313	status = VL53L0X_get_fraction_enable( &tempbyte);
sepp_nepp	6:fb11b746ceb5	4314	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4315	Data.RangeFractionalEnable = tempbyte;
sepp_nepp	6:fb11b746ceb5	4316	}
sepp_nepp	6:fb11b746ceb5	4317	}
sepp_nepp	6:fb11b746ceb5	4318
sepp_nepp	6:fb11b746ceb5	4319	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	10:cd1758e186a4	4320	CurrentParameters = current_parameters;
sepp_nepp	6:fb11b746ceb5	4321	}
sepp_nepp	6:fb11b746ceb5	4322
sepp_nepp	6:fb11b746ceb5	4323	/* read the sequence config and save it */
sepp_nepp	6:fb11b746ceb5	4324	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4325	status = VL53L0X_read_byte(VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte);
sepp_nepp	6:fb11b746ceb5	4326	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4327	Data.SequenceConfig = tempbyte;
sepp_nepp	6:fb11b746ceb5	4328	}
sepp_nepp	6:fb11b746ceb5	4329	}
sepp_nepp	6:fb11b746ceb5	4330
sepp_nepp	6:fb11b746ceb5	4331	/* Disable MSRC and TCC by default */
sepp_nepp	6:fb11b746ceb5	4332	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4333	status = VL53L0X_set_sequence_step_enable(VL53L0X_SEQUENCESTEP_TCC, 0);
sepp_nepp	6:fb11b746ceb5	4334	}
sepp_nepp	6:fb11b746ceb5	4335
sepp_nepp	6:fb11b746ceb5	4336	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4337	status = VL53L0X_set_sequence_step_enable(VL53L0X_SEQUENCESTEP_MSRC, 0);
sepp_nepp	6:fb11b746ceb5	4338	}
sepp_nepp	6:fb11b746ceb5	4339
sepp_nepp	6:fb11b746ceb5	4340	/* Set PAL State to standby */
sepp_nepp	6:fb11b746ceb5	4341	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4342	Data.PalState = VL53L0X_STATE_IDLE;
sepp_nepp	6:fb11b746ceb5	4343	}
sepp_nepp	6:fb11b746ceb5	4344
sepp_nepp	6:fb11b746ceb5	4345	/* Store pre-range vcsel period */
sepp_nepp	6:fb11b746ceb5	4346	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4347	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_PRE_RANGE,&vcsel_pulse_period_pclk);
sepp_nepp	6:fb11b746ceb5	4348	}
sepp_nepp	6:fb11b746ceb5	4349
sepp_nepp	6:fb11b746ceb5	4350	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4351	Data.PreRangeVcselPulsePeriod = vcsel_pulse_period_pclk;
sepp_nepp	6:fb11b746ceb5	4352	}
sepp_nepp	6:fb11b746ceb5	4353
sepp_nepp	6:fb11b746ceb5	4354	/* Store final-range vcsel period */
sepp_nepp	6:fb11b746ceb5	4355	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4356	status = VL53L0X_get_vcsel_pulse_period(VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
sepp_nepp	6:fb11b746ceb5	4357	&vcsel_pulse_period_pclk);
sepp_nepp	6:fb11b746ceb5	4358	}
sepp_nepp	6:fb11b746ceb5	4359
sepp_nepp	6:fb11b746ceb5	4360	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	8:2fd7cb217068	4361	Data.FinalRangeVcselPulsePeriod = vcsel_pulse_period_pclk;
sepp_nepp	6:fb11b746ceb5	4362	}
sepp_nepp	6:fb11b746ceb5	4363
sepp_nepp	6:fb11b746ceb5	4364	/* Store pre-range timeout */
sepp_nepp	6:fb11b746ceb5	4365	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4366	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,&seq_timeout_micro_secs);
sepp_nepp	6:fb11b746ceb5	4367	}
sepp_nepp	6:fb11b746ceb5	4368
sepp_nepp	6:fb11b746ceb5	4369	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	11:d8dbe3b87f9f	4370	Data.PreRangeTimeout_us = seq_timeout_micro_secs;
sepp_nepp	6:fb11b746ceb5	4371	}
sepp_nepp	6:fb11b746ceb5	4372
sepp_nepp	6:fb11b746ceb5	4373	/* Store final-range timeout */
sepp_nepp	6:fb11b746ceb5	4374	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4375	status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,&seq_timeout_micro_secs);
sepp_nepp	6:fb11b746ceb5	4376	}
sepp_nepp	6:fb11b746ceb5	4377
sepp_nepp	6:fb11b746ceb5	4378	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	11:d8dbe3b87f9f	4379	Data.FinalRangeTimeout_us = seq_timeout_micro_secs;
sepp_nepp	6:fb11b746ceb5	4380	}
sepp_nepp	6:fb11b746ceb5	4381	return status;
sepp_nepp	6:fb11b746ceb5	4382	}
sepp_nepp	6:fb11b746ceb5	4383
sepp_nepp	7:3a1115c2556b	4384	VL53L0X_Error VL53L0X::VL53L0X_stop_measurement(void)
sepp_nepp	8:2fd7cb217068	4385	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	4386
sepp_nepp	7:3a1115c2556b	4387	status = VL53L0X_write_byte( VL53L0X_REG_SYSRANGE_START,
sepp_nepp	6:fb11b746ceb5	4388	VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT);
sepp_nepp	7:3a1115c2556b	4389	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	4390	status = VL53L0X_write_byte( 0x00, 0x00);
sepp_nepp	7:3a1115c2556b	4391	status = VL53L0X_write_byte( 0x91, 0x00);
sepp_nepp	7:3a1115c2556b	4392	status = VL53L0X_write_byte( 0x00, 0x01);
sepp_nepp	7:3a1115c2556b	4393	status = VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	6:fb11b746ceb5	4394
sepp_nepp	6:fb11b746ceb5	4395	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	6:fb11b746ceb5	4396	/* Set PAL State to Idle */
sepp_nepp	8:2fd7cb217068	4397	Data.PalState = VL53L0X_STATE_IDLE;
sepp_nepp	6:fb11b746ceb5	4398	}
sepp_nepp	6:fb11b746ceb5	4399
sepp_nepp	6:fb11b746ceb5	4400	/* Check if need to apply interrupt settings */
sepp_nepp	6:fb11b746ceb5	4401	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	7:3a1115c2556b	4402	status = VL53L0X_check_and_load_interrupt_settings( 0);
sepp_nepp	6:fb11b746ceb5	4403	}
sepp_nepp	6:fb11b746ceb5	4404	return status;
sepp_nepp	6:fb11b746ceb5	4405	}
sepp_nepp	6:fb11b746ceb5	4406
sepp_nepp	8:2fd7cb217068	4407	VL53L0X_Error VL53L0X::VL53L0X_get_stop_completed_status(uint32_t *p_stop_status)
sepp_nepp	8:2fd7cb217068	4408	{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
sepp_nepp	6:fb11b746ceb5	4409	uint8_t byte = 0;
sepp_nepp	6:fb11b746ceb5	4410
sepp_nepp	6:fb11b746ceb5	4411
sepp_nepp	7:3a1115c2556b	4412	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	6:fb11b746ceb5	4413
sepp_nepp	6:fb11b746ceb5	4414	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	11:d8dbe3b87f9f	4415	status = VL53L0X_read_byte( 0x04, &byte);}
sepp_nepp	6:fb11b746ceb5	4416
sepp_nepp	6:fb11b746ceb5	4417	if (status == VL53L0X_ERROR_NONE) {
sepp_nepp	11:d8dbe3b87f9f	4418	status = VL53L0X_write_byte( 0xFF, 0x0); }
sepp_nepp	6:fb11b746ceb5	4419
sepp_nepp	6:fb11b746ceb5	4420	*p_stop_status = byte;
sepp_nepp	6:fb11b746ceb5	4421
sepp_nepp	6:fb11b746ceb5	4422	if (byte == 0) {
sepp_nepp	7:3a1115c2556b	4423	status = VL53L0X_write_byte( 0x80, 0x01);
sepp_nepp	7:3a1115c2556b	4424	status = VL53L0X_write_byte( 0xFF, 0x01);
sepp_nepp	7:3a1115c2556b	4425	status = VL53L0X_write_byte( 0x00, 0x00);
sepp_nepp	8:2fd7cb217068	4426	status = VL53L0X_write_byte( 0x91,Data.StopVariable);
sepp_nepp	7:3a1115c2556b	4427	status = VL53L0X_write_byte( 0x00, 0x01);
sepp_nepp	7:3a1115c2556b	4428	status = VL53L0X_write_byte( 0xFF, 0x00);
sepp_nepp	7:3a1115c2556b	4429	status = VL53L0X_write_byte( 0x80, 0x00);
sepp_nepp	6:fb11b746ceb5	4430	}
sepp_nepp	6:fb11b746ceb5	4431	return status;
sepp_nepp	6:fb11b746ceb5	4432	}
sepp_nepp	6:fb11b746ceb5	4433
sepp_nepp	6:fb11b746ceb5	4434	/******************************************************************************/
sepp_nepp	6:fb11b746ceb5	4435
sepp_nepp	6:fb11b746ceb5	4436	/**************** Write and read functions from I2C ***********************/
sepp_nepp	6:fb11b746ceb5	4437
sepp_nepp	7:3a1115c2556b	4438	VL53L0X_Error VL53L0X::VL53L0X_read_multi( uint8_t index, uint8_t *p_data, uint32_t count)
sepp_nepp	9:cb4c6d4e5030	4439	{ if (count >= VL53L0X_MAX_I2C_XFER_SIZE) {
sepp_nepp	9:cb4c6d4e5030	4440	return VL53L0X_ERROR_INVALID_PARAMS;}
sepp_nepp	9:cb4c6d4e5030	4441	else { return VL53L0X_i2c_read(index, p_data, (uint16_t)count); }
sepp_nepp	6:fb11b746ceb5	4442	}
sepp_nepp	6:fb11b746ceb5	4443
sepp_nepp	7:3a1115c2556b	4444	VL53L0X_Error VL53L0X::VL53L0X_write_byte( uint8_t index, uint8_t data)
sepp_nepp	9:cb4c6d4e5030	4445	{ return VL53L0X_i2c_write(index, &data, 1);
sepp_nepp	6:fb11b746ceb5	4446	}
sepp_nepp	6:fb11b746ceb5	4447
sepp_nepp	7:3a1115c2556b	4448	VL53L0X_Error VL53L0X::VL53L0X_write_word( uint8_t index, uint16_t data)
sepp_nepp	8:2fd7cb217068	4449	{ int status;
sepp_nepp	6:fb11b746ceb5	4450	uint8_t buffer[2];
sepp_nepp	6:fb11b746ceb5	4451
sepp_nepp	6:fb11b746ceb5	4452	buffer[0] = data >> 8;
sepp_nepp	6:fb11b746ceb5	4453	buffer[1] = data & 0x00FF;
sepp_nepp	7:3a1115c2556b	4454	status = VL53L0X_i2c_write(index, (uint8_t *)buffer, 2);
sepp_nepp	6:fb11b746ceb5	4455	return status;
sepp_nepp	6:fb11b746ceb5	4456	}
sepp_nepp	6:fb11b746ceb5	4457
sepp_nepp	7:3a1115c2556b	4458	VL53L0X_Error VL53L0X::VL53L0X_write_dword( uint8_t index, uint32_t data)
sepp_nepp	8:2fd7cb217068	4459	{ int status;
sepp_nepp	6:fb11b746ceb5	4460	uint8_t buffer[4];
sepp_nepp	6:fb11b746ceb5	4461
sepp_nepp	6:fb11b746ceb5	4462	buffer[0] = (data >> 24) & 0xFF;
sepp_nepp	6:fb11b746ceb5	4463	buffer[1] = (data >> 16) & 0xFF;
sepp_nepp	6:fb11b746ceb5	4464	buffer[2] = (data >> 8) & 0xFF;
sepp_nepp	6:fb11b746ceb5	4465	buffer[3] = (data >> 0) & 0xFF;
sepp_nepp	7:3a1115c2556b	4466	status = VL53L0X_i2c_write(index, (uint8_t *)buffer, 4);
sepp_nepp	6:fb11b746ceb5	4467	return status;
sepp_nepp	6:fb11b746ceb5	4468	}
sepp_nepp	6:fb11b746ceb5	4469
sepp_nepp	7:3a1115c2556b	4470	VL53L0X_Error VL53L0X::VL53L0X_read_byte( uint8_t index, uint8_t *p_data)
sepp_nepp	9:cb4c6d4e5030	4471	{ return VL53L0X_i2c_read(index, p_data, 1); }
sepp_nepp	6:fb11b746ceb5	4472
sepp_nepp	7:3a1115c2556b	4473	VL53L0X_Error VL53L0X::VL53L0X_read_word( uint8_t index, uint16_t *p_data)
sepp_nepp	8:2fd7cb217068	4474	{ int status;
sepp_nepp	6:fb11b746ceb5	4475	uint8_t buffer[2] = {0, 0};
sepp_nepp	6:fb11b746ceb5	4476
sepp_nepp	7:3a1115c2556b	4477	status = VL53L0X_i2c_read(index, buffer, 2);
sepp_nepp	9:cb4c6d4e5030	4478	if (!status) {*p_data = (buffer[0] << 8) + buffer[1];}
sepp_nepp	6:fb11b746ceb5	4479	return status;
sepp_nepp	6:fb11b746ceb5	4480	}
sepp_nepp	6:fb11b746ceb5	4481
sepp_nepp	7:3a1115c2556b	4482	VL53L0X_Error VL53L0X::VL53L0X_read_dword( uint8_t index, uint32_t *p_data)
sepp_nepp	8:2fd7cb217068	4483	{ int status;
sepp_nepp	6:fb11b746ceb5	4484	uint8_t buffer[4] = {0, 0, 0, 0};
sepp_nepp	6:fb11b746ceb5	4485
sepp_nepp	7:3a1115c2556b	4486	status = VL53L0X_i2c_read(index, buffer, 4);
sepp_nepp	9:cb4c6d4e5030	4487	if (!status) { *p_data = (buffer[0] << 24) + (buffer[1] << 16) + (buffer[2] << 8) + buffer[3]; }
sepp_nepp	6:fb11b746ceb5	4488	return status;
sepp_nepp	6:fb11b746ceb5	4489	}
sepp_nepp	6:fb11b746ceb5	4490
sepp_nepp	7:3a1115c2556b	4491	VL53L0X_Error VL53L0X::VL53L0X_update_byte( uint8_t index, uint8_t and_data, uint8_t or_data)
sepp_nepp	8:2fd7cb217068	4492	{ int status;
sepp_nepp	6:fb11b746ceb5	4493	uint8_t buffer = 0;
sepp_nepp	6:fb11b746ceb5	4494
sepp_nepp	6:fb11b746ceb5	4495	/* read data direct onto buffer */
sepp_nepp	7:3a1115c2556b	4496	status = VL53L0X_i2c_read(index, &buffer, 1);
sepp_nepp	6:fb11b746ceb5	4497	if (!status) {
sepp_nepp	6:fb11b746ceb5	4498	buffer = (buffer & and_data) \| or_data;
sepp_nepp	7:3a1115c2556b	4499	status = VL53L0X_i2c_write(index, &buffer, (uint8_t)1);
sepp_nepp	6:fb11b746ceb5	4500	}
sepp_nepp	6:fb11b746ceb5	4501	return status;
sepp_nepp	6:fb11b746ceb5	4502	}
sepp_nepp	6:fb11b746ceb5	4503
sepp_nepp	7:3a1115c2556b	4504	VL53L0X_Error VL53L0X::VL53L0X_i2c_write(uint8_t RegisterAddr, uint8_t *p_data,
sepp_nepp	6:fb11b746ceb5	4505	uint16_t NumByteToWrite)
sepp_nepp	8:2fd7cb217068	4506	{ /** Writes a buffer towards the I2C peripheral device. */
sepp_nepp	8:2fd7cb217068	4507	static uint8_t tmp[VL53L0X_MAX_I2C_XFER_SIZE];
sepp_nepp	6:fb11b746ceb5	4508
sepp_nepp	6:fb11b746ceb5	4509	if(NumByteToWrite >= VL53L0X_MAX_I2C_XFER_SIZE) return -2;
sepp_nepp	6:fb11b746ceb5	4510
sepp_nepp	6:fb11b746ceb5	4511	/* First, send device address. Then, send data and STOP condition */
sepp_nepp	6:fb11b746ceb5	4512	tmp[0] = RegisterAddr;
sepp_nepp	8:2fd7cb217068	4513	memcpy(tmp+1, p_data, NumByteToWrite);
sepp_nepp	8:2fd7cb217068	4514
sepp_nepp	8:2fd7cb217068	4515	if (_dev_i2c->write(I2cDevAddr, (const char*)tmp, NumByteToWrite+1, false) != 0 )
sepp_nepp	8:2fd7cb217068	4516	{ return -1; }
sepp_nepp	8:2fd7cb217068	4517	return 0;
sepp_nepp	8:2fd7cb217068	4518	}
sepp_nepp	8:2fd7cb217068	4519
sepp_nepp	8:2fd7cb217068	4520	VL53L0X_Error VL53L0X::VL53L0X_i2c_read(uint8_t RegisterAddr, uint8_t *p_data, uint16_t NumByteToRead)
sepp_nepp	8:2fd7cb217068	4521	{ /** Reads a buffer from the I2C peripheral device. */
sepp_nepp	8:2fd7cb217068	4522
sepp_nepp	8:2fd7cb217068	4523	/* First Send device address, with no STOP condition */
sepp_nepp	8:2fd7cb217068	4524	int ret = _dev_i2c->write(I2cDevAddr, (const char*)&RegisterAddr, 1, true);
sepp_nepp	8:2fd7cb217068	4525
sepp_nepp	8:2fd7cb217068	4526	/* all ok ? then Read data, with STOP condition */
sepp_nepp	9:cb4c6d4e5030	4527	if (ret == 0) { ret = _dev_i2c->read(I2cDevAddr, (char*)p_data, NumByteToRead, false); }
sepp_nepp	8:2fd7cb217068	4528
sepp_nepp	6:fb11b746ceb5	4529	if (ret != 0 ){ return -1; }
sepp_nepp	6:fb11b746ceb5	4530	return 0;
sepp_nepp	6:fb11b746ceb5	4531	}
sepp_nepp	6:fb11b746ceb5	4532

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

VL53L0X.cpp@13:253cb4ea3fcc, 2019-07-20 (annotated)

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