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x-cube-tof1/Drivers/BSP/Components/vl53l4cx/modules/vl53lx_api.c

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/**
******************************************************************************
* Copyright (c) 2020, STMicroelectronics - All Rights Reserved
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
#include "vl53lx_api.h"
#include "vl53lx_register_settings.h"
#include "vl53lx_register_funcs.h"
#include "vl53lx_core.h"
#include "vl53lx_api_calibration.h"
#include "vl53lx_wait.h"
#include "vl53lx_preset_setup.h"
#include "vl53lx_api_debug.h"
#include "vl53lx_api_core.h"
#include "vl53lx_nvm.h"
#define ZONE_CHECK 5
#define LOG_FUNCTION_START(fmt, ...) \
_LOG_FUNCTION_START(VL53LX_TRACE_MODULE_API, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
_LOG_FUNCTION_END(VL53LX_TRACE_MODULE_API, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
_LOG_FUNCTION_END_FMT(VL53LX_TRACE_MODULE_API, status, \
fmt, ##__VA_ARGS__)
#ifdef VL53LX_LOG_ENABLE
#define trace_print(level, ...) trace_print_module_function(\
VL53LX_TRACE_MODULE_API, level, VL53LX_TRACE_FUNCTION_NONE, \
##__VA_ARGS__)
#endif
#ifndef MIN
#define MIN(v1, v2) ((v1) < (v2) ? (v1) : (v2))
#endif
#ifndef MAX
#define MAX(v1, v2) ((v1) < (v2) ? (v2) : (v1))
#endif
#define DMAX_REFLECTANCE_IDX 2
#define LOWPOWER_AUTO_VHV_LOOP_DURATION_US 245
#define LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING 1448
#define LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING 2100
#define FDA_MAX_TIMING_BUDGET_US 550000
#define L4_FDA_MAX_TIMING_BUDGET_US 200000
static int32_t BDTable[VL53LX_TUNING_MAX_TUNABLE_KEY] = {
TUNING_VERSION,
TUNING_PROXY_MIN,
TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM,
TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER,
TUNING_MIN_AMBIENT_DMAX_VALID,
TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER,
TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM,
TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT,
TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN,
TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET,
TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR_DEFAULT
};
static VL53LX_Error ComputeDevicePresetMode(
VL53LX_DistanceModes DistanceMode,
VL53LX_DevicePresetModes *pDevicePresetMode);
static VL53LX_Error SetPresetModeL3CX(VL53LX_DEV Dev,
VL53LX_DistanceModes DistanceMode,
uint32_t inter_measurement_period_ms);
static int IsL4(VL53LX_DEV Dev);
static VL53LX_Error CheckValidRectRoi(VL53LX_UserRoi_t ROI);
VL53LX_Error VL53LX_GetVersion(VL53LX_Version_t *pVersion)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
LOG_FUNCTION_START("");
pVersion->major = VL53LX_IMPLEMENTATION_VER_MAJOR;
pVersion->minor = VL53LX_IMPLEMENTATION_VER_MINOR;
pVersion->build = VL53LX_IMPLEMENTATION_VER_SUB;
pVersion->revision = VL53LX_IMPLEMENTATION_VER_REVISION;
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_GetProductRevision(VL53LX_DEV Dev,
uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
uint8_t revision_id;
VL53LX_LLDriverData_t *pLLData;
LOG_FUNCTION_START("");
pLLData = VL53LXDevStructGetLLDriverHandle(Dev);
revision_id = pLLData->nvm_copy_data.identification__revision_id;
*pProductRevisionMajor = 1;
*pProductRevisionMinor = (revision_id & 0xF0) >> 4;
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_GetDeviceInfo(VL53LX_DEV Dev,
VL53LX_DeviceInfo_t *pVL53LX_DeviceInfo)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
uint8_t revision_id;
VL53LX_LLDriverData_t *pLLData;
LOG_FUNCTION_START("");
pLLData = VL53LXDevStructGetLLDriverHandle(Dev);
pVL53LX_DeviceInfo->ProductType =
pLLData->nvm_copy_data.identification__module_type;
revision_id = pLLData->nvm_copy_data.identification__revision_id;
pVL53LX_DeviceInfo->ProductRevisionMajor = 1;
pVL53LX_DeviceInfo->ProductRevisionMinor = (revision_id & 0xF0) >> 4;
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_GetUID(VL53LX_DEV Dev, uint64_t *pUid)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
uint8_t fmtdata[8];
LOG_FUNCTION_START("");
Status = VL53LX_read_nvm_raw_data(Dev,
(uint8_t)(0x1F8 >> 2),
(uint8_t)(8 >> 2),
fmtdata);
memcpy(pUid, fmtdata, sizeof(uint64_t));
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_SetDeviceAddress(VL53LX_DEV Dev, uint8_t DeviceAddress)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
VL53LX_static_nvm_managed_t *pdata = &(pdev->stat_nvm);
LOG_FUNCTION_START("");
Status = VL53LX_WrByte(Dev, VL53LX_I2C_SLAVE__DEVICE_ADDRESS,
DeviceAddress / 2);
pdata->i2c_slave__device_address = (DeviceAddress / 2) & 0x7F;
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_DataInit(VL53LX_DEV Dev)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
VL53LX_LLDriverData_t *pdev;
uint8_t measurement_mode;
LOG_FUNCTION_START("");
#ifdef USE_I2C_2V8
Status = VL53LX_RdByte(Dev, VL53LX_PAD_I2C_HV__EXTSUP_CONFIG, &i);
if (Status == VL53LX_ERROR_NONE) {
i = (i & 0xfe) | 0x01;
Status = VL53LX_WrByte(Dev, VL53LX_PAD_I2C_HV__EXTSUP_CONFIG,
i);
}
#endif
if (Status == VL53LX_ERROR_NONE)
Status = VL53LX_data_init(Dev, 1);
if (Status == VL53LX_ERROR_NONE)
Status = SetPresetModeL3CX(Dev,
VL53LX_DISTANCEMODE_MEDIUM,
1000);
if (Status == VL53LX_ERROR_NONE)
Status = VL53LX_SetMeasurementTimingBudgetMicroSeconds(Dev,
33333);
if (Status == VL53LX_ERROR_NONE) {
pdev = VL53LXDevStructGetLLDriverHandle(Dev);
memset(&pdev->per_vcsel_cal_data, 0,
sizeof(pdev->per_vcsel_cal_data));
}
if (Status == VL53LX_ERROR_NONE) {
Status = VL53LX_set_dmax_mode(Dev,
VL53LX_DEVICEDMAXMODE__CUST_CAL_DATA);
}
if (Status == VL53LX_ERROR_NONE)
Status = VL53LX_SmudgeCorrectionEnable(Dev,
VL53LX_SMUDGE_CORRECTION_NONE);
measurement_mode = VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
VL53LXDevDataSet(Dev, LLData.measurement_mode, measurement_mode);
VL53LXDevDataSet(Dev, CurrentParameters.DistanceMode,
VL53LX_DISTANCEMODE_MEDIUM);
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_WaitDeviceBooted(VL53LX_DEV Dev)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
LOG_FUNCTION_START("");
Status = VL53LX_poll_for_boot_completion(Dev,
VL53LX_BOOT_COMPLETION_POLLING_TIMEOUT_MS);
LOG_FUNCTION_END(Status);
return Status;
}
static VL53LX_Error ComputeDevicePresetMode(
VL53LX_DistanceModes DistanceMode,
VL53LX_DevicePresetModes *pDevicePresetMode)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
uint8_t DistIdx;
VL53LX_DevicePresetModes RangingModes[3] = {
VL53LX_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE,
VL53LX_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE,
VL53LX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE};
switch (DistanceMode) {
case VL53LX_DISTANCEMODE_SHORT:
DistIdx = 0;
break;
case VL53LX_DISTANCEMODE_MEDIUM:
DistIdx = 1;
break;
default:
DistIdx = 2;
}
*pDevicePresetMode = RangingModes[DistIdx];
return Status;
}
static VL53LX_Error SetPresetModeL3CX(VL53LX_DEV Dev,
VL53LX_DistanceModes DistanceMode,
uint32_t inter_measurement_period_ms)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
VL53LX_DevicePresetModes device_preset_mode;
uint8_t measurement_mode;
uint16_t dss_config__target_total_rate_mcps = 0;
uint32_t phasecal_config_timeout_us = 0;
uint32_t mm_config_timeout_us = 0;
uint32_t lld_range_config_timeout_us = 0;
LOG_FUNCTION_START("");
measurement_mode = VL53LX_DEVICEMEASUREMENTMODE_BACKTOBACK;
Status = ComputeDevicePresetMode(DistanceMode,
&device_preset_mode);
if (Status == VL53LX_ERROR_NONE)
Status = VL53LX_get_preset_mode_timing_cfg(Dev,
device_preset_mode,
&dss_config__target_total_rate_mcps,
&phasecal_config_timeout_us,
&mm_config_timeout_us,
&lld_range_config_timeout_us);
if (Status == VL53LX_ERROR_NONE)
Status = VL53LX_set_preset_mode(
Dev,
device_preset_mode,
dss_config__target_total_rate_mcps,
phasecal_config_timeout_us,
mm_config_timeout_us,
lld_range_config_timeout_us,
inter_measurement_period_ms);
if (Status == VL53LX_ERROR_NONE)
VL53LXDevDataSet(Dev, LLData.measurement_mode,
measurement_mode);
LOG_FUNCTION_END(Status);
return Status;
}
static int IsL4(VL53LX_DEV Dev)
{
int devL4 = 0;
VL53LX_LLDriverData_t *pDev;
pDev = VL53LXDevStructGetLLDriverHandle(Dev);
if ((pDev->nvm_copy_data.identification__module_type == 0xAA) &&
(pDev->nvm_copy_data.identification__model_id == 0xEB))
devL4 = 1;
return devL4;
}
static VL53LX_Error CheckValidRectRoi(VL53LX_UserRoi_t ROI)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
LOG_FUNCTION_START("");
if ((ROI.TopLeftX > 15) || (ROI.TopLeftY > 15) ||
(ROI.BotRightX > 15) || (ROI.BotRightY > 15))
Status = VL53LX_ERROR_INVALID_PARAMS;
if ((ROI.TopLeftX > ROI.BotRightX) || (ROI.TopLeftY < ROI.BotRightY))
Status = VL53LX_ERROR_INVALID_PARAMS;
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_SetDistanceMode(VL53LX_DEV Dev,
VL53LX_DistanceModes DistanceMode)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
uint32_t inter_measurement_period_ms;
uint32_t TimingBudget = 0;
uint32_t MmTimeoutUs = 0;
uint32_t PhaseCalTimeoutUs = 0;
LOG_FUNCTION_START("%d", (int)DistanceMode);
if ((DistanceMode != VL53LX_DISTANCEMODE_SHORT) &&
(DistanceMode != VL53LX_DISTANCEMODE_MEDIUM) &&
(DistanceMode != VL53LX_DISTANCEMODE_LONG))
return VL53LX_ERROR_INVALID_PARAMS;
if (IsL4(Dev) && (DistanceMode == VL53LX_DISTANCEMODE_SHORT))
return VL53LX_ERROR_INVALID_PARAMS;
inter_measurement_period_ms = VL53LXDevDataGet(Dev,
LLData.inter_measurement_period_ms);
if (Status == VL53LX_ERROR_NONE)
Status = VL53LX_get_timeouts_us(Dev, &PhaseCalTimeoutUs,
&MmTimeoutUs, &TimingBudget);
if (Status == VL53LX_ERROR_NONE)
Status = SetPresetModeL3CX(Dev,
DistanceMode,
inter_measurement_period_ms);
if (Status == VL53LX_ERROR_NONE) {
VL53LXDevDataSet(Dev, CurrentParameters.DistanceMode,
DistanceMode);
}
if (Status == VL53LX_ERROR_NONE) {
Status = VL53LX_set_timeouts_us(Dev, PhaseCalTimeoutUs,
MmTimeoutUs, TimingBudget);
if (Status == VL53LX_ERROR_NONE)
VL53LXDevDataSet(Dev, LLData.range_config_timeout_us,
TimingBudget);
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_GetDistanceMode(VL53LX_DEV Dev,
VL53LX_DistanceModes *pDistanceMode)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
LOG_FUNCTION_START("");
*pDistanceMode = VL53LXDevDataGet(Dev, CurrentParameters.DistanceMode);
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_SetMeasurementTimingBudgetMicroSeconds(VL53LX_DEV Dev,
uint32_t MeasurementTimingBudgetMicroSeconds)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
uint32_t TimingGuard;
uint32_t divisor;
uint32_t TimingBudget = 0;
uint32_t MmTimeoutUs = 0;
uint32_t PhaseCalTimeoutUs = 0;
uint32_t FDAMaxTimingBudgetUs = FDA_MAX_TIMING_BUDGET_US;
LOG_FUNCTION_START("");
if (MeasurementTimingBudgetMicroSeconds > 10000000)
Status = VL53LX_ERROR_INVALID_PARAMS;
if (Status == VL53LX_ERROR_NONE)
Status = VL53LX_get_timeouts_us(Dev,
&PhaseCalTimeoutUs,
&MmTimeoutUs,
&TimingBudget);
TimingGuard = 1700;
divisor = 6;
if (IsL4(Dev))
FDAMaxTimingBudgetUs = L4_FDA_MAX_TIMING_BUDGET_US;
if (MeasurementTimingBudgetMicroSeconds <= TimingGuard)
Status = VL53LX_ERROR_INVALID_PARAMS;
else {
TimingBudget = (MeasurementTimingBudgetMicroSeconds
- TimingGuard);
}
if (Status == VL53LX_ERROR_NONE) {
if (TimingBudget > FDAMaxTimingBudgetUs)
Status = VL53LX_ERROR_INVALID_PARAMS;
else {
TimingBudget /= divisor;
Status = VL53LX_set_timeouts_us(
Dev,
PhaseCalTimeoutUs,
MmTimeoutUs,
TimingBudget);
}
if (Status == VL53LX_ERROR_NONE)
VL53LXDevDataSet(Dev,
LLData.range_config_timeout_us,
TimingBudget);
}
if (Status == VL53LX_ERROR_NONE) {
VL53LXDevDataSet(Dev,
CurrentParameters.MeasurementTimingBudgetMicroSeconds,
MeasurementTimingBudgetMicroSeconds);
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_GetMeasurementTimingBudgetMicroSeconds(VL53LX_DEV Dev,
uint32_t *pMeasurementTimingBudgetMicroSeconds)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
uint32_t MmTimeoutUs = 0;
uint32_t RangeTimeoutUs = 0;
uint32_t PhaseCalTimeoutUs = 0;
LOG_FUNCTION_START("");
*pMeasurementTimingBudgetMicroSeconds = 0;
if (Status == VL53LX_ERROR_NONE)
Status = VL53LX_get_timeouts_us(Dev,
&PhaseCalTimeoutUs,
&MmTimeoutUs,
&RangeTimeoutUs);
if (Status == VL53LX_ERROR_NONE)
*pMeasurementTimingBudgetMicroSeconds = (6 * RangeTimeoutUs) +
1700;
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_SetUserROI(VL53LX_DEV Dev,
VL53LX_UserRoi_t *pRoi)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
VL53LX_zone_config_t zone_cfg;
uint8_t x_centre, y_centre, width, height;
Status = CheckValidRectRoi(*pRoi);
if (Status != VL53LX_ERROR_NONE)
return VL53LX_ERROR_INVALID_PARAMS;
x_centre = (pRoi->BotRightX + pRoi->TopLeftX + 1) / 2;
y_centre = (pRoi->TopLeftY + pRoi->BotRightY + 1) / 2;
width = (pRoi->BotRightX - pRoi->TopLeftX);
height = (pRoi->TopLeftY - pRoi->BotRightY);
zone_cfg.max_zones = 1;
zone_cfg.active_zones = 0;
zone_cfg.user_zones[0].x_centre = x_centre;
zone_cfg.user_zones[0].y_centre = y_centre;
zone_cfg.user_zones[0].width = width;
zone_cfg.user_zones[0].height = height;
if ((width < 3) || (height < 3))
Status = VL53LX_ERROR_INVALID_PARAMS;
else
Status = VL53LX_set_zone_config(Dev, &zone_cfg);
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_GetUserROI(VL53LX_DEV Dev,
VL53LX_UserRoi_t *pRoi)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
VL53LX_zone_config_t zone_cfg;
uint8_t TopLeftX;
uint8_t TopLeftY;
uint8_t BotRightX;
uint8_t BotRightY;
LOG_FUNCTION_START("");
VL53LX_get_zone_config(Dev, &zone_cfg);
TopLeftX = (2 * zone_cfg.user_zones[0].x_centre -
zone_cfg.user_zones[0].width) >> 1;
TopLeftY = (2 * zone_cfg.user_zones[0].y_centre +
zone_cfg.user_zones[0].height) >> 1;
BotRightX = (2 * zone_cfg.user_zones[0].x_centre +
zone_cfg.user_zones[0].width) >> 1;
BotRightY = (2 * zone_cfg.user_zones[0].y_centre -
zone_cfg.user_zones[0].height) >> 1;
pRoi->TopLeftX = TopLeftX;
pRoi->TopLeftY = TopLeftY;
pRoi->BotRightX = BotRightX;
pRoi->BotRightY = BotRightY;
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_StartMeasurement(VL53LX_DEV Dev)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
uint8_t DeviceMeasurementMode;
uint8_t i;
VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
LOG_FUNCTION_START("");
VL53LX_load_patch(Dev);
for (i = 0; i < VL53LX_MAX_RANGE_RESULTS; i++) {
pdev->PreviousRangeMilliMeter[i] = 0;
pdev->PreviousRangeStatus[i] = 255;
pdev->PreviousExtendedRange[i] = 0;
}
pdev->PreviousStreamCount = 0;
pdev->PreviousRangeActiveResults = 0;
DeviceMeasurementMode = VL53LXDevDataGet(Dev, LLData.measurement_mode);
if (Status == VL53LX_ERROR_NONE)
Status = VL53LX_init_and_start_range(
Dev,
DeviceMeasurementMode,
VL53LX_DEVICECONFIGLEVEL_FULL);
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_StopMeasurement(VL53LX_DEV Dev)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
LOG_FUNCTION_START("");
Status = VL53LX_stop_range(Dev);
VL53LX_unload_patch(Dev);
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_ClearInterruptAndStartMeasurement(VL53LX_DEV Dev)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
uint8_t DeviceMeasurementMode;
LOG_FUNCTION_START("");
DeviceMeasurementMode = VL53LXDevDataGet(Dev, LLData.measurement_mode);
Status = VL53LX_clear_interrupt_and_enable_next_range(Dev,
DeviceMeasurementMode);
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_GetMeasurementDataReady(VL53LX_DEV Dev,
uint8_t *pMeasurementDataReady)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
LOG_FUNCTION_START("");
Status = VL53LX_is_new_data_ready(Dev, pMeasurementDataReady);
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_WaitMeasurementDataReady(VL53LX_DEV Dev)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
LOG_FUNCTION_START("");
Status = VL53LX_poll_for_range_completion(Dev,
VL53LX_RANGE_COMPLETION_POLLING_TIMEOUT_MS);
LOG_FUNCTION_END(Status);
return Status;
}
static uint8_t ConvertStatusHisto(uint8_t FilteredRangeStatus)
{
uint8_t RangeStatus;
switch (FilteredRangeStatus) {
case VL53LX_DEVICEERROR_RANGEPHASECHECK:
RangeStatus = VL53LX_RANGESTATUS_OUTOFBOUNDS_FAIL;
break;
case VL53LX_DEVICEERROR_SIGMATHRESHOLDCHECK:
RangeStatus = VL53LX_RANGESTATUS_SIGMA_FAIL;
break;
case VL53LX_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK:
RangeStatus =
VL53LX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL;
break;
case VL53LX_DEVICEERROR_PHASECONSISTENCY:
RangeStatus = VL53LX_RANGESTATUS_WRAP_TARGET_FAIL;
break;
case VL53LX_DEVICEERROR_PREV_RANGE_NO_TARGETS:
RangeStatus = VL53LX_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL;
break;
case VL53LX_DEVICEERROR_EVENTCONSISTENCY:
RangeStatus = VL53LX_RANGESTATUS_WRAP_TARGET_FAIL;
break;
case VL53LX_DEVICEERROR_RANGECOMPLETE_MERGED_PULSE:
RangeStatus = VL53LX_RANGESTATUS_RANGE_VALID_MERGED_PULSE;
break;
case VL53LX_DEVICEERROR_RANGECOMPLETE:
RangeStatus = VL53LX_RANGESTATUS_RANGE_VALID;
break;
default:
RangeStatus = VL53LX_RANGESTATUS_NONE;
}
return RangeStatus;
}
static VL53LX_Error SetTargetData(VL53LX_DEV Dev,
uint8_t active_results, uint8_t streamcount, uint8_t iteration,
uint8_t device_status, VL53LX_range_data_t *presults_data,
VL53LX_TargetRangeData_t *pRangeData)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
VL53LX_LLDriverData_t *pdev =
VL53LXDevStructGetLLDriverHandle(Dev);
VL53LX_tuning_parm_storage_t *tp =
&(pdev->tuning_parms);
uint8_t sequency;
uint8_t FilteredRangeStatus;
FixPoint1616_t AmbientRate;
FixPoint1616_t SignalRate;
FixPoint1616_t TempFix1616;
int16_t Range, RangeDiff, RangeMillimeterInit;
int32_t ExtendedRangeEnabled = 0;
uint8_t uwr_status;
int16_t AddOffset;
uint8_t histo_merge_nb;
SUPPRESS_UNUSED_WARNING(Dev);
FilteredRangeStatus = presults_data->range_status & 0x1F;
SignalRate = VL53LX_FIXPOINT97TOFIXPOINT1616(
presults_data->peak_signal_count_rate_mcps);
pRangeData->SignalRateRtnMegaCps
= SignalRate;
AmbientRate = VL53LX_FIXPOINT97TOFIXPOINT1616(
presults_data->ambient_count_rate_mcps);
pRangeData->AmbientRateRtnMegaCps = AmbientRate;
TempFix1616 = VL53LX_FIXPOINT97TOFIXPOINT1616(
presults_data->VL53LX_p_002);
pRangeData->SigmaMilliMeter = TempFix1616;
pRangeData->RangeMilliMeter = presults_data->median_range_mm;
pRangeData->RangeMaxMilliMeter = presults_data->max_range_mm;
pRangeData->RangeMinMilliMeter = presults_data->min_range_mm;
switch (device_status) {
case VL53LX_DEVICEERROR_MULTCLIPFAIL:
case VL53LX_DEVICEERROR_VCSELWATCHDOGTESTFAILURE:
case VL53LX_DEVICEERROR_VCSELCONTINUITYTESTFAILURE:
case VL53LX_DEVICEERROR_NOVHVVALUEFOUND:
pRangeData->RangeStatus = VL53LX_RANGESTATUS_HARDWARE_FAIL;
break;
case VL53LX_DEVICEERROR_USERROICLIP:
pRangeData->RangeStatus = VL53LX_RANGESTATUS_MIN_RANGE_FAIL;
break;
default:
pRangeData->RangeStatus = VL53LX_RANGESTATUS_RANGE_VALID;
}
if ((pRangeData->RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID) &&
(active_results == 0)) {
pRangeData->RangeStatus = VL53LX_RANGESTATUS_NONE;
pRangeData->SignalRateRtnMegaCps = 0;
pRangeData->SigmaMilliMeter = 0;
pRangeData->RangeMilliMeter = 8191;
pRangeData->RangeMaxMilliMeter = 8191;
pRangeData->RangeMinMilliMeter = 8191;
}
if (pRangeData->RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID)
pRangeData->RangeStatus =
ConvertStatusHisto(FilteredRangeStatus);
VL53LX_get_tuning_parm(Dev, VL53LX_TUNINGPARM_UWR_ENABLE,
&ExtendedRangeEnabled);
sequency = streamcount % 2;
uwr_status = 0;
RangeMillimeterInit = pRangeData->RangeMilliMeter;
AddOffset = 0;
pRangeData->ExtendedRange = 0;
Status = VL53LX_compute_histo_merge_nb(Dev, &histo_merge_nb);
if ((active_results != 1) ||
(pdev->PreviousRangeActiveResults != 1)||(histo_merge_nb == 0))
ExtendedRangeEnabled = 0;
if (ExtendedRangeEnabled &&
(pRangeData->RangeStatus ==
VL53LX_RANGESTATUS_WRAP_TARGET_FAIL ||
pRangeData->RangeStatus ==
VL53LX_RANGESTATUS_OUTOFBOUNDS_FAIL)
&& (pdev->PreviousRangeStatus[iteration] ==
VL53LX_RANGESTATUS_WRAP_TARGET_FAIL ||
pdev->PreviousRangeStatus[iteration] ==
VL53LX_RANGESTATUS_OUTOFBOUNDS_FAIL ||
(pdev->PreviousRangeStatus[iteration] ==
VL53LX_RANGESTATUS_RANGE_VALID &&
pdev->PreviousExtendedRange[iteration] == 1)))
{
if (((pdev->PreviousStreamCount) ==
(pdev->hist_data.result__stream_count - 1 ))
|| ((pdev->PreviousStreamCount) ==
(pdev->hist_data.result__stream_count + 127)))
{
RangeDiff = pRangeData->RangeMilliMeter -
pdev->PreviousRangeMilliMeter[iteration];
uwr_status = 1;
switch (pdev->preset_mode) {
case VL53LX_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE:
uwr_status = 0;
break;
case VL53LX_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE:
if (RangeDiff > tp->tp_uwr_med_z_1_min &&
RangeDiff < tp->tp_uwr_med_z_1_max &&
sequency == 1) {
AddOffset =
tp->tp_uwr_med_corr_z_1_rangeb;
}
else
if (RangeDiff < -tp->tp_uwr_med_z_1_min &&
RangeDiff > -tp->tp_uwr_med_z_1_max &&
sequency == 0) {
AddOffset =
tp->tp_uwr_med_corr_z_1_rangea;
}
else
if (RangeDiff > tp->tp_uwr_med_z_2_min &&
RangeDiff < tp->tp_uwr_med_z_2_max &&
sequency == 0) {
AddOffset =
tp->tp_uwr_med_corr_z_2_rangea;
}
else
if (RangeDiff < -tp->tp_uwr_med_z_2_min &&
RangeDiff > -tp->tp_uwr_med_z_2_max &&
sequency == 1) {
AddOffset =
tp->tp_uwr_med_corr_z_2_rangeb;
}
else
if (RangeDiff > tp->tp_uwr_med_z_3_min &&
RangeDiff < tp->tp_uwr_med_z_3_max &&
sequency == 1) {
AddOffset =
tp->tp_uwr_med_corr_z_3_rangeb;
}
else
if (RangeDiff < -tp->tp_uwr_med_z_3_min &&
RangeDiff > -tp->tp_uwr_med_z_3_max &&
sequency == 0) {
AddOffset =
tp->tp_uwr_med_corr_z_3_rangea;
}
else
if (RangeDiff > tp->tp_uwr_med_z_4_min &&
RangeDiff < tp->tp_uwr_med_z_4_max &&
sequency == 0) {
AddOffset =
tp->tp_uwr_med_corr_z_4_rangea;
}
else
if (RangeDiff < -tp->tp_uwr_med_z_4_min &&
RangeDiff > -tp->tp_uwr_med_z_4_max &&
sequency == 1) {
AddOffset =
tp->tp_uwr_med_corr_z_4_rangeb;
}
else
if (RangeDiff < tp->tp_uwr_med_z_5_max &&
RangeDiff > tp->tp_uwr_med_z_5_min) {
AddOffset =
tp->tp_uwr_med_corr_z_5_rangea;
} else
uwr_status = 0;
break;
case VL53LX_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE:
if (RangeDiff > tp->tp_uwr_lng_z_1_min &&
RangeDiff < tp->tp_uwr_lng_z_1_max &&
sequency == 0) {
AddOffset =
tp->tp_uwr_lng_corr_z_1_rangea;
}
else
if (RangeDiff < -tp->tp_uwr_lng_z_1_min &&
RangeDiff > -tp->tp_uwr_lng_z_1_max &&
sequency == 1) {
AddOffset =
tp->tp_uwr_lng_corr_z_1_rangeb;
}
else
if (RangeDiff > tp->tp_uwr_lng_z_2_min &&
RangeDiff < tp->tp_uwr_lng_z_2_max &&
sequency == 1) {
AddOffset =
tp->tp_uwr_lng_corr_z_2_rangeb;
}
else
if (RangeDiff < -tp->tp_uwr_lng_z_2_min &&
RangeDiff > -tp->tp_uwr_lng_z_2_max &&
sequency == 0) {
AddOffset =
tp->tp_uwr_lng_corr_z_2_rangea;
}
else
if (RangeDiff < tp->tp_uwr_lng_z_3_max &&
RangeDiff > tp->tp_uwr_lng_z_3_min) {
AddOffset =
tp->tp_uwr_lng_corr_z_3_rangea;
}
else
uwr_status = 0;
break;
default:
uwr_status = 0;
break;
}
}
if (uwr_status) {
pRangeData->RangeMilliMeter += AddOffset;
pRangeData->RangeMinMilliMeter += AddOffset;
pRangeData->RangeMaxMilliMeter += AddOffset;
pRangeData->ExtendedRange = 1;
pRangeData->RangeStatus = 0;
}
}
pdev->PreviousRangeMilliMeter[iteration] = RangeMillimeterInit;
pdev->PreviousRangeStatus[iteration] = pRangeData->RangeStatus;
pdev->PreviousExtendedRange[iteration] = pRangeData->ExtendedRange;
pdev->PreviousRangeActiveResults = active_results;
Range = pRangeData->RangeMilliMeter;
if ((pRangeData->RangeStatus == VL53LX_RANGESTATUS_RANGE_VALID) &&
(Range < 0)) {
if (Range < BDTable[VL53LX_TUNING_PROXY_MIN])
pRangeData->RangeStatus =
VL53LX_RANGESTATUS_RANGE_INVALID;
else
pRangeData->RangeMilliMeter = 0;
}
return Status;
}
static VL53LX_Error SetMeasurementData(VL53LX_DEV Dev,
VL53LX_range_results_t *presults,
VL53LX_MultiRangingData_t *pMultiRangingData)
{
VL53LX_LLDriverData_t *pdev = VL53LXDevStructGetLLDriverHandle(Dev);
uint8_t i;
uint8_t iteration;
VL53LX_TargetRangeData_t *pRangeData;
VL53LX_range_data_t *presults_data;
VL53LX_Error Status = VL53LX_ERROR_NONE;
uint8_t ActiveResults;
pMultiRangingData->NumberOfObjectsFound = presults->active_results;
pMultiRangingData->HasXtalkValueChanged =
presults->smudge_corrector_data.new_xtalk_applied_flag;
pMultiRangingData->TimeStamp = 0;
pMultiRangingData->StreamCount = presults->stream_count;
ActiveResults = presults->active_results;
if (ActiveResults < 1)
iteration = 1;
else
iteration = ActiveResults;
for (i = 0; i < iteration; i++) {
pRangeData = &(pMultiRangingData->RangeData[i]);
presults_data = &(presults->VL53LX_p_003[i]);
if (Status == VL53LX_ERROR_NONE)
Status = SetTargetData(Dev, ActiveResults,
pMultiRangingData->StreamCount,
i,
presults->device_status,
presults_data,
pRangeData);
pMultiRangingData->EffectiveSpadRtnCount =
presults_data->VL53LX_p_004;
}
pdev->PreviousStreamCount = pdev->hist_data.result__stream_count;
for (i = iteration; i < VL53LX_MAX_RANGE_RESULTS; i++) {
pdev->PreviousRangeMilliMeter[i] = 0;
pdev->PreviousRangeStatus[i] = 255;
pdev->PreviousExtendedRange[i] = 0;
}
return Status;
}
VL53LX_Error VL53LX_GetMultiRangingData(VL53LX_DEV Dev,
VL53LX_MultiRangingData_t *pMultiRangingData)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
VL53LX_LLDriverData_t *pdev =
VL53LXDevStructGetLLDriverHandle(Dev);
VL53LX_range_results_t *presults =
(VL53LX_range_results_t *) pdev->wArea1;
LOG_FUNCTION_START("");
memset(pMultiRangingData, 0xFF,
sizeof(VL53LX_MultiRangingData_t));
Status = VL53LX_get_device_results(
Dev,
VL53LX_DEVICERESULTSLEVEL_FULL,
presults);
Status = SetMeasurementData(Dev,
presults,
pMultiRangingData);
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_GetAdditionalData(VL53LX_DEV Dev,
VL53LX_AdditionalData_t *pAdditionalData)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
LOG_FUNCTION_START("");
Status = VL53LX_get_additional_data(Dev, pAdditionalData);
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_SetTuningParameter(VL53LX_DEV Dev,
uint16_t TuningParameterId, int32_t TuningParameterValue)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
LOG_FUNCTION_START("");
if (TuningParameterId ==
VL53LX_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS)
return VL53LX_ERROR_INVALID_PARAMS;
if (TuningParameterId >= 32768)
Status = VL53LX_set_tuning_parm(Dev,
TuningParameterId,
TuningParameterValue);
else {
if (TuningParameterId < VL53LX_TUNING_MAX_TUNABLE_KEY)
BDTable[TuningParameterId] = TuningParameterValue;
else
Status = VL53LX_ERROR_INVALID_PARAMS;
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_GetTuningParameter(VL53LX_DEV Dev,
uint16_t TuningParameterId, int32_t *pTuningParameterValue)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
LOG_FUNCTION_START("");
if (TuningParameterId >= 32768)
Status = VL53LX_get_tuning_parm(Dev,
TuningParameterId,
pTuningParameterValue);
else {
if (TuningParameterId < VL53LX_TUNING_MAX_TUNABLE_KEY)
*pTuningParameterValue = BDTable[TuningParameterId];
else
Status = VL53LX_ERROR_INVALID_PARAMS;
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_PerformRefSpadManagement(VL53LX_DEV Dev)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
VL53LX_Error RawStatus;
uint8_t dcrbuffer[24];
uint8_t *commbuf;
uint8_t numloc[2] = {5, 3};
VL53LX_LLDriverData_t *pdev;
VL53LX_customer_nvm_managed_t *pc;
VL53LX_DistanceModes DistanceMode;
LOG_FUNCTION_START("");
pdev = VL53LXDevStructGetLLDriverHandle(Dev);
pc = &pdev->customer;
DistanceMode = VL53LXDevDataGet(Dev,
CurrentParameters.DistanceMode);
if (Status == VL53LX_ERROR_NONE)
Status = VL53LX_run_ref_spad_char(Dev, &RawStatus);
if (Status == VL53LX_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH) {
Status = VL53LX_read_nvm_raw_data(Dev,
(uint8_t)(0xA0 >> 2),
(uint8_t)(24 >> 2),
dcrbuffer);
if (Status == VL53LX_ERROR_NONE)
Status = VL53LX_WriteMulti(Dev,
VL53LX_REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS,
numloc, 2);
if (Status == VL53LX_ERROR_NONE) {
pc->ref_spad_man__num_requested_ref_spads = numloc[0];
pc->ref_spad_man__ref_location = numloc[1];
}
commbuf = &dcrbuffer[16];
if (Status == VL53LX_ERROR_NONE)
Status = VL53LX_WriteMulti(Dev,
VL53LX_GLOBAL_CONFIG__SPAD_ENABLES_REF_0,
commbuf, 6);
if (Status == VL53LX_ERROR_NONE) {
pc->global_config__spad_enables_ref_0 = commbuf[0];
pc->global_config__spad_enables_ref_1 = commbuf[1];
pc->global_config__spad_enables_ref_2 = commbuf[2];
pc->global_config__spad_enables_ref_3 = commbuf[3];
pc->global_config__spad_enables_ref_4 = commbuf[4];
pc->global_config__spad_enables_ref_5 = commbuf[5];
}
}
VL53LX_SetDistanceMode(Dev, DistanceMode);
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_SmudgeCorrectionEnable(VL53LX_DEV Dev,
VL53LX_SmudgeCorrectionModes Mode)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
VL53LX_Error s1 = VL53LX_ERROR_NONE;
VL53LX_Error s2 = VL53LX_ERROR_NONE;
VL53LX_Error s3 = VL53LX_ERROR_NONE;
LOG_FUNCTION_START("");
switch (Mode) {
case VL53LX_SMUDGE_CORRECTION_NONE:
s1 = VL53LX_dynamic_xtalk_correction_disable(Dev);
s2 = VL53LX_dynamic_xtalk_correction_apply_disable(Dev);
s3 = VL53LX_dynamic_xtalk_correction_single_apply_disable(Dev);
break;
case VL53LX_SMUDGE_CORRECTION_CONTINUOUS:
s1 = VL53LX_dynamic_xtalk_correction_enable(Dev);
s2 = VL53LX_dynamic_xtalk_correction_apply_enable(Dev);
s3 = VL53LX_dynamic_xtalk_correction_single_apply_disable(Dev);
break;
case VL53LX_SMUDGE_CORRECTION_SINGLE:
s1 = VL53LX_dynamic_xtalk_correction_enable(Dev);
s2 = VL53LX_dynamic_xtalk_correction_apply_enable(Dev);
s3 = VL53LX_dynamic_xtalk_correction_single_apply_enable(Dev);
break;
case VL53LX_SMUDGE_CORRECTION_DEBUG:
s1 = VL53LX_dynamic_xtalk_correction_enable(Dev);
s2 = VL53LX_dynamic_xtalk_correction_apply_disable(Dev);
s3 = VL53LX_dynamic_xtalk_correction_single_apply_disable(Dev);
break;
default:
Status = VL53LX_ERROR_INVALID_PARAMS;
break;
}
if (Status == VL53LX_ERROR_NONE) {
Status = s1;
if (Status == VL53LX_ERROR_NONE)
Status = s2;
if (Status == VL53LX_ERROR_NONE)
Status = s3;
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_SetXTalkCompensationEnable(VL53LX_DEV Dev,
uint8_t XTalkCompensationEnable)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
LOG_FUNCTION_START("");
if (XTalkCompensationEnable == 0)
Status = VL53LX_disable_xtalk_compensation(Dev);
else
Status = VL53LX_enable_xtalk_compensation(Dev);
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_GetXTalkCompensationEnable(VL53LX_DEV Dev,
uint8_t *pXTalkCompensationEnable)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
LOG_FUNCTION_START("");
VL53LX_get_xtalk_compensation_enable(
Dev,
pXTalkCompensationEnable);
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_PerformXTalkCalibration(VL53LX_DEV Dev)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
VL53LX_Error UStatus;
int16_t CalDistanceMm;
VL53LX_xtalk_calibration_results_t xtalk;
VL53LX_CalibrationData_t caldata;
VL53LX_LLDriverData_t *pLLData;
int i;
uint32_t *pPlaneOffsetKcps;
uint32_t Margin =
BDTable[VL53LX_TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN];
uint32_t DefaultOffset =
BDTable[VL53LX_TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET];
uint32_t *pLLDataPlaneOffsetKcps;
uint32_t sum = 0;
uint8_t binok = 0;
VL53LX_DistanceModes DistanceMode;
uint32_t TimingBudgetMicroSeconds;
LOG_FUNCTION_START("");
Status = VL53LX_GetDistanceMode(Dev, &DistanceMode);
Status = VL53LX_GetMeasurementTimingBudgetMicroSeconds(Dev, &TimingBudgetMicroSeconds);
pPlaneOffsetKcps =
&caldata.customer.algo__crosstalk_compensation_plane_offset_kcps;
pLLData = VL53LXDevStructGetLLDriverHandle(Dev);
pLLDataPlaneOffsetKcps =
&pLLData->xtalk_cal.algo__crosstalk_compensation_plane_offset_kcps;
CalDistanceMm = (int16_t)
BDTable[VL53LX_TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM];
Status = VL53LX_run_hist_xtalk_extraction(Dev, CalDistanceMm,
&UStatus);
VL53LX_GetCalibrationData(Dev, &caldata);
for (i = 0; i < VL53LX_XTALK_HISTO_BINS; i++) {
sum += caldata.xtalkhisto.xtalk_shape.bin_data[i];
if (caldata.xtalkhisto.xtalk_shape.bin_data[i] > 0)
binok++;
}
if ((UStatus ==
VL53LX_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL) ||
(sum > (1024 + Margin)) || (sum < (1024 - Margin)) ||
(binok < 3)) {
*pPlaneOffsetKcps = DefaultOffset;
*pLLDataPlaneOffsetKcps = DefaultOffset;
caldata.xtalkhisto.xtalk_shape.bin_data[0] = 307;
caldata.xtalkhisto.xtalk_shape.bin_data[1] = 410;
caldata.xtalkhisto.xtalk_shape.bin_data[2] = 410;
caldata.xtalkhisto.xtalk_shape.bin_data[3] = 307;
for (i = 4; i < VL53LX_XTALK_HISTO_BINS; i++)
caldata.xtalkhisto.xtalk_shape.bin_data[i] = 0;
for (i = 0; i < VL53LX_BIN_REC_SIZE; i++)
caldata.algo__xtalk_cpo_HistoMerge_kcps[i] =
DefaultOffset + DefaultOffset * i;
VL53LX_SetCalibrationData(Dev, &caldata);
}
if (Status == VL53LX_ERROR_NONE) {
Status = VL53LX_get_current_xtalk_settings(Dev, &xtalk);
Status = VL53LX_set_tuning_parm(Dev,
VL53LX_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS,
xtalk.algo__crosstalk_compensation_plane_offset_kcps);
}
Status = VL53LX_SetDistanceMode(Dev, DistanceMode);
Status = VL53LX_SetMeasurementTimingBudgetMicroSeconds(Dev, TimingBudgetMicroSeconds);
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_SetOffsetCorrectionMode(VL53LX_DEV Dev,
VL53LX_OffsetCorrectionModes OffsetCorrectionMode)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
VL53LX_OffsetCorrectionMode offset_cor_mode;
LOG_FUNCTION_START("");
if (OffsetCorrectionMode ==
VL53LX_OFFSETCORRECTIONMODE_PERVCSEL)
offset_cor_mode =
VL53LX_OFFSETCORRECTIONMODE__PER_VCSEL_OFFSETS;
else {
offset_cor_mode =
VL53LX_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS;
if (OffsetCorrectionMode !=
VL53LX_OFFSETCORRECTIONMODE_STANDARD)
Status = VL53LX_ERROR_INVALID_PARAMS;
}
if (Status == VL53LX_ERROR_NONE)
Status = VL53LX_set_offset_correction_mode(Dev,
offset_cor_mode);
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_PerformOffsetSimpleCalibration(VL53LX_DEV Dev,
int32_t CalDistanceMilliMeter)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
int32_t sum_ranging;
uint8_t offset_meas;
int16_t Max, UnderMax, OverMax, Repeat;
int32_t total_count, inloopcount;
int32_t IncRounding;
int16_t meanDistance_mm;
int16_t offset;
VL53LX_MultiRangingData_t RangingMeasurementData;
VL53LX_LLDriverData_t *pdev;
uint8_t goodmeas;
VL53LX_Error SmudgeStatus = VL53LX_ERROR_NONE;
uint8_t smudge_corr_en;
VL53LX_TargetRangeData_t *pRange;
LOG_FUNCTION_START("");
pdev = VL53LXDevStructGetLLDriverHandle(Dev);
smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
SmudgeStatus = VL53LX_dynamic_xtalk_correction_disable(Dev);
pdev->customer.algo__part_to_part_range_offset_mm = 0;
pdev->customer.mm_config__inner_offset_mm = 0;
pdev->customer.mm_config__outer_offset_mm = 0;
memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data));
Repeat = BDTable[VL53LX_TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT];
Max = BDTable[
VL53LX_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER];
UnderMax = 1 + (Max / 2);
OverMax = Max + (Max / 2);
sum_ranging = 0;
total_count = 0;
while ((Repeat > 0) && (Status == VL53LX_ERROR_NONE)) {
Status = VL53LX_StartMeasurement(Dev);
if (Status == VL53LX_ERROR_NONE) {
VL53LX_WaitMeasurementDataReady(Dev);
VL53LX_GetMultiRangingData(Dev,
&RangingMeasurementData);
VL53LX_ClearInterruptAndStartMeasurement(Dev);
}
inloopcount = 0;
offset_meas = 0;
while ((Status == VL53LX_ERROR_NONE) && (inloopcount < Max) &&
(offset_meas < OverMax)) {
Status = VL53LX_WaitMeasurementDataReady(Dev);
if (Status == VL53LX_ERROR_NONE)
Status = VL53LX_GetMultiRangingData(Dev,
&RangingMeasurementData);
pRange = &(RangingMeasurementData.RangeData[0]);
goodmeas = (pRange->RangeStatus ==
VL53LX_RANGESTATUS_RANGE_VALID);
if ((Status == VL53LX_ERROR_NONE) && goodmeas) {
sum_ranging += pRange->RangeMilliMeter;
inloopcount++;
}
Status = VL53LX_ClearInterruptAndStartMeasurement(Dev);
offset_meas++;
}
total_count += inloopcount;
if (inloopcount < UnderMax)
Status = VL53LX_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
VL53LX_StopMeasurement(Dev);
Repeat--;
}
if ((SmudgeStatus == VL53LX_ERROR_NONE) && (smudge_corr_en == 1))
SmudgeStatus = VL53LX_dynamic_xtalk_correction_enable(Dev);
if ((sum_ranging < 0) ||
(sum_ranging > ((int32_t) total_count * 0xffff)))
Status = VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
if ((Status == VL53LX_ERROR_NONE) && (total_count > 0)) {
IncRounding = total_count / 2;
meanDistance_mm = (int16_t)((sum_ranging + IncRounding)
/ total_count);
offset = (int16_t)CalDistanceMilliMeter - meanDistance_mm;
pdev->customer.algo__part_to_part_range_offset_mm = 0;
pdev->customer.mm_config__inner_offset_mm = offset;
pdev->customer.mm_config__outer_offset_mm = offset;
Status = VL53LX_set_customer_nvm_managed(Dev,
&(pdev->customer));
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_PerformOffsetZeroDistanceCalibration(VL53LX_DEV Dev)
{
#define START_OFFSET 50
VL53LX_Error Status = VL53LX_ERROR_NONE;
int32_t sum_ranging;
uint8_t offset_meas;
int16_t Max, UnderMax, OverMax, Repeat;
int32_t total_count, inloopcount;
int32_t IncRounding;
int16_t meanDistance_mm;
int16_t offset, ZeroDistanceOffset;
VL53LX_MultiRangingData_t RangingMeasurementData;
VL53LX_LLDriverData_t *pdev;
uint8_t goodmeas;
VL53LX_Error SmudgeStatus = VL53LX_ERROR_NONE;
uint8_t smudge_corr_en;
VL53LX_TargetRangeData_t *pRange;
LOG_FUNCTION_START("");
pdev = VL53LXDevStructGetLLDriverHandle(Dev);
smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
SmudgeStatus = VL53LX_dynamic_xtalk_correction_disable(Dev);
pdev->customer.algo__part_to_part_range_offset_mm = 0;
pdev->customer.mm_config__inner_offset_mm = START_OFFSET;
pdev->customer.mm_config__outer_offset_mm = START_OFFSET;
memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data));
ZeroDistanceOffset = BDTable[
VL53LX_TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR];
Repeat = BDTable[VL53LX_TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT];
Max =
BDTable[VL53LX_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER];
UnderMax = 1 + (Max / 2);
OverMax = Max + (Max / 2);
sum_ranging = 0;
total_count = 0;
while ((Repeat > 0) && (Status == VL53LX_ERROR_NONE)) {
Status = VL53LX_StartMeasurement(Dev);
if (Status == VL53LX_ERROR_NONE) {
VL53LX_WaitMeasurementDataReady(Dev);
VL53LX_GetMultiRangingData(Dev,
&RangingMeasurementData);
VL53LX_ClearInterruptAndStartMeasurement(Dev);
}
inloopcount = 0;
offset_meas = 0;
while ((Status == VL53LX_ERROR_NONE) && (inloopcount < Max) &&
(offset_meas < OverMax)) {
Status = VL53LX_WaitMeasurementDataReady(Dev);
if (Status == VL53LX_ERROR_NONE)
Status = VL53LX_GetMultiRangingData(Dev,
&RangingMeasurementData);
pRange = &(RangingMeasurementData.RangeData[0]);
goodmeas = (pRange->RangeStatus ==
VL53LX_RANGESTATUS_RANGE_VALID);
if ((Status == VL53LX_ERROR_NONE) && goodmeas) {
sum_ranging = sum_ranging +
pRange->RangeMilliMeter;
inloopcount++;
}
Status = VL53LX_ClearInterruptAndStartMeasurement(Dev);
offset_meas++;
}
total_count += inloopcount;
if (inloopcount < UnderMax)
Status = VL53LX_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
VL53LX_StopMeasurement(Dev);
Repeat--;
}
if ((SmudgeStatus == VL53LX_ERROR_NONE) && (smudge_corr_en == 1))
SmudgeStatus = VL53LX_dynamic_xtalk_correction_enable(Dev);
if ((sum_ranging < 0) ||
(sum_ranging > ((int32_t) total_count * 0xffff)))
Status = VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
if ((Status == VL53LX_ERROR_NONE) && (total_count > 0)) {
IncRounding = total_count / 2;
meanDistance_mm = (int16_t)
((sum_ranging + IncRounding) / total_count);
offset = START_OFFSET - meanDistance_mm + ZeroDistanceOffset;
pdev->customer.algo__part_to_part_range_offset_mm = 0;
pdev->customer.mm_config__inner_offset_mm = offset;
pdev->customer.mm_config__outer_offset_mm = offset;
Status = VL53LX_set_customer_nvm_managed(Dev,
&(pdev->customer));
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_SetCalibrationData(VL53LX_DEV Dev,
VL53LX_CalibrationData_t *pCalibrationData)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
VL53LX_CustomerNvmManaged_t *pC;
VL53LX_calibration_data_t cal_data;
uint32_t x;
VL53LX_xtalk_calibration_results_t xtalk;
LOG_FUNCTION_START("");
cal_data.struct_version = pCalibrationData->struct_version -
VL53LX_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION;
memcpy(
&(cal_data.add_off_cal_data),
&(pCalibrationData->add_off_cal_data),
sizeof(VL53LX_additional_offset_cal_data_t));
memcpy(
&(cal_data.optical_centre),
&(pCalibrationData->optical_centre),
sizeof(VL53LX_optical_centre_t));
memcpy(
&(cal_data.xtalkhisto),
&(pCalibrationData->xtalkhisto),
sizeof(VL53LX_xtalk_histogram_data_t));
memcpy(
&(cal_data.gain_cal),
&(pCalibrationData->gain_cal),
sizeof(VL53LX_gain_calibration_data_t));
memcpy(
&(cal_data.cal_peak_rate_map),
&(pCalibrationData->cal_peak_rate_map),
sizeof(VL53LX_cal_peak_rate_map_t));
memcpy(
&(cal_data.per_vcsel_cal_data),
&(pCalibrationData->per_vcsel_cal_data),
sizeof(VL53LX_per_vcsel_period_offset_cal_data_t));
pC = &pCalibrationData->customer;
x = pC->algo__crosstalk_compensation_plane_offset_kcps;
cal_data.customer.algo__crosstalk_compensation_plane_offset_kcps =
(uint16_t)(x&0x0000FFFF);
cal_data.customer.global_config__spad_enables_ref_0 =
pC->global_config__spad_enables_ref_0;
cal_data.customer.global_config__spad_enables_ref_1 =
pC->global_config__spad_enables_ref_1;
cal_data.customer.global_config__spad_enables_ref_2 =
pC->global_config__spad_enables_ref_2;
cal_data.customer.global_config__spad_enables_ref_3 =
pC->global_config__spad_enables_ref_3;
cal_data.customer.global_config__spad_enables_ref_4 =
pC->global_config__spad_enables_ref_4;
cal_data.customer.global_config__spad_enables_ref_5 =
pC->global_config__spad_enables_ref_5;
cal_data.customer.global_config__ref_en_start_select =
pC->global_config__ref_en_start_select;
cal_data.customer.ref_spad_man__num_requested_ref_spads =
pC->ref_spad_man__num_requested_ref_spads;
cal_data.customer.ref_spad_man__ref_location =
pC->ref_spad_man__ref_location;
cal_data.customer.algo__crosstalk_compensation_x_plane_gradient_kcps =
pC->algo__crosstalk_compensation_x_plane_gradient_kcps;
cal_data.customer.algo__crosstalk_compensation_y_plane_gradient_kcps =
pC->algo__crosstalk_compensation_y_plane_gradient_kcps;
cal_data.customer.ref_spad_char__total_rate_target_mcps =
pC->ref_spad_char__total_rate_target_mcps;
cal_data.customer.algo__part_to_part_range_offset_mm =
pC->algo__part_to_part_range_offset_mm;
cal_data.customer.mm_config__inner_offset_mm =
pC->mm_config__inner_offset_mm;
cal_data.customer.mm_config__outer_offset_mm =
pC->mm_config__outer_offset_mm;
Status = VL53LX_set_part_to_part_data(Dev, &cal_data);
if (Status != VL53LX_ERROR_NONE)
goto ENDFUNC;
Status = VL53LX_get_current_xtalk_settings(Dev, &xtalk);
if (Status != VL53LX_ERROR_NONE)
goto ENDFUNC;
xtalk.algo__crosstalk_compensation_plane_offset_kcps = x;
Status = VL53LX_set_tuning_parm(Dev,
VL53LX_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS,
x);
memcpy(
&(xtalk.algo__xtalk_cpo_HistoMerge_kcps[0]),
&(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps[0]),
sizeof(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps));
Status = VL53LX_set_current_xtalk_settings(Dev, &xtalk);
ENDFUNC:
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_GetCalibrationData(VL53LX_DEV Dev,
VL53LX_CalibrationData_t *pCalibrationData)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
VL53LX_calibration_data_t cal_data;
VL53LX_CustomerNvmManaged_t *pC;
VL53LX_customer_nvm_managed_t *pC2;
VL53LX_xtalk_calibration_results_t xtalk;
uint32_t tmp;
LOG_FUNCTION_START("");
Status = VL53LX_get_part_to_part_data(Dev, &cal_data);
pCalibrationData->struct_version = cal_data.struct_version +
VL53LX_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION;
memcpy(
&(pCalibrationData->add_off_cal_data),
&(cal_data.add_off_cal_data),
sizeof(VL53LX_additional_offset_cal_data_t));
memcpy(
&(pCalibrationData->optical_centre),
&(cal_data.optical_centre),
sizeof(VL53LX_optical_centre_t));
memcpy(
&(pCalibrationData->xtalkhisto),
&(cal_data.xtalkhisto),
sizeof(VL53LX_xtalk_histogram_data_t));
memcpy(
&(pCalibrationData->gain_cal),
&(cal_data.gain_cal),
sizeof(VL53LX_gain_calibration_data_t));
memcpy(
&(pCalibrationData->cal_peak_rate_map),
&(cal_data.cal_peak_rate_map),
sizeof(VL53LX_cal_peak_rate_map_t));
memcpy(
&(pCalibrationData->per_vcsel_cal_data),
&(cal_data.per_vcsel_cal_data),
sizeof(VL53LX_per_vcsel_period_offset_cal_data_t));
pC = &pCalibrationData->customer;
pC2 = &cal_data.customer;
pC->global_config__spad_enables_ref_0 =
pC2->global_config__spad_enables_ref_0;
pC->global_config__spad_enables_ref_1 =
pC2->global_config__spad_enables_ref_1;
pC->global_config__spad_enables_ref_2 =
pC2->global_config__spad_enables_ref_2;
pC->global_config__spad_enables_ref_3 =
pC2->global_config__spad_enables_ref_3;
pC->global_config__spad_enables_ref_4 =
pC2->global_config__spad_enables_ref_4;
pC->global_config__spad_enables_ref_5 =
pC2->global_config__spad_enables_ref_5;
pC->global_config__ref_en_start_select =
pC2->global_config__ref_en_start_select;
pC->ref_spad_man__num_requested_ref_spads =
pC2->ref_spad_man__num_requested_ref_spads;
pC->ref_spad_man__ref_location =
pC2->ref_spad_man__ref_location;
pC->algo__crosstalk_compensation_x_plane_gradient_kcps =
pC2->algo__crosstalk_compensation_x_plane_gradient_kcps;
pC->algo__crosstalk_compensation_y_plane_gradient_kcps =
pC2->algo__crosstalk_compensation_y_plane_gradient_kcps;
pC->ref_spad_char__total_rate_target_mcps =
pC2->ref_spad_char__total_rate_target_mcps;
pC->algo__part_to_part_range_offset_mm =
pC2->algo__part_to_part_range_offset_mm;
pC->mm_config__inner_offset_mm =
pC2->mm_config__inner_offset_mm;
pC->mm_config__outer_offset_mm =
pC2->mm_config__outer_offset_mm;
pC->algo__crosstalk_compensation_plane_offset_kcps =
(uint32_t)(
pC2->algo__crosstalk_compensation_plane_offset_kcps);
Status = VL53LX_get_current_xtalk_settings(Dev, &xtalk);
if (Status != VL53LX_ERROR_NONE)
goto ENDFUNC;
tmp = xtalk.algo__crosstalk_compensation_plane_offset_kcps;
pC->algo__crosstalk_compensation_plane_offset_kcps = tmp;
tmp = xtalk.algo__crosstalk_compensation_x_plane_gradient_kcps;
pC->algo__crosstalk_compensation_x_plane_gradient_kcps = tmp;
tmp = xtalk.algo__crosstalk_compensation_y_plane_gradient_kcps;
pC->algo__crosstalk_compensation_y_plane_gradient_kcps = tmp;
memcpy(&(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps[0]),
&(xtalk.algo__xtalk_cpo_HistoMerge_kcps[0]),
sizeof(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps));
ENDFUNC:
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_PerformOffsetPerVcselCalibration(VL53LX_DEV Dev,
int32_t CalDistanceMilliMeter)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
int32_t sum_ranging_range_A, sum_ranging_range_B;
uint8_t offset_meas_range_A, offset_meas_range_B;
int16_t Max, UnderMax, OverMax, Repeat;
int32_t inloopcount;
int32_t IncRounding;
int16_t meanDistance_mm;
VL53LX_MultiRangingData_t RangingMeasurementData;
VL53LX_LLDriverData_t *pdev;
uint8_t goodmeas;
VL53LX_DistanceModes currentDist;
VL53LX_DistanceModes DistMode[3] = {VL53LX_DISTANCEMODE_SHORT,
VL53LX_DISTANCEMODE_MEDIUM, VL53LX_DISTANCEMODE_LONG};
int16_t offsetA[3] = {0, 0, 0};
int16_t offsetB[3] = {0, 0, 0};
VL53LX_Error SmudgeStatus = VL53LX_ERROR_NONE;
uint8_t smudge_corr_en, ics;
VL53LX_TargetRangeData_t *pRange;
LOG_FUNCTION_START("");
pdev = VL53LXDevStructGetLLDriverHandle(Dev);
smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled;
SmudgeStatus = VL53LX_dynamic_xtalk_correction_disable(Dev);
pdev->customer.algo__part_to_part_range_offset_mm = 0;
pdev->customer.mm_config__inner_offset_mm = 0;
pdev->customer.mm_config__outer_offset_mm = 0;
pdev->customer.mm_config__outer_offset_mm = 0;
memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data));
Repeat = 0;
if (IsL4(Dev))
Repeat = 1;
Max = 2 * BDTable[
VL53LX_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER];
UnderMax = 1 + (Max / 2);
OverMax = Max + (Max / 2);
Status = VL53LX_GetDistanceMode(Dev, &currentDist);
while ((Repeat < 3) && (Status == VL53LX_ERROR_NONE)) {
Status = VL53LX_SetDistanceMode(Dev, DistMode[Repeat]);
Status = VL53LX_StartMeasurement(Dev);
if (Status == VL53LX_ERROR_NONE) {
VL53LX_WaitMeasurementDataReady(Dev);
VL53LX_GetMultiRangingData(Dev,
&RangingMeasurementData);
VL53LX_ClearInterruptAndStartMeasurement(Dev);
}
inloopcount = 0;
offset_meas_range_A = 0;
sum_ranging_range_A = 0;
offset_meas_range_B = 0;
sum_ranging_range_B = 0;
while ((Status == VL53LX_ERROR_NONE) && (inloopcount < Max) &&
(inloopcount < OverMax)) {
Status = VL53LX_WaitMeasurementDataReady(Dev);
if (Status == VL53LX_ERROR_NONE)
Status = VL53LX_GetMultiRangingData(Dev,
&RangingMeasurementData);
pRange = &(RangingMeasurementData.RangeData[0]);
goodmeas = (pRange->RangeStatus ==
VL53LX_RANGESTATUS_RANGE_VALID);
ics = pdev->ll_state.cfg_internal_stream_count;
if ((Status == VL53LX_ERROR_NONE) && goodmeas) {
if (ics & 0x01) {
sum_ranging_range_A +=
pRange->RangeMilliMeter;
offset_meas_range_A++;
} else {
sum_ranging_range_B +=
pRange->RangeMilliMeter;
offset_meas_range_B++;
}
inloopcount = offset_meas_range_A +
offset_meas_range_B;
}
Status = VL53LX_ClearInterruptAndStartMeasurement(Dev);
}
if (inloopcount < UnderMax)
Status = VL53LX_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
VL53LX_StopMeasurement(Dev);
if ((sum_ranging_range_A < 0) ||
(sum_ranging_range_B < 0) ||
(sum_ranging_range_A >
((int32_t) offset_meas_range_A * 0xffff)) ||
(sum_ranging_range_B >
((int32_t) offset_meas_range_B * 0xffff))) {
Status = VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
}
if ((Status == VL53LX_ERROR_NONE) &&
(offset_meas_range_A > 0)) {
IncRounding = offset_meas_range_A / 2;
meanDistance_mm = (int16_t)
((sum_ranging_range_A + IncRounding)
/ offset_meas_range_A);
offsetA[Repeat] = (int16_t)
CalDistanceMilliMeter - meanDistance_mm;
}
if ((Status == VL53LX_ERROR_NONE) &&
(offset_meas_range_B > 0)) {
IncRounding = offset_meas_range_B / 2;
meanDistance_mm = (int16_t)
((sum_ranging_range_B + IncRounding)
/ offset_meas_range_B);
offsetB[Repeat] = (int16_t)
CalDistanceMilliMeter - meanDistance_mm;
}
Repeat++;
}
if ((SmudgeStatus == VL53LX_ERROR_NONE) && (smudge_corr_en == 1))
SmudgeStatus = VL53LX_dynamic_xtalk_correction_enable(Dev);
if (Status == VL53LX_ERROR_NONE) {
pdev->per_vcsel_cal_data.short_a_offset_mm = offsetA[0];
pdev->per_vcsel_cal_data.short_b_offset_mm = offsetB[0];
pdev->per_vcsel_cal_data.medium_a_offset_mm = offsetA[1];
pdev->per_vcsel_cal_data.medium_b_offset_mm = offsetB[1];
pdev->per_vcsel_cal_data.long_a_offset_mm = offsetA[2];
pdev->per_vcsel_cal_data.long_b_offset_mm = offsetB[2];
}
VL53LX_SetDistanceMode(Dev, currentDist);
LOG_FUNCTION_END(Status);
return Status;
}
VL53LX_Error VL53LX_GetOpticalCenter(VL53LX_DEV Dev,
FixPoint1616_t *pOpticalCenterX,
FixPoint1616_t *pOpticalCenterY)
{
VL53LX_Error Status = VL53LX_ERROR_NONE;
VL53LX_calibration_data_t CalibrationData;
LOG_FUNCTION_START("");
*pOpticalCenterX = 0;
*pOpticalCenterY = 0;
Status = VL53LX_get_part_to_part_data(Dev, &CalibrationData);
if (Status == VL53LX_ERROR_NONE) {
*pOpticalCenterX = VL53LX_FIXPOINT44TOFIXPOINT1616(
CalibrationData.optical_centre.x_centre);
*pOpticalCenterY = VL53LX_FIXPOINT44TOFIXPOINT1616(
CalibrationData.optical_centre.y_centre);
}
LOG_FUNCTION_END(Status);
return Status;
}
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