amiro-lld / include / VL53L0X / v1 / Api_vl53l0x / core / src / vl53l0x_api_core.c @ 6ebebd4d
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/*******************************************************************************
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Copyright � 2016, STMicroelectronics International N.V.
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of STMicroelectronics nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
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NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
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IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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******************************************************************************/
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#include "vl53l0x_api.h" |
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#include "vl53l0x_api_core.h" |
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#include "vl53l0x_api_calibration.h" |
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//#include "periphAL.h"
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#ifndef __KERNEL__
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#include <stdlib.h> |
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#endif
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#define LOG_FUNCTION_START(fmt, ...) \
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_LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) |
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#define LOG_FUNCTION_END(status, ...) \
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_LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) |
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#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
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_LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) |
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VL53L0X_Error VL53L0X_reverse_bytes(uint8_t *data, uint32_t size) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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uint8_t tempData; |
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uint32_t mirrorIndex; |
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uint32_t middle = size/2;
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uint32_t index; |
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for (index = 0; index < middle; index++) { |
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mirrorIndex = size - index - 1;
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tempData = data[index]; |
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data[index] = data[mirrorIndex]; |
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data[mirrorIndex] = tempData; |
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} |
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return Status;
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} |
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VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV Dev) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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uint8_t NewDataReady = 0;
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uint32_t LoopNb; |
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LOG_FUNCTION_START("");
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LoopNb = 0;
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do {
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Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDataReady); |
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if (Status != 0) |
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break; /* the error is set */ |
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if (NewDataReady == 1) |
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break; /* done note that status == 0 */ |
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LoopNb++; |
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if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
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Status = VL53L0X_ERROR_TIME_OUT; |
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break;
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} |
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// sleep for 1 millisec
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usleep(1000);
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} while (1); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg) |
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{
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/*!
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* Converts the encoded VCSEL period register value into the real
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* period in PLL clocks
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*/
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uint8_t vcsel_period_pclks = 0;
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vcsel_period_pclks = (vcsel_period_reg + 1) << 1; |
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return vcsel_period_pclks;
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} |
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uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks) |
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{
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/*!
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* Converts the encoded VCSEL period register value into the real period
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* in PLL clocks
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*/
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uint8_t vcsel_period_reg = 0;
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vcsel_period_reg = (vcsel_period_pclks >> 1) - 1; |
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return vcsel_period_reg;
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} |
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uint32_t VL53L0X_isqrt(uint32_t num) |
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{
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/*
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* Implements an integer square root
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*
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* From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
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*/
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uint32_t res = 0;
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uint32_t bit = 1 << 30; |
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/* The second-to-top bit is set:
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* 1 << 14 for 16-bits, 1 << 30 for 32 bits */
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/* "bit" starts at the highest power of four <= the argument. */
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while (bit > num)
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bit >>= 2;
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while (bit != 0) { |
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if (num >= res + bit) {
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num -= res + bit; |
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res = (res >> 1) + bit;
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} else
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res >>= 1;
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bit >>= 2;
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} |
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return res;
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} |
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uint32_t VL53L0X_quadrature_sum(uint32_t a, uint32_t b) |
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{
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/*
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* Implements a quadrature sum
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*
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* rea = sqrt(a^2 + b^2)
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*
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* Trap overflow case max input value is 65535 (16-bit value)
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* as internal calc are 32-bit wide
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*
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* If overflow then seta output to maximum
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*/
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uint32_t res = 0;
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if (a > 65535 || b > 65535) |
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res = 65535;
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else
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res = VL53L0X_isqrt(a * a + b * b); |
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return res;
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} |
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VL53L0X_Error VL53L0X_device_read_strobe(VL53L0X_DEV Dev) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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uint8_t strobe; |
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uint32_t LoopNb; |
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LOG_FUNCTION_START("");
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Status |= VL53L0X_WrByte(Dev, 0x83, 0x00); |
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/* polling
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* use timeout to avoid deadlock*/
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if (Status == VL53L0X_ERROR_NONE) {
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LoopNb = 0;
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do {
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Status = VL53L0X_RdByte(Dev, 0x83, &strobe);
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if ((strobe != 0x00) || Status != VL53L0X_ERROR_NONE) |
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break;
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LoopNb = LoopNb + 1;
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} while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP);
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if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP)
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Status = VL53L0X_ERROR_TIME_OUT; |
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} |
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Status |= VL53L0X_WrByte(Dev, 0x83, 0x01); |
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LOG_FUNCTION_END(Status); |
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return Status;
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} |
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VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV Dev, uint8_t option) |
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{
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VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
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uint8_t byte; |
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uint32_t TmpDWord; |
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uint8_t ModuleId; |
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uint8_t Revision; |
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uint8_t ReferenceSpadCount = 0;
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uint8_t ReferenceSpadType = 0;
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uint32_t PartUIDUpper = 0;
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uint32_t PartUIDLower = 0;
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uint32_t OffsetFixed1104_mm = 0;
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int16_t OffsetMicroMeters = 0;
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uint32_t DistMeasTgtFixed1104_mm = 400 << 4; |
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uint32_t DistMeasFixed1104_400_mm = 0;
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uint32_t SignalRateMeasFixed1104_400_mm = 0;
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char ProductId[19]; |
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char *ProductId_tmp;
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uint8_t ReadDataFromDeviceDone; |
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FixPoint1616_t SignalRateMeasFixed400mmFix = 0;
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uint8_t NvmRefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE]; |
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int i;
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LOG_FUNCTION_START("");
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ReadDataFromDeviceDone = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
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ReadDataFromDeviceDone); |
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/* This access is done only once after that a GetDeviceInfo or
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* datainit is done*/
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if (ReadDataFromDeviceDone != 7) { |
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Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); |
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Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); |
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Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); |
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Status |= VL53L0X_WrByte(Dev, 0xFF, 0x06); |
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Status |= VL53L0X_RdByte(Dev, 0x83, &byte);
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Status |= VL53L0X_WrByte(Dev, 0x83, byte|4); |
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Status |= VL53L0X_WrByte(Dev, 0xFF, 0x07); |
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Status |= VL53L0X_WrByte(Dev, 0x81, 0x01); |
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//Status |= VL53L0X_PollingDelay(Dev); TODO NEED THIS ??
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Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); |
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if (((option & 1) == 1) && |
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((ReadDataFromDeviceDone & 1) == 0)) { |
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Status |= VL53L0X_WrByte(Dev, 0x94, 0x6b); |
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Status |= VL53L0X_device_read_strobe(Dev); |
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Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
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ReferenceSpadCount = (uint8_t)((TmpDWord >> 8) & 0x07f); |
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ReferenceSpadType = (uint8_t)((TmpDWord >> 15) & 0x01); |
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Status |= VL53L0X_WrByte(Dev, 0x94, 0x24); |
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Status |= VL53L0X_device_read_strobe(Dev); |
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Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
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NvmRefGoodSpadMap[0] = (uint8_t)((TmpDWord >> 24) |
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& 0xff);
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NvmRefGoodSpadMap[1] = (uint8_t)((TmpDWord >> 16) |
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& 0xff);
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NvmRefGoodSpadMap[2] = (uint8_t)((TmpDWord >> 8) |
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& 0xff);
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NvmRefGoodSpadMap[3] = (uint8_t)(TmpDWord & 0xff); |
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Status |= VL53L0X_WrByte(Dev, 0x94, 0x25); |
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Status |= VL53L0X_device_read_strobe(Dev); |
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Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
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NvmRefGoodSpadMap[4] = (uint8_t)((TmpDWord >> 24) |
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& 0xff);
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NvmRefGoodSpadMap[5] = (uint8_t)((TmpDWord >> 16) |
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& 0xff);
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} |
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if (((option & 2) == 2) && |
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((ReadDataFromDeviceDone & 2) == 0)) { |
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Status |= VL53L0X_WrByte(Dev, 0x94, 0x02); |
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Status |= VL53L0X_device_read_strobe(Dev); |
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Status |= VL53L0X_RdByte(Dev, 0x90, &ModuleId);
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Status |= VL53L0X_WrByte(Dev, 0x94, 0x7B); |
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Status |= VL53L0X_device_read_strobe(Dev); |
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Status |= VL53L0X_RdByte(Dev, 0x90, &Revision);
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Status |= VL53L0X_WrByte(Dev, 0x94, 0x77); |
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Status |= VL53L0X_device_read_strobe(Dev); |
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Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
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ProductId[0] = (char)((TmpDWord >> 25) & 0x07f); |
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ProductId[1] = (char)((TmpDWord >> 18) & 0x07f); |
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ProductId[2] = (char)((TmpDWord >> 11) & 0x07f); |
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ProductId[3] = (char)((TmpDWord >> 4) & 0x07f); |
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byte = (uint8_t)((TmpDWord & 0x00f) << 3); |
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Status |= VL53L0X_WrByte(Dev, 0x94, 0x78); |
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Status |= VL53L0X_device_read_strobe(Dev); |
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Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
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ProductId[4] = (char)(byte + |
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((TmpDWord >> 29) & 0x07f)); |
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ProductId[5] = (char)((TmpDWord >> 22) & 0x07f); |
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ProductId[6] = (char)((TmpDWord >> 15) & 0x07f); |
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ProductId[7] = (char)((TmpDWord >> 8) & 0x07f); |
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ProductId[8] = (char)((TmpDWord >> 1) & 0x07f); |
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byte = (uint8_t)((TmpDWord & 0x001) << 6); |
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Status |= VL53L0X_WrByte(Dev, 0x94, 0x79); |
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Status |= VL53L0X_device_read_strobe(Dev); |
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Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
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ProductId[9] = (char)(byte + |
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((TmpDWord >> 26) & 0x07f)); |
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ProductId[10] = (char)((TmpDWord >> 19) & 0x07f); |
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ProductId[11] = (char)((TmpDWord >> 12) & 0x07f); |
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ProductId[12] = (char)((TmpDWord >> 5) & 0x07f); |
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byte = (uint8_t)((TmpDWord & 0x01f) << 2); |
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Status |= VL53L0X_WrByte(Dev, 0x94, 0x7A); |
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Status |= VL53L0X_device_read_strobe(Dev); |
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Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
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ProductId[13] = (char)(byte + |
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((TmpDWord >> 30) & 0x07f)); |
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ProductId[14] = (char)((TmpDWord >> 23) & 0x07f); |
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ProductId[15] = (char)((TmpDWord >> 16) & 0x07f); |
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ProductId[16] = (char)((TmpDWord >> 9) & 0x07f); |
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ProductId[17] = (char)((TmpDWord >> 2) & 0x07f); |
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ProductId[18] = '\0'; |
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} |
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if (((option & 4) == 4) && |
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((ReadDataFromDeviceDone & 4) == 0)) { |
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Status |= VL53L0X_WrByte(Dev, 0x94, 0x7B); |
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Status |= VL53L0X_device_read_strobe(Dev); |
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Status |= VL53L0X_RdDWord(Dev, 0x90, &PartUIDUpper);
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Status |= VL53L0X_WrByte(Dev, 0x94, 0x7C); |
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Status |= VL53L0X_device_read_strobe(Dev); |
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Status |= VL53L0X_RdDWord(Dev, 0x90, &PartUIDLower);
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Status |= VL53L0X_WrByte(Dev, 0x94, 0x73); |
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Status |= VL53L0X_device_read_strobe(Dev); |
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Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
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SignalRateMeasFixed1104_400_mm = (TmpDWord & |
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0x0000000ff) << 8; |
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Status |= VL53L0X_WrByte(Dev, 0x94, 0x74); |
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Status |= VL53L0X_device_read_strobe(Dev); |
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Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
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SignalRateMeasFixed1104_400_mm |= ((TmpDWord & |
| 382 |
0xff000000) >> 24); |
| 383 |
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Status |= VL53L0X_WrByte(Dev, 0x94, 0x75); |
| 385 |
Status |= VL53L0X_device_read_strobe(Dev); |
| 386 |
Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
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|
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DistMeasFixed1104_400_mm = (TmpDWord & 0x0000000ff)
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<< 8;
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| 390 |
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Status |= VL53L0X_WrByte(Dev, 0x94, 0x76); |
| 392 |
Status |= VL53L0X_device_read_strobe(Dev); |
| 393 |
Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
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| 394 |
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| 395 |
DistMeasFixed1104_400_mm |= ((TmpDWord & 0xff000000)
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>> 24);
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} |
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|
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Status |= VL53L0X_WrByte(Dev, 0x81, 0x00); |
| 400 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x06); |
| 401 |
Status |= VL53L0X_RdByte(Dev, 0x83, &byte);
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| 402 |
Status |= VL53L0X_WrByte(Dev, 0x83, byte&0xfb); |
| 403 |
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); |
| 404 |
Status |= VL53L0X_WrByte(Dev, 0x00, 0x01); |
| 405 |
|
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Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); |
| 407 |
Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); |
| 408 |
} |
| 409 |
|
| 410 |
if ((Status == VL53L0X_ERROR_NONE) &&
|
| 411 |
(ReadDataFromDeviceDone != 7)) {
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/* Assign to variable if status is ok */
|
| 413 |
if (((option & 1) == 1) && |
| 414 |
((ReadDataFromDeviceDone & 1) == 0)) { |
| 415 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
| 416 |
ReferenceSpadCount, ReferenceSpadCount); |
| 417 |
|
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VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
| 419 |
ReferenceSpadType, ReferenceSpadType); |
| 420 |
|
| 421 |
for (i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++) { |
| 422 |
Dev->Data.SpadData.RefGoodSpadMap[i] = |
| 423 |
NvmRefGoodSpadMap[i]; |
| 424 |
} |
| 425 |
} |
| 426 |
|
| 427 |
if (((option & 2) == 2) && |
| 428 |
((ReadDataFromDeviceDone & 2) == 0)) { |
| 429 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
| 430 |
ModuleId, ModuleId); |
| 431 |
|
| 432 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
| 433 |
Revision, Revision); |
| 434 |
|
| 435 |
ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, |
| 436 |
ProductId); |
| 437 |
VL53L0X_COPYSTRING(ProductId_tmp, ProductId); |
| 438 |
|
| 439 |
} |
| 440 |
|
| 441 |
if (((option & 4) == 4) && |
| 442 |
((ReadDataFromDeviceDone & 4) == 0)) { |
| 443 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
| 444 |
PartUIDUpper, PartUIDUpper); |
| 445 |
|
| 446 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
| 447 |
PartUIDLower, PartUIDLower); |
| 448 |
|
| 449 |
SignalRateMeasFixed400mmFix = |
| 450 |
VL53L0X_FIXPOINT97TOFIXPOINT1616( |
| 451 |
SignalRateMeasFixed1104_400_mm); |
| 452 |
|
| 453 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
| 454 |
SignalRateMeasFixed400mm, |
| 455 |
SignalRateMeasFixed400mmFix); |
| 456 |
|
| 457 |
OffsetMicroMeters = 0;
|
| 458 |
if (DistMeasFixed1104_400_mm != 0) { |
| 459 |
OffsetFixed1104_mm = |
| 460 |
DistMeasFixed1104_400_mm - |
| 461 |
DistMeasTgtFixed1104_mm; |
| 462 |
OffsetMicroMeters = (OffsetFixed1104_mm |
| 463 |
* 1000) >> 4; |
| 464 |
OffsetMicroMeters *= -1;
|
| 465 |
} |
| 466 |
|
| 467 |
PALDevDataSet(Dev, |
| 468 |
Part2PartOffsetAdjustmentNVMMicroMeter, |
| 469 |
OffsetMicroMeters); |
| 470 |
} |
| 471 |
byte = (uint8_t)(ReadDataFromDeviceDone|option); |
| 472 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone, |
| 473 |
byte); |
| 474 |
} |
| 475 |
|
| 476 |
LOG_FUNCTION_END(Status); |
| 477 |
return Status;
|
| 478 |
} |
| 479 |
|
| 480 |
|
| 481 |
uint32_t VL53L0X_calc_macro_period_ps(VL53L0X_DEV Dev, uint8_t vcsel_period_pclks) |
| 482 |
{
|
| 483 |
uint64_t PLL_period_ps; |
| 484 |
uint32_t macro_period_vclks; |
| 485 |
uint32_t macro_period_ps; |
| 486 |
|
| 487 |
LOG_FUNCTION_START("");
|
| 488 |
|
| 489 |
/* The above calculation will produce rounding errors,
|
| 490 |
therefore set fixed value
|
| 491 |
*/
|
| 492 |
PLL_period_ps = 1655;
|
| 493 |
|
| 494 |
macro_period_vclks = 2304;
|
| 495 |
macro_period_ps = (uint32_t)(macro_period_vclks |
| 496 |
* vcsel_period_pclks * PLL_period_ps); |
| 497 |
|
| 498 |
LOG_FUNCTION_END("");
|
| 499 |
return macro_period_ps;
|
| 500 |
} |
| 501 |
|
| 502 |
uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks) |
| 503 |
{
|
| 504 |
/*!
|
| 505 |
* Encode timeout in macro periods in (LSByte * 2^MSByte) + 1 format
|
| 506 |
*/
|
| 507 |
|
| 508 |
uint16_t encoded_timeout = 0;
|
| 509 |
uint32_t ls_byte = 0;
|
| 510 |
uint16_t ms_byte = 0;
|
| 511 |
|
| 512 |
if (timeout_macro_clks > 0) { |
| 513 |
ls_byte = timeout_macro_clks - 1;
|
| 514 |
|
| 515 |
while ((ls_byte & 0xFFFFFF00) > 0) { |
| 516 |
ls_byte = ls_byte >> 1;
|
| 517 |
ms_byte++; |
| 518 |
} |
| 519 |
|
| 520 |
encoded_timeout = (ms_byte << 8)
|
| 521 |
+ (uint16_t) (ls_byte & 0x000000FF);
|
| 522 |
} |
| 523 |
|
| 524 |
return encoded_timeout;
|
| 525 |
|
| 526 |
} |
| 527 |
|
| 528 |
uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout) |
| 529 |
{
|
| 530 |
/*!
|
| 531 |
* Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1
|
| 532 |
*/
|
| 533 |
|
| 534 |
uint32_t timeout_macro_clks = 0;
|
| 535 |
|
| 536 |
timeout_macro_clks = ((uint32_t) (encoded_timeout & 0x00FF)
|
| 537 |
<< (uint32_t) ((encoded_timeout & 0xFF00) >> 8)) + 1; |
| 538 |
|
| 539 |
return timeout_macro_clks;
|
| 540 |
} |
| 541 |
|
| 542 |
|
| 543 |
/* To convert ms into register value */
|
| 544 |
uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV Dev, |
| 545 |
uint32_t timeout_period_us, |
| 546 |
uint8_t vcsel_period_pclks) |
| 547 |
{
|
| 548 |
uint32_t macro_period_ps; |
| 549 |
uint32_t macro_period_ns; |
| 550 |
uint32_t timeout_period_mclks = 0;
|
| 551 |
|
| 552 |
macro_period_ps = VL53L0X_calc_macro_period_ps(Dev, vcsel_period_pclks); |
| 553 |
macro_period_ns = (macro_period_ps + 500) / 1000; |
| 554 |
|
| 555 |
timeout_period_mclks = |
| 556 |
(uint32_t) (((timeout_period_us * 1000)
|
| 557 |
+ (macro_period_ns / 2)) / macro_period_ns);
|
| 558 |
|
| 559 |
return timeout_period_mclks;
|
| 560 |
} |
| 561 |
|
| 562 |
/* To convert register value into us */
|
| 563 |
uint32_t VL53L0X_calc_timeout_us(VL53L0X_DEV Dev, |
| 564 |
uint16_t timeout_period_mclks, |
| 565 |
uint8_t vcsel_period_pclks) |
| 566 |
{
|
| 567 |
uint32_t macro_period_ps; |
| 568 |
uint32_t macro_period_ns; |
| 569 |
uint32_t actual_timeout_period_us = 0;
|
| 570 |
|
| 571 |
macro_period_ps = VL53L0X_calc_macro_period_ps(Dev, vcsel_period_pclks); |
| 572 |
macro_period_ns = (macro_period_ps + 500) / 1000; |
| 573 |
|
| 574 |
actual_timeout_period_us = |
| 575 |
((timeout_period_mclks * macro_period_ns) + 500) / 1000; |
| 576 |
|
| 577 |
return actual_timeout_period_us;
|
| 578 |
} |
| 579 |
|
| 580 |
|
| 581 |
VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV Dev, |
| 582 |
VL53L0X_SequenceStepId SequenceStepId, |
| 583 |
uint32_t *pTimeOutMicroSecs) |
| 584 |
{
|
| 585 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 586 |
uint8_t CurrentVCSELPulsePeriodPClk; |
| 587 |
uint8_t EncodedTimeOutByte = 0;
|
| 588 |
uint32_t TimeoutMicroSeconds = 0;
|
| 589 |
uint16_t PreRangeEncodedTimeOut = 0;
|
| 590 |
uint16_t MsrcTimeOutMClks; |
| 591 |
uint16_t PreRangeTimeOutMClks; |
| 592 |
uint16_t FinalRangeTimeOutMClks = 0;
|
| 593 |
uint16_t FinalRangeEncodedTimeOut; |
| 594 |
VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps; |
| 595 |
|
| 596 |
if ((SequenceStepId == VL53L0X_SEQUENCESTEP_TCC) ||
|
| 597 |
(SequenceStepId == VL53L0X_SEQUENCESTEP_DSS) || |
| 598 |
(SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)) {
|
| 599 |
|
| 600 |
Status = VL53L0X_GetVcselPulsePeriod(Dev, |
| 601 |
VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
| 602 |
&CurrentVCSELPulsePeriodPClk); |
| 603 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 604 |
Status = VL53L0X_RdByte(Dev, |
| 605 |
VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP, |
| 606 |
&EncodedTimeOutByte); |
| 607 |
} |
| 608 |
MsrcTimeOutMClks = VL53L0X_decode_timeout(EncodedTimeOutByte); |
| 609 |
|
| 610 |
TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev, |
| 611 |
MsrcTimeOutMClks, |
| 612 |
CurrentVCSELPulsePeriodPClk); |
| 613 |
} else if (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) { |
| 614 |
/* Retrieve PRE-RANGE VCSEL Period */
|
| 615 |
Status = VL53L0X_GetVcselPulsePeriod(Dev, |
| 616 |
VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
| 617 |
&CurrentVCSELPulsePeriodPClk); |
| 618 |
|
| 619 |
/* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */
|
| 620 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 621 |
|
| 622 |
/* Retrieve PRE-RANGE VCSEL Period */
|
| 623 |
Status = VL53L0X_GetVcselPulsePeriod(Dev, |
| 624 |
VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
| 625 |
&CurrentVCSELPulsePeriodPClk); |
| 626 |
|
| 627 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 628 |
Status = VL53L0X_RdWord(Dev, |
| 629 |
VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, |
| 630 |
&PreRangeEncodedTimeOut); |
| 631 |
} |
| 632 |
|
| 633 |
PreRangeTimeOutMClks = VL53L0X_decode_timeout( |
| 634 |
PreRangeEncodedTimeOut); |
| 635 |
|
| 636 |
TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev, |
| 637 |
PreRangeTimeOutMClks, |
| 638 |
CurrentVCSELPulsePeriodPClk); |
| 639 |
} |
| 640 |
} else if (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE) { |
| 641 |
|
| 642 |
VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps); |
| 643 |
PreRangeTimeOutMClks = 0;
|
| 644 |
|
| 645 |
if (SchedulerSequenceSteps.PreRangeOn) {
|
| 646 |
/* Retrieve PRE-RANGE VCSEL Period */
|
| 647 |
Status = VL53L0X_GetVcselPulsePeriod(Dev, |
| 648 |
VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
| 649 |
&CurrentVCSELPulsePeriodPClk); |
| 650 |
|
| 651 |
/* Retrieve PRE-RANGE Timeout in Macro periods
|
| 652 |
* (MCLKS) */
|
| 653 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 654 |
Status = VL53L0X_RdWord(Dev, |
| 655 |
VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, |
| 656 |
&PreRangeEncodedTimeOut); |
| 657 |
PreRangeTimeOutMClks = VL53L0X_decode_timeout( |
| 658 |
PreRangeEncodedTimeOut); |
| 659 |
} |
| 660 |
} |
| 661 |
|
| 662 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 663 |
/* Retrieve FINAL-RANGE VCSEL Period */
|
| 664 |
Status = VL53L0X_GetVcselPulsePeriod(Dev, |
| 665 |
VL53L0X_VCSEL_PERIOD_FINAL_RANGE, |
| 666 |
&CurrentVCSELPulsePeriodPClk); |
| 667 |
} |
| 668 |
|
| 669 |
/* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */
|
| 670 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 671 |
Status = VL53L0X_RdWord(Dev, |
| 672 |
VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, |
| 673 |
&FinalRangeEncodedTimeOut); |
| 674 |
FinalRangeTimeOutMClks = VL53L0X_decode_timeout( |
| 675 |
FinalRangeEncodedTimeOut); |
| 676 |
} |
| 677 |
|
| 678 |
FinalRangeTimeOutMClks -= PreRangeTimeOutMClks; |
| 679 |
TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev, |
| 680 |
FinalRangeTimeOutMClks, |
| 681 |
CurrentVCSELPulsePeriodPClk); |
| 682 |
} |
| 683 |
|
| 684 |
*pTimeOutMicroSecs = TimeoutMicroSeconds; |
| 685 |
|
| 686 |
return Status;
|
| 687 |
} |
| 688 |
|
| 689 |
|
| 690 |
VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV Dev, |
| 691 |
VL53L0X_SequenceStepId SequenceStepId, |
| 692 |
uint32_t TimeOutMicroSecs) |
| 693 |
{
|
| 694 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 695 |
uint8_t CurrentVCSELPulsePeriodPClk; |
| 696 |
uint8_t MsrcEncodedTimeOut; |
| 697 |
uint16_t PreRangeEncodedTimeOut; |
| 698 |
uint16_t PreRangeTimeOutMClks; |
| 699 |
uint16_t MsrcRangeTimeOutMClks; |
| 700 |
uint32_t FinalRangeTimeOutMClks; |
| 701 |
uint16_t FinalRangeEncodedTimeOut; |
| 702 |
VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps; |
| 703 |
|
| 704 |
if ((SequenceStepId == VL53L0X_SEQUENCESTEP_TCC) ||
|
| 705 |
(SequenceStepId == VL53L0X_SEQUENCESTEP_DSS) || |
| 706 |
(SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)) {
|
| 707 |
|
| 708 |
Status = VL53L0X_GetVcselPulsePeriod(Dev, |
| 709 |
VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
| 710 |
&CurrentVCSELPulsePeriodPClk); |
| 711 |
|
| 712 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 713 |
MsrcRangeTimeOutMClks = VL53L0X_calc_timeout_mclks(Dev, |
| 714 |
TimeOutMicroSecs, |
| 715 |
(uint8_t)CurrentVCSELPulsePeriodPClk); |
| 716 |
|
| 717 |
if (MsrcRangeTimeOutMClks > 256) |
| 718 |
MsrcEncodedTimeOut = 255;
|
| 719 |
else
|
| 720 |
MsrcEncodedTimeOut = |
| 721 |
(uint8_t)MsrcRangeTimeOutMClks - 1;
|
| 722 |
|
| 723 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
| 724 |
LastEncodedTimeout, |
| 725 |
MsrcEncodedTimeOut); |
| 726 |
} |
| 727 |
|
| 728 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 729 |
Status = VL53L0X_WrByte(Dev, |
| 730 |
VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP, |
| 731 |
MsrcEncodedTimeOut); |
| 732 |
} |
| 733 |
} else {
|
| 734 |
|
| 735 |
if (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
|
| 736 |
|
| 737 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 738 |
Status = VL53L0X_GetVcselPulsePeriod(Dev, |
| 739 |
VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
| 740 |
&CurrentVCSELPulsePeriodPClk); |
| 741 |
PreRangeTimeOutMClks = |
| 742 |
VL53L0X_calc_timeout_mclks(Dev, |
| 743 |
TimeOutMicroSecs, |
| 744 |
(uint8_t)CurrentVCSELPulsePeriodPClk); |
| 745 |
PreRangeEncodedTimeOut = VL53L0X_encode_timeout( |
| 746 |
PreRangeTimeOutMClks); |
| 747 |
|
| 748 |
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, |
| 749 |
LastEncodedTimeout, |
| 750 |
PreRangeEncodedTimeOut); |
| 751 |
} |
| 752 |
|
| 753 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 754 |
Status = VL53L0X_WrWord(Dev, |
| 755 |
VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, |
| 756 |
PreRangeEncodedTimeOut); |
| 757 |
} |
| 758 |
|
| 759 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 760 |
VL53L0X_SETDEVICESPECIFICPARAMETER( |
| 761 |
Dev, |
| 762 |
PreRangeTimeoutMicroSecs, |
| 763 |
TimeOutMicroSecs); |
| 764 |
} |
| 765 |
} else if (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE) { |
| 766 |
|
| 767 |
/* For the final range timeout, the pre-range timeout
|
| 768 |
* must be added. To do this both final and pre-range
|
| 769 |
* timeouts must be expressed in macro periods MClks
|
| 770 |
* because they have different vcsel periods.
|
| 771 |
*/
|
| 772 |
|
| 773 |
VL53L0X_GetSequenceStepEnables(Dev, |
| 774 |
&SchedulerSequenceSteps); |
| 775 |
PreRangeTimeOutMClks = 0;
|
| 776 |
if (SchedulerSequenceSteps.PreRangeOn) {
|
| 777 |
|
| 778 |
/* Retrieve PRE-RANGE VCSEL Period */
|
| 779 |
Status = VL53L0X_GetVcselPulsePeriod(Dev, |
| 780 |
VL53L0X_VCSEL_PERIOD_PRE_RANGE, |
| 781 |
&CurrentVCSELPulsePeriodPClk); |
| 782 |
|
| 783 |
/* Retrieve PRE-RANGE Timeout in Macro periods
|
| 784 |
* (MCLKS) */
|
| 785 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 786 |
Status = VL53L0X_RdWord(Dev, 0x51,
|
| 787 |
&PreRangeEncodedTimeOut); |
| 788 |
PreRangeTimeOutMClks = |
| 789 |
VL53L0X_decode_timeout( |
| 790 |
PreRangeEncodedTimeOut); |
| 791 |
} |
| 792 |
} |
| 793 |
|
| 794 |
/* Calculate FINAL RANGE Timeout in Macro Periods
|
| 795 |
* (MCLKS) and add PRE-RANGE value
|
| 796 |
*/
|
| 797 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 798 |
|
| 799 |
Status = VL53L0X_GetVcselPulsePeriod(Dev, |
| 800 |
VL53L0X_VCSEL_PERIOD_FINAL_RANGE, |
| 801 |
&CurrentVCSELPulsePeriodPClk); |
| 802 |
} |
| 803 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 804 |
|
| 805 |
FinalRangeTimeOutMClks = |
| 806 |
VL53L0X_calc_timeout_mclks(Dev, |
| 807 |
TimeOutMicroSecs, |
| 808 |
(uint8_t) CurrentVCSELPulsePeriodPClk); |
| 809 |
|
| 810 |
FinalRangeTimeOutMClks += PreRangeTimeOutMClks; |
| 811 |
|
| 812 |
FinalRangeEncodedTimeOut = |
| 813 |
VL53L0X_encode_timeout(FinalRangeTimeOutMClks); |
| 814 |
|
| 815 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 816 |
Status = VL53L0X_WrWord(Dev, 0x71,
|
| 817 |
FinalRangeEncodedTimeOut); |
| 818 |
} |
| 819 |
|
| 820 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 821 |
VL53L0X_SETDEVICESPECIFICPARAMETER( |
| 822 |
Dev, |
| 823 |
FinalRangeTimeoutMicroSecs, |
| 824 |
TimeOutMicroSecs); |
| 825 |
} |
| 826 |
} |
| 827 |
} else
|
| 828 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 829 |
|
| 830 |
} |
| 831 |
return Status;
|
| 832 |
} |
| 833 |
|
| 834 |
VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev, |
| 835 |
VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK) |
| 836 |
{
|
| 837 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 838 |
uint8_t vcsel_period_reg; |
| 839 |
uint8_t MinPreVcselPeriodPCLK = 12;
|
| 840 |
uint8_t MaxPreVcselPeriodPCLK = 18;
|
| 841 |
uint8_t MinFinalVcselPeriodPCLK = 8;
|
| 842 |
uint8_t MaxFinalVcselPeriodPCLK = 14;
|
| 843 |
uint32_t MeasurementTimingBudgetMicroSeconds; |
| 844 |
uint32_t FinalRangeTimeoutMicroSeconds; |
| 845 |
uint32_t PreRangeTimeoutMicroSeconds; |
| 846 |
uint32_t MsrcTimeoutMicroSeconds; |
| 847 |
uint8_t PhaseCalInt = 0;
|
| 848 |
|
| 849 |
/* Check if valid clock period requested */
|
| 850 |
|
| 851 |
if ((VCSELPulsePeriodPCLK % 2) != 0) { |
| 852 |
/* Value must be an even number */
|
| 853 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 854 |
} else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_PRE_RANGE && |
| 855 |
(VCSELPulsePeriodPCLK < MinPreVcselPeriodPCLK || |
| 856 |
VCSELPulsePeriodPCLK > MaxPreVcselPeriodPCLK)) {
|
| 857 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 858 |
} else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_FINAL_RANGE && |
| 859 |
(VCSELPulsePeriodPCLK < MinFinalVcselPeriodPCLK || |
| 860 |
VCSELPulsePeriodPCLK > MaxFinalVcselPeriodPCLK)) {
|
| 861 |
|
| 862 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 863 |
} |
| 864 |
|
| 865 |
/* Apply specific settings for the requested clock period */
|
| 866 |
|
| 867 |
if (Status != VL53L0X_ERROR_NONE)
|
| 868 |
return Status;
|
| 869 |
|
| 870 |
|
| 871 |
if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_PRE_RANGE) {
|
| 872 |
|
| 873 |
/* Set phase check limits */
|
| 874 |
if (VCSELPulsePeriodPCLK == 12) { |
| 875 |
|
| 876 |
Status = VL53L0X_WrByte(Dev, |
| 877 |
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, |
| 878 |
0x18);
|
| 879 |
Status = VL53L0X_WrByte(Dev, |
| 880 |
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, |
| 881 |
0x08);
|
| 882 |
} else if (VCSELPulsePeriodPCLK == 14) { |
| 883 |
|
| 884 |
Status = VL53L0X_WrByte(Dev, |
| 885 |
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, |
| 886 |
0x30);
|
| 887 |
Status = VL53L0X_WrByte(Dev, |
| 888 |
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, |
| 889 |
0x08);
|
| 890 |
} else if (VCSELPulsePeriodPCLK == 16) { |
| 891 |
|
| 892 |
Status = VL53L0X_WrByte(Dev, |
| 893 |
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, |
| 894 |
0x40);
|
| 895 |
Status = VL53L0X_WrByte(Dev, |
| 896 |
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, |
| 897 |
0x08);
|
| 898 |
} else if (VCSELPulsePeriodPCLK == 18) { |
| 899 |
|
| 900 |
Status = VL53L0X_WrByte(Dev, |
| 901 |
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, |
| 902 |
0x50);
|
| 903 |
Status = VL53L0X_WrByte(Dev, |
| 904 |
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, |
| 905 |
0x08);
|
| 906 |
} |
| 907 |
} else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) { |
| 908 |
|
| 909 |
if (VCSELPulsePeriodPCLK == 8) { |
| 910 |
|
| 911 |
Status = VL53L0X_WrByte(Dev, |
| 912 |
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, |
| 913 |
0x10);
|
| 914 |
Status = VL53L0X_WrByte(Dev, |
| 915 |
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, |
| 916 |
0x08);
|
| 917 |
|
| 918 |
Status |= VL53L0X_WrByte(Dev, |
| 919 |
VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02);
|
| 920 |
Status |= VL53L0X_WrByte(Dev, |
| 921 |
VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C);
|
| 922 |
|
| 923 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); |
| 924 |
Status |= VL53L0X_WrByte(Dev, |
| 925 |
VL53L0X_REG_ALGO_PHASECAL_LIM, |
| 926 |
0x30);
|
| 927 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); |
| 928 |
} else if (VCSELPulsePeriodPCLK == 10) { |
| 929 |
|
| 930 |
Status = VL53L0X_WrByte(Dev, |
| 931 |
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, |
| 932 |
0x28);
|
| 933 |
Status = VL53L0X_WrByte(Dev, |
| 934 |
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, |
| 935 |
0x08);
|
| 936 |
|
| 937 |
Status |= VL53L0X_WrByte(Dev, |
| 938 |
VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
|
| 939 |
Status |= VL53L0X_WrByte(Dev, |
| 940 |
VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09);
|
| 941 |
|
| 942 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); |
| 943 |
Status |= VL53L0X_WrByte(Dev, |
| 944 |
VL53L0X_REG_ALGO_PHASECAL_LIM, |
| 945 |
0x20);
|
| 946 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); |
| 947 |
} else if (VCSELPulsePeriodPCLK == 12) { |
| 948 |
|
| 949 |
Status = VL53L0X_WrByte(Dev, |
| 950 |
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, |
| 951 |
0x38);
|
| 952 |
Status = VL53L0X_WrByte(Dev, |
| 953 |
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, |
| 954 |
0x08);
|
| 955 |
|
| 956 |
Status |= VL53L0X_WrByte(Dev, |
| 957 |
VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
|
| 958 |
Status |= VL53L0X_WrByte(Dev, |
| 959 |
VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08);
|
| 960 |
|
| 961 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); |
| 962 |
Status |= VL53L0X_WrByte(Dev, |
| 963 |
VL53L0X_REG_ALGO_PHASECAL_LIM, |
| 964 |
0x20);
|
| 965 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); |
| 966 |
} else if (VCSELPulsePeriodPCLK == 14) { |
| 967 |
|
| 968 |
Status = VL53L0X_WrByte(Dev, |
| 969 |
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, |
| 970 |
0x048);
|
| 971 |
Status = VL53L0X_WrByte(Dev, |
| 972 |
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, |
| 973 |
0x08);
|
| 974 |
|
| 975 |
Status |= VL53L0X_WrByte(Dev, |
| 976 |
VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
|
| 977 |
Status |= VL53L0X_WrByte(Dev, |
| 978 |
VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07);
|
| 979 |
|
| 980 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); |
| 981 |
Status |= VL53L0X_WrByte(Dev, |
| 982 |
VL53L0X_REG_ALGO_PHASECAL_LIM, |
| 983 |
0x20);
|
| 984 |
Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); |
| 985 |
} |
| 986 |
} |
| 987 |
|
| 988 |
|
| 989 |
/* Re-calculate and apply timeouts, in macro periods */
|
| 990 |
|
| 991 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 992 |
vcsel_period_reg = VL53L0X_encode_vcsel_period((uint8_t) |
| 993 |
VCSELPulsePeriodPCLK); |
| 994 |
|
| 995 |
/* When the VCSEL period for the pre or final range is changed,
|
| 996 |
* the corresponding timeout must be read from the device using
|
| 997 |
* the current VCSEL period, then the new VCSEL period can be
|
| 998 |
* applied. The timeout then must be written back to the device
|
| 999 |
* using the new VCSEL period.
|
| 1000 |
*
|
| 1001 |
* For the MSRC timeout, the same applies - this timeout being
|
| 1002 |
* dependant on the pre-range vcsel period.
|
| 1003 |
*/
|
| 1004 |
switch (VcselPeriodType) {
|
| 1005 |
case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
|
| 1006 |
Status = get_sequence_step_timeout(Dev, |
| 1007 |
VL53L0X_SEQUENCESTEP_PRE_RANGE, |
| 1008 |
&PreRangeTimeoutMicroSeconds); |
| 1009 |
|
| 1010 |
if (Status == VL53L0X_ERROR_NONE)
|
| 1011 |
Status = get_sequence_step_timeout(Dev, |
| 1012 |
VL53L0X_SEQUENCESTEP_MSRC, |
| 1013 |
&MsrcTimeoutMicroSeconds); |
| 1014 |
|
| 1015 |
if (Status == VL53L0X_ERROR_NONE)
|
| 1016 |
Status = VL53L0X_WrByte(Dev, |
| 1017 |
VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD, |
| 1018 |
vcsel_period_reg); |
| 1019 |
|
| 1020 |
|
| 1021 |
if (Status == VL53L0X_ERROR_NONE)
|
| 1022 |
Status = set_sequence_step_timeout(Dev, |
| 1023 |
VL53L0X_SEQUENCESTEP_PRE_RANGE, |
| 1024 |
PreRangeTimeoutMicroSeconds); |
| 1025 |
|
| 1026 |
|
| 1027 |
if (Status == VL53L0X_ERROR_NONE)
|
| 1028 |
Status = set_sequence_step_timeout(Dev, |
| 1029 |
VL53L0X_SEQUENCESTEP_MSRC, |
| 1030 |
MsrcTimeoutMicroSeconds); |
| 1031 |
|
| 1032 |
VL53L0X_SETDEVICESPECIFICPARAMETER( |
| 1033 |
Dev, |
| 1034 |
PreRangeVcselPulsePeriod, |
| 1035 |
VCSELPulsePeriodPCLK); |
| 1036 |
break;
|
| 1037 |
case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
|
| 1038 |
Status = get_sequence_step_timeout(Dev, |
| 1039 |
VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
| 1040 |
&FinalRangeTimeoutMicroSeconds); |
| 1041 |
|
| 1042 |
if (Status == VL53L0X_ERROR_NONE)
|
| 1043 |
Status = VL53L0X_WrByte(Dev, |
| 1044 |
VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD, |
| 1045 |
vcsel_period_reg); |
| 1046 |
|
| 1047 |
|
| 1048 |
if (Status == VL53L0X_ERROR_NONE)
|
| 1049 |
Status = set_sequence_step_timeout(Dev, |
| 1050 |
VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
| 1051 |
FinalRangeTimeoutMicroSeconds); |
| 1052 |
|
| 1053 |
VL53L0X_SETDEVICESPECIFICPARAMETER( |
| 1054 |
Dev, |
| 1055 |
FinalRangeVcselPulsePeriod, |
| 1056 |
VCSELPulsePeriodPCLK); |
| 1057 |
break;
|
| 1058 |
default:
|
| 1059 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1060 |
} |
| 1061 |
} |
| 1062 |
|
| 1063 |
/* Finally, the timing budget must be re-applied */
|
| 1064 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1065 |
VL53L0X_GETPARAMETERFIELD(Dev, |
| 1066 |
MeasurementTimingBudgetMicroSeconds, |
| 1067 |
MeasurementTimingBudgetMicroSeconds); |
| 1068 |
|
| 1069 |
Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, |
| 1070 |
MeasurementTimingBudgetMicroSeconds); |
| 1071 |
} |
| 1072 |
|
| 1073 |
/* Perform the phase calibration. This is needed after changing on
|
| 1074 |
* vcsel period.
|
| 1075 |
* get_data_enable = 0, restore_config = 1 */
|
| 1076 |
if (Status == VL53L0X_ERROR_NONE)
|
| 1077 |
Status = VL53L0X_perform_phase_calibration( |
| 1078 |
Dev, &PhaseCalInt, 0, 1); |
| 1079 |
|
| 1080 |
return Status;
|
| 1081 |
} |
| 1082 |
|
| 1083 |
VL53L0X_Error VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV Dev, |
| 1084 |
VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK) |
| 1085 |
{
|
| 1086 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1087 |
uint8_t vcsel_period_reg; |
| 1088 |
|
| 1089 |
switch (VcselPeriodType) {
|
| 1090 |
case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
|
| 1091 |
Status = VL53L0X_RdByte(Dev, |
| 1092 |
VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD, |
| 1093 |
&vcsel_period_reg); |
| 1094 |
break;
|
| 1095 |
case VL53L0X_VCSEL_PERIOD_FINAL_RANGE:
|
| 1096 |
Status = VL53L0X_RdByte(Dev, |
| 1097 |
VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD, |
| 1098 |
&vcsel_period_reg); |
| 1099 |
break;
|
| 1100 |
default:
|
| 1101 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1102 |
} |
| 1103 |
|
| 1104 |
if (Status == VL53L0X_ERROR_NONE)
|
| 1105 |
*pVCSELPulsePeriodPCLK = |
| 1106 |
VL53L0X_decode_vcsel_period(vcsel_period_reg); |
| 1107 |
|
| 1108 |
return Status;
|
| 1109 |
} |
| 1110 |
|
| 1111 |
|
| 1112 |
|
| 1113 |
VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev, |
| 1114 |
uint32_t MeasurementTimingBudgetMicroSeconds) |
| 1115 |
{
|
| 1116 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1117 |
uint32_t FinalRangeTimingBudgetMicroSeconds; |
| 1118 |
VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps; |
| 1119 |
uint32_t MsrcDccTccTimeoutMicroSeconds = 2000;
|
| 1120 |
uint32_t StartOverheadMicroSeconds = 1910;
|
| 1121 |
uint32_t EndOverheadMicroSeconds = 960;
|
| 1122 |
uint32_t MsrcOverheadMicroSeconds = 660;
|
| 1123 |
uint32_t TccOverheadMicroSeconds = 590;
|
| 1124 |
uint32_t DssOverheadMicroSeconds = 690;
|
| 1125 |
uint32_t PreRangeOverheadMicroSeconds = 660;
|
| 1126 |
uint32_t FinalRangeOverheadMicroSeconds = 550;
|
| 1127 |
uint32_t PreRangeTimeoutMicroSeconds = 0;
|
| 1128 |
uint32_t cMinTimingBudgetMicroSeconds = 20000;
|
| 1129 |
uint32_t SubTimeout = 0;
|
| 1130 |
|
| 1131 |
LOG_FUNCTION_START("");
|
| 1132 |
|
| 1133 |
if (MeasurementTimingBudgetMicroSeconds
|
| 1134 |
< cMinTimingBudgetMicroSeconds) {
|
| 1135 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1136 |
return Status;
|
| 1137 |
} |
| 1138 |
|
| 1139 |
FinalRangeTimingBudgetMicroSeconds = |
| 1140 |
MeasurementTimingBudgetMicroSeconds - |
| 1141 |
(StartOverheadMicroSeconds + EndOverheadMicroSeconds); |
| 1142 |
|
| 1143 |
Status = VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps); |
| 1144 |
|
| 1145 |
if (Status == VL53L0X_ERROR_NONE &&
|
| 1146 |
(SchedulerSequenceSteps.TccOn || |
| 1147 |
SchedulerSequenceSteps.MsrcOn || |
| 1148 |
SchedulerSequenceSteps.DssOn)) {
|
| 1149 |
|
| 1150 |
/* TCC, MSRC and DSS all share the same timeout */
|
| 1151 |
Status = get_sequence_step_timeout(Dev, |
| 1152 |
VL53L0X_SEQUENCESTEP_MSRC, |
| 1153 |
&MsrcDccTccTimeoutMicroSeconds); |
| 1154 |
|
| 1155 |
/* Subtract the TCC, MSRC and DSS timeouts if they are
|
| 1156 |
* enabled. */
|
| 1157 |
|
| 1158 |
if (Status != VL53L0X_ERROR_NONE)
|
| 1159 |
return Status;
|
| 1160 |
|
| 1161 |
/* TCC */
|
| 1162 |
if (SchedulerSequenceSteps.TccOn) {
|
| 1163 |
|
| 1164 |
SubTimeout = MsrcDccTccTimeoutMicroSeconds |
| 1165 |
+ TccOverheadMicroSeconds; |
| 1166 |
|
| 1167 |
if (SubTimeout <
|
| 1168 |
FinalRangeTimingBudgetMicroSeconds) {
|
| 1169 |
FinalRangeTimingBudgetMicroSeconds -= |
| 1170 |
SubTimeout; |
| 1171 |
} else {
|
| 1172 |
/* Requested timeout too big. */
|
| 1173 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1174 |
} |
| 1175 |
} |
| 1176 |
|
| 1177 |
if (Status != VL53L0X_ERROR_NONE) {
|
| 1178 |
LOG_FUNCTION_END(Status); |
| 1179 |
return Status;
|
| 1180 |
} |
| 1181 |
|
| 1182 |
/* DSS */
|
| 1183 |
if (SchedulerSequenceSteps.DssOn) {
|
| 1184 |
|
| 1185 |
SubTimeout = 2 * (MsrcDccTccTimeoutMicroSeconds +
|
| 1186 |
DssOverheadMicroSeconds); |
| 1187 |
|
| 1188 |
if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) {
|
| 1189 |
FinalRangeTimingBudgetMicroSeconds |
| 1190 |
-= SubTimeout; |
| 1191 |
} else {
|
| 1192 |
/* Requested timeout too big. */
|
| 1193 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1194 |
} |
| 1195 |
} else if (SchedulerSequenceSteps.MsrcOn) { |
| 1196 |
/* MSRC */
|
| 1197 |
SubTimeout = MsrcDccTccTimeoutMicroSeconds + |
| 1198 |
MsrcOverheadMicroSeconds; |
| 1199 |
|
| 1200 |
if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) {
|
| 1201 |
FinalRangeTimingBudgetMicroSeconds |
| 1202 |
-= SubTimeout; |
| 1203 |
} else {
|
| 1204 |
/* Requested timeout too big. */
|
| 1205 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1206 |
} |
| 1207 |
} |
| 1208 |
|
| 1209 |
} |
| 1210 |
|
| 1211 |
if (Status != VL53L0X_ERROR_NONE) {
|
| 1212 |
LOG_FUNCTION_END(Status); |
| 1213 |
return Status;
|
| 1214 |
} |
| 1215 |
|
| 1216 |
if (SchedulerSequenceSteps.PreRangeOn) {
|
| 1217 |
|
| 1218 |
/* Subtract the Pre-range timeout if enabled. */
|
| 1219 |
|
| 1220 |
Status = get_sequence_step_timeout(Dev, |
| 1221 |
VL53L0X_SEQUENCESTEP_PRE_RANGE, |
| 1222 |
&PreRangeTimeoutMicroSeconds); |
| 1223 |
|
| 1224 |
SubTimeout = PreRangeTimeoutMicroSeconds + |
| 1225 |
PreRangeOverheadMicroSeconds; |
| 1226 |
|
| 1227 |
if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) {
|
| 1228 |
FinalRangeTimingBudgetMicroSeconds -= SubTimeout; |
| 1229 |
} else {
|
| 1230 |
/* Requested timeout too big. */
|
| 1231 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1232 |
} |
| 1233 |
} |
| 1234 |
|
| 1235 |
|
| 1236 |
if (Status == VL53L0X_ERROR_NONE &&
|
| 1237 |
SchedulerSequenceSteps.FinalRangeOn) {
|
| 1238 |
|
| 1239 |
FinalRangeTimingBudgetMicroSeconds -= |
| 1240 |
FinalRangeOverheadMicroSeconds; |
| 1241 |
|
| 1242 |
/* Final Range Timeout
|
| 1243 |
* Note that the final range timeout is determined by the timing
|
| 1244 |
* budget and the sum of all other timeouts within the sequence.
|
| 1245 |
* If there is no room for the final range timeout, then an error
|
| 1246 |
* will be set. Otherwise the remaining time will be applied to
|
| 1247 |
* the final range.
|
| 1248 |
*/
|
| 1249 |
Status = set_sequence_step_timeout(Dev, |
| 1250 |
VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
| 1251 |
FinalRangeTimingBudgetMicroSeconds); |
| 1252 |
|
| 1253 |
VL53L0X_SETPARAMETERFIELD(Dev, |
| 1254 |
MeasurementTimingBudgetMicroSeconds, |
| 1255 |
MeasurementTimingBudgetMicroSeconds); |
| 1256 |
} |
| 1257 |
|
| 1258 |
LOG_FUNCTION_END(Status); |
| 1259 |
|
| 1260 |
return Status;
|
| 1261 |
} |
| 1262 |
|
| 1263 |
VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev, |
| 1264 |
uint32_t *pMeasurementTimingBudgetMicroSeconds) |
| 1265 |
{
|
| 1266 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1267 |
VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps; |
| 1268 |
uint32_t FinalRangeTimeoutMicroSeconds; |
| 1269 |
uint32_t MsrcDccTccTimeoutMicroSeconds = 2000;
|
| 1270 |
uint32_t StartOverheadMicroSeconds = 1910;
|
| 1271 |
uint32_t EndOverheadMicroSeconds = 960;
|
| 1272 |
uint32_t MsrcOverheadMicroSeconds = 660;
|
| 1273 |
uint32_t TccOverheadMicroSeconds = 590;
|
| 1274 |
uint32_t DssOverheadMicroSeconds = 690;
|
| 1275 |
uint32_t PreRangeOverheadMicroSeconds = 660;
|
| 1276 |
uint32_t FinalRangeOverheadMicroSeconds = 550;
|
| 1277 |
uint32_t PreRangeTimeoutMicroSeconds = 0;
|
| 1278 |
|
| 1279 |
LOG_FUNCTION_START("");
|
| 1280 |
|
| 1281 |
/* Start and end overhead times always present */
|
| 1282 |
*pMeasurementTimingBudgetMicroSeconds |
| 1283 |
= StartOverheadMicroSeconds + EndOverheadMicroSeconds; |
| 1284 |
|
| 1285 |
Status = VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps); |
| 1286 |
|
| 1287 |
if (Status != VL53L0X_ERROR_NONE) {
|
| 1288 |
LOG_FUNCTION_END(Status); |
| 1289 |
return Status;
|
| 1290 |
} |
| 1291 |
|
| 1292 |
|
| 1293 |
if (SchedulerSequenceSteps.TccOn ||
|
| 1294 |
SchedulerSequenceSteps.MsrcOn || |
| 1295 |
SchedulerSequenceSteps.DssOn) {
|
| 1296 |
|
| 1297 |
Status = get_sequence_step_timeout(Dev, |
| 1298 |
VL53L0X_SEQUENCESTEP_MSRC, |
| 1299 |
&MsrcDccTccTimeoutMicroSeconds); |
| 1300 |
|
| 1301 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1302 |
if (SchedulerSequenceSteps.TccOn) {
|
| 1303 |
*pMeasurementTimingBudgetMicroSeconds += |
| 1304 |
MsrcDccTccTimeoutMicroSeconds + |
| 1305 |
TccOverheadMicroSeconds; |
| 1306 |
} |
| 1307 |
|
| 1308 |
if (SchedulerSequenceSteps.DssOn) {
|
| 1309 |
*pMeasurementTimingBudgetMicroSeconds += |
| 1310 |
2 * (MsrcDccTccTimeoutMicroSeconds +
|
| 1311 |
DssOverheadMicroSeconds); |
| 1312 |
} else if (SchedulerSequenceSteps.MsrcOn) { |
| 1313 |
*pMeasurementTimingBudgetMicroSeconds += |
| 1314 |
MsrcDccTccTimeoutMicroSeconds + |
| 1315 |
MsrcOverheadMicroSeconds; |
| 1316 |
} |
| 1317 |
} |
| 1318 |
} |
| 1319 |
|
| 1320 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1321 |
if (SchedulerSequenceSteps.PreRangeOn) {
|
| 1322 |
Status = get_sequence_step_timeout(Dev, |
| 1323 |
VL53L0X_SEQUENCESTEP_PRE_RANGE, |
| 1324 |
&PreRangeTimeoutMicroSeconds); |
| 1325 |
*pMeasurementTimingBudgetMicroSeconds += |
| 1326 |
PreRangeTimeoutMicroSeconds + |
| 1327 |
PreRangeOverheadMicroSeconds; |
| 1328 |
} |
| 1329 |
} |
| 1330 |
|
| 1331 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1332 |
if (SchedulerSequenceSteps.FinalRangeOn) {
|
| 1333 |
Status = get_sequence_step_timeout(Dev, |
| 1334 |
VL53L0X_SEQUENCESTEP_FINAL_RANGE, |
| 1335 |
&FinalRangeTimeoutMicroSeconds); |
| 1336 |
*pMeasurementTimingBudgetMicroSeconds += |
| 1337 |
(FinalRangeTimeoutMicroSeconds + |
| 1338 |
FinalRangeOverheadMicroSeconds); |
| 1339 |
} |
| 1340 |
} |
| 1341 |
|
| 1342 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1343 |
VL53L0X_SETPARAMETERFIELD(Dev, |
| 1344 |
MeasurementTimingBudgetMicroSeconds, |
| 1345 |
*pMeasurementTimingBudgetMicroSeconds); |
| 1346 |
} |
| 1347 |
|
| 1348 |
LOG_FUNCTION_END(Status); |
| 1349 |
return Status;
|
| 1350 |
} |
| 1351 |
|
| 1352 |
|
| 1353 |
|
| 1354 |
VL53L0X_Error VL53L0X_load_tuning_settings(VL53L0X_DEV Dev, |
| 1355 |
uint8_t *pTuningSettingBuffer) |
| 1356 |
{
|
| 1357 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1358 |
int i;
|
| 1359 |
int Index;
|
| 1360 |
uint8_t msb; |
| 1361 |
uint8_t lsb; |
| 1362 |
uint8_t SelectParam; |
| 1363 |
uint8_t NumberOfWrites; |
| 1364 |
uint8_t Address; |
| 1365 |
uint8_t localBuffer[4]; /* max */ |
| 1366 |
uint16_t Temp16; |
| 1367 |
|
| 1368 |
LOG_FUNCTION_START("");
|
| 1369 |
|
| 1370 |
Index = 0;
|
| 1371 |
|
| 1372 |
while ((*(pTuningSettingBuffer + Index) != 0) && |
| 1373 |
(Status == VL53L0X_ERROR_NONE)) {
|
| 1374 |
NumberOfWrites = *(pTuningSettingBuffer + Index); |
| 1375 |
Index++; |
| 1376 |
if (NumberOfWrites == 0xFF) { |
| 1377 |
/* internal parameters */
|
| 1378 |
SelectParam = *(pTuningSettingBuffer + Index); |
| 1379 |
Index++; |
| 1380 |
switch (SelectParam) {
|
| 1381 |
case 0: /* uint16_t SigmaEstRefArray -> 2 bytes */ |
| 1382 |
msb = *(pTuningSettingBuffer + Index); |
| 1383 |
Index++; |
| 1384 |
lsb = *(pTuningSettingBuffer + Index); |
| 1385 |
Index++; |
| 1386 |
Temp16 = VL53L0X_MAKEUINT16(lsb, msb); |
| 1387 |
PALDevDataSet(Dev, SigmaEstRefArray, Temp16); |
| 1388 |
break;
|
| 1389 |
case 1: /* uint16_t SigmaEstEffPulseWidth -> 2 bytes */ |
| 1390 |
msb = *(pTuningSettingBuffer + Index); |
| 1391 |
Index++; |
| 1392 |
lsb = *(pTuningSettingBuffer + Index); |
| 1393 |
Index++; |
| 1394 |
Temp16 = VL53L0X_MAKEUINT16(lsb, msb); |
| 1395 |
PALDevDataSet(Dev, SigmaEstEffPulseWidth, |
| 1396 |
Temp16); |
| 1397 |
break;
|
| 1398 |
case 2: /* uint16_t SigmaEstEffAmbWidth -> 2 bytes */ |
| 1399 |
msb = *(pTuningSettingBuffer + Index); |
| 1400 |
Index++; |
| 1401 |
lsb = *(pTuningSettingBuffer + Index); |
| 1402 |
Index++; |
| 1403 |
Temp16 = VL53L0X_MAKEUINT16(lsb, msb); |
| 1404 |
PALDevDataSet(Dev, SigmaEstEffAmbWidth, Temp16); |
| 1405 |
break;
|
| 1406 |
case 3: /* uint16_t targetRefRate -> 2 bytes */ |
| 1407 |
msb = *(pTuningSettingBuffer + Index); |
| 1408 |
Index++; |
| 1409 |
lsb = *(pTuningSettingBuffer + Index); |
| 1410 |
Index++; |
| 1411 |
Temp16 = VL53L0X_MAKEUINT16(lsb, msb); |
| 1412 |
PALDevDataSet(Dev, targetRefRate, Temp16); |
| 1413 |
break;
|
| 1414 |
default: /* invalid parameter */ |
| 1415 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1416 |
} |
| 1417 |
|
| 1418 |
} else if (NumberOfWrites <= 4) { |
| 1419 |
Address = *(pTuningSettingBuffer + Index); |
| 1420 |
Index++; |
| 1421 |
|
| 1422 |
for (i = 0; i < NumberOfWrites; i++) { |
| 1423 |
localBuffer[i] = *(pTuningSettingBuffer + |
| 1424 |
Index); |
| 1425 |
Index++; |
| 1426 |
} |
| 1427 |
|
| 1428 |
Status = VL53L0X_WriteMulti(Dev, Address, localBuffer, |
| 1429 |
NumberOfWrites); |
| 1430 |
|
| 1431 |
} else {
|
| 1432 |
Status = VL53L0X_ERROR_INVALID_PARAMS; |
| 1433 |
} |
| 1434 |
} |
| 1435 |
|
| 1436 |
LOG_FUNCTION_END(Status); |
| 1437 |
return Status;
|
| 1438 |
} |
| 1439 |
|
| 1440 |
VL53L0X_Error VL53L0X_get_total_xtalk_rate(VL53L0X_DEV Dev, |
| 1441 |
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, |
| 1442 |
FixPoint1616_t *ptotal_xtalk_rate_mcps) |
| 1443 |
{
|
| 1444 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1445 |
|
| 1446 |
uint8_t xtalkCompEnable; |
| 1447 |
FixPoint1616_t totalXtalkMegaCps; |
| 1448 |
FixPoint1616_t xtalkPerSpadMegaCps; |
| 1449 |
|
| 1450 |
*ptotal_xtalk_rate_mcps = 0;
|
| 1451 |
|
| 1452 |
Status = VL53L0X_GetXTalkCompensationEnable(Dev, &xtalkCompEnable); |
| 1453 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1454 |
|
| 1455 |
if (xtalkCompEnable) {
|
| 1456 |
|
| 1457 |
VL53L0X_GETPARAMETERFIELD( |
| 1458 |
Dev, |
| 1459 |
XTalkCompensationRateMegaCps, |
| 1460 |
xtalkPerSpadMegaCps); |
| 1461 |
|
| 1462 |
/* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */
|
| 1463 |
totalXtalkMegaCps = |
| 1464 |
pRangingMeasurementData->EffectiveSpadRtnCount * |
| 1465 |
xtalkPerSpadMegaCps; |
| 1466 |
|
| 1467 |
/* FixPoint0824 >> 8 = FixPoint1616 */
|
| 1468 |
*ptotal_xtalk_rate_mcps = |
| 1469 |
(totalXtalkMegaCps + 0x80) >> 8; |
| 1470 |
} |
| 1471 |
} |
| 1472 |
|
| 1473 |
return Status;
|
| 1474 |
} |
| 1475 |
|
| 1476 |
VL53L0X_Error VL53L0X_get_total_signal_rate(VL53L0X_DEV Dev, |
| 1477 |
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, |
| 1478 |
FixPoint1616_t *ptotal_signal_rate_mcps) |
| 1479 |
{
|
| 1480 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1481 |
FixPoint1616_t totalXtalkMegaCps; |
| 1482 |
|
| 1483 |
LOG_FUNCTION_START("");
|
| 1484 |
|
| 1485 |
*ptotal_signal_rate_mcps = |
| 1486 |
pRangingMeasurementData->SignalRateRtnMegaCps; |
| 1487 |
|
| 1488 |
Status = VL53L0X_get_total_xtalk_rate( |
| 1489 |
Dev, pRangingMeasurementData, &totalXtalkMegaCps); |
| 1490 |
|
| 1491 |
if (Status == VL53L0X_ERROR_NONE)
|
| 1492 |
*ptotal_signal_rate_mcps += totalXtalkMegaCps; |
| 1493 |
|
| 1494 |
return Status;
|
| 1495 |
} |
| 1496 |
|
| 1497 |
VL53L0X_Error VL53L0X_calc_dmax( |
| 1498 |
VL53L0X_DEV Dev, |
| 1499 |
FixPoint1616_t totalSignalRate_mcps, |
| 1500 |
FixPoint1616_t totalCorrSignalRate_mcps, |
| 1501 |
FixPoint1616_t pwMult, |
| 1502 |
uint32_t sigmaEstimateP1, |
| 1503 |
FixPoint1616_t sigmaEstimateP2, |
| 1504 |
uint32_t peakVcselDuration_us, |
| 1505 |
uint32_t *pdmax_mm) |
| 1506 |
{
|
| 1507 |
const uint32_t cSigmaLimit = 18; |
| 1508 |
const FixPoint1616_t cSignalLimit = 0x4000; /* 0.25 */ |
| 1509 |
const FixPoint1616_t cSigmaEstRef = 0x00000042; /* 0.001 */ |
| 1510 |
const uint32_t cAmbEffWidthSigmaEst_ns = 6; |
| 1511 |
const uint32_t cAmbEffWidthDMax_ns = 7; |
| 1512 |
uint32_t dmaxCalRange_mm; |
| 1513 |
FixPoint1616_t dmaxCalSignalRateRtn_mcps; |
| 1514 |
FixPoint1616_t minSignalNeeded; |
| 1515 |
FixPoint1616_t minSignalNeeded_p1; |
| 1516 |
FixPoint1616_t minSignalNeeded_p2; |
| 1517 |
FixPoint1616_t minSignalNeeded_p3; |
| 1518 |
FixPoint1616_t minSignalNeeded_p4; |
| 1519 |
FixPoint1616_t sigmaLimitTmp; |
| 1520 |
FixPoint1616_t sigmaEstSqTmp; |
| 1521 |
FixPoint1616_t signalLimitTmp; |
| 1522 |
FixPoint1616_t SignalAt0mm; |
| 1523 |
FixPoint1616_t dmaxDark; |
| 1524 |
FixPoint1616_t dmaxAmbient; |
| 1525 |
FixPoint1616_t dmaxDarkTmp; |
| 1526 |
FixPoint1616_t sigmaEstP2Tmp; |
| 1527 |
uint32_t signalRateTemp_mcps; |
| 1528 |
|
| 1529 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1530 |
|
| 1531 |
LOG_FUNCTION_START("");
|
| 1532 |
|
| 1533 |
dmaxCalRange_mm = |
| 1534 |
PALDevDataGet(Dev, DmaxCalRangeMilliMeter); |
| 1535 |
|
| 1536 |
dmaxCalSignalRateRtn_mcps = |
| 1537 |
PALDevDataGet(Dev, DmaxCalSignalRateRtnMegaCps); |
| 1538 |
|
| 1539 |
/* uint32 * FixPoint1616 = FixPoint1616 */
|
| 1540 |
SignalAt0mm = dmaxCalRange_mm * dmaxCalSignalRateRtn_mcps; |
| 1541 |
|
| 1542 |
/* FixPoint1616 >> 8 = FixPoint2408 */
|
| 1543 |
SignalAt0mm = (SignalAt0mm + 0x80) >> 8; |
| 1544 |
SignalAt0mm *= dmaxCalRange_mm; |
| 1545 |
|
| 1546 |
minSignalNeeded_p1 = 0;
|
| 1547 |
if (totalCorrSignalRate_mcps > 0) { |
| 1548 |
|
| 1549 |
/* Shift by 10 bits to increase resolution prior to the
|
| 1550 |
* division */
|
| 1551 |
signalRateTemp_mcps = totalSignalRate_mcps << 10;
|
| 1552 |
|
| 1553 |
/* Add rounding value prior to division */
|
| 1554 |
minSignalNeeded_p1 = signalRateTemp_mcps + |
| 1555 |
(totalCorrSignalRate_mcps/2);
|
| 1556 |
|
| 1557 |
/* FixPoint0626/FixPoint1616 = FixPoint2210 */
|
| 1558 |
minSignalNeeded_p1 /= totalCorrSignalRate_mcps; |
| 1559 |
|
| 1560 |
/* Apply a factored version of the speed of light.
|
| 1561 |
Correction to be applied at the end */
|
| 1562 |
minSignalNeeded_p1 *= 3;
|
| 1563 |
|
| 1564 |
/* FixPoint2210 * FixPoint2210 = FixPoint1220 */
|
| 1565 |
minSignalNeeded_p1 *= minSignalNeeded_p1; |
| 1566 |
|
| 1567 |
/* FixPoint1220 >> 16 = FixPoint2804 */
|
| 1568 |
minSignalNeeded_p1 = (minSignalNeeded_p1 + 0x8000) >> 16; |
| 1569 |
} |
| 1570 |
|
| 1571 |
minSignalNeeded_p2 = pwMult * sigmaEstimateP1; |
| 1572 |
|
| 1573 |
/* FixPoint1616 >> 16 = uint32 */
|
| 1574 |
minSignalNeeded_p2 = (minSignalNeeded_p2 + 0x8000) >> 16; |
| 1575 |
|
| 1576 |
/* uint32 * uint32 = uint32 */
|
| 1577 |
minSignalNeeded_p2 *= minSignalNeeded_p2; |
| 1578 |
|
| 1579 |
/* Check sigmaEstimateP2
|
| 1580 |
* If this value is too high there is not enough signal rate
|
| 1581 |
* to calculate dmax value so set a suitable value to ensure
|
| 1582 |
* a very small dmax.
|
| 1583 |
*/
|
| 1584 |
sigmaEstP2Tmp = (sigmaEstimateP2 + 0x8000) >> 16; |
| 1585 |
sigmaEstP2Tmp = (sigmaEstP2Tmp + cAmbEffWidthSigmaEst_ns/2)/
|
| 1586 |
cAmbEffWidthSigmaEst_ns; |
| 1587 |
sigmaEstP2Tmp *= cAmbEffWidthDMax_ns; |
| 1588 |
|
| 1589 |
if (sigmaEstP2Tmp > 0xffff) { |
| 1590 |
minSignalNeeded_p3 = 0xfff00000;
|
| 1591 |
} else {
|
| 1592 |
|
| 1593 |
/* DMAX uses a different ambient width from sigma, so apply
|
| 1594 |
* correction.
|
| 1595 |
* Perform division before multiplication to prevent overflow.
|
| 1596 |
*/
|
| 1597 |
sigmaEstimateP2 = (sigmaEstimateP2 + cAmbEffWidthSigmaEst_ns/2)/
|
| 1598 |
cAmbEffWidthSigmaEst_ns; |
| 1599 |
sigmaEstimateP2 *= cAmbEffWidthDMax_ns; |
| 1600 |
|
| 1601 |
/* FixPoint1616 >> 16 = uint32 */
|
| 1602 |
minSignalNeeded_p3 = (sigmaEstimateP2 + 0x8000) >> 16; |
| 1603 |
|
| 1604 |
minSignalNeeded_p3 *= minSignalNeeded_p3; |
| 1605 |
|
| 1606 |
} |
| 1607 |
|
| 1608 |
/* FixPoint1814 / uint32 = FixPoint1814 */
|
| 1609 |
sigmaLimitTmp = ((cSigmaLimit << 14) + 500) / 1000; |
| 1610 |
|
| 1611 |
/* FixPoint1814 * FixPoint1814 = FixPoint3628 := FixPoint0428 */
|
| 1612 |
sigmaLimitTmp *= sigmaLimitTmp; |
| 1613 |
|
| 1614 |
/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
|
| 1615 |
sigmaEstSqTmp = cSigmaEstRef * cSigmaEstRef; |
| 1616 |
|
| 1617 |
/* FixPoint3232 >> 4 = FixPoint0428 */
|
| 1618 |
sigmaEstSqTmp = (sigmaEstSqTmp + 0x08) >> 4; |
| 1619 |
|
| 1620 |
/* FixPoint0428 - FixPoint0428 = FixPoint0428 */
|
| 1621 |
sigmaLimitTmp -= sigmaEstSqTmp; |
| 1622 |
|
| 1623 |
/* uint32_t * FixPoint0428 = FixPoint0428 */
|
| 1624 |
minSignalNeeded_p4 = 4 * 12 * sigmaLimitTmp; |
| 1625 |
|
| 1626 |
/* FixPoint0428 >> 14 = FixPoint1814 */
|
| 1627 |
minSignalNeeded_p4 = (minSignalNeeded_p4 + 0x2000) >> 14; |
| 1628 |
|
| 1629 |
/* uint32 + uint32 = uint32 */
|
| 1630 |
minSignalNeeded = (minSignalNeeded_p2 + minSignalNeeded_p3); |
| 1631 |
|
| 1632 |
/* uint32 / uint32 = uint32 */
|
| 1633 |
minSignalNeeded += (peakVcselDuration_us/2);
|
| 1634 |
minSignalNeeded /= peakVcselDuration_us; |
| 1635 |
|
| 1636 |
/* uint32 << 14 = FixPoint1814 */
|
| 1637 |
minSignalNeeded <<= 14;
|
| 1638 |
|
| 1639 |
/* FixPoint1814 / FixPoint1814 = uint32 */
|
| 1640 |
minSignalNeeded += (minSignalNeeded_p4/2);
|
| 1641 |
minSignalNeeded /= minSignalNeeded_p4; |
| 1642 |
|
| 1643 |
/* FixPoint3200 * FixPoint2804 := FixPoint2804*/
|
| 1644 |
minSignalNeeded *= minSignalNeeded_p1; |
| 1645 |
|
| 1646 |
/* Apply correction by dividing by 1000000.
|
| 1647 |
* This assumes 10E16 on the numerator of the equation
|
| 1648 |
* and 10E-22 on the denominator.
|
| 1649 |
* We do this because 32bit fix point calculation can't
|
| 1650 |
* handle the larger and smaller elements of this equation,
|
| 1651 |
* i.e. speed of light and pulse widths.
|
| 1652 |
*/
|
| 1653 |
minSignalNeeded = (minSignalNeeded + 500) / 1000; |
| 1654 |
minSignalNeeded <<= 4;
|
| 1655 |
|
| 1656 |
minSignalNeeded = (minSignalNeeded + 500) / 1000; |
| 1657 |
|
| 1658 |
/* FixPoint1616 >> 8 = FixPoint2408 */
|
| 1659 |
signalLimitTmp = (cSignalLimit + 0x80) >> 8; |
| 1660 |
|
| 1661 |
/* FixPoint2408/FixPoint2408 = uint32 */
|
| 1662 |
if (signalLimitTmp != 0) |
| 1663 |
dmaxDarkTmp = (SignalAt0mm + (signalLimitTmp / 2))
|
| 1664 |
/ signalLimitTmp; |
| 1665 |
else
|
| 1666 |
dmaxDarkTmp = 0;
|
| 1667 |
|
| 1668 |
dmaxDark = VL53L0X_isqrt(dmaxDarkTmp); |
| 1669 |
|
| 1670 |
/* FixPoint2408/FixPoint2408 = uint32 */
|
| 1671 |
if (minSignalNeeded != 0) |
| 1672 |
dmaxAmbient = (SignalAt0mm + minSignalNeeded/2)
|
| 1673 |
/ minSignalNeeded; |
| 1674 |
else
|
| 1675 |
dmaxAmbient = 0;
|
| 1676 |
|
| 1677 |
dmaxAmbient = VL53L0X_isqrt(dmaxAmbient); |
| 1678 |
|
| 1679 |
*pdmax_mm = dmaxDark; |
| 1680 |
if (dmaxDark > dmaxAmbient)
|
| 1681 |
*pdmax_mm = dmaxAmbient; |
| 1682 |
|
| 1683 |
LOG_FUNCTION_END(Status); |
| 1684 |
|
| 1685 |
return Status;
|
| 1686 |
} |
| 1687 |
|
| 1688 |
|
| 1689 |
VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev, |
| 1690 |
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, |
| 1691 |
FixPoint1616_t *pSigmaEstimate, |
| 1692 |
uint32_t *pDmax_mm) |
| 1693 |
{
|
| 1694 |
/* Expressed in 100ths of a ns, i.e. centi-ns */
|
| 1695 |
const uint32_t cPulseEffectiveWidth_centi_ns = 800; |
| 1696 |
/* Expressed in 100ths of a ns, i.e. centi-ns */
|
| 1697 |
const uint32_t cAmbientEffectiveWidth_centi_ns = 600; |
| 1698 |
const FixPoint1616_t cDfltFinalRangeIntegrationTimeMilliSecs = 0x00190000; /* 25ms */ |
| 1699 |
const uint32_t cVcselPulseWidth_ps = 4700; /* pico secs */ |
| 1700 |
const FixPoint1616_t cSigmaEstMax = 0x028F87AE; |
| 1701 |
const FixPoint1616_t cSigmaEstRtnMax = 0xF000; |
| 1702 |
const FixPoint1616_t cAmbToSignalRatioMax = 0xF0000000/ |
| 1703 |
cAmbientEffectiveWidth_centi_ns; |
| 1704 |
/* Time Of Flight per mm (6.6 pico secs) */
|
| 1705 |
const FixPoint1616_t cTOF_per_mm_ps = 0x0006999A; |
| 1706 |
const uint32_t c16BitRoundingParam = 0x00008000; |
| 1707 |
const FixPoint1616_t cMaxXTalk_kcps = 0x00320000; |
| 1708 |
const uint32_t cPllPeriod_ps = 1655; |
| 1709 |
|
| 1710 |
uint32_t vcselTotalEventsRtn; |
| 1711 |
uint32_t finalRangeTimeoutMicroSecs; |
| 1712 |
uint32_t preRangeTimeoutMicroSecs; |
| 1713 |
uint32_t finalRangeIntegrationTimeMilliSecs; |
| 1714 |
FixPoint1616_t sigmaEstimateP1; |
| 1715 |
FixPoint1616_t sigmaEstimateP2; |
| 1716 |
FixPoint1616_t sigmaEstimateP3; |
| 1717 |
FixPoint1616_t deltaT_ps; |
| 1718 |
FixPoint1616_t pwMult; |
| 1719 |
FixPoint1616_t sigmaEstRtn; |
| 1720 |
FixPoint1616_t sigmaEstimate; |
| 1721 |
FixPoint1616_t xTalkCorrection; |
| 1722 |
FixPoint1616_t ambientRate_kcps; |
| 1723 |
FixPoint1616_t peakSignalRate_kcps; |
| 1724 |
FixPoint1616_t xTalkCompRate_mcps; |
| 1725 |
uint32_t xTalkCompRate_kcps; |
| 1726 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 1727 |
FixPoint1616_t diff1_mcps; |
| 1728 |
FixPoint1616_t diff2_mcps; |
| 1729 |
FixPoint1616_t sqr1; |
| 1730 |
FixPoint1616_t sqr2; |
| 1731 |
FixPoint1616_t sqrSum; |
| 1732 |
FixPoint1616_t sqrtResult_centi_ns; |
| 1733 |
FixPoint1616_t sqrtResult; |
| 1734 |
FixPoint1616_t totalSignalRate_mcps; |
| 1735 |
FixPoint1616_t correctedSignalRate_mcps; |
| 1736 |
FixPoint1616_t sigmaEstRef; |
| 1737 |
uint32_t vcselWidth; |
| 1738 |
uint32_t finalRangeMacroPCLKS; |
| 1739 |
uint32_t preRangeMacroPCLKS; |
| 1740 |
uint32_t peakVcselDuration_us; |
| 1741 |
uint8_t finalRangeVcselPCLKS; |
| 1742 |
uint8_t preRangeVcselPCLKS; |
| 1743 |
/*! \addtogroup calc_sigma_estimate
|
| 1744 |
* @{
|
| 1745 |
*
|
| 1746 |
* Estimates the range sigma
|
| 1747 |
*/
|
| 1748 |
|
| 1749 |
LOG_FUNCTION_START("");
|
| 1750 |
|
| 1751 |
VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, |
| 1752 |
xTalkCompRate_mcps); |
| 1753 |
|
| 1754 |
/*
|
| 1755 |
* We work in kcps rather than mcps as this helps keep within the
|
| 1756 |
* confines of the 32 Fix1616 type.
|
| 1757 |
*/
|
| 1758 |
|
| 1759 |
ambientRate_kcps = |
| 1760 |
(pRangingMeasurementData->AmbientRateRtnMegaCps * 1000) >> 16; |
| 1761 |
|
| 1762 |
correctedSignalRate_mcps = |
| 1763 |
pRangingMeasurementData->SignalRateRtnMegaCps; |
| 1764 |
|
| 1765 |
|
| 1766 |
Status = VL53L0X_get_total_signal_rate( |
| 1767 |
Dev, pRangingMeasurementData, &totalSignalRate_mcps); |
| 1768 |
Status = VL53L0X_get_total_xtalk_rate( |
| 1769 |
Dev, pRangingMeasurementData, &xTalkCompRate_mcps); |
| 1770 |
|
| 1771 |
|
| 1772 |
/* Signal rate measurement provided by device is the
|
| 1773 |
* peak signal rate, not average.
|
| 1774 |
*/
|
| 1775 |
peakSignalRate_kcps = (totalSignalRate_mcps * 1000);
|
| 1776 |
peakSignalRate_kcps = (peakSignalRate_kcps + 0x8000) >> 16; |
| 1777 |
|
| 1778 |
xTalkCompRate_kcps = xTalkCompRate_mcps * 1000;
|
| 1779 |
|
| 1780 |
if (xTalkCompRate_kcps > cMaxXTalk_kcps)
|
| 1781 |
xTalkCompRate_kcps = cMaxXTalk_kcps; |
| 1782 |
|
| 1783 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 1784 |
|
| 1785 |
/* Calculate final range macro periods */
|
| 1786 |
finalRangeTimeoutMicroSecs = VL53L0X_GETDEVICESPECIFICPARAMETER( |
| 1787 |
Dev, FinalRangeTimeoutMicroSecs); |
| 1788 |
|
| 1789 |
finalRangeVcselPCLKS = VL53L0X_GETDEVICESPECIFICPARAMETER( |
| 1790 |
Dev, FinalRangeVcselPulsePeriod); |
| 1791 |
|
| 1792 |
finalRangeMacroPCLKS = VL53L0X_calc_timeout_mclks( |
| 1793 |
Dev, finalRangeTimeoutMicroSecs, finalRangeVcselPCLKS); |
| 1794 |
|
| 1795 |
/* Calculate pre-range macro periods */
|
| 1796 |
preRangeTimeoutMicroSecs = VL53L0X_GETDEVICESPECIFICPARAMETER( |
| 1797 |
Dev, PreRangeTimeoutMicroSecs); |
| 1798 |
|
| 1799 |
preRangeVcselPCLKS = VL53L0X_GETDEVICESPECIFICPARAMETER( |
| 1800 |
Dev, PreRangeVcselPulsePeriod); |
| 1801 |
|
| 1802 |
preRangeMacroPCLKS = VL53L0X_calc_timeout_mclks( |
| 1803 |
Dev, preRangeTimeoutMicroSecs, preRangeVcselPCLKS); |
| 1804 |
|
| 1805 |
vcselWidth = 3;
|
| 1806 |
if (finalRangeVcselPCLKS == 8) |
| 1807 |
vcselWidth = 2;
|
| 1808 |
|
| 1809 |
|
| 1810 |
peakVcselDuration_us = vcselWidth * 2048 *
|
| 1811 |
(preRangeMacroPCLKS + finalRangeMacroPCLKS); |
| 1812 |
peakVcselDuration_us = (peakVcselDuration_us + 500)/1000; |
| 1813 |
peakVcselDuration_us *= cPllPeriod_ps; |
| 1814 |
peakVcselDuration_us = (peakVcselDuration_us + 500)/1000; |
| 1815 |
|
| 1816 |
/* Fix1616 >> 8 = Fix2408 */
|
| 1817 |
totalSignalRate_mcps = (totalSignalRate_mcps + 0x80) >> 8; |
| 1818 |
|
| 1819 |
/* Fix2408 * uint32 = Fix2408 */
|
| 1820 |
vcselTotalEventsRtn = totalSignalRate_mcps * |
| 1821 |
peakVcselDuration_us; |
| 1822 |
|
| 1823 |
/* Fix2408 >> 8 = uint32 */
|
| 1824 |
vcselTotalEventsRtn = (vcselTotalEventsRtn + 0x80) >> 8; |
| 1825 |
|
| 1826 |
/* Fix2408 << 8 = Fix1616 = */
|
| 1827 |
totalSignalRate_mcps <<= 8;
|
| 1828 |
} |
| 1829 |
|
| 1830 |
if (Status != VL53L0X_ERROR_NONE) {
|
| 1831 |
LOG_FUNCTION_END(Status); |
| 1832 |
return Status;
|
| 1833 |
} |
| 1834 |
|
| 1835 |
if (peakSignalRate_kcps == 0) { |
| 1836 |
*pSigmaEstimate = cSigmaEstMax; |
| 1837 |
PALDevDataSet(Dev, SigmaEstimate, cSigmaEstMax); |
| 1838 |
*pDmax_mm = 0;
|
| 1839 |
} else {
|
| 1840 |
if (vcselTotalEventsRtn < 1) |
| 1841 |
vcselTotalEventsRtn = 1;
|
| 1842 |
|
| 1843 |
sigmaEstimateP1 = cPulseEffectiveWidth_centi_ns; |
| 1844 |
|
| 1845 |
/* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */
|
| 1846 |
sigmaEstimateP2 = (ambientRate_kcps << 16)/peakSignalRate_kcps;
|
| 1847 |
if (sigmaEstimateP2 > cAmbToSignalRatioMax) {
|
| 1848 |
/* Clip to prevent overflow. Will ensure safe
|
| 1849 |
* max result. */
|
| 1850 |
sigmaEstimateP2 = cAmbToSignalRatioMax; |
| 1851 |
} |
| 1852 |
sigmaEstimateP2 *= cAmbientEffectiveWidth_centi_ns; |
| 1853 |
|
| 1854 |
sigmaEstimateP3 = 2 * VL53L0X_isqrt(vcselTotalEventsRtn * 12); |
| 1855 |
|
| 1856 |
/* uint32 * FixPoint1616 = FixPoint1616 */
|
| 1857 |
deltaT_ps = pRangingMeasurementData->RangeMilliMeter * |
| 1858 |
cTOF_per_mm_ps; |
| 1859 |
|
| 1860 |
/*
|
| 1861 |
* vcselRate - xtalkCompRate
|
| 1862 |
* (uint32 << 16) - FixPoint1616 = FixPoint1616.
|
| 1863 |
* Divide result by 1000 to convert to mcps.
|
| 1864 |
* 500 is added to ensure rounding when integer division
|
| 1865 |
* truncates.
|
| 1866 |
*/
|
| 1867 |
diff1_mcps = (((peakSignalRate_kcps << 16) -
|
| 1868 |
2 * xTalkCompRate_kcps) + 500)/1000; |
| 1869 |
|
| 1870 |
/* vcselRate + xtalkCompRate */
|
| 1871 |
diff2_mcps = ((peakSignalRate_kcps << 16) + 500)/1000; |
| 1872 |
|
| 1873 |
/* Shift by 8 bits to increase resolution prior to the
|
| 1874 |
* division */
|
| 1875 |
diff1_mcps <<= 8;
|
| 1876 |
|
| 1877 |
/* FixPoint0824/FixPoint1616 = FixPoint2408 */
|
| 1878 |
xTalkCorrection = abs(diff1_mcps/diff2_mcps); |
| 1879 |
|
| 1880 |
/* FixPoint2408 << 8 = FixPoint1616 */
|
| 1881 |
xTalkCorrection <<= 8;
|
| 1882 |
|
| 1883 |
if(pRangingMeasurementData->RangeStatus != 0){ |
| 1884 |
pwMult = 1 << 16; |
| 1885 |
} else {
|
| 1886 |
/* FixPoint1616/uint32 = FixPoint1616 */
|
| 1887 |
pwMult = deltaT_ps/cVcselPulseWidth_ps; /* smaller than 1.0f */
|
| 1888 |
|
| 1889 |
/*
|
| 1890 |
* FixPoint1616 * FixPoint1616 = FixPoint3232, however both
|
| 1891 |
* values are small enough such that32 bits will not be
|
| 1892 |
* exceeded.
|
| 1893 |
*/
|
| 1894 |
pwMult *= ((1 << 16) - xTalkCorrection); |
| 1895 |
|
| 1896 |
/* (FixPoint3232 >> 16) = FixPoint1616 */
|
| 1897 |
pwMult = (pwMult + c16BitRoundingParam) >> 16;
|
| 1898 |
|
| 1899 |
/* FixPoint1616 + FixPoint1616 = FixPoint1616 */
|
| 1900 |
pwMult += (1 << 16); |
| 1901 |
|
| 1902 |
/*
|
| 1903 |
* At this point the value will be 1.xx, therefore if we square
|
| 1904 |
* the value this will exceed 32 bits. To address this perform
|
| 1905 |
* a single shift to the right before the multiplication.
|
| 1906 |
*/
|
| 1907 |
pwMult >>= 1;
|
| 1908 |
/* FixPoint1715 * FixPoint1715 = FixPoint3430 */
|
| 1909 |
pwMult = pwMult * pwMult; |
| 1910 |
|
| 1911 |
/* (FixPoint3430 >> 14) = Fix1616 */
|
| 1912 |
pwMult >>= 14;
|
| 1913 |
} |
| 1914 |
|
| 1915 |
/* FixPoint1616 * uint32 = FixPoint1616 */
|
| 1916 |
sqr1 = pwMult * sigmaEstimateP1; |
| 1917 |
|
| 1918 |
/* (FixPoint1616 >> 16) = FixPoint3200 */
|
| 1919 |
sqr1 = (sqr1 + 0x8000) >> 16; |
| 1920 |
|
| 1921 |
/* FixPoint3200 * FixPoint3200 = FixPoint6400 */
|
| 1922 |
sqr1 *= sqr1; |
| 1923 |
|
| 1924 |
sqr2 = sigmaEstimateP2; |
| 1925 |
|
| 1926 |
/* (FixPoint1616 >> 16) = FixPoint3200 */
|
| 1927 |
sqr2 = (sqr2 + 0x8000) >> 16; |
| 1928 |
|
| 1929 |
/* FixPoint3200 * FixPoint3200 = FixPoint6400 */
|
| 1930 |
sqr2 *= sqr2; |
| 1931 |
|
| 1932 |
/* FixPoint64000 + FixPoint6400 = FixPoint6400 */
|
| 1933 |
sqrSum = sqr1 + sqr2; |
| 1934 |
|
| 1935 |
/* SQRT(FixPoin6400) = FixPoint3200 */
|
| 1936 |
sqrtResult_centi_ns = VL53L0X_isqrt(sqrSum); |
| 1937 |
|
| 1938 |
/* (FixPoint3200 << 16) = FixPoint1616 */
|
| 1939 |
sqrtResult_centi_ns <<= 16;
|
| 1940 |
|
| 1941 |
/*
|
| 1942 |
* Note that the Speed Of Light is expressed in um per 1E-10
|
| 1943 |
* seconds (2997) Therefore to get mm/ns we have to divide by
|
| 1944 |
* 10000
|
| 1945 |
*/
|
| 1946 |
sigmaEstRtn = (((sqrtResult_centi_ns+50)/100) / |
| 1947 |
sigmaEstimateP3); |
| 1948 |
sigmaEstRtn *= VL53L0X_SPEED_OF_LIGHT_IN_AIR; |
| 1949 |
|
| 1950 |
/* Add 5000 before dividing by 10000 to ensure rounding. */
|
| 1951 |
sigmaEstRtn += 5000;
|
| 1952 |
sigmaEstRtn /= 10000;
|
| 1953 |
|
| 1954 |
if (sigmaEstRtn > cSigmaEstRtnMax) {
|
| 1955 |
/* Clip to prevent overflow. Will ensure safe
|
| 1956 |
* max result. */
|
| 1957 |
sigmaEstRtn = cSigmaEstRtnMax; |
| 1958 |
} |
| 1959 |
finalRangeIntegrationTimeMilliSecs = |
| 1960 |
(finalRangeTimeoutMicroSecs + preRangeTimeoutMicroSecs + 500)/1000; |
| 1961 |
|
| 1962 |
/* sigmaEstRef = 1mm * 25ms/final range integration time (inc pre-range)
|
| 1963 |
* sqrt(FixPoint1616/int) = FixPoint2408)
|
| 1964 |
*/
|
| 1965 |
sigmaEstRef = |
| 1966 |
VL53L0X_isqrt((cDfltFinalRangeIntegrationTimeMilliSecs + |
| 1967 |
finalRangeIntegrationTimeMilliSecs/2)/
|
| 1968 |
finalRangeIntegrationTimeMilliSecs); |
| 1969 |
|
| 1970 |
/* FixPoint2408 << 8 = FixPoint1616 */
|
| 1971 |
sigmaEstRef <<= 8;
|
| 1972 |
sigmaEstRef = (sigmaEstRef + 500)/1000; |
| 1973 |
|
| 1974 |
/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
|
| 1975 |
sqr1 = sigmaEstRtn * sigmaEstRtn; |
| 1976 |
/* FixPoint1616 * FixPoint1616 = FixPoint3232 */
|
| 1977 |
sqr2 = sigmaEstRef * sigmaEstRef; |
| 1978 |
|
| 1979 |
/* sqrt(FixPoint3232) = FixPoint1616 */
|
| 1980 |
sqrtResult = VL53L0X_isqrt((sqr1 + sqr2)); |
| 1981 |
/*
|
| 1982 |
* Note that the Shift by 4 bits increases resolution prior to
|
| 1983 |
* the sqrt, therefore the result must be shifted by 2 bits to
|
| 1984 |
* the right to revert back to the FixPoint1616 format.
|
| 1985 |
*/
|
| 1986 |
|
| 1987 |
sigmaEstimate = 1000 * sqrtResult;
|
| 1988 |
|
| 1989 |
if ((peakSignalRate_kcps < 1) || (vcselTotalEventsRtn < 1) || |
| 1990 |
(sigmaEstimate > cSigmaEstMax)) {
|
| 1991 |
sigmaEstimate = cSigmaEstMax; |
| 1992 |
} |
| 1993 |
|
| 1994 |
*pSigmaEstimate = (uint32_t)(sigmaEstimate); |
| 1995 |
PALDevDataSet(Dev, SigmaEstimate, *pSigmaEstimate); |
| 1996 |
Status = VL53L0X_calc_dmax( |
| 1997 |
Dev, |
| 1998 |
totalSignalRate_mcps, |
| 1999 |
correctedSignalRate_mcps, |
| 2000 |
pwMult, |
| 2001 |
sigmaEstimateP1, |
| 2002 |
sigmaEstimateP2, |
| 2003 |
peakVcselDuration_us, |
| 2004 |
pDmax_mm); |
| 2005 |
} |
| 2006 |
|
| 2007 |
LOG_FUNCTION_END(Status); |
| 2008 |
return Status;
|
| 2009 |
} |
| 2010 |
|
| 2011 |
VL53L0X_Error VL53L0X_get_pal_range_status(VL53L0X_DEV Dev, |
| 2012 |
uint8_t DeviceRangeStatus, |
| 2013 |
FixPoint1616_t SignalRate, |
| 2014 |
uint16_t EffectiveSpadRtnCount, |
| 2015 |
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, |
| 2016 |
uint8_t *pPalRangeStatus) |
| 2017 |
{
|
| 2018 |
VL53L0X_Error Status = VL53L0X_ERROR_NONE; |
| 2019 |
uint8_t NoneFlag; |
| 2020 |
uint8_t SigmaLimitflag = 0;
|
| 2021 |
uint8_t SignalRefClipflag = 0;
|
| 2022 |
uint8_t RangeIgnoreThresholdflag = 0;
|
| 2023 |
uint8_t SigmaLimitCheckEnable = 0;
|
| 2024 |
uint8_t SignalRateFinalRangeLimitCheckEnable = 0;
|
| 2025 |
uint8_t SignalRefClipLimitCheckEnable = 0;
|
| 2026 |
uint8_t RangeIgnoreThresholdLimitCheckEnable = 0;
|
| 2027 |
FixPoint1616_t SigmaEstimate; |
| 2028 |
FixPoint1616_t SigmaLimitValue; |
| 2029 |
FixPoint1616_t SignalRefClipValue; |
| 2030 |
FixPoint1616_t RangeIgnoreThresholdValue; |
| 2031 |
FixPoint1616_t SignalRatePerSpad; |
| 2032 |
uint8_t DeviceRangeStatusInternal = 0;
|
| 2033 |
uint16_t tmpWord = 0;
|
| 2034 |
uint8_t Temp8; |
| 2035 |
uint32_t Dmax_mm = 0;
|
| 2036 |
FixPoint1616_t LastSignalRefMcps; |
| 2037 |
|
| 2038 |
LOG_FUNCTION_START("");
|
| 2039 |
|
| 2040 |
|
| 2041 |
/*
|
| 2042 |
* VL53L0X has a good ranging when the value of the
|
| 2043 |
* DeviceRangeStatus = 11. This function will replace the value 0 with
|
| 2044 |
* the value 11 in the DeviceRangeStatus.
|
| 2045 |
* In addition, the SigmaEstimator is not included in the VL53L0X
|
| 2046 |
* DeviceRangeStatus, this will be added in the PalRangeStatus.
|
| 2047 |
*/
|
| 2048 |
|
| 2049 |
DeviceRangeStatusInternal = ((DeviceRangeStatus & 0x78) >> 3); |
| 2050 |
|
| 2051 |
if (DeviceRangeStatusInternal == 0 || |
| 2052 |
DeviceRangeStatusInternal == 5 ||
|
| 2053 |
DeviceRangeStatusInternal == 7 ||
|
| 2054 |
DeviceRangeStatusInternal == 12 ||
|
| 2055 |
DeviceRangeStatusInternal == 13 ||
|
| 2056 |
DeviceRangeStatusInternal == 14 ||
|
| 2057 |
DeviceRangeStatusInternal == 15
|
| 2058 |
) {
|
| 2059 |
NoneFlag = 1;
|
| 2060 |
} else {
|
| 2061 |
NoneFlag = 0;
|
| 2062 |
} |
| 2063 |
|
| 2064 |
/*
|
| 2065 |
* Check if Sigma limit is enabled, if yes then do comparison with limit
|
| 2066 |
* value and put the result back into pPalRangeStatus.
|
| 2067 |
*/
|
| 2068 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2069 |
Status = VL53L0X_GetLimitCheckEnable(Dev, |
| 2070 |
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
| 2071 |
&SigmaLimitCheckEnable); |
| 2072 |
|
| 2073 |
if ((SigmaLimitCheckEnable != 0) && (Status == VL53L0X_ERROR_NONE)) { |
| 2074 |
/*
|
| 2075 |
* compute the Sigma and check with limit
|
| 2076 |
*/
|
| 2077 |
Status = VL53L0X_calc_sigma_estimate( |
| 2078 |
Dev, |
| 2079 |
pRangingMeasurementData, |
| 2080 |
&SigmaEstimate, |
| 2081 |
&Dmax_mm); |
| 2082 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2083 |
pRangingMeasurementData->RangeDMaxMilliMeter = Dmax_mm; |
| 2084 |
|
| 2085 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2086 |
Status = VL53L0X_GetLimitCheckValue(Dev, |
| 2087 |
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, |
| 2088 |
&SigmaLimitValue); |
| 2089 |
|
| 2090 |
if ((SigmaLimitValue > 0) && |
| 2091 |
(SigmaEstimate > SigmaLimitValue)) |
| 2092 |
/* Limit Fail */
|
| 2093 |
SigmaLimitflag = 1;
|
| 2094 |
} |
| 2095 |
} |
| 2096 |
|
| 2097 |
/*
|
| 2098 |
* Check if Signal ref clip limit is enabled, if yes then do comparison
|
| 2099 |
* with limit value and put the result back into pPalRangeStatus.
|
| 2100 |
*/
|
| 2101 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2102 |
Status = VL53L0X_GetLimitCheckEnable(Dev, |
| 2103 |
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
| 2104 |
&SignalRefClipLimitCheckEnable); |
| 2105 |
|
| 2106 |
if ((SignalRefClipLimitCheckEnable != 0) && |
| 2107 |
(Status == VL53L0X_ERROR_NONE)) {
|
| 2108 |
|
| 2109 |
Status = VL53L0X_GetLimitCheckValue(Dev, |
| 2110 |
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, |
| 2111 |
&SignalRefClipValue); |
| 2112 |
|
| 2113 |
/* Read LastSignalRefMcps from device */
|
| 2114 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2115 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); |
| 2116 |
|
| 2117 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2118 |
Status = VL53L0X_RdWord(Dev, |
| 2119 |
VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF, |
| 2120 |
&tmpWord); |
| 2121 |
|
| 2122 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2123 |
Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); |
| 2124 |
|
| 2125 |
LastSignalRefMcps = VL53L0X_FIXPOINT97TOFIXPOINT1616(tmpWord); |
| 2126 |
PALDevDataSet(Dev, LastSignalRefMcps, LastSignalRefMcps); |
| 2127 |
|
| 2128 |
if ((SignalRefClipValue > 0) && |
| 2129 |
(LastSignalRefMcps > SignalRefClipValue)) {
|
| 2130 |
/* Limit Fail */
|
| 2131 |
SignalRefClipflag = 1;
|
| 2132 |
} |
| 2133 |
} |
| 2134 |
|
| 2135 |
/*
|
| 2136 |
* Check if Signal ref clip limit is enabled, if yes then do comparison
|
| 2137 |
* with limit value and put the result back into pPalRangeStatus.
|
| 2138 |
* EffectiveSpadRtnCount has a format 8.8
|
| 2139 |
* If (Return signal rate < (1.5 x Xtalk x number of Spads)) : FAIL
|
| 2140 |
*/
|
| 2141 |
if (Status == VL53L0X_ERROR_NONE)
|
| 2142 |
Status = VL53L0X_GetLimitCheckEnable(Dev, |
| 2143 |
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
| 2144 |
&RangeIgnoreThresholdLimitCheckEnable); |
| 2145 |
|
| 2146 |
if ((RangeIgnoreThresholdLimitCheckEnable != 0) && |
| 2147 |
(Status == VL53L0X_ERROR_NONE)) {
|
| 2148 |
|
| 2149 |
/* Compute the signal rate per spad */
|
| 2150 |
if (EffectiveSpadRtnCount == 0) { |
| 2151 |
SignalRatePerSpad = 0;
|
| 2152 |
} else {
|
| 2153 |
SignalRatePerSpad = (FixPoint1616_t)((256 * SignalRate)
|
| 2154 |
/ EffectiveSpadRtnCount); |
| 2155 |
} |
| 2156 |
|
| 2157 |
Status = VL53L0X_GetLimitCheckValue(Dev, |
| 2158 |
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
| 2159 |
&RangeIgnoreThresholdValue); |
| 2160 |
|
| 2161 |
if ((RangeIgnoreThresholdValue > 0) && |
| 2162 |
(SignalRatePerSpad < RangeIgnoreThresholdValue)) {
|
| 2163 |
/* Limit Fail add 2^6 to range status */
|
| 2164 |
RangeIgnoreThresholdflag = 1;
|
| 2165 |
} |
| 2166 |
} |
| 2167 |
|
| 2168 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2169 |
if (NoneFlag == 1) { |
| 2170 |
*pPalRangeStatus = 255; /* NONE */ |
| 2171 |
} else if (DeviceRangeStatusInternal == 1 || |
| 2172 |
DeviceRangeStatusInternal == 2 ||
|
| 2173 |
DeviceRangeStatusInternal == 3) {
|
| 2174 |
*pPalRangeStatus = 5; /* HW fail */ |
| 2175 |
} else if (DeviceRangeStatusInternal == 6 || |
| 2176 |
DeviceRangeStatusInternal == 9) {
|
| 2177 |
*pPalRangeStatus = 4; /* Phase fail */ |
| 2178 |
} else if (DeviceRangeStatusInternal == 8 || |
| 2179 |
DeviceRangeStatusInternal == 10 ||
|
| 2180 |
SignalRefClipflag == 1) {
|
| 2181 |
*pPalRangeStatus = 3; /* Min range */ |
| 2182 |
} else if (DeviceRangeStatusInternal == 4 || |
| 2183 |
RangeIgnoreThresholdflag == 1) {
|
| 2184 |
*pPalRangeStatus = 2; /* Signal Fail */ |
| 2185 |
} else if (SigmaLimitflag == 1) { |
| 2186 |
*pPalRangeStatus = 1; /* Sigma Fail */ |
| 2187 |
} else {
|
| 2188 |
*pPalRangeStatus = 0; /* Range Valid */ |
| 2189 |
} |
| 2190 |
} |
| 2191 |
|
| 2192 |
/* DMAX only relevant during range error */
|
| 2193 |
if (*pPalRangeStatus == 0) |
| 2194 |
pRangingMeasurementData->RangeDMaxMilliMeter = 0;
|
| 2195 |
|
| 2196 |
/* fill the Limit Check Status */
|
| 2197 |
|
| 2198 |
Status = VL53L0X_GetLimitCheckEnable(Dev, |
| 2199 |
VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
| 2200 |
&SignalRateFinalRangeLimitCheckEnable); |
| 2201 |
|
| 2202 |
if (Status == VL53L0X_ERROR_NONE) {
|
| 2203 |
if ((SigmaLimitCheckEnable == 0) || (SigmaLimitflag == 1)) |
| 2204 |
Temp8 = 1;
|
| 2205 |
else
|
| 2206 |
Temp8 = 0;
|
| 2207 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
| 2208 |
VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8); |
| 2209 |
|
| 2210 |
if ((DeviceRangeStatusInternal == 4) || |
| 2211 |
(SignalRateFinalRangeLimitCheckEnable == 0))
|
| 2212 |
Temp8 = 1;
|
| 2213 |
else
|
| 2214 |
Temp8 = 0;
|
| 2215 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
| 2216 |
VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
| 2217 |
Temp8); |
| 2218 |
|
| 2219 |
if ((SignalRefClipLimitCheckEnable == 0) || |
| 2220 |
(SignalRefClipflag == 1))
|
| 2221 |
Temp8 = 1;
|
| 2222 |
else
|
| 2223 |
Temp8 = 0;
|
| 2224 |
|
| 2225 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
| 2226 |
VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, Temp8); |
| 2227 |
|
| 2228 |
if ((RangeIgnoreThresholdLimitCheckEnable == 0) || |
| 2229 |
(RangeIgnoreThresholdflag == 1))
|
| 2230 |
Temp8 = 1;
|
| 2231 |
else
|
| 2232 |
Temp8 = 0;
|
| 2233 |
|
| 2234 |
VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
| 2235 |
VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, |
| 2236 |
Temp8); |
| 2237 |
} |
| 2238 |
|
| 2239 |
LOG_FUNCTION_END(Status); |
| 2240 |
return Status;
|
| 2241 |
|
| 2242 |
} |