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This commit is contained in:
nitiantuhao
2026-04-08 07:38:46 +08:00
parent a9ec02dc93
commit fda081c1f0
51 changed files with 51337 additions and 0 deletions
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App/VL53L1X_API/core/src/vl53l1_api.c Normal file
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App/VL53L1X_API/core/src/vl53l1_api_calibration.c Normal file
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/*
* Copyright (c) 2017, STMicroelectronics - All Rights Reserved
*
* This file is part of VL53L1 Core and is dual licensed,
* either 'STMicroelectronics
* Proprietary license'
* or 'BSD 3-clause "New" or "Revised" License' , at your option.
*
********************************************************************************
*
* 'STMicroelectronics Proprietary license'
*
********************************************************************************
*
* License terms: STMicroelectronics Proprietary in accordance with licensing
* terms at www.st.com/sla0081
*
* STMicroelectronics confidential
* Reproduction and Communication of this document is strictly prohibited unless
* specifically authorized in writing by STMicroelectronics.
*
*
********************************************************************************
*
* Alternatively, VL53L1 Core may be distributed under the terms of
* 'BSD 3-clause "New" or "Revised" License', in which case the following
* provisions apply instead of the ones mentioned above :
*
********************************************************************************
*
* License terms: BSD 3-clause "New" or "Revised" License.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. 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.
*
* 3. Neither the name of the copyright holder 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 AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS 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 vl53l1_api_core.c
*
* @brief EwokPlus25 low level API function definition
*/
#include "vl53l1_ll_def.h"
#include "vl53l1_ll_device.h"
#include "vl53l1_platform.h"
#include "vl53l1_register_map.h"
#include "vl53l1_register_funcs.h"
#include "vl53l1_register_settings.h"
#include "vl53l1_core.h"
#include "vl53l1_wait.h"
#include "vl53l1_api_preset_modes.h"
#include "vl53l1_silicon_core.h"
#include "vl53l1_api_core.h"
#include "vl53l1_api_calibration.h"
#ifdef VL53L1_LOG_ENABLE
#include "vl53l1_api_debug.h"
#endif
#ifdef VL53L1_LOGGING
#include "vl53l1_debug.h"
#endif
#define LOG_FUNCTION_START(fmt, ...) \
_LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
_LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
_LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, \
fmt, ##__VA_ARGS__)
#define trace_print(level, ...) \
_LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_CORE, \
level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__)
#ifndef VL53L1_NOCALIB
VL53L1_Error VL53L1_run_ref_spad_char(
VL53L1_DEV Dev,
VL53L1_Error *pcal_status)
{
/*
* Runs Reference SPAD Characterisation
*/
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
uint8_t comms_buffer[6];
VL53L1_refspadchar_config_t *prefspadchar = &(pdev->refspadchar);
LOG_FUNCTION_START("");
/*
* Ensure power force is enabled
*/
if (status == VL53L1_ERROR_NONE) /*lint !e774 always true*/
status = VL53L1_enable_powerforce(Dev);
/*
* Configure device
*/
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_set_ref_spad_char_config(
Dev,
prefspadchar->vcsel_period,
prefspadchar->timeout_us,
prefspadchar->target_count_rate_mcps,
prefspadchar->max_count_rate_limit_mcps,
prefspadchar->min_count_rate_limit_mcps,
pdev->stat_nvm.osc_measured__fast_osc__frequency);
/*
* Run device test
*/
if (status == VL53L1_ERROR_NONE)
status = VL53L1_run_device_test(
Dev,
prefspadchar->device_test_mode);
/*
* Read results
*/
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_ReadMulti(
Dev,
VL53L1_REF_SPAD_CHAR_RESULT__NUM_ACTUAL_REF_SPADS,
comms_buffer,
2);
if (status == VL53L1_ERROR_NONE) {
pdev->dbg_results.ref_spad_char_result__num_actual_ref_spads =
comms_buffer[0];
pdev->dbg_results.ref_spad_char_result__ref_location =
comms_buffer[1];
}
/*
* copy results to customer nvm managed G02 registers
*/
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_WriteMulti(
Dev,
VL53L1_REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS,
comms_buffer,
2);
if (status == VL53L1_ERROR_NONE) {
pdev->customer.ref_spad_man__num_requested_ref_spads =
comms_buffer[0];
pdev->customer.ref_spad_man__ref_location =
comms_buffer[1];
}
/* After Ref Spad Char the final set of good SPAD enables
* are stored in the NCY results registers below
*
* - RESULT__SPARE_0_SD_1
* - RESULT__SPARE_1_SD_1
* - RESULT__SPARE_2_SD_1
*/
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_ReadMulti(
Dev,
VL53L1_RESULT__SPARE_0_SD1,
comms_buffer,
6);
/*
* copy reference SPAD enables to customer nvm managed
* G02 registers
*/
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_WriteMulti(
Dev,
VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0,
comms_buffer,
6);
if (status == VL53L1_ERROR_NONE) {
pdev->customer.global_config__spad_enables_ref_0 =
comms_buffer[0];
pdev->customer.global_config__spad_enables_ref_1 =
comms_buffer[1];
pdev->customer.global_config__spad_enables_ref_2 =
comms_buffer[2];
pdev->customer.global_config__spad_enables_ref_3 =
comms_buffer[3];
pdev->customer.global_config__spad_enables_ref_4 =
comms_buffer[4];
pdev->customer.global_config__spad_enables_ref_5 =
comms_buffer[5];
}
#ifdef VL53L1_LOG_ENABLE
/* Print customer nvm managed data */
if (status == VL53L1_ERROR_NONE)
VL53L1_print_customer_nvm_managed(
&(pdev->customer),
"run_ref_spad_char():pdev->lldata.customer.",
VL53L1_TRACE_MODULE_REF_SPAD_CHAR);
#endif
if (status == VL53L1_ERROR_NONE) {
switch (pdev->sys_results.result__range_status) {
case VL53L1_DEVICEERROR_REFSPADCHARNOTENOUGHDPADS:
status = VL53L1_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS;
break;
case VL53L1_DEVICEERROR_REFSPADCHARMORETHANTARGET:
status = VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH;
break;
case VL53L1_DEVICEERROR_REFSPADCHARLESSTHANTARGET:
status = VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW;
break;
}
}
/*
* Save unfiltered status
*/
*pcal_status = status;
/* Status exception code */
IGNORE_STATUS(
IGNORE_REF_SPAD_CHAR_NOT_ENOUGH_SPADS,
VL53L1_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS,
status);
IGNORE_STATUS(
IGNORE_REF_SPAD_CHAR_RATE_TOO_HIGH,
VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH,
status);
IGNORE_STATUS(
IGNORE_REF_SPAD_CHAR_RATE_TOO_LOW,
VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW,
status);
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_run_offset_calibration(
VL53L1_DEV Dev,
int16_t cal_distance_mm,
VL53L1_Error *pcal_status)
{
/*
* Runs offset calibration
*
* Recommended tuning parm settings:
*
* - pre_num_of_samples = 32
* - mm1_num_of_samples = 100
* - mm2_num_of_samples = 64
* - target_distance_mm = 140mm
* - target reflectance = 5%
*
* Standard Ranging (sigma delta mode):
* - dss_config__target_total_rate_mcps = 20.0 -40.0 Mcps
* - phasecal_config_timeout_us = 1000
* - range_config_timeout_us = 13000
* - mm_config_timeout_us = 13000
*
*
* Note: function parms simplified as part of
* Patch_CalFunctionSimplification_11791
*
*/
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev =
VL53L1DevStructGetLLDriverHandle(Dev);
VL53L1_DevicePresetModes device_preset_modes[VL53L1_MAX_OFFSET_RANGE_RESULTS];
VL53L1_range_results_t range_results;
VL53L1_range_results_t *prange_results = &range_results;
VL53L1_range_data_t *prange_data = NULL;
VL53L1_offset_range_data_t *poffset = NULL;
uint8_t i = 0;
uint8_t m = 0;
uint8_t measurement_mode =
VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK;
uint16_t manual_effective_spads =
pdev->gen_cfg.dss_config__manual_effective_spads_select;
uint8_t num_of_samples[VL53L1_MAX_OFFSET_RANGE_RESULTS];
LOG_FUNCTION_START("");
/* select requested offset calibration mode */
switch (pdev->offset_calibration_mode) {
default:
device_preset_modes[0] =
VL53L1_DEVICEPRESETMODE_STANDARD_RANGING;
device_preset_modes[1] =
VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM1_CAL;
device_preset_modes[2] =
VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM2_CAL;
break;
}
/* initialise num_of_samples */
/* Start Patch_CalFunctionSimplification_11791 */
num_of_samples[0] = pdev->offsetcal_cfg.pre_num_of_samples;
num_of_samples[1] = pdev->offsetcal_cfg.mm1_num_of_samples;
num_of_samples[2] = pdev->offsetcal_cfg.mm2_num_of_samples;
/* End Patch_CalFunctionSimplification_11791 */
/* force all offsets to zero */
switch (pdev->offset_calibration_mode) {
case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY:
/* only run pre range */
pdev->offset_results.active_results = 1;
break;
default:
pdev->customer.mm_config__inner_offset_mm = 0;
pdev->customer.mm_config__outer_offset_mm = 0;
pdev->offset_results.active_results =
VL53L1_MAX_OFFSET_RANGE_RESULTS;
break;
}
pdev->customer.algo__part_to_part_range_offset_mm = 0;
/* initialise offset range results */
pdev->offset_results.max_results = VL53L1_MAX_OFFSET_RANGE_RESULTS;
pdev->offset_results.cal_distance_mm = cal_distance_mm;
for (m = 0 ; m < VL53L1_MAX_OFFSET_RANGE_RESULTS; m++) {
poffset = &(pdev->offset_results.data[m]);
poffset->preset_mode = 0;
poffset->no_of_samples = 0;
poffset->effective_spads = 0;
poffset->peak_rate_mcps = 0;
poffset->sigma_mm = 0;
poffset->median_range_mm = 0;
}
for (m = 0 ; m < pdev->offset_results.active_results ; m++) {
poffset = &(pdev->offset_results.data[m]);
poffset->preset_mode = device_preset_modes[m];
/* Apply preset mode */
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_set_preset_mode(
Dev,
device_preset_modes[m],
/* Start Patch_CalFunctionSimplification_11791 */
pdev->offsetcal_cfg.dss_config__target_total_rate_mcps,
pdev->offsetcal_cfg.phasecal_config_timeout_us,
pdev->offsetcal_cfg.mm_config_timeout_us,
pdev->offsetcal_cfg.range_config_timeout_us,
/* End Patch_CalFunctionSimplification_11791 */
100);
pdev->gen_cfg.dss_config__manual_effective_spads_select =
manual_effective_spads;
/* Initialise device and start range */
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_init_and_start_range(
Dev,
measurement_mode,
VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS);
for (i = 0 ; i <= (num_of_samples[m]+2) ; i++) {
/* Wait for range completion */
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_wait_for_range_completion(Dev);
/*
* Get Device Results
* - Checks the stream count is the expected one
* - Read device system results
*/
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_get_device_results(
Dev,
VL53L1_DEVICERESULTSLEVEL_FULL,
prange_results);
/*
* Ignore 1st two ranges to give the sigma delta initial
* phase time to settle
*
* accummulate range results if range is successful
*/
prange_data = &(prange_results->data[0]);
if (prange_results->stream_count > 1) {
if (prange_data->range_status ==
VL53L1_DEVICEERROR_RANGECOMPLETE) {
poffset->no_of_samples++;
poffset->effective_spads +=
(uint32_t)prange_data->actual_effective_spads;
poffset->peak_rate_mcps +=
(uint32_t)prange_data->peak_signal_count_rate_mcps;
poffset->sigma_mm +=
(uint32_t)prange_data->sigma_mm;
poffset->median_range_mm +=
(int32_t)prange_data->median_range_mm;
poffset->dss_config__roi_mode_control =
pdev->gen_cfg.dss_config__roi_mode_control;
poffset->dss_config__manual_effective_spads_select =
pdev->gen_cfg.dss_config__manual_effective_spads_select;
}
}
/*
* Conditional wait for firmware ready. Only waits for timed
* and single shot modes. Mode check is performed inside the
* wait function
*/
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_wait_for_firmware_ready(Dev);
/*
* Send ranging handshake
*
* - Update Zone management
* - Update GPH registers
* - Clear current interrupt
* - Initialise SYSTEM__MODE_START for next range (if there is one!)
*/
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_clear_interrupt_and_enable_next_range(
Dev,
measurement_mode);
}
/* Stop range */
if (status == VL53L1_ERROR_NONE)
status = VL53L1_stop_range(Dev);
/* Wait for Stop (abort) range to complete */
if (status == VL53L1_ERROR_NONE)
status = VL53L1_WaitUs(Dev, 1000);
/* generate average values */
if (poffset->no_of_samples > 0) {
poffset->effective_spads += (poffset->no_of_samples/2);
poffset->effective_spads /= poffset->no_of_samples;
poffset->peak_rate_mcps += (poffset->no_of_samples/2);
poffset->peak_rate_mcps /= poffset->no_of_samples;
poffset->sigma_mm += (poffset->no_of_samples/2);
poffset->sigma_mm /= poffset->no_of_samples;
poffset->median_range_mm += (poffset->no_of_samples/2);
poffset->median_range_mm /= poffset->no_of_samples;
poffset->range_mm_offset = (int32_t)cal_distance_mm;
poffset->range_mm_offset -= poffset->median_range_mm;
/* remember the number of SPADs for standard ranging */
if (poffset->preset_mode ==
VL53L1_DEVICEPRESETMODE_STANDARD_RANGING)
manual_effective_spads =
(uint16_t)poffset->effective_spads;
}
}
/* Calculate offsets */
switch (pdev->offset_calibration_mode) {
case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY:
/* copy offsets to customer data structure */
pdev->customer.mm_config__inner_offset_mm +=
(int16_t)pdev->offset_results.data[0].range_mm_offset;
pdev->customer.mm_config__outer_offset_mm +=
(int16_t)pdev->offset_results.data[0].range_mm_offset;
break;
default:
/* copy offsets to customer data structure */
pdev->customer.mm_config__inner_offset_mm =
(int16_t)pdev->offset_results.data[1].range_mm_offset;
pdev->customer.mm_config__outer_offset_mm =
(int16_t)pdev->offset_results.data[2].range_mm_offset;
pdev->customer.algo__part_to_part_range_offset_mm = 0;
/* copy average rate and effective SPAD count to
additional offset calibration data structure */
pdev->add_off_cal_data.result__mm_inner_actual_effective_spads =
(uint16_t)pdev->offset_results.data[1].effective_spads;
pdev->add_off_cal_data.result__mm_outer_actual_effective_spads =
(uint16_t)pdev->offset_results.data[2].effective_spads;
pdev->add_off_cal_data.result__mm_inner_peak_signal_count_rtn_mcps =
(uint16_t)pdev->offset_results.data[1].peak_rate_mcps;
pdev->add_off_cal_data.result__mm_outer_peak_signal_count_rtn_mcps =
(uint16_t)pdev->offset_results.data[2].peak_rate_mcps;
break;
}
/* apply to device */
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_set_customer_nvm_managed(
Dev,
&(pdev->customer));
/*
* Check the peak rates, sigma, min spads for each stage
*/
for (m = 0 ; m < pdev->offset_results.active_results ; m++) {
poffset = &(pdev->offset_results.data[m]);
if (status == VL53L1_ERROR_NONE) {
pdev->offset_results.cal_report = m;
if (poffset->no_of_samples < num_of_samples[m])
status = VL53L1_WARNING_OFFSET_CAL_MISSING_SAMPLES;
/* only check sigma for the pre-range as
* the it is not calculated by the device
* for the MM1 and MM2 stages
*/
if (m == 0 && poffset->sigma_mm >
((uint32_t)VL53L1_OFFSET_CAL_MAX_SIGMA_MM<<5))
status = VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
if (poffset->peak_rate_mcps >
VL53L1_OFFSET_CAL_MAX_PRE_PEAK_RATE_MCPS)
status = VL53L1_WARNING_OFFSET_CAL_RATE_TOO_HIGH;
if (poffset->dss_config__manual_effective_spads_select <
VL53L1_OFFSET_CAL_MIN_EFFECTIVE_SPADS)
status = VL53L1_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW;
if (poffset->dss_config__manual_effective_spads_select == 0)
status = VL53L1_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL;
if (poffset->no_of_samples == 0)
status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
}
}
/*
* Save unfiltered status
*/
pdev->offset_results.cal_status = status;
*pcal_status = pdev->offset_results.cal_status;
/* Status exception codes */
IGNORE_STATUS(
IGNORE_OFFSET_CAL_MISSING_SAMPLES,
VL53L1_WARNING_OFFSET_CAL_MISSING_SAMPLES,
status);
IGNORE_STATUS(
IGNORE_OFFSET_CAL_SIGMA_TOO_HIGH,
VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH,
status);
IGNORE_STATUS(
IGNORE_OFFSET_CAL_RATE_TOO_HIGH,
VL53L1_WARNING_OFFSET_CAL_RATE_TOO_HIGH,
status);
IGNORE_STATUS(
IGNORE_OFFSET_CAL_SPAD_COUNT_TOO_LOW,
VL53L1_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW,
status);
#ifdef VL53L1_LOG_ENABLE
/* Prints out the offset calibration data for debug */
VL53L1_print_customer_nvm_managed(
&(pdev->customer),
"run_offset_calibration():pdev->lldata.customer.",
VL53L1_TRACE_MODULE_OFFSET_DATA);
VL53L1_print_additional_offset_cal_data(
&(pdev->add_off_cal_data),
"run_offset_calibration():pdev->lldata.add_off_cal_data.",
VL53L1_TRACE_MODULE_OFFSET_DATA);
VL53L1_print_offset_range_results(
&(pdev->offset_results),
"run_offset_calibration():pdev->lldata.offset_results.",
VL53L1_TRACE_MODULE_OFFSET_DATA);
#endif
LOG_FUNCTION_END(status);
return status;
}
#endif
#ifndef VL53L1_NOCALIB
VL53L1_Error VL53L1_run_spad_rate_map(
VL53L1_DEV Dev,
VL53L1_DeviceTestMode device_test_mode,
VL53L1_DeviceSscArray array_select,
uint32_t ssc_config_timeout_us,
VL53L1_spad_rate_data_t *pspad_rate_data)
{
/**
* Runs SPAD Rate Map
*/
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev =
VL53L1DevStructGetLLDriverHandle(Dev);
LOG_FUNCTION_START("");
/*
* Ensure power force is enabled
*/
if (status == VL53L1_ERROR_NONE)
status = VL53L1_enable_powerforce(Dev);
/*
* Configure the test
*/
if (status == VL53L1_ERROR_NONE) {
pdev->ssc_cfg.array_select = array_select;
pdev->ssc_cfg.timeout_us = ssc_config_timeout_us;
status =
VL53L1_set_ssc_config(
Dev,
&(pdev->ssc_cfg),
pdev->stat_nvm.osc_measured__fast_osc__frequency);
}
/*
* Run device test
*/
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_run_device_test(
Dev,
device_test_mode);
/*
* Read Rate Data from Patch Ram
*/
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_get_spad_rate_data(
Dev,
pspad_rate_data);
if (device_test_mode == VL53L1_DEVICETESTMODE_LCR_VCSEL_ON)
pspad_rate_data->fractional_bits = 7;
else
pspad_rate_data->fractional_bits = 15;
/* Ensure power force is disabled */
if (status == VL53L1_ERROR_NONE)
status = VL53L1_disable_powerforce(Dev);
#ifdef VL53L1_LOG_ENABLE
/* Print return rate data and map */
if (status == VL53L1_ERROR_NONE) {
VL53L1_print_spad_rate_data(
pspad_rate_data,
"run_spad_rate_map():",
VL53L1_TRACE_MODULE_SPAD_RATE_MAP);
VL53L1_print_spad_rate_map(
pspad_rate_data,
"run_spad_rate_map():",
VL53L1_TRACE_MODULE_SPAD_RATE_MAP);
}
#endif
LOG_FUNCTION_END(status);
return status;
}
#endif
#ifndef VL53L1_NOCALIB
VL53L1_Error VL53L1_run_device_test(
VL53L1_DEV Dev,
VL53L1_DeviceTestMode device_test_mode)
{
/*
* Runs the selected Device Test Mode
*/
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
uint8_t comms_buffer[2];
uint8_t gpio_hv_mux__ctrl = 0;
LOG_FUNCTION_START("");
/*
* Get current interrupt config
*/
if (status == VL53L1_ERROR_NONE) /*lint !e774 always true*/
status =
VL53L1_RdByte(
Dev,
VL53L1_GPIO_HV_MUX__CTRL,
&gpio_hv_mux__ctrl);
if (status == VL53L1_ERROR_NONE)
pdev->stat_cfg.gpio_hv_mux__ctrl = gpio_hv_mux__ctrl;
/*
* Trigger the test
*/
if (status == VL53L1_ERROR_NONE)
status = VL53L1_start_test(
Dev,
device_test_mode);
/*
* Wait for test completion
*/
if (status == VL53L1_ERROR_NONE)
status = VL53L1_wait_for_test_completion(Dev);
/*
* Read range and report status
*/
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_ReadMulti(
Dev,
VL53L1_RESULT__RANGE_STATUS,
comms_buffer,
2);
if (status == VL53L1_ERROR_NONE) {
pdev->sys_results.result__range_status = comms_buffer[0];
pdev->sys_results.result__report_status = comms_buffer[1];
}
/* mask range status bits */
pdev->sys_results.result__range_status &=
VL53L1_RANGE_STATUS__RANGE_STATUS_MASK;
if (status == VL53L1_ERROR_NONE) {
trace_print(
VL53L1_TRACE_LEVEL_INFO,
" Device Test Complete:\n\t%-32s = %3u\n\t%-32s = %3u\n",
"result__range_status",
pdev->sys_results.result__range_status,
"result__report_status",
pdev->sys_results.result__report_status);
/*
* Clear interrupt
*/
if (status == VL53L1_ERROR_NONE)
status = VL53L1_clear_interrupt(Dev);
}
/*
* Clear test mode register
* - required so that next test command will trigger
* internal MCU interrupt
*/
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_start_test(
Dev,
0x00);
LOG_FUNCTION_END(status);
return status;
}
#endif

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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 VL53L1 and is dual licensed,
either GPL-2.0+
or 'BSD 3-clause "New" or "Revised" License' , at your option.
******************************************************************************
*/
/**
* @file vl53l1_api_strings.c
* @brief VL53L1 API functions for decoding error codes to a text string
*/
#include "vl53l1_api_core.h"
#include "vl53l1_api_strings.h"
#include "vl53l1_error_codes.h"
#include "vl53l1_error_strings.h"
#define LOG_FUNCTION_START(fmt, ...) \
_LOG_FUNCTION_START(VL53L1_TRACE_MODULE_API, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
_LOG_FUNCTION_END(VL53L1_TRACE_MODULE_API, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
_LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_API, status, fmt, \
##__VA_ARGS__)
VL53L1_Error VL53L1_get_range_status_string(
uint8_t RangeStatus,
char *pRangeStatusString)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
LOG_FUNCTION_START("");
#ifdef VL53L1_USE_EMPTY_STRING
SUPPRESS_UNUSED_WARNING(RangeStatus);
VL53L1_COPYSTRING(pRangeStatusString, "");
#else
switch (RangeStatus) {
case 0:
VL53L1_COPYSTRING(pRangeStatusString,
VL53L1_STRING_RANGESTATUS_RANGEVALID);
break;
case 1:
VL53L1_COPYSTRING(pRangeStatusString,
VL53L1_STRING_RANGESTATUS_SIGMA);
break;
case 2:
VL53L1_COPYSTRING(pRangeStatusString,
VL53L1_STRING_RANGESTATUS_SIGNAL);
break;
case 3:
VL53L1_COPYSTRING(pRangeStatusString,
VL53L1_STRING_RANGESTATUS_MINRANGE);
break;
case 4:
VL53L1_COPYSTRING(pRangeStatusString,
VL53L1_STRING_RANGESTATUS_PHASE);
break;
case 5:
VL53L1_COPYSTRING(pRangeStatusString,
VL53L1_STRING_RANGESTATUS_HW);
break;
default: /**/
VL53L1_COPYSTRING(pRangeStatusString,
VL53L1_STRING_RANGESTATUS_NONE);
}
#endif
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_get_pal_state_string(
VL53L1_State PalStateCode,
char *pPalStateString)
{
VL53L1_Error status = VL53L1_ERROR_NONE;
LOG_FUNCTION_START("");
#ifdef VL53L1_USE_EMPTY_STRING
SUPPRESS_UNUSED_WARNING(PalStateCode);
VL53L1_COPYSTRING(pPalStateString, "");
#else
switch (PalStateCode) {
case VL53L1_STATE_POWERDOWN:
VL53L1_COPYSTRING(pPalStateString,
VL53L1_STRING_STATE_POWERDOWN);
break;
case VL53L1_STATE_WAIT_STATICINIT:
VL53L1_COPYSTRING(pPalStateString,
VL53L1_STRING_STATE_WAIT_STATICINIT);
break;
case VL53L1_STATE_STANDBY:
VL53L1_COPYSTRING(pPalStateString,
VL53L1_STRING_STATE_STANDBY);
break;
case VL53L1_STATE_IDLE:
VL53L1_COPYSTRING(pPalStateString,
VL53L1_STRING_STATE_IDLE);
break;
case VL53L1_STATE_RUNNING:
VL53L1_COPYSTRING(pPalStateString,
VL53L1_STRING_STATE_RUNNING);
break;
case VL53L1_STATE_RESET:
VL53L1_COPYSTRING(pPalStateString,
VL53L1_STRING_STATE_RESET);
break;
case VL53L1_STATE_UNKNOWN:
VL53L1_COPYSTRING(pPalStateString,
VL53L1_STRING_STATE_UNKNOWN);
break;
case VL53L1_STATE_ERROR:
VL53L1_COPYSTRING(pPalStateString,
VL53L1_STRING_STATE_ERROR);
break;
default:
VL53L1_COPYSTRING(pPalStateString,
VL53L1_STRING_STATE_UNKNOWN);
}
#endif
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_get_sequence_steps_info(
VL53L1_SequenceStepId SequenceStepId,
char *pSequenceStepsString)
{
VL53L1_Error Status = VL53L1_ERROR_NONE;
LOG_FUNCTION_START("");
#ifdef VL53L1_USE_EMPTY_STRING
SUPPRESS_UNUSED_WARNING(SequenceStepId);
VL53L1_COPYSTRING(pSequenceStepsString, "");
#else
switch (SequenceStepId) {
case VL53L1_SEQUENCESTEP_VHV:
VL53L1_COPYSTRING(pSequenceStepsString,
VL53L1_STRING_SEQUENCESTEP_VHV);
break;
case VL53L1_SEQUENCESTEP_PHASECAL:
VL53L1_COPYSTRING(pSequenceStepsString,
VL53L1_STRING_SEQUENCESTEP_PHASECAL);
break;
case VL53L1_SEQUENCESTEP_REFPHASE:
VL53L1_COPYSTRING(pSequenceStepsString,
VL53L1_STRING_SEQUENCESTEP_DSS1);
break;
case VL53L1_SEQUENCESTEP_DSS1:
VL53L1_COPYSTRING(pSequenceStepsString,
VL53L1_STRING_SEQUENCESTEP_DSS1);
break;
case VL53L1_SEQUENCESTEP_DSS2:
VL53L1_COPYSTRING(pSequenceStepsString,
VL53L1_STRING_SEQUENCESTEP_DSS2);
break;
case VL53L1_SEQUENCESTEP_MM1:
VL53L1_COPYSTRING(pSequenceStepsString,
VL53L1_STRING_SEQUENCESTEP_MM1);
break;
case VL53L1_SEQUENCESTEP_MM2:
VL53L1_COPYSTRING(pSequenceStepsString,
VL53L1_STRING_SEQUENCESTEP_MM2);
break;
case VL53L1_SEQUENCESTEP_RANGE:
VL53L1_COPYSTRING(pSequenceStepsString,
VL53L1_STRING_SEQUENCESTEP_RANGE);
break;
default:
Status = VL53L1_ERROR_INVALID_PARAMS;
}
#endif
LOG_FUNCTION_END(Status);
return Status;
}
VL53L1_Error VL53L1_get_limit_check_info(uint16_t LimitCheckId,
char *pLimitCheckString)
{
VL53L1_Error Status = VL53L1_ERROR_NONE;
LOG_FUNCTION_START("");
#ifdef VL53L1_USE_EMPTY_STRING
SUPPRESS_UNUSED_WARNING(LimitCheckId);
VL53L1_COPYSTRING(pLimitCheckString, "");
#else
switch (LimitCheckId) {
case VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE:
VL53L1_COPYSTRING(pLimitCheckString,
VL53L1_STRING_CHECKENABLE_SIGMA_FINAL_RANGE);
break;
case VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
VL53L1_COPYSTRING(pLimitCheckString,
VL53L1_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE);
break;
default:
VL53L1_COPYSTRING(pLimitCheckString,
VL53L1_STRING_UNKNOW_ERROR_CODE);
}
#endif
LOG_FUNCTION_END(Status);
return Status;
}

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/*
* Copyright (c) 2017, STMicroelectronics - All Rights Reserved
*
* This file is part of VL53L1 Core and is dual licensed,
* either 'STMicroelectronics
* Proprietary license'
* or 'BSD 3-clause "New" or "Revised" License' , at your option.
*
********************************************************************************
*
* 'STMicroelectronics Proprietary license'
*
********************************************************************************
*
* License terms: STMicroelectronics Proprietary in accordance with licensing
* terms at www.st.com/sla0081
*
* STMicroelectronics confidential
* Reproduction and Communication of this document is strictly prohibited unless
* specifically authorized in writing by STMicroelectronics.
*
*
********************************************************************************
*
* Alternatively, VL53L1 Core may be distributed under the terms of
* 'BSD 3-clause "New" or "Revised" License', in which case the following
* provisions apply instead of the ones mentioned above :
*
********************************************************************************
*
* License terms: BSD 3-clause "New" or "Revised" License.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. 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.
*
* 3. Neither the name of the copyright holder 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 AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS 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 vl53l1_core_support.c
*
* @brief EwokPlus25 core function definition
*/
#include "vl53l1_ll_def.h"
#include "vl53l1_ll_device.h"
#include "vl53l1_platform_log.h"
#include "vl53l1_core_support.h"
#include "vl53l1_platform_user_data.h"
#include "vl53l1_platform_user_defines.h"
#ifdef VL53L1_LOGGING
#include "vl53l1_debug.h"
#include "vl53l1_register_debug.h"
#endif
#define LOG_FUNCTION_START(fmt, ...) \
_LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
_LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
_LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, \
status, fmt, ##__VA_ARGS__)
#define trace_print(level, ...) \
_LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_CORE, \
level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__)
uint32_t VL53L1_calc_pll_period_us(
uint16_t fast_osc_frequency)
{
/* Calculates PLL frequency using NVM fast_osc_frequency
* Fast osc frequency fixed point format = unsigned 4.12
*
* PLL period fixed point format = unsigned 0.24
* Min input fast osc frequency = 1 MHz
* PLL Multiplier = 64 (fixed)
* Min PLL freq = 64.0MHz
* -> max PLL period = 1/ 64
* -> only the 18 LS bits are used
*
* 2^30 = (2^24) (1.0us) * 4096 (2^12) / 64 (PLL Multiplier)
*/
uint32_t pll_period_us = 0;
LOG_FUNCTION_START("");
pll_period_us = (0x01 << 30) / fast_osc_frequency;
#ifdef VL53L1_LOGGING
trace_print(VL53L1_TRACE_LEVEL_DEBUG,
" %-48s : %10u\n", "pll_period_us",
pll_period_us);
#endif
LOG_FUNCTION_END(0);
return pll_period_us;
}
#ifdef PAL_EXTENDED
uint32_t VL53L1_duration_maths(
uint32_t pll_period_us,
uint32_t vcsel_parm_pclks,
uint32_t window_vclks,
uint32_t elapsed_mclks)
{
/*
* Generates the ranging duration in us
*
* duration_us = elapsed_mclks * vcsel_perm_pclks *
* window_vclks * pll_period_us
*
* returned value in [us] with no fraction bits
*/
uint64_t tmp_long_int = 0;
uint32_t duration_us = 0;
/* PLL period us = 0.24 18 LS bits used
* window_vclks = 12.0 (2304 max)
* output 30b (6.24)
*/
duration_us = window_vclks * pll_period_us;
/* down shift by 12
* output 18b (6.12)
*/
duration_us = duration_us >> 12;
/* Save first part of the calc (#1) */
tmp_long_int = (uint64_t)duration_us;
/* Multiply elapsed macro periods (22-bit)
* by VCSEL parameter 6.4 (max 63.9999)
* output 32b (28.4)
*/
duration_us = elapsed_mclks * vcsel_parm_pclks;
/* down shift by 4 to remove fractional bits (#2)
* output 28b (28.0)
*/
duration_us = duration_us >> 4;
/* Multiply #1 18b (6.12) by #2 28b (28.0)
* output 46b (34.12)
*/
tmp_long_int = tmp_long_int * (uint64_t)duration_us;
/* Remove fractional part
* output 34b (34.0)
*/
tmp_long_int = tmp_long_int >> 12;
/* Clip to 32-bits */
if (tmp_long_int > 0xFFFFFFFF) {
tmp_long_int = 0xFFFFFFFF;
}
duration_us = (uint32_t)tmp_long_int;
return duration_us;
}
uint32_t VL53L1_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;
}
uint16_t VL53L1_rate_maths(
int32_t events,
uint32_t time_us)
{
/*
* Converts events into count rate
*
* Max events = 512 Mcps * 1sec
* = 512,000,000 events
* = 29b
*
* If events > 2^24 use 3-bit fractional bits is used internally
* otherwise 7-bit fractional bits are used
*/
uint32_t tmp_int = 0;
uint32_t frac_bits = 7;
uint16_t rate_mcps = 0; /* 9.7 format */
/*
* Clip input event range
*/
if (events > VL53L1_SPAD_TOTAL_COUNT_MAX) {
tmp_int = VL53L1_SPAD_TOTAL_COUNT_MAX;
} else if (events > 0) {
tmp_int = (uint32_t)events;
}
/*
* if events > VL53L1_SPAD_TOTAL_COUNT_RES_THRES use 3 rather
* than 7 fractional bits internal to function
*/
if (events > VL53L1_SPAD_TOTAL_COUNT_RES_THRES) {
frac_bits = 3;
} else {
frac_bits = 7;
}
/*
* Create 3 or 7 fractional bits
* output 32b (29.3 or 25.7)
* Divide by range duration in [us] - no fractional bits
*/
if (time_us > 0) {
tmp_int = ((tmp_int << frac_bits) + (time_us / 2)) / time_us;
}
/*
* Re align if reduced resolution
*/
if (events > VL53L1_SPAD_TOTAL_COUNT_RES_THRES) {
tmp_int = tmp_int << 4;
}
/*
* Firmware internal count is 17.7 (24b) but it this
* case clip to 16-bit value for reporting
*/
if (tmp_int > 0xFFFF) {
tmp_int = 0xFFFF;
}
rate_mcps = (uint16_t)tmp_int;
return rate_mcps;
}
uint16_t VL53L1_rate_per_spad_maths(
uint32_t frac_bits,
uint32_t peak_count_rate,
uint16_t num_spads,
uint32_t max_output_value)
{
uint32_t tmp_int = 0;
/* rate_per_spad Format varies with prog frac_bits */
uint16_t rate_per_spad = 0;
/* Calculate rate per spad with variable fractional bits */
/* Frac_bits should be programmed as final frac_bits - 7 as
* the pk_rate contains an inherent 7 bit resolution
*/
if (num_spads > 0) {
tmp_int = (peak_count_rate << 8) << frac_bits;
tmp_int = (tmp_int + ((uint32_t)num_spads / 2)) / (uint32_t)num_spads;
} else {
tmp_int = ((peak_count_rate) << frac_bits);
}
/* Clip in case of overwrap - special code */
if (tmp_int > max_output_value) {
tmp_int = max_output_value;
}
rate_per_spad = (uint16_t)tmp_int;
return rate_per_spad;
}
int32_t VL53L1_range_maths(
uint16_t fast_osc_frequency,
uint16_t phase,
uint16_t zero_distance_phase,
uint8_t fractional_bits,
int32_t gain_factor,
int32_t range_offset_mm)
{
/*
* Converts phase information into distance in [mm]
*/
uint32_t pll_period_us = 0; /* 0.24 format */
int64_t tmp_long_int = 0;
int32_t range_mm = 0;
/* Calculate PLL period in [ps] */
pll_period_us = VL53L1_calc_pll_period_us(fast_osc_frequency);
/* Raw range in [mm]
*
* calculate the phase difference between return and reference phases
*
* phases 16b (5.11)
* output 17b including sign bit
*/
tmp_long_int = (int64_t)phase - (int64_t)zero_distance_phase;
/*
* multiply by the PLL period
*
* PLL period 24bit (0.24) but only 18 LS bits used
*
* Output 35b (0.35) (17b + 18b)
*/
tmp_long_int = tmp_long_int * (int64_t)pll_period_us;
/*
* Down shift by 9 - Output 26b (0.26)
*/
tmp_long_int = tmp_long_int / (0x01 << 9);
/*
* multiply by speed of light in air divided by 8
* Factor of 8 includes 2 for the round trip and 4 scaling
*
* VL53L1_SPEED_OF_LIGHT_IN_AIR_DIV_8 = 16b (16.2)
*
* Output 42b (18.24) (16b + 26b)
*/
tmp_long_int = tmp_long_int * VL53L1_SPEED_OF_LIGHT_IN_AIR_DIV_8;
/*
* Down shift by 22 - Output 20b (18.2)
*/
tmp_long_int = tmp_long_int / (0x01 << 22);
/* Add range offset */
range_mm = (int32_t)tmp_long_int + range_offset_mm;
/* apply correction gain */
range_mm *= gain_factor;
range_mm += 0x0400;
range_mm /= 0x0800;
/* Remove fractional bits */
if (fractional_bits == 0)
range_mm = range_mm / (0x01 << 2);
else if (fractional_bits == 1)
range_mm = range_mm / (0x01 << 1);
return range_mm;
}
#endif
uint8_t VL53L1_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;
}
void VL53L1_decode_row_col(
uint8_t spad_number,
uint8_t *prow,
uint8_t *pcol)
{
/**
* Decodes the array (row,col) location from
* the input SPAD number
*/
if (spad_number > 127) {
*prow = 8 + ((255-spad_number) & 0x07);
*pcol = (spad_number-128) >> 3;
} else {
*prow = spad_number & 0x07;
*pcol = (127-spad_number) >> 3;
}
}

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/*
* Copyright (c) 2017, STMicroelectronics - All Rights Reserved
*
* This file is part of VL53L1 Core and is dual licensed,
* either 'STMicroelectronics
* Proprietary license'
* or 'BSD 3-clause "New" or "Revised" License' , at your option.
*
********************************************************************************
*
* 'STMicroelectronics Proprietary license'
*
********************************************************************************
*
* License terms: STMicroelectronics Proprietary in accordance with licensing
* terms at www.st.com/sla0081
*
* STMicroelectronics confidential
* Reproduction and Communication of this document is strictly prohibited unless
* specifically authorized in writing by STMicroelectronics.
*
*
********************************************************************************
*
* Alternatively, VL53L1 Core may be distributed under the terms of
* 'BSD 3-clause "New" or "Revised" License', in which case the following
* provisions apply instead of the ones mentioned above :
*
********************************************************************************
*
* License terms: BSD 3-clause "New" or "Revised" License.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. 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.
*
* 3. Neither the name of the copyright holder 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 AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS 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 vl53l1_error_strings.c
* @brief VL53L1 API functions for decoding error codes to a text string
*/
#include "vl53l1_error_codes.h"
#include "vl53l1_error_strings.h"
#include "vl53l1_platform_log.h"
#include "vl53l1_ll_def.h"
#define LOG_FUNCTION_START(fmt, ...) \
_LOG_FUNCTION_START(VL53L1_TRACE_MODULE_API, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
_LOG_FUNCTION_END(VL53L1_TRACE_MODULE_API, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
_LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_API, \
status, fmt, ##__VA_ARGS__)
#ifndef VL53L1_DEBUG
#define VL53L1_USE_EMPTY_STRING
#endif
VL53L1_Error VL53L1_get_pal_error_string(
VL53L1_Error PalErrorCode,
char *pPalErrorString)
{
VL53L1_Error Status = VL53L1_ERROR_NONE;
#ifdef VL53L1_USE_EMPTY_STRING
SUPPRESS_UNUSED_WARNING(PalErrorCode);
#endif
LOG_FUNCTION_START("");
#ifdef VL53L1_USE_EMPTY_STRING
VL53L1_COPYSTRING(pPalErrorString, "");
#else
switch (PalErrorCode) {
case VL53L1_ERROR_NONE:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_NONE);
break;
case VL53L1_ERROR_CALIBRATION_WARNING:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_CALIBRATION_WARNING);
break;
case VL53L1_ERROR_MIN_CLIPPED:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_MIN_CLIPPED);
break;
case VL53L1_ERROR_UNDEFINED:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_UNDEFINED);
break;
case VL53L1_ERROR_INVALID_PARAMS:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_INVALID_PARAMS);
break;
case VL53L1_ERROR_NOT_SUPPORTED:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_NOT_SUPPORTED);
break;
case VL53L1_ERROR_RANGE_ERROR:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_RANGE_ERROR);
break;
case VL53L1_ERROR_TIME_OUT:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_TIME_OUT);
break;
case VL53L1_ERROR_MODE_NOT_SUPPORTED:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_MODE_NOT_SUPPORTED);
break;
case VL53L1_ERROR_BUFFER_TOO_SMALL:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_BUFFER_TOO_SMALL);
break;
case VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_COMMS_BUFFER_TOO_SMALL);
break;
case VL53L1_ERROR_GPIO_NOT_EXISTING:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_GPIO_NOT_EXISTING);
break;
case VL53L1_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED);
break;
case VL53L1_ERROR_CONTROL_INTERFACE:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_CONTROL_INTERFACE);
break;
case VL53L1_ERROR_INVALID_COMMAND:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_INVALID_COMMAND);
break;
case VL53L1_ERROR_DIVISION_BY_ZERO:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_DIVISION_BY_ZERO);
break;
case VL53L1_ERROR_REF_SPAD_INIT:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_REF_SPAD_INIT);
break;
case VL53L1_ERROR_GPH_SYNC_CHECK_FAIL:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_GPH_SYNC_CHECK_FAIL);
break;
case VL53L1_ERROR_STREAM_COUNT_CHECK_FAIL:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_STREAM_COUNT_CHECK_FAIL);
break;
case VL53L1_ERROR_GPH_ID_CHECK_FAIL:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_GPH_ID_CHECK_FAIL);
break;
case VL53L1_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL);
break;
case VL53L1_ERROR_ZONE_GPH_ID_CHECK_FAIL:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_ZONE_GPH_ID_CHECK_FAIL);
break;
case VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_XTALK_EXTRACTION_NO_SAMPLES_FAIL);
break;
case VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL);
break;
case VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL);
break;
case VL53L1_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL);
break;
case VL53L1_ERROR_ZONE_CAL_NO_SAMPLE_FAIL:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_ZONE_CAL_NO_SAMPLE_FAIL);
break;
case VL53L1_WARNING_OFFSET_CAL_MISSING_SAMPLES:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_WARNING_OFFSET_CAL_MISSING_SAMPLES);
break;
case VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH);
break;
case VL53L1_WARNING_OFFSET_CAL_RATE_TOO_HIGH:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_WARNING_OFFSET_CAL_RATE_TOO_HIGH);
break;
case VL53L1_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW);
break;
case VL53L1_WARNING_ZONE_CAL_MISSING_SAMPLES:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_WARNING_ZONE_CAL_MISSING_SAMPLES);
break;
case VL53L1_WARNING_ZONE_CAL_SIGMA_TOO_HIGH:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_WARNING_ZONE_CAL_SIGMA_TOO_HIGH);
break;
case VL53L1_WARNING_ZONE_CAL_RATE_TOO_HIGH:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_WARNING_ZONE_CAL_RATE_TOO_HIGH);
break;
case VL53L1_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS);
break;
case VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH);
break;
case VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW);
break;
case VL53L1_WARNING_XTALK_MISSING_SAMPLES:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_WARNING_XTALK_MISSING_SAMPLES);
break;
case VL53L1_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT);
break;
case VL53L1_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT);
break;
case VL53L1_ERROR_DEVICE_FIRMWARE_TOO_OLD:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_DEVICE_FIRMWARE_TOO_OLD);
break;
case VL53L1_ERROR_DEVICE_FIRMWARE_TOO_NEW:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_DEVICE_FIRMWARE_TOO_NEW);
break;
case VL53L1_ERROR_UNIT_TEST_FAIL:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_UNIT_TEST_FAIL);
break;
case VL53L1_ERROR_FILE_READ_FAIL:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_FILE_READ_FAIL);
break;
case VL53L1_ERROR_FILE_WRITE_FAIL:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_FILE_WRITE_FAIL);
break;
case VL53L1_ERROR_NOT_IMPLEMENTED:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_ERROR_NOT_IMPLEMENTED);
break;
default:
VL53L1_COPYSTRING(pPalErrorString,
VL53L1_STRING_UNKNOW_ERROR_CODE);
}
#endif
LOG_FUNCTION_END(Status);
return Status;
}

4489
App/VL53L1X_API/core/src/vl53l1_register_funcs.c Normal file
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File diff suppressed because it is too large Load Diff

146
App/VL53L1X_API/core/src/vl53l1_silicon_core.c Normal file
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@@ -0,0 +1,146 @@
/*
* Copyright (c) 2017, STMicroelectronics - All Rights Reserved
*
* This file is part of VL53L1 Core and is dual licensed,
* either 'STMicroelectronics
* Proprietary license'
* or 'BSD 3-clause "New" or "Revised" License' , at your option.
*
********************************************************************************
*
* 'STMicroelectronics Proprietary license'
*
********************************************************************************
*
* License terms: STMicroelectronics Proprietary in accordance with licensing
* terms at www.st.com/sla0081
*
* STMicroelectronics confidential
* Reproduction and Communication of this document is strictly prohibited unless
* specifically authorized in writing by STMicroelectronics.
*
*
********************************************************************************
*
* Alternatively, VL53L1 Core may be distributed under the terms of
* 'BSD 3-clause "New" or "Revised" License', in which case the following
* provisions apply instead of the ones mentioned above :
*
********************************************************************************
*
* License terms: BSD 3-clause "New" or "Revised" License.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. 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.
*
* 3. Neither the name of the copyright holder 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 AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS 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 vl53l1_silicon_core.c
*
* @brief EwokPlus25 low level silicon LL Driver function definition
*/
#include "vl53l1_ll_def.h"
#include "vl53l1_platform.h"
#include "vl53l1_register_map.h"
#include "vl53l1_core.h"
#include "vl53l1_silicon_core.h"
#define LOG_FUNCTION_START(fmt, ...) \
_LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
_LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
_LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, fmt, ##__VA_ARGS__)
VL53L1_Error VL53L1_is_firmware_ready_silicon(
VL53L1_DEV Dev,
uint8_t *pready)
{
/**
* Determines if the firmware is ready to range
*
* There are 2 different behaviors depending on whether
* power force is enabled or not
*/
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
uint8_t comms_buffer[5];
LOG_FUNCTION_START("");
/* read interrupt and power force reset status */
status = VL53L1_ReadMulti(
Dev,
VL53L1_INTERRUPT_MANAGER__ENABLES,
comms_buffer,
5);
if (status == VL53L1_ERROR_NONE) {
pdev->dbg_results.interrupt_manager__enables =
comms_buffer[0];
pdev->dbg_results.interrupt_manager__clear =
comms_buffer[1];
pdev->dbg_results.interrupt_manager__status =
comms_buffer[2];
pdev->dbg_results.mcu_to_host_bank__wr_access_en =
comms_buffer[3];
pdev->dbg_results.power_management__go1_reset_status =
comms_buffer[4];
if ((pdev->sys_ctrl.power_management__go1_power_force & 0x01) == 0x01) {
if (((pdev->dbg_results.interrupt_manager__enables & 0x1F) == 0x1F) &&
((pdev->dbg_results.interrupt_manager__clear & 0x1F) == 0x1F))
*pready = 0x01;
else
*pready = 0x00;
} else {
/* set ready flag if bit 0 is zero i.g G01 is in reset */
if ((pdev->dbg_results.power_management__go1_reset_status & 0x01) == 0x00)
*pready = 0x01;
else
*pready = 0x00;
}
}
LOG_FUNCTION_END(status);
return status;
}

558
App/VL53L1X_API/core/src/vl53l1_wait.c Normal file
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@@ -0,0 +1,558 @@
/*
* Copyright (c) 2017, STMicroelectronics - All Rights Reserved
*
* This file is part of VL53L1 Core and is dual licensed,
* either 'STMicroelectronics
* Proprietary license'
* or 'BSD 3-clause "New" or "Revised" License' , at your option.
*
********************************************************************************
*
* 'STMicroelectronics Proprietary license'
*
********************************************************************************
*
* License terms: STMicroelectronics Proprietary in accordance with licensing
* terms at www.st.com/sla0081
*
* STMicroelectronics confidential
* Reproduction and Communication of this document is strictly prohibited unless
* specifically authorized in writing by STMicroelectronics.
*
*
********************************************************************************
*
* Alternatively, VL53L1 Core may be distributed under the terms of
* 'BSD 3-clause "New" or "Revised" License', in which case the following
* provisions apply instead of the ones mentioned above :
*
********************************************************************************
*
* License terms: BSD 3-clause "New" or "Revised" License.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. 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.
*
* 3. Neither the name of the copyright holder 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 AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS 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 vl53l1_wait.c
*
* @brief EwokPlus25 low level Driver wait function definition
*/
#include "vl53l1_ll_def.h"
#include "vl53l1_ll_device.h"
#include "vl53l1_platform.h"
#include "vl53l1_core.h"
#include "vl53l1_silicon_core.h"
#include "vl53l1_wait.h"
#include "vl53l1_register_settings.h"
#define LOG_FUNCTION_START(fmt, ...) \
_LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
_LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
_LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, \
fmt, ##__VA_ARGS__)
VL53L1_Error VL53L1_wait_for_boot_completion(
VL53L1_DEV Dev)
{
/* Waits for firmware boot to finish
*/
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
uint8_t fw_ready = 0;
LOG_FUNCTION_START("");
if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) {
/* blocking version */
status =
VL53L1_poll_for_boot_completion(
Dev,
VL53L1_BOOT_COMPLETION_POLLING_TIMEOUT_MS);
} else {
/* implement non blocking version below */
fw_ready = 0;
while (fw_ready == 0x00 && status == VL53L1_ERROR_NONE) {
status = VL53L1_is_boot_complete(
Dev,
&fw_ready);
if (status == VL53L1_ERROR_NONE) {
status = VL53L1_WaitMs(
Dev,
VL53L1_POLLING_DELAY_MS);
}
}
}
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_wait_for_firmware_ready(
VL53L1_DEV Dev)
{
/* If in timed mode or single shot then check firmware is ready
* before sending handshake
*/
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
uint8_t fw_ready = 0;
uint8_t mode_start = 0;
LOG_FUNCTION_START("");
/* Filter out tje measure mode part of the mode
* start register
*/
mode_start =
pdev->sys_ctrl.system__mode_start &
VL53L1_DEVICEMEASUREMENTMODE_MODE_MASK;
/*
* conditional wait for firmware ready
* only waits for timed and single shot modes
*/
if ((mode_start == VL53L1_DEVICEMEASUREMENTMODE_TIMED) ||
(mode_start == VL53L1_DEVICEMEASUREMENTMODE_SINGLESHOT)) {
if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) {
/* blocking version */
status =
VL53L1_poll_for_firmware_ready(
Dev,
VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS);
} else {
/* implement non blocking version below */
fw_ready = 0;
while (fw_ready == 0x00 && status == VL53L1_ERROR_NONE) {
status = VL53L1_is_firmware_ready(
Dev,
&fw_ready);
if (status == VL53L1_ERROR_NONE) {
status = VL53L1_WaitMs(
Dev,
VL53L1_POLLING_DELAY_MS);
}
}
}
}
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_wait_for_range_completion(
VL53L1_DEV Dev)
{
/* Wrapper function for waiting for range completion
*/
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
uint8_t data_ready = 0;
LOG_FUNCTION_START("");
if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) {
/* blocking version */
status =
VL53L1_poll_for_range_completion(
Dev,
VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS);
} else {
/* implement non blocking version below */
data_ready = 0;
while (data_ready == 0x00 && status == VL53L1_ERROR_NONE) {
status = VL53L1_is_new_data_ready(
Dev,
&data_ready);
if (status == VL53L1_ERROR_NONE) {
status = VL53L1_WaitMs(
Dev,
VL53L1_POLLING_DELAY_MS);
}
}
}
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_wait_for_test_completion(
VL53L1_DEV Dev)
{
/* Wrapper function for waiting for test mode completion
*/
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
uint8_t data_ready = 0;
LOG_FUNCTION_START("");
if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) {
/* blocking version */
status =
VL53L1_poll_for_range_completion(
Dev,
VL53L1_TEST_COMPLETION_POLLING_TIMEOUT_MS);
} else {
/* implement non blocking version below */
data_ready = 0;
while (data_ready == 0x00 && status == VL53L1_ERROR_NONE) {
status = VL53L1_is_new_data_ready(
Dev,
&data_ready);
if (status == VL53L1_ERROR_NONE) {
status = VL53L1_WaitMs(
Dev,
VL53L1_POLLING_DELAY_MS);
}
}
}
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_is_boot_complete(
VL53L1_DEV Dev,
uint8_t *pready)
{
/**
* Determines if the firmware finished booting by reading
* bit 0 of firmware__system_status register
*/
VL53L1_Error status = VL53L1_ERROR_NONE;
uint8_t firmware__system_status = 0;
LOG_FUNCTION_START("");
/* read current range interrupt state */
status =
VL53L1_RdByte(
Dev,
VL53L1_FIRMWARE__SYSTEM_STATUS,
&firmware__system_status);
/* set *pready = 1 if new range data ready complete
* zero otherwise
*/
if ((firmware__system_status & 0x01) == 0x01) {
*pready = 0x01;
VL53L1_init_ll_driver_state(
Dev,
VL53L1_DEVICESTATE_SW_STANDBY);
} else {
*pready = 0x00;
VL53L1_init_ll_driver_state(
Dev,
VL53L1_DEVICESTATE_FW_COLDBOOT);
}
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_is_firmware_ready(
VL53L1_DEV Dev,
uint8_t *pready)
{
/**
* Determines if the firmware is ready to range
*/
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
LOG_FUNCTION_START("");
status = VL53L1_is_firmware_ready_silicon(
Dev,
pready);
pdev->fw_ready = *pready;
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_is_new_data_ready(
VL53L1_DEV Dev,
uint8_t *pready)
{
/**
* Determines if new range data is ready by reading bit 0 of
* VL53L1_GPIO__TIO_HV_STATUS to determine the current state
* of output interrupt pin
*/
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
uint8_t gpio__mux_active_high_hv = 0;
uint8_t gpio__tio_hv_status = 0;
uint8_t interrupt_ready = 0;
LOG_FUNCTION_START("");
gpio__mux_active_high_hv =
pdev->stat_cfg.gpio_hv_mux__ctrl &
VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_MASK;
if (gpio__mux_active_high_hv == VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH)
interrupt_ready = 0x01;
else
interrupt_ready = 0x00;
/* read current range interrupt state */
status = VL53L1_RdByte(
Dev,
VL53L1_GPIO__TIO_HV_STATUS,
&gpio__tio_hv_status);
/* set *pready = 1 if new range data ready complete zero otherwise */
if ((gpio__tio_hv_status & 0x01) == interrupt_ready)
*pready = 0x01;
else
*pready = 0x00;
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_poll_for_boot_completion(
VL53L1_DEV Dev,
uint32_t timeout_ms)
{
/**
* Polls the bit 0 of the FIRMWARE__SYSTEM_STATUS register to see if
* the firmware is ready.
*/
VL53L1_Error status = VL53L1_ERROR_NONE;
LOG_FUNCTION_START("");
/* after reset for the firmware blocks I2C access while
* it copies the NVM data into the G02 host register banks
* The host must wait the required time to allow the copy
* to complete before attempting to read the firmware status
*/
status = VL53L1_WaitUs(
Dev,
VL53L1_FIRMWARE_BOOT_TIME_US);
if (status == VL53L1_ERROR_NONE)
status =
VL53L1_WaitValueMaskEx(
Dev,
timeout_ms,
VL53L1_FIRMWARE__SYSTEM_STATUS,
0x01,
0x01,
VL53L1_POLLING_DELAY_MS);
if (status == VL53L1_ERROR_NONE)
VL53L1_init_ll_driver_state(Dev, VL53L1_DEVICESTATE_SW_STANDBY);
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_poll_for_firmware_ready(
VL53L1_DEV Dev,
uint32_t timeout_ms)
{
/**
* Polls the bit 0 of the FIRMWARE__SYSTEM_STATUS register to see if
* the firmware is ready.
*/
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
uint32_t start_time_ms = 0;
uint32_t current_time_ms = 0;
int32_t poll_delay_ms = VL53L1_POLLING_DELAY_MS;
uint8_t fw_ready = 0;
/* calculate time limit in absolute time */
VL53L1_GetTickCount(Dev, &start_time_ms); /*lint !e534 ignoring return*/
pdev->fw_ready_poll_duration_ms = 0;
/* wait until firmware is ready, timeout reached on error occurred */
while ((status == VL53L1_ERROR_NONE) &&
(pdev->fw_ready_poll_duration_ms < timeout_ms) &&
(fw_ready == 0)) {
status = VL53L1_is_firmware_ready(
Dev,
&fw_ready);
if (status == VL53L1_ERROR_NONE &&
fw_ready == 0 &&
poll_delay_ms > 0) {
status = VL53L1_WaitMs(
Dev,
poll_delay_ms);
}
/*
* Update polling time (Compare difference rather than
* absolute to negate 32bit wrap around issue)
*/
VL53L1_GetTickCount(Dev, &current_time_ms); /*lint !e534 ignoring return*/
pdev->fw_ready_poll_duration_ms =
current_time_ms - start_time_ms;
}
if (fw_ready == 0 && status == VL53L1_ERROR_NONE)
status = VL53L1_ERROR_TIME_OUT;
LOG_FUNCTION_END(status);
return status;
}
VL53L1_Error VL53L1_poll_for_range_completion(
VL53L1_DEV Dev,
uint32_t timeout_ms)
{
/**
* Polls bit 0 of VL53L1_GPIO__TIO_HV_STATUS to determine
* the state of output interrupt pin
*
* Interrupt may be either active high or active low. Use active_high to
* select the required level check
*/
VL53L1_Error status = VL53L1_ERROR_NONE;
VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev);
uint8_t gpio__mux_active_high_hv = 0;
uint8_t interrupt_ready = 0;
LOG_FUNCTION_START("");
gpio__mux_active_high_hv =
pdev->stat_cfg.gpio_hv_mux__ctrl &
VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_MASK;
if (gpio__mux_active_high_hv == VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH)
interrupt_ready = 0x01;
else
interrupt_ready = 0x00;
status =
VL53L1_WaitValueMaskEx(
Dev,
timeout_ms,
VL53L1_GPIO__TIO_HV_STATUS,
interrupt_ready,
0x01,
VL53L1_POLLING_DELAY_MS);
LOG_FUNCTION_END(status);
return status;
}