diff --git a/CMakeLists.txt b/CMakeLists.txt index 9474f7d..6dfc772 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -58,12 +58,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE app/drivers/motor_driver.c app/drivers/ir_remote.c app/drivers/line_sensor.c - app/drivers/vl53l0x/vl53l0x_platform.c - app/drivers/vl53l0x/vl53l0x_api.c - app/drivers/vl53l0x/vl53l0x_api_calibration.c - app/drivers/vl53l0x/vl53l0x_api_core.c - app/drivers/vl53l0x/vl53l0x_api_ranging.c - app/drivers/vl53l0x/vl53l0x_api_strings.c + app/drivers/vl53l4cd_platform.c app/state.c app/state_standby.c app/state_retreat.c @@ -85,12 +80,20 @@ add_library(segger_rtt STATIC external/rtt/RTT/SEGGER_RTT.c external/rtt/RTT/SEGGER_RTT_printf.c ) - target_include_directories(segger_rtt PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/app/config ${CMAKE_CURRENT_SOURCE_DIR}/external/rtt/RTT ) +add_library(vl53l4cd_uld STATIC + external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver/VL53L4CD_api.c + external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver/VL53L4CD_calibration.c +) +target_include_directories(vl53l4cd_uld PUBLIC + ${CMAKE_CURRENT_SOURCE_DIR}/external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver + ${CMAKE_CURRENT_SOURCE_DIR}/external/VL53L4CD_ULD_V2.2.3/Platform +) + # Add project symbols (macros) target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE # Add user defined symbols @@ -105,5 +108,6 @@ target_link_libraries(${CMAKE_PROJECT_NAME} # Add user defined libraries segger_rtt + vl53l4cd_uld ) diff --git a/README.md b/README.md index f52a026..0877d4c 100644 --- a/README.md +++ b/README.md @@ -37,7 +37,8 @@ regardless of battery voltage, which fluctuates with charge. - The [STM32CubeMX generated](#hardware-initialization) source and header files live in `Src` and `Inc`. - External libraries live in `external`, at the time of writing it holds a Segger RTT library -git submodule, used for logging in debug builds, and the Unity unit testing framework. +git submodule, used for logging in debug builds, ST's VL53L4CD driver and the Unity unit testing +framework. - Integration and unit tests live in `tests`. ### State machine diff --git a/Src/i2c.c b/Src/i2c.c index 2510a36..82c86e2 100644 --- a/Src/i2c.c +++ b/Src/i2c.c @@ -35,12 +35,12 @@ void MX_I2C1_Init(void) /* USER CODE END I2C1_Init 0 */ /* USER CODE BEGIN I2C1_Init 1 */ - // The I2C bus is used to communicate with our three VL53L* ranging sensors, configured in fast - // mode, 400 KHz, to speed up the I2C transmissions required to read the ranging data and reset - // the DRDY pin. + // The I2C bus is used to communicate with our three VL53L4CD ranging sensors, configured for I2C + // fast mode plus, 1MHz, to speed up the I2C transmissions required to read the ranging data and + // reset the DRDY pin. /* USER CODE END I2C1_Init 1 */ hi2c1.Instance = I2C1; - hi2c1.Init.Timing = 0x0010020A; + hi2c1.Init.Timing = 0x00100001; hi2c1.Init.OwnAddress1 = 0; hi2c1.Init.AddressingMode = I2C_ADDRESSINGMODE_7BIT; hi2c1.Init.DualAddressMode = I2C_DUALADDRESS_DISABLE; @@ -66,6 +66,10 @@ void MX_I2C1_Init(void) { Error_Handler(); } + + /** I2C Fast mode Plus enable + */ + __HAL_SYSCFG_FASTMODEPLUS_ENABLE(I2C_FASTMODEPLUS_I2C1); /* USER CODE BEGIN I2C1_Init 2 */ /* USER CODE END I2C1_Init 2 */ diff --git a/app/app.c b/app/app.c index b1cb704..bc60b6c 100644 --- a/app/app.c +++ b/app/app.c @@ -1,8 +1,8 @@ +#include "VL53L4CD_api.h" #include "debug.h" #include "drivers/ir_remote.h" #include "drivers/line_sensor.h" #include "drivers/motor_driver.h" -#include "drivers/vl53l0x/vl53l0x_api.h" #include "main.h" #include "ranging.h" #include "state.h" @@ -20,7 +20,7 @@ void app_init(void) ir_remote_init(); line_sensor_init(); int ret = ranging_init(); - if (ret != VL53L0X_ERROR_NONE) + if (ret != VL53L4CD_ERROR_NONE) { DEBUG_PRINTF("Encountered an error during ranging init, error: %d\n", ret); Error_Handler(); diff --git a/app/drivers/vl53l0x/vl53l0x_api.c b/app/drivers/vl53l0x/vl53l0x_api.c deleted file mode 100644 index ec65675..0000000 --- a/app/drivers/vl53l0x/vl53l0x_api.c +++ /dev/null @@ -1,3265 +0,0 @@ -/******************************************************************************* - * Copyright � 2016, STMicroelectronics International N.V. - All rights reserved. - - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND - NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. - IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY - DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - ******************************************************************************/ - -#include "vl53l0x_api.h" -#include "vl53l0x_tuning.h" -#include "vl53l0x_interrupt_threshold_settings.h" -#include "vl53l0x_api_core.h" -#include "vl53l0x_api_calibration.h" -#include "vl53l0x_api_strings.h" - -#ifndef __KERNEL__ -#include -#endif -#define LOG_FUNCTION_START(fmt, ...) \ - _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) -#define LOG_FUNCTION_END(status, ...) \ - _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) -#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ - _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) - -#ifdef VL53L0X_LOG_ENABLE -#define trace_print(level, ...) trace_print_module_function(TRACE_MODULE_API, \ - level, TRACE_FUNCTION_NONE, ##__VA_ARGS__) -#endif - -/* Group PAL General Functions */ - -VL53L0X_Error VL53L0X_GetVersion(VL53L0X_Version_t *pVersion) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - pVersion->major = VL53L0X_IMPLEMENTATION_VER_MAJOR; - pVersion->minor = VL53L0X_IMPLEMENTATION_VER_MINOR; - pVersion->build = VL53L0X_IMPLEMENTATION_VER_SUB; - - pVersion->revision = VL53L0X_IMPLEMENTATION_VER_REVISION; - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetPalSpecVersion(VL53L0X_Version_t *pPalSpecVersion) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - pPalSpecVersion->major = VL53L0X_SPECIFICATION_VER_MAJOR; - pPalSpecVersion->minor = VL53L0X_SPECIFICATION_VER_MINOR; - pPalSpecVersion->build = VL53L0X_SPECIFICATION_VER_SUB; - - pPalSpecVersion->revision = VL53L0X_SPECIFICATION_VER_REVISION; - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetProductRevision(VL53L0X_DEV Dev, - uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t revision_id; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_RdByte(Dev, VL53L0X_REG_IDENTIFICATION_REVISION_ID, - &revision_id); - *pProductRevisionMajor = 1; - *pProductRevisionMinor = (revision_id & 0xF0) >> 4; - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetDeviceInfo(VL53L0X_DEV Dev, - VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_get_device_info(Dev, pVL53L0X_DeviceInfo); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetDeviceErrorStatus(VL53L0X_DEV Dev, - VL53L0X_DeviceError *pDeviceErrorStatus) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t RangeStatus; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_RANGE_STATUS, - &RangeStatus); - - *pDeviceErrorStatus = (VL53L0X_DeviceError)((RangeStatus & 0x78) >> 3); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetDeviceErrorString(VL53L0X_DeviceError ErrorCode, - char *pDeviceErrorString) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_get_device_error_string(ErrorCode, pDeviceErrorString); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetRangeStatusString(uint8_t RangeStatus, - char *pRangeStatusString) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_get_range_status_string(RangeStatus, - pRangeStatusString); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetPalErrorString(VL53L0X_Error PalErrorCode, - char *pPalErrorString) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_get_pal_error_string(PalErrorCode, pPalErrorString); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetPalStateString(VL53L0X_State PalStateCode, - char *pPalStateString) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_get_pal_state_string(PalStateCode, pPalStateString); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetPalState(VL53L0X_DEV Dev, VL53L0X_State *pPalState) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - *pPalState = PALDevDataGet(Dev, PalState); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetPowerMode(VL53L0X_DEV Dev, - VL53L0X_PowerModes PowerMode) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - /* Only level1 of Power mode exists */ - if ((PowerMode != VL53L0X_POWERMODE_STANDBY_LEVEL1) && (PowerMode != VL53L0X_POWERMODE_IDLE_LEVEL1)) - { - Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; - } - else if (PowerMode == VL53L0X_POWERMODE_STANDBY_LEVEL1) - { - /* set the standby level1 of power mode */ - Status = VL53L0X_WrByte(Dev, 0x80, 0x00); - if (Status == VL53L0X_ERROR_NONE) - { - /* Set PAL State to standby */ - PALDevDataSet(Dev, PalState, VL53L0X_STATE_STANDBY); - PALDevDataSet(Dev, PowerMode, - VL53L0X_POWERMODE_STANDBY_LEVEL1); - } - } - else - { - /* VL53L0X_POWERMODE_IDLE_LEVEL1 */ - Status = VL53L0X_WrByte(Dev, 0x80, 0x00); - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_StaticInit(Dev); - - if (Status == VL53L0X_ERROR_NONE) - PALDevDataSet(Dev, PowerMode, - VL53L0X_POWERMODE_IDLE_LEVEL1); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetPowerMode(VL53L0X_DEV Dev, - VL53L0X_PowerModes *pPowerMode) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t Byte; - - LOG_FUNCTION_START(""); - - /* Only level1 of Power mode exists */ - Status = VL53L0X_RdByte(Dev, 0x80, &Byte); - - if (Status == VL53L0X_ERROR_NONE) - { - if (Byte == 1) - { - PALDevDataSet(Dev, PowerMode, - VL53L0X_POWERMODE_IDLE_LEVEL1); - } - else - { - PALDevDataSet(Dev, PowerMode, - VL53L0X_POWERMODE_STANDBY_LEVEL1); - } - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, - int32_t OffsetCalibrationDataMicroMeter) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_set_offset_calibration_data_micro_meter(Dev, - OffsetCalibrationDataMicroMeter); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, - int32_t *pOffsetCalibrationDataMicroMeter) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_get_offset_calibration_data_micro_meter(Dev, - pOffsetCalibrationDataMicroMeter); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetLinearityCorrectiveGain(VL53L0X_DEV Dev, - int16_t LinearityCorrectiveGain) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - if ((LinearityCorrectiveGain < 0) || (LinearityCorrectiveGain > 1000)) - Status = VL53L0X_ERROR_INVALID_PARAMS; - else - { - PALDevDataSet(Dev, LinearityCorrectiveGain, - LinearityCorrectiveGain); - - if (LinearityCorrectiveGain != 1000) - { - /* Disable FW Xtalk */ - Status = VL53L0X_WrWord(Dev, - VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, 0); - } - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetLinearityCorrectiveGain(VL53L0X_DEV Dev, - uint16_t *pLinearityCorrectiveGain) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - *pLinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetGroupParamHold(VL53L0X_DEV Dev, uint8_t GroupParamHold) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; - - LOG_FUNCTION_START(""); - - /* not implemented on VL53L0X */ - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetUpperLimitMilliMeter(VL53L0X_DEV Dev, - uint16_t *pUpperLimitMilliMeter) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; - - LOG_FUNCTION_START(""); - - /* not implemented on VL53L0X */ - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetTotalSignalRate(VL53L0X_DEV Dev, - FixPoint1616_t *pTotalSignalRate) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - VL53L0X_RangingMeasurementData_t LastRangeDataBuffer; - - LOG_FUNCTION_START(""); - - LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure); - - Status = VL53L0X_get_total_signal_rate( - Dev, &LastRangeDataBuffer, pTotalSignalRate); - - LOG_FUNCTION_END(Status); - return Status; -} - -/* End Group PAL General Functions */ - -/* Group PAL Init Functions */ -VL53L0X_Error VL53L0X_SetDeviceAddress(VL53L0X_DEV Dev, uint8_t DeviceAddress) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_WrByte(Dev, VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS, - DeviceAddress / 2); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_DataInit(VL53L0X_DEV Dev) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - VL53L0X_DeviceParameters_t CurrentParameters; - int i; - uint8_t StopVariable; - - LOG_FUNCTION_START(""); - - /* by default the I2C is running at 1V8 if you want to change it you - * need to include this define at compilation level. - */ -#ifdef USE_I2C_2V8 - Status = VL53L0X_UpdateByte(Dev, - VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, - 0xFE, - 0x01); -#endif - - /* Set I2C standard mode */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, 0x88, 0x00); - - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone, 0); - -#ifdef USE_IQC_STATION - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_apply_offset_adjustment(Dev); -#endif - - /* Default value is 1000 for Linearity Corrective Gain */ - PALDevDataSet(Dev, LinearityCorrectiveGain, 1000); - - /* Set Default static parameters - *set first temporary values 9.44MHz * 65536 = 618660 - */ - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, 618660); - - /* Set Default XTalkCompensationRateMegaCps to 0 */ - VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, 0); - - /* Get default parameters */ - Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters); - if (Status == VL53L0X_ERROR_NONE) - { - /* initialize PAL values */ - CurrentParameters.DeviceMode = - VL53L0X_DEVICEMODE_SINGLE_RANGING; - CurrentParameters.HistogramMode = - VL53L0X_HISTOGRAMMODE_DISABLED; - - /* Dmax lookup table */ - /* 0.0 */ - CurrentParameters.dmax_lut.ambRate_mcps[0] = (FixPoint1616_t)0x00000000; - /* 1200 */ - CurrentParameters.dmax_lut.dmax_mm[0] = (FixPoint1616_t)0x04B00000; - /* 0.7 */ - CurrentParameters.dmax_lut.ambRate_mcps[1] = (FixPoint1616_t)0x0000B333; - /* 1100 */ - CurrentParameters.dmax_lut.dmax_mm[1] = (FixPoint1616_t)0x044C0000; - /* 2 */ - CurrentParameters.dmax_lut.ambRate_mcps[2] = (FixPoint1616_t)0x00020000; - /* 900 */ - CurrentParameters.dmax_lut.dmax_mm[2] = (FixPoint1616_t)0x03840000; - /* 3.8 */ - CurrentParameters.dmax_lut.ambRate_mcps[3] = (FixPoint1616_t)0x0003CCCC; - /* 750 */ - CurrentParameters.dmax_lut.dmax_mm[3] = (FixPoint1616_t)0x02EE0000; - /* 7.3 */ - CurrentParameters.dmax_lut.ambRate_mcps[4] = (FixPoint1616_t)0x00074CCC; - /* 550 */ - CurrentParameters.dmax_lut.dmax_mm[4] = (FixPoint1616_t)0x02260000; - /* 10 */ - CurrentParameters.dmax_lut.ambRate_mcps[5] = (FixPoint1616_t)0x000A0000; - /* 500 */ - CurrentParameters.dmax_lut.dmax_mm[5] = (FixPoint1616_t)0x01F40000; - /* 15 */ - CurrentParameters.dmax_lut.ambRate_mcps[6] = (FixPoint1616_t)0x000F0000; - /* 400 */ - CurrentParameters.dmax_lut.dmax_mm[6] = (FixPoint1616_t)0x01900000; - - PALDevDataSet(Dev, CurrentParameters, CurrentParameters); - } - - /* Sigma estimator variable */ - PALDevDataSet(Dev, SigmaEstRefArray, 100); - PALDevDataSet(Dev, SigmaEstEffPulseWidth, 900); - PALDevDataSet(Dev, SigmaEstEffAmbWidth, 500); - PALDevDataSet(Dev, targetRefRate, 0x0A00); /* 20 MCPS in 9:7 format */ - - /* Use internal default settings */ - PALDevDataSet(Dev, UseInternalTuningSettings, 1); - - Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); - Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); - Status |= VL53L0X_RdByte(Dev, 0x91, &StopVariable); - PALDevDataSet(Dev, StopVariable, StopVariable); - Status |= VL53L0X_WrByte(Dev, 0x00, 0x01); - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); - Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); - - /* Enable all check */ - for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) - { - if (Status == VL53L0X_ERROR_NONE) - Status |= VL53L0X_SetLimitCheckEnable(Dev, i, 1); - else - break; - } - - /* Disable the following checks */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetLimitCheckEnable(Dev, - VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, 0); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetLimitCheckEnable(Dev, - VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetLimitCheckEnable(Dev, - VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC, 0); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetLimitCheckEnable(Dev, - VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 0); - - /* Limit default values */ - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_SetLimitCheckValue(Dev, - VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, - (FixPoint1616_t)(18 * 65536)); - } - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_SetLimitCheckValue(Dev, - VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, - (FixPoint1616_t)(25 * 65536 / 100)); - /* 0.25 * 65536 */ - } - - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_SetLimitCheckValue(Dev, - VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, - (FixPoint1616_t)(35 * 65536)); - } - - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_SetLimitCheckValue(Dev, - VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, - (FixPoint1616_t)(0 * 65536)); - } - - if (Status == VL53L0X_ERROR_NONE) - { - - PALDevDataSet(Dev, SequenceConfig, 0xFF); - Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, - 0xFF); - - /* Set PAL state to tell that we are waiting for call to - * VL53L0X_StaticInit - */ - PALDevDataSet(Dev, PalState, VL53L0X_STATE_WAIT_STATICINIT); - } - - if (Status == VL53L0X_ERROR_NONE) - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 0); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetTuningSettingBuffer(VL53L0X_DEV Dev, - uint8_t *pTuningSettingBuffer, uint8_t UseInternalTuningSettings) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - if (UseInternalTuningSettings == 1) - { - /* Force use internal settings */ - PALDevDataSet(Dev, UseInternalTuningSettings, 1); - } - else - { - - /* check that the first byte is not 0 */ - if (*pTuningSettingBuffer != 0) - { - PALDevDataSet(Dev, pTuningSettingsPointer, - pTuningSettingBuffer); - PALDevDataSet(Dev, UseInternalTuningSettings, 0); - } - else - { - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetTuningSettingBuffer(VL53L0X_DEV Dev, - uint8_t **ppTuningSettingBuffer, uint8_t *pUseInternalTuningSettings) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - *ppTuningSettingBuffer = PALDevDataGet(Dev, pTuningSettingsPointer); - *pUseInternalTuningSettings = PALDevDataGet(Dev, - UseInternalTuningSettings); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_StaticInit(VL53L0X_DEV Dev) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - VL53L0X_DeviceParameters_t CurrentParameters = {0}; - uint8_t *pTuningSettingBuffer; - uint16_t tempword = 0; - uint8_t tempbyte = 0; - uint8_t UseInternalTuningSettings = 0; - uint32_t count = 0; - uint8_t isApertureSpads = 0; - uint32_t refSpadCount = 0; - uint8_t ApertureSpads = 0; - uint8_t vcselPulsePeriodPCLK; - uint32_t seqTimeoutMicroSecs; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_get_info_from_device(Dev, 1); - - /* set the ref spad from NVM */ - count = (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, - ReferenceSpadCount); - ApertureSpads = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, - ReferenceSpadType); - - /* NVM value invalid */ - if ((ApertureSpads > 1) || - ((ApertureSpads == 1) && (count > 32)) || - ((ApertureSpads == 0) && (count > 12))) - Status = VL53L0X_perform_ref_spad_management(Dev, &refSpadCount, - &isApertureSpads); - else - Status = VL53L0X_set_reference_spads(Dev, count, ApertureSpads); - - /* Initialize tuning settings buffer to prevent compiler warning. */ - pTuningSettingBuffer = DefaultTuningSettings; - - if (Status == VL53L0X_ERROR_NONE) - { - UseInternalTuningSettings = PALDevDataGet(Dev, - UseInternalTuningSettings); - - if (UseInternalTuningSettings == 0) - pTuningSettingBuffer = PALDevDataGet(Dev, - pTuningSettingsPointer); - else - pTuningSettingBuffer = DefaultTuningSettings; - } - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_load_tuning_settings(Dev, - pTuningSettingBuffer); - - /* Set interrupt config to new sample ready */ - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_SetGpioConfig(Dev, 0, 0, - VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY, - VL53L0X_INTERRUPTPOLARITY_LOW); - } - - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); - Status |= VL53L0X_RdWord(Dev, 0x84, &tempword); - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); - } - - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, - VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword)); - } - - /* After static init, some device parameters may be changed, - * so update them - */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters); - - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_GetFractionEnable(Dev, &tempbyte); - if (Status == VL53L0X_ERROR_NONE) - PALDevDataSet(Dev, RangeFractionalEnable, tempbyte); - } - - if (Status == VL53L0X_ERROR_NONE) - PALDevDataSet(Dev, CurrentParameters, CurrentParameters); - - /* read the sequence config and save it */ - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_RdByte(Dev, - VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte); - if (Status == VL53L0X_ERROR_NONE) - PALDevDataSet(Dev, SequenceConfig, tempbyte); - } - - /* Disable MSRC and TCC by default */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetSequenceStepEnable(Dev, - VL53L0X_SEQUENCESTEP_TCC, 0); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetSequenceStepEnable(Dev, - VL53L0X_SEQUENCESTEP_MSRC, 0); - - /* Set PAL State to standby */ - if (Status == VL53L0X_ERROR_NONE) - PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); - - /* Store pre-range vcsel period */ - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_GetVcselPulsePeriod( - Dev, - VL53L0X_VCSEL_PERIOD_PRE_RANGE, - &vcselPulsePeriodPCLK); - } - - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_SETDEVICESPECIFICPARAMETER( - Dev, - PreRangeVcselPulsePeriod, - vcselPulsePeriodPCLK); - } - - /* Store final-range vcsel period */ - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_GetVcselPulsePeriod( - Dev, - VL53L0X_VCSEL_PERIOD_FINAL_RANGE, - &vcselPulsePeriodPCLK); - } - - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_SETDEVICESPECIFICPARAMETER( - Dev, - FinalRangeVcselPulsePeriod, - vcselPulsePeriodPCLK); - } - - /* Store pre-range timeout */ - if (Status == VL53L0X_ERROR_NONE) - { - Status = get_sequence_step_timeout( - Dev, - VL53L0X_SEQUENCESTEP_PRE_RANGE, - &seqTimeoutMicroSecs); - } - - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_SETDEVICESPECIFICPARAMETER( - Dev, - PreRangeTimeoutMicroSecs, - seqTimeoutMicroSecs); - } - - /* Store final-range timeout */ - if (Status == VL53L0X_ERROR_NONE) - { - Status = get_sequence_step_timeout( - Dev, - VL53L0X_SEQUENCESTEP_FINAL_RANGE, - &seqTimeoutMicroSecs); - } - - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_SETDEVICESPECIFICPARAMETER( - Dev, - FinalRangeTimeoutMicroSecs, - seqTimeoutMicroSecs); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_WaitDeviceBooted(VL53L0X_DEV Dev) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; - - LOG_FUNCTION_START(""); - - /* not implemented on VL53L0X */ - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_ResetDevice(VL53L0X_DEV Dev) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t Byte; - - LOG_FUNCTION_START(""); - - /* Set reset bit */ - Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N, - 0x00); - - /* Wait for some time */ - if (Status == VL53L0X_ERROR_NONE) - { - do - { - Status = VL53L0X_RdByte(Dev, - VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Byte); - } while (Byte != 0x00); - } - - VL53L0X_PollingDelay(Dev); - - /* Release reset */ - Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N, - 0x01); - - /* Wait until correct boot-up of the device */ - if (Status == VL53L0X_ERROR_NONE) - { - do - { - Status = VL53L0X_RdByte(Dev, - VL53L0X_REG_IDENTIFICATION_MODEL_ID, &Byte); - } while (Byte == 0x00); - } - - VL53L0X_PollingDelay(Dev); - - /* Set PAL State to VL53L0X_STATE_POWERDOWN */ - if (Status == VL53L0X_ERROR_NONE) - PALDevDataSet(Dev, PalState, VL53L0X_STATE_POWERDOWN); - - LOG_FUNCTION_END(Status); - return Status; -} -/* End Group PAL Init Functions */ - -/* Group PAL Parameters Functions */ -VL53L0X_Error VL53L0X_SetDeviceParameters(VL53L0X_DEV Dev, - const VL53L0X_DeviceParameters_t *pDeviceParameters) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - int i; - - LOG_FUNCTION_START(""); - Status = VL53L0X_SetDeviceMode(Dev, pDeviceParameters->DeviceMode); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetInterMeasurementPeriodMilliSeconds(Dev, - pDeviceParameters->InterMeasurementPeriodMilliSeconds); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetXTalkCompensationRateMegaCps(Dev, - pDeviceParameters->XTalkCompensationRateMegaCps); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(Dev, - pDeviceParameters->RangeOffsetMicroMeters); - - for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) - { - if (Status == VL53L0X_ERROR_NONE) - Status |= VL53L0X_SetLimitCheckEnable(Dev, i, - pDeviceParameters->LimitChecksEnable[i]); - else - break; - - if (Status == VL53L0X_ERROR_NONE) - Status |= VL53L0X_SetLimitCheckValue(Dev, i, - pDeviceParameters->LimitChecksValue[i]); - else - break; - } - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetWrapAroundCheckEnable(Dev, - pDeviceParameters->WrapAroundCheckEnable); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, - pDeviceParameters->MeasurementTimingBudgetMicroSeconds); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetDeviceParameters(VL53L0X_DEV Dev, - VL53L0X_DeviceParameters_t *pDeviceParameters) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - int i; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_GetDeviceMode(Dev, &(pDeviceParameters->DeviceMode)); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_GetInterMeasurementPeriodMilliSeconds(Dev, - &(pDeviceParameters->InterMeasurementPeriodMilliSeconds)); - - if (Status == VL53L0X_ERROR_NONE) - pDeviceParameters->XTalkCompensationEnable = 0; - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_GetXTalkCompensationRateMegaCps(Dev, - &(pDeviceParameters->XTalkCompensationRateMegaCps)); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_GetOffsetCalibrationDataMicroMeter(Dev, - &(pDeviceParameters->RangeOffsetMicroMeters)); - - if (Status == VL53L0X_ERROR_NONE) - { - for (i = 0; i < VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; i++) - { - /* get first the values, then the enables. - * VL53L0X_GetLimitCheckValue will modify the enable - * flags - */ - if (Status == VL53L0X_ERROR_NONE) - { - Status |= VL53L0X_GetLimitCheckValue(Dev, i, - &(pDeviceParameters->LimitChecksValue[i])); - } - else - { - break; - } - if (Status == VL53L0X_ERROR_NONE) - { - Status |= VL53L0X_GetLimitCheckEnable(Dev, i, - &(pDeviceParameters->LimitChecksEnable[i])); - } - else - { - break; - } - } - } - - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_GetWrapAroundCheckEnable(Dev, - &(pDeviceParameters->WrapAroundCheckEnable)); - } - - /* Need to be done at the end as it uses VCSELPulsePeriod */ - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_GetMeasurementTimingBudgetMicroSeconds(Dev, - &(pDeviceParameters->MeasurementTimingBudgetMicroSeconds)); - } - - if (Status == VL53L0X_ERROR_NONE) - { - for (i = 0; i < VL53L0X_DMAX_LUT_SIZE; i++) - { - pDeviceParameters->dmax_lut.ambRate_mcps[i] = - Dev->Data.CurrentParameters.dmax_lut.ambRate_mcps[i]; - pDeviceParameters->dmax_lut.dmax_mm[i] = - Dev->Data.CurrentParameters.dmax_lut.dmax_mm[i]; - } - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetDeviceMode(VL53L0X_DEV Dev, - VL53L0X_DeviceModes DeviceMode) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START("%d", (int)DeviceMode); - - switch (DeviceMode) - { - case VL53L0X_DEVICEMODE_SINGLE_RANGING: - case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING: - case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING: - case VL53L0X_DEVICEMODE_GPIO_DRIVE: - case VL53L0X_DEVICEMODE_GPIO_OSC: - /* Supported modes */ - VL53L0X_SETPARAMETERFIELD(Dev, DeviceMode, DeviceMode); - break; - default: - /* Unsupported mode */ - Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetDeviceMode(VL53L0X_DEV Dev, - VL53L0X_DeviceModes *pDeviceMode) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - VL53L0X_GETPARAMETERFIELD(Dev, DeviceMode, *pDeviceMode); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetRangeFractionEnable(VL53L0X_DEV Dev, uint8_t Enable) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START("%d", (int)Enable); - - Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, Enable); - - if (Status == VL53L0X_ERROR_NONE) - PALDevDataSet(Dev, RangeFractionalEnable, Enable); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetFractionEnable(VL53L0X_DEV Dev, uint8_t *pEnabled) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_RANGE_CONFIG, pEnabled); - - if (Status == VL53L0X_ERROR_NONE) - *pEnabled = (*pEnabled & 1); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetHistogramMode(VL53L0X_DEV Dev, - VL53L0X_HistogramModes HistogramMode) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; - - LOG_FUNCTION_START(""); - - /* not implemented on VL53L0X */ - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetHistogramMode(VL53L0X_DEV Dev, - VL53L0X_HistogramModes *pHistogramMode) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; - - LOG_FUNCTION_START(""); - - /* not implemented on VL53L0X */ - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev, - uint32_t MeasurementTimingBudgetMicroSeconds) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_set_measurement_timing_budget_micro_seconds(Dev, - MeasurementTimingBudgetMicroSeconds); - - LOG_FUNCTION_END(Status); - - return Status; -} - -VL53L0X_Error VL53L0X_GetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev, - uint32_t *pMeasurementTimingBudgetMicroSeconds) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_get_measurement_timing_budget_micro_seconds(Dev, - pMeasurementTimingBudgetMicroSeconds); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetVcselPulsePeriod(VL53L0X_DEV Dev, - VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_set_vcsel_pulse_period(Dev, VcselPeriodType, - VCSELPulsePeriodPCLK); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetVcselPulsePeriod(VL53L0X_DEV Dev, - VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_get_vcsel_pulse_period(Dev, VcselPeriodType, - pVCSELPulsePeriodPCLK); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetSequenceStepEnable(VL53L0X_DEV Dev, - VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t SequenceConfig = 0; - uint8_t SequenceConfigNew = 0; - uint32_t MeasurementTimingBudgetMicroSeconds; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, - &SequenceConfig); - - SequenceConfigNew = SequenceConfig; - - if (Status == VL53L0X_ERROR_NONE) - { - if (SequenceStepEnabled == 1) - { - - /* Enable requested sequence step - */ - switch (SequenceStepId) - { - case VL53L0X_SEQUENCESTEP_TCC: - SequenceConfigNew |= 0x10; - break; - case VL53L0X_SEQUENCESTEP_DSS: - SequenceConfigNew |= 0x28; - break; - case VL53L0X_SEQUENCESTEP_MSRC: - SequenceConfigNew |= 0x04; - break; - case VL53L0X_SEQUENCESTEP_PRE_RANGE: - SequenceConfigNew |= 0x40; - break; - case VL53L0X_SEQUENCESTEP_FINAL_RANGE: - SequenceConfigNew |= 0x80; - break; - default: - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - } - else - { - /* Disable requested sequence step - */ - switch (SequenceStepId) - { - case VL53L0X_SEQUENCESTEP_TCC: - SequenceConfigNew &= 0xef; - break; - case VL53L0X_SEQUENCESTEP_DSS: - SequenceConfigNew &= 0xd7; - break; - case VL53L0X_SEQUENCESTEP_MSRC: - SequenceConfigNew &= 0xfb; - break; - case VL53L0X_SEQUENCESTEP_PRE_RANGE: - SequenceConfigNew &= 0xbf; - break; - case VL53L0X_SEQUENCESTEP_FINAL_RANGE: - SequenceConfigNew &= 0x7f; - break; - default: - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - } - } - - if (SequenceConfigNew != SequenceConfig) - { - /* Apply New Setting */ - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, SequenceConfigNew); - } - if (Status == VL53L0X_ERROR_NONE) - PALDevDataSet(Dev, SequenceConfig, SequenceConfigNew); - - /* Recalculate timing budget */ - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_GETPARAMETERFIELD(Dev, - MeasurementTimingBudgetMicroSeconds, - MeasurementTimingBudgetMicroSeconds); - - VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, - MeasurementTimingBudgetMicroSeconds); - } - } - - LOG_FUNCTION_END(Status); - - return Status; -} - -VL53L0X_Error sequence_step_enabled(VL53L0X_DEV Dev, - VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceConfig, - uint8_t *pSequenceStepEnabled) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - *pSequenceStepEnabled = 0; - LOG_FUNCTION_START(""); - - switch (SequenceStepId) - { - case VL53L0X_SEQUENCESTEP_TCC: - *pSequenceStepEnabled = (SequenceConfig & 0x10) >> 4; - break; - case VL53L0X_SEQUENCESTEP_DSS: - *pSequenceStepEnabled = (SequenceConfig & 0x08) >> 3; - break; - case VL53L0X_SEQUENCESTEP_MSRC: - *pSequenceStepEnabled = (SequenceConfig & 0x04) >> 2; - break; - case VL53L0X_SEQUENCESTEP_PRE_RANGE: - *pSequenceStepEnabled = (SequenceConfig & 0x40) >> 6; - break; - case VL53L0X_SEQUENCESTEP_FINAL_RANGE: - *pSequenceStepEnabled = (SequenceConfig & 0x80) >> 7; - break; - default: - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetSequenceStepEnable(VL53L0X_DEV Dev, - VL53L0X_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t SequenceConfig = 0; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, - &SequenceConfig); - - if (Status == VL53L0X_ERROR_NONE) - { - Status = sequence_step_enabled(Dev, SequenceStepId, - SequenceConfig, pSequenceStepEnabled); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetSequenceStepEnables(VL53L0X_DEV Dev, - VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t SequenceConfig = 0; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, - &SequenceConfig); - - if (Status == VL53L0X_ERROR_NONE) - { - Status = sequence_step_enabled(Dev, - VL53L0X_SEQUENCESTEP_TCC, SequenceConfig, - &pSchedulerSequenceSteps->TccOn); - } - if (Status == VL53L0X_ERROR_NONE) - { - Status = sequence_step_enabled(Dev, - VL53L0X_SEQUENCESTEP_DSS, SequenceConfig, - &pSchedulerSequenceSteps->DssOn); - } - if (Status == VL53L0X_ERROR_NONE) - { - Status = sequence_step_enabled(Dev, - VL53L0X_SEQUENCESTEP_MSRC, SequenceConfig, - &pSchedulerSequenceSteps->MsrcOn); - } - if (Status == VL53L0X_ERROR_NONE) - { - Status = sequence_step_enabled(Dev, - VL53L0X_SEQUENCESTEP_PRE_RANGE, SequenceConfig, - &pSchedulerSequenceSteps->PreRangeOn); - } - if (Status == VL53L0X_ERROR_NONE) - { - Status = sequence_step_enabled(Dev, - VL53L0X_SEQUENCESTEP_FINAL_RANGE, SequenceConfig, - &pSchedulerSequenceSteps->FinalRangeOn); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetNumberOfSequenceSteps(VL53L0X_DEV Dev, - uint8_t *pNumberOfSequenceSteps) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - *pNumberOfSequenceSteps = VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS; - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetSequenceStepsInfo( - VL53L0X_SequenceStepId SequenceStepId, - char *pSequenceStepsString) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_get_sequence_steps_info( - SequenceStepId, - pSequenceStepsString); - - LOG_FUNCTION_END(Status); - - return Status; -} - -VL53L0X_Error VL53L0X_SetSequenceStepTimeout(VL53L0X_DEV Dev, - VL53L0X_SequenceStepId SequenceStepId, FixPoint1616_t TimeOutMilliSecs) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - VL53L0X_Error Status1 = VL53L0X_ERROR_NONE; - uint32_t TimeoutMicroSeconds = ((TimeOutMilliSecs * 1000) + 0x8000) >> 16; - uint32_t MeasurementTimingBudgetMicroSeconds; - FixPoint1616_t OldTimeOutMicroSeconds; - - LOG_FUNCTION_START(""); - - /* Read back the current value in case we need to revert back to this. - */ - Status = get_sequence_step_timeout(Dev, SequenceStepId, - &OldTimeOutMicroSeconds); - - if (Status == VL53L0X_ERROR_NONE) - { - Status = set_sequence_step_timeout(Dev, SequenceStepId, - TimeoutMicroSeconds); - } - - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_GETPARAMETERFIELD(Dev, - MeasurementTimingBudgetMicroSeconds, - MeasurementTimingBudgetMicroSeconds); - - /* At this point we don't know if the requested value is valid, - * therefore proceed to update the entire timing budget and - * if this fails, revert back to the previous value. - */ - Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, - MeasurementTimingBudgetMicroSeconds); - - if (Status != VL53L0X_ERROR_NONE) - { - Status1 = set_sequence_step_timeout(Dev, SequenceStepId, - OldTimeOutMicroSeconds); - - if (Status1 == VL53L0X_ERROR_NONE) - { - Status1 = - VL53L0X_SetMeasurementTimingBudgetMicroSeconds( - Dev, - MeasurementTimingBudgetMicroSeconds); - } - - Status = Status1; - } - } - - LOG_FUNCTION_END(Status); - - return Status; -} - -VL53L0X_Error VL53L0X_GetSequenceStepTimeout(VL53L0X_DEV Dev, - VL53L0X_SequenceStepId SequenceStepId, - FixPoint1616_t *pTimeOutMilliSecs) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint32_t TimeoutMicroSeconds; - - LOG_FUNCTION_START(""); - - Status = get_sequence_step_timeout(Dev, SequenceStepId, - &TimeoutMicroSeconds); - if (Status == VL53L0X_ERROR_NONE) - { - TimeoutMicroSeconds <<= 8; - *pTimeOutMilliSecs = (TimeoutMicroSeconds + 500) / 1000; - *pTimeOutMilliSecs <<= 8; - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev, - uint32_t InterMeasurementPeriodMilliSeconds) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint16_t osc_calibrate_val; - uint32_t IMPeriodMilliSeconds; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_RdWord(Dev, VL53L0X_REG_OSC_CALIBRATE_VAL, - &osc_calibrate_val); - - if (Status == VL53L0X_ERROR_NONE) - { - if (osc_calibrate_val != 0) - { - IMPeriodMilliSeconds = - InterMeasurementPeriodMilliSeconds * osc_calibrate_val; - } - else - { - IMPeriodMilliSeconds = - InterMeasurementPeriodMilliSeconds; - } - Status = VL53L0X_WrDWord(Dev, - VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD, - IMPeriodMilliSeconds); - } - - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_SETPARAMETERFIELD(Dev, - InterMeasurementPeriodMilliSeconds, - InterMeasurementPeriodMilliSeconds); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev, - uint32_t *pInterMeasurementPeriodMilliSeconds) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint16_t osc_calibrate_val; - uint32_t IMPeriodMilliSeconds; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_RdWord(Dev, VL53L0X_REG_OSC_CALIBRATE_VAL, - &osc_calibrate_val); - - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_RdDWord(Dev, - VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD, - &IMPeriodMilliSeconds); - } - - if (Status == VL53L0X_ERROR_NONE) - { - if (osc_calibrate_val != 0) - { - *pInterMeasurementPeriodMilliSeconds = - IMPeriodMilliSeconds / osc_calibrate_val; - } - VL53L0X_SETPARAMETERFIELD(Dev, - InterMeasurementPeriodMilliSeconds, - *pInterMeasurementPeriodMilliSeconds); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetXTalkCompensationEnable(VL53L0X_DEV Dev, - uint8_t XTalkCompensationEnable) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - FixPoint1616_t TempFix1616; - uint16_t LinearityCorrectiveGain; - - LOG_FUNCTION_START(""); - - LinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); - - if ((XTalkCompensationEnable == 0) || (LinearityCorrectiveGain != 1000)) - { - TempFix1616 = 0; - } - else - { - VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, - TempFix1616); - } - - /* the following register has a format 3.13 */ - Status = VL53L0X_WrWord(Dev, - VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, - VL53L0X_FIXPOINT1616TOFIXPOINT313(TempFix1616)); - - if (Status == VL53L0X_ERROR_NONE) - { - if (XTalkCompensationEnable == 0) - { - VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, - 0); - } - else - { - VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, - 1); - } - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetXTalkCompensationEnable(VL53L0X_DEV Dev, - uint8_t *pXTalkCompensationEnable) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t Temp8; - - LOG_FUNCTION_START(""); - - VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8); - *pXTalkCompensationEnable = Temp8; - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev, - FixPoint1616_t XTalkCompensationRateMegaCps) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t Temp8; - uint16_t LinearityCorrectiveGain; - uint16_t data; - - LOG_FUNCTION_START(""); - - VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8); - LinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); - - if (Temp8 == 0) - { /* disabled write only internal value */ - VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, - XTalkCompensationRateMegaCps); - } - else - { - /* the following register has a format 3.13 */ - if (LinearityCorrectiveGain == 1000) - { - data = VL53L0X_FIXPOINT1616TOFIXPOINT313( - XTalkCompensationRateMegaCps); - } - else - { - data = 0; - } - - Status = VL53L0X_WrWord(Dev, - VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, data); - - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_SETPARAMETERFIELD(Dev, - XTalkCompensationRateMegaCps, - XTalkCompensationRateMegaCps); - } - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev, - FixPoint1616_t *pXTalkCompensationRateMegaCps) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint16_t Value; - FixPoint1616_t TempFix1616; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_RdWord(Dev, - VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, (uint16_t *)&Value); - if (Status == VL53L0X_ERROR_NONE) - { - if (Value == 0) - { - /* the Xtalk is disabled return value from memory */ - VL53L0X_GETPARAMETERFIELD(Dev, - XTalkCompensationRateMegaCps, TempFix1616); - *pXTalkCompensationRateMegaCps = TempFix1616; - VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, - 0); - } - else - { - TempFix1616 = VL53L0X_FIXPOINT313TOFIXPOINT1616(Value); - *pXTalkCompensationRateMegaCps = TempFix1616; - VL53L0X_SETPARAMETERFIELD(Dev, - XTalkCompensationRateMegaCps, TempFix1616); - VL53L0X_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, - 1); - } - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetRefCalibration(VL53L0X_DEV Dev, uint8_t VhvSettings, - uint8_t PhaseCal) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_set_ref_calibration(Dev, VhvSettings, PhaseCal); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings, - uint8_t *pPhaseCal) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_get_ref_calibration(Dev, pVhvSettings, pPhaseCal); - - LOG_FUNCTION_END(Status); - return Status; -} - -/* - * CHECK LIMIT FUNCTIONS - */ - -VL53L0X_Error VL53L0X_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - *pNumberOfLimitCheck = VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS; - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetLimitCheckInfo(VL53L0X_DEV Dev, uint16_t LimitCheckId, - char *pLimitCheckString) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_get_limit_check_info(Dev, LimitCheckId, - pLimitCheckString); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetLimitCheckStatus(VL53L0X_DEV Dev, - uint16_t LimitCheckId, - uint8_t *pLimitCheckStatus) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t Temp8; - - LOG_FUNCTION_START(""); - - if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) - { - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - else - { - - VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, - LimitCheckId, Temp8); - - *pLimitCheckStatus = Temp8; - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetLimitCheckEnable(VL53L0X_DEV Dev, - uint16_t LimitCheckId, - uint8_t LimitCheckEnable) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - FixPoint1616_t TempFix1616 = 0; - uint8_t LimitCheckEnableInt = 0; - uint8_t LimitCheckDisable = 0; - uint8_t Temp8; - - LOG_FUNCTION_START(""); - - if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) - { - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - else - { - if (LimitCheckEnable == 0) - { - TempFix1616 = 0; - LimitCheckEnableInt = 0; - LimitCheckDisable = 1; - } - else - { - VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, - LimitCheckId, TempFix1616); - LimitCheckDisable = 0; - /* this to be sure to have either 0 or 1 */ - LimitCheckEnableInt = 1; - } - - switch (LimitCheckId) - { - - case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE: - /* internal computation: */ - VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, - VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, - LimitCheckEnableInt); - - break; - - case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: - - Status = VL53L0X_WrWord(Dev, - VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, - VL53L0X_FIXPOINT1616TOFIXPOINT97(TempFix1616)); - - break; - - case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP: - - /* internal computation: */ - VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, - VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, - LimitCheckEnableInt); - - break; - - case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD: - - /* internal computation: */ - VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, - VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, - LimitCheckEnableInt); - - break; - - case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC: - - Temp8 = (uint8_t)(LimitCheckDisable << 1); - Status = VL53L0X_UpdateByte(Dev, - VL53L0X_REG_MSRC_CONFIG_CONTROL, - 0xFE, Temp8); - - break; - - case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: - - Temp8 = (uint8_t)(LimitCheckDisable << 4); - Status = VL53L0X_UpdateByte(Dev, - VL53L0X_REG_MSRC_CONFIG_CONTROL, - 0xEF, Temp8); - - break; - - default: - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - } - - if (Status == VL53L0X_ERROR_NONE) - { - if (LimitCheckEnable == 0) - { - VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, - LimitCheckId, 0); - } - else - { - VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, - LimitCheckId, 1); - } - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetLimitCheckEnable(VL53L0X_DEV Dev, - uint16_t LimitCheckId, - uint8_t *pLimitCheckEnable) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t Temp8; - - LOG_FUNCTION_START(""); - - if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) - { - Status = VL53L0X_ERROR_INVALID_PARAMS; - *pLimitCheckEnable = 0; - } - else - { - VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, - LimitCheckId, Temp8); - *pLimitCheckEnable = Temp8; - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId, - FixPoint1616_t LimitCheckValue) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t Temp8; - - LOG_FUNCTION_START(""); - - VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, LimitCheckId, - Temp8); - - if (Temp8 == 0) - { /* disabled write only internal value */ - VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, - LimitCheckId, LimitCheckValue); - } - else - { - - switch (LimitCheckId) - { - - case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE: - /* internal computation: */ - VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, - VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, - LimitCheckValue); - break; - - case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: - - Status = VL53L0X_WrWord(Dev, - VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, - VL53L0X_FIXPOINT1616TOFIXPOINT97( - LimitCheckValue)); - - break; - - case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP: - - /* internal computation: */ - VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, - VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, - LimitCheckValue); - - break; - - case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD: - - /* internal computation: */ - VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, - VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, - LimitCheckValue); - - break; - - case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC: - case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: - - Status = VL53L0X_WrWord(Dev, - VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, - VL53L0X_FIXPOINT1616TOFIXPOINT97( - LimitCheckValue)); - - break; - - default: - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, - LimitCheckId, LimitCheckValue); - } - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId, - FixPoint1616_t *pLimitCheckValue) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t EnableZeroValue = 0; - uint16_t Temp16; - FixPoint1616_t TempFix1616; - - LOG_FUNCTION_START(""); - - switch (LimitCheckId) - { - - case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE: - /* internal computation: */ - VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, - VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, TempFix1616); - EnableZeroValue = 0; - break; - - case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: - Status = VL53L0X_RdWord(Dev, - VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, - &Temp16); - if (Status == VL53L0X_ERROR_NONE) - TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16); - - EnableZeroValue = 1; - break; - - case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP: - /* internal computation: */ - VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, - VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, TempFix1616); - EnableZeroValue = 0; - break; - - case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD: - /* internal computation: */ - VL53L0X_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, - VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, - TempFix1616); - EnableZeroValue = 0; - break; - - case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC: - case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: - Status = VL53L0X_RdWord(Dev, - VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, - &Temp16); - if (Status == VL53L0X_ERROR_NONE) - TempFix1616 = VL53L0X_FIXPOINT97TOFIXPOINT1616(Temp16); - - EnableZeroValue = 0; - break; - - default: - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - - if (Status == VL53L0X_ERROR_NONE) - { - - if (EnableZeroValue == 1) - { - - if (TempFix1616 == 0) - { - /* disabled: return value from memory */ - VL53L0X_GETARRAYPARAMETERFIELD(Dev, - LimitChecksValue, LimitCheckId, - TempFix1616); - *pLimitCheckValue = TempFix1616; - VL53L0X_SETARRAYPARAMETERFIELD(Dev, - LimitChecksEnable, LimitCheckId, 0); - } - else - { - *pLimitCheckValue = TempFix1616; - VL53L0X_SETARRAYPARAMETERFIELD(Dev, - LimitChecksValue, LimitCheckId, - TempFix1616); - VL53L0X_SETARRAYPARAMETERFIELD(Dev, - LimitChecksEnable, LimitCheckId, 1); - } - } - else - { - *pLimitCheckValue = TempFix1616; - } - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetLimitCheckCurrent(VL53L0X_DEV Dev, - uint16_t LimitCheckId, - FixPoint1616_t *pLimitCheckCurrent) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - VL53L0X_RangingMeasurementData_t LastRangeDataBuffer; - - LOG_FUNCTION_START(""); - - if (LimitCheckId >= VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS) - { - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - else - { - switch (LimitCheckId) - { - case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE: - /* Need to run a ranging to have the latest values */ - *pLimitCheckCurrent = PALDevDataGet(Dev, SigmaEstimate); - - break; - - case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: - /* Need to run a ranging to have the latest values */ - LastRangeDataBuffer = PALDevDataGet(Dev, - LastRangeMeasure); - *pLimitCheckCurrent = - LastRangeDataBuffer.SignalRateRtnMegaCps; - - break; - - case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP: - /* Need to run a ranging to have the latest values */ - *pLimitCheckCurrent = PALDevDataGet(Dev, - LastSignalRefMcps); - - break; - - case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD: - /* Need to run a ranging to have the latest values */ - LastRangeDataBuffer = PALDevDataGet(Dev, - LastRangeMeasure); - *pLimitCheckCurrent = - LastRangeDataBuffer.SignalRateRtnMegaCps; - - break; - - case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC: - /* Need to run a ranging to have the latest values */ - LastRangeDataBuffer = PALDevDataGet(Dev, - LastRangeMeasure); - *pLimitCheckCurrent = - LastRangeDataBuffer.SignalRateRtnMegaCps; - - break; - - case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: - /* Need to run a ranging to have the latest values */ - LastRangeDataBuffer = PALDevDataGet(Dev, - LastRangeMeasure); - *pLimitCheckCurrent = - LastRangeDataBuffer.SignalRateRtnMegaCps; - - break; - - default: - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - } - - LOG_FUNCTION_END(Status); - return Status; -} - -/* - * WRAPAROUND Check - */ -VL53L0X_Error VL53L0X_SetWrapAroundCheckEnable(VL53L0X_DEV Dev, - uint8_t WrapAroundCheckEnable) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t Byte; - uint8_t WrapAroundCheckEnableInt; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &Byte); - if (WrapAroundCheckEnable == 0) - { - /* Disable wraparound */ - Byte = Byte & 0x7F; - WrapAroundCheckEnableInt = 0; - } - else - { - /*Enable wraparound */ - Byte = Byte | 0x80; - WrapAroundCheckEnableInt = 1; - } - - Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, Byte); - - if (Status == VL53L0X_ERROR_NONE) - { - PALDevDataSet(Dev, SequenceConfig, Byte); - VL53L0X_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable, - WrapAroundCheckEnableInt); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetWrapAroundCheckEnable(VL53L0X_DEV Dev, - uint8_t *pWrapAroundCheckEnable) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t data; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_RdByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &data); - if (Status == VL53L0X_ERROR_NONE) - { - PALDevDataSet(Dev, SequenceConfig, data); - if (data & (0x01 << 7)) - *pWrapAroundCheckEnable = 0x01; - else - *pWrapAroundCheckEnable = 0x00; - } - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable, - *pWrapAroundCheckEnable); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -/* End Group PAL Parameters Functions */ - -/* Group PAL Measurement Functions */ -VL53L0X_Error VL53L0X_PerformSingleMeasurement(VL53L0X_DEV Dev) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - VL53L0X_DeviceModes DeviceMode; - - LOG_FUNCTION_START(""); - - /* Get Current DeviceMode */ - Status = VL53L0X_GetDeviceMode(Dev, &DeviceMode); - - /* Start immediately to run a single ranging measurement in case of - * single ranging or single histogram - */ - if (Status == VL53L0X_ERROR_NONE && DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) - Status = VL53L0X_StartMeasurement(Dev); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_measurement_poll_for_completion(Dev); - - /* Change PAL State in case of single ranging or single histogram */ - if (Status == VL53L0X_ERROR_NONE && DeviceMode == VL53L0X_DEVICEMODE_SINGLE_RANGING) - PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_PerformSingleHistogramMeasurement(VL53L0X_DEV Dev, - VL53L0X_HistogramMeasurementData_t *pHistogramMeasurementData) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; - - LOG_FUNCTION_START(""); - - /* not implemented on VL53L0X */ - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_PerformRefCalibration(VL53L0X_DEV Dev, - uint8_t *pVhvSettings, - uint8_t *pPhaseCal) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_perform_ref_calibration(Dev, pVhvSettings, - pPhaseCal, 1); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_PerformXTalkMeasurement(VL53L0X_DEV Dev, - uint32_t TimeoutMs, FixPoint1616_t *pXtalkPerSpad, - uint8_t *pAmbientTooHigh) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; - - LOG_FUNCTION_START(""); - - /* not implemented on VL53L0X */ - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_PerformXTalkCalibration(VL53L0X_DEV Dev, - FixPoint1616_t XTalkCalDistance, - FixPoint1616_t *pXTalkCompensationRateMegaCps) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_perform_xtalk_calibration(Dev, XTalkCalDistance, - pXTalkCompensationRateMegaCps); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_PerformOffsetCalibration(VL53L0X_DEV Dev, - FixPoint1616_t CalDistanceMilliMeter, int32_t *pOffsetMicroMeter) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_perform_offset_calibration(Dev, CalDistanceMilliMeter, - pOffsetMicroMeter); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_CheckAndLoadInterruptSettings(VL53L0X_DEV Dev, - uint8_t StartNotStopFlag) -{ - uint8_t InterruptConfig; - FixPoint1616_t ThresholdLow; - FixPoint1616_t ThresholdHigh; - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, - Pin0GpioFunctionality); - - switch (InterruptConfig) - { - case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW: - Status = VL53L0X_GetInterruptThresholds(Dev, - VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, - &ThresholdLow, &ThresholdHigh); - - if ((ThresholdLow > 255 * 65536) && - (Status == VL53L0X_ERROR_NONE)) - { - - if (StartNotStopFlag != 0) - { - Status = VL53L0X_load_tuning_settings(Dev, - InterruptThresholdSettings); - } - else - { - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x04); - Status |= VL53L0X_WrByte(Dev, 0x70, 0x00); - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); - Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); - } - } - break; - case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH: - Status = VL53L0X_GetInterruptThresholds(Dev, - VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, - &ThresholdLow, &ThresholdHigh); - - if ((ThresholdHigh > 0) && - (Status == VL53L0X_ERROR_NONE)) - { - - if (StartNotStopFlag != 0) - { - Status = VL53L0X_load_tuning_settings(Dev, - InterruptThresholdSettings); - } - else - { - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x04); - Status |= VL53L0X_WrByte(Dev, 0x70, 0x00); - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); - Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); - } - } - break; - case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT: - Status = VL53L0X_GetInterruptThresholds(Dev, - VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, - &ThresholdLow, &ThresholdHigh); - - if (Status == VL53L0X_ERROR_NONE) - { - if (StartNotStopFlag != 0) - { - Status = VL53L0X_load_tuning_settings(Dev, - InterruptThresholdSettings); - } - else - { - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x04); - Status |= VL53L0X_WrByte(Dev, 0x70, 0x00); - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); - Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); - } - } - break; - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_StartMeasurement(VL53L0X_DEV Dev) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - VL53L0X_DeviceModes DeviceMode; - uint8_t Byte; - uint8_t StartStopByte = VL53L0X_REG_SYSRANGE_MODE_START_STOP; - uint32_t LoopNb; - - LOG_FUNCTION_START(""); - - /* Get Current DeviceMode */ - VL53L0X_GetDeviceMode(Dev, &DeviceMode); - - Status = VL53L0X_WrByte(Dev, 0x80, 0x01); - Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); - Status = VL53L0X_WrByte(Dev, 0x00, 0x00); - Status = VL53L0X_WrByte(Dev, 0x91, PALDevDataGet(Dev, StopVariable)); - Status = VL53L0X_WrByte(Dev, 0x00, 0x01); - Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); - Status = VL53L0X_WrByte(Dev, 0x80, 0x00); - - switch (DeviceMode) - { - case VL53L0X_DEVICEMODE_SINGLE_RANGING: - Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, 0x01); - - Byte = StartStopByte; - if (Status == VL53L0X_ERROR_NONE) - { - /* Wait until start bit has been cleared */ - LoopNb = 0; - do - { - if (LoopNb > 0) - Status = VL53L0X_RdByte(Dev, - VL53L0X_REG_SYSRANGE_START, &Byte); - LoopNb = LoopNb + 1; - } while (((Byte & StartStopByte) == StartStopByte) && (Status == VL53L0X_ERROR_NONE) && (LoopNb < VL53L0X_DEFAULT_MAX_LOOP)); - - if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) - Status = VL53L0X_ERROR_TIME_OUT; - } - - break; - case VL53L0X_DEVICEMODE_CONTINUOUS_RANGING: - /* Back-to-back mode */ - - /* Check if need to apply interrupt settings */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 1); - - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_SYSRANGE_START, - VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK); - if (Status == VL53L0X_ERROR_NONE) - { - /* Set PAL State to Running */ - PALDevDataSet(Dev, PalState, VL53L0X_STATE_RUNNING); - } - break; - case VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING: - /* Continuous mode */ - /* Check if need to apply interrupt settings */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 1); - - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_SYSRANGE_START, - VL53L0X_REG_SYSRANGE_MODE_TIMED); - - if (Status == VL53L0X_ERROR_NONE) - { - /* Set PAL State to Running */ - PALDevDataSet(Dev, PalState, VL53L0X_STATE_RUNNING); - } - break; - default: - /* Selected mode not supported */ - Status = VL53L0X_ERROR_MODE_NOT_SUPPORTED; - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_StopMeasurement(VL53L0X_DEV Dev) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, - VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT); - - Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); - Status = VL53L0X_WrByte(Dev, 0x00, 0x00); - Status = VL53L0X_WrByte(Dev, 0x91, 0x00); - Status = VL53L0X_WrByte(Dev, 0x00, 0x01); - Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); - - if (Status == VL53L0X_ERROR_NONE) - { - /* Set PAL State to Idle */ - PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE); - } - - /* Check if need to apply interrupt settings */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_CheckAndLoadInterruptSettings(Dev, 0); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetMeasurementDataReady(VL53L0X_DEV Dev, - uint8_t *pMeasurementDataReady) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t SysRangeStatusRegister; - uint8_t InterruptConfig; - uint32_t InterruptMask; - - LOG_FUNCTION_START(""); - - InterruptConfig = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, - Pin0GpioFunctionality); - - if (InterruptConfig == - VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) - { - Status = VL53L0X_GetInterruptMaskStatus(Dev, &InterruptMask); - if (InterruptMask == - VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) - *pMeasurementDataReady = 1; - else - *pMeasurementDataReady = 0; - } - else - { - Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_RANGE_STATUS, - &SysRangeStatusRegister); - if (Status == VL53L0X_ERROR_NONE) - { - if (SysRangeStatusRegister & 0x01) - *pMeasurementDataReady = 1; - else - *pMeasurementDataReady = 0; - } - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_WaitDeviceReadyForNewMeasurement(VL53L0X_DEV Dev, - uint32_t MaxLoop) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; - - LOG_FUNCTION_START(""); - - /* not implemented for VL53L0X */ - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetRangingMeasurementData(VL53L0X_DEV Dev, - VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t DeviceRangeStatus; - uint8_t RangeFractionalEnable; - uint8_t PalRangeStatus; - uint8_t XTalkCompensationEnable; - uint16_t AmbientRate; - FixPoint1616_t SignalRate; - uint16_t XTalkCompensationRateMegaCps; - uint16_t EffectiveSpadRtnCount; - uint16_t tmpuint16; - uint16_t XtalkRangeMilliMeter; - uint16_t LinearityCorrectiveGain; - uint8_t localBuffer[12]; - VL53L0X_RangingMeasurementData_t LastRangeDataBuffer; - - LOG_FUNCTION_START(""); - - /* - * use multi read even if some registers are not useful, result will - * be more efficient - * start reading at 0x14 dec20 - * end reading at 0x21 dec33 total 14 bytes to read - */ - Status = VL53L0X_ReadMulti(Dev, 0x14, localBuffer, 12); - - if (Status == VL53L0X_ERROR_NONE) - { - - pRangingMeasurementData->ZoneId = 0; /* Only one zone */ - pRangingMeasurementData->TimeStamp = 0; /* Not Implemented */ - - tmpuint16 = VL53L0X_MAKEUINT16(localBuffer[11], - localBuffer[10]); - /* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional - *(format 11.2) else no fractional - */ - - pRangingMeasurementData->MeasurementTimeUsec = 0; - - SignalRate = VL53L0X_FIXPOINT97TOFIXPOINT1616( - VL53L0X_MAKEUINT16(localBuffer[7], localBuffer[6])); - /* peak_signal_count_rate_rtn_mcps */ - pRangingMeasurementData->SignalRateRtnMegaCps = SignalRate; - - AmbientRate = VL53L0X_MAKEUINT16(localBuffer[9], - localBuffer[8]); - pRangingMeasurementData->AmbientRateRtnMegaCps = - VL53L0X_FIXPOINT97TOFIXPOINT1616(AmbientRate); - - EffectiveSpadRtnCount = VL53L0X_MAKEUINT16(localBuffer[3], - localBuffer[2]); - /* EffectiveSpadRtnCount is 8.8 format */ - pRangingMeasurementData->EffectiveSpadRtnCount = - EffectiveSpadRtnCount; - - DeviceRangeStatus = localBuffer[0]; - - /* Get Linearity Corrective Gain */ - LinearityCorrectiveGain = PALDevDataGet(Dev, - LinearityCorrectiveGain); - - /* Get ranging configuration */ - RangeFractionalEnable = PALDevDataGet(Dev, - RangeFractionalEnable); - - if (LinearityCorrectiveGain != 1000) - { - - tmpuint16 = (uint16_t)((LinearityCorrectiveGain * tmpuint16 + 500) / 1000); - - /* Implement Xtalk */ - VL53L0X_GETPARAMETERFIELD(Dev, - XTalkCompensationRateMegaCps, - XTalkCompensationRateMegaCps); - VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, - XTalkCompensationEnable); - - if (XTalkCompensationEnable) - { - - if ((SignalRate - ((XTalkCompensationRateMegaCps * EffectiveSpadRtnCount) >> 8)) <= 0) - { - if (RangeFractionalEnable) - XtalkRangeMilliMeter = 8888; - else - XtalkRangeMilliMeter = 8888 - << 2; - } - else - { - XtalkRangeMilliMeter = - (tmpuint16 * SignalRate) / (SignalRate - ((XTalkCompensationRateMegaCps * EffectiveSpadRtnCount) >> 8)); - } - - tmpuint16 = XtalkRangeMilliMeter; - } - } - - if (RangeFractionalEnable) - { - pRangingMeasurementData->RangeMilliMeter = - (uint16_t)((tmpuint16) >> 2); - pRangingMeasurementData->RangeFractionalPart = - (uint8_t)((tmpuint16 & 0x03) << 6); - } - else - { - pRangingMeasurementData->RangeMilliMeter = tmpuint16; - pRangingMeasurementData->RangeFractionalPart = 0; - } - - /* - * For a standard definition of RangeStatus, this should - * return 0 in case of good result after a ranging - * The range status depends on the device so call a device - * specific function to obtain the right Status. - */ - Status |= VL53L0X_get_pal_range_status(Dev, DeviceRangeStatus, - SignalRate, EffectiveSpadRtnCount, - pRangingMeasurementData, &PalRangeStatus); - - if (Status == VL53L0X_ERROR_NONE) - pRangingMeasurementData->RangeStatus = PalRangeStatus; - } - - if (Status == VL53L0X_ERROR_NONE) - { - /* Copy last read data into Dev buffer */ - LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure); - - LastRangeDataBuffer.RangeMilliMeter = - pRangingMeasurementData->RangeMilliMeter; - LastRangeDataBuffer.RangeFractionalPart = - pRangingMeasurementData->RangeFractionalPart; - LastRangeDataBuffer.RangeDMaxMilliMeter = - pRangingMeasurementData->RangeDMaxMilliMeter; - LastRangeDataBuffer.MeasurementTimeUsec = - pRangingMeasurementData->MeasurementTimeUsec; - LastRangeDataBuffer.SignalRateRtnMegaCps = - pRangingMeasurementData->SignalRateRtnMegaCps; - LastRangeDataBuffer.AmbientRateRtnMegaCps = - pRangingMeasurementData->AmbientRateRtnMegaCps; - LastRangeDataBuffer.EffectiveSpadRtnCount = - pRangingMeasurementData->EffectiveSpadRtnCount; - LastRangeDataBuffer.RangeStatus = - pRangingMeasurementData->RangeStatus; - - PALDevDataSet(Dev, LastRangeMeasure, LastRangeDataBuffer); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetMeasurementRefSignal(VL53L0X_DEV Dev, - FixPoint1616_t *pMeasurementRefSignal) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t SignalRefClipLimitCheckEnable = 0; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_GetLimitCheckEnable(Dev, - VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, - &SignalRefClipLimitCheckEnable); - if (SignalRefClipLimitCheckEnable != 0) - *pMeasurementRefSignal = PALDevDataGet(Dev, LastSignalRefMcps); - else - Status = VL53L0X_ERROR_INVALID_COMMAND; - - LOG_FUNCTION_END(Status); - - return Status; -} - -VL53L0X_Error VL53L0X_GetHistogramMeasurementData(VL53L0X_DEV Dev, - VL53L0X_HistogramMeasurementData_t *pHistogramMeasurementData) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; - - LOG_FUNCTION_START(""); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_PerformSingleRangingMeasurement(VL53L0X_DEV Dev, - VL53L0X_RangingMeasurementData_t *pRangingMeasurementData) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - /* This function will do a complete single ranging - * Here we fix the mode! - */ - Status = VL53L0X_SetDeviceMode(Dev, VL53L0X_DEVICEMODE_SINGLE_RANGING); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_PerformSingleMeasurement(Dev); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_GetRangingMeasurementData(Dev, - pRangingMeasurementData); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_ClearInterruptMask(Dev, 0); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetNumberOfROIZones(VL53L0X_DEV Dev, - uint8_t NumberOfROIZones) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - if (NumberOfROIZones != 1) - Status = VL53L0X_ERROR_INVALID_PARAMS; - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetNumberOfROIZones(VL53L0X_DEV Dev, - uint8_t *pNumberOfROIZones) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - *pNumberOfROIZones = 1; - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetMaxNumberOfROIZones(VL53L0X_DEV Dev, - uint8_t *pMaxNumberOfROIZones) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - *pMaxNumberOfROIZones = 1; - - LOG_FUNCTION_END(Status); - return Status; -} - -/* End Group PAL Measurement Functions */ - -VL53L0X_Error VL53L0X_SetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin, - VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality, - VL53L0X_InterruptPolarity Polarity) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t data; - - LOG_FUNCTION_START(""); - - if (Pin != 0) - { - Status = VL53L0X_ERROR_GPIO_NOT_EXISTING; - } - else if (DeviceMode == VL53L0X_DEVICEMODE_GPIO_DRIVE) - { - if (Polarity == VL53L0X_INTERRUPTPOLARITY_LOW) - data = 0x10; - else - data = 1; - - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, data); - } - else if (DeviceMode == VL53L0X_DEVICEMODE_GPIO_OSC) - { - - Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); - Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); - - Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); - Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); - Status |= VL53L0X_WrByte(Dev, 0x85, 0x02); - - Status |= VL53L0X_WrByte(Dev, 0xff, 0x04); - Status |= VL53L0X_WrByte(Dev, 0xcd, 0x00); - Status |= VL53L0X_WrByte(Dev, 0xcc, 0x11); - - Status |= VL53L0X_WrByte(Dev, 0xff, 0x07); - Status |= VL53L0X_WrByte(Dev, 0xbe, 0x00); - - Status |= VL53L0X_WrByte(Dev, 0xff, 0x06); - Status |= VL53L0X_WrByte(Dev, 0xcc, 0x09); - - Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); - Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); - Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); - } - else - { - - if (Status == VL53L0X_ERROR_NONE) - { - switch (Functionality) - { - case VL53L0X_GPIOFUNCTIONALITY_OFF: - data = 0x00; - break; - case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW: - data = 0x01; - break; - case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH: - data = 0x02; - break; - case VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT: - data = 0x03; - break; - case VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY: - data = 0x04; - break; - default: - Status = - VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED; - } - } - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data); - - if (Status == VL53L0X_ERROR_NONE) - { - if (Polarity == VL53L0X_INTERRUPTPOLARITY_LOW) - data = 0; - else - data = (uint8_t)(1 << 4); - - Status = VL53L0X_UpdateByte(Dev, - VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data); - } - - if (Status == VL53L0X_ERROR_NONE) - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - Pin0GpioFunctionality, Functionality); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_ClearInterruptMask(Dev, 0); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin, - VL53L0X_DeviceModes *pDeviceMode, - VL53L0X_GpioFunctionality *pFunctionality, - VL53L0X_InterruptPolarity *pPolarity) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - VL53L0X_GpioFunctionality GpioFunctionality; - uint8_t data; - - LOG_FUNCTION_START(""); - - /* pDeviceMode not managed by Ewok it return the current mode */ - - Status = VL53L0X_GetDeviceMode(Dev, pDeviceMode); - - if (Status == VL53L0X_ERROR_NONE) - { - if (Pin != 0) - { - Status = VL53L0X_ERROR_GPIO_NOT_EXISTING; - } - else - { - Status = VL53L0X_RdByte(Dev, - VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, &data); - } - } - - if (Status == VL53L0X_ERROR_NONE) - { - switch (data & 0x07) - { - case 0x00: - GpioFunctionality = VL53L0X_GPIOFUNCTIONALITY_OFF; - break; - case 0x01: - GpioFunctionality = - VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW; - break; - case 0x02: - GpioFunctionality = - VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH; - break; - case 0x03: - GpioFunctionality = - VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT; - break; - case 0x04: - GpioFunctionality = - VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY; - break; - default: - Status = VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED; - } - } - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_RdByte(Dev, - VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH, - &data); - - if (Status == VL53L0X_ERROR_NONE) - { - if ((data & (uint8_t)(1 << 4)) == 0) - *pPolarity = VL53L0X_INTERRUPTPOLARITY_LOW; - else - *pPolarity = VL53L0X_INTERRUPTPOLARITY_HIGH; - } - - if (Status == VL53L0X_ERROR_NONE) - { - *pFunctionality = GpioFunctionality; - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, Pin0GpioFunctionality, - GpioFunctionality); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetInterruptThresholds(VL53L0X_DEV Dev, - VL53L0X_DeviceModes DeviceMode, FixPoint1616_t ThresholdLow, - FixPoint1616_t ThresholdHigh) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint16_t Threshold16; - - LOG_FUNCTION_START(""); - - /* no dependency on DeviceMode for Ewok */ - /* Need to divide by 2 because the FW will apply a x2 */ - Threshold16 = (uint16_t)((ThresholdLow >> 17) & 0x00fff); - Status = VL53L0X_WrWord(Dev, VL53L0X_REG_SYSTEM_THRESH_LOW, - Threshold16); - - if (Status == VL53L0X_ERROR_NONE) - { - /* Need to divide by 2 because the FW will apply a x2 */ - Threshold16 = (uint16_t)((ThresholdHigh >> 17) & 0x00fff); - Status = VL53L0X_WrWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH, - Threshold16); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetInterruptThresholds(VL53L0X_DEV Dev, - VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow, - FixPoint1616_t *pThresholdHigh) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint16_t Threshold16; - - LOG_FUNCTION_START(""); - - /* no dependency on DeviceMode for Ewok */ - - Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_LOW, - &Threshold16); - /* Need to multiply by 2 because the FW will apply a x2 */ - *pThresholdLow = (FixPoint1616_t)((0x00fff & Threshold16) << 17); - - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_RdWord(Dev, VL53L0X_REG_SYSTEM_THRESH_HIGH, - &Threshold16); - /* Need to multiply by 2 because the FW will apply a x2 */ - *pThresholdHigh = - (FixPoint1616_t)((0x00fff & Threshold16) << 17); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetStopCompletedStatus(VL53L0X_DEV Dev, - uint32_t *pStopStatus) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t Byte = 0; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_RdByte(Dev, 0x04, &Byte); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, 0xFF, 0x0); - - *pStopStatus = Byte; - - if (Byte == 0) - { - Status = VL53L0X_WrByte(Dev, 0x80, 0x01); - Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); - Status = VL53L0X_WrByte(Dev, 0x00, 0x00); - Status = VL53L0X_WrByte(Dev, 0x91, - PALDevDataGet(Dev, StopVariable)); - Status = VL53L0X_WrByte(Dev, 0x00, 0x01); - Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); - Status = VL53L0X_WrByte(Dev, 0x80, 0x00); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -/* Group PAL Interrupt Functions */ -VL53L0X_Error VL53L0X_ClearInterruptMask(VL53L0X_DEV Dev, - uint32_t InterruptMask) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t LoopCount; - uint8_t Byte; - - LOG_FUNCTION_START(""); - - /* clear bit 0 range interrupt, bit 1 error interrupt */ - LoopCount = 0; - do - { - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x01); - Status |= VL53L0X_WrByte(Dev, - VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR, 0x00); - Status |= VL53L0X_RdByte(Dev, - VL53L0X_REG_RESULT_INTERRUPT_STATUS, &Byte); - LoopCount++; - } while (((Byte & 0x07) != 0x00) && (LoopCount < 3) && (Status == VL53L0X_ERROR_NONE)); - - if (LoopCount >= 3) - Status = VL53L0X_ERROR_INTERRUPT_NOT_CLEARED; - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetInterruptMaskStatus(VL53L0X_DEV Dev, - uint32_t *pInterruptMaskStatus) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t Byte; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_RdByte(Dev, VL53L0X_REG_RESULT_INTERRUPT_STATUS, - &Byte); - *pInterruptMaskStatus = Byte & 0x07; - - if (Byte & 0x18) - Status = VL53L0X_ERROR_RANGE_ERROR; - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_EnableInterruptMask(VL53L0X_DEV Dev, - uint32_t InterruptMask) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NOT_IMPLEMENTED; - - LOG_FUNCTION_START(""); - - /* not implemented for VL53L0X */ - - LOG_FUNCTION_END(Status); - return Status; -} - -/* End Group PAL Interrupt Functions */ - -/* Group SPAD functions */ - -VL53L0X_Error VL53L0X_SetSpadAmbientDamperThreshold(VL53L0X_DEV Dev, - uint16_t SpadAmbientDamperThreshold) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); - Status |= VL53L0X_WrWord(Dev, 0x40, SpadAmbientDamperThreshold); - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetSpadAmbientDamperThreshold(VL53L0X_DEV Dev, - uint16_t *pSpadAmbientDamperThreshold) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); - Status |= VL53L0X_RdWord(Dev, 0x40, pSpadAmbientDamperThreshold); - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_SetSpadAmbientDamperFactor(VL53L0X_DEV Dev, - uint16_t SpadAmbientDamperFactor) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t Byte; - - LOG_FUNCTION_START(""); - - Byte = (uint8_t)(SpadAmbientDamperFactor & 0x00FF); - - Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); - Status |= VL53L0X_WrByte(Dev, 0x42, Byte); - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_GetSpadAmbientDamperFactor(VL53L0X_DEV Dev, - uint16_t *pSpadAmbientDamperFactor) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t Byte; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); - Status |= VL53L0X_RdByte(Dev, 0x42, &Byte); - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); - *pSpadAmbientDamperFactor = (uint16_t)Byte; - - LOG_FUNCTION_END(Status); - return Status; -} - -/* END Group SPAD functions */ - -/***************************************************************************** - * Internal functions - *****************************************************************************/ - -VL53L0X_Error VL53L0X_SetReferenceSpads(VL53L0X_DEV Dev, uint32_t count, - uint8_t isApertureSpads) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_set_reference_spads(Dev, count, isApertureSpads); - - LOG_FUNCTION_END(Status); - - return Status; -} - -VL53L0X_Error VL53L0X_GetReferenceSpads(VL53L0X_DEV Dev, uint32_t *pSpadCount, - uint8_t *pIsApertureSpads) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_get_reference_spads(Dev, pSpadCount, pIsApertureSpads); - - LOG_FUNCTION_END(Status); - - return Status; -} - -VL53L0X_Error VL53L0X_PerformRefSpadManagement(VL53L0X_DEV Dev, - uint32_t *refSpadCount, uint8_t *isApertureSpads) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_perform_ref_spad_management(Dev, refSpadCount, - isApertureSpads); - - LOG_FUNCTION_END(Status); - - return Status; -} diff --git a/app/drivers/vl53l0x/vl53l0x_api.h b/app/drivers/vl53l0x/vl53l0x_api.h deleted file mode 100644 index d3033c6..0000000 --- a/app/drivers/vl53l0x/vl53l0x_api.h +++ /dev/null @@ -1,1924 +0,0 @@ -/******************************************************************************* - * Copyright � 2016, STMicroelectronics International N.V. - All rights reserved. - - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND - NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. - IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY - DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *****************************************************************************/ - -#ifndef _VL53L0X_API_H_ -#define _VL53L0X_API_H_ - -#include "vl53l0x_api_strings.h" -#include "vl53l0x_def.h" -#include "vl53l0x_platform.h" - -#ifdef __cplusplus -extern "C" -{ -#endif - -#ifdef _MSC_VER -#ifdef VL53L0X_API_EXPORTS -#define VL53L0X_API __declspec(dllexport) -#else -#define VL53L0X_API -#endif -#else -#define VL53L0X_API -#endif - - /** @defgroup VL53L0X_cut11_group VL53L0X cut1.1 Function Definition - * @brief VL53L0X cut1.1 Function Definition - * @{ - */ - - /** @defgroup VL53L0X_general_group VL53L0X General Functions - * @brief General functions and definitions - * @{ - */ - - /** - * @brief Return the VL53L0X PAL Implementation Version - * - * @note This function doesn't access to the device - * - * @param pVersion Pointer to current PAL Implementation Version - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetVersion(VL53L0X_Version_t *pVersion); - - /** - * @brief Return the PAL Specification Version used for the current - * implementation. - * - * @note This function doesn't access to the device - * - * @param pPalSpecVersion Pointer to current PAL Specification Version - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetPalSpecVersion( - VL53L0X_Version_t *pPalSpecVersion); - - /** - * @brief Reads the Product Revision for a for given Device - * This function can be used to distinguish cut1.0 from cut1.1. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pProductRevisionMajor Pointer to Product Revision Major - * for a given Device - * @param pProductRevisionMinor Pointer to Product Revision Minor - * for a given Device - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetProductRevision(VL53L0X_DEV Dev, - uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor); - - /** - * @brief Reads the Device information for given Device - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pVL53L0X_DeviceInfo Pointer to current device info for a given - * Device - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetDeviceInfo(VL53L0X_DEV Dev, - VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo); - - /** - * @brief Read current status of the error register for the selected device - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pDeviceErrorStatus Pointer to current error code of the device - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetDeviceErrorStatus(VL53L0X_DEV Dev, - VL53L0X_DeviceError *pDeviceErrorStatus); - - /** - * @brief Human readable Range Status string for a given RangeStatus - * - * @note This function doesn't access to the device - * - * @param RangeStatus The RangeStatus code as stored on - * @a VL53L0X_RangingMeasurementData_t - * @param pRangeStatusString The returned RangeStatus string. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetRangeStatusString(uint8_t RangeStatus, - char *pRangeStatusString); - - /** - * @brief Human readable error string for a given Error Code - * - * @note This function doesn't access to the device - * - * @param ErrorCode The error code as stored on ::VL53L0X_DeviceError - * @param pDeviceErrorString The error string corresponding to the ErrorCode - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetDeviceErrorString( - VL53L0X_DeviceError ErrorCode, char *pDeviceErrorString); - - /** - * @brief Human readable error string for current PAL error status - * - * @note This function doesn't access to the device - * - * @param PalErrorCode The error code as stored on @a VL53L0X_Error - * @param pPalErrorString The error string corresponding to the - * PalErrorCode - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetPalErrorString(VL53L0X_Error PalErrorCode, - char *pPalErrorString); - - /** - * @brief Human readable PAL State string - * - * @note This function doesn't access to the device - * - * @param PalStateCode The State code as stored on @a VL53L0X_State - * @param pPalStateString The State string corresponding to the - * PalStateCode - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetPalStateString(VL53L0X_State PalStateCode, - char *pPalStateString); - - /** - * @brief Reads the internal state of the PAL for a given Device - * - * @note This function doesn't access to the device - * - * @param Dev Device Handle - * @param pPalState Pointer to current state of the PAL for a - * given Device - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetPalState(VL53L0X_DEV Dev, - VL53L0X_State *pPalState); - - /** - * @brief Set the power mode for a given Device - * The power mode can be Standby or Idle. Different level of both Standby and - * Idle can exists. - * This function should not be used when device is in Ranging state. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param PowerMode The value of the power mode to set. - * see ::VL53L0X_PowerModes - * Valid values are: - * VL53L0X_POWERMODE_STANDBY_LEVEL1, - * VL53L0X_POWERMODE_IDLE_LEVEL1 - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when PowerMode - * is not in the supported list - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetPowerMode(VL53L0X_DEV Dev, - VL53L0X_PowerModes PowerMode); - - /** - * @brief Get the power mode for a given Device - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pPowerMode Pointer to the current value of the power - * mode. see ::VL53L0X_PowerModes - * Valid values are: - * VL53L0X_POWERMODE_STANDBY_LEVEL1, - * VL53L0X_POWERMODE_IDLE_LEVEL1 - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetPowerMode(VL53L0X_DEV Dev, - VL53L0X_PowerModes *pPowerMode); - - /** - * Set or over-hide part to part calibration offset - * \sa VL53L0X_DataInit() VL53L0X_GetOffsetCalibrationDataMicroMeter() - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param OffsetCalibrationDataMicroMeter Offset (microns) - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetOffsetCalibrationDataMicroMeter( - VL53L0X_DEV Dev, int32_t OffsetCalibrationDataMicroMeter); - - /** - * @brief Get part to part calibration offset - * - * @par Function Description - * Should only be used after a successful call to @a VL53L0X_DataInit to backup - * device NVM value - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pOffsetCalibrationDataMicroMeter Return part to part - * calibration offset from device (microns) - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetOffsetCalibrationDataMicroMeter( - VL53L0X_DEV Dev, int32_t *pOffsetCalibrationDataMicroMeter); - - /** - * Set the linearity corrective gain - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param LinearityCorrectiveGain Linearity corrective - * gain in x1000 - * if value is 1000 then no modification is applied. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetLinearityCorrectiveGain(VL53L0X_DEV Dev, - int16_t LinearityCorrectiveGain); - - /** - * @brief Get the linearity corrective gain - * - * @par Function Description - * Should only be used after a successful call to @a VL53L0X_DataInit to backup - * device NVM value - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pLinearityCorrectiveGain Pointer to the linearity - * corrective gain in x1000 - * if value is 1000 then no modification is applied. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetLinearityCorrectiveGain(VL53L0X_DEV Dev, - uint16_t *pLinearityCorrectiveGain); - - /** - * Set Group parameter Hold state - * - * @par Function Description - * Set or remove device internal group parameter hold - * - * @note This function is not Implemented - * - * @param Dev Device Handle - * @param GroupParamHold Group parameter Hold state to be set (on/off) - * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetGroupParamHold(VL53L0X_DEV Dev, - uint8_t GroupParamHold); - - /** - * @brief Get the maximal distance for actual setup - * @par Function Description - * Device must be initialized through @a VL53L0X_SetParameters() prior calling - * this function. - * - * Any range value more than the value returned is to be considered as - * "no target detected" or - * "no target in detectable range"\n - * @warning The maximal distance depends on the setup - * - * @note This function is not Implemented - * - * @param Dev Device Handle - * @param pUpperLimitMilliMeter The maximal range limit for actual setup - * (in millimeter) - * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetUpperLimitMilliMeter(VL53L0X_DEV Dev, - uint16_t *pUpperLimitMilliMeter); - - /** - * @brief Get the Total Signal Rate - * @par Function Description - * This function will return the Total Signal Rate after a good ranging is done. - * - * @note This function access to Device - * - * @param Dev Device Handle - * @param pTotalSignalRate Total Signal Rate value in Mega count per second - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_Error VL53L0X_GetTotalSignalRate(VL53L0X_DEV Dev, - FixPoint1616_t *pTotalSignalRate); - - /** @} VL53L0X_general_group */ - - /** @defgroup VL53L0X_init_group VL53L0X Init Functions - * @brief VL53L0X Init Functions - * @{ - */ - - /** - * @brief Set new device address - * - * After completion the device will answer to the new address programmed. - * This function should be called when several devices are used in parallel - * before start programming the sensor. - * When a single device us used, there is no need to call this function. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param DeviceAddress The new Device address - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetDeviceAddress(VL53L0X_DEV Dev, - uint8_t DeviceAddress); - - /** - * - * @brief One time device initialization - * - * To be called once and only once after device is brought out of reset - * (Chip enable) and booted see @a VL53L0X_WaitDeviceBooted() - * - * @par Function Description - * When not used after a fresh device "power up" or reset, it may return - * @a #VL53L0X_ERROR_CALIBRATION_WARNING meaning wrong calibration data - * may have been fetched from device that can result in ranging offset error\n - * If application cannot execute device reset or need to run VL53L0X_DataInit - * multiple time then it must ensure proper offset calibration saving and - * restore on its own by using @a VL53L0X_GetOffsetCalibrationData() on first - * power up and then @a VL53L0X_SetOffsetCalibrationData() in all subsequent - * init. - * This function will change the VL53L0X_State from VL53L0X_STATE_POWERDOWN to - * VL53L0X_STATE_WAIT_STATICINIT. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_DataInit(VL53L0X_DEV Dev); - - /** - * @brief Set the tuning settings pointer - * - * This function is used to specify the Tuning settings buffer to be used - * for a given device. The buffer contains all the necessary data to permit - * the API to write tuning settings. - * This function permit to force the usage of either external or internal - * tuning settings. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pTuningSettingBuffer Pointer to tuning settings buffer. - * @param UseInternalTuningSettings Use internal tuning settings value. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetTuningSettingBuffer(VL53L0X_DEV Dev, - uint8_t *pTuningSettingBuffer, uint8_t UseInternalTuningSettings); - - /** - * @brief Get the tuning settings pointer and the internal external switch - * value. - * - * This function is used to get the Tuning settings buffer pointer and the - * value. - * of the switch to select either external or internal tuning settings. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param ppTuningSettingBuffer Pointer to tuning settings buffer. - * @param pUseInternalTuningSettings Pointer to store Use internal tuning - * settings value. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetTuningSettingBuffer(VL53L0X_DEV Dev, - uint8_t **ppTuningSettingBuffer, uint8_t *pUseInternalTuningSettings); - - /** - * @brief Do basic device init (and eventually patch loading) - * This function will change the VL53L0X_State from - * VL53L0X_STATE_WAIT_STATICINIT to VL53L0X_STATE_IDLE. - * In this stage all default setting will be applied. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_StaticInit(VL53L0X_DEV Dev); - - /** - * @brief Wait for device booted after chip enable (hardware standby) - * This function can be run only when VL53L0X_State is VL53L0X_STATE_POWERDOWN. - * - * @note This function is not Implemented - * - * @param Dev Device Handle - * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented - * - */ - VL53L0X_API VL53L0X_Error VL53L0X_WaitDeviceBooted(VL53L0X_DEV Dev); - - /** - * @brief Do an hard reset or soft reset (depending on implementation) of the - * device \nAfter call of this function, device must be in same state as right - * after a power-up sequence.This function will change the VL53L0X_State to - * VL53L0X_STATE_POWERDOWN. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_ResetDevice(VL53L0X_DEV Dev); - - /** @} VL53L0X_init_group */ - - /** @defgroup VL53L0X_parameters_group VL53L0X Parameters Functions - * @brief Functions used to prepare and setup the device - * @{ - */ - - /** - * @brief Prepare device for operation - * @par Function Description - * Update device with provided parameters - * @li Then start ranging operation. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pDeviceParameters Pointer to store current device parameters. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetDeviceParameters(VL53L0X_DEV Dev, - const VL53L0X_DeviceParameters_t *pDeviceParameters); - - /** - * @brief Retrieve current device parameters - * @par Function Description - * Get actual parameters of the device - * @li Then start ranging operation. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pDeviceParameters Pointer to store current device parameters. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetDeviceParameters(VL53L0X_DEV Dev, - VL53L0X_DeviceParameters_t *pDeviceParameters); - - /** - * @brief Set a new device mode - * @par Function Description - * Set device to a new mode (ranging, histogram ...) - * - * @note This function doesn't Access to the device - * - * @param Dev Device Handle - * @param DeviceMode New device mode to apply - * Valid values are: - * VL53L0X_DEVICEMODE_SINGLE_RANGING - * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING - * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING - * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM - * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY - * VL53L0X_HISTOGRAMMODE_RETURN_ONLY - * VL53L0X_HISTOGRAMMODE_BOTH - * - * - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when DeviceMode - * is not in the supported list - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetDeviceMode(VL53L0X_DEV Dev, - VL53L0X_DeviceModes DeviceMode); - - /** - * @brief Get current new device mode - * @par Function Description - * Get actual mode of the device(ranging, histogram ...) - * - * @note This function doesn't Access to the device - * - * @param Dev Device Handle - * @param pDeviceMode Pointer to current apply mode value - * Valid values are: - * VL53L0X_DEVICEMODE_SINGLE_RANGING - * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING - * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING - * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM - * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY - * VL53L0X_HISTOGRAMMODE_RETURN_ONLY - * VL53L0X_HISTOGRAMMODE_BOTH - * - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when - * DeviceMode is not in the supported list - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetDeviceMode(VL53L0X_DEV Dev, - VL53L0X_DeviceModes *pDeviceMode); - - /** - * @brief Sets the resolution of range measurements. - * @par Function Description - * Set resolution of range measurements to either 0.25mm if - * fraction enabled or 1mm if not enabled. - * - * @note This function Accesses the device - * - * @param Dev Device Handle - * @param Enable Enable high resolution - * - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetRangeFractionEnable(VL53L0X_DEV Dev, - uint8_t Enable); - - /** - * @brief Gets the fraction enable parameter indicating the resolution of - * range measurements. - * - * @par Function Description - * Gets the fraction enable state, which translates to the resolution of - * range measurements as follows :Enabled:=0.25mm resolution, - * Not Enabled:=1mm resolution. - * - * @note This function Accesses the device - * - * @param Dev Device Handle - * @param pEnable Output Parameter reporting the fraction enable state. - * - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetFractionEnable(VL53L0X_DEV Dev, - uint8_t *pEnable); - - /** - * @brief Set a new Histogram mode - * @par Function Description - * Set device to a new Histogram mode - * - * @note This function doesn't Access to the device - * - * @param Dev Device Handle - * @param HistogramMode New device mode to apply - * Valid values are: - * VL53L0X_HISTOGRAMMODE_DISABLED - * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM - * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY - * VL53L0X_HISTOGRAMMODE_RETURN_ONLY - * VL53L0X_HISTOGRAMMODE_BOTH - * - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when - * HistogramMode is not in the supported list - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetHistogramMode(VL53L0X_DEV Dev, - VL53L0X_HistogramModes HistogramMode); - - /** - * @brief Get current new device mode - * @par Function Description - * Get current Histogram mode of a Device - * - * @note This function doesn't Access to the device - * - * @param Dev Device Handle - * @param pHistogramMode Pointer to current Histogram Mode value - * Valid values are: - * VL53L0X_HISTOGRAMMODE_DISABLED - * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM - * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY - * VL53L0X_HISTOGRAMMODE_RETURN_ONLY - * VL53L0X_HISTOGRAMMODE_BOTH - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetHistogramMode(VL53L0X_DEV Dev, - VL53L0X_HistogramModes *pHistogramMode); - - /** - * @brief Set Ranging Timing Budget in microseconds - * - * @par Function Description - * Defines the maximum time allowed by the user to the device to run a - * full ranging sequence for the current mode (ranging, histogram, ASL ...) - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param MeasurementTimingBudgetMicroSeconds Max measurement time in - * microseconds. - * Valid values are: - * >= 17000 microsecs when wraparound enabled - * >= 12000 microsecs when wraparound disabled - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned if - MeasurementTimingBudgetMicroSeconds out of range - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetMeasurementTimingBudgetMicroSeconds( - VL53L0X_DEV Dev, uint32_t MeasurementTimingBudgetMicroSeconds); - - /** - * @brief Get Ranging Timing Budget in microseconds - * - * @par Function Description - * Returns the programmed the maximum time allowed by the user to the - * device to run a full ranging sequence for the current mode - * (ranging, histogram, ASL ...) - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pMeasurementTimingBudgetMicroSeconds Max measurement time in - * microseconds. - * Valid values are: - * >= 17000 microsecs when wraparound enabled - * >= 12000 microsecs when wraparound disabled - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetMeasurementTimingBudgetMicroSeconds( - VL53L0X_DEV Dev, uint32_t *pMeasurementTimingBudgetMicroSeconds); - - /** - * @brief Gets the VCSEL pulse period. - * - * @par Function Description - * This function retrieves the VCSEL pulse period for the given period type. - * - * @note This function Accesses the device - * - * @param Dev Device Handle - * @param VcselPeriodType VCSEL period identifier (pre-range|final). - * @param pVCSELPulsePeriod Pointer to VCSEL period value. - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INVALID_PARAMS Error VcselPeriodType parameter not - * supported. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetVcselPulsePeriod(VL53L0X_DEV Dev, - VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriod); - - /** - * @brief Sets the VCSEL pulse period. - * - * @par Function Description - * This function retrieves the VCSEL pulse period for the given period type. - * - * @note This function Accesses the device - * - * @param Dev Device Handle - * @param VcselPeriodType VCSEL period identifier (pre-range|final). - * @param VCSELPulsePeriod VCSEL period value - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INVALID_PARAMS Error VcselPeriodType parameter not - * supported. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetVcselPulsePeriod(VL53L0X_DEV Dev, - VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriod); - - /** - * @brief Sets the (on/off) state of a requested sequence step. - * - * @par Function Description - * This function enables/disables a requested sequence step. - * - * @note This function Accesses the device - * - * @param Dev Device Handle - * @param SequenceStepId Sequence step identifier. - * @param SequenceStepEnabled Demanded state {0=Off,1=On} - * is enabled. - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not - * supported. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetSequenceStepEnable(VL53L0X_DEV Dev, - VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled); - - /** - * @brief Gets the (on/off) state of a requested sequence step. - * - * @par Function Description - * This function retrieves the state of a requested sequence step, i.e. on/off. - * - * @note This function Accesses the device - * - * @param Dev Device Handle - * @param SequenceStepId Sequence step identifier. - * @param pSequenceStepEnabled Out parameter reporting if the sequence step - * is enabled {0=Off,1=On}. - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not - * supported. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetSequenceStepEnable(VL53L0X_DEV Dev, - VL53L0X_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled); - - /** - * @brief Gets the (on/off) state of all sequence steps. - * - * @par Function Description - * This function retrieves the state of all sequence step in the scheduler. - * - * @note This function Accesses the device - * - * @param Dev Device Handle - * @param pSchedulerSequenceSteps Pointer to struct containing result. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetSequenceStepEnables(VL53L0X_DEV Dev, - VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps); - - /** - * @brief Sets the timeout of a requested sequence step. - * - * @par Function Description - * This function sets the timeout of a requested sequence step. - * - * @note This function Accesses the device - * - * @param Dev Device Handle - * @param SequenceStepId Sequence step identifier. - * @param TimeOutMilliSecs Demanded timeout - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not - * supported. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetSequenceStepTimeout(VL53L0X_DEV Dev, - VL53L0X_SequenceStepId SequenceStepId, FixPoint1616_t TimeOutMilliSecs); - - /** - * @brief Gets the timeout of a requested sequence step. - * - * @par Function Description - * This function retrieves the timeout of a requested sequence step. - * - * @note This function Accesses the device - * - * @param Dev Device Handle - * @param SequenceStepId Sequence step identifier. - * @param pTimeOutMilliSecs Timeout value. - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not - * supported. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetSequenceStepTimeout(VL53L0X_DEV Dev, - VL53L0X_SequenceStepId SequenceStepId, - FixPoint1616_t *pTimeOutMilliSecs); - - /** - * @brief Gets number of sequence steps managed by the API. - * - * @par Function Description - * This function retrieves the number of sequence steps currently managed - * by the API - * - * @note This function Accesses the device - * - * @param Dev Device Handle - * @param pNumberOfSequenceSteps Out parameter reporting the number of - * sequence steps. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetNumberOfSequenceSteps(VL53L0X_DEV Dev, - uint8_t *pNumberOfSequenceSteps); - - /** - * @brief Gets the name of a given sequence step. - * - * @par Function Description - * This function retrieves the name of sequence steps corresponding to - * SequenceStepId. - * - * @note This function doesn't Accesses the device - * - * @param SequenceStepId Sequence step identifier. - * @param pSequenceStepsString Pointer to Info string - * - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetSequenceStepsInfo( - VL53L0X_SequenceStepId SequenceStepId, char *pSequenceStepsString); - - /** - * Program continuous mode Inter-Measurement period in milliseconds - * - * @par Function Description - * When trying to set too short time return INVALID_PARAMS minimal value - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param InterMeasurementPeriodMilliSeconds Inter-Measurement Period in ms. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetInterMeasurementPeriodMilliSeconds( - VL53L0X_DEV Dev, uint32_t InterMeasurementPeriodMilliSeconds); - - /** - * Get continuous mode Inter-Measurement period in milliseconds - * - * @par Function Description - * When trying to set too short time return INVALID_PARAMS minimal value - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pInterMeasurementPeriodMilliSeconds Pointer to programmed - * Inter-Measurement Period in milliseconds. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetInterMeasurementPeriodMilliSeconds( - VL53L0X_DEV Dev, uint32_t *pInterMeasurementPeriodMilliSeconds); - - /** - * @brief Enable/Disable Cross talk compensation feature - * - * @note This function is not Implemented. - * Enable/Disable Cross Talk by set to zero the Cross Talk value - * by using @a VL53L0X_SetXTalkCompensationRateMegaCps(). - * - * @param Dev Device Handle - * @param XTalkCompensationEnable Cross talk compensation - * to be set 0=disabled else = enabled - * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetXTalkCompensationEnable(VL53L0X_DEV Dev, - uint8_t XTalkCompensationEnable); - - /** - * @brief Get Cross talk compensation rate - * - * @note This function is not Implemented. - * Enable/Disable Cross Talk by set to zero the Cross Talk value by - * using @a VL53L0X_SetXTalkCompensationRateMegaCps(). - * - * @param Dev Device Handle - * @param pXTalkCompensationEnable Pointer to the Cross talk compensation - * state 0=disabled or 1 = enabled - * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetXTalkCompensationEnable(VL53L0X_DEV Dev, - uint8_t *pXTalkCompensationEnable); - - /** - * @brief Set Cross talk compensation rate - * - * @par Function Description - * Set Cross talk compensation rate. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param XTalkCompensationRateMegaCps Compensation rate in - * Mega counts per second (16.16 fix point) see datasheet for details - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetXTalkCompensationRateMegaCps( - VL53L0X_DEV Dev, - FixPoint1616_t XTalkCompensationRateMegaCps); - - /** - * @brief Get Cross talk compensation rate - * - * @par Function Description - * Get Cross talk compensation rate. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pXTalkCompensationRateMegaCps Pointer to Compensation rate - in Mega counts per second (16.16 fix point) see datasheet for details - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetXTalkCompensationRateMegaCps( - VL53L0X_DEV Dev, - FixPoint1616_t *pXTalkCompensationRateMegaCps); - - /** - * @brief Set Reference Calibration Parameters - * - * @par Function Description - * Set Reference Calibration Parameters. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param VhvSettings Parameter for VHV - * @param PhaseCal Parameter for PhaseCal - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetRefCalibration(VL53L0X_DEV Dev, - uint8_t VhvSettings, uint8_t PhaseCal); - - /** - * @brief Get Reference Calibration Parameters - * - * @par Function Description - * Get Reference Calibration Parameters. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pVhvSettings Pointer to VHV parameter - * @param pPhaseCal Pointer to PhaseCal Parameter - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetRefCalibration(VL53L0X_DEV Dev, - uint8_t *pVhvSettings, uint8_t *pPhaseCal); - - /** - * @brief Get the number of the check limit managed by a given Device - * - * @par Function Description - * This function give the number of the check limit managed by the Device - * - * @note This function doesn't Access to the device - * - * @param pNumberOfLimitCheck Pointer to the number of check limit. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetNumberOfLimitCheck( - uint16_t *pNumberOfLimitCheck); - - /** - * @brief Return a description string for a given limit check number - * - * @par Function Description - * This function returns a description string for a given limit check number. - * The limit check is identified with the LimitCheckId. - * - * @note This function doesn't Access to the device - * - * @param Dev Device Handle - * @param LimitCheckId Limit Check ID - (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). - * @param pLimitCheckString Pointer to the - description string of the given check limit. - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INVALID_PARAMS This error is - returned when LimitCheckId value is out of range. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetLimitCheckInfo(VL53L0X_DEV Dev, - uint16_t LimitCheckId, char *pLimitCheckString); - - /** - * @brief Return a the Status of the specified check limit - * - * @par Function Description - * This function returns the Status of the specified check limit. - * The value indicate if the check is fail or not. - * The limit check is identified with the LimitCheckId. - * - * @note This function doesn't Access to the device - * - * @param Dev Device Handle - * @param LimitCheckId Limit Check ID - (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). - * @param pLimitCheckStatus Pointer to the - Limit Check Status of the given check limit. - * LimitCheckStatus : - * 0 the check is not fail - * 1 the check if fail or not enabled - * - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INVALID_PARAMS This error is - returned when LimitCheckId value is out of range. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetLimitCheckStatus(VL53L0X_DEV Dev, - uint16_t LimitCheckId, uint8_t *pLimitCheckStatus); - - /** - * @brief Enable/Disable a specific limit check - * - * @par Function Description - * This function Enable/Disable a specific limit check. - * The limit check is identified with the LimitCheckId. - * - * @note This function doesn't Access to the device - * - * @param Dev Device Handle - * @param LimitCheckId Limit Check ID - * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). - * @param LimitCheckEnable if 1 the check limit - * corresponding to LimitCheckId is Enabled - * if 0 the check limit - * corresponding to LimitCheckId is disabled - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned - * when LimitCheckId value is out of range. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetLimitCheckEnable(VL53L0X_DEV Dev, - uint16_t LimitCheckId, uint8_t LimitCheckEnable); - - /** - * @brief Get specific limit check enable state - * - * @par Function Description - * This function get the enable state of a specific limit check. - * The limit check is identified with the LimitCheckId. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param LimitCheckId Limit Check ID - * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). - * @param pLimitCheckEnable Pointer to the check limit enable - * value. - * if 1 the check limit - * corresponding to LimitCheckId is Enabled - * if 0 the check limit - * corresponding to LimitCheckId is disabled - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned - * when LimitCheckId value is out of range. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetLimitCheckEnable(VL53L0X_DEV Dev, - uint16_t LimitCheckId, uint8_t *pLimitCheckEnable); - - /** - * @brief Set a specific limit check value - * - * @par Function Description - * This function set a specific limit check value. - * The limit check is identified with the LimitCheckId. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param LimitCheckId Limit Check ID - * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). - * @param LimitCheckValue Limit check Value for a given - * LimitCheckId - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned when either - * LimitCheckId or LimitCheckValue value is out of range. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetLimitCheckValue(VL53L0X_DEV Dev, - uint16_t LimitCheckId, FixPoint1616_t LimitCheckValue); - - /** - * @brief Get a specific limit check value - * - * @par Function Description - * This function get a specific limit check value from device then it updates - * internal values and check enables. - * The limit check is identified with the LimitCheckId. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param LimitCheckId Limit Check ID - * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). - * @param pLimitCheckValue Pointer to Limit - * check Value for a given LimitCheckId. - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned - * when LimitCheckId value is out of range. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetLimitCheckValue(VL53L0X_DEV Dev, - uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckValue); - - /** - * @brief Get the current value of the signal used for the limit check - * - * @par Function Description - * This function get a the current value of the signal used for the limit check. - * To obtain the latest value you should run a ranging before. - * The value reported is linked to the limit check identified with the - * LimitCheckId. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param LimitCheckId Limit Check ID - * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ). - * @param pLimitCheckCurrent Pointer to current Value for a - * given LimitCheckId. - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned when - * LimitCheckId value is out of range. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetLimitCheckCurrent(VL53L0X_DEV Dev, - uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckCurrent); - - /** - * @brief Enable (or disable) Wrap around Check - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param WrapAroundCheckEnable Wrap around Check to be set - * 0=disabled, other = enabled - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetWrapAroundCheckEnable(VL53L0X_DEV Dev, - uint8_t WrapAroundCheckEnable); - - /** - * @brief Get setup of Wrap around Check - * - * @par Function Description - * This function get the wrapAround check enable parameters - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pWrapAroundCheckEnable Pointer to the Wrap around Check state - * 0=disabled or 1 = enabled - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetWrapAroundCheckEnable(VL53L0X_DEV Dev, - uint8_t *pWrapAroundCheckEnable); - - /** @} VL53L0X_parameters_group */ - - /** @defgroup VL53L0X_measurement_group VL53L0X Measurement Functions - * @brief Functions used for the measurements - * @{ - */ - - /** - * @brief Single shot measurement. - * - * @par Function Description - * Perform simple measurement sequence (Start measure, Wait measure to end, - * and returns when measurement is done). - * Once function returns, user can get valid data by calling - * VL53L0X_GetRangingMeasurement or VL53L0X_GetHistogramMeasurement - * depending on defined measurement mode - * User should Clear the interrupt in case this are enabled by using the - * function VL53L0X_ClearInterruptMask(). - * - * @warning This function is a blocking function - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_PerformSingleMeasurement(VL53L0X_DEV Dev); - - /** - * @brief Perform Reference Calibration - * - * @details Perform a reference calibration of the Device. - * This function should be run from time to time before doing - * a ranging measurement. - * This function will launch a special ranging measurement, so - * if interrupt are enable an interrupt will be done. - * This function will clear the interrupt generated automatically. - * - * @warning This function is a blocking function - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pVhvSettings Pointer to vhv settings parameter. - * @param pPhaseCal Pointer to PhaseCal parameter. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_PerformRefCalibration(VL53L0X_DEV Dev, - uint8_t *pVhvSettings, uint8_t *pPhaseCal); - - /** - * @brief Perform XTalk Measurement - * - * @details Measures the current cross talk from glass in front - * of the sensor. - * This functions performs a histogram measurement and uses the results - * to measure the crosstalk. For the function to be successful, there - * must be no target in front of the sensor. - * - * @warning This function is a blocking function - * - * @warning This function is not supported when the final range - * vcsel clock period is set below 10 PCLKS. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param TimeoutMs Histogram measurement duration. - * @param pXtalkPerSpad Output parameter containing the crosstalk - * measurement result, in MCPS/Spad. Format fixpoint 16:16. - * @param pAmbientTooHigh Output parameter which indicate that - * pXtalkPerSpad is not good if the Ambient is too high. - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INVALID_PARAMS vcsel clock period not supported - * for this operation. Must not be less than 10PCLKS. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_PerformXTalkMeasurement(VL53L0X_DEV Dev, - uint32_t TimeoutMs, FixPoint1616_t *pXtalkPerSpad, - uint8_t *pAmbientTooHigh); - - /** - * @brief Perform XTalk Calibration - * - * @details Perform a XTalk calibration of the Device. - * This function will launch a ranging measurement, if interrupts - * are enabled an interrupt will be done. - * This function will clear the interrupt generated automatically. - * This function will program a new value for the XTalk compensation - * and it will enable the cross talk before exit. - * This function will disable the VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD. - * - * @warning This function is a blocking function - * - * @note This function Access to the device - * - * @note This function change the device mode to - * VL53L0X_DEVICEMODE_SINGLE_RANGING - * - * @param Dev Device Handle - * @param XTalkCalDistance XTalkCalDistance value used for the XTalk - * computation. - * @param pXTalkCompensationRateMegaCps Pointer to new - * XTalkCompensation value. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_PerformXTalkCalibration(VL53L0X_DEV Dev, - FixPoint1616_t XTalkCalDistance, - FixPoint1616_t *pXTalkCompensationRateMegaCps); - - /** - * @brief Perform Offset Calibration - * - * @details Perform a Offset calibration of the Device. - * This function will launch a ranging measurement, if interrupts are - * enabled an interrupt will be done. - * This function will clear the interrupt generated automatically. - * This function will program a new value for the Offset calibration value - * This function will disable the VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD. - * - * @warning This function is a blocking function - * - * @note This function Access to the device - * - * @note This function does not change the device mode. - * - * @param Dev Device Handle - * @param CalDistanceMilliMeter Calibration distance value used for the - * offset compensation. - * @param pOffsetMicroMeter Pointer to new Offset value computed by the - * function. - * - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_PerformOffsetCalibration(VL53L0X_DEV Dev, - FixPoint1616_t CalDistanceMilliMeter, int32_t *pOffsetMicroMeter); - - /** - * @brief Start device measurement - * - * @details Started measurement will depend on device parameters set through - * @a VL53L0X_SetParameters() - * This is a non-blocking function. - * This function will change the VL53L0X_State from VL53L0X_STATE_IDLE to - * VL53L0X_STATE_RUNNING. - * - * @note This function Access to the device - * - - * @param Dev Device Handle - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when - * DeviceMode programmed with @a VL53L0X_SetDeviceMode is not in the supported - * list: - * Supported mode are: - * VL53L0X_DEVICEMODE_SINGLE_RANGING, - * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, - * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING - * @return VL53L0X_ERROR_TIME_OUT Time out on start measurement - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_StartMeasurement(VL53L0X_DEV Dev); - - /** - * @brief Stop device measurement - * - * @details Will set the device in standby mode at end of current measurement\n - * Not necessary in single mode as device shall return automatically - * in standby mode at end of measurement. - * This function will change the VL53L0X_State from - * VL53L0X_STATE_RUNNING to VL53L0X_STATE_IDLE. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_StopMeasurement(VL53L0X_DEV Dev); - - /** - * @brief Return Measurement Data Ready - * - * @par Function Description - * This function indicate that a measurement data is ready. - * This function check if interrupt mode is used then check is done accordingly. - * If perform function clear the interrupt, this function will not work, - * like in case of @a VL53L0X_PerformSingleRangingMeasurement(). - * The previous function is blocking function, VL53L0X_GetMeasurementDataReady - * is used for non-blocking capture. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pMeasurementDataReady Pointer to Measurement Data Ready. - * 0=data not ready, 1 = data ready - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetMeasurementDataReady(VL53L0X_DEV Dev, - uint8_t *pMeasurementDataReady); - - /** - * @brief Wait for device ready for a new measurement command. - * Blocking function. - * - * @note This function is not Implemented - * - * @param Dev Device Handle - * @param MaxLoop Max Number of polling loop (timeout). - * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented - */ - VL53L0X_API VL53L0X_Error VL53L0X_WaitDeviceReadyForNewMeasurement( - VL53L0X_DEV Dev, - uint32_t MaxLoop); - - /** - * @brief Retrieve the Reference Signal after a measurements - * - * @par Function Description - * Get Reference Signal from last successful Ranging measurement - * This function return a valid value after that you call the - * @a VL53L0X_GetRangingMeasurementData(). - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pMeasurementRefSignal Pointer to the Ref Signal to fill up. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetMeasurementRefSignal(VL53L0X_DEV Dev, - FixPoint1616_t *pMeasurementRefSignal); - - /** - * @brief Retrieve the measurements from device for a given setup - * - * @par Function Description - * Get data from last successful Ranging measurement - * @warning USER should take care about @a VL53L0X_GetNumberOfROIZones() - * before get data. - * PAL will fill a NumberOfROIZones times the corresponding data - * structure used in the measurement function. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pRangingMeasurementData Pointer to the data structure to fill up. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetRangingMeasurementData(VL53L0X_DEV Dev, - VL53L0X_RangingMeasurementData_t *pRangingMeasurementData); - - /** - * @brief Retrieve the measurements from device for a given setup - * - * @par Function Description - * Get data from last successful Histogram measurement - * @warning USER should take care about @a VL53L0X_GetNumberOfROIZones() - * before get data. - * PAL will fill a NumberOfROIZones times the corresponding data structure - * used in the measurement function. - * - * @note This function is not Implemented - * - * @param Dev Device Handle - * @param pHistogramMeasurementData Pointer to the histogram data structure. - * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetHistogramMeasurementData(VL53L0X_DEV Dev, - VL53L0X_HistogramMeasurementData_t *pHistogramMeasurementData); - - /** - * @brief Performs a single ranging measurement and retrieve the ranging - * measurement data - * - * @par Function Description - * This function will change the device mode to - * VL53L0X_DEVICEMODE_SINGLE_RANGING with @a VL53L0X_SetDeviceMode(), - * It performs measurement with @a VL53L0X_PerformSingleMeasurement() - * It get data from last successful Ranging measurement with - * @a VL53L0X_GetRangingMeasurementData. - * Finally it clear the interrupt with @a VL53L0X_ClearInterruptMask(). - * - * @note This function Access to the device - * - * @note This function change the device mode to - * VL53L0X_DEVICEMODE_SINGLE_RANGING - * - * @param Dev Device Handle - * @param pRangingMeasurementData Pointer to the data structure to fill up. - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_PerformSingleRangingMeasurement( - VL53L0X_DEV Dev, - VL53L0X_RangingMeasurementData_t *pRangingMeasurementData); - - /** - * @brief Performs a single histogram measurement and retrieve the histogram - * measurement data - * Is equivalent to VL53L0X_PerformSingleMeasurement + - * VL53L0X_GetHistogramMeasurementData - * - * @par Function Description - * Get data from last successful Ranging measurement. - * This function will clear the interrupt in case of these are enabled. - * - * @note This function is not Implemented - * - * @param Dev Device Handle - * @param pHistogramMeasurementData Pointer to the data structure to fill up. - * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented - */ - VL53L0X_API VL53L0X_Error VL53L0X_PerformSingleHistogramMeasurement( - VL53L0X_DEV Dev, - VL53L0X_HistogramMeasurementData_t *pHistogramMeasurementData); - - /** - * @brief Set the number of ROI Zones to be used for a specific Device - * - * @par Function Description - * Set the number of ROI Zones to be used for a specific Device. - * The programmed value should be less than the max number of ROI Zones given - * with @a VL53L0X_GetMaxNumberOfROIZones(). - * This version of API manage only one zone. - * - * @param Dev Device Handle - * @param NumberOfROIZones Number of ROI Zones to be used for a - * specific Device. - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned if - * NumberOfROIZones != 1 - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetNumberOfROIZones(VL53L0X_DEV Dev, - uint8_t NumberOfROIZones); - - /** - * @brief Get the number of ROI Zones managed by the Device - * - * @par Function Description - * Get number of ROI Zones managed by the Device - * USER should take care about @a VL53L0X_GetNumberOfROIZones() - * before get data after a perform measurement. - * PAL will fill a NumberOfROIZones times the corresponding data - * structure used in the measurement function. - * - * @note This function doesn't Access to the device - * - * @param Dev Device Handle - * @param pNumberOfROIZones Pointer to the Number of ROI Zones value. - * @return VL53L0X_ERROR_NONE Success - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetNumberOfROIZones(VL53L0X_DEV Dev, - uint8_t *pNumberOfROIZones); - - /** - * @brief Get the Maximum number of ROI Zones managed by the Device - * - * @par Function Description - * Get Maximum number of ROI Zones managed by the Device. - * - * @note This function doesn't Access to the device - * - * @param Dev Device Handle - * @param pMaxNumberOfROIZones Pointer to the Maximum Number - * of ROI Zones value. - * @return VL53L0X_ERROR_NONE Success - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetMaxNumberOfROIZones(VL53L0X_DEV Dev, - uint8_t *pMaxNumberOfROIZones); - - /** @} VL53L0X_measurement_group */ - - /** @defgroup VL53L0X_interrupt_group VL53L0X Interrupt Functions - * @brief Functions used for interrupt managements - * @{ - */ - - /** - * @brief Set the configuration of GPIO pin for a given device - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param Pin ID of the GPIO Pin - * @param Functionality Select Pin functionality. - * Refer to ::VL53L0X_GpioFunctionality - * @param DeviceMode Device Mode associated to the Gpio. - * @param Polarity Set interrupt polarity. Active high - * or active low see ::VL53L0X_InterruptPolarity - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted - * @return VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED This error occurs - * when Functionality programmed is not in the supported list: - * Supported value are: - * VL53L0X_GPIOFUNCTIONALITY_OFF, - * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW, - * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH, - VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT, - * VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin, - VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality, - VL53L0X_InterruptPolarity Polarity); - - /** - * @brief Get current configuration for GPIO pin for a given device - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param Pin ID of the GPIO Pin - * @param pDeviceMode Pointer to Device Mode associated to the Gpio. - * @param pFunctionality Pointer to Pin functionality. - * Refer to ::VL53L0X_GpioFunctionality - * @param pPolarity Pointer to interrupt polarity. - * Active high or active low see ::VL53L0X_InterruptPolarity - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted - * @return VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED This error occurs - * when Functionality programmed is not in the supported list: - * Supported value are: - * VL53L0X_GPIOFUNCTIONALITY_OFF, - * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW, - * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH, - * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT, - * VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin, - VL53L0X_DeviceModes *pDeviceMode, - VL53L0X_GpioFunctionality *pFunctionality, - VL53L0X_InterruptPolarity *pPolarity); - - /** - * @brief Set low and high Interrupt thresholds for a given mode - * (ranging, ALS, ...) for a given device - * - * @par Function Description - * Set low and high Interrupt thresholds for a given mode (ranging, ALS, ...) - * for a given device - * - * @note This function Access to the device - * - * @note DeviceMode is ignored for the current device - * - * @param Dev Device Handle - * @param DeviceMode Device Mode for which change thresholds - * @param ThresholdLow Low threshold (mm, lux ..., depending on the mode) - * @param ThresholdHigh High threshold (mm, lux ..., depending on the mode) - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetInterruptThresholds(VL53L0X_DEV Dev, - VL53L0X_DeviceModes DeviceMode, FixPoint1616_t ThresholdLow, - FixPoint1616_t ThresholdHigh); - - /** - * @brief Get high and low Interrupt thresholds for a given mode - * (ranging, ALS, ...) for a given device - * - * @par Function Description - * Get high and low Interrupt thresholds for a given mode (ranging, ALS, ...) - * for a given device - * - * @note This function Access to the device - * - * @note DeviceMode is ignored for the current device - * - * @param Dev Device Handle - * @param DeviceMode Device Mode from which read thresholds - * @param pThresholdLow Low threshold (mm, lux ..., depending on the mode) - * @param pThresholdHigh High threshold (mm, lux ..., depending on the mode) - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetInterruptThresholds(VL53L0X_DEV Dev, - VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow, - FixPoint1616_t *pThresholdHigh); - - /** - * @brief Return device stop completion status - * - * @par Function Description - * Returns stop completiob status. - * User shall call this function after a stop command - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pStopStatus Pointer to status variable to update - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetStopCompletedStatus(VL53L0X_DEV Dev, - uint32_t *pStopStatus); - - /** - * @brief Clear given system interrupt condition - * - * @par Function Description - * Clear given interrupt(s). - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param InterruptMask Mask of interrupts to clear - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_INTERRUPT_NOT_CLEARED Cannot clear interrupts - * - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_ClearInterruptMask(VL53L0X_DEV Dev, - uint32_t InterruptMask); - - /** - * @brief Return device interrupt status - * - * @par Function Description - * Returns currently raised interrupts by the device. - * User shall be able to activate/deactivate interrupts through - * @a VL53L0X_SetGpioConfig() - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pInterruptMaskStatus Pointer to status variable to update - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetInterruptMaskStatus(VL53L0X_DEV Dev, - uint32_t *pInterruptMaskStatus); - - /** - * @brief Configure ranging interrupt reported to system - * - * @note This function is not Implemented - * - * @param Dev Device Handle - * @param InterruptMask Mask of interrupt to Enable/disable - * (0:interrupt disabled or 1: interrupt enabled) - * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented - */ - VL53L0X_API VL53L0X_Error VL53L0X_EnableInterruptMask(VL53L0X_DEV Dev, - uint32_t InterruptMask); - - /** @} VL53L0X_interrupt_group */ - - /** @defgroup VL53L0X_SPADfunctions_group VL53L0X SPAD Functions - * @brief Functions used for SPAD managements - * @{ - */ - - /** - * @brief Set the SPAD Ambient Damper Threshold value - * - * @par Function Description - * This function set the SPAD Ambient Damper Threshold value - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param SpadAmbientDamperThreshold SPAD Ambient Damper Threshold value - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetSpadAmbientDamperThreshold(VL53L0X_DEV Dev, - uint16_t SpadAmbientDamperThreshold); - - /** - * @brief Get the current SPAD Ambient Damper Threshold value - * - * @par Function Description - * This function get the SPAD Ambient Damper Threshold value - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pSpadAmbientDamperThreshold Pointer to programmed - * SPAD Ambient Damper Threshold value - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetSpadAmbientDamperThreshold(VL53L0X_DEV Dev, - uint16_t *pSpadAmbientDamperThreshold); - - /** - * @brief Set the SPAD Ambient Damper Factor value - * - * @par Function Description - * This function set the SPAD Ambient Damper Factor value - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param SpadAmbientDamperFactor SPAD Ambient Damper Factor value - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetSpadAmbientDamperFactor(VL53L0X_DEV Dev, - uint16_t SpadAmbientDamperFactor); - - /** - * @brief Get the current SPAD Ambient Damper Factor value - * - * @par Function Description - * This function get the SPAD Ambient Damper Factor value - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param pSpadAmbientDamperFactor Pointer to programmed SPAD Ambient - * Damper Factor value - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetSpadAmbientDamperFactor(VL53L0X_DEV Dev, - uint16_t *pSpadAmbientDamperFactor); - - /** - * @brief Performs Reference Spad Management - * - * @par Function Description - * The reference SPAD initialization procedure determines the minimum amount - * of reference spads to be enables to achieve a target reference signal rate - * and should be performed once during initialization. - * - * @note This function Access to the device - * - * @note This function change the device mode to - * VL53L0X_DEVICEMODE_SINGLE_RANGING - * - * @param Dev Device Handle - * @param refSpadCount Reports ref Spad Count - * @param isApertureSpads Reports if spads are of type - * aperture or non-aperture. - * 1:=aperture, 0:=Non-Aperture - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the Ref Spad procedure. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_PerformRefSpadManagement(VL53L0X_DEV Dev, - uint32_t *refSpadCount, uint8_t *isApertureSpads); - - /** - * @brief Applies Reference SPAD configuration - * - * @par Function Description - * This function applies a given number of reference spads, identified as - * either Aperture or Non-Aperture. - * The requested spad count and type are stored within the device specific - * parameters data for access by the host. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param refSpadCount Number of ref spads. - * @param isApertureSpads Defines if spads are of type - * aperture or non-aperture. - * 1:=aperture, 0:=Non-Aperture - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference - * spad configuration. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_SetReferenceSpads(VL53L0X_DEV Dev, - uint32_t refSpadCount, uint8_t isApertureSpads); - - /** - * @brief Retrieves SPAD configuration - * - * @par Function Description - * This function retrieves the current number of applied reference spads - * and also their type : Aperture or Non-Aperture. - * - * @note This function Access to the device - * - * @param Dev Device Handle - * @param refSpadCount Number ref Spad Count - * @param isApertureSpads Reports if spads are of type - * aperture or non-aperture. - * 1:=aperture, 0:=Non-Aperture - * @return VL53L0X_ERROR_NONE Success - * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference - * spad configuration. - * @return "Other error code" See ::VL53L0X_Error - */ - VL53L0X_API VL53L0X_Error VL53L0X_GetReferenceSpads(VL53L0X_DEV Dev, - uint32_t *refSpadCount, uint8_t *isApertureSpads); - - /** @} VL53L0X_SPADfunctions_group */ - - /** @} VL53L0X_cut11_group */ - -#ifdef __cplusplus -} -#endif - -#endif /* _VL53L0X_API_H_ */ diff --git a/app/drivers/vl53l0x/vl53l0x_api_calibration.c b/app/drivers/vl53l0x/vl53l0x_api_calibration.c deleted file mode 100644 index 802ece9..0000000 --- a/app/drivers/vl53l0x/vl53l0x_api_calibration.c +++ /dev/null @@ -1,1328 +0,0 @@ -/******************************************************************************* - * Copyright � 2016, STMicroelectronics International N.V. - All rights reserved. - - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND - NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. - IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY - DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - ******************************************************************************/ - -#include "vl53l0x_api.h" -#include "vl53l0x_api_core.h" -#include "vl53l0x_api_calibration.h" - -#ifndef __KERNEL__ -#include -#endif - -#define LOG_FUNCTION_START(fmt, ...) \ - _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) -#define LOG_FUNCTION_END(status, ...) \ - _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) -#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ - _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) - -#define REF_ARRAY_SPAD_0 0 -#define REF_ARRAY_SPAD_5 5 -#define REF_ARRAY_SPAD_10 10 - -uint32_t refArrayQuadrants[4] = {REF_ARRAY_SPAD_10, REF_ARRAY_SPAD_5, - REF_ARRAY_SPAD_0, REF_ARRAY_SPAD_5}; - -VL53L0X_Error VL53L0X_perform_xtalk_calibration(VL53L0X_DEV Dev, - FixPoint1616_t XTalkCalDistance, - FixPoint1616_t *pXTalkCompensationRateMegaCps) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint16_t sum_ranging = 0; - uint16_t sum_spads = 0; - FixPoint1616_t sum_signalRate = 0; - FixPoint1616_t total_count = 0; - uint8_t xtalk_meas = 0; - VL53L0X_RangingMeasurementData_t RangingMeasurementData; - FixPoint1616_t xTalkStoredMeanSignalRate; - FixPoint1616_t xTalkStoredMeanRange; - FixPoint1616_t xTalkStoredMeanRtnSpads; - uint32_t signalXTalkTotalPerSpad; - uint32_t xTalkStoredMeanRtnSpadsAsInt; - uint32_t xTalkCalDistanceAsInt; - FixPoint1616_t XTalkCompensationRateMegaCps; - - if (XTalkCalDistance <= 0) - Status = VL53L0X_ERROR_INVALID_PARAMS; - - /* Disable the XTalk compensation */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetXTalkCompensationEnable(Dev, 0); - - /* Disable the RIT */ - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_SetLimitCheckEnable(Dev, - VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0); - } - - /* Perform 50 measurements and compute the averages */ - if (Status == VL53L0X_ERROR_NONE) - { - sum_ranging = 0; - sum_spads = 0; - sum_signalRate = 0; - total_count = 0; - for (xtalk_meas = 0; xtalk_meas < 50; xtalk_meas++) - { - Status = VL53L0X_PerformSingleRangingMeasurement(Dev, - &RangingMeasurementData); - - if (Status != VL53L0X_ERROR_NONE) - break; - - /* The range is valid when RangeStatus = 0 */ - if (RangingMeasurementData.RangeStatus == 0) - { - sum_ranging = sum_ranging + - RangingMeasurementData.RangeMilliMeter; - sum_signalRate = sum_signalRate + - RangingMeasurementData.SignalRateRtnMegaCps; - sum_spads = sum_spads + - RangingMeasurementData.EffectiveSpadRtnCount / 256; - total_count = total_count + 1; - } - } - - /* no valid values found */ - if (total_count == 0) - Status = VL53L0X_ERROR_RANGE_ERROR; - } - - if (Status == VL53L0X_ERROR_NONE) - { - /* FixPoint1616_t / uint16_t = FixPoint1616_t */ - xTalkStoredMeanSignalRate = sum_signalRate / total_count; - xTalkStoredMeanRange = (FixPoint1616_t)((uint32_t)(sum_ranging << 16) / total_count); - xTalkStoredMeanRtnSpads = (FixPoint1616_t)((uint32_t)(sum_spads << 16) / total_count); - - /* Round Mean Spads to Whole Number. - * Typically the calculated mean SPAD count is a whole number - * or very close to a whole - * number, therefore any truncation will not result in a - * significant loss in accuracy. - * Also, for a grey target at a typical distance of around - * 400mm, around 220 SPADs will - * be enabled, therefore, any truncation will result in a loss - * of accuracy of less than - * 0.5%. - */ - xTalkStoredMeanRtnSpadsAsInt = (xTalkStoredMeanRtnSpads + - 0x8000) >> - 16; - - /* Round Cal Distance to Whole Number. - * Note that the cal distance is in mm, therefore no resolution - * is lost. - */ - xTalkCalDistanceAsInt = (XTalkCalDistance + 0x8000) >> 16; - - if (xTalkStoredMeanRtnSpadsAsInt == 0 || - xTalkCalDistanceAsInt == 0 || - xTalkStoredMeanRange >= XTalkCalDistance) - { - XTalkCompensationRateMegaCps = 0; - } - else - { - /* Round Cal Distance to Whole Number. - * Note that the cal distance is in mm, therefore no - * resolution is lost. - */ - xTalkCalDistanceAsInt = (XTalkCalDistance + - 0x8000) >> - 16; - - /* Apply division by mean spad count early in the - * calculation to keep the numbers small. - * This ensures we can maintain a 32bit calculation. - * Fixed1616 / int := Fixed1616 - */ - signalXTalkTotalPerSpad = (xTalkStoredMeanSignalRate) / - xTalkStoredMeanRtnSpadsAsInt; - - /* Complete the calculation for total Signal XTalk per - * SPAD - * Fixed1616 * (Fixed1616 - Fixed1616/int) := - * (2^16 * Fixed1616) - */ - signalXTalkTotalPerSpad *= ((1 << 16) - - (xTalkStoredMeanRange / xTalkCalDistanceAsInt)); - - /* Round from 2^16 * Fixed1616, to Fixed1616. */ - XTalkCompensationRateMegaCps = (signalXTalkTotalPerSpad + 0x8000) >> 16; - } - - *pXTalkCompensationRateMegaCps = XTalkCompensationRateMegaCps; - - /* Enable the XTalk compensation */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetXTalkCompensationEnable(Dev, 1); - - /* Enable the XTalk compensation */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetXTalkCompensationRateMegaCps(Dev, - XTalkCompensationRateMegaCps); - } - - return Status; -} - -VL53L0X_Error VL53L0X_perform_offset_calibration(VL53L0X_DEV Dev, - FixPoint1616_t CalDistanceMilliMeter, - int32_t *pOffsetMicroMeter) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint16_t sum_ranging = 0; - FixPoint1616_t total_count = 0; - VL53L0X_RangingMeasurementData_t RangingMeasurementData; - FixPoint1616_t StoredMeanRange; - uint32_t StoredMeanRangeAsInt; - uint32_t CalDistanceAsInt_mm; - uint8_t SequenceStepEnabled; - int meas = 0; - - if (CalDistanceMilliMeter <= 0) - Status = VL53L0X_ERROR_INVALID_PARAMS; - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(Dev, 0); - - /* Get the value of the TCC */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_GetSequenceStepEnable(Dev, - VL53L0X_SEQUENCESTEP_TCC, &SequenceStepEnabled); - - /* Disable the TCC */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetSequenceStepEnable(Dev, - VL53L0X_SEQUENCESTEP_TCC, 0); - - /* Disable the RIT */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_SetLimitCheckEnable(Dev, - VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0); - - /* Perform 50 measurements and compute the averages */ - if (Status == VL53L0X_ERROR_NONE) - { - sum_ranging = 0; - total_count = 0; - for (meas = 0; meas < 50; meas++) - { - Status = VL53L0X_PerformSingleRangingMeasurement(Dev, - &RangingMeasurementData); - - if (Status != VL53L0X_ERROR_NONE) - break; - - /* The range is valid when RangeStatus = 0 */ - if (RangingMeasurementData.RangeStatus == 0) - { - sum_ranging = sum_ranging + - RangingMeasurementData.RangeMilliMeter; - total_count = total_count + 1; - } - } - - /* no valid values found */ - if (total_count == 0) - Status = VL53L0X_ERROR_RANGE_ERROR; - } - - if (Status == VL53L0X_ERROR_NONE) - { - /* FixPoint1616_t / uint16_t = FixPoint1616_t */ - StoredMeanRange = (FixPoint1616_t)((uint32_t)(sum_ranging << 16) / total_count); - - StoredMeanRangeAsInt = (StoredMeanRange + 0x8000) >> 16; - - /* Round Cal Distance to Whole Number. - * Note that the cal distance is in mm, therefore no resolution - * is lost. - */ - CalDistanceAsInt_mm = (CalDistanceMilliMeter + 0x8000) >> 16; - - *pOffsetMicroMeter = (CalDistanceAsInt_mm - - StoredMeanRangeAsInt) * - 1000; - - /* Apply the calculated offset */ - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_SETPARAMETERFIELD(Dev, RangeOffsetMicroMeters, - *pOffsetMicroMeter); - Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(Dev, - *pOffsetMicroMeter); - } - } - - /* Restore the TCC */ - if (Status == VL53L0X_ERROR_NONE) - { - if (SequenceStepEnabled != 0) - Status = VL53L0X_SetSequenceStepEnable(Dev, - VL53L0X_SEQUENCESTEP_TCC, 1); - } - - return Status; -} - -VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV Dev, - int32_t OffsetCalibrationDataMicroMeter) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - int32_t cMaxOffsetMicroMeter = 511000; - int32_t cMinOffsetMicroMeter = -512000; - int16_t cOffsetRange = 4096; - uint32_t encodedOffsetVal; - - LOG_FUNCTION_START(""); - - if (OffsetCalibrationDataMicroMeter > cMaxOffsetMicroMeter) - OffsetCalibrationDataMicroMeter = cMaxOffsetMicroMeter; - else if (OffsetCalibrationDataMicroMeter < cMinOffsetMicroMeter) - OffsetCalibrationDataMicroMeter = cMinOffsetMicroMeter; - - /* The offset register is 10.2 format and units are mm - * therefore conversion is applied by a division of - * 250. - */ - if (OffsetCalibrationDataMicroMeter >= 0) - { - encodedOffsetVal = - OffsetCalibrationDataMicroMeter / 250; - } - else - { - encodedOffsetVal = - cOffsetRange + - OffsetCalibrationDataMicroMeter / 250; - } - - Status = VL53L0X_WrWord(Dev, - VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM, - encodedOffsetVal); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV Dev, - int32_t *pOffsetCalibrationDataMicroMeter) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint16_t RangeOffsetRegister; - int16_t cMaxOffset = 2047; - int16_t cOffsetRange = 4096; - - /* Note that offset has 10.2 format */ - - Status = VL53L0X_RdWord(Dev, - VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM, - &RangeOffsetRegister); - - if (Status == VL53L0X_ERROR_NONE) - { - RangeOffsetRegister = (RangeOffsetRegister & 0x0fff); - - /* Apply 12 bit 2's compliment conversion */ - if (RangeOffsetRegister > cMaxOffset) - *pOffsetCalibrationDataMicroMeter = - (int16_t)(RangeOffsetRegister - cOffsetRange) * 250; - else - *pOffsetCalibrationDataMicroMeter = - (int16_t)RangeOffsetRegister * 250; - } - - return Status; -} - -VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV Dev) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - int32_t CorrectedOffsetMicroMeters; - int32_t CurrentOffsetMicroMeters; - - /* if we run on this function we can read all the NVM info - * used by the API - */ - Status = VL53L0X_get_info_from_device(Dev, 7); - - /* Read back current device offset */ - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_GetOffsetCalibrationDataMicroMeter(Dev, - &CurrentOffsetMicroMeters); - } - - /* Apply Offset Adjustment derived from 400mm measurements */ - if (Status == VL53L0X_ERROR_NONE) - { - - /* Store initial device offset */ - PALDevDataSet(Dev, Part2PartOffsetNVMMicroMeter, - CurrentOffsetMicroMeters); - - CorrectedOffsetMicroMeters = CurrentOffsetMicroMeters + - (int32_t)PALDevDataGet(Dev, - Part2PartOffsetAdjustmentNVMMicroMeter); - - Status = VL53L0X_SetOffsetCalibrationDataMicroMeter(Dev, - CorrectedOffsetMicroMeters); - - /* store current, adjusted offset */ - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_SETPARAMETERFIELD(Dev, RangeOffsetMicroMeters, - CorrectedOffsetMicroMeters); - } - } - - return Status; -} - -void get_next_good_spad(uint8_t goodSpadArray[], uint32_t size, - uint32_t curr, int32_t *next) -{ - uint32_t startIndex; - uint32_t fineOffset; - uint32_t cSpadsPerByte = 8; - uint32_t coarseIndex; - uint32_t fineIndex; - uint8_t dataByte; - uint8_t success = 0; - - /* - * Starting with the current good spad, loop through the array to find - * the next. i.e. the next bit set in the sequence. - * - * The coarse index is the byte index of the array and the fine index is - * the index of the bit within each byte. - */ - - *next = -1; - - startIndex = curr / cSpadsPerByte; - fineOffset = curr % cSpadsPerByte; - - for (coarseIndex = startIndex; ((coarseIndex < size) && !success); - coarseIndex++) - { - fineIndex = 0; - dataByte = goodSpadArray[coarseIndex]; - - if (coarseIndex == startIndex) - { - /* locate the bit position of the provided current - * spad bit before iterating - */ - dataByte >>= fineOffset; - fineIndex = fineOffset; - } - - while (fineIndex < cSpadsPerByte) - { - if ((dataByte & 0x1) == 1) - { - success = 1; - *next = coarseIndex * cSpadsPerByte + fineIndex; - break; - } - dataByte >>= 1; - fineIndex++; - } - } -} - -uint8_t is_aperture(uint32_t spadIndex) -{ - /* - * This function reports if a given spad index is an aperture SPAD by - * deriving the quadrant. - */ - uint32_t quadrant; - uint8_t isAperture = 1; - - quadrant = spadIndex >> 6; - if (refArrayQuadrants[quadrant] == REF_ARRAY_SPAD_0) - isAperture = 0; - - return isAperture; -} - -VL53L0X_Error enable_spad_bit(uint8_t spadArray[], uint32_t size, - uint32_t spadIndex) -{ - VL53L0X_Error status = VL53L0X_ERROR_NONE; - uint32_t cSpadsPerByte = 8; - uint32_t coarseIndex; - uint32_t fineIndex; - - coarseIndex = spadIndex / cSpadsPerByte; - fineIndex = spadIndex % cSpadsPerByte; - if (coarseIndex >= size) - status = VL53L0X_ERROR_REF_SPAD_INIT; - else - spadArray[coarseIndex] |= (1 << fineIndex); - - return status; -} - -VL53L0X_Error count_enabled_spads(uint8_t spadArray[], - uint32_t byteCount, uint32_t maxSpads, - uint32_t *pTotalSpadsEnabled, uint8_t *pIsAperture) -{ - VL53L0X_Error status = VL53L0X_ERROR_NONE; - uint32_t cSpadsPerByte = 8; - uint32_t lastByte; - uint32_t lastBit; - uint32_t byteIndex = 0; - uint32_t bitIndex = 0; - uint8_t tempByte; - uint8_t spadTypeIdentified = 0; - - /* The entire array will not be used for spads, therefore the last - * byte and last bit is determined from the max spads value. - */ - - lastByte = maxSpads / cSpadsPerByte; - lastBit = maxSpads % cSpadsPerByte; - - /* Check that the max spads value does not exceed the array bounds. */ - if (lastByte >= byteCount) - status = VL53L0X_ERROR_REF_SPAD_INIT; - - *pTotalSpadsEnabled = 0; - - /* Count the bits enabled in the whole bytes */ - for (byteIndex = 0; byteIndex <= (lastByte - 1); byteIndex++) - { - tempByte = spadArray[byteIndex]; - - for (bitIndex = 0; bitIndex <= cSpadsPerByte; bitIndex++) - { - if ((tempByte & 0x01) == 1) - { - (*pTotalSpadsEnabled)++; - - if (!spadTypeIdentified) - { - *pIsAperture = 1; - if ((byteIndex < 2) && (bitIndex < 4)) - *pIsAperture = 0; - spadTypeIdentified = 1; - } - } - tempByte >>= 1; - } - } - - /* Count the number of bits enabled in the last byte accounting - * for the fact that not all bits in the byte may be used. - */ - tempByte = spadArray[lastByte]; - - for (bitIndex = 0; bitIndex <= lastBit; bitIndex++) - { - if ((tempByte & 0x01) == 1) - (*pTotalSpadsEnabled)++; - } - - return status; -} - -VL53L0X_Error set_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray) -{ - VL53L0X_Error status = VL53L0X_WriteMulti(Dev, - VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0, - refSpadArray, 6); - return status; -} - -VL53L0X_Error get_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray) -{ - VL53L0X_Error status = VL53L0X_ReadMulti(Dev, - VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0, - refSpadArray, - 6); - return status; -} - -VL53L0X_Error enable_ref_spads(VL53L0X_DEV Dev, - uint8_t apertureSpads, - uint8_t goodSpadArray[], - uint8_t spadArray[], - uint32_t size, - uint32_t start, - uint32_t offset, - uint32_t spadCount, - uint32_t *lastSpad) -{ - VL53L0X_Error status = VL53L0X_ERROR_NONE; - uint32_t index; - uint32_t i; - int32_t nextGoodSpad = offset; - uint32_t currentSpad; - uint8_t checkSpadArray[6]; - - /* - * This function takes in a spad array which may or may not have SPADS - * already enabled and appends from a given offset a requested number - * of new SPAD enables. The 'good spad map' is applied to - * determine the next SPADs to enable. - * - * This function applies to only aperture or only non-aperture spads. - * Checks are performed to ensure this. - */ - - currentSpad = offset; - for (index = 0; index < spadCount; index++) - { - get_next_good_spad(goodSpadArray, size, currentSpad, - &nextGoodSpad); - - if (nextGoodSpad == -1) - { - status = VL53L0X_ERROR_REF_SPAD_INIT; - break; - } - - /* Confirm that the next good SPAD is non-aperture */ - if (is_aperture(start + nextGoodSpad) != apertureSpads) - { - /* if we can't get the required number of good aperture - * spads from the current quadrant then this is an error - */ - status = VL53L0X_ERROR_REF_SPAD_INIT; - break; - } - currentSpad = (uint32_t)nextGoodSpad; - enable_spad_bit(spadArray, size, currentSpad); - currentSpad++; - } - *lastSpad = currentSpad; - - if (status == VL53L0X_ERROR_NONE) - status = set_ref_spad_map(Dev, spadArray); - - if (status == VL53L0X_ERROR_NONE) - { - status = get_ref_spad_map(Dev, checkSpadArray); - - i = 0; - - /* Compare spad maps. If not equal report error. */ - while (i < size) - { - if (spadArray[i] != checkSpadArray[i]) - { - status = VL53L0X_ERROR_REF_SPAD_INIT; - break; - } - i++; - } - } - return status; -} - -VL53L0X_Error perform_ref_signal_measurement(VL53L0X_DEV Dev, - uint16_t *refSignalRate) -{ - VL53L0X_Error status = VL53L0X_ERROR_NONE; - VL53L0X_RangingMeasurementData_t rangingMeasurementData; - - uint8_t SequenceConfig = 0; - - /* store the value of the sequence config, - * this will be reset before the end of the function - */ - - SequenceConfig = PALDevDataGet(Dev, SequenceConfig); - - /* - * This function performs a reference signal rate measurement. - */ - if (status == VL53L0X_ERROR_NONE) - status = VL53L0X_WrByte(Dev, - VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0xC0); - - if (status == VL53L0X_ERROR_NONE) - status = VL53L0X_PerformSingleRangingMeasurement(Dev, - &rangingMeasurementData); - - if (status == VL53L0X_ERROR_NONE) - status = VL53L0X_WrByte(Dev, 0xFF, 0x01); - - if (status == VL53L0X_ERROR_NONE) - status = VL53L0X_RdWord(Dev, - VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF, - refSignalRate); - - if (status == VL53L0X_ERROR_NONE) - status = VL53L0X_WrByte(Dev, 0xFF, 0x00); - - if (status == VL53L0X_ERROR_NONE) - { - /* restore the previous Sequence Config */ - status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, - SequenceConfig); - if (status == VL53L0X_ERROR_NONE) - PALDevDataSet(Dev, SequenceConfig, SequenceConfig); - } - - return status; -} - -VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV Dev, - uint32_t *refSpadCount, - uint8_t *isApertureSpads) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t lastSpadArray[6]; - uint8_t startSelect = 0xB4; - uint32_t minimumSpadCount = 3; - uint32_t maxSpadCount = 44; - uint32_t currentSpadIndex = 0; - uint32_t lastSpadIndex = 0; - int32_t nextGoodSpad = 0; - uint16_t targetRefRate = 0x0A00; /* 20 MCPS in 9:7 format */ - uint16_t peakSignalRateRef; - uint32_t needAptSpads = 0; - uint32_t index = 0; - uint32_t spadArraySize = 6; - uint32_t signalRateDiff = 0; - uint32_t lastSignalRateDiff = 0; - uint8_t complete = 0; - uint8_t VhvSettings = 0; - uint8_t PhaseCal = 0; - uint32_t refSpadCount_int = 0; - uint8_t isApertureSpads_int = 0; - - /* - * The reference SPAD initialization procedure determines the minimum - * amount of reference spads to be enables to achieve a target reference - * signal rate and should be performed once during initialization. - * - * Either aperture or non-aperture spads are applied but never both. - * Firstly non-aperture spads are set, begining with 5 spads, and - * increased one spad at a time until the closest measurement to the - * target rate is achieved. - * - * If the target rate is exceeded when 5 non-aperture spads are enabled, - * initialization is performed instead with aperture spads. - * - * When setting spads, a 'Good Spad Map' is applied. - * - * This procedure operates within a SPAD window of interest of a maximum - * 44 spads. - * The start point is currently fixed to 180, which lies towards the end - * of the non-aperture quadrant and runs in to the adjacent aperture - * quadrant. - */ - - targetRefRate = PALDevDataGet(Dev, targetRefRate); - - /* - * Initialize Spad arrays. - * Currently the good spad map is initialised to 'All good'. - * This is a short term implementation. The good spad map will be - * provided as an input. - * Note that there are 6 bytes. Only the first 44 bits will be used to - * represent spads. - */ - for (index = 0; index < spadArraySize; index++) - Dev->Data.SpadData.RefSpadEnables[index] = 0; - - Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT, - startSelect); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE, 0); - - /* Perform ref calibration */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_perform_ref_calibration(Dev, &VhvSettings, - &PhaseCal, 0); - - if (Status == VL53L0X_ERROR_NONE) - { - /* Enable Minimum NON-APERTURE Spads */ - currentSpadIndex = 0; - lastSpadIndex = currentSpadIndex; - needAptSpads = 0; - Status = enable_ref_spads(Dev, - needAptSpads, - Dev->Data.SpadData.RefGoodSpadMap, - Dev->Data.SpadData.RefSpadEnables, - spadArraySize, - startSelect, - currentSpadIndex, - minimumSpadCount, - &lastSpadIndex); - } - - if (Status == VL53L0X_ERROR_NONE) - { - currentSpadIndex = lastSpadIndex; - - Status = perform_ref_signal_measurement(Dev, - &peakSignalRateRef); - if ((Status == VL53L0X_ERROR_NONE) && - (peakSignalRateRef > targetRefRate)) - { - /* Signal rate measurement too high, - * switch to APERTURE SPADs - */ - - for (index = 0; index < spadArraySize; index++) - Dev->Data.SpadData.RefSpadEnables[index] = 0; - - /* Increment to the first APERTURE spad */ - while ((is_aperture(startSelect + currentSpadIndex) == 0) && (currentSpadIndex < maxSpadCount)) - { - currentSpadIndex++; - } - - needAptSpads = 1; - - Status = enable_ref_spads(Dev, - needAptSpads, - Dev->Data.SpadData.RefGoodSpadMap, - Dev->Data.SpadData.RefSpadEnables, - spadArraySize, - startSelect, - currentSpadIndex, - minimumSpadCount, - &lastSpadIndex); - - if (Status == VL53L0X_ERROR_NONE) - { - currentSpadIndex = lastSpadIndex; - Status = perform_ref_signal_measurement(Dev, - &peakSignalRateRef); - - if ((Status == VL53L0X_ERROR_NONE) && - (peakSignalRateRef > targetRefRate)) - { - /* Signal rate still too high after - * setting the minimum number of - * APERTURE spads. Can do no more - * therefore set the min number of - * aperture spads as the result. - */ - isApertureSpads_int = 1; - refSpadCount_int = minimumSpadCount; - } - } - } - else - { - needAptSpads = 0; - } - } - - if ((Status == VL53L0X_ERROR_NONE) && - (peakSignalRateRef < targetRefRate)) - { - /* At this point, the minimum number of either aperture - * or non-aperture spads have been set. Proceed to add - * spads and perform measurements until the target - * reference is reached. - */ - isApertureSpads_int = needAptSpads; - refSpadCount_int = minimumSpadCount; - - memcpy(lastSpadArray, Dev->Data.SpadData.RefSpadEnables, - spadArraySize); - lastSignalRateDiff = abs(peakSignalRateRef - - targetRefRate); - complete = 0; - - while (!complete) - { - get_next_good_spad( - Dev->Data.SpadData.RefGoodSpadMap, - spadArraySize, currentSpadIndex, - &nextGoodSpad); - - if (nextGoodSpad == -1) - { - Status = VL53L0X_ERROR_REF_SPAD_INIT; - break; - } - - /* Cannot combine Aperture and Non-Aperture spads, so - * ensure the current spad is of the correct type. - */ - if (is_aperture((uint32_t)startSelect + nextGoodSpad) != - needAptSpads) - { - /* At this point we have enabled the maximum - * number of Aperture spads. - */ - complete = 1; - break; - } - - (refSpadCount_int)++; - - currentSpadIndex = nextGoodSpad; - Status = enable_spad_bit( - Dev->Data.SpadData.RefSpadEnables, - spadArraySize, currentSpadIndex); - - if (Status == VL53L0X_ERROR_NONE) - { - currentSpadIndex++; - /* Proceed to apply the additional spad and - * perform measurement. - */ - Status = set_ref_spad_map(Dev, - Dev->Data.SpadData.RefSpadEnables); - } - - if (Status != VL53L0X_ERROR_NONE) - break; - - Status = perform_ref_signal_measurement(Dev, - &peakSignalRateRef); - - if (Status != VL53L0X_ERROR_NONE) - break; - - signalRateDiff = abs(peakSignalRateRef - targetRefRate); - - if (peakSignalRateRef > targetRefRate) - { - /* Select the spad map that provides the - * measurement closest to the target rate, - * either above or below it. - */ - if (signalRateDiff > lastSignalRateDiff) - { - /* Previous spad map produced a closer - * measurement, so choose this. - */ - Status = set_ref_spad_map(Dev, - lastSpadArray); - memcpy( - Dev->Data.SpadData.RefSpadEnables, - lastSpadArray, spadArraySize); - - (refSpadCount_int)--; - } - complete = 1; - } - else - { - /* Continue to add spads */ - lastSignalRateDiff = signalRateDiff; - memcpy(lastSpadArray, - Dev->Data.SpadData.RefSpadEnables, - spadArraySize); - } - - } /* while */ - } - - if (Status == VL53L0X_ERROR_NONE) - { - *refSpadCount = refSpadCount_int; - *isApertureSpads = isApertureSpads_int; - - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 1); - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - ReferenceSpadCount, (uint8_t)(*refSpadCount)); - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - ReferenceSpadType, *isApertureSpads); - } - - return Status; -} - -VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV Dev, - uint32_t count, uint8_t isApertureSpads) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint32_t currentSpadIndex = 0; - uint8_t startSelect = 0xB4; - uint32_t spadArraySize = 6; - uint32_t maxSpadCount = 44; - uint32_t lastSpadIndex; - uint32_t index; - - /* - * This function applies a requested number of reference spads, either - * aperture or - * non-aperture, as requested. - * The good spad map will be applied. - */ - - Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT, - startSelect); - - for (index = 0; index < spadArraySize; index++) - Dev->Data.SpadData.RefSpadEnables[index] = 0; - - if (isApertureSpads) - { - /* Increment to the first APERTURE spad */ - while ((is_aperture(startSelect + currentSpadIndex) == 0) && - (currentSpadIndex < maxSpadCount)) - { - currentSpadIndex++; - } - } - Status = enable_ref_spads(Dev, - isApertureSpads, - Dev->Data.SpadData.RefGoodSpadMap, - Dev->Data.SpadData.RefSpadEnables, - spadArraySize, - startSelect, - currentSpadIndex, - count, - &lastSpadIndex); - - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 1); - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - ReferenceSpadCount, (uint8_t)(count)); - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - ReferenceSpadType, isApertureSpads); - } - - return Status; -} - -VL53L0X_Error VL53L0X_get_reference_spads(VL53L0X_DEV Dev, - uint32_t *pSpadCount, uint8_t *pIsApertureSpads) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t refSpadsInitialised; - uint8_t refSpadArray[6]; - uint32_t cMaxSpadCount = 44; - uint32_t cSpadArraySize = 6; - uint32_t spadsEnabled; - uint8_t isApertureSpads = 0; - - refSpadsInitialised = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, - RefSpadsInitialised); - - if (refSpadsInitialised == 1) - { - - *pSpadCount = (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, - ReferenceSpadCount); - *pIsApertureSpads = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, - ReferenceSpadType); - } - else - { - - /* obtain spad info from device.*/ - Status = get_ref_spad_map(Dev, refSpadArray); - - if (Status == VL53L0X_ERROR_NONE) - { - /* count enabled spads within spad map array and - * determine if Aperture or Non-Aperture. - */ - Status = count_enabled_spads(refSpadArray, - cSpadArraySize, - cMaxSpadCount, - &spadsEnabled, - &isApertureSpads); - - if (Status == VL53L0X_ERROR_NONE) - { - - *pSpadCount = spadsEnabled; - *pIsApertureSpads = isApertureSpads; - - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - RefSpadsInitialised, 1); - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - ReferenceSpadCount, - (uint8_t)spadsEnabled); - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - ReferenceSpadType, isApertureSpads); - } - } - } - - return Status; -} - -VL53L0X_Error VL53L0X_perform_single_ref_calibration(VL53L0X_DEV Dev, - uint8_t vhv_init_byte) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, - VL53L0X_REG_SYSRANGE_MODE_START_STOP | - vhv_init_byte); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_measurement_poll_for_completion(Dev); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_ClearInterruptMask(Dev, 0); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSRANGE_START, 0x00); - - return Status; -} - -VL53L0X_Error VL53L0X_ref_calibration_io(VL53L0X_DEV Dev, - uint8_t read_not_write, - uint8_t VhvSettings, uint8_t PhaseCal, - uint8_t *pVhvSettings, uint8_t *pPhaseCal, - const uint8_t vhv_enable, const uint8_t phase_enable) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t PhaseCalint = 0; - - /* Read VHV from device */ - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); - Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); - - if (read_not_write) - { - if (vhv_enable) - Status |= VL53L0X_RdByte(Dev, 0xCB, pVhvSettings); - if (phase_enable) - Status |= VL53L0X_RdByte(Dev, 0xEE, &PhaseCalint); - } - else - { - if (vhv_enable) - Status |= VL53L0X_WrByte(Dev, 0xCB, VhvSettings); - if (phase_enable) - Status |= VL53L0X_UpdateByte(Dev, 0xEE, 0x80, PhaseCal); - } - - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); - Status |= VL53L0X_WrByte(Dev, 0x00, 0x01); - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); - - *pPhaseCal = (uint8_t)(PhaseCalint & 0xEF); - - return Status; -} - -VL53L0X_Error VL53L0X_perform_vhv_calibration(VL53L0X_DEV Dev, - uint8_t *pVhvSettings, const uint8_t get_data_enable, - const uint8_t restore_config) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t SequenceConfig = 0; - uint8_t VhvSettings = 0; - uint8_t PhaseCal = 0; - uint8_t PhaseCalInt = 0; - - /* store the value of the sequence config, - * this will be reset before the end of the function - */ - - if (restore_config) - SequenceConfig = PALDevDataGet(Dev, SequenceConfig); - - /* Run VHV */ - Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x01); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_perform_single_ref_calibration(Dev, 0x40); - - /* Read VHV from device */ - if ((Status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) - { - Status = VL53L0X_ref_calibration_io(Dev, 1, - VhvSettings, PhaseCal, /* Not used here */ - pVhvSettings, &PhaseCalInt, - 1, 0); - } - else - *pVhvSettings = 0; - - if ((Status == VL53L0X_ERROR_NONE) && restore_config) - { - /* restore the previous Sequence Config */ - Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, - SequenceConfig); - if (Status == VL53L0X_ERROR_NONE) - PALDevDataSet(Dev, SequenceConfig, SequenceConfig); - } - - return Status; -} - -VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV Dev, - uint8_t *pPhaseCal, const uint8_t get_data_enable, - const uint8_t restore_config) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t SequenceConfig = 0; - uint8_t VhvSettings = 0; - uint8_t PhaseCal = 0; - uint8_t VhvSettingsint; - - /* store the value of the sequence config, - * this will be reset before the end of the function - */ - - if (restore_config) - SequenceConfig = PALDevDataGet(Dev, SequenceConfig); - - /* Run PhaseCal */ - Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, 0x02); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_perform_single_ref_calibration(Dev, 0x0); - - /* Read PhaseCal from device */ - if ((Status == VL53L0X_ERROR_NONE) && (get_data_enable == 1)) - { - Status = VL53L0X_ref_calibration_io(Dev, 1, - VhvSettings, PhaseCal, /* Not used here */ - &VhvSettingsint, pPhaseCal, - 0, 1); - } - else - *pPhaseCal = 0; - - if ((Status == VL53L0X_ERROR_NONE) && restore_config) - { - /* restore the previous Sequence Config */ - Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, - SequenceConfig); - if (Status == VL53L0X_ERROR_NONE) - PALDevDataSet(Dev, SequenceConfig, SequenceConfig); - } - - return Status; -} - -VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV Dev, - uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t SequenceConfig = 0; - - /* store the value of the sequence config, - * this will be reset before the end of the function - */ - - SequenceConfig = PALDevDataGet(Dev, SequenceConfig); - - /* In the following function we don't save the config to optimize - * writes on device. Config is saved and restored only once. - */ - Status = VL53L0X_perform_vhv_calibration( - Dev, pVhvSettings, get_data_enable, 0); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_perform_phase_calibration( - Dev, pPhaseCal, get_data_enable, 0); - - if (Status == VL53L0X_ERROR_NONE) - { - /* restore the previous Sequence Config */ - Status = VL53L0X_WrByte(Dev, VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, - SequenceConfig); - if (Status == VL53L0X_ERROR_NONE) - PALDevDataSet(Dev, SequenceConfig, SequenceConfig); - } - - return Status; -} - -VL53L0X_Error VL53L0X_set_ref_calibration(VL53L0X_DEV Dev, - uint8_t VhvSettings, uint8_t PhaseCal) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t pVhvSettings; - uint8_t pPhaseCal; - - Status = VL53L0X_ref_calibration_io(Dev, 0, - VhvSettings, PhaseCal, - &pVhvSettings, &pPhaseCal, - 1, 1); - - return Status; -} - -VL53L0X_Error VL53L0X_get_ref_calibration(VL53L0X_DEV Dev, - uint8_t *pVhvSettings, uint8_t *pPhaseCal) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t VhvSettings = 0; - uint8_t PhaseCal = 0; - - Status = VL53L0X_ref_calibration_io(Dev, 1, - VhvSettings, PhaseCal, - pVhvSettings, pPhaseCal, - 1, 1); - - return Status; -} diff --git a/app/drivers/vl53l0x/vl53l0x_api_calibration.h b/app/drivers/vl53l0x/vl53l0x_api_calibration.h deleted file mode 100644 index b8e7712..0000000 --- a/app/drivers/vl53l0x/vl53l0x_api_calibration.h +++ /dev/null @@ -1,82 +0,0 @@ -/******************************************************************************* - * Copyright � 2016, STMicroelectronics International N.V. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND -NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. -IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*******************************************************************************/ - -#ifndef _VL53L0X_API_CALIBRATION_H_ -#define _VL53L0X_API_CALIBRATION_H_ - -#include "vl53l0x_def.h" -#include "vl53l0x_platform.h" - -#ifdef __cplusplus -extern "C" -{ -#endif - - VL53L0X_Error VL53L0X_perform_xtalk_calibration(VL53L0X_DEV Dev, - FixPoint1616_t XTalkCalDistance, - FixPoint1616_t *pXTalkCompensationRateMegaCps); - - VL53L0X_Error VL53L0X_perform_offset_calibration(VL53L0X_DEV Dev, - FixPoint1616_t CalDistanceMilliMeter, - int32_t *pOffsetMicroMeter); - - VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV Dev, - int32_t OffsetCalibrationDataMicroMeter); - - VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV Dev, - int32_t *pOffsetCalibrationDataMicroMeter); - - VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV Dev); - - VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV Dev, - uint32_t *refSpadCount, uint8_t *isApertureSpads); - - VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV Dev, - uint32_t count, uint8_t isApertureSpads); - - VL53L0X_Error VL53L0X_get_reference_spads(VL53L0X_DEV Dev, - uint32_t *pSpadCount, uint8_t *pIsApertureSpads); - - VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV Dev, - uint8_t *pPhaseCal, const uint8_t get_data_enable, - const uint8_t restore_config); - - VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV Dev, - uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable); - - VL53L0X_Error VL53L0X_set_ref_calibration(VL53L0X_DEV Dev, - uint8_t VhvSettings, uint8_t PhaseCal); - - VL53L0X_Error VL53L0X_get_ref_calibration(VL53L0X_DEV Dev, - uint8_t *pVhvSettings, uint8_t *pPhaseCal); - -#ifdef __cplusplus -} -#endif - -#endif /* _VL53L0X_API_CALIBRATION_H_ */ diff --git a/app/drivers/vl53l0x/vl53l0x_api_core.c b/app/drivers/vl53l0x/vl53l0x_api_core.c deleted file mode 100644 index 671c350..0000000 --- a/app/drivers/vl53l0x/vl53l0x_api_core.c +++ /dev/null @@ -1,2260 +0,0 @@ -/******************************************************************************* - * Copyright � 2016, STMicroelectronics International N.V. - All rights reserved. - - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND - NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. - IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY - DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - ******************************************************************************/ - -#include "vl53l0x_api.h" -#include "vl53l0x_api_core.h" -#include "vl53l0x_api_calibration.h" - -#ifndef __KERNEL__ -#include -#endif -#define LOG_FUNCTION_START(fmt, ...) \ - _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) -#define LOG_FUNCTION_END(status, ...) \ - _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) -#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ - _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) - -VL53L0X_Error VL53L0X_reverse_bytes(uint8_t *data, uint32_t size) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t tempData; - uint32_t mirrorIndex; - uint32_t middle = size / 2; - uint32_t index; - - for (index = 0; index < middle; index++) - { - mirrorIndex = size - index - 1; - tempData = data[index]; - data[index] = data[mirrorIndex]; - data[mirrorIndex] = tempData; - } - return Status; -} - -VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV Dev) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t NewDataReady = 0; - uint32_t LoopNb; - - LOG_FUNCTION_START(""); - - LoopNb = 0; - - do - { - Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDataReady); - if (Status != 0) - break; /* the error is set */ - - if (NewDataReady == 1) - break; /* done note that status == 0 */ - - LoopNb++; - if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) - { - Status = VL53L0X_ERROR_TIME_OUT; - break; - } - - VL53L0X_PollingDelay(Dev); - } while (1); - - LOG_FUNCTION_END(Status); - - return Status; -} - -uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg) -{ - /*! - * Converts the encoded VCSEL period register value into the real - * period in PLL clocks - */ - - uint8_t vcsel_period_pclks = 0; - - vcsel_period_pclks = (vcsel_period_reg + 1) << 1; - - return vcsel_period_pclks; -} - -uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks) -{ - /*! - * Converts the encoded VCSEL period register value into the real period - * in PLL clocks - */ - - uint8_t vcsel_period_reg = 0; - - vcsel_period_reg = (vcsel_period_pclks >> 1) - 1; - - return vcsel_period_reg; -} - -uint32_t VL53L0X_isqrt(uint32_t num) -{ - /* - * Implements an integer square root - * - * From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots - */ - - uint32_t res = 0; - uint32_t bit = 1 << 30; - /* The second-to-top bit is set: - * 1 << 14 for 16-bits, 1 << 30 for 32 bits - */ - - /* "bit" starts at the highest power of four <= the argument. */ - while (bit > num) - bit >>= 2; - - while (bit != 0) - { - if (num >= res + bit) - { - num -= res + bit; - res = (res >> 1) + bit; - } - else - res >>= 1; - - bit >>= 2; - } - - return res; -} - -uint32_t VL53L0X_quadrature_sum(uint32_t a, uint32_t b) -{ - /* - * Implements a quadrature sum - * - * rea = sqrt(a^2 + b^2) - * - * Trap overflow case max input value is 65535 (16-bit value) - * as internal calc are 32-bit wide - * - * If overflow then seta output to maximum - */ - uint32_t res = 0; - - if (a > 65535 || b > 65535) - res = 65535; - else - res = VL53L0X_isqrt(a * a + b * b); - - return res; -} - -VL53L0X_Error VL53L0X_device_read_strobe(VL53L0X_DEV Dev) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t strobe; - uint32_t LoopNb; - - LOG_FUNCTION_START(""); - - Status |= VL53L0X_WrByte(Dev, 0x83, 0x00); - - /* polling - * use timeout to avoid deadlock - */ - if (Status == VL53L0X_ERROR_NONE) - { - LoopNb = 0; - do - { - Status = VL53L0X_RdByte(Dev, 0x83, &strobe); - if ((strobe != 0x00) || Status != VL53L0X_ERROR_NONE) - break; - - LoopNb = LoopNb + 1; - } while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP); - - if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) - Status = VL53L0X_ERROR_TIME_OUT; - } - - Status |= VL53L0X_WrByte(Dev, 0x83, 0x01); - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV Dev, uint8_t option) -{ - - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t byte; - uint32_t TmpDWord; - uint8_t ModuleId; - uint8_t Revision; - uint8_t ReferenceSpadCount = 0; - uint8_t ReferenceSpadType = 0; - uint32_t PartUIDUpper = 0; - uint32_t PartUIDLower = 0; - uint32_t OffsetFixed1104_mm = 0; - int16_t OffsetMicroMeters = 0; - uint32_t DistMeasTgtFixed1104_mm = 400 << 4; - uint32_t DistMeasFixed1104_400_mm = 0; - uint32_t SignalRateMeasFixed1104_400_mm = 0; - char ProductId[19]; - char *ProductId_tmp; - uint8_t ReadDataFromDeviceDone; - FixPoint1616_t SignalRateMeasFixed400mmFix = 0; - uint8_t NvmRefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE]; - int i; - - LOG_FUNCTION_START(""); - - ReadDataFromDeviceDone = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, - ReadDataFromDeviceDone); - - /* This access is done only once after that a GetDeviceInfo or - * datainit is done - */ - if (ReadDataFromDeviceDone != 7) - { - - Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); - Status |= VL53L0X_WrByte(Dev, 0x00, 0x00); - - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x06); - Status |= VL53L0X_RdByte(Dev, 0x83, &byte); - Status |= VL53L0X_WrByte(Dev, 0x83, byte | 4); - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x07); - Status |= VL53L0X_WrByte(Dev, 0x81, 0x01); - - Status |= VL53L0X_PollingDelay(Dev); - - Status |= VL53L0X_WrByte(Dev, 0x80, 0x01); - - if (((option & 1) == 1) && - ((ReadDataFromDeviceDone & 1) == 0)) - { - Status |= VL53L0X_WrByte(Dev, 0x94, 0x6b); - Status |= VL53L0X_device_read_strobe(Dev); - Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); - - ReferenceSpadCount = (uint8_t)((TmpDWord >> 8) & 0x07f); - ReferenceSpadType = (uint8_t)((TmpDWord >> 15) & 0x01); - - Status |= VL53L0X_WrByte(Dev, 0x94, 0x24); - Status |= VL53L0X_device_read_strobe(Dev); - Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); - - NvmRefGoodSpadMap[0] = (uint8_t)((TmpDWord >> 24) & 0xff); - NvmRefGoodSpadMap[1] = (uint8_t)((TmpDWord >> 16) & 0xff); - NvmRefGoodSpadMap[2] = (uint8_t)((TmpDWord >> 8) & 0xff); - NvmRefGoodSpadMap[3] = (uint8_t)(TmpDWord & 0xff); - - Status |= VL53L0X_WrByte(Dev, 0x94, 0x25); - Status |= VL53L0X_device_read_strobe(Dev); - Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); - - NvmRefGoodSpadMap[4] = (uint8_t)((TmpDWord >> 24) & 0xff); - NvmRefGoodSpadMap[5] = (uint8_t)((TmpDWord >> 16) & 0xff); - } - - if (((option & 2) == 2) && - ((ReadDataFromDeviceDone & 2) == 0)) - { - - Status |= VL53L0X_WrByte(Dev, 0x94, 0x02); - Status |= VL53L0X_device_read_strobe(Dev); - Status |= VL53L0X_RdByte(Dev, 0x90, &ModuleId); - - Status |= VL53L0X_WrByte(Dev, 0x94, 0x7B); - Status |= VL53L0X_device_read_strobe(Dev); - Status |= VL53L0X_RdByte(Dev, 0x90, &Revision); - - Status |= VL53L0X_WrByte(Dev, 0x94, 0x77); - Status |= VL53L0X_device_read_strobe(Dev); - Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); - - ProductId[0] = (char)((TmpDWord >> 25) & 0x07f); - ProductId[1] = (char)((TmpDWord >> 18) & 0x07f); - ProductId[2] = (char)((TmpDWord >> 11) & 0x07f); - ProductId[3] = (char)((TmpDWord >> 4) & 0x07f); - - byte = (uint8_t)((TmpDWord & 0x00f) << 3); - - Status |= VL53L0X_WrByte(Dev, 0x94, 0x78); - Status |= VL53L0X_device_read_strobe(Dev); - Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); - - ProductId[4] = (char)(byte + - ((TmpDWord >> 29) & 0x07f)); - ProductId[5] = (char)((TmpDWord >> 22) & 0x07f); - ProductId[6] = (char)((TmpDWord >> 15) & 0x07f); - ProductId[7] = (char)((TmpDWord >> 8) & 0x07f); - ProductId[8] = (char)((TmpDWord >> 1) & 0x07f); - - byte = (uint8_t)((TmpDWord & 0x001) << 6); - - Status |= VL53L0X_WrByte(Dev, 0x94, 0x79); - - Status |= VL53L0X_device_read_strobe(Dev); - - Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); - - ProductId[9] = (char)(byte + - ((TmpDWord >> 26) & 0x07f)); - ProductId[10] = (char)((TmpDWord >> 19) & 0x07f); - ProductId[11] = (char)((TmpDWord >> 12) & 0x07f); - ProductId[12] = (char)((TmpDWord >> 5) & 0x07f); - - byte = (uint8_t)((TmpDWord & 0x01f) << 2); - - Status |= VL53L0X_WrByte(Dev, 0x94, 0x7A); - - Status |= VL53L0X_device_read_strobe(Dev); - - Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); - - ProductId[13] = (char)(byte + - ((TmpDWord >> 30) & 0x07f)); - ProductId[14] = (char)((TmpDWord >> 23) & 0x07f); - ProductId[15] = (char)((TmpDWord >> 16) & 0x07f); - ProductId[16] = (char)((TmpDWord >> 9) & 0x07f); - ProductId[17] = (char)((TmpDWord >> 2) & 0x07f); - ProductId[18] = '\0'; - } - - if (((option & 4) == 4) && - ((ReadDataFromDeviceDone & 4) == 0)) - { - - Status |= VL53L0X_WrByte(Dev, 0x94, 0x7B); - Status |= VL53L0X_device_read_strobe(Dev); - Status |= VL53L0X_RdDWord(Dev, 0x90, &PartUIDUpper); - - Status |= VL53L0X_WrByte(Dev, 0x94, 0x7C); - Status |= VL53L0X_device_read_strobe(Dev); - Status |= VL53L0X_RdDWord(Dev, 0x90, &PartUIDLower); - - Status |= VL53L0X_WrByte(Dev, 0x94, 0x73); - Status |= VL53L0X_device_read_strobe(Dev); - Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); - - SignalRateMeasFixed1104_400_mm = (TmpDWord & - 0x0000000ff) - << 8; - - Status |= VL53L0X_WrByte(Dev, 0x94, 0x74); - Status |= VL53L0X_device_read_strobe(Dev); - Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); - - SignalRateMeasFixed1104_400_mm |= ((TmpDWord & - 0xff000000) >> - 24); - - Status |= VL53L0X_WrByte(Dev, 0x94, 0x75); - Status |= VL53L0X_device_read_strobe(Dev); - Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); - - DistMeasFixed1104_400_mm = (TmpDWord & 0x0000000ff) - << 8; - - Status |= VL53L0X_WrByte(Dev, 0x94, 0x76); - Status |= VL53L0X_device_read_strobe(Dev); - Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord); - - DistMeasFixed1104_400_mm |= ((TmpDWord & 0xff000000) >> 24); - } - - Status |= VL53L0X_WrByte(Dev, 0x81, 0x00); - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x06); - Status |= VL53L0X_RdByte(Dev, 0x83, &byte); - Status |= VL53L0X_WrByte(Dev, 0x83, byte & 0xfb); - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01); - Status |= VL53L0X_WrByte(Dev, 0x00, 0x01); - - Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00); - Status |= VL53L0X_WrByte(Dev, 0x80, 0x00); - } - - if ((Status == VL53L0X_ERROR_NONE) && - (ReadDataFromDeviceDone != 7)) - { - /* Assign to variable if status is ok */ - if (((option & 1) == 1) && - ((ReadDataFromDeviceDone & 1) == 0)) - { - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - ReferenceSpadCount, ReferenceSpadCount); - - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - ReferenceSpadType, ReferenceSpadType); - - for (i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++) - { - Dev->Data.SpadData.RefGoodSpadMap[i] = - NvmRefGoodSpadMap[i]; - } - } - - if (((option & 2) == 2) && - ((ReadDataFromDeviceDone & 2) == 0)) - { - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - ModuleId, ModuleId); - - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - Revision, Revision); - - ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, - ProductId); - VL53L0X_COPYSTRING(ProductId_tmp, ProductId); - } - - if (((option & 4) == 4) && - ((ReadDataFromDeviceDone & 4) == 0)) - { - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - PartUIDUpper, PartUIDUpper); - - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - PartUIDLower, PartUIDLower); - - SignalRateMeasFixed400mmFix = - VL53L0X_FIXPOINT97TOFIXPOINT1616( - SignalRateMeasFixed1104_400_mm); - - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - SignalRateMeasFixed400mm, - SignalRateMeasFixed400mmFix); - - OffsetMicroMeters = 0; - if (DistMeasFixed1104_400_mm != 0) - { - OffsetFixed1104_mm = - DistMeasFixed1104_400_mm - - DistMeasTgtFixed1104_mm; - OffsetMicroMeters = (OffsetFixed1104_mm * 1000) >> 4; - OffsetMicroMeters *= -1; - } - - PALDevDataSet(Dev, - Part2PartOffsetAdjustmentNVMMicroMeter, - OffsetMicroMeters); - } - byte = (uint8_t)(ReadDataFromDeviceDone | option); - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone, - byte); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -uint32_t VL53L0X_calc_macro_period_ps(VL53L0X_DEV Dev, - uint8_t vcsel_period_pclks) -{ - uint64_t PLL_period_ps; - uint32_t macro_period_vclks; - uint32_t macro_period_ps; - - LOG_FUNCTION_START(""); - - /* The above calculation will produce rounding errors, - * therefore set fixed value - */ - PLL_period_ps = 1655; - - macro_period_vclks = 2304; - macro_period_ps = (uint32_t)(macro_period_vclks * vcsel_period_pclks * PLL_period_ps); - - LOG_FUNCTION_END(""); - return macro_period_ps; -} - -uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks) -{ - /*! - * Encode timeout in macro periods in (LSByte * 2^MSByte) + 1 format - */ - - uint16_t encoded_timeout = 0; - uint32_t ls_byte = 0; - uint16_t ms_byte = 0; - - if (timeout_macro_clks > 0) - { - ls_byte = timeout_macro_clks - 1; - - while ((ls_byte & 0xFFFFFF00) > 0) - { - ls_byte = ls_byte >> 1; - ms_byte++; - } - - encoded_timeout = (ms_byte << 8) + (uint16_t)(ls_byte & 0x000000FF); - } - - return encoded_timeout; -} - -uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout) -{ - /*! - * Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1 - */ - - uint32_t timeout_macro_clks = 0; - - timeout_macro_clks = ((uint32_t)(encoded_timeout & 0x00FF) - << (uint32_t)((encoded_timeout & 0xFF00) >> 8)) + - 1; - - return timeout_macro_clks; -} - -/* To convert ms into register value */ -uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV Dev, - uint32_t timeout_period_us, - uint8_t vcsel_period_pclks) -{ - uint32_t macro_period_ps; - uint32_t macro_period_ns; - uint32_t timeout_period_mclks = 0; - - macro_period_ps = VL53L0X_calc_macro_period_ps(Dev, vcsel_period_pclks); - macro_period_ns = (macro_period_ps + 500) / 1000; - - timeout_period_mclks = - (uint32_t)(((timeout_period_us * 1000) + (macro_period_ns / 2)) / macro_period_ns); - - return timeout_period_mclks; -} - -/* To convert register value into us */ -uint32_t VL53L0X_calc_timeout_us(VL53L0X_DEV Dev, - uint16_t timeout_period_mclks, - uint8_t vcsel_period_pclks) -{ - uint32_t macro_period_ps; - uint32_t macro_period_ns; - uint32_t actual_timeout_period_us = 0; - - macro_period_ps = VL53L0X_calc_macro_period_ps(Dev, vcsel_period_pclks); - macro_period_ns = (macro_period_ps + 500) / 1000; - - actual_timeout_period_us = - ((timeout_period_mclks * macro_period_ns) + 500) / 1000; - - return actual_timeout_period_us; -} - -VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV Dev, - VL53L0X_SequenceStepId SequenceStepId, - uint32_t *pTimeOutMicroSecs) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t CurrentVCSELPulsePeriodPClk; - uint8_t EncodedTimeOutByte = 0; - uint32_t TimeoutMicroSeconds = 0; - uint16_t PreRangeEncodedTimeOut = 0; - uint16_t MsrcTimeOutMClks; - uint16_t PreRangeTimeOutMClks; - uint16_t FinalRangeTimeOutMClks = 0; - uint16_t FinalRangeEncodedTimeOut; - VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps; - - if ((SequenceStepId == VL53L0X_SEQUENCESTEP_TCC) || - (SequenceStepId == VL53L0X_SEQUENCESTEP_DSS) || - (SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)) - { - - Status = VL53L0X_GetVcselPulsePeriod(Dev, - VL53L0X_VCSEL_PERIOD_PRE_RANGE, - &CurrentVCSELPulsePeriodPClk); - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_RdByte(Dev, - VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP, - &EncodedTimeOutByte); - } - MsrcTimeOutMClks = VL53L0X_decode_timeout(EncodedTimeOutByte); - - TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev, - MsrcTimeOutMClks, - CurrentVCSELPulsePeriodPClk); - } - else if (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) - { - /* Retrieve PRE-RANGE VCSEL Period */ - Status = VL53L0X_GetVcselPulsePeriod(Dev, - VL53L0X_VCSEL_PERIOD_PRE_RANGE, - &CurrentVCSELPulsePeriodPClk); - - /* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */ - if (Status == VL53L0X_ERROR_NONE) - { - - /* Retrieve PRE-RANGE VCSEL Period */ - Status = VL53L0X_GetVcselPulsePeriod(Dev, - VL53L0X_VCSEL_PERIOD_PRE_RANGE, - &CurrentVCSELPulsePeriodPClk); - - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_RdWord(Dev, - VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, - &PreRangeEncodedTimeOut); - } - - PreRangeTimeOutMClks = VL53L0X_decode_timeout( - PreRangeEncodedTimeOut); - - TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev, - PreRangeTimeOutMClks, - CurrentVCSELPulsePeriodPClk); - } - } - else if (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE) - { - - VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps); - PreRangeTimeOutMClks = 0; - - if (SchedulerSequenceSteps.PreRangeOn) - { - /* Retrieve PRE-RANGE VCSEL Period */ - Status = VL53L0X_GetVcselPulsePeriod(Dev, - VL53L0X_VCSEL_PERIOD_PRE_RANGE, - &CurrentVCSELPulsePeriodPClk); - - /* Retrieve PRE-RANGE Timeout in Macro periods - * (MCLKS) - */ - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_RdWord(Dev, - VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, - &PreRangeEncodedTimeOut); - PreRangeTimeOutMClks = VL53L0X_decode_timeout( - PreRangeEncodedTimeOut); - } - } - - if (Status == VL53L0X_ERROR_NONE) - { - /* Retrieve FINAL-RANGE VCSEL Period */ - Status = VL53L0X_GetVcselPulsePeriod(Dev, - VL53L0X_VCSEL_PERIOD_FINAL_RANGE, - &CurrentVCSELPulsePeriodPClk); - } - - /* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */ - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_RdWord(Dev, - VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, - &FinalRangeEncodedTimeOut); - FinalRangeTimeOutMClks = VL53L0X_decode_timeout( - FinalRangeEncodedTimeOut); - } - - FinalRangeTimeOutMClks -= PreRangeTimeOutMClks; - TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev, - FinalRangeTimeOutMClks, - CurrentVCSELPulsePeriodPClk); - } - - *pTimeOutMicroSecs = TimeoutMicroSeconds; - - return Status; -} - -VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV Dev, - VL53L0X_SequenceStepId SequenceStepId, - uint32_t TimeOutMicroSecs) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t CurrentVCSELPulsePeriodPClk; - uint8_t MsrcEncodedTimeOut; - uint16_t PreRangeEncodedTimeOut; - uint16_t PreRangeTimeOutMClks; - uint16_t MsrcRangeTimeOutMClks; - uint32_t FinalRangeTimeOutMClks; - uint16_t FinalRangeEncodedTimeOut; - VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps; - - if ((SequenceStepId == VL53L0X_SEQUENCESTEP_TCC) || - (SequenceStepId == VL53L0X_SEQUENCESTEP_DSS) || - (SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)) - { - - Status = VL53L0X_GetVcselPulsePeriod(Dev, - VL53L0X_VCSEL_PERIOD_PRE_RANGE, - &CurrentVCSELPulsePeriodPClk); - - if (Status == VL53L0X_ERROR_NONE) - { - MsrcRangeTimeOutMClks = VL53L0X_calc_timeout_mclks(Dev, - TimeOutMicroSecs, - (uint8_t)CurrentVCSELPulsePeriodPClk); - - if (MsrcRangeTimeOutMClks > 256) - MsrcEncodedTimeOut = 255; - else - MsrcEncodedTimeOut = - (uint8_t)MsrcRangeTimeOutMClks - 1; - - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - LastEncodedTimeout, - MsrcEncodedTimeOut); - } - - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP, - MsrcEncodedTimeOut); - } - } - else - { - - if (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) - { - - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_GetVcselPulsePeriod(Dev, - VL53L0X_VCSEL_PERIOD_PRE_RANGE, - &CurrentVCSELPulsePeriodPClk); - PreRangeTimeOutMClks = - VL53L0X_calc_timeout_mclks(Dev, - TimeOutMicroSecs, - (uint8_t)CurrentVCSELPulsePeriodPClk); - PreRangeEncodedTimeOut = VL53L0X_encode_timeout( - PreRangeTimeOutMClks); - - VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, - LastEncodedTimeout, - PreRangeEncodedTimeOut); - } - - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_WrWord(Dev, - VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, - PreRangeEncodedTimeOut); - } - - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_SETDEVICESPECIFICPARAMETER( - Dev, - PreRangeTimeoutMicroSecs, - TimeOutMicroSecs); - } - } - else if (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE) - { - - /* For the final range timeout, the pre-range timeout - * must be added. To do this both final and pre-range - * timeouts must be expressed in macro periods MClks - * because they have different vcsel periods. - */ - - VL53L0X_GetSequenceStepEnables(Dev, - &SchedulerSequenceSteps); - PreRangeTimeOutMClks = 0; - if (SchedulerSequenceSteps.PreRangeOn) - { - - /* Retrieve PRE-RANGE VCSEL Period */ - Status = VL53L0X_GetVcselPulsePeriod(Dev, - VL53L0X_VCSEL_PERIOD_PRE_RANGE, - &CurrentVCSELPulsePeriodPClk); - - /* Retrieve PRE-RANGE Timeout in Macro periods - * (MCLKS) - */ - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_RdWord(Dev, 0x51, - &PreRangeEncodedTimeOut); - PreRangeTimeOutMClks = - VL53L0X_decode_timeout( - PreRangeEncodedTimeOut); - } - } - - /* Calculate FINAL RANGE Timeout in Macro Periods - * (MCLKS) and add PRE-RANGE value - */ - if (Status == VL53L0X_ERROR_NONE) - { - - Status = VL53L0X_GetVcselPulsePeriod(Dev, - VL53L0X_VCSEL_PERIOD_FINAL_RANGE, - &CurrentVCSELPulsePeriodPClk); - } - if (Status == VL53L0X_ERROR_NONE) - { - - FinalRangeTimeOutMClks = - VL53L0X_calc_timeout_mclks(Dev, - TimeOutMicroSecs, - (uint8_t)CurrentVCSELPulsePeriodPClk); - - FinalRangeTimeOutMClks += PreRangeTimeOutMClks; - - FinalRangeEncodedTimeOut = - VL53L0X_encode_timeout(FinalRangeTimeOutMClks); - - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_WrWord(Dev, 0x71, - FinalRangeEncodedTimeOut); - } - - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_SETDEVICESPECIFICPARAMETER( - Dev, - FinalRangeTimeoutMicroSecs, - TimeOutMicroSecs); - } - } - } - else - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - return Status; -} - -VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev, - VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t vcsel_period_reg; - uint8_t MinPreVcselPeriodPCLK = 12; - uint8_t MaxPreVcselPeriodPCLK = 18; - uint8_t MinFinalVcselPeriodPCLK = 8; - uint8_t MaxFinalVcselPeriodPCLK = 14; - uint32_t MeasurementTimingBudgetMicroSeconds; - uint32_t FinalRangeTimeoutMicroSeconds; - uint32_t PreRangeTimeoutMicroSeconds; - uint32_t MsrcTimeoutMicroSeconds; - uint8_t PhaseCalInt = 0; - - /* Check if valid clock period requested */ - - if ((VCSELPulsePeriodPCLK % 2) != 0) - { - /* Value must be an even number */ - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_PRE_RANGE && - (VCSELPulsePeriodPCLK < MinPreVcselPeriodPCLK || - VCSELPulsePeriodPCLK > MaxPreVcselPeriodPCLK)) - { - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_FINAL_RANGE && - (VCSELPulsePeriodPCLK < MinFinalVcselPeriodPCLK || - VCSELPulsePeriodPCLK > MaxFinalVcselPeriodPCLK)) - { - - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - - /* Apply specific settings for the requested clock period */ - - if (Status != VL53L0X_ERROR_NONE) - return Status; - - if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_PRE_RANGE) - { - - /* Set phase check limits */ - if (VCSELPulsePeriodPCLK == 12) - { - - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, - 0x18); - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, - 0x08); - } - else if (VCSELPulsePeriodPCLK == 14) - { - - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, - 0x30); - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, - 0x08); - } - else if (VCSELPulsePeriodPCLK == 16) - { - - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, - 0x40); - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, - 0x08); - } - else if (VCSELPulsePeriodPCLK == 18) - { - - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, - 0x50); - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, - 0x08); - } - } - else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) - { - - if (VCSELPulsePeriodPCLK == 8) - { - - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, - 0x10); - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, - 0x08); - - Status |= VL53L0X_WrByte(Dev, - VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02); - Status |= VL53L0X_WrByte(Dev, - VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C); - - Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); - Status |= VL53L0X_WrByte(Dev, - VL53L0X_REG_ALGO_PHASECAL_LIM, - 0x30); - Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); - } - else if (VCSELPulsePeriodPCLK == 10) - { - - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, - 0x28); - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, - 0x08); - - Status |= VL53L0X_WrByte(Dev, - VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); - Status |= VL53L0X_WrByte(Dev, - VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09); - - Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); - Status |= VL53L0X_WrByte(Dev, - VL53L0X_REG_ALGO_PHASECAL_LIM, - 0x20); - Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); - } - else if (VCSELPulsePeriodPCLK == 12) - { - - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, - 0x38); - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, - 0x08); - - Status |= VL53L0X_WrByte(Dev, - VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); - Status |= VL53L0X_WrByte(Dev, - VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08); - - Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); - Status |= VL53L0X_WrByte(Dev, - VL53L0X_REG_ALGO_PHASECAL_LIM, - 0x20); - Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); - } - else if (VCSELPulsePeriodPCLK == 14) - { - - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, - 0x048); - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, - 0x08); - - Status |= VL53L0X_WrByte(Dev, - VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); - Status |= VL53L0X_WrByte(Dev, - VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07); - - Status |= VL53L0X_WrByte(Dev, 0xff, 0x01); - Status |= VL53L0X_WrByte(Dev, - VL53L0X_REG_ALGO_PHASECAL_LIM, - 0x20); - Status |= VL53L0X_WrByte(Dev, 0xff, 0x00); - } - } - - /* Re-calculate and apply timeouts, in macro periods */ - - if (Status == VL53L0X_ERROR_NONE) - { - vcsel_period_reg = VL53L0X_encode_vcsel_period((uint8_t) - VCSELPulsePeriodPCLK); - - /* When the VCSEL period for the pre or final range is changed, - * the corresponding timeout must be read from the device using - * the current VCSEL period, then the new VCSEL period can be - * applied. The timeout then must be written back to the device - * using the new VCSEL period. - * - * For the MSRC timeout, the same applies - this timeout being - * dependant on the pre-range vcsel period. - */ - switch (VcselPeriodType) - { - case VL53L0X_VCSEL_PERIOD_PRE_RANGE: - Status = get_sequence_step_timeout(Dev, - VL53L0X_SEQUENCESTEP_PRE_RANGE, - &PreRangeTimeoutMicroSeconds); - - if (Status == VL53L0X_ERROR_NONE) - Status = get_sequence_step_timeout(Dev, - VL53L0X_SEQUENCESTEP_MSRC, - &MsrcTimeoutMicroSeconds); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD, - vcsel_period_reg); - - if (Status == VL53L0X_ERROR_NONE) - Status = set_sequence_step_timeout(Dev, - VL53L0X_SEQUENCESTEP_PRE_RANGE, - PreRangeTimeoutMicroSeconds); - - if (Status == VL53L0X_ERROR_NONE) - Status = set_sequence_step_timeout(Dev, - VL53L0X_SEQUENCESTEP_MSRC, - MsrcTimeoutMicroSeconds); - - VL53L0X_SETDEVICESPECIFICPARAMETER( - Dev, - PreRangeVcselPulsePeriod, - VCSELPulsePeriodPCLK); - break; - case VL53L0X_VCSEL_PERIOD_FINAL_RANGE: - Status = get_sequence_step_timeout(Dev, - VL53L0X_SEQUENCESTEP_FINAL_RANGE, - &FinalRangeTimeoutMicroSeconds); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, - VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD, - vcsel_period_reg); - - if (Status == VL53L0X_ERROR_NONE) - Status = set_sequence_step_timeout(Dev, - VL53L0X_SEQUENCESTEP_FINAL_RANGE, - FinalRangeTimeoutMicroSeconds); - - VL53L0X_SETDEVICESPECIFICPARAMETER( - Dev, - FinalRangeVcselPulsePeriod, - VCSELPulsePeriodPCLK); - break; - default: - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - } - - /* Finally, the timing budget must be re-applied */ - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_GETPARAMETERFIELD(Dev, - MeasurementTimingBudgetMicroSeconds, - MeasurementTimingBudgetMicroSeconds); - - Status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(Dev, - MeasurementTimingBudgetMicroSeconds); - } - - /* Perform the phase calibration. This is needed after changing on - * vcsel period. - * get_data_enable = 0, restore_config = 1 - */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_perform_phase_calibration( - Dev, &PhaseCalInt, 0, 1); - - return Status; -} - -VL53L0X_Error VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV Dev, - VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t vcsel_period_reg; - - switch (VcselPeriodType) - { - case VL53L0X_VCSEL_PERIOD_PRE_RANGE: - Status = VL53L0X_RdByte(Dev, - VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD, - &vcsel_period_reg); - break; - case VL53L0X_VCSEL_PERIOD_FINAL_RANGE: - Status = VL53L0X_RdByte(Dev, - VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD, - &vcsel_period_reg); - break; - default: - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - - if (Status == VL53L0X_ERROR_NONE) - *pVCSELPulsePeriodPCLK = - VL53L0X_decode_vcsel_period(vcsel_period_reg); - - return Status; -} - -VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds( - VL53L0X_DEV Dev, - uint32_t MeasurementTimingBudgetMicroSeconds) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint32_t FinalRangeTimingBudgetMicroSeconds; - VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps; - uint32_t MsrcDccTccTimeoutMicroSeconds = 2000; - uint32_t StartOverheadMicroSeconds = 1910; - uint32_t EndOverheadMicroSeconds = 960; - uint32_t MsrcOverheadMicroSeconds = 660; - uint32_t TccOverheadMicroSeconds = 590; - uint32_t DssOverheadMicroSeconds = 690; - uint32_t PreRangeOverheadMicroSeconds = 660; - uint32_t FinalRangeOverheadMicroSeconds = 550; - uint32_t PreRangeTimeoutMicroSeconds = 0; - uint32_t SubTimeout = 0; - - LOG_FUNCTION_START(""); - - FinalRangeTimingBudgetMicroSeconds = - MeasurementTimingBudgetMicroSeconds - - (StartOverheadMicroSeconds + EndOverheadMicroSeconds); - - Status = VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps); - - if (Status == VL53L0X_ERROR_NONE && - (SchedulerSequenceSteps.TccOn || - SchedulerSequenceSteps.MsrcOn || - SchedulerSequenceSteps.DssOn)) - { - - /* TCC, MSRC and DSS all share the same timeout */ - Status = get_sequence_step_timeout(Dev, - VL53L0X_SEQUENCESTEP_MSRC, - &MsrcDccTccTimeoutMicroSeconds); - - /* Subtract the TCC, MSRC and DSS timeouts if they are - * enabled. - */ - - if (Status != VL53L0X_ERROR_NONE) - return Status; - - /* TCC */ - if (SchedulerSequenceSteps.TccOn) - { - - SubTimeout = MsrcDccTccTimeoutMicroSeconds + TccOverheadMicroSeconds; - - if (SubTimeout < - FinalRangeTimingBudgetMicroSeconds) - { - FinalRangeTimingBudgetMicroSeconds -= - SubTimeout; - } - else - { - /* Requested timeout too big. */ - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - } - - if (Status != VL53L0X_ERROR_NONE) - { - LOG_FUNCTION_END(Status); - return Status; - } - - /* DSS */ - if (SchedulerSequenceSteps.DssOn) - { - - SubTimeout = 2 * (MsrcDccTccTimeoutMicroSeconds + - DssOverheadMicroSeconds); - - if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) - { - FinalRangeTimingBudgetMicroSeconds -= SubTimeout; - } - else - { - /* Requested timeout too big. */ - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - } - else if (SchedulerSequenceSteps.MsrcOn) - { - /* MSRC */ - SubTimeout = MsrcDccTccTimeoutMicroSeconds + - MsrcOverheadMicroSeconds; - - if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) - { - FinalRangeTimingBudgetMicroSeconds -= SubTimeout; - } - else - { - /* Requested timeout too big. */ - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - } - } - - if (Status != VL53L0X_ERROR_NONE) - { - LOG_FUNCTION_END(Status); - return Status; - } - - if (SchedulerSequenceSteps.PreRangeOn) - { - - /* Subtract the Pre-range timeout if enabled. */ - - Status = get_sequence_step_timeout(Dev, - VL53L0X_SEQUENCESTEP_PRE_RANGE, - &PreRangeTimeoutMicroSeconds); - - SubTimeout = PreRangeTimeoutMicroSeconds + - PreRangeOverheadMicroSeconds; - - if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) - { - FinalRangeTimingBudgetMicroSeconds -= SubTimeout; - } - else - { - /* Requested timeout too big. */ - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - } - - if (Status == VL53L0X_ERROR_NONE && - SchedulerSequenceSteps.FinalRangeOn) - { - - FinalRangeTimingBudgetMicroSeconds -= - FinalRangeOverheadMicroSeconds; - - /* Final Range Timeout - * Note that the final range timeout is determined by the timing - * budget and the sum of all other timeouts within the sequence. - * If there is no room for the final range timeout, then an - * error will be set. Otherwise the remaining time will be - * applied to the final range. - */ - Status = set_sequence_step_timeout(Dev, - VL53L0X_SEQUENCESTEP_FINAL_RANGE, - FinalRangeTimingBudgetMicroSeconds); - - VL53L0X_SETPARAMETERFIELD(Dev, - MeasurementTimingBudgetMicroSeconds, - MeasurementTimingBudgetMicroSeconds); - } - - LOG_FUNCTION_END(Status); - - return Status; -} - -VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds( - VL53L0X_DEV Dev, - uint32_t *pMeasurementTimingBudgetMicroSeconds) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps; - uint32_t FinalRangeTimeoutMicroSeconds; - uint32_t MsrcDccTccTimeoutMicroSeconds = 2000; - uint32_t StartOverheadMicroSeconds = 1910; - uint32_t EndOverheadMicroSeconds = 960; - uint32_t MsrcOverheadMicroSeconds = 660; - uint32_t TccOverheadMicroSeconds = 590; - uint32_t DssOverheadMicroSeconds = 690; - uint32_t PreRangeOverheadMicroSeconds = 660; - uint32_t FinalRangeOverheadMicroSeconds = 550; - uint32_t PreRangeTimeoutMicroSeconds = 0; - - LOG_FUNCTION_START(""); - - /* Start and end overhead times always present */ - *pMeasurementTimingBudgetMicroSeconds = StartOverheadMicroSeconds + EndOverheadMicroSeconds; - - Status = VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps); - - if (Status != VL53L0X_ERROR_NONE) - { - LOG_FUNCTION_END(Status); - return Status; - } - - if (SchedulerSequenceSteps.TccOn || - SchedulerSequenceSteps.MsrcOn || - SchedulerSequenceSteps.DssOn) - { - - Status = get_sequence_step_timeout(Dev, - VL53L0X_SEQUENCESTEP_MSRC, - &MsrcDccTccTimeoutMicroSeconds); - - if (Status == VL53L0X_ERROR_NONE) - { - if (SchedulerSequenceSteps.TccOn) - { - *pMeasurementTimingBudgetMicroSeconds += - MsrcDccTccTimeoutMicroSeconds + - TccOverheadMicroSeconds; - } - - if (SchedulerSequenceSteps.DssOn) - { - *pMeasurementTimingBudgetMicroSeconds += - 2 * (MsrcDccTccTimeoutMicroSeconds + - DssOverheadMicroSeconds); - } - else if (SchedulerSequenceSteps.MsrcOn) - { - *pMeasurementTimingBudgetMicroSeconds += - MsrcDccTccTimeoutMicroSeconds + - MsrcOverheadMicroSeconds; - } - } - } - - if (Status == VL53L0X_ERROR_NONE) - { - if (SchedulerSequenceSteps.PreRangeOn) - { - Status = get_sequence_step_timeout(Dev, - VL53L0X_SEQUENCESTEP_PRE_RANGE, - &PreRangeTimeoutMicroSeconds); - *pMeasurementTimingBudgetMicroSeconds += - PreRangeTimeoutMicroSeconds + - PreRangeOverheadMicroSeconds; - } - } - - if (Status == VL53L0X_ERROR_NONE) - { - if (SchedulerSequenceSteps.FinalRangeOn) - { - Status = get_sequence_step_timeout(Dev, - VL53L0X_SEQUENCESTEP_FINAL_RANGE, - &FinalRangeTimeoutMicroSeconds); - *pMeasurementTimingBudgetMicroSeconds += - (FinalRangeTimeoutMicroSeconds + - FinalRangeOverheadMicroSeconds); - } - } - - if (Status == VL53L0X_ERROR_NONE) - { - VL53L0X_SETPARAMETERFIELD(Dev, - MeasurementTimingBudgetMicroSeconds, - *pMeasurementTimingBudgetMicroSeconds); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_load_tuning_settings(VL53L0X_DEV Dev, - uint8_t *pTuningSettingBuffer) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - int i; - int Index; - uint8_t msb; - uint8_t lsb; - uint8_t SelectParam; - uint8_t NumberOfWrites; - uint8_t Address; - uint8_t localBuffer[4]; /* max */ - uint16_t Temp16; - - LOG_FUNCTION_START(""); - - Index = 0; - - while ((*(pTuningSettingBuffer + Index) != 0) && - (Status == VL53L0X_ERROR_NONE)) - { - NumberOfWrites = *(pTuningSettingBuffer + Index); - Index++; - if (NumberOfWrites == 0xFF) - { - /* internal parameters */ - SelectParam = *(pTuningSettingBuffer + Index); - Index++; - switch (SelectParam) - { - case 0: /* uint16_t SigmaEstRefArray -> 2 bytes */ - msb = *(pTuningSettingBuffer + Index); - Index++; - lsb = *(pTuningSettingBuffer + Index); - Index++; - Temp16 = VL53L0X_MAKEUINT16(lsb, msb); - PALDevDataSet(Dev, SigmaEstRefArray, Temp16); - break; - case 1: /* uint16_t SigmaEstEffPulseWidth -> 2 bytes */ - msb = *(pTuningSettingBuffer + Index); - Index++; - lsb = *(pTuningSettingBuffer + Index); - Index++; - Temp16 = VL53L0X_MAKEUINT16(lsb, msb); - PALDevDataSet(Dev, SigmaEstEffPulseWidth, - Temp16); - break; - case 2: /* uint16_t SigmaEstEffAmbWidth -> 2 bytes */ - msb = *(pTuningSettingBuffer + Index); - Index++; - lsb = *(pTuningSettingBuffer + Index); - Index++; - Temp16 = VL53L0X_MAKEUINT16(lsb, msb); - PALDevDataSet(Dev, SigmaEstEffAmbWidth, Temp16); - break; - case 3: /* uint16_t targetRefRate -> 2 bytes */ - msb = *(pTuningSettingBuffer + Index); - Index++; - lsb = *(pTuningSettingBuffer + Index); - Index++; - Temp16 = VL53L0X_MAKEUINT16(lsb, msb); - PALDevDataSet(Dev, targetRefRate, Temp16); - break; - default: /* invalid parameter */ - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - } - else if (NumberOfWrites <= 4) - { - Address = *(pTuningSettingBuffer + Index); - Index++; - - for (i = 0; i < NumberOfWrites; i++) - { - localBuffer[i] = *(pTuningSettingBuffer + - Index); - Index++; - } - - Status = VL53L0X_WriteMulti(Dev, Address, localBuffer, - NumberOfWrites); - } - else - { - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_get_total_xtalk_rate(VL53L0X_DEV Dev, - VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, - FixPoint1616_t *ptotal_xtalk_rate_mcps) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - uint8_t xtalkCompEnable; - FixPoint1616_t totalXtalkMegaCps; - FixPoint1616_t xtalkPerSpadMegaCps; - - *ptotal_xtalk_rate_mcps = 0; - - Status = VL53L0X_GetXTalkCompensationEnable(Dev, &xtalkCompEnable); - if (Status == VL53L0X_ERROR_NONE) - { - - if (xtalkCompEnable) - { - - VL53L0X_GETPARAMETERFIELD( - Dev, - XTalkCompensationRateMegaCps, - xtalkPerSpadMegaCps); - - /* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */ - totalXtalkMegaCps = - pRangingMeasurementData->EffectiveSpadRtnCount * - xtalkPerSpadMegaCps; - - /* FixPoint0824 >> 8 = FixPoint1616 */ - *ptotal_xtalk_rate_mcps = - (totalXtalkMegaCps + 0x80) >> 8; - } - } - - return Status; -} - -VL53L0X_Error VL53L0X_get_total_signal_rate(VL53L0X_DEV Dev, - VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, - FixPoint1616_t *ptotal_signal_rate_mcps) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - FixPoint1616_t totalXtalkMegaCps; - - LOG_FUNCTION_START(""); - - *ptotal_signal_rate_mcps = - pRangingMeasurementData->SignalRateRtnMegaCps; - - Status = VL53L0X_get_total_xtalk_rate( - Dev, pRangingMeasurementData, &totalXtalkMegaCps); - - if (Status == VL53L0X_ERROR_NONE) - *ptotal_signal_rate_mcps += totalXtalkMegaCps; - - return Status; -} - -VL53L0X_Error get_dmax_lut_points(VL53L0X_DMaxLUT_t data, uint32_t lut_size, - FixPoint1616_t input, int32_t *index0, int32_t *index1) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - FixPoint1616_t index0_tmp = 0; - FixPoint1616_t index1_tmp = 0; - int index = 0; - - for (index = 0; index < lut_size; index++) - { - if (input <= data.ambRate_mcps[index]) - { - index1_tmp = index; - break; - } - } - - if (index == lut_size) - { - /* input is higher than last x point */ - index0_tmp = index1_tmp = lut_size - 1; - } - else if (index1_tmp == 0) - { - /* input is lower than first x point */ - index0_tmp = 0; - } - else - { - /* input is in between 2 points */ - index0_tmp = index1_tmp - 1; - } - - *index0 = index0_tmp; - *index1 = index1_tmp; - - return Status; -} - -VL53L0X_Error VL53L0X_calc_dmax( - VL53L0X_DEV Dev, FixPoint1616_t ambRateMeas, uint32_t *pdmax_mm) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - VL53L0X_DeviceParameters_t CurrentParameters; - int32_t index0 = 0; - int32_t index1 = 0; - FixPoint1616_t amb0, amb1, dmax0, dmax1; - FixPoint1616_t dmax_mm; - FixPoint1616_t linearSlope; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters); - - if (ambRateMeas <= CurrentParameters.dmax_lut.ambRate_mcps[0]) - { - dmax_mm = CurrentParameters.dmax_lut.dmax_mm[0]; - } - else if (ambRateMeas >= - CurrentParameters.dmax_lut.ambRate_mcps[VL53L0X_DMAX_LUT_SIZE - 1]) - { - dmax_mm = - CurrentParameters.dmax_lut.dmax_mm[VL53L0X_DMAX_LUT_SIZE - - 1]; - } - else - { - get_dmax_lut_points(CurrentParameters.dmax_lut, - VL53L0X_DMAX_LUT_SIZE, ambRateMeas, &index0, &index1); - - if (index0 == index1) - { - dmax_mm = CurrentParameters.dmax_lut.dmax_mm[index0]; - } - else - { - amb0 = CurrentParameters.dmax_lut.ambRate_mcps[index0]; - amb1 = CurrentParameters.dmax_lut.ambRate_mcps[index1]; - dmax0 = CurrentParameters.dmax_lut.dmax_mm[index0]; - dmax1 = CurrentParameters.dmax_lut.dmax_mm[index1]; - if ((amb1 - amb0) != 0) - { - /* Fix16:16/Fix16:8 => Fix16:8 */ - linearSlope = (dmax0 - dmax1) / ((amb1 - amb0) >> 8); - - /* Fix16:8 * Fix16:8 => Fix16:16 */ - dmax_mm = - (((amb1 - - ambRateMeas) >> - 8) * - linearSlope) + - dmax1; - } - else - { - dmax_mm = dmax0; - } - } - } - *pdmax_mm = (uint32_t)(dmax_mm >> 16); - - LOG_FUNCTION_END(Status); - - return Status; -} - -VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev, - VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, - FixPoint1616_t *pSigmaEstimate) -{ - /* Expressed in 100ths of a ns, i.e. centi-ns */ - const uint32_t cPulseEffectiveWidth_centi_ns = 800; - /* Expressed in 100ths of a ns, i.e. centi-ns */ - const uint32_t cAmbientEffectiveWidth_centi_ns = 600; - const FixPoint1616_t cDfltFinalRangeIntegrationTimeMilliSecs = - 0x00190000; /* 25ms */ - const uint32_t cVcselPulseWidth_ps = 4700; /* pico secs */ - const FixPoint1616_t cSigmaEstMax = 0x028F87AE; - const FixPoint1616_t cSigmaEstRtnMax = 0xF000; - const FixPoint1616_t cAmbToSignalRatioMax = 0xF0000000 / - cAmbientEffectiveWidth_centi_ns; - /* Time Of Flight per mm (6.6 pico secs) */ - const FixPoint1616_t cTOF_per_mm_ps = 0x0006999A; - const uint32_t c16BitRoundingParam = 0x00008000; - const FixPoint1616_t cMaxXTalk_kcps = 0x00320000; - const uint32_t cPllPeriod_ps = 1655; - - uint32_t vcselTotalEventsRtn; - uint32_t finalRangeTimeoutMicroSecs; - uint32_t preRangeTimeoutMicroSecs; - uint32_t finalRangeIntegrationTimeMilliSecs; - FixPoint1616_t sigmaEstimateP1; - FixPoint1616_t sigmaEstimateP2; - FixPoint1616_t sigmaEstimateP3; - FixPoint1616_t deltaT_ps; - FixPoint1616_t pwMult; - FixPoint1616_t sigmaEstRtn; - FixPoint1616_t sigmaEstimate; - FixPoint1616_t xTalkCorrection; - FixPoint1616_t ambientRate_kcps; - FixPoint1616_t peakSignalRate_kcps; - FixPoint1616_t xTalkCompRate_mcps; - uint32_t xTalkCompRate_kcps; - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - FixPoint1616_t diff1_mcps; - FixPoint1616_t diff2_mcps; - FixPoint1616_t sqr1; - FixPoint1616_t sqr2; - FixPoint1616_t sqrSum; - FixPoint1616_t sqrtResult_centi_ns; - FixPoint1616_t sqrtResult; - FixPoint1616_t totalSignalRate_mcps; - FixPoint1616_t sigmaEstRef; - uint32_t vcselWidth; - uint32_t finalRangeMacroPCLKS; - uint32_t preRangeMacroPCLKS; - uint32_t peakVcselDuration_us; - uint8_t finalRangeVcselPCLKS; - uint8_t preRangeVcselPCLKS; - /*! \addtogroup calc_sigma_estimate - * @{ - * - * Estimates the range sigma - */ - - LOG_FUNCTION_START(""); - - VL53L0X_GETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, - xTalkCompRate_mcps); - - /* - * We work in kcps rather than mcps as this helps keep within the - * confines of the 32 Fix1616 type. - */ - - ambientRate_kcps = - (pRangingMeasurementData->AmbientRateRtnMegaCps * 1000) >> 16; - - Status = VL53L0X_get_total_signal_rate( - Dev, pRangingMeasurementData, &totalSignalRate_mcps); - Status = VL53L0X_get_total_xtalk_rate( - Dev, pRangingMeasurementData, &xTalkCompRate_mcps); - - /* Signal rate measurement provided by device is the - * peak signal rate, not average. - */ - peakSignalRate_kcps = (totalSignalRate_mcps * 1000); - peakSignalRate_kcps = (peakSignalRate_kcps + 0x8000) >> 16; - - xTalkCompRate_kcps = xTalkCompRate_mcps * 1000; - - if (xTalkCompRate_kcps > cMaxXTalk_kcps) - xTalkCompRate_kcps = cMaxXTalk_kcps; - - if (Status == VL53L0X_ERROR_NONE) - { - - /* Calculate final range macro periods */ - finalRangeTimeoutMicroSecs = VL53L0X_GETDEVICESPECIFICPARAMETER( - Dev, FinalRangeTimeoutMicroSecs); - - finalRangeVcselPCLKS = VL53L0X_GETDEVICESPECIFICPARAMETER( - Dev, FinalRangeVcselPulsePeriod); - - finalRangeMacroPCLKS = VL53L0X_calc_timeout_mclks( - Dev, finalRangeTimeoutMicroSecs, finalRangeVcselPCLKS); - - /* Calculate pre-range macro periods */ - preRangeTimeoutMicroSecs = VL53L0X_GETDEVICESPECIFICPARAMETER( - Dev, PreRangeTimeoutMicroSecs); - - preRangeVcselPCLKS = VL53L0X_GETDEVICESPECIFICPARAMETER( - Dev, PreRangeVcselPulsePeriod); - - preRangeMacroPCLKS = VL53L0X_calc_timeout_mclks( - Dev, preRangeTimeoutMicroSecs, preRangeVcselPCLKS); - - vcselWidth = 3; - if (finalRangeVcselPCLKS == 8) - vcselWidth = 2; - - peakVcselDuration_us = vcselWidth * 2048 * - (preRangeMacroPCLKS + finalRangeMacroPCLKS); - peakVcselDuration_us = (peakVcselDuration_us + 500) / 1000; - peakVcselDuration_us *= cPllPeriod_ps; - peakVcselDuration_us = (peakVcselDuration_us + 500) / 1000; - - /* Fix1616 >> 8 = Fix2408 */ - totalSignalRate_mcps = (totalSignalRate_mcps + 0x80) >> 8; - - /* Fix2408 * uint32 = Fix2408 */ - vcselTotalEventsRtn = totalSignalRate_mcps * - peakVcselDuration_us; - - /* Fix2408 >> 8 = uint32 */ - vcselTotalEventsRtn = (vcselTotalEventsRtn + 0x80) >> 8; - - /* Fix2408 << 8 = Fix1616 = */ - totalSignalRate_mcps <<= 8; - } - - if (Status != VL53L0X_ERROR_NONE) - { - LOG_FUNCTION_END(Status); - return Status; - } - - if (peakSignalRate_kcps == 0) - { - *pSigmaEstimate = cSigmaEstMax; - PALDevDataSet(Dev, SigmaEstimate, cSigmaEstMax); - } - else - { - if (vcselTotalEventsRtn < 1) - vcselTotalEventsRtn = 1; - - sigmaEstimateP1 = cPulseEffectiveWidth_centi_ns; - - /* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */ - sigmaEstimateP2 = (ambientRate_kcps << 16) / peakSignalRate_kcps; - if (sigmaEstimateP2 > cAmbToSignalRatioMax) - { - /* Clip to prevent overflow. Will ensure safe - * max result. - */ - sigmaEstimateP2 = cAmbToSignalRatioMax; - } - sigmaEstimateP2 *= cAmbientEffectiveWidth_centi_ns; - - sigmaEstimateP3 = 2 * VL53L0X_isqrt(vcselTotalEventsRtn * 12); - - /* uint32 * FixPoint1616 = FixPoint1616 */ - deltaT_ps = pRangingMeasurementData->RangeMilliMeter * - cTOF_per_mm_ps; - - /* - * vcselRate - xtalkCompRate - * (uint32 << 16) - FixPoint1616 = FixPoint1616. - * Divide result by 1000 to convert to mcps. - * 500 is added to ensure rounding when integer division - * truncates. - */ - diff1_mcps = (((peakSignalRate_kcps << 16) - - 2 * xTalkCompRate_kcps) + - 500) / - 1000; - - /* vcselRate + xtalkCompRate */ - diff2_mcps = ((peakSignalRate_kcps << 16) + 500) / 1000; - - /* Shift by 8 bits to increase resolution prior to the - * division - */ - diff1_mcps <<= 8; - - /* FixPoint0824/FixPoint1616 = FixPoint2408 */ - xTalkCorrection = abs(diff1_mcps / diff2_mcps); - - /* FixPoint2408 << 8 = FixPoint1616 */ - xTalkCorrection <<= 8; - - if (pRangingMeasurementData->RangeStatus != 0) - { - pwMult = 1 << 16; - } - else - { - /* FixPoint1616/uint32 = FixPoint1616 */ - /* smaller than 1.0f */ - pwMult = deltaT_ps / cVcselPulseWidth_ps; - - /* - * FixPoint1616 * FixPoint1616 = FixPoint3232, however - * both values are small enough such that32 bits will - * not be exceeded. - */ - pwMult *= ((1 << 16) - xTalkCorrection); - - /* (FixPoint3232 >> 16) = FixPoint1616 */ - pwMult = (pwMult + c16BitRoundingParam) >> 16; - - /* FixPoint1616 + FixPoint1616 = FixPoint1616 */ - pwMult += (1 << 16); - - /* - * At this point the value will be 1.xx, therefore if we - * square the value this will exceed 32 bits. To address - * this perform a single shift to the right before the - * multiplication. - */ - pwMult >>= 1; - /* FixPoint1715 * FixPoint1715 = FixPoint3430 */ - pwMult = pwMult * pwMult; - - /* (FixPoint3430 >> 14) = Fix1616 */ - pwMult >>= 14; - } - - /* FixPoint1616 * uint32 = FixPoint1616 */ - sqr1 = pwMult * sigmaEstimateP1; - - /* (FixPoint1616 >> 16) = FixPoint3200 */ - sqr1 = (sqr1 + 0x8000) >> 16; - - /* FixPoint3200 * FixPoint3200 = FixPoint6400 */ - sqr1 *= sqr1; - - sqr2 = sigmaEstimateP2; - - /* (FixPoint1616 >> 16) = FixPoint3200 */ - sqr2 = (sqr2 + 0x8000) >> 16; - - /* FixPoint3200 * FixPoint3200 = FixPoint6400 */ - sqr2 *= sqr2; - - /* FixPoint64000 + FixPoint6400 = FixPoint6400 */ - sqrSum = sqr1 + sqr2; - - /* SQRT(FixPoin6400) = FixPoint3200 */ - sqrtResult_centi_ns = VL53L0X_isqrt(sqrSum); - - /* (FixPoint3200 << 16) = FixPoint1616 */ - sqrtResult_centi_ns <<= 16; - - /* - * Note that the Speed Of Light is expressed in um per 1E-10 - * seconds (2997) Therefore to get mm/ns we have to divide by - * 10000 - */ - sigmaEstRtn = (((sqrtResult_centi_ns + 50) / 100) / - sigmaEstimateP3); - sigmaEstRtn *= VL53L0X_SPEED_OF_LIGHT_IN_AIR; - - /* Add 5000 before dividing by 10000 to ensure rounding. */ - sigmaEstRtn += 5000; - sigmaEstRtn /= 10000; - - if (sigmaEstRtn > cSigmaEstRtnMax) - { - /* Clip to prevent overflow. Will ensure safe - * max result. - */ - sigmaEstRtn = cSigmaEstRtnMax; - } - finalRangeIntegrationTimeMilliSecs = - (finalRangeTimeoutMicroSecs + preRangeTimeoutMicroSecs + - 500) / - 1000; - - /* sigmaEstRef = 1mm * 25ms/final range integration time - * (inc pre-range) - * sqrt(FixPoint1616/int) = FixPoint2408) - */ - sigmaEstRef = - VL53L0X_isqrt((cDfltFinalRangeIntegrationTimeMilliSecs + - finalRangeIntegrationTimeMilliSecs / 2) / - finalRangeIntegrationTimeMilliSecs); - - /* FixPoint2408 << 8 = FixPoint1616 */ - sigmaEstRef <<= 8; - sigmaEstRef = (sigmaEstRef + 500) / 1000; - - /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ - sqr1 = sigmaEstRtn * sigmaEstRtn; - /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ - sqr2 = sigmaEstRef * sigmaEstRef; - - /* sqrt(FixPoint3232) = FixPoint1616 */ - sqrtResult = VL53L0X_isqrt((sqr1 + sqr2)); - /* - * Note that the Shift by 4 bits increases resolution prior to - * the sqrt, therefore the result must be shifted by 2 bits to - * the right to revert back to the FixPoint1616 format. - */ - - sigmaEstimate = 1000 * sqrtResult; - - if ((peakSignalRate_kcps < 1) || (vcselTotalEventsRtn < 1) || - (sigmaEstimate > cSigmaEstMax)) - { - sigmaEstimate = cSigmaEstMax; - } - - *pSigmaEstimate = (uint32_t)(sigmaEstimate); - PALDevDataSet(Dev, SigmaEstimate, *pSigmaEstimate); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_get_pal_range_status(VL53L0X_DEV Dev, - uint8_t DeviceRangeStatus, - FixPoint1616_t SignalRate, - uint16_t EffectiveSpadRtnCount, - VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, - uint8_t *pPalRangeStatus) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t NoneFlag; - uint8_t SigmaLimitflag = 0; - uint8_t SignalRefClipflag = 0; - uint8_t RangeIgnoreThresholdflag = 0; - uint8_t SigmaLimitCheckEnable = 0; - uint8_t SignalRateFinalRangeLimitCheckEnable = 0; - uint8_t SignalRefClipLimitCheckEnable = 0; - uint8_t RangeIgnoreThresholdLimitCheckEnable = 0; - FixPoint1616_t SigmaEstimate; - FixPoint1616_t SigmaLimitValue; - FixPoint1616_t SignalRefClipValue; - FixPoint1616_t RangeIgnoreThresholdValue; - FixPoint1616_t SignalRatePerSpad; - uint8_t DeviceRangeStatusInternal = 0; - uint16_t tmpWord = 0; - uint8_t Temp8; - uint32_t Dmax_mm = 0; - FixPoint1616_t LastSignalRefMcps; - - LOG_FUNCTION_START(""); - - /* - * VL53L0X has a good ranging when the value of the - * DeviceRangeStatus = 11. This function will replace the value 0 with - * the value 11 in the DeviceRangeStatus. - * In addition, the SigmaEstimator is not included in the VL53L0X - * DeviceRangeStatus, this will be added in the PalRangeStatus. - */ - - DeviceRangeStatusInternal = ((DeviceRangeStatus & 0x78) >> 3); - - if (DeviceRangeStatusInternal == 0 || - DeviceRangeStatusInternal == 5 || - DeviceRangeStatusInternal == 7 || - DeviceRangeStatusInternal == 12 || - DeviceRangeStatusInternal == 13 || - DeviceRangeStatusInternal == 14 || - DeviceRangeStatusInternal == 15) - { - NoneFlag = 1; - } - else - { - NoneFlag = 0; - } - - /* - * Check if Sigma limit is enabled, if yes then do comparison with limit - * value and put the result back into pPalRangeStatus. - */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_GetLimitCheckEnable(Dev, - VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, - &SigmaLimitCheckEnable); - - if ((SigmaLimitCheckEnable != 0) && (Status == VL53L0X_ERROR_NONE)) - { - /* - * compute the Sigma and check with limit - */ - Status = VL53L0X_calc_sigma_estimate( - Dev, - pRangingMeasurementData, - &SigmaEstimate); - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_calc_dmax( - Dev, - pRangingMeasurementData->AmbientRateRtnMegaCps, - &Dmax_mm); - if (Status == VL53L0X_ERROR_NONE) - pRangingMeasurementData->RangeDMaxMilliMeter = Dmax_mm; - - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_GetLimitCheckValue(Dev, - VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, - &SigmaLimitValue); - - if ((SigmaLimitValue > 0) && - (SigmaEstimate > SigmaLimitValue)) - /* Limit Fail */ - SigmaLimitflag = 1; - } - } - - /* - * Check if Signal ref clip limit is enabled, if yes then do comparison - * with limit value and put the result back into pPalRangeStatus. - */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_GetLimitCheckEnable(Dev, - VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, - &SignalRefClipLimitCheckEnable); - - if ((SignalRefClipLimitCheckEnable != 0) && - (Status == VL53L0X_ERROR_NONE)) - { - - Status = VL53L0X_GetLimitCheckValue(Dev, - VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, - &SignalRefClipValue); - - /* Read LastSignalRefMcps from device */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, 0xFF, 0x01); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_RdWord(Dev, - VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF, - &tmpWord); - - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_WrByte(Dev, 0xFF, 0x00); - - LastSignalRefMcps = VL53L0X_FIXPOINT97TOFIXPOINT1616(tmpWord); - PALDevDataSet(Dev, LastSignalRefMcps, LastSignalRefMcps); - - if ((SignalRefClipValue > 0) && - (LastSignalRefMcps > SignalRefClipValue)) - { - /* Limit Fail */ - SignalRefClipflag = 1; - } - } - - /* - * Check if Signal ref clip limit is enabled, if yes then do comparison - * with limit value and put the result back into pPalRangeStatus. - * EffectiveSpadRtnCount has a format 8.8 - * If (Return signal rate < (1.5 x Xtalk x number of Spads)) : FAIL - */ - if (Status == VL53L0X_ERROR_NONE) - Status = VL53L0X_GetLimitCheckEnable(Dev, - VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, - &RangeIgnoreThresholdLimitCheckEnable); - - if ((RangeIgnoreThresholdLimitCheckEnable != 0) && - (Status == VL53L0X_ERROR_NONE)) - { - - /* Compute the signal rate per spad */ - if (EffectiveSpadRtnCount == 0) - { - SignalRatePerSpad = 0; - } - else - { - SignalRatePerSpad = (FixPoint1616_t)((256 * SignalRate) / EffectiveSpadRtnCount); - } - - Status = VL53L0X_GetLimitCheckValue(Dev, - VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, - &RangeIgnoreThresholdValue); - - if ((RangeIgnoreThresholdValue > 0) && - (SignalRatePerSpad < RangeIgnoreThresholdValue)) - { - /* Limit Fail add 2^6 to range status */ - RangeIgnoreThresholdflag = 1; - } - } - - if (Status == VL53L0X_ERROR_NONE) - { - if (NoneFlag == 1) - { - *pPalRangeStatus = 255; /* NONE */ - } - else if (DeviceRangeStatusInternal == 1 || - DeviceRangeStatusInternal == 2 || - DeviceRangeStatusInternal == 3) - { - *pPalRangeStatus = 5; /* HW fail */ - } - else if (DeviceRangeStatusInternal == 6 || - DeviceRangeStatusInternal == 9) - { - *pPalRangeStatus = 4; /* Phase fail */ - } - else if (DeviceRangeStatusInternal == 8 || - DeviceRangeStatusInternal == 10 || - SignalRefClipflag == 1) - { - *pPalRangeStatus = 3; /* Min range */ - } - else if (DeviceRangeStatusInternal == 4 || - RangeIgnoreThresholdflag == 1) - { - *pPalRangeStatus = 2; /* Signal Fail */ - } - else if (SigmaLimitflag == 1) - { - *pPalRangeStatus = 1; /* Sigma Fail */ - } - else - { - *pPalRangeStatus = 0; /* Range Valid */ - } - } - - /* fill the Limit Check Status */ - - Status = VL53L0X_GetLimitCheckEnable(Dev, - VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, - &SignalRateFinalRangeLimitCheckEnable); - - if (Status == VL53L0X_ERROR_NONE) - { - if ((SigmaLimitCheckEnable == 0) || (SigmaLimitflag == 1)) - Temp8 = 1; - else - Temp8 = 0; - VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, - VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8); - - if ((DeviceRangeStatusInternal == 4) || - (SignalRateFinalRangeLimitCheckEnable == 0)) - Temp8 = 1; - else - Temp8 = 0; - VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, - VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, - Temp8); - - if ((SignalRefClipLimitCheckEnable == 0) || - (SignalRefClipflag == 1)) - Temp8 = 1; - else - Temp8 = 0; - - VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, - VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP, Temp8); - - if ((RangeIgnoreThresholdLimitCheckEnable == 0) || - (RangeIgnoreThresholdflag == 1)) - Temp8 = 1; - else - Temp8 = 0; - - VL53L0X_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, - VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD, - Temp8); - } - - LOG_FUNCTION_END(Status); - return Status; -} diff --git a/app/drivers/vl53l0x/vl53l0x_api_core.h b/app/drivers/vl53l0x/vl53l0x_api_core.h deleted file mode 100644 index 61087df..0000000 --- a/app/drivers/vl53l0x/vl53l0x_api_core.h +++ /dev/null @@ -1,112 +0,0 @@ -/******************************************************************************* - * Copyright � 2016, STMicroelectronics International N.V. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND -NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. -IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*******************************************************************************/ - -#ifndef _VL53L0X_API_CORE_H_ -#define _VL53L0X_API_CORE_H_ - -#include "vl53l0x_def.h" -#include "vl53l0x_platform.h" - -#ifdef __cplusplus -extern "C" -{ -#endif - - VL53L0X_Error VL53L0X_reverse_bytes(uint8_t *data, uint32_t size); - - VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV Dev); - - uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks); - - uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg); - - uint32_t VL53L0X_isqrt(uint32_t num); - - uint32_t VL53L0X_quadrature_sum(uint32_t a, uint32_t b); - - VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV Dev, uint8_t option); - - VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev, - VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK); - - VL53L0X_Error VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV Dev, - VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK); - - uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout); - - VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV Dev, - VL53L0X_SequenceStepId SequenceStepId, - uint32_t *pTimeOutMicroSecs); - - VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV Dev, - VL53L0X_SequenceStepId SequenceStepId, - uint32_t TimeOutMicroSecs); - - VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds( - VL53L0X_DEV Dev, - uint32_t MeasurementTimingBudgetMicroSeconds); - - VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds( - VL53L0X_DEV Dev, - uint32_t *pMeasurementTimingBudgetMicroSeconds); - - VL53L0X_Error VL53L0X_load_tuning_settings(VL53L0X_DEV Dev, - uint8_t *pTuningSettingBuffer); - - VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev, - VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, - FixPoint1616_t *pSigmaEstimate); - - VL53L0X_Error VL53L0X_calc_dmax( - VL53L0X_DEV Dev, FixPoint1616_t ambRateMeas, uint32_t *pdmax_mm); - - VL53L0X_Error VL53L0X_get_total_xtalk_rate(VL53L0X_DEV Dev, - VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, - FixPoint1616_t *ptotal_xtalk_rate_mcps); - - VL53L0X_Error VL53L0X_get_total_signal_rate(VL53L0X_DEV Dev, - VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, - FixPoint1616_t *ptotal_signal_rate_mcps); - - VL53L0X_Error VL53L0X_get_pal_range_status(VL53L0X_DEV Dev, - uint8_t DeviceRangeStatus, - FixPoint1616_t SignalRate, - uint16_t EffectiveSpadRtnCount, - VL53L0X_RangingMeasurementData_t *pRangingMeasurementData, - uint8_t *pPalRangeStatus); - - uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV Dev, - uint32_t timeout_period_us, uint8_t vcsel_period_pclks); - - uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks); - -#ifdef __cplusplus -} -#endif - -#endif /* _VL53L0X_API_CORE_H_ */ diff --git a/app/drivers/vl53l0x/vl53l0x_api_ranging.c b/app/drivers/vl53l0x/vl53l0x_api_ranging.c deleted file mode 100644 index eeea06a..0000000 --- a/app/drivers/vl53l0x/vl53l0x_api_ranging.c +++ /dev/null @@ -1,40 +0,0 @@ -/******************************************************************************* - * Copyright � 2016, STMicroelectronics International N.V. - All rights reserved. - - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND - NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. - IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY - DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - ******************************************************************************/ - -#include "vl53l0x_api.h" -#include "vl53l0x_api_core.h" - -#ifndef __KERNEL__ -#include -#endif -#define LOG_FUNCTION_START(fmt, ...) \ - _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) -#define LOG_FUNCTION_END(status, ...) \ - _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) -#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ - _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) diff --git a/app/drivers/vl53l0x/vl53l0x_api_ranging.h b/app/drivers/vl53l0x/vl53l0x_api_ranging.h deleted file mode 100644 index 4e63935..0000000 --- a/app/drivers/vl53l0x/vl53l0x_api_ranging.h +++ /dev/null @@ -1,44 +0,0 @@ -/******************************************************************************* - * Copyright � 2016, STMicroelectronics International N.V. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND -NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. -IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*******************************************************************************/ - -#ifndef _VL53L0X_API_RANGING_H_ -#define _VL53L0X_API_RANGING_H_ - -#include "vl53l0x_def.h" -#include "vl53l0x_platform.h" - -#ifdef __cplusplus -extern "C" -{ -#endif - -#ifdef __cplusplus -} -#endif - -#endif /* _VL53L0X_API_RANGING_H_ */ diff --git a/app/drivers/vl53l0x/vl53l0x_api_strings.c b/app/drivers/vl53l0x/vl53l0x_api_strings.c deleted file mode 100644 index 6e3fc6d..0000000 --- a/app/drivers/vl53l0x/vl53l0x_api_strings.c +++ /dev/null @@ -1,479 +0,0 @@ -/******************************************************************************* - * Copyright � 2016, STMicroelectronics International N.V. - All rights reserved. - - Redistribution and use in source and binary forms, with or without - modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - - THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND - ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED - WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND - NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. - IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY - DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES - (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND - ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT - (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS - SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - ******************************************************************************/ - -#include "vl53l0x_api.h" -#include "vl53l0x_api_core.h" -#include "vl53l0x_api_strings.h" - -#ifndef __KERNEL__ -#include -#endif - -#define LOG_FUNCTION_START(fmt, ...) \ - _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) -#define LOG_FUNCTION_END(status, ...) \ - _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) -#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ - _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) - -VL53L0X_Error VL53L0X_check_part_used(VL53L0X_DEV Dev, - uint8_t *Revision, - VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t ModuleIdInt; - char *ProductId_tmp; - - LOG_FUNCTION_START(""); - - Status = VL53L0X_get_info_from_device(Dev, 2); - - if (Status == VL53L0X_ERROR_NONE) - { - ModuleIdInt = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, ModuleId); - - if (ModuleIdInt == 0) - { - *Revision = 0; - VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId, ""); - } - else - { - *Revision = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, Revision); - ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, - ProductId); - VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId, - ProductId_tmp); - } - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV Dev, - VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t revision_id; - uint8_t Revision; - - Status = VL53L0X_check_part_used(Dev, &Revision, pVL53L0X_DeviceInfo); - - if (Status == VL53L0X_ERROR_NONE) - { - if (Revision == 0) - { - VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name, - VL53L0X_STRING_DEVICE_INFO_NAME_TS0); - } - else if ((Revision <= 34) && (Revision != 32)) - { - VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name, - VL53L0X_STRING_DEVICE_INFO_NAME_TS1); - } - else if (Revision < 39) - { - VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name, - VL53L0X_STRING_DEVICE_INFO_NAME_TS2); - } - else - { - VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name, - VL53L0X_STRING_DEVICE_INFO_NAME_ES1); - } - - VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Type, - VL53L0X_STRING_DEVICE_INFO_TYPE); - } - - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_RdByte(Dev, - VL53L0X_REG_IDENTIFICATION_MODEL_ID, - &pVL53L0X_DeviceInfo->ProductType); - } - - if (Status == VL53L0X_ERROR_NONE) - { - Status = VL53L0X_RdByte(Dev, - VL53L0X_REG_IDENTIFICATION_REVISION_ID, - &revision_id); - pVL53L0X_DeviceInfo->ProductRevisionMajor = 1; - pVL53L0X_DeviceInfo->ProductRevisionMinor = - (revision_id & 0xF0) >> 4; - } - - return Status; -} - -VL53L0X_Error VL53L0X_get_device_error_string(VL53L0X_DeviceError ErrorCode, - char *pDeviceErrorString) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - switch (ErrorCode) - { - case VL53L0X_DEVICEERROR_NONE: - VL53L0X_COPYSTRING(pDeviceErrorString, - VL53L0X_STRING_DEVICEERROR_NONE); - break; - case VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE: - VL53L0X_COPYSTRING(pDeviceErrorString, - VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE); - break; - case VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE: - VL53L0X_COPYSTRING(pDeviceErrorString, - VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE); - break; - case VL53L0X_DEVICEERROR_NOVHVVALUEFOUND: - VL53L0X_COPYSTRING(pDeviceErrorString, - VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND); - break; - case VL53L0X_DEVICEERROR_MSRCNOTARGET: - VL53L0X_COPYSTRING(pDeviceErrorString, - VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET); - break; - case VL53L0X_DEVICEERROR_SNRCHECK: - VL53L0X_COPYSTRING(pDeviceErrorString, - VL53L0X_STRING_DEVICEERROR_SNRCHECK); - break; - case VL53L0X_DEVICEERROR_RANGEPHASECHECK: - VL53L0X_COPYSTRING(pDeviceErrorString, - VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK); - break; - case VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK: - VL53L0X_COPYSTRING(pDeviceErrorString, - VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK); - break; - case VL53L0X_DEVICEERROR_TCC: - VL53L0X_COPYSTRING(pDeviceErrorString, - VL53L0X_STRING_DEVICEERROR_TCC); - break; - case VL53L0X_DEVICEERROR_PHASECONSISTENCY: - VL53L0X_COPYSTRING(pDeviceErrorString, - VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY); - break; - case VL53L0X_DEVICEERROR_MINCLIP: - VL53L0X_COPYSTRING(pDeviceErrorString, - VL53L0X_STRING_DEVICEERROR_MINCLIP); - break; - case VL53L0X_DEVICEERROR_RANGECOMPLETE: - VL53L0X_COPYSTRING(pDeviceErrorString, - VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE); - break; - case VL53L0X_DEVICEERROR_ALGOUNDERFLOW: - VL53L0X_COPYSTRING(pDeviceErrorString, - VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW); - break; - case VL53L0X_DEVICEERROR_ALGOOVERFLOW: - VL53L0X_COPYSTRING(pDeviceErrorString, - VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW); - break; - case VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD: - VL53L0X_COPYSTRING(pDeviceErrorString, - VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD); - break; - - default: - VL53L0X_COPYSTRING(pDeviceErrorString, - VL53L0X_STRING_UNKNOW_ERROR_CODE); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_get_range_status_string(uint8_t RangeStatus, - char *pRangeStatusString) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - switch (RangeStatus) - { - case 0: - VL53L0X_COPYSTRING(pRangeStatusString, - VL53L0X_STRING_RANGESTATUS_RANGEVALID); - break; - case 1: - VL53L0X_COPYSTRING(pRangeStatusString, - VL53L0X_STRING_RANGESTATUS_SIGMA); - break; - case 2: - VL53L0X_COPYSTRING(pRangeStatusString, - VL53L0X_STRING_RANGESTATUS_SIGNAL); - break; - case 3: - VL53L0X_COPYSTRING(pRangeStatusString, - VL53L0X_STRING_RANGESTATUS_MINRANGE); - break; - case 4: - VL53L0X_COPYSTRING(pRangeStatusString, - VL53L0X_STRING_RANGESTATUS_PHASE); - break; - case 5: - VL53L0X_COPYSTRING(pRangeStatusString, - VL53L0X_STRING_RANGESTATUS_HW); - break; - - default: /**/ - VL53L0X_COPYSTRING(pRangeStatusString, - VL53L0X_STRING_RANGESTATUS_NONE); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_get_pal_error_string(VL53L0X_Error PalErrorCode, - char *pPalErrorString) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - switch (PalErrorCode) - { - case VL53L0X_ERROR_NONE: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_NONE); - break; - case VL53L0X_ERROR_CALIBRATION_WARNING: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_CALIBRATION_WARNING); - break; - case VL53L0X_ERROR_MIN_CLIPPED: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_MIN_CLIPPED); - break; - case VL53L0X_ERROR_UNDEFINED: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_UNDEFINED); - break; - case VL53L0X_ERROR_INVALID_PARAMS: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_INVALID_PARAMS); - break; - case VL53L0X_ERROR_NOT_SUPPORTED: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_NOT_SUPPORTED); - break; - case VL53L0X_ERROR_INTERRUPT_NOT_CLEARED: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED); - break; - case VL53L0X_ERROR_RANGE_ERROR: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_RANGE_ERROR); - break; - case VL53L0X_ERROR_TIME_OUT: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_TIME_OUT); - break; - case VL53L0X_ERROR_MODE_NOT_SUPPORTED: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED); - break; - case VL53L0X_ERROR_BUFFER_TOO_SMALL: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL); - break; - case VL53L0X_ERROR_GPIO_NOT_EXISTING: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING); - break; - case VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED); - break; - case VL53L0X_ERROR_CONTROL_INTERFACE: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_CONTROL_INTERFACE); - break; - case VL53L0X_ERROR_INVALID_COMMAND: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_INVALID_COMMAND); - break; - case VL53L0X_ERROR_DIVISION_BY_ZERO: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_DIVISION_BY_ZERO); - break; - case VL53L0X_ERROR_REF_SPAD_INIT: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_REF_SPAD_INIT); - break; - case VL53L0X_ERROR_NOT_IMPLEMENTED: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_ERROR_NOT_IMPLEMENTED); - break; - - default: - VL53L0X_COPYSTRING(pPalErrorString, - VL53L0X_STRING_UNKNOW_ERROR_CODE); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_get_pal_state_string(VL53L0X_State PalStateCode, - char *pPalStateString) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - switch (PalStateCode) - { - case VL53L0X_STATE_POWERDOWN: - VL53L0X_COPYSTRING(pPalStateString, - VL53L0X_STRING_STATE_POWERDOWN); - break; - case VL53L0X_STATE_WAIT_STATICINIT: - VL53L0X_COPYSTRING(pPalStateString, - VL53L0X_STRING_STATE_WAIT_STATICINIT); - break; - case VL53L0X_STATE_STANDBY: - VL53L0X_COPYSTRING(pPalStateString, - VL53L0X_STRING_STATE_STANDBY); - break; - case VL53L0X_STATE_IDLE: - VL53L0X_COPYSTRING(pPalStateString, - VL53L0X_STRING_STATE_IDLE); - break; - case VL53L0X_STATE_RUNNING: - VL53L0X_COPYSTRING(pPalStateString, - VL53L0X_STRING_STATE_RUNNING); - break; - case VL53L0X_STATE_UNKNOWN: - VL53L0X_COPYSTRING(pPalStateString, - VL53L0X_STRING_STATE_UNKNOWN); - break; - case VL53L0X_STATE_ERROR: - VL53L0X_COPYSTRING(pPalStateString, - VL53L0X_STRING_STATE_ERROR); - break; - - default: - VL53L0X_COPYSTRING(pPalStateString, - VL53L0X_STRING_STATE_UNKNOWN); - } - - LOG_FUNCTION_END(Status); - return Status; -} - -VL53L0X_Error VL53L0X_get_sequence_steps_info( - VL53L0X_SequenceStepId SequenceStepId, - char *pSequenceStepsString) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - switch (SequenceStepId) - { - case VL53L0X_SEQUENCESTEP_TCC: - VL53L0X_COPYSTRING(pSequenceStepsString, - VL53L0X_STRING_SEQUENCESTEP_TCC); - break; - case VL53L0X_SEQUENCESTEP_DSS: - VL53L0X_COPYSTRING(pSequenceStepsString, - VL53L0X_STRING_SEQUENCESTEP_DSS); - break; - case VL53L0X_SEQUENCESTEP_MSRC: - VL53L0X_COPYSTRING(pSequenceStepsString, - VL53L0X_STRING_SEQUENCESTEP_MSRC); - break; - case VL53L0X_SEQUENCESTEP_PRE_RANGE: - VL53L0X_COPYSTRING(pSequenceStepsString, - VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE); - break; - case VL53L0X_SEQUENCESTEP_FINAL_RANGE: - VL53L0X_COPYSTRING(pSequenceStepsString, - VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE); - break; - - default: - Status = VL53L0X_ERROR_INVALID_PARAMS; - } - - LOG_FUNCTION_END(Status); - - return Status; -} - -VL53L0X_Error VL53L0X_get_limit_check_info(VL53L0X_DEV Dev, - uint16_t LimitCheckId, - char *pLimitCheckString) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - LOG_FUNCTION_START(""); - - switch (LimitCheckId) - { - case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE: - VL53L0X_COPYSTRING(pLimitCheckString, - VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE); - break; - case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: - VL53L0X_COPYSTRING(pLimitCheckString, - VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE); - break; - case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP: - VL53L0X_COPYSTRING(pLimitCheckString, - VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP); - break; - case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD: - VL53L0X_COPYSTRING(pLimitCheckString, - VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD); - break; - - case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC: - VL53L0X_COPYSTRING(pLimitCheckString, - VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC); - break; - - case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: - VL53L0X_COPYSTRING(pLimitCheckString, - VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE); - break; - - default: - VL53L0X_COPYSTRING(pLimitCheckString, - VL53L0X_STRING_UNKNOW_ERROR_CODE); - } - - LOG_FUNCTION_END(Status); - return Status; -} diff --git a/app/drivers/vl53l0x/vl53l0x_api_strings.h b/app/drivers/vl53l0x/vl53l0x_api_strings.h deleted file mode 100644 index 5fa9b6c..0000000 --- a/app/drivers/vl53l0x/vl53l0x_api_strings.h +++ /dev/null @@ -1,267 +0,0 @@ -/******************************************************************************* - * Copyright � 2016, STMicroelectronics International N.V. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND -NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. -IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*******************************************************************************/ - -#ifndef VL53L0X_API_STRINGS_H_ -#define VL53L0X_API_STRINGS_H_ - -#include "vl53l0x_def.h" -#include "vl53l0x_platform.h" - -#ifdef __cplusplus -extern "C" -{ -#endif - - VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV Dev, - VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo); - - VL53L0X_Error VL53L0X_get_device_error_string(VL53L0X_DeviceError ErrorCode, - char *pDeviceErrorString); - - VL53L0X_Error VL53L0X_get_range_status_string(uint8_t RangeStatus, - char *pRangeStatusString); - - VL53L0X_Error VL53L0X_get_pal_error_string(VL53L0X_Error PalErrorCode, - char *pPalErrorString); - - VL53L0X_Error VL53L0X_get_pal_state_string(VL53L0X_State PalStateCode, - char *pPalStateString); - - VL53L0X_Error VL53L0X_get_sequence_steps_info( - VL53L0X_SequenceStepId SequenceStepId, - char *pSequenceStepsString); - - VL53L0X_Error VL53L0X_get_limit_check_info(VL53L0X_DEV Dev, - uint16_t LimitCheckId, - char *pLimitCheckString); - -#ifdef USE_EMPTY_STRING -#define VL53L0X_STRING_DEVICE_INFO_NAME "" -#define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 "" -#define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 "" -#define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 "" -#define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 "" -#define VL53L0X_STRING_DEVICE_INFO_TYPE "" - -/* PAL ERROR strings */ -#define VL53L0X_STRING_ERROR_NONE "" -#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING "" -#define VL53L0X_STRING_ERROR_MIN_CLIPPED "" -#define VL53L0X_STRING_ERROR_UNDEFINED "" -#define VL53L0X_STRING_ERROR_INVALID_PARAMS "" -#define VL53L0X_STRING_ERROR_NOT_SUPPORTED "" -#define VL53L0X_STRING_ERROR_RANGE_ERROR "" -#define VL53L0X_STRING_ERROR_TIME_OUT "" -#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED "" -#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL "" -#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING "" -#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED "" -#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE "" -#define VL53L0X_STRING_ERROR_INVALID_COMMAND "" -#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO "" -#define VL53L0X_STRING_ERROR_REF_SPAD_INIT "" -#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED "" - -#define VL53L0X_STRING_UNKNOW_ERROR_CODE "" - -/* Range Status */ -#define VL53L0X_STRING_RANGESTATUS_NONE "" -#define VL53L0X_STRING_RANGESTATUS_RANGEVALID "" -#define VL53L0X_STRING_RANGESTATUS_SIGMA "" -#define VL53L0X_STRING_RANGESTATUS_SIGNAL "" -#define VL53L0X_STRING_RANGESTATUS_MINRANGE "" -#define VL53L0X_STRING_RANGESTATUS_PHASE "" -#define VL53L0X_STRING_RANGESTATUS_HW "" - -/* Range Status */ -#define VL53L0X_STRING_STATE_POWERDOWN "" -#define VL53L0X_STRING_STATE_WAIT_STATICINIT "" -#define VL53L0X_STRING_STATE_STANDBY "" -#define VL53L0X_STRING_STATE_IDLE "" -#define VL53L0X_STRING_STATE_RUNNING "" -#define VL53L0X_STRING_STATE_UNKNOWN "" -#define VL53L0X_STRING_STATE_ERROR "" - -/* Device Specific */ -#define VL53L0X_STRING_DEVICEERROR_NONE "" -#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE "" -#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE "" -#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND "" -#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET "" -#define VL53L0X_STRING_DEVICEERROR_SNRCHECK "" -#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK "" -#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK "" -#define VL53L0X_STRING_DEVICEERROR_TCC "" -#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY "" -#define VL53L0X_STRING_DEVICEERROR_MINCLIP "" -#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE "" -#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW "" -#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW "" -#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD "" -#define VL53L0X_STRING_DEVICEERROR_UNKNOWN "" - -/* Check Enable */ -#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE "" -#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE "" -#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP "" -#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD "" - -/* Sequence Step */ -#define VL53L0X_STRING_SEQUENCESTEP_TCC "" -#define VL53L0X_STRING_SEQUENCESTEP_DSS "" -#define VL53L0X_STRING_SEQUENCESTEP_MSRC "" -#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE "" -#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE "" -#else -#define VL53L0X_STRING_DEVICE_INFO_NAME "VL53L0X cut1.0" -#define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 "VL53L0X TS0" -#define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 "VL53L0X TS1" -#define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 "VL53L0X TS2" -#define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 "VL53L0X ES1 or later" -#define VL53L0X_STRING_DEVICE_INFO_TYPE "VL53L0X" - -/* PAL ERROR strings */ -#define VL53L0X_STRING_ERROR_NONE \ - "No Error" -#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING \ - "Calibration Warning Error" -#define VL53L0X_STRING_ERROR_MIN_CLIPPED \ - "Min clipped error" -#define VL53L0X_STRING_ERROR_UNDEFINED \ - "Undefined error" -#define VL53L0X_STRING_ERROR_INVALID_PARAMS \ - "Invalid parameters error" -#define VL53L0X_STRING_ERROR_NOT_SUPPORTED \ - "Not supported error" -#define VL53L0X_STRING_ERROR_RANGE_ERROR \ - "Range error" -#define VL53L0X_STRING_ERROR_TIME_OUT \ - "Time out error" -#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED \ - "Mode not supported error" -#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL \ - "Buffer too small" -#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING \ - "GPIO not existing" -#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \ - "GPIO funct not supported" -#define VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED \ - "Interrupt not Cleared" -#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE \ - "Control Interface Error" -#define VL53L0X_STRING_ERROR_INVALID_COMMAND \ - "Invalid Command Error" -#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO \ - "Division by zero Error" -#define VL53L0X_STRING_ERROR_REF_SPAD_INIT \ - "Reference Spad Init Error" -#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED \ - "Not implemented error" - -#define VL53L0X_STRING_UNKNOW_ERROR_CODE \ - "Unknown Error Code" - -/* Range Status */ -#define VL53L0X_STRING_RANGESTATUS_NONE "No Update" -#define VL53L0X_STRING_RANGESTATUS_RANGEVALID "Range Valid" -#define VL53L0X_STRING_RANGESTATUS_SIGMA "Sigma Fail" -#define VL53L0X_STRING_RANGESTATUS_SIGNAL "Signal Fail" -#define VL53L0X_STRING_RANGESTATUS_MINRANGE "Min Range Fail" -#define VL53L0X_STRING_RANGESTATUS_PHASE "Phase Fail" -#define VL53L0X_STRING_RANGESTATUS_HW "Hardware Fail" - -/* Range Status */ -#define VL53L0X_STRING_STATE_POWERDOWN "POWERDOWN State" -#define VL53L0X_STRING_STATE_WAIT_STATICINIT \ - "Wait for staticinit State" -#define VL53L0X_STRING_STATE_STANDBY "STANDBY State" -#define VL53L0X_STRING_STATE_IDLE "IDLE State" -#define VL53L0X_STRING_STATE_RUNNING "RUNNING State" -#define VL53L0X_STRING_STATE_UNKNOWN "UNKNOWN State" -#define VL53L0X_STRING_STATE_ERROR "ERROR State" - -/* Device Specific */ -#define VL53L0X_STRING_DEVICEERROR_NONE "No Update" -#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \ - "VCSEL Continuity Test Failure" -#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \ - "VCSEL Watchdog Test Failure" -#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND \ - "No VHV Value found" -#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET \ - "MSRC No Target Error" -#define VL53L0X_STRING_DEVICEERROR_SNRCHECK \ - "SNR Check Exit" -#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK \ - "Range Phase Check Error" -#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK \ - "Sigma Threshold Check Error" -#define VL53L0X_STRING_DEVICEERROR_TCC \ - "TCC Error" -#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY \ - "Phase Consistency Error" -#define VL53L0X_STRING_DEVICEERROR_MINCLIP \ - "Min Clip Error" -#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE \ - "Range Complete" -#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW \ - "Range Algo Underflow Error" -#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW \ - "Range Algo Overlow Error" -#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD \ - "Range Ignore Threshold Error" -#define VL53L0X_STRING_DEVICEERROR_UNKNOWN \ - "Unknown error code" - -/* Check Enable */ -#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE \ - "SIGMA FINAL RANGE" -#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE \ - "SIGNAL RATE FINAL RANGE" -#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP \ - "SIGNAL REF CLIP" -#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD \ - "RANGE IGNORE THRESHOLD" -#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC \ - "SIGNAL RATE MSRC" -#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE \ - "SIGNAL RATE PRE RANGE" - -/* Sequence Step */ -#define VL53L0X_STRING_SEQUENCESTEP_TCC "TCC" -#define VL53L0X_STRING_SEQUENCESTEP_DSS "DSS" -#define VL53L0X_STRING_SEQUENCESTEP_MSRC "MSRC" -#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE "PRE RANGE" -#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE "FINAL RANGE" -#endif /* USE_EMPTY_STRING */ - -#ifdef __cplusplus -} -#endif - -#endif diff --git a/app/drivers/vl53l0x/vl53l0x_def.h b/app/drivers/vl53l0x/vl53l0x_def.h deleted file mode 100644 index 808431e..0000000 --- a/app/drivers/vl53l0x/vl53l0x_def.h +++ /dev/null @@ -1,645 +0,0 @@ -/******************************************************************************* - * Copyright � 2016, STMicroelectronics International N.V. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND -NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. -IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*******************************************************************************/ - -/** - * @file VL53L0X_def.h - * - * @brief Type definitions for VL53L0X API. - * - */ - -#ifndef _VL53L0X_DEF_H_ -#define _VL53L0X_DEF_H_ - -#ifdef __cplusplus -extern "C" -{ -#endif - -/** @defgroup VL53L0X_globaldefine_group VL53L0X Defines - * @brief VL53L0X Defines - * @{ - */ - -/** PAL SPECIFICATION major version */ -#define VL53L0X10_SPECIFICATION_VER_MAJOR 1 -/** PAL SPECIFICATION minor version */ -#define VL53L0X10_SPECIFICATION_VER_MINOR 2 -/** PAL SPECIFICATION sub version */ -#define VL53L0X10_SPECIFICATION_VER_SUB 7 -/** PAL SPECIFICATION sub version */ -#define VL53L0X10_SPECIFICATION_VER_REVISION 1440 - -/** VL53L0X PAL IMPLEMENTATION major version */ -#define VL53L0X10_IMPLEMENTATION_VER_MAJOR 1 -/** VL53L0X PAL IMPLEMENTATION minor version */ -#define VL53L0X10_IMPLEMENTATION_VER_MINOR 0 -/** VL53L0X PAL IMPLEMENTATION sub version */ -#define VL53L0X10_IMPLEMENTATION_VER_SUB 9 -/** VL53L0X PAL IMPLEMENTATION sub version */ -#define VL53L0X10_IMPLEMENTATION_VER_REVISION 3673 - -/** PAL SPECIFICATION major version */ -#define VL53L0X_SPECIFICATION_VER_MAJOR 1 -/** PAL SPECIFICATION minor version */ -#define VL53L0X_SPECIFICATION_VER_MINOR 2 -/** PAL SPECIFICATION sub version */ -#define VL53L0X_SPECIFICATION_VER_SUB 7 -/** PAL SPECIFICATION sub version */ -#define VL53L0X_SPECIFICATION_VER_REVISION 1440 - -/** VL53L0X PAL IMPLEMENTATION major version */ -#define VL53L0X_IMPLEMENTATION_VER_MAJOR 1 -/** VL53L0X PAL IMPLEMENTATION minor version */ -#define VL53L0X_IMPLEMENTATION_VER_MINOR 0 -/** VL53L0X PAL IMPLEMENTATION sub version */ -#define VL53L0X_IMPLEMENTATION_VER_SUB 4 -/** VL53L0X PAL IMPLEMENTATION sub version */ -#define VL53L0X_IMPLEMENTATION_VER_REVISION 4960 -#define VL53L0X_DEFAULT_MAX_LOOP 2000 -#define VL53L0X_MAX_STRING_LENGTH 32 - -#include "vl53l0x_device.h" -#include "vl53l0x_types.h" - - /**************************************** - * PRIVATE define do not edit - ****************************************/ - - /** @brief Defines the parameters of the Get Version Functions - */ - typedef struct - { - uint32_t revision; /*!< revision number */ - uint8_t major; /*!< major number */ - uint8_t minor; /*!< minor number */ - uint8_t build; /*!< build number */ - } VL53L0X_Version_t; - - /** @brief Defines the parameters of the Get Device Info Functions - */ - typedef struct - { - char Name[VL53L0X_MAX_STRING_LENGTH]; - /*!< Name of the Device e.g. Left_Distance */ - char Type[VL53L0X_MAX_STRING_LENGTH]; - /*!< Type of the Device e.g VL53L0X */ - char ProductId[VL53L0X_MAX_STRING_LENGTH]; - /*!< Product Identifier String */ - uint8_t ProductType; - /*!< Product Type, VL53L0X = 1, VL53L1 = 2 */ - uint8_t ProductRevisionMajor; - /*!< Product revision major */ - uint8_t ProductRevisionMinor; - /*!< Product revision minor */ - } VL53L0X_DeviceInfo_t; - - /** @defgroup VL53L0X_define_Error_group Error and Warning code returned by API - * The following DEFINE are used to identify the PAL ERROR - * @{ - */ - - typedef int8_t VL53L0X_Error; - -#define VL53L0X_ERROR_NONE ((VL53L0X_Error)0) -#define VL53L0X_ERROR_CALIBRATION_WARNING ((VL53L0X_Error) - 1) - /*!< Warning invalid calibration data may be in used - * \a VL53L0X_InitData() - * \a VL53L0X_GetOffsetCalibrationData - * \a VL53L0X_SetOffsetCalibrationData - */ -#define VL53L0X_ERROR_MIN_CLIPPED ((VL53L0X_Error) - 2) - /*!< Warning parameter passed was clipped to min before to be applied */ - -#define VL53L0X_ERROR_UNDEFINED ((VL53L0X_Error) - 3) - /*!< Unqualified error */ -#define VL53L0X_ERROR_INVALID_PARAMS ((VL53L0X_Error) - 4) - /*!< Parameter passed is invalid or out of range */ -#define VL53L0X_ERROR_NOT_SUPPORTED ((VL53L0X_Error) - 5) - /*!< Function is not supported in current mode or configuration */ -#define VL53L0X_ERROR_RANGE_ERROR ((VL53L0X_Error) - 6) - /*!< Device report a ranging error interrupt status */ -#define VL53L0X_ERROR_TIME_OUT ((VL53L0X_Error) - 7) - /*!< Aborted due to time out */ -#define VL53L0X_ERROR_MODE_NOT_SUPPORTED ((VL53L0X_Error) - 8) - /*!< Asked mode is not supported by the device */ -#define VL53L0X_ERROR_BUFFER_TOO_SMALL ((VL53L0X_Error) - 9) - /*!< ... */ -#define VL53L0X_ERROR_GPIO_NOT_EXISTING ((VL53L0X_Error) - 10) - /*!< User tried to setup a non-existing GPIO pin */ -#define VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L0X_Error) - 11) - /*!< unsupported GPIO functionality */ -#define VL53L0X_ERROR_INTERRUPT_NOT_CLEARED ((VL53L0X_Error) - 12) - /*!< Error during interrupt clear */ -#define VL53L0X_ERROR_CONTROL_INTERFACE ((VL53L0X_Error) - 20) - /*!< error reported from IO functions */ -#define VL53L0X_ERROR_INVALID_COMMAND ((VL53L0X_Error) - 30) - /*!< The command is not allowed in the current device state - * (power down) - */ -#define VL53L0X_ERROR_DIVISION_BY_ZERO ((VL53L0X_Error) - 40) - /*!< In the function a division by zero occurs */ -#define VL53L0X_ERROR_REF_SPAD_INIT ((VL53L0X_Error) - 50) - /*!< Error during reference SPAD initialization */ -#define VL53L0X_ERROR_NOT_IMPLEMENTED ((VL53L0X_Error) - 99) - /*!< Tells requested functionality has not been implemented yet or - * not compatible with the device - */ - /** @} VL53L0X_define_Error_group */ - - /** @defgroup VL53L0X_define_DeviceModes_group Defines Device modes - * Defines all possible modes for the device - * @{ - */ - typedef uint8_t VL53L0X_DeviceModes; - -#define VL53L0X_DEVICEMODE_SINGLE_RANGING ((VL53L0X_DeviceModes)0) -#define VL53L0X_DEVICEMODE_CONTINUOUS_RANGING ((VL53L0X_DeviceModes)1) -#define VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM ((VL53L0X_DeviceModes)2) -#define VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING ((VL53L0X_DeviceModes)3) -#define VL53L0X_DEVICEMODE_SINGLE_ALS ((VL53L0X_DeviceModes)10) -#define VL53L0X_DEVICEMODE_GPIO_DRIVE ((VL53L0X_DeviceModes)20) -#define VL53L0X_DEVICEMODE_GPIO_OSC ((VL53L0X_DeviceModes)21) - /* ... Modes to be added depending on device */ - /** @} VL53L0X_define_DeviceModes_group */ - - /** @defgroup VL53L0X_define_HistogramModes_group Defines Histogram modes - * Defines all possible Histogram modes for the device - * @{ - */ - typedef uint8_t VL53L0X_HistogramModes; - -#define VL53L0X_HISTOGRAMMODE_DISABLED ((VL53L0X_HistogramModes)0) - /*!< Histogram Disabled */ -#define VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY ((VL53L0X_HistogramModes)1) - /*!< Histogram Reference array only */ -#define VL53L0X_HISTOGRAMMODE_RETURN_ONLY ((VL53L0X_HistogramModes)2) - /*!< Histogram Return array only */ -#define VL53L0X_HISTOGRAMMODE_BOTH ((VL53L0X_HistogramModes)3) - /*!< Histogram both Reference and Return Arrays */ - /* ... Modes to be added depending on device */ - /** @} VL53L0X_define_HistogramModes_group */ - - /** @defgroup VL53L0X_define_PowerModes_group List of available Power Modes - * List of available Power Modes - * @{ - */ - - typedef uint8_t VL53L0X_PowerModes; - -#define VL53L0X_POWERMODE_STANDBY_LEVEL1 ((VL53L0X_PowerModes)0) - /*!< Standby level 1 */ -#define VL53L0X_POWERMODE_STANDBY_LEVEL2 ((VL53L0X_PowerModes)1) - /*!< Standby level 2 */ -#define VL53L0X_POWERMODE_IDLE_LEVEL1 ((VL53L0X_PowerModes)2) - /*!< Idle level 1 */ -#define VL53L0X_POWERMODE_IDLE_LEVEL2 ((VL53L0X_PowerModes)3) - /*!< Idle level 2 */ - - /** @} VL53L0X_define_PowerModes_group */ - -#define VL53L0X_DMAX_LUT_SIZE 7 - /*!< Defines the number of items in the DMAX lookup table */ - - /** @brief Structure defining data pair that makes up the DMAX Lookup table. - */ - typedef struct - { - FixPoint1616_t ambRate_mcps[VL53L0X_DMAX_LUT_SIZE]; - /*!< Ambient rate (mcps) */ - FixPoint1616_t dmax_mm[VL53L0X_DMAX_LUT_SIZE]; - /*!< DMAX Value (mm) */ - } VL53L0X_DMaxLUT_t; - - /** @brief Defines all parameters for the device - */ - typedef struct - { - VL53L0X_DeviceModes DeviceMode; - /*!< Defines type of measurement to be done for the next measure */ - VL53L0X_HistogramModes HistogramMode; - /*!< Defines type of histogram measurement to be done for the next - * measure - */ - uint32_t MeasurementTimingBudgetMicroSeconds; - /*!< Defines the allowed total time for a single measurement */ - uint32_t InterMeasurementPeriodMilliSeconds; - /*!< Defines time between two consecutive measurements (between two - * measurement starts). If set to 0 means back-to-back mode - */ - uint8_t XTalkCompensationEnable; - /*!< Tells if Crosstalk compensation shall be enable or not */ - uint16_t XTalkCompensationRangeMilliMeter; - /*!< CrossTalk compensation range in millimeter */ - FixPoint1616_t XTalkCompensationRateMegaCps; - /*!< CrossTalk compensation rate in Mega counts per seconds. - * Expressed in 16.16 fixed point format. - */ - int32_t RangeOffsetMicroMeters; - /*!< Range offset adjustment (mm). */ - - uint8_t LimitChecksEnable[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS]; - /*!< This Array store all the Limit Check enable for this device. */ - uint8_t LimitChecksStatus[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS]; - /*!< This Array store all the Status of the check linked to last - * measurement. - */ - FixPoint1616_t LimitChecksValue[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS]; - /*!< This Array store all the Limit Check value for this device */ - - VL53L0X_DMaxLUT_t dmax_lut; - /*!< Lookup table defining ambient rates and associated - * dmax values. - */ - - uint8_t WrapAroundCheckEnable; - /*!< Tells if Wrap Around Check shall be enable or not */ - } VL53L0X_DeviceParameters_t; - - /** @defgroup VL53L0X_define_State_group Defines the current status - * of the device - * Defines the current status of the device - * @{ - */ - - typedef uint8_t VL53L0X_State; - -#define VL53L0X_STATE_POWERDOWN ((VL53L0X_State)0) - /*!< Device is in HW reset */ -#define VL53L0X_STATE_WAIT_STATICINIT ((VL53L0X_State)1) - /*!< Device is initialized and wait for static initialization */ -#define VL53L0X_STATE_STANDBY ((VL53L0X_State)2) - /*!< Device is in Low power Standby mode */ -#define VL53L0X_STATE_IDLE ((VL53L0X_State)3) - /*!< Device has been initialized and ready to do measurements */ -#define VL53L0X_STATE_RUNNING ((VL53L0X_State)4) - /*!< Device is performing measurement */ -#define VL53L0X_STATE_UNKNOWN ((VL53L0X_State)98) - /*!< Device is in unknown state and need to be rebooted */ -#define VL53L0X_STATE_ERROR ((VL53L0X_State)99) - /*!< Device is in error state and need to be rebooted */ - - /** @} VL53L0X_define_State_group */ - - /** - * @struct VL53L0X_RangeData_t - * @brief Range measurement data. - */ - typedef struct - { - uint32_t TimeStamp; /*!< 32-bit time stamp. */ - uint32_t MeasurementTimeUsec; - /*!< Give the Measurement time needed by the device to do the - * measurement. - */ - - uint16_t RangeMilliMeter; /*!< range distance in millimeter. */ - - uint16_t RangeDMaxMilliMeter; - /*!< Tells what is the maximum detection distance of the device - * in current setup and environment conditions (Filled when - * applicable) - */ - - FixPoint1616_t SignalRateRtnMegaCps; - /*!< Return signal rate (MCPS)\n these is a 16.16 fix point - * value, which is effectively a measure of target - * reflectance. - */ - FixPoint1616_t AmbientRateRtnMegaCps; - /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point - * value, which is effectively a measure of the ambien - * t light. - */ - - uint16_t EffectiveSpadRtnCount; - /*!< Return the effective SPAD count for the return signal. - * To obtain Real value it should be divided by 256 - */ - - uint8_t ZoneId; - /*!< Denotes which zone and range scheduler stage the range - * data relates to. - */ - uint8_t RangeFractionalPart; - /*!< Fractional part of range distance. Final value is a - * FixPoint168 value. - */ - uint8_t RangeStatus; - /*!< Range Status for the current measurement. This is device - * dependent. Value = 0 means value is valid. - * See \ref RangeStatusPage - */ - } VL53L0X_RangingMeasurementData_t; - -#define VL53L0X_HISTOGRAM_BUFFER_SIZE 24 - - /** - * @struct VL53L0X_HistogramData_t - * @brief Histogram measurement data. - */ - typedef struct - { - /* Histogram Measurement data */ - uint32_t HistogramData[VL53L0X_HISTOGRAM_BUFFER_SIZE]; - /*!< Histogram data */ - /*!< Indicate the types of histogram data : - *Return only, Reference only, both Return and Reference - */ - uint8_t FirstBin; /*!< First Bin value */ - uint8_t BufferSize; /*!< Buffer Size - Set by the user.*/ - uint8_t NumberOfBins; - /*!< Number of bins filled by the histogram measurement */ - - VL53L0X_DeviceError ErrorStatus; - /*!< Error status of the current measurement. \n - * see @a ::VL53L0X_DeviceError @a VL53L0X_GetStatusErrorString() - */ - } VL53L0X_HistogramMeasurementData_t; - -#define VL53L0X_REF_SPAD_BUFFER_SIZE 6 - - /** - * @struct VL53L0X_SpadData_t - * @brief Spad Configuration Data. - */ - typedef struct - { - uint8_t RefSpadEnables[VL53L0X_REF_SPAD_BUFFER_SIZE]; - /*!< Reference Spad Enables */ - uint8_t RefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE]; - /*!< Reference Spad Good Spad Map */ - } VL53L0X_SpadData_t; - - typedef struct - { - FixPoint1616_t OscFrequencyMHz; /* Frequency used */ - - uint16_t LastEncodedTimeout; - /* last encoded Time out used for timing budget*/ - - VL53L0X_GpioFunctionality Pin0GpioFunctionality; - /* store the functionality of the GPIO: pin0 */ - - uint32_t FinalRangeTimeoutMicroSecs; - /*!< Execution time of the final range*/ - uint8_t FinalRangeVcselPulsePeriod; - /*!< Vcsel pulse period (pll clocks) for the final range measurement*/ - uint32_t PreRangeTimeoutMicroSecs; - /*!< Execution time of the final range*/ - uint8_t PreRangeVcselPulsePeriod; - /*!< Vcsel pulse period (pll clocks) for the pre-range measurement*/ - - uint16_t SigmaEstRefArray; - /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */ - uint16_t SigmaEstEffPulseWidth; - /*!< Effective Pulse width for sigma estimate in 1/100th - * of ns e.g. 900 = 9.0ns - */ - uint16_t SigmaEstEffAmbWidth; - /*!< Effective Ambient width for sigma estimate in 1/100th of ns - * e.g. 500 = 5.0ns - */ - - /* Indicate if read from device has been done (==1) or not (==0) */ - uint8_t ReadDataFromDeviceDone; - uint8_t ModuleId; /* Module ID */ - uint8_t Revision; /* test Revision */ - char ProductId[VL53L0X_MAX_STRING_LENGTH]; - /* Product Identifier String */ - uint8_t ReferenceSpadCount; /* used for ref spad management */ - uint8_t ReferenceSpadType; /* used for ref spad management */ - uint8_t RefSpadsInitialised; /* reports if ref spads are initialised. */ - uint32_t PartUIDUpper; /*!< Unique Part ID Upper */ - uint32_t PartUIDLower; /*!< Unique Part ID Lower */ - /*!< Peek Signal rate at 400 mm*/ - FixPoint1616_t SignalRateMeasFixed400mm; - - } VL53L0X_DeviceSpecificParameters_t; - - /** - * @struct VL53L0X_DevData_t - * - * @brief VL53L0X PAL device ST private data structure \n - * End user should never access any of these field directly - * - * These must never access directly but only via macro - */ - typedef struct - { - int32_t Part2PartOffsetNVMMicroMeter; - /*!< backed up NVM value */ - int32_t Part2PartOffsetAdjustmentNVMMicroMeter; - /*!< backed up NVM value representing additional offset adjustment */ - VL53L0X_DeviceParameters_t CurrentParameters; - /*!< Current Device Parameter */ - VL53L0X_RangingMeasurementData_t LastRangeMeasure; - /*!< Ranging Data */ - VL53L0X_HistogramMeasurementData_t LastHistogramMeasure; - /*!< Histogram Data */ - VL53L0X_DeviceSpecificParameters_t DeviceSpecificParameters; - /*!< Parameters specific to the device */ - VL53L0X_SpadData_t SpadData; - /*!< Spad Data */ - uint8_t SequenceConfig; - /*!< Internal value for the sequence config */ - uint8_t RangeFractionalEnable; - /*!< Enable/Disable fractional part of ranging data */ - VL53L0X_State PalState; - /*!< Current state of the PAL for this device */ - VL53L0X_PowerModes PowerMode; - /*!< Current Power Mode */ - uint16_t SigmaEstRefArray; - /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */ - uint16_t SigmaEstEffPulseWidth; - /*!< Effective Pulse width for sigma estimate in 1/100th - * of ns e.g. 900 = 9.0ns - */ - uint16_t SigmaEstEffAmbWidth; - /*!< Effective Ambient width for sigma estimate in 1/100th of ns - * e.g. 500 = 5.0ns - */ - uint8_t StopVariable; - /*!< StopVariable used during the stop sequence */ - uint16_t targetRefRate; - /*!< Target Ambient Rate for Ref spad management */ - FixPoint1616_t SigmaEstimate; - /*!< Sigma Estimate - based on ambient & VCSEL rates and - * signal_total_events - */ - FixPoint1616_t SignalEstimate; - /*!< Signal Estimate - based on ambient & VCSEL rates and cross talk */ - FixPoint1616_t LastSignalRefMcps; - /*!< Latest Signal ref in Mcps */ - uint8_t *pTuningSettingsPointer; - /*!< Pointer for Tuning Settings table */ - uint8_t UseInternalTuningSettings; - /*!< Indicate if we use Tuning Settings table */ - uint16_t LinearityCorrectiveGain; - /*!< Linearity Corrective Gain value in x1000 */ - } VL53L0X_DevData_t; - - /** @defgroup VL53L0X_define_InterruptPolarity_group Defines the Polarity - * of the Interrupt - * Defines the Polarity of the Interrupt - * @{ - */ - typedef uint8_t VL53L0X_InterruptPolarity; - -#define VL53L0X_INTERRUPTPOLARITY_LOW ((VL53L0X_InterruptPolarity)0) -/*!< Set active low polarity best setup for falling edge. */ -#define VL53L0X_INTERRUPTPOLARITY_HIGH ((VL53L0X_InterruptPolarity)1) - /*!< Set active high polarity best setup for rising edge. */ - - /** @} VL53L0X_define_InterruptPolarity_group */ - - /** @defgroup VL53L0X_define_VcselPeriod_group Vcsel Period Defines - * Defines the range measurement for which to access the vcsel period. - * @{ - */ - typedef uint8_t VL53L0X_VcselPeriod; - -#define VL53L0X_VCSEL_PERIOD_PRE_RANGE ((VL53L0X_VcselPeriod)0) -/*!> 9) & 0xFFFF) -#define VL53L0X_FIXPOINT97TOFIXPOINT1616(Value) \ - (FixPoint1616_t)(Value << 9) - -#define VL53L0X_FIXPOINT1616TOFIXPOINT88(Value) \ - (uint16_t)((Value >> 8) & 0xFFFF) -#define VL53L0X_FIXPOINT88TOFIXPOINT1616(Value) \ - (FixPoint1616_t)(Value << 8) - -#define VL53L0X_FIXPOINT1616TOFIXPOINT412(Value) \ - (uint16_t)((Value >> 4) & 0xFFFF) -#define VL53L0X_FIXPOINT412TOFIXPOINT1616(Value) \ - (FixPoint1616_t)(Value << 4) - -#define VL53L0X_FIXPOINT1616TOFIXPOINT313(Value) \ - (uint16_t)((Value >> 3) & 0xFFFF) -#define VL53L0X_FIXPOINT313TOFIXPOINT1616(Value) \ - (FixPoint1616_t)(Value << 3) - -#define VL53L0X_FIXPOINT1616TOFIXPOINT08(Value) \ - (uint8_t)((Value >> 8) & 0x00FF) -#define VL53L0X_FIXPOINT08TOFIXPOINT1616(Value) \ - (FixPoint1616_t)(Value << 8) - -#define VL53L0X_FIXPOINT1616TOFIXPOINT53(Value) \ - (uint8_t)((Value >> 13) & 0x00FF) -#define VL53L0X_FIXPOINT53TOFIXPOINT1616(Value) \ - (FixPoint1616_t)(Value << 13) - -#define VL53L0X_FIXPOINT1616TOFIXPOINT102(Value) \ - (uint16_t)((Value >> 14) & 0x0FFF) -#define VL53L0X_FIXPOINT102TOFIXPOINT1616(Value) \ - (FixPoint1616_t)(Value << 12) - -#define VL53L0X_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb) << 8) + \ - (uint16_t)lsb) - - /** @} VL53L0X_define_GeneralMacro_group */ - - /** @} VL53L0X_globaldefine_group */ - -#ifdef __cplusplus -} -#endif - -#endif /* _VL53L0X_DEF_H_ */ diff --git a/app/drivers/vl53l0x/vl53l0x_device.h b/app/drivers/vl53l0x/vl53l0x_device.h deleted file mode 100644 index 2a32b9a..0000000 --- a/app/drivers/vl53l0x/vl53l0x_device.h +++ /dev/null @@ -1,247 +0,0 @@ -/******************************************************************************* - * Copyright � 2016, STMicroelectronics International N.V. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND -NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. -IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*******************************************************************************/ - -/** - * Device specific defines. To be adapted by implementer for the targeted - * device. - */ - -#ifndef _VL53L0X_DEVICE_H_ -#define _VL53L0X_DEVICE_H_ - -#include "vl53l0x_types.h" - -/** @defgroup VL53L0X_DevSpecDefines_group VL53L0X cut1.1 Device - * Specific Defines - * @brief VL53L0X cut1.1 Device Specific Defines - * @{ - */ - -/** @defgroup VL53L0X_DeviceError_group Device Error - * @brief Device Error code - * - * This enum is Device specific it should be updated in the implementation - * Use @a VL53L0X_GetStatusErrorString() to get the string. - * It is related to Status Register of the Device. - * @{ - */ -typedef uint8_t VL53L0X_DeviceError; - -#define VL53L0X_DEVICEERROR_NONE ((VL53L0X_DeviceError)0) -/*!< 0 NoError */ -#define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((VL53L0X_DeviceError)1) -#define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((VL53L0X_DeviceError)2) -#define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND ((VL53L0X_DeviceError)3) -#define VL53L0X_DEVICEERROR_MSRCNOTARGET ((VL53L0X_DeviceError)4) -#define VL53L0X_DEVICEERROR_SNRCHECK ((VL53L0X_DeviceError)5) -#define VL53L0X_DEVICEERROR_RANGEPHASECHECK ((VL53L0X_DeviceError)6) -#define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK ((VL53L0X_DeviceError)7) -#define VL53L0X_DEVICEERROR_TCC ((VL53L0X_DeviceError)8) -#define VL53L0X_DEVICEERROR_PHASECONSISTENCY ((VL53L0X_DeviceError)9) -#define VL53L0X_DEVICEERROR_MINCLIP ((VL53L0X_DeviceError)10) -#define VL53L0X_DEVICEERROR_RANGECOMPLETE ((VL53L0X_DeviceError)11) -#define VL53L0X_DEVICEERROR_ALGOUNDERFLOW ((VL53L0X_DeviceError)12) -#define VL53L0X_DEVICEERROR_ALGOOVERFLOW ((VL53L0X_DeviceError)13) -#define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD ((VL53L0X_DeviceError)14) - -/** @} end of VL53L0X_DeviceError_group */ - -/** @defgroup VL53L0X_CheckEnable_group Check Enable list - * @brief Check Enable code - * - * Define used to specify the LimitCheckId. - * Use @a VL53L0X_GetLimitCheckInfo() to get the string. - * @{ - */ - -#define VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE 0 -#define VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1 -#define VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP 2 -#define VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD 3 -#define VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC 4 -#define VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE 5 - -#define VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS 6 - -/** @} end of VL53L0X_CheckEnable_group */ - -/** @defgroup VL53L0X_GpioFunctionality_group Gpio Functionality - * @brief Defines the different functionalities for the device GPIO(s) - * @{ - */ -typedef uint8_t VL53L0X_GpioFunctionality; - -#define VL53L0X_GPIOFUNCTIONALITY_OFF \ - ((VL53L0X_GpioFunctionality)0) /*!< NO Interrupt */ -#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW \ - ((VL53L0X_GpioFunctionality)1) /*!< Level Low (value < thresh_low) */ -#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH \ - ((VL53L0X_GpioFunctionality)2) /*!< Level High (value>thresh_high) */ -#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT \ - ((VL53L0X_GpioFunctionality)3) -/*!< Out Of Window (value < thresh_low OR value > thresh_high) */ -#define VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY \ - ((VL53L0X_GpioFunctionality)4) /*!< New Sample Ready */ - -/** @} end of VL53L0X_GpioFunctionality_group */ - -/* Device register map */ - -/** @defgroup VL53L0X_DefineRegisters_group Define Registers - * @brief List of all the defined registers - * @{ - */ -#define VL53L0X_REG_SYSRANGE_START 0x000 -/** mask existing bit in #VL53L0X_REG_SYSRANGE_START*/ -#define VL53L0X_REG_SYSRANGE_MODE_MASK 0x0F -/** bit 0 in #VL53L0X_REG_SYSRANGE_START write 1 toggle state in - * continuous mode and arm next shot in single shot mode - */ -#define VL53L0X_REG_SYSRANGE_MODE_START_STOP 0x01 -/** bit 1 write 0 in #VL53L0X_REG_SYSRANGE_START set single shot mode */ -#define VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT 0x00 -/** bit 1 write 1 in #VL53L0X_REG_SYSRANGE_START set back-to-back - * operation mode - */ -#define VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK 0x02 -/** bit 2 write 1 in #VL53L0X_REG_SYSRANGE_START set timed operation - * mode - */ -#define VL53L0X_REG_SYSRANGE_MODE_TIMED 0x04 -/** bit 3 write 1 in #VL53L0X_REG_SYSRANGE_START set histogram operation - * mode - */ -#define VL53L0X_REG_SYSRANGE_MODE_HISTOGRAM 0x08 - -#define VL53L0X_REG_SYSTEM_THRESH_HIGH 0x000C -#define VL53L0X_REG_SYSTEM_THRESH_LOW 0x000E - -#define VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG 0x0001 -#define VL53L0X_REG_SYSTEM_RANGE_CONFIG 0x0009 -#define VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD 0x0004 - -#define VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x000A -#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED 0x00 -#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW 0x01 -#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH 0x02 -#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW 0x03 -#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY 0x04 - -#define VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x0084 - -#define VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR 0x000B - -/* Result registers */ -#define VL53L0X_REG_RESULT_INTERRUPT_STATUS 0x0013 -#define VL53L0X_REG_RESULT_RANGE_STATUS 0x0014 - -#define VL53L0X_REG_RESULT_CORE_PAGE 1 -#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0x00BC -#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0x00C0 -#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0x00D0 -#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0x00D4 -#define VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF 0x00B6 - -/* Algo register */ - -#define VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x0028 - -#define VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS 0x008a - -/* Check Limit registers */ -#define VL53L0X_REG_MSRC_CONFIG_CONTROL 0x0060 - -#define VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR 0X0027 -#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x0056 -#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x0057 -#define VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x0064 - -#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR 0X0067 -#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x0047 -#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x0048 -#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x0044 - -#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0X0061 -#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0X0062 - -/* PRE RANGE registers */ -#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x0050 -#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0051 -#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0052 - -#define VL53L0X_REG_SYSTEM_HISTOGRAM_BIN 0x0081 -#define VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x0033 -#define VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x0055 - -#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x0070 -#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0071 -#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0072 -#define VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x0020 - -#define VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP 0x0046 - -#define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N 0x00bf -#define VL53L0X_REG_IDENTIFICATION_MODEL_ID 0x00c0 -#define VL53L0X_REG_IDENTIFICATION_REVISION_ID 0x00c2 - -#define VL53L0X_REG_OSC_CALIBRATE_VAL 0x00f8 - -#define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE 65535 -/* equivalent to a range sigma of 655.35mm */ - -#define VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x032 -#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0x0B0 -#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0x0B1 -#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0x0B2 -#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0x0B3 -#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0x0B4 -#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0x0B5 - -#define VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6 -#define VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E /* 0x14E */ -#define VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F /* 0x14F */ -#define VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80 - -/* - * Speed of light in um per 1E-10 Seconds - */ - -#define VL53L0X_SPEED_OF_LIGHT_IN_AIR 2997 - -#define VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x0089 - -#define VL53L0X_REG_ALGO_PHASECAL_LIM 0x0030 /* 0x130 */ -#define VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x0030 - -/** @} VL53L0X_DefineRegisters_group */ - -/** @} VL53L0X_DevSpecDefines_group */ - -#endif - -/* _VL53L0X_DEVICE_H_ */ diff --git a/app/drivers/vl53l0x/vl53l0x_interrupt_threshold_settings.h b/app/drivers/vl53l0x/vl53l0x_interrupt_threshold_settings.h deleted file mode 100644 index 28904e2..0000000 --- a/app/drivers/vl53l0x/vl53l0x_interrupt_threshold_settings.h +++ /dev/null @@ -1,191 +0,0 @@ -/******************************************************************************* - * Copyright � 2016, STMicroelectronics International N.V. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND -NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. -IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*******************************************************************************/ - -#ifndef _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_ -#define _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_ - -#ifdef __cplusplus -extern "C" -{ -#endif - - uint8_t InterruptThresholdSettings[] = { - - /* Start of Interrupt Threshold Settings */ - 0x1, 0xff, 0x00, - 0x1, 0x80, 0x01, - 0x1, 0xff, 0x01, - 0x1, 0x00, 0x00, - 0x1, 0xff, 0x01, - 0x1, 0x4f, 0x02, - 0x1, 0xFF, 0x0E, - 0x1, 0x00, 0x03, - 0x1, 0x01, 0x84, - 0x1, 0x02, 0x0A, - 0x1, 0x03, 0x03, - 0x1, 0x04, 0x08, - 0x1, 0x05, 0xC8, - 0x1, 0x06, 0x03, - 0x1, 0x07, 0x8D, - 0x1, 0x08, 0x08, - 0x1, 0x09, 0xC6, - 0x1, 0x0A, 0x01, - 0x1, 0x0B, 0x02, - 0x1, 0x0C, 0x00, - 0x1, 0x0D, 0xD5, - 0x1, 0x0E, 0x18, - 0x1, 0x0F, 0x12, - 0x1, 0x10, 0x01, - 0x1, 0x11, 0x82, - 0x1, 0x12, 0x00, - 0x1, 0x13, 0xD5, - 0x1, 0x14, 0x18, - 0x1, 0x15, 0x13, - 0x1, 0x16, 0x03, - 0x1, 0x17, 0x86, - 0x1, 0x18, 0x0A, - 0x1, 0x19, 0x09, - 0x1, 0x1A, 0x08, - 0x1, 0x1B, 0xC2, - 0x1, 0x1C, 0x03, - 0x1, 0x1D, 0x8F, - 0x1, 0x1E, 0x0A, - 0x1, 0x1F, 0x06, - 0x1, 0x20, 0x01, - 0x1, 0x21, 0x02, - 0x1, 0x22, 0x00, - 0x1, 0x23, 0xD5, - 0x1, 0x24, 0x18, - 0x1, 0x25, 0x22, - 0x1, 0x26, 0x01, - 0x1, 0x27, 0x82, - 0x1, 0x28, 0x00, - 0x1, 0x29, 0xD5, - 0x1, 0x2A, 0x18, - 0x1, 0x2B, 0x0B, - 0x1, 0x2C, 0x28, - 0x1, 0x2D, 0x78, - 0x1, 0x2E, 0x28, - 0x1, 0x2F, 0x91, - 0x1, 0x30, 0x00, - 0x1, 0x31, 0x0B, - 0x1, 0x32, 0x00, - 0x1, 0x33, 0x0B, - 0x1, 0x34, 0x00, - 0x1, 0x35, 0xA1, - 0x1, 0x36, 0x00, - 0x1, 0x37, 0xA0, - 0x1, 0x38, 0x00, - 0x1, 0x39, 0x04, - 0x1, 0x3A, 0x28, - 0x1, 0x3B, 0x30, - 0x1, 0x3C, 0x0C, - 0x1, 0x3D, 0x04, - 0x1, 0x3E, 0x0F, - 0x1, 0x3F, 0x79, - 0x1, 0x40, 0x28, - 0x1, 0x41, 0x1E, - 0x1, 0x42, 0x2F, - 0x1, 0x43, 0x87, - 0x1, 0x44, 0x00, - 0x1, 0x45, 0x0B, - 0x1, 0x46, 0x00, - 0x1, 0x47, 0x0B, - 0x1, 0x48, 0x00, - 0x1, 0x49, 0xA7, - 0x1, 0x4A, 0x00, - 0x1, 0x4B, 0xA6, - 0x1, 0x4C, 0x00, - 0x1, 0x4D, 0x04, - 0x1, 0x4E, 0x01, - 0x1, 0x4F, 0x00, - 0x1, 0x50, 0x00, - 0x1, 0x51, 0x80, - 0x1, 0x52, 0x09, - 0x1, 0x53, 0x08, - 0x1, 0x54, 0x01, - 0x1, 0x55, 0x00, - 0x1, 0x56, 0x0F, - 0x1, 0x57, 0x79, - 0x1, 0x58, 0x09, - 0x1, 0x59, 0x05, - 0x1, 0x5A, 0x00, - 0x1, 0x5B, 0x60, - 0x1, 0x5C, 0x05, - 0x1, 0x5D, 0xD1, - 0x1, 0x5E, 0x0C, - 0x1, 0x5F, 0x3C, - 0x1, 0x60, 0x00, - 0x1, 0x61, 0xD0, - 0x1, 0x62, 0x0B, - 0x1, 0x63, 0x03, - 0x1, 0x64, 0x28, - 0x1, 0x65, 0x10, - 0x1, 0x66, 0x2A, - 0x1, 0x67, 0x39, - 0x1, 0x68, 0x0B, - 0x1, 0x69, 0x02, - 0x1, 0x6A, 0x28, - 0x1, 0x6B, 0x10, - 0x1, 0x6C, 0x2A, - 0x1, 0x6D, 0x61, - 0x1, 0x6E, 0x0C, - 0x1, 0x6F, 0x00, - 0x1, 0x70, 0x0F, - 0x1, 0x71, 0x79, - 0x1, 0x72, 0x00, - 0x1, 0x73, 0x0B, - 0x1, 0x74, 0x00, - 0x1, 0x75, 0x0B, - 0x1, 0x76, 0x00, - 0x1, 0x77, 0xA1, - 0x1, 0x78, 0x00, - 0x1, 0x79, 0xA0, - 0x1, 0x7A, 0x00, - 0x1, 0x7B, 0x04, - 0x1, 0xFF, 0x04, - 0x1, 0x79, 0x1D, - 0x1, 0x7B, 0x27, - 0x1, 0x96, 0x0E, - 0x1, 0x97, 0xFE, - 0x1, 0x98, 0x03, - 0x1, 0x99, 0xEF, - 0x1, 0x9A, 0x02, - 0x1, 0x9B, 0x44, - 0x1, 0x73, 0x07, - 0x1, 0x70, 0x01, - 0x1, 0xff, 0x01, - 0x1, 0x00, 0x01, - 0x1, 0xff, 0x00, - 0x00, 0x00, 0x00}; - -#ifdef __cplusplus -} -#endif - -#endif /* _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_ */ diff --git a/app/drivers/vl53l0x/vl53l0x_platform.c b/app/drivers/vl53l0x/vl53l0x_platform.c deleted file mode 100644 index cb0497d..0000000 --- a/app/drivers/vl53l0x/vl53l0x_platform.c +++ /dev/null @@ -1,191 +0,0 @@ -/******************************************************************************* -Copyright � 2015, STMicroelectronics International N.V. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND -NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. -IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -********************************************************************************/ - -/** - * @file VL53L0X_i2c.c - * - * Copyright (C) 2014 ST MicroElectronics - * - * provide variable word size byte/Word/dword VL6180x register access via i2c - * - */ -#include "main.h" -#include "vl53l0x_platform.h" -#include "vl53l0x_api.h" -#include "ranging.h" - -/** Maximum buffer size to be used in i2c */ -#define VL53L0X_MAX_I2C_XFER_SIZE 64 - -VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - return Status; -} - -VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - - return Status; -} - -VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count) -{ - if (count >= VL53L0X_MAX_I2C_XFER_SIZE) - return VL53L0X_ERROR_INVALID_PARAMS; - - if (HAL_I2C_Mem_Write(&hi2c1, Dev->I2cDevAddr, index, 1, pdata, count, 100) != HAL_OK) - return VL53L0X_ERROR_CONTROL_INTERFACE; - - return VL53L0X_ERROR_NONE; -} - -VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count) -{ - if (count >= VL53L0X_MAX_I2C_XFER_SIZE) - return VL53L0X_ERROR_INVALID_PARAMS; - - if (HAL_I2C_Mem_Read(&hi2c1, Dev->I2cDevAddr, index, 1, pdata, count, 100) != HAL_OK) - return VL53L0X_ERROR_CONTROL_INTERFACE; - - return VL53L0X_ERROR_NONE; -} -VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t deviceAddress = Dev->I2cDevAddr; - - if (HAL_I2C_Mem_Write(&hi2c1, deviceAddress, index, 1, &data, 1, 100) != HAL_OK) - { - Status = VL53L0X_ERROR_CONTROL_INTERFACE; - } - - return Status; -} - -VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t deviceAddress = Dev->I2cDevAddr; - uint8_t buf[2]; - - // Sensor expects big-endian - buf[0] = (data >> 8) & 0xFF; - buf[1] = data & 0xFF; - - if (HAL_I2C_Mem_Write(&hi2c1, deviceAddress, index, 1, buf, 2, 100) != HAL_OK) - { - Status = VL53L0X_ERROR_CONTROL_INTERFACE; - } - - return Status; -} - -VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t deviceAddress = Dev->I2cDevAddr; - uint8_t buf[4]; - - buf[0] = (data >> 24) & 0xFF; - buf[1] = (data >> 16) & 0xFF; - buf[2] = (data >> 8) & 0xFF; - buf[3] = data & 0xFF; - - if (HAL_I2C_Mem_Write(&hi2c1, deviceAddress, index, 1, buf, 4, 100) != HAL_OK) - { - Status = VL53L0X_ERROR_CONTROL_INTERFACE; - } - - return Status; -} - -VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t deviceAddress = Dev->I2cDevAddr; - uint8_t data; - - if (HAL_I2C_Mem_Read(&hi2c1, deviceAddress, index, 1, &data, 1, 100) != HAL_OK) - return VL53L0X_ERROR_CONTROL_INTERFACE; - - data = (data & AndData) | OrData; - - if (HAL_I2C_Mem_Write(&hi2c1, deviceAddress, index, 1, &data, 1, 100) != HAL_OK) - return VL53L0X_ERROR_CONTROL_INTERFACE; - - return Status; -} - -VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t deviceAddress = Dev->I2cDevAddr; - - if (HAL_I2C_Mem_Read(&hi2c1, deviceAddress, index, 1, data, 1, 100) != HAL_OK) - Status = VL53L0X_ERROR_CONTROL_INTERFACE; - - return Status; -} - -VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t deviceAddress = Dev->I2cDevAddr; - uint8_t buf[2]; - - if (HAL_I2C_Mem_Read(&hi2c1, deviceAddress, index, 1, buf, 2, 100) != HAL_OK) - Status = VL53L0X_ERROR_CONTROL_INTERFACE; - else - *data = ((uint16_t)buf[0] << 8) | buf[1]; - - return Status; -} - -VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data) -{ - VL53L0X_Error Status = VL53L0X_ERROR_NONE; - uint8_t deviceAddress = Dev->I2cDevAddr; - uint8_t buf[4]; - - if (HAL_I2C_Mem_Read(&hi2c1, deviceAddress, index, 1, buf, 4, 100) != HAL_OK) - Status = VL53L0X_ERROR_CONTROL_INTERFACE; - else - *data = ((uint32_t)buf[0] << 24) | ((uint32_t)buf[1] << 16) | - ((uint32_t)buf[2] << 8) | buf[3]; - - return Status; -} - -VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev) -{ - HAL_Delay(1); - return VL53L0X_ERROR_NONE; -} diff --git a/app/drivers/vl53l0x/vl53l0x_platform.h b/app/drivers/vl53l0x/vl53l0x_platform.h deleted file mode 100644 index 4a87ca3..0000000 --- a/app/drivers/vl53l0x/vl53l0x_platform.h +++ /dev/null @@ -1,228 +0,0 @@ -/******************************************************************************* -Copyright � 2015, STMicroelectronics International N.V. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND -NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. -IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -********************************************************************************/ - -#ifndef _VL53L0X_PLATFORM_H_ -#define _VL53L0X_PLATFORM_H_ - -#include "vl53l0x_def.h" -#include "vl53l0x_platform_log.h" - -/** - * @file vl53l0x_platform.h - * - * @brief All end user OS/platform/application porting - */ - -/** - * @defgroup VL53L0X_platform_group VL53L0X Platform Functions - * @brief VL53L0X Platform Functions - * @{ - */ - -/** - * @struct VL53L0X_Dev_t - * @brief Generic PAL device type that does link between API and platform abstraction layer - * - */ -typedef struct -{ - VL53L0X_DevData_t Data; /*!< embed ST Ewok Dev data as "Data"*/ - - /*!< user specific field */ - uint8_t I2cDevAddr; /*!< i2c device address user specific field */ - uint8_t comms_type; /*!< Type of comms : VL53L0X_COMMS_I2C or VL53L0X_COMMS_SPI */ - uint16_t comms_speed_khz; /*!< Comms speed [kHz] : typically 400kHz for I2C */ - -} VL53L0X_Dev_t; - -/** - * @brief Declare the device Handle as a pointer of the structure @a VL53L0X_Dev_t. - * - */ -typedef VL53L0X_Dev_t *VL53L0X_DEV; -extern VL53L0X_DEV Dev; -/** - * @def PALDevDataGet - * @brief Get ST private structure @a VL53L0X_DevData_t data access - * - * @param Dev Device Handle - * @param field ST structure field name - * It maybe used and as real data "ref" not just as "get" for sub-structure item - * like PALDevDataGet(FilterData.field)[i] or PALDevDataGet(FilterData.MeasurementIndex)++ - */ -#define PALDevDataGet(Dev, field) (Dev->Data.field) - -/** - * @def PALDevDataSet(Dev, field, data) - * @brief Set ST private structure @a VL53L0X_DevData_t data field - * @param Dev Device Handle - * @param field ST structure field name - * @param data Data to be set - */ -#define PALDevDataSet(Dev, field, data) (Dev->Data.field) = (data) - -/** - * @defgroup VL53L0X_registerAccess_group PAL Register Access Functions - * @brief PAL Register Access Functions - * @{ - */ - -// TODO: document -void vl53l0x_init(void); - -/** - * Lock comms interface to serialize all commands to a shared I2C interface for a specific device - * @param Dev Device Handle - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ -VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev); - -/** - * Unlock comms interface to serialize all commands to a shared I2C interface for a specific device - * @param Dev Device Handle - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ -VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev); - -/** - * Writes the supplied byte buffer to the device - * @param Dev Device Handle - * @param index The register index - * @param pdata Pointer to uint8_t buffer containing the data to be written - * @param count Number of bytes in the supplied byte buffer - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ -VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count); - -/** - * Reads the requested number of bytes from the device - * @param Dev Device Handle - * @param index The register index - * @param pdata Pointer to the uint8_t buffer to store read data - * @param count Number of uint8_t's to read - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ -VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count); - -/** - * Write single byte register - * @param Dev Device Handle - * @param index The register index - * @param data 8 bit register data - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ -VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data); - -/** - * Write word register - * @param Dev Device Handle - * @param index The register index - * @param data 16 bit register data - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ -VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data); - -/** - * Write double word (4 byte) register - * @param Dev Device Handle - * @param index The register index - * @param data 32 bit register data - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ -VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data); - -/** - * Read single byte register - * @param Dev Device Handle - * @param index The register index - * @param data pointer to 8 bit data - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ -VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data); - -/** - * Read word (2byte) register - * @param Dev Device Handle - * @param index The register index - * @param data pointer to 16 bit data - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ -VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data); - -/** - * Read dword (4byte) register - * @param Dev Device Handle - * @param index The register index - * @param data pointer to 32 bit data - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ -VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data); - -/** - * Threat safe Update (read/modify/write) single byte register - * - * Final_reg = (Initial_reg & and_data) |or_data - * - * @param Dev Device Handle - * @param index The register index - * @param AndData 8 bit and data - * @param OrData 8 bit or data - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ -VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData); - -/** @} end of VL53L0X_registerAccess_group */ - -/** - * @brief execute delay in all polling API call - * - * A typical multi-thread or RTOs implementation is to sleep the task for some 5ms (with 100Hz max rate faster polling is not needed) - * if nothing specific is need you can define it as an empty/void macro - * @code - * #define VL53L0X_PollingDelay(...) (void)0 - * @endcode - * @param Dev Device Handle - * @return VL53L0X_ERROR_NONE Success - * @return "Other error code" See ::VL53L0X_Error - */ -VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev); /* usually best implemented as a real function */ - -/** @} end of VL53L0X_platform_group */ - -#endif /* _VL53L0X_PLATFORM_H_ */ diff --git a/app/drivers/vl53l0x/vl53l0x_platform_log.h b/app/drivers/vl53l0x/vl53l0x_platform_log.h deleted file mode 100644 index 576cd9e..0000000 --- a/app/drivers/vl53l0x/vl53l0x_platform_log.h +++ /dev/null @@ -1,114 +0,0 @@ -/******************************************************************************* -Copyright � 2015, STMicroelectronics International N.V. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND -NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. -IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -********************************************************************************/ - -#ifndef _VL53L0X_PLATFORM_LOG_H_ -#define _VL53L0X_PLATFORM_LOG_H_ - -#include -#include -/* LOG Functions */ - -#ifdef __cplusplus -extern "C" -{ -#endif - - /** - * @file vl53l0x_platform_log.h - * - * @brief platform log function definition - */ - - // #define VL53L0X_LOG_ENABLE 0 - - enum - { - TRACE_LEVEL_NONE, - TRACE_LEVEL_ERRORS, - TRACE_LEVEL_WARNING, - TRACE_LEVEL_INFO, - TRACE_LEVEL_DEBUG, - TRACE_LEVEL_ALL, - TRACE_LEVEL_IGNORE - }; - - enum - { - TRACE_FUNCTION_NONE = 0, - TRACE_FUNCTION_I2C = 1, - TRACE_FUNCTION_ALL = 0x7fffffff // all bits except sign - }; - - enum - { - TRACE_MODULE_NONE = 0x0, - TRACE_MODULE_API = 0x1, - TRACE_MODULE_PLATFORM = 0x2, - TRACE_MODULE_ALL = 0x7fffffff // all bits except sign - }; - -#ifdef VL53L0X_LOG_ENABLE - -#include - - extern uint32_t _trace_level; - - int32_t VL53L0X_trace_config(char *filename, uint32_t modules, uint32_t level, uint32_t functions); - - void trace_print_module_function(uint32_t module, uint32_t level, uint32_t function, const char *format, ...); - - // extern FILE * log_file; - -#define LOG_GET_TIME() (int)clock() - -#define _LOG_FUNCTION_START(module, fmt, ...) \ - trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld %s " fmt "\n", LOG_GET_TIME(), __FUNCTION__, ##__VA_ARGS__); - -#define _LOG_FUNCTION_END(module, status, ...) \ - trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld %s %d\n", LOG_GET_TIME(), __FUNCTION__, (int)status, ##__VA_ARGS__) - -#define _LOG_FUNCTION_END_FMT(module, status, fmt, ...) \ - trace_print_module_function(module, _trace_level, TRACE_FUNCTION_ALL, "%ld %s %d " fmt "\n", LOG_GET_TIME(), __FUNCTION__, (int)status, ##__VA_ARGS__) - - // __func__ is gcc only - // #define VL53L0X_ErrLog( fmt, ...) fprintf(stderr, "VL53L0X_ErrLog %s" fmt "\n", __func__, ##__VA_ARGS__) - -#else /* VL53L0X_LOG_ENABLE no logging */ -#define VL53L0X_ErrLog(...) (void)0 -#define _LOG_FUNCTION_START(module, fmt, ...) (void)0 -#define _LOG_FUNCTION_END(module, status, ...) (void)0 -#define _LOG_FUNCTION_END_FMT(module, status, fmt, ...) (void)0 -#endif /* else */ - -#define VL53L0X_COPYSTRING(str, ...) strcpy(str, ##__VA_ARGS__) - -#ifdef __cplusplus -} -#endif - -#endif /* _VL53L0X_PLATFORM_LOG_H_ */ diff --git a/app/drivers/vl53l0x/vl53l0x_tuning.h b/app/drivers/vl53l0x/vl53l0x_tuning.h deleted file mode 100644 index 471a20f..0000000 --- a/app/drivers/vl53l0x/vl53l0x_tuning.h +++ /dev/null @@ -1,142 +0,0 @@ -/******************************************************************************* - * Copyright � 2016, STMicroelectronics International N.V. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND -NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. -IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -*******************************************************************************/ - -#ifndef _VL53L0X_TUNING_H_ -#define _VL53L0X_TUNING_H_ - -#include "vl53l0x_def.h" - -#ifdef __cplusplus -extern "C" -{ -#endif - - uint8_t DefaultTuningSettings[] = { - - /* update 02/11/2015_v36 */ - 0x01, 0xFF, 0x01, - 0x01, 0x00, 0x00, - - 0x01, 0xFF, 0x00, - 0x01, 0x09, 0x00, - 0x01, 0x10, 0x00, - 0x01, 0x11, 0x00, - - 0x01, 0x24, 0x01, - 0x01, 0x25, 0xff, - 0x01, 0x75, 0x00, - - 0x01, 0xFF, 0x01, - 0x01, 0x4e, 0x2c, - 0x01, 0x48, 0x00, - 0x01, 0x30, 0x20, - - 0x01, 0xFF, 0x00, - 0x01, 0x30, 0x09, /* mja changed from 0x64. */ - 0x01, 0x54, 0x00, - 0x01, 0x31, 0x04, - 0x01, 0x32, 0x03, - 0x01, 0x40, 0x83, - 0x01, 0x46, 0x25, - 0x01, 0x60, 0x00, - 0x01, 0x27, 0x00, - 0x01, 0x50, 0x06, - 0x01, 0x51, 0x00, - 0x01, 0x52, 0x96, - 0x01, 0x56, 0x08, - 0x01, 0x57, 0x30, - 0x01, 0x61, 0x00, - 0x01, 0x62, 0x00, - 0x01, 0x64, 0x00, - 0x01, 0x65, 0x00, - 0x01, 0x66, 0xa0, - - 0x01, 0xFF, 0x01, - 0x01, 0x22, 0x32, - 0x01, 0x47, 0x14, - 0x01, 0x49, 0xff, - 0x01, 0x4a, 0x00, - - 0x01, 0xFF, 0x00, - 0x01, 0x7a, 0x0a, - 0x01, 0x7b, 0x00, - 0x01, 0x78, 0x21, - - 0x01, 0xFF, 0x01, - 0x01, 0x23, 0x34, - 0x01, 0x42, 0x00, - 0x01, 0x44, 0xff, - 0x01, 0x45, 0x26, - 0x01, 0x46, 0x05, - 0x01, 0x40, 0x40, - 0x01, 0x0E, 0x06, - 0x01, 0x20, 0x1a, - 0x01, 0x43, 0x40, - - 0x01, 0xFF, 0x00, - 0x01, 0x34, 0x03, - 0x01, 0x35, 0x44, - - 0x01, 0xFF, 0x01, - 0x01, 0x31, 0x04, - 0x01, 0x4b, 0x09, - 0x01, 0x4c, 0x05, - 0x01, 0x4d, 0x04, - - 0x01, 0xFF, 0x00, - 0x01, 0x44, 0x00, - 0x01, 0x45, 0x20, - 0x01, 0x47, 0x08, - 0x01, 0x48, 0x28, - 0x01, 0x67, 0x00, - 0x01, 0x70, 0x04, - 0x01, 0x71, 0x01, - 0x01, 0x72, 0xfe, - 0x01, 0x76, 0x00, - 0x01, 0x77, 0x00, - - 0x01, 0xFF, 0x01, - 0x01, 0x0d, 0x01, - - 0x01, 0xFF, 0x00, - 0x01, 0x80, 0x01, - 0x01, 0x01, 0xF8, - - 0x01, 0xFF, 0x01, - 0x01, 0x8e, 0x01, - 0x01, 0x00, 0x01, - 0x01, 0xFF, 0x00, - 0x01, 0x80, 0x00, - - 0x00, 0x00, 0x00}; - -#ifdef __cplusplus -} -#endif - -#endif /* _VL53L0X_TUNING_H_ */ diff --git a/app/drivers/vl53l0x/vl53l0x_types.h b/app/drivers/vl53l0x/vl53l0x_types.h deleted file mode 100644 index f2d7ed5..0000000 --- a/app/drivers/vl53l0x/vl53l0x_types.h +++ /dev/null @@ -1,107 +0,0 @@ -/******************************************************************************* -Copyright � 2015, STMicroelectronics International N.V. -All rights reserved. - -Redistribution and use in source and binary forms, with or without -modification, are permitted provided that the following conditions are met: - * Redistributions of source code must retain the above copyright - notice, this list of conditions and the following disclaimer. - * Redistributions in binary form must reproduce the above copyright - notice, this list of conditions and the following disclaimer in the - documentation and/or other materials provided with the distribution. - * Neither the name of STMicroelectronics nor the - names of its contributors may be used to endorse or promote products - derived from this software without specific prior written permission. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND -ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED -WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND -NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. -IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY -DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES -(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; -LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND -ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -********************************************************************************/ -/** - * @file vl53l0x_types.h - * @brief VL53L0X types definition - */ - -#ifndef VL53L0X_TYPES_H_ -#define VL53L0X_TYPES_H_ - -/** @defgroup porting_type Basic type definition - * @ingroup VL53L0X_platform_group - * - * @brief file vl53l0x_types.h files hold basic type definition that may requires porting - * - * contains type that must be defined for the platform\n - * when target platform and compiler provide stdint.h and stddef.h it is enough to include it.\n - * If stdint.h is not available review and adapt all signed and unsigned 8/16/32 bits basic types. \n - * If stddef.h is not available review and adapt NULL definition . - */ -#include -#include - -#ifndef NULL -#error "Error NULL definition should be done. Please add required include " -#endif - -#if !defined(STDINT_H) && !defined(_GCC_STDINT_H) && !defined(__STDINT_DECLS) && !defined(_GCC_WRAP_STDINT_H) - -#pragma message("Please review type definition of STDINT define for your platform and add to list above ") - -/* - * target platform do not provide stdint or use a different #define than above - * to avoid seeing the message below addapt the #define list above or implement - * all type and delete these pragma - */ - -/** \ingroup VL53L0X_portingType_group - * @{ - */ - -typedef unsigned long long uint64_t; - -/** @brief Typedef defining 32 bit unsigned int type.\n - * The developer should modify this to suit the platform being deployed. - */ -typedef unsigned int uint32_t; - -/** @brief Typedef defining 32 bit int type.\n - * The developer should modify this to suit the platform being deployed. - */ -typedef int int32_t; - -/** @brief Typedef defining 16 bit unsigned short type.\n - * The developer should modify this to suit the platform being deployed. - */ -typedef unsigned short uint16_t; - -/** @brief Typedef defining 16 bit short type.\n - * The developer should modify this to suit the platform being deployed. - */ -typedef short int16_t; - -/** @brief Typedef defining 8 bit unsigned char type.\n - * The developer should modify this to suit the platform being deployed. - */ -typedef unsigned char uint8_t; - -/** @brief Typedef defining 8 bit char type.\n - * The developer should modify this to suit the platform being deployed. - */ -typedef signed char int8_t; - -/** @} */ -#endif /* _STDINT_H */ - -/** use where fractional values are expected - * - * Given a floating point value f it's .16 bit point is (int)(f*(1<<16))*/ -typedef uint32_t FixPoint1616_t; - -#endif /* VL53L0X_TYPES_H_ */ diff --git a/app/drivers/vl53l4cd_platform.c b/app/drivers/vl53l4cd_platform.c new file mode 100644 index 0000000..d4e27be --- /dev/null +++ b/app/drivers/vl53l4cd_platform.c @@ -0,0 +1,115 @@ +/** + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + +/** + * Platform specific implementation for the VL53L4CD ULD driver, defining the function that the + * driver will use to communicate with the device over I2C. + * + * The implementation is quite simple, using the ST HAL I2C functions. The VL53L4CD is big endian, + * so we need to convert to little endian when reading, and to big endian when writing. + */ +#include + +#include "platform.h" + +#define VL53L4CD_PLATFORM_OK 0U +#define VL53L4CD_PLATFORM_I2C_ERROR 1U + +#define VL53L4CD_PLATFORM_I2C_TIMEOUT 100U + +uint8_t VL53L4CD_RdDWord(Dev_t dev, uint16_t RegisterAdress, uint32_t *value) +{ + uint8_t buf[4]; + + // The VL53L4CD uses 16 bit addresses, and we need to read four bytes for a double word. + if (HAL_I2C_Mem_Read(&hi2c1, dev, RegisterAdress, I2C_MEMADD_SIZE_16BIT, buf, sizeof(buf), + VL53L4CD_PLATFORM_I2C_TIMEOUT) != HAL_OK) + { + return VL53L4CD_PLATFORM_I2C_ERROR; + } + + *value = ((uint32_t)buf[0] << 24) | ((uint32_t)buf[1] << 16) | ((uint32_t)buf[2] << 8) | buf[3]; + + return VL53L4CD_PLATFORM_OK; +} + +uint8_t VL53L4CD_RdWord(Dev_t dev, uint16_t RegisterAdress, uint16_t *value) +{ + uint8_t buf[2]; + + if (HAL_I2C_Mem_Read(&hi2c1, dev, RegisterAdress, I2C_MEMADD_SIZE_16BIT, buf, sizeof(buf), + VL53L4CD_PLATFORM_I2C_TIMEOUT) != HAL_OK) + { + return VL53L4CD_PLATFORM_I2C_ERROR; + } + + *value = ((uint16_t)buf[0] << 8) | buf[1]; + + return VL53L4CD_PLATFORM_OK; +} + +uint8_t VL53L4CD_RdByte(Dev_t dev, uint16_t RegisterAdress, uint8_t *value) +{ + if (HAL_I2C_Mem_Read(&hi2c1, dev, RegisterAdress, I2C_MEMADD_SIZE_16BIT, value, 1, + VL53L4CD_PLATFORM_I2C_TIMEOUT) != HAL_OK) + { + return VL53L4CD_PLATFORM_I2C_ERROR; + } + + return VL53L4CD_PLATFORM_OK; +} + +uint8_t VL53L4CD_WrByte(Dev_t dev, uint16_t RegisterAdress, uint8_t value) +{ + if (HAL_I2C_Mem_Write(&hi2c1, dev, RegisterAdress, I2C_MEMADD_SIZE_16BIT, &value, 1, + VL53L4CD_PLATFORM_I2C_TIMEOUT) != HAL_OK) + { + return VL53L4CD_PLATFORM_I2C_ERROR; + } + + return VL53L4CD_PLATFORM_OK; +} + +uint8_t VL53L4CD_WrWord(Dev_t dev, uint16_t RegisterAdress, uint16_t value) +{ + uint8_t buf[2] = {(uint8_t)(value >> 8), (uint8_t)value}; + + if (HAL_I2C_Mem_Write(&hi2c1, dev, RegisterAdress, I2C_MEMADD_SIZE_16BIT, buf, sizeof(buf), + VL53L4CD_PLATFORM_I2C_TIMEOUT) != HAL_OK) + { + return VL53L4CD_PLATFORM_I2C_ERROR; + } + + return VL53L4CD_PLATFORM_OK; +} + +uint8_t VL53L4CD_WrDWord(Dev_t dev, uint16_t RegisterAdress, uint32_t value) +{ + uint8_t buf[4] = {(uint8_t)(value >> 24), (uint8_t)(value >> 16), (uint8_t)(value >> 8), + (uint8_t)value}; + + if (HAL_I2C_Mem_Write(&hi2c1, dev, RegisterAdress, I2C_MEMADD_SIZE_16BIT, buf, sizeof(buf), + VL53L4CD_PLATFORM_I2C_TIMEOUT) != HAL_OK) + { + return VL53L4CD_PLATFORM_I2C_ERROR; + } + + return VL53L4CD_PLATFORM_OK; +} + +uint8_t VL53L4CD_WaitMs(Dev_t dev, uint32_t TimeMs) +{ + (void)dev; + + HAL_Delay(TimeMs); + return VL53L4CD_PLATFORM_OK; +} diff --git a/app/ranging.c b/app/ranging.c index c5efe8d..8f8c1fb 100644 --- a/app/ranging.c +++ b/app/ranging.c @@ -1,12 +1,12 @@ #include "ranging.h" +#include "VL53L4CD_api.h" #include "debug.h" -#include "drivers/vl53l0x/vl53l0x_api.h" #include "i2c.h" #include "main.h" // Default I2C address of the device, same for all sensors after reset. -#define VL53L0X_DEFAULT_ADDRESS 0x52 +#define VL53L4CD_DEFAULT_ADDRESS 0x52 // I2C address we set for each device during the initialization of the device. #define RANGING_ADDR_LEFT 0x30 #define RANGING_ADDR_MIDDLE 0x32 @@ -17,29 +17,10 @@ // depending on the amount of ambient light. #define RANGING_MAX_DISTANCE_MM 400U #define RANGING_MIN_DISTANCE_MM 10U -// Around 20ms is the lowest timing budget supported by the VL53L0X, with +-5% accuracy, whereas -// 30ms is the default. Since we are only measuring within a 77cm dohyo, we go for the fastest. -#define RANGING_TIMING_BUDGET_US 20000U - -// NOTE: for more information on the below limits, see the answer from ST here: -// https://community.st.com/imaging-sensors-49/vl53l0x-api-usage-of-the-6-limit-checks-ambient-spad-damper-dmax-cal-etc-37534 - -// NOTE: q16_16 is Q notation, it means the number has 16 bits for the integer part, and 16 bits -// for the fractional part, this way the vl53l0x API can store a fractional number in a u32 (here -// with the FixPoint1616_t type alias for u32), to avoid floating point operations on embedded -// targets. - -// If the signal strength is lower than this, set a signal fail status (2) on the ranging data. -// We usually set this to the default, 0.25 mega counts per second (MCPS), but it can be increased -// to adapt to environmental conditions, e.g. an arena with a lot of ambient IR. - -#define SIGNAL_RATE_LIMIT_MCPS_Q16_16 ((FixPoint1616_t)(25UL * 65536UL / 100UL)) // 0.25 * 65536 -// If the standard deviation of the range data is greater than this, set a sigma fail status (1) on -// the ranging data. If we see this status when we read the ranging data, we may choose to ignore -// the reading. -// We usually set this to the default, 18mm, but it can be lowered to increase precision of -// measurements. -#define SIGMA_FINAL_RANGE_MM_Q16_16 ((FixPoint1616_t)(18UL * 65536UL)) +// Around 10ms is the lowest timing budget supported by the VL53L4CD, with some loss of accuracy, +// whereas 30ms is the default. Since we are only measuring within a 77cm dohyo, we go for the +// fastest. +#define RANGING_TIMING_BUDGET_MS 10U typedef struct { @@ -64,39 +45,40 @@ RangingState ranging_state = {0}; */ static void ranging_update(void) { - VL53L0X_RangingMeasurementData_t RangingData = {0}; for (int i = 0; i < RANGING_COUNT; i++) { - if (ranging_state.sensor[i].data_ready) + if (!ranging_state.sensor[i].data_ready) { - int ret = VL53L0X_GetRangingMeasurementData(&ranging_state.sensor[i].dev, &RangingData); - if (ret != VL53L0X_ERROR_NONE) - { - DEBUG_PRINTF("Failed to get ranging data for sensor: %d, error: %d\n", i, ret); - }; - - int16_t distance_mm = RangingData.RangeMilliMeter; - - ranging_state.sensor[i].range_mm = distance_mm; - ranging_state.sensor[i].range_status = RangingData.RangeStatus; - - // DEBUG_PRINTF( - // "Distance: %d mm, status: %d, max: %d, device: %x\n", - // distance_mm, - // RangingData.RangeStatus, - // RangingData.RangeDMaxMilliMeter, - // ranging_state.sensor[i].dev.I2cDevAddr); - - ranging_state.sensor[i].data_ready = false; - - // Clear the interrupt so the next measurement can complete - ret = VL53L0X_ClearInterruptMask(&ranging_state.sensor[i].dev, 0); - if (ret != VL53L0X_ERROR_NONE) - { - DEBUG_PRINTF("Failed to clear interrupt mask for sensor: %d, error: %d\n", i, ret); - }; + continue; } + + VL53L4CD_ResultsData_t ranging_data = {0}; + + int ret = VL53L4CD_GetResult(ranging_state.sensor[i].dev, &ranging_data); + if (ret != VL53L4CD_ERROR_NONE) + { + // TODO: handle this failure more explicitly, it just works now because we consider + // 0mm (from unmodified zeroed ranging_data) as invalid range. + DEBUG_PRINTF("Failed to get ranging data for sensor: %d, error: %d\n", i, ret); + }; + + ranging_state.sensor[i].range_status = ranging_data.range_status; + + // Skip updating ranging distance if measurement is insecure. + if (ranging_data.range_status == 0) + { + ranging_state.sensor[i].range_mm = ranging_data.distance_mm; + } + + ranging_state.sensor[i].data_ready = false; + + // Clear the interrupt so the next measurement can complete + ret = VL53L4CD_ClearInterrupt(ranging_state.sensor[i].dev); + if (ret != VL53L4CD_ERROR_NONE) + { + DEBUG_PRINTF("Failed to clear interrupt mask for sensor: %d, error: %d\n", i, ret); + }; } // DEBUG_PRINTF("l:%d m:%d r:%d\n", ranging_state.sensor[RANGING_LEFT].range_mm, @@ -113,14 +95,15 @@ Enemy ranging_get_enemy(void) ranging_update(); Enemy enemy = {.bearing = BEARING_NONE}; - // TODO: also check ranging status? We will get not-null for bad readings, e.g. max distance - // due to looking into space, e.g: - // 13:12:16.418: Distance: 8190 mm, status: 4, max: 1167 - // 13:12:16.418: Distance: 8191 mm, status: 2, max: 1169 - - bool enemy_left = valid_range(ranging_state.sensor[RANGING_LEFT].range_mm); - bool enemy_front = valid_range(ranging_state.sensor[RANGING_MIDDLE].range_mm); - bool enemy_right = valid_range(ranging_state.sensor[RANGING_RIGHT].range_mm); + // TODO: Also consider rejecting old values, as we now rely on the sensor reading being out of + // range if there is no enemy to update the state, but if the sensor stops working, we will be + // stuck on the last value. + bool enemy_left = valid_range(ranging_state.sensor[RANGING_LEFT].range_mm) && + ranging_state.sensor[RANGING_LEFT].range_status == 0; + bool enemy_front = valid_range(ranging_state.sensor[RANGING_MIDDLE].range_mm) && + ranging_state.sensor[RANGING_MIDDLE].range_status == 0; + bool enemy_right = valid_range(ranging_state.sensor[RANGING_RIGHT].range_mm) && + ranging_state.sensor[RANGING_RIGHT].range_status == 0; if (enemy_front) { @@ -146,7 +129,7 @@ Enemy ranging_get_enemy(void) return enemy; } -VL53L0X_Error ranging_init(void) +VL53L4CD_Error ranging_init(void) { MX_I2C1_Init(); @@ -161,7 +144,7 @@ VL53L0X_Error ranging_init(void) GPIO_PIN_RESET); } HAL_Delay(10); - int ret = VL53L0X_ERROR_NONE; + int ret = VL53L4CD_ERROR_NONE; for (int i = 0; i < RANGING_COUNT; i++) { @@ -174,129 +157,45 @@ VL53L0X_Error ranging_init(void) // Use the default address for the change address I2C call, since it will be the address of // all the devices after the reset. - ranging_state.sensor[i].dev.I2cDevAddr = VL53L0X_DEFAULT_ADDRESS; + ranging_state.sensor[i].dev = VL53L4CD_DEFAULT_ADDRESS; - ret = VL53L0X_SetDeviceAddress(&ranging_state.sensor[i].dev, - ranging_config[i].device_address); - if (ret != VL53L0X_ERROR_NONE) + ret = VL53L4CD_SetI2CAddress(ranging_state.sensor[i].dev, ranging_config[i].device_address); + if (ret != VL53L4CD_ERROR_NONE) { - DEBUG_PRINTF("Failed to set device address for device, error: %d\n", ret); + DEBUG_PRINTF("Failed to set device address for device %d, error: %d\n", + ranging_state.sensor[i].dev, ret); return ret; }; // Change the device instance address to the new address, we will use that from here on out. - ranging_state.sensor[i].dev.I2cDevAddr = ranging_config[i].device_address; - - ret = VL53L0X_DataInit(&ranging_state.sensor[i].dev); - if (ret != VL53L0X_ERROR_NONE) - { - DEBUG_PRINTF("Failed to initialize data for device, error: %d\n", ret); - return ret; - }; - - ret = VL53L0X_StaticInit(&ranging_state.sensor[i].dev); - if (ret != VL53L0X_ERROR_NONE) - { - DEBUG_PRINTF("Failed to statically initialize device, error: %d\n", ret); - return ret; - }; + ranging_state.sensor[i].dev = ranging_config[i].device_address; - uint8_t VhvSettings = 0; - uint8_t PhaseCal = 0; - ret = VL53L0X_PerformRefCalibration(&ranging_state.sensor[i].dev, &VhvSettings, &PhaseCal); - if (ret != VL53L0X_ERROR_NONE) - { - DEBUG_PRINTF("Failed to perform ref calibration for device, error: %d\n", ret); - return ret; - }; - - // Load SPAD (Single Photon Avalanche Diode) calibration data, needs to be done after each - // reset. This is an array of diodes that are used for detecting the reflected IR light - // emitted from the VCSEL (vertical-cavity surface-emitting laser). - uint32_t refSpadCount = 0; - uint8_t isApertureSpads = 0; - ret = VL53L0X_PerformRefSpadManagement(&ranging_state.sensor[i].dev, &refSpadCount, - &isApertureSpads); - if (ret != VL53L0X_ERROR_NONE) - { - DEBUG_PRINTF("Failed to perform spad management for device, error: %d\n", ret); - return ret; - }; - - DEBUG_PRINTF("Initialized sensor with spad count: %d, aperture spads enabled: %d\n", - refSpadCount, isApertureSpads); - - ret = VL53L0X_SetDeviceMode(&ranging_state.sensor[i].dev, - VL53L0X_DEVICEMODE_CONTINUOUS_RANGING); - if (ret != VL53L0X_ERROR_NONE) - { - DEBUG_PRINTF("Failed to set device mode for device, error: %d\n", ret); - return ret; - }; - - ret = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(&ranging_state.sensor[i].dev, - RANGING_TIMING_BUDGET_US); - if (ret != VL53L0X_ERROR_NONE) - { - DEBUG_PRINTF("Failed to set measurement timing budget for device, error: %d\n", ret); - return ret; - }; - - // Explicitly set the SIGNAL_RATE_FINAL_RANGE (signal strength limit), so we can easily - // increase it from the default in high ambient light conditions. - ret = VL53L0X_SetLimitCheckEnable(&ranging_state.sensor[i].dev, - VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1); - if (ret != VL53L0X_ERROR_NONE) - { - DEBUG_PRINTF("Failed to enable limit check for signal rate, error: %d\n", ret); - return ret; - }; - ret = VL53L0X_SetLimitCheckValue(&ranging_state.sensor[i].dev, - VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, - SIGNAL_RATE_LIMIT_MCPS_Q16_16); - if (ret != VL53L0X_ERROR_NONE) - { - DEBUG_PRINTF("Failed to increase signal rate limit, error: %d\n", ret); - return ret; - }; - - // Explicitly set the SIGMA_FINAL_RANGE (standard deviation limit), so we can easily reduce - // it from the default in high ambient light conditions. - ret = VL53L0X_SetLimitCheckEnable(&ranging_state.sensor[i].dev, - VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1); - if (ret != VL53L0X_ERROR_NONE) - { - DEBUG_PRINTF("Failed to enable limit check for sigma, error: %d\n", ret); - return ret; - }; - ret = VL53L0X_SetLimitCheckValue(&ranging_state.sensor[i].dev, - VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, - SIGMA_FINAL_RANGE_MM_Q16_16); - if (ret != VL53L0X_ERROR_NONE) + ret = VL53L4CD_SensorInit(ranging_state.sensor[i].dev); + if (ret != VL53L4CD_ERROR_NONE) { - DEBUG_PRINTF("Failed to increase sigma limit, error: %d\n", ret); + DEBUG_PRINTF("Failed to initialize data for device %d, error: %d\n", + ranging_state.sensor[i].dev, ret); return ret; }; - // Configure the GPIO pin on the device, AKA the DRDY interrupt pin, which will be pulled - // low when data is ready, and which will trigger an interrupt on the falling edge in an - // EXTI pin on the MCU. - ret = VL53L0X_SetGpioConfig( - &ranging_state.sensor[i].dev, 0, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING, - VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY, VL53L0X_INTERRUPTPOLARITY_LOW); - if (ret != VL53L0X_ERROR_NONE) + // Configure for fast ranging with the minimum timing budget, and continuous ranging, + // 0 ms between measurements. + ret = VL53L4CD_SetRangeTiming(ranging_state.sensor[i].dev, RANGING_TIMING_BUDGET_MS, 0); + if (ret != VL53L4CD_ERROR_NONE) { - DEBUG_PRINTF("Failed to configure gpio pin for device, error: %d\n", ret); + DEBUG_PRINTF("Failed to set range timing for device %d, error: %d\n", + ranging_state.sensor[i].dev, ret); return ret; }; } for (int i = 0; i < RANGING_COUNT; i++) { - ret = VL53L0X_StartMeasurement(&ranging_state.sensor[i].dev); - if (ret != VL53L0X_ERROR_NONE) + ret = VL53L4CD_StartRanging(ranging_state.sensor[i].dev); + if (ret != VL53L4CD_ERROR_NONE) { - DEBUG_PRINTF("Failed to start measurements for device, error: %d\n", ret); + DEBUG_PRINTF("Failed to start measurements for device %d, error: %d\n", + ranging_state.sensor[i].dev, ret); return ret; }; } @@ -304,7 +203,7 @@ VL53L0X_Error ranging_init(void) return ret; } -// VL53L0X data ready interrupt ISR. Set flag to read data over I2C in main loop. +// VL53L4CD data ready interrupt ISR. Set flag to read data over I2C in main loop. void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) { if (GPIO_Pin == GPIO_PIN_4) diff --git a/app/ranging.h b/app/ranging.h index a1e0786..bb88870 100644 --- a/app/ranging.h +++ b/app/ranging.h @@ -2,8 +2,7 @@ #include -#include "drivers/vl53l0x/vl53l0x_api.h" -#include "drivers/vl53l0x/vl53l0x_platform.h" +#include "VL53L4CD_api.h" #include "main.h" extern I2C_HandleTypeDef hi2c1; @@ -18,7 +17,7 @@ typedef enum typedef struct { - VL53L0X_Dev_t dev; + uint16_t dev; GPIO_TypeDef *xshut_port; uint16_t xshut_pin; int16_t range_mm; @@ -51,6 +50,6 @@ typedef struct // TODO: document this function. // TODO: pass pointer to statemachine ranging state? Or just keep bearing in statemachine, leave // the details in here, behind api? -VL53L0X_Error ranging_init(void); +VL53L4CD_Error ranging_init(void); Enemy ranging_get_enemy(void); \ No newline at end of file diff --git a/app/state_retreat.c b/app/state_retreat.c index 93bfbbb..58b4ca9 100644 --- a/app/state_retreat.c +++ b/app/state_retreat.c @@ -5,7 +5,7 @@ #include "main.h" #include "state.h" -#define STATE_RETREAT_DURATION_MS (450U) +#define STATE_RETREAT_DURATION_MS (350U) static RetreatState next_retreat_state(const struct StateRetreatCtx *ctx) { diff --git a/docs/ranging.md b/docs/ranging.md index 7edd34b..73b4514 100644 --- a/docs/ranging.md +++ b/docs/ranging.md @@ -2,6 +2,7 @@ ## Hardware +-- TODO: update to vl53l4cd - [VL53L0X][vl53l0x] Time-of-Flight ranging sensor x3 on Adafruit breakout boards: https://www.adafruit.com/product/3317. @@ -13,6 +14,7 @@ by up to 5%, compared to the ideal timing budget of 33ms (see [§6.3.2 in the da ## I2C Interface +-- TODO: now i2c fast mode plus, 1MHz The ranging data is read over I2C. The VL53L0X supports ut to 400kHz I2C clock speeds. Since we have three sensors, and they all share the same default I2C address, we need to use the provided XSHUT pin to turn the other sensors off, as we write to each sensor one by one on the default diff --git a/external/VL53L4CD_ULD_V2.2.3/Docs/Readme.txt b/external/VL53L4CD_ULD_V2.2.3/Docs/Readme.txt new file mode 100644 index 0000000..bd109a4 --- /dev/null +++ b/external/VL53L4CD_ULD_V2.2.3/Docs/Readme.txt @@ -0,0 +1,2 @@ +VL53L4CD ULD user manual UM2931 is available on below link: +https://www.st.com/resource/en/user_manual/um2931-a-guide-to-using-the-vl53l4cd-ultra-lite-driver-uld-stmicroelectronics.pdf \ No newline at end of file diff --git a/external/VL53L4CD_ULD_V2.2.3/LICENSE.txt b/external/VL53L4CD_ULD_V2.2.3/LICENSE.txt new file mode 100644 index 0000000..060de10 --- /dev/null +++ b/external/VL53L4CD_ULD_V2.2.3/LICENSE.txt @@ -0,0 +1,7 @@ +This software component is provided to you as part of a software package and +applicable license terms are in the Package_license file. If you received this +software component outside of a package or without applicable license terms, +the terms of the BSD OPEN SOURCE SLA0103 license shall apply. +You may obtain a copy of the BSD OPEN SOURCE SLA0103 at: +https://www.st.com/SLA0103 + diff --git a/external/VL53L4CD_ULD_V2.2.3/Platform/platform.c b/external/VL53L4CD_ULD_V2.2.3/Platform/platform.c new file mode 100644 index 0000000..410be7f --- /dev/null +++ b/external/VL53L4CD_ULD_V2.2.3/Platform/platform.c @@ -0,0 +1,92 @@ +/** + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + + +#include "platform.h" + + +uint8_t VL53L4CD_RdDWord(Dev_t dev, uint16_t RegisterAdress, uint32_t *value) +{ + uint8_t status = 255; + + /* To be filled by customer. Return 0 if OK */ + /* Warning : For big endian platforms, fields 'RegisterAdress' and 'value' need to be swapped. */ + #error "This code is empty, please populate the function with valid code for your processor." + + return status; +} + +uint8_t VL53L4CD_RdWord(Dev_t dev, uint16_t RegisterAdress, uint16_t *value) +{ + uint8_t status = 255; + + /* To be filled by customer. Return 0 if OK */ + /* Warning : For big endian platforms, fields 'RegisterAdress' and 'value' need to be swapped. */ + #error "This code is empty, please populate the function with valid code for your processor." + + return status; +} + +uint8_t VL53L4CD_RdByte(Dev_t dev, uint16_t RegisterAdress, uint8_t *value) +{ + uint8_t status = 255; + + /* To be filled by customer. Return 0 if OK */ + /* Warning : For big endian platforms, fields 'RegisterAdress' and 'value' need to be swapped. */ + #error "This code is empty, please populate the function with valid code for your processor." + + return status; +} + +uint8_t VL53L4CD_WrByte(Dev_t dev, uint16_t RegisterAdress, uint8_t value) +{ + uint8_t status = 255; + + /* To be filled by customer. Return 0 if OK */ + /* Warning : For big endian platforms, fields 'RegisterAdress' and 'value' need to be swapped. */ + #error "This code is empty, please populate the function with valid code for your processor." + + return status; +} + +uint8_t VL53L4CD_WrWord(Dev_t dev, uint16_t RegisterAdress, uint16_t value) +{ + uint8_t status = 255; + + /* To be filled by customer. Return 0 if OK */ + /* Warning : For big endian platforms, fields 'RegisterAdress' and 'value' need to be swapped. */ + #error "This code is empty, please populate the function with valid code for your processor." + + return status; +} + +uint8_t VL53L4CD_WrDWord(Dev_t dev, uint16_t RegisterAdress, uint32_t value) +{ + uint8_t status = 255; + + /* To be filled by customer. Return 0 if OK */ + /* Warning : For big endian platforms, fields 'RegisterAdress' and 'value' need to be swapped. */ + #error "This code is empty, please populate the function with valid code for your processor." + + return status; +} + +uint8_t VL53L4CD_WaitMs(Dev_t dev, uint32_t TimeMs) +{ + uint8_t status = 255; + /* To be filled by customer */ + #error "This code is empty, please populate the function with valid code for your processor." + + return status; +} + + diff --git a/external/VL53L4CD_ULD_V2.2.3/Platform/platform.h b/external/VL53L4CD_ULD_V2.2.3/Platform/platform.h new file mode 100644 index 0000000..baba368 --- /dev/null +++ b/external/VL53L4CD_ULD_V2.2.3/Platform/platform.h @@ -0,0 +1,81 @@ +/** + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + + +#ifndef _PLATFORM_H_ +#define _PLATFORM_H_ +#pragma once + +#include +#include + +/** +* VL53L4CD device instance. +*/ + +typedef uint16_t Dev_t; + +/** + * @brief Error instance. + */ +typedef uint8_t VL53L4CD_Error; + +/** + * @brief If the macro below is defined, the device will be programmed to run + * with I2C Fast Mode Plus (up to 1MHz). Otherwise, default max value is 400kHz. + */ + +//#define VL53L4CD_I2C_FAST_MODE_PLUS + + +/** + * @brief Read 32 bits through I2C. + */ + +uint8_t VL53L4CD_RdDWord(Dev_t dev, uint16_t registerAddr, uint32_t *value); +/** + * @brief Read 16 bits through I2C. + */ + +uint8_t VL53L4CD_RdWord(Dev_t dev, uint16_t registerAddr, uint16_t *value); + +/** + * @brief Read 8 bits through I2C. + */ + +uint8_t VL53L4CD_RdByte(Dev_t dev, uint16_t registerAddr, uint8_t *value); + +/** + * @brief Write 8 bits through I2C. + */ + +uint8_t VL53L4CD_WrByte(Dev_t dev, uint16_t registerAddr, uint8_t value); + +/** + * @brief Write 16 bits through I2C. + */ + +uint8_t VL53L4CD_WrWord(Dev_t dev, uint16_t RegisterAdress, uint16_t value); + +/** + * @brief Write 32 bits through I2C. + */ + +uint8_t VL53L4CD_WrDWord(Dev_t dev, uint16_t RegisterAdress, uint32_t value); + +/** + * @brief Wait during N milliseconds. + */ + +uint8_t VL53L4CD_WaitMs(Dev_t dev, uint32_t TimeMs); + +#endif // _PLATFORM_H_ \ No newline at end of file diff --git a/external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver/VL53L4CD_api.c b/external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver/VL53L4CD_api.c new file mode 100644 index 0000000..1c54a70 --- /dev/null +++ b/external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver/VL53L4CD_api.c @@ -0,0 +1,703 @@ +/** + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + + +/** + * @file vl53l4cd_api.c + * @brief Functions implementation + */ + +#include +#include +#include "VL53L4CD_api.h" + +static const uint8_t VL53L4CD_DEFAULT_CONFIGURATION[] = { + #ifdef VL53L4CD_I2C_FAST_MODE_PLUS + 0x12, /* 0x2d : set bit 2 and 5 to 1 for fast plus mode (1MHz I2C), + else don't touch */ + #else + 0x00, /* 0x2d : set bit 2 and 5 to 1 for fast plus mode (1MHz I2C), + else don't touch */ + #endif + 0x00, /* 0x2e : bit 0 if I2C pulled up at 1.8V, else set bit 0 to 1 + (pull up at AVDD) */ + 0x00, /* 0x2f : bit 0 if GPIO pulled up at 1.8V, else set bit 0 to 1 + (pull up at AVDD) */ + 0x11, /* 0x30 : set bit 4 to 0 for active high interrupt and 1 for active low + (bits 3:0 must be 0x1), use SetInterruptPolarity() */ + 0x02, /* 0x31 : bit 1 = interrupt depending on the polarity, + use CheckForDataReady() */ + 0x00, /* 0x32 : not user-modifiable */ + 0x02, /* 0x33 : not user-modifiable */ + 0x08, /* 0x34 : not user-modifiable */ + 0x00, /* 0x35 : not user-modifiable */ + 0x08, /* 0x36 : not user-modifiable */ + 0x10, /* 0x37 : not user-modifiable */ + 0x01, /* 0x38 : not user-modifiable */ + 0x01, /* 0x39 : not user-modifiable */ + 0x00, /* 0x3a : not user-modifiable */ + 0x00, /* 0x3b : not user-modifiable */ + 0x00, /* 0x3c : not user-modifiable */ + 0x00, /* 0x3d : not user-modifiable */ + 0xff, /* 0x3e : not user-modifiable */ + 0x00, /* 0x3f : not user-modifiable */ + 0x0F, /* 0x40 : not user-modifiable */ + 0x00, /* 0x41 : not user-modifiable */ + 0x00, /* 0x42 : not user-modifiable */ + 0x00, /* 0x43 : not user-modifiable */ + 0x00, /* 0x44 : not user-modifiable */ + 0x00, /* 0x45 : not user-modifiable */ + 0x20, /* 0x46 : interrupt configuration 0->level low detection, 1-> level high, + 2-> Out of window, 3->In window, 0x20-> New sample ready , TBC */ + 0x0b, /* 0x47 : not user-modifiable */ + 0x00, /* 0x48 : not user-modifiable */ + 0x00, /* 0x49 : not user-modifiable */ + 0x02, /* 0x4a : not user-modifiable */ + 0x14, /* 0x4b : not user-modifiable */ + 0x21, /* 0x4c : not user-modifiable */ + 0x00, /* 0x4d : not user-modifiable */ + 0x00, /* 0x4e : not user-modifiable */ + 0x05, /* 0x4f : not user-modifiable */ + 0x00, /* 0x50 : not user-modifiable */ + 0x00, /* 0x51 : not user-modifiable */ + 0x00, /* 0x52 : not user-modifiable */ + 0x00, /* 0x53 : not user-modifiable */ + 0xc8, /* 0x54 : not user-modifiable */ + 0x00, /* 0x55 : not user-modifiable */ + 0x00, /* 0x56 : not user-modifiable */ + 0x38, /* 0x57 : not user-modifiable */ + 0xff, /* 0x58 : not user-modifiable */ + 0x01, /* 0x59 : not user-modifiable */ + 0x00, /* 0x5a : not user-modifiable */ + 0x08, /* 0x5b : not user-modifiable */ + 0x00, /* 0x5c : not user-modifiable */ + 0x00, /* 0x5d : not user-modifiable */ + 0x01, /* 0x5e : not user-modifiable */ + 0xcc, /* 0x5f : not user-modifiable */ + 0x07, /* 0x60 : not user-modifiable */ + 0x01, /* 0x61 : not user-modifiable */ + 0xf1, /* 0x62 : not user-modifiable */ + 0x05, /* 0x63 : not user-modifiable */ + 0x00, /* 0x64 : Sigma threshold MSB (mm in 14.2 format for MSB+LSB), + use SetSigmaThreshold(), default value 90 mm */ + 0xa0, /* 0x65 : Sigma threshold LSB */ + 0x00, /* 0x66 : Min count Rate MSB (MCPS in 9.7 format for MSB+LSB), + use SetSignalThreshold() */ + 0x80, /* 0x67 : Min count Rate LSB */ + 0x08, /* 0x68 : not user-modifiable */ + 0x38, /* 0x69 : not user-modifiable */ + 0x00, /* 0x6a : not user-modifiable */ + 0x00, /* 0x6b : not user-modifiable */ + 0x00, /* 0x6c : Intermeasurement period MSB, 32 bits register, + use SetIntermeasurementInMs() */ + 0x00, /* 0x6d : Intermeasurement period */ + 0x0f, /* 0x6e : Intermeasurement period */ + 0x89, /* 0x6f : Intermeasurement period LSB */ + 0x00, /* 0x70 : not user-modifiable */ + 0x00, /* 0x71 : not user-modifiable */ + 0x00, /* 0x72 : distance threshold high MSB (in mm, MSB+LSB), + use SetD:tanceThreshold() */ + 0x00, /* 0x73 : distance threshold high LSB */ + 0x00, /* 0x74 : distance threshold low MSB ( in mm, MSB+LSB), + use SetD:tanceThreshold() */ + 0x00, /* 0x75 : distance threshold low LSB */ + 0x00, /* 0x76 : not user-modifiable */ + 0x01, /* 0x77 : not user-modifiable */ + 0x07, /* 0x78 : not user-modifiable */ + 0x05, /* 0x79 : not user-modifiable */ + 0x06, /* 0x7a : not user-modifiable */ + 0x06, /* 0x7b : not user-modifiable */ + 0x00, /* 0x7c : not user-modifiable */ + 0x00, /* 0x7d : not user-modifiable */ + 0x02, /* 0x7e : not user-modifiable */ + 0xc7, /* 0x7f : not user-modifiable */ + 0xff, /* 0x80 : not user-modifiable */ + 0x9B, /* 0x81 : not user-modifiable */ + 0x00, /* 0x82 : not user-modifiable */ + 0x00, /* 0x83 : not user-modifiable */ + 0x00, /* 0x84 : not user-modifiable */ + 0x01, /* 0x85 : not user-modifiable */ + 0x00, /* 0x86 : clear interrupt, use ClearInterrupt() */ + 0x00 /* 0x87 : start ranging, use StartRanging() or StopRanging(), + If you want an automatic start after VL53L4CD_init() call, + put 0x40 in location 0x87 */ +}; + +VL53L4CD_Error VL53L4CD_GetSWVersion( + VL53L4CD_Version_t *p_Version) +{ + VL53L4CD_Error Status = VL53L4CD_ERROR_NONE; + + p_Version->major = VL53L4CD_IMPLEMENTATION_VER_MAJOR; + p_Version->minor = VL53L4CD_IMPLEMENTATION_VER_MINOR; + p_Version->build = VL53L4CD_IMPLEMENTATION_VER_BUILD; + p_Version->revision = VL53L4CD_IMPLEMENTATION_VER_REVISION; + return Status; +} + +VL53L4CD_Error VL53L4CD_SetI2CAddress( + Dev_t dev, + uint8_t new_address) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + + status |= VL53L4CD_WrByte(dev, VL53L4CD_I2C_SLAVE__DEVICE_ADDRESS, + (uint8_t)(new_address >> (uint8_t)1)); + return status; +} + +VL53L4CD_Error VL53L4CD_GetSensorId( + Dev_t dev, + uint16_t *p_id) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + + status |= VL53L4CD_RdWord(dev, VL53L4CD_IDENTIFICATION__MODEL_ID, p_id); + return status; +} + +VL53L4CD_Error VL53L4CD_SensorInit( + Dev_t dev) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + uint8_t Addr, tmp; + uint8_t continue_loop = 1; + uint16_t i = 0; + + do{ + status |= VL53L4CD_RdByte(dev, + VL53L4CD_FIRMWARE__SYSTEM_STATUS, &tmp); + + if(tmp == (uint8_t)0x3) /* Sensor booted */ + { + continue_loop = (uint8_t)0; + } + else if(i < (uint16_t)1000) /* Wait for boot */ + { + i++; + } + else /* Timeout 1000ms reached */ + { + continue_loop = (uint8_t)0; + status |= (uint8_t)VL53L4CD_ERROR_TIMEOUT; + } + VL53L4CD_WaitMs(dev, 1); + }while(continue_loop == (uint8_t)1); + + /* Load default configuration */ + for (Addr = (uint8_t)0x2D; Addr <= (uint8_t)0x87; Addr++) + { + status |= VL53L4CD_WrByte(dev, Addr, + VL53L4CD_DEFAULT_CONFIGURATION[ + Addr - (uint8_t)0x2D]); + } + + /* Start VHV */ + status |= VL53L4CD_WrByte(dev, VL53L4CD_SYSTEM_START, (uint8_t)0x40); + i = (uint8_t)0; + continue_loop = (uint8_t)1; + do{ + status |= VL53L4CD_CheckForDataReady(dev, &tmp); + if(tmp == (uint8_t)1) /* Data ready */ + { + continue_loop = (uint8_t)0; + } + else if(i < (uint16_t)1000) /* Wait for answer */ + { + i++; + } + else /* Timeout 1000ms reached */ + { + continue_loop = (uint8_t)0; + status |= (uint8_t)VL53L4CD_ERROR_TIMEOUT; + } + VL53L4CD_WaitMs(dev, 1); + }while(continue_loop == (uint8_t)1); + + status |= VL53L4CD_ClearInterrupt(dev); + status |= VL53L4CD_StopRanging(dev); + status |= VL53L4CD_WrByte(dev, + VL53L4CD_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, + (uint8_t)0x09); + status |= VL53L4CD_WrByte(dev, 0x0B, (uint8_t)0); + status |= VL53L4CD_WrWord(dev, 0x0024, 0x500); + + status |= VL53L4CD_SetRangeTiming(dev, 50, 0); + + return status; +} + +VL53L4CD_Error VL53L4CD_ClearInterrupt( + Dev_t dev) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + + status |= VL53L4CD_WrByte(dev, VL53L4CD_SYSTEM__INTERRUPT_CLEAR, 0x01); + return status; +} + +VL53L4CD_Error VL53L4CD_StartRanging( + Dev_t dev) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + uint32_t tmp; + + status |= VL53L4CD_RdDWord(dev, VL53L4CD_INTERMEASUREMENT_MS, &tmp); + + /* Sensor runs in continuous mode */ + if(tmp == (uint32_t)0) + { + status |= VL53L4CD_WrByte(dev, VL53L4CD_SYSTEM_START, 0x21); + } + /* Sensor runs in autonomous mode */ + else + { + status |= VL53L4CD_WrByte(dev, VL53L4CD_SYSTEM_START, 0x40); + } + + return status; +} + +VL53L4CD_Error VL53L4CD_StopRanging( + Dev_t dev) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + + status |= VL53L4CD_WrByte(dev, VL53L4CD_SYSTEM_START, 0x80); + return status; +} + +VL53L4CD_Error VL53L4CD_CheckForDataReady( + Dev_t dev, + uint8_t *p_is_data_ready) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + uint8_t temp; + uint8_t int_pol; + + status |= VL53L4CD_RdByte(dev, VL53L4CD_GPIO_HV_MUX__CTRL, &temp); + temp = temp & (uint8_t)0x10; + temp = temp >> 4; + + if (temp == (uint8_t)1) + { + int_pol = (uint8_t)0; + } + else + { + int_pol = (uint8_t)1; + } + + status |= VL53L4CD_RdByte(dev, VL53L4CD_GPIO__TIO_HV_STATUS, &temp); + + if ((temp & (uint8_t)1) == int_pol) + { + *p_is_data_ready = (uint8_t)1; + } + else + { + *p_is_data_ready = (uint8_t)0; + } + + return status; +} + +VL53L4CD_Error VL53L4CD_SetRangeTiming( + Dev_t dev, + uint32_t timing_budget_ms, + uint32_t inter_measurement_ms) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + uint16_t clock_pll, osc_frequency, ms_byte; + uint32_t macro_period_us = 0, timing_budget_us = 0, ls_byte, tmp; + float_t inter_measurement_factor = (float_t)1.055; + + status |= VL53L4CD_RdWord(dev, 0x0006, &osc_frequency); + if(osc_frequency != (uint16_t)0) + { + timing_budget_us = timing_budget_ms*(uint32_t)1000; + macro_period_us = (uint32_t)((uint32_t)2304 * + ((uint32_t)0x40000000 / (uint32_t)osc_frequency)) >> 6; + } + else + { + status |= (uint8_t)VL53L4CD_ERROR_INVALID_ARGUMENT; + } + + /* Timing budget check validity */ + if ((timing_budget_ms < (uint32_t)10) + || (timing_budget_ms > (uint32_t)200) || (status != (uint8_t)0)) + { + status |= VL53L4CD_ERROR_INVALID_ARGUMENT; + } + /* Sensor runs in continuous mode */ + else if(inter_measurement_ms == (uint32_t)0) + { + status |= VL53L4CD_WrDWord(dev,VL53L4CD_INTERMEASUREMENT_MS, 0); + timing_budget_us -= (uint32_t)2500; + } + /* Sensor runs in autonomous low power mode */ + else if(inter_measurement_ms > timing_budget_ms) + { + status |= VL53L4CD_RdWord(dev, + VL53L4CD_RESULT__OSC_CALIBRATE_VAL, &clock_pll); + clock_pll = clock_pll & (uint16_t)0x3FF; + inter_measurement_factor = inter_measurement_factor + * (float_t)inter_measurement_ms + * (float_t)clock_pll; + status |= VL53L4CD_WrDWord(dev, VL53L4CD_INTERMEASUREMENT_MS, + (uint32_t)inter_measurement_factor); + + timing_budget_us -= (uint32_t)4300; + timing_budget_us /= (uint32_t)2; + + } + /* Invalid case */ + else + { + status |= (uint8_t)VL53L4CD_ERROR_INVALID_ARGUMENT; + } + + if(status != (uint8_t)VL53L4CD_ERROR_INVALID_ARGUMENT) + { + ms_byte = 0; + timing_budget_us = timing_budget_us << 12; + tmp = macro_period_us*(uint32_t)16; + ls_byte = ((timing_budget_us + ((tmp >> 6)>>1)) /(tmp>> 6)) + - (uint32_t)1; + + while ((ls_byte & 0xFFFFFF00U) > 0U) { + ls_byte = ls_byte >> 1; + ms_byte++; + } + ms_byte = (uint16_t)(ms_byte << 8) + + (uint16_t) (ls_byte & (uint32_t)0xFF); + status |= VL53L4CD_WrWord(dev, VL53L4CD_RANGE_CONFIG_A,ms_byte); + + ms_byte = 0; + tmp = macro_period_us*(uint32_t)12; + ls_byte = ((timing_budget_us + ((tmp >> 6)>>1)) /(tmp>> 6)) + - (uint32_t)1; + + while ((ls_byte & 0xFFFFFF00U) > 0U) { + ls_byte = ls_byte >> 1; + ms_byte++; + } + ms_byte = (uint16_t)(ms_byte << 8) + + (uint16_t) (ls_byte & (uint32_t)0xFF); + status |= VL53L4CD_WrWord(dev, VL53L4CD_RANGE_CONFIG_B,ms_byte); + } + + return status; +} + +VL53L4CD_Error VL53L4CD_GetRangeTiming( + Dev_t dev, + uint32_t *p_timing_budget_ms, + uint32_t *p_inter_measurement_ms) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + uint16_t osc_frequency = 1, range_config_macrop_high, clock_pll = 1; + uint32_t tmp, ls_byte, ms_byte, macro_period_us; + float_t clock_pll_factor = (float_t)1.065; + + /* Get InterMeasurement */ + status |= VL53L4CD_RdDWord(dev, VL53L4CD_INTERMEASUREMENT_MS, &tmp); + status |= VL53L4CD_RdWord(dev, + VL53L4CD_RESULT__OSC_CALIBRATE_VAL, &clock_pll); + clock_pll = clock_pll & (uint16_t)0x3FF; + clock_pll_factor = clock_pll_factor * (float_t)clock_pll; + clock_pll = (uint16_t)clock_pll_factor; + *p_inter_measurement_ms = (uint16_t)(tmp/(uint32_t)clock_pll); + + /* Get TimingBudget */ + status |= VL53L4CD_RdWord(dev, 0x0006, &osc_frequency); + status |= VL53L4CD_RdWord(dev, VL53L4CD_RANGE_CONFIG_A, + &range_config_macrop_high); + + macro_period_us = (uint32_t)((uint32_t)2304 * ((uint32_t)0x40000000 + / (uint32_t)osc_frequency)) >> 6; + ls_byte = (range_config_macrop_high & (uint32_t)0x00FF) << 4; + ms_byte = (range_config_macrop_high & (uint32_t)0xFF00) >> 8; + ms_byte = (uint32_t)0x04 - (ms_byte - (uint32_t)1) - (uint32_t)1; + + macro_period_us = macro_period_us * (uint32_t)16; + *p_timing_budget_ms = (((ls_byte + (uint32_t)1)*(macro_period_us>> 6)) + - ((macro_period_us>> 6)>>1)) >> 12; + + if(ms_byte < (uint8_t)12) + { + *p_timing_budget_ms = (uint32_t)(*p_timing_budget_ms + >> (uint8_t)ms_byte); + } + + /* Mode continuous */ + if(tmp == (uint32_t)0) + { + *p_timing_budget_ms += (uint32_t)2500; + } + /* Mode autonomous */ + else + { + *p_timing_budget_ms *= (uint32_t)2; + *p_timing_budget_ms += (uint32_t)4300; + } + + *p_timing_budget_ms = *p_timing_budget_ms/(uint32_t)1000; + + return status; +} + +VL53L4CD_Error VL53L4CD_GetResult( + Dev_t dev, + VL53L4CD_ResultsData_t *p_result) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + uint16_t temp_16; + uint8_t temp_8; + uint16_t raw_spads; + + uint8_t status_rtn[24] = { 255, 255, 255, 5, 2, 4, 1, 7, 3, + 0, 255, 255, 9, 13, 255, 255, 255, 255, 10, 6, + 255, 255, 11, 12 }; + + status |= VL53L4CD_RdByte(dev, VL53L4CD_RESULT__RANGE_STATUS, + &temp_8); + temp_8 = temp_8 & (uint8_t)0x1F; + if (temp_8 < (uint8_t)24) + { + temp_8 = status_rtn[temp_8]; + } + p_result->range_status = temp_8; + + status |= VL53L4CD_RdWord(dev, VL53L4CD_RESULT__SPAD_NB, + &temp_16); + raw_spads=temp_16; + p_result->number_of_spad = temp_16 / (uint16_t) 256; + + status |= VL53L4CD_RdWord(dev, VL53L4CD_RESULT__SIGNAL_RATE, + &temp_16); + p_result->signal_rate_kcps = (uint32_t)temp_16 * 8; + + status |= VL53L4CD_RdWord(dev, VL53L4CD_RESULT__AMBIENT_RATE, + &temp_16); + p_result->ambient_rate_kcps = (uint32_t)temp_16 * 8; + + status |= VL53L4CD_RdWord(dev, VL53L4CD_RESULT__SIGMA, + &temp_16); + p_result->sigma_mm = temp_16 / (uint16_t) 4; + + status |= VL53L4CD_RdWord(dev, VL53L4CD_RESULT__DISTANCE, + &temp_16); + p_result->distance_mm = temp_16; + + p_result->signal_per_spad_kcps = p_result->signal_rate_kcps *256 + /(uint32_t) raw_spads; + p_result->ambient_per_spad_kcps = p_result->ambient_rate_kcps *256 + /(uint32_t) raw_spads; + + return status; +} + +VL53L4CD_Error VL53L4CD_SetOffset( + Dev_t dev, + int16_t OffsetValueInMm) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + uint16_t temp; + + temp = (uint16_t)((uint16_t)OffsetValueInMm*(uint16_t)4); + + status |= VL53L4CD_WrWord(dev, VL53L4CD_RANGE_OFFSET_MM, temp); + status |= VL53L4CD_WrWord(dev, VL53L4CD_INNER_OFFSET_MM, (uint8_t)0x0); + status |= VL53L4CD_WrWord(dev, VL53L4CD_OUTER_OFFSET_MM, (uint8_t)0x0); + return status; +} + +VL53L4CD_Error VL53L4CD_GetOffset( + Dev_t dev, + int16_t *p_offset) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + uint16_t temp; + + status |= VL53L4CD_RdWord(dev,VL53L4CD_RANGE_OFFSET_MM, &temp); + + temp = temp<<3; + temp = temp>>5; + *p_offset = (int16_t)(temp); + + if(*p_offset > 1024) + { + *p_offset = *p_offset - 2048; + } + + return status; +} + +VL53L4CD_Error VL53L4CD_SetXtalk( + Dev_t dev, + uint16_t XtalkValueKcps) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + + status |= VL53L4CD_WrWord(dev, + VL53L4CD_XTALK_X_PLANE_GRADIENT_KCPS, 0x0000); + status |= VL53L4CD_WrWord(dev, + VL53L4CD_XTALK_Y_PLANE_GRADIENT_KCPS, 0x0000); + status |= VL53L4CD_WrWord(dev, + VL53L4CD_XTALK_PLANE_OFFSET_KCPS, + (XtalkValueKcps<<9)); + + return status; +} + +VL53L4CD_Error VL53L4CD_GetXtalk( + Dev_t dev, + uint16_t *p_xtalk_kcps) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + float_t tmp_xtalk; + + status |= VL53L4CD_RdWord(dev, + VL53L4CD_XTALK_PLANE_OFFSET_KCPS, p_xtalk_kcps); + + tmp_xtalk = (float_t)*p_xtalk_kcps / (float_t)512.0; + *p_xtalk_kcps = (uint16_t)(round(tmp_xtalk)); + + return status; +} + +VL53L4CD_Error VL53L4CD_SetDetectionThresholds( + Dev_t dev, + uint16_t distance_low_mm, + uint16_t distance_high_mm, + uint8_t window) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + + status |= VL53L4CD_WrByte(dev, VL53L4CD_SYSTEM__INTERRUPT, window); + status |= VL53L4CD_WrWord(dev, VL53L4CD_THRESH_HIGH, distance_high_mm); + status |= VL53L4CD_WrWord(dev, VL53L4CD_THRESH_LOW, distance_low_mm); + return status; +} + +VL53L4CD_Error VL53L4CD_GetDetectionThresholds(Dev_t dev, + uint16_t *p_distance_low_mm, + uint16_t *p_distance_high_mm, + uint8_t *p_window) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + + status |= VL53L4CD_RdWord(dev, VL53L4CD_THRESH_HIGH,p_distance_high_mm); + status |= VL53L4CD_RdWord(dev, VL53L4CD_THRESH_LOW, p_distance_low_mm); + status |= VL53L4CD_RdByte(dev, VL53L4CD_SYSTEM__INTERRUPT, p_window); + *p_window = (*p_window & (uint8_t)0x7); + + return status; +} + +VL53L4CD_Error VL53L4CD_SetSignalThreshold( + Dev_t dev, + uint16_t signal_kcps) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + + status |= VL53L4CD_WrWord(dev, + VL53L4CD_MIN_COUNT_RATE_RTN_LIMIT_MCPS,signal_kcps>>3); + return status; +} + +VL53L4CD_Error VL53L4CD_GetSignalThreshold( + Dev_t dev, + uint16_t *p_signal_kcps) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + uint16_t tmp = 0; + + status |= VL53L4CD_RdWord(dev, + VL53L4CD_MIN_COUNT_RATE_RTN_LIMIT_MCPS, &tmp); + *p_signal_kcps = tmp <<3; + + return status; +} + +VL53L4CD_Error VL53L4CD_SetSigmaThreshold( + Dev_t dev, + uint16_t sigma_mm) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + + if(sigma_mm>(uint16_t)((uint16_t)0xFFFF>>2)) + { + status |= (uint8_t)VL53L4CD_ERROR_INVALID_ARGUMENT; + } + else + { + status |= VL53L4CD_WrWord(dev, + VL53L4CD_RANGE_CONFIG__SIGMA_THRESH, sigma_mm<<2); + } + + return status; +} + +VL53L4CD_Error VL53L4CD_GetSigmaThreshold( + Dev_t dev, + uint16_t *p_sigma_mm) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + + status += VL53L4CD_RdWord(dev, + VL53L4CD_RANGE_CONFIG__SIGMA_THRESH, p_sigma_mm); + *p_sigma_mm = *p_sigma_mm >> 2; + + return status; +} + +VL53L4CD_Error VL53L4CD_StartTemperatureUpdate( + Dev_t dev) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + uint8_t tmp = 0, continue_loop = 1; + uint16_t i = 0; + + status |= VL53L4CD_WrByte(dev, + VL53L4CD_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, (uint8_t)0x81); + status |= VL53L4CD_WrByte(dev, 0x0B, (uint8_t)0x92); + status |= VL53L4CD_StartRanging(dev); + + do{ + status |= VL53L4CD_CheckForDataReady(dev, &tmp); + if(tmp == (uint8_t)1) /* Data ready */ + { + continue_loop = (uint8_t)0; + } + else if(i < (uint16_t)1000) /* Wait for answer */ + { + i++; + } + else /* Timeout 1000ms reached */ + { + continue_loop = (uint8_t)0; + status = (uint8_t)VL53L4CD_ERROR_TIMEOUT; + } + VL53L4CD_WaitMs(dev, 1); + }while(continue_loop == (uint8_t)1); + + status |= VL53L4CD_ClearInterrupt(dev); + status |= VL53L4CD_StopRanging(dev); + + status += VL53L4CD_WrByte(dev, + VL53L4CD_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09); + status += VL53L4CD_WrByte(dev, 0x0B, 0); + return status; +} diff --git a/external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver/VL53L4CD_api.h b/external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver/VL53L4CD_api.h new file mode 100644 index 0000000..b345ea4 --- /dev/null +++ b/external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver/VL53L4CD_api.h @@ -0,0 +1,406 @@ +/** + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + + +#ifndef VL53L4CD_API_H_ +#define VL53L4CD_API_H_ + +#include "platform.h" + +/** + * @brief Driver version + */ + +#define VL53L4CD_IMPLEMENTATION_VER_MAJOR 2 +#define VL53L4CD_IMPLEMENTATION_VER_MINOR 2 +#define VL53L4CD_IMPLEMENTATION_VER_BUILD 3 +#define VL53L4CD_IMPLEMENTATION_VER_REVISION 0 + +/** + * @brief Driver error type + */ + +typedef uint8_t VL53L4CD_Error; + +#define VL53L4CD_ERROR_NONE ((uint8_t)0U) +#define VL53L4CD_ERROR_XTALK_FAILED ((uint8_t)253U) +#define VL53L4CD_ERROR_INVALID_ARGUMENT ((uint8_t)254U) +#define VL53L4CD_ERROR_TIMEOUT ((uint8_t)255U) + + +/** + * @brief Inner Macro for API. Not for user, only for development. + */ + +#define VL53L4CD_SOFT_RESET ((uint16_t)0x0000)) +#define VL53L4CD_I2C_SLAVE__DEVICE_ADDRESS ((uint16_t)0x0001) +#define VL53L4CD_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND ((uint16_t)0x0008) +#define VL53L4CD_XTALK_PLANE_OFFSET_KCPS ((uint16_t)0x0016) +#define VL53L4CD_XTALK_X_PLANE_GRADIENT_KCPS ((uint16_t)0x0018) +#define VL53L4CD_XTALK_Y_PLANE_GRADIENT_KCPS ((uint16_t)0x001A) +#define VL53L4CD_RANGE_OFFSET_MM ((uint16_t)0x001E) +#define VL53L4CD_INNER_OFFSET_MM ((uint16_t)0x0020) +#define VL53L4CD_OUTER_OFFSET_MM ((uint16_t)0x0022) +#define VL53L4CD_GPIO_HV_MUX__CTRL ((uint16_t)0x0030) +#define VL53L4CD_GPIO__TIO_HV_STATUS ((uint16_t)0x0031) +#define VL53L4CD_SYSTEM__INTERRUPT ((uint16_t)0x0046) +#define VL53L4CD_RANGE_CONFIG_A ((uint16_t)0x005E) +#define VL53L4CD_RANGE_CONFIG_B ((uint16_t)0x0061) +#define VL53L4CD_RANGE_CONFIG__SIGMA_THRESH ((uint16_t)0x0064) +#define VL53L4CD_MIN_COUNT_RATE_RTN_LIMIT_MCPS ((uint16_t)0x0066) +#define VL53L4CD_INTERMEASUREMENT_MS ((uint16_t)0x006C) +#define VL53L4CD_THRESH_HIGH ((uint16_t)0x0072) +#define VL53L4CD_THRESH_LOW ((uint16_t)0x0074) +#define VL53L4CD_SYSTEM__INTERRUPT_CLEAR ((uint16_t)0x0086) +#define VL53L4CD_SYSTEM_START ((uint16_t)0x0087) +#define VL53L4CD_RESULT__RANGE_STATUS ((uint16_t)0x0089) +#define VL53L4CD_RESULT__SPAD_NB ((uint16_t)0x008C) +#define VL53L4CD_RESULT__SIGNAL_RATE ((uint16_t)0x008E) +#define VL53L4CD_RESULT__AMBIENT_RATE ((uint16_t)0x0090) +#define VL53L4CD_RESULT__SIGMA ((uint16_t)0x0092) +#define VL53L4CD_RESULT__DISTANCE ((uint16_t)0x0096) + + +#define VL53L4CD_RESULT__OSC_CALIBRATE_VAL ((uint16_t)0x00DE) +#define VL53L4CD_FIRMWARE__SYSTEM_STATUS ((uint16_t)0x00E5) +#define VL53L4CD_IDENTIFICATION__MODEL_ID ((uint16_t)0x010F) + +/** + * @brief defines Software Version + */ + +typedef struct { + uint8_t major; /*!< major number */ + uint8_t minor; /*!< minor number */ + uint8_t build; /*!< build number */ + uint32_t revision; /*!< revision number */ +} VL53L4CD_Version_t; + +/** + * @brief Packed reading results type + */ + +typedef struct { + + /* Status of measurements. If the status is equal to 0, the data are valid*/ + uint8_t range_status; + /* Measured distance in millimeters */ + uint16_t distance_mm; + /* Ambient noise in kcps */ + uint32_t ambient_rate_kcps; + /* Ambient noise in kcps/SPAD */ + uint32_t ambient_per_spad_kcps; + /* Measured signal of the target in kcps */ + uint32_t signal_rate_kcps; + /* Measured signal of the target in kcps/SPAD */ + uint32_t signal_per_spad_kcps; + /* Number of SPADs enabled */ + uint16_t number_of_spad; + /* Estimated measurements std deviation in mm */ + uint16_t sigma_mm; +} VL53L4CD_ResultsData_t; + +/** + * @brief This function programs the software driver version. + * @param (VL53L4CD_Version_t) pVersion : Pointer of structure, containing the + * software version. + * @return (VL53L4CD_ERROR) status : 0 if SW version is OK. + */ + +VL53L4CD_Error VL53L4CD_GetSWVersion( + VL53L4CD_Version_t *pVersion); + + +/** + * @brief This function sets a new I2C address to a sensor. It can be used for + * example when multiple sensors share the same I2C bus. + * @param (Dev_t) dev : Device instance to update. + * @param (uint8_t) new_address : New I2C address. + * @return (VL53L4CD_ERROR) status : 0 if I2C address has been correctly + * programmed. + */ + +VL53L4CD_Error VL53L4CD_SetI2CAddress( + Dev_t dev, + uint8_t new_address); + +/** + * @brief This function is used to get the sensor id of VL53L4CD. The sensor id + * should be 0xEBAA. + * @param (Dev_t) dev : Device instance. + * @param (uint16_t) *p_id : Sensor id. + * @return (VL53L4CD_ERROR) status : 0 if OK. + */ + +VL53L4CD_Error VL53L4CD_GetSensorId( + Dev_t dev, + uint16_t *p_id); + +/** + * @brief This function is used to initialize the sensor. + * @param (Dev_t) dev : Device instance to initialize. + * @return (VL53L4CD_ERROR) status : 0 if init is OK. + */ + +VL53L4CD_Error VL53L4CD_SensorInit( + Dev_t dev); + +/** + * @brief This function clears the interrupt. It needs to be called after a + * ranging data reading to arm the interrupt for the next data ready event. + * @param (Dev_t) dev : Device instance. + * @return (VL53L4CD_ERROR) status : 0 if OK. + */ + +VL53L4CD_Error VL53L4CD_ClearInterrupt( + Dev_t dev); + +/** + * @brief This function starts a ranging session. The ranging operation is + * continuous. The clear interrupt has to be done after each get data to allow + * the interrupt to raise when the next data is ready. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @return (VL53L4CD_ERROR) status : 0 if OK. + */ + +VL53L4CD_Error VL53L4CD_StartRanging( + Dev_t dev); + +/** + * @brief This function stops the ranging in progress. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @return (VL53L4CD_ERROR) status : 0 if OK. + */ + +VL53L4CD_Error VL53L4CD_StopRanging( + Dev_t dev); + +/** + * @brief This function check if a new data is available by polling a dedicated + * register. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @param (uint8_t) *p_is_data_ready : Pointer containing a flag to know if a + * data is ready : 0 = no data ready, 1 = data ready. + * @return (VL53L4CD_ERROR) status : 0 if OK. + */ + +VL53L4CD_Error VL53L4CD_CheckForDataReady( + Dev_t dev, + uint8_t *p_is_data_ready); + +/** + * @brief This function sets new range timing. Timing are composed of + * TimingBudget and InterMeasurement. TimingBudget represents the timing during + * VCSEL enabled, and InterMeasurement the time between two measurements. + * The sensor can have different ranging mode depending of the configuration, + * please refer to the user manual for more information. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @param (uint32_t) timing_budget_ms : New timing budget in ms. Value can be + * between 10ms and 200ms. Default is 50ms. + * @param (uint32_t) inter_measurement_ms : New inter-measurement in ms. If the + * value is equal to 0, the ranging period is defined by the timing budget. + * Otherwise, inter-measurement must be > timing budget. When all the timing + * budget is consumed, the device goes in low power mode until inter-measurement + * is done. + * @return (uint8_t) status : 0 if OK. + */ + +VL53L4CD_Error VL53L4CD_SetRangeTiming( + Dev_t dev, + uint32_t timing_budget_ms, + uint32_t inter_measurement_ms); + +/** + * @brief This function gets the current range timing. Timing are composed of + * TimingBudget and InterMeasurement. TimingBudget represents the timing during + * VCSEL enabled, and InterMeasurement the time between two measurements. + * The sensor can have different ranging mode depending of the configuration, + * please refer to the user manual for more information. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @param (uint32_t) *p_timing_budget_ms : Pointer containing the current + * timing budget in ms. + * @param (uint32_t) *p_inter_measurement_ms : Pointer containing the current + * inter-measurement in ms. + * @return (uint8_t) status : 0 if OK. + */ + +VL53L4CD_Error VL53L4CD_GetRangeTiming( + Dev_t dev, + uint32_t *p_timing_budget_ms, + uint32_t *p_inter_measurement_ms); + +/** + * @brief This function gets the results reported by the sensor. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @param (VL53L4CD_ResultsData_t) *pResult : Pointer of structure, filled with the + * ranging results. + * @return (uint8_t) status : 0 if OK. + */ + +VL53L4CD_Error VL53L4CD_GetResult(Dev_t dev, VL53L4CD_ResultsData_t *pResult); + +/** + * @brief This function sets a new offset correction in mm. Offset corresponds + * to the difference in millimeters between real distance and measured distance. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @param (int16_t) OffsetValueInMm : Offset value in millimeters. The minimum + * value is -1024mm and maximum is 1023mm. + * @return (uint8_t) status : 0 if OK. + */ + +VL53L4CD_Error VL53L4CD_SetOffset(Dev_t dev, int16_t OffsetValueInMm); + +/** + * @brief This function gets the current offset correction in mm. Offset + * corresponds to the difference in millimeters between real distance and + * measured distance. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @param (int16_t) OffsetValueInMm : Offset value in millimeters. The minimum + * value is -1024mm and maximum is 1023mm. + * @return (uint8_t) status : 0 if OK. + */ + +VL53L4CD_Error VL53L4CD_GetOffset(Dev_t dev, int16_t *Offset); + +/** + * @brief This function sets a new Xtalk value in kcps. Xtalk represents the + * correction to apply to the sensor when a protective coverglass is placed + * at the top of the sensor. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @param (uint16_t) XtalkValueKcps : New xtalk value in kcps. The default + * value is 0 kcps (no coverglass). Minimum is 0 kcps , and maximum is 128 + * kcps. + * @return (VL53L4CD_ERROR) status : 0 if OK. + */ + +VL53L4CD_Error VL53L4CD_SetXtalk(Dev_t dev, uint16_t XtalkValueKcps); + +/** + * @brief This function gets the current Xtalk value in kcps. Xtalk represents + * the correction to apply to the sensor when a protective coverglass is placed + * at the top of the sensor. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @param (uint16_t) p_xtalk_kcps : Pointer of current xtalk value in kcps. + * @return (VL53L4CD_ERROR) status : 0 if OK. + */ + +VL53L4CD_Error VL53L4CD_GetXtalk(Dev_t dev, uint16_t *p_xtalk_kcps); + +/** + * @brief This function sets new detection thresholds. The detection + * thresholds can be programmed to generate an interrupt on pin 7 (GPIO1), only + * when a condition on distance is reach. Example: + * VL53L4CD_SetDistanceThreshold(dev,100,300,0): Below 100 mm + * VL53L4CD_SetDistanceThreshold(dev,100,300,1): Above 300 mm + * VL53L4CD_SetDistanceThreshold(dev,100,300,2): Below 100mm or above 300mm + * VL53L4CD_SetDistanceThreshold(dev,100,300,3): Above 100mm and below 300mm + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @param (uint16_t) distance_low_mm : Low distance threshold in millimeters. + * @param (uint16_t) distance_high_mm : High distance threshold in millimeters. + * @param (uint8_t) window : Interrupt windows (0=below low threshold; + * 1=above high threshold; 2=out of low/high windows; 3=in low/high windows) + * @return (VL53L4CD_ERROR) status : 0 if OK. + */ + +VL53L4CD_Error VL53L4CD_SetDetectionThresholds(Dev_t dev, + uint16_t distance_low_mm, + uint16_t distance_high_mm, + uint8_t window); + + +/** + * @brief This function gets the current detection thresholds. The detection + * thresholds can be programmed to generate an interrupt on pin 7 (GPIO1), only + * when a condition on distance is reach. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @param (uint16_t) *p_distance_low_mm : Pointer of low distance threshold in + * millimeters. + * @param (uint16_t) *p_distance_high_mm : Pointer of high distance threshold in + * millimeters. + * @param (uint8_t) *p_window : Interrupt windows (0=below low threshold; + * 1=above high threshold; 2=out of low/high windows; 3=in low/high windows) + * @return (VL53L4CD_ERROR) status : 0 if OK. + */ + +VL53L4CD_Error VL53L4CD_GetDetectionThresholds(Dev_t dev, + uint16_t *p_distance_low_mm, + uint16_t *p_distance_high_mm, + uint8_t *p_window); + +/** + * @brief This function sets a new signal threshold in kcps. If a + * target has a lower signal as the programmed value, the result status in + * structure 'VL53L4CD_ResultsData_t' will be equal to 2. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @param (uint16_t) signal_kcps : New signal threshold in kcps. The default + * value is 1024 kcps. Minimum is 0 kcps (no threshold), and maximum is 16384 + * kcps. + * @return (VL53L4CD_ERROR) status : 0 if OK. + */ + +VL53L4CD_Error VL53L4CD_SetSignalThreshold(Dev_t dev, uint16_t signal_kcps); + +/** + * @brief This function returns the current signal threshold in kcps. If a + * target has a lower signal as the programmed value, the result status in + * structure 'VL53L4CD_ResultsData_t' will be equal to 2. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @param (uint16_t) *p_signal_kcps : Pointer of signal threshold in kcps. + * @return (VL53L4CD_ERROR) status : 0 if OK. + */ + +VL53L4CD_Error VL53L4CD_GetSignalThreshold(Dev_t dev, + uint16_t *p_signal_kcps); + +/** + * @brief This function programs a new sigma threshold. The sigma corresponds to + * the standard deviation of the returned pulse. If the computed sigma is above + * the programmed value, the result status in structure 'VL53L4CD_ResultsData_t' + * will be equal to 1. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @param (uint16_t) sigma_mm : New sigma threshold in mm. The default value is + * 15mm. Minimum is 0mm (not threshold), and maximum is 16383mm. + * @return (VL53L4CD_ERROR) status : 0 if programming is or 255 if value is too + * high. + */ + +VL53L4CD_Error VL53L4CD_SetSigmaThreshold( + Dev_t dev, + uint16_t sigma_mm); + +/** + * @brief This function gets the current sigma threshold. The sigma corresponds + * to the standard deviation of the returned pulse. If the computed sigma is + * above the programmed value, the result status in structure + * 'VL53L4CD_ResultsData_t' will be equal to 1. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @param (uint16_t) *p_sigma_mm : Current sigma threshold in mm. + * @return (VL53L4CD_ERROR) status : 0 if programming is OK. + */ + +VL53L4CD_Error VL53L4CD_GetSigmaThreshold( + Dev_t dev, + uint16_t *p_sigma_mm); + +/** + * @brief This function can be called when the temperature might have changed by + * more than 8 degrees Celsius. The function can only be used if the sensor is + * not ranging, otherwise, the ranging needs to be stopped using function + * 'VL53L4CD_StopRanging()'. After calling this function, the ranging can + * restart normally. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @return (VL53L4CD_ERROR) status : 0 if update is OK. + */ + +VL53L4CD_Error VL53L4CD_StartTemperatureUpdate(Dev_t dev); + +#endif //VL53L4CD_API_H_ diff --git a/external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver/VL53L4CD_calibration.c b/external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver/VL53L4CD_calibration.c new file mode 100644 index 0000000..cdaf75e --- /dev/null +++ b/external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver/VL53L4CD_calibration.c @@ -0,0 +1,243 @@ +/** + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + + +/** + * @file vl53l4cd_calibration.c + * @brief Calibration functions implementation + */ + +#include +#include "VL53L4CD_api.h" +#include "VL53L4CD_calibration.h" + +VL53L4CD_Error VL53L4CD_CalibrateOffset( + Dev_t dev, + int16_t TargetDistInMm, + int16_t *p_measured_offset_mm, + int16_t nb_samples) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + uint8_t i, tmp, continue_loop; + uint16_t j, tmpOff; + int16_t AvgDistance = 0; + VL53L4CD_ResultsData_t results; + + if(((nb_samples < (int16_t)5) || (nb_samples > (int16_t)255)) + || ((TargetDistInMm < (int16_t)10) + || (TargetDistInMm > (int16_t)1000))) + { + status |= (uint8_t)VL53L4CD_ERROR_INVALID_ARGUMENT; + } + else + { + status |= VL53L4CD_WrWord(dev, VL53L4CD_RANGE_OFFSET_MM, 0x0); + status |= VL53L4CD_WrWord(dev, VL53L4CD_INNER_OFFSET_MM, 0x0); + status |= VL53L4CD_WrWord(dev, VL53L4CD_OUTER_OFFSET_MM, 0x0); + + /* Device heat loop (10 samples) */ + status |= VL53L4CD_StartRanging(dev); + for (i = 0; i < (uint8_t)10; i++) { + tmp = (uint8_t)0; + j = (uint16_t)0; + continue_loop = (uint8_t)1; + do{ + status |= VL53L4CD_CheckForDataReady(dev, &tmp); + if(tmp == (uint8_t)1) /* Data ready */ + { + continue_loop = (uint8_t)0; + } + else if(j < (uint16_t)5000) /* Wait for answer*/ + { + j++; + } + else /* Timeout 5000ms reached */ + { + continue_loop = (uint8_t)0; + status |= (uint8_t)VL53L4CD_ERROR_TIMEOUT; + } + VL53L4CD_WaitMs(dev, 1); + }while(continue_loop == (uint8_t)1); + status |= VL53L4CD_GetResult(dev, &results); + status |= VL53L4CD_ClearInterrupt(dev); + } + status |= VL53L4CD_StopRanging(dev); + + /* Device ranging */ + status |= VL53L4CD_StartRanging(dev); + for (i = 0; i < (uint8_t)nb_samples; i++) { + tmp = (uint8_t)0; + j = (uint16_t)0; + continue_loop = (uint8_t)1; + do{ + status |= VL53L4CD_CheckForDataReady(dev, &tmp); + if(tmp == (uint8_t)1) /* Data ready */ + { + continue_loop = (uint8_t)0; + } + else if(j < (uint16_t)5000) /* Wait for answer*/ + { + j++; + } + else /* Timeout 5000ms reached */ + { + continue_loop = (uint8_t)0; + status |= (uint8_t)VL53L4CD_ERROR_TIMEOUT; + } + VL53L4CD_WaitMs(dev, 1); + }while(continue_loop == (uint8_t)1); + + status |= VL53L4CD_GetResult(dev, &results); + status |= VL53L4CD_ClearInterrupt(dev); + AvgDistance += (int16_t)results.distance_mm; + } + + status |= VL53L4CD_StopRanging(dev); + AvgDistance = AvgDistance / nb_samples; + *p_measured_offset_mm = (int16_t)TargetDistInMm - AvgDistance; + tmpOff = (uint16_t) *p_measured_offset_mm * (uint16_t)4; + status |= VL53L4CD_WrWord(dev, VL53L4CD_RANGE_OFFSET_MM, tmpOff); + } + + return status; +} + +VL53L4CD_Error VL53L4CD_CalibrateXtalk( + Dev_t dev, + int16_t TargetDistInMm, + uint16_t *p_measured_xtalk_kcps, + int16_t nb_samples) +{ + VL53L4CD_Error status = VL53L4CD_ERROR_NONE; + uint8_t i, tmp, continue_loop; + float_t AverageSignal = (float_t)0.0; + float_t AvgDistance = (float_t)0.0; + float_t AverageSpadNb = (float_t)0.0; + float_t TargetDistance = (float_t)TargetDistInMm; + float_t tmp_xtalk, CounterNbSamples = (float_t)0.0; + VL53L4CD_ResultsData_t results; + + uint16_t calXtalk, j; + + *p_measured_xtalk_kcps = 0; + if(((nb_samples < (int16_t)5) || (nb_samples > (int16_t)255)) + || ((TargetDistInMm < (int16_t)10) + || (TargetDistInMm > (int16_t)5000))) + { + status |= (uint8_t)VL53L4CD_ERROR_INVALID_ARGUMENT; + } + else + { + /* Disable Xtalk compensation */ + status |= VL53L4CD_WrWord(dev, + VL53L4CD_XTALK_PLANE_OFFSET_KCPS, *p_measured_xtalk_kcps); + + /* Device heat loop (10 samples) */ + status |= VL53L4CD_StartRanging(dev); + for (i = 0; i < (uint8_t)10; i++) { + tmp = (uint8_t)0; + j = (uint16_t)0; + continue_loop = (uint8_t)1; + do{ + status |= VL53L4CD_CheckForDataReady(dev, &tmp); + if(tmp == (uint8_t)1) /* Data ready */ + { + continue_loop = (uint8_t)0; + } + else if(j < (uint16_t)5000) /* Wait for answer*/ + { + j++; + } + else /* Timeout 5000ms reached */ + { + continue_loop = (uint8_t)0; + status |= (uint8_t)VL53L4CD_ERROR_TIMEOUT; + } + VL53L4CD_WaitMs(dev, 1); + }while(continue_loop == (uint8_t)1); + status |= VL53L4CD_GetResult(dev, &results); + status |= VL53L4CD_ClearInterrupt(dev); + } + status |= VL53L4CD_StopRanging(dev); + + /* Device ranging loop */ + status |= VL53L4CD_StartRanging(dev); + for (i = 0; i < (uint8_t)nb_samples; i++) + { + tmp = (uint8_t)0; + j = (uint16_t)0; + continue_loop = (uint8_t)1; + do{ + status |= VL53L4CD_CheckForDataReady(dev, &tmp); + if(tmp == (uint8_t)1) /* Data ready */ + { + continue_loop = (uint8_t)0; + } + else if(j < (uint16_t)5000) /* Wait for answer*/ + { + j++; + } + else /* Timeout 5000ms reached */ + { + continue_loop = (uint8_t)0; + status |= (uint8_t)VL53L4CD_ERROR_TIMEOUT; + } + VL53L4CD_WaitMs(dev, 1); + }while(continue_loop == (uint8_t)1); + + status |= VL53L4CD_GetResult(dev, &results); + status |= VL53L4CD_ClearInterrupt(dev); + + /* Discard invalid measurements and first frame */ + if (results.range_status == (uint8_t)0 + && i > (uint8_t)0) + { + AvgDistance += (float_t)results.distance_mm; + AverageSpadNb += (float_t)results.number_of_spad; + AverageSignal += (float_t)results.signal_rate_kcps; + CounterNbSamples++; + } + } + status |= VL53L4CD_StopRanging(dev); + + if (CounterNbSamples == 0) + { + status = VL53L4CD_ERROR_XTALK_FAILED; + } + else + { + AvgDistance /= CounterNbSamples; + AverageSpadNb /= CounterNbSamples; + AverageSignal /= CounterNbSamples; + + tmp_xtalk = (float_t)1.0 - (AvgDistance/TargetDistance); + tmp_xtalk *= (AverageSignal/AverageSpadNb); + + /* 127kcps is the max Xtalk value (65536/512) */ + if(tmp_xtalk > (uint16_t)127) + { + status = VL53L4CD_ERROR_XTALK_FAILED; + } + else + { + *p_measured_xtalk_kcps = (uint16_t)(round(tmp_xtalk)); + + /* Send data to firmware */ + calXtalk = (uint16_t)(tmp_xtalk * (float_t)512.0); + status |= VL53L4CD_WrWord(dev, + VL53L4CD_XTALK_PLANE_OFFSET_KCPS, calXtalk); + } + } + } + + return status; +} diff --git a/external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver/VL53L4CD_calibration.h b/external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver/VL53L4CD_calibration.h new file mode 100644 index 0000000..06cd782 --- /dev/null +++ b/external/VL53L4CD_ULD_V2.2.3/VL53L4CD_ULD_Driver/VL53L4CD_calibration.h @@ -0,0 +1,74 @@ +/** + * + * Copyright (c) 2023 STMicroelectronics. + * All rights reserved. + * + * This software is licensed under terms that can be found in the LICENSE file + * in the root directory of this software component. + * If no LICENSE file comes with this software, it is provided AS-IS. + * + ****************************************************************************** + */ + + +/** + * @file vl53l4cd_calibration.h + * @brief Calibration Functions definition + */ + +#ifndef VL53L4CD_CALIBRATION_H_ +#define VL53L4CD_CALIBRATION_H_ + +#include "platform.h" + +/** + * @brief This function can be used to perform an offset calibration. Offset + * corresponds to the difference in millimeters between real distance and + * measured distance. ST recommend to perform offset at 100m, on a grey17% + * reflective target, but any other distance and reflectance can be used. + * The function returns the offset value found and programs the offset + * compensation into the device. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @param (int16_t) TargetDistInMm : Real distance between the sensor and the + * target in millimeters. ST recommend 100mm. Min distance is 10mm and max is + * 1000mm. + * @param (int16_t) nb_samples : Number of samples (between 5 and 255). A higher + * number of samples increases the accuracy, but it also takes more time. ST + * recommend to use at least 10 samples. + * @return (VL53L4CD_ERROR) status : 0 if OK, or 255 if something occurred (e.g + * invalid nb of samples). + */ + +VL53L4CD_Error VL53L4CD_CalibrateOffset( + Dev_t dev, + int16_t TargetDistInMm, + int16_t *p_measured_offset_mm, + int16_t nb_samples); + + +/** + * @brief This function can be used to perform a Xtalk calibration. Xtalk + * represents the correction to apply to the sensor when a protective coverglass + * is placed at the top of the sensor. The distance for calibration depends of + * the coverglass, it needs to be characterized. Please refer to the User Manual + * for more information. + * The function returns the Xtalk value found and programs the Xtalk + * compensation into the device. + * @param (Dev_t) dev : instance of selected VL53L4CD sensor. + * @param uint16_t) TargetDistInMm : Real distance between the sensor and the + * target in millimeters. This distance needs to be characterized, as described + * into the User Manual. + * @param (int16_t) nb_samples : Number of samples (between 5 and 255). A higher + * number of samples increases the accuracy, but it also takes more time. ST + * recommend to use at least 10 samples. + * @return (VL53L4CD_ERROR) status : 0 if OK, or 255 if something occurred (e.g + * invalid nb of samples). + */ + +VL53L4CD_Error VL53L4CD_CalibrateXtalk( + Dev_t dev, + int16_t TargetDistInMm, + uint16_t *p_measured_xtalk_kcps, + int16_t nb_samples); + +#endif //VL53L4CD_CALIBRATION_H_ diff --git a/external/VL53L4CD_ULD_V2.2.3/changelog.txt b/external/VL53L4CD_ULD_V2.2.3/changelog.txt new file mode 100644 index 0000000..2fc8d78 --- /dev/null +++ b/external/VL53L4CD_ULD_V2.2.3/changelog.txt @@ -0,0 +1,76 @@ +******************************************************************************** +* +* STMicroelectronics - VL53L4CD - Ultra Lite Driver +* +******************************************************************************** + +# Driver version history + +--------------------------------------------------------------------------------------------------------------- + +Version : 1.0.0.0 +Date : 09/23/2021 +Comments : Initial driver release. + +--------------------------------------------------------------------------------------------------------------- + +Version : 1.1.0.0 +Date : 11/03/2021 +Comments : Removed macro 'VL53L4CD_I2C_FAST_MODE_PLUS' defined in api.h file + +--------------------------------------------------------------------------------------------------------------- + +Version : 1.2.0.0 +Date : 11/17/2021 +Comments : Corrected wrong error raised when the detection thresholds were applied with HW interrupt. + +--------------------------------------------------------------------------------------------------------------- + +Version : 2.0.0.0 +Date : 05/31/2022 +Comments : MAJOR RELEASE +- Changed uint16_t dev by Dev_t dev instance. Warning, this release is not 100% compatible with previous release. See + driver examples for more information. +- Fixed bug in Xtalk calibration function. When Xtalk value was too high, the value was wrapped. +- Renamed structure 'VL53L4CD_Result_t' by 'VL53L4CD_ResultsData_t' +- Added typedef 'VL53L4CD_Error' + +--------------------------------------------------------------------------------------------------------------- + +Version : 2.1.0.0 +Date : 11/09/2022 +Comments : Reduced minimum distance from 50mm to 10mm for offset and Xtalk calibration. + +--------------------------------------------------------------------------------------------------------------- + +Version : 2.1.1.0 +Date : 02/27/2023 +Comments : Fixed Linux compliation issues + +--------------------------------------------------------------------------------------------------------------- + +Version : 2.2.0.0 +Date : 05/10/2024 +-Comments : Changed license for SLA0103(ST open source) +-Renamed function WaitMS() to VL53L4CD_WaitMS() + +--------------------------------------------------------------------------------------------------------------- + +Version : 2.2.1.0 +Date : 08/01/2024 +-Comments : Update VL53L4CD_StopRanging() to fix issue of interrupt after stop ranging. + +--------------------------------------------------------------------------------------------------------------- + +Version : 2.2.2.0 +Date : 01/21/2025 +-Comments : Update VL53L4CD_StartTemperatureUpdate() to support both Autonomous and Continuous mode. + +--------------------------------------------------------------------------------------------------------------- + +Version : 2.2.3.0 +Date : 08/05/2025 +-Comments : Changed signal_rate_kcps from uint16_t to uint32_t to avoid signal saturation when facing mirror at short distance + Optimized signal_per_spad_kcps calculation method to improve the accuracy. + +--------------------------------------------------------------------------------------------------------------- \ No newline at end of file diff --git a/mise.toml b/mise.toml index 841833e..eafb027 100644 --- a/mise.toml +++ b/mise.toml @@ -96,7 +96,7 @@ java -jar {{vars.plantuml_jar}} -o media docs/state.uml [tasks.lint] description = ''' Lint firmware app files with compilation context from cmake compile_commands.json, surpressing -warnings from ST's VL53L0X and HAL drivers. +warnings from HAL drivers. ''' run = ''' cmake --preset debug @@ -105,7 +105,6 @@ cppcheck \ --project=build/debug/compile_commands.json \ --file-filter='app/**' \ --suppress='*:Drivers/**' \ - --suppress='*:app/drivers/vl53l0x/**' \ -D__GNUC__ \ --quiet \ --error-exitcode=1 \ diff --git a/scripts/clang-format.sh b/scripts/clang-format.sh index 81032a3..0fd2502 100755 --- a/scripts/clang-format.sh +++ b/scripts/clang-format.sh @@ -2,7 +2,7 @@ set -euo pipefail find app tests \ - \( -path 'app/drivers/vl53l0x' -o -path 'tests/unity' \) -prune -o \ + -path 'tests/unity' -prune -o \ -type f \( -name '*.c' -o -name '*.h' \) \ ! -path 'app/config/SEGGER_RTT_Conf.h' \ -print0 | diff --git a/sumo.ioc b/sumo.ioc index e99b8f5..31aea5b 100644 --- a/sumo.ioc +++ b/sumo.ioc @@ -48,9 +48,9 @@ Dma.Request0=ADC2 Dma.RequestsNb=1 File.Version=6 GPIO.groupedBy=Group By Peripherals -I2C1.I2C_Speed_Mode=I2C_Fast +I2C1.I2C_Speed_Mode=I2C_Fast_Plus I2C1.IPParameters=Timing,I2C_Speed_Mode -I2C1.Timing=0x0010020A +I2C1.Timing=0x00100001 KeepUserPlacement=false Mcu.CPN=STM32F303K8T6 Mcu.Family=STM32F3