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vl53l4cx_api.cpp
1777 lines (1445 loc) · 56.1 KB
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vl53l4cx_api.cpp
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// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause
/******************************************************************************
* Copyright (c) 2020, STMicroelectronics - All Rights Reserved
This file is part of VL53L4CX and is dual licensed,
either GPL-2.0+
or 'BSD 3-clause "New" or "Revised" License' , at your option.
******************************************************************************
*/
#include "vl53l4cx_class.h"
#define ZONE_CHECK 5
#ifndef MIN
#define MIN(v1, v2) ((v1) < (v2) ? (v1) : (v2))
#endif
#ifndef MAX
#define MAX(v1, v2) ((v1) < (v2) ? (v2) : (v1))
#endif
#define DMAX_REFLECTANCE_IDX 2
#define LOWPOWER_AUTO_VHV_LOOP_DURATION_US 245
#define LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING 1448
#define LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING 2100
#define FDA_MAX_TIMING_BUDGET_US 550000
#define L4_FDA_MAX_TIMING_BUDGET_US 200000
static int32_t BDTable[VL53L4CX_TUNING_MAX_TUNABLE_KEY] = {
TUNING_VERSION,
TUNING_PROXY_MIN,
TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM,
TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER,
TUNING_MIN_AMBIENT_DMAX_VALID,
TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER,
TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM,
TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT,
TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN,
TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET,
TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR_DEFAULT
};
VL53L4CX_Error VL53L4CX::VL53L4CX_GetSensorId(uint16_t *pId)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
Status |= VL53L4CX_RdWord(Dev, VL53L4CX_IDENTIFICATION__MODEL_ID, pId);
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_GetVersion(VL53L4CX_Version_t *pVersion)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
pVersion->major = VL53L4CX_IMPLEMENTATION_VER_MAJOR;
pVersion->minor = VL53L4CX_IMPLEMENTATION_VER_MINOR;
pVersion->build = VL53L4CX_IMPLEMENTATION_VER_SUB;
pVersion->revision = VL53L4CX_IMPLEMENTATION_VER_REVISION;
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_GetProductRevision(uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
uint8_t revision_id;
VL53L4CX_LLDriverData_t *pLLData;
pLLData = VL53L4CXDevStructGetLLDriverHandle(Dev);
revision_id = pLLData->nvm_copy_data.identification__revision_id;
*pProductRevisionMajor = 1;
*pProductRevisionMinor = (revision_id & 0xF0) >> 4;
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_GetDeviceInfo(VL53L4CX_DeviceInfo_t *pVL53L4CX_DeviceInfo)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
uint8_t revision_id;
VL53L4CX_LLDriverData_t *pLLData;
pLLData = VL53L4CXDevStructGetLLDriverHandle(Dev);
pVL53L4CX_DeviceInfo->ProductType =
pLLData->nvm_copy_data.identification__module_type;
revision_id = pLLData->nvm_copy_data.identification__revision_id;
pVL53L4CX_DeviceInfo->ProductRevisionMajor = 1;
pVL53L4CX_DeviceInfo->ProductRevisionMinor = (revision_id & 0xF0) >> 4;
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_GetUID(uint64_t *pUid)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
uint8_t fmtdata[8];
Status = VL53L4CX_read_nvm_raw_data(Dev,
(uint8_t)(0x1F8 >> 2),
(uint8_t)(8 >> 2),
fmtdata);
memcpy(pUid, fmtdata, sizeof(uint64_t));
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_SetDeviceAddress(uint8_t DeviceAddress)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
VL53L4CX_LLDriverData_t *pdev = VL53L4CXDevStructGetLLDriverHandle(Dev);
VL53L4CX_static_nvm_managed_t *pdata = &(pdev->stat_nvm);
Status = VL53L4CX_WrByte(Dev, VL53L4CX_I2C_SLAVE__DEVICE_ADDRESS,
DeviceAddress / 2);
if (Status == VL53L4CX_ERROR_NONE) {
Dev->I2cDevAddr = DeviceAddress;
}
pdata->i2c_slave__device_address = (DeviceAddress / 2) & 0x7F;
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_DataInit()
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
VL53L4CX_LLDriverData_t *pdev;
uint8_t measurement_mode;
#ifdef USE_I2C_2V8
Status = VL53L4CX_RdByte(Dev, VL53L4CX_PAD_I2C_HV__EXTSUP_CONFIG, &i);
if (Status == VL53L4CX_ERROR_NONE) {
i = (i & 0xfe) | 0x01;
Status = VL53L4CX_WrByte(Dev, VL53L4CX_PAD_I2C_HV__EXTSUP_CONFIG,
i);
}
#endif
if (Status == VL53L4CX_ERROR_NONE) {
Status = VL53L4CX_data_init(Dev, 1);
}
if (Status == VL53L4CX_ERROR_NONE)
Status = SetPresetModeL3CX(Dev,
VL53L4CX_DISTANCEMODE_MEDIUM,
1000);
if (Status == VL53L4CX_ERROR_NONE) {
Status = VL53L4CX_SetMeasurementTimingBudgetMicroSeconds(33333);
}
if (Status == VL53L4CX_ERROR_NONE) {
pdev = VL53L4CXDevStructGetLLDriverHandle(Dev);
memset(&pdev->per_vcsel_cal_data, 0,
sizeof(pdev->per_vcsel_cal_data));
}
if (Status == VL53L4CX_ERROR_NONE) {
Status = VL53L4CX_set_dmax_mode(Dev,
VL53L4CX_DEVICEDMAXMODE__CUST_CAL_DATA);
}
if (Status == VL53L4CX_ERROR_NONE) {
Status = VL53L4CX_SmudgeCorrectionEnable(VL53L4CX_SMUDGE_CORRECTION_NONE);
}
measurement_mode = VL53L4CX_DEVICEMEASUREMENTMODE_BACKTOBACK;
VL53L4CXDevDataSet(Dev, LLData.measurement_mode, measurement_mode);
VL53L4CXDevDataSet(Dev, CurrentParameters.DistanceMode,
VL53L4CX_DISTANCEMODE_MEDIUM);
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_WaitDeviceBooted()
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
Status = VL53L4CX_poll_for_boot_completion(Dev,
VL53L4CX_BOOT_COMPLETION_POLLING_TIMEOUT_MS);
return Status;
}
VL53L4CX_Error VL53L4CX::ComputeDevicePresetMode(
VL53L4CX_DistanceModes DistanceMode,
VL53L4CX_DevicePresetModes *pDevicePresetMode)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
uint8_t DistIdx;
VL53L4CX_DevicePresetModes RangingModes[3] = {
VL53L4CX_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE,
VL53L4CX_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE,
VL53L4CX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE
};
switch (DistanceMode) {
case VL53L4CX_DISTANCEMODE_SHORT:
DistIdx = 0;
break;
case VL53L4CX_DISTANCEMODE_MEDIUM:
DistIdx = 1;
break;
default:
DistIdx = 2;
}
*pDevicePresetMode = RangingModes[DistIdx];
return Status;
}
VL53L4CX_Error VL53L4CX::SetPresetModeL3CX(VL53L4CX_DEV Dev,
VL53L4CX_DistanceModes DistanceMode,
uint32_t inter_measurement_period_ms)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
VL53L4CX_DevicePresetModes device_preset_mode;
uint8_t measurement_mode;
uint16_t dss_config__target_total_rate_mcps = 0;
uint32_t phasecal_config_timeout_us = 0;
uint32_t mm_config_timeout_us = 0;
uint32_t lld_range_config_timeout_us = 0;
measurement_mode = VL53L4CX_DEVICEMEASUREMENTMODE_BACKTOBACK;
Status = ComputeDevicePresetMode(DistanceMode,
&device_preset_mode);
if (Status == VL53L4CX_ERROR_NONE)
Status = VL53L4CX_get_preset_mode_timing_cfg(Dev,
device_preset_mode,
&dss_config__target_total_rate_mcps,
&phasecal_config_timeout_us,
&mm_config_timeout_us,
&lld_range_config_timeout_us);
if (Status == VL53L4CX_ERROR_NONE)
Status = VL53L4CX_set_preset_mode(
Dev,
device_preset_mode,
dss_config__target_total_rate_mcps,
phasecal_config_timeout_us,
mm_config_timeout_us,
lld_range_config_timeout_us,
inter_measurement_period_ms);
if (Status == VL53L4CX_ERROR_NONE)
VL53L4CXDevDataSet(Dev, LLData.measurement_mode,
measurement_mode);
return Status;
}
int VL53L4CX::IsL4(VL53L4CX_DEV Dev)
{
int devL4 = 0;
VL53L4CX_LLDriverData_t *pDev;
pDev = VL53L4CXDevStructGetLLDriverHandle(Dev);
if ((pDev->nvm_copy_data.identification__module_type == 0xAA) &&
(pDev->nvm_copy_data.identification__model_id == 0xEB)) {
devL4 = 1;
}
return devL4;
}
VL53L4CX_Error VL53L4CX::CheckValidRectRoi(VL53L4CX_UserRoi_t ROI)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
if ((ROI.TopLeftX > 15) || (ROI.TopLeftY > 15) ||
(ROI.BotRightX > 15) || (ROI.BotRightY > 15)) {
Status = VL53L4CX_ERROR_INVALID_PARAMS;
}
if ((ROI.TopLeftX > ROI.BotRightX) || (ROI.TopLeftY < ROI.BotRightY)) {
Status = VL53L4CX_ERROR_INVALID_PARAMS;
}
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_SetDistanceMode(VL53L4CX_DistanceModes DistanceMode)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
uint32_t inter_measurement_period_ms;
uint32_t TimingBudget = 0;
uint32_t MmTimeoutUs = 0;
uint32_t PhaseCalTimeoutUs = 0;
if ((DistanceMode != VL53L4CX_DISTANCEMODE_SHORT) &&
(DistanceMode != VL53L4CX_DISTANCEMODE_MEDIUM) &&
(DistanceMode != VL53L4CX_DISTANCEMODE_LONG)) {
return VL53L4CX_ERROR_INVALID_PARAMS;
}
if (IsL4(Dev) && (DistanceMode == VL53L4CX_DISTANCEMODE_SHORT)) {
return VL53L4CX_ERROR_INVALID_PARAMS;
}
inter_measurement_period_ms = VL53L4CXDevDataGet(Dev,
LLData.inter_measurement_period_ms);
if (Status == VL53L4CX_ERROR_NONE)
Status = VL53L4CX_get_timeouts_us(Dev, &PhaseCalTimeoutUs,
&MmTimeoutUs, &TimingBudget);
if (Status == VL53L4CX_ERROR_NONE)
Status = SetPresetModeL3CX(Dev,
DistanceMode,
inter_measurement_period_ms);
if (Status == VL53L4CX_ERROR_NONE) {
VL53L4CXDevDataSet(Dev, CurrentParameters.DistanceMode,
DistanceMode);
}
if (Status == VL53L4CX_ERROR_NONE) {
Status = VL53L4CX_set_timeouts_us(Dev, PhaseCalTimeoutUs,
MmTimeoutUs, TimingBudget);
if (Status == VL53L4CX_ERROR_NONE)
VL53L4CXDevDataSet(Dev, LLData.range_config_timeout_us,
TimingBudget);
}
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_GetDistanceMode(VL53L4CX_DistanceModes *pDistanceMode)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
*pDistanceMode = VL53L4CXDevDataGet(Dev, CurrentParameters.DistanceMode);
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_SetMeasurementTimingBudgetMicroSeconds(uint32_t MeasurementTimingBudgetMicroSeconds)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
uint32_t TimingGuard;
uint32_t divisor;
uint32_t TimingBudget = 0;
uint32_t MmTimeoutUs = 0;
uint32_t PhaseCalTimeoutUs = 0;
uint32_t FDAMaxTimingBudgetUs = FDA_MAX_TIMING_BUDGET_US;
if (MeasurementTimingBudgetMicroSeconds > 10000000) {
Status = VL53L4CX_ERROR_INVALID_PARAMS;
}
if (Status == VL53L4CX_ERROR_NONE)
Status = VL53L4CX_get_timeouts_us(Dev,
&PhaseCalTimeoutUs,
&MmTimeoutUs,
&TimingBudget);
TimingGuard = 1700;
divisor = 6;
if (IsL4(Dev)) {
FDAMaxTimingBudgetUs = L4_FDA_MAX_TIMING_BUDGET_US;
}
if (MeasurementTimingBudgetMicroSeconds <= TimingGuard) {
Status = VL53L4CX_ERROR_INVALID_PARAMS;
} else {
TimingBudget = (MeasurementTimingBudgetMicroSeconds
- TimingGuard);
}
if (Status == VL53L4CX_ERROR_NONE) {
if (TimingBudget > FDAMaxTimingBudgetUs) {
Status = VL53L4CX_ERROR_INVALID_PARAMS;
} else {
TimingBudget /= divisor;
Status = VL53L4CX_set_timeouts_us(
Dev,
PhaseCalTimeoutUs,
MmTimeoutUs,
TimingBudget);
}
if (Status == VL53L4CX_ERROR_NONE)
VL53L4CXDevDataSet(Dev,
LLData.range_config_timeout_us,
TimingBudget);
}
if (Status == VL53L4CX_ERROR_NONE) {
VL53L4CXDevDataSet(Dev,
CurrentParameters.MeasurementTimingBudgetMicroSeconds,
MeasurementTimingBudgetMicroSeconds);
}
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_GetMeasurementTimingBudgetMicroSeconds(uint32_t *pMeasurementTimingBudgetMicroSeconds)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
uint32_t MmTimeoutUs = 0;
uint32_t RangeTimeoutUs = 0;
uint32_t PhaseCalTimeoutUs = 0;
*pMeasurementTimingBudgetMicroSeconds = 0;
if (Status == VL53L4CX_ERROR_NONE)
Status = VL53L4CX_get_timeouts_us(Dev,
&PhaseCalTimeoutUs,
&MmTimeoutUs,
&RangeTimeoutUs);
if (Status == VL53L4CX_ERROR_NONE)
*pMeasurementTimingBudgetMicroSeconds = (6 * RangeTimeoutUs) +
1700;
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_SetUserROI(VL53L4CX_UserRoi_t *pRoi)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
VL53L4CX_zone_config_t zone_cfg;
uint8_t x_centre, y_centre, width, height;
Status = CheckValidRectRoi(*pRoi);
if (Status != VL53L4CX_ERROR_NONE) {
return VL53L4CX_ERROR_INVALID_PARAMS;
}
x_centre = (pRoi->BotRightX + pRoi->TopLeftX + 1) / 2;
y_centre = (pRoi->TopLeftY + pRoi->BotRightY + 1) / 2;
width = (pRoi->BotRightX - pRoi->TopLeftX);
height = (pRoi->TopLeftY - pRoi->BotRightY);
zone_cfg.max_zones = 1;
zone_cfg.active_zones = 0;
zone_cfg.user_zones[0].x_centre = x_centre;
zone_cfg.user_zones[0].y_centre = y_centre;
zone_cfg.user_zones[0].width = width;
zone_cfg.user_zones[0].height = height;
if ((width < 3) || (height < 3)) {
Status = VL53L4CX_ERROR_INVALID_PARAMS;
} else {
Status = VL53L4CX_set_zone_config(Dev, &zone_cfg);
}
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_GetUserROI(VL53L4CX_UserRoi_t *pRoi)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
VL53L4CX_zone_config_t zone_cfg;
uint8_t TopLeftX;
uint8_t TopLeftY;
uint8_t BotRightX;
uint8_t BotRightY;
VL53L4CX_get_zone_config(Dev, &zone_cfg);
TopLeftX = (2 * zone_cfg.user_zones[0].x_centre -
zone_cfg.user_zones[0].width) >> 1;
TopLeftY = (2 * zone_cfg.user_zones[0].y_centre +
zone_cfg.user_zones[0].height) >> 1;
BotRightX = (2 * zone_cfg.user_zones[0].x_centre +
zone_cfg.user_zones[0].width) >> 1;
BotRightY = (2 * zone_cfg.user_zones[0].y_centre -
zone_cfg.user_zones[0].height) >> 1;
pRoi->TopLeftX = TopLeftX;
pRoi->TopLeftY = TopLeftY;
pRoi->BotRightX = BotRightX;
pRoi->BotRightY = BotRightY;
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_StartMeasurement()
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
uint8_t DeviceMeasurementMode;
uint8_t i;
VL53L4CX_LLDriverData_t *pdev = VL53L4CXDevStructGetLLDriverHandle(Dev);
VL53L4CX_load_patch(Dev);
for (i = 0; i < VL53L4CX_MAX_RANGE_RESULTS; i++) {
pdev->PreviousRangeMilliMeter[i] = 0;
pdev->PreviousRangeStatus[i] = 255;
pdev->PreviousExtendedRange[i] = 0;
}
pdev->PreviousStreamCount = 0;
pdev->PreviousRangeActiveResults = 0;
DeviceMeasurementMode = VL53L4CXDevDataGet(Dev, LLData.measurement_mode);
if (Status == VL53L4CX_ERROR_NONE)
Status = VL53L4CX_init_and_start_range(
Dev,
DeviceMeasurementMode,
VL53L4CX_DEVICECONFIGLEVEL_FULL);
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_StopMeasurement()
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
Status = VL53L4CX_stop_range(Dev);
VL53L4CX_unload_patch(Dev);
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_ClearInterruptAndStartMeasurement()
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
uint8_t DeviceMeasurementMode;
DeviceMeasurementMode = VL53L4CXDevDataGet(Dev, LLData.measurement_mode);
Status = VL53L4CX_clear_interrupt_and_enable_next_range(Dev,
DeviceMeasurementMode);
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_GetMeasurementDataReady(uint8_t *pMeasurementDataReady)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
Status = VL53L4CX_is_new_data_ready(Dev, pMeasurementDataReady);
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_WaitMeasurementDataReady()
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
Status = VL53L4CX_poll_for_range_completion(Dev,
VL53L4CX_RANGE_COMPLETION_POLLING_TIMEOUT_MS);
return Status;
}
uint8_t VL53L4CX::ConvertStatusHisto(uint8_t FilteredRangeStatus)
{
uint8_t RangeStatus;
switch (FilteredRangeStatus) {
case VL53L4CX_DEVICEERROR_RANGEPHASECHECK:
RangeStatus = VL53L4CX_RANGESTATUS_OUTOFBOUNDS_FAIL;
break;
case VL53L4CX_DEVICEERROR_SIGMATHRESHOLDCHECK:
RangeStatus = VL53L4CX_RANGESTATUS_SIGMA_FAIL;
break;
case VL53L4CX_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK:
RangeStatus =
VL53L4CX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL;
break;
case VL53L4CX_DEVICEERROR_PHASECONSISTENCY:
RangeStatus = VL53L4CX_RANGESTATUS_WRAP_TARGET_FAIL;
break;
case VL53L4CX_DEVICEERROR_PREV_RANGE_NO_TARGETS:
RangeStatus = VL53L4CX_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL;
break;
case VL53L4CX_DEVICEERROR_EVENTCONSISTENCY:
RangeStatus = VL53L4CX_RANGESTATUS_WRAP_TARGET_FAIL;
break;
case VL53L4CX_DEVICEERROR_RANGECOMPLETE_MERGED_PULSE:
RangeStatus = VL53L4CX_RANGESTATUS_RANGE_VALID_MERGED_PULSE;
break;
case VL53L4CX_DEVICEERROR_RANGECOMPLETE:
RangeStatus = VL53L4CX_RANGESTATUS_RANGE_VALID;
break;
default:
RangeStatus = VL53L4CX_RANGESTATUS_NONE;
}
return RangeStatus;
}
VL53L4CX_Error VL53L4CX::SetTargetData(VL53L4CX_DEV Dev,
uint8_t active_results, uint8_t streamcount, uint8_t iteration,
uint8_t device_status, VL53L4CX_range_data_t *presults_data,
VL53L4CX_TargetRangeData_t *pRangeData)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
VL53L4CX_LLDriverData_t *pdev =
VL53L4CXDevStructGetLLDriverHandle(Dev);
VL53L4CX_tuning_parm_storage_t *tp =
&(pdev->tuning_parms);
uint8_t sequency;
uint8_t FilteredRangeStatus;
FixPoint1616_t AmbientRate;
FixPoint1616_t SignalRate;
FixPoint1616_t TempFix1616;
int16_t Range, RangeDiff, RangeMillimeterInit;
int32_t ExtendedRangeEnabled = 0;
uint8_t uwr_status;
int16_t AddOffset;
SUPPRESS_UNUSED_WARNING(Dev);
FilteredRangeStatus = presults_data->range_status & 0x1F;
SignalRate = VL53L4CX_FIXPOINT97TOFIXPOINT1616(
presults_data->peak_signal_count_rate_mcps);
pRangeData->SignalRateRtnMegaCps
= SignalRate;
AmbientRate = VL53L4CX_FIXPOINT97TOFIXPOINT1616(
presults_data->ambient_count_rate_mcps);
pRangeData->AmbientRateRtnMegaCps = AmbientRate;
TempFix1616 = VL53L4CX_FIXPOINT97TOFIXPOINT1616(
presults_data->VL53L4CX_p_002);
pRangeData->SigmaMilliMeter = TempFix1616;
pRangeData->RangeMilliMeter = presults_data->median_range_mm;
pRangeData->RangeMaxMilliMeter = presults_data->max_range_mm;
pRangeData->RangeMinMilliMeter = presults_data->min_range_mm;
switch (device_status) {
case VL53L4CX_DEVICEERROR_MULTCLIPFAIL:
case VL53L4CX_DEVICEERROR_VCSELWATCHDOGTESTFAILURE:
case VL53L4CX_DEVICEERROR_VCSELCONTINUITYTESTFAILURE:
case VL53L4CX_DEVICEERROR_NOVHVVALUEFOUND:
pRangeData->RangeStatus = VL53L4CX_RANGESTATUS_HARDWARE_FAIL;
break;
case VL53L4CX_DEVICEERROR_USERROICLIP:
pRangeData->RangeStatus = VL53L4CX_RANGESTATUS_MIN_RANGE_FAIL;
break;
default:
pRangeData->RangeStatus = VL53L4CX_RANGESTATUS_RANGE_VALID;
}
if ((pRangeData->RangeStatus == VL53L4CX_RANGESTATUS_RANGE_VALID) &&
(active_results == 0)) {
pRangeData->RangeStatus = VL53L4CX_RANGESTATUS_NONE;
pRangeData->SignalRateRtnMegaCps = 0;
pRangeData->SigmaMilliMeter = 0;
pRangeData->RangeMilliMeter = 8191;
pRangeData->RangeMaxMilliMeter = 8191;
pRangeData->RangeMinMilliMeter = 8191;
}
if (pRangeData->RangeStatus == VL53L4CX_RANGESTATUS_RANGE_VALID)
pRangeData->RangeStatus =
ConvertStatusHisto(FilteredRangeStatus);
VL53L4CX_get_tuning_parm(Dev, VL53L4CX_TUNINGPARM_UWR_ENABLE,
&ExtendedRangeEnabled);
sequency = streamcount % 2;
uwr_status = 0;
RangeMillimeterInit = pRangeData->RangeMilliMeter;
AddOffset = 0;
pRangeData->ExtendedRange = 0;
if ((active_results != 1) ||
(pdev->PreviousRangeActiveResults != 1)) {
ExtendedRangeEnabled = 0;
}
if (ExtendedRangeEnabled &&
(pRangeData->RangeStatus ==
VL53L4CX_RANGESTATUS_WRAP_TARGET_FAIL ||
pRangeData->RangeStatus ==
VL53L4CX_RANGESTATUS_OUTOFBOUNDS_FAIL)
&& (pdev->PreviousRangeStatus[iteration] ==
VL53L4CX_RANGESTATUS_WRAP_TARGET_FAIL ||
pdev->PreviousRangeStatus[iteration] ==
VL53L4CX_RANGESTATUS_OUTOFBOUNDS_FAIL ||
(pdev->PreviousRangeStatus[iteration] ==
VL53L4CX_RANGESTATUS_RANGE_VALID &&
pdev->PreviousExtendedRange[iteration] == 1))) {
if (((pdev->PreviousStreamCount) ==
(pdev->hist_data.result__stream_count - 1))
|| ((pdev->PreviousStreamCount) ==
(pdev->hist_data.result__stream_count + 127))) {
RangeDiff = pRangeData->RangeMilliMeter -
pdev->PreviousRangeMilliMeter[iteration];
uwr_status = 1;
switch (pdev->preset_mode) {
case VL53L4CX_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE:
uwr_status = 0;
break;
case VL53L4CX_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE:
if (RangeDiff > tp->tp_uwr_med_z_1_min &&
RangeDiff < tp->tp_uwr_med_z_1_max &&
sequency == 1) {
AddOffset =
tp->tp_uwr_med_corr_z_1_rangeb;
} else if (RangeDiff < -tp->tp_uwr_med_z_1_min &&
RangeDiff > -tp->tp_uwr_med_z_1_max &&
sequency == 0) {
AddOffset =
tp->tp_uwr_med_corr_z_1_rangea;
} else if (RangeDiff > tp->tp_uwr_med_z_2_min &&
RangeDiff < tp->tp_uwr_med_z_2_max &&
sequency == 0) {
AddOffset =
tp->tp_uwr_med_corr_z_2_rangea;
} else if (RangeDiff < -tp->tp_uwr_med_z_2_min &&
RangeDiff > -tp->tp_uwr_med_z_2_max &&
sequency == 1) {
AddOffset =
tp->tp_uwr_med_corr_z_2_rangeb;
} else if (RangeDiff > tp->tp_uwr_med_z_3_min &&
RangeDiff < tp->tp_uwr_med_z_3_max &&
sequency == 1) {
AddOffset =
tp->tp_uwr_med_corr_z_3_rangeb;
} else if (RangeDiff < -tp->tp_uwr_med_z_3_min &&
RangeDiff > -tp->tp_uwr_med_z_3_max &&
sequency == 0) {
AddOffset =
tp->tp_uwr_med_corr_z_3_rangea;
} else if (RangeDiff > tp->tp_uwr_med_z_4_min &&
RangeDiff < tp->tp_uwr_med_z_4_max &&
sequency == 0) {
AddOffset =
tp->tp_uwr_med_corr_z_4_rangea;
} else if (RangeDiff < -tp->tp_uwr_med_z_4_min &&
RangeDiff > -tp->tp_uwr_med_z_4_max &&
sequency == 1) {
AddOffset =
tp->tp_uwr_med_corr_z_4_rangeb;
} else if (RangeDiff < tp->tp_uwr_med_z_5_max &&
RangeDiff > tp->tp_uwr_med_z_5_min) {
AddOffset =
tp->tp_uwr_med_corr_z_5_rangea;
} else {
uwr_status = 0;
}
break;
case VL53L4CX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE:
if (RangeDiff > tp->tp_uwr_lng_z_1_min &&
RangeDiff < tp->tp_uwr_lng_z_1_max &&
sequency == 0) {
AddOffset =
tp->tp_uwr_lng_corr_z_1_rangea;
} else if (RangeDiff < -tp->tp_uwr_lng_z_1_min &&
RangeDiff > -tp->tp_uwr_lng_z_1_max &&
sequency == 1) {
AddOffset =
tp->tp_uwr_lng_corr_z_1_rangeb;
} else if (RangeDiff > tp->tp_uwr_lng_z_2_min &&
RangeDiff < tp->tp_uwr_lng_z_2_max &&
sequency == 1) {
AddOffset =
tp->tp_uwr_lng_corr_z_2_rangeb;
} else if (RangeDiff < -tp->tp_uwr_lng_z_2_min &&
RangeDiff > -tp->tp_uwr_lng_z_2_max &&
sequency == 0) {
AddOffset =
tp->tp_uwr_lng_corr_z_2_rangea;
} else if (RangeDiff < tp->tp_uwr_lng_z_3_max &&
RangeDiff > tp->tp_uwr_lng_z_3_min) {
AddOffset =
tp->tp_uwr_lng_corr_z_3_rangea;
} else {
uwr_status = 0;
}
break;
default:
uwr_status = 0;
break;
}
}
if (uwr_status) {
pRangeData->RangeMilliMeter += AddOffset;
pRangeData->RangeMinMilliMeter += AddOffset;
pRangeData->RangeMaxMilliMeter += AddOffset;
pRangeData->ExtendedRange = 1;
pRangeData->RangeStatus = 0;
}
}
pdev->PreviousRangeMilliMeter[iteration] = RangeMillimeterInit;
pdev->PreviousRangeStatus[iteration] = pRangeData->RangeStatus;
pdev->PreviousExtendedRange[iteration] = pRangeData->ExtendedRange;
pdev->PreviousRangeActiveResults = active_results;
Range = pRangeData->RangeMilliMeter;
if ((pRangeData->RangeStatus == VL53L4CX_RANGESTATUS_RANGE_VALID) &&
(Range < 0)) {
if (Range < BDTable[VL53L4CX_TUNING_PROXY_MIN])
pRangeData->RangeStatus =
VL53L4CX_RANGESTATUS_RANGE_INVALID;
else {
pRangeData->RangeMilliMeter = 0;
}
}
return Status;
}
VL53L4CX_Error VL53L4CX::SetMeasurementData(VL53L4CX_DEV Dev,
VL53L4CX_range_results_t *presults,
VL53L4CX_MultiRangingData_t *pMultiRangingData)
{
VL53L4CX_LLDriverData_t *pdev = VL53L4CXDevStructGetLLDriverHandle(Dev);
uint8_t i;
uint8_t iteration;
VL53L4CX_TargetRangeData_t *pRangeData;
VL53L4CX_range_data_t *presults_data;
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
uint8_t ActiveResults;
pMultiRangingData->NumberOfObjectsFound = presults->active_results;
pMultiRangingData->HasXtalkValueChanged =
presults->smudge_corrector_data.new_xtalk_applied_flag;
pMultiRangingData->TimeStamp = 0;
pMultiRangingData->StreamCount = presults->stream_count;
ActiveResults = presults->active_results;
if (ActiveResults < 1)
{
iteration = 1;
} else {
iteration = ActiveResults;
}
for (i = 0; i < iteration; i++) {
pRangeData = &(pMultiRangingData->RangeData[i]);
presults_data = &(presults->VL53L4CX_p_003[i]);
if (Status == VL53L4CX_ERROR_NONE)
Status = SetTargetData(Dev, ActiveResults,
pMultiRangingData->StreamCount,
i,
presults->device_status,
presults_data,
pRangeData);
pMultiRangingData->EffectiveSpadRtnCount =
presults_data->VL53L4CX_p_004;
}
pdev->PreviousStreamCount = pdev->hist_data.result__stream_count;
for (i = iteration; i < VL53L4CX_MAX_RANGE_RESULTS; i++) {
pdev->PreviousRangeMilliMeter[i] = 0;
pdev->PreviousRangeStatus[i] = 255;
pdev->PreviousExtendedRange[i] = 0;
}
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_GetMultiRangingData(VL53L4CX_MultiRangingData_t *pMultiRangingData)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
VL53L4CX_LLDriverData_t *pdev =
VL53L4CXDevStructGetLLDriverHandle(Dev);
VL53L4CX_range_results_t *presults =
(VL53L4CX_range_results_t *) pdev->wArea1;
memset(pMultiRangingData, 0xFF,
sizeof(VL53L4CX_MultiRangingData_t));
Status = VL53L4CX_get_device_results(
Dev,
VL53L4CX_DEVICERESULTSLEVEL_FULL,
presults);
Status = SetMeasurementData(Dev,
presults,
pMultiRangingData);
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_GetAdditionalData(VL53L4CX_AdditionalData_t *pAdditionalData)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
Status = VL53L4CX_get_additional_data(Dev, pAdditionalData);
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_SetTuningParameter(uint16_t TuningParameterId, int32_t TuningParameterValue)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
if (TuningParameterId ==
VL53L4CX_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS) {
return VL53L4CX_ERROR_INVALID_PARAMS;
}
if (TuningParameterId >= 32768)
Status = VL53L4CX_set_tuning_parm(Dev,
TuningParameterId,
TuningParameterValue);
else {
if (TuningParameterId < VL53L4CX_TUNING_MAX_TUNABLE_KEY) {
BDTable[TuningParameterId] = TuningParameterValue;
} else {
Status = VL53L4CX_ERROR_INVALID_PARAMS;
}
}
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_GetTuningParameter(uint16_t TuningParameterId, int32_t *pTuningParameterValue)
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
if (TuningParameterId >= 32768)
Status = VL53L4CX_get_tuning_parm(Dev,
TuningParameterId,
pTuningParameterValue);
else {
if (TuningParameterId < VL53L4CX_TUNING_MAX_TUNABLE_KEY) {
*pTuningParameterValue = BDTable[TuningParameterId];
} else {
Status = VL53L4CX_ERROR_INVALID_PARAMS;
}
}
return Status;
}
VL53L4CX_Error VL53L4CX::VL53L4CX_PerformRefSpadManagement()
{
VL53L4CX_Error Status = VL53L4CX_ERROR_NONE;
VL53L4CX_Error RawStatus;
uint8_t dcrbuffer[24];
uint8_t *commbuf;
uint8_t numloc[2] = {5, 3};
VL53L4CX_LLDriverData_t *pdev;
VL53L4CX_customer_nvm_managed_t *pc;
VL53L4CX_DistanceModes DistanceMode;
pdev = VL53L4CXDevStructGetLLDriverHandle(Dev);
pc = &pdev->customer;
if (Status == VL53L4CX_ERROR_NONE) {
DistanceMode = VL53L4CXDevDataGet(Dev,
CurrentParameters.DistanceMode);
Status = VL53L4CX_run_ref_spad_char(Dev, &RawStatus);
if (Status == VL53L4CX_ERROR_NONE) {
Status = VL53L4CX_SetDistanceMode(DistanceMode);
}
}
if (Status == VL53L4CX_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH) {