amiro-lld / drivers / VL53L1X / v1 / api / core / vl53l1_api.c @ f0dd1ac4
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| 1 | 4dba9195 | galberding | |
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| 2 | /*
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| 3 | * Copyright (c) 2017, STMicroelectronics - All Rights Reserved
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| 4 | *
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| 5 | * This file is part of VL53L1 Core and is dual licensed,
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| 6 | * either 'STMicroelectronics
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| 7 | * Proprietary license'
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| 8 | * or 'BSD 3-clause "New" or "Revised" License' , at your option.
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| 9 | *
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| 10 | ********************************************************************************
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| 11 | *
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| 12 | * 'STMicroelectronics Proprietary license'
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| 13 | *
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| 14 | ********************************************************************************
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| 15 | *
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| 16 | * License terms: STMicroelectronics Proprietary in accordance with licensing
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| 17 | * terms at www.st.com/sla0081
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| 18 | *
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| 19 | * STMicroelectronics confidential
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| 20 | * Reproduction and Communication of this document is strictly prohibited unless
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| 21 | * specifically authorized in writing by STMicroelectronics.
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| 22 | *
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| 23 | *
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| 24 | ********************************************************************************
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| 25 | *
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| 26 | * Alternatively, VL53L1 Core may be distributed under the terms of
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| 27 | * 'BSD 3-clause "New" or "Revised" License', in which case the following
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| 28 | * provisions apply instead of the ones mentioned above :
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| 29 | *
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| 30 | ********************************************************************************
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| 31 | *
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| 32 | * License terms: BSD 3-clause "New" or "Revised" License.
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| 33 | *
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| 34 | * Redistribution and use in source and binary forms, with or without
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| 35 | * modification, are permitted provided that the following conditions are met:
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| 36 | *
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| 37 | * 1. Redistributions of source code must retain the above copyright notice, this
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| 38 | * list of conditions and the following disclaimer.
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| 39 | *
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| 40 | * 2. Redistributions in binary form must reproduce the above copyright notice,
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| 41 | * this list of conditions and the following disclaimer in the documentation
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| 42 | * and/or other materials provided with the distribution.
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| 43 | *
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| 44 | * 3. Neither the name of the copyright holder nor the names of its contributors
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| 45 | * may be used to endorse or promote products derived from this software
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| 46 | * without specific prior written permission.
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| 47 | *
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| 48 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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| 49 | * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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| 50 | * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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| 51 | * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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| 52 | * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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| 53 | * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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| 54 | * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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| 55 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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| 56 | * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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| 57 | * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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| 58 | *
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| 59 | *
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| 60 | ********************************************************************************
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| 61 | *
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| 62 | */
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| 63 | #include "vl53l1_api.h" |
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| 64 | #include "vl53l1_api_strings.h" |
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| 65 | #include "vl53l1_register_settings.h" |
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| 66 | #include "vl53l1_register_funcs.h" |
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| 67 | #include "vl53l1_core.h" |
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| 68 | #include "vl53l1_api_calibration.h" |
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| 69 | #include "vl53l1_wait.h" |
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| 70 | #include "vl53l1_preset_setup.h" |
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| 71 | #include "vl53l1_api_debug.h" |
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| 72 | #include "vl53l1_api_core.h" |
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| 73 | |||
| 74 | /* Check for minimum user zone requested by Xtalk calibration */
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| 75 | /* no need for VL53L1_MAX_USER_ZONES check, set 5 to pass the test */
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| 76 | #define ZONE_CHECK 5 |
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| 77 | |||
| 78 | #if ZONE_CHECK < 5 |
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| 79 | #error Must define at least 5 zones in MAX_USER_ZONES constant |
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| 80 | #endif
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| 81 | |||
| 82 | |||
| 83 | #ifdef VL53L1_NOCALIB
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| 84 | #define OFFSET_CALIB_EMPTY
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| 85 | #endif
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| 86 | |||
| 87 | #ifndef VL53L1_NOCALIB
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| 88 | #define OFFSET_CALIB
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| 89 | #endif
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| 90 | |||
| 91 | #define LOG_FUNCTION_START(fmt, ...) \
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| 92 | _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_API, fmt, ##__VA_ARGS__) |
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| 93 | #define LOG_FUNCTION_END(status, ...) \
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| 94 | _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_API, status, ##__VA_ARGS__) |
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| 95 | #define LOG_FUNCTION_END_FMT(status, fmt, ...) \
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| 96 | _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_API, status, \ |
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| 97 | fmt, ##__VA_ARGS__) |
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| 98 | |||
| 99 | #ifdef VL53L1_LOG_ENABLE
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| 100 | #define trace_print(level, ...) trace_print_module_function(\
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| 101 | VL53L1_TRACE_MODULE_API, level, VL53L1_TRACE_FUNCTION_NONE, \ |
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| 102 | ##__VA_ARGS__) |
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| 103 | #endif
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| 104 | |||
| 105 | #ifndef MIN
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| 106 | #define MIN(v1, v2) ((v1) < (v2) ? (v1) : (v2))
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| 107 | #endif
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| 108 | #ifndef MAX
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| 109 | #define MAX(v1, v2) ((v1) < (v2) ? (v2) : (v1))
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| 110 | #endif
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| 111 | |||
| 112 | #define DMAX_REFLECTANCE_IDX 2 |
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| 113 | /* Use Dmax index 2 because it's the 50% reflectance case by default */
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| 114 | |||
| 115 | /* Following LOWPOWER_AUTO figures have been measured observing vcsel
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| 116 | * emissions on an actual device
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| 117 | */
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| 118 | #define LOWPOWER_AUTO_VHV_LOOP_DURATION_US 245 |
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| 119 | #define LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING 1448 |
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| 120 | #define LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING 2100 |
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| 121 | |||
| 122 | #define FDA_MAX_TIMING_BUDGET_US 550000 |
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| 123 | /* Maximum timing budget allowed codex #456189*/
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| 124 | |||
| 125 | |||
| 126 | /* local static utilities functions */
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| 127 | |||
| 128 | /* Bare Driver Tuning parameter table indexed with VL53L1_Tuning_t */
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| 129 | static int32_t BDTable[VL53L1_TUNING_MAX_TUNABLE_KEY] = {
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| 130 | TUNING_VERSION, |
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| 131 | TUNING_PROXY_MIN, |
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| 132 | TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM, |
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| 133 | TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER, |
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| 134 | TUNING_MIN_AMBIENT_DMAX_VALID, |
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| 135 | TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER, |
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| 136 | TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM, |
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| 137 | TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT |
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| 138 | }; |
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| 139 | |||
| 140 | |||
| 141 | #define VL53L1_NVM_POWER_UP_DELAY_US 50 |
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| 142 | #define VL53L1_NVM_READ_TRIGGER_DELAY_US 5 |
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| 143 | |||
| 144 | static VL53L1_Error VL53L1_nvm_enable(
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| 145 | VL53L1_DEV Dev, |
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| 146 | uint16_t nvm_ctrl_pulse_width, |
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| 147 | int32_t nvm_power_up_delay_us) |
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| 148 | {
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| 149 | /*
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| 150 | * Sequence below enables NVM for reading
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| 151 | *
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| 152 | * - Enable power force
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| 153 | * - Disable firmware
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| 154 | * - Power up NVM
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| 155 | * - Wait for 50us while the NVM powers up
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| 156 | * - Configure for reading and set the pulse width (16-bit)
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| 157 | */
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| 158 | |||
| 159 | VL53L1_Error status = VL53L1_ERROR_NONE; |
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| 160 | |||
| 161 | LOG_FUNCTION_START("");
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| 162 | |||
| 163 | |||
| 164 | /* Disable Firmware */
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| 165 | |||
| 166 | if (status == VL53L1_ERROR_NONE) /*lint !e774 always true*/ |
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| 167 | status = VL53L1_disable_firmware(Dev); |
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| 168 | |||
| 169 | |||
| 170 | /* Enable Power Force */
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| 171 | |||
| 172 | if (status == VL53L1_ERROR_NONE)
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| 173 | status = VL53L1_enable_powerforce(Dev); |
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| 174 | |||
| 175 | /* Wait the required time for the regulators, bandgap,
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| 176 | * oscillator to wake up and settle
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| 177 | */
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| 178 | |||
| 179 | if (status == VL53L1_ERROR_NONE)
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| 180 | status = VL53L1_WaitUs( |
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| 181 | Dev, |
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| 182 | VL53L1_ENABLE_POWERFORCE_SETTLING_TIME_US); |
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| 183 | |||
| 184 | /* Power up NVM */
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| 185 | |||
| 186 | if (status == VL53L1_ERROR_NONE)
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| 187 | status = VL53L1_WrByte( |
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| 188 | Dev, |
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| 189 | VL53L1_RANGING_CORE__NVM_CTRL__PDN, |
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| 190 | 0x01);
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| 191 | |||
| 192 | /* Enable NVM Clock */
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| 193 | |||
| 194 | if (status == VL53L1_ERROR_NONE)
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| 195 | status = VL53L1_WrByte( |
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| 196 | Dev, |
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| 197 | VL53L1_RANGING_CORE__CLK_CTRL1, |
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| 198 | 0x05);
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| 199 | |||
| 200 | /* Wait the required time for NVM to power up*/
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| 201 | |||
| 202 | if (status == VL53L1_ERROR_NONE)
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| 203 | status = VL53L1_WaitUs( |
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| 204 | Dev, |
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| 205 | nvm_power_up_delay_us); |
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| 206 | |||
| 207 | /* Select read mode and set control pulse width */
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| 208 | |||
| 209 | if (status == VL53L1_ERROR_NONE)
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| 210 | status = VL53L1_WrByte( |
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| 211 | Dev, |
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| 212 | VL53L1_RANGING_CORE__NVM_CTRL__MODE, |
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| 213 | 0x01);
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| 214 | |||
| 215 | if (status == VL53L1_ERROR_NONE)
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| 216 | status = VL53L1_WrWord( |
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| 217 | Dev, |
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| 218 | VL53L1_RANGING_CORE__NVM_CTRL__PULSE_WIDTH_MSB, |
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| 219 | nvm_ctrl_pulse_width); |
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| 220 | |||
| 221 | LOG_FUNCTION_END(status); |
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| 222 | |||
| 223 | return status;
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| 224 | |||
| 225 | } |
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| 226 | |||
| 227 | |||
| 228 | static VL53L1_Error VL53L1_nvm_read(
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| 229 | VL53L1_DEV Dev, |
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| 230 | uint8_t start_address, |
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| 231 | uint8_t count, |
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| 232 | uint8_t *pdata) |
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| 233 | {
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| 234 | /*
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| 235 | * Sequence per 32-bit NVM read access:
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| 236 | *
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| 237 | * - Set up the 5-bit (0-127) NVM Address
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| 238 | * - Trigger the read of the NVM data by toggling NVM_CTRL__READN
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| 239 | * - Read the NVM data - 4 bytes wide read/write interface
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| 240 | * - Increment data byte pointer by 4 ready for the next loop
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| 241 | */
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| 242 | |||
| 243 | VL53L1_Error status = VL53L1_ERROR_NONE; |
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| 244 | uint8_t nvm_addr = 0;
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| 245 | |||
| 246 | LOG_FUNCTION_START("");
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| 247 | |||
| 248 | for (nvm_addr = start_address; nvm_addr < (start_address+count) ; nvm_addr++) {
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| 249 | |||
| 250 | /* Step 1 : set address */
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| 251 | |||
| 252 | if (status == VL53L1_ERROR_NONE)
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| 253 | status = VL53L1_WrByte( |
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| 254 | Dev, |
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| 255 | VL53L1_RANGING_CORE__NVM_CTRL__ADDR, |
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| 256 | nvm_addr); |
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| 257 | |||
| 258 | /* Step 2 : trigger reading of data */
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| 259 | |||
| 260 | if (status == VL53L1_ERROR_NONE)
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| 261 | status = VL53L1_WrByte( |
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| 262 | Dev, |
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| 263 | VL53L1_RANGING_CORE__NVM_CTRL__READN, |
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| 264 | 0x00);
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| 265 | |||
| 266 | /* Step 3 : wait the required time */
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| 267 | |||
| 268 | if (status == VL53L1_ERROR_NONE)
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| 269 | status = VL53L1_WaitUs( |
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| 270 | Dev, |
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| 271 | VL53L1_NVM_READ_TRIGGER_DELAY_US); |
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| 272 | |||
| 273 | if (status == VL53L1_ERROR_NONE)
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| 274 | status = VL53L1_WrByte( |
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| 275 | Dev, |
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| 276 | VL53L1_RANGING_CORE__NVM_CTRL__READN, |
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| 277 | 0x01);
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| 278 | |||
| 279 | /* Step 3 : read 4-byte wide data register */
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| 280 | if (status == VL53L1_ERROR_NONE)
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| 281 | status = VL53L1_ReadMulti( |
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| 282 | Dev, |
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| 283 | VL53L1_RANGING_CORE__NVM_CTRL__DATAOUT_MMM, |
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| 284 | pdata, |
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| 285 | 4);
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| 286 | |||
| 287 | /* Step 4 : increment byte buffer pointer */
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| 288 | |||
| 289 | pdata = pdata + 4;
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| 290 | |||
| 291 | |||
| 292 | } |
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| 293 | |||
| 294 | LOG_FUNCTION_END(status); |
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| 295 | |||
| 296 | return status;
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| 297 | } |
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| 298 | |||
| 299 | static VL53L1_Error VL53L1_nvm_disable(
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| 300 | VL53L1_DEV Dev) |
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| 301 | {
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| 302 | /*
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| 303 | * Power down NVM (OTP) to extend lifetime
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| 304 | */
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| 305 | |||
| 306 | VL53L1_Error status = VL53L1_ERROR_NONE; |
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| 307 | |||
| 308 | LOG_FUNCTION_START("");
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| 309 | |||
| 310 | if (status == VL53L1_ERROR_NONE) /*lint !e774 always true*/ |
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| 311 | status = VL53L1_WrByte( |
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| 312 | Dev, |
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| 313 | VL53L1_RANGING_CORE__NVM_CTRL__READN, |
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| 314 | 0x01);
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| 315 | |||
| 316 | /* Power down NVM */
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| 317 | |||
| 318 | if (status == VL53L1_ERROR_NONE)
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| 319 | status = VL53L1_WrByte( |
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| 320 | Dev, |
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| 321 | VL53L1_RANGING_CORE__NVM_CTRL__PDN, |
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| 322 | 0x00);
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| 323 | |||
| 324 | /* Keep power force enabled */
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| 325 | |||
| 326 | if (status == VL53L1_ERROR_NONE)
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| 327 | status = VL53L1_disable_powerforce(Dev); |
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| 328 | |||
| 329 | /* (Re)Enable Firmware */
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| 330 | |||
| 331 | if (status == VL53L1_ERROR_NONE)
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| 332 | status = VL53L1_enable_firmware(Dev); |
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| 333 | |||
| 334 | LOG_FUNCTION_END(status); |
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| 335 | |||
| 336 | return status;
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| 337 | |||
| 338 | } |
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| 339 | |||
| 340 | static VL53L1_Error VL53L1_read_nvm_raw_data(
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| 341 | VL53L1_DEV Dev, |
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| 342 | uint8_t start_address, |
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| 343 | uint8_t count, |
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| 344 | uint8_t *pnvm_raw_data) |
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| 345 | {
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| 346 | |||
| 347 | /*
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| 348 | * Reads ALL 512 bytes of NVM data
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| 349 | */
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| 350 | |||
| 351 | VL53L1_Error status = VL53L1_ERROR_NONE; |
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| 352 | |||
| 353 | LOG_FUNCTION_START("");
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| 354 | |||
| 355 | /*
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| 356 | * Enable NVM and set control pulse width
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| 357 | */
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| 358 | |||
| 359 | if (status == VL53L1_ERROR_NONE) /*lint !e774 always true*/ |
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| 360 | status = VL53L1_nvm_enable( |
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| 361 | Dev, |
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| 362 | 0x0004,
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| 363 | VL53L1_NVM_POWER_UP_DELAY_US); |
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| 364 | |||
| 365 | /*
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| 366 | * Read the raw NVM data
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| 367 | * - currently all of 128 * 4 bytes = 512 bytes are read
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| 368 | */
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| 369 | |||
| 370 | if (status == VL53L1_ERROR_NONE)
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| 371 | status = VL53L1_nvm_read( |
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| 372 | Dev, |
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| 373 | start_address, |
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| 374 | count, |
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| 375 | pnvm_raw_data); |
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| 376 | |||
| 377 | /*
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| 378 | * Disable NVM
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| 379 | */
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| 380 | |||
| 381 | if (status == VL53L1_ERROR_NONE)
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| 382 | status = VL53L1_nvm_disable(Dev); |
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| 383 | |||
| 384 | LOG_FUNCTION_END(status); |
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| 385 | |||
| 386 | return status;
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| 387 | |||
| 388 | } |
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| 389 | |||
| 390 | static VL53L1_Error SingleTargetXTalkCalibration(VL53L1_DEV Dev)
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| 391 | {
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| 392 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
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| 393 | |||
| 394 | uint32_t sum_ranging = 0;
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| 395 | uint32_t sum_spads = 0;
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| 396 | FixPoint1616_t sum_signalRate = 0;
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| 397 | FixPoint1616_t total_count = 0;
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| 398 | uint8_t xtalk_meas = 0;
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| 399 | uint8_t xtalk_measmax = |
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| 400 | BDTable[VL53L1_TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER]; |
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| 401 | VL53L1_RangingMeasurementData_t RMData; |
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| 402 | FixPoint1616_t xTalkStoredMeanSignalRate; |
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| 403 | FixPoint1616_t xTalkStoredMeanRange; |
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| 404 | FixPoint1616_t xTalkStoredMeanRtnSpads; |
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| 405 | uint32_t xTalkStoredMeanRtnSpadsAsInt; |
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| 406 | uint32_t xTalkCalDistanceAsInt; |
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| 407 | FixPoint1616_t XTalkCompensationRateMegaCps; |
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| 408 | uint32_t signalXTalkTotalPerSpad; |
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| 409 | VL53L1_PresetModes PresetMode; |
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| 410 | VL53L1_CalibrationData_t CalibrationData; |
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| 411 | VL53L1_CustomerNvmManaged_t *pC; |
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| 412 | |||
| 413 | |||
| 414 | LOG_FUNCTION_START("");
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| 415 | |||
| 416 | /* check if the following are selected
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| 417 | * VL53L1_PRESETMODE_AUTONOMOUS,
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| 418 | * VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS
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| 419 | * VL53L1_PRESETMODE_LITE_RANGING
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| 420 | */
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| 421 | PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); |
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| 422 | |||
| 423 | if ((PresetMode != VL53L1_PRESETMODE_AUTONOMOUS) &&
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| 424 | (PresetMode != VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS) && |
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| 425 | (PresetMode != VL53L1_PRESETMODE_LITE_RANGING)) {
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| 426 | Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; |
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| 427 | goto ENDFUNC;
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| 428 | } |
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| 429 | |||
| 430 | /* disable crosstalk calibration */
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| 431 | Status = VL53L1_disable_xtalk_compensation(Dev); |
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| 432 | CHECK_ERROR_GO_ENDFUNC; |
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| 433 | |||
| 434 | Status = VL53L1_StartMeasurement(Dev); |
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| 435 | CHECK_ERROR_GO_ENDFUNC; |
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| 436 | |||
| 437 | sum_ranging = 0;
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| 438 | sum_spads = 0;
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| 439 | sum_signalRate = 0;
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| 440 | total_count = 0;
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| 441 | for (xtalk_meas = 0; xtalk_meas < xtalk_measmax; xtalk_meas++) { |
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| 442 | VL53L1_WaitMeasurementDataReady(Dev); |
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| 443 | VL53L1_GetRangingMeasurementData(Dev, &RMData); |
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| 444 | VL53L1_ClearInterruptAndStartMeasurement(Dev); |
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| 445 | if (RMData.RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) {
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| 446 | sum_ranging += RMData.RangeMilliMeter; |
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| 447 | sum_signalRate += RMData.SignalRateRtnMegaCps; |
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| 448 | sum_spads += RMData.EffectiveSpadRtnCount / 256;
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| 449 | total_count++; |
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| 450 | } |
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| 451 | } |
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| 452 | Status = VL53L1_StopMeasurement(Dev); |
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| 453 | |||
| 454 | if (total_count > 0) { |
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| 455 | /* FixPoint1616_t / uint16_t = FixPoint1616_t */
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| 456 | xTalkStoredMeanSignalRate = sum_signalRate / total_count; |
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| 457 | xTalkStoredMeanRange = (FixPoint1616_t)(sum_ranging << 16);
|
||
| 458 | xTalkStoredMeanRange /= total_count; |
||
| 459 | xTalkStoredMeanRtnSpads = (FixPoint1616_t)(sum_spads << 16);
|
||
| 460 | xTalkStoredMeanRtnSpads /= total_count; |
||
| 461 | |||
| 462 | /* Round Mean Spads to Whole Number.
|
||
| 463 | * Typically the calculated mean SPAD count is a whole number
|
||
| 464 | * or very close to a whole
|
||
| 465 | * number, therefore any truncation will not result in a
|
||
| 466 | * significant loss in accuracy.
|
||
| 467 | * Also, for a grey target at a typical distance of around
|
||
| 468 | * 400mm, around 220 SPADs will
|
||
| 469 | * be enabled, therefore, any truncation will result in a loss
|
||
| 470 | * of accuracy of less than
|
||
| 471 | * 0.5%.
|
||
| 472 | */
|
||
| 473 | xTalkStoredMeanRtnSpadsAsInt = (xTalkStoredMeanRtnSpads + |
||
| 474 | 0x8000) >> 16; |
||
| 475 | |||
| 476 | /* Round Cal Distance to Whole Number.
|
||
| 477 | * Note that the cal distance is in mm, therefore no resolution
|
||
| 478 | * is lost.
|
||
| 479 | */
|
||
| 480 | xTalkCalDistanceAsInt = ((uint32_t)BDTable[ |
||
| 481 | VL53L1_TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM]); |
||
| 482 | if (xTalkStoredMeanRtnSpadsAsInt == 0 || |
||
| 483 | xTalkCalDistanceAsInt == 0 ||
|
||
| 484 | xTalkStoredMeanRange >= (xTalkCalDistanceAsInt << 16)) {
|
||
| 485 | XTalkCompensationRateMegaCps = 0;
|
||
| 486 | } else {
|
||
| 487 | /* Apply division by mean spad count early in the
|
||
| 488 | * calculation to keep the numbers small.
|
||
| 489 | * This ensures we can maintain a 32bit calculation.
|
||
| 490 | * Fixed1616 / int := Fixed1616
|
||
| 491 | */
|
||
| 492 | signalXTalkTotalPerSpad = (xTalkStoredMeanSignalRate) / |
||
| 493 | xTalkStoredMeanRtnSpadsAsInt; |
||
| 494 | |||
| 495 | /* Complete the calculation for total Signal XTalk per
|
||
| 496 | * SPAD
|
||
| 497 | * Fixed1616 * (Fixed1616 - Fixed1616/int) :=
|
||
| 498 | * (2^16 * Fixed1616)
|
||
| 499 | */
|
||
| 500 | signalXTalkTotalPerSpad *= (((uint32_t)1 << 16) - |
||
| 501 | (xTalkStoredMeanRange / xTalkCalDistanceAsInt)); |
||
| 502 | |||
| 503 | /* Round from 2^16 * Fixed1616, to Fixed1616. */
|
||
| 504 | XTalkCompensationRateMegaCps = (signalXTalkTotalPerSpad |
||
| 505 | + 0x8000) >> 16; |
||
| 506 | } |
||
| 507 | |||
| 508 | |||
| 509 | Status = VL53L1_GetCalibrationData(Dev, &CalibrationData); |
||
| 510 | CHECK_ERROR_GO_ENDFUNC; |
||
| 511 | |||
| 512 | pC = &CalibrationData.customer; |
||
| 513 | |||
| 514 | pC->algo__crosstalk_compensation_plane_offset_kcps = |
||
| 515 | (uint32_t)(1000 * ((XTalkCompensationRateMegaCps +
|
||
| 516 | ((uint32_t)1<<6)) >> (16-9))); |
||
| 517 | |||
| 518 | Status = VL53L1_SetCalibrationData(Dev, &CalibrationData); |
||
| 519 | CHECK_ERROR_GO_ENDFUNC; |
||
| 520 | |||
| 521 | Status = VL53L1_enable_xtalk_compensation(Dev); |
||
| 522 | |||
| 523 | } else
|
||
| 524 | /* return error because no valid data found */
|
||
| 525 | Status = VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL; |
||
| 526 | |||
| 527 | ENDFUNC:
|
||
| 528 | LOG_FUNCTION_END(Status); |
||
| 529 | return Status;
|
||
| 530 | |||
| 531 | } |
||
| 532 | |||
| 533 | /* Check Rectangle in user's coordinate system:
|
||
| 534 | * 15 TL(x,y) o-----*
|
||
| 535 | * ^ | |
|
||
| 536 | * | *-----o BR(x,y)
|
||
| 537 | * 0------------------------- >15
|
||
| 538 | * check Rectangle definition conforms to the (0,15,15) coordinate system
|
||
| 539 | * with a minimum of 4x4 size
|
||
| 540 | */
|
||
| 541 | static VL53L1_Error CheckValidRectRoi(VL53L1_UserRoi_t ROI)
|
||
| 542 | {
|
||
| 543 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 544 | |||
| 545 | LOG_FUNCTION_START("");
|
||
| 546 | |||
| 547 | /* Negative check are not necessary because value is unsigned */
|
||
| 548 | if ((ROI.TopLeftX > 15) || (ROI.TopLeftY > 15) || |
||
| 549 | (ROI.BotRightX > 15) || (ROI.BotRightY > 15)) |
||
| 550 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 551 | |||
| 552 | if ((ROI.TopLeftX > ROI.BotRightX) || (ROI.TopLeftY < ROI.BotRightY))
|
||
| 553 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 554 | |||
| 555 | LOG_FUNCTION_END(Status); |
||
| 556 | return Status;
|
||
| 557 | } |
||
| 558 | |||
| 559 | static VL53L1_GPIO_Interrupt_Mode ConvertModeToLLD(VL53L1_Error *pStatus,
|
||
| 560 | VL53L1_ThresholdMode CrossMode) |
||
| 561 | {
|
||
| 562 | VL53L1_GPIO_Interrupt_Mode Mode; |
||
| 563 | |||
| 564 | switch (CrossMode) {
|
||
| 565 | case VL53L1_THRESHOLD_CROSSED_LOW:
|
||
| 566 | Mode = VL53L1_GPIOINTMODE_LEVEL_LOW; |
||
| 567 | break;
|
||
| 568 | case VL53L1_THRESHOLD_CROSSED_HIGH:
|
||
| 569 | Mode = VL53L1_GPIOINTMODE_LEVEL_HIGH; |
||
| 570 | break;
|
||
| 571 | case VL53L1_THRESHOLD_OUT_OF_WINDOW:
|
||
| 572 | Mode = VL53L1_GPIOINTMODE_OUT_OF_WINDOW; |
||
| 573 | break;
|
||
| 574 | case VL53L1_THRESHOLD_IN_WINDOW:
|
||
| 575 | Mode = VL53L1_GPIOINTMODE_IN_WINDOW; |
||
| 576 | break;
|
||
| 577 | default:
|
||
| 578 | /* define Mode to avoid warning but actual value doesn't mind */
|
||
| 579 | Mode = VL53L1_GPIOINTMODE_LEVEL_HIGH; |
||
| 580 | *pStatus = VL53L1_ERROR_INVALID_PARAMS; |
||
| 581 | } |
||
| 582 | return Mode;
|
||
| 583 | } |
||
| 584 | |||
| 585 | static VL53L1_ThresholdMode ConvertModeFromLLD(VL53L1_Error *pStatus,
|
||
| 586 | VL53L1_GPIO_Interrupt_Mode CrossMode) |
||
| 587 | {
|
||
| 588 | VL53L1_ThresholdMode Mode; |
||
| 589 | |||
| 590 | switch (CrossMode) {
|
||
| 591 | case VL53L1_GPIOINTMODE_LEVEL_LOW:
|
||
| 592 | Mode = VL53L1_THRESHOLD_CROSSED_LOW; |
||
| 593 | break;
|
||
| 594 | case VL53L1_GPIOINTMODE_LEVEL_HIGH:
|
||
| 595 | Mode = VL53L1_THRESHOLD_CROSSED_HIGH; |
||
| 596 | break;
|
||
| 597 | case VL53L1_GPIOINTMODE_OUT_OF_WINDOW:
|
||
| 598 | Mode = VL53L1_THRESHOLD_OUT_OF_WINDOW; |
||
| 599 | break;
|
||
| 600 | case VL53L1_GPIOINTMODE_IN_WINDOW:
|
||
| 601 | Mode = VL53L1_THRESHOLD_IN_WINDOW; |
||
| 602 | break;
|
||
| 603 | default:
|
||
| 604 | /* define Mode to avoid warning but actual value doesn't mind */
|
||
| 605 | Mode = VL53L1_THRESHOLD_CROSSED_HIGH; |
||
| 606 | *pStatus = VL53L1_ERROR_UNDEFINED; |
||
| 607 | } |
||
| 608 | return Mode;
|
||
| 609 | } |
||
| 610 | |||
| 611 | /* Group PAL General Functions */
|
||
| 612 | |||
| 613 | VL53L1_Error VL53L1_GetVersion(VL53L1_Version_t *pVersion) |
||
| 614 | {
|
||
| 615 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 616 | |||
| 617 | LOG_FUNCTION_START("");
|
||
| 618 | |||
| 619 | pVersion->major = VL53L1_IMPLEMENTATION_VER_MAJOR; |
||
| 620 | pVersion->minor = VL53L1_IMPLEMENTATION_VER_MINOR; |
||
| 621 | pVersion->build = VL53L1_IMPLEMENTATION_VER_SUB; |
||
| 622 | |||
| 623 | pVersion->revision = VL53L1_IMPLEMENTATION_VER_REVISION; |
||
| 624 | |||
| 625 | LOG_FUNCTION_END(Status); |
||
| 626 | return Status;
|
||
| 627 | } |
||
| 628 | |||
| 629 | VL53L1_Error VL53L1_GetProductRevision(VL53L1_DEV Dev, |
||
| 630 | uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor) |
||
| 631 | {
|
||
| 632 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 633 | uint8_t revision_id; |
||
| 634 | VL53L1_LLDriverData_t *pLLData; |
||
| 635 | |||
| 636 | LOG_FUNCTION_START("");
|
||
| 637 | |||
| 638 | pLLData = VL53L1DevStructGetLLDriverHandle(Dev); |
||
| 639 | revision_id = pLLData->nvm_copy_data.identification__revision_id; |
||
| 640 | *pProductRevisionMajor = 1;
|
||
| 641 | *pProductRevisionMinor = (revision_id & 0xF0) >> 4; |
||
| 642 | |||
| 643 | LOG_FUNCTION_END(Status); |
||
| 644 | return Status;
|
||
| 645 | |||
| 646 | } |
||
| 647 | |||
| 648 | VL53L1_Error VL53L1_GetDeviceInfo(VL53L1_DEV Dev, |
||
| 649 | VL53L1_DeviceInfo_t *pVL53L1_DeviceInfo) |
||
| 650 | {
|
||
| 651 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 652 | uint8_t revision_id; |
||
| 653 | VL53L1_LLDriverData_t *pLLData; |
||
| 654 | |||
| 655 | LOG_FUNCTION_START("");
|
||
| 656 | |||
| 657 | pLLData = VL53L1DevStructGetLLDriverHandle(Dev); |
||
| 658 | |||
| 659 | strncpy(pVL53L1_DeviceInfo->ProductId, "",
|
||
| 660 | VL53L1_DEVINFO_STRLEN-1);
|
||
| 661 | pVL53L1_DeviceInfo->ProductType = |
||
| 662 | pLLData->nvm_copy_data.identification__module_type; |
||
| 663 | |||
| 664 | revision_id = pLLData->nvm_copy_data.identification__revision_id; |
||
| 665 | pVL53L1_DeviceInfo->ProductRevisionMajor = 1;
|
||
| 666 | pVL53L1_DeviceInfo->ProductRevisionMinor = (revision_id & 0xF0) >> 4; |
||
| 667 | |||
| 668 | #ifndef VL53L1_USE_EMPTY_STRING
|
||
| 669 | if (pVL53L1_DeviceInfo->ProductRevisionMinor == 0) |
||
| 670 | strncpy(pVL53L1_DeviceInfo->Name, |
||
| 671 | VL53L1_STRING_DEVICE_INFO_NAME0, |
||
| 672 | VL53L1_DEVINFO_STRLEN-1);
|
||
| 673 | else
|
||
| 674 | strncpy(pVL53L1_DeviceInfo->Name, |
||
| 675 | VL53L1_STRING_DEVICE_INFO_NAME1, |
||
| 676 | VL53L1_DEVINFO_STRLEN-1);
|
||
| 677 | strncpy(pVL53L1_DeviceInfo->Type, |
||
| 678 | VL53L1_STRING_DEVICE_INFO_TYPE, |
||
| 679 | VL53L1_DEVINFO_STRLEN-1);
|
||
| 680 | #else
|
||
| 681 | pVL53L1_DeviceInfo->Name[0] = 0; |
||
| 682 | pVL53L1_DeviceInfo->Type[0] = 0; |
||
| 683 | #endif
|
||
| 684 | |||
| 685 | LOG_FUNCTION_END(Status); |
||
| 686 | return Status;
|
||
| 687 | } |
||
| 688 | |||
| 689 | |||
| 690 | VL53L1_Error VL53L1_GetRangeStatusString(uint8_t RangeStatus, |
||
| 691 | char *pRangeStatusString)
|
||
| 692 | {
|
||
| 693 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 694 | |||
| 695 | LOG_FUNCTION_START("");
|
||
| 696 | |||
| 697 | Status = VL53L1_get_range_status_string(RangeStatus, |
||
| 698 | pRangeStatusString); |
||
| 699 | |||
| 700 | LOG_FUNCTION_END(Status); |
||
| 701 | return Status;
|
||
| 702 | } |
||
| 703 | |||
| 704 | VL53L1_Error VL53L1_GetPalErrorString(VL53L1_Error PalErrorCode, |
||
| 705 | char *pPalErrorString)
|
||
| 706 | {
|
||
| 707 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 708 | |||
| 709 | LOG_FUNCTION_START("");
|
||
| 710 | |||
| 711 | Status = VL53L1_get_pal_error_string(PalErrorCode, pPalErrorString); |
||
| 712 | |||
| 713 | LOG_FUNCTION_END(Status); |
||
| 714 | return Status;
|
||
| 715 | } |
||
| 716 | |||
| 717 | VL53L1_Error VL53L1_GetPalStateString(VL53L1_State PalStateCode, |
||
| 718 | char *pPalStateString)
|
||
| 719 | {
|
||
| 720 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 721 | |||
| 722 | LOG_FUNCTION_START("");
|
||
| 723 | |||
| 724 | Status = VL53L1_get_pal_state_string(PalStateCode, pPalStateString); |
||
| 725 | |||
| 726 | LOG_FUNCTION_END(Status); |
||
| 727 | return Status;
|
||
| 728 | } |
||
| 729 | |||
| 730 | VL53L1_Error VL53L1_GetPalState(VL53L1_DEV Dev, VL53L1_State *pPalState) |
||
| 731 | {
|
||
| 732 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 733 | |||
| 734 | LOG_FUNCTION_START("");
|
||
| 735 | |||
| 736 | *pPalState = VL53L1DevDataGet(Dev, PalState); |
||
| 737 | |||
| 738 | LOG_FUNCTION_END(Status); |
||
| 739 | return Status;
|
||
| 740 | } |
||
| 741 | |||
| 742 | /* End Group PAL General Functions */
|
||
| 743 | |||
| 744 | /* Group PAL Init Functions */
|
||
| 745 | VL53L1_Error VL53L1_SetDeviceAddress(VL53L1_DEV Dev, uint8_t DeviceAddress) |
||
| 746 | {
|
||
| 747 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 748 | |||
| 749 | LOG_FUNCTION_START("");
|
||
| 750 | |||
| 751 | Status = VL53L1_WrByte(Dev, VL53L1_I2C_SLAVE__DEVICE_ADDRESS, |
||
| 752 | DeviceAddress / 2);
|
||
| 753 | |||
| 754 | LOG_FUNCTION_END(Status); |
||
| 755 | return Status;
|
||
| 756 | } |
||
| 757 | |||
| 758 | VL53L1_Error VL53L1_DataInit(VL53L1_DEV Dev) |
||
| 759 | {
|
||
| 760 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 761 | uint8_t i; |
||
| 762 | |||
| 763 | LOG_FUNCTION_START("");
|
||
| 764 | |||
| 765 | /* 2V8 power mode selection codex 447463 */
|
||
| 766 | #ifdef USE_I2C_2V8
|
||
| 767 | Status = VL53L1_RdByte(Dev, VL53L1_PAD_I2C_HV__EXTSUP_CONFIG, &i); |
||
| 768 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 769 | i = (i & 0xfe) | 0x01; |
||
| 770 | Status = VL53L1_WrByte(Dev, VL53L1_PAD_I2C_HV__EXTSUP_CONFIG, |
||
| 771 | i); |
||
| 772 | } |
||
| 773 | #endif
|
||
| 774 | |||
| 775 | if (Status == VL53L1_ERROR_NONE)
|
||
| 776 | Status = VL53L1_data_init(Dev, 1);
|
||
| 777 | |||
| 778 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 779 | VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_WAIT_STATICINIT); |
||
| 780 | VL53L1DevDataSet(Dev, CurrentParameters.PresetMode, |
||
| 781 | VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS); |
||
| 782 | } |
||
| 783 | |||
| 784 | /* Enable all check */
|
||
| 785 | for (i = 0; i < VL53L1_CHECKENABLE_NUMBER_OF_CHECKS; i++) { |
||
| 786 | if (Status == VL53L1_ERROR_NONE)
|
||
| 787 | Status |= VL53L1_SetLimitCheckEnable(Dev, i, 1);
|
||
| 788 | else
|
||
| 789 | break;
|
||
| 790 | |||
| 791 | } |
||
| 792 | |||
| 793 | /* Limit default values */
|
||
| 794 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 795 | Status = VL53L1_SetLimitCheckValue(Dev, |
||
| 796 | VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, |
||
| 797 | (FixPoint1616_t)(18 * 65536)); |
||
| 798 | } |
||
| 799 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 800 | Status = VL53L1_SetLimitCheckValue(Dev, |
||
| 801 | VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
||
| 802 | (FixPoint1616_t)(25 * 65536 / 100)); |
||
| 803 | /* 0.25 * 65536 */
|
||
| 804 | } |
||
| 805 | |||
| 806 | LOG_FUNCTION_END(Status); |
||
| 807 | return Status;
|
||
| 808 | } |
||
| 809 | |||
| 810 | |||
| 811 | VL53L1_Error VL53L1_StaticInit(VL53L1_DEV Dev) |
||
| 812 | {
|
||
| 813 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 814 | uint8_t measurement_mode; |
||
| 815 | |||
| 816 | LOG_FUNCTION_START("");
|
||
| 817 | |||
| 818 | VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_IDLE); |
||
| 819 | |||
| 820 | measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; |
||
| 821 | VL53L1DevDataSet(Dev, LLData.measurement_mode, measurement_mode); |
||
| 822 | |||
| 823 | VL53L1DevDataSet(Dev, CurrentParameters.NewDistanceMode, |
||
| 824 | VL53L1_DISTANCEMODE_LONG); |
||
| 825 | |||
| 826 | VL53L1DevDataSet(Dev, CurrentParameters.InternalDistanceMode, |
||
| 827 | VL53L1_DISTANCEMODE_LONG); |
||
| 828 | |||
| 829 | VL53L1DevDataSet(Dev, CurrentParameters.DistanceMode, |
||
| 830 | VL53L1_DISTANCEMODE_LONG); |
||
| 831 | |||
| 832 | /* ticket 472728 fix */
|
||
| 833 | Status = VL53L1_SetPresetMode(Dev, |
||
| 834 | VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS); |
||
| 835 | /* end of ticket 472728 fix */
|
||
| 836 | LOG_FUNCTION_END(Status); |
||
| 837 | return Status;
|
||
| 838 | } |
||
| 839 | |||
| 840 | VL53L1_Error VL53L1_WaitDeviceBooted(VL53L1_DEV Dev) |
||
| 841 | {
|
||
| 842 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 843 | |||
| 844 | LOG_FUNCTION_START("");
|
||
| 845 | |||
| 846 | Status = VL53L1_poll_for_boot_completion(Dev, |
||
| 847 | VL53L1_BOOT_COMPLETION_POLLING_TIMEOUT_MS); |
||
| 848 | |||
| 849 | LOG_FUNCTION_END(Status); |
||
| 850 | return Status;
|
||
| 851 | } |
||
| 852 | |||
| 853 | /* End Group PAL Init Functions */
|
||
| 854 | |||
| 855 | /* Group PAL Parameters Functions */
|
||
| 856 | static VL53L1_Error ComputeDevicePresetMode(
|
||
| 857 | VL53L1_PresetModes PresetMode, |
||
| 858 | VL53L1_DistanceModes DistanceMode, |
||
| 859 | VL53L1_DevicePresetModes *pDevicePresetMode) |
||
| 860 | {
|
||
| 861 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 862 | |||
| 863 | uint8_t DistIdx; |
||
| 864 | VL53L1_DevicePresetModes LightModes[3] = {
|
||
| 865 | VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_SHORT_RANGE, |
||
| 866 | VL53L1_DEVICEPRESETMODE_STANDARD_RANGING, |
||
| 867 | VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_LONG_RANGE}; |
||
| 868 | |||
| 869 | |||
| 870 | VL53L1_DevicePresetModes TimedModes[3] = {
|
||
| 871 | VL53L1_DEVICEPRESETMODE_TIMED_RANGING_SHORT_RANGE, |
||
| 872 | VL53L1_DEVICEPRESETMODE_TIMED_RANGING, |
||
| 873 | VL53L1_DEVICEPRESETMODE_TIMED_RANGING_LONG_RANGE}; |
||
| 874 | |||
| 875 | VL53L1_DevicePresetModes LowPowerTimedModes[3] = {
|
||
| 876 | VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_SHORT_RANGE, |
||
| 877 | VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_MEDIUM_RANGE, |
||
| 878 | VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_LONG_RANGE}; |
||
| 879 | |||
| 880 | *pDevicePresetMode = VL53L1_DEVICEPRESETMODE_STANDARD_RANGING; |
||
| 881 | |||
| 882 | switch (DistanceMode) {
|
||
| 883 | case VL53L1_DISTANCEMODE_SHORT:
|
||
| 884 | DistIdx = 0;
|
||
| 885 | break;
|
||
| 886 | case VL53L1_DISTANCEMODE_MEDIUM:
|
||
| 887 | DistIdx = 1;
|
||
| 888 | break;
|
||
| 889 | default:
|
||
| 890 | DistIdx = 2;
|
||
| 891 | } |
||
| 892 | |||
| 893 | switch (PresetMode) {
|
||
| 894 | case VL53L1_PRESETMODE_LITE_RANGING:
|
||
| 895 | *pDevicePresetMode = LightModes[DistIdx]; |
||
| 896 | break;
|
||
| 897 | |||
| 898 | |||
| 899 | case VL53L1_PRESETMODE_AUTONOMOUS:
|
||
| 900 | *pDevicePresetMode = TimedModes[DistIdx]; |
||
| 901 | break;
|
||
| 902 | |||
| 903 | case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS:
|
||
| 904 | *pDevicePresetMode = LowPowerTimedModes[DistIdx]; |
||
| 905 | break;
|
||
| 906 | |||
| 907 | default:
|
||
| 908 | /* Unsupported mode */
|
||
| 909 | Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; |
||
| 910 | } |
||
| 911 | |||
| 912 | return Status;
|
||
| 913 | } |
||
| 914 | |||
| 915 | static VL53L1_Error SetPresetMode(VL53L1_DEV Dev,
|
||
| 916 | VL53L1_PresetModes PresetMode, |
||
| 917 | VL53L1_DistanceModes DistanceMode, |
||
| 918 | uint32_t inter_measurement_period_ms) |
||
| 919 | {
|
||
| 920 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 921 | VL53L1_DevicePresetModes device_preset_mode; |
||
| 922 | uint8_t measurement_mode; |
||
| 923 | uint16_t dss_config__target_total_rate_mcps; |
||
| 924 | uint32_t phasecal_config_timeout_us; |
||
| 925 | uint32_t mm_config_timeout_us; |
||
| 926 | uint32_t lld_range_config_timeout_us; |
||
| 927 | |||
| 928 | LOG_FUNCTION_START("%d", (int)PresetMode); |
||
| 929 | |||
| 930 | if ((PresetMode == VL53L1_PRESETMODE_AUTONOMOUS) ||
|
||
| 931 | (PresetMode == VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS)) |
||
| 932 | measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_TIMED; |
||
| 933 | else
|
||
| 934 | measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; |
||
| 935 | |||
| 936 | |||
| 937 | Status = ComputeDevicePresetMode(PresetMode, DistanceMode, |
||
| 938 | &device_preset_mode); |
||
| 939 | |||
| 940 | if (Status == VL53L1_ERROR_NONE)
|
||
| 941 | Status = VL53L1_get_preset_mode_timing_cfg(Dev, |
||
| 942 | device_preset_mode, |
||
| 943 | &dss_config__target_total_rate_mcps, |
||
| 944 | &phasecal_config_timeout_us, |
||
| 945 | &mm_config_timeout_us, |
||
| 946 | &lld_range_config_timeout_us); |
||
| 947 | |||
| 948 | if (Status == VL53L1_ERROR_NONE)
|
||
| 949 | Status = VL53L1_set_preset_mode( |
||
| 950 | Dev, |
||
| 951 | device_preset_mode, |
||
| 952 | dss_config__target_total_rate_mcps, |
||
| 953 | phasecal_config_timeout_us, |
||
| 954 | mm_config_timeout_us, |
||
| 955 | lld_range_config_timeout_us, |
||
| 956 | inter_measurement_period_ms); |
||
| 957 | |||
| 958 | if (Status == VL53L1_ERROR_NONE)
|
||
| 959 | VL53L1DevDataSet(Dev, LLData.measurement_mode, measurement_mode); |
||
| 960 | |||
| 961 | if (Status == VL53L1_ERROR_NONE)
|
||
| 962 | VL53L1DevDataSet(Dev, CurrentParameters.PresetMode, PresetMode); |
||
| 963 | |||
| 964 | LOG_FUNCTION_END(Status); |
||
| 965 | return Status;
|
||
| 966 | } |
||
| 967 | |||
| 968 | VL53L1_Error VL53L1_SetPresetMode(VL53L1_DEV Dev, VL53L1_PresetModes PresetMode) |
||
| 969 | {
|
||
| 970 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 971 | VL53L1_DistanceModes DistanceMode = VL53L1_DISTANCEMODE_LONG; |
||
| 972 | |||
| 973 | LOG_FUNCTION_START("%d", (int)PresetMode); |
||
| 974 | |||
| 975 | Status = SetPresetMode(Dev, |
||
| 976 | PresetMode, |
||
| 977 | DistanceMode, |
||
| 978 | 1000);
|
||
| 979 | |||
| 980 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 981 | VL53L1DevDataSet(Dev, CurrentParameters.InternalDistanceMode, |
||
| 982 | DistanceMode); |
||
| 983 | |||
| 984 | VL53L1DevDataSet(Dev, CurrentParameters.NewDistanceMode, |
||
| 985 | DistanceMode); |
||
| 986 | |||
| 987 | if ((PresetMode == VL53L1_PRESETMODE_LITE_RANGING) ||
|
||
| 988 | (PresetMode == VL53L1_PRESETMODE_AUTONOMOUS) || |
||
| 989 | (PresetMode == VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS)) |
||
| 990 | Status = VL53L1_SetMeasurementTimingBudgetMicroSeconds( |
||
| 991 | Dev, 41000);
|
||
| 992 | else
|
||
| 993 | /* Set default timing budget to 30Hz (33.33 ms)*/
|
||
| 994 | Status = VL53L1_SetMeasurementTimingBudgetMicroSeconds( |
||
| 995 | Dev, 33333);
|
||
| 996 | } |
||
| 997 | |||
| 998 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 999 | /* Set default intermeasurement period to 1000 ms */
|
||
| 1000 | Status = VL53L1_SetInterMeasurementPeriodMilliSeconds(Dev, |
||
| 1001 | 1000);
|
||
| 1002 | } |
||
| 1003 | |||
| 1004 | LOG_FUNCTION_END(Status); |
||
| 1005 | return Status;
|
||
| 1006 | } |
||
| 1007 | |||
| 1008 | |||
| 1009 | VL53L1_Error VL53L1_GetPresetMode(VL53L1_DEV Dev, |
||
| 1010 | VL53L1_PresetModes *pPresetMode) |
||
| 1011 | {
|
||
| 1012 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1013 | |||
| 1014 | LOG_FUNCTION_START("");
|
||
| 1015 | |||
| 1016 | *pPresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); |
||
| 1017 | |||
| 1018 | LOG_FUNCTION_END(Status); |
||
| 1019 | return Status;
|
||
| 1020 | } |
||
| 1021 | |||
| 1022 | VL53L1_Error VL53L1_SetDistanceMode(VL53L1_DEV Dev, |
||
| 1023 | VL53L1_DistanceModes DistanceMode) |
||
| 1024 | {
|
||
| 1025 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1026 | VL53L1_PresetModes PresetMode; |
||
| 1027 | VL53L1_DistanceModes InternalDistanceMode; |
||
| 1028 | uint32_t inter_measurement_period_ms; |
||
| 1029 | uint32_t TimingBudget; |
||
| 1030 | uint32_t MmTimeoutUs; |
||
| 1031 | uint32_t PhaseCalTimeoutUs; |
||
| 1032 | VL53L1_user_zone_t user_zone; |
||
| 1033 | |||
| 1034 | LOG_FUNCTION_START("%d", (int)DistanceMode); |
||
| 1035 | |||
| 1036 | PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); |
||
| 1037 | |||
| 1038 | /* when the distance mode is valid:
|
||
| 1039 | * Manual Mode: all modes
|
||
| 1040 | * AUTO AUTO_LITE : LITE_RANGING, RANGING
|
||
| 1041 | */
|
||
| 1042 | |||
| 1043 | if ((DistanceMode != VL53L1_DISTANCEMODE_SHORT) &&
|
||
| 1044 | (DistanceMode != VL53L1_DISTANCEMODE_MEDIUM) && |
||
| 1045 | (DistanceMode != VL53L1_DISTANCEMODE_LONG)) |
||
| 1046 | return VL53L1_ERROR_INVALID_PARAMS;
|
||
| 1047 | |||
| 1048 | /* The internal distance mode is limited to Short, Medium or
|
||
| 1049 | * long only
|
||
| 1050 | */
|
||
| 1051 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 1052 | if ((DistanceMode == VL53L1_DISTANCEMODE_SHORT) ||
|
||
| 1053 | (DistanceMode == VL53L1_DISTANCEMODE_MEDIUM)) |
||
| 1054 | InternalDistanceMode = DistanceMode; |
||
| 1055 | else /* (DistanceMode == VL53L1_DISTANCEMODE_LONG) */ |
||
| 1056 | InternalDistanceMode = VL53L1_DISTANCEMODE_LONG; |
||
| 1057 | } |
||
| 1058 | |||
| 1059 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1060 | Status = VL53L1_get_user_zone(Dev, &user_zone); |
||
| 1061 | |||
| 1062 | inter_measurement_period_ms = VL53L1DevDataGet(Dev, |
||
| 1063 | LLData.inter_measurement_period_ms); |
||
| 1064 | |||
| 1065 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1066 | Status = VL53L1_get_timeouts_us(Dev, &PhaseCalTimeoutUs, |
||
| 1067 | &MmTimeoutUs, &TimingBudget); |
||
| 1068 | |||
| 1069 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1070 | Status = SetPresetMode(Dev, |
||
| 1071 | PresetMode, |
||
| 1072 | InternalDistanceMode, |
||
| 1073 | inter_measurement_period_ms); |
||
| 1074 | |||
| 1075 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 1076 | VL53L1DevDataSet(Dev, CurrentParameters.InternalDistanceMode, |
||
| 1077 | InternalDistanceMode); |
||
| 1078 | VL53L1DevDataSet(Dev, CurrentParameters.NewDistanceMode, |
||
| 1079 | InternalDistanceMode); |
||
| 1080 | VL53L1DevDataSet(Dev, CurrentParameters.DistanceMode, |
||
| 1081 | DistanceMode); |
||
| 1082 | } |
||
| 1083 | |||
| 1084 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 1085 | Status = VL53L1_set_timeouts_us(Dev, PhaseCalTimeoutUs, |
||
| 1086 | MmTimeoutUs, TimingBudget); |
||
| 1087 | |||
| 1088 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1089 | VL53L1DevDataSet(Dev, LLData.range_config_timeout_us, |
||
| 1090 | TimingBudget); |
||
| 1091 | } |
||
| 1092 | |||
| 1093 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1094 | Status = VL53L1_set_user_zone(Dev, &user_zone); |
||
| 1095 | |||
| 1096 | LOG_FUNCTION_END(Status); |
||
| 1097 | return Status;
|
||
| 1098 | } |
||
| 1099 | |||
| 1100 | VL53L1_Error VL53L1_GetDistanceMode(VL53L1_DEV Dev, |
||
| 1101 | VL53L1_DistanceModes *pDistanceMode) |
||
| 1102 | {
|
||
| 1103 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1104 | |||
| 1105 | LOG_FUNCTION_START("");
|
||
| 1106 | |||
| 1107 | *pDistanceMode = VL53L1DevDataGet(Dev, CurrentParameters.DistanceMode); |
||
| 1108 | |||
| 1109 | LOG_FUNCTION_END(Status); |
||
| 1110 | return Status;
|
||
| 1111 | } |
||
| 1112 | |||
| 1113 | |||
| 1114 | |||
| 1115 | |||
| 1116 | VL53L1_Error VL53L1_SetMeasurementTimingBudgetMicroSeconds(VL53L1_DEV Dev, |
||
| 1117 | uint32_t MeasurementTimingBudgetMicroSeconds) |
||
| 1118 | {
|
||
| 1119 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1120 | uint8_t Mm1Enabled; |
||
| 1121 | uint8_t Mm2Enabled; |
||
| 1122 | uint32_t TimingGuard; |
||
| 1123 | uint32_t divisor; |
||
| 1124 | uint32_t TimingBudget; |
||
| 1125 | uint32_t MmTimeoutUs; |
||
| 1126 | VL53L1_PresetModes PresetMode; |
||
| 1127 | uint32_t PhaseCalTimeoutUs; |
||
| 1128 | uint32_t vhv; |
||
| 1129 | int32_t vhv_loops; |
||
| 1130 | uint32_t FDAMaxTimingBudgetUs = FDA_MAX_TIMING_BUDGET_US; |
||
| 1131 | |||
| 1132 | LOG_FUNCTION_START("");
|
||
| 1133 | |||
| 1134 | /* Timing budget is limited to 10 seconds */
|
||
| 1135 | if (MeasurementTimingBudgetMicroSeconds > 10000000) |
||
| 1136 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 1137 | |||
| 1138 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 1139 | Status = VL53L1_GetSequenceStepEnable(Dev, |
||
| 1140 | VL53L1_SEQUENCESTEP_MM1, &Mm1Enabled); |
||
| 1141 | } |
||
| 1142 | |||
| 1143 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 1144 | Status = VL53L1_GetSequenceStepEnable(Dev, |
||
| 1145 | VL53L1_SEQUENCESTEP_MM2, &Mm2Enabled); |
||
| 1146 | } |
||
| 1147 | |||
| 1148 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1149 | Status = VL53L1_get_timeouts_us(Dev, |
||
| 1150 | &PhaseCalTimeoutUs, |
||
| 1151 | &MmTimeoutUs, |
||
| 1152 | &TimingBudget); |
||
| 1153 | |||
| 1154 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 1155 | PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); |
||
| 1156 | |||
| 1157 | TimingGuard = 0;
|
||
| 1158 | divisor = 1;
|
||
| 1159 | switch (PresetMode) {
|
||
| 1160 | case VL53L1_PRESETMODE_LITE_RANGING:
|
||
| 1161 | if ((Mm1Enabled == 1) || (Mm2Enabled == 1)) |
||
| 1162 | TimingGuard = 5000;
|
||
| 1163 | else
|
||
| 1164 | TimingGuard = 1000;
|
||
| 1165 | break;
|
||
| 1166 | |||
| 1167 | case VL53L1_PRESETMODE_AUTONOMOUS:
|
||
| 1168 | FDAMaxTimingBudgetUs *= 2;
|
||
| 1169 | if ((Mm1Enabled == 1) || (Mm2Enabled == 1)) |
||
| 1170 | TimingGuard = 26600;
|
||
| 1171 | else
|
||
| 1172 | TimingGuard = 21600;
|
||
| 1173 | divisor = 2;
|
||
| 1174 | break;
|
||
| 1175 | |||
| 1176 | case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS:
|
||
| 1177 | FDAMaxTimingBudgetUs *= 2;
|
||
| 1178 | vhv = LOWPOWER_AUTO_VHV_LOOP_DURATION_US; |
||
| 1179 | VL53L1_get_tuning_parm(Dev, |
||
| 1180 | VL53L1_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND, |
||
| 1181 | &vhv_loops); |
||
| 1182 | if (vhv_loops > 0) { |
||
| 1183 | vhv += vhv_loops * |
||
| 1184 | LOWPOWER_AUTO_VHV_LOOP_DURATION_US; |
||
| 1185 | } |
||
| 1186 | TimingGuard = LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING + |
||
| 1187 | LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING + |
||
| 1188 | vhv; |
||
| 1189 | divisor = 2;
|
||
| 1190 | break;
|
||
| 1191 | |||
| 1192 | default:
|
||
| 1193 | /* Unsupported mode */
|
||
| 1194 | Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; |
||
| 1195 | } |
||
| 1196 | |||
| 1197 | if (MeasurementTimingBudgetMicroSeconds <= TimingGuard)
|
||
| 1198 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 1199 | else {
|
||
| 1200 | TimingBudget = (MeasurementTimingBudgetMicroSeconds |
||
| 1201 | - TimingGuard); |
||
| 1202 | } |
||
| 1203 | |||
| 1204 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 1205 | if (TimingBudget > FDAMaxTimingBudgetUs)
|
||
| 1206 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 1207 | else {
|
||
| 1208 | TimingBudget /= divisor; |
||
| 1209 | Status = VL53L1_set_timeouts_us( |
||
| 1210 | Dev, |
||
| 1211 | PhaseCalTimeoutUs, |
||
| 1212 | MmTimeoutUs, |
||
| 1213 | TimingBudget); |
||
| 1214 | } |
||
| 1215 | |||
| 1216 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1217 | VL53L1DevDataSet(Dev, |
||
| 1218 | LLData.range_config_timeout_us, |
||
| 1219 | TimingBudget); |
||
| 1220 | } |
||
| 1221 | } |
||
| 1222 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 1223 | VL53L1DevDataSet(Dev, |
||
| 1224 | CurrentParameters.MeasurementTimingBudgetMicroSeconds, |
||
| 1225 | MeasurementTimingBudgetMicroSeconds); |
||
| 1226 | } |
||
| 1227 | |||
| 1228 | LOG_FUNCTION_END(Status); |
||
| 1229 | return Status;
|
||
| 1230 | } |
||
| 1231 | |||
| 1232 | |||
| 1233 | VL53L1_Error VL53L1_GetMeasurementTimingBudgetMicroSeconds(VL53L1_DEV Dev, |
||
| 1234 | uint32_t *pMeasurementTimingBudgetMicroSeconds) |
||
| 1235 | {
|
||
| 1236 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1237 | uint8_t Mm1Enabled = 0;
|
||
| 1238 | uint8_t Mm2Enabled = 0;
|
||
| 1239 | uint32_t MmTimeoutUs = 0;
|
||
| 1240 | uint32_t RangeTimeoutUs = 0;
|
||
| 1241 | uint32_t MeasTimingBdg = 0;
|
||
| 1242 | uint32_t PhaseCalTimeoutUs = 0;
|
||
| 1243 | VL53L1_PresetModes PresetMode; |
||
| 1244 | uint32_t TimingGuard; |
||
| 1245 | uint32_t vhv; |
||
| 1246 | int32_t vhv_loops; |
||
| 1247 | |||
| 1248 | LOG_FUNCTION_START("");
|
||
| 1249 | |||
| 1250 | *pMeasurementTimingBudgetMicroSeconds = 0;
|
||
| 1251 | |||
| 1252 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1253 | Status = VL53L1_GetSequenceStepEnable(Dev, |
||
| 1254 | VL53L1_SEQUENCESTEP_MM1, &Mm1Enabled); |
||
| 1255 | |||
| 1256 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1257 | Status = VL53L1_GetSequenceStepEnable(Dev, |
||
| 1258 | VL53L1_SEQUENCESTEP_MM2, &Mm2Enabled); |
||
| 1259 | |||
| 1260 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1261 | Status = VL53L1_get_timeouts_us(Dev, |
||
| 1262 | &PhaseCalTimeoutUs, |
||
| 1263 | &MmTimeoutUs, |
||
| 1264 | &RangeTimeoutUs); |
||
| 1265 | |||
| 1266 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 1267 | PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); |
||
| 1268 | |||
| 1269 | switch (PresetMode) {
|
||
| 1270 | case VL53L1_PRESETMODE_LITE_RANGING:
|
||
| 1271 | if ((Mm1Enabled == 1) || (Mm2Enabled == 1)) |
||
| 1272 | MeasTimingBdg = RangeTimeoutUs + 5000;
|
||
| 1273 | else
|
||
| 1274 | MeasTimingBdg = RangeTimeoutUs + 1000;
|
||
| 1275 | |||
| 1276 | break;
|
||
| 1277 | |||
| 1278 | case VL53L1_PRESETMODE_AUTONOMOUS:
|
||
| 1279 | if ((Mm1Enabled == 1) || (Mm2Enabled == 1)) |
||
| 1280 | MeasTimingBdg = 2 * RangeTimeoutUs + 26600; |
||
| 1281 | else
|
||
| 1282 | MeasTimingBdg = 2 * RangeTimeoutUs + 21600; |
||
| 1283 | |||
| 1284 | break;
|
||
| 1285 | |||
| 1286 | case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS:
|
||
| 1287 | vhv = LOWPOWER_AUTO_VHV_LOOP_DURATION_US; |
||
| 1288 | VL53L1_get_tuning_parm(Dev, |
||
| 1289 | VL53L1_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND, |
||
| 1290 | &vhv_loops); |
||
| 1291 | if (vhv_loops > 0) { |
||
| 1292 | vhv += vhv_loops * |
||
| 1293 | LOWPOWER_AUTO_VHV_LOOP_DURATION_US; |
||
| 1294 | } |
||
| 1295 | TimingGuard = LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING + |
||
| 1296 | LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING + |
||
| 1297 | vhv; |
||
| 1298 | MeasTimingBdg = 2 * RangeTimeoutUs + TimingGuard;
|
||
| 1299 | break;
|
||
| 1300 | |||
| 1301 | default:
|
||
| 1302 | /* Unsupported mode */
|
||
| 1303 | Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; |
||
| 1304 | } |
||
| 1305 | } |
||
| 1306 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1307 | *pMeasurementTimingBudgetMicroSeconds = MeasTimingBdg; |
||
| 1308 | |||
| 1309 | LOG_FUNCTION_END(Status); |
||
| 1310 | return Status;
|
||
| 1311 | } |
||
| 1312 | |||
| 1313 | |||
| 1314 | |||
| 1315 | VL53L1_Error VL53L1_SetInterMeasurementPeriodMilliSeconds(VL53L1_DEV Dev, |
||
| 1316 | uint32_t InterMeasurementPeriodMilliSeconds) |
||
| 1317 | {
|
||
| 1318 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1319 | uint32_t adjustedIMP; |
||
| 1320 | |||
| 1321 | LOG_FUNCTION_START("");
|
||
| 1322 | |||
| 1323 | /* Fix for Ticket 468205 actual measurement period shorter than set */
|
||
| 1324 | adjustedIMP = InterMeasurementPeriodMilliSeconds; |
||
| 1325 | adjustedIMP += (adjustedIMP * 64) / 1000; |
||
| 1326 | /* End of fix for Ticket 468205 */
|
||
| 1327 | Status = VL53L1_set_inter_measurement_period_ms(Dev, |
||
| 1328 | adjustedIMP); |
||
| 1329 | |||
| 1330 | LOG_FUNCTION_END(Status); |
||
| 1331 | return Status;
|
||
| 1332 | } |
||
| 1333 | |||
| 1334 | VL53L1_Error VL53L1_GetInterMeasurementPeriodMilliSeconds(VL53L1_DEV Dev, |
||
| 1335 | uint32_t *pInterMeasurementPeriodMilliSeconds) |
||
| 1336 | {
|
||
| 1337 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1338 | uint32_t adjustedIMP; |
||
| 1339 | |||
| 1340 | LOG_FUNCTION_START("");
|
||
| 1341 | |||
| 1342 | Status = VL53L1_get_inter_measurement_period_ms(Dev, &adjustedIMP); |
||
| 1343 | /* Fix for Ticket 468205 actual measurement period shorter than set */
|
||
| 1344 | adjustedIMP -= (adjustedIMP * 64) / 1000; |
||
| 1345 | *pInterMeasurementPeriodMilliSeconds = adjustedIMP; |
||
| 1346 | /* End of fix for Ticket 468205 */
|
||
| 1347 | |||
| 1348 | LOG_FUNCTION_END(Status); |
||
| 1349 | return Status;
|
||
| 1350 | } |
||
| 1351 | |||
| 1352 | |||
| 1353 | /* End Group PAL Parameters Functions */
|
||
| 1354 | |||
| 1355 | |||
| 1356 | /* Group Limit check Functions */
|
||
| 1357 | |||
| 1358 | VL53L1_Error VL53L1_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck) |
||
| 1359 | {
|
||
| 1360 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1361 | |||
| 1362 | LOG_FUNCTION_START("");
|
||
| 1363 | |||
| 1364 | *pNumberOfLimitCheck = VL53L1_CHECKENABLE_NUMBER_OF_CHECKS; |
||
| 1365 | |||
| 1366 | LOG_FUNCTION_END(Status); |
||
| 1367 | return Status;
|
||
| 1368 | } |
||
| 1369 | |||
| 1370 | VL53L1_Error VL53L1_GetLimitCheckInfo(uint16_t LimitCheckId, |
||
| 1371 | char *pLimitCheckString)
|
||
| 1372 | {
|
||
| 1373 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1374 | |||
| 1375 | LOG_FUNCTION_START("");
|
||
| 1376 | |||
| 1377 | Status = VL53L1_get_limit_check_info(LimitCheckId, |
||
| 1378 | pLimitCheckString); |
||
| 1379 | |||
| 1380 | LOG_FUNCTION_END(Status); |
||
| 1381 | return Status;
|
||
| 1382 | } |
||
| 1383 | |||
| 1384 | VL53L1_Error VL53L1_GetLimitCheckStatus(VL53L1_DEV Dev, uint16_t LimitCheckId, |
||
| 1385 | uint8_t *pLimitCheckStatus) |
||
| 1386 | {
|
||
| 1387 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1388 | uint8_t Temp8; |
||
| 1389 | |||
| 1390 | LOG_FUNCTION_START("");
|
||
| 1391 | |||
| 1392 | if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
|
||
| 1393 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 1394 | } else {
|
||
| 1395 | VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
||
| 1396 | LimitCheckId, Temp8); |
||
| 1397 | *pLimitCheckStatus = Temp8; |
||
| 1398 | } |
||
| 1399 | |||
| 1400 | LOG_FUNCTION_END(Status); |
||
| 1401 | return Status;
|
||
| 1402 | } |
||
| 1403 | |||
| 1404 | static VL53L1_Error SetLimitValue(VL53L1_DEV Dev, uint16_t LimitCheckId,
|
||
| 1405 | FixPoint1616_t value) |
||
| 1406 | {
|
||
| 1407 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1408 | uint16_t tmpuint16; /* temporary variable */
|
||
| 1409 | |||
| 1410 | LOG_FUNCTION_START("");
|
||
| 1411 | |||
| 1412 | switch (LimitCheckId) {
|
||
| 1413 | case VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE:
|
||
| 1414 | tmpuint16 = VL53L1_FIXPOINT1616TOFIXPOINT142(value); |
||
| 1415 | VL53L1_set_lite_sigma_threshold(Dev, tmpuint16); |
||
| 1416 | break;
|
||
| 1417 | case VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
||
| 1418 | tmpuint16 = VL53L1_FIXPOINT1616TOFIXPOINT97(value); |
||
| 1419 | VL53L1_set_lite_min_count_rate(Dev, tmpuint16); |
||
| 1420 | break;
|
||
| 1421 | default:
|
||
| 1422 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 1423 | } |
||
| 1424 | |||
| 1425 | LOG_FUNCTION_END(Status); |
||
| 1426 | return Status;
|
||
| 1427 | } |
||
| 1428 | |||
| 1429 | |||
| 1430 | VL53L1_Error VL53L1_SetLimitCheckEnable(VL53L1_DEV Dev, uint16_t LimitCheckId, |
||
| 1431 | uint8_t LimitCheckEnable) |
||
| 1432 | {
|
||
| 1433 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1434 | FixPoint1616_t TempFix1616 = 0;
|
||
| 1435 | |||
| 1436 | LOG_FUNCTION_START("");
|
||
| 1437 | |||
| 1438 | |||
| 1439 | if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
|
||
| 1440 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 1441 | } else {
|
||
| 1442 | /* TempFix1616 contains either 0 or the limit value */
|
||
| 1443 | if (LimitCheckEnable == 0) |
||
| 1444 | TempFix1616 = 0;
|
||
| 1445 | else
|
||
| 1446 | VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
||
| 1447 | LimitCheckId, TempFix1616); |
||
| 1448 | |||
| 1449 | Status = SetLimitValue(Dev, LimitCheckId, TempFix1616); |
||
| 1450 | } |
||
| 1451 | |||
| 1452 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1453 | VL53L1_SETARRAYPARAMETERFIELD(Dev, |
||
| 1454 | LimitChecksEnable, |
||
| 1455 | LimitCheckId, |
||
| 1456 | ((LimitCheckEnable == 0) ? 0 : 1)); |
||
| 1457 | |||
| 1458 | |||
| 1459 | |||
| 1460 | LOG_FUNCTION_END(Status); |
||
| 1461 | return Status;
|
||
| 1462 | } |
||
| 1463 | |||
| 1464 | VL53L1_Error VL53L1_GetLimitCheckEnable(VL53L1_DEV Dev, uint16_t LimitCheckId, |
||
| 1465 | uint8_t *pLimitCheckEnable) |
||
| 1466 | {
|
||
| 1467 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1468 | uint8_t Temp8; |
||
| 1469 | |||
| 1470 | LOG_FUNCTION_START("");
|
||
| 1471 | |||
| 1472 | if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
|
||
| 1473 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 1474 | *pLimitCheckEnable = 0;
|
||
| 1475 | } else {
|
||
| 1476 | VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
||
| 1477 | LimitCheckId, Temp8); |
||
| 1478 | *pLimitCheckEnable = Temp8; |
||
| 1479 | } |
||
| 1480 | |||
| 1481 | |||
| 1482 | LOG_FUNCTION_END(Status); |
||
| 1483 | return Status;
|
||
| 1484 | } |
||
| 1485 | |||
| 1486 | VL53L1_Error VL53L1_SetLimitCheckValue(VL53L1_DEV Dev, uint16_t LimitCheckId, |
||
| 1487 | FixPoint1616_t LimitCheckValue) |
||
| 1488 | {
|
||
| 1489 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1490 | uint8_t LimitChecksEnable; |
||
| 1491 | |||
| 1492 | LOG_FUNCTION_START("");
|
||
| 1493 | |||
| 1494 | if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
|
||
| 1495 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 1496 | } else {
|
||
| 1497 | |||
| 1498 | VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, |
||
| 1499 | LimitCheckId, |
||
| 1500 | LimitChecksEnable); |
||
| 1501 | |||
| 1502 | if (LimitChecksEnable == 0) { |
||
| 1503 | /* disabled write only internal value */
|
||
| 1504 | VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, |
||
| 1505 | LimitCheckId, LimitCheckValue); |
||
| 1506 | } else {
|
||
| 1507 | |||
| 1508 | Status = SetLimitValue(Dev, LimitCheckId, |
||
| 1509 | LimitCheckValue); |
||
| 1510 | |||
| 1511 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 1512 | VL53L1_SETARRAYPARAMETERFIELD(Dev, |
||
| 1513 | LimitChecksValue, |
||
| 1514 | LimitCheckId, LimitCheckValue); |
||
| 1515 | } |
||
| 1516 | } |
||
| 1517 | } |
||
| 1518 | |||
| 1519 | LOG_FUNCTION_END(Status); |
||
| 1520 | return Status;
|
||
| 1521 | } |
||
| 1522 | |||
| 1523 | VL53L1_Error VL53L1_GetLimitCheckValue(VL53L1_DEV Dev, uint16_t LimitCheckId, |
||
| 1524 | FixPoint1616_t *pLimitCheckValue) |
||
| 1525 | {
|
||
| 1526 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1527 | uint16_t MinCountRate; |
||
| 1528 | FixPoint1616_t TempFix1616; |
||
| 1529 | uint16_t SigmaThresh; |
||
| 1530 | |||
| 1531 | LOG_FUNCTION_START("");
|
||
| 1532 | |||
| 1533 | switch (LimitCheckId) {
|
||
| 1534 | case VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE:
|
||
| 1535 | Status = VL53L1_get_lite_sigma_threshold(Dev, &SigmaThresh); |
||
| 1536 | TempFix1616 = VL53L1_FIXPOINT142TOFIXPOINT1616(SigmaThresh); |
||
| 1537 | break;
|
||
| 1538 | case VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
|
||
| 1539 | Status = VL53L1_get_lite_min_count_rate(Dev, &MinCountRate); |
||
| 1540 | TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(MinCountRate); |
||
| 1541 | break;
|
||
| 1542 | default:
|
||
| 1543 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 1544 | } |
||
| 1545 | |||
| 1546 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 1547 | |||
| 1548 | if (TempFix1616 == 0) { |
||
| 1549 | /* disabled: return value from memory */
|
||
| 1550 | VL53L1_GETARRAYPARAMETERFIELD(Dev, |
||
| 1551 | LimitChecksValue, LimitCheckId, |
||
| 1552 | TempFix1616); |
||
| 1553 | *pLimitCheckValue = TempFix1616; |
||
| 1554 | VL53L1_SETARRAYPARAMETERFIELD(Dev, |
||
| 1555 | LimitChecksEnable, LimitCheckId, 0);
|
||
| 1556 | } else {
|
||
| 1557 | *pLimitCheckValue = TempFix1616; |
||
| 1558 | VL53L1_SETARRAYPARAMETERFIELD(Dev, |
||
| 1559 | LimitChecksValue, LimitCheckId, |
||
| 1560 | TempFix1616); |
||
| 1561 | VL53L1_SETARRAYPARAMETERFIELD(Dev, |
||
| 1562 | LimitChecksEnable, LimitCheckId, 1);
|
||
| 1563 | } |
||
| 1564 | } |
||
| 1565 | LOG_FUNCTION_END(Status); |
||
| 1566 | return Status;
|
||
| 1567 | |||
| 1568 | } |
||
| 1569 | |||
| 1570 | VL53L1_Error VL53L1_GetLimitCheckCurrent(VL53L1_DEV Dev, uint16_t LimitCheckId, |
||
| 1571 | FixPoint1616_t *pLimitCheckCurrent) |
||
| 1572 | {
|
||
| 1573 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1574 | FixPoint1616_t TempFix1616 = 0;
|
||
| 1575 | |||
| 1576 | LOG_FUNCTION_START("");
|
||
| 1577 | |||
| 1578 | if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) {
|
||
| 1579 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 1580 | } else {
|
||
| 1581 | VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksCurrent, |
||
| 1582 | LimitCheckId, TempFix1616); |
||
| 1583 | *pLimitCheckCurrent = TempFix1616; |
||
| 1584 | } |
||
| 1585 | |||
| 1586 | LOG_FUNCTION_END(Status); |
||
| 1587 | return Status;
|
||
| 1588 | |||
| 1589 | } |
||
| 1590 | |||
| 1591 | /* End Group Limit check Functions */
|
||
| 1592 | |||
| 1593 | |||
| 1594 | |||
| 1595 | /* Group ROI Functions */
|
||
| 1596 | |||
| 1597 | VL53L1_Error VL53L1_SetUserROI(VL53L1_DEV Dev, |
||
| 1598 | VL53L1_UserRoi_t *pRoi) |
||
| 1599 | {
|
||
| 1600 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1601 | VL53L1_user_zone_t user_zone; |
||
| 1602 | |||
| 1603 | Status = CheckValidRectRoi(*pRoi); |
||
| 1604 | if (Status != VL53L1_ERROR_NONE)
|
||
| 1605 | return VL53L1_ERROR_INVALID_PARAMS;
|
||
| 1606 | |||
| 1607 | user_zone.x_centre = (pRoi->BotRightX + pRoi->TopLeftX + 1) / 2; |
||
| 1608 | user_zone.y_centre = (pRoi->TopLeftY + pRoi->BotRightY + 1) / 2; |
||
| 1609 | user_zone.width = (pRoi->BotRightX - pRoi->TopLeftX); |
||
| 1610 | user_zone.height = (pRoi->TopLeftY - pRoi->BotRightY); |
||
| 1611 | if ((user_zone.width < 3) || (user_zone.height < 3)) |
||
| 1612 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 1613 | else
|
||
| 1614 | Status = VL53L1_set_user_zone(Dev, &user_zone); |
||
| 1615 | |||
| 1616 | LOG_FUNCTION_END(Status); |
||
| 1617 | return Status;
|
||
| 1618 | } |
||
| 1619 | |||
| 1620 | VL53L1_Error VL53L1_GetUserROI(VL53L1_DEV Dev, |
||
| 1621 | VL53L1_UserRoi_t *pRoi) |
||
| 1622 | {
|
||
| 1623 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1624 | VL53L1_user_zone_t user_zone; |
||
| 1625 | |||
| 1626 | Status = VL53L1_get_user_zone(Dev, &user_zone); |
||
| 1627 | |||
| 1628 | pRoi->TopLeftX = (2 * user_zone.x_centre - user_zone.width) >> 1; |
||
| 1629 | pRoi->TopLeftY = (2 * user_zone.y_centre + user_zone.height) >> 1; |
||
| 1630 | pRoi->BotRightX = (2 * user_zone.x_centre + user_zone.width) >> 1; |
||
| 1631 | pRoi->BotRightY = (2 * user_zone.y_centre - user_zone.height) >> 1; |
||
| 1632 | |||
| 1633 | LOG_FUNCTION_END(Status); |
||
| 1634 | return Status;
|
||
| 1635 | } |
||
| 1636 | |||
| 1637 | |||
| 1638 | |||
| 1639 | /* End Group ROI Functions */
|
||
| 1640 | |||
| 1641 | |||
| 1642 | /* Group Sequence Step Functions */
|
||
| 1643 | |||
| 1644 | VL53L1_Error VL53L1_GetNumberOfSequenceSteps(VL53L1_DEV Dev, |
||
| 1645 | uint8_t *pNumberOfSequenceSteps) |
||
| 1646 | {
|
||
| 1647 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1648 | |||
| 1649 | SUPPRESS_UNUSED_WARNING(Dev); |
||
| 1650 | |||
| 1651 | LOG_FUNCTION_START("");
|
||
| 1652 | |||
| 1653 | *pNumberOfSequenceSteps = VL53L1_SEQUENCESTEP_NUMBER_OF_ITEMS; |
||
| 1654 | |||
| 1655 | LOG_FUNCTION_END(Status); |
||
| 1656 | return Status;
|
||
| 1657 | } |
||
| 1658 | |||
| 1659 | VL53L1_Error VL53L1_GetSequenceStepsInfo(VL53L1_SequenceStepId SequenceStepId, |
||
| 1660 | char *pSequenceStepsString)
|
||
| 1661 | {
|
||
| 1662 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1663 | |||
| 1664 | LOG_FUNCTION_START("");
|
||
| 1665 | |||
| 1666 | Status = VL53L1_get_sequence_steps_info( |
||
| 1667 | SequenceStepId, |
||
| 1668 | pSequenceStepsString); |
||
| 1669 | |||
| 1670 | LOG_FUNCTION_END(Status); |
||
| 1671 | |||
| 1672 | return Status;
|
||
| 1673 | } |
||
| 1674 | |||
| 1675 | VL53L1_Error VL53L1_SetSequenceStepEnable(VL53L1_DEV Dev, |
||
| 1676 | VL53L1_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled) |
||
| 1677 | {
|
||
| 1678 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1679 | uint32_t MeasurementTimingBudgetMicroSeconds; |
||
| 1680 | |||
| 1681 | LOG_FUNCTION_START("");
|
||
| 1682 | |||
| 1683 | /* the VL53L1_SequenceStepId correspond to the LLD
|
||
| 1684 | * VL53L1_DeviceSequenceConfig
|
||
| 1685 | */
|
||
| 1686 | |||
| 1687 | Status = VL53L1_set_sequence_config_bit(Dev, |
||
| 1688 | (VL53L1_DeviceSequenceConfig)SequenceStepId, |
||
| 1689 | SequenceStepEnabled); |
||
| 1690 | |||
| 1691 | /* Apply New Setting */
|
||
| 1692 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 1693 | |||
| 1694 | /* Recalculate timing budget */
|
||
| 1695 | MeasurementTimingBudgetMicroSeconds = VL53L1DevDataGet(Dev, |
||
| 1696 | CurrentParameters.MeasurementTimingBudgetMicroSeconds); |
||
| 1697 | |||
| 1698 | VL53L1_SetMeasurementTimingBudgetMicroSeconds(Dev, |
||
| 1699 | MeasurementTimingBudgetMicroSeconds); |
||
| 1700 | } |
||
| 1701 | |||
| 1702 | LOG_FUNCTION_END(Status); |
||
| 1703 | |||
| 1704 | return Status;
|
||
| 1705 | } |
||
| 1706 | |||
| 1707 | |||
| 1708 | VL53L1_Error VL53L1_GetSequenceStepEnable(VL53L1_DEV Dev, |
||
| 1709 | VL53L1_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled) |
||
| 1710 | {
|
||
| 1711 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1712 | |||
| 1713 | LOG_FUNCTION_START("");
|
||
| 1714 | |||
| 1715 | Status = VL53L1_get_sequence_config_bit(Dev, |
||
| 1716 | (VL53L1_DeviceSequenceConfig)SequenceStepId, |
||
| 1717 | pSequenceStepEnabled); |
||
| 1718 | |||
| 1719 | LOG_FUNCTION_END(Status); |
||
| 1720 | return Status;
|
||
| 1721 | } |
||
| 1722 | |||
| 1723 | |||
| 1724 | /* End Group Sequence Step Functions Functions */
|
||
| 1725 | |||
| 1726 | |||
| 1727 | |||
| 1728 | /* Group PAL Measurement Functions */
|
||
| 1729 | |||
| 1730 | |||
| 1731 | |||
| 1732 | VL53L1_Error VL53L1_StartMeasurement(VL53L1_DEV Dev) |
||
| 1733 | {
|
||
| 1734 | #define TIMED_MODE_TIMING_GUARD_MILLISECONDS 4 |
||
| 1735 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1736 | uint8_t DeviceMeasurementMode; |
||
| 1737 | VL53L1_State CurrPalState; |
||
| 1738 | VL53L1_Error lStatus; |
||
| 1739 | uint32_t MTBus, IMPms; |
||
| 1740 | |||
| 1741 | LOG_FUNCTION_START("");
|
||
| 1742 | |||
| 1743 | CurrPalState = VL53L1DevDataGet(Dev, PalState); |
||
| 1744 | switch (CurrPalState) {
|
||
| 1745 | case VL53L1_STATE_IDLE:
|
||
| 1746 | Status = VL53L1_ERROR_NONE; |
||
| 1747 | break;
|
||
| 1748 | case VL53L1_STATE_POWERDOWN:
|
||
| 1749 | case VL53L1_STATE_WAIT_STATICINIT:
|
||
| 1750 | case VL53L1_STATE_STANDBY:
|
||
| 1751 | case VL53L1_STATE_RUNNING:
|
||
| 1752 | case VL53L1_STATE_RESET:
|
||
| 1753 | case VL53L1_STATE_UNKNOWN:
|
||
| 1754 | case VL53L1_STATE_ERROR:
|
||
| 1755 | Status = VL53L1_ERROR_INVALID_COMMAND; |
||
| 1756 | break;
|
||
| 1757 | default:
|
||
| 1758 | Status = VL53L1_ERROR_UNDEFINED; |
||
| 1759 | } |
||
| 1760 | |||
| 1761 | DeviceMeasurementMode = VL53L1DevDataGet(Dev, LLData.measurement_mode); |
||
| 1762 | |||
| 1763 | /* Check timing configuration between timing budget and
|
||
| 1764 | * inter measurement period */
|
||
| 1765 | if ((Status == VL53L1_ERROR_NONE) &&
|
||
| 1766 | (DeviceMeasurementMode == VL53L1_DEVICEMEASUREMENTMODE_TIMED)) {
|
||
| 1767 | lStatus = VL53L1_GetMeasurementTimingBudgetMicroSeconds(Dev, |
||
| 1768 | &MTBus); |
||
| 1769 | /* convert timing budget in ms */
|
||
| 1770 | MTBus /= 1000;
|
||
| 1771 | lStatus = VL53L1_GetInterMeasurementPeriodMilliSeconds(Dev, |
||
| 1772 | &IMPms); |
||
| 1773 | /* trick to get rid of compiler "set but not used" warning */
|
||
| 1774 | SUPPRESS_UNUSED_WARNING(lStatus); |
||
| 1775 | if (IMPms < MTBus + TIMED_MODE_TIMING_GUARD_MILLISECONDS)
|
||
| 1776 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 1777 | } |
||
| 1778 | |||
| 1779 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1780 | Status = VL53L1_init_and_start_range( |
||
| 1781 | Dev, |
||
| 1782 | DeviceMeasurementMode, |
||
| 1783 | VL53L1_DEVICECONFIGLEVEL_FULL); |
||
| 1784 | |||
| 1785 | /* Set PAL State to Running */
|
||
| 1786 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1787 | VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_RUNNING); |
||
| 1788 | |||
| 1789 | |||
| 1790 | LOG_FUNCTION_END(Status); |
||
| 1791 | return Status;
|
||
| 1792 | } |
||
| 1793 | |||
| 1794 | VL53L1_Error VL53L1_StopMeasurement(VL53L1_DEV Dev) |
||
| 1795 | {
|
||
| 1796 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1797 | |||
| 1798 | LOG_FUNCTION_START("");
|
||
| 1799 | |||
| 1800 | Status = VL53L1_stop_range(Dev); |
||
| 1801 | |||
| 1802 | /* Set PAL State to Idle */
|
||
| 1803 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1804 | VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_IDLE); |
||
| 1805 | |||
| 1806 | LOG_FUNCTION_END(Status); |
||
| 1807 | return Status;
|
||
| 1808 | } |
||
| 1809 | |||
| 1810 | static VL53L1_Error ChangePresetMode(VL53L1_DEV Dev)
|
||
| 1811 | {
|
||
| 1812 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1813 | VL53L1_PresetModes PresetMode; |
||
| 1814 | VL53L1_DistanceModes NewDistanceMode; |
||
| 1815 | VL53L1_user_zone_t user_zone; |
||
| 1816 | uint32_t TimingBudget; |
||
| 1817 | uint32_t MmTimeoutUs; |
||
| 1818 | uint32_t PhaseCalTimeoutUs; |
||
| 1819 | uint8_t DeviceMeasurementMode; |
||
| 1820 | uint32_t inter_measurement_period_ms; |
||
| 1821 | |||
| 1822 | LOG_FUNCTION_START("");
|
||
| 1823 | |||
| 1824 | Status = VL53L1_get_user_zone(Dev, &user_zone); |
||
| 1825 | /* Initialize variables fix ticket EwokP #475395 */
|
||
| 1826 | PresetMode = VL53L1DevDataGet(Dev, |
||
| 1827 | CurrentParameters.PresetMode); |
||
| 1828 | NewDistanceMode = VL53L1DevDataGet(Dev, |
||
| 1829 | CurrentParameters.NewDistanceMode); |
||
| 1830 | /* End of Initialize variables fix ticket EwokP #475395 */
|
||
| 1831 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1832 | Status = VL53L1_get_timeouts_us(Dev, &PhaseCalTimeoutUs, |
||
| 1833 | &MmTimeoutUs, &TimingBudget); |
||
| 1834 | |||
| 1835 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1836 | Status = VL53L1_stop_range(Dev); |
||
| 1837 | |||
| 1838 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1839 | Status = VL53L1_WaitUs(Dev, 500);
|
||
| 1840 | |||
| 1841 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 1842 | inter_measurement_period_ms = VL53L1DevDataGet(Dev, |
||
| 1843 | LLData.inter_measurement_period_ms); |
||
| 1844 | |||
| 1845 | Status = SetPresetMode(Dev, |
||
| 1846 | PresetMode, |
||
| 1847 | NewDistanceMode, |
||
| 1848 | inter_measurement_period_ms); |
||
| 1849 | } |
||
| 1850 | |||
| 1851 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 1852 | Status = VL53L1_set_timeouts_us(Dev, PhaseCalTimeoutUs, |
||
| 1853 | MmTimeoutUs, TimingBudget); |
||
| 1854 | |||
| 1855 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1856 | VL53L1DevDataSet(Dev, LLData.range_config_timeout_us, |
||
| 1857 | TimingBudget); |
||
| 1858 | } |
||
| 1859 | |||
| 1860 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1861 | Status = VL53L1_set_user_zone(Dev, &user_zone); |
||
| 1862 | |||
| 1863 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 1864 | DeviceMeasurementMode = VL53L1DevDataGet(Dev, |
||
| 1865 | LLData.measurement_mode); |
||
| 1866 | |||
| 1867 | Status = VL53L1_init_and_start_range( |
||
| 1868 | Dev, |
||
| 1869 | DeviceMeasurementMode, |
||
| 1870 | VL53L1_DEVICECONFIGLEVEL_FULL); |
||
| 1871 | } |
||
| 1872 | |||
| 1873 | if (Status == VL53L1_ERROR_NONE)
|
||
| 1874 | VL53L1DevDataSet(Dev, |
||
| 1875 | CurrentParameters.InternalDistanceMode, |
||
| 1876 | NewDistanceMode); |
||
| 1877 | |||
| 1878 | LOG_FUNCTION_END(Status); |
||
| 1879 | return Status;
|
||
| 1880 | } |
||
| 1881 | |||
| 1882 | |||
| 1883 | VL53L1_Error VL53L1_ClearInterruptAndStartMeasurement(VL53L1_DEV Dev) |
||
| 1884 | {
|
||
| 1885 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1886 | uint8_t DeviceMeasurementMode; |
||
| 1887 | VL53L1_DistanceModes InternalDistanceMode; |
||
| 1888 | VL53L1_DistanceModes NewDistanceMode; |
||
| 1889 | |||
| 1890 | LOG_FUNCTION_START("");
|
||
| 1891 | |||
| 1892 | DeviceMeasurementMode = VL53L1DevDataGet(Dev, LLData.measurement_mode); |
||
| 1893 | InternalDistanceMode = VL53L1DevDataGet(Dev, |
||
| 1894 | CurrentParameters.InternalDistanceMode); |
||
| 1895 | NewDistanceMode = VL53L1DevDataGet(Dev, |
||
| 1896 | CurrentParameters.NewDistanceMode); |
||
| 1897 | |||
| 1898 | if (NewDistanceMode != InternalDistanceMode)
|
||
| 1899 | Status = ChangePresetMode(Dev); |
||
| 1900 | else
|
||
| 1901 | Status = VL53L1_clear_interrupt_and_enable_next_range( |
||
| 1902 | Dev, |
||
| 1903 | DeviceMeasurementMode); |
||
| 1904 | |||
| 1905 | LOG_FUNCTION_END(Status); |
||
| 1906 | return Status;
|
||
| 1907 | } |
||
| 1908 | |||
| 1909 | |||
| 1910 | VL53L1_Error VL53L1_GetMeasurementDataReady(VL53L1_DEV Dev, |
||
| 1911 | uint8_t *pMeasurementDataReady) |
||
| 1912 | {
|
||
| 1913 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1914 | |||
| 1915 | LOG_FUNCTION_START("");
|
||
| 1916 | |||
| 1917 | Status = VL53L1_is_new_data_ready(Dev, pMeasurementDataReady); |
||
| 1918 | |||
| 1919 | LOG_FUNCTION_END(Status); |
||
| 1920 | return Status;
|
||
| 1921 | } |
||
| 1922 | |||
| 1923 | VL53L1_Error VL53L1_WaitMeasurementDataReady(VL53L1_DEV Dev) |
||
| 1924 | {
|
||
| 1925 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 1926 | |||
| 1927 | LOG_FUNCTION_START("");
|
||
| 1928 | |||
| 1929 | /* Note that the timeout is given by:
|
||
| 1930 | * VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS defined in def.h
|
||
| 1931 | */
|
||
| 1932 | |||
| 1933 | Status = VL53L1_poll_for_range_completion(Dev, |
||
| 1934 | VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS); |
||
| 1935 | |||
| 1936 | LOG_FUNCTION_END(Status); |
||
| 1937 | return Status;
|
||
| 1938 | } |
||
| 1939 | |||
| 1940 | |||
| 1941 | |||
| 1942 | static uint8_t ComputeRQL(uint8_t active_results,
|
||
| 1943 | uint8_t FilteredRangeStatus, |
||
| 1944 | VL53L1_range_data_t *presults_data) |
||
| 1945 | {
|
||
| 1946 | int16_t SRL = 300;
|
||
| 1947 | uint16_t SRAS = 30;
|
||
| 1948 | FixPoint1616_t RAS; |
||
| 1949 | FixPoint1616_t SRQL; |
||
| 1950 | FixPoint1616_t GI = 7713587; /* 117.7 * 65536 */ |
||
| 1951 | FixPoint1616_t GGm = 3198157; /* 48.8 * 65536 */ |
||
| 1952 | FixPoint1616_t LRAP = 6554; /* 0.1 * 65536 */ |
||
| 1953 | FixPoint1616_t partial; |
||
| 1954 | uint8_t finalvalue; |
||
| 1955 | uint8_t returnvalue; |
||
| 1956 | |||
| 1957 | if (active_results == 0) |
||
| 1958 | returnvalue = 0;
|
||
| 1959 | else if (FilteredRangeStatus == VL53L1_DEVICEERROR_PHASECONSISTENCY) |
||
| 1960 | returnvalue = 50;
|
||
| 1961 | else {
|
||
| 1962 | if (presults_data->median_range_mm < SRL)
|
||
| 1963 | RAS = SRAS * 65536;
|
||
| 1964 | else
|
||
| 1965 | RAS = LRAP * presults_data->median_range_mm; |
||
| 1966 | |||
| 1967 | /* Fix1616 + (fix1616 * uint16_t / fix1616) * 65536 = fix1616 */
|
||
| 1968 | if (RAS != 0) { |
||
| 1969 | partial = (GGm * presults_data->sigma_mm); |
||
| 1970 | partial = partial + (RAS >> 1);
|
||
| 1971 | partial = partial / RAS; |
||
| 1972 | partial = partial * 65536;
|
||
| 1973 | if (partial <= GI)
|
||
| 1974 | SRQL = GI - partial; |
||
| 1975 | else
|
||
| 1976 | SRQL = 50 * 65536; |
||
| 1977 | } else
|
||
| 1978 | SRQL = 100 * 65536; |
||
| 1979 | |||
| 1980 | finalvalue = (uint8_t)(SRQL >> 16);
|
||
| 1981 | returnvalue = MAX(50, MIN(100, finalvalue)); |
||
| 1982 | } |
||
| 1983 | |||
| 1984 | return returnvalue;
|
||
| 1985 | } |
||
| 1986 | |||
| 1987 | |||
| 1988 | static uint8_t ConvertStatusLite(uint8_t FilteredRangeStatus)
|
||
| 1989 | {
|
||
| 1990 | uint8_t RangeStatus; |
||
| 1991 | |||
| 1992 | switch (FilteredRangeStatus) {
|
||
| 1993 | case VL53L1_DEVICEERROR_GPHSTREAMCOUNT0READY:
|
||
| 1994 | RangeStatus = VL53L1_RANGESTATUS_SYNCRONISATION_INT; |
||
| 1995 | break;
|
||
| 1996 | case VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK:
|
||
| 1997 | RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL; |
||
| 1998 | break;
|
||
| 1999 | case VL53L1_DEVICEERROR_RANGEPHASECHECK:
|
||
| 2000 | RangeStatus = VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL; |
||
| 2001 | break;
|
||
| 2002 | case VL53L1_DEVICEERROR_MSRCNOTARGET:
|
||
| 2003 | RangeStatus = VL53L1_RANGESTATUS_SIGNAL_FAIL; |
||
| 2004 | break;
|
||
| 2005 | case VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK:
|
||
| 2006 | RangeStatus = VL53L1_RANGESTATUS_SIGMA_FAIL; |
||
| 2007 | break;
|
||
| 2008 | case VL53L1_DEVICEERROR_PHASECONSISTENCY:
|
||
| 2009 | RangeStatus = VL53L1_RANGESTATUS_WRAP_TARGET_FAIL; |
||
| 2010 | break;
|
||
| 2011 | case VL53L1_DEVICEERROR_RANGEIGNORETHRESHOLD:
|
||
| 2012 | RangeStatus = VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL; |
||
| 2013 | break;
|
||
| 2014 | case VL53L1_DEVICEERROR_MINCLIP:
|
||
| 2015 | RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED; |
||
| 2016 | break;
|
||
| 2017 | case VL53L1_DEVICEERROR_RANGECOMPLETE:
|
||
| 2018 | RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID; |
||
| 2019 | break;
|
||
| 2020 | default:
|
||
| 2021 | RangeStatus = VL53L1_RANGESTATUS_NONE; |
||
| 2022 | } |
||
| 2023 | |||
| 2024 | return RangeStatus;
|
||
| 2025 | } |
||
| 2026 | |||
| 2027 | |||
| 2028 | |||
| 2029 | static VL53L1_Error SetSimpleData(VL53L1_DEV Dev,
|
||
| 2030 | uint8_t active_results, uint8_t device_status, |
||
| 2031 | VL53L1_range_data_t *presults_data, |
||
| 2032 | VL53L1_RangingMeasurementData_t *pRangeData) |
||
| 2033 | {
|
||
| 2034 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 2035 | uint8_t FilteredRangeStatus; |
||
| 2036 | uint8_t SigmaLimitflag; |
||
| 2037 | uint8_t SignalLimitflag; |
||
| 2038 | uint8_t Temp8Enable; |
||
| 2039 | uint8_t Temp8; |
||
| 2040 | FixPoint1616_t AmbientRate; |
||
| 2041 | FixPoint1616_t SignalRate; |
||
| 2042 | FixPoint1616_t TempFix1616; |
||
| 2043 | FixPoint1616_t LimitCheckValue; |
||
| 2044 | int16_t Range; |
||
| 2045 | |||
| 2046 | pRangeData->TimeStamp = presults_data->time_stamp; |
||
| 2047 | |||
| 2048 | FilteredRangeStatus = presults_data->range_status & 0x1F;
|
||
| 2049 | |||
| 2050 | pRangeData->RangeQualityLevel = ComputeRQL(active_results, |
||
| 2051 | FilteredRangeStatus, |
||
| 2052 | presults_data); |
||
| 2053 | |||
| 2054 | SignalRate = VL53L1_FIXPOINT97TOFIXPOINT1616( |
||
| 2055 | presults_data->peak_signal_count_rate_mcps); |
||
| 2056 | pRangeData->SignalRateRtnMegaCps |
||
| 2057 | = SignalRate; |
||
| 2058 | |||
| 2059 | AmbientRate = VL53L1_FIXPOINT97TOFIXPOINT1616( |
||
| 2060 | presults_data->ambient_count_rate_mcps); |
||
| 2061 | pRangeData->AmbientRateRtnMegaCps = AmbientRate; |
||
| 2062 | |||
| 2063 | pRangeData->EffectiveSpadRtnCount = |
||
| 2064 | presults_data->actual_effective_spads; |
||
| 2065 | |||
| 2066 | TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616( |
||
| 2067 | presults_data->sigma_mm); |
||
| 2068 | |||
| 2069 | pRangeData->SigmaMilliMeter = TempFix1616; |
||
| 2070 | |||
| 2071 | pRangeData->RangeMilliMeter = presults_data->median_range_mm; |
||
| 2072 | |||
| 2073 | pRangeData->RangeFractionalPart = 0;
|
||
| 2074 | |||
| 2075 | /* Treat device error status first */
|
||
| 2076 | switch (device_status) {
|
||
| 2077 | case VL53L1_DEVICEERROR_MULTCLIPFAIL:
|
||
| 2078 | case VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE:
|
||
| 2079 | case VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE:
|
||
| 2080 | case VL53L1_DEVICEERROR_NOVHVVALUEFOUND:
|
||
| 2081 | pRangeData->RangeStatus = VL53L1_RANGESTATUS_HARDWARE_FAIL; |
||
| 2082 | break;
|
||
| 2083 | case VL53L1_DEVICEERROR_USERROICLIP:
|
||
| 2084 | pRangeData->RangeStatus = VL53L1_RANGESTATUS_MIN_RANGE_FAIL; |
||
| 2085 | break;
|
||
| 2086 | default:
|
||
| 2087 | pRangeData->RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID; |
||
| 2088 | } |
||
| 2089 | |||
| 2090 | /* Now deal with range status according to the ranging preset */
|
||
| 2091 | if (pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) {
|
||
| 2092 | pRangeData->RangeStatus = |
||
| 2093 | ConvertStatusLite(FilteredRangeStatus); |
||
| 2094 | } |
||
| 2095 | |||
| 2096 | /* Update current Limit Check */
|
||
| 2097 | TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616( |
||
| 2098 | presults_data->sigma_mm); |
||
| 2099 | VL53L1_SETARRAYPARAMETERFIELD(Dev, |
||
| 2100 | LimitChecksCurrent, VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, |
||
| 2101 | TempFix1616); |
||
| 2102 | |||
| 2103 | TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616( |
||
| 2104 | presults_data->peak_signal_count_rate_mcps); |
||
| 2105 | VL53L1_SETARRAYPARAMETERFIELD(Dev, |
||
| 2106 | LimitChecksCurrent, VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
||
| 2107 | TempFix1616); |
||
| 2108 | |||
| 2109 | /* Update Limit Check Status */
|
||
| 2110 | /* Sigma */
|
||
| 2111 | VL53L1_GetLimitCheckValue(Dev, |
||
| 2112 | VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, |
||
| 2113 | &LimitCheckValue); |
||
| 2114 | |||
| 2115 | SigmaLimitflag = (FilteredRangeStatus == |
||
| 2116 | VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK) |
||
| 2117 | ? 1 : 0; |
||
| 2118 | |||
| 2119 | VL53L1_GetLimitCheckEnable(Dev, |
||
| 2120 | VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, |
||
| 2121 | &Temp8Enable); |
||
| 2122 | |||
| 2123 | Temp8 = ((Temp8Enable == 1) && (SigmaLimitflag == 1)) ? 1 : 0; |
||
| 2124 | VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
||
| 2125 | VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8); |
||
| 2126 | |||
| 2127 | /* Signal Rate */
|
||
| 2128 | VL53L1_GetLimitCheckValue(Dev, |
||
| 2129 | VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
||
| 2130 | &LimitCheckValue); |
||
| 2131 | |||
| 2132 | SignalLimitflag = (FilteredRangeStatus == |
||
| 2133 | VL53L1_DEVICEERROR_MSRCNOTARGET) |
||
| 2134 | ? 1 : 0; |
||
| 2135 | |||
| 2136 | VL53L1_GetLimitCheckEnable(Dev, |
||
| 2137 | VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, |
||
| 2138 | &Temp8Enable); |
||
| 2139 | |||
| 2140 | Temp8 = ((Temp8Enable == 1) && (SignalLimitflag == 1)) ? 1 : 0; |
||
| 2141 | VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, |
||
| 2142 | VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, Temp8); |
||
| 2143 | |||
| 2144 | Range = pRangeData->RangeMilliMeter; |
||
| 2145 | if ((pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) &&
|
||
| 2146 | (Range < 0)) {
|
||
| 2147 | if (Range < BDTable[VL53L1_TUNING_PROXY_MIN])
|
||
| 2148 | pRangeData->RangeStatus = |
||
| 2149 | VL53L1_RANGESTATUS_RANGE_INVALID; |
||
| 2150 | else
|
||
| 2151 | pRangeData->RangeMilliMeter = 0;
|
||
| 2152 | } |
||
| 2153 | |||
| 2154 | return Status;
|
||
| 2155 | } |
||
| 2156 | |||
| 2157 | |||
| 2158 | |||
| 2159 | VL53L1_Error VL53L1_GetRangingMeasurementData(VL53L1_DEV Dev, |
||
| 2160 | VL53L1_RangingMeasurementData_t *pRangingMeasurementData) |
||
| 2161 | {
|
||
| 2162 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 2163 | VL53L1_range_results_t results; |
||
| 2164 | VL53L1_range_results_t *presults = &results; |
||
| 2165 | VL53L1_range_data_t *presults_data; |
||
| 2166 | |||
| 2167 | LOG_FUNCTION_START("");
|
||
| 2168 | |||
| 2169 | |||
| 2170 | /* Clear Ranging Data */
|
||
| 2171 | memset(pRangingMeasurementData, 0xFF,
|
||
| 2172 | sizeof(VL53L1_RangingMeasurementData_t));
|
||
| 2173 | |||
| 2174 | /* Get Ranging Data */
|
||
| 2175 | Status = VL53L1_get_device_results( |
||
| 2176 | Dev, |
||
| 2177 | VL53L1_DEVICERESULTSLEVEL_FULL, |
||
| 2178 | presults); |
||
| 2179 | |||
| 2180 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 2181 | pRangingMeasurementData->StreamCount = presults->stream_count; |
||
| 2182 | |||
| 2183 | /* in case of lite ranging or autonomous the following function
|
||
| 2184 | * returns index = 0
|
||
| 2185 | */
|
||
| 2186 | presults_data = &(presults->data[0]);
|
||
| 2187 | Status = SetSimpleData(Dev, 1,
|
||
| 2188 | presults->device_status, |
||
| 2189 | presults_data, |
||
| 2190 | pRangingMeasurementData); |
||
| 2191 | } |
||
| 2192 | |||
| 2193 | LOG_FUNCTION_END(Status); |
||
| 2194 | return Status;
|
||
| 2195 | } |
||
| 2196 | |||
| 2197 | |||
| 2198 | |||
| 2199 | |||
| 2200 | |||
| 2201 | /* End Group PAL Measurement Functions */
|
||
| 2202 | |||
| 2203 | |||
| 2204 | /* Group Calibration functions */
|
||
| 2205 | VL53L1_Error VL53L1_SetTuningParameter(VL53L1_DEV Dev, |
||
| 2206 | uint16_t TuningParameterId, int32_t TuningParameterValue) |
||
| 2207 | {
|
||
| 2208 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 2209 | |||
| 2210 | LOG_FUNCTION_START("");
|
||
| 2211 | if (TuningParameterId >= 32768) |
||
| 2212 | Status = VL53L1_set_tuning_parm(Dev, |
||
| 2213 | TuningParameterId, |
||
| 2214 | TuningParameterValue); |
||
| 2215 | else {
|
||
| 2216 | if (TuningParameterId < VL53L1_TUNING_MAX_TUNABLE_KEY)
|
||
| 2217 | BDTable[TuningParameterId] = TuningParameterValue; |
||
| 2218 | else
|
||
| 2219 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 2220 | } |
||
| 2221 | |||
| 2222 | LOG_FUNCTION_END(Status); |
||
| 2223 | return Status;
|
||
| 2224 | } |
||
| 2225 | |||
| 2226 | VL53L1_Error VL53L1_GetTuningParameter(VL53L1_DEV Dev, |
||
| 2227 | uint16_t TuningParameterId, int32_t *pTuningParameterValue) |
||
| 2228 | {
|
||
| 2229 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 2230 | |||
| 2231 | LOG_FUNCTION_START("");
|
||
| 2232 | |||
| 2233 | if (TuningParameterId >= 32768) |
||
| 2234 | Status = VL53L1_get_tuning_parm(Dev, |
||
| 2235 | TuningParameterId, |
||
| 2236 | pTuningParameterValue); |
||
| 2237 | else {
|
||
| 2238 | if (TuningParameterId < VL53L1_TUNING_MAX_TUNABLE_KEY)
|
||
| 2239 | *pTuningParameterValue = BDTable[TuningParameterId]; |
||
| 2240 | else
|
||
| 2241 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 2242 | } |
||
| 2243 | |||
| 2244 | LOG_FUNCTION_END(Status); |
||
| 2245 | return Status;
|
||
| 2246 | } |
||
| 2247 | |||
| 2248 | |||
| 2249 | VL53L1_Error VL53L1_PerformRefSpadManagement(VL53L1_DEV Dev) |
||
| 2250 | {
|
||
| 2251 | #ifdef VL53L1_NOCALIB
|
||
| 2252 | VL53L1_Error Status = VL53L1_ERROR_NOT_SUPPORTED; |
||
| 2253 | |||
| 2254 | SUPPRESS_UNUSED_WARNING(Dev); |
||
| 2255 | |||
| 2256 | LOG_FUNCTION_START("");
|
||
| 2257 | #else
|
||
| 2258 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 2259 | VL53L1_Error RawStatus; |
||
| 2260 | uint8_t dcrbuffer[24];
|
||
| 2261 | uint8_t *comms_buffer; |
||
| 2262 | uint8_t numloc[2] = {5,3}; |
||
| 2263 | VL53L1_LLDriverData_t *pdev; |
||
| 2264 | VL53L1_customer_nvm_managed_t *pc; |
||
| 2265 | VL53L1_PresetModes PresetMode; |
||
| 2266 | |||
| 2267 | LOG_FUNCTION_START("");
|
||
| 2268 | |||
| 2269 | pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
||
| 2270 | pc = &pdev->customer; |
||
| 2271 | |||
| 2272 | if (Status == VL53L1_ERROR_NONE)
|
||
| 2273 | {
|
||
| 2274 | PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); |
||
| 2275 | Status = VL53L1_run_ref_spad_char(Dev, &RawStatus); |
||
| 2276 | /* We discovered RefSpad mngt badly breaks some preset mode
|
||
| 2277 | * The WA is to apply again the current one
|
||
| 2278 | */
|
||
| 2279 | if (Status == VL53L1_ERROR_NONE)
|
||
| 2280 | Status = VL53L1_SetPresetMode(Dev, PresetMode); |
||
| 2281 | } |
||
| 2282 | |||
| 2283 | if (Status == VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH) {
|
||
| 2284 | /* Fix ticket #466282 RefSpad management error/warning -29
|
||
| 2285 | * force usage of location 3 and 5 refspads in registers
|
||
| 2286 | */
|
||
| 2287 | Status = VL53L1_read_nvm_raw_data(Dev, |
||
| 2288 | (uint8_t)(0xA0 >> 2), |
||
| 2289 | (uint8_t)(24 >> 2), |
||
| 2290 | dcrbuffer); |
||
| 2291 | |||
| 2292 | if (Status == VL53L1_ERROR_NONE)
|
||
| 2293 | Status = VL53L1_WriteMulti( Dev, |
||
| 2294 | VL53L1_REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS, |
||
| 2295 | numloc, 2);
|
||
| 2296 | |||
| 2297 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 2298 | pc->ref_spad_man__num_requested_ref_spads = numloc[0];
|
||
| 2299 | pc->ref_spad_man__ref_location = numloc[1];
|
||
| 2300 | } |
||
| 2301 | |||
| 2302 | if (Status == VL53L1_ERROR_NONE)
|
||
| 2303 | comms_buffer = &dcrbuffer[16];
|
||
| 2304 | |||
| 2305 | /*
|
||
| 2306 | * update & copy reference SPAD enables to customer nvm managed
|
||
| 2307 | */
|
||
| 2308 | |||
| 2309 | if (Status == VL53L1_ERROR_NONE)
|
||
| 2310 | Status = VL53L1_WriteMulti(Dev, |
||
| 2311 | VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0, |
||
| 2312 | comms_buffer, 6);
|
||
| 2313 | |||
| 2314 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 2315 | pc->global_config__spad_enables_ref_0 = comms_buffer[0];
|
||
| 2316 | pc->global_config__spad_enables_ref_1 = comms_buffer[1];
|
||
| 2317 | pc->global_config__spad_enables_ref_2 = comms_buffer[2];
|
||
| 2318 | pc->global_config__spad_enables_ref_3 = comms_buffer[3];
|
||
| 2319 | pc->global_config__spad_enables_ref_4 = comms_buffer[4];
|
||
| 2320 | pc->global_config__spad_enables_ref_5 = comms_buffer[5];
|
||
| 2321 | } |
||
| 2322 | /* End of fix ticket #466282 */
|
||
| 2323 | } |
||
| 2324 | |||
| 2325 | #endif
|
||
| 2326 | |||
| 2327 | LOG_FUNCTION_END(Status); |
||
| 2328 | return Status;
|
||
| 2329 | } |
||
| 2330 | |||
| 2331 | |||
| 2332 | VL53L1_Error VL53L1_SetXTalkCompensationEnable(VL53L1_DEV Dev, |
||
| 2333 | uint8_t XTalkCompensationEnable) |
||
| 2334 | {
|
||
| 2335 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 2336 | |||
| 2337 | LOG_FUNCTION_START("");
|
||
| 2338 | |||
| 2339 | if (XTalkCompensationEnable == 0) |
||
| 2340 | Status = VL53L1_disable_xtalk_compensation(Dev); |
||
| 2341 | else
|
||
| 2342 | Status = VL53L1_enable_xtalk_compensation(Dev); |
||
| 2343 | |||
| 2344 | LOG_FUNCTION_END(Status); |
||
| 2345 | return Status;
|
||
| 2346 | } |
||
| 2347 | |||
| 2348 | |||
| 2349 | VL53L1_Error VL53L1_GetXTalkCompensationEnable(VL53L1_DEV Dev, |
||
| 2350 | uint8_t *pXTalkCompensationEnable) |
||
| 2351 | {
|
||
| 2352 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 2353 | |||
| 2354 | LOG_FUNCTION_START("");
|
||
| 2355 | |||
| 2356 | VL53L1_get_xtalk_compensation_enable( |
||
| 2357 | Dev, |
||
| 2358 | pXTalkCompensationEnable); |
||
| 2359 | |||
| 2360 | LOG_FUNCTION_END(Status); |
||
| 2361 | return Status;
|
||
| 2362 | } |
||
| 2363 | |||
| 2364 | VL53L1_Error VL53L1_PerformSingleTargetXTalkCalibration(VL53L1_DEV Dev, |
||
| 2365 | int32_t CalDistanceMilliMeter) |
||
| 2366 | {
|
||
| 2367 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 2368 | |||
| 2369 | LOG_FUNCTION_START("");
|
||
| 2370 | |||
| 2371 | if (CalDistanceMilliMeter > 0) { |
||
| 2372 | BDTable[VL53L1_TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM] = |
||
| 2373 | CalDistanceMilliMeter; |
||
| 2374 | Status = SingleTargetXTalkCalibration(Dev); |
||
| 2375 | } else
|
||
| 2376 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 2377 | |||
| 2378 | LOG_FUNCTION_END(Status); |
||
| 2379 | return Status;
|
||
| 2380 | } |
||
| 2381 | |||
| 2382 | |||
| 2383 | VL53L1_Error VL53L1_SetOffsetCalibrationMode(VL53L1_DEV Dev, |
||
| 2384 | VL53L1_OffsetCalibrationModes OffsetCalibrationMode) |
||
| 2385 | {
|
||
| 2386 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 2387 | VL53L1_OffsetCalibrationMode offset_cal_mode; |
||
| 2388 | |||
| 2389 | LOG_FUNCTION_START("");
|
||
| 2390 | |||
| 2391 | if (OffsetCalibrationMode == VL53L1_OFFSETCALIBRATIONMODE_STANDARD) {
|
||
| 2392 | offset_cal_mode = VL53L1_DEVICEPRESETMODE_STANDARD_RANGING; |
||
| 2393 | } else if (OffsetCalibrationMode == |
||
| 2394 | VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY) {
|
||
| 2395 | offset_cal_mode = |
||
| 2396 | VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY; |
||
| 2397 | } else {
|
||
| 2398 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 2399 | } |
||
| 2400 | |||
| 2401 | if (Status == VL53L1_ERROR_NONE)
|
||
| 2402 | Status = VL53L1_set_offset_calibration_mode(Dev, |
||
| 2403 | offset_cal_mode); |
||
| 2404 | |||
| 2405 | LOG_FUNCTION_END(Status); |
||
| 2406 | return Status;
|
||
| 2407 | } |
||
| 2408 | |||
| 2409 | |||
| 2410 | #ifdef OFFSET_CALIB
|
||
| 2411 | VL53L1_Error VL53L1_PerformOffsetCalibration(VL53L1_DEV Dev, |
||
| 2412 | int32_t CalDistanceMilliMeter) |
||
| 2413 | {
|
||
| 2414 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 2415 | VL53L1_Error UnfilteredStatus; |
||
| 2416 | VL53L1_OffsetCalibrationMode offset_cal_mode; |
||
| 2417 | |||
| 2418 | LOG_FUNCTION_START("");
|
||
| 2419 | |||
| 2420 | if (Status == VL53L1_ERROR_NONE)
|
||
| 2421 | Status = VL53L1_get_offset_calibration_mode(Dev, |
||
| 2422 | &offset_cal_mode); |
||
| 2423 | |||
| 2424 | if (Status != VL53L1_ERROR_NONE) {
|
||
| 2425 | LOG_FUNCTION_END(Status); |
||
| 2426 | return Status;
|
||
| 2427 | } |
||
| 2428 | |||
| 2429 | if ((offset_cal_mode ==
|
||
| 2430 | VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD) || |
||
| 2431 | (offset_cal_mode == |
||
| 2432 | VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY |
||
| 2433 | )) {
|
||
| 2434 | if (Status == VL53L1_ERROR_NONE)
|
||
| 2435 | Status = VL53L1_run_offset_calibration( |
||
| 2436 | Dev, |
||
| 2437 | (int16_t)CalDistanceMilliMeter, |
||
| 2438 | &UnfilteredStatus); |
||
| 2439 | } else {
|
||
| 2440 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 2441 | } |
||
| 2442 | LOG_FUNCTION_END(Status); |
||
| 2443 | return Status;
|
||
| 2444 | } |
||
| 2445 | #endif
|
||
| 2446 | #ifdef OFFSET_CALIB_EMPTY
|
||
| 2447 | VL53L1_Error VL53L1_PerformOffsetCalibration(VL53L1_DEV Dev, |
||
| 2448 | int32_t CalDistanceMilliMeter) |
||
| 2449 | {
|
||
| 2450 | VL53L1_Error Status = VL53L1_ERROR_NOT_SUPPORTED; |
||
| 2451 | SUPPRESS_UNUSED_WARNING(Dev); |
||
| 2452 | SUPPRESS_UNUSED_WARNING(CalDistanceMilliMeter); |
||
| 2453 | return Status;
|
||
| 2454 | } |
||
| 2455 | #endif
|
||
| 2456 | |||
| 2457 | VL53L1_Error VL53L1_PerformOffsetSimpleCalibration(VL53L1_DEV Dev, |
||
| 2458 | int32_t CalDistanceMilliMeter) |
||
| 2459 | {
|
||
| 2460 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 2461 | int32_t sum_ranging; |
||
| 2462 | uint8_t offset_meas; |
||
| 2463 | int16_t Max, UnderMax, OverMax, Repeat; |
||
| 2464 | int32_t total_count, inloopcount; |
||
| 2465 | int32_t IncRounding; |
||
| 2466 | int16_t meanDistance_mm; |
||
| 2467 | int16_t offset; |
||
| 2468 | VL53L1_RangingMeasurementData_t RangingMeasurementData; |
||
| 2469 | VL53L1_LLDriverData_t *pdev; |
||
| 2470 | uint8_t goodmeas; |
||
| 2471 | |||
| 2472 | LOG_FUNCTION_START("");
|
||
| 2473 | |||
| 2474 | pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
||
| 2475 | /* Disable any offsets */
|
||
| 2476 | pdev->customer.algo__part_to_part_range_offset_mm = 0;
|
||
| 2477 | pdev->customer.mm_config__inner_offset_mm = 0;
|
||
| 2478 | pdev->customer.mm_config__outer_offset_mm = 0;
|
||
| 2479 | |||
| 2480 | Repeat=BDTable[VL53L1_TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT]; |
||
| 2481 | Max=BDTable[VL53L1_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER]; |
||
| 2482 | UnderMax = 1 + (Max / 2); |
||
| 2483 | OverMax = Max + (Max / 2);
|
||
| 2484 | sum_ranging = 0;
|
||
| 2485 | total_count = 0;
|
||
| 2486 | |||
| 2487 | while ((Repeat > 0) && (Status == VL53L1_ERROR_NONE)) { |
||
| 2488 | Status = VL53L1_StartMeasurement(Dev); |
||
| 2489 | /* Very first ranging completion interrupt must be ignored */
|
||
| 2490 | if (Status == VL53L1_ERROR_NONE)
|
||
| 2491 | Status = VL53L1_WaitMeasurementDataReady(Dev); |
||
| 2492 | if (Status == VL53L1_ERROR_NONE)
|
||
| 2493 | Status = VL53L1_GetRangingMeasurementData(Dev, |
||
| 2494 | &RangingMeasurementData); |
||
| 2495 | if (Status == VL53L1_ERROR_NONE)
|
||
| 2496 | Status = VL53L1_ClearInterruptAndStartMeasurement(Dev); |
||
| 2497 | /* offset calibration main loop */
|
||
| 2498 | inloopcount = 0;
|
||
| 2499 | offset_meas = 0;
|
||
| 2500 | while ((Status == VL53L1_ERROR_NONE) && (inloopcount < Max) &&
|
||
| 2501 | (offset_meas < OverMax)) {
|
||
| 2502 | Status = VL53L1_WaitMeasurementDataReady(Dev); |
||
| 2503 | if (Status == VL53L1_ERROR_NONE)
|
||
| 2504 | Status = VL53L1_GetRangingMeasurementData(Dev, |
||
| 2505 | &RangingMeasurementData); |
||
| 2506 | goodmeas = (RangingMeasurementData.RangeStatus == |
||
| 2507 | VL53L1_RANGESTATUS_RANGE_VALID); |
||
| 2508 | if ((Status == VL53L1_ERROR_NONE) && goodmeas) {
|
||
| 2509 | sum_ranging = sum_ranging + |
||
| 2510 | RangingMeasurementData.RangeMilliMeter; |
||
| 2511 | inloopcount++; |
||
| 2512 | } |
||
| 2513 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 2514 | Status = VL53L1_ClearInterruptAndStartMeasurement( |
||
| 2515 | Dev); |
||
| 2516 | } |
||
| 2517 | offset_meas++; |
||
| 2518 | } |
||
| 2519 | total_count += inloopcount; |
||
| 2520 | |||
| 2521 | /* no enough valid values found */
|
||
| 2522 | if (inloopcount < UnderMax) {
|
||
| 2523 | Status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL; |
||
| 2524 | } |
||
| 2525 | |||
| 2526 | VL53L1_StopMeasurement(Dev); |
||
| 2527 | |||
| 2528 | Repeat--; |
||
| 2529 | |||
| 2530 | } |
||
| 2531 | /* check overflow (unlikely if target is near to the device) */
|
||
| 2532 | if ((sum_ranging < 0) || |
||
| 2533 | (sum_ranging > ((int32_t) total_count * 0xffff))) {
|
||
| 2534 | Status = VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH; |
||
| 2535 | } |
||
| 2536 | |||
| 2537 | if ((Status == VL53L1_ERROR_NONE) && (total_count > 0)) { |
||
| 2538 | IncRounding = total_count / 2;
|
||
| 2539 | meanDistance_mm = (int16_t)((sum_ranging + IncRounding) |
||
| 2540 | / total_count); |
||
| 2541 | offset = (int16_t)CalDistanceMilliMeter - meanDistance_mm; |
||
| 2542 | pdev->customer.algo__part_to_part_range_offset_mm = 0;
|
||
| 2543 | pdev->customer.mm_config__inner_offset_mm = offset; |
||
| 2544 | pdev->customer.mm_config__outer_offset_mm = offset; |
||
| 2545 | |||
| 2546 | Status = VL53L1_set_customer_nvm_managed(Dev, |
||
| 2547 | &(pdev->customer)); |
||
| 2548 | } |
||
| 2549 | |||
| 2550 | LOG_FUNCTION_END(Status); |
||
| 2551 | return Status;
|
||
| 2552 | } |
||
| 2553 | |||
| 2554 | VL53L1_Error VL53L1_SetCalibrationData(VL53L1_DEV Dev, |
||
| 2555 | VL53L1_CalibrationData_t *pCalibrationData) |
||
| 2556 | {
|
||
| 2557 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 2558 | VL53L1_CustomerNvmManaged_t *pC; |
||
| 2559 | VL53L1_calibration_data_t cal_data; |
||
| 2560 | uint32_t x; |
||
| 2561 | |||
| 2562 | LOG_FUNCTION_START("");
|
||
| 2563 | |||
| 2564 | cal_data.struct_version = pCalibrationData->struct_version - |
||
| 2565 | VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION; |
||
| 2566 | |||
| 2567 | |||
| 2568 | |||
| 2569 | /* memcpy(DEST, SRC, N) */
|
||
| 2570 | memcpy( |
||
| 2571 | &(cal_data.add_off_cal_data), |
||
| 2572 | &(pCalibrationData->add_off_cal_data), |
||
| 2573 | sizeof(VL53L1_additional_offset_cal_data_t));
|
||
| 2574 | |||
| 2575 | /* memcpy (DEST, SRC, N) */
|
||
| 2576 | memcpy( |
||
| 2577 | &(cal_data.optical_centre), |
||
| 2578 | &(pCalibrationData->optical_centre), |
||
| 2579 | sizeof(VL53L1_optical_centre_t));
|
||
| 2580 | |||
| 2581 | /* memcpy (DEST, SRC, N) */
|
||
| 2582 | memcpy( |
||
| 2583 | &(cal_data.gain_cal), |
||
| 2584 | &(pCalibrationData->gain_cal), |
||
| 2585 | sizeof(VL53L1_gain_calibration_data_t));
|
||
| 2586 | |||
| 2587 | /* memcpy (DEST, SRC, N) */
|
||
| 2588 | memcpy( |
||
| 2589 | &(cal_data.cal_peak_rate_map), |
||
| 2590 | &(pCalibrationData->cal_peak_rate_map), |
||
| 2591 | sizeof(VL53L1_cal_peak_rate_map_t));
|
||
| 2592 | |||
| 2593 | pC = &pCalibrationData->customer; |
||
| 2594 | x = pC->algo__crosstalk_compensation_plane_offset_kcps; |
||
| 2595 | cal_data.customer.algo__crosstalk_compensation_plane_offset_kcps = |
||
| 2596 | (uint16_t)(x&0x0000FFFF);
|
||
| 2597 | |||
| 2598 | cal_data.customer.global_config__spad_enables_ref_0 = |
||
| 2599 | pC->global_config__spad_enables_ref_0; |
||
| 2600 | cal_data.customer.global_config__spad_enables_ref_1 = |
||
| 2601 | pC->global_config__spad_enables_ref_1; |
||
| 2602 | cal_data.customer.global_config__spad_enables_ref_2 = |
||
| 2603 | pC->global_config__spad_enables_ref_2; |
||
| 2604 | cal_data.customer.global_config__spad_enables_ref_3 = |
||
| 2605 | pC->global_config__spad_enables_ref_3; |
||
| 2606 | cal_data.customer.global_config__spad_enables_ref_4 = |
||
| 2607 | pC->global_config__spad_enables_ref_4; |
||
| 2608 | cal_data.customer.global_config__spad_enables_ref_5 = |
||
| 2609 | pC->global_config__spad_enables_ref_5; |
||
| 2610 | cal_data.customer.global_config__ref_en_start_select = |
||
| 2611 | pC->global_config__ref_en_start_select; |
||
| 2612 | cal_data.customer.ref_spad_man__num_requested_ref_spads = |
||
| 2613 | pC->ref_spad_man__num_requested_ref_spads; |
||
| 2614 | cal_data.customer.ref_spad_man__ref_location = |
||
| 2615 | pC->ref_spad_man__ref_location; |
||
| 2616 | cal_data.customer.algo__crosstalk_compensation_x_plane_gradient_kcps = |
||
| 2617 | pC->algo__crosstalk_compensation_x_plane_gradient_kcps; |
||
| 2618 | cal_data.customer.algo__crosstalk_compensation_y_plane_gradient_kcps = |
||
| 2619 | pC->algo__crosstalk_compensation_y_plane_gradient_kcps; |
||
| 2620 | cal_data.customer.ref_spad_char__total_rate_target_mcps = |
||
| 2621 | pC->ref_spad_char__total_rate_target_mcps; |
||
| 2622 | cal_data.customer.algo__part_to_part_range_offset_mm = |
||
| 2623 | pC->algo__part_to_part_range_offset_mm; |
||
| 2624 | cal_data.customer.mm_config__inner_offset_mm = |
||
| 2625 | pC->mm_config__inner_offset_mm; |
||
| 2626 | cal_data.customer.mm_config__outer_offset_mm = |
||
| 2627 | pC->mm_config__outer_offset_mm; |
||
| 2628 | |||
| 2629 | Status = VL53L1_set_part_to_part_data(Dev, &cal_data); |
||
| 2630 | LOG_FUNCTION_END(Status); |
||
| 2631 | return Status;
|
||
| 2632 | |||
| 2633 | } |
||
| 2634 | |||
| 2635 | VL53L1_Error VL53L1_GetCalibrationData(VL53L1_DEV Dev, |
||
| 2636 | VL53L1_CalibrationData_t *pCalibrationData) |
||
| 2637 | {
|
||
| 2638 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 2639 | VL53L1_calibration_data_t cal_data; |
||
| 2640 | VL53L1_CustomerNvmManaged_t *pC; |
||
| 2641 | VL53L1_customer_nvm_managed_t *pC2; |
||
| 2642 | |||
| 2643 | LOG_FUNCTION_START("");
|
||
| 2644 | |||
| 2645 | /* struct_version is filled inside get part to part function */
|
||
| 2646 | Status = VL53L1_get_part_to_part_data(Dev, &cal_data); |
||
| 2647 | |||
| 2648 | pCalibrationData->struct_version = cal_data.struct_version + |
||
| 2649 | VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION; |
||
| 2650 | |||
| 2651 | |||
| 2652 | /* memcpy(DEST, SRC, N) */
|
||
| 2653 | memcpy( |
||
| 2654 | &(pCalibrationData->add_off_cal_data), |
||
| 2655 | &(cal_data.add_off_cal_data), |
||
| 2656 | sizeof(VL53L1_additional_offset_cal_data_t));
|
||
| 2657 | |||
| 2658 | /* memcpy (DEST, SRC, N) */
|
||
| 2659 | memcpy( |
||
| 2660 | &(pCalibrationData->optical_centre), |
||
| 2661 | &(cal_data.optical_centre), |
||
| 2662 | sizeof(VL53L1_optical_centre_t));
|
||
| 2663 | |||
| 2664 | /* memcpy (DEST, SRC, N) */
|
||
| 2665 | memcpy( |
||
| 2666 | &(pCalibrationData->gain_cal), |
||
| 2667 | &(cal_data.gain_cal), |
||
| 2668 | sizeof(VL53L1_gain_calibration_data_t));
|
||
| 2669 | |||
| 2670 | /* memcpy (DEST, SRC, N) */
|
||
| 2671 | memcpy( |
||
| 2672 | &(pCalibrationData->cal_peak_rate_map), |
||
| 2673 | &(cal_data.cal_peak_rate_map), |
||
| 2674 | sizeof(VL53L1_cal_peak_rate_map_t));
|
||
| 2675 | |||
| 2676 | |||
| 2677 | pC = &pCalibrationData->customer; |
||
| 2678 | pC2 = &cal_data.customer; |
||
| 2679 | pC->global_config__spad_enables_ref_0 = |
||
| 2680 | pC2->global_config__spad_enables_ref_0; |
||
| 2681 | pC->global_config__spad_enables_ref_1 = |
||
| 2682 | pC2->global_config__spad_enables_ref_1; |
||
| 2683 | pC->global_config__spad_enables_ref_2 = |
||
| 2684 | pC2->global_config__spad_enables_ref_2; |
||
| 2685 | pC->global_config__spad_enables_ref_3 = |
||
| 2686 | pC2->global_config__spad_enables_ref_3; |
||
| 2687 | pC->global_config__spad_enables_ref_4 = |
||
| 2688 | pC2->global_config__spad_enables_ref_4; |
||
| 2689 | pC->global_config__spad_enables_ref_5 = |
||
| 2690 | pC2->global_config__spad_enables_ref_5; |
||
| 2691 | pC->global_config__ref_en_start_select = |
||
| 2692 | pC2->global_config__ref_en_start_select; |
||
| 2693 | pC->ref_spad_man__num_requested_ref_spads = |
||
| 2694 | pC2->ref_spad_man__num_requested_ref_spads; |
||
| 2695 | pC->ref_spad_man__ref_location = |
||
| 2696 | pC2->ref_spad_man__ref_location; |
||
| 2697 | pC->algo__crosstalk_compensation_x_plane_gradient_kcps = |
||
| 2698 | pC2->algo__crosstalk_compensation_x_plane_gradient_kcps; |
||
| 2699 | pC->algo__crosstalk_compensation_y_plane_gradient_kcps = |
||
| 2700 | pC2->algo__crosstalk_compensation_y_plane_gradient_kcps; |
||
| 2701 | pC->ref_spad_char__total_rate_target_mcps = |
||
| 2702 | pC2->ref_spad_char__total_rate_target_mcps; |
||
| 2703 | pC->algo__part_to_part_range_offset_mm = |
||
| 2704 | pC2->algo__part_to_part_range_offset_mm; |
||
| 2705 | pC->mm_config__inner_offset_mm = |
||
| 2706 | pC2->mm_config__inner_offset_mm; |
||
| 2707 | pC->mm_config__outer_offset_mm = |
||
| 2708 | pC2->mm_config__outer_offset_mm; |
||
| 2709 | |||
| 2710 | pC->algo__crosstalk_compensation_plane_offset_kcps = |
||
| 2711 | (uint32_t)( |
||
| 2712 | pC2->algo__crosstalk_compensation_plane_offset_kcps); |
||
| 2713 | LOG_FUNCTION_END(Status); |
||
| 2714 | return Status;
|
||
| 2715 | } |
||
| 2716 | |||
| 2717 | |||
| 2718 | |||
| 2719 | VL53L1_Error VL53L1_GetOpticalCenter(VL53L1_DEV Dev, |
||
| 2720 | FixPoint1616_t *pOpticalCenterX, |
||
| 2721 | FixPoint1616_t *pOpticalCenterY) |
||
| 2722 | {
|
||
| 2723 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 2724 | VL53L1_calibration_data_t CalibrationData; |
||
| 2725 | |||
| 2726 | LOG_FUNCTION_START("");
|
||
| 2727 | |||
| 2728 | *pOpticalCenterX = 0;
|
||
| 2729 | *pOpticalCenterY = 0;
|
||
| 2730 | Status = VL53L1_get_part_to_part_data(Dev, &CalibrationData); |
||
| 2731 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 2732 | *pOpticalCenterX = VL53L1_FIXPOINT44TOFIXPOINT1616( |
||
| 2733 | CalibrationData.optical_centre.x_centre); |
||
| 2734 | *pOpticalCenterY = VL53L1_FIXPOINT44TOFIXPOINT1616( |
||
| 2735 | CalibrationData.optical_centre.y_centre); |
||
| 2736 | } |
||
| 2737 | |||
| 2738 | LOG_FUNCTION_END(Status); |
||
| 2739 | return Status;
|
||
| 2740 | } |
||
| 2741 | |||
| 2742 | /* END Group Calibration functions */
|
||
| 2743 | |||
| 2744 | |||
| 2745 | /* Group PAL detection triggered events Functions */
|
||
| 2746 | |||
| 2747 | VL53L1_Error VL53L1_SetThresholdConfig(VL53L1_DEV Dev, |
||
| 2748 | VL53L1_DetectionConfig_t *pConfig) |
||
| 2749 | {
|
||
| 2750 | #define BADTHRESBOUNDS(T) \
|
||
| 2751 | (((T.CrossMode == VL53L1_THRESHOLD_OUT_OF_WINDOW) || \ |
||
| 2752 | (T.CrossMode == VL53L1_THRESHOLD_IN_WINDOW)) && (T.Low > T.High)) |
||
| 2753 | |||
| 2754 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 2755 | VL53L1_GPIO_interrupt_config_t Cfg; |
||
| 2756 | uint16_t g; |
||
| 2757 | FixPoint1616_t gain, high1616, low1616; |
||
| 2758 | VL53L1_LLDriverData_t *pdev; |
||
| 2759 | |||
| 2760 | LOG_FUNCTION_START("");
|
||
| 2761 | |||
| 2762 | pdev = VL53L1DevStructGetLLDriverHandle(Dev); |
||
| 2763 | |||
| 2764 | Status = VL53L1_get_GPIO_interrupt_config(Dev, &Cfg); |
||
| 2765 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 2766 | if (pConfig->DetectionMode == VL53L1_DETECTION_NORMAL_RUN) {
|
||
| 2767 | Cfg.intr_new_measure_ready = 1;
|
||
| 2768 | Status = VL53L1_set_GPIO_interrupt_config_struct(Dev, |
||
| 2769 | Cfg); |
||
| 2770 | } else {
|
||
| 2771 | if (BADTHRESBOUNDS(pConfig->Distance))
|
||
| 2772 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 2773 | if ((Status == VL53L1_ERROR_NONE) &&
|
||
| 2774 | (BADTHRESBOUNDS(pConfig->Rate))) |
||
| 2775 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 2776 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 2777 | Cfg.intr_new_measure_ready = 0;
|
||
| 2778 | Cfg.intr_no_target = pConfig->IntrNoTarget; |
||
| 2779 | /* fix ticket 466238
|
||
| 2780 | * Apply invert distance gain to thresholds */
|
||
| 2781 | g = pdev->gain_cal.standard_ranging_gain_factor; |
||
| 2782 | /* gain is ufix 5.11, convert to 16.16 */
|
||
| 2783 | gain = (FixPoint1616_t) ((uint32_t)g << 5);
|
||
| 2784 | high1616 = (FixPoint1616_t) ((uint32_t) |
||
| 2785 | pConfig->Distance.High << 16);
|
||
| 2786 | low1616 = (FixPoint1616_t) ((uint32_t) |
||
| 2787 | pConfig->Distance.Low << 16);
|
||
| 2788 | /* +32768 to round the results*/
|
||
| 2789 | high1616 = (high1616 + 32768) / gain;
|
||
| 2790 | low1616 = (low1616 + 32768) / gain;
|
||
| 2791 | Cfg.threshold_distance_high = (uint16_t) |
||
| 2792 | (high1616 & 0xFFFF);
|
||
| 2793 | Cfg.threshold_distance_low = (uint16_t) |
||
| 2794 | (low1616 & 0xFFFF);
|
||
| 2795 | /* end fix ticket 466238 */
|
||
| 2796 | Cfg.threshold_rate_high = |
||
| 2797 | VL53L1_FIXPOINT1616TOFIXPOINT97( |
||
| 2798 | pConfig->Rate.High); |
||
| 2799 | Cfg.threshold_rate_low = |
||
| 2800 | VL53L1_FIXPOINT1616TOFIXPOINT97( |
||
| 2801 | pConfig->Rate.Low); |
||
| 2802 | |||
| 2803 | Cfg.intr_mode_distance = ConvertModeToLLD( |
||
| 2804 | &Status, |
||
| 2805 | pConfig->Distance.CrossMode); |
||
| 2806 | if (Status == VL53L1_ERROR_NONE)
|
||
| 2807 | Cfg.intr_mode_rate = ConvertModeToLLD( |
||
| 2808 | &Status, |
||
| 2809 | pConfig->Rate.CrossMode); |
||
| 2810 | } |
||
| 2811 | |||
| 2812 | /* Refine thresholds combination now */
|
||
| 2813 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 2814 | Cfg.intr_combined_mode = 1;
|
||
| 2815 | switch (pConfig->DetectionMode) {
|
||
| 2816 | case VL53L1_DETECTION_DISTANCE_ONLY:
|
||
| 2817 | Cfg.threshold_rate_high = 0;
|
||
| 2818 | Cfg.threshold_rate_low = 0;
|
||
| 2819 | break;
|
||
| 2820 | case VL53L1_DETECTION_RATE_ONLY:
|
||
| 2821 | Cfg.threshold_distance_high = 0;
|
||
| 2822 | Cfg.threshold_distance_low = 0;
|
||
| 2823 | break;
|
||
| 2824 | case VL53L1_DETECTION_DISTANCE_OR_RATE:
|
||
| 2825 | /* Nothing to do all is already
|
||
| 2826 | * in place
|
||
| 2827 | */
|
||
| 2828 | break;
|
||
| 2829 | case VL53L1_DETECTION_DISTANCE_AND_RATE:
|
||
| 2830 | Cfg.intr_combined_mode = 0;
|
||
| 2831 | break;
|
||
| 2832 | default:
|
||
| 2833 | Status = VL53L1_ERROR_INVALID_PARAMS; |
||
| 2834 | } |
||
| 2835 | } |
||
| 2836 | |||
| 2837 | if (Status == VL53L1_ERROR_NONE)
|
||
| 2838 | Status = |
||
| 2839 | VL53L1_set_GPIO_interrupt_config_struct(Dev, |
||
| 2840 | Cfg); |
||
| 2841 | |||
| 2842 | } |
||
| 2843 | } |
||
| 2844 | |||
| 2845 | LOG_FUNCTION_END(Status); |
||
| 2846 | return Status;
|
||
| 2847 | } |
||
| 2848 | |||
| 2849 | |||
| 2850 | VL53L1_Error VL53L1_GetThresholdConfig(VL53L1_DEV Dev, |
||
| 2851 | VL53L1_DetectionConfig_t *pConfig) |
||
| 2852 | {
|
||
| 2853 | VL53L1_Error Status = VL53L1_ERROR_NONE; |
||
| 2854 | VL53L1_GPIO_interrupt_config_t Cfg; |
||
| 2855 | |||
| 2856 | LOG_FUNCTION_START("");
|
||
| 2857 | |||
| 2858 | Status = VL53L1_get_GPIO_interrupt_config(Dev, &Cfg); |
||
| 2859 | |||
| 2860 | if (Status != VL53L1_ERROR_NONE) {
|
||
| 2861 | LOG_FUNCTION_END(Status); |
||
| 2862 | return Status;
|
||
| 2863 | } |
||
| 2864 | |||
| 2865 | pConfig->IntrNoTarget = Cfg.intr_no_target; |
||
| 2866 | pConfig->Distance.High = Cfg.threshold_distance_high; |
||
| 2867 | pConfig->Distance.Low = Cfg.threshold_distance_low; |
||
| 2868 | pConfig->Rate.High = |
||
| 2869 | VL53L1_FIXPOINT97TOFIXPOINT1616( |
||
| 2870 | Cfg.threshold_rate_high); |
||
| 2871 | pConfig->Rate.Low = |
||
| 2872 | VL53L1_FIXPOINT97TOFIXPOINT1616(Cfg.threshold_rate_low); |
||
| 2873 | pConfig->Distance.CrossMode = |
||
| 2874 | ConvertModeFromLLD(&Status, Cfg.intr_mode_distance); |
||
| 2875 | if (Status == VL53L1_ERROR_NONE)
|
||
| 2876 | pConfig->Rate.CrossMode = |
||
| 2877 | ConvertModeFromLLD(&Status, Cfg.intr_mode_rate); |
||
| 2878 | |||
| 2879 | if (Cfg.intr_new_measure_ready == 1) { |
||
| 2880 | pConfig->DetectionMode = VL53L1_DETECTION_NORMAL_RUN; |
||
| 2881 | } else {
|
||
| 2882 | /* Refine thresholds combination now */
|
||
| 2883 | if (Status == VL53L1_ERROR_NONE) {
|
||
| 2884 | if (Cfg.intr_combined_mode == 0) |
||
| 2885 | pConfig->DetectionMode = |
||
| 2886 | VL53L1_DETECTION_DISTANCE_AND_RATE; |
||
| 2887 | else {
|
||
| 2888 | if ((Cfg.threshold_distance_high == 0) && |
||
| 2889 | (Cfg.threshold_distance_low == 0))
|
||
| 2890 | pConfig->DetectionMode = |
||
| 2891 | VL53L1_DETECTION_RATE_ONLY; |
||
| 2892 | else if ((Cfg.threshold_rate_high == 0) && |
||
| 2893 | (Cfg.threshold_rate_low == 0))
|
||
| 2894 | pConfig->DetectionMode = |
||
| 2895 | VL53L1_DETECTION_DISTANCE_ONLY; |
||
| 2896 | else
|
||
| 2897 | pConfig->DetectionMode = |
||
| 2898 | VL53L1_DETECTION_DISTANCE_OR_RATE; |
||
| 2899 | } |
||
| 2900 | } |
||
| 2901 | } |
||
| 2902 | |||
| 2903 | LOG_FUNCTION_END(Status); |
||
| 2904 | return Status;
|
||
| 2905 | } |
||
| 2906 | |||
| 2907 | |||
| 2908 | /* End Group PAL IRQ Triggered events Functions */
|
||
| 2909 |