/**
 ******************************************************************************
 * Copyright (c) 2020, STMicroelectronics - All Rights Reserved

 This file is part of VL53LX Protected and is licensed 
 'STMicroelectronics Proprietary license'

 License terms: STMicroelectronics Proprietary in accordance with licensing
 terms at www.st.com/sla0081

 ******************************************************************************
 */




#include <vl53lx_platform_log.h>
#include <vl53lx_types.h>
#include "vl53lx_core_support.h"
#include "vl53lx_error_codes.h"

#include "vl53lx_hist_core.h"
#include "vl53lx_hist_algos_gen3.h"
#include "vl53lx_sigma_estimate.h"
#include "vl53lx_dmax.h"



#define LOG_FUNCTION_START(fmt, ...) \
	_LOG_FUNCTION_START(VL53LX_TRACE_MODULE_HISTOGRAM, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
	_LOG_FUNCTION_END(VL53LX_TRACE_MODULE_HISTOGRAM, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
	_LOG_FUNCTION_END_FMT(VL53LX_TRACE_MODULE_HISTOGRAM,\
	status, fmt, ##__VA_ARGS__)

#define trace_print(level, ...) \
	_LOG_TRACE_PRINT(VL53LX_TRACE_MODULE_HISTOGRAM, \
	level, VL53LX_TRACE_FUNCTION_NONE, ##__VA_ARGS__)


void VL53LX_f_003(
	VL53LX_hist_gen3_algo_private_data_t   *palgo)
{


	uint8_t  lb                 = 0;

	palgo->VL53LX_p_020              = VL53LX_HISTOGRAM_BUFFER_SIZE;
	palgo->VL53LX_p_019                = 0;
	palgo->VL53LX_p_021           = 0;
	palgo->VL53LX_p_039         = 0;
	palgo->VL53LX_p_028   = 0;
	palgo->VL53LX_p_031 = 0;

	for (lb = palgo->VL53LX_p_019; lb < palgo->VL53LX_p_020; lb++) {
		palgo->VL53LX_p_040[lb]      = 0;
		palgo->VL53LX_p_041[lb] = 0;
		palgo->VL53LX_p_042[lb]     = 0;
		palgo->VL53LX_p_043[lb]      = 0;
		palgo->VL53LX_p_018[lb]     = 0;
	}

	palgo->VL53LX_p_044 = 0;
	palgo->VL53LX_p_045               = VL53LX_D_001;
	palgo->VL53LX_p_046             = 0;



	VL53LX_init_histogram_bin_data_struct(
		0,
		VL53LX_HISTOGRAM_BUFFER_SIZE,
		&(palgo->VL53LX_p_006));
	VL53LX_init_histogram_bin_data_struct(
		0,
		VL53LX_HISTOGRAM_BUFFER_SIZE,
		&(palgo->VL53LX_p_047));
	VL53LX_init_histogram_bin_data_struct(
		0,
		VL53LX_HISTOGRAM_BUFFER_SIZE,
		&(palgo->VL53LX_p_048));
	VL53LX_init_histogram_bin_data_struct(
		0,
		VL53LX_HISTOGRAM_BUFFER_SIZE,
		&(palgo->VL53LX_p_049));
	VL53LX_init_histogram_bin_data_struct(
		0,
		VL53LX_HISTOGRAM_BUFFER_SIZE,
		&(palgo->VL53LX_p_050));
}



VL53LX_Error VL53LX_f_006(
	uint16_t                          ambient_threshold_events_scaler,
	int32_t                           ambient_threshold_sigma,
	int32_t                           min_ambient_threshold_events,
	uint8_t                           algo__crosstalk_compensation_enable,
	VL53LX_histogram_bin_data_t           *pbins,
	VL53LX_histogram_bin_data_t           *pxtalk,
	VL53LX_hist_gen3_algo_private_data_t  *palgo)
{



	VL53LX_Error  status  = VL53LX_ERROR_NONE;
	uint8_t  lb            = 0;
	uint8_t  VL53LX_p_001            = 0;
	int64_t  tmp          = 0;
	int32_t  amb_events   = 0;
	int32_t  VL53LX_p_018       = 0;
	int32_t  samples      = 0;

	LOG_FUNCTION_START("");


	palgo->VL53LX_p_020            = pbins->VL53LX_p_020;
	palgo->VL53LX_p_019              = pbins->VL53LX_p_019;
	palgo->VL53LX_p_021         = pbins->VL53LX_p_021;
	palgo->VL53LX_p_028 = pbins->VL53LX_p_028;



	palgo->VL53LX_p_030 =
			VL53LX_decode_vcsel_period(pbins->VL53LX_p_005);



	tmp  = (int64_t)pbins->VL53LX_p_028;
	tmp *= (int64_t)ambient_threshold_events_scaler;
	tmp += 2048;
	tmp = do_division_s(tmp, 4096);
	amb_events = (int32_t)tmp;



	for (lb = 0; lb < pbins->VL53LX_p_021; lb++) {

		VL53LX_p_001 = lb >> 2;
		samples = (int32_t)pbins->bin_rep[VL53LX_p_001];

		if (samples > 0) {

			if (lb < pxtalk->VL53LX_p_021 &&
				algo__crosstalk_compensation_enable > 0)
				VL53LX_p_018 = samples * (amb_events +
					pxtalk->bin_data[lb]);
			else
				VL53LX_p_018 = samples *  amb_events;

			VL53LX_p_018  = VL53LX_isqrt(VL53LX_p_018);

			VL53LX_p_018 += (samples/2);
			VL53LX_p_018 /= samples;
			VL53LX_p_018 *= ambient_threshold_sigma;
			VL53LX_p_018 += 8;
			VL53LX_p_018 /= 16;
			VL53LX_p_018 += amb_events;

			if (VL53LX_p_018 < min_ambient_threshold_events)
				VL53LX_p_018 = min_ambient_threshold_events;

			palgo->VL53LX_p_052[lb]             = VL53LX_p_018;
			palgo->VL53LX_p_031 = VL53LX_p_018;
		}



	}



	palgo->VL53LX_p_039 = 0;

	for (lb = pbins->VL53LX_p_019; lb < pbins->VL53LX_p_021; lb++) {

		if (pbins->bin_data[lb] > palgo->VL53LX_p_052[lb]) {
			palgo->VL53LX_p_040[lb]      = 1;
			palgo->VL53LX_p_041[lb] = 1;
			palgo->VL53LX_p_039++;
		} else {
			palgo->VL53LX_p_040[lb]      = 0;
			palgo->VL53LX_p_041[lb] = 0;
		}
	}

	LOG_FUNCTION_END(status);

	return status;

}




VL53LX_Error VL53LX_f_007(
	VL53LX_hist_gen3_algo_private_data_t  *palgo)
{



	VL53LX_Error  status  = VL53LX_ERROR_NONE;

	uint8_t  i            = 0;
	uint8_t  j            = 0;
	uint8_t  found        = 0;

	LOG_FUNCTION_START("");

	palgo->VL53LX_p_044 = 0;

	for (i = 0; i < palgo->VL53LX_p_030; i++) {

		j = (i + 1) % palgo->VL53LX_p_030;



		if (i < palgo->VL53LX_p_021 && j < palgo->VL53LX_p_021) {
			if (palgo->VL53LX_p_041[i] == 0 &&
				palgo->VL53LX_p_041[j] == 1 &&
				found == 0) {
				palgo->VL53LX_p_044 = i;
				found = 1;
			}
		}
	}

	LOG_FUNCTION_END(status);

	return status;
}


VL53LX_Error VL53LX_f_008(
	VL53LX_hist_gen3_algo_private_data_t  *palgo)
{



	VL53LX_Error  status  = VL53LX_ERROR_NONE;
	uint8_t  i            = 0;
	uint8_t  j            = 0;
	uint8_t  lb            = 0;

	LOG_FUNCTION_START("");

	for (lb = palgo->VL53LX_p_044;
		lb < (palgo->VL53LX_p_044 +
		palgo->VL53LX_p_030);
		lb++) {



		i =  lb      % palgo->VL53LX_p_030;
		j = (lb + 1) % palgo->VL53LX_p_030;



		if (i < palgo->VL53LX_p_021 && j < palgo->VL53LX_p_021) {

			if (palgo->VL53LX_p_041[i] == 0 &&
				palgo->VL53LX_p_041[j] == 1)
				palgo->VL53LX_p_046++;

			if (palgo->VL53LX_p_046 > palgo->VL53LX_p_045)
				palgo->VL53LX_p_046 = palgo->VL53LX_p_045;

			if (palgo->VL53LX_p_041[i] > 0)
				palgo->VL53LX_p_042[i] = palgo->VL53LX_p_046;
			else
				palgo->VL53LX_p_042[i] = 0;
		}

	}

	LOG_FUNCTION_END(status);

	return status;

}


VL53LX_Error VL53LX_f_009(
	VL53LX_hist_gen3_algo_private_data_t  *palgo)
{



	VL53LX_Error  status  = VL53LX_ERROR_NONE;

	uint8_t  i            = 0;
	uint8_t  j            = 0;
	uint8_t  blb            = 0;
	uint8_t  pulse_no     = 0;

	uint8_t  max_filter_half_width = 0;

	VL53LX_hist_pulse_data_t *pdata;

	LOG_FUNCTION_START("");



	max_filter_half_width = palgo->VL53LX_p_030 - 1;
	max_filter_half_width = max_filter_half_width >> 1;

	for (blb = palgo->VL53LX_p_044;
		blb < (palgo->VL53LX_p_044 +
		palgo->VL53LX_p_030);
		blb++) {



		i =  blb      % palgo->VL53LX_p_030;
		j = (blb + 1) % palgo->VL53LX_p_030;



		if (i < palgo->VL53LX_p_021 &&
				j < palgo->VL53LX_p_021) {



			if (palgo->VL53LX_p_042[i] == 0 &&
					palgo->VL53LX_p_042[j] > 0) {

				pulse_no = palgo->VL53LX_p_042[j] - 1;

				if (pulse_no < palgo->VL53LX_p_045) {
					pdata = &(palgo->VL53LX_p_003[pulse_no]);
					pdata->VL53LX_p_012 = blb;
					pdata->VL53LX_p_019    = blb + 1;
					pdata->VL53LX_p_023   = 0xFF;
					pdata->VL53LX_p_024     = 0;
					pdata->VL53LX_p_013   = 0;
				}
			}



			if (palgo->VL53LX_p_042[i] > 0
				&& palgo->VL53LX_p_042[j] == 0) {

				pulse_no = palgo->VL53LX_p_042[i] - 1;

				if (pulse_no < palgo->VL53LX_p_045) {
					pdata = &(palgo->VL53LX_p_003[pulse_no]);

					pdata->VL53LX_p_024    = blb;
					pdata->VL53LX_p_013  = blb + 1;

					pdata->VL53LX_p_025 =
						(pdata->VL53LX_p_024 + 1) -
						pdata->VL53LX_p_019;
					pdata->VL53LX_p_051 =
						(pdata->VL53LX_p_013 + 1) -
						pdata->VL53LX_p_012;

					if (pdata->VL53LX_p_051 >
						max_filter_half_width)
						pdata->VL53LX_p_051 =
						max_filter_half_width;
				}
			}
		}
	}

	LOG_FUNCTION_END(status);

	return status;

}


VL53LX_Error VL53LX_f_016(
	VL53LX_HistTargetOrder                target_order,
	VL53LX_hist_gen3_algo_private_data_t  *palgo)
{



	VL53LX_Error  status  = VL53LX_ERROR_NONE;

	VL53LX_hist_pulse_data_t  tmp;
	VL53LX_hist_pulse_data_t *ptmp = &tmp;
	VL53LX_hist_pulse_data_t *p0;
	VL53LX_hist_pulse_data_t *p1;

	uint8_t i       = 0;
	uint8_t swapped = 1;

	LOG_FUNCTION_START("");

	if (!(palgo->VL53LX_p_046 > 1))
		goto ENDFUNC;

	while (swapped > 0) {

		swapped = 0;

		for (i = 1; i < palgo->VL53LX_p_046; i++) {

			p0 = &(palgo->VL53LX_p_003[i-1]);
			p1 = &(palgo->VL53LX_p_003[i]);



			if (target_order
			== VL53LX_HIST_TARGET_ORDER__STRONGEST_FIRST) {

				if (p0->VL53LX_p_010 <
						p1->VL53LX_p_010) {



					memcpy(ptmp,
					p1, sizeof(VL53LX_hist_pulse_data_t));
					memcpy(p1,
					p0, sizeof(VL53LX_hist_pulse_data_t));
					memcpy(p0,
					ptmp, sizeof(VL53LX_hist_pulse_data_t));

					swapped = 1;
				}

			} else {

				if (p0->VL53LX_p_011 > p1->VL53LX_p_011) {



					memcpy(ptmp,
					p1, sizeof(VL53LX_hist_pulse_data_t));
					memcpy(p1,
					p0,   sizeof(VL53LX_hist_pulse_data_t));
					memcpy(p0,
					ptmp, sizeof(VL53LX_hist_pulse_data_t));

					swapped = 1;
				}

			}
		}
	}

ENDFUNC:
	LOG_FUNCTION_END(status);

	return status;

}


VL53LX_Error VL53LX_f_010(
	uint8_t                                pulse_no,
	VL53LX_histogram_bin_data_t           *pbins,
	VL53LX_hist_gen3_algo_private_data_t  *palgo)
{


	VL53LX_Error  status  = VL53LX_ERROR_NONE;

	uint8_t  i            = 0;
	uint8_t  lb            = 0;

	VL53LX_hist_pulse_data_t *pdata = &(palgo->VL53LX_p_003[pulse_no]);

	LOG_FUNCTION_START("");



	pdata->VL53LX_p_017  = 0;
	pdata->VL53LX_p_016 = 0;

	for (lb = pdata->VL53LX_p_012; lb <= pdata->VL53LX_p_013; lb++) {
		i =  lb % palgo->VL53LX_p_030;
		pdata->VL53LX_p_017  += pbins->bin_data[i];
		pdata->VL53LX_p_016 += palgo->VL53LX_p_028;
	}



	pdata->VL53LX_p_010 =
		pdata->VL53LX_p_017 - pdata->VL53LX_p_016;

	LOG_FUNCTION_END(status);

	return status;
}


VL53LX_Error VL53LX_f_015(
	uint8_t                                pulse_no,
	uint8_t                                clip_events,
	VL53LX_histogram_bin_data_t           *pbins,
	VL53LX_hist_gen3_algo_private_data_t  *palgo)
{


	VL53LX_Error  status  = VL53LX_ERROR_NONE;

	uint8_t   i            = 0;
	int16_t   VL53LX_p_012 = 0;
	int16_t   VL53LX_p_013   = 0;
	int16_t   window_width = 0;
	uint32_t  tmp_phase    = 0;

	VL53LX_hist_pulse_data_t *pdata = &(palgo->VL53LX_p_003[pulse_no]);

	LOG_FUNCTION_START("");



	if (pdata->VL53LX_p_023 == 0xFF)
		pdata->VL53LX_p_023 = 1;

	i = pdata->VL53LX_p_023 % palgo->VL53LX_p_030;

	VL53LX_p_012  = (int16_t)i;
	VL53LX_p_012 += (int16_t)pdata->VL53LX_p_012;
	VL53LX_p_012 -= (int16_t)pdata->VL53LX_p_023;

	VL53LX_p_013    = (int16_t)i;
	VL53LX_p_013   += (int16_t)pdata->VL53LX_p_013;
	VL53LX_p_013   -= (int16_t)pdata->VL53LX_p_023;


	window_width = VL53LX_p_013 - VL53LX_p_012;
	if (window_width > 3)
		window_width = 3;

	status =
		VL53LX_f_020(
			VL53LX_p_012,
			VL53LX_p_012 + window_width,
			palgo->VL53LX_p_030,
			clip_events,
			pbins,
			&(pdata->VL53LX_p_026));


	if (status == VL53LX_ERROR_NONE)
		status =
			VL53LX_f_020(
				VL53LX_p_013 - window_width,
				VL53LX_p_013,
				palgo->VL53LX_p_030,
				clip_events,
				pbins,
				&(pdata->VL53LX_p_027));


	if (pdata->VL53LX_p_026 > pdata->VL53LX_p_027) {
		tmp_phase        = pdata->VL53LX_p_026;
		pdata->VL53LX_p_026 = pdata->VL53LX_p_027;
		pdata->VL53LX_p_027 = tmp_phase;
	}


	if (pdata->VL53LX_p_011 < pdata->VL53LX_p_026)
		pdata->VL53LX_p_026 = pdata->VL53LX_p_011;


	if (pdata->VL53LX_p_011 > pdata->VL53LX_p_027)
		pdata->VL53LX_p_027 = pdata->VL53LX_p_011;

	LOG_FUNCTION_END(status);

	return status;
}


VL53LX_Error VL53LX_f_020(
	int16_t                            VL53LX_p_019,
	int16_t                            VL53LX_p_024,
	uint8_t                            VL53LX_p_030,
	uint8_t                            clip_events,
	VL53LX_histogram_bin_data_t       *pbins,
	uint32_t                          *pphase)
{


	VL53LX_Error  status  = VL53LX_ERROR_NONE;

	int16_t  i            = 0;
	int16_t  lb            = 0;

	int64_t VL53LX_p_018        = 0;
	int64_t event_sum     = 0;
	int64_t weighted_sum  = 0;

	LOG_FUNCTION_START("");

	*pphase = VL53LX_MAX_ALLOWED_PHASE;

	if (VL53LX_p_030 != 0)
	for (lb = VL53LX_p_019; lb <= VL53LX_p_024; lb++) {

		if (lb < 0)
			i = lb + (int16_t)VL53LX_p_030;
		else
			i = lb % (int16_t)VL53LX_p_030;

		if ((i >= 0) && (i < VL53LX_HISTOGRAM_BUFFER_SIZE)) {
			VL53LX_p_018 =
				(int64_t)pbins->bin_data[i] -
				(int64_t)pbins->VL53LX_p_028;

			if (clip_events > 0 && VL53LX_p_018 < 0)
				VL53LX_p_018 = 0;
			event_sum += VL53LX_p_018;
			weighted_sum +=
				(VL53LX_p_018 * (1024 + (2048*(int64_t)lb)));
		}

		trace_print(
			VL53LX_TRACE_LEVEL_INFO,
			"\tb = %5d : i = %5d : VL53LX_p_018 = %8d,",
			lb, i, VL53LX_p_018);

		trace_print(
			VL53LX_TRACE_LEVEL_INFO,
			" event_sum = %8d, weighted_sum = %8d\n",
			event_sum, weighted_sum);
	}

	if (event_sum  > 0) {
		weighted_sum += do_division_s(event_sum, 2);
		weighted_sum = do_division_s(weighted_sum, event_sum);
		if (weighted_sum < 0)
			weighted_sum = 0;
		*pphase = (uint32_t)weighted_sum;
	}

	LOG_FUNCTION_END(status);

	return status;
}


VL53LX_Error VL53LX_f_011(
	uint8_t                                pulse_no,
	VL53LX_histogram_bin_data_t           *pbins,
	VL53LX_hist_gen3_algo_private_data_t  *palgo,
	int32_t                                pad_value,
	VL53LX_histogram_bin_data_t           *ppulse)
{



	VL53LX_Error  status  = VL53LX_ERROR_NONE;

	uint8_t  i            = 0;
	uint8_t  lb            = 0;

	VL53LX_hist_pulse_data_t *pdata = &(palgo->VL53LX_p_003[pulse_no]);

	LOG_FUNCTION_START("");



	memcpy(ppulse, pbins, sizeof(VL53LX_histogram_bin_data_t));



	for (lb = palgo->VL53LX_p_044;
		lb < (palgo->VL53LX_p_044 +
		palgo->VL53LX_p_030);
		lb++) {

		if (lb < pdata->VL53LX_p_012 || lb > pdata->VL53LX_p_013) {
			i =  lb % palgo->VL53LX_p_030;
			if (i < ppulse->VL53LX_p_021)
				ppulse->bin_data[i] = pad_value;
		}
	}

	LOG_FUNCTION_END(status);

	return status;
}


VL53LX_Error VL53LX_f_014(
	uint8_t                       bin,
	uint8_t                       sigma_estimator__sigma_ref_mm,
	uint8_t                       VL53LX_p_030,
	uint8_t                       VL53LX_p_051,
	uint8_t                       crosstalk_compensation_enable,
	VL53LX_histogram_bin_data_t  *phist_data_ap,
	VL53LX_histogram_bin_data_t  *phist_data_zp,
	VL53LX_histogram_bin_data_t  *pxtalk_hist,
	uint16_t                     *psigma_est)
{


	VL53LX_Error status      = VL53LX_ERROR_NONE;
	VL53LX_Error func_status = VL53LX_ERROR_NONE;

	uint8_t  i    = 0;
	int32_t  VL53LX_p_007    = 0;
	int32_t  VL53LX_p_032    = 0;
	int32_t  VL53LX_p_001    = 0;
	int32_t  a_zp = 0;
	int32_t  c_zp = 0;
	int32_t  ax   = 0;
	int32_t  bx   = 0;
	int32_t  cx   = 0;


	if (VL53LX_p_030 == 0) {
		*psigma_est = 0xFFFF;
		return VL53LX_ERROR_DIVISION_BY_ZERO;
	}
	i = bin % VL53LX_p_030;



	VL53LX_f_022(
			i,
			VL53LX_p_051,
			phist_data_zp,
			&a_zp,
			&VL53LX_p_032,
			&c_zp);



	VL53LX_f_022(
			i,
			VL53LX_p_051,
			phist_data_ap,
			&VL53LX_p_007,
			&VL53LX_p_032,
			&VL53LX_p_001);

	if (crosstalk_compensation_enable > 0)
		VL53LX_f_022(
				i,
				VL53LX_p_051,
				pxtalk_hist,
				&ax,
				&bx,
				&cx);







	func_status =
		VL53LX_f_023(
			sigma_estimator__sigma_ref_mm,
			(uint32_t)VL53LX_p_007,
			(uint32_t)VL53LX_p_032,
			(uint32_t)VL53LX_p_001,
			(uint32_t)a_zp,
			(uint32_t)c_zp,
			(uint32_t)bx,
			(uint32_t)ax,
			(uint32_t)cx,
			(uint32_t)phist_data_ap->VL53LX_p_028,
			phist_data_ap->VL53LX_p_015,
			psigma_est);




	if (func_status == VL53LX_ERROR_DIVISION_BY_ZERO)
		*psigma_est = 0xFFFF;


	return status;
}


void VL53LX_f_017(
	uint8_t                      range_id,
	uint8_t                      valid_phase_low,
	uint8_t                      valid_phase_high,
	uint16_t                     sigma_thres,
	VL53LX_histogram_bin_data_t *pbins,
	VL53LX_hist_pulse_data_t    *ppulse,
	VL53LX_range_data_t         *pdata)
{

	uint16_t  lower_phase_limit = 0;
	uint16_t  upper_phase_limit = 0;



	pdata->range_id              = range_id;
	pdata->time_stamp            = 0;

	pdata->VL53LX_p_012          = ppulse->VL53LX_p_012;
	pdata->VL53LX_p_019             = ppulse->VL53LX_p_019;
	pdata->VL53LX_p_023            = ppulse->VL53LX_p_023;
	pdata->VL53LX_p_024              = ppulse->VL53LX_p_024;
	pdata->VL53LX_p_013            = ppulse->VL53LX_p_013;
	pdata->VL53LX_p_025             = ppulse->VL53LX_p_025;



	pdata->VL53LX_p_029  =
		(ppulse->VL53LX_p_013 + 1) - ppulse->VL53LX_p_012;



	pdata->zero_distance_phase   = pbins->zero_distance_phase;
	pdata->VL53LX_p_002              = ppulse->VL53LX_p_002;
	pdata->VL53LX_p_026             = (uint16_t)ppulse->VL53LX_p_026;
	pdata->VL53LX_p_011          = (uint16_t)ppulse->VL53LX_p_011;
	pdata->VL53LX_p_027             = (uint16_t)ppulse->VL53LX_p_027;
	pdata->VL53LX_p_017  = (uint32_t)ppulse->VL53LX_p_017;
	pdata->VL53LX_p_010   = ppulse->VL53LX_p_010;
	pdata->VL53LX_p_016 = (uint32_t)ppulse->VL53LX_p_016;
	pdata->total_periods_elapsed = pbins->total_periods_elapsed;



	pdata->range_status = VL53LX_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK;


	if (sigma_thres > 0 &&
		(uint32_t)ppulse->VL53LX_p_002 > ((uint32_t)sigma_thres << 5))
		pdata->range_status = VL53LX_DEVICEERROR_SIGMATHRESHOLDCHECK;



	lower_phase_limit  = (uint8_t)valid_phase_low << 8;
	if (lower_phase_limit < pdata->zero_distance_phase)
		lower_phase_limit =
			pdata->zero_distance_phase -
			lower_phase_limit;
	else
		lower_phase_limit  = 0;

	upper_phase_limit  = (uint8_t)valid_phase_high << 8;
	upper_phase_limit += pbins->zero_distance_phase;

	if (pdata->VL53LX_p_011 < lower_phase_limit ||
		pdata->VL53LX_p_011 > upper_phase_limit)
		pdata->range_status = VL53LX_DEVICEERROR_RANGEPHASECHECK;

}