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vl53l0x_api.c
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vl53l0x_api.c
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/**
******************************************************************************
* @attention
*
* <h2><center>© Copyright (c) 2017 STMicroelectronics.
* All rights reserved.</center></h2>
*
* This software component is licensed by ST under Ultimate Liberty license SLA0044,
* the "License"; You may not use this file except in compliance with the
* License. You may obtain a copy of the License at:
* http://www.st.com/SLA0044
*
******************************************************************************
*/
#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 <stdlib.h>
#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;
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);
/* Dmax default Parameter */
PALDevDataSet(Dev, DmaxCalRangeMilliMeter, 400);
PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps,
(FixPoint1616_t)((0x00016B85))); /* 1.42 No Cover Glass*/
/* 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;
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);
/* 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;
FixPoint1616_t seqTimeoutMilliSecs;
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 = VL53L0X_GetSequenceStepTimeout(
Dev,
VL53L0X_SEQUENCESTEP_PRE_RANGE,
&seqTimeoutMilliSecs);
}
if (Status == VL53L0X_ERROR_NONE) {
VL53L0X_SETDEVICESPECIFICPARAMETER(
Dev,
PreRangeTimeoutMicroSecs,
seqTimeoutMilliSecs);
}
/* Store final-range timeout */
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_GetSequenceStepTimeout(
Dev,
VL53L0X_SEQUENCESTEP_FINAL_RANGE,
&seqTimeoutMilliSecs);
}
if (Status == VL53L0X_ERROR_NONE) {
VL53L0X_SETDEVICESPECIFICPARAMETER(
Dev,
FinalRangeTimeoutMicroSecs,
seqTimeoutMilliSecs);
}
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);
}
/* 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);
}
/* 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));
}
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;
}