amiro-lld / drivers / VL53L1X / v1 / api / core / vl53l1_core_support.h @ 3ed0cc4d
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/*
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* Copyright (c) 2017, STMicroelectronics - All Rights Reserved
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*
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* This file is part of VL53L1 Core and is dual licensed,
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* either 'STMicroelectronics
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* Proprietary license'
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* or 'BSD 3-clause "New" or "Revised" License' , at your option.
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*
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********************************************************************************
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*
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* 'STMicroelectronics Proprietary license'
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*
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********************************************************************************
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*
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* License terms: STMicroelectronics Proprietary in accordance with licensing
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* terms at www.st.com/sla0081
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*
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* STMicroelectronics confidential
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* Reproduction and Communication of this document is strictly prohibited unless
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* specifically authorized in writing by STMicroelectronics.
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*
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*
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********************************************************************************
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*
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* Alternatively, VL53L1 Core may be distributed under the terms of
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* 'BSD 3-clause "New" or "Revised" License', in which case the following
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* provisions apply instead of the ones mentioned above :
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*
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********************************************************************************
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*
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* License terms: BSD 3-clause "New" or "Revised" License.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* 3. Neither the name of the copyright holder nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*
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********************************************************************************
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*
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*/
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/**
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* @file vl53l1_core_support.h
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*
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* @brief EwokPlus25 core function definitions
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*/
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#ifndef _VL53L1_CORE_SUPPORT_H_
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#define _VL53L1_CORE_SUPPORT_H_
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#include "vl53l1_types.h" |
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#ifdef __cplusplus
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extern "C" { |
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#endif
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/**
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* @brief Calculates the PLL period in [us] from the input
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* fast_osc_frequency
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*
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* @param[in] fast_osc_frequency : fast oscillator frequency in 4.12 MHz format
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*
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* @return pll_period_us : PLL period in [us] 8.24 format
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*/
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uint32_t VL53L1_calc_pll_period_us( |
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uint16_t fast_osc_frequency); |
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#ifdef PAL_EXTENDED
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/**
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* @brief Calculates the ranging duration in ns using fixed point maths
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* *
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* Uses a temporary uint64_t variable internally
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*
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* @param[in] pll_period_us : PLL Period in [us] 0.25 format
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* @param[in] vcsel_parm_pclks : period, width or WOI window in PLL clocks
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* in 6.4 format.
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* @param[in] window_vclks : ranging or ambient window duration in VCSEL clocks
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* @param[in] periods_elapsed_mclks : elapsed time in macro clocks
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*
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* @return duration_us : uint32_t containing the duration time in us
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*/
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uint32_t VL53L1_duration_maths( |
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uint32_t pll_period_us, |
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uint32_t vcsel_parm_pclks, |
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uint32_t window_vclks, |
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uint32_t periods_elapsed_mclks); |
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/**
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* @brief Calculates the square root of the input integer
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*
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* Reference : http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
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*
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* @param[in] num : input integer
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*
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* @return res : square root result
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*/
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uint32_t VL53L1_isqrt( |
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uint32_t num); |
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/**
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* @brief Calculates the count rate using fixed point maths
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*
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* Uses a temporary uint64_t variable internally
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* Any negative negative rates are clipped to 0.
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*
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* @param[in] events : accumulated SPAD events
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* @param[in] time_us : elapsed time in us
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*
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* @return rate_mcps : uint16_t count rate in 9.7 format
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*/
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uint16_t VL53L1_rate_maths( |
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int32_t events, |
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uint32_t time_us); |
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/**
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* @brief Calculates the Rate per spad
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*
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* Uses a temporary uint32_t variable internally
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* Any output rates larger than 16 bit are clipped to 0xFFFF.
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*
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* @param[in] frac_bits : required output fractional precision - 7 \
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* due to inherent resolution of pk_rate
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* @param[in] peak_count_rate : peak signal count rate in mcps
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* @param[in] num_spads : actual effective spads in 8.8
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* @param[in] max_output_value : User set value to clip output
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*
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* @return rate_per_spad : uint16_t count rate in variable fractional format
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*/
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uint16_t VL53L1_rate_per_spad_maths( |
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uint32_t frac_bits, |
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uint32_t peak_count_rate, |
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uint16_t num_spads, |
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uint32_t max_output_value); |
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/**
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* @brief Calculates the range from the phase data
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*
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* Uses a temporary int64_t variable internally
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*
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* @param[in] fast_osc_frequency : Fast oscillator freq [MHz] 4.12 format
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* @param[in] phase : phase in 5.11 format
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* @param[in] zero_distance_phase : zero distance phase in 5.11 format
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* @param[in] fractional_bits : valid options : 0, 1, 2
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* @param[in] gain_factor : gain correction factor 1.11 format
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* @param[in] range_offset_mm : range offset [mm] 14.2 format
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* @return range_mm : signed range in [mm]
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* format depends on fractional_bits input
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*/
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int32_t VL53L1_range_maths( |
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uint16_t fast_osc_frequency, |
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uint16_t phase, |
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uint16_t zero_distance_phase, |
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uint8_t fractional_bits, |
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int32_t gain_factor, |
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int32_t range_offset_mm); |
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#endif
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/**
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* @brief Decodes VCSEL period register value into the real period in PLL clocks
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*
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* @param[in] vcsel_period_reg : 8 -bit register value
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*
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* @return vcsel_period_pclks : 8-bit decoded value
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*
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*/
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uint8_t VL53L1_decode_vcsel_period( |
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uint8_t vcsel_period_reg); |
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/**
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* @brief Decodes the Byte.Bit coord encoding into an (x,y) coord value
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*
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* @param[in] spad_number : Coord location in Byte.Bit format
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* @param[out] prow : Decoded row
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* @param[out] pcol : Decoded column
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*
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*/
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void VL53L1_decode_row_col(
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uint8_t spad_number, |
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uint8_t *prow, |
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uint8_t *pcol); |
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#ifdef __cplusplus
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} |
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#endif
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#endif /* _VL53L1_CORE_SUPPORT_H_ */ |