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x-cube-tof1/Drivers/BSP/Components/vl53l4cx/modules/vl53lx_hist_algos_gen4.c

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/**
******************************************************************************
* 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_hist_algos_gen4.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__)
VL53LX_Error VL53LX_f_025(
VL53LX_dmax_calibration_data_t *pdmax_cal,
VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
VL53LX_hist_post_process_config_t *ppost_cfg,
VL53LX_histogram_bin_data_t *pbins_input,
VL53LX_histogram_bin_data_t *pxtalk,
VL53LX_hist_gen3_algo_private_data_t *palgo3,
VL53LX_hist_gen4_algo_filtered_data_t *pfiltered,
VL53LX_hist_gen3_dmax_private_data_t *pdmax_algo,
VL53LX_range_results_t *presults,
uint8_t histo_merge_nb)
{
VL53LX_Error status = VL53LX_ERROR_NONE;
VL53LX_hist_pulse_data_t *ppulse_data;
VL53LX_range_data_t *prange_data;
uint8_t p = 0;
VL53LX_histogram_bin_data_t *pB = &(palgo3->VL53LX_p_006);
LOG_FUNCTION_START("");
VL53LX_f_003(palgo3);
memcpy(
&(palgo3->VL53LX_p_006),
pbins_input,
sizeof(VL53LX_histogram_bin_data_t));
presults->cfg_device_state = pbins_input->cfg_device_state;
presults->rd_device_state = pbins_input->rd_device_state;
presults->zone_id = pbins_input->zone_id;
presults->stream_count = pbins_input->result__stream_count;
presults->wrap_dmax_mm = 0;
presults->max_results = VL53LX_MAX_RANGE_RESULTS;
presults->active_results = 0;
for (p = 0; p < VL53LX_MAX_AMBIENT_DMAX_VALUES; p++)
presults->VL53LX_p_022[p] = 0;
VL53LX_hist_calc_zero_distance_phase(&(palgo3->VL53LX_p_006));
VL53LX_hist_estimate_ambient_from_thresholded_bins(
(int32_t)ppost_cfg->ambient_thresh_sigma0,
&(palgo3->VL53LX_p_006));
VL53LX_hist_estimate_ambient_from_ambient_bins(
&(palgo3->VL53LX_p_006));
VL53LX_hist_remove_ambient_bins(&(palgo3->VL53LX_p_006));
if (ppost_cfg->algo__crosstalk_compensation_enable > 0)
VL53LX_f_005(
pxtalk,
&(palgo3->VL53LX_p_006),
&(palgo3->VL53LX_p_047));
pdmax_cfg->ambient_thresh_sigma =
ppost_cfg->ambient_thresh_sigma1;
for (p = 0; p < VL53LX_MAX_AMBIENT_DMAX_VALUES; p++) {
if (status == VL53LX_ERROR_NONE) {
status =
VL53LX_f_001(
pdmax_cfg->target_reflectance_for_dmax_calc[p],
pdmax_cal,
pdmax_cfg,
&(palgo3->VL53LX_p_006),
pdmax_algo,
&(presults->VL53LX_p_022[p]));
}
}
if (status == VL53LX_ERROR_NONE)
status =
VL53LX_f_006(
ppost_cfg->ambient_thresh_events_scaler,
(int32_t)pdmax_cfg->ambient_thresh_sigma,
(int32_t)ppost_cfg->min_ambient_thresh_events,
ppost_cfg->algo__crosstalk_compensation_enable,
&(palgo3->VL53LX_p_006),
&(palgo3->VL53LX_p_047),
palgo3);
if (status == VL53LX_ERROR_NONE)
status =
VL53LX_f_007(palgo3);
if (status == VL53LX_ERROR_NONE)
status =
VL53LX_f_008(palgo3);
if (status == VL53LX_ERROR_NONE)
status =
VL53LX_f_009(palgo3);
for (p = 0; p < palgo3->VL53LX_p_046; p++) {
ppulse_data = &(palgo3->VL53LX_p_003[p]);
if (status == VL53LX_ERROR_NONE)
status =
VL53LX_f_010(
p,
&(palgo3->VL53LX_p_006),
palgo3);
if (status == VL53LX_ERROR_NONE)
status =
VL53LX_f_011(
p,
&(palgo3->VL53LX_p_006),
palgo3,
pB->VL53LX_p_028,
&(palgo3->VL53LX_p_048));
if (status == VL53LX_ERROR_NONE) {
status =
VL53LX_f_011(
p,
&(palgo3->VL53LX_p_006),
palgo3,
0,
&(palgo3->VL53LX_p_049));
}
if (status == VL53LX_ERROR_NONE) {
status =
VL53LX_f_011(
p,
&(palgo3->VL53LX_p_047),
palgo3,
0,
&(palgo3->VL53LX_p_050));
}
if (status == VL53LX_ERROR_NONE)
status =
VL53LX_f_026(
p,
&(palgo3->VL53LX_p_048),
palgo3,
pfiltered);
if (status == VL53LX_ERROR_NONE)
status =
VL53LX_f_027(
p,
ppost_cfg->noise_threshold,
pfiltered,
palgo3);
if (status == VL53LX_ERROR_NONE)
status =
VL53LX_f_014(
ppulse_data->VL53LX_p_023,
ppost_cfg->sigma_estimator__sigma_ref_mm,
palgo3->VL53LX_p_030,
ppulse_data->VL53LX_p_051,
ppost_cfg->algo__crosstalk_compensation_enable,
&(palgo3->VL53LX_p_048),
&(palgo3->VL53LX_p_049),
&(palgo3->VL53LX_p_050),
&(ppulse_data->VL53LX_p_002));
if (status == VL53LX_ERROR_NONE)
status =
VL53LX_f_015(
p,
1,
&(palgo3->VL53LX_p_006),
palgo3);
}
if (status == VL53LX_ERROR_NONE)
status =
VL53LX_f_016(
ppost_cfg->hist_target_order,
palgo3);
for (p = 0; p < palgo3->VL53LX_p_046; p++) {
ppulse_data = &(palgo3->VL53LX_p_003[p]);
if (!(presults->active_results < presults->max_results))
continue;
if (ppulse_data->VL53LX_p_010 >
ppost_cfg->signal_total_events_limit &&
ppulse_data->VL53LX_p_023 < 0xFF) {
prange_data =
&(presults->VL53LX_p_003[presults->active_results]);
if (status == VL53LX_ERROR_NONE)
VL53LX_f_017(
presults->active_results,
ppost_cfg->valid_phase_low,
ppost_cfg->valid_phase_high,
ppost_cfg->sigma_thresh,
&(palgo3->VL53LX_p_006),
ppulse_data,
prange_data);
if (status == VL53LX_ERROR_NONE)
status =
VL53LX_f_018(
pB->vcsel_width,
pB->VL53LX_p_015,
pB->total_periods_elapsed,
pB->result__dss_actual_effective_spads,
prange_data,
histo_merge_nb);
if (status == VL53LX_ERROR_NONE)
VL53LX_f_019(
ppost_cfg->gain_factor,
ppost_cfg->range_offset_mm,
prange_data);
presults->active_results++;
}
}
LOG_FUNCTION_END(status);
return status;
}
VL53LX_Error VL53LX_f_026(
uint8_t pulse_no,
VL53LX_histogram_bin_data_t *ppulse,
VL53LX_hist_gen3_algo_private_data_t *palgo3,
VL53LX_hist_gen4_algo_filtered_data_t *pfiltered)
{
VL53LX_Error status = VL53LX_ERROR_NONE;
VL53LX_hist_pulse_data_t *pdata = &(palgo3->VL53LX_p_003[pulse_no]);
uint8_t lb = 0;
uint8_t i = 0;
int32_t suma = 0;
int32_t sumb = 0;
int32_t sumc = 0;
LOG_FUNCTION_START("");
pfiltered->VL53LX_p_020 = palgo3->VL53LX_p_020;
pfiltered->VL53LX_p_019 = palgo3->VL53LX_p_019;
pfiltered->VL53LX_p_021 = palgo3->VL53LX_p_021;
for (lb = pdata->VL53LX_p_012; lb <= pdata->VL53LX_p_013; lb++) {
i = lb % palgo3->VL53LX_p_030;
VL53LX_f_022(
i,
pdata->VL53LX_p_051,
ppulse,
&suma,
&sumb,
&sumc);
pfiltered->VL53LX_p_007[i] = suma;
pfiltered->VL53LX_p_032[i] = sumb;
pfiltered->VL53LX_p_001[i] = sumc;
pfiltered->VL53LX_p_053[i] =
(suma + sumb) -
(sumc + palgo3->VL53LX_p_028);
pfiltered->VL53LX_p_054[i] =
(sumb + sumc) -
(suma + palgo3->VL53LX_p_028);
}
return status;
}
VL53LX_Error VL53LX_f_027(
uint8_t pulse_no,
uint16_t noise_threshold,
VL53LX_hist_gen4_algo_filtered_data_t *pfiltered,
VL53LX_hist_gen3_algo_private_data_t *palgo3)
{
VL53LX_Error status = VL53LX_ERROR_NONE;
VL53LX_Error func_status = VL53LX_ERROR_NONE;
VL53LX_hist_pulse_data_t *pdata = &(palgo3->VL53LX_p_003[pulse_no]);
uint8_t lb = 0;
uint8_t i = 0;
uint8_t j = 0;
SUPPRESS_UNUSED_WARNING(noise_threshold);
for (lb = pdata->VL53LX_p_012; lb < pdata->VL53LX_p_013; lb++) {
i = lb % palgo3->VL53LX_p_030;
j = (lb+1) % palgo3->VL53LX_p_030;
if (i < palgo3->VL53LX_p_021 &&
j < palgo3->VL53LX_p_021) {
if (pfiltered->VL53LX_p_053[i] == 0 &&
pfiltered->VL53LX_p_054[i] == 0)
pfiltered->VL53LX_p_040[i] = 0;
else if (pfiltered->VL53LX_p_053[i] >= 0 &&
pfiltered->VL53LX_p_054[i] >= 0)
pfiltered->VL53LX_p_040[i] = 1;
else if (pfiltered->VL53LX_p_053[i] < 0 &&
pfiltered->VL53LX_p_054[i] >= 0 &&
pfiltered->VL53LX_p_053[j] >= 0 &&
pfiltered->VL53LX_p_054[j] < 0)
pfiltered->VL53LX_p_040[i] = 1;
else
pfiltered->VL53LX_p_040[i] = 0;
if (pfiltered->VL53LX_p_040[i] > 0) {
pdata->VL53LX_p_023 = lb;
func_status =
VL53LX_f_028(
lb,
pfiltered->VL53LX_p_007[i],
pfiltered->VL53LX_p_032[i],
pfiltered->VL53LX_p_001[i],
0,
0,
0,
palgo3->VL53LX_p_028,
palgo3->VL53LX_p_030,
&(pdata->VL53LX_p_011));
if (func_status ==
VL53LX_ERROR_DIVISION_BY_ZERO)
pfiltered->VL53LX_p_040[i] = 0;
}
}
}
return status;
}
VL53LX_Error VL53LX_f_028(
uint8_t bin,
int32_t VL53LX_p_007,
int32_t VL53LX_p_032,
int32_t VL53LX_p_001,
int32_t ax,
int32_t bx,
int32_t cx,
int32_t VL53LX_p_028,
uint8_t VL53LX_p_030,
uint32_t *pmean_phase)
{
VL53LX_Error status = VL53LX_ERROR_DIVISION_BY_ZERO;
int64_t mean_phase = VL53LX_MAX_ALLOWED_PHASE;
int32_t mean_phase32;
int64_t VL53LX_p_055 = 0;
int64_t half_b_minus_amb = 0;
VL53LX_p_055 = 4096 * ((int64_t)VL53LX_p_001 -
(int64_t)cx - (int64_t)VL53LX_p_007 - (int64_t)ax);
half_b_minus_amb = 4096 * ((int64_t)VL53LX_p_032 -
(int64_t)bx - (int64_t)VL53LX_p_028);
if (half_b_minus_amb != 0) {
mean_phase = (4096 * VL53LX_p_055) + half_b_minus_amb;
mean_phase = do_division_s(mean_phase, (half_b_minus_amb * 2));
mean_phase += 2048;
mean_phase += (4096 * (int64_t)bin);
mean_phase = do_division_s((mean_phase + 1), 2);
if (mean_phase < 0)
mean_phase = 0;
if (mean_phase > VL53LX_MAX_ALLOWED_PHASE)
mean_phase = VL53LX_MAX_ALLOWED_PHASE;
mean_phase32 = (int32_t)mean_phase;
mean_phase32 = mean_phase32 %
((int32_t)VL53LX_p_030 * 2048);
mean_phase = mean_phase32;
status = VL53LX_ERROR_NONE;
}
*pmean_phase = (uint32_t)mean_phase;
return status;
}
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