amiro-lld / include / VL53L0X / v1 / Api_vl53l0x / core / src / vl53l0x_api.c @ 6ebebd4d
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| 1 | 6ebebd4d | Andre Raming | /*******************************************************************************
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| 2 | Copyright � 2016, STMicroelectronics International N.V.
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| 3 | All rights reserved.
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| 4 | |||
| 5 | Redistribution and use in source and binary forms, with or without
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| 6 | modification, are permitted provided that the following conditions are met:
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| 7 | * Redistributions of source code must retain the above copyright
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| 8 | notice, this list of conditions and the following disclaimer.
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| 9 | * Redistributions in binary form must reproduce the above copyright
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| 10 | notice, this list of conditions and the following disclaimer in the
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| 11 | documentation and/or other materials provided with the distribution.
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| 12 | * Neither the name of STMicroelectronics nor the
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| 13 | names of its contributors may be used to endorse or promote products
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| 14 | derived from this software without specific prior written permission.
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| 15 | |||
| 16 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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| 17 | ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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| 18 | WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
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| 19 | NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
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| 20 | IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
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| 21 | DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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| 22 | (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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| 23 | LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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| 24 | ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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| 25 | (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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| 26 | SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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| 27 | ******************************************************************************/
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| 28 | |||
| 29 | #include "vl53l0x_api.h" |
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| 30 | #include "vl53l0x_tuning.h" |
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| 31 | #include "vl53l0x_interrupt_threshold_settings.h" |
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| 32 | #include "vl53l0x_api_core.h" |
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| 33 | #include "vl53l0x_api_calibration.h" |
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| 34 | #include "vl53l0x_api_strings.h" |
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| 35 | |||
| 36 | //debugging
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| 37 | #include <aos_thread.h> |
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| 38 | |||
| 39 | #ifndef __KERNEL__
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| 40 | #include <stdlib.h> |
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| 41 | #endif
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| 42 | #define LOG_FUNCTION_START(fmt, ...) \
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| 43 | _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) |
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| 44 | #define LOG_FUNCTION_END(status, ...) \
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| 45 | _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) |
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| 46 | #define LOG_FUNCTION_END_FMT(status, fmt, ...) \
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| 47 | _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) |
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| 48 | |||
| 49 | #ifdef VL53L0X_LOG_ENABLE
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| 50 | #define trace_print(level, ...) trace_print_module_function(TRACE_MODULE_API, \
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| 51 | level, TRACE_FUNCTION_NONE, ##__VA_ARGS__) |
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| 52 | #endif
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| 53 | |||
| 54 | /* Group PAL General Functions */
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| 55 | |||
| 56 | VL53L0X_Error VL53L0X_GetVersion(VL53L0X_Version_t *pVersion) |
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| 57 | {
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| 58 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 59 | LOG_FUNCTION_START("");
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| 60 | |||
| 61 | pVersion->major = VL53L0X_IMPLEMENTATION_VER_MAJOR; |
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| 62 | pVersion->minor = VL53L0X_IMPLEMENTATION_VER_MINOR; |
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| 63 | pVersion->build = VL53L0X_IMPLEMENTATION_VER_SUB; |
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| 64 | |||
| 65 | pVersion->revision = VL53L0X_IMPLEMENTATION_VER_REVISION; |
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| 66 | |||
| 67 | LOG_FUNCTION_END(Status); |
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| 68 | return Status;
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| 69 | } |
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| 70 | |||
| 71 | VL53L0X_Error VL53L0X_GetPalSpecVersion(VL53L0X_Version_t *pPalSpecVersion) |
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| 72 | {
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| 73 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 74 | |||
| 75 | LOG_FUNCTION_START("");
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| 76 | |||
| 77 | pPalSpecVersion->major = VL53L0X_SPECIFICATION_VER_MAJOR; |
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| 78 | pPalSpecVersion->minor = VL53L0X_SPECIFICATION_VER_MINOR; |
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| 79 | pPalSpecVersion->build = VL53L0X_SPECIFICATION_VER_SUB; |
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| 80 | |||
| 81 | pPalSpecVersion->revision = VL53L0X_SPECIFICATION_VER_REVISION; |
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| 82 | |||
| 83 | LOG_FUNCTION_END(Status); |
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| 84 | return Status;
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| 85 | } |
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| 86 | |||
| 87 | VL53L0X_Error VL53L0X_GetProductRevision(VL53L0X_DEV Dev, |
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| 88 | uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor) |
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| 89 | {
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| 90 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 91 | uint8_t revision_id; |
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| 92 | |||
| 93 | LOG_FUNCTION_START("");
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| 94 | |||
| 95 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_IDENTIFICATION_REVISION_ID, |
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| 96 | &revision_id); |
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| 97 | *pProductRevisionMajor = 1;
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| 98 | *pProductRevisionMinor = (revision_id & 0xF0) >> 4; |
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| 99 | |||
| 100 | LOG_FUNCTION_END(Status); |
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| 101 | return Status;
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| 102 | |||
| 103 | } |
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| 104 | |||
| 105 | VL53L0X_Error VL53L0X_GetDeviceInfo(VL53L0X_DEV Dev, |
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| 106 | VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo) |
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| 107 | {
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| 108 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 109 | LOG_FUNCTION_START("");
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| 110 | |||
| 111 | Status = VL53L0X_get_device_info(Dev, pVL53L0X_DeviceInfo); |
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| 112 | |||
| 113 | LOG_FUNCTION_END(Status); |
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| 114 | return Status;
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| 115 | } |
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| 116 | |||
| 117 | VL53L0X_Error VL53L0X_GetDeviceErrorStatus(VL53L0X_DEV Dev, |
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| 118 | VL53L0X_DeviceError *pDeviceErrorStatus) |
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| 119 | {
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| 120 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 121 | uint8_t RangeStatus; |
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| 122 | |||
| 123 | LOG_FUNCTION_START("");
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| 124 | |||
| 125 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_RANGE_STATUS, |
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| 126 | &RangeStatus); |
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| 127 | |||
| 128 | *pDeviceErrorStatus = (VL53L0X_DeviceError)((RangeStatus & 0x78) >> 3); |
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| 129 | |||
| 130 | LOG_FUNCTION_END(Status); |
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| 131 | return Status;
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| 132 | } |
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| 133 | |||
| 134 | |||
| 135 | VL53L0X_Error VL53L0X_GetDeviceErrorString(VL53L0X_DeviceError ErrorCode, |
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| 136 | char *pDeviceErrorString)
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| 137 | {
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| 138 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 139 | |||
| 140 | LOG_FUNCTION_START("");
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| 141 | |||
| 142 | Status = VL53L0X_get_device_error_string(ErrorCode, pDeviceErrorString); |
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| 143 | |||
| 144 | LOG_FUNCTION_END(Status); |
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| 145 | return Status;
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| 146 | } |
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| 147 | |||
| 148 | VL53L0X_Error VL53L0X_GetRangeStatusString(uint8_t RangeStatus, |
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| 149 | char *pRangeStatusString)
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| 150 | {
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| 151 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 152 | LOG_FUNCTION_START("");
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| 153 | |||
| 154 | Status = VL53L0X_get_range_status_string(RangeStatus, |
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| 155 | pRangeStatusString); |
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| 156 | |||
| 157 | LOG_FUNCTION_END(Status); |
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| 158 | return Status;
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| 159 | } |
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| 160 | |||
| 161 | VL53L0X_Error VL53L0X_GetPalErrorString(VL53L0X_Error PalErrorCode, |
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| 162 | char *pPalErrorString)
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| 163 | {
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| 164 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 165 | LOG_FUNCTION_START("");
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| 166 | |||
| 167 | Status = VL53L0X_get_pal_error_string(PalErrorCode, pPalErrorString); |
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| 168 | |||
| 169 | LOG_FUNCTION_END(Status); |
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| 170 | return Status;
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| 171 | } |
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| 172 | |||
| 173 | VL53L0X_Error VL53L0X_GetPalStateString(VL53L0X_State PalStateCode, |
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| 174 | char *pPalStateString)
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| 175 | {
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| 176 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 177 | LOG_FUNCTION_START("");
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| 178 | |||
| 179 | Status = VL53L0X_get_pal_state_string(PalStateCode, pPalStateString); |
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| 180 | |||
| 181 | LOG_FUNCTION_END(Status); |
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| 182 | return Status;
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| 183 | } |
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| 184 | |||
| 185 | VL53L0X_Error VL53L0X_GetPalState(VL53L0X_DEV Dev, VL53L0X_State *pPalState) |
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| 186 | {
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| 187 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 188 | LOG_FUNCTION_START("");
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| 189 | |||
| 190 | *pPalState = PALDevDataGet(Dev, PalState); |
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| 191 | |||
| 192 | LOG_FUNCTION_END(Status); |
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| 193 | return Status;
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| 194 | } |
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| 195 | |||
| 196 | VL53L0X_Error VL53L0X_SetPowerMode(VL53L0X_DEV Dev, VL53L0X_PowerModes PowerMode) |
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| 197 | {
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| 198 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 199 | LOG_FUNCTION_START("");
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| 200 | |||
| 201 | /* Only level1 of Power mode exists */
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| 202 | if ((PowerMode != VL53L0X_POWERMODE_STANDBY_LEVEL1)
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| 203 | && (PowerMode != VL53L0X_POWERMODE_IDLE_LEVEL1)) {
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| 204 | Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; |
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| 205 | } else if (PowerMode == VL53L0X_POWERMODE_STANDBY_LEVEL1) { |
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| 206 | /* set the standby level1 of power mode */
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| 207 | Status = VL53L0X_WrByte(Dev, 0x80, 0x00); |
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| 208 | if (Status == VL53L0X_ERROR_NONE) {
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| 209 | /* Set PAL State to standby */
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| 210 | PALDevDataSet(Dev, PalState, VL53L0X_STATE_STANDBY); |
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| 211 | PALDevDataSet(Dev, PowerMode, |
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| 212 | VL53L0X_POWERMODE_STANDBY_LEVEL1); |
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| 213 | } |
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| 214 | |||
| 215 | } else {
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| 216 | /* VL53L0X_POWERMODE_IDLE_LEVEL1 */
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| 217 | Status = VL53L0X_WrByte(Dev, 0x80, 0x00); |
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| 218 | if (Status == VL53L0X_ERROR_NONE)
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| 219 | Status = VL53L0X_StaticInit(Dev); |
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| 220 | |||
| 221 | if (Status == VL53L0X_ERROR_NONE)
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| 222 | PALDevDataSet(Dev, PowerMode, |
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| 223 | VL53L0X_POWERMODE_IDLE_LEVEL1); |
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| 224 | |||
| 225 | } |
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| 226 | |||
| 227 | LOG_FUNCTION_END(Status); |
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| 228 | return Status;
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| 229 | } |
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| 230 | |||
| 231 | VL53L0X_Error VL53L0X_GetPowerMode(VL53L0X_DEV Dev, VL53L0X_PowerModes *pPowerMode) |
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| 232 | {
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| 233 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 234 | uint8_t Byte; |
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| 235 | LOG_FUNCTION_START("");
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| 236 | |||
| 237 | /* Only level1 of Power mode exists */
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| 238 | Status = VL53L0X_RdByte(Dev, 0x80, &Byte);
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| 239 | |||
| 240 | if (Status == VL53L0X_ERROR_NONE) {
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| 241 | if (Byte == 1) { |
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| 242 | PALDevDataSet(Dev, PowerMode, |
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| 243 | VL53L0X_POWERMODE_IDLE_LEVEL1); |
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| 244 | } else {
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| 245 | PALDevDataSet(Dev, PowerMode, |
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| 246 | VL53L0X_POWERMODE_STANDBY_LEVEL1); |
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| 247 | } |
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| 248 | } |
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| 249 | |||
| 250 | LOG_FUNCTION_END(Status); |
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| 251 | return Status;
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| 252 | } |
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| 253 | |||
| 254 | VL53L0X_Error VL53L0X_SetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, |
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| 255 | int32_t OffsetCalibrationDataMicroMeter) |
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| 256 | {
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| 257 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 258 | LOG_FUNCTION_START("");
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| 259 | |||
| 260 | Status = VL53L0X_set_offset_calibration_data_micro_meter(Dev, |
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| 261 | OffsetCalibrationDataMicroMeter); |
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| 262 | |||
| 263 | LOG_FUNCTION_END(Status); |
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| 264 | return Status;
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| 265 | } |
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| 266 | |||
| 267 | VL53L0X_Error VL53L0X_GetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, |
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| 268 | int32_t *pOffsetCalibrationDataMicroMeter) |
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| 269 | {
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| 270 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 271 | LOG_FUNCTION_START("");
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| 272 | |||
| 273 | Status = VL53L0X_get_offset_calibration_data_micro_meter(Dev, |
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| 274 | pOffsetCalibrationDataMicroMeter); |
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| 275 | |||
| 276 | LOG_FUNCTION_END(Status); |
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| 277 | return Status;
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| 278 | } |
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| 279 | |||
| 280 | VL53L0X_Error VL53L0X_SetLinearityCorrectiveGain(VL53L0X_DEV Dev, |
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| 281 | int16_t LinearityCorrectiveGain) |
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| 282 | {
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| 283 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 284 | LOG_FUNCTION_START("");
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| 285 | |||
| 286 | if ((LinearityCorrectiveGain < 0) || (LinearityCorrectiveGain > 1000)) |
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| 287 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
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| 288 | else {
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| 289 | PALDevDataSet(Dev, LinearityCorrectiveGain, |
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| 290 | LinearityCorrectiveGain); |
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| 291 | |||
| 292 | if (LinearityCorrectiveGain != 1000) { |
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| 293 | /* Disable FW Xtalk */
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| 294 | Status = VL53L0X_WrWord(Dev, |
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| 295 | VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, 0);
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| 296 | } |
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| 297 | } |
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| 298 | |||
| 299 | LOG_FUNCTION_END(Status); |
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| 300 | return Status;
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| 301 | } |
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| 302 | |||
| 303 | VL53L0X_Error VL53L0X_GetLinearityCorrectiveGain(VL53L0X_DEV Dev, |
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| 304 | uint16_t *pLinearityCorrectiveGain) |
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| 305 | {
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| 306 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 307 | LOG_FUNCTION_START("");
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| 308 | |||
| 309 | *pLinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); |
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| 310 | |||
| 311 | LOG_FUNCTION_END(Status); |
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| 312 | return Status;
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| 313 | } |
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| 314 | |||
| 315 | VL53L0X_Error VL53L0X_SetGroupParamHold(VL53L0X_DEV Dev, uint8_t GroupParamHold) |
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| 316 | {
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| 317 | VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
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| 318 | LOG_FUNCTION_START("");
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| 319 | |||
| 320 | /* not implemented on VL53L0X */
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| 321 | |||
| 322 | LOG_FUNCTION_END(Status); |
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| 323 | return Status;
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| 324 | } |
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| 325 | |||
| 326 | VL53L0X_Error VL53L0X_GetUpperLimitMilliMeter(VL53L0X_DEV Dev, |
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| 327 | uint16_t *pUpperLimitMilliMeter) |
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| 328 | {
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| 329 | VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
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| 330 | LOG_FUNCTION_START("");
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| 331 | |||
| 332 | /* not implemented on VL53L0X */
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| 333 | |||
| 334 | LOG_FUNCTION_END(Status); |
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| 335 | return Status;
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| 336 | } |
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| 337 | |||
| 338 | VL53L0X_Error VL53L0X_GetTotalSignalRate(VL53L0X_DEV Dev, |
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| 339 | FixPoint1616_t *pTotalSignalRate) |
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| 340 | {
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| 341 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 342 | VL53L0X_RangingMeasurementData_t LastRangeDataBuffer; |
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| 343 | |||
| 344 | LOG_FUNCTION_START("");
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| 345 | |||
| 346 | LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure); |
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| 347 | |||
| 348 | Status = VL53L0X_get_total_signal_rate( |
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| 349 | Dev, &LastRangeDataBuffer, pTotalSignalRate); |
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| 350 | |||
| 351 | LOG_FUNCTION_END(Status); |
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| 352 | return Status;
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| 353 | } |
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| 354 | |||
| 355 | /* End Group PAL General Functions */
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| 356 | |||
| 357 | /* Group PAL Init Functions */
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| 358 | VL53L0X_Error VL53L0X_SetDeviceAddress(VL53L0X_DEV Dev, uint8_t DeviceAddress) |
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| 359 | {
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| 360 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 361 | LOG_FUNCTION_START("");
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| 362 | |||
| 363 | |||
| 364 | |||
| 365 | |||
| 366 | |||
| 367 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, |
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| 368 | DeviceAddress); // changed to not DeviceAddress/2
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| 369 | |||
| 370 | //added
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| 371 | Dev->I2cDevAddr = DeviceAddress; |
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| 372 | |||
| 373 | |||
| 374 | LOG_FUNCTION_END(Status); |
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| 375 | return Status;
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| 376 | } |
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| 377 | |||
| 378 | VL53L0X_Error VL53L0X_DataInit(VL53L0X_DEV Dev) |
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| 379 | {
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| 380 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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| 381 | VL53L0X_DeviceParameters_t CurrentParameters; |
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| 382 | int i;
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| 383 | uint8_t StopVariable; |
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| 384 | |||
| 385 | |||
| 386 | LOG_FUNCTION_START("");
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| 387 | |||
| 388 | |||
| 389 | |||
| 390 | /* by default the I2C is running at 1V8 if you want to change it you
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| 391 | * need to include this define at compilation level. */
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| 392 | #ifdef USE_I2C_2V8
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| 393 | Status = VL53L0X_UpdateByte(Dev, |
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| 394 | VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, |
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| 395 | 0xFE,
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| 396 | 0x01);
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| 397 | #endif
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| 398 | |||
| 399 | /* Set I2C standard mode */
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| 400 | if (Status == VL53L0X_ERROR_NONE)
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| 401 | Status = VL53L0X_WrByte(Dev, 0x88, 0x00); |
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| 402 | |||
| 403 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone, 0);
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| 404 | |||
| 405 | #ifdef USE_IQC_STATION
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| 406 | if (Status == VL53L0X_ERROR_NONE)
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| 407 | Status = VL53L0X_apply_offset_adjustment(Dev); |
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| 408 | #endif
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| 409 | |||
| 410 | /* Default value is 1000 for Linearity Corrective Gain */
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| 411 | PALDevDataSet(Dev, LinearityCorrectiveGain, 1000);
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| 412 | |||
| 413 | /* Dmax default Parameter */
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| 414 | PALDevDataSet(Dev, DmaxCalRangeMilliMeter, 400);
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| 415 | PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps, |
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| 416 | (FixPoint1616_t)((0x00016B85))); /* 1.42 No Cover Glass*/ |
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| 417 | |||
| 418 | /* Set Default static parameters
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| 419 | *set first temporary values 9.44MHz * 65536 = 618660 */
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| 420 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, 618660);
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| 421 | |||
| 422 | /* Set Default XTalkCompensationRateMegaCps to 0 */
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| 423 | VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, 0);
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| 424 | |||
| 425 | /* Get default parameters */
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| 426 | Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters); |
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| 427 | if (Status == VL53L0X_ERROR_NONE) {
|
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| 428 | /* initialize PAL values */
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| 429 | CurrentParameters.DeviceMode = VL53L0X_DEVICEMODE_SINGLE_RANGING; |
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| 430 | CurrentParameters.HistogramMode = VL53L0X_HISTOGRAMMODE_DISABLED; |
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| 431 | PALDevDataSet(Dev, CurrentParameters, CurrentParameters); |
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| 432 | } |
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| 433 | |||
| 434 | /* Sigma estimator variable */
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| 435 | PALDevDataSet(Dev, SigmaEstRefArray, 100);
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| 436 | PALDevDataSet(Dev, SigmaEstEffPulseWidth, 900);
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| 437 | PALDevDataSet(Dev, SigmaEstEffAmbWidth, 500);
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| 438 | PALDevDataSet(Dev, targetRefRate, 0x0A00); /* 20 MCPS in 9:7 format */ |
||
| 439 | |||
| 440 | /* Use internal default settings */
|
||
| 441 | PALDevDataSet(Dev, UseInternalTuningSettings, 1);
|
||
| 442 | |||
| 443 | Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); |
||
| 444 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); |
||
| 445 | Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); |
||
| 446 | Status |= VL53L0X_RdByte(Dev, 0x91, &StopVariable);
|
||
| 447 | PALDevDataSet(Dev, StopVariable, StopVariable); |
||
| 448 | Status |= VL53L0X_WrByte(Dev, 0x00, 0x01); |
||
| 449 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
||
| 450 | Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); |
||
| 451 | |||
| 452 | /* Enable all check */
|
||
| 453 | for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) { |
||
| 454 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 455 | Status |= VL53L0X_SetLimitCheckEnable(Dev, i, 1);
|
||
| 456 | else
|
||
| 457 | break;
|
||
| 458 | |||
| 459 | } |
||
| 460 | |||
| 461 | /* Disable the following checks */
|
||
| 462 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 463 | Status = VL53L0X_SetLimitCheckEnable(Dev, |
||
| 464 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0);
|
||
| 465 | |||
| 466 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 467 | Status = VL53L0X_SetLimitCheckEnable(Dev, |
||
| 468 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0);
|
||
| 469 | |||
| 470 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 471 | Status = VL53L0X_SetLimitCheckEnable(Dev, |
||
| 472 | VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0);
|
||
| 473 | |||
| 474 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 475 | Status = VL53L0X_SetLimitCheckEnable(Dev, |
||
| 476 | VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0);
|
||
| 477 | |||
| 478 | /* Limit default values */
|
||
| 479 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 480 | Status = VL53L0X_SetLimitCheckValue(Dev, |
||
| 481 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
||
| 482 | (FixPoint1616_t)(18 * 65536)); |
||
| 483 | } |
||
| 484 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 485 | Status = VL53L0X_SetLimitCheckValue(Dev, |
||
| 486 | VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
||
| 487 | (FixPoint1616_t)(25 * 65536 / 100)); |
||
| 488 | /* 0.25 * 65536 */
|
||
| 489 | } |
||
| 490 | |||
| 491 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 492 | Status = VL53L0X_SetLimitCheckValue(Dev, |
||
| 493 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
||
| 494 | (FixPoint1616_t)(35 * 65536)); |
||
| 495 | } |
||
| 496 | |||
| 497 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 498 | Status = VL53L0X_SetLimitCheckValue(Dev, |
||
| 499 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
||
| 500 | (FixPoint1616_t)(0 * 65536)); |
||
| 501 | } |
||
| 502 | |||
| 503 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 504 | |||
| 505 | PALDevDataSet(Dev, SequenceConfig, 0xFF);
|
||
| 506 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
||
| 507 | 0xFF);
|
||
| 508 | |||
| 509 | /* Set PAL state to tell that we are waiting for call to
|
||
| 510 | * VL53L0X_StaticInit */
|
||
| 511 | PALDevDataSet(Dev, PalState, VL53L0X_STATE_WAIT_STATICINIT); |
||
| 512 | } |
||
| 513 | |||
| 514 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 515 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 0);
|
||
| 516 | |||
| 517 | |||
| 518 | LOG_FUNCTION_END(Status); |
||
| 519 | return Status;
|
||
| 520 | } |
||
| 521 | |||
| 522 | VL53L0X_Error VL53L0X_SetTuningSettingBuffer(VL53L0X_DEV Dev, |
||
| 523 | uint8_t *pTuningSettingBuffer, uint8_t UseInternalTuningSettings) |
||
| 524 | {
|
||
| 525 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 526 | |||
| 527 | LOG_FUNCTION_START("");
|
||
| 528 | |||
| 529 | if (UseInternalTuningSettings == 1) { |
||
| 530 | /* Force use internal settings */
|
||
| 531 | PALDevDataSet(Dev, UseInternalTuningSettings, 1);
|
||
| 532 | } else {
|
||
| 533 | |||
| 534 | /* check that the first byte is not 0 */
|
||
| 535 | if (*pTuningSettingBuffer != 0) { |
||
| 536 | PALDevDataSet(Dev, pTuningSettingsPointer, |
||
| 537 | pTuningSettingBuffer); |
||
| 538 | PALDevDataSet(Dev, UseInternalTuningSettings, 0);
|
||
| 539 | |||
| 540 | } else {
|
||
| 541 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
||
| 542 | } |
||
| 543 | } |
||
| 544 | |||
| 545 | LOG_FUNCTION_END(Status); |
||
| 546 | return Status;
|
||
| 547 | } |
||
| 548 | |||
| 549 | VL53L0X_Error VL53L0X_GetTuningSettingBuffer(VL53L0X_DEV Dev, |
||
| 550 | uint8_t **ppTuningSettingBuffer, uint8_t *pUseInternalTuningSettings) |
||
| 551 | {
|
||
| 552 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 553 | |||
| 554 | LOG_FUNCTION_START("");
|
||
| 555 | |||
| 556 | *ppTuningSettingBuffer = PALDevDataGet(Dev, pTuningSettingsPointer); |
||
| 557 | *pUseInternalTuningSettings = PALDevDataGet(Dev, |
||
| 558 | UseInternalTuningSettings); |
||
| 559 | |||
| 560 | LOG_FUNCTION_END(Status); |
||
| 561 | return Status;
|
||
| 562 | } |
||
| 563 | |||
| 564 | VL53L0X_Error VL53L0X_StaticInit(VL53L0X_DEV Dev) |
||
| 565 | {
|
||
| 566 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 567 | VL53L0X_DeviceParameters_t CurrentParameters = {0};
|
||
| 568 | uint8_t *pTuningSettingBuffer; |
||
| 569 | uint16_t tempword = 0;
|
||
| 570 | uint8_t tempbyte = 0;
|
||
| 571 | uint8_t UseInternalTuningSettings = 0;
|
||
| 572 | uint32_t count = 0;
|
||
| 573 | uint8_t isApertureSpads = 0;
|
||
| 574 | uint32_t refSpadCount = 0;
|
||
| 575 | uint8_t ApertureSpads = 0;
|
||
| 576 | uint8_t vcselPulsePeriodPCLK; |
||
| 577 | uint32_t seqTimeoutMicroSecs; |
||
| 578 | |||
| 579 | LOG_FUNCTION_START("");
|
||
| 580 | |||
| 581 | Status = VL53L0X_get_info_from_device(Dev, 1);
|
||
| 582 | |||
| 583 | /* set the ref spad from NVM */
|
||
| 584 | count = (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
||
| 585 | ReferenceSpadCount); |
||
| 586 | ApertureSpads = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
||
| 587 | ReferenceSpadType); |
||
| 588 | |||
| 589 | /* NVM value invalid */
|
||
| 590 | if ((ApertureSpads > 1) || |
||
| 591 | ((ApertureSpads == 1) && (count > 32)) || |
||
| 592 | ((ApertureSpads == 0) && (count > 12))) |
||
| 593 | Status = VL53L0X_perform_ref_spad_management(Dev, &refSpadCount, |
||
| 594 | &isApertureSpads); |
||
| 595 | else
|
||
| 596 | Status = VL53L0X_set_reference_spads(Dev, count, ApertureSpads); |
||
| 597 | |||
| 598 | |||
| 599 | /* Initialize tuning settings buffer to prevent compiler warning. */
|
||
| 600 | pTuningSettingBuffer = DefaultTuningSettings; |
||
| 601 | |||
| 602 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 603 | UseInternalTuningSettings = PALDevDataGet(Dev, |
||
| 604 | UseInternalTuningSettings); |
||
| 605 | |||
| 606 | if (UseInternalTuningSettings == 0) |
||
| 607 | pTuningSettingBuffer = PALDevDataGet(Dev, |
||
| 608 | pTuningSettingsPointer); |
||
| 609 | else
|
||
| 610 | pTuningSettingBuffer = DefaultTuningSettings; |
||
| 611 | |||
| 612 | } |
||
| 613 | |||
| 614 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 615 | Status = VL53L0X_load_tuning_settings(Dev, pTuningSettingBuffer); |
||
| 616 | |||
| 617 | |||
| 618 | /* Set interrupt config to new sample ready */
|
||
| 619 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 620 | Status = VL53L0X_SetGpioConfig(Dev, 0, 0, |
||
| 621 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY, |
||
| 622 | VL53L0X_INTERRUPTPOLARITY_LOW); |
||
| 623 | } |
||
| 624 | |||
| 625 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 626 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
||
| 627 | Status |= VL53L0X_RdWord(Dev, 0x84, &tempword);
|
||
| 628 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
||
| 629 | } |
||
| 630 | |||
| 631 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 632 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, |
||
| 633 | VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword)); |
||
| 634 | } |
||
| 635 | |||
| 636 | /* After static init, some device parameters may be changed,
|
||
| 637 | * so update them */
|
||
| 638 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 639 | Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters); |
||
| 640 | |||
| 641 | |||
| 642 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 643 | Status = VL53L0X_GetFractionEnable(Dev, &tempbyte); |
||
| 644 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 645 | PALDevDataSet(Dev, RangeFractionalEnable, tempbyte); |
||
| 646 | |||
| 647 | } |
||
| 648 | |||
| 649 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 650 | PALDevDataSet(Dev, CurrentParameters, CurrentParameters); |
||
| 651 | |||
| 652 | |||
| 653 | /* read the sequence config and save it */
|
||
| 654 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 655 | Status = VL53L0X_RdByte(Dev, |
||
| 656 | VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte); |
||
| 657 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 658 | PALDevDataSet(Dev, SequenceConfig, tempbyte); |
||
| 659 | |||
| 660 | } |
||
| 661 | |||
| 662 | /* Disable MSRC and TCC by default */
|
||
| 663 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 664 | Status = VL53L0X_SetSequenceStepEnable(Dev, |
||
| 665 | VL53L0X_SEQUENCESTEP_TCC, 0);
|
||
| 666 | |||
| 667 | |||
| 668 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 669 | Status = VL53L0X_SetSequenceStepEnable(Dev, |
||
| 670 | VL53L0X_SEQUENCESTEP_MSRC, 0);
|
||
| 671 | |||
| 672 | |||
| 673 | /* Set PAL State to standby */
|
||
| 674 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 675 | PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); |
||
| 676 | |||
| 677 | |||
| 678 | |||
| 679 | /* Store pre-range vcsel period */
|
||
| 680 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 681 | Status = VL53L0X_GetVcselPulsePeriod( |
||
| 682 | Dev, |
||
| 683 | VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
||
| 684 | &vcselPulsePeriodPCLK); |
||
| 685 | } |
||
| 686 | |||
| 687 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 688 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
||
| 689 | Dev, |
||
| 690 | PreRangeVcselPulsePeriod, |
||
| 691 | vcselPulsePeriodPCLK); |
||
| 692 | } |
||
| 693 | |||
| 694 | /* Store final-range vcsel period */
|
||
| 695 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 696 | Status = VL53L0X_GetVcselPulsePeriod( |
||
| 697 | Dev, |
||
| 698 | VL53L0X_VCSEL_PERIOD_FINAL_RANGE, |
||
| 699 | &vcselPulsePeriodPCLK); |
||
| 700 | } |
||
| 701 | |||
| 702 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 703 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
||
| 704 | Dev, |
||
| 705 | FinalRangeVcselPulsePeriod, |
||
| 706 | vcselPulsePeriodPCLK); |
||
| 707 | } |
||
| 708 | |||
| 709 | /* Store pre-range timeout */
|
||
| 710 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 711 | Status = get_sequence_step_timeout( |
||
| 712 | Dev, |
||
| 713 | VL53L0X_SEQUENCESTEP_PRE_RANGE, |
||
| 714 | &seqTimeoutMicroSecs); |
||
| 715 | } |
||
| 716 | |||
| 717 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 718 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
||
| 719 | Dev, |
||
| 720 | PreRangeTimeoutMicroSecs, |
||
| 721 | seqTimeoutMicroSecs); |
||
| 722 | } |
||
| 723 | |||
| 724 | /* Store final-range timeout */
|
||
| 725 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 726 | Status = get_sequence_step_timeout( |
||
| 727 | Dev, |
||
| 728 | VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
||
| 729 | &seqTimeoutMicroSecs); |
||
| 730 | } |
||
| 731 | |||
| 732 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 733 | VL53L0X_SETDEVICESPECIFICPARAMETER( |
||
| 734 | Dev, |
||
| 735 | FinalRangeTimeoutMicroSecs, |
||
| 736 | seqTimeoutMicroSecs); |
||
| 737 | } |
||
| 738 | |||
| 739 | LOG_FUNCTION_END(Status); |
||
| 740 | return Status;
|
||
| 741 | } |
||
| 742 | |||
| 743 | VL53L0X_Error VL53L0X_WaitDeviceBooted(VL53L0X_DEV Dev) |
||
| 744 | {
|
||
| 745 | VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
||
| 746 | LOG_FUNCTION_START("");
|
||
| 747 | |||
| 748 | /* not implemented on VL53L0X */
|
||
| 749 | |||
| 750 | LOG_FUNCTION_END(Status); |
||
| 751 | return Status;
|
||
| 752 | } |
||
| 753 | |||
| 754 | VL53L0X_Error VL53L0X_ResetDevice(VL53L0X_DEV Dev) |
||
| 755 | {
|
||
| 756 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 757 | uint8_t Byte; |
||
| 758 | LOG_FUNCTION_START("");
|
||
| 759 | |||
| 760 | /* Set reset bit */
|
||
| 761 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N, |
||
| 762 | 0x00);
|
||
| 763 | |||
| 764 | /* Wait for some time */
|
||
| 765 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 766 | do {
|
||
| 767 | Status = VL53L0X_RdByte(Dev, |
||
| 768 | VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Byte); |
||
| 769 | } while (Byte != 0x00); |
||
| 770 | } |
||
| 771 | |||
| 772 | //VL53L0X_PollingDelay(Dev); TODO NEED THIS ??
|
||
| 773 | |||
| 774 | /* Release reset */
|
||
| 775 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N, |
||
| 776 | 0x01);
|
||
| 777 | |||
| 778 | /* Wait until correct boot-up of the device */
|
||
| 779 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 780 | do {
|
||
| 781 | Status = VL53L0X_RdByte(Dev, |
||
| 782 | VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Byte); |
||
| 783 | } while (Byte == 0x00); |
||
| 784 | } |
||
| 785 | |||
| 786 | //VL53L0X_PollingDelay(Dev); TODO NEED THIS ??
|
||
| 787 | |||
| 788 | /* Set PAL State to VL53L0X_STATE_POWERDOWN */
|
||
| 789 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 790 | PALDevDataSet(Dev, PalState, VL53L0X_STATE_POWERDOWN); |
||
| 791 | |||
| 792 | |||
| 793 | LOG_FUNCTION_END(Status); |
||
| 794 | return Status;
|
||
| 795 | } |
||
| 796 | /* End Group PAL Init Functions */
|
||
| 797 | |||
| 798 | /* Group PAL Parameters Functions */
|
||
| 799 | VL53L0X_Error VL53L0X_SetDeviceParameters(VL53L0X_DEV Dev, |
||
| 800 | const VL53L0X_DeviceParameters_t *pDeviceParameters)
|
||
| 801 | {
|
||
| 802 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 803 | int i;
|
||
| 804 | LOG_FUNCTION_START("");
|
||
| 805 | Status = VL53L0X_SetDeviceMode(Dev, pDeviceParameters->DeviceMode); |
||
| 806 | |||
| 807 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 808 | Status = VL53L0X_SetInterMeasurementPeriodMilliSeconds(Dev, |
||
| 809 | pDeviceParameters->InterMeasurementPeriodMilliSeconds); |
||
| 810 | |||
| 811 | |||
| 812 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 813 | Status = VL53L0X_SetXTalkCompensationRateMegaCps(Dev, |
||
| 814 | pDeviceParameters->XTalkCompensationRateMegaCps); |
||
| 815 | |||
| 816 | |||
| 817 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 818 | Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(Dev, |
||
| 819 | pDeviceParameters->RangeOffsetMicroMeters); |
||
| 820 | |||
| 821 | |||
| 822 | for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) { |
||
| 823 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 824 | Status |= VL53L0X_SetLimitCheckEnable(Dev, i, |
||
| 825 | pDeviceParameters->LimitChecksEnable[i]); |
||
| 826 | else
|
||
| 827 | break;
|
||
| 828 | |||
| 829 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 830 | Status |= VL53L0X_SetLimitCheckValue(Dev, i, |
||
| 831 | pDeviceParameters->LimitChecksValue[i]); |
||
| 832 | else
|
||
| 833 | break;
|
||
| 834 | |||
| 835 | } |
||
| 836 | |||
| 837 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 838 | Status = VL53L0X_SetWrapAroundCheckEnable(Dev, |
||
| 839 | pDeviceParameters->WrapAroundCheckEnable); |
||
| 840 | |||
| 841 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 842 | Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, |
||
| 843 | pDeviceParameters->MeasurementTimingBudgetMicroSeconds); |
||
| 844 | |||
| 845 | |||
| 846 | LOG_FUNCTION_END(Status); |
||
| 847 | return Status;
|
||
| 848 | } |
||
| 849 | |||
| 850 | VL53L0X_Error VL53L0X_GetDeviceParameters(VL53L0X_DEV Dev, |
||
| 851 | VL53L0X_DeviceParameters_t *pDeviceParameters) |
||
| 852 | {
|
||
| 853 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 854 | int i;
|
||
| 855 | |||
| 856 | LOG_FUNCTION_START("");
|
||
| 857 | |||
| 858 | Status = VL53L0X_GetDeviceMode(Dev, &(pDeviceParameters->DeviceMode)); |
||
| 859 | |||
| 860 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 861 | Status = VL53L0X_GetInterMeasurementPeriodMilliSeconds(Dev, |
||
| 862 | &(pDeviceParameters->InterMeasurementPeriodMilliSeconds)); |
||
| 863 | |||
| 864 | |||
| 865 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 866 | pDeviceParameters->XTalkCompensationEnable = 0;
|
||
| 867 | |||
| 868 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 869 | Status = VL53L0X_GetXTalkCompensationRateMegaCps(Dev, |
||
| 870 | &(pDeviceParameters->XTalkCompensationRateMegaCps)); |
||
| 871 | |||
| 872 | |||
| 873 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 874 | Status = VL53L0X_GetOffsetCalibrationDataMicroMeter(Dev, |
||
| 875 | &(pDeviceParameters->RangeOffsetMicroMeters)); |
||
| 876 | |||
| 877 | |||
| 878 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 879 | for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) { |
||
| 880 | /* get first the values, then the enables.
|
||
| 881 | * VL53L0X_GetLimitCheckValue will modify the enable
|
||
| 882 | * flags
|
||
| 883 | */
|
||
| 884 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 885 | Status |= VL53L0X_GetLimitCheckValue(Dev, i, |
||
| 886 | &(pDeviceParameters->LimitChecksValue[i])); |
||
| 887 | } else {
|
||
| 888 | break;
|
||
| 889 | } |
||
| 890 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 891 | Status |= VL53L0X_GetLimitCheckEnable(Dev, i, |
||
| 892 | &(pDeviceParameters->LimitChecksEnable[i])); |
||
| 893 | } else {
|
||
| 894 | break;
|
||
| 895 | } |
||
| 896 | } |
||
| 897 | } |
||
| 898 | |||
| 899 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 900 | Status = VL53L0X_GetWrapAroundCheckEnable(Dev, |
||
| 901 | &(pDeviceParameters->WrapAroundCheckEnable)); |
||
| 902 | } |
||
| 903 | |||
| 904 | /* Need to be done at the end as it uses VCSELPulsePeriod */
|
||
| 905 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 906 | Status = VL53L0X_GetMeasurementTimingBudgetMicroSeconds(Dev, |
||
| 907 | &(pDeviceParameters->MeasurementTimingBudgetMicroSeconds)); |
||
| 908 | } |
||
| 909 | |||
| 910 | LOG_FUNCTION_END(Status); |
||
| 911 | return Status;
|
||
| 912 | } |
||
| 913 | |||
| 914 | VL53L0X_Error VL53L0X_SetDeviceMode(VL53L0X_DEV Dev, VL53L0X_DeviceModes DeviceMode) |
||
| 915 | {
|
||
| 916 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 917 | |||
| 918 | LOG_FUNCTION_START("%d", (int)DeviceMode); |
||
| 919 | |||
| 920 | switch (DeviceMode) {
|
||
| 921 | case VL53L0X_DEVICEMODE_SINGLE_RANGING:
|
||
| 922 | case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
|
||
| 923 | case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
|
||
| 924 | case VL53L0X_DEVICEMODE_GPIO_DRIVE:
|
||
| 925 | case VL53L0X_DEVICEMODE_GPIO_OSC:
|
||
| 926 | /* Supported modes */
|
||
| 927 | VL53L0X_SETPARAMETERFIELD(Dev, DeviceMode, DeviceMode); |
||
| 928 | break;
|
||
| 929 | default:
|
||
| 930 | /* Unsupported mode */
|
||
| 931 | Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; |
||
| 932 | } |
||
| 933 | |||
| 934 | LOG_FUNCTION_END(Status); |
||
| 935 | return Status;
|
||
| 936 | } |
||
| 937 | |||
| 938 | VL53L0X_Error VL53L0X_GetDeviceMode(VL53L0X_DEV Dev, |
||
| 939 | VL53L0X_DeviceModes *pDeviceMode) |
||
| 940 | {
|
||
| 941 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 942 | LOG_FUNCTION_START("");
|
||
| 943 | |||
| 944 | VL53L0X_GETPARAMETERFIELD(Dev, DeviceMode, *pDeviceMode); |
||
| 945 | |||
| 946 | LOG_FUNCTION_END(Status); |
||
| 947 | return Status;
|
||
| 948 | } |
||
| 949 | |||
| 950 | VL53L0X_Error VL53L0X_SetRangeFractionEnable(VL53L0X_DEV Dev, uint8_t Enable) |
||
| 951 | {
|
||
| 952 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 953 | |||
| 954 | LOG_FUNCTION_START("%d", (int)Enable); |
||
| 955 | |||
| 956 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, Enable); |
||
| 957 | |||
| 958 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 959 | PALDevDataSet(Dev, RangeFractionalEnable, Enable); |
||
| 960 | |||
| 961 | LOG_FUNCTION_END(Status); |
||
| 962 | return Status;
|
||
| 963 | } |
||
| 964 | |||
| 965 | VL53L0X_Error VL53L0X_GetFractionEnable(VL53L0X_DEV Dev, uint8_t *pEnabled) |
||
| 966 | {
|
||
| 967 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 968 | LOG_FUNCTION_START("");
|
||
| 969 | |||
| 970 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, pEnabled); |
||
| 971 | |||
| 972 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 973 | *pEnabled = (*pEnabled & 1);
|
||
| 974 | |||
| 975 | LOG_FUNCTION_END(Status); |
||
| 976 | return Status;
|
||
| 977 | } |
||
| 978 | |||
| 979 | VL53L0X_Error VL53L0X_SetHistogramMode(VL53L0X_DEV Dev, |
||
| 980 | VL53L0X_HistogramModes HistogramMode) |
||
| 981 | {
|
||
| 982 | VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
||
| 983 | LOG_FUNCTION_START("");
|
||
| 984 | |||
| 985 | /* not implemented on VL53L0X */
|
||
| 986 | |||
| 987 | LOG_FUNCTION_END(Status); |
||
| 988 | return Status;
|
||
| 989 | } |
||
| 990 | |||
| 991 | VL53L0X_Error VL53L0X_GetHistogramMode(VL53L0X_DEV Dev, |
||
| 992 | VL53L0X_HistogramModes *pHistogramMode) |
||
| 993 | {
|
||
| 994 | VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
||
| 995 | LOG_FUNCTION_START("");
|
||
| 996 | |||
| 997 | /* not implemented on VL53L0X */
|
||
| 998 | |||
| 999 | LOG_FUNCTION_END(Status); |
||
| 1000 | return Status;
|
||
| 1001 | } |
||
| 1002 | |||
| 1003 | VL53L0X_Error VL53L0X_SetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev, |
||
| 1004 | uint32_t MeasurementTimingBudgetMicroSeconds) |
||
| 1005 | {
|
||
| 1006 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1007 | LOG_FUNCTION_START("");
|
||
| 1008 | |||
| 1009 | Status = VL53L0X_set_measurement_timing_budget_micro_seconds(Dev, |
||
| 1010 | MeasurementTimingBudgetMicroSeconds); |
||
| 1011 | |||
| 1012 | LOG_FUNCTION_END(Status); |
||
| 1013 | |||
| 1014 | return Status;
|
||
| 1015 | } |
||
| 1016 | |||
| 1017 | VL53L0X_Error VL53L0X_GetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev, |
||
| 1018 | uint32_t *pMeasurementTimingBudgetMicroSeconds) |
||
| 1019 | {
|
||
| 1020 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1021 | LOG_FUNCTION_START("");
|
||
| 1022 | |||
| 1023 | Status = VL53L0X_get_measurement_timing_budget_micro_seconds(Dev, |
||
| 1024 | pMeasurementTimingBudgetMicroSeconds); |
||
| 1025 | |||
| 1026 | LOG_FUNCTION_END(Status); |
||
| 1027 | return Status;
|
||
| 1028 | } |
||
| 1029 | |||
| 1030 | VL53L0X_Error VL53L0X_SetVcselPulsePeriod(VL53L0X_DEV Dev, |
||
| 1031 | VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK) |
||
| 1032 | {
|
||
| 1033 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1034 | LOG_FUNCTION_START("");
|
||
| 1035 | |||
| 1036 | Status = VL53L0X_set_vcsel_pulse_period(Dev, VcselPeriodType, |
||
| 1037 | VCSELPulsePeriodPCLK); |
||
| 1038 | |||
| 1039 | LOG_FUNCTION_END(Status); |
||
| 1040 | return Status;
|
||
| 1041 | } |
||
| 1042 | |||
| 1043 | VL53L0X_Error VL53L0X_GetVcselPulsePeriod(VL53L0X_DEV Dev, |
||
| 1044 | VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK) |
||
| 1045 | {
|
||
| 1046 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1047 | LOG_FUNCTION_START("");
|
||
| 1048 | |||
| 1049 | Status = VL53L0X_get_vcsel_pulse_period(Dev, VcselPeriodType, |
||
| 1050 | pVCSELPulsePeriodPCLK); |
||
| 1051 | |||
| 1052 | LOG_FUNCTION_END(Status); |
||
| 1053 | return Status;
|
||
| 1054 | } |
||
| 1055 | |||
| 1056 | VL53L0X_Error VL53L0X_SetSequenceStepEnable(VL53L0X_DEV Dev, |
||
| 1057 | VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled) |
||
| 1058 | {
|
||
| 1059 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1060 | uint8_t SequenceConfig = 0;
|
||
| 1061 | uint8_t SequenceConfigNew = 0;
|
||
| 1062 | uint32_t MeasurementTimingBudgetMicroSeconds; |
||
| 1063 | LOG_FUNCTION_START("");
|
||
| 1064 | |||
| 1065 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
||
| 1066 | &SequenceConfig); |
||
| 1067 | |||
| 1068 | SequenceConfigNew = SequenceConfig; |
||
| 1069 | |||
| 1070 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1071 | if (SequenceStepEnabled == 1) { |
||
| 1072 | |||
| 1073 | /* Enable requested sequence step
|
||
| 1074 | */
|
||
| 1075 | switch (SequenceStepId) {
|
||
| 1076 | case VL53L0X_SEQUENCESTEP_TCC:
|
||
| 1077 | SequenceConfigNew |= 0x10;
|
||
| 1078 | break;
|
||
| 1079 | case VL53L0X_SEQUENCESTEP_DSS:
|
||
| 1080 | SequenceConfigNew |= 0x28;
|
||
| 1081 | break;
|
||
| 1082 | case VL53L0X_SEQUENCESTEP_MSRC:
|
||
| 1083 | SequenceConfigNew |= 0x04;
|
||
| 1084 | break;
|
||
| 1085 | case VL53L0X_SEQUENCESTEP_PRE_RANGE:
|
||
| 1086 | SequenceConfigNew |= 0x40;
|
||
| 1087 | break;
|
||
| 1088 | case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
|
||
| 1089 | SequenceConfigNew |= 0x80;
|
||
| 1090 | break;
|
||
| 1091 | default:
|
||
| 1092 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
||
| 1093 | } |
||
| 1094 | } else {
|
||
| 1095 | /* Disable requested sequence step
|
||
| 1096 | */
|
||
| 1097 | switch (SequenceStepId) {
|
||
| 1098 | case VL53L0X_SEQUENCESTEP_TCC:
|
||
| 1099 | SequenceConfigNew &= 0xef;
|
||
| 1100 | break;
|
||
| 1101 | case VL53L0X_SEQUENCESTEP_DSS:
|
||
| 1102 | SequenceConfigNew &= 0xd7;
|
||
| 1103 | break;
|
||
| 1104 | case VL53L0X_SEQUENCESTEP_MSRC:
|
||
| 1105 | SequenceConfigNew &= 0xfb;
|
||
| 1106 | break;
|
||
| 1107 | case VL53L0X_SEQUENCESTEP_PRE_RANGE:
|
||
| 1108 | SequenceConfigNew &= 0xbf;
|
||
| 1109 | break;
|
||
| 1110 | case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
|
||
| 1111 | SequenceConfigNew &= 0x7f;
|
||
| 1112 | break;
|
||
| 1113 | default:
|
||
| 1114 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
||
| 1115 | } |
||
| 1116 | } |
||
| 1117 | } |
||
| 1118 | |||
| 1119 | if (SequenceConfigNew != SequenceConfig) {
|
||
| 1120 | /* Apply New Setting */
|
||
| 1121 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1122 | Status = VL53L0X_WrByte(Dev, |
||
| 1123 | VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, SequenceConfigNew); |
||
| 1124 | } |
||
| 1125 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 1126 | PALDevDataSet(Dev, SequenceConfig, SequenceConfigNew); |
||
| 1127 | |||
| 1128 | |||
| 1129 | /* Recalculate timing budget */
|
||
| 1130 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1131 | VL53L0X_GETPARAMETERFIELD(Dev, |
||
| 1132 | MeasurementTimingBudgetMicroSeconds, |
||
| 1133 | MeasurementTimingBudgetMicroSeconds); |
||
| 1134 | |||
| 1135 | VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, |
||
| 1136 | MeasurementTimingBudgetMicroSeconds); |
||
| 1137 | } |
||
| 1138 | } |
||
| 1139 | |||
| 1140 | LOG_FUNCTION_END(Status); |
||
| 1141 | |||
| 1142 | return Status;
|
||
| 1143 | } |
||
| 1144 | |||
| 1145 | VL53L0X_Error sequence_step_enabled(VL53L0X_DEV Dev, |
||
| 1146 | VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceConfig, |
||
| 1147 | uint8_t *pSequenceStepEnabled) |
||
| 1148 | {
|
||
| 1149 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1150 | *pSequenceStepEnabled = 0;
|
||
| 1151 | LOG_FUNCTION_START("");
|
||
| 1152 | |||
| 1153 | switch (SequenceStepId) {
|
||
| 1154 | case VL53L0X_SEQUENCESTEP_TCC:
|
||
| 1155 | *pSequenceStepEnabled = (SequenceConfig & 0x10) >> 4; |
||
| 1156 | break;
|
||
| 1157 | case VL53L0X_SEQUENCESTEP_DSS:
|
||
| 1158 | *pSequenceStepEnabled = (SequenceConfig & 0x08) >> 3; |
||
| 1159 | break;
|
||
| 1160 | case VL53L0X_SEQUENCESTEP_MSRC:
|
||
| 1161 | *pSequenceStepEnabled = (SequenceConfig & 0x04) >> 2; |
||
| 1162 | break;
|
||
| 1163 | case VL53L0X_SEQUENCESTEP_PRE_RANGE:
|
||
| 1164 | *pSequenceStepEnabled = (SequenceConfig & 0x40) >> 6; |
||
| 1165 | break;
|
||
| 1166 | case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
|
||
| 1167 | *pSequenceStepEnabled = (SequenceConfig & 0x80) >> 7; |
||
| 1168 | break;
|
||
| 1169 | default:
|
||
| 1170 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
||
| 1171 | } |
||
| 1172 | |||
| 1173 | LOG_FUNCTION_END(Status); |
||
| 1174 | return Status;
|
||
| 1175 | } |
||
| 1176 | |||
| 1177 | VL53L0X_Error VL53L0X_GetSequenceStepEnable(VL53L0X_DEV Dev, |
||
| 1178 | VL53L0X_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled) |
||
| 1179 | {
|
||
| 1180 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1181 | uint8_t SequenceConfig = 0;
|
||
| 1182 | LOG_FUNCTION_START("");
|
||
| 1183 | |||
| 1184 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
||
| 1185 | &SequenceConfig); |
||
| 1186 | |||
| 1187 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1188 | Status = sequence_step_enabled(Dev, SequenceStepId, |
||
| 1189 | SequenceConfig, pSequenceStepEnabled); |
||
| 1190 | } |
||
| 1191 | |||
| 1192 | LOG_FUNCTION_END(Status); |
||
| 1193 | return Status;
|
||
| 1194 | } |
||
| 1195 | |||
| 1196 | VL53L0X_Error VL53L0X_GetSequenceStepEnables(VL53L0X_DEV Dev, |
||
| 1197 | VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps) |
||
| 1198 | {
|
||
| 1199 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1200 | uint8_t SequenceConfig = 0;
|
||
| 1201 | LOG_FUNCTION_START("");
|
||
| 1202 | |||
| 1203 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, |
||
| 1204 | &SequenceConfig); |
||
| 1205 | |||
| 1206 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1207 | Status = sequence_step_enabled(Dev, |
||
| 1208 | VL53L0X_SEQUENCESTEP_TCC, SequenceConfig, |
||
| 1209 | &pSchedulerSequenceSteps->TccOn); |
||
| 1210 | } |
||
| 1211 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1212 | Status = sequence_step_enabled(Dev, |
||
| 1213 | VL53L0X_SEQUENCESTEP_DSS, SequenceConfig, |
||
| 1214 | &pSchedulerSequenceSteps->DssOn); |
||
| 1215 | } |
||
| 1216 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1217 | Status = sequence_step_enabled(Dev, |
||
| 1218 | VL53L0X_SEQUENCESTEP_MSRC, SequenceConfig, |
||
| 1219 | &pSchedulerSequenceSteps->MsrcOn); |
||
| 1220 | } |
||
| 1221 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1222 | Status = sequence_step_enabled(Dev, |
||
| 1223 | VL53L0X_SEQUENCESTEP_PRE_RANGE, SequenceConfig, |
||
| 1224 | &pSchedulerSequenceSteps->PreRangeOn); |
||
| 1225 | } |
||
| 1226 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1227 | Status = sequence_step_enabled(Dev, |
||
| 1228 | VL53L0X_SEQUENCESTEP_FINAL_RANGE, SequenceConfig, |
||
| 1229 | &pSchedulerSequenceSteps->FinalRangeOn); |
||
| 1230 | } |
||
| 1231 | |||
| 1232 | LOG_FUNCTION_END(Status); |
||
| 1233 | return Status;
|
||
| 1234 | } |
||
| 1235 | |||
| 1236 | VL53L0X_Error VL53L0X_GetNumberOfSequenceSteps(VL53L0X_DEV Dev, |
||
| 1237 | uint8_t *pNumberOfSequenceSteps) |
||
| 1238 | {
|
||
| 1239 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1240 | LOG_FUNCTION_START("");
|
||
| 1241 | |||
| 1242 | *pNumberOfSequenceSteps = VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS; |
||
| 1243 | |||
| 1244 | LOG_FUNCTION_END(Status); |
||
| 1245 | return Status;
|
||
| 1246 | } |
||
| 1247 | |||
| 1248 | VL53L0X_Error VL53L0X_GetSequenceStepsInfo(VL53L0X_SequenceStepId SequenceStepId, |
||
| 1249 | char *pSequenceStepsString)
|
||
| 1250 | {
|
||
| 1251 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1252 | LOG_FUNCTION_START("");
|
||
| 1253 | |||
| 1254 | Status = VL53L0X_get_sequence_steps_info( |
||
| 1255 | SequenceStepId, |
||
| 1256 | pSequenceStepsString); |
||
| 1257 | |||
| 1258 | LOG_FUNCTION_END(Status); |
||
| 1259 | |||
| 1260 | return Status;
|
||
| 1261 | } |
||
| 1262 | |||
| 1263 | VL53L0X_Error VL53L0X_SetSequenceStepTimeout(VL53L0X_DEV Dev, |
||
| 1264 | VL53L0X_SequenceStepId SequenceStepId, FixPoint1616_t TimeOutMilliSecs) |
||
| 1265 | {
|
||
| 1266 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1267 | VL53L0X_Error Status1 = VL53L0X_ERROR_NONE; |
||
| 1268 | uint32_t TimeoutMicroSeconds = ((TimeOutMilliSecs * 1000) + 0x8000) |
||
| 1269 | >> 16;
|
||
| 1270 | uint32_t MeasurementTimingBudgetMicroSeconds; |
||
| 1271 | FixPoint1616_t OldTimeOutMicroSeconds; |
||
| 1272 | |||
| 1273 | LOG_FUNCTION_START("");
|
||
| 1274 | |||
| 1275 | /* Read back the current value in case we need to revert back to this.
|
||
| 1276 | */
|
||
| 1277 | Status = get_sequence_step_timeout(Dev, SequenceStepId, |
||
| 1278 | &OldTimeOutMicroSeconds); |
||
| 1279 | |||
| 1280 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1281 | Status = set_sequence_step_timeout(Dev, SequenceStepId, |
||
| 1282 | TimeoutMicroSeconds); |
||
| 1283 | } |
||
| 1284 | |||
| 1285 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1286 | VL53L0X_GETPARAMETERFIELD(Dev, |
||
| 1287 | MeasurementTimingBudgetMicroSeconds, |
||
| 1288 | MeasurementTimingBudgetMicroSeconds); |
||
| 1289 | |||
| 1290 | /* At this point we don't know if the requested value is valid,
|
||
| 1291 | therefore proceed to update the entire timing budget and
|
||
| 1292 | if this fails, revert back to the previous value.
|
||
| 1293 | */
|
||
| 1294 | Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, |
||
| 1295 | MeasurementTimingBudgetMicroSeconds); |
||
| 1296 | |||
| 1297 | if (Status != VL53L0X_ERROR_NONE) {
|
||
| 1298 | Status1 = set_sequence_step_timeout(Dev, SequenceStepId, |
||
| 1299 | OldTimeOutMicroSeconds); |
||
| 1300 | |||
| 1301 | if (Status1 == VL53L0X_ERROR_NONE) {
|
||
| 1302 | Status1 = |
||
| 1303 | VL53L0X_SetMeasurementTimingBudgetMicroSeconds( |
||
| 1304 | Dev, |
||
| 1305 | MeasurementTimingBudgetMicroSeconds); |
||
| 1306 | } |
||
| 1307 | |||
| 1308 | Status = Status1; |
||
| 1309 | } |
||
| 1310 | } |
||
| 1311 | |||
| 1312 | LOG_FUNCTION_END(Status); |
||
| 1313 | |||
| 1314 | return Status;
|
||
| 1315 | } |
||
| 1316 | |||
| 1317 | VL53L0X_Error VL53L0X_GetSequenceStepTimeout(VL53L0X_DEV Dev, |
||
| 1318 | VL53L0X_SequenceStepId SequenceStepId, FixPoint1616_t *pTimeOutMilliSecs) |
||
| 1319 | {
|
||
| 1320 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1321 | uint32_t TimeoutMicroSeconds; |
||
| 1322 | LOG_FUNCTION_START("");
|
||
| 1323 | |||
| 1324 | Status = get_sequence_step_timeout(Dev, SequenceStepId, |
||
| 1325 | &TimeoutMicroSeconds); |
||
| 1326 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1327 | TimeoutMicroSeconds <<= 8;
|
||
| 1328 | *pTimeOutMilliSecs = (TimeoutMicroSeconds + 500)/1000; |
||
| 1329 | *pTimeOutMilliSecs <<= 8;
|
||
| 1330 | } |
||
| 1331 | |||
| 1332 | LOG_FUNCTION_END(Status); |
||
| 1333 | return Status;
|
||
| 1334 | } |
||
| 1335 | |||
| 1336 | VL53L0X_Error VL53L0X_SetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev, |
||
| 1337 | uint32_t InterMeasurementPeriodMilliSeconds) |
||
| 1338 | {
|
||
| 1339 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1340 | uint16_t osc_calibrate_val; |
||
| 1341 | uint32_t IMPeriodMilliSeconds; |
||
| 1342 | |||
| 1343 | LOG_FUNCTION_START("");
|
||
| 1344 | |||
| 1345 | Status = VL53L0X_RdWord(Dev, VL53L0X_REG_OSC_CALIBRATE_VAL, |
||
| 1346 | &osc_calibrate_val); |
||
| 1347 | |||
| 1348 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1349 | if (osc_calibrate_val != 0) { |
||
| 1350 | IMPeriodMilliSeconds = |
||
| 1351 | InterMeasurementPeriodMilliSeconds |
||
| 1352 | * osc_calibrate_val; |
||
| 1353 | } else {
|
||
| 1354 | IMPeriodMilliSeconds = |
||
| 1355 | InterMeasurementPeriodMilliSeconds; |
||
| 1356 | } |
||
| 1357 | Status = VL53L0X_WrDWord(Dev, |
||
| 1358 | VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD, |
||
| 1359 | IMPeriodMilliSeconds); |
||
| 1360 | } |
||
| 1361 | |||
| 1362 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1363 | VL53L0X_SETPARAMETERFIELD(Dev, |
||
| 1364 | InterMeasurementPeriodMilliSeconds, |
||
| 1365 | InterMeasurementPeriodMilliSeconds); |
||
| 1366 | } |
||
| 1367 | |||
| 1368 | LOG_FUNCTION_END(Status); |
||
| 1369 | return Status;
|
||
| 1370 | } |
||
| 1371 | |||
| 1372 | VL53L0X_Error VL53L0X_GetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev, |
||
| 1373 | uint32_t *pInterMeasurementPeriodMilliSeconds) |
||
| 1374 | {
|
||
| 1375 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1376 | uint16_t osc_calibrate_val; |
||
| 1377 | uint32_t IMPeriodMilliSeconds; |
||
| 1378 | |||
| 1379 | LOG_FUNCTION_START("");
|
||
| 1380 | |||
| 1381 | Status = VL53L0X_RdWord(Dev, VL53L0X_REG_OSC_CALIBRATE_VAL, |
||
| 1382 | &osc_calibrate_val); |
||
| 1383 | |||
| 1384 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1385 | Status = VL53L0X_RdDWord(Dev, |
||
| 1386 | VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD, |
||
| 1387 | &IMPeriodMilliSeconds); |
||
| 1388 | } |
||
| 1389 | |||
| 1390 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1391 | if (osc_calibrate_val != 0) { |
||
| 1392 | *pInterMeasurementPeriodMilliSeconds = |
||
| 1393 | IMPeriodMilliSeconds / osc_calibrate_val; |
||
| 1394 | } |
||
| 1395 | VL53L0X_SETPARAMETERFIELD(Dev, |
||
| 1396 | InterMeasurementPeriodMilliSeconds, |
||
| 1397 | *pInterMeasurementPeriodMilliSeconds); |
||
| 1398 | } |
||
| 1399 | |||
| 1400 | LOG_FUNCTION_END(Status); |
||
| 1401 | return Status;
|
||
| 1402 | } |
||
| 1403 | |||
| 1404 | VL53L0X_Error VL53L0X_SetXTalkCompensationEnable(VL53L0X_DEV Dev, |
||
| 1405 | uint8_t XTalkCompensationEnable) |
||
| 1406 | {
|
||
| 1407 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1408 | FixPoint1616_t TempFix1616; |
||
| 1409 | uint16_t LinearityCorrectiveGain; |
||
| 1410 | |||
| 1411 | LOG_FUNCTION_START("");
|
||
| 1412 | |||
| 1413 | LinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); |
||
| 1414 | |||
| 1415 | if ((XTalkCompensationEnable == 0) |
||
| 1416 | || (LinearityCorrectiveGain != 1000)) {
|
||
| 1417 | TempFix1616 = 0;
|
||
| 1418 | } else {
|
||
| 1419 | VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, |
||
| 1420 | TempFix1616); |
||
| 1421 | } |
||
| 1422 | |||
| 1423 | /* the following register has a format 3.13 */
|
||
| 1424 | Status = VL53L0X_WrWord(Dev, |
||
| 1425 | VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, |
||
| 1426 | VL53L0X_FIXPOINT1616TOFIXPOINT313(TempFix1616)); |
||
| 1427 | |||
| 1428 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1429 | if (XTalkCompensationEnable == 0) { |
||
| 1430 | VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
||
| 1431 | 0);
|
||
| 1432 | } else {
|
||
| 1433 | VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
||
| 1434 | 1);
|
||
| 1435 | } |
||
| 1436 | } |
||
| 1437 | |||
| 1438 | LOG_FUNCTION_END(Status); |
||
| 1439 | return Status;
|
||
| 1440 | } |
||
| 1441 | |||
| 1442 | VL53L0X_Error VL53L0X_GetXTalkCompensationEnable(VL53L0X_DEV Dev, |
||
| 1443 | uint8_t *pXTalkCompensationEnable) |
||
| 1444 | {
|
||
| 1445 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1446 | uint8_t Temp8; |
||
| 1447 | LOG_FUNCTION_START("");
|
||
| 1448 | |||
| 1449 | VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8); |
||
| 1450 | *pXTalkCompensationEnable = Temp8; |
||
| 1451 | |||
| 1452 | LOG_FUNCTION_END(Status); |
||
| 1453 | return Status;
|
||
| 1454 | } |
||
| 1455 | |||
| 1456 | VL53L0X_Error VL53L0X_SetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev, |
||
| 1457 | FixPoint1616_t XTalkCompensationRateMegaCps) |
||
| 1458 | {
|
||
| 1459 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1460 | uint8_t Temp8; |
||
| 1461 | uint16_t LinearityCorrectiveGain; |
||
| 1462 | uint16_t data; |
||
| 1463 | LOG_FUNCTION_START("");
|
||
| 1464 | |||
| 1465 | VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8); |
||
| 1466 | LinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); |
||
| 1467 | |||
| 1468 | if (Temp8 == 0) { /* disabled write only internal value */ |
||
| 1469 | VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, |
||
| 1470 | XTalkCompensationRateMegaCps); |
||
| 1471 | } else {
|
||
| 1472 | /* the following register has a format 3.13 */
|
||
| 1473 | if (LinearityCorrectiveGain == 1000) { |
||
| 1474 | data = VL53L0X_FIXPOINT1616TOFIXPOINT313( |
||
| 1475 | XTalkCompensationRateMegaCps); |
||
| 1476 | } else {
|
||
| 1477 | data = 0;
|
||
| 1478 | } |
||
| 1479 | |||
| 1480 | Status = VL53L0X_WrWord(Dev, |
||
| 1481 | VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, data); |
||
| 1482 | |||
| 1483 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1484 | VL53L0X_SETPARAMETERFIELD(Dev, |
||
| 1485 | XTalkCompensationRateMegaCps, |
||
| 1486 | XTalkCompensationRateMegaCps); |
||
| 1487 | } |
||
| 1488 | } |
||
| 1489 | |||
| 1490 | LOG_FUNCTION_END(Status); |
||
| 1491 | return Status;
|
||
| 1492 | } |
||
| 1493 | |||
| 1494 | VL53L0X_Error VL53L0X_GetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev, |
||
| 1495 | FixPoint1616_t *pXTalkCompensationRateMegaCps) |
||
| 1496 | {
|
||
| 1497 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1498 | uint16_t Value; |
||
| 1499 | FixPoint1616_t TempFix1616; |
||
| 1500 | |||
| 1501 | LOG_FUNCTION_START("");
|
||
| 1502 | |||
| 1503 | Status = VL53L0X_RdWord(Dev, |
||
| 1504 | VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, (uint16_t *)&Value); |
||
| 1505 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1506 | if (Value == 0) { |
||
| 1507 | /* the Xtalk is disabled return value from memory */
|
||
| 1508 | VL53L0X_GETPARAMETERFIELD(Dev, |
||
| 1509 | XTalkCompensationRateMegaCps, TempFix1616); |
||
| 1510 | *pXTalkCompensationRateMegaCps = TempFix1616; |
||
| 1511 | VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
||
| 1512 | 0);
|
||
| 1513 | } else {
|
||
| 1514 | TempFix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(Value); |
||
| 1515 | *pXTalkCompensationRateMegaCps = TempFix1616; |
||
| 1516 | VL53L0X_SETPARAMETERFIELD(Dev, |
||
| 1517 | XTalkCompensationRateMegaCps, TempFix1616); |
||
| 1518 | VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
||
| 1519 | 1);
|
||
| 1520 | } |
||
| 1521 | } |
||
| 1522 | |||
| 1523 | LOG_FUNCTION_END(Status); |
||
| 1524 | return Status;
|
||
| 1525 | } |
||
| 1526 | |||
| 1527 | VL53L0X_Error VL53L0X_SetRefCalibration(VL53L0X_DEV Dev, uint8_t VhvSettings, |
||
| 1528 | uint8_t PhaseCal) |
||
| 1529 | {
|
||
| 1530 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1531 | LOG_FUNCTION_START("");
|
||
| 1532 | |||
| 1533 | Status = VL53L0X_set_ref_calibration(Dev, VhvSettings, PhaseCal); |
||
| 1534 | |||
| 1535 | LOG_FUNCTION_END(Status); |
||
| 1536 | return Status;
|
||
| 1537 | } |
||
| 1538 | |||
| 1539 | VL53L0X_Error VL53L0X_GetRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings, |
||
| 1540 | uint8_t *pPhaseCal) |
||
| 1541 | {
|
||
| 1542 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1543 | LOG_FUNCTION_START("");
|
||
| 1544 | |||
| 1545 | Status = VL53L0X_get_ref_calibration(Dev, pVhvSettings, pPhaseCal); |
||
| 1546 | |||
| 1547 | LOG_FUNCTION_END(Status); |
||
| 1548 | return Status;
|
||
| 1549 | } |
||
| 1550 | |||
| 1551 | /*
|
||
| 1552 | * CHECK LIMIT FUNCTIONS
|
||
| 1553 | */
|
||
| 1554 | |||
| 1555 | VL53L0X_Error VL53L0X_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck) |
||
| 1556 | {
|
||
| 1557 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1558 | LOG_FUNCTION_START("");
|
||
| 1559 | |||
| 1560 | *pNumberOfLimitCheck = VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; |
||
| 1561 | |||
| 1562 | LOG_FUNCTION_END(Status); |
||
| 1563 | return Status;
|
||
| 1564 | } |
||
| 1565 | |||
| 1566 | VL53L0X_Error VL53L0X_GetLimitCheckInfo(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
||
| 1567 | char *pLimitCheckString)
|
||
| 1568 | {
|
||
| 1569 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1570 | |||
| 1571 | LOG_FUNCTION_START("");
|
||
| 1572 | |||
| 1573 | Status = VL53L0X_get_limit_check_info(Dev, LimitCheckId, |
||
| 1574 | pLimitCheckString); |
||
| 1575 | |||
| 1576 | LOG_FUNCTION_END(Status); |
||
| 1577 | return Status;
|
||
| 1578 | } |
||
| 1579 | |||
| 1580 | VL53L0X_Error VL53L0X_GetLimitCheckStatus(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
||
| 1581 | uint8_t *pLimitCheckStatus) |
||
| 1582 | {
|
||
| 1583 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1584 | uint8_t Temp8; |
||
| 1585 | |||
| 1586 | LOG_FUNCTION_START("");
|
||
| 1587 | |||
| 1588 | if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
|
||
| 1589 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
||
| 1590 | } else {
|
||
| 1591 | |||
| 1592 | VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
||
| 1593 | LimitCheckId, Temp8); |
||
| 1594 | |||
| 1595 | *pLimitCheckStatus = Temp8; |
||
| 1596 | |||
| 1597 | } |
||
| 1598 | |||
| 1599 | LOG_FUNCTION_END(Status); |
||
| 1600 | return Status;
|
||
| 1601 | } |
||
| 1602 | |||
| 1603 | VL53L0X_Error VL53L0X_SetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
||
| 1604 | uint8_t LimitCheckEnable) |
||
| 1605 | {
|
||
| 1606 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1607 | FixPoint1616_t TempFix1616 = 0;
|
||
| 1608 | uint8_t LimitCheckEnableInt = 0;
|
||
| 1609 | uint8_t LimitCheckDisable = 0;
|
||
| 1610 | uint8_t Temp8; |
||
| 1611 | |||
| 1612 | LOG_FUNCTION_START("");
|
||
| 1613 | |||
| 1614 | if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
|
||
| 1615 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
||
| 1616 | } else {
|
||
| 1617 | if (LimitCheckEnable == 0) { |
||
| 1618 | TempFix1616 = 0;
|
||
| 1619 | LimitCheckEnableInt = 0;
|
||
| 1620 | LimitCheckDisable = 1;
|
||
| 1621 | |||
| 1622 | } else {
|
||
| 1623 | VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
||
| 1624 | LimitCheckId, TempFix1616); |
||
| 1625 | LimitCheckDisable = 0;
|
||
| 1626 | /* this to be sure to have either 0 or 1 */
|
||
| 1627 | LimitCheckEnableInt = 1;
|
||
| 1628 | } |
||
| 1629 | |||
| 1630 | switch (LimitCheckId) {
|
||
| 1631 | |||
| 1632 | case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
|
||
| 1633 | /* internal computation: */
|
||
| 1634 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
||
| 1635 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
||
| 1636 | LimitCheckEnableInt); |
||
| 1637 | |||
| 1638 | break;
|
||
| 1639 | |||
| 1640 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
||
| 1641 | |||
| 1642 | Status = VL53L0X_WrWord(Dev, |
||
| 1643 | VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, |
||
| 1644 | VL53L0X_FIXPOINT1616TOFIXPOINT97(TempFix1616)); |
||
| 1645 | |||
| 1646 | break;
|
||
| 1647 | |||
| 1648 | case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
|
||
| 1649 | |||
| 1650 | /* internal computation: */
|
||
| 1651 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
||
| 1652 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
||
| 1653 | LimitCheckEnableInt); |
||
| 1654 | |||
| 1655 | break;
|
||
| 1656 | |||
| 1657 | case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
|
||
| 1658 | |||
| 1659 | /* internal computation: */
|
||
| 1660 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
||
| 1661 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
||
| 1662 | LimitCheckEnableInt); |
||
| 1663 | |||
| 1664 | break;
|
||
| 1665 | |||
| 1666 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
|
||
| 1667 | |||
| 1668 | Temp8 = (uint8_t)(LimitCheckDisable << 1);
|
||
| 1669 | Status = VL53L0X_UpdateByte(Dev, |
||
| 1670 | VL53L0X_REG_MSRC_CONFIG_CONTROL, |
||
| 1671 | 0xFE, Temp8);
|
||
| 1672 | |||
| 1673 | break;
|
||
| 1674 | |||
| 1675 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
|
||
| 1676 | |||
| 1677 | Temp8 = (uint8_t)(LimitCheckDisable << 4);
|
||
| 1678 | Status = VL53L0X_UpdateByte(Dev, |
||
| 1679 | VL53L0X_REG_MSRC_CONFIG_CONTROL, |
||
| 1680 | 0xEF, Temp8);
|
||
| 1681 | |||
| 1682 | break;
|
||
| 1683 | |||
| 1684 | |||
| 1685 | default:
|
||
| 1686 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
||
| 1687 | |||
| 1688 | } |
||
| 1689 | |||
| 1690 | } |
||
| 1691 | |||
| 1692 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1693 | if (LimitCheckEnable == 0) { |
||
| 1694 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
||
| 1695 | LimitCheckId, 0);
|
||
| 1696 | } else {
|
||
| 1697 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
||
| 1698 | LimitCheckId, 1);
|
||
| 1699 | } |
||
| 1700 | } |
||
| 1701 | |||
| 1702 | LOG_FUNCTION_END(Status); |
||
| 1703 | return Status;
|
||
| 1704 | } |
||
| 1705 | |||
| 1706 | VL53L0X_Error VL53L0X_GetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
||
| 1707 | uint8_t *pLimitCheckEnable) |
||
| 1708 | {
|
||
| 1709 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1710 | uint8_t Temp8; |
||
| 1711 | |||
| 1712 | LOG_FUNCTION_START("");
|
||
| 1713 | |||
| 1714 | if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
|
||
| 1715 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
||
| 1716 | *pLimitCheckEnable = 0;
|
||
| 1717 | } else {
|
||
| 1718 | VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
||
| 1719 | LimitCheckId, Temp8); |
||
| 1720 | *pLimitCheckEnable = Temp8; |
||
| 1721 | } |
||
| 1722 | |||
| 1723 | LOG_FUNCTION_END(Status); |
||
| 1724 | return Status;
|
||
| 1725 | } |
||
| 1726 | |||
| 1727 | VL53L0X_Error VL53L0X_SetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
||
| 1728 | FixPoint1616_t LimitCheckValue) |
||
| 1729 | {
|
||
| 1730 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1731 | uint8_t Temp8; |
||
| 1732 | |||
| 1733 | LOG_FUNCTION_START("");
|
||
| 1734 | |||
| 1735 | VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, LimitCheckId, |
||
| 1736 | Temp8); |
||
| 1737 | |||
| 1738 | if (Temp8 == 0) { /* disabled write only internal value */ |
||
| 1739 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
||
| 1740 | LimitCheckId, LimitCheckValue); |
||
| 1741 | } else {
|
||
| 1742 | |||
| 1743 | switch (LimitCheckId) {
|
||
| 1744 | |||
| 1745 | case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
|
||
| 1746 | /* internal computation: */
|
||
| 1747 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
||
| 1748 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
||
| 1749 | LimitCheckValue); |
||
| 1750 | break;
|
||
| 1751 | |||
| 1752 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
||
| 1753 | |||
| 1754 | Status = VL53L0X_WrWord(Dev, |
||
| 1755 | VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, |
||
| 1756 | VL53L0X_FIXPOINT1616TOFIXPOINT97( |
||
| 1757 | LimitCheckValue)); |
||
| 1758 | |||
| 1759 | break;
|
||
| 1760 | |||
| 1761 | case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
|
||
| 1762 | |||
| 1763 | /* internal computation: */
|
||
| 1764 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
||
| 1765 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
||
| 1766 | LimitCheckValue); |
||
| 1767 | |||
| 1768 | break;
|
||
| 1769 | |||
| 1770 | case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
|
||
| 1771 | |||
| 1772 | /* internal computation: */
|
||
| 1773 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
||
| 1774 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
||
| 1775 | LimitCheckValue); |
||
| 1776 | |||
| 1777 | break;
|
||
| 1778 | |||
| 1779 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
|
||
| 1780 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
|
||
| 1781 | |||
| 1782 | Status = VL53L0X_WrWord(Dev, |
||
| 1783 | VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, |
||
| 1784 | VL53L0X_FIXPOINT1616TOFIXPOINT97( |
||
| 1785 | LimitCheckValue)); |
||
| 1786 | |||
| 1787 | break;
|
||
| 1788 | |||
| 1789 | default:
|
||
| 1790 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
||
| 1791 | |||
| 1792 | } |
||
| 1793 | |||
| 1794 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1795 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
||
| 1796 | LimitCheckId, LimitCheckValue); |
||
| 1797 | } |
||
| 1798 | } |
||
| 1799 | |||
| 1800 | LOG_FUNCTION_END(Status); |
||
| 1801 | return Status;
|
||
| 1802 | } |
||
| 1803 | |||
| 1804 | VL53L0X_Error VL53L0X_GetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
||
| 1805 | FixPoint1616_t *pLimitCheckValue) |
||
| 1806 | {
|
||
| 1807 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1808 | uint8_t EnableZeroValue = 0;
|
||
| 1809 | uint16_t Temp16; |
||
| 1810 | FixPoint1616_t TempFix1616; |
||
| 1811 | |||
| 1812 | LOG_FUNCTION_START("");
|
||
| 1813 | |||
| 1814 | switch (LimitCheckId) {
|
||
| 1815 | |||
| 1816 | case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
|
||
| 1817 | /* internal computation: */
|
||
| 1818 | VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
||
| 1819 | VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, TempFix1616); |
||
| 1820 | EnableZeroValue = 0;
|
||
| 1821 | break;
|
||
| 1822 | |||
| 1823 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
||
| 1824 | Status = VL53L0X_RdWord(Dev, |
||
| 1825 | VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, |
||
| 1826 | &Temp16); |
||
| 1827 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 1828 | TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16); |
||
| 1829 | |||
| 1830 | |||
| 1831 | EnableZeroValue = 1;
|
||
| 1832 | break;
|
||
| 1833 | |||
| 1834 | case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
|
||
| 1835 | /* internal computation: */
|
||
| 1836 | VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
||
| 1837 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, TempFix1616); |
||
| 1838 | EnableZeroValue = 0;
|
||
| 1839 | break;
|
||
| 1840 | |||
| 1841 | case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
|
||
| 1842 | /* internal computation: */
|
||
| 1843 | VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
||
| 1844 | VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, TempFix1616); |
||
| 1845 | EnableZeroValue = 0;
|
||
| 1846 | break;
|
||
| 1847 | |||
| 1848 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
|
||
| 1849 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
|
||
| 1850 | Status = VL53L0X_RdWord(Dev, |
||
| 1851 | VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, |
||
| 1852 | &Temp16); |
||
| 1853 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 1854 | TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16); |
||
| 1855 | |||
| 1856 | |||
| 1857 | EnableZeroValue = 0;
|
||
| 1858 | break;
|
||
| 1859 | |||
| 1860 | default:
|
||
| 1861 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
||
| 1862 | |||
| 1863 | } |
||
| 1864 | |||
| 1865 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1866 | |||
| 1867 | if (EnableZeroValue == 1) { |
||
| 1868 | |||
| 1869 | if (TempFix1616 == 0) { |
||
| 1870 | /* disabled: return value from memory */
|
||
| 1871 | VL53L0X_GETARRAYPARAMETERFIELD(Dev, |
||
| 1872 | LimitChecksValue, LimitCheckId, |
||
| 1873 | TempFix1616); |
||
| 1874 | *pLimitCheckValue = TempFix1616; |
||
| 1875 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, |
||
| 1876 | LimitChecksEnable, LimitCheckId, 0);
|
||
| 1877 | } else {
|
||
| 1878 | *pLimitCheckValue = TempFix1616; |
||
| 1879 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, |
||
| 1880 | LimitChecksValue, LimitCheckId, |
||
| 1881 | TempFix1616); |
||
| 1882 | VL53L0X_SETARRAYPARAMETERFIELD(Dev, |
||
| 1883 | LimitChecksEnable, LimitCheckId, 1);
|
||
| 1884 | } |
||
| 1885 | } else {
|
||
| 1886 | *pLimitCheckValue = TempFix1616; |
||
| 1887 | } |
||
| 1888 | } |
||
| 1889 | |||
| 1890 | LOG_FUNCTION_END(Status); |
||
| 1891 | return Status;
|
||
| 1892 | |||
| 1893 | } |
||
| 1894 | |||
| 1895 | VL53L0X_Error VL53L0X_GetLimitCheckCurrent(VL53L0X_DEV Dev, uint16_t LimitCheckId, |
||
| 1896 | FixPoint1616_t *pLimitCheckCurrent) |
||
| 1897 | {
|
||
| 1898 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1899 | VL53L0X_RangingMeasurementData_t LastRangeDataBuffer; |
||
| 1900 | |||
| 1901 | LOG_FUNCTION_START("");
|
||
| 1902 | |||
| 1903 | |||
| 1904 | |||
| 1905 | if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) {
|
||
| 1906 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
||
| 1907 | } else {
|
||
| 1908 | |||
| 1909 | switch (LimitCheckId) {
|
||
| 1910 | case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
|
||
| 1911 | /* Need to run a ranging to have the latest values */
|
||
| 1912 | *pLimitCheckCurrent = PALDevDataGet(Dev, SigmaEstimate); |
||
| 1913 | |||
| 1914 | break;
|
||
| 1915 | |||
| 1916 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
||
| 1917 | /* Need to run a ranging to have the latest values */
|
||
| 1918 | LastRangeDataBuffer = PALDevDataGet(Dev, |
||
| 1919 | LastRangeMeasure); |
||
| 1920 | *pLimitCheckCurrent = |
||
| 1921 | LastRangeDataBuffer.SignalRateRtnMegaCps; |
||
| 1922 | |||
| 1923 | break;
|
||
| 1924 | |||
| 1925 | case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
|
||
| 1926 | /* Need to run a ranging to have the latest values */
|
||
| 1927 | *pLimitCheckCurrent = PALDevDataGet(Dev, |
||
| 1928 | LastSignalRefMcps); |
||
| 1929 | |||
| 1930 | break;
|
||
| 1931 | |||
| 1932 | case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
|
||
| 1933 | /* Need to run a ranging to have the latest values */
|
||
| 1934 | LastRangeDataBuffer = PALDevDataGet(Dev, |
||
| 1935 | LastRangeMeasure); |
||
| 1936 | *pLimitCheckCurrent = |
||
| 1937 | LastRangeDataBuffer.SignalRateRtnMegaCps; |
||
| 1938 | |||
| 1939 | break;
|
||
| 1940 | |||
| 1941 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
|
||
| 1942 | /* Need to run a ranging to have the latest values */
|
||
| 1943 | LastRangeDataBuffer = PALDevDataGet(Dev, |
||
| 1944 | LastRangeMeasure); |
||
| 1945 | *pLimitCheckCurrent = |
||
| 1946 | LastRangeDataBuffer.SignalRateRtnMegaCps; |
||
| 1947 | |||
| 1948 | break;
|
||
| 1949 | |||
| 1950 | case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
|
||
| 1951 | /* Need to run a ranging to have the latest values */
|
||
| 1952 | LastRangeDataBuffer = PALDevDataGet(Dev, |
||
| 1953 | LastRangeMeasure); |
||
| 1954 | *pLimitCheckCurrent = |
||
| 1955 | LastRangeDataBuffer.SignalRateRtnMegaCps; |
||
| 1956 | |||
| 1957 | break;
|
||
| 1958 | |||
| 1959 | default:
|
||
| 1960 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
||
| 1961 | } |
||
| 1962 | } |
||
| 1963 | |||
| 1964 | |||
| 1965 | |||
| 1966 | LOG_FUNCTION_END(Status); |
||
| 1967 | return Status;
|
||
| 1968 | |||
| 1969 | } |
||
| 1970 | |||
| 1971 | /*
|
||
| 1972 | * WRAPAROUND Check
|
||
| 1973 | */
|
||
| 1974 | VL53L0X_Error VL53L0X_SetWrapAroundCheckEnable(VL53L0X_DEV Dev, |
||
| 1975 | uint8_t WrapAroundCheckEnable) |
||
| 1976 | {
|
||
| 1977 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 1978 | uint8_t Byte; |
||
| 1979 | uint8_t WrapAroundCheckEnableInt; |
||
| 1980 | |||
| 1981 | LOG_FUNCTION_START("");
|
||
| 1982 | |||
| 1983 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &Byte); |
||
| 1984 | if (WrapAroundCheckEnable == 0) { |
||
| 1985 | /* Disable wraparound */
|
||
| 1986 | Byte = Byte & 0x7F;
|
||
| 1987 | WrapAroundCheckEnableInt = 0;
|
||
| 1988 | } else {
|
||
| 1989 | /*Enable wraparound */
|
||
| 1990 | Byte = Byte | 0x80;
|
||
| 1991 | WrapAroundCheckEnableInt = 1;
|
||
| 1992 | } |
||
| 1993 | |||
| 1994 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, Byte); |
||
| 1995 | |||
| 1996 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 1997 | PALDevDataSet(Dev, SequenceConfig, Byte); |
||
| 1998 | VL53L0X_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable, |
||
| 1999 | WrapAroundCheckEnableInt); |
||
| 2000 | } |
||
| 2001 | |||
| 2002 | LOG_FUNCTION_END(Status); |
||
| 2003 | return Status;
|
||
| 2004 | } |
||
| 2005 | |||
| 2006 | VL53L0X_Error VL53L0X_GetWrapAroundCheckEnable(VL53L0X_DEV Dev, |
||
| 2007 | uint8_t *pWrapAroundCheckEnable) |
||
| 2008 | {
|
||
| 2009 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2010 | uint8_t data; |
||
| 2011 | |||
| 2012 | LOG_FUNCTION_START("");
|
||
| 2013 | |||
| 2014 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data); |
||
| 2015 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2016 | PALDevDataSet(Dev, SequenceConfig, data); |
||
| 2017 | if (data & (0x01 << 7)) |
||
| 2018 | *pWrapAroundCheckEnable = 0x01;
|
||
| 2019 | else
|
||
| 2020 | *pWrapAroundCheckEnable = 0x00;
|
||
| 2021 | } |
||
| 2022 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2023 | VL53L0X_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable, |
||
| 2024 | *pWrapAroundCheckEnable); |
||
| 2025 | } |
||
| 2026 | |||
| 2027 | LOG_FUNCTION_END(Status); |
||
| 2028 | return Status;
|
||
| 2029 | } |
||
| 2030 | |||
| 2031 | VL53L0X_Error VL53L0X_SetDmaxCalParameters(VL53L0X_DEV Dev, |
||
| 2032 | uint16_t RangeMilliMeter, FixPoint1616_t SignalRateRtnMegaCps) |
||
| 2033 | {
|
||
| 2034 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2035 | FixPoint1616_t SignalRateRtnMegaCpsTemp = 0;
|
||
| 2036 | |||
| 2037 | LOG_FUNCTION_START("");
|
||
| 2038 | |||
| 2039 | /* Check if one of input parameter is zero, in that case the
|
||
| 2040 | * value are get from NVM */
|
||
| 2041 | if ((RangeMilliMeter == 0) || (SignalRateRtnMegaCps == 0)) { |
||
| 2042 | /* NVM parameters */
|
||
| 2043 | /* Run VL53L0X_get_info_from_device wit option 4 to get
|
||
| 2044 | * signal rate at 400 mm if the value have been already
|
||
| 2045 | * get this function will return with no access to device */
|
||
| 2046 | VL53L0X_get_info_from_device(Dev, 4);
|
||
| 2047 | |||
| 2048 | SignalRateRtnMegaCpsTemp = VL53L0X_GETDEVICESPECIFICPARAMETER( |
||
| 2049 | Dev, SignalRateMeasFixed400mm); |
||
| 2050 | |||
| 2051 | PALDevDataSet(Dev, DmaxCalRangeMilliMeter, 400);
|
||
| 2052 | PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps, |
||
| 2053 | SignalRateRtnMegaCpsTemp); |
||
| 2054 | } else {
|
||
| 2055 | /* User parameters */
|
||
| 2056 | PALDevDataSet(Dev, DmaxCalRangeMilliMeter, RangeMilliMeter); |
||
| 2057 | PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps, |
||
| 2058 | SignalRateRtnMegaCps); |
||
| 2059 | } |
||
| 2060 | |||
| 2061 | LOG_FUNCTION_END(Status); |
||
| 2062 | return Status;
|
||
| 2063 | } |
||
| 2064 | |||
| 2065 | VL53L0X_Error VL53L0X_GetDmaxCalParameters(VL53L0X_DEV Dev, |
||
| 2066 | uint16_t *pRangeMilliMeter, FixPoint1616_t *pSignalRateRtnMegaCps) |
||
| 2067 | {
|
||
| 2068 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2069 | |||
| 2070 | LOG_FUNCTION_START("");
|
||
| 2071 | |||
| 2072 | *pRangeMilliMeter = PALDevDataGet(Dev, DmaxCalRangeMilliMeter); |
||
| 2073 | *pSignalRateRtnMegaCps = PALDevDataGet(Dev, |
||
| 2074 | DmaxCalSignalRateRtnMegaCps); |
||
| 2075 | |||
| 2076 | LOG_FUNCTION_END(Status); |
||
| 2077 | return Status;
|
||
| 2078 | } |
||
| 2079 | |||
| 2080 | /* End Group PAL Parameters Functions */
|
||
| 2081 | |||
| 2082 | /* Group PAL Measurement Functions */
|
||
| 2083 | VL53L0X_Error VL53L0X_PerformSingleMeasurement(VL53L0X_DEV Dev) |
||
| 2084 | {
|
||
| 2085 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2086 | VL53L0X_DeviceModes DeviceMode; |
||
| 2087 | |||
| 2088 | LOG_FUNCTION_START("");
|
||
| 2089 | |||
| 2090 | /* Get Current DeviceMode */
|
||
| 2091 | Status = VL53L0X_GetDeviceMode(Dev, &DeviceMode); |
||
| 2092 | |||
| 2093 | /* Start immediately to run a single ranging measurement in case of
|
||
| 2094 | * single ranging or single histogram */
|
||
| 2095 | if (Status == VL53L0X_ERROR_NONE
|
||
| 2096 | && DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) |
||
| 2097 | Status = VL53L0X_StartMeasurement(Dev); |
||
| 2098 | |||
| 2099 | |||
| 2100 | if (Status == VL53L0X_ERROR_NONE
|
||
| 2101 | && DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) |
||
| 2102 | Status = VL53L0X_measurement_poll_for_completion(Dev); |
||
| 2103 | |||
| 2104 | |||
| 2105 | /* Change PAL State in case of single ranging or single histogram */
|
||
| 2106 | if (Status == VL53L0X_ERROR_NONE
|
||
| 2107 | && DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) |
||
| 2108 | PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); |
||
| 2109 | |||
| 2110 | |||
| 2111 | LOG_FUNCTION_END(Status); |
||
| 2112 | return Status;
|
||
| 2113 | } |
||
| 2114 | |||
| 2115 | VL53L0X_Error VL53L0X_PerformSingleHistogramMeasurement(VL53L0X_DEV Dev, |
||
| 2116 | VL53L0X_HistogramMeasurementData_t *pHistogramMeasurementData) |
||
| 2117 | {
|
||
| 2118 | VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
||
| 2119 | LOG_FUNCTION_START("");
|
||
| 2120 | |||
| 2121 | /* not implemented on VL53L0X */
|
||
| 2122 | |||
| 2123 | LOG_FUNCTION_END(Status); |
||
| 2124 | return Status;
|
||
| 2125 | } |
||
| 2126 | |||
| 2127 | VL53L0X_Error VL53L0X_PerformRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings, |
||
| 2128 | uint8_t *pPhaseCal) |
||
| 2129 | {
|
||
| 2130 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2131 | LOG_FUNCTION_START("");
|
||
| 2132 | |||
| 2133 | Status = VL53L0X_perform_ref_calibration(Dev, pVhvSettings, |
||
| 2134 | pPhaseCal, 1);
|
||
| 2135 | |||
| 2136 | LOG_FUNCTION_END(Status); |
||
| 2137 | return Status;
|
||
| 2138 | } |
||
| 2139 | |||
| 2140 | VL53L0X_Error VL53L0X_PerformXTalkMeasurement(VL53L0X_DEV Dev, |
||
| 2141 | uint32_t TimeoutMs, FixPoint1616_t *pXtalkPerSpad, |
||
| 2142 | uint8_t *pAmbientTooHigh) |
||
| 2143 | {
|
||
| 2144 | VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
||
| 2145 | LOG_FUNCTION_START("");
|
||
| 2146 | |||
| 2147 | /* not implemented on VL53L0X */
|
||
| 2148 | |||
| 2149 | LOG_FUNCTION_END(Status); |
||
| 2150 | return Status;
|
||
| 2151 | } |
||
| 2152 | |||
| 2153 | VL53L0X_Error VL53L0X_PerformXTalkCalibration(VL53L0X_DEV Dev, |
||
| 2154 | FixPoint1616_t XTalkCalDistance, |
||
| 2155 | FixPoint1616_t *pXTalkCompensationRateMegaCps) |
||
| 2156 | {
|
||
| 2157 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2158 | LOG_FUNCTION_START("");
|
||
| 2159 | |||
| 2160 | Status = VL53L0X_perform_xtalk_calibration(Dev, XTalkCalDistance, |
||
| 2161 | pXTalkCompensationRateMegaCps); |
||
| 2162 | |||
| 2163 | LOG_FUNCTION_END(Status); |
||
| 2164 | return Status;
|
||
| 2165 | } |
||
| 2166 | |||
| 2167 | VL53L0X_Error VL53L0X_PerformOffsetCalibration(VL53L0X_DEV Dev, |
||
| 2168 | FixPoint1616_t CalDistanceMilliMeter, int32_t *pOffsetMicroMeter) |
||
| 2169 | {
|
||
| 2170 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2171 | LOG_FUNCTION_START("");
|
||
| 2172 | |||
| 2173 | Status = VL53L0X_perform_offset_calibration(Dev, CalDistanceMilliMeter, |
||
| 2174 | pOffsetMicroMeter); |
||
| 2175 | |||
| 2176 | LOG_FUNCTION_END(Status); |
||
| 2177 | return Status;
|
||
| 2178 | } |
||
| 2179 | |||
| 2180 | VL53L0X_Error VL53L0X_CheckAndLoadInterruptSettings(VL53L0X_DEV Dev, |
||
| 2181 | uint8_t StartNotStopFlag) |
||
| 2182 | {
|
||
| 2183 | uint8_t InterruptConfig; |
||
| 2184 | FixPoint1616_t ThresholdLow; |
||
| 2185 | FixPoint1616_t ThresholdHigh; |
||
| 2186 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2187 | |||
| 2188 | InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
||
| 2189 | Pin0GpioFunctionality); |
||
| 2190 | |||
| 2191 | if ((InterruptConfig ==
|
||
| 2192 | VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) || |
||
| 2193 | (InterruptConfig == |
||
| 2194 | VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) || |
||
| 2195 | (InterruptConfig == |
||
| 2196 | VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) {
|
||
| 2197 | |||
| 2198 | Status = VL53L0X_GetInterruptThresholds(Dev, |
||
| 2199 | VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, |
||
| 2200 | &ThresholdLow, &ThresholdHigh); |
||
| 2201 | |||
| 2202 | if (((ThresholdLow > 255*65536) || |
||
| 2203 | (ThresholdHigh > 255*65536)) && |
||
| 2204 | (Status == VL53L0X_ERROR_NONE)) {
|
||
| 2205 | |||
| 2206 | if (StartNotStopFlag != 0) { |
||
| 2207 | Status = VL53L0X_load_tuning_settings(Dev, |
||
| 2208 | InterruptThresholdSettings); |
||
| 2209 | } else {
|
||
| 2210 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x04); |
||
| 2211 | Status |= VL53L0X_WrByte(Dev, 0x70, 0x00); |
||
| 2212 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
||
| 2213 | Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); |
||
| 2214 | } |
||
| 2215 | |||
| 2216 | } |
||
| 2217 | |||
| 2218 | |||
| 2219 | } |
||
| 2220 | |||
| 2221 | return Status;
|
||
| 2222 | |||
| 2223 | } |
||
| 2224 | |||
| 2225 | |||
| 2226 | VL53L0X_Error VL53L0X_StartMeasurement(VL53L0X_DEV Dev) |
||
| 2227 | {
|
||
| 2228 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2229 | VL53L0X_DeviceModes DeviceMode; |
||
| 2230 | uint8_t Byte; |
||
| 2231 | uint8_t StartStopByte = VL53L0X_REG_SYSRANGE_MODE_START_STOP; |
||
| 2232 | uint32_t LoopNb; |
||
| 2233 | LOG_FUNCTION_START("");
|
||
| 2234 | |||
| 2235 | /* Get Current DeviceMode */
|
||
| 2236 | VL53L0X_GetDeviceMode(Dev, &DeviceMode); |
||
| 2237 | |||
| 2238 | Status = VL53L0X_WrByte(Dev, 0x80, 0x01); |
||
| 2239 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
||
| 2240 | Status = VL53L0X_WrByte(Dev, 0x00, 0x00); |
||
| 2241 | Status = VL53L0X_WrByte(Dev, 0x91, PALDevDataGet(Dev, StopVariable));
|
||
| 2242 | Status = VL53L0X_WrByte(Dev, 0x00, 0x01); |
||
| 2243 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
||
| 2244 | Status = VL53L0X_WrByte(Dev, 0x80, 0x00); |
||
| 2245 | |||
| 2246 | switch (DeviceMode) {
|
||
| 2247 | case VL53L0X_DEVICEMODE_SINGLE_RANGING:
|
||
| 2248 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, 0x01);
|
||
| 2249 | |||
| 2250 | Byte = StartStopByte; |
||
| 2251 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2252 | /* Wait until start bit has been cleared */
|
||
| 2253 | LoopNb = 0;
|
||
| 2254 | do {
|
||
| 2255 | if (LoopNb > 0) |
||
| 2256 | Status = VL53L0X_RdByte(Dev, |
||
| 2257 | VL53L0X_REG_SYSRANGE_START, &Byte); |
||
| 2258 | LoopNb = LoopNb + 1;
|
||
| 2259 | } while (((Byte & StartStopByte) == StartStopByte)
|
||
| 2260 | && (Status == VL53L0X_ERROR_NONE) |
||
| 2261 | && (LoopNb < VL53L0X_DEFAULT_MAX_LOOP)); |
||
| 2262 | |||
| 2263 | if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP)
|
||
| 2264 | Status = VL53L0X_ERROR_TIME_OUT; |
||
| 2265 | |||
| 2266 | } |
||
| 2267 | |||
| 2268 | break;
|
||
| 2269 | case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING:
|
||
| 2270 | /* Back-to-back mode */
|
||
| 2271 | |||
| 2272 | /* Check if need to apply interrupt settings */
|
||
| 2273 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 2274 | Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 1);
|
||
| 2275 | |||
| 2276 | Status = VL53L0X_WrByte(Dev, |
||
| 2277 | VL53L0X_REG_SYSRANGE_START, |
||
| 2278 | VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK); |
||
| 2279 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2280 | /* Set PAL State to Running */
|
||
| 2281 | PALDevDataSet(Dev, PalState, VL53L0X_STATE_RUNNING); |
||
| 2282 | } |
||
| 2283 | break;
|
||
| 2284 | case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING:
|
||
| 2285 | /* Continuous mode */
|
||
| 2286 | /* Check if need to apply interrupt settings */
|
||
| 2287 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 2288 | Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 1);
|
||
| 2289 | |||
| 2290 | Status = VL53L0X_WrByte(Dev, |
||
| 2291 | VL53L0X_REG_SYSRANGE_START, |
||
| 2292 | VL53L0X_REG_SYSRANGE_MODE_TIMED); |
||
| 2293 | |||
| 2294 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2295 | /* Set PAL State to Running */
|
||
| 2296 | PALDevDataSet(Dev, PalState, VL53L0X_STATE_RUNNING); |
||
| 2297 | } |
||
| 2298 | break;
|
||
| 2299 | default:
|
||
| 2300 | /* Selected mode not supported */
|
||
| 2301 | Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; |
||
| 2302 | } |
||
| 2303 | |||
| 2304 | |||
| 2305 | LOG_FUNCTION_END(Status); |
||
| 2306 | return Status;
|
||
| 2307 | } |
||
| 2308 | |||
| 2309 | VL53L0X_Error VL53L0X_StopMeasurement(VL53L0X_DEV Dev) |
||
| 2310 | {
|
||
| 2311 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2312 | LOG_FUNCTION_START("");
|
||
| 2313 | |||
| 2314 | Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, |
||
| 2315 | VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT); |
||
| 2316 | |||
| 2317 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
||
| 2318 | Status = VL53L0X_WrByte(Dev, 0x00, 0x00); |
||
| 2319 | Status = VL53L0X_WrByte(Dev, 0x91, 0x00); |
||
| 2320 | Status = VL53L0X_WrByte(Dev, 0x00, 0x01); |
||
| 2321 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
||
| 2322 | |||
| 2323 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2324 | /* Set PAL State to Idle */
|
||
| 2325 | PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); |
||
| 2326 | } |
||
| 2327 | |||
| 2328 | /* Check if need to apply interrupt settings */
|
||
| 2329 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 2330 | Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 0);
|
||
| 2331 | |||
| 2332 | LOG_FUNCTION_END(Status); |
||
| 2333 | return Status;
|
||
| 2334 | } |
||
| 2335 | |||
| 2336 | VL53L0X_Error VL53L0X_GetMeasurementDataReady(VL53L0X_DEV Dev, |
||
| 2337 | uint8_t *pMeasurementDataReady) |
||
| 2338 | {
|
||
| 2339 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2340 | uint8_t SysRangeStatusRegister; |
||
| 2341 | uint8_t InterruptConfig; |
||
| 2342 | uint32_t InterruptMask; |
||
| 2343 | LOG_FUNCTION_START("");
|
||
| 2344 | |||
| 2345 | InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
||
| 2346 | Pin0GpioFunctionality); |
||
| 2347 | |||
| 2348 | if (InterruptConfig ==
|
||
| 2349 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) {
|
||
| 2350 | Status = VL53L0X_GetInterruptMaskStatus(Dev, &InterruptMask); |
||
| 2351 | if (InterruptMask ==
|
||
| 2352 | VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) |
||
| 2353 | *pMeasurementDataReady = 1;
|
||
| 2354 | else
|
||
| 2355 | *pMeasurementDataReady = 0;
|
||
| 2356 | } else {
|
||
| 2357 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_RANGE_STATUS, |
||
| 2358 | &SysRangeStatusRegister); |
||
| 2359 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2360 | if (SysRangeStatusRegister & 0x01) |
||
| 2361 | *pMeasurementDataReady = 1;
|
||
| 2362 | else
|
||
| 2363 | *pMeasurementDataReady = 0;
|
||
| 2364 | } |
||
| 2365 | } |
||
| 2366 | |||
| 2367 | LOG_FUNCTION_END(Status); |
||
| 2368 | return Status;
|
||
| 2369 | } |
||
| 2370 | |||
| 2371 | VL53L0X_Error VL53L0X_WaitDeviceReadyForNewMeasurement(VL53L0X_DEV Dev, |
||
| 2372 | uint32_t MaxLoop) |
||
| 2373 | {
|
||
| 2374 | VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
||
| 2375 | LOG_FUNCTION_START("");
|
||
| 2376 | |||
| 2377 | /* not implemented for VL53L0X */
|
||
| 2378 | |||
| 2379 | LOG_FUNCTION_END(Status); |
||
| 2380 | return Status;
|
||
| 2381 | } |
||
| 2382 | |||
| 2383 | |||
| 2384 | VL53L0X_Error VL53L0X_GetRangingMeasurementData(VL53L0X_DEV Dev, |
||
| 2385 | VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) |
||
| 2386 | {
|
||
| 2387 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2388 | uint8_t DeviceRangeStatus; |
||
| 2389 | uint8_t RangeFractionalEnable; |
||
| 2390 | uint8_t PalRangeStatus; |
||
| 2391 | uint8_t XTalkCompensationEnable; |
||
| 2392 | uint16_t AmbientRate; |
||
| 2393 | FixPoint1616_t SignalRate; |
||
| 2394 | uint16_t XTalkCompensationRateMegaCps; |
||
| 2395 | uint16_t EffectiveSpadRtnCount; |
||
| 2396 | uint16_t tmpuint16; |
||
| 2397 | uint16_t XtalkRangeMilliMeter; |
||
| 2398 | uint16_t LinearityCorrectiveGain; |
||
| 2399 | uint8_t localBuffer[12];
|
||
| 2400 | VL53L0X_RangingMeasurementData_t LastRangeDataBuffer; |
||
| 2401 | |||
| 2402 | LOG_FUNCTION_START("");
|
||
| 2403 | |||
| 2404 | /*
|
||
| 2405 | * use multi read even if some registers are not useful, result will
|
||
| 2406 | * be more efficient
|
||
| 2407 | * start reading at 0x14 dec20
|
||
| 2408 | * end reading at 0x21 dec33 total 14 bytes to read
|
||
| 2409 | */
|
||
| 2410 | Status = VL53L0X_ReadMulti(Dev, 0x14, localBuffer, 12); |
||
| 2411 | |||
| 2412 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2413 | |||
| 2414 | pRangingMeasurementData->ZoneId = 0; /* Only one zone */ |
||
| 2415 | pRangingMeasurementData->TimeStamp = 0; /* Not Implemented */ |
||
| 2416 | |||
| 2417 | tmpuint16 = VL53L0X_MAKEUINT16(localBuffer[11], localBuffer[10]); |
||
| 2418 | /* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional
|
||
| 2419 | *(format 11.2) else no fractional
|
||
| 2420 | */
|
||
| 2421 | |||
| 2422 | pRangingMeasurementData->MeasurementTimeUsec = 0;
|
||
| 2423 | |||
| 2424 | SignalRate = VL53L0X_FIXPOINT97TOFIXPOINT1616( |
||
| 2425 | VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6])); |
||
| 2426 | /* peak_signal_count_rate_rtn_mcps */
|
||
| 2427 | pRangingMeasurementData->SignalRateRtnMegaCps = SignalRate; |
||
| 2428 | |||
| 2429 | AmbientRate = VL53L0X_MAKEUINT16(localBuffer[9], localBuffer[8]); |
||
| 2430 | pRangingMeasurementData->AmbientRateRtnMegaCps = |
||
| 2431 | VL53L0X_FIXPOINT97TOFIXPOINT1616(AmbientRate); |
||
| 2432 | |||
| 2433 | EffectiveSpadRtnCount = VL53L0X_MAKEUINT16(localBuffer[3],
|
||
| 2434 | localBuffer[2]);
|
||
| 2435 | /* EffectiveSpadRtnCount is 8.8 format */
|
||
| 2436 | pRangingMeasurementData->EffectiveSpadRtnCount = |
||
| 2437 | EffectiveSpadRtnCount; |
||
| 2438 | |||
| 2439 | DeviceRangeStatus = localBuffer[0];
|
||
| 2440 | |||
| 2441 | /* Get Linearity Corrective Gain */
|
||
| 2442 | LinearityCorrectiveGain = PALDevDataGet(Dev, |
||
| 2443 | LinearityCorrectiveGain); |
||
| 2444 | |||
| 2445 | /* Get ranging configuration */
|
||
| 2446 | RangeFractionalEnable = PALDevDataGet(Dev, |
||
| 2447 | RangeFractionalEnable); |
||
| 2448 | |||
| 2449 | if (LinearityCorrectiveGain != 1000) { |
||
| 2450 | |||
| 2451 | tmpuint16 = (uint16_t)((LinearityCorrectiveGain |
||
| 2452 | * tmpuint16 + 500) / 1000); |
||
| 2453 | |||
| 2454 | /* Implement Xtalk */
|
||
| 2455 | VL53L0X_GETPARAMETERFIELD(Dev, |
||
| 2456 | XTalkCompensationRateMegaCps, |
||
| 2457 | XTalkCompensationRateMegaCps); |
||
| 2458 | VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, |
||
| 2459 | XTalkCompensationEnable); |
||
| 2460 | |||
| 2461 | if (XTalkCompensationEnable) {
|
||
| 2462 | |||
| 2463 | if ((SignalRate
|
||
| 2464 | - ((XTalkCompensationRateMegaCps |
||
| 2465 | * EffectiveSpadRtnCount) >> 8))
|
||
| 2466 | <= 0) {
|
||
| 2467 | if (RangeFractionalEnable)
|
||
| 2468 | XtalkRangeMilliMeter = 8888;
|
||
| 2469 | else
|
||
| 2470 | XtalkRangeMilliMeter = 8888
|
||
| 2471 | << 2;
|
||
| 2472 | } else {
|
||
| 2473 | XtalkRangeMilliMeter = |
||
| 2474 | (tmpuint16 * SignalRate) |
||
| 2475 | / (SignalRate |
||
| 2476 | - ((XTalkCompensationRateMegaCps |
||
| 2477 | * EffectiveSpadRtnCount) |
||
| 2478 | >> 8));
|
||
| 2479 | } |
||
| 2480 | |||
| 2481 | tmpuint16 = XtalkRangeMilliMeter; |
||
| 2482 | } |
||
| 2483 | |||
| 2484 | } |
||
| 2485 | |||
| 2486 | if (RangeFractionalEnable) {
|
||
| 2487 | pRangingMeasurementData->RangeMilliMeter = |
||
| 2488 | (uint16_t)((tmpuint16) >> 2);
|
||
| 2489 | pRangingMeasurementData->RangeFractionalPart = |
||
| 2490 | (uint8_t)((tmpuint16 & 0x03) << 6); |
||
| 2491 | } else {
|
||
| 2492 | pRangingMeasurementData->RangeMilliMeter = tmpuint16; |
||
| 2493 | pRangingMeasurementData->RangeFractionalPart = 0;
|
||
| 2494 | } |
||
| 2495 | |||
| 2496 | /*
|
||
| 2497 | * For a standard definition of RangeStatus, this should
|
||
| 2498 | * return 0 in case of good result after a ranging
|
||
| 2499 | * The range status depends on the device so call a device
|
||
| 2500 | * specific function to obtain the right Status.
|
||
| 2501 | */
|
||
| 2502 | Status |= VL53L0X_get_pal_range_status(Dev, DeviceRangeStatus, |
||
| 2503 | SignalRate, EffectiveSpadRtnCount, |
||
| 2504 | pRangingMeasurementData, &PalRangeStatus); |
||
| 2505 | |||
| 2506 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 2507 | pRangingMeasurementData->RangeStatus = PalRangeStatus; |
||
| 2508 | |||
| 2509 | } |
||
| 2510 | |||
| 2511 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2512 | /* Copy last read data into Dev buffer */
|
||
| 2513 | LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure); |
||
| 2514 | |||
| 2515 | LastRangeDataBuffer.RangeMilliMeter = |
||
| 2516 | pRangingMeasurementData->RangeMilliMeter; |
||
| 2517 | LastRangeDataBuffer.RangeFractionalPart = |
||
| 2518 | pRangingMeasurementData->RangeFractionalPart; |
||
| 2519 | LastRangeDataBuffer.RangeDMaxMilliMeter = |
||
| 2520 | pRangingMeasurementData->RangeDMaxMilliMeter; |
||
| 2521 | LastRangeDataBuffer.MeasurementTimeUsec = |
||
| 2522 | pRangingMeasurementData->MeasurementTimeUsec; |
||
| 2523 | LastRangeDataBuffer.SignalRateRtnMegaCps = |
||
| 2524 | pRangingMeasurementData->SignalRateRtnMegaCps; |
||
| 2525 | LastRangeDataBuffer.AmbientRateRtnMegaCps = |
||
| 2526 | pRangingMeasurementData->AmbientRateRtnMegaCps; |
||
| 2527 | LastRangeDataBuffer.EffectiveSpadRtnCount = |
||
| 2528 | pRangingMeasurementData->EffectiveSpadRtnCount; |
||
| 2529 | LastRangeDataBuffer.RangeStatus = |
||
| 2530 | pRangingMeasurementData->RangeStatus; |
||
| 2531 | |||
| 2532 | PALDevDataSet(Dev, LastRangeMeasure, LastRangeDataBuffer); |
||
| 2533 | } |
||
| 2534 | |||
| 2535 | LOG_FUNCTION_END(Status); |
||
| 2536 | return Status;
|
||
| 2537 | } |
||
| 2538 | |||
| 2539 | VL53L0X_Error VL53L0X_GetMeasurementRefSignal(VL53L0X_DEV Dev, |
||
| 2540 | FixPoint1616_t *pMeasurementRefSignal) |
||
| 2541 | {
|
||
| 2542 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2543 | uint8_t SignalRefClipLimitCheckEnable = 0;
|
||
| 2544 | LOG_FUNCTION_START("");
|
||
| 2545 | |||
| 2546 | Status = VL53L0X_GetLimitCheckEnable(Dev, |
||
| 2547 | VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
||
| 2548 | &SignalRefClipLimitCheckEnable); |
||
| 2549 | if (SignalRefClipLimitCheckEnable != 0) { |
||
| 2550 | *pMeasurementRefSignal = PALDevDataGet(Dev, LastSignalRefMcps); |
||
| 2551 | } else {
|
||
| 2552 | Status = VL53L0X_ERROR_INVALID_COMMAND; |
||
| 2553 | } |
||
| 2554 | LOG_FUNCTION_END(Status); |
||
| 2555 | |||
| 2556 | return Status;
|
||
| 2557 | } |
||
| 2558 | |||
| 2559 | VL53L0X_Error VL53L0X_GetHistogramMeasurementData(VL53L0X_DEV Dev, |
||
| 2560 | VL53L0X_HistogramMeasurementData_t *pHistogramMeasurementData) |
||
| 2561 | {
|
||
| 2562 | VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
||
| 2563 | LOG_FUNCTION_START("");
|
||
| 2564 | |||
| 2565 | LOG_FUNCTION_END(Status); |
||
| 2566 | return Status;
|
||
| 2567 | } |
||
| 2568 | |||
| 2569 | VL53L0X_Error VL53L0X_PerformSingleRangingMeasurement(VL53L0X_DEV Dev, |
||
| 2570 | VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) |
||
| 2571 | {
|
||
| 2572 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2573 | |||
| 2574 | LOG_FUNCTION_START("");
|
||
| 2575 | |||
| 2576 | /* This function will do a complete single ranging
|
||
| 2577 | * Here we fix the mode! */
|
||
| 2578 | Status = VL53L0X_SetDeviceMode(Dev, VL53L0X_DEVICEMODE_SINGLE_RANGING); |
||
| 2579 | |||
| 2580 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 2581 | Status = VL53L0X_PerformSingleMeasurement(Dev); |
||
| 2582 | |||
| 2583 | |||
| 2584 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 2585 | Status = VL53L0X_GetRangingMeasurementData(Dev, |
||
| 2586 | pRangingMeasurementData); |
||
| 2587 | |||
| 2588 | |||
| 2589 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 2590 | Status = VL53L0X_ClearInterruptMask(Dev, 0);
|
||
| 2591 | |||
| 2592 | |||
| 2593 | LOG_FUNCTION_END(Status); |
||
| 2594 | return Status;
|
||
| 2595 | } |
||
| 2596 | |||
| 2597 | VL53L0X_Error VL53L0X_SetNumberOfROIZones(VL53L0X_DEV Dev, |
||
| 2598 | uint8_t NumberOfROIZones) |
||
| 2599 | {
|
||
| 2600 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2601 | |||
| 2602 | LOG_FUNCTION_START("");
|
||
| 2603 | |||
| 2604 | if (NumberOfROIZones != 1) |
||
| 2605 | Status = VL53L0X_ERROR_INVALID_PARAMS; |
||
| 2606 | |||
| 2607 | |||
| 2608 | LOG_FUNCTION_END(Status); |
||
| 2609 | return Status;
|
||
| 2610 | } |
||
| 2611 | |||
| 2612 | VL53L0X_Error VL53L0X_GetNumberOfROIZones(VL53L0X_DEV Dev, |
||
| 2613 | uint8_t *pNumberOfROIZones) |
||
| 2614 | {
|
||
| 2615 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2616 | |||
| 2617 | LOG_FUNCTION_START("");
|
||
| 2618 | |||
| 2619 | *pNumberOfROIZones = 1;
|
||
| 2620 | |||
| 2621 | LOG_FUNCTION_END(Status); |
||
| 2622 | return Status;
|
||
| 2623 | } |
||
| 2624 | |||
| 2625 | VL53L0X_Error VL53L0X_GetMaxNumberOfROIZones(VL53L0X_DEV Dev, |
||
| 2626 | uint8_t *pMaxNumberOfROIZones) |
||
| 2627 | {
|
||
| 2628 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2629 | |||
| 2630 | LOG_FUNCTION_START("");
|
||
| 2631 | |||
| 2632 | *pMaxNumberOfROIZones = 1;
|
||
| 2633 | |||
| 2634 | LOG_FUNCTION_END(Status); |
||
| 2635 | return Status;
|
||
| 2636 | } |
||
| 2637 | |||
| 2638 | /* End Group PAL Measurement Functions */
|
||
| 2639 | |||
| 2640 | VL53L0X_Error VL53L0X_SetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin, |
||
| 2641 | VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality, |
||
| 2642 | VL53L0X_InterruptPolarity Polarity) |
||
| 2643 | {
|
||
| 2644 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2645 | uint8_t data; |
||
| 2646 | |||
| 2647 | LOG_FUNCTION_START("");
|
||
| 2648 | |||
| 2649 | if (Pin != 0) { |
||
| 2650 | Status = VL53L0X_ERROR_GPIO_NOT_EXISTING; |
||
| 2651 | } else if (DeviceMode == VL53L0X_DEVICEMODE_GPIO_DRIVE) { |
||
| 2652 | if (Polarity == VL53L0X_INTERRUPTPOLARITY_LOW)
|
||
| 2653 | data = 0x10;
|
||
| 2654 | else
|
||
| 2655 | data = 1;
|
||
| 2656 | |||
| 2657 | Status = VL53L0X_WrByte(Dev, |
||
| 2658 | VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data); |
||
| 2659 | |||
| 2660 | } else if (DeviceMode == VL53L0X_DEVICEMODE_GPIO_OSC) { |
||
| 2661 | |||
| 2662 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); |
||
| 2663 | Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); |
||
| 2664 | |||
| 2665 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); |
||
| 2666 | Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); |
||
| 2667 | Status |= VL53L0X_WrByte(Dev, 0x85, 0x02); |
||
| 2668 | |||
| 2669 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x04); |
||
| 2670 | Status |= VL53L0X_WrByte(Dev, 0xcd, 0x00); |
||
| 2671 | Status |= VL53L0X_WrByte(Dev, 0xcc, 0x11); |
||
| 2672 | |||
| 2673 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x07); |
||
| 2674 | Status |= VL53L0X_WrByte(Dev, 0xbe, 0x00); |
||
| 2675 | |||
| 2676 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x06); |
||
| 2677 | Status |= VL53L0X_WrByte(Dev, 0xcc, 0x09); |
||
| 2678 | |||
| 2679 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); |
||
| 2680 | Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); |
||
| 2681 | Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); |
||
| 2682 | |||
| 2683 | } else {
|
||
| 2684 | |||
| 2685 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2686 | switch (Functionality) {
|
||
| 2687 | case VL53L0X_GPIOFUNCTIONALITY_OFF:
|
||
| 2688 | data = 0x00;
|
||
| 2689 | break;
|
||
| 2690 | case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW:
|
||
| 2691 | data = 0x01;
|
||
| 2692 | break;
|
||
| 2693 | case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH:
|
||
| 2694 | data = 0x02;
|
||
| 2695 | break;
|
||
| 2696 | case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT:
|
||
| 2697 | data = 0x03;
|
||
| 2698 | break;
|
||
| 2699 | case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY:
|
||
| 2700 | data = 0x04;
|
||
| 2701 | break;
|
||
| 2702 | default:
|
||
| 2703 | Status = |
||
| 2704 | VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED; |
||
| 2705 | } |
||
| 2706 | } |
||
| 2707 | |||
| 2708 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 2709 | Status = VL53L0X_WrByte(Dev, |
||
| 2710 | VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data); |
||
| 2711 | |||
| 2712 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2713 | if (Polarity == VL53L0X_INTERRUPTPOLARITY_LOW)
|
||
| 2714 | data = 0;
|
||
| 2715 | else
|
||
| 2716 | data = (uint8_t)(1 << 4); |
||
| 2717 | |||
| 2718 | Status = VL53L0X_UpdateByte(Dev, |
||
| 2719 | VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data);
|
||
| 2720 | } |
||
| 2721 | |||
| 2722 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 2723 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
||
| 2724 | Pin0GpioFunctionality, Functionality); |
||
| 2725 | |||
| 2726 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 2727 | Status = VL53L0X_ClearInterruptMask(Dev, 0);
|
||
| 2728 | |||
| 2729 | } |
||
| 2730 | |||
| 2731 | LOG_FUNCTION_END(Status); |
||
| 2732 | return Status;
|
||
| 2733 | } |
||
| 2734 | |||
| 2735 | VL53L0X_Error VL53L0X_GetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin, |
||
| 2736 | VL53L0X_DeviceModes *pDeviceMode, |
||
| 2737 | VL53L0X_GpioFunctionality *pFunctionality, |
||
| 2738 | VL53L0X_InterruptPolarity *pPolarity) |
||
| 2739 | {
|
||
| 2740 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2741 | VL53L0X_GpioFunctionality GpioFunctionality; |
||
| 2742 | uint8_t data; |
||
| 2743 | |||
| 2744 | LOG_FUNCTION_START("");
|
||
| 2745 | |||
| 2746 | /* pDeviceMode not managed by Ewok it return the current mode */
|
||
| 2747 | |||
| 2748 | Status = VL53L0X_GetDeviceMode(Dev, pDeviceMode); |
||
| 2749 | |||
| 2750 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2751 | if (Pin != 0) { |
||
| 2752 | Status = VL53L0X_ERROR_GPIO_NOT_EXISTING; |
||
| 2753 | } else {
|
||
| 2754 | Status = VL53L0X_RdByte(Dev, |
||
| 2755 | VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, &data); |
||
| 2756 | } |
||
| 2757 | } |
||
| 2758 | |||
| 2759 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2760 | switch (data & 0x07) { |
||
| 2761 | case 0x00: |
||
| 2762 | GpioFunctionality = VL53L0X_GPIOFUNCTIONALITY_OFF; |
||
| 2763 | break;
|
||
| 2764 | case 0x01: |
||
| 2765 | GpioFunctionality = |
||
| 2766 | VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW; |
||
| 2767 | break;
|
||
| 2768 | case 0x02: |
||
| 2769 | GpioFunctionality = |
||
| 2770 | VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH; |
||
| 2771 | break;
|
||
| 2772 | case 0x03: |
||
| 2773 | GpioFunctionality = |
||
| 2774 | VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT; |
||
| 2775 | break;
|
||
| 2776 | case 0x04: |
||
| 2777 | GpioFunctionality = |
||
| 2778 | VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY; |
||
| 2779 | break;
|
||
| 2780 | default:
|
||
| 2781 | Status = VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED; |
||
| 2782 | } |
||
| 2783 | } |
||
| 2784 | |||
| 2785 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 2786 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, |
||
| 2787 | &data); |
||
| 2788 | |||
| 2789 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2790 | if ((data & (uint8_t)(1 << 4)) == 0) |
||
| 2791 | *pPolarity = VL53L0X_INTERRUPTPOLARITY_LOW; |
||
| 2792 | else
|
||
| 2793 | *pPolarity = VL53L0X_INTERRUPTPOLARITY_HIGH; |
||
| 2794 | } |
||
| 2795 | |||
| 2796 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2797 | *pFunctionality = GpioFunctionality; |
||
| 2798 | VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, Pin0GpioFunctionality, |
||
| 2799 | GpioFunctionality); |
||
| 2800 | } |
||
| 2801 | |||
| 2802 | LOG_FUNCTION_END(Status); |
||
| 2803 | return Status;
|
||
| 2804 | } |
||
| 2805 | |||
| 2806 | VL53L0X_Error VL53L0X_SetInterruptThresholds(VL53L0X_DEV Dev, |
||
| 2807 | VL53L0X_DeviceModes DeviceMode, FixPoint1616_t ThresholdLow, |
||
| 2808 | FixPoint1616_t ThresholdHigh) |
||
| 2809 | {
|
||
| 2810 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2811 | uint16_t Threshold16; |
||
| 2812 | LOG_FUNCTION_START("");
|
||
| 2813 | |||
| 2814 | /* no dependency on DeviceMode for Ewok */
|
||
| 2815 | /* Need to divide by 2 because the FW will apply a x2 */
|
||
| 2816 | Threshold16 = (uint16_t)((ThresholdLow >> 17) & 0x00fff); |
||
| 2817 | Status = VL53L0X_WrWord(Dev, VL53L0X_REG_SYSTEM_THRESH_LOW, Threshold16); |
||
| 2818 | |||
| 2819 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2820 | /* Need to divide by 2 because the FW will apply a x2 */
|
||
| 2821 | Threshold16 = (uint16_t)((ThresholdHigh >> 17) & 0x00fff); |
||
| 2822 | Status = VL53L0X_WrWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH, |
||
| 2823 | Threshold16); |
||
| 2824 | } |
||
| 2825 | |||
| 2826 | LOG_FUNCTION_END(Status); |
||
| 2827 | return Status;
|
||
| 2828 | } |
||
| 2829 | |||
| 2830 | VL53L0X_Error VL53L0X_GetInterruptThresholds(VL53L0X_DEV Dev, |
||
| 2831 | VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow, |
||
| 2832 | FixPoint1616_t *pThresholdHigh) |
||
| 2833 | {
|
||
| 2834 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2835 | uint16_t Threshold16; |
||
| 2836 | LOG_FUNCTION_START("");
|
||
| 2837 | |||
| 2838 | /* no dependency on DeviceMode for Ewok */
|
||
| 2839 | |||
| 2840 | Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_LOW, &Threshold16); |
||
| 2841 | /* Need to multiply by 2 because the FW will apply a x2 */
|
||
| 2842 | *pThresholdLow = (FixPoint1616_t)((0x00fff & Threshold16) << 17); |
||
| 2843 | |||
| 2844 | if (Status == VL53L0X_ERROR_NONE) {
|
||
| 2845 | Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH, |
||
| 2846 | &Threshold16); |
||
| 2847 | /* Need to multiply by 2 because the FW will apply a x2 */
|
||
| 2848 | *pThresholdHigh = |
||
| 2849 | (FixPoint1616_t)((0x00fff & Threshold16) << 17); |
||
| 2850 | } |
||
| 2851 | |||
| 2852 | LOG_FUNCTION_END(Status); |
||
| 2853 | return Status;
|
||
| 2854 | } |
||
| 2855 | |||
| 2856 | VL53L0X_Error VL53L0X_GetStopCompletedStatus(VL53L0X_DEV Dev, |
||
| 2857 | uint32_t *pStopStatus) |
||
| 2858 | {
|
||
| 2859 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2860 | uint8_t Byte = 0;
|
||
| 2861 | LOG_FUNCTION_START("");
|
||
| 2862 | |||
| 2863 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
||
| 2864 | |||
| 2865 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 2866 | Status = VL53L0X_RdByte(Dev, 0x04, &Byte);
|
||
| 2867 | |||
| 2868 | if (Status == VL53L0X_ERROR_NONE)
|
||
| 2869 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x0); |
||
| 2870 | |||
| 2871 | *pStopStatus = Byte; |
||
| 2872 | |||
| 2873 | if (Byte == 0) { |
||
| 2874 | Status = VL53L0X_WrByte(Dev, 0x80, 0x01); |
||
| 2875 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
||
| 2876 | Status = VL53L0X_WrByte(Dev, 0x00, 0x00); |
||
| 2877 | Status = VL53L0X_WrByte(Dev, 0x91,
|
||
| 2878 | PALDevDataGet(Dev, StopVariable)); |
||
| 2879 | Status = VL53L0X_WrByte(Dev, 0x00, 0x01); |
||
| 2880 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
||
| 2881 | Status = VL53L0X_WrByte(Dev, 0x80, 0x00); |
||
| 2882 | } |
||
| 2883 | |||
| 2884 | LOG_FUNCTION_END(Status); |
||
| 2885 | return Status;
|
||
| 2886 | } |
||
| 2887 | |||
| 2888 | /* Group PAL Interrupt Functions */
|
||
| 2889 | VL53L0X_Error VL53L0X_ClearInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask) |
||
| 2890 | {
|
||
| 2891 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2892 | uint8_t LoopCount; |
||
| 2893 | uint8_t Byte; |
||
| 2894 | LOG_FUNCTION_START("");
|
||
| 2895 | |||
| 2896 | /* clear bit 0 range interrupt, bit 1 error interrupt */
|
||
| 2897 | LoopCount = 0;
|
||
| 2898 | do {
|
||
| 2899 | Status = VL53L0X_WrByte(Dev, |
||
| 2900 | VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01);
|
||
| 2901 | Status |= VL53L0X_WrByte(Dev, |
||
| 2902 | VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00);
|
||
| 2903 | Status |= VL53L0X_RdByte(Dev, |
||
| 2904 | VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte); |
||
| 2905 | LoopCount++; |
||
| 2906 | } while (((Byte & 0x07) != 0x00) |
||
| 2907 | && (LoopCount < 3)
|
||
| 2908 | && (Status == VL53L0X_ERROR_NONE)); |
||
| 2909 | |||
| 2910 | |||
| 2911 | if (LoopCount >= 3) |
||
| 2912 | Status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED; |
||
| 2913 | |||
| 2914 | LOG_FUNCTION_END(Status); |
||
| 2915 | return Status;
|
||
| 2916 | } |
||
| 2917 | |||
| 2918 | VL53L0X_Error VL53L0X_GetInterruptMaskStatus(VL53L0X_DEV Dev, |
||
| 2919 | uint32_t *pInterruptMaskStatus) |
||
| 2920 | {
|
||
| 2921 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2922 | uint8_t Byte; |
||
| 2923 | LOG_FUNCTION_START("");
|
||
| 2924 | |||
| 2925 | Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte); |
||
| 2926 | *pInterruptMaskStatus = Byte & 0x07;
|
||
| 2927 | |||
| 2928 | if (Byte & 0x18) |
||
| 2929 | Status = VL53L0X_ERROR_RANGE_ERROR; |
||
| 2930 | |||
| 2931 | LOG_FUNCTION_END(Status); |
||
| 2932 | return Status;
|
||
| 2933 | } |
||
| 2934 | |||
| 2935 | VL53L0X_Error VL53L0X_EnableInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask) |
||
| 2936 | {
|
||
| 2937 | VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; |
||
| 2938 | LOG_FUNCTION_START("");
|
||
| 2939 | |||
| 2940 | /* not implemented for VL53L0X */
|
||
| 2941 | |||
| 2942 | LOG_FUNCTION_END(Status); |
||
| 2943 | return Status;
|
||
| 2944 | } |
||
| 2945 | |||
| 2946 | /* End Group PAL Interrupt Functions */
|
||
| 2947 | |||
| 2948 | /* Group SPAD functions */
|
||
| 2949 | |||
| 2950 | VL53L0X_Error VL53L0X_SetSpadAmbientDamperThreshold(VL53L0X_DEV Dev, |
||
| 2951 | uint16_t SpadAmbientDamperThreshold) |
||
| 2952 | {
|
||
| 2953 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2954 | LOG_FUNCTION_START("");
|
||
| 2955 | |||
| 2956 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
||
| 2957 | Status |= VL53L0X_WrWord(Dev, 0x40, SpadAmbientDamperThreshold);
|
||
| 2958 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
||
| 2959 | |||
| 2960 | LOG_FUNCTION_END(Status); |
||
| 2961 | return Status;
|
||
| 2962 | } |
||
| 2963 | |||
| 2964 | VL53L0X_Error VL53L0X_GetSpadAmbientDamperThreshold(VL53L0X_DEV Dev, |
||
| 2965 | uint16_t *pSpadAmbientDamperThreshold) |
||
| 2966 | {
|
||
| 2967 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2968 | LOG_FUNCTION_START("");
|
||
| 2969 | |||
| 2970 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
||
| 2971 | Status |= VL53L0X_RdWord(Dev, 0x40, pSpadAmbientDamperThreshold);
|
||
| 2972 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
||
| 2973 | |||
| 2974 | LOG_FUNCTION_END(Status); |
||
| 2975 | return Status;
|
||
| 2976 | } |
||
| 2977 | |||
| 2978 | VL53L0X_Error VL53L0X_SetSpadAmbientDamperFactor(VL53L0X_DEV Dev, |
||
| 2979 | uint16_t SpadAmbientDamperFactor) |
||
| 2980 | {
|
||
| 2981 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2982 | uint8_t Byte; |
||
| 2983 | LOG_FUNCTION_START("");
|
||
| 2984 | |||
| 2985 | Byte = (uint8_t)(SpadAmbientDamperFactor & 0x00FF);
|
||
| 2986 | |||
| 2987 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
||
| 2988 | Status |= VL53L0X_WrByte(Dev, 0x42, Byte);
|
||
| 2989 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
||
| 2990 | |||
| 2991 | LOG_FUNCTION_END(Status); |
||
| 2992 | return Status;
|
||
| 2993 | } |
||
| 2994 | |||
| 2995 | VL53L0X_Error VL53L0X_GetSpadAmbientDamperFactor(VL53L0X_DEV Dev, |
||
| 2996 | uint16_t *pSpadAmbientDamperFactor) |
||
| 2997 | {
|
||
| 2998 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 2999 | uint8_t Byte; |
||
| 3000 | LOG_FUNCTION_START("");
|
||
| 3001 | |||
| 3002 | Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
||
| 3003 | Status |= VL53L0X_RdByte(Dev, 0x42, &Byte);
|
||
| 3004 | Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
||
| 3005 | *pSpadAmbientDamperFactor = (uint16_t)Byte; |
||
| 3006 | |||
| 3007 | LOG_FUNCTION_END(Status); |
||
| 3008 | return Status;
|
||
| 3009 | } |
||
| 3010 | |||
| 3011 | /* END Group SPAD functions */
|
||
| 3012 | |||
| 3013 | /*****************************************************************************
|
||
| 3014 | * Internal functions
|
||
| 3015 | *****************************************************************************/
|
||
| 3016 | |||
| 3017 | VL53L0X_Error VL53L0X_SetReferenceSpads(VL53L0X_DEV Dev, uint32_t count, |
||
| 3018 | uint8_t isApertureSpads) |
||
| 3019 | {
|
||
| 3020 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 3021 | LOG_FUNCTION_START("");
|
||
| 3022 | |||
| 3023 | Status = VL53L0X_set_reference_spads(Dev, count, isApertureSpads); |
||
| 3024 | |||
| 3025 | LOG_FUNCTION_END(Status); |
||
| 3026 | |||
| 3027 | return Status;
|
||
| 3028 | } |
||
| 3029 | |||
| 3030 | VL53L0X_Error VL53L0X_GetReferenceSpads(VL53L0X_DEV Dev, uint32_t *pSpadCount, |
||
| 3031 | uint8_t *pIsApertureSpads) |
||
| 3032 | {
|
||
| 3033 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 3034 | LOG_FUNCTION_START("");
|
||
| 3035 | |||
| 3036 | Status = VL53L0X_get_reference_spads(Dev, pSpadCount, pIsApertureSpads); |
||
| 3037 | |||
| 3038 | LOG_FUNCTION_END(Status); |
||
| 3039 | |||
| 3040 | return Status;
|
||
| 3041 | } |
||
| 3042 | |||
| 3043 | VL53L0X_Error VL53L0X_PerformRefSpadManagement(VL53L0X_DEV Dev, |
||
| 3044 | uint32_t *refSpadCount, uint8_t *isApertureSpads) |
||
| 3045 | {
|
||
| 3046 | VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
||
| 3047 | LOG_FUNCTION_START("");
|
||
| 3048 | |||
| 3049 | Status = VL53L0X_perform_ref_spad_management(Dev, refSpadCount, |
||
| 3050 | isApertureSpads); |
||
| 3051 | |||
| 3052 | LOG_FUNCTION_END(Status); |
||
| 3053 | |||
| 3054 | return Status;
|
||
| 3055 | } |