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vl53l0x_api_core.c
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vl53l0x_api_core.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_api_core.h"
#include "vl53l0x_api_calibration.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__)
VL53L0X_Error VL53L0X_reverse_bytes(uint8_t *data, uint32_t size)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
uint8_t tempData;
uint32_t mirrorIndex;
uint32_t middle = size/2;
uint32_t index;
for (index = 0; index < middle; index++) {
mirrorIndex = size - index - 1;
tempData = data[index];
data[index] = data[mirrorIndex];
data[mirrorIndex] = tempData;
}
return Status;
}
VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV Dev)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
uint8_t NewDataReady = 0;
uint32_t LoopNb;
LOG_FUNCTION_START("");
LoopNb = 0;
do {
Status = VL53L0X_GetMeasurementDataReady(Dev, &NewDataReady);
if (Status != 0)
break; /* the error is set */
if (NewDataReady == 1)
break; /* done note that status == 0 */
LoopNb++;
if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP) {
Status = VL53L0X_ERROR_TIME_OUT;
break;
}
VL53L0X_PollingDelay(Dev);
} while (1);
LOG_FUNCTION_END(Status);
return Status;
}
uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg)
{
/*!
* Converts the encoded VCSEL period register value into the real
* period in PLL clocks
*/
uint8_t vcsel_period_pclks = 0;
vcsel_period_pclks = (vcsel_period_reg + 1) << 1;
return vcsel_period_pclks;
}
uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks)
{
/*!
* Converts the encoded VCSEL period register value into the real period
* in PLL clocks
*/
uint8_t vcsel_period_reg = 0;
vcsel_period_reg = (vcsel_period_pclks >> 1) - 1;
return vcsel_period_reg;
}
uint32_t VL53L0X_isqrt(uint32_t num)
{
/*
* Implements an integer square root
*
* From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots
*/
uint32_t res = 0;
uint32_t bit = 1 << 30;
/* The second-to-top bit is set:
* 1 << 14 for 16-bits, 1 << 30 for 32 bits */
/* "bit" starts at the highest power of four <= the argument. */
while (bit > num)
bit >>= 2;
while (bit != 0) {
if (num >= res + bit) {
num -= res + bit;
res = (res >> 1) + bit;
} else
res >>= 1;
bit >>= 2;
}
return res;
}
uint32_t VL53L0X_quadrature_sum(uint32_t a, uint32_t b)
{
/*
* Implements a quadrature sum
*
* rea = sqrt(a^2 + b^2)
*
* Trap overflow case max input value is 65535 (16-bit value)
* as internal calc are 32-bit wide
*
* If overflow then seta output to maximum
*/
uint32_t res = 0;
if (a > 65535 || b > 65535)
res = 65535;
else
res = VL53L0X_isqrt(a * a + b * b);
return res;
}
VL53L0X_Error VL53L0X_device_read_strobe(VL53L0X_DEV Dev)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
uint8_t strobe;
uint32_t LoopNb;
LOG_FUNCTION_START("");
Status |= VL53L0X_WrByte(Dev, 0x83, 0x00);
/* polling
* use timeout to avoid deadlock*/
if (Status == VL53L0X_ERROR_NONE) {
LoopNb = 0;
do {
Status = VL53L0X_RdByte(Dev, 0x83, &strobe);
if ((strobe != 0x00) || Status != VL53L0X_ERROR_NONE)
break;
LoopNb = LoopNb + 1;
} while (LoopNb < VL53L0X_DEFAULT_MAX_LOOP);
if (LoopNb >= VL53L0X_DEFAULT_MAX_LOOP)
Status = VL53L0X_ERROR_TIME_OUT;
}
Status |= VL53L0X_WrByte(Dev, 0x83, 0x01);
LOG_FUNCTION_END(Status);
return Status;
}
VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV Dev, uint8_t option)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
uint8_t byte;
uint32_t TmpDWord;
uint8_t ModuleId;
uint8_t Revision;
uint8_t ReferenceSpadCount = 0;
uint8_t ReferenceSpadType = 0;
uint32_t PartUIDUpper = 0;
uint32_t PartUIDLower = 0;
uint32_t OffsetFixed1104_mm = 0;
int16_t OffsetMicroMeters = 0;
uint32_t DistMeasTgtFixed1104_mm = 400 << 4;
uint32_t DistMeasFixed1104_400_mm = 0;
uint32_t SignalRateMeasFixed1104_400_mm = 0;
char ProductId[19];
char *ProductId_tmp;
uint8_t ReadDataFromDeviceDone;
FixPoint1616_t SignalRateMeasFixed400mmFix = 0;
uint8_t NvmRefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE];
int i;
LOG_FUNCTION_START("");
ReadDataFromDeviceDone = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
ReadDataFromDeviceDone);
/* This access is done only once after that a GetDeviceInfo or
* datainit is done*/
if (ReadDataFromDeviceDone != 7) {
Status |= VL53L0X_WrByte(Dev, 0x80, 0x01);
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
Status |= VL53L0X_WrByte(Dev, 0x00, 0x00);
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x06);
Status |= VL53L0X_RdByte(Dev, 0x83, &byte);
Status |= VL53L0X_WrByte(Dev, 0x83, byte|4);
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x07);
Status |= VL53L0X_WrByte(Dev, 0x81, 0x01);
Status |= VL53L0X_PollingDelay(Dev);
Status |= VL53L0X_WrByte(Dev, 0x80, 0x01);
if (((option & 1) == 1) &&
((ReadDataFromDeviceDone & 1) == 0)) {
Status |= VL53L0X_WrByte(Dev, 0x94, 0x6b);
Status |= VL53L0X_device_read_strobe(Dev);
Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
ReferenceSpadCount = (uint8_t)((TmpDWord >> 8) & 0x07f);
ReferenceSpadType = (uint8_t)((TmpDWord >> 15) & 0x01);
Status |= VL53L0X_WrByte(Dev, 0x94, 0x24);
Status |= VL53L0X_device_read_strobe(Dev);
Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
NvmRefGoodSpadMap[0] = (uint8_t)((TmpDWord >> 24)
& 0xff);
NvmRefGoodSpadMap[1] = (uint8_t)((TmpDWord >> 16)
& 0xff);
NvmRefGoodSpadMap[2] = (uint8_t)((TmpDWord >> 8)
& 0xff);
NvmRefGoodSpadMap[3] = (uint8_t)(TmpDWord & 0xff);
Status |= VL53L0X_WrByte(Dev, 0x94, 0x25);
Status |= VL53L0X_device_read_strobe(Dev);
Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
NvmRefGoodSpadMap[4] = (uint8_t)((TmpDWord >> 24)
& 0xff);
NvmRefGoodSpadMap[5] = (uint8_t)((TmpDWord >> 16)
& 0xff);
}
if (((option & 2) == 2) &&
((ReadDataFromDeviceDone & 2) == 0)) {
Status |= VL53L0X_WrByte(Dev, 0x94, 0x02);
Status |= VL53L0X_device_read_strobe(Dev);
Status |= VL53L0X_RdByte(Dev, 0x90, &ModuleId);
Status |= VL53L0X_WrByte(Dev, 0x94, 0x7B);
Status |= VL53L0X_device_read_strobe(Dev);
Status |= VL53L0X_RdByte(Dev, 0x90, &Revision);
Status |= VL53L0X_WrByte(Dev, 0x94, 0x77);
Status |= VL53L0X_device_read_strobe(Dev);
Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
ProductId[0] = (char)((TmpDWord >> 25) & 0x07f);
ProductId[1] = (char)((TmpDWord >> 18) & 0x07f);
ProductId[2] = (char)((TmpDWord >> 11) & 0x07f);
ProductId[3] = (char)((TmpDWord >> 4) & 0x07f);
byte = (uint8_t)((TmpDWord & 0x00f) << 3);
Status |= VL53L0X_WrByte(Dev, 0x94, 0x78);
Status |= VL53L0X_device_read_strobe(Dev);
Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
ProductId[4] = (char)(byte +
((TmpDWord >> 29) & 0x07f));
ProductId[5] = (char)((TmpDWord >> 22) & 0x07f);
ProductId[6] = (char)((TmpDWord >> 15) & 0x07f);
ProductId[7] = (char)((TmpDWord >> 8) & 0x07f);
ProductId[8] = (char)((TmpDWord >> 1) & 0x07f);
byte = (uint8_t)((TmpDWord & 0x001) << 6);
Status |= VL53L0X_WrByte(Dev, 0x94, 0x79);
Status |= VL53L0X_device_read_strobe(Dev);
Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
ProductId[9] = (char)(byte +
((TmpDWord >> 26) & 0x07f));
ProductId[10] = (char)((TmpDWord >> 19) & 0x07f);
ProductId[11] = (char)((TmpDWord >> 12) & 0x07f);
ProductId[12] = (char)((TmpDWord >> 5) & 0x07f);
byte = (uint8_t)((TmpDWord & 0x01f) << 2);
Status |= VL53L0X_WrByte(Dev, 0x94, 0x7A);
Status |= VL53L0X_device_read_strobe(Dev);
Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
ProductId[13] = (char)(byte +
((TmpDWord >> 30) & 0x07f));
ProductId[14] = (char)((TmpDWord >> 23) & 0x07f);
ProductId[15] = (char)((TmpDWord >> 16) & 0x07f);
ProductId[16] = (char)((TmpDWord >> 9) & 0x07f);
ProductId[17] = (char)((TmpDWord >> 2) & 0x07f);
ProductId[18] = '\0';
}
if (((option & 4) == 4) &&
((ReadDataFromDeviceDone & 4) == 0)) {
Status |= VL53L0X_WrByte(Dev, 0x94, 0x7B);
Status |= VL53L0X_device_read_strobe(Dev);
Status |= VL53L0X_RdDWord(Dev, 0x90, &PartUIDUpper);
Status |= VL53L0X_WrByte(Dev, 0x94, 0x7C);
Status |= VL53L0X_device_read_strobe(Dev);
Status |= VL53L0X_RdDWord(Dev, 0x90, &PartUIDLower);
Status |= VL53L0X_WrByte(Dev, 0x94, 0x73);
Status |= VL53L0X_device_read_strobe(Dev);
Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
SignalRateMeasFixed1104_400_mm = (TmpDWord &
0x000000ff) << 8;
Status |= VL53L0X_WrByte(Dev, 0x94, 0x74);
Status |= VL53L0X_device_read_strobe(Dev);
Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
SignalRateMeasFixed1104_400_mm |= ((TmpDWord &
0xff000000) >> 24);
Status |= VL53L0X_WrByte(Dev, 0x94, 0x75);
Status |= VL53L0X_device_read_strobe(Dev);
Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
DistMeasFixed1104_400_mm = (TmpDWord & 0x000000ff)
<< 8;
Status |= VL53L0X_WrByte(Dev, 0x94, 0x76);
Status |= VL53L0X_device_read_strobe(Dev);
Status |= VL53L0X_RdDWord(Dev, 0x90, &TmpDWord);
DistMeasFixed1104_400_mm |= ((TmpDWord & 0xff000000)
>> 24);
}
Status |= VL53L0X_WrByte(Dev, 0x81, 0x00);
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x06);
Status |= VL53L0X_RdByte(Dev, 0x83, &byte);
Status |= VL53L0X_WrByte(Dev, 0x83, byte&0xfb);
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x01);
Status |= VL53L0X_WrByte(Dev, 0x00, 0x01);
Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
Status |= VL53L0X_WrByte(Dev, 0x80, 0x00);
}
if ((Status == VL53L0X_ERROR_NONE) &&
(ReadDataFromDeviceDone != 7)) {
/* Assign to variable if status is ok */
if (((option & 1) == 1) &&
((ReadDataFromDeviceDone & 1) == 0)) {
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
ReferenceSpadCount, ReferenceSpadCount);
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
ReferenceSpadType, ReferenceSpadType);
for (i = 0; i < VL53L0X_REF_SPAD_BUFFER_SIZE; i++) {
Dev->Data.SpadData.RefGoodSpadMap[i] =
NvmRefGoodSpadMap[i];
}
}
if (((option & 2) == 2) &&
((ReadDataFromDeviceDone & 2) == 0)) {
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
ModuleId, ModuleId);
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
Revision, Revision);
ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
ProductId);
VL53L0X_COPYSTRING(ProductId_tmp, ProductId);
}
if (((option & 4) == 4) &&
((ReadDataFromDeviceDone & 4) == 0)) {
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
PartUIDUpper, PartUIDUpper);
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
PartUIDLower, PartUIDLower);
SignalRateMeasFixed400mmFix =
VL53L0X_FIXPOINT97TOFIXPOINT1616(
SignalRateMeasFixed1104_400_mm);
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
SignalRateMeasFixed400mm,
SignalRateMeasFixed400mmFix);
OffsetMicroMeters = 0;
if (DistMeasFixed1104_400_mm != 0) {
OffsetFixed1104_mm =
DistMeasFixed1104_400_mm -
DistMeasTgtFixed1104_mm;
OffsetMicroMeters = (OffsetFixed1104_mm
* 1000) >> 4;
OffsetMicroMeters *= -1;
}
PALDevDataSet(Dev,
Part2PartOffsetAdjustmentNVMMicroMeter,
OffsetMicroMeters);
}
byte = (uint8_t)(ReadDataFromDeviceDone|option);
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone,
byte);
}
LOG_FUNCTION_END(Status);
return Status;
}
uint32_t VL53L0X_calc_macro_period_ps(VL53L0X_DEV Dev, uint8_t vcsel_period_pclks)
{
uint64_t PLL_period_ps;
uint32_t macro_period_vclks;
uint32_t macro_period_ps;
LOG_FUNCTION_START("");
/* The above calculation will produce rounding errors,
therefore set fixed value
*/
PLL_period_ps = 1655;
macro_period_vclks = 2304;
macro_period_ps = (uint32_t)(macro_period_vclks
* vcsel_period_pclks * PLL_period_ps);
LOG_FUNCTION_END("");
return macro_period_ps;
}
uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks)
{
/*!
* Encode timeout in macro periods in (LSByte * 2^MSByte) + 1 format
*/
uint16_t encoded_timeout = 0;
uint32_t ls_byte = 0;
uint16_t ms_byte = 0;
if (timeout_macro_clks > 0) {
ls_byte = timeout_macro_clks - 1;
while ((ls_byte & 0xFFFFFF00) > 0) {
ls_byte = ls_byte >> 1;
ms_byte++;
}
encoded_timeout = (ms_byte << 8)
+ (uint16_t) (ls_byte & 0x000000FF);
}
return encoded_timeout;
}
uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout)
{
/*!
* Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1
*/
uint32_t timeout_macro_clks = 0;
timeout_macro_clks = ((uint32_t) (encoded_timeout & 0x00FF)
<< (uint32_t) ((encoded_timeout & 0xFF00) >> 8)) + 1;
return timeout_macro_clks;
}
/* To convert ms into register value */
uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV Dev,
uint32_t timeout_period_us,
uint8_t vcsel_period_pclks)
{
uint32_t macro_period_ps;
uint32_t macro_period_ns;
uint32_t timeout_period_mclks = 0;
macro_period_ps = VL53L0X_calc_macro_period_ps(Dev, vcsel_period_pclks);
macro_period_ns = (macro_period_ps + 500) / 1000;
timeout_period_mclks =
(uint32_t) (((timeout_period_us * 1000)
+ (macro_period_ns / 2)) / macro_period_ns);
return timeout_period_mclks;
}
/* To convert register value into us */
uint32_t VL53L0X_calc_timeout_us(VL53L0X_DEV Dev,
uint16_t timeout_period_mclks,
uint8_t vcsel_period_pclks)
{
uint32_t macro_period_ps;
uint32_t macro_period_ns;
uint32_t actual_timeout_period_us = 0;
macro_period_ps = VL53L0X_calc_macro_period_ps(Dev, vcsel_period_pclks);
macro_period_ns = (macro_period_ps + 500) / 1000;
actual_timeout_period_us =
((timeout_period_mclks * macro_period_ns)
+ (macro_period_ns / 2)) / 1000;
return actual_timeout_period_us;
}
VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV Dev,
VL53L0X_SequenceStepId SequenceStepId,
uint32_t *pTimeOutMicroSecs)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
uint8_t CurrentVCSELPulsePeriodPClk;
uint8_t EncodedTimeOutByte = 0;
uint32_t TimeoutMicroSeconds = 0;
uint16_t PreRangeEncodedTimeOut = 0;
uint16_t MsrcTimeOutMClks;
uint16_t PreRangeTimeOutMClks;
uint16_t FinalRangeTimeOutMClks = 0;
uint16_t FinalRangeEncodedTimeOut;
VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps;
if ((SequenceStepId == VL53L0X_SEQUENCESTEP_TCC) ||
(SequenceStepId == VL53L0X_SEQUENCESTEP_DSS) ||
(SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)) {
Status = VL53L0X_GetVcselPulsePeriod(Dev,
VL53L0X_VCSEL_PERIOD_PRE_RANGE,
&CurrentVCSELPulsePeriodPClk);
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_RdByte(Dev,
VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
&EncodedTimeOutByte);
}
MsrcTimeOutMClks = VL53L0X_decode_timeout(EncodedTimeOutByte);
TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev,
MsrcTimeOutMClks,
CurrentVCSELPulsePeriodPClk);
} else if (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
/* Retrieve PRE-RANGE VCSEL Period */
Status = VL53L0X_GetVcselPulsePeriod(Dev,
VL53L0X_VCSEL_PERIOD_PRE_RANGE,
&CurrentVCSELPulsePeriodPClk);
/* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */
if (Status == VL53L0X_ERROR_NONE) {
/* Retrieve PRE-RANGE VCSEL Period */
Status = VL53L0X_GetVcselPulsePeriod(Dev,
VL53L0X_VCSEL_PERIOD_PRE_RANGE,
&CurrentVCSELPulsePeriodPClk);
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_RdWord(Dev,
VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
&PreRangeEncodedTimeOut);
}
PreRangeTimeOutMClks = VL53L0X_decode_timeout(
PreRangeEncodedTimeOut);
TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev,
PreRangeTimeOutMClks,
CurrentVCSELPulsePeriodPClk);
}
} else if (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
VL53L0X_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps);
PreRangeTimeOutMClks = 0;
if (SchedulerSequenceSteps.PreRangeOn) {
/* Retrieve PRE-RANGE VCSEL Period */
Status = VL53L0X_GetVcselPulsePeriod(Dev,
VL53L0X_VCSEL_PERIOD_PRE_RANGE,
&CurrentVCSELPulsePeriodPClk);
/* Retrieve PRE-RANGE Timeout in Macro periods
* (MCLKS) */
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_RdWord(Dev,
VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
&PreRangeEncodedTimeOut);
PreRangeTimeOutMClks = VL53L0X_decode_timeout(
PreRangeEncodedTimeOut);
}
}
if (Status == VL53L0X_ERROR_NONE) {
/* Retrieve FINAL-RANGE VCSEL Period */
Status = VL53L0X_GetVcselPulsePeriod(Dev,
VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
&CurrentVCSELPulsePeriodPClk);
}
/* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_RdWord(Dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI,
&FinalRangeEncodedTimeOut);
FinalRangeTimeOutMClks = VL53L0X_decode_timeout(
FinalRangeEncodedTimeOut);
}
FinalRangeTimeOutMClks -= PreRangeTimeOutMClks;
TimeoutMicroSeconds = VL53L0X_calc_timeout_us(Dev,
FinalRangeTimeOutMClks,
CurrentVCSELPulsePeriodPClk);
}
*pTimeOutMicroSecs = TimeoutMicroSeconds;
return Status;
}
VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV Dev,
VL53L0X_SequenceStepId SequenceStepId,
uint32_t TimeOutMicroSecs)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
uint8_t CurrentVCSELPulsePeriodPClk;
uint8_t MsrcEncodedTimeOut;
uint16_t PreRangeEncodedTimeOut;
uint16_t PreRangeTimeOutMClks;
uint16_t MsrcRangeTimeOutMClks;
uint16_t FinalRangeTimeOutMClks;
uint16_t FinalRangeEncodedTimeOut;
VL53L0X_SchedulerSequenceSteps_t SchedulerSequenceSteps;
if ((SequenceStepId == VL53L0X_SEQUENCESTEP_TCC) ||
(SequenceStepId == VL53L0X_SEQUENCESTEP_DSS) ||
(SequenceStepId == VL53L0X_SEQUENCESTEP_MSRC)) {
Status = VL53L0X_GetVcselPulsePeriod(Dev,
VL53L0X_VCSEL_PERIOD_PRE_RANGE,
&CurrentVCSELPulsePeriodPClk);
if (Status == VL53L0X_ERROR_NONE) {
MsrcRangeTimeOutMClks = VL53L0X_calc_timeout_mclks(Dev,
TimeOutMicroSecs,
(uint8_t)CurrentVCSELPulsePeriodPClk);
if (MsrcRangeTimeOutMClks > 256)
MsrcEncodedTimeOut = 255;
else
MsrcEncodedTimeOut =
(uint8_t)MsrcRangeTimeOutMClks - 1;
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
LastEncodedTimeout,
MsrcEncodedTimeOut);
}
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP,
MsrcEncodedTimeOut);
}
} else {
if (SequenceStepId == VL53L0X_SEQUENCESTEP_PRE_RANGE) {
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_GetVcselPulsePeriod(Dev,
VL53L0X_VCSEL_PERIOD_PRE_RANGE,
&CurrentVCSELPulsePeriodPClk);
PreRangeTimeOutMClks =
VL53L0X_calc_timeout_mclks(Dev,
TimeOutMicroSecs,
(uint8_t)CurrentVCSELPulsePeriodPClk);
PreRangeEncodedTimeOut = VL53L0X_encode_timeout(
PreRangeTimeOutMClks);
VL53L0X_SETDEVICESPECIFICPARAMETER(Dev,
LastEncodedTimeout,
PreRangeEncodedTimeOut);
}
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_WrWord(Dev,
VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI,
PreRangeEncodedTimeOut);
}
if (Status == VL53L0X_ERROR_NONE) {
VL53L0X_SETDEVICESPECIFICPARAMETER(
Dev,
PreRangeTimeoutMicroSecs,
TimeOutMicroSecs);
}
} else if (SequenceStepId == VL53L0X_SEQUENCESTEP_FINAL_RANGE) {
/* For the final range timeout, the pre-range timeout
* must be added. To do this both final and pre-range
* timeouts must be expressed in macro periods MClks
* because they have different vcsel periods.
*/
VL53L0X_GetSequenceStepEnables(Dev,
&SchedulerSequenceSteps);
PreRangeTimeOutMClks = 0;
if (SchedulerSequenceSteps.PreRangeOn) {
/* Retrieve PRE-RANGE VCSEL Period */
Status = VL53L0X_GetVcselPulsePeriod(Dev,
VL53L0X_VCSEL_PERIOD_PRE_RANGE,
&CurrentVCSELPulsePeriodPClk);
/* Retrieve PRE-RANGE Timeout in Macro periods
* (MCLKS) */
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_RdWord(Dev, 0x51,
&PreRangeEncodedTimeOut);
PreRangeTimeOutMClks =
VL53L0X_decode_timeout(
PreRangeEncodedTimeOut);
}
}
/* Calculate FINAL RANGE Timeout in Macro Periods
* (MCLKS) and add PRE-RANGE value
*/
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_GetVcselPulsePeriod(Dev,
VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
&CurrentVCSELPulsePeriodPClk);
}
if (Status == VL53L0X_ERROR_NONE) {
FinalRangeTimeOutMClks =
VL53L0X_calc_timeout_mclks(Dev,
TimeOutMicroSecs,
(uint8_t) CurrentVCSELPulsePeriodPClk);
FinalRangeTimeOutMClks += PreRangeTimeOutMClks;
FinalRangeEncodedTimeOut =
VL53L0X_encode_timeout(FinalRangeTimeOutMClks);
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_WrWord(Dev, 0x71,
FinalRangeEncodedTimeOut);
}
if (Status == VL53L0X_ERROR_NONE) {
VL53L0X_SETDEVICESPECIFICPARAMETER(
Dev,
FinalRangeTimeoutMicroSecs,
TimeOutMicroSecs);
}
}
} else
Status = VL53L0X_ERROR_INVALID_PARAMS;
}
return Status;
}
VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev,
VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
uint8_t vcsel_period_reg;
uint8_t MinPreVcselPeriodPCLK = 12;
uint8_t MaxPreVcselPeriodPCLK = 18;
uint8_t MinFinalVcselPeriodPCLK = 8;
uint8_t MaxFinalVcselPeriodPCLK = 14;
uint32_t MeasurementTimingBudgetMicroSeconds;
uint32_t FinalRangeTimeoutMicroSeconds;
uint32_t PreRangeTimeoutMicroSeconds;
uint32_t MsrcTimeoutMicroSeconds;
uint8_t PhaseCalInt = 0;
/* Check if valid clock period requested */
if ((VCSELPulsePeriodPCLK % 2) != 0) {
/* Value must be an even number */
Status = VL53L0X_ERROR_INVALID_PARAMS;
} else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_PRE_RANGE &&
(VCSELPulsePeriodPCLK < MinPreVcselPeriodPCLK ||
VCSELPulsePeriodPCLK > MaxPreVcselPeriodPCLK)) {
Status = VL53L0X_ERROR_INVALID_PARAMS;
} else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_FINAL_RANGE &&
(VCSELPulsePeriodPCLK < MinFinalVcselPeriodPCLK ||
VCSELPulsePeriodPCLK > MaxFinalVcselPeriodPCLK)) {
Status = VL53L0X_ERROR_INVALID_PARAMS;
}
/* Apply specific settings for the requested clock period */
if (Status != VL53L0X_ERROR_NONE)
return Status;
if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_PRE_RANGE) {
/* Set phase check limits */
if (VCSELPulsePeriodPCLK == 12) {
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
0x18);
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
0x08);
} else if (VCSELPulsePeriodPCLK == 14) {
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
0x30);
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
0x08);
} else if (VCSELPulsePeriodPCLK == 16) {
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
0x40);
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
0x08);
} else if (VCSELPulsePeriodPCLK == 18) {
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH,
0x50);
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW,
0x08);
}
} else if (VcselPeriodType == VL53L0X_VCSEL_PERIOD_FINAL_RANGE) {
if (VCSELPulsePeriodPCLK == 8) {
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
0x10);
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
0x08);
Status |= VL53L0X_WrByte(Dev,
VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02);
Status |= VL53L0X_WrByte(Dev,
VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C);
Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
Status |= VL53L0X_WrByte(Dev,
VL53L0X_REG_ALGO_PHASECAL_LIM,
0x30);
Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
} else if (VCSELPulsePeriodPCLK == 10) {
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
0x28);
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
0x08);
Status |= VL53L0X_WrByte(Dev,
VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
Status |= VL53L0X_WrByte(Dev,
VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09);
Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
Status |= VL53L0X_WrByte(Dev,
VL53L0X_REG_ALGO_PHASECAL_LIM,
0x20);
Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
} else if (VCSELPulsePeriodPCLK == 12) {
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
0x38);
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
0x08);
Status |= VL53L0X_WrByte(Dev,
VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
Status |= VL53L0X_WrByte(Dev,
VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08);
Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
Status |= VL53L0X_WrByte(Dev,
VL53L0X_REG_ALGO_PHASECAL_LIM,
0x20);
Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
} else if (VCSELPulsePeriodPCLK == 14) {
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH,
0x048);
Status = VL53L0X_WrByte(Dev,
VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW,
0x08);
Status |= VL53L0X_WrByte(Dev,
VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03);
Status |= VL53L0X_WrByte(Dev,
VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07);
Status |= VL53L0X_WrByte(Dev, 0xff, 0x01);
Status |= VL53L0X_WrByte(Dev,
VL53L0X_REG_ALGO_PHASECAL_LIM,
0x20);
Status |= VL53L0X_WrByte(Dev, 0xff, 0x00);
}
}
/* Re-calculate and apply timeouts, in macro periods */
if (Status == VL53L0X_ERROR_NONE) {
vcsel_period_reg = VL53L0X_encode_vcsel_period((uint8_t)
VCSELPulsePeriodPCLK);
/* When the VCSEL period for the pre or final range is changed,
* the corresponding timeout must be read from the device using
* the current VCSEL period, then the new VCSEL period can be
* applied. The timeout then must be written back to the device
* using the new VCSEL period.
*
* For the MSRC timeout, the same applies - this timeout being
* dependant on the pre-range vcsel period.
*/
switch (VcselPeriodType) {
case VL53L0X_VCSEL_PERIOD_PRE_RANGE:
Status = get_sequence_step_timeout(Dev,
VL53L0X_SEQUENCESTEP_PRE_RANGE,
&PreRangeTimeoutMicroSeconds);
if (Status == VL53L0X_ERROR_NONE)
Status = get_sequence_step_timeout(Dev,
VL53L0X_SEQUENCESTEP_MSRC,
&MsrcTimeoutMicroSeconds);
if (Status == VL53L0X_ERROR_NONE)