amiro-lld / drivers / VL53L1X / v1 / api / core / vl53l1_api.c @ 4dba9195
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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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#include "vl53l1_api.h" |
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#include "vl53l1_api_strings.h" |
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#include "vl53l1_register_settings.h" |
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#include "vl53l1_register_funcs.h" |
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#include "vl53l1_core.h" |
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#include "vl53l1_api_calibration.h" |
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#include "vl53l1_wait.h" |
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#include "vl53l1_preset_setup.h" |
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#include "vl53l1_api_debug.h" |
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#include "vl53l1_api_core.h" |
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/* Check for minimum user zone requested by Xtalk calibration */
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/* no need for VL53L1_MAX_USER_ZONES check, set 5 to pass the test */
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#define ZONE_CHECK 5 |
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#if ZONE_CHECK < 5 |
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#error Must define at least 5 zones in MAX_USER_ZONES constant |
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#endif
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#ifdef VL53L1_NOCALIB
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#define OFFSET_CALIB_EMPTY
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#endif
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#ifndef VL53L1_NOCALIB
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#define OFFSET_CALIB
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#endif
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#define LOG_FUNCTION_START(fmt, ...) \
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_LOG_FUNCTION_START(VL53L1_TRACE_MODULE_API, fmt, ##__VA_ARGS__) |
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#define LOG_FUNCTION_END(status, ...) \
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_LOG_FUNCTION_END(VL53L1_TRACE_MODULE_API, status, ##__VA_ARGS__) |
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#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
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_LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_API, status, \ |
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fmt, ##__VA_ARGS__) |
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#ifdef VL53L1_LOG_ENABLE
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#define trace_print(level, ...) trace_print_module_function(\
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VL53L1_TRACE_MODULE_API, level, VL53L1_TRACE_FUNCTION_NONE, \ |
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##__VA_ARGS__) |
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#endif
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#ifndef MIN
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#define MIN(v1, v2) ((v1) < (v2) ? (v1) : (v2))
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#endif
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#ifndef MAX
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#define MAX(v1, v2) ((v1) < (v2) ? (v2) : (v1))
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#endif
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#define DMAX_REFLECTANCE_IDX 2 |
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/* Use Dmax index 2 because it's the 50% reflectance case by default */
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/* Following LOWPOWER_AUTO figures have been measured observing vcsel
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* emissions on an actual device
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*/
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#define LOWPOWER_AUTO_VHV_LOOP_DURATION_US 245 |
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#define LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING 1448 |
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#define LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING 2100 |
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#define FDA_MAX_TIMING_BUDGET_US 550000 |
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/* Maximum timing budget allowed codex #456189*/
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/* local static utilities functions */
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/* Bare Driver Tuning parameter table indexed with VL53L1_Tuning_t */
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static int32_t BDTable[VL53L1_TUNING_MAX_TUNABLE_KEY] = {
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TUNING_VERSION, |
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TUNING_PROXY_MIN, |
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TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM, |
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TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER, |
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TUNING_MIN_AMBIENT_DMAX_VALID, |
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TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER, |
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TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM, |
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TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT |
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}; |
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#define VL53L1_NVM_POWER_UP_DELAY_US 50 |
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#define VL53L1_NVM_READ_TRIGGER_DELAY_US 5 |
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static VL53L1_Error VL53L1_nvm_enable(
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VL53L1_DEV Dev, |
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uint16_t nvm_ctrl_pulse_width, |
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int32_t nvm_power_up_delay_us) |
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{
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/*
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* Sequence below enables NVM for reading
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*
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* - Enable power force
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* - Disable firmware
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* - Power up NVM
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* - Wait for 50us while the NVM powers up
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* - Configure for reading and set the pulse width (16-bit)
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*/
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VL53L1_Error status = VL53L1_ERROR_NONE; |
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LOG_FUNCTION_START("");
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/* Disable Firmware */
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if (status == VL53L1_ERROR_NONE) /*lint !e774 always true*/ |
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status = VL53L1_disable_firmware(Dev); |
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/* Enable Power Force */
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_enable_powerforce(Dev); |
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/* Wait the required time for the regulators, bandgap,
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* oscillator to wake up and settle
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*/
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_WaitUs( |
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Dev, |
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VL53L1_ENABLE_POWERFORCE_SETTLING_TIME_US); |
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/* Power up NVM */
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_WrByte( |
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Dev, |
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VL53L1_RANGING_CORE__NVM_CTRL__PDN, |
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0x01);
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/* Enable NVM Clock */
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_WrByte( |
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Dev, |
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VL53L1_RANGING_CORE__CLK_CTRL1, |
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0x05);
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/* Wait the required time for NVM to power up*/
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_WaitUs( |
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Dev, |
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nvm_power_up_delay_us); |
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/* Select read mode and set control pulse width */
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_WrByte( |
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Dev, |
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VL53L1_RANGING_CORE__NVM_CTRL__MODE, |
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0x01);
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_WrWord( |
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Dev, |
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VL53L1_RANGING_CORE__NVM_CTRL__PULSE_WIDTH_MSB, |
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nvm_ctrl_pulse_width); |
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LOG_FUNCTION_END(status); |
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return status;
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} |
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static VL53L1_Error VL53L1_nvm_read(
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VL53L1_DEV Dev, |
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uint8_t start_address, |
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uint8_t count, |
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uint8_t *pdata) |
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{
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/*
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* Sequence per 32-bit NVM read access:
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*
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* - Set up the 5-bit (0-127) NVM Address
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* - Trigger the read of the NVM data by toggling NVM_CTRL__READN
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* - Read the NVM data - 4 bytes wide read/write interface
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* - Increment data byte pointer by 4 ready for the next loop
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*/
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VL53L1_Error status = VL53L1_ERROR_NONE; |
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uint8_t nvm_addr = 0;
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LOG_FUNCTION_START("");
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for (nvm_addr = start_address; nvm_addr < (start_address+count) ; nvm_addr++) {
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/* Step 1 : set address */
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_WrByte( |
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Dev, |
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VL53L1_RANGING_CORE__NVM_CTRL__ADDR, |
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nvm_addr); |
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/* Step 2 : trigger reading of data */
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_WrByte( |
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Dev, |
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VL53L1_RANGING_CORE__NVM_CTRL__READN, |
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0x00);
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/* Step 3 : wait the required time */
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_WaitUs( |
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Dev, |
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VL53L1_NVM_READ_TRIGGER_DELAY_US); |
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_WrByte( |
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Dev, |
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VL53L1_RANGING_CORE__NVM_CTRL__READN, |
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0x01);
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/* Step 3 : read 4-byte wide data register */
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_ReadMulti( |
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Dev, |
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VL53L1_RANGING_CORE__NVM_CTRL__DATAOUT_MMM, |
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pdata, |
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4);
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/* Step 4 : increment byte buffer pointer */
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pdata = pdata + 4;
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} |
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LOG_FUNCTION_END(status); |
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return status;
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} |
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static VL53L1_Error VL53L1_nvm_disable(
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VL53L1_DEV Dev) |
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{
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/*
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* Power down NVM (OTP) to extend lifetime
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*/
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VL53L1_Error status = VL53L1_ERROR_NONE; |
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LOG_FUNCTION_START("");
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if (status == VL53L1_ERROR_NONE) /*lint !e774 always true*/ |
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status = VL53L1_WrByte( |
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Dev, |
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VL53L1_RANGING_CORE__NVM_CTRL__READN, |
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0x01);
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/* Power down NVM */
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_WrByte( |
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Dev, |
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VL53L1_RANGING_CORE__NVM_CTRL__PDN, |
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0x00);
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/* Keep power force enabled */
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_disable_powerforce(Dev); |
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/* (Re)Enable Firmware */
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_enable_firmware(Dev); |
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LOG_FUNCTION_END(status); |
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return status;
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} |
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static VL53L1_Error VL53L1_read_nvm_raw_data(
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VL53L1_DEV Dev, |
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uint8_t start_address, |
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uint8_t count, |
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uint8_t *pnvm_raw_data) |
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{
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/*
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* Reads ALL 512 bytes of NVM data
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*/
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VL53L1_Error status = VL53L1_ERROR_NONE; |
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LOG_FUNCTION_START("");
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/*
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* Enable NVM and set control pulse width
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*/
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if (status == VL53L1_ERROR_NONE) /*lint !e774 always true*/ |
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status = VL53L1_nvm_enable( |
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Dev, |
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0x0004,
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VL53L1_NVM_POWER_UP_DELAY_US); |
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/*
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* Read the raw NVM data
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* - currently all of 128 * 4 bytes = 512 bytes are read
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*/
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_nvm_read( |
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Dev, |
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start_address, |
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count, |
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pnvm_raw_data); |
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/*
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* Disable NVM
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*/
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if (status == VL53L1_ERROR_NONE)
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status = VL53L1_nvm_disable(Dev); |
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LOG_FUNCTION_END(status); |
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return status;
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} |
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static VL53L1_Error SingleTargetXTalkCalibration(VL53L1_DEV Dev)
|
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{
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VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 393 |
|
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uint32_t sum_ranging = 0;
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uint32_t sum_spads = 0;
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FixPoint1616_t sum_signalRate = 0;
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FixPoint1616_t total_count = 0;
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uint8_t xtalk_meas = 0;
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uint8_t xtalk_measmax = |
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BDTable[VL53L1_TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER]; |
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VL53L1_RangingMeasurementData_t RMData; |
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FixPoint1616_t xTalkStoredMeanSignalRate; |
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FixPoint1616_t xTalkStoredMeanRange; |
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FixPoint1616_t xTalkStoredMeanRtnSpads; |
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uint32_t xTalkStoredMeanRtnSpadsAsInt; |
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uint32_t xTalkCalDistanceAsInt; |
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FixPoint1616_t XTalkCompensationRateMegaCps; |
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uint32_t signalXTalkTotalPerSpad; |
| 409 |
VL53L1_PresetModes PresetMode; |
| 410 |
VL53L1_CalibrationData_t CalibrationData; |
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VL53L1_CustomerNvmManaged_t *pC; |
| 412 |
|
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|
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LOG_FUNCTION_START("");
|
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|
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/* check if the following are selected
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* VL53L1_PRESETMODE_AUTONOMOUS,
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* VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS
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* VL53L1_PRESETMODE_LITE_RANGING
|
| 420 |
*/
|
| 421 |
PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); |
| 422 |
|
| 423 |
if ((PresetMode != VL53L1_PRESETMODE_AUTONOMOUS) &&
|
| 424 |
(PresetMode != VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS) && |
| 425 |
(PresetMode != VL53L1_PRESETMODE_LITE_RANGING)) {
|
| 426 |
Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; |
| 427 |
goto ENDFUNC;
|
| 428 |
} |
| 429 |
|
| 430 |
/* disable crosstalk calibration */
|
| 431 |
Status = VL53L1_disable_xtalk_compensation(Dev); |
| 432 |
CHECK_ERROR_GO_ENDFUNC; |
| 433 |
|
| 434 |
Status = VL53L1_StartMeasurement(Dev); |
| 435 |
CHECK_ERROR_GO_ENDFUNC; |
| 436 |
|
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sum_ranging = 0;
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sum_spads = 0;
|
| 439 |
sum_signalRate = 0;
|
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total_count = 0;
|
| 441 |
for (xtalk_meas = 0; xtalk_meas < xtalk_measmax; xtalk_meas++) { |
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VL53L1_WaitMeasurementDataReady(Dev); |
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VL53L1_GetRangingMeasurementData(Dev, &RMData); |
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VL53L1_ClearInterruptAndStartMeasurement(Dev); |
| 445 |
if (RMData.RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) {
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sum_ranging += RMData.RangeMilliMeter; |
| 447 |
sum_signalRate += RMData.SignalRateRtnMegaCps; |
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sum_spads += RMData.EffectiveSpadRtnCount / 256;
|
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total_count++; |
| 450 |
} |
| 451 |
} |
| 452 |
Status = VL53L1_StopMeasurement(Dev); |
| 453 |
|
| 454 |
if (total_count > 0) { |
| 455 |
/* FixPoint1616_t / uint16_t = FixPoint1616_t */
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xTalkStoredMeanSignalRate = sum_signalRate / total_count; |
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xTalkStoredMeanRange = (FixPoint1616_t)(sum_ranging << 16);
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xTalkStoredMeanRange /= total_count; |
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xTalkStoredMeanRtnSpads = (FixPoint1616_t)(sum_spads << 16);
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xTalkStoredMeanRtnSpads /= total_count; |
| 461 |
|
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/* Round Mean Spads to Whole Number.
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| 463 |
* Typically the calculated mean SPAD count is a whole number
|
| 464 |
* or very close to a whole
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* number, therefore any truncation will not result in a
|
| 466 |
* significant loss in accuracy.
|
| 467 |
* Also, for a grey target at a typical distance of around
|
| 468 |
* 400mm, around 220 SPADs will
|
| 469 |
* be enabled, therefore, any truncation will result in a loss
|
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* of accuracy of less than
|
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* 0.5%.
|
| 472 |
*/
|
| 473 |
xTalkStoredMeanRtnSpadsAsInt = (xTalkStoredMeanRtnSpads + |
| 474 |
0x8000) >> 16; |
| 475 |
|
| 476 |
/* Round Cal Distance to Whole Number.
|
| 477 |
* Note that the cal distance is in mm, therefore no resolution
|
| 478 |
* is lost.
|
| 479 |
*/
|
| 480 |
xTalkCalDistanceAsInt = ((uint32_t)BDTable[ |
| 481 |
VL53L1_TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM]); |
| 482 |
if (xTalkStoredMeanRtnSpadsAsInt == 0 || |
| 483 |
xTalkCalDistanceAsInt == 0 ||
|
| 484 |
xTalkStoredMeanRange >= (xTalkCalDistanceAsInt << 16)) {
|
| 485 |
XTalkCompensationRateMegaCps = 0;
|
| 486 |
} else {
|
| 487 |
/* Apply division by mean spad count early in the
|
| 488 |
* calculation to keep the numbers small.
|
| 489 |
* This ensures we can maintain a 32bit calculation.
|
| 490 |
* Fixed1616 / int := Fixed1616
|
| 491 |
*/
|
| 492 |
signalXTalkTotalPerSpad = (xTalkStoredMeanSignalRate) / |
| 493 |
xTalkStoredMeanRtnSpadsAsInt; |
| 494 |
|
| 495 |
/* Complete the calculation for total Signal XTalk per
|
| 496 |
* SPAD
|
| 497 |
* Fixed1616 * (Fixed1616 - Fixed1616/int) :=
|
| 498 |
* (2^16 * Fixed1616)
|
| 499 |
*/
|
| 500 |
signalXTalkTotalPerSpad *= (((uint32_t)1 << 16) - |
| 501 |
(xTalkStoredMeanRange / xTalkCalDistanceAsInt)); |
| 502 |
|
| 503 |
/* Round from 2^16 * Fixed1616, to Fixed1616. */
|
| 504 |
XTalkCompensationRateMegaCps = (signalXTalkTotalPerSpad |
| 505 |
+ 0x8000) >> 16; |
| 506 |
} |
| 507 |
|
| 508 |
|
| 509 |
Status = VL53L1_GetCalibrationData(Dev, &CalibrationData); |
| 510 |
CHECK_ERROR_GO_ENDFUNC; |
| 511 |
|
| 512 |
pC = &CalibrationData.customer; |
| 513 |
|
| 514 |
pC->algo__crosstalk_compensation_plane_offset_kcps = |
| 515 |
(uint32_t)(1000 * ((XTalkCompensationRateMegaCps +
|
| 516 |
((uint32_t)1<<6)) >> (16-9))); |
| 517 |
|
| 518 |
Status = VL53L1_SetCalibrationData(Dev, &CalibrationData); |
| 519 |
CHECK_ERROR_GO_ENDFUNC; |
| 520 |
|
| 521 |
Status = VL53L1_enable_xtalk_compensation(Dev); |
| 522 |
|
| 523 |
} else
|
| 524 |
/* return error because no valid data found */
|
| 525 |
Status = VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL; |
| 526 |
|
| 527 |
ENDFUNC:
|
| 528 |
LOG_FUNCTION_END(Status); |
| 529 |
return Status;
|
| 530 |
|
| 531 |
} |
| 532 |
|
| 533 |
/* Check Rectangle in user's coordinate system:
|
| 534 |
* 15 TL(x,y) o-----*
|
| 535 |
* ^ | |
|
| 536 |
* | *-----o BR(x,y)
|
| 537 |
* 0------------------------- >15
|
| 538 |
* check Rectangle definition conforms to the (0,15,15) coordinate system
|
| 539 |
* with a minimum of 4x4 size
|
| 540 |
*/
|
| 541 |
static VL53L1_Error CheckValidRectRoi(VL53L1_UserRoi_t ROI)
|
| 542 |
{
|
| 543 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 544 |
|
| 545 |
LOG_FUNCTION_START("");
|
| 546 |
|
| 547 |
/* Negative check are not necessary because value is unsigned */
|
| 548 |
if ((ROI.TopLeftX > 15) || (ROI.TopLeftY > 15) || |
| 549 |
(ROI.BotRightX > 15) || (ROI.BotRightY > 15)) |
| 550 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 551 |
|
| 552 |
if ((ROI.TopLeftX > ROI.BotRightX) || (ROI.TopLeftY < ROI.BotRightY))
|
| 553 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 554 |
|
| 555 |
LOG_FUNCTION_END(Status); |
| 556 |
return Status;
|
| 557 |
} |
| 558 |
|
| 559 |
static VL53L1_GPIO_Interrupt_Mode ConvertModeToLLD(VL53L1_Error *pStatus,
|
| 560 |
VL53L1_ThresholdMode CrossMode) |
| 561 |
{
|
| 562 |
VL53L1_GPIO_Interrupt_Mode Mode; |
| 563 |
|
| 564 |
switch (CrossMode) {
|
| 565 |
case VL53L1_THRESHOLD_CROSSED_LOW:
|
| 566 |
Mode = VL53L1_GPIOINTMODE_LEVEL_LOW; |
| 567 |
break;
|
| 568 |
case VL53L1_THRESHOLD_CROSSED_HIGH:
|
| 569 |
Mode = VL53L1_GPIOINTMODE_LEVEL_HIGH; |
| 570 |
break;
|
| 571 |
case VL53L1_THRESHOLD_OUT_OF_WINDOW:
|
| 572 |
Mode = VL53L1_GPIOINTMODE_OUT_OF_WINDOW; |
| 573 |
break;
|
| 574 |
case VL53L1_THRESHOLD_IN_WINDOW:
|
| 575 |
Mode = VL53L1_GPIOINTMODE_IN_WINDOW; |
| 576 |
break;
|
| 577 |
default:
|
| 578 |
/* define Mode to avoid warning but actual value doesn't mind */
|
| 579 |
Mode = VL53L1_GPIOINTMODE_LEVEL_HIGH; |
| 580 |
*pStatus = VL53L1_ERROR_INVALID_PARAMS; |
| 581 |
} |
| 582 |
return Mode;
|
| 583 |
} |
| 584 |
|
| 585 |
static VL53L1_ThresholdMode ConvertModeFromLLD(VL53L1_Error *pStatus,
|
| 586 |
VL53L1_GPIO_Interrupt_Mode CrossMode) |
| 587 |
{
|
| 588 |
VL53L1_ThresholdMode Mode; |
| 589 |
|
| 590 |
switch (CrossMode) {
|
| 591 |
case VL53L1_GPIOINTMODE_LEVEL_LOW:
|
| 592 |
Mode = VL53L1_THRESHOLD_CROSSED_LOW; |
| 593 |
break;
|
| 594 |
case VL53L1_GPIOINTMODE_LEVEL_HIGH:
|
| 595 |
Mode = VL53L1_THRESHOLD_CROSSED_HIGH; |
| 596 |
break;
|
| 597 |
case VL53L1_GPIOINTMODE_OUT_OF_WINDOW:
|
| 598 |
Mode = VL53L1_THRESHOLD_OUT_OF_WINDOW; |
| 599 |
break;
|
| 600 |
case VL53L1_GPIOINTMODE_IN_WINDOW:
|
| 601 |
Mode = VL53L1_THRESHOLD_IN_WINDOW; |
| 602 |
break;
|
| 603 |
default:
|
| 604 |
/* define Mode to avoid warning but actual value doesn't mind */
|
| 605 |
Mode = VL53L1_THRESHOLD_CROSSED_HIGH; |
| 606 |
*pStatus = VL53L1_ERROR_UNDEFINED; |
| 607 |
} |
| 608 |
return Mode;
|
| 609 |
} |
| 610 |
|
| 611 |
/* Group PAL General Functions */
|
| 612 |
|
| 613 |
VL53L1_Error VL53L1_GetVersion(VL53L1_Version_t *pVersion) |
| 614 |
{
|
| 615 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 616 |
|
| 617 |
LOG_FUNCTION_START("");
|
| 618 |
|
| 619 |
pVersion->major = VL53L1_IMPLEMENTATION_VER_MAJOR; |
| 620 |
pVersion->minor = VL53L1_IMPLEMENTATION_VER_MINOR; |
| 621 |
pVersion->build = VL53L1_IMPLEMENTATION_VER_SUB; |
| 622 |
|
| 623 |
pVersion->revision = VL53L1_IMPLEMENTATION_VER_REVISION; |
| 624 |
|
| 625 |
LOG_FUNCTION_END(Status); |
| 626 |
return Status;
|
| 627 |
} |
| 628 |
|
| 629 |
VL53L1_Error VL53L1_GetProductRevision(VL53L1_DEV Dev, |
| 630 |
uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor) |
| 631 |
{
|
| 632 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 633 |
uint8_t revision_id; |
| 634 |
VL53L1_LLDriverData_t *pLLData; |
| 635 |
|
| 636 |
LOG_FUNCTION_START("");
|
| 637 |
|
| 638 |
pLLData = VL53L1DevStructGetLLDriverHandle(Dev); |
| 639 |
revision_id = pLLData->nvm_copy_data.identification__revision_id; |
| 640 |
*pProductRevisionMajor = 1;
|
| 641 |
*pProductRevisionMinor = (revision_id & 0xF0) >> 4; |
| 642 |
|
| 643 |
LOG_FUNCTION_END(Status); |
| 644 |
return Status;
|
| 645 |
|
| 646 |
} |
| 647 |
|
| 648 |
VL53L1_Error VL53L1_GetDeviceInfo(VL53L1_DEV Dev, |
| 649 |
VL53L1_DeviceInfo_t *pVL53L1_DeviceInfo) |
| 650 |
{
|
| 651 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 652 |
uint8_t revision_id; |
| 653 |
VL53L1_LLDriverData_t *pLLData; |
| 654 |
|
| 655 |
LOG_FUNCTION_START("");
|
| 656 |
|
| 657 |
pLLData = VL53L1DevStructGetLLDriverHandle(Dev); |
| 658 |
|
| 659 |
strncpy(pVL53L1_DeviceInfo->ProductId, "",
|
| 660 |
VL53L1_DEVINFO_STRLEN-1);
|
| 661 |
pVL53L1_DeviceInfo->ProductType = |
| 662 |
pLLData->nvm_copy_data.identification__module_type; |
| 663 |
|
| 664 |
revision_id = pLLData->nvm_copy_data.identification__revision_id; |
| 665 |
pVL53L1_DeviceInfo->ProductRevisionMajor = 1;
|
| 666 |
pVL53L1_DeviceInfo->ProductRevisionMinor = (revision_id & 0xF0) >> 4; |
| 667 |
|
| 668 |
#ifndef VL53L1_USE_EMPTY_STRING
|
| 669 |
if (pVL53L1_DeviceInfo->ProductRevisionMinor == 0) |
| 670 |
strncpy(pVL53L1_DeviceInfo->Name, |
| 671 |
VL53L1_STRING_DEVICE_INFO_NAME0, |
| 672 |
VL53L1_DEVINFO_STRLEN-1);
|
| 673 |
else
|
| 674 |
strncpy(pVL53L1_DeviceInfo->Name, |
| 675 |
VL53L1_STRING_DEVICE_INFO_NAME1, |
| 676 |
VL53L1_DEVINFO_STRLEN-1);
|
| 677 |
strncpy(pVL53L1_DeviceInfo->Type, |
| 678 |
VL53L1_STRING_DEVICE_INFO_TYPE, |
| 679 |
VL53L1_DEVINFO_STRLEN-1);
|
| 680 |
#else
|
| 681 |
pVL53L1_DeviceInfo->Name[0] = 0; |
| 682 |
pVL53L1_DeviceInfo->Type[0] = 0; |
| 683 |
#endif
|
| 684 |
|
| 685 |
LOG_FUNCTION_END(Status); |
| 686 |
return Status;
|
| 687 |
} |
| 688 |
|
| 689 |
|
| 690 |
VL53L1_Error VL53L1_GetRangeStatusString(uint8_t RangeStatus, |
| 691 |
char *pRangeStatusString)
|
| 692 |
{
|
| 693 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 694 |
|
| 695 |
LOG_FUNCTION_START("");
|
| 696 |
|
| 697 |
Status = VL53L1_get_range_status_string(RangeStatus, |
| 698 |
pRangeStatusString); |
| 699 |
|
| 700 |
LOG_FUNCTION_END(Status); |
| 701 |
return Status;
|
| 702 |
} |
| 703 |
|
| 704 |
VL53L1_Error VL53L1_GetPalErrorString(VL53L1_Error PalErrorCode, |
| 705 |
char *pPalErrorString)
|
| 706 |
{
|
| 707 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 708 |
|
| 709 |
LOG_FUNCTION_START("");
|
| 710 |
|
| 711 |
Status = VL53L1_get_pal_error_string(PalErrorCode, pPalErrorString); |
| 712 |
|
| 713 |
LOG_FUNCTION_END(Status); |
| 714 |
return Status;
|
| 715 |
} |
| 716 |
|
| 717 |
VL53L1_Error VL53L1_GetPalStateString(VL53L1_State PalStateCode, |
| 718 |
char *pPalStateString)
|
| 719 |
{
|
| 720 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 721 |
|
| 722 |
LOG_FUNCTION_START("");
|
| 723 |
|
| 724 |
Status = VL53L1_get_pal_state_string(PalStateCode, pPalStateString); |
| 725 |
|
| 726 |
LOG_FUNCTION_END(Status); |
| 727 |
return Status;
|
| 728 |
} |
| 729 |
|
| 730 |
VL53L1_Error VL53L1_GetPalState(VL53L1_DEV Dev, VL53L1_State *pPalState) |
| 731 |
{
|
| 732 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 733 |
|
| 734 |
LOG_FUNCTION_START("");
|
| 735 |
|
| 736 |
*pPalState = VL53L1DevDataGet(Dev, PalState); |
| 737 |
|
| 738 |
LOG_FUNCTION_END(Status); |
| 739 |
return Status;
|
| 740 |
} |
| 741 |
|
| 742 |
/* End Group PAL General Functions */
|
| 743 |
|
| 744 |
/* Group PAL Init Functions */
|
| 745 |
VL53L1_Error VL53L1_SetDeviceAddress(VL53L1_DEV Dev, uint8_t DeviceAddress) |
| 746 |
{
|
| 747 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 748 |
|
| 749 |
LOG_FUNCTION_START("");
|
| 750 |
|
| 751 |
Status = VL53L1_WrByte(Dev, VL53L1_I2C_SLAVE__DEVICE_ADDRESS, |
| 752 |
DeviceAddress / 2);
|
| 753 |
|
| 754 |
LOG_FUNCTION_END(Status); |
| 755 |
return Status;
|
| 756 |
} |
| 757 |
|
| 758 |
VL53L1_Error VL53L1_DataInit(VL53L1_DEV Dev) |
| 759 |
{
|
| 760 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 761 |
uint8_t i; |
| 762 |
|
| 763 |
LOG_FUNCTION_START("");
|
| 764 |
|
| 765 |
/* 2V8 power mode selection codex 447463 */
|
| 766 |
#ifdef USE_I2C_2V8
|
| 767 |
Status = VL53L1_RdByte(Dev, VL53L1_PAD_I2C_HV__EXTSUP_CONFIG, &i); |
| 768 |
if (Status == VL53L1_ERROR_NONE) {
|
| 769 |
i = (i & 0xfe) | 0x01; |
| 770 |
Status = VL53L1_WrByte(Dev, VL53L1_PAD_I2C_HV__EXTSUP_CONFIG, |
| 771 |
i); |
| 772 |
} |
| 773 |
#endif
|
| 774 |
|
| 775 |
if (Status == VL53L1_ERROR_NONE)
|
| 776 |
Status = VL53L1_data_init(Dev, 1);
|
| 777 |
|
| 778 |
if (Status == VL53L1_ERROR_NONE) {
|
| 779 |
VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_WAIT_STATICINIT); |
| 780 |
VL53L1DevDataSet(Dev, CurrentParameters.PresetMode, |
| 781 |
VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS); |
| 782 |
} |
| 783 |
|
| 784 |
/* Enable all check */
|
| 785 |
for (i = 0; i < VL53L1_CHECKENABLE_NUMBER_OF_CHECKS; i++) { |
| 786 |
if (Status == VL53L1_ERROR_NONE)
|
| 787 |
Status |= VL53L1_SetLimitCheckEnable(Dev, i, 1);
|
| 788 |
else
|
| 789 |
break;
|
| 790 |
|
| 791 |
} |
| 792 |
|
| 793 |
/* Limit default values */
|
| 794 |
if (Status == VL53L1_ERROR_NONE) {
|
| 795 |
Status = VL53L1_SetLimitCheckValue(Dev, |
| 796 |
VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, |
| 797 |
(FixPoint1616_t)(18 * 65536)); |
| 798 |
} |
| 799 |
if (Status == VL53L1_ERROR_NONE) {
|
| 800 |
Status = VL53L1_SetLimitCheckValue(Dev, |
| 801 |
VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
| 802 |
(FixPoint1616_t)(25 * 65536 / 100)); |
| 803 |
/* 0.25 * 65536 */
|
| 804 |
} |
| 805 |
|
| 806 |
LOG_FUNCTION_END(Status); |
| 807 |
return Status;
|
| 808 |
} |
| 809 |
|
| 810 |
|
| 811 |
VL53L1_Error VL53L1_StaticInit(VL53L1_DEV Dev) |
| 812 |
{
|
| 813 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 814 |
uint8_t measurement_mode; |
| 815 |
|
| 816 |
LOG_FUNCTION_START("");
|
| 817 |
|
| 818 |
VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_IDLE); |
| 819 |
|
| 820 |
measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; |
| 821 |
VL53L1DevDataSet(Dev, LLData.measurement_mode, measurement_mode); |
| 822 |
|
| 823 |
VL53L1DevDataSet(Dev, CurrentParameters.NewDistanceMode, |
| 824 |
VL53L1_DISTANCEMODE_LONG); |
| 825 |
|
| 826 |
VL53L1DevDataSet(Dev, CurrentParameters.InternalDistanceMode, |
| 827 |
VL53L1_DISTANCEMODE_LONG); |
| 828 |
|
| 829 |
VL53L1DevDataSet(Dev, CurrentParameters.DistanceMode, |
| 830 |
VL53L1_DISTANCEMODE_LONG); |
| 831 |
|
| 832 |
/* ticket 472728 fix */
|
| 833 |
Status = VL53L1_SetPresetMode(Dev, |
| 834 |
VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS); |
| 835 |
/* end of ticket 472728 fix */
|
| 836 |
LOG_FUNCTION_END(Status); |
| 837 |
return Status;
|
| 838 |
} |
| 839 |
|
| 840 |
VL53L1_Error VL53L1_WaitDeviceBooted(VL53L1_DEV Dev) |
| 841 |
{
|
| 842 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 843 |
|
| 844 |
LOG_FUNCTION_START("");
|
| 845 |
|
| 846 |
Status = VL53L1_poll_for_boot_completion(Dev, |
| 847 |
VL53L1_BOOT_COMPLETION_POLLING_TIMEOUT_MS); |
| 848 |
|
| 849 |
LOG_FUNCTION_END(Status); |
| 850 |
return Status;
|
| 851 |
} |
| 852 |
|
| 853 |
/* End Group PAL Init Functions */
|
| 854 |
|
| 855 |
/* Group PAL Parameters Functions */
|
| 856 |
static VL53L1_Error ComputeDevicePresetMode(
|
| 857 |
VL53L1_PresetModes PresetMode, |
| 858 |
VL53L1_DistanceModes DistanceMode, |
| 859 |
VL53L1_DevicePresetModes *pDevicePresetMode) |
| 860 |
{
|
| 861 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 862 |
|
| 863 |
uint8_t DistIdx; |
| 864 |
VL53L1_DevicePresetModes LightModes[3] = {
|
| 865 |
VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_SHORT_RANGE, |
| 866 |
VL53L1_DEVICEPRESETMODE_STANDARD_RANGING, |
| 867 |
VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_LONG_RANGE}; |
| 868 |
|
| 869 |
|
| 870 |
VL53L1_DevicePresetModes TimedModes[3] = {
|
| 871 |
VL53L1_DEVICEPRESETMODE_TIMED_RANGING_SHORT_RANGE, |
| 872 |
VL53L1_DEVICEPRESETMODE_TIMED_RANGING, |
| 873 |
VL53L1_DEVICEPRESETMODE_TIMED_RANGING_LONG_RANGE}; |
| 874 |
|
| 875 |
VL53L1_DevicePresetModes LowPowerTimedModes[3] = {
|
| 876 |
VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_SHORT_RANGE, |
| 877 |
VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_MEDIUM_RANGE, |
| 878 |
VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_LONG_RANGE}; |
| 879 |
|
| 880 |
*pDevicePresetMode = VL53L1_DEVICEPRESETMODE_STANDARD_RANGING; |
| 881 |
|
| 882 |
switch (DistanceMode) {
|
| 883 |
case VL53L1_DISTANCEMODE_SHORT:
|
| 884 |
DistIdx = 0;
|
| 885 |
break;
|
| 886 |
case VL53L1_DISTANCEMODE_MEDIUM:
|
| 887 |
DistIdx = 1;
|
| 888 |
break;
|
| 889 |
default:
|
| 890 |
DistIdx = 2;
|
| 891 |
} |
| 892 |
|
| 893 |
switch (PresetMode) {
|
| 894 |
case VL53L1_PRESETMODE_LITE_RANGING:
|
| 895 |
*pDevicePresetMode = LightModes[DistIdx]; |
| 896 |
break;
|
| 897 |
|
| 898 |
|
| 899 |
case VL53L1_PRESETMODE_AUTONOMOUS:
|
| 900 |
*pDevicePresetMode = TimedModes[DistIdx]; |
| 901 |
break;
|
| 902 |
|
| 903 |
case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS:
|
| 904 |
*pDevicePresetMode = LowPowerTimedModes[DistIdx]; |
| 905 |
break;
|
| 906 |
|
| 907 |
default:
|
| 908 |
/* Unsupported mode */
|
| 909 |
Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; |
| 910 |
} |
| 911 |
|
| 912 |
return Status;
|
| 913 |
} |
| 914 |
|
| 915 |
static VL53L1_Error SetPresetMode(VL53L1_DEV Dev,
|
| 916 |
VL53L1_PresetModes PresetMode, |
| 917 |
VL53L1_DistanceModes DistanceMode, |
| 918 |
uint32_t inter_measurement_period_ms) |
| 919 |
{
|
| 920 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 921 |
VL53L1_DevicePresetModes device_preset_mode; |
| 922 |
uint8_t measurement_mode; |
| 923 |
uint16_t dss_config__target_total_rate_mcps; |
| 924 |
uint32_t phasecal_config_timeout_us; |
| 925 |
uint32_t mm_config_timeout_us; |
| 926 |
uint32_t lld_range_config_timeout_us; |
| 927 |
|
| 928 |
LOG_FUNCTION_START("%d", (int)PresetMode); |
| 929 |
|
| 930 |
if ((PresetMode == VL53L1_PRESETMODE_AUTONOMOUS) ||
|
| 931 |
(PresetMode == VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS)) |
| 932 |
measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_TIMED; |
| 933 |
else
|
| 934 |
measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; |
| 935 |
|
| 936 |
|
| 937 |
Status = ComputeDevicePresetMode(PresetMode, DistanceMode, |
| 938 |
&device_preset_mode); |
| 939 |
|
| 940 |
if (Status == VL53L1_ERROR_NONE)
|
| 941 |
Status = VL53L1_get_preset_mode_timing_cfg(Dev, |
| 942 |
device_preset_mode, |
| 943 |
&dss_config__target_total_rate_mcps, |
| 944 |
&phasecal_config_timeout_us, |
| 945 |
&mm_config_timeout_us, |
| 946 |
&lld_range_config_timeout_us); |
| 947 |
|
| 948 |
if (Status == VL53L1_ERROR_NONE)
|
| 949 |
Status = VL53L1_set_preset_mode( |
| 950 |
Dev, |
| 951 |
device_preset_mode, |
| 952 |
dss_config__target_total_rate_mcps, |
| 953 |
phasecal_config_timeout_us, |
| 954 |
mm_config_timeout_us, |
| 955 |
lld_range_config_timeout_us, |
| 956 |
inter_measurement_period_ms); |
| 957 |
|
| 958 |
if (Status == VL53L1_ERROR_NONE)
|
| 959 |
VL53L1DevDataSet(Dev, LLData.measurement_mode, measurement_mode); |
| 960 |
|
| 961 |
if (Status == VL53L1_ERROR_NONE)
|
| 962 |
VL53L1DevDataSet(Dev, CurrentParameters.PresetMode, PresetMode); |
| 963 |
|
| 964 |
LOG_FUNCTION_END(Status); |
| 965 |
return Status;
|
| 966 |
} |
| 967 |
|
| 968 |
VL53L1_Error VL53L1_SetPresetMode(VL53L1_DEV Dev, VL53L1_PresetModes PresetMode) |
| 969 |
{
|
| 970 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 971 |
VL53L1_DistanceModes DistanceMode = VL53L1_DISTANCEMODE_LONG; |
| 972 |
|
| 973 |
LOG_FUNCTION_START("%d", (int)PresetMode); |
| 974 |
|
| 975 |
Status = SetPresetMode(Dev, |
| 976 |
PresetMode, |
| 977 |
DistanceMode, |
| 978 |
1000);
|
| 979 |
|
| 980 |
if (Status == VL53L1_ERROR_NONE) {
|
| 981 |
VL53L1DevDataSet(Dev, CurrentParameters.InternalDistanceMode, |
| 982 |
DistanceMode); |
| 983 |
|
| 984 |
VL53L1DevDataSet(Dev, CurrentParameters.NewDistanceMode, |
| 985 |
DistanceMode); |
| 986 |
|
| 987 |
if ((PresetMode == VL53L1_PRESETMODE_LITE_RANGING) ||
|
| 988 |
(PresetMode == VL53L1_PRESETMODE_AUTONOMOUS) || |
| 989 |
(PresetMode == VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS)) |
| 990 |
Status = VL53L1_SetMeasurementTimingBudgetMicroSeconds( |
| 991 |
Dev, 41000);
|
| 992 |
else
|
| 993 |
/* Set default timing budget to 30Hz (33.33 ms)*/
|
| 994 |
Status = VL53L1_SetMeasurementTimingBudgetMicroSeconds( |
| 995 |
Dev, 33333);
|
| 996 |
} |
| 997 |
|
| 998 |
if (Status == VL53L1_ERROR_NONE) {
|
| 999 |
/* Set default intermeasurement period to 1000 ms */
|
| 1000 |
Status = VL53L1_SetInterMeasurementPeriodMilliSeconds(Dev, |
| 1001 |
1000);
|
| 1002 |
} |
| 1003 |
|
| 1004 |
LOG_FUNCTION_END(Status); |
| 1005 |
return Status;
|
| 1006 |
} |
| 1007 |
|
| 1008 |
|
| 1009 |
VL53L1_Error VL53L1_GetPresetMode(VL53L1_DEV Dev, |
| 1010 |
VL53L1_PresetModes *pPresetMode) |
| 1011 |
{
|
| 1012 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1013 |
|
| 1014 |
LOG_FUNCTION_START("");
|
| 1015 |
|
| 1016 |
*pPresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); |
| 1017 |
|
| 1018 |
LOG_FUNCTION_END(Status); |
| 1019 |
return Status;
|
| 1020 |
} |
| 1021 |
|
| 1022 |
VL53L1_Error VL53L1_SetDistanceMode(VL53L1_DEV Dev, |
| 1023 |
VL53L1_DistanceModes DistanceMode) |
| 1024 |
{
|
| 1025 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1026 |
VL53L1_PresetModes PresetMode; |
| 1027 |
VL53L1_DistanceModes InternalDistanceMode; |
| 1028 |
uint32_t inter_measurement_period_ms; |
| 1029 |
uint32_t TimingBudget; |
| 1030 |
uint32_t MmTimeoutUs; |
| 1031 |
uint32_t PhaseCalTimeoutUs; |
| 1032 |
VL53L1_user_zone_t user_zone; |
| 1033 |
|
| 1034 |
LOG_FUNCTION_START("%d", (int)DistanceMode); |
| 1035 |
|
| 1036 |
PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); |
| 1037 |
|
| 1038 |
/* when the distance mode is valid:
|
| 1039 |
* Manual Mode: all modes
|
| 1040 |
* AUTO AUTO_LITE : LITE_RANGING, RANGING
|
| 1041 |
*/
|
| 1042 |
|
| 1043 |
if ((DistanceMode != VL53L1_DISTANCEMODE_SHORT) &&
|
| 1044 |
(DistanceMode != VL53L1_DISTANCEMODE_MEDIUM) && |
| 1045 |
(DistanceMode != VL53L1_DISTANCEMODE_LONG)) |
| 1046 |
return VL53L1_ERROR_INVALID_PARAMS;
|
| 1047 |
|
| 1048 |
/* The internal distance mode is limited to Short, Medium or
|
| 1049 |
* long only
|
| 1050 |
*/
|
| 1051 |
if (Status == VL53L1_ERROR_NONE) {
|
| 1052 |
if ((DistanceMode == VL53L1_DISTANCEMODE_SHORT) ||
|
| 1053 |
(DistanceMode == VL53L1_DISTANCEMODE_MEDIUM)) |
| 1054 |
InternalDistanceMode = DistanceMode; |
| 1055 |
else /* (DistanceMode == VL53L1_DISTANCEMODE_LONG) */ |
| 1056 |
InternalDistanceMode = VL53L1_DISTANCEMODE_LONG; |
| 1057 |
} |
| 1058 |
|
| 1059 |
if (Status == VL53L1_ERROR_NONE)
|
| 1060 |
Status = VL53L1_get_user_zone(Dev, &user_zone); |
| 1061 |
|
| 1062 |
inter_measurement_period_ms = VL53L1DevDataGet(Dev, |
| 1063 |
LLData.inter_measurement_period_ms); |
| 1064 |
|
| 1065 |
if (Status == VL53L1_ERROR_NONE)
|
| 1066 |
Status = VL53L1_get_timeouts_us(Dev, &PhaseCalTimeoutUs, |
| 1067 |
&MmTimeoutUs, &TimingBudget); |
| 1068 |
|
| 1069 |
if (Status == VL53L1_ERROR_NONE)
|
| 1070 |
Status = SetPresetMode(Dev, |
| 1071 |
PresetMode, |
| 1072 |
InternalDistanceMode, |
| 1073 |
inter_measurement_period_ms); |
| 1074 |
|
| 1075 |
if (Status == VL53L1_ERROR_NONE) {
|
| 1076 |
VL53L1DevDataSet(Dev, CurrentParameters.InternalDistanceMode, |
| 1077 |
InternalDistanceMode); |
| 1078 |
VL53L1DevDataSet(Dev, CurrentParameters.NewDistanceMode, |
| 1079 |
InternalDistanceMode); |
| 1080 |
VL53L1DevDataSet(Dev, CurrentParameters.DistanceMode, |
| 1081 |
DistanceMode); |
| 1082 |
} |
| 1083 |
|
| 1084 |
if (Status == VL53L1_ERROR_NONE) {
|
| 1085 |
Status = VL53L1_set_timeouts_us(Dev, PhaseCalTimeoutUs, |
| 1086 |
MmTimeoutUs, TimingBudget); |
| 1087 |
|
| 1088 |
if (Status == VL53L1_ERROR_NONE)
|
| 1089 |
VL53L1DevDataSet(Dev, LLData.range_config_timeout_us, |
| 1090 |
TimingBudget); |
| 1091 |
} |
| 1092 |
|
| 1093 |
if (Status == VL53L1_ERROR_NONE)
|
| 1094 |
Status = VL53L1_set_user_zone(Dev, &user_zone); |
| 1095 |
|
| 1096 |
LOG_FUNCTION_END(Status); |
| 1097 |
return Status;
|
| 1098 |
} |
| 1099 |
|
| 1100 |
VL53L1_Error VL53L1_GetDistanceMode(VL53L1_DEV Dev, |
| 1101 |
VL53L1_DistanceModes *pDistanceMode) |
| 1102 |
{
|
| 1103 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1104 |
|
| 1105 |
LOG_FUNCTION_START("");
|
| 1106 |
|
| 1107 |
*pDistanceMode = VL53L1DevDataGet(Dev, CurrentParameters.DistanceMode); |
| 1108 |
|
| 1109 |
LOG_FUNCTION_END(Status); |
| 1110 |
return Status;
|
| 1111 |
} |
| 1112 |
|
| 1113 |
|
| 1114 |
|
| 1115 |
|
| 1116 |
VL53L1_Error VL53L1_SetMeasurementTimingBudgetMicroSeconds(VL53L1_DEV Dev, |
| 1117 |
uint32_t MeasurementTimingBudgetMicroSeconds) |
| 1118 |
{
|
| 1119 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1120 |
uint8_t Mm1Enabled; |
| 1121 |
uint8_t Mm2Enabled; |
| 1122 |
uint32_t TimingGuard; |
| 1123 |
uint32_t divisor; |
| 1124 |
uint32_t TimingBudget; |
| 1125 |
uint32_t MmTimeoutUs; |
| 1126 |
VL53L1_PresetModes PresetMode; |
| 1127 |
uint32_t PhaseCalTimeoutUs; |
| 1128 |
uint32_t vhv; |
| 1129 |
int32_t vhv_loops; |
| 1130 |
uint32_t FDAMaxTimingBudgetUs = FDA_MAX_TIMING_BUDGET_US; |
| 1131 |
|
| 1132 |
LOG_FUNCTION_START("");
|
| 1133 |
|
| 1134 |
/* Timing budget is limited to 10 seconds */
|
| 1135 |
if (MeasurementTimingBudgetMicroSeconds > 10000000) |
| 1136 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 1137 |
|
| 1138 |
if (Status == VL53L1_ERROR_NONE) {
|
| 1139 |
Status = VL53L1_GetSequenceStepEnable(Dev, |
| 1140 |
VL53L1_SEQUENCESTEP_MM1, &Mm1Enabled); |
| 1141 |
} |
| 1142 |
|
| 1143 |
if (Status == VL53L1_ERROR_NONE) {
|
| 1144 |
Status = VL53L1_GetSequenceStepEnable(Dev, |
| 1145 |
VL53L1_SEQUENCESTEP_MM2, &Mm2Enabled); |
| 1146 |
} |
| 1147 |
|
| 1148 |
if (Status == VL53L1_ERROR_NONE)
|
| 1149 |
Status = VL53L1_get_timeouts_us(Dev, |
| 1150 |
&PhaseCalTimeoutUs, |
| 1151 |
&MmTimeoutUs, |
| 1152 |
&TimingBudget); |
| 1153 |
|
| 1154 |
if (Status == VL53L1_ERROR_NONE) {
|
| 1155 |
PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); |
| 1156 |
|
| 1157 |
TimingGuard = 0;
|
| 1158 |
divisor = 1;
|
| 1159 |
switch (PresetMode) {
|
| 1160 |
case VL53L1_PRESETMODE_LITE_RANGING:
|
| 1161 |
if ((Mm1Enabled == 1) || (Mm2Enabled == 1)) |
| 1162 |
TimingGuard = 5000;
|
| 1163 |
else
|
| 1164 |
TimingGuard = 1000;
|
| 1165 |
break;
|
| 1166 |
|
| 1167 |
case VL53L1_PRESETMODE_AUTONOMOUS:
|
| 1168 |
FDAMaxTimingBudgetUs *= 2;
|
| 1169 |
if ((Mm1Enabled == 1) || (Mm2Enabled == 1)) |
| 1170 |
TimingGuard = 26600;
|
| 1171 |
else
|
| 1172 |
TimingGuard = 21600;
|
| 1173 |
divisor = 2;
|
| 1174 |
break;
|
| 1175 |
|
| 1176 |
case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS:
|
| 1177 |
FDAMaxTimingBudgetUs *= 2;
|
| 1178 |
vhv = LOWPOWER_AUTO_VHV_LOOP_DURATION_US; |
| 1179 |
VL53L1_get_tuning_parm(Dev, |
| 1180 |
VL53L1_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND, |
| 1181 |
&vhv_loops); |
| 1182 |
if (vhv_loops > 0) { |
| 1183 |
vhv += vhv_loops * |
| 1184 |
LOWPOWER_AUTO_VHV_LOOP_DURATION_US; |
| 1185 |
} |
| 1186 |
TimingGuard = LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING + |
| 1187 |
LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING + |
| 1188 |
vhv; |
| 1189 |
divisor = 2;
|
| 1190 |
break;
|
| 1191 |
|
| 1192 |
default:
|
| 1193 |
/* Unsupported mode */
|
| 1194 |
Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; |
| 1195 |
} |
| 1196 |
|
| 1197 |
if (MeasurementTimingBudgetMicroSeconds <= TimingGuard)
|
| 1198 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 1199 |
else {
|
| 1200 |
TimingBudget = (MeasurementTimingBudgetMicroSeconds |
| 1201 |
- TimingGuard); |
| 1202 |
} |
| 1203 |
|
| 1204 |
if (Status == VL53L1_ERROR_NONE) {
|
| 1205 |
if (TimingBudget > FDAMaxTimingBudgetUs)
|
| 1206 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 1207 |
else {
|
| 1208 |
TimingBudget /= divisor; |
| 1209 |
Status = VL53L1_set_timeouts_us( |
| 1210 |
Dev, |
| 1211 |
PhaseCalTimeoutUs, |
| 1212 |
MmTimeoutUs, |
| 1213 |
TimingBudget); |
| 1214 |
} |
| 1215 |
|
| 1216 |
if (Status == VL53L1_ERROR_NONE)
|
| 1217 |
VL53L1DevDataSet(Dev, |
| 1218 |
LLData.range_config_timeout_us, |
| 1219 |
TimingBudget); |
| 1220 |
} |
| 1221 |
} |
| 1222 |
if (Status == VL53L1_ERROR_NONE) {
|
| 1223 |
VL53L1DevDataSet(Dev, |
| 1224 |
CurrentParameters.MeasurementTimingBudgetMicroSeconds, |
| 1225 |
MeasurementTimingBudgetMicroSeconds); |
| 1226 |
} |
| 1227 |
|
| 1228 |
LOG_FUNCTION_END(Status); |
| 1229 |
return Status;
|
| 1230 |
} |
| 1231 |
|
| 1232 |
|
| 1233 |
VL53L1_Error VL53L1_GetMeasurementTimingBudgetMicroSeconds(VL53L1_DEV Dev, |
| 1234 |
uint32_t *pMeasurementTimingBudgetMicroSeconds) |
| 1235 |
{
|
| 1236 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1237 |
uint8_t Mm1Enabled = 0;
|
| 1238 |
uint8_t Mm2Enabled = 0;
|
| 1239 |
uint32_t MmTimeoutUs = 0;
|
| 1240 |
uint32_t RangeTimeoutUs = 0;
|
| 1241 |
uint32_t MeasTimingBdg = 0;
|
| 1242 |
uint32_t PhaseCalTimeoutUs = 0;
|
| 1243 |
VL53L1_PresetModes PresetMode; |
| 1244 |
uint32_t TimingGuard; |
| 1245 |
uint32_t vhv; |
| 1246 |
int32_t vhv_loops; |
| 1247 |
|
| 1248 |
LOG_FUNCTION_START("");
|
| 1249 |
|
| 1250 |
*pMeasurementTimingBudgetMicroSeconds = 0;
|
| 1251 |
|
| 1252 |
if (Status == VL53L1_ERROR_NONE)
|
| 1253 |
Status = VL53L1_GetSequenceStepEnable(Dev, |
| 1254 |
VL53L1_SEQUENCESTEP_MM1, &Mm1Enabled); |
| 1255 |
|
| 1256 |
if (Status == VL53L1_ERROR_NONE)
|
| 1257 |
Status = VL53L1_GetSequenceStepEnable(Dev, |
| 1258 |
VL53L1_SEQUENCESTEP_MM2, &Mm2Enabled); |
| 1259 |
|
| 1260 |
if (Status == VL53L1_ERROR_NONE)
|
| 1261 |
Status = VL53L1_get_timeouts_us(Dev, |
| 1262 |
&PhaseCalTimeoutUs, |
| 1263 |
&MmTimeoutUs, |
| 1264 |
&RangeTimeoutUs); |
| 1265 |
|
| 1266 |
if (Status == VL53L1_ERROR_NONE) {
|
| 1267 |
PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); |
| 1268 |
|
| 1269 |
switch (PresetMode) {
|
| 1270 |
case VL53L1_PRESETMODE_LITE_RANGING:
|
| 1271 |
if ((Mm1Enabled == 1) || (Mm2Enabled == 1)) |
| 1272 |
MeasTimingBdg = RangeTimeoutUs + 5000;
|
| 1273 |
else
|
| 1274 |
MeasTimingBdg = RangeTimeoutUs + 1000;
|
| 1275 |
|
| 1276 |
break;
|
| 1277 |
|
| 1278 |
case VL53L1_PRESETMODE_AUTONOMOUS:
|
| 1279 |
if ((Mm1Enabled == 1) || (Mm2Enabled == 1)) |
| 1280 |
MeasTimingBdg = 2 * RangeTimeoutUs + 26600; |
| 1281 |
else
|
| 1282 |
MeasTimingBdg = 2 * RangeTimeoutUs + 21600; |
| 1283 |
|
| 1284 |
break;
|
| 1285 |
|
| 1286 |
case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS:
|
| 1287 |
vhv = LOWPOWER_AUTO_VHV_LOOP_DURATION_US; |
| 1288 |
VL53L1_get_tuning_parm(Dev, |
| 1289 |
VL53L1_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND, |
| 1290 |
&vhv_loops); |
| 1291 |
if (vhv_loops > 0) { |
| 1292 |
vhv += vhv_loops * |
| 1293 |
LOWPOWER_AUTO_VHV_LOOP_DURATION_US; |
| 1294 |
} |
| 1295 |
TimingGuard = LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING + |
| 1296 |
LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING + |
| 1297 |
vhv; |
| 1298 |
MeasTimingBdg = 2 * RangeTimeoutUs + TimingGuard;
|
| 1299 |
break;
|
| 1300 |
|
| 1301 |
default:
|
| 1302 |
/* Unsupported mode */
|
| 1303 |
Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; |
| 1304 |
} |
| 1305 |
} |
| 1306 |
if (Status == VL53L1_ERROR_NONE)
|
| 1307 |
*pMeasurementTimingBudgetMicroSeconds = MeasTimingBdg; |
| 1308 |
|
| 1309 |
LOG_FUNCTION_END(Status); |
| 1310 |
return Status;
|
| 1311 |
} |
| 1312 |
|
| 1313 |
|
| 1314 |
|
| 1315 |
VL53L1_Error VL53L1_SetInterMeasurementPeriodMilliSeconds(VL53L1_DEV Dev, |
| 1316 |
uint32_t InterMeasurementPeriodMilliSeconds) |
| 1317 |
{
|
| 1318 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1319 |
uint32_t adjustedIMP; |
| 1320 |
|
| 1321 |
LOG_FUNCTION_START("");
|
| 1322 |
|
| 1323 |
/* Fix for Ticket 468205 actual measurement period shorter than set */
|
| 1324 |
adjustedIMP = InterMeasurementPeriodMilliSeconds; |
| 1325 |
adjustedIMP += (adjustedIMP * 64) / 1000; |
| 1326 |
/* End of fix for Ticket 468205 */
|
| 1327 |
Status = VL53L1_set_inter_measurement_period_ms(Dev, |
| 1328 |
adjustedIMP); |
| 1329 |
|
| 1330 |
LOG_FUNCTION_END(Status); |
| 1331 |
return Status;
|
| 1332 |
} |
| 1333 |
|
| 1334 |
VL53L1_Error VL53L1_GetInterMeasurementPeriodMilliSeconds(VL53L1_DEV Dev, |
| 1335 |
uint32_t *pInterMeasurementPeriodMilliSeconds) |
| 1336 |
{
|
| 1337 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1338 |
uint32_t adjustedIMP; |
| 1339 |
|
| 1340 |
LOG_FUNCTION_START("");
|
| 1341 |
|
| 1342 |
Status = VL53L1_get_inter_measurement_period_ms(Dev, &adjustedIMP); |
| 1343 |
/* Fix for Ticket 468205 actual measurement period shorter than set */
|
| 1344 |
adjustedIMP -= (adjustedIMP * 64) / 1000; |
| 1345 |
*pInterMeasurementPeriodMilliSeconds = adjustedIMP; |
| 1346 |
/* End of fix for Ticket 468205 */
|
| 1347 |
|
| 1348 |
LOG_FUNCTION_END(Status); |
| 1349 |
return Status;
|
| 1350 |
} |
| 1351 |
|
| 1352 |
|
| 1353 |
/* End Group PAL Parameters Functions */
|
| 1354 |
|
| 1355 |
|
| 1356 |
/* Group Limit check Functions */
|
| 1357 |
|
| 1358 |
VL53L1_Error VL53L1_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck) |
| 1359 |
{
|
| 1360 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1361 |
|
| 1362 |
LOG_FUNCTION_START("");
|
| 1363 |
|
| 1364 |
*pNumberOfLimitCheck = VL53L1_CHECKENABLE_NUMBER_OF_CHECKS; |
| 1365 |
|
| 1366 |
LOG_FUNCTION_END(Status); |
| 1367 |
return Status;
|
| 1368 |
} |
| 1369 |
|
| 1370 |
VL53L1_Error VL53L1_GetLimitCheckInfo(uint16_t LimitCheckId, |
| 1371 |
char *pLimitCheckString)
|
| 1372 |
{
|
| 1373 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1374 |
|
| 1375 |
LOG_FUNCTION_START("");
|
| 1376 |
|
| 1377 |
Status = VL53L1_get_limit_check_info(LimitCheckId, |
| 1378 |
pLimitCheckString); |
| 1379 |
|
| 1380 |
LOG_FUNCTION_END(Status); |
| 1381 |
return Status;
|
| 1382 |
} |
| 1383 |
|
| 1384 |
VL53L1_Error VL53L1_GetLimitCheckStatus(VL53L1_DEV Dev, uint16_t LimitCheckId, |
| 1385 |
uint8_t *pLimitCheckStatus) |
| 1386 |
{
|
| 1387 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1388 |
uint8_t Temp8; |
| 1389 |
|
| 1390 |
LOG_FUNCTION_START("");
|
| 1391 |
|
| 1392 |
if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
|
| 1393 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 1394 |
} else {
|
| 1395 |
VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
| 1396 |
LimitCheckId, Temp8); |
| 1397 |
*pLimitCheckStatus = Temp8; |
| 1398 |
} |
| 1399 |
|
| 1400 |
LOG_FUNCTION_END(Status); |
| 1401 |
return Status;
|
| 1402 |
} |
| 1403 |
|
| 1404 |
static VL53L1_Error SetLimitValue(VL53L1_DEV Dev, uint16_t LimitCheckId,
|
| 1405 |
FixPoint1616_t value) |
| 1406 |
{
|
| 1407 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1408 |
uint16_t tmpuint16; /* temporary variable */
|
| 1409 |
|
| 1410 |
LOG_FUNCTION_START("");
|
| 1411 |
|
| 1412 |
switch (LimitCheckId) {
|
| 1413 |
case VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE:
|
| 1414 |
tmpuint16 = VL53L1_FIXPOINT1616TOFIXPOINT142(value); |
| 1415 |
VL53L1_set_lite_sigma_threshold(Dev, tmpuint16); |
| 1416 |
break;
|
| 1417 |
case VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
| 1418 |
tmpuint16 = VL53L1_FIXPOINT1616TOFIXPOINT97(value); |
| 1419 |
VL53L1_set_lite_min_count_rate(Dev, tmpuint16); |
| 1420 |
break;
|
| 1421 |
default:
|
| 1422 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 1423 |
} |
| 1424 |
|
| 1425 |
LOG_FUNCTION_END(Status); |
| 1426 |
return Status;
|
| 1427 |
} |
| 1428 |
|
| 1429 |
|
| 1430 |
VL53L1_Error VL53L1_SetLimitCheckEnable(VL53L1_DEV Dev, uint16_t LimitCheckId, |
| 1431 |
uint8_t LimitCheckEnable) |
| 1432 |
{
|
| 1433 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1434 |
FixPoint1616_t TempFix1616 = 0;
|
| 1435 |
|
| 1436 |
LOG_FUNCTION_START("");
|
| 1437 |
|
| 1438 |
|
| 1439 |
if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
|
| 1440 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 1441 |
} else {
|
| 1442 |
/* TempFix1616 contains either 0 or the limit value */
|
| 1443 |
if (LimitCheckEnable == 0) |
| 1444 |
TempFix1616 = 0;
|
| 1445 |
else
|
| 1446 |
VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
| 1447 |
LimitCheckId, TempFix1616); |
| 1448 |
|
| 1449 |
Status = SetLimitValue(Dev, LimitCheckId, TempFix1616); |
| 1450 |
} |
| 1451 |
|
| 1452 |
if (Status == VL53L1_ERROR_NONE)
|
| 1453 |
VL53L1_SETARRAYPARAMETERFIELD(Dev, |
| 1454 |
LimitChecksEnable, |
| 1455 |
LimitCheckId, |
| 1456 |
((LimitCheckEnable == 0) ? 0 : 1)); |
| 1457 |
|
| 1458 |
|
| 1459 |
|
| 1460 |
LOG_FUNCTION_END(Status); |
| 1461 |
return Status;
|
| 1462 |
} |
| 1463 |
|
| 1464 |
VL53L1_Error VL53L1_GetLimitCheckEnable(VL53L1_DEV Dev, uint16_t LimitCheckId, |
| 1465 |
uint8_t *pLimitCheckEnable) |
| 1466 |
{
|
| 1467 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1468 |
uint8_t Temp8; |
| 1469 |
|
| 1470 |
LOG_FUNCTION_START("");
|
| 1471 |
|
| 1472 |
if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
|
| 1473 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 1474 |
*pLimitCheckEnable = 0;
|
| 1475 |
} else {
|
| 1476 |
VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
| 1477 |
LimitCheckId, Temp8); |
| 1478 |
*pLimitCheckEnable = Temp8; |
| 1479 |
} |
| 1480 |
|
| 1481 |
|
| 1482 |
LOG_FUNCTION_END(Status); |
| 1483 |
return Status;
|
| 1484 |
} |
| 1485 |
|
| 1486 |
VL53L1_Error VL53L1_SetLimitCheckValue(VL53L1_DEV Dev, uint16_t LimitCheckId, |
| 1487 |
FixPoint1616_t LimitCheckValue) |
| 1488 |
{
|
| 1489 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1490 |
uint8_t LimitChecksEnable; |
| 1491 |
|
| 1492 |
LOG_FUNCTION_START("");
|
| 1493 |
|
| 1494 |
if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
|
| 1495 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 1496 |
} else {
|
| 1497 |
|
| 1498 |
VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
| 1499 |
LimitCheckId, |
| 1500 |
LimitChecksEnable); |
| 1501 |
|
| 1502 |
if (LimitChecksEnable == 0) { |
| 1503 |
/* disabled write only internal value */
|
| 1504 |
VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
| 1505 |
LimitCheckId, LimitCheckValue); |
| 1506 |
} else {
|
| 1507 |
|
| 1508 |
Status = SetLimitValue(Dev, LimitCheckId, |
| 1509 |
LimitCheckValue); |
| 1510 |
|
| 1511 |
if (Status == VL53L1_ERROR_NONE) {
|
| 1512 |
VL53L1_SETARRAYPARAMETERFIELD(Dev, |
| 1513 |
LimitChecksValue, |
| 1514 |
LimitCheckId, LimitCheckValue); |
| 1515 |
} |
| 1516 |
} |
| 1517 |
} |
| 1518 |
|
| 1519 |
LOG_FUNCTION_END(Status); |
| 1520 |
return Status;
|
| 1521 |
} |
| 1522 |
|
| 1523 |
VL53L1_Error VL53L1_GetLimitCheckValue(VL53L1_DEV Dev, uint16_t LimitCheckId, |
| 1524 |
FixPoint1616_t *pLimitCheckValue) |
| 1525 |
{
|
| 1526 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1527 |
uint16_t MinCountRate; |
| 1528 |
FixPoint1616_t TempFix1616; |
| 1529 |
uint16_t SigmaThresh; |
| 1530 |
|
| 1531 |
LOG_FUNCTION_START("");
|
| 1532 |
|
| 1533 |
switch (LimitCheckId) {
|
| 1534 |
case VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE:
|
| 1535 |
Status = VL53L1_get_lite_sigma_threshold(Dev, &SigmaThresh); |
| 1536 |
TempFix1616 = VL53L1_FIXPOINT142TOFIXPOINT1616(SigmaThresh); |
| 1537 |
break;
|
| 1538 |
case VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
| 1539 |
Status = VL53L1_get_lite_min_count_rate(Dev, &MinCountRate); |
| 1540 |
TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(MinCountRate); |
| 1541 |
break;
|
| 1542 |
default:
|
| 1543 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 1544 |
} |
| 1545 |
|
| 1546 |
if (Status == VL53L1_ERROR_NONE) {
|
| 1547 |
|
| 1548 |
if (TempFix1616 == 0) { |
| 1549 |
/* disabled: return value from memory */
|
| 1550 |
VL53L1_GETARRAYPARAMETERFIELD(Dev, |
| 1551 |
LimitChecksValue, LimitCheckId, |
| 1552 |
TempFix1616); |
| 1553 |
*pLimitCheckValue = TempFix1616; |
| 1554 |
VL53L1_SETARRAYPARAMETERFIELD(Dev, |
| 1555 |
LimitChecksEnable, LimitCheckId, 0);
|
| 1556 |
} else {
|
| 1557 |
*pLimitCheckValue = TempFix1616; |
| 1558 |
VL53L1_SETARRAYPARAMETERFIELD(Dev, |
| 1559 |
LimitChecksValue, LimitCheckId, |
| 1560 |
TempFix1616); |
| 1561 |
VL53L1_SETARRAYPARAMETERFIELD(Dev, |
| 1562 |
LimitChecksEnable, LimitCheckId, 1);
|
| 1563 |
} |
| 1564 |
} |
| 1565 |
LOG_FUNCTION_END(Status); |
| 1566 |
return Status;
|
| 1567 |
|
| 1568 |
} |
| 1569 |
|
| 1570 |
VL53L1_Error VL53L1_GetLimitCheckCurrent(VL53L1_DEV Dev, uint16_t LimitCheckId, |
| 1571 |
FixPoint1616_t *pLimitCheckCurrent) |
| 1572 |
{
|
| 1573 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1574 |
FixPoint1616_t TempFix1616 = 0;
|
| 1575 |
|
| 1576 |
LOG_FUNCTION_START("");
|
| 1577 |
|
| 1578 |
if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
|
| 1579 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 1580 |
} else {
|
| 1581 |
VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksCurrent, |
| 1582 |
LimitCheckId, TempFix1616); |
| 1583 |
*pLimitCheckCurrent = TempFix1616; |
| 1584 |
} |
| 1585 |
|
| 1586 |
LOG_FUNCTION_END(Status); |
| 1587 |
return Status;
|
| 1588 |
|
| 1589 |
} |
| 1590 |
|
| 1591 |
/* End Group Limit check Functions */
|
| 1592 |
|
| 1593 |
|
| 1594 |
|
| 1595 |
/* Group ROI Functions */
|
| 1596 |
|
| 1597 |
VL53L1_Error VL53L1_SetUserROI(VL53L1_DEV Dev, |
| 1598 |
VL53L1_UserRoi_t *pRoi) |
| 1599 |
{
|
| 1600 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1601 |
VL53L1_user_zone_t user_zone; |
| 1602 |
|
| 1603 |
Status = CheckValidRectRoi(*pRoi); |
| 1604 |
if (Status != VL53L1_ERROR_NONE)
|
| 1605 |
return VL53L1_ERROR_INVALID_PARAMS;
|
| 1606 |
|
| 1607 |
user_zone.x_centre = (pRoi->BotRightX + pRoi->TopLeftX + 1) / 2; |
| 1608 |
user_zone.y_centre = (pRoi->TopLeftY + pRoi->BotRightY + 1) / 2; |
| 1609 |
user_zone.width = (pRoi->BotRightX - pRoi->TopLeftX); |
| 1610 |
user_zone.height = (pRoi->TopLeftY - pRoi->BotRightY); |
| 1611 |
if ((user_zone.width < 3) || (user_zone.height < 3)) |
| 1612 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 1613 |
else
|
| 1614 |
Status = VL53L1_set_user_zone(Dev, &user_zone); |
| 1615 |
|
| 1616 |
LOG_FUNCTION_END(Status); |
| 1617 |
return Status;
|
| 1618 |
} |
| 1619 |
|
| 1620 |
VL53L1_Error VL53L1_GetUserROI(VL53L1_DEV Dev, |
| 1621 |
VL53L1_UserRoi_t *pRoi) |
| 1622 |
{
|
| 1623 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1624 |
VL53L1_user_zone_t user_zone; |
| 1625 |
|
| 1626 |
Status = VL53L1_get_user_zone(Dev, &user_zone); |
| 1627 |
|
| 1628 |
pRoi->TopLeftX = (2 * user_zone.x_centre - user_zone.width) >> 1; |
| 1629 |
pRoi->TopLeftY = (2 * user_zone.y_centre + user_zone.height) >> 1; |
| 1630 |
pRoi->BotRightX = (2 * user_zone.x_centre + user_zone.width) >> 1; |
| 1631 |
pRoi->BotRightY = (2 * user_zone.y_centre - user_zone.height) >> 1; |
| 1632 |
|
| 1633 |
LOG_FUNCTION_END(Status); |
| 1634 |
return Status;
|
| 1635 |
} |
| 1636 |
|
| 1637 |
|
| 1638 |
|
| 1639 |
/* End Group ROI Functions */
|
| 1640 |
|
| 1641 |
|
| 1642 |
/* Group Sequence Step Functions */
|
| 1643 |
|
| 1644 |
VL53L1_Error VL53L1_GetNumberOfSequenceSteps(VL53L1_DEV Dev, |
| 1645 |
uint8_t *pNumberOfSequenceSteps) |
| 1646 |
{
|
| 1647 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1648 |
|
| 1649 |
SUPPRESS_UNUSED_WARNING(Dev); |
| 1650 |
|
| 1651 |
LOG_FUNCTION_START("");
|
| 1652 |
|
| 1653 |
*pNumberOfSequenceSteps = VL53L1_SEQUENCESTEP_NUMBER_OF_ITEMS; |
| 1654 |
|
| 1655 |
LOG_FUNCTION_END(Status); |
| 1656 |
return Status;
|
| 1657 |
} |
| 1658 |
|
| 1659 |
VL53L1_Error VL53L1_GetSequenceStepsInfo(VL53L1_SequenceStepId SequenceStepId, |
| 1660 |
char *pSequenceStepsString)
|
| 1661 |
{
|
| 1662 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1663 |
|
| 1664 |
LOG_FUNCTION_START("");
|
| 1665 |
|
| 1666 |
Status = VL53L1_get_sequence_steps_info( |
| 1667 |
SequenceStepId, |
| 1668 |
pSequenceStepsString); |
| 1669 |
|
| 1670 |
LOG_FUNCTION_END(Status); |
| 1671 |
|
| 1672 |
return Status;
|
| 1673 |
} |
| 1674 |
|
| 1675 |
VL53L1_Error VL53L1_SetSequenceStepEnable(VL53L1_DEV Dev, |
| 1676 |
VL53L1_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled) |
| 1677 |
{
|
| 1678 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1679 |
uint32_t MeasurementTimingBudgetMicroSeconds; |
| 1680 |
|
| 1681 |
LOG_FUNCTION_START("");
|
| 1682 |
|
| 1683 |
/* the VL53L1_SequenceStepId correspond to the LLD
|
| 1684 |
* VL53L1_DeviceSequenceConfig
|
| 1685 |
*/
|
| 1686 |
|
| 1687 |
Status = VL53L1_set_sequence_config_bit(Dev, |
| 1688 |
(VL53L1_DeviceSequenceConfig)SequenceStepId, |
| 1689 |
SequenceStepEnabled); |
| 1690 |
|
| 1691 |
/* Apply New Setting */
|
| 1692 |
if (Status == VL53L1_ERROR_NONE) {
|
| 1693 |
|
| 1694 |
/* Recalculate timing budget */
|
| 1695 |
MeasurementTimingBudgetMicroSeconds = VL53L1DevDataGet(Dev, |
| 1696 |
CurrentParameters.MeasurementTimingBudgetMicroSeconds); |
| 1697 |
|
| 1698 |
VL53L1_SetMeasurementTimingBudgetMicroSeconds(Dev, |
| 1699 |
MeasurementTimingBudgetMicroSeconds); |
| 1700 |
} |
| 1701 |
|
| 1702 |
LOG_FUNCTION_END(Status); |
| 1703 |
|
| 1704 |
return Status;
|
| 1705 |
} |
| 1706 |
|
| 1707 |
|
| 1708 |
VL53L1_Error VL53L1_GetSequenceStepEnable(VL53L1_DEV Dev, |
| 1709 |
VL53L1_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled) |
| 1710 |
{
|
| 1711 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1712 |
|
| 1713 |
LOG_FUNCTION_START("");
|
| 1714 |
|
| 1715 |
Status = VL53L1_get_sequence_config_bit(Dev, |
| 1716 |
(VL53L1_DeviceSequenceConfig)SequenceStepId, |
| 1717 |
pSequenceStepEnabled); |
| 1718 |
|
| 1719 |
LOG_FUNCTION_END(Status); |
| 1720 |
return Status;
|
| 1721 |
} |
| 1722 |
|
| 1723 |
|
| 1724 |
/* End Group Sequence Step Functions Functions */
|
| 1725 |
|
| 1726 |
|
| 1727 |
|
| 1728 |
/* Group PAL Measurement Functions */
|
| 1729 |
|
| 1730 |
|
| 1731 |
|
| 1732 |
VL53L1_Error VL53L1_StartMeasurement(VL53L1_DEV Dev) |
| 1733 |
{
|
| 1734 |
#define TIMED_MODE_TIMING_GUARD_MILLISECONDS 4 |
| 1735 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1736 |
uint8_t DeviceMeasurementMode; |
| 1737 |
VL53L1_State CurrPalState; |
| 1738 |
VL53L1_Error lStatus; |
| 1739 |
uint32_t MTBus, IMPms; |
| 1740 |
|
| 1741 |
LOG_FUNCTION_START("");
|
| 1742 |
|
| 1743 |
CurrPalState = VL53L1DevDataGet(Dev, PalState); |
| 1744 |
switch (CurrPalState) {
|
| 1745 |
case VL53L1_STATE_IDLE:
|
| 1746 |
Status = VL53L1_ERROR_NONE; |
| 1747 |
break;
|
| 1748 |
case VL53L1_STATE_POWERDOWN:
|
| 1749 |
case VL53L1_STATE_WAIT_STATICINIT:
|
| 1750 |
case VL53L1_STATE_STANDBY:
|
| 1751 |
case VL53L1_STATE_RUNNING:
|
| 1752 |
case VL53L1_STATE_RESET:
|
| 1753 |
case VL53L1_STATE_UNKNOWN:
|
| 1754 |
case VL53L1_STATE_ERROR:
|
| 1755 |
Status = VL53L1_ERROR_INVALID_COMMAND; |
| 1756 |
break;
|
| 1757 |
default:
|
| 1758 |
Status = VL53L1_ERROR_UNDEFINED; |
| 1759 |
} |
| 1760 |
|
| 1761 |
DeviceMeasurementMode = VL53L1DevDataGet(Dev, LLData.measurement_mode); |
| 1762 |
|
| 1763 |
/* Check timing configuration between timing budget and
|
| 1764 |
* inter measurement period */
|
| 1765 |
if ((Status == VL53L1_ERROR_NONE) &&
|
| 1766 |
(DeviceMeasurementMode == VL53L1_DEVICEMEASUREMENTMODE_TIMED)) {
|
| 1767 |
lStatus = VL53L1_GetMeasurementTimingBudgetMicroSeconds(Dev, |
| 1768 |
&MTBus); |
| 1769 |
/* convert timing budget in ms */
|
| 1770 |
MTBus /= 1000;
|
| 1771 |
lStatus = VL53L1_GetInterMeasurementPeriodMilliSeconds(Dev, |
| 1772 |
&IMPms); |
| 1773 |
/* trick to get rid of compiler "set but not used" warning */
|
| 1774 |
SUPPRESS_UNUSED_WARNING(lStatus); |
| 1775 |
if (IMPms < MTBus + TIMED_MODE_TIMING_GUARD_MILLISECONDS)
|
| 1776 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 1777 |
} |
| 1778 |
|
| 1779 |
if (Status == VL53L1_ERROR_NONE)
|
| 1780 |
Status = VL53L1_init_and_start_range( |
| 1781 |
Dev, |
| 1782 |
DeviceMeasurementMode, |
| 1783 |
VL53L1_DEVICECONFIGLEVEL_FULL); |
| 1784 |
|
| 1785 |
/* Set PAL State to Running */
|
| 1786 |
if (Status == VL53L1_ERROR_NONE)
|
| 1787 |
VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_RUNNING); |
| 1788 |
|
| 1789 |
|
| 1790 |
LOG_FUNCTION_END(Status); |
| 1791 |
return Status;
|
| 1792 |
} |
| 1793 |
|
| 1794 |
VL53L1_Error VL53L1_StopMeasurement(VL53L1_DEV Dev) |
| 1795 |
{
|
| 1796 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1797 |
|
| 1798 |
LOG_FUNCTION_START("");
|
| 1799 |
|
| 1800 |
Status = VL53L1_stop_range(Dev); |
| 1801 |
|
| 1802 |
/* Set PAL State to Idle */
|
| 1803 |
if (Status == VL53L1_ERROR_NONE)
|
| 1804 |
VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_IDLE); |
| 1805 |
|
| 1806 |
LOG_FUNCTION_END(Status); |
| 1807 |
return Status;
|
| 1808 |
} |
| 1809 |
|
| 1810 |
static VL53L1_Error ChangePresetMode(VL53L1_DEV Dev)
|
| 1811 |
{
|
| 1812 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1813 |
VL53L1_PresetModes PresetMode; |
| 1814 |
VL53L1_DistanceModes NewDistanceMode; |
| 1815 |
VL53L1_user_zone_t user_zone; |
| 1816 |
uint32_t TimingBudget; |
| 1817 |
uint32_t MmTimeoutUs; |
| 1818 |
uint32_t PhaseCalTimeoutUs; |
| 1819 |
uint8_t DeviceMeasurementMode; |
| 1820 |
uint32_t inter_measurement_period_ms; |
| 1821 |
|
| 1822 |
LOG_FUNCTION_START("");
|
| 1823 |
|
| 1824 |
Status = VL53L1_get_user_zone(Dev, &user_zone); |
| 1825 |
/* Initialize variables fix ticket EwokP #475395 */
|
| 1826 |
PresetMode = VL53L1DevDataGet(Dev, |
| 1827 |
CurrentParameters.PresetMode); |
| 1828 |
NewDistanceMode = VL53L1DevDataGet(Dev, |
| 1829 |
CurrentParameters.NewDistanceMode); |
| 1830 |
/* End of Initialize variables fix ticket EwokP #475395 */
|
| 1831 |
if (Status == VL53L1_ERROR_NONE)
|
| 1832 |
Status = VL53L1_get_timeouts_us(Dev, &PhaseCalTimeoutUs, |
| 1833 |
&MmTimeoutUs, &TimingBudget); |
| 1834 |
|
| 1835 |
if (Status == VL53L1_ERROR_NONE)
|
| 1836 |
Status = VL53L1_stop_range(Dev); |
| 1837 |
|
| 1838 |
if (Status == VL53L1_ERROR_NONE)
|
| 1839 |
Status = VL53L1_WaitUs(Dev, 500);
|
| 1840 |
|
| 1841 |
if (Status == VL53L1_ERROR_NONE) {
|
| 1842 |
inter_measurement_period_ms = VL53L1DevDataGet(Dev, |
| 1843 |
LLData.inter_measurement_period_ms); |
| 1844 |
|
| 1845 |
Status = SetPresetMode(Dev, |
| 1846 |
PresetMode, |
| 1847 |
NewDistanceMode, |
| 1848 |
inter_measurement_period_ms); |
| 1849 |
} |
| 1850 |
|
| 1851 |
if (Status == VL53L1_ERROR_NONE) {
|
| 1852 |
Status = VL53L1_set_timeouts_us(Dev, PhaseCalTimeoutUs, |
| 1853 |
MmTimeoutUs, TimingBudget); |
| 1854 |
|
| 1855 |
if (Status == VL53L1_ERROR_NONE)
|
| 1856 |
VL53L1DevDataSet(Dev, LLData.range_config_timeout_us, |
| 1857 |
TimingBudget); |
| 1858 |
} |
| 1859 |
|
| 1860 |
if (Status == VL53L1_ERROR_NONE)
|
| 1861 |
Status = VL53L1_set_user_zone(Dev, &user_zone); |
| 1862 |
|
| 1863 |
if (Status == VL53L1_ERROR_NONE) {
|
| 1864 |
DeviceMeasurementMode = VL53L1DevDataGet(Dev, |
| 1865 |
LLData.measurement_mode); |
| 1866 |
|
| 1867 |
Status = VL53L1_init_and_start_range( |
| 1868 |
Dev, |
| 1869 |
DeviceMeasurementMode, |
| 1870 |
VL53L1_DEVICECONFIGLEVEL_FULL); |
| 1871 |
} |
| 1872 |
|
| 1873 |
if (Status == VL53L1_ERROR_NONE)
|
| 1874 |
VL53L1DevDataSet(Dev, |
| 1875 |
CurrentParameters.InternalDistanceMode, |
| 1876 |
NewDistanceMode); |
| 1877 |
|
| 1878 |
LOG_FUNCTION_END(Status); |
| 1879 |
return Status;
|
| 1880 |
} |
| 1881 |
|
| 1882 |
|
| 1883 |
VL53L1_Error VL53L1_ClearInterruptAndStartMeasurement(VL53L1_DEV Dev) |
| 1884 |
{
|
| 1885 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1886 |
uint8_t DeviceMeasurementMode; |
| 1887 |
VL53L1_DistanceModes InternalDistanceMode; |
| 1888 |
VL53L1_DistanceModes NewDistanceMode; |
| 1889 |
|
| 1890 |
LOG_FUNCTION_START("");
|
| 1891 |
|
| 1892 |
DeviceMeasurementMode = VL53L1DevDataGet(Dev, LLData.measurement_mode); |
| 1893 |
InternalDistanceMode = VL53L1DevDataGet(Dev, |
| 1894 |
CurrentParameters.InternalDistanceMode); |
| 1895 |
NewDistanceMode = VL53L1DevDataGet(Dev, |
| 1896 |
CurrentParameters.NewDistanceMode); |
| 1897 |
|
| 1898 |
if (NewDistanceMode != InternalDistanceMode)
|
| 1899 |
Status = ChangePresetMode(Dev); |
| 1900 |
else
|
| 1901 |
Status = VL53L1_clear_interrupt_and_enable_next_range( |
| 1902 |
Dev, |
| 1903 |
DeviceMeasurementMode); |
| 1904 |
|
| 1905 |
LOG_FUNCTION_END(Status); |
| 1906 |
return Status;
|
| 1907 |
} |
| 1908 |
|
| 1909 |
|
| 1910 |
VL53L1_Error VL53L1_GetMeasurementDataReady(VL53L1_DEV Dev, |
| 1911 |
uint8_t *pMeasurementDataReady) |
| 1912 |
{
|
| 1913 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1914 |
|
| 1915 |
LOG_FUNCTION_START("");
|
| 1916 |
|
| 1917 |
Status = VL53L1_is_new_data_ready(Dev, pMeasurementDataReady); |
| 1918 |
|
| 1919 |
LOG_FUNCTION_END(Status); |
| 1920 |
return Status;
|
| 1921 |
} |
| 1922 |
|
| 1923 |
VL53L1_Error VL53L1_WaitMeasurementDataReady(VL53L1_DEV Dev) |
| 1924 |
{
|
| 1925 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 1926 |
|
| 1927 |
LOG_FUNCTION_START("");
|
| 1928 |
|
| 1929 |
/* Note that the timeout is given by:
|
| 1930 |
* VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS defined in def.h
|
| 1931 |
*/
|
| 1932 |
|
| 1933 |
Status = VL53L1_poll_for_range_completion(Dev, |
| 1934 |
VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS); |
| 1935 |
|
| 1936 |
LOG_FUNCTION_END(Status); |
| 1937 |
return Status;
|
| 1938 |
} |
| 1939 |
|
| 1940 |
|
| 1941 |
|
| 1942 |
static uint8_t ComputeRQL(uint8_t active_results,
|
| 1943 |
uint8_t FilteredRangeStatus, |
| 1944 |
VL53L1_range_data_t *presults_data) |
| 1945 |
{
|
| 1946 |
int16_t SRL = 300;
|
| 1947 |
uint16_t SRAS = 30;
|
| 1948 |
FixPoint1616_t RAS; |
| 1949 |
FixPoint1616_t SRQL; |
| 1950 |
FixPoint1616_t GI = 7713587; /* 117.7 * 65536 */ |
| 1951 |
FixPoint1616_t GGm = 3198157; /* 48.8 * 65536 */ |
| 1952 |
FixPoint1616_t LRAP = 6554; /* 0.1 * 65536 */ |
| 1953 |
FixPoint1616_t partial; |
| 1954 |
uint8_t finalvalue; |
| 1955 |
uint8_t returnvalue; |
| 1956 |
|
| 1957 |
if (active_results == 0) |
| 1958 |
returnvalue = 0;
|
| 1959 |
else if (FilteredRangeStatus == VL53L1_DEVICEERROR_PHASECONSISTENCY) |
| 1960 |
returnvalue = 50;
|
| 1961 |
else {
|
| 1962 |
if (presults_data->median_range_mm < SRL)
|
| 1963 |
RAS = SRAS * 65536;
|
| 1964 |
else
|
| 1965 |
RAS = LRAP * presults_data->median_range_mm; |
| 1966 |
|
| 1967 |
/* Fix1616 + (fix1616 * uint16_t / fix1616) * 65536 = fix1616 */
|
| 1968 |
if (RAS != 0) { |
| 1969 |
partial = (GGm * presults_data->sigma_mm); |
| 1970 |
partial = partial + (RAS >> 1);
|
| 1971 |
partial = partial / RAS; |
| 1972 |
partial = partial * 65536;
|
| 1973 |
if (partial <= GI)
|
| 1974 |
SRQL = GI - partial; |
| 1975 |
else
|
| 1976 |
SRQL = 50 * 65536; |
| 1977 |
} else
|
| 1978 |
SRQL = 100 * 65536; |
| 1979 |
|
| 1980 |
finalvalue = (uint8_t)(SRQL >> 16);
|
| 1981 |
returnvalue = MAX(50, MIN(100, finalvalue)); |
| 1982 |
} |
| 1983 |
|
| 1984 |
return returnvalue;
|
| 1985 |
} |
| 1986 |
|
| 1987 |
|
| 1988 |
static uint8_t ConvertStatusLite(uint8_t FilteredRangeStatus)
|
| 1989 |
{
|
| 1990 |
uint8_t RangeStatus; |
| 1991 |
|
| 1992 |
switch (FilteredRangeStatus) {
|
| 1993 |
case VL53L1_DEVICEERROR_GPHSTREAMCOUNT0READY:
|
| 1994 |
RangeStatus = VL53L1_RANGESTATUS_SYNCRONISATION_INT; |
| 1995 |
break;
|
| 1996 |
case VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK:
|
| 1997 |
RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL; |
| 1998 |
break;
|
| 1999 |
case VL53L1_DEVICEERROR_RANGEPHASECHECK:
|
| 2000 |
RangeStatus = VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL; |
| 2001 |
break;
|
| 2002 |
case VL53L1_DEVICEERROR_MSRCNOTARGET:
|
| 2003 |
RangeStatus = VL53L1_RANGESTATUS_SIGNAL_FAIL; |
| 2004 |
break;
|
| 2005 |
case VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK:
|
| 2006 |
RangeStatus = VL53L1_RANGESTATUS_SIGMA_FAIL; |
| 2007 |
break;
|
| 2008 |
case VL53L1_DEVICEERROR_PHASECONSISTENCY:
|
| 2009 |
RangeStatus = VL53L1_RANGESTATUS_WRAP_TARGET_FAIL; |
| 2010 |
break;
|
| 2011 |
case VL53L1_DEVICEERROR_RANGEIGNORETHRESHOLD:
|
| 2012 |
RangeStatus = VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL; |
| 2013 |
break;
|
| 2014 |
case VL53L1_DEVICEERROR_MINCLIP:
|
| 2015 |
RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED; |
| 2016 |
break;
|
| 2017 |
case VL53L1_DEVICEERROR_RANGECOMPLETE:
|
| 2018 |
RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID; |
| 2019 |
break;
|
| 2020 |
default:
|
| 2021 |
RangeStatus = VL53L1_RANGESTATUS_NONE; |
| 2022 |
} |
| 2023 |
|
| 2024 |
return RangeStatus;
|
| 2025 |
} |
| 2026 |
|
| 2027 |
|
| 2028 |
|
| 2029 |
static VL53L1_Error SetSimpleData(VL53L1_DEV Dev,
|
| 2030 |
uint8_t active_results, uint8_t device_status, |
| 2031 |
VL53L1_range_data_t *presults_data, |
| 2032 |
VL53L1_RangingMeasurementData_t *pRangeData) |
| 2033 |
{
|
| 2034 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 2035 |
uint8_t FilteredRangeStatus; |
| 2036 |
uint8_t SigmaLimitflag; |
| 2037 |
uint8_t SignalLimitflag; |
| 2038 |
uint8_t Temp8Enable; |
| 2039 |
uint8_t Temp8; |
| 2040 |
FixPoint1616_t AmbientRate; |
| 2041 |
FixPoint1616_t SignalRate; |
| 2042 |
FixPoint1616_t TempFix1616; |
| 2043 |
FixPoint1616_t LimitCheckValue; |
| 2044 |
int16_t Range; |
| 2045 |
|
| 2046 |
pRangeData->TimeStamp = presults_data->time_stamp; |
| 2047 |
|
| 2048 |
FilteredRangeStatus = presults_data->range_status & 0x1F;
|
| 2049 |
|
| 2050 |
pRangeData->RangeQualityLevel = ComputeRQL(active_results, |
| 2051 |
FilteredRangeStatus, |
| 2052 |
presults_data); |
| 2053 |
|
| 2054 |
SignalRate = VL53L1_FIXPOINT97TOFIXPOINT1616( |
| 2055 |
presults_data->peak_signal_count_rate_mcps); |
| 2056 |
pRangeData->SignalRateRtnMegaCps |
| 2057 |
= SignalRate; |
| 2058 |
|
| 2059 |
AmbientRate = VL53L1_FIXPOINT97TOFIXPOINT1616( |
| 2060 |
presults_data->ambient_count_rate_mcps); |
| 2061 |
pRangeData->AmbientRateRtnMegaCps = AmbientRate; |
| 2062 |
|
| 2063 |
pRangeData->EffectiveSpadRtnCount = |
| 2064 |
presults_data->actual_effective_spads; |
| 2065 |
|
| 2066 |
TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616( |
| 2067 |
presults_data->sigma_mm); |
| 2068 |
|
| 2069 |
pRangeData->SigmaMilliMeter = TempFix1616; |
| 2070 |
|
| 2071 |
pRangeData->RangeMilliMeter = presults_data->median_range_mm; |
| 2072 |
|
| 2073 |
pRangeData->RangeFractionalPart = 0;
|
| 2074 |
|
| 2075 |
/* Treat device error status first */
|
| 2076 |
switch (device_status) {
|
| 2077 |
case VL53L1_DEVICEERROR_MULTCLIPFAIL:
|
| 2078 |
case VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE:
|
| 2079 |
case VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE:
|
| 2080 |
case VL53L1_DEVICEERROR_NOVHVVALUEFOUND:
|
| 2081 |
pRangeData->RangeStatus = VL53L1_RANGESTATUS_HARDWARE_FAIL; |
| 2082 |
break;
|
| 2083 |
case VL53L1_DEVICEERROR_USERROICLIP:
|
| 2084 |
pRangeData->RangeStatus = VL53L1_RANGESTATUS_MIN_RANGE_FAIL; |
| 2085 |
break;
|
| 2086 |
default:
|
| 2087 |
pRangeData->RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID; |
| 2088 |
} |
| 2089 |
|
| 2090 |
/* Now deal with range status according to the ranging preset */
|
| 2091 |
if (pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) {
|
| 2092 |
pRangeData->RangeStatus = |
| 2093 |
ConvertStatusLite(FilteredRangeStatus); |
| 2094 |
} |
| 2095 |
|
| 2096 |
/* Update current Limit Check */
|
| 2097 |
TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616( |
| 2098 |
presults_data->sigma_mm); |
| 2099 |
VL53L1_SETARRAYPARAMETERFIELD(Dev, |
| 2100 |
LimitChecksCurrent, VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, |
| 2101 |
TempFix1616); |
| 2102 |
|
| 2103 |
TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616( |
| 2104 |
presults_data->peak_signal_count_rate_mcps); |
| 2105 |
VL53L1_SETARRAYPARAMETERFIELD(Dev, |
| 2106 |
LimitChecksCurrent, VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
| 2107 |
TempFix1616); |
| 2108 |
|
| 2109 |
/* Update Limit Check Status */
|
| 2110 |
/* Sigma */
|
| 2111 |
VL53L1_GetLimitCheckValue(Dev, |
| 2112 |
VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, |
| 2113 |
&LimitCheckValue); |
| 2114 |
|
| 2115 |
SigmaLimitflag = (FilteredRangeStatus == |
| 2116 |
VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK) |
| 2117 |
? 1 : 0; |
| 2118 |
|
| 2119 |
VL53L1_GetLimitCheckEnable(Dev, |
| 2120 |
VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, |
| 2121 |
&Temp8Enable); |
| 2122 |
|
| 2123 |
Temp8 = ((Temp8Enable == 1) && (SigmaLimitflag == 1)) ? 1 : 0; |
| 2124 |
VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
| 2125 |
VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8); |
| 2126 |
|
| 2127 |
/* Signal Rate */
|
| 2128 |
VL53L1_GetLimitCheckValue(Dev, |
| 2129 |
VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
| 2130 |
&LimitCheckValue); |
| 2131 |
|
| 2132 |
SignalLimitflag = (FilteredRangeStatus == |
| 2133 |
VL53L1_DEVICEERROR_MSRCNOTARGET) |
| 2134 |
? 1 : 0; |
| 2135 |
|
| 2136 |
VL53L1_GetLimitCheckEnable(Dev, |
| 2137 |
VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
| 2138 |
&Temp8Enable); |
| 2139 |
|
| 2140 |
Temp8 = ((Temp8Enable == 1) && (SignalLimitflag == 1)) ? 1 : 0; |
| 2141 |
VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
| 2142 |
VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, Temp8); |
| 2143 |
|
| 2144 |
Range = pRangeData->RangeMilliMeter; |
| 2145 |
if ((pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) &&
|
| 2146 |
(Range < 0)) {
|
| 2147 |
if (Range < BDTable[VL53L1_TUNING_PROXY_MIN])
|
| 2148 |
pRangeData->RangeStatus = |
| 2149 |
VL53L1_RANGESTATUS_RANGE_INVALID; |
| 2150 |
else
|
| 2151 |
pRangeData->RangeMilliMeter = 0;
|
| 2152 |
} |
| 2153 |
|
| 2154 |
return Status;
|
| 2155 |
} |
| 2156 |
|
| 2157 |
|
| 2158 |
|
| 2159 |
VL53L1_Error VL53L1_GetRangingMeasurementData(VL53L1_DEV Dev, |
| 2160 |
VL53L1_RangingMeasurementData_t *pRangingMeasurementData) |
| 2161 |
{
|
| 2162 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 2163 |
VL53L1_range_results_t results; |
| 2164 |
VL53L1_range_results_t *presults = &results; |
| 2165 |
VL53L1_range_data_t *presults_data; |
| 2166 |
|
| 2167 |
LOG_FUNCTION_START("");
|
| 2168 |
|
| 2169 |
|
| 2170 |
/* Clear Ranging Data */
|
| 2171 |
memset(pRangingMeasurementData, 0xFF,
|
| 2172 |
sizeof(VL53L1_RangingMeasurementData_t));
|
| 2173 |
|
| 2174 |
/* Get Ranging Data */
|
| 2175 |
Status = VL53L1_get_device_results( |
| 2176 |
Dev, |
| 2177 |
VL53L1_DEVICERESULTSLEVEL_FULL, |
| 2178 |
presults); |
| 2179 |
|
| 2180 |
if (Status == VL53L1_ERROR_NONE) {
|
| 2181 |
pRangingMeasurementData->StreamCount = presults->stream_count; |
| 2182 |
|
| 2183 |
/* in case of lite ranging or autonomous the following function
|
| 2184 |
* returns index = 0
|
| 2185 |
*/
|
| 2186 |
presults_data = &(presults->data[0]);
|
| 2187 |
Status = SetSimpleData(Dev, 1,
|
| 2188 |
presults->device_status, |
| 2189 |
presults_data, |
| 2190 |
pRangingMeasurementData); |
| 2191 |
} |
| 2192 |
|
| 2193 |
LOG_FUNCTION_END(Status); |
| 2194 |
return Status;
|
| 2195 |
} |
| 2196 |
|
| 2197 |
|
| 2198 |
|
| 2199 |
|
| 2200 |
|
| 2201 |
/* End Group PAL Measurement Functions */
|
| 2202 |
|
| 2203 |
|
| 2204 |
/* Group Calibration functions */
|
| 2205 |
VL53L1_Error VL53L1_SetTuningParameter(VL53L1_DEV Dev, |
| 2206 |
uint16_t TuningParameterId, int32_t TuningParameterValue) |
| 2207 |
{
|
| 2208 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 2209 |
|
| 2210 |
LOG_FUNCTION_START("");
|
| 2211 |
if (TuningParameterId >= 32768) |
| 2212 |
Status = VL53L1_set_tuning_parm(Dev, |
| 2213 |
TuningParameterId, |
| 2214 |
TuningParameterValue); |
| 2215 |
else {
|
| 2216 |
if (TuningParameterId < VL53L1_TUNING_MAX_TUNABLE_KEY)
|
| 2217 |
BDTable[TuningParameterId] = TuningParameterValue; |
| 2218 |
else
|
| 2219 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 2220 |
} |
| 2221 |
|
| 2222 |
LOG_FUNCTION_END(Status); |
| 2223 |
return Status;
|
| 2224 |
} |
| 2225 |
|
| 2226 |
VL53L1_Error VL53L1_GetTuningParameter(VL53L1_DEV Dev, |
| 2227 |
uint16_t TuningParameterId, int32_t *pTuningParameterValue) |
| 2228 |
{
|
| 2229 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 2230 |
|
| 2231 |
LOG_FUNCTION_START("");
|
| 2232 |
|
| 2233 |
if (TuningParameterId >= 32768) |
| 2234 |
Status = VL53L1_get_tuning_parm(Dev, |
| 2235 |
TuningParameterId, |
| 2236 |
pTuningParameterValue); |
| 2237 |
else {
|
| 2238 |
if (TuningParameterId < VL53L1_TUNING_MAX_TUNABLE_KEY)
|
| 2239 |
*pTuningParameterValue = BDTable[TuningParameterId]; |
| 2240 |
else
|
| 2241 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 2242 |
} |
| 2243 |
|
| 2244 |
LOG_FUNCTION_END(Status); |
| 2245 |
return Status;
|
| 2246 |
} |
| 2247 |
|
| 2248 |
|
| 2249 |
VL53L1_Error VL53L1_PerformRefSpadManagement(VL53L1_DEV Dev) |
| 2250 |
{
|
| 2251 |
#ifdef VL53L1_NOCALIB
|
| 2252 |
VL53L1_Error Status = VL53L1_ERROR_NOT_SUPPORTED; |
| 2253 |
|
| 2254 |
SUPPRESS_UNUSED_WARNING(Dev); |
| 2255 |
|
| 2256 |
LOG_FUNCTION_START("");
|
| 2257 |
#else
|
| 2258 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 2259 |
VL53L1_Error RawStatus; |
| 2260 |
uint8_t dcrbuffer[24];
|
| 2261 |
uint8_t *comms_buffer; |
| 2262 |
uint8_t numloc[2] = {5,3}; |
| 2263 |
VL53L1_LLDriverData_t *pdev; |
| 2264 |
VL53L1_customer_nvm_managed_t *pc; |
| 2265 |
VL53L1_PresetModes PresetMode; |
| 2266 |
|
| 2267 |
LOG_FUNCTION_START("");
|
| 2268 |
|
| 2269 |
pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
| 2270 |
pc = &pdev->customer; |
| 2271 |
|
| 2272 |
if (Status == VL53L1_ERROR_NONE)
|
| 2273 |
{
|
| 2274 |
PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); |
| 2275 |
Status = VL53L1_run_ref_spad_char(Dev, &RawStatus); |
| 2276 |
/* We discovered RefSpad mngt badly breaks some preset mode
|
| 2277 |
* The WA is to apply again the current one
|
| 2278 |
*/
|
| 2279 |
if (Status == VL53L1_ERROR_NONE)
|
| 2280 |
Status = VL53L1_SetPresetMode(Dev, PresetMode); |
| 2281 |
} |
| 2282 |
|
| 2283 |
if (Status == VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH) {
|
| 2284 |
/* Fix ticket #466282 RefSpad management error/warning -29
|
| 2285 |
* force usage of location 3 and 5 refspads in registers
|
| 2286 |
*/
|
| 2287 |
Status = VL53L1_read_nvm_raw_data(Dev, |
| 2288 |
(uint8_t)(0xA0 >> 2), |
| 2289 |
(uint8_t)(24 >> 2), |
| 2290 |
dcrbuffer); |
| 2291 |
|
| 2292 |
if (Status == VL53L1_ERROR_NONE)
|
| 2293 |
Status = VL53L1_WriteMulti( Dev, |
| 2294 |
VL53L1_REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS, |
| 2295 |
numloc, 2);
|
| 2296 |
|
| 2297 |
if (Status == VL53L1_ERROR_NONE) {
|
| 2298 |
pc->ref_spad_man__num_requested_ref_spads = numloc[0];
|
| 2299 |
pc->ref_spad_man__ref_location = numloc[1];
|
| 2300 |
} |
| 2301 |
|
| 2302 |
if (Status == VL53L1_ERROR_NONE)
|
| 2303 |
comms_buffer = &dcrbuffer[16];
|
| 2304 |
|
| 2305 |
/*
|
| 2306 |
* update & copy reference SPAD enables to customer nvm managed
|
| 2307 |
*/
|
| 2308 |
|
| 2309 |
if (Status == VL53L1_ERROR_NONE)
|
| 2310 |
Status = VL53L1_WriteMulti(Dev, |
| 2311 |
VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0, |
| 2312 |
comms_buffer, 6);
|
| 2313 |
|
| 2314 |
if (Status == VL53L1_ERROR_NONE) {
|
| 2315 |
pc->global_config__spad_enables_ref_0 = comms_buffer[0];
|
| 2316 |
pc->global_config__spad_enables_ref_1 = comms_buffer[1];
|
| 2317 |
pc->global_config__spad_enables_ref_2 = comms_buffer[2];
|
| 2318 |
pc->global_config__spad_enables_ref_3 = comms_buffer[3];
|
| 2319 |
pc->global_config__spad_enables_ref_4 = comms_buffer[4];
|
| 2320 |
pc->global_config__spad_enables_ref_5 = comms_buffer[5];
|
| 2321 |
} |
| 2322 |
/* End of fix ticket #466282 */
|
| 2323 |
} |
| 2324 |
|
| 2325 |
#endif
|
| 2326 |
|
| 2327 |
LOG_FUNCTION_END(Status); |
| 2328 |
return Status;
|
| 2329 |
} |
| 2330 |
|
| 2331 |
|
| 2332 |
VL53L1_Error VL53L1_SetXTalkCompensationEnable(VL53L1_DEV Dev, |
| 2333 |
uint8_t XTalkCompensationEnable) |
| 2334 |
{
|
| 2335 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 2336 |
|
| 2337 |
LOG_FUNCTION_START("");
|
| 2338 |
|
| 2339 |
if (XTalkCompensationEnable == 0) |
| 2340 |
Status = VL53L1_disable_xtalk_compensation(Dev); |
| 2341 |
else
|
| 2342 |
Status = VL53L1_enable_xtalk_compensation(Dev); |
| 2343 |
|
| 2344 |
LOG_FUNCTION_END(Status); |
| 2345 |
return Status;
|
| 2346 |
} |
| 2347 |
|
| 2348 |
|
| 2349 |
VL53L1_Error VL53L1_GetXTalkCompensationEnable(VL53L1_DEV Dev, |
| 2350 |
uint8_t *pXTalkCompensationEnable) |
| 2351 |
{
|
| 2352 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 2353 |
|
| 2354 |
LOG_FUNCTION_START("");
|
| 2355 |
|
| 2356 |
VL53L1_get_xtalk_compensation_enable( |
| 2357 |
Dev, |
| 2358 |
pXTalkCompensationEnable); |
| 2359 |
|
| 2360 |
LOG_FUNCTION_END(Status); |
| 2361 |
return Status;
|
| 2362 |
} |
| 2363 |
|
| 2364 |
VL53L1_Error VL53L1_PerformSingleTargetXTalkCalibration(VL53L1_DEV Dev, |
| 2365 |
int32_t CalDistanceMilliMeter) |
| 2366 |
{
|
| 2367 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 2368 |
|
| 2369 |
LOG_FUNCTION_START("");
|
| 2370 |
|
| 2371 |
if (CalDistanceMilliMeter > 0) { |
| 2372 |
BDTable[VL53L1_TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM] = |
| 2373 |
CalDistanceMilliMeter; |
| 2374 |
Status = SingleTargetXTalkCalibration(Dev); |
| 2375 |
} else
|
| 2376 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 2377 |
|
| 2378 |
LOG_FUNCTION_END(Status); |
| 2379 |
return Status;
|
| 2380 |
} |
| 2381 |
|
| 2382 |
|
| 2383 |
VL53L1_Error VL53L1_SetOffsetCalibrationMode(VL53L1_DEV Dev, |
| 2384 |
VL53L1_OffsetCalibrationModes OffsetCalibrationMode) |
| 2385 |
{
|
| 2386 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 2387 |
VL53L1_OffsetCalibrationMode offset_cal_mode; |
| 2388 |
|
| 2389 |
LOG_FUNCTION_START("");
|
| 2390 |
|
| 2391 |
if (OffsetCalibrationMode == VL53L1_OFFSETCALIBRATIONMODE_STANDARD) {
|
| 2392 |
offset_cal_mode = VL53L1_DEVICEPRESETMODE_STANDARD_RANGING; |
| 2393 |
} else if (OffsetCalibrationMode == |
| 2394 |
VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY) {
|
| 2395 |
offset_cal_mode = |
| 2396 |
VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY; |
| 2397 |
} else {
|
| 2398 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 2399 |
} |
| 2400 |
|
| 2401 |
if (Status == VL53L1_ERROR_NONE)
|
| 2402 |
Status = VL53L1_set_offset_calibration_mode(Dev, |
| 2403 |
offset_cal_mode); |
| 2404 |
|
| 2405 |
LOG_FUNCTION_END(Status); |
| 2406 |
return Status;
|
| 2407 |
} |
| 2408 |
|
| 2409 |
|
| 2410 |
#ifdef OFFSET_CALIB
|
| 2411 |
VL53L1_Error VL53L1_PerformOffsetCalibration(VL53L1_DEV Dev, |
| 2412 |
int32_t CalDistanceMilliMeter) |
| 2413 |
{
|
| 2414 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 2415 |
VL53L1_Error UnfilteredStatus; |
| 2416 |
VL53L1_OffsetCalibrationMode offset_cal_mode; |
| 2417 |
|
| 2418 |
LOG_FUNCTION_START("");
|
| 2419 |
|
| 2420 |
if (Status == VL53L1_ERROR_NONE)
|
| 2421 |
Status = VL53L1_get_offset_calibration_mode(Dev, |
| 2422 |
&offset_cal_mode); |
| 2423 |
|
| 2424 |
if (Status != VL53L1_ERROR_NONE) {
|
| 2425 |
LOG_FUNCTION_END(Status); |
| 2426 |
return Status;
|
| 2427 |
} |
| 2428 |
|
| 2429 |
if ((offset_cal_mode ==
|
| 2430 |
VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD) || |
| 2431 |
(offset_cal_mode == |
| 2432 |
VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY |
| 2433 |
)) {
|
| 2434 |
if (Status == VL53L1_ERROR_NONE)
|
| 2435 |
Status = VL53L1_run_offset_calibration( |
| 2436 |
Dev, |
| 2437 |
(int16_t)CalDistanceMilliMeter, |
| 2438 |
&UnfilteredStatus); |
| 2439 |
} else {
|
| 2440 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 2441 |
} |
| 2442 |
LOG_FUNCTION_END(Status); |
| 2443 |
return Status;
|
| 2444 |
} |
| 2445 |
#endif
|
| 2446 |
#ifdef OFFSET_CALIB_EMPTY
|
| 2447 |
VL53L1_Error VL53L1_PerformOffsetCalibration(VL53L1_DEV Dev, |
| 2448 |
int32_t CalDistanceMilliMeter) |
| 2449 |
{
|
| 2450 |
VL53L1_Error Status = VL53L1_ERROR_NOT_SUPPORTED; |
| 2451 |
SUPPRESS_UNUSED_WARNING(Dev); |
| 2452 |
SUPPRESS_UNUSED_WARNING(CalDistanceMilliMeter); |
| 2453 |
return Status;
|
| 2454 |
} |
| 2455 |
#endif
|
| 2456 |
|
| 2457 |
VL53L1_Error VL53L1_PerformOffsetSimpleCalibration(VL53L1_DEV Dev, |
| 2458 |
int32_t CalDistanceMilliMeter) |
| 2459 |
{
|
| 2460 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 2461 |
int32_t sum_ranging; |
| 2462 |
uint8_t offset_meas; |
| 2463 |
int16_t Max, UnderMax, OverMax, Repeat; |
| 2464 |
int32_t total_count, inloopcount; |
| 2465 |
int32_t IncRounding; |
| 2466 |
int16_t meanDistance_mm; |
| 2467 |
int16_t offset; |
| 2468 |
VL53L1_RangingMeasurementData_t RangingMeasurementData; |
| 2469 |
VL53L1_LLDriverData_t *pdev; |
| 2470 |
uint8_t goodmeas; |
| 2471 |
|
| 2472 |
LOG_FUNCTION_START("");
|
| 2473 |
|
| 2474 |
pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
| 2475 |
/* Disable any offsets */
|
| 2476 |
pdev->customer.algo__part_to_part_range_offset_mm = 0;
|
| 2477 |
pdev->customer.mm_config__inner_offset_mm = 0;
|
| 2478 |
pdev->customer.mm_config__outer_offset_mm = 0;
|
| 2479 |
|
| 2480 |
Repeat=BDTable[VL53L1_TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT]; |
| 2481 |
Max=BDTable[VL53L1_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER]; |
| 2482 |
UnderMax = 1 + (Max / 2); |
| 2483 |
OverMax = Max + (Max / 2);
|
| 2484 |
sum_ranging = 0;
|
| 2485 |
total_count = 0;
|
| 2486 |
|
| 2487 |
while ((Repeat > 0) && (Status == VL53L1_ERROR_NONE)) { |
| 2488 |
Status = VL53L1_StartMeasurement(Dev); |
| 2489 |
/* Very first ranging completion interrupt must be ignored */
|
| 2490 |
if (Status == VL53L1_ERROR_NONE)
|
| 2491 |
Status = VL53L1_WaitMeasurementDataReady(Dev); |
| 2492 |
if (Status == VL53L1_ERROR_NONE)
|
| 2493 |
Status = VL53L1_GetRangingMeasurementData(Dev, |
| 2494 |
&RangingMeasurementData); |
| 2495 |
if (Status == VL53L1_ERROR_NONE)
|
| 2496 |
Status = VL53L1_ClearInterruptAndStartMeasurement(Dev); |
| 2497 |
/* offset calibration main loop */
|
| 2498 |
inloopcount = 0;
|
| 2499 |
offset_meas = 0;
|
| 2500 |
while ((Status == VL53L1_ERROR_NONE) && (inloopcount < Max) &&
|
| 2501 |
(offset_meas < OverMax)) {
|
| 2502 |
Status = VL53L1_WaitMeasurementDataReady(Dev); |
| 2503 |
if (Status == VL53L1_ERROR_NONE)
|
| 2504 |
Status = VL53L1_GetRangingMeasurementData(Dev, |
| 2505 |
&RangingMeasurementData); |
| 2506 |
goodmeas = (RangingMeasurementData.RangeStatus == |
| 2507 |
VL53L1_RANGESTATUS_RANGE_VALID); |
| 2508 |
if ((Status == VL53L1_ERROR_NONE) && goodmeas) {
|
| 2509 |
sum_ranging = sum_ranging + |
| 2510 |
RangingMeasurementData.RangeMilliMeter; |
| 2511 |
inloopcount++; |
| 2512 |
} |
| 2513 |
if (Status == VL53L1_ERROR_NONE) {
|
| 2514 |
Status = VL53L1_ClearInterruptAndStartMeasurement( |
| 2515 |
Dev); |
| 2516 |
} |
| 2517 |
offset_meas++; |
| 2518 |
} |
| 2519 |
total_count += inloopcount; |
| 2520 |
|
| 2521 |
/* no enough valid values found */
|
| 2522 |
if (inloopcount < UnderMax) {
|
| 2523 |
Status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL; |
| 2524 |
} |
| 2525 |
|
| 2526 |
VL53L1_StopMeasurement(Dev); |
| 2527 |
|
| 2528 |
Repeat--; |
| 2529 |
|
| 2530 |
} |
| 2531 |
/* check overflow (unlikely if target is near to the device) */
|
| 2532 |
if ((sum_ranging < 0) || |
| 2533 |
(sum_ranging > ((int32_t) total_count * 0xffff))) {
|
| 2534 |
Status = VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH; |
| 2535 |
} |
| 2536 |
|
| 2537 |
if ((Status == VL53L1_ERROR_NONE) && (total_count > 0)) { |
| 2538 |
IncRounding = total_count / 2;
|
| 2539 |
meanDistance_mm = (int16_t)((sum_ranging + IncRounding) |
| 2540 |
/ total_count); |
| 2541 |
offset = (int16_t)CalDistanceMilliMeter - meanDistance_mm; |
| 2542 |
pdev->customer.algo__part_to_part_range_offset_mm = 0;
|
| 2543 |
pdev->customer.mm_config__inner_offset_mm = offset; |
| 2544 |
pdev->customer.mm_config__outer_offset_mm = offset; |
| 2545 |
|
| 2546 |
Status = VL53L1_set_customer_nvm_managed(Dev, |
| 2547 |
&(pdev->customer)); |
| 2548 |
} |
| 2549 |
|
| 2550 |
LOG_FUNCTION_END(Status); |
| 2551 |
return Status;
|
| 2552 |
} |
| 2553 |
|
| 2554 |
VL53L1_Error VL53L1_SetCalibrationData(VL53L1_DEV Dev, |
| 2555 |
VL53L1_CalibrationData_t *pCalibrationData) |
| 2556 |
{
|
| 2557 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 2558 |
VL53L1_CustomerNvmManaged_t *pC; |
| 2559 |
VL53L1_calibration_data_t cal_data; |
| 2560 |
uint32_t x; |
| 2561 |
|
| 2562 |
LOG_FUNCTION_START("");
|
| 2563 |
|
| 2564 |
cal_data.struct_version = pCalibrationData->struct_version - |
| 2565 |
VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION; |
| 2566 |
|
| 2567 |
|
| 2568 |
|
| 2569 |
/* memcpy(DEST, SRC, N) */
|
| 2570 |
memcpy( |
| 2571 |
&(cal_data.add_off_cal_data), |
| 2572 |
&(pCalibrationData->add_off_cal_data), |
| 2573 |
sizeof(VL53L1_additional_offset_cal_data_t));
|
| 2574 |
|
| 2575 |
/* memcpy (DEST, SRC, N) */
|
| 2576 |
memcpy( |
| 2577 |
&(cal_data.optical_centre), |
| 2578 |
&(pCalibrationData->optical_centre), |
| 2579 |
sizeof(VL53L1_optical_centre_t));
|
| 2580 |
|
| 2581 |
/* memcpy (DEST, SRC, N) */
|
| 2582 |
memcpy( |
| 2583 |
&(cal_data.gain_cal), |
| 2584 |
&(pCalibrationData->gain_cal), |
| 2585 |
sizeof(VL53L1_gain_calibration_data_t));
|
| 2586 |
|
| 2587 |
/* memcpy (DEST, SRC, N) */
|
| 2588 |
memcpy( |
| 2589 |
&(cal_data.cal_peak_rate_map), |
| 2590 |
&(pCalibrationData->cal_peak_rate_map), |
| 2591 |
sizeof(VL53L1_cal_peak_rate_map_t));
|
| 2592 |
|
| 2593 |
pC = &pCalibrationData->customer; |
| 2594 |
x = pC->algo__crosstalk_compensation_plane_offset_kcps; |
| 2595 |
cal_data.customer.algo__crosstalk_compensation_plane_offset_kcps = |
| 2596 |
(uint16_t)(x&0x0000FFFF);
|
| 2597 |
|
| 2598 |
cal_data.customer.global_config__spad_enables_ref_0 = |
| 2599 |
pC->global_config__spad_enables_ref_0; |
| 2600 |
cal_data.customer.global_config__spad_enables_ref_1 = |
| 2601 |
pC->global_config__spad_enables_ref_1; |
| 2602 |
cal_data.customer.global_config__spad_enables_ref_2 = |
| 2603 |
pC->global_config__spad_enables_ref_2; |
| 2604 |
cal_data.customer.global_config__spad_enables_ref_3 = |
| 2605 |
pC->global_config__spad_enables_ref_3; |
| 2606 |
cal_data.customer.global_config__spad_enables_ref_4 = |
| 2607 |
pC->global_config__spad_enables_ref_4; |
| 2608 |
cal_data.customer.global_config__spad_enables_ref_5 = |
| 2609 |
pC->global_config__spad_enables_ref_5; |
| 2610 |
cal_data.customer.global_config__ref_en_start_select = |
| 2611 |
pC->global_config__ref_en_start_select; |
| 2612 |
cal_data.customer.ref_spad_man__num_requested_ref_spads = |
| 2613 |
pC->ref_spad_man__num_requested_ref_spads; |
| 2614 |
cal_data.customer.ref_spad_man__ref_location = |
| 2615 |
pC->ref_spad_man__ref_location; |
| 2616 |
cal_data.customer.algo__crosstalk_compensation_x_plane_gradient_kcps = |
| 2617 |
pC->algo__crosstalk_compensation_x_plane_gradient_kcps; |
| 2618 |
cal_data.customer.algo__crosstalk_compensation_y_plane_gradient_kcps = |
| 2619 |
pC->algo__crosstalk_compensation_y_plane_gradient_kcps; |
| 2620 |
cal_data.customer.ref_spad_char__total_rate_target_mcps = |
| 2621 |
pC->ref_spad_char__total_rate_target_mcps; |
| 2622 |
cal_data.customer.algo__part_to_part_range_offset_mm = |
| 2623 |
pC->algo__part_to_part_range_offset_mm; |
| 2624 |
cal_data.customer.mm_config__inner_offset_mm = |
| 2625 |
pC->mm_config__inner_offset_mm; |
| 2626 |
cal_data.customer.mm_config__outer_offset_mm = |
| 2627 |
pC->mm_config__outer_offset_mm; |
| 2628 |
|
| 2629 |
Status = VL53L1_set_part_to_part_data(Dev, &cal_data); |
| 2630 |
LOG_FUNCTION_END(Status); |
| 2631 |
return Status;
|
| 2632 |
|
| 2633 |
} |
| 2634 |
|
| 2635 |
VL53L1_Error VL53L1_GetCalibrationData(VL53L1_DEV Dev, |
| 2636 |
VL53L1_CalibrationData_t *pCalibrationData) |
| 2637 |
{
|
| 2638 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 2639 |
VL53L1_calibration_data_t cal_data; |
| 2640 |
VL53L1_CustomerNvmManaged_t *pC; |
| 2641 |
VL53L1_customer_nvm_managed_t *pC2; |
| 2642 |
|
| 2643 |
LOG_FUNCTION_START("");
|
| 2644 |
|
| 2645 |
/* struct_version is filled inside get part to part function */
|
| 2646 |
Status = VL53L1_get_part_to_part_data(Dev, &cal_data); |
| 2647 |
|
| 2648 |
pCalibrationData->struct_version = cal_data.struct_version + |
| 2649 |
VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION; |
| 2650 |
|
| 2651 |
|
| 2652 |
/* memcpy(DEST, SRC, N) */
|
| 2653 |
memcpy( |
| 2654 |
&(pCalibrationData->add_off_cal_data), |
| 2655 |
&(cal_data.add_off_cal_data), |
| 2656 |
sizeof(VL53L1_additional_offset_cal_data_t));
|
| 2657 |
|
| 2658 |
/* memcpy (DEST, SRC, N) */
|
| 2659 |
memcpy( |
| 2660 |
&(pCalibrationData->optical_centre), |
| 2661 |
&(cal_data.optical_centre), |
| 2662 |
sizeof(VL53L1_optical_centre_t));
|
| 2663 |
|
| 2664 |
/* memcpy (DEST, SRC, N) */
|
| 2665 |
memcpy( |
| 2666 |
&(pCalibrationData->gain_cal), |
| 2667 |
&(cal_data.gain_cal), |
| 2668 |
sizeof(VL53L1_gain_calibration_data_t));
|
| 2669 |
|
| 2670 |
/* memcpy (DEST, SRC, N) */
|
| 2671 |
memcpy( |
| 2672 |
&(pCalibrationData->cal_peak_rate_map), |
| 2673 |
&(cal_data.cal_peak_rate_map), |
| 2674 |
sizeof(VL53L1_cal_peak_rate_map_t));
|
| 2675 |
|
| 2676 |
|
| 2677 |
pC = &pCalibrationData->customer; |
| 2678 |
pC2 = &cal_data.customer; |
| 2679 |
pC->global_config__spad_enables_ref_0 = |
| 2680 |
pC2->global_config__spad_enables_ref_0; |
| 2681 |
pC->global_config__spad_enables_ref_1 = |
| 2682 |
pC2->global_config__spad_enables_ref_1; |
| 2683 |
pC->global_config__spad_enables_ref_2 = |
| 2684 |
pC2->global_config__spad_enables_ref_2; |
| 2685 |
pC->global_config__spad_enables_ref_3 = |
| 2686 |
pC2->global_config__spad_enables_ref_3; |
| 2687 |
pC->global_config__spad_enables_ref_4 = |
| 2688 |
pC2->global_config__spad_enables_ref_4; |
| 2689 |
pC->global_config__spad_enables_ref_5 = |
| 2690 |
pC2->global_config__spad_enables_ref_5; |
| 2691 |
pC->global_config__ref_en_start_select = |
| 2692 |
pC2->global_config__ref_en_start_select; |
| 2693 |
pC->ref_spad_man__num_requested_ref_spads = |
| 2694 |
pC2->ref_spad_man__num_requested_ref_spads; |
| 2695 |
pC->ref_spad_man__ref_location = |
| 2696 |
pC2->ref_spad_man__ref_location; |
| 2697 |
pC->algo__crosstalk_compensation_x_plane_gradient_kcps = |
| 2698 |
pC2->algo__crosstalk_compensation_x_plane_gradient_kcps; |
| 2699 |
pC->algo__crosstalk_compensation_y_plane_gradient_kcps = |
| 2700 |
pC2->algo__crosstalk_compensation_y_plane_gradient_kcps; |
| 2701 |
pC->ref_spad_char__total_rate_target_mcps = |
| 2702 |
pC2->ref_spad_char__total_rate_target_mcps; |
| 2703 |
pC->algo__part_to_part_range_offset_mm = |
| 2704 |
pC2->algo__part_to_part_range_offset_mm; |
| 2705 |
pC->mm_config__inner_offset_mm = |
| 2706 |
pC2->mm_config__inner_offset_mm; |
| 2707 |
pC->mm_config__outer_offset_mm = |
| 2708 |
pC2->mm_config__outer_offset_mm; |
| 2709 |
|
| 2710 |
pC->algo__crosstalk_compensation_plane_offset_kcps = |
| 2711 |
(uint32_t)( |
| 2712 |
pC2->algo__crosstalk_compensation_plane_offset_kcps); |
| 2713 |
LOG_FUNCTION_END(Status); |
| 2714 |
return Status;
|
| 2715 |
} |
| 2716 |
|
| 2717 |
|
| 2718 |
|
| 2719 |
VL53L1_Error VL53L1_GetOpticalCenter(VL53L1_DEV Dev, |
| 2720 |
FixPoint1616_t *pOpticalCenterX, |
| 2721 |
FixPoint1616_t *pOpticalCenterY) |
| 2722 |
{
|
| 2723 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 2724 |
VL53L1_calibration_data_t CalibrationData; |
| 2725 |
|
| 2726 |
LOG_FUNCTION_START("");
|
| 2727 |
|
| 2728 |
*pOpticalCenterX = 0;
|
| 2729 |
*pOpticalCenterY = 0;
|
| 2730 |
Status = VL53L1_get_part_to_part_data(Dev, &CalibrationData); |
| 2731 |
if (Status == VL53L1_ERROR_NONE) {
|
| 2732 |
*pOpticalCenterX = VL53L1_FIXPOINT44TOFIXPOINT1616( |
| 2733 |
CalibrationData.optical_centre.x_centre); |
| 2734 |
*pOpticalCenterY = VL53L1_FIXPOINT44TOFIXPOINT1616( |
| 2735 |
CalibrationData.optical_centre.y_centre); |
| 2736 |
} |
| 2737 |
|
| 2738 |
LOG_FUNCTION_END(Status); |
| 2739 |
return Status;
|
| 2740 |
} |
| 2741 |
|
| 2742 |
/* END Group Calibration functions */
|
| 2743 |
|
| 2744 |
|
| 2745 |
/* Group PAL detection triggered events Functions */
|
| 2746 |
|
| 2747 |
VL53L1_Error VL53L1_SetThresholdConfig(VL53L1_DEV Dev, |
| 2748 |
VL53L1_DetectionConfig_t *pConfig) |
| 2749 |
{
|
| 2750 |
#define BADTHRESBOUNDS(T) \
|
| 2751 |
(((T.CrossMode == VL53L1_THRESHOLD_OUT_OF_WINDOW) || \ |
| 2752 |
(T.CrossMode == VL53L1_THRESHOLD_IN_WINDOW)) && (T.Low > T.High)) |
| 2753 |
|
| 2754 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 2755 |
VL53L1_GPIO_interrupt_config_t Cfg; |
| 2756 |
uint16_t g; |
| 2757 |
FixPoint1616_t gain, high1616, low1616; |
| 2758 |
VL53L1_LLDriverData_t *pdev; |
| 2759 |
|
| 2760 |
LOG_FUNCTION_START("");
|
| 2761 |
|
| 2762 |
pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
| 2763 |
|
| 2764 |
Status = VL53L1_get_GPIO_interrupt_config(Dev, &Cfg); |
| 2765 |
if (Status == VL53L1_ERROR_NONE) {
|
| 2766 |
if (pConfig->DetectionMode == VL53L1_DETECTION_NORMAL_RUN) {
|
| 2767 |
Cfg.intr_new_measure_ready = 1;
|
| 2768 |
Status = VL53L1_set_GPIO_interrupt_config_struct(Dev, |
| 2769 |
Cfg); |
| 2770 |
} else {
|
| 2771 |
if (BADTHRESBOUNDS(pConfig->Distance))
|
| 2772 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 2773 |
if ((Status == VL53L1_ERROR_NONE) &&
|
| 2774 |
(BADTHRESBOUNDS(pConfig->Rate))) |
| 2775 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 2776 |
if (Status == VL53L1_ERROR_NONE) {
|
| 2777 |
Cfg.intr_new_measure_ready = 0;
|
| 2778 |
Cfg.intr_no_target = pConfig->IntrNoTarget; |
| 2779 |
/* fix ticket 466238
|
| 2780 |
* Apply invert distance gain to thresholds */
|
| 2781 |
g = pdev->gain_cal.standard_ranging_gain_factor; |
| 2782 |
/* gain is ufix 5.11, convert to 16.16 */
|
| 2783 |
gain = (FixPoint1616_t) ((uint32_t)g << 5);
|
| 2784 |
high1616 = (FixPoint1616_t) ((uint32_t) |
| 2785 |
pConfig->Distance.High << 16);
|
| 2786 |
low1616 = (FixPoint1616_t) ((uint32_t) |
| 2787 |
pConfig->Distance.Low << 16);
|
| 2788 |
/* +32768 to round the results*/
|
| 2789 |
high1616 = (high1616 + 32768) / gain;
|
| 2790 |
low1616 = (low1616 + 32768) / gain;
|
| 2791 |
Cfg.threshold_distance_high = (uint16_t) |
| 2792 |
(high1616 & 0xFFFF);
|
| 2793 |
Cfg.threshold_distance_low = (uint16_t) |
| 2794 |
(low1616 & 0xFFFF);
|
| 2795 |
/* end fix ticket 466238 */
|
| 2796 |
Cfg.threshold_rate_high = |
| 2797 |
VL53L1_FIXPOINT1616TOFIXPOINT97( |
| 2798 |
pConfig->Rate.High); |
| 2799 |
Cfg.threshold_rate_low = |
| 2800 |
VL53L1_FIXPOINT1616TOFIXPOINT97( |
| 2801 |
pConfig->Rate.Low); |
| 2802 |
|
| 2803 |
Cfg.intr_mode_distance = ConvertModeToLLD( |
| 2804 |
&Status, |
| 2805 |
pConfig->Distance.CrossMode); |
| 2806 |
if (Status == VL53L1_ERROR_NONE)
|
| 2807 |
Cfg.intr_mode_rate = ConvertModeToLLD( |
| 2808 |
&Status, |
| 2809 |
pConfig->Rate.CrossMode); |
| 2810 |
} |
| 2811 |
|
| 2812 |
/* Refine thresholds combination now */
|
| 2813 |
if (Status == VL53L1_ERROR_NONE) {
|
| 2814 |
Cfg.intr_combined_mode = 1;
|
| 2815 |
switch (pConfig->DetectionMode) {
|
| 2816 |
case VL53L1_DETECTION_DISTANCE_ONLY:
|
| 2817 |
Cfg.threshold_rate_high = 0;
|
| 2818 |
Cfg.threshold_rate_low = 0;
|
| 2819 |
break;
|
| 2820 |
case VL53L1_DETECTION_RATE_ONLY:
|
| 2821 |
Cfg.threshold_distance_high = 0;
|
| 2822 |
Cfg.threshold_distance_low = 0;
|
| 2823 |
break;
|
| 2824 |
case VL53L1_DETECTION_DISTANCE_OR_RATE:
|
| 2825 |
/* Nothing to do all is already
|
| 2826 |
* in place
|
| 2827 |
*/
|
| 2828 |
break;
|
| 2829 |
case VL53L1_DETECTION_DISTANCE_AND_RATE:
|
| 2830 |
Cfg.intr_combined_mode = 0;
|
| 2831 |
break;
|
| 2832 |
default:
|
| 2833 |
Status = VL53L1_ERROR_INVALID_PARAMS; |
| 2834 |
} |
| 2835 |
} |
| 2836 |
|
| 2837 |
if (Status == VL53L1_ERROR_NONE)
|
| 2838 |
Status = |
| 2839 |
VL53L1_set_GPIO_interrupt_config_struct(Dev, |
| 2840 |
Cfg); |
| 2841 |
|
| 2842 |
} |
| 2843 |
} |
| 2844 |
|
| 2845 |
LOG_FUNCTION_END(Status); |
| 2846 |
return Status;
|
| 2847 |
} |
| 2848 |
|
| 2849 |
|
| 2850 |
VL53L1_Error VL53L1_GetThresholdConfig(VL53L1_DEV Dev, |
| 2851 |
VL53L1_DetectionConfig_t *pConfig) |
| 2852 |
{
|
| 2853 |
VL53L1_Error Status = VL53L1_ERROR_NONE; |
| 2854 |
VL53L1_GPIO_interrupt_config_t Cfg; |
| 2855 |
|
| 2856 |
LOG_FUNCTION_START("");
|
| 2857 |
|
| 2858 |
Status = VL53L1_get_GPIO_interrupt_config(Dev, &Cfg); |
| 2859 |
|
| 2860 |
if (Status != VL53L1_ERROR_NONE) {
|
| 2861 |
LOG_FUNCTION_END(Status); |
| 2862 |
return Status;
|
| 2863 |
} |
| 2864 |
|
| 2865 |
pConfig->IntrNoTarget = Cfg.intr_no_target; |
| 2866 |
pConfig->Distance.High = Cfg.threshold_distance_high; |
| 2867 |
pConfig->Distance.Low = Cfg.threshold_distance_low; |
| 2868 |
pConfig->Rate.High = |
| 2869 |
VL53L1_FIXPOINT97TOFIXPOINT1616( |
| 2870 |
Cfg.threshold_rate_high); |
| 2871 |
pConfig->Rate.Low = |
| 2872 |
VL53L1_FIXPOINT97TOFIXPOINT1616(Cfg.threshold_rate_low); |
| 2873 |
pConfig->Distance.CrossMode = |
| 2874 |
ConvertModeFromLLD(&Status, Cfg.intr_mode_distance); |
| 2875 |
if (Status == VL53L1_ERROR_NONE)
|
| 2876 |
pConfig->Rate.CrossMode = |
| 2877 |
ConvertModeFromLLD(&Status, Cfg.intr_mode_rate); |
| 2878 |
|
| 2879 |
if (Cfg.intr_new_measure_ready == 1) { |
| 2880 |
pConfig->DetectionMode = VL53L1_DETECTION_NORMAL_RUN; |
| 2881 |
} else {
|
| 2882 |
/* Refine thresholds combination now */
|
| 2883 |
if (Status == VL53L1_ERROR_NONE) {
|
| 2884 |
if (Cfg.intr_combined_mode == 0) |
| 2885 |
pConfig->DetectionMode = |
| 2886 |
VL53L1_DETECTION_DISTANCE_AND_RATE; |
| 2887 |
else {
|
| 2888 |
if ((Cfg.threshold_distance_high == 0) && |
| 2889 |
(Cfg.threshold_distance_low == 0))
|
| 2890 |
pConfig->DetectionMode = |
| 2891 |
VL53L1_DETECTION_RATE_ONLY; |
| 2892 |
else if ((Cfg.threshold_rate_high == 0) && |
| 2893 |
(Cfg.threshold_rate_low == 0))
|
| 2894 |
pConfig->DetectionMode = |
| 2895 |
VL53L1_DETECTION_DISTANCE_ONLY; |
| 2896 |
else
|
| 2897 |
pConfig->DetectionMode = |
| 2898 |
VL53L1_DETECTION_DISTANCE_OR_RATE; |
| 2899 |
} |
| 2900 |
} |
| 2901 |
} |
| 2902 |
|
| 2903 |
LOG_FUNCTION_END(Status); |
| 2904 |
return Status;
|
| 2905 |
} |
| 2906 |
|
| 2907 |
|
| 2908 |
/* End Group PAL IRQ Triggered events Functions */
|
| 2909 |
|