851 lines
25 KiB
C
851 lines
25 KiB
C
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/*
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Copyright (c) 2017, STMicroelectronics - All Rights Reserved
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This file : part of VL53L1 Core and : dual licensed,
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either 'STMicroelectronics
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Proprietary license'
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or 'BSD 3-clause "New" or "Revised" License' , at your option.
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*******************************************************************************
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'STMicroelectronics Proprietary license'
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*******************************************************************************
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License terms: STMicroelectronics Proprietary in accordance with licensing
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terms at www.st.com/sla0081
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STMicroelectronics confidential
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Reproduction and Communication of this document : strictly prohibited unless
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specifically authorized in writing by STMicroelectronics.
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*******************************************************************************
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Alternatively, VL53L1 Core may be distributed under the terms of
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'BSD 3-clause "New" or "Revised" License', in which case the following
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provisions apply instead of the ones mentioned above :
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*******************************************************************************
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License terms: BSD 3-clause "New" or "Revised" License.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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1. Redistributions of source code must retain the above copyright notice, this
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list of conditions and the following disclaimer.
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2. Redistributions in binary form must reproduce the above copyright notice,
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this list of conditions and the following disclaimer in the documentation
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and/or other materials provided with the distribution.
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3. Neither the name of the copyright holder nor the names of its contributors
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may be used to endorse or promote products derived from this software
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without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
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OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*******************************************************************************
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*/
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/**
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* @file vl53l1x_api.c
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* @brief Functions implementation
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*/
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#include "VL53L1X_api.h"
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#include <string.h>
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#if 0
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uint8_t VL51L1X_NVM_CONFIGURATION[] = {
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0x00, /* 0x00 : not user-modifiable */
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0x29, /* 0x01 : 7 bits I2C address (default=0x29), use SetI2CAddress(). Warning: after changing the register value to a new I2C address, the device will only answer to the new address */
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0x00, /* 0x02 : not user-modifiable */
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0x00, /* 0x03 : not user-modifiable */
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0x00, /* 0x04 : not user-modifiable */
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0x00, /* 0x05 : not user-modifiable */
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0x00, /* 0x06 : not user-modifiable */
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0x00, /* 0x07 : not user-modifiable */
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0x00, /* 0x08 : not user-modifiable */
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0x50, /* 0x09 : not user-modifiable */
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0x00, /* 0x0A : not user-modifiable */
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0x00, /* 0x0B : not user-modifiable */
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0x00, /* 0x0C : not user-modifiable */
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0x00, /* 0x0D : not user-modifiable */
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0x0a, /* 0x0E : not user-modifiable */
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0x00, /* 0x0F : not user-modifiable */
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0x00, /* 0x10 : not user-modifiable */
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0x00, /* 0x11 : not user-modifiable */
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0x00, /* 0x12 : not user-modifiable */
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0x00, /* 0x13 : not user-modifiable */
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0x00, /* 0x14 : not user-modifiable */
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0x00, /* 0x15 : not user-modifiable */
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0x00, /* 0x16 : Xtalk calibration value MSB (7.9 format in kcps), use SetXtalk() */
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0x00, /* 0x17 : Xtalk calibration value LSB */
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0x00, /* 0x18 : not user-modifiable */
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0x00, /* 0x19 : not user-modifiable */
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0x00, /* 0x1a : not user-modifiable */
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0x00, /* 0x1b : not user-modifiable */
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0x00, /* 0x1e : Part to Part offset x4 MSB (in mm), use SetOffset() */
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0x50, /* 0x1f : Part to Part offset x4 LSB */
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0x00, /* 0x20 : not user-modifiable */
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0x00, /* 0x21 : not user-modifiable */
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0x00, /* 0x22 : not user-modifiable */
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0x00, /* 0x23 : not user-modifiable */
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}
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#endif
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const uint8_t VL51L1X_DEFAULT_CONFIGURATION[] = {
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0x00, /* 0x2d : set bit 2 and 5 to 1 for fast plus mode (1MHz I2C), else don't touch */
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0x00, /* 0x2e : bit 0 if I2C pulled up at 1.8V, else set bit 0 to 1 (pull up at AVDD) */
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0x00, /* 0x2f : bit 0 if GPIO pulled up at 1.8V, else set bit 0 to 1 (pull up at AVDD) */
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0x01, /* 0x30 : set bit 4 to 0 for active high interrupt and 1 for active low (bits 3:0 must be 0x1), use SetInterruptPolarity() */
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0x02, /* 0x31 : bit 1 = interrupt depending on the polarity, use CheckForDataReady() */
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0x00, /* 0x32 : not user-modifiable */
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0x02, /* 0x33 : not user-modifiable */
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0x08, /* 0x34 : not user-modifiable */
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0x00, /* 0x35 : not user-modifiable */
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0x08, /* 0x36 : not user-modifiable */
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0x10, /* 0x37 : not user-modifiable */
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0x01, /* 0x38 : not user-modifiable */
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0x01, /* 0x39 : not user-modifiable */
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0x00, /* 0x3a : not user-modifiable */
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0x00, /* 0x3b : not user-modifiable */
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0x00, /* 0x3c : not user-modifiable */
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0x00, /* 0x3d : not user-modifiable */
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0xff, /* 0x3e : not user-modifiable */
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0x00, /* 0x3f : not user-modifiable */
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0x0F, /* 0x40 : not user-modifiable */
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0x00, /* 0x41 : not user-modifiable */
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0x00, /* 0x42 : not user-modifiable */
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0x00, /* 0x43 : not user-modifiable */
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0x00, /* 0x44 : not user-modifiable */
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0x00, /* 0x45 : not user-modifiable */
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0x20, /* 0x46 : interrupt configuration 0->level low detection, 1-> level high, 2-> Out of window, 3->In window, 0x20-> New sample ready , TBC */
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0x0b, /* 0x47 : not user-modifiable */
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0x00, /* 0x48 : not user-modifiable */
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0x00, /* 0x49 : not user-modifiable */
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0x02, /* 0x4a : not user-modifiable */
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0x0a, /* 0x4b : not user-modifiable */
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0x21, /* 0x4c : not user-modifiable */
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0x00, /* 0x4d : not user-modifiable */
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0x00, /* 0x4e : not user-modifiable */
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0x05, /* 0x4f : not user-modifiable */
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0x00, /* 0x50 : not user-modifiable */
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0x00, /* 0x51 : not user-modifiable */
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0x00, /* 0x52 : not user-modifiable */
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0x00, /* 0x53 : not user-modifiable */
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0xc8, /* 0x54 : not user-modifiable */
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0x00, /* 0x55 : not user-modifiable */
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0x00, /* 0x56 : not user-modifiable */
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0x38, /* 0x57 : not user-modifiable */
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0xff, /* 0x58 : not user-modifiable */
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0x01, /* 0x59 : not user-modifiable */
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0x00, /* 0x5a : not user-modifiable */
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0x08, /* 0x5b : not user-modifiable */
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0x00, /* 0x5c : not user-modifiable */
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0x00, /* 0x5d : not user-modifiable */
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0x01, /* 0x5e : not user-modifiable */
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0xcc, /* 0x5f : not user-modifiable */
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0x0f, /* 0x60 : not user-modifiable */
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0x01, /* 0x61 : not user-modifiable */
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0xf1, /* 0x62 : not user-modifiable */
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0x0d, /* 0x63 : not user-modifiable */
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0x01, /* 0x64 : Sigma threshold MSB (mm in 14.2 format for MSB+LSB), use SetSigmaThreshold(), default value 90 mm */
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0x68, /* 0x65 : Sigma threshold LSB */
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0x00, /* 0x66 : Min count Rate MSB (MCPS in 9.7 format for MSB+LSB), use SetSignalThreshold() */
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0x80, /* 0x67 : Min count Rate LSB */
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0x08, /* 0x68 : not user-modifiable */
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0xb8, /* 0x69 : not user-modifiable */
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0x00, /* 0x6a : not user-modifiable */
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0x00, /* 0x6b : not user-modifiable */
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0x00, /* 0x6c : Intermeasurement period MSB, 32 bits register, use SetIntermeasurementInMs() */
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0x00, /* 0x6d : Intermeasurement period */
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0x0f, /* 0x6e : Intermeasurement period */
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0x89, /* 0x6f : Intermeasurement period LSB */
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0x00, /* 0x70 : not user-modifiable */
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0x00, /* 0x71 : not user-modifiable */
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0x00, /* 0x72 : distance threshold high MSB (in mm, MSB+LSB), use SetD:tanceThreshold() */
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0x00, /* 0x73 : distance threshold high LSB */
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0x00, /* 0x74 : distance threshold low MSB ( in mm, MSB+LSB), use SetD:tanceThreshold() */
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0x00, /* 0x75 : distance threshold low LSB */
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0x00, /* 0x76 : not user-modifiable */
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0x01, /* 0x77 : not user-modifiable */
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0x0f, /* 0x78 : not user-modifiable */
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0x0d, /* 0x79 : not user-modifiable */
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0x0e, /* 0x7a : not user-modifiable */
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0x0e, /* 0x7b : not user-modifiable */
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0x00, /* 0x7c : not user-modifiable */
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0x00, /* 0x7d : not user-modifiable */
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0x02, /* 0x7e : not user-modifiable */
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0xc7, /* 0x7f : ROI center, use SetROI() */
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0xff, /* 0x80 : XY ROI (X=Width, Y=Height), use SetROI() */
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0x9B, /* 0x81 : not user-modifiable */
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0x00, /* 0x82 : not user-modifiable */
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0x00, /* 0x83 : not user-modifiable */
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0x00, /* 0x84 : not user-modifiable */
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0x01, /* 0x85 : not user-modifiable */
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0x00, /* 0x86 : clear interrupt, use ClearInterrupt() */
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0x00 /* 0x87 : start ranging, use StartRanging() or StopRanging(), If you want an automatic start after VL53L1X_init() call, put 0x40 in location 0x87 */
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};
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static const uint8_t status_rtn[24] = { 255, 255, 255, 5, 2, 4, 1, 7, 3, 0,
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255, 255, 9, 13, 255, 255, 255, 255, 10, 6,
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255, 255, 11, 12
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};
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VL53L1X_ERROR VL53L1X_GetSWVersion(VL53L1X_Version_t *pVersion)
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{
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VL53L1X_ERROR Status = 0;
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pVersion->major = VL53L1X_IMPLEMENTATION_VER_MAJOR;
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pVersion->minor = VL53L1X_IMPLEMENTATION_VER_MINOR;
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pVersion->build = VL53L1X_IMPLEMENTATION_VER_SUB;
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pVersion->revision = VL53L1X_IMPLEMENTATION_VER_REVISION;
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return Status;
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}
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VL53L1X_ERROR VL53L1X_SetI2CAddress(uint16_t dev, uint8_t new_address)
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{
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VL53L1X_ERROR status = 0;
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status = VL53L1_WrByte(dev, VL53L1_I2C_SLAVE__DEVICE_ADDRESS, new_address >> 1);
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return status;
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}
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VL53L1X_ERROR VL53L1X_SensorInit(uint16_t dev)
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{
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VL53L1X_ERROR status = 0;
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uint8_t Addr = 0x00, tmp;
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for (Addr = 0x2D; Addr <= 0x87; Addr++){
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status = VL53L1_WrByte(dev, Addr, VL51L1X_DEFAULT_CONFIGURATION[Addr - 0x2D]);
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}
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status = VL53L1X_StartRanging(dev);
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tmp = 0;
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while(tmp==0){
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status = VL53L1X_CheckForDataReady(dev, &tmp);
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}
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status = VL53L1X_ClearInterrupt(dev);
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status = VL53L1X_StopRanging(dev);
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status = VL53L1_WrByte(dev, VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09); /* two bounds VHV */
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status = VL53L1_WrByte(dev, 0x0B, 0); /* start VHV from the previous temperature */
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return status;
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}
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VL53L1X_ERROR VL53L1X_ClearInterrupt(uint16_t dev)
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{
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VL53L1X_ERROR status = 0;
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status = VL53L1_WrByte(dev, SYSTEM__INTERRUPT_CLEAR, 0x01);
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return status;
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}
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VL53L1X_ERROR VL53L1X_SetInterruptPolarity(uint16_t dev, uint8_t NewPolarity)
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{
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uint8_t Temp;
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VL53L1X_ERROR status = 0;
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status = VL53L1_RdByte(dev, GPIO_HV_MUX__CTRL, &Temp);
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Temp = Temp & 0xEF;
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status = VL53L1_WrByte(dev, GPIO_HV_MUX__CTRL, Temp | (!(NewPolarity & 1)) << 4);
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return status;
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}
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VL53L1X_ERROR VL53L1X_GetInterruptPolarity(uint16_t dev, uint8_t *pInterruptPolarity)
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{
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uint8_t Temp;
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VL53L1X_ERROR status = 0;
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status = VL53L1_RdByte(dev, GPIO_HV_MUX__CTRL, &Temp);
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Temp = Temp & 0x10;
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*pInterruptPolarity = !(Temp>>4);
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return status;
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}
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VL53L1X_ERROR VL53L1X_StartRanging(uint16_t dev)
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{
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VL53L1X_ERROR status = 0;
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status = VL53L1_WrByte(dev, SYSTEM__MODE_START, 0x40); /* Enable VL53L1X */
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return status;
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}
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VL53L1X_ERROR VL53L1X_StopRanging(uint16_t dev)
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{
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VL53L1X_ERROR status = 0;
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status = VL53L1_WrByte(dev, SYSTEM__MODE_START, 0x00); /* Disable VL53L1X */
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return status;
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}
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VL53L1X_ERROR VL53L1X_CheckForDataReady(uint16_t dev, uint8_t *isDataReady)
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{
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uint8_t Temp;
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uint8_t IntPol;
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VL53L1X_ERROR status = 0;
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status = VL53L1X_GetInterruptPolarity(dev, &IntPol);
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status = VL53L1_RdByte(dev, GPIO__TIO_HV_STATUS, &Temp);
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/* Read in the register to check if a new value is available */
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if (status == 0){
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if ((Temp & 1) == IntPol)
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*isDataReady = 1;
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else
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*isDataReady = 0;
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}
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return status;
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}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_SetTimingBudgetInMs(uint16_t dev, uint16_t TimingBudgetInMs)
|
||
|
|
{
|
||
|
|
uint16_t DM;
|
||
|
|
VL53L1X_ERROR status=0;
|
||
|
|
|
||
|
|
status = VL53L1X_GetDistanceMode(dev, &DM);
|
||
|
|
if (DM == 0)
|
||
|
|
return 1;
|
||
|
|
else if (DM == 1) { /* Short DistanceMode */
|
||
|
|
switch (TimingBudgetInMs) {
|
||
|
|
case 15: /* only available in short distance mode */
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
|
||
|
|
0x01D);
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
|
||
|
|
0x0027);
|
||
|
|
break;
|
||
|
|
case 20:
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
|
||
|
|
0x0051);
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
|
||
|
|
0x006E);
|
||
|
|
break;
|
||
|
|
case 33:
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
|
||
|
|
0x00D6);
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
|
||
|
|
0x006E);
|
||
|
|
break;
|
||
|
|
case 50:
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
|
||
|
|
0x1AE);
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
|
||
|
|
0x01E8);
|
||
|
|
break;
|
||
|
|
case 100:
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
|
||
|
|
0x02E1);
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
|
||
|
|
0x0388);
|
||
|
|
break;
|
||
|
|
case 200:
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
|
||
|
|
0x03E1);
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
|
||
|
|
0x0496);
|
||
|
|
break;
|
||
|
|
case 500:
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
|
||
|
|
0x0591);
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
|
||
|
|
0x05C1);
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
status = 1;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
} else {
|
||
|
|
switch (TimingBudgetInMs) {
|
||
|
|
case 20:
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
|
||
|
|
0x001E);
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
|
||
|
|
0x0022);
|
||
|
|
break;
|
||
|
|
case 33:
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
|
||
|
|
0x0060);
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
|
||
|
|
0x006E);
|
||
|
|
break;
|
||
|
|
case 50:
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
|
||
|
|
0x00AD);
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
|
||
|
|
0x00C6);
|
||
|
|
break;
|
||
|
|
case 100:
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
|
||
|
|
0x01CC);
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
|
||
|
|
0x01EA);
|
||
|
|
break;
|
||
|
|
case 200:
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
|
||
|
|
0x02D9);
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
|
||
|
|
0x02F8);
|
||
|
|
break;
|
||
|
|
case 500:
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI,
|
||
|
|
0x048F);
|
||
|
|
VL53L1_WrWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_B_HI,
|
||
|
|
0x04A4);
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
status = 1;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetTimingBudgetInMs(uint16_t dev, uint16_t *pTimingBudget)
|
||
|
|
{
|
||
|
|
uint16_t Temp;
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
|
||
|
|
status = VL53L1_RdWord(dev, RANGE_CONFIG__TIMEOUT_MACROP_A_HI, &Temp);
|
||
|
|
switch (Temp) {
|
||
|
|
case 0x001D :
|
||
|
|
*pTimingBudget = 15;
|
||
|
|
break;
|
||
|
|
case 0x0051 :
|
||
|
|
case 0x001E :
|
||
|
|
*pTimingBudget = 20;
|
||
|
|
break;
|
||
|
|
case 0x00D6 :
|
||
|
|
case 0x0060 :
|
||
|
|
*pTimingBudget = 33;
|
||
|
|
break;
|
||
|
|
case 0x1AE :
|
||
|
|
case 0x00AD :
|
||
|
|
*pTimingBudget = 50;
|
||
|
|
break;
|
||
|
|
case 0x02E1 :
|
||
|
|
case 0x01CC :
|
||
|
|
*pTimingBudget = 100;
|
||
|
|
break;
|
||
|
|
case 0x03E1 :
|
||
|
|
case 0x02D9 :
|
||
|
|
*pTimingBudget = 200;
|
||
|
|
break;
|
||
|
|
case 0x0591 :
|
||
|
|
case 0x048F :
|
||
|
|
*pTimingBudget = 500;
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
status = 1;
|
||
|
|
*pTimingBudget = 0;
|
||
|
|
}
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_SetDistanceMode(uint16_t dev, uint16_t DM)
|
||
|
|
{
|
||
|
|
uint16_t TB;
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
|
||
|
|
status = VL53L1X_GetTimingBudgetInMs(dev, &TB);
|
||
|
|
if (status != 0)
|
||
|
|
return 1;
|
||
|
|
switch (DM) {
|
||
|
|
case 1:
|
||
|
|
status = VL53L1_WrByte(dev, PHASECAL_CONFIG__TIMEOUT_MACROP, 0x14);
|
||
|
|
status = VL53L1_WrByte(dev, RANGE_CONFIG__VCSEL_PERIOD_A, 0x07);
|
||
|
|
status = VL53L1_WrByte(dev, RANGE_CONFIG__VCSEL_PERIOD_B, 0x05);
|
||
|
|
status = VL53L1_WrByte(dev, RANGE_CONFIG__VALID_PHASE_HIGH, 0x38);
|
||
|
|
status = VL53L1_WrWord(dev, SD_CONFIG__WOI_SD0, 0x0705);
|
||
|
|
status = VL53L1_WrWord(dev, SD_CONFIG__INITIAL_PHASE_SD0, 0x0606);
|
||
|
|
break;
|
||
|
|
case 2:
|
||
|
|
status = VL53L1_WrByte(dev, PHASECAL_CONFIG__TIMEOUT_MACROP, 0x0A);
|
||
|
|
status = VL53L1_WrByte(dev, RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F);
|
||
|
|
status = VL53L1_WrByte(dev, RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D);
|
||
|
|
status = VL53L1_WrByte(dev, RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8);
|
||
|
|
status = VL53L1_WrWord(dev, SD_CONFIG__WOI_SD0, 0x0F0D);
|
||
|
|
status = VL53L1_WrWord(dev, SD_CONFIG__INITIAL_PHASE_SD0, 0x0E0E);
|
||
|
|
break;
|
||
|
|
default:
|
||
|
|
status = 1;
|
||
|
|
break;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (status == 0)
|
||
|
|
status = VL53L1X_SetTimingBudgetInMs(dev, TB);
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetDistanceMode(uint16_t dev, uint16_t *DM)
|
||
|
|
{
|
||
|
|
uint8_t TempDM, status=0;
|
||
|
|
|
||
|
|
status = VL53L1_RdByte(dev,PHASECAL_CONFIG__TIMEOUT_MACROP, &TempDM);
|
||
|
|
if (TempDM == 0x14)
|
||
|
|
*DM=1;
|
||
|
|
if(TempDM == 0x0A)
|
||
|
|
*DM=2;
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_SetInterMeasurementInMs(uint16_t dev, uint16_t InterMeasMs)
|
||
|
|
{
|
||
|
|
uint16_t ClockPLL;
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
|
||
|
|
status = VL53L1_RdWord(dev, VL53L1_RESULT__OSC_CALIBRATE_VAL, &ClockPLL);
|
||
|
|
ClockPLL = ClockPLL&0x3FF;
|
||
|
|
VL53L1_WrDWord(dev, VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD,
|
||
|
|
(uint32_t)(ClockPLL * InterMeasMs * 1.075));
|
||
|
|
return status;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetInterMeasurementInMs(uint16_t dev, uint16_t *pIM)
|
||
|
|
{
|
||
|
|
uint16_t ClockPLL;
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint32_t tmp;
|
||
|
|
|
||
|
|
status = VL53L1_RdDWord(dev,VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD, &tmp);
|
||
|
|
*pIM = (uint16_t)tmp;
|
||
|
|
status = VL53L1_RdWord(dev, VL53L1_RESULT__OSC_CALIBRATE_VAL, &ClockPLL);
|
||
|
|
ClockPLL = ClockPLL&0x3FF;
|
||
|
|
*pIM= (uint16_t)(*pIM/(ClockPLL*1.065));
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_BootState(uint16_t dev, uint8_t *state)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint8_t tmp = 0;
|
||
|
|
|
||
|
|
status = VL53L1_RdByte(dev,VL53L1_FIRMWARE__SYSTEM_STATUS, &tmp);
|
||
|
|
*state = tmp;
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetSensorId(uint16_t dev, uint16_t *sensorId)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint16_t tmp = 0;
|
||
|
|
|
||
|
|
status = VL53L1_RdWord(dev, VL53L1_IDENTIFICATION__MODEL_ID, &tmp);
|
||
|
|
*sensorId = tmp;
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetDistance(uint16_t dev, uint16_t *distance)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint16_t tmp;
|
||
|
|
|
||
|
|
status = (VL53L1_RdWord(dev,
|
||
|
|
VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0, &tmp));
|
||
|
|
*distance = tmp;
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetSignalPerSpad(uint16_t dev, uint16_t *signalRate)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint16_t SpNb=1, signal;
|
||
|
|
|
||
|
|
status = VL53L1_RdWord(dev,
|
||
|
|
VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0, &signal);
|
||
|
|
status = VL53L1_RdWord(dev,
|
||
|
|
VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0, &SpNb);
|
||
|
|
*signalRate = (uint16_t) (2000.0*signal/SpNb);
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetAmbientPerSpad(uint16_t dev, uint16_t *ambPerSp)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint16_t AmbientRate, SpNb = 1;
|
||
|
|
|
||
|
|
status = VL53L1_RdWord(dev, RESULT__AMBIENT_COUNT_RATE_MCPS_SD, &AmbientRate);
|
||
|
|
status = VL53L1_RdWord(dev, VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0, &SpNb);
|
||
|
|
*ambPerSp=(uint16_t) (2000.0 * AmbientRate / SpNb);
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetSignalRate(uint16_t dev, uint16_t *signal)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint16_t tmp;
|
||
|
|
|
||
|
|
status = VL53L1_RdWord(dev,
|
||
|
|
VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0, &tmp);
|
||
|
|
*signal = tmp*8;
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetSpadNb(uint16_t dev, uint16_t *spNb)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint16_t tmp;
|
||
|
|
|
||
|
|
status = VL53L1_RdWord(dev,
|
||
|
|
VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0, &tmp);
|
||
|
|
*spNb = tmp >> 8;
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetAmbientRate(uint16_t dev, uint16_t *ambRate)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint16_t tmp;
|
||
|
|
|
||
|
|
status = VL53L1_RdWord(dev, RESULT__AMBIENT_COUNT_RATE_MCPS_SD, &tmp);
|
||
|
|
*ambRate = tmp*8;
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetRangeStatus(uint16_t dev, uint8_t *rangeStatus)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint8_t RgSt;
|
||
|
|
|
||
|
|
*rangeStatus = 255;
|
||
|
|
status = VL53L1_RdByte(dev, VL53L1_RESULT__RANGE_STATUS, &RgSt);
|
||
|
|
RgSt = RgSt & 0x1F;
|
||
|
|
if (RgSt < 24)
|
||
|
|
*rangeStatus = status_rtn[RgSt];
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetResult(uint16_t dev, VL53L1X_Result_t *pResult)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint8_t Temp[17];
|
||
|
|
uint8_t RgSt = 255;
|
||
|
|
|
||
|
|
status = VL53L1_ReadMulti(dev, VL53L1_RESULT__RANGE_STATUS, Temp, 17);
|
||
|
|
RgSt = Temp[0] & 0x1F;
|
||
|
|
if (RgSt < 24)
|
||
|
|
RgSt = status_rtn[RgSt];
|
||
|
|
pResult->Status = RgSt;
|
||
|
|
pResult->Ambient = (Temp[7] << 8 | Temp[8]) * 8;
|
||
|
|
pResult->NumSPADs = Temp[3];
|
||
|
|
pResult->SigPerSPAD = (Temp[15] << 8 | Temp[16]) * 8;
|
||
|
|
pResult->Distance = Temp[13] << 8 | Temp[14];
|
||
|
|
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_SetOffset(uint16_t dev, int16_t OffsetValue)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
int16_t Temp;
|
||
|
|
|
||
|
|
Temp = (OffsetValue*4);
|
||
|
|
VL53L1_WrWord(dev, ALGO__PART_TO_PART_RANGE_OFFSET_MM,
|
||
|
|
(uint16_t)Temp);
|
||
|
|
VL53L1_WrWord(dev, MM_CONFIG__INNER_OFFSET_MM, 0x0);
|
||
|
|
VL53L1_WrWord(dev, MM_CONFIG__OUTER_OFFSET_MM, 0x0);
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetOffset(uint16_t dev, int16_t *offset)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint16_t Temp;
|
||
|
|
|
||
|
|
status = VL53L1_RdWord(dev,ALGO__PART_TO_PART_RANGE_OFFSET_MM, &Temp);
|
||
|
|
Temp = Temp<<3;
|
||
|
|
Temp = Temp>>5;
|
||
|
|
*offset = (int16_t)(Temp);
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_SetXtalk(uint16_t dev, uint16_t XtalkValue)
|
||
|
|
{
|
||
|
|
/* XTalkValue in count per second to avoid float type */
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
|
||
|
|
status = VL53L1_WrWord(dev,
|
||
|
|
ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS,
|
||
|
|
0x0000);
|
||
|
|
status = VL53L1_WrWord(dev, ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS,
|
||
|
|
0x0000);
|
||
|
|
status = VL53L1_WrWord(dev, ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS,
|
||
|
|
(XtalkValue<<9)/1000); /* * << 9 (7.9 format) and /1000 to convert cps to kpcs */
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetXtalk(uint16_t dev, uint16_t *xtalk )
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint32_t tmp;
|
||
|
|
|
||
|
|
status = VL53L1_RdDWord(dev,ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS, &tmp);
|
||
|
|
*xtalk = (uint16_t)(tmp*1000)>>9; /* * 1000 to convert kcps to cps and >> 9 (7.9 format) */
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_SetDistanceThreshold(uint16_t dev, uint16_t ThreshLow,
|
||
|
|
uint16_t ThreshHigh, uint8_t Window,
|
||
|
|
uint8_t IntOnNoTarget)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint8_t Temp = 0;
|
||
|
|
|
||
|
|
status = VL53L1_RdByte(dev, SYSTEM__INTERRUPT_CONFIG_GPIO, &Temp);
|
||
|
|
Temp = Temp & 0x47;
|
||
|
|
if (IntOnNoTarget == 0) {
|
||
|
|
status = VL53L1_WrByte(dev, SYSTEM__INTERRUPT_CONFIG_GPIO,
|
||
|
|
(Temp | (Window & 0x07)));
|
||
|
|
} else {
|
||
|
|
status = VL53L1_WrByte(dev, SYSTEM__INTERRUPT_CONFIG_GPIO,
|
||
|
|
((Temp | (Window & 0x07)) | 0x40));
|
||
|
|
}
|
||
|
|
status = VL53L1_WrWord(dev, SYSTEM__THRESH_HIGH, ThreshHigh);
|
||
|
|
status = VL53L1_WrWord(dev, SYSTEM__THRESH_LOW, ThreshLow);
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetDistanceThresholdWindow(uint16_t dev, uint16_t *window)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint8_t tmp;
|
||
|
|
status = VL53L1_RdByte(dev,SYSTEM__INTERRUPT_CONFIG_GPIO, &tmp);
|
||
|
|
*window = (uint16_t)(tmp & 0x7);
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetDistanceThresholdLow(uint16_t dev, uint16_t *low)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint16_t tmp;
|
||
|
|
|
||
|
|
status = VL53L1_RdWord(dev,SYSTEM__THRESH_LOW, &tmp);
|
||
|
|
*low = tmp;
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetDistanceThresholdHigh(uint16_t dev, uint16_t *high)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint16_t tmp;
|
||
|
|
|
||
|
|
status = VL53L1_RdWord(dev,SYSTEM__THRESH_HIGH, &tmp);
|
||
|
|
*high = tmp;
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_SetROICenter(uint16_t dev, uint8_t ROICenter)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
status = VL53L1_WrByte(dev, ROI_CONFIG__USER_ROI_CENTRE_SPAD, ROICenter);
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetROICenter(uint16_t dev, uint8_t *ROICenter)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint8_t tmp;
|
||
|
|
status = VL53L1_RdByte(dev, ROI_CONFIG__USER_ROI_CENTRE_SPAD, &tmp);
|
||
|
|
*ROICenter = tmp;
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_SetROI(uint16_t dev, uint16_t X, uint16_t Y)
|
||
|
|
{
|
||
|
|
uint8_t OpticalCenter;
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
|
||
|
|
status =VL53L1_RdByte(dev, VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD, &OpticalCenter);
|
||
|
|
if (X > 16)
|
||
|
|
X = 16;
|
||
|
|
if (Y > 16)
|
||
|
|
Y = 16;
|
||
|
|
if (X > 10 || Y > 10){
|
||
|
|
OpticalCenter = 199;
|
||
|
|
}
|
||
|
|
status = VL53L1_WrByte(dev, ROI_CONFIG__USER_ROI_CENTRE_SPAD, OpticalCenter);
|
||
|
|
status = VL53L1_WrByte(dev, ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE,
|
||
|
|
(Y - 1) << 4 | (X - 1));
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetROI_XY(uint16_t dev, uint16_t *ROI_X, uint16_t *ROI_Y)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint8_t tmp;
|
||
|
|
|
||
|
|
status = VL53L1_RdByte(dev,ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE, &tmp);
|
||
|
|
*ROI_X = ((uint16_t)tmp & 0x0F) + 1;
|
||
|
|
*ROI_Y = (((uint16_t)tmp & 0xF0) >> 4) + 1;
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_SetSignalThreshold(uint16_t dev, uint16_t Signal)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
|
||
|
|
VL53L1_WrWord(dev,RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS,Signal>>3);
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetSignalThreshold(uint16_t dev, uint16_t *signal)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint16_t tmp;
|
||
|
|
|
||
|
|
status = VL53L1_RdWord(dev,
|
||
|
|
RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, &tmp);
|
||
|
|
*signal = tmp <<3;
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_SetSigmaThreshold(uint16_t dev, uint16_t Sigma)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
|
||
|
|
if(Sigma>(0xFFFF>>2)){
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
/* 16 bits register 14.2 format */
|
||
|
|
status = VL53L1_WrWord(dev,RANGE_CONFIG__SIGMA_THRESH,Sigma<<2);
|
||
|
|
return status;
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_GetSigmaThreshold(uint16_t dev, uint16_t *sigma)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint16_t tmp;
|
||
|
|
|
||
|
|
status = VL53L1_RdWord(dev,RANGE_CONFIG__SIGMA_THRESH, &tmp);
|
||
|
|
*sigma = tmp >> 2;
|
||
|
|
return status;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
VL53L1X_ERROR VL53L1X_StartTemperatureUpdate(uint16_t dev)
|
||
|
|
{
|
||
|
|
VL53L1X_ERROR status = 0;
|
||
|
|
uint8_t tmp=0;
|
||
|
|
|
||
|
|
status = VL53L1_WrByte(dev,VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,0x81); /* full VHV */
|
||
|
|
status = VL53L1_WrByte(dev,0x0B,0x92);
|
||
|
|
status = VL53L1X_StartRanging(dev);
|
||
|
|
while(tmp==0){
|
||
|
|
status = VL53L1X_CheckForDataReady(dev, &tmp);
|
||
|
|
}
|
||
|
|
tmp = 0;
|
||
|
|
status = VL53L1X_ClearInterrupt(dev);
|
||
|
|
status = VL53L1X_StopRanging(dev);
|
||
|
|
status = VL53L1_WrByte(dev, VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, 0x09); /* two bounds VHV */
|
||
|
|
status = VL53L1_WrByte(dev, 0x0B, 0); /* start VHV from the previous temperature */
|
||
|
|
return status;
|
||
|
|
}
|