amiro-lld / drivers / VL53L1X / v1 / api / core / vl53l1_core_support.h @ 4dba9195
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1 | 4dba9195 | galberding | /*
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2 | * Copyright (c) 2017, STMicroelectronics - All Rights Reserved
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3 | *
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4 | * This file is part of VL53L1 Core and is dual licensed,
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5 | * either 'STMicroelectronics
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6 | * Proprietary license'
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7 | * or 'BSD 3-clause "New" or "Revised" License' , at your option.
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8 | *
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9 | ********************************************************************************
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10 | *
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11 | * 'STMicroelectronics Proprietary license'
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12 | *
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13 | ********************************************************************************
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14 | *
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15 | * License terms: STMicroelectronics Proprietary in accordance with licensing
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16 | * terms at www.st.com/sla0081
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17 | *
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18 | * STMicroelectronics confidential
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19 | * Reproduction and Communication of this document is strictly prohibited unless
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20 | * specifically authorized in writing by STMicroelectronics.
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21 | *
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22 | *
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23 | ********************************************************************************
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24 | *
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25 | * Alternatively, VL53L1 Core may be distributed under the terms of
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26 | * 'BSD 3-clause "New" or "Revised" License', in which case the following
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27 | * provisions apply instead of the ones mentioned above :
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28 | *
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29 | ********************************************************************************
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30 | *
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31 | * License terms: BSD 3-clause "New" or "Revised" License.
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32 | *
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33 | * Redistribution and use in source and binary forms, with or without
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34 | * modification, are permitted provided that the following conditions are met:
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35 | *
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36 | * 1. Redistributions of source code must retain the above copyright notice, this
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37 | * list of conditions and the following disclaimer.
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38 | *
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39 | * 2. Redistributions in binary form must reproduce the above copyright notice,
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40 | * this list of conditions and the following disclaimer in the documentation
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41 | * and/or other materials provided with the distribution.
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42 | *
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43 | * 3. Neither the name of the copyright holder nor the names of its contributors
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44 | * may be used to endorse or promote products derived from this software
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45 | * without specific prior written permission.
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46 | *
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47 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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48 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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49 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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50 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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51 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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52 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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53 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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54 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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55 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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56 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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57 | *
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58 | *
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59 | ********************************************************************************
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60 | *
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61 | */
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62 | |||
63 | /**
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64 | * @file vl53l1_core_support.h
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65 | *
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66 | * @brief EwokPlus25 core function definitions
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67 | */
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68 | |||
69 | #ifndef _VL53L1_CORE_SUPPORT_H_
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70 | #define _VL53L1_CORE_SUPPORT_H_
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71 | |||
72 | #include "vl53l1_types.h" |
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73 | |||
74 | #ifdef __cplusplus
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75 | extern "C" { |
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76 | #endif
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77 | |||
78 | |||
79 | /**
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80 | * @brief Calculates the PLL period in [us] from the input
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81 | * fast_osc_frequency
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82 | *
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83 | * @param[in] fast_osc_frequency : fast oscillator frequency in 4.12 MHz format
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84 | *
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85 | * @return pll_period_us : PLL period in [us] 8.24 format
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86 | */
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87 | |||
88 | uint32_t VL53L1_calc_pll_period_us( |
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89 | uint16_t fast_osc_frequency); |
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90 | |||
91 | |||
92 | |||
93 | #ifdef PAL_EXTENDED
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94 | /**
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95 | * @brief Calculates the ranging duration in ns using fixed point maths
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96 | * *
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97 | * Uses a temporary uint64_t variable internally
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98 | *
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99 | * @param[in] pll_period_us : PLL Period in [us] 0.25 format
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100 | * @param[in] vcsel_parm_pclks : period, width or WOI window in PLL clocks
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101 | * in 6.4 format.
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102 | * @param[in] window_vclks : ranging or ambient window duration in VCSEL clocks
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103 | * @param[in] periods_elapsed_mclks : elapsed time in macro clocks
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104 | *
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105 | * @return duration_us : uint32_t containing the duration time in us
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106 | */
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107 | |||
108 | uint32_t VL53L1_duration_maths( |
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109 | uint32_t pll_period_us, |
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110 | uint32_t vcsel_parm_pclks, |
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111 | uint32_t window_vclks, |
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112 | uint32_t periods_elapsed_mclks); |
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113 | |||
114 | |||
115 | /**
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116 | * @brief Calculates the square root of the input integer
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117 | *
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118 | * Reference : http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
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119 | *
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120 | * @param[in] num : input integer
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121 | *
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122 | * @return res : square root result
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123 | */
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124 | |||
125 | uint32_t VL53L1_isqrt( |
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126 | uint32_t num); |
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127 | |||
128 | /**
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129 | * @brief Calculates the count rate using fixed point maths
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130 | *
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131 | * Uses a temporary uint64_t variable internally
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132 | * Any negative negative rates are clipped to 0.
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133 | *
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134 | * @param[in] events : accumulated SPAD events
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135 | * @param[in] time_us : elapsed time in us
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136 | *
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137 | * @return rate_mcps : uint16_t count rate in 9.7 format
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138 | */
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139 | |||
140 | uint16_t VL53L1_rate_maths( |
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141 | int32_t events, |
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142 | uint32_t time_us); |
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143 | |||
144 | /**
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145 | * @brief Calculates the Rate per spad
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146 | *
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147 | * Uses a temporary uint32_t variable internally
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148 | * Any output rates larger than 16 bit are clipped to 0xFFFF.
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149 | *
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150 | * @param[in] frac_bits : required output fractional precision - 7 \
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151 | * due to inherent resolution of pk_rate
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152 | * @param[in] peak_count_rate : peak signal count rate in mcps
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153 | * @param[in] num_spads : actual effective spads in 8.8
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154 | * @param[in] max_output_value : User set value to clip output
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155 | *
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156 | * @return rate_per_spad : uint16_t count rate in variable fractional format
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157 | */
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158 | |||
159 | uint16_t VL53L1_rate_per_spad_maths( |
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160 | uint32_t frac_bits, |
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161 | uint32_t peak_count_rate, |
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162 | uint16_t num_spads, |
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163 | uint32_t max_output_value); |
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164 | |||
165 | |||
166 | /**
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167 | * @brief Calculates the range from the phase data
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168 | *
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169 | * Uses a temporary int64_t variable internally
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170 | *
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171 | * @param[in] fast_osc_frequency : Fast oscillator freq [MHz] 4.12 format
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172 | * @param[in] phase : phase in 5.11 format
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173 | * @param[in] zero_distance_phase : zero distance phase in 5.11 format
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174 | * @param[in] fractional_bits : valid options : 0, 1, 2
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175 | * @param[in] gain_factor : gain correction factor 1.11 format
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176 | * @param[in] range_offset_mm : range offset [mm] 14.2 format
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177 | |||
178 | * @return range_mm : signed range in [mm]
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179 | * format depends on fractional_bits input
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180 | */
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181 | |||
182 | int32_t VL53L1_range_maths( |
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183 | uint16_t fast_osc_frequency, |
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184 | uint16_t phase, |
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185 | uint16_t zero_distance_phase, |
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186 | uint8_t fractional_bits, |
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187 | int32_t gain_factor, |
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188 | int32_t range_offset_mm); |
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189 | #endif
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190 | |||
191 | |||
192 | /**
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193 | * @brief Decodes VCSEL period register value into the real period in PLL clocks
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194 | *
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195 | * @param[in] vcsel_period_reg : 8 -bit register value
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196 | *
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197 | * @return vcsel_period_pclks : 8-bit decoded value
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198 | *
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199 | */
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200 | |||
201 | uint8_t VL53L1_decode_vcsel_period( |
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202 | uint8_t vcsel_period_reg); |
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203 | |||
204 | /**
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205 | * @brief Decodes the Byte.Bit coord encoding into an (x,y) coord value
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206 | *
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207 | * @param[in] spad_number : Coord location in Byte.Bit format
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208 | * @param[out] prow : Decoded row
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209 | * @param[out] pcol : Decoded column
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210 | *
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211 | */
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212 | |||
213 | void VL53L1_decode_row_col(
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214 | uint8_t spad_number, |
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215 | uint8_t *prow, |
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216 | uint8_t *pcol); |
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217 | |||
218 | #ifdef __cplusplus
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219 | } |
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220 | #endif
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221 | |||
222 | #endif /* _VL53L1_CORE_SUPPORT_H_ */ |