137 lines
5.0 KiB
C
137 lines
5.0 KiB
C
/*
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* Copyright (c) 2017, STMicroelectronics - All Rights Reserved
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*
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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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********************************************************************************
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*
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* 'STMicroelectronics Proprietary license'
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*
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********************************************************************************
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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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*
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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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*
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********************************************************************************
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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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********************************************************************************
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*
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* License terms: BSD 3-clause "New" or "Revised" License.
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*
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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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*
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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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*
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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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*
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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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*
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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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*
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*/
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/**
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* @file vl53l1x_calibration.c
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* @brief Calibration functions implementation
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*/
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#include "VL53L1X_api.h"
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#include "VL53L1X_calibration.h"
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#define ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x001E
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#define MM_CONFIG__INNER_OFFSET_MM 0x0020
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#define MM_CONFIG__OUTER_OFFSET_MM 0x0022
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int8_t VL53L1X_CalibrateOffset(uint16_t dev, uint16_t TargetDistInMm, int16_t *offset)
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{
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uint8_t i, tmp;
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int16_t AverageDistance = 0;
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uint16_t distance;
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VL53L1X_ERROR status = 0;
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status = VL53L1_WrWord(dev, ALGO__PART_TO_PART_RANGE_OFFSET_MM, 0x0);
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status = VL53L1_WrWord(dev, MM_CONFIG__INNER_OFFSET_MM, 0x0);
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status = VL53L1_WrWord(dev, MM_CONFIG__OUTER_OFFSET_MM, 0x0);
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status = VL53L1X_StartRanging(dev); /* Enable VL53L1X sensor */
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for (i = 0; i < 50; i++) {
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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_GetDistance(dev, &distance);
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status = VL53L1X_ClearInterrupt(dev);
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AverageDistance = AverageDistance + distance;
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}
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status = VL53L1X_StopRanging(dev);
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AverageDistance = AverageDistance / 50;
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*offset = TargetDistInMm - AverageDistance;
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status = VL53L1_WrWord(dev, ALGO__PART_TO_PART_RANGE_OFFSET_MM, *offset*4);
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return status;
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}
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int8_t VL53L1X_CalibrateXtalk(uint16_t dev, uint16_t TargetDistInMm, uint16_t *xtalk)
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{
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uint8_t i, tmp;
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float AverageSignalRate = 0;
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float AverageDistance = 0;
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float AverageSpadNb = 0;
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uint16_t distance = 0, spadNum;
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uint16_t sr;
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VL53L1X_ERROR status = 0;
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uint32_t calXtalk;
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status = VL53L1_WrWord(dev, 0x0016,0);
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status = VL53L1X_StartRanging(dev);
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for (i = 0; i < 50; i++) {
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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_GetSignalRate(dev, &sr);
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status= VL53L1X_GetDistance(dev, &distance);
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status = VL53L1X_ClearInterrupt(dev);
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AverageDistance = AverageDistance + distance;
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status = VL53L1X_GetSpadNb(dev, &spadNum);
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AverageSpadNb = AverageSpadNb + spadNum;
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AverageSignalRate =
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AverageSignalRate + sr;
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}
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status = VL53L1X_StopRanging(dev);
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AverageDistance = AverageDistance / 50;
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AverageSpadNb = AverageSpadNb / 50;
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AverageSignalRate = AverageSignalRate / 50;
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/* Calculate Xtalk value */
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calXtalk = (uint16_t)(512*(AverageSignalRate*(1-(AverageDistance/TargetDistInMm)))/AverageSpadNb);
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*xtalk = (uint16_t)(calXtalk*1000)>>9;
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status = VL53L1_WrWord(dev, 0x0016, calXtalk);
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return status;
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}
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