Tarek Lule
Greatly simplified Architecture, Identical Functions Removed: Platform Interfaces, STP6001 interface
Revision 13:253cb4ea3fcc, committed 2019-07-20
- Comitter:
- sepp_nepp
- Date:
- Sat Jul 20 08:48:49 2019 +0000
- Parent:
- 12:81f37e50f8f8
- Commit message:
- Proven to work with TOF-Synth-III
Changed in this revision
| VL53L0X.cpp | Show annotated file Show diff for this revision Revisions of this file |
| VL53L0X.h | Show annotated file Show diff for this revision Revisions of this file |
--- a/VL53L0X.cpp Mon Jul 08 14:07:22 2019 +0000
+++ b/VL53L0X.cpp Sat Jul 20 08:48:49 2019 +0000
@@ -68,102 +68,102 @@
#include <stdlib.h>
#include "VL53L0X.h"
-void Report_Range_Infos(VL53L0X_RangingMeasurementData_t RangeResults)
+void Report_Range_Infos(VL53L0X_RangingMeasurementData_t RangeResults, Serial *aSerial )
{
- printf("\n\r Reporting All Fields of VL53L0X_RangingMeasurementData_t structure \n\r" );
- printf(" .Range_mm = %dmm; Ranged distance. \n\r", RangeResults.Range_mm );
- printf(" .RangeDMax_mm = %dmm; maximum detection distance in current setup and environment conditions \n\r", RangeResults.RangeDMax_mm );
- printf(" .SignalRateRtn_MHz = %3.3fMHz; effectively a measure of target reflectance \n\r", RangeResults.SignalRateRtn_MHz / 65535.01);
- printf(" .AmbientRateRtn_MHz = %3.3fMHz; effectively a measure of the ambient light \n\r", RangeResults.AmbientRateRtn_MHz / 65535.01 );
- printf(" .EffectiveSpadRtnCount = %3.3f; effective SPAD count for the return signal \n\r", RangeResults.EffectiveSpadRtnCount / 256.001 );
- printf(" .RangeFractionalPart = %d; Fractional part of range distance. \n\r", RangeResults.RangeFractionalPart >> 6 );
- printf(" .RangeStatus = %d[u8]; Status for the current measurement, 0 = value is valid \n\r", RangeResults.RangeStatus );
- printf(" .SigmaEstimate = %3.2f; Estimated Sigma - based on ambient & VCSEL rates and signal_total_events \n\r", RangeResults.SigmaEstimate/ 65535.01 );
+ aSerial->printf("\n\r Reporting All Fields of VL53L0X_RangingMeasurementData_t structure \n\r" );
+ aSerial->printf(" .Range_mm = %dmm; Ranged distance. \n\r", RangeResults.Range_mm );
+ aSerial->printf(" .RangeDMax_mm = %dmm; maximum detection distance in current setup and environment conditions \n\r", RangeResults.RangeDMax_mm );
+ aSerial->printf(" .SignalRateRtn_MHz = %3.3fMHz; effectively a measure of target reflectance \n\r", RangeResults.SignalRateRtn_MHz / 65535.01);
+ aSerial->printf(" .AmbientRateRtn_MHz = %3.3fMHz; effectively a measure of the ambient light \n\r", RangeResults.AmbientRateRtn_MHz / 65535.01 );
+ aSerial->printf(" .EffectiveSpadRtnCount = %3.3f; effective SPAD count for the return signal \n\r", RangeResults.EffectiveSpadRtnCount / 256.001 );
+ aSerial->printf(" .RangeFractionalPart = %d; Fractional part of range distance. \n\r", RangeResults.RangeFractionalPart >> 6 );
+ aSerial->printf(" .RangeStatus = %d[u8]; Status for the current measurement, 0 = value is valid \n\r", RangeResults.RangeStatus );
+ aSerial->printf(" .SigmaEstimate = %3.2f; Estimated Sigma - based on ambient & VCSEL rates and signal_total_events \n\r", RangeResults.SigmaEstimate/ 65535.01 );
};
-void Report_Deep_Infos(VL53L0X TOF1)
+void Report_Deep_Infos(VL53L0X TOF1, Serial *aSerial)
{
- printf("\n\r Reporting All Top Level Infos of the class \n\r" );
- printf("I2cDevAddr = %d. \n\r", TOF1.I2cDevAddr );
- printf("comms_type = %d. Type of comms: 1=VL53L0X_COMMS_I2C or VL53L0X_COMMS_SPI \n\r", TOF1.comms_type );
- printf("comms_speed = %d. Communication speed [kHz] : typically 400kHz for I2C \n\r", TOF1.comms_speed_khz );
+ aSerial->printf("\n\r Reporting All Top Level Infos of the class \n\r" );
+ aSerial->printf("I2cDevAddr = %d. \n\r", TOF1.I2cDevAddr );
+ aSerial->printf("comms_type = %d. Type of comms: 1=VL53L0X_COMMS_I2C or VL53L0X_COMMS_SPI \n\r", TOF1.comms_type );
+ aSerial->printf("comms_speed = %d. Communication speed [kHz] : typically 400kHz for I2C \n\r", TOF1.comms_speed_khz );
- printf("\n\r Reporting All Infos of the Device_Info structure: \n\r" );
- printf("Device_Info.ProductType = 0x%2X. VL53L0X = 1, VL53L1 = 2 \n\r", TOF1.Device_Info.ProductType );
- printf("Device_Info.ProductRevision = %d.%d. Revision NR, major.minor \n\r",
+ aSerial->printf("\n\r Reporting All Infos of the Device_Info structure: \n\r" );
+ aSerial->printf("Device_Info.ProductType = 0x%2X. VL53L0X = 1, VL53L1 = 2 \n\r", TOF1.Device_Info.ProductType );
+ aSerial->printf("Device_Info.ProductRevision = %d.%d. Revision NR, major.minor \n\r",
TOF1.Device_Info.ProductRevisionMajor, TOF1.Device_Info.ProductRevisionMinor );
- printf("Device_Info.Name = %s. Name of Device e.g. Left_Distance\n\r", TOF1.Device_Info.Name );
- printf("Device_Info.Type = %s. Type of Device e.g VL53L0X \n\r", TOF1.Device_Info.Type );
- printf("Device_Info.ProductId = %s. Product Identifier String \n\r", TOF1.Device_Info.ProductId );
-
- printf("\n\r Reporting All Fields of CurrentParameters \n\r" );
- printf(" .DeviceMode = %d. Defines type of measurement to be done for the next measurement \n\r",
+ aSerial->printf("Device_Info.Name = %s. Name of Device e.g. Left_Distance\n\r", TOF1.Device_Info.Name );
+ aSerial->printf("Device_Info.Type = %s. Type of Device e.g VL53L0X \n\r", TOF1.Device_Info.Type );
+ aSerial->printf("Device_Info.ProductId = %s. Product Identifier String \n\r", TOF1.Device_Info.ProductId );
+
+ aSerial->printf("\n\r Reporting All Fields of CurrentParameters \n\r" );
+ aSerial->printf(" .DeviceMode = %d. Defines type of measurement to be done for the next measurement \n\r",
TOF1.CurrentParameters.DeviceMode );
- printf(" .Measure_Time_Budget_us= %dus. Allowed total time for a single measurement \n\r",
+ aSerial->printf(" .Measure_Time_Budget_us= %dus. Allowed total time for a single measurement \n\r",
TOF1.CurrentParameters.MeasurementTimingBudget_us );
- printf(" .Measure_Period_ms = %dms. Time between two consecutive measurements \n\r",
+ aSerial->printf(" .Measure_Period_ms = %dms. Time between two consecutive measurements \n\r",
TOF1.CurrentParameters.InterMeasurementPeriod_ms );
- printf(" .XTalk_Compens_En = %d. Crosstalk compensation enable or not (0, default) \n\r",
+ aSerial->printf(" .XTalk_Compens_En = %d. Crosstalk compensation enable or not (0, default) \n\r",
TOF1.CurrentParameters.XTalkCompensationEnable );
- printf(" .XTalk_CompRange_mm = %dmm. CrossTalk compensation range, seems never used \n\r",
+ aSerial->printf(" .XTalk_CompRange_mm = %dmm. CrossTalk compensation range, seems never used \n\r",
TOF1.CurrentParameters.XTalkCompensationRange_mm );
- printf(" .XTalk_CompRate_MHz = %3.2fMHz. CrossTalk compensation rate . \n\r",
+ aSerial->printf(" .XTalk_CompRate_MHz = %3.2fMHz. CrossTalk compensation rate . \n\r",
(float) TOF1.CurrentParameters.XTalkCompensationRate_MHz / 65536);
- printf(" .RangeOffset_um = %d. Range offset adjustment (um) last programmed.\n\r",
+ aSerial->printf(" .RangeOffset_um = %d. Range offset adjustment (um) last programmed.\n\r",
TOF1.CurrentParameters.RangeOffset_um );
- printf(" .LimitChecks ... = SIGMA_FINAL, SIGNAL_RATE_FINAL, SIGNAL_REF_CLIP, IGNORE_THRESHOLD, SIGNAL_RATE_MSRC, SIGNAL_RATE_PRE.\n\r");
- printf(" .LimitChecksEnable[x] = %d %d %d %d %d %d. The Limit Checks enabled or not.\n\r",
+ aSerial->printf(" .LimitChecks ... = SIGMA_FINAL, SIGNAL_RATE_FINAL, SIGNAL_REF_CLIP, IGNORE_THRESHOLD, SIGNAL_RATE_MSRC, SIGNAL_RATE_PRE.\n\r");
+ aSerial->printf(" .LimitChecksEnable[x] = %d %d %d %d %d %d. The Limit Checks enabled or not.\n\r",
TOF1.CurrentParameters.LimitChecksEnable[0],TOF1.CurrentParameters.LimitChecksEnable[1] ,TOF1.CurrentParameters.LimitChecksEnable[2],
TOF1.CurrentParameters.LimitChecksEnable[3],TOF1.CurrentParameters.LimitChecksEnable[4] ,TOF1.CurrentParameters.LimitChecksEnable[5] );
- printf(" .LimitChecksStatus[x] = %d %d %d %d %d %d. Status of checks of last measurement.\n\r",
+ aSerial->printf(" .LimitChecksStatus[x] = %d %d %d %d %d %d. Status of checks of last measurement.\n\r",
TOF1.CurrentParameters.LimitChecksStatus[0],TOF1.CurrentParameters.LimitChecksStatus[1] ,TOF1.CurrentParameters.LimitChecksStatus[2],
TOF1.CurrentParameters.LimitChecksStatus[3],TOF1.CurrentParameters.LimitChecksStatus[4] ,TOF1.CurrentParameters.LimitChecksStatus[5] );
- printf(" .LimitChecksValue[x] = %d %d %d %d %d %d [FP1616]. The Limit Check values \n\r",
+ aSerial->printf(" .LimitChecksValue[x] = %d %d %d %d %d %d [FP1616]. The Limit Check values \n\r",
TOF1.CurrentParameters.LimitChecksValue[0],TOF1.CurrentParameters.LimitChecksValue[1] ,TOF1.CurrentParameters.LimitChecksValue[2],
TOF1.CurrentParameters.LimitChecksValue[3],TOF1.CurrentParameters.LimitChecksValue[4] ,TOF1.CurrentParameters.LimitChecksValue[5] );
- printf(" .WrapAroundCheckEnable = %d. Wrap Around Check enabled or not \n\r",
+ aSerial->printf(" .WrapAroundCheckEnable = %d. Wrap Around Check enabled or not \n\r",
TOF1.CurrentParameters.WrapAroundCheckEnable );
- printf("\n\r Reporting All Fields of VL53L0X_DevData_t Data structure \n\r" );
- printf(" .OscFrequency_MHz = %3.2fMHz; Frequency used \n\r", (float) TOF1.Data.OscFrequency_MHz/65536 );
- printf(" .LastEncodedTimeout = %d[u16]; Last encoded Time out used for timing budget \n\r", TOF1.Data.LastEncodedTimeout );
- printf(" .Pin0GpioFunctionality = %d[u8]; functionality of the GPIO: pin0 \n\r", TOF1.Data.Pin0GpioFunctionality );
- printf(" .FinalRangeTimeout_us = %d[u32]; Execution time of the final ranging \n\r", TOF1.Data.FinalRangeTimeout_us );
- printf(" .FinalRangeVcselPulsePeriod= %d[u8]; Vcsel pulse period (pll clocks) for the final range measurement \n\r", TOF1.Data.FinalRangeVcselPulsePeriod );
- printf(" .PreRangeTimeout_us = %d[u32]; Execution time of the final range \n\r", TOF1.Data.PreRangeTimeout_us );
- printf(" .PreRangeVcselPulsePeriod = %d[u8]; Vcsel pulse period (pll clocks) for the pre-range measurement \n\r", TOF1.Data.PreRangeVcselPulsePeriod );
- printf(" .ReadDataFromDeviceDone = %2d; reads from device has been done (>0) or not. \n\r", TOF1.Data.ReadDataFromDeviceDone );
- printf(" .ModuleId = %X; Module ID \n\r", TOF1.Data.ModuleId );
- printf(" .Revision = %d[u8]; test Revision \n\r", TOF1.Data.Revision );
- printf(" .ProductId = %s[char*]; Product Identifier String \n\r", TOF1.Data.ProductId );
- printf(" .ReferenceSpadCount = %d[u8]; used for ref spad management \n\r", TOF1.Data.ReferenceSpadCount );
- printf(" .ReferenceSpadType = %d[u8]; used for ref spad management \n\r", TOF1.Data.ReferenceSpadType );
- printf(" .RefSpadsInitialised = %d[u8]; reports if ref spads are initialised. \n\r", TOF1.Data.RefSpadsInitialised );
- printf(" .PartUIDUpper = %d[u32]; Unique Part ID Upper \n\r", TOF1.Data.PartUIDUpper );
- printf(" .PartUIDLower = %d[u32]; Unique Part ID Lower \n\r", TOF1.Data.PartUIDLower );
- printf(" .SignalRateMeasFixed400mm = %3.3f; Peak Signal rate at 400 mm \n\r", 1.0 / 65535.0 * TOF1.Data.SignalRateMeasFixed400mm );
- printf(" .RefSpadEnables[x] = %X %X %X %X %X %X[hex8]; Reference Spad Enables \n\r",
+ aSerial->printf("\n\r Reporting All Fields of VL53L0X_DevData_t Data structure \n\r" );
+ aSerial->printf(" .OscFrequency_MHz = %3.2fMHz; Frequency used \n\r", (float) TOF1.Data.OscFrequency_MHz/65536 );
+ aSerial->printf(" .LastEncodedTimeout = %d[u16]; Last encoded Time out used for timing budget \n\r", TOF1.Data.LastEncodedTimeout );
+ aSerial->printf(" .Pin0GpioFunctionality = %d[u8]; functionality of the GPIO: pin0 \n\r", TOF1.Data.Pin0GpioFunctionality );
+ aSerial->printf(" .FinalRangeTimeout_us = %d[u32]; Execution time of the final ranging \n\r", TOF1.Data.FinalRangeTimeout_us );
+ aSerial->printf(" .FinalRangeVcselPulsePeriod= %d[u8]; Vcsel pulse period (pll clocks) for the final range measurement \n\r", TOF1.Data.FinalRangeVcselPulsePeriod );
+ aSerial->printf(" .PreRangeTimeout_us = %d[u32]; Execution time of the final range \n\r", TOF1.Data.PreRangeTimeout_us );
+ aSerial->printf(" .PreRangeVcselPulsePeriod = %d[u8]; Vcsel pulse period (pll clocks) for the pre-range measurement \n\r", TOF1.Data.PreRangeVcselPulsePeriod );
+ aSerial->printf(" .ReadDataFromDeviceDone = %2d; reads from device has been done (>0) or not. \n\r", TOF1.Data.ReadDataFromDeviceDone );
+ aSerial->printf(" .ModuleId = %X; Module ID \n\r", TOF1.Data.ModuleId );
+ aSerial->printf(" .Revision = %d[u8]; test Revision \n\r", TOF1.Data.Revision );
+ aSerial->printf(" .ProductId = %s[char*]; Product Identifier String \n\r", TOF1.Data.ProductId );
+ aSerial->printf(" .ReferenceSpadCount = %d[u8]; used for ref spad management \n\r", TOF1.Data.ReferenceSpadCount );
+ aSerial->printf(" .ReferenceSpadType = %d[u8]; used for ref spad management \n\r", TOF1.Data.ReferenceSpadType );
+ aSerial->printf(" .RefSpadsInitialised = %d[u8]; reports if ref spads are initialised. \n\r", TOF1.Data.RefSpadsInitialised );
+ aSerial->printf(" .PartUIDUpper = %d[u32]; Unique Part ID Upper \n\r", TOF1.Data.PartUIDUpper );
+ aSerial->printf(" .PartUIDLower = %d[u32]; Unique Part ID Lower \n\r", TOF1.Data.PartUIDLower );
+ aSerial->printf(" .SignalRateMeasFixed400mm = %3.3f; Peak Signal rate at 400 mm \n\r", 1.0 / 65535.0 * TOF1.Data.SignalRateMeasFixed400mm );
+ aSerial->printf(" .RefSpadEnables[x] = %X %X %X %X %X %X[hex8]; Reference Spad Enables \n\r",
TOF1.Data.RefSpadEnables[0], TOF1.Data.RefSpadEnables[1], TOF1.Data.RefSpadEnables[2],
TOF1.Data.RefSpadEnables[3], TOF1.Data.RefSpadEnables[4], TOF1.Data.RefSpadEnables[5] );
- printf(" .RefGoodSpadMap[x] = %X %X %X %X %X %X[hex8]; Reference Spad Good Spad Map\n\r",
+ aSerial->printf(" .RefGoodSpadMap[x] = %X %X %X %X %X %X[hex8]; Reference Spad Good Spad Map\n\r",
TOF1.Data.RefGoodSpadMap[0], TOF1.Data.RefGoodSpadMap[1], TOF1.Data.RefGoodSpadMap[2],
TOF1.Data.RefGoodSpadMap[3], TOF1.Data.RefGoodSpadMap[4], TOF1.Data.RefGoodSpadMap[5] );
- printf(" .Part2PartOffsetNVM_um = %d[i32]; backed up NVM value \n\r", TOF1.Data.Part2PartOffsetNVM_um );
- printf(" .Part2PartOffsetAdjustNVM_um= %d[i32]; backed up NVM value of additional offset adjustment \n\r", TOF1.Data.Part2PartOffsetAdjustNVM_um );
- printf(" .SequenceConfig = %d[u8]; Internal value for the sequence config \n\r", TOF1.Data.SequenceConfig );
- printf(" .RangeFractionalEnable = %d[u8]; Enable/Disable fractional part of range data \n\r", TOF1.Data.RangeFractionalEnable);
- printf(" .PalState = %d[u8]; Current state of the PAL \n\r", TOF1.Data.PalState );
- printf(" .PowerMode = %d[u8]; Current Power Mode; Stdby1/2, Idle1/2 \n\r", TOF1.Data.PowerMode );
- printf(" .SigmaEstRefArray = %d[u16]; Reference array sigma value in 1/100th of [mm] \n\r", TOF1.Data.SigmaEstRefArray );
- printf(" .SigmaEstEffPulseWidth = %d[u16]; Effective Pulse width for sigma estimate in 1/100th of ns \n\r", TOF1.Data.SigmaEstEffPulseWidth );
- printf(" .SigmaEstEffAmbWidth = %d. Effective Ambient width for sigma estimate in 1/100th of ns \n\r", TOF1.Data.SigmaEstEffAmbWidth );
- printf(" .StopVariable = %d[u8]; StopVariable used during the stop sequence \n\r", TOF1.Data.StopVariable );
- printf(" .targetRefRate = %d. Target Ambient Rate for Ref spad management \n\r", TOF1.Data.targetRefRate );
- printf(" .LastSignalRef_MHz = %3.3fMHz; Latest Signal ref \n\r", TOF1.Data.LastSignalRef_MHz / 65535.01 );
- printf(" .UseInternalTuningSetting = %d[u8]; Indicate if we use Tuning Settings table \n\r", TOF1.Data.UseInternalTuningSettings );
- printf(" .LinearityCorrectiveGain = %d[u8]; Linearity Corrective Gain value in x1000 \n\r", TOF1.Data.LinearityCorrectiveGain );
- printf(" .DmaxCalRange_mm = %dmm; Dmax Calibration Range \n\r", TOF1.Data.DmaxCalRange_mm );
- printf(" .DmaxCalSignalRateRtn_MHz = %3.3fMHz; Dmax Calibration Signal Rate Return \n\r", TOF1.Data.DmaxCalSignalRateRtn_MHz / 65535.01 );
+ aSerial->printf(" .Part2PartOffsetNVM_um = %d[i32]; backed up NVM value \n\r", TOF1.Data.Part2PartOffsetNVM_um );
+ aSerial->printf(" .Part2PartOffsetAdjustNVM_um= %d[i32]; backed up NVM value of additional offset adjustment \n\r", TOF1.Data.Part2PartOffsetAdjustNVM_um );
+ aSerial->printf(" .SequenceConfig = %d[u8]; Internal value for the sequence config \n\r", TOF1.Data.SequenceConfig );
+ aSerial->printf(" .RangeFractionalEnable = %d[u8]; Enable/Disable fractional part of range data \n\r", TOF1.Data.RangeFractionalEnable);
+ aSerial->printf(" .PalState = %d[u8]; Current state of the PAL \n\r", TOF1.Data.PalState );
+ aSerial->printf(" .PowerMode = %d[u8]; Current Power Mode; Stdby1/2, Idle1/2 \n\r", TOF1.Data.PowerMode );
+ aSerial->printf(" .SigmaEstRefArray = %d[u16]; Reference array sigma value in 1/100th of [mm] \n\r", TOF1.Data.SigmaEstRefArray );
+ aSerial->printf(" .SigmaEstEffPulseWidth = %d[u16]; Effective Pulse width for sigma estimate in 1/100th of ns \n\r", TOF1.Data.SigmaEstEffPulseWidth );
+ aSerial->printf(" .SigmaEstEffAmbWidth = %d. Effective Ambient width for sigma estimate in 1/100th of ns \n\r", TOF1.Data.SigmaEstEffAmbWidth );
+ aSerial->printf(" .StopVariable = %d[u8]; StopVariable used during the stop sequence \n\r", TOF1.Data.StopVariable );
+ aSerial->printf(" .targetRefRate = %d. Target Ambient Rate for Ref spad management \n\r", TOF1.Data.targetRefRate );
+ aSerial->printf(" .LastSignalRef_MHz = %3.3fMHz; Latest Signal ref \n\r", TOF1.Data.LastSignalRef_MHz / 65535.01 );
+ aSerial->printf(" .UseInternalTuningSetting = %d[u8]; Indicate if we use Tuning Settings table \n\r", TOF1.Data.UseInternalTuningSettings );
+ aSerial->printf(" .LinearityCorrectiveGain = %d[u8]; Linearity Corrective Gain value in x1000 \n\r", TOF1.Data.LinearityCorrectiveGain );
+ aSerial->printf(" .DmaxCalRange_mm = %dmm; Dmax Calibration Range \n\r", TOF1.Data.DmaxCalRange_mm );
+ aSerial->printf(" .DmaxCalSignalRateRtn_MHz = %3.3fMHz; Dmax Calibration Signal Rate Return \n\r", TOF1.Data.DmaxCalSignalRateRtn_MHz / 65535.01 );
}
int VL53L0X::read_id(uint8_t *id)
@@ -187,12 +187,12 @@
uint8_t id = 0;
status = read_id(&id);
if (status != 0) {
- printf("VL53L0X sensor is not present!\n\r");
+ //aSerial->printf("VL53L0X sensor is not present!\n\r");
return 99; } // device is not present
status = VL53L0X_data_init();
if (status != VL53L0X_ERROR_NONE) {
- printf("Failed to init VL53L0X sensor!\n\r");
+ //aSerial->printf("Failed to init VL53L0X sensor!\n\r");
return status;
}
@@ -201,14 +201,14 @@
status = prepare();
if (status != VL53L0X_ERROR_NONE) {
- printf("Failed to prepare VL53L0X!\n\r");
+ //aSerial->printf("Failed to prepare VL53L0X!\n\r");
return status;
}
if (new_addr != VL53L0X_DEFAULT_ADDRESS) {
status = set_device_address(new_addr);
if (status) {
- printf("Failed to change I2C address!\n\r");
+ //aSerial->printf("Failed to change I2C address!\n\r");
return status;
}
}
@@ -366,14 +366,14 @@
uint8_t PhaseCal;
// default settings, for normal range.
FixPoint1616_t signalLimit = (FixPoint1616_t)(0.25 * 65536);
- FixPoint1616_t sigmaLimit = (FixPoint1616_t)(18 * 65536);
+ FixPoint1616_t sigmaLimit = (FixPoint1616_t)(25 * 65536);
uint32_t timingBudget = 33000;
uint8_t preRangeVcselPeriod = 14;
uint8_t finalRangeVcselPeriod = 10;
if (operating_mode == range_continuous_interrupt) {
if (_gpio1Int == NULL) {
- printf("GPIO1 Error\r\n");
+ //aSerial->printf("GPIO1 Error\r\n");
return 1;
}
@@ -394,10 +394,7 @@
if (ClrStatus) { Status = 97; } // VL53L0X_ClearErrorInterrupt fail
if (Status == VL53L0X_ERROR_NONE) {
- Status = VL53L0X_set_device_mode(VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
+ CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_CONTINUOUS_RANGING; // Setup in continuous ranging mode
Status = VL53L0X_start_measurement();
}
}
@@ -406,11 +403,8 @@
// singelshot, polled ranging
if (Status == VL53L0X_ERROR_NONE) {
// no need to do this when we use VL53L0X_PerformSingleRangingMeasurement
- Status = VL53L0X_set_device_mode( VL53L0X_DEVICEMODE_SINGLE_RANGING); // Setup in single ranging mode
- }
-
- // Enable/Disable Sigma and Signal check
- if (Status == VL53L0X_ERROR_NONE) {
+ CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING; // Setup in single ranging mode
+ // Enable/Disable Sigma and Signal check
Status = VL53L0X_set_limit_check_enable(VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1);
}
if (Status == VL53L0X_ERROR_NONE) {
@@ -422,7 +416,7 @@
case Range_Config_DEFAULT:
// default settings, for normal range.
signalLimit = (FixPoint1616_t)(0.25 * 65536);
- sigmaLimit = (FixPoint1616_t)(18 * 65536);
+ sigmaLimit = (FixPoint1616_t)(16 * 65536);
timingBudget = 33000;
preRangeVcselPeriod = 14;
finalRangeVcselPeriod = 10;
@@ -443,7 +437,7 @@
break;
case Range_Config_HIGH_SPEED:
signalLimit = (FixPoint1616_t)(0.25*65536);
- sigmaLimit = (FixPoint1616_t)(32*65536);
+ sigmaLimit = (FixPoint1616_t)(60*65536);
timingBudget = 20000;
preRangeVcselPeriod = 14;
finalRangeVcselPeriod = 10;
@@ -474,12 +468,7 @@
if (operating_mode == range_continuous_polling) {
if (Status == VL53L0X_ERROR_NONE) {
- //printf("Call of VL53L0X_SetDeviceMode\n");
- Status = VL53L0X_set_device_mode( VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); // Setup in continuous ranging mode
- }
-
- if (Status == VL53L0X_ERROR_NONE) {
- //printf("Call of VL53L0X_StartMeasurement\n");
+ CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_CONTINUOUS_RANGING; // Setup in continuous ranging mode
Status = VL53L0X_start_measurement();
}
}
@@ -494,8 +483,7 @@
// status = VL53L0X_SetInterruptThresholds(Device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, 0, 300);
status = VL53L0X_set_gpio_config( 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
- VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
- VL53L0X_INTERRUPTPOLARITY_HIGH);
+ VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY, VL53L0X_INTERRUPTPOLARITY_HIGH);
if (!status) {
attach_interrupt_measure_detection_irq(fptr);
@@ -542,7 +530,7 @@
int status = 0;
VL53L0X_RangingMeasurementData_t p_ranging_measurement_data;
- status = start_measurement(range_single_shot_polling, NULL);
+ status = start_measurement(range_single_shot_polling, NULL, Range_Config_DEFAULT);
if (!status) {
status = get_measurement(range_single_shot_polling, &p_ranging_measurement_data);
}
@@ -621,12 +609,12 @@
if (operating_mode == range_continuous_interrupt || operating_mode == range_continuous_polling) {
// continuous mode
if (status == VL53L0X_ERROR_NONE) {
- //printf("Call of VL53L0X_StopMeasurement\n");
+ //aSerial->printf("Call of VL53L0X_StopMeasurement\n");
status = VL53L0X_stop_measurement();
}
if (status == VL53L0X_ERROR_NONE) {
- //printf("Wait Stop to be competed\n");
+ //aSerial->printf("Wait Stop to be competed\n");
status = wait_stop_completed();
}
@@ -645,13 +633,10 @@
}
int VL53L0X::range_start_continuous_mode()
-{ int status;
- status = VL53L0X_set_device_mode( VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);
-
- if (status == VL53L0X_ERROR_NONE)
- { status = VL53L0X_start_measurement(); }
-
- return status;
+{ CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_CONTINUOUS_RANGING;
+
+ return VL53L0X_start_measurement();
+
}
VL53L0X_Error VL53L0X::VL53L0X_device_read_strobe(void)
@@ -824,7 +809,6 @@
status |= VL53L0X_write_byte( 0x94, 0x7B);
status |= VL53L0X_device_read_strobe();
status |= VL53L0X_read_dword( 0x90, &part_uid_upper);
-
status |= VL53L0X_write_byte( 0x94, 0x7C);
status |= VL53L0X_device_read_strobe();
status |= VL53L0X_read_dword( 0x90, &part_uid_lower);
@@ -832,25 +816,21 @@
status |= VL53L0X_write_byte( 0x94, 0x73);
status |= VL53L0X_device_read_strobe();
status |= VL53L0X_read_dword( 0x90, &tmp_dword);
-
signal_rate_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff) << 8;
status |= VL53L0X_write_byte( 0x94, 0x74);
status |= VL53L0X_device_read_strobe();
status |= VL53L0X_read_dword( 0x90, &tmp_dword);
-
signal_rate_meas_fixed1104_400_mm |= ((tmp_dword & 0xff000000) >> 24);
status |= VL53L0X_write_byte( 0x94, 0x75);
status |= VL53L0X_device_read_strobe();
status |= VL53L0X_read_dword( 0x90, &tmp_dword);
-
dist_meas_fixed1104_400_mm = (tmp_dword & 0x0000000ff) << 8;
status |= VL53L0X_write_byte( 0x94, 0x76);
status |= VL53L0X_device_read_strobe();
status |= VL53L0X_read_dword( 0x90, &tmp_dword);
-
dist_meas_fixed1104_400_mm |= ((tmp_dword & 0xff000000) >> 24);
}
@@ -860,7 +840,6 @@
status |= VL53L0X_write_byte( 0x83, byte & 0xfb);
status |= VL53L0X_write_byte( 0xFF, 0x01);
status |= VL53L0X_write_byte( 0x00, 0x01);
-
status |= VL53L0X_write_byte( 0xFF, 0x00);
status |= VL53L0X_write_byte( 0x80, 0x00);
}
@@ -913,14 +892,13 @@
return status;
}
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_offset_calibration_data_micro_meter(int32_t *p_offset_calibration_data_micro_meter)
+VL53L0X_Error VL53L0X::VL53L0X_get_offset_calibration_data_micro_meter(int32_t *p_offset_calibration_data_micro_meter)
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint16_t range_offset_register;
int16_t c_max_offset = 2047;
int16_t c_offset_range = 4096;
- /* Note that offset has 10.2 format */
-
+ /* Note, that offset has 10.2 format */
status = VL53L0X_read_word(VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
&range_offset_register);
@@ -930,37 +908,22 @@
/* Apply 12 bit 2's compliment conversion */
if (range_offset_register > c_max_offset) {
*p_offset_calibration_data_micro_meter =
- (int16_t)(range_offset_register - c_offset_range)
- * 250;
+ (int16_t)(range_offset_register - c_offset_range) * 250;
} else {
*p_offset_calibration_data_micro_meter =
- (int16_t)range_offset_register * 250;
- }
-
+ (int16_t)range_offset_register * 250; }
}
return status;
}
-VL53L0X_Error VL53L0X::VL53L0X_get_offset_calibration_data_micro_meter(int32_t *p_offset_calibration_data_micro_meter)
-{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
-
- status = wrapped_VL53L0X_get_offset_calibration_data_micro_meter(p_offset_calibration_data_micro_meter);
-
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_set_offset_calibration_data_micro_meter(int32_t offset_calibration_data_micro_meter)
+VL53L0X_Error VL53L0X::VL53L0X_set_offset_calibration_data_micro_meter(int32_t offset_calibration_data_micro_meter)
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
int32_t c_max_offset_micro_meter = 511000;
int32_t c_min_offset_micro_meter = -512000;
int16_t c_offset_range = 4096;
uint32_t encoded_offset_val;
-
-
if (offset_calibration_data_micro_meter > c_max_offset_micro_meter) {
offset_calibration_data_micro_meter = c_max_offset_micro_meter;
} else {
@@ -970,32 +933,16 @@
}
/* The offset register is 10.2 format and units are mm
- * therefore conversion is applied by a division of
- * 250.
- */
+ * therefore conversion is applied by a division of 250. */
if (offset_calibration_data_micro_meter >= 0) {
- encoded_offset_val =
- offset_calibration_data_micro_meter / 250;
+ encoded_offset_val = offset_calibration_data_micro_meter / 250;
} else {
encoded_offset_val =
- c_offset_range +
- offset_calibration_data_micro_meter / 250;
+ c_offset_range + offset_calibration_data_micro_meter / 250;
}
status = VL53L0X_write_word(VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM,
encoded_offset_val);
-
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_set_offset_calibration_data_micro_meter(int32_t offset_calibration_data_micro_meter)
-{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
-
- status = wrapped_VL53L0X_set_offset_calibration_data_micro_meter(offset_calibration_data_micro_meter);
-
-
return status;
}
@@ -1028,17 +975,6 @@
CurrentParameters.RangeOffset_um = corrected_offset_micro_meters;
}
}
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_device_mode(VL53L0X_DeviceModes *p_device_mode)
-{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
-
- *p_device_mode = CurrentParameters.DeviceMode ;
-
-
return status;
}
@@ -1064,7 +1000,6 @@
}
CurrentParameters.InterMeasurementPeriod_ms = *p_inter_measurement_period_ms;
}
-
return status;
}
@@ -1074,8 +1009,6 @@
uint16_t value;
FixPoint1616_t temp_fix1616;
-
-
status = VL53L0X_read_word(VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MHz, (uint16_t *)&value);
if (status == VL53L0X_ERROR_NONE) {
if (value == 0) {
@@ -1091,7 +1024,6 @@
}
}
-
return status;
}
@@ -1102,8 +1034,6 @@
uint16_t temp16;
FixPoint1616_t temp_fix1616;
-
-
switch (limit_check_id) {
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
@@ -1113,12 +1043,10 @@
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
- status = VL53L0X_read_word(VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
- &temp16);
+ status = VL53L0X_read_word(VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, &temp16);
if (status == VL53L0X_ERROR_NONE) {
temp_fix1616 = VL53L0X_FP97TOFP1616(temp16);
}
-
enable_zero_value = 1;
break;
@@ -1151,7 +1079,6 @@
}
if (status == VL53L0X_ERROR_NONE) {
-
if (enable_zero_value == 1) {
if (temp_fix1616 == 0) {
@@ -1164,14 +1091,10 @@
CurrentParameters.LimitChecksValue[limit_check_id] = temp_fix1616;
CurrentParameters.LimitChecksEnable[limit_check_id] = 1;
}
- } else {
- *p_limit_check_value = temp_fix1616;
- }
+ } else { *p_limit_check_value = temp_fix1616; }
}
-
return status;
-
}
VL53L0X_Error VL53L0X::VL53L0X_get_limit_check_enable( uint16_t limit_check_id,
@@ -1179,8 +1102,6 @@
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t temp8;
-
-
if (limit_check_id >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
status = VL53L0X_ERROR_INVALID_PARAMS;
*p_limit_check_enable = 0;
@@ -1189,7 +1110,6 @@
*p_limit_check_enable = temp8;
}
-
return status;
}
@@ -1197,8 +1117,6 @@
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t data;
-
-
status = VL53L0X_read_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data);
if (status == VL53L0X_ERROR_NONE) {
Data.SequenceConfig = data;
@@ -1212,7 +1130,6 @@
CurrentParameters.WrapAroundCheckEnable = *p_wrap_around_check_enable;
}
-
return status;
}
@@ -1221,7 +1138,6 @@
{ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
*p_sequence_step_enabled = 0;
-
switch (sequence_step_id) {
case VL53L0X_SEQUENCESTEP_TCC:
*p_sequence_step_enabled = (sequence_config & 0x10) >> 4;
@@ -1241,8 +1157,6 @@
default:
Status = VL53L0X_ERROR_INVALID_PARAMS;
}
-
-
return Status;
}
@@ -1250,7 +1164,6 @@
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t sequence_config = 0;
-
status = VL53L0X_read_byte( VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG,
&sequence_config);
@@ -1274,17 +1187,11 @@
status = sequence_step_enabled(VL53L0X_SEQUENCESTEP_FINAL_RANGE, sequence_config,
&p_scheduler_sequence_steps->FinalRangeOn);
}
-
-
return status;
}
uint8_t VL53L0X::VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg)
-{ /*!
- * Converts the encoded VCSEL period register value into the real
- * period in PLL clocks
- */
-
+{ /*! Converts the encoded VCSEL period register value into the real period in PLL clocks */
uint8_t vcsel_period_pclks = 0;
vcsel_period_pclks = (vcsel_period_reg + 1) << 1;
@@ -1293,10 +1200,7 @@
}
uint8_t VL53L0X::lv53l0x_encode_vcsel_period(uint8_t vcsel_period_pclks)
-{ /*!
- * Converts the encoded VCSEL period register value into the real period
- * in PLL clocks
- */
+{ /*! Converts the encoded VCSEL period register value into the real period in PLL clocks */
uint8_t vcsel_period_reg = 0;
@@ -1336,9 +1240,7 @@
/* Apply specific settings for the requested clock period */
- if (status != VL53L0X_ERROR_NONE) {
- return status;
- }
+ if (status != VL53L0X_ERROR_NONE) { return status; }
if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_PRE_RANGE) {
@@ -1369,52 +1271,35 @@
0x08);
}
} else if (vcsel_period_type == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) {
-
if (vcsel_pulse_period_pclk == 8) {
-
status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,0x10);
status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,0x08);
-
status |= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02);
status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C);
-
status |= VL53L0X_write_byte( 0xff, 0x01);
status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,0x30);
status |= VL53L0X_write_byte( 0xff, 0x00);
} else if (vcsel_pulse_period_pclk == 10) {
-
status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,0x28);
status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,0x08);
-
status |= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09);
-
status |= VL53L0X_write_byte( 0xff, 0x01);
status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,0x20);
status |= VL53L0X_write_byte( 0xff, 0x00);
} else if (vcsel_pulse_period_pclk == 12) {
-
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x38);
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
- 0x08);
-
+ status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, 0x38);
+ status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, 0x08);
status |= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08);
-
status |= VL53L0X_write_byte( 0xff, 0x01);
- status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,
- 0x20);
+ status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,0x20);
status |= VL53L0X_write_byte( 0xff, 0x00);
} else if (vcsel_pulse_period_pclk == 14) {
-
- status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
- 0x048);
+ status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,0x048);
status = VL53L0X_write_byte(VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,0x08);
-
status |= VL53L0X_write_byte(VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07);
-
status |= VL53L0X_write_byte( 0xff, 0x01);
status |= VL53L0X_write_byte(VL53L0X_REG_ALGO_PHASECAL_LIM,0x20);
status |= VL53L0X_write_byte( 0xff, 0x00);
@@ -1424,8 +1309,7 @@
/* Re-calculate and apply timeouts, in macro periods */
if (status == VL53L0X_ERROR_NONE) {
- vcsel_period_reg = lv53l0x_encode_vcsel_period((uint8_t)
- vcsel_pulse_period_pclk);
+ vcsel_period_reg = lv53l0x_encode_vcsel_period((uint8_t) vcsel_pulse_period_pclk);
/* When the VCSEL period for the pre or final range is changed,
* the corresponding timeout must be read from the device using
@@ -1481,13 +1365,11 @@
/* Finally, the timing budget must be re-applied */
if (status == VL53L0X_ERROR_NONE) {
measurement_timing_budget_us = CurrentParameters.MeasurementTimingBudget_us ;
-
status = VL53L0X_set_measurement_timing_budget_us(measurement_timing_budget_us);
}
/* Perform the phase calibration. This is needed after changing on
- * vcsel period.
- * get_data_enable = 0, restore_config = 1 */
+ * vcsel period. get_data_enable = 0, restore_config = 1 */
if (status == VL53L0X_ERROR_NONE)
status = VL53L0X_perform_phase_calibration(&phase_cal_int, 0, 1);
@@ -1496,16 +1378,13 @@
VL53L0X_Error VL53L0X::VL53L0X_set_vcsel_pulse_period(VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period)
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
-
- status = wrapped_VL53L0X_set_vcsel_pulse_period( vcsel_period_type,
- vcsel_pulse_period);
-
-
+
+ status = wrapped_VL53L0X_set_vcsel_pulse_period( vcsel_period_type, vcsel_pulse_period);
+
return status;
}
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_vcsel_pulse_period(VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk)
+VL53L0X_Error VL53L0X::VL53L0X_get_vcsel_pulse_period(VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk)
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t vcsel_period_reg;
@@ -1523,28 +1402,13 @@
}
if (status == VL53L0X_ERROR_NONE)
- *p_vcsel_pulse_period_pclk =
- VL53L0X_decode_vcsel_period(vcsel_period_reg);
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_vcsel_pulse_period(VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk)
-{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
-
- status = wrapped_VL53L0X_get_vcsel_pulse_period( vcsel_period_type,
- p_vcsel_pulse_period_pclk);
-
-
+ *p_vcsel_pulse_period_pclk = VL53L0X_decode_vcsel_period(vcsel_period_reg);
+
return status;
}
uint32_t VL53L0X::VL53L0X_decode_timeout(uint16_t encoded_timeout)
-{ /*!
- * Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1
- */
-
+{ /*! Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1 */
uint32_t timeout_macro_clks = 0;
timeout_macro_clks = ((uint32_t)(encoded_timeout & 0x00FF)
@@ -1558,17 +1422,11 @@
uint32_t macro_period_vclks;
uint32_t macro_period_ps;
-
-
- /* The above calculation will produce rounding errors,
- therefore set fixed value
- */
+ /* The above calculation will produce rounding errors, therefore set fixed value*/
pll_period_ps = 1655;
-
macro_period_vclks = 2304;
macro_period_ps = (uint32_t)(macro_period_vclks
* vcsel_period_pclks * pll_period_ps);
-
return macro_period_ps;
}
@@ -1679,7 +1537,7 @@
return status;
}
-VL53L0X_Error VL53L0X::wrapped_VL53L0X_get_measurement_timing_budget_us(uint32_t *p_measurement_timing_budget_us)
+VL53L0X_Error VL53L0X::VL53L0X_get_measurement_timing_budget_us(uint32_t *p_measurement_timing_budget_us)
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
VL53L0X_SchedulerSequenceSteps_t scheduler_sequence_steps;
uint32_t final_range_timeout_us;
@@ -1693,18 +1551,13 @@
uint32_t final_range_overhead_us = 550;
uint32_t pre_range_timeout_us = 0;
-
-
/* Start and end overhead times always present */
*p_measurement_timing_budget_us
= start_overhead_us + end_overhead_us;
status = VL53L0X_get_sequence_step_enables( &scheduler_sequence_steps);
- if (status != VL53L0X_ERROR_NONE) {
-
- return status;
- }
+ if (status != VL53L0X_ERROR_NONE) { return status; }
if (scheduler_sequence_steps.TccOn ||
scheduler_sequence_steps.MsrcOn ||
@@ -1716,18 +1569,15 @@
if (status == VL53L0X_ERROR_NONE) {
if (scheduler_sequence_steps.TccOn) {
*p_measurement_timing_budget_us +=
- msrc_dcc_tcc_timeout_us +
- tcc_overhead_us;
+ msrc_dcc_tcc_timeout_us + tcc_overhead_us;
}
if (scheduler_sequence_steps.DssOn) {
*p_measurement_timing_budget_us +=
- 2 * (msrc_dcc_tcc_timeout_us +
- dss_overhead_us);
+ 2 * (msrc_dcc_tcc_timeout_us + dss_overhead_us);
} else if (scheduler_sequence_steps.MsrcOn) {
*p_measurement_timing_budget_us +=
- msrc_dcc_tcc_timeout_us +
- msrc_overhead_us;
+ msrc_dcc_tcc_timeout_us + msrc_overhead_us;
}
}
}
@@ -1737,8 +1587,7 @@
status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_PRE_RANGE,
&pre_range_timeout_us);
*p_measurement_timing_budget_us +=
- pre_range_timeout_us +
- pre_range_overhead_us;
+ pre_range_timeout_us + pre_range_overhead_us;
}
}
@@ -1747,26 +1596,13 @@
status = get_sequence_step_timeout(VL53L0X_SEQUENCESTEP_FINAL_RANGE,
&final_range_timeout_us);
*p_measurement_timing_budget_us +=
- (final_range_timeout_us +
- final_range_overhead_us);
+ (final_range_timeout_us + final_range_overhead_us);
}
}
if (status == VL53L0X_ERROR_NONE) {
- CurrentParameters.MeasurementTimingBudget_us = *p_measurement_timing_budget_us;
- }
-
-
- return status;
-}
-
-VL53L0X_Error VL53L0X::VL53L0X_get_measurement_timing_budget_us(uint32_t *p_measurement_timing_budget_us)
-{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
-
-
- status = wrapped_VL53L0X_get_measurement_timing_budget_us(p_measurement_timing_budget_us);
-
-
+ CurrentParameters.MeasurementTimingBudget_us = *p_measurement_timing_budget_us;}
+
return status;
}
@@ -1774,9 +1610,7 @@
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
int i;
-
-
- status = VL53L0X_get_device_mode( &(p_device_parameters->DeviceMode));
+ p_device_parameters->DeviceMode = CurrentParameters.DeviceMode;
if (status == VL53L0X_ERROR_NONE)
status = VL53L0X_get_inter_measurement_period_ms(&(p_device_parameters->InterMeasurementPeriod_ms));
@@ -1830,8 +1664,6 @@
{ VL53L0X_Error status = VL53L0X_ERROR_NONE;
uint8_t temp8;
-
-
temp8 = CurrentParameters.LimitChecksEnable[limit_check_id];
if (temp8 == 0) { /* disabled write only internal value */
@@ -1840,27 +1672,20 @@
switch (limit_check_id) {
- case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
- /* internal computation: */
+ case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:/* internal computation: */
CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE] = limit_check_value;
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
-
status = VL53L0X_write_word(VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT,
VL53L0X_FP1616TOFP97(limit_check_value));
-
break;
- case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
-
- /* internal computation: */
+ case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:/* internal computation: */
CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP] = limit_check_value;
break;
- case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
-
- /* internal computation: */
+ case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:/* internal computation: */
CurrentParameters.LimitChecksValue[VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD] = limit_check_value;
break;
@@ -2554,7 +2379,7 @@
/* Get Current DeviceMode */
- VL53L0X_get_device_mode( &device_mode);
+ device_mode = CurrentParameters.DeviceMode;
status = VL53L0X_write_byte( 0x80, 0x01);
status = VL53L0X_write_byte( 0xFF, 0x01);
@@ -2626,7 +2451,7 @@
VL53L0X_DeviceModes device_mode;
/* Get Current DeviceMode */
- status = VL53L0X_get_device_mode( &device_mode);
+ device_mode = CurrentParameters.DeviceMode;
/* Start immediately to run a single ranging measurement in case of
* single ranging or single histogram */
@@ -3521,7 +3346,7 @@
/* This function will do a complete single ranging
* Here we fix the mode! */
- status = VL53L0X_set_device_mode( VL53L0X_DEVICEMODE_SINGLE_RANGING);
+ CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING;
if (status == VL53L0X_ERROR_NONE) {
status = VL53L0X_perform_single_measurement(); }
@@ -4157,8 +3982,7 @@
}
final_range_timing_budget_us =
- measurement_timing_budget_us -
- (start_overhead_us + end_overhead_us);
+ measurement_timing_budget_us - (start_overhead_us + end_overhead_us);
status = VL53L0X_get_sequence_step_enables( &scheduler_sequence_steps);
--- a/VL53L0X.h Mon Jul 08 14:07:22 2019 +0000
+++ b/VL53L0X.h Sat Jul 20 08:48:49 2019 +0000
@@ -96,7 +96,7 @@
* @return "0" on success
*/
int start_measurement(OperatingMode operating_mode, void (*fptr)(void),
- VL53L0X_RangingConfig rangingConfig = Range_Config_DEFAULT);
+ VL53L0X_RangingConfig rangingConfig );
/**
* @brief Get results for the measure indicated by operating mode
@@ -474,26 +474,6 @@
*/
VL53L0X_Error VL53L0X_set_device_mode( VL53L0X_DeviceModes device_mode);
- /**
- * @brief Get current new device mode
- * @par Function Description
- * Get actual mode of the device(ranging, histogram ...)
- *
- * @note This function doesn't Access to the device
- *
- * @param p_device_mode Pointer to current apply mode value
- * Valid values are:
- * VL53L0X_DEVICEMODE_SINGLE_RANGING
- * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING
- * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING
- * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
- *
- * @return VL53L0X_ERROR_NONE Success
- * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
- * DeviceMode is not in the
- * supported list
- */
- VL53L0X_Error VL53L0X_get_device_mode(VL53L0X_DeviceModes *p_device_mode);
/**
* @brief Get current configuration for GPIO pin for a given device
@@ -1218,12 +1198,6 @@
VL53L0X_Error VL53L0X_device_read_strobe(void);
- VL53L0X_Error wrapped_VL53L0X_get_measurement_timing_budget_us(
- uint32_t *p_measurement_timing_budget_us);
-
- VL53L0X_Error wrapped_VL53L0X_get_vcsel_pulse_period(
- VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk);
-
uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg);
uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout);
@@ -1274,10 +1248,6 @@
/* api_calibration.h functions */
VL53L0X_Error VL53L0X_apply_offset_adjustment(void);
- VL53L0X_Error wrapped_VL53L0X_get_offset_calibration_data_micro_meter(
- int32_t *p_offset_calibration_data_micro_meter);
- VL53L0X_Error wrapped_VL53L0X_set_offset_calibration_data_micro_meter(
- int32_t offset_calibration_data_micro_meter);
VL53L0X_Error wrapped_VL53L0X_perform_ref_spad_management(
uint32_t *ref_spad_count,
uint8_t *is_aperture_spads);
@@ -1848,7 +1818,7 @@
VL53L0X_Error VL53L0X_i2c_read(uint8_t index, uint8_t *p_data, uint16_t number_of_bytes);
};
-void Report_Deep_Infos (VL53L0X TOF1);
-void Report_Range_Infos(VL53L0X_RangingMeasurementData_t RangeResults);
+void Report_Deep_Infos (VL53L0X TOF1, Serial *aSerial);
+void Report_Range_Infos(VL53L0X_RangingMeasurementData_t RangeResults, Serial *aSerial);
#endif /* _VL53L0X_CLASS_H_ */