From f90880f2f85d9e9451f78f28cbc47a0adff3bf22 Mon Sep 17 00:00:00 2001 From: guocx4 Date: Tue, 10 Apr 2018 17:22:05 +0800 Subject: [PATCH] Add stm laser modules 1. Add vl53L0 2. Add vl53L1 Change-Id: Ib98cbddb95f1ec2ba2aaee79e215d0a5e0b7ffb4 Signed-off-by: guocx4 Reviewed-on: https://gerrit.mot.com/1160804 SLTApproved: Slta Waiver SME-Granted: SME Approvals Granted Tested-by: Jira Key Reviewed-by: Haichao Li Reviewed-by: Dawei Wang Reviewed-by: Zilong Zhang Reviewed-by: Zhenxin Xi Submit-Approved: Jira Key --- drivers/input/misc/vl53L0/Android.mk | 8 + drivers/input/misc/vl53L0/Kbuild | 26 + drivers/input/misc/vl53L0/Makefile | 10 + drivers/input/misc/vl53L0/inc/vl53l010_api.h | 1423 ++ .../input/misc/vl53L0/inc/vl53l010_device.h | 231 + .../input/misc/vl53L0/inc/vl53l010_strings.h | 134 + .../input/misc/vl53L0/inc/vl53l010_tuning.h | 58 + drivers/input/misc/vl53L0/inc/vl53l0_api.h | 1930 +++ .../misc/vl53L0/inc/vl53l0_api_calibration.h | 85 + .../input/misc/vl53L0/inc/vl53l0_api_core.h | 108 + .../misc/vl53L0/inc/vl53l0_api_histogram.h | 70 + .../misc/vl53L0/inc/vl53l0_api_ranging.h | 47 + .../misc/vl53L0/inc/vl53l0_api_strings.h | 271 + drivers/input/misc/vl53L0/inc/vl53l0_def.h | 637 + drivers/input/misc/vl53L0/inc/vl53l0_device.h | 255 + .../misc/vl53L0/inc/vl53l0_i2c_platform.h | 402 + .../input/misc/vl53L0/inc/vl53l0_platform.h | 228 + .../misc/vl53L0/inc/vl53l0_platform_log.h | 125 + .../input/misc/vl53L0/inc/vl53l0_strings.h | 211 + drivers/input/misc/vl53L0/inc/vl53l0_tuning.h | 145 + drivers/input/misc/vl53L0/inc/vl53l0_types.h | 68 + drivers/input/misc/vl53L0/src/vl53l010_api.c | 4127 +++++ .../input/misc/vl53L0/src/vl53l010_tuning.c | 138 + drivers/input/misc/vl53L0/src/vl53l0_api.c | 2845 ++++ .../misc/vl53L0/src/vl53l0_api_calibration.c | 1275 ++ .../input/misc/vl53L0/src/vl53l0_api_core.c | 2234 +++ .../misc/vl53L0/src/vl53l0_api_histogram.c | 746 + .../misc/vl53L0/src/vl53l0_api_ranging.c | 42 + .../misc/vl53L0/src/vl53l0_api_strings.c | 448 + .../misc/vl53L0/src/vl53l0_i2c_platform.c | 379 + .../input/misc/vl53L0/src/vl53l0_platform.c | 242 + .../input/misc/vl53L0/src/vl53l0_port_i2c.c | 150 + drivers/input/misc/vl53L0/src/vl53l0_tuning.c | 137 + drivers/input/misc/vl53L0/stmvl53l0-cci.h | 65 + drivers/input/misc/vl53L0/stmvl53l0-i2c.h | 47 + drivers/input/misc/vl53L0/stmvl53l0.h | 201 + .../input/misc/vl53L0/stmvl53l0_module-cci.c | 475 + .../input/misc/vl53L0/stmvl53l0_module-i2c.c | 422 + drivers/input/misc/vl53L0/stmvl53l0_module.c | 2804 ++++ drivers/input/misc/vl53L1/Android.mk | 8 + drivers/input/misc/vl53L1/Kbuild | 26 + drivers/input/misc/vl53L1/Makefile | 10 + drivers/input/misc/vl53L1/inc/vl53l1_api.h | 1264 ++ .../misc/vl53L1/inc/vl53l1_api_calibration.h | 569 + .../input/misc/vl53L1/inc/vl53l1_api_core.h | 1579 ++ .../input/misc/vl53L1/inc/vl53l1_api_debug.h | 649 + .../misc/vl53L1/inc/vl53l1_api_preset_modes.h | 1191 ++ .../misc/vl53L1/inc/vl53l1_api_strings.h | 210 + drivers/input/misc/vl53L1/inc/vl53l1_core.h | 1513 ++ .../misc/vl53L1/inc/vl53l1_core_support.h | 410 + drivers/input/misc/vl53L1/inc/vl53l1_def.h | 704 + .../misc/vl53L1/inc/vl53l1_dmax_structs.h | 205 + .../misc/vl53L1/inc/vl53l1_error_codes.h | 323 + .../misc/vl53L1/inc/vl53l1_error_exceptions.h | 125 + .../misc/vl53L1/inc/vl53l1_error_strings.h | 243 + .../input/misc/vl53L1/inc/vl53l1_fpga_core.h | 134 + .../input/misc/vl53L1/inc/vl53l1_hist_char.h | 175 + .../input/misc/vl53L1/inc/vl53l1_hist_map.h | 154 + .../misc/vl53L1/inc/vl53l1_hist_structs.h | 477 + drivers/input/misc/vl53L1/inc/vl53l1_ll_def.h | 1625 ++ .../input/misc/vl53L1/inc/vl53l1_ll_device.h | 843 + drivers/input/misc/vl53L1/inc/vl53l1_nvm.h | 422 + .../input/misc/vl53L1/inc/vl53l1_nvm_debug.h | 201 + .../input/misc/vl53L1/inc/vl53l1_nvm_map.h | 3246 ++++ .../misc/vl53L1/inc/vl53l1_nvm_structs.h | 804 + .../misc/vl53L1/inc/vl53l1_register_funcs.h | 1693 ++ .../misc/vl53L1/inc/vl53l1_register_map.h | 13113 ++++++++++++++++ .../vl53L1/inc/vl53l1_register_settings.h | 273 + .../misc/vl53L1/inc/vl53l1_register_structs.h | 4848 ++++++ .../misc/vl53L1/inc/vl53l1_silicon_core.h | 133 + drivers/input/misc/vl53L1/inc/vl53l1_wait.h | 318 + .../misc/vl53L1/inc/vl53l1_zone_presets.h | 182 + drivers/input/misc/vl53L1/ipp/ipp_linux.c | 343 + drivers/input/misc/vl53L1/src/vl53l1_api.c | 2809 ++++ .../misc/vl53L1/src/vl53l1_api_calibration.c | 2617 +++ .../input/misc/vl53L1/src/vl53l1_api_core.c | 4790 ++++++ .../input/misc/vl53L1/src/vl53l1_api_debug.c | 3184 ++++ .../misc/vl53L1/src/vl53l1_api_preset_modes.c | 4086 +++++ .../misc/vl53L1/src/vl53l1_api_strings.c | 333 + drivers/input/misc/vl53L1/src/vl53l1_core.c | 3961 +++++ .../misc/vl53L1/src/vl53l1_core_support.c | 931 ++ .../misc/vl53L1/src/vl53l1_error_strings.c | 327 + .../input/misc/vl53L1/src/vl53l1_fpga_core.c | 167 + .../input/misc/vl53L1/src/vl53l1_hist_char.c | 282 + drivers/input/misc/vl53L1/src/vl53l1_nvm.c | 1639 ++ .../input/misc/vl53L1/src/vl53l1_nvm_debug.c | 1103 ++ .../misc/vl53L1/src/vl53l1_register_funcs.c | 4594 ++++++ .../misc/vl53L1/src/vl53l1_silicon_core.c | 180 + drivers/input/misc/vl53L1/src/vl53l1_wait.c | 627 + .../misc/vl53L1/src/vl53l1_zone_presets.c | 253 + drivers/input/misc/vl53L1/stmvl53l1-i2c.h | 109 + drivers/input/misc/vl53L1/stmvl53l1.h | 379 + drivers/input/misc/vl53L1/stmvl53l1_i2c.c | 366 + drivers/input/misc/vl53L1/stmvl53l1_if.h | 564 + .../input/misc/vl53L1/stmvl53l1_internal_if.h | 75 + drivers/input/misc/vl53L1/stmvl53l1_ipp.h | 386 + drivers/input/misc/vl53L1/stmvl53l1_ipp_nl.c | 378 + drivers/input/misc/vl53L1/stmvl53l1_log.c | 78 + .../input/misc/vl53L1/stmvl53l1_module-i2c.c | 890 ++ drivers/input/misc/vl53L1/stmvl53l1_module.c | 3636 +++++ drivers/input/misc/vl53L1/vl53l1_platform.h | 447 + .../input/misc/vl53L1/vl53l1_platform_ipp.h | 188 + .../misc/vl53L1/vl53l1_platform_ipp_imports.h | 36 + .../input/misc/vl53L1/vl53l1_platform_log.h | 176 + .../misc/vl53L1/vl53l1_platform_user_config.h | 100 + .../misc/vl53L1/vl53l1_platform_user_data.h | 62 + .../vl53L1/vl53l1_platform_user_defines.h | 92 + drivers/input/misc/vl53L1/vl53l1_types.h | 46 + 108 files changed, 101153 insertions(+) create mode 100644 drivers/input/misc/vl53L0/Android.mk create mode 100644 drivers/input/misc/vl53L0/Kbuild create mode 100644 drivers/input/misc/vl53L0/Makefile create mode 100644 drivers/input/misc/vl53L0/inc/vl53l010_api.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l010_device.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l010_strings.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l010_tuning.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l0_api.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l0_api_calibration.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l0_api_core.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l0_api_histogram.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l0_api_ranging.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l0_api_strings.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l0_def.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l0_device.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l0_i2c_platform.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l0_platform.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l0_platform_log.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l0_strings.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l0_tuning.h create mode 100644 drivers/input/misc/vl53L0/inc/vl53l0_types.h create mode 100644 drivers/input/misc/vl53L0/src/vl53l010_api.c create mode 100644 drivers/input/misc/vl53L0/src/vl53l010_tuning.c create mode 100644 drivers/input/misc/vl53L0/src/vl53l0_api.c create mode 100644 drivers/input/misc/vl53L0/src/vl53l0_api_calibration.c create mode 100644 drivers/input/misc/vl53L0/src/vl53l0_api_core.c create mode 100644 drivers/input/misc/vl53L0/src/vl53l0_api_histogram.c create mode 100644 drivers/input/misc/vl53L0/src/vl53l0_api_ranging.c create mode 100644 drivers/input/misc/vl53L0/src/vl53l0_api_strings.c create mode 100644 drivers/input/misc/vl53L0/src/vl53l0_i2c_platform.c create mode 100644 drivers/input/misc/vl53L0/src/vl53l0_platform.c create mode 100644 drivers/input/misc/vl53L0/src/vl53l0_port_i2c.c create mode 100644 drivers/input/misc/vl53L0/src/vl53l0_tuning.c create mode 100644 drivers/input/misc/vl53L0/stmvl53l0-cci.h create mode 100644 drivers/input/misc/vl53L0/stmvl53l0-i2c.h create mode 100644 drivers/input/misc/vl53L0/stmvl53l0.h create mode 100644 drivers/input/misc/vl53L0/stmvl53l0_module-cci.c create mode 100644 drivers/input/misc/vl53L0/stmvl53l0_module-i2c.c create mode 100644 drivers/input/misc/vl53L0/stmvl53l0_module.c create mode 100644 drivers/input/misc/vl53L1/Android.mk create mode 100644 drivers/input/misc/vl53L1/Kbuild create mode 100644 drivers/input/misc/vl53L1/Makefile create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_api.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_api_calibration.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_api_core.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_api_debug.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_api_preset_modes.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_api_strings.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_core.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_core_support.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_def.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_dmax_structs.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_error_codes.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_error_exceptions.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_error_strings.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_fpga_core.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_hist_char.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_hist_map.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_hist_structs.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_ll_def.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_ll_device.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_nvm.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_nvm_debug.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_nvm_map.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_nvm_structs.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_register_funcs.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_register_map.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_register_settings.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_register_structs.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_silicon_core.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_wait.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_zone_presets.h create mode 100644 drivers/input/misc/vl53L1/ipp/ipp_linux.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_api.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_api_calibration.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_api_core.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_api_debug.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_api_preset_modes.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_api_strings.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_core.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_core_support.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_error_strings.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_fpga_core.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_hist_char.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_nvm.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_nvm_debug.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_register_funcs.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_silicon_core.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_wait.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_zone_presets.c create mode 100644 drivers/input/misc/vl53L1/stmvl53l1-i2c.h create mode 100644 drivers/input/misc/vl53L1/stmvl53l1.h create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_i2c.c create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_if.h create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_internal_if.h create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_ipp.h create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_ipp_nl.c create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_log.c create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_module-i2c.c create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_module.c create mode 100644 drivers/input/misc/vl53L1/vl53l1_platform.h create mode 100644 drivers/input/misc/vl53L1/vl53l1_platform_ipp.h create mode 100644 drivers/input/misc/vl53L1/vl53l1_platform_ipp_imports.h create mode 100644 drivers/input/misc/vl53L1/vl53l1_platform_log.h create mode 100644 drivers/input/misc/vl53L1/vl53l1_platform_user_config.h create mode 100644 drivers/input/misc/vl53L1/vl53l1_platform_user_data.h create mode 100644 drivers/input/misc/vl53L1/vl53l1_platform_user_defines.h create mode 100644 drivers/input/misc/vl53L1/vl53l1_types.h diff --git a/drivers/input/misc/vl53L0/Android.mk b/drivers/input/misc/vl53L0/Android.mk new file mode 100644 index 000000000000..fb4f59171eae --- /dev/null +++ b/drivers/input/misc/vl53L0/Android.mk @@ -0,0 +1,8 @@ +DLKM_DIR := motorola/kernel/modules +LOCAL_PATH := $(call my-dir) + +include $(CLEAR_VARS) +LOCAL_MODULE := stmvl53l0.ko +LOCAL_MODULE_TAGS := optional +LOCAL_MODULE_PATH := $(KERNEL_MODULES_OUT) +include $(DLKM_DIR)/AndroidKernelModule.mk diff --git a/drivers/input/misc/vl53L0/Kbuild b/drivers/input/misc/vl53L0/Kbuild new file mode 100644 index 000000000000..a1272a5c661f --- /dev/null +++ b/drivers/input/misc/vl53L0/Kbuild @@ -0,0 +1,26 @@ +# +# Makefile for the vl53L0 drivers. +# + +# Each configuration option enables a list of files. +FEATURE_USE_CCI := true + +ifeq ($(FEATURE_USE_CCI), true) +ccflags-y += -Idrivers/input/misc/vl53L0/inc -DCAMERA_CCI +else +ccflags-y += -Idrivers/input/misc/vl53L0/inc -DSTM_TEST +endif + +ccflags-$(CONFIG_MSMB_CAMERA) += -Idrivers/media/platform/msm/camera_v2/sensor/io +ccflags-$(CONFIG_MSMB_CAMERA) += -Idrivers/media/platform/msm/camera_v2 +ccflags-$(CONFIG_MSMB_CAMERA) += -Idrivers/media/platform/msm/camera_v2/sensor/cci +ccflags-$(CONFIG_MSMB_CAMERA) += -Idrivers/media/platform/msm/camera_v2/common + +ccflags-$(CONFIG_MSMB_CAMERA_2016) += -Idrivers/media/platform/msm/camera_v2_2016/sensor/io +ccflags-$(CONFIG_MSMB_CAMERA_2016) += -Idrivers/media/platform/msm/camera_v2_2016 +ccflags-$(CONFIG_MSMB_CAMERA_2016) += -Idrivers/media/platform/msm/camera_v2_2016/sensor/cci +ccflags-$(CONFIG_MSMB_CAMERA_2016) += -Idrivers/media/platform/msm/camera_v2_2016/common + +obj-m += stmvl53l0.o +stmvl53l0-objs := stmvl53l0_module.o stmvl53l0_module-i2c.o stmvl53l0_module-cci.o src/vl53l0_api_calibration.o src/vl53l0_api_core.o src/vl53l0_api_histogram.o src/vl53l0_api_ranging.o src/vl53l0_api_strings.o src/vl53l0_api.o src/vl53l0_platform.o src/vl53l0_i2c_platform.o src/vl53l0_port_i2c.o src/vl53l010_api.o src/vl53l010_tuning.o + diff --git a/drivers/input/misc/vl53L0/Makefile b/drivers/input/misc/vl53L0/Makefile new file mode 100644 index 000000000000..4191dea22679 --- /dev/null +++ b/drivers/input/misc/vl53L0/Makefile @@ -0,0 +1,10 @@ +KERNEL_SRC ?= /lib/modules/$(shell uname -r)/build + +all: + $(MAKE) -C $(KERNEL_SRC) M=$(shell pwd) modules $(KBUILD_OPTIONS) + +modules_install: + $(MAKE) INSTALL_MOD_STRIP=1 -C $(KERNEL_SRC) M=$(shell pwd) modules_install + +clean: + $(MAKE) -C $(KERNEL_SRC) M=$(PWD) clean diff --git a/drivers/input/misc/vl53L0/inc/vl53l010_api.h b/drivers/input/misc/vl53L0/inc/vl53l010_api.h new file mode 100644 index 000000000000..6054e4eff719 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l010_api.h @@ -0,0 +1,1423 @@ +/******************************************************************************* +Copyright © 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ +/* + * @file vl53l0_api.h + * $Date: 2014-12-04 16:15:06 +0100 (Thu, 04 Dec 2014) $ + * $Revision: 1906 $ + */ + + + +#ifndef _VL53L010_API_H_ +#define _VL53L010_API_H_ + +#include "vl53l010_device.h" +#include "vl53l010_strings.h" +#include "vl53l0_def.h" +#include "vl53l0_platform.h" + + +#ifdef __cplusplus +extern "C" { +#endif + + +#ifdef _MSC_VER +# ifdef VL53L0_API_EXPORTS +# define VL53L010_API __declspec(dllexport) +# else +# define VL53L010_API +# endif +#else +# define VL53L010_API +#endif + + +/** @defgroup VL53L010_cut10_group VL53L010 cut1.0 Function Definition + * @brief VL53L010 cut1.0 Function Definition + * @{ + */ + +/** @defgroup VL53L010_general_group VL53L010 General Functions + * @brief VL53L010 General functions and definitions + * @{ + */ + +/** + * @brief Return the VL53L0 PAL Implementation Version + * + * @note This function doesn't access to the device + * + * @param pVersion Pointer to current PAL Implementation Version + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetVersion(VL53L0_Version_t *pVersion); + +/** + * @brief Return the PAL Specification Version used for the current + * implementation. + * + * @note This function doesn't access to the device + * + * @param pPalSpecVersion Pointer to current PAL Specification Version + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetPalSpecVersion( + VL53L0_Version_t *pPalSpecVersion); + + +/** + * @brief Reads the Device information for given Device + * + * @note This function Access to the device.\n + * Use ProductRevisionMajor and ProductRevisionMinor to know the cut + * of the device used. + * + * @param Dev Device Handle + * @param pVL53L0_DeviceInfo Pointer to current device info for a given + * Device + * + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetDeviceInfo(VL53L0_DEV Dev, + VL53L0_DeviceInfo_t *pVL53L0_DeviceInfo); + + +/** + * @brief Read current status of the error register for the selected device + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pDeviceErrorStatus Pointer to current error code of the device + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetDeviceErrorStatus(VL53L0_DEV Dev, + VL53L010_DeviceError *pDeviceErrorStatus); + +/** + * @brief Human readable error string for a given Error Code + * + * @note This function doesn't access to the device + * + * @param ErrorCode The error code as stored on + * ::VL53L0_DeviceError + * @param pDeviceErrorString The error string corresponding to the + * ErrorCode + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetDeviceErrorString( + VL53L010_DeviceError ErrorCode, char *pDeviceErrorString); + + +/** + * @brief Human readable error string for current PAL error status + * + * @note This function doesn't access to the device + * + * @param PalErrorCode The error code as stored on @a VL53L0_Error + * @param pPalErrorString The error string corresponding to the + * PalErrorCode + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetPalErrorString(VL53L0_Error PalErrorCode, + char *pPalErrorString); + + +/** + * @brief Reads the internal state of the PAL for a given Device + * + * @note This function doesn't access to the device + * + * @param Dev Device Handle + * @param pPalState Pointer to current state of the PAL for a + * given Device + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetPalState(VL53L0_DEV Dev, + VL53L0_State *pPalState); + + +/** + * @brief Set the power mode for a given Device + * The power mode can be Standby or Idle. Different level of both Standby and + * Idle can exists. + * This function should not be used when device is in Ranging state. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param PowerMode The value of the power mode to set. + * see ::VL53L0_PowerModes Valid values are: + * VL53L0_POWERMODE_STANDBY_LEVEL1, VL53L0_POWERMODE_IDLE_LEVEL1 + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_MODE_NOT_SUPPORTED This error occurs when PowerMode + * is not in the supported list + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_SetPowerMode(VL53L0_DEV Dev, + VL53L0_PowerModes PowerMode); + +/** + * @brief Get the power mode for a given Device + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pPowerMode Pointer to the current value of the power + * mode. see ::VL53L0_PowerModes. Valid values are: + * VL53L0_POWERMODE_STANDBY_LEVEL1, VL53L0_POWERMODE_IDLE_LEVEL1 + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetPowerMode(VL53L0_DEV Dev, + VL53L0_PowerModes *pPowerMode); + + +/** + * Set or over-hide part to part calibration offset + * \sa VL53L0_DataInit() VL53L0_GetOffsetCalibrationDataMicroMeter() + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param OffsetCalibrationDataMicroMeter Offset (in micrometer) + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_SetOffsetCalibrationDataMicroMeter( + VL53L0_DEV Dev, + int32_t OffsetCalibrationDataMicroMeter); + +/** + * @brief Get part to part calibration offset + * + * @par Function Description + * Should only be used after a successful call to @a VL53L0_DataInit to backup + * device NVM value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pOffsetCalibrationDataMicroMeter Return part to part calibration + * offset from device (in micro meter) + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetOffsetCalibrationDataMicroMeter( + VL53L0_DEV Dev, + int32_t *pOffsetCalibrationDataMicroMeter); + +/** + * Set Group parameter Hold state + * + * @par Function Description + * Set or remove device internal group parameter hold + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param GroupParamHold Group parameter Hold state to be set (on/off) + * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L010_API VL53L0_Error VL53L010_SetGroupParamHold(VL53L0_DEV Dev, + uint8_t GroupParamHold); + +/** + * @brief Get the maximal distance for actual setup + * @par Function Description + * Device must be initialized through @a VL53L0_SetParameters() prior calling + * this function. + * + * Any range value more than the value returned is to be considered as "no + * target detected" + * or "no target in detectable range"\n + * @warning The maximal distance depends on the setup + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param pUpperLimitMilliMeter The maximal range limit for actual setup + * (in millimeter) + * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L010_API VL53L0_Error VL53L010_GetUpperLimitMilliMeter(VL53L0_DEV Dev, + uint16_t *pUpperLimitMilliMeter); + +/** @} VL53L010_general_group */ + + +/** @defgroup VL53L010_init_group VL53L010 Init Functions + * @brief VL53L010 Init Functions + * @{ + */ + +/** + * @brief Set new device address + * + * After completion the device will answer to the new address programmed. This + * function should be called when several devices are used in parallel + * before start programming the sensor. + * When a single device us used, there is no need to call this function. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param DeviceAddress The new Device address + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_SetDeviceAddress(VL53L0_DEV Dev, + uint8_t DeviceAddress); + +/** + * + * @brief One time device initialization + * + * To be called once and only once after device is brought out of reset (Chip + * enable) and booted see @a VL53L0_WaitDeviceBooted() + * + * @par Function Description + * When not used after a fresh device "power up" or reset, it may return @a + * #VL53L0_ERROR_CALIBRATION_WARNING + * meaning wrong calibration data may have been fetched from device that can + * result in ranging offset error\n + * If application cannot execute device reset or need to run VL53L0_DataInit + * multiple time + * then it must ensure proper offset calibration saving and restore on its own + * by using @a VL53L0_GetOffsetCalibrationData() on first power up and then @a + * VL53L0_SetOffsetCalibrationData() in all subsequent init + * This function will change the VL53L0_State from VL53L0_STATE_POWERDOWN to + * VL53L0_STATE_WAIT_STATICINIT. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_DataInit(VL53L0_DEV Dev); + +/** + * @brief Do basic device init (and eventually patch loading) + * This function will change the VL53L0_State from VL53L0_STATE_WAIT_STATICINIT + * to VL53L0_STATE_IDLE. + * In this stage all defalut setting will be applied. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_StaticInit(VL53L0_DEV Dev); + +/** + * @brief Wait for device booted after chip enable (hardware standby) + * This function can be run only when VL53L0_State is VL53L0_STATE_POWERDOWN. + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented + * + */ +VL53L010_API VL53L0_Error VL53L010_WaitDeviceBooted(VL53L0_DEV Dev); + +/** + * @brief Do an hard reset or soft reset (depending on implementation) of the + * device \n + * After call of this function, device must be in same state as right after a + * power-up sequence. + * This function will change the VL53L0_State to VL53L0_STATE_POWERDOWN. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_ResetDevice(VL53L0_DEV Dev); + +/** @} VL53L010_init_group */ + + +/** @defgroup VL53L010_parameters_group VL53L010 Parameters Functions + * @brief VL53L010 Functions used to prepare and setup the device + * @{ + */ + +/** + * @brief Prepare device for operation + * @par Function Description + * Update device with provided parameters + * @li Then start ranging operation. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pDeviceParameters Pointer to store current device parameters. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_SetDeviceParameters(VL53L0_DEV Dev, + const VL53L0_DeviceParameters_t *pDeviceParameters); + +/** + * @brief Retrieve current device parameters + * @par Function Description + * Get actual parameters of the device + * @li Then start ranging operation. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pDeviceParameters Pointer to store current device parameters. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetDeviceParameters(VL53L0_DEV Dev, + VL53L0_DeviceParameters_t *pDeviceParameters); + +/** + * @brief Set a new device mode + * @par Function Description + * Set device to a new mode (ranging, histogram ...) + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param DeviceMode New device mode to apply + * Valid values are: + * VL53L0_DEVICEMODE_SINGLE_RANGING + * VL53L0_DEVICEMODE_CONTINUOUS_RANGING + * VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING + * VL53L0_DEVICEMODE_SINGLE_HISTOGRAM + * (functionality not available) + * + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_MODE_NOT_SUPPORTED This error occurs when + * DeviceMode is not in the supported list + */ +VL53L010_API VL53L0_Error VL53L010_SetDeviceMode(VL53L0_DEV Dev, + VL53L0_DeviceModes DeviceMode); + +/** + * @brief Get current new device mode + * @par Function Description + * Get actual mode of the device(ranging, histogram ...) + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param pDeviceMode Pointer to current apply mode value + * Valid values are: + * VL53L0_DEVICEMODE_SINGLE_RANGING + * VL53L0_DEVICEMODE_CONTINUOUS_RANGING + * VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING + * VL53L0_DEVICEMODE_SINGLE_HISTOGRAM + * (functionality not available) + * + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_MODE_NOT_SUPPORTED This error occurs when + * DeviceMode is not in the supported list + */ +VL53L010_API VL53L0_Error VL53L010_GetDeviceMode(VL53L0_DEV Dev, + VL53L0_DeviceModes *pDeviceMode); + +/** + * @brief Set a new Histogram mode + * @par Function Description + * Set device to a new Histogram mode + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param HistogramMode New device mode to apply + * Valid values are: + * VL53L0_HISTOGRAMMODE_DISABLED + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_MODE_NOT_SUPPORTED This error occurs when + * HistogramMode is not in the supported list + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_SetHistogramMode(VL53L0_DEV Dev, + VL53L0_HistogramModes HistogramMode); + +/** + * @brief Get current new device mode + * @par Function Description + * Get current Histogram mode of a Device + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param pHistogramMode Pointer to current Histogram Mode value + * Valid values are: + * VL53L0_HISTOGRAMMODE_DISABLED + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetHistogramMode(VL53L0_DEV Dev, + VL53L0_HistogramModes *pHistogramMode); + +/** + * @brief Set Ranging Timing Budget in microseconds + * + * @par Function Description + * Defines the maximum time allowed by the user to the device to run a full + * ranging sequence + * for the current mode (ranging, histogram, ASL ...) + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param MeasurementTimingBudgetMicroSeconds Max measurement time in + * microseconds. + * Valid values are: + * >= 17000 microseconds when + * wraparound is enabled + * >= 12000 microseconds when + * wraparound is disabled + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is returned if + * MeasurementTimingBudgetMicroSeconds is out of range + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_SetMeasurementTimingBudgetMicroSeconds( + VL53L0_DEV Dev, + uint32_t MeasurementTimingBudgetMicroSeconds); + +/** + * @brief Get Ranging Timing Budget in microseconds + * + * @par Function Description + * Returns the programmed the maximum time allowed by the user to the device to + * run a full ranging sequence + * for the current mode (ranging, histogram, ASL ...) + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pMeasurementTimingBudgetMicroSeconds Max measurement time in + * microseconds. + * Valid values are: + * >= 17000 microseconds when + * wraparound is enabled + * >= 12000 microseconds when + * wraparound is disabled + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetMeasurementTimingBudgetMicroSeconds( + VL53L0_DEV Dev, + uint32_t *pMeasurementTimingBudgetMicroSeconds); + +/** + * Program continuous mode Inter-Measurement period in milliseconds + * + * @par Function Description + * When trying to set too short time return INVALID_PARAMS minimal value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param InterMeasurementPeriodMilliSeconds Requires Inter-Measurement + * Period in milliseconds. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_SetInterMeasurementPeriodMilliSeconds( + VL53L0_DEV Dev, + uint32_t InterMeasurementPeriodMilliSeconds); + +/** + * Get continuous mode Inter-Measurement period in milliseconds + * + * @par Function Description + * When trying to set too short time return INVALID_PARAMS minimal value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pInterMeasurementPeriodMilliSeconds Pointer to programmed + * Inter-Measurement Period in milliseconds. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetInterMeasurementPeriodMilliSeconds( + VL53L0_DEV Dev, + uint32_t *pInterMeasurementPeriodMilliSeconds); + +/** + * @brief Enable/Disable Cross talk compensation feature + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param XTalkCompensationEnable Cross talk compensation to be set + * 0=disabled else = enabled + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_SetXTalkCompensationEnable( + VL53L0_DEV Dev, uint8_t XTalkCompensationEnable); + +/** + * @brief Get Cross talk compensation rate + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pXTalkCompensationEnable Pointer to the Cross talk compensation + * state 0=disabled or 1 = enabled + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetXTalkCompensationEnable( + VL53L0_DEV Dev, uint8_t *pXTalkCompensationEnable); + +/** + * @brief Set Cross talk compensation rate + * + * @par Function Description + * Set Cross talk compensation rate. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param XTalkCompensationRateMegaCps Compensation rate in Mega counts per + * second (16.16 fix point) see datasheet for details + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_SetXTalkCompensationRateMegaCps( + VL53L0_DEV Dev, + FixPoint1616_t XTalkCompensationRateMegaCps); + +/** + * @brief Get Cross talk compensation rate + * + * @par Function Description + * Get Cross talk compensation rate. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pXTalkCompensationRateMegaCps Pointer to Compensation rate in Mega + * counts per second (16.16 fix point) see datasheet for details + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetXTalkCompensationRateMegaCps( + VL53L0_DEV Dev, + FixPoint1616_t *pXTalkCompensationRateMegaCps); + + +/** + * @brief Get the number of the check limit managed by a given Device + * + * @par Function Description + * This function give the number of the check limit managed by the Device + * + * @note This function doesn't Access to the device + * + * @param pNumberOfLimitCheck Pointer to the number of check limit. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetNumberOfLimitCheck( + uint16_t *pNumberOfLimitCheck); + +/** + * @brief Return a description string for a given limit check number + * + * @par Function Description + * This function returns a description string for a given limit check number. + * The limit check is identified with the LimitCheckId. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID (0<= LimitCheckId < + * VL53L0_GetNumberOfLimitCheck() ). + * @param pLimitCheckString Pointer to the description string of + * the given check limit. + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is returned when + * LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetLimitCheckInfo(VL53L0_DEV Dev, + uint16_t LimitCheckId, char *pLimitCheckString); + + +/** + * @brief Enable/Disable a specific limit check + * + * @par Function Description + * This function Enable/Disable a specific limit check. + * The limit check is identified with the LimitCheckId. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID (0<= LimitCheckId < + * VL53L0_GetNumberOfLimitCheck() ). + * @param LimitCheckEnable if 1 the check limit corresponding to + * LimitCheckId is Enabled + * if 0 the check limit corresponding to + * LimitCheckId is disabled + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is returned when + * LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_SetLimitCheckEnable(VL53L0_DEV Dev, + uint16_t LimitCheckId, uint8_t LimitCheckEnable); + + +/** + * @brief Get specific limit check enable state + * + * @par Function Description + * This function get the enable state of a specific limit check. + * The limit check is identified with the LimitCheckId. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID (0<= LimitCheckId < + * VL53L0_GetNumberOfLimitCheck() ). + * @param pLimitCheckEnable Pointer to the check limit enable + * value. + * if 1 the check limit corresponding to + * LimitCheckId is Enabled + * if 0 the check limit corresponding to + * LimitCheckId is disabled + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is returned when + * LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetLimitCheckEnable(VL53L0_DEV Dev, + uint16_t LimitCheckId, uint8_t *pLimitCheckEnable); + +/** + * @brief Set a specific limit check value + * + * @par Function Description + * This function set a specific limit check value. + * The limit check is identified with the LimitCheckId. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID (0<= LimitCheckId < + * VL53L0_GetNumberOfLimitCheck() ). + * @param LimitCheckValue Limit check Value for a given + * LimitCheckId + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is returned when either + * LimitCheckId or LimitCheckValue value is out of range. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_SetLimitCheckValue(VL53L0_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t LimitCheckValue); + +/** + * @brief Get a specific limit check value + * + * @par Function Description + * This function get a specific limit check value from device then it updates + * internal values and check enables. + * The limit check is identified with the LimitCheckId. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID (0<= LimitCheckId < + * VL53L0_GetNumberOfLimitCheck() ). + * @param pLimitCheckValue Pointer to Limit check Value for a + * given LimitCheckId. + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is returned when + * LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetLimitCheckValue(VL53L0_DEV Dev, + uint16_t LimitCheckId, + FixPoint1616_t *pLimitCheckValue); + + +/** + * @brief Get the current value of the signal used for the limit check + * + * @par Function Description + * This function get a the current value of the signal used for the limit check. + * To obtain the latest value you should run a ranging before. + * The value reported is linked to the limit check identified with the + * LimitCheckId. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID (0<= LimitCheckId < + * VL53L0_GetNumberOfLimitCheck() ). + * @param pLimitCheckCurrent Pointer to current Value for a + * given LimitCheckId. + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is returned when + * LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetLimitCheckCurrent(VL53L0_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckCurrent); + +/** + * @brief Enable (or disable) Wrap around Check + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param WrapAroundCheckEnable Wrap around Check to be set 0=disabled, + * other = enabled + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_SetWrapAroundCheckEnable(VL53L0_DEV Dev, + uint8_t WrapAroundCheckEnable); + +/** + * @brief Get setup of Wrap around Check + * + * @par Function Description + * This function get the wrapAround check enable parameters + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pWrapAroundCheckEnable Pointer to the Wrap around Check state + * 0=disabled or 1 = enabled + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetWrapAroundCheckEnable(VL53L0_DEV Dev, + uint8_t *pWrapAroundCheckEnable); + +/** @} VL53L010_parameters_group */ + + +/** @defgroup VL53L010_measurement_group VL53L010 Measurement Functions + * @brief VL53L010 Functions used for the measurements + * @{ + */ + +/** + * @brief Single shot measurement. + * + * @par Function Description + * Perform simple measurement sequence (Start measure, Wait measure to end, and + * returns when measurement is done). + * Once function returns, user can get valid data by calling + * VL53L0_GetRangingMeasurement or VL53L0_GetHistogramMeasurement depending on + * defined measurement mode + * User should Clear the interrupt in case this are enabled by using the + * function VL53L0_ClearInterruptMask(). + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_PerformSingleMeasurement(VL53L0_DEV Dev); + +/** + * @brief Perform Reference Calibration + * + * @details Perform a reference calibration of the Device. + * This function should be run from time to time before doing a ranging + * measurement. + * This function will launch a special ranging measurement, so if interrupt are + * enable an interrupt will be done. + * This function will clear the interrupt generated automatically. + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_PerformRefCalibration(VL53L0_DEV Dev); + +/** + * @brief Perform XTalk Calibration + * + * @details Perform a XTalk calibration of the Device. + * This function will launch a ranging measurement, if interrupts are enabled + * an interrupt will be done. + * This function will clear the interrupt generated automatically. + * This function will program a new value for the XTalk compensation and it + * will enable the cross talk before exit. + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @note This function change the device mode to + * VL53L0_DEVICEMODE_SINGLE_RANGING + * + * @param Dev Device Handle + * @param XTalkCalDistance XTalkCalDistance value used for the + * XTalk computation. + * @param pXTalkCompensationRateMegaCps Pointer to new XTalkCompensation + * value. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_PerformXTalkCalibration(VL53L0_DEV Dev, + FixPoint1616_t XTalkCalDistance, + FixPoint1616_t *pXTalkCompensationRateMegaCps); + +/** + * @brief Perform Offset Calibration + * + * @details Perform a Offset calibration of the Device. + * This function will launch a ranging measurement, if interrupts are + * enabled an interrupt will be done. + * This function will clear the interrupt generated automatically. + * This function will program a new value for the Offset calibration value and + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @note This function does not change the device mode. + * + * @param Dev Device Handle + * @param CalDistanceMilliMeter Calibration distance value used for the + * offset compensation. + * @param pOffsetMicroMeter Pointer to new Offset value computed by the + * function. + * + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_PerformOffsetCalibration(VL53L0_DEV Dev, + FixPoint1616_t CalDistanceMilliMeter, int32_t* pOffsetMicroMeter); + +/** + * @brief Start device measurement + * + * @details Started measurement will depend on device parameters set through @a + * VL53L0_SetParameters() + * This is a non-blocking function + * This function will change the VL53L0_State from VL53L0_STATE_IDLE to + * VL53L0_STATE_RUNNING. + * + * @note This function Access to the device + * + + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_MODE_NOT_SUPPORTED This error occurs when + * DeviceMode programmed with @a VL53L0_SetDeviceMode is not in the supported + * list: + * Supported mode are: + * VL53L0_DEVICEMODE_SINGLE_RANGING, VL53L0_DEVICEMODE_CONTINUOUS_RANGING, + * VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING + * @return VL53L0_ERROR_TIME_OUT Time out on start measurement + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_StartMeasurement(VL53L0_DEV Dev); + +/** + * @brief Stop device measurement + * + * @details Will set the device in standby mode at end of current measurement \n + * Not necessary in single mode as device shall return automatically + * in standby mode at end of measurement. + * This function will change the VL53L0_State from + * VL53L0_STATE_RUNNING to VL53L0_STATE_IDLE. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_StopMeasurement(VL53L0_DEV Dev); + +/** + * @brief Return Measurement Data Ready + * + * @par Function Description + * This function indicate that a measurement data is ready. + * This function check if interrupt mode is used then check is done accordingly. + * If perform function clear the interrupt, this function will not work, like + * in case of @a VL53L0_PerformSingleRangingMeasurement(). + * The previous function is blocking function, VL53L0_GetMeasurementDataReady + * is used for non-blocking capture. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pMeasurementDataReady Pointer to Measurement Data Ready. 0=data + * not ready, 1 = data ready + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetMeasurementDataReady(VL53L0_DEV Dev, + uint8_t *pMeasurementDataReady); + +/** + * @brief Wait for device ready for a new measurement command. Blocking + * function. + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param MaxLoop Max Number of polling loop (timeout). + * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L010_API VL53L0_Error VL53L010_WaitDeviceReadyForNewMeasurement(VL53L0_DEV Dev, + uint32_t MaxLoop); + + +/** + * @brief Retrieve the measurements from device for a given setup + * + * @par Function Description + * Get data from last successful Ranging measurement + * @warning USER should take care about @a VL53L0_GetNumberOfROIZones() before + * get data. + * PAL will fill a NumberOfROIZones times the corresponding data structure used + * in the measurement function. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pRangingMeasurementData Pointer to the data structure to fill up. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetRangingMeasurementData(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData); + +/** + * @brief Retrieve the measurements from device for a given setup + * + * @par Function Description + * Get data from last successful Histogram measurement + * @warning USER should take care about @a VL53L0_GetNumberOfROIZones() before + * get data. + * PAL will fill a NumberOfROIZones times the corresponding data structure used + * in the measurement function. + * @note This function is not Implemented + * @param Dev Device Handle + * @param pHistogramMeasurementData Pointer to the data structure to fill + * up. + * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L010_API VL53L0_Error VL53L010_GetHistogramMeasurementData(VL53L0_DEV Dev, + VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData); + +/** + * @brief Performs a single ranging measurement and retrieve the ranging + * measurement data + * + * @par Function Description + * This function will change the device mode to + * VL53L0_DEVICEMODE_SINGLE_RANGING with @a VL53L0_SetDeviceMode(), + * It performs measurement with @a VL53L0_PerformSingleMeasurement() + * It get data from last successful Ranging measurement with @a + * VL53L0_GetRangingMeasurementData. + * Finally it clear the interrupt with @a VL53L0_ClearInterruptMask(). + * @note This function Access to the device + * + * @note This function change the device mode to + * VL53L0_DEVICEMODE_SINGLE_RANGING + * + * @param Dev Device Handle + * @param pRangingMeasurementData Pointer to the data structure to fill up. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_PerformSingleRangingMeasurement(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData); + +/** + * @brief Performs a single histogram measurement and retrieve the histogram + * measurement data + * Is equivalent to VL53L0_PerformSingleMeasurement + + * VL53L0_GetHistogramMeasurementData + * + * @par Function Description + * Get data from last successful Ranging measurement. + * This function will clear the interrupt in case of these are enabled. + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param pHistogramMeasurementData Pointer to the data structure to fill + * up. + * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L010_API VL53L0_Error VL53L010_PerformSingleHistogramMeasurement( + VL53L0_DEV Dev, + VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData); + + + +/** + * @brief Set the number of ROI Zones to be used for a specific Device + * + * @par Function Description + * Set the number of ROI Zones to be used for a specific Device. + * The programmed value should be less than the max number of ROI Zones given + * with @a VL53L0_GetMaxNumberOfROIZones(). + * This version of API manage only one zone. + * + * @param Dev Device Handle + * @param NumberOfROIZones Number of ROI Zones to be used for a + * specific Device. + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is returned if + * NumberOfROIZones != 1 + */ +VL53L010_API VL53L0_Error VL53L010_SetNumberOfROIZones(VL53L0_DEV Dev, + uint8_t NumberOfROIZones); + +/** + * @brief Get the number of ROI Zones managed by the Device + * + * @par Function Description + * Get number of ROI Zones managed by the Device + * USER should take care about @a VL53L0_GetNumberOfROIZones() before get data + * after a perform measurement. + * PAL will fill a NumberOfROIZones times the corresponding data structure used + * in the measurement function. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param pNumberOfROIZones Pointer to the Number of ROI Zones + * value. + * @return VL53L0_ERROR_NONE Success + */ +VL53L010_API VL53L0_Error VL53L010_GetNumberOfROIZones(VL53L0_DEV Dev, + uint8_t *pNumberOfROIZones); + +/** + * @brief Get the Maximum number of ROI Zones managed by the Device + * + * @par Function Description + * Get Maximum number of ROI Zones managed by the Device. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param pMaxNumberOfROIZones Pointer to the Maximum Number of ROI + * Zones value. + * @return VL53L0_ERROR_NONE Success + */ +VL53L010_API VL53L0_Error VL53L010_GetMaxNumberOfROIZones(VL53L0_DEV Dev, + uint8_t *pMaxNumberOfROIZones); + + +/** @} VL53L010_measurement_group */ + + +/** @defgroup VL53L010_interrupt_group VL53L010 Interrupt Functions + * @brief VL53L010 Functions used for interrupt managements + * @{ + */ + +/** + * @brief Set the configuration of GPIO pin for a given device + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param Pin ID of the GPIO Pin + * @param Functionality Select Pin functionality. Refer to + * ::VL53L0_GpioFunctionality + * @param DeviceMode Device Mode associated to the Gpio. + * @param Polarity Set interrupt polarity. Active high or active + * low see ::VL53L0_InterruptPolarity + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_GPIO_NOT_EXISTING Only Pin=0 is + * accepted. + * @return VL53L0_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED This error occurs + * when Functionality programmed is not in the supported list: + * Supported value + * are: + * + * VL53L0_GPIOFUNCTIONALITY_OFF, VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW, + * VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH, + * VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT, + * + * VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_SetGpioConfig(VL53L0_DEV Dev, uint8_t Pin, + VL53L0_DeviceModes DeviceMode, + VL53L0_GpioFunctionality Functionality, + VL53L0_InterruptPolarity Polarity); + + +/** + * @brief Get current configuration for GPIO pin for a given device + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param Pin ID of the GPIO Pin + * @param pDeviceMode Pointer to Device Mode associated to the Gpio. + * @param pFunctionality Pointer to Pin functionality. + * Refer to ::VL53L0_GpioFunctionality + * @param pPolarity Pointer to interrupt polarity. Active high or + * active low see ::VL53L0_InterruptPolarity + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted. + * @return VL53L0_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED This error occurs + * when Functionality programmed is not in the supported list: + * Supported value are: + * VL53L0_GPIOFUNCTIONALITY_OFF, VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW, + * VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH, + * VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT, + * VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetGpioConfig(VL53L0_DEV Dev, uint8_t Pin, + VL53L0_DeviceModes *pDeviceMode, + VL53L0_GpioFunctionality *pFunctionality, + VL53L0_InterruptPolarity *pPolarity); + +/** + * @brief Set low and high Interrupt thresholds for a given mode (ranging, ALS, + * ...) for a given device + * + * @par Function Description + * Set low and high Interrupt thresholds for a given mode (ranging, ALS, ...) + * for a given device + * + * @note This function Access to the device + * + * @note DeviceMode is ignored for the current device + * + * @param Dev Device Handle + * @param DeviceMode Device Mode for which change thresholds + * @param ThresholdLow Low threshold (mm, lux ..., depending on the + * mode) + * @param ThresholdHigh High threshold (mm, lux ..., depending on the + * mode) + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_SetInterruptThresholds(VL53L0_DEV Dev, + VL53L0_DeviceModes DeviceMode, + FixPoint1616_t ThresholdLow, + FixPoint1616_t ThresholdHigh); + +/** + * @brief Get high and low Interrupt thresholds for a given mode (ranging, + * ALS, ...) for a given device + * + * @par Function Description + * Get high and low Interrupt thresholds for a given mode (ranging, ALS, ...) + * for a given device + * + * @note This function Access to the device + * + * @note DeviceMode is ignored for the current device + * + * @param Dev Device Handle + * @param DeviceMode Device Mode from which read thresholds + * @param pThresholdLow Low threshold (mm, lux ..., depending on the + * mode) + * @param pThresholdHigh High threshold (mm, lux ..., depending on the + * mode) + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetInterruptThresholds(VL53L0_DEV Dev, + VL53L0_DeviceModes DeviceMode, + FixPoint1616_t *pThresholdLow, + FixPoint1616_t *pThresholdHigh); + +/** + * @brief Clear given system interrupt condition + * + * @par Function Description + * Clear given interrupt(s). + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param InterruptMask Mask of interrupts to clear + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_ClearInterruptMask(VL53L0_DEV Dev, + uint32_t InterruptMask); + +/** + * @brief Return device interrupt status + * + * @par Function Description + * Returns currently raised interrupts by the device. + * User shall be able to activate/deactivate interrupts through + * @a VL53L0_SetGpioConfig() + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pInterruptMaskStatus Pointer to status variable to update + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetInterruptMaskStatus(VL53L0_DEV Dev, + uint32_t *pInterruptMaskStatus); + + +/** + * @brief Configure ranging interrupt reported to system + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param InterruptMask Mask of interrupt to Enable/disable + * (0:interrupt disabled or 1: interrupt enabled) + * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L010_API VL53L0_Error VL53L010_EnableInterruptMask(VL53L0_DEV Dev, + uint32_t InterruptMask); + + +/** @} VL53L010_interrupt_group */ + + +/** @defgroup VL53L010_SPADfunctions_group VL53L010 SPAD Functions + * @brief VL53L010 Functions used for SPAD managements + * @{ + */ + + + +/** + * @brief Set the SPAD Ambient Damper Threshold value + * + * @par Function Description + * This function set the SPAD Ambient Damper Threshold value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param SpadAmbientDamperThreshold SPAD Ambient Damper Threshold value + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_SetSpadAmbientDamperThreshold(VL53L0_DEV Dev, + uint16_t SpadAmbientDamperThreshold); + +/** + * @brief Get the current SPAD Ambient Damper Threshold value + * + * @par Function Description + * This function get the SPAD Ambient Damper Threshold value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pSpadAmbientDamperThreshold Pointer to programmed SPAD Ambient + * Damper Threshold value + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetSpadAmbientDamperThreshold(VL53L0_DEV Dev, + uint16_t *pSpadAmbientDamperThreshold); + + +/** + * @brief Set the SPAD Ambient Damper Factor value + * + * @par Function Description + * This function set the SPAD Ambient Damper Factor value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param SpadAmbientDamperFactor SPAD Ambient Damper Factor value + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_SetSpadAmbientDamperFactor(VL53L0_DEV Dev, + uint16_t SpadAmbientDamperFactor); + +/** + * @brief Get the current SPAD Ambient Damper Factor value + * + * @par Function Description + * This function get the SPAD Ambient Damper Factor value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pSpadAmbientDamperFactor Pointer to programmed SPAD Ambient + * Damper Factor value + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L010_API VL53L0_Error VL53L010_GetSpadAmbientDamperFactor(VL53L0_DEV Dev, + uint16_t *pSpadAmbientDamperFactor); + + +/** @} VL53L010_SPADfunctions_group */ + +/** @} VL53L010_cut10_group */ + + + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L010_API_H_ */ diff --git a/drivers/input/misc/vl53L0/inc/vl53l010_device.h b/drivers/input/misc/vl53L0/inc/vl53l010_device.h new file mode 100644 index 000000000000..a94b552c1b44 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l010_device.h @@ -0,0 +1,231 @@ +/******************************************************************************* +Copyright © 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +/** + * Device specific defines. To be adapted by implementer for the targeted + * device. + */ + +#ifndef _VL53L010_DEVICE_H_ +#define _VL53L010_DEVICE_H_ + +#include "vl53l0_types.h" + +/** @defgroup VL53L010_SpecDefines_group VL53L010 cut1.0 Device Specific Defines + * @brief VL53L010 cut1.0 Device Specific Defines + * @{ + */ + + +/** @defgroup VL53L010_DeviceError_group Device Error + * @brief Device Error code + * + * This enum is Device specific it should be updated in the implementation + * Use @a VL53L010_GetStatusErrorString() to get the string. + * It is related to Status Register of the Device. + * @{ + */ +typedef uint8_t VL53L010_DeviceError; + +#define VL53L010_DEVICEERROR_NONE ((VL53L010_DeviceError) 0) +#define VL53L010_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((VL53L010_DeviceError) 1) +#define VL53L010_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((VL53L010_DeviceError) 2) +#define VL53L010_DEVICEERROR_NOVHVVALUEFOUND ((VL53L010_DeviceError) 3) +#define VL53L010_DEVICEERROR_MSRCNOTARGET ((VL53L010_DeviceError) 4) +#define VL53L010_DEVICEERROR_MSRCMINIMUMSNR ((VL53L010_DeviceError) 5) +#define VL53L010_DEVICEERROR_MSRCWRAPAROUND ((VL53L010_DeviceError) 6) +#define VL53L010_DEVICEERROR_TCC ((VL53L010_DeviceError) 7) +#define VL53L010_DEVICEERROR_RANGEAWRAPAROUND ((VL53L010_DeviceError) 8) +#define VL53L010_DEVICEERROR_RANGEBWRAPAROUND ((VL53L010_DeviceError) 9) +#define VL53L010_DEVICEERROR_MINCLIP ((VL53L010_DeviceError) 10) +#define VL53L010_DEVICEERROR_RANGECOMPLETE ((VL53L010_DeviceError) 11) +#define VL53L010_DEVICEERROR_ALGOUNDERFLOW ((VL53L010_DeviceError) 12) +#define VL53L010_DEVICEERROR_ALGOOVERFLOW ((VL53L010_DeviceError) 13) +#define VL53L010_DEVICEERROR_FINALSNRLIMIT ((VL53L010_DeviceError) 14) +#define VL53L010_DEVICEERROR_NOTARGETIGNORE ((VL53L010_DeviceError) 15) + +/** @} VL53L010_DeviceError_group */ + +/** @defgroup VL53L010_CheckEnable_group Check Enable list + * @brief Check Enable code + * + * Define used to specify the LimitCheckId. + * Use @a VL53L010_GetLimitCheckInfo() to get the string. + * @{ + */ + +#define VL53L010_CHECKENABLE_SIGMA_FINAL_RANGE 0 +#define VL53L010_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1 +#define VL53L010_CHECKENABLE_NUMBER_OF_CHECKS 2 + +/** @} VL53L010_CheckEnable_group */ + + +/** @defgroup VL53L010_GpioFunctionality_group Gpio Functionality + * @brief Defines the different functionalities for the device GPIO(s) + * @{ + */ +typedef uint8_t VL53L010_GpioFunctionality; + +#define VL53L010_GPIOFUNCTIONALITY_OFF ((VL53L010_GpioFunctionality) 0) /*!< NO Interrupt */ +#define VL53L010_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW ((VL53L010_GpioFunctionality) 1) /*!< Level Low (value < thresh_low) */ +#define VL53L010_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH ((VL53L010_GpioFunctionality) 2) /*!< Level High (value > thresh_high) */ +#define VL53L010_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT ((VL53L010_GpioFunctionality) 3) /*!< Out Of Window (value < thresh_low OR value > thresh_high) */ +#define VL53L010_GPIOFUNCTIONALITY_NEW_MEASURE_READY ((VL53L010_GpioFunctionality) 4) /*!< New Sample Ready */ + +/** @} VL53L010_GpioFunctionality_group */ + + + +/* Device register map */ + +/** @defgroup VL53L010_DefineRegisters_group Define Registers + * @brief List of all the defined registers + * @{ + */ +#define VL53L010_REG_SYSRANGE_START 0x000 + /** mask existing bit in #VL53L010_REG_SYSRANGE_START*/ + #define VL53L010_REG_SYSRANGE_MODE_MASK 0x0F + /** bit 0 in #VL53L010_REG_SYSRANGE_START write 1 toggle state in + continuous mode and arm next shot in single shot mode */ + #define VL53L010_REG_SYSRANGE_MODE_START_STOP 0x01 + /** bit 1 write 0 in #VL53L010_REG_SYSRANGE_START set single shot mode */ + #define VL53L010_REG_SYSRANGE_MODE_SINGLESHOT 0x00 + /** bit 1 write 1 in #VL53L010_REG_SYSRANGE_START set back-to-back + operation mode */ + #define VL53L010_REG_SYSRANGE_MODE_BACKTOBACK 0x02 + /** bit 2 write 1 in #VL53L010_REG_SYSRANGE_START set timed operation + mode */ + #define VL53L010_REG_SYSRANGE_MODE_TIMED 0x04 + /** bit 3 write 1 in #VL53L010_REG_SYSRANGE_START set histogram + operation mode */ + #define VL53L010_REG_SYSRANGE_MODE_HISTOGRAM 0x08 + + +#define VL53L010_REG_SYSTEM_THRESH_HIGH 0x000C /* NOSLC 2 bytes */ +#define VL53L010_REG_SYSTEM_THRESH_LOW 0x000E /* NOSLC 2 bytes */ + + +/* FPGA bitstream */ +#define VL53L010_REG_SYSTEM_SEQUENCE_CONFIG 0x0001 +#define VL53L010_REG_SYSTEM_INTERMEASUREMENT_PERIOD 0x0004 + +#define VL53L010_REG_SYSTEM_REPORT_REQUEST 0x0009 + #define VL53L010_REG_SYSTEM_RANGEA_DATA 0x04 + #define VL53L010_REG_SYSTEM_RANGEB_DATA 0x05 + +#define VL53L010_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x000A + #define VL53L010_REG_SYSTEM_INTERRUPT_GPIO_DISABLED 0x00 + #define VL53L010_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW 0x01 + #define VL53L010_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH 0x02 + #define VL53L010_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW 0x03 + #define VL53L010_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY 0x04 + +#define VL53L010_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x0084 + +#define VL53L010_REG_SYSTEM_INTERRUPT_CLEAR 0x000B + +/* Result registers */ +#define VL53L010_REG_RESULT_INTERRUPT_STATUS 0x0013 +#define VL53L010_REG_RESULT_RANGE_STATUS 0x0014 + +#define VL53L010_REG_RESULT_SIGNAL_COUNT_RATE_RET 0x001A +#define VL53L010_REG_RESULT_AMBIENT_COUNT_RATE_RET 0x001C +#define VL53L010_REG_RESULT_FINAL_RANGE 0x001E + +/* Algo register */ +#define VL53L010_REG_ALGO_CROSSTALK_COMPENSATION_RATE 0x0020 +#define VL53L010_REG_ALGO_RANGE_IGNORE_VALID_HEIGHT 0x0025 +#define VL53L010_REG_ALGO_RANGE_IGNORE_THRESHOLD 0x0026 +#define VL53L010_REG_ALGO_SNR_RATIO 0x0027 +#define VL53L010_REG_ALGO_RANGE_CHECK_ENABLES 0x0028 + +#define VL53L010_REG_ALGO_PART_TO_PART_RANGE_OFFSET 0x0029 + +#define VL53L010_REG_I2C_SLAVE_DEVICE_ADDRESS 0x008a + +/* MSRC registers */ +#define VL53L010_REG_MSRC_CONFIG_COUNT 0x0044 +#define VL53L010_REG_MSRC_CONFIG_TIMEOUT 0x0046 +#define VL53L010_REG_MSRC_CONFIG_MIN_SNR 0x0055 +#define VL53L010_REG_MSRC_CONFIG_VALID_PHASE_LOW 0x0047 +#define VL53L010_REG_MSRC_CONFIG_VALID_PHASE_HIGH 0x0048 + +/* RANGE A registers */ +#define VL53L010_REG_RNGA_CONFIG_VCSEL_PERIOD 0x0050 +#define VL53L010_REG_RNGA_TIMEOUT_MSB 0x0051 +#define VL53L010_REG_RNGA_TIMEOUT_LSB 0x0052 +#define VL53L010_REG_RNGA_CONFIG_VALID_PHASE_LOW 0x0056 +#define VL53L010_REG_RNGA_CONFIG_VALID_PHASE_HIGH 0x0057 + +/* RANGE B1 registers */ +#define VL53L010_REG_RNGB1_CONFIG_VCSEL_PERIOD 0x0060 +#define VL53L010_REG_RNGB1_TIMEOUT_MSB 0x0061 +#define VL53L010_REG_RNGB1_TIMEOUT_LSB 0x0062 +#define VL53L010_REG_RNGB1_CONFIG_VALID_PHASE_LOW 0x0066 +#define VL53L010_REG_RNGB1_CONFIG_VALID_PHASE_HIGH 0x0067 + +/* RANGE B2 registers */ +#define VL53L010_REG_RNGB2_CONFIG_VCSEL_PERIOD 0x0070 +#define VL53L010_REG_RNGB2_TIMEOUT_MSB 0x0071 +#define VL53L010_REG_RNGB2_TIMEOUT_LSB 0x0072 +#define VL53L010_REG_RNGB2_CONFIG_VALID_PHASE_LOW 0x0076 +#define VL53L010_REG_RNGB2_CONFIG_VALID_PHASE_HIGH 0x0077 + + +#define VL53L010_REG_SOFT_RESET_GO2_SOFT_RESET_N 0x00bf +#define VL53L010_REG_IDENTIFICATION_MODEL_ID 0x00c0 +#define VL53L010_REG_IDENTIFICATION_REVISION_ID 0x00c2 +#define VL53L010_REG_IDENTIFICATION_MODULE_ID 0x00c3 + +#define VL53L010_REG_OSC_CALIBRATE_VAL 0x00f8 + +#define VL53L010_REG_FIRMWARE_MODE_STATUS 0x00C5 + +#define VL53L010_REG_DYNAMIC_SPAD_ACTUAL_RTN_SPADS_INT 0x0016 + +#define VL53L010_SIGMA_ESTIMATE_MAX_VALUE 65535 +/*equivalent to a range sigma of 655.35mm */ + +/* + * Speed of light in um per 1E-10 Seconds + */ + +#define VL53L010_SPEED_OF_LIGHT_IN_AIR 2997 + + +/** @} VL53L010_DefineRegisters_group */ + +/** @} VL53L010_SpecDefines_group */ + + +#endif + +/* _VL53L010_DEVICE_H_ */ + + diff --git a/drivers/input/misc/vl53L0/inc/vl53l010_strings.h b/drivers/input/misc/vl53L0/inc/vl53l010_strings.h new file mode 100644 index 000000000000..cd632abc5728 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l010_strings.h @@ -0,0 +1,134 @@ +/******************************************************************************* +Copyright © 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +#ifndef VL53L010_STRINGS_H_ +#define VL53L010_STRINGS_H_ + +#ifdef __cplusplus +extern "C" { +#endif + + #define VL53L010_STRING_DEVICE_INFO_NAME \ + "VL53L0 cut1.0" + #define VL53L010_STRING_DEVICE_INFO_NAME_TS0 \ + "VL53L0 TS0" + #define VL53L010_STRING_DEVICE_INFO_NAME_TS1 \ + "VL53L0 TS1" + #define VL53L010_STRING_DEVICE_INFO_NAME_TS2 \ + "VL53L0 TS2" + #define VL53L010_STRING_DEVICE_INFO_NAME_ES1 \ + "VL53L0 ES1 or later" + #define VL53L010_STRING_DEVICE_INFO_TYPE \ + "VL53L0" + + /* PAL ERROR strings */ + #define VL53L010_STRING_ERROR_NONE \ + "No Error" + #define VL53L010_STRING_ERROR_CALIBRATION_WARNING \ + "Calibration Warning Error" + #define VL53L010_STRING_ERROR_MIN_CLIPPED \ + "Min clipped error" + #define VL53L010_STRING_ERROR_UNDEFINED \ + "Undefined error" + #define VL53L010_STRING_ERROR_INVALID_PARAMS \ + "Invalid parameters error" + #define VL53L010_STRING_ERROR_NOT_SUPPORTED \ + "Not supported error" + #define VL53L010_STRING_ERROR_RANGE_ERROR \ + "Range error" + #define VL53L010_STRING_ERROR_TIME_OUT \ + "Time out error" + #define VL53L010_STRING_ERROR_MODE_NOT_SUPPORTED \ + "Mode not supported error" + #define VL53L010_STRING_ERROR_NOT_IMPLEMENTED \ + "Not implemented error" + + #define VL53L010_STRING_UNKNOW_ERROR_CODE \ + "Unknow Error Code" + #define VL53L010_STRING_ERROR_BUFFER_TOO_SMALL \ + "Buffer too small" + + #define VL53L010_STRING_ERROR_GPIO_NOT_EXISTING \ + "GPIO not existing" + #define VL53L010_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \ + "GPIO functionality not supported" + #define VL53L010_STRING_ERROR_CONTROL_INTERFACE \ + "Control Interface Error" + + + /* Device Specific */ + #define VL53L010_STRING_DEVICEERROR_NONE \ + "No Update" + #define VL53L010_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \ + "VCSEL Continuity Test Failure" + #define VL53L010_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \ + "VCSEL Watchdog Test Failure" + #define VL53L010_STRING_DEVICEERROR_NOVHVVALUEFOUND \ + "No VHV Value found" + #define VL53L010_STRING_DEVICEERROR_MSRCNOTARGET \ + "MSRC No Target Error" + #define VL53L010_STRING_DEVICEERROR_MSRCMINIMUMSNR \ + "MSRC Minimum SNR Error" + #define VL53L010_STRING_DEVICEERROR_MSRCWRAPAROUND \ + "MSRC Wraparound Error" + #define VL53L010_STRING_DEVICEERROR_TCC \ + "TCC Error" + #define VL53L010_STRING_DEVICEERROR_RANGEAWRAPAROUND \ + "Range A Wraparound Error" + #define VL53L010_STRING_DEVICEERROR_RANGEBWRAPAROUND \ + "Range B Wraparound Error" + #define VL53L010_STRING_DEVICEERROR_MINCLIP \ + "Min Clip Error" + #define VL53L010_STRING_DEVICEERROR_RANGECOMPLETE \ + "Range Complete" + #define VL53L010_STRING_DEVICEERROR_ALGOUNDERFLOW \ + "Range Algo Underflow Error" + #define VL53L010_STRING_DEVICEERROR_ALGOOVERFLOW \ + "Range Algo Overlow Error" + #define VL53L010_STRING_DEVICEERROR_FINALSNRLIMIT \ + "Final Minimum SNR Error" + #define VL53L010_STRING_DEVICEERROR_NOTARGETIGNORE \ + "No Target Ignore Error" + #define VL53L010_STRING_DEVICEERROR_UNKNOWN \ + "Unknown error code" + + + /* Check Enable */ + #define VL53L010_STRING_CHECKENABLE_SIGMA \ + "SIGMA" + #define VL53L010_STRING_CHECKENABLE_SIGNAL_RATE \ + "SIGNAL RATE" + + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L0/inc/vl53l010_tuning.h b/drivers/input/misc/vl53L0/inc/vl53l010_tuning.h new file mode 100644 index 000000000000..8128e65d8f6c --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l010_tuning.h @@ -0,0 +1,58 @@ +/******************************************************************************* +Copyright © 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +#ifndef _VL53L010_TUNING_H_ +#define _VL53L010_TUNING_H_ + +#include "vl53l0_def.h" +#include "vl53l0_platform.h" + + +#ifdef __cplusplus +extern "C" { +#endif + + +/** + * @brief Internal function used to Program the default tuning settings + * + * @ingroup VL53L0_general_group + * @note This function access to the device + * + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_Error VL53L010_load_tuning_settings(VL53L0_DEV Dev); + + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L010_TUNING_H_ */ diff --git a/drivers/input/misc/vl53L0/inc/vl53l0_api.h b/drivers/input/misc/vl53L0/inc/vl53l0_api.h new file mode 100644 index 000000000000..f56603853b45 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_api.h @@ -0,0 +1,1930 @@ +/******************************************************************************* + Copyright © 2016, STMicroelectronics International N.V. + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND + NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. + IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + *****************************************************************************/ + +#ifndef _VL53L0_API_H_ +#define _VL53L0_API_H_ + +#include "vl53l0_api_strings.h" +#include "vl53l0_def.h" +#include "vl53l0_platform.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +#ifdef _MSC_VER +# ifdef VL53L0_API_EXPORTS +# define VL53L0_API __declspec(dllexport) +# else +# define VL53L0_API +# endif +#else +# define VL53L0_API +#endif + +/** @defgroup VL53L0_cut11_group VL53L0 cut1.1 Function Definition + * @brief VL53L0 cut1.1 Function Definition + * @{ + */ + +/** @defgroup VL53L0_general_group VL53L0 General Functions + * @brief General functions and definitions + * @{ + */ + +/** + * @brief Return the VL53L0 PAL Implementation Version + * + * @note This function doesn't access to the device + * + * @param pVersion Pointer to current PAL Implementation Version + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetVersion(VL53L0_Version_t *pVersion); + +/** + * @brief Return the PAL Specification Version used for the current + * implementation. + * + * @note This function doesn't access to the device + * + * @param pPalSpecVersion Pointer to current PAL Specification Version + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetPalSpecVersion( + VL53L0_Version_t *pPalSpecVersion); + +/** + * @brief Reads the Product Revision for a for given Device + * This function can be used to distinguish cut1.0 from cut1.1. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pProductRevisionMajor Pointer to Product Revision Major + * for a given Device + * @param pProductRevisionMinor Pointer to Product Revision Minor + * for a given Device + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetProductRevision(VL53L0_DEV Dev, + uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor); + +/** + * @brief Reads the Device information for given Device + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pVL53L0_DeviceInfo Pointer to current device info for a given + * Device + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetDeviceInfo(VL53L0_DEV Dev, + VL53L0_DeviceInfo_t *pVL53L0_DeviceInfo); + +/** + * @brief Read current status of the error register for the selected device + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pDeviceErrorStatus Pointer to current error code of the device + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetDeviceErrorStatus(VL53L0_DEV Dev, + VL53L0_DeviceError *pDeviceErrorStatus); + +/** + * @brief Human readable Range Status string for a given RangeStatus + * + * @note This function doesn't access to the device + * + * @param RangeStatus The RangeStatus code as stored on + * @a VL53L0_RangingMeasurementData_t + * @param pRangeStatusString The returned RangeStatus string. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetRangeStatusString(uint8_t RangeStatus, + char *pRangeStatusString); + +/** + * @brief Human readable error string for a given Error Code + * + * @note This function doesn't access to the device + * + * @param ErrorCode The error code as stored on ::VL53L0_DeviceError + * @param pDeviceErrorString The error string corresponding to the ErrorCode + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetDeviceErrorString( + VL53L0_DeviceError ErrorCode, char *pDeviceErrorString); + +/** + * @brief Human readable error string for current PAL error status + * + * @note This function doesn't access to the device + * + * @param PalErrorCode The error code as stored on @a VL53L0_Error + * @param pPalErrorString The error string corresponding to the + * PalErrorCode + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetPalErrorString(VL53L0_Error PalErrorCode, + char *pPalErrorString); + +/** + * @brief Human readable PAL State string + * + * @note This function doesn't access to the device + * + * @param PalStateCode The State code as stored on @a VL53L0_State + * @param pPalStateString The State string corresponding to the + * PalStateCode + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetPalStateString(VL53L0_State PalStateCode, + char *pPalStateString); + +/** + * @brief Reads the internal state of the PAL for a given Device + * + * @note This function doesn't access to the device + * + * @param Dev Device Handle + * @param pPalState Pointer to current state of the PAL for a + * given Device + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetPalState(VL53L0_DEV Dev, + VL53L0_State *pPalState); + +/** + * @brief Set the power mode for a given Device + * The power mode can be Standby or Idle. Different level of both Standby and + * Idle can exists. + * This function should not be used when device is in Ranging state. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param PowerMode The value of the power mode to set. + * see ::VL53L0_PowerModes + * Valid values are: + * VL53L0_POWERMODE_STANDBY_LEVEL1, + * VL53L0_POWERMODE_IDLE_LEVEL1 + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_MODE_NOT_SUPPORTED This error occurs when PowerMode + * is not in the supported list + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetPowerMode(VL53L0_DEV Dev, + VL53L0_PowerModes PowerMode); + +/** + * @brief Get the power mode for a given Device + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pPowerMode Pointer to the current value of the power + * mode. see ::VL53L0_PowerModes + * Valid values are: + * VL53L0_POWERMODE_STANDBY_LEVEL1, + * VL53L0_POWERMODE_IDLE_LEVEL1 + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetPowerMode(VL53L0_DEV Dev, + VL53L0_PowerModes *pPowerMode); + +/** + * Set or over-hide part to part calibration offset + * \sa VL53L0_DataInit() VL53L0_GetOffsetCalibrationDataMicroMeter() + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param OffsetCalibrationDataMicroMeter Offset (microns) + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetOffsetCalibrationDataMicroMeter( + VL53L0_DEV Dev, int32_t OffsetCalibrationDataMicroMeter); + +/** + * @brief Get part to part calibration offset + * + * @par Function Description + * Should only be used after a successful call to @a VL53L0_DataInit to backup + * device NVM value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pOffsetCalibrationDataMicroMeter Return part to part + * calibration offset from device (microns) + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetOffsetCalibrationDataMicroMeter( + VL53L0_DEV Dev, int32_t *pOffsetCalibrationDataMicroMeter); + +/** + * Set the linearity corrective gain + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param LinearityCorrectiveGain Linearity corrective + * gain in x1000 + * if value is 1000 then no modification is applied. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetLinearityCorrectiveGain(VL53L0_DEV Dev, + int16_t LinearityCorrectiveGain); + +/** + * @brief Get the linearity corrective gain + * + * @par Function Description + * Should only be used after a successful call to @a VL53L0_DataInit to backup + * device NVM value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pLinearityCorrectiveGain Pointer to the linearity + * corrective gain in x1000 + * if value is 1000 then no modification is applied. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetLinearityCorrectiveGain(VL53L0_DEV Dev, + uint16_t *pLinearityCorrectiveGain); + +/** + * Set Group parameter Hold state + * + * @par Function Description + * Set or remove device internal group parameter hold + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param GroupParamHold Group parameter Hold state to be set (on/off) + * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L0_API VL53L0_Error VL53L0_SetGroupParamHold(VL53L0_DEV Dev, + uint8_t GroupParamHold); + +/** + * @brief Get the maximal distance for actual setup + * @par Function Description + * Device must be initialized through @a VL53L0_SetParameters() prior calling + * this function. + * + * Any range value more than the value returned is to be considered as + * "no target detected" or + * "no target in detectable range"\n + * @warning The maximal distance depends on the setup + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param pUpperLimitMilliMeter The maximal range limit for actual setup + * (in millimeter) + * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L0_API VL53L0_Error VL53L0_GetUpperLimitMilliMeter(VL53L0_DEV Dev, + uint16_t *pUpperLimitMilliMeter); + + +/** + * @brief Get the Total Signal Rate + * @par Function Description + * This function will return the Total Signal Rate after a good ranging is done. + * + * @note This function access to Device + * + * @param Dev Device Handle + * @param pTotalSignalRate Total Signal Rate value in Mega count per second + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_Error VL53L0_GetTotalSignalRate(VL53L0_DEV Dev, + FixPoint1616_t *pTotalSignalRate); + +/** @} VL53L0_general_group */ + +/** @defgroup VL53L0_init_group VL53L0 Init Functions + * @brief VL53L0 Init Functions + * @{ + */ + +/** + * @brief Set new device address + * + * After completion the device will answer to the new address programmed. + * This function should be called when several devices are used in parallel + * before start programming the sensor. + * When a single device us used, there is no need to call this function. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param DeviceAddress The new Device address + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetDeviceAddress(VL53L0_DEV Dev, + uint8_t DeviceAddress); + +/** + * + * @brief One time device initialization + * + * To be called once and only once after device is brought out of reset + * (Chip enable) and booted see @a VL53L0_WaitDeviceBooted() + * + * @par Function Description + * When not used after a fresh device "power up" or reset, it may return + * @a #VL53L0_ERROR_CALIBRATION_WARNING meaning wrong calibration data + * may have been fetched from device that can result in ranging offset error\n + * If application cannot execute device reset or need to run VL53L0_DataInit + * multiple time then it must ensure proper offset calibration saving and + * restore on its own by using @a VL53L0_GetOffsetCalibrationData() on first + * power up and then @a VL53L0_SetOffsetCalibrationData() in all subsequent init + * This function will change the VL53L0_State from VL53L0_STATE_POWERDOWN to + * VL53L0_STATE_WAIT_STATICINIT. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_DataInit(VL53L0_DEV Dev); + +/** + * @brief Set the tuning settings pointer + * + * This function is used to specify the Tuning settings buffer to be used + * for a given device. The buffer contains all the necessary data to permit + * the API to write tuning settings. + * This function permit to force the usage of either external or internal + * tuning settings. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pTuningSettingBuffer Pointer to tuning settings buffer. + * @param UseInternalTuningSettings Use internal tuning settings value. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetTuningSettingBuffer(VL53L0_DEV Dev, + uint8_t *pTuningSettingBuffer, uint8_t UseInternalTuningSettings); + +/** + * @brief Get the tuning settings pointer and the internal external switch + * value. + * + * This function is used to get the Tuning settings buffer pointer and the + * value. + * of the switch to select either external or internal tuning settings. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param ppTuningSettingBuffer Pointer to tuning settings buffer. + * @param pUseInternalTuningSettings Pointer to store Use internal tuning + * settings value. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetTuningSettingBuffer(VL53L0_DEV Dev, + uint8_t **ppTuningSettingBuffer, uint8_t *pUseInternalTuningSettings); + +/** + * @brief Do basic device init (and eventually patch loading) + * This function will change the VL53L0_State from + * VL53L0_STATE_WAIT_STATICINIT to VL53L0_STATE_IDLE. + * In this stage all default setting will be applied. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_StaticInit(VL53L0_DEV Dev); + +/** + * @brief Wait for device booted after chip enable (hardware standby) + * This function can be run only when VL53L0_State is VL53L0_STATE_POWERDOWN. + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented + * + */ +VL53L0_API VL53L0_Error VL53L0_WaitDeviceBooted(VL53L0_DEV Dev); + +/** + * @brief Do an hard reset or soft reset (depending on implementation) of the + * device \nAfter call of this function, device must be in same state as right + * after a power-up sequence.This function will change the VL53L0_State to + * VL53L0_STATE_POWERDOWN. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_ResetDevice(VL53L0_DEV Dev); + +/** @} VL53L0_init_group */ + +/** @defgroup VL53L0_parameters_group VL53L0 Parameters Functions + * @brief Functions used to prepare and setup the device + * @{ + */ + +/** + * @brief Prepare device for operation + * @par Function Description + * Update device with provided parameters + * @li Then start ranging operation. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pDeviceParameters Pointer to store current device parameters. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetDeviceParameters(VL53L0_DEV Dev, + const VL53L0_DeviceParameters_t *pDeviceParameters); + +/** + * @brief Retrieve current device parameters + * @par Function Description + * Get actual parameters of the device + * @li Then start ranging operation. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pDeviceParameters Pointer to store current device parameters. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetDeviceParameters(VL53L0_DEV Dev, + VL53L0_DeviceParameters_t *pDeviceParameters); + +/** + * @brief Set a new device mode + * @par Function Description + * Set device to a new mode (ranging, histogram ...) + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param DeviceMode New device mode to apply + * Valid values are: + * VL53L0_DEVICEMODE_SINGLE_RANGING + * VL53L0_DEVICEMODE_CONTINUOUS_RANGING + * VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING + * VL53L0_DEVICEMODE_SINGLE_HISTOGRAM + * VL53L0_HISTOGRAMMODE_REFERENCE_ONLY + * VL53L0_HISTOGRAMMODE_RETURN_ONLY + * VL53L0_HISTOGRAMMODE_BOTH + * + * + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_MODE_NOT_SUPPORTED This error occurs when DeviceMode is + * not in the supported list + */ +VL53L0_API VL53L0_Error VL53L0_SetDeviceMode(VL53L0_DEV Dev, + VL53L0_DeviceModes DeviceMode); + +/** + * @brief Get current new device mode + * @par Function Description + * Get actual mode of the device(ranging, histogram ...) + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param pDeviceMode Pointer to current apply mode value + * Valid values are: + * VL53L0_DEVICEMODE_SINGLE_RANGING + * VL53L0_DEVICEMODE_CONTINUOUS_RANGING + * VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING + * VL53L0_DEVICEMODE_SINGLE_HISTOGRAM + * VL53L0_HISTOGRAMMODE_REFERENCE_ONLY + * VL53L0_HISTOGRAMMODE_RETURN_ONLY + * VL53L0_HISTOGRAMMODE_BOTH + * + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_MODE_NOT_SUPPORTED This error occurs when + * DeviceMode is not in the supported list + */ +VL53L0_API VL53L0_Error VL53L0_GetDeviceMode(VL53L0_DEV Dev, + VL53L0_DeviceModes *pDeviceMode); + +/** + * @brief Sets the resolution of range measurements. + * @par Function Description + * Set resolution of range measurements to either 0.25mm if + * fraction enabled or 1mm if not enabled. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param Enable Enable high resolution + * + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetRangeFractionEnable(VL53L0_DEV Dev, + uint8_t Enable); + +/** + * @brief Gets the fraction enable parameter indicating the resolution of + * range measurements. + * + * @par Function Description + * Gets the fraction enable state, which translates to the resolution of + * range measurements as follows :Enabled:=0.25mm resolution, + * Not Enabled:=1mm resolution. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param pEnable Output Parameter reporting the fraction enable state. + * + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetFractionEnable(VL53L0_DEV Dev, + uint8_t *pEnable); + +/** + * @brief Set a new Histogram mode + * @par Function Description + * Set device to a new Histogram mode + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param HistogramMode New device mode to apply + * Valid values are: + * VL53L0_HISTOGRAMMODE_DISABLED + * VL53L0_DEVICEMODE_SINGLE_HISTOGRAM + * VL53L0_HISTOGRAMMODE_REFERENCE_ONLY + * VL53L0_HISTOGRAMMODE_RETURN_ONLY + * VL53L0_HISTOGRAMMODE_BOTH + * + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_MODE_NOT_SUPPORTED This error occurs when + * HistogramMode is not in the supported list + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetHistogramMode(VL53L0_DEV Dev, + VL53L0_HistogramModes HistogramMode); + +/** + * @brief Get current new device mode + * @par Function Description + * Get current Histogram mode of a Device + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param pHistogramMode Pointer to current Histogram Mode value + * Valid values are: + * VL53L0_HISTOGRAMMODE_DISABLED + * VL53L0_DEVICEMODE_SINGLE_HISTOGRAM + * VL53L0_HISTOGRAMMODE_REFERENCE_ONLY + * VL53L0_HISTOGRAMMODE_RETURN_ONLY + * VL53L0_HISTOGRAMMODE_BOTH + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetHistogramMode(VL53L0_DEV Dev, + VL53L0_HistogramModes *pHistogramMode); + +/** + * @brief Set Ranging Timing Budget in microseconds + * + * @par Function Description + * Defines the maximum time allowed by the user to the device to run a + * full ranging sequence for the current mode (ranging, histogram, ASL ...) + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param MeasurementTimingBudgetMicroSeconds Max measurement time in + * microseconds. + * Valid values are: + * >= 17000 microsecs when wraparound enabled + * >= 12000 microsecs when wraparound disabled + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is returned if + MeasurementTimingBudgetMicroSeconds out of range + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetMeasurementTimingBudgetMicroSeconds( + VL53L0_DEV Dev, uint32_t MeasurementTimingBudgetMicroSeconds); + +/** + * @brief Get Ranging Timing Budget in microseconds + * + * @par Function Description + * Returns the programmed the maximum time allowed by the user to the + * device to run a full ranging sequence for the current mode + * (ranging, histogram, ASL ...) + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pMeasurementTimingBudgetMicroSeconds Max measurement time in + * microseconds. + * Valid values are: + * >= 17000 microsecs when wraparound enabled + * >= 12000 microsecs when wraparound disabled + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetMeasurementTimingBudgetMicroSeconds( + VL53L0_DEV Dev, uint32_t *pMeasurementTimingBudgetMicroSeconds); + +/** + * @brief Gets the VCSEL pulse period. + * + * @par Function Description + * This function retrieves the VCSEL pulse period for the given period type. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param VcselPeriodType VCSEL period identifier (pre-range|final). + * @param pVCSELPulsePeriod Pointer to VCSEL period value. + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS Error VcselPeriodType parameter not + * supported. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetVcselPulsePeriod(VL53L0_DEV Dev, + VL53L0_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriod); + +/** + * @brief Sets the VCSEL pulse period. + * + * @par Function Description + * This function retrieves the VCSEL pulse period for the given period type. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param VcselPeriodType VCSEL period identifier (pre-range|final). + * @param VCSELPulsePeriod VCSEL period value + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS Error VcselPeriodType parameter not + * supported. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetVcselPulsePeriod(VL53L0_DEV Dev, + VL53L0_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriod); + +/** + * @brief Sets the (on/off) state of a requested sequence step. + * + * @par Function Description + * This function enables/disables a requested sequence step. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param SequenceStepId Sequence step identifier. + * @param SequenceStepEnabled Demanded state {0=Off,1=On} + * is enabled. + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS Error SequenceStepId parameter not + * supported. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetSequenceStepEnable(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled); + +/** + * @brief Gets the (on/off) state of a requested sequence step. + * + * @par Function Description + * This function retrieves the state of a requested sequence step, i.e. on/off. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param SequenceStepId Sequence step identifier. + * @param pSequenceStepEnabled Out parameter reporting if the sequence step + * is enabled {0=Off,1=On}. + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS Error SequenceStepId parameter not + * supported. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetSequenceStepEnable(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled); + +/** + * @brief Gets the (on/off) state of all sequence steps. + * + * @par Function Description + * This function retrieves the state of all sequence step in the scheduler. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param pSchedulerSequenceSteps Pointer to struct containing result. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetSequenceStepEnables(VL53L0_DEV Dev, + VL53L0_SchedulerSequenceSteps_t *pSchedulerSequenceSteps); + +/** + * @brief Sets the timeout of a requested sequence step. + * + * @par Function Description + * This function sets the timeout of a requested sequence step. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param SequenceStepId Sequence step identifier. + * @param TimeOutMilliSecs Demanded timeout + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS Error SequenceStepId parameter not + * supported. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetSequenceStepTimeout(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, FixPoint1616_t TimeOutMilliSecs); + +/** + * @brief Gets the timeout of a requested sequence step. + * + * @par Function Description + * This function retrieves the timeout of a requested sequence step. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param SequenceStepId Sequence step identifier. + * @param pTimeOutMilliSecs Timeout value. + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS Error SequenceStepId parameter not + * supported. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetSequenceStepTimeout(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, + FixPoint1616_t *pTimeOutMilliSecs); + +/** + * @brief Gets number of sequence steps managed by the API. + * + * @par Function Description + * This function retrieves the number of sequence steps currently managed + * by the API + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param pNumberOfSequenceSteps Out parameter reporting the number of + * sequence steps. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetNumberOfSequenceSteps(VL53L0_DEV Dev, + uint8_t *pNumberOfSequenceSteps); + +/** + * @brief Gets the name of a given sequence step. + * + * @par Function Description + * This function retrieves the name of sequence steps corresponding to + * SequenceStepId. + * + * @note This function doesn't Accesses the device + * + * @param SequenceStepId Sequence step identifier. + * @param pSequenceStepsString Pointer to Info string + * + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetSequenceStepsInfo( + VL53L0_SequenceStepId SequenceStepId, char *pSequenceStepsString); + +/** + * Program continuous mode Inter-Measurement period in milliseconds + * + * @par Function Description + * When trying to set too short time return INVALID_PARAMS minimal value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param InterMeasurementPeriodMilliSeconds Inter-Measurement Period in ms. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetInterMeasurementPeriodMilliSeconds( + VL53L0_DEV Dev, uint32_t InterMeasurementPeriodMilliSeconds); + +/** + * Get continuous mode Inter-Measurement period in milliseconds + * + * @par Function Description + * When trying to set too short time return INVALID_PARAMS minimal value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pInterMeasurementPeriodMilliSeconds Pointer to programmed + * Inter-Measurement Period in milliseconds. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetInterMeasurementPeriodMilliSeconds( + VL53L0_DEV Dev, uint32_t *pInterMeasurementPeriodMilliSeconds); + +/** + * @brief Enable/Disable Cross talk compensation feature + * + * @note This function is not Implemented. + * Enable/Disable Cross Talk by set to zero the Cross Talk value + * by using @a VL53L0_SetXTalkCompensationRateMegaCps(). + * + * @param Dev Device Handle + * @param XTalkCompensationEnable Cross talk compensation + * to be set 0=disabled else = enabled + * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L0_API VL53L0_Error VL53L0_SetXTalkCompensationEnable(VL53L0_DEV Dev, + uint8_t XTalkCompensationEnable); + +/** + * @brief Get Cross talk compensation rate + * + * @note This function is not Implemented. + * Enable/Disable Cross Talk by set to zero the Cross Talk value by + * using @a VL53L0_SetXTalkCompensationRateMegaCps(). + * + * @param Dev Device Handle + * @param pXTalkCompensationEnable Pointer to the Cross talk compensation + * state 0=disabled or 1 = enabled + * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L0_API VL53L0_Error VL53L0_GetXTalkCompensationEnable(VL53L0_DEV Dev, + uint8_t *pXTalkCompensationEnable); + +/** + * @brief Set Cross talk compensation rate + * + * @par Function Description + * Set Cross talk compensation rate. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param XTalkCompensationRateMegaCps Compensation rate in + * Mega counts per second (16.16 fix point) see datasheet for details + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetXTalkCompensationRateMegaCps(VL53L0_DEV Dev, + FixPoint1616_t XTalkCompensationRateMegaCps); + +/** + * @brief Get Cross talk compensation rate + * + * @par Function Description + * Get Cross talk compensation rate. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pXTalkCompensationRateMegaCps Pointer to Compensation rate + in Mega counts per second (16.16 fix point) see datasheet for details + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetXTalkCompensationRateMegaCps(VL53L0_DEV Dev, + FixPoint1616_t *pXTalkCompensationRateMegaCps); + +/** + * @brief Set Reference Calibration Parameters + * + * @par Function Description + * Set Reference Calibration Parameters. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param VhvSettings Parameter for VHV + * @param PhaseCal Parameter for PhaseCal + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetRefCalibration(VL53L0_DEV Dev, + uint8_t VhvSettings, uint8_t PhaseCal); + +/** + * @brief Get Reference Calibration Parameters + * + * @par Function Description + * Get Reference Calibration Parameters. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pVhvSettings Pointer to VHV parameter + * @param pPhaseCal Pointer to PhaseCal Parameter + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetRefCalibration(VL53L0_DEV Dev, + uint8_t *pVhvSettings, uint8_t *pPhaseCal); + +/** + * @brief Get the number of the check limit managed by a given Device + * + * @par Function Description + * This function give the number of the check limit managed by the Device + * + * @note This function doesn't Access to the device + * + * @param pNumberOfLimitCheck Pointer to the number of check limit. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetNumberOfLimitCheck( + uint16_t *pNumberOfLimitCheck); + +/** + * @brief Return a description string for a given limit check number + * + * @par Function Description + * This function returns a description string for a given limit check number. + * The limit check is identified with the LimitCheckId. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + (0<= LimitCheckId < VL53L0_GetNumberOfLimitCheck() ). + * @param pLimitCheckString Pointer to the + description string of the given check limit. + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is + returned when LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetLimitCheckInfo(VL53L0_DEV Dev, + uint16_t LimitCheckId, char *pLimitCheckString); + +/** + * @brief Return a the Status of the specified check limit + * + * @par Function Description + * This function returns the Status of the specified check limit. + * The value indicate if the check is fail or not. + * The limit check is identified with the LimitCheckId. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + (0<= LimitCheckId < VL53L0_GetNumberOfLimitCheck() ). + * @param pLimitCheckStatus Pointer to the + Limit Check Status of the given check limit. + * LimitCheckStatus : + * 0 the check is not fail + * 1 the check if fail or not enabled + * + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is + returned when LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetLimitCheckStatus(VL53L0_DEV Dev, + uint16_t LimitCheckId, uint8_t *pLimitCheckStatus); + +/** + * @brief Enable/Disable a specific limit check + * + * @par Function Description + * This function Enable/Disable a specific limit check. + * The limit check is identified with the LimitCheckId. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L0_GetNumberOfLimitCheck() ). + * @param LimitCheckEnable if 1 the check limit + * corresponding to LimitCheckId is Enabled + * if 0 the check limit + * corresponding to LimitCheckId is disabled + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is returned + * when LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetLimitCheckEnable(VL53L0_DEV Dev, + uint16_t LimitCheckId, uint8_t LimitCheckEnable); + +/** + * @brief Get specific limit check enable state + * + * @par Function Description + * This function get the enable state of a specific limit check. + * The limit check is identified with the LimitCheckId. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L0_GetNumberOfLimitCheck() ). + * @param pLimitCheckEnable Pointer to the check limit enable + * value. + * if 1 the check limit + * corresponding to LimitCheckId is Enabled + * if 0 the check limit + * corresponding to LimitCheckId is disabled + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is returned + * when LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetLimitCheckEnable(VL53L0_DEV Dev, + uint16_t LimitCheckId, uint8_t *pLimitCheckEnable); + +/** + * @brief Set a specific limit check value + * + * @par Function Description + * This function set a specific limit check value. + * The limit check is identified with the LimitCheckId. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L0_GetNumberOfLimitCheck() ). + * @param LimitCheckValue Limit check Value for a given + * LimitCheckId + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is returned when either + * LimitCheckId or LimitCheckValue value is out of range. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetLimitCheckValue(VL53L0_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t LimitCheckValue); + +/** + * @brief Get a specific limit check value + * + * @par Function Description + * This function get a specific limit check value from device then it updates + * internal values and check enables. + * The limit check is identified with the LimitCheckId. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L0_GetNumberOfLimitCheck() ). + * @param pLimitCheckValue Pointer to Limit + * check Value for a given LimitCheckId. + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is returned + * when LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetLimitCheckValue(VL53L0_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckValue); + +/** + * @brief Get the current value of the signal used for the limit check + * + * @par Function Description + * This function get a the current value of the signal used for the limit check. + * To obtain the latest value you should run a ranging before. + * The value reported is linked to the limit check identified with the + * LimitCheckId. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L0_GetNumberOfLimitCheck() ). + * @param pLimitCheckCurrent Pointer to current Value for a + * given LimitCheckId. + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is returned when + * LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetLimitCheckCurrent(VL53L0_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckCurrent); + +/** + * @brief Enable (or disable) Wrap around Check + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param WrapAroundCheckEnable Wrap around Check to be set + * 0=disabled, other = enabled + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetWrapAroundCheckEnable(VL53L0_DEV Dev, + uint8_t WrapAroundCheckEnable); + +/** + * @brief Get setup of Wrap around Check + * + * @par Function Description + * This function get the wrapAround check enable parameters + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pWrapAroundCheckEnable Pointer to the Wrap around Check state + * 0=disabled or 1 = enabled + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetWrapAroundCheckEnable(VL53L0_DEV Dev, + uint8_t *pWrapAroundCheckEnable); + +/** + * @brief Set Dmax Calibration Parameters for a given device + * When one of the parameter is zero, this function will get parameter + * from NVM. + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param RangeMilliMeter Calibration Distance + * @param SignalRateRtnMegaCps Signal rate return read at CalDistance + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetDmaxCalParameters(VL53L0_DEV Dev, + uint16_t RangeMilliMeter, FixPoint1616_t SignalRateRtnMegaCps); + +/** + * @brief Get Dmax Calibration Parameters for a given device + * + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pRangeMilliMeter Pointer to Calibration Distance + * @param pSignalRateRtnMegaCps Pointer to Signal rate return + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetDmaxCalParameters(VL53L0_DEV Dev, + uint16_t *pRangeMilliMeter, FixPoint1616_t *pSignalRateRtnMegaCps); + +/** @} VL53L0_parameters_group */ + +/** @defgroup VL53L0_measurement_group VL53L0 Measurement Functions + * @brief Functions used for the measurements + * @{ + */ + +/** + * @brief Single shot measurement. + * + * @par Function Description + * Perform simple measurement sequence (Start measure, Wait measure to end, + * and returns when measurement is done). + * Once function returns, user can get valid data by calling + * VL53L0_GetRangingMeasurement or VL53L0_GetHistogramMeasurement + * depending on defined measurement mode + * User should Clear the interrupt in case this are enabled by using the + * function VL53L0_ClearInterruptMask(). + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_PerformSingleMeasurement(VL53L0_DEV Dev); + +/** + * @brief Perform Reference Calibration + * + * @details Perform a reference calibration of the Device. + * This function should be run from time to time before doing + * a ranging measurement. + * This function will launch a special ranging measurement, so + * if interrupt are enable an interrupt will be done. + * This function will clear the interrupt generated automatically. + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pVhvSettings Pointer to vhv settings parameter. + * @param pPhaseCal Pointer to PhaseCal parameter. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_PerformRefCalibration(VL53L0_DEV Dev, + uint8_t *pVhvSettings, uint8_t *pPhaseCal); + +/** + * @brief Perform XTalk Measurement + * + * @details Measures the current cross talk from glass in front + * of the sensor. + * This functions performs a histogram measurement and uses the results + * to measure the crosstalk. For the function to be successful, there + * must be no target in front of the sensor. + * + * @warning This function is a blocking function + * + * @warning This function is not supported when the final range + * vcsel clock period is set below 10 PCLKS. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param TimeoutMs Histogram measurement duration. + * @param pXtalkPerSpad Output parameter containing the crosstalk + * measurement result, in MCPS/Spad. Format fixpoint 16:16. + * @param pAmbientTooHigh Output parameter which indicate that + * pXtalkPerSpad is not good if the Ambient is too high. + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS vcsel clock period not supported + * for this operation. Must not be less than 10PCLKS. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_PerformXTalkMeasurement(VL53L0_DEV Dev, + uint32_t TimeoutMs, FixPoint1616_t *pXtalkPerSpad, + uint8_t *pAmbientTooHigh); + +/** + * @brief Perform XTalk Calibration + * + * @details Perform a XTalk calibration of the Device. + * This function will launch a ranging measurement, if interrupts + * are enabled an interrupt will be done. + * This function will clear the interrupt generated automatically. + * This function will program a new value for the XTalk compensation + * and it will enable the cross talk before exit. + * This function will disable the VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD. + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @note This function change the device mode to + * VL53L0_DEVICEMODE_SINGLE_RANGING + * + * @param Dev Device Handle + * @param XTalkCalDistance XTalkCalDistance value used for the XTalk + * computation. + * @param pXTalkCompensationRateMegaCps Pointer to new + * XTalkCompensation value. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_PerformXTalkCalibration(VL53L0_DEV Dev, + FixPoint1616_t XTalkCalDistance, + FixPoint1616_t *pXTalkCompensationRateMegaCps); + +/** + * @brief Perform Offset Calibration + * + * @details Perform a Offset calibration of the Device. + * This function will launch a ranging measurement, if interrupts are + * enabled an interrupt will be done. + * This function will clear the interrupt generated automatically. + * This function will program a new value for the Offset calibration value + * This function will disable the VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD. + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @note This function does not change the device mode. + * + * @param Dev Device Handle + * @param CalDistanceMilliMeter Calibration distance value used for the + * offset compensation. + * @param pOffsetMicroMeter Pointer to new Offset value computed by the + * function. + * + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_PerformOffsetCalibration(VL53L0_DEV Dev, + FixPoint1616_t CalDistanceMilliMeter, int32_t *pOffsetMicroMeter); + +/** + * @brief Start device measurement + * + * @details Started measurement will depend on device parameters set through + * @a VL53L0_SetParameters() + * This is a non-blocking function. + * This function will change the VL53L0_State from VL53L0_STATE_IDLE to + * VL53L0_STATE_RUNNING. + * + * @note This function Access to the device + * + + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_MODE_NOT_SUPPORTED This error occurs when + * DeviceMode programmed with @a VL53L0_SetDeviceMode is not in the supported + * list: + * Supported mode are: + * VL53L0_DEVICEMODE_SINGLE_RANGING, + * VL53L0_DEVICEMODE_CONTINUOUS_RANGING, + * VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING + * @return VL53L0_ERROR_TIME_OUT Time out on start measurement + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_StartMeasurement(VL53L0_DEV Dev); + +/** + * @brief Stop device measurement + * + * @details Will set the device in standby mode at end of current measurement\n + * Not necessary in single mode as device shall return automatically + * in standby mode at end of measurement. + * This function will change the VL53L0_State from VL53L0_STATE_RUNNING + * to VL53L0_STATE_IDLE. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_StopMeasurement(VL53L0_DEV Dev); + +/** + * @brief Return Measurement Data Ready + * + * @par Function Description + * This function indicate that a measurement data is ready. + * This function check if interrupt mode is used then check is done accordingly. + * If perform function clear the interrupt, this function will not work, + * like in case of @a VL53L0_PerformSingleRangingMeasurement(). + * The previous function is blocking function, VL53L0_GetMeasurementDataReady + * is used for non-blocking capture. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pMeasurementDataReady Pointer to Measurement Data Ready. + * 0=data not ready, 1 = data ready + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetMeasurementDataReady(VL53L0_DEV Dev, + uint8_t *pMeasurementDataReady); + +/** + * @brief Wait for device ready for a new measurement command. + * Blocking function. + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param MaxLoop Max Number of polling loop (timeout). + * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L0_API VL53L0_Error VL53L0_WaitDeviceReadyForNewMeasurement(VL53L0_DEV Dev, + uint32_t MaxLoop); + +/** + * @brief Retrieve the Reference Signal after a measurements + * + * @par Function Description + * Get Reference Signal from last successful Ranging measurement + * This function return a valid value after that you call the + * @a VL53L0_GetRangingMeasurementData(). + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pMeasurementRefSignal Pointer to the Ref Signal to fill up. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetMeasurementRefSignal(VL53L0_DEV Dev, + FixPoint1616_t *pMeasurementRefSignal); + +/** + * @brief Retrieve the measurements from device for a given setup + * + * @par Function Description + * Get data from last successful Ranging measurement + * @warning USER should take care about @a VL53L0_GetNumberOfROIZones() + * before get data. + * PAL will fill a NumberOfROIZones times the corresponding data + * structure used in the measurement function. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pRangingMeasurementData Pointer to the data structure to fill up. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetRangingMeasurementData(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData); + +/** + * @brief Retrieve the measurements from device for a given setup + * + * @par Function Description + * Get data from last successful Histogram measurement + * @warning USER should take care about @a VL53L0_GetNumberOfROIZones() + * before get data. + * PAL will fill a NumberOfROIZones times the corresponding data structure + * used in the measurement function. + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param pHistogramMeasurementData Pointer to the histogram data structure. + * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L0_API VL53L0_Error VL53L0_GetHistogramMeasurementData(VL53L0_DEV Dev, + VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData); + +/** + * @brief Performs a single ranging measurement and retrieve the ranging + * measurement data + * + * @par Function Description + * This function will change the device mode to VL53L0_DEVICEMODE_SINGLE_RANGING + * with @a VL53L0_SetDeviceMode(), + * It performs measurement with @a VL53L0_PerformSingleMeasurement() + * It get data from last successful Ranging measurement with + * @a VL53L0_GetRangingMeasurementData. + * Finally it clear the interrupt with @a VL53L0_ClearInterruptMask(). + * + * @note This function Access to the device + * + * @note This function change the device mode to + * VL53L0_DEVICEMODE_SINGLE_RANGING + * + * @param Dev Device Handle + * @param pRangingMeasurementData Pointer to the data structure to fill up. + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_PerformSingleRangingMeasurement(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData); + +/** + * @brief Performs a single histogram measurement and retrieve the histogram + * measurement data + * Is equivalent to VL53L0_PerformSingleMeasurement + + * VL53L0_GetHistogramMeasurementData + * + * @par Function Description + * Get data from last successful Ranging measurement. + * This function will clear the interrupt in case of these are enabled. + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param pHistogramMeasurementData Pointer to the data structure to fill up. + * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L0_API VL53L0_Error VL53L0_PerformSingleHistogramMeasurement(VL53L0_DEV Dev, + VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData); + +/** + * @brief Set the number of ROI Zones to be used for a specific Device + * + * @par Function Description + * Set the number of ROI Zones to be used for a specific Device. + * The programmed value should be less than the max number of ROI Zones given + * with @a VL53L0_GetMaxNumberOfROIZones(). + * This version of API manage only one zone. + * + * @param Dev Device Handle + * @param NumberOfROIZones Number of ROI Zones to be used for a + * specific Device. + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_INVALID_PARAMS This error is returned if + * NumberOfROIZones != 1 + */ +VL53L0_API VL53L0_Error VL53L0_SetNumberOfROIZones(VL53L0_DEV Dev, + uint8_t NumberOfROIZones); + +/** + * @brief Get the number of ROI Zones managed by the Device + * + * @par Function Description + * Get number of ROI Zones managed by the Device + * USER should take care about @a VL53L0_GetNumberOfROIZones() + * before get data after a perform measurement. + * PAL will fill a NumberOfROIZones times the corresponding data + * structure used in the measurement function. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param pNumberOfROIZones Pointer to the Number of ROI Zones value. + * @return VL53L0_ERROR_NONE Success + */ +VL53L0_API VL53L0_Error VL53L0_GetNumberOfROIZones(VL53L0_DEV Dev, + uint8_t *pNumberOfROIZones); + +/** + * @brief Get the Maximum number of ROI Zones managed by the Device + * + * @par Function Description + * Get Maximum number of ROI Zones managed by the Device. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param pMaxNumberOfROIZones Pointer to the Maximum Number + * of ROI Zones value. + * @return VL53L0_ERROR_NONE Success + */ +VL53L0_API VL53L0_Error VL53L0_GetMaxNumberOfROIZones(VL53L0_DEV Dev, + uint8_t *pMaxNumberOfROIZones); + +/** @} VL53L0_measurement_group */ + +/** @defgroup VL53L0_interrupt_group VL53L0 Interrupt Functions + * @brief Functions used for interrupt managements + * @{ + */ + +/** + * @brief Set the configuration of GPIO pin for a given device + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param Pin ID of the GPIO Pin + * @param Functionality Select Pin functionality. + * Refer to ::VL53L0_GpioFunctionality + * @param DeviceMode Device Mode associated to the Gpio. + * @param Polarity Set interrupt polarity. Active high + * or active low see ::VL53L0_InterruptPolarity + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted. + * @return VL53L0_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED This error occurs + * when Functionality programmed is not in the supported list: + * Supported value are: + * VL53L0_GPIOFUNCTIONALITY_OFF, + * VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW, + * VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH, + VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT, + * VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetGpioConfig(VL53L0_DEV Dev, uint8_t Pin, + VL53L0_DeviceModes DeviceMode, VL53L0_GpioFunctionality Functionality, + VL53L0_InterruptPolarity Polarity); + +/** + * @brief Get current configuration for GPIO pin for a given device + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param Pin ID of the GPIO Pin + * @param pDeviceMode Pointer to Device Mode associated to the Gpio. + * @param pFunctionality Pointer to Pin functionality. + * Refer to ::VL53L0_GpioFunctionality + * @param pPolarity Pointer to interrupt polarity. + * Active high or active low see ::VL53L0_InterruptPolarity + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted. + * @return VL53L0_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED This error occurs + * when Functionality programmed is not in the supported list: + * Supported value are: + * VL53L0_GPIOFUNCTIONALITY_OFF, + * VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW, + * VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH, + * VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT, + * VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetGpioConfig(VL53L0_DEV Dev, uint8_t Pin, + VL53L0_DeviceModes *pDeviceMode, + VL53L0_GpioFunctionality *pFunctionality, + VL53L0_InterruptPolarity *pPolarity); + +/** + * @brief Set low and high Interrupt thresholds for a given mode + * (ranging, ALS, ...) for a given device + * + * @par Function Description + * Set low and high Interrupt thresholds for a given mode (ranging, ALS, ...) + * for a given device + * + * @note This function Access to the device + * + * @note DeviceMode is ignored for the current device + * + * @param Dev Device Handle + * @param DeviceMode Device Mode for which change thresholds + * @param ThresholdLow Low threshold (mm, lux ..., depending on the mode) + * @param ThresholdHigh High threshold (mm, lux ..., depending on the mode) + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetInterruptThresholds(VL53L0_DEV Dev, + VL53L0_DeviceModes DeviceMode, FixPoint1616_t ThresholdLow, + FixPoint1616_t ThresholdHigh); + +/** + * @brief Get high and low Interrupt thresholds for a given mode + * (ranging, ALS, ...) for a given device + * + * @par Function Description + * Get high and low Interrupt thresholds for a given mode (ranging, ALS, ...) + * for a given device + * + * @note This function Access to the device + * + * @note DeviceMode is ignored for the current device + * + * @param Dev Device Handle + * @param DeviceMode Device Mode from which read thresholds + * @param pThresholdLow Low threshold (mm, lux ..., depending on the mode) + * @param pThresholdHigh High threshold (mm, lux ..., depending on the mode) + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetInterruptThresholds(VL53L0_DEV Dev, + VL53L0_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow, + FixPoint1616_t *pThresholdHigh); + +/** + * @brief Clear given system interrupt condition + * + * @par Function Description + * Clear given interrupt(s). + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param InterruptMask Mask of interrupts to clear + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_ClearInterruptMask(VL53L0_DEV Dev, + uint32_t InterruptMask); + +/** + * @brief Return device interrupt status + * + * @par Function Description + * Returns currently raised interrupts by the device. + * User shall be able to activate/deactivate interrupts through + * @a VL53L0_SetGpioConfig() + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pInterruptMaskStatus Pointer to status variable to update + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetInterruptMaskStatus(VL53L0_DEV Dev, + uint32_t *pInterruptMaskStatus); + +/** + * @brief Configure ranging interrupt reported to system + * + * @note This function is not Implemented + * + * @param Dev Device Handle + * @param InterruptMask Mask of interrupt to Enable/disable + * (0:interrupt disabled or 1: interrupt enabled) + * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented + */ +VL53L0_API VL53L0_Error VL53L0_EnableInterruptMask(VL53L0_DEV Dev, + uint32_t InterruptMask); + +/** @} VL53L0_interrupt_group */ + +/** @defgroup VL53L0_SPADfunctions_group VL53L0 SPAD Functions + * @brief Functions used for SPAD managements + * @{ + */ + +/** + * @brief Set the SPAD Ambient Damper Threshold value + * + * @par Function Description + * This function set the SPAD Ambient Damper Threshold value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param SpadAmbientDamperThreshold SPAD Ambient Damper Threshold value + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetSpadAmbientDamperThreshold(VL53L0_DEV Dev, + uint16_t SpadAmbientDamperThreshold); + +/** + * @brief Get the current SPAD Ambient Damper Threshold value + * + * @par Function Description + * This function get the SPAD Ambient Damper Threshold value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pSpadAmbientDamperThreshold Pointer to programmed + * SPAD Ambient Damper Threshold value + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetSpadAmbientDamperThreshold(VL53L0_DEV Dev, + uint16_t *pSpadAmbientDamperThreshold); + +/** + * @brief Set the SPAD Ambient Damper Factor value + * + * @par Function Description + * This function set the SPAD Ambient Damper Factor value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param SpadAmbientDamperFactor SPAD Ambient Damper Factor value + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetSpadAmbientDamperFactor(VL53L0_DEV Dev, + uint16_t SpadAmbientDamperFactor); + +/** + * @brief Get the current SPAD Ambient Damper Factor value + * + * @par Function Description + * This function get the SPAD Ambient Damper Factor value + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pSpadAmbientDamperFactor Pointer to programmed SPAD Ambient + * Damper Factor value + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetSpadAmbientDamperFactor(VL53L0_DEV Dev, + uint16_t *pSpadAmbientDamperFactor); + +/** + * @brief Performs Reference Spad Management + * + * @par Function Description + * The reference SPAD initialization procedure determines the minimum amount + * of reference spads to be enables to achieve a target reference signal rate + * and should be performed once during initialization. + * + * @note This function Access to the device + * + * @note This function change the device mode to + * VL53L0_DEVICEMODE_SINGLE_RANGING + * + * @param Dev Device Handle + * @param refSpadCount Reports ref Spad Count + * @param isApertureSpads Reports if spads are of type + * aperture or non-aperture. + * 1:=aperture, 0:=Non-Aperture + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_REF_SPAD_INIT Error in the Ref Spad procedure. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_PerformRefSpadManagement(VL53L0_DEV Dev, + uint32_t *refSpadCount, uint8_t *isApertureSpads); + +/** + * @brief Applies Reference SPAD configuration + * + * @par Function Description + * This function applies a given number of reference spads, identified as + * either Aperture or Non-Aperture. + * The requested spad count and type are stored within the device specific + * parameters data for access by the host. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param refSpadCount Number of ref spads. + * @param isApertureSpads Defines if spads are of type + * aperture or non-aperture. + * 1:=aperture, 0:=Non-Aperture + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_REF_SPAD_INIT Error in the in the reference + * spad configuration. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_SetReferenceSpads(VL53L0_DEV Dev, + uint32_t refSpadCount, uint8_t isApertureSpads); + +/** + * @brief Retrieves SPAD configuration + * + * @par Function Description + * This function retrieves the current number of applied reference spads + * and also their type : Aperture or Non-Aperture. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param refSpadCount Number ref Spad Count + * @param isApertureSpads Reports if spads are of type + * aperture or non-aperture. + * 1:=aperture, 0:=Non-Aperture + * @return VL53L0_ERROR_NONE Success + * @return VL53L0_ERROR_REF_SPAD_INIT Error in the in the reference + * spad configuration. + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetReferenceSpads(VL53L0_DEV Dev, + uint32_t *refSpadCount, uint8_t *isApertureSpads); + +/** @} VL53L0_SPADfunctions_group */ + +/** @} VL53L0_cut11_group */ + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L0_API_H_ */ diff --git a/drivers/input/misc/vl53L0/inc/vl53l0_api_calibration.h b/drivers/input/misc/vl53L0/inc/vl53l0_api_calibration.h new file mode 100644 index 000000000000..ff54e99263d9 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_api_calibration.h @@ -0,0 +1,85 @@ +/******************************************************************************* +Copyright © 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +#ifndef _VL53L0_API_CALIBRATION_H_ +#define _VL53L0_API_CALIBRATION_H_ + +#include "vl53l0_def.h" +#include "vl53l0_platform.h" + + +#ifdef __cplusplus +extern "C" { +#endif + +VL53L0_Error VL53L0_perform_xtalk_calibration(VL53L0_DEV Dev, + FixPoint1616_t XTalkCalDistance, + FixPoint1616_t *pXTalkCompensationRateMegaCps); + +VL53L0_Error VL53L0_perform_offset_calibration(VL53L0_DEV Dev, + FixPoint1616_t CalDistanceMilliMeter, + int32_t *pOffsetMicroMeter); + +VL53L0_Error VL53L0_set_offset_calibration_data_micro_meter(VL53L0_DEV Dev, + int32_t OffsetCalibrationDataMicroMeter); + +VL53L0_Error VL53L0_get_offset_calibration_data_micro_meter(VL53L0_DEV Dev, + int32_t *pOffsetCalibrationDataMicroMeter); + +VL53L0_Error VL53L0_apply_offset_adjustment(VL53L0_DEV Dev); + +VL53L0_Error VL53L0_perform_ref_spad_management(VL53L0_DEV Dev, + uint32_t *refSpadCount, uint8_t *isApertureSpads); + +VL53L0_Error VL53L0_set_reference_spads(VL53L0_DEV Dev, + uint32_t count, uint8_t isApertureSpads); + +VL53L0_Error VL53L0_get_reference_spads(VL53L0_DEV Dev, + uint32_t *pSpadCount, uint8_t *pIsApertureSpads); + +VL53L0_Error VL53L0_perform_phase_calibration(VL53L0_DEV Dev, + uint8_t *pPhaseCal, const uint8_t get_data_enable, + const uint8_t restore_config); + +VL53L0_Error VL53L0_perform_ref_calibration(VL53L0_DEV Dev, + uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable); + +VL53L0_Error VL53L0_set_ref_calibration(VL53L0_DEV Dev, + uint8_t VhvSettings, uint8_t PhaseCal); + +VL53L0_Error VL53L0_get_ref_calibration(VL53L0_DEV Dev, + uint8_t *pVhvSettings, uint8_t *pPhaseCal); + + + + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L0_API_CALIBRATION_H_ */ diff --git a/drivers/input/misc/vl53L0/inc/vl53l0_api_core.h b/drivers/input/misc/vl53L0/inc/vl53l0_api_core.h new file mode 100644 index 000000000000..563017067528 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_api_core.h @@ -0,0 +1,108 @@ +/******************************************************************************* +Copyright © 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +#ifndef _VL53L0_API_CORE_H_ +#define _VL53L0_API_CORE_H_ + +#include "vl53l0_def.h" +#include "vl53l0_platform.h" + + +#ifdef __cplusplus +extern "C" { +#endif + + +VL53L0_Error VL53L0_reverse_bytes(uint8_t *data, uint32_t size); + +VL53L0_Error VL53L0_measurement_poll_for_completion(VL53L0_DEV Dev); + +uint8_t VL53L0_encode_vcsel_period(uint8_t vcsel_period_pclks); + +uint8_t VL53L0_decode_vcsel_period(uint8_t vcsel_period_reg); + +uint32_t VL53L0_isqrt(uint32_t num); + +uint32_t VL53L0_quadrature_sum(uint32_t a, uint32_t b); + +VL53L0_Error VL53L0_get_info_from_device(VL53L0_DEV Dev, uint8_t option); + +VL53L0_Error VL53L0_set_vcsel_pulse_period(VL53L0_DEV Dev, + VL53L0_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK); + +VL53L0_Error VL53L0_get_vcsel_pulse_period(VL53L0_DEV Dev, + VL53L0_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK); + +uint32_t VL53L0_decode_timeout(uint16_t encoded_timeout); + +VL53L0_Error get_sequence_step_timeout(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, + uint32_t *pTimeOutMicroSecs); + +VL53L0_Error set_sequence_step_timeout(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, + uint32_t TimeOutMicroSecs); + +VL53L0_Error VL53L0_set_measurement_timing_budget_micro_seconds(VL53L0_DEV Dev, + uint32_t MeasurementTimingBudgetMicroSeconds); + +VL53L0_Error VL53L0_get_measurement_timing_budget_micro_seconds(VL53L0_DEV Dev, + uint32_t *pMeasurementTimingBudgetMicroSeconds); + +VL53L0_Error VL53L0_load_tuning_settings(VL53L0_DEV Dev, + uint8_t *pTuningSettingBuffer); + +VL53L0_Error VL53L0_calc_sigma_estimate(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData, + FixPoint1616_t *pSigmaEstimate, uint32_t *pDmax_mm); + +VL53L0_Error VL53L0_get_total_xtalk_rate(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData, + FixPoint1616_t *ptotal_xtalk_rate_mcps); + +VL53L0_Error VL53L0_get_total_signal_rate(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData, + FixPoint1616_t *ptotal_signal_rate_mcps); + +VL53L0_Error VL53L0_get_pal_range_status(VL53L0_DEV Dev, + uint8_t DeviceRangeStatus, + FixPoint1616_t SignalRate, + uint16_t EffectiveSpadRtnCount, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData, + uint8_t *pPalRangeStatus); + +uint32_t VL53L0_calc_timeout_mclks(VL53L0_DEV Dev, + uint32_t timeout_period_us, uint8_t vcsel_period_pclks); + +uint16_t VL53L0_encode_timeout(uint32_t timeout_macro_clks); + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L0_API_CORE_H_ */ diff --git a/drivers/input/misc/vl53L0/inc/vl53l0_api_histogram.h b/drivers/input/misc/vl53L0/inc/vl53l0_api_histogram.h new file mode 100644 index 000000000000..b3e21442ca53 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_api_histogram.h @@ -0,0 +1,70 @@ +/******************************************************************************* +Copyright © 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +#ifndef _VL53L0_API_HISTOGRAM_H_ +#define _VL53L0_API_HISTOGRAM_H_ + +#include "vl53l0_def.h" +#include "vl53l0_platform.h" + + +#ifdef __cplusplus +extern "C" { +#endif + + +VL53L0_Error VL53L0_confirm_measurement_start(VL53L0_DEV Dev); + +VL53L0_Error VL53L0_set_histogram_mode(VL53L0_DEV Dev, + VL53L0_HistogramModes HistogramMode); + +VL53L0_Error VL53L0_get_histogram_mode(VL53L0_DEV Dev, + VL53L0_HistogramModes *pHistogramMode); + +VL53L0_Error VL53L0_start_histogram_measurement(VL53L0_DEV Dev, + VL53L0_HistogramModes histoMode, + uint32_t count); + +VL53L0_Error VL53L0_perform_single_histogram_measurement(VL53L0_DEV Dev, + VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData); + +VL53L0_Error VL53L0_get_histogram_measurement_data(VL53L0_DEV Dev, + VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData); + +VL53L0_Error VL53L0_read_histo_measurement(VL53L0_DEV Dev, + uint32_t *histoData, uint32_t offset, VL53L0_HistogramModes histoMode); + +VL53L0_Error VL53L0_perform_xtalk_measurement(VL53L0_DEV dev, + uint32_t timeout_ms, FixPoint1616_t *pxtalk_per_spad, + uint8_t *pambient_too_high); + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L0_API_HISTOGRAM_H_ */ diff --git a/drivers/input/misc/vl53L0/inc/vl53l0_api_ranging.h b/drivers/input/misc/vl53L0/inc/vl53l0_api_ranging.h new file mode 100644 index 000000000000..d2f90d34f3e4 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_api_ranging.h @@ -0,0 +1,47 @@ +/******************************************************************************* +Copyright © 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +#ifndef _VL53L0_API_RANGING_H_ +#define _VL53L0_API_RANGING_H_ + +#include "vl53l0_def.h" +#include "vl53l0_platform.h" + + +#ifdef __cplusplus +extern "C" { +#endif + + + + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L0_API_RANGING_H_ */ diff --git a/drivers/input/misc/vl53L0/inc/vl53l0_api_strings.h b/drivers/input/misc/vl53L0/inc/vl53l0_api_strings.h new file mode 100644 index 000000000000..72f290f19c3f --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_api_strings.h @@ -0,0 +1,271 @@ +/******************************************************************************* +Copyright © 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +#ifndef VL53L0_API_STRINGS_H_ +#define VL53L0_API_STRINGS_H_ + +#include "vl53l0_def.h" +#include "vl53l0_platform.h" + +#ifdef __cplusplus +extern "C" { +#endif + + +VL53L0_Error VL53L0_get_device_info(VL53L0_DEV Dev, + VL53L0_DeviceInfo_t *pVL53L0_DeviceInfo); + +VL53L0_Error VL53L0_get_device_error_string(VL53L0_DeviceError ErrorCode, + char *pDeviceErrorString); + +VL53L0_Error VL53L0_get_range_status_string(uint8_t RangeStatus, + char *pRangeStatusString); + +VL53L0_Error VL53L0_get_pal_error_string(VL53L0_Error PalErrorCode, + char *pPalErrorString); + +VL53L0_Error VL53L0_get_pal_state_string(VL53L0_State PalStateCode, + char *pPalStateString); + +VL53L0_Error VL53L0_get_sequence_steps_info( + VL53L0_SequenceStepId SequenceStepId, + char *pSequenceStepsString); + +VL53L0_Error VL53L0_get_limit_check_info(VL53L0_DEV Dev, uint16_t LimitCheckId, + char *pLimitCheckString); + + +#ifdef USE_EMPTY_STRING + #define VL53L0_STRING_DEVICE_INFO_NAME "" + #define VL53L0_STRING_DEVICE_INFO_NAME_TS0 "" + #define VL53L0_STRING_DEVICE_INFO_NAME_TS1 "" + #define VL53L0_STRING_DEVICE_INFO_NAME_TS2 "" + #define VL53L0_STRING_DEVICE_INFO_NAME_ES1 "" + #define VL53L0_STRING_DEVICE_INFO_TYPE "" + + /* PAL ERROR strings */ + #define VL53L0_STRING_ERROR_NONE "" + #define VL53L0_STRING_ERROR_CALIBRATION_WARNING "" + #define VL53L0_STRING_ERROR_MIN_CLIPPED "" + #define VL53L0_STRING_ERROR_UNDEFINED "" + #define VL53L0_STRING_ERROR_INVALID_PARAMS "" + #define VL53L0_STRING_ERROR_NOT_SUPPORTED "" + #define VL53L0_STRING_ERROR_RANGE_ERROR "" + #define VL53L0_STRING_ERROR_TIME_OUT "" + #define VL53L0_STRING_ERROR_MODE_NOT_SUPPORTED "" + #define VL53L0_STRING_ERROR_BUFFER_TOO_SMALL "" + #define VL53L0_STRING_ERROR_GPIO_NOT_EXISTING "" + #define VL53L0_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED "" + #define VL53L0_STRING_ERROR_CONTROL_INTERFACE "" + #define VL53L0_STRING_ERROR_INVALID_COMMAND "" + #define VL53L0_STRING_ERROR_DIVISION_BY_ZERO "" + #define VL53L0_STRING_ERROR_REF_SPAD_INIT "" + #define VL53L0_STRING_ERROR_NOT_IMPLEMENTED "" + + #define VL53L0_STRING_UNKNOW_ERROR_CODE "" + + + + /* Range Status */ + #define VL53L0_STRING_RANGESTATUS_NONE "" + #define VL53L0_STRING_RANGESTATUS_RANGEVALID "" + #define VL53L0_STRING_RANGESTATUS_SIGMA "" + #define VL53L0_STRING_RANGESTATUS_SIGNAL "" + #define VL53L0_STRING_RANGESTATUS_MINRANGE "" + #define VL53L0_STRING_RANGESTATUS_PHASE "" + #define VL53L0_STRING_RANGESTATUS_HW "" + + + /* Range Status */ + #define VL53L0_STRING_STATE_POWERDOWN "" + #define VL53L0_STRING_STATE_WAIT_STATICINIT "" + #define VL53L0_STRING_STATE_STANDBY "" + #define VL53L0_STRING_STATE_IDLE "" + #define VL53L0_STRING_STATE_RUNNING "" + #define VL53L0_STRING_STATE_UNKNOWN "" + #define VL53L0_STRING_STATE_ERROR "" + + + /* Device Specific */ + #define VL53L0_STRING_DEVICEERROR_NONE "" + #define VL53L0_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE "" + #define VL53L0_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE "" + #define VL53L0_STRING_DEVICEERROR_NOVHVVALUEFOUND "" + #define VL53L0_STRING_DEVICEERROR_MSRCNOTARGET "" + #define VL53L0_STRING_DEVICEERROR_SNRCHECK "" + #define VL53L0_STRING_DEVICEERROR_RANGEPHASECHECK "" + #define VL53L0_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK "" + #define VL53L0_STRING_DEVICEERROR_TCC "" + #define VL53L0_STRING_DEVICEERROR_PHASECONSISTENCY "" + #define VL53L0_STRING_DEVICEERROR_MINCLIP "" + #define VL53L0_STRING_DEVICEERROR_RANGECOMPLETE "" + #define VL53L0_STRING_DEVICEERROR_ALGOUNDERFLOW "" + #define VL53L0_STRING_DEVICEERROR_ALGOOVERFLOW "" + #define VL53L0_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD "" + #define VL53L0_STRING_DEVICEERROR_UNKNOWN "" + + /* Check Enable */ + #define VL53L0_STRING_CHECKENABLE_SIGMA_FINAL_RANGE "" + #define VL53L0_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE "" + #define VL53L0_STRING_CHECKENABLE_SIGNAL_REF_CLIP "" + #define VL53L0_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD "" + + /* Sequence Step */ + #define VL53L0_STRING_SEQUENCESTEP_TCC "" + #define VL53L0_STRING_SEQUENCESTEP_DSS "" + #define VL53L0_STRING_SEQUENCESTEP_MSRC "" + #define VL53L0_STRING_SEQUENCESTEP_PRE_RANGE "" + #define VL53L0_STRING_SEQUENCESTEP_FINAL_RANGE "" +#else + #define VL53L0_STRING_DEVICE_INFO_NAME "VL53L0 cut1.0" + #define VL53L0_STRING_DEVICE_INFO_NAME_TS0 "VL53L0 TS0" + #define VL53L0_STRING_DEVICE_INFO_NAME_TS1 "VL53L0 TS1" + #define VL53L0_STRING_DEVICE_INFO_NAME_TS2 "VL53L0 TS2" + #define VL53L0_STRING_DEVICE_INFO_NAME_ES1 "VL53L0 ES1 or later" + #define VL53L0_STRING_DEVICE_INFO_TYPE "VL53L0" + + /* PAL ERROR strings */ + #define VL53L0_STRING_ERROR_NONE \ + "No Error" + #define VL53L0_STRING_ERROR_CALIBRATION_WARNING \ + "Calibration Warning Error" + #define VL53L0_STRING_ERROR_MIN_CLIPPED \ + "Min clipped error" + #define VL53L0_STRING_ERROR_UNDEFINED \ + "Undefined error" + #define VL53L0_STRING_ERROR_INVALID_PARAMS \ + "Invalid parameters error" + #define VL53L0_STRING_ERROR_NOT_SUPPORTED \ + "Not supported error" + #define VL53L0_STRING_ERROR_RANGE_ERROR \ + "Range error" + #define VL53L0_STRING_ERROR_TIME_OUT \ + "Time out error" + #define VL53L0_STRING_ERROR_MODE_NOT_SUPPORTED \ + "Mode not supported error" + #define VL53L0_STRING_ERROR_BUFFER_TOO_SMALL \ + "Buffer too small" + #define VL53L0_STRING_ERROR_GPIO_NOT_EXISTING \ + "GPIO not existing" + #define VL53L0_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \ + "GPIO funct not supported" + #define VL53L0_STRING_ERROR_CONTROL_INTERFACE \ + "Control Interface Error" + #define VL53L0_STRING_ERROR_INVALID_COMMAND \ + "Invalid Command Error" + #define VL53L0_STRING_ERROR_DIVISION_BY_ZERO \ + "Division by zero Error" + #define VL53L0_STRING_ERROR_REF_SPAD_INIT \ + "Reference Spad Init Error" + #define VL53L0_STRING_ERROR_NOT_IMPLEMENTED \ + "Not implemented error" + + #define VL53L0_STRING_UNKNOW_ERROR_CODE \ + "Unknown Error Code" + + + + /* Range Status */ + #define VL53L0_STRING_RANGESTATUS_NONE "No Update" + #define VL53L0_STRING_RANGESTATUS_RANGEVALID "Range Valid" + #define VL53L0_STRING_RANGESTATUS_SIGMA "Sigma Fail" + #define VL53L0_STRING_RANGESTATUS_SIGNAL "Signal Fail" + #define VL53L0_STRING_RANGESTATUS_MINRANGE "Min Range Fail" + #define VL53L0_STRING_RANGESTATUS_PHASE "Phase Fail" + #define VL53L0_STRING_RANGESTATUS_HW "Hardware Fail" + + + /* Range Status */ + #define VL53L0_STRING_STATE_POWERDOWN "POWERDOWN State" + #define VL53L0_STRING_STATE_WAIT_STATICINIT \ + "Wait for staticinit State" + #define VL53L0_STRING_STATE_STANDBY "STANDBY State" + #define VL53L0_STRING_STATE_IDLE "IDLE State" + #define VL53L0_STRING_STATE_RUNNING "RUNNING State" + #define VL53L0_STRING_STATE_UNKNOWN "UNKNOWN State" + #define VL53L0_STRING_STATE_ERROR "ERROR State" + + + /* Device Specific */ + #define VL53L0_STRING_DEVICEERROR_NONE "No Update" + #define VL53L0_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \ + "VCSEL Continuity Test Failure" + #define VL53L0_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \ + "VCSEL Watchdog Test Failure" + #define VL53L0_STRING_DEVICEERROR_NOVHVVALUEFOUND \ + "No VHV Value found" + #define VL53L0_STRING_DEVICEERROR_MSRCNOTARGET \ + "MSRC No Target Error" + #define VL53L0_STRING_DEVICEERROR_SNRCHECK \ + "SNR Check Exit" + #define VL53L0_STRING_DEVICEERROR_RANGEPHASECHECK \ + "Range Phase Check Error" + #define VL53L0_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK \ + "Sigma Threshold Check Error" + #define VL53L0_STRING_DEVICEERROR_TCC \ + "TCC Error" + #define VL53L0_STRING_DEVICEERROR_PHASECONSISTENCY \ + "Phase Consistency Error" + #define VL53L0_STRING_DEVICEERROR_MINCLIP \ + "Min Clip Error" + #define VL53L0_STRING_DEVICEERROR_RANGECOMPLETE \ + "Range Complete" + #define VL53L0_STRING_DEVICEERROR_ALGOUNDERFLOW \ + "Range Algo Underflow Error" + #define VL53L0_STRING_DEVICEERROR_ALGOOVERFLOW \ + "Range Algo Overlow Error" + #define VL53L0_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD \ + "Range Ignore Threshold Error" + #define VL53L0_STRING_DEVICEERROR_UNKNOWN \ + "Unknown error code" + + /* Check Enable */ + #define VL53L0_STRING_CHECKENABLE_SIGMA_FINAL_RANGE \ + "SIGMA FINAL RANGE" + #define VL53L0_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE \ + "SIGNAL RATE FINAL RANGE" + #define VL53L0_STRING_CHECKENABLE_SIGNAL_REF_CLIP \ + "SIGNAL REF CLIP" + #define VL53L0_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD \ + "RANGE IGNORE THRESHOLD" + + /* Sequence Step */ + #define VL53L0_STRING_SEQUENCESTEP_TCC "TCC" + #define VL53L0_STRING_SEQUENCESTEP_DSS "DSS" + #define VL53L0_STRING_SEQUENCESTEP_MSRC "MSRC" + #define VL53L0_STRING_SEQUENCESTEP_PRE_RANGE "PRE RANGE" + #define VL53L0_STRING_SEQUENCESTEP_FINAL_RANGE "FINAL RANGE" +#endif /* USE_EMPTY_STRING */ + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L0/inc/vl53l0_def.h b/drivers/input/misc/vl53L0/inc/vl53l0_def.h new file mode 100644 index 000000000000..2391242949ed --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_def.h @@ -0,0 +1,637 @@ +/******************************************************************************* +Copyright © 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +/** + * @file VL53L0_def.h + * + * @brief Type definitions for VL53L0 API. + * + */ + + +#ifndef _VL53L0_DEF_H_ +#define _VL53L0_DEF_H_ + + +#ifdef __cplusplus +extern "C" { +#endif + +/** @defgroup VL53L0_globaldefine_group VL53L0 Defines + * @brief VL53L0 Defines + * @{ + */ + + +/** PAL SPECIFICATION major version */ +#define VL53L010_SPECIFICATION_VER_MAJOR 1 +/** PAL SPECIFICATION minor version */ +#define VL53L010_SPECIFICATION_VER_MINOR 2 +/** PAL SPECIFICATION sub version */ +#define VL53L010_SPECIFICATION_VER_SUB 7 +/** PAL SPECIFICATION sub version */ +#define VL53L010_SPECIFICATION_VER_REVISION 1440 + +/** VL53L0 PAL IMPLEMENTATION major version */ +#define VL53L010_IMPLEMENTATION_VER_MAJOR 1 +/** VL53L0 PAL IMPLEMENTATION minor version */ +#define VL53L010_IMPLEMENTATION_VER_MINOR 0 +/** VL53L0 PAL IMPLEMENTATION sub version */ +#define VL53L010_IMPLEMENTATION_VER_SUB 9 +/** VL53L0 PAL IMPLEMENTATION sub version */ +#define VL53L010_IMPLEMENTATION_VER_REVISION 3673 + +/** PAL SPECIFICATION major version */ +#define VL53L0_SPECIFICATION_VER_MAJOR 1 +/** PAL SPECIFICATION minor version */ +#define VL53L0_SPECIFICATION_VER_MINOR 2 +/** PAL SPECIFICATION sub version */ +#define VL53L0_SPECIFICATION_VER_SUB 7 +/** PAL SPECIFICATION sub version */ +#define VL53L0_SPECIFICATION_VER_REVISION 1440 + +/** VL53L0 PAL IMPLEMENTATION major version */ +#define VL53L0_IMPLEMENTATION_VER_MAJOR 1 +/** VL53L0 PAL IMPLEMENTATION minor version */ +#define VL53L0_IMPLEMENTATION_VER_MINOR 1 +/** VL53L0 PAL IMPLEMENTATION sub version */ +#define VL53L0_IMPLEMENTATION_VER_SUB 18 +/** VL53L0 PAL IMPLEMENTATION sub version */ +#define VL53L0_IMPLEMENTATION_VER_REVISION 4357 +#define VL53L0_DEFAULT_MAX_LOOP 200 +#define VL53L0_MAX_STRING_LENGTH 32 + + +#include "vl53l0_device.h" +#include "vl53l0_types.h" + + +/**************************************** + * PRIVATE define do not edit + ****************************************/ + +/** @brief Defines the parameters of the Get Version Functions + */ +typedef struct { + uint32_t revision; /*!< revision number */ + uint8_t major; /*!< major number */ + uint8_t minor; /*!< minor number */ + uint8_t build; /*!< build number */ +} VL53L0_Version_t; + + +/** @brief Defines the parameters of the Get Device Info Functions + */ +typedef struct { + char Name[VL53L0_MAX_STRING_LENGTH]; + /*!< Name of the Device e.g. Left_Distance */ + char Type[VL53L0_MAX_STRING_LENGTH]; + /*!< Type of the Device e.g VL53L0 */ + char ProductId[VL53L0_MAX_STRING_LENGTH]; + /*!< Product Identifier String */ + uint8_t ProductType; + /*!< Product Type, VL53L0 = 1, VL53L1 = 2 */ + uint8_t ProductRevisionMajor; + /*!< Product revision major */ + uint8_t ProductRevisionMinor; + /*!< Product revision minor */ +} VL53L0_DeviceInfo_t; + + +/** @defgroup VL53L0_define_Error_group Error and Warning code returned by API + * The following DEFINE are used to identify the PAL ERROR + * @{ + */ + +typedef int8_t VL53L0_Error; + +#define VL53L0_ERROR_NONE ((VL53L0_Error) 0) +#define VL53L0_ERROR_CALIBRATION_WARNING ((VL53L0_Error) - 1) + /*!< Warning invalid calibration data may be in used + \a VL53L0_InitData() + \a VL53L0_GetOffsetCalibrationData + \a VL53L0_SetOffsetCalibrationData */ +#define VL53L0_ERROR_MIN_CLIPPED ((VL53L0_Error) - 2) + /*!< Warning parameter passed was clipped to min before to be applied */ + +#define VL53L0_ERROR_UNDEFINED ((VL53L0_Error) - 3) + /*!< Unqualified error */ +#define VL53L0_ERROR_INVALID_PARAMS ((VL53L0_Error) - 4) + /*!< Parameter passed is invalid or out of range */ +#define VL53L0_ERROR_NOT_SUPPORTED ((VL53L0_Error) - 5) + /*!< Function is not supported in current mode or configuration */ +#define VL53L0_ERROR_RANGE_ERROR ((VL53L0_Error) - 6) + /*!< Device report a ranging error interrupt status */ +#define VL53L0_ERROR_TIME_OUT ((VL53L0_Error) - 7) + /*!< Aborted due to time out */ +#define VL53L0_ERROR_MODE_NOT_SUPPORTED ((VL53L0_Error) - 8) + /*!< Asked mode is not supported by the device */ +#define VL53L0_ERROR_BUFFER_TOO_SMALL ((VL53L0_Error) - 9) + /*!< ... */ +#define VL53L0_ERROR_GPIO_NOT_EXISTING ((VL53L0_Error) - 10) + /*!< User tried to setup a non-existing GPIO pin */ +#define VL53L0_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L0_Error) - 11) + /*!< unsupported GPIO functionality */ +#define VL53L0_ERROR_CONTROL_INTERFACE ((VL53L0_Error) - 20) + /*!< error reported from IO functions */ +#define VL53L0_ERROR_INVALID_COMMAND ((VL53L0_Error) - 30) + /*!< The command is not allowed in the current device state + * (power down) */ +#define VL53L0_ERROR_DIVISION_BY_ZERO ((VL53L0_Error) - 40) + /*!< In the function a division by zero occurs */ +#define VL53L0_ERROR_REF_SPAD_INIT ((VL53L0_Error) - 50) + /*!< Error during reference SPAD initialization */ +#define VL53L0_ERROR_NOT_IMPLEMENTED ((VL53L0_Error) - 99) + /*!< Tells requested functionality has not been implemented yet or + * not compatible with the device */ +/** @} VL53L0_define_Error_group */ + + +/** @defgroup VL53L0_define_DeviceModes_group Defines Device modes + * Defines all possible modes for the device + * @{ + */ +typedef uint8_t VL53L0_DeviceModes; + +#define VL53L0_DEVICEMODE_SINGLE_RANGING ((VL53L0_DeviceModes) 0) +#define VL53L0_DEVICEMODE_CONTINUOUS_RANGING ((VL53L0_DeviceModes) 1) +#define VL53L0_DEVICEMODE_SINGLE_HISTOGRAM ((VL53L0_DeviceModes) 2) +#define VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING ((VL53L0_DeviceModes) 3) +#define VL53L0_DEVICEMODE_SINGLE_ALS ((VL53L0_DeviceModes) 10) +#define VL53L0_DEVICEMODE_GPIO_DRIVE ((VL53L0_DeviceModes) 20) +#define VL53L0_DEVICEMODE_GPIO_OSC ((VL53L0_DeviceModes) 21) + /* ... Modes to be added depending on device */ +/** @} VL53L0_define_DeviceModes_group */ + + + +/** @defgroup VL53L0_define_HistogramModes_group Defines Histogram modes + * Defines all possible Histogram modes for the device + * @{ + */ +typedef uint8_t VL53L0_HistogramModes; + +#define VL53L0_HISTOGRAMMODE_DISABLED ((VL53L0_HistogramModes) 0) + /*!< Histogram Disabled */ +#define VL53L0_HISTOGRAMMODE_REFERENCE_ONLY ((VL53L0_HistogramModes) 1) + /*!< Histogram Reference array only */ +#define VL53L0_HISTOGRAMMODE_RETURN_ONLY ((VL53L0_HistogramModes) 2) + /*!< Histogram Return array only */ +#define VL53L0_HISTOGRAMMODE_BOTH ((VL53L0_HistogramModes) 3) + /*!< Histogram both Reference and Return Arrays */ + /* ... Modes to be added depending on device */ +/** @} VL53L0_define_HistogramModes_group */ + + +/** @defgroup VL53L0_define_PowerModes_group List of available Power Modes + * List of available Power Modes + * @{ + */ + +typedef uint8_t VL53L0_PowerModes; + +#define VL53L0_POWERMODE_STANDBY_LEVEL1 ((VL53L0_PowerModes) 0) + /*!< Standby level 1 */ +#define VL53L0_POWERMODE_STANDBY_LEVEL2 ((VL53L0_PowerModes) 1) + /*!< Standby level 2 */ +#define VL53L0_POWERMODE_IDLE_LEVEL1 ((VL53L0_PowerModes) 2) + /*!< Idle level 1 */ +#define VL53L0_POWERMODE_IDLE_LEVEL2 ((VL53L0_PowerModes) 3) + /*!< Idle level 2 */ + +/** @} VL53L0_define_PowerModes_group */ + + +/** @brief Defines all parameters for the device + */ +typedef struct { + VL53L0_DeviceModes DeviceMode; + /*!< Defines type of measurement to be done for the next measure */ + VL53L0_HistogramModes HistogramMode; + /*!< Defines type of histogram measurement to be done for the next + * measure */ + uint32_t MeasurementTimingBudgetMicroSeconds; + /*!< Defines the allowed total time for a single measurement */ + uint32_t InterMeasurementPeriodMilliSeconds; + /*!< Defines time between two consecutive measurements (between two + * measurement starts). If set to 0 means back-to-back mode */ + uint8_t XTalkCompensationEnable; + /*!< Tells if Crosstalk compensation shall be enable or not */ + uint16_t XTalkCompensationRangeMilliMeter; + /*!< CrossTalk compensation range in millimeter */ + FixPoint1616_t XTalkCompensationRateMegaCps; + /*!< CrossTalk compensation rate in Mega counts per seconds. + * Expressed in 16.16 fixed point format. */ + int32_t RangeOffsetMicroMeters; + /*!< Range offset adjustment (mm). */ + + uint8_t LimitChecksEnable[VL53L0_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array store all the Limit Check enable for this device. */ + uint8_t LimitChecksStatus[VL53L0_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array store all the Status of the check linked to last + * measurement. */ + FixPoint1616_t LimitChecksValue[VL53L0_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array store all the Limit Check value for this device */ + + uint8_t WrapAroundCheckEnable; + /*!< Tells if Wrap Around Check shall be enable or not */ +} VL53L0_DeviceParameters_t; + + +/** @defgroup VL53L0_define_State_group Defines the current status of the device + * Defines the current status of the device + * @{ + */ + +typedef uint8_t VL53L0_State; + +#define VL53L0_STATE_POWERDOWN ((VL53L0_State) 0) + /*!< Device is in HW reset */ +#define VL53L0_STATE_WAIT_STATICINIT ((VL53L0_State) 1) + /*!< Device is initialized and wait for static initialization */ +#define VL53L0_STATE_STANDBY ((VL53L0_State) 2) + /*!< Device is in Low power Standby mode */ +#define VL53L0_STATE_IDLE ((VL53L0_State) 3) + /*!< Device has been initialized and ready to do measurements */ +#define VL53L0_STATE_RUNNING ((VL53L0_State) 4) + /*!< Device is performing measurement */ +#define VL53L0_STATE_UNKNOWN ((VL53L0_State) 98) + /*!< Device is in unknown state and need to be rebooted */ +#define VL53L0_STATE_ERROR ((VL53L0_State) 99) + /*!< Device is in error state and need to be rebooted */ + +/** @} VL53L0_define_State_group */ + + +/** @brief Structure containing the Dmax computation parameters and data + */ +typedef struct { + int32_t AmbTuningWindowFactor_K; + /*!< internal algo tuning (*1000) */ + int32_t RetSignalAt0mm; + /*!< intermediate dmax computation value caching */ +} VL53L0_DMaxData_t; + +/** + * @struct VL53L0_RangeData_t + * @brief Range measurement data. + */ +typedef struct { + uint32_t TimeStamp; /*!< 32-bit time stamp. */ + uint32_t MeasurementTimeUsec; + /*!< Give the Measurement time needed by the device to do the + * measurement.*/ + + + uint16_t RangeMilliMeter; /*!< range distance in millimeter. */ + + uint16_t RangeDMaxMilliMeter; + /*!< Tells what is the maximum detection distance of the device + * in current setup and environment conditions (Filled when + * applicable) */ + + FixPoint1616_t SignalRateRtnMegaCps; + /*!< Return signal rate (MCPS)\n these is a 16.16 fix point + * value, which is effectively a measure of target + * reflectance.*/ + FixPoint1616_t AmbientRateRtnMegaCps; + /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point + * value, which is effectively a measure of the ambien + * t light.*/ + + uint16_t EffectiveSpadRtnCount; + /*!< Return the effective SPAD count for the return signal. + * To obtain Real value it should be divided by 256 */ + + uint8_t ZoneId; + /*!< Denotes which zone and range scheduler stage the range + * data relates to. */ + uint8_t RangeFractionalPart; + /*!< Fractional part of range distance. Final value is a + * FixPoint168 value. */ + uint8_t RangeStatus; + /*!< Range Status for the current measurement. This is device + * dependent. Value = 0 means value is valid. + * See \ref RangeStatusPage */ + FixPoint1616_t SigmaEstimate; +} VL53L0_RangingMeasurementData_t; + + +#define VL53L0_HISTOGRAM_BUFFER_SIZE 24 + +/** + * @struct VL53L0_HistogramData_t + * @brief Histogram measurement data. + */ +typedef struct { + /* Histogram Measurement data */ + uint32_t HistogramData[VL53L0_HISTOGRAM_BUFFER_SIZE]; + /*!< Histogram data */ + uint8_t HistogramType; /*!< Indicate the types of histogram data : + Return only, Reference only, both Return and Reference */ + uint8_t FirstBin; /*!< First Bin value */ + uint8_t BufferSize; /*!< Buffer Size - Set by the user.*/ + uint8_t NumberOfBins; + /*!< Number of bins filled by the histogram measurement */ + + VL53L0_DeviceError ErrorStatus; + /*!< Error status of the current measurement. \n + see @a ::VL53L0_DeviceError @a VL53L0_GetStatusErrorString() */ +} VL53L0_HistogramMeasurementData_t; + +#define VL53L0_REF_SPAD_BUFFER_SIZE 6 + +/** + * @struct VL53L0_SpadData_t + * @brief Spad Configuration Data. + */ +typedef struct { + uint8_t RefSpadEnables[VL53L0_REF_SPAD_BUFFER_SIZE]; + /*!< Reference Spad Enables */ + uint8_t RefGoodSpadMap[VL53L0_REF_SPAD_BUFFER_SIZE]; + /*!< Reference Spad Good Spad Map */ +} VL53L0_SpadData_t; + +typedef struct { + FixPoint1616_t OscFrequencyMHz; /* Frequency used */ + + uint16_t LastEncodedTimeout; + /* last encoded Time out used for timing budget*/ + + VL53L0_GpioFunctionality Pin0GpioFunctionality; + /* store the functionality of the GPIO: pin0 */ + + uint32_t FinalRangeTimeoutMicroSecs; + /*!< Execution time of the final range*/ + uint8_t FinalRangeVcselPulsePeriod; + /*!< Vcsel pulse period (pll clocks) for the final range measurement*/ + uint32_t PreRangeTimeoutMicroSecs; + /*!< Execution time of the final range*/ + uint8_t PreRangeVcselPulsePeriod; + /*!< Vcsel pulse period (pll clocks) for the pre-range measurement*/ + + uint16_t SigmaEstRefArray; + /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */ + uint16_t SigmaEstEffPulseWidth; + /*!< Effective Pulse width for sigma estimate in 1/100th + * of ns e.g. 900 = 9.0ns */ + uint16_t SigmaEstEffAmbWidth; + /*!< Effective Ambient width for sigma estimate in 1/100th of ns + * e.g. 500 = 5.0ns */ + + + uint8_t ReadDataFromDeviceDone; /* Indicate if read from device has + been done (==1) or not (==0) */ + uint8_t ModuleId; /* Module ID */ + uint8_t Revision; /* test Revision */ + char ProductId[VL53L0_MAX_STRING_LENGTH]; + /* Product Identifier String */ + uint8_t ReferenceSpadCount; /* used for ref spad management */ + uint8_t ReferenceSpadType; /* used for ref spad management */ + uint8_t RefSpadsInitialised; /* reports if ref spads are initialised. */ + uint32_t PartUIDUpper; /*!< Unique Part ID Upper */ + uint32_t PartUIDLower; /*!< Unique Part ID Lower */ + FixPoint1616_t SignalRateMeasFixed400mm; /*!< Peek Signal rate + at 400 mm*/ + +} VL53L0_DeviceSpecificParameters_t; + +/** + * @struct VL53L0_DevData_t + * + * @brief VL53L0 PAL device ST private data structure \n + * End user should never access any of these field directly + * + * These must never access directly but only via macro + */ +typedef struct { + VL53L0_DMaxData_t DMaxData; + /*!< Dmax Data */ + int32_t Part2PartOffsetNVMMicroMeter; + /*!< backed up NVM value */ + int32_t Part2PartOffsetAdjustmentNVMMicroMeter; + /*!< backed up NVM value representing additional offset adjustment */ + VL53L0_DeviceParameters_t CurrentParameters; + /*!< Current Device Parameter */ + VL53L0_RangingMeasurementData_t LastRangeMeasure; + /*!< Ranging Data */ + VL53L0_HistogramMeasurementData_t LastHistogramMeasure; + /*!< Histogram Data */ + VL53L0_DeviceSpecificParameters_t DeviceSpecificParameters; + /*!< Parameters specific to the device */ + VL53L0_SpadData_t SpadData; + /*!< Spad Data */ + uint8_t SequenceConfig; + /*!< Internal value for the sequence config */ + uint8_t RangeFractionalEnable; + /*!< Enable/Disable fractional part of ranging data */ + VL53L0_State PalState; + /*!< Current state of the PAL for this device */ + VL53L0_PowerModes PowerMode; + /*!< Current Power Mode */ + uint16_t SigmaEstRefArray; + /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */ + uint16_t SigmaEstEffPulseWidth; + /*!< Effective Pulse width for sigma estimate in 1/100th + * of ns e.g. 900 = 9.0ns */ + uint16_t SigmaEstEffAmbWidth; + /*!< Effective Ambient width for sigma estimate in 1/100th of ns + * e.g. 500 = 5.0ns */ + uint16_t targetRefRate; + /*!< Target Ambient Rate for Ref spad management */ + FixPoint1616_t SigmaEstimate; + /*!< Sigma Estimate - based on ambient & VCSEL rates and + * signal_total_events */ + FixPoint1616_t SignalEstimate; + /*!< Signal Estimate - based on ambient & VCSEL rates and cross talk */ + FixPoint1616_t LastSignalRefMcps; + /*!< Latest Signal ref in Mcps */ + uint8_t *pTuningSettingsPointer; + /*!< Pointer for Tuning Settings table */ + uint8_t UseInternalTuningSettings; + /*!< Indicate if we use Tuning Settings table */ + uint16_t LinearityCorrectiveGain; + /*!< Linearity Corrective Gain value in x1000 */ + uint16_t DmaxCalRangeMilliMeter; + /*!< Dmax Calibration Range millimeter */ + FixPoint1616_t DmaxCalSignalRateRtnMegaCps; + /*!< Dmax Calibration Signal Rate Return MegaCps */ + +} VL53L0_DevData_t; + + +/** @defgroup VL53L0_define_InterruptPolarity_group Defines the Polarity + * of the Interrupt + * Defines the Polarity of the Interrupt + * @{ + */ +typedef uint8_t VL53L0_InterruptPolarity; + +#define VL53L0_INTERRUPTPOLARITY_LOW ((VL53L0_InterruptPolarity) 0) +/*!< Set active low polarity best setup for falling edge. */ +#define VL53L0_INTERRUPTPOLARITY_HIGH ((VL53L0_InterruptPolarity) 1) +/*!< Set active high polarity best setup for rising edge. */ + +/** @} VL53L0_define_InterruptPolarity_group */ + + +/** @defgroup VL53L0_define_VcselPeriod_group Vcsel Period Defines + * Defines the range measurement for which to access the vcsel period. + * @{ + */ +typedef uint8_t VL53L0_VcselPeriod; + +#define VL53L0_VCSEL_PERIOD_PRE_RANGE ((VL53L0_VcselPeriod) 0) +/*!>9)&0xFFFF) +#define VL53L0_FIXPOINT97TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<9) + +#define VL53L0_FIXPOINT1616TOFIXPOINT88(Value) \ + (uint16_t)((Value>>8)&0xFFFF) +#define VL53L0_FIXPOINT88TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<8) + +#define VL53L0_FIXPOINT1616TOFIXPOINT412(Value) \ + (uint16_t)((Value>>4)&0xFFFF) +#define VL53L0_FIXPOINT412TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<4) + +#define VL53L0_FIXPOINT1616TOFIXPOINT313(Value) \ + (uint16_t)((Value>>3)&0xFFFF) +#define VL53L0_FIXPOINT313TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<3) + +#define VL53L0_FIXPOINT1616TOFIXPOINT08(Value) \ + (uint8_t)((Value>>8)&0x00FF) +#define VL53L0_FIXPOINT08TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<8) + +#define VL53L0_FIXPOINT1616TOFIXPOINT53(Value) \ + (uint8_t)((Value>>13)&0x00FF) +#define VL53L0_FIXPOINT53TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<13) + +#define VL53L0_FIXPOINT1616TOFIXPOINT102(Value) \ + (uint16_t)((Value>>14)&0x0FFF) +#define VL53L0_FIXPOINT102TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<12) + +#define VL53L0_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \ + (uint16_t)lsb) + +/** @} VL53L0_define_GeneralMacro_group */ + +/** @} VL53L0_globaldefine_group */ + + + + + + + +#ifdef __cplusplus +} +#endif + + +#endif /* _VL53L0_DEF_H_ */ diff --git a/drivers/input/misc/vl53L0/inc/vl53l0_device.h b/drivers/input/misc/vl53L0/inc/vl53l0_device.h new file mode 100644 index 000000000000..ee724a20e2ad --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_device.h @@ -0,0 +1,255 @@ +/******************************************************************************* +Copyright © 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +/** + * Device specific defines. To be adapted by implementer for the targeted + * device. + */ + +#ifndef _VL53L0_DEVICE_H_ +#define _VL53L0_DEVICE_H_ + +#include "vl53l0_types.h" + + +/** @defgroup VL53L0_DevSpecDefines_group VL53L0 cut1.1 Device Specific Defines + * @brief VL53L0 cut1.1 Device Specific Defines + * @{ + */ + + +/** @defgroup VL53L0_DeviceError_group Device Error + * @brief Device Error code + * + * This enum is Device specific it should be updated in the implementation + * Use @a VL53L0_GetStatusErrorString() to get the string. + * It is related to Status Register of the Device. + * @{ + */ +typedef uint8_t VL53L0_DeviceError; + +#define VL53L0_DEVICEERROR_NONE ((VL53L0_DeviceError) 0) + /*!< 0 NoError */ +#define VL53L0_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((VL53L0_DeviceError) 1) +#define VL53L0_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((VL53L0_DeviceError) 2) +#define VL53L0_DEVICEERROR_NOVHVVALUEFOUND ((VL53L0_DeviceError) 3) +#define VL53L0_DEVICEERROR_MSRCNOTARGET ((VL53L0_DeviceError) 4) +#define VL53L0_DEVICEERROR_SNRCHECK ((VL53L0_DeviceError) 5) +#define VL53L0_DEVICEERROR_RANGEPHASECHECK ((VL53L0_DeviceError) 6) +#define VL53L0_DEVICEERROR_SIGMATHRESHOLDCHECK ((VL53L0_DeviceError) 7) +#define VL53L0_DEVICEERROR_TCC ((VL53L0_DeviceError) 8) +#define VL53L0_DEVICEERROR_PHASECONSISTENCY ((VL53L0_DeviceError) 9) +#define VL53L0_DEVICEERROR_MINCLIP ((VL53L0_DeviceError) 10) +#define VL53L0_DEVICEERROR_RANGECOMPLETE ((VL53L0_DeviceError) 11) +#define VL53L0_DEVICEERROR_ALGOUNDERFLOW ((VL53L0_DeviceError) 12) +#define VL53L0_DEVICEERROR_ALGOOVERFLOW ((VL53L0_DeviceError) 13) +#define VL53L0_DEVICEERROR_RANGEIGNORETHRESHOLD ((VL53L0_DeviceError) 14) + +/** @} end of VL53L0_DeviceError_group */ + + +/** @defgroup VL53L0_CheckEnable_group Check Enable list + * @brief Check Enable code + * + * Define used to specify the LimitCheckId. + * Use @a VL53L0_GetLimitCheckInfo() to get the string. + * @{ + */ + +#define VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE 0 +#define VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1 +#define VL53L0_CHECKENABLE_SIGNAL_REF_CLIP 2 +#define VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD 3 + +#define VL53L0_CHECKENABLE_NUMBER_OF_CHECKS 4 + +/** @} end of VL53L0_CheckEnable_group */ + + +/** @defgroup VL53L0_GpioFunctionality_group Gpio Functionality + * @brief Defines the different functionalities for the device GPIO(s) + * @{ + */ +typedef uint8_t VL53L0_GpioFunctionality; + +#define VL53L0_GPIOFUNCTIONALITY_OFF \ + ((VL53L0_GpioFunctionality) 0) /*!< NO Interrupt */ +#define VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW \ + ((VL53L0_GpioFunctionality) 1) /*!< Level Low (value < thresh_low) */ +#define VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH \ + ((VL53L0_GpioFunctionality) 2) /*!< Level High (value > thresh_high) */ +#define VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT \ + ((VL53L0_GpioFunctionality) 3) + /*!< Out Of Window (value < thresh_low OR value > thresh_high) */ +#define VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY \ + ((VL53L0_GpioFunctionality) 4) /*!< New Sample Ready */ + +/** @} end of VL53L0_GpioFunctionality_group */ + + +/* Device register map */ + +/** @defgroup VL53L0_DefineRegisters_group Define Registers + * @brief List of all the defined registers + * @{ + */ +#define VL53L0_REG_SYSRANGE_START 0x000 + /** mask existing bit in #VL53L0_REG_SYSRANGE_START*/ + #define VL53L0_REG_SYSRANGE_MODE_MASK 0x0F + /** bit 0 in #VL53L0_REG_SYSRANGE_START write 1 toggle state in + * continuous mode and arm next shot in single shot mode */ + #define VL53L0_REG_SYSRANGE_MODE_START_STOP 0x01 + /** bit 1 write 0 in #VL53L0_REG_SYSRANGE_START set single shot mode */ + #define VL53L0_REG_SYSRANGE_MODE_SINGLESHOT 0x00 + /** bit 1 write 1 in #VL53L0_REG_SYSRANGE_START set back-to-back + * operation mode */ + #define VL53L0_REG_SYSRANGE_MODE_BACKTOBACK 0x02 + /** bit 2 write 1 in #VL53L0_REG_SYSRANGE_START set timed operation + * mode */ + #define VL53L0_REG_SYSRANGE_MODE_TIMED 0x04 + /** bit 3 write 1 in #VL53L0_REG_SYSRANGE_START set histogram operation + * mode */ + #define VL53L0_REG_SYSRANGE_MODE_HISTOGRAM 0x08 + + +#define VL53L0_REG_SYSTEM_THRESH_HIGH 0x000C +#define VL53L0_REG_SYSTEM_THRESH_LOW 0x000E + + +#define VL53L0_REG_SYSTEM_SEQUENCE_CONFIG 0x0001 +#define VL53L0_REG_SYSTEM_RANGE_CONFIG 0x0009 +#define VL53L0_REG_SYSTEM_INTERMEASUREMENT_PERIOD 0x0004 + + +#define VL53L0_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x000A + #define VL53L0_REG_SYSTEM_INTERRUPT_GPIO_DISABLED 0x00 + #define VL53L0_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW 0x01 + #define VL53L0_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH 0x02 + #define VL53L0_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW 0x03 + #define VL53L0_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY 0x04 + +#define VL53L0_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x0084 + + +#define VL53L0_REG_SYSTEM_INTERRUPT_CLEAR 0x000B + +/* Result registers */ +#define VL53L0_REG_RESULT_INTERRUPT_STATUS 0x0013 +#define VL53L0_REG_RESULT_RANGE_STATUS 0x0014 + +#define VL53L0_REG_RESULT_CORE_PAGE 1 +#define VL53L0_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0x00BC +#define VL53L0_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0x00C0 +#define VL53L0_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0x00D0 +#define VL53L0_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0x00D4 +#define VL53L0_REG_RESULT_PEAK_SIGNAL_RATE_REF 0x00B6 + +/* Algo register */ + +#define VL53L0_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x0028 + +#define VL53L0_REG_I2C_SLAVE_DEVICE_ADDRESS 0x008a + +/* Check Limit registers */ +#define VL53L0_REG_MSRC_CONFIG_CONTROL 0x0060 + +#define VL53L0_REG_PRE_RANGE_CONFIG_MIN_SNR 0X0027 +#define VL53L0_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x0056 +#define VL53L0_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x0057 +#define VL53L0_REG_PRE_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x0064 + +#define VL53L0_REG_FINAL_RANGE_CONFIG_MIN_SNR 0X0067 +#define VL53L0_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x0047 +#define VL53L0_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x0048 +#define VL53L0_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x0044 + + +#define VL53L0_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0X0061 +#define VL53L0_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0X0062 + +/* PRE RANGE registers */ +#define VL53L0_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x0050 +#define VL53L0_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0051 +#define VL53L0_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0052 + +#define VL53L0_REG_SYSTEM_HISTOGRAM_BIN 0x0081 +#define VL53L0_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x0033 +#define VL53L0_REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x0055 + +#define VL53L0_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x0070 +#define VL53L0_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0071 +#define VL53L0_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0072 +#define VL53L0_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x0020 + +#define VL53L0_REG_MSRC_CONFIG_TIMEOUT_MACROP 0x0046 + + +#define VL53L0_REG_SOFT_RESET_GO2_SOFT_RESET_N 0x00bf +#define VL53L0_REG_IDENTIFICATION_MODEL_ID 0x00c0 +#define VL53L0_REG_IDENTIFICATION_REVISION_ID 0x00c2 + +#define VL53L0_REG_OSC_CALIBRATE_VAL 0x00f8 + + +#define VL53L0_SIGMA_ESTIMATE_MAX_VALUE 65535 +/* equivalent to a range sigma of 655.35mm */ + +#define VL53L0_REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x032 +#define VL53L0_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0x0B0 +#define VL53L0_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0x0B1 +#define VL53L0_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0x0B2 +#define VL53L0_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0x0B3 +#define VL53L0_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0x0B4 +#define VL53L0_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0x0B5 + +#define VL53L0_REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6 +#define VL53L0_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E /* 0x14E */ +#define VL53L0_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F /* 0x14F */ +#define VL53L0_REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80 + +/* + * Speed of light in um per 1E-10 Seconds + */ + +#define VL53L0_SPEED_OF_LIGHT_IN_AIR 2997 + +#define VL53L0_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x0089 + +#define VL53L0_REG_ALGO_PHASECAL_LIM 0x0030 /* 0x130 */ +#define VL53L0_REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x0030 + +/** @} VL53L0_DefineRegisters_group */ + +/** @} VL53L0_DevSpecDefines_group */ + + +#endif + +/* _VL53L0_DEVICE_H_ */ + + diff --git a/drivers/input/misc/vl53L0/inc/vl53l0_i2c_platform.h b/drivers/input/misc/vl53L0/inc/vl53l0_i2c_platform.h new file mode 100644 index 000000000000..9b1bdd7f3c54 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_i2c_platform.h @@ -0,0 +1,402 @@ +/* + * vl53l0_i2c_platform.h - Linux kernel modules for STM VL53L0 FlightSense TOF + * sensor + * + * Copyright (C) 2016 STMicroelectronics Imaging Division. + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + */ + +/** + * @file VL53L0_i2c_platform.h + * @brief Function prototype definitions for EWOK Platform layer. + * + */ + + +#ifndef _VL53L0_I2C_PLATFORM_H_ +#define _VL53L0_I2C_PLATFORM_H_ + +#include "vl53l0_def.h" + + +/** Maximum buffer size to be used in i2c */ +#define VL53L0_MAX_I2C_XFER_SIZE 64 + +/** + * @brief Typedef defining .\n + * The developer should modify this to suit the platform being deployed. + * + */ + +/** + * @brief Typedef defining 8 bit unsigned char type.\n + * The developer should modify this to suit the platform being deployed. + * + */ + +#ifndef bool_t +typedef unsigned char bool_t; +#endif + + +#define I2C 0x01 +#define SPI 0x00 + +#define COMMS_BUFFER_SIZE 64 +/*MUST be the same size as the SV task buffer */ + +#define BYTES_PER_WORD 2 +#define BYTES_PER_DWORD 4 + +#define VL53L0_MAX_STRING_LENGTH_PLT 256 + +/** + * @brief Initialise platform comms. + * + * @param comms_type - selects between I2C and SPI + * @param comms_speed_khz - unsigned short containing the I2C speed in kHz + * + * @return status - status 0 = ok, 1 = error + * + */ + +int32_t VL53L0_comms_initialise(uint8_t comms_type, + uint16_t comms_speed_khz); + +/** + * @brief Close platform comms. + * + * @return status - status 0 = ok, 1 = error + * + */ + +int32_t VL53L0_comms_close(void); + +/** + * @brief Cycle Power to Device + * + * @return status - status 0 = ok, 1 = error + * + */ + +int32_t VL53L0_cycle_power(void); + +int32_t VL53L0_set_page(VL53L0_DEV dev, uint8_t page_data); + +/** + * @brief Writes the supplied byte buffer to the device + * + * Wrapper for SystemVerilog Write Multi task + * + * @code + * + * Example: + * + * uint8_t *spad_enables; + * + * int status = VL53L0_write_multi(RET_SPAD_EN_0, spad_enables, 36); + * + * @endcode + * + * @param address - uint8_t device address value + * @param index - uint8_t register index value + * @param pdata - pointer to uint8_t buffer containing the data to be written + * @param count - number of bytes in the supplied byte buffer + * + * @return status - SystemVerilog status 0 = ok, 1 = error + * + */ + +int32_t VL53L0_write_multi(VL53L0_DEV dev, uint8_t index, uint8_t *pdata, + int32_t count); + + +/** + * @brief Reads the requested number of bytes from the device + * + * Wrapper for SystemVerilog Read Multi task + * + * @code + * + * Example: + * + * uint8_t buffer[COMMS_BUFFER_SIZE]; + * + * int status = status = VL53L0_read_multi(DEVICE_ID, buffer, 2) + * + * @endcode + * + * @param address - uint8_t device address value + * @param index - uint8_t register index value + * @param pdata - pointer to the uint8_t buffer to store read data + * @param count - number of uint8_t's to read + * + * @return status - SystemVerilog status 0 = ok, 1 = error + * + */ + +int32_t VL53L0_read_multi(VL53L0_DEV dev, uint8_t index, uint8_t *pdata, + int32_t count); + + +/** + * @brief Writes a single byte to the device + * + * Wrapper for SystemVerilog Write Byte task + * + * @code + * + * Example: + * + * uint8_t page_number = MAIN_SELECT_PAGE; + * + * int status = VL53L0_write_byte(PAGE_SELECT, page_number); + * + * @endcode + * + * @param address - uint8_t device address value + * @param index - uint8_t register index value + * @param data - uint8_t data value to write + * + * @return status - SystemVerilog status 0 = ok, 1 = error + * + */ + +int32_t VL53L0_write_byte(VL53L0_DEV dev, uint8_t index, uint8_t data); + + +/** + * @brief Writes a single word (16-bit unsigned) to the device + * + * Manages the big-endian nature of the device (first byte written is the + * MS byte). + * Uses SystemVerilog Write Multi task. + * + * @code + * + * Example: + * + * uint16_t nvm_ctrl_pulse_width = 0x0004; + * + * int status = VL53L0_write_word(NVM_CTRL__PULSE_WIDTH_MSB, + * nvm_ctrl_pulse_width); + * + * @endcode + * + * @param address - uint8_t device address value + * @param index - uint8_t register index value + * @param data - uin16_t data value write + * + * @return status - SystemVerilog status 0 = ok, 1 = error + * + */ + +int32_t VL53L0_write_word(VL53L0_DEV dev, uint8_t index, uint16_t data); + + +/** + * @brief Writes a single dword (32-bit unsigned) to the device + * + * Manages the big-endian nature of the device (first byte written is the + * MS byte). + * Uses SystemVerilog Write Multi task. + * + * @code + * + * Example: + * + * uint32_t nvm_data = 0x0004; + * + * int status = VL53L0_write_dword(NVM_CTRL__DATAIN_MMM, nvm_data); + * + * @endcode + * + * @param address - uint8_t device address value + * @param index - uint8_t register index value + * @param data - uint32_t data value to write + * + * @return status - SystemVerilog status 0 = ok, 1 = error + * + */ + +int32_t VL53L0_write_dword(VL53L0_DEV dev, uint8_t index, uint32_t data); + + + +/** + * @brief Reads a single byte from the device + * + * Uses SystemVerilog Read Byte task. + * + * @code + * + * Example: + * + * uint8_t device_status = 0; + * + * int status = VL53L0_read_byte(STATUS, &device_status); + * + * @endcode + * + * @param address - uint8_t device address value + * @param index - uint8_t register index value + * @param pdata - pointer to uint8_t data value + * + * @return status - SystemVerilog status 0 = ok, 1 = error + * + */ + +int32_t VL53L0_read_byte(VL53L0_DEV dev, uint8_t index, uint8_t *pdata); + + +/** + * @brief Reads a single word (16-bit unsigned) from the device + * + * Manages the big-endian nature of the device (first byte read is the MS byte). + * Uses SystemVerilog Read Multi task. + * + * @code + * + * Example: + * + * uint16_t timeout = 0; + * + * int status = VL53L0_read_word(TIMEOUT_OVERALL_PERIODS_MSB, &timeout); + * + * @endcode + * + * @param address - uint8_t device address value + * @param index - uint8_t register index value + * @param pdata - pointer to uint16_t data value + * + * @return status - SystemVerilog status 0 = ok, 1 = error + * + */ + +int32_t VL53L0_read_word(VL53L0_DEV dev, uint8_t index, uint16_t *pdata); + + +/** + * @brief Reads a single dword (32-bit unsigned) from the device + * + * Manages the big-endian nature of the device (first byte read is the MS byte). + * Uses SystemVerilog Read Multi task. + * + * @code + * + * Example: + * + * uint32_t range_1 = 0; + * + * int status = VL53L0_read_dword(RANGE_1_MMM, &range_1); + * + * @endcode + * + * @param address - uint8_t device address value + * @param index - uint8_t register index value + * @param pdata - pointer to uint32_t data value + * + * @return status - SystemVerilog status 0 = ok, 1 = error + * + */ + +int32_t VL53L0_read_dword(VL53L0_DEV dev, uint8_t index, uint32_t *pdata); + + +/** + * @brief Implements a programmable wait in us + * + * Wrapper for SystemVerilog Wait in micro seconds task + * + * @param wait_us - integer wait in micro seconds + * + * @return status - SystemVerilog status 0 = ok, 1 = error + * + */ + +int32_t VL53L0_platform_wait_us(int32_t wait_us); + + +/** + * @brief Implements a programmable wait in ms + * + * Wrapper for SystemVerilog Wait in milli seconds task + * + * @param wait_ms - integer wait in milli seconds + * + * @return status - SystemVerilog status 0 = ok, 1 = error + * + */ + +int32_t VL53L0_wait_ms(int32_t wait_ms); + + +/** + * @brief Set GPIO value + * + * @param level - input level - either 0 or 1 + * + * @return status - SystemVerilog status 0 = ok, 1 = error + * + */ + +int32_t VL53L0_set_gpio(uint8_t level); + + +/** + * @brief Get GPIO value + * + * @param plevel - uint8_t pointer to store GPIO level (0 or 1) + * + * @return status - SystemVerilog status 0 = ok, 1 = error + * + */ + +int32_t VL53L0_get_gpio(uint8_t *plevel); + +/** + * @brief Release force on GPIO + * + * @return status - SystemVerilog status 0 = ok, 1 = error + * + */ + +int32_t VL53L0_release_gpio(void); + + +/** +* @brief Get the frequency of the timer used for ranging results time stamps +* +* @param[out] ptimer_freq_hz : pointer for timer frequency +* +* @return status : 0 = ok, 1 = error +* +*/ + +int32_t VL53L0_get_timer_frequency(int32_t *ptimer_freq_hz); + +/** +* @brief Get the timer value in units of timer_freq_hz +* (see VL53L0_get_timestamp_frequency()) +* +* @param[out] ptimer_count : pointer for timer count value +* +* @return status : 0 = ok, 1 = error +* +*/ + +int32_t VL53L0_get_timer_value(int32_t *ptimer_count); +int VL53L0_I2CWrite(VL53L0_DEV dev, uint8_t *buff, uint8_t len); +int VL53L0_I2CRead(VL53L0_DEV dev, uint8_t *buff, uint8_t len); + +#endif /* _VL53L0_I2C_PLATFORM_H_ */ + diff --git a/drivers/input/misc/vl53L0/inc/vl53l0_platform.h b/drivers/input/misc/vl53L0/inc/vl53l0_platform.h new file mode 100644 index 000000000000..e38d65d5af14 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_platform.h @@ -0,0 +1,228 @@ +/******************************************************************************* +Copyright © 2015, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + + +#ifndef _VL53L0_PLATFORM_H_ +#define _VL53L0_PLATFORM_H_ + +#include +#include "vl53l0_def.h" +#include "vl53l0_platform_log.h" + +#include "stmvl53l0-i2c.h" +#include "stmvl53l0-cci.h" +#include "stmvl53l0.h" + +/** + * @file vl53l0_platform.h + * + * @brief All end user OS/platform/application porting + */ + +/** + * @defgroup VL53L0_platform_group VL53L0 Platform Functions + * @brief VL53L0 Platform Functions + * @{ + */ + +/** + * @struct VL53L0_Dev_t + * @brief Generic PAL device type that does link between API and platform abstraction layer + * + */ +typedef struct stmvl53l0_data *VL53L0_DEV; + +/** + * @def PALDevDataGet + * @brief Get ST private structure @a VL53L0_DevData_t data access + * + * @param Dev Device Handle + * @param field ST structure field name + * It maybe used and as real data "ref" not just as "get" for sub-structure item + * like PALDevDataGet(FilterData.field)[i] or + * PALDevDataGet(FilterData.MeasurementIndex)++ + */ +#define PALDevDataGet(Dev, field) (Dev->Data.field) + +/** + * @def PALDevDataSet(Dev, field, data) + * @brief Set ST private structure @a VL53L0_DevData_t data field + * @param Dev Device Handle + * @param field ST structure field na*me + * @param data Data to be set + */ +#define PALDevDataSet(Dev, field, data) ((Dev->Data.field) = (data)) + + +/** + * @defgroup VL53L0_registerAccess_group PAL Register Access Functions + * @brief PAL Register Access Functions + * @{ + */ + +/** + * Lock comms interface to serialize all commands to a shared I2C interface for a specific device + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_Error VL53L0_LockSequenceAccess(VL53L0_DEV Dev); + +/** + * Unlock comms interface to serialize all commands to a shared I2C interface for a specific device + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_Error VL53L0_UnlockSequenceAccess(VL53L0_DEV Dev); + + +/** + * Writes the supplied byte buffer to the device + * @param Dev Device Handle + * @param index The register index + * @param pdata Pointer to uint8_t buffer containing the data to be written + * @param count Number of bytes in the supplied byte buffer + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_Error VL53L0_WriteMulti(VL53L0_DEV Dev, uint8_t index, + uint8_t *pdata, uint32_t count); + +/** + * Reads the requested number of bytes from the device + * @param Dev Device Handle + * @param index The register index + * @param pdata Pointer to the uint8_t buffer to store read data + * @param count Number of uint8_t's to read + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_Error VL53L0_ReadMulti(VL53L0_DEV Dev, uint8_t index, + uint8_t *pdata, uint32_t count); + +/** + * Write single byte register + * @param Dev Device Handle + * @param index The register index + * @param data 8 bit register data + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_Error VL53L0_WrByte(VL53L0_DEV Dev, uint8_t index, uint8_t data); + +/** + * Write word register + * @param Dev Device Handle + * @param index The register index + * @param data 16 bit register data + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_Error VL53L0_WrWord(VL53L0_DEV Dev, uint8_t index, uint16_t data); + +/** + * Write double word (4 byte) register + * @param Dev Device Handle + * @param index The register index + * @param data 32 bit register data + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_Error VL53L0_WrDWord(VL53L0_DEV Dev, uint8_t index, uint32_t data); + +/** + * Read single byte register + * @param Dev Device Handle + * @param index The register index + * @param data pointer to 8 bit data + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_Error VL53L0_RdByte(VL53L0_DEV Dev, uint8_t index, uint8_t *data); + +/** + * Read word (2byte) register + * @param Dev Device Handle + * @param index The register index + * @param data pointer to 16 bit data + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_Error VL53L0_RdWord(VL53L0_DEV Dev, uint8_t index, uint16_t *data); + +/** + * Read dword (4byte) register + * @param Dev Device Handle + * @param index The register index + * @param data pointer to 32 bit data + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_Error VL53L0_RdDWord(VL53L0_DEV Dev, uint8_t index, uint32_t *data); + +/** + * Threat safe Update (read/modify/write) single byte register + * + * Final_reg = (Initial_reg & and_data) |or_data + * + * @param Dev Device Handle + * @param index The register index + * @param AndData 8 bit and data + * @param OrData 8 bit or data + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_Error VL53L0_UpdateByte(VL53L0_DEV Dev, uint8_t index, + uint8_t AndData, uint8_t OrData); + +/** @} end of VL53L0_registerAccess_group */ + + +/** + * @brief execute delay in all polling API call + * + * A typical multi-thread or RTOs implementation is to sleep the task for + * some 5ms (with 100Hz max rate faster polling is not needed) + * if nothing specific is need you can define it as an empty/void macro + * @code + * #define VL53L0_PollingDelay(...) (void)0 + * @endcode + * @param Dev Device Handle + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_Error VL53L0_PollingDelay(VL53L0_DEV Dev); +/* usually best implemented as a real function */ + +/** @} end of VL53L0_platform_group */ + +#endif /* _VL53L0_PLATFORM_H_ */ + + + diff --git a/drivers/input/misc/vl53L0/inc/vl53l0_platform_log.h b/drivers/input/misc/vl53L0/inc/vl53l0_platform_log.h new file mode 100644 index 000000000000..4c5bd51b2621 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_platform_log.h @@ -0,0 +1,125 @@ +/******************************************************************************* +Copyright © 2015, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + + +#ifndef _VL53L0_PLATFORM_LOG_H_ +#define _VL53L0_PLATFORM_LOG_H_ + +#include +/* LOG Functions */ + + +/** + * @file vl53l0_platform_log.h + * + * @brief platform log function definition + */ + +/*#define VL53L0_LOG_ENABLE 0*/ + +enum { + TRACE_LEVEL_NONE, + TRACE_LEVEL_ERRORS, + TRACE_LEVEL_WARNING, + TRACE_LEVEL_INFO, + TRACE_LEVEL_DEBUG, + TRACE_LEVEL_ALL, + TRACE_LEVEL_IGNORE +}; + +enum { + TRACE_FUNCTION_NONE = 0, + TRACE_FUNCTION_I2C = 1, + TRACE_FUNCTION_ALL = 0x7fffffff /* all bits except sign */ +}; + +enum { + TRACE_MODULE_NONE = 0x0, + TRACE_MODULE_API = 0x1, + TRACE_MODULE_PLATFORM = 0x2, + TRACE_MODULE_ALL = 0x7fffffff /* all bits except sign */ +}; + + +#ifdef VL53L0_LOG_ENABLE + +#include + + +extern uint32_t _trace_level; + + + +int32_t VL53L0_trace_config(char *filename, uint32_t modules, + uint32_t level, uint32_t functions); + +void trace_print_module_function(uint32_t module, uint32_t level, + uint32_t function, const char *format, ...); + + +#define LOG_GET_TIME() (int)0 +/* +#define _LOG_FUNCTION_START(module, fmt, ...) \ + printk(KERN_INFO"beg %s start @%d\t" fmt "\n", \ + __func__, LOG_GET_TIME(), ##__VA_ARGS__) + +#define _LOG_FUNCTION_END(module, status, ...)\ + printk(KERN_INFO"end %s @%d %d\n", \ + __func__, LOG_GET_TIME(), (int)status) + +#define _LOG_FUNCTION_END_FMT(module, status, fmt, ...)\ + printk(KERN_INFO"End %s @%d %d\t"fmt"\n" , \ + __func__, LOG_GET_TIME(), (int)status, ##__VA_ARGS__) +*/ +#define _LOG_FUNCTION_START(module, fmt, ...) \ + pr_err("beg %s start @%d\t" fmt "\n", \ + __func__, LOG_GET_TIME(), ##__VA_ARGS__) + +#define _LOG_FUNCTION_END(module, status, ...)\ + pr_err("end %s start @%d\t" fmt "\n", \ + __func__, LOG_GET_TIME(), (int)status) + +#define _LOG_FUNCTION_END_FMT(module, status, fmt, ...)\ + pr_err("End %s @%d %d\t"fmt"\n" , \ + __func__, LOG_GET_TIME(), (int)status, ##__VA_ARGS__) + + +#else /* VL53L0_LOG_ENABLE no logging */ + #define VL53L0_ErrLog(...) (void)0 + #define _LOG_FUNCTION_START(module, fmt, ...) (void)0 + #define _LOG_FUNCTION_END(module, status, ...) (void)0 + #define _LOG_FUNCTION_END_FMT(module, status, fmt, ...) (void)0 +#endif /* else */ + +#define VL53L0_COPYSTRING(str, ...) strlcpy(str, ##__VA_ARGS__, sizeof(str)) + + +#endif /* _VL53L0_PLATFORM_LOG_H_ */ + + + diff --git a/drivers/input/misc/vl53L0/inc/vl53l0_strings.h b/drivers/input/misc/vl53L0/inc/vl53l0_strings.h new file mode 100644 index 000000000000..ec78899a25d9 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_strings.h @@ -0,0 +1,211 @@ +/******************************************************************************* +Copyright © 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +********************************************************************************/ +/* + * @file vl53l0_string.h + * $Date: 2014-12-04 16:15:06 +0100 (Thu, 04 Dec 2014) $ + * $Revision: 1906 $ + */ + +#ifndef VL53L0_STRINGS_H_ +#define VL53L0_STRINGS_H_ + +#ifdef __cplusplus +extern "C" { +#endif + +#ifdef USE_EMPTY_STRING + #define VL53L0_STRING_DEVICE_INFO_NAME "" + #define VL53L0_STRING_DEVICE_INFO_NAME_TS0 "" + #define VL53L0_STRING_DEVICE_INFO_NAME_TS1 "" + #define VL53L0_STRING_DEVICE_INFO_NAME_TS2 "" + #define VL53L0_STRING_DEVICE_INFO_NAME_ES1 "" + #define VL53L0_STRING_DEVICE_INFO_TYPE "" + + /* PAL ERROR strings */ + #define VL53L0_STRING_ERROR_NONE "" + #define VL53L0_STRING_ERROR_CALIBRATION_WARNING "" + #define VL53L0_STRING_ERROR_MIN_CLIPPED "" + #define VL53L0_STRING_ERROR_UNDEFINED "" + #define VL53L0_STRING_ERROR_INVALID_PARAMS "" + #define VL53L0_STRING_ERROR_NOT_SUPPORTED "" + #define VL53L0_STRING_ERROR_RANGE_ERROR "" + #define VL53L0_STRING_ERROR_TIME_OUT "" + #define VL53L0_STRING_ERROR_MODE_NOT_SUPPORTED "" + #define VL53L0_STRING_ERROR_BUFFER_TOO_SMALL "" + #define VL53L0_STRING_ERROR_GPIO_NOT_EXISTING "" + #define VL53L0_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED "" + #define VL53L0_STRING_ERROR_CONTROL_INTERFACE "" + #define VL53L0_STRING_ERROR_INVALID_COMMAND "" + #define VL53L0_STRING_ERROR_DIVISION_BY_ZERO "" + #define VL53L0_STRING_ERROR_REF_SPAD_INIT "" + #define VL53L0_STRING_ERROR_NOT_IMPLEMENTED "" + + #define VL53L0_STRING_UNKNOW_ERROR_CODE "" + + + + /* Range Status */ + #define VL53L0_STRING_RANGESTATUS_NONE "" + #define VL53L0_STRING_RANGESTATUS_RANGEVALID "" + #define VL53L0_STRING_RANGESTATUS_SIGMA "" + #define VL53L0_STRING_RANGESTATUS_SIGNAL "" + #define VL53L0_STRING_RANGESTATUS_MINRANGE "" + #define VL53L0_STRING_RANGESTATUS_PHASE "" + #define VL53L0_STRING_RANGESTATUS_HW "" + + + /* Range Status */ + #define VL53L0_STRING_STATE_POWERDOWN "" + #define VL53L0_STRING_STATE_WAIT_STATICINIT "" + #define VL53L0_STRING_STATE_STANDBY "" + #define VL53L0_STRING_STATE_IDLE "" + #define VL53L0_STRING_STATE_RUNNING "" + #define VL53L0_STRING_STATE_UNKNOWN "" + #define VL53L0_STRING_STATE_ERROR "" + + + /* Device Specific */ + #define VL53L0_STRING_DEVICEERROR_NONE "" + #define VL53L0_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE "" + #define VL53L0_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE "" + #define VL53L0_STRING_DEVICEERROR_NOVHVVALUEFOUND "" + #define VL53L0_STRING_DEVICEERROR_MSRCNOTARGET "" + #define VL53L0_STRING_DEVICEERROR_SNRCHECK "" + #define VL53L0_STRING_DEVICEERROR_RANGEPHASECHECK "" + #define VL53L0_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK "" + #define VL53L0_STRING_DEVICEERROR_TCC "" + #define VL53L0_STRING_DEVICEERROR_PHASECONSISTENCY "" + #define VL53L0_STRING_DEVICEERROR_MINCLIP "" + #define VL53L0_STRING_DEVICEERROR_RANGECOMPLETE "" + #define VL53L0_STRING_DEVICEERROR_ALGOUNDERFLOW "" + #define VL53L0_STRING_DEVICEERROR_ALGOOVERFLOW "" + #define VL53L0_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD "" + #define VL53L0_STRING_DEVICEERROR_UNKNOWN "" + + /* Check Enable */ + #define VL53L0_STRING_CHECKENABLE_SIGMA_FINAL_RANGE "" + #define VL53L0_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE "" + #define VL53L0_STRING_CHECKENABLE_SIGNAL_REF_CLIP "" + #define VL53L0_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD "" + + /* Sequence Step */ + #define VL53L0_STRING_SEQUENCESTEP_TCC "" + #define VL53L0_STRING_SEQUENCESTEP_DSS "" + #define VL53L0_STRING_SEQUENCESTEP_MSRC "" + #define VL53L0_STRING_SEQUENCESTEP_PRE_RANGE "" + #define VL53L0_STRING_SEQUENCESTEP_FINAL_RANGE "" +#else + #define VL53L0_STRING_DEVICE_INFO_NAME "VL53L0 cut1.0" + #define VL53L0_STRING_DEVICE_INFO_NAME_TS0 "VL53L0 TS0" + #define VL53L0_STRING_DEVICE_INFO_NAME_TS1 "VL53L0 TS1" + #define VL53L0_STRING_DEVICE_INFO_NAME_TS2 "VL53L0 TS2" + #define VL53L0_STRING_DEVICE_INFO_NAME_ES1 "VL53L0 ES1 or later" + #define VL53L0_STRING_DEVICE_INFO_TYPE "VL53L0" + + /* PAL ERROR strings */ + #define VL53L0_STRING_ERROR_NONE "No Error" + #define VL53L0_STRING_ERROR_CALIBRATION_WARNING "Calibration Warning Error" + #define VL53L0_STRING_ERROR_MIN_CLIPPED "Min clipped error" + #define VL53L0_STRING_ERROR_UNDEFINED "Undefined error" + #define VL53L0_STRING_ERROR_INVALID_PARAMS "Invalid parameters error" + #define VL53L0_STRING_ERROR_NOT_SUPPORTED "Not supported error" + #define VL53L0_STRING_ERROR_RANGE_ERROR "Range error" + #define VL53L0_STRING_ERROR_TIME_OUT "Time out error" + #define VL53L0_STRING_ERROR_MODE_NOT_SUPPORTED "Mode not supported error" + #define VL53L0_STRING_ERROR_BUFFER_TOO_SMALL "Buffer too small" + #define VL53L0_STRING_ERROR_GPIO_NOT_EXISTING "GPIO not existing" + #define VL53L0_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED "GPIO funct not supported" + #define VL53L0_STRING_ERROR_CONTROL_INTERFACE "Control Interface Error" + #define VL53L0_STRING_ERROR_INVALID_COMMAND "Invalid Command Error" + #define VL53L0_STRING_ERROR_DIVISION_BY_ZERO "Division by zero Error" + #define VL53L0_STRING_ERROR_REF_SPAD_INIT "Reference Spad Init Error" + #define VL53L0_STRING_ERROR_NOT_IMPLEMENTED "Not implemented error" + + #define VL53L0_STRING_UNKNOW_ERROR_CODE "Unknown Error Code" + + + + /* Range Status */ + #define VL53L0_STRING_RANGESTATUS_NONE "No Update" + #define VL53L0_STRING_RANGESTATUS_RANGEVALID "Range Valid" + #define VL53L0_STRING_RANGESTATUS_SIGMA "Sigma Fail" + #define VL53L0_STRING_RANGESTATUS_SIGNAL "Signal Fail" + #define VL53L0_STRING_RANGESTATUS_MINRANGE "Min Range Fail" + #define VL53L0_STRING_RANGESTATUS_PHASE "Phase Fail" + #define VL53L0_STRING_RANGESTATUS_HW "Hardware Fail" + + + /* Range Status */ + #define VL53L0_STRING_STATE_POWERDOWN "POWERDOWN State" + #define VL53L0_STRING_STATE_WAIT_STATICINIT "Wait for staticinit State" + #define VL53L0_STRING_STATE_STANDBY "STANDBY State" + #define VL53L0_STRING_STATE_IDLE "IDLE State" + #define VL53L0_STRING_STATE_RUNNING "RUNNING State" + #define VL53L0_STRING_STATE_UNKNOWN "UNKNOWN State" + #define VL53L0_STRING_STATE_ERROR "ERROR State" + + + /* Device Specific */ + #define VL53L0_STRING_DEVICEERROR_NONE "No Update" + #define VL53L0_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE "VCSEL Continuity Test Failure" + #define VL53L0_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE "VCSEL Watchdog Test Failure" + #define VL53L0_STRING_DEVICEERROR_NOVHVVALUEFOUND "No VHV Value found" + #define VL53L0_STRING_DEVICEERROR_MSRCNOTARGET "MSRC No Target Error" + #define VL53L0_STRING_DEVICEERROR_SNRCHECK "SNR Check Exit" + #define VL53L0_STRING_DEVICEERROR_RANGEPHASECHECK "Range Phase Check Error" + #define VL53L0_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK "Sigma Threshold Check Error" + #define VL53L0_STRING_DEVICEERROR_TCC "TCC Error" + #define VL53L0_STRING_DEVICEERROR_PHASECONSISTENCY "Phase Consistency Error" + #define VL53L0_STRING_DEVICEERROR_MINCLIP "Min Clip Error" + #define VL53L0_STRING_DEVICEERROR_RANGECOMPLETE "Range Complete" + #define VL53L0_STRING_DEVICEERROR_ALGOUNDERFLOW "Range Algo Underflow Error" + #define VL53L0_STRING_DEVICEERROR_ALGOOVERFLOW "Range Algo Overlow Error" + #define VL53L0_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD "Range Ignore Threshold Error" + #define VL53L0_STRING_DEVICEERROR_UNKNOWN "Unknown error code" + + /* Check Enable */ + #define VL53L0_STRING_CHECKENABLE_SIGMA_FINAL_RANGE "SIGMA FINAL RANGE" + #define VL53L0_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE "SIGNAL RATE FINAL RANGE" + #define VL53L0_STRING_CHECKENABLE_SIGNAL_REF_CLIP "SIGNAL REF CLIP" + #define VL53L0_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD "RANGE IGNORE THRESHOLD" + + /* Sequence Step */ + #define VL53L0_STRING_SEQUENCESTEP_TCC "TCC" + #define VL53L0_STRING_SEQUENCESTEP_DSS "DSS" + #define VL53L0_STRING_SEQUENCESTEP_MSRC "MSRC" + #define VL53L0_STRING_SEQUENCESTEP_PRE_RANGE "PRE RANGE" + #define VL53L0_STRING_SEQUENCESTEP_FINAL_RANGE "FINAL RANGE" +#endif //USE_EMPTY_STRING + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L0/inc/vl53l0_tuning.h b/drivers/input/misc/vl53L0/inc/vl53l0_tuning.h new file mode 100644 index 000000000000..2cffaab8e655 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_tuning.h @@ -0,0 +1,145 @@ +/******************************************************************************* +Copyright © 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + + +#ifndef _VL53L0_TUNING_H_ +#define _VL53L0_TUNING_H_ + +#include "vl53l0_def.h" + + +#ifdef __cplusplus +extern "C" { +#endif + + +uint8_t DefaultTuningSettings[] = { + + /* update 02/11/2015_v36 */ + 0x01, 0xFF, 0x01, + 0x01, 0x00, 0x00, + + 0x01, 0xFF, 0x00, + 0x01, 0x09, 0x00, + 0x01, 0x10, 0x00, + 0x01, 0x11, 0x00, + + 0x01, 0x24, 0x01, + 0x01, 0x25, 0xff, + 0x01, 0x75, 0x00, + + 0x01, 0xFF, 0x01, + 0x01, 0x4e, 0x2c, + 0x01, 0x48, 0x00, + 0x01, 0x30, 0x20, + + 0x01, 0xFF, 0x00, + 0x01, 0x30, 0x09, /* mja changed from 0x64. */ + 0x01, 0x54, 0x00, + 0x01, 0x31, 0x04, + 0x01, 0x32, 0x03, + 0x01, 0x40, 0x83, + 0x01, 0x46, 0x25, + 0x01, 0x60, 0x00, + 0x01, 0x27, 0x00, + 0x01, 0x50, 0x06, + 0x01, 0x51, 0x00, + 0x01, 0x52, 0x96, + 0x01, 0x56, 0x08, + 0x01, 0x57, 0x30, + 0x01, 0x61, 0x00, + 0x01, 0x62, 0x00, + 0x01, 0x64, 0x00, + 0x01, 0x65, 0x00, + 0x01, 0x66, 0xa0, + + 0x01, 0xFF, 0x01, + 0x01, 0x22, 0x32, + 0x01, 0x47, 0x14, + 0x01, 0x49, 0xff, + 0x01, 0x4a, 0x00, + + 0x01, 0xFF, 0x00, + 0x01, 0x7a, 0x0a, + 0x01, 0x7b, 0x00, + 0x01, 0x78, 0x21, + + 0x01, 0xFF, 0x01, + 0x01, 0x23, 0x34, + 0x01, 0x42, 0x00, + 0x01, 0x44, 0xff, + 0x01, 0x45, 0x26, + 0x01, 0x46, 0x05, + 0x01, 0x40, 0x40, + 0x01, 0x0E, 0x06, + 0x01, 0x20, 0x1a, + 0x01, 0x43, 0x40, + + 0x01, 0xFF, 0x00, + 0x01, 0x34, 0x03, + 0x01, 0x35, 0x44, + + 0x01, 0xFF, 0x01, + 0x01, 0x31, 0x04, + 0x01, 0x4b, 0x09, + 0x01, 0x4c, 0x05, + 0x01, 0x4d, 0x04, + + + 0x01, 0xFF, 0x00, + 0x01, 0x44, 0x00, + 0x01, 0x45, 0x20, + 0x01, 0x47, 0x08, + 0x01, 0x48, 0x28, + 0x01, 0x67, 0x00, + 0x01, 0x70, 0x04, + 0x01, 0x71, 0x01, + 0x01, 0x72, 0xfe, + 0x01, 0x76, 0x00, + 0x01, 0x77, 0x00, + + 0x01, 0xFF, 0x01, + 0x01, 0x0d, 0x01, + + 0x01, 0xFF, 0x00, + 0x01, 0x80, 0x01, + 0x01, 0x01, 0xF8, + + 0x01, 0xFF, 0x01, + 0x01, 0x8e, 0x01, + 0x01, 0x00, 0x01, + 0x01, 0xFF, 0x00, + + 0x00, 0x00, 0x00 +}; + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L0_TUNING_H_ */ diff --git a/drivers/input/misc/vl53L0/inc/vl53l0_types.h b/drivers/input/misc/vl53L0/inc/vl53l0_types.h new file mode 100644 index 000000000000..4085628b78a9 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_types.h @@ -0,0 +1,68 @@ +/******************************************************************************* +Copyright © 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +#ifndef VL53L0_TYPES_H_ +#define VL53L0_TYPES_H_ + +#include + +#ifndef NULL +#error "TODO review NULL definition or add required include " +#define NULL 0 +#endif +/** use where fractional values are expected + * + * Given a floating point value f it's .16 bit point is (int)(f*(1<<16))*/ +typedef unsigned int FixPoint1616_t; + +#if !defined(STDINT_H) && !defined(_GCC_STDINT_H) \ + && !defined(_STDINT_H) && !defined(_LINUX_TYPES_H) + +#pragma message("Please review type definition of STDINT define for your \ +platform and add to list above ") + +/* +* target platform do not provide stdint or use a different #define than above +* to avoid seeing the message below addapt the #define list above or implement +* all type and delete these pragma +*/ + +typedef unsigned int uint32_t; +typedef int int32_t; + +typedef unsigned short uint16_t; +typedef short int16_t; + +typedef unsigned char uint8_t; + +typedef signed char int8_t; + + +#endif /* VL53L0_TYPES_H_ */ + +#endif /* VL6180x_TYPES_H_ */ diff --git a/drivers/input/misc/vl53L0/src/vl53l010_api.c b/drivers/input/misc/vl53L0/src/vl53l010_api.c new file mode 100644 index 000000000000..f86eb79cb553 --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l010_api.c @@ -0,0 +1,4127 @@ +/******************************************************************************* + Copyright © 2016, STMicroelectronics International N.V. + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND + NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. + IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + ******************************************************************************/ + +#include "vl53l010_api.h" +#include "vl53l010_device.h" +#include "vl53l010_tuning.h" + +/* use macro for abs */ +#ifndef __KERNEL__ +#include +#endif + +#ifdef VL53L0_EXTERNAL_USE +#define VL53L010_EXTERNAL +#else +#define VL53L010_EXTERNAL static +#endif + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) + +#ifdef VL53L0_LOG_ENABLE +#define trace_print(level, ...) trace_print_module_function(TRACE_MODULE_API, \ + level, TRACE_FUNCTION_NONE, ##__VA_ARGS__) +#endif + + +/* Defines */ +#define VL53L010_SETPARAMETERFIELD(Dev, field, value) \ + do { \ + if (Status == VL53L0_ERROR_NONE) {\ + CurrentParameters = \ + PALDevDataGet(Dev, CurrentParameters); \ + CurrentParameters.field = value; \ + CurrentParameters = \ + PALDevDataSet(Dev, CurrentParameters, \ + CurrentParameters); \ + } \ + } while (0) +#define VL53L010_SETARRAYPARAMETERFIELD(Dev, field, index, value) \ + do { \ + if (Status == VL53L0_ERROR_NONE) {\ + CurrentParameters = \ + PALDevDataGet(Dev, CurrentParameters); \ + CurrentParameters.field[index] = value; \ + CurrentParameters = \ + PALDevDataSet(Dev, CurrentParameters, \ + CurrentParameters); \ + } \ + } while (0) + +#define VL53L010_GETPARAMETERFIELD(Dev, field, variable) \ + do { \ + if (Status == VL53L0_ERROR_NONE) { \ + CurrentParameters = \ + PALDevDataGet(Dev, CurrentParameters); \ + variable = CurrentParameters.field; \ + } \ + } while (0) + +#define VL53L010_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \ + do { \ + if (Status == VL53L0_ERROR_NONE) { \ + CurrentParameters = \ + PALDevDataGet(Dev, CurrentParameters); \ + variable = CurrentParameters.field[index]; \ + } \ + } while (0) + +#define VL53L010_SETDEVICESPECIFICPARAMETER(Dev, field, value) \ + do { \ + if (Status == VL53L0_ERROR_NONE) { \ + DeviceSpecificParameters = \ + PALDevDataGet(Dev, DeviceSpecificParameters); \ + DeviceSpecificParameters.field = value; \ + DeviceSpecificParameters = \ + PALDevDataSet(Dev, DeviceSpecificParameters, \ + DeviceSpecificParameters); \ + } \ + } while (0) + +#define VL53L010_GETDEVICESPECIFICPARAMETER(Dev, field) \ + PALDevDataGet(Dev, DeviceSpecificParameters).field + +#define VL53L010_FIXPOINT1616TOFIXPOINT97(Value) \ + (uint16_t)((Value >> 9) & 0xFFFF) +#define VL53L010_FIXPOINT97TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value << 9) +#define VL53L010_FIXPOINT1616TOFIXPOINT412(Value) \ + (uint16_t)((Value >> 4) & 0xFFFF) +#define VL53L010_FIXPOINT412TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value << 4) +#define VL53L010_FIXPOINT1616TOFIXPOINT08(Value) \ + (uint8_t)((Value >> 8) & 0x00FF) +#define VL53L010_FIXPOINT08TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value << 8) +#define VL53L010_MAKEUINT16(lsb, msb) \ + (uint16_t)((((uint16_t)msb) << 8) + (uint16_t)lsb) + +/* Internal functions declaration */ +VL53L010_EXTERNAL VL53L0_Error VL53L010_get_vcsel_pulse_period(VL53L0_DEV Dev, + uint8_t *pVCSELPulsePeriod, uint8_t RangeIndex); +VL53L010_EXTERNAL uint8_t VL53L010_encode_vcsel_period(uint8_t vcsel_period_pclks); +VL53L010_EXTERNAL uint8_t VL53L010_decode_vcsel_period(uint8_t vcsel_period_reg); +VL53L010_EXTERNAL uint16_t VL53L010_calc_encoded_timeout(VL53L0_DEV Dev, + uint32_t timeout_period_us, uint8_t vcsel_period); +VL53L010_EXTERNAL uint32_t VL53L010_calc_ranging_wait_us(VL53L0_DEV Dev, + uint16_t timeout_overall_periods, uint8_t vcsel_period); +VL53L010_EXTERNAL VL53L0_Error VL53L010_load_additional_settings1(VL53L0_DEV Dev); +VL53L010_EXTERNAL VL53L0_Error VL53L010_load_additional_settings3(VL53L0_DEV Dev); +VL53L010_EXTERNAL VL53L0_Error VL53L010_check_part_used(VL53L0_DEV Dev, + uint8_t *Revision, VL53L0_DeviceInfo_t *pVL53L0_DeviceInfo); +VL53L010_EXTERNAL VL53L0_Error VL53L010_get_info_from_device(VL53L0_DEV Dev); +VL53L010_EXTERNAL VL53L0_Error VL53L010_device_read_strobe(VL53L0_DEV Dev); +VL53L010_EXTERNAL VL53L0_Error VL53L010_get_pal_range_status(VL53L0_DEV Dev, + uint8_t DeviceRangeStatus, + FixPoint1616_t SignalRate, + FixPoint1616_t CrosstalkCompensation, + uint16_t EffectiveSpadRtnCount, + VL53L0_RangingMeasurementData_t + *pRangingMeasurementData, + uint8_t *pPalRangeStatus); + +/* Group PAL General Functions */ +VL53L0_Error VL53L010_GetVersion(VL53L0_Version_t *pVersion) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + pVersion->major = VL53L010_IMPLEMENTATION_VER_MAJOR; + pVersion->minor = VL53L010_IMPLEMENTATION_VER_MINOR; + pVersion->build = VL53L010_IMPLEMENTATION_VER_SUB; + + pVersion->revision = VL53L0_IMPLEMENTATION_VER_REVISION; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetPalSpecVersion(VL53L0_Version_t *pPalSpecVersion) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + pPalSpecVersion->major = VL53L010_SPECIFICATION_VER_MAJOR; + pPalSpecVersion->minor = VL53L010_SPECIFICATION_VER_MINOR; + pPalSpecVersion->build = VL53L010_SPECIFICATION_VER_SUB; + + pPalSpecVersion->revision = VL53L010_SPECIFICATION_VER_REVISION; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetDeviceInfo(VL53L0_DEV Dev, + VL53L0_DeviceInfo_t *pVL53L0_DeviceInfo) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t model_id; + uint8_t Revision; + + LOG_FUNCTION_START(""); + + Status = VL53L010_check_part_used(Dev, &Revision, pVL53L0_DeviceInfo); + + if (Status == VL53L0_ERROR_NONE) { + if (Revision == 0) { + VL53L0_COPYSTRING(pVL53L0_DeviceInfo->Name, + VL53L010_STRING_DEVICE_INFO_NAME_TS0); + } else if ((Revision <= 34) && (Revision != 32)) { + VL53L0_COPYSTRING(pVL53L0_DeviceInfo->Name, + VL53L010_STRING_DEVICE_INFO_NAME_TS1); + } else if (Revision < 39) { + VL53L0_COPYSTRING(pVL53L0_DeviceInfo->Name, + VL53L010_STRING_DEVICE_INFO_NAME_TS2); + } else { + VL53L0_COPYSTRING(pVL53L0_DeviceInfo->Name, + VL53L010_STRING_DEVICE_INFO_NAME_ES1); + } + + VL53L0_COPYSTRING(pVL53L0_DeviceInfo->Type, + VL53L010_STRING_DEVICE_INFO_TYPE); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdByte(Dev, VL53L010_REG_IDENTIFICATION_MODEL_ID, + &pVL53L0_DeviceInfo->ProductType); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdByte(Dev, VL53L010_REG_IDENTIFICATION_REVISION_ID, + &model_id); + pVL53L0_DeviceInfo->ProductRevisionMajor = 1; + pVL53L0_DeviceInfo->ProductRevisionMinor = (model_id & 0xF0) >> 4; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetDeviceErrorStatus(VL53L0_DEV Dev, + VL53L010_DeviceError *pDeviceErrorStatus) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t RangeStatus; + + LOG_FUNCTION_START(""); + + Status = VL53L0_RdByte(Dev, VL53L010_REG_RESULT_RANGE_STATUS, + &RangeStatus); + + *pDeviceErrorStatus = (VL53L0_DeviceError)((RangeStatus & 0x78) >> 3); + + LOG_FUNCTION_END(Status); + return Status; +} + +#define VL53L010_BUILDSTATUSERRORSTRING(BUFFER, ERRORCODE, STRINGVALUE) \ + case ERRORCODE: \ + VL53L0_COPYSTRING(BUFFER, STRINGVALUE);\ + break;\ + +VL53L0_Error VL53L010_GetDeviceErrorString(VL53L0_DeviceError ErrorCode, + char *pDeviceErrorString) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + switch (ErrorCode) { + VL53L010_BUILDSTATUSERRORSTRING(pDeviceErrorString, + VL53L010_DEVICEERROR_NONE, + VL53L010_STRING_DEVICEERROR_NONE); + VL53L010_BUILDSTATUSERRORSTRING(pDeviceErrorString, + VL53L010_DEVICEERROR_VCSELCONTINUITYTESTFAILURE, + VL53L010_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE); + VL53L010_BUILDSTATUSERRORSTRING(pDeviceErrorString, + VL53L010_DEVICEERROR_VCSELWATCHDOGTESTFAILURE, + VL53L010_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE); + VL53L010_BUILDSTATUSERRORSTRING(pDeviceErrorString, + VL53L010_DEVICEERROR_NOVHVVALUEFOUND, + VL53L010_STRING_DEVICEERROR_NOVHVVALUEFOUND); + VL53L010_BUILDSTATUSERRORSTRING(pDeviceErrorString, + VL53L010_DEVICEERROR_MSRCNOTARGET, + VL53L010_STRING_DEVICEERROR_MSRCNOTARGET); + VL53L010_BUILDSTATUSERRORSTRING(pDeviceErrorString, + VL53L010_DEVICEERROR_MSRCMINIMUMSNR, + VL53L010_STRING_DEVICEERROR_MSRCMINIMUMSNR); + VL53L010_BUILDSTATUSERRORSTRING(pDeviceErrorString, + VL53L010_DEVICEERROR_MSRCWRAPAROUND, + VL53L010_STRING_DEVICEERROR_MSRCWRAPAROUND); + VL53L010_BUILDSTATUSERRORSTRING(pDeviceErrorString, + VL53L010_DEVICEERROR_TCC, VL53L010_STRING_DEVICEERROR_TCC); + VL53L010_BUILDSTATUSERRORSTRING(pDeviceErrorString, + VL53L010_DEVICEERROR_RANGEAWRAPAROUND, + VL53L010_STRING_DEVICEERROR_RANGEAWRAPAROUND); + VL53L010_BUILDSTATUSERRORSTRING(pDeviceErrorString, + VL53L010_DEVICEERROR_RANGEBWRAPAROUND, + VL53L010_STRING_DEVICEERROR_RANGEBWRAPAROUND); + VL53L010_BUILDSTATUSERRORSTRING(pDeviceErrorString, + VL53L010_DEVICEERROR_MINCLIP, + VL53L010_STRING_DEVICEERROR_MINCLIP); + VL53L010_BUILDSTATUSERRORSTRING(pDeviceErrorString, + VL53L010_DEVICEERROR_RANGECOMPLETE, + VL53L010_STRING_DEVICEERROR_RANGECOMPLETE); + VL53L010_BUILDSTATUSERRORSTRING(pDeviceErrorString, + VL53L010_DEVICEERROR_ALGOUNDERFLOW, + VL53L010_STRING_DEVICEERROR_ALGOUNDERFLOW); + VL53L010_BUILDSTATUSERRORSTRING(pDeviceErrorString, + VL53L010_DEVICEERROR_ALGOOVERFLOW, + VL53L010_STRING_DEVICEERROR_ALGOOVERFLOW); + VL53L010_BUILDSTATUSERRORSTRING(pDeviceErrorString, + VL53L010_DEVICEERROR_FINALSNRLIMIT, + VL53L010_STRING_DEVICEERROR_FINALSNRLIMIT); + VL53L010_BUILDSTATUSERRORSTRING(pDeviceErrorString, + VL53L010_DEVICEERROR_NOTARGETIGNORE, + VL53L010_STRING_DEVICEERROR_NOTARGETIGNORE); + default: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L010_STRING_UNKNOW_ERROR_CODE); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetPalErrorString(VL53L0_Error PalErrorCode, + char *pPalErrorString) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + switch (PalErrorCode) { + VL53L010_BUILDSTATUSERRORSTRING(pPalErrorString, + VL53L0_ERROR_NONE, VL53L010_STRING_ERROR_NONE); + VL53L010_BUILDSTATUSERRORSTRING(pPalErrorString, + VL53L0_ERROR_CALIBRATION_WARNING, + VL53L010_STRING_ERROR_CALIBRATION_WARNING); + VL53L010_BUILDSTATUSERRORSTRING(pPalErrorString, + VL53L0_ERROR_MIN_CLIPPED, + VL53L010_STRING_ERROR_MIN_CLIPPED); + VL53L010_BUILDSTATUSERRORSTRING(pPalErrorString, + VL53L0_ERROR_UNDEFINED, VL53L010_STRING_ERROR_UNDEFINED); + VL53L010_BUILDSTATUSERRORSTRING(pPalErrorString, + VL53L0_ERROR_INVALID_PARAMS, + VL53L010_STRING_ERROR_INVALID_PARAMS); + VL53L010_BUILDSTATUSERRORSTRING(pPalErrorString, + VL53L0_ERROR_NOT_SUPPORTED, + VL53L010_STRING_ERROR_NOT_SUPPORTED); + VL53L010_BUILDSTATUSERRORSTRING(pPalErrorString, + VL53L0_ERROR_RANGE_ERROR, + VL53L010_STRING_ERROR_RANGE_ERROR); + VL53L010_BUILDSTATUSERRORSTRING(pPalErrorString, + VL53L0_ERROR_TIME_OUT, + VL53L010_STRING_ERROR_TIME_OUT); + VL53L010_BUILDSTATUSERRORSTRING(pPalErrorString, + VL53L0_ERROR_MODE_NOT_SUPPORTED, + VL53L010_STRING_ERROR_MODE_NOT_SUPPORTED); + VL53L010_BUILDSTATUSERRORSTRING(pPalErrorString, + VL53L0_ERROR_NOT_IMPLEMENTED, + VL53L010_STRING_ERROR_NOT_IMPLEMENTED); + VL53L010_BUILDSTATUSERRORSTRING(pPalErrorString, + VL53L0_ERROR_BUFFER_TOO_SMALL, + VL53L010_STRING_ERROR_BUFFER_TOO_SMALL); + VL53L010_BUILDSTATUSERRORSTRING(pPalErrorString, + VL53L0_ERROR_GPIO_NOT_EXISTING, + VL53L010_STRING_ERROR_GPIO_NOT_EXISTING); + VL53L010_BUILDSTATUSERRORSTRING(pPalErrorString, + VL53L0_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED, + VL53L010_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED); + VL53L010_BUILDSTATUSERRORSTRING(pPalErrorString, + VL53L0_ERROR_CONTROL_INTERFACE, + VL53L010_STRING_ERROR_CONTROL_INTERFACE); + default: + VL53L0_COPYSTRING(pPalErrorString, + VL53L010_STRING_UNKNOW_ERROR_CODE); + break; + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L0_Error VL53L010_GetPalState(VL53L0_DEV Dev, VL53L0_State *pPalState) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pPalState = PALDevDataGet(Dev, PalState); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_SetPowerMode(VL53L0_DEV Dev, VL53L0_PowerModes PowerMode) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + /* Only level1 of Power mode exists */ + if ((PowerMode != VL53L0_POWERMODE_STANDBY_LEVEL1) && + (PowerMode != VL53L0_POWERMODE_IDLE_LEVEL1)) { + Status = VL53L0_ERROR_MODE_NOT_SUPPORTED; + } else if (PowerMode == VL53L0_POWERMODE_STANDBY_LEVEL1) { + /* set the standby level1 of power mode */ + Status = VL53L0_WrByte(Dev, 0x80, 0x00); + if (Status == VL53L0_ERROR_NONE) { + /* Set PAL State to standby */ + PALDevDataSet(Dev, PalState, VL53L0_STATE_STANDBY); + PALDevDataSet(Dev, PowerMode, + VL53L0_POWERMODE_STANDBY_LEVEL1); + } + + } else { + /* VL53L0_POWERMODE_IDLE_LEVEL1 */ + Status = VL53L0_WrByte(Dev, 0x80, 0x01); + if (Status == VL53L0_ERROR_NONE) + Status = VL53L010_StaticInit(Dev); + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, PowerMode, + VL53L0_POWERMODE_IDLE_LEVEL1); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetPowerMode(VL53L0_DEV Dev, VL53L0_PowerModes *pPowerMode) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Byte; + + LOG_FUNCTION_START(""); + + /* Only level1 of Power mode exists */ + Status = VL53L0_RdByte(Dev, 0x80, &Byte); + + if (Status == VL53L0_ERROR_NONE) { + if (Byte == 1) + PALDevDataSet(Dev, PowerMode, + VL53L0_POWERMODE_IDLE_LEVEL1); + else + PALDevDataSet(Dev, PowerMode, + VL53L0_POWERMODE_STANDBY_LEVEL1); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_SetOffsetCalibrationDataMicroMeter(VL53L0_DEV Dev, + int32_t OffsetCalibrationDataMicroMeter) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t OffsetCalibrationData; + + LOG_FUNCTION_START(""); + + OffsetCalibrationData = (uint8_t) (OffsetCalibrationDataMicroMeter + / 1000); + Status = VL53L0_WrByte(Dev, VL53L010_REG_ALGO_PART_TO_PART_RANGE_OFFSET, + *(uint8_t *) &OffsetCalibrationData); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetOffsetCalibrationDataMicroMeter(VL53L0_DEV Dev, + int32_t *pOffsetCalibrationDataMicroMeter) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t RangeOffsetRegister; + + LOG_FUNCTION_START(""); + + Status = VL53L0_RdByte(Dev, VL53L010_REG_ALGO_PART_TO_PART_RANGE_OFFSET, + &RangeOffsetRegister); + if (Status == VL53L0_ERROR_NONE) { + *pOffsetCalibrationDataMicroMeter = + (*((int8_t *) (&RangeOffsetRegister))) * 1000; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_SetGroupParamHold(VL53L0_DEV Dev, uint8_t GroupParamHold) +{ + VL53L0_Error Status = VL53L0_ERROR_NOT_IMPLEMENTED; + + LOG_FUNCTION_START(""); + + /* not implemented on VL53L0 */ + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetUpperLimitMilliMeter(VL53L0_DEV Dev, + uint16_t *pUpperLimitMilliMeter) +{ + VL53L0_Error Status = VL53L0_ERROR_NOT_IMPLEMENTED; + + LOG_FUNCTION_START(""); + + /* not implemented on VL53L0 */ + + LOG_FUNCTION_END(Status); + return Status; +} +/* End Group PAL General Functions */ + +/* Group PAL Init Functions */ +VL53L0_Error VL53L010_SetDeviceAddress(VL53L0_DEV Dev, uint8_t DeviceAddress) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L0_WrByte(Dev, VL53L010_REG_I2C_SLAVE_DEVICE_ADDRESS, + DeviceAddress / 2); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_DataInit(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + VL53L0_DeviceSpecificParameters_t DeviceSpecificParameters; + int32_t OffsetCalibrationData; + + LOG_FUNCTION_START(""); + + if (Status == VL53L0_ERROR_NONE) { + /* read device info */ + VL53L010_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone, 0); + + Status = VL53L010_get_info_from_device(Dev); + } + + /* Set Default static parameters */ + /* set first temporary values 11.3999MHz * 65536 = 748421 */ + VL53L010_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, 748421); + /* 11.3999MHz * 65536 = 748421 */ + + /* Get default parameters */ + Status = VL53L010_GetDeviceParameters(Dev, &CurrentParameters); + if (Status == VL53L0_ERROR_NONE) { + /* initialize PAL values */ + CurrentParameters.DeviceMode = VL53L0_DEVICEMODE_SINGLE_RANGING; + CurrentParameters.HistogramMode = VL53L0_HISTOGRAMMODE_DISABLED; + PALDevDataSet(Dev, CurrentParameters, CurrentParameters); + } + + /* Sigma estimator variable */ + PALDevDataSet(Dev, SigmaEstRefArray, 100); + PALDevDataSet(Dev, SigmaEstEffPulseWidth, 900); + PALDevDataSet(Dev, SigmaEstEffAmbWidth, 500); + + /* Set Signal and Sigma check */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_SetLimitCheckEnable(Dev, + VL53L010_CHECKENABLE_SIGMA_FINAL_RANGE, 0); + } + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_SetLimitCheckEnable(Dev, + VL53L010_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 0); + } + if(Status == VL53L0_ERROR_NONE) { + Status = VL53L010_SetLimitCheckValue(Dev, + VL53L010_CHECKENABLE_SIGMA_FINAL_RANGE, + (FixPoint1616_t)(32<<16)); + } + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_SetLimitCheckValue(Dev, + VL53L010_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + (FixPoint1616_t)(25 * 65536 / 100)); + /* 0.25 * 65538 */ + } + + /* Read back NVM offset */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_GetOffsetCalibrationDataMicroMeter(Dev, + &OffsetCalibrationData); + } + + if (Status == VL53L0_ERROR_NONE) { + PALDevDataSet(Dev, Part2PartOffsetNVMMicroMeter, + OffsetCalibrationData); + + PALDevDataSet(Dev, SequenceConfig, 0xFF); + + /* Set PAL state to tell that we are waiting for call + to VL53L010_StaticInit */ + PALDevDataSet(Dev, PalState, VL53L0_STATE_WAIT_STATICINIT); + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L0_Error VL53L010_StaticInit(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceSpecificParameters_t DeviceSpecificParameters; + VL53L0_DeviceParameters_t CurrentParameters; + uint16_t TempWord; + uint8_t TempByte; + uint8_t localBuffer[32]; + uint8_t i; + uint8_t Revision; + + LOG_FUNCTION_START(""); + + /* Set I2C standard mode */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, 0x88, 0x00); + + /* this function do nothing if it has been called before */ + Status = VL53L010_get_info_from_device(Dev); + + if (Status == VL53L0_ERROR_NONE) { + Revision = VL53L010_GETDEVICESPECIFICPARAMETER(Dev, Revision); + } + + if (Status == VL53L0_ERROR_NONE) { + if (Revision == 0) + Status = VL53L010_load_additional_settings1(Dev); + } + + /* update13_05_15 */ + if (Status == VL53L0_ERROR_NONE) { + if ((Revision <= 34) && (Revision != 32)) { + + for (i = 0; i < 32; i++) + localBuffer[i] = 0xff; + + Status = VL53L0_WriteMulti(Dev, 0x90, localBuffer, 32); + + Status |= VL53L0_WrByte(Dev, 0xb6, 16); + Status |= VL53L0_WrByte(Dev, 0xb0, 0x0); + Status |= VL53L0_WrByte(Dev, 0xb1, 0x0); + Status |= VL53L0_WrByte(Dev, 0xb2, 0xE0); + Status |= VL53L0_WrByte(Dev, 0xb3, 0xE0); + Status |= VL53L0_WrByte(Dev, 0xb4, 0xE0); + Status |= VL53L0_WrByte(Dev, 0xb5, 0xE0); + } + } + + /* update 17_06_15_v10 */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L010_load_tuning_settings(Dev); + + /* check if GO1 power is ON after load default tuning */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdByte(Dev, 0x80, &TempByte); + if ((TempByte != 0) && (Status == VL53L0_ERROR_NONE)) { + /* update 07_05_15 */ + Status = VL53L010_load_additional_settings3(Dev); + } + } + + /* Set interrupt config to new sample ready */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_SetGpioConfig(Dev, 0, 0, + VL53L010_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY, + VL53L0_INTERRUPTPOLARITY_LOW); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_RdWord(Dev, 0x84, &TempWord); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + } + + if (Status == VL53L0_ERROR_NONE) { + VL53L010_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, + VL53L010_FIXPOINT412TOFIXPOINT1616(TempWord)); + } + + /* After static init, some device parameters may be changed, + so update them */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L010_GetDeviceParameters(Dev, &CurrentParameters); + + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, CurrentParameters, CurrentParameters); + + + /* read the sequence config and save it */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdByte(Dev, VL53L010_REG_SYSTEM_SEQUENCE_CONFIG, + &TempByte); + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, SequenceConfig, TempByte); + + } + + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L010_PerformRefCalibration(Dev); + + /* Set PAL State to standby */ + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, PalState, VL53L0_STATE_IDLE); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_WaitDeviceBooted(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NOT_IMPLEMENTED; + + LOG_FUNCTION_START(""); + + /* not implemented on VL53L0 */ + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_ResetDevice(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Byte; + + LOG_FUNCTION_START(""); + + /* Set reset bit */ + Status = VL53L0_WrByte(Dev, VL53L010_REG_SOFT_RESET_GO2_SOFT_RESET_N, + 0x00); + + /* Wait for some time */ + if (Status == VL53L0_ERROR_NONE) { + do { + Status = VL53L0_RdByte(Dev, + VL53L010_REG_IDENTIFICATION_MODEL_ID, &Byte); + } while (Byte != 0x00); + } + + /* Release reset */ + Status = VL53L0_WrByte(Dev, VL53L010_REG_SOFT_RESET_GO2_SOFT_RESET_N, + 0x01); + + /* Wait until correct boot-up of the device */ + if (Status == VL53L0_ERROR_NONE) { + do { + Status = VL53L0_RdByte(Dev, + VL53L010_REG_IDENTIFICATION_MODEL_ID, &Byte); + } while (Byte == 0x00); + } + + LOG_FUNCTION_END(Status); + return Status; +} +/* End Group PAL Init Functions */ + +/* Group PAL Parameters Functions */ +VL53L0_Error VL53L010_SetDeviceParameters(VL53L0_DEV Dev, + const VL53L0_DeviceParameters_t* + pDeviceParameters) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + int i; + + LOG_FUNCTION_START(""); + + Status = VL53L010_SetDeviceMode(Dev, pDeviceParameters->DeviceMode); + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_SetHistogramMode(Dev, + pDeviceParameters->HistogramMode); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_SetInterMeasurementPeriodMilliSeconds(Dev, + + pDeviceParameters->InterMeasurementPeriodMilliSeconds); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_SetXTalkCompensationEnable(Dev, + + pDeviceParameters->XTalkCompensationEnable); + } + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_SetXTalkCompensationRateMegaCps(Dev, + + pDeviceParameters->XTalkCompensationRateMegaCps); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_SetOffsetCalibrationDataMicroMeter(Dev, + pDeviceParameters->RangeOffsetMicroMeters); + } + + for (i = 0; i < VL53L010_CHECKENABLE_NUMBER_OF_CHECKS; i++) { + if (Status == VL53L0_ERROR_NONE) { + Status |= VL53L010_SetLimitCheckEnable(Dev, i, + pDeviceParameters->LimitChecksEnable[i]); + } else { + break; + } + if (Status == VL53L0_ERROR_NONE) { + Status |= VL53L010_SetLimitCheckValue(Dev, i, + pDeviceParameters->LimitChecksValue[i]); + } else { + break; + } + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_SetWrapAroundCheckEnable(Dev, + + pDeviceParameters->WrapAroundCheckEnable); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_SetMeasurementTimingBudgetMicroSeconds(Dev, + + pDeviceParameters->MeasurementTimingBudgetMicroSeconds); + } + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetDeviceParameters(VL53L0_DEV Dev, + VL53L0_DeviceParameters_t *pDeviceParameters) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + int i; + + LOG_FUNCTION_START(""); + + Status = VL53L010_GetDeviceMode(Dev, &(pDeviceParameters->DeviceMode)); + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_GetHistogramMode(Dev, + &(pDeviceParameters->HistogramMode)); + } + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_GetInterMeasurementPeriodMilliSeconds(Dev, + &(pDeviceParameters->InterMeasurementPeriodMilliSeconds)); + } + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_GetXTalkCompensationEnable(Dev, + &(pDeviceParameters->XTalkCompensationEnable)); + } + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_GetXTalkCompensationRateMegaCps(Dev, + + &(pDeviceParameters->XTalkCompensationRateMegaCps)); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_GetOffsetCalibrationDataMicroMeter(Dev, + &(pDeviceParameters->RangeOffsetMicroMeters)); + } + + if (Status == VL53L0_ERROR_NONE) { + for (i = 0; i < VL53L010_CHECKENABLE_NUMBER_OF_CHECKS; i++) { + // get first the values, then the enables. + // VL53L0_GetLimitCheckValue will modify the enable flags + if (Status == VL53L0_ERROR_NONE) { + Status |= VL53L010_GetLimitCheckValue(Dev, i, + &(pDeviceParameters->LimitChecksValue[i])); + } else { + break; + } + if (Status == VL53L0_ERROR_NONE) { + Status |= VL53L010_GetLimitCheckEnable(Dev, i, + &(pDeviceParameters->LimitChecksEnable[i])); + } else { + break; + } + } + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_GetWrapAroundCheckEnable(Dev, + &(pDeviceParameters->WrapAroundCheckEnable)); + } + + /* Need to be done at the end as it uses VCSELPulsePeriod */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_GetMeasurementTimingBudgetMicroSeconds(Dev, + &(pDeviceParameters->MeasurementTimingBudgetMicroSeconds)); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_SetDeviceMode(VL53L0_DEV Dev, + VL53L0_DeviceModes DeviceMode) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + + LOG_FUNCTION_START("%d", (int)DeviceMode); + + switch (DeviceMode) { + case VL53L0_DEVICEMODE_SINGLE_RANGING: + case VL53L0_DEVICEMODE_CONTINUOUS_RANGING: + case VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING: + case VL53L0_DEVICEMODE_SINGLE_HISTOGRAM: + case VL53L0_DEVICEMODE_GPIO_DRIVE: + case VL53L0_DEVICEMODE_GPIO_OSC: + /* Supported mode */ + VL53L010_SETPARAMETERFIELD(Dev, DeviceMode, DeviceMode); + break; + default: + /* Unsupported mode */ + Status = VL53L0_ERROR_MODE_NOT_SUPPORTED; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetDeviceMode(VL53L0_DEV Dev, + VL53L0_DeviceModes *pDeviceMode) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + + LOG_FUNCTION_START(""); + + VL53L010_GETPARAMETERFIELD(Dev, DeviceMode, *pDeviceMode); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_SetHistogramMode(VL53L0_DEV Dev, + VL53L0_HistogramModes HistogramMode) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + + LOG_FUNCTION_START("%d", (int)HistogramMode); + + switch (HistogramMode) { + case VL53L0_HISTOGRAMMODE_DISABLED: + /* Supported mode */ + VL53L010_SETPARAMETERFIELD(Dev, HistogramMode, + HistogramMode); + break; + case VL53L0_HISTOGRAMMODE_REFERENCE_ONLY: + case VL53L0_HISTOGRAMMODE_RETURN_ONLY: + case VL53L0_HISTOGRAMMODE_BOTH: + default: + /* Unsupported mode */ + Status = VL53L0_ERROR_MODE_NOT_SUPPORTED; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetHistogramMode(VL53L0_DEV Dev, + VL53L0_HistogramModes *pHistogramMode) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + + LOG_FUNCTION_START(""); + + VL53L010_GETPARAMETERFIELD(Dev, HistogramMode, *pHistogramMode); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_SetMeasurementTimingBudgetMicroSeconds(VL53L0_DEV Dev, + uint32_t MeasurementTimingBudgetMicroSeconds) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + VL53L0_DeviceSpecificParameters_t DeviceSpecificParameters; + uint8_t CurrentVCSELPulsePeriod; + uint8_t CurrentVCSELPulsePeriodPClk; + uint8_t Byte; + uint32_t NewTimingBudgetMicroSeconds; + uint16_t encodedTimeOut; + + LOG_FUNCTION_START(""); + + /* check if rangeB is done: */ + Status = VL53L010_GetWrapAroundCheckEnable(Dev, &Byte); + + if (Status == VL53L0_ERROR_NONE) { + if (((Byte == 1) && (MeasurementTimingBudgetMicroSeconds < +17000)) || + ((Byte == 0) && (MeasurementTimingBudgetMicroSeconds < +12000))) { + Status = VL53L0_ERROR_INVALID_PARAMS; + } + } + + if (Status == VL53L0_ERROR_NONE) { + NewTimingBudgetMicroSeconds = +MeasurementTimingBudgetMicroSeconds - + 7000; + if (Byte == 1) { + NewTimingBudgetMicroSeconds = + (uint32_t)(NewTimingBudgetMicroSeconds >> 1); + } + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_get_vcsel_pulse_period(Dev, + &CurrentVCSELPulsePeriodPClk, 0); + } + + if (Status == VL53L0_ERROR_NONE) { + CurrentVCSELPulsePeriod = VL53L010_encode_vcsel_period( + CurrentVCSELPulsePeriodPClk); + encodedTimeOut = VL53L010_calc_encoded_timeout(Dev, + NewTimingBudgetMicroSeconds, + (uint8_t) + CurrentVCSELPulsePeriod); + VL53L010_SETPARAMETERFIELD(Dev, +MeasurementTimingBudgetMicroSeconds, + MeasurementTimingBudgetMicroSeconds); + VL53L010_SETDEVICESPECIFICPARAMETER(Dev, LastEncodedTimeout, + encodedTimeOut); + } + + /* Program in register */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_WrWord(Dev, VL53L010_REG_RNGA_TIMEOUT_MSB, + encodedTimeOut); + } + + /* Temp: program same value for rangeB1 and rangeB2 */ + /* Range B1 */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_get_vcsel_pulse_period(Dev, + &CurrentVCSELPulsePeriodPClk, 1); + if (Status == VL53L0_ERROR_NONE) { + CurrentVCSELPulsePeriod = VL53L010_encode_vcsel_period( + CurrentVCSELPulsePeriodPClk); + encodedTimeOut = VL53L010_calc_encoded_timeout(Dev, + NewTimingBudgetMicroSeconds, + (uint8_t) + CurrentVCSELPulsePeriod); + } + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_WrWord(Dev, VL53L010_REG_RNGB1_TIMEOUT_MSB, + encodedTimeOut); + } + + /* Range B2 */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_get_vcsel_pulse_period(Dev, + &CurrentVCSELPulsePeriodPClk, 2); + if (Status == VL53L0_ERROR_NONE) { + CurrentVCSELPulsePeriod = VL53L010_encode_vcsel_period( + CurrentVCSELPulsePeriodPClk); + encodedTimeOut = VL53L010_calc_encoded_timeout(Dev, + NewTimingBudgetMicroSeconds, + (uint8_t) + CurrentVCSELPulsePeriod); + } + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_WrWord(Dev, VL53L010_REG_RNGB2_TIMEOUT_MSB, + encodedTimeOut); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetMeasurementTimingBudgetMicroSeconds(VL53L0_DEV Dev, + uint32_t *pMeasurementTimingBudgetMicroSeconds) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + uint8_t CurrentVCSELPulsePeriod; + uint8_t CurrentVCSELPulsePeriodPClk; + uint16_t encodedTimeOut; + uint32_t RangATimingBudgetMicroSeconds = 0; + uint32_t RangBTimingBudgetMicroSeconds = 0; + uint8_t Byte; + + LOG_FUNCTION_START(""); + + /* check if rangeB is done: */ + Status = VL53L010_GetWrapAroundCheckEnable(Dev, &Byte); + + if (Status == VL53L0_ERROR_NONE) { + VL53L010_get_vcsel_pulse_period(Dev, + &CurrentVCSELPulsePeriodPClk, 0); + CurrentVCSELPulsePeriod = VL53L010_encode_vcsel_period( + CurrentVCSELPulsePeriodPClk); + + /* Read from register */ + Status = VL53L0_RdWord(Dev, VL53L010_REG_RNGA_TIMEOUT_MSB, + &encodedTimeOut); + if (Status == VL53L0_ERROR_NONE) { + RangATimingBudgetMicroSeconds = + VL53L010_calc_ranging_wait_us(Dev, + encodedTimeOut, + CurrentVCSELPulsePeriod); + } + } + + if (Status == VL53L0_ERROR_NONE) { + if (Byte == 0) { + *pMeasurementTimingBudgetMicroSeconds = + RangATimingBudgetMicroSeconds + 7000; + VL53L010_SETPARAMETERFIELD(Dev, + MeasurementTimingBudgetMicroSeconds, + *pMeasurementTimingBudgetMicroSeconds); + } else { + VL53L010_get_vcsel_pulse_period(Dev, + &CurrentVCSELPulsePeriodPClk, 1); + CurrentVCSELPulsePeriod = VL53L010_encode_vcsel_period( + CurrentVCSELPulsePeriodPClk); + + /* Read from register */ + Status = VL53L0_RdWord(Dev, + VL53L010_REG_RNGB1_TIMEOUT_MSB, + &encodedTimeOut); + if (Status == VL53L0_ERROR_NONE) { + RangBTimingBudgetMicroSeconds = + VL53L010_calc_ranging_wait_us( + Dev, encodedTimeOut, + CurrentVCSELPulsePeriod); + } + + *pMeasurementTimingBudgetMicroSeconds = + RangATimingBudgetMicroSeconds + + RangBTimingBudgetMicroSeconds + + 7000; + VL53L010_SETPARAMETERFIELD(Dev, + MeasurementTimingBudgetMicroSeconds, + *pMeasurementTimingBudgetMicroSeconds); + } + } + + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_SetInterMeasurementPeriodMilliSeconds(VL53L0_DEV Dev, + uint32_t InterMeasurementPeriodMilliSeconds) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + uint16_t osc_calibrate_val; + uint32_t IMPeriodMilliSeconds; + + LOG_FUNCTION_START(""); + + Status = VL53L0_RdWord(Dev, VL53L010_REG_OSC_CALIBRATE_VAL, + &osc_calibrate_val); + + if (Status == VL53L0_ERROR_NONE) { + + if (osc_calibrate_val != 0) { + + IMPeriodMilliSeconds = + InterMeasurementPeriodMilliSeconds * + osc_calibrate_val; + } else { + IMPeriodMilliSeconds = + InterMeasurementPeriodMilliSeconds; + } + Status = VL53L0_WrDWord(Dev, + VL53L010_REG_SYSTEM_INTERMEASUREMENT_PERIOD, + IMPeriodMilliSeconds); + } + + if (Status == VL53L0_ERROR_NONE) { + VL53L010_SETPARAMETERFIELD(Dev, + InterMeasurementPeriodMilliSeconds, + InterMeasurementPeriodMilliSeconds); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetInterMeasurementPeriodMilliSeconds(VL53L0_DEV Dev, + uint32_t *pInterMeasurementPeriodMilliSeconds) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + uint16_t osc_calibrate_val; + uint32_t IMPeriodMilliSeconds; + + LOG_FUNCTION_START(""); + + Status = VL53L0_RdWord(Dev, VL53L010_REG_OSC_CALIBRATE_VAL, + &osc_calibrate_val); + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdDWord(Dev, + VL53L010_REG_SYSTEM_INTERMEASUREMENT_PERIOD, + &IMPeriodMilliSeconds); + } + + if (Status == VL53L0_ERROR_NONE) { + if (osc_calibrate_val != 0) + *pInterMeasurementPeriodMilliSeconds = + IMPeriodMilliSeconds / + osc_calibrate_val; + + VL53L010_SETPARAMETERFIELD(Dev, + InterMeasurementPeriodMilliSeconds, + *pInterMeasurementPeriodMilliSeconds); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_SetXTalkCompensationEnable(VL53L0_DEV Dev, + uint8_t XTalkCompensationEnable) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + uint8_t XTalkCompensationEnableValue; + + LOG_FUNCTION_START(""); + + if (XTalkCompensationEnable == 0) { + /* Disable the crosstalk compensation */ + XTalkCompensationEnableValue = 0x00; + } else { + /* Enable the crosstalk compensation */ + XTalkCompensationEnableValue = 0x01; + } + Status = VL53L0_UpdateByte(Dev, VL53L010_REG_ALGO_RANGE_CHECK_ENABLES, + 0xFE, + XTalkCompensationEnableValue); + if (Status == VL53L0_ERROR_NONE) { + VL53L010_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, + XTalkCompensationEnableValue); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetXTalkCompensationEnable(VL53L0_DEV Dev, uint8_t* + pXTalkCompensationEnable) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + uint8_t data; + uint8_t Temp; + + LOG_FUNCTION_START(""); + + Status = VL53L0_RdByte(Dev, VL53L010_REG_ALGO_RANGE_CHECK_ENABLES, &data); + if (Status == VL53L0_ERROR_NONE) { + if (data & 0x01) + Temp = 0x01; + else + Temp = 0x00; + + *pXTalkCompensationEnable = Temp; + } + if (Status == VL53L0_ERROR_NONE) + VL53L010_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_SetXTalkCompensationRateMegaCps(VL53L0_DEV Dev, + FixPoint1616_t XTalkCompensationRateMegaCps) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + + LOG_FUNCTION_START(""); + + Status = VL53L0_WrWord(Dev, VL53L010_REG_ALGO_CROSSTALK_COMPENSATION_RATE, + VL53L010_FIXPOINT1616TOFIXPOINT412(XTalkCompensationRateMegaCps)); + if (Status == VL53L0_ERROR_NONE) { + VL53L010_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, + XTalkCompensationRateMegaCps); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetXTalkCompensationRateMegaCps(VL53L0_DEV Dev, + FixPoint1616_t *pXTalkCompensationRateMegaCps) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint16_t Value; + FixPoint1616_t TempFix1616; + VL53L0_DeviceParameters_t CurrentParameters; + + LOG_FUNCTION_START(""); + + Status = VL53L0_RdWord(Dev, VL53L010_REG_ALGO_CROSSTALK_COMPENSATION_RATE, + (uint16_t *) &Value); + if (Status == VL53L0_ERROR_NONE) { + TempFix1616 = VL53L010_FIXPOINT412TOFIXPOINT1616(Value); + *pXTalkCompensationRateMegaCps = TempFix1616; + VL53L010_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, + TempFix1616); + } + + LOG_FUNCTION_END(Status); + return Status; +} + + + + +/* + * CHECK LIMIT FUNCTIONS + */ + +VL53L0_Error VL53L010_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pNumberOfLimitCheck = VL53L010_CHECKENABLE_NUMBER_OF_CHECKS; + + LOG_FUNCTION_END(Status); + return Status; +} + + +#define VL53L010_BUILDCASESTRING(BUFFER, CODE, STRINGVALUE) \ + do { \ + case CODE: \ + VL53L0_COPYSTRING(BUFFER, STRINGVALUE); \ + break; \ + } while (0) + +VL53L0_Error VL53L010_GetLimitCheckInfo(VL53L0_DEV Dev, uint16_t LimitCheckId, + char *pLimitCheckString) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + switch (LimitCheckId) { + VL53L010_BUILDCASESTRING(pLimitCheckString, + VL53L010_CHECKENABLE_SIGMA_FINAL_RANGE, + VL53L010_STRING_CHECKENABLE_SIGMA); + VL53L010_BUILDCASESTRING(pLimitCheckString, + VL53L010_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + VL53L010_STRING_CHECKENABLE_SIGNAL_RATE); + + default: + VL53L0_COPYSTRING(pLimitCheckString, + VL53L010_STRING_UNKNOW_ERROR_CODE); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_SetLimitCheckEnable(VL53L0_DEV Dev, uint16_t LimitCheckId, + uint8_t LimitCheckEnable) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L010_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L0_ERROR_INVALID_PARAMS; + } else { + if (LimitCheckEnable == 0) { + VL53L010_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + LimitCheckId, 0); + } else { + VL53L010_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + LimitCheckId, 1); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetLimitCheckEnable(VL53L0_DEV Dev, uint16_t LimitCheckId, + uint8_t *pLimitCheckEnable) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + uint8_t Temp8; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L010_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L0_ERROR_INVALID_PARAMS; + } else { + VL53L010_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, LimitCheckId, Temp8); + *pLimitCheckEnable = Temp8; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_SetLimitCheckValue(VL53L0_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t LimitCheckValue) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L010_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L0_ERROR_INVALID_PARAMS; + } else { + VL53L010_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, LimitCheckId, + LimitCheckValue); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetLimitCheckValue(VL53L0_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckValue) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L010_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L0_ERROR_INVALID_PARAMS; + } else { + VL53L010_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + LimitCheckId, *pLimitCheckValue); + } + + LOG_FUNCTION_END(Status); + return Status; + +} + +VL53L0_Error VL53L010_GetLimitCheckCurrent(VL53L0_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckCurrent) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L010_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L0_ERROR_INVALID_PARAMS; + } else { + switch (LimitCheckId) { + case VL53L010_CHECKENABLE_SIGMA_FINAL_RANGE: + /* Need to run a ranging to have the latest values */ + *pLimitCheckCurrent = PALDevDataGet(Dev, SigmaEstimate); + + break; + + case VL53L010_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + /* Need to run a ranging to have the latest values */ + *pLimitCheckCurrent = PALDevDataGet(Dev, SignalEstimate); + + break; + default: + Status = VL53L0_ERROR_INVALID_PARAMS; + } + } + + LOG_FUNCTION_END(Status); + return Status; + +} + +/* + * WRAPAROUND LIMIT + */ +VL53L0_Error VL53L010_SetWrapAroundCheckEnable(VL53L0_DEV Dev, uint8_t + WrapAroundCheckEnable) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Byte; + uint8_t WrapAroundCheckEnableInt; + VL53L0_DeviceParameters_t CurrentParameters; + + LOG_FUNCTION_START(""); + + Status = VL53L0_RdByte(Dev, VL53L010_REG_SYSTEM_SEQUENCE_CONFIG, &Byte); + if (WrapAroundCheckEnable == 0) { + /* Disable wraparound */ + Byte = Byte & 0x7F; + WrapAroundCheckEnableInt = 0; + } else { + /* Enable wraparound */ + Byte = Byte | 0x80; + WrapAroundCheckEnableInt = 1; + } + + Status = VL53L0_WrByte(Dev, VL53L010_REG_SYSTEM_SEQUENCE_CONFIG, Byte); + + if (Status == VL53L0_ERROR_NONE) { + PALDevDataSet(Dev, SequenceConfig, Byte); + VL53L010_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable, + WrapAroundCheckEnableInt); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetWrapAroundCheckEnable(VL53L0_DEV Dev, uint8_t + *pWrapAroundCheckEnable) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t data; + VL53L0_DeviceParameters_t CurrentParameters; + + LOG_FUNCTION_START(""); + + Status = VL53L0_RdByte(Dev, VL53L010_REG_SYSTEM_SEQUENCE_CONFIG, &data); + if (Status == VL53L0_ERROR_NONE) { + PALDevDataSet(Dev, SequenceConfig, data); + if (data & (0x01 << 7)) + *pWrapAroundCheckEnable = 0x01; + else + *pWrapAroundCheckEnable = 0x00; + + } + if (Status == VL53L0_ERROR_NONE) { + VL53L010_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable, + *pWrapAroundCheckEnable); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +/* End Group PAL Parameters Functions */ + +/* Group PAL Measurement Functions */ +VL53L0_Error VL53L010_PerformSingleMeasurement(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceModes DeviceMode; + uint8_t NewDatReady = 0; + uint32_t LoopNb; + + LOG_FUNCTION_START(""); + + /* Get Current DeviceMode */ + Status = VL53L010_GetDeviceMode(Dev, &DeviceMode); + + /* Start immediately to run a single ranging measurement in case of + single ranging or single histogram */ + if ((Status == VL53L0_ERROR_NONE) && + ((DeviceMode == VL53L0_DEVICEMODE_SINGLE_RANGING) || + (DeviceMode == + VL53L0_DEVICEMODE_SINGLE_HISTOGRAM))) { + Status = VL53L010_StartMeasurement(Dev); + } + + /* Wait until it finished + use timeout to avoid deadlock + */ + if (Status == VL53L0_ERROR_NONE) { + LoopNb = 0; + do { + Status = VL53L010_GetMeasurementDataReady(Dev, + &NewDatReady); + if ((NewDatReady == 0x01) || Status != + VL53L0_ERROR_NONE) { + break; + } + LoopNb = LoopNb + 1; + VL53L0_PollingDelay(Dev); + } while (LoopNb < VL53L0_DEFAULT_MAX_LOOP); + + if (LoopNb >= VL53L0_DEFAULT_MAX_LOOP) + Status = VL53L0_ERROR_TIME_OUT; + + } + + /* Change PAL State in case of single ranging or single histogram + */ + if ((Status == VL53L0_ERROR_NONE) && + ((DeviceMode == VL53L0_DEVICEMODE_SINGLE_RANGING) || + (DeviceMode == + VL53L0_DEVICEMODE_SINGLE_HISTOGRAM))) { + PALDevDataSet(Dev, PalState, VL53L0_STATE_IDLE); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_PerformRefCalibration(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t NewDatReady = 0; + uint8_t Byte = 0; + uint8_t SequenceConfig = 0; + uint32_t LoopNb; + + LOG_FUNCTION_START(""); + + /* store the value of the sequence config, + * this will be reset before the end of the function + */ + + SequenceConfig = PALDevDataGet(Dev, SequenceConfig); + + Status = VL53L0_WrByte(Dev, VL53L010_REG_SYSTEM_SEQUENCE_CONFIG, 0x03); + + if (Status == VL53L0_ERROR_NONE) { + PALDevDataSet(Dev, SequenceConfig, 0x03); + Status = VL53L0_WrByte(Dev, VL53L010_REG_SYSRANGE_START, + VL53L010_REG_SYSRANGE_MODE_START_STOP); + } + + if (Status == VL53L0_ERROR_NONE) { + /* Wait until start bit has been cleared */ + LoopNb = 0; + do { + if (LoopNb > 0) + Status = VL53L0_RdByte(Dev, + VL53L010_REG_SYSRANGE_START, &Byte); + LoopNb = LoopNb + 1; + } while (((Byte & VL53L010_REG_SYSRANGE_MODE_START_STOP) == + VL53L010_REG_SYSRANGE_MODE_START_STOP) && + (Status == VL53L0_ERROR_NONE) && + (LoopNb < VL53L0_DEFAULT_MAX_LOOP)); + } + + /* Wait until it finished + use timeout to avoid deadlock + */ + if (Status == VL53L0_ERROR_NONE) { + LoopNb = 0; + do { + Status = VL53L010_GetMeasurementDataReady(Dev, + &NewDatReady); + if ((NewDatReady == 0x01) || Status != + VL53L0_ERROR_NONE) { + break; + } + LoopNb = LoopNb + 1; + VL53L0_PollingDelay(Dev); + } while (LoopNb < VL53L0_DEFAULT_MAX_LOOP); + + if (LoopNb >= VL53L0_DEFAULT_MAX_LOOP) + Status = VL53L0_ERROR_TIME_OUT; + + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x00); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x04); + Status |= VL53L0_RdByte(Dev, 0x30, &Byte); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0_WrByte(Dev, 0x31, Byte); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x01); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + } + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L010_ClearInterruptMask(Dev, 0); + + + if (Status == VL53L0_ERROR_NONE) { + /* restore the previous Sequence Config */ + Status = VL53L0_WrByte(Dev, VL53L010_REG_SYSTEM_SEQUENCE_CONFIG, + SequenceConfig); + } + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, SequenceConfig, SequenceConfig); + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L010_API VL53L0_Error VL53L010_PerformXTalkCalibration(VL53L0_DEV Dev, + FixPoint1616_t XTalkCalDistance, + FixPoint1616_t *pXTalkCompensationRateMegaCps) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint16_t sum_ranging = 0; + uint16_t sum_spads = 0; + FixPoint1616_t sum_signalRate = 0; + FixPoint1616_t total_count = 0; + uint8_t xtalk_meas = 0; + VL53L0_RangingMeasurementData_t RangingMeasurementData; + FixPoint1616_t xTalkStoredMeanSignalRate; + FixPoint1616_t xTalkStoredMeanRange; + FixPoint1616_t xTalkStoredMeanRtnSpads; + uint32_t signalXTalkTotalPerSpad; + uint32_t xTalkStoredMeanRtnSpadsAsInt; + uint32_t xTalkCalDistanceAsInt; + FixPoint1616_t XTalkCompensationRateMegaCps; + + LOG_FUNCTION_START(""); + + if (XTalkCalDistance <= 0) + Status = VL53L0_ERROR_INVALID_PARAMS; + + + /* Disable the XTalk compensation */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L010_SetXTalkCompensationEnable(Dev, 0); + + + /* Perform 50 measurements and compute the averages */ + if (Status == VL53L0_ERROR_NONE) { + sum_ranging = 0; + sum_spads = 0; + sum_signalRate = 0; + total_count = 0; + for (xtalk_meas = 0; xtalk_meas < 50; xtalk_meas++) { + Status = VL53L010_PerformSingleRangingMeasurement(Dev, + &RangingMeasurementData); + + if (Status != VL53L0_ERROR_NONE) + break; + + /* The range is valid when RangeStatus = 0 */ + if (RangingMeasurementData.RangeStatus == 0) { + sum_ranging = sum_ranging + + RangingMeasurementData.RangeMilliMeter; + sum_signalRate = sum_signalRate + + RangingMeasurementData.SignalRateRtnMegaCps; + sum_spads = sum_spads + + RangingMeasurementData.EffectiveSpadRtnCount + / 32; + total_count = total_count + 1; + } + } + + if (total_count == 0) { + /* no valid values found */ + Status = VL53L0_ERROR_DIVISION_BY_ZERO; + } + } + + + if (Status == VL53L0_ERROR_NONE) { + /* FixPoint1616_t / uint16_t = FixPoint1616_t */ + xTalkStoredMeanSignalRate = sum_signalRate / total_count; + xTalkStoredMeanRange = + (FixPoint1616_t)((uint32_t)(sum_ranging << 16) / + total_count); + xTalkStoredMeanRtnSpads = + (FixPoint1616_t)((uint32_t)(sum_spads<<16) / + total_count); + + /* Round Mean Spads to Whole Number. + Typically the calculated mean SPAD count is a whole number or + very close to a whole + number, therefore any truncation will not result in a + significant loss in accuracy. + Also, for a grey target at a typical distance of around 400mm, + around 220 SPADs will + be enabled, therefore, any truncation will result in a loss of + accuracy of less than 0.5%. + */ + xTalkStoredMeanRtnSpadsAsInt = (xTalkStoredMeanRtnSpads + + 0x8000) >> 16; + + /* Round Cal Distance to Whole Number. + Note that the cal distance is in mm, therefore no resolution is + lost. + */ + xTalkCalDistanceAsInt = (XTalkCalDistance + 0x8000) >> 16; + + if (xTalkStoredMeanRtnSpadsAsInt == 0 || xTalkCalDistanceAsInt + == 0 || + xTalkStoredMeanRange >= XTalkCalDistance) { + XTalkCompensationRateMegaCps = 0; + } else { + /* Round Cal Distance to Whole Number. + Note that the cal distance is in mm, therefore no + resolution is lost. + */ + xTalkCalDistanceAsInt = (XTalkCalDistance + 0x8000) >> + 16; + + /* Apply division by mean spad count early in the + calculation to keep the numbers small. + This ensures we can maintain a 32bit calculation. + Fixed1616 / int := Fixed1616 + */ + signalXTalkTotalPerSpad = + (xTalkStoredMeanSignalRate) / + xTalkStoredMeanRtnSpadsAsInt; + + /* Complete the calculation for total Signal XTalk per + SPAD Fixed1616 * (Fixed1616 - Fixed1616/int) + := (2^16 * Fixed1616) + */ + signalXTalkTotalPerSpad *= ((1<<16) - + (xTalkStoredMeanRange/xTalkCalDistanceAsInt)); + + /* Round from 2^16 * Fixed1616, to Fixed1616. */ + XTalkCompensationRateMegaCps = (signalXTalkTotalPerSpad + + 0x8000) >> 16; + } + + *pXTalkCompensationRateMegaCps = XTalkCompensationRateMegaCps; + + /* Enable the XTalk compensation */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L010_SetXTalkCompensationEnable(Dev, 1); + + + /* Enable the XTalk compensation */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_SetXTalkCompensationRateMegaCps(Dev, + XTalkCompensationRateMegaCps); + } + + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L010_API VL53L0_Error VL53L010_PerformOffsetCalibration(VL53L0_DEV Dev, + FixPoint1616_t CalDistanceMilliMeter, + int32_t* pOffsetMicroMeter) { + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint16_t sum_ranging = 0; + FixPoint1616_t total_count = 0; + VL53L0_RangingMeasurementData_t RangingMeasurementData; + FixPoint1616_t StoredMeanRange; + uint32_t StoredMeanRangeAsInt; + VL53L0_DeviceParameters_t CurrentParameters; + uint32_t CalDistanceAsInt_mm; + int meas = 0; + LOG_FUNCTION_START(""); + + if (CalDistanceMilliMeter<=0) { + Status = VL53L0_ERROR_INVALID_PARAMS; + } + + if (Status == VL53L0_ERROR_NONE) { + VL53L010_SetOffsetCalibrationDataMicroMeter(Dev, 0); + } + + /* Perform 50 measurements and compute the averages */ + if (Status == VL53L0_ERROR_NONE) { + sum_ranging = 0; + total_count = 0; + for(meas=0;meas<50;meas++) + { + Status = VL53L010_PerformSingleRangingMeasurement(Dev, &RangingMeasurementData); + + if (Status != VL53L0_ERROR_NONE) { + break; + } + + /* The range is valid when RangeStatus = 0 */ + if (RangingMeasurementData.RangeStatus == 0) { + sum_ranging = sum_ranging + RangingMeasurementData.RangeMilliMeter; + total_count = total_count + 1; + } + } + + if (total_count == 0) { + /* no valid values found */ + Status = VL53L0_ERROR_RANGE_ERROR; + } + } + + + if (Status == VL53L0_ERROR_NONE) { + /* FixPoint1616_t / uint16_t = FixPoint1616_t */ + StoredMeanRange = (FixPoint1616_t)((uint32_t)(sum_ranging<<16) / total_count); + + StoredMeanRangeAsInt = (StoredMeanRange + 0x8000) >> 16; + + /* Round Cal Distance to Whole Number. + * Note that the cal distance is in mm, therefore no resolution is lost.*/ + CalDistanceAsInt_mm = (CalDistanceMilliMeter + 0x8000) >> 16; + + *pOffsetMicroMeter = (CalDistanceAsInt_mm - StoredMeanRangeAsInt) * 1000; + + /* Apply the calculated offset */ + if (Status == VL53L0_ERROR_NONE) { + VL53L010_SETPARAMETERFIELD(Dev, RangeOffsetMicroMeters, *pOffsetMicroMeter); + Status = VL53L010_SetOffsetCalibrationDataMicroMeter(Dev, *pOffsetMicroMeter); + } + + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_StartMeasurement(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceModes DeviceMode; + uint8_t Byte = 0; + uint32_t LoopNb; + + LOG_FUNCTION_START(""); + + /* Get Current DeviceMode */ + VL53L010_GetDeviceMode(Dev, &DeviceMode); + + switch (DeviceMode) { + case VL53L0_DEVICEMODE_SINGLE_RANGING: + Status = VL53L0_WrByte(Dev, VL53L010_REG_SYSRANGE_START, + VL53L010_REG_SYSRANGE_MODE_SINGLESHOT | + VL53L010_REG_SYSRANGE_MODE_START_STOP); + break; + case VL53L0_DEVICEMODE_CONTINUOUS_RANGING: + /* Back-to-back mode */ + Status = VL53L0_WrByte(Dev, VL53L010_REG_SYSRANGE_START, + VL53L010_REG_SYSRANGE_MODE_BACKTOBACK | + VL53L010_REG_SYSRANGE_MODE_START_STOP); + if (Status == VL53L0_ERROR_NONE) { + /* Set PAL State to Running */ + PALDevDataSet(Dev, PalState, VL53L0_STATE_RUNNING); + } + break; + case VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING: + /* Continuous mode */ + Status = VL53L0_WrByte(Dev, VL53L010_REG_SYSRANGE_START, + VL53L010_REG_SYSRANGE_MODE_TIMED | + VL53L010_REG_SYSRANGE_MODE_START_STOP); + if (Status == VL53L0_ERROR_NONE) { + /* Set PAL State to Running */ + PALDevDataSet(Dev, PalState, VL53L0_STATE_RUNNING); + } + break; + default: + /* Selected mode not supported */ + Status = VL53L0_ERROR_MODE_NOT_SUPPORTED; + } + + if (Status == VL53L0_ERROR_NONE) { + /* Wait until start bit has been cleared */ + LoopNb = 0; + do { + if (LoopNb > 0) + Status = VL53L0_RdByte(Dev, + VL53L010_REG_SYSRANGE_START, &Byte); + LoopNb = LoopNb + 1; + } while (((Byte & VL53L010_REG_SYSRANGE_MODE_START_STOP) == + VL53L010_REG_SYSRANGE_MODE_START_STOP) && + (Status == VL53L0_ERROR_NONE) && + (LoopNb < VL53L0_DEFAULT_MAX_LOOP)); + + if (LoopNb >= VL53L0_DEFAULT_MAX_LOOP) + Status = VL53L0_ERROR_TIME_OUT; + + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_StopMeasurement(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L0_WrByte(Dev, VL53L010_REG_SYSRANGE_START, + VL53L010_REG_SYSRANGE_MODE_SINGLESHOT); + + if (Status == VL53L0_ERROR_NONE) { + /* Set PAL State to Idle */ + PALDevDataSet(Dev, PalState, VL53L0_STATE_IDLE); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetMeasurementDataReady(VL53L0_DEV Dev, uint8_t + *pMeasurementDataReady) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t SysRangeStatusRegister; + uint8_t InterruptConfig; + uint32_t InterruptMask; + + LOG_FUNCTION_START(""); + + InterruptConfig = VL53L010_GETDEVICESPECIFICPARAMETER(Dev, + Pin0GpioFunctionality); + + if (InterruptConfig == + VL53L010_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) { + VL53L010_GetInterruptMaskStatus(Dev, &InterruptMask); + if (InterruptMask == + VL53L010_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY){ + *pMeasurementDataReady = 1; + } else { + *pMeasurementDataReady = 0; + } + } else { + Status = VL53L0_RdByte(Dev, VL53L010_REG_RESULT_RANGE_STATUS, + &SysRangeStatusRegister); + if (Status == VL53L0_ERROR_NONE) { + if (SysRangeStatusRegister & 0x01) + *pMeasurementDataReady = 1; + else + *pMeasurementDataReady = 0; + + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_WaitDeviceReadyForNewMeasurement(VL53L0_DEV Dev, uint32_t + MaxLoop) +{ + VL53L0_Error Status = VL53L0_ERROR_NOT_IMPLEMENTED; + + LOG_FUNCTION_START(""); + + /* not implemented for VL53L0 */ + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetRangingMeasurementData(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t DeviceRangeStatus; + uint8_t PalRangeStatus; + uint16_t AmbientRate; + FixPoint1616_t SignalRate; + FixPoint1616_t CrosstalkCompensation; + uint16_t EffectiveSpadRtnCount; + uint8_t localBuffer[14]; + VL53L0_RangingMeasurementData_t LastRangeDataBuffer; + + LOG_FUNCTION_START(""); + + /* use multi read even if some registers are not useful, result will be + more efficient + start reading at 0x14 dec20 + end reading at 0x21 dec33 total 14 bytes to read + */ + Status = VL53L0_ReadMulti(Dev, 0x14, localBuffer, 14); + + if (Status == VL53L0_ERROR_NONE) { + + pRangingMeasurementData->ZoneId = 0; /* Only one zone */ + pRangingMeasurementData->TimeStamp = 0; /* Not Implemented */ + + pRangingMeasurementData->RangeMilliMeter = + VL53L010_MAKEUINT16(localBuffer[11], localBuffer[10]); + + pRangingMeasurementData->RangeDMaxMilliMeter = 0; + pRangingMeasurementData->RangeFractionalPart = 0; + pRangingMeasurementData->MeasurementTimeUsec = 0; + + SignalRate = + VL53L010_FIXPOINT97TOFIXPOINT1616( + VL53L010_MAKEUINT16(localBuffer[7], localBuffer[6])); + pRangingMeasurementData->SignalRateRtnMegaCps = SignalRate; + + AmbientRate = VL53L010_MAKEUINT16(localBuffer[9], localBuffer[8]); + pRangingMeasurementData->AmbientRateRtnMegaCps = + VL53L010_FIXPOINT97TOFIXPOINT1616(AmbientRate); + + EffectiveSpadRtnCount = VL53L010_MAKEUINT16(localBuffer[3], + localBuffer[2]); + pRangingMeasurementData->EffectiveSpadRtnCount = + EffectiveSpadRtnCount; + + DeviceRangeStatus = localBuffer[0]; + + /* initial format = 4.12, when pass to 16.16 from 9.7 we shift + 5 bit more this will be absorbed in the further computation + */ + CrosstalkCompensation = + VL53L010_FIXPOINT97TOFIXPOINT1616( + VL53L010_MAKEUINT16(localBuffer[13], localBuffer[12])); + + /* + * For a standard definition of RangeStatus, this should return + * 0 in case of good result after a ranging + * The range status depends on the device so call a device + * specific function to obtain the right Status. + */ + Status = VL53L010_get_pal_range_status(Dev, DeviceRangeStatus, + SignalRate, CrosstalkCompensation, + EffectiveSpadRtnCount, + pRangingMeasurementData, &PalRangeStatus); + + if (Status == VL53L0_ERROR_NONE) + pRangingMeasurementData->RangeStatus = PalRangeStatus; + + } + + if (Status == VL53L0_ERROR_NONE) { + /* Copy last read data into Dev buffer */ + LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure); + + LastRangeDataBuffer.RangeMilliMeter = + pRangingMeasurementData->RangeMilliMeter; + LastRangeDataBuffer.RangeFractionalPart = + pRangingMeasurementData->RangeFractionalPart; + LastRangeDataBuffer.RangeDMaxMilliMeter = + pRangingMeasurementData->RangeDMaxMilliMeter; + LastRangeDataBuffer.MeasurementTimeUsec = + pRangingMeasurementData->MeasurementTimeUsec; + LastRangeDataBuffer.SignalRateRtnMegaCps = + pRangingMeasurementData->SignalRateRtnMegaCps; + LastRangeDataBuffer.AmbientRateRtnMegaCps = + pRangingMeasurementData->AmbientRateRtnMegaCps; + LastRangeDataBuffer.EffectiveSpadRtnCount = + pRangingMeasurementData->EffectiveSpadRtnCount; + LastRangeDataBuffer.RangeStatus = + pRangingMeasurementData->RangeStatus; + + PALDevDataSet(Dev, LastRangeMeasure, LastRangeDataBuffer); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetHistogramMeasurementData(VL53L0_DEV Dev, + VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData) +{ + VL53L0_Error Status = VL53L0_ERROR_NOT_IMPLEMENTED; + + LOG_FUNCTION_START(""); + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L0_Error VL53L010_PerformSingleRangingMeasurement(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + /* This function will do a complete single ranging + * Here we fix the mode! + */ + Status = VL53L010_SetDeviceMode(Dev, VL53L0_DEVICEMODE_SINGLE_RANGING); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L010_PerformSingleMeasurement(Dev); + + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_GetRangingMeasurementData(Dev, + pRangingMeasurementData); + } + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L010_ClearInterruptMask(Dev, 0); + + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L0_Error VL53L010_PerformSingleHistogramMeasurement(VL53L0_DEV Dev, + VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData) +{ + VL53L0_Error Status = VL53L0_ERROR_NOT_IMPLEMENTED; + + LOG_FUNCTION_START(""); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_SetNumberOfROIZones(VL53L0_DEV Dev, uint8_t + NumberOfROIZones) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (NumberOfROIZones != 1) + Status = VL53L0_ERROR_INVALID_PARAMS; + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetNumberOfROIZones(VL53L0_DEV Dev, uint8_t* + pNumberOfROIZones) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pNumberOfROIZones = 1; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetMaxNumberOfROIZones(VL53L0_DEV Dev, uint8_t + *pMaxNumberOfROIZones) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pMaxNumberOfROIZones = 1; + + LOG_FUNCTION_END(Status); + return Status; +} + +/* End Group PAL Measurement Functions */ + + +VL53L0_Error VL53L010_SetGpioConfig(VL53L0_DEV Dev, uint8_t Pin, + VL53L0_DeviceModes DeviceMode, VL53L0_GpioFunctionality Functionality, + VL53L0_InterruptPolarity Polarity) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceSpecificParameters_t DeviceSpecificParameters; + uint8_t data; + + LOG_FUNCTION_START(""); + + if (Pin != 0) { + Status = VL53L0_ERROR_GPIO_NOT_EXISTING; + } else if (DeviceMode == VL53L0_DEVICEMODE_GPIO_DRIVE) { + if (Polarity == VL53L0_INTERRUPTPOLARITY_LOW) { + data = 0x10; + } else { + data = 1; + } + Status = VL53L0_WrByte(Dev, + VL53L010_REG_GPIO_HV_MUX_ACTIVE_HIGH, data); + + } else if (DeviceMode == VL53L0_DEVICEMODE_GPIO_OSC) { + + Status |= VL53L0_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x00); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x00); + Status |= VL53L0_WrByte(Dev, 0x80, 0x01); + Status |= VL53L0_WrByte(Dev, 0x85, 0x02); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x04); + Status |= VL53L0_WrByte(Dev, 0xcd, 0x00); + Status |= VL53L0_WrByte(Dev, 0xcc, 0x11); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x07); + Status |= VL53L0_WrByte(Dev, 0xbe, 0x00); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x06); + Status |= VL53L0_WrByte(Dev, 0xcc, 0x09); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x00); + Status |= VL53L0_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x00); + + } else { + + if (Status == VL53L0_ERROR_NONE) { + switch (Functionality) { + case VL53L010_GPIOFUNCTIONALITY_OFF: + data = 0x00; + break; + case VL53L010_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW: + data = 0x01; + break; + case VL53L010_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH: + data = 0x02; + break; + case VL53L010_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT: + data = 0x03; + break; + case VL53L010_GPIOFUNCTIONALITY_NEW_MEASURE_READY: + data = 0x04; + break; + default: + Status = VL53L0_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED; + } + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_WrByte(Dev, + VL53L010_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, + data); + } + + if (Status == VL53L0_ERROR_NONE) { + if (Polarity == VL53L0_INTERRUPTPOLARITY_LOW) + data = 0; + else + data = (uint8_t)(1<<4); + + Status = VL53L0_UpdateByte(Dev, + VL53L010_REG_GPIO_HV_MUX_ACTIVE_HIGH, + 0xEF, data); + } + + if (Status == VL53L0_ERROR_NONE) { + VL53L010_SETDEVICESPECIFICPARAMETER(Dev, Pin0GpioFunctionality, + Functionality); + } + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L010_ClearInterruptMask(Dev, 0); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetGpioConfig(VL53L0_DEV Dev, uint8_t Pin, + VL53L0_DeviceModes *DeviceMode, + VL53L0_GpioFunctionality *pFunctionality, + VL53L0_InterruptPolarity *pPolarity) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceSpecificParameters_t DeviceSpecificParameters; + VL53L0_GpioFunctionality GpioFunctionality; + uint8_t data; + + LOG_FUNCTION_START(""); + + if (Pin != 0) { + Status = VL53L0_ERROR_GPIO_NOT_EXISTING; + } else { + Status = VL53L0_RdByte(Dev, + VL53L010_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, + &data); + } + + if (Status == VL53L0_ERROR_NONE) { + switch (data&0x07) { + case 0x00: + GpioFunctionality = VL53L010_GPIOFUNCTIONALITY_OFF; + break; + case 0x01: + GpioFunctionality = + VL53L010_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW; + break; + case 0x02: + GpioFunctionality = + VL53L010_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH; + break; + case 0x03: + GpioFunctionality = + VL53L010_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT; + break; + case 0x04: + GpioFunctionality = + VL53L010_GPIOFUNCTIONALITY_NEW_MEASURE_READY; + break; + default: + Status = VL53L0_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED; + } + } + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_RdByte(Dev, + VL53L010_REG_GPIO_HV_MUX_ACTIVE_HIGH, &data); + + if (Status == VL53L0_ERROR_NONE) { + if ((data & (uint8_t)(1<<4)) == 0) + *pPolarity = VL53L0_INTERRUPTPOLARITY_LOW; + else + *pPolarity = VL53L0_INTERRUPTPOLARITY_HIGH; + } + + if (Status == VL53L0_ERROR_NONE) { + *pFunctionality = GpioFunctionality; + VL53L010_SETDEVICESPECIFICPARAMETER(Dev, Pin0GpioFunctionality, + GpioFunctionality); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_SetInterruptThresholds(VL53L0_DEV Dev, VL53L0_DeviceModes + DeviceMode, FixPoint1616_t ThresholdLow, FixPoint1616_t ThresholdHigh) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint16_t Threshold16; + + LOG_FUNCTION_START(""); + + /* no dependency on DeviceMode for Ewok */ + /* Need to divide by 2 because the FW will apply a x2 */ + Threshold16 = (uint16_t)((ThresholdLow >> 17) & 0x00fff); + Status = VL53L0_WrWord(Dev, VL53L010_REG_SYSTEM_THRESH_LOW, Threshold16); + + if (Status == VL53L0_ERROR_NONE) { + /* Need to divide by 2 because the FW will apply a x2 */ + Threshold16 = (uint16_t)((ThresholdHigh >> 17) & 0x00fff); + Status = VL53L0_WrWord(Dev, VL53L010_REG_SYSTEM_THRESH_HIGH, + Threshold16); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetInterruptThresholds(VL53L0_DEV Dev, VL53L0_DeviceModes + DeviceMode, FixPoint1616_t *pThresholdLow, + FixPoint1616_t *pThresholdHigh) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint16_t Threshold16; + + LOG_FUNCTION_START(""); + + /* no dependency on DeviceMode for Ewok */ + + Status = VL53L0_RdWord(Dev, VL53L010_REG_SYSTEM_THRESH_LOW, &Threshold16); + /* Need to multiply by 2 because the FW will apply a x2 */ + *pThresholdLow = (FixPoint1616_t)((0x00fff & Threshold16)<<17); + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdWord(Dev, VL53L010_REG_SYSTEM_THRESH_HIGH, + &Threshold16); + /* Need to multiply by 2 because the FW will apply a x2 */ + *pThresholdHigh = (FixPoint1616_t)((0x00fff & Threshold16)<<17); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +/* Group PAL Interrupt Functions */ +VL53L0_Error VL53L010_ClearInterruptMask(VL53L0_DEV Dev, uint32_t InterruptMask) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t LoopCount; + uint8_t Byte; + + LOG_FUNCTION_START(""); + + /* clear bit 0 range interrupt, bit 1 error interrupt */ + Status = VL53L0_WrByte(Dev, VL53L010_REG_SYSTEM_INTERRUPT_CLEAR, 0x01); + LoopCount = 0; + do { + VL53L0_RdByte(Dev, VL53L010_REG_RESULT_INTERRUPT_STATUS, &Byte); + LoopCount++; + } while (((Byte & 0x07) != 0x00) && (LoopCount < 8)); + Status = VL53L0_WrByte(Dev, VL53L010_REG_SYSTEM_INTERRUPT_CLEAR, 0x00); + /* clear all */ + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetInterruptMaskStatus(VL53L0_DEV Dev, uint32_t + *pInterruptMaskStatus) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Byte; + + LOG_FUNCTION_START(""); + + Status = VL53L0_RdByte(Dev, VL53L010_REG_RESULT_INTERRUPT_STATUS, &Byte); + *pInterruptMaskStatus = Byte & 0x07; + + if (Byte & 0x18) { + Status = VL53L0_ERROR_RANGE_ERROR; /* check if some error + occurs */ + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_EnableInterruptMask(VL53L0_DEV Dev, uint32_t InterruptMask) +{ + VL53L0_Error Status = VL53L0_ERROR_NOT_IMPLEMENTED; + + LOG_FUNCTION_START(""); + + /* not implemented for VL53L0 */ + + LOG_FUNCTION_END(Status); + return Status; +} + +/* End Group PAL Interrupt Functions */ + +/* Group SPAD functions */ + +VL53L0_Error VL53L010_SetSpadAmbientDamperThreshold(VL53L0_DEV Dev, uint16_t + SpadAmbientDamperThreshold) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + VL53L0_WrByte(Dev, 0xFF, 0x01); + Status = VL53L0_WrWord(Dev, 0x40, SpadAmbientDamperThreshold); + VL53L0_WrByte(Dev, 0xFF, 0x00); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetSpadAmbientDamperThreshold(VL53L0_DEV Dev, uint16_t + *pSpadAmbientDamperThreshold) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + VL53L0_WrByte(Dev, 0xFF, 0x01); + Status = VL53L0_RdWord(Dev, 0x40, pSpadAmbientDamperThreshold); + VL53L0_WrByte(Dev, 0xFF, 0x00); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_SetSpadAmbientDamperFactor(VL53L0_DEV Dev, uint16_t + SpadAmbientDamperFactor) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Byte; + + LOG_FUNCTION_START(""); + + Byte = (uint8_t) (SpadAmbientDamperFactor & 0x00FF); + + VL53L0_WrByte(Dev, 0xFF, 0x01); + Status = VL53L0_WrByte(Dev, 0x42, Byte); + VL53L0_WrByte(Dev, 0xFF, 0x00); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_GetSpadAmbientDamperFactor(VL53L0_DEV Dev, uint16_t + *pSpadAmbientDamperFactor) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Byte; + + LOG_FUNCTION_START(""); + + VL53L0_WrByte(Dev, 0xFF, 0x01); + Status = VL53L0_RdByte(Dev, 0x42, &Byte); + VL53L0_WrByte(Dev, 0xFF, 0x00); + *pSpadAmbientDamperFactor = (uint16_t) Byte; + + LOG_FUNCTION_END(Status); + return Status; +} + +/* END Group SPAD functions */ + +/*////////////////////////////////////////////////////////////////////////////// +// +////////////////////////////////// +// Internal functions +//////////////////////////////////////////////////////////////////////////////// +////////////////////////////////// +*/ + + +VL53L010_EXTERNAL uint32_t VL53L010_calc_macro_period_ps(VL53L0_DEV Dev, + uint8_t vcsel_period); +VL53L010_EXTERNAL uint16_t VL53L010_encode_timeout(uint32_t timeout_mclks); +VL53L010_EXTERNAL uint32_t VL53L010_decode_timeout(uint16_t encoded_timeout); + +VL53L010_EXTERNAL VL53L0_Error VL53L010_get_vcsel_pulse_period(VL53L0_DEV Dev, uint8_t + *pVCSELPulsePeriod, uint8_t RangeIndex) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t vcsel_period_reg; + + LOG_FUNCTION_START(""); + + switch (RangeIndex) { + case 0: + Status = VL53L0_RdByte(Dev, VL53L010_REG_RNGA_CONFIG_VCSEL_PERIOD, + &vcsel_period_reg); + break; + case 1: + Status = VL53L0_RdByte(Dev, + VL53L010_REG_RNGB1_CONFIG_VCSEL_PERIOD, + &vcsel_period_reg); + break; + case 2: + Status = VL53L0_RdByte(Dev, + VL53L010_REG_RNGB2_CONFIG_VCSEL_PERIOD, + &vcsel_period_reg); + break; + default: + Status = VL53L0_RdByte(Dev, VL53L010_REG_RNGA_CONFIG_VCSEL_PERIOD, + &vcsel_period_reg); + } + + if (Status == VL53L0_ERROR_NONE) { + *pVCSELPulsePeriod = + VL53L010_decode_vcsel_period(vcsel_period_reg); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +/* To convert ms into register value */ +VL53L010_EXTERNAL uint16_t VL53L010_calc_encoded_timeout(VL53L0_DEV Dev, uint32_t + timeout_period_us, uint8_t vcsel_period) +{ + uint32_t macro_period_ps; + uint32_t macro_period_ns; + uint32_t timeout_period_mclks = 0; + uint16_t timeout_overall_periods = 0; + + macro_period_ps = VL53L010_calc_macro_period_ps(Dev, vcsel_period); + macro_period_ns = macro_period_ps / 1000; + + timeout_period_mclks = (uint32_t) (((timeout_period_us * 1000) + + (macro_period_ns / 2)) / macro_period_ns); + timeout_overall_periods = VL53L010_encode_timeout(timeout_period_mclks); + + return timeout_overall_periods; +} + +/* To convert register value into us */ +VL53L010_EXTERNAL uint32_t VL53L010_calc_ranging_wait_us(VL53L0_DEV Dev, uint16_t + timeout_overall_periods, uint8_t vcsel_period) +{ + uint32_t macro_period_ps; + uint32_t macro_period_ns; + uint32_t timeout_period_mclks = 0; + uint32_t actual_timeout_period_us = 0; + + macro_period_ps = VL53L010_calc_macro_period_ps(Dev, vcsel_period); + macro_period_ns = macro_period_ps / 1000; + + timeout_period_mclks = VL53L010_decode_timeout(timeout_overall_periods); + actual_timeout_period_us = ((timeout_period_mclks * macro_period_ns) + + (macro_period_ns / 2)) / 1000; + + return actual_timeout_period_us; +} + +VL53L010_EXTERNAL uint32_t VL53L010_calc_macro_period_ps(VL53L0_DEV Dev, + uint8_t vcsel_period) +{ + uint32_t PLL_multiplier; + uint64_t PLL_period_ps; + uint8_t vcsel_period_pclks; + uint32_t macro_period_vclks; + uint32_t macro_period_ps; + FixPoint1616_t OscFrequencyMHz; + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceSpecificParameters_t DeviceSpecificParameters; + + LOG_FUNCTION_START(""); + + PLL_multiplier = 65536 / 64; /* PLL multiplier is 64 */ + + OscFrequencyMHz = VL53L010_GETDEVICESPECIFICPARAMETER(Dev, + OscFrequencyMHz); + + if (OscFrequencyMHz == 0) { + /* Use default one */ + VL53L010_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, 748421); + OscFrequencyMHz = 748421; + } + PLL_period_ps = (1000 * 1000 * PLL_multiplier) / + OscFrequencyMHz; + + vcsel_period_pclks = VL53L010_decode_vcsel_period(vcsel_period); + + macro_period_vclks = 2304; + macro_period_ps = (uint32_t)(macro_period_vclks * vcsel_period_pclks * + PLL_period_ps); + + LOG_FUNCTION_END(""); + return macro_period_ps; +} + +VL53L010_EXTERNAL uint8_t VL53L010_decode_vcsel_period(uint8_t vcsel_period_reg) +{ + + /*! + * Converts the encoded VCSEL period register value into the real + * period in PLL clocks + */ + + uint8_t vcsel_period_pclks = 0; + + vcsel_period_pclks = (vcsel_period_reg + 1) << 1; + + return vcsel_period_pclks; +} + +VL53L010_EXTERNAL uint8_t VL53L010_encode_vcsel_period(uint8_t vcsel_period_pclks) +{ + + /*! + * Converts the encoded VCSEL period register value into the real + * period in PLL clocks + */ + + uint8_t vcsel_period_reg = 0; + + vcsel_period_reg = (vcsel_period_pclks >> 1) - 1; + + return vcsel_period_reg; +} + +VL53L010_EXTERNAL uint16_t VL53L010_encode_timeout(uint32_t timeout_mclks) +{ + /*! + * Encode timeout in macro periods in (LSByte * 2^MSByte) + 1 format + * + */ + + uint16_t encoded_timeout = 0; + uint32_t ls_byte = 0; + uint16_t ms_byte = 0; + + if (timeout_mclks > 0) { + ls_byte = timeout_mclks - 1; + + while ((ls_byte & 0xFFFFFF00) > 0) { + ls_byte = ls_byte >> 1; + ms_byte++; + } + + encoded_timeout = (ms_byte << 8) + (uint16_t) (ls_byte & + 0x000000FF); + + } + + return encoded_timeout; + +} + +VL53L010_EXTERNAL uint32_t VL53L010_decode_timeout(uint16_t encoded_timeout) +{ + /*! + * Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1 + * + */ + + uint32_t timeout_mclks = 0; + + timeout_mclks = ((uint32_t) (encoded_timeout & 0x00FF) << (uint32_t) + ((encoded_timeout & 0xFF00) >> 8)) + 1; + + return timeout_mclks; + +} + + +VL53L010_EXTERNAL VL53L0_Error VL53L010_load_additional_settings1(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + /* update 12_05_15_v6 */ + /* OSCT */ + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x00); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0_WrByte(Dev, 0x80, 0x01); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x14, 0x01); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0_WrByte(Dev, 0xCD, 0x6C); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x86, 0x03); + Status |= VL53L0_WrByte(Dev, 0x87, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x01); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + + /* update 12_05_15_v6 */ + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x00); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0_WrByte(Dev, 0xcd, 0x6c); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x90, 0x07); + Status |= VL53L0_WrByte(Dev, 0x91, 0x3f); + Status |= VL53L0_WrByte(Dev, 0x92, 0x3f); + Status |= VL53L0_WrByte(Dev, 0x88, 0x2b); + Status |= VL53L0_WrByte(Dev, 0x89, 0x03); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0_WrByte(Dev, 0xcd, 0x00); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x01); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + + /* update 12_05_15 */ + Status |= VL53L0_WrByte(Dev, 0xb0, 0x00); + Status |= VL53L0_WrByte(Dev, 0xb1, 0xfc); + Status |= VL53L0_WrByte(Dev, 0xb2, 0x00); + Status |= VL53L0_WrByte(Dev, 0xb3, 0x00); + Status |= VL53L0_WrByte(Dev, 0xb4, 0x00); + Status |= VL53L0_WrByte(Dev, 0xb5, 0x00); + Status |= VL53L0_WrByte(Dev, 0xb6, 0xb0); + + Status |= VL53L0_WrByte(Dev, 0x32, 0x03); + + Status |= VL53L0_WrByte(Dev, 0x41, 0xff); + Status |= VL53L0_WrByte(Dev, 0x42, 0x07); + Status |= VL53L0_WrByte(Dev, 0x43, 0x01); + + Status |= VL53L0_WrByte(Dev, 0x01, 0x01); + + if (Status != 0) + Status = VL53L0_ERROR_CONTROL_INTERFACE; + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L010_EXTERNAL VL53L0_Error VL53L010_load_additional_settings3(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + /* update 150624_b */ + + Status |= VL53L0_WrByte(Dev, 0xff, 0x00); + Status |= VL53L0_WrByte(Dev, 0x80, 0x01); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x00); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0_WrByte(Dev, 0x4f, 0x0B); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x0E); + + Status |= VL53L0_WrByte(Dev, 0x00, 0x0C); + Status |= VL53L0_WrByte(Dev, 0x01, 0x0C); + Status |= VL53L0_WrByte(Dev, 0x02, 0x0A); + Status |= VL53L0_WrByte(Dev, 0x03, 0x0D); + Status |= VL53L0_WrByte(Dev, 0x04, 0x00); + Status |= VL53L0_WrByte(Dev, 0x05, 0x60); + Status |= VL53L0_WrByte(Dev, 0x06, 0x06); + Status |= VL53L0_WrByte(Dev, 0x07, 0x47); + Status |= VL53L0_WrByte(Dev, 0x08, 0x28); + Status |= VL53L0_WrByte(Dev, 0x09, 0x20); + Status |= VL53L0_WrByte(Dev, 0x0A, 0x28); + Status |= VL53L0_WrByte(Dev, 0x0B, 0x49); + Status |= VL53L0_WrByte(Dev, 0x0C, 0x00); + Status |= VL53L0_WrByte(Dev, 0x0D, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x0E, 0x00); + Status |= VL53L0_WrByte(Dev, 0x0F, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x10, 0x00); + Status |= VL53L0_WrByte(Dev, 0x11, 0xA1); + Status |= VL53L0_WrByte(Dev, 0x12, 0x00); + Status |= VL53L0_WrByte(Dev, 0x13, 0xA0); + Status |= VL53L0_WrByte(Dev, 0x14, 0x00); + Status |= VL53L0_WrByte(Dev, 0x15, 0x04); + Status |= VL53L0_WrByte(Dev, 0x16, 0x01); + Status |= VL53L0_WrByte(Dev, 0x17, 0x00); + Status |= VL53L0_WrByte(Dev, 0x18, 0x01); + Status |= VL53L0_WrByte(Dev, 0x19, 0xA0); + Status |= VL53L0_WrByte(Dev, 0x1A, 0x11); + Status |= VL53L0_WrByte(Dev, 0x1B, 0x00); + Status |= VL53L0_WrByte(Dev, 0x1C, 0x09); + Status |= VL53L0_WrByte(Dev, 0x1D, 0x04); + Status |= VL53L0_WrByte(Dev, 0x1E, 0x11); + Status |= VL53L0_WrByte(Dev, 0x1F, 0x08); + Status |= VL53L0_WrByte(Dev, 0x20, 0x09); + Status |= VL53L0_WrByte(Dev, 0x21, 0x02); + Status |= VL53L0_WrByte(Dev, 0x22, 0x0C); + Status |= VL53L0_WrByte(Dev, 0x23, 0x00); + Status |= VL53L0_WrByte(Dev, 0x24, 0x0A); + Status |= VL53L0_WrByte(Dev, 0x25, 0x0D); + Status |= VL53L0_WrByte(Dev, 0x26, 0x00); + Status |= VL53L0_WrByte(Dev, 0x27, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x28, 0x00); + Status |= VL53L0_WrByte(Dev, 0x29, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x2A, 0x00); + Status |= VL53L0_WrByte(Dev, 0x2B, 0x04); + Status |= VL53L0_WrByte(Dev, 0x2C, 0x01); + Status |= VL53L0_WrByte(Dev, 0x2D, 0x60); + Status |= VL53L0_WrByte(Dev, 0x2E, 0x09); + Status |= VL53L0_WrByte(Dev, 0x2F, 0x92); + Status |= VL53L0_WrByte(Dev, 0x30, 0x01); + Status |= VL53L0_WrByte(Dev, 0x31, 0x64); + Status |= VL53L0_WrByte(Dev, 0x32, 0x09); + Status |= VL53L0_WrByte(Dev, 0x33, 0x8A); + Status |= VL53L0_WrByte(Dev, 0x34, 0x01); + Status |= VL53L0_WrByte(Dev, 0x35, 0xE0); + Status |= VL53L0_WrByte(Dev, 0x36, 0x0F); + Status |= VL53L0_WrByte(Dev, 0x37, 0xAA); + Status |= VL53L0_WrByte(Dev, 0x38, 0x01); + Status |= VL53L0_WrByte(Dev, 0x39, 0xE4); + Status |= VL53L0_WrByte(Dev, 0x3A, 0x0F); + Status |= VL53L0_WrByte(Dev, 0x3B, 0xAE); + Status |= VL53L0_WrByte(Dev, 0x3C, 0x01); + Status |= VL53L0_WrByte(Dev, 0x3D, 0x00); + Status |= VL53L0_WrByte(Dev, 0x3E, 0x00); + Status |= VL53L0_WrByte(Dev, 0x3F, 0x54); + Status |= VL53L0_WrByte(Dev, 0x40, 0x05); + Status |= VL53L0_WrByte(Dev, 0x41, 0x88); + Status |= VL53L0_WrByte(Dev, 0x42, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x43, 0x02); + Status |= VL53L0_WrByte(Dev, 0x44, 0x0C); + Status |= VL53L0_WrByte(Dev, 0x45, 0x04); + Status |= VL53L0_WrByte(Dev, 0x46, 0x06); + Status |= VL53L0_WrByte(Dev, 0x47, 0x87); + Status |= VL53L0_WrByte(Dev, 0x48, 0x28); + Status |= VL53L0_WrByte(Dev, 0x49, 0x38); + Status |= VL53L0_WrByte(Dev, 0x4A, 0x2B); + Status |= VL53L0_WrByte(Dev, 0x4B, 0x89); + Status |= VL53L0_WrByte(Dev, 0x4C, 0x00); + Status |= VL53L0_WrByte(Dev, 0x4D, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x4E, 0x00); + Status |= VL53L0_WrByte(Dev, 0x4F, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x50, 0x00); + Status |= VL53L0_WrByte(Dev, 0x51, 0xA1); + Status |= VL53L0_WrByte(Dev, 0x52, 0x00); + Status |= VL53L0_WrByte(Dev, 0x53, 0xA0); + Status |= VL53L0_WrByte(Dev, 0x54, 0x00); + Status |= VL53L0_WrByte(Dev, 0x55, 0x04); + Status |= VL53L0_WrByte(Dev, 0x56, 0x01); + Status |= VL53L0_WrByte(Dev, 0x57, 0x00); + Status |= VL53L0_WrByte(Dev, 0x58, 0x01); + Status |= VL53L0_WrByte(Dev, 0x59, 0x0D); + Status |= VL53L0_WrByte(Dev, 0x5A, 0x09); + Status |= VL53L0_WrByte(Dev, 0x5B, 0x02); + Status |= VL53L0_WrByte(Dev, 0x5C, 0x00); + Status |= VL53L0_WrByte(Dev, 0x5D, 0x60); + Status |= VL53L0_WrByte(Dev, 0x5E, 0x0D); + Status |= VL53L0_WrByte(Dev, 0x5F, 0x67); + Status |= VL53L0_WrByte(Dev, 0x60, 0x00); + Status |= VL53L0_WrByte(Dev, 0x61, 0x60); + Status |= VL53L0_WrByte(Dev, 0x62, 0x0D); + Status |= VL53L0_WrByte(Dev, 0x63, 0xB0); + Status |= VL53L0_WrByte(Dev, 0x64, 0x28); + Status |= VL53L0_WrByte(Dev, 0x65, 0x20); + Status |= VL53L0_WrByte(Dev, 0x66, 0x29); + Status |= VL53L0_WrByte(Dev, 0x67, 0xC1); + Status |= VL53L0_WrByte(Dev, 0x68, 0x00); + Status |= VL53L0_WrByte(Dev, 0x69, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x6A, 0x00); + Status |= VL53L0_WrByte(Dev, 0x6B, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x6C, 0x00); + Status |= VL53L0_WrByte(Dev, 0x6D, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x6E, 0x00); + Status |= VL53L0_WrByte(Dev, 0x6F, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x70, 0x00); + Status |= VL53L0_WrByte(Dev, 0x71, 0xA1); + Status |= VL53L0_WrByte(Dev, 0x72, 0x00); + Status |= VL53L0_WrByte(Dev, 0x73, 0xA0); + Status |= VL53L0_WrByte(Dev, 0x74, 0x00); + Status |= VL53L0_WrByte(Dev, 0x75, 0x04); + Status |= VL53L0_WrByte(Dev, 0x76, 0x04); + Status |= VL53L0_WrByte(Dev, 0x77, 0x09); + Status |= VL53L0_WrByte(Dev, 0x78, 0x09); + Status |= VL53L0_WrByte(Dev, 0x79, 0x0D); + Status |= VL53L0_WrByte(Dev, 0x7A, 0x04); + Status |= VL53L0_WrByte(Dev, 0x7B, 0x1B); + Status |= VL53L0_WrByte(Dev, 0x7C, 0x09); + Status |= VL53L0_WrByte(Dev, 0x7D, 0x82); + Status |= VL53L0_WrByte(Dev, 0x7E, 0x04); + Status |= VL53L0_WrByte(Dev, 0x7F, 0x24); + Status |= VL53L0_WrByte(Dev, 0x80, 0x09); + Status |= VL53L0_WrByte(Dev, 0x81, 0x09); + Status |= VL53L0_WrByte(Dev, 0x82, 0x28); + Status |= VL53L0_WrByte(Dev, 0x83, 0x00); + Status |= VL53L0_WrByte(Dev, 0x84, 0x28); + Status |= VL53L0_WrByte(Dev, 0x85, 0x01); + Status |= VL53L0_WrByte(Dev, 0x86, 0x03); + Status |= VL53L0_WrByte(Dev, 0x87, 0x21); + Status |= VL53L0_WrByte(Dev, 0x88, 0x03); + Status |= VL53L0_WrByte(Dev, 0x89, 0x58); + Status |= VL53L0_WrByte(Dev, 0x8A, 0x03); + Status |= VL53L0_WrByte(Dev, 0x8B, 0xCC); + Status |= VL53L0_WrByte(Dev, 0x8C, 0x03); + Status |= VL53L0_WrByte(Dev, 0x8D, 0xC3); + Status |= VL53L0_WrByte(Dev, 0x8E, 0x00); + Status |= VL53L0_WrByte(Dev, 0x8F, 0x94); + Status |= VL53L0_WrByte(Dev, 0x90, 0x00); + Status |= VL53L0_WrByte(Dev, 0x91, 0x53); + Status |= VL53L0_WrByte(Dev, 0x92, 0x1E); + Status |= VL53L0_WrByte(Dev, 0x93, 0x03); + Status |= VL53L0_WrByte(Dev, 0x94, 0x01); + Status |= VL53L0_WrByte(Dev, 0x95, 0x00); + Status |= VL53L0_WrByte(Dev, 0x96, 0x00); + Status |= VL53L0_WrByte(Dev, 0x97, 0x28); + Status |= VL53L0_WrByte(Dev, 0x98, 0x20); + Status |= VL53L0_WrByte(Dev, 0x99, 0x20); + Status |= VL53L0_WrByte(Dev, 0x9A, 0x08); + Status |= VL53L0_WrByte(Dev, 0x9B, 0x10); + Status |= VL53L0_WrByte(Dev, 0x9C, 0x09); + Status |= VL53L0_WrByte(Dev, 0x9D, 0x03); + Status |= VL53L0_WrByte(Dev, 0x9E, 0x28); + Status |= VL53L0_WrByte(Dev, 0x9F, 0x50); + Status |= VL53L0_WrByte(Dev, 0xA0, 0x2B); + Status |= VL53L0_WrByte(Dev, 0xA1, 0xB1); + Status |= VL53L0_WrByte(Dev, 0xA2, 0x0B); + Status |= VL53L0_WrByte(Dev, 0xA3, 0x02); + Status |= VL53L0_WrByte(Dev, 0xA4, 0x28); + Status |= VL53L0_WrByte(Dev, 0xA5, 0x50); + Status |= VL53L0_WrByte(Dev, 0xA6, 0x2C); + Status |= VL53L0_WrByte(Dev, 0xA7, 0x11); + Status |= VL53L0_WrByte(Dev, 0xA8, 0x00); + Status |= VL53L0_WrByte(Dev, 0xA9, 0x0B); + Status |= VL53L0_WrByte(Dev, 0xAA, 0x00); + Status |= VL53L0_WrByte(Dev, 0xAB, 0x0B); + Status |= VL53L0_WrByte(Dev, 0xAC, 0x00); + Status |= VL53L0_WrByte(Dev, 0xAD, 0xA1); + Status |= VL53L0_WrByte(Dev, 0xAE, 0x00); + Status |= VL53L0_WrByte(Dev, 0xAF, 0xA0); + Status |= VL53L0_WrByte(Dev, 0xB0, 0x00); + Status |= VL53L0_WrByte(Dev, 0xB1, 0x04); + Status |= VL53L0_WrByte(Dev, 0xB2, 0x28); + Status |= VL53L0_WrByte(Dev, 0xB3, 0x4E); + Status |= VL53L0_WrByte(Dev, 0xB4, 0x2D); + Status |= VL53L0_WrByte(Dev, 0xB5, 0x47); + Status |= VL53L0_WrByte(Dev, 0xB6, 0x00); + Status |= VL53L0_WrByte(Dev, 0xB7, 0x0B); + Status |= VL53L0_WrByte(Dev, 0xB8, 0x00); + Status |= VL53L0_WrByte(Dev, 0xB9, 0x0B); + Status |= VL53L0_WrByte(Dev, 0xBA, 0x00); + Status |= VL53L0_WrByte(Dev, 0xBB, 0xA7); + Status |= VL53L0_WrByte(Dev, 0xBC, 0x00); + Status |= VL53L0_WrByte(Dev, 0xBD, 0xA6); + Status |= VL53L0_WrByte(Dev, 0xBE, 0x01); + Status |= VL53L0_WrByte(Dev, 0xBF, 0x02); + Status |= VL53L0_WrByte(Dev, 0xC0, 0x04); + Status |= VL53L0_WrByte(Dev, 0xC1, 0x30); + Status |= VL53L0_WrByte(Dev, 0xC2, 0x00); + Status |= VL53L0_WrByte(Dev, 0xC3, 0x04); + Status |= VL53L0_WrByte(Dev, 0xC4, 0x28); + Status |= VL53L0_WrByte(Dev, 0xC5, 0x60); + Status |= VL53L0_WrByte(Dev, 0xC6, 0x2D); + Status |= VL53L0_WrByte(Dev, 0xC7, 0x89); + Status |= VL53L0_WrByte(Dev, 0xC8, 0x00); + Status |= VL53L0_WrByte(Dev, 0xC9, 0x0B); + Status |= VL53L0_WrByte(Dev, 0xCA, 0x00); + Status |= VL53L0_WrByte(Dev, 0xCB, 0x0B); + Status |= VL53L0_WrByte(Dev, 0xCC, 0x00); + Status |= VL53L0_WrByte(Dev, 0xCD, 0xA1); + Status |= VL53L0_WrByte(Dev, 0xCE, 0x00); + Status |= VL53L0_WrByte(Dev, 0xCF, 0xA0); + Status |= VL53L0_WrByte(Dev, 0xD0, 0x00); + Status |= VL53L0_WrByte(Dev, 0xD1, 0x04); + Status |= VL53L0_WrByte(Dev, 0xD2, 0x00); + Status |= VL53L0_WrByte(Dev, 0xD3, 0x25); + Status |= VL53L0_WrByte(Dev, 0xD4, 0x00); + Status |= VL53L0_WrByte(Dev, 0xD5, 0x2E); + Status |= VL53L0_WrByte(Dev, 0xD6, 0x00); + Status |= VL53L0_WrByte(Dev, 0xD7, 0x25); + Status |= VL53L0_WrByte(Dev, 0xD8, 0x00); + Status |= VL53L0_WrByte(Dev, 0xD9, 0x2E); + Status |= VL53L0_WrByte(Dev, 0xDA, 0x03); + Status |= VL53L0_WrByte(Dev, 0xDB, 0xF3); + Status |= VL53L0_WrByte(Dev, 0xDC, 0x03); + Status |= VL53L0_WrByte(Dev, 0xDD, 0xEA); + Status |= VL53L0_WrByte(Dev, 0xDE, 0x28); + Status |= VL53L0_WrByte(Dev, 0xDF, 0x58); + Status |= VL53L0_WrByte(Dev, 0xE0, 0x2C); + Status |= VL53L0_WrByte(Dev, 0xE1, 0xD9); + Status |= VL53L0_WrByte(Dev, 0xE2, 0x00); + Status |= VL53L0_WrByte(Dev, 0xE3, 0x0B); + Status |= VL53L0_WrByte(Dev, 0xE4, 0x00); + Status |= VL53L0_WrByte(Dev, 0xE5, 0x0B); + Status |= VL53L0_WrByte(Dev, 0xE6, 0x00); + Status |= VL53L0_WrByte(Dev, 0xE7, 0xA1); + Status |= VL53L0_WrByte(Dev, 0xE8, 0x00); + Status |= VL53L0_WrByte(Dev, 0xE9, 0xA0); + Status |= VL53L0_WrByte(Dev, 0xEA, 0x00); + Status |= VL53L0_WrByte(Dev, 0xEB, 0x04); + Status |= VL53L0_WrByte(Dev, 0xEC, 0x01); + Status |= VL53L0_WrByte(Dev, 0xED, 0x26); + Status |= VL53L0_WrByte(Dev, 0xEE, 0x00); + Status |= VL53L0_WrByte(Dev, 0xEF, 0xDC); + Status |= VL53L0_WrByte(Dev, 0xF0, 0x28); + Status |= VL53L0_WrByte(Dev, 0xF1, 0x58); + Status |= VL53L0_WrByte(Dev, 0xF2, 0x2F); + Status |= VL53L0_WrByte(Dev, 0xF3, 0x21); + Status |= VL53L0_WrByte(Dev, 0xF4, 0x00); + Status |= VL53L0_WrByte(Dev, 0xF5, 0x0B); + Status |= VL53L0_WrByte(Dev, 0xF6, 0x00); + Status |= VL53L0_WrByte(Dev, 0xF7, 0x0B); + Status |= VL53L0_WrByte(Dev, 0xF8, 0x00); + Status |= VL53L0_WrByte(Dev, 0xF9, 0xA1); + Status |= VL53L0_WrByte(Dev, 0xFA, 0x00); + Status |= VL53L0_WrByte(Dev, 0xFB, 0xA0); + Status |= VL53L0_WrByte(Dev, 0xFC, 0x00); + Status |= VL53L0_WrByte(Dev, 0xFD, 0x04); + Status |= VL53L0_WrWord(Dev, 0xFE, 0x01E3); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x0F); + Status |= VL53L0_WrByte(Dev, 0x00, 0x04); + Status |= VL53L0_WrByte(Dev, 0x01, 0x48); + Status |= VL53L0_WrByte(Dev, 0x02, 0x01); + Status |= VL53L0_WrByte(Dev, 0x03, 0x60); + Status |= VL53L0_WrByte(Dev, 0x04, 0x09); + Status |= VL53L0_WrByte(Dev, 0x05, 0xA4); + Status |= VL53L0_WrByte(Dev, 0x06, 0x05); + Status |= VL53L0_WrByte(Dev, 0x07, 0xB8); + Status |= VL53L0_WrByte(Dev, 0x08, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x09, 0x07); + Status |= VL53L0_WrByte(Dev, 0x0A, 0x00); + Status |= VL53L0_WrByte(Dev, 0x0B, 0x60); + Status |= VL53L0_WrByte(Dev, 0x0C, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x0D, 0x6B); + Status |= VL53L0_WrByte(Dev, 0x0E, 0x01); + Status |= VL53L0_WrByte(Dev, 0x0F, 0x64); + Status |= VL53L0_WrByte(Dev, 0x10, 0x04); + Status |= VL53L0_WrByte(Dev, 0x11, 0x3C); + Status |= VL53L0_WrByte(Dev, 0x12, 0x00); + Status |= VL53L0_WrByte(Dev, 0x13, 0x60); + Status |= VL53L0_WrByte(Dev, 0x14, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x15, 0x74); + Status |= VL53L0_WrByte(Dev, 0x16, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x17, 0x02); + Status |= VL53L0_WrByte(Dev, 0x18, 0x28); + Status |= VL53L0_WrByte(Dev, 0x19, 0x02); + Status |= VL53L0_WrByte(Dev, 0x1A, 0x28); + Status |= VL53L0_WrByte(Dev, 0x1B, 0x03); + Status |= VL53L0_WrByte(Dev, 0x1C, 0x01); + Status |= VL53L0_WrByte(Dev, 0x1D, 0xA2); + Status |= VL53L0_WrByte(Dev, 0x1E, 0x07); + Status |= VL53L0_WrByte(Dev, 0x1F, 0x8E); + Status |= VL53L0_WrByte(Dev, 0x20, 0x28); + Status |= VL53L0_WrByte(Dev, 0x21, 0x50); + Status |= VL53L0_WrByte(Dev, 0x22, 0x2E); + Status |= VL53L0_WrByte(Dev, 0x23, 0xC9); + Status |= VL53L0_WrByte(Dev, 0x24, 0x00); + Status |= VL53L0_WrByte(Dev, 0x25, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x26, 0x00); + Status |= VL53L0_WrByte(Dev, 0x27, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x28, 0x00); + Status |= VL53L0_WrByte(Dev, 0x29, 0xA1); + Status |= VL53L0_WrByte(Dev, 0x2A, 0x00); + Status |= VL53L0_WrByte(Dev, 0x2B, 0xA0); + Status |= VL53L0_WrByte(Dev, 0x2C, 0x28); + Status |= VL53L0_WrByte(Dev, 0x2D, 0x00); + Status |= VL53L0_WrByte(Dev, 0x2E, 0x00); + Status |= VL53L0_WrByte(Dev, 0x2F, 0x04); + Status |= VL53L0_WrByte(Dev, 0x30, 0x01); + Status |= VL53L0_WrByte(Dev, 0x31, 0x00); + Status |= VL53L0_WrByte(Dev, 0x32, 0x01); + Status |= VL53L0_WrByte(Dev, 0x33, 0xA0); + Status |= VL53L0_WrByte(Dev, 0x34, 0x11); + Status |= VL53L0_WrByte(Dev, 0x35, 0x00); + Status |= VL53L0_WrByte(Dev, 0x36, 0x09); + Status |= VL53L0_WrByte(Dev, 0x37, 0x05); + Status |= VL53L0_WrByte(Dev, 0x38, 0x11); + Status |= VL53L0_WrByte(Dev, 0x39, 0x08); + Status |= VL53L0_WrByte(Dev, 0x3A, 0x09); + Status |= VL53L0_WrByte(Dev, 0x3B, 0x03); + Status |= VL53L0_WrByte(Dev, 0x3C, 0x11); + Status |= VL53L0_WrByte(Dev, 0x3D, 0x18); + Status |= VL53L0_WrByte(Dev, 0x3E, 0x09); + Status |= VL53L0_WrByte(Dev, 0x3F, 0x01); + Status |= VL53L0_WrByte(Dev, 0x40, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x41, 0x04); + Status |= VL53L0_WrByte(Dev, 0x42, 0x0C); + Status |= VL53L0_WrByte(Dev, 0x43, 0x00); + Status |= VL53L0_WrByte(Dev, 0x44, 0x0A); + Status |= VL53L0_WrByte(Dev, 0x45, 0x01); + Status |= VL53L0_WrByte(Dev, 0x46, 0x0C); + Status |= VL53L0_WrByte(Dev, 0x47, 0x08); + Status |= VL53L0_WrByte(Dev, 0x48, 0x0A); + Status |= VL53L0_WrByte(Dev, 0x49, 0x01); + Status |= VL53L0_WrByte(Dev, 0x4A, 0x28); + Status |= VL53L0_WrByte(Dev, 0x4B, 0x40); + Status |= VL53L0_WrByte(Dev, 0x4C, 0x2F); + Status |= VL53L0_WrByte(Dev, 0x4D, 0xD1); + Status |= VL53L0_WrByte(Dev, 0x4E, 0x00); + Status |= VL53L0_WrByte(Dev, 0x4F, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x50, 0x00); + Status |= VL53L0_WrByte(Dev, 0x51, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x52, 0x00); + Status |= VL53L0_WrByte(Dev, 0x53, 0xA1); + Status |= VL53L0_WrByte(Dev, 0x54, 0x00); + Status |= VL53L0_WrByte(Dev, 0x55, 0xA0); + Status |= VL53L0_WrByte(Dev, 0x56, 0x00); + Status |= VL53L0_WrByte(Dev, 0x57, 0x04); + Status |= VL53L0_WrByte(Dev, 0x58, 0x28); + Status |= VL53L0_WrByte(Dev, 0x59, 0x11); + Status |= VL53L0_WrByte(Dev, 0x5A, 0x05); + Status |= VL53L0_WrByte(Dev, 0x5B, 0x48); + Status |= VL53L0_WrByte(Dev, 0x5C, 0x00); + Status |= VL53L0_WrByte(Dev, 0x5D, 0x60); + Status |= VL53L0_WrByte(Dev, 0x5E, 0x0A); + Status |= VL53L0_WrByte(Dev, 0x5F, 0xA2); + Status |= VL53L0_WrByte(Dev, 0x60, 0x00); + Status |= VL53L0_WrByte(Dev, 0x61, 0x60); + Status |= VL53L0_WrByte(Dev, 0x62, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x63, 0x3E); + Status |= VL53L0_WrByte(Dev, 0x64, 0x01); + Status |= VL53L0_WrByte(Dev, 0x65, 0x00); + Status |= VL53L0_WrByte(Dev, 0x66, 0x00); + Status |= VL53L0_WrByte(Dev, 0x67, 0x54); + Status |= VL53L0_WrByte(Dev, 0x68, 0x05); + Status |= VL53L0_WrByte(Dev, 0x69, 0x80); + Status |= VL53L0_WrByte(Dev, 0x6A, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x6B, 0x03); + Status |= VL53L0_WrByte(Dev, 0x6C, 0x28); + Status |= VL53L0_WrByte(Dev, 0x6D, 0x38); + Status |= VL53L0_WrByte(Dev, 0x6E, 0x28); + Status |= VL53L0_WrByte(Dev, 0x6F, 0xE1); + Status |= VL53L0_WrByte(Dev, 0x70, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x71, 0x02); + Status |= VL53L0_WrByte(Dev, 0x72, 0x28); + Status |= VL53L0_WrByte(Dev, 0x73, 0x38); + Status |= VL53L0_WrByte(Dev, 0x74, 0x29); + Status |= VL53L0_WrByte(Dev, 0x75, 0x21); + Status |= VL53L0_WrByte(Dev, 0x76, 0x00); + Status |= VL53L0_WrByte(Dev, 0x77, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x78, 0x00); + Status |= VL53L0_WrByte(Dev, 0x79, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x7A, 0x00); + Status |= VL53L0_WrByte(Dev, 0x7B, 0xA1); + Status |= VL53L0_WrByte(Dev, 0x7C, 0x00); + Status |= VL53L0_WrByte(Dev, 0x7D, 0xA0); + Status |= VL53L0_WrByte(Dev, 0x7E, 0x00); + Status |= VL53L0_WrByte(Dev, 0x7F, 0x04); + Status |= VL53L0_WrByte(Dev, 0x80, 0x03); + Status |= VL53L0_WrByte(Dev, 0x81, 0x33); + Status |= VL53L0_WrByte(Dev, 0x82, 0x03); + Status |= VL53L0_WrByte(Dev, 0x83, 0x6A); + Status |= VL53L0_WrByte(Dev, 0x84, 0x03); + Status |= VL53L0_WrByte(Dev, 0x85, 0x61); + Status |= VL53L0_WrByte(Dev, 0x86, 0x05); + Status |= VL53L0_WrByte(Dev, 0x87, 0xF9); + Status |= VL53L0_WrByte(Dev, 0x88, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x89, 0x03); + Status |= VL53L0_WrByte(Dev, 0x8A, 0x28); + Status |= VL53L0_WrByte(Dev, 0x8B, 0x00); + Status |= VL53L0_WrByte(Dev, 0x8C, 0x28); + Status |= VL53L0_WrByte(Dev, 0x8D, 0x09); + Status |= VL53L0_WrByte(Dev, 0x8E, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x8F, 0x03); + Status |= VL53L0_WrByte(Dev, 0x90, 0x28); + Status |= VL53L0_WrByte(Dev, 0x91, 0x66); + Status |= VL53L0_WrByte(Dev, 0x92, 0x2A); + Status |= VL53L0_WrByte(Dev, 0x93, 0x67); + Status |= VL53L0_WrByte(Dev, 0x94, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x95, 0x02); + Status |= VL53L0_WrByte(Dev, 0x96, 0x28); + Status |= VL53L0_WrByte(Dev, 0x97, 0x66); + Status |= VL53L0_WrByte(Dev, 0x98, 0x2A); + Status |= VL53L0_WrByte(Dev, 0x99, 0xAF); + Status |= VL53L0_WrByte(Dev, 0x9A, 0x00); + Status |= VL53L0_WrByte(Dev, 0x9B, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x9C, 0x00); + Status |= VL53L0_WrByte(Dev, 0x9D, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x9E, 0x00); + Status |= VL53L0_WrByte(Dev, 0x9F, 0xA7); + Status |= VL53L0_WrByte(Dev, 0xA0, 0x00); + Status |= VL53L0_WrByte(Dev, 0xA1, 0xA6); + Status |= VL53L0_WrByte(Dev, 0xA2, 0x00); + Status |= VL53L0_WrByte(Dev, 0xA3, 0x04); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x04); + + Status |= VL53L0_WrByte(Dev, 0x79, 0x0B); + Status |= VL53L0_WrByte(Dev, 0x7B, 0x16); + Status |= VL53L0_WrByte(Dev, 0x7D, 0x2B); + Status |= VL53L0_WrByte(Dev, 0x7F, 0x3B); + Status |= VL53L0_WrByte(Dev, 0x81, 0x59); + Status |= VL53L0_WrByte(Dev, 0x83, 0x62); + Status |= VL53L0_WrByte(Dev, 0x85, 0x69); + Status |= VL53L0_WrByte(Dev, 0x87, 0x76); + Status |= VL53L0_WrByte(Dev, 0x89, 0x7F); + Status |= VL53L0_WrByte(Dev, 0x8B, 0x98); + Status |= VL53L0_WrByte(Dev, 0x8D, 0xAC); + Status |= VL53L0_WrByte(Dev, 0x8F, 0xC0); + Status |= VL53L0_WrByte(Dev, 0x90, 0x0C); + Status |= VL53L0_WrByte(Dev, 0x91, 0x30); + Status |= VL53L0_WrByte(Dev, 0x92, 0x28); + Status |= VL53L0_WrByte(Dev, 0x93, 0x02); + Status |= VL53L0_WrByte(Dev, 0x94, 0x37); + Status |= VL53L0_WrByte(Dev, 0x95, 0x62); + + Status |= VL53L0_WrByte(Dev, 0x96, 0x04); + Status |= VL53L0_WrByte(Dev, 0x97, 0x08); + Status |= VL53L0_WrByte(Dev, 0x98, 0x07); + Status |= VL53L0_WrByte(Dev, 0x99, 0x18); + Status |= VL53L0_WrByte(Dev, 0x9A, 0x07); + Status |= VL53L0_WrByte(Dev, 0x9B, 0x6F); + Status |= VL53L0_WrByte(Dev, 0x9C, 0x05); + Status |= VL53L0_WrByte(Dev, 0x9D, 0xD4); + Status |= VL53L0_WrByte(Dev, 0x9E, 0x0A); + Status |= VL53L0_WrByte(Dev, 0x9F, 0x6E); + Status |= VL53L0_WrByte(Dev, 0xA0, 0x09); + Status |= VL53L0_WrByte(Dev, 0xA1, 0xA2); + Status |= VL53L0_WrByte(Dev, 0xA2, 0x0C); + Status |= VL53L0_WrByte(Dev, 0xA3, 0xAA); + Status |= VL53L0_WrByte(Dev, 0xA4, 0x0B); + Status |= VL53L0_WrByte(Dev, 0xA5, 0x97); + Status |= VL53L0_WrByte(Dev, 0xA6, 0x0B); + Status |= VL53L0_WrByte(Dev, 0xA7, 0xD8); + Status |= VL53L0_WrByte(Dev, 0xA8, 0x0A); + Status |= VL53L0_WrByte(Dev, 0xA9, 0xD7); + Status |= VL53L0_WrByte(Dev, 0xAA, 0x08); + Status |= VL53L0_WrByte(Dev, 0xAB, 0xF6); + Status |= VL53L0_WrByte(Dev, 0xAC, 0x07); + Status |= VL53L0_WrByte(Dev, 0xAD, 0x1A); + Status |= VL53L0_WrByte(Dev, 0xAE, 0x0C); + Status |= VL53L0_WrByte(Dev, 0xAF, 0x49); + Status |= VL53L0_WrByte(Dev, 0xB0, 0x09); + Status |= VL53L0_WrByte(Dev, 0xB1, 0x17); + Status |= VL53L0_WrByte(Dev, 0xB2, 0x03); + Status |= VL53L0_WrByte(Dev, 0xB3, 0xCD); + Status |= VL53L0_WrByte(Dev, 0xB4, 0x04); + Status |= VL53L0_WrByte(Dev, 0xB5, 0x55); + + Status |= VL53L0_WrByte(Dev, 0x72, 0xFF); + Status |= VL53L0_WrByte(Dev, 0x73, 0xFF); + + Status |= VL53L0_WrByte(Dev, 0x74, 0xE0); + + Status |= VL53L0_WrByte(Dev, 0x70, 0x01); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x01); + Status |= VL53L0_WrByte(Dev, 0xff, 0x00); + + if (Status != 0) + Status = VL53L0_ERROR_CONTROL_INTERFACE; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L010_EXTERNAL VL53L0_Error VL53L010_check_part_used(VL53L0_DEV Dev, + uint8_t *Revision, VL53L0_DeviceInfo_t* pVL53L0_DeviceInfo) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t ModuleIdInt; + char *ProductId_tmp; + + LOG_FUNCTION_START(""); + + Status = VL53L010_get_info_from_device(Dev); + + if (Status == VL53L0_ERROR_NONE) { + ModuleIdInt = VL53L010_GETDEVICESPECIFICPARAMETER(Dev, ModuleId); + + if (ModuleIdInt == 0) { + *Revision = 0; + VL53L0_COPYSTRING(pVL53L0_DeviceInfo->ProductId, ""); + } else { + *Revision = VL53L010_GETDEVICESPECIFICPARAMETER(Dev, Revision); + ProductId_tmp = VL53L010_GETDEVICESPECIFICPARAMETER(Dev, ProductId); + VL53L0_COPYSTRING(pVL53L0_DeviceInfo->ProductId, ProductId_tmp); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L010_EXTERNAL VL53L0_Error VL53L010_get_info_from_device(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t byte; + uint32_t TmpDWord; + VL53L0_DeviceSpecificParameters_t DeviceSpecificParameters; + uint8_t ModuleId; + uint8_t Revision; + uint8_t ReferenceSpadCount; + uint8_t ReferenceSpadType; + char ProductId[19]; + char *ProductId_tmp; + uint8_t ReadDataFromDeviceDone; + + LOG_FUNCTION_START(""); + + ReadDataFromDeviceDone = VL53L010_GETDEVICESPECIFICPARAMETER(Dev, + ReadDataFromDeviceDone); + + /* This access is done only once after that a GetDeviceInfo or + * datainit is done*/ + if (ReadDataFromDeviceDone == 0) { + + Status |= VL53L0_WrByte(Dev, 0x80, 0x01); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x00); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x06); + Status |= VL53L0_RdByte(Dev, 0x83, &byte); + Status |= VL53L0_WrByte(Dev, 0x83, byte|4); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x07); + Status |= VL53L0_WrByte(Dev, 0x81, 0x01); + + Status |= VL53L0_PollingDelay(Dev); + + Status |= VL53L0_WrByte(Dev, 0x80, 0x01); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x6b); + Status |= VL53L010_device_read_strobe(Dev); + Status |= VL53L0_RdDWord(Dev, 0x90, &TmpDWord); + + ReferenceSpadCount = (uint8_t)((TmpDWord >> 8) & 0x07f); + ReferenceSpadType = (uint8_t)((TmpDWord >> 15) & 0x01); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x02); + Status |= VL53L010_device_read_strobe(Dev); + Status |= VL53L0_RdByte(Dev, 0x90, &ModuleId); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x7B); + Status |= VL53L010_device_read_strobe(Dev); + Status |= VL53L0_RdByte(Dev, 0x90, &Revision); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x77); + Status |= VL53L010_device_read_strobe(Dev); + Status |= VL53L0_RdDWord(Dev, 0x90, &TmpDWord); + + ProductId[0] = (char)((TmpDWord >> 25) & 0x07f); + ProductId[1] = (char)((TmpDWord >> 18) & 0x07f); + ProductId[2] = (char)((TmpDWord >> 11) & 0x07f); + ProductId[3] = (char)((TmpDWord >> 4) & 0x07f); + + byte = (uint8_t)((TmpDWord & 0x00f) << 3); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x78); + Status |= VL53L010_device_read_strobe(Dev); + Status |= VL53L0_RdDWord(Dev, 0x90, &TmpDWord); + + ProductId[4] = (char)(byte + + ((TmpDWord >> 29) & 0x07f)); + ProductId[5] = (char)((TmpDWord >> 22) & 0x07f); + ProductId[6] = (char)((TmpDWord >> 15) & 0x07f); + ProductId[7] = (char)((TmpDWord >> 8) & 0x07f); + ProductId[8] = (char)((TmpDWord >> 1) & 0x07f); + + byte = (uint8_t)((TmpDWord & 0x001) << 6); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x79); + + Status |= VL53L010_device_read_strobe(Dev); + + Status |= VL53L0_RdDWord(Dev, 0x90, &TmpDWord); + + ProductId[9] = (char)(byte + + ((TmpDWord >> 26) & 0x07f)); + ProductId[10] = (char)((TmpDWord >> 19) & 0x07f); + ProductId[11] = (char)((TmpDWord >> 12) & 0x07f); + ProductId[12] = (char)((TmpDWord >> 5) & 0x07f); + + byte = (uint8_t)((TmpDWord & 0x01f) << 2); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x80); + + Status |= VL53L010_device_read_strobe(Dev); + + Status |= VL53L0_RdDWord(Dev, 0x90, &TmpDWord); + + ProductId[13] = (char)(byte + + ((TmpDWord >> 30) & 0x07f)); + ProductId[14] = (char)((TmpDWord >> 23) & 0x07f); + ProductId[15] = (char)((TmpDWord >> 16) & 0x07f); + ProductId[16] = (char)((TmpDWord >> 9) & 0x07f); + ProductId[17] = (char)((TmpDWord >> 2) & 0x07f); + ProductId[18] = '\0'; + + Status |= VL53L0_WrByte(Dev, 0x81, 0x00); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x06); + Status |= VL53L0_RdByte(Dev, 0x83, &byte); + Status |= VL53L0_WrByte(Dev, 0x83, byte&0xfb); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x01); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0_WrByte(Dev, 0x80, 0x00); + + if (Status == VL53L0_ERROR_NONE) { + VL53L010_SETDEVICESPECIFICPARAMETER(Dev, + ModuleId, ModuleId); + + VL53L010_SETDEVICESPECIFICPARAMETER(Dev, + Revision, Revision); + + VL53L010_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadCount, ReferenceSpadCount); + + VL53L010_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadType, ReferenceSpadType); + + ProductId_tmp = VL53L010_GETDEVICESPECIFICPARAMETER(Dev, + ProductId); + VL53L0_COPYSTRING(ProductId_tmp, ProductId); + + VL53L010_SETDEVICESPECIFICPARAMETER(Dev, + ReadDataFromDeviceDone, 1); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +uint32_t VL53L010_isqrt(uint32_t num) +{ + + /* + * Implements an integer square root + * + * From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots + */ + + uint32_t res = 0; + uint32_t bit = 1 << 30; + /* The second-to-top bit is set: 1 << 14 for + 16-bits, 1 << 30 for 32 bits + */ + /* "bit" starts at the highest power of four <= the argument.*/ + while (bit > num) + bit >>= 2; + + + while (bit != 0) { + if (num >= res + bit) { + num -= res + bit; + res = (res >> 1) + bit; + } else + res >>= 1; + + bit >>= 2; + } + + return res; +} + + +VL53L0_Error VL53L010_device_read_strobe(VL53L0_DEV Dev) { + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t strobe; + uint32_t LoopNb; + LOG_FUNCTION_START(""); + + Status |= VL53L0_WrByte(Dev, 0x83, 0x00); + + // polling + // use timeout to avoid deadlock + if (Status == VL53L0_ERROR_NONE) { + LoopNb = 0; + do { + Status =VL53L0_RdByte(Dev, 0x83, &strobe); + if ((strobe != 0x00) || Status != VL53L0_ERROR_NONE) { + break; + } + LoopNb = LoopNb + 1; + } while (LoopNb < VL53L0_DEFAULT_MAX_LOOP); + + if (LoopNb >= VL53L0_DEFAULT_MAX_LOOP) { + Status = VL53L0_ERROR_TIME_OUT; + } + } + + Status |= VL53L0_WrByte(Dev, 0x83, 0x01); + + LOG_FUNCTION_END(Status); + return Status; + +} + +uint32_t VL53L010_quadrature_sum(uint32_t a, + uint32_t b) +{ + /* + * Implements a quadrature sum + * + * rea = sqrt(a^2 + b^2) + * + * Trap overflow case max input value is 65535 (16-bit value) + * as internal calc are 32-bit wide + * + * If overflow then seta output to maximum + */ + uint32_t res = 0; + + if (a > 65535 || b > 65535) + res = 65535; + else + res = VL53L010_isqrt(a*a + b*b); + + + return res; +} + + + +VL53L0_Error VL53L010_get_jmp_vcsel_ambient_rate(VL53L0_DEV Dev, + uint32_t *pAmbient_rate_kcps, + uint32_t *pVcsel_rate_kcps, + uint32_t *pSignalTotalEventsRtn) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint16_t encodedTimeOut; + + uint32_t total_periods_elapsed_rtn__macrop = 0; + uint32_t result_core__total_periods_elapsed_rtn = 0; + uint32_t rngb1_config__timeout__macrop = 0; + uint32_t rngb2_config__timeout__macrop = 0; + uint32_t result_core__ambient_window_events_rtn = 0; + uint32_t result_core__signal_total_events_rtn = 0; + uint8_t last_woi_period; + uint8_t rnga_config__vcsel_period; + uint8_t rngb1_config__vcsel_period; + uint8_t rngb2_config__vcsel_period; + uint8_t global_config__vcsel_width; + + uint32_t ambient_duration_us = 0; + uint32_t vcsel_duration_us = 0; + + uint32_t pll_period_us = 0; + + LOG_FUNCTION_START(""); + + /* read the following */ + Status = VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_RdDWord(Dev, 0xC8, + &result_core__total_periods_elapsed_rtn); + Status |= VL53L0_RdDWord(Dev, 0xF0, &pll_period_us); + Status |= VL53L0_RdDWord(Dev, 0xbc, + &result_core__ambient_window_events_rtn); + Status |= VL53L0_RdDWord(Dev, 0xc4, + &result_core__signal_total_events_rtn); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + + + if (Status == VL53L0_ERROR_NONE) { + result_core__total_periods_elapsed_rtn = + (int32_t)(result_core__total_periods_elapsed_rtn & + 0x00ffffff); + pll_period_us = (int32_t)(pll_period_us & 0x3ffff); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdWord(Dev, VL53L010_REG_RNGB1_TIMEOUT_MSB, + &encodedTimeOut); + if (Status == VL53L0_ERROR_NONE) + rngb1_config__timeout__macrop = + VL53L010_decode_timeout(encodedTimeOut) - 1; + + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdByte(Dev, VL53L010_REG_RNGA_CONFIG_VCSEL_PERIOD, + &rnga_config__vcsel_period); + } + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdByte(Dev, + VL53L010_REG_RNGB1_CONFIG_VCSEL_PERIOD, + &rngb1_config__vcsel_period); + } + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdByte(Dev, + VL53L010_REG_RNGB2_CONFIG_VCSEL_PERIOD, + &rngb2_config__vcsel_period); + } + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_RdByte(Dev, 0x32, &global_config__vcsel_width); + + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdWord(Dev, VL53L010_REG_RNGB2_TIMEOUT_MSB, + &encodedTimeOut); + if (Status == VL53L0_ERROR_NONE) + rngb2_config__timeout__macrop = + VL53L010_decode_timeout(encodedTimeOut) - 1; + + } + + if (Status == VL53L0_ERROR_NONE) { + total_periods_elapsed_rtn__macrop = + result_core__total_periods_elapsed_rtn + 1; + + if (result_core__total_periods_elapsed_rtn == + rngb1_config__timeout__macrop) { + last_woi_period = rngb1_config__vcsel_period; + } else if (result_core__total_periods_elapsed_rtn == + rngb2_config__timeout__macrop) { + last_woi_period = rngb2_config__vcsel_period; + } else { + last_woi_period = rnga_config__vcsel_period; + + } + /* 512 = 1<<9 ==> 24-9=15 */ + ambient_duration_us = last_woi_period * + total_periods_elapsed_rtn__macrop * pll_period_us; + ambient_duration_us = ambient_duration_us / 1000; + + if (ambient_duration_us != 0) { + *pAmbient_rate_kcps = ((1 << 15) * + result_core__ambient_window_events_rtn) / + ambient_duration_us; + } else { + Status = VL53L0_ERROR_DIVISION_BY_ZERO; + } + + if (Status == VL53L0_ERROR_NONE) { + + /* 2048 = 1<<11 ==> 24-11=13 */ + vcsel_duration_us = + (10 * global_config__vcsel_width + 4) + * total_periods_elapsed_rtn__macrop * + pll_period_us ; + vcsel_duration_us = vcsel_duration_us / 10000 ; + + + if (vcsel_duration_us != 0) { + *pVcsel_rate_kcps = ((1 << 13) * + result_core__signal_total_events_rtn) / + vcsel_duration_us; + *pSignalTotalEventsRtn = + result_core__signal_total_events_rtn; + } else { + Status = VL53L0_ERROR_DIVISION_BY_ZERO; + } + + } + } + + LOG_FUNCTION_END(Status); + return Status; + +} + +VL53L0_Error VL53L010_calc_sigma_estimate(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t + *pRangingMeasurementData, + FixPoint1616_t *pSigmaEstimate) +{ + /* Expressed in 100ths of a ns, i.e. centi-ns */ + const uint32_t cPulseEffectiveWidth_centi_ns = 800; + /* Expressed in 100ths of a ns, i.e. centi-ns */ + const uint32_t cAmbientEffectiveWidth_centi_ns = 600; + const FixPoint1616_t cSigmaEstRef = 0x00000042; + /* pico secs */ + const uint32_t cVcselPulseWidth_ps = 4700; + const FixPoint1616_t cSigmaEstMax = 0x028F87AE; + /* Time Of Flight per mm (6.6 pico secs) */ + const FixPoint1616_t cTOF_per_mm_ps = 0x0006999A; + const uint32_t c16BitRoundingParam = 0x00008000; + const FixPoint1616_t cMaxXTalk_kcps = 0x00320000; + + uint32_t signalTotalEventsRtn; + FixPoint1616_t sigmaEstimateP1; + FixPoint1616_t sigmaEstimateP2; + FixPoint1616_t sigmaEstimateP3; + FixPoint1616_t deltaT_ps; + FixPoint1616_t pwMult; + FixPoint1616_t sigmaEstRtn; + FixPoint1616_t sigmaEstimate; + FixPoint1616_t xTalkCorrection; + uint32_t signalTotalEventsRtnRawVal; + FixPoint1616_t ambientRate_kcps; + FixPoint1616_t vcselRate_kcps; + FixPoint1616_t xTalkCompRate_mcps; + uint32_t xTalkCompRate_kcps; + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + FixPoint1616_t diff1_mcps; + FixPoint1616_t diff2_mcps; + FixPoint1616_t sqr1; + FixPoint1616_t sqr2; + FixPoint1616_t sqrSum; + FixPoint1616_t sqrtResult_centi_ns; + FixPoint1616_t sqrtResult; + + /*! \addtogroup calc_sigma_estimate + * @{ + * + * Estimates the range sigma based on the + * + * - vcsel_rate_kcps + * - ambient_rate_kcps + * - signal_total_events + * - xtalk_rate + * + * and the following parameters + * + * - SigmaEstRefArray + * - SigmaEstEffPulseWidth + * - SigmaEstEffAmbWidth + */ + + LOG_FUNCTION_START(""); + + VL53L010_GETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, + xTalkCompRate_mcps); + /* + * We work in kcps rather than mcps as this helps keep within the confines + * of the 32 Fix1616 type. + */ + + xTalkCompRate_kcps = xTalkCompRate_mcps * 1000; + if (xTalkCompRate_kcps > cMaxXTalk_kcps) + xTalkCompRate_kcps = cMaxXTalk_kcps; + + + Status = VL53L010_get_jmp_vcsel_ambient_rate(Dev, + &ambientRate_kcps, + &vcselRate_kcps, + &signalTotalEventsRtnRawVal); + + if (Status == VL53L0_ERROR_NONE) { + if (vcselRate_kcps == 0) { + Status = VL53L0_ERROR_DIVISION_BY_ZERO; + } else { + signalTotalEventsRtn = signalTotalEventsRtnRawVal; + if (signalTotalEventsRtn < 1) + signalTotalEventsRtn = 1; + + /* + * Calculate individual components of the main + * equation - replicating the equation implemented in + * the script OpenAll_Ewok_ranging_data.jsl. + * + * sigmaEstimateP1 represents the effective pulse width, + * which is a tuning parameter, rather than a real + * value. + * + * sigmaEstimateP2 represents the ambient/signal rate + * ratio expressed as a multiple of the effective + * ambient width (tuning parameter). + * + * sigmaEstimateP3 provides the signal event component, + * with the knowledge that + * - Noise of a square pulse is 1/sqrt(12) of the + * pulse width. + * - at 0Lux, sigma is proportional to + * effectiveVcselPulseWidth / + * sqrt(12 * signalTotalEvents) + * + * deltaT_ps represents the time of flight in pico secs + * for the current range measurement, using the + * "TOF per mm" constant (in ps). + */ + + sigmaEstimateP1 = cPulseEffectiveWidth_centi_ns; + + /* + ((FixPoint1616 << 16)* uint32)/FixPoint1616 = + FixPoint1616 + */ + sigmaEstimateP2 = (ambientRate_kcps << 16) / + vcselRate_kcps; + sigmaEstimateP2 *= cAmbientEffectiveWidth_centi_ns; + + sigmaEstimateP3 = 2 * + VL53L010_isqrt(signalTotalEventsRtn * 12); + + /* uint32 * FixPoint1616 = FixPoint1616 */ + deltaT_ps = + pRangingMeasurementData->RangeMilliMeter * + cTOF_per_mm_ps; + + /* + * vcselRate - xtalkCompRate + * (uint32 << 16) - FixPoint1616 = FixPoint1616. + * Divide result by 1000 to convert to mcps. + * 500 is added to ensure rounding when integer + * division truncates. + */ + diff1_mcps = (((vcselRate_kcps << 16) - + xTalkCompRate_kcps) + 500)/1000; + + /* vcselRate + xtalkCompRate */ + diff2_mcps = (((vcselRate_kcps << 16) + + xTalkCompRate_kcps) + 500)/1000; + + /* Shift by 12 bits to increase resolution prior to the + division */ + diff1_mcps <<= 12; + + /* FixPoint0428/FixPoint1616 = FixPoint2012 */ + xTalkCorrection = abs(diff1_mcps/diff2_mcps); + + /* FixPoint2012 << 4 = FixPoint1616 */ + xTalkCorrection <<= 4; + + /* FixPoint1616/uint32 = FixPoint1616 */ + pwMult = deltaT_ps/cVcselPulseWidth_ps; + /* smaller than 1.0f */ + + /* + * FixPoint1616 * FixPoint1616 = FixPoint3232, however + * both values are small enough such that32 bits will + * not be exceeded. + */ + pwMult *= ((1 << 16) - xTalkCorrection); + + /* (FixPoint3232 >> 16) = FixPoint1616 */ + pwMult = (pwMult + c16BitRoundingParam) >> 16; + + /* FixPoint1616 + FixPoint1616 = FixPoint1616 */ + pwMult += (1 << 16); + + /* + * At this point the value will be 1.xx, therefore if we + * square the value this will exceed 32 bits. To address + * this perform a single shift to the right before the + * multiplication. + */ + pwMult >>= 1; + /* FixPoint1715 * FixPoint1715 = FixPoint3430 */ + pwMult = pwMult * pwMult; + + /* (FixPoint3430 >> 14) = Fix1616 */ + pwMult >>= 14; + + /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ + sqr1 = pwMult * sigmaEstimateP1; + + /* (FixPoint1616 >> 12) = FixPoint2804 */ + sqr1 = (sqr1 + 0x800) >> 12; + + /* FixPoint2804 * FixPoint2804 = FixPoint5608 */ + sqr1 *= sqr1; + + sqr2 = sigmaEstimateP2; + + /* (FixPoint1616 >> 12) = FixPoint2804 */ + sqr2 = (sqr2 + 0x800) >> 12; + + /* FixPoint2804 * FixPoint2804 = FixPoint5608 */ + sqr2 *= sqr2; + + /* FixPoint5608 + FixPoint5608 = FixPoint5608 */ + sqrSum = sqr1 + sqr2; + + /* SQRT(FixPoint5608) = FixPoint2804 */ + sqrtResult_centi_ns = VL53L010_isqrt(sqrSum); + + /* (FixPoint2804 << 12) = FixPoint1616 */ + sqrtResult_centi_ns <<= 12; + + /* + * Note that the Speed Of Light is expressed in um + * per 1E-10 seconds (2997). Therefore to get mm/ns + * we have to divide by 10000 + */ + sigmaEstRtn = + ((sqrtResult_centi_ns + 50) / 100 * + VL53L010_SPEED_OF_LIGHT_IN_AIR); + sigmaEstRtn /= (sigmaEstimateP3); + /* Add 5000 before dividing by 10000 to ensure + rounding. */ + sigmaEstRtn += 5000; + sigmaEstRtn /= 10000; + + /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ + sqr1 = sigmaEstRtn * sigmaEstRtn; + /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ + sqr2 = cSigmaEstRef * cSigmaEstRef; + + /* sqrt(FixPoint3232 << 12) = FixPoint1022 */ + sqrtResult = VL53L010_isqrt((sqr1 + sqr2) << 12); + sqrtResult = (sqrtResult + 0x20) >> 6; + /* + * Note that the Shift by 12bits increases resolution + * prior to the sqrt, therefore the result must be + * shifted by 6bits to the right to revert back to the + * FixPoint1616 format. + */ + + sigmaEstimate = 1000 * sqrtResult; + + if ((vcselRate_kcps < 1) || + (signalTotalEventsRtn < 1) || + (sigmaEstimate > cSigmaEstMax)) { + sigmaEstimate = cSigmaEstMax; + } + + *pSigmaEstimate = (uint32_t)(sigmaEstimate); + PALDevDataSet(Dev, SigmaEstimate, *pSigmaEstimate); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L010_get_pal_range_status(VL53L0_DEV Dev, + uint8_t DeviceRangeStatus, + FixPoint1616_t SignalRate, + FixPoint1616_t CrosstalkCompensation, + uint16_t EffectiveSpadRtnCount, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData, + uint8_t *pPalRangeStatus) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t tmpByte; + uint8_t SigmaLimitCheckEnable; + uint8_t SignalLimitCheckEnable; + FixPoint1616_t SigmaEstimate; + FixPoint1616_t SignalEstimate; + FixPoint1616_t SigmaLimitValue; + FixPoint1616_t SignalLimitValue; + uint8_t DeviceRangeStatusInternal = 0; + + LOG_FUNCTION_START(""); + + /* + * VL53L0 has a good ranging when the value of the + * DeviceRangeStatus = 11. This function will replace + * the value 0 with the value 11 in the DeviceRangeStatus. + * In addition, the SigmaEstimator is not included in the + * VL53L0 DeviceRangeStatus, this will be added in the + * PalRangeStatus. + */ + + DeviceRangeStatusInternal = ((DeviceRangeStatus & 0x78) >> 3); + + if (DeviceRangeStatusInternal == 11) + tmpByte = 0; + else if (DeviceRangeStatusInternal == 0) + tmpByte = 11; + else + tmpByte = DeviceRangeStatusInternal; + + + /* + * Check if Sigma limit is enabled, if yes then do comparison with + * limit value and put the result back into pPalRangeStatus. + */ + Status = VL53L010_GetLimitCheckEnable(Dev, + VL53L010_CHECKENABLE_SIGMA_FINAL_RANGE, + &SigmaLimitCheckEnable); + + if ((SigmaLimitCheckEnable != 0) && (Status == VL53L0_ERROR_NONE)) { + /* + * compute the Sigma and check with limit + */ + Status = VL53L010_calc_sigma_estimate(Dev, + pRangingMeasurementData, &SigmaEstimate); + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L010_GetLimitCheckValue(Dev, + VL53L010_CHECKENABLE_SIGMA_FINAL_RANGE, + &SigmaLimitValue); + + if ((SigmaLimitValue > 0) && + (SigmaEstimate > SigmaLimitValue)) { + /* Limit Fail add 2^4 to range status */ + tmpByte += 16; + } + } + } + + /* + * Check if Signal limit is enabled, if yes then do comparison with + * limit value and put the result back into pPalRangeStatus. + */ + Status = VL53L010_GetLimitCheckEnable(Dev, + VL53L010_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + &SignalLimitCheckEnable); + + if ((SignalLimitCheckEnable != 0) && (Status == VL53L0_ERROR_NONE)) { + /* + * compute the Signal and check with limit + */ + + SignalEstimate = (FixPoint1616_t)(SignalRate - + (FixPoint1616_t)((EffectiveSpadRtnCount * + CrosstalkCompensation) >> 1)); + + PALDevDataSet(Dev, SignalEstimate, SignalEstimate); + + Status = VL53L010_GetLimitCheckValue(Dev, + VL53L010_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + &SignalLimitValue); + + if ((SignalLimitValue > 0) && (SignalEstimate < + SignalLimitValue)) { + /* Limit Fail add 2^5 to range status */ + tmpByte += 32; + } + } + + if (Status == VL53L0_ERROR_NONE) + *pPalRangeStatus = tmpByte; + + + + LOG_FUNCTION_END(Status); + return Status; + +} diff --git a/drivers/input/misc/vl53L0/src/vl53l010_tuning.c b/drivers/input/misc/vl53L0/src/vl53l010_tuning.c new file mode 100644 index 000000000000..0f5fd85bd878 --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l010_tuning.c @@ -0,0 +1,138 @@ +/******************************************************************************* + Copyright © 2016, STMicroelectronics International N.V. + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND + NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. + IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + ******************************************************************************/ + +#include "vl53l010_tuning.h" + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) + +#ifdef VL53L0_LOG_ENABLE +#define trace_print(level, ...) \ + trace_print_module_function(TRACE_MODULE_API,\ + level, TRACE_FUNCTION_NONE, ##__VA_ARGS__) +#endif + +/* +////////////////////////////////////////////////////// +//// DEFAULT TUNING SETTINGS //// +////////////////////////////////////////////////////// +*/ +VL53L0_Error VL53L010_load_tuning_settings(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + /* update 14_12_15_v11 */ + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x00); + Status |= VL53L0_WrByte(Dev, 0x91, 0x3C); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0_WrByte(Dev, 0x54, 0x01); + Status |= VL53L0_WrByte(Dev, 0x33, 0x05); + Status |= VL53L0_WrByte(Dev, 0x32, 0x03); + Status |= VL53L0_WrByte(Dev, 0x30, 0x05); + Status |= VL53L0_WrByte(Dev, 0x50, 0x05); + Status |= VL53L0_WrByte(Dev, 0x60, 0x04); + Status |= VL53L0_WrByte(Dev, 0x70, 0x06); + + Status |= VL53L0_WrByte(Dev, 0x46, 0x1a); + Status |= VL53L0_WrWord(Dev, 0x51, 0x01a3); + Status |= VL53L0_WrWord(Dev, 0x61, 0x01c4); + Status |= VL53L0_WrWord(Dev, 0x71, 0x018c); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x31, 0x0f); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0_WrByte(Dev, 0x66, 0x38); + + Status |= VL53L0_WrByte(Dev, 0x47, 0x00); + Status |= VL53L0_WrByte(Dev, 0x48, 0xff); + Status |= VL53L0_WrByte(Dev, 0x57, 0x4c); + Status |= VL53L0_WrByte(Dev, 0x67, 0x3c); + Status |= VL53L0_WrByte(Dev, 0x77, 0x5c); + + Status |= VL53L0_WrWord(Dev, 0x44, 0x0000); + + Status |= VL53L0_WrByte(Dev, 0x27, 0x00); + Status |= VL53L0_WrByte(Dev, 0x55, 0x00); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x30, 0x28); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + + Status |= VL53L0_WrByte(Dev, 0x10, 0x0f); + Status |= VL53L0_WrByte(Dev, 0x11, 0xff); + Status |= VL53L0_WrByte(Dev, 0x40, 0x82); + Status |= VL53L0_WrByte(Dev, 0x41, 0xff); + Status |= VL53L0_WrByte(Dev, 0x42, 0x07); + Status |= VL53L0_WrByte(Dev, 0x43, 0x12); + + Status |= VL53L0_WrByte(Dev, 0x20, 0x00); + Status |= VL53L0_WrByte(Dev, 0x21, 0x00); + + Status |= VL53L0_WrByte(Dev, 0x28, 0x06); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x48, 0x28); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + + Status |= VL53L0_WrByte(Dev, 0x7a, 0x0a); + Status |= VL53L0_WrByte(Dev, 0x7b, 0x00); + Status |= VL53L0_WrByte(Dev, 0x78, 0x00); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x44, 0xff); + Status |= VL53L0_WrByte(Dev, 0x45, 0x00); + Status |= VL53L0_WrByte(Dev, 0x46, 0x10); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + + Status |= VL53L0_WrByte(Dev, 0x04, 0x00); + Status |= VL53L0_WrByte(Dev, 0x05, 0x04); + Status |= VL53L0_WrByte(Dev, 0x06, 0x00); + Status |= VL53L0_WrByte(Dev, 0x07, 0x00); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x0d, 0x01); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0_WrByte(Dev, 0x80, 0x01); + Status |= VL53L0_WrByte(Dev, 0x01, 0xF8); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x8e, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x01); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + + + if (Status != 0) + Status = VL53L0_ERROR_CONTROL_INTERFACE; + + LOG_FUNCTION_END(Status); + return Status; +} diff --git a/drivers/input/misc/vl53L0/src/vl53l0_api.c b/drivers/input/misc/vl53L0/src/vl53l0_api.c new file mode 100644 index 000000000000..ccb446a15c4c --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_api.c @@ -0,0 +1,2845 @@ +/******************************************************************************* + Copyright © 2016, STMicroelectronics International N.V. + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND + NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. + IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + ******************************************************************************/ + +#include "vl53l0_api.h" +#include "vl53l0_tuning.h" +#include "vl53l0_api_core.h" +#include "vl53l0_api_histogram.h" +#include "vl53l0_api_calibration.h" +#include "vl53l0_api_strings.h" + +#ifndef __KERNEL__ +#include +#endif +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) + +#ifdef VL53L0_LOG_ENABLE +#define trace_print(level, ...) trace_print_module_function(TRACE_MODULE_API, \ + level, TRACE_FUNCTION_NONE, ##__VA_ARGS__) +#endif + +/* Group PAL General Functions */ + +VL53L0_Error VL53L0_GetVersion(VL53L0_Version_t *pVersion) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + pVersion->major = VL53L0_IMPLEMENTATION_VER_MAJOR; + pVersion->minor = VL53L0_IMPLEMENTATION_VER_MINOR; + pVersion->build = VL53L0_IMPLEMENTATION_VER_SUB; + + pVersion->revision = VL53L0_IMPLEMENTATION_VER_REVISION; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetPalSpecVersion(VL53L0_Version_t *pPalSpecVersion) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + pPalSpecVersion->major = VL53L0_SPECIFICATION_VER_MAJOR; + pPalSpecVersion->minor = VL53L0_SPECIFICATION_VER_MINOR; + pPalSpecVersion->build = VL53L0_SPECIFICATION_VER_SUB; + + pPalSpecVersion->revision = VL53L0_SPECIFICATION_VER_REVISION; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetProductRevision(VL53L0_DEV Dev, + uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t revision_id; + + LOG_FUNCTION_START(""); + + Status = VL53L0_RdByte(Dev, VL53L0_REG_IDENTIFICATION_REVISION_ID, + &revision_id); + *pProductRevisionMajor = 1; + *pProductRevisionMinor = (revision_id & 0xF0) >> 4; + + LOG_FUNCTION_END(Status); + return Status; + +} + +VL53L0_Error VL53L0_GetDeviceInfo(VL53L0_DEV Dev, + VL53L0_DeviceInfo_t *pVL53L0_DeviceInfo) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_get_device_info(Dev, pVL53L0_DeviceInfo); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetDeviceErrorStatus(VL53L0_DEV Dev, + VL53L0_DeviceError *pDeviceErrorStatus) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t RangeStatus; + + LOG_FUNCTION_START(""); + + Status = VL53L0_RdByte(Dev, VL53L0_REG_RESULT_RANGE_STATUS, + &RangeStatus); + + *pDeviceErrorStatus = (VL53L0_DeviceError)((RangeStatus & 0x78) >> 3); + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L0_Error VL53L0_GetDeviceErrorString(VL53L0_DeviceError ErrorCode, + char *pDeviceErrorString) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L0_get_device_error_string(ErrorCode, pDeviceErrorString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetRangeStatusString(uint8_t RangeStatus, + char *pRangeStatusString) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_get_range_status_string(RangeStatus, + pRangeStatusString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetPalErrorString(VL53L0_Error PalErrorCode, + char *pPalErrorString) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_get_pal_error_string(PalErrorCode, pPalErrorString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetPalStateString(VL53L0_State PalStateCode, + char *pPalStateString) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_get_pal_state_string(PalStateCode, pPalStateString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetPalState(VL53L0_DEV Dev, VL53L0_State *pPalState) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + *pPalState = PALDevDataGet(Dev, PalState); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetPowerMode(VL53L0_DEV Dev, VL53L0_PowerModes PowerMode) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + /* Only level1 of Power mode exists */ + if ((PowerMode != VL53L0_POWERMODE_STANDBY_LEVEL1) + && (PowerMode != VL53L0_POWERMODE_IDLE_LEVEL1)) { + Status = VL53L0_ERROR_MODE_NOT_SUPPORTED; + } else if (PowerMode == VL53L0_POWERMODE_STANDBY_LEVEL1) { + /* set the standby level1 of power mode */ + Status = VL53L0_WrByte(Dev, 0x80, 0x00); + if (Status == VL53L0_ERROR_NONE) { + /* Set PAL State to standby */ + PALDevDataSet(Dev, PalState, VL53L0_STATE_STANDBY); + PALDevDataSet(Dev, PowerMode, + VL53L0_POWERMODE_STANDBY_LEVEL1); + } + + } else { + /* VL53L0_POWERMODE_IDLE_LEVEL1 */ + Status = VL53L0_WrByte(Dev, 0x80, 0x00); + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_StaticInit(Dev); + + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, PowerMode, + VL53L0_POWERMODE_IDLE_LEVEL1); + + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetPowerMode(VL53L0_DEV Dev, VL53L0_PowerModes *pPowerMode) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Byte; + LOG_FUNCTION_START(""); + + /* Only level1 of Power mode exists */ + Status = VL53L0_RdByte(Dev, 0x80, &Byte); + + if (Status == VL53L0_ERROR_NONE) { + if (Byte == 1) { + PALDevDataSet(Dev, PowerMode, + VL53L0_POWERMODE_IDLE_LEVEL1); + } else { + PALDevDataSet(Dev, PowerMode, + VL53L0_POWERMODE_STANDBY_LEVEL1); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetOffsetCalibrationDataMicroMeter(VL53L0_DEV Dev, + int32_t OffsetCalibrationDataMicroMeter) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_set_offset_calibration_data_micro_meter(Dev, + OffsetCalibrationDataMicroMeter); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetOffsetCalibrationDataMicroMeter(VL53L0_DEV Dev, + int32_t *pOffsetCalibrationDataMicroMeter) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_get_offset_calibration_data_micro_meter(Dev, + pOffsetCalibrationDataMicroMeter); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetLinearityCorrectiveGain(VL53L0_DEV Dev, + int16_t LinearityCorrectiveGain) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + if ((LinearityCorrectiveGain < 0) || (LinearityCorrectiveGain > 1000)) + Status = VL53L0_ERROR_INVALID_PARAMS; + else { + PALDevDataSet(Dev, LinearityCorrectiveGain, + LinearityCorrectiveGain); + + if (LinearityCorrectiveGain != 1000) { + /* Disable FW Xtalk */ + Status = VL53L0_WrWord(Dev, + VL53L0_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, 0); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetLinearityCorrectiveGain(VL53L0_DEV Dev, + uint16_t *pLinearityCorrectiveGain) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + *pLinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetGroupParamHold(VL53L0_DEV Dev, uint8_t GroupParamHold) +{ + VL53L0_Error Status = VL53L0_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + /* not implemented on VL53L0 */ + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetUpperLimitMilliMeter(VL53L0_DEV Dev, + uint16_t *pUpperLimitMilliMeter) +{ + VL53L0_Error Status = VL53L0_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + /* not implemented on VL53L0 */ + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetTotalSignalRate(VL53L0_DEV Dev, + FixPoint1616_t *pTotalSignalRate) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_RangingMeasurementData_t LastRangeDataBuffer; + + LOG_FUNCTION_START(""); + + LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure); + + Status = VL53L0_get_total_signal_rate( + Dev, &LastRangeDataBuffer, pTotalSignalRate); + + LOG_FUNCTION_END(Status); + return Status; +} + +/* End Group PAL General Functions */ + +/* Group PAL Init Functions */ +VL53L0_Error VL53L0_SetDeviceAddress(VL53L0_DEV Dev, uint8_t DeviceAddress) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_WrByte(Dev, VL53L0_REG_I2C_SLAVE_DEVICE_ADDRESS, + DeviceAddress / 2); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_DataInit(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters; + int i; + + LOG_FUNCTION_START(""); + + /* by default the I2C is running at 1V8 if you want to change it you + * need to include this define at compilation level. */ +#ifdef USE_I2C_2V8 + Status = VL53L0_UpdateByte(Dev, + VL53L0_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV, + 0xFE, + 0x01); +#endif + + /* Set I2C standard mode */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, 0x88, 0x00); + + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone, 0); + +#ifdef USE_IQC_STATION + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_apply_offset_adjustment(Dev); +#endif + + /* Default value is 1000 for Linearity Corrective Gain */ + PALDevDataSet(Dev, LinearityCorrectiveGain, 1000); + + /* Dmax default Parameter */ + PALDevDataSet(Dev, DmaxCalRangeMilliMeter, 400); + PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps, + (FixPoint1616_t)((0x00016B85))); /* 1.42 No Cover Glass*/ + + /* Set Default static parameters + *set first temporary values 9.44MHz * 65536 = 618660 */ + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, 618660); + + /* Set Default XTalkCompensationRateMegaCps to 0 */ + VL53L0_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, 0); + + /* Get default parameters */ + Status = VL53L0_GetDeviceParameters(Dev, &CurrentParameters); + if (Status == VL53L0_ERROR_NONE) { + /* initialize PAL values */ + CurrentParameters.DeviceMode = VL53L0_DEVICEMODE_SINGLE_RANGING; + CurrentParameters.HistogramMode = VL53L0_HISTOGRAMMODE_DISABLED; + PALDevDataSet(Dev, CurrentParameters, CurrentParameters); + } + + /* Sigma estimator variable */ + PALDevDataSet(Dev, SigmaEstRefArray, 100); + PALDevDataSet(Dev, SigmaEstEffPulseWidth, 900); + PALDevDataSet(Dev, SigmaEstEffAmbWidth, 500); + PALDevDataSet(Dev, targetRefRate, 0x0A00); /* 20 MCPS in 9:7 format */ + + /* Use internal default settings */ + PALDevDataSet(Dev, UseInternalTuningSettings, 1); + + /* Enable all check */ + for (i = 0; i < VL53L0_CHECKENABLE_NUMBER_OF_CHECKS; i++) { + if (Status == VL53L0_ERROR_NONE) + Status |= VL53L0_SetLimitCheckEnable(Dev, i, 1); + else + break; + + } + + /* Disable the following checks */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetLimitCheckEnable(Dev, + VL53L0_CHECKENABLE_SIGNAL_REF_CLIP, 0); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetLimitCheckEnable(Dev, + VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0); + + /* Limit default values */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_SetLimitCheckValue(Dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + (FixPoint1616_t)(18 * 65536)); + } + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_SetLimitCheckValue(Dev, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + (FixPoint1616_t)(25 * 65536 / 100)); + /* 0.25 * 65536 */ + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_SetLimitCheckValue(Dev, + VL53L0_CHECKENABLE_SIGNAL_REF_CLIP, + (FixPoint1616_t)(35 * 65536)); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_SetLimitCheckValue(Dev, + VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + (FixPoint1616_t)(0 * 65536)); + } + + if (Status == VL53L0_ERROR_NONE) { + + PALDevDataSet(Dev, SequenceConfig, 0xFF); + Status = VL53L0_WrByte(Dev, VL53L0_REG_SYSTEM_SEQUENCE_CONFIG, + 0xFF); + + /* Set PAL state to tell that we are waiting for call to + * VL53L0_StaticInit */ + PALDevDataSet(Dev, PalState, VL53L0_STATE_WAIT_STATICINIT); + } + + if (Status == VL53L0_ERROR_NONE) + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 0); + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetTuningSettingBuffer(VL53L0_DEV Dev, + uint8_t *pTuningSettingBuffer, uint8_t UseInternalTuningSettings) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (UseInternalTuningSettings == 1) { + /* Force use internal settings */ + PALDevDataSet(Dev, UseInternalTuningSettings, 1); + } else { + + /* check that the first byte is not 0 */ + if (*pTuningSettingBuffer != 0) { + PALDevDataSet(Dev, pTuningSettingsPointer, + pTuningSettingBuffer); + PALDevDataSet(Dev, UseInternalTuningSettings, 0); + + } else { + Status = VL53L0_ERROR_INVALID_PARAMS; + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetTuningSettingBuffer(VL53L0_DEV Dev, + uint8_t **ppTuningSettingBuffer, uint8_t *pUseInternalTuningSettings) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *ppTuningSettingBuffer = PALDevDataGet(Dev, pTuningSettingsPointer); + *pUseInternalTuningSettings = PALDevDataGet(Dev, + UseInternalTuningSettings); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_StaticInit(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceParameters_t CurrentParameters = {0}; + uint8_t *pTuningSettingBuffer; + uint16_t tempword = 0; + uint8_t tempbyte = 0; + uint8_t UseInternalTuningSettings = 0; + uint32_t count = 0; + uint8_t isApertureSpads = 0; + uint32_t refSpadCount = 0; + uint8_t ApertureSpads = 0; + uint8_t vcselPulsePeriodPCLK; + FixPoint1616_t seqTimeoutMilliSecs; + + LOG_FUNCTION_START(""); + + Status = VL53L0_get_info_from_device(Dev, 1); + + /* set the ref spad from NVM */ + count = (uint32_t)VL53L0_GETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadCount); + ApertureSpads = VL53L0_GETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadType); + + /* NVM value invalid */ + if ((ApertureSpads > 1) || + ((ApertureSpads == 1) && (count > 32)) || + ((ApertureSpads == 0) && (count > 12))) + Status = VL53L0_perform_ref_spad_management(Dev, &refSpadCount, + &isApertureSpads); + else + Status = VL53L0_set_reference_spads(Dev, count, ApertureSpads); + + + /* Initialize tuning settings buffer to prevent compiler warning. */ + pTuningSettingBuffer = DefaultTuningSettings; + + if (Status == VL53L0_ERROR_NONE) { + UseInternalTuningSettings = PALDevDataGet(Dev, + UseInternalTuningSettings); + + if (UseInternalTuningSettings == 0) + pTuningSettingBuffer = PALDevDataGet(Dev, + pTuningSettingsPointer); + else + pTuningSettingBuffer = DefaultTuningSettings; + + } + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_load_tuning_settings(Dev, pTuningSettingBuffer); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, 0x80, 0x00); + + + /* Set interrupt config to new sample ready */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_SetGpioConfig(Dev, 0, 0, + VL53L0_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY, + VL53L0_INTERRUPTPOLARITY_LOW); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_RdWord(Dev, 0x84, &tempword); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + } + + if (Status == VL53L0_ERROR_NONE) { + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz, + VL53L0_FIXPOINT412TOFIXPOINT1616(tempword)); + } + + /* After static init, some device parameters may be changed, + * so update them */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_GetDeviceParameters(Dev, &CurrentParameters); + + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_GetFractionEnable(Dev, &tempbyte); + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, RangeFractionalEnable, tempbyte); + + } + + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, CurrentParameters, CurrentParameters); + + + /* read the sequence config and save it */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdByte(Dev, + VL53L0_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte); + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, SequenceConfig, tempbyte); + + } + + /* Disable MSRC and TCC by default */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetSequenceStepEnable(Dev, + VL53L0_SEQUENCESTEP_TCC, 0); + + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetSequenceStepEnable(Dev, + VL53L0_SEQUENCESTEP_MSRC, 0); + + + /* Set PAL State to standby */ + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, PalState, VL53L0_STATE_IDLE); + + + + /* Store pre-range vcsel period */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_GetVcselPulsePeriod( + Dev, + VL53L0_VCSEL_PERIOD_PRE_RANGE, + &vcselPulsePeriodPCLK); + } + + if (Status == VL53L0_ERROR_NONE) { + VL53L0_SETDEVICESPECIFICPARAMETER( + Dev, + PreRangeVcselPulsePeriod, + vcselPulsePeriodPCLK); + } + + /* Store final-range vcsel period */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_GetVcselPulsePeriod( + Dev, + VL53L0_VCSEL_PERIOD_FINAL_RANGE, + &vcselPulsePeriodPCLK); + } + + if (Status == VL53L0_ERROR_NONE) { + VL53L0_SETDEVICESPECIFICPARAMETER( + Dev, + FinalRangeVcselPulsePeriod, + vcselPulsePeriodPCLK); + } + + /* Store pre-range timeout */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_GetSequenceStepTimeout( + Dev, + VL53L0_SEQUENCESTEP_PRE_RANGE, + &seqTimeoutMilliSecs); + } + + if (Status == VL53L0_ERROR_NONE) { + VL53L0_SETDEVICESPECIFICPARAMETER( + Dev, + PreRangeTimeoutMicroSecs, + seqTimeoutMilliSecs); + } + + /* Store final-range timeout */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_GetSequenceStepTimeout( + Dev, + VL53L0_SEQUENCESTEP_FINAL_RANGE, + &seqTimeoutMilliSecs); + } + + if (Status == VL53L0_ERROR_NONE) { + VL53L0_SETDEVICESPECIFICPARAMETER( + Dev, + FinalRangeTimeoutMicroSecs, + seqTimeoutMilliSecs); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_WaitDeviceBooted(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + /* not implemented on VL53L0 */ + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_ResetDevice(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Byte; + LOG_FUNCTION_START(""); + + /* Set reset bit */ + Status = VL53L0_WrByte(Dev, VL53L0_REG_SOFT_RESET_GO2_SOFT_RESET_N, + 0x00); + + /* Wait for some time */ + if (Status == VL53L0_ERROR_NONE) { + do { + Status = VL53L0_RdByte(Dev, + VL53L0_REG_IDENTIFICATION_MODEL_ID, &Byte); + } while (Byte != 0x00); + } + + /* Release reset */ + Status = VL53L0_WrByte(Dev, VL53L0_REG_SOFT_RESET_GO2_SOFT_RESET_N, + 0x01); + + /* Wait until correct boot-up of the device */ + if (Status == VL53L0_ERROR_NONE) { + do { + Status = VL53L0_RdByte(Dev, + VL53L0_REG_IDENTIFICATION_MODEL_ID, &Byte); + } while (Byte == 0x00); + } + + /* Set PAL State to VL53L0_STATE_POWERDOWN */ + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, PalState, VL53L0_STATE_POWERDOWN); + + + LOG_FUNCTION_END(Status); + return Status; +} +/* End Group PAL Init Functions */ + +/* Group PAL Parameters Functions */ +VL53L0_Error VL53L0_SetDeviceParameters(VL53L0_DEV Dev, + const VL53L0_DeviceParameters_t *pDeviceParameters) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + int i; + LOG_FUNCTION_START(""); + Status = VL53L0_SetDeviceMode(Dev, pDeviceParameters->DeviceMode); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetHistogramMode(Dev, + pDeviceParameters->HistogramMode); + + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetInterMeasurementPeriodMilliSeconds(Dev, + pDeviceParameters->InterMeasurementPeriodMilliSeconds); + + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetXTalkCompensationRateMegaCps(Dev, + pDeviceParameters->XTalkCompensationRateMegaCps); + + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetOffsetCalibrationDataMicroMeter(Dev, + pDeviceParameters->RangeOffsetMicroMeters); + + + for (i = 0; i < VL53L0_CHECKENABLE_NUMBER_OF_CHECKS; i++) { + if (Status == VL53L0_ERROR_NONE) + Status |= VL53L0_SetLimitCheckEnable(Dev, i, + pDeviceParameters->LimitChecksEnable[i]); + else + break; + + if (Status == VL53L0_ERROR_NONE) + Status |= VL53L0_SetLimitCheckValue(Dev, i, + pDeviceParameters->LimitChecksValue[i]); + else + break; + + } + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetWrapAroundCheckEnable(Dev, + pDeviceParameters->WrapAroundCheckEnable); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetMeasurementTimingBudgetMicroSeconds(Dev, + pDeviceParameters->MeasurementTimingBudgetMicroSeconds); + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetDeviceParameters(VL53L0_DEV Dev, + VL53L0_DeviceParameters_t *pDeviceParameters) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + int i; + + LOG_FUNCTION_START(""); + + Status = VL53L0_GetDeviceMode(Dev, &(pDeviceParameters->DeviceMode)); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_GetHistogramMode(Dev, + &(pDeviceParameters->HistogramMode)); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_GetInterMeasurementPeriodMilliSeconds(Dev, + &(pDeviceParameters->InterMeasurementPeriodMilliSeconds)); + + + if (Status == VL53L0_ERROR_NONE) + pDeviceParameters->XTalkCompensationEnable = 0; + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_GetXTalkCompensationRateMegaCps(Dev, + &(pDeviceParameters->XTalkCompensationRateMegaCps)); + + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_GetOffsetCalibrationDataMicroMeter(Dev, + &(pDeviceParameters->RangeOffsetMicroMeters)); + + + if (Status == VL53L0_ERROR_NONE) { + for (i = 0; i < VL53L0_CHECKENABLE_NUMBER_OF_CHECKS; i++) { + /* get first the values, then the enables. + * VL53L0_GetLimitCheckValue will modify the enable + * flags + */ + if (Status == VL53L0_ERROR_NONE) { + Status |= VL53L0_GetLimitCheckValue(Dev, i, + &(pDeviceParameters->LimitChecksValue[i])); + } else { + break; + } + if (Status == VL53L0_ERROR_NONE) { + Status |= VL53L0_GetLimitCheckEnable(Dev, i, + &(pDeviceParameters->LimitChecksEnable[i])); + } else { + break; + } + } + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_GetWrapAroundCheckEnable(Dev, + &(pDeviceParameters->WrapAroundCheckEnable)); + } + + /* Need to be done at the end as it uses VCSELPulsePeriod */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_GetMeasurementTimingBudgetMicroSeconds(Dev, + &(pDeviceParameters->MeasurementTimingBudgetMicroSeconds)); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetDeviceMode(VL53L0_DEV Dev, VL53L0_DeviceModes DeviceMode) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START("%d", (int)DeviceMode); + + switch (DeviceMode) { + case VL53L0_DEVICEMODE_SINGLE_RANGING: + case VL53L0_DEVICEMODE_CONTINUOUS_RANGING: + case VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING: + case VL53L0_DEVICEMODE_SINGLE_HISTOGRAM: + case VL53L0_DEVICEMODE_GPIO_DRIVE: + case VL53L0_DEVICEMODE_GPIO_OSC: + /* Supported modes */ + VL53L0_SETPARAMETERFIELD(Dev, DeviceMode, DeviceMode); + break; + default: + /* Unsupported mode */ + Status = VL53L0_ERROR_MODE_NOT_SUPPORTED; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetDeviceMode(VL53L0_DEV Dev, + VL53L0_DeviceModes *pDeviceMode) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + VL53L0_GETPARAMETERFIELD(Dev, DeviceMode, *pDeviceMode); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetRangeFractionEnable(VL53L0_DEV Dev, uint8_t Enable) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START("%d", (int)Enable); + + Status = VL53L0_WrByte(Dev, VL53L0_REG_SYSTEM_RANGE_CONFIG, Enable); + + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, RangeFractionalEnable, Enable); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetFractionEnable(VL53L0_DEV Dev, uint8_t *pEnabled) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_RdByte(Dev, VL53L0_REG_SYSTEM_RANGE_CONFIG, pEnabled); + + if (Status == VL53L0_ERROR_NONE) + *pEnabled = (*pEnabled & 1); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetHistogramMode(VL53L0_DEV Dev, + VL53L0_HistogramModes HistogramMode) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START("%d", (int)HistogramMode); + + Status = VL53L0_set_histogram_mode(Dev, HistogramMode); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetHistogramMode(VL53L0_DEV Dev, + VL53L0_HistogramModes *pHistogramMode) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_get_histogram_mode(Dev, pHistogramMode); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetMeasurementTimingBudgetMicroSeconds(VL53L0_DEV Dev, + uint32_t MeasurementTimingBudgetMicroSeconds) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_set_measurement_timing_budget_micro_seconds(Dev, + MeasurementTimingBudgetMicroSeconds); + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L0_Error VL53L0_GetMeasurementTimingBudgetMicroSeconds(VL53L0_DEV Dev, + uint32_t *pMeasurementTimingBudgetMicroSeconds) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_get_measurement_timing_budget_micro_seconds(Dev, + pMeasurementTimingBudgetMicroSeconds); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetVcselPulsePeriod(VL53L0_DEV Dev, + VL53L0_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_set_vcsel_pulse_period(Dev, VcselPeriodType, + VCSELPulsePeriodPCLK); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetVcselPulsePeriod(VL53L0_DEV Dev, + VL53L0_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_get_vcsel_pulse_period(Dev, VcselPeriodType, + pVCSELPulsePeriodPCLK); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetSequenceStepEnable(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t SequenceConfig = 0; + uint8_t SequenceConfigNew = 0; + uint32_t MeasurementTimingBudgetMicroSeconds; + LOG_FUNCTION_START(""); + + Status = VL53L0_RdByte(Dev, VL53L0_REG_SYSTEM_SEQUENCE_CONFIG, + &SequenceConfig); + + SequenceConfigNew = SequenceConfig; + + if (Status == VL53L0_ERROR_NONE) { + if (SequenceStepEnabled == 1) { + + /* Enable requested sequence step + */ + switch (SequenceStepId) { + case VL53L0_SEQUENCESTEP_TCC: + SequenceConfigNew |= 0x10; + break; + case VL53L0_SEQUENCESTEP_DSS: + SequenceConfigNew |= 0x28; + break; + case VL53L0_SEQUENCESTEP_MSRC: + SequenceConfigNew |= 0x04; + break; + case VL53L0_SEQUENCESTEP_PRE_RANGE: + SequenceConfigNew |= 0x40; + break; + case VL53L0_SEQUENCESTEP_FINAL_RANGE: + SequenceConfigNew |= 0x80; + break; + default: + Status = VL53L0_ERROR_INVALID_PARAMS; + } + } else { + /* Disable requested sequence step + */ + switch (SequenceStepId) { + case VL53L0_SEQUENCESTEP_TCC: + SequenceConfigNew &= 0xef; + break; + case VL53L0_SEQUENCESTEP_DSS: + SequenceConfigNew &= 0xd7; + break; + case VL53L0_SEQUENCESTEP_MSRC: + SequenceConfigNew &= 0xfb; + break; + case VL53L0_SEQUENCESTEP_PRE_RANGE: + SequenceConfigNew &= 0xbf; + break; + case VL53L0_SEQUENCESTEP_FINAL_RANGE: + SequenceConfigNew &= 0x7f; + break; + default: + Status = VL53L0_ERROR_INVALID_PARAMS; + } + } + } + + if (SequenceConfigNew != SequenceConfig) { + /* Apply New Setting */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_WrByte(Dev, + VL53L0_REG_SYSTEM_SEQUENCE_CONFIG, SequenceConfigNew); + } + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, SequenceConfig, SequenceConfigNew); + + + /* Recalculate timing budget */ + if (Status == VL53L0_ERROR_NONE) { + VL53L0_GETPARAMETERFIELD(Dev, + MeasurementTimingBudgetMicroSeconds, + MeasurementTimingBudgetMicroSeconds); + + VL53L0_SetMeasurementTimingBudgetMicroSeconds(Dev, + MeasurementTimingBudgetMicroSeconds); + } + } + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L0_Error sequence_step_enabled(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, uint8_t SequenceConfig, + uint8_t *pSequenceStepEnabled) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + *pSequenceStepEnabled = 0; + LOG_FUNCTION_START(""); + + switch (SequenceStepId) { + case VL53L0_SEQUENCESTEP_TCC: + *pSequenceStepEnabled = (SequenceConfig & 0x10) >> 4; + break; + case VL53L0_SEQUENCESTEP_DSS: + *pSequenceStepEnabled = (SequenceConfig & 0x08) >> 3; + break; + case VL53L0_SEQUENCESTEP_MSRC: + *pSequenceStepEnabled = (SequenceConfig & 0x04) >> 2; + break; + case VL53L0_SEQUENCESTEP_PRE_RANGE: + *pSequenceStepEnabled = (SequenceConfig & 0x40) >> 6; + break; + case VL53L0_SEQUENCESTEP_FINAL_RANGE: + *pSequenceStepEnabled = (SequenceConfig & 0x80) >> 7; + break; + default: + Status = VL53L0_ERROR_INVALID_PARAMS; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetSequenceStepEnable(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t SequenceConfig = 0; + LOG_FUNCTION_START(""); + + Status = VL53L0_RdByte(Dev, VL53L0_REG_SYSTEM_SEQUENCE_CONFIG, + &SequenceConfig); + + if (Status == VL53L0_ERROR_NONE) { + Status = sequence_step_enabled(Dev, SequenceStepId, + SequenceConfig, pSequenceStepEnabled); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetSequenceStepEnables(VL53L0_DEV Dev, + VL53L0_SchedulerSequenceSteps_t *pSchedulerSequenceSteps) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t SequenceConfig = 0; + LOG_FUNCTION_START(""); + + Status = VL53L0_RdByte(Dev, VL53L0_REG_SYSTEM_SEQUENCE_CONFIG, + &SequenceConfig); + + if (Status == VL53L0_ERROR_NONE) { + Status = sequence_step_enabled(Dev, + VL53L0_SEQUENCESTEP_TCC, SequenceConfig, + &pSchedulerSequenceSteps->TccOn); + } + if (Status == VL53L0_ERROR_NONE) { + Status = sequence_step_enabled(Dev, + VL53L0_SEQUENCESTEP_DSS, SequenceConfig, + &pSchedulerSequenceSteps->DssOn); + } + if (Status == VL53L0_ERROR_NONE) { + Status = sequence_step_enabled(Dev, + VL53L0_SEQUENCESTEP_MSRC, SequenceConfig, + &pSchedulerSequenceSteps->MsrcOn); + } + if (Status == VL53L0_ERROR_NONE) { + Status = sequence_step_enabled(Dev, + VL53L0_SEQUENCESTEP_PRE_RANGE, SequenceConfig, + &pSchedulerSequenceSteps->PreRangeOn); + } + if (Status == VL53L0_ERROR_NONE) { + Status = sequence_step_enabled(Dev, + VL53L0_SEQUENCESTEP_FINAL_RANGE, SequenceConfig, + &pSchedulerSequenceSteps->FinalRangeOn); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetNumberOfSequenceSteps(VL53L0_DEV Dev, + uint8_t *pNumberOfSequenceSteps) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + *pNumberOfSequenceSteps = VL53L0_SEQUENCESTEP_NUMBER_OF_CHECKS; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetSequenceStepsInfo(VL53L0_SequenceStepId SequenceStepId, + char *pSequenceStepsString) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_get_sequence_steps_info( + SequenceStepId, + pSequenceStepsString); + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L0_Error VL53L0_SetSequenceStepTimeout(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, FixPoint1616_t TimeOutMilliSecs) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_Error Status1 = VL53L0_ERROR_NONE; + uint32_t TimeoutMicroSeconds = ((TimeOutMilliSecs * 1000) + 0x8000) + >> 16; + uint32_t MeasurementTimingBudgetMicroSeconds; + FixPoint1616_t OldTimeOutMicroSeconds; + + LOG_FUNCTION_START(""); + + /* Read back the current value in case we need to revert back to this. + */ + Status = get_sequence_step_timeout(Dev, SequenceStepId, + &OldTimeOutMicroSeconds); + + if (Status == VL53L0_ERROR_NONE) { + Status = set_sequence_step_timeout(Dev, SequenceStepId, + TimeoutMicroSeconds); + } + + if (Status == VL53L0_ERROR_NONE) { + VL53L0_GETPARAMETERFIELD(Dev, + MeasurementTimingBudgetMicroSeconds, + MeasurementTimingBudgetMicroSeconds); + + /* At this point we don't know if the requested value is valid, + therefore proceed to update the entire timing budget and + if this fails, revert back to the previous value. + */ + Status = VL53L0_SetMeasurementTimingBudgetMicroSeconds(Dev, + MeasurementTimingBudgetMicroSeconds); + + if (Status != VL53L0_ERROR_NONE) { + Status1 = set_sequence_step_timeout(Dev, SequenceStepId, + OldTimeOutMicroSeconds); + + if (Status1 == VL53L0_ERROR_NONE) { + Status1 = + VL53L0_SetMeasurementTimingBudgetMicroSeconds( + Dev, + MeasurementTimingBudgetMicroSeconds); + } + + Status = Status1; + } + } + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L0_Error VL53L0_GetSequenceStepTimeout(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, FixPoint1616_t *pTimeOutMilliSecs) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint32_t TimeoutMicroSeconds; + uint32_t WholeNumber_ms = 0; + uint32_t Fraction_ms = 0; + LOG_FUNCTION_START(""); + + Status = get_sequence_step_timeout(Dev, SequenceStepId, + &TimeoutMicroSeconds); + if (Status == VL53L0_ERROR_NONE) { + WholeNumber_ms = TimeoutMicroSeconds / 1000; + Fraction_ms = TimeoutMicroSeconds - (WholeNumber_ms * 1000); + *pTimeOutMilliSecs = (WholeNumber_ms << 16) + + (((Fraction_ms * 0xffff) + 500) / 1000); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetInterMeasurementPeriodMilliSeconds(VL53L0_DEV Dev, + uint32_t InterMeasurementPeriodMilliSeconds) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint16_t osc_calibrate_val; + uint32_t IMPeriodMilliSeconds; + + LOG_FUNCTION_START(""); + + Status = VL53L0_RdWord(Dev, VL53L0_REG_OSC_CALIBRATE_VAL, + &osc_calibrate_val); + + if (Status == VL53L0_ERROR_NONE) { + if (osc_calibrate_val != 0) { + IMPeriodMilliSeconds = + InterMeasurementPeriodMilliSeconds + * osc_calibrate_val; + } else { + IMPeriodMilliSeconds = + InterMeasurementPeriodMilliSeconds; + } + Status = VL53L0_WrDWord(Dev, + VL53L0_REG_SYSTEM_INTERMEASUREMENT_PERIOD, + IMPeriodMilliSeconds); + } + + if (Status == VL53L0_ERROR_NONE) { + VL53L0_SETPARAMETERFIELD(Dev, + InterMeasurementPeriodMilliSeconds, + InterMeasurementPeriodMilliSeconds); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetInterMeasurementPeriodMilliSeconds(VL53L0_DEV Dev, + uint32_t *pInterMeasurementPeriodMilliSeconds) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint16_t osc_calibrate_val; + uint32_t IMPeriodMilliSeconds; + + LOG_FUNCTION_START(""); + + Status = VL53L0_RdWord(Dev, VL53L0_REG_OSC_CALIBRATE_VAL, + &osc_calibrate_val); + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdDWord(Dev, + VL53L0_REG_SYSTEM_INTERMEASUREMENT_PERIOD, + &IMPeriodMilliSeconds); + } + + if (Status == VL53L0_ERROR_NONE) { + if (osc_calibrate_val != 0) { + *pInterMeasurementPeriodMilliSeconds = + IMPeriodMilliSeconds / osc_calibrate_val; + } + VL53L0_SETPARAMETERFIELD(Dev, + InterMeasurementPeriodMilliSeconds, + *pInterMeasurementPeriodMilliSeconds); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetXTalkCompensationEnable(VL53L0_DEV Dev, + uint8_t XTalkCompensationEnable) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + FixPoint1616_t TempFix1616; + uint16_t LinearityCorrectiveGain; + + LOG_FUNCTION_START(""); + + LinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); + + if ((XTalkCompensationEnable == 0) + || (LinearityCorrectiveGain != 1000)) { + TempFix1616 = 0; + } else { + VL53L0_GETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, + TempFix1616); + } + + /* the following register has a format 3.13 */ + Status = VL53L0_WrWord(Dev, + VL53L0_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, + VL53L0_FIXPOINT1616TOFIXPOINT313(TempFix1616)); + + if (Status == VL53L0_ERROR_NONE) { + if (XTalkCompensationEnable == 0) { + VL53L0_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, + 0); + } else { + VL53L0_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, + 1); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetXTalkCompensationEnable(VL53L0_DEV Dev, + uint8_t *pXTalkCompensationEnable) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Temp8; + LOG_FUNCTION_START(""); + + VL53L0_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8); + *pXTalkCompensationEnable = Temp8; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetXTalkCompensationRateMegaCps(VL53L0_DEV Dev, + FixPoint1616_t XTalkCompensationRateMegaCps) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Temp8; + uint16_t LinearityCorrectiveGain; + uint16_t data; + LOG_FUNCTION_START(""); + + VL53L0_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, Temp8); + LinearityCorrectiveGain = PALDevDataGet(Dev, LinearityCorrectiveGain); + + if (Temp8 == 0) { /* disabled write only internal value */ + VL53L0_SETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, + XTalkCompensationRateMegaCps); + } else { + /* the following register has a format 3.13 */ + if (LinearityCorrectiveGain == 1000) { + data = VL53L0_FIXPOINT1616TOFIXPOINT313( + XTalkCompensationRateMegaCps); + } else { + data = 0; + } + + Status = VL53L0_WrWord(Dev, + VL53L0_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, data); + + if (Status == VL53L0_ERROR_NONE) { + VL53L0_SETPARAMETERFIELD(Dev, + XTalkCompensationRateMegaCps, + XTalkCompensationRateMegaCps); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetXTalkCompensationRateMegaCps(VL53L0_DEV Dev, + FixPoint1616_t *pXTalkCompensationRateMegaCps) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint16_t Value; + FixPoint1616_t TempFix1616; + + LOG_FUNCTION_START(""); + + Status = VL53L0_RdWord(Dev, + VL53L0_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS, (uint16_t *)&Value); + if (Status == VL53L0_ERROR_NONE) { + if (Value == 0) { + /* the Xtalk is disabled return value from memory */ + VL53L0_GETPARAMETERFIELD(Dev, + XTalkCompensationRateMegaCps, TempFix1616); + *pXTalkCompensationRateMegaCps = TempFix1616; + VL53L0_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, + 0); + } else { + TempFix1616 = VL53L0_FIXPOINT313TOFIXPOINT1616(Value); + *pXTalkCompensationRateMegaCps = TempFix1616; + VL53L0_SETPARAMETERFIELD(Dev, + XTalkCompensationRateMegaCps, TempFix1616); + VL53L0_SETPARAMETERFIELD(Dev, XTalkCompensationEnable, + 1); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetRefCalibration(VL53L0_DEV Dev, uint8_t VhvSettings, + uint8_t PhaseCal) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_set_ref_calibration(Dev, VhvSettings, PhaseCal); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetRefCalibration(VL53L0_DEV Dev, uint8_t *pVhvSettings, + uint8_t *pPhaseCal) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_get_ref_calibration(Dev, pVhvSettings, pPhaseCal); + + LOG_FUNCTION_END(Status); + return Status; +} + +/* + * CHECK LIMIT FUNCTIONS + */ + +VL53L0_Error VL53L0_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + *pNumberOfLimitCheck = VL53L0_CHECKENABLE_NUMBER_OF_CHECKS; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetLimitCheckInfo(VL53L0_DEV Dev, uint16_t LimitCheckId, + char *pLimitCheckString) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L0_get_limit_check_info(Dev, LimitCheckId, + pLimitCheckString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetLimitCheckStatus(VL53L0_DEV Dev, uint16_t LimitCheckId, + uint8_t *pLimitCheckStatus) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Temp8; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L0_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L0_ERROR_INVALID_PARAMS; + } else { + + VL53L0_GETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + LimitCheckId, Temp8); + + *pLimitCheckStatus = Temp8; + + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetLimitCheckEnable(VL53L0_DEV Dev, uint16_t LimitCheckId, + uint8_t LimitCheckEnable) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + FixPoint1616_t TempFix1616 = 0; + uint8_t LimitCheckEnableInt; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L0_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L0_ERROR_INVALID_PARAMS; + } else { + if (LimitCheckEnable == 0) { + TempFix1616 = 0; + LimitCheckEnableInt = 0; + } else { + VL53L0_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + LimitCheckId, TempFix1616); + /* this to be sure to have either 0 or 1 */ + LimitCheckEnableInt = 1; + } + + switch (LimitCheckId) { + + case VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE: + /* internal computation: */ + VL53L0_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + LimitCheckEnableInt); + + break; + + case VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + + Status = VL53L0_WrWord(Dev, + VL53L0_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, + VL53L0_FIXPOINT1616TOFIXPOINT97(TempFix1616)); + + break; + + case VL53L0_CHECKENABLE_SIGNAL_REF_CLIP: + + /* internal computation: */ + VL53L0_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + VL53L0_CHECKENABLE_SIGNAL_REF_CLIP, + LimitCheckEnableInt); + + break; + + case VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD: + + /* internal computation: */ + VL53L0_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + LimitCheckEnableInt); + + break; + + default: + Status = VL53L0_ERROR_INVALID_PARAMS; + + } + + } + + if (Status == VL53L0_ERROR_NONE) { + if (LimitCheckEnable == 0) { + VL53L0_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + LimitCheckId, 0); + } else { + VL53L0_SETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + LimitCheckId, 1); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetLimitCheckEnable(VL53L0_DEV Dev, uint16_t LimitCheckId, + uint8_t *pLimitCheckEnable) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Temp8; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L0_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L0_ERROR_INVALID_PARAMS; + *pLimitCheckEnable = 0; + } else { + VL53L0_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + LimitCheckId, Temp8); + *pLimitCheckEnable = Temp8; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetLimitCheckValue(VL53L0_DEV Dev, uint16_t LimitCheckId, + FixPoint1616_t LimitCheckValue) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Temp8; + + LOG_FUNCTION_START(""); + + VL53L0_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, LimitCheckId, + Temp8); + + if (Temp8 == 0) { /* disabled write only internal value */ + VL53L0_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + LimitCheckId, LimitCheckValue); + } else { + + switch (LimitCheckId) { + + case VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE: + /* internal computation: */ + VL53L0_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + LimitCheckValue); + break; + + case VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + + Status = VL53L0_WrWord(Dev, + VL53L0_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, + VL53L0_FIXPOINT1616TOFIXPOINT97( + LimitCheckValue)); + + break; + + case VL53L0_CHECKENABLE_SIGNAL_REF_CLIP: + + /* internal computation: */ + VL53L0_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + VL53L0_CHECKENABLE_SIGNAL_REF_CLIP, + LimitCheckValue); + + break; + + case VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD: + + /* internal computation: */ + VL53L0_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + LimitCheckValue); + + break; + + default: + Status = VL53L0_ERROR_INVALID_PARAMS; + + } + + if (Status == VL53L0_ERROR_NONE) { + VL53L0_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + LimitCheckId, LimitCheckValue); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetLimitCheckValue(VL53L0_DEV Dev, uint16_t LimitCheckId, + FixPoint1616_t *pLimitCheckValue) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t EnableZeroValue = 0; + uint16_t Temp16; + FixPoint1616_t TempFix1616; + + LOG_FUNCTION_START(""); + + switch (LimitCheckId) { + + case VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE: + /* internal computation: */ + VL53L0_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, TempFix1616); + EnableZeroValue = 0; + break; + + case VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + Status = VL53L0_RdWord(Dev, + VL53L0_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT, + &Temp16); + if (Status == VL53L0_ERROR_NONE) + TempFix1616 = VL53L0_FIXPOINT97TOFIXPOINT1616(Temp16); + + + EnableZeroValue = 1; + break; + + case VL53L0_CHECKENABLE_SIGNAL_REF_CLIP: + /* internal computation: */ + VL53L0_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + VL53L0_CHECKENABLE_SIGNAL_REF_CLIP, TempFix1616); + EnableZeroValue = 0; + break; + + case VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD: + /* internal computation: */ + VL53L0_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD, TempFix1616); + EnableZeroValue = 0; + break; + + default: + Status = VL53L0_ERROR_INVALID_PARAMS; + + } + + if (Status == VL53L0_ERROR_NONE) { + + if (EnableZeroValue == 1) { + + if (TempFix1616 == 0) { + /* disabled: return value from memory */ + VL53L0_GETARRAYPARAMETERFIELD(Dev, + LimitChecksValue, LimitCheckId, + TempFix1616); + *pLimitCheckValue = TempFix1616; + VL53L0_SETARRAYPARAMETERFIELD(Dev, + LimitChecksEnable, LimitCheckId, 0); + } else { + *pLimitCheckValue = TempFix1616; + VL53L0_SETARRAYPARAMETERFIELD(Dev, + LimitChecksValue, LimitCheckId, + TempFix1616); + VL53L0_SETARRAYPARAMETERFIELD(Dev, + LimitChecksEnable, LimitCheckId, 1); + } + } else { + *pLimitCheckValue = TempFix1616; + } + } + + LOG_FUNCTION_END(Status); + return Status; + +} + +VL53L0_Error VL53L0_GetLimitCheckCurrent(VL53L0_DEV Dev, uint16_t LimitCheckId, + FixPoint1616_t *pLimitCheckCurrent) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_RangingMeasurementData_t LastRangeDataBuffer; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L0_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L0_ERROR_INVALID_PARAMS; + } else { + switch (LimitCheckId) { + case VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE: + /* Need to run a ranging to have the latest values */ + *pLimitCheckCurrent = PALDevDataGet(Dev, SigmaEstimate); + + break; + + case VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + /* Need to run a ranging to have the latest values */ + LastRangeDataBuffer = PALDevDataGet(Dev, + LastRangeMeasure); + *pLimitCheckCurrent = + LastRangeDataBuffer.SignalRateRtnMegaCps; + + break; + + case VL53L0_CHECKENABLE_SIGNAL_REF_CLIP: + /* Need to run a ranging to have the latest values */ + *pLimitCheckCurrent = PALDevDataGet(Dev, + LastSignalRefMcps); + + break; + + case VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD: + /* Need to run a ranging to have the latest values */ + LastRangeDataBuffer = PALDevDataGet(Dev, + LastRangeMeasure); + *pLimitCheckCurrent = + LastRangeDataBuffer.SignalRateRtnMegaCps; + + break; + + default: + Status = VL53L0_ERROR_INVALID_PARAMS; + } + } + + LOG_FUNCTION_END(Status); + return Status; + +} + +/* + * WRAPAROUND Check + */ +VL53L0_Error VL53L0_SetWrapAroundCheckEnable(VL53L0_DEV Dev, + uint8_t WrapAroundCheckEnable) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Byte; + uint8_t WrapAroundCheckEnableInt; + + LOG_FUNCTION_START(""); + + Status = VL53L0_RdByte(Dev, VL53L0_REG_SYSTEM_SEQUENCE_CONFIG, &Byte); + if (WrapAroundCheckEnable == 0) { + /* Disable wraparound */ + Byte = Byte & 0x7F; + WrapAroundCheckEnableInt = 0; + } else { + /*Enable wraparound */ + Byte = Byte | 0x80; + WrapAroundCheckEnableInt = 1; + } + + Status = VL53L0_WrByte(Dev, VL53L0_REG_SYSTEM_SEQUENCE_CONFIG, Byte); + + if (Status == VL53L0_ERROR_NONE) { + PALDevDataSet(Dev, SequenceConfig, Byte); + VL53L0_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable, + WrapAroundCheckEnableInt); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetWrapAroundCheckEnable(VL53L0_DEV Dev, + uint8_t *pWrapAroundCheckEnable) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t data; + + LOG_FUNCTION_START(""); + + Status = VL53L0_RdByte(Dev, VL53L0_REG_SYSTEM_SEQUENCE_CONFIG, &data); + if (Status == VL53L0_ERROR_NONE) { + PALDevDataSet(Dev, SequenceConfig, data); + if (data & (0x01 << 7)) + *pWrapAroundCheckEnable = 0x01; + else + *pWrapAroundCheckEnable = 0x00; + } + if (Status == VL53L0_ERROR_NONE) { + VL53L0_SETPARAMETERFIELD(Dev, WrapAroundCheckEnable, + *pWrapAroundCheckEnable); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetDmaxCalParameters(VL53L0_DEV Dev, + uint16_t RangeMilliMeter, FixPoint1616_t SignalRateRtnMegaCps) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + FixPoint1616_t SignalRateRtnMegaCpsTemp = 0; + + LOG_FUNCTION_START(""); + + /* Check if one of input parameter is zero, in that case the + * value are get from NVM */ + if ((RangeMilliMeter == 0) || (SignalRateRtnMegaCps == 0)) { + /* NVM parameters */ + /* Run VL53L0_get_info_from_device wit option 4 to get + * signal rate at 400 mm if the value have been already + * get this function will return with no access to device */ + VL53L0_get_info_from_device(Dev, 4); + + SignalRateRtnMegaCpsTemp = VL53L0_GETDEVICESPECIFICPARAMETER( + Dev, SignalRateMeasFixed400mm); + + PALDevDataSet(Dev, DmaxCalRangeMilliMeter, 400); + PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps, + SignalRateRtnMegaCpsTemp); + } else { + /* User parameters */ + PALDevDataSet(Dev, DmaxCalRangeMilliMeter, RangeMilliMeter); + PALDevDataSet(Dev, DmaxCalSignalRateRtnMegaCps, + SignalRateRtnMegaCps); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetDmaxCalParameters(VL53L0_DEV Dev, + uint16_t *pRangeMilliMeter, FixPoint1616_t *pSignalRateRtnMegaCps) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pRangeMilliMeter = PALDevDataGet(Dev, DmaxCalRangeMilliMeter); + *pSignalRateRtnMegaCps = PALDevDataGet(Dev, + DmaxCalSignalRateRtnMegaCps); + + LOG_FUNCTION_END(Status); + return Status; +} + +/* End Group PAL Parameters Functions */ + +/* Group PAL Measurement Functions */ +VL53L0_Error VL53L0_PerformSingleMeasurement(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceModes DeviceMode; + + LOG_FUNCTION_START(""); + + /* Get Current DeviceMode */ + Status = VL53L0_GetDeviceMode(Dev, &DeviceMode); + + /* Start immediately to run a single ranging measurement in case of + * single ranging or single histogram */ + if (Status == VL53L0_ERROR_NONE + && DeviceMode == VL53L0_DEVICEMODE_SINGLE_RANGING) + Status = VL53L0_StartMeasurement(Dev); + + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_measurement_poll_for_completion(Dev); + + + /* Change PAL State in case of single ranging or single histogram */ + if (Status == VL53L0_ERROR_NONE + && DeviceMode == VL53L0_DEVICEMODE_SINGLE_RANGING) + PALDevDataSet(Dev, PalState, VL53L0_STATE_IDLE); + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_PerformSingleHistogramMeasurement(VL53L0_DEV Dev, + VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_perform_single_histogram_measurement(Dev, + pHistogramMeasurementData); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_PerformRefCalibration(VL53L0_DEV Dev, uint8_t *pVhvSettings, + uint8_t *pPhaseCal) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_perform_ref_calibration(Dev, pVhvSettings, + pPhaseCal, 1); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_PerformXTalkMeasurement(VL53L0_DEV Dev, + uint32_t TimeoutMs, FixPoint1616_t *pXtalkPerSpad, + uint8_t *pAmbientTooHigh) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_perform_xtalk_measurement(Dev, TimeoutMs, + pXtalkPerSpad, pAmbientTooHigh); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_PerformXTalkCalibration(VL53L0_DEV Dev, + FixPoint1616_t XTalkCalDistance, + FixPoint1616_t *pXTalkCompensationRateMegaCps) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_perform_xtalk_calibration(Dev, XTalkCalDistance, + pXTalkCompensationRateMegaCps); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_PerformOffsetCalibration(VL53L0_DEV Dev, + FixPoint1616_t CalDistanceMilliMeter, int32_t *pOffsetMicroMeter) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_perform_offset_calibration(Dev, CalDistanceMilliMeter, + pOffsetMicroMeter); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_StartMeasurement(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceModes DeviceMode; + uint8_t Byte; + uint8_t StartStopByte = VL53L0_REG_SYSRANGE_MODE_START_STOP; + uint32_t LoopNb; + LOG_FUNCTION_START(""); + + /* Get Current DeviceMode */ + VL53L0_GetDeviceMode(Dev, &DeviceMode); + + switch (DeviceMode) { + case VL53L0_DEVICEMODE_SINGLE_RANGING: + Status = VL53L0_WrByte(Dev, + VL53L0_REG_SYSRANGE_START, + VL53L0_REG_SYSRANGE_MODE_SINGLESHOT | StartStopByte); + break; + case VL53L0_DEVICEMODE_CONTINUOUS_RANGING: + /* Back-to-back mode */ + Status = VL53L0_WrByte(Dev, + VL53L0_REG_SYSRANGE_START, + VL53L0_REG_SYSRANGE_MODE_BACKTOBACK | StartStopByte); + if (Status == VL53L0_ERROR_NONE) { + /* Set PAL State to Running */ + PALDevDataSet(Dev, PalState, VL53L0_STATE_RUNNING); + } + break; + case VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING: + /* Continuous mode */ + Status = VL53L0_WrByte(Dev, + VL53L0_REG_SYSRANGE_START, + VL53L0_REG_SYSRANGE_MODE_TIMED | StartStopByte); + if (Status == VL53L0_ERROR_NONE) { + /* Set PAL State to Running */ + PALDevDataSet(Dev, PalState, VL53L0_STATE_RUNNING); + } + break; + default: + /* Selected mode not supported */ + Status = VL53L0_ERROR_MODE_NOT_SUPPORTED; + } + + Byte = StartStopByte; + if (Status == VL53L0_ERROR_NONE) { + /* Wait until start bit has been cleared */ + LoopNb = 0; + do { + if (LoopNb > 0) + Status = VL53L0_RdByte(Dev, + VL53L0_REG_SYSRANGE_START, &Byte); + LoopNb = LoopNb + 1; + } while (((Byte & StartStopByte) == StartStopByte) + && (Status == VL53L0_ERROR_NONE) + && (LoopNb < VL53L0_DEFAULT_MAX_LOOP)); + + if (LoopNb >= VL53L0_DEFAULT_MAX_LOOP) + Status = VL53L0_ERROR_TIME_OUT; + + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_StopMeasurement(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_WrByte(Dev, VL53L0_REG_SYSRANGE_START, + VL53L0_REG_SYSRANGE_MODE_SINGLESHOT); + + if (Status == VL53L0_ERROR_NONE) { + /* Set PAL State to Idle */ + PALDevDataSet(Dev, PalState, VL53L0_STATE_IDLE); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetMeasurementDataReady(VL53L0_DEV Dev, + uint8_t *pMeasurementDataReady) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t SysRangeStatusRegister; + uint8_t InterruptConfig; + uint32_t InterruptMask; + LOG_FUNCTION_START(""); + + InterruptConfig = VL53L0_GETDEVICESPECIFICPARAMETER(Dev, + Pin0GpioFunctionality); + + if (InterruptConfig == + VL53L0_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) { + Status = VL53L0_GetInterruptMaskStatus(Dev, &InterruptMask); + if (InterruptMask == + VL53L0_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY) + *pMeasurementDataReady = 1; + else + *pMeasurementDataReady = 0; + } else { + Status = VL53L0_RdByte(Dev, VL53L0_REG_RESULT_RANGE_STATUS, + &SysRangeStatusRegister); + if (Status == VL53L0_ERROR_NONE) { + if (SysRangeStatusRegister & 0x01) + *pMeasurementDataReady = 1; + else + *pMeasurementDataReady = 0; + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_WaitDeviceReadyForNewMeasurement(VL53L0_DEV Dev, + uint32_t MaxLoop) +{ + VL53L0_Error Status = VL53L0_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + /* not implemented for VL53L0 */ + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L0_Error VL53L0_GetRangingMeasurementData(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t DeviceRangeStatus; + uint8_t RangeFractionalEnable; + uint8_t PalRangeStatus; + uint8_t XTalkCompensationEnable; + uint16_t AmbientRate; + FixPoint1616_t SignalRate; + uint16_t XTalkCompensationRateMegaCps; + uint16_t EffectiveSpadRtnCount; + uint16_t tmpuint16; + uint16_t XtalkRangeMilliMeter; + uint16_t LinearityCorrectiveGain; + uint8_t localBuffer[12]; + VL53L0_RangingMeasurementData_t LastRangeDataBuffer; + + LOG_FUNCTION_START(""); + + /* + * use multi read even if some registers are not useful, result will + * be more efficient + * start reading at 0x14 dec20 + * end reading at 0x21 dec33 total 14 bytes to read + */ + Status = VL53L0_ReadMulti(Dev, 0x14, localBuffer, 12); + + if (Status == VL53L0_ERROR_NONE) { + + pRangingMeasurementData->ZoneId = 0; /* Only one zone */ + pRangingMeasurementData->TimeStamp = 0; /* Not Implemented */ + + tmpuint16 = VL53L0_MAKEUINT16(localBuffer[11], localBuffer[10]); + /* cut1.1 if SYSTEM__RANGE_CONFIG if 1 range is 2bits fractional + *(format 11.2) else no fractional + */ + + pRangingMeasurementData->MeasurementTimeUsec = 0; + + SignalRate = VL53L0_FIXPOINT97TOFIXPOINT1616( + VL53L0_MAKEUINT16(localBuffer[7], localBuffer[6])); + /* peak_signal_count_rate_rtn_mcps */ + pRangingMeasurementData->SignalRateRtnMegaCps = SignalRate; + + AmbientRate = VL53L0_MAKEUINT16(localBuffer[9], localBuffer[8]); + pRangingMeasurementData->AmbientRateRtnMegaCps = + VL53L0_FIXPOINT97TOFIXPOINT1616(AmbientRate); + + EffectiveSpadRtnCount = VL53L0_MAKEUINT16(localBuffer[3], + localBuffer[2]); + /* EffectiveSpadRtnCount is 8.8 format */ + pRangingMeasurementData->EffectiveSpadRtnCount = + EffectiveSpadRtnCount; + + DeviceRangeStatus = localBuffer[0]; + + /* Get Linearity Corrective Gain */ + LinearityCorrectiveGain = PALDevDataGet(Dev, + LinearityCorrectiveGain); + + /* Get ranging configuration */ + RangeFractionalEnable = PALDevDataGet(Dev, + RangeFractionalEnable); + + if (LinearityCorrectiveGain != 1000) { + + tmpuint16 = (uint16_t)((LinearityCorrectiveGain + * tmpuint16 + 500) / 1000); + + /* Implement Xtalk */ + VL53L0_GETPARAMETERFIELD(Dev, + XTalkCompensationRateMegaCps, + XTalkCompensationRateMegaCps); + VL53L0_GETPARAMETERFIELD(Dev, XTalkCompensationEnable, + XTalkCompensationEnable); + + if (XTalkCompensationEnable) { + + if ((SignalRate + - ((XTalkCompensationRateMegaCps + * EffectiveSpadRtnCount) >> 8)) + <= 0) { + if (RangeFractionalEnable) + XtalkRangeMilliMeter = 8888; + else + XtalkRangeMilliMeter = 8888 + << 2; + } else { + XtalkRangeMilliMeter = + (tmpuint16 * SignalRate) + / (SignalRate + - ((XTalkCompensationRateMegaCps + * EffectiveSpadRtnCount) + >> 8)); + } + + tmpuint16 = XtalkRangeMilliMeter; + } + + } + + if (RangeFractionalEnable) { + pRangingMeasurementData->RangeMilliMeter = + (uint16_t)((tmpuint16) >> 2); + pRangingMeasurementData->RangeFractionalPart = + (uint8_t)((tmpuint16 & 0x03) << 6); + } else { + pRangingMeasurementData->RangeMilliMeter = tmpuint16; + pRangingMeasurementData->RangeFractionalPart = 0; + } + + /* + * For a standard definition of RangeStatus, this should + * return 0 in case of good result after a ranging + * The range status depends on the device so call a device + * specific function to obtain the right Status. + */ + Status |= VL53L0_get_pal_range_status(Dev, DeviceRangeStatus, + SignalRate, EffectiveSpadRtnCount, + pRangingMeasurementData, &PalRangeStatus); + + if (Status == VL53L0_ERROR_NONE) + pRangingMeasurementData->RangeStatus = PalRangeStatus; + + } + + if (Status == VL53L0_ERROR_NONE) { + /* Copy last read data into Dev buffer */ + LastRangeDataBuffer = PALDevDataGet(Dev, LastRangeMeasure); + + LastRangeDataBuffer.RangeMilliMeter = + pRangingMeasurementData->RangeMilliMeter; + LastRangeDataBuffer.RangeFractionalPart = + pRangingMeasurementData->RangeFractionalPart; + LastRangeDataBuffer.RangeDMaxMilliMeter = + pRangingMeasurementData->RangeDMaxMilliMeter; + LastRangeDataBuffer.MeasurementTimeUsec = + pRangingMeasurementData->MeasurementTimeUsec; + LastRangeDataBuffer.SignalRateRtnMegaCps = + pRangingMeasurementData->SignalRateRtnMegaCps; + LastRangeDataBuffer.AmbientRateRtnMegaCps = + pRangingMeasurementData->AmbientRateRtnMegaCps; + LastRangeDataBuffer.EffectiveSpadRtnCount = + pRangingMeasurementData->EffectiveSpadRtnCount; + LastRangeDataBuffer.RangeStatus = + pRangingMeasurementData->RangeStatus; + + PALDevDataSet(Dev, LastRangeMeasure, LastRangeDataBuffer); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetMeasurementRefSignal(VL53L0_DEV Dev, + FixPoint1616_t *pMeasurementRefSignal) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + *pMeasurementRefSignal = PALDevDataGet(Dev, LastSignalRefMcps); + + LOG_FUNCTION_END(Status); + return Status; + +} + +VL53L0_Error VL53L0_GetHistogramMeasurementData(VL53L0_DEV Dev, + VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData) +{ + VL53L0_Error Status = VL53L0_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_PerformSingleRangingMeasurement(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + /* This function will do a complete single ranging + * Here we fix the mode! */ + Status = VL53L0_SetDeviceMode(Dev, VL53L0_DEVICEMODE_SINGLE_RANGING); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_PerformSingleMeasurement(Dev); + + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_GetRangingMeasurementData(Dev, + pRangingMeasurementData); + + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_ClearInterruptMask(Dev, 0); + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetNumberOfROIZones(VL53L0_DEV Dev, + uint8_t NumberOfROIZones) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (NumberOfROIZones != 1) + Status = VL53L0_ERROR_INVALID_PARAMS; + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetNumberOfROIZones(VL53L0_DEV Dev, + uint8_t *pNumberOfROIZones) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pNumberOfROIZones = 1; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetMaxNumberOfROIZones(VL53L0_DEV Dev, + uint8_t *pMaxNumberOfROIZones) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pMaxNumberOfROIZones = 1; + + LOG_FUNCTION_END(Status); + return Status; +} + +/* End Group PAL Measurement Functions */ + +VL53L0_Error VL53L0_SetGpioConfig(VL53L0_DEV Dev, uint8_t Pin, + VL53L0_DeviceModes DeviceMode, VL53L0_GpioFunctionality Functionality, + VL53L0_InterruptPolarity Polarity) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t data; + + LOG_FUNCTION_START(""); + + if (Pin != 0) { + Status = VL53L0_ERROR_GPIO_NOT_EXISTING; + } else if (DeviceMode == VL53L0_DEVICEMODE_GPIO_DRIVE) { + if (Polarity == VL53L0_INTERRUPTPOLARITY_LOW) + data = 0x10; + else + data = 1; + + Status = VL53L0_WrByte(Dev, + VL53L0_REG_GPIO_HV_MUX_ACTIVE_HIGH, data); + + } else if (DeviceMode == VL53L0_DEVICEMODE_GPIO_OSC) { + + Status |= VL53L0_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x00); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x00); + Status |= VL53L0_WrByte(Dev, 0x80, 0x01); + Status |= VL53L0_WrByte(Dev, 0x85, 0x02); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x04); + Status |= VL53L0_WrByte(Dev, 0xcd, 0x00); + Status |= VL53L0_WrByte(Dev, 0xcc, 0x11); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x07); + Status |= VL53L0_WrByte(Dev, 0xbe, 0x00); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x06); + Status |= VL53L0_WrByte(Dev, 0xcc, 0x09); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x00); + Status |= VL53L0_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x00); + + } else { + + if (Status == VL53L0_ERROR_NONE) { + switch (Functionality) { + case VL53L0_GPIOFUNCTIONALITY_OFF: + data = 0x00; + break; + case VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW: + data = 0x01; + break; + case VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH: + data = 0x02; + break; + case VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT: + data = 0x03; + break; + case VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY: + data = 0x04; + break; + default: + Status = + VL53L0_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED; + } + } + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, + VL53L0_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, data); + + if (Status == VL53L0_ERROR_NONE) { + if (Polarity == VL53L0_INTERRUPTPOLARITY_LOW) + data = 0; + else + data = (uint8_t)(1 << 4); + + Status = VL53L0_UpdateByte(Dev, + VL53L0_REG_GPIO_HV_MUX_ACTIVE_HIGH, 0xEF, data); + } + + if (Status == VL53L0_ERROR_NONE) + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + Pin0GpioFunctionality, Functionality); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_ClearInterruptMask(Dev, 0); + + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetGpioConfig(VL53L0_DEV Dev, uint8_t Pin, + VL53L0_DeviceModes *pDeviceMode, + VL53L0_GpioFunctionality *pFunctionality, + VL53L0_InterruptPolarity *pPolarity) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_GpioFunctionality GpioFunctionality; + uint8_t data; + + LOG_FUNCTION_START(""); + + /* pDeviceMode not managed by Ewok it return the current mode */ + + Status = VL53L0_GetDeviceMode(Dev, pDeviceMode); + + if (Status == VL53L0_ERROR_NONE) { + if (Pin != 0) { + Status = VL53L0_ERROR_GPIO_NOT_EXISTING; + } else { + Status = VL53L0_RdByte(Dev, + VL53L0_REG_SYSTEM_INTERRUPT_CONFIG_GPIO, &data); + } + } + + if (Status == VL53L0_ERROR_NONE) { + switch (data & 0x07) { + case 0x00: + GpioFunctionality = VL53L0_GPIOFUNCTIONALITY_OFF; + break; + case 0x01: + GpioFunctionality = + VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW; + break; + case 0x02: + GpioFunctionality = + VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH; + break; + case 0x03: + GpioFunctionality = + VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT; + break; + case 0x04: + GpioFunctionality = + VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY; + break; + default: + Status = VL53L0_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED; + } + } + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_RdByte(Dev, VL53L0_REG_GPIO_HV_MUX_ACTIVE_HIGH, + &data); + + if (Status == VL53L0_ERROR_NONE) { + if ((data & (uint8_t)(1 << 4)) == 0) + *pPolarity = VL53L0_INTERRUPTPOLARITY_LOW; + else + *pPolarity = VL53L0_INTERRUPTPOLARITY_HIGH; + } + + if (Status == VL53L0_ERROR_NONE) { + *pFunctionality = GpioFunctionality; + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, Pin0GpioFunctionality, + GpioFunctionality); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetInterruptThresholds(VL53L0_DEV Dev, + VL53L0_DeviceModes DeviceMode, FixPoint1616_t ThresholdLow, + FixPoint1616_t ThresholdHigh) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint16_t Threshold16; + LOG_FUNCTION_START(""); + + /* no dependency on DeviceMode for Ewok */ + /* Need to divide by 2 because the FW will apply a x2 */ + Threshold16 = (uint16_t)((ThresholdLow >> 17) & 0x00fff); + Status = VL53L0_WrWord(Dev, VL53L0_REG_SYSTEM_THRESH_LOW, Threshold16); + + if (Status == VL53L0_ERROR_NONE) { + /* Need to divide by 2 because the FW will apply a x2 */ + Threshold16 = (uint16_t)((ThresholdHigh >> 17) & 0x00fff); + Status = VL53L0_WrWord(Dev, VL53L0_REG_SYSTEM_THRESH_HIGH, + Threshold16); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetInterruptThresholds(VL53L0_DEV Dev, + VL53L0_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow, + FixPoint1616_t *pThresholdHigh) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint16_t Threshold16; + LOG_FUNCTION_START(""); + + /* no dependency on DeviceMode for Ewok */ + + Status = VL53L0_RdWord(Dev, VL53L0_REG_SYSTEM_THRESH_LOW, &Threshold16); + /* Need to multiply by 2 because the FW will apply a x2 */ + *pThresholdLow = (FixPoint1616_t)((0x00fff & Threshold16) << 17); + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdWord(Dev, VL53L0_REG_SYSTEM_THRESH_HIGH, + &Threshold16); + /* Need to multiply by 2 because the FW will apply a x2 */ + *pThresholdHigh = + (FixPoint1616_t)((0x00fff & Threshold16) << 17); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +/* Group PAL Interrupt Functions */ +VL53L0_Error VL53L0_ClearInterruptMask(VL53L0_DEV Dev, uint32_t InterruptMask) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t LoopCount; + uint8_t Byte; + LOG_FUNCTION_START(""); + + /* clear bit 0 range interrupt, bit 1 error interrupt */ + Status = VL53L0_WrByte(Dev, VL53L0_REG_SYSTEM_INTERRUPT_CLEAR, 0x01); + LoopCount = 0; + do { + VL53L0_RdByte(Dev, VL53L0_REG_RESULT_INTERRUPT_STATUS, &Byte); + LoopCount++; + } while (((Byte & 0x07) != 0x00) && (LoopCount < 8)); + Status = VL53L0_WrByte(Dev, VL53L0_REG_SYSTEM_INTERRUPT_CLEAR, 0x00); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetInterruptMaskStatus(VL53L0_DEV Dev, + uint32_t *pInterruptMaskStatus) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Byte; + LOG_FUNCTION_START(""); + + Status = VL53L0_RdByte(Dev, VL53L0_REG_RESULT_INTERRUPT_STATUS, &Byte); + *pInterruptMaskStatus = Byte & 0x07; + + if (Byte & 0x18) + Status = VL53L0_ERROR_RANGE_ERROR; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_EnableInterruptMask(VL53L0_DEV Dev, uint32_t InterruptMask) +{ + VL53L0_Error Status = VL53L0_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + /* not implemented for VL53L0 */ + + LOG_FUNCTION_END(Status); + return Status; +} + +/* End Group PAL Interrupt Functions */ + +/* Group SPAD functions */ + +VL53L0_Error VL53L0_SetSpadAmbientDamperThreshold(VL53L0_DEV Dev, + uint16_t SpadAmbientDamperThreshold) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + VL53L0_WrByte(Dev, 0xFF, 0x01); + Status = VL53L0_WrWord(Dev, 0x40, SpadAmbientDamperThreshold); + VL53L0_WrByte(Dev, 0xFF, 0x00); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetSpadAmbientDamperThreshold(VL53L0_DEV Dev, + uint16_t *pSpadAmbientDamperThreshold) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + VL53L0_WrByte(Dev, 0xFF, 0x01); + Status = VL53L0_RdWord(Dev, 0x40, pSpadAmbientDamperThreshold); + VL53L0_WrByte(Dev, 0xFF, 0x00); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_SetSpadAmbientDamperFactor(VL53L0_DEV Dev, + uint16_t SpadAmbientDamperFactor) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Byte; + LOG_FUNCTION_START(""); + + Byte = (uint8_t)(SpadAmbientDamperFactor & 0x00FF); + + VL53L0_WrByte(Dev, 0xFF, 0x01); + Status = VL53L0_WrByte(Dev, 0x42, Byte); + VL53L0_WrByte(Dev, 0xFF, 0x00); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_GetSpadAmbientDamperFactor(VL53L0_DEV Dev, + uint16_t *pSpadAmbientDamperFactor) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Byte; + LOG_FUNCTION_START(""); + + VL53L0_WrByte(Dev, 0xFF, 0x01); + Status = VL53L0_RdByte(Dev, 0x42, &Byte); + VL53L0_WrByte(Dev, 0xFF, 0x00); + *pSpadAmbientDamperFactor = (uint16_t)Byte; + + LOG_FUNCTION_END(Status); + return Status; +} + +/* END Group SPAD functions */ + +/***************************************************************************** + * Internal functions + *****************************************************************************/ + +VL53L0_Error VL53L0_SetReferenceSpads(VL53L0_DEV Dev, uint32_t count, + uint8_t isApertureSpads) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_set_reference_spads(Dev, count, isApertureSpads); + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L0_Error VL53L0_GetReferenceSpads(VL53L0_DEV Dev, uint32_t *pSpadCount, + uint8_t *pIsApertureSpads) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_get_reference_spads(Dev, pSpadCount, pIsApertureSpads); + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L0_Error VL53L0_PerformRefSpadManagement(VL53L0_DEV Dev, + uint32_t *refSpadCount, uint8_t *isApertureSpads) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + Status = VL53L0_perform_ref_spad_management(Dev, refSpadCount, + isApertureSpads); + + LOG_FUNCTION_END(Status); + + return Status; +} diff --git a/drivers/input/misc/vl53L0/src/vl53l0_api_calibration.c b/drivers/input/misc/vl53L0/src/vl53l0_api_calibration.c new file mode 100644 index 000000000000..596b07017ae0 --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_api_calibration.c @@ -0,0 +1,1275 @@ +/******************************************************************************* + Copyright © 2016, STMicroelectronics International N.V. + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND + NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. + IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + ******************************************************************************/ + +#include "vl53l0_api.h" +#include "vl53l0_api_core.h" +#include "vl53l0_api_calibration.h" + +#ifndef __KERNEL__ +#include +#endif + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) + +#define REF_ARRAY_SPAD_0 0 +#define REF_ARRAY_SPAD_5 5 +#define REF_ARRAY_SPAD_10 10 + +uint32_t refArrayQuadrants[4] = {REF_ARRAY_SPAD_10, REF_ARRAY_SPAD_5, + REF_ARRAY_SPAD_0, REF_ARRAY_SPAD_5 }; + +VL53L0_Error VL53L0_perform_xtalk_calibration(VL53L0_DEV Dev, + FixPoint1616_t XTalkCalDistance, + FixPoint1616_t *pXTalkCompensationRateMegaCps) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint16_t sum_ranging = 0; + uint16_t sum_spads = 0; + FixPoint1616_t sum_signalRate = 0; + FixPoint1616_t total_count = 0; + uint8_t xtalk_meas = 0; + VL53L0_RangingMeasurementData_t RangingMeasurementData; + FixPoint1616_t xTalkStoredMeanSignalRate; + FixPoint1616_t xTalkStoredMeanRange; + FixPoint1616_t xTalkStoredMeanRtnSpads; + uint32_t signalXTalkTotalPerSpad; + uint32_t xTalkStoredMeanRtnSpadsAsInt; + uint32_t xTalkCalDistanceAsInt; + FixPoint1616_t XTalkCompensationRateMegaCps; + + if (XTalkCalDistance <= 0) + Status = VL53L0_ERROR_INVALID_PARAMS; + + /* Disable the XTalk compensation */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetXTalkCompensationEnable(Dev, 0); + + /* Disable the RIT */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_SetLimitCheckEnable(Dev, + VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0); + } + + /* Perform 50 measurements and compute the averages */ + if (Status == VL53L0_ERROR_NONE) { + sum_ranging = 0; + sum_spads = 0; + sum_signalRate = 0; + total_count = 0; + for (xtalk_meas = 0; xtalk_meas < 50; xtalk_meas++) { + Status = VL53L0_PerformSingleRangingMeasurement(Dev, + &RangingMeasurementData); + + if (Status != VL53L0_ERROR_NONE) + break; + + /* The range is valid when RangeStatus = 0 */ + if (RangingMeasurementData.RangeStatus == 0) { + sum_ranging = sum_ranging + + RangingMeasurementData.RangeMilliMeter; + sum_signalRate = sum_signalRate + + RangingMeasurementData.SignalRateRtnMegaCps; + sum_spads = sum_spads + + RangingMeasurementData.EffectiveSpadRtnCount + / 256; + total_count = total_count + 1; + } + } + + /* no valid values found */ + if (total_count == 0) + Status = VL53L0_ERROR_RANGE_ERROR; + + } + + + if (Status == VL53L0_ERROR_NONE) { + /* FixPoint1616_t / uint16_t = FixPoint1616_t */ + xTalkStoredMeanSignalRate = sum_signalRate / total_count; + xTalkStoredMeanRange = (FixPoint1616_t)((uint32_t)( + sum_ranging << 16) / total_count); + xTalkStoredMeanRtnSpads = (FixPoint1616_t)((uint32_t)( + sum_spads << 16) / total_count); + + /* Round Mean Spads to Whole Number. + * Typically the calculated mean SPAD count is a whole number + * or very close to a whole + * number, therefore any truncation will not result in a + * significant loss in accuracy. + * Also, for a grey target at a typical distance of around + * 400mm, around 220 SPADs will + * be enabled, therefore, any truncation will result in a loss + * of accuracy of less than + * 0.5%. + */ + xTalkStoredMeanRtnSpadsAsInt = (xTalkStoredMeanRtnSpads + + 0x8000) >> 16; + + /* Round Cal Distance to Whole Number. + * Note that the cal distance is in mm, therefore no resolution + * is lost.*/ + xTalkCalDistanceAsInt = (XTalkCalDistance + 0x8000) >> 16; + + if (xTalkStoredMeanRtnSpadsAsInt == 0 || + xTalkCalDistanceAsInt == 0 || + xTalkStoredMeanRange >= XTalkCalDistance) { + XTalkCompensationRateMegaCps = 0; + } else { + /* Round Cal Distance to Whole Number. + Note that the cal distance is in mm, therefore no + resolution is lost.*/ + xTalkCalDistanceAsInt = (XTalkCalDistance + + 0x8000) >> 16; + + /* Apply division by mean spad count early in the + * calculation to keep the numbers small. + * This ensures we can maintain a 32bit calculation. + * Fixed1616 / int := Fixed1616 */ + signalXTalkTotalPerSpad = (xTalkStoredMeanSignalRate) / + xTalkStoredMeanRtnSpadsAsInt; + + /* Complete the calculation for total Signal XTalk per + * SPAD + * Fixed1616 * (Fixed1616 - Fixed1616/int) := + * (2^16 * Fixed1616) + */ + signalXTalkTotalPerSpad *= ((1 << 16) - + (xTalkStoredMeanRange / xTalkCalDistanceAsInt)); + + /* Round from 2^16 * Fixed1616, to Fixed1616. */ + XTalkCompensationRateMegaCps = (signalXTalkTotalPerSpad + + 0x8000) >> 16; + + if (XTalkCompensationRateMegaCps < 0) + XTalkCompensationRateMegaCps = 0; + } + + *pXTalkCompensationRateMegaCps = XTalkCompensationRateMegaCps; + + /* Enable the XTalk compensation */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetXTalkCompensationEnable(Dev, 1); + + /* Enable the XTalk compensation */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetXTalkCompensationRateMegaCps(Dev, + XTalkCompensationRateMegaCps); + + } + + return Status; +} + +VL53L0_Error VL53L0_perform_offset_calibration(VL53L0_DEV Dev, + FixPoint1616_t CalDistanceMilliMeter, + int32_t *pOffsetMicroMeter) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint16_t sum_ranging = 0; + FixPoint1616_t total_count = 0; + VL53L0_RangingMeasurementData_t RangingMeasurementData; + FixPoint1616_t StoredMeanRange; + uint32_t StoredMeanRangeAsInt; + uint32_t CalDistanceAsInt_mm; + uint8_t SequenceStepEnabled; + int meas = 0; + + if (CalDistanceMilliMeter <= 0) + Status = VL53L0_ERROR_INVALID_PARAMS; + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetOffsetCalibrationDataMicroMeter(Dev, 0); + + + /* Get the value of the TCC */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_GetSequenceStepEnable(Dev, + VL53L0_SEQUENCESTEP_TCC, &SequenceStepEnabled); + + + /* Disable the TCC */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetSequenceStepEnable(Dev, + VL53L0_SEQUENCESTEP_TCC, 0); + + + /* Disable the RIT */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetLimitCheckEnable(Dev, + VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD, 0); + + /* Perform 50 measurements and compute the averages */ + if (Status == VL53L0_ERROR_NONE) { + sum_ranging = 0; + total_count = 0; + for (meas = 0; meas < 50; meas++) { + Status = VL53L0_PerformSingleRangingMeasurement(Dev, + &RangingMeasurementData); + + if (Status != VL53L0_ERROR_NONE) + break; + + /* The range is valid when RangeStatus = 0 */ + if (RangingMeasurementData.RangeStatus == 0) { + sum_ranging = sum_ranging + + RangingMeasurementData.RangeMilliMeter; + total_count = total_count + 1; + } + } + + /* no valid values found */ + if (total_count == 0) + Status = VL53L0_ERROR_RANGE_ERROR; + } + + + if (Status == VL53L0_ERROR_NONE) { + /* FixPoint1616_t / uint16_t = FixPoint1616_t */ + StoredMeanRange = (FixPoint1616_t)((uint32_t)(sum_ranging << 16) + / total_count); + + StoredMeanRangeAsInt = (StoredMeanRange + 0x8000) >> 16; + + /* Round Cal Distance to Whole Number. + * Note that the cal distance is in mm, therefore no resolution + * is lost.*/ + CalDistanceAsInt_mm = (CalDistanceMilliMeter + 0x8000) >> 16; + + *pOffsetMicroMeter = (CalDistanceAsInt_mm - + StoredMeanRangeAsInt) * 1000; + + /* Apply the calculated offset */ + if (Status == VL53L0_ERROR_NONE) { + VL53L0_SETPARAMETERFIELD(Dev, RangeOffsetMicroMeters, + *pOffsetMicroMeter); + Status = VL53L0_SetOffsetCalibrationDataMicroMeter(Dev, + *pOffsetMicroMeter); + } + + } + + /* Restore the TCC */ + if (Status == VL53L0_ERROR_NONE) { + if (SequenceStepEnabled != 0) + Status = VL53L0_SetSequenceStepEnable(Dev, + VL53L0_SEQUENCESTEP_TCC, 1); + } + + return Status; +} + + +VL53L0_Error VL53L0_set_offset_calibration_data_micro_meter(VL53L0_DEV Dev, + int32_t OffsetCalibrationDataMicroMeter) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + int32_t cMaxOffsetMicroMeter = 511000; + int32_t cMinOffsetMicroMeter = -512000; + int16_t cOffsetRange = 4096; + uint32_t encodedOffsetVal; + + LOG_FUNCTION_START(""); + + if (OffsetCalibrationDataMicroMeter > cMaxOffsetMicroMeter) + OffsetCalibrationDataMicroMeter = cMaxOffsetMicroMeter; + else if (OffsetCalibrationDataMicroMeter < cMinOffsetMicroMeter) + OffsetCalibrationDataMicroMeter = cMinOffsetMicroMeter; + + /* The offset register is 10.2 format and units are mm + * therefore conversion is applied by a division of + * 250. + */ + if (OffsetCalibrationDataMicroMeter >= 0) { + encodedOffsetVal = + OffsetCalibrationDataMicroMeter/250; + } else { + encodedOffsetVal = + cOffsetRange + + OffsetCalibrationDataMicroMeter/250; + } + + Status = VL53L0_WrWord(Dev, + VL53L0_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM, + encodedOffsetVal); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_get_offset_calibration_data_micro_meter(VL53L0_DEV Dev, + int32_t *pOffsetCalibrationDataMicroMeter) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint16_t RangeOffsetRegister; + int16_t cMaxOffset = 2047; + int16_t cOffsetRange = 4096; + + /* Note that offset has 10.2 format */ + + Status = VL53L0_RdWord(Dev, + VL53L0_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM, + &RangeOffsetRegister); + + if (Status == VL53L0_ERROR_NONE) { + RangeOffsetRegister = (RangeOffsetRegister & 0x0fff); + + /* Apply 12 bit 2's compliment conversion */ + if (RangeOffsetRegister > cMaxOffset) + *pOffsetCalibrationDataMicroMeter = + (int16_t)(RangeOffsetRegister - cOffsetRange) + * 250; + else + *pOffsetCalibrationDataMicroMeter = + (int16_t)RangeOffsetRegister * 250; + + } + + return Status; +} + + +VL53L0_Error VL53L0_apply_offset_adjustment(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + int32_t CorrectedOffsetMicroMeters; + int32_t CurrentOffsetMicroMeters; + + /* if we run on this function we can read all the NVM info + * used by the API */ + Status = VL53L0_get_info_from_device(Dev, 7); + + /* Read back current device offset */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_GetOffsetCalibrationDataMicroMeter(Dev, + &CurrentOffsetMicroMeters); + } + + /* Apply Offset Adjustment derived from 400mm measurements */ + if (Status == VL53L0_ERROR_NONE) { + + /* Store initial device offset */ + PALDevDataSet(Dev, Part2PartOffsetNVMMicroMeter, + CurrentOffsetMicroMeters); + + CorrectedOffsetMicroMeters = CurrentOffsetMicroMeters + + (int32_t)PALDevDataGet(Dev, + Part2PartOffsetAdjustmentNVMMicroMeter); + + Status = VL53L0_SetOffsetCalibrationDataMicroMeter(Dev, + CorrectedOffsetMicroMeters); + + /* store current, adjusted offset */ + if (Status == VL53L0_ERROR_NONE) { + VL53L0_SETPARAMETERFIELD(Dev, RangeOffsetMicroMeters, + CorrectedOffsetMicroMeters); + } + } + + return Status; +} + +void get_next_good_spad(uint8_t goodSpadArray[], uint32_t size, + uint32_t curr, int32_t *next) +{ + uint32_t startIndex; + uint32_t fineOffset; + uint32_t cSpadsPerByte = 8; + uint32_t coarseIndex; + uint32_t fineIndex; + uint8_t dataByte; + uint8_t success = 0; + + /* + * Starting with the current good spad, loop through the array to find + * the next. i.e. the next bit set in the sequence. + * + * The coarse index is the byte index of the array and the fine index is + * the index of the bit within each byte. + */ + + *next = -1; + + startIndex = curr / cSpadsPerByte; + fineOffset = curr % cSpadsPerByte; + + for (coarseIndex = startIndex; ((coarseIndex < size) && !success); + coarseIndex++) { + fineIndex = 0; + dataByte = goodSpadArray[coarseIndex]; + + if (coarseIndex == startIndex) { + /* locate the bit position of the provided current + * spad bit before iterating */ + dataByte >>= fineOffset; + fineIndex = fineOffset; + } + + while (fineIndex < cSpadsPerByte) { + if ((dataByte & 0x1) == 1) { + success = 1; + *next = coarseIndex * cSpadsPerByte + fineIndex; + break; + } + dataByte >>= 1; + fineIndex++; + } + } +} + + +uint8_t is_aperture(uint32_t spadIndex) +{ + /* + * This function reports if a given spad index is an aperture SPAD by + * deriving the quadrant. + */ + uint32_t quadrant; + uint8_t isAperture = 1; + quadrant = spadIndex >> 6; + if (refArrayQuadrants[quadrant] == REF_ARRAY_SPAD_0) + isAperture = 0; + + return isAperture; +} + + +VL53L0_Error enable_spad_bit(uint8_t spadArray[], uint32_t size, + uint32_t spadIndex) +{ + VL53L0_Error status = VL53L0_ERROR_NONE; + uint32_t cSpadsPerByte = 8; + uint32_t coarseIndex; + uint32_t fineIndex; + + coarseIndex = spadIndex / cSpadsPerByte; + fineIndex = spadIndex % cSpadsPerByte; + if (coarseIndex >= size) + status = VL53L0_ERROR_REF_SPAD_INIT; + else + spadArray[coarseIndex] |= (1 << fineIndex); + + return status; +} + +VL53L0_Error count_enabled_spads(uint8_t spadArray[], + uint32_t byteCount, uint32_t maxSpads, + uint32_t *pTotalSpadsEnabled, uint8_t *pIsAperture) +{ + VL53L0_Error status = VL53L0_ERROR_NONE; + uint32_t cSpadsPerByte = 8; + uint32_t lastByte; + uint32_t lastBit; + uint32_t byteIndex = 0; + uint32_t bitIndex = 0; + uint8_t tempByte; + uint8_t spadTypeIdentified = 0; + + /* The entire array will not be used for spads, therefore the last + * byte and last bit is determined from the max spads value. + */ + + lastByte = maxSpads / cSpadsPerByte; + lastBit = maxSpads % cSpadsPerByte; + + /* Check that the max spads value does not exceed the array bounds. */ + if (lastByte >= byteCount) + status = VL53L0_ERROR_REF_SPAD_INIT; + + *pTotalSpadsEnabled = 0; + + /* Count the bits enabled in the whole bytes */ + for (byteIndex = 0; byteIndex <= (lastByte - 1); byteIndex++) { + tempByte = spadArray[byteIndex]; + + for (bitIndex = 0; bitIndex <= cSpadsPerByte; bitIndex++) { + if ((tempByte & 0x01) == 1) { + (*pTotalSpadsEnabled)++; + + if (!spadTypeIdentified) { + *pIsAperture = 1; + if ((byteIndex < 2) && (bitIndex < 4)) + *pIsAperture = 0; + spadTypeIdentified = 1; + } + } + tempByte >>= 1; + } + } + + /* Count the number of bits enabled in the last byte accounting + * for the fact that not all bits in the byte may be used. + */ + tempByte = spadArray[lastByte]; + + for (bitIndex = 0; bitIndex <= lastBit; bitIndex++) { + if ((tempByte & 0x01) == 1) + (*pTotalSpadsEnabled)++; + } + + return status; +} + +VL53L0_Error set_ref_spad_map(VL53L0_DEV Dev, uint8_t *refSpadArray) +{ + VL53L0_Error status = VL53L0_WriteMulti(Dev, + VL53L0_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0, + refSpadArray, 6); + return status; +} + +VL53L0_Error get_ref_spad_map(VL53L0_DEV Dev, uint8_t *refSpadArray) +{ + VL53L0_Error status = VL53L0_ReadMulti(Dev, + VL53L0_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0, + refSpadArray, + 6); + return status; +} + +VL53L0_Error enable_ref_spads(VL53L0_DEV Dev, + uint8_t apertureSpads, + uint8_t goodSpadArray[], + uint8_t spadArray[], + uint32_t size, + uint32_t start, + uint32_t offset, + uint32_t spadCount, + uint32_t *lastSpad) +{ + VL53L0_Error status = VL53L0_ERROR_NONE; + uint32_t index; + uint32_t i; + int32_t nextGoodSpad = offset; + uint32_t currentSpad; + uint8_t checkSpadArray[6]; + + /* + * This function takes in a spad array which may or may not have SPADS + * already enabled and appends from a given offset a requested number + * of new SPAD enables. The 'good spad map' is applied to + * determine the next SPADs to enable. + * + * This function applies to only aperture or only non-aperture spads. + * Checks are performed to ensure this. + */ + + currentSpad = offset; + for (index = 0; index < spadCount; index++) { + get_next_good_spad(goodSpadArray, size, currentSpad, + &nextGoodSpad); + + if (nextGoodSpad == -1) { + status = VL53L0_ERROR_REF_SPAD_INIT; + break; + } + + /* Confirm that the next good SPAD is non-aperture */ + if (is_aperture(start + nextGoodSpad) != apertureSpads) { + /* if we can't get the required number of good aperture + * spads from the current quadrant then this is an error + */ + status = VL53L0_ERROR_REF_SPAD_INIT; + break; + } + currentSpad = (uint32_t)nextGoodSpad; + enable_spad_bit(spadArray, size, currentSpad); + currentSpad++; + } + *lastSpad = currentSpad; + + if (status == VL53L0_ERROR_NONE) + status = set_ref_spad_map(Dev, spadArray); + + + if (status == VL53L0_ERROR_NONE) { + status = get_ref_spad_map(Dev, checkSpadArray); + + i = 0; + + /* Compare spad maps. If not equal report error. */ + while (i < size) { + if (spadArray[i] != checkSpadArray[i]) { + status = VL53L0_ERROR_REF_SPAD_INIT; + break; + } + i++; + } + } + return status; +} + + +VL53L0_Error perform_ref_signal_measurement(VL53L0_DEV Dev, + uint16_t *refSignalRate) +{ + VL53L0_Error status = VL53L0_ERROR_NONE; + VL53L0_RangingMeasurementData_t rangingMeasurementData; + + uint8_t SequenceConfig = 0; + + /* store the value of the sequence config, + * this will be reset before the end of the function + */ + + SequenceConfig = PALDevDataGet(Dev, SequenceConfig); + + /* + * This function performs a reference signal rate measurement. + */ + if (status == VL53L0_ERROR_NONE) + status = VL53L0_WrByte(Dev, + VL53L0_REG_SYSTEM_SEQUENCE_CONFIG, 0xC0); + + if (status == VL53L0_ERROR_NONE) + status = VL53L0_PerformSingleRangingMeasurement(Dev, + &rangingMeasurementData); + + if (status == VL53L0_ERROR_NONE) + status = VL53L0_WrByte(Dev, 0xFF, 0x01); + + if (status == VL53L0_ERROR_NONE) + status = VL53L0_RdWord(Dev, + VL53L0_REG_RESULT_PEAK_SIGNAL_RATE_REF, + refSignalRate); + + if (status == VL53L0_ERROR_NONE) + status = VL53L0_WrByte(Dev, 0xFF, 0x00); + + if (status == VL53L0_ERROR_NONE) { + /* restore the previous Sequence Config */ + status = VL53L0_WrByte(Dev, VL53L0_REG_SYSTEM_SEQUENCE_CONFIG, + SequenceConfig); + if (status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, SequenceConfig, SequenceConfig); + } + + return status; +} + +VL53L0_Error VL53L0_perform_ref_spad_management(VL53L0_DEV Dev, + uint32_t *refSpadCount, + uint8_t *isApertureSpads) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t lastSpadArray[6]; + uint8_t startSelect = 0xB4; + uint32_t minimumSpadCount = 3; + uint32_t maxSpadCount = 44; + uint32_t currentSpadIndex = 0; + uint32_t lastSpadIndex = 0; + int32_t nextGoodSpad = 0; + uint16_t targetRefRate = 0x0A00; /* 20 MCPS in 9:7 format */ + uint16_t peakSignalRateRef; + uint32_t needAptSpads = 0; + uint32_t index = 0; + uint32_t spadArraySize = 6; + uint32_t signalRateDiff = 0; + uint32_t lastSignalRateDiff = 0; + uint8_t complete = 0; + uint8_t VhvSettings = 0; + uint8_t PhaseCal = 0; + uint32_t refSpadCount_int = 0; + uint8_t isApertureSpads_int = 0; + + /* + * The reference SPAD initialization procedure determines the minimum + * amount of reference spads to be enables to achieve a target reference + * signal rate and should be performed once during initialization. + * + * Either aperture or non-aperture spads are applied but never both. + * Firstly non-aperture spads are set, begining with 5 spads, and + * increased one spad at a time until the closest measurement to the + * target rate is achieved. + * + * If the target rate is exceeded when 5 non-aperture spads are enabled, + * initialization is performed instead with aperture spads. + * + * When setting spads, a 'Good Spad Map' is applied. + * + * This procedure operates within a SPAD window of interest of a maximum + * 44 spads. + * The start point is currently fixed to 180, which lies towards the end + * of the non-aperture quadrant and runs in to the adjacent aperture + * quadrant. + */ + + + targetRefRate = PALDevDataGet(Dev, targetRefRate); + + /* + * Initialize Spad arrays. + * Currently the good spad map is initialised to 'All good'. + * This is a short term implementation. The good spad map will be + * provided as an input. + * Note that there are 6 bytes. Only the first 44 bits will be used to + * represent spads. + */ + for (index = 0; index < spadArraySize; index++) { + Dev->Data.SpadData.RefSpadEnables[index] = 0; + } + + Status = VL53L0_WrByte(Dev, 0xFF, 0x01); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, + VL53L0_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, + VL53L0_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, 0xFF, 0x00); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, + VL53L0_REG_GLOBAL_CONFIG_REF_EN_START_SELECT, + startSelect); + + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, + VL53L0_REG_POWER_MANAGEMENT_GO1_POWER_FORCE, 0); + + /* Perform ref calibration */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_perform_ref_calibration(Dev, &VhvSettings, + &PhaseCal, 0); + + if (Status == VL53L0_ERROR_NONE) { + /* Enable Minimum NON-APERTURE Spads */ + currentSpadIndex = 0; + lastSpadIndex = currentSpadIndex; + needAptSpads = 0; + Status = enable_ref_spads(Dev, + needAptSpads, + Dev->Data.SpadData.RefGoodSpadMap, + Dev->Data.SpadData.RefSpadEnables, + spadArraySize, + startSelect, + currentSpadIndex, + minimumSpadCount, + &lastSpadIndex); + } + + if (Status == VL53L0_ERROR_NONE) { + currentSpadIndex = lastSpadIndex; + + Status = perform_ref_signal_measurement(Dev, + &peakSignalRateRef); + if ((Status == VL53L0_ERROR_NONE) && + (peakSignalRateRef > targetRefRate)) { + /* Signal rate measurement too high, + * switch to APERTURE SPADs */ + + for (index = 0; index < spadArraySize; index++) + Dev->Data.SpadData.RefSpadEnables[index] = 0; + + + /* Increment to the first APERTURE spad */ + while ((is_aperture(startSelect + currentSpadIndex) + == 0) && (currentSpadIndex < maxSpadCount)) { + currentSpadIndex++; + } + + needAptSpads = 1; + + Status = enable_ref_spads(Dev, + needAptSpads, + Dev->Data.SpadData.RefGoodSpadMap, + Dev->Data.SpadData.RefSpadEnables, + spadArraySize, + startSelect, + currentSpadIndex, + minimumSpadCount, + &lastSpadIndex); + + if (Status == VL53L0_ERROR_NONE) { + currentSpadIndex = lastSpadIndex; + Status = perform_ref_signal_measurement(Dev, + &peakSignalRateRef); + + if ((Status == VL53L0_ERROR_NONE) && + (peakSignalRateRef > targetRefRate)) { + /* Signal rate still too high after + * setting the minimum number of + * APERTURE spads. Can do no more. + */ + Status = VL53L0_ERROR_REF_SPAD_INIT; + needAptSpads = 0; + } + } + } else { + needAptSpads = 0; + } + } + + if ((Status == VL53L0_ERROR_NONE) && + (peakSignalRateRef < targetRefRate)) { + /* At this point, the minimum number of either aperture + * or non-aperture spads have been set. Proceed to add + * spads and perform measurements until the target + * reference is reached. + */ + isApertureSpads_int = needAptSpads; + refSpadCount_int = minimumSpadCount; + + memcpy(lastSpadArray, Dev->Data.SpadData.RefSpadEnables, + spadArraySize); + lastSignalRateDiff = abs(peakSignalRateRef - + targetRefRate); + complete = 0; + + while (!complete) { + get_next_good_spad( + Dev->Data.SpadData.RefGoodSpadMap, + spadArraySize, currentSpadIndex, + &nextGoodSpad); + + if (nextGoodSpad == -1) { + Status = VL53L0_ERROR_REF_SPAD_INIT; + break; + } + + (refSpadCount_int)++; + + /* Cannot combine Aperture and Non-Aperture spads, so + * ensure the current spad is of the correct type. + */ + if (is_aperture((uint32_t)startSelect + nextGoodSpad) != + needAptSpads) { + Status = VL53L0_ERROR_REF_SPAD_INIT; + break; + } + + currentSpadIndex = nextGoodSpad; + Status = enable_spad_bit( + Dev->Data.SpadData.RefSpadEnables, + spadArraySize, currentSpadIndex); + + if (Status == VL53L0_ERROR_NONE) { + currentSpadIndex++; + /* Proceed to apply the additional spad and + * perform measurement. */ + Status = set_ref_spad_map(Dev, + Dev->Data.SpadData.RefSpadEnables); + } + + if (Status != VL53L0_ERROR_NONE) + break; + + Status = perform_ref_signal_measurement(Dev, + &peakSignalRateRef); + + if (Status != VL53L0_ERROR_NONE) + break; + + signalRateDiff = abs(peakSignalRateRef - targetRefRate); + + if (peakSignalRateRef > targetRefRate) { + /* Select the spad map that provides the + * measurement closest to the target rate, + * either above or below it. + */ + if (signalRateDiff > lastSignalRateDiff) { + /* Previous spad map produced a closer + * measurement, so choose this. */ + Status = set_ref_spad_map(Dev, + lastSpadArray); + memcpy( + Dev->Data.SpadData.RefSpadEnables, + lastSpadArray, spadArraySize); + + (refSpadCount_int)--; + } + complete = 1; + } else { + /* Continue to add spads */ + lastSignalRateDiff = signalRateDiff; + memcpy(lastSpadArray, + Dev->Data.SpadData.RefSpadEnables, + spadArraySize); + } + + } /* while */ + } + + if (Status == VL53L0_ERROR_NONE) { + *refSpadCount = refSpadCount_int; + *isApertureSpads = isApertureSpads_int; + + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 1); + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadCount, (uint8_t)(*refSpadCount)); + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadType, *isApertureSpads); + } + + return Status; +} + +VL53L0_Error VL53L0_set_reference_spads(VL53L0_DEV Dev, + uint32_t count, uint8_t isApertureSpads) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint32_t currentSpadIndex = 0; + uint8_t startSelect = 0xB4; + uint32_t spadArraySize = 6; + uint32_t maxSpadCount = 44; + uint32_t lastSpadIndex; + uint32_t index; + + /* + * This function applies a requested number of reference spads, either + * aperture or + * non-aperture, as requested. + * The good spad map will be applied. + */ + + Status = VL53L0_WrByte(Dev, 0xFF, 0x01); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, + VL53L0_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET, 0x00); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, + VL53L0_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD, 0x2C); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, 0xFF, 0x00); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, + VL53L0_REG_GLOBAL_CONFIG_REF_EN_START_SELECT, + startSelect); + + for (index = 0; index < spadArraySize; index++) { + Dev->Data.SpadData.RefSpadEnables[index] = 0; + } + + if (isApertureSpads) { + /* Increment to the first APERTURE spad */ + while ((is_aperture(startSelect + currentSpadIndex) == 0) && + (currentSpadIndex < maxSpadCount)) { + currentSpadIndex++; + } + } + Status = enable_ref_spads(Dev, + isApertureSpads, + Dev->Data.SpadData.RefGoodSpadMap, + Dev->Data.SpadData.RefSpadEnables, + spadArraySize, + startSelect, + currentSpadIndex, + count, + &lastSpadIndex); + + if (Status == VL53L0_ERROR_NONE) { + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, RefSpadsInitialised, 1); + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadCount, (uint8_t)(count)); + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadType, isApertureSpads); + } + + return Status; +} + +VL53L0_Error VL53L0_get_reference_spads(VL53L0_DEV Dev, + uint32_t *pSpadCount, uint8_t *pIsApertureSpads) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t refSpadsInitialised; + uint8_t refSpadArray[6]; + uint32_t cMaxSpadCount = 44; + uint32_t cSpadArraySize = 6; + uint32_t spadsEnabled; + uint8_t isApertureSpads = 0; + + refSpadsInitialised = VL53L0_GETDEVICESPECIFICPARAMETER(Dev, + RefSpadsInitialised); + + if (refSpadsInitialised == 1) { + + *pSpadCount = (uint32_t)VL53L0_GETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadCount); + *pIsApertureSpads = VL53L0_GETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadType); + } else { + + /* obtain spad info from device.*/ + Status = get_ref_spad_map(Dev, refSpadArray); + + if (Status == VL53L0_ERROR_NONE) { + /* count enabled spads within spad map array and + * determine if Aperture or Non-Aperture. + */ + Status = count_enabled_spads(refSpadArray, + cSpadArraySize, + cMaxSpadCount, + &spadsEnabled, + &isApertureSpads); + + if (Status == VL53L0_ERROR_NONE) { + + *pSpadCount = spadsEnabled; + *pIsApertureSpads = isApertureSpads; + + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + RefSpadsInitialised, 1); + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadCount, + (uint8_t)spadsEnabled); + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadType, isApertureSpads); + } + } + } + + return Status; +} + + +VL53L0_Error VL53L0_perform_single_ref_calibration(VL53L0_DEV Dev, + uint8_t vhv_init_byte) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, VL53L0_REG_SYSRANGE_START, + VL53L0_REG_SYSRANGE_MODE_START_STOP | + vhv_init_byte); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_measurement_poll_for_completion(Dev); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_ClearInterruptMask(Dev, 0); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, VL53L0_REG_SYSRANGE_START, 0x00); + + return Status; +} + + +VL53L0_Error VL53L0_ref_calibration_io(VL53L0_DEV Dev, uint8_t read_not_write, + uint8_t VhvSettings, uint8_t PhaseCal, + uint8_t *pVhvSettings, uint8_t *pPhaseCal, + const uint8_t vhv_enable, const uint8_t phase_enable) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t PhaseCalint = 0; + + /* Read VHV from device */ + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x00); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + + if (read_not_write) { + if (vhv_enable) + Status |= VL53L0_RdByte(Dev, 0xCB, pVhvSettings); + if (phase_enable) + Status |= VL53L0_RdByte(Dev, 0xEE, &PhaseCalint); + } else { + if (vhv_enable) + Status |= VL53L0_WrByte(Dev, 0xCB, VhvSettings); + if (phase_enable) + Status |= VL53L0_UpdateByte(Dev, 0xEE, 0x80, PhaseCal); + } + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x01); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + + *pPhaseCal = (uint8_t)(PhaseCalint&0xEF); + + return Status; +} + + +VL53L0_Error VL53L0_perform_vhv_calibration(VL53L0_DEV Dev, + uint8_t *pVhvSettings, const uint8_t get_data_enable, + const uint8_t restore_config) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t SequenceConfig = 0; + uint8_t VhvSettings = 0; + uint8_t PhaseCal = 0; + uint8_t PhaseCalInt = 0; + + /* store the value of the sequence config, + * this will be reset before the end of the function + */ + + if (restore_config) + SequenceConfig = PALDevDataGet(Dev, SequenceConfig); + + /* Run VHV */ + Status = VL53L0_WrByte(Dev, VL53L0_REG_SYSTEM_SEQUENCE_CONFIG, 0x01); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_perform_single_ref_calibration(Dev, 0x40); + + /* Read VHV from device */ + if ((Status == VL53L0_ERROR_NONE) && (get_data_enable == 1)) { + Status = VL53L0_ref_calibration_io(Dev, 1, + VhvSettings, PhaseCal, /* Not used here */ + pVhvSettings, &PhaseCalInt, + 1, 0); + } else + *pVhvSettings = 0; + + + if ((Status == VL53L0_ERROR_NONE) && restore_config) { + /* restore the previous Sequence Config */ + Status = VL53L0_WrByte(Dev, VL53L0_REG_SYSTEM_SEQUENCE_CONFIG, + SequenceConfig); + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, SequenceConfig, SequenceConfig); + + } + + return Status; +} + +VL53L0_Error VL53L0_perform_phase_calibration(VL53L0_DEV Dev, + uint8_t *pPhaseCal, const uint8_t get_data_enable, + const uint8_t restore_config) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t SequenceConfig = 0; + uint8_t VhvSettings = 0; + uint8_t PhaseCal = 0; + uint8_t VhvSettingsint; + + /* store the value of the sequence config, + * this will be reset before the end of the function + */ + + if (restore_config) + SequenceConfig = PALDevDataGet(Dev, SequenceConfig); + + /* Run PhaseCal */ + Status = VL53L0_WrByte(Dev, VL53L0_REG_SYSTEM_SEQUENCE_CONFIG, 0x02); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_perform_single_ref_calibration(Dev, 0x0); + + /* Read PhaseCal from device */ + if ((Status == VL53L0_ERROR_NONE) && (get_data_enable == 1)) { + Status = VL53L0_ref_calibration_io(Dev, 1, + VhvSettings, PhaseCal, /* Not used here */ + &VhvSettingsint, pPhaseCal, + 0, 1); + } else + *pPhaseCal = 0; + + + if ((Status == VL53L0_ERROR_NONE) && restore_config) { + /* restore the previous Sequence Config */ + Status = VL53L0_WrByte(Dev, VL53L0_REG_SYSTEM_SEQUENCE_CONFIG, + SequenceConfig); + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, SequenceConfig, SequenceConfig); + + } + + return Status; +} + +VL53L0_Error VL53L0_perform_ref_calibration(VL53L0_DEV Dev, + uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t SequenceConfig = 0; + + /* store the value of the sequence config, + * this will be reset before the end of the function + */ + + SequenceConfig = PALDevDataGet(Dev, SequenceConfig); + + /* In the following function we don't save the config to optimize + * writes on device. Config is saved and restored only once. */ + Status = VL53L0_perform_vhv_calibration( + Dev, pVhvSettings, get_data_enable, 0); + + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_perform_phase_calibration( + Dev, pPhaseCal, get_data_enable, 0); + + + if (Status == VL53L0_ERROR_NONE) { + /* restore the previous Sequence Config */ + Status = VL53L0_WrByte(Dev, VL53L0_REG_SYSTEM_SEQUENCE_CONFIG, + SequenceConfig); + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, SequenceConfig, SequenceConfig); + + } + + return Status; +} + +VL53L0_Error VL53L0_set_ref_calibration(VL53L0_DEV Dev, + uint8_t VhvSettings, uint8_t PhaseCal) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t pVhvSettings; + uint8_t pPhaseCal; + + Status = VL53L0_ref_calibration_io(Dev, 0, + VhvSettings, PhaseCal, + &pVhvSettings, &pPhaseCal, + 1, 1); + + return Status; +} + +VL53L0_Error VL53L0_get_ref_calibration(VL53L0_DEV Dev, + uint8_t *pVhvSettings, uint8_t *pPhaseCal) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t VhvSettings = 0; + uint8_t PhaseCal = 0; + + Status = VL53L0_ref_calibration_io(Dev, 1, + VhvSettings, PhaseCal, + pVhvSettings, pPhaseCal, + 1, 1); + + return Status; +} diff --git a/drivers/input/misc/vl53L0/src/vl53l0_api_core.c b/drivers/input/misc/vl53L0/src/vl53l0_api_core.c new file mode 100644 index 000000000000..ca3ec3e33bc3 --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_api_core.c @@ -0,0 +1,2234 @@ +/******************************************************************************* + Copyright © 2016, STMicroelectronics International N.V. + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND + NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. + IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + ******************************************************************************/ + +#include "vl53l0_api.h" +#include "vl53l0_api_core.h" +#include "vl53l0_api_calibration.h" + +#ifndef __KERNEL__ +#include +#endif + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) + +VL53L0_Error VL53L0_reverse_bytes(uint8_t *data, uint32_t size) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t tempData; + uint32_t mirrorIndex; + uint32_t middle = size/2; + uint32_t index; + + for (index = 0; index < middle; index++) { + mirrorIndex = size - index - 1; + tempData = data[index]; + data[index] = data[mirrorIndex]; + data[mirrorIndex] = tempData; + } + return Status; +} + +VL53L0_Error VL53L0_measurement_poll_for_completion(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t NewDataReady = 0; + uint32_t LoopNb; + + LOG_FUNCTION_START(""); + + LoopNb = 0; + + do { + Status = VL53L0_GetMeasurementDataReady(Dev, &NewDataReady); + if (Status != 0) + break; /* the error is set */ + + if (NewDataReady == 1) + break; /* done note that status == 0 */ + + LoopNb++; + if (LoopNb >= VL53L0_DEFAULT_MAX_LOOP) { + Status = VL53L0_ERROR_TIME_OUT; + break; + } + + VL53L0_PollingDelay(Dev); + } while (1); + + LOG_FUNCTION_END(Status); + + return Status; +} + + +uint8_t VL53L0_decode_vcsel_period(uint8_t vcsel_period_reg) +{ + /*! + * Converts the encoded VCSEL period register value into the real + * period in PLL clocks + */ + + uint8_t vcsel_period_pclks = 0; + + vcsel_period_pclks = (vcsel_period_reg + 1) << 1; + + return vcsel_period_pclks; +} + +uint8_t VL53L0_encode_vcsel_period(uint8_t vcsel_period_pclks) +{ + /*! + * Converts the encoded VCSEL period register value into the real period + * in PLL clocks + */ + + uint8_t vcsel_period_reg = 0; + + vcsel_period_reg = (vcsel_period_pclks >> 1) - 1; + + return vcsel_period_reg; +} + + +uint32_t VL53L0_isqrt(uint32_t num) +{ + /* + * Implements an integer square root + * + * From: http://en.wikipedia.org/wiki/Methods_of_computing_square_roots + */ + + uint32_t res = 0; + uint32_t bit = 1 << 30; + /* The second-to-top bit is set: + * 1 << 14 for 16-bits, 1 << 30 for 32 bits */ + + /* "bit" starts at the highest power of four <= the argument. */ + while (bit > num) + bit >>= 2; + + + while (bit != 0) { + if (num >= res + bit) { + num -= res + bit; + res = (res >> 1) + bit; + } else + res >>= 1; + + bit >>= 2; + } + + return res; +} + + +uint32_t VL53L0_quadrature_sum(uint32_t a, uint32_t b) +{ + /* + * Implements a quadrature sum + * + * rea = sqrt(a^2 + b^2) + * + * Trap overflow case max input value is 65535 (16-bit value) + * as internal calc are 32-bit wide + * + * If overflow then seta output to maximum + */ + uint32_t res = 0; + + if (a > 65535 || b > 65535) + res = 65535; + else + res = VL53L0_isqrt(a * a + b * b); + + return res; +} + + +VL53L0_Error VL53L0_device_read_strobe(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t strobe; + uint32_t LoopNb; + LOG_FUNCTION_START(""); + + Status |= VL53L0_WrByte(Dev, 0x83, 0x00); + + /* polling + * use timeout to avoid deadlock*/ + if (Status == VL53L0_ERROR_NONE) { + LoopNb = 0; + do { + Status = VL53L0_RdByte(Dev, 0x83, &strobe); + if ((strobe != 0x00) || Status != VL53L0_ERROR_NONE) + break; + + LoopNb = LoopNb + 1; + } while (LoopNb < VL53L0_DEFAULT_MAX_LOOP); + + if (LoopNb >= VL53L0_DEFAULT_MAX_LOOP) + Status = VL53L0_ERROR_TIME_OUT; + + } + + Status |= VL53L0_WrByte(Dev, 0x83, 0x01); + + LOG_FUNCTION_END(Status); + return Status; + +} + +VL53L0_Error VL53L0_get_info_from_device(VL53L0_DEV Dev, uint8_t option) +{ + + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t byte; + uint32_t TmpDWord; + uint8_t ModuleId; + uint8_t Revision; + uint8_t ReferenceSpadCount = 0; + uint8_t ReferenceSpadType = 0; + uint32_t PartUIDUpper = 0; + uint32_t PartUIDLower = 0; + uint32_t OffsetFixed1104_mm = 0; + int16_t OffsetMicroMeters = 0; + uint32_t DistMeasTgtFixed1104_mm = 400 << 4; + uint32_t DistMeasFixed1104_400_mm = 0; + uint32_t SignalRateMeasFixed1104_400_mm = 0; + char ProductId[19]; + char *ProductId_tmp; + uint8_t ReadDataFromDeviceDone; + FixPoint1616_t SignalRateMeasFixed400mmFix = 0; + uint8_t NvmRefGoodSpadMap[VL53L0_REF_SPAD_BUFFER_SIZE]; + int i; + + + LOG_FUNCTION_START(""); + + ReadDataFromDeviceDone = VL53L0_GETDEVICESPECIFICPARAMETER(Dev, + ReadDataFromDeviceDone); + + /* This access is done only once after that a GetDeviceInfo or + * datainit is done*/ + if (ReadDataFromDeviceDone != 7) { + + Status |= VL53L0_WrByte(Dev, 0x80, 0x01); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x00); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x06); + Status |= VL53L0_RdByte(Dev, 0x83, &byte); + Status |= VL53L0_WrByte(Dev, 0x83, byte|4); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x07); + Status |= VL53L0_WrByte(Dev, 0x81, 0x01); + + Status |= VL53L0_PollingDelay(Dev); + + Status |= VL53L0_WrByte(Dev, 0x80, 0x01); + + if (((option & 1) == 1) && + ((ReadDataFromDeviceDone & 1) == 0)) { + Status |= VL53L0_WrByte(Dev, 0x94, 0x6b); + Status |= VL53L0_device_read_strobe(Dev); + Status |= VL53L0_RdDWord(Dev, 0x90, &TmpDWord); + + ReferenceSpadCount = (uint8_t)((TmpDWord >> 8) & 0x07f); + ReferenceSpadType = (uint8_t)((TmpDWord >> 15) & 0x01); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x24); + Status |= VL53L0_device_read_strobe(Dev); + Status |= VL53L0_RdDWord(Dev, 0x90, &TmpDWord); + + + NvmRefGoodSpadMap[0] = (uint8_t)((TmpDWord >> 24) + & 0xff); + NvmRefGoodSpadMap[1] = (uint8_t)((TmpDWord >> 16) + & 0xff); + NvmRefGoodSpadMap[2] = (uint8_t)((TmpDWord >> 8) + & 0xff); + NvmRefGoodSpadMap[3] = (uint8_t)(TmpDWord & 0xff); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x25); + Status |= VL53L0_device_read_strobe(Dev); + Status |= VL53L0_RdDWord(Dev, 0x90, &TmpDWord); + + NvmRefGoodSpadMap[4] = (uint8_t)((TmpDWord >> 24) + & 0xff); + NvmRefGoodSpadMap[5] = (uint8_t)((TmpDWord >> 16) + & 0xff); + } + + if (((option & 2) == 2) && + ((ReadDataFromDeviceDone & 2) == 0)) { + + Status |= VL53L0_WrByte(Dev, 0x94, 0x02); + Status |= VL53L0_device_read_strobe(Dev); + Status |= VL53L0_RdByte(Dev, 0x90, &ModuleId); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x7B); + Status |= VL53L0_device_read_strobe(Dev); + Status |= VL53L0_RdByte(Dev, 0x90, &Revision); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x77); + Status |= VL53L0_device_read_strobe(Dev); + Status |= VL53L0_RdDWord(Dev, 0x90, &TmpDWord); + + ProductId[0] = (char)((TmpDWord >> 25) & 0x07f); + ProductId[1] = (char)((TmpDWord >> 18) & 0x07f); + ProductId[2] = (char)((TmpDWord >> 11) & 0x07f); + ProductId[3] = (char)((TmpDWord >> 4) & 0x07f); + + byte = (uint8_t)((TmpDWord & 0x00f) << 3); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x78); + Status |= VL53L0_device_read_strobe(Dev); + Status |= VL53L0_RdDWord(Dev, 0x90, &TmpDWord); + + ProductId[4] = (char)(byte + + ((TmpDWord >> 29) & 0x07f)); + ProductId[5] = (char)((TmpDWord >> 22) & 0x07f); + ProductId[6] = (char)((TmpDWord >> 15) & 0x07f); + ProductId[7] = (char)((TmpDWord >> 8) & 0x07f); + ProductId[8] = (char)((TmpDWord >> 1) & 0x07f); + + byte = (uint8_t)((TmpDWord & 0x001) << 6); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x79); + + Status |= VL53L0_device_read_strobe(Dev); + + Status |= VL53L0_RdDWord(Dev, 0x90, &TmpDWord); + + ProductId[9] = (char)(byte + + ((TmpDWord >> 26) & 0x07f)); + ProductId[10] = (char)((TmpDWord >> 19) & 0x07f); + ProductId[11] = (char)((TmpDWord >> 12) & 0x07f); + ProductId[12] = (char)((TmpDWord >> 5) & 0x07f); + + byte = (uint8_t)((TmpDWord & 0x01f) << 2); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x7A); + + Status |= VL53L0_device_read_strobe(Dev); + + Status |= VL53L0_RdDWord(Dev, 0x90, &TmpDWord); + + ProductId[13] = (char)(byte + + ((TmpDWord >> 30) & 0x07f)); + ProductId[14] = (char)((TmpDWord >> 23) & 0x07f); + ProductId[15] = (char)((TmpDWord >> 16) & 0x07f); + ProductId[16] = (char)((TmpDWord >> 9) & 0x07f); + ProductId[17] = (char)((TmpDWord >> 2) & 0x07f); + ProductId[18] = '\0'; + + } + + if (((option & 4) == 4) && + ((ReadDataFromDeviceDone & 4) == 0)) { + + Status |= VL53L0_WrByte(Dev, 0x94, 0x7B); + Status |= VL53L0_device_read_strobe(Dev); + Status |= VL53L0_RdDWord(Dev, 0x90, &PartUIDUpper); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x7C); + Status |= VL53L0_device_read_strobe(Dev); + Status |= VL53L0_RdDWord(Dev, 0x90, &PartUIDLower); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x73); + Status |= VL53L0_device_read_strobe(Dev); + Status |= VL53L0_RdDWord(Dev, 0x90, &TmpDWord); + + SignalRateMeasFixed1104_400_mm = (TmpDWord & + 0x0000000ff) << 8; + + Status |= VL53L0_WrByte(Dev, 0x94, 0x74); + Status |= VL53L0_device_read_strobe(Dev); + Status |= VL53L0_RdDWord(Dev, 0x90, &TmpDWord); + + SignalRateMeasFixed1104_400_mm |= ((TmpDWord & + 0xff000000) >> 24); + + Status |= VL53L0_WrByte(Dev, 0x94, 0x75); + Status |= VL53L0_device_read_strobe(Dev); + Status |= VL53L0_RdDWord(Dev, 0x90, &TmpDWord); + + DistMeasFixed1104_400_mm = (TmpDWord & 0x0000000ff) + << 8; + + Status |= VL53L0_WrByte(Dev, 0x94, 0x76); + Status |= VL53L0_device_read_strobe(Dev); + Status |= VL53L0_RdDWord(Dev, 0x90, &TmpDWord); + + DistMeasFixed1104_400_mm |= ((TmpDWord & 0xff000000) + >> 24); + } + + Status |= VL53L0_WrByte(Dev, 0x81, 0x00); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x06); + Status |= VL53L0_RdByte(Dev, 0x83, &byte); + Status |= VL53L0_WrByte(Dev, 0x83, byte&0xfb); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x01); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0_WrByte(Dev, 0x80, 0x00); + } + + if ((Status == VL53L0_ERROR_NONE) && + (ReadDataFromDeviceDone != 7)) { + /* Assign to variable if status is ok */ + if (((option & 1) == 1) && + ((ReadDataFromDeviceDone & 1) == 0)) { + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadCount, ReferenceSpadCount); + + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + ReferenceSpadType, ReferenceSpadType); + + for(i = 0; i < VL53L0_REF_SPAD_BUFFER_SIZE; i++){ + Dev->Data.SpadData.RefGoodSpadMap[i] = + NvmRefGoodSpadMap[i]; + } + } + + if (((option & 2) == 2) && + ((ReadDataFromDeviceDone & 2) == 0)) { + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + ModuleId, ModuleId); + + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + Revision, Revision); + + ProductId_tmp = VL53L0_GETDEVICESPECIFICPARAMETER(Dev, + ProductId); + VL53L0_COPYSTRING(ProductId_tmp, ProductId); + + } + + if (((option & 4) == 4) && + ((ReadDataFromDeviceDone & 4) == 0)) { + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + PartUIDUpper, PartUIDUpper); + + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + PartUIDLower, PartUIDLower); + + SignalRateMeasFixed400mmFix = + VL53L0_FIXPOINT97TOFIXPOINT1616( + SignalRateMeasFixed1104_400_mm); + + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + SignalRateMeasFixed400mm, + SignalRateMeasFixed400mmFix); + + OffsetMicroMeters = 0; + if (DistMeasFixed1104_400_mm != 0) { + OffsetFixed1104_mm = + DistMeasFixed1104_400_mm - + DistMeasTgtFixed1104_mm; + OffsetMicroMeters = (OffsetFixed1104_mm + * 1000) >> 4; + OffsetMicroMeters *= -1; + } + + PALDevDataSet(Dev, + Part2PartOffsetAdjustmentNVMMicroMeter, + OffsetMicroMeters); + } + byte = (uint8_t)(ReadDataFromDeviceDone|option); + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, ReadDataFromDeviceDone, + byte); + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +uint32_t VL53L0_calc_macro_period_ps(VL53L0_DEV Dev, uint8_t vcsel_period_pclks) +{ + uint64_t PLL_period_ps; + uint32_t macro_period_vclks; + uint32_t macro_period_ps; + + LOG_FUNCTION_START(""); + + /* The above calculation will produce rounding errors, + therefore set fixed value + */ + PLL_period_ps = 1655; + + macro_period_vclks = 2304; + macro_period_ps = (uint32_t)(macro_period_vclks + * vcsel_period_pclks * PLL_period_ps); + + LOG_FUNCTION_END(""); + return macro_period_ps; +} + +uint16_t VL53L0_encode_timeout(uint32_t timeout_macro_clks) +{ + /*! + * Encode timeout in macro periods in (LSByte * 2^MSByte) + 1 format + */ + + uint16_t encoded_timeout = 0; + uint32_t ls_byte = 0; + uint16_t ms_byte = 0; + + if (timeout_macro_clks > 0) { + ls_byte = timeout_macro_clks - 1; + + while ((ls_byte & 0xFFFFFF00) > 0) { + ls_byte = ls_byte >> 1; + ms_byte++; + } + + encoded_timeout = (ms_byte << 8) + + (uint16_t) (ls_byte & 0x000000FF); + } + + return encoded_timeout; + +} + +uint32_t VL53L0_decode_timeout(uint16_t encoded_timeout) +{ + /*! + * Decode 16-bit timeout register value - format (LSByte * 2^MSByte) + 1 + */ + + uint32_t timeout_macro_clks = 0; + + timeout_macro_clks = ((uint32_t) (encoded_timeout & 0x00FF) + << (uint32_t) ((encoded_timeout & 0xFF00) >> 8)) + 1; + + return timeout_macro_clks; +} + + +/* To convert ms into register value */ +uint32_t VL53L0_calc_timeout_mclks(VL53L0_DEV Dev, + uint32_t timeout_period_us, + uint8_t vcsel_period_pclks) +{ + uint32_t macro_period_ps; + uint32_t macro_period_ns; + uint32_t timeout_period_mclks = 0; + + macro_period_ps = VL53L0_calc_macro_period_ps(Dev, vcsel_period_pclks); + macro_period_ns = (macro_period_ps + 500) / 1000; + + timeout_period_mclks = + (uint32_t) (((timeout_period_us * 1000) + + (macro_period_ns / 2)) / macro_period_ns); + + return timeout_period_mclks; +} + +/* To convert register value into us */ +uint32_t VL53L0_calc_timeout_us(VL53L0_DEV Dev, + uint16_t timeout_period_mclks, + uint8_t vcsel_period_pclks) +{ + uint32_t macro_period_ps; + uint32_t macro_period_ns; + uint32_t actual_timeout_period_us = 0; + + macro_period_ps = VL53L0_calc_macro_period_ps(Dev, vcsel_period_pclks); + macro_period_ns = (macro_period_ps + 500) / 1000; + + actual_timeout_period_us = + ((timeout_period_mclks * macro_period_ns) + + (macro_period_ns / 2)) / 1000; + + return actual_timeout_period_us; +} + + +VL53L0_Error get_sequence_step_timeout(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, + uint32_t *pTimeOutMicroSecs) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t CurrentVCSELPulsePeriodPClk; + uint8_t EncodedTimeOutByte = 0; + uint32_t TimeoutMicroSeconds = 0; + uint16_t PreRangeEncodedTimeOut = 0; + uint16_t MsrcTimeOutMClks; + uint16_t PreRangeTimeOutMClks; + uint16_t FinalRangeTimeOutMClks = 0; + uint16_t FinalRangeEncodedTimeOut; + VL53L0_SchedulerSequenceSteps_t SchedulerSequenceSteps; + + if ((SequenceStepId == VL53L0_SEQUENCESTEP_TCC) || + (SequenceStepId == VL53L0_SEQUENCESTEP_DSS) || + (SequenceStepId == VL53L0_SEQUENCESTEP_MSRC)) { + + Status = VL53L0_GetVcselPulsePeriod(Dev, + VL53L0_VCSEL_PERIOD_PRE_RANGE, + &CurrentVCSELPulsePeriodPClk); + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdByte(Dev, + VL53L0_REG_MSRC_CONFIG_TIMEOUT_MACROP, + &EncodedTimeOutByte); + } + MsrcTimeOutMClks = VL53L0_decode_timeout(EncodedTimeOutByte); + + TimeoutMicroSeconds = VL53L0_calc_timeout_us(Dev, + MsrcTimeOutMClks, + CurrentVCSELPulsePeriodPClk); + } else if (SequenceStepId == VL53L0_SEQUENCESTEP_PRE_RANGE) { + /* Retrieve PRE-RANGE VCSEL Period */ + Status = VL53L0_GetVcselPulsePeriod(Dev, + VL53L0_VCSEL_PERIOD_PRE_RANGE, + &CurrentVCSELPulsePeriodPClk); + + /* Retrieve PRE-RANGE Timeout in Macro periods (MCLKS) */ + if (Status == VL53L0_ERROR_NONE) { + + /* Retrieve PRE-RANGE VCSEL Period */ + Status = VL53L0_GetVcselPulsePeriod(Dev, + VL53L0_VCSEL_PERIOD_PRE_RANGE, + &CurrentVCSELPulsePeriodPClk); + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdWord(Dev, + VL53L0_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, + &PreRangeEncodedTimeOut); + } + + PreRangeTimeOutMClks = VL53L0_decode_timeout( + PreRangeEncodedTimeOut); + + TimeoutMicroSeconds = VL53L0_calc_timeout_us(Dev, + PreRangeTimeOutMClks, + CurrentVCSELPulsePeriodPClk); + } + } else if (SequenceStepId == VL53L0_SEQUENCESTEP_FINAL_RANGE) { + + VL53L0_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps); + PreRangeTimeOutMClks = 0; + + if (SchedulerSequenceSteps.PreRangeOn) { + /* Retrieve PRE-RANGE VCSEL Period */ + Status = VL53L0_GetVcselPulsePeriod(Dev, + VL53L0_VCSEL_PERIOD_PRE_RANGE, + &CurrentVCSELPulsePeriodPClk); + + /* Retrieve PRE-RANGE Timeout in Macro periods + * (MCLKS) */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdWord(Dev, + VL53L0_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, + &PreRangeEncodedTimeOut); + PreRangeTimeOutMClks = VL53L0_decode_timeout( + PreRangeEncodedTimeOut); + } + } + + if (Status == VL53L0_ERROR_NONE) { + /* Retrieve FINAL-RANGE VCSEL Period */ + Status = VL53L0_GetVcselPulsePeriod(Dev, + VL53L0_VCSEL_PERIOD_FINAL_RANGE, + &CurrentVCSELPulsePeriodPClk); + } + + /* Retrieve FINAL-RANGE Timeout in Macro periods (MCLKS) */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdWord(Dev, + VL53L0_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, + &FinalRangeEncodedTimeOut); + FinalRangeTimeOutMClks = VL53L0_decode_timeout( + FinalRangeEncodedTimeOut); + } + + FinalRangeTimeOutMClks -= PreRangeTimeOutMClks; + TimeoutMicroSeconds = VL53L0_calc_timeout_us(Dev, + FinalRangeTimeOutMClks, + CurrentVCSELPulsePeriodPClk); + } + + *pTimeOutMicroSecs = TimeoutMicroSeconds; + + return Status; +} + + +VL53L0_Error set_sequence_step_timeout(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, + uint32_t TimeOutMicroSecs) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t CurrentVCSELPulsePeriodPClk; + uint8_t MsrcEncodedTimeOut; + uint16_t PreRangeEncodedTimeOut; + uint16_t PreRangeTimeOutMClks; + uint16_t MsrcRangeTimeOutMClks; + uint16_t FinalRangeTimeOutMClks; + uint16_t FinalRangeEncodedTimeOut; + VL53L0_SchedulerSequenceSteps_t SchedulerSequenceSteps; + + if ((SequenceStepId == VL53L0_SEQUENCESTEP_TCC) || + (SequenceStepId == VL53L0_SEQUENCESTEP_DSS) || + (SequenceStepId == VL53L0_SEQUENCESTEP_MSRC)) { + + Status = VL53L0_GetVcselPulsePeriod(Dev, + VL53L0_VCSEL_PERIOD_PRE_RANGE, + &CurrentVCSELPulsePeriodPClk); + + if (Status == VL53L0_ERROR_NONE) { + MsrcRangeTimeOutMClks = VL53L0_calc_timeout_mclks(Dev, + TimeOutMicroSecs, + (uint8_t)CurrentVCSELPulsePeriodPClk); + + if (MsrcRangeTimeOutMClks > 256) + MsrcEncodedTimeOut = 255; + else + MsrcEncodedTimeOut = + (uint8_t)MsrcRangeTimeOutMClks - 1; + + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + LastEncodedTimeout, + MsrcEncodedTimeOut); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_WrByte(Dev, + VL53L0_REG_MSRC_CONFIG_TIMEOUT_MACROP, + MsrcEncodedTimeOut); + } + } else { + + if (SequenceStepId == VL53L0_SEQUENCESTEP_PRE_RANGE) { + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_GetVcselPulsePeriod(Dev, + VL53L0_VCSEL_PERIOD_PRE_RANGE, + &CurrentVCSELPulsePeriodPClk); + PreRangeTimeOutMClks = + VL53L0_calc_timeout_mclks(Dev, + TimeOutMicroSecs, + (uint8_t)CurrentVCSELPulsePeriodPClk); + PreRangeEncodedTimeOut = VL53L0_encode_timeout( + PreRangeTimeOutMClks); + + VL53L0_SETDEVICESPECIFICPARAMETER(Dev, + LastEncodedTimeout, + PreRangeEncodedTimeOut); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_WrWord(Dev, + VL53L0_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI, + PreRangeEncodedTimeOut); + } + + if (Status == VL53L0_ERROR_NONE) { + VL53L0_SETDEVICESPECIFICPARAMETER( + Dev, + PreRangeTimeoutMicroSecs, + TimeOutMicroSecs); + } + } else if (SequenceStepId == VL53L0_SEQUENCESTEP_FINAL_RANGE) { + + /* For the final range timeout, the pre-range timeout + * must be added. To do this both final and pre-range + * timeouts must be expressed in macro periods MClks + * because they have different vcsel periods. + */ + + VL53L0_GetSequenceStepEnables(Dev, + &SchedulerSequenceSteps); + PreRangeTimeOutMClks = 0; + if (SchedulerSequenceSteps.PreRangeOn) { + + /* Retrieve PRE-RANGE VCSEL Period */ + Status = VL53L0_GetVcselPulsePeriod(Dev, + VL53L0_VCSEL_PERIOD_PRE_RANGE, + &CurrentVCSELPulsePeriodPClk); + + /* Retrieve PRE-RANGE Timeout in Macro periods + * (MCLKS) */ + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdWord(Dev, 0x51, + &PreRangeEncodedTimeOut); + PreRangeTimeOutMClks = + VL53L0_decode_timeout( + PreRangeEncodedTimeOut); + } + } + + /* Calculate FINAL RANGE Timeout in Macro Periods + * (MCLKS) and add PRE-RANGE value + */ + if (Status == VL53L0_ERROR_NONE) { + + Status = VL53L0_GetVcselPulsePeriod(Dev, + VL53L0_VCSEL_PERIOD_FINAL_RANGE, + &CurrentVCSELPulsePeriodPClk); + } + if (Status == VL53L0_ERROR_NONE) { + + FinalRangeTimeOutMClks = + VL53L0_calc_timeout_mclks(Dev, + TimeOutMicroSecs, + (uint8_t) CurrentVCSELPulsePeriodPClk); + + FinalRangeTimeOutMClks += PreRangeTimeOutMClks; + + FinalRangeEncodedTimeOut = + VL53L0_encode_timeout(FinalRangeTimeOutMClks); + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_WrWord(Dev, 0x71, + FinalRangeEncodedTimeOut); + } + + if (Status == VL53L0_ERROR_NONE) { + VL53L0_SETDEVICESPECIFICPARAMETER( + Dev, + FinalRangeTimeoutMicroSecs, + TimeOutMicroSecs); + } + } + } else + Status = VL53L0_ERROR_INVALID_PARAMS; + + } + return Status; +} + +VL53L0_Error VL53L0_set_vcsel_pulse_period(VL53L0_DEV Dev, + VL53L0_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t vcsel_period_reg; + uint8_t MinPreVcselPeriodPCLK = 12; + uint8_t MaxPreVcselPeriodPCLK = 18; + uint8_t MinFinalVcselPeriodPCLK = 8; + uint8_t MaxFinalVcselPeriodPCLK = 14; + uint32_t MeasurementTimingBudgetMicroSeconds; + uint32_t FinalRangeTimeoutMicroSeconds; + uint32_t PreRangeTimeoutMicroSeconds; + uint32_t MsrcTimeoutMicroSeconds; + uint8_t PhaseCalInt = 0; + + /* Check if valid clock period requested */ + + if ((VCSELPulsePeriodPCLK % 2) != 0) { + /* Value must be an even number */ + Status = VL53L0_ERROR_INVALID_PARAMS; + } else if (VcselPeriodType == VL53L0_VCSEL_PERIOD_PRE_RANGE && + (VCSELPulsePeriodPCLK < MinPreVcselPeriodPCLK || + VCSELPulsePeriodPCLK > MaxPreVcselPeriodPCLK)) { + Status = VL53L0_ERROR_INVALID_PARAMS; + } else if (VcselPeriodType == VL53L0_VCSEL_PERIOD_FINAL_RANGE && + (VCSELPulsePeriodPCLK < MinFinalVcselPeriodPCLK || + VCSELPulsePeriodPCLK > MaxFinalVcselPeriodPCLK)) { + + Status = VL53L0_ERROR_INVALID_PARAMS; + } + + /* Apply specific settings for the requested clock period */ + + if (Status != VL53L0_ERROR_NONE) + return Status; + + + if (VcselPeriodType == VL53L0_VCSEL_PERIOD_PRE_RANGE) { + + /* Set phase check limits */ + if (VCSELPulsePeriodPCLK == 12) { + + Status = VL53L0_WrByte(Dev, + VL53L0_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, + 0x18); + Status = VL53L0_WrByte(Dev, + VL53L0_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, + 0x08); + } else if (VCSELPulsePeriodPCLK == 14) { + + Status = VL53L0_WrByte(Dev, + VL53L0_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, + 0x30); + Status = VL53L0_WrByte(Dev, + VL53L0_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, + 0x08); + } else if (VCSELPulsePeriodPCLK == 16) { + + Status = VL53L0_WrByte(Dev, + VL53L0_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, + 0x40); + Status = VL53L0_WrByte(Dev, + VL53L0_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, + 0x08); + } else if (VCSELPulsePeriodPCLK == 18) { + + Status = VL53L0_WrByte(Dev, + VL53L0_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH, + 0x50); + Status = VL53L0_WrByte(Dev, + VL53L0_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW, + 0x08); + } + } else if (VcselPeriodType == VL53L0_VCSEL_PERIOD_FINAL_RANGE) { + + if (VCSELPulsePeriodPCLK == 8) { + + Status = VL53L0_WrByte(Dev, + VL53L0_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, + 0x10); + Status = VL53L0_WrByte(Dev, + VL53L0_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, + 0x08); + + Status |= VL53L0_WrByte(Dev, + VL53L0_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x02); + Status |= VL53L0_WrByte(Dev, + VL53L0_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x0C); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0_WrByte(Dev, + VL53L0_REG_ALGO_PHASECAL_LIM, + 0x30); + Status |= VL53L0_WrByte(Dev, 0xff, 0x00); + } else if (VCSELPulsePeriodPCLK == 10) { + + Status = VL53L0_WrByte(Dev, + VL53L0_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, + 0x28); + Status = VL53L0_WrByte(Dev, + VL53L0_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, + 0x08); + + Status |= VL53L0_WrByte(Dev, + VL53L0_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); + Status |= VL53L0_WrByte(Dev, + VL53L0_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x09); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0_WrByte(Dev, + VL53L0_REG_ALGO_PHASECAL_LIM, + 0x20); + Status |= VL53L0_WrByte(Dev, 0xff, 0x00); + } else if (VCSELPulsePeriodPCLK == 12) { + + Status = VL53L0_WrByte(Dev, + VL53L0_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, + 0x38); + Status = VL53L0_WrByte(Dev, + VL53L0_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, + 0x08); + + Status |= VL53L0_WrByte(Dev, + VL53L0_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); + Status |= VL53L0_WrByte(Dev, + VL53L0_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x08); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0_WrByte(Dev, + VL53L0_REG_ALGO_PHASECAL_LIM, + 0x20); + Status |= VL53L0_WrByte(Dev, 0xff, 0x00); + } else if (VCSELPulsePeriodPCLK == 14) { + + Status = VL53L0_WrByte(Dev, + VL53L0_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH, + 0x048); + Status = VL53L0_WrByte(Dev, + VL53L0_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW, + 0x08); + + Status |= VL53L0_WrByte(Dev, + VL53L0_REG_GLOBAL_CONFIG_VCSEL_WIDTH, 0x03); + Status |= VL53L0_WrByte(Dev, + VL53L0_REG_ALGO_PHASECAL_CONFIG_TIMEOUT, 0x07); + + Status |= VL53L0_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0_WrByte(Dev, + VL53L0_REG_ALGO_PHASECAL_LIM, + 0x20); + Status |= VL53L0_WrByte(Dev, 0xff, 0x00); + } + } + + + /* Re-calculate and apply timeouts, in macro periods */ + + if (Status == VL53L0_ERROR_NONE) { + vcsel_period_reg = VL53L0_encode_vcsel_period((uint8_t) + VCSELPulsePeriodPCLK); + + /* When the VCSEL period for the pre or final range is changed, + * the corresponding timeout must be read from the device using + * the current VCSEL period, then the new VCSEL period can be + * applied. The timeout then must be written back to the device + * using the new VCSEL period. + * + * For the MSRC timeout, the same applies - this timeout being + * dependant on the pre-range vcsel period. + */ + switch (VcselPeriodType) { + case VL53L0_VCSEL_PERIOD_PRE_RANGE: + Status = get_sequence_step_timeout(Dev, + VL53L0_SEQUENCESTEP_PRE_RANGE, + &PreRangeTimeoutMicroSeconds); + + if (Status == VL53L0_ERROR_NONE) + Status = get_sequence_step_timeout(Dev, + VL53L0_SEQUENCESTEP_MSRC, + &MsrcTimeoutMicroSeconds); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, + VL53L0_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD, + vcsel_period_reg); + + + if (Status == VL53L0_ERROR_NONE) + Status = set_sequence_step_timeout(Dev, + VL53L0_SEQUENCESTEP_PRE_RANGE, + PreRangeTimeoutMicroSeconds); + + + if (Status == VL53L0_ERROR_NONE) + Status = set_sequence_step_timeout(Dev, + VL53L0_SEQUENCESTEP_MSRC, + MsrcTimeoutMicroSeconds); + + VL53L0_SETDEVICESPECIFICPARAMETER( + Dev, + PreRangeVcselPulsePeriod, + VCSELPulsePeriodPCLK); + break; + case VL53L0_VCSEL_PERIOD_FINAL_RANGE: + Status = get_sequence_step_timeout(Dev, + VL53L0_SEQUENCESTEP_FINAL_RANGE, + &FinalRangeTimeoutMicroSeconds); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, + VL53L0_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD, + vcsel_period_reg); + + + if (Status == VL53L0_ERROR_NONE) + Status = set_sequence_step_timeout(Dev, + VL53L0_SEQUENCESTEP_FINAL_RANGE, + FinalRangeTimeoutMicroSeconds); + + VL53L0_SETDEVICESPECIFICPARAMETER( + Dev, + FinalRangeVcselPulsePeriod, + VCSELPulsePeriodPCLK); + break; + default: + Status = VL53L0_ERROR_INVALID_PARAMS; + } + } + + /* Finally, the timing budget must be re-applied */ + if (Status == VL53L0_ERROR_NONE) { + VL53L0_GETPARAMETERFIELD(Dev, + MeasurementTimingBudgetMicroSeconds, + MeasurementTimingBudgetMicroSeconds); + + Status = VL53L0_SetMeasurementTimingBudgetMicroSeconds(Dev, + MeasurementTimingBudgetMicroSeconds); + } + + /* Perform the phase calibration. This is needed after changing on + * vcsel period. + * get_data_enable = 0, restore_config = 1 */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_perform_phase_calibration( + Dev, &PhaseCalInt, 0, 1); + + return Status; +} + +VL53L0_Error VL53L0_get_vcsel_pulse_period(VL53L0_DEV Dev, + VL53L0_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t vcsel_period_reg; + + switch (VcselPeriodType) { + case VL53L0_VCSEL_PERIOD_PRE_RANGE: + Status = VL53L0_RdByte(Dev, + VL53L0_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD, + &vcsel_period_reg); + break; + case VL53L0_VCSEL_PERIOD_FINAL_RANGE: + Status = VL53L0_RdByte(Dev, + VL53L0_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD, + &vcsel_period_reg); + break; + default: + Status = VL53L0_ERROR_INVALID_PARAMS; + } + + if (Status == VL53L0_ERROR_NONE) + *pVCSELPulsePeriodPCLK = + VL53L0_decode_vcsel_period(vcsel_period_reg); + + return Status; +} + + + +VL53L0_Error VL53L0_set_measurement_timing_budget_micro_seconds(VL53L0_DEV Dev, + uint32_t MeasurementTimingBudgetMicroSeconds) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint32_t FinalRangeTimingBudgetMicroSeconds; + VL53L0_SchedulerSequenceSteps_t SchedulerSequenceSteps; + uint32_t MsrcDccTccTimeoutMicroSeconds = 2000; + uint32_t StartOverheadMicroSeconds = 1320; + uint32_t EndOverheadMicroSeconds = 960; + uint32_t MsrcOverheadMicroSeconds = 660; + uint32_t TccOverheadMicroSeconds = 590; + uint32_t DssOverheadMicroSeconds = 690; + uint32_t PreRangeOverheadMicroSeconds = 660; + uint32_t FinalRangeOverheadMicroSeconds = 550; + uint32_t PreRangeTimeoutMicroSeconds = 0; + uint32_t cMinTimingBudgetMicroSeconds = 20000; + uint32_t SubTimeout = 0; + + LOG_FUNCTION_START(""); + + if (MeasurementTimingBudgetMicroSeconds + < cMinTimingBudgetMicroSeconds) { + Status = VL53L0_ERROR_INVALID_PARAMS; + return Status; + } + + FinalRangeTimingBudgetMicroSeconds = + MeasurementTimingBudgetMicroSeconds - + (StartOverheadMicroSeconds + EndOverheadMicroSeconds); + + Status = VL53L0_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps); + + if (Status == VL53L0_ERROR_NONE && + (SchedulerSequenceSteps.TccOn || + SchedulerSequenceSteps.MsrcOn || + SchedulerSequenceSteps.DssOn)) { + + /* TCC, MSRC and DSS all share the same timeout */ + Status = get_sequence_step_timeout(Dev, + VL53L0_SEQUENCESTEP_MSRC, + &MsrcDccTccTimeoutMicroSeconds); + + /* Subtract the TCC, MSRC and DSS timeouts if they are + * enabled. */ + + if (Status != VL53L0_ERROR_NONE) + return Status; + + /* TCC */ + if (SchedulerSequenceSteps.TccOn) { + + SubTimeout = MsrcDccTccTimeoutMicroSeconds + + TccOverheadMicroSeconds; + + if (SubTimeout < + FinalRangeTimingBudgetMicroSeconds) { + FinalRangeTimingBudgetMicroSeconds -= + SubTimeout; + } else { + /* Requested timeout too big. */ + Status = VL53L0_ERROR_INVALID_PARAMS; + } + } + + if (Status != VL53L0_ERROR_NONE) { + LOG_FUNCTION_END(Status); + return Status; + } + + /* DSS */ + if (SchedulerSequenceSteps.DssOn) { + + SubTimeout = 2 * (MsrcDccTccTimeoutMicroSeconds + + DssOverheadMicroSeconds); + + if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) { + FinalRangeTimingBudgetMicroSeconds + -= SubTimeout; + } else { + /* Requested timeout too big. */ + Status = VL53L0_ERROR_INVALID_PARAMS; + } + } else if (SchedulerSequenceSteps.MsrcOn) { + /* MSRC */ + SubTimeout = MsrcDccTccTimeoutMicroSeconds + + MsrcOverheadMicroSeconds; + + if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) { + FinalRangeTimingBudgetMicroSeconds + -= SubTimeout; + } else { + /* Requested timeout too big. */ + Status = VL53L0_ERROR_INVALID_PARAMS; + } + } + + } + + if (Status != VL53L0_ERROR_NONE) { + LOG_FUNCTION_END(Status); + return Status; + } + + if (SchedulerSequenceSteps.PreRangeOn) { + + /* Subtract the Pre-range timeout if enabled. */ + + Status = get_sequence_step_timeout(Dev, + VL53L0_SEQUENCESTEP_PRE_RANGE, + &PreRangeTimeoutMicroSeconds); + + SubTimeout = PreRangeTimeoutMicroSeconds + + PreRangeOverheadMicroSeconds; + + if (SubTimeout < FinalRangeTimingBudgetMicroSeconds) { + FinalRangeTimingBudgetMicroSeconds -= SubTimeout; + } else { + /* Requested timeout too big. */ + Status = VL53L0_ERROR_INVALID_PARAMS; + } + } + + + if (Status == VL53L0_ERROR_NONE && + SchedulerSequenceSteps.FinalRangeOn) { + + FinalRangeTimingBudgetMicroSeconds -= + FinalRangeOverheadMicroSeconds; + + /* Final Range Timeout + * Note that the final range timeout is determined by the timing + * budget and the sum of all other timeouts within the sequence. + * If there is no room for the final range timeout, then an error + * will be set. Otherwise the remaining time will be applied to + * the final range. + */ + Status = set_sequence_step_timeout(Dev, + VL53L0_SEQUENCESTEP_FINAL_RANGE, + FinalRangeTimingBudgetMicroSeconds); + + VL53L0_SETPARAMETERFIELD(Dev, + MeasurementTimingBudgetMicroSeconds, + MeasurementTimingBudgetMicroSeconds); + } + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L0_Error VL53L0_get_measurement_timing_budget_micro_seconds(VL53L0_DEV Dev, + uint32_t *pMeasurementTimingBudgetMicroSeconds) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_SchedulerSequenceSteps_t SchedulerSequenceSteps; + uint32_t FinalRangeTimeoutMicroSeconds; + uint32_t MsrcDccTccTimeoutMicroSeconds = 2000; + uint32_t StartOverheadMicroSeconds = 1910; + uint32_t EndOverheadMicroSeconds = 960; + uint32_t MsrcOverheadMicroSeconds = 660; + uint32_t TccOverheadMicroSeconds = 590; + uint32_t DssOverheadMicroSeconds = 690; + uint32_t PreRangeOverheadMicroSeconds = 660; + uint32_t FinalRangeOverheadMicroSeconds = 550; + uint32_t PreRangeTimeoutMicroSeconds = 0; + + LOG_FUNCTION_START(""); + + /* Start and end overhead times always present */ + *pMeasurementTimingBudgetMicroSeconds + = StartOverheadMicroSeconds + EndOverheadMicroSeconds; + + Status = VL53L0_GetSequenceStepEnables(Dev, &SchedulerSequenceSteps); + + if (Status != VL53L0_ERROR_NONE) { + LOG_FUNCTION_END(Status); + return Status; + } + + + if (SchedulerSequenceSteps.TccOn || + SchedulerSequenceSteps.MsrcOn || + SchedulerSequenceSteps.DssOn) { + + Status = get_sequence_step_timeout(Dev, + VL53L0_SEQUENCESTEP_MSRC, + &MsrcDccTccTimeoutMicroSeconds); + + if (Status == VL53L0_ERROR_NONE) { + if (SchedulerSequenceSteps.TccOn) { + *pMeasurementTimingBudgetMicroSeconds += + MsrcDccTccTimeoutMicroSeconds + + TccOverheadMicroSeconds; + } + + if (SchedulerSequenceSteps.DssOn) { + *pMeasurementTimingBudgetMicroSeconds += + 2 * (MsrcDccTccTimeoutMicroSeconds + + DssOverheadMicroSeconds); + } else if (SchedulerSequenceSteps.MsrcOn) { + *pMeasurementTimingBudgetMicroSeconds += + MsrcDccTccTimeoutMicroSeconds + + MsrcOverheadMicroSeconds; + } + } + } + + if (Status == VL53L0_ERROR_NONE) { + if (SchedulerSequenceSteps.PreRangeOn) { + Status = get_sequence_step_timeout(Dev, + VL53L0_SEQUENCESTEP_PRE_RANGE, + &PreRangeTimeoutMicroSeconds); + *pMeasurementTimingBudgetMicroSeconds += + PreRangeTimeoutMicroSeconds + + PreRangeOverheadMicroSeconds; + } + } + + if (Status == VL53L0_ERROR_NONE) { + if (SchedulerSequenceSteps.FinalRangeOn) { + Status = get_sequence_step_timeout(Dev, + VL53L0_SEQUENCESTEP_FINAL_RANGE, + &FinalRangeTimeoutMicroSeconds); + *pMeasurementTimingBudgetMicroSeconds += + (FinalRangeTimeoutMicroSeconds + + FinalRangeOverheadMicroSeconds); + } + } + + if (Status == VL53L0_ERROR_NONE) { + VL53L0_SETPARAMETERFIELD(Dev, + MeasurementTimingBudgetMicroSeconds, + *pMeasurementTimingBudgetMicroSeconds); + } + + LOG_FUNCTION_END(Status); + return Status; +} + + + +VL53L0_Error VL53L0_load_tuning_settings(VL53L0_DEV Dev, + uint8_t *pTuningSettingBuffer) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + int i; + int Index; + uint8_t msb; + uint8_t lsb; + uint8_t SelectParam; + uint8_t NumberOfWrites; + uint8_t Address; + uint8_t localBuffer[4]; /* max */ + uint16_t Temp16; + + LOG_FUNCTION_START(""); + + Index = 0; + + while ((*(pTuningSettingBuffer + Index) != 0) && + (Status == VL53L0_ERROR_NONE)) { + NumberOfWrites = *(pTuningSettingBuffer + Index); + Index++; + if (NumberOfWrites == 0xFF) { + /* internal parameters */ + SelectParam = *(pTuningSettingBuffer + Index); + Index++; + switch (SelectParam) { + case 0: /* uint16_t SigmaEstRefArray -> 2 bytes */ + msb = *(pTuningSettingBuffer + Index); + Index++; + lsb = *(pTuningSettingBuffer + Index); + Index++; + Temp16 = VL53L0_MAKEUINT16(lsb, msb); + PALDevDataSet(Dev, SigmaEstRefArray, Temp16); + break; + case 1: /* uint16_t SigmaEstEffPulseWidth -> 2 bytes */ + msb = *(pTuningSettingBuffer + Index); + Index++; + lsb = *(pTuningSettingBuffer + Index); + Index++; + Temp16 = VL53L0_MAKEUINT16(lsb, msb); + PALDevDataSet(Dev, SigmaEstEffPulseWidth, + Temp16); + break; + case 2: /* uint16_t SigmaEstEffAmbWidth -> 2 bytes */ + msb = *(pTuningSettingBuffer + Index); + Index++; + lsb = *(pTuningSettingBuffer + Index); + Index++; + Temp16 = VL53L0_MAKEUINT16(lsb, msb); + PALDevDataSet(Dev, SigmaEstEffAmbWidth, Temp16); + break; + case 3: /* uint16_t targetRefRate -> 2 bytes */ + msb = *(pTuningSettingBuffer + Index); + Index++; + lsb = *(pTuningSettingBuffer + Index); + Index++; + Temp16 = VL53L0_MAKEUINT16(lsb, msb); + PALDevDataSet(Dev, targetRefRate, Temp16); + break; + default: /* invalid parameter */ + Status = VL53L0_ERROR_INVALID_PARAMS; + } + + } else if (NumberOfWrites <= 4) { + Address = *(pTuningSettingBuffer + Index); + Index++; + + for (i = 0; i < NumberOfWrites; i++) { + localBuffer[i] = *(pTuningSettingBuffer + + Index); + Index++; + } + + Status = VL53L0_WriteMulti(Dev, Address, localBuffer, + NumberOfWrites); + + } else { + Status = VL53L0_ERROR_INVALID_PARAMS; + } + } + + /* Set Pulse Width Offset. This duplicates the previous setting + * applied in the tuning list, however is required because the + * register value appears to have not been set. + */ + Status |= VL53L0_WrByte(Dev, 0xff, 0x01); + Status |= VL53L0_WrByte(Dev, 0x50, 0x06); + Status |= VL53L0_WrByte(Dev, 0xff, 0x00); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_get_total_xtalk_rate(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData, + FixPoint1616_t *ptotal_xtalk_rate_mcps) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + uint8_t xtalkCompEnable; + FixPoint1616_t totalXtalkMegaCps; + FixPoint1616_t xtalkPerSpadMegaCps; + + *ptotal_xtalk_rate_mcps = 0; + + Status = VL53L0_GetXTalkCompensationEnable(Dev, &xtalkCompEnable); + if(Status == VL53L0_ERROR_NONE) { + + if(xtalkCompEnable) { + + VL53L0_GETPARAMETERFIELD( + Dev, + XTalkCompensationRateMegaCps, + xtalkPerSpadMegaCps); + + /* FixPoint1616 * FixPoint 8:8 = FixPoint0824 */ + totalXtalkMegaCps = + pRangingMeasurementData->EffectiveSpadRtnCount * + xtalkPerSpadMegaCps; + + /* FixPoint0824 >> 8 = FixPoint1616 */ + *ptotal_xtalk_rate_mcps = (totalXtalkMegaCps + 0x80) >> 8; + } + } + + return Status; +} + +VL53L0_Error VL53L0_get_total_signal_rate(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData, + FixPoint1616_t *ptotal_signal_rate_mcps) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + FixPoint1616_t totalXtalkMegaCps; + + LOG_FUNCTION_START(""); + + *ptotal_signal_rate_mcps = + pRangingMeasurementData->SignalRateRtnMegaCps; + + Status = VL53L0_get_total_xtalk_rate( + Dev, pRangingMeasurementData, &totalXtalkMegaCps); + + if(Status == VL53L0_ERROR_NONE) + *ptotal_signal_rate_mcps += totalXtalkMegaCps; + + return Status; +} + +VL53L0_Error VL53L0_calc_dmax( + VL53L0_DEV Dev, + FixPoint1616_t totalSignalRate_mcps, + FixPoint1616_t totalCorrSignalRate_mcps, + FixPoint1616_t pwMult, + uint32_t sigmaEstimateP1, + FixPoint1616_t sigmaEstimateP2, + uint32_t peakVcselDuration_us, + uint32_t *pdmax_mm) +{ + const uint32_t cSigmaLimit = 18; + const FixPoint1616_t cSignalLimit = 0x4000; /* 0.25 */ + const FixPoint1616_t cSigmaEstRef = 0x00000042; /* 0.001 */ + const uint32_t cAmbEffWidthSigmaEst_ns = 6; + const uint32_t cAmbEffWidthDMax_ns = 7; + uint32_t dmaxCalRange_mm; + FixPoint1616_t dmaxCalSignalRateRtn_mcps; + FixPoint1616_t minSignalNeeded; + FixPoint1616_t minSignalNeeded_p1; + FixPoint1616_t minSignalNeeded_p2; + FixPoint1616_t minSignalNeeded_p3; + FixPoint1616_t minSignalNeeded_p4; + FixPoint1616_t sigmaLimitTmp; + FixPoint1616_t sigmaEstSqTmp; + FixPoint1616_t signalLimitTmp; + FixPoint1616_t SignalAt0mm; + FixPoint1616_t dmaxDark; + FixPoint1616_t dmaxAmbient; + FixPoint1616_t dmaxDarkTmp; + uint32_t signalRateTemp_mcps; + + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + dmaxCalRange_mm = + PALDevDataGet(Dev, DmaxCalRangeMilliMeter); + + dmaxCalSignalRateRtn_mcps = + PALDevDataGet(Dev, DmaxCalSignalRateRtnMegaCps); + + /* uint32 * FixPoint1616 = FixPoint1616 */ + SignalAt0mm = dmaxCalRange_mm * dmaxCalSignalRateRtn_mcps; + + /* FixPoint1616 >> 8 = FixPoint2408 */ + SignalAt0mm = (SignalAt0mm + 0x80) >> 8; + SignalAt0mm *= dmaxCalRange_mm; + + minSignalNeeded_p1 = 0; + if(totalCorrSignalRate_mcps > 0) { + + /* Shift by 10 bits to increase resolution prior to the + * division */ + signalRateTemp_mcps = totalSignalRate_mcps << 10; + + /* Add rounding value prior to division */ + minSignalNeeded_p1 = signalRateTemp_mcps + + (totalCorrSignalRate_mcps/2); + + /* FixPoint0626/FixPoint1616 = FixPoint2210 */ + minSignalNeeded_p1 /= totalCorrSignalRate_mcps; + + /* Apply a factored version of the speed of light. + Correction to be applied at the end */ + minSignalNeeded_p1 *= 3; + + /* FixPoint2210 * FixPoint2210 = FixPoint1220 */ + minSignalNeeded_p1 *= minSignalNeeded_p1; + + /* FixPoint1220 >> 16 = FixPoint2804 */ + minSignalNeeded_p1 = (minSignalNeeded_p1 + 0x8000) >> 16; + } + + minSignalNeeded_p2 = pwMult * sigmaEstimateP1; + + /* FixPoint1616 >> 16 = uint32 */ + minSignalNeeded_p2 = (minSignalNeeded_p2 + 0x8000) >> 16; + + /* uint32 * uint32 = uint32 */ + minSignalNeeded_p2 *= minSignalNeeded_p2; + + /* DMAX uses a different ambient width from sigma, so apply + * correction. + * Perform division before multiplication to prevent overflow. + */ + sigmaEstimateP2 = (sigmaEstimateP2 + cAmbEffWidthSigmaEst_ns/2)/ + cAmbEffWidthSigmaEst_ns; + sigmaEstimateP2 *= cAmbEffWidthDMax_ns; + + /* FixPoint1616 >> 16 = uint32 */ + minSignalNeeded_p3 = (sigmaEstimateP2 + 0x8000) >> 16; + + minSignalNeeded_p3 *= minSignalNeeded_p3; + + /* FixPoint2012 / uint32 = FixPoint2012 */ + sigmaLimitTmp = ((cSigmaLimit << 12) + 500) / 1000; + + /* FixPoint2012 * FixPoint2012 = FixPoint4420 := FixPoint0824 */ + sigmaLimitTmp *= sigmaLimitTmp; + + /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ + sigmaEstSqTmp = cSigmaEstRef * cSigmaEstRef; + + /* FixPoint3232 >> 8 = FixPoint0824 */ + sigmaEstSqTmp = (sigmaEstSqTmp + 0x80) >> 8; + + /* FixPoint0824 - FixPoint0824 = FixPoint0824 */ + sigmaLimitTmp -= sigmaEstSqTmp; + + /* uint32_t * FixPoint0824 = FixPoint0824 */ + minSignalNeeded_p4 = 4 * 12 * sigmaLimitTmp; + + /* FixPoint0824 >> 12 = FixPoint2012 */ + minSignalNeeded_p4 = (minSignalNeeded_p4 + 0x800) >> 12; + + /* uint32 + uint32 = uint32 */ + minSignalNeeded = (minSignalNeeded_p2 + minSignalNeeded_p3); + + /* uint32 / uint32 = uint32 */ + minSignalNeeded += (peakVcselDuration_us/2); + minSignalNeeded /= peakVcselDuration_us; + + /* uint32 << 12 = FixPoint2012 */ + minSignalNeeded <<= 12; + + /* FixPoint2012 / FixPoint2012 = uint32 */ + minSignalNeeded += (minSignalNeeded_p4/2); + minSignalNeeded /= minSignalNeeded_p4; + + /* FixPoint3200 * FixPoint2804 := FixPoint2804*/ + minSignalNeeded *= minSignalNeeded_p1; + + /* Apply correction by dividing by 1000000. + * This assumes 10E16 on the numerator of the equation + * and 10E-22 on the denominator. + * We do this because 32bit fix point calculation can't + * handle the larger and smaller elements of this equation, + * i.e. speed of light and pulse widths. + */ + minSignalNeeded = (minSignalNeeded + 500) / 1000; + minSignalNeeded <<= 4; + + minSignalNeeded = (minSignalNeeded + 500) / 1000; + + /* FixPoint1616 >> 8 = FixPoint2408 */ + signalLimitTmp = (cSignalLimit + 0x80) >> 8; + + /* FixPoint2408/FixPoint2408 = uint32 */ + if (signalLimitTmp != 0) + dmaxDarkTmp = (SignalAt0mm + (signalLimitTmp / 2)) + / signalLimitTmp; + else + dmaxDarkTmp = 0; + + dmaxDark = VL53L0_isqrt(dmaxDarkTmp); + + /* FixPoint2408/FixPoint2408 = uint32 */ + if (minSignalNeeded != 0) + dmaxAmbient = (SignalAt0mm + minSignalNeeded/2) + / minSignalNeeded; + else + dmaxAmbient = 0; + + dmaxAmbient = VL53L0_isqrt(dmaxAmbient); + + *pdmax_mm = dmaxDark; + if(dmaxDark > dmaxAmbient) + *pdmax_mm = dmaxAmbient; + + LOG_FUNCTION_END(Status); + + return Status; +} + + +VL53L0_Error VL53L0_calc_sigma_estimate(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData, + FixPoint1616_t *pSigmaEstimate, + uint32_t *pDmax_mm) +{ + /* Expressed in 100ths of a ns, i.e. centi-ns */ + const uint32_t cPulseEffectiveWidth_centi_ns = 800; + /* Expressed in 100ths of a ns, i.e. centi-ns */ + const uint32_t cAmbientEffectiveWidth_centi_ns = 600; + const FixPoint1616_t cSigmaEstRef = 0x00000042; /* 0.001 */ + const uint32_t cVcselPulseWidth_ps = 4700; /* pico secs */ + const FixPoint1616_t cSigmaEstMax = 0x028F87AE; + /* Time Of Flight per mm (6.6 pico secs) */ + const FixPoint1616_t cTOF_per_mm_ps = 0x0006999A; + const uint32_t c16BitRoundingParam = 0x00008000; + const FixPoint1616_t cMaxXTalk_kcps = 0x00320000; + const uint32_t cPllPeriod_ps = 1655; + + uint32_t vcselTotalEventsRtn; + uint32_t finalRangeTimeoutMicroSecs; + uint32_t preRangeTimeoutMicroSecs; + FixPoint1616_t sigmaEstimateP1; + FixPoint1616_t sigmaEstimateP2; + FixPoint1616_t sigmaEstimateP3; + FixPoint1616_t deltaT_ps; + FixPoint1616_t pwMult; + FixPoint1616_t sigmaEstRtn; + FixPoint1616_t sigmaEstimate; + FixPoint1616_t xTalkCorrection; + FixPoint1616_t ambientRate_kcps; + FixPoint1616_t peakSignalRate_kcps; + FixPoint1616_t xTalkCompRate_mcps; + uint32_t xTalkCompRate_kcps; + VL53L0_Error Status = VL53L0_ERROR_NONE; + FixPoint1616_t diff1_mcps; + FixPoint1616_t diff2_mcps; + FixPoint1616_t sqr1; + FixPoint1616_t sqr2; + FixPoint1616_t sqrSum; + FixPoint1616_t sqrtResult_centi_ns; + FixPoint1616_t sqrtResult; + FixPoint1616_t totalSignalRate_mcps; + FixPoint1616_t correctedSignalRate_mcps; + uint32_t vcselWidth; + uint32_t finalRangeMacroPCLKS; + uint32_t preRangeMacroPCLKS; + uint32_t peakVcselDuration_us; + uint8_t finalRangeVcselPCLKS; + uint8_t preRangeVcselPCLKS; + /*! \addtogroup calc_sigma_estimate + * @{ + * + * Estimates the range sigma based on the + * + * - vcsel_rate_kcps + * - ambient_rate_kcps + * - signal_total_events + * - xtalk_rate + * + * and the following parameters + * + * - SigmaEstRefArray + * - SigmaEstEffPulseWidth + * - SigmaEstEffAmbWidth + */ + + LOG_FUNCTION_START(""); + + VL53L0_GETPARAMETERFIELD(Dev, XTalkCompensationRateMegaCps, + xTalkCompRate_mcps); + + /* + * We work in kcps rather than mcps as this helps keep within the + * confines of the 32 Fix1616 type. + */ + + ambientRate_kcps = + (pRangingMeasurementData->AmbientRateRtnMegaCps * 1000) >> 16; + + correctedSignalRate_mcps = + pRangingMeasurementData->SignalRateRtnMegaCps; + + + Status = VL53L0_get_total_signal_rate( + Dev, pRangingMeasurementData, &totalSignalRate_mcps); + Status = VL53L0_get_total_xtalk_rate( + Dev, pRangingMeasurementData, &xTalkCompRate_mcps); + + + /* Signal rate measurement provided by device is the + * peak signal rate, not average. + */ + peakSignalRate_kcps = (totalSignalRate_mcps * 1000); + peakSignalRate_kcps = (peakSignalRate_kcps + 0x8000) >> 16; + + xTalkCompRate_kcps = xTalkCompRate_mcps * 1000; + + if (xTalkCompRate_kcps > cMaxXTalk_kcps) + xTalkCompRate_kcps = cMaxXTalk_kcps; + + if(Status == VL53L0_ERROR_NONE){ + + /* Calculate final range macro periods */ + finalRangeTimeoutMicroSecs = VL53L0_GETDEVICESPECIFICPARAMETER( + Dev, FinalRangeTimeoutMicroSecs); + + finalRangeVcselPCLKS = VL53L0_GETDEVICESPECIFICPARAMETER( + Dev, FinalRangeVcselPulsePeriod); + + finalRangeMacroPCLKS = VL53L0_calc_timeout_mclks( + Dev, finalRangeTimeoutMicroSecs, finalRangeVcselPCLKS); + + /* Calculate pre-range macro periods */ + preRangeTimeoutMicroSecs = VL53L0_GETDEVICESPECIFICPARAMETER( + Dev, PreRangeTimeoutMicroSecs); + + preRangeVcselPCLKS = VL53L0_GETDEVICESPECIFICPARAMETER( + Dev, PreRangeVcselPulsePeriod); + + preRangeMacroPCLKS = VL53L0_calc_timeout_mclks( + Dev, preRangeTimeoutMicroSecs, preRangeVcselPCLKS); + + vcselWidth = 3; + if(finalRangeVcselPCLKS == 8) { + vcselWidth = 2; + } + + peakVcselDuration_us = vcselWidth * 2048 * + (preRangeMacroPCLKS + finalRangeMacroPCLKS); + peakVcselDuration_us = (peakVcselDuration_us + 500)/1000; + peakVcselDuration_us *= cPllPeriod_ps; + peakVcselDuration_us = (peakVcselDuration_us + 500)/1000; + + vcselTotalEventsRtn = totalSignalRate_mcps * + peakVcselDuration_us; + vcselTotalEventsRtn = (vcselTotalEventsRtn + 0x8000) >> 16; + } + + if (Status != VL53L0_ERROR_NONE) { + LOG_FUNCTION_END(Status); + return Status; + } + + if (peakSignalRate_kcps == 0) { + *pSigmaEstimate = 0; + PALDevDataSet(Dev, SigmaEstimate, 0); + *pDmax_mm = 0; + } else { + if (vcselTotalEventsRtn < 1) + vcselTotalEventsRtn = 1; + + /* + * Calculate individual components of the main equation - + * replicating the equation implemented in the script + * OpenAll_Ewok_ranging_data.jsl. + * + * sigmaEstimateP1 represents the effective pulse width, which + * is a tuning parameter, rather than a real value. + * + * sigmaEstimateP2 represents the ambient/signal rate ratio + * expressed as a multiple of the effective ambient width + * (tuning parameter). + * + * sigmaEstimateP3 provides the signal event component, with the + * knowledge that + * - Noise of a square pulse is 1/sqrt(12) of the pulse + * width. + * - at 0Lux, sigma is proportional to + * effectiveVcselPulseWidth/sqrt(12 * signalTotalEvents) + * + * deltaT_ps represents the time of flight in pico secs for the + * current range measurement, using the "TOF per mm" constant + * (in ps). + */ + + sigmaEstimateP1 = cPulseEffectiveWidth_centi_ns; + + /* ((FixPoint1616 << 16)* uint32)/uint32 = FixPoint1616 */ + sigmaEstimateP2 = (ambientRate_kcps << 16)/peakSignalRate_kcps; + sigmaEstimateP2 *= cAmbientEffectiveWidth_centi_ns; + + sigmaEstimateP3 = 2 * VL53L0_isqrt(vcselTotalEventsRtn * 12); + + /* uint32 * FixPoint1616 = FixPoint1616 */ + deltaT_ps = pRangingMeasurementData->RangeMilliMeter * + cTOF_per_mm_ps; + + /* + * vcselRate - xtalkCompRate + * (uint32 << 16) - FixPoint1616 = FixPoint1616. + * Divide result by 1000 to convert to mcps. + * 500 is added to ensure rounding when integer division + * truncates. + */ + diff1_mcps = (((peakSignalRate_kcps << 16) - + xTalkCompRate_kcps) + 500)/1000; + + /* vcselRate + xtalkCompRate */ + diff2_mcps = (((peakSignalRate_kcps << 16) + + xTalkCompRate_kcps) + 500)/1000; + + /* Shift by 12 bits to increase resolution prior to the + * division */ + diff1_mcps <<= 12; + + /* FixPoint0428/FixPoint1616 = FixPoint2012 */ + xTalkCorrection = abs(diff1_mcps/diff2_mcps); + + /* FixPoint2012 << 4 = FixPoint1616 */ + xTalkCorrection <<= 4; + + /* FixPoint1616/uint32 = FixPoint1616 */ + pwMult = deltaT_ps/cVcselPulseWidth_ps; /* smaller than 1.0f */ + + /* + * FixPoint1616 * FixPoint1616 = FixPoint3232, however both + * values are small enough such that32 bits will not be + * exceeded. + */ + pwMult *= ((1 << 16) - xTalkCorrection); + + /* (FixPoint3232 >> 16) = FixPoint1616 */ + pwMult = (pwMult + c16BitRoundingParam) >> 16; + + /* FixPoint1616 + FixPoint1616 = FixPoint1616 */ + pwMult += (1 << 16); + + /* + * At this point the value will be 1.xx, therefore if we square + * the value this will exceed 32 bits. To address this perform + * a single shift to the right before the multiplication. + */ + pwMult >>= 1; + /* FixPoint1715 * FixPoint1715 = FixPoint3430 */ + pwMult = pwMult * pwMult; + + /* (FixPoint3430 >> 14) = Fix1616 */ + pwMult >>= 14; + + /* FixPoint1616 * uint32 = FixPoint1616 */ + sqr1 = pwMult * sigmaEstimateP1; + + /* (FixPoint1616 >> 12) = FixPoint2804 */ + sqr1 = (sqr1 + 0x800) >> 12; + + /* FixPoint2804 * FixPoint2804 = FixPoint5608 */ + sqr1 *= sqr1; + + sqr2 = sigmaEstimateP2; + + /* (FixPoint1616 >> 12) = FixPoint2804 */ + sqr2 = (sqr2 + 0x800) >> 12; + + /* FixPoint2804 * FixPoint2804 = FixPoint5608 */ + sqr2 *= sqr2; + + /* FixPoint5608 + FixPoint5608 = FixPoint5608 */ + sqrSum = sqr1 + sqr2; + + /* SQRT(FixPoint5608) = FixPoint2804 */ + sqrtResult_centi_ns = VL53L0_isqrt(sqrSum); + + /* (FixPoint2804 << 12) = FixPoint1616 */ + sqrtResult_centi_ns <<= 12; + + /* + * Note that the Speed Of Light is expressed in um per 1E-10 + * seconds (2997) Therefore to get mm/ns we have to divide by + * 10000 + */ + sigmaEstRtn = (((sqrtResult_centi_ns+50)/100) / + sigmaEstimateP3); + sigmaEstRtn *= VL53L0_SPEED_OF_LIGHT_IN_AIR; + + /* Add 5000 before dividing by 10000 to ensure rounding. */ + sigmaEstRtn += 5000; + sigmaEstRtn /= 10000; + + /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ + sqr1 = sigmaEstRtn * sigmaEstRtn; + /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ + sqr2 = cSigmaEstRef * cSigmaEstRef; + + /* sqrt(FixPoint3232 << 8) = sqrt(FixPoint4024) =FixPoint2012 */ + sqrtResult = VL53L0_isqrt((sqr1 + sqr2) << 8); + sqrtResult = (sqrtResult + 0x08) >> 4; + /* + * Note that the Shift by 12bits increases resolution prior to + * the sqrt, therefore the result must be shifted by 6bits to + * the right to revert back to the FixPoint1616 format. + */ + + sigmaEstimate = 1000 * sqrtResult; + + if ((peakSignalRate_kcps < 1) || (vcselTotalEventsRtn < 1) || + (sigmaEstimate > cSigmaEstMax)) { + sigmaEstimate = cSigmaEstMax; + } + + *pSigmaEstimate = (uint32_t)(sigmaEstimate); + PALDevDataSet(Dev, SigmaEstimate, *pSigmaEstimate); + + Status = VL53L0_calc_dmax( + Dev, + totalSignalRate_mcps, + correctedSignalRate_mcps, + pwMult, + sigmaEstimateP1, + sigmaEstimateP2, + peakVcselDuration_us, + pDmax_mm); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_get_pal_range_status(VL53L0_DEV Dev, + uint8_t DeviceRangeStatus, + FixPoint1616_t SignalRate, + uint16_t EffectiveSpadRtnCount, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData, + uint8_t *pPalRangeStatus) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t NoneFlag; + uint8_t SigmaLimitflag = 0; + uint8_t SignalRefClipflag = 0; + uint8_t RangeIgnoreThresholdflag = 0; + uint8_t SigmaLimitCheckEnable = 0; + uint8_t SignalRateFinalRangeLimitCheckEnable = 0; + uint8_t SignalRefClipLimitCheckEnable = 0; + uint8_t RangeIgnoreThresholdLimitCheckEnable = 0; + FixPoint1616_t SigmaEstimate; + FixPoint1616_t SigmaLimitValue; + FixPoint1616_t SignalRefClipValue; + FixPoint1616_t RangeIgnoreThresholdValue; + FixPoint1616_t SignalRatePerSpad; + uint8_t DeviceRangeStatusInternal = 0; + uint16_t tmpWord = 0; + uint8_t Temp8; + uint32_t Dmax_mm = 0; + FixPoint1616_t LastSignalRefMcps; + + LOG_FUNCTION_START(""); + + + /* + * VL53L0 has a good ranging when the value of the + * DeviceRangeStatus = 11. This function will replace the value 0 with + * the value 11 in the DeviceRangeStatus. + * In addition, the SigmaEstimator is not included in the VL53L0 + * DeviceRangeStatus, this will be added in the PalRangeStatus. + */ + + DeviceRangeStatusInternal = ((DeviceRangeStatus & 0x78) >> 3); + + if (DeviceRangeStatusInternal == 0 || + DeviceRangeStatusInternal == 5 || + DeviceRangeStatusInternal == 7 || + DeviceRangeStatusInternal == 12 || + DeviceRangeStatusInternal == 13 || + DeviceRangeStatusInternal == 14 || + DeviceRangeStatusInternal == 15 + ) { + NoneFlag = 1; + } else { + NoneFlag = 0; + } + + /* LastSignalRefMcps */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, 0xFF, 0x01); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_RdWord(Dev, + VL53L0_REG_RESULT_PEAK_SIGNAL_RATE_REF, + &tmpWord); + + LastSignalRefMcps = VL53L0_FIXPOINT97TOFIXPOINT1616(tmpWord); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, 0xFF, 0x00); + + PALDevDataSet(Dev, LastSignalRefMcps, LastSignalRefMcps); + + /* + * Check if Sigma limit is enabled, if yes then do comparison with limit + * value and put the result back into pPalRangeStatus. + */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_GetLimitCheckEnable(Dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + &SigmaLimitCheckEnable); + /* + * compute the Sigma and check with limit + */ + Status = VL53L0_calc_sigma_estimate( + Dev, + pRangingMeasurementData, + &SigmaEstimate, + &Dmax_mm); + pRangingMeasurementData->SigmaEstimate = SigmaEstimate; + if (Status == VL53L0_ERROR_NONE) + pRangingMeasurementData->RangeDMaxMilliMeter = Dmax_mm; + + if ((SigmaLimitCheckEnable != 0) && (Status == VL53L0_ERROR_NONE)) { + /* + * compute the Sigma and check with limit + */ + Status = VL53L0_calc_sigma_estimate( + Dev, + pRangingMeasurementData, + &SigmaEstimate, + &Dmax_mm); + + if (Status == VL53L0_ERROR_NONE) + pRangingMeasurementData->RangeDMaxMilliMeter = Dmax_mm; + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_GetLimitCheckValue(Dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + &SigmaLimitValue); + + if ((SigmaLimitValue > 0) && + (SigmaEstimate > SigmaLimitValue)) + /* Limit Fail */ + SigmaLimitflag = 1; + } + } + + /* + * Check if Signal ref clip limit is enabled, if yes then do comparison + * with limit value and put the result back into pPalRangeStatus. + */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_GetLimitCheckEnable(Dev, + VL53L0_CHECKENABLE_SIGNAL_REF_CLIP, + &SignalRefClipLimitCheckEnable); + + if ((SignalRefClipLimitCheckEnable != 0) && + (Status == VL53L0_ERROR_NONE)) { + + Status = VL53L0_GetLimitCheckValue(Dev, + VL53L0_CHECKENABLE_SIGNAL_REF_CLIP, + &SignalRefClipValue); + + if ((SignalRefClipValue > 0) && + (LastSignalRefMcps > SignalRefClipValue)) { + /* Limit Fail */ + SignalRefClipflag = 1; + } + } + + /* + * Check if Signal ref clip limit is enabled, if yes then do comparison + * with limit value and put the result back into pPalRangeStatus. + * EffectiveSpadRtnCount has a format 8.8 + * If (Return signal rate < (1.5 x Xtalk x number of Spads)) : FAIL + */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_GetLimitCheckEnable(Dev, + VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + &RangeIgnoreThresholdLimitCheckEnable); + + if ((RangeIgnoreThresholdLimitCheckEnable != 0) && + (Status == VL53L0_ERROR_NONE)) { + + /* Compute the signal rate per spad */ + if (EffectiveSpadRtnCount == 0) { + SignalRatePerSpad = 0; + } else { + SignalRatePerSpad = (FixPoint1616_t)((256 * SignalRate) + / EffectiveSpadRtnCount); + } + + Status = VL53L0_GetLimitCheckValue(Dev, + VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + &RangeIgnoreThresholdValue); + + if ((RangeIgnoreThresholdValue > 0) && + (SignalRatePerSpad < RangeIgnoreThresholdValue)) { + /* Limit Fail add 2^6 to range status */ + RangeIgnoreThresholdflag = 1; + } + } + + if (Status == VL53L0_ERROR_NONE) { + if (NoneFlag == 1) { + *pPalRangeStatus = 255; /* NONE */ + } else if (DeviceRangeStatusInternal == 1 || + DeviceRangeStatusInternal == 2 || + DeviceRangeStatusInternal == 3) { + *pPalRangeStatus = 5; /* HW fail */ + } else if (DeviceRangeStatusInternal == 6 || + DeviceRangeStatusInternal == 9) { + *pPalRangeStatus = 4; /* Phase fail */ + } else if (DeviceRangeStatusInternal == 8 || + DeviceRangeStatusInternal == 10 || + SignalRefClipflag == 1) { + *pPalRangeStatus = 3; /* Min range */ + } else if (DeviceRangeStatusInternal == 4 || + RangeIgnoreThresholdflag == 1) { + *pPalRangeStatus = 2; /* Signal Fail */ + } else if (SigmaLimitflag == 1) { + *pPalRangeStatus = 1; /* Sigma Fail */ + } else { + *pPalRangeStatus = 0; /* Range Valid */ + } + } + + /* fill the Limit Check Status */ + + Status = VL53L0_GetLimitCheckEnable(Dev, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + &SignalRateFinalRangeLimitCheckEnable); + + if (Status == VL53L0_ERROR_NONE) { + if ((SigmaLimitCheckEnable == 0) || (SigmaLimitflag == 1)) + Temp8 = 1; + else + Temp8 = 0; + VL53L0_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8); + + if ((DeviceRangeStatusInternal == 4) || + (SignalRateFinalRangeLimitCheckEnable == 0)) + Temp8 = 1; + else + Temp8 = 0; + VL53L0_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + Temp8); + + if ((SignalRefClipLimitCheckEnable == 0) || + (SignalRefClipflag == 1)) + Temp8 = 1; + else + Temp8 = 0; + + VL53L0_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + VL53L0_CHECKENABLE_SIGNAL_REF_CLIP, Temp8); + + if ((RangeIgnoreThresholdLimitCheckEnable == 0) || + (RangeIgnoreThresholdflag == 1)) + Temp8 = 1; + else + Temp8 = 0; + + VL53L0_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + Temp8); + } + + LOG_FUNCTION_END(Status); + return Status; + +} diff --git a/drivers/input/misc/vl53L0/src/vl53l0_api_histogram.c b/drivers/input/misc/vl53L0/src/vl53l0_api_histogram.c new file mode 100644 index 000000000000..ef543bcf6bde --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_api_histogram.c @@ -0,0 +1,746 @@ +/******************************************************************************* + Copyright © 2016, STMicroelectronics International N.V. + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND + NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. + IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + ******************************************************************************/ + +#include "vl53l0_api.h" +#include "vl53l0_api_core.h" +#include "vl53l0_api_histogram.h" + + +#ifndef __KERNEL__ +#include +#endif +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) + + +typedef uint32_t WindowSelection; +#define VL53L0_AMBIENT_WINDOW_ONLY ((WindowSelection) 0) + /*!< Measure Ambient Signal only */ +#define VL53L0_AMBIENT_AND_SIGNAL_WINDOW ((WindowSelection) 1) + /*!< Measure Combined Ambient and Signal Rate. */ + + +VL53L0_Error VL53L0_start_histogram_measurement(VL53L0_DEV Dev, + VL53L0_HistogramModes histoMode, + uint32_t count) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t dataByte; + LOG_FUNCTION_START(""); + + + dataByte = VL53L0_REG_SYSRANGE_MODE_SINGLESHOT | + VL53L0_REG_SYSRANGE_MODE_START_STOP; + + /* First histogram measurement must have bit 5 set */ + if (count == 0) + dataByte |= (1 << 5); + + switch (histoMode) { + case VL53L0_HISTOGRAMMODE_DISABLED: + /* Selected mode not supported */ + Status = VL53L0_ERROR_INVALID_COMMAND; + break; + + case VL53L0_HISTOGRAMMODE_REFERENCE_ONLY: + case VL53L0_HISTOGRAMMODE_RETURN_ONLY: + case VL53L0_HISTOGRAMMODE_BOTH: + dataByte |= (histoMode << 3); + Status = VL53L0_WrByte(Dev, VL53L0_REG_SYSRANGE_START, + dataByte); + if (Status == VL53L0_ERROR_NONE) { + /* Set PAL State to Running */ + PALDevDataSet(Dev, PalState, VL53L0_STATE_RUNNING); + } + break; + + default: + /* Selected mode not supported */ + Status = VL53L0_ERROR_MODE_NOT_SUPPORTED; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_confirm_measurement_start(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t NewDataReady = 0; + uint32_t LoopNb; + + LOG_FUNCTION_START(""); + + LoopNb = 0; + do { + Status = VL53L0_GetMeasurementDataReady(Dev, &NewDataReady); + if ((NewDataReady == 0x01) || Status != VL53L0_ERROR_NONE) + break; + + LoopNb = LoopNb + 1; + VL53L0_PollingDelay(Dev); + } while (LoopNb < VL53L0_DEFAULT_MAX_LOOP); + + if (LoopNb >= VL53L0_DEFAULT_MAX_LOOP) + Status = VL53L0_ERROR_TIME_OUT; + + LOG_FUNCTION_END(Status); + + return Status; +} + + +VL53L0_Error VL53L0_set_histogram_mode(VL53L0_DEV Dev, + VL53L0_HistogramModes HistogramMode) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + switch (HistogramMode) { + case VL53L0_HISTOGRAMMODE_DISABLED: + case VL53L0_HISTOGRAMMODE_REFERENCE_ONLY: + case VL53L0_HISTOGRAMMODE_RETURN_ONLY: + case VL53L0_HISTOGRAMMODE_BOTH: + /* Supported mode */ + VL53L0_SETPARAMETERFIELD(Dev, HistogramMode, HistogramMode); + break; + default: + /* Unsupported mode */ + Status = VL53L0_ERROR_MODE_NOT_SUPPORTED; + } + + return Status; +} + +VL53L0_Error VL53L0_get_histogram_mode(VL53L0_DEV Dev, + VL53L0_HistogramModes *pHistogramMode) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + VL53L0_GETPARAMETERFIELD(Dev, HistogramMode, *pHistogramMode); + + return Status; +} + + +VL53L0_Error VL53L0_perform_single_histogram_measurement(VL53L0_DEV Dev, + VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceModes DeviceMode; + VL53L0_HistogramModes HistogramMode = VL53L0_HISTOGRAMMODE_DISABLED; + uint32_t MeasCount; + uint32_t Measurements; + + /* Get Current DeviceMode */ + Status = VL53L0_GetHistogramMode(Dev, &HistogramMode); + + + if (Status != VL53L0_ERROR_NONE) + return Status; + + + if (HistogramMode == VL53L0_HISTOGRAMMODE_BOTH) { + if (pHistogramMeasurementData->BufferSize < + VL53L0_HISTOGRAM_BUFFER_SIZE) { + Status = VL53L0_ERROR_BUFFER_TOO_SMALL; + } + } else { + if (pHistogramMeasurementData->BufferSize < + VL53L0_HISTOGRAM_BUFFER_SIZE/2) { + Status = VL53L0_ERROR_BUFFER_TOO_SMALL; + } + } + pHistogramMeasurementData->HistogramType = (uint8_t)HistogramMode; + pHistogramMeasurementData->ErrorStatus = VL53L0_DEVICEERROR_NONE; + pHistogramMeasurementData->FirstBin = 0; + pHistogramMeasurementData->NumberOfBins = 0; + + + /* Get Current DeviceMode */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_GetDeviceMode(Dev, &DeviceMode); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, VL53L0_REG_SYSTEM_HISTOGRAM_BIN, + 0x00); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, + VL53L0_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT, 0x00); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, + VL53L0_REG_HISTOGRAM_CONFIG_READOUT_CTRL, 0x01); + + if (Status != VL53L0_ERROR_NONE) + return Status; + + Measurements = 3; + if (HistogramMode == VL53L0_HISTOGRAMMODE_BOTH) + Measurements = 6; + + if (DeviceMode != VL53L0_DEVICEMODE_SINGLE_HISTOGRAM) { + Status = VL53L0_ERROR_INVALID_COMMAND; + return Status; + } + + /* DeviceMode == VL53L0_DEVICEMODE_SINGLE_HISTOGRAM */ + MeasCount = 0; + while ((MeasCount < Measurements) && (Status == VL53L0_ERROR_NONE)) { + Status = VL53L0_start_histogram_measurement(Dev, HistogramMode, + MeasCount); + + if (Status == VL53L0_ERROR_NONE) + VL53L0_confirm_measurement_start(Dev); + + if (Status == VL53L0_ERROR_NONE) + PALDevDataSet(Dev, PalState, VL53L0_STATE_RUNNING); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_measurement_poll_for_completion(Dev); + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_read_histo_measurement(Dev, + pHistogramMeasurementData->HistogramData, + MeasCount, + HistogramMode); + + if (Status == VL53L0_ERROR_NONE) { + /* + * When reading both rtn and ref arrays, + * histograms are read two bins at a time. + * For rtn or ref only, histograms are read four + * bins at a time. + */ + if (HistogramMode == VL53L0_HISTOGRAMMODE_BOTH) + pHistogramMeasurementData->NumberOfBins + += 2; + else + pHistogramMeasurementData->NumberOfBins + += 4; + + } + } + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_ClearInterruptMask(Dev, 0); + + MeasCount++; + } + + /* Change PAL State in case of single ranging or single histogram */ + if (Status == VL53L0_ERROR_NONE) { + pHistogramMeasurementData->NumberOfBins = 12; + PALDevDataSet(Dev, PalState, VL53L0_STATE_IDLE); + } + + return Status; +} + + +VL53L0_Error VL53L0_get_histogram_measurement_data(VL53L0_DEV Dev, + VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData) +{ + VL53L0_Error Status = VL53L0_ERROR_NOT_IMPLEMENTED; + LOG_FUNCTION_START(""); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_read_histo_measurement(VL53L0_DEV Dev, + uint32_t *histoData, + uint32_t offset, + VL53L0_HistogramModes histoMode) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t localBuffer[28]; + uint32_t cDataSize = 4; + uint32_t offset1; + + LOG_FUNCTION_START(""); + + Status = VL53L0_WrByte(Dev, 0xFF, VL53L0_REG_RESULT_CORE_PAGE); + Status = VL53L0_ReadMulti(Dev, + (uint8_t)VL53L0_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN, + localBuffer, + 28); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + + if (Status == VL53L0_ERROR_NONE) { + VL53L0_reverse_bytes(&localBuffer[0], cDataSize); + VL53L0_reverse_bytes(&localBuffer[4], cDataSize); + VL53L0_reverse_bytes(&localBuffer[20], cDataSize); + VL53L0_reverse_bytes(&localBuffer[24], cDataSize); + + offset1 = offset * cDataSize; + if (histoMode == VL53L0_HISTOGRAMMODE_BOTH) { + /* + * When reading both return and ref data, each + * measurement reads two ref values and two return + * values. Data is stored in an interleaved sequence, + * starting with the return histogram. + * + * Some result Core registers are reused for the + * histogram measurements + * + * The bin values are retrieved in the following order + * VL53L0_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN + * VL53L0_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF + * VL53L0_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN + * VL53L0_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF + */ + + memcpy(&histoData[offset1], &localBuffer[4], + cDataSize); /* rtn */ + memcpy(&histoData[offset1 + 1], &localBuffer[24], + cDataSize); /* ref */ + memcpy(&histoData[offset1 + 2], &localBuffer[0], + cDataSize); /* rtn */ + memcpy(&histoData[offset1 + 3], &localBuffer[20], + cDataSize); /* ref */ + + } else { + /* + * When reading either return and ref data, each + * measurement reads four bin values. + * + * The bin values are retrieved in the following order + * VL53L0_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN + * VL53L0_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN + * VL53L0_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF + * VL53L0_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF + */ + + memcpy(&histoData[offset1], &localBuffer[24], + cDataSize); + memcpy(&histoData[offset1 + 1], &localBuffer[20], + cDataSize); + memcpy(&histoData[offset1 + 2], &localBuffer[4], + cDataSize); + memcpy(&histoData[offset1 + 3], &localBuffer[0], + cDataSize); + + } + } + + LOG_FUNCTION_END(Status); + + return Status; +} + + +VL53L0_Error VL53L0_get_max_spads(VL53L0_DEV Dev, + uint32_t *pmax_spads, uint8_t *pambient_too_high) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t TCC_Enabled; + uint8_t MSRC_Enabled; + VL53L0_RangingMeasurementData_t RangingMeasurementData; + FixPoint1616_t ratio = 0; + uint32_t max_spads = 0; + + /* Get the value of the TCC */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_GetSequenceStepEnable(Dev, + VL53L0_SEQUENCESTEP_TCC, &TCC_Enabled); + + /* Get the value of the MSRC */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_GetSequenceStepEnable(Dev, + VL53L0_SEQUENCESTEP_MSRC, &MSRC_Enabled); + + /* Disable the TCC */ + if ((Status == VL53L0_ERROR_NONE) && (TCC_Enabled != 0)) + Status = VL53L0_SetSequenceStepEnable(Dev, + VL53L0_SEQUENCESTEP_TCC, 0); + + /* Disable the MSRC */ + if ((Status == VL53L0_ERROR_NONE) && (MSRC_Enabled != 0)) + Status = VL53L0_SetSequenceStepEnable(Dev, + VL53L0_SEQUENCESTEP_MSRC, 0); + + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_PerformSingleRangingMeasurement(Dev, + &RangingMeasurementData); + max_spads = (RangingMeasurementData.EffectiveSpadRtnCount + + 128)/256; + *pmax_spads = max_spads; + } + + /* Check Ambient per spad > 10 Kcps */ + if (Status == VL53L0_ERROR_NONE) { + if (max_spads <= 0) { + *pambient_too_high = 1; + return VL53L0_ERROR_DIVISION_BY_ZERO; + } else { + ratio = RangingMeasurementData.AmbientRateRtnMegaCps / + max_spads; + + /* ratio is given in mega count per second and + * FixPoint1616_t */ + if (ratio > 65536/100) + *pambient_too_high = 1; + else + *pambient_too_high = 0; + + } + } + + + /* Restore the TCC */ + if (Status == VL53L0_ERROR_NONE) { + if (TCC_Enabled != 0) + Status = VL53L0_SetSequenceStepEnable(Dev, + VL53L0_SEQUENCESTEP_TCC, 1); + } + + /* Restore the MSRC */ + if (Status == VL53L0_ERROR_NONE) { + if (MSRC_Enabled != 0) + Status = VL53L0_SetSequenceStepEnable(Dev, + VL53L0_SEQUENCESTEP_MSRC, 1); + } + + return Status; + +} + + +VL53L0_Error calc_xtalk_mcps_per_spad( + uint32_t rtn_signal_events, + uint32_t timeout_ms, + uint32_t max_spads, + uint8_t vcsel_pulse_period_pclk, + FixPoint1616_t *pxtalk_mcps_per_spad) +{ + /* Calculate the X-Talk per Spad based on given inputs. + * + * To calculate x-talk, only a portion of the vcsel pulse period is + * used, therefore we use the ratio between vcsel_width_pclk and + * vcsel_pulse_period_pclks to determine the integration time. + * + * With the rtn signal events, and the integration time, + * the x-talk rate per spad is then determined. + */ + + const FixPoint1616_t cmin_xtalk_per_spad = 8; /* 0.000122 */ + const FixPoint1616_t ccompensation2 = 13;/* 0.0002 */ + const FixPoint1616_t ccompensation1 = 7; /* 0.0001; */ + const FixPoint1616_t ctalk_thresh = 66; /* 0.001 */ + const uint32_t c16BitRoundingParam = 0x00008000; + VL53L0_Error status = VL53L0_ERROR_NONE; + FixPoint1616_t xtalk_mcps; + FixPoint1616_t vcsel_width_to_period_ratio; + FixPoint1616_t integration_time_us; + uint32_t integration_time_us_int; + uint8_t vcsel_width_pclk = 3; + + LOG_FUNCTION_START(""); + + if (vcsel_pulse_period_pclk == 0 || timeout_ms == 0) + status = VL53L0_ERROR_DIVISION_BY_ZERO; + + + if (status == VL53L0_ERROR_NONE) { + + /* (FixPoint1616 + uint32)/uint32 = FixPoint1616 */ + vcsel_width_to_period_ratio = + ((vcsel_width_pclk << 16) + + (vcsel_pulse_period_pclk/2))/vcsel_pulse_period_pclk; + + /* uint32_t * FixPoint1616 = FixPoint1616 */ + integration_time_us = timeout_ms * vcsel_width_to_period_ratio + * 1000; + + /*FixPoint1616 >>16 = uint32_t */ + integration_time_us_int = (integration_time_us + + c16BitRoundingParam) >> 16; + + /* (uint32_t << 16)/uint32_t = FixPoint1616 */ + xtalk_mcps = rtn_signal_events << 16; + xtalk_mcps = (xtalk_mcps + + (integration_time_us_int/2))/integration_time_us_int; + + /* (FixPoint1616 + uint32)/uint32 = FixPoint1616 */ + *pxtalk_mcps_per_spad = (xtalk_mcps + (max_spads/2))/max_spads; + + /* Apply compensation to prevent overshoot. + */ + if (*pxtalk_mcps_per_spad < ctalk_thresh) + *pxtalk_mcps_per_spad = *pxtalk_mcps_per_spad + - ccompensation2; + else + *pxtalk_mcps_per_spad = *pxtalk_mcps_per_spad + - ccompensation1; + + if (*pxtalk_mcps_per_spad < cmin_xtalk_per_spad) + *pxtalk_mcps_per_spad = cmin_xtalk_per_spad; + + } + LOG_FUNCTION_END(""); + + return status; +} + + +uint32_t bytes_to_int(uint8_t *data_bytes) +{ + /* Convert an array of 4 bytes to an integer. + */ + uint32_t data = (uint32_t)data_bytes[0] << 24; + data += ((uint32_t)data_bytes[1] << 16); + data += ((uint32_t)data_bytes[2] << 8); + data += ((uint32_t)data_bytes[3]); + return data; +} + +VL53L0_Error perform_histo_signal_meas(VL53L0_DEV dev, + WindowSelection window_select, + uint32_t *psignal_events) +{ + VL53L0_Error status = VL53L0_ERROR_NONE; + uint8_t data[8]; + uint8_t readout_ctrl_val; + uint32_t bin_width = 3; + + LOG_FUNCTION_START(""); + + /* Select Ambient or Total Signal Measurement + */ + if (status == VL53L0_ERROR_NONE) { + readout_ctrl_val = bin_width; + if (window_select == VL53L0_AMBIENT_WINDOW_ONLY) + readout_ctrl_val += 0x80; + + status = VL53L0_WrByte( + dev, VL53L0_REG_HISTOGRAM_CONFIG_READOUT_CTRL, + readout_ctrl_val); + } + + /* Perform Measurement. + */ + if (status == VL53L0_ERROR_NONE) + status = VL53L0_start_histogram_measurement( + dev, VL53L0_HISTOGRAMMODE_RETURN_ONLY, 0); + + if (status == VL53L0_ERROR_NONE) + status = VL53L0_measurement_poll_for_completion(dev); + + if (status == VL53L0_ERROR_NONE) + status = VL53L0_ClearInterruptMask(dev, 0); + + /* Read Measurement Data. + */ + if (status == VL53L0_ERROR_NONE) + status = VL53L0_WrByte(dev, 0xFF, VL53L0_REG_RESULT_CORE_PAGE); + + + if (status == VL53L0_ERROR_NONE) { + status = VL53L0_ReadMulti(dev, + (uint8_t)VL53L0_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN, + data, + 8); + } + + if (status == VL53L0_ERROR_NONE) + status |= VL53L0_WrByte(dev, 0xFF, 0x00); + + + /* Take the sum of the Ambient and Signal Window Event readings. + */ + if (status == VL53L0_ERROR_NONE) + *psignal_events = bytes_to_int(data) + + bytes_to_int(&(data[4])); + + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L0_Error set_final_range_timeout_us( + VL53L0_DEV dev, uint32_t timeout_microSecs, + uint16_t final_range_vcsel_period_pclks) +{ + VL53L0_Error status = VL53L0_ERROR_NONE; + uint16_t final_range_timeout_mclks; + uint16_t final_range_encoded_timeOut; + + LOG_FUNCTION_START(""); + + /* Calculate FINAL RANGE Timeout in Macro Periods (MCLKS) + */ + + /* convert timeout to mclks. */ + final_range_timeout_mclks = VL53L0_calc_timeout_mclks(dev, + timeout_microSecs, (uint8_t) final_range_vcsel_period_pclks); + + /* Encode timeout */ + final_range_encoded_timeOut = VL53L0_encode_timeout( + final_range_timeout_mclks); + + /* Write to device */ + status = VL53L0_WrWord(dev, + VL53L0_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI, + final_range_encoded_timeOut); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L0_Error perform_histogram_config(VL53L0_DEV dev, + uint32_t timeout_ms, uint16_t final_range_vcsel_period_pclks) +{ + VL53L0_Error status = VL53L0_ERROR_NONE; + uint8_t phaseSelect = 1; + + LOG_FUNCTION_START(""); + + if (status == VL53L0_ERROR_NONE) + status = set_final_range_timeout_us( + dev, timeout_ms * 1000, final_range_vcsel_period_pclks); + + if (status == VL53L0_ERROR_NONE) + status = VL53L0_SetDeviceMode(dev, + VL53L0_DEVICEMODE_SINGLE_HISTOGRAM); + + + if (status == VL53L0_ERROR_NONE) + status = VL53L0_SetHistogramMode(dev, + VL53L0_HISTOGRAMMODE_BOTH); + + + if (status == VL53L0_ERROR_NONE) + status = VL53L0_WrByte(dev, VL53L0_REG_SYSTEM_HISTOGRAM_BIN, + 0x00); + + + /* Apply specific phase select for x-talk measurement */ + if (status == VL53L0_ERROR_NONE) + status = VL53L0_WrByte(dev, + VL53L0_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT, + phaseSelect); + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L0_Error VL53L0_perform_xtalk_measurement(VL53L0_DEV dev, + uint32_t timeout_ms, FixPoint1616_t *pxtalk_per_spad, + uint8_t *pambient_too_high) +{ + VL53L0_Error status = VL53L0_ERROR_NONE; + uint32_t signal_events = 0; + uint32_t amb_events = 0; + uint32_t meas_timing_budget_us; + VL53L0_DeviceModes device_mode; + uint8_t final_range_vcsel_period_pclks; + uint32_t max_spads; + + /* Get Current DeviceMode */ + status = VL53L0_GetDeviceMode(dev, &device_mode); + + if (status == VL53L0_ERROR_NONE) + status = VL53L0_get_max_spads(dev, &max_spads, + pambient_too_high); + + if (status != VL53L0_ERROR_NONE) + return status; + + + if (status == VL53L0_ERROR_NONE) { + status = VL53L0_GetVcselPulsePeriod( + dev, + VL53L0_VCSEL_PERIOD_FINAL_RANGE, + &final_range_vcsel_period_pclks); + } + + if (status == VL53L0_ERROR_NONE) { + if (final_range_vcsel_period_pclks < 10) + status = VL53L0_ERROR_INVALID_PARAMS; + } + + if (status == VL53L0_ERROR_NONE) { + perform_histogram_config( + dev, timeout_ms, final_range_vcsel_period_pclks); + } + + if (status == VL53L0_ERROR_NONE) { + status = perform_histo_signal_meas( + dev, + VL53L0_AMBIENT_WINDOW_ONLY, + &amb_events); + } + + if (status == VL53L0_ERROR_NONE) { + status = perform_histo_signal_meas( + dev, + VL53L0_AMBIENT_AND_SIGNAL_WINDOW, + &signal_events); + } + + if (status == VL53L0_ERROR_NONE) { + status = calc_xtalk_mcps_per_spad( + (signal_events - amb_events), + timeout_ms, + max_spads, + final_range_vcsel_period_pclks, + pxtalk_per_spad); + } + + /* Revert previous device mode. */ + if (status == VL53L0_ERROR_NONE) + status = VL53L0_SetDeviceMode(dev, device_mode); + + /* Revert previous timing budget, to ensure previous final range vcsel + * period is applied. + */ + if (status == VL53L0_ERROR_NONE) { + VL53L0_GETPARAMETERFIELD( + dev, + MeasurementTimingBudgetMicroSeconds, + meas_timing_budget_us); + + status = VL53L0_SetMeasurementTimingBudgetMicroSeconds( + dev, meas_timing_budget_us); + } + + return status; +} + diff --git a/drivers/input/misc/vl53L0/src/vl53l0_api_ranging.c b/drivers/input/misc/vl53L0/src/vl53l0_api_ranging.c new file mode 100644 index 000000000000..d1b065b00fe9 --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_api_ranging.c @@ -0,0 +1,42 @@ +/******************************************************************************* + Copyright © 2016, STMicroelectronics International N.V. + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND + NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. + IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + ******************************************************************************/ + +#include "vl53l0_api.h" +#include "vl53l0_api_core.h" + + +#ifndef __KERNEL__ +#include +#endif +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) + diff --git a/drivers/input/misc/vl53L0/src/vl53l0_api_strings.c b/drivers/input/misc/vl53L0/src/vl53l0_api_strings.c new file mode 100644 index 000000000000..eacdd9ae4959 --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_api_strings.c @@ -0,0 +1,448 @@ +/******************************************************************************* + Copyright © 2016, STMicroelectronics International N.V. + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND + NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. + IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + ******************************************************************************/ + +#include "vl53l0_api.h" +#include "vl53l0_api_core.h" +#include "vl53l0_api_strings.h" + +#ifndef __KERNEL__ +#include +#endif + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) + + +VL53L0_Error VL53L0_check_part_used(VL53L0_DEV Dev, + uint8_t *Revision, + VL53L0_DeviceInfo_t *pVL53L0_DeviceInfo) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t ModuleIdInt; + char *ProductId_tmp; + + LOG_FUNCTION_START(""); + + Status = VL53L0_get_info_from_device(Dev, 2); + + if (Status == VL53L0_ERROR_NONE) { + ModuleIdInt = VL53L0_GETDEVICESPECIFICPARAMETER(Dev, ModuleId); + + if (ModuleIdInt == 0) { + *Revision = 0; + VL53L0_COPYSTRING(pVL53L0_DeviceInfo->ProductId, ""); + } else { + *Revision = VL53L0_GETDEVICESPECIFICPARAMETER(Dev, Revision); + ProductId_tmp = VL53L0_GETDEVICESPECIFICPARAMETER(Dev, + ProductId); + VL53L0_COPYSTRING(pVL53L0_DeviceInfo->ProductId, ProductId_tmp); + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L0_Error VL53L0_get_device_info(VL53L0_DEV Dev, + VL53L0_DeviceInfo_t *pVL53L0_DeviceInfo) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t revision_id; + uint8_t Revision; + + Status = VL53L0_check_part_used(Dev, &Revision, pVL53L0_DeviceInfo); + + if (Status == VL53L0_ERROR_NONE) { + if (Revision == 0) { + VL53L0_COPYSTRING(pVL53L0_DeviceInfo->Name, + VL53L0_STRING_DEVICE_INFO_NAME_TS0); + } else if ((Revision <= 34) && (Revision != 32)) { + VL53L0_COPYSTRING(pVL53L0_DeviceInfo->Name, + VL53L0_STRING_DEVICE_INFO_NAME_TS1); + } else if (Revision < 39) { + VL53L0_COPYSTRING(pVL53L0_DeviceInfo->Name, + VL53L0_STRING_DEVICE_INFO_NAME_TS2); + } else { + VL53L0_COPYSTRING(pVL53L0_DeviceInfo->Name, + VL53L0_STRING_DEVICE_INFO_NAME_ES1); + } + + VL53L0_COPYSTRING(pVL53L0_DeviceInfo->Type, + VL53L0_STRING_DEVICE_INFO_TYPE); + + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdByte(Dev, VL53L0_REG_IDENTIFICATION_MODEL_ID, + &pVL53L0_DeviceInfo->ProductType); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = VL53L0_RdByte(Dev, + VL53L0_REG_IDENTIFICATION_REVISION_ID, + &revision_id); + pVL53L0_DeviceInfo->ProductRevisionMajor = 1; + pVL53L0_DeviceInfo->ProductRevisionMinor = + (revision_id & 0xF0) >> 4; + } + + return Status; +} + + +VL53L0_Error VL53L0_get_device_error_string(VL53L0_DeviceError ErrorCode, + char *pDeviceErrorString) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + switch (ErrorCode) { + case VL53L0_DEVICEERROR_NONE: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L0_STRING_DEVICEERROR_NONE); + break; + case VL53L0_DEVICEERROR_VCSELCONTINUITYTESTFAILURE: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L0_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE); + break; + case VL53L0_DEVICEERROR_VCSELWATCHDOGTESTFAILURE: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L0_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE); + break; + case VL53L0_DEVICEERROR_NOVHVVALUEFOUND: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L0_STRING_DEVICEERROR_NOVHVVALUEFOUND); + break; + case VL53L0_DEVICEERROR_MSRCNOTARGET: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L0_STRING_DEVICEERROR_MSRCNOTARGET); + break; + case VL53L0_DEVICEERROR_SNRCHECK: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L0_STRING_DEVICEERROR_SNRCHECK); + break; + case VL53L0_DEVICEERROR_RANGEPHASECHECK: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L0_STRING_DEVICEERROR_RANGEPHASECHECK); + break; + case VL53L0_DEVICEERROR_SIGMATHRESHOLDCHECK: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L0_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK); + break; + case VL53L0_DEVICEERROR_TCC: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L0_STRING_DEVICEERROR_TCC); + break; + case VL53L0_DEVICEERROR_PHASECONSISTENCY: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L0_STRING_DEVICEERROR_PHASECONSISTENCY); + break; + case VL53L0_DEVICEERROR_MINCLIP: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L0_STRING_DEVICEERROR_MINCLIP); + break; + case VL53L0_DEVICEERROR_RANGECOMPLETE: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L0_STRING_DEVICEERROR_RANGECOMPLETE); + break; + case VL53L0_DEVICEERROR_ALGOUNDERFLOW: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L0_STRING_DEVICEERROR_ALGOUNDERFLOW); + break; + case VL53L0_DEVICEERROR_ALGOOVERFLOW: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L0_STRING_DEVICEERROR_ALGOOVERFLOW); + break; + case VL53L0_DEVICEERROR_RANGEIGNORETHRESHOLD: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L0_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD); + break; + + default: + VL53L0_COPYSTRING(pDeviceErrorString, + VL53L0_STRING_UNKNOW_ERROR_CODE); + + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_get_range_status_string(uint8_t RangeStatus, + char *pRangeStatusString) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + switch (RangeStatus) { + case 0: + VL53L0_COPYSTRING(pRangeStatusString, + VL53L0_STRING_RANGESTATUS_RANGEVALID); + break; + case 1: + VL53L0_COPYSTRING(pRangeStatusString, + VL53L0_STRING_RANGESTATUS_SIGMA); + break; + case 2: + VL53L0_COPYSTRING(pRangeStatusString, + VL53L0_STRING_RANGESTATUS_SIGNAL); + break; + case 3: + VL53L0_COPYSTRING(pRangeStatusString, + VL53L0_STRING_RANGESTATUS_MINRANGE); + break; + case 4: + VL53L0_COPYSTRING(pRangeStatusString, + VL53L0_STRING_RANGESTATUS_PHASE); + break; + case 5: + VL53L0_COPYSTRING(pRangeStatusString, + VL53L0_STRING_RANGESTATUS_HW); + break; + + default: /**/ + VL53L0_COPYSTRING(pRangeStatusString, + VL53L0_STRING_RANGESTATUS_NONE); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_get_pal_error_string(VL53L0_Error PalErrorCode, + char *pPalErrorString) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + switch (PalErrorCode) { + case VL53L0_ERROR_NONE: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_NONE); + break; + case VL53L0_ERROR_CALIBRATION_WARNING: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_CALIBRATION_WARNING); + break; + case VL53L0_ERROR_MIN_CLIPPED: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_MIN_CLIPPED); + break; + case VL53L0_ERROR_UNDEFINED: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_UNDEFINED); + break; + case VL53L0_ERROR_INVALID_PARAMS: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_INVALID_PARAMS); + break; + case VL53L0_ERROR_NOT_SUPPORTED: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_NOT_SUPPORTED); + break; + case VL53L0_ERROR_RANGE_ERROR: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_RANGE_ERROR); + break; + case VL53L0_ERROR_TIME_OUT: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_TIME_OUT); + break; + case VL53L0_ERROR_MODE_NOT_SUPPORTED: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_MODE_NOT_SUPPORTED); + break; + case VL53L0_ERROR_BUFFER_TOO_SMALL: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_BUFFER_TOO_SMALL); + break; + case VL53L0_ERROR_GPIO_NOT_EXISTING: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_GPIO_NOT_EXISTING); + break; + case VL53L0_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED); + break; + case VL53L0_ERROR_CONTROL_INTERFACE: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_CONTROL_INTERFACE); + break; + case VL53L0_ERROR_INVALID_COMMAND: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_INVALID_COMMAND); + break; + case VL53L0_ERROR_DIVISION_BY_ZERO: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_DIVISION_BY_ZERO); + break; + case VL53L0_ERROR_REF_SPAD_INIT: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_REF_SPAD_INIT); + break; + case VL53L0_ERROR_NOT_IMPLEMENTED: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_NOT_IMPLEMENTED); + break; + + default: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_UNKNOW_ERROR_CODE); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_get_pal_state_string(VL53L0_State PalStateCode, + char *pPalStateString) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + switch (PalStateCode) { + case VL53L0_STATE_POWERDOWN: + VL53L0_COPYSTRING(pPalStateString, + VL53L0_STRING_STATE_POWERDOWN); + break; + case VL53L0_STATE_WAIT_STATICINIT: + VL53L0_COPYSTRING(pPalStateString, + VL53L0_STRING_STATE_WAIT_STATICINIT); + break; + case VL53L0_STATE_STANDBY: + VL53L0_COPYSTRING(pPalStateString, + VL53L0_STRING_STATE_STANDBY); + break; + case VL53L0_STATE_IDLE: + VL53L0_COPYSTRING(pPalStateString, + VL53L0_STRING_STATE_IDLE); + break; + case VL53L0_STATE_RUNNING: + VL53L0_COPYSTRING(pPalStateString, + VL53L0_STRING_STATE_RUNNING); + break; + case VL53L0_STATE_UNKNOWN: + VL53L0_COPYSTRING(pPalStateString, + VL53L0_STRING_STATE_UNKNOWN); + break; + case VL53L0_STATE_ERROR: + VL53L0_COPYSTRING(pPalStateString, + VL53L0_STRING_STATE_ERROR); + break; + + default: + VL53L0_COPYSTRING(pPalStateString, + VL53L0_STRING_STATE_UNKNOWN); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L0_Error VL53L0_get_sequence_steps_info( + VL53L0_SequenceStepId SequenceStepId, + char *pSequenceStepsString) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + LOG_FUNCTION_START(""); + + switch (SequenceStepId) { + case VL53L0_SEQUENCESTEP_TCC: + VL53L0_COPYSTRING(pSequenceStepsString, + VL53L0_STRING_SEQUENCESTEP_TCC); + break; + case VL53L0_SEQUENCESTEP_DSS: + VL53L0_COPYSTRING(pSequenceStepsString, + VL53L0_STRING_SEQUENCESTEP_DSS); + break; + case VL53L0_SEQUENCESTEP_MSRC: + VL53L0_COPYSTRING(pSequenceStepsString, + VL53L0_STRING_SEQUENCESTEP_MSRC); + break; + case VL53L0_SEQUENCESTEP_PRE_RANGE: + VL53L0_COPYSTRING(pSequenceStepsString, + VL53L0_STRING_SEQUENCESTEP_PRE_RANGE); + break; + case VL53L0_SEQUENCESTEP_FINAL_RANGE: + VL53L0_COPYSTRING(pSequenceStepsString, + VL53L0_STRING_SEQUENCESTEP_FINAL_RANGE); + break; + + default: + Status = VL53L0_ERROR_INVALID_PARAMS; + } + + LOG_FUNCTION_END(Status); + + return Status; +} + + +VL53L0_Error VL53L0_get_limit_check_info(VL53L0_DEV Dev, uint16_t LimitCheckId, + char *pLimitCheckString) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + switch (LimitCheckId) { + case VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE: + VL53L0_COPYSTRING(pLimitCheckString, + VL53L0_STRING_CHECKENABLE_SIGMA_FINAL_RANGE); + break; + case VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + VL53L0_COPYSTRING(pLimitCheckString, + VL53L0_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE); + break; + case VL53L0_CHECKENABLE_SIGNAL_REF_CLIP: + VL53L0_COPYSTRING(pLimitCheckString, + VL53L0_STRING_CHECKENABLE_SIGNAL_REF_CLIP); + break; + case VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD: + VL53L0_COPYSTRING(pLimitCheckString, + VL53L0_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD); + break; + + default: + VL53L0_COPYSTRING(pLimitCheckString, + VL53L0_STRING_UNKNOW_ERROR_CODE); + + } + + LOG_FUNCTION_END(Status); + return Status; +} diff --git a/drivers/input/misc/vl53L0/src/vl53l0_i2c_platform.c b/drivers/input/misc/vl53L0/src/vl53l0_i2c_platform.c new file mode 100644 index 000000000000..a86287b9a6d2 --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_i2c_platform.c @@ -0,0 +1,379 @@ +/* + * COPYRIGHT (C) STMicroelectronics 2015. All rights reserved. + * + * This software is the confidential and proprietary information of + * STMicroelectronics ("Confidential Information"). You shall not + * disclose such Confidential Information and shall use it only in + * accordance with the terms of the license agreement you entered into + * with STMicroelectronics + * + * Programming Golden Rule: Keep it Simple! + * + */ + +/*! + * \file VL53L0_platform.c + * \brief Code function defintions for EWOK Platform Layer + * + */ + + +#include +#include +#include +#include "stmvl53l0-i2c.h" +#include "stmvl53l0-cci.h" + +#include "vl53l0_platform.h" +#include "vl53l0_i2c_platform.h" +#include "vl53l0_def.h" + +#include "vl53l0_platform_log.h" + +#ifdef VL53L0_LOG_ENABLE +#define trace_print(level, ...) \ + trace_print_module_function(TRACE_MODULE_PLATFORM, level,\ + TRACE_FUNCTION_NONE, ##__VA_ARGS__) +#define trace_i2c(...) \ + trace_print_module_function(TRACE_MODULE_NONE, \ + TRACE_LEVEL_NONE, TRACE_FUNCTION_I2C, ##__VA_ARGS__) +#endif + +/** + * @def I2C_BUFFER_CONFIG + * + * @brief Configure Device register I2C access + * + * @li 0 : one GLOBAL buffer \n + * Use one global buffer of MAX_I2C_XFER_SIZE byte in data space \n + * This solution is not multi-Device compliant nor multi-thread cpu safe \n + * It can be the best option for small 8/16 bit MCU without stack and limited + * ram (STM8s, 80C51 ...) + * + * @li 1 : ON_STACK/local \n + * Use local variable (on stack) buffer \n + * This solution is multi-thread with use of i2c resource lock or mutex see + * VL6180x_GetI2CAccess() \n + * + * @li 2 : User defined \n + * Per Device potentially dynamic allocated. Requires VL6180x_GetI2cBuffer() + * to be implemented. + * @ingroup Configuration + */ +#define I2C_BUFFER_CONFIG 1 + +#if I2C_BUFFER_CONFIG == 0 + /* GLOBAL config buffer */ + uint8_t i2c_global_buffer[VL53L0_MAX_I2C_XFER_SIZE]; + + #define DECL_I2C_BUFFER + #define VL53L0_GetLocalBuffer(Dev, n_byte) i2c_global_buffer + +#elif I2C_BUFFER_CONFIG == 1 + /* ON STACK */ + uint8_t LocBuffer[VL53L0_MAX_I2C_XFER_SIZE]; + #define VL53L0_GetLocalBuffer(Dev, n_byte) LocBuffer +#elif I2C_BUFFER_CONFIG == 2 + /* user define buffer type declare DECL_I2C_BUFFER as access via + VL53L0_GetLocalBuffer */ + #define DECL_I2C_BUFFER +#else +#error "invalid I2C_BUFFER_CONFIG " +#endif + + +#define VL53L0_I2C_USER_VAR /* none but could be for a flag var to + get/pass to mutex interruptible return flags and try again */ +#define VL53L0_GetI2CAccess(Dev) /* todo mutex acquire */ +#define VL53L0_DoneI2CAcces(Dev) /* todo mutex release */ + + +char debug_string[VL53L0_MAX_STRING_LENGTH_PLT]; + + +#define MIN_COMMS_VERSION_MAJOR 1 +#define MIN_COMMS_VERSION_MINOR 8 +#define MIN_COMMS_VERSION_BUILD 1 +#define MIN_COMMS_VERSION_REVISION 0 + +#define STATUS_OK 0x00 +#define STATUS_FAIL 0x01 + +bool_t _check_min_version(void) +{ + bool_t min_version_comms_dll = false; + + min_version_comms_dll = true; + + return min_version_comms_dll; +} + +int32_t VL53L0_comms_initialise(uint8_t comms_type, uint16_t comms_speed_khz) +{ + int32_t status = STATUS_OK; + + return status; +} + +int32_t VL53L0_comms_close(void) +{ + int32_t status = STATUS_OK; + + + return status; +} + +int32_t VL53L0_set_page(VL53L0_DEV dev, uint8_t page_data) +{ + int32_t status = STATUS_OK; + uint16_t page_index = 0xFF; + uint8_t *buffer; + + buffer = VL53L0_GetLocalBuffer(dev, 3); + buffer[0] = page_index >> 8; + buffer[1] = page_index & 0xff; + buffer[2] = page_data; + + status = VL53L0_I2CWrite(dev, buffer, (uint8_t) 3); + return status; +} + +int32_t VL53L0_write_multi(VL53L0_DEV dev, uint8_t index, uint8_t *pdata, + int32_t count) +{ + int32_t status = STATUS_OK; + uint8_t *buffer; + +#ifdef VL53L0_LOG_ENABLE + int32_t i = 0; + char value_as_str[VL53L0_MAX_STRING_LENGTH_PLT]; + char *pvalue_as_str; + + pvalue_as_str = value_as_str; + + for (i = 0 ; i < count ; i++) { + snprintf(pvalue_as_str, sizeof(pvalue_as_str), + "%02X", *(pdata + i)); + + pvalue_as_str += 2; + } + trace_i2c("Write reg : 0x%04X, Val : 0x%s\n", index, value_as_str); +#endif + if ((count + 1) > VL53L0_MAX_I2C_XFER_SIZE) + return STATUS_FAIL; + buffer = VL53L0_GetLocalBuffer(dev, (count+1)); + buffer[0] = index; + memcpy(&buffer[1], pdata, count); + status = VL53L0_I2CWrite(dev, buffer, (count+1)); + + return status; +} + +int32_t VL53L0_read_multi(VL53L0_DEV dev, uint8_t index, uint8_t *pdata, + int32_t count) +{ + int32_t status = STATUS_OK; + uint8_t *buffer; + +#ifdef VL53L0_LOG_ENABLE + int32_t i = 0; + char value_as_str[VL53L0_MAX_STRING_LENGTH_PLT]; + char *pvalue_as_str; +#endif + + if ((count + 1) > VL53L0_MAX_I2C_XFER_SIZE) + return STATUS_FAIL; + + buffer = VL53L0_GetLocalBuffer(dev, 1); + buffer[0] = index; + status = VL53L0_I2CWrite(dev, (uint8_t *)buffer, (uint8_t)1); + if (!status) { + pdata[0] = index; + status = VL53L0_I2CRead(dev, pdata, count); + } + +#ifdef VL53L0_LOG_ENABLE + pvalue_as_str = value_as_str; + + for (i = 0 ; i < count ; i++) { + snprintf(pvalue_as_str, sizeof(value_as_str), + "%02X", *(pdata+i)); + pvalue_as_str += 2; + } + + trace_i2c("Read reg : 0x%04X, Val : 0x%s\n", index, value_as_str); +#endif + + return status; +} + + +int32_t VL53L0_write_byte(VL53L0_DEV dev, uint8_t index, uint8_t data) +{ + int32_t status = STATUS_OK; + const int32_t cbyte_count = 1; + + status = VL53L0_write_multi(dev, index, &data, cbyte_count); + + return status; + +} + + +int32_t VL53L0_write_word(VL53L0_DEV dev, uint8_t index, uint16_t data) +{ + int32_t status = STATUS_OK; + + uint8_t buffer[BYTES_PER_WORD]; + + /* Split 16-bit word into MS and LS uint8_t */ + buffer[0] = (uint8_t)(data >> 8); + buffer[1] = (uint8_t)(data & 0x00FF); + + status = VL53L0_write_multi(dev, index, buffer, BYTES_PER_WORD); + + return status; + +} + + +int32_t VL53L0_write_dword(VL53L0_DEV dev, uint8_t index, uint32_t data) +{ + int32_t status = STATUS_OK; + uint8_t buffer[BYTES_PER_DWORD]; + + /* Split 32-bit word into MS ... LS bytes */ + buffer[0] = (uint8_t) (data >> 24); + buffer[1] = (uint8_t)((data & 0x00FF0000) >> 16); + buffer[2] = (uint8_t)((data & 0x0000FF00) >> 8); + buffer[3] = (uint8_t) (data & 0x000000FF); + + status = VL53L0_write_multi(dev, index, buffer, BYTES_PER_DWORD); + + return status; + +} + + +int32_t VL53L0_read_byte(VL53L0_DEV dev, uint8_t index, uint8_t *pdata) +{ + int32_t status = STATUS_OK; + int32_t cbyte_count = 1; + + status = VL53L0_read_multi(dev, index, pdata, cbyte_count); + + return status; + +} + + +int32_t VL53L0_read_word(VL53L0_DEV dev, uint8_t index, uint16_t *pdata) +{ + int32_t status = STATUS_OK; + uint8_t buffer[BYTES_PER_WORD]; + + status = VL53L0_read_multi(dev, index, buffer, BYTES_PER_WORD); + *pdata = ((uint16_t)buffer[0]<<8) + (uint16_t)buffer[1]; + + return status; + +} + +int32_t VL53L0_read_dword(VL53L0_DEV dev, uint8_t index, uint32_t *pdata) +{ + int32_t status = STATUS_OK; + uint8_t buffer[BYTES_PER_DWORD]; + + status = VL53L0_read_multi(dev, index, buffer, BYTES_PER_DWORD); + *pdata = ((uint32_t)buffer[0]<<24) + ((uint32_t)buffer[1]<<16) + + ((uint32_t)buffer[2]<<8) + (uint32_t)buffer[3]; + + return status; + +} + +int32_t VL53L0_platform_wait_us(int32_t wait_us) +{ + int32_t status = STATUS_OK; + + msleep((wait_us/1000)); + +#ifdef VL53L0_LOG_ENABLE + trace_i2c("Wait us : %6d\n", wait_us); +#endif + + return status; + +} + + +int32_t VL53L0_wait_ms(int32_t wait_ms) +{ + int32_t status = STATUS_OK; + + msleep(wait_ms); + +#ifdef VL53L0_LOG_ENABLE + trace_i2c("Wait ms : %6d\n", wait_ms); +#endif + + return status; + +} + + +int32_t VL53L0_set_gpio(uint8_t level) +{ + int32_t status = STATUS_OK; +#ifdef VL53L0_LOG_ENABLE + trace_i2c("// Set GPIO = %d;\n", level); +#endif + + return status; + +} + + +int32_t VL53L0_get_gpio(uint8_t *plevel) +{ + int32_t status = STATUS_OK; +#ifdef VL53L0_LOG_ENABLE + trace_i2c("// Get GPIO = %d;\n", *plevel); +#endif + return status; +} + + +int32_t VL53L0_release_gpio(void) +{ + int32_t status = STATUS_OK; +#ifdef VL53L0_LOG_ENABLE + trace_i2c("// Releasing force on GPIO\n"); +#endif + return status; + +} + +int32_t VL53L0_cycle_power(void) +{ + int32_t status = STATUS_OK; +#ifdef VL53L0_LOG_ENABLE + trace_i2c("// cycle sensor power\n"); +#endif + + return status; +} + + +int32_t VL53L0_get_timer_frequency(int32_t *ptimer_freq_hz) +{ + *ptimer_freq_hz = 0; + return STATUS_FAIL; +} + + +int32_t VL53L0_get_timer_value(int32_t *ptimer_count) +{ + *ptimer_count = 0; + return STATUS_FAIL; +} diff --git a/drivers/input/misc/vl53L0/src/vl53l0_platform.c b/drivers/input/misc/vl53L0/src/vl53l0_platform.c new file mode 100644 index 000000000000..e971b4813e6d --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_platform.c @@ -0,0 +1,242 @@ +/******************************************************************************* +Copyright © 2016, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ + +/** + * @file VL53L0_i2c.c + * + * Copyright (C) 2014 ST MicroElectronics + * + * provide variable word size byte/Word/dword VL6180x register access via i2c + * + */ +#include "vl53l0_platform.h" +#include "vl53l0_i2c_platform.h" +#include "vl53l0_api.h" + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(TRACE_MODULE_PLATFORM, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(TRACE_MODULE_PLATFORM, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...)\ + _LOG_FUNCTION_END_FMT(TRACE_MODULE_PLATFORM, status,\ + fmt, ##__VA_ARGS__) + + + +VL53L0_Error VL53L0_LockSequenceAccess(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + return Status; +} + +VL53L0_Error VL53L0_UnlockSequenceAccess(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + return Status; +} + +/* the ranging_sensor_comms.dll will take care of the page selection */ +VL53L0_Error VL53L0_WriteMulti(VL53L0_DEV Dev, uint8_t index, + uint8_t *pdata, uint32_t count) +{ + + VL53L0_Error Status = VL53L0_ERROR_NONE; + int32_t status_int = 0; + uint8_t deviceAddress; + + if (count >= VL53L0_MAX_I2C_XFER_SIZE) + Status = VL53L0_ERROR_INVALID_PARAMS; + + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0_write_multi(Dev, index, pdata, count); + + if (status_int != 0) + Status = VL53L0_ERROR_CONTROL_INTERFACE; + + return Status; +} + +/* the ranging_sensor_comms.dll will take care of the page selection */ +VL53L0_Error VL53L0_ReadMulti(VL53L0_DEV Dev, uint8_t index, + uint8_t *pdata, uint32_t count) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + int32_t status_int; + uint8_t deviceAddress; + + if (count >= VL53L0_MAX_I2C_XFER_SIZE) + Status = VL53L0_ERROR_INVALID_PARAMS; + + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0_read_multi(Dev, index, pdata, count); + + if (status_int != 0) + Status = VL53L0_ERROR_CONTROL_INTERFACE; + + return Status; +} + + +VL53L0_Error VL53L0_WrByte(VL53L0_DEV Dev, uint8_t index, uint8_t data) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + int32_t status_int; + uint8_t deviceAddress; + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0_write_byte(Dev, index, data); + + if (status_int != 0) + Status = VL53L0_ERROR_CONTROL_INTERFACE; + + return Status; +} + +VL53L0_Error VL53L0_WrWord(VL53L0_DEV Dev, uint8_t index, uint16_t data) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + int32_t status_int; + uint8_t deviceAddress; + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0_write_word(Dev, index, data); + + if (status_int != 0) + Status = VL53L0_ERROR_CONTROL_INTERFACE; + + return Status; +} + +VL53L0_Error VL53L0_WrDWord(VL53L0_DEV Dev, uint8_t index, uint32_t data) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + int32_t status_int; + uint8_t deviceAddress; + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0_write_dword(Dev, index, data); + + if (status_int != 0) + Status = VL53L0_ERROR_CONTROL_INTERFACE; + + return Status; +} + +VL53L0_Error VL53L0_UpdateByte(VL53L0_DEV Dev, uint8_t index, + uint8_t AndData, uint8_t OrData) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + int32_t status_int; + uint8_t deviceAddress; + uint8_t data; + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0_read_byte(Dev, index, &data); + + if (status_int != 0) + Status = VL53L0_ERROR_CONTROL_INTERFACE; + + if (Status == VL53L0_ERROR_NONE) { + data = (data & AndData) | OrData; + status_int = VL53L0_write_byte(Dev, index, data); + + if (status_int != 0) + Status = VL53L0_ERROR_CONTROL_INTERFACE; + } + + return Status; +} + +VL53L0_Error VL53L0_RdByte(VL53L0_DEV Dev, uint8_t index, uint8_t *data) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + int32_t status_int; + uint8_t deviceAddress; + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0_read_byte(Dev, index, data); + + if (status_int != 0) + Status = VL53L0_ERROR_CONTROL_INTERFACE; + + return Status; +} + +VL53L0_Error VL53L0_RdWord(VL53L0_DEV Dev, uint8_t index, uint16_t *data) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + int32_t status_int; + uint8_t deviceAddress; + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0_read_word(Dev, index, data); + + if (status_int != 0) + Status = VL53L0_ERROR_CONTROL_INTERFACE; + + return Status; +} + +VL53L0_Error VL53L0_RdDWord(VL53L0_DEV Dev, uint8_t index, uint32_t *data) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + int32_t status_int; + uint8_t deviceAddress; + + deviceAddress = Dev->I2cDevAddr; + + status_int = VL53L0_read_dword(Dev, index, data); + + if (status_int != 0) + Status = VL53L0_ERROR_CONTROL_INTERFACE; + + return Status; +} + +#define VL53L0_POLLINGDELAY_LOOPNB 250 +VL53L0_Error VL53L0_PollingDelay(VL53L0_DEV Dev) +{ + VL53L0_Error status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + udelay(1000); + LOG_FUNCTION_END(status); + return status; +} diff --git a/drivers/input/misc/vl53L0/src/vl53l0_port_i2c.c b/drivers/input/misc/vl53L0/src/vl53l0_port_i2c.c new file mode 100644 index 000000000000..1346de0cbd18 --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_port_i2c.c @@ -0,0 +1,150 @@ +/* + * vl53l0_port_i2c.c + * + * Created on: July, 2015 + * Author: Teresa Tao + */ + +#include +#include +#include "stmvl53l0-i2c.h" +#include "stmvl53l0-cci.h" +#include "vl53l0_platform.h" +#include "vl53l0_i2c_platform.h" +#include "stmvl53l0.h" + +#define I2C_M_WR 0x00 +#define STATUS_OK 0x00 +#define STATUS_FAIL (-1) +/** int VL53L0_I2CWrite(VL53L0_Dev_t dev, void *buff, uint8_t len); + * @brief Write data buffer to VL53L0 device via i2c + * @param dev The device to write to + * @param buff The data buffer + * @param len The length of the transaction in byte + * @return 0 on success + */ +int VL53L0_I2CWrite(VL53L0_DEV dev, uint8_t *buff, uint8_t len) +{ + + + int err = 0; + if (dev->bus_type == CCI_BUS) { +#ifdef CAMERA_CCI + uint16_t index; + struct cci_data *cci_client_obj = + (struct cci_data *)dev->client_object; + struct msm_camera_i2c_client *client = cci_client_obj->client; + + index = buff[0]; + /*pr_err("%s: index: %d len: %d\n", __func__, index, len); */ + + if (len == 2) { + uint8_t data; + + data = buff[1]; + /* for byte access */ + err = client->i2c_func_tbl->i2c_write(client, index, + data, MSM_CAMERA_I2C_BYTE_DATA); + if (err < 0) { + pr_err("%s:%d failed status=%d\n", + __func__, __LINE__, err); + return err; + } + } else if (len == 3) { + uint16_t data; + + data = ((uint16_t)buff[1] << 8) | (uint16_t)buff[2]; + err = client->i2c_func_tbl->i2c_write(client, index, + data, MSM_CAMERA_I2C_WORD_DATA); + if (err < 0) { + pr_err("%s:%d failed status=%d\n", + __func__, __LINE__, err); + return err; + } + } else if (len >= 5) { + err = client->i2c_func_tbl->i2c_write_seq(client, + index, &buff[1], (len-1)); + if (err < 0) { + pr_err("%s:%d failed status=%d\n", + __func__, __LINE__, err); + return err; + } + + } +#endif + } else { + struct i2c_msg msg[1]; + struct i2c_data *i2c_client_obj = + (struct i2c_data *)dev->client_object; + struct i2c_client *client = (struct i2c_client*)i2c_client_obj->client; + + msg[0].addr = client->addr; + msg[0].flags = I2C_M_WR; + msg[0].buf = buff; + msg[0].len = len; + + err = i2c_transfer(client->adapter, msg, 1); + /* return the actual messages transfer */ + if (err != 1) { + pr_err("%s: i2c_transfer err:%d, addr:0x%x, reg:0x%x\n", + __func__, err, client->addr, + (buff[0] << 8 | buff[1])); + return STATUS_FAIL; + } + } + + return 0; +} + + +/** int VL53L0_I2CRead(VL53L0_Dev_t dev, void *buff, uint8_t len); + * @brief Read data buffer from VL53L0 device via i2c + * @param dev The device to read from + * @param buff The data buffer to fill + * @param len The length of the transaction in byte + * @return transaction status + */ +int VL53L0_I2CRead(VL53L0_DEV dev, uint8_t *buff, uint8_t len) +{ + + int err = 0; + + if (dev->bus_type == CCI_BUS) { +#ifdef CAMERA_CCI + uint16_t index; + struct cci_data *cci_client_obj = + (struct cci_data *)dev->client_object; + struct msm_camera_i2c_client *client = cci_client_obj->client; + + index = buff[0]; + /* pr_err("%s: index: %d\n", __func__, index); */ + err = client->i2c_func_tbl->i2c_read_seq(client, + index, buff, len); + if (err < 0) { + pr_err("%s:%d failed status=%d\n", + __func__, __LINE__, err); + return err; + } +#endif + } else { + struct i2c_msg msg[1]; + struct i2c_data *i2c_client_obj = + (struct i2c_data *)dev->client_object; + struct i2c_client *client = (struct i2c_client*) i2c_client_obj->client; + + msg[0].addr = client->addr; + msg[0].flags = I2C_M_RD|client->flags; + msg[0].buf = buff; + msg[0].len = len; + + err = i2c_transfer(client->adapter, &msg[0], 1); + /* return the actual mesage transfer */ + if (err != 1) { + pr_err("%s: Read i2c_transfer err:%d, addr:0x%x\n", + __func__, err, client->addr); + return STATUS_FAIL; + } + } + + return 0; +} diff --git a/drivers/input/misc/vl53L0/src/vl53l0_tuning.c b/drivers/input/misc/vl53L0/src/vl53l0_tuning.c new file mode 100644 index 000000000000..2efca96a7713 --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_tuning.c @@ -0,0 +1,137 @@ +/******************************************************************************* + Copyright © 2015, STMicroelectronics International N.V. + All rights reserved. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND + ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND + NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. + IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY + DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + ******************************************************************************/ + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) + +#ifdef VL53L0_LOG_ENABLE +#define trace_print(level, ...) \ + trace_print_module_function(TRACE_MODULE_API,\ + level, TRACE_FUNCTION_NONE, ##__VA_ARGS__) +#endif + +/* +////////////////////////////////////////////////////// +//// DEFAULT TUNING SETTINGS //// +////////////////////////////////////////////////////// +*/ +/*VL53L0_Error VL53L0_load_tuning_settings(VL53L0_DEV Dev) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x00); + Status |= VL53L0_WrByte(Dev, 0x91, 0x3C); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0_WrByte(Dev, 0x54, 0x01); + Status |= VL53L0_WrByte(Dev, 0x33, 0x05); + Status |= VL53L0_WrByte(Dev, 0x32, 0x03); + Status |= VL53L0_WrByte(Dev, 0x30, 0x05); + Status |= VL53L0_WrByte(Dev, 0x50, 0x05); + Status |= VL53L0_WrByte(Dev, 0x60, 0x04); + Status |= VL53L0_WrByte(Dev, 0x70, 0x06); + + Status |= VL53L0_WrByte(Dev, 0x46, 0x1a); + Status |= VL53L0_WrWord(Dev, 0x51, 0x01a3); + Status |= VL53L0_WrWord(Dev, 0x61, 0x01c4); + Status |= VL53L0_WrWord(Dev, 0x71, 0x018c); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x31, 0x0f); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0_WrByte(Dev, 0x66, 0x38); + + Status |= VL53L0_WrByte(Dev, 0x47, 0x00); + Status |= VL53L0_WrByte(Dev, 0x48, 0xff); + Status |= VL53L0_WrByte(Dev, 0x57, 0x4c); + Status |= VL53L0_WrByte(Dev, 0x67, 0x3c); + Status |= VL53L0_WrByte(Dev, 0x77, 0x5c); + + Status |= VL53L0_WrWord(Dev, 0x44, 0x0000); + + Status |= VL53L0_WrByte(Dev, 0x27, 0x00); + Status |= VL53L0_WrByte(Dev, 0x55, 0x00); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x30, 0x28); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + + Status |= VL53L0_WrByte(Dev, 0x10, 0x0f); + Status |= VL53L0_WrByte(Dev, 0x11, 0xff); + Status |= VL53L0_WrByte(Dev, 0x41, 0xff); + Status |= VL53L0_WrByte(Dev, 0x42, 0x07); + Status |= VL53L0_WrByte(Dev, 0x43, 0x12); + + Status |= VL53L0_WrByte(Dev, 0x20, 0x00); + Status |= VL53L0_WrByte(Dev, 0x21, 0x00); + + Status |= VL53L0_WrByte(Dev, 0x28, 0x06); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x48, 0x28); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + + Status |= VL53L0_WrByte(Dev, 0x7a, 0x0a); + Status |= VL53L0_WrByte(Dev, 0x7b, 0x00); + Status |= VL53L0_WrByte(Dev, 0x78, 0x00); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x44, 0xff); + Status |= VL53L0_WrByte(Dev, 0x45, 0x00); + Status |= VL53L0_WrByte(Dev, 0x46, 0x10); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + + Status |= VL53L0_WrByte(Dev, 0x04, 0x00); + Status |= VL53L0_WrByte(Dev, 0x05, 0x04); + Status |= VL53L0_WrByte(Dev, 0x06, 0x00); + Status |= VL53L0_WrByte(Dev, 0x07, 0x00); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x0d, 0x01); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0_WrByte(Dev, 0x80, 0x01); + Status |= VL53L0_WrByte(Dev, 0x01, 0xF8); + + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x8e, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x01); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + + + if (Status != 0) + Status = VL53L0_ERROR_CONTROL_INTERFACE; + + LOG_FUNCTION_END(Status); + return Status; +} +*/ diff --git a/drivers/input/misc/vl53L0/stmvl53l0-cci.h b/drivers/input/misc/vl53L0/stmvl53l0-cci.h new file mode 100644 index 000000000000..d8c3b778a04d --- /dev/null +++ b/drivers/input/misc/vl53L0/stmvl53l0-cci.h @@ -0,0 +1,65 @@ +/* + * stmvl53l0-cci.h - Linux kernel modules for STM VL53L0 FlightSense TOF sensor + * + * Copyright (C) 2015 STMicroelectronics Imaging Division + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + */ +/* + * Defines + */ +#ifndef STMVL53L0_CCI_H +#define STMVL53L0_CCI_H +#include + +#include +#include "msm_camera_i2c.h" +#include "msm_camera_dt_util.h" +#include "msm_camera_io_util.h" +#include "msm_cci.h" + +#define MSM_TOF_MAX_VREGS (10) + +struct msm_tof_vreg { + struct camera_vreg_t *cam_vreg; + void *data[MSM_TOF_MAX_VREGS]; + int num_vreg; +}; + +struct cci_data { + struct msm_camera_i2c_client g_client; + struct msm_camera_i2c_client *client; + struct platform_device *pdev; + enum msm_camera_device_type_t device_type; + enum cci_i2c_master_t cci_master; + struct msm_tof_vreg vreg_cfg; + struct msm_sd_subdev msm_sd; + struct v4l2_subdev sdev; + struct v4l2_subdev_ops *subdev_ops; + char subdev_initialized; + uint32_t subdev_id; + uint8_t power_up; + uint32_t lowv; + uint32_t highv; + uint32_t xtalk; + struct msm_camera_gpio_conf gconf; + struct msm_pinctrl_info pinctrl_info; +}; +int stmvl53l0_init_cci(void); +void stmvl53l0_exit_cci(void *); +int stmvl53l0_power_down_cci(void *); +int stmvl53l0_power_up_cci(void *, unsigned int *); + +#endif /* STMVL53L0_CCI_H */ diff --git a/drivers/input/misc/vl53L0/stmvl53l0-i2c.h b/drivers/input/misc/vl53L0/stmvl53l0-i2c.h new file mode 100644 index 000000000000..a75a9e58da97 --- /dev/null +++ b/drivers/input/misc/vl53L0/stmvl53l0-i2c.h @@ -0,0 +1,47 @@ +/* + * stmvl53l0-i2c.h - Linux kernel modules for STM VL53L0 FlightSense TOF sensor + * + * Copyright (C) 2015 STMicroelectronics Imaging Division + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + */ +/* + * Defines + */ +#ifndef STMVL53L0_I2C_H +#define STMVL53L0_I2C_H +#include +#include +#include "msm_camera_i2c.h" +#include "msm_camera_dt_util.h" +#include "msm_camera_io_util.h" +#include "msm_cci.h" + +struct i2c_data { + struct i2c_client *client; + struct regulator *vana; + uint8_t power_up; + uint32_t lowv; + uint32_t highv; + uint32_t xtalk; + struct msm_camera_gpio_conf gconf; + struct msm_pinctrl_info pinctrl_info; +}; +int stmvl53l0_init_i2c(void); +void stmvl53l0_exit_i2c(void *); +int stmvl53l0_power_up_i2c(void *, unsigned int *); +int stmvl53l0_power_down_i2c(void *); + +#endif /* STMVL53L0_I2C_H */ diff --git a/drivers/input/misc/vl53L0/stmvl53l0.h b/drivers/input/misc/vl53L0/stmvl53l0.h new file mode 100644 index 000000000000..4ae84c9e8e83 --- /dev/null +++ b/drivers/input/misc/vl53L0/stmvl53l0.h @@ -0,0 +1,201 @@ +/* + * stmvl53l0.h - Linux kernel modules for STM VL53L0 FlightSense TOF sensor + * + * Copyright (C) 2015 STMicroelectronics Imaging Division + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + */ +/* + * Defines + */ +#ifndef STMVL53L0_H +#define STMVL53L0_H + +#include +#include +#include +#include + +#define STMVL53L0_DRV_NAME "stmvl53l0" +#define STMVL53L0_SLAVE_ADDR (0x52>>1) + +#define DRIVER_VERSION "1.1.18" +#define DRIVER_VERSION_NUM 18 +#define I2C_M_WR 0x00 +/* #define INT_POLLING_DELAY 20 */ + +/* if don't want to have output from vl6180_dbgmsg, comment out #DEBUG macro */ +/*#define DEBUG*/ +/* #define vl6180_dbgmsg(str, args...) pr_debug("%s: " str, __func__, ##args) */ +#define vl53l0_dbgmsg_en(str, args...) \ + pr_debug("%s: " str, __func__, ##args) + +#define vl53l0_dbgmsg(str, args...) \ + pr_debug("%s: " str, __func__, ##args) +/* #define vl6180_errmsg(str, args...) pr_err("%s: " str, __func__, ##args) */ +#define vl53l0_errmsg(str, args...) \ + printk(KERN_ERR "%s: " str, __func__, ##args) + +#define VL53L0_VDD_MIN 2850000 +#define VL53L0_VDD_MAX 2850000 +/*driver working mode*/ +#define OFF_MODE 0 +#define CAM_MODE 1 +#define SAR_MODE 2 +#define SUPER_MODE 3 +#define XTALKCAL_MODE 4 +#define OFFSETCAL_MODE 5 + +/*user actions*/ +#define CAM_ON 0 +#define CAM_OFF 1 +#define SAR_ON 2 +#define SAR_OFF 3 +#define XTALKCAL_ON 4 +#define OFFSETCAL_ON 5 +#define CAL_OFF 6 +#define RESET 7 +/*parameter types*/ +#define OFFSET_PAR 0 +#define XTALKRATE_PAR 1 +#define XTALKENABLE_PAR 2 +#define SIGMAVAL_PRA 3 +#define SIGMACTL_PRA 4 +#define WRAPAROUNDCTL_PRA 5 +#define INTERMEASUREMENTPERIOD_PAR 6 +#define MEASUREMENTTIMINGBUDGET_PAR 7 +#define SGLVAL_PRA 8 +#define SGLCTL_PRA 9 +#define CUTV_PRA 10 +#define DRVV_PRA 11 +#define PLLPRE_PRA 12 +#define PLLFINAL_PRA 13 +#define CCI_BUS 0 +#define I2C_BUS 1 + + +/* + * IOCTL register data structs + */ +struct stmvl53l0_register { + uint32_t is_read; /*1: read 0: #define write*/ + uint32_t reg_index; + uint32_t reg_bytes; + uint32_t reg_data; + int32_t status; +}; + +/* + * IOCTL parameter structs + */ +struct stmvl53l0_parameter { + uint32_t is_read; /*1: Get 0: Set*/ + uint32_t name; + int32_t value; + int32_t status; +}; + +/* + * driver data structs + */ +struct stmvl53l0_data { + /* embed ST VL53L0 Dev data as "dev_data" */ + VL53L0_DevData_t Data; + /* i2c device address user specific field */ + uint8_t I2cDevAddr; + uint8_t comms_type; + uint16_t comms_speed_khz; + + struct cci_data cci_client_object; + struct i2c_data i2c_client_object; + void *client_object; + struct mutex update_lock; + struct delayed_work dwork; /* for PS work handler */ + struct delayed_work initwork; + struct delayed_work resetwork; + struct delayed_work checkwork; + struct input_dev *input_dev_ps; + struct kobject *range_kobj; + + const char *dev_name; + + /* misc device */ + struct miscdevice miscdev; + + int irq; + unsigned int reset; + + /* control flag from HAL */ + unsigned int enable_ps_sensor; + + /* PS parameters */ + unsigned int ps_is_singleshot; + unsigned int ps_is_started; + unsigned int ps_data; /* to store PS data */ + + /* Range Data */ + VL53L0_RangingMeasurementData_t rangeData; + int offset; + int xtalk; + + /* delay time in miniseconds*/ + unsigned int delay_ms; + + struct mutex work_mutex; + /* Debug */ + unsigned int enableDebug; + uint8_t interrupt_received; + int d_mode; + uint8_t w_mode; + /*for SAR mode indicate low range interrupt*/ + uint8_t lowint; + uint8_t bus_type; + uint32_t lowv; + uint32_t highv; + wait_queue_head_t range_data_wait; + uint8_t d_ready; + uint8_t cut_v; + unsigned int xtalkCalDistance; + unsigned int offsetCalDistance; + unsigned int xtalkcalval; + VL53L0_GpioFunctionality gpio_function; + uint8_t c_suspend; + uint8_t c_stopped; + uint32_t refSpadCount; + uint8_t isApertureSpads; + uint8_t VhvSettings; + uint8_t PhaseCal; + uint8_t pll_p; + uint8_t pll_f; +}; + +/* + * funtion pointer structs + */ +struct stmvl53l0_module_fn_t { + int (*init)(void); + void (*deinit)(void *); + int (*power_up)(void *, unsigned int *); + int (*power_down)(void *); +}; + +struct stmvl53l0_data *stmvl53l0_getobject(void); +int stmvl53l0_setup(struct stmvl53l0_data *data, uint8_t type); +int stmvl53l0_checkmoduleid(struct stmvl53l0_data *data, + void *client, uint8_t type); +int stmvl53l0_livechecking(struct stmvl53l0_data *data); +void i2c_setclient(void *client, uint8_t type); + +#endif /* STMVL53L0_H */ diff --git a/drivers/input/misc/vl53L0/stmvl53l0_module-cci.c b/drivers/input/misc/vl53L0/stmvl53l0_module-cci.c new file mode 100644 index 000000000000..74c5c9077502 --- /dev/null +++ b/drivers/input/misc/vl53L0/stmvl53l0_module-cci.c @@ -0,0 +1,475 @@ +/* +* stmvl53l0_module-cci.c - Linux kernel modules for STM VL53L0 FlightSense TOF +* sensor +* +* Copyright (C) 2015 STMicroelectronics Imaging Division. +* +* This program is free software; you can redistribute it and/or modify +* it under the terms of the GNU General Public License as published by +* the Free Software Foundation; either version 2 of the License, or +* (at your option) any later version. +* +* This program is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* GNU General Public License for more details. +* +* You should have received a copy of the GNU General Public License +* along with this program; +*/ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +/* + * power specific includes + */ +#include +#include +#include +#include +#include +/* + * API includes + */ +#include "vl53l0_api.h" +#include "vl53l0_def.h" +#include "vl53l0_platform.h" +#include "stmvl53l0-cci.h" +#include "stmvl53l0-i2c.h" +#include "stmvl53l0.h" +#define LASER_SENSOR_PINCTRL_STATE_SLEEP "laser_suspend" +#define LASER_SENSOR_PINCTRL_STATE_DEFAULT "laser_default" + +/* + * Global data + */ +static struct v4l2_file_operations msm_tof_v4l2_subdev_fops; +static struct msm_camera_i2c_fn_t msm_sensor_cci_func_tbl = { + .i2c_read = msm_camera_cci_i2c_read, + .i2c_read_seq = msm_camera_cci_i2c_read_seq, + .i2c_write = msm_camera_cci_i2c_write, + .i2c_write_seq = msm_camera_cci_i2c_write_seq, + .i2c_write_table = msm_camera_cci_i2c_write_table, + .i2c_write_seq_table = msm_camera_cci_i2c_write_seq_table, + .i2c_write_table_w_microdelay = + msm_camera_cci_i2c_write_table_w_microdelay, + .i2c_util = msm_sensor_cci_i2c_util, + .i2c_poll = msm_camera_cci_i2c_poll, +}; + +int vl53l0_get_dt_xtalk_data(struct device_node *of_node, int *xtalk) +{ + int rc = 0; + uint32_t count = 0; + uint32_t v_array[1]; + + count = of_property_count_strings(of_node, "st,xtalkval"); + + if (!count) + return 0; + + rc = of_property_read_u32_array(of_node, "st,xtalkval", + v_array, 1); + + if (rc != -EINVAL) { + if (rc < 0) + pr_err("%s failed %d\n", __func__, __LINE__); + else + *xtalk = v_array[0]; + } else + rc = 0; + + return rc; +} +static int stmvl53l0_get_dt_data(struct device *dev, struct cci_data *data); + +/* + * QCOM specific functions + */ +static int stmvl53l0_get_dt_data(struct device *dev, struct cci_data *data) +{ + int rc = 0; + struct msm_camera_gpio_conf *gconf = NULL; + uint16_t *gpio_array = NULL; + uint16_t gpio_array_size = 0; + int i; + struct msm_pinctrl_info *sensor_pctrl = NULL; + struct msm_tof_vreg *vreg_cfg = NULL; + + vl53l0_dbgmsg("Enter\n"); + + sensor_pctrl = &data->pinctrl_info; + sensor_pctrl->pinctrl = devm_pinctrl_get(dev); + if (IS_ERR_OR_NULL(sensor_pctrl->pinctrl)) { + pr_err("%s:%d Getting pinctrl handle failed\n", + __func__, __LINE__); + return -EINVAL; + } + sensor_pctrl->gpio_state_active = + pinctrl_lookup_state(sensor_pctrl->pinctrl, + LASER_SENSOR_PINCTRL_STATE_DEFAULT); + + sensor_pctrl->gpio_state_suspend + = pinctrl_lookup_state(sensor_pctrl->pinctrl, + LASER_SENSOR_PINCTRL_STATE_SLEEP); + + if (dev->of_node) { + struct device_node *of_node = dev->of_node; + + if (!of_node) { + vl53l0_errmsg("failed %d\n", __LINE__); + return -EINVAL; + } + + rc = of_property_read_u32(of_node, + "cell-index", &data->pdev->id); + if (rc < 0) { + vl53l0_errmsg("failed %d\n", __LINE__); + return rc; + } + vl53l0_dbgmsg("cell-index: %d\n", data->pdev->id); + rc = of_property_read_u32(of_node, + "qcom,cci-master", &data->cci_master); + if (rc < 0) { + vl53l0_errmsg("failed %d\n", __LINE__); + /* Set default master 0 */ + data->cci_master = MASTER_0; + rc = 0; + } + vl53l0_dbgmsg("cci_master: %d\n", data->cci_master); + + if (of_find_property(of_node, + "qcom,cam-vreg-name", NULL)) { + vl53l0_dbgmsg("vreg setting is found"); + vreg_cfg = &data->vreg_cfg; + rc = msm_camera_get_dt_vreg_data(of_node, + &vreg_cfg->cam_vreg, &vreg_cfg->num_vreg); + if (rc < 0) { + vl53l0_errmsg("failed %d\n", __LINE__); + rc = 0; + } + } + vl53l0_dbgmsg("vreg num: %d\n", vreg_cfg->num_vreg); + + gpio_array_size = of_gpio_count(of_node); + gconf = &data->gconf; + + if (gpio_array_size) { + gpio_array = kcalloc(gpio_array_size, sizeof(uint16_t), + GFP_KERNEL); + + for (i = 0; i < gpio_array_size; i++) { + gpio_array[i] = of_get_gpio(of_node, i); + pr_err("%s gpio_array[%d] = %d\n", __func__, i, + gpio_array[i]); + } + + rc = msm_camera_get_dt_gpio_req_tbl(of_node, gconf, + gpio_array, gpio_array_size); + if (rc < 0) { + pr_err("%s failed %d\n", __func__, __LINE__); + return rc; + } + + rc = msm_camera_init_gpio_pin_tbl(of_node, gconf, + gpio_array, gpio_array_size); + if (rc < 0) { + pr_err("%s failed %d\n", __func__, __LINE__); + return rc; + } + } + rc = vl53l0_get_dt_xtalk_data(of_node, + &(data->xtalk)); + } + vl53l0_dbgmsg("End rc =%d\n", rc); + + return rc; +} + +static int32_t stmvl53l0_vreg_control(struct cci_data *data, int config) +{ + int rc = 0, i, cnt; + struct msm_tof_vreg *vreg_cfg; + + vl53l0_dbgmsg("Enter with config %d\n", config); + + vreg_cfg = &data->vreg_cfg; + cnt = vreg_cfg->num_vreg; + if (!cnt) { + vl53l0_errmsg("failed %d\n", __LINE__); + return 0; + } + + if (cnt >= MSM_TOF_MAX_VREGS) { + vl53l0_errmsg("failed %d cnt %d\n", __LINE__, cnt); + return -EINVAL; + } + + for (i = 0; i < cnt; i++) { + rc = msm_camera_config_single_vreg(&(data->pdev->dev), + &vreg_cfg->cam_vreg[i], + (struct regulator **)&vreg_cfg->data[i], + config); + } + + vl53l0_dbgmsg("EXIT rc =%d\n", rc); + return rc; +} + +static int msm_tof_close(struct v4l2_subdev *sd, struct v4l2_subdev_fh *fh) +{ + int rc = 0; + return rc; +} + + +static const struct v4l2_subdev_internal_ops msm_tof_internal_ops = { + .close = msm_tof_close, +}; + +static long msm_tof_subdev_ioctl(struct v4l2_subdev *sd, + unsigned int cmd, void *arg) +{ + vl53l0_dbgmsg("Subdev_ioctl not handled\n"); + return 0; +} + +static int32_t msm_tof_power(struct v4l2_subdev *sd, int on) +{ + vl53l0_dbgmsg("TOF power called\n"); + return 0; +} + +static struct v4l2_subdev_core_ops msm_tof_subdev_core_ops = { + .ioctl = msm_tof_subdev_ioctl, + .s_power = msm_tof_power, +}; + +static struct v4l2_subdev_ops msm_tof_subdev_ops = { + .core = &msm_tof_subdev_core_ops, +}; + +static int stmvl53l0_cci_init(struct cci_data *data) +{ + int rc = 0; + struct msm_camera_cci_client *cci_client = data->client->cci_client; + + if (FALSE == data->subdev_initialized) { + data->client->i2c_func_tbl = &msm_sensor_cci_func_tbl; + data->client->cci_client = + kzalloc(sizeof(struct msm_camera_cci_client), + GFP_KERNEL); + + if (!data->client->cci_client) { + vl53l0_errmsg("%d, failed no memory\n", __LINE__); + return -ENOMEM; + } + cci_client = data->client->cci_client; + cci_client->cci_subdev = msm_cci_get_subdev(); + cci_client->cci_i2c_master = data->cci_master; + v4l2_subdev_init(&data->msm_sd.sd, data->subdev_ops); + v4l2_set_subdevdata(&data->msm_sd.sd, data); + data->msm_sd.sd.internal_ops = &msm_tof_internal_ops; + data->msm_sd.sd.flags |= V4L2_SUBDEV_FL_HAS_DEVNODE; + snprintf(data->msm_sd.sd.name, + ARRAY_SIZE(data->msm_sd.sd.name), "msm_tof"); + media_entity_init(&data->msm_sd.sd.entity, 0, NULL, 0); + data->msm_sd.sd.entity.type = MEDIA_ENT_T_V4L2_SUBDEV; + data->msm_sd.sd.entity.group_id = MSM_CAMERA_SUBDEV_TOF; + data->msm_sd.close_seq = MSM_SD_CLOSE_2ND_CATEGORY | 0x2; + msm_sd_register(&data->msm_sd); + msm_tof_v4l2_subdev_fops = v4l2_subdev_fops; + data->msm_sd.sd.devnode->fops = &msm_tof_v4l2_subdev_fops; + data->subdev_initialized = TRUE; + } + + vl53l0_dbgmsg("inited\n"); + cci_client->sid = 0x29; + cci_client->retries = 3; + cci_client->id_map = 0; + cci_client->cci_i2c_master = data->cci_master; + cci_client->i2c_freq_mode = I2C_FAST_MODE; + rc = data->client->i2c_func_tbl->i2c_util(data->client, MSM_CCI_INIT); + if (rc < 0) { + vl53l0_errmsg("%d: CCI Init failed\n", __LINE__); + return rc; + } + vl53l0_dbgmsg("CCI Init Succeeded\n"); + data->client->addr_type = MSM_CAMERA_I2C_BYTE_ADDR; + + return 0; +} + +static int32_t stmvl53l0_platform_probe(struct platform_device *pdev) +{ + struct stmvl53l0_data *vl53l0_data = NULL; + struct cci_data *data = NULL; + unsigned int present = 0; + + int32_t rc = 0; + + vl53l0_dbgmsg("Enter\n"); + + if (!pdev->dev.of_node) { + vl53l0_errmsg("%d,of_node NULL\n", __LINE__); + return -EINVAL; + } + + vl53l0_data = stmvl53l0_getobject(); + if (NULL == vl53l0_data) { + vl53l0_errmsg("%d,Object not found!\n", __LINE__); + return -EINVAL; + } + data = &(vl53l0_data->cci_client_object); + if (!data) { + vl53l0_errmsg("%d,data NULL\n", __LINE__); + return -EINVAL; + } + + /* Set platform device handle */ + data->subdev_ops = &msm_tof_subdev_ops; + data->pdev = pdev; + stmvl53l0_get_dt_data(&pdev->dev, data); + data->subdev_id = pdev->id; + + /* Set device type as platform device */ + data->device_type = MSM_CAMERA_PLATFORM_DEVICE; + data->subdev_initialized = FALSE; + + data->client = (struct msm_camera_i2c_client *)&data->g_client; + + rc = stmvl53l0_power_up_cci(data, &present); + if (rc) { + vl53l0_errmsg("%d,error rc %d\n", __LINE__, rc); + return rc; + } + rc = stmvl53l0_checkmoduleid(vl53l0_data, data->client, CCI_BUS); + if (rc != 0) { + vl53l0_errmsg("%d,error rc %d\n", __LINE__, rc); + stmvl53l0_power_down_cci(data); + return rc; + } + stmvl53l0_power_down_cci(data); + stmvl53l0_setup(vl53l0_data, CCI_BUS); + + vl53l0_dbgmsg("End\n"); + + return rc; + +} + + +static const struct of_device_id st_stmvl53l0_dt_match[] = { + { .compatible = "st,stmvl53l0", }, + { }, +}; + +static struct platform_driver stmvl53l0_platform_driver = { + .probe = stmvl53l0_platform_probe, + .driver = { + .name = STMVL53L0_DRV_NAME, + .owner = THIS_MODULE, + .of_match_table = st_stmvl53l0_dt_match, + }, +}; + +int stmvl53l0_power_up_cci(void *cci_object, unsigned int *preset_flag) +{ + int ret = 0; + struct cci_data *data = (struct cci_data *)cci_object; + + vl53l0_dbgmsg("Enter"); + pinctrl_select_state(data->pinctrl_info.pinctrl, + data->pinctrl_info.gpio_state_active); + + stmvl53l0_vreg_control(data, 1); + msleep(20); + + /* need to init cci first */ + ret = stmvl53l0_cci_init(data); + if (ret) { + vl53l0_errmsg("stmvl53l0_cci_init failed %d\n", __LINE__); + return ret; + } + + msm_camera_request_gpio_table( + data->gconf.cam_gpio_req_tbl, + data->gconf.cam_gpio_req_tbl_size, 1); + gpio_set_value_cansleep(data->gconf.cam_gpio_req_tbl[0].gpio, 1); + data->power_up = 1; + *preset_flag = 1; + vl53l0_dbgmsg("End\n"); + msleep(20); + return ret; +} + +int stmvl53l0_power_down_cci(void *cci_object) +{ + int ret = 0; + struct cci_data *data = (struct cci_data *)cci_object; + + vl53l0_dbgmsg("Enter\n"); + if (data->power_up) { + /* need to release cci first */ + ret = data->client->i2c_func_tbl->i2c_util(data->client, + MSM_CCI_RELEASE); + if (ret < 0) + vl53l0_errmsg("%d,CCI Release failed rc %d\n", + __LINE__, ret); + + pinctrl_select_state(data->pinctrl_info.pinctrl, + data->pinctrl_info.gpio_state_suspend); + + msm_camera_request_gpio_table( + data->gconf.cam_gpio_req_tbl, + data->gconf.cam_gpio_req_tbl_size, 0); + + gpio_set_value_cansleep( + data->gconf.cam_gpio_req_tbl[0].gpio, 0); + + stmvl53l0_vreg_control(data, 0); + } + data->power_up = 0; + vl53l0_dbgmsg("End\n"); + return ret; +} + +int stmvl53l0_init_cci(void) +{ + int ret = 0; + vl53l0_dbgmsg("Enter\n"); + + /* register as a platform device */ + ret = platform_driver_register(&stmvl53l0_platform_driver); + if (ret) + vl53l0_errmsg("%d, error ret:%d\n", __LINE__, ret); + + vl53l0_dbgmsg("End\n"); + + return ret; +} + +void stmvl53l0_exit_cci(void *cci_object) +{ + struct cci_data *data = (struct cci_data *)cci_object; + vl53l0_dbgmsg("Enter\n"); + + if (data && data->client->cci_client) + kfree(data->client->cci_client); + + vl53l0_dbgmsg("End\n"); +} + diff --git a/drivers/input/misc/vl53L0/stmvl53l0_module-i2c.c b/drivers/input/misc/vl53L0/stmvl53l0_module-i2c.c new file mode 100644 index 000000000000..6bc4f390ebfa --- /dev/null +++ b/drivers/input/misc/vl53L0/stmvl53l0_module-i2c.c @@ -0,0 +1,422 @@ +/* +* stmvl53l0_module-i2c.c - Linux kernel modules for STM VL53L0 FlightSense TOF +* sensor +* +* Copyright (C) 2015 STMicroelectronics Imaging Division. +* +* This program is free software; you can redistribute it and/or modify +* it under the terms of the GNU General Public License as published by +* the Free Software Foundation; either version 2 of the License, or +* (at your option) any later version. +* +* This program is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* GNU General Public License for more details. +* +* You should have received a copy of the GNU General Public License +* along with this program; +*/ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +/* + * power specific includes + */ +#include +#include +#include +#include +#include +/* + * API includes + */ +#include "vl53l0_api.h" +#include "vl53l0_def.h" +#include "vl53l0_platform.h" +#include "stmvl53l0-i2c.h" +#include "stmvl53l0-cci.h" +#include "stmvl53l0.h" + +#define LASER_SENSOR_PINCTRL_STATE_SLEEP "laser_suspend" +#define LASER_SENSOR_PINCTRL_STATE_DEFAULT "laser_default" + +/* + * Global data + */ +static int stmvl53l0_parse_vdd(struct device *dev, struct i2c_data *data); + +/* + * QCOM specific functions + */ +static int stmvl53l0_parse_vdd(struct device *dev, struct i2c_data *data) +{ + int ret = 0; + vl53l0_dbgmsg("Enter\n"); + + if (dev->of_node) { + data->vana = regulator_get_optional(dev, "vdd"); + if (IS_ERR(data->vana)) { + vl53l0_dbgmsg("%d,vdd supply is not provided\n", + __LINE__); + ret = -1; + } + } + vl53l0_dbgmsg("End\n"); + + return ret; +} +int get_dt_xtalk_data(struct device_node *of_node, int *xtalk) +{ + int rc = 0; + uint32_t count = 0; + uint32_t v_array[1]; + + count = of_property_count_strings(of_node, "st,xtalkval"); + + if (!count) + return 0; + + rc = of_property_read_u32_array(of_node, "st,xtalkval", + v_array, 1); + + if (rc != -EINVAL) { + if (rc < 0) + pr_err("%s failed %d\n", __func__, __LINE__); + else + *xtalk = v_array[0]; + } else + rc = 0; + + return rc; +} +int get_dt_threshold_data(struct device_node *of_node, int *lowv, int *highv) +{ + int rc = 0; + uint32_t count = 0; + uint32_t v_array[2]; + + count = of_property_count_strings(of_node, "st,sensorthreshold"); + + if (!count) + return 0; + + rc = of_property_read_u32_array(of_node, "st,sensorthreshold", + v_array, 2); + + if (rc != -EINVAL) { + if (rc < 0) { + pr_err("%s failed %d\n", __func__, __LINE__); + } else { + *lowv = v_array[0]; + *highv = v_array[1]; + } + } else { + rc = 0; + } + + return rc; +} + +static int stmvl53l0_get_dt_data(struct device *dev, struct i2c_data *data) +{ + int rc = 0; + struct msm_camera_gpio_conf *gconf; + uint16_t *gpio_array; + uint16_t gpio_array_size; + int i; + struct msm_pinctrl_info *sensor_pctrl; + + vl53l0_dbgmsg("Enter\n"); + + sensor_pctrl = &data->pinctrl_info; + sensor_pctrl->pinctrl = devm_pinctrl_get(dev); + if (IS_ERR_OR_NULL(sensor_pctrl->pinctrl)) { + pr_err("%s:%d Getting pinctrl handle failed\n", + __func__, __LINE__); + return -EINVAL; + } + sensor_pctrl->gpio_state_active = + pinctrl_lookup_state(sensor_pctrl->pinctrl, + LASER_SENSOR_PINCTRL_STATE_DEFAULT); + + sensor_pctrl->gpio_state_suspend + = pinctrl_lookup_state(sensor_pctrl->pinctrl, + LASER_SENSOR_PINCTRL_STATE_SLEEP); + + if (dev->of_node) { + struct device_node *of_node = dev->of_node; + + gpio_array_size = of_gpio_count(of_node); + gconf = &data->gconf; + + if (gpio_array_size) { + gpio_array = kcalloc(gpio_array_size, sizeof(uint16_t), + GFP_KERNEL); + if (!gpio_array) + return -ENOMEM; + + for (i = 0; i < gpio_array_size; i++) { + gpio_array[i] = of_get_gpio(of_node, i); + pr_err("%s gpio_array[%d] = %d\n", __func__, i, + gpio_array[i]); + } + + rc = msm_camera_get_dt_gpio_req_tbl(of_node, gconf, + gpio_array, gpio_array_size); + if (rc < 0) { + pr_err("%s failed %d\n", __func__, __LINE__); + kfree(gpio_array); + return rc; + } + + rc = msm_camera_init_gpio_pin_tbl(of_node, gconf, + gpio_array, gpio_array_size); + if (rc < 0) { + pr_err("%s failed %d\n", __func__, __LINE__); + kfree(gpio_array); + return rc; + } + kfree(gpio_array); + } + rc = get_dt_threshold_data(of_node, + &(data->lowv), &(data->highv)); + rc = get_dt_xtalk_data(of_node, + &(data->xtalk)); + } + vl53l0_dbgmsg("End rc =%d\n", rc); + + return rc; +} + +static int stmvl53l0_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + int rc = 0, i = 0; + struct stmvl53l0_data *vl53l0_data = NULL; + struct i2c_data *i2c_object = NULL; + int present; + + vl53l0_dbgmsg("Enter\n"); + + if (!i2c_check_functionality(client->adapter, I2C_FUNC_SMBUS_BYTE)) { + rc = -EIO; + return rc; + } + + vl53l0_data = stmvl53l0_getobject(); + if (!vl53l0_data) { + vl53l0_errmsg("%d,data NULL\n", __LINE__); + return -EINVAL; + } + + if (vl53l0_data) + i2c_object = &(vl53l0_data->i2c_client_object); + i2c_object->client = client; + + /* setup regulator */ + stmvl53l0_parse_vdd(&i2c_object->client->dev, i2c_object); + + /* setup device name */ + vl53l0_data->dev_name = dev_name(&client->dev); + + /* setup device data */ + dev_set_drvdata(&client->dev, vl53l0_data); + + /* setup client data */ + i2c_set_clientdata(client, vl53l0_data); + + stmvl53l0_get_dt_data(&client->dev, i2c_object); + rc = stmvl53l0_power_up_i2c(i2c_object, &present); + if (rc) { + vl53l0_errmsg("%d,error rc %d\n", __LINE__, rc); + return rc; + } + for (i = 0; i < 5; i++) { + rc = stmvl53l0_checkmoduleid + (vl53l0_data, i2c_object->client, I2C_BUS); + if (!rc) + break; + msleep(20); + } + if (rc != 0) { + stmvl53l0_power_down_i2c(i2c_object); + msleep(20); + stmvl53l0_power_up_i2c(i2c_object, &present); + for (i = 0; i < 10; i++) { + rc = stmvl53l0_checkmoduleid + (vl53l0_data, i2c_object->client, I2C_BUS); + if (!rc) + break; + msleep(20); + } + } + if (rc != 0) { + vl53l0_errmsg("%d,error rc %d\n", __LINE__, rc); + stmvl53l0_power_down_i2c(i2c_object); + return rc; + } + stmvl53l0_power_down_i2c(i2c_object); + + rc = stmvl53l0_setup(vl53l0_data, I2C_BUS); + + vl53l0_dbgmsg("End\n"); + return rc; +} + +static int stmvl53l0_remove(struct i2c_client *client) +{ + struct stmvl53l0_data *data = stmvl53l0_getobject(); + + vl53l0_dbgmsg("Enter\n"); + + /* Power down the device */ + stmvl53l0_power_down_i2c((void *)data->client_object); + + vl53l0_dbgmsg("End\n"); + return 0; +} + +static const struct i2c_device_id stmvl53l0_id[] = { + { STMVL53L0_DRV_NAME, 0 }, + { }, +}; +MODULE_DEVICE_TABLE(i2c, stmvl53l0_id); + +static const struct of_device_id st_stmvl53l0_dt_match[] = { + { .compatible = "st,stmvl53l0_i2c", }, + { }, +}; + +int stmv153l0_resume(struct i2c_client *clt) +{ + struct stmvl53l0_data *vl53l0_data = NULL; + + vl53l0_dbgmsg("Enter\n"); + vl53l0_data = stmvl53l0_getobject(); + stmvl53l0_livechecking(vl53l0_data); + return 0; +} + +static struct i2c_driver stmvl6180_driver = { + .driver = { + .name = STMVL53L0_DRV_NAME, + .owner = THIS_MODULE, + .of_match_table = st_stmvl53l0_dt_match, + }, + .probe = stmvl53l0_probe, + .remove = stmvl53l0_remove, + .resume = stmv153l0_resume, + .id_table = stmvl53l0_id, + +}; + +int stmvl53l0_power_up_i2c(void *i2c_object, unsigned int *preset_flag) +{ + int ret = 0; + + struct i2c_data *data = (struct i2c_data *)i2c_object; + + vl53l0_dbgmsg("Enter i2c powerup\n"); + pinctrl_select_state(data->pinctrl_info.pinctrl, + data->pinctrl_info.gpio_state_active); + + if (!IS_ERR(data->vana)) { + ret = regulator_set_voltage(data->vana, VL53L0_VDD_MIN, + VL53L0_VDD_MAX); + if (ret < 0) { + vl53l0_errmsg("set_vol(%p) fail %d\n", data->vana, ret); + return ret; + } + ret = regulator_enable(data->vana); + + if (ret < 0) { + vl53l0_errmsg("reg enable(%p) failed.rc=%d\n", + data->vana, ret); + return ret; + } + } + + msm_camera_request_gpio_table( + data->gconf.cam_gpio_req_tbl, + data->gconf.cam_gpio_req_tbl_size, 1); + + gpio_set_value_cansleep(data->gconf.cam_gpio_req_tbl[0].gpio, 1); + + data->power_up = 1; + *preset_flag = 1; + + vl53l0_dbgmsg("End\n"); + return ret; +} + +int stmvl53l0_power_down_i2c(void *i2c_object) +{ + int ret = 0; + + struct i2c_data *data = (struct i2c_data *)i2c_object; + + vl53l0_dbgmsg("Enter\n"); + if (data->power_up) { + pinctrl_select_state(data->pinctrl_info.pinctrl, + data->pinctrl_info.gpio_state_suspend); + + msm_camera_request_gpio_table( + data->gconf.cam_gpio_req_tbl, + data->gconf.cam_gpio_req_tbl_size, 0); + + gpio_set_value_cansleep( + data->gconf.cam_gpio_req_tbl[0].gpio, 0); + + if (!IS_ERR(data->vana)) { + ret = regulator_disable(data->vana); + if (ret < 0) + vl53l0_errmsg("reg disable(%p) failed.rc=%d\n", + data->vana, ret); + } + + data->power_up = 0; + } + + + vl53l0_dbgmsg("End\n"); + return ret; +} + +int stmvl53l0_init_i2c(void) +{ + int ret = 0; + + vl53l0_dbgmsg("Enter\n"); + + /* register as a i2c client device */ + ret = i2c_add_driver(&stmvl6180_driver); + if (ret) + vl53l0_errmsg("%d erro ret:%d\n", __LINE__, ret); + + vl53l0_dbgmsg("End with rc:%d\n", ret); + + return ret; +} + +void stmvl53l0_exit_i2c(void *i2c_object) +{ + vl53l0_dbgmsg("Enter\n"); + i2c_del_driver(&stmvl6180_driver); + + vl53l0_dbgmsg("End\n"); +} + diff --git a/drivers/input/misc/vl53L0/stmvl53l0_module.c b/drivers/input/misc/vl53L0/stmvl53l0_module.c new file mode 100644 index 000000000000..9ed08dc27af9 --- /dev/null +++ b/drivers/input/misc/vl53L0/stmvl53l0_module.c @@ -0,0 +1,2804 @@ +/* +* stmvl53l0_module.c - Linux kernel modules for STM VL53L0 FlightSense TOF +* sensor +* +* Copyright (C) 2015 STMicroelectronics Imaging Division. +* +* This program is free software; you can redistribute it and/or modify +* it under the terms of the GNU General Public License as published by +* the Free Software Foundation; either version 2 of the License, or +* (at your option) any later version. +* +* This program is distributed in the hope that it will be useful, +* but WITHOUT ANY WARRANTY; without even the implied warranty of +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +* GNU General Public License for more details. +* +* You should have received a copy of the GNU General Public License +* along with this program; +*/ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +/* +* API includes +*/ +#include "vl53l0_api.h" +#include "vl53l010_api.h" +/* +#include "vl53l0_def.h" +#include "vl53l0_platform.h" +#include "stmvl53l0-i2c.h" +#include "stmvl53l0-cci.h" +#include "stmvl53l0.h" +*/ + +#include "vl53l0_api_histogram.h" + +#define USE_INT +#define IRQ_NUM 59 +#define DATA_TIMEOUT msecs_to_jiffies(150) +/*#define DEBUG_TIME_LOG*/ +#ifdef DEBUG_TIME_LOG +struct timeval start_tv, stop_tv; +#endif + +#define SAR_LOW 30 +#define SAR_HIGH 40 +static char *devname = "laser"; + +static struct stmvl53l0_data *gp_vl53l0_data; +static int s_count; +static int s_prevalue; + +static struct stmvl53l0_module_fn_t stmvl53l0_module_func_tbl_cci = { + .init = stmvl53l0_init_cci, + .deinit = stmvl53l0_exit_cci, + .power_up = stmvl53l0_power_up_cci, + .power_down = stmvl53l0_power_down_cci, +}; + +static struct stmvl53l0_module_fn_t stmvl53l0_module_func_tbl_i2c = { + .init = stmvl53l0_init_i2c, + .deinit = stmvl53l0_exit_i2c, + .power_up = stmvl53l0_power_up_i2c, + .power_down = stmvl53l0_power_down_i2c, +}; + +struct stmvl53l0_module_fn_t *pmodule_func_tbl; +static struct stmvl53l0_parameter s_parameters[10]; +static int s_nump; + + +struct stmvl53l0_api_fn_t { + VL53L0_Error(*GetVersion)(VL53L0_Version_t *pVersion); + VL53L0_Error(*GetPalSpecVersion)(VL53L0_Version_t *pPalSpecVersion); + + VL53L0_Error(*GetProductRevision)(VL53L0_DEV Dev, + uint8_t *pProductRevisionMajor, + uint8_t *pProductRevisionMinor); + VL53L0_Error(*GetDeviceInfo)(VL53L0_DEV Dev, + VL53L0_DeviceInfo_t *pVL53L0_DeviceInfo); + VL53L0_Error(*GetDeviceErrorStatus)(VL53L0_DEV Dev, + VL53L0_DeviceError * pDeviceErrorStatus); + int8_t (*GetRangeStatusString)(uint8_t RangeStatus, + char *pRangeStatusString); + VL53L0_Error(*GetDeviceErrorString)(VL53L0_DeviceError ErrorCode, + char *pDeviceErrorString); + VL53L0_Error(*GetPalErrorString)(VL53L0_Error PalErrorCode, + char *pPalErrorString); + int8_t (*GetPalStateString)(VL53L0_State PalStateCode, + char *pPalStateString); + VL53L0_Error(*GetPalState)(VL53L0_DEV Dev, VL53L0_State * pPalState); + VL53L0_Error(*SetPowerMode)(VL53L0_DEV Dev, + VL53L0_PowerModes PowerMode); + VL53L0_Error(*GetPowerMode)(VL53L0_DEV Dev, + VL53L0_PowerModes * pPowerMode); + VL53L0_Error(*SetOffsetCalibrationDataMicroMeter)(VL53L0_DEV Dev, + int32_t OffsetCalibrationDataMicroMeter); + VL53L0_Error(*GetOffsetCalibrationDataMicroMeter)(VL53L0_DEV Dev, + int32_t *pOffsetCalibrationDataMicroMeter); + int8_t (*SetLinearityCorrectiveGain)(VL53L0_DEV Dev, + int16_t LinearityCorrectiveGain); + int8_t (*GetLinearityCorrectiveGain)(VL53L0_DEV Dev, + uint16_t *pLinearityCorrectiveGain); + VL53L0_Error(*SetGroupParamHold)(VL53L0_DEV Dev, + uint8_t GroupParamHold); + VL53L0_Error(*GetUpperLimitMilliMeter)(VL53L0_DEV Dev, + uint16_t *pUpperLimitMilliMeter); + VL53L0_Error(*SetDeviceAddress)(VL53L0_DEV Dev, + uint8_t DeviceAddress); + VL53L0_Error(*DataInit)(VL53L0_DEV Dev); + VL53L0_Error(*SetTuningSettingBuffer)(VL53L0_DEV Dev, + uint8_t *pTuningSettingBuffer, + uint8_t UseInternalTuningSettings); + VL53L0_Error(*GetTuningSettingBuffer)(VL53L0_DEV Dev, + uint8_t **pTuningSettingBuffer, + uint8_t *pUseInternalTuningSettings); + VL53L0_Error(*StaticInit)(VL53L0_DEV Dev); + VL53L0_Error(*WaitDeviceBooted)(VL53L0_DEV Dev); + VL53L0_Error(*ResetDevice)(VL53L0_DEV Dev); + VL53L0_Error(*SetDeviceParameters)(VL53L0_DEV Dev, + const VL53L0_DeviceParameters_t *pDeviceParameters); + VL53L0_Error(*GetDeviceParameters)(VL53L0_DEV Dev, + VL53L0_DeviceParameters_t *pDeviceParameters); + VL53L0_Error(*SetDeviceMode)(VL53L0_DEV Dev, + VL53L0_DeviceModes DeviceMode); + VL53L0_Error(*GetDeviceMode)(VL53L0_DEV Dev, + VL53L0_DeviceModes * pDeviceMode); + VL53L0_Error(*SetHistogramMode)(VL53L0_DEV Dev, + VL53L0_HistogramModes HistogramMode); + VL53L0_Error(*GetHistogramMode)(VL53L0_DEV Dev, + VL53L0_HistogramModes * pHistogramMode); + VL53L0_Error(*SetMeasurementTimingBudgetMicroSeconds)(VL53L0_DEV Dev, + uint32_t MeasurementTimingBudgetMicroSeconds); + VL53L0_Error(*GetMeasurementTimingBudgetMicroSeconds)( + VL53L0_DEV Dev, + uint32_t *pMeasurementTimingBudgetMicroSeconds); + VL53L0_Error(*GetVcselPulsePeriod)(VL53L0_DEV Dev, + VL53L0_VcselPeriod VcselPeriodType, + uint8_t *pVCSELPulsePeriod); + VL53L0_Error(*SetVcselPulsePeriod)(VL53L0_DEV Dev, + VL53L0_VcselPeriod VcselPeriodType, + uint8_t VCSELPulsePeriod); + VL53L0_Error(*SetSequenceStepEnable)(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, + uint8_t SequenceStepEnabled); + VL53L0_Error(*GetSequenceStepEnable)(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, + uint8_t *pSequenceStepEnabled); + VL53L0_Error(*GetSequenceStepEnables)(VL53L0_DEV Dev, + VL53L0_SchedulerSequenceSteps_t *pSchedulerSequenceSteps); + VL53L0_Error(*SetSequenceStepTimeout)(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, + FixPoint1616_t TimeOutMilliSecs); + VL53L0_Error(*GetSequenceStepTimeout)(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, + FixPoint1616_t *pTimeOutMilliSecs); + VL53L0_Error(*GetNumberOfSequenceSteps)(VL53L0_DEV Dev, + uint8_t *pNumberOfSequenceSteps); + VL53L0_Error(*GetSequenceStepsInfo)(VL53L0_SequenceStepId SequenceStepId, + char *pSequenceStepsString); + VL53L0_Error(*SetInterMeasurementPeriodMilliSeconds)( + VL53L0_DEV Dev, + uint32_t InterMeasurementPeriodMilliSeconds); + VL53L0_Error(*GetInterMeasurementPeriodMilliSeconds)( + VL53L0_DEV Dev, + uint32_t *pInterMeasurementPeriodMilliSeconds); + VL53L0_Error(*SetXTalkCompensationEnable)(VL53L0_DEV Dev, + uint8_t XTalkCompensationEnable); + VL53L0_Error(*GetXTalkCompensationEnable)(VL53L0_DEV Dev, + uint8_t *pXTalkCompensationEnable); + VL53L0_Error(*SetXTalkCompensationRateMegaCps)( + VL53L0_DEV Dev, + FixPoint1616_t XTalkCompensationRateMegaCps); + VL53L0_Error(*GetXTalkCompensationRateMegaCps)( + VL53L0_DEV Dev, + FixPoint1616_t *pXTalkCompensationRateMegaCps); + VL53L0_Error(*GetNumberOfLimitCheck)( + uint16_t *pNumberOfLimitCheck); + VL53L0_Error(*GetLimitCheckInfo)(VL53L0_DEV Dev, + uint16_t LimitCheckId, char *pLimitCheckString); + VL53L0_Error(*SetLimitCheckEnable)(VL53L0_DEV Dev, + uint16_t LimitCheckId, + uint8_t LimitCheckEnable); + VL53L0_Error(*GetLimitCheckEnable)(VL53L0_DEV Dev, + uint16_t LimitCheckId, uint8_t *pLimitCheckEnable); + VL53L0_Error(*SetLimitCheckValue)(VL53L0_DEV Dev, + uint16_t LimitCheckId, + FixPoint1616_t LimitCheckValue); + VL53L0_Error(*GetLimitCheckValue)(VL53L0_DEV Dev, + uint16_t LimitCheckId, + FixPoint1616_t *pLimitCheckValue); + VL53L0_Error(*GetLimitCheckCurrent)(VL53L0_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckCurrent); + VL53L0_Error(*SetWrapAroundCheckEnable)(VL53L0_DEV Dev, + uint8_t WrapAroundCheckEnable); + VL53L0_Error(*GetWrapAroundCheckEnable)(VL53L0_DEV Dev, + uint8_t *pWrapAroundCheckEnable); + VL53L0_Error(*PerformSingleMeasurement)(VL53L0_DEV Dev); + VL53L0_Error(*PerformRefCalibration)(VL53L0_DEV Dev, + uint8_t *pVhvSettings, uint8_t *pPhaseCal); + VL53L0_Error(*PerformXTalkCalibration)(VL53L0_DEV Dev, + FixPoint1616_t XTalkCalDistance, + FixPoint1616_t *pXTalkCompensationRateMegaCps); + VL53L0_Error(*PerformOffsetCalibration)(VL53L0_DEV Dev, + FixPoint1616_t CalDistanceMilliMeter, + int32_t *pOffsetMicroMeter); + VL53L0_Error(*StartMeasurement)(VL53L0_DEV Dev); + VL53L0_Error(*StopMeasurement)(VL53L0_DEV Dev); + VL53L0_Error(*GetMeasurementDataReady)(VL53L0_DEV Dev, + uint8_t *pMeasurementDataReady); + VL53L0_Error(*WaitDeviceReadyForNewMeasurement)(VL53L0_DEV Dev, + uint32_t MaxLoop); + VL53L0_Error(*GetRangingMeasurementData)(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData); + VL53L0_Error(*GetHistogramMeasurementData)(VL53L0_DEV Dev, + VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData); + VL53L0_Error(*PerformSingleRangingMeasurement)(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData); + VL53L0_Error(*PerformSingleHistogramMeasurement)(VL53L0_DEV Dev, + VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData); + VL53L0_Error(*SetNumberOfROIZones)(VL53L0_DEV Dev, + uint8_t NumberOfROIZones); + VL53L0_Error(*GetNumberOfROIZones)(VL53L0_DEV Dev, + uint8_t *pNumberOfROIZones); + VL53L0_Error(*GetMaxNumberOfROIZones)(VL53L0_DEV Dev, + uint8_t *pMaxNumberOfROIZones); + VL53L0_Error(*SetGpioConfig)(VL53L0_DEV Dev, + uint8_t Pin, + VL53L0_DeviceModes DeviceMode, + VL53L0_GpioFunctionality Functionality, + VL53L0_InterruptPolarity Polarity); + VL53L0_Error(*GetGpioConfig)(VL53L0_DEV Dev, + uint8_t Pin, + VL53L0_DeviceModes * pDeviceMode, + VL53L0_GpioFunctionality * pFunctionality, + VL53L0_InterruptPolarity * pPolarity); + VL53L0_Error(*SetInterruptThresholds)(VL53L0_DEV Dev, + VL53L0_DeviceModes DeviceMode, + FixPoint1616_t ThresholdLow, + FixPoint1616_t ThresholdHigh); + VL53L0_Error(*GetInterruptThresholds)(VL53L0_DEV Dev, + VL53L0_DeviceModes DeviceMode, + FixPoint1616_t *pThresholdLow, + FixPoint1616_t *pThresholdHigh); + VL53L0_Error(*ClearInterruptMask)(VL53L0_DEV Dev, + uint32_t InterruptMask); + VL53L0_Error(*GetInterruptMaskStatus)(VL53L0_DEV Dev, + uint32_t *pInterruptMaskStatus); + VL53L0_Error(*EnableInterruptMask)(VL53L0_DEV Dev, + uint32_t InterruptMask); + VL53L0_Error(*SetSpadAmbientDamperThreshold)(VL53L0_DEV Dev, + uint16_t SpadAmbientDamperThreshold); + VL53L0_Error(*GetSpadAmbientDamperThreshold)(VL53L0_DEV Dev, + uint16_t *pSpadAmbientDamperThreshold); + VL53L0_Error(*SetSpadAmbientDamperFactor)(VL53L0_DEV Dev, + uint16_t SpadAmbientDamperFactor); + VL53L0_Error(*GetSpadAmbientDamperFactor)(VL53L0_DEV Dev, + uint16_t *pSpadAmbientDamperFactor); + VL53L0_Error(*PerformRefSpadManagement)(VL53L0_DEV Dev, + uint32_t *refSpadCount, uint8_t *isApertureSpads); +}; + +static struct stmvl53l0_api_fn_t stmvl53l0_api_func_tbl = { + .GetVersion = VL53L0_GetVersion, + .GetPalSpecVersion = VL53L0_GetPalSpecVersion, + .GetProductRevision = VL53L0_GetProductRevision, + .GetDeviceInfo = VL53L0_GetDeviceInfo, + .GetDeviceErrorStatus = VL53L0_GetDeviceErrorStatus, + .GetRangeStatusString = VL53L0_GetRangeStatusString, + .GetDeviceErrorString = VL53L0_GetDeviceErrorString, + .GetPalErrorString = VL53L0_GetPalErrorString, + .GetPalState = VL53L0_GetPalState, + .SetPowerMode = VL53L0_SetPowerMode, + .GetPowerMode = VL53L0_GetPowerMode, + .SetOffsetCalibrationDataMicroMeter = + VL53L0_SetOffsetCalibrationDataMicroMeter, + .SetLinearityCorrectiveGain = + VL53L0_SetLinearityCorrectiveGain, + .GetLinearityCorrectiveGain = + VL53L0_GetLinearityCorrectiveGain, + .GetOffsetCalibrationDataMicroMeter = + VL53L0_GetOffsetCalibrationDataMicroMeter, + .SetGroupParamHold = VL53L0_SetGroupParamHold, + .GetUpperLimitMilliMeter = VL53L0_GetUpperLimitMilliMeter, + .SetDeviceAddress = VL53L0_SetDeviceAddress, + .DataInit = VL53L0_DataInit, + .SetTuningSettingBuffer = VL53L0_SetTuningSettingBuffer, + .GetTuningSettingBuffer = VL53L0_GetTuningSettingBuffer, + .StaticInit = VL53L0_StaticInit, + .WaitDeviceBooted = VL53L0_WaitDeviceBooted, + .ResetDevice = VL53L0_ResetDevice, + .SetDeviceParameters = VL53L0_SetDeviceParameters, + .SetDeviceMode = VL53L0_SetDeviceMode, + .GetDeviceMode = VL53L0_GetDeviceMode, + .SetHistogramMode = VL53L0_SetHistogramMode, + .GetHistogramMode = VL53L0_GetHistogramMode, + .SetMeasurementTimingBudgetMicroSeconds = + VL53L0_SetMeasurementTimingBudgetMicroSeconds, + .GetMeasurementTimingBudgetMicroSeconds = + VL53L0_GetMeasurementTimingBudgetMicroSeconds, + .GetVcselPulsePeriod = VL53L0_GetVcselPulsePeriod, + .SetVcselPulsePeriod = VL53L0_SetVcselPulsePeriod, + .SetSequenceStepEnable = VL53L0_SetSequenceStepEnable, + .GetSequenceStepEnable = VL53L0_GetSequenceStepEnable, + .GetSequenceStepEnables = VL53L0_GetSequenceStepEnables, + .SetSequenceStepTimeout = VL53L0_SetSequenceStepTimeout, + .GetSequenceStepTimeout = VL53L0_GetSequenceStepTimeout, + .GetNumberOfSequenceSteps = VL53L0_GetNumberOfSequenceSteps, + .GetSequenceStepsInfo = VL53L0_GetSequenceStepsInfo, + .SetInterMeasurementPeriodMilliSeconds = + VL53L0_SetInterMeasurementPeriodMilliSeconds, + .GetInterMeasurementPeriodMilliSeconds = + VL53L0_GetInterMeasurementPeriodMilliSeconds, + .SetXTalkCompensationEnable = VL53L0_SetXTalkCompensationEnable, + .GetXTalkCompensationEnable = VL53L0_GetXTalkCompensationEnable, + .SetXTalkCompensationRateMegaCps = + VL53L0_SetXTalkCompensationRateMegaCps, + .GetXTalkCompensationRateMegaCps = + VL53L0_GetXTalkCompensationRateMegaCps, + .GetNumberOfLimitCheck = VL53L0_GetNumberOfLimitCheck, + .GetLimitCheckInfo = VL53L0_GetLimitCheckInfo, + .SetLimitCheckEnable = VL53L0_SetLimitCheckEnable, + .GetLimitCheckEnable = VL53L0_GetLimitCheckEnable, + .SetLimitCheckValue = VL53L0_SetLimitCheckValue, + .GetLimitCheckValue = VL53L0_GetLimitCheckValue, + .GetLimitCheckCurrent = VL53L0_GetLimitCheckCurrent, + .SetWrapAroundCheckEnable = VL53L0_SetWrapAroundCheckEnable, + .GetWrapAroundCheckEnable = VL53L0_GetWrapAroundCheckEnable, + .PerformSingleMeasurement = VL53L0_PerformSingleMeasurement, + .PerformRefCalibration = VL53L0_PerformRefCalibration, + .PerformXTalkCalibration = VL53L0_PerformXTalkCalibration, + .PerformOffsetCalibration = VL53L0_PerformOffsetCalibration, + .StartMeasurement = VL53L0_StartMeasurement, + .StopMeasurement = VL53L0_StopMeasurement, + .GetMeasurementDataReady = VL53L0_GetMeasurementDataReady, + .WaitDeviceReadyForNewMeasurement = + VL53L0_WaitDeviceReadyForNewMeasurement, + .GetRangingMeasurementData = VL53L0_GetRangingMeasurementData, + .GetHistogramMeasurementData = VL53L0_GetHistogramMeasurementData, + .PerformSingleRangingMeasurement = + VL53L0_PerformSingleRangingMeasurement, + .PerformSingleHistogramMeasurement = + VL53L0_PerformSingleHistogramMeasurement, + .SetNumberOfROIZones = VL53L0_SetNumberOfROIZones, + .GetNumberOfROIZones = VL53L0_GetNumberOfROIZones, + .GetMaxNumberOfROIZones = VL53L0_GetMaxNumberOfROIZones, + .SetGpioConfig = VL53L0_SetGpioConfig, + .GetGpioConfig = VL53L0_GetGpioConfig, + .SetInterruptThresholds = VL53L0_SetInterruptThresholds, + .GetInterruptThresholds = VL53L0_GetInterruptThresholds, + .ClearInterruptMask = VL53L0_ClearInterruptMask, + .GetInterruptMaskStatus = VL53L0_GetInterruptMaskStatus, + .EnableInterruptMask = VL53L0_EnableInterruptMask, + .SetSpadAmbientDamperThreshold = VL53L0_SetSpadAmbientDamperThreshold, + .GetSpadAmbientDamperThreshold = VL53L0_GetSpadAmbientDamperThreshold, + .SetSpadAmbientDamperFactor = VL53L0_SetSpadAmbientDamperFactor, + .GetSpadAmbientDamperFactor = VL53L0_GetSpadAmbientDamperFactor, + .PerformRefSpadManagement = VL53L0_PerformRefSpadManagement, +}; +struct stmvl53l0_api_fn_t *papi_func_tbl; + +int stmvl53l0_stopmeasurement(struct stmvl53l0_data *data) +{ + uint32_t us; + + VL53L0_StopMeasurement(data); + VL53L0_GetMeasurementTimingBudgetMicroSeconds( + data, (uint32_t *)&us); + udelay(us); + return 0; +} + +static void stmvl53l0_setupAPIFunctions(struct stmvl53l0_data *data) +{ + uint8_t revision = 0; + VL53L0_DEV vl53l0_dev = data; + + /* Read Revision ID */ + VL53L0_RdByte(vl53l0_dev, + VL53L0_REG_IDENTIFICATION_REVISION_ID, &revision); + vl53l0_errmsg("read REVISION_ID: 0x%x\n", revision); + revision = (revision & 0xF0) >> 4; + data->cut_v = revision; + if (revision == 1) { + /*cut 1.1*/ + vl53l0_errmsg("to setup API cut 1.1\n"); + papi_func_tbl->GetVersion = VL53L0_GetVersion; + papi_func_tbl->GetPalSpecVersion = VL53L0_GetPalSpecVersion; + papi_func_tbl->GetProductRevision = VL53L0_GetProductRevision; + papi_func_tbl->GetDeviceInfo = VL53L0_GetDeviceInfo; + papi_func_tbl->GetDeviceErrorStatus = + VL53L0_GetDeviceErrorStatus; + papi_func_tbl->GetDeviceErrorString = + VL53L0_GetDeviceErrorString; + papi_func_tbl->GetPalErrorString = VL53L0_GetPalErrorString; + papi_func_tbl->GetPalState = VL53L0_GetPalState; + papi_func_tbl->SetPowerMode = VL53L0_SetPowerMode; + papi_func_tbl->GetPowerMode = VL53L0_GetPowerMode; + papi_func_tbl->SetOffsetCalibrationDataMicroMeter = + VL53L0_SetOffsetCalibrationDataMicroMeter; + papi_func_tbl->GetOffsetCalibrationDataMicroMeter = + VL53L0_GetOffsetCalibrationDataMicroMeter; + papi_func_tbl->SetLinearityCorrectiveGain = + VL53L0_SetLinearityCorrectiveGain; + papi_func_tbl->GetLinearityCorrectiveGain = + VL53L0_GetLinearityCorrectiveGain; + papi_func_tbl->SetGroupParamHold = VL53L0_SetGroupParamHold; + papi_func_tbl->GetUpperLimitMilliMeter = + VL53L0_GetUpperLimitMilliMeter; + papi_func_tbl->SetDeviceAddress = VL53L0_SetDeviceAddress; + papi_func_tbl->DataInit = VL53L0_DataInit; + papi_func_tbl->SetTuningSettingBuffer = + VL53L0_SetTuningSettingBuffer; + papi_func_tbl->GetTuningSettingBuffer = + VL53L0_GetTuningSettingBuffer; + papi_func_tbl->StaticInit = VL53L0_StaticInit; + papi_func_tbl->WaitDeviceBooted = VL53L0_WaitDeviceBooted; + papi_func_tbl->ResetDevice = VL53L0_ResetDevice; + papi_func_tbl->SetDeviceParameters = VL53L0_SetDeviceParameters; + papi_func_tbl->SetDeviceMode = VL53L0_SetDeviceMode; + papi_func_tbl->GetDeviceMode = VL53L0_GetDeviceMode; + papi_func_tbl->SetHistogramMode = VL53L0_SetHistogramMode; + papi_func_tbl->GetHistogramMode = VL53L0_GetHistogramMode; + papi_func_tbl->SetMeasurementTimingBudgetMicroSeconds = + VL53L0_SetMeasurementTimingBudgetMicroSeconds; + papi_func_tbl->GetMeasurementTimingBudgetMicroSeconds = + VL53L0_GetMeasurementTimingBudgetMicroSeconds; + papi_func_tbl->GetVcselPulsePeriod = VL53L0_GetVcselPulsePeriod; + papi_func_tbl->SetVcselPulsePeriod = VL53L0_SetVcselPulsePeriod; + papi_func_tbl->SetSequenceStepEnable = + VL53L0_SetSequenceStepEnable; + papi_func_tbl->GetSequenceStepEnable = + VL53L0_GetSequenceStepEnable; + papi_func_tbl->GetSequenceStepEnables = + VL53L0_GetSequenceStepEnables; + papi_func_tbl->SetSequenceStepTimeout = + VL53L0_SetSequenceStepTimeout; + papi_func_tbl->GetSequenceStepTimeout = + VL53L0_GetSequenceStepTimeout; + papi_func_tbl->GetNumberOfSequenceSteps = + VL53L0_GetNumberOfSequenceSteps; + papi_func_tbl->GetSequenceStepsInfo = + VL53L0_GetSequenceStepsInfo; + papi_func_tbl->SetInterMeasurementPeriodMilliSeconds = + VL53L0_SetInterMeasurementPeriodMilliSeconds; + papi_func_tbl->GetInterMeasurementPeriodMilliSeconds = + VL53L0_GetInterMeasurementPeriodMilliSeconds; + papi_func_tbl->SetXTalkCompensationEnable = + VL53L0_SetXTalkCompensationEnable; + papi_func_tbl->GetXTalkCompensationEnable = + VL53L0_GetXTalkCompensationEnable; + papi_func_tbl->SetXTalkCompensationRateMegaCps = + VL53L0_SetXTalkCompensationRateMegaCps; + papi_func_tbl->GetXTalkCompensationRateMegaCps = + VL53L0_GetXTalkCompensationRateMegaCps; + papi_func_tbl->GetNumberOfLimitCheck = + VL53L0_GetNumberOfLimitCheck; + papi_func_tbl->GetLimitCheckInfo = VL53L0_GetLimitCheckInfo; + papi_func_tbl->SetLimitCheckEnable = VL53L0_SetLimitCheckEnable; + papi_func_tbl->GetLimitCheckEnable = VL53L0_GetLimitCheckEnable; + papi_func_tbl->SetLimitCheckValue = VL53L0_SetLimitCheckValue; + papi_func_tbl->GetLimitCheckValue = VL53L0_GetLimitCheckValue; + papi_func_tbl->GetLimitCheckCurrent = + VL53L0_GetLimitCheckCurrent; + papi_func_tbl->SetWrapAroundCheckEnable = + VL53L0_SetWrapAroundCheckEnable; + papi_func_tbl->GetWrapAroundCheckEnable = + VL53L0_GetWrapAroundCheckEnable; + papi_func_tbl->PerformSingleMeasurement = + VL53L0_PerformSingleMeasurement; + papi_func_tbl->PerformRefCalibration = + VL53L0_PerformRefCalibration; + papi_func_tbl->PerformXTalkCalibration = + VL53L0_PerformXTalkCalibration; + papi_func_tbl->PerformOffsetCalibration = + VL53L0_PerformOffsetCalibration; + papi_func_tbl->StartMeasurement = VL53L0_StartMeasurement; + papi_func_tbl->StopMeasurement = VL53L0_StopMeasurement; + papi_func_tbl->GetMeasurementDataReady = + VL53L0_GetMeasurementDataReady; + papi_func_tbl->WaitDeviceReadyForNewMeasurement = + VL53L0_WaitDeviceReadyForNewMeasurement; + papi_func_tbl->GetRangingMeasurementData = + VL53L0_GetRangingMeasurementData; + papi_func_tbl->GetHistogramMeasurementData = + VL53L0_GetHistogramMeasurementData; + papi_func_tbl->PerformSingleRangingMeasurement = + VL53L0_PerformSingleRangingMeasurement; + papi_func_tbl->PerformSingleHistogramMeasurement = + VL53L0_PerformSingleHistogramMeasurement; + papi_func_tbl->SetNumberOfROIZones = VL53L0_SetNumberOfROIZones; + papi_func_tbl->GetNumberOfROIZones = VL53L0_GetNumberOfROIZones; + papi_func_tbl->GetMaxNumberOfROIZones = + VL53L0_GetMaxNumberOfROIZones; + papi_func_tbl->SetGpioConfig = VL53L0_SetGpioConfig; + papi_func_tbl->GetGpioConfig = VL53L0_GetGpioConfig; + papi_func_tbl->SetInterruptThresholds = + VL53L0_SetInterruptThresholds; + papi_func_tbl->GetInterruptThresholds = + VL53L0_GetInterruptThresholds; + papi_func_tbl->ClearInterruptMask = VL53L0_ClearInterruptMask; + papi_func_tbl->GetInterruptMaskStatus = + VL53L0_GetInterruptMaskStatus; + papi_func_tbl->EnableInterruptMask = + VL53L0_EnableInterruptMask; + papi_func_tbl->SetSpadAmbientDamperThreshold = + VL53L0_SetSpadAmbientDamperThreshold; + papi_func_tbl->GetSpadAmbientDamperThreshold = + VL53L0_GetSpadAmbientDamperThreshold; + papi_func_tbl->SetSpadAmbientDamperFactor = + VL53L0_SetSpadAmbientDamperFactor; + papi_func_tbl->GetSpadAmbientDamperFactor = + VL53L0_GetSpadAmbientDamperFactor; + papi_func_tbl->PerformRefSpadManagement = + VL53L0_PerformRefSpadManagement; + + } else if (revision == 0) { + /*cut 1.0*/ + vl53l0_errmsg("to setup API cut 1.0\n"); + papi_func_tbl->GetVersion = VL53L010_GetVersion; + papi_func_tbl->GetPalSpecVersion = VL53L010_GetPalSpecVersion; + papi_func_tbl->GetDeviceInfo = VL53L010_GetDeviceInfo; + papi_func_tbl->GetDeviceErrorStatus = + VL53L010_GetDeviceErrorStatus; + papi_func_tbl->GetDeviceErrorString = + VL53L010_GetDeviceErrorString; + papi_func_tbl->GetPalErrorString = VL53L010_GetPalErrorString; + papi_func_tbl->GetPalState = VL53L010_GetPalState; + papi_func_tbl->SetPowerMode = VL53L010_SetPowerMode; + papi_func_tbl->GetPowerMode = VL53L010_GetPowerMode; + papi_func_tbl->SetOffsetCalibrationDataMicroMeter = + VL53L010_SetOffsetCalibrationDataMicroMeter; + papi_func_tbl->GetOffsetCalibrationDataMicroMeter = + VL53L010_GetOffsetCalibrationDataMicroMeter; + papi_func_tbl->SetGroupParamHold = VL53L010_SetGroupParamHold; + papi_func_tbl->GetUpperLimitMilliMeter = + VL53L010_GetUpperLimitMilliMeter; + papi_func_tbl->SetDeviceAddress = VL53L010_SetDeviceAddress; + papi_func_tbl->DataInit = VL53L010_DataInit; + /* + papi_func_tbl->SetTuningSettingBuffer = NULL; + papi_func_tbl->GetTuningSettingBuffer = NULL; + */ + papi_func_tbl->StaticInit = VL53L010_StaticInit; + papi_func_tbl->WaitDeviceBooted = VL53L010_WaitDeviceBooted; + papi_func_tbl->ResetDevice = VL53L010_ResetDevice; + papi_func_tbl->SetDeviceParameters = + VL53L010_SetDeviceParameters; + papi_func_tbl->SetDeviceMode = VL53L010_SetDeviceMode; + papi_func_tbl->GetDeviceMode = VL53L010_GetDeviceMode; + papi_func_tbl->SetHistogramMode = VL53L010_SetHistogramMode; + papi_func_tbl->GetHistogramMode = VL53L010_GetHistogramMode; + papi_func_tbl->SetMeasurementTimingBudgetMicroSeconds = + VL53L010_SetMeasurementTimingBudgetMicroSeconds; + papi_func_tbl->GetMeasurementTimingBudgetMicroSeconds = + VL53L010_GetMeasurementTimingBudgetMicroSeconds; + /* + papi_func_tbl->GetVcselPulsePeriod = NULL; + papi_func_tbl->SetVcselPulsePeriod = NULL; + papi_func_tbl->SetSequenceStepEnable = NULL; + papi_func_tbl->GetSequenceStepEnable = NULL; + papi_func_tbl->GetSequenceStepEnables = NULL; + papi_func_tbl->SetSequenceStepTimeout = NULL; + papi_func_tbl->GetSequenceStepTimeout = NULL; + papi_func_tbl->GetNumberOfSequenceSteps =NULL; + papi_func_tbl->GetSequenceStepsInfo = NULL; + */ + papi_func_tbl->SetInterMeasurementPeriodMilliSeconds = + VL53L010_SetInterMeasurementPeriodMilliSeconds; + papi_func_tbl->GetInterMeasurementPeriodMilliSeconds = + VL53L010_GetInterMeasurementPeriodMilliSeconds; + papi_func_tbl->SetXTalkCompensationEnable = + VL53L010_SetXTalkCompensationEnable; + papi_func_tbl->GetXTalkCompensationEnable = + VL53L010_GetXTalkCompensationEnable; + papi_func_tbl->SetXTalkCompensationRateMegaCps = + VL53L010_SetXTalkCompensationRateMegaCps; + papi_func_tbl->GetXTalkCompensationRateMegaCps = + VL53L010_GetXTalkCompensationRateMegaCps; + papi_func_tbl->GetNumberOfLimitCheck = + VL53L010_GetNumberOfLimitCheck; + papi_func_tbl->GetLimitCheckInfo = VL53L010_GetLimitCheckInfo; + papi_func_tbl->SetLimitCheckEnable = + VL53L010_SetLimitCheckEnable; + papi_func_tbl->GetLimitCheckEnable = + VL53L010_GetLimitCheckEnable; + papi_func_tbl->SetLimitCheckValue = VL53L010_SetLimitCheckValue; + papi_func_tbl->GetLimitCheckValue = VL53L010_GetLimitCheckValue; + papi_func_tbl->GetLimitCheckCurrent = + VL53L010_GetLimitCheckCurrent; + papi_func_tbl->SetWrapAroundCheckEnable = + VL53L010_SetWrapAroundCheckEnable; + papi_func_tbl->GetWrapAroundCheckEnable = + VL53L010_GetWrapAroundCheckEnable; + papi_func_tbl->PerformSingleMeasurement = + VL53L010_PerformSingleMeasurement; + papi_func_tbl->PerformXTalkCalibration = + VL53L010_PerformXTalkCalibration; + papi_func_tbl->PerformOffsetCalibration = + VL53L010_PerformOffsetCalibration; + papi_func_tbl->StartMeasurement = VL53L010_StartMeasurement; + papi_func_tbl->StopMeasurement = VL53L010_StopMeasurement; + papi_func_tbl->GetMeasurementDataReady = + VL53L010_GetMeasurementDataReady; + papi_func_tbl->WaitDeviceReadyForNewMeasurement = + VL53L010_WaitDeviceReadyForNewMeasurement; + papi_func_tbl->GetRangingMeasurementData = + VL53L010_GetRangingMeasurementData; + papi_func_tbl->GetHistogramMeasurementData = + VL53L010_GetHistogramMeasurementData; + papi_func_tbl->PerformSingleRangingMeasurement = + VL53L010_PerformSingleRangingMeasurement; + papi_func_tbl->PerformSingleHistogramMeasurement = + VL53L010_PerformSingleHistogramMeasurement; + papi_func_tbl->SetNumberOfROIZones = + VL53L010_SetNumberOfROIZones; + papi_func_tbl->GetNumberOfROIZones = + VL53L010_GetNumberOfROIZones; + papi_func_tbl->GetMaxNumberOfROIZones = + VL53L010_GetMaxNumberOfROIZones; + papi_func_tbl->SetGpioConfig = VL53L010_SetGpioConfig; + papi_func_tbl->GetGpioConfig = VL53L010_GetGpioConfig; + papi_func_tbl->SetInterruptThresholds = + VL53L010_SetInterruptThresholds; + papi_func_tbl->GetInterruptThresholds = + VL53L010_GetInterruptThresholds; + papi_func_tbl->ClearInterruptMask = + VL53L010_ClearInterruptMask; + papi_func_tbl->GetInterruptMaskStatus = + VL53L010_GetInterruptMaskStatus; + papi_func_tbl->EnableInterruptMask = + VL53L010_EnableInterruptMask; + papi_func_tbl->SetSpadAmbientDamperThreshold = + VL53L010_SetSpadAmbientDamperThreshold; + papi_func_tbl->GetSpadAmbientDamperThreshold = + VL53L010_GetSpadAmbientDamperThreshold; + papi_func_tbl->SetSpadAmbientDamperFactor = + VL53L010_SetSpadAmbientDamperFactor; + papi_func_tbl->GetSpadAmbientDamperFactor = + VL53L010_GetSpadAmbientDamperFactor; + } + +} +/* + * IOCTL definitions + */ +#define VL53L0_IOCTL_INIT _IO('p', 0x01) +#define VL53L0_IOCTL_INIT_NS _IO('p', 0x11) +#define VL53L0_IOCTL_INIT_NB _IO('p', 0x90) +#define VL53L0_IOCTL_SUSPEND _IO('p', 0x93) +#define VL53L0_IOCTL_RESUME _IO('p', 0x94) +#define VL53L0_IOCTL_RESET _IO('p', 0x95) +#define VL53L0_IOCTL_RESET_NB _IO('p', 0x96) +#define VL53L0_IOCTL_XTALKCALB _IOWR('p', 0x02, unsigned int) +#define VL53L0_IOCTL_OFFCALB _IOW('p', 0x03, unsigned int) +#define VL53L0_IOCTL_STOPCALB _IO('p', 0x04) +#define VL53L0_IOCTL_STOP _IO('p', 0x05) +#define VL53L0_IOCTL_SETXTALK _IOW('p', 0x06, unsigned int) +#define VL53L0_IOCTL_SETOFFSET _IOW('p', 0x07, int8_t) +#define VL53L0_IOCTL_GETDATAS \ + _IOR('p', 0x0b, VL53L0_RangingMeasurementData_t) +#define VL53L0_IOCTL_REGISTER \ + _IOWR('p', 0x0c, struct stmvl53l0_register) +#define VL53L0_IOCTL_PARAMETER \ + _IOWR('p', 0x0d, struct stmvl53l0_parameter) +#define VL53L0_IOCTL_GETDATAS_BLOCK \ + _IOR('p', 0x0e, VL53L0_RangingMeasurementData_t) + +#define VL53L0_FAST_HISTOGRAMMODE_REFERENCE ((VL53L0_HistogramTest) 1) +#define VL53L0_FAST_HISTOGRAMMODE_RETURN ((VL53L0_HistogramTest) 2) +#define VL53L0_FAST_HISTOGRAMMODE_AMBIENT ((VL53L0_HistogramTest) 3) + + +static long stmvl53l0_ioctl(struct file *file, + unsigned int cmd, + unsigned long arg); +static int stmvl53l0_flush(struct file *file, fl_owner_t id); +static int stmvl53l0_open(struct inode *inode, struct file *file); +static int stmvl53l0_close(struct inode *inode, struct file *file); +static int stmvl53l0_init_client(struct stmvl53l0_data *data); +static int stmvl53l0_start(struct stmvl53l0_data *data); +static int stmvl53l0_stop(struct stmvl53l0_data *data); + +void stmvl53l0_dumpreg(struct stmvl53l0_data *data) +{ + int i = 0; + uint8_t reg; + + if (data->enableDebug) { + for (i = 1; i <= 0xff; i++) { + VL53L0_RdByte(data, i, ®); + pr_err("STM VL53L0 reg= %x. value:%x.\n", i, reg); + } + } + +} + +void stmvl53l0_apply_parameters(struct stmvl53l0_data *vl53l0_dev) +{ + int i; + struct stmvl53l0_parameter parameter; + + for (i = 0; i < s_nump; i++) { + parameter = s_parameters[i]; + switch (parameter.name) { + case (OFFSET_PAR): + if (parameter.is_read) + parameter.status = + papi_func_tbl->GetOffsetCalibrationDataMicroMeter( + vl53l0_dev, ¶meter.value); + else + parameter.status = + papi_func_tbl->SetOffsetCalibrationDataMicroMeter( + vl53l0_dev, parameter.value); + break; + case (XTALKRATE_PAR): + if (parameter.is_read) + parameter.status = + VL53L0_GetXTalkCompensationRateMegaCps( + vl53l0_dev, (FixPoint1616_t *)¶meter.value); + else + parameter.status = + papi_func_tbl->SetXTalkCompensationRateMegaCps( + vl53l0_dev, (FixPoint1616_t)parameter.value); + break; + case (XTALKENABLE_PAR): + if (parameter.is_read) + parameter.status = + papi_func_tbl->GetXTalkCompensationEnable( + vl53l0_dev, (uint8_t *)¶meter.value); + else + parameter.status = + papi_func_tbl->SetXTalkCompensationEnable( + vl53l0_dev, (uint8_t)parameter.value); + break; + case (SIGMAVAL_PRA): + if (!parameter.is_read) + parameter.status = papi_func_tbl-> + SetLimitCheckValue(vl53l0_dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + (FixPoint1616_t)parameter.value); + else + parameter.status = papi_func_tbl-> + GetLimitCheckValue(vl53l0_dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + (FixPoint1616_t *)¶meter.value); + break; + + case (SIGMACTL_PRA): + if (!parameter.is_read) + parameter.status = + papi_func_tbl->SetLimitCheckEnable(vl53l0_dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + (uint8_t)parameter.value); + else + parameter.status = + papi_func_tbl->GetLimitCheckEnable(vl53l0_dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + (uint8_t *)¶meter.value); + break; + case (SGLVAL_PRA): + if (!parameter.is_read) + parameter.status = papi_func_tbl-> + SetLimitCheckValue(vl53l0_dev, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + (FixPoint1616_t)parameter.value); + else + parameter.status = papi_func_tbl-> + GetLimitCheckValue(vl53l0_dev, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + (FixPoint1616_t *)¶meter.value); + break; + + case (SGLCTL_PRA): + if (!parameter.is_read) + parameter.status = + papi_func_tbl->SetLimitCheckEnable(vl53l0_dev, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + (uint8_t)parameter.value); + else + parameter.status = + papi_func_tbl->GetLimitCheckEnable(vl53l0_dev, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + (uint8_t *)¶meter.value); + break; + + case (WRAPAROUNDCTL_PRA): + if (parameter.is_read) + parameter.status = + VL53L0_GetWrapAroundCheckEnable( + vl53l0_dev, (uint8_t *)¶meter.value); + else + parameter.status = + VL53L0_SetWrapAroundCheckEnable( + vl53l0_dev, (uint8_t)parameter.value); + break; + + case (MEASUREMENTTIMINGBUDGET_PAR): + if (parameter.is_read) + parameter.status = + VL53L0_GetMeasurementTimingBudgetMicroSeconds( + vl53l0_dev, (uint32_t *)¶meter.value); + else + parameter.status = + VL53L0_SetMeasurementTimingBudgetMicroSeconds( + vl53l0_dev, (uint32_t)parameter.value); + break; + case (PLLPRE_PRA): + if (parameter.is_read) + parameter.status = + papi_func_tbl->GetVcselPulsePeriod(vl53l0_dev, + VL53L0_VCSEL_PERIOD_PRE_RANGE, (uint8_t *)¶meter.value); + else + parameter.status = + papi_func_tbl->SetVcselPulsePeriod(vl53l0_dev, + VL53L0_VCSEL_PERIOD_PRE_RANGE, (uint8_t)parameter.value); + break; + case (PLLFINAL_PRA): + if (parameter.is_read) + parameter.status = + papi_func_tbl->GetVcselPulsePeriod(vl53l0_dev, + VL53L0_VCSEL_PERIOD_FINAL_RANGE, (uint8_t *)¶meter.value); + else + parameter.status = + papi_func_tbl->SetVcselPulsePeriod(vl53l0_dev, + VL53L0_VCSEL_PERIOD_FINAL_RANGE, (uint8_t)parameter.value); + break; + } + + } + s_nump = 0; +} + +static void stmvl53l0_ps_read_measurement(struct stmvl53l0_data *data) +{ + struct timeval tv; + + do_gettimeofday(&tv); + data->ps_data = 100; + if (data->rangeData.RangeMilliMeter < data->highv) + data->ps_data = 10; + if (data->gpio_function == VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) + data->ps_data = 10; + + input_report_abs(data->input_dev_ps, ABS_DISTANCE, + (int)(data->ps_data + 5) / 10); + input_report_abs(data->input_dev_ps, ABS_HAT0X, tv.tv_sec); + input_report_abs(data->input_dev_ps, ABS_HAT0Y, tv.tv_usec); + input_report_abs(data->input_dev_ps, ABS_HAT1X, + data->rangeData.RangeMilliMeter); + input_report_abs(data->input_dev_ps, ABS_HAT1Y, + data->rangeData.RangeStatus); + input_report_abs(data->input_dev_ps, ABS_HAT2X, + data->rangeData.SignalRateRtnMegaCps); + input_report_abs(data->input_dev_ps, ABS_HAT2Y, + data->rangeData.AmbientRateRtnMegaCps); + input_report_abs(data->input_dev_ps, ABS_HAT3X, + data->rangeData.MeasurementTimeUsec); + input_report_abs(data->input_dev_ps, ABS_HAT3Y, + data->rangeData.RangeDMaxMilliMeter); + input_sync(data->input_dev_ps); + + if (data->enableDebug) + vl53l0_errmsg("range:%d, signalRateRtnMegaCps:%d, \ + error:0x%x,rtnambrate:%u,DMax:%d,measuretime:%u\n", + data->rangeData.RangeMilliMeter, + data->rangeData.SignalRateRtnMegaCps, + data->rangeData.RangeStatus, + data->rangeData.AmbientRateRtnMegaCps, + data->rangeData.RangeDMaxMilliMeter, + data->rangeData.MeasurementTimeUsec); + +} + +static void stmvl53l0_enter_off(struct stmvl53l0_data *data, uint8_t from) +{ + vl53l0_dbgmsg_en("Enter, stmvl53l0_enter_off from:%d\n", from); + if (data->enable_ps_sensor == 0) + stmvl53l0_start(data); + papi_func_tbl->StopMeasurement(data); + papi_func_tbl->ClearInterruptMask(data, 0); + papi_func_tbl->SetDeviceMode(data, + VL53L0_DEVICEMODE_SINGLE_RANGING); + papi_func_tbl->SetGpioConfig(data, 0, 0, + VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY, + VL53L0_INTERRUPTPOLARITY_LOW); + data->gpio_function = VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY; + + vl53l0_dbgmsg_en("End\n"); +} + +static void stmvl53l0_enter_cam(struct stmvl53l0_data *data, uint8_t from) +{ + + vl53l0_errmsg("Enter, stmvl53l0_enter_cam from:%d\n", from); + /* turn on tof sensor */ + if (data->enable_ps_sensor == 0) + stmvl53l0_start(data); + papi_func_tbl->SetVcselPulsePeriod(data, + VL53L0_VCSEL_PERIOD_PRE_RANGE, data->pll_p); + papi_func_tbl->SetVcselPulsePeriod(data, + VL53L0_VCSEL_PERIOD_FINAL_RANGE, data->pll_f); + + vl53l0_errmsg("Call of setlimt \n"); + papi_func_tbl->SetLimitCheckEnable(data, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + (uint8_t)0); + + papi_func_tbl->SetLimitCheckEnable(data, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + (uint8_t)0); + vl53l0_errmsg("Call ofSetMeasurementTimingBudgetMicroSeconds \n"); + papi_func_tbl->SetMeasurementTimingBudgetMicroSeconds( + data, 26000); + + papi_func_tbl->SetDeviceMode(data, + VL53L0_DEVICEMODE_SINGLE_RANGING); + + vl53l0_errmsg("Call of VL53L0_DEVICEMODE_SINGLE_RANGING\n"); + papi_func_tbl->SetGpioConfig(data, 0, 0, + VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY, + VL53L0_INTERRUPTPOLARITY_LOW); + data->gpio_function = VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY; + + papi_func_tbl->StartMeasurement(data); + + vl53l0_errmsg("End\n"); +} + +static void stmvl53l0_enter_sar(struct stmvl53l0_data *data, uint8_t from) +{ + VL53L0_RangingMeasurementData_t RMData; + vl53l0_errmsg("Enter, from:%d\n", from); + /* turn on tof sensor */ + if (data->enable_ps_sensor == 0) + stmvl53l0_start(data); + + memset(&RMData, 0, sizeof(RMData)); + + papi_func_tbl->SetDeviceMode(data, + VL53L0_DEVICEMODE_SINGLE_RANGING); + + papi_func_tbl->SetVcselPulsePeriod(data, + VL53L0_VCSEL_PERIOD_PRE_RANGE, 14); + + papi_func_tbl->SetVcselPulsePeriod(data, + VL53L0_VCSEL_PERIOD_FINAL_RANGE, 10); + + papi_func_tbl->SetLimitCheckEnable(data, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + (uint8_t)1); + + papi_func_tbl->SetLimitCheckEnable(data, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + (uint8_t)0); + + papi_func_tbl->SetMeasurementTimingBudgetMicroSeconds( + data, 33000); + + papi_func_tbl->PerformSingleRangingMeasurement(data, + &RMData); + memcpy(&(data->rangeData), &RMData, + sizeof(VL53L0_RangingMeasurementData_t)); + stmvl53l0_ps_read_measurement(data); + + papi_func_tbl->SetGpioConfig(data, 0, 0, + VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW, + VL53L0_INTERRUPTPOLARITY_LOW); + data->gpio_function = VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW; + papi_func_tbl->SetInterMeasurementPeriodMilliSeconds( + data, 5000); + papi_func_tbl->SetMeasurementTimingBudgetMicroSeconds( + data, 33000); + papi_func_tbl->SetInterruptThresholds( + data, 0, data->lowv << 16, data->highv << 16); + papi_func_tbl->SetDeviceMode(data, + VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING); + data->lowint = 1; + papi_func_tbl->ClearInterruptMask(data, 0); + papi_func_tbl->StartMeasurement(data); + vl53l0_errmsg("End\n"); +} +static void stmvl53l0_enter_super(struct stmvl53l0_data *data, uint8_t from) +{ + vl53l0_errmsg("Enter, stmvl53l0_enter_super flag:%d\n", from); + if (from == SAR_MODE || from == SUPER_MODE) { + vl53l0_dbgmsg_en("Call of VL53L0_DEVICEMODE_CONTINUOUS_RANGING\n"); + papi_func_tbl->ClearInterruptMask(data, 0); + + papi_func_tbl->SetVcselPulsePeriod(data, + VL53L0_VCSEL_PERIOD_PRE_RANGE, 18); + + papi_func_tbl->SetVcselPulsePeriod(data, + VL53L0_VCSEL_PERIOD_FINAL_RANGE, 14); + + papi_func_tbl->SetLimitCheckEnable(data, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + (uint8_t)0); + + papi_func_tbl->SetLimitCheckEnable(data, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + (uint8_t)0); + + papi_func_tbl->SetMeasurementTimingBudgetMicroSeconds( + data, 26000); + + papi_func_tbl->SetDeviceMode(data, + VL53L0_DEVICEMODE_SINGLE_RANGING); + + vl53l0_errmsg("Call of VL53L0_DEVICEMODE_SINGLE_RANGING\n"); + papi_func_tbl->SetGpioConfig(data, 0, 0, + VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY, + VL53L0_INTERRUPTPOLARITY_LOW); + data->gpio_function = VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY; + + papi_func_tbl->StartMeasurement(data); + + vl53l0_errmsg("End\n"); + } + + vl53l0_dbgmsg_en("End\n"); +} +static void stmvl53l0_enter_xtalkcal(struct stmvl53l0_data *data, + uint8_t from) +{ + FixPoint1616_t XTalkCompensationRateMegaCps; + + vl53l0_dbgmsg_en("Enter, stmvl53l0_enter_cal flag:%d\n", from); + if (data->enable_ps_sensor == 0) + stmvl53l0_start(data); + + papi_func_tbl->SetXTalkCompensationEnable(data, 0); + + papi_func_tbl->PerformXTalkCalibration(data, + (data->xtalkCalDistance << 16), &XTalkCompensationRateMegaCps); + data->xtalkcalval = XTalkCompensationRateMegaCps; + vl53l0_dbgmsg_en("End\n"); +} +static void stmvl53l0_enter_offsetcal(struct stmvl53l0_data *data, + uint8_t from) +{ + FixPoint1616_t OffsetMicroMeter; + + vl53l0_dbgmsg_en("Enter, stmvl53l0_enter_cal flag:%d\n", from); + papi_func_tbl->PerformOffsetCalibration(data, + (data->offsetCalDistance<<16), + &OffsetMicroMeter); + pr_err("Offset calibration:%u\n", OffsetMicroMeter); + vl53l0_dbgmsg_en("End\n"); +} +static void stmvl53l0_work_state( +struct stmvl53l0_data *data, uint8_t input) +{ + int nochange = 0; + uint8_t from = data->w_mode; + + vl53l0_dbgmsg_en("Enter, stmvl53l0_work_state:%d\n", input); + mutex_lock(&data->work_mutex); + switch (data->w_mode) { + case OFF_MODE: + if (input == CAM_ON) + data->w_mode = CAM_MODE; + else if (input == SAR_ON) + data->w_mode = SAR_MODE; + else if (input == XTALKCAL_ON) + data->w_mode = XTALKCAL_MODE; + else if (input == OFFSETCAL_ON) + data->w_mode = OFFSETCAL_MODE; + else { + vl53l0_dbgmsg_en("unsopport status = %d,cs = OFF_MODE", + input); + nochange = 1; + } + break; + case CAM_MODE: + if (input == CAM_OFF) + data->w_mode = OFF_MODE; + else if (input == SAR_ON) + data->w_mode = SUPER_MODE; + else { + vl53l0_dbgmsg_en("unsopport status = %d,cs = CAM_MODE", input); + nochange = 1; + } + break; + case SAR_MODE: + if (input == CAM_ON) + data->w_mode = SUPER_MODE; + else if (input == SAR_OFF) + data->w_mode = OFF_MODE; + else { + vl53l0_dbgmsg_en("unsopport status = %d,cs = SAR_MODE", input); + nochange = 1; + } + break; + case SUPER_MODE: + if (input == CAM_OFF) { + stmvl53l0_stopmeasurement(data); + data->w_mode = SAR_MODE; + } else if (input == SAR_OFF) { + stmvl53l0_stopmeasurement(data); + data->w_mode = CAM_MODE; + } else { + vl53l0_dbgmsg_en("unsopport status= %d,cs = SUPER_MODE", input); + nochange = 1; + } + break; + case XTALKCAL_MODE: + if (input == CAL_OFF) + data->w_mode = OFF_MODE; + else { + vl53l0_dbgmsg_en("unsopport status = %d,cs= SUPER_MODE", input); + data->w_mode = OFF_MODE; + } + break; + case OFFSETCAL_MODE: + if (input == CAL_OFF) + data->w_mode = OFF_MODE; + else { + vl53l0_dbgmsg_en("unsopport status= %d,cs = SUPER_MODE", input); + data->w_mode = OFF_MODE; + } + break; + default: + vl53l0_dbgmsg_en("unsopport status= %d,cs = unknown", input); + nochange = 1; + break; + } + if (input == CAM_OFF && data->c_suspend == 1) + data->c_suspend = 0; + + if (nochange && input != RESET) { + vl53l0_dbgmsg_en("unsopport status= %d,cs = %d", + input, data->w_mode); + mutex_unlock(&data->work_mutex); + return; + } + data->c_stopped = 1; + if (input == RESET) { + stmvl53l0_stop(data); + data->reset = 0; + if (data->enable_ps_sensor == 0) + stmvl53l0_start(data); + } + + cancel_delayed_work(&data->dwork); + switch (data->w_mode) { + case OFF_MODE: + stmvl53l0_stopmeasurement(data); + stmvl53l0_enter_off(data, from); + break; + case CAM_MODE: + stmvl53l0_enter_cam(data, from); + break; + case SAR_MODE: + stmvl53l0_enter_sar(data, from); + break; + case SUPER_MODE: + stmvl53l0_stopmeasurement(data); + stmvl53l0_enter_super(data, from); + break; + case XTALKCAL_MODE: + stmvl53l0_enter_xtalkcal(data, from); + break; + case OFFSETCAL_MODE: + stmvl53l0_enter_offsetcal(data, from); + break; + default: + pr_err("status unknown, input = %d", input); + break; + } + data->c_stopped = 0; + mutex_unlock(&data->work_mutex); +} + +static void stmvl53l0_cancel_handler(struct stmvl53l0_data *data) +{ + unsigned long flags; + bool ret; + + spin_lock_irqsave(&data->update_lock.wait_lock, flags); + /* + * If work is already scheduled then subsequent schedules will not + * change the scheduled time that's why we have to cancel it first. + */ + ret = cancel_delayed_work(&data->dwork); + if (ret == 0) + vl53l0_errmsg("%d,cancel_delayed_work return FALSE\n", + __LINE__); + ret = cancel_delayed_work(&data->initwork); + if (ret == 0) + vl53l0_errmsg("%d,cancel_delayed_work return FALSE\n", + __LINE__); + ret = cancel_delayed_work(&data->resetwork); + if (ret == 0) + vl53l0_errmsg("%d,cancel_delayed_work return FALSE\n", + __LINE__); + ret = cancel_delayed_work(&data->checkwork); + if (ret == 0) + vl53l0_errmsg("%d,cancel_delayEd_work return FALSE\n", + __LINE__); + spin_unlock_irqrestore(&data->update_lock.wait_lock, flags); + + return; +} + +static void stmvl53l0_state_process(void) +{ +VL53L0_RangingMeasurementData_t RMData; +struct stmvl53l0_data *data = gp_vl53l0_data; +VL53L0_DEV vl53l0_dev = data; +struct timeval tv; +int newv; + +do_gettimeofday(&tv); +memset(&RMData, 0, sizeof(RMData)); +papi_func_tbl->GetRangingMeasurementData(vl53l0_dev, &RMData); + +vl53l0_dbgmsg_en("which MODE =%d\n", data->w_mode); +papi_func_tbl->ClearInterruptMask(vl53l0_dev, 0); +memcpy(&(data->rangeData), &RMData, + sizeof(VL53L0_RangingMeasurementData_t)); +data->d_ready = 1; + +data->rangeData.TimeStamp = tv.tv_sec; +data->rangeData.MeasurementTimeUsec = tv.tv_usec; +wake_up(&data->range_data_wait); + + if (CAM_MODE == data->w_mode) { + vl53l0_dbgmsg_en("CAM_MODE\n"); + stmvl53l0_apply_parameters(data); + papi_func_tbl->StartMeasurement(data); + if (data->enableDebug) + vl53l0_errmsg("range:%d, signalRateRtnMegaCps:%d, \ + error:0x%x,rtnambrate:%u,Dmax:%d,measuretime:%u\n", + data->rangeData.RangeMilliMeter, + data->rangeData.SignalRateRtnMegaCps, + data->rangeData.RangeStatus, + data->rangeData.AmbientRateRtnMegaCps, + data->rangeData.RangeDMaxMilliMeter, + data->rangeData.MeasurementTimeUsec); + } else if (SAR_MODE == data->w_mode) { + vl53l0_dbgmsg("SAR_MODE\n"); + if (data->gpio_function == VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) { + vl53l0_dbgmsg("SAR enter LOW\n"); + if (data->lowint < 2) { + data->lowint++; + papi_func_tbl->ClearInterruptMask(vl53l0_dev, 0); + return; + } + + papi_func_tbl->ClearInterruptMask(vl53l0_dev, 0); + stmvl53l0_ps_read_measurement(vl53l0_dev); + papi_func_tbl->SetGpioConfig(data, 0, 0, + VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH, + VL53L0_INTERRUPTPOLARITY_LOW); + data->gpio_function = VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH; + papi_func_tbl->SetInterMeasurementPeriodMilliSeconds( + data, 5000); + papi_func_tbl->SetMeasurementTimingBudgetMicroSeconds( + data, 33000); + papi_func_tbl->SetInterruptThresholds( + data, 0, data->lowv << 16, data->highv << 16); + papi_func_tbl->SetDeviceMode(data, + VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING); + data->lowint = 5; + papi_func_tbl->StartMeasurement(data); + vl53l0_dbgmsg("SAR enter LOW sent uevent\n"); + } else if (data->gpio_function == VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) { + vl53l0_dbgmsg("SAR enter HIGH\n"); + if (data->lowint > 4) { + data->lowint--; + papi_func_tbl->ClearInterruptMask(vl53l0_dev, 0); + return; + } + + papi_func_tbl->ClearInterruptMask(vl53l0_dev, 0); + stmvl53l0_ps_read_measurement(vl53l0_dev); + papi_func_tbl->SetGpioConfig(data, 0, 0, + VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW, + VL53L0_INTERRUPTPOLARITY_LOW); + data->gpio_function = VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW; + papi_func_tbl->SetInterMeasurementPeriodMilliSeconds( + data, 5000); + papi_func_tbl->SetMeasurementTimingBudgetMicroSeconds( + data, 33000); + papi_func_tbl->SetInterruptThresholds( + data, 0, data->lowv << 16, data->highv << 16); + papi_func_tbl->SetDeviceMode(data, + VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING); + data->lowint = 1; + papi_func_tbl->StartMeasurement(data); + vl53l0_dbgmsg("SAR enter high sent uevent\n"); + } + + vl53l0_dbgmsg_en("SAR measurement ready\n"); + } else if (SUPER_MODE == data->w_mode) { + vl53l0_dbgmsg_en("SUPER_MODE\n"); + stmvl53l0_apply_parameters(data); + newv = data->rangeData.RangeMilliMeter > data->highv ? 100:10; + if (s_prevalue != newv || s_count > 100) + stmvl53l0_ps_read_measurement(vl53l0_dev); + if (s_count > 100) + s_count = 0; + s_count++; + s_prevalue = newv; + papi_func_tbl->StartMeasurement(data); + } + +} +static void stmvl53l0_init_handler(struct work_struct *work) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + + vl53l0_dbgmsg_en("get in the handler\n"); + stmvl53l0_work_state(data, CAM_ON); + return; + +} +static void stmvl53l0_reset_handler(struct work_struct *work) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + + vl53l0_dbgmsg_en("get in the handler\n"); + stmvl53l0_work_state(data, RESET); + return; + +} +static void stmvl53l0_check_handler(struct work_struct *work) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + + vl53l0_dbgmsg_en("get in the handler\n"); + stmvl53l0_livechecking(data); + schedule_delayed_work(&data->checkwork, 1800000); +} +/* interrupt work handler */ +static void stmvl53l0_work_handler(struct work_struct *work) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + VL53L0_DEV vl53l0_dev = data; + uint32_t InterruptMask; + + vl53l0_dbgmsg_en("get in the handler\n"); + + mutex_lock(&data->work_mutex); + + if (data->enable_ps_sensor == 1 && data->c_suspend == 0 && 7 != data->d_mode && data->c_stopped == 0) { + papi_func_tbl->GetInterruptMaskStatus( + vl53l0_dev, &InterruptMask); + + vl53l0_dbgmsg_en(" InterruptMasksssss :%d\n", InterruptMask); + if (InterruptMask > 0 && data->interrupt_received == 1) { + data->interrupt_received = 0; + stmvl53l0_state_process(); + } + } + + mutex_unlock(&data->work_mutex); + + return; +} + +/* + * SysFS support + */ +static ssize_t stmvl53l0_show_enable_ps_sensor(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + + return snprintf(buf, 2, "%d\n", data->enable_ps_sensor); +} + +static ssize_t stmvl53l0_store_enable_ps_sensor(struct device *dev, + struct device_attribute *attr, const char *buf, size_t count) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + + unsigned long val; + + if (kstrtoul(buf, 10, &val)) + return count; + + if ((val != 0) && (val != 1)) { + vl53l0_errmsg("%d,store unvalid value=%ld\n", __LINE__, val); + return count; + } + mutex_lock(&data->work_mutex); + vl53l0_dbgmsg_en("Enter, enable_ps_sensor flag:%d\n", + data->enable_ps_sensor); + vl53l0_dbgmsg_en("enable ps senosr ( %ld)\n", val); + + if (val == 1) { + /* turn on tof sensor */ + if (data->enable_ps_sensor == 0) { + /* to start */ + stmvl53l0_start(data); + } else { + vl53l0_errmsg("%d,Already enabled. Skip !", __LINE__); + } + } else { + /* turn off tof sensor */ + if (data->enable_ps_sensor == 1) { + data->enable_ps_sensor = 0; + /* to stop */ + stmvl53l0_stop(data); + } + } + vl53l0_dbgmsg_en("End\n"); + mutex_unlock(&data->work_mutex); + + return count; +} + +static DEVICE_ATTR(enable_ps_sensor, S_IWUSR | S_IWGRP | S_IRUGO, + stmvl53l0_show_enable_ps_sensor, stmvl53l0_store_enable_ps_sensor); +static ssize_t stmvl53l0_show_set_mode(struct device *dev, +struct device_attribute *attr, char *buf) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + + return snprintf(buf, 3, "%d\n", data->d_mode); +} + +/* for debug */ +static ssize_t stmvl53l0_store_set_mode(struct device *dev, +struct device_attribute *attr, const char *buf, size_t count) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + VL53L0_RangingMeasurementData_t RMData; + long on; + VL53L0_Error Status = VL53L0_ERROR_NONE; + + if (kstrtoul(buf, 10, &on)) + return count; + if (on > 7) { + vl53l0_errmsg("%d,set d_mode=%ld\n", __LINE__, on); + return count; + } + data->d_mode = on; + /* turn on tof sensor */ + if (data->enable_ps_sensor == 0) { + /* to start */ + stmvl53l0_start(data); + } + memset(&RMData, 0, sizeof(RMData)); + if (VL53L0_DEVICEMODE_SINGLE_RANGING == data->d_mode) { + vl53l0_errmsg("Call of VL53L0_DEVICEMODE_SINGLE_RANGING\n"); + Status = papi_func_tbl->SetGpioConfig(data, 0, 0, + VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY, + VL53L0_INTERRUPTPOLARITY_LOW); + data->gpio_function = VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY; + Status = papi_func_tbl->SetDeviceMode(data, + VL53L0_DEVICEMODE_SINGLE_RANGING); + papi_func_tbl->SetMeasurementTimingBudgetMicroSeconds( + data, 50000); + Status = papi_func_tbl->PerformSingleRangingMeasurement(data, + &RMData); + stmvl53l0_ps_read_measurement(data); + } else if (1 == data->d_mode) { + vl53l0_errmsg("Call of mode 1\n"); + Status = papi_func_tbl->SetGpioConfig(data, 0, 0, + VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY, + VL53L0_INTERRUPTPOLARITY_LOW); + data->gpio_function = VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY; + Status = papi_func_tbl->SetDeviceMode(data, + VL53L0_DEVICEMODE_CONTINUOUS_RANGING); + papi_func_tbl->StartMeasurement(data); + } else if (2 == data->d_mode) { + vl53l0_errmsg("Call of mode 2\n"); + Status = papi_func_tbl->SetGpioConfig(data, 0, 0, + VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW, + VL53L0_INTERRUPTPOLARITY_LOW); + data->gpio_function = VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW; + Status = papi_func_tbl->SetDeviceMode(data, + VL53L0_DEVICEMODE_CONTINUOUS_RANGING); + papi_func_tbl->SetInterruptThresholds + (data, 0, 60 << 16, 80 << 16); + papi_func_tbl->StartMeasurement(data); + + } else if (3 == data->d_mode) { + vl53l0_errmsg("Call mode 3\n"); + papi_func_tbl->SetInterMeasurementPeriodMilliSeconds + (data, 0x00001388); + papi_func_tbl->SetGpioConfig(data, 0, 0, + VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH, + VL53L0_INTERRUPTPOLARITY_LOW); + data->gpio_function = VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH; + papi_func_tbl->SetInterruptThresholds + (data, 0, 30 << 16, 80 << 16); + Status = papi_func_tbl->SetDeviceMode(data, + VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING); + papi_func_tbl->StartMeasurement(data); + } else if (4 == data->d_mode) { + vl53l0_errmsg("Call of mode 4\n"); + Status = papi_func_tbl->SetGpioConfig(data, 0, 0, + VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH, + VL53L0_INTERRUPTPOLARITY_LOW); + data->gpio_function = VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH; + Status = papi_func_tbl->SetDeviceMode(data, + VL53L0_DEVICEMODE_CONTINUOUS_RANGING); + papi_func_tbl->SetInterruptThresholds + (data, 0, 30 << 16, 40 << 16); + papi_func_tbl->StartMeasurement(data); + } else if (5 == data->d_mode) + stmvl53l0_work_state(data, CAM_ON); + else if (6 == data->d_mode) + stmvl53l0_work_state(data, CAM_OFF); + else if (7 == data->d_mode) { + vl53l0_errmsg("call VL53L0_perform_single_histogram3\n"); + /*changes for feture*/ + /*papi_func_tbl->SetMeasurementTimingBudgetMicroSeconds( + data, 500000); + for (hdata.FirstBin = 0; hdata.FirstBin < 12; hdata.FirstBin++) + hdata.HistogramData[hdata.FirstBin] = 0; + VL53L0_perform_single_histogram(data, 1, 1, 0, &hdata); + vl53l0_errmsg("VL53L0_perform_single_histogram start_bin %d, NumberOfBins %d, ErrorStatus %d\n", hdata.FirstBin, hdata.NumberOfBins, hdata.ErrorStatus); + Start_bin = hdata.FirstBin; + vl53l0_errmsg("call VL53L0_perform_single_histogram3\n"); + VL53L0_perform_single_histogram(data, 2, 1, Start_bin, &hdata); + vl53l0_errmsg("VL53L0_perform_single_histogram start_bin %d, NumberOfBins %d, ErrorStatus %d\n", hdata.FirstBin, hdata.NumberOfBins, hdata.ErrorStatus); + vl53l0_errmsg("VL53L0_perform_single_histogram 1 %d, 2 %d, 3 %d, 4 %d\n", hdata.HistogramData[hdata.FirstBin], hdata.HistogramData[hdata.FirstBin+1], + hdata.HistogramData[hdata.FirstBin+2], hdata.HistogramData[hdata.FirstBin+3]); + vl53l0_errmsg("VL53L0_perform_single_histogram 5 %d, 6 %d, 7 %d, 8 %d\n", hdata.HistogramData[hdata.FirstBin+4], hdata.HistogramData[hdata.FirstBin+5], + hdata.HistogramData[hdata.FirstBin+6], hdata.HistogramData[hdata.FirstBin+7]); + vl53l0_errmsg("VL53L0_perform_single_histogram 9 %d, 10 %d, 11 %d, 12 %d\n", hdata.HistogramData[hdata.FirstBin+8], hdata.HistogramData[hdata.FirstBin+9], + hdata.HistogramData[hdata.FirstBin+10], hdata.HistogramData[hdata.FirstBin+11]); + + VL53L0_perform_single_histogram(data, 2, 1, 3, &hdata); + vl53l0_errmsg("VL53L0_perform_single_histogram start_bin %d, NumberOfBins %d, ErrorStatus %d\n", hdata.FirstBin, hdata.NumberOfBins, hdata.ErrorStatus); + vl53l0_errmsg("VL53L0_perform_single_histogram 1 %d, 2 %d, 3 %d, 4 %d\n", hdata.HistogramData[hdata.FirstBin], hdata.HistogramData[hdata.FirstBin+1], + hdata.HistogramData[hdata.FirstBin+2], hdata.HistogramData[hdata.FirstBin+3]); + VL53L0_perform_single_histogram(data, 2, 1, 7, &hdata); + vl53l0_errmsg("VL53L0_perform_single_histogram start_bin %d, NumberOfBins %d, ErrorStatus %d\n", hdata.FirstBin, hdata.NumberOfBins, hdata.ErrorStatus); + vl53l0_errmsg("VL53L0_perform_single_histogram 1 %d, 2 %d, 3 %d, 4 %d\n", hdata.HistogramData[hdata.FirstBin], hdata.HistogramData[hdata.FirstBin+1], + hdata.HistogramData[hdata.FirstBin+2], hdata.HistogramData[hdata.FirstBin+3]);*/ + } + + return count; +} +/* DEVICE_ATTR(name,mode,show,store) */ +static DEVICE_ATTR(set_mode, S_IWUSR | S_IRUGO, + stmvl53l0_show_set_mode, stmvl53l0_store_set_mode); + +static ssize_t stmvl53l0_show_enable_sar(struct device *dev, +struct device_attribute *attr, char *buf) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + + return snprintf(buf, 3, "%d\n", data->w_mode); +} + +/* + * to set sar working mode for rear proximity sensor + * parameter value 0: to turn sar mode off + * parameter value 1: to turn sar mode on + * parameter value 2: to reply flush call from user space by + * using current EV_ABS api + */ +static ssize_t stmvl53l0_store_enable_sar(struct device *dev, +struct device_attribute *attr, const char *buf, size_t count) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + long on; + + if (kstrtoul(buf, 10, &on)) + return count; + + if (on == 2) { + /* send flush reply */ + int dt_flush = 1; + + input_report_abs(data->input_dev_ps, ABS_MISC, dt_flush); + input_report_abs(data->input_dev_ps, ABS_MISC, ++dt_flush); + input_sync(data->input_dev_ps); + return count; + } + + if ((on != 0) && (on != 1)) { + vl53l0_errmsg("%d,set debug=%ld\n", __LINE__, on); + return count; + } + + if (on) + stmvl53l0_work_state(data, SAR_ON); + else + stmvl53l0_work_state(data, SAR_OFF); + + return count; +} + +/* DEVICE_ATTR(name,mode,show,store) */ +static DEVICE_ATTR(enable_sar, S_IWUSR | S_IRUGO, + stmvl53l0_show_enable_sar, stmvl53l0_store_enable_sar); + +static ssize_t stmvl53l0_show_enable_debug(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + + return snprintf(buf, 3, "%d\n", data->enableDebug); +} + +/* for debug */ +static ssize_t stmvl53l0_store_enable_debug(struct device *dev, +struct device_attribute *attr, const char *buf, size_t count) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + long on; + + if (kstrtoul(buf, 10, &on)) + return count; + if ((on != 0) && (on != 1)) { + vl53l0_errmsg("%d,set debug=%ld\n", __LINE__, on); + return count; + } + data->enableDebug = on; + + return count; +} + +/* DEVICE_ATTR(name,mode,show,store) */ +static DEVICE_ATTR(enable_debug, S_IWUSR | S_IRUGO, + stmvl53l0_show_enable_debug, stmvl53l0_store_enable_debug); + +static ssize_t stmvl53l0_show_offset(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + + return snprintf(buf, 5, "%d\n", data->offset); +} + +static ssize_t stmvl53l0_store_offset(struct device *dev, + struct device_attribute *attr, const char *buf, size_t count) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + long on; + + if (buf[0] == '-') { + if (kstrtoul(&buf[1], 10, &on)) + return count; + on = 0 - on; + } else { + if (kstrtoul(buf, 10, &on)) + return count; + } + vl53l0_errmsg("%d,set offset=%ld\n", __LINE__, on); + data->offset = on * 1000; + mutex_lock(&data->work_mutex); + if (data->enable_ps_sensor == 0) + stmvl53l0_start(data); + if (data->w_mode != OFF_MODE) { + vl53l0_errmsg("%d, set offsetcal in other mode, it will be postpone \n", __LINE__); + if (s_nump < 10) { + s_parameters[s_nump].name = OFFSET_PAR; + s_parameters[s_nump].is_read = 0; + s_parameters[s_nump].value = data->offset; + s_nump++; + } + } + if (data->enable_ps_sensor == 1) { + data->enable_ps_sensor = 0; + /* to stop */ + stmvl53l0_stop(data); + } + mutex_unlock(&data->work_mutex); + return count; +} + +/* DEVICE_ATTR(name,mode,show,store) */ +static DEVICE_ATTR(offset, S_IWUSR | S_IRUGO, + stmvl53l0_show_offset, stmvl53l0_store_offset); + +static ssize_t stmvl53l0_show_xtalk(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + + return snprintf(buf, 5, "%d\n", data->xtalk); +} + +static ssize_t stmvl53l0_store_xtalk(struct device *dev, + struct device_attribute *attr, const char *buf, size_t count) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + long on; + + if (kstrtoul(buf, 10, &on)) + return count; + data->xtalk = on; + vl53l0_errmsg("%d,set xtalk=%ld\n", __LINE__, on); + return count; +} + +/* DEVICE_ATTR(name,mode,show,store) */ +static DEVICE_ATTR(xtalk, S_IWUSR | S_IRUGO, + stmvl53l0_show_xtalk, stmvl53l0_store_xtalk); + +static ssize_t stmvl53l0_show_set_delay_ms(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + + return snprintf(buf, 3, "%d\n", data->delay_ms); +} + +/* for work handler scheduler time */ +static ssize_t stmvl53l0_store_set_delay_ms(struct device *dev, + struct device_attribute *attr, const char *buf, size_t count) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + long delay_ms; + + if (kstrtoul(buf, 10, &delay_ms)) + return count; + if (delay_ms == 0) { + vl53l0_errmsg("%d,set delay_ms=%ld\n", __LINE__, delay_ms); + return count; + } + mutex_lock(&data->work_mutex); + data->delay_ms = delay_ms; + mutex_unlock(&data->work_mutex); + + return count; +} + +/* DEVICE_ATTR(name,mode,show,store) */ +static DEVICE_ATTR(set_delay_ms, S_IWUSR | S_IWGRP | S_IRUGO, + stmvl53l0_show_set_delay_ms, stmvl53l0_store_set_delay_ms); + +static ssize_t stmvl53l0_show_near(struct device *dev, +struct device_attribute *attr, char *buf) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + + return snprintf(buf, 5, "%d\n", + data->rangeData.RangeMilliMeter); +} + +/* for work handler scheduler time */ +static ssize_t stmvl53l0_store_near(struct device *dev, +struct device_attribute *attr, const char *buf, size_t count) +{ + return count; +} + +/* DEVICE_ATTR(name,mode,show,store) */ +static DEVICE_ATTR(near, S_IRUGO, + stmvl53l0_show_near, stmvl53l0_store_near); + + +static struct attribute *stmvl53l0_attributes[] = { + &dev_attr_enable_ps_sensor.attr, + &dev_attr_enable_debug.attr, + &dev_attr_set_delay_ms.attr, + &dev_attr_set_mode.attr, + &dev_attr_enable_sar.attr, + &dev_attr_near.attr, + &dev_attr_xtalk.attr, + &dev_attr_offset.attr, + NULL +}; + + +static const struct attribute_group stmvl53l0_attr_group = { + .attrs = stmvl53l0_attributes, +}; + + +/* +* misc device file operation functions +*/ +static int stmvl53l0_ioctl_handler(struct file *file, + unsigned int cmd, unsigned long arg, void __user *p) +{ + int rc = 0; + unsigned int xtalkint = 0; + unsigned int targetDistance = 0; + int8_t offsetint = 0; + struct stmvl53l0_data *data = gp_vl53l0_data; + + struct stmvl53l0_register reg; + struct stmvl53l0_parameter parameter; + VL53L0_DEV vl53l0_dev = data; + uint8_t page_num = 0; + if (!data) + return -EINVAL; + + vl53l0_dbgmsg_en("Enter enable_ps_sensor:%d\n", data->enable_ps_sensor); + switch (cmd) { + /* enable */ + case VL53L0_IOCTL_INIT: + vl53l0_dbgmsg_en("VL53L0_IOCTL_INIT\n"); + stmvl53l0_work_state(data, CAM_ON); + break; + case VL53L0_IOCTL_INIT_NS: + if (data->enable_ps_sensor == 0) + stmvl53l0_start(data); + break; + case VL53L0_IOCTL_INIT_NB: + vl53l0_dbgmsg_en("init nb called\n"); + schedule_delayed_work(&data->initwork, 0); + break; + case VL53L0_IOCTL_SUSPEND: + mutex_lock(&data->work_mutex); + vl53l0_dbgmsg_en("VL53L0_IOCTL_SUSPEND\n"); + data->c_suspend = 1; + mutex_unlock(&data->work_mutex); + break; + case VL53L0_IOCTL_RESUME: + vl53l0_dbgmsg_en("VL53L0_IOCTL_RESUME\n"); + mutex_lock(&data->work_mutex); + if (data->c_suspend == 1) { + data->c_suspend = 0; + VL53L0_ClearInterruptMask(data, 0); + papi_func_tbl->StartMeasurement(data); + } + mutex_unlock(&data->work_mutex); + break; + case VL53L0_IOCTL_RESET: + stmvl53l0_work_state(data, RESET); + break; + case VL53L0_IOCTL_RESET_NB: + schedule_delayed_work(&data->resetwork, 0); + break; + /* crosstalk calibration */ + case VL53L0_IOCTL_XTALKCALB: + vl53l0_dbgmsg_en("VL53L0_IOCTL_XTALKCALB\n"); + data->xtalkCalDistance = 100; + if (copy_from_user(&targetDistance, (unsigned int *)p, + sizeof(unsigned int))) { + vl53l0_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + data->xtalkCalDistance = targetDistance; + stmvl53l0_work_state(data, XTALKCAL_ON); + if (copy_to_user((unsigned int *)p, + &(data->xtalkcalval), + sizeof(unsigned int))) { + vl53l0_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + break; + /* set up Xtalk value */ + case VL53L0_IOCTL_SETXTALK: + vl53l0_dbgmsg_en("VL53L0_IOCTL_SETXTALK\n"); + if (copy_from_user(&xtalkint, (unsigned int *)p, + sizeof(unsigned int))) { + vl53l0_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + vl53l0_dbgmsg_en("SETXTALK as 0x%x\n", xtalkint); + break; + /* offset calibration */ + case VL53L0_IOCTL_OFFCALB: + vl53l0_dbgmsg_en("VL53L0_IOCTL_OFFCALB\n"); + data->offsetCalDistance = 50; + if (copy_from_user(&targetDistance, (unsigned int *)p, + sizeof(unsigned int))) { + vl53l0_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + data->offsetCalDistance = targetDistance; + stmvl53l0_work_state(data, OFFSETCAL_ON); + break; + case VL53L0_IOCTL_STOPCALB: + vl53l0_dbgmsg_en("VL53L0_IOCTL_STOPCALB\n"); + stmvl53l0_work_state(data, CAL_OFF); + break; + /* set up offset value */ + case VL53L0_IOCTL_SETOFFSET: + vl53l0_dbgmsg_en("VL53L0_IOCTL_SETOFFSET\n"); + if (copy_from_user(&offsetint, (int8_t *)p, sizeof(int8_t))) { + vl53l0_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + vl53l0_dbgmsg_en("SETOFFSET as %d\n", offsetint); + + break; + /* disable */ + case VL53L0_IOCTL_STOP: + vl53l0_dbgmsg_en("VL53L0_IOCTL_STOP\n"); + stmvl53l0_work_state(data, CAM_OFF); + break; + case VL53L0_IOCTL_GETDATAS_BLOCK: + vl53l0_dbgmsg_en("VL53L0_IOCTL_GETDATAS_BLOCK\n"); + data->d_ready = 0; + wait_event_timeout(data->range_data_wait, + data->d_ready > 0, + DATA_TIMEOUT); + if (copy_to_user((VL53L0_RangingMeasurementData_t *)p, + &(data->rangeData), + sizeof(VL53L0_RangingMeasurementData_t))) { + vl53l0_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + break; + /* Get all range data */ + case VL53L0_IOCTL_GETDATAS: + vl53l0_dbgmsg_en("VL53L0_IOCTL_GETDATAS\n"); + if (data->enable_ps_sensor == 0) + return -EFAULT; + if (copy_to_user((VL53L0_RangingMeasurementData_t *)p, + &(data->rangeData), + sizeof(VL53L0_RangingMeasurementData_t))) { + vl53l0_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + break; + /* Register tool */ + case VL53L0_IOCTL_REGISTER: + vl53l0_dbgmsg_en("VL53L0_IOCTL_REGISTER\n"); + /* turn on tof sensor */ + if (data->enable_ps_sensor == 0) { + /* to start */ + stmvl53l0_start(data); + } + if (copy_from_user(®, (struct stmvl53l0_register *)p, + sizeof(struct stmvl53l0_register))) { + vl53l0_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + reg.status = 0; + page_num = (uint8_t)((reg.reg_index & 0x0000ff00) >> 8); + vl53l0_dbgmsg_en("IOCTL_REGISTER, page num:%d\n", page_num); + if (page_num != 0) + reg.status = VL53L0_WrByte(vl53l0_dev, 0xFF, page_num); + + switch (reg.reg_bytes) { + case(4): + if (reg.is_read) + reg.status = VL53L0_RdDWord(vl53l0_dev, + (uint8_t)reg.reg_index, ®.reg_data); + else + reg.status = VL53L0_WrDWord(vl53l0_dev, + (uint8_t)reg.reg_index, reg.reg_data); + break; + case(2): + if (reg.is_read) + reg.status = VL53L0_RdWord(vl53l0_dev, + (uint8_t)reg.reg_index, + (uint16_t *)®.reg_data); + else + reg.status = VL53L0_WrWord(vl53l0_dev, + (uint8_t)reg.reg_index, + (uint16_t)reg.reg_data); + break; + case(1): + if (reg.is_read) + reg.status = VL53L0_RdByte(vl53l0_dev, + (uint8_t)reg.reg_index, + (uint8_t *)®.reg_data); + else + reg.status = VL53L0_WrByte(vl53l0_dev, + (uint8_t)reg.reg_index, + (uint8_t)reg.reg_data); + break; + default: + reg.status = -1; + + } + if (page_num != 0) + reg.status = VL53L0_WrByte(vl53l0_dev, 0xFF, 0); + + + if (copy_to_user((struct stmvl53l0_register *)p, ®, + sizeof(struct stmvl53l0_register))) { + vl53l0_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + break; + /* parameter access */ + case VL53L0_IOCTL_PARAMETER: + vl53l0_dbgmsg_en("VL53L0_IOCTL_PARAMETER\n"); + /* turn on tof sensor */ + if (data->enable_ps_sensor == 0) { + /* to start */ + stmvl53l0_start(data); + } + if (copy_from_user(¶meter, (struct stmvl53l0_parameter *)p, + sizeof(struct stmvl53l0_parameter))) { + vl53l0_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + parameter.status = 0; + mutex_lock(&data->work_mutex); + if (!parameter.is_read && data->w_mode != OFF_MODE) { + vl53l0_errmsg("%d, write parameter in other mode, it will be postpone \n", __LINE__); + if (s_nump < 10) { + if (!copy_from_user(&s_parameters[s_nump], + (struct stmvl53l0_parameter *)p, sizeof(struct stmvl53l0_parameter))) + s_nump++; + } + mutex_unlock(&data->work_mutex); + return rc; + } + switch (parameter.name) { + case (OFFSET_PAR): + if (parameter.is_read) + parameter.status = + papi_func_tbl->GetOffsetCalibrationDataMicroMeter( + vl53l0_dev, ¶meter.value); + else + parameter.status = + papi_func_tbl->SetOffsetCalibrationDataMicroMeter( + vl53l0_dev, parameter.value); + break; + case (XTALKRATE_PAR): + if (parameter.is_read) + parameter.status = + VL53L0_GetXTalkCompensationRateMegaCps( + vl53l0_dev, (FixPoint1616_t *)¶meter.value); + else + parameter.status = + papi_func_tbl->SetXTalkCompensationRateMegaCps( + vl53l0_dev, (FixPoint1616_t)parameter.value); + + break; + case (XTALKENABLE_PAR): + if (parameter.is_read) + parameter.status = + papi_func_tbl->GetXTalkCompensationEnable( + vl53l0_dev, (uint8_t *)¶meter.value); + else + parameter.status = + papi_func_tbl->SetXTalkCompensationEnable( + vl53l0_dev, (uint8_t)parameter.value); + break; + case (SIGMAVAL_PRA): + if (!parameter.is_read) + parameter.status = papi_func_tbl-> + SetLimitCheckValue(vl53l0_dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + (FixPoint1616_t)parameter.value); + else + parameter.status = papi_func_tbl-> + GetLimitCheckValue(vl53l0_dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + (FixPoint1616_t *)¶meter.value); + break; + + case (SIGMACTL_PRA): + if (!parameter.is_read) + parameter.status = + papi_func_tbl->SetLimitCheckEnable(vl53l0_dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + (uint8_t)parameter.value); + else + parameter.status = + papi_func_tbl->GetLimitCheckEnable(vl53l0_dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + (uint8_t *)¶meter.value); + break; + case (SGLVAL_PRA): + if (!parameter.is_read) + parameter.status = papi_func_tbl-> + SetLimitCheckValue(vl53l0_dev, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + (FixPoint1616_t)parameter.value); + else + parameter.status = papi_func_tbl-> + GetLimitCheckValue(vl53l0_dev, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + (FixPoint1616_t *)¶meter.value); + break; + + case (SGLCTL_PRA): + if (!parameter.is_read) + parameter.status = + papi_func_tbl->SetLimitCheckEnable(vl53l0_dev, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + (uint8_t)parameter.value); + else + parameter.status = + papi_func_tbl->GetLimitCheckEnable(vl53l0_dev, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + (uint8_t *)¶meter.value); + break; + + case (WRAPAROUNDCTL_PRA): + if (parameter.is_read) + parameter.status = + VL53L0_GetWrapAroundCheckEnable( + vl53l0_dev, (uint8_t *)¶meter.value); + else + parameter.status = + VL53L0_SetWrapAroundCheckEnable( + vl53l0_dev, (uint8_t)parameter.value); + break; + + case (MEASUREMENTTIMINGBUDGET_PAR): + if (parameter.is_read) + parameter.status = + VL53L0_GetMeasurementTimingBudgetMicroSeconds( + vl53l0_dev, (uint32_t *)¶meter.value); + else + parameter.status = + VL53L0_SetMeasurementTimingBudgetMicroSeconds( + vl53l0_dev, (uint32_t)parameter.value); + break; + case (CUTV_PRA): + if (parameter.is_read) + parameter.value = vl53l0_dev->cut_v; + break; + case (DRVV_PRA): + if (parameter.is_read) + parameter.value = DRIVER_VERSION_NUM; + break; + case (PLLPRE_PRA): + if (parameter.is_read) + parameter.status = + papi_func_tbl->GetVcselPulsePeriod(vl53l0_dev, + VL53L0_VCSEL_PERIOD_PRE_RANGE, (uint8_t *)¶meter.value); + else { + parameter.status = + papi_func_tbl->SetVcselPulsePeriod(vl53l0_dev, + VL53L0_VCSEL_PERIOD_PRE_RANGE, (uint8_t)parameter.value); + vl53l0_dev->pll_p = (uint8_t)parameter.value; + } + break; + case (PLLFINAL_PRA): + if (parameter.is_read) + parameter.status = + papi_func_tbl->GetVcselPulsePeriod(vl53l0_dev, + VL53L0_VCSEL_PERIOD_FINAL_RANGE, (uint8_t *)¶meter.value); + else { + parameter.status = + papi_func_tbl->SetVcselPulsePeriod(vl53l0_dev, + VL53L0_VCSEL_PERIOD_FINAL_RANGE, (uint8_t)parameter.value); + vl53l0_dev->pll_f = (uint8_t)parameter.value; + } + break; + } + + + + mutex_unlock(&data->work_mutex); + if (copy_to_user((struct stmvl53l0_parameter *)p, ¶meter, + sizeof(struct stmvl53l0_parameter))) { + vl53l0_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + break; + + default: + rc = -EINVAL; + break; + } + + return rc; +} + +static int stmvl53l0_open(struct inode *inode, struct file *file) +{ + return 0; +} + +static int stmvl53l0_close(struct inode *inode, struct file *file) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + + if (data->w_mode == CAM_MODE || data->w_mode == SUPER_MODE) { + stmvl53l0_work_state(data, CAM_OFF); + } + if (data->w_mode == XTALKCAL_MODE || data->w_mode == OFFSETCAL_MODE) + stmvl53l0_work_state(data, CAL_OFF); + return 0; +} + +static int stmvl53l0_flush(struct file *file, fl_owner_t id) +{ + return 0; +} + +static long stmvl53l0_ioctl(struct file *file, + unsigned int cmd, unsigned long arg) +{ + int ret; + ret = stmvl53l0_ioctl_handler(file, cmd, arg, (void __user *)arg); + return ret; +} + +#ifdef CONFIG_COMPAT +static long stmvl53l0_compat_ioctl(struct file *file, + unsigned int cmd, unsigned long arg) +{ + int ret; + + ret = stmvl53l0_ioctl_handler(file, cmd, arg, compat_ptr(arg)); + return ret; +} +#endif + +int stmvl53l0_livechecking(struct stmvl53l0_data *data) +{ + uint8_t id = 0; + VL53L0_DEV vl53l0_dev = data; + struct timeval tv; + + vl53l0_dbgmsg_en("Enter\n"); + /* Read Model ID */ + mutex_lock(&data->work_mutex); + if (data->enable_ps_sensor == 1 && SAR_MODE == data->w_mode) { + VL53L0_RdByte(vl53l0_dev, + VL53L0_REG_IDENTIFICATION_MODEL_ID, &id); + vl53l0_dbgmsg("read MODLE_ID: 0x%x\n", id); + if (id == 0xee) + vl53l0_dbgmsg("STM VL53L0 still alive\n"); + else { + vl53l0_errmsg("STM VL53L0 looks dead\n"); + do_gettimeofday(&tv); + + input_report_abs(data->input_dev_ps, ABS_DISTANCE, 1); + input_report_abs(data->input_dev_ps, ABS_HAT0X, tv.tv_sec); + input_report_abs(data->input_dev_ps, ABS_HAT0Y, tv.tv_usec); + input_report_abs(data->input_dev_ps, ABS_HAT1X, + data->rangeData.RangeMilliMeter); + input_report_abs(data->input_dev_ps, ABS_HAT1Y, + data->rangeData.RangeStatus); + input_report_abs(data->input_dev_ps, ABS_HAT2X, + data->rangeData.SignalRateRtnMegaCps); + input_report_abs(data->input_dev_ps, ABS_HAT2Y, + data->rangeData.AmbientRateRtnMegaCps); + input_report_abs(data->input_dev_ps, ABS_HAT3X, + data->rangeData.MeasurementTimeUsec); + input_report_abs(data->input_dev_ps, ABS_HAT3Y, + data->rangeData.RangeDMaxMilliMeter); + input_sync(data->input_dev_ps); + } + } + mutex_unlock(&data->work_mutex); + +return 0; +} +int stmvl53l0_checkmoduleid(struct stmvl53l0_data *data, + void *client, uint8_t type) +{ + uint8_t id = 0; + int err; + + vl53l0_dbgmsg("Enter\n"); + if (type == CCI_BUS) { + struct msm_camera_i2c_client *cci_pclient = + (struct msm_camera_i2c_client *)client; + + cci_pclient->i2c_func_tbl->i2c_read_seq(cci_pclient, + 0xc0, &id, 1); + } else { + struct i2c_client *i2c_pclient = (struct i2c_client *)client; + struct i2c_msg msg[1]; + uint8_t buff; + + buff = 0xc0; + msg[0].addr = i2c_pclient->addr; + msg[0].flags = I2C_M_WR; + msg[0].buf = &buff; + msg[0].len = 1; + + err = i2c_transfer(i2c_pclient->adapter, msg, 1); + if (err != 1) { + pr_err("%s: i2c_transfer err:%d, addr:0x%x, reg:0x%x\n", + __func__, err, i2c_pclient->addr, buff); + err = -1; + return err; + } + + msg[0].addr = i2c_pclient->addr; + msg[0].flags = I2C_M_RD | i2c_pclient->flags; + msg[0].buf = &id; + msg[0].len = 1; + + err = i2c_transfer(i2c_pclient->adapter, &msg[0], 1); + if (err != 1) { + pr_err("%s: Read i2c_transfer err:%d, addr:0x%x\n", + __func__, err, i2c_pclient->addr); + err = -1; + return err; + } + } + /* Read Model ID */ + + vl53l0_dbgmsg("read MODLE_ID: 0x%x\n", id); + if (id == 0xee) { + vl53l0_errmsg("STM VL53L0 Found %d\n", __LINE__); + return 0; + } + + vl53l0_errmsg("Not found STM VL53L0 %d\n", __LINE__); + return -EIO; +} + +/* +* Initialization function +*/ +static int stmvl53l0_init_client(struct stmvl53l0_data *data) +{ + uint8_t id = 0, type = 0, i = 0; + uint8_t revision = 0, module_id = 0; + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceInfo_t DeviceInfo; + VL53L0_DEV vl53l0_dev = data; + FixPoint1616_t LimitValue; + uint8_t LimitEnable; + + vl53l0_dbgmsg_en("Enter\n"); + + /* Read Model ID */ + for (i = 0; i < 5; i++) { + VL53L0_RdByte(vl53l0_dev, + VL53L0_REG_IDENTIFICATION_MODEL_ID, &id); + vl53l0_errmsg("read MODLE_ID: 0x%x\n", id); + if (id == 0xee) { + vl53l0_errmsg("STM VL53L0 Found\n"); + break; + } + + udelay(1000); + } + if (id != 0xee) { + vl53l0_errmsg("Not found STM VL53L0\n"); + return -EIO; + } + if (data->reset) { + VL53L0_RdByte(vl53l0_dev, 0xc1, &id); + vl53l0_errmsg("read 0xc1: 0x%x\n", id); + VL53L0_RdByte(vl53l0_dev, 0xc2, &id); + vl53l0_errmsg("read 0xc2: 0x%x\n", id); + VL53L0_RdByte(vl53l0_dev, 0xc3, &id); + vl53l0_errmsg("read 0xc3: 0x%x\n", id); + + /* Read Model Version */ + VL53L0_RdByte(vl53l0_dev, 0xC0, &type); + VL53L0_RdByte(vl53l0_dev, VL53L0_REG_IDENTIFICATION_REVISION_ID, + &revision); + VL53L0_RdByte(vl53l0_dev, 0xc3, + &module_id); + vl53l0_errmsg("STM VL53L0 Model type : %d. rev:%d. module:%d\n", type, + revision, module_id); + + vl53l0_dev->I2cDevAddr = 0x52; + vl53l0_dev->comms_type = 1; + vl53l0_dev->comms_speed_khz = 400; + + /* Setup API functions based on revision */ + stmvl53l0_setupAPIFunctions(data); + } + + if (Status == VL53L0_ERROR_NONE) { + pr_err("Call of VL53L0_DataInit\n"); + Status = papi_func_tbl->DataInit(vl53l0_dev); + } + + if (Status == VL53L0_ERROR_NONE && data->reset) { + pr_err("VL53L0_GetDeviceInfo:\n"); + Status = papi_func_tbl->GetDeviceInfo(vl53l0_dev, &DeviceInfo); + if (Status == VL53L0_ERROR_NONE) { + pr_err("Device Name : %s\n", DeviceInfo.Name); + pr_err("Device Type : %s\n", DeviceInfo.Type); + pr_err("Device ID : %s\n", DeviceInfo.ProductId); + pr_err("Product type: %d\n", DeviceInfo.ProductType); + pr_err("ProductRevisionMajor : %d\n", + DeviceInfo.ProductRevisionMajor); + pr_err("ProductRevisionMinor : %d\n", + DeviceInfo.ProductRevisionMinor); + } + } + + if (Status == VL53L0_ERROR_NONE) { + pr_err("Call of VL53L0_StaticInit\n"); + Status = papi_func_tbl->StaticInit(vl53l0_dev); + /* Device Initialization */ + } + + if (Status == VL53L0_ERROR_NONE && data->reset) { + pr_err("Call of VL53L0_PerformRefCalibration\n"); + Status = papi_func_tbl->PerformRefCalibration(vl53l0_dev, + &(data->VhvSettings), &(data->PhaseCal)); /* Ref calibration */ + + pr_err("VL53L0_PerformRefCalibration %d, %d\n", data->VhvSettings, data->PhaseCal); + } else if (Status == VL53L0_ERROR_NONE && data->reset == 0) { + pr_err("Call of VL53L0_SetRefCalibration\n"); + VL53L0_SetRefCalibration(vl53l0_dev, data->VhvSettings, data->PhaseCal); + } + + if (Status == VL53L0_ERROR_NONE && data->reset) { + pr_err("Call of VL53L0_PerformRefSpadManagement\n"); + Status = papi_func_tbl->PerformRefSpadManagement(vl53l0_dev, + &(data->refSpadCount), &(data->isApertureSpads)); + data->reset = 0; + pr_err("VL53L0_PerformRefSpadManagement, %d, %d\n", data->refSpadCount, data->isApertureSpads); + } else if (Status == VL53L0_ERROR_NONE && data->reset == 0) { + pr_err("Call of VL53L0_SetReferenceSpads\n"); + VL53L0_SetReferenceSpads(vl53l0_dev, data->refSpadCount, data->isApertureSpads); + } + if (Status == VL53L0_ERROR_NONE && data->reset) { + + pr_err("Call of papi_func_tbl->SetDeviceMode\n"); + Status = papi_func_tbl->SetDeviceMode(vl53l0_dev, + VL53L0_DEVICEMODE_SINGLE_RANGING); + /* Setup in single ranging mode */ + } + if (Status == VL53L0_ERROR_NONE && data->reset) { + Status = papi_func_tbl->GetLimitCheckValue(vl53l0_dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + &LimitValue); + Status = papi_func_tbl->GetLimitCheckEnable(vl53l0_dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + &LimitEnable); + pr_err("Get LimitCheckValue SIGMA_FINAL_RANGE as:%d,Enable:%d\n", + (LimitValue>>16), LimitEnable); + } + + if (Status == VL53L0_ERROR_NONE && data->reset) { + Status = papi_func_tbl->GetLimitCheckValue(vl53l0_dev, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + &LimitValue); + Status = papi_func_tbl->GetLimitCheckEnable(vl53l0_dev, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + &LimitEnable); + pr_err("Get LimitCheckValue SIGNAL_FINAL_RANGE as:%d(Fix1616),Eanble:%d\n", + (LimitValue), LimitEnable); + } + + if (Status == VL53L0_ERROR_NONE && data->reset) { + Status = papi_func_tbl->GetLimitCheckValue(vl53l0_dev, + VL53L0_CHECKENABLE_SIGNAL_REF_CLIP, + &LimitValue); + Status = papi_func_tbl->GetLimitCheckEnable(vl53l0_dev, + VL53L0_CHECKENABLE_SIGNAL_REF_CLIP, + &LimitEnable); + pr_err("Get LimitCheckValue SIGNAL_REF_CLIP as:%d(fix1616),Enable:%d\n", + (LimitValue), LimitEnable); + } + + if (Status == VL53L0_ERROR_NONE && data->reset) { + Status = papi_func_tbl->GetLimitCheckValue(vl53l0_dev, + VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + &LimitValue); + Status = papi_func_tbl->GetLimitCheckEnable(vl53l0_dev, + VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + &LimitEnable); + pr_err("Get LimitCheckValue RANGE_IGNORE_THRESHOLD as:%d(fix1616),Enable:%d\n", + (LimitValue), LimitEnable); + } + + if (Status == VL53L0_ERROR_NONE) + Status = papi_func_tbl->SetWrapAroundCheckEnable(vl53l0_dev, 1); + if (data->offset != 0) + papi_func_tbl->SetOffsetCalibrationDataMicroMeter( + vl53l0_dev, data->offset); + if (data->xtalk != 0) + papi_func_tbl->SetXTalkCompensationRateMegaCps( + vl53l0_dev, (FixPoint1616_t)data->xtalk); + papi_func_tbl->SetXTalkCompensationEnable(vl53l0_dev, 1); + +#ifdef CALIBRATION_FILE + /*stmvl53l0_read_calibration_file(data);*/ +#endif + + vl53l0_dbgmsg_en("End\n"); + + return 0; +} + +irqreturn_t laser_isr(int irq, void *dev) +{ + struct stmvl53l0_data *data = gp_vl53l0_data; + + vl53l0_dbgmsg_en("interrupt called"); + + if (data->w_mode != OFF_MODE || data->d_mode > 0) { + vl53l0_dbgmsg_en("have mode"); + data->interrupt_received = 1; + cancel_delayed_work(&data->dwork); + schedule_delayed_work(&data->dwork, 0); + } + + return IRQ_HANDLED; +} +static int stmvl53l0_start(struct stmvl53l0_data *data) +{ + int rc = 0; + int reset = 0; + + /* Power up */ + rc = pmodule_func_tbl->power_up(data->client_object, &reset); + if (rc) { + vl53l0_errmsg("%d,error rc %d\n", __LINE__, rc); + return rc; + } + /* init */ + rc = stmvl53l0_init_client(data); + if (rc) { + vl53l0_errmsg("%d, error rc %d\n", __LINE__, rc); + pmodule_func_tbl->power_down(data->client_object); + return -EINVAL; + } + + data->enable_ps_sensor = 1; + schedule_delayed_work(&data->checkwork, 1800000); + vl53l0_dbgmsg_en("End\n"); + + return rc; +} + +static int stmvl53l0_stop(struct stmvl53l0_data *data) +{ + int rc = 0; + + vl53l0_dbgmsg_en("Enter\n"); + VL53L0_StopMeasurement(data); + + /* clean interrupt */ + VL53L0_ClearInterruptMask(data, 0); + /* cancel work handler */ + stmvl53l0_cancel_handler(data); + data->enable_ps_sensor = 0; + /* power down */ + rc = pmodule_func_tbl->power_down(data->client_object); + if (rc) { + vl53l0_errmsg("%d, error rc %d\n", __LINE__, rc); + return rc; + } + vl53l0_dbgmsg_en("End\n"); + + + return rc; +} + +/* + * I2C init/probing/exit functions + */ +static const struct file_operations stmvl53l0_ranging_fops = { + .owner = THIS_MODULE, + .unlocked_ioctl = stmvl53l0_ioctl, +#ifdef CONFIG_COMPAT + .compat_ioctl = stmvl53l0_compat_ioctl, +#endif + .open = stmvl53l0_open, + .flush = stmvl53l0_flush, + .release = stmvl53l0_close, +}; + +/* +static struct miscdevice stmvl53l0_ranging_dev = { + .minor = MISC_DYNAMIC_MINOR, + .name = "stmvl53l0_ranging", + .fops = &stmvl53l0_ranging_fops +}; +*/ + +int stmvl53l0_setup(struct stmvl53l0_data *data, uint8_t type) +{ + int rc = 0; + int irq; + int gpio; + + vl53l0_dbgmsg("Enter\n"); + data->lowv = 40; + data->highv = 45; + if (type == CCI_BUS) { + data->bus_type = CCI_BUS; + data->client_object = &(data->cci_client_object); + /* assign function table */ + pmodule_func_tbl = &stmvl53l0_module_func_tbl_cci; + gpio = data->cci_client_object.gconf.cam_gpio_req_tbl[1].gpio; + data->lowv = data->cci_client_object.lowv; + data->highv = data->cci_client_object.highv; + data->xtalk = data->cci_client_object.xtalk; + } else { + data->bus_type = I2C_BUS; + data->client_object = &(data->i2c_client_object); + pmodule_func_tbl = &stmvl53l0_module_func_tbl_i2c; + gpio = data->i2c_client_object.gconf.cam_gpio_req_tbl[1].gpio; + data->lowv = data->i2c_client_object.lowv; + data->highv = data->i2c_client_object.highv; + data->xtalk = data->i2c_client_object.xtalk; + } + + /* init interrupt */ + gpio_request(gpio, "vl6180_gpio_int"); + gpio_direction_input(gpio); + irq = gpio_to_irq(gpio); + + + if (irq < 0) { + vl53l0_errmsg("%d,filed to map GPIO: %d to interrupt:%d\n", + __LINE__, gpio, irq); + } else { + + vl53l0_dbgmsg("register_irq:%d\n", irq); +/* IRQF_TRIGGER_FALLING- poliarity:0 IRQF_TRIGGER_RISNG - poliarty:1 */ + rc = request_irq(irq, laser_isr, + IRQF_TRIGGER_FALLING , + "vl6180_lb_gpio_int", (void *)data); + if (rc) { + vl53l0_errmsg("%d, Could not allocate INT %d\n", + __LINE__, rc); + goto exit_free_irq; + } + } + data->irq = irq; + enable_irq_wake(irq); + vl53l0_dbgmsg("interrupt is hooked\n"); + /* init mutex */ + mutex_init(&data->update_lock); + mutex_init(&data->work_mutex); + data->w_mode = OFF_MODE; + init_waitqueue_head(&data->range_data_wait); + s_nump = 0; + /* init work handler */ + INIT_DELAYED_WORK(&data->dwork, stmvl53l0_work_handler); + INIT_DELAYED_WORK(&data->initwork, stmvl53l0_init_handler); + INIT_DELAYED_WORK(&data->resetwork, stmvl53l0_reset_handler); + INIT_DELAYED_WORK(&data->checkwork, stmvl53l0_check_handler); + /* Register to Input Device */ + data->input_dev_ps = input_allocate_device(); + if (!data->input_dev_ps) { + rc = -ENOMEM; + vl53l0_errmsg("%d error:%d\n", __LINE__, rc); + + goto exit_free_irq; + } + set_bit(EV_ABS, data->input_dev_ps->evbit); + /* range in cm*/ + input_set_abs_params( + data->input_dev_ps, ABS_DISTANCE, 0, 76, 0, 0); + /* tv_sec */ + input_set_abs_params( + data->input_dev_ps, ABS_HAT0X, 0, 0xffffffff, 0, 0); + /* tv_usec */ + input_set_abs_params( + data->input_dev_ps, ABS_HAT0Y, 0, 0xffffffff, 0, 0); + /* range in_mm */ + input_set_abs_params( + data->input_dev_ps, ABS_HAT1X, 0, 765, 0, 0); + /* error code change maximum to 0xff for more flexibility */ + input_set_abs_params( + data->input_dev_ps, ABS_HAT1Y, 0, 0xff, 0, 0); + /* rtnRate */ + input_set_abs_params( + data->input_dev_ps, ABS_HAT2X, 0, 0xffffffff, 0, 0); + /* rtn_amb_rate */ + input_set_abs_params( + data->input_dev_ps, ABS_HAT2Y, 0, 0xffffffff, 0, 0); + /* rtn_conv_time */ + input_set_abs_params( + data->input_dev_ps, ABS_HAT3X, 0, 0xffffffff, 0, 0); + /* dmax */ + input_set_abs_params( + data->input_dev_ps, ABS_HAT3Y, 0, 0xffffffff, 0, 0); + /* misc */ + input_set_abs_params( + data->input_dev_ps, ABS_MISC, 0, 0xff, 0, 0); + data->input_dev_ps->name = "Rear proximity sensor"; + + rc = input_register_device(data->input_dev_ps); + if (rc) { + rc = -ENOMEM; + vl53l0_errmsg("%d error:%d\n", __LINE__, rc); + goto exit_free_dev_ps; + } + + /* Register sysfs hooks */ + data->range_kobj = kobject_create_and_add("range", kernel_kobj); + if (!data->range_kobj) { + rc = -ENOMEM; + vl53l0_errmsg("%d error:%d\n", __LINE__, rc); + + goto exit_unregister_dev_ps; + } + rc = sysfs_create_group(data->range_kobj, &stmvl53l0_attr_group); + if (rc) { + rc = -ENOMEM; + vl53l0_errmsg("%d error:%d\n", __LINE__, rc); + + goto exit_unregister_dev_ps_1; + } + + /* to register as a misc device */ + data->miscdev.minor = MISC_DYNAMIC_MINOR; + data->dev_name = devname; + data->miscdev.name = data->dev_name; + data->miscdev.fops = &stmvl53l0_ranging_fops; + + if (misc_register(&data->miscdev) != 0) + vl53l0_errmsg("%d,Couldn't register misc dev\n", __LINE__); + + /* init default value */ + data->enable_ps_sensor = 0; + data->reset = 1; + data->c_suspend = 0; + data->c_stopped = 0; + data->delay_ms = 2000; /* delay time to 2s */ + data->enableDebug = 0; + data->pll_p = 18; + data->pll_f = 14; +/* data->client_object.power_up = 0; */ + + vl53l0_dbgmsg("support ver. %s enabled\n", DRIVER_VERSION); + vl53l0_dbgmsg("End"); + + return 0; +exit_unregister_dev_ps_1: + kobject_put(data->range_kobj); +exit_unregister_dev_ps: + input_unregister_device(data->input_dev_ps); + +exit_free_dev_ps: + input_free_device(data->input_dev_ps); + +exit_free_irq: + + free_irq(irq, data); + kfree(data); + return rc; +} + +static int __init stmvl53l0_init(void) +{ + struct stmvl53l0_data *vl53l0_data = NULL; + int ret = 0; + + vl53l0_dbgmsg("Enter\n"); + + if (gp_vl53l0_data == NULL) { + vl53l0_data = + kzalloc(sizeof(struct stmvl53l0_data), GFP_KERNEL); + if (!vl53l0_data) { + vl53l0_errmsg("%d failed no memory\n", __LINE__); + return -ENOMEM; + } + /* assign to global variable */ + gp_vl53l0_data = vl53l0_data; + } else { + vl53l0_data = gp_vl53l0_data; + } + /* assign function table */ + papi_func_tbl = &stmvl53l0_api_func_tbl; + /* client specific init function */ + stmvl53l0_module_func_tbl_i2c.init(); + stmvl53l0_module_func_tbl_cci.init(); + + if (ret) { + kfree(vl53l0_data); + gp_vl53l0_data = NULL; + vl53l0_errmsg("%d failed with %d\n", __LINE__, ret); + } + vl53l0_dbgmsg("End\n"); + + return ret; +} + +static void __exit stmvl53l0_exit(void) +{ + vl53l0_dbgmsg_en("Enter\n"); +#if 0 + if (gp_vl53l0_data) { + input_unregister_device(gp_vl53l0_data->input_dev_ps); + input_free_device(gp_vl53l0_data->input_dev_ps); +#ifdef USE_INT + free_irq(data->irq, gp_vl53l0_data); +#endif + sysfs_remove_group( + gp_vl53l0_data->range_kobj, &stmvl53l0_attr_group); + gp_vl53l0_data->pmodule_func_tbl->deinit( + gp_vl53l0_data->client_object); + kfree(gp_vl53l0_data); + gp_vl53l0_data = NULL; + } +#endif + vl53l0_dbgmsg_en("End\n"); +} + + +struct stmvl53l0_data *stmvl53l0_getobject(void) +{ + return gp_vl53l0_data; +} + + +MODULE_AUTHOR("STMicroelectronics Imaging Division"); +MODULE_DESCRIPTION("ST FlightSense Time-of-Flight sensor driver"); +MODULE_LICENSE("GPL"); +MODULE_VERSION(DRIVER_VERSION); + +late_initcall(stmvl53l0_init); +module_exit(stmvl53l0_exit); diff --git a/drivers/input/misc/vl53L1/Android.mk b/drivers/input/misc/vl53L1/Android.mk new file mode 100644 index 000000000000..2fc25dc43319 --- /dev/null +++ b/drivers/input/misc/vl53L1/Android.mk @@ -0,0 +1,8 @@ +DLKM_DIR := motorola/kernel/modules +LOCAL_PATH := $(call my-dir) + +include $(CLEAR_VARS) +LOCAL_MODULE := stmvl53l1.ko +LOCAL_MODULE_TAGS := optional +LOCAL_MODULE_PATH := $(KERNEL_MODULES_OUT) +include $(DLKM_DIR)/AndroidKernelModule.mk diff --git a/drivers/input/misc/vl53L1/Kbuild b/drivers/input/misc/vl53L1/Kbuild new file mode 100644 index 000000000000..71cbc7ecdec1 --- /dev/null +++ b/drivers/input/misc/vl53L1/Kbuild @@ -0,0 +1,26 @@ +# +# Makefile for the vl53L1 drivers. +# + +ccflags-y += -Idrivers/input/misc/vl53L1/inc \ + -Idrivers/input/misc/vl53L1/ipp -Idrivers/input/misc/vl53L1 + +# define this environment variable if you want to compile driver for an old +# kernel +ifdef OLD_NETLINK_API +ccflags-y += -DOLD_NETLINK_API +endif + +obj-m += stmvl53l1.o +stmvl53l1-objs := stmvl53l1_module.o stmvl53l1_module-i2c.o +stmvl53l1-objs += stmvl53l1_i2c.o stmvl53l1_ipp_nl.o +stmvl53l1-objs += src/vl53l1_api.o src/vl53l1_api_core.o +stmvl53l1-objs += src/vl53l1_api_strings.o src/vl53l1_error_strings.o +stmvl53l1-objs += src/vl53l1_core.o src/vl53l1_register_funcs.o +stmvl53l1-objs += src/vl53l1_api_preset_modes.o +stmvl53l1-objs += src/vl53l1_api_calibration.o +stmvl53l1-objs += src/vl53l1_fpga_core.o src/vl53l1_silicon_core.o +stmvl53l1-objs += src/vl53l1_zone_presets.o src/vl53l1_nvm.o +stmvl53l1-objs += src/vl53l1_wait.o ipp/ipp_linux.o +stmvl53l1-objs += src/vl53l1_api_debug.o src/vl53l1_core_support.o +stmvl53l1-objs += src/vl53l1_nvm_debug.o stmvl53l1_log.o diff --git a/drivers/input/misc/vl53L1/Makefile b/drivers/input/misc/vl53L1/Makefile new file mode 100644 index 000000000000..4191dea22679 --- /dev/null +++ b/drivers/input/misc/vl53L1/Makefile @@ -0,0 +1,10 @@ +KERNEL_SRC ?= /lib/modules/$(shell uname -r)/build + +all: + $(MAKE) -C $(KERNEL_SRC) M=$(shell pwd) modules $(KBUILD_OPTIONS) + +modules_install: + $(MAKE) INSTALL_MOD_STRIP=1 -C $(KERNEL_SRC) M=$(shell pwd) modules_install + +clean: + $(MAKE) -C $(KERNEL_SRC) M=$(PWD) clean diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_api.h b/drivers/input/misc/vl53L1/inc/vl53l1_api.h new file mode 100644 index 000000000000..8c310fb463db --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_api.h @@ -0,0 +1,1264 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either +* 'STMicroelectronics Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + +#ifndef _VL53L1_API_H_ +#define _VL53L1_API_H_ + +#include "vl53l1_api_strings.h" +#include "vl53l1_api_core.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +/** @defgroup VL53L1_cut11_group VL53L1 cut1.1 Function Definition + * @brief VL53L1 cut1.1 Function Definition + * @{ + */ + +/** @defgroup VL53L1_general_group VL53L1 General Functions + * @brief General functions and definitions + * @{ + */ + +/** + * @brief Return the VL53L1 PAL Implementation Version + * + * @note This function doesn't access to the device + * + * @param pVersion Pointer to current PAL Implementation Version + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetVersion(VL53L1_Version_t *pVersion); + +/** + * @brief Return the PAL Specification Version used for the current + * implementation. + * + * @note This function doesn't access to the device + * + * @param pPalSpecVersion Pointer to current PAL Specification Version + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetPalSpecVersion( + VL53L1_Version_t *pPalSpecVersion); + +/** + * @brief Reads the Product Revision for a for given Device + * This function can be used to distinguish cut1.0 from cut1.1. + * + * @param Dev Device Handle + * @param pProductRevisionMajor Pointer to Product Revision Major + * for a given Device + * @param pProductRevisionMinor Pointer to Product Revision Minor + * for a given Device + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetProductRevision(VL53L1_DEV Dev, + uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor); + +/** + * @brief Reads the Device information for given Device + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pVL53L1_DeviceInfo Pointer to current device info for a given + * Device + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetDeviceInfo(VL53L1_DEV Dev, + VL53L1_DeviceInfo_t *pVL53L1_DeviceInfo); + +/** + * @brief Human readable Range Status string for a given RangeStatus + * + * @note This function doesn't access to the device + * + * @param RangeStatus The RangeStatus code as stored on + * @a VL53L1_RangingMeasurementData_t + * @param pRangeStatusString The returned RangeStatus string. Shall be + * defined as char buf[VL53L1_MAX_STRING_LENGTH] + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetRangeStatusString(uint8_t RangeStatus, + char *pRangeStatusString); + +/** + * @brief Human readable error string for current PAL error status + * + * @note This function doesn't access to the device + * + * @param PalErrorCode The error code as stored on @a VL53L1_Error + * @param pPalErrorString The error string corresponding to the + * PalErrorCode. Shall be defined as char buf[VL53L1_MAX_STRING_LENGTH] + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetPalErrorString(VL53L1_Error PalErrorCode, + char *pPalErrorString); + +/** + * @brief Human readable PAL State string + * + * @note This function doesn't access to the device + * + * @param PalStateCode The State code as stored on @a VL53L1_State + * @param pPalStateString The State string corresponding to the + * PalStateCode. Shall be defined as char buf[VL53L1_MAX_STRING_LENGTH] + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetPalStateString(VL53L1_State PalStateCode, + char *pPalStateString); + +/** + * @brief Reads the internal state of the PAL for a given Device + * + * @note This function doesn't access to the device + * + * @param Dev Device Handle + * @param pPalState Pointer to current state of the PAL for a + * given Device + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetPalState(VL53L1_DEV Dev, + VL53L1_State *pPalState); + + + +/** @} VL53L1_general_group */ + +/** @defgroup VL53L1_init_group VL53L1 Init Functions + * @brief VL53L1 Init Functions + * @{ + */ + +/** + * @brief Set new device address + * + * After completion the device will answer to the new address programmed. + * This function should be called when several devices are used in parallel + * before start programming the sensor. + * When a single device us used, there is no need to call this function. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param DeviceAddress The new Device address + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetDeviceAddress(VL53L1_DEV Dev, + uint8_t DeviceAddress); + +/** + * + * @brief One time device initialization + * + * To be called once and only once after device is brought out of reset + * (Chip enable) and booted see @a VL53L1_WaitDeviceBooted() + * + * @par Function Description + * When not used after a fresh device "power up" or reset, it may return + * @a #VL53L1_ERROR_CALIBRATION_WARNING meaning wrong calibration data + * may have been fetched from device that can result in ranging offset error\n + * If application cannot execute device reset or need to run VL53L1_DataInit + * multiple time then it must ensure proper offset calibration saving and + * restore on its own by using @a VL53L1_GetOffsetCalibrationData() on first + * power up and then @a VL53L1_SetOffsetCalibrationData() in all subsequent init + * This function will change the VL53L1_State from VL53L1_STATE_POWERDOWN to + * VL53L1_STATE_WAIT_STATICINIT. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_DataInit(VL53L1_DEV Dev); + + +/** + * @brief Do basic device init (and eventually patch loading) + * This function will change the VL53L1_State from + * VL53L1_STATE_WAIT_STATICINIT to VL53L1_STATE_IDLE. + * In this stage all default setting will be applied. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_StaticInit(VL53L1_DEV Dev); + +/** + * @brief Wait for device booted after chip enable (hardware standby) + * This function can be run only when VL53L1_State is VL53L1_STATE_POWERDOWN. + * + * @param Dev Device Handle + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + * + */ +VL53L1_Error VL53L1_WaitDeviceBooted(VL53L1_DEV Dev); + + +/** @} VL53L1_init_group */ + +/** @defgroup VL53L1_parameters_group VL53L1 Parameters Functions + * @brief Functions used to prepare and setup the device + * @{ + */ + +/** + * @brief Set a new Preset Mode + * @par Function Description + * Set device to a new Operating Mode (High speed ranging, Multi objects ...) + * + * @note This function doesn't Access to the device + * + * @warning This function change the timing budget to 16 ms and the inter- + * measurement period to 1000 ms. Also the VL53L1_DISTANCEMODE_LONG is used. + * + * @param Dev Device Handle + * @param PresetMode New Preset mode to apply + * Valid values are: + * VL53L1_PRESETMODE_MULTIZONES_SCANNING + * VL53L1_PRESETMODE_RANGING + * VL53L1_PRESETMODE_AUTONOMOUS + * VL53L1_PRESETMODE_LITE_RANGING + * VL53L1_PRESETMODE_OLT + * + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_MODE_NOT_SUPPORTED This error occurs when PresetMode is + * not in the supported list + */ +VL53L1_Error VL53L1_SetPresetMode(VL53L1_DEV Dev, + VL53L1_PresetModes PresetMode); + +/** + * @brief Get current Preset Mode + * @par Function Description + * Get actual mode of the device(ranging, histogram ...) + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param pPresetMode Pointer to current apply mode value + * + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_MODE_NOT_SUPPORTED This error occurs when + * DeviceMode is not in the supported list + */ +VL53L1_Error VL53L1_GetPresetMode(VL53L1_DEV Dev, + VL53L1_PresetModes *pPresetMode); + + +/** + * @brief Set the distance mode + * @par Function Description + * Set the distance mode to be used for the next ranging. + * The modes Short, Medium and Long are used to optimize the ranging accuracy + * in a specific range of distance. The user select one of these modes to fix + * the distance range, for this reason these are also called Manual modes. + * Two additional modes are supported: AUTO and AUTO_LITE the difference between + * these modes is the following. + * The mode AUTO take into account both the ranging distance (RangeMilliMeter) + * and the dmax distance (DmaxMilliMeter). The algorithm uses the ranging + * distance when the range status is ok i.e. when range + * status = VL53L1_RANGESTATUS_RANGE_VALID or + * status = VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK + * and it uses the dmax distance when the range status is not ok. + * The AUTO_LITE take into account only the ranging distance, so nothing is done + * in case of range error i.e. the distance mode will not be changed. + * @note This function doesn't Access to the device + * + * @warning This function should be called after @a VL53L1_SetPresetMode(). + + * @param Dev Device Handle + * @param DistanceMode Distance mode to apply + * Valid values are: + * for all Preset Mode (MANUAL MODE) + * VL53L1_DISTANCEMODE_SHORT + * VL53L1_DISTANCEMODE_MEDIUM + * VL53L1_DISTANCEMODE_LONG + * + * for LIGHT_RANGING and RANGING (AUTO MODE) + * VL53L1_DISTANCEMODE_AUTO_LITE + * VL53L1_DISTANCEMODE_AUTO + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_MODE_NOT_SUPPORTED This error occurs when DistanceMode + * is not in the supported list + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetDistanceMode(VL53L1_DEV Dev, + VL53L1_DistanceModes DistanceMode); + +/** + * @brief Get the distance mode + * @par Function Description + * Get the distance mode used for the next ranging. + * + * @param Dev Device Handle + * @param *pDistanceMode Pointer to Distance mode + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetDistanceMode(VL53L1_DEV Dev, + VL53L1_DistanceModes *pDistanceMode); + + +/** + * @brief Set the output mode + * @par Function Description + * Set the output mode to be used for the next ranging. The output mode is used + * to select, in case of multiple objects, which one will be used in + * function @a VL53L1_GetRangingMeasurementData(). + * VL53L1_SetOutputMode also sets the object used by automatic + * distance mode algorithm when @a VL53L1_SetDistanceMode() is + * set to automatic mode. + * + * @note This function doesn't Access to the device + * + * @warning This function should be called after @a VL53L1_SetPresetMode(). + + * @param Dev Device Handle + * @param OutputMode Output mode to apply + * Valid values are: + * VL53L1_OUTPUTMODE_NEAREST + * VL53L1_OUTPUTMODE_STRONGEST + * + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_MODE_NOT_SUPPORTED This error occurs when OutputMode + * is not in the supported list + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetOutputMode(VL53L1_DEV Dev, + VL53L1_OutputModes OutputMode); + +/** + * @brief Get the output mode + * @par Function Description + * Get the output mode used for the next ranging. + * + * @param Dev Device Handle + * @param *pOutputMode Pointer to Output mode + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetOutputMode(VL53L1_DEV Dev, + VL53L1_OutputModes *pOutputMode); + + +/** + * @brief Set Ranging Timing Budget in microseconds + * + * @par Function Description + * Defines the maximum time allowed by the user to the device to run a + * full ranging sequence for the current mode (ranging, histogram, ASL ...) + * + * @param Dev Device Handle + * @param MeasurementTimingBudgetMicroSeconds Max measurement time in + * microseconds. + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_INVALID_PARAMS Error timing parameter not + * supported. + * The maximum accepted value for the + * computed timing budget is 10 seconds + * the minimum value depends on the preset + * mode selected. + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetMeasurementTimingBudgetMicroSeconds( + VL53L1_DEV Dev, uint32_t MeasurementTimingBudgetMicroSeconds); + +/** + * @brief Get Ranging Timing Budget in microseconds + * + * @par Function Description + * Returns the programmed the maximum time allowed by the user to the + * device to run a full ranging sequence for the current mode + * (ranging, histogram, ASL ...) + * + * @param Dev Device Handle + * @param pMeasurementTimingBudgetMicroSeconds Max measurement time in + * microseconds. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetMeasurementTimingBudgetMicroSeconds( + VL53L1_DEV Dev, uint32_t *pMeasurementTimingBudgetMicroSeconds); + + +/** + * Program continuous mode Inter-Measurement period in milliseconds + * + * @par Function Description + * When trying to set too short time return INVALID_PARAMS minimal value + * + * @param Dev Device Handle + * @param InterMeasurementPeriodMilliSeconds Inter-Measurement Period in ms. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetInterMeasurementPeriodMilliSeconds( + VL53L1_DEV Dev, uint32_t InterMeasurementPeriodMilliSeconds); + +/** + * Get continuous mode Inter-Measurement period in milliseconds + * + * @par Function Description + * + * @param Dev Device Handle + * @param pInterMeasurementPeriodMilliSeconds Pointer to programmed + * Inter-Measurement Period in milliseconds. + * @return VL53L1_ERROR_NONE + */ +VL53L1_Error VL53L1_GetInterMeasurementPeriodMilliSeconds( + VL53L1_DEV Dev, uint32_t *pInterMeasurementPeriodMilliSeconds); + +/** + * @brief target reflectance for Dmax setting + * @par Function Description + * Allow user to set the value for target reflectance @ 940nm to calculate the + * ambient DMAX values for. Set to 50% by default by @a VL53L1_DataInit() + * + * @param Dev Device Handle + * @param value Reflectance % in 16.16 fixed point + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetDmaxReflectance(VL53L1_DEV Dev, + FixPoint1616_t value); + +/** + * @brief Get target reflectance for Dmax + * @par Function Description + * Retrieves the value for target reflectance @ 940nm to calculate the + * ambient DMAX values for. Set to 50% by default by @a VL53L1_DataInit() + * + * @param Dev Device Handle + * @param pvalue pointer to Reflectance % in 16.16 fixed point + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetDmaxReflectance(VL53L1_DEV Dev, + FixPoint1616_t *pvalue); +/** + * @brief Set function for ambient Dmax mode + * + * + * @param Dev Device Handle + * @param DmaxMode DMAX mode to be used in ranging + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_SetDmaxMode(VL53L1_DEV Dev, + VL53L1_DeviceDmaxModes DmaxMode); + +/** + * @brief Get function for ambient Dmax mode + * + * @param Dev Device Handle + * @param pDmaxMode output pointer to DMAX mode currently in use + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GetDmaxMode(VL53L1_DEV Dev, + VL53L1_DeviceDmaxModes *pDmaxMode); + +/** @} VL53L1_parameters_group */ + + +/** @defgroup VL53L1_limitcheck_group VL53L1 Limit Check Functions + * @brief Functions used for the Limit checks + * @{ + */ + + + +/** + * @brief Get the number of the check limit managed by a given Device + * + * @par Function Description + * This function give the number of the check limit managed by the Device + * + * @param pNumberOfLimitCheck Pointer to the number of check limit. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetNumberOfLimitCheck( + uint16_t *pNumberOfLimitCheck); + +/** + * @brief Return a description string for a given limit check number + * + * @par Function Description + * This function returns a description string for a given limit check number. + * The limit check is identified with the LimitCheckId. + * + * @param LimitCheckId Limit Check ID + (0<= LimitCheckId < VL53L1_GetNumberOfLimitCheck() ). + * @param pLimitCheckString Pointer to the description string of + * the given check limit. Shall be defined as char buf[VL53L1_MAX_STRING_LENGTH] + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetLimitCheckInfo(uint16_t LimitCheckId, + char *pLimitCheckString); + +/** + * @brief Return a the Status of the specified check limit + * + * @par Function Description + * This function returns the Status of the specified check limit. + * The value indicate if the check is fail or not. + * The limit check is identified with the LimitCheckId. + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + (0<= LimitCheckId < VL53L1_GetNumberOfLimitCheck() ). + * @param pLimitCheckStatus Pointer to the + Limit Check Status of the given check limit. + * LimitCheckStatus : + * 0 the check is not fail or not enabled + * 1 the check if fail + * + *

    + *
  • VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE: the sigma indicate the quality + * of the measure. The more it is little the better it is. + * The status is 1 when current sigma is greater then the limit.
    • + *
  • VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: the signal rate indicate + * the strength of the returned signal. The more it is big the better it is. + * The status is 1 when current signal is lower then the limit.
    • + *

+ * + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetLimitCheckStatus(VL53L1_DEV Dev, + uint16_t LimitCheckId, uint8_t *pLimitCheckStatus); + +/** + * @brief Enable/Disable a specific limit check + * + * @par Function Description + * This function Enable/Disable a specific limit check. + * The limit check is identified with the LimitCheckId. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L1_GetNumberOfLimitCheck() ). + * @param LimitCheckEnable if 1 the check limit + * corresponding to LimitCheckId is Enabled + * if 0 the check limit + * corresponding to LimitCheckId is disabled + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_INVALID_PARAMS This error is returned + * when LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetLimitCheckEnable(VL53L1_DEV Dev, + uint16_t LimitCheckId, uint8_t LimitCheckEnable); + +/** + * @brief Get specific limit check enable state + * + * @par Function Description + * This function get the enable state of a specific limit check. + * The limit check is identified with the LimitCheckId. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L1_GetNumberOfLimitCheck() ). + * @param pLimitCheckEnable Pointer to the check limit enable + * value. + * if 1 the check limit + * corresponding to LimitCheckId is Enabled + * if 0 the check limit + * corresponding to LimitCheckId is disabled + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_INVALID_PARAMS This error is returned + * when LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetLimitCheckEnable(VL53L1_DEV Dev, + uint16_t LimitCheckId, uint8_t *pLimitCheckEnable); + +/** + * @brief Set a specific limit check value + * + * @par Function Description + * This function set a specific limit check value. + * The limit check is identified with the LimitCheckId. + * + * @note Note that the value written with that function will not be applied if + * the limit is not enabled. In other words this function will not enable the + * limit but change only the value. In case the limit is not enabled the value + * is saved internally and applied with VL53L1_SetLimitCheckEnable. + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L1_GetNumberOfLimitCheck() ). + * @param LimitCheckValue Limit check Value for a given + * LimitCheckId + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetLimitCheckValue(VL53L1_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t LimitCheckValue); + +/** + * @brief Get a specific limit check value + * + * @par Function Description + * This function get a specific limit check value from device then it updates + * internal values and check enables. + * The limit check is identified with the LimitCheckId. + * + * @note This function get the current value from device if zero then the value + * returned is the one stored by the user, but in that case the check is store + * as disabled. If the value from device is not zero, this is returned and set + * into the memory at the same way that user call VL53L1_SetLimitCheckValue() + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L1_GetNumberOfLimitCheck() ). + * @param pLimitCheckValue Pointer to Limit + * check Value for a given LimitCheckId. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetLimitCheckValue(VL53L1_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckValue); + +/** + * @brief Get the current value of the signal used for the limit check + * + * @par Function Description + * This function get a the current value of the signal used for the limit check. + * To obtain the latest value you should run a valid ranging before. + * The value reported is linked to the limit check identified with the + * LimitCheckId. + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L1_GetNumberOfLimitCheck() ). + * @param pLimitCheckCurrent Pointer to current Value for a + * given LimitCheckId. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetLimitCheckCurrent(VL53L1_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckCurrent); + +/** @} VL53L1_limitcheck_group */ + + + +/** @defgroup VL53L1_ROI_group VL53L1 ROI Functions + * @brief Functions used to select ROIs + * @{ + */ + +/** + * @brief Get the Maximum number of ROI Zones managed by the Device + * + * @par Function Description + * Get Maximum number of ROI Zones managed by the Device. + * + * @note The number of Zone depends on the preset mode used so to have the + * right number this function should be call after @a VL53L1_SetPresetMode() + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param pMaxNumberOfROI Pointer to the Maximum Number + * of ROI Zones value. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetMaxNumberOfROI(VL53L1_DEV Dev, + uint8_t *pMaxNumberOfROI); + +/** + * @brief Set the ROI to be used for a specific Device + * + * @par Function Description + * Set the ROI to be used for a specific Device. + * Rectangle in user's coordinate system: + * 15 TL(x,y) o-----* + * ^ | | + * | *-----o BR(x,y) + * 0------------------------- >15 + * Minimal ROI size is 4x4 + * + * @param Dev Device Handle + * @param pRoiConfig Pointer to the Structure containing all the + * ROI to be used. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetROI(VL53L1_DEV Dev, + VL53L1_RoiConfig_t *pRoiConfig); + +/** + * @brief Get the ROI managed by the Device + * + * @par Function Description + * Get the ROI managed by the Device + * + * @param Dev Device Handle + * @param pRoiConfig Pointer to the Structure containing all the + * ROI to be used. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetROI(VL53L1_DEV Dev, + VL53L1_RoiConfig_t *pRoiConfig); + + +/** @} VL53L1_ROI_group */ + + +/** @defgroup VL53L1_sequencestep_group VL53L1 Sequence Step Functions + * @brief Functions used to select Steps done on each ranging + * @{ + */ + +/** + * @brief Gets number of sequence steps managed by the API. + * + * @par Function Description + * This function retrieves the number of sequence steps currently managed + * by the API + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param pNumberOfSequenceSteps Out parameter reporting the number of + * sequence steps. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetNumberOfSequenceSteps(VL53L1_DEV Dev, + uint8_t *pNumberOfSequenceSteps); + +/** + * @brief Gets the name of a given sequence step. + * + * @par Function Description + * This function retrieves the name of sequence steps corresponding to + * SequenceStepId. + * + * @note This function doesn't Accesses the device + * + * @param SequenceStepId Sequence step identifier. + * @param pSequenceStepsString Pointer to Info string. Shall be + * defined as char buf[VL53L1_MAX_STRING_LENGTH] + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetSequenceStepsInfo( + VL53L1_SequenceStepId SequenceStepId, char *pSequenceStepsString); + + + +/** + * @brief Sets the (on/off) state of a requested sequence step. + * + * @par Function Description + * This function enables/disables a requested sequence step. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param SequenceStepId Sequence step identifier. + * @param SequenceStepEnabled Demanded state {0=Off,1=On} + * is enabled. + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_INVALID_PARAMS Error SequenceStepId parameter not + * supported. + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetSequenceStepEnable(VL53L1_DEV Dev, + VL53L1_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled); + +/** + * @brief Gets the (on/off) state of a requested sequence step. + * + * @par Function Description + * This function retrieves the state of a requested sequence step, i.e. on/off. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param SequenceStepId Sequence step identifier. + * @param pSequenceStepEnabled Out parameter reporting if the sequence step + * is enabled {0=Off,1=On}. + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_INVALID_PARAMS Error SequenceStepId parameter not + * supported. + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetSequenceStepEnable(VL53L1_DEV Dev, + VL53L1_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled); + + +/** @} VL53L1_sequencestep_group */ + + + +/** @defgroup VL53L1_measurement_group VL53L1 Measurement Functions + * @brief Functions used for the measurements + * @{ + */ + +/** + * @brief Start device measurement + * + * @details Started measurement will depend on preset parameters set through + * @a VL53L1_SetPreseMode() + * This function will change the VL53L1_State from VL53L1_STATE_IDLE to + * VL53L1_STATE_RUNNING. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_MODE_NOT_SUPPORTED This error occurs when + * PresetMode programmed with @a VL53L1_SetPresetMode + * + * @return VL53L1_ERROR_TIME_OUT Time out on start measurement + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_StartMeasurement(VL53L1_DEV Dev); + +/** + * @brief Stop device measurement + * + * @details Will set the device in standby mode at end of current measurement\n + * Not necessary in single mode as device shall return automatically + * in standby mode at end of measurement. + * This function will change the VL53L1_State from VL53L1_STATE_RUNNING + * to VL53L1_STATE_IDLE. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_StopMeasurement(VL53L1_DEV Dev); + +/** + * @brief Clear the Interrupt flag and start new measurement + * * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_ClearInterruptAndStartMeasurement(VL53L1_DEV Dev); + +/** + * @brief Return Measurement Data Ready + * + * @par Function Description + * This function indicate that a measurement data is ready. + * This function is used for non-blocking capture. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pMeasurementDataReady Pointer to Measurement Data Ready. + * 0 = data not ready, 1 = data ready + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetMeasurementDataReady(VL53L1_DEV Dev, + uint8_t *pMeasurementDataReady); + +/** + * @brief Wait for measurement data ready. + * Blocking function. + * Note that the timeout is given by: + * VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS defined in def.h + * + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_TIME_OUT In case of timeout + */ +VL53L1_Error VL53L1_WaitMeasurementDataReady(VL53L1_DEV Dev); + + +/** + * @brief Retrieve the measurements from device for a given setup + * + * @par Function Description + * Get data from last successful Ranging measurement + * @warning this function will return only the first ROI data and only the + * first object. For multi objects or multi ROI use: + * @a Vl53L1_GetMultiRangingData. + * In case of RANGING or MULTIZONES_SCANNING, only one output is given, this can + * be selected with the help of @a VL53L1_SetOutputMode() + * + * @note This function Access to the device + * + * @note The first valid value returned by this function will have a range + * status equal to VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK which means that + * the data is valid but no wrap around check have been done. User should take + * care about that. + * + * @param Dev Device Handle + * @param pRangingMeasurementData Pointer to the data structure to fill up. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetRangingMeasurementData(VL53L1_DEV Dev, + VL53L1_RangingMeasurementData_t *pRangingMeasurementData); + +/** + * @brief Retrieve all ROI's measurements from device for a given setup + * + * @par Function Description + * Get data from last successful Ranging measurement + * @warning USER should take care about @a VL53L1_GetNumberOfROI() + * before get data. + * PAL will fill a NumberOfROI times the corresponding data + * structure used in the measurement function. + * + * @note This function Access to the device + * + * @note The first valid value returned by this function will have a range + * status equal to VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK which means that + * the data is valid but no wrap around check have been done. User should take + * care about that. + * + * @param Dev Device Handle + * @param pMultiRangingData Pointer to the data structure to fill up. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetMultiRangingData(VL53L1_DEV Dev, + VL53L1_MultiRangingData_t *pMultiRangingData); + +/** @} VL53L1_measurement_group */ + +/** @defgroup VL53L1_Calibration_group VL53L1 Calibration Functions + * @brief Functions used for Calibration + * @{ + */ + + +/** + * @brief Performs Reference Spad Management + * + * @par Function Description + * The reference SPAD initialization procedure determines the minimum amount + * of reference spads to be enables to achieve a target reference signal rate + * and should be performed once during initialization. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_PerformRefSpadManagement(VL53L1_DEV Dev); + +/** +* @brief Enable/Disable Cross talk compensation feature +* +* Enable/Disable Cross Talk correction. +* +* @param Dev Device Handle +* @param XTalkCompensationEnable Cross talk compensation +* to be set 0 = disabled; other values than zero = enabled. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error +*/ +VL53L1_Error VL53L1_SetXTalkCompensationEnable(VL53L1_DEV Dev, +uint8_t XTalkCompensationEnable); + +/** + * @brief Get Cross talk compensation rate enable + * + * Get if the Cross Talk is Enabled or Disabled. + * + * @note This function doesn't access to the device + * + * @param Dev Device Handle + * @param pXTalkCompensationEnable Pointer to the Cross talk compensation + * state 0=disabled or 1 = enabled + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetXTalkCompensationEnable(VL53L1_DEV Dev, + uint8_t *pXTalkCompensationEnable); + +/** + * @brief Perform XTalk Calibration + * + * @details Perform a XTalk calibration of the Device. + * This function will launch a ranging measurement, if interrupts + * are enabled an interrupt will be done. + * This function will clear the interrupt generated automatically. + * This function will program a new value for the XTalk compensation + * and it will enable the cross talk before exit. + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @note This function change the preset mode so a new preset mode should + * be done after the call to this function + * + * @param Dev Device Handle + * @param CalibrationOption Select the Calibration to be run + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_PerformXTalkCalibration(VL53L1_DEV Dev, + uint8_t CalibrationOption); + +/** +* @brief Define the mode to be used for the offset calibration +* +* Define the mode to be used for the offset calibration. This function should +* be called before run the @a VL53L1_PerformOffsetCalibration() +* +* @param Dev Device Handle +* @param OffsetCalibrationMode Offset Calibration Mode +* valid values are: +* VL53L1_OFFSETCALIBRATIONMODE_STANDARD +* VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY +* VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE +* +* @return VL53L1_ERROR_NONE Success +* @return "Other error code" See ::VL53L1_Error +*/ +VL53L1_Error VL53L1_SetOffsetCalibrationMode(VL53L1_DEV Dev, + VL53L1_OffsetCalibrationModes OffsetCalibrationMode); + +/** +* @brief Define the mode to be used for the offset correction +* +* Define the mode to be used for the offset correction. +* +* @param Dev Device Handle +* @param OffsetCorrectionMode Offset Correction Mode +* valid values are: +* VL53L1_OFFSETCORRECTIONMODE_STANDARD +* VL53L1_OFFSETCORRECTIONMODE_PERZONE +* +* @return VL53L1_ERROR_NONE Success +* @return "Other error code" See ::VL53L1_Error +*/ +VL53L1_Error VL53L1_SetOffsetCorrectionMode(VL53L1_DEV Dev, + VL53L1_OffsetCorrectionModes OffsetCorrectionMode); + + +/** + * @brief Perform Offset Calibration + * + * @details Perform a Offset calibration of the Device. + * This function will launch a ranging measurement, if interrupts are + * enabled interrupts will be done. + * This function will program a new value for the Offset calibration value + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param CalDistanceMilliMeter Calibration distance value used for the + * offset compensation. + * @param CalReflectancePercent Calibration Target reflectance @ 940nm + * in percentage. + * + * @return VL53L1_ERROR_NONE + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_PerformOffsetCalibration(VL53L1_DEV Dev, + int32_t CalDistanceMilliMeter, + FixPoint1616_t CalReflectancePercent); + +/** + * @brief Sets the Calibration Data. + * + * @par Function Description + * This function set all the Calibration Data issued from the functions + * @a VL53L1_PerformRefSpadManagement(), @a VL53L1_PerformXTalkCalibration, + * @a VL53L1_PerformOffsetCalibration() + * + * @note This function doesn't Accesses the device + * + * @param Dev Device Handle + * @param *pCalibrationData Pointer to Calibration data to be set. + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_INVALID_PARAMS pCalibrationData points to an older + * version of the inner structure. Need for support to convert its content. + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetCalibrationData(VL53L1_DEV Dev, + VL53L1_CalibrationData_t *pCalibrationData); + +/** + * @brief Gets the Calibration Data. + * + * @par Function Description + * This function get all the Calibration Data issued from the functions + * @a VL53L1_PerformRefSpadManagement(), @a VL53L1_PerformXTalkCalibration, + * @a VL53L1_PerformOffsetCalibration() + * + * @note This function doesn't Accesses the device + * + * @param Dev Device Handle + * @param *pCalibrationData pointer where to store Calibration + * data. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetCalibrationData(VL53L1_DEV Dev, + VL53L1_CalibrationData_t *pCalibrationData); + +/** + * @brief Gets the optical center. + * + * @par Function Description + * This function get the optical center issued from the nvm set at FTM stage + * expressed in the same coordinate system as the ROI are + * + * @note This function doesn't Accesses the device + * + * @param Dev Device Handle + * @param *pOpticalCentreX pointer to the X position of center + * @param *pOpticalCentreY pointer to the Y position of center + * data. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetOpticalCenter(VL53L1_DEV Dev, + uint8_t *pOpticalCenterX, uint8_t *pOpticalCenterY); + +/** @} VL53L1_Calibration_group */ + +/** @defgroup VL53L1_Thresholds_group VL53L1 IRQ Triggered events Functions + * @brief Functions used to configure interrupt to be triggered only when + * a measurement satisfies some thresholds parameters + * @{ + */ + +/** +* @brief Configure the interrupt config, from the given structure +* +* @param[in] Dev : Device Handle +* @param[in] pConfig : pointer to configuration structure +*/ + +VL53L1_Error VL53L1_SetThresholdConfig(VL53L1_DEV Dev, + VL53L1_DetectionConfig_t *pConfig); + +/** +* @brief Retrieves the interrupt config structure currently programmed +* into the API +* +* @param[in] Dev : Device Handle +* @param[out] pConfig : pointer to configuration structure +*/ + +VL53L1_Error VL53L1_GetThresholdConfig(VL53L1_DEV Dev, + VL53L1_DetectionConfig_t *pConfig); + + +/** @} VL53L1_Thresholds_group */ + + +/** @} VL53L1_cut11_group */ + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L1_API_H_ */ diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_api_calibration.h b/drivers/input/misc/vl53L1/inc/vl53l1_api_calibration.h new file mode 100644 index 000000000000..4ab74b666bf8 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_api_calibration.h @@ -0,0 +1,569 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_API_CALIBRATION_H_ +#define _VL53L1_API_CALIBRATION_H_ + +#include "vl53l1_platform.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_run_ref_spad_char(VL53L1_DEV Dev, VL53L1_Error *pcal_status); + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_run_device_test( + VL53L1_DEV Dev, + VL53L1_DeviceTestMode device_test_mode); + + + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_run_spad_rate_map( + VL53L1_DEV Dev, + VL53L1_DeviceTestMode device_test_mode, + VL53L1_DeviceSscArray array_select, + uint32_t ssc_config_timeout_us, + VL53L1_spad_rate_data_t *pspad_rate_data); + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_run_xtalk_extraction( + VL53L1_DEV Dev, + uint16_t dss_config__target_total_rate_mcps, + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us, + uint8_t num_of_samples, + VL53L1_Error *pcal_status); + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_run_xtalk_extraction_dual_reflectance( + VL53L1_DEV Dev, + uint16_t dss_config__target_total_rate_mcps, + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us, + uint8_t num_of_samples, + uint8_t calc_parms, + uint8_t higher_reflectance, + uint16_t expected_target_distance_mm, + uint16_t xtalk_filter_thresh_mm, + VL53L1_Error *pcal_status); + + + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_and_avg_xtalk_samples( + VL53L1_DEV Dev, + uint8_t num_of_samples, + uint8_t measurement_mode, + int16_t xtalk_filter_thresh_max_mm, + int16_t xtalk_filter_thresh_min_mm, + uint16_t xtalk_max_valid_rate_kcps, + uint8_t xtalk_result_id, + uint8_t xtalk_histo_id, + VL53L1_xtalk_range_results_t *pxtalk_results, + VL53L1_histogram_bin_data_t *psum_histo, + VL53L1_histogram_bin_data_t *pavg_histo); + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_and_avg_all_xtalk_samples( + VL53L1_DEV Dev, + uint8_t num_of_samples, + uint8_t measurement_mode, + int16_t xtalk_filter_thresh_mm, + VL53L1_xtalk_range_results_t *pxtalk_results, + VL53L1_histogram_bin_data_t *pavg_histo_z0, + VL53L1_histogram_bin_data_t *pavg_histo_z1, + VL53L1_histogram_bin_data_t *pavg_histo_z2, + VL53L1_histogram_bin_data_t *pavg_histo_z3, + VL53L1_histogram_bin_data_t *pavg_histo_z4); + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_run_offset_calibration( + VL53L1_DEV Dev, + uint16_t dss_config__target_total_rate_mcps, + uint32_t phasecal_config_timeout_us, + uint32_t range_config_timeout_us, + uint8_t pre_num_of_samples, + uint8_t mm1_num_of_samples, + uint8_t mm2_num_of_samples, + int16_t cal_distance_mm, + uint16_t cal_reflectance_pc, + VL53L1_Error *pcal_status); + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_run_zone_calibration( + VL53L1_DEV Dev, + VL53L1_DevicePresetModes device_preset_mode, + VL53L1_DeviceZonePreset zone_preset, + VL53L1_zone_config_t *pzone_cfg, + uint16_t dss_config__target_total_rate_mcps, + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us, + uint16_t num_of_samples, + int16_t cal_distance_mm, + uint16_t cal_reflectance_pc, + VL53L1_Error *pcal_status); + + +#ifdef __cplusplus +} +#endif + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_api_core.h b/drivers/input/misc/vl53L1/inc/vl53l1_api_core.h new file mode 100644 index 000000000000..b9d9a96668ab --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_api_core.h @@ -0,0 +1,1579 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_API_CORE_H_ +#define _VL53L1_API_CORE_H_ + +#include "vl53l1_platform.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + + + + + + + + + +VL53L1_Error VL53L1_get_version( + VL53L1_DEV Dev, + VL53L1_ll_version_t *pversion); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_is_fpga_system( + VL53L1_DEV Dev, + uint8_t *pfpga_system); + + + + + + + + + + + + +VL53L1_Error VL53L1_get_device_firmware_version( + VL53L1_DEV Dev, + uint16_t *pfw_version); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_data_init( + VL53L1_DEV Dev, + uint8_t read_p2p_data); + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_read_p2p_data( + VL53L1_DEV Dev); + + + + + + + + + + + + + +VL53L1_Error VL53L1_software_reset( + VL53L1_DEV Dev); + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_part_to_part_data( + VL53L1_DEV Dev, + VL53L1_calibration_data_t *pcal_data); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_part_to_part_data( + VL53L1_DEV Dev, + VL53L1_calibration_data_t *pcal_data); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_inter_measurement_period_ms( + VL53L1_DEV Dev, + uint32_t inter_measurement_period_ms); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_inter_measurement_period_ms( + VL53L1_DEV Dev, + uint32_t *pinter_measurement_period_ms); + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_timeouts_us( + VL53L1_DEV Dev, + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us); + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_timeouts_us( + VL53L1_DEV Dev, + uint32_t *pphasecal_config_timeout_us, + uint32_t *pmm_config_timeout_us, + uint32_t *prange_config_timeout_us); + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_calibration_repeat_period( + VL53L1_DEV Dev, + uint16_t cal_config__repeat_period); + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_calibration_repeat_period( + VL53L1_DEV Dev, + uint16_t *pcal_config__repeat_period); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_sequence_config_bit( + VL53L1_DEV Dev, + VL53L1_DeviceSequenceConfig bit_id, + uint8_t value); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_sequence_config_bit( + VL53L1_DEV Dev, + VL53L1_DeviceSequenceConfig bit_id, + uint8_t *pvalue); + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_interrupt_polarity( + VL53L1_DEV Dev, + VL53L1_DeviceInterruptPolarity interrupt_polarity); + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_interrupt_polarity( + VL53L1_DEV Dev, + VL53L1_DeviceInterruptPolarity *pinterrupt_polarity); + + + + + + + + + + + + +VL53L1_Error VL53L1_get_refspadchar_config_struct( + VL53L1_DEV Dev, + VL53L1_refspadchar_config_t *pdata); + + + + + + + + + + + + +VL53L1_Error VL53L1_set_refspadchar_config_struct( + VL53L1_DEV Dev, + VL53L1_refspadchar_config_t *pdata); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_range_ignore_threshold( + VL53L1_DEV Dev, + uint8_t range_ignore_thresh_mult, + uint16_t range_ignore_threshold_mcps); + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_range_ignore_threshold( + VL53L1_DEV Dev, + uint8_t *prange_ignore_thresh_mult, + uint16_t *prange_ignore_threshold_mcps_internal, + uint16_t *prange_ignore_threshold_mcps_current); + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_user_zone( + VL53L1_DEV Dev, + VL53L1_user_zone_t *puser_zone); + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_user_zone( + VL53L1_DEV Dev, + VL53L1_user_zone_t *puser_zone); + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_mode_mitigation_roi( + VL53L1_DEV Dev, + VL53L1_user_zone_t *pmm_roi); + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_zone_config( + VL53L1_DEV Dev, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_zone_config( + VL53L1_DEV Dev, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_preset_mode( + VL53L1_DEV Dev, + VL53L1_DevicePresetModes device_preset_mode, + uint16_t dss_config__target_total_rate_mcps, + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us, + uint32_t inter_measurement_period_ms); + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_zone_preset( + VL53L1_DEV Dev, + VL53L1_DeviceZonePreset zone_preset); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_enable_xtalk_compensation( + VL53L1_DEV Dev); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_disable_xtalk_compensation( + VL53L1_DEV Dev); + + + + + + + + + + + + + + +void VL53L1_get_xtalk_compensation_enable( + VL53L1_DEV Dev, + uint8_t *pcrosstalk_compensation_enable); + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_init_and_start_range( + VL53L1_DEV Dev, + uint8_t measurement_mode, + VL53L1_DeviceConfigLevel device_config_level); + + + + + + + + + + + + + +VL53L1_Error VL53L1_stop_range( + VL53L1_DEV Dev); + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_measurement_results( + VL53L1_DEV Dev, + VL53L1_DeviceResultsLevel device_result_level); + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_device_results( + VL53L1_DEV Dev, + VL53L1_DeviceResultsLevel device_result_level, + VL53L1_range_results_t *prange_results); + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_clear_interrupt_and_enable_next_range( + VL53L1_DEV Dev, + uint8_t measurement_mode); + + + + + + + + + + +VL53L1_Error VL53L1_get_histogram_bin_data( + VL53L1_DEV Dev, + VL53L1_histogram_bin_data_t *phist_data); + + + + + + + + + + + + +void VL53L1_copy_sys_and_core_results_to_range_results( + int32_t gain_factor, + VL53L1_system_results_t *psys, + VL53L1_core_results_t *pcore, + VL53L1_range_results_t *presults); + + + + + + + + + +VL53L1_Error VL53L1_set_zone_dss_config( + VL53L1_DEV Dev, + VL53L1_zone_private_dyn_cfg_t *pzone_dyn_cfg); + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_calc_ambient_dmax( + VL53L1_DEV Dev, + uint16_t target_reflectance, + int16_t *pambient_dmax_mm); + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_GPIO_interrupt_config( + VL53L1_DEV Dev, + VL53L1_GPIO_Interrupt_Mode intr_mode_distance, + VL53L1_GPIO_Interrupt_Mode intr_mode_rate, + uint8_t intr_new_measure_ready, + uint8_t intr_no_target, + uint8_t intr_combined_mode, + uint16_t thresh_distance_high, + uint16_t thresh_distance_low, + uint16_t thresh_rate_high, + uint16_t thresh_rate_low + ); + + + + + + + + + +VL53L1_Error VL53L1_set_GPIO_interrupt_config_struct( + VL53L1_DEV Dev, + VL53L1_GPIO_interrupt_config_t intconf); + + + + + + + + + + +VL53L1_Error VL53L1_get_GPIO_interrupt_config( + VL53L1_DEV Dev, + VL53L1_GPIO_interrupt_config_t *pintconf); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_dmax_mode( + VL53L1_DEV Dev, + VL53L1_DeviceDmaxMode dmax_mode); + + + + + + + + + + + + +VL53L1_Error VL53L1_get_dmax_mode( + VL53L1_DEV Dev, + VL53L1_DeviceDmaxMode *pdmax_mode); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_dmax_calibration_data( + VL53L1_DEV Dev, + VL53L1_DeviceDmaxMode dmax_mode, + uint8_t zone_id, + VL53L1_dmax_calibration_data_t *pdmax_cal); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_hist_dmax_config( + VL53L1_DEV Dev, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg); + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_hist_dmax_config( + VL53L1_DEV Dev, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg); + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_offset_calibration_mode( + VL53L1_DEV Dev, + VL53L1_OffsetCalibrationMode offset_cal_mode); + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_offset_calibration_mode( + VL53L1_DEV Dev, + VL53L1_OffsetCalibrationMode *poffset_cal_mode); + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_offset_correction_mode( + VL53L1_DEV Dev, + VL53L1_OffsetCalibrationMode offset_cor_mode); + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_offset_correction_mode( + VL53L1_DEV Dev, + VL53L1_OffsetCorrectionMode *poffset_cor_mode); + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_zone_calibration_data( + VL53L1_DEV Dev, + VL53L1_zone_calibration_results_t *pzone_cal); + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_zone_calibration_data( + VL53L1_DEV Dev, + VL53L1_zone_calibration_results_t *pzone_cal); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_lite_xtalk_margin_kcps( + VL53L1_DEV Dev, + int16_t *pxtalk_margin); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_lite_xtalk_margin_kcps( + VL53L1_DEV Dev, + int16_t xtalk_margin); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_histogram_xtalk_margin_kcps( + VL53L1_DEV Dev, + int16_t *pxtalk_margin); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_histogram_xtalk_margin_kcps( + VL53L1_DEV Dev, + int16_t xtalk_margin); + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_histogram_phase_consistency( + VL53L1_DEV Dev, + uint8_t *pphase_consistency); + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_histogram_phase_consistency( + VL53L1_DEV Dev, + uint8_t phase_consistency); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_histogram_event_consistency( + VL53L1_DEV Dev, + uint8_t *pevent_consistency); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_histogram_event_consistency( + VL53L1_DEV Dev, + uint8_t event_consistency); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_histogram_ambient_threshold_sigma( + VL53L1_DEV Dev, + uint8_t *pamb_thresh_sigma); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_histogram_ambient_threshold_sigma( + VL53L1_DEV Dev, + uint8_t amb_thresh_sigma); + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_lite_min_count_rate( + VL53L1_DEV Dev, + uint16_t *plite_mincountrate); + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_lite_min_count_rate( + VL53L1_DEV Dev, + uint16_t lite_mincountrate); + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_lite_sigma_threshold( + VL53L1_DEV Dev, + uint16_t *plite_sigma); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_lite_sigma_threshold( + VL53L1_DEV Dev, + uint16_t lite_sigma); + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_restore_xtalk_nvm_default( + VL53L1_DEV Dev); + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_xtalk_detect_config( + VL53L1_DEV Dev, + int16_t *pmax_valid_range_mm, + int16_t *pmin_valid_range_mm, + uint16_t *pmax_valid_rate_kcps, + uint16_t *pmax_sigma_mm); + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_xtalk_detect_config( + VL53L1_DEV Dev, + int16_t max_valid_range_mm, + int16_t min_valid_range_mm, + uint16_t max_valid_rate_kcps, + uint16_t max_sigma_mm); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_target_order_mode( + VL53L1_DEV Dev, + VL53L1_HistTargetOrder *phist_target_order); + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_target_order_mode( + VL53L1_DEV Dev, + VL53L1_HistTargetOrder hist_target_order); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_dmax_reflectance_values( + VL53L1_DEV Dev, + VL53L1_dmax_reflectance_array_t *pdmax_reflectances); + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_dmax_reflectance_values( + VL53L1_DEV Dev, + VL53L1_dmax_reflectance_array_t *pdmax_reflectances); + +#ifdef __cplusplus +} +#endif + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_api_debug.h b/drivers/input/misc/vl53L1/inc/vl53l1_api_debug.h new file mode 100644 index 000000000000..1203caa2f532 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_api_debug.h @@ -0,0 +1,649 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_API_DEBUG_H_ +#define _VL53L1_API_DEBUG_H_ + +#include "vl53l1_platform.h" +#include "vl53l1_nvm_structs.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_decode_calibration_data_buffer( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_calibration_data_t *pdata); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_nvm_debug_data( + VL53L1_DEV Dev, + VL53L1_decoded_nvm_data_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_histogram_debug_data( + VL53L1_DEV Dev, + VL53L1_histogram_bin_data_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_xtalk_debug_data( + VL53L1_DEV Dev, + VL53L1_xtalk_debug_data_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_offset_debug_data( + VL53L1_DEV Dev, + VL53L1_offset_debug_data_t *pdata); + +#ifdef VL53L1_LOG_ENABLE + + + + + + + + + + + + +void VL53L1_signed_fixed_point_sprintf( + int32_t fp_value, + uint8_t frac_bits, + uint16_t buf_size, + char *pbuffer); + + + + + + + + + + + +void VL53L1_print_static_nvm_managed( + VL53L1_static_nvm_managed_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + +void VL53L1_print_customer_nvm_managed( + VL53L1_customer_nvm_managed_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + +void VL53L1_print_nvm_copy_data( + VL53L1_nvm_copy_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_histogram_bin_data( + VL53L1_histogram_bin_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_xtalk_histogram_data( + VL53L1_xtalk_histogram_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_xtalk_histogram_shape_data( + VL53L1_xtalk_histogram_shape_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_range_results( + VL53L1_range_results_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + +void VL53L1_print_range_data( + VL53L1_range_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_offset_range_results( + VL53L1_offset_range_results_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_offset_range_data( + VL53L1_offset_range_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_cal_peak_rate_map( + VL53L1_cal_peak_rate_map_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_additional_offset_cal_data( + VL53L1_additional_offset_cal_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_gain_calibration_data( + VL53L1_gain_calibration_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + + +void VL53L1_print_zone_calibration_data( + VL53L1_zone_calibration_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + + +void VL53L1_print_zone_calibration_results( + VL53L1_zone_calibration_results_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_xtalk_range_results( + VL53L1_xtalk_range_results_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_xtalk_range_data( + VL53L1_xtalk_range_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_xtalk_calibration_results( + VL53L1_xtalk_calibration_results_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_xtalk_config( + VL53L1_xtalk_config_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_dmax_calibration_data( + VL53L1_dmax_calibration_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_calibration_data( + VL53L1_calibration_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_xtalk_debug_data( + VL53L1_xtalk_debug_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + +void VL53L1_print_offset_debug_data( + VL53L1_offset_debug_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_user_zone( + VL53L1_user_zone_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + +void VL53L1_print_zone_config( + VL53L1_zone_config_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + +void VL53L1_print_spad_rate_data( + VL53L1_spad_rate_data_t *pspad_rates, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + +void VL53L1_print_spad_rate_map( + VL53L1_spad_rate_data_t *pspad_rates, + char *pprefix, + uint32_t trace_flags); + + +#endif + + +#ifdef __cplusplus +} +#endif + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_api_preset_modes.h b/drivers/input/misc/vl53L1/inc/vl53l1_api_preset_modes.h new file mode 100644 index 000000000000..5ba58a97e79b --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_api_preset_modes.h @@ -0,0 +1,1191 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_API_PRESET_MODES_H_ +#define _VL53L1_API_PRESET_MODES_H_ + +#include "vl53l1_ll_def.h" +#include "vl53l1_dmax_structs.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + + + + + + + + + +VL53L1_Error VL53L1_init_refspadchar_config_struct( + VL53L1_refspadchar_config_t *pdata); + + + + + + + + + + + + +VL53L1_Error VL53L1_init_ssc_config_struct( + VL53L1_ssc_config_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_init_xtalk_config_struct( + VL53L1_customer_nvm_managed_t *pnvm, + VL53L1_xtalk_config_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_init_hist_post_process_config_struct( + uint8_t xtalk_compensation_enable, + VL53L1_hist_post_process_config_t *pdata); + + + + + + + + + + + + +VL53L1_Error VL53L1_init_dmax_calibration_data_struct( + VL53L1_dmax_calibration_data_t *pdata); + + + + + + + + + + + +VL53L1_Error VL53L1_init_hist_gen3_dmax_config_struct( + VL53L1_hist_gen3_dmax_config_t *pdata); + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_standard_ranging( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_standard_ranging_short_range( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_standard_ranging_long_range( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_standard_ranging_mm1_cal( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_standard_ranging_mm2_cal( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_timed_ranging( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_timed_ranging_short_range( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_timed_ranging_long_range( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_with_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_with_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_mm1_cal( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_mm2_cal( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_ref( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_characterisation( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_xtalk_planar( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_xtalk_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_xtalk_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_multizone( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_multizone_short_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_multizone_long_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_short_timing( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_long_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_medium_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_short_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_long_range_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_long_range_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_medium_range_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_medium_range_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_short_range_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_histogram_short_range_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_olt( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_preset_mode_singleshot_ranging( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + + + + + +void VL53L1_copy_hist_cfg_to_static_cfg( + VL53L1_histogram_config_t *phistogram, + VL53L1_static_config_t *pstatic, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic); + + + + + + + + + + + + + + +void VL53L1_copy_hist_bins_to_static_cfg( + VL53L1_histogram_config_t *phistogram, + VL53L1_static_config_t *pstatic, + VL53L1_timing_config_t *ptiming); + +#ifdef __cplusplus +} +#endif + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_api_strings.h b/drivers/input/misc/vl53L1/inc/vl53l1_api_strings.h new file mode 100644 index 000000000000..24f12bc698d4 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_api_strings.h @@ -0,0 +1,210 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either +* 'STMicroelectronics Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + +/** + * @file vl53l1_api_strings.h + * @brief VL53L1 API function declarations for decoding error codes to a + * text strings + */ + + +#ifndef VL53L1_API_STRINGS_H_ +#define VL53L1_API_STRINGS_H_ + +#include "vl53l1_def.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +/** + * @brief Generates a string for the input device range status code + * + * @param[in] RangeStatus : Device Range AStatus Code + * @param[out] pRangeStatusString : pointer to character buffer + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_get_range_status_string( + uint8_t RangeStatus, + char *pRangeStatusString); + +/** + * @brief Generates an error string for the input PAL error code + * + * @param[in] PalErrorCode : PAL Error Code + * @param[out] pPalErrorString : pointer to character buffer + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_get_pal_error_string( + VL53L1_Error PalErrorCode, + char *pPalErrorString); + +/** + * @brief Generates a string for the input PAL State code + * + * @param[in] PalStateCode : PAL State Code + * @param[out] pPalStateString : pointer to character buffer + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_get_pal_state_string( + VL53L1_State PalStateCode, + char *pPalStateString); + + +/** + * @brief Generates a string for the sequence step Id + * + * @param[in] SequenceStepId : Sequence Step Id + * @param[out] pSequenceStepsString : pointer to character buffer + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_get_sequence_steps_info( + VL53L1_SequenceStepId SequenceStepId, + char *pSequenceStepsString); + +/** + * @brief Generates a string for the limit check Id + * + * @param[in] LimitCheckId : Limit check Id + * @param[out] pLimitCheckString : pointer to character buffer + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_get_limit_check_info(uint16_t LimitCheckId, + char *pLimitCheckString); + +#ifndef VL53L1_USE_EMPTY_STRING + #define VL53L1_STRING_DEVICE_INFO_NAME0 "VL53L1 cut1.0" + #define VL53L1_STRING_DEVICE_INFO_NAME1 "VL53L1 cut1.1" + #define VL53L1_STRING_DEVICE_INFO_TYPE "VL53L1" + + /* Range Status */ + #define VL53L1_STRING_RANGESTATUS_NONE "No Update" + #define VL53L1_STRING_RANGESTATUS_RANGEVALID "Range Valid" + #define VL53L1_STRING_RANGESTATUS_SIGMA "Sigma Fail" + #define VL53L1_STRING_RANGESTATUS_SIGNAL "Signal Fail" + #define VL53L1_STRING_RANGESTATUS_MINRANGE "Min Range Fail" + #define VL53L1_STRING_RANGESTATUS_PHASE "Phase Fail" + #define VL53L1_STRING_RANGESTATUS_HW "Hardware Fail" + + + /* Range Status */ + #define VL53L1_STRING_STATE_POWERDOWN "POWERDOWN State" + #define VL53L1_STRING_STATE_WAIT_STATICINIT \ + "Wait for staticinit State" + #define VL53L1_STRING_STATE_STANDBY "STANDBY State" + #define VL53L1_STRING_STATE_IDLE "IDLE State" + #define VL53L1_STRING_STATE_RUNNING "RUNNING State" + #define VL53L1_STRING_STATE_RESET "RESET State" + #define VL53L1_STRING_STATE_UNKNOWN "UNKNOWN State" + #define VL53L1_STRING_STATE_ERROR "ERROR State" + + + + /* Check Enable */ + #define VL53L1_STRING_CHECKENABLE_SIGMA_FINAL_RANGE \ + "SIGMA FINAL RANGE" + #define VL53L1_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE \ + "SIGNAL RATE FINAL RANGE" + #define VL53L1_STRING_CHECKENABLE_SIGNAL_MIN_CLIP \ + "SIGNAL MIN CLIP" + #define VL53L1_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD \ + "RANGE IGNORE THRESHOLD" + #define VL53L1_STRING_CHECKENABLE_RANGE_PHASE_HIGH \ + "RANGE PHASE HIGH" + #define VL53L1_STRING_CHECKENABLE_RANGE_PHASE_LOW \ + "RANGE PHASE LOW" + #define VL53L1_STRING_CHECKENABLE_RANGE_PHASE_CONSISTENCY \ + "RANGE PHASE CONSISTENCY" + + /* Sequence Step */ + #define VL53L1_STRING_SEQUENCESTEP_VHV "VHV" + #define VL53L1_STRING_SEQUENCESTEP_PHASECAL "PHASE CAL" + #define VL53L1_STRING_SEQUENCESTEP_REFPHASE "REF PHASE" + #define VL53L1_STRING_SEQUENCESTEP_DSS1 "DSS1" + #define VL53L1_STRING_SEQUENCESTEP_DSS2 "DSS2" + #define VL53L1_STRING_SEQUENCESTEP_MM1 "MM1" + #define VL53L1_STRING_SEQUENCESTEP_MM2 "MM2" + #define VL53L1_STRING_SEQUENCESTEP_RANGE "RANGE" +#endif /* VL53L1_USE_EMPTY_STRING */ + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_core.h b/drivers/input/misc/vl53L1/inc/vl53l1_core.h new file mode 100644 index 000000000000..bc5e5ea2326c --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_core.h @@ -0,0 +1,1513 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_CORE_H_ +#define _VL53L1_CORE_H_ + +#include "vl53l1_platform.h" +#include "vl53l1_core_support.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + + + + + + +void VL53L1_init_version( + VL53L1_DEV Dev); + + + + + + + + + + +void VL53L1_init_ll_driver_state( + VL53L1_DEV Dev, + VL53L1_DeviceState ll_state); + + + + + + + + + + + + +VL53L1_Error VL53L1_update_ll_driver_rd_state( + VL53L1_DEV Dev); + + + + + + + + + + + + + +VL53L1_Error VL53L1_check_ll_driver_rd_state( + VL53L1_DEV Dev); + + + + + + + + + + + + +VL53L1_Error VL53L1_update_ll_driver_cfg_state( + VL53L1_DEV Dev); + + + + + + + + + + +void VL53L1_copy_rtn_good_spads_to_buffer( + VL53L1_nvm_copy_data_t *pdata, + uint8_t *pbuffer); + + + + + + + + + + + + +void VL53L1_init_system_results( + VL53L1_system_results_t *pdata); + + + + + + + + + + +void V53L1_init_zone_results_structure( + uint8_t active_zones, + VL53L1_zone_results_t *pdata); + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +void VL53L1_init_histogram_config_structure( + uint8_t even_bin0, + uint8_t even_bin1, + uint8_t even_bin2, + uint8_t even_bin3, + uint8_t even_bin4, + uint8_t even_bin5, + uint8_t odd_bin0, + uint8_t odd_bin1, + uint8_t odd_bin2, + uint8_t odd_bin3, + uint8_t odd_bin4, + uint8_t odd_bin5, + VL53L1_histogram_config_t *pdata); + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +void VL53L1_init_histogram_multizone_config_structure( + uint8_t even_bin0, + uint8_t even_bin1, + uint8_t even_bin2, + uint8_t even_bin3, + uint8_t even_bin4, + uint8_t even_bin5, + uint8_t odd_bin0, + uint8_t odd_bin1, + uint8_t odd_bin2, + uint8_t odd_bin3, + uint8_t odd_bin4, + uint8_t odd_bin5, + VL53L1_histogram_config_t *pdata); + + + + + + + + + + + +void VL53L1_init_xtalk_bin_data_struct( + uint32_t bin_value, + uint16_t VL53L1_PRM_00017, + VL53L1_xtalk_histogram_shape_t *pdata); + + + + + + + + + + + + + +void VL53L1_i2c_encode_uint16_t( + uint16_t ip_value, + uint16_t count, + uint8_t *pbuffer); + + + + + + + + + + + + + + +uint16_t VL53L1_i2c_decode_uint16_t( + uint16_t count, + uint8_t *pbuffer); + + + + + + + + + + + + + +void VL53L1_i2c_encode_int16_t( + int16_t ip_value, + uint16_t count, + uint8_t *pbuffer); + + + + + + + + + + + + + + +int16_t VL53L1_i2c_decode_int16_t( + uint16_t count, + uint8_t *pbuffer); + + + + + + + + + + + + + +void VL53L1_i2c_encode_uint32_t( + uint32_t ip_value, + uint16_t count, + uint8_t *pbuffer); + + + + + + + + + + + + + + +uint32_t VL53L1_i2c_decode_uint32_t( + uint16_t count, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + + +uint32_t VL53L1_i2c_decode_with_mask( + uint16_t count, + uint8_t *pbuffer, + uint32_t bit_mask, + uint32_t down_shift, + uint32_t offset); + + + + + + + + + + + + + +void VL53L1_i2c_encode_int32_t( + int32_t ip_value, + uint16_t count, + uint8_t *pbuffer); + + + + + + + + + + + + + + +int32_t VL53L1_i2c_decode_int32_t( + uint16_t count, + uint8_t *pbuffer); + + + + + + + + + + + + + +VL53L1_Error VL53L1_start_test( + VL53L1_DEV Dev, + uint8_t test_mode__ctrl); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_firmware_enable_register( + VL53L1_DEV Dev, + uint8_t value); + + + + + + + + + + + + +VL53L1_Error VL53L1_enable_firmware( + VL53L1_DEV Dev); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_disable_firmware( + VL53L1_DEV Dev); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_powerforce_register( + VL53L1_DEV Dev, + uint8_t value); + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_enable_powerforce( + VL53L1_DEV Dev); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_disable_powerforce( + VL53L1_DEV Dev); + + + + + + + + + + + + + +VL53L1_Error VL53L1_clear_interrupt( + VL53L1_DEV Dev); + + + + + + + + + + + + + +VL53L1_Error VL53L1_force_shadow_stream_count_to_zero( + VL53L1_DEV Dev); + + + + + + + + + + + + + + + + + + + +uint32_t VL53L1_calc_macro_period_us( + uint16_t fast_osc_frequency, + uint8_t VL53L1_PRM_00007); + + + + + + + + + + + + + + + + + + +uint16_t VL53L1_calc_range_ignore_threshold( + uint16_t central_rate, + int16_t x_gradient, + int16_t y_gradient, + uint8_t rate_mult); + + + + + + + + + + + + + +uint32_t VL53L1_calc_timeout_mclks( + uint32_t timeout_us, + uint32_t macro_period_us); + + + + + + + + + + + + +uint16_t VL53L1_calc_encoded_timeout( + uint32_t timeout_us, + uint32_t macro_period_us); + + + + + + + + + + + + + +uint32_t VL53L1_calc_timeout_us( + uint32_t timeout_mclks, + uint32_t macro_period_us); + + + + + + + + + + + + +uint32_t VL53L1_calc_decoded_timeout_us( + uint16_t timeout_encoded, + uint32_t macro_period_us); + + + + + + + + + + + +uint16_t VL53L1_encode_timeout( + uint32_t timeout_mclks); + + + + + + + + + + + + +uint32_t VL53L1_decode_timeout( + uint16_t encoded_timeout); + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_calc_timeout_register_values( + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us, + uint16_t fast_osc_frequency, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming); + + + + + + + + + + + + +uint8_t VL53L1_encode_vcsel_period( + uint8_t VL53L1_PRM_00028); + + + + + + + + + + + + + + + +uint32_t VL53L1_decode_unsigned_integer( + uint8_t *pbuffer, + uint8_t no_of_bytes); + + + + + + + + + + + + +void VL53L1_encode_unsigned_integer( + uint32_t ip_value, + uint8_t no_of_bytes, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_hist_copy_and_scale_ambient_info( + VL53L1_zone_hist_info_t *pidata, + VL53L1_histogram_bin_data_t *podata); + + + + + + + + + + + + +void VL53L1_hist_get_bin_sequence_config( + VL53L1_DEV Dev, + VL53L1_histogram_bin_data_t *pdata); + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_hist_phase_consistency_check( + VL53L1_DEV Dev, + VL53L1_zone_hist_info_t *phist_prev, + VL53L1_histogram_bin_data_t *phist_curr, + VL53L1_zone_objects_t *prange_prev, + VL53L1_range_results_t *prange_curr); + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_hist_events_consistency_check( + VL53L1_DEV Dev, + uint8_t VL53L1_PRM_00001, + uint8_t p, + VL53L1_zone_hist_info_t *phist_prev, + VL53L1_histogram_bin_data_t *phist_curr, + VL53L1_zone_objects_t *prange_prev, + VL53L1_range_results_t *prange_curr, + int32_t *pevents_tolerance, + int32_t *pevents_delta, + VL53L1_DeviceError *prange_status); + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_hist_wrap_dmax( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_histogram_bin_data_t *pcurrent, + int16_t *pwrap_dmax_mm); + + + + + + + + + + + + + + + + + + + + + +void VL53L1_hist_combine_mm1_mm2_offsets( + int16_t mm1_offset_mm, + int16_t mm2_offset_mm, + uint8_t encoded_mm_roi_centre, + uint8_t encoded_mm_roi_size, + uint8_t encoded_zone_centre, + uint8_t encoded_zone_size, + VL53L1_additional_offset_cal_data_t *pcal_data, + uint8_t *pgood_spads, + uint16_t aperture_attenuation, + int16_t *prange_offset_mm); + + + + + + + + + + + + + + + + + + +void VL53L1_spad_number_to_byte_bit_index( + uint8_t spad_number, + uint8_t *pbyte_index, + uint8_t *pbit_index, + uint8_t *pbit_mask); + + + + + + + + + + + + + +void VL53L1_encode_row_col( + uint8_t row, + uint8_t col, + uint8_t *pspad_number); + + + + + + + + + + + + +void VL53L1_decode_zone_size( + uint8_t encoded_xy_size, + uint8_t *pwidth, + uint8_t *pheight); + + + + + + + + + + + + +void VL53L1_encode_zone_size( + uint8_t width, + uint8_t height, + uint8_t *pencoded_xy_size); + + + + + + + + + + + + + + + + + +void VL53L1_decode_zone_limits( + uint8_t encoded_xy_centre, + uint8_t encoded_xy_size, + int16_t *px_ll, + int16_t *py_ll, + int16_t *px_ur, + int16_t *py_ur); + + + + + + + + + + + + +uint8_t VL53L1_is_aperture_location( + uint8_t row, + uint8_t col); + + + + + + + + + + + + + + + + + + + +void VL53L1_calc_mm_effective_spads( + uint8_t encoded_mm_roi_centre, + uint8_t encoded_mm_roi_size, + uint8_t encoded_zone_centre, + uint8_t encoded_zone_size, + uint8_t *pgood_spads, + uint16_t aperture_attenuation, + uint16_t *pmm_inner_effective_spads, + uint16_t *pmm_outer_effective_spads); + + + + + + + + + + + + + + +void VL53L1_hist_copy_results_to_sys_and_core( + VL53L1_histogram_bin_data_t *pbins, + VL53L1_range_results_t *phist, + VL53L1_system_results_t *psys, + VL53L1_core_results_t *pcore); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_sum_histogram_data ( + VL53L1_histogram_bin_data_t *phist_input, + VL53L1_histogram_bin_data_t *phist_output); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_avg_histogram_data ( + uint8_t no_of_samples, + VL53L1_histogram_bin_data_t *phist_sum, + VL53L1_histogram_bin_data_t *phist_avg); + + + + + + + + + + + + + +VL53L1_Error VL53L1_save_cfg_data( + VL53L1_DEV Dev); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_dynamic_zone_update( + VL53L1_DEV Dev, + VL53L1_range_results_t *presults); + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_update_internal_stream_counters( + VL53L1_DEV Dev, + uint8_t external_stream_count, + uint8_t *pinternal_stream_count, + uint8_t *pinternal_stream_count_val + ); + + + + + + + + + + + + +VL53L1_Error VL53L1_multizone_hist_bins_update( + VL53L1_DEV Dev); + + + + + + + +VL53L1_Error VL53L1_set_histogram_multizone_initial_bin_config( + VL53L1_zone_config_t *pzone_cfg, + VL53L1_histogram_config_t *phist_cfg, + VL53L1_histogram_config_t *pmulti_hist + ); + + + + + + + + + +uint8_t VL53L1_encode_GPIO_interrupt_config( + VL53L1_GPIO_interrupt_config_t *pintconf); + + + + + + + + + +VL53L1_GPIO_interrupt_config_t VL53L1_decode_GPIO_interrupt_config( + uint8_t system__interrupt_config); + + + + + + + + + + +VL53L1_Error VL53L1_set_GPIO_distance_threshold( + VL53L1_DEV Dev, + uint16_t threshold_high, + uint16_t threshold_low); + + + + + + + + + + +VL53L1_Error VL53L1_set_GPIO_rate_threshold( + VL53L1_DEV Dev, + uint16_t threshold_high, + uint16_t threshold_low); + + + + + + + + + + +VL53L1_Error VL53L1_set_GPIO_thresholds_from_struct( + VL53L1_DEV Dev, + VL53L1_GPIO_interrupt_config_t *pintconf); + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_ref_spad_char_config( + VL53L1_DEV Dev, + uint8_t vcsel_period_a, + uint32_t phasecal_timeout_us, + uint16_t total_rate_target_mcps, + uint16_t max_count_rate_rtn_limit_mcps, + uint16_t min_count_rate_rtn_limit_mcps, + uint16_t fast_osc_frequency); + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_ssc_config( + VL53L1_DEV Dev, + VL53L1_ssc_config_t *pssc_cfg, + uint16_t fast_osc_frequency); + + + + + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_spad_rate_data( + VL53L1_DEV Dev, + VL53L1_spad_rate_data_t *pspad_rates); + + + + + + + + + + + + + + + + +uint16_t VL53L1_calc_crosstalk_plane_offset_with_margin( + uint16_t plane_offset_kcps, + int16_t margin_offset_kcps); + + +#ifdef __cplusplus +} +#endif + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_core_support.h b/drivers/input/misc/vl53L1/inc/vl53l1_core_support.h new file mode 100644 index 000000000000..e66c5ec97202 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_core_support.h @@ -0,0 +1,410 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_CORE_SUPPORT_H_ +#define _VL53L1_CORE_SUPPORT_H_ + +#include "vl53l1_types.h" +#include "vl53l1_hist_structs.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + + + + + + + + + +uint32_t VL53L1_calc_pll_period_us( + uint16_t fast_osc_frequency); + + + + + + + + + + + + + + + + + + +uint32_t VL53L1_duration_maths( + uint32_t pll_period_us, + uint32_t vcsel_parm_pclks, + uint32_t window_vclks, + uint32_t periods_elapsed_mclks); + + + + + + + + + + + + + + + + +uint32_t VL53L1_events_per_spad_maths( + int32_t VL53L1_PRM_00009, + uint16_t num_spads, + uint32_t duration); + + + + + + + + + + + + + +uint32_t VL53L1_isqrt( + uint32_t num); + + + + + + + + + + +void VL53L1_hist_calc_zero_distance_phase( + VL53L1_histogram_bin_data_t *pdata); + + + + + + + + + + + + + + + + + + + +void VL53L1_hist_estimate_ambient_from_thresholded_bins( + int32_t ambient_threshold_sigma, + VL53L1_histogram_bin_data_t *pdata); + + + + + + + + + + + + + +void VL53L1_hist_remove_ambient_bins( + VL53L1_histogram_bin_data_t *pdata); + + + + + + + + + + + + + + +uint32_t VL53L1_calc_pll_period_mm( + uint16_t fast_osc_frequency); + + + + + + + + + + + + + + + +uint16_t VL53L1_rate_maths( + int32_t VL53L1_PRM_00006, + uint32_t time_us); + + + + + + + + + + + + + + + + + + +uint16_t VL53L1_rate_per_spad_maths( + uint32_t frac_bits, + uint32_t peak_count_rate, + uint16_t num_spads, + uint32_t max_output_value); + + + + + + + + + + + + + + + + + +int32_t VL53L1_range_maths( + uint16_t fast_osc_frequency, + uint16_t VL53L1_PRM_00013, + uint16_t zero_distance_phase, + int32_t gain_factor, + int32_t range_offset_mm); + + + + + + + + + + + + +uint8_t VL53L1_decode_vcsel_period( + uint8_t vcsel_period_reg); + + + + + + + + + + + +void VL53L1_copy_xtalk_bin_data_to_histogram_data_struct( + VL53L1_xtalk_histogram_shape_t *pxtalk, + VL53L1_histogram_bin_data_t *phist); + + + + + + + + + + + +void VL53L1_init_histogram_bin_data_struct( + int32_t bin_value, + uint16_t VL53L1_PRM_00017, + VL53L1_histogram_bin_data_t *pdata); + + + + + + + + + + + + +void VL53L1_decode_row_col( + uint8_t spad_number, + uint8_t *prow, + uint8_t *pcol); + + + + + + + + + + + + + + + +void VL53L1_hist_find_min_max_bin_values( + VL53L1_histogram_bin_data_t *pdata); + + + + + + + + + + + + + + + +void VL53L1_hist_estimate_ambient_from_ambient_bins( + VL53L1_histogram_bin_data_t *pdata); + + +#ifdef __cplusplus +} +#endif + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_def.h b/drivers/input/misc/vl53L1/inc/vl53l1_def.h new file mode 100644 index 000000000000..71e60165d9ce --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_def.h @@ -0,0 +1,704 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either +* 'STMicroelectronics Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + +/** + * @file vl53l1_def.h + * + * @brief Type definitions for VL53L1 API. + * + */ + + +#ifndef _VL53L1_DEF_H_ +#define _VL53L1_DEF_H_ + +#include "vl53l1_ll_def.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/** @defgroup VL53L1_globaldefine_group VL53L1 Defines + * @brief VL53L1 Defines + * @{ + */ + + +/** PAL SPECIFICATION major version */ +#define VL53L1_SPECIFICATION_VER_MAJOR 1 +/** PAL SPECIFICATION minor version */ +#define VL53L1_SPECIFICATION_VER_MINOR 2 +/** PAL SPECIFICATION sub version */ +#define VL53L1_SPECIFICATION_VER_SUB 7 +/** PAL SPECIFICATION sub version */ +#define VL53L1_SPECIFICATION_VER_REVISION 1440 + +/** VL53L1 IMPLEMENTATION major version */ +#define VL53L1_IMPLEMENTATION_VER_MAJOR 4 +/** VL53L1 IMPLEMENTATION minor version */ +#define VL53L1_IMPLEMENTATION_VER_MINOR 1 +/** VL53L1 IMPLEMENTATION sub version */ +#define VL53L1_IMPLEMENTATION_VER_SUB 0 +/** VL53L1 IMPLEMENTATION sub version */ +#define VL53L1_IMPLEMENTATION_VER_REVISION 1249 + + +/**************************************** + * PRIVATE define do not edit + ****************************************/ + +/** @brief Defines the parameters of the Get Version Functions + */ +typedef struct { + uint32_t revision; /*!< revision number */ + uint8_t major; /*!< major number */ + uint8_t minor; /*!< minor number */ + uint8_t build; /*!< build number */ +} VL53L1_Version_t; + + +#define VL53L1_DEVINFO_STRLEN 32 + +/** @brief Defines the parameters of the Get Device Info Functions + */ +typedef struct { + char Name[VL53L1_DEVINFO_STRLEN]; + /*!< Name of the Device e.g. Left_Distance */ + char Type[VL53L1_DEVINFO_STRLEN]; + /*!< Type of the Device e.g VL53L1 */ + char ProductId[VL53L1_DEVINFO_STRLEN]; + /*!< Product Identifier String + * @warning Not yet implemented + */ + uint8_t ProductType; + /*!< Product Type, VL53L1 = 1, VL53L1 = 2*/ + uint8_t ProductRevisionMajor; + /*!< Product revision major */ + uint8_t ProductRevisionMinor; + /*!< Product revision minor */ +} VL53L1_DeviceInfo_t; + + + +/** @defgroup VL53L1_define_PresetModes_group Defines Preset modes + * Defines all possible preset modes for the device + * @{ + */ +typedef uint8_t VL53L1_PresetModes; + +#define VL53L1_PRESETMODE_RANGING ((VL53L1_PresetModes) 1) +#define VL53L1_PRESETMODE_MULTIZONES_SCANNING ((VL53L1_PresetModes) 2) +#define VL53L1_PRESETMODE_AUTONOMOUS ((VL53L1_PresetModes) 3) +#define VL53L1_PRESETMODE_LITE_RANGING ((VL53L1_PresetModes) 4) +#define VL53L1_PRESETMODE_OLT ((VL53L1_PresetModes) 7) + + /* ... Modes to be added depending on device */ +/** @} VL53L1_define_PresetModes_group */ + + +/** @defgroup VL53L1_define_DistanceModes_group Defines Distance modes + * Defines all possible Distance modes for the device + * @{ + */ +typedef uint8_t VL53L1_DistanceModes; + +#define VL53L1_DISTANCEMODE_SHORT ((VL53L1_DistanceModes) 1) +#define VL53L1_DISTANCEMODE_MEDIUM ((VL53L1_DistanceModes) 2) +#define VL53L1_DISTANCEMODE_LONG ((VL53L1_DistanceModes) 3) +#define VL53L1_DISTANCEMODE_AUTO_LITE ((VL53L1_DistanceModes) 4) +#define VL53L1_DISTANCEMODE_AUTO ((VL53L1_DistanceModes) 5) + + /* ... Modes to be added depending on device */ +/** @} VL53L1_define_DistanceModes_group */ + +/** @defgroup VL53L1_define_OutputModes_group Defines Output modes + * Defines all possible Output modes for the device + * @{ + */ +typedef uint8_t VL53L1_OutputModes; + +#define VL53L1_OUTPUTMODE_NEAREST ((VL53L1_OutputModes) 1) +#define VL53L1_OUTPUTMODE_STRONGEST ((VL53L1_OutputModes) 2) + +/** @} VL53L1_define_OutputModes_group */ + +/** @defgroup VL53L1_define_OffsetCalibrationModes_group Defines Offset Calibration modes +* Defines all possible Offset Calibration modes for the device +* @{ +*/ +typedef uint8_t VL53L1_OffsetCalibrationModes; + +#define VL53L1_OFFSETCALIBRATIONMODE_STANDARD \ + ((VL53L1_OffsetCalibrationModes) 1) +#define VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY \ + ((VL53L1_OffsetCalibrationModes) 2) +#define VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE \ + ((VL53L1_OffsetCalibrationModes) 3) + +/** @} VL53L1_define_OffsetCalibrationModes_group */ + +/** @defgroup VL53L1_define_DeviceDmaxModes_group Defines Dmax source modes +* Defines all possible sources for Dmax calibration for the device +* @{ +*/ +typedef uint8_t VL53L1_DeviceDmaxModes; + +#define DMAXMODE_FMT_CAL_DATA ((VL53L1_DeviceDmaxModes) 1) +#define DMAXMODE_CUSTCAL_DATA ((VL53L1_DeviceDmaxModes) 2) +#define DMAXMODE_PER_ZONE_CAL_DATA ((VL53L1_DeviceDmaxModes) 3) + +/** @} VL53L1_define_DeviceDmaxModes_group */ + +/** @defgroup VL53L1_define_OffsetCalibrationModesBD_group + * Device Offset Correction Mode + * + * @brief Defines all possible offset correction modes for the device + * @{ + */ +typedef uint8_t VL53L1_OffsetCorrectionModes; + +#define VL53L1_OFFSETCORRECTIONMODE_STANDARD ((VL53L1_OffsetCorrectionMode) 1) +#define VL53L1_OFFSETCORRECTIONMODE_PERZONE ((VL53L1_OffsetCorrectionMode) 2) + +/** @} VL53L1_define_OffsetCalibrationModesBD_group */ + + +/** @defgroup VL53L1_define_RoiStatus_group Defines Roi Status + * Defines the read status mode + * @{ + */ +typedef uint8_t VL53L1_RoiStatus; + +#define VL53L1_ROISTATUS_NOT_VALID ((VL53L1_RoiStatus) 0) +#define VL53L1_ROISTATUS_VALID_NOT_LAST ((VL53L1_RoiStatus) 1) +#define VL53L1_ROISTATUS_VALID_LAST ((VL53L1_RoiStatus) 2) +/** @} VL53L1_define_RoiStatus_group */ + + +/** @defgroup VL53L1_CheckEnable_group Check Enable list + * @brief Check Enable code + * + * Define used to specify the LimitCheckId. + * Use @a VL53L1_GetLimitCheckInfo() to get the string. + * @{ + */ + +#define VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE 0 +#define VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1 + +#define VL53L1_CHECKENABLE_NUMBER_OF_CHECKS 2 + +/** @} end of VL53L1_CheckEnable_group */ + + +/** @defgroup VL53L1_define_InterruptPolarity_group Defines the Polarity + * of the Interrupt + * Defines the Polarity of the Interrupt + * @{ + */ +typedef uint8_t VL53L1_InterruptPolarity; + +#define VL53L1_INTERRUPTPOLARITY_LOW ((VL53L1_InterruptPolarity) 0) +/*!< Set active low polarity best setup for falling edge. */ +#define VL53L1_INTERRUPTPOLARITY_HIGH ((VL53L1_InterruptPolarity) 1) +/*!< Set active high polarity best setup for rising edge. */ + +/** @} VL53L1_define_InterruptPolarity_group */ + +/** @defgroup VL53L1_ThresholdMode_gropup Detection Functionality + * @brief Defines the different functionalities for the detection feature + * @{ + */ +typedef uint8_t VL53L1_ThresholdMode; + +#define VL53L1_THRESHOLD_CROSSED_LOW \ + ((VL53L1_ThresholdMode) 0) + /*!< Trigger interrupt if value < thresh_low */ +#define VL53L1_THRESHOLD_CROSSED_HIGH \ + ((VL53L1_ThresholdMode) 1) + /*!< Trigger interrupt if value > thresh_high */ +#define VL53L1_THRESHOLD_OUT_OF_WINDOW \ + ((VL53L1_ThresholdMode) 2) + /*!< Trigger interrupt if value < thresh_low OR value > thresh_high */ +#define VL53L1_THRESHOLD_IN_WINDOW \ + ((VL53L1_ThresholdMode) 3) + /*!< Trigger interrupt if value > thresh_low AND value < thresh_high */ + +/** @} end of VL53L1_ThresholdMode_gropup */ + +/** @brief Defines parameters for Distance detection Thresholds configuration + */ +typedef struct { + VL53L1_ThresholdMode CrossMode; /*!< See #VL53L1_GpioThreshold */ + uint16_t High; /*!< Distance threshold high limit in mm */ + uint16_t Low; /*!< Distance threshold low limit in mm */ +} VL53L1_DistanceThreshold_t; + +/** @brief Defines parameters for Signal rate detection Thresholds configuration + */ +typedef struct { + VL53L1_ThresholdMode CrossMode; /*!< See #VL53L1_GpioThreshold */ + FixPoint1616_t High; /*!< Signal rate threshold high limit */ + FixPoint1616_t Low; /*!< Signal rate threshold low limit */ +} VL53L1_RateThreshold_t; + +/** @defgroup VL53L1_DetectionMode_group Gpio Functionality + * @brief Defines conditions leading to device's IT on GPIO + * @{ + */ +typedef uint8_t VL53L1_DetectionMode; + +#define VL53L1_DETECTION_NORMAL_RUN \ + ((VL53L1_DetectionMode) 0) + /*!< Trigger interrupt on new measurement regardless of threshold + * just like after a VL53L1_SetPresetMode() call + */ +#define VL53L1_DETECTION_DISTANCE_ONLY \ + ((VL53L1_DetectionMode) 1) + /*!< Trigger interrupt if "threshold event" occurs on distance */ +#define VL53L1_DETECTION_RATE_ONLY \ + ((VL53L1_DetectionMode) 2) + /*!< Trigger interrupt if "threshold event" occurs on signal rate */ +#define VL53L1_DETECTION_DISTANCE_AND_RATE \ + ((VL53L1_DetectionMode) 3) + /*!< Trigger interrupt if "threshold event" occurs on distance AND rate + */ +#define VL53L1_DETECTION_DISTANCE_OR_RATE \ + ((VL53L1_DetectionMode) 4) + /*!< Trigger interrupt if "threshold event" occurs on distance OR rate + */ + +/** @} end of VL53L1_DetectionMode_group */ + +/** @brief Defines parameters for User/object Detection configuration + */ +typedef struct { + VL53L1_DetectionMode DetectionMode; + /*!< See #VL53L1_GPIODetectionMode*/ + uint8_t IntrNoTarget; /*!< 1 to trigger IT in case of no target found */ + VL53L1_DistanceThreshold_t Distance; /*!< limits in mm */ + VL53L1_RateThreshold_t Rate;/*!< limits in FixPoint1616_t */ +} VL53L1_DetectionConfig_t; + + +/** @brief Defines all parameters for the device + */ +typedef struct { + VL53L1_PresetModes PresetMode; + /*!< Defines the operating mode to be used for the next measure */ + VL53L1_OutputModes OutputMode; + /*!< Defines the Output mode to be used for the next measure */ + VL53L1_DistanceModes DistanceMode; + /*!< Defines the operating mode to be used for the next measure */ + VL53L1_DistanceModes InternalDistanceMode; + /*!< Defines the internal operating mode to be used for the next + * measure + */ + VL53L1_DistanceModes NewDistanceMode; + /*!< Defines the new operating mode to be programmed for the next + * measure + */ + uint32_t MeasurementTimingBudgetMicroSeconds; + /*!< Defines the allowed total time for a single measurement */ + uint8_t LimitChecksEnable[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array store all the Limit Check enable for this device. */ + uint8_t LimitChecksStatus[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array stores all the Status of the check linked to last + * measurement. + */ + FixPoint1616_t LimitChecksValue[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array stores all the Limit Check value for this device */ + FixPoint1616_t LimitChecksCurrent[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array stores all the Limit Check current value from latest + * ranging + */ + uint8_t AmbientDmaxIndex; + /*!< This value stores the index of the ambient Dmax to take from + * ambient_dmax_mm[] table to populate ranging results + */ +} VL53L1_DeviceParameters_t; + + +/** @defgroup VL53L1_define_State_group Defines the current status of the device + * Defines the current status of the device + * @{ + */ + +typedef uint8_t VL53L1_State; + +#define VL53L1_STATE_POWERDOWN ((VL53L1_State) 0) + /*!< Device is in HW reset */ +#define VL53L1_STATE_WAIT_STATICINIT ((VL53L1_State) 1) + /*!< Device is initialized and wait for static initialization */ +#define VL53L1_STATE_STANDBY ((VL53L1_State) 2) + /*!< Device is in Low power Standby mode */ +#define VL53L1_STATE_IDLE ((VL53L1_State) 3) + /*!< Device has been initialized and ready to do measurements */ +#define VL53L1_STATE_RUNNING ((VL53L1_State) 4) + /*!< Device is performing measurement */ +#define VL53L1_STATE_RESET ((VL53L1_State) 5) + /*!< Soft reset has been run on Device */ +#define VL53L1_STATE_UNKNOWN ((VL53L1_State) 98) + /*!< Device is in unknown state and need to be rebooted */ +#define VL53L1_STATE_ERROR ((VL53L1_State) 99) + /*!< Device is in error state and need to be rebooted */ + +/** @} VL53L1_define_State_group */ + + +/** + * @struct VL53L1_SingleRangingData_t + * @brief Single Range measurement data. + */ +typedef struct { + uint32_t TimeStamp; + /*!< 32-bit time stamp. + * @warning Not yet implemented + */ + + uint8_t StreamCount; /*!< 8-bit Stream Count. */ + + uint8_t RangeQualityLevel; + /*!< indicate a quality level in percentage from 0 to 100 + * @warning Not yet implemented + */ + + int16_t DmaxMilliMeter; + /*!< range Dmax distance in millimeter. + */ + + int16_t RangeMaxMilliMeter; + /*!< Tells what is the maximum detection distance of the object + * in current setup and environment conditions (Filled when + * applicable) + */ + + int16_t RangeMinMilliMeter; + /*!< Tells what is the minimum detection distance of the object + * in current setup and environment conditions (Filled when + * applicable) + */ + + FixPoint1616_t SignalRateRtnMegaCps; + /*!< Return signal rate (MCPS)\n these is a 16.16 fix point + * value, which is effectively a measure of target + * reflectance. + */ + + FixPoint1616_t AmbientRateRtnMegaCps; + /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point + * value, which is effectively a measure of the ambien + * t light. + */ + + uint16_t EffectiveSpadRtnCount; + /*!< Return the effective SPAD count for the return signal. + * To obtain Real value it should be divided by 256 + */ + + FixPoint1616_t SigmaMilliMeter; + /*!< Return the Sigma value in millimeter */ + + int16_t RangeMilliMeter; + /*!< range distance in millimeter. This should be between + * RangeMinMilliMeter and RangeMaxMilliMeter */ + + uint8_t RangeFractionalPart; + /*!< Fractional part of range distance. Final value is a + * RangeMilliMeter + RangeFractionalPart/256. + * @warning Not yet implemented + */ + + uint8_t RangeStatus; + /*!< Range Status for the current measurement. This is device + * dependent. Value = 0 means value is valid. + */ +} VL53L1_RangingMeasurementData_t; + +/** + * @struct VL53L1_ROIRangeResults_t + * @brief Structure for storing the set of range results for a single ROI + * + */ +typedef struct { + + uint8_t RoiNumber; + /*!< Denotes on which ROI the range data is related to. */ + uint8_t NumberOfObjectsFound; + /*!< Indicate the number of objects found in the current ROI. + * This is used to know how many ranging data should be get. + * NumberOfObjectsFound is in the range 0 to + * VL53L1_MAX_RANGE_RESULTS. + */ + VL53L1_RoiStatus RoiStatus; + /*!< Indicate if the data read is valid or not or if this is + * the last valid data in the ROI. + */ + VL53L1_RangingMeasurementData_t RangeData[VL53L1_MAX_RANGE_RESULTS]; + /*!< Range data each target distance */ + +} VL53L1_MultiRangingData_t; + + +/** @brief Defines User Zone(ROI) parameters + * + */ +typedef struct { + + uint8_t TopLeftX; /*!< Top Left x coordinate: 0-15 range */ + uint8_t TopLeftY; /*!< Top Left y coordinate: 0-15 range */ + uint8_t BotRightX; /*!< Bot Right x coordinate: 0-15 range */ + uint8_t BotRightY; /*!< Bot Right x coordinate:0-15 range */ + +} VL53L1_UserRoi_t; + + +/** @brief Defines ROI configuration parameters + * + * Support up a max of 16 zones, Each Zone has the same size + * + */ +typedef struct { + + uint8_t NumberOfRoi; /*!< Number of Rois defined*/ + + VL53L1_UserRoi_t UserRois[VL53L1_MAX_USER_ZONES]; + /*!< List of Rois */ + +} VL53L1_RoiConfig_t; + + + +/** + * @struct VL53L1_CalibrationData_t + * @brief Structure for storing the Calibration Data + * + */ +typedef VL53L1_calibration_data_t VL53L1_CalibrationData_t; + + +/** @defgroup VL53L1_define_SequenceStepId_group Defines the SequenceStep + * Defines the the sequence steps performed during ranging.. + * @{ + */ +typedef uint8_t VL53L1_SequenceStepId; + +#define VL53L1_SEQUENCESTEP_VHV ((VL53L1_SequenceStepId) 0) +/*!>2)&0xFFFF) +#define VL53L1_FIXPOINT72TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<2) + +#define VL53L1_FIXPOINT1616TOFIXPOINT97(Value) \ + (uint16_t)((Value>>9)&0xFFFF) +#define VL53L1_FIXPOINT97TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<9) + +#define VL53L1_FIXPOINT1616TOFIXPOINT88(Value) \ + (uint16_t)((Value>>8)&0xFFFF) +#define VL53L1_FIXPOINT88TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<8) + +#define VL53L1_FIXPOINT1616TOFIXPOINT412(Value) \ + (uint16_t)((Value>>4)&0xFFFF) +#define VL53L1_FIXPOINT412TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<4) + +#define VL53L1_FIXPOINT1616TOFIXPOINT313(Value) \ + (uint16_t)((Value>>3)&0xFFFF) +#define VL53L1_FIXPOINT313TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<3) + +#define VL53L1_FIXPOINT1616TOFIXPOINT08(Value) \ + (uint8_t)((Value>>8)&0x00FF) +#define VL53L1_FIXPOINT08TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<8) + +#define VL53L1_FIXPOINT1616TOFIXPOINT53(Value) \ + (uint8_t)((Value>>13)&0x00FF) +#define VL53L1_FIXPOINT53TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<13) + +#define VL53L1_FIXPOINT1616TOFIXPOINT102(Value) \ + (uint16_t)((Value>>14)&0x0FFF) +#define VL53L1_FIXPOINT102TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<14) + +#define VL53L1_FIXPOINT1616TOFIXPOINT142(Value) \ + (uint16_t)((Value>>14)&0xFFFF) +#define VL53L1_FIXPOINT142TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<14) + +#define VL53L1_FIXPOINT1616TOFIXPOINT160(Value) \ + (uint16_t)((Value>>16)&0xFFFF) +#define VL53L1_FIXPOINT160TOFIXPOINT1616(Value) \ + (FixPoint1616_t)(Value<<16) + +#define VL53L1_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \ + (uint16_t)lsb) + +#ifndef SUPPRESS_UNUSED_WARNING +#define SUPPRESS_UNUSED_WARNING(x) ((void) (x)) +#endif + +/** @} VL53L1_define_GeneralMacro_group */ + + +/** @} VL53L1_globaldefine_group */ + + + +#ifdef __cplusplus +} +#endif + + +#endif /* _VL53L1_DEF_H_ */ diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_dmax_structs.h b/drivers/input/misc/vl53L1/inc/vl53l1_dmax_structs.h new file mode 100644 index 000000000000..5b77f4517feb --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_dmax_structs.h @@ -0,0 +1,205 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_DMAX_STRUCTS_H_ +#define _VL53L1_DMAX_STRUCTS_H_ + +#include "vl53l1_types.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + + +#define VL53L1_MAX_AMBIENT_DMAX_VALUES 5 + + + + + + + + + + + + +typedef struct { + + + + + uint16_t ref__actual_effective_spads; + + + uint16_t ref__peak_signal_count_rate_mcps; + + + uint16_t ref__distance_mm; + + + uint16_t ref_reflectance_pc; + + + + + + + uint16_t coverglass_transmission; + + + +} VL53L1_dmax_calibration_data_t ; + + + + + + + + + + +typedef struct { + + + + + uint8_t signal_thresh_sigma; + + + uint8_t ambient_thresh_sigma; + + + int32_t min_ambient_thresh_events; + + + + uint16_t target_reflectance_for_dmax_calc[VL53L1_MAX_AMBIENT_DMAX_VALUES]; + + + uint8_t estimated_spad_yield; + + + + + + + uint16_t dss_config__target_total_rate_mcps; + + + uint8_t dss_config__aperture_attenuation; + + + +} VL53L1_hist_gen3_dmax_config_t; + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_error_codes.h b/drivers/input/misc/vl53L1/inc/vl53l1_error_codes.h new file mode 100644 index 000000000000..dd197e9f0873 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_error_codes.h @@ -0,0 +1,323 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_ERROR_CODES_H_ +#define _VL53L1_ERROR_CODES_H_ + +#include "vl53l1_types.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + + + + + + + + + + +typedef int8_t VL53L1_Error; + +#define VL53L1_ERROR_NONE ((VL53L1_Error) 0) +#define VL53L1_ERROR_CALIBRATION_WARNING ((VL53L1_Error) - 1) + + + + + +#define VL53L1_ERROR_MIN_CLIPPED ((VL53L1_Error) - 2) + + + +#define VL53L1_ERROR_UNDEFINED ((VL53L1_Error) - 3) + + +#define VL53L1_ERROR_INVALID_PARAMS ((VL53L1_Error) - 4) + + +#define VL53L1_ERROR_NOT_SUPPORTED ((VL53L1_Error) - 5) + + +#define VL53L1_ERROR_RANGE_ERROR ((VL53L1_Error) - 6) + + +#define VL53L1_ERROR_TIME_OUT ((VL53L1_Error) - 7) + + +#define VL53L1_ERROR_MODE_NOT_SUPPORTED ((VL53L1_Error) - 8) + + +#define VL53L1_ERROR_BUFFER_TOO_SMALL ((VL53L1_Error) - 9) + + +#define VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL ((VL53L1_Error) - 10) + + +#define VL53L1_ERROR_GPIO_NOT_EXISTING ((VL53L1_Error) - 11) + + +#define VL53L1_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L1_Error) - 12) + + +#define VL53L1_ERROR_CONTROL_INTERFACE ((VL53L1_Error) - 13) + + +#define VL53L1_ERROR_INVALID_COMMAND ((VL53L1_Error) - 14) + + + +#define VL53L1_ERROR_DIVISION_BY_ZERO ((VL53L1_Error) - 15) + + +#define VL53L1_ERROR_REF_SPAD_INIT ((VL53L1_Error) - 16) + + +#define VL53L1_ERROR_GPH_SYNC_CHECK_FAIL ((VL53L1_Error) - 17) + + +#define VL53L1_ERROR_STREAM_COUNT_CHECK_FAIL ((VL53L1_Error) - 18) + + +#define VL53L1_ERROR_GPH_ID_CHECK_FAIL ((VL53L1_Error) - 19) + + +#define VL53L1_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL ((VL53L1_Error) - 20) + + +#define VL53L1_ERROR_ZONE_GPH_ID_CHECK_FAIL ((VL53L1_Error) - 21) + + + +#define VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL ((VL53L1_Error) - 22) + + + + + +#define VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL ((VL53L1_Error) - 23) + + + + + + + + +#define VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL ((VL53L1_Error) - 24) + + + +#define VL53L1_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL ((VL53L1_Error) - 25) + + + + +#define VL53L1_ERROR_ZONE_CAL_NO_SAMPLE_FAIL ((VL53L1_Error) - 26) + + + + + +#define VL53L1_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS ((VL53L1_Error) - 27) + + +#define VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH ((VL53L1_Error) - 28) + + + + +#define VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW ((VL53L1_Error) - 29) + + + + + + +#define VL53L1_WARNING_OFFSET_CAL_MISSING_SAMPLES ((VL53L1_Error) - 30) + + + +#define VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH ((VL53L1_Error) - 31) + + + + +#define VL53L1_WARNING_OFFSET_CAL_RATE_TOO_HIGH ((VL53L1_Error) - 32) + + + + +#define VL53L1_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW ((VL53L1_Error) - 33) + + + + + + +#define VL53L1_WARNING_ZONE_CAL_MISSING_SAMPLES ((VL53L1_Error) - 34) + + + +#define VL53L1_WARNING_ZONE_CAL_SIGMA_TOO_HIGH ((VL53L1_Error) - 35) + + + + +#define VL53L1_WARNING_ZONE_CAL_RATE_TOO_HIGH ((VL53L1_Error) - 36) + + + + + + +#define VL53L1_WARNING_XTALK_MISSING_SAMPLES ((VL53L1_Error) - 37) + + + + + + + + +#define VL53L1_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT ((VL53L1_Error) - 38) + + + + + + + + + +#define VL53L1_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT ((VL53L1_Error) - 39) + + + + + + + + + + +#define VL53L1_ERROR_NOT_IMPLEMENTED ((VL53L1_Error) - 40) + + + +#define VL53L1_ERROR_PLATFORM_SPECIFIC_START ((VL53L1_Error) - 60) + + + + + + +#ifdef __cplusplus +} +#endif + + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_error_exceptions.h b/drivers/input/misc/vl53L1/inc/vl53l1_error_exceptions.h new file mode 100644 index 000000000000..4fbd38b5d9a6 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_error_exceptions.h @@ -0,0 +1,125 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_ERROR_EXCEPTIONS_H_ +#define _VL53L1_ERROR_EXCEPTIONS_H_ + +#define IGNORE_DIVISION_BY_ZERO 0 + +#define IGNORE_XTALK_EXTRACTION_NO_SAMPLE_FAIL 0 +#define IGNORE_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL 0 +#define IGNORE_XTALK_EXTRACTION_NO_SAMPLE_FOR_GRADIENT_WARN 0 +#define IGNORE_XTALK_EXTRACTION_SIGMA_LIMIT_FOR_GRADIENT_WARN 0 +#define IGNORE_XTALK_EXTRACTION_MISSING_SAMPLES_WARN 0 + +#define IGNORE_REF_SPAD_CHAR_NOT_ENOUGH_SPADS 0 +#define IGNORE_REF_SPAD_CHAR_RATE_TOO_HIGH 0 +#define IGNORE_REF_SPAD_CHAR_RATE_TOO_LOW 0 + +#define IGNORE_OFFSET_CAL_MISSING_SAMPLES 0 +#define IGNORE_OFFSET_CAL_SIGMA_TOO_HIGH 0 +#define IGNORE_OFFSET_CAL_RATE_TOO_HIGH 0 +#define IGNORE_OFFSET_CAL_SPAD_COUNT_TOO_LOW 0 + +#define IGNORE_ZONE_CAL_MISSING_SAMPLES 0 +#define IGNORE_ZONE_CAL_SIGMA_TOO_HIGH 0 +#define IGNORE_ZONE_CAL_RATE_TOO_HIGH 0 + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_error_strings.h b/drivers/input/misc/vl53L1/inc/vl53l1_error_strings.h new file mode 100644 index 000000000000..5fd63d1f6e28 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_error_strings.h @@ -0,0 +1,243 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef VL53L1_ERROR_STRINGS_H_ +#define VL53L1_ERROR_STRINGS_H_ + +#include "vl53l1_error_codes.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_pal_error_string( + VL53L1_Error PalErrorCode, + char *pPalErrorString); + + +#ifndef VL53L1_USE_EMPTY_STRING + + + + #define VL53L1_STRING_ERROR_NONE \ + "No Error" + #define VL53L1_STRING_ERROR_CALIBRATION_WARNING \ + "Calibration Warning Error" + #define VL53L1_STRING_ERROR_MIN_CLIPPED \ + "Min clipped error" + #define VL53L1_STRING_ERROR_UNDEFINED \ + "Undefined error" + #define VL53L1_STRING_ERROR_INVALID_PARAMS \ + "Invalid parameters error" + #define VL53L1_STRING_ERROR_NOT_SUPPORTED \ + "Not supported error" + #define VL53L1_STRING_ERROR_RANGE_ERROR \ + "Range error" + #define VL53L1_STRING_ERROR_TIME_OUT \ + "Time out error" + #define VL53L1_STRING_ERROR_MODE_NOT_SUPPORTED \ + "Mode not supported error" + #define VL53L1_STRING_ERROR_BUFFER_TOO_SMALL \ + "Buffer too small" + #define VL53L1_STRING_ERROR_COMMS_BUFFER_TOO_SMALL \ + "Comms Buffer too small" + #define VL53L1_STRING_ERROR_GPIO_NOT_EXISTING \ + "GPIO not existing" + #define VL53L1_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \ + "GPIO funct not supported" + #define VL53L1_STRING_ERROR_CONTROL_INTERFACE \ + "Control Interface Error" + #define VL53L1_STRING_ERROR_INVALID_COMMAND \ + "Invalid Command Error" + #define VL53L1_STRING_ERROR_DIVISION_BY_ZERO \ + "Division by zero Error" + #define VL53L1_STRING_ERROR_REF_SPAD_INIT \ + "Reference Spad Init Error" + #define VL53L1_STRING_ERROR_GPH_SYNC_CHECK_FAIL \ + "GPH Sync Check Fail - API out of sync" + #define VL53L1_STRING_ERROR_STREAM_COUNT_CHECK_FAIL \ + "Stream Count Check Fail - API out of sync" + #define VL53L1_STRING_ERROR_GPH_ID_CHECK_FAIL \ + "GPH ID Check Fail - API out of sync" + #define VL53L1_STRING_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL \ + "Zone Stream Count Check Fail - API out of sync" + #define VL53L1_STRING_ERROR_ZONE_GPH_ID_CHECK_FAIL \ + "Zone GPH ID Check Fail - API out of sync" + + #define VL53L1_STRING_ERROR_XTALK_EXTRACTION_NO_SAMPLES_FAIL \ + "No Xtalk using full array - Xtalk Extract Fail" + #define VL53L1_STRING_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL \ + "Xtalk does not meet required VL53L1_PRM_00012 limit - Xtalk Extract Fail" + + #define VL53L1_STRING_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL \ + "Offset Cal - one of more stages with no valid samples - fatal" + #define VL53L1_STRING_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL \ + "Offset Cal - one of more stages with no SPADS enables - fatal" + #define VL53L1_STRING_ERROR_ZONE_CAL_NO_SAMPLE_FAIL \ + "Zone Cal - one of more zones with no valid samples - fatal" + + #define VL53L1_STRING_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS \ + "Ref SPAD Char - Not Enough Good SPADs" + #define VL53L1_STRING_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH \ + "Ref SPAD Char - Final Ref Rate too high" + #define VL53L1_STRING_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW \ + "Ref SPAD Char - Final Ref Rate too low" + + #define VL53L1_STRING_WARNING_OFFSET_CAL_MISSING_SAMPLES \ + "Offset Cal - Less than the requested number of valid samples" + #define VL53L1_STRING_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH \ + "Offset Cal - Sigma estimate value too high - offset not stable" + #define VL53L1_STRING_WARNING_OFFSET_CAL_RATE_TOO_HIGH \ + "Offset Cal - Rate too high - in pile up" + #define VL53L1_STRING_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW \ + "Offset Cal - Insufficient SPADs - offset may not be stable" + + #define VL53L1_STRING_WARNING_ZONE_CAL_MISSING_SAMPLES \ + "Zone Cal - One or more zone with less than requested valid samples" + #define VL53L1_STRING_WARNING_ZONE_CAL_SIGMA_TOO_HIGH \ + "Zone Cal - One of more zones the VL53L1_PRM_00012 estimate too high" + #define VL53L1_STRING_WARNING_ZONE_CAL_RATE_TOO_HIGH \ + "Zone Cal - One of more zones with rate too high - in pile up" + + #define VL53L1_STRING_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT \ + "Xtalk - Gradient sample num = 0" + #define VL53L1_STRING_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT \ + "Xtalk - Gradient Sigma > Limit" + #define VL53L1_STRING_WARNING_XTALK_MISSING_SAMPLES \ + "Xtalk - Some missing and invalid samples" + + #define VL53L1_STRING_ERROR_DEVICE_FIRMWARE_TOO_OLD \ + "Device Firmware too old" + #define VL53L1_STRING_ERROR_DEVICE_FIRMWARE_TOO_NEW \ + "Device Firmware too new" + #define VL53L1_STRING_ERROR_UNIT_TEST_FAIL \ + "Unit Test Fail" + #define VL53L1_STRING_ERROR_FILE_READ_FAIL \ + "File Read Fail" + #define VL53L1_STRING_ERROR_FILE_WRITE_FAIL \ + "File Write Fail" + + #define VL53L1_STRING_ERROR_NOT_IMPLEMENTED \ + "Not implemented error" + #define VL53L1_STRING_UNKNOW_ERROR_CODE \ + "Unknown Error Code" + +#endif + + + +#ifdef __cplusplus +} +#endif + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_fpga_core.h b/drivers/input/misc/vl53L1/inc/vl53l1_fpga_core.h new file mode 100644 index 000000000000..e5d13a65bb9c --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_fpga_core.h @@ -0,0 +1,134 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_FPGA_CORE_H_ +#define _VL53L1_FPGA_CORE_H_ + +#include "vl53l1_platform.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_is_firmware_ready_fpga( + VL53L1_DEV Dev, + uint8_t *pready); + + + +#ifdef __cplusplus +} +#endif + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_hist_char.h b/drivers/input/misc/vl53L1/inc/vl53l1_hist_char.h new file mode 100644 index 000000000000..46ac93f42250 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_hist_char.h @@ -0,0 +1,175 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_HIST_CHAR_H_ +#define _VL53L1_HIST_CHAR_H_ + +#include "vl53l1_platform.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_calib_config( + VL53L1_DEV Dev, + uint8_t vcsel_delay__a0, + uint8_t calib_1, + uint8_t calib_2, + uint8_t calib_3, + uint8_t calib_2__a0, + uint8_t spad_readout); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_hist_calib_pulse_delay( + VL53L1_DEV Dev, + uint8_t calib_delay); + + + + + + + + + + + + +VL53L1_Error VL53L1_disable_calib_pulse_delay( + VL53L1_DEV Dev); + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_hist_map.h b/drivers/input/misc/vl53L1/inc/vl53l1_hist_map.h new file mode 100644 index 000000000000..514bc2cdec51 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_hist_map.h @@ -0,0 +1,154 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_HIST_MAP_H_ +#define _VL53L1_HIST_MAP_H_ + +#include "vl53l1_register_map.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + + + + + +#define VL53L1_HISTOGRAM_CONFIG__OPCODE_SEQUENCE_0 \ + VL53L1_SIGMA_ESTIMATOR__EFFECTIVE_PULSE_WIDTH_NS + +#define VL53L1_HISTOGRAM_CONFIG__OPCODE_SEQUENCE_1 \ + VL53L1_SIGMA_ESTIMATOR__EFFECTIVE_AMBIENT_WIDTH_NS + +#define VL53L1_HISTOGRAM_CONFIG__OPCODE_SEQUENCE_2 \ + VL53L1_SIGMA_ESTIMATOR__SIGMA_REF_MM + +#define VL53L1_HISTOGRAM_CONFIG__AMB_THRESH_HIGH \ + VL53L1_ALGO__RANGE_IGNORE_THRESHOLD_MCPS + + + + + +#define VL53L1_RESULT__HISTOGRAM_BIN_0_2 0x008E +#define VL53L1_RESULT__HISTOGRAM_BIN_0_1 0x008F +#define VL53L1_RESULT__HISTOGRAM_BIN_0_0 0x0090 + +#define VL53L1_RESULT__HISTOGRAM_BIN_23_2 0x00D3 +#define VL53L1_RESULT__HISTOGRAM_BIN_23_1 0x00D4 +#define VL53L1_RESULT__HISTOGRAM_BIN_23_0 0x00D5 + +#define VL53L1_RESULT__HISTOGRAM_BIN_23_0_MSB 0x00D9 +#define VL53L1_RESULT__HISTOGRAM_BIN_23_0_LSB 0x00DA + + + + +#define VL53L1_HISTOGRAM_BIN_DATA_I2C_INDEX \ + VL53L1_RESULT__INTERRUPT_STATUS +#define VL53L1_HISTOGRAM_BIN_DATA_I2C_SIZE_BYTES \ + (VL53L1_RESULT__HISTOGRAM_BIN_23_0_LSB - VL53L1_RESULT__INTERRUPT_STATUS + 1) + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_hist_structs.h b/drivers/input/misc/vl53L1/inc/vl53l1_hist_structs.h new file mode 100644 index 000000000000..6c7c6925f0ca --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_hist_structs.h @@ -0,0 +1,477 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_HIST_STRUCTS_H_ +#define _VL53L1_HIST_STRUCTS_H_ + +#include "vl53l1_ll_device.h" +#include "vl53l1_dmax_structs.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +#define VL53L1_MAX_BIN_SEQUENCE_LENGTH 6 +#define VL53L1_MAX_BIN_SEQUENCE_CODE 15 +#define VL53L1_HISTOGRAM_BUFFER_SIZE 24 +#define VL53L1_XTALK_HISTO_BINS 12 + + + + + + + + +typedef struct { + + uint8_t histogram_config__spad_array_selection; + + uint8_t histogram_config__low_amb_even_bin_0_1; + uint8_t histogram_config__low_amb_even_bin_2_3; + uint8_t histogram_config__low_amb_even_bin_4_5; + + uint8_t histogram_config__low_amb_odd_bin_0_1; + uint8_t histogram_config__low_amb_odd_bin_2_3; + uint8_t histogram_config__low_amb_odd_bin_4_5; + + uint8_t histogram_config__mid_amb_even_bin_0_1; + uint8_t histogram_config__mid_amb_even_bin_2_3; + uint8_t histogram_config__mid_amb_even_bin_4_5; + + uint8_t histogram_config__mid_amb_odd_bin_0_1; + uint8_t histogram_config__mid_amb_odd_bin_2; + uint8_t histogram_config__mid_amb_odd_bin_3_4; + uint8_t histogram_config__mid_amb_odd_bin_5; + + uint8_t histogram_config__user_bin_offset; + + uint8_t histogram_config__high_amb_even_bin_0_1; + uint8_t histogram_config__high_amb_even_bin_2_3; + uint8_t histogram_config__high_amb_even_bin_4_5; + + uint8_t histogram_config__high_amb_odd_bin_0_1; + uint8_t histogram_config__high_amb_odd_bin_2_3; + uint8_t histogram_config__high_amb_odd_bin_4_5; + + uint16_t histogram_config__amb_thresh_low; + + + + uint16_t histogram_config__amb_thresh_high; + + + + +} VL53L1_histogram_config_t; + + + + + + + + + +typedef struct { + + VL53L1_HistAlgoSelect hist_algo_select; + + + + VL53L1_HistTargetOrder hist_target_order; + + + + + + uint8_t filter_woi0; + + + + uint8_t filter_woi1; + + + + + VL53L1_HistAmbEstMethod hist_amb_est_method; + + + uint8_t ambient_thresh_sigma0; + + + + uint8_t ambient_thresh_sigma1; + + + int32_t min_ambient_thresh_events; + + + uint16_t noise_threshold; + + + + int32_t signal_total_events_limit; + + + uint8_t sigma_estimator__sigma_ref_mm; + + + uint16_t sigma_thresh; + + + int16_t range_offset_mm; + + + uint16_t gain_factor; + + + + uint8_t valid_phase_low; + + + + uint8_t valid_phase_high; + + + + uint8_t algo__consistency_check__phase_tolerance; + + + + uint8_t algo__consistency_check__event_sigma; + + + + + uint8_t algo__crosstalk_compensation_enable; + + + uint16_t algo__crosstalk_compensation_plane_offset_kcps; + + + int16_t algo__crosstalk_compensation_x_plane_gradient_kcps; + + + int16_t algo__crosstalk_compensation_y_plane_gradient_kcps; + + + + int16_t algo__crosstalk_detect_min_valid_range_mm; + + + int16_t algo__crosstalk_detect_max_valid_range_mm; + + + uint16_t algo__crosstalk_detect_max_valid_rate_kcps; + + + + uint16_t algo__crosstalk_detect_max_sigma_mm; + + + + +} VL53L1_hist_post_process_config_t; + + + + + + + +typedef struct { + + + + VL53L1_DeviceState cfg_device_state; + + + VL53L1_DeviceState rd_device_state; + + + + uint8_t zone_id; + + + uint32_t time_stamp; + + + + uint8_t VL53L1_PRM_00015; + + + uint8_t VL53L1_PRM_00016; + + + uint8_t VL53L1_PRM_00017; + + + + uint8_t number_of_ambient_bins; + + + + uint8_t bin_seq[VL53L1_MAX_BIN_SEQUENCE_LENGTH]; + + + uint8_t bin_rep[VL53L1_MAX_BIN_SEQUENCE_LENGTH]; + + + + + int32_t bin_data[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + + + uint8_t result__interrupt_status; + + + uint8_t result__range_status; + + + uint8_t result__report_status; + + + uint8_t result__stream_count; + + + uint16_t result__dss_actual_effective_spads; + + + + uint16_t phasecal_result__reference_phase; + + + uint8_t phasecal_result__vcsel_start; + + + uint8_t cal_config__vcsel_start; + + + uint16_t vcsel_width; + + + uint8_t VL53L1_PRM_00007; + + + uint16_t VL53L1_PRM_00018; + + + uint32_t total_periods_elapsed; + + + + uint32_t peak_duration_us; + + + uint32_t woi_duration_us; + + + + int32_t min_bin_value; + + + int32_t max_bin_value; + + + + uint16_t zero_distance_phase; + + + uint8_t number_of_ambient_samples; + + + int32_t ambient_events_sum; + + + int32_t VL53L1_PRM_00026; + + + + uint8_t roi_config__user_roi_centre_spad; + + + uint8_t roi_config__user_roi_requested_global_xy_size; + + + +} VL53L1_histogram_bin_data_t; + + + + + + + + +typedef struct { + + + + uint8_t zone_id; + + + uint32_t time_stamp; + + + + uint8_t VL53L1_PRM_00015; + + + uint8_t VL53L1_PRM_00016; + + + uint8_t VL53L1_PRM_00017; + + + uint32_t bin_data[VL53L1_XTALK_HISTO_BINS]; + + + + + uint16_t phasecal_result__reference_phase; + + + uint8_t phasecal_result__vcsel_start; + + + uint8_t cal_config__vcsel_start; + + + uint16_t vcsel_width; + + + uint16_t VL53L1_PRM_00018; + + + uint16_t zero_distance_phase; + + + +} VL53L1_xtalk_histogram_shape_t; + + + + + + + + +typedef struct { + + + + VL53L1_xtalk_histogram_shape_t xtalk_shape; + + + VL53L1_histogram_bin_data_t xtalk_hist_removed; + +} VL53L1_xtalk_histogram_data_t; + + + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_ll_def.h b/drivers/input/misc/vl53L1/inc/vl53l1_ll_def.h new file mode 100644 index 000000000000..0b1c4275b3c4 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_ll_def.h @@ -0,0 +1,1625 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_LL_DEF_H_ +#define _VL53L1_LL_DEF_H_ + +#include "vl53l1_error_codes.h" +#include "vl53l1_register_structs.h" +#include "vl53l1_platform_user_config.h" +#include "vl53l1_platform_user_defines.h" +#include "vl53l1_hist_structs.h" +#include "vl53l1_dmax_structs.h" +#include "vl53l1_error_exceptions.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + + + + + + +#define VL53L1_LL_API_IMPLEMENTATION_VER_MAJOR 1 + + +#define VL53L1_LL_API_IMPLEMENTATION_VER_MINOR 1 + + +#define VL53L1_LL_API_IMPLEMENTATION_VER_SUB 16 + + +#define VL53L1_LL_API_IMPLEMENTATION_VER_REVISION 11634 + +#define VL53L1_LL_API_IMPLEMENTATION_VER_STRING "1.1.16.11634" + + + +#define VL53L1_FIRMWARE_VER_MINIMUM 398 +#define VL53L1_FIRMWARE_VER_MAXIMUM 400 + + + + + + + +#define VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION 0xECAB0101 + + + +#define VL53L1_MAX_XTALK_RANGE_RESULTS 5 + + + + + + +#define VL53L1_MAX_OFFSET_RANGE_RESULTS 3 + + + + + +#define VL53L1_NVM_MAX_FMT_RANGE_DATA 4 + + + +#define VL53L1_NVM_PEAK_RATE_MAP_SAMPLES 25 + + +#define VL53L1_NVM_PEAK_RATE_MAP_WIDTH 5 + + +#define VL53L1_NVM_PEAK_RATE_MAP_HEIGHT 5 + + + + + + + + + +#define VL53L1_ERROR_DEVICE_FIRMWARE_TOO_OLD ((VL53L1_Error) - 80) + + +#define VL53L1_ERROR_DEVICE_FIRMWARE_TOO_NEW ((VL53L1_Error) - 85) + + +#define VL53L1_ERROR_UNIT_TEST_FAIL ((VL53L1_Error) - 90) + + +#define VL53L1_ERROR_FILE_READ_FAIL ((VL53L1_Error) - 95) + + +#define VL53L1_ERROR_FILE_WRITE_FAIL ((VL53L1_Error) - 96) + + + + + + + + + + + + +typedef struct { + uint32_t ll_revision; + + uint8_t ll_major; + + uint8_t ll_minor; + + uint8_t ll_build; + +} VL53L1_ll_version_t; + + + + + + +typedef struct { + + uint8_t device_test_mode; + + uint8_t VL53L1_PRM_00007; + + uint32_t timeout_us; + + uint16_t target_count_rate_mcps; + + + uint16_t min_count_rate_limit_mcps; + + + uint16_t max_count_rate_limit_mcps; + + + +} VL53L1_refspadchar_config_t; + + + + + + + +typedef struct { + + VL53L1_DeviceSscArray array_select; + + + + + uint8_t VL53L1_PRM_00007; + + + uint8_t vcsel_start; + + + uint8_t vcsel_width; + + + uint32_t timeout_us; + + + uint16_t rate_limit_mcps; + + + + + +} VL53L1_ssc_config_t; + + + + + + +typedef struct { + + + uint16_t algo__crosstalk_compensation_plane_offset_kcps; + + + int16_t algo__crosstalk_compensation_x_plane_gradient_kcps; + + + int16_t algo__crosstalk_compensation_y_plane_gradient_kcps; + + + uint16_t nvm_default__crosstalk_compensation_plane_offset_kcps; + + + int16_t nvm_default__crosstalk_compensation_x_plane_gradient_kcps; + + + int16_t nvm_default__crosstalk_compensation_y_plane_gradient_kcps; + + + uint8_t global_crosstalk_compensation_enable; + + + int16_t histogram_mode_crosstalk_margin_kcps; + + + + + + + int16_t lite_mode_crosstalk_margin_kcps; + + + + + + + uint8_t crosstalk_range_ignore_threshold_mult; + + + uint16_t crosstalk_range_ignore_threshold_rate_mcps; + + + + + int16_t algo__crosstalk_detect_min_valid_range_mm; + + + int16_t algo__crosstalk_detect_max_valid_range_mm; + + + uint16_t algo__crosstalk_detect_max_valid_rate_kcps; + + + + uint16_t algo__crosstalk_detect_max_sigma_mm; + + + + + +} VL53L1_xtalk_config_t; + + + + + + + +typedef struct { + + uint8_t x_centre; + + uint8_t y_centre; + + uint8_t width; + + uint8_t height; + + +} VL53L1_user_zone_t; + + + + + + + + + +typedef struct { + + uint8_t max_zones; + + uint8_t active_zones; + + + + + + + + + +VL53L1_histogram_config_t multizone_hist_cfg; + + VL53L1_user_zone_t user_zones[VL53L1_MAX_USER_ZONES]; + + + + uint8_t bin_config[VL53L1_MAX_USER_ZONES]; + + + +} VL53L1_zone_config_t; + + + + + + + + + +typedef struct { + + + + VL53L1_GPIO_Interrupt_Mode intr_mode_distance; + + + + VL53L1_GPIO_Interrupt_Mode intr_mode_rate; + + + + + + uint8_t intr_new_measure_ready; + + + + uint8_t intr_no_target; + + + + + + + uint8_t intr_combined_mode; + + + + + + + + + + + uint16_t threshold_distance_high; + + + + uint16_t threshold_distance_low; + + + + uint16_t threshold_rate_high; + + + + uint16_t threshold_rate_low; + +} VL53L1_GPIO_interrupt_config_t; + + + + + + + + +typedef struct { + + + + + uint8_t range_id; + + + uint32_t time_stamp; + + + uint8_t VL53L1_PRM_00010; + + + uint8_t VL53L1_PRM_00015; + + + uint8_t VL53L1_PRM_00019; + + + uint8_t VL53L1_PRM_00020; + + + uint8_t VL53L1_PRM_00011; + + + uint8_t VL53L1_PRM_00021; + + + + uint16_t width; + + + uint8_t VL53L1_PRM_00027; + + + + + uint16_t fast_osc_frequency; + + + uint16_t zero_distance_phase; + + + uint16_t VL53L1_PRM_00003; + + + + uint32_t total_periods_elapsed; + + + + uint32_t peak_duration_us; + + + + uint32_t woi_duration_us; + + + + + + + + uint32_t VL53L1_PRM_00023; + + + uint32_t VL53L1_PRM_00022; + + + + int32_t VL53L1_PRM_00009; + + + + + + + + uint16_t peak_signal_count_rate_mcps; + + + uint16_t avg_signal_count_rate_mcps; + + + uint16_t ambient_count_rate_mcps; + + + uint16_t total_rate_per_spad_mcps; + + + uint32_t VL53L1_PRM_00008; + + + + + + + uint16_t VL53L1_PRM_00004; + + + + + + + uint16_t VL53L1_PRM_00024; + + + + uint16_t VL53L1_PRM_00014; + + + uint16_t VL53L1_PRM_00025; + + + + + + + + int16_t min_range_mm; + + + + + + int16_t median_range_mm; + + + + + int16_t max_range_mm; + + + + + + + + + + uint8_t range_status; + +} VL53L1_range_data_t; + + + + + + + + + + +typedef struct { + + VL53L1_DeviceState cfg_device_state; + + + VL53L1_DeviceState rd_device_state; + + + uint8_t zone_id; + + + uint8_t stream_count; + + + + int16_t ambient_dmax_mm[VL53L1_MAX_AMBIENT_DMAX_VALUES]; + + + + + int16_t wrap_dmax_mm; + + + + uint8_t max_results; + + + + uint8_t active_results; + + + VL53L1_range_data_t VL53L1_PRM_00005[VL53L1_MAX_RANGE_RESULTS]; + + + + +} VL53L1_range_results_t; + + + + + + + + + + +typedef struct { + + uint8_t no_of_samples; + + + uint32_t rate_per_spad_kcps_sum; + + + + uint32_t rate_per_spad_kcps_avg; + + + int32_t signal_total_events_sum; + + + + int32_t signal_total_events_avg; + + + + uint32_t sigma_mm_sum; + + + + uint32_t sigma_mm_avg; + + + +} VL53L1_xtalk_range_data_t; + + + + + + + + + + +typedef struct { + + VL53L1_Error cal_status; + + + uint8_t num_of_samples_status; + + + + + + + + + uint8_t zero_samples_status; + + + + + + + + + uint8_t max_sigma_status; + + + + + + + + + + + + + + + + + + + uint8_t max_results; + + + + uint8_t active_results; + + + + VL53L1_xtalk_range_data_t VL53L1_PRM_00005[VL53L1_MAX_XTALK_RANGE_RESULTS]; + + + VL53L1_histogram_bin_data_t central_histogram_sum; + + + + VL53L1_histogram_bin_data_t central_histogram_avg; + + + + uint8_t central_histogram__window_start; + + + + uint8_t central_histogram__window_end; + + + + VL53L1_histogram_bin_data_t histogram_avg_1[VL53L1_MAX_XTALK_RANGE_RESULTS]; + + + + VL53L1_histogram_bin_data_t histogram_avg_2[VL53L1_MAX_XTALK_RANGE_RESULTS]; + + + + VL53L1_histogram_bin_data_t xtalk_avg[VL53L1_MAX_XTALK_RANGE_RESULTS]; + + + + +} VL53L1_xtalk_range_results_t; + + + + + + + + + + + +typedef struct { + + uint8_t preset_mode; + + + uint8_t dss_config__roi_mode_control; + + + uint16_t dss_config__manual_effective_spads_select; + + + uint8_t no_of_samples; + + + uint32_t effective_spads; + + + uint32_t peak_rate_mcps; + + + uint32_t VL53L1_PRM_00004; + + + int32_t median_range_mm; + + + + int32_t range_mm_offset; + + + +} VL53L1_offset_range_data_t; + + + + + + + + + + +typedef struct { + + int16_t cal_distance_mm; + + + uint16_t cal_reflectance_pc; + + + VL53L1_Error cal_status; + + + uint8_t cal_report; + + + uint8_t max_results; + + + + uint8_t active_results; + + + VL53L1_offset_range_data_t VL53L1_PRM_00005[VL53L1_MAX_OFFSET_RANGE_RESULTS]; + + + +} VL53L1_offset_range_results_t; + + + + + + + + + + + + +typedef struct { + + uint16_t result__mm_inner_actual_effective_spads; + + + uint16_t result__mm_outer_actual_effective_spads; + + + uint16_t result__mm_inner_peak_signal_count_rtn_mcps; + + + uint16_t result__mm_outer_peak_signal_count_rtn_mcps; + + + +} VL53L1_additional_offset_cal_data_t; + + + + + + + + + + +typedef struct { + + uint32_t VL53L1_PRM_00023; + + + uint32_t VL53L1_PRM_00022; + + + + uint16_t VL53L1_PRM_00014; + + + +} VL53L1_object_data_t; + + + + + + + + + + +typedef struct { + + VL53L1_DeviceState cfg_device_state; + + + VL53L1_DeviceState rd_device_state; + + + uint8_t zone_id; + + + uint8_t stream_count; + + + + uint8_t max_objects; + + + + uint8_t active_objects; + + + VL53L1_object_data_t VL53L1_PRM_00005[VL53L1_MAX_RANGE_RESULTS]; + + + +} VL53L1_zone_objects_t; + + + + + + + + + + +typedef struct { + + uint8_t max_zones; + + + + uint8_t active_zones; + + + VL53L1_zone_objects_t VL53L1_PRM_00005[VL53L1_MAX_USER_ZONES]; + + + +} VL53L1_zone_results_t; + + + + + + + + + +typedef struct { + + VL53L1_DeviceState rd_device_state; + + + + uint8_t number_of_ambient_bins; + + + + + uint16_t result__dss_actual_effective_spads; + + + uint8_t VL53L1_PRM_00007; + + + uint32_t total_periods_elapsed; + + + + int32_t ambient_events_sum; + + + +} VL53L1_zone_hist_info_t; + + + + + + + + + + +typedef struct { + + uint8_t max_zones; + + + + uint8_t active_zones; + + + VL53L1_zone_hist_info_t VL53L1_PRM_00005[VL53L1_MAX_USER_ZONES]; + + + +} VL53L1_zone_histograms_t; + + + + + + + + + +typedef struct { + + uint32_t no_of_samples; + + + uint32_t effective_spads; + + + uint32_t peak_rate_mcps; + + + uint32_t VL53L1_PRM_00014; + + + uint32_t VL53L1_PRM_00004; + + + + int32_t median_range_mm; + + + + int32_t range_mm_offset; + + + +} VL53L1_zone_calibration_data_t; + + + + + + + + +typedef struct { + + VL53L1_DevicePresetModes preset_mode; + + + VL53L1_DeviceZonePreset zone_preset; + + + int16_t cal_distance_mm; + + + uint16_t cal_reflectance_pc; + + + uint16_t phasecal_result__reference_phase; + + + uint16_t zero_distance_phase; + + + VL53L1_Error cal_status; + + + uint8_t max_zones; + + + + uint8_t active_zones; + + + VL53L1_zone_calibration_data_t VL53L1_PRM_00005[VL53L1_MAX_USER_ZONES]; + + + +} VL53L1_zone_calibration_results_t; + + + + + + + + + + + +typedef struct { + + int16_t cal_distance_mm; + + + uint16_t cal_reflectance_pc; + + + uint16_t max_samples; + + + uint16_t width; + + + uint16_t height; + + + uint16_t peak_rate_mcps[VL53L1_NVM_PEAK_RATE_MAP_SAMPLES]; + + + +} VL53L1_cal_peak_rate_map_t; + + + + + + + + + +typedef struct { + + uint8_t expected_stream_count; + + + uint8_t expected_gph_id; + + + uint8_t dss_mode; + + + uint16_t dss_requested_effective_spad_count; + + + + uint8_t seed_cfg; + + + uint8_t initial_phase_seed; + + + + uint8_t roi_config__user_roi_centre_spad; + + + uint8_t roi_config__user_roi_requested_global_xy_size; + + + +} VL53L1_zone_private_dyn_cfg_t; + + + + + + + + + +typedef struct { + + uint8_t max_zones; + + + + uint8_t active_zones; + + + VL53L1_zone_private_dyn_cfg_t VL53L1_PRM_00005[VL53L1_MAX_USER_ZONES]; + + + +} VL53L1_zone_private_dyn_cfgs_t; + + + + + + + + + +typedef struct { + + uint16_t algo__crosstalk_compensation_plane_offset_kcps; + + + int16_t algo__crosstalk_compensation_x_plane_gradient_kcps; + + + int16_t algo__crosstalk_compensation_y_plane_gradient_kcps; + + + +} VL53L1_xtalk_calibration_results_t; + + + + + + + + + + +typedef struct { + + uint16_t standard_ranging_gain_factor; + + + uint16_t histogram_ranging_gain_factor; + + + +} VL53L1_gain_calibration_data_t; + + + + + + + + + + +typedef struct { + + VL53L1_DeviceState cfg_device_state; + + + uint8_t cfg_stream_count; + + + + uint8_t cfg_internal_stream_count; + + + uint8_t cfg_internal_stream_count_val; + + + uint8_t cfg_gph_id; + + + uint8_t cfg_timing_status; + + + uint8_t cfg_zone_id; + + + + VL53L1_DeviceState rd_device_state; + + + uint8_t rd_stream_count; + + + uint8_t rd_internal_stream_count; + + + uint8_t rd_internal_stream_count_val; + + + uint8_t rd_gph_id; + + + uint8_t rd_timing_status; + + + uint8_t rd_zone_id; + + + +} VL53L1_ll_driver_state_t; + + + + + + + + + + +typedef struct { + + uint8_t wait_method; + + + VL53L1_DevicePresetModes preset_mode; + + + VL53L1_DeviceZonePreset zone_preset; + + + VL53L1_DeviceMeasurementModes measurement_mode; + + + VL53L1_OffsetCalibrationMode offset_calibration_mode; + + + VL53L1_OffsetCorrectionMode offset_correction_mode; + + + VL53L1_DeviceDmaxMode dmax_mode; + + + uint32_t phasecal_config_timeout_us; + + + uint32_t mm_config_timeout_us; + + + uint32_t range_config_timeout_us; + + + uint32_t inter_measurement_period_ms; + + + uint32_t fw_ready_poll_duration_ms; + + + uint8_t fw_ready; + + + uint8_t debug_mode; + + + uint8_t fpga_system; + + + + + + VL53L1_ll_version_t version; + + + + VL53L1_ll_driver_state_t ll_state; + + + + VL53L1_GPIO_interrupt_config_t gpio_interrupt_config; + + + + VL53L1_customer_nvm_managed_t customer; + VL53L1_cal_peak_rate_map_t cal_peak_rate_map; + VL53L1_additional_offset_cal_data_t add_off_cal_data; + VL53L1_dmax_calibration_data_t fmt_dmax_cal; + VL53L1_dmax_calibration_data_t cust_dmax_cal; + VL53L1_gain_calibration_data_t gain_cal; + VL53L1_user_zone_t mm_roi; + VL53L1_zone_config_t zone_cfg; + + + + uint8_t rtn_good_spads[VL53L1_RTN_SPAD_BUFFER_SIZE]; + + + + VL53L1_refspadchar_config_t refspadchar; + VL53L1_ssc_config_t ssc_cfg; + VL53L1_hist_post_process_config_t histpostprocess; + VL53L1_hist_gen3_dmax_config_t dmax_cfg; + VL53L1_xtalk_config_t xtalk_cfg; + + + + VL53L1_static_nvm_managed_t stat_nvm; + VL53L1_histogram_config_t hist_cfg; + VL53L1_static_config_t stat_cfg; + VL53L1_general_config_t gen_cfg; + VL53L1_timing_config_t tim_cfg; + VL53L1_dynamic_config_t dyn_cfg; + VL53L1_system_control_t sys_ctrl; + VL53L1_system_results_t sys_results; + VL53L1_nvm_copy_data_t nvm_copy_data; + + + + VL53L1_histogram_bin_data_t hist_data; + VL53L1_histogram_bin_data_t hist_xtalk; + + + + VL53L1_xtalk_histogram_data_t xtalk_shapes; + VL53L1_xtalk_range_results_t xtalk_results; + VL53L1_xtalk_calibration_results_t xtalk_cal; + + + + VL53L1_offset_range_results_t offset_results; + + + + VL53L1_core_results_t core_results; + VL53L1_debug_results_t dbg_results; + +#ifdef PAL_EXTENDED + + + VL53L1_patch_results_t patch_results; + VL53L1_shadow_core_results_t shadow_core_results; + VL53L1_shadow_system_results_t shadow_sys_results; + VL53L1_prev_shadow_core_results_t prev_shadow_core_results; + VL53L1_prev_shadow_system_results_t prev_shadow_sys_results; +#endif + +} VL53L1_LLDriverData_t; + + + + + + + + + + +typedef struct { + + + + VL53L1_range_results_t range_results; + + + + VL53L1_zone_private_dyn_cfgs_t zone_dyn_cfgs; + + + + VL53L1_zone_results_t zone_results; + VL53L1_zone_histograms_t zone_hists; + VL53L1_zone_calibration_results_t zone_cal; + +} VL53L1_LLDriverResults_t; + + + + + + + + + + +typedef struct { + + uint32_t struct_version; + VL53L1_customer_nvm_managed_t customer; + VL53L1_dmax_calibration_data_t fmt_dmax_cal; + VL53L1_dmax_calibration_data_t cust_dmax_cal; + VL53L1_additional_offset_cal_data_t add_off_cal_data; + VL53L1_user_zone_t mm_roi; + VL53L1_xtalk_histogram_data_t xtalkhisto; + VL53L1_gain_calibration_data_t gain_cal; + VL53L1_cal_peak_rate_map_t cal_peak_rate_map; + +} VL53L1_calibration_data_t; + + + + + + + + + + +typedef struct { + + VL53L1_customer_nvm_managed_t customer; + VL53L1_xtalk_config_t xtalk_cfg; + VL53L1_histogram_bin_data_t hist_data; + VL53L1_xtalk_histogram_data_t xtalk_shapes; + VL53L1_xtalk_range_results_t xtalk_results; + +} VL53L1_xtalk_debug_data_t; + + + + + + + + + + +typedef struct { + + VL53L1_customer_nvm_managed_t customer; + VL53L1_dmax_calibration_data_t fmt_dmax_cal; + VL53L1_dmax_calibration_data_t cust_dmax_cal; + VL53L1_additional_offset_cal_data_t add_off_cal_data; + VL53L1_offset_range_results_t offset_results; + +} VL53L1_offset_debug_data_t; + + + + + + + + + + + +typedef struct { + + uint16_t target_reflectance_for_dmax[VL53L1_MAX_AMBIENT_DMAX_VALUES]; + +} VL53L1_dmax_reflectance_array_t; + + + + + + + + + + + + + + +typedef struct { + + uint8_t spad_type; + + + uint16_t VL53L1_PRM_00016; + + + uint16_t rate_data[VL53L1_NO_OF_SPAD_ENABLES]; + + + uint16_t no_of_values; + + + uint8_t fractional_bits; + + + uint8_t error_status; + + + +} VL53L1_spad_rate_data_t; + + + + + +#define SUPPRESS_UNUSED_WARNING(x) \ + ((void) (x)) + + +#define IGNORE_STATUS(__FUNCTION_ID__, __ERROR_STATUS_CHECK__, __STATUS__) \ + do { \ + DISABLE_WARNINGS(); \ + if (__FUNCTION_ID__) { \ + if (__STATUS__ == __ERROR_STATUS_CHECK__) { \ + __STATUS__ = VL53L1_ERROR_NONE; \ + WARN_OVERRIDE_STATUS(__FUNCTION_ID__); \ + } \ + } \ + ENABLE_WARNINGS(); \ + } \ + while (0) + +#define VL53L1_COPYSTRING(str, ...) \ + (strncpy(str, ##__VA_ARGS__, VL53L1_MAX_STRING_LENGTH-1)) + +#ifdef __cplusplus +} +#endif + +#endif + + + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_ll_device.h b/drivers/input/misc/vl53L1/inc/vl53l1_ll_device.h new file mode 100644 index 000000000000..a7990f49dd01 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_ll_device.h @@ -0,0 +1,843 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_LL_DEVICE_H_ +#define _VL53L1_LL_DEVICE_H_ + +#include "vl53l1_types.h" + +#define VL53L1_I2C 0x01 +#define VL53L1_SPI 0x00 + + + + + + + + + + + + + +typedef uint8_t VL53L1_WaitMethod; + +#define VL53L1_WAIT_METHOD_BLOCKING ((VL53L1_WaitMethod) 0) +#define VL53L1_WAIT_METHOD_NON_BLOCKING ((VL53L1_WaitMethod) 1) + + + + + + + + + + +typedef uint8_t VL53L1_DeviceState; + +#define VL53L1_DEVICESTATE_POWERDOWN ((VL53L1_DeviceState) 0) +#define VL53L1_DEVICESTATE_HW_STANDBY ((VL53L1_DeviceState) 1) +#define VL53L1_DEVICESTATE_FW_COLDBOOT ((VL53L1_DeviceState) 2) +#define VL53L1_DEVICESTATE_SW_STANDBY ((VL53L1_DeviceState) 3) +#define VL53L1_DEVICESTATE_RANGING_DSS_AUTO ((VL53L1_DeviceState) 4) +#define VL53L1_DEVICESTATE_RANGING_DSS_MANUAL ((VL53L1_DeviceState) 5) +#define VL53L1_DEVICESTATE_RANGING_WAIT_GPH_SYNC ((VL53L1_DeviceState) 6) +#define VL53L1_DEVICESTATE_RANGING_GATHER_DATA ((VL53L1_DeviceState) 7) +#define VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA ((VL53L1_DeviceState) 8) + +#define VL53L1_DEVICESTATE_UNKNOWN ((VL53L1_DeviceState) 98) +#define VL53L1_DEVICESTATE_ERROR ((VL53L1_DeviceState) 99) + + + + + + + + + + + +typedef uint8_t VL53L1_DeviceZonePreset; + +#define VL53L1_DEVICEZONEPRESET_NONE ((VL53L1_DeviceZonePreset) 0) + +#define VL53L1_DEVICEZONEPRESET_XTALK_PLANAR ((VL53L1_DeviceZonePreset) 1) +#define VL53L1_DEVICEZONEPRESET_1X1_SIZE_16X16 ((VL53L1_DeviceZonePreset) 2) +#define VL53L1_DEVICEZONEPRESET_1X2_SIZE_16X8 ((VL53L1_DeviceZonePreset) 3) +#define VL53L1_DEVICEZONEPRESET_2X1_SIZE_8X16 ((VL53L1_DeviceZonePreset) 4) +#define VL53L1_DEVICEZONEPRESET_2X2_SIZE_8X8 ((VL53L1_DeviceZonePreset) 5) +#define VL53L1_DEVICEZONEPRESET_3X3_SIZE_5X5 ((VL53L1_DeviceZonePreset) 6) +#define VL53L1_DEVICEZONEPRESET_4X4_SIZE_4X4 ((VL53L1_DeviceZonePreset) 7) +#define VL53L1_DEVICEZONEPRESET_5X5_SIZE_4X4 ((VL53L1_DeviceZonePreset) 8) +#define VL53L1_DEVICEZONEPRESET_11X11_SIZE_5X5 ((VL53L1_DeviceZonePreset) 9) +#define VL53L1_DEVICEZONEPRESET_13X13_SIZE_4X4 ((VL53L1_DeviceZonePreset) 10) + +#define VL53L1_DEVICEZONEPRESET_1X1_SIZE_4X4_POS_8X8 ((VL53L1_DeviceZonePreset) 11) + +#define VL53L1_DEVICEZONEPRESET_CUSTOM ((VL53L1_DeviceZonePreset) 255) + + + + + + + + + + + +typedef uint8_t VL53L1_DevicePresetModes; + +#define VL53L1_DEVICEPRESETMODE_NONE ((VL53L1_DevicePresetModes) 0) +#define VL53L1_DEVICEPRESETMODE_STANDARD_RANGING ((VL53L1_DevicePresetModes) 1) +#define VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_SHORT_RANGE ((VL53L1_DevicePresetModes) 2) +#define VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_LONG_RANGE ((VL53L1_DevicePresetModes) 3) +#define VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM1_CAL ((VL53L1_DevicePresetModes) 4) +#define VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM2_CAL ((VL53L1_DevicePresetModes) 5) +#define VL53L1_DEVICEPRESETMODE_TIMED_RANGING ((VL53L1_DevicePresetModes) 6) +#define VL53L1_DEVICEPRESETMODE_TIMED_RANGING_SHORT_RANGE ((VL53L1_DevicePresetModes) 7) +#define VL53L1_DEVICEPRESETMODE_TIMED_RANGING_LONG_RANGE ((VL53L1_DevicePresetModes) 8) +#define VL53L1_DEVICEPRESETMODE_NEAR_FARRANGING ((VL53L1_DevicePresetModes) 9) +#define VL53L1_DEVICEPRESETMODE_QUADRANT_RANGING ((VL53L1_DevicePresetModes) 10) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING ((VL53L1_DevicePresetModes) 11) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_SHORT_TIMING ((VL53L1_DevicePresetModes) 12) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_CHARACTERISATION ((VL53L1_DevicePresetModes) 13) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_XTALK_PLANAR ((VL53L1_DevicePresetModes) 14) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_XTALK_MM1 ((VL53L1_DevicePresetModes) 15) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_XTALK_MM2 ((VL53L1_DevicePresetModes) 16) +#define VL53L1_DEVICEPRESETMODE_OLT ((VL53L1_DevicePresetModes) 17) +#define VL53L1_DEVICEPRESETMODE_SINGLESHOT_RANGING ((VL53L1_DevicePresetModes) 18) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_REF_ARRAY ((VL53L1_DevicePresetModes) 19) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_WITH_MM1 ((VL53L1_DevicePresetModes) 20) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_WITH_MM2 ((VL53L1_DevicePresetModes) 21) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM1_CAL ((VL53L1_DevicePresetModes) 22) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM2_CAL ((VL53L1_DevicePresetModes) 23) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE ((VL53L1_DevicePresetModes) 24) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_SHORT_RANGE ((VL53L1_DevicePresetModes) 25) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_LONG_RANGE ((VL53L1_DevicePresetModes) 26) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE ((VL53L1_DevicePresetModes) 27) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE_MM1 ((VL53L1_DevicePresetModes) 28) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE_MM2 ((VL53L1_DevicePresetModes) 29) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE ((VL53L1_DevicePresetModes) 30) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE_MM1 ((VL53L1_DevicePresetModes) 31) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE_MM2 ((VL53L1_DevicePresetModes) 32) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE ((VL53L1_DevicePresetModes) 33) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE_MM1 ((VL53L1_DevicePresetModes) 34) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE_MM2 ((VL53L1_DevicePresetModes) 35) + + + + + + + + + + + +typedef uint8_t VL53L1_DeviceMeasurementModes; + +#define VL53L1_DEVICEMEASUREMENTMODE_STOP ((VL53L1_DeviceMeasurementModes) 0x00) +#define VL53L1_DEVICEMEASUREMENTMODE_SINGLESHOT ((VL53L1_DeviceMeasurementModes) 0x10) +#define VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK ((VL53L1_DeviceMeasurementModes) 0x20) +#define VL53L1_DEVICEMEASUREMENTMODE_TIMED ((VL53L1_DeviceMeasurementModes) 0x40) +#define VL53L1_DEVICEMEASUREMENTMODE_ABORT ((VL53L1_DeviceMeasurementModes) 0x80) + + + + + + + + + + + +typedef uint8_t VL53L1_OffsetCalibrationMode; + +#define VL53L1_OFFSETCALIBRATIONMODE__NONE ((VL53L1_OffsetCalibrationMode) 0) +#define VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD ((VL53L1_OffsetCalibrationMode) 1) +#define VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM ((VL53L1_OffsetCalibrationMode) 2) +#define VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY ((VL53L1_OffsetCalibrationMode) 3) +#define VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM_PRE_RANGE_ONLY ((VL53L1_OffsetCalibrationMode) 4) + + + + + + + + + + + +typedef uint8_t VL53L1_OffsetCorrectionMode; + +#define VL53L1_OFFSETCORRECTIONMODE__NONE ((VL53L1_OffsetCorrectionMode) 0) +#define VL53L1_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS ((VL53L1_OffsetCorrectionMode) 1) +#define VL53L1_OFFSETCORRECTIONMODE__PER_ZONE_OFFSETS ((VL53L1_OffsetCorrectionMode) 2) + + + + + + + + + + + +typedef uint8_t VL53L1_DeviceDmaxMode; + +#define VL53L1_DEVICEDMAXMODE__NONE ((VL53L1_DeviceDmaxMode) 0) +#define VL53L1_DEVICEDMAXMODE__FMT_CAL_DATA ((VL53L1_DeviceDmaxMode) 1) +#define VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA ((VL53L1_DeviceDmaxMode) 2) +#define VL53L1_DEVICEDMAXMODE__PER_ZONE_CAL_DATA ((VL53L1_DeviceDmaxMode) 3) + + + + + + + + + + + + +typedef uint8_t VL53L1_DeviceSequenceConfig; + +#define VL53L1_DEVICESEQUENCECONFIG_VHV ((VL53L1_DeviceSequenceConfig) 0) +#define VL53L1_DEVICESEQUENCECONFIG_PHASECAL ((VL53L1_DeviceSequenceConfig) 1) +#define VL53L1_DEVICESEQUENCECONFIG_REFERENCE_PHASE ((VL53L1_DeviceSequenceConfig) 2) +#define VL53L1_DEVICESEQUENCECONFIG_DSS1 ((VL53L1_DeviceSequenceConfig) 3) +#define VL53L1_DEVICESEQUENCECONFIG_DSS2 ((VL53L1_DeviceSequenceConfig) 4) +#define VL53L1_DEVICESEQUENCECONFIG_MM1 ((VL53L1_DeviceSequenceConfig) 5) +#define VL53L1_DEVICESEQUENCECONFIG_MM2 ((VL53L1_DeviceSequenceConfig) 6) +#define VL53L1_DEVICESEQUENCECONFIG_RANGE ((VL53L1_DeviceSequenceConfig) 7) + + + + + + + + + + + +typedef uint8_t VL53L1_DeviceInterruptPolarity; + +#define VL53L1_DEVICEINTERRUPTPOLARITY_ACTIVE_HIGH ((VL53L1_DeviceInterruptPolarity) 0x00) +#define VL53L1_DEVICEINTERRUPTPOLARITY_ACTIVE_LOW ((VL53L1_DeviceInterruptPolarity) 0x10) +#define VL53L1_DEVICEINTERRUPTPOLARITY_BIT_MASK ((VL53L1_DeviceInterruptPolarity) 0x10) +#define VL53L1_DEVICEINTERRUPTPOLARITY_CLEAR_MASK ((VL53L1_DeviceInterruptPolarity) 0xEF) + + + + + + + + + + + +typedef uint8_t VL53L1_DeviceGpioMode; + +#define VL53L1_DEVICEGPIOMODE_OUTPUT_CONSTANT_ZERO ((VL53L1_DeviceGpioMode) 0x00) +#define VL53L1_DEVICEGPIOMODE_OUTPUT_RANGE_AND_ERROR_INTERRUPTS ((VL53L1_DeviceGpioMode) 0x01) +#define VL53L1_DEVICEGPIOMODE_OUTPUT_TIMIER_INTERRUPTS ((VL53L1_DeviceGpioMode) 0x02) +#define VL53L1_DEVICEGPIOMODE_OUTPUT_RANGE_MODE_INTERRUPT_STATUS ((VL53L1_DeviceGpioMode) 0x03) +#define VL53L1_DEVICEGPIOMODE_OUTPUT_SLOW_OSCILLATOR_CLOCK ((VL53L1_DeviceGpioMode) 0x04) +#define VL53L1_DEVICEGPIOMODE_BIT_MASK ((VL53L1_DeviceGpioMode) 0x0F) +#define VL53L1_DEVICEGPIOMODE_CLEAR_MASK ((VL53L1_DeviceGpioMode) 0xF0) + + + + + + + + + + + + + + + +typedef uint8_t VL53L1_DeviceError; + +#define VL53L1_DEVICEERROR_NOUPDATE ((VL53L1_DeviceError) 0) + + +#define VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((VL53L1_DeviceError) 1) +#define VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((VL53L1_DeviceError) 2) +#define VL53L1_DEVICEERROR_NOVHVVALUEFOUND ((VL53L1_DeviceError) 3) +#define VL53L1_DEVICEERROR_MSRCNOTARGET ((VL53L1_DeviceError) 4) +#define VL53L1_DEVICEERROR_RANGEPHASECHECK ((VL53L1_DeviceError) 5) +#define VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK ((VL53L1_DeviceError) 6) +#define VL53L1_DEVICEERROR_PHASECONSISTENCY ((VL53L1_DeviceError) 7) +#define VL53L1_DEVICEERROR_MINCLIP ((VL53L1_DeviceError) 8) +#define VL53L1_DEVICEERROR_RANGECOMPLETE ((VL53L1_DeviceError) 9) +#define VL53L1_DEVICEERROR_ALGOUNDERFLOW ((VL53L1_DeviceError) 10) +#define VL53L1_DEVICEERROR_ALGOOVERFLOW ((VL53L1_DeviceError) 11) +#define VL53L1_DEVICEERROR_RANGEIGNORETHRESHOLD ((VL53L1_DeviceError) 12) +#define VL53L1_DEVICEERROR_USERROICLIP ((VL53L1_DeviceError) 13) +#define VL53L1_DEVICEERROR_REFSPADCHARNOTENOUGHDPADS ((VL53L1_DeviceError) 14) +#define VL53L1_DEVICEERROR_REFSPADCHARMORETHANTARGET ((VL53L1_DeviceError) 15) +#define VL53L1_DEVICEERROR_REFSPADCHARLESSTHANTARGET ((VL53L1_DeviceError) 16) +#define VL53L1_DEVICEERROR_MULTCLIPFAIL ((VL53L1_DeviceError) 17) +#define VL53L1_DEVICEERROR_GPHSTREAMCOUNT0READY ((VL53L1_DeviceError) 18) +#define VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK ((VL53L1_DeviceError) 19) +#define VL53L1_DEVICEERROR_EVENTCONSISTENCY ((VL53L1_DeviceError) 20) + + + + + + + + + + + +typedef uint8_t VL53L1_DeviceReportStatus; + +#define VL53L1_DEVICEREPORTSTATUS_NOUPDATE ((VL53L1_DeviceReportStatus) 0) + + +#define VL53L1_DEVICEREPORTSTATUS_ROI_SETUP ((VL53L1_DeviceReportStatus) 1) +#define VL53L1_DEVICEREPORTSTATUS_VHV ((VL53L1_DeviceReportStatus) 2) +#define VL53L1_DEVICEREPORTSTATUS_PHASECAL ((VL53L1_DeviceReportStatus) 3) +#define VL53L1_DEVICEREPORTSTATUS_REFERENCE_PHASE ((VL53L1_DeviceReportStatus) 4) +#define VL53L1_DEVICEREPORTSTATUS_DSS1 ((VL53L1_DeviceReportStatus) 5) +#define VL53L1_DEVICEREPORTSTATUS_DSS2 ((VL53L1_DeviceReportStatus) 6) +#define VL53L1_DEVICEREPORTSTATUS_MM1 ((VL53L1_DeviceReportStatus) 7) +#define VL53L1_DEVICEREPORTSTATUS_MM2 ((VL53L1_DeviceReportStatus) 8) +#define VL53L1_DEVICEREPORTSTATUS_RANGE ((VL53L1_DeviceReportStatus) 9) +#define VL53L1_DEVICEREPORTSTATUS_HISTOGRAM ((VL53L1_DeviceReportStatus) 10) + + + + + + + + + + +typedef uint8_t VL53L1_DeviceDssMode; + +#define VL53L1_DEVICEDSSMODE__DISABLED \ + ((VL53L1_DeviceDssMode) 0) +#define VL53L1_DEVICEDSSMODE__TARGET_RATE \ + ((VL53L1_DeviceDssMode) 1) +#define VL53L1_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS \ + ((VL53L1_DeviceDssMode) 2) +#define VL53L1_DEVICEDSSMODE__BLOCK_SELECT \ + ((VL53L1_DeviceDssMode) 3) + + + + + + + + + + + + +typedef uint8_t VL53L1_HistAlgoSelect; + +#define VL53L1_HIST_ALGO_SELECT__PW_HIST_GEN1 \ + ((VL53L1_HistAlgoSelect) 1) +#define VL53L1_HIST_ALGO_SELECT__PW_HIST_GEN2 \ + ((VL53L1_HistAlgoSelect) 2) +#define VL53L1_HIST_ALGO_SELECT__PW_HIST_GEN3 \ + ((VL53L1_HistAlgoSelect) 3) +#define VL53L1_HIST_ALGO_SELECT__PW_HIST_GEN4 \ + ((VL53L1_HistAlgoSelect) 4) + + + + + + + + + + + +typedef uint8_t VL53L1_HistTargetOrder; + +#define VL53L1_HIST_TARGET_ORDER__INCREASING_DISTANCE \ + ((VL53L1_HistTargetOrder) 1) +#define VL53L1_HIST_TARGET_ORDER__STRONGEST_FIRST \ + ((VL53L1_HistTargetOrder) 2) + + + + + + + + + + + +typedef uint8_t VL53L1_HistAmbEstMethod; + +#define VL53L1_HIST_AMB_EST_METHOD__AMBIENT_BINS \ + ((VL53L1_HistAmbEstMethod) 1) +#define VL53L1_HIST_AMB_EST_METHOD__THRESHOLDED_BINS \ + ((VL53L1_HistAmbEstMethod) 2) + + + + + + + + + + + + +typedef uint8_t VL53L1_HistXtalkCompEnable; + +#define VL53L1_HIST_XTALK_COMP__DIS \ + ((VL53L1_HistXtalkCompEnable) 0) +#define VL53L1_HIST_XTALK_COMP__EN \ + ((VL53L1_HistXtalkCompEnable) 1) + + + + + + + + + +typedef uint8_t VL53L1_DeviceConfigLevel; + +#define VL53L1_DEVICECONFIGLEVEL_SYSTEM_CONTROL \ + ((VL53L1_DeviceConfigLevel) 0) + + +#define VL53L1_DEVICECONFIGLEVEL_DYNAMIC_ONWARDS \ + ((VL53L1_DeviceConfigLevel) 1) + + +#define VL53L1_DEVICECONFIGLEVEL_TIMING_ONWARDS \ + ((VL53L1_DeviceConfigLevel) 2) + + + +#define VL53L1_DEVICECONFIGLEVEL_GENERAL_ONWARDS \ + ((VL53L1_DeviceConfigLevel) 3) + + + +#define VL53L1_DEVICECONFIGLEVEL_STATIC_ONWARDS \ + ((VL53L1_DeviceConfigLevel) 4) + + + +#define VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS \ + ((VL53L1_DeviceConfigLevel) 5) + + + +#define VL53L1_DEVICECONFIGLEVEL_FULL \ + ((VL53L1_DeviceConfigLevel) 6) + + + + + + + + + + + + + + +typedef uint8_t VL53L1_DeviceResultsLevel; + +#define VL53L1_DEVICERESULTSLEVEL_SYSTEM_RESULTS \ + ((VL53L1_DeviceResultsLevel) 0) + + +#define VL53L1_DEVICERESULTSLEVEL_UPTO_CORE \ + ((VL53L1_DeviceResultsLevel) 1) + + +#define VL53L1_DEVICERESULTSLEVEL_FULL \ + ((VL53L1_DeviceResultsLevel) 2) + + + + + + + + + + + + + + + +typedef uint8_t VL53L1_DeviceTestMode; + +#define VL53L1_DEVICETESTMODE_NONE \ + ((VL53L1_DeviceTestMode) 0x00) + + +#define VL53L1_DEVICETESTMODE_NVM_ZERO \ + ((VL53L1_DeviceTestMode) 0x01) + + +#define VL53L1_DEVICETESTMODE_NVM_COPY \ + ((VL53L1_DeviceTestMode) 0x02) + + +#define VL53L1_DEVICETESTMODE_PATCH \ + ((VL53L1_DeviceTestMode) 0x03) + + +#define VL53L1_DEVICETESTMODE_DCR \ + ((VL53L1_DeviceTestMode) 0x04) + + +#define VL53L1_DEVICETESTMODE_LCR_VCSEL_OFF \ + ((VL53L1_DeviceTestMode) 0x05) + + + +#define VL53L1_DEVICETESTMODE_LCR_VCSEL_ON \ + ((VL53L1_DeviceTestMode) 0x06) + + + +#define VL53L1_DEVICETESTMODE_SPOT_CENTRE_LOCATE \ + ((VL53L1_DeviceTestMode) 0x07) + + +#define VL53L1_DEVICETESTMODE_REF_SPAD_CHAR_WITH_PRE_VHV \ + ((VL53L1_DeviceTestMode) 0x08) + + +#define VL53L1_DEVICETESTMODE_REF_SPAD_CHAR_ONLY \ + ((VL53L1_DeviceTestMode) 0x09) + + + + + + + + + + + + + +typedef uint8_t VL53L1_DeviceSscArray; + +#define VL53L1_DEVICESSCARRAY_RTN ((VL53L1_DeviceSscArray) 0x00) + + +#define VL53L1_DEVICETESTMODE_REF ((VL53L1_DeviceSscArray) 0x01) + + + + + + + + + + + + + +#define VL53L1_RETURN_ARRAY_ONLY 0x01 + + +#define VL53L1_REFERENCE_ARRAY_ONLY 0x10 + + +#define VL53L1_BOTH_RETURN_AND_REFERENCE_ARRAYS 0x11 + + +#define VL53L1_NEITHER_RETURN_AND_REFERENCE_ARRAYS 0x00 + + + + + + + + + + + + +#define VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH 0x00 + + +#define VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_LOW 0x10 + + +#define VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_MASK 0x10 + + + + + + + + + + + + +#define VL53L1_POLLING_DELAY_US 1000 + + +#define VL53L1_SOFTWARE_RESET_DURATION_US 100 + + +#define VL53L1_FIRMWARE_BOOT_TIME_US 1200 + + + +#define VL53L1_ENABLE_POWERFORCE_SETTLING_TIME_US 250 + + + + +#define VL53L1_SPAD_ARRAY_WIDTH 16 + + +#define VL53L1_SPAD_ARRAY_HEIGHT 16 + + +#define VL53L1_NVM_SIZE_IN_BYTES 512 + + +#define VL53L1_NO_OF_SPAD_ENABLES 256 + + +#define VL53L1_RTN_SPAD_BUFFER_SIZE 32 + + +#define VL53L1_REF_SPAD_BUFFER_SIZE 6 + + +#define VL53L1_AMBIENT_WINDOW_VCSEL_PERIODS 256 + + +#define VL53L1_RANGING_WINDOW_VCSEL_PERIODS 2048 + + +#define VL53L1_MACRO_PERIOD_VCSEL_PERIODS \ + (VL53L1_AMBIENT_WINDOW_VCSEL_PERIODS + VL53L1_RANGING_WINDOW_VCSEL_PERIODS) + + +#define VL53L1_MAX_ALLOWED_PHASE 0xFFFF + + + +#define VL53L1_RTN_SPAD_UNITY_TRANSMISSION 0x0100 + + +#define VL53L1_RTN_SPAD_APERTURE_TRANSMISSION 0x0038 + + + + + +#define VL53L1_SPAD_TOTAL_COUNT_MAX ((0x01 << 29) - 1) + + +#define VL53L1_SPAD_TOTAL_COUNT_RES_THRES (0x01 << 24) + + +#define VL53L1_COUNT_RATE_INTERNAL_MAX ((0x01 << 24) - 1) + + +#define VL53L1_SPEED_OF_LIGHT_IN_AIR 299704 + + +#define VL53L1_SPEED_OF_LIGHT_IN_AIR_DIV_8 (299704 >> 3) + + + + + + + + + + + + + + + + +typedef uint8_t VL53L1_ZoneConfig_BinConfig_select; + +#define VL53L1_ZONECONFIG_BINCONFIG__LOWAMB \ + ((VL53L1_ZoneConfig_BinConfig_select) 1) +#define VL53L1_ZONECONFIG_BINCONFIG__MIDAMB \ + ((VL53L1_ZoneConfig_BinConfig_select) 2) +#define VL53L1_ZONECONFIG_BINCONFIG__HIGHAMB \ + ((VL53L1_ZoneConfig_BinConfig_select) 3) + + + + + + + + + + +typedef uint8_t VL53L1_GPIO_Interrupt_Mode; + +#define VL53L1_GPIOINTMODE_LEVEL_LOW \ + ((VL53L1_GPIO_Interrupt_Mode) 0) + + +#define VL53L1_GPIOINTMODE_LEVEL_HIGH \ + ((VL53L1_GPIO_Interrupt_Mode) 1) + + +#define VL53L1_GPIOINTMODE_OUT_OF_WINDOW \ + ((VL53L1_GPIO_Interrupt_Mode) 2) + + +#define VL53L1_GPIOINTMODE_IN_WINDOW \ + ((VL53L1_GPIO_Interrupt_Mode) 3) + + + + + + + +#endif + + + + + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_nvm.h b/drivers/input/misc/vl53L1/inc/vl53l1_nvm.h new file mode 100644 index 000000000000..fc09febb733b --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_nvm.h @@ -0,0 +1,422 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_NVM_H_ +#define _VL53L1_NVM_H_ + +#include "vl53l1_ll_def.h" +#include "vl53l1_platform.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +#define VL53L1_NVM_POWER_UP_DELAY_US 50 +#define VL53L1_NVM_READ_TRIGGER_DELAY_US 5 + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_nvm_enable( + VL53L1_DEV Dev, + uint16_t nvm_ctrl_pulse_width, + int32_t nvm_power_up_delay_us); + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_nvm_read( + VL53L1_DEV Dev, + uint8_t start_address, + uint8_t count, + uint8_t *pdata); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_nvm_disable( + VL53L1_DEV Dev); + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_nvm_format_decode( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_decoded_nvm_data_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_nvm_decode_cal_peak_rate_map( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_cal_peak_rate_map_t *pdata); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_nvm_decode_additional_offset_cal_data( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_additional_offset_cal_data_t *pdata); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_nvm_decode_fmt_range_results_data( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_decoded_nvm_fmt_range_data_t *pdata); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_nvm_decode_fmt_info( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_decoded_nvm_fmt_info_t *pdata); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_nvm_decode_ews_info( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_decoded_nvm_ews_info_t *pdata); + + + + + + + + + + + + + + +void VL53L1_nvm_format_encode( + VL53L1_decoded_nvm_data_t *pnvm_info, + uint8_t *pnvm_data); + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_read_nvm_raw_data( + VL53L1_DEV Dev, + uint8_t start_address, + uint8_t count, + uint8_t *pnvm_raw_data); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_read_nvm( + VL53L1_DEV Dev, + uint8_t nvm_format, + VL53L1_decoded_nvm_data_t *pnvm_info); + + + + + + + + + + + + + +VL53L1_Error VL53L1_read_nvm_cal_peak_rate_map( + VL53L1_DEV Dev, + VL53L1_cal_peak_rate_map_t *pcal_data); + + + + + + + + + + + + + +VL53L1_Error VL53L1_read_nvm_additional_offset_cal_data( + VL53L1_DEV Dev, + VL53L1_additional_offset_cal_data_t *pcal_data); + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_read_nvm_fmt_range_results_data( + VL53L1_DEV Dev, + uint16_t range_results_select, + VL53L1_decoded_nvm_fmt_range_data_t *prange_data); + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_nvm_debug.h b/drivers/input/misc/vl53L1/inc/vl53l1_nvm_debug.h new file mode 100644 index 000000000000..b42bcbafe03d --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_nvm_debug.h @@ -0,0 +1,201 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_NVM_DEBUG_H_ +#define _VL53L1_NVM_DEBUG_H_ + +#include "vl53l1_ll_def.h" +#include "vl53l1_nvm_structs.h" + + + +#ifdef __cplusplus +extern "C" +{ +#endif + +#ifdef VL53L1_LOG_ENABLE + + + + + + + + + + + + +void VL53L1_print_nvm_raw_data( + uint8_t *pnvm_raw_data, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_decoded_nvm_data( + VL53L1_decoded_nvm_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_decoded_nvm_fmt_range_data( + VL53L1_decoded_nvm_fmt_range_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + + +void VL53L1_print_decoded_nvm_fmt_info( + VL53L1_decoded_nvm_fmt_info_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + + + + + + + + +void VL53L1_print_decoded_nvm_ews_info( + VL53L1_decoded_nvm_ews_info_t *pdata, + char *pprefix, + uint32_t trace_flags); + +#endif + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_nvm_map.h b/drivers/input/misc/vl53L1/inc/vl53l1_nvm_map.h new file mode 100644 index 000000000000..a9f76da706f7 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_nvm_map.h @@ -0,0 +1,3246 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_NVM_MAP_H_ +#define _VL53L1_NVM_MAP_H_ + + +#ifdef __cplusplus +extern "C" +{ +#endif + + + + + + + +#define VL53L1_NVM__IDENTIFICATION__MODEL_ID 0x0008 + + + + + + + + + + + + + + + +#define VL53L1_NVM__IDENTIFICATION__MODULE_TYPE 0x000C + + + + + + + + + + + + + + + +#define VL53L1_NVM__IDENTIFICATION__REVISION_ID 0x000D + + + + + + + + + + + + + + + +#define VL53L1_NVM__IDENTIFICATION__MODULE_ID 0x000E + + + + + + + + + + + + + + + +#define VL53L1_NVM__I2C_VALID 0x0010 + + + + + + + + + + + + + + + +#define VL53L1_NVM__I2C_SLAVE__DEVICE_ADDRESS 0x0011 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__OSC_MEASURED__FAST_OSC_FREQUENCY 0x0014 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__FAST_OSC_TRIM_MAX 0x0016 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__FAST_OSC_FREQ_SET 0x0017 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SLOW_OSC_CALIBRATION 0x0018 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__OSC_MEASURED__FAST_OSC_FREQUENCY 0x001C + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FAST_OSC_TRIM_MAX 0x001E + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FAST_OSC_FREQ_SET 0x001F + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SLOW_OSC_CALIBRATION 0x0020 + + + + + + + + + + + + + + + +#define VL53L1_NVM__VHV_CONFIG_UNLOCK 0x0028 + + + + + + + + + + + + + + + +#define VL53L1_NVM__REF_SELVDDPIX 0x0029 + + + + + + + + + + + + + + + +#define VL53L1_NVM__REF_SELVQUENCH 0x002A + + + + + + + + + + + + + + + +#define VL53L1_NVM__REGAVDD1V2_SEL_REGDVDD1V2_SEL 0x002B + + + + + + + + + + + + + + + + +#define VL53L1_NVM__VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x002C + + + + + + + + + + + + + + + + +#define VL53L1_NVM__VHV_CONFIG__COUNT_THRESH 0x002D + + + + + + + + + + + + + + + +#define VL53L1_NVM__VHV_CONFIG__OFFSET 0x002E + + + + + + + + + + + + + + + +#define VL53L1_NVM__VHV_CONFIG__INIT 0x002F + + + + + + + + + + + + + + + + +#define VL53L1_NVM__LASER_SAFETY__VCSEL_TRIM_LL 0x0030 + + + + + + + + + + + + + + + +#define VL53L1_NVM__LASER_SAFETY__VCSEL_SELION_LL 0x0031 + + + + + + + + + + + + + + + +#define VL53L1_NVM__LASER_SAFETY__VCSEL_SELION_MAX_LL 0x0032 + + + + + + + + + + + + + + + +#define VL53L1_NVM__LASER_SAFETY__MULT_LL 0x0034 + + + + + + + + + + + + + + + +#define VL53L1_NVM__LASER_SAFETY__CLIP_LL 0x0035 + + + + + + + + + + + + + + + +#define VL53L1_NVM__LASER_SAFETY__VCSEL_TRIM_LD 0x0038 + + + + + + + + + + + + + + + +#define VL53L1_NVM__LASER_SAFETY__VCSEL_SELION_LD 0x0039 + + + + + + + + + + + + + + + +#define VL53L1_NVM__LASER_SAFETY__VCSEL_SELION_MAX_LD 0x003A + + + + + + + + + + + + + + + +#define VL53L1_NVM__LASER_SAFETY__MULT_LD 0x003C + + + + + + + + + + + + + + + +#define VL53L1_NVM__LASER_SAFETY__CLIP_LD 0x003D + + + + + + + + + + + + + + + +#define VL53L1_NVM__LASER_SAFETY_LOCK_BYTE 0x0040 + + + + + + + + + + + + + + + +#define VL53L1_NVM__LASER_SAFETY_UNLOCK_BYTE 0x0044 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_0_ 0x0048 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_1_ 0x0049 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_2_ 0x004A + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_3_ 0x004B + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_4_ 0x004C + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_5_ 0x004D + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_6_ 0x004E + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_7_ 0x004F + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_8_ 0x0050 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_9_ 0x0051 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_10_ 0x0052 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_11_ 0x0053 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_12_ 0x0054 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_13_ 0x0055 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_14_ 0x0056 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_15_ 0x0057 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_16_ 0x0058 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_17_ 0x0059 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_18_ 0x005A + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_19_ 0x005B + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_20_ 0x005C + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_21_ 0x005D + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_22_ 0x005E + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_23_ 0x005F + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_24_ 0x0060 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_25_ 0x0061 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_26_ 0x0062 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_27_ 0x0063 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_28_ 0x0064 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_29_ 0x0065 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_30_ 0x0066 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_31_ 0x0067 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC1_0_ 0x0068 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC1_1_ 0x0069 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC1_2_ 0x006A + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC1_3_ 0x006B + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC1_4_ 0x006C + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC1_5_ 0x006D + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC2_0_ 0x0070 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC2_1_ 0x0071 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC2_2_ 0x0072 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC2_3_ 0x0073 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC2_4_ 0x0074 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC2_5_ 0x0075 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC3_0_ 0x0078 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC3_1_ 0x0079 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC3_2_ 0x007A + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC3_3_ 0x007B + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC3_4_ 0x007C + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC3_5_ 0x007D + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_0_ 0x0080 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_1_ 0x0081 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_2_ 0x0082 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_3_ 0x0083 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_4_ 0x0084 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_5_ 0x0085 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_6_ 0x0086 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_7_ 0x0087 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_8_ 0x0088 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_9_ 0x0089 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_10_ 0x008A + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_11_ 0x008B + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_12_ 0x008C + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_13_ 0x008D + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_14_ 0x008E + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_15_ 0x008F + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_16_ 0x0090 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_17_ 0x0091 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_18_ 0x0092 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_19_ 0x0093 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_20_ 0x0094 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_21_ 0x0095 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_22_ 0x0096 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_23_ 0x0097 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_24_ 0x0098 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_25_ 0x0099 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_26_ 0x009A + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_27_ 0x009B + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_28_ 0x009C + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_29_ 0x009D + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_30_ 0x009E + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_31_ 0x009F + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC1_0_ 0x00A0 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC1_1_ 0x00A1 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC1_2_ 0x00A2 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC1_3_ 0x00A3 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC1_4_ 0x00A4 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC1_5_ 0x00A5 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC2_0_ 0x00A8 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC2_1_ 0x00A9 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC2_2_ 0x00AA + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC2_3_ 0x00AB + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC2_4_ 0x00AC + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC2_5_ 0x00AD + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC3_0_ 0x00B0 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC3_1_ 0x00B1 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC3_2_ 0x00B2 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC3_3_ 0x00B3 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC3_4_ 0x00B4 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC3_5_ 0x00B5 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__ROI_CONFIG__MODE_ROI_CENTRE_SPAD 0x00B8 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__ROI_CONFIG__MODE_ROI_XY_SIZE 0x00B9 + + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__REF_SPAD_APPLY__NUM_REQUESTED_REF_SPAD 0x00BC + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__REF_SPAD_MAN__REF_LOCATION 0x00BD + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__MM_CONFIG__INNER_OFFSET_MM 0x00C0 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__MM_CONFIG__OUTER_OFFSET_MM 0x00C2 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x00C4 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS 0x00C8 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS 0x00CA + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS 0x00CC + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_0 0x00CE + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_1 0x00CF + + + + + + + + + + + + + + + +#define VL53L1_NVM__CUSTOMER_NVM_SPACE_PROGRAMMED 0x00E0 + + + + + + + + + + + + + + + +#define VL53L1_NVM__CUST__I2C_SLAVE__DEVICE_ADDRESS 0x00E4 + + + + + + + + + + + + + + + +#define VL53L1_NVM__CUST__REF_SPAD_APPLY__NUM_REQUESTED_REF_SPAD 0x00E8 + + + + + + + + + + + + + + + +#define VL53L1_NVM__CUST__REF_SPAD_MAN__REF_LOCATION 0x00E9 + + + + + + + + + + + + + + + +#define VL53L1_NVM__CUST__MM_CONFIG__INNER_OFFSET_MM 0x00EC + + + + + + + + + + + + + + + +#define VL53L1_NVM__CUST__MM_CONFIG__OUTER_OFFSET_MM 0x00EE + + + + + + + + + + + + + + + +#define VL53L1_NVM__CUST__ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x00F0 + + + + + + + + + + + + + + + +#define VL53L1_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS 0x00F4 + + + + + + + + + + + + + + + +#define VL53L1_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS 0x00F6 + + + + + + + + + + + + + + + +#define VL53L1_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS 0x00F8 + + + + + + + + + + + + + + + +#define VL53L1_NVM__CUST__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_0 0x00FA + + + + + + + + + + + + + + + +#define VL53L1_NVM__CUST__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_1 0x00FB + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FGC__BYTE_0 0x01DC + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FGC__BYTE_1 0x01DD + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FGC__BYTE_2 0x01DE + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FGC__BYTE_3 0x01DF + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FGC__BYTE_4 0x01E0 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FGC__BYTE_5 0x01E1 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FGC__BYTE_6 0x01E2 + + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FGC__BYTE_7 0x01E3 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FGC__BYTE_8 0x01E4 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FGC__BYTE_9 0x01E5 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FGC__BYTE_10 0x01E6 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FGC__BYTE_11 0x01E7 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FGC__BYTE_12 0x01E8 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FGC__BYTE_13 0x01E9 + + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FGC__BYTE_14 0x01EA + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__FGC__BYTE_15 0x01EB + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__TEST_PROGRAM_MAJOR_MINOR 0x01EC + + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__MAP_MAJOR_MINOR 0x01ED + + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__YEAR_MONTH 0x01EE + + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__DAY_MODULE_DATE_PHASE 0x01EF + + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__TIME 0x01F0 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__TESTER_ID 0x01F2 + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__SITE_ID 0x01F3 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__TEST_PROGRAM_MAJOR_MINOR 0x01F4 + + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__PROBE_CARD_MAJOR_MINOR 0x01F5 + + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__TESTER_ID 0x01F6 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__LOT__BYTE_0 0x01F8 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__LOT__BYTE_1 0x01F9 + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__LOT__BYTE_2 0x01FA + + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__LOT__BYTE_3 0x01FB + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__LOT__BYTE_4 0x01FC + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__LOT__BYTE_5 0x01FD + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__WAFER 0x01FD + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__XCOORD 0x01FE + + + + + + + + + + + + + + + +#define VL53L1_NVM__EWS__YCOORD 0x01FF + + + + + + + + + + + + + + + + +#define VL53L1_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_INDEX 0x015C +#define VL53L1_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_SIZE 56 + +#define VL53L1_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_INDEX 0x0194 +#define VL53L1_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_SIZE 8 + +#define VL53L1_NVM__FMT__RANGE_RESULTS__140MM_MM_PRE_RANGE 0x019C +#define VL53L1_NVM__FMT__RANGE_RESULTS__140MM_DARK 0x01AC +#define VL53L1_NVM__FMT__RANGE_RESULTS__400MM_DARK 0x01BC +#define VL53L1_NVM__FMT__RANGE_RESULTS__400MM_AMBIENT 0x01CC +#define VL53L1_NVM__FMT__RANGE_RESULTS__SIZE_BYTES 16 + + + + + + + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_nvm_structs.h b/drivers/input/misc/vl53L1/inc/vl53l1_nvm_structs.h new file mode 100644 index 000000000000..5676bb6a487a --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_nvm_structs.h @@ -0,0 +1,804 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_NVM_STRUCTS_H_ +#define _VL53L1_NVM_STRUCTS_H_ + + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include "vl53l1_platform.h" +#include "vl53l1_ll_def.h" + + + + + + + + + + +typedef struct { + + uint16_t result__actual_effective_rtn_spads; + + + uint8_t ref_spad_array__num_requested_ref_spads; + + + uint8_t ref_spad_array__ref_location; + + + uint16_t result__peak_signal_count_rate_rtn_mcps; + + + uint16_t result__ambient_count_rate_rtn_mcps; + + + uint16_t result__peak_signal_count_rate_ref_mcps; + + + uint16_t result__ambient_count_rate_ref_mcps; + + + uint16_t measured_distance_mm; + + + uint16_t measured_distance_stdev_mm; + + + +} VL53L1_decoded_nvm_fmt_range_data_t; + + + + + + + + + + +typedef struct { + + char nvm__fmt__fgc[19]; + + + uint8_t nvm__fmt__test_program_major; + + + + + + uint8_t nvm__fmt__test_program_minor; + + + + + + uint8_t nvm__fmt__map_major; + + + + + + uint8_t nvm__fmt__map_minor; + + + + + + uint8_t nvm__fmt__year; + + + + + + uint8_t nvm__fmt__month; + + + + + + uint8_t nvm__fmt__day; + + + + + + uint8_t nvm__fmt__module_date_phase; + + + + + + uint16_t nvm__fmt__time; + + + + + + uint8_t nvm__fmt__tester_id; + + + + + + uint8_t nvm__fmt__site_id; + + + + + + uint8_t nvm__ews__test_program_major; + + + + + + uint8_t nvm__ews__test_program_minor; + + + + + + uint8_t nvm__ews__probe_card_major; + + + + + + uint8_t nvm__ews__probe_card_minor; + + + + + + uint8_t nvm__ews__tester_id; + + + + + + + char nvm__ews__lot[8]; + + + uint8_t nvm__ews__wafer; + + + + + + uint8_t nvm__ews__xcoord; + + + + + + uint8_t nvm__ews__ycoord; + + + + + +} VL53L1_decoded_nvm_fmt_info_t; + + + + + + + + + + +typedef struct { + + uint8_t nvm__ews__test_program_major; + + + + + + uint8_t nvm__ews__test_program_minor; + + + + + + uint8_t nvm__ews__probe_card_major; + + + + + + uint8_t nvm__ews__probe_card_minor; + + + + + + uint8_t nvm__ews__tester_id; + + + + + + + char nvm__ews__lot[8]; + + + uint8_t nvm__ews__wafer; + + + + + + uint8_t nvm__ews__xcoord; + + + + + + uint8_t nvm__ews__ycoord; + + + + + + +} VL53L1_decoded_nvm_ews_info_t; + + + + + + + + + + +typedef struct { + uint8_t nvm__identification_model_id; + + + + + + uint8_t nvm__identification_module_type; + + + + + + uint8_t nvm__identification_revision_id; + + + + + + uint16_t nvm__identification_module_id; + + + + + + uint8_t nvm__i2c_valid; + + + + + + uint8_t nvm__i2c_device_address_ews; + + + + + + uint16_t nvm__ews__fast_osc_frequency; + + + + + + uint8_t nvm__ews__fast_osc_trim_max; + + + + + + uint8_t nvm__ews__fast_osc_freq_set; + + + + + + uint16_t nvm__ews__slow_osc_calibration; + + + + + + uint16_t nvm__fmt__fast_osc_frequency; + + + + + + uint8_t nvm__fmt__fast_osc_trim_max; + + + + + + uint8_t nvm__fmt__fast_osc_freq_set; + + + + + + uint16_t nvm__fmt__slow_osc_calibration; + + + + + + uint8_t nvm__vhv_config_unlock; + + + + + + uint8_t nvm__ref_selvddpix; + + + + + + uint8_t nvm__ref_selvquench; + + + + + + uint8_t nvm__regavdd1v2_sel; + + + + + + uint8_t nvm__regdvdd1v2_sel; + + + + + + uint8_t nvm__vhv_timeout__macrop; + + + + + + uint8_t nvm__vhv_loop_bound; + + + + + + uint8_t nvm__vhv_count_threshold; + + + + + + uint8_t nvm__vhv_offset; + + + + + + uint8_t nvm__vhv_init_enable; + + + + + + uint8_t nvm__vhv_init_value; + + + + + + uint8_t nvm__laser_safety_vcsel_trim_ll; + + + + + + uint8_t nvm__laser_safety_vcsel_selion_ll; + + + + + + uint8_t nvm__laser_safety_vcsel_selion_max_ll; + + + + + + uint8_t nvm__laser_safety_mult_ll; + + + + + + uint8_t nvm__laser_safety_clip_ll; + + + + + + uint8_t nvm__laser_safety_vcsel_trim_ld; + + + + + + uint8_t nvm__laser_safety_vcsel_selion_ld; + + + + + + uint8_t nvm__laser_safety_vcsel_selion_max_ld; + + + + + + uint8_t nvm__laser_safety_mult_ld; + + + + + + uint8_t nvm__laser_safety_clip_ld; + + + + + + uint8_t nvm__laser_safety_lock_byte; + + + + + + uint8_t nvm__laser_safety_unlock_byte; + + + + + + uint8_t nvm__ews__spad_enables_rtn[VL53L1_RTN_SPAD_BUFFER_SIZE]; + + + + + + uint8_t nvm__ews__spad_enables_ref__loc1[VL53L1_REF_SPAD_BUFFER_SIZE]; + + + + + + uint8_t nvm__ews__spad_enables_ref__loc2[VL53L1_REF_SPAD_BUFFER_SIZE]; + + + + + + uint8_t nvm__ews__spad_enables_ref__loc3[VL53L1_REF_SPAD_BUFFER_SIZE]; + + + + + + uint8_t nvm__fmt__spad_enables_rtn[VL53L1_RTN_SPAD_BUFFER_SIZE]; + + + + + + uint8_t nvm__fmt__spad_enables_ref__loc1[VL53L1_REF_SPAD_BUFFER_SIZE]; + + + + + + uint8_t nvm__fmt__spad_enables_ref__loc2[VL53L1_REF_SPAD_BUFFER_SIZE]; + + + + + + uint8_t nvm__fmt__spad_enables_ref__loc3[VL53L1_REF_SPAD_BUFFER_SIZE]; + + + + + + uint8_t nvm__fmt__roi_config__mode_roi_centre_spad; + + + + + + uint8_t nvm__fmt__roi_config__mode_roi_x_size; + + + + + + uint8_t nvm__fmt__roi_config__mode_roi_y_size; + + + + + + uint8_t nvm__fmt__ref_spad_apply__num_requested_ref_spad; + + + + + + uint8_t nvm__fmt__ref_spad_man__ref_location; + + + + + + uint16_t nvm__fmt__mm_config__inner_offset_mm; + + + + + + uint16_t nvm__fmt__mm_config__outer_offset_mm; + + + + + + uint16_t nvm__fmt__algo_part_to_part_range_offset_mm; + + + + + + uint16_t nvm__fmt__algo__crosstalk_compensation_plane_offset_kcps; + + + + + + uint16_t nvm__fmt__algo__crosstalk_compensation_x_plane_gradient_kcps; + + + + + + uint16_t nvm__fmt__algo__crosstalk_compensation_y_plane_gradient_kcps; + + + + + + uint8_t nvm__fmt__spare__host_config__nvm_config_spare_0; + + + + + + uint8_t nvm__fmt__spare__host_config__nvm_config_spare_1; + + + + + + uint8_t nvm__customer_space_programmed; + + + + + + uint8_t nvm__cust__i2c_device_address; + + + + + + uint8_t nvm__cust__ref_spad_apply__num_requested_ref_spad; + + + + + + uint8_t nvm__cust__ref_spad_man__ref_location; + + + + + + uint16_t nvm__cust__mm_config__inner_offset_mm; + + + + + + uint16_t nvm__cust__mm_config__outer_offset_mm; + + + + + + uint16_t nvm__cust__algo_part_to_part_range_offset_mm; + + + + + + uint16_t nvm__cust__algo__crosstalk_compensation_plane_offset_kcps; + + + + + + uint16_t nvm__cust__algo__crosstalk_compensation_x_plane_gradient_kcps; + + + + + + uint16_t nvm__cust__algo__crosstalk_compensation_y_plane_gradient_kcps; + + + + + + uint8_t nvm__cust__spare__host_config__nvm_config_spare_0; + + + + + + uint8_t nvm__cust__spare__host_config__nvm_config_spare_1; + + + + + + + VL53L1_cal_peak_rate_map_t fmt_peak_rate_map; + VL53L1_additional_offset_cal_data_t fmt_add_offset_data; + VL53L1_decoded_nvm_fmt_range_data_t fmt_range_data[VL53L1_NVM_MAX_FMT_RANGE_DATA]; + VL53L1_decoded_nvm_fmt_info_t fmt_info; + VL53L1_decoded_nvm_ews_info_t ews_info; + +} VL53L1_decoded_nvm_data_t; + + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_register_funcs.h b/drivers/input/misc/vl53L1/inc/vl53l1_register_funcs.h new file mode 100644 index 000000000000..b6e2bab57832 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_register_funcs.h @@ -0,0 +1,1693 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_REGISTER_FUNCS_H_ +#define _VL53L1_REGISTER_FUNCS_H_ + +#include "vl53l1_platform.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_static_nvm_managed( + VL53L1_static_nvm_managed_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_static_nvm_managed( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_static_nvm_managed_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_static_nvm_managed( + VL53L1_DEV Dev, + VL53L1_static_nvm_managed_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_static_nvm_managed( + VL53L1_DEV Dev, + VL53L1_static_nvm_managed_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_customer_nvm_managed( + VL53L1_customer_nvm_managed_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_customer_nvm_managed( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_customer_nvm_managed_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_customer_nvm_managed( + VL53L1_DEV Dev, + VL53L1_customer_nvm_managed_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_customer_nvm_managed( + VL53L1_DEV Dev, + VL53L1_customer_nvm_managed_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_static_config( + VL53L1_static_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_static_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_static_config_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_static_config( + VL53L1_DEV Dev, + VL53L1_static_config_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_static_config( + VL53L1_DEV Dev, + VL53L1_static_config_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_general_config( + VL53L1_general_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_general_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_general_config_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_general_config( + VL53L1_DEV Dev, + VL53L1_general_config_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_general_config( + VL53L1_DEV Dev, + VL53L1_general_config_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_timing_config( + VL53L1_timing_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_timing_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_timing_config_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_timing_config( + VL53L1_DEV Dev, + VL53L1_timing_config_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_timing_config( + VL53L1_DEV Dev, + VL53L1_timing_config_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_dynamic_config( + VL53L1_dynamic_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_dynamic_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_dynamic_config_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_dynamic_config( + VL53L1_DEV Dev, + VL53L1_dynamic_config_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_dynamic_config( + VL53L1_DEV Dev, + VL53L1_dynamic_config_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_system_control( + VL53L1_system_control_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_system_control( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_system_control_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_system_control( + VL53L1_DEV Dev, + VL53L1_system_control_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_system_control( + VL53L1_DEV Dev, + VL53L1_system_control_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_system_results( + VL53L1_system_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_system_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_system_results_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_system_results( + VL53L1_DEV Dev, + VL53L1_system_results_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_system_results( + VL53L1_DEV Dev, + VL53L1_system_results_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_core_results( + VL53L1_core_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_core_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_core_results_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_core_results( + VL53L1_DEV Dev, + VL53L1_core_results_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_core_results( + VL53L1_DEV Dev, + VL53L1_core_results_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_debug_results( + VL53L1_debug_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_debug_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_debug_results_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_debug_results( + VL53L1_DEV Dev, + VL53L1_debug_results_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_debug_results( + VL53L1_DEV Dev, + VL53L1_debug_results_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_nvm_copy_data( + VL53L1_nvm_copy_data_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_nvm_copy_data( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_nvm_copy_data_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_nvm_copy_data( + VL53L1_DEV Dev, + VL53L1_nvm_copy_data_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_nvm_copy_data( + VL53L1_DEV Dev, + VL53L1_nvm_copy_data_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_prev_shadow_system_results( + VL53L1_prev_shadow_system_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_prev_shadow_system_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_prev_shadow_system_results_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_prev_shadow_system_results( + VL53L1_DEV Dev, + VL53L1_prev_shadow_system_results_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_prev_shadow_system_results( + VL53L1_DEV Dev, + VL53L1_prev_shadow_system_results_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_prev_shadow_core_results( + VL53L1_prev_shadow_core_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_prev_shadow_core_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_prev_shadow_core_results_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_prev_shadow_core_results( + VL53L1_DEV Dev, + VL53L1_prev_shadow_core_results_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_prev_shadow_core_results( + VL53L1_DEV Dev, + VL53L1_prev_shadow_core_results_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_patch_debug( + VL53L1_patch_debug_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_patch_debug( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_patch_debug_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_patch_debug( + VL53L1_DEV Dev, + VL53L1_patch_debug_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_patch_debug( + VL53L1_DEV Dev, + VL53L1_patch_debug_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_gph_general_config( + VL53L1_gph_general_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_gph_general_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_gph_general_config_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_gph_general_config( + VL53L1_DEV Dev, + VL53L1_gph_general_config_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_gph_general_config( + VL53L1_DEV Dev, + VL53L1_gph_general_config_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_gph_static_config( + VL53L1_gph_static_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_gph_static_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_gph_static_config_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_gph_static_config( + VL53L1_DEV Dev, + VL53L1_gph_static_config_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_gph_static_config( + VL53L1_DEV Dev, + VL53L1_gph_static_config_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_gph_timing_config( + VL53L1_gph_timing_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_gph_timing_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_gph_timing_config_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_gph_timing_config( + VL53L1_DEV Dev, + VL53L1_gph_timing_config_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_gph_timing_config( + VL53L1_DEV Dev, + VL53L1_gph_timing_config_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_fw_internal( + VL53L1_fw_internal_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_fw_internal( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_fw_internal_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_fw_internal( + VL53L1_DEV Dev, + VL53L1_fw_internal_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_fw_internal( + VL53L1_DEV Dev, + VL53L1_fw_internal_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_patch_results( + VL53L1_patch_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_patch_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_patch_results_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_patch_results( + VL53L1_DEV Dev, + VL53L1_patch_results_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_patch_results( + VL53L1_DEV Dev, + VL53L1_patch_results_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_shadow_system_results( + VL53L1_shadow_system_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_shadow_system_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_shadow_system_results_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_shadow_system_results( + VL53L1_DEV Dev, + VL53L1_shadow_system_results_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_shadow_system_results( + VL53L1_DEV Dev, + VL53L1_shadow_system_results_t *pdata); + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_encode_shadow_core_results( + VL53L1_shadow_core_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_i2c_decode_shadow_core_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_shadow_core_results_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_set_shadow_core_results( + VL53L1_DEV Dev, + VL53L1_shadow_core_results_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_get_shadow_core_results( + VL53L1_DEV Dev, + VL53L1_shadow_core_results_t *pdata); + + +#ifdef __cplusplus +} +#endif + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_register_map.h b/drivers/input/misc/vl53L1/inc/vl53l1_register_map.h new file mode 100644 index 000000000000..cb4be06573c2 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_register_map.h @@ -0,0 +1,13113 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_REGISTER_MAP_H_ +#define _VL53L1_REGISTER_MAP_H_ + + + + + + +#define VL53L1_SOFT_RESET 0x0000 + + + + + + + +#define VL53L1_I2C_SLAVE__DEVICE_ADDRESS 0x0001 + + + + + + + + + + + + + + + +#define VL53L1_ANA_CONFIG__VHV_REF_SEL_VDDPIX 0x0002 + + + + + + + + + + + + + + + +#define VL53L1_ANA_CONFIG__VHV_REF_SEL_VQUENCH 0x0003 + + + + + + + + + + + + + + + +#define VL53L1_ANA_CONFIG__REG_AVDD1V2_SEL 0x0004 + + + + + + + + + + + + + + + +#define VL53L1_ANA_CONFIG__FAST_OSC__TRIM 0x0005 + + + + + + + + + + + + + + + +#define VL53L1_OSC_MEASURED__FAST_OSC__FREQUENCY 0x0006 + + + + + + + + + + + + + + + +#define VL53L1_OSC_MEASURED__FAST_OSC__FREQUENCY_HI 0x0006 + + + + + + + +#define VL53L1_OSC_MEASURED__FAST_OSC__FREQUENCY_LO 0x0007 + + + + + + + +#define VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x0008 + + + + + + + + + + + + + + + + +#define VL53L1_VHV_CONFIG__COUNT_THRESH 0x0009 + + + + + + + + + + + + + + + +#define VL53L1_VHV_CONFIG__OFFSET 0x000A + + + + + + + + + + + + + + + +#define VL53L1_VHV_CONFIG__INIT 0x000B + + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0 0x000D + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_1 0x000E + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_2 0x000F + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_3 0x0010 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_4 0x0011 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_5 0x0012 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__REF_EN_START_SELECT 0x0013 + + + + + + + + + + + + + + + +#define VL53L1_REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS 0x0014 + + + + + + + + + + + + + + + +#define VL53L1_REF_SPAD_MAN__REF_LOCATION 0x0015 + + + + + + + + + + + + + + + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS 0x0016 + + + + + + + + + + + + + + + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS_HI 0x0016 + + + + + + + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS_LO 0x0017 + + + + + + + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS 0x0018 + + + + + + + + + + + + + + + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS_HI 0x0018 + + + + + + + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS_LO 0x0019 + + + + + + + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS 0x001A + + + + + + + + + + + + + + + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS_HI 0x001A + + + + + + + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS_LO 0x001B + + + + + + + +#define VL53L1_REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS 0x001C + + + + + + + + + + + + + + + +#define VL53L1_REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS_HI 0x001C + + + + + + + +#define VL53L1_REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS_LO 0x001D + + + + + + + +#define VL53L1_ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x001E + + + + + + + + + + + + + + + +#define VL53L1_ALGO__PART_TO_PART_RANGE_OFFSET_MM_HI 0x001E + + + + + + + +#define VL53L1_ALGO__PART_TO_PART_RANGE_OFFSET_MM_LO 0x001F + + + + + + + +#define VL53L1_MM_CONFIG__INNER_OFFSET_MM 0x0020 + + + + + + + + + + + + + + + +#define VL53L1_MM_CONFIG__INNER_OFFSET_MM_HI 0x0020 + + + + + + + +#define VL53L1_MM_CONFIG__INNER_OFFSET_MM_LO 0x0021 + + + + + + + +#define VL53L1_MM_CONFIG__OUTER_OFFSET_MM 0x0022 + + + + + + + + + + + + + + + +#define VL53L1_MM_CONFIG__OUTER_OFFSET_MM_HI 0x0022 + + + + + + + +#define VL53L1_MM_CONFIG__OUTER_OFFSET_MM_LO 0x0023 + + + + + + + +#define VL53L1_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS 0x0024 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS_HI 0x0024 + + + + + + + +#define VL53L1_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS_LO 0x0025 + + + + + + + +#define VL53L1_DEBUG__CTRL 0x0026 + + + + + + + + + + + + + + + +#define VL53L1_TEST_MODE__CTRL 0x0027 + + + + + + + + + + + + + + + +#define VL53L1_CLK_GATING__CTRL 0x0028 + + + + + + + + + + + + + + + + + + +#define VL53L1_NVM_BIST__CTRL 0x0029 + + + + + + + + + + + + + + + + +#define VL53L1_NVM_BIST__NUM_NVM_WORDS 0x002A + + + + + + + + + + + + + + + +#define VL53L1_NVM_BIST__START_ADDRESS 0x002B + + + + + + + + + + + + + + + +#define VL53L1_HOST_IF__STATUS 0x002C + + + + + + + + + + + + + + + +#define VL53L1_PAD_I2C_HV__CONFIG 0x002D + + + + + + + + + + + + + + + + + + + + +#define VL53L1_PAD_I2C_HV__EXTSUP_CONFIG 0x002E + + + + + + + + + + + + + + + +#define VL53L1_GPIO_HV_PAD__CTRL 0x002F + + + + + + + + + + + + + + + + +#define VL53L1_GPIO_HV_MUX__CTRL 0x0030 + + + + + + + + + + + + + + + + +#define VL53L1_GPIO__TIO_HV_STATUS 0x0031 + + + + + + + + + + + + + + + + +#define VL53L1_GPIO__FIO_HV_STATUS 0x0032 + + + + + + + + + + + + + + + +#define VL53L1_ANA_CONFIG__SPAD_SEL_PSWIDTH 0x0033 + + + + + + + + + + + + + + + +#define VL53L1_ANA_CONFIG__VCSEL_PULSE_WIDTH_OFFSET 0x0034 + + + + + + + + + + + + + + + +#define VL53L1_ANA_CONFIG__FAST_OSC__CONFIG_CTRL 0x0035 + + + + + + + + + + + + + + + +#define VL53L1_SIGMA_ESTIMATOR__EFFECTIVE_PULSE_WIDTH_NS 0x0036 + + + + + + + + + + + + + + + +#define VL53L1_SIGMA_ESTIMATOR__EFFECTIVE_AMBIENT_WIDTH_NS 0x0037 + + + + + + + + + + + + + + + +#define VL53L1_SIGMA_ESTIMATOR__SIGMA_REF_MM 0x0038 + + + + + + + + + + + + + + + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_VALID_HEIGHT_MM 0x0039 + + + + + + + + + + + + + + + +#define VL53L1_SPARE_HOST_CONFIG__STATIC_CONFIG_SPARE_0 0x003A + + + + + + + + + + + + + + + +#define VL53L1_SPARE_HOST_CONFIG__STATIC_CONFIG_SPARE_1 0x003B + + + + + + + + + + + + + + + +#define VL53L1_ALGO__RANGE_IGNORE_THRESHOLD_MCPS 0x003C + + + + + + + + + + + + + + + +#define VL53L1_ALGO__RANGE_IGNORE_THRESHOLD_MCPS_HI 0x003C + + + + + + + +#define VL53L1_ALGO__RANGE_IGNORE_THRESHOLD_MCPS_LO 0x003D + + + + + + + +#define VL53L1_ALGO__RANGE_IGNORE_VALID_HEIGHT_MM 0x003E + + + + + + + + + + + + + + + +#define VL53L1_ALGO__RANGE_MIN_CLIP 0x003F + + + + + + + + + + + + + + + + +#define VL53L1_ALGO__CONSISTENCY_CHECK__TOLERANCE 0x0040 + + + + + + + + + + + + + + + +#define VL53L1_SPARE_HOST_CONFIG__STATIC_CONFIG_SPARE_2 0x0041 + + + + + + + + + + + + + + + +#define VL53L1_SD_CONFIG__RESET_STAGES_MSB 0x0042 + + + + + + + + + + + + + + + +#define VL53L1_SD_CONFIG__RESET_STAGES_LSB 0x0043 + + + + + + + + + + + + + + + + +#define VL53L1_GPH_CONFIG__STREAM_COUNT_UPDATE_VALUE 0x0044 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__STREAM_DIVIDER 0x0045 + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__INTERRUPT_CONFIG_GPIO 0x0046 + + + + + + + + + + + + + + + + + + + + +#define VL53L1_CAL_CONFIG__VCSEL_START 0x0047 + + + + + + + + + + + + + + + +#define VL53L1_CAL_CONFIG__REPEAT_RATE 0x0048 + + + + + + + + + + + + + + + +#define VL53L1_CAL_CONFIG__REPEAT_RATE_HI 0x0048 + + + + + + + +#define VL53L1_CAL_CONFIG__REPEAT_RATE_LO 0x0049 + + + + + + + +#define VL53L1_GLOBAL_CONFIG__VCSEL_WIDTH 0x004A + + + + + + + + + + + + + + + +#define VL53L1_PHASECAL_CONFIG__TIMEOUT_MACROP 0x004B + + + + + + + + + + + + + + + +#define VL53L1_PHASECAL_CONFIG__TARGET 0x004C + + + + + + + + + + + + + + + +#define VL53L1_PHASECAL_CONFIG__OVERRIDE 0x004D + + + + + + + + + + + + + + + +#define VL53L1_DSS_CONFIG__ROI_MODE_CONTROL 0x004F + + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__THRESH_RATE_HIGH 0x0050 + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__THRESH_RATE_HIGH_HI 0x0050 + + + + + + + +#define VL53L1_SYSTEM__THRESH_RATE_HIGH_LO 0x0051 + + + + + + + +#define VL53L1_SYSTEM__THRESH_RATE_LOW 0x0052 + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__THRESH_RATE_LOW_HI 0x0052 + + + + + + + +#define VL53L1_SYSTEM__THRESH_RATE_LOW_LO 0x0053 + + + + + + + +#define VL53L1_DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT 0x0054 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_HI 0x0054 + + + + + + + +#define VL53L1_DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_LO 0x0055 + + + + + + + +#define VL53L1_DSS_CONFIG__MANUAL_BLOCK_SELECT 0x0056 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CONFIG__APERTURE_ATTENUATION 0x0057 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CONFIG__MAX_SPADS_LIMIT 0x0058 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CONFIG__MIN_SPADS_LIMIT 0x0059 + + + + + + + + + + + + + + + +#define VL53L1_MM_CONFIG__TIMEOUT_MACROP_A_HI 0x005A + + + + + + + + + + + + + + + +#define VL53L1_MM_CONFIG__TIMEOUT_MACROP_A_LO 0x005B + + + + + + + + + + + + + + + +#define VL53L1_MM_CONFIG__TIMEOUT_MACROP_B_HI 0x005C + + + + + + + + + + + + + + + +#define VL53L1_MM_CONFIG__TIMEOUT_MACROP_B_LO 0x005D + + + + + + + + + + + + + + + +#define VL53L1_RANGE_CONFIG__TIMEOUT_MACROP_A_HI 0x005E + + + + + + + + + + + + + + + +#define VL53L1_RANGE_CONFIG__TIMEOUT_MACROP_A_LO 0x005F + + + + + + + + + + + + + + + +#define VL53L1_RANGE_CONFIG__VCSEL_PERIOD_A 0x0060 + + + + + + + + + + + + + + + +#define VL53L1_RANGE_CONFIG__TIMEOUT_MACROP_B_HI 0x0061 + + + + + + + + + + + + + + + +#define VL53L1_RANGE_CONFIG__TIMEOUT_MACROP_B_LO 0x0062 + + + + + + + + + + + + + + + +#define VL53L1_RANGE_CONFIG__VCSEL_PERIOD_B 0x0063 + + + + + + + + + + + + + + + +#define VL53L1_RANGE_CONFIG__SIGMA_THRESH 0x0064 + + + + + + + + + + + + + + + +#define VL53L1_RANGE_CONFIG__SIGMA_THRESH_HI 0x0064 + + + + + + + +#define VL53L1_RANGE_CONFIG__SIGMA_THRESH_LO 0x0065 + + + + + + + +#define VL53L1_RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS 0x0066 + + + + + + + + + + + + + + + +#define VL53L1_RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_HI 0x0066 + + + + + + + +#define VL53L1_RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_LO 0x0067 + + + + + + + +#define VL53L1_RANGE_CONFIG__VALID_PHASE_LOW 0x0068 + + + + + + + + + + + + + + + +#define VL53L1_RANGE_CONFIG__VALID_PHASE_HIGH 0x0069 + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD 0x006C + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD_3 0x006C + + + + + + + +#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD_2 0x006D + + + + + + + +#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD_1 0x006E + + + + + + + +#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD_0 0x006F + + + + + + + +#define VL53L1_SYSTEM__FRACTIONAL_ENABLE 0x0070 + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD_0 0x0071 + + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__THRESH_HIGH 0x0072 + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__THRESH_HIGH_HI 0x0072 + + + + + + + +#define VL53L1_SYSTEM__THRESH_HIGH_LO 0x0073 + + + + + + + +#define VL53L1_SYSTEM__THRESH_LOW 0x0074 + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__THRESH_LOW_HI 0x0074 + + + + + + + +#define VL53L1_SYSTEM__THRESH_LOW_LO 0x0075 + + + + + + + +#define VL53L1_SYSTEM__ENABLE_XTALK_PER_QUADRANT 0x0076 + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__SEED_CONFIG 0x0077 + + + + + + + + + + + + + + + + +#define VL53L1_SD_CONFIG__WOI_SD0 0x0078 + + + + + + + + + + + + + + + +#define VL53L1_SD_CONFIG__WOI_SD1 0x0079 + + + + + + + + + + + + + + + +#define VL53L1_SD_CONFIG__INITIAL_PHASE_SD0 0x007A + + + + + + + + + + + + + + + +#define VL53L1_SD_CONFIG__INITIAL_PHASE_SD1 0x007B + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD_1 0x007C + + + + + + + + + + + + + + + + +#define VL53L1_SD_CONFIG__FIRST_ORDER_SELECT 0x007D + + + + + + + + + + + + + + + + +#define VL53L1_SD_CONFIG__QUANTIFIER 0x007E + + + + + + + + + + + + + + + +#define VL53L1_ROI_CONFIG__USER_ROI_CENTRE_SPAD 0x007F + + + + + + + + + + + + + + + +#define VL53L1_ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE 0x0080 + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__SEQUENCE_CONFIG 0x0081 + + + + + + + + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD 0x0082 + + + + + + + + + + + + + + + + +#define VL53L1_POWER_MANAGEMENT__GO1_POWER_FORCE 0x0083 + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__STREAM_COUNT_CTRL 0x0084 + + + + + + + + + + + + + + + +#define VL53L1_FIRMWARE__ENABLE 0x0085 + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__INTERRUPT_CLEAR 0x0086 + + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__MODE_START 0x0087 + + + + + + + + + + + + + + + + + + + + +#define VL53L1_RESULT__INTERRUPT_STATUS 0x0088 + + + + + + + + + + + + + + + + + +#define VL53L1_RESULT__RANGE_STATUS 0x0089 + + + + + + + + + + + + + + + + + + +#define VL53L1_RESULT__REPORT_STATUS 0x008A + + + + + + + + + + + + + + + +#define VL53L1_RESULT__STREAM_COUNT 0x008B + + + + + + + + + + + + + + + +#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 0x008C + + + + + + + + + + + + + + + +#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x008C + + + + + + + +#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x008D + + + + + + + +#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0 0x008E + + + + + + + + + + + + + + + +#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x008E + + + + + + + +#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x008F + + + + + + + +#define VL53L1_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0 0x0090 + + + + + + + + + + + + + + + +#define VL53L1_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_HI 0x0090 + + + + + + + +#define VL53L1_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_LO 0x0091 + + + + + + + +#define VL53L1_RESULT__SIGMA_SD0 0x0092 + + + + + + + + + + + + + + + +#define VL53L1_RESULT__SIGMA_SD0_HI 0x0092 + + + + + + + +#define VL53L1_RESULT__SIGMA_SD0_LO 0x0093 + + + + + + + +#define VL53L1_RESULT__PHASE_SD0 0x0094 + + + + + + + + + + + + + + + +#define VL53L1_RESULT__PHASE_SD0_HI 0x0094 + + + + + + + +#define VL53L1_RESULT__PHASE_SD0_LO 0x0095 + + + + + + + +#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0096 + + + + + + + + + + + + + + + +#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_HI 0x0096 + + + + + + + +#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_LO 0x0097 + + + + + + + +#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 0x0098 + + + + + + + + + + + + + + + +#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_HI 0x0098 + + + + + + + +#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_LO 0x0099 + + + + + + + +#define VL53L1_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0 0x009A + + + + + + + + + + + + + + + +#define VL53L1_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x009A + + + + + + + +#define VL53L1_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x009B + + + + + + + +#define VL53L1_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0 0x009C + + + + + + + + + + + + + + + +#define VL53L1_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x009C + + + + + + + +#define VL53L1_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x009D + + + + + + + +#define VL53L1_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0 0x009E + + + + + + + + + + + + + + + +#define VL53L1_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x009E + + + + + + + +#define VL53L1_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x009F + + + + + + + +#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1 0x00A0 + + + + + + + + + + + + + + + +#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_HI 0x00A0 + + + + + + + +#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_LO 0x00A1 + + + + + + + +#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1 0x00A2 + + + + + + + + + + + + + + + +#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_HI 0x00A2 + + + + + + + +#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_LO 0x00A3 + + + + + + + +#define VL53L1_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1 0x00A4 + + + + + + + + + + + + + + + +#define VL53L1_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_HI 0x00A4 + + + + + + + +#define VL53L1_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_LO 0x00A5 + + + + + + + +#define VL53L1_RESULT__SIGMA_SD1 0x00A6 + + + + + + + + + + + + + + + +#define VL53L1_RESULT__SIGMA_SD1_HI 0x00A6 + + + + + + + +#define VL53L1_RESULT__SIGMA_SD1_LO 0x00A7 + + + + + + + +#define VL53L1_RESULT__PHASE_SD1 0x00A8 + + + + + + + + + + + + + + + +#define VL53L1_RESULT__PHASE_SD1_HI 0x00A8 + + + + + + + +#define VL53L1_RESULT__PHASE_SD1_LO 0x00A9 + + + + + + + +#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1 0x00AA + + + + + + + + + + + + + + + +#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_HI 0x00AA + + + + + + + +#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_LO 0x00AB + + + + + + + +#define VL53L1_RESULT__SPARE_0_SD1 0x00AC + + + + + + + + + + + + + + + +#define VL53L1_RESULT__SPARE_0_SD1_HI 0x00AC + + + + + + + +#define VL53L1_RESULT__SPARE_0_SD1_LO 0x00AD + + + + + + + +#define VL53L1_RESULT__SPARE_1_SD1 0x00AE + + + + + + + + + + + + + + + +#define VL53L1_RESULT__SPARE_1_SD1_HI 0x00AE + + + + + + + +#define VL53L1_RESULT__SPARE_1_SD1_LO 0x00AF + + + + + + + +#define VL53L1_RESULT__SPARE_2_SD1 0x00B0 + + + + + + + + + + + + + + + +#define VL53L1_RESULT__SPARE_2_SD1_HI 0x00B0 + + + + + + + +#define VL53L1_RESULT__SPARE_2_SD1_LO 0x00B1 + + + + + + + +#define VL53L1_RESULT__SPARE_3_SD1 0x00B2 + + + + + + + + + + + + + + + +#define VL53L1_RESULT__THRESH_INFO 0x00B3 + + + + + + + + + + + + + + + + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 0x00B4 + + + + + + + + + + + + + + + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_3 0x00B4 + + + + + + + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_2 0x00B5 + + + + + + + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_1 0x00B6 + + + + + + + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_0 0x00B7 + + + + + + + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0 0x00B8 + + + + + + + + + + + + + + + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_3 0x00B8 + + + + + + + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_2 0x00B9 + + + + + + + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_1 0x00BA + + + + + + + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_0 0x00BB + + + + + + + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0 0x00BC + + + + + + + + + + + + + + + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_3 0x00BC + + + + + + + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_2 0x00BD + + + + + + + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_1 0x00BE + + + + + + + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_0 0x00BF + + + + + + + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0 0x00C0 + + + + + + + + + + + + + + + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_3 0x00C0 + + + + + + + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_2 0x00C1 + + + + + + + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_1 0x00C2 + + + + + + + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_0 0x00C3 + + + + + + + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1 0x00C4 + + + + + + + + + + + + + + + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_3 0x00C4 + + + + + + + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_2 0x00C5 + + + + + + + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_1 0x00C6 + + + + + + + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_0 0x00C7 + + + + + + + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1 0x00C8 + + + + + + + + + + + + + + + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_3 0x00C8 + + + + + + + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_2 0x00C9 + + + + + + + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_1 0x00CA + + + + + + + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_0 0x00CB + + + + + + + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1 0x00CC + + + + + + + + + + + + + + + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_3 0x00CC + + + + + + + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_2 0x00CD + + + + + + + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_1 0x00CE + + + + + + + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_0 0x00CF + + + + + + + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1 0x00D0 + + + + + + + + + + + + + + + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_3 0x00D0 + + + + + + + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_2 0x00D1 + + + + + + + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_1 0x00D2 + + + + + + + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_0 0x00D3 + + + + + + + +#define VL53L1_RESULT_CORE__SPARE_0 0x00D4 + + + + + + + + + + + + + + + +#define VL53L1_PHASECAL_RESULT__REFERENCE_PHASE 0x00D6 + + + + + + + + + + + + + + + +#define VL53L1_PHASECAL_RESULT__REFERENCE_PHASE_HI 0x00D6 + + + + + + + +#define VL53L1_PHASECAL_RESULT__REFERENCE_PHASE_LO 0x00D7 + + + + + + + +#define VL53L1_PHASECAL_RESULT__VCSEL_START 0x00D8 + + + + + + + + + + + + + + + +#define VL53L1_REF_SPAD_CHAR_RESULT__NUM_ACTUAL_REF_SPADS 0x00D9 + + + + + + + + + + + + + + + +#define VL53L1_REF_SPAD_CHAR_RESULT__REF_LOCATION 0x00DA + + + + + + + + + + + + + + + +#define VL53L1_VHV_RESULT__COLDBOOT_STATUS 0x00DB + + + + + + + + + + + + + + + +#define VL53L1_VHV_RESULT__SEARCH_RESULT 0x00DC + + + + + + + + + + + + + + + +#define VL53L1_VHV_RESULT__LATEST_SETTING 0x00DD + + + + + + + + + + + + + + + +#define VL53L1_RESULT__OSC_CALIBRATE_VAL 0x00DE + + + + + + + + + + + + + + + +#define VL53L1_RESULT__OSC_CALIBRATE_VAL_HI 0x00DE + + + + + + + +#define VL53L1_RESULT__OSC_CALIBRATE_VAL_LO 0x00DF + + + + + + + +#define VL53L1_ANA_CONFIG__POWERDOWN_GO1 0x00E0 + + + + + + + + + + + + + + + + +#define VL53L1_ANA_CONFIG__REF_BG_CTRL 0x00E1 + + + + + + + + + + + + + + + + +#define VL53L1_ANA_CONFIG__REGDVDD1V2_CTRL 0x00E2 + + + + + + + + + + + + + + + + + +#define VL53L1_ANA_CONFIG__OSC_SLOW_CTRL 0x00E3 + + + + + + + + + + + + + + + + + +#define VL53L1_TEST_MODE__STATUS 0x00E4 + + + + + + + + + + + + + + + +#define VL53L1_FIRMWARE__SYSTEM_STATUS 0x00E5 + + + + + + + + + + + + + + + + +#define VL53L1_FIRMWARE__MODE_STATUS 0x00E6 + + + + + + + + + + + + + + + +#define VL53L1_FIRMWARE__SECONDARY_MODE_STATUS 0x00E7 + + + + + + + + + + + + + + + +#define VL53L1_FIRMWARE__CAL_REPEAT_RATE_COUNTER 0x00E8 + + + + + + + + + + + + + + + +#define VL53L1_FIRMWARE__CAL_REPEAT_RATE_COUNTER_HI 0x00E8 + + + + + + + +#define VL53L1_FIRMWARE__CAL_REPEAT_RATE_COUNTER_LO 0x00E9 + + + + + + + +#define VL53L1_FIRMWARE__HISTOGRAM_BIN 0x00EA + + + + + + + +#define VL53L1_GPH__SYSTEM__THRESH_HIGH 0x00EC + + + + + + + + + + + + + + + +#define VL53L1_GPH__SYSTEM__THRESH_HIGH_HI 0x00EC + + + + + + + +#define VL53L1_GPH__SYSTEM__THRESH_HIGH_LO 0x00ED + + + + + + + +#define VL53L1_GPH__SYSTEM__THRESH_LOW 0x00EE + + + + + + + + + + + + + + + +#define VL53L1_GPH__SYSTEM__THRESH_LOW_HI 0x00EE + + + + + + + +#define VL53L1_GPH__SYSTEM__THRESH_LOW_LO 0x00EF + + + + + + + +#define VL53L1_GPH__SYSTEM__ENABLE_XTALK_PER_QUADRANT 0x00F0 + + + + + + + + + + + + + + + +#define VL53L1_GPH__SPARE_0 0x00F1 + + + + + + + + + + + + + + + + + +#define VL53L1_GPH__SD_CONFIG__WOI_SD0 0x00F2 + + + + + + + + + + + + + + + +#define VL53L1_GPH__SD_CONFIG__WOI_SD1 0x00F3 + + + + + + + + + + + + + + + +#define VL53L1_GPH__SD_CONFIG__INITIAL_PHASE_SD0 0x00F4 + + + + + + + + + + + + + + + +#define VL53L1_GPH__SD_CONFIG__INITIAL_PHASE_SD1 0x00F5 + + + + + + + + + + + + + + + +#define VL53L1_GPH__SD_CONFIG__FIRST_ORDER_SELECT 0x00F6 + + + + + + + + + + + + + + + + +#define VL53L1_GPH__SD_CONFIG__QUANTIFIER 0x00F7 + + + + + + + + + + + + + + + +#define VL53L1_GPH__ROI_CONFIG__USER_ROI_CENTRE_SPAD 0x00F8 + + + + + + + + + + + + + + + +#define VL53L1_GPH__ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE 0x00F9 + + + + + + + + + + + + + + + +#define VL53L1_GPH__SYSTEM__SEQUENCE_CONFIG 0x00FA + + + + + + + + + + + + + + + + + + + + + + +#define VL53L1_GPH__GPH_ID 0x00FB + + + + + + + + + + + + + + + +#define VL53L1_SYSTEM__INTERRUPT_SET 0x00FC + + + + + + + + + + + + + + + + +#define VL53L1_INTERRUPT_MANAGER__ENABLES 0x00FD + + + + + + + + + + + + + + + + + + + +#define VL53L1_INTERRUPT_MANAGER__CLEAR 0x00FE + + + + + + + + + + + + + + + + + + + +#define VL53L1_INTERRUPT_MANAGER__STATUS 0x00FF + + + + + + + + + + + + + + + + + + + +#define VL53L1_MCU_TO_HOST_BANK__WR_ACCESS_EN 0x0100 + + + + + + + + + + + + + + + +#define VL53L1_POWER_MANAGEMENT__GO1_RESET_STATUS 0x0101 + + + + + + + + + + + + + + + +#define VL53L1_PAD_STARTUP_MODE__VALUE_RO 0x0102 + + + + + + + + + + + + + + + + +#define VL53L1_PAD_STARTUP_MODE__VALUE_CTRL 0x0103 + + + + + + + + + + + + + + + + + + +#define VL53L1_PLL_PERIOD_US 0x0104 + + + + + + + + + + + + + + + +#define VL53L1_PLL_PERIOD_US_3 0x0104 + + + + + + + +#define VL53L1_PLL_PERIOD_US_2 0x0105 + + + + + + + +#define VL53L1_PLL_PERIOD_US_1 0x0106 + + + + + + + +#define VL53L1_PLL_PERIOD_US_0 0x0107 + + + + + + + +#define VL53L1_INTERRUPT_SCHEDULER__DATA_OUT 0x0108 + + + + + + + + + + + + + + + +#define VL53L1_INTERRUPT_SCHEDULER__DATA_OUT_3 0x0108 + + + + + + + +#define VL53L1_INTERRUPT_SCHEDULER__DATA_OUT_2 0x0109 + + + + + + + +#define VL53L1_INTERRUPT_SCHEDULER__DATA_OUT_1 0x010A + + + + + + + +#define VL53L1_INTERRUPT_SCHEDULER__DATA_OUT_0 0x010B + + + + + + + +#define VL53L1_NVM_BIST__COMPLETE 0x010C + + + + + + + + + + + + + + + +#define VL53L1_NVM_BIST__STATUS 0x010D + + + + + + + + + + + + + + + +#define VL53L1_IDENTIFICATION__MODEL_ID 0x010F + + + + + + + + + + + + + + + +#define VL53L1_IDENTIFICATION__MODULE_TYPE 0x0110 + + + + + + + + + + + + + + + +#define VL53L1_IDENTIFICATION__REVISION_ID 0x0111 + + + + + + + + + + + + + + + + +#define VL53L1_IDENTIFICATION__MODULE_ID 0x0112 + + + + + + + + + + + + + + + +#define VL53L1_IDENTIFICATION__MODULE_ID_HI 0x0112 + + + + + + + +#define VL53L1_IDENTIFICATION__MODULE_ID_LO 0x0113 + + + + + + + +#define VL53L1_ANA_CONFIG__FAST_OSC__TRIM_MAX 0x0114 + + + + + + + + + + + + + + + +#define VL53L1_ANA_CONFIG__FAST_OSC__FREQ_SET 0x0115 + + + + + + + + + + + + + + + +#define VL53L1_ANA_CONFIG__VCSEL_TRIM 0x0116 + + + + + + + + + + + + + + + +#define VL53L1_ANA_CONFIG__VCSEL_SELION 0x0117 + + + + + + + + + + + + + + + +#define VL53L1_ANA_CONFIG__VCSEL_SELION_MAX 0x0118 + + + + + + + + + + + + + + + +#define VL53L1_PROTECTED_LASER_SAFETY__LOCK_BIT 0x0119 + + + + + + + + + + + + + + + +#define VL53L1_LASER_SAFETY__KEY 0x011A + + + + + + + + + + + + + + + +#define VL53L1_LASER_SAFETY__KEY_RO 0x011B + + + + + + + + + + + + + + + +#define VL53L1_LASER_SAFETY__CLIP 0x011C + + + + + + + + + + + + + + + +#define VL53L1_LASER_SAFETY__MULT 0x011D + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_0 0x011E + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_1 0x011F + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_2 0x0120 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_3 0x0121 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_4 0x0122 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_5 0x0123 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_6 0x0124 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_7 0x0125 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_8 0x0126 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_9 0x0127 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_10 0x0128 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_11 0x0129 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_12 0x012A + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_13 0x012B + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_14 0x012C + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_15 0x012D + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_16 0x012E + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_17 0x012F + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_18 0x0130 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_19 0x0131 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_20 0x0132 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_21 0x0133 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_22 0x0134 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_23 0x0135 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_24 0x0136 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_25 0x0137 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_26 0x0138 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_27 0x0139 + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_28 0x013A + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_29 0x013B + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_30 0x013C + + + + + + + + + + + + + + + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_31 0x013D + + + + + + + + + + + + + + + +#define VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD 0x013E + + + + + + + + + + + + + + + +#define VL53L1_ROI_CONFIG__MODE_ROI_XY_SIZE 0x013F + + + + + + + + + + + + + + + +#define VL53L1_GO2_HOST_BANK_ACCESS__OVERRIDE 0x0300 + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLICAND 0x0400 + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLICAND_3 0x0400 + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLICAND_2 0x0401 + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLICAND_1 0x0402 + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLICAND_0 0x0403 + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLIER 0x0404 + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLIER_3 0x0404 + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLIER_2 0x0405 + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLIER_1 0x0406 + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLIER_0 0x0407 + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_HI 0x0408 + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_HI_3 0x0408 + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_HI_2 0x0409 + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_HI_1 0x040A + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_HI_0 0x040B + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_LO 0x040C + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_LO_3 0x040C + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_LO_2 0x040D + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_LO_1 0x040E + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_LO_0 0x040F + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__START 0x0410 + + + + + + + +#define VL53L1_MCU_UTIL_MULTIPLIER__STATUS 0x0411 + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__START 0x0412 + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__STATUS 0x0413 + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__DIVIDEND 0x0414 + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__DIVIDEND_3 0x0414 + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__DIVIDEND_2 0x0415 + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__DIVIDEND_1 0x0416 + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__DIVIDEND_0 0x0417 + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__DIVISOR 0x0418 + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__DIVISOR_3 0x0418 + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__DIVISOR_2 0x0419 + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__DIVISOR_1 0x041A + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__DIVISOR_0 0x041B + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__QUOTIENT 0x041C + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__QUOTIENT_3 0x041C + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__QUOTIENT_2 0x041D + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__QUOTIENT_1 0x041E + + + + + + + +#define VL53L1_MCU_UTIL_DIVIDER__QUOTIENT_0 0x041F + + + + + + + +#define VL53L1_TIMER0__VALUE_IN 0x0420 + + + + + + + +#define VL53L1_TIMER0__VALUE_IN_3 0x0420 + + + + + + + +#define VL53L1_TIMER0__VALUE_IN_2 0x0421 + + + + + + + +#define VL53L1_TIMER0__VALUE_IN_1 0x0422 + + + + + + + +#define VL53L1_TIMER0__VALUE_IN_0 0x0423 + + + + + + + +#define VL53L1_TIMER1__VALUE_IN 0x0424 + + + + + + + +#define VL53L1_TIMER1__VALUE_IN_3 0x0424 + + + + + + + +#define VL53L1_TIMER1__VALUE_IN_2 0x0425 + + + + + + + +#define VL53L1_TIMER1__VALUE_IN_1 0x0426 + + + + + + + +#define VL53L1_TIMER1__VALUE_IN_0 0x0427 + + + + + + + +#define VL53L1_TIMER0__CTRL 0x0428 + + + + + + + +#define VL53L1_TIMER1__CTRL 0x0429 + + + + + + + +#define VL53L1_MCU_GENERAL_PURPOSE__GP_0 0x042C + + + + + + + + + + + + + + + +#define VL53L1_MCU_GENERAL_PURPOSE__GP_1 0x042D + + + + + + + + + + + + + + + +#define VL53L1_MCU_GENERAL_PURPOSE__GP_2 0x042E + + + + + + + + + + + + + + + +#define VL53L1_MCU_GENERAL_PURPOSE__GP_3 0x042F + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__CONFIG 0x0430 + + + + + + + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__OFFSET_CORRECTED_RANGE 0x0432 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__OFFSET_CORRECTED_RANGE_HI 0x0432 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__OFFSET_CORRECTED_RANGE_LO 0x0433 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__SPARE_4 0x0434 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__SPARE_4_3 0x0434 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__SPARE_4_2 0x0435 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__SPARE_4_1 0x0436 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__SPARE_4_0 0x0437 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__AMBIENT_DURATION_PRE_CALC 0x0438 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__AMBIENT_DURATION_PRE_CALC_HI 0x0438 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__AMBIENT_DURATION_PRE_CALC_LO 0x0439 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_VCSEL_PERIOD 0x043C + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__SPARE_5 0x043D + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_TOTAL_PERIODS 0x043E + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_TOTAL_PERIODS_HI 0x043E + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_TOTAL_PERIODS_LO 0x043F + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_ACCUM_PHASE 0x0440 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_ACCUM_PHASE_3 0x0440 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_ACCUM_PHASE_2 0x0441 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_ACCUM_PHASE_1 0x0442 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_ACCUM_PHASE_0 0x0443 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS 0x0444 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS_3 0x0444 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS_2 0x0445 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS_1 0x0446 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS_0 0x0447 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS 0x0448 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS_3 0x0448 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS_2 0x0449 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS_1 0x044A + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS_0 0x044B + + + + + + + +#define VL53L1_MCU_RANGE_CALC__SPARE_6 0x044C + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__SPARE_6_HI 0x044C + + + + + + + +#define VL53L1_MCU_RANGE_CALC__SPARE_6_LO 0x044D + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_ADJUST_VCSEL_PERIOD 0x044E + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_ADJUST_VCSEL_PERIOD_HI 0x044E + + + + + + + +#define VL53L1_MCU_RANGE_CALC__ALGO_ADJUST_VCSEL_PERIOD_LO 0x044F + + + + + + + +#define VL53L1_MCU_RANGE_CALC__NUM_SPADS 0x0450 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__NUM_SPADS_HI 0x0450 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__NUM_SPADS_LO 0x0451 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__PHASE_OUTPUT 0x0452 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__PHASE_OUTPUT_HI 0x0452 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__PHASE_OUTPUT_LO 0x0453 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__RATE_PER_SPAD_MCPS 0x0454 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__RATE_PER_SPAD_MCPS_3 0x0454 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__RATE_PER_SPAD_MCPS_2 0x0455 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__RATE_PER_SPAD_MCPS_1 0x0456 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__RATE_PER_SPAD_MCPS_0 0x0457 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__SPARE_7 0x0458 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__SPARE_8 0x0459 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_MCPS 0x045A + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_MCPS_HI 0x045A + + + + + + + +#define VL53L1_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_MCPS_LO 0x045B + + + + + + + +#define VL53L1_MCU_RANGE_CALC__AVG_SIGNAL_RATE_MCPS 0x045C + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__AVG_SIGNAL_RATE_MCPS_HI 0x045C + + + + + + + +#define VL53L1_MCU_RANGE_CALC__AVG_SIGNAL_RATE_MCPS_LO 0x045D + + + + + + + +#define VL53L1_MCU_RANGE_CALC__AMBIENT_RATE_MCPS 0x045E + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__AMBIENT_RATE_MCPS_HI 0x045E + + + + + + + +#define VL53L1_MCU_RANGE_CALC__AMBIENT_RATE_MCPS_LO 0x045F + + + + + + + +#define VL53L1_MCU_RANGE_CALC__XTALK 0x0460 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__XTALK_HI 0x0460 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__XTALK_LO 0x0461 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__CALC_STATUS 0x0462 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__DEBUG 0x0463 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_XTALK_CORR_MCPS 0x0464 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_XTALK_CORR_MCPS_HI 0x0464 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_XTALK_CORR_MCPS_LO 0x0465 + + + + + + + +#define VL53L1_MCU_RANGE_CALC__SPARE_0 0x0468 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__SPARE_1 0x0469 + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__SPARE_2 0x046A + + + + + + + + + + + + + + + +#define VL53L1_MCU_RANGE_CALC__SPARE_3 0x046B + + + + + + + + + + + + + + + +#define VL53L1_PATCH__CTRL 0x0470 + + + + + + + +#define VL53L1_PATCH__JMP_ENABLES 0x0472 + + + + + + + +#define VL53L1_PATCH__JMP_ENABLES_HI 0x0472 + + + + + + + +#define VL53L1_PATCH__JMP_ENABLES_LO 0x0473 + + + + + + + +#define VL53L1_PATCH__DATA_ENABLES 0x0474 + + + + + + + +#define VL53L1_PATCH__DATA_ENABLES_HI 0x0474 + + + + + + + +#define VL53L1_PATCH__DATA_ENABLES_LO 0x0475 + + + + + + + +#define VL53L1_PATCH__OFFSET_0 0x0476 + + + + + + + +#define VL53L1_PATCH__OFFSET_0_HI 0x0476 + + + + + + + +#define VL53L1_PATCH__OFFSET_0_LO 0x0477 + + + + + + + +#define VL53L1_PATCH__OFFSET_1 0x0478 + + + + + + + +#define VL53L1_PATCH__OFFSET_1_HI 0x0478 + + + + + + + +#define VL53L1_PATCH__OFFSET_1_LO 0x0479 + + + + + + + +#define VL53L1_PATCH__OFFSET_2 0x047A + + + + + + + +#define VL53L1_PATCH__OFFSET_2_HI 0x047A + + + + + + + +#define VL53L1_PATCH__OFFSET_2_LO 0x047B + + + + + + + +#define VL53L1_PATCH__OFFSET_3 0x047C + + + + + + + +#define VL53L1_PATCH__OFFSET_3_HI 0x047C + + + + + + + +#define VL53L1_PATCH__OFFSET_3_LO 0x047D + + + + + + + +#define VL53L1_PATCH__OFFSET_4 0x047E + + + + + + + +#define VL53L1_PATCH__OFFSET_4_HI 0x047E + + + + + + + +#define VL53L1_PATCH__OFFSET_4_LO 0x047F + + + + + + + +#define VL53L1_PATCH__OFFSET_5 0x0480 + + + + + + + +#define VL53L1_PATCH__OFFSET_5_HI 0x0480 + + + + + + + +#define VL53L1_PATCH__OFFSET_5_LO 0x0481 + + + + + + + +#define VL53L1_PATCH__OFFSET_6 0x0482 + + + + + + + +#define VL53L1_PATCH__OFFSET_6_HI 0x0482 + + + + + + + +#define VL53L1_PATCH__OFFSET_6_LO 0x0483 + + + + + + + +#define VL53L1_PATCH__OFFSET_7 0x0484 + + + + + + + +#define VL53L1_PATCH__OFFSET_7_HI 0x0484 + + + + + + + +#define VL53L1_PATCH__OFFSET_7_LO 0x0485 + + + + + + + +#define VL53L1_PATCH__OFFSET_8 0x0486 + + + + + + + +#define VL53L1_PATCH__OFFSET_8_HI 0x0486 + + + + + + + +#define VL53L1_PATCH__OFFSET_8_LO 0x0487 + + + + + + + +#define VL53L1_PATCH__OFFSET_9 0x0488 + + + + + + + +#define VL53L1_PATCH__OFFSET_9_HI 0x0488 + + + + + + + +#define VL53L1_PATCH__OFFSET_9_LO 0x0489 + + + + + + + +#define VL53L1_PATCH__OFFSET_10 0x048A + + + + + + + +#define VL53L1_PATCH__OFFSET_10_HI 0x048A + + + + + + + +#define VL53L1_PATCH__OFFSET_10_LO 0x048B + + + + + + + +#define VL53L1_PATCH__OFFSET_11 0x048C + + + + + + + +#define VL53L1_PATCH__OFFSET_11_HI 0x048C + + + + + + + +#define VL53L1_PATCH__OFFSET_11_LO 0x048D + + + + + + + +#define VL53L1_PATCH__OFFSET_12 0x048E + + + + + + + +#define VL53L1_PATCH__OFFSET_12_HI 0x048E + + + + + + + +#define VL53L1_PATCH__OFFSET_12_LO 0x048F + + + + + + + +#define VL53L1_PATCH__OFFSET_13 0x0490 + + + + + + + +#define VL53L1_PATCH__OFFSET_13_HI 0x0490 + + + + + + + +#define VL53L1_PATCH__OFFSET_13_LO 0x0491 + + + + + + + +#define VL53L1_PATCH__OFFSET_14 0x0492 + + + + + + + +#define VL53L1_PATCH__OFFSET_14_HI 0x0492 + + + + + + + +#define VL53L1_PATCH__OFFSET_14_LO 0x0493 + + + + + + + +#define VL53L1_PATCH__OFFSET_15 0x0494 + + + + + + + +#define VL53L1_PATCH__OFFSET_15_HI 0x0494 + + + + + + + +#define VL53L1_PATCH__OFFSET_15_LO 0x0495 + + + + + + + +#define VL53L1_PATCH__ADDRESS_0 0x0496 + + + + + + + +#define VL53L1_PATCH__ADDRESS_0_HI 0x0496 + + + + + + + +#define VL53L1_PATCH__ADDRESS_0_LO 0x0497 + + + + + + + +#define VL53L1_PATCH__ADDRESS_1 0x0498 + + + + + + + +#define VL53L1_PATCH__ADDRESS_1_HI 0x0498 + + + + + + + +#define VL53L1_PATCH__ADDRESS_1_LO 0x0499 + + + + + + + +#define VL53L1_PATCH__ADDRESS_2 0x049A + + + + + + + +#define VL53L1_PATCH__ADDRESS_2_HI 0x049A + + + + + + + +#define VL53L1_PATCH__ADDRESS_2_LO 0x049B + + + + + + + +#define VL53L1_PATCH__ADDRESS_3 0x049C + + + + + + + +#define VL53L1_PATCH__ADDRESS_3_HI 0x049C + + + + + + + +#define VL53L1_PATCH__ADDRESS_3_LO 0x049D + + + + + + + +#define VL53L1_PATCH__ADDRESS_4 0x049E + + + + + + + +#define VL53L1_PATCH__ADDRESS_4_HI 0x049E + + + + + + + +#define VL53L1_PATCH__ADDRESS_4_LO 0x049F + + + + + + + +#define VL53L1_PATCH__ADDRESS_5 0x04A0 + + + + + + + +#define VL53L1_PATCH__ADDRESS_5_HI 0x04A0 + + + + + + + +#define VL53L1_PATCH__ADDRESS_5_LO 0x04A1 + + + + + + + +#define VL53L1_PATCH__ADDRESS_6 0x04A2 + + + + + + + +#define VL53L1_PATCH__ADDRESS_6_HI 0x04A2 + + + + + + + +#define VL53L1_PATCH__ADDRESS_6_LO 0x04A3 + + + + + + + +#define VL53L1_PATCH__ADDRESS_7 0x04A4 + + + + + + + +#define VL53L1_PATCH__ADDRESS_7_HI 0x04A4 + + + + + + + +#define VL53L1_PATCH__ADDRESS_7_LO 0x04A5 + + + + + + + +#define VL53L1_PATCH__ADDRESS_8 0x04A6 + + + + + + + +#define VL53L1_PATCH__ADDRESS_8_HI 0x04A6 + + + + + + + +#define VL53L1_PATCH__ADDRESS_8_LO 0x04A7 + + + + + + + +#define VL53L1_PATCH__ADDRESS_9 0x04A8 + + + + + + + +#define VL53L1_PATCH__ADDRESS_9_HI 0x04A8 + + + + + + + +#define VL53L1_PATCH__ADDRESS_9_LO 0x04A9 + + + + + + + +#define VL53L1_PATCH__ADDRESS_10 0x04AA + + + + + + + +#define VL53L1_PATCH__ADDRESS_10_HI 0x04AA + + + + + + + +#define VL53L1_PATCH__ADDRESS_10_LO 0x04AB + + + + + + + +#define VL53L1_PATCH__ADDRESS_11 0x04AC + + + + + + + +#define VL53L1_PATCH__ADDRESS_11_HI 0x04AC + + + + + + + +#define VL53L1_PATCH__ADDRESS_11_LO 0x04AD + + + + + + + +#define VL53L1_PATCH__ADDRESS_12 0x04AE + + + + + + + +#define VL53L1_PATCH__ADDRESS_12_HI 0x04AE + + + + + + + +#define VL53L1_PATCH__ADDRESS_12_LO 0x04AF + + + + + + + +#define VL53L1_PATCH__ADDRESS_13 0x04B0 + + + + + + + +#define VL53L1_PATCH__ADDRESS_13_HI 0x04B0 + + + + + + + +#define VL53L1_PATCH__ADDRESS_13_LO 0x04B1 + + + + + + + +#define VL53L1_PATCH__ADDRESS_14 0x04B2 + + + + + + + +#define VL53L1_PATCH__ADDRESS_14_HI 0x04B2 + + + + + + + +#define VL53L1_PATCH__ADDRESS_14_LO 0x04B3 + + + + + + + +#define VL53L1_PATCH__ADDRESS_15 0x04B4 + + + + + + + +#define VL53L1_PATCH__ADDRESS_15_HI 0x04B4 + + + + + + + +#define VL53L1_PATCH__ADDRESS_15_LO 0x04B5 + + + + + + + +#define VL53L1_SPI_ASYNC_MUX__CTRL 0x04C0 + + + + + + + +#define VL53L1_CLK__CONFIG 0x04C4 + + + + + + + + + + + + + + + +#define VL53L1_GPIO_LV_MUX__CTRL 0x04CC + + + + + + + + + + + + + + + + +#define VL53L1_GPIO_LV_PAD__CTRL 0x04CD + + + + + + + + + + + + + + + +#define VL53L1_PAD_I2C_LV__CONFIG 0x04D0 + + + + + + + +#define VL53L1_PAD_STARTUP_MODE__VALUE_RO_GO1 0x04D4 + + + + + + + + + + + + + + + +#define VL53L1_HOST_IF__STATUS_GO1 0x04D5 + + + + + + + + + + + + + + + +#define VL53L1_MCU_CLK_GATING__CTRL 0x04D8 + + + + + + + + + + + + + + + + + + +#define VL53L1_TEST__BIST_ROM_CTRL 0x04E0 + + + + + + + +#define VL53L1_TEST__BIST_ROM_RESULT 0x04E1 + + + + + + + +#define VL53L1_TEST__BIST_ROM_MCU_SIG 0x04E2 + + + + + + + +#define VL53L1_TEST__BIST_ROM_MCU_SIG_HI 0x04E2 + + + + + + + +#define VL53L1_TEST__BIST_ROM_MCU_SIG_LO 0x04E3 + + + + + + + +#define VL53L1_TEST__BIST_RAM_CTRL 0x04E4 + + + + + + + +#define VL53L1_TEST__BIST_RAM_RESULT 0x04E5 + + + + + + + +#define VL53L1_TEST__TMC 0x04E8 + + + + + + + +#define VL53L1_TEST__PLL_BIST_MIN_THRESHOLD 0x04F0 + + + + + + + +#define VL53L1_TEST__PLL_BIST_MIN_THRESHOLD_HI 0x04F0 + + + + + + + +#define VL53L1_TEST__PLL_BIST_MIN_THRESHOLD_LO 0x04F1 + + + + + + + +#define VL53L1_TEST__PLL_BIST_MAX_THRESHOLD 0x04F2 + + + + + + + +#define VL53L1_TEST__PLL_BIST_MAX_THRESHOLD_HI 0x04F2 + + + + + + + +#define VL53L1_TEST__PLL_BIST_MAX_THRESHOLD_LO 0x04F3 + + + + + + + +#define VL53L1_TEST__PLL_BIST_COUNT_OUT 0x04F4 + + + + + + + +#define VL53L1_TEST__PLL_BIST_COUNT_OUT_HI 0x04F4 + + + + + + + +#define VL53L1_TEST__PLL_BIST_COUNT_OUT_LO 0x04F5 + + + + + + + +#define VL53L1_TEST__PLL_BIST_GONOGO 0x04F6 + + + + + + + +#define VL53L1_TEST__PLL_BIST_CTRL 0x04F7 + + + + + + + +#define VL53L1_RANGING_CORE__DEVICE_ID 0x0680 + + + + + + + +#define VL53L1_RANGING_CORE__REVISION_ID 0x0681 + + + + + + + +#define VL53L1_RANGING_CORE__CLK_CTRL1 0x0683 + + + + + + + +#define VL53L1_RANGING_CORE__CLK_CTRL2 0x0684 + + + + + + + +#define VL53L1_RANGING_CORE__WOI_1 0x0685 + + + + + + + +#define VL53L1_RANGING_CORE__WOI_REF_1 0x0686 + + + + + + + +#define VL53L1_RANGING_CORE__START_RANGING 0x0687 + + + + + + + +#define VL53L1_RANGING_CORE__LOW_LIMIT_1 0x0690 + + + + + + + +#define VL53L1_RANGING_CORE__HIGH_LIMIT_1 0x0691 + + + + + + + +#define VL53L1_RANGING_CORE__LOW_LIMIT_REF_1 0x0692 + + + + + + + +#define VL53L1_RANGING_CORE__HIGH_LIMIT_REF_1 0x0693 + + + + + + + +#define VL53L1_RANGING_CORE__QUANTIFIER_1_MSB 0x0694 + + + + + + + +#define VL53L1_RANGING_CORE__QUANTIFIER_1_LSB 0x0695 + + + + + + + +#define VL53L1_RANGING_CORE__QUANTIFIER_REF_1_MSB 0x0696 + + + + + + + +#define VL53L1_RANGING_CORE__QUANTIFIER_REF_1_LSB 0x0697 + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_OFFSET_1_MSB 0x0698 + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_OFFSET_1_LSB 0x0699 + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_OFFSET_REF_1_MSB 0x069A + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_OFFSET_REF_1_LSB 0x069B + + + + + + + +#define VL53L1_RANGING_CORE__FILTER_STRENGTH_1 0x069C + + + + + + + +#define VL53L1_RANGING_CORE__FILTER_STRENGTH_REF_1 0x069D + + + + + + + +#define VL53L1_RANGING_CORE__SIGNAL_EVENT_LIMIT_1_MSB 0x069E + + + + + + + +#define VL53L1_RANGING_CORE__SIGNAL_EVENT_LIMIT_1_LSB 0x069F + + + + + + + +#define VL53L1_RANGING_CORE__SIGNAL_EVENT_LIMIT_REF_1_MSB 0x06A0 + + + + + + + +#define VL53L1_RANGING_CORE__SIGNAL_EVENT_LIMIT_REF_1_LSB 0x06A1 + + + + + + + +#define VL53L1_RANGING_CORE__TIMEOUT_OVERALL_PERIODS_MSB 0x06A4 + + + + + + + +#define VL53L1_RANGING_CORE__TIMEOUT_OVERALL_PERIODS_LSB 0x06A5 + + + + + + + +#define VL53L1_RANGING_CORE__INVERT_HW 0x06A6 + + + + + + + +#define VL53L1_RANGING_CORE__FORCE_HW 0x06A7 + + + + + + + +#define VL53L1_RANGING_CORE__STATIC_HW_VALUE 0x06A8 + + + + + + + +#define VL53L1_RANGING_CORE__FORCE_CONTINUOUS_AMBIENT 0x06A9 + + + + + + + +#define VL53L1_RANGING_CORE__TEST_PHASE_SELECT_TO_FILTER 0x06AA + + + + + + + +#define VL53L1_RANGING_CORE__TEST_PHASE_SELECT_TO_TIMING_GEN 0x06AB + + + + + + + +#define VL53L1_RANGING_CORE__INITIAL_PHASE_VALUE_1 0x06AC + + + + + + + +#define VL53L1_RANGING_CORE__INITIAL_PHASE_VALUE_REF_1 0x06AD + + + + + + + +#define VL53L1_RANGING_CORE__FORCE_UP_IN 0x06AE + + + + + + + +#define VL53L1_RANGING_CORE__FORCE_DN_IN 0x06AF + + + + + + + +#define VL53L1_RANGING_CORE__STATIC_UP_VALUE_1 0x06B0 + + + + + + + +#define VL53L1_RANGING_CORE__STATIC_UP_VALUE_REF_1 0x06B1 + + + + + + + +#define VL53L1_RANGING_CORE__STATIC_DN_VALUE_1 0x06B2 + + + + + + + +#define VL53L1_RANGING_CORE__STATIC_DN_VALUE_REF_1 0x06B3 + + + + + + + +#define VL53L1_RANGING_CORE__MONITOR_UP_DN 0x06B4 + + + + + + + +#define VL53L1_RANGING_CORE__INVERT_UP_DN 0x06B5 + + + + + + + +#define VL53L1_RANGING_CORE__CPUMP_1 0x06B6 + + + + + + + +#define VL53L1_RANGING_CORE__CPUMP_2 0x06B7 + + + + + + + +#define VL53L1_RANGING_CORE__CPUMP_3 0x06B8 + + + + + + + +#define VL53L1_RANGING_CORE__OSC_1 0x06B9 + + + + + + + +#define VL53L1_RANGING_CORE__PLL_1 0x06BB + + + + + + + +#define VL53L1_RANGING_CORE__PLL_2 0x06BC + + + + + + + +#define VL53L1_RANGING_CORE__REFERENCE_1 0x06BD + + + + + + + +#define VL53L1_RANGING_CORE__REFERENCE_3 0x06BF + + + + + + + +#define VL53L1_RANGING_CORE__REFERENCE_4 0x06C0 + + + + + + + +#define VL53L1_RANGING_CORE__REFERENCE_5 0x06C1 + + + + + + + +#define VL53L1_RANGING_CORE__REGAVDD1V2 0x06C3 + + + + + + + +#define VL53L1_RANGING_CORE__CALIB_1 0x06C4 + + + + + + + +#define VL53L1_RANGING_CORE__CALIB_2 0x06C5 + + + + + + + +#define VL53L1_RANGING_CORE__CALIB_3 0x06C6 + + + + + + + +#define VL53L1_RANGING_CORE__TST_MUX_SEL1 0x06C9 + + + + + + + +#define VL53L1_RANGING_CORE__TST_MUX_SEL2 0x06CA + + + + + + + +#define VL53L1_RANGING_CORE__TST_MUX 0x06CB + + + + + + + +#define VL53L1_RANGING_CORE__GPIO_OUT_TESTMUX 0x06CC + + + + + + + +#define VL53L1_RANGING_CORE__CUSTOM_FE 0x06CD + + + + + + + +#define VL53L1_RANGING_CORE__CUSTOM_FE_2 0x06CE + + + + + + + +#define VL53L1_RANGING_CORE__SPAD_READOUT 0x06CF + + + + + + + +#define VL53L1_RANGING_CORE__SPAD_READOUT_1 0x06D0 + + + + + + + +#define VL53L1_RANGING_CORE__SPAD_READOUT_2 0x06D1 + + + + + + + +#define VL53L1_RANGING_CORE__SPAD_PS 0x06D2 + + + + + + + +#define VL53L1_RANGING_CORE__LASER_SAFETY_2 0x06D4 + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__MODE 0x0780 + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__PDN 0x0781 + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__PROGN 0x0782 + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__READN 0x0783 + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__PULSE_WIDTH_MSB 0x0784 + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__PULSE_WIDTH_LSB 0x0785 + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__HV_RISE_MSB 0x0786 + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__HV_RISE_LSB 0x0787 + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__HV_FALL_MSB 0x0788 + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__HV_FALL_LSB 0x0789 + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__TST 0x078A + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__TESTREAD 0x078B + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAIN_MMM 0x078C + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAIN_LMM 0x078D + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAIN_LLM 0x078E + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAIN_LLL 0x078F + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAOUT_MMM 0x0790 + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAOUT_LMM 0x0791 + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAOUT_LLM 0x0792 + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAOUT_LLL 0x0793 + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__ADDR 0x0794 + + + + + + + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAOUT_ECC 0x0795 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_0 0x0796 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_1 0x0797 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_2 0x0798 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_3 0x0799 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_4 0x079A + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_5 0x079B + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_6 0x079C + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_7 0x079D + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_8 0x079E + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_9 0x079F + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_10 0x07A0 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_11 0x07A1 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_12 0x07A2 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_13 0x07A3 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_14 0x07A4 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_15 0x07A5 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_16 0x07A6 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_17 0x07A7 + + + + + + + +#define VL53L1_RANGING_CORE__SPAD_SHIFT_EN 0x07BA + + + + + + + +#define VL53L1_RANGING_CORE__SPAD_DISABLE_CTRL 0x07BB + + + + + + + +#define VL53L1_RANGING_CORE__SPAD_EN_SHIFT_OUT_DEBUG 0x07BC + + + + + + + +#define VL53L1_RANGING_CORE__SPI_MODE 0x07BD + + + + + + + +#define VL53L1_RANGING_CORE__GPIO_DIR 0x07BE + + + + + + + +#define VL53L1_RANGING_CORE__VCSEL_PERIOD 0x0880 + + + + + + + +#define VL53L1_RANGING_CORE__VCSEL_START 0x0881 + + + + + + + +#define VL53L1_RANGING_CORE__VCSEL_STOP 0x0882 + + + + + + + +#define VL53L1_RANGING_CORE__VCSEL_1 0x0885 + + + + + + + +#define VL53L1_RANGING_CORE__VCSEL_STATUS 0x088D + + + + + + + +#define VL53L1_RANGING_CORE__STATUS 0x0980 + + + + + + + +#define VL53L1_RANGING_CORE__LASER_CONTINUITY_STATE 0x0981 + + + + + + + +#define VL53L1_RANGING_CORE__RANGE_1_MMM 0x0982 + + + + + + + +#define VL53L1_RANGING_CORE__RANGE_1_LMM 0x0983 + + + + + + + +#define VL53L1_RANGING_CORE__RANGE_1_LLM 0x0984 + + + + + + + +#define VL53L1_RANGING_CORE__RANGE_1_LLL 0x0985 + + + + + + + +#define VL53L1_RANGING_CORE__RANGE_REF_1_MMM 0x0986 + + + + + + + +#define VL53L1_RANGING_CORE__RANGE_REF_1_LMM 0x0987 + + + + + + + +#define VL53L1_RANGING_CORE__RANGE_REF_1_LLM 0x0988 + + + + + + + +#define VL53L1_RANGING_CORE__RANGE_REF_1_LLL 0x0989 + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_WINDOW_EVENTS_1_MMM 0x098A + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_WINDOW_EVENTS_1_LMM 0x098B + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_WINDOW_EVENTS_1_LLM 0x098C + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_WINDOW_EVENTS_1_LLL 0x098D + + + + + + + +#define VL53L1_RANGING_CORE__RANGING_TOTAL_EVENTS_1_MMM 0x098E + + + + + + + +#define VL53L1_RANGING_CORE__RANGING_TOTAL_EVENTS_1_LMM 0x098F + + + + + + + +#define VL53L1_RANGING_CORE__RANGING_TOTAL_EVENTS_1_LLM 0x0990 + + + + + + + +#define VL53L1_RANGING_CORE__RANGING_TOTAL_EVENTS_1_LLL 0x0991 + + + + + + + +#define VL53L1_RANGING_CORE__SIGNAL_TOTAL_EVENTS_1_MMM 0x0992 + + + + + + + +#define VL53L1_RANGING_CORE__SIGNAL_TOTAL_EVENTS_1_LMM 0x0993 + + + + + + + +#define VL53L1_RANGING_CORE__SIGNAL_TOTAL_EVENTS_1_LLM 0x0994 + + + + + + + +#define VL53L1_RANGING_CORE__SIGNAL_TOTAL_EVENTS_1_LLL 0x0995 + + + + + + + +#define VL53L1_RANGING_CORE__TOTAL_PERIODS_ELAPSED_1_MM 0x0996 + + + + + + + +#define VL53L1_RANGING_CORE__TOTAL_PERIODS_ELAPSED_1_LM 0x0997 + + + + + + + +#define VL53L1_RANGING_CORE__TOTAL_PERIODS_ELAPSED_1_LL 0x0998 + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_MISMATCH_MM 0x0999 + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_MISMATCH_LM 0x099A + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_MISMATCH_LL 0x099B + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_WINDOW_EVENTS_REF_1_MMM 0x099C + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_WINDOW_EVENTS_REF_1_LMM 0x099D + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_WINDOW_EVENTS_REF_1_LLM 0x099E + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_WINDOW_EVENTS_REF_1_LLL 0x099F + + + + + + + +#define VL53L1_RANGING_CORE__RANGING_TOTAL_EVENTS_REF_1_MMM 0x09A0 + + + + + + + +#define VL53L1_RANGING_CORE__RANGING_TOTAL_EVENTS_REF_1_LMM 0x09A1 + + + + + + + +#define VL53L1_RANGING_CORE__RANGING_TOTAL_EVENTS_REF_1_LLM 0x09A2 + + + + + + + +#define VL53L1_RANGING_CORE__RANGING_TOTAL_EVENTS_REF_1_LLL 0x09A3 + + + + + + + +#define VL53L1_RANGING_CORE__SIGNAL_TOTAL_EVENTS_REF_1_MMM 0x09A4 + + + + + + + +#define VL53L1_RANGING_CORE__SIGNAL_TOTAL_EVENTS_REF_1_LMM 0x09A5 + + + + + + + +#define VL53L1_RANGING_CORE__SIGNAL_TOTAL_EVENTS_REF_1_LLM 0x09A6 + + + + + + + +#define VL53L1_RANGING_CORE__SIGNAL_TOTAL_EVENTS_REF_1_LLL 0x09A7 + + + + + + + +#define VL53L1_RANGING_CORE__TOTAL_PERIODS_ELAPSED_REF_1_MM 0x09A8 + + + + + + + +#define VL53L1_RANGING_CORE__TOTAL_PERIODS_ELAPSED_REF_1_LM 0x09A9 + + + + + + + +#define VL53L1_RANGING_CORE__TOTAL_PERIODS_ELAPSED_REF_1_LL 0x09AA + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_MISMATCH_REF_MM 0x09AB + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_MISMATCH_REF_LM 0x09AC + + + + + + + +#define VL53L1_RANGING_CORE__AMBIENT_MISMATCH_REF_LL 0x09AD + + + + + + + +#define VL53L1_RANGING_CORE__GPIO_CONFIG__A0 0x0A00 + + + + + + + +#define VL53L1_RANGING_CORE__RESET_CONTROL__A0 0x0A01 + + + + + + + +#define VL53L1_RANGING_CORE__INTR_MANAGER__A0 0x0A02 + + + + + + + +#define VL53L1_RANGING_CORE__POWER_FSM_TIME_OSC__A0 0x0A06 + + + + + + + +#define VL53L1_RANGING_CORE__VCSEL_ATEST__A0 0x0A07 + + + + + + + +#define VL53L1_RANGING_CORE__VCSEL_PERIOD_CLIPPED__A0 0x0A08 + + + + + + + +#define VL53L1_RANGING_CORE__VCSEL_STOP_CLIPPED__A0 0x0A09 + + + + + + + +#define VL53L1_RANGING_CORE__CALIB_2__A0 0x0A0A + + + + + + + +#define VL53L1_RANGING_CORE__STOP_CONDITION__A0 0x0A0B + + + + + + + +#define VL53L1_RANGING_CORE__STATUS_RESET__A0 0x0A0C + + + + + + + +#define VL53L1_RANGING_CORE__READOUT_CFG__A0 0x0A0D + + + + + + + +#define VL53L1_RANGING_CORE__WINDOW_SETTING__A0 0x0A0E + + + + + + + +#define VL53L1_RANGING_CORE__VCSEL_DELAY__A0 0x0A1A + + + + + + + +#define VL53L1_RANGING_CORE__REFERENCE_2__A0 0x0A1B + + + + + + + +#define VL53L1_RANGING_CORE__REGAVDD1V2__A0 0x0A1D + + + + + + + +#define VL53L1_RANGING_CORE__TST_MUX__A0 0x0A1F + + + + + + + +#define VL53L1_RANGING_CORE__CUSTOM_FE_2__A0 0x0A20 + + + + + + + +#define VL53L1_RANGING_CORE__SPAD_READOUT__A0 0x0A21 + + + + + + + +#define VL53L1_RANGING_CORE__CPUMP_1__A0 0x0A22 + + + + + + + +#define VL53L1_RANGING_CORE__SPARE_REGISTER__A0 0x0A23 + + + + + + + +#define VL53L1_RANGING_CORE__VCSEL_CONT_STAGE5_BYPASS__A0 0x0A24 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_18 0x0A25 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_19 0x0A26 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_20 0x0A27 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_21 0x0A28 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_22 0x0A29 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_23 0x0A2A + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_24 0x0A2B + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_25 0x0A2C + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_26 0x0A2D + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_27 0x0A2E + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_28 0x0A2F + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_29 0x0A30 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_30 0x0A31 + + + + + + + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_31 0x0A32 + + + + + + + +#define VL53L1_RANGING_CORE__REF_SPAD_EN_0__EWOK 0x0A33 + + + + + + + +#define VL53L1_RANGING_CORE__REF_SPAD_EN_1__EWOK 0x0A34 + + + + + + + +#define VL53L1_RANGING_CORE__REF_SPAD_EN_2__EWOK 0x0A35 + + + + + + + +#define VL53L1_RANGING_CORE__REF_SPAD_EN_3__EWOK 0x0A36 + + + + + + + +#define VL53L1_RANGING_CORE__REF_SPAD_EN_4__EWOK 0x0A37 + + + + + + + +#define VL53L1_RANGING_CORE__REF_SPAD_EN_5__EWOK 0x0A38 + + + + + + + +#define VL53L1_RANGING_CORE__REF_EN_START_SELECT 0x0A39 + + + + + + + +#define VL53L1_RANGING_CORE__REGDVDD1V2_ATEST__EWOK 0x0A41 + + + + + + + +#define VL53L1_SOFT_RESET_GO1 0x0B00 + + + + + + + +#define VL53L1_PRIVATE__PATCH_BASE_ADDR_RSLV 0x0E00 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__INTERRUPT_STATUS 0x0ED0 + + + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__RANGE_STATUS 0x0ED1 + + + + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__REPORT_STATUS 0x0ED2 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__STREAM_COUNT 0x0ED3 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 0x0ED4 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0ED4 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0ED5 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0 0x0ED6 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x0ED6 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x0ED7 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0 0x0ED8 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_HI 0x0ED8 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_LO 0x0ED9 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SIGMA_SD0 0x0EDA + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SIGMA_SD0_HI 0x0EDA + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SIGMA_SD0_LO 0x0EDB + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__PHASE_SD0 0x0EDC + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__PHASE_SD0_HI 0x0EDC + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__PHASE_SD0_LO 0x0EDD + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0EDE + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_HI 0x0EDE + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_LO 0x0EDF + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 0x0EE0 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_HI 0x0EE0 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_LO 0x0EE1 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0 0x0EE2 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0EE2 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0EE3 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0 0x0EE4 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0EE4 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0EE5 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0 0x0EE6 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x0EE6 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x0EE7 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1 0x0EE8 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_HI 0x0EE8 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_LO 0x0EE9 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1 0x0EEA + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_HI 0x0EEA + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_LO 0x0EEB + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1 0x0EEC + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_HI 0x0EEC + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_LO 0x0EED + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SIGMA_SD1 0x0EEE + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SIGMA_SD1_HI 0x0EEE + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SIGMA_SD1_LO 0x0EEF + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__PHASE_SD1 0x0EF0 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__PHASE_SD1_HI 0x0EF0 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__PHASE_SD1_LO 0x0EF1 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1 0x0EF2 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_HI 0x0EF2 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_LO 0x0EF3 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_0_SD1 0x0EF4 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_0_SD1_HI 0x0EF4 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_0_SD1_LO 0x0EF5 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_1_SD1 0x0EF6 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_1_SD1_HI 0x0EF6 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_1_SD1_LO 0x0EF7 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_2_SD1 0x0EF8 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_2_SD1_HI 0x0EF8 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_2_SD1_LO 0x0EF9 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_3_SD1 0x0EFA + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_3_SD1_HI 0x0EFA + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_3_SD1_LO 0x0EFB + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 0x0EFC + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_3 0x0EFC + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_2 0x0EFD + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_1 0x0EFE + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_0 0x0EFF + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0 0x0F00 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_3 0x0F00 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_2 0x0F01 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_1 0x0F02 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_0 0x0F03 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0 0x0F04 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_3 0x0F04 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_2 0x0F05 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_1 0x0F06 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_0 0x0F07 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0 0x0F08 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_3 0x0F08 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_2 0x0F09 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_1 0x0F0A + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_0 0x0F0B + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1 0x0F0C + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_3 0x0F0C + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_2 0x0F0D + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_1 0x0F0E + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_0 0x0F0F + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1 0x0F10 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_3 0x0F10 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_2 0x0F11 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_1 0x0F12 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_0 0x0F13 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1 0x0F14 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_3 0x0F14 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_2 0x0F15 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_1 0x0F16 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_0 0x0F17 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1 0x0F18 + + + + + + + + + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_3 0x0F18 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_2 0x0F19 + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_1 0x0F1A + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_0 0x0F1B + + + + + + + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SPARE_0 0x0F1C + + + + + + + + + + + + + + + +#define VL53L1_RESULT__DEBUG_STATUS 0x0F20 + + + + + + + + + + + + + + + +#define VL53L1_RESULT__DEBUG_STAGE 0x0F21 + + + + + + + + + + + + + + + +#define VL53L1_GPH__SYSTEM__THRESH_RATE_HIGH 0x0F24 + + + + + + + + + + + + + + + +#define VL53L1_GPH__SYSTEM__THRESH_RATE_HIGH_HI 0x0F24 + + + + + + + +#define VL53L1_GPH__SYSTEM__THRESH_RATE_HIGH_LO 0x0F25 + + + + + + + +#define VL53L1_GPH__SYSTEM__THRESH_RATE_LOW 0x0F26 + + + + + + + + + + + + + + + +#define VL53L1_GPH__SYSTEM__THRESH_RATE_LOW_HI 0x0F26 + + + + + + + +#define VL53L1_GPH__SYSTEM__THRESH_RATE_LOW_LO 0x0F27 + + + + + + + +#define VL53L1_GPH__SYSTEM__INTERRUPT_CONFIG_GPIO 0x0F28 + + + + + + + + + + + + + + + + + + + + +#define VL53L1_GPH__DSS_CONFIG__ROI_MODE_CONTROL 0x0F2F + + + + + + + + + + + + + + + + +#define VL53L1_GPH__DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT 0x0F30 + + + + + + + + + + + + + + + +#define VL53L1_GPH__DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_HI 0x0F30 + + + + + + + +#define VL53L1_GPH__DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_LO 0x0F31 + + + + + + + +#define VL53L1_GPH__DSS_CONFIG__MANUAL_BLOCK_SELECT 0x0F32 + + + + + + + + + + + + + + + +#define VL53L1_GPH__DSS_CONFIG__MAX_SPADS_LIMIT 0x0F33 + + + + + + + + + + + + + + + +#define VL53L1_GPH__DSS_CONFIG__MIN_SPADS_LIMIT 0x0F34 + + + + + + + + + + + + + + + +#define VL53L1_GPH__MM_CONFIG__TIMEOUT_MACROP_A_HI 0x0F36 + + + + + + + + + + + + + + + +#define VL53L1_GPH__MM_CONFIG__TIMEOUT_MACROP_A_LO 0x0F37 + + + + + + + + + + + + + + + +#define VL53L1_GPH__MM_CONFIG__TIMEOUT_MACROP_B_HI 0x0F38 + + + + + + + + + + + + + + + +#define VL53L1_GPH__MM_CONFIG__TIMEOUT_MACROP_B_LO 0x0F39 + + + + + + + + + + + + + + + +#define VL53L1_GPH__RANGE_CONFIG__TIMEOUT_MACROP_A_HI 0x0F3A + + + + + + + + + + + + + + + +#define VL53L1_GPH__RANGE_CONFIG__TIMEOUT_MACROP_A_LO 0x0F3B + + + + + + + + + + + + + + + +#define VL53L1_GPH__RANGE_CONFIG__VCSEL_PERIOD_A 0x0F3C + + + + + + + + + + + + + + + +#define VL53L1_GPH__RANGE_CONFIG__VCSEL_PERIOD_B 0x0F3D + + + + + + + + + + + + + + + +#define VL53L1_GPH__RANGE_CONFIG__TIMEOUT_MACROP_B_HI 0x0F3E + + + + + + + + + + + + + + + +#define VL53L1_GPH__RANGE_CONFIG__TIMEOUT_MACROP_B_LO 0x0F3F + + + + + + + + + + + + + + + +#define VL53L1_GPH__RANGE_CONFIG__SIGMA_THRESH 0x0F40 + + + + + + + + + + + + + + + +#define VL53L1_GPH__RANGE_CONFIG__SIGMA_THRESH_HI 0x0F40 + + + + + + + +#define VL53L1_GPH__RANGE_CONFIG__SIGMA_THRESH_LO 0x0F41 + + + + + + + +#define VL53L1_GPH__RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS 0x0F42 + + + + + + + + + + + + + + + +#define VL53L1_GPH__RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_HI 0x0F42 + + + + + + + +#define VL53L1_GPH__RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_LO 0x0F43 + + + + + + + +#define VL53L1_GPH__RANGE_CONFIG__VALID_PHASE_LOW 0x0F44 + + + + + + + + + + + + + + + +#define VL53L1_GPH__RANGE_CONFIG__VALID_PHASE_HIGH 0x0F45 + + + + + + + + + + + + + + + +#define VL53L1_FIRMWARE__INTERNAL_STREAM_COUNT_DIV 0x0F46 + + + + + + + + + + + + + + + +#define VL53L1_FIRMWARE__INTERNAL_STREAM_COUNTER_VAL 0x0F47 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__ROI_CTRL 0x0F54 + + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__SPARE_1 0x0F55 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__SPARE_2 0x0F56 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__SPARE_3 0x0F57 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__SPARE_4 0x0F58 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__SPARE_5 0x0F59 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__SPARE_6 0x0F5A + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__SPARE_7 0x0F5B + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_0 0x0F5C + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_1 0x0F5D + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_2 0x0F5E + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_3 0x0F5F + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_4 0x0F60 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_5 0x0F61 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_6 0x0F62 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_7 0x0F63 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_8 0x0F64 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_9 0x0F65 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_10 0x0F66 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_11 0x0F67 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_12 0x0F68 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_13 0x0F69 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_14 0x0F6A + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_15 0x0F6B + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_16 0x0F6C + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_17 0x0F6D + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_18 0x0F6E + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_19 0x0F6F + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_20 0x0F70 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_21 0x0F71 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_22 0x0F72 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_23 0x0F73 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_24 0x0F74 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_25 0x0F75 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_26 0x0F76 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_27 0x0F77 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_28 0x0F78 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_29 0x0F79 + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_30 0x0F7A + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_31 0x0F7B + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_0 0x0F7C + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__USER_ROI_1 0x0F7D + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__MODE_ROI_0 0x0F7E + + + + + + + + + + + + + + + +#define VL53L1_DSS_CALC__MODE_ROI_1 0x0F7F + + + + + + + + + + + + + + + +#define VL53L1_SIGMA_ESTIMATOR_CALC__SPARE_0 0x0F80 + + + + + + + + + + + + + + + +#define VL53L1_VHV_RESULT__PEAK_SIGNAL_RATE_MCPS 0x0F82 + + + + + + + + + + + + + + + +#define VL53L1_VHV_RESULT__PEAK_SIGNAL_RATE_MCPS_HI 0x0F82 + + + + + + + +#define VL53L1_VHV_RESULT__PEAK_SIGNAL_RATE_MCPS_LO 0x0F83 + + + + + + + +#define VL53L1_VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF 0x0F84 + + + + + + + + + + + + + + + +#define VL53L1_VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF_3 0x0F84 + + + + + + + +#define VL53L1_VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF_2 0x0F85 + + + + + + + +#define VL53L1_VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF_1 0x0F86 + + + + + + + +#define VL53L1_VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF_0 0x0F87 + + + + + + + +#define VL53L1_PHASECAL_RESULT__PHASE_OUTPUT_REF 0x0F88 + + + + + + + + + + + + + + + +#define VL53L1_PHASECAL_RESULT__PHASE_OUTPUT_REF_HI 0x0F88 + + + + + + + +#define VL53L1_PHASECAL_RESULT__PHASE_OUTPUT_REF_LO 0x0F89 + + + + + + + +#define VL53L1_DSS_RESULT__TOTAL_RATE_PER_SPAD 0x0F8A + + + + + + + + + + + + + + + +#define VL53L1_DSS_RESULT__TOTAL_RATE_PER_SPAD_HI 0x0F8A + + + + + + + +#define VL53L1_DSS_RESULT__TOTAL_RATE_PER_SPAD_LO 0x0F8B + + + + + + + +#define VL53L1_DSS_RESULT__ENABLED_BLOCKS 0x0F8C + + + + + + + + + + + + + + + +#define VL53L1_DSS_RESULT__NUM_REQUESTED_SPADS 0x0F8E + + + + + + + + + + + + + + + +#define VL53L1_DSS_RESULT__NUM_REQUESTED_SPADS_HI 0x0F8E + + + + + + + +#define VL53L1_DSS_RESULT__NUM_REQUESTED_SPADS_LO 0x0F8F + + + + + + + +#define VL53L1_MM_RESULT__INNER_INTERSECTION_RATE 0x0F92 + + + + + + + + + + + + + + + +#define VL53L1_MM_RESULT__INNER_INTERSECTION_RATE_HI 0x0F92 + + + + + + + +#define VL53L1_MM_RESULT__INNER_INTERSECTION_RATE_LO 0x0F93 + + + + + + + +#define VL53L1_MM_RESULT__OUTER_COMPLEMENT_RATE 0x0F94 + + + + + + + + + + + + + + + +#define VL53L1_MM_RESULT__OUTER_COMPLEMENT_RATE_HI 0x0F94 + + + + + + + +#define VL53L1_MM_RESULT__OUTER_COMPLEMENT_RATE_LO 0x0F95 + + + + + + + +#define VL53L1_MM_RESULT__TOTAL_OFFSET 0x0F96 + + + + + + + + + + + + + + + +#define VL53L1_MM_RESULT__TOTAL_OFFSET_HI 0x0F96 + + + + + + + +#define VL53L1_MM_RESULT__TOTAL_OFFSET_LO 0x0F97 + + + + + + + +#define VL53L1_XTALK_CALC__XTALK_FOR_ENABLED_SPADS 0x0F98 + + + + + + + + + + + + + + + +#define VL53L1_XTALK_CALC__XTALK_FOR_ENABLED_SPADS_3 0x0F98 + + + + + + + +#define VL53L1_XTALK_CALC__XTALK_FOR_ENABLED_SPADS_2 0x0F99 + + + + + + + +#define VL53L1_XTALK_CALC__XTALK_FOR_ENABLED_SPADS_1 0x0F9A + + + + + + + +#define VL53L1_XTALK_CALC__XTALK_FOR_ENABLED_SPADS_0 0x0F9B + + + + + + + +#define VL53L1_XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS 0x0F9C + + + + + + + + + + + + + + + +#define VL53L1_XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS_3 0x0F9C + + + + + + + +#define VL53L1_XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS_2 0x0F9D + + + + + + + +#define VL53L1_XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS_1 0x0F9E + + + + + + + +#define VL53L1_XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS_0 0x0F9F + + + + + + + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS 0x0FA0 + + + + + + + + + + + + + + + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS_3 0x0FA0 + + + + + + + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS_2 0x0FA1 + + + + + + + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS_1 0x0FA2 + + + + + + + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS_0 0x0FA3 + + + + + + + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS 0x0FA4 + + + + + + + + + + + + + + + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS_3 0x0FA4 + + + + + + + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS_2 0x0FA5 + + + + + + + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS_1 0x0FA6 + + + + + + + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS_0 0x0FA7 + + + + + + + +#define VL53L1_RANGE_RESULT__ACCUM_PHASE 0x0FA8 + + + + + + + + + + + + + + + +#define VL53L1_RANGE_RESULT__ACCUM_PHASE_3 0x0FA8 + + + + + + + +#define VL53L1_RANGE_RESULT__ACCUM_PHASE_2 0x0FA9 + + + + + + + +#define VL53L1_RANGE_RESULT__ACCUM_PHASE_1 0x0FAA + + + + + + + +#define VL53L1_RANGE_RESULT__ACCUM_PHASE_0 0x0FAB + + + + + + + +#define VL53L1_RANGE_RESULT__OFFSET_CORRECTED_RANGE 0x0FAC + + + + + + + + + + + + + + + +#define VL53L1_RANGE_RESULT__OFFSET_CORRECTED_RANGE_HI 0x0FAC + + + + + + + +#define VL53L1_RANGE_RESULT__OFFSET_CORRECTED_RANGE_LO 0x0FAD + + + + + + + +#define VL53L1_SHADOW_PHASECAL_RESULT__VCSEL_START 0x0FAE + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__INTERRUPT_STATUS 0x0FB0 + + + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__RANGE_STATUS 0x0FB1 + + + + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__REPORT_STATUS 0x0FB2 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__STREAM_COUNT 0x0FB3 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 0x0FB4 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0FB4 + + + + + + + +#define VL53L1_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0FB5 + + + + + + + +#define VL53L1_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0 0x0FB6 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x0FB6 + + + + + + + +#define VL53L1_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x0FB7 + + + + + + + +#define VL53L1_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0 0x0FB8 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_HI 0x0FB8 + + + + + + + +#define VL53L1_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_LO 0x0FB9 + + + + + + + +#define VL53L1_SHADOW_RESULT__SIGMA_SD0 0x0FBA + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__SIGMA_SD0_HI 0x0FBA + + + + + + + +#define VL53L1_SHADOW_RESULT__SIGMA_SD0_LO 0x0FBB + + + + + + + +#define VL53L1_SHADOW_RESULT__PHASE_SD0 0x0FBC + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__PHASE_SD0_HI 0x0FBC + + + + + + + +#define VL53L1_SHADOW_RESULT__PHASE_SD0_LO 0x0FBD + + + + + + + +#define VL53L1_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0FBE + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_HI 0x0FBE + + + + + + + +#define VL53L1_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_LO 0x0FBF + + + + + + + +#define VL53L1_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 0x0FC0 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_HI 0x0FC0 + + + + + + + +#define VL53L1_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_LO 0x0FC1 + + + + + + + +#define VL53L1_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0 0x0FC2 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0FC2 + + + + + + + +#define VL53L1_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0FC3 + + + + + + + +#define VL53L1_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0 0x0FC4 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0FC4 + + + + + + + +#define VL53L1_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0FC5 + + + + + + + +#define VL53L1_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0 0x0FC6 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x0FC6 + + + + + + + +#define VL53L1_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x0FC7 + + + + + + + +#define VL53L1_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1 0x0FC8 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_HI 0x0FC8 + + + + + + + +#define VL53L1_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_LO 0x0FC9 + + + + + + + +#define VL53L1_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1 0x0FCA + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_HI 0x0FCA + + + + + + + +#define VL53L1_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_LO 0x0FCB + + + + + + + +#define VL53L1_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1 0x0FCC + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_HI 0x0FCC + + + + + + + +#define VL53L1_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_LO 0x0FCD + + + + + + + +#define VL53L1_SHADOW_RESULT__SIGMA_SD1 0x0FCE + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__SIGMA_SD1_HI 0x0FCE + + + + + + + +#define VL53L1_SHADOW_RESULT__SIGMA_SD1_LO 0x0FCF + + + + + + + +#define VL53L1_SHADOW_RESULT__PHASE_SD1 0x0FD0 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__PHASE_SD1_HI 0x0FD0 + + + + + + + +#define VL53L1_SHADOW_RESULT__PHASE_SD1_LO 0x0FD1 + + + + + + + +#define VL53L1_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1 0x0FD2 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_HI 0x0FD2 + + + + + + + +#define VL53L1_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_LO 0x0FD3 + + + + + + + +#define VL53L1_SHADOW_RESULT__SPARE_0_SD1 0x0FD4 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__SPARE_0_SD1_HI 0x0FD4 + + + + + + + +#define VL53L1_SHADOW_RESULT__SPARE_0_SD1_LO 0x0FD5 + + + + + + + +#define VL53L1_SHADOW_RESULT__SPARE_1_SD1 0x0FD6 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__SPARE_1_SD1_HI 0x0FD6 + + + + + + + +#define VL53L1_SHADOW_RESULT__SPARE_1_SD1_LO 0x0FD7 + + + + + + + +#define VL53L1_SHADOW_RESULT__SPARE_2_SD1 0x0FD8 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__SPARE_2_SD1_HI 0x0FD8 + + + + + + + +#define VL53L1_SHADOW_RESULT__SPARE_2_SD1_LO 0x0FD9 + + + + + + + +#define VL53L1_SHADOW_RESULT__SPARE_3_SD1 0x0FDA + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT__THRESH_INFO 0x0FDB + + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 0x0FDC + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_3 0x0FDC + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_2 0x0FDD + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_1 0x0FDE + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_0 0x0FDF + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0 0x0FE0 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_3 0x0FE0 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_2 0x0FE1 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_1 0x0FE2 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_0 0x0FE3 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0 0x0FE4 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_3 0x0FE4 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_2 0x0FE5 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_1 0x0FE6 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_0 0x0FE7 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0 0x0FE8 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_3 0x0FE8 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_2 0x0FE9 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_1 0x0FEA + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_0 0x0FEB + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1 0x0FEC + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_3 0x0FEC + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_2 0x0FED + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_1 0x0FEE + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_0 0x0FEF + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1 0x0FF0 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_3 0x0FF0 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_2 0x0FF1 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_1 0x0FF2 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_0 0x0FF3 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1 0x0FF4 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_3 0x0FF4 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_2 0x0FF5 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_1 0x0FF6 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_0 0x0FF7 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1 0x0FF8 + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_3 0x0FF8 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_2 0x0FF9 + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_1 0x0FFA + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_0 0x0FFB + + + + + + + +#define VL53L1_SHADOW_RESULT_CORE__SPARE_0 0x0FFC + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_PHASECAL_RESULT__REFERENCE_PHASE_HI 0x0FFE + + + + + + + + + + + + + + + +#define VL53L1_SHADOW_PHASECAL_RESULT__REFERENCE_PHASE_LO 0x0FFF + + + + + + + + + + + + + + + + + + + + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_register_settings.h b/drivers/input/misc/vl53L1/inc/vl53l1_register_settings.h new file mode 100644 index 000000000000..6caf2ba9a997 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_register_settings.h @@ -0,0 +1,273 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_REGISTER_SETTINGS_H_ +#define _VL53L1_REGISTER_SETTINGS_H_ + + + + + + + + + + + + + + + + +#define VL53L1_DEVICESCHEDULERMODE_PSEUDO_SOLO 0x00 +#define VL53L1_DEVICESCHEDULERMODE_STREAMING 0x01 +#define VL53L1_DEVICESCHEDULERMODE_HISTOGRAM 0x02 + + + + + + + + + + + +#define VL53L1_DEVICEREADOUTMODE_SINGLE_SD (0x00 << 2) +#define VL53L1_DEVICEREADOUTMODE_DUAL_SD (0x01 << 2) +#define VL53L1_DEVICEREADOUTMODE_SPLIT_READOUT (0x02 << 2) +#define VL53L1_DEVICEREADOUTMODE_SPLIT_MANUAL (0x03 << 2) + + + + + + + + + + + + + + + + + + + +#define VL53L1_DEVICEMEASUREMENTMODE_MODE_MASK 0xF0 +#define VL53L1_DEVICEMEASUREMENTMODE_STOP_MASK 0x0F + +#define VL53L1_GROUPEDPARAMETERHOLD_ID_MASK 0x02 + + + + +#define VL53L1_EWOK_I2C_DEV_ADDR_DEFAULT 0x29 + + +#define VL53L1_OSC_FREQUENCY 0x00 +#define VL53L1_OSC_TRIM_DEFAULT 0x00 +#define VL53L1_OSC_FREQ_SET_DEFAULT 0x00 + +#define VL53L1_RANGE_HISTOGRAM_REF 0x08 +#define VL53L1_RANGE_HISTOGRAM_RET 0x10 +#define VL53L1_RANGE_HISTOGRAM_BOTH 0x18 +#define VL53L1_RANGE_HISTOGRAM_INIT 0x20 +#define VL53L1_RANGE_VHV_INIT 0x40 + + + +#define VL53L1_RESULT_RANGE_STATUS 0x1F + + + +#define VL53L1_SYSTEM__SEED_CONFIG__MANUAL 0x00 +#define VL53L1_SYSTEM__SEED_CONFIG__STANDARD 0x01 +#define VL53L1_SYSTEM__SEED_CONFIG__EVEN_UPDATE_ONLY 0x02 + + + +#define VL53L1_INTERRUPT_CONFIG_LEVEL_LOW 0x00 +#define VL53L1_INTERRUPT_CONFIG_LEVEL_HIGH 0x01 +#define VL53L1_INTERRUPT_CONFIG_OUT_OF_WINDOW 0x02 +#define VL53L1_INTERRUPT_CONFIG_IN_WINDOW 0x03 +#define VL53L1_INTERRUPT_CONFIG_NEW_SAMPLE_READY 0x20 + + + +#define VL53L1_CLEAR_RANGE_INT 0x01 +#define VL53L1_CLEAR_ERROR_INT 0x02 + + + +#define VL53L1_SEQUENCE_VHV_EN 0x01 +#define VL53L1_SEQUENCE_PHASECAL_EN 0x02 +#define VL53L1_SEQUENCE_REFERENCE_PHASE_EN 0x04 +#define VL53L1_SEQUENCE_DSS1_EN 0x08 +#define VL53L1_SEQUENCE_DSS2_EN 0x10 +#define VL53L1_SEQUENCE_MM1_EN 0x20 +#define VL53L1_SEQUENCE_MM2_EN 0x40 +#define VL53L1_SEQUENCE_RANGE_EN 0x80 + + + +#define VL53L1_DSS_CONTROL__ROI_SUBTRACT 0x20 +#define VL53L1_DSS_CONTROL__ROI_INTERSECT 0x10 + +#define VL53L1_DSS_CONTROL__MODE_DISABLED 0x00 +#define VL53L1_DSS_CONTROL__MODE_TARGET_RATE 0x01 +#define VL53L1_DSS_CONTROL__MODE_EFFSPADS 0x02 +#define VL53L1_DSS_CONTROL__MODE_BLOCKSELECT 0x03 + + + + + + + + + + +#define VL53L1_RANGING_CORE__SPAD_READOUT__STANDARD 0x45 +#define VL53L1_RANGING_CORE__SPAD_READOUT__RETURN_ARRAY_ONLY 0x05 +#define VL53L1_RANGING_CORE__SPAD_READOUT__REFERENCE_ARRAY_ONLY 0x55 +#define VL53L1_RANGING_CORE__SPAD_READOUT__RETURN_SPLIT_ARRAY 0x25 +#define VL53L1_RANGING_CORE__SPAD_READOUT__CALIB_PULSES 0xF5 + + +#define VL53L1_LASER_SAFETY__KEY_VALUE 0x6C + + + + + + + + + + +#define VL53L1_RANGE_STATUS__RANGE_STATUS_MASK 0x1F +#define VL53L1_RANGE_STATUS__MAX_THRESHOLD_HIT_MASK 0x20 +#define VL53L1_RANGE_STATUS__MIN_THRESHOLD_HIT_MASK 0x40 +#define VL53L1_RANGE_STATUS__GPH_ID_RANGE_STATUS_MASK 0x80 + + + + + + + + + +#define VL53L1_INTERRUPT_STATUS__INT_STATUS_MASK 0x07 +#define VL53L1_INTERRUPT_STATUS__INT_ERROR_STATUS_MASK 0x18 +#define VL53L1_INTERRUPT_STATUS__GPH_ID_INT_STATUS_MASK 0x20 + + + + + +#endif + + + + + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_register_structs.h b/drivers/input/misc/vl53L1/inc/vl53l1_register_structs.h new file mode 100644 index 000000000000..1da22e7f5f2a --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_register_structs.h @@ -0,0 +1,4848 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_REGISTER_STRUCTS_H_ +#define _VL53L1_REGISTER_STRUCTS_H_ + +#include "vl53l1_types.h" +#include "vl53l1_register_map.h" + +#define VL53L1_STATIC_NVM_MANAGED_I2C_INDEX VL53L1_I2C_SLAVE__DEVICE_ADDRESS +#define VL53L1_CUSTOMER_NVM_MANAGED_I2C_INDEX VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0 +#define VL53L1_STATIC_CONFIG_I2C_INDEX VL53L1_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS +#define VL53L1_GENERAL_CONFIG_I2C_INDEX VL53L1_GPH_CONFIG__STREAM_COUNT_UPDATE_VALUE +#define VL53L1_TIMING_CONFIG_I2C_INDEX VL53L1_MM_CONFIG__TIMEOUT_MACROP_A_HI +#define VL53L1_DYNAMIC_CONFIG_I2C_INDEX VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD_0 +#define VL53L1_SYSTEM_CONTROL_I2C_INDEX VL53L1_POWER_MANAGEMENT__GO1_POWER_FORCE +#define VL53L1_SYSTEM_RESULTS_I2C_INDEX VL53L1_RESULT__INTERRUPT_STATUS +#define VL53L1_CORE_RESULTS_I2C_INDEX VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 +#define VL53L1_DEBUG_RESULTS_I2C_INDEX VL53L1_PHASECAL_RESULT__REFERENCE_PHASE +#define VL53L1_NVM_COPY_DATA_I2C_INDEX VL53L1_IDENTIFICATION__MODEL_ID +#define VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_INDEX VL53L1_PREV_SHADOW_RESULT__INTERRUPT_STATUS +#define VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_INDEX VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 +#define VL53L1_PATCH_DEBUG_I2C_INDEX VL53L1_RESULT__DEBUG_STATUS +#define VL53L1_GPH_GENERAL_CONFIG_I2C_INDEX VL53L1_GPH__SYSTEM__THRESH_RATE_HIGH +#define VL53L1_GPH_STATIC_CONFIG_I2C_INDEX VL53L1_GPH__DSS_CONFIG__ROI_MODE_CONTROL +#define VL53L1_GPH_TIMING_CONFIG_I2C_INDEX VL53L1_GPH__MM_CONFIG__TIMEOUT_MACROP_A_HI +#define VL53L1_FW_INTERNAL_I2C_INDEX VL53L1_FIRMWARE__INTERNAL_STREAM_COUNT_DIV +#define VL53L1_PATCH_RESULTS_I2C_INDEX VL53L1_DSS_CALC__ROI_CTRL +#define VL53L1_SHADOW_SYSTEM_RESULTS_I2C_INDEX VL53L1_SHADOW_PHASECAL_RESULT__VCSEL_START +#define VL53L1_SHADOW_CORE_RESULTS_I2C_INDEX VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 + +#define VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES 11 +#define VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES 23 +#define VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES 32 +#define VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES 22 +#define VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES 23 +#define VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES 18 +#define VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES 5 +#define VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES 44 +#define VL53L1_CORE_RESULTS_I2C_SIZE_BYTES 33 +#define VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES 56 +#define VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES 49 +#define VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES 44 +#define VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES 33 +#define VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES 2 +#define VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES 5 +#define VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES 6 +#define VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES 16 +#define VL53L1_FW_INTERNAL_I2C_SIZE_BYTES 2 +#define VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES 90 +#define VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES 82 +#define VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES 33 + + + + + + + + + + + + +typedef struct { + uint8_t i2c_slave__device_address; + + + + + + + + + + + uint8_t ana_config__vhv_ref_sel_vddpix; + + + + + + + + + + + uint8_t ana_config__vhv_ref_sel_vquench; + + + + + + + + + + + uint8_t ana_config__reg_avdd1v2_sel; + + + + + + + + + + + uint8_t ana_config__fast_osc__trim; + + + + + + + + + + + uint16_t osc_measured__fast_osc__frequency; + + + + + + + + + + + uint8_t vhv_config__timeout_macrop_loop_bound; + + + + + + + + + + + + uint8_t vhv_config__count_thresh; + + + + + + + + + + + uint8_t vhv_config__offset; + + + + + + + + + + + uint8_t vhv_config__init; + + + + + + + + + + + +} VL53L1_static_nvm_managed_t; + + + + + + + + + + + + +typedef struct { + uint8_t global_config__spad_enables_ref_0; + + + + + + + + + + + uint8_t global_config__spad_enables_ref_1; + + + + + + + + + + + uint8_t global_config__spad_enables_ref_2; + + + + + + + + + + + uint8_t global_config__spad_enables_ref_3; + + + + + + + + + + + uint8_t global_config__spad_enables_ref_4; + + + + + + + + + + + uint8_t global_config__spad_enables_ref_5; + + + + + + + + + + + uint8_t global_config__ref_en_start_select; + + + + + + + + + + + uint8_t ref_spad_man__num_requested_ref_spads; + + + + + + + + + + + uint8_t ref_spad_man__ref_location; + + + + + + + + + + + uint16_t algo__crosstalk_compensation_plane_offset_kcps; + + + + + + + + + + + int16_t algo__crosstalk_compensation_x_plane_gradient_kcps; + + + + + + + + + + + int16_t algo__crosstalk_compensation_y_plane_gradient_kcps; + + + + + + + + + + + uint16_t ref_spad_char__total_rate_target_mcps; + + + + + + + + + + + int16_t algo__part_to_part_range_offset_mm; + + + + + + + + + + + int16_t mm_config__inner_offset_mm; + + + + + + + + + + + int16_t mm_config__outer_offset_mm; + + + + + + + + + + +} VL53L1_customer_nvm_managed_t; + + + + + + + + + + + + +typedef struct { + uint16_t dss_config__target_total_rate_mcps; + + + + + + + + + + + uint8_t debug__ctrl; + + + + + + + + + + + uint8_t test_mode__ctrl; + + + + + + + + + + + uint8_t clk_gating__ctrl; + + + + + + + + + + + + + + uint8_t nvm_bist__ctrl; + + + + + + + + + + + + uint8_t nvm_bist__num_nvm_words; + + + + + + + + + + + uint8_t nvm_bist__start_address; + + + + + + + + + + + uint8_t host_if__status; + + + + + + + + + + + uint8_t pad_i2c_hv__config; + + + + + + + + + + + + + + + + uint8_t pad_i2c_hv__extsup_config; + + + + + + + + + + + uint8_t gpio_hv_pad__ctrl; + + + + + + + + + + + + uint8_t gpio_hv_mux__ctrl; + + + + + + + + + + + + uint8_t gpio__tio_hv_status; + + + + + + + + + + + + uint8_t gpio__fio_hv_status; + + + + + + + + + + + uint8_t ana_config__spad_sel_pswidth; + + + + + + + + + + + uint8_t ana_config__vcsel_pulse_width_offset; + + + + + + + + + + + uint8_t ana_config__fast_osc__config_ctrl; + + + + + + + + + + + uint8_t sigma_estimator__effective_pulse_width_ns; + + + + + + + + + + + uint8_t sigma_estimator__effective_ambient_width_ns; + + + + + + + + + + + uint8_t sigma_estimator__sigma_ref_mm; + + + + + + + + + + + uint8_t algo__crosstalk_compensation_valid_height_mm; + + + + + + + + + + + uint8_t spare_host_config__static_config_spare_0; + + + + + + + + + + + uint8_t spare_host_config__static_config_spare_1; + + + + + + + + + + + uint16_t algo__range_ignore_threshold_mcps; + + + + + + + + + + + uint8_t algo__range_ignore_valid_height_mm; + + + + + + + + + + + uint8_t algo__range_min_clip; + + + + + + + + + + + + uint8_t algo__consistency_check__tolerance; + + + + + + + + + + + uint8_t spare_host_config__static_config_spare_2; + + + + + + + + + + + uint8_t sd_config__reset_stages_msb; + + + + + + + + + + + uint8_t sd_config__reset_stages_lsb; + + + + + + + + + + + +} VL53L1_static_config_t; + + + + + + + + + + + + +typedef struct { + uint8_t gph_config__stream_count_update_value; + + + + + + + + + + + uint8_t global_config__stream_divider; + + + + + + + + + + + uint8_t system__interrupt_config_gpio; + + + + + + + + + + + + + + + + uint8_t cal_config__vcsel_start; + + + + + + + + + + + uint16_t cal_config__repeat_rate; + + + + + + + + + + + uint8_t global_config__vcsel_width; + + + + + + + + + + + uint8_t phasecal_config__timeout_macrop; + + + + + + + + + + + uint8_t phasecal_config__target; + + + + + + + + + + + uint8_t phasecal_config__override; + + + + + + + + + + + uint8_t dss_config__roi_mode_control; + + + + + + + + + + + + uint16_t system__thresh_rate_high; + + + + + + + + + + + uint16_t system__thresh_rate_low; + + + + + + + + + + + uint16_t dss_config__manual_effective_spads_select; + + + + + + + + + + + uint8_t dss_config__manual_block_select; + + + + + + + + + + + uint8_t dss_config__aperture_attenuation; + + + + + + + + + + + uint8_t dss_config__max_spads_limit; + + + + + + + + + + + uint8_t dss_config__min_spads_limit; + + + + + + + + + + +} VL53L1_general_config_t; + + + + + + + + + + + + +typedef struct { + uint8_t mm_config__timeout_macrop_a_hi; + + + + + + + + + + + uint8_t mm_config__timeout_macrop_a_lo; + + + + + + + + + + + uint8_t mm_config__timeout_macrop_b_hi; + + + + + + + + + + + uint8_t mm_config__timeout_macrop_b_lo; + + + + + + + + + + + uint8_t range_config__timeout_macrop_a_hi; + + + + + + + + + + + uint8_t range_config__timeout_macrop_a_lo; + + + + + + + + + + + uint8_t range_config__vcsel_period_a; + + + + + + + + + + + uint8_t range_config__timeout_macrop_b_hi; + + + + + + + + + + + uint8_t range_config__timeout_macrop_b_lo; + + + + + + + + + + + uint8_t range_config__vcsel_period_b; + + + + + + + + + + + uint16_t range_config__sigma_thresh; + + + + + + + + + + + uint16_t range_config__min_count_rate_rtn_limit_mcps; + + + + + + + + + + + uint8_t range_config__valid_phase_low; + + + + + + + + + + + uint8_t range_config__valid_phase_high; + + + + + + + + + + + uint32_t system__intermeasurement_period; + + + + + + + + + + + uint8_t system__fractional_enable; + + + + + + + + + + +} VL53L1_timing_config_t; + + + + + + + + + + + + +typedef struct { + uint8_t system__grouped_parameter_hold_0; + + + + + + + + + + + + uint16_t system__thresh_high; + + + + + + + + + + + uint16_t system__thresh_low; + + + + + + + + + + + uint8_t system__enable_xtalk_per_quadrant; + + + + + + + + + + + uint8_t system__seed_config; + + + + + + + + + + + + uint8_t sd_config__woi_sd0; + + + + + + + + + + + uint8_t sd_config__woi_sd1; + + + + + + + + + + + uint8_t sd_config__initial_phase_sd0; + + + + + + + + + + + uint8_t sd_config__initial_phase_sd1; + + + + + + + + + + + uint8_t system__grouped_parameter_hold_1; + + + + + + + + + + + + uint8_t sd_config__first_order_select; + + + + + + + + + + + + uint8_t sd_config__quantifier; + + + + + + + + + + + uint8_t roi_config__user_roi_centre_spad; + + + + + + + + + + + uint8_t roi_config__user_roi_requested_global_xy_size; + + + + + + + + + + + uint8_t system__sequence_config; + + + + + + + + + + + + + + + + + + uint8_t system__grouped_parameter_hold; + + + + + + + + + + + +} VL53L1_dynamic_config_t; + + + + + + + + + + + + +typedef struct { + uint8_t power_management__go1_power_force; + + + + + + + + + + + uint8_t system__stream_count_ctrl; + + + + + + + + + + + uint8_t firmware__enable; + + + + + + + + + + + uint8_t system__interrupt_clear; + + + + + + + + + + + + uint8_t system__mode_start; + + + + + + + + + + + + + + + +} VL53L1_system_control_t; + + + + + + + + + + + + +typedef struct { + uint8_t result__interrupt_status; + + + + + + + + + + + + + uint8_t result__range_status; + + + + + + + + + + + + + + uint8_t result__report_status; + + + + + + + + + + + uint8_t result__stream_count; + + + + + + + + + + + uint16_t result__dss_actual_effective_spads_sd0; + + + + + + + + + + + uint16_t result__peak_signal_count_rate_mcps_sd0; + + + + + + + + + + + uint16_t result__ambient_count_rate_mcps_sd0; + + + + + + + + + + + uint16_t result__sigma_sd0; + + + + + + + + + + + uint16_t result__phase_sd0; + + + + + + + + + + + uint16_t result__final_crosstalk_corrected_range_mm_sd0; + + + + + + + + + + + uint16_t result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0; + + + + + + + + + + + uint16_t result__mm_inner_actual_effective_spads_sd0; + + + + + + + + + + + uint16_t result__mm_outer_actual_effective_spads_sd0; + + + + + + + + + + + uint16_t result__avg_signal_count_rate_mcps_sd0; + + + + + + + + + + + uint16_t result__dss_actual_effective_spads_sd1; + + + + + + + + + + + uint16_t result__peak_signal_count_rate_mcps_sd1; + + + + + + + + + + + uint16_t result__ambient_count_rate_mcps_sd1; + + + + + + + + + + + uint16_t result__sigma_sd1; + + + + + + + + + + + uint16_t result__phase_sd1; + + + + + + + + + + + uint16_t result__final_crosstalk_corrected_range_mm_sd1; + + + + + + + + + + + uint16_t result__spare_0_sd1; + + + + + + + + + + + uint16_t result__spare_1_sd1; + + + + + + + + + + + uint16_t result__spare_2_sd1; + + + + + + + + + + + uint8_t result__spare_3_sd1; + + + + + + + + + + + uint8_t result__thresh_info; + + + + + + + + + + + +} VL53L1_system_results_t; + + + + + + + + + + + + +typedef struct { + uint32_t result_core__ambient_window_events_sd0; + + + + + + + + + + + uint32_t result_core__ranging_total_events_sd0; + + + + + + + + + + + int32_t result_core__signal_total_events_sd0; + + + + + + + + + + + uint32_t result_core__total_periods_elapsed_sd0; + + + + + + + + + + + uint32_t result_core__ambient_window_events_sd1; + + + + + + + + + + + uint32_t result_core__ranging_total_events_sd1; + + + + + + + + + + + int32_t result_core__signal_total_events_sd1; + + + + + + + + + + + uint32_t result_core__total_periods_elapsed_sd1; + + + + + + + + + + + uint8_t result_core__spare_0; + + + + + + + + + + +} VL53L1_core_results_t; + + + + + + + + + + + + +typedef struct { + uint16_t phasecal_result__reference_phase; + + + + + + + + + + + uint8_t phasecal_result__vcsel_start; + + + + + + + + + + + uint8_t ref_spad_char_result__num_actual_ref_spads; + + + + + + + + + + + uint8_t ref_spad_char_result__ref_location; + + + + + + + + + + + uint8_t vhv_result__coldboot_status; + + + + + + + + + + + uint8_t vhv_result__search_result; + + + + + + + + + + + uint8_t vhv_result__latest_setting; + + + + + + + + + + + uint16_t result__osc_calibrate_val; + + + + + + + + + + + uint8_t ana_config__powerdown_go1; + + + + + + + + + + + + uint8_t ana_config__ref_bg_ctrl; + + + + + + + + + + + + uint8_t ana_config__regdvdd1v2_ctrl; + + + + + + + + + + + + + uint8_t ana_config__osc_slow_ctrl; + + + + + + + + + + + + + uint8_t test_mode__status; + + + + + + + + + + + uint8_t firmware__system_status; + + + + + + + + + + + + uint8_t firmware__mode_status; + + + + + + + + + + + uint8_t firmware__secondary_mode_status; + + + + + + + + + + + uint16_t firmware__cal_repeat_rate_counter; + + + + + + + + + + + uint16_t gph__system__thresh_high; + + + + + + + + + + + uint16_t gph__system__thresh_low; + + + + + + + + + + + uint8_t gph__system__enable_xtalk_per_quadrant; + + + + + + + + + + + uint8_t gph__spare_0; + + + + + + + + + + + + + uint8_t gph__sd_config__woi_sd0; + + + + + + + + + + + uint8_t gph__sd_config__woi_sd1; + + + + + + + + + + + uint8_t gph__sd_config__initial_phase_sd0; + + + + + + + + + + + uint8_t gph__sd_config__initial_phase_sd1; + + + + + + + + + + + uint8_t gph__sd_config__first_order_select; + + + + + + + + + + + + uint8_t gph__sd_config__quantifier; + + + + + + + + + + + uint8_t gph__roi_config__user_roi_centre_spad; + + + + + + + + + + + uint8_t gph__roi_config__user_roi_requested_global_xy_size; + + + + + + + + + + + uint8_t gph__system__sequence_config; + + + + + + + + + + + + + + + + + + uint8_t gph__gph_id; + + + + + + + + + + + uint8_t system__interrupt_set; + + + + + + + + + + + + uint8_t interrupt_manager__enables; + + + + + + + + + + + + + + + uint8_t interrupt_manager__clear; + + + + + + + + + + + + + + + uint8_t interrupt_manager__status; + + + + + + + + + + + + + + + uint8_t mcu_to_host_bank__wr_access_en; + + + + + + + + + + + uint8_t power_management__go1_reset_status; + + + + + + + + + + + uint8_t pad_startup_mode__value_ro; + + + + + + + + + + + + uint8_t pad_startup_mode__value_ctrl; + + + + + + + + + + + + + + uint32_t pll_period_us; + + + + + + + + + + + uint32_t interrupt_scheduler__data_out; + + + + + + + + + + + uint8_t nvm_bist__complete; + + + + + + + + + + + uint8_t nvm_bist__status; + + + + + + + + + + +} VL53L1_debug_results_t; + + + + + + + + + + + + +typedef struct { + uint8_t identification__model_id; + + + + + + + + + + + uint8_t identification__module_type; + + + + + + + + + + + uint8_t identification__revision_id; + + + + + + + + + + + + uint16_t identification__module_id; + + + + + + + + + + + uint8_t ana_config__fast_osc__trim_max; + + + + + + + + + + + uint8_t ana_config__fast_osc__freq_set; + + + + + + + + + + + uint8_t ana_config__vcsel_trim; + + + + + + + + + + + uint8_t ana_config__vcsel_selion; + + + + + + + + + + + uint8_t ana_config__vcsel_selion_max; + + + + + + + + + + + uint8_t protected_laser_safety__lock_bit; + + + + + + + + + + + uint8_t laser_safety__key; + + + + + + + + + + + uint8_t laser_safety__key_ro; + + + + + + + + + + + uint8_t laser_safety__clip; + + + + + + + + + + + uint8_t laser_safety__mult; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_0; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_1; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_2; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_3; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_4; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_5; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_6; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_7; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_8; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_9; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_10; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_11; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_12; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_13; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_14; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_15; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_16; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_17; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_18; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_19; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_20; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_21; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_22; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_23; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_24; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_25; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_26; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_27; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_28; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_29; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_30; + + + + + + + + + + + uint8_t global_config__spad_enables_rtn_31; + + + + + + + + + + + uint8_t roi_config__mode_roi_centre_spad; + + + + + + + + + + + uint8_t roi_config__mode_roi_xy_size; + + + + + + + + + + +} VL53L1_nvm_copy_data_t; + + + + + + + + + + + + +typedef struct { + uint8_t prev_shadow_result__interrupt_status; + + + + + + + + + + + + + uint8_t prev_shadow_result__range_status; + + + + + + + + + + + + + + uint8_t prev_shadow_result__report_status; + + + + + + + + + + + uint8_t prev_shadow_result__stream_count; + + + + + + + + + + + uint16_t prev_shadow_result__dss_actual_effective_spads_sd0; + + + + + + + + + + + uint16_t prev_shadow_result__peak_signal_count_rate_mcps_sd0; + + + + + + + + + + + uint16_t prev_shadow_result__ambient_count_rate_mcps_sd0; + + + + + + + + + + + uint16_t prev_shadow_result__sigma_sd0; + + + + + + + + + + + uint16_t prev_shadow_result__phase_sd0; + + + + + + + + + + + uint16_t prev_shadow_result__final_crosstalk_corrected_range_mm_sd0; + + + + + + + + + + + uint16_t prev_shadow_result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0; + + + + + + + + + + + uint16_t prev_shadow_result__mm_inner_actual_effective_spads_sd0; + + + + + + + + + + + uint16_t prev_shadow_result__mm_outer_actual_effective_spads_sd0; + + + + + + + + + + + uint16_t prev_shadow_result__avg_signal_count_rate_mcps_sd0; + + + + + + + + + + + uint16_t prev_shadow_result__dss_actual_effective_spads_sd1; + + + + + + + + + + + uint16_t prev_shadow_result__peak_signal_count_rate_mcps_sd1; + + + + + + + + + + + uint16_t prev_shadow_result__ambient_count_rate_mcps_sd1; + + + + + + + + + + + uint16_t prev_shadow_result__sigma_sd1; + + + + + + + + + + + uint16_t prev_shadow_result__phase_sd1; + + + + + + + + + + + uint16_t prev_shadow_result__final_crosstalk_corrected_range_mm_sd1; + + + + + + + + + + + uint16_t prev_shadow_result__spare_0_sd1; + + + + + + + + + + + uint16_t prev_shadow_result__spare_1_sd1; + + + + + + + + + + + uint16_t prev_shadow_result__spare_2_sd1; + + + + + + + + + + + uint16_t prev_shadow_result__spare_3_sd1; + + + + + + + + + + +} VL53L1_prev_shadow_system_results_t; + + + + + + + + + + + + +typedef struct { + uint32_t prev_shadow_result_core__ambient_window_events_sd0; + + + + + + + + + + + uint32_t prev_shadow_result_core__ranging_total_events_sd0; + + + + + + + + + + + int32_t prev_shadow_result_core__signal_total_events_sd0; + + + + + + + + + + + uint32_t prev_shadow_result_core__total_periods_elapsed_sd0; + + + + + + + + + + + uint32_t prev_shadow_result_core__ambient_window_events_sd1; + + + + + + + + + + + uint32_t prev_shadow_result_core__ranging_total_events_sd1; + + + + + + + + + + + int32_t prev_shadow_result_core__signal_total_events_sd1; + + + + + + + + + + + uint32_t prev_shadow_result_core__total_periods_elapsed_sd1; + + + + + + + + + + + uint8_t prev_shadow_result_core__spare_0; + + + + + + + + + + +} VL53L1_prev_shadow_core_results_t; + + + + + + + + + + + + +typedef struct { + uint8_t result__debug_status; + + + + + + + + + + + uint8_t result__debug_stage; + + + + + + + + + + +} VL53L1_patch_debug_t; + + + + + + + + + + + + +typedef struct { + uint16_t gph__system__thresh_rate_high; + + + + + + + + + + + uint16_t gph__system__thresh_rate_low; + + + + + + + + + + + uint8_t gph__system__interrupt_config_gpio; + + + + + + + + + + + + + + + +} VL53L1_gph_general_config_t; + + + + + + + + + + + + +typedef struct { + uint8_t gph__dss_config__roi_mode_control; + + + + + + + + + + + + uint16_t gph__dss_config__manual_effective_spads_select; + + + + + + + + + + + uint8_t gph__dss_config__manual_block_select; + + + + + + + + + + + uint8_t gph__dss_config__max_spads_limit; + + + + + + + + + + + uint8_t gph__dss_config__min_spads_limit; + + + + + + + + + + +} VL53L1_gph_static_config_t; + + + + + + + + + + + + +typedef struct { + uint8_t gph__mm_config__timeout_macrop_a_hi; + + + + + + + + + + + uint8_t gph__mm_config__timeout_macrop_a_lo; + + + + + + + + + + + uint8_t gph__mm_config__timeout_macrop_b_hi; + + + + + + + + + + + uint8_t gph__mm_config__timeout_macrop_b_lo; + + + + + + + + + + + uint8_t gph__range_config__timeout_macrop_a_hi; + + + + + + + + + + + uint8_t gph__range_config__timeout_macrop_a_lo; + + + + + + + + + + + uint8_t gph__range_config__vcsel_period_a; + + + + + + + + + + + uint8_t gph__range_config__vcsel_period_b; + + + + + + + + + + + uint8_t gph__range_config__timeout_macrop_b_hi; + + + + + + + + + + + uint8_t gph__range_config__timeout_macrop_b_lo; + + + + + + + + + + + uint16_t gph__range_config__sigma_thresh; + + + + + + + + + + + uint16_t gph__range_config__min_count_rate_rtn_limit_mcps; + + + + + + + + + + + uint8_t gph__range_config__valid_phase_low; + + + + + + + + + + + uint8_t gph__range_config__valid_phase_high; + + + + + + + + + + +} VL53L1_gph_timing_config_t; + + + + + + + + + + + + +typedef struct { + uint8_t firmware__internal_stream_count_div; + + + + + + + + + + + uint8_t firmware__internal_stream_counter_val; + + + + + + + + + + +} VL53L1_fw_internal_t; + + + + + + + + + + + + +typedef struct { + uint8_t dss_calc__roi_ctrl; + + + + + + + + + + + + uint8_t dss_calc__spare_1; + + + + + + + + + + + uint8_t dss_calc__spare_2; + + + + + + + + + + + uint8_t dss_calc__spare_3; + + + + + + + + + + + uint8_t dss_calc__spare_4; + + + + + + + + + + + uint8_t dss_calc__spare_5; + + + + + + + + + + + uint8_t dss_calc__spare_6; + + + + + + + + + + + uint8_t dss_calc__spare_7; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_0; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_1; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_2; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_3; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_4; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_5; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_6; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_7; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_8; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_9; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_10; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_11; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_12; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_13; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_14; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_15; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_16; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_17; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_18; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_19; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_20; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_21; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_22; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_23; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_24; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_25; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_26; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_27; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_28; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_29; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_30; + + + + + + + + + + + uint8_t dss_calc__user_roi_spad_en_31; + + + + + + + + + + + uint8_t dss_calc__user_roi_0; + + + + + + + + + + + uint8_t dss_calc__user_roi_1; + + + + + + + + + + + uint8_t dss_calc__mode_roi_0; + + + + + + + + + + + uint8_t dss_calc__mode_roi_1; + + + + + + + + + + + uint8_t sigma_estimator_calc__spare_0; + + + + + + + + + + + uint16_t vhv_result__peak_signal_rate_mcps; + + + + + + + + + + + uint32_t vhv_result__signal_total_events_ref; + + + + + + + + + + + uint16_t phasecal_result__phase_output_ref; + + + + + + + + + + + uint16_t dss_result__total_rate_per_spad; + + + + + + + + + + + uint8_t dss_result__enabled_blocks; + + + + + + + + + + + uint16_t dss_result__num_requested_spads; + + + + + + + + + + + uint16_t mm_result__inner_intersection_rate; + + + + + + + + + + + uint16_t mm_result__outer_complement_rate; + + + + + + + + + + + uint16_t mm_result__total_offset; + + + + + + + + + + + uint32_t xtalk_calc__xtalk_for_enabled_spads; + + + + + + + + + + + uint32_t xtalk_result__avg_xtalk_user_roi_kcps; + + + + + + + + + + + uint32_t xtalk_result__avg_xtalk_mm_inner_roi_kcps; + + + + + + + + + + + uint32_t xtalk_result__avg_xtalk_mm_outer_roi_kcps; + + + + + + + + + + + uint32_t range_result__accum_phase; + + + + + + + + + + + uint16_t range_result__offset_corrected_range; + + + + + + + + + + +} VL53L1_patch_results_t; + + + + + + + + + + + + +typedef struct { + uint8_t shadow_phasecal_result__vcsel_start; + + + + + + + + + + + uint8_t shadow_result__interrupt_status; + + + + + + + + + + + + + uint8_t shadow_result__range_status; + + + + + + + + + + + + + + uint8_t shadow_result__report_status; + + + + + + + + + + + uint8_t shadow_result__stream_count; + + + + + + + + + + + uint16_t shadow_result__dss_actual_effective_spads_sd0; + + + + + + + + + + + uint16_t shadow_result__peak_signal_count_rate_mcps_sd0; + + + + + + + + + + + uint16_t shadow_result__ambient_count_rate_mcps_sd0; + + + + + + + + + + + uint16_t shadow_result__sigma_sd0; + + + + + + + + + + + uint16_t shadow_result__phase_sd0; + + + + + + + + + + + uint16_t shadow_result__final_crosstalk_corrected_range_mm_sd0; + + + + + + + + + + + uint16_t shadow_result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0; + + + + + + + + + + + uint16_t shadow_result__mm_inner_actual_effective_spads_sd0; + + + + + + + + + + + uint16_t shadow_result__mm_outer_actual_effective_spads_sd0; + + + + + + + + + + + uint16_t shadow_result__avg_signal_count_rate_mcps_sd0; + + + + + + + + + + + uint16_t shadow_result__dss_actual_effective_spads_sd1; + + + + + + + + + + + uint16_t shadow_result__peak_signal_count_rate_mcps_sd1; + + + + + + + + + + + uint16_t shadow_result__ambient_count_rate_mcps_sd1; + + + + + + + + + + + uint16_t shadow_result__sigma_sd1; + + + + + + + + + + + uint16_t shadow_result__phase_sd1; + + + + + + + + + + + uint16_t shadow_result__final_crosstalk_corrected_range_mm_sd1; + + + + + + + + + + + uint16_t shadow_result__spare_0_sd1; + + + + + + + + + + + uint16_t shadow_result__spare_1_sd1; + + + + + + + + + + + uint16_t shadow_result__spare_2_sd1; + + + + + + + + + + + uint8_t shadow_result__spare_3_sd1; + + + + + + + + + + + uint8_t shadow_result__thresh_info; + + + + + + + + + + + + uint8_t shadow_phasecal_result__reference_phase_hi; + + + + + + + + + + + uint8_t shadow_phasecal_result__reference_phase_lo; + + + + + + + + + + +} VL53L1_shadow_system_results_t; + + + + + + + + + + + + +typedef struct { + uint32_t shadow_result_core__ambient_window_events_sd0; + + + + + + + + + + + uint32_t shadow_result_core__ranging_total_events_sd0; + + + + + + + + + + + int32_t shadow_result_core__signal_total_events_sd0; + + + + + + + + + + + uint32_t shadow_result_core__total_periods_elapsed_sd0; + + + + + + + + + + + uint32_t shadow_result_core__ambient_window_events_sd1; + + + + + + + + + + + uint32_t shadow_result_core__ranging_total_events_sd1; + + + + + + + + + + + int32_t shadow_result_core__signal_total_events_sd1; + + + + + + + + + + + uint32_t shadow_result_core__total_periods_elapsed_sd1; + + + + + + + + + + + uint8_t shadow_result_core__spare_0; + + + + + + + + + + +} VL53L1_shadow_core_results_t; + + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_silicon_core.h b/drivers/input/misc/vl53L1/inc/vl53l1_silicon_core.h new file mode 100644 index 000000000000..8ba9f3a97244 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_silicon_core.h @@ -0,0 +1,133 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_SILICON_CORE_H_ +#define _VL53L1_SILICON_CORE_H_ + +#include "vl53l1_platform.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_is_firmware_ready_silicon( + VL53L1_DEV Dev, + uint8_t *pready); + + +#ifdef __cplusplus +} +#endif + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_wait.h b/drivers/input/misc/vl53L1/inc/vl53l1_wait.h new file mode 100644 index 000000000000..d26c2f243f88 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_wait.h @@ -0,0 +1,318 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_WAIT_H_ +#define _VL53L1_WAIT_H_ + +#include "vl53l1_platform.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + + + + + + + + + + + +VL53L1_Error VL53L1_wait_for_boot_completion( + VL53L1_DEV Dev); + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_wait_for_firmware_ready( + VL53L1_DEV Dev); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_wait_for_range_completion( + VL53L1_DEV Dev); + + + + + + + + + + + + + + +VL53L1_Error VL53L1_wait_for_test_completion( + VL53L1_DEV Dev); + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_is_boot_complete( + VL53L1_DEV Dev, + uint8_t *pready); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_is_firmware_ready( + VL53L1_DEV Dev, + uint8_t *pready); + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_is_new_data_ready( + VL53L1_DEV Dev, + uint8_t *pready); + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_poll_for_boot_completion( + VL53L1_DEV Dev, + uint32_t timeout_ms); + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_poll_for_firmware_ready( + VL53L1_DEV Dev, + uint32_t timeout_ms); + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_poll_for_range_completion( + VL53L1_DEV Dev, + uint32_t timeout_ms); + + + +#ifdef __cplusplus +} +#endif + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_zone_presets.h b/drivers/input/misc/vl53L1/inc/vl53l1_zone_presets.h new file mode 100644 index 000000000000..1288e88f1245 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_zone_presets.h @@ -0,0 +1,182 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifndef _VL53L1_ZONE_PRESETS_H_ +#define _VL53L1_ZONE_PRESETS_H_ + +#include "vl53l1_ll_def.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + + + + + + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_init_zone_config_structure( + uint8_t x_off, + uint8_t x_inc, + uint8_t x_zones, + uint8_t y_off, + uint8_t y_inc, + uint8_t y_zones, + uint8_t width, + uint8_t height, + VL53L1_zone_config_t *pdata); + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_zone_preset_xtalk_planar( + VL53L1_general_config_t *pgeneral, + VL53L1_zone_config_t *pzone_cfg); + + + + + + + + + + + + + +VL53L1_Error VL53L1_init_zone_config_histogram_bins( + VL53L1_zone_config_t *pdata); + +#ifdef __cplusplus +} +#endif + +#endif + + diff --git a/drivers/input/misc/vl53L1/ipp/ipp_linux.c b/drivers/input/misc/vl53L1/ipp/ipp_linux.c new file mode 100644 index 000000000000..94d69c8762b7 --- /dev/null +++ b/drivers/input/misc/vl53L1/ipp/ipp_linux.c @@ -0,0 +1,343 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +/** + * @file ipp_linux.c kernel side implementation of vl53l1 protected processing + * + * @date Sep 1, 2016 + * @author : imaging + * + * @ingroup ipp_dev + */ + +#include "stmvl53l1.h" + +#define IPP_ERR_CODE (VL53L1_ERROR_PLATFORM_SPECIFIC_START-1) + +static int stmvl53l1_ipp_do_wrapper(struct stmvl53l1_data *data, + struct ipp_work_t *pin, struct ipp_work_t *pout, int payload_out) +{ + int rc; + + if (data->ipp.buzy) { + vl53l1_errmsg("try exec new ipp but still buzy on previous"); + /* TODO shall we discard it and push new ? */ + rc = IPP_ERR_CODE; + goto done; + } + BUG_ON(pin->payload > IPP_WORK_MAX_PAYLOAD); + stmvl531_ipp_tim_start(data); + rc = stmvl53l1_ipp_do(data, pin, pout); + if (rc != 0) { + vl53l1_errmsg("stmvl53l1_ipp_do err %d\n", rc); + rc = IPP_ERR_CODE; + goto done; + } + vl53l1_dbgmsg("ipp ok \n"); + /* check what we got back if valid answer error etc */ + if (pout->status) { + vl53l1_errmsg("ipp error status %d from user", pout->status); + if (pout->status >= stmvl53l1_ipp_status_proc_code) + rc = pout->status & (stmvl53l1_ipp_status_proc_code-1); + else + rc = IPP_ERR_CODE; + goto done; + } + BUG_ON(pout->payload > IPP_WORK_MAX_PAYLOAD); + if (pout->payload != payload_out) { + /* bad formated answer */ + vl53l1_errmsg("bad payload %d != %d in ipp work back", + pout->payload, payload_out); + rc = IPP_ERR_CODE; + goto done; + } + stmvl531_ipp_tim_stop(data); + stmvl531_ipp_stat(data, "ipp #%5x to=%3d fm=%3d in %5ld us", + pin->xfer_id, pin->payload, + pout->payload, + stmvl531_ipp_time(data)); + + rc = 0; +done: + + return rc; +} + +/** + * @file vl53l1_platform_ipp.h + * + * @brief EwokPlus25 IPP Wrapper Functions + */ + +/** + * @brief IPP Wrapper call for histogram post processing + * + * + * @param[in] Dev : Device handle + * @param[in] pdmax_cal : DMAX calibration data + * @param[in] pdmax_cfg : DMAX configuration data + * @param[in] ppost_cfg : VL53L1_hist_post_process_config_t + * @param[in] pbins : Input histogram raw bin data + * @param[in] pxtalk : Cross talk histogram data + * @param[out] presults : Output VL53L1_range_results_t + * structure + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_ipp_hist_process_data( + VL53L1_DEV dev, + VL53L1_dmax_calibration_data_t *pdmax_cal, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg, + VL53L1_hist_post_process_config_t *ppost_cfg, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_xtalk_histogram_data_t *pxtalk, + VL53L1_range_results_t *presults) +{ + struct stmvl53l1_data *data = (struct stmvl53l1_data *) + container_of(dev, struct stmvl53l1_data, stdev); + struct ipp_work_t *pout = &data->ipp.work_out; + struct ipp_work_t *pin = &data->ipp.work; + int rc; + VL53L1_range_results_t *presults_ipp; + + IPP_SERIALIZE_VAR; + + /* setup pin */ + IPP_SERIALIZE_START(pin->data, 5); + IPP_SET_ARG_PTR(pin->data, 0, pdmax_cal); + IPP_SET_ARG_PTR(pin->data, 1, pdmax_cfg); + IPP_SET_ARG_PTR(pin->data, 2, ppost_cfg); + IPP_SET_ARG_PTR(pin->data, 3, pbins); + IPP_SET_ARG_PTR(pin->data, 4, pxtalk); + pin->payload = IPP_SERIALIZE_PAYLAOD(); + pin->process_no = stmvl53l1_ipp_cal_hist; + + /* setup pout */ + IPP_SERIALIZE_START(pout->data, 1); + IPP_OUT_ARG_PTR(pout->data, 0, presults_ipp); + + /* do ipp */ + rc = stmvl53l1_ipp_do_wrapper(data, pin, pout, IPP_SERIALIZE_PAYLAOD()); + if (rc) + goto done; + + /* copy output */ + memcpy(presults, presults_ipp, sizeof(*presults)); + + rc = 0; +done: + + return rc; +} + +/** + * @brief IPP Wrapper call for histogram ambient dmax calc + * + * The target reflectance in percent for the DMAX calculation + * is set by target_reflectance input + * + * The fixed point format is 7.2 + * + * @param[in] Dev : Device handle + * @param[in] target_reflectance : target reflectance to report ambient DMAX + * Percentage in 7.2 fixed point format + * @param[in] pdmax_cal : DMAX calibration data + * @param[in] pdmax_cfg : DMAX configuration data + * @param[in] pbins : Input histogram raw bin data + * @param[out] pambient_dmax_mm : Output ambient DMAX distance in [mm] + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_ipp_hist_ambient_dmax( + VL53L1_DEV dev, + uint16_t target_reflectance, + VL53L1_dmax_calibration_data_t *pdmax_cal, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg, + VL53L1_histogram_bin_data_t *pbins, + int16_t *pambient_dmax_mm) +{ + struct stmvl53l1_data *data = (struct stmvl53l1_data *) + container_of(dev, struct stmvl53l1_data, stdev); + struct ipp_work_t *pout = &data->ipp.work_out; + struct ipp_work_t *pin = &data->ipp.work; + int rc; + int16_t *pambient_dmax_mm_ipp; + + IPP_SERIALIZE_VAR; + + /* setup pin */ + IPP_SERIALIZE_START(pin->data, 4); + IPP_SET_ARG(pin->data, 0, target_reflectance); + IPP_SET_ARG_PTR(pin->data, 1, pdmax_cal); + IPP_SET_ARG_PTR(pin->data, 2, pdmax_cfg); + IPP_SET_ARG_PTR(pin->data, 3, pbins); + pin->payload = IPP_SERIALIZE_PAYLAOD(); + pin->process_no = stmvl53l1_ipp_hist_ambient_dmax; + + /* setup pout */ + IPP_SERIALIZE_START(pout->data, 1); + IPP_OUT_ARG_PTR(pout->data, 0, pambient_dmax_mm_ipp); + + /* do ipp */ + rc = stmvl53l1_ipp_do_wrapper(data, pin, pout, IPP_SERIALIZE_PAYLAOD()); + if (rc) + goto done; + + /* copy output */ + memcpy(pambient_dmax_mm, pambient_dmax_mm_ipp, + sizeof(*pambient_dmax_mm)); + + rc = 0; +done: + + return rc; +} + +/** + * @brief IPP Wrapper call for xtalk calibration post processing + * + * @param[in] Dev : Device handle + * @param[in] pxtalk_ranges : Input VL53L1_xtalk_range_results_t + * Must contain 5 ranges, 4 quadrants + 1 + * full FoV + * @param[out] pxtalk_shape : Output normalised Cross talk histogram + * shape + * @param[out] pxtalk_cal : Output VL53L1_xtalk_calibration_results_t + * structure + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_ipp_xtalk_calibration_process_data( + VL53L1_DEV dev, + VL53L1_xtalk_range_results_t *pxtalk_ranges, + VL53L1_xtalk_histogram_data_t *pxtalk_shape, + VL53L1_xtalk_calibration_results_t *pxtalk_cal) +{ + struct stmvl53l1_data *data = (struct stmvl53l1_data *) + container_of(dev, struct stmvl53l1_data, stdev); + struct ipp_work_t *pout = &data->ipp.work_out; + struct ipp_work_t *pin = &data->ipp.work; + int rc; + VL53L1_xtalk_histogram_data_t *pxtalk_shape_ipp; + VL53L1_xtalk_calibration_results_t *pxtalk_cal_ipp; + + IPP_SERIALIZE_VAR; + + /* setup pin */ + IPP_SERIALIZE_START(pin->data, 1); + IPP_SET_ARG_PTR(pin->data, 0, pxtalk_ranges); + pin->payload = IPP_SERIALIZE_PAYLAOD(); + pin->process_no = stmvl53l1_ipp_xtalk_calibration; + + /* setup pout */ + IPP_SERIALIZE_START(pout->data, 2); + IPP_OUT_ARG_PTR(pout->data, 0, pxtalk_shape_ipp); + IPP_OUT_ARG_PTR(pout->data, 1, pxtalk_cal_ipp); + + /* do ipp */ + rc = stmvl53l1_ipp_do_wrapper(data, pin, pout, IPP_SERIALIZE_PAYLAOD()); + if (rc) + goto done; + + /* copy output */ + memcpy(pxtalk_shape, pxtalk_shape_ipp, sizeof(*pxtalk_shape)); + memcpy(pxtalk_cal, pxtalk_cal_ipp, sizeof(*pxtalk_cal)); + + rc = 0; +done: + + return rc; +} + +/** + * @brief IPP Wrapper call for Generating Xtalk data from dual reflectance + * histogram data + * + * @param[in] Dev : Device handle + * @param[in] pxtalk_results : Pointer to xtalk_results structure + * containing dual reflectance + * histogram data + * @param[in] expected_target_distance_mm : User input of true target distance + * @param[in] higher_reflectance : User input detailing which + * histogram data 1 or 2 has the + * highest reflectance. + * @param[out] pxtalk_avg_samples : Pointer to output xtalk histogram + * data + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_ipp_generate_dual_reflectance_xtalk_samples( + VL53L1_DEV dev, + VL53L1_xtalk_range_results_t *pxtalk_results, + uint16_t expected_target_distance_mm, + uint8_t higher_reflectance, + VL53L1_histogram_bin_data_t *pxtalk_avg_samples) +{ + struct stmvl53l1_data *data = (struct stmvl53l1_data *) + container_of(dev, struct stmvl53l1_data, stdev); + struct ipp_work_t *pout = &data->ipp.work_out; + struct ipp_work_t *pin = &data->ipp.work; + int rc; + VL53L1_histogram_bin_data_t *pxtalk_avg_samples_ipp; + + IPP_SERIALIZE_VAR; + + /* setup pin */ + IPP_SERIALIZE_START(pin->data, 3); + IPP_SET_ARG_PTR(pin->data, 0, pxtalk_results); + IPP_SET_ARG(pin->data, 1, expected_target_distance_mm); + IPP_SET_ARG(pin->data, 2, higher_reflectance); + pin->payload = IPP_SERIALIZE_PAYLAOD(); + pin->process_no = stmvl53l1_ipp_generate_dual_reflectance_xtalk_samples; + + /* setup pout */ + IPP_SERIALIZE_START(pout->data, 1); + IPP_OUT_ARG_PTR(pout->data, 0, pxtalk_avg_samples_ipp); + + /* do ipp */ + rc = stmvl53l1_ipp_do_wrapper(data, pin, pout, IPP_SERIALIZE_PAYLAOD()); + if (rc) + goto done; + + /* copy output */ + memcpy(pxtalk_avg_samples, pxtalk_avg_samples_ipp, + sizeof(*pxtalk_avg_samples)); + + rc = 0; +done: + + return rc; +} diff --git a/drivers/input/misc/vl53L1/src/vl53l1_api.c b/drivers/input/misc/vl53L1/src/vl53l1_api.c new file mode 100644 index 000000000000..a166dea001ae --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_api.c @@ -0,0 +1,2809 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#include "vl53l1_api.h" +#include "vl53l1_api_strings.h" +#include "vl53l1_register_settings.h" +#include "vl53l1_core.h" +#include "vl53l1_api_calibration.h" +#include "vl53l1_wait.h" + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_API, status, \ + fmt, ##__VA_ARGS__) + +#ifdef VL53L1_LOG_ENABLE +#define trace_print(level, ...) trace_print_module_function(\ + VL53L1_TRACE_MODULE_API, level, VL53L1_TRACE_FUNCTION_NONE, \ + ##__VA_ARGS__) +#endif + +#ifndef MIN +#define MIN(VL53L1_PRM_00002,VL53L1_PRM_00030) ((VL53L1_PRM_00002) < (VL53L1_PRM_00030) ? (VL53L1_PRM_00002) : (VL53L1_PRM_00030)) +#endif +#ifndef MAX +#define MAX(VL53L1_PRM_00002,VL53L1_PRM_00030) ((VL53L1_PRM_00002) < (VL53L1_PRM_00030) ? (VL53L1_PRM_00030) : (VL53L1_PRM_00002)) +#endif + +#define DMAX_REFLECTANCE_IDX 2 + + + + + + + + + + + + + + + +static VL53L1_Error CheckValidRectRoi(VL53L1_UserRoi_t ROI) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + if ((ROI.TopLeftX > 15) || (ROI.TopLeftY > 15) || + (ROI.BotRightX > 15) || (ROI.BotRightY > 15)) + Status = VL53L1_ERROR_INVALID_PARAMS; + + if ((ROI.TopLeftX > ROI.BotRightX) || (ROI.TopLeftY < ROI.BotRightY)) + Status = VL53L1_ERROR_INVALID_PARAMS; + + LOG_FUNCTION_END(Status); + return Status; +} + +static VL53L1_GPIO_Interrupt_Mode ConvertModeToLLD(VL53L1_Error *pStatus, + VL53L1_ThresholdMode CrossMode) +{ + VL53L1_GPIO_Interrupt_Mode Mode; + + switch (CrossMode) { + case VL53L1_THRESHOLD_CROSSED_LOW: + Mode = VL53L1_GPIOINTMODE_LEVEL_LOW; + break; + case VL53L1_THRESHOLD_CROSSED_HIGH: + Mode = VL53L1_GPIOINTMODE_LEVEL_HIGH; + break; + case VL53L1_THRESHOLD_OUT_OF_WINDOW: + Mode = VL53L1_GPIOINTMODE_OUT_OF_WINDOW; + break; + case VL53L1_THRESHOLD_IN_WINDOW: + Mode = VL53L1_GPIOINTMODE_IN_WINDOW; + break; + default: + + + Mode = VL53L1_GPIOINTMODE_LEVEL_HIGH; + *pStatus = VL53L1_ERROR_INVALID_PARAMS; + } + return Mode; +} + +static VL53L1_ThresholdMode ConvertModeFromLLD(VL53L1_Error *pStatus, + VL53L1_GPIO_Interrupt_Mode CrossMode) +{ + VL53L1_ThresholdMode Mode; + + switch (CrossMode) { + case VL53L1_GPIOINTMODE_LEVEL_LOW: + Mode = VL53L1_THRESHOLD_CROSSED_LOW; + break; + case VL53L1_GPIOINTMODE_LEVEL_HIGH: + Mode = VL53L1_THRESHOLD_CROSSED_HIGH; + break; + case VL53L1_GPIOINTMODE_OUT_OF_WINDOW: + Mode = VL53L1_THRESHOLD_OUT_OF_WINDOW; + break; + case VL53L1_GPIOINTMODE_IN_WINDOW: + Mode = VL53L1_THRESHOLD_IN_WINDOW; + break; + default: + + + Mode = VL53L1_THRESHOLD_CROSSED_HIGH; + *pStatus = VL53L1_ERROR_UNDEFINED; + } + return Mode; +} + + + + +VL53L1_Error VL53L1_GetVersion(VL53L1_Version_t *pVersion) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + pVersion->major = VL53L1_IMPLEMENTATION_VER_MAJOR; + pVersion->minor = VL53L1_IMPLEMENTATION_VER_MINOR; + pVersion->build = VL53L1_IMPLEMENTATION_VER_SUB; + + pVersion->revision = VL53L1_IMPLEMENTATION_VER_REVISION; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetPalSpecVersion(VL53L1_Version_t *pPalSpecVersion) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + pPalSpecVersion->major = VL53L1_SPECIFICATION_VER_MAJOR; + pPalSpecVersion->minor = VL53L1_SPECIFICATION_VER_MINOR; + pPalSpecVersion->build = VL53L1_SPECIFICATION_VER_SUB; + + pPalSpecVersion->revision = VL53L1_SPECIFICATION_VER_REVISION; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetProductRevision(VL53L1_DEV Dev, + uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t revision_id; + VL53L1_LLDriverData_t *pLLData; + + LOG_FUNCTION_START(""); + + pLLData = VL53L1DevStructGetLLDriverHandle(Dev); + revision_id = pLLData->nvm_copy_data.identification__revision_id; + *pProductRevisionMajor = 1; + *pProductRevisionMinor = (revision_id & 0xF0) >> 4; + + LOG_FUNCTION_END(Status); + return Status; + +} + +VL53L1_Error VL53L1_GetDeviceInfo(VL53L1_DEV Dev, + VL53L1_DeviceInfo_t *pVL53L1_DeviceInfo) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t revision_id; + VL53L1_LLDriverData_t *pLLData; + + LOG_FUNCTION_START(""); + + pLLData = VL53L1DevStructGetLLDriverHandle(Dev); + + strncpy(pVL53L1_DeviceInfo->ProductId, "", + VL53L1_DEVINFO_STRLEN-1); + pVL53L1_DeviceInfo->ProductType = + pLLData->nvm_copy_data.identification__module_type; + + revision_id = pLLData->nvm_copy_data.identification__revision_id; + pVL53L1_DeviceInfo->ProductRevisionMajor = 1; + pVL53L1_DeviceInfo->ProductRevisionMinor = (revision_id & 0xF0) >> 4; + +#ifndef VL53L1_USE_EMPTY_STRING + if (pVL53L1_DeviceInfo->ProductRevisionMinor == 0) + strncpy(pVL53L1_DeviceInfo->Name, + VL53L1_STRING_DEVICE_INFO_NAME0, + VL53L1_DEVINFO_STRLEN-1); + else + strncpy(pVL53L1_DeviceInfo->Name, + VL53L1_STRING_DEVICE_INFO_NAME1, + VL53L1_DEVINFO_STRLEN-1); + strncpy(pVL53L1_DeviceInfo->Type, + VL53L1_STRING_DEVICE_INFO_TYPE, + VL53L1_DEVINFO_STRLEN-1); +#else + pVL53L1_DeviceInfo->Name[0] = 0; + pVL53L1_DeviceInfo->Type[0] = 0; +#endif + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_GetRangeStatusString(uint8_t RangeStatus, + char *pRangeStatusString) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_range_status_string(RangeStatus, + pRangeStatusString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetPalErrorString(VL53L1_Error PalErrorCode, + char *pPalErrorString) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_pal_error_string(PalErrorCode, pPalErrorString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetPalStateString(VL53L1_State PalStateCode, + char *pPalStateString) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_pal_state_string(PalStateCode, pPalStateString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetPalState(VL53L1_DEV Dev, VL53L1_State *pPalState) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pPalState = PALDevDataGet(Dev, PalState); + + LOG_FUNCTION_END(Status); + return Status; +} + + + + + + +VL53L1_Error VL53L1_SetDeviceAddress(VL53L1_DEV Dev, uint8_t DeviceAddress) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_WrByte(Dev, VL53L1_I2C_SLAVE__DEVICE_ADDRESS, + DeviceAddress / 2); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_DataInit(VL53L1_DEV Dev) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t i; + + LOG_FUNCTION_START(""); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_data_init(Dev, 1); + + if (Status == VL53L1_ERROR_NONE) { + PALDevDataSet(Dev, PalState, VL53L1_STATE_WAIT_STATICINIT); + PALDevDataSet(Dev, CurrentParameters.PresetMode, + VL53L1_PRESETMODE_RANGING); + } + + + + for (i = 0; i < VL53L1_CHECKENABLE_NUMBER_OF_CHECKS; i++) { + if (Status == VL53L1_ERROR_NONE) + Status |= VL53L1_SetLimitCheckEnable(Dev, i, 1); + else + break; + + } + + + + if (Status == VL53L1_ERROR_NONE) { + Status = VL53L1_SetLimitCheckValue(Dev, + VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, + (FixPoint1616_t)(18 * 65536)); + } + if (Status == VL53L1_ERROR_NONE) { + Status = VL53L1_SetLimitCheckValue(Dev, + VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + (FixPoint1616_t)(25 * 65536 / 100)); + + + } + + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_StaticInit(VL53L1_DEV Dev) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t measurement_mode; + + LOG_FUNCTION_START(""); + + if (Status == VL53L1_ERROR_NONE) + PALDevDataSet(Dev, PalState, VL53L1_STATE_IDLE); + + measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + PALDevDataSet(Dev, LLData.measurement_mode, measurement_mode); + + PALDevDataSet(Dev, CurrentParameters.NewDistanceMode, + VL53L1_DISTANCEMODE_LONG); + + PALDevDataSet(Dev, CurrentParameters.InternalDistanceMode, + VL53L1_DISTANCEMODE_LONG); + + PALDevDataSet(Dev, CurrentParameters.DistanceMode, + VL53L1_DISTANCEMODE_LONG); + + PALDevDataSet(Dev, CurrentParameters.OutputMode, + VL53L1_OUTPUTMODE_NEAREST); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_WaitDeviceBooted(VL53L1_DEV Dev) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_poll_for_boot_completion(Dev, + VL53L1_BOOT_COMPLETION_POLLING_TIMEOUT_MS); + + LOG_FUNCTION_END(Status); + return Status; +} + + + + + + +static VL53L1_Error ComputeDevicePresetMode( + VL53L1_PresetModes PresetMode, + VL53L1_DistanceModes DistanceMode, + uint16_t *pdss_config__target_total_rate_mcps, + uint32_t *pphasecal_config_timeout_us, + VL53L1_DevicePresetModes *pDevicePresetMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + *pDevicePresetMode = VL53L1_DEVICEPRESETMODE_STANDARD_RANGING; + + switch (PresetMode) { + case VL53L1_PRESETMODE_LITE_RANGING: + *pdss_config__target_total_rate_mcps = 0x0A00; + *pphasecal_config_timeout_us = 1000; + + if (DistanceMode == VL53L1_DISTANCEMODE_SHORT) + *pDevicePresetMode = + VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_SHORT_RANGE; + else if (DistanceMode == VL53L1_DISTANCEMODE_MEDIUM) + *pDevicePresetMode = + VL53L1_DEVICEPRESETMODE_STANDARD_RANGING; + else + + *pDevicePresetMode = + VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_LONG_RANGE; + break; + case VL53L1_PRESETMODE_RANGING: + *pdss_config__target_total_rate_mcps = 0x1400; + *pphasecal_config_timeout_us = 4000; + + if (DistanceMode == VL53L1_DISTANCEMODE_SHORT) + *pDevicePresetMode = + VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE; + else if (DistanceMode == VL53L1_DISTANCEMODE_MEDIUM) + *pDevicePresetMode = + VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE; + else + + *pDevicePresetMode = + VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE; + break; + case VL53L1_PRESETMODE_MULTIZONES_SCANNING: + *pdss_config__target_total_rate_mcps = 0x1400; + *pphasecal_config_timeout_us = 4000; + + if (DistanceMode == VL53L1_DISTANCEMODE_SHORT) + *pDevicePresetMode = + VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_SHORT_RANGE; + else if (DistanceMode == VL53L1_DISTANCEMODE_MEDIUM) + *pDevicePresetMode = + VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE; + else + + *pDevicePresetMode = + VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_LONG_RANGE; + break; + case VL53L1_PRESETMODE_AUTONOMOUS: + *pdss_config__target_total_rate_mcps = 0x0A00; + *pphasecal_config_timeout_us = 1000; + + if (DistanceMode == VL53L1_DISTANCEMODE_SHORT) + *pDevicePresetMode = + VL53L1_DEVICEPRESETMODE_TIMED_RANGING_SHORT_RANGE; + else if (DistanceMode == VL53L1_DISTANCEMODE_MEDIUM) + *pDevicePresetMode = + VL53L1_DEVICEPRESETMODE_TIMED_RANGING; + else + + *pDevicePresetMode = + VL53L1_DEVICEPRESETMODE_TIMED_RANGING_LONG_RANGE; + break; + case VL53L1_PRESETMODE_OLT: + *pdss_config__target_total_rate_mcps = 0x0A00; + *pphasecal_config_timeout_us = 1000; + + *pDevicePresetMode = VL53L1_DEVICEPRESETMODE_OLT; + break; + default: + + + Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; + } + + return Status; +} + +static VL53L1_Error SetPresetMode(VL53L1_DEV Dev, + VL53L1_PresetModes PresetMode, + VL53L1_DistanceModes DistanceMode, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us, + uint32_t inter_measurement_period_ms) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_DevicePresetModes device_preset_mode; + uint8_t measurement_mode; + uint16_t dss_config__target_total_rate_mcps; + uint32_t phasecal_config_timeout_us; + + LOG_FUNCTION_START("%d", (int)PresetMode); + + if (PresetMode == VL53L1_PRESETMODE_AUTONOMOUS) + measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_TIMED; + else + measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + + + Status = ComputeDevicePresetMode( + PresetMode, + DistanceMode, + &dss_config__target_total_rate_mcps, + &phasecal_config_timeout_us, + &device_preset_mode); + + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_set_preset_mode( + Dev, + device_preset_mode, + dss_config__target_total_rate_mcps, + phasecal_config_timeout_us, + mm_config_timeout_us, + range_config_timeout_us, + inter_measurement_period_ms); + + if (Status == VL53L1_ERROR_NONE) + PALDevDataSet(Dev, LLData.measurement_mode, measurement_mode); + + if (Status == VL53L1_ERROR_NONE) + PALDevDataSet(Dev, CurrentParameters.PresetMode, PresetMode); + + PALDevDataSet(Dev, CurrentParameters.OutputMode, + VL53L1_OUTPUTMODE_NEAREST); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetPresetMode(VL53L1_DEV Dev, VL53L1_PresetModes PresetMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START("%d", (int)PresetMode); + + + + + + + Status = SetPresetMode(Dev, + PresetMode, + VL53L1_DISTANCEMODE_LONG, + 2000, + 16000, + 1000); + + + if (Status == VL53L1_ERROR_NONE) { + PALDevDataSet(Dev, CurrentParameters.InternalDistanceMode, + VL53L1_DISTANCEMODE_LONG); + + PALDevDataSet(Dev, CurrentParameters.NewDistanceMode, + VL53L1_DISTANCEMODE_LONG); + + if (PresetMode == VL53L1_PRESETMODE_LITE_RANGING) + + + Status = VL53L1_SetMeasurementTimingBudgetMicroSeconds( + Dev, 33000); + else + + + Status = VL53L1_SetMeasurementTimingBudgetMicroSeconds( + Dev, 16000); + } + + if (Status == VL53L1_ERROR_NONE) { + + + Status = VL53L1_SetInterMeasurementPeriodMilliSeconds(Dev, + 1000); + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_GetPresetMode(VL53L1_DEV Dev, + VL53L1_PresetModes *pPresetMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pPresetMode = PALDevDataGet(Dev, CurrentParameters.PresetMode); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetDistanceMode(VL53L1_DEV Dev, + VL53L1_DistanceModes DistanceMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_PresetModes PresetMode; + VL53L1_DistanceModes InternalDistanceMode; + uint32_t mm_config_timeout_us; + uint32_t range_config_timeout_us; + uint32_t inter_measurement_period_ms; + uint8_t manual_not_auto = 0; + + LOG_FUNCTION_START("%d", (int)DistanceMode); + + PresetMode = PALDevDataGet(Dev, CurrentParameters.PresetMode); + + + + + + + + + if ((DistanceMode == VL53L1_DISTANCEMODE_SHORT) || + (DistanceMode == VL53L1_DISTANCEMODE_MEDIUM) || + (DistanceMode == VL53L1_DISTANCEMODE_LONG)) + manual_not_auto = 1; + else + manual_not_auto = 0; + + + if ((manual_not_auto == 0) && + ((PresetMode != VL53L1_PRESETMODE_LITE_RANGING) && + (PresetMode != VL53L1_PRESETMODE_RANGING))) { + Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; + } + + + + + + if (Status == VL53L1_ERROR_NONE) { + if ((DistanceMode == VL53L1_DISTANCEMODE_SHORT) || + (DistanceMode == VL53L1_DISTANCEMODE_MEDIUM)) + InternalDistanceMode = DistanceMode; + else + + InternalDistanceMode = VL53L1_DISTANCEMODE_LONG; + } + + mm_config_timeout_us = PALDevDataGet(Dev, LLData.mm_config_timeout_us); + range_config_timeout_us = PALDevDataGet(Dev, + LLData.range_config_timeout_us); + inter_measurement_period_ms = PALDevDataGet(Dev, + LLData.inter_measurement_period_ms); + + if (Status == VL53L1_ERROR_NONE) + Status = SetPresetMode(Dev, + PresetMode, + InternalDistanceMode, + mm_config_timeout_us, + range_config_timeout_us, + inter_measurement_period_ms); + + if (Status == VL53L1_ERROR_NONE) { + PALDevDataSet(Dev, CurrentParameters.InternalDistanceMode, + InternalDistanceMode); + PALDevDataSet(Dev, CurrentParameters.NewDistanceMode, + InternalDistanceMode); + PALDevDataSet(Dev, CurrentParameters.DistanceMode, + DistanceMode); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetDistanceMode(VL53L1_DEV Dev, + VL53L1_DistanceModes *pDistanceMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pDistanceMode = PALDevDataGet(Dev, CurrentParameters.DistanceMode); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetOutputMode(VL53L1_DEV Dev, + VL53L1_OutputModes OutputMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if ((OutputMode != VL53L1_OUTPUTMODE_NEAREST) && + (OutputMode != VL53L1_OUTPUTMODE_STRONGEST)) + Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; + else + PALDevDataSet(Dev, CurrentParameters.OutputMode, OutputMode); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetOutputMode(VL53L1_DEV Dev, + VL53L1_OutputModes *pOutputMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pOutputMode = PALDevDataGet(Dev, CurrentParameters.OutputMode); + + LOG_FUNCTION_END(Status); + return Status; +} + + + +VL53L1_Error VL53L1_SetMeasurementTimingBudgetMicroSeconds(VL53L1_DEV Dev, + uint32_t MeasurementTimingBudgetMicroSeconds) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t Mm1Enabled; + uint8_t Mm2Enabled; + uint32_t TimingGuard; + uint32_t divisor; + uint32_t TimingBudget; + uint32_t MmTimeoutUs; + VL53L1_PresetModes PresetMode; + uint32_t PhaseCalTimeoutUs; + + LOG_FUNCTION_START(""); + + + + if (MeasurementTimingBudgetMicroSeconds > 10000000) + Status = VL53L1_ERROR_INVALID_PARAMS; + + if (Status == VL53L1_ERROR_NONE) { + Status = VL53L1_GetSequenceStepEnable(Dev, + VL53L1_SEQUENCESTEP_MM1, &Mm1Enabled); + } + + if (Status == VL53L1_ERROR_NONE) { + Status = VL53L1_GetSequenceStepEnable(Dev, + VL53L1_SEQUENCESTEP_MM2, &Mm2Enabled); + } + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_get_timeouts_us(Dev, + &PhaseCalTimeoutUs, + &MmTimeoutUs, + &TimingBudget); + + if (Status == VL53L1_ERROR_NONE) { + PresetMode = PALDevDataGet(Dev, CurrentParameters.PresetMode); + + TimingGuard = 0; + divisor = 1; + switch (PresetMode) { + case VL53L1_PRESETMODE_LITE_RANGING: + case VL53L1_PRESETMODE_AUTONOMOUS: + if ((Mm1Enabled == 1) || (Mm2Enabled == 1)) + TimingGuard = 5000; + else + TimingGuard = 1000; + break; + case VL53L1_PRESETMODE_RANGING: + case VL53L1_PRESETMODE_MULTIZONES_SCANNING: + TimingGuard = 1700; + divisor = 6; + break; + case VL53L1_PRESETMODE_OLT: + TimingGuard = MmTimeoutUs + 5000; + break; + default: + + + Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; + } + + if (MeasurementTimingBudgetMicroSeconds > TimingGuard) { + TimingBudget = (MeasurementTimingBudgetMicroSeconds + - TimingGuard) / divisor; + + Status = VL53L1_set_timeouts_us( + Dev, + PhaseCalTimeoutUs, + MmTimeoutUs, + TimingBudget); + + if (Status == VL53L1_ERROR_NONE) + PALDevDataSet(Dev, + LLData.range_config_timeout_us, + TimingBudget); + } else { + Status = VL53L1_ERROR_INVALID_PARAMS; + } + } + if (Status == VL53L1_ERROR_NONE) { + PALDevDataSet(Dev, + CurrentParameters.MeasurementTimingBudgetMicroSeconds, + MeasurementTimingBudgetMicroSeconds); + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_GetMeasurementTimingBudgetMicroSeconds(VL53L1_DEV Dev, + uint32_t *pMeasurementTimingBudgetMicroSeconds) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t Mm1Enabled = 0; + uint8_t Mm2Enabled = 0; + uint32_t MmTimeoutUs = 0; + uint32_t RangeTimeoutUs = 0; + uint32_t MeasTimingBdg = 0; + uint32_t PhaseCalTimeoutUs = 0; + VL53L1_PresetModes PresetMode; + + LOG_FUNCTION_START(""); + + *pMeasurementTimingBudgetMicroSeconds = 0; + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_GetSequenceStepEnable(Dev, + VL53L1_SEQUENCESTEP_MM1, &Mm1Enabled); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_GetSequenceStepEnable(Dev, + VL53L1_SEQUENCESTEP_MM2, &Mm2Enabled); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_get_timeouts_us(Dev, + &PhaseCalTimeoutUs, + &MmTimeoutUs, + &RangeTimeoutUs); + + if (Status == VL53L1_ERROR_NONE) { + PresetMode = PALDevDataGet(Dev, CurrentParameters.PresetMode); + + switch (PresetMode) { + case VL53L1_PRESETMODE_LITE_RANGING: + case VL53L1_PRESETMODE_AUTONOMOUS: + if ((Mm1Enabled == 1) || (Mm2Enabled == 1)) + MeasTimingBdg = RangeTimeoutUs + 5000; + else + MeasTimingBdg = RangeTimeoutUs + 1000; + + break; + case VL53L1_PRESETMODE_RANGING: + MeasTimingBdg = (6 * RangeTimeoutUs) + 1700; + break; + case VL53L1_PRESETMODE_MULTIZONES_SCANNING: + MeasTimingBdg = (6 * RangeTimeoutUs) + 1700; + break; + case VL53L1_PRESETMODE_OLT: + MeasTimingBdg = RangeTimeoutUs + MmTimeoutUs + 5000; + break; + default: + + + Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; + } + } + if (Status == VL53L1_ERROR_NONE) + *pMeasurementTimingBudgetMicroSeconds = MeasTimingBdg; + + LOG_FUNCTION_END(Status); + return Status; +} + + + +VL53L1_Error VL53L1_SetInterMeasurementPeriodMilliSeconds(VL53L1_DEV Dev, + uint32_t InterMeasurementPeriodMilliSeconds) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_set_inter_measurement_period_ms(Dev, + InterMeasurementPeriodMilliSeconds); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetInterMeasurementPeriodMilliSeconds(VL53L1_DEV Dev, + uint32_t *pInterMeasurementPeriodMilliSeconds) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_inter_measurement_period_ms(Dev, + pInterMeasurementPeriodMilliSeconds); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetDmaxReflectance(VL53L1_DEV Dev, + FixPoint1616_t value) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_dmax_reflectance_array_t dmax_reflectances; + + LOG_FUNCTION_START(""); + Status = VL53L1_get_dmax_reflectance_values(Dev, &dmax_reflectances); + if (Status == VL53L1_ERROR_NONE) { + dmax_reflectances.target_reflectance_for_dmax[DMAX_REFLECTANCE_IDX] = + VL53L1_FIXPOINT1616TOFIXPOINT72(value); + Status = VL53L1_set_dmax_reflectance_values(Dev, &dmax_reflectances); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetDmaxReflectance(VL53L1_DEV Dev, + FixPoint1616_t *pvalue) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_dmax_reflectance_array_t dmax_reflectances; + uint16_t r; + + LOG_FUNCTION_START(""); + Status = VL53L1_get_dmax_reflectance_values(Dev, &dmax_reflectances); + if (Status == VL53L1_ERROR_NONE) { + r = dmax_reflectances.target_reflectance_for_dmax[DMAX_REFLECTANCE_IDX]; + *pvalue = VL53L1_FIXPOINT72TOFIXPOINT1616(r); + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_SetDmaxMode(VL53L1_DEV Dev, + VL53L1_DeviceDmaxModes DmaxMode) +{ + + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_DeviceDmaxMode dmax_mode; + + LOG_FUNCTION_START(""); + + switch(DmaxMode) { + case DMAXMODE_FMT_CAL_DATA: + dmax_mode = VL53L1_DEVICEDMAXMODE__FMT_CAL_DATA; + break; + case DMAXMODE_CUSTCAL_DATA: + dmax_mode = VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA; + break; + case DMAXMODE_PER_ZONE_CAL_DATA: + dmax_mode = VL53L1_DEVICEDMAXMODE__PER_ZONE_CAL_DATA; + break; + default: + Status = VL53L1_ERROR_INVALID_PARAMS; + break; + } + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_set_dmax_mode(Dev, dmax_mode); + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_GetDmaxMode(VL53L1_DEV Dev, + VL53L1_DeviceDmaxModes *pDmaxMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_DeviceDmaxMode dmax_mode; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_dmax_mode(Dev, &dmax_mode); + if (Status == VL53L1_ERROR_NONE) { + switch(dmax_mode) { + case VL53L1_DEVICEDMAXMODE__FMT_CAL_DATA: + *pDmaxMode = DMAXMODE_FMT_CAL_DATA; + break; + case VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA: + *pDmaxMode = DMAXMODE_CUSTCAL_DATA; + break; + case VL53L1_DEVICEDMAXMODE__PER_ZONE_CAL_DATA: + *pDmaxMode = DMAXMODE_PER_ZONE_CAL_DATA; + break; + default: + + + *pDmaxMode = VL53L1_ERROR_NOT_IMPLEMENTED; + break; + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + + + + + + + + +VL53L1_Error VL53L1_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pNumberOfLimitCheck = VL53L1_CHECKENABLE_NUMBER_OF_CHECKS; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetLimitCheckInfo(uint16_t LimitCheckId, + char *pLimitCheckString) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_limit_check_info(LimitCheckId, + pLimitCheckString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetLimitCheckStatus(VL53L1_DEV Dev, uint16_t LimitCheckId, + uint8_t *pLimitCheckStatus) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t Temp8; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L1_ERROR_INVALID_PARAMS; + } else { + VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + LimitCheckId, Temp8); + *pLimitCheckStatus = Temp8; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +static VL53L1_Error SetLimitValue(VL53L1_DEV Dev, uint16_t LimitCheckId, + FixPoint1616_t value) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint16_t *pmin_count_rate; + + uint16_t tmpuint16; + + + LOG_FUNCTION_START(""); + + pmin_count_rate = &(PALDevDataGet(Dev, + LLData.tim_cfg.range_config__min_count_rate_rtn_limit_mcps)); + + switch (LimitCheckId) { + case VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE: + tmpuint16 = VL53L1_FIXPOINT1616TOFIXPOINT142(value); + PALDevDataSet(Dev, LLData.tim_cfg.range_config__sigma_thresh, + tmpuint16); + break; + case VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + tmpuint16 = VL53L1_FIXPOINT1616TOFIXPOINT97(value); + + *pmin_count_rate = tmpuint16; + break; + default: + Status = VL53L1_ERROR_INVALID_PARAMS; + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_SetLimitCheckEnable(VL53L1_DEV Dev, uint16_t LimitCheckId, + uint8_t LimitCheckEnable) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + FixPoint1616_t TempFix1616 = 0; + + LOG_FUNCTION_START(""); + + + if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L1_ERROR_INVALID_PARAMS; + } else { + + + if (LimitCheckEnable == 0) + TempFix1616 = 0; + else + VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + LimitCheckId, TempFix1616); + + Status = SetLimitValue(Dev, LimitCheckId, TempFix1616); + } + + if (Status == VL53L1_ERROR_NONE) + VL53L1_SETARRAYPARAMETERFIELD(Dev, + LimitChecksEnable, + LimitCheckId, + ((LimitCheckEnable == 0) ? 0 : 1)); + + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetLimitCheckEnable(VL53L1_DEV Dev, uint16_t LimitCheckId, + uint8_t *pLimitCheckEnable) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t Temp8; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L1_ERROR_INVALID_PARAMS; + *pLimitCheckEnable = 0; + } else { + VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + LimitCheckId, Temp8); + *pLimitCheckEnable = Temp8; + } + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetLimitCheckValue(VL53L1_DEV Dev, uint16_t LimitCheckId, + FixPoint1616_t LimitCheckValue) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t LimitChecksEnable; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L1_ERROR_INVALID_PARAMS; + } else { + + VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + LimitCheckId, + LimitChecksEnable); + + if (LimitChecksEnable == 0) { + + + VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + LimitCheckId, LimitCheckValue); + } else { + + Status = SetLimitValue(Dev, LimitCheckId, + LimitCheckValue); + + if (Status == VL53L1_ERROR_NONE) { + VL53L1_SETARRAYPARAMETERFIELD(Dev, + LimitChecksValue, + LimitCheckId, LimitCheckValue); + } + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetLimitCheckValue(VL53L1_DEV Dev, uint16_t LimitCheckId, + FixPoint1616_t *pLimitCheckValue) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint16_t MinCountRate; + FixPoint1616_t TempFix1616; + uint16_t SigmaThresh; + + LOG_FUNCTION_START(""); + + MinCountRate = PALDevDataGet(Dev, + LLData.tim_cfg.range_config__min_count_rate_rtn_limit_mcps); + + switch (LimitCheckId) { + case VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE: + SigmaThresh = PALDevDataGet(Dev, + LLData.tim_cfg.range_config__sigma_thresh); + TempFix1616 = VL53L1_FIXPOINT142TOFIXPOINT1616(SigmaThresh); + break; + case VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(MinCountRate); + break; + default: + Status = VL53L1_ERROR_INVALID_PARAMS; + } + + if (Status == VL53L1_ERROR_NONE) { + + if (TempFix1616 == 0) { + + + VL53L1_GETARRAYPARAMETERFIELD(Dev, + LimitChecksValue, LimitCheckId, + TempFix1616); + *pLimitCheckValue = TempFix1616; + VL53L1_SETARRAYPARAMETERFIELD(Dev, + LimitChecksEnable, LimitCheckId, 0); + } else { + *pLimitCheckValue = TempFix1616; + VL53L1_SETARRAYPARAMETERFIELD(Dev, + LimitChecksValue, LimitCheckId, + TempFix1616); + VL53L1_SETARRAYPARAMETERFIELD(Dev, + LimitChecksEnable, LimitCheckId, 1); + } + } + LOG_FUNCTION_END(Status); + return Status; + +} + +VL53L1_Error VL53L1_GetLimitCheckCurrent(VL53L1_DEV Dev, uint16_t LimitCheckId, + FixPoint1616_t *pLimitCheckCurrent) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + FixPoint1616_t TempFix1616 = 0; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L1_ERROR_INVALID_PARAMS; + } else { + VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksCurrent, + LimitCheckId, TempFix1616); + *pLimitCheckCurrent = TempFix1616; + } + + LOG_FUNCTION_END(Status); + return Status; + +} + + + + + + + + + +VL53L1_Error VL53L1_GetMaxNumberOfROI(VL53L1_DEV Dev, + uint8_t *pMaxNumberOfROI) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_PresetModes PresetMode; + + LOG_FUNCTION_START(""); + + PresetMode = PALDevDataGet(Dev, CurrentParameters.PresetMode); + + + + if (PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING) + *pMaxNumberOfROI = VL53L1_MAX_USER_ZONES; + else + *pMaxNumberOfROI = 1; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetROI(VL53L1_DEV Dev, + VL53L1_RoiConfig_t *pRoiConfig) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_PresetModes PresetMode; + uint8_t MaxNumberOfROI; + VL53L1_zone_config_t zone_cfg; + VL53L1_UserRoi_t CurrROI; + uint8_t i; + uint8_t x_centre; + uint8_t y_centre; + uint8_t width, height; + + LOG_FUNCTION_START(""); + + + + PresetMode = PALDevDataGet(Dev, CurrentParameters.PresetMode); + + + + if (PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING) + MaxNumberOfROI = VL53L1_MAX_USER_ZONES; + else + MaxNumberOfROI = 1; + + if ((pRoiConfig->NumberOfRoi > MaxNumberOfROI) || + (pRoiConfig->NumberOfRoi < 1)) + Status = VL53L1_ERROR_INVALID_PARAMS; + + if (Status == VL53L1_ERROR_NONE) { + + + + zone_cfg.max_zones = MaxNumberOfROI; + zone_cfg.active_zones = pRoiConfig->NumberOfRoi - 1; + + for (i = 0; i < pRoiConfig->NumberOfRoi; i++) { + CurrROI = pRoiConfig->UserRois[i]; + + + + + + + + + + Status = CheckValidRectRoi(CurrROI); + if (Status != VL53L1_ERROR_NONE) + break; + + x_centre = (CurrROI.BotRightX + CurrROI.TopLeftX + 1) + / 2; + y_centre = (CurrROI.TopLeftY + CurrROI.BotRightY + 1) + / 2; + width = (CurrROI.BotRightX - CurrROI.TopLeftX); + height = (CurrROI.TopLeftY - CurrROI.BotRightY); + if ((width < 3) || (height < 3)) { + Status = VL53L1_ERROR_INVALID_PARAMS; + break; + } + zone_cfg.user_zones[i].x_centre = x_centre; + zone_cfg.user_zones[i].y_centre = y_centre; + zone_cfg.user_zones[i].width = width; + zone_cfg.user_zones[i].height = height; + } + } + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_set_zone_config(Dev, &zone_cfg); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetROI(VL53L1_DEV Dev, + VL53L1_RoiConfig_t *pRoiConfig) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_zone_config_t zone_cfg; + uint8_t i; + uint8_t TopLeftX; + uint8_t TopLeftY; + uint8_t BotRightX; + uint8_t BotRightY; + + LOG_FUNCTION_START(""); + + VL53L1_get_zone_config(Dev, &zone_cfg); + + pRoiConfig->NumberOfRoi = zone_cfg.active_zones + 1; + + for (i = 0; i < pRoiConfig->NumberOfRoi; i++) { + TopLeftX = (2 * zone_cfg.user_zones[i].x_centre - + zone_cfg.user_zones[i].width) >> 1; + TopLeftY = (2 * zone_cfg.user_zones[i].y_centre + + zone_cfg.user_zones[i].height) >> 1; + BotRightX = (2 * zone_cfg.user_zones[i].x_centre + + zone_cfg.user_zones[i].width) >> 1; + BotRightY = (2 * zone_cfg.user_zones[i].y_centre - + zone_cfg.user_zones[i].height) >> 1; + pRoiConfig->UserRois[i].TopLeftX = TopLeftX; + pRoiConfig->UserRois[i].TopLeftY = TopLeftY; + pRoiConfig->UserRois[i].BotRightX = BotRightX; + pRoiConfig->UserRois[i].BotRightY = BotRightY; + } + + LOG_FUNCTION_END(Status); + return Status; +} + + + + + + + + + +VL53L1_Error VL53L1_GetNumberOfSequenceSteps(VL53L1_DEV Dev, + uint8_t *pNumberOfSequenceSteps) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + SUPPRESS_UNUSED_WARNING(Dev); + + LOG_FUNCTION_START(""); + + *pNumberOfSequenceSteps = VL53L1_SEQUENCESTEP_NUMBER_OF_ITEMS; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetSequenceStepsInfo(VL53L1_SequenceStepId SequenceStepId, + char *pSequenceStepsString) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_sequence_steps_info( + SequenceStepId, + pSequenceStepsString); + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L1_Error VL53L1_SetSequenceStepEnable(VL53L1_DEV Dev, + VL53L1_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t SequenceConfig = 0; + uint8_t SequenceConfigNew = 0; + uint32_t MeasurementTimingBudgetMicroSeconds; + + LOG_FUNCTION_START(""); + + SequenceConfig = PALDevDataGet(Dev, + LLData.dyn_cfg.system__sequence_config); + + SequenceConfigNew = SequenceConfig; + + if (Status == VL53L1_ERROR_NONE) { + if (SequenceStepEnabled == 1) { + + + + + switch (SequenceStepId) { + case VL53L1_SEQUENCESTEP_VHV: + SequenceConfigNew |= 0x01; + break; + case VL53L1_SEQUENCESTEP_PHASECAL: + SequenceConfigNew |= 0x02; + break; + case VL53L1_SEQUENCESTEP_REFPHASE: + SequenceConfigNew |= 0x04; + break; + case VL53L1_SEQUENCESTEP_DSS1: + SequenceConfigNew |= 0x08; + break; + case VL53L1_SEQUENCESTEP_DSS2: + SequenceConfigNew |= 0x10; + break; + case VL53L1_SEQUENCESTEP_MM1: + SequenceConfigNew |= 0x20; + break; + case VL53L1_SEQUENCESTEP_MM2: + SequenceConfigNew |= 0x40; + break; + case VL53L1_SEQUENCESTEP_RANGE: + SequenceConfigNew |= 0x80; + break; + default: + Status = VL53L1_ERROR_INVALID_PARAMS; + } + } else { + + + + switch (SequenceStepId) { + case VL53L1_SEQUENCESTEP_VHV: + SequenceConfigNew &= 0xfe; + break; + case VL53L1_SEQUENCESTEP_PHASECAL: + SequenceConfigNew &= 0xfd; + break; + case VL53L1_SEQUENCESTEP_REFPHASE: + SequenceConfigNew &= 0xfb; + break; + case VL53L1_SEQUENCESTEP_DSS1: + SequenceConfigNew &= 0xf7; + break; + case VL53L1_SEQUENCESTEP_DSS2: + SequenceConfigNew &= 0xef; + break; + case VL53L1_SEQUENCESTEP_MM1: + SequenceConfigNew &= 0xdf; + break; + case VL53L1_SEQUENCESTEP_MM2: + SequenceConfigNew &= 0xbf; + break; + case VL53L1_SEQUENCESTEP_RANGE: + SequenceConfigNew &= 0x7f; + break; + default: + Status = VL53L1_ERROR_INVALID_PARAMS; + } + } + } + + + + if ((SequenceConfigNew != SequenceConfig) && + (Status == VL53L1_ERROR_NONE)) { + PALDevDataSet(Dev, LLData.dyn_cfg.system__sequence_config, + SequenceConfigNew); + + + + MeasurementTimingBudgetMicroSeconds = PALDevDataGet(Dev, + CurrentParameters.MeasurementTimingBudgetMicroSeconds); + + VL53L1_SetMeasurementTimingBudgetMicroSeconds(Dev, + MeasurementTimingBudgetMicroSeconds); + } + + + LOG_FUNCTION_END(Status); + + return Status; +} + + +VL53L1_Error VL53L1_GetSequenceStepEnable(VL53L1_DEV Dev, + VL53L1_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t SequenceConfig = 0; + + LOG_FUNCTION_START(""); + + SequenceConfig = PALDevDataGet(Dev, + LLData.dyn_cfg.system__sequence_config); + + switch (SequenceStepId) { + case VL53L1_SEQUENCESTEP_VHV: + *pSequenceStepEnabled = SequenceConfig & 0x01; + break; + case VL53L1_SEQUENCESTEP_PHASECAL: + *pSequenceStepEnabled = (SequenceConfig & 0x02) >> 1; + break; + case VL53L1_SEQUENCESTEP_REFPHASE: + *pSequenceStepEnabled = (SequenceConfig & 0x04) >> 2; + break; + case VL53L1_SEQUENCESTEP_DSS1: + *pSequenceStepEnabled = (SequenceConfig & 0x08) >> 3; + break; + case VL53L1_SEQUENCESTEP_DSS2: + *pSequenceStepEnabled = (SequenceConfig & 0x10) >> 4; + break; + case VL53L1_SEQUENCESTEP_MM1: + *pSequenceStepEnabled = (SequenceConfig & 0x20) >> 5; + break; + case VL53L1_SEQUENCESTEP_MM2: + *pSequenceStepEnabled = (SequenceConfig & 0x40) >> 6; + break; + case VL53L1_SEQUENCESTEP_RANGE: + *pSequenceStepEnabled = (SequenceConfig & 0x80) >> 7; + break; + default: + Status = VL53L1_ERROR_INVALID_PARAMS; + } + + LOG_FUNCTION_END(Status); + return Status; +} + + + + + + + + + + + + +VL53L1_Error VL53L1_StartMeasurement(VL53L1_DEV Dev) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t DeviceMeasurementMode; + VL53L1_State CurrPalState; + + LOG_FUNCTION_START(""); + + CurrPalState = PALDevDataGet(Dev, PalState); + switch (CurrPalState) { + case VL53L1_STATE_IDLE: + Status = VL53L1_ERROR_NONE; + break; + case VL53L1_STATE_POWERDOWN: + case VL53L1_STATE_WAIT_STATICINIT: + case VL53L1_STATE_STANDBY: + case VL53L1_STATE_RUNNING: + case VL53L1_STATE_RESET: + case VL53L1_STATE_UNKNOWN: + case VL53L1_STATE_ERROR: + Status = VL53L1_ERROR_INVALID_COMMAND; + break; + default: + Status = VL53L1_ERROR_UNDEFINED; + } + + DeviceMeasurementMode = PALDevDataGet(Dev, LLData.measurement_mode); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_init_and_start_range( + Dev, + DeviceMeasurementMode, + VL53L1_DEVICECONFIGLEVEL_FULL); + + if (Status == VL53L1_ERROR_NONE) { + + + PALDevDataSet(Dev, PalState, VL53L1_STATE_RUNNING); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_StopMeasurement(VL53L1_DEV Dev) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_stop_range(Dev); + + if (Status == VL53L1_ERROR_NONE) { + + + PALDevDataSet(Dev, PalState, VL53L1_STATE_IDLE); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +static VL53L1_Error ChangePresetMode(VL53L1_DEV Dev) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_PresetModes PresetMode; + VL53L1_DistanceModes NewDistanceMode; + VL53L1_zone_config_t zone_config; + uint8_t DeviceMeasurementMode; + uint32_t mm_config_timeout_us; + uint32_t range_config_timeout_us; + uint32_t inter_measurement_period_ms; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_zone_config(Dev, &zone_config); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_stop_range(Dev); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_WaitUs(Dev, 500); + + if (Status == VL53L1_ERROR_NONE) { + PresetMode = PALDevDataGet(Dev, + CurrentParameters.PresetMode); + NewDistanceMode = PALDevDataGet(Dev, + CurrentParameters.NewDistanceMode); + mm_config_timeout_us = PALDevDataGet(Dev, + LLData.mm_config_timeout_us); + range_config_timeout_us = PALDevDataGet(Dev, + LLData.range_config_timeout_us); + inter_measurement_period_ms = PALDevDataGet(Dev, + LLData.inter_measurement_period_ms); + + Status = SetPresetMode(Dev, + PresetMode, + NewDistanceMode, + mm_config_timeout_us, + range_config_timeout_us, + inter_measurement_period_ms); + } + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_set_zone_config(Dev, &zone_config); + + if (Status == VL53L1_ERROR_NONE) { + DeviceMeasurementMode = PALDevDataGet(Dev, + LLData.measurement_mode); + + Status = VL53L1_init_and_start_range( + Dev, + DeviceMeasurementMode, + VL53L1_DEVICECONFIGLEVEL_FULL); + } + + if (Status == VL53L1_ERROR_NONE) + PALDevDataSet(Dev, + CurrentParameters.InternalDistanceMode, + NewDistanceMode); + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_ClearInterruptAndStartMeasurement(VL53L1_DEV Dev) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t DeviceMeasurementMode; + VL53L1_DistanceModes InternalDistanceMode; + VL53L1_DistanceModes NewDistanceMode; + + LOG_FUNCTION_START(""); + + DeviceMeasurementMode = PALDevDataGet(Dev, LLData.measurement_mode); + InternalDistanceMode = PALDevDataGet(Dev, + CurrentParameters.InternalDistanceMode); + NewDistanceMode = PALDevDataGet(Dev, + CurrentParameters.NewDistanceMode); + + if (NewDistanceMode != InternalDistanceMode) + Status = ChangePresetMode(Dev); + else + Status = VL53L1_clear_interrupt_and_enable_next_range( + Dev, + DeviceMeasurementMode); + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_GetMeasurementDataReady(VL53L1_DEV Dev, + uint8_t *pMeasurementDataReady) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_is_new_data_ready(Dev, pMeasurementDataReady); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_WaitMeasurementDataReady(VL53L1_DEV Dev) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + + Status = VL53L1_poll_for_range_completion(Dev, + VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS); + + LOG_FUNCTION_END(Status); + return Status; +} + +static void GenNewPresetMode(VL53L1_DEV Dev, int16_t RefRange) +{ + VL53L1_DistanceModes InternalDistanceMode; + VL53L1_DistanceModes NewDistanceMode; + uint16_t HRLI = 600; + uint16_t HRLH = 700; + uint16_t MRLI = 1400; + uint16_t MRLH = 1500; + + InternalDistanceMode = PALDevDataGet(Dev, + CurrentParameters.InternalDistanceMode); + + NewDistanceMode = InternalDistanceMode; + switch (InternalDistanceMode) { + case VL53L1_DISTANCEMODE_SHORT: + + + + + + if (RefRange > MRLH) + NewDistanceMode = VL53L1_DISTANCEMODE_LONG; + else if (RefRange > HRLH) + NewDistanceMode = VL53L1_DISTANCEMODE_MEDIUM; + break; + case VL53L1_DISTANCEMODE_MEDIUM: + + + + + + if (RefRange > MRLH) + NewDistanceMode = VL53L1_DISTANCEMODE_LONG; + else if (RefRange < HRLI) + NewDistanceMode = VL53L1_DISTANCEMODE_SHORT; + break; + default: + + + + + + + if (RefRange < HRLI) + NewDistanceMode = VL53L1_DISTANCEMODE_SHORT; + else if (RefRange < MRLI) + NewDistanceMode = VL53L1_DISTANCEMODE_MEDIUM; + break; + } + + PALDevDataSet(Dev, CurrentParameters.NewDistanceMode, NewDistanceMode); + +} + +static void CheckAndChangeDistanceMode(VL53L1_DEV Dev, + VL53L1_RangingMeasurementData_t *pRangeData, + int16_t AmbientDmaxMm) +{ + + VL53L1_DistanceModes DistanceMode; + int16_t RefRange; + uint8_t RangeValid; + + + + + + + RangeValid = (pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) + ? 1: 0; + + RefRange = (RangeValid == 1) ? pRangeData->RangeMilliMeter : + AmbientDmaxMm; + + DistanceMode = PALDevDataGet(Dev, CurrentParameters.DistanceMode); + + if (((DistanceMode == VL53L1_DISTANCEMODE_AUTO_LITE) && + (RangeValid == 0)) || + ((DistanceMode == VL53L1_DISTANCEMODE_AUTO) && + (RangeValid == 0) && (AmbientDmaxMm == 0))) { + PALDevDataSet(Dev, CurrentParameters.NewDistanceMode, + VL53L1_DISTANCEMODE_LONG); + + } else if ((DistanceMode == VL53L1_DISTANCEMODE_AUTO_LITE) || + (DistanceMode == VL53L1_DISTANCEMODE_AUTO)) + GenNewPresetMode(Dev, RefRange); + +} + + +static uint8_t ComputeRQL(uint8_t active_results, + VL53L1_range_data_t *presults_data) +{ + int16_t T_Wide = 150; + int16_t SRL = 300; + uint16_t SRAS = 30; + FixPoint1616_t RAS; + FixPoint1616_t SRQL; + FixPoint1616_t GI = 117.7 * 65536; + FixPoint1616_t GGm = 48.8 * 65536; + FixPoint1616_t LRAP = 0.1 * 65536; + FixPoint1616_t partial; + uint8_t finalvalue; + + if (active_results == 0) + return 0; + else if ((presults_data->max_range_mm - + presults_data->min_range_mm) >= T_Wide) + return 50; + else { + if (presults_data->median_range_mm < SRL) + RAS = SRAS * 65536; + else + RAS = LRAP * presults_data->median_range_mm; + + + + if (RAS != 0) { + partial = (GGm * presults_data->VL53L1_PRM_00004) + (RAS >> 1); + partial = partial / RAS; + partial = partial * 65536; + if (GI > partial) + SRQL = GI - partial; + else + SRQL = 50 * 65536; + } else + SRQL = 100 * 65536; + + finalvalue = (uint8_t)(SRQL >> 16); + return MAX(50, MIN(100, finalvalue)); + } +} + +static VL53L1_Error SetSimpleData(VL53L1_DEV Dev, + uint8_t active_results, + VL53L1_range_data_t *presults_data, + VL53L1_RangingMeasurementData_t *pRangeData) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t FilteredRangeStatus; + uint8_t SigmaLimitflag; + uint8_t SignalLimitflag; + uint8_t Temp8Enable; + uint8_t Temp8; + uint8_t NoneFlag = 0; + FixPoint1616_t AmbientRate; + FixPoint1616_t SignalRate; + FixPoint1616_t TempFix1616; + FixPoint1616_t LimitCheckValue; + + pRangeData->TimeStamp = presults_data->time_stamp; + FilteredRangeStatus = presults_data->range_status & 0x1F; + + pRangeData->RangeQualityLevel = ComputeRQL(active_results, + presults_data); + + pRangeData->RangeMaxMilliMeter = presults_data->max_range_mm; + pRangeData->RangeMinMilliMeter = presults_data->min_range_mm; + + SignalRate = VL53L1_FIXPOINT97TOFIXPOINT1616( + presults_data->peak_signal_count_rate_mcps); + pRangeData->SignalRateRtnMegaCps + = SignalRate; + + AmbientRate = VL53L1_FIXPOINT97TOFIXPOINT1616( + presults_data->ambient_count_rate_mcps); + pRangeData->AmbientRateRtnMegaCps = AmbientRate; + + pRangeData->EffectiveSpadRtnCount = + presults_data->VL53L1_PRM_00003; + + TempFix1616 = VL53L1_FIXPOINT142TOFIXPOINT1616( + presults_data->VL53L1_PRM_00004); + + pRangeData->SigmaMilliMeter = TempFix1616; + + pRangeData->RangeMilliMeter = presults_data->median_range_mm; + + pRangeData->RangeFractionalPart = 0; + + if (FilteredRangeStatus == + VL53L1_DEVICEERROR_NOUPDATE || + FilteredRangeStatus == + VL53L1_DEVICEERROR_ALGOUNDERFLOW || + FilteredRangeStatus == + VL53L1_DEVICEERROR_ALGOOVERFLOW || + FilteredRangeStatus == + VL53L1_DEVICEERROR_RANGEIGNORETHRESHOLD || + FilteredRangeStatus == + VL53L1_DEVICEERROR_REFSPADCHARNOTENOUGHDPADS || + FilteredRangeStatus == + VL53L1_DEVICEERROR_REFSPADCHARMORETHANTARGET || + FilteredRangeStatus == + VL53L1_DEVICEERROR_REFSPADCHARLESSTHANTARGET || + FilteredRangeStatus == VL53L1_DEVICEERROR_MULTCLIPFAIL || + FilteredRangeStatus == VL53L1_DEVICEERROR_GPHSTREAMCOUNT0READY + ) { + NoneFlag = 1; + } else { + NoneFlag = 0; + } + + if (FilteredRangeStatus == + VL53L1_DEVICEERROR_RANGECOMPLETE) { + pRangeData->RangeStatus = + VL53L1_RANGESTATUS_RANGE_VALID; + } else if (FilteredRangeStatus == + VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK) { + pRangeData->RangeStatus = + VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK; + } else { + if (NoneFlag == 1) { + pRangeData->RangeStatus = VL53L1_RANGESTATUS_NONE; + } else if (FilteredRangeStatus == + VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE || + FilteredRangeStatus == + VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE || + FilteredRangeStatus == + VL53L1_DEVICEERROR_NOVHVVALUEFOUND) { + pRangeData->RangeStatus = + VL53L1_RANGESTATUS_HARDWARE_FAIL; + } else if (FilteredRangeStatus == + VL53L1_DEVICEERROR_RANGEPHASECHECK || + FilteredRangeStatus == + VL53L1_DEVICEERROR_PHASECONSISTENCY) { + pRangeData->RangeStatus = + VL53L1_RANGESTATUS_PHASE_FAIL; + } else if (FilteredRangeStatus == + VL53L1_DEVICEERROR_MINCLIP || + FilteredRangeStatus == + VL53L1_DEVICEERROR_USERROICLIP) { + pRangeData->RangeStatus = + VL53L1_RANGESTATUS_MIN_RANGE_FAIL; + } else if (FilteredRangeStatus == + VL53L1_DEVICEERROR_MSRCNOTARGET) { + pRangeData->RangeStatus = + VL53L1_RANGESTATUS_SIGNAL_FAIL; + } else if (FilteredRangeStatus == + VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK) { + pRangeData->RangeStatus = + VL53L1_RANGESTATUS_SIGMA_FAIL; + } else { + pRangeData->RangeStatus = + VL53L1_RANGESTATUS_NONE; + } + + } + + + + TempFix1616 = VL53L1_FIXPOINT142TOFIXPOINT1616( + presults_data->VL53L1_PRM_00004); + VL53L1_SETARRAYPARAMETERFIELD(Dev, + LimitChecksCurrent, VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, + TempFix1616); + + TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616( + presults_data->peak_signal_count_rate_mcps); + VL53L1_SETARRAYPARAMETERFIELD(Dev, + LimitChecksCurrent, VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + TempFix1616); + + + + + + VL53L1_GetLimitCheckValue(Dev, + VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, + &LimitCheckValue); + + SigmaLimitflag = (FilteredRangeStatus == + VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK) + ? 1 : 0; + + VL53L1_GetLimitCheckEnable(Dev, + VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, + &Temp8Enable); + + Temp8 = ((Temp8Enable == 1) && (SigmaLimitflag == 1)) ? 1 : 0; + VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8); + + + + VL53L1_GetLimitCheckValue(Dev, + VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + &LimitCheckValue); + + SignalLimitflag = (FilteredRangeStatus == + VL53L1_DEVICEERROR_MSRCNOTARGET) + ? 1 : 0; + + VL53L1_GetLimitCheckEnable(Dev, + VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + &Temp8Enable); + + Temp8 = ((Temp8Enable == 1) && (SignalLimitflag == 1)) ? 1 : 0; + VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, Temp8); + + return Status; +} + + +static uint8_t GetOutputDataIndex(VL53L1_DEV Dev, + VL53L1_range_results_t *presults) +{ + uint8_t i; + uint8_t index = 0; + VL53L1_OutputModes OutputMode; + + OutputMode = PALDevDataGet(Dev, CurrentParameters.OutputMode); + + + + + if (OutputMode == VL53L1_OUTPUTMODE_NEAREST) + return 0; + + + + + + for (i = 1; i < presults->active_results; i++) { + if (presults->VL53L1_PRM_00005[i].peak_signal_count_rate_mcps > + presults->VL53L1_PRM_00005[index].peak_signal_count_rate_mcps) + index = i; + } + + return index; +} + +VL53L1_Error VL53L1_GetRangingMeasurementData(VL53L1_DEV Dev, + VL53L1_RangingMeasurementData_t *pRangingMeasurementData) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_range_results_t results; + VL53L1_range_results_t *presults = &results; + VL53L1_range_data_t *presults_data; + uint8_t index = 0; + int16_t dmax_min; + + LOG_FUNCTION_START(""); + + + + memset(pRangingMeasurementData, 0xFF, + sizeof(VL53L1_RangingMeasurementData_t)); + + + + Status = VL53L1_get_device_results( + Dev, + VL53L1_DEVICERESULTSLEVEL_FULL, + presults); + dmax_min = MIN(presults->wrap_dmax_mm, + presults->ambient_dmax_mm[DMAX_REFLECTANCE_IDX]); + + if (Status == VL53L1_ERROR_NONE) { + pRangingMeasurementData->StreamCount = presults->stream_count; + pRangingMeasurementData->DmaxMilliMeter = dmax_min; + + + + + index = GetOutputDataIndex(Dev, presults); + presults_data = &(presults->VL53L1_PRM_00005[index]); + Status = SetSimpleData(Dev, presults->active_results, + presults_data, + pRangingMeasurementData); + } + + if (Status == VL53L1_ERROR_NONE) { + CheckAndChangeDistanceMode(Dev, pRangingMeasurementData, + presults->ambient_dmax_mm[VL53L1_MAX_AMBIENT_DMAX_VALUES + - 1]); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +static VL53L1_Error SetMeasurementData(VL53L1_DEV Dev, + VL53L1_range_results_t *presults, + VL53L1_MultiRangingData_t *pMultiRangingData) +{ + uint8_t i; + uint8_t iteration; + VL53L1_RangingMeasurementData_t *pRangeData; + VL53L1_range_data_t *presults_data; + int16_t dmax_min; + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t index = 0; + + pMultiRangingData->NumberOfObjectsFound = presults->active_results; + pMultiRangingData->RoiNumber = presults->zone_id; + + dmax_min = MIN(presults->wrap_dmax_mm, + presults->ambient_dmax_mm[DMAX_REFLECTANCE_IDX]); + + + + + if (presults->active_results < 1) + iteration = 1; + else + iteration = presults->active_results; + + for (i = 0; i < iteration; i++) { + pRangeData = &(pMultiRangingData->RangeData[i]); + + presults_data = &(presults->VL53L1_PRM_00005[i]); + pRangeData->StreamCount = presults->stream_count; + pRangeData->DmaxMilliMeter = dmax_min; + + if (Status == VL53L1_ERROR_NONE) + Status = SetSimpleData(Dev, presults->active_results, + presults_data, + pRangeData); + } + + if (Status == VL53L1_ERROR_NONE) { + index = GetOutputDataIndex(Dev, presults); + pRangeData = &(pMultiRangingData->RangeData[index]); + CheckAndChangeDistanceMode(Dev, pRangeData, + presults->ambient_dmax_mm[ + VL53L1_MAX_AMBIENT_DMAX_VALUES - 1]); + } + + return Status; +} + +VL53L1_Error VL53L1_GetMultiRangingData(VL53L1_DEV Dev, + VL53L1_MultiRangingData_t *pMultiRangingData) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_range_results_t results; + VL53L1_range_results_t *presults = &results; + + LOG_FUNCTION_START(""); + + + + memset(pMultiRangingData, 0xFF, + sizeof(VL53L1_MultiRangingData_t)); + + + + Status = VL53L1_get_device_results( + Dev, + VL53L1_DEVICERESULTSLEVEL_FULL, + presults); + + + if (Status == VL53L1_ERROR_NONE) { + + switch (presults->rd_device_state) { + case VL53L1_DEVICESTATE_RANGING_GATHER_DATA: + pMultiRangingData->RoiStatus = + VL53L1_ROISTATUS_VALID_NOT_LAST; + break; + case VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA: + pMultiRangingData->RoiStatus = + VL53L1_ROISTATUS_VALID_LAST; + break; + default: + pMultiRangingData->RoiStatus = + VL53L1_ROISTATUS_NOT_VALID; + } + + Status = SetMeasurementData(Dev, + presults, + pMultiRangingData); + + } + + LOG_FUNCTION_END(Status); + return Status; +} + + + + + + + + + +VL53L1_Error VL53L1_PerformRefSpadManagement(VL53L1_DEV Dev) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_Error UnfilteredStatus; + + LOG_FUNCTION_START(""); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_run_ref_spad_char(Dev, &UnfilteredStatus); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetXTalkCompensationEnable(VL53L1_DEV Dev, + uint8_t XTalkCompensationEnable) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (XTalkCompensationEnable == 0) + Status = VL53L1_disable_xtalk_compensation(Dev); + else + Status = VL53L1_enable_xtalk_compensation(Dev); + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_GetXTalkCompensationEnable(VL53L1_DEV Dev, + uint8_t *pXTalkCompensationEnable) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + VL53L1_get_xtalk_compensation_enable( + Dev, + pXTalkCompensationEnable); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_PerformXTalkCalibration(VL53L1_DEV Dev, + uint8_t CalibrationOption) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_Error UnfilteredStatus; + uint32_t mm_config_timeout_us = 2000; + uint32_t range_config_timeout_us = 10000; + uint16_t dss_config__target_total_rate_mcps = 0x1400; + uint32_t phasecal_config_timeout_us = 4000; + uint8_t num_of_samples = 7; + + SUPPRESS_UNUSED_WARNING(CalibrationOption); + + LOG_FUNCTION_START(""); + + + + + + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_run_xtalk_extraction( + Dev, + dss_config__target_total_rate_mcps, + phasecal_config_timeout_us, + mm_config_timeout_us, + range_config_timeout_us, + num_of_samples, + &UnfilteredStatus); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetOffsetCalibrationMode(VL53L1_DEV Dev, + VL53L1_OffsetCalibrationModes OffsetCalibrationMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_OffsetCalibrationMode offset_cal_mode; + + LOG_FUNCTION_START(""); + + if (OffsetCalibrationMode == VL53L1_OFFSETCALIBRATIONMODE_STANDARD) { + offset_cal_mode = + VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD; + } else if (OffsetCalibrationMode == + VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY) { + offset_cal_mode = + VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY; + } else if (OffsetCalibrationMode == + VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE) { + offset_cal_mode = + VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM; + } else { + Status = VL53L1_ERROR_INVALID_PARAMS; + } + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_set_offset_calibration_mode(Dev, + offset_cal_mode); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetOffsetCorrectionMode(VL53L1_DEV Dev, + VL53L1_OffsetCorrectionModes OffsetCorrectionMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_OffsetCorrectionMode offset_cor_mode; + + LOG_FUNCTION_START(""); + + if (OffsetCorrectionMode == VL53L1_OFFSETCORRECTIONMODE_STANDARD) { + offset_cor_mode = + VL53L1_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS; + } else if (OffsetCorrectionMode == + VL53L1_OFFSETCORRECTIONMODE_PERZONE) { + offset_cor_mode = + VL53L1_OFFSETCORRECTIONMODE__PER_ZONE_OFFSETS; + } else { + Status = VL53L1_ERROR_INVALID_PARAMS; + } + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_set_offset_correction_mode(Dev, + offset_cor_mode); + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_PerformOffsetCalibration(VL53L1_DEV Dev, + int32_t CalDistanceMilliMeter, FixPoint1616_t CalReflectancePercent) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_Error UnfilteredStatus; + uint32_t range_config_timeout_us = 13000; + uint8_t pre_num_of_samples = 32; + uint8_t mm1_num_of_samples = 100; + uint8_t mm2_num_of_samples = 64; + uint16_t dss_config__target_total_rate_mcps = 0x1400; + uint32_t phasecal_config_timeout_us = 1000; + uint16_t CalReflectancePercent_int; + + + VL53L1_DevicePresetModes device_preset_mode; + VL53L1_DeviceZonePreset zone_preset; + VL53L1_zone_config_t zone_cfg; + uint32_t phasecal_config_timeout_us_pz; + uint32_t mm_config_timeout_us_pz; + uint32_t range_config_timeout_us_pz; + uint16_t num_of_samples; + VL53L1_OffsetCalibrationMode offset_cal_mode; + + LOG_FUNCTION_START(""); + + CalReflectancePercent_int = + VL53L1_FIXPOINT1616TOFIXPOINT72(CalReflectancePercent); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_get_offset_calibration_mode(Dev, + &offset_cal_mode); + + if ((offset_cal_mode == + VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD) || + (offset_cal_mode == + VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY)) { + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_run_offset_calibration( + Dev, + dss_config__target_total_rate_mcps, + phasecal_config_timeout_us, + range_config_timeout_us, + pre_num_of_samples, + mm1_num_of_samples, + mm2_num_of_samples, + (int16_t)CalDistanceMilliMeter, + CalReflectancePercent_int, + &UnfilteredStatus); + + } else if (offset_cal_mode == + VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM) { + + device_preset_mode = + VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_LONG_RANGE; + zone_preset = VL53L1_DEVICEZONEPRESET_CUSTOM; + phasecal_config_timeout_us_pz = 4000; + mm_config_timeout_us_pz = 2000; + range_config_timeout_us_pz = 10000; + num_of_samples = 64; + + Status = VL53L1_get_zone_config(Dev, &zone_cfg); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_run_zone_calibration( + Dev, + device_preset_mode, + zone_preset, + &zone_cfg, + dss_config__target_total_rate_mcps, + phasecal_config_timeout_us_pz, + mm_config_timeout_us_pz, + range_config_timeout_us_pz, + num_of_samples, + (int16_t)CalDistanceMilliMeter, + CalReflectancePercent_int, + &UnfilteredStatus); + + } else { + Status = VL53L1_ERROR_INVALID_PARAMS; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetCalibrationData(VL53L1_DEV Dev, + VL53L1_CalibrationData_t *pCalibrationData) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_set_part_to_part_data( + Dev, pCalibrationData); + + LOG_FUNCTION_END(Status); + return Status; + +} + +VL53L1_Error VL53L1_GetCalibrationData(VL53L1_DEV Dev, + VL53L1_CalibrationData_t *pCalibrationData) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_part_to_part_data( + Dev, pCalibrationData); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetOpticalCenter(VL53L1_DEV Dev, + uint8_t *pOpticalCenterX, uint8_t *pOpticalCenterY) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_CalibrationData_t CalibrationData; + + LOG_FUNCTION_START(""); + + *pOpticalCenterX = 0; + *pOpticalCenterY = 0; + Status = VL53L1_get_part_to_part_data(Dev, &CalibrationData); + if (Status == VL53L1_ERROR_NONE) { + *pOpticalCenterX = CalibrationData.mm_roi.x_centre; + *pOpticalCenterY = CalibrationData.mm_roi.y_centre; + } + + LOG_FUNCTION_END(Status); + return Status; +} + + + + + + + + +VL53L1_Error VL53L1_SetThresholdConfig(VL53L1_DEV Dev, + VL53L1_DetectionConfig_t *pConfig) +{ +#define BADTHRESBOUNDS(T) \ + (((T.CrossMode == VL53L1_THRESHOLD_OUT_OF_WINDOW) || \ + (T.CrossMode == VL53L1_THRESHOLD_IN_WINDOW)) && (T.Low > T.High)) + + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_GPIO_interrupt_config_t Cfg; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_GPIO_interrupt_config(Dev, &Cfg); + if (Status == VL53L1_ERROR_NONE) { + if (pConfig->DetectionMode == VL53L1_DETECTION_NORMAL_RUN) { + Cfg.intr_new_measure_ready = 1; + Status = VL53L1_set_GPIO_interrupt_config_struct(Dev, + Cfg); + } else { + if (BADTHRESBOUNDS(pConfig->Distance)) + Status = VL53L1_ERROR_INVALID_PARAMS; + if ((Status == VL53L1_ERROR_NONE) && + (BADTHRESBOUNDS(pConfig->Rate))) + Status = VL53L1_ERROR_INVALID_PARAMS; + if (Status == VL53L1_ERROR_NONE) { + Cfg.intr_new_measure_ready = 0; + Cfg.intr_no_target = pConfig->IntrNoTarget; + Cfg.threshold_distance_high = + pConfig->Distance.High; + Cfg.threshold_distance_low = + pConfig->Distance.Low; + Cfg.threshold_rate_high = + VL53L1_FIXPOINT1616TOFIXPOINT97( + pConfig->Rate.High); + Cfg.threshold_rate_low = + VL53L1_FIXPOINT1616TOFIXPOINT97( + pConfig->Rate.Low); + + Cfg.intr_mode_distance = ConvertModeToLLD( + &Status, + pConfig->Distance.CrossMode); + if (Status == VL53L1_ERROR_NONE) + Cfg.intr_mode_rate = ConvertModeToLLD( + &Status, + pConfig->Rate.CrossMode); + } + + + + if (Status == VL53L1_ERROR_NONE) { + Cfg.intr_combined_mode = 1; + switch (pConfig->DetectionMode) { + case VL53L1_DETECTION_DISTANCE_ONLY: + Cfg.threshold_rate_high = 0; + Cfg.threshold_rate_low = 0; + break; + case VL53L1_DETECTION_RATE_ONLY: + Cfg.threshold_distance_high = 0; + Cfg.threshold_distance_low = 0; + break; + case VL53L1_DETECTION_DISTANCE_OR_RATE: + + + + + break; + case VL53L1_DETECTION_DISTANCE_AND_RATE: + Cfg.intr_combined_mode = 0; + break; + default: + Status = VL53L1_ERROR_INVALID_PARAMS; + } + } + + if (Status == VL53L1_ERROR_NONE) + Status = + VL53L1_set_GPIO_interrupt_config_struct(Dev, + Cfg); + + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_GetThresholdConfig(VL53L1_DEV Dev, + VL53L1_DetectionConfig_t *pConfig) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_GPIO_interrupt_config_t Cfg; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_GPIO_interrupt_config(Dev, &Cfg); + + if (Status != VL53L1_ERROR_NONE) { + LOG_FUNCTION_END(Status); + return Status; + } + + pConfig->IntrNoTarget = Cfg.intr_no_target; + pConfig->Distance.High = Cfg.threshold_distance_high; + pConfig->Distance.Low = Cfg.threshold_distance_low; + pConfig->Rate.High = + VL53L1_FIXPOINT97TOFIXPOINT1616( + Cfg.threshold_rate_high); + pConfig->Rate.Low = + VL53L1_FIXPOINT97TOFIXPOINT1616(Cfg.threshold_rate_low); + pConfig->Distance.CrossMode = + ConvertModeFromLLD(&Status, Cfg.intr_mode_distance); + if (Status == VL53L1_ERROR_NONE) + pConfig->Rate.CrossMode = + ConvertModeFromLLD(&Status, Cfg.intr_mode_rate); + + if (Cfg.intr_new_measure_ready == 1) { + pConfig->DetectionMode = VL53L1_DETECTION_NORMAL_RUN; + } else { + + + if (Status == VL53L1_ERROR_NONE) { + if (Cfg.intr_combined_mode == 0) + pConfig->DetectionMode = + VL53L1_DETECTION_DISTANCE_AND_RATE; + else { + if ((Cfg.threshold_distance_high == 0) && + (Cfg.threshold_distance_low == 0)) + pConfig->DetectionMode = + VL53L1_DETECTION_RATE_ONLY; + else if ((Cfg.threshold_rate_high == 0) && + (Cfg.threshold_rate_low == 0)) + pConfig->DetectionMode = + VL53L1_DETECTION_DISTANCE_ONLY; + else + pConfig->DetectionMode = + VL53L1_DETECTION_DISTANCE_OR_RATE; + } + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + + + + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_api_calibration.c b/drivers/input/misc/vl53L1/src/vl53l1_api_calibration.c new file mode 100644 index 000000000000..b10b2935a25a --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_api_calibration.c @@ -0,0 +1,2617 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_ll_device.h" +#include "vl53l1_platform.h" +#include "vl53l1_platform_ipp.h" +#include "vl53l1_register_map.h" +#include "vl53l1_register_funcs.h" +#include "vl53l1_register_settings.h" +#include "vl53l1_hist_map.h" +#include "vl53l1_hist_structs.h" +#include "vl53l1_core.h" +#include "vl53l1_wait.h" +#include "vl53l1_api_preset_modes.h" +#include "vl53l1_fpga_core.h" +#include "vl53l1_silicon_core.h" +#include "vl53l1_api_core.h" +#include "vl53l1_api_calibration.h" + +#ifdef VL53L1_LOG_ENABLE + #include "vl53l1_api_debug.h" +#endif + + + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, \ + fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_CORE, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_run_ref_spad_char( + VL53L1_DEV Dev, + VL53L1_Error *pcal_status) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t comms_buffer[6]; + + VL53L1_refspadchar_config_t *prefspadchar = &(pdev->refspadchar); + + LOG_FUNCTION_START(""); + + + + + + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_enable_powerforce(Dev); + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_ref_spad_char_config( + Dev, + prefspadchar->VL53L1_PRM_00007, + prefspadchar->timeout_us, + prefspadchar->target_count_rate_mcps, + prefspadchar->max_count_rate_limit_mcps, + prefspadchar->min_count_rate_limit_mcps, + pdev->stat_nvm.osc_measured__fast_osc__frequency); + + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_run_device_test( + Dev, + prefspadchar->device_test_mode); + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_ReadMulti( + Dev, + VL53L1_REF_SPAD_CHAR_RESULT__NUM_ACTUAL_REF_SPADS, + comms_buffer, + 2); + + if (status == VL53L1_ERROR_NONE) { + pdev->dbg_results.ref_spad_char_result__num_actual_ref_spads = + comms_buffer[0]; + pdev->dbg_results.ref_spad_char_result__ref_location = + comms_buffer[1]; + } + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WriteMulti( + Dev, + VL53L1_REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS, + comms_buffer, + 2); + + if (status == VL53L1_ERROR_NONE) { + pdev->customer.ref_spad_man__num_requested_ref_spads = + comms_buffer[0]; + pdev->customer.ref_spad_man__ref_location = + comms_buffer[1]; + } + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_ReadMulti( + Dev, + VL53L1_RESULT__SPARE_0_SD1, + comms_buffer, + 6); + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WriteMulti( + Dev, + VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0, + comms_buffer, + 6); + + if (status == VL53L1_ERROR_NONE) { + pdev->customer.global_config__spad_enables_ref_0 = + comms_buffer[0]; + pdev->customer.global_config__spad_enables_ref_1 = + comms_buffer[1]; + pdev->customer.global_config__spad_enables_ref_2 = + comms_buffer[2]; + pdev->customer.global_config__spad_enables_ref_3 = + comms_buffer[3]; + pdev->customer.global_config__spad_enables_ref_4 = + comms_buffer[4]; + pdev->customer.global_config__spad_enables_ref_5 = + comms_buffer[5]; + } + +#ifdef VL53L1_LOG_ENABLE + + + if (status == VL53L1_ERROR_NONE) + VL53L1_print_customer_nvm_managed( + &(pdev->customer), + "run_ref_spad_char():pdev->lldata.customer.", + VL53L1_TRACE_MODULE_REF_SPAD_CHAR); +#endif + + if (status == VL53L1_ERROR_NONE) { + + switch (pdev->sys_results.result__range_status) { + + case VL53L1_DEVICEERROR_REFSPADCHARNOTENOUGHDPADS: + status = VL53L1_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS; + break; + + case VL53L1_DEVICEERROR_REFSPADCHARMORETHANTARGET: + status = VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH; + break; + + case VL53L1_DEVICEERROR_REFSPADCHARLESSTHANTARGET: + status = VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW; + break; + } + } + + + + + + + *pcal_status = status; + + + + + IGNORE_STATUS( + IGNORE_REF_SPAD_CHAR_NOT_ENOUGH_SPADS, + VL53L1_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS, + status); + + IGNORE_STATUS( + IGNORE_REF_SPAD_CHAR_RATE_TOO_HIGH, + VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH, + status); + + IGNORE_STATUS( + IGNORE_REF_SPAD_CHAR_RATE_TOO_LOW, + VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW, + status); + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_run_xtalk_extraction( + VL53L1_DEV Dev, + uint16_t dss_config__target_total_rate_mcps, + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us, + uint8_t num_of_samples, + VL53L1_Error *pcal_status) +{ + + + + + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + + + + + + uint8_t results_invalid = 0; + + uint8_t i = 0; + uint8_t measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + + LOG_FUNCTION_START(""); + + + + + + + + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->xtalk_results.central_histogram_avg)); + + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->xtalk_results.central_histogram_sum)); + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) + + status = + VL53L1_set_preset_mode( + Dev, + VL53L1_DEVICEPRESETMODE_HISTOGRAM_XTALK_PLANAR, + dss_config__target_total_rate_mcps, + phasecal_config_timeout_us, + mm_config_timeout_us, + range_config_timeout_us, + 100); + + + + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_disable_xtalk_compensation( + Dev); + } + + + + + + + pdev->xtalk_results.max_results = VL53L1_MAX_XTALK_RANGE_RESULTS; + pdev->xtalk_results.active_results = pdev->zone_cfg.active_zones+1; + + + + + pdev->xtalk_results.central_histogram__window_start = 0xFF; + pdev->xtalk_results.central_histogram__window_end = 0x00; + + pdev->xtalk_results.num_of_samples_status = 0x00; + pdev->xtalk_results.zero_samples_status = 0x00; + pdev->xtalk_results.max_sigma_status = 0x00; + + for (i = 0 ; i < pdev->xtalk_results.max_results ; i++) { + pdev->xtalk_results.VL53L1_PRM_00005[i].no_of_samples = 0; + pdev->xtalk_results.VL53L1_PRM_00005[i].signal_total_events_avg = 0; + pdev->xtalk_results.VL53L1_PRM_00005[i].signal_total_events_sum = 0; + pdev->xtalk_results.VL53L1_PRM_00005[i].rate_per_spad_kcps_sum = 0; + pdev->xtalk_results.VL53L1_PRM_00005[i].rate_per_spad_kcps_avg = 0; + pdev->xtalk_results.VL53L1_PRM_00005[i].sigma_mm_sum = 0; + pdev->xtalk_results.VL53L1_PRM_00005[i].sigma_mm_avg = 0; + } + + + + + if (status == VL53L1_ERROR_NONE) { + + status = VL53L1_get_and_avg_xtalk_samples( + Dev, + num_of_samples, + measurement_mode, + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_range_mm, + pdev->xtalk_cfg.algo__crosstalk_detect_min_valid_range_mm, + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_rate_kcps, + 0x0, + + 0x4, + + &(pdev->xtalk_results), + &(pdev->xtalk_results.central_histogram_sum), + &(pdev->xtalk_results.central_histogram_avg)); + } + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) { + if ((pdev->xtalk_results.VL53L1_PRM_00005[4].no_of_samples == 0) || + (pdev->xtalk_results.VL53L1_PRM_00005[4].sigma_mm_avg > + pdev->xtalk_cfg.algo__crosstalk_detect_max_sigma_mm)) { + results_invalid = 0x01; + } + } + +#ifdef VL53L1_LOG_ENABLE + if (status == VL53L1_ERROR_NONE) + VL53L1_print_xtalk_range_results( + &(pdev->xtalk_results), + "pdev->xtalk_results", + VL53L1_TRACE_MODULE_CORE); +#endif + + + if (status == VL53L1_ERROR_NONE) { + + if (results_invalid == 0) { + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_ipp_xtalk_calibration_process_data( + Dev, + &(pdev->xtalk_results), + &(pdev->xtalk_shapes), + &(pdev->xtalk_cal)); + + if (status == VL53L1_ERROR_NONE) { + + pdev->xtalk_cfg.algo__crosstalk_compensation_x_plane_gradient_kcps = + pdev->xtalk_cal.algo__crosstalk_compensation_x_plane_gradient_kcps; + pdev->xtalk_cfg.algo__crosstalk_compensation_y_plane_gradient_kcps = + pdev->xtalk_cal.algo__crosstalk_compensation_y_plane_gradient_kcps; + pdev->xtalk_cfg.algo__crosstalk_compensation_plane_offset_kcps = + pdev->xtalk_cal.algo__crosstalk_compensation_plane_offset_kcps; + + + } + + + } + } + + + + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_enable_xtalk_compensation( + Dev); + } + + + + + if (status == VL53L1_ERROR_NONE) { + + for (i = 0 ; i < pdev->xtalk_results.max_results ; i++) { + + + if (pdev->xtalk_results.VL53L1_PRM_00005[i].no_of_samples != + num_of_samples) { + pdev->xtalk_results.num_of_samples_status = + pdev->xtalk_results.num_of_samples_status | + (1 << i); + } + + + if (pdev->xtalk_results.VL53L1_PRM_00005[i].no_of_samples == + 0x00) { + pdev->xtalk_results.zero_samples_status = + pdev->xtalk_results.zero_samples_status | + (1 << i); + } + + + + + + + + + + if (pdev->xtalk_results.VL53L1_PRM_00005[i].sigma_mm_avg > + pdev->xtalk_cfg.algo__crosstalk_detect_max_sigma_mm) { + pdev->xtalk_results.max_sigma_status = + pdev->xtalk_results.max_sigma_status | + (1 << i); + } + } + } + + + + + + + + + + + + + + if (results_invalid > 0) { + + + if (pdev->xtalk_results.VL53L1_PRM_00005[4].no_of_samples == 0) { + status = VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL; + } else { + if (pdev->xtalk_results.VL53L1_PRM_00005[4].sigma_mm_avg > + pdev->xtalk_cfg.algo__crosstalk_detect_max_sigma_mm) { + status = VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL; + } + } + } else { + + + if (pdev->xtalk_results.zero_samples_status != 0x00) { + status = VL53L1_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT; + } else { + if (pdev->xtalk_results.max_sigma_status != 0x00) { + status = VL53L1_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT; + } else { + if (pdev->xtalk_results.num_of_samples_status != + 0x00) { + status = VL53L1_WARNING_XTALK_MISSING_SAMPLES; + } + } + } + } + + + + + + + pdev->xtalk_results.cal_status = status; + *pcal_status = pdev->xtalk_results.cal_status; + + + + + IGNORE_STATUS( + IGNORE_XTALK_EXTRACTION_NO_SAMPLE_FAIL, + VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL, + status); + + IGNORE_STATUS( + IGNORE_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL, + VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL, + status); + + IGNORE_STATUS( + IGNORE_XTALK_EXTRACTION_NO_SAMPLE_FOR_GRADIENT_WARN, + VL53L1_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT, + status); + + IGNORE_STATUS( + IGNORE_XTALK_EXTRACTION_SIGMA_LIMIT_FOR_GRADIENT_WARN, + VL53L1_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT, + status); + + IGNORE_STATUS( + IGNORE_XTALK_EXTRACTION_MISSING_SAMPLES_WARN, + VL53L1_WARNING_XTALK_MISSING_SAMPLES, + status); + +#ifdef VL53L1_LOG_ENABLE + + + + + VL53L1_print_customer_nvm_managed( + &(pdev->customer), + "run_xtalk_extraction():pdev->lldata.customer.", + VL53L1_TRACE_MODULE_XTALK_DATA); + + VL53L1_print_xtalk_config( + &(pdev->xtalk_cfg), + "run_xtalk_extraction():pdev->lldata.xtalk_cfg.", + VL53L1_TRACE_MODULE_XTALK_DATA); + + VL53L1_print_histogram_bin_data( + &(pdev->hist_data), + "run_xtalk_extraction():pdev->lldata.hist_data.", + VL53L1_TRACE_MODULE_XTALK_DATA); + + VL53L1_print_xtalk_histogram_data( + &(pdev->xtalk_shapes), + "pdev->lldata.xtalk_shapes.", + VL53L1_TRACE_MODULE_XTALK_DATA); + + VL53L1_print_xtalk_range_results( + &(pdev->xtalk_results), + "run_xtalk_extraction():pdev->lldata.xtalk_results.", + VL53L1_TRACE_MODULE_XTALK_DATA); + +#endif + + LOG_FUNCTION_END(status); + + return status; + +} + + + +VL53L1_Error VL53L1_run_xtalk_extraction_dual_reflectance( + VL53L1_DEV Dev, + uint16_t dss_config__target_total_rate_mcps, + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us, + uint8_t num_of_samples, + uint8_t calc_parms, + uint8_t higher_reflectance, + uint16_t expected_target_distance_mm, + uint16_t xtalk_filter_thresh_mm, + VL53L1_Error *pcal_status) +{ + + + + + + + + + + + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + + + + + + VL53L1_histogram_bin_data_t *pxtalk_avg_samples = &(pdev->xtalk_results.xtalk_avg[0]); + + VL53L1_range_results_t results_int; + VL53L1_range_results_t *presults_int = &(results_int); + + VL53L1_range_data_t *prange_data = &(presults_int->VL53L1_PRM_00005[0]); + + uint8_t results_invalid = 0; + + uint8_t i = 0; + uint8_t measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + + LOG_FUNCTION_START(""); + + + + + + + + if (calc_parms == 0x00) { + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->xtalk_results.histogram_avg_1[0])); + + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->xtalk_results.histogram_avg_1[1])); + + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->xtalk_results.histogram_avg_1[2])); + + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->xtalk_results.histogram_avg_1[3])); + + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->xtalk_results.histogram_avg_1[4])); + } + + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->xtalk_results.histogram_avg_2[0])); + + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->xtalk_results.histogram_avg_2[1])); + + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->xtalk_results.histogram_avg_2[2])); + + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->xtalk_results.histogram_avg_2[3])); + + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->xtalk_results.histogram_avg_2[4])); + + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) + + status = + VL53L1_set_preset_mode( + Dev, + VL53L1_DEVICEPRESETMODE_HISTOGRAM_XTALK_PLANAR, + dss_config__target_total_rate_mcps, + phasecal_config_timeout_us, + mm_config_timeout_us, + range_config_timeout_us, + 100); + + + + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_disable_xtalk_compensation( + Dev); + } + + + + + + + pdev->xtalk_results.max_results = VL53L1_MAX_XTALK_RANGE_RESULTS; + pdev->xtalk_results.active_results = pdev->zone_cfg.active_zones+1; + + for (i = 0 ; i < pdev->xtalk_results.max_results ; i++) { + pdev->xtalk_results.VL53L1_PRM_00005[i].no_of_samples = 0; + pdev->xtalk_results.VL53L1_PRM_00005[i].signal_total_events_avg = 0; + pdev->xtalk_results.VL53L1_PRM_00005[i].signal_total_events_sum = 0; + pdev->xtalk_results.VL53L1_PRM_00005[i].rate_per_spad_kcps_sum = 0; + pdev->xtalk_results.VL53L1_PRM_00005[i].rate_per_spad_kcps_avg = 0; + } + + + + + if ((status == VL53L1_ERROR_NONE) && + (calc_parms == 0x00)) { + + status = VL53L1_get_and_avg_all_xtalk_samples( + Dev, + num_of_samples, + measurement_mode, + xtalk_filter_thresh_mm, + &(pdev->xtalk_results), + &(pdev->xtalk_results.histogram_avg_1[0]), + &(pdev->xtalk_results.histogram_avg_1[1]), + &(pdev->xtalk_results.histogram_avg_1[2]), + &(pdev->xtalk_results.histogram_avg_1[3]), + &(pdev->xtalk_results.histogram_avg_1[4]) + ); + + } else { + + status = VL53L1_get_and_avg_all_xtalk_samples( + Dev, + num_of_samples, + measurement_mode, + xtalk_filter_thresh_mm, + &(pdev->xtalk_results), + &(pdev->xtalk_results.histogram_avg_2[0]), + &(pdev->xtalk_results.histogram_avg_2[1]), + &(pdev->xtalk_results.histogram_avg_2[2]), + &(pdev->xtalk_results.histogram_avg_2[3]), + &(pdev->xtalk_results.histogram_avg_2[4]) + ); + } + + + + + if ((status == VL53L1_ERROR_NONE) && + (calc_parms == 0x01)) { + status = VL53L1_ipp_generate_dual_reflectance_xtalk_samples( + Dev, + &(pdev->xtalk_results), + expected_target_distance_mm, + higher_reflectance, + &(pdev->xtalk_results.xtalk_avg[0])); + } + + + + + for (i = 0 ; i < 5 ; i++) { + + if ((status == VL53L1_ERROR_NONE) && + (calc_parms == 0x01)) { + + status = VL53L1_ipp_hist_process_data( + Dev, + &(pdev->fmt_dmax_cal), + &(pdev->dmax_cfg), + &(pdev->histpostprocess), + &(pxtalk_avg_samples[i]), + &(pdev->xtalk_shapes), + presults_int); + } + + if (status == VL53L1_ERROR_NONE) { + if ((presults_int->active_results > 0) && + (prange_data->median_range_mm < + (int16_t)xtalk_filter_thresh_mm)) { + + pdev->xtalk_results.VL53L1_PRM_00005[i].no_of_samples++; + + pdev->xtalk_results.VL53L1_PRM_00005[i].rate_per_spad_kcps_avg = + prange_data->VL53L1_PRM_00008; + + pdev->xtalk_results.VL53L1_PRM_00005[i].signal_total_events_avg = + prange_data->VL53L1_PRM_00009; + } + } + } + + + + + memcpy(&(pdev->xtalk_results.central_histogram_avg), + &(pxtalk_avg_samples[4]), + sizeof(VL53L1_histogram_bin_data_t)); + + + + + + + + + + + if ((status == VL53L1_ERROR_NONE) && + (calc_parms == 0x01)) { + if (pdev->xtalk_results.VL53L1_PRM_00005[4].no_of_samples == 0) { + results_invalid = 0x01; + } + } + + +#ifdef VL53L1_LOG_ENABLE + if (status == VL53L1_ERROR_NONE) + VL53L1_print_xtalk_range_results( + &(pdev->xtalk_results), + "pdev->xtalk_results", + VL53L1_TRACE_MODULE_CORE); +#endif + + + if ((status == VL53L1_ERROR_NONE) && + (calc_parms == 0x01)) { + + if (results_invalid == 0) { + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_ipp_xtalk_calibration_process_data( + Dev, + &(pdev->xtalk_results), + &(pdev->xtalk_shapes), + &(pdev->xtalk_cal)); + + if (status == VL53L1_ERROR_NONE) { + + pdev->xtalk_cfg.algo__crosstalk_compensation_x_plane_gradient_kcps = + pdev->xtalk_cal.algo__crosstalk_compensation_x_plane_gradient_kcps; + pdev->xtalk_cfg.algo__crosstalk_compensation_y_plane_gradient_kcps = + pdev->xtalk_cal.algo__crosstalk_compensation_y_plane_gradient_kcps; + pdev->xtalk_cfg.algo__crosstalk_compensation_plane_offset_kcps = + pdev->xtalk_cal.algo__crosstalk_compensation_plane_offset_kcps; + + + } + + + } + } + + + + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_enable_xtalk_compensation( + Dev); + } + + + + + if (results_invalid > 0) + status = VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL; + + + + + + + pdev->xtalk_results.cal_status = status; + *pcal_status = pdev->xtalk_results.cal_status; + + + + + IGNORE_STATUS( + IGNORE_XTALK_EXTRACTION_NO_SAMPLE_FAIL, + VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL, + status); + +#ifdef VL53L1_LOG_ENABLE + + + + + VL53L1_print_customer_nvm_managed( + &(pdev->customer), + "pdev->lldata.customer.", + VL53L1_TRACE_MODULE_XTALK_DATA); + + VL53L1_print_xtalk_config( + &(pdev->xtalk_cfg), + "pdev->lldata.xtalk_cfg.", + VL53L1_TRACE_MODULE_XTALK_DATA); + + VL53L1_print_histogram_bin_data( + &(pdev->hist_data), + "pdev->lldata.hist_data.", + VL53L1_TRACE_MODULE_XTALK_DATA); + + VL53L1_print_xtalk_histogram_data( + &(pdev->xtalk_shapes), + "pdev->lldata.xtalk_shapes.", + VL53L1_TRACE_MODULE_XTALK_DATA); + + VL53L1_print_xtalk_range_results( + &(pdev->xtalk_results), + "pdev->lldata.xtalk_results.", + VL53L1_TRACE_MODULE_XTALK_DATA); + +#endif + + LOG_FUNCTION_END(status); + + return status; + +} + + + +VL53L1_Error VL53L1_get_and_avg_xtalk_samples( + VL53L1_DEV Dev, + uint8_t num_of_samples, + uint8_t measurement_mode, + int16_t xtalk_filter_thresh_max_mm, + int16_t xtalk_filter_thresh_min_mm, + uint16_t xtalk_max_valid_rate_kcps, + uint8_t xtalk_result_id, + uint8_t xtalk_histo_id, + VL53L1_xtalk_range_results_t *pxtalk_results, + VL53L1_histogram_bin_data_t *psum_histo, + VL53L1_histogram_bin_data_t *pavg_histo) +{ + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + +#ifdef VL53L1_LOG_ENABLE + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); +#endif + + VL53L1_range_results_t range_results; + VL53L1_range_results_t *prange_results = &range_results; + + VL53L1_range_data_t *prange_data; + VL53L1_xtalk_range_data_t *pxtalk_range_data; + + uint8_t i = 0; + uint8_t j = 0; + uint8_t zone_id = 0; + uint8_t final_zone = pdev->zone_cfg.active_zones+1; + + + + + if (status == VL53L1_ERROR_NONE) + + status = + VL53L1_init_and_start_range( + Dev, + measurement_mode, + VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS); + + + for (i = 0 ; i <= (final_zone*num_of_samples) ; i++) { + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_wait_for_range_completion(Dev); + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_get_device_results( + Dev, + VL53L1_DEVICERESULTSLEVEL_FULL, + prange_results); + + + + + + + if (status == VL53L1_ERROR_NONE && + pdev->ll_state.rd_device_state != + VL53L1_DEVICESTATE_RANGING_WAIT_GPH_SYNC) { + + zone_id = pdev->ll_state.rd_zone_id + xtalk_result_id; + prange_data = &(prange_results->VL53L1_PRM_00005[0]); + + + + if (prange_results->active_results > 1) { + for (j = 1 ; j < prange_results->active_results ; j++) { + + if (prange_results->VL53L1_PRM_00005[j].median_range_mm < + prange_data->median_range_mm){ + prange_data = &(prange_results->VL53L1_PRM_00005[j]); + } + } + } + + pxtalk_range_data = &(pxtalk_results->VL53L1_PRM_00005[zone_id]); + + + + + + if ((prange_results->active_results > 0) && + (prange_data->median_range_mm < + xtalk_filter_thresh_max_mm) && + (prange_data->median_range_mm > + xtalk_filter_thresh_min_mm) && + (prange_data->VL53L1_PRM_00008 < + (uint32_t)(xtalk_max_valid_rate_kcps * 16))) { + + pxtalk_range_data->no_of_samples++; + + pxtalk_range_data->rate_per_spad_kcps_sum += + prange_data->VL53L1_PRM_00008; + + pxtalk_range_data->signal_total_events_sum += + prange_data->VL53L1_PRM_00009; + + pxtalk_range_data->sigma_mm_sum += + prange_data->VL53L1_PRM_00004; + + + + + + + + + if (zone_id >= 4) { + status = VL53L1_sum_histogram_data( + &(pdev->hist_data), + psum_histo); + + + + + + if (prange_data->VL53L1_PRM_00010 < + pxtalk_results->central_histogram__window_start) { + pxtalk_results->central_histogram__window_start = + prange_data->VL53L1_PRM_00010; + } + + + + if (prange_data->VL53L1_PRM_00011 > + pxtalk_results->central_histogram__window_end) { + pxtalk_results->central_histogram__window_end = + prange_data->VL53L1_PRM_00011; + } + + } + } + } + + + + + + + +#ifdef VL53L1_LOG_ENABLE + if ((status == VL53L1_ERROR_NONE)) { + VL53L1_print_range_results( + &(pres->range_results), + "pres->range_results.", + VL53L1_TRACE_MODULE_CORE); + } +#endif + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_wait_for_firmware_ready(Dev); + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_clear_interrupt_and_enable_next_range( + Dev, + measurement_mode); + + + } + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_stop_range(Dev); + + + + + + for (i = 0 ; i < (pdev->zone_cfg.active_zones+1) ; i++) { + + pxtalk_range_data = &(pxtalk_results->VL53L1_PRM_00005[i+xtalk_result_id]); + + if (pxtalk_range_data->no_of_samples > 0) { + pxtalk_range_data->rate_per_spad_kcps_avg = + pxtalk_range_data->rate_per_spad_kcps_sum / + (uint32_t)pxtalk_range_data->no_of_samples; + + pxtalk_range_data->signal_total_events_avg = + pxtalk_range_data->signal_total_events_sum / + (int32_t)pxtalk_range_data->no_of_samples; + + pxtalk_range_data->sigma_mm_avg = + pxtalk_range_data->sigma_mm_sum / + (uint32_t)pxtalk_range_data->no_of_samples; + + } else { + pxtalk_range_data->rate_per_spad_kcps_avg = + pxtalk_range_data->rate_per_spad_kcps_sum; + pxtalk_range_data->signal_total_events_avg = + pxtalk_range_data->signal_total_events_sum; + pxtalk_range_data->sigma_mm_avg = + pxtalk_range_data->sigma_mm_sum; + } + } + + + + + memcpy(pavg_histo, &(pdev->hist_data), sizeof(VL53L1_histogram_bin_data_t)); + + + + + if (status == VL53L1_ERROR_NONE) { + + pxtalk_range_data = &(pxtalk_results->VL53L1_PRM_00005[xtalk_histo_id]); + + status = VL53L1_avg_histogram_data( + pxtalk_range_data->no_of_samples, + psum_histo, + pavg_histo); + } + + + LOG_FUNCTION_END(status); + + return status; + +} + + + +VL53L1_Error VL53L1_get_and_avg_all_xtalk_samples( + VL53L1_DEV Dev, + uint8_t num_of_samples, + uint8_t measurement_mode, + int16_t xtalk_filter_thresh_mm, + VL53L1_xtalk_range_results_t *pxtalk_results, + VL53L1_histogram_bin_data_t *pavg_histo_z0, + VL53L1_histogram_bin_data_t *pavg_histo_z1, + VL53L1_histogram_bin_data_t *pavg_histo_z2, + VL53L1_histogram_bin_data_t *pavg_histo_z3, + VL53L1_histogram_bin_data_t *pavg_histo_z4) +{ + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + + + + + + VL53L1_range_results_t range_results; + VL53L1_range_results_t *prange_results = &range_results; + + VL53L1_range_data_t *prange_data; + + + VL53L1_histogram_bin_data_t z_sum[4]; + + VL53L1_histogram_bin_data_t *pz0_sum = &z_sum[0]; + VL53L1_histogram_bin_data_t *pz1_sum = &z_sum[1]; + VL53L1_histogram_bin_data_t *pz2_sum = &z_sum[2]; + VL53L1_histogram_bin_data_t *pz3_sum = &z_sum[3]; + VL53L1_histogram_bin_data_t *pz4_sum = &z_sum[4]; + + VL53L1_histogram_bin_data_t *pzcurrent_sum = &z_sum[0]; + + VL53L1_histogram_bin_data_t *pzcurrent_avg = pavg_histo_z0; + + uint8_t i = 0; + uint8_t zone_id = 0; + uint8_t final_zone = pdev->zone_cfg.active_zones+1; + + SUPPRESS_UNUSED_WARNING(pxtalk_results); + + + + + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + pz0_sum); + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + pz1_sum); + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + pz2_sum); + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + pz3_sum); + + + + + + if (status == VL53L1_ERROR_NONE) + + status = + VL53L1_init_and_start_range( + Dev, + measurement_mode, + VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS); + + + for (i = 0 ; i <= (final_zone*num_of_samples) ; i++) { + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_wait_for_range_completion(Dev); + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_get_device_results( + Dev, + VL53L1_DEVICERESULTSLEVEL_FULL, + prange_results); + + + + + + + if (status == VL53L1_ERROR_NONE && + pdev->ll_state.rd_device_state != + VL53L1_DEVICESTATE_RANGING_WAIT_GPH_SYNC) { + + zone_id = pdev->ll_state.rd_zone_id; + prange_data = &(prange_results->VL53L1_PRM_00005[0]); + + + + + + if ((prange_results->active_results > 0) && + (prange_data->median_range_mm < + (int16_t)xtalk_filter_thresh_mm)) { + + + + + switch (zone_id) { + case 0: + pzcurrent_sum = pz0_sum; + break; + case 1: + pzcurrent_sum = pz1_sum; + break; + case 2: + pzcurrent_sum = pz2_sum; + break; + case 3: + pzcurrent_sum = pz3_sum; + break; + case 4: + pzcurrent_sum = pz4_sum; + break; + default: + pzcurrent_sum = pz0_sum; + break; + } + + + + + + + status = VL53L1_sum_histogram_data( + &(pdev->hist_data), + pzcurrent_sum); + + + } + } + + + + + + + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_wait_for_firmware_ready(Dev); + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_clear_interrupt_and_enable_next_range( + Dev, + measurement_mode); + + + } + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_stop_range(Dev); + + + + + + memcpy(pavg_histo_z0, &(pdev->hist_data), sizeof(VL53L1_histogram_bin_data_t)); + memcpy(pavg_histo_z1, &(pdev->hist_data), sizeof(VL53L1_histogram_bin_data_t)); + memcpy(pavg_histo_z2, &(pdev->hist_data), sizeof(VL53L1_histogram_bin_data_t)); + memcpy(pavg_histo_z3, &(pdev->hist_data), sizeof(VL53L1_histogram_bin_data_t)); + memcpy(pavg_histo_z4, &(pdev->hist_data), sizeof(VL53L1_histogram_bin_data_t)); + + + + + + pzcurrent_sum = pz0_sum; + + for (i = 0 ; i < (pdev->zone_cfg.active_zones+1) ; i++) { + + switch (i) { + case 0: + pzcurrent_avg = pavg_histo_z0; + break; + case 1: + pzcurrent_avg = pavg_histo_z1; + break; + case 2: + pzcurrent_avg = pavg_histo_z2; + break; + case 3: + pzcurrent_avg = pavg_histo_z3; + break; + case 4: + pzcurrent_avg = pavg_histo_z4; + break; + default: + pzcurrent_avg = pavg_histo_z0; + break; + } + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_avg_histogram_data( + num_of_samples, + pzcurrent_sum, + pzcurrent_avg); + } + + pzcurrent_sum++; + + } + + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_run_offset_calibration( + VL53L1_DEV Dev, + uint16_t dss_config__target_total_rate_mcps, + uint32_t phasecal_config_timeout_us, + uint32_t range_config_timeout_us, + uint8_t pre_num_of_samples, + uint8_t mm1_num_of_samples, + uint8_t mm2_num_of_samples, + int16_t cal_distance_mm, + uint16_t cal_reflectance_pc, + VL53L1_Error *pcal_status) +{ + + + + + + + + + + + + + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + VL53L1_DevicePresetModes device_preset_modes[VL53L1_MAX_OFFSET_RANGE_RESULTS]; + + VL53L1_range_results_t range_results; + VL53L1_range_results_t *prange_results = &range_results; + VL53L1_range_data_t *prange_data = NULL; + VL53L1_offset_range_data_t *poffset = NULL; + + uint8_t i = 0; + uint8_t m = 0; + uint8_t measurement_mode = + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + uint16_t manual_effective_spads = + pdev->gen_cfg.dss_config__manual_effective_spads_select; + + uint8_t num_of_samples[VL53L1_MAX_OFFSET_RANGE_RESULTS]; + + LOG_FUNCTION_START(""); + + + + + switch (pdev->offset_calibration_mode) { + + case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM: + case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM_PRE_RANGE_ONLY: + device_preset_modes[0] = + VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING; + device_preset_modes[1] = + VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM1_CAL; + device_preset_modes[2] = + VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM2_CAL; + break; + + default: + device_preset_modes[0] = + VL53L1_DEVICEPRESETMODE_STANDARD_RANGING; + device_preset_modes[1] = + VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM1_CAL; + device_preset_modes[2] = + VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM2_CAL; + break; + } + + + + num_of_samples[0] = pre_num_of_samples; + num_of_samples[1] = mm1_num_of_samples; + num_of_samples[2] = mm2_num_of_samples; + + + + + switch (pdev->offset_calibration_mode) { + + case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY: + case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM_PRE_RANGE_ONLY: + + + pdev->offset_results.active_results = 1; + + break; + + default: + + pdev->customer.mm_config__inner_offset_mm = 0; + pdev->customer.mm_config__outer_offset_mm = 0; + pdev->offset_results.active_results = + VL53L1_MAX_OFFSET_RANGE_RESULTS; + + break; + } + + pdev->customer.algo__part_to_part_range_offset_mm = 0; + + + + + pdev->offset_results.max_results = VL53L1_MAX_OFFSET_RANGE_RESULTS; + pdev->offset_results.cal_distance_mm = cal_distance_mm; + pdev->offset_results.cal_reflectance_pc = cal_reflectance_pc; + + for (m = 0 ; m < VL53L1_MAX_OFFSET_RANGE_RESULTS; m++) { + + poffset = &(pdev->offset_results.VL53L1_PRM_00005[m]); + poffset->preset_mode = 0; + poffset->no_of_samples = 0; + poffset->effective_spads = 0; + poffset->peak_rate_mcps = 0; + poffset->VL53L1_PRM_00004 = 0; + poffset->median_range_mm = 0; + } + + for (m = 0 ; m < pdev->offset_results.active_results ; m++) { + + poffset = &(pdev->offset_results.VL53L1_PRM_00005[m]); + + poffset->preset_mode = device_preset_modes[m]; + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_preset_mode( + Dev, + device_preset_modes[m], + dss_config__target_total_rate_mcps, + phasecal_config_timeout_us, + range_config_timeout_us, + range_config_timeout_us, + 100); + + pdev->gen_cfg.dss_config__manual_effective_spads_select = + manual_effective_spads; + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_init_and_start_range( + Dev, + measurement_mode, + VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS); + + for (i = 0 ; i <= (num_of_samples[m]+2) ; i++) { + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_wait_for_range_completion(Dev); + + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_get_device_results( + Dev, + VL53L1_DEVICERESULTSLEVEL_FULL, + prange_results); + + + + + + + + + + prange_data = &(prange_results->VL53L1_PRM_00005[0]); + + if (prange_results->active_results > 0 && + prange_results->stream_count > 1) { + + if (prange_data->range_status == + VL53L1_DEVICEERROR_RANGECOMPLETE) { + + poffset->no_of_samples++; + poffset->effective_spads += + (uint32_t)prange_data->VL53L1_PRM_00003; + poffset->peak_rate_mcps += + (uint32_t)prange_data->peak_signal_count_rate_mcps; + poffset->VL53L1_PRM_00004 += + (uint32_t)prange_data->VL53L1_PRM_00004; + poffset->median_range_mm += + (int32_t)prange_data->median_range_mm; + + poffset->dss_config__roi_mode_control = + pdev->gen_cfg.dss_config__roi_mode_control; + poffset->dss_config__manual_effective_spads_select = + pdev->gen_cfg.dss_config__manual_effective_spads_select; + } + } + + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_wait_for_firmware_ready(Dev); + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_clear_interrupt_and_enable_next_range( + Dev, + measurement_mode); + } + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_stop_range(Dev); + + + + if (poffset->no_of_samples > 0) { + + poffset->effective_spads += (poffset->no_of_samples/2); + poffset->effective_spads /= poffset->no_of_samples; + + poffset->peak_rate_mcps += (poffset->no_of_samples/2); + poffset->peak_rate_mcps /= poffset->no_of_samples; + + poffset->VL53L1_PRM_00004 += (poffset->no_of_samples/2); + poffset->VL53L1_PRM_00004 /= poffset->no_of_samples; + + poffset->median_range_mm += (poffset->no_of_samples/2); + poffset->median_range_mm /= poffset->no_of_samples; + + poffset->range_mm_offset = (int32_t)cal_distance_mm; + poffset->range_mm_offset -= poffset->median_range_mm; + + + + if (poffset->preset_mode == + VL53L1_DEVICEPRESETMODE_STANDARD_RANGING) + manual_effective_spads = + (uint16_t)poffset->effective_spads; + } + } + + + + + switch (pdev->offset_calibration_mode) { + + case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY: + case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM_PRE_RANGE_ONLY: + + + + pdev->customer.mm_config__inner_offset_mm += + (int16_t)pdev->offset_results.VL53L1_PRM_00005[0].range_mm_offset; + pdev->customer.mm_config__outer_offset_mm += + (int16_t)pdev->offset_results.VL53L1_PRM_00005[0].range_mm_offset; + break; + + default: + + + pdev->customer.mm_config__inner_offset_mm = + (int16_t)pdev->offset_results.VL53L1_PRM_00005[1].range_mm_offset; + pdev->customer.mm_config__outer_offset_mm = + (int16_t)pdev->offset_results.VL53L1_PRM_00005[2].range_mm_offset; + pdev->customer.algo__part_to_part_range_offset_mm = 0; + + + + + + pdev->add_off_cal_data.result__mm_inner_actual_effective_spads = + (uint16_t)pdev->offset_results.VL53L1_PRM_00005[1].effective_spads; + pdev->add_off_cal_data.result__mm_outer_actual_effective_spads = + (uint16_t)pdev->offset_results.VL53L1_PRM_00005[2].effective_spads; + + pdev->add_off_cal_data.result__mm_inner_peak_signal_count_rtn_mcps = + (uint16_t)pdev->offset_results.VL53L1_PRM_00005[1].peak_rate_mcps; + pdev->add_off_cal_data.result__mm_outer_peak_signal_count_rtn_mcps = + (uint16_t)pdev->offset_results.VL53L1_PRM_00005[2].peak_rate_mcps; + + break; + } + + + + + + + + + + pdev->cust_dmax_cal.ref__actual_effective_spads = + (uint16_t)pdev->offset_results.VL53L1_PRM_00005[0].effective_spads; + pdev->cust_dmax_cal.ref__peak_signal_count_rate_mcps = + (uint16_t)pdev->offset_results.VL53L1_PRM_00005[0].peak_rate_mcps; + + + + pdev->cust_dmax_cal.ref__distance_mm = cal_distance_mm * 16; + + pdev->cust_dmax_cal.ref_reflectance_pc = cal_reflectance_pc; + pdev->cust_dmax_cal.coverglass_transmission = 0x0100; + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_customer_nvm_managed( + Dev, + &(pdev->customer)); + + + + + + + for (m = 0 ; m < pdev->offset_results.active_results ; m++) { + + poffset = &(pdev->offset_results.VL53L1_PRM_00005[m]); + + if (status == VL53L1_ERROR_NONE) { + + pdev->offset_results.cal_report = m; + + if (poffset->no_of_samples < num_of_samples[m]) + status = VL53L1_WARNING_OFFSET_CAL_MISSING_SAMPLES; + + + + + + + if (m == 0 && poffset->VL53L1_PRM_00004 > + VL53L1_OFFSET_CAL_MAX_SIGMA_MM) + status = VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH; + + if (poffset->peak_rate_mcps > + VL53L1_OFFSET_CAL_MAX_PRE_PEAK_RATE_MCPS) + status = VL53L1_WARNING_OFFSET_CAL_RATE_TOO_HIGH; + + if (poffset->dss_config__manual_effective_spads_select < + VL53L1_OFFSET_CAL_MIN_EFFECTIVE_SPADS) + status = VL53L1_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW; + + if (poffset->dss_config__manual_effective_spads_select == 0) + status = VL53L1_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL; + + if (poffset->no_of_samples == 0) + status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL; + } + } + + + + + + + pdev->offset_results.cal_status = status; + *pcal_status = pdev->offset_results.cal_status; + + + + + IGNORE_STATUS( + IGNORE_OFFSET_CAL_MISSING_SAMPLES, + VL53L1_WARNING_OFFSET_CAL_MISSING_SAMPLES, + status); + + IGNORE_STATUS( + IGNORE_OFFSET_CAL_SIGMA_TOO_HIGH, + VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH, + status); + + IGNORE_STATUS( + IGNORE_OFFSET_CAL_RATE_TOO_HIGH, + VL53L1_WARNING_OFFSET_CAL_RATE_TOO_HIGH, + status); + + IGNORE_STATUS( + IGNORE_OFFSET_CAL_SPAD_COUNT_TOO_LOW, + VL53L1_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW, + status); + +#ifdef VL53L1_LOG_ENABLE + + + + + VL53L1_print_customer_nvm_managed( + &(pdev->customer), + "run_offset_calibration():pdev->lldata.customer.", + VL53L1_TRACE_MODULE_OFFSET_DATA); + + VL53L1_print_dmax_calibration_data( + &(pdev->fmt_dmax_cal), + "run_offset_calibration():pdev->lldata.fmt_dmax_cal.", + VL53L1_TRACE_MODULE_OFFSET_DATA); + + VL53L1_print_dmax_calibration_data( + &(pdev->cust_dmax_cal), + "run_offset_calibration():pdev->lldata.cust_dmax_cal.", + VL53L1_TRACE_MODULE_OFFSET_DATA); + + VL53L1_print_additional_offset_cal_data( + &(pdev->add_off_cal_data), + "run_offset_calibration():pdev->lldata.add_off_cal_data.", + VL53L1_TRACE_MODULE_OFFSET_DATA); + + VL53L1_print_offset_range_results( + &(pdev->offset_results), + "run_offset_calibration():pdev->lldata.offset_results.", + VL53L1_TRACE_MODULE_OFFSET_DATA); +#endif + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_run_zone_calibration( + VL53L1_DEV Dev, + VL53L1_DevicePresetModes device_preset_mode, + VL53L1_DeviceZonePreset zone_preset, + VL53L1_zone_config_t *pzone_cfg, + uint16_t dss_config__target_total_rate_mcps, + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us, + uint16_t num_of_samples, + int16_t cal_distance_mm, + uint16_t cal_reflectance_pc, + VL53L1_Error *pcal_status) +{ + + + + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + VL53L1_range_results_t range_results; + VL53L1_range_results_t *prange_results = &range_results; + VL53L1_range_data_t *prange_data = NULL; + VL53L1_zone_calibration_data_t *pzone_data = NULL; + + uint16_t i = 0; + uint16_t m = 0; + + uint8_t z = 0; + uint8_t measurement_mode = + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + + VL53L1_OffsetCorrectionMode offset_cor_mode = + VL53L1_OFFSETCORRECTIONMODE__NONE; + + LOG_FUNCTION_START(""); + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_preset_mode( + Dev, + device_preset_mode, + dss_config__target_total_rate_mcps, + phasecal_config_timeout_us, + mm_config_timeout_us, + range_config_timeout_us, + 100); + + + + + if (zone_preset == VL53L1_DEVICEZONEPRESET_CUSTOM) { + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_zone_config( + Dev, + pzone_cfg); + + } else if (zone_preset != VL53L1_DEVICEZONEPRESET_NONE) { + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_zone_preset( + Dev, + zone_preset); + } + + + + + + + pres->zone_cal.preset_mode = device_preset_mode; + pres->zone_cal.zone_preset = zone_preset; + + + pres->zone_cal.cal_distance_mm = cal_distance_mm * 16; + pres->zone_cal.cal_reflectance_pc = cal_reflectance_pc; + pres->zone_cal.max_zones = VL53L1_MAX_USER_ZONES; + pres->zone_cal.active_zones = pdev->zone_cfg.active_zones + 1; + + for (i = 0 ; i < VL53L1_MAX_USER_ZONES ; i++) { + pres->zone_cal.VL53L1_PRM_00005[i].no_of_samples = 0; + pres->zone_cal.VL53L1_PRM_00005[i].effective_spads = 0; + pres->zone_cal.VL53L1_PRM_00005[i].peak_rate_mcps = 0; + pres->zone_cal.VL53L1_PRM_00005[i].VL53L1_PRM_00014 = 0; + pres->zone_cal.VL53L1_PRM_00005[i].VL53L1_PRM_00004 = 0; + pres->zone_cal.VL53L1_PRM_00005[i].median_range_mm = 0; + pres->zone_cal.VL53L1_PRM_00005[i].range_mm_offset = 0; + } + + pres->zone_cal.phasecal_result__reference_phase = 0; + pres->zone_cal.zero_distance_phase = 0; + + + + + + + + status = + VL53L1_get_offset_correction_mode( + Dev, + &offset_cor_mode); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_offset_correction_mode( + Dev, + VL53L1_OFFSETCORRECTIONMODE__NONE); + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_init_and_start_range( + Dev, + measurement_mode, + VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS); + + + + + m = (num_of_samples + 2) * (uint16_t)pres->zone_cal.active_zones; + + for (i = 0 ; i <= m ; i++) { + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_wait_for_range_completion(Dev); + + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_get_device_results( + Dev, + VL53L1_DEVICERESULTSLEVEL_FULL, + prange_results); + + + + + + + + + + prange_data = &(prange_results->VL53L1_PRM_00005[0]); + + if (prange_results->active_results > 0 && + i > (uint16_t)pres->zone_cal.active_zones) { + + if (prange_data->range_status == + VL53L1_DEVICEERROR_RANGECOMPLETE) { + + pres->zone_cal.phasecal_result__reference_phase = + pdev->hist_data.phasecal_result__reference_phase; + pres->zone_cal.zero_distance_phase = + pdev->hist_data.zero_distance_phase; + + pzone_data = &(pres->zone_cal.VL53L1_PRM_00005[prange_results->zone_id]); + pzone_data->no_of_samples++; + pzone_data->effective_spads += + (uint32_t)prange_data->VL53L1_PRM_00003; + pzone_data->peak_rate_mcps += + (uint32_t)prange_data->peak_signal_count_rate_mcps; + pzone_data->VL53L1_PRM_00014 += + (uint32_t)prange_data->VL53L1_PRM_00014; + pzone_data->VL53L1_PRM_00004 += + (uint32_t)prange_data->VL53L1_PRM_00004; + pzone_data->median_range_mm += + (int32_t)prange_data->median_range_mm; + + } + } + + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_wait_for_firmware_ready(Dev); + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_clear_interrupt_and_enable_next_range( + Dev, + measurement_mode); + } + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_stop_range(Dev); + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_offset_correction_mode( + Dev, + offset_cor_mode); + + + + + if (status == VL53L1_ERROR_NONE) { + + for (z = 0 ; z < pres->zone_cal.active_zones ; z++) { + + pzone_data = &(pres->zone_cal.VL53L1_PRM_00005[z]); + + + + if (pzone_data->no_of_samples > 0) { + + pzone_data->effective_spads += (pzone_data->no_of_samples/2); + pzone_data->effective_spads /= pzone_data->no_of_samples; + + pzone_data->peak_rate_mcps += (pzone_data->no_of_samples/2); + pzone_data->peak_rate_mcps /= pzone_data->no_of_samples; + + pzone_data->VL53L1_PRM_00014 += (pzone_data->no_of_samples/2); + pzone_data->VL53L1_PRM_00014 /= pzone_data->no_of_samples; + + pzone_data->VL53L1_PRM_00004 += (pzone_data->no_of_samples/2); + pzone_data->VL53L1_PRM_00004 /= pzone_data->no_of_samples; + + + + pzone_data->median_range_mm *= 4; + pzone_data->median_range_mm += (pzone_data->no_of_samples/2); + pzone_data->median_range_mm /= pzone_data->no_of_samples; + + pzone_data->range_mm_offset = ((int32_t)cal_distance_mm) * 4; + pzone_data->range_mm_offset -= pzone_data->median_range_mm; + + if (pzone_data->no_of_samples < num_of_samples) + status = VL53L1_WARNING_ZONE_CAL_MISSING_SAMPLES; + + if (pzone_data->VL53L1_PRM_00004 > + VL53L1_ZONE_CAL_MAX_SIGMA_MM) + status = VL53L1_WARNING_ZONE_CAL_SIGMA_TOO_HIGH; + + if (pzone_data->peak_rate_mcps > + VL53L1_ZONE_CAL_MAX_PRE_PEAK_RATE_MCPS) + status = VL53L1_WARNING_ZONE_CAL_RATE_TOO_HIGH; + + } else { + status = VL53L1_ERROR_ZONE_CAL_NO_SAMPLE_FAIL; + } + } + } + + + + + + + pres->zone_cal.cal_status = status; + *pcal_status = pres->zone_cal.cal_status; + + + + + IGNORE_STATUS( + IGNORE_ZONE_CAL_MISSING_SAMPLES, + VL53L1_WARNING_ZONE_CAL_MISSING_SAMPLES, + status); + + IGNORE_STATUS( + IGNORE_ZONE_CAL_SIGMA_TOO_HIGH, + VL53L1_WARNING_ZONE_CAL_SIGMA_TOO_HIGH, + status); + + IGNORE_STATUS( + IGNORE_ZONE_CAL_RATE_TOO_HIGH, + VL53L1_WARNING_ZONE_CAL_RATE_TOO_HIGH, + status); + + + + + + + + + + + + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_run_spad_rate_map( + VL53L1_DEV Dev, + VL53L1_DeviceTestMode device_test_mode, + VL53L1_DeviceSscArray array_select, + uint32_t ssc_config_timeout_us, + VL53L1_spad_rate_data_t *pspad_rate_data) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_powerforce(Dev); + + + + + + + if (status == VL53L1_ERROR_NONE) { + pdev->ssc_cfg.array_select = array_select; + pdev->ssc_cfg.timeout_us = ssc_config_timeout_us; + status = + VL53L1_set_ssc_config( + Dev, + &(pdev->ssc_cfg), + pdev->stat_nvm.osc_measured__fast_osc__frequency); + } + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_run_device_test( + Dev, + device_test_mode); + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_get_spad_rate_data( + Dev, + pspad_rate_data); + + if (device_test_mode == VL53L1_DEVICETESTMODE_LCR_VCSEL_ON) + pspad_rate_data->fractional_bits = 7; + else + pspad_rate_data->fractional_bits = 15; + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_powerforce(Dev); + +#ifdef VL53L1_LOG_ENABLE + + + + if (status == VL53L1_ERROR_NONE) { + VL53L1_print_spad_rate_data( + pspad_rate_data, + "run_spad_rate_map():", + VL53L1_TRACE_MODULE_SPAD_RATE_MAP); + VL53L1_print_spad_rate_map( + pspad_rate_data, + "run_spad_rate_map():", + VL53L1_TRACE_MODULE_SPAD_RATE_MAP); + } +#endif + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_run_device_test( + VL53L1_DEV Dev, + VL53L1_DeviceTestMode device_test_mode) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t comms_buffer[2]; + uint8_t gpio_hv_mux__ctrl = 0; + + LOG_FUNCTION_START(""); + + + + + + + if (status == VL53L1_ERROR_NONE) + + status = + VL53L1_RdByte( + Dev, + VL53L1_GPIO_HV_MUX__CTRL, + &gpio_hv_mux__ctrl); + + if (status == VL53L1_ERROR_NONE) + pdev->stat_cfg.gpio_hv_mux__ctrl = gpio_hv_mux__ctrl; + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_start_test( + Dev, + device_test_mode); + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_wait_for_test_completion(Dev); + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_ReadMulti( + Dev, + VL53L1_RESULT__RANGE_STATUS, + comms_buffer, + 2); + + if (status == VL53L1_ERROR_NONE) { + pdev->sys_results.result__range_status = comms_buffer[0]; + pdev->sys_results.result__report_status = comms_buffer[1]; + } + + + + + pdev->sys_results.result__range_status &= + VL53L1_RANGE_STATUS__RANGE_STATUS_MASK; + + if (status == VL53L1_ERROR_NONE) { + trace_print( + VL53L1_TRACE_LEVEL_INFO, + " Device Test Complete:\n\t%-32s = %3u\n\t%-32s = %3u\n", + "result__range_status", + pdev->sys_results.result__range_status, + "result__report_status", + pdev->sys_results.result__report_status); + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_clear_interrupt(Dev); + } + + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_start_test( + Dev, + 0x00); + + LOG_FUNCTION_END(status); + + return status; +} + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_api_core.c b/drivers/input/misc/vl53L1/src/vl53l1_api_core.c new file mode 100644 index 000000000000..7f32b6a92a8e --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_api_core.c @@ -0,0 +1,4790 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_ll_device.h" +#include "vl53l1_platform.h" +#include "vl53l1_platform_ipp.h" +#include "vl53l1_register_map.h" +#include "vl53l1_register_settings.h" +#include "vl53l1_register_funcs.h" +#include "vl53l1_hist_map.h" +#include "vl53l1_hist_structs.h" +#include "vl53l1_nvm_map.h" +#include "vl53l1_nvm_structs.h" +#include "vl53l1_nvm.h" +#include "vl53l1_core.h" +#include "vl53l1_wait.h" +#include "vl53l1_zone_presets.h" +#include "vl53l1_api_preset_modes.h" +#include "vl53l1_fpga_core.h" +#include "vl53l1_silicon_core.h" +#include "vl53l1_api_core.h" + +#ifdef VL53L1_LOG_ENABLE +#include "vl53l1_api_debug.h" +#endif + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, \ + fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_CORE, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + +#define VL53L1_MAX_I2C_XFER_SIZE 256 + +VL53L1_Error VL53L1_get_version( + VL53L1_DEV Dev, + VL53L1_ll_version_t *pdata) +{ + + + + + + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + VL53L1_init_version(Dev); + + memcpy(pdata, &(pdev->version), sizeof(VL53L1_ll_version_t)); + + return VL53L1_ERROR_NONE; +} + + +VL53L1_Error VL53L1_is_fpga_system( + VL53L1_DEV Dev, + uint8_t *pfpga_system) +{ + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = VL53L1_RdByte( + Dev, + VL53L1_NVM_BIST__COMPLETE, + pfpga_system); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_device_firmware_version( + VL53L1_DEV Dev, + uint16_t *pfw_version) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_RdWord( + Dev, + VL53L1_MCU_GENERAL_PURPOSE__GP_0, + pfw_version); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_data_init( + VL53L1_DEV Dev, + uint8_t read_p2p_data) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + uint8_t i = 0; + + LOG_FUNCTION_START(""); + + VL53L1_init_ll_driver_state( + Dev, + VL53L1_DEVICESTATE_UNKNOWN); + + pres->range_results.max_results = VL53L1_MAX_RANGE_RESULTS; + pres->range_results.active_results = 0; + pres->zone_results.max_zones = VL53L1_MAX_USER_ZONES; + pres->zone_results.active_zones = 0; + pres->zone_hists.max_zones = VL53L1_MAX_USER_ZONES; + pres->zone_hists.active_zones = 0; + + + + + pres->zone_cal.max_zones = VL53L1_MAX_USER_ZONES; + pres->zone_cal.active_zones = 0; + for (i = 0 ; i < VL53L1_MAX_USER_ZONES ; i++) { + pres->zone_cal.VL53L1_PRM_00005[i].no_of_samples = 0; + pres->zone_cal.VL53L1_PRM_00005[i].effective_spads = 0; + pres->zone_cal.VL53L1_PRM_00005[i].peak_rate_mcps = 0; + pres->zone_cal.VL53L1_PRM_00005[i].median_range_mm = 0; + pres->zone_cal.VL53L1_PRM_00005[i].range_mm_offset = 0; + } + + pdev->wait_method = VL53L1_WAIT_METHOD_BLOCKING; + pdev->preset_mode = VL53L1_DEVICEPRESETMODE_STANDARD_RANGING; + pdev->zone_preset = VL53L1_DEVICEZONEPRESET_NONE; + pdev->measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_STOP; + + pdev->offset_calibration_mode = + VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD; + pdev->offset_correction_mode = + VL53L1_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS; + pdev->dmax_mode = + VL53L1_DEVICEDMAXMODE__FMT_CAL_DATA; + + pdev->phasecal_config_timeout_us = 1000; + pdev->mm_config_timeout_us = 2000; + pdev->range_config_timeout_us = 13000; + pdev->inter_measurement_period_ms = 100; + pdev->debug_mode = 0x00; + + pdev->offset_results.max_results = VL53L1_MAX_OFFSET_RANGE_RESULTS; + pdev->offset_results.active_results = 0; + + + + + + pdev->gain_cal.standard_ranging_gain_factor = + VL53L1_GAIN_FACTOR__STANDARD_DEFAULT; + pdev->gain_cal.histogram_ranging_gain_factor = + VL53L1_GAIN_FACTOR__HISTOGRAM_DEFAULT; + + + + + + VL53L1_init_version(Dev); + + + + + + + + + + + if (read_p2p_data > 0 && status == VL53L1_ERROR_NONE) + + status = VL53L1_read_p2p_data(Dev); + + + + status = + VL53L1_init_refspadchar_config_struct( + &(pdev->refspadchar)); + + + + status = + VL53L1_init_ssc_config_struct( + &(pdev->ssc_cfg)); + + + + + + status = + VL53L1_init_xtalk_config_struct( + &(pdev->customer), + &(pdev->xtalk_cfg)); + + + + status = + VL53L1_init_hist_post_process_config_struct( + pdev->xtalk_cfg.global_crosstalk_compensation_enable, + &(pdev->histpostprocess)); + + + + status = + VL53L1_init_hist_gen3_dmax_config_struct( + &(pdev->dmax_cfg)); + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_set_preset_mode( + Dev, + pdev->preset_mode, + 0x0A00, + + pdev->phasecal_config_timeout_us, + pdev->mm_config_timeout_us, + pdev->range_config_timeout_us, + pdev->inter_measurement_period_ms); + + + + VL53L1_init_histogram_bin_data_struct( + 0, + VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->hist_data)); + + VL53L1_init_histogram_bin_data_struct( + 0, + VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->hist_xtalk)); + + + + VL53L1_init_xtalk_bin_data_struct( + 0, + VL53L1_XTALK_HISTO_BINS, + &(pdev->xtalk_shapes.xtalk_shape)); + +#ifdef VL53L1_LOG_ENABLE + + + + + VL53L1_print_static_nvm_managed( + &(pdev->stat_nvm), + "data_init():pdev->lldata.stat_nvm.", + VL53L1_TRACE_MODULE_DATA_INIT); + + VL53L1_print_customer_nvm_managed( + &(pdev->customer), + "data_init():pdev->lldata.customer.", + VL53L1_TRACE_MODULE_DATA_INIT); + + VL53L1_print_nvm_copy_data( + &(pdev->nvm_copy_data), + "data_init():pdev->lldata.nvm_copy_data.", + VL53L1_TRACE_MODULE_DATA_INIT); + + VL53L1_print_dmax_calibration_data( + &(pdev->fmt_dmax_cal), + "data_init():pdev->lldata.fmt_dmax_cal.", + VL53L1_TRACE_MODULE_DATA_INIT); + + VL53L1_print_dmax_calibration_data( + &(pdev->cust_dmax_cal), + "data_init():pdev->lldata.cust_dmax_cal.", + VL53L1_TRACE_MODULE_DATA_INIT); + + VL53L1_print_additional_offset_cal_data( + &(pdev->add_off_cal_data), + "data_init():pdev->lldata.add_off_cal_data.", + VL53L1_TRACE_MODULE_DATA_INIT); + + VL53L1_print_user_zone( + &(pdev->mm_roi), + "data_init():pdev->lldata.mm_roi.", + VL53L1_TRACE_MODULE_DATA_INIT); + + VL53L1_print_cal_peak_rate_map( + &(pdev->cal_peak_rate_map), + "data_init():pdev->lldata.cal_peak_rate_map.", + VL53L1_TRACE_MODULE_DATA_INIT); + +#endif + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_read_p2p_data( + VL53L1_DEV Dev) +{ + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + VL53L1_decoded_nvm_fmt_range_data_t fmt_range_result_data; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_is_fpga_system( + Dev, + &(pdev->fpga_system)); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_get_static_nvm_managed( + Dev, + &(pdev->stat_nvm)); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_get_customer_nvm_managed( + Dev, + &(pdev->customer)); + + if (status == VL53L1_ERROR_NONE) { + + status = VL53L1_get_nvm_copy_data( + Dev, + &(pdev->nvm_copy_data)); + + + + if (status == VL53L1_ERROR_NONE) + VL53L1_copy_rtn_good_spads_to_buffer( + &(pdev->nvm_copy_data), + &(pdev->rtn_good_spads[0])); + } + + + + + if (status == VL53L1_ERROR_NONE) { + + pdev->histpostprocess.algo__crosstalk_compensation_plane_offset_kcps = + pdev->customer.algo__crosstalk_compensation_plane_offset_kcps; + pdev->histpostprocess.algo__crosstalk_compensation_x_plane_gradient_kcps = + pdev->customer.algo__crosstalk_compensation_x_plane_gradient_kcps; + pdev->histpostprocess.algo__crosstalk_compensation_y_plane_gradient_kcps = + pdev->customer.algo__crosstalk_compensation_y_plane_gradient_kcps; + } + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_read_nvm_cal_peak_rate_map( + Dev, + &(pdev->cal_peak_rate_map)); + + + + + + + if (status == VL53L1_ERROR_NONE) { + + status = + VL53L1_read_nvm_additional_offset_cal_data( + Dev, + &(pdev->add_off_cal_data)); + + + + + + + if (pdev->add_off_cal_data.result__mm_inner_peak_signal_count_rtn_mcps == 0 && + pdev->add_off_cal_data.result__mm_outer_peak_signal_count_rtn_mcps == 0) { + + pdev->add_off_cal_data.result__mm_inner_peak_signal_count_rtn_mcps = 0x0080; + + pdev->add_off_cal_data.result__mm_outer_peak_signal_count_rtn_mcps = 0x0180; + + + + + + VL53L1_calc_mm_effective_spads( + pdev->nvm_copy_data.roi_config__mode_roi_centre_spad, + pdev->nvm_copy_data.roi_config__mode_roi_xy_size, + 0xC7, + + 0xFF, + &(pdev->rtn_good_spads[0]), + VL53L1_RTN_SPAD_APERTURE_TRANSMISSION, + &(pdev->add_off_cal_data.result__mm_inner_actual_effective_spads), + &(pdev->add_off_cal_data.result__mm_outer_actual_effective_spads)); + } + } + + + + + + + if (status == VL53L1_ERROR_NONE) { + + status = + VL53L1_read_nvm_fmt_range_results_data( + Dev, + VL53L1_NVM__FMT__RANGE_RESULTS__140MM_DARK, + &fmt_range_result_data); + + if (status == VL53L1_ERROR_NONE) { + pdev->fmt_dmax_cal.ref__actual_effective_spads = + fmt_range_result_data.result__actual_effective_rtn_spads; + pdev->fmt_dmax_cal.ref__peak_signal_count_rate_mcps = + fmt_range_result_data.result__peak_signal_count_rate_rtn_mcps; + pdev->fmt_dmax_cal.ref__distance_mm = + fmt_range_result_data.measured_distance_mm; + + + + pdev->fmt_dmax_cal.ref_reflectance_pc = 0x000F; + + + + pdev->fmt_dmax_cal.coverglass_transmission = 0x0100; + } + } + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_RdWord( + Dev, + VL53L1_RESULT__OSC_CALIBRATE_VAL, + &(pdev->dbg_results.result__osc_calibrate_val)); + + + + + + + if (pdev->stat_nvm.osc_measured__fast_osc__frequency < 0x1000) { + trace_print( + VL53L1_TRACE_LEVEL_WARNING, + "\nInvalid %s value (0x%04X) - forcing to 0x%04X\n\n", + "pdev->stat_nvm.osc_measured__fast_osc__frequency", + pdev->stat_nvm.osc_measured__fast_osc__frequency, + 0xBCCC); + pdev->stat_nvm.osc_measured__fast_osc__frequency = 0xBCCC; + } + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_get_mode_mitigation_roi( + Dev, + &(pdev->mm_roi)); + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_software_reset( + VL53L1_DEV Dev) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_WrByte( + Dev, + VL53L1_SOFT_RESET, + 0x00); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WaitUs( + Dev, + VL53L1_SOFTWARE_RESET_DURATION_US); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_SOFT_RESET, + 0x01); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_wait_for_boot_completion(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_part_to_part_data( + VL53L1_DEV Dev, + VL53L1_calibration_data_t *pcal_data) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + if (pcal_data->struct_version != + VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION) { + status = VL53L1_ERROR_INVALID_PARAMS; + } + + if (status == VL53L1_ERROR_NONE) { + + + + memcpy( + &(pdev->customer), + &(pcal_data->customer), + sizeof(VL53L1_customer_nvm_managed_t)); + + + + memcpy( + &(pdev->add_off_cal_data), + &(pcal_data->add_off_cal_data), + sizeof(VL53L1_additional_offset_cal_data_t)); + + + + memcpy( + &(pdev->fmt_dmax_cal), + &(pcal_data->fmt_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + + + + memcpy( + &(pdev->cust_dmax_cal), + &(pcal_data->cust_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + + + + memcpy( + &(pdev->xtalk_shapes), + &(pcal_data->xtalkhisto), + sizeof(VL53L1_xtalk_histogram_data_t)); + + + + memcpy( + &(pdev->gain_cal), + &(pcal_data->gain_cal), + sizeof(VL53L1_gain_calibration_data_t)); + + + + memcpy( + &(pdev->cal_peak_rate_map), + &(pcal_data->cal_peak_rate_map), + sizeof(VL53L1_cal_peak_rate_map_t)); + + + + + + + pdev->xtalk_cfg.algo__crosstalk_compensation_plane_offset_kcps = + pdev->customer.algo__crosstalk_compensation_plane_offset_kcps; + pdev->xtalk_cfg.algo__crosstalk_compensation_x_plane_gradient_kcps = + pdev->customer.algo__crosstalk_compensation_x_plane_gradient_kcps; + pdev->xtalk_cfg.algo__crosstalk_compensation_y_plane_gradient_kcps = + pdev->customer.algo__crosstalk_compensation_y_plane_gradient_kcps; + + pdev->histpostprocess.algo__crosstalk_compensation_plane_offset_kcps = + VL53L1_calc_crosstalk_plane_offset_with_margin( + pdev->xtalk_cfg.algo__crosstalk_compensation_plane_offset_kcps, + pdev->xtalk_cfg.histogram_mode_crosstalk_margin_kcps); + + pdev->histpostprocess.algo__crosstalk_compensation_x_plane_gradient_kcps = + pdev->xtalk_cfg.algo__crosstalk_compensation_x_plane_gradient_kcps; + pdev->histpostprocess.algo__crosstalk_compensation_y_plane_gradient_kcps = + pdev->xtalk_cfg.algo__crosstalk_compensation_y_plane_gradient_kcps; + + + + + if (pdev->xtalk_cfg.global_crosstalk_compensation_enable == 0x00) { + pdev->customer.algo__crosstalk_compensation_plane_offset_kcps = + 0x00; + pdev->customer.algo__crosstalk_compensation_x_plane_gradient_kcps = + 0x00; + pdev->customer.algo__crosstalk_compensation_y_plane_gradient_kcps = + 0x00; + } else { + pdev->customer.algo__crosstalk_compensation_plane_offset_kcps = + VL53L1_calc_crosstalk_plane_offset_with_margin( + pdev->xtalk_cfg.algo__crosstalk_compensation_plane_offset_kcps, + pdev->xtalk_cfg.lite_mode_crosstalk_margin_kcps); + } + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_part_to_part_data( + VL53L1_DEV Dev, + VL53L1_calibration_data_t *pcal_data) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pcal_data->struct_version = + VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION; + + + + memcpy( + &(pcal_data->customer), + &(pdev->customer), + sizeof(VL53L1_customer_nvm_managed_t)); + + + + + + + pcal_data->customer.algo__crosstalk_compensation_plane_offset_kcps = + pdev->xtalk_cfg.algo__crosstalk_compensation_plane_offset_kcps; + pcal_data->customer.algo__crosstalk_compensation_x_plane_gradient_kcps = + pdev->xtalk_cfg.algo__crosstalk_compensation_x_plane_gradient_kcps; + pcal_data->customer.algo__crosstalk_compensation_y_plane_gradient_kcps = + pdev->xtalk_cfg.algo__crosstalk_compensation_y_plane_gradient_kcps; + + + + memcpy( + &(pcal_data->fmt_dmax_cal), + &(pdev->fmt_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + + + + memcpy( + &(pcal_data->cust_dmax_cal), + &(pdev->cust_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + + + + memcpy( + &(pcal_data->add_off_cal_data), + &(pdev->add_off_cal_data), + sizeof(VL53L1_additional_offset_cal_data_t)); + + + + memcpy( + &(pcal_data->mm_roi), + &(pdev->mm_roi), + sizeof(VL53L1_user_zone_t)); + + + + memcpy( + &(pcal_data->xtalkhisto), + &(pdev->xtalk_shapes), + sizeof(VL53L1_xtalk_histogram_data_t)); + + + + memcpy( + &(pcal_data->gain_cal), + &(pdev->gain_cal), + sizeof(VL53L1_gain_calibration_data_t)); + + + + memcpy( + &(pcal_data->cal_peak_rate_map), + &(pdev->cal_peak_rate_map), + sizeof(VL53L1_cal_peak_rate_map_t)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_inter_measurement_period_ms( + VL53L1_DEV Dev, + uint32_t inter_measurement_period_ms) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + if (pdev->dbg_results.result__osc_calibrate_val == 0) + status = VL53L1_ERROR_DIVISION_BY_ZERO; + + if (status == VL53L1_ERROR_NONE) { + pdev->inter_measurement_period_ms = inter_measurement_period_ms; + pdev->tim_cfg.system__intermeasurement_period = \ + inter_measurement_period_ms * + (uint32_t)pdev->dbg_results.result__osc_calibrate_val; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_inter_measurement_period_ms( + VL53L1_DEV Dev, + uint32_t *pinter_measurement_period_ms) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + if (pdev->dbg_results.result__osc_calibrate_val == 0) + status = VL53L1_ERROR_DIVISION_BY_ZERO; + + if (status == VL53L1_ERROR_NONE) + *pinter_measurement_period_ms = \ + pdev->tim_cfg.system__intermeasurement_period / + (uint32_t)pdev->dbg_results.result__osc_calibrate_val; + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_timeouts_us( + VL53L1_DEV Dev, + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + if (pdev->stat_nvm.osc_measured__fast_osc__frequency == 0) + status = VL53L1_ERROR_DIVISION_BY_ZERO; + + if (status == VL53L1_ERROR_NONE) { + + pdev->phasecal_config_timeout_us = phasecal_config_timeout_us; + pdev->mm_config_timeout_us = mm_config_timeout_us; + pdev->range_config_timeout_us = range_config_timeout_us; + + status = + VL53L1_calc_timeout_register_values( + phasecal_config_timeout_us, + mm_config_timeout_us, + range_config_timeout_us, + pdev->stat_nvm.osc_measured__fast_osc__frequency, + &(pdev->gen_cfg), + &(pdev->tim_cfg)); + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_timeouts_us( + VL53L1_DEV Dev, + uint32_t *pphasecal_config_timeout_us, + uint32_t *pmm_config_timeout_us, + uint32_t *prange_config_timeout_us) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + uint32_t macro_period_us = 0; + uint16_t timeout_encoded = 0; + + LOG_FUNCTION_START(""); + + if (pdev->stat_nvm.osc_measured__fast_osc__frequency == 0) + status = VL53L1_ERROR_DIVISION_BY_ZERO; + + if (status == VL53L1_ERROR_NONE) { + + + + macro_period_us = + VL53L1_calc_macro_period_us( + pdev->stat_nvm.osc_measured__fast_osc__frequency, + pdev->tim_cfg.range_config__vcsel_period_a); + + + + + *pphasecal_config_timeout_us = + VL53L1_calc_timeout_us( + (uint32_t)pdev->gen_cfg.phasecal_config__timeout_macrop, + macro_period_us); + + + + + timeout_encoded = + (uint16_t)pdev->tim_cfg.mm_config__timeout_macrop_a_hi; + timeout_encoded = (timeout_encoded << 8) + + (uint16_t)pdev->tim_cfg.mm_config__timeout_macrop_a_lo; + + *pmm_config_timeout_us = + VL53L1_calc_decoded_timeout_us( + timeout_encoded, + macro_period_us); + + + + + timeout_encoded = + (uint16_t)pdev->tim_cfg.range_config__timeout_macrop_a_hi; + timeout_encoded = (timeout_encoded << 8) + + (uint16_t)pdev->tim_cfg.range_config__timeout_macrop_a_lo; + + *prange_config_timeout_us = + VL53L1_calc_decoded_timeout_us( + timeout_encoded, + macro_period_us); + + pdev->phasecal_config_timeout_us = *pphasecal_config_timeout_us; + pdev->mm_config_timeout_us = *pmm_config_timeout_us; + pdev->range_config_timeout_us = *prange_config_timeout_us; + + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_calibration_repeat_period( + VL53L1_DEV Dev, + uint16_t cal_config__repeat_period) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + pdev->gen_cfg.cal_config__repeat_rate = cal_config__repeat_period; + + return status; + +} + + +VL53L1_Error VL53L1_get_calibration_repeat_period( + VL53L1_DEV Dev, + uint16_t *pcal_config__repeat_period) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + *pcal_config__repeat_period = pdev->gen_cfg.cal_config__repeat_rate; + + return status; + +} + + +VL53L1_Error VL53L1_set_sequence_config_bit( + VL53L1_DEV Dev, + VL53L1_DeviceSequenceConfig bit_id, + uint8_t value) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t bit_mask = 0x01; + uint8_t clr_mask = 0xFF - bit_mask; + uint8_t bit_value = value & bit_mask; + + if (bit_id <= VL53L1_DEVICESEQUENCECONFIG_RANGE) { + + if (bit_id > 0) { + bit_mask = 0x01 << bit_id; + bit_value = bit_value << bit_id; + clr_mask = 0xFF - bit_mask; + } + + pdev->dyn_cfg.system__sequence_config = \ + (pdev->dyn_cfg.system__sequence_config & clr_mask) | \ + bit_value; + + } else { + status = VL53L1_ERROR_INVALID_PARAMS; + } + + return status; + +} + + +VL53L1_Error VL53L1_get_sequence_config_bit( + VL53L1_DEV Dev, + VL53L1_DeviceSequenceConfig bit_id, + uint8_t *pvalue) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t bit_mask = 0x01; + + if (bit_id <= VL53L1_DEVICESEQUENCECONFIG_RANGE) { + + if (bit_id > 0) { + bit_mask = 0x01 << bit_id; + } + + *pvalue = + pdev->dyn_cfg.system__sequence_config & bit_mask; + + if (bit_id > 0) { + *pvalue = *pvalue >> bit_id; + } + + } else { + status = VL53L1_ERROR_INVALID_PARAMS; + } + + return status; +} + + +VL53L1_Error VL53L1_set_interrupt_polarity( + VL53L1_DEV Dev, + VL53L1_DeviceInterruptPolarity interrupt_polarity) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + pdev->stat_cfg.gpio_hv_mux__ctrl = \ + (pdev->stat_cfg.gpio_hv_mux__ctrl & \ + VL53L1_DEVICEINTERRUPTPOLARITY_CLEAR_MASK) | \ + (interrupt_polarity & \ + VL53L1_DEVICEINTERRUPTPOLARITY_BIT_MASK); + + return status; + +} + + +VL53L1_Error VL53L1_set_refspadchar_config_struct( + VL53L1_DEV Dev, + VL53L1_refspadchar_config_t *pdata) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->refspadchar.device_test_mode = pdata->device_test_mode; + pdev->refspadchar.VL53L1_PRM_00007 = pdata->VL53L1_PRM_00007; + pdev->refspadchar.timeout_us = pdata->timeout_us; + pdev->refspadchar.target_count_rate_mcps = + pdata->target_count_rate_mcps; + pdev->refspadchar.min_count_rate_limit_mcps = + pdata->min_count_rate_limit_mcps; + pdev->refspadchar.max_count_rate_limit_mcps = + pdata->max_count_rate_limit_mcps; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_get_refspadchar_config_struct( + VL53L1_DEV Dev, + VL53L1_refspadchar_config_t *pdata) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdata->device_test_mode = pdev->refspadchar.device_test_mode; + pdata->VL53L1_PRM_00007 = pdev->refspadchar.VL53L1_PRM_00007; + pdata->timeout_us = pdev->refspadchar.timeout_us; + pdata->target_count_rate_mcps = pdev->refspadchar.target_count_rate_mcps; + pdata->min_count_rate_limit_mcps = + pdev->refspadchar.min_count_rate_limit_mcps; + pdata->max_count_rate_limit_mcps = + pdev->refspadchar.max_count_rate_limit_mcps; + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_set_range_ignore_threshold( + VL53L1_DEV Dev, + uint8_t range_ignore_thresh_mult, + uint16_t range_ignore_threshold_mcps) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + pdev->xtalk_cfg.crosstalk_range_ignore_threshold_rate_mcps = + range_ignore_threshold_mcps; + + pdev->xtalk_cfg.crosstalk_range_ignore_threshold_mult = + range_ignore_thresh_mult; + + return status; + +} + +VL53L1_Error VL53L1_get_range_ignore_threshold( + VL53L1_DEV Dev, + uint8_t *prange_ignore_thresh_mult, + uint16_t *prange_ignore_threshold_mcps_internal, + uint16_t *prange_ignore_threshold_mcps_current) +{ + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + *prange_ignore_thresh_mult = + pdev->xtalk_cfg.crosstalk_range_ignore_threshold_mult; + + *prange_ignore_threshold_mcps_current = + pdev->stat_cfg.algo__range_ignore_threshold_mcps; + + *prange_ignore_threshold_mcps_internal = + pdev->xtalk_cfg.crosstalk_range_ignore_threshold_rate_mcps; + + return status; + +} + + + +VL53L1_Error VL53L1_get_interrupt_polarity( + VL53L1_DEV Dev, + VL53L1_DeviceInterruptPolarity *pinterrupt_polarity) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + *pinterrupt_polarity = \ + pdev->stat_cfg.gpio_hv_mux__ctrl & \ + VL53L1_DEVICEINTERRUPTPOLARITY_BIT_MASK ; + + return status; + +} + + +VL53L1_Error VL53L1_set_user_zone( + VL53L1_DEV Dev, + VL53L1_user_zone_t *puser_zone) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + VL53L1_encode_row_col( + puser_zone->y_centre, + puser_zone->x_centre, + &(pdev->dyn_cfg.roi_config__user_roi_centre_spad)); + + + + VL53L1_encode_zone_size( + puser_zone->width, + puser_zone->height, + &(pdev->dyn_cfg.roi_config__user_roi_requested_global_xy_size)); + + + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_user_zone( + VL53L1_DEV Dev, + VL53L1_user_zone_t *puser_zone) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + VL53L1_decode_row_col( + pdev->dyn_cfg.roi_config__user_roi_centre_spad, + &(puser_zone->y_centre), + &(puser_zone->x_centre)); + + + + VL53L1_decode_zone_size( + pdev->dyn_cfg.roi_config__user_roi_requested_global_xy_size, + &(puser_zone->width), + &(puser_zone->height)); + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_get_mode_mitigation_roi( + VL53L1_DEV Dev, + VL53L1_user_zone_t *pmm_roi) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t x = 0; + uint8_t y = 0; + uint8_t xy_size = 0; + + LOG_FUNCTION_START(""); + + + + VL53L1_decode_row_col( + pdev->nvm_copy_data.roi_config__mode_roi_centre_spad, + &y, + &x); + + pmm_roi->x_centre = x; + pmm_roi->y_centre = y; + + + + + + + + + + + xy_size = pdev->nvm_copy_data.roi_config__mode_roi_xy_size; + + pmm_roi->height = xy_size >> 4; + pmm_roi->width = xy_size & 0x0F; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_zone_config( + VL53L1_DEV Dev, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + memcpy(&(pdev->zone_cfg.user_zones), &(pzone_cfg->user_zones), + sizeof(pdev->zone_cfg.user_zones)); + + + + pdev->zone_cfg.max_zones = pzone_cfg->max_zones; + pdev->zone_cfg.active_zones = pzone_cfg->active_zones; + + status = VL53L1_init_zone_config_histogram_bins(&pdev->zone_cfg); + + + + + + + + + + + if (pzone_cfg->active_zones == 0) + pdev->gen_cfg.global_config__stream_divider = 0; + else if (pzone_cfg->active_zones < VL53L1_MAX_USER_ZONES) + pdev->gen_cfg.global_config__stream_divider = pzone_cfg->active_zones + 1; + else + pdev->gen_cfg.global_config__stream_divider = VL53L1_MAX_USER_ZONES + 1; + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_get_zone_config( + VL53L1_DEV Dev, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + memcpy(pzone_cfg, &(pdev->zone_cfg), sizeof(VL53L1_zone_config_t)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_preset_mode( + VL53L1_DEV Dev, + VL53L1_DevicePresetModes device_preset_mode, + uint16_t dss_config__target_total_rate_mcps, + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us, + uint32_t inter_measurement_period_ms) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + VL53L1_hist_post_process_config_t *phistpostprocess = + &(pdev->histpostprocess); + + VL53L1_static_config_t *pstatic = &(pdev->stat_cfg); + VL53L1_histogram_config_t *phistogram = &(pdev->hist_cfg); + VL53L1_general_config_t *pgeneral = &(pdev->gen_cfg); + VL53L1_timing_config_t *ptiming = &(pdev->tim_cfg); + VL53L1_dynamic_config_t *pdynamic = &(pdev->dyn_cfg); + VL53L1_system_control_t *psystem = &(pdev->sys_ctrl); + VL53L1_zone_config_t *pzone_cfg = &(pdev->zone_cfg); + + LOG_FUNCTION_START(""); + + + + pdev->preset_mode = device_preset_mode; + pdev->mm_config_timeout_us = mm_config_timeout_us; + pdev->range_config_timeout_us = range_config_timeout_us; + pdev->inter_measurement_period_ms = inter_measurement_period_ms; + + + + + VL53L1_init_ll_driver_state( + Dev, + VL53L1_DEVICESTATE_SW_STANDBY); + + + + + switch (device_preset_mode) { + + case VL53L1_DEVICEPRESETMODE_STANDARD_RANGING: + status = VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_SHORT_RANGE: + status = VL53L1_preset_mode_standard_ranging_short_range( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_LONG_RANGE: + status = VL53L1_preset_mode_standard_ranging_long_range( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM1_CAL: + status = VL53L1_preset_mode_standard_ranging_mm1_cal( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM2_CAL: + status = VL53L1_preset_mode_standard_ranging_mm2_cal( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_TIMED_RANGING: + status = VL53L1_preset_mode_timed_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_TIMED_RANGING_SHORT_RANGE: + status = VL53L1_preset_mode_timed_ranging_short_range( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_TIMED_RANGING_LONG_RANGE: + status = VL53L1_preset_mode_timed_ranging_long_range( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING: + status = VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_WITH_MM1: + status = VL53L1_preset_mode_histogram_ranging_with_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_WITH_MM2: + status = VL53L1_preset_mode_histogram_ranging_with_mm2( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM1_CAL: + status = VL53L1_preset_mode_histogram_ranging_mm1_cal( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM2_CAL: + status = VL53L1_preset_mode_histogram_ranging_mm2_cal( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE: + status = VL53L1_preset_mode_histogram_multizone( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_SHORT_RANGE: + status = VL53L1_preset_mode_histogram_multizone_short_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_LONG_RANGE: + status = VL53L1_preset_mode_histogram_multizone_long_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_REF_ARRAY: + status = VL53L1_preset_mode_histogram_ranging_ref( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_SHORT_TIMING: + status = VL53L1_preset_mode_histogram_ranging_short_timing( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE: + status = VL53L1_preset_mode_histogram_long_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE_MM1: + status = VL53L1_preset_mode_histogram_long_range_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE_MM2: + status = VL53L1_preset_mode_histogram_long_range_mm2( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE: + status = VL53L1_preset_mode_histogram_medium_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE_MM1: + status = VL53L1_preset_mode_histogram_medium_range_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE_MM2: + status = VL53L1_preset_mode_histogram_medium_range_mm2( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE: + status = VL53L1_preset_mode_histogram_short_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE_MM1: + status = VL53L1_preset_mode_histogram_short_range_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE_MM2: + status = VL53L1_preset_mode_histogram_short_range_mm2( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_CHARACTERISATION: + status = VL53L1_preset_mode_histogram_characterisation( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_XTALK_PLANAR: + status = VL53L1_preset_mode_histogram_xtalk_planar( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_XTALK_MM1: + status = VL53L1_preset_mode_histogram_xtalk_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_XTALK_MM2: + status = VL53L1_preset_mode_histogram_xtalk_mm2( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_OLT: + status = VL53L1_preset_mode_olt( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_SINGLESHOT_RANGING: + status = VL53L1_preset_mode_singleshot_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + break; + + default: + status = VL53L1_ERROR_INVALID_PARAMS; + break; + + } + + + + + if (status == VL53L1_ERROR_NONE) + pstatic->dss_config__target_total_rate_mcps = + dss_config__target_total_rate_mcps; + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_timeouts_us( + Dev, + phasecal_config_timeout_us, + mm_config_timeout_us, + range_config_timeout_us); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_inter_measurement_period_ms( + Dev, + inter_measurement_period_ms); + + + + + V53L1_init_zone_results_structure( + pdev->zone_cfg.active_zones+1, + &(pres->zone_results)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_zone_preset( + VL53L1_DEV Dev, + VL53L1_DeviceZonePreset zone_preset) +{ + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + VL53L1_general_config_t *pgeneral = &(pdev->gen_cfg); + VL53L1_zone_config_t *pzone_cfg = &(pdev->zone_cfg); + + LOG_FUNCTION_START(""); + + + + pdev->zone_preset = zone_preset; + + + + + switch (zone_preset) { + + case VL53L1_DEVICEZONEPRESET_XTALK_PLANAR: + status = + VL53L1_zone_preset_xtalk_planar( + pgeneral, + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_1X1_SIZE_16X16: + status = + VL53L1_init_zone_config_structure( + 8, 1, 1, + + 8, 1, 1, + + 15, 15, + + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_1X2_SIZE_16X8: + status = + VL53L1_init_zone_config_structure( + 8, 1, 1, + + 4, 8, 2, + + 15, 7, + + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_2X1_SIZE_8X16: + status = + VL53L1_init_zone_config_structure( + 4, 8, 2, + + 8, 1, 1, + + 7, 15, + + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_2X2_SIZE_8X8: + status = + VL53L1_init_zone_config_structure( + 4, 8, 2, + + 4, 8, 2, + + 7, 7, + + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_3X3_SIZE_5X5: + status = + VL53L1_init_zone_config_structure( + 2, 5, 3, + + 2, 5, 3, + + 4, 4, + + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_4X4_SIZE_4X4: + status = + VL53L1_init_zone_config_structure( + 2, 4, 4, + + 2, 4, 4, + + 3, 3, + + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_5X5_SIZE_4X4: + status = + VL53L1_init_zone_config_structure( + 2, 3, 5, + + 2, 3, 5, + + 3, 3, + + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_11X11_SIZE_5X5: + status = + VL53L1_init_zone_config_structure( + 3, 1, 11, + + 3, 1, 11, + + 4, 4, + + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_13X13_SIZE_4X4: + status = + VL53L1_init_zone_config_structure( + 2, 1, 13, + + 2, 1, 13, + + 3, 3, + + pzone_cfg); + + break; + + case VL53L1_DEVICEZONEPRESET_1X1_SIZE_4X4_POS_8X8: + status = + VL53L1_init_zone_config_structure( + 8, 1, 1, + + 8, 1, 1, + + 3, 3, + + pzone_cfg); + break; + + } + + + + + + + + + + + if (pzone_cfg->active_zones == 0) + pdev->gen_cfg.global_config__stream_divider = 0; + else if (pzone_cfg->active_zones < VL53L1_MAX_USER_ZONES) + pdev->gen_cfg.global_config__stream_divider = pzone_cfg->active_zones + 1; + else + pdev->gen_cfg.global_config__stream_divider = VL53L1_MAX_USER_ZONES + 1; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_enable_xtalk_compensation( + VL53L1_DEV Dev) +{ + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + pdev->customer.algo__crosstalk_compensation_plane_offset_kcps = + VL53L1_calc_crosstalk_plane_offset_with_margin( + pdev->xtalk_cfg.algo__crosstalk_compensation_plane_offset_kcps, + pdev->xtalk_cfg.lite_mode_crosstalk_margin_kcps); + + pdev->customer.algo__crosstalk_compensation_x_plane_gradient_kcps = + pdev->xtalk_cfg.algo__crosstalk_compensation_x_plane_gradient_kcps; + + pdev->customer.algo__crosstalk_compensation_y_plane_gradient_kcps = + pdev->xtalk_cfg.algo__crosstalk_compensation_y_plane_gradient_kcps; + + + + pdev->histpostprocess.algo__crosstalk_compensation_plane_offset_kcps = + VL53L1_calc_crosstalk_plane_offset_with_margin( + pdev->xtalk_cfg.algo__crosstalk_compensation_plane_offset_kcps, + pdev->xtalk_cfg.histogram_mode_crosstalk_margin_kcps); + + pdev->histpostprocess.algo__crosstalk_compensation_x_plane_gradient_kcps = + pdev->xtalk_cfg.algo__crosstalk_compensation_x_plane_gradient_kcps; + pdev->histpostprocess.algo__crosstalk_compensation_y_plane_gradient_kcps = + pdev->xtalk_cfg.algo__crosstalk_compensation_y_plane_gradient_kcps; + + + + + pdev->xtalk_cfg.global_crosstalk_compensation_enable = 0x01; + + pdev->histpostprocess.algo__crosstalk_compensation_enable = + pdev->xtalk_cfg.global_crosstalk_compensation_enable; + + + + + + if (status == VL53L1_ERROR_NONE) { + pdev->xtalk_cfg.crosstalk_range_ignore_threshold_rate_mcps = + VL53L1_calc_range_ignore_threshold( + pdev->xtalk_cfg.algo__crosstalk_compensation_plane_offset_kcps, + pdev->xtalk_cfg.algo__crosstalk_compensation_x_plane_gradient_kcps, + pdev->xtalk_cfg.algo__crosstalk_compensation_y_plane_gradient_kcps, + pdev->xtalk_cfg.crosstalk_range_ignore_threshold_mult); + } + + + + + if (status == VL53L1_ERROR_NONE) + + status = + VL53L1_set_customer_nvm_managed( + Dev, + &(pdev->customer)); + + LOG_FUNCTION_END(status); + + return status; + +} + +void VL53L1_get_xtalk_compensation_enable( + VL53L1_DEV Dev, + uint8_t *pcrosstalk_compensation_enable) +{ + + + + + + + + + + + + + + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + + *pcrosstalk_compensation_enable = + pdev->xtalk_cfg.global_crosstalk_compensation_enable; + +} + + +VL53L1_Error VL53L1_get_lite_xtalk_margin_kcps( + VL53L1_DEV Dev, + int16_t *pxtalk_margin) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *pxtalk_margin = pdev->xtalk_cfg.lite_mode_crosstalk_margin_kcps; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_lite_xtalk_margin_kcps( + VL53L1_DEV Dev, + int16_t xtalk_margin) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->xtalk_cfg.lite_mode_crosstalk_margin_kcps = xtalk_margin; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_histogram_xtalk_margin_kcps( + VL53L1_DEV Dev, + int16_t *pxtalk_margin) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *pxtalk_margin = pdev->xtalk_cfg.histogram_mode_crosstalk_margin_kcps; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_histogram_xtalk_margin_kcps( + VL53L1_DEV Dev, + int16_t xtalk_margin) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->xtalk_cfg.histogram_mode_crosstalk_margin_kcps = xtalk_margin; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_restore_xtalk_nvm_default( + VL53L1_DEV Dev) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->xtalk_cfg.algo__crosstalk_compensation_plane_offset_kcps = + pdev->xtalk_cfg.nvm_default__crosstalk_compensation_plane_offset_kcps; + pdev->xtalk_cfg.algo__crosstalk_compensation_x_plane_gradient_kcps = + pdev->xtalk_cfg.nvm_default__crosstalk_compensation_x_plane_gradient_kcps; + pdev->xtalk_cfg.algo__crosstalk_compensation_y_plane_gradient_kcps = + pdev->xtalk_cfg.nvm_default__crosstalk_compensation_y_plane_gradient_kcps; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_disable_xtalk_compensation( + VL53L1_DEV Dev) +{ + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + pdev->customer.algo__crosstalk_compensation_plane_offset_kcps = + 0x00; + + pdev->customer.algo__crosstalk_compensation_x_plane_gradient_kcps = + 0x00; + + pdev->customer.algo__crosstalk_compensation_y_plane_gradient_kcps = + 0x00; + + + + + pdev->xtalk_cfg.global_crosstalk_compensation_enable = 0x00; + + pdev->histpostprocess.algo__crosstalk_compensation_enable = + pdev->xtalk_cfg.global_crosstalk_compensation_enable; + + + + + if (status == VL53L1_ERROR_NONE) { + pdev->xtalk_cfg.crosstalk_range_ignore_threshold_rate_mcps = + 0x0000; + } + + + + + if (status == VL53L1_ERROR_NONE) { + + status = + VL53L1_set_customer_nvm_managed( + Dev, + &(pdev->customer)); + } + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_get_histogram_phase_consistency( + VL53L1_DEV Dev, + uint8_t *pphase_consistency) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *pphase_consistency = + pdev->histpostprocess.algo__consistency_check__phase_tolerance; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_histogram_phase_consistency( + VL53L1_DEV Dev, + uint8_t phase_consistency) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->histpostprocess.algo__consistency_check__phase_tolerance = + phase_consistency; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_get_histogram_event_consistency( + VL53L1_DEV Dev, + uint8_t *pevent_consistency) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *pevent_consistency = + pdev->histpostprocess.algo__consistency_check__event_sigma; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_histogram_event_consistency( + VL53L1_DEV Dev, + uint8_t event_consistency) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->histpostprocess.algo__consistency_check__event_sigma = + event_consistency; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_get_histogram_ambient_threshold_sigma( + VL53L1_DEV Dev, + uint8_t *pamb_thresh_sigma) +{ + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *pamb_thresh_sigma = + pdev->histpostprocess.ambient_thresh_sigma1; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_histogram_ambient_threshold_sigma( + VL53L1_DEV Dev, + uint8_t amb_thresh_sigma) +{ + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->histpostprocess.ambient_thresh_sigma1 = + amb_thresh_sigma; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_get_lite_sigma_threshold( + VL53L1_DEV Dev, + uint16_t *plite_sigma) +{ + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *plite_sigma = + pdev->tim_cfg.range_config__sigma_thresh; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_lite_sigma_threshold( + VL53L1_DEV Dev, + uint16_t lite_sigma) +{ + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->tim_cfg.range_config__sigma_thresh = lite_sigma; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_get_lite_min_count_rate( + VL53L1_DEV Dev, + uint16_t *plite_mincountrate) +{ + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *plite_mincountrate = + pdev->tim_cfg.range_config__min_count_rate_rtn_limit_mcps; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_lite_min_count_rate( + VL53L1_DEV Dev, + uint16_t lite_mincountrate) +{ + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->tim_cfg.range_config__min_count_rate_rtn_limit_mcps = + lite_mincountrate; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_get_xtalk_detect_config( + VL53L1_DEV Dev, + int16_t *pmax_valid_range_mm, + int16_t *pmin_valid_range_mm, + uint16_t *pmax_valid_rate_kcps, + uint16_t *pmax_sigma_mm) +{ + + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *pmax_valid_range_mm = + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_range_mm; + *pmin_valid_range_mm = + pdev->xtalk_cfg.algo__crosstalk_detect_min_valid_range_mm; + *pmax_valid_rate_kcps = + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_rate_kcps; + *pmax_sigma_mm = + pdev->xtalk_cfg.algo__crosstalk_detect_max_sigma_mm; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_xtalk_detect_config( + VL53L1_DEV Dev, + int16_t max_valid_range_mm, + int16_t min_valid_range_mm, + uint16_t max_valid_rate_kcps, + uint16_t max_sigma_mm) +{ + + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_range_mm = + max_valid_range_mm; + pdev->xtalk_cfg.algo__crosstalk_detect_min_valid_range_mm = + min_valid_range_mm; + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_rate_kcps = + max_valid_rate_kcps; + pdev->xtalk_cfg.algo__crosstalk_detect_max_sigma_mm = + max_sigma_mm; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_get_target_order_mode( + VL53L1_DEV Dev, + VL53L1_HistTargetOrder *phist_target_order) +{ + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *phist_target_order = + pdev->histpostprocess.hist_target_order; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_target_order_mode( + VL53L1_DEV Dev, + VL53L1_HistTargetOrder hist_target_order) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->histpostprocess.hist_target_order = hist_target_order; + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_get_dmax_reflectance_values( + VL53L1_DEV Dev, + VL53L1_dmax_reflectance_array_t *pdmax_reflectances) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + + + + + + for (i = 0 ; i < VL53L1_MAX_AMBIENT_DMAX_VALUES ; i++) { + pdmax_reflectances->target_reflectance_for_dmax[i] = + pdev->dmax_cfg.target_reflectance_for_dmax_calc[i]; + } + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_dmax_reflectance_values( + VL53L1_DEV Dev, + VL53L1_dmax_reflectance_array_t *pdmax_reflectances) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + + + + + + for (i = 0 ; i < VL53L1_MAX_AMBIENT_DMAX_VALUES ; i++) { + pdev->dmax_cfg.target_reflectance_for_dmax_calc[i] = + pdmax_reflectances->target_reflectance_for_dmax[i]; + } + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_get_vhv_loopbound( + VL53L1_DEV Dev, + uint8_t *pvhv_loopbound) +{ + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *pvhv_loopbound = pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound / 4 ; + + LOG_FUNCTION_END(status); + + return status; + +} + + + +VL53L1_Error VL53L1_set_vhv_loopbound( + VL53L1_DEV Dev, + uint8_t vhv_loopbound) +{ + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound = + (pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound & 0x03) + + (vhv_loopbound * 4); + + LOG_FUNCTION_END(status); + + return status; + +} + + + +VL53L1_Error VL53L1_init_and_start_range( + VL53L1_DEV Dev, + uint8_t measurement_mode, + VL53L1_DeviceConfigLevel device_config_level) +{ + + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + uint8_t buffer[VL53L1_MAX_I2C_XFER_SIZE]; + + VL53L1_static_nvm_managed_t *pstatic_nvm = &(pdev->stat_nvm); + VL53L1_customer_nvm_managed_t *pcustomer_nvm = &(pdev->customer); + VL53L1_static_config_t *pstatic = &(pdev->stat_cfg); + VL53L1_general_config_t *pgeneral = &(pdev->gen_cfg); + VL53L1_timing_config_t *ptiming = &(pdev->tim_cfg); + VL53L1_dynamic_config_t *pdynamic = &(pdev->dyn_cfg); + VL53L1_system_control_t *psystem = &(pdev->sys_ctrl); + + VL53L1_ll_driver_state_t *pstate = &(pdev->ll_state); + + uint8_t *pbuffer = &buffer[0]; + uint16_t i = 0; + uint16_t i2c_index = 0; + uint16_t i2c_buffer_offset_bytes = 0; + uint16_t i2c_buffer_size_bytes = 0; + + LOG_FUNCTION_START(""); + + + + pdev->measurement_mode = measurement_mode; + + + + + psystem->system__mode_start = + (psystem->system__mode_start & + VL53L1_DEVICEMEASUREMENTMODE_STOP_MASK) | + measurement_mode; + + + + + + + status = + VL53L1_set_user_zone( + Dev, + &(pdev->zone_cfg.user_zones[pdev->ll_state.cfg_zone_id])); + + + + + + if (pdev->zone_cfg.active_zones > 0) { + status = + VL53L1_set_zone_dss_config( + Dev, + &(pres->zone_dyn_cfgs.VL53L1_PRM_00005[pdev->ll_state.cfg_zone_id])); + } + + + + + + + if (((pdev->sys_ctrl.system__mode_start & + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM) == 0x00) && + (pdev->xtalk_cfg.global_crosstalk_compensation_enable == 0x01)) { + pdev->stat_cfg.algo__range_ignore_threshold_mcps = + pdev->xtalk_cfg.crosstalk_range_ignore_threshold_rate_mcps; + } + + + + + + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_save_cfg_data(Dev); + } + + + + + + + switch (device_config_level) { + case VL53L1_DEVICECONFIGLEVEL_FULL: + i2c_index = VL53L1_STATIC_NVM_MANAGED_I2C_INDEX; + break; + case VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS: + i2c_index = VL53L1_CUSTOMER_NVM_MANAGED_I2C_INDEX; + break; + case VL53L1_DEVICECONFIGLEVEL_STATIC_ONWARDS: + i2c_index = VL53L1_STATIC_CONFIG_I2C_INDEX; + break; + case VL53L1_DEVICECONFIGLEVEL_GENERAL_ONWARDS: + i2c_index = VL53L1_GENERAL_CONFIG_I2C_INDEX; + break; + case VL53L1_DEVICECONFIGLEVEL_TIMING_ONWARDS: + i2c_index = VL53L1_TIMING_CONFIG_I2C_INDEX; + break; + case VL53L1_DEVICECONFIGLEVEL_DYNAMIC_ONWARDS: + i2c_index = VL53L1_DYNAMIC_CONFIG_I2C_INDEX; + break; + default: + i2c_index = VL53L1_SYSTEM_CONTROL_I2C_INDEX; + break; + } + + + + + i2c_buffer_size_bytes = \ + (VL53L1_SYSTEM_CONTROL_I2C_INDEX + + VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES) - + i2c_index; + + + + + pbuffer = &buffer[0]; + for (i = 0 ; i < i2c_buffer_size_bytes ; i++) { + *pbuffer++ = 0; + } + + + + + if (device_config_level >= VL53L1_DEVICECONFIGLEVEL_FULL && + status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = \ + VL53L1_STATIC_NVM_MANAGED_I2C_INDEX - i2c_index; + + status = + VL53L1_i2c_encode_static_nvm_managed( + pstatic_nvm, + VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes]); + } + + if (device_config_level >= VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS && + status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = \ + VL53L1_CUSTOMER_NVM_MANAGED_I2C_INDEX - i2c_index; + + status = + VL53L1_i2c_encode_customer_nvm_managed( + pcustomer_nvm, + VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes]); + } + + if (device_config_level >= VL53L1_DEVICECONFIGLEVEL_STATIC_ONWARDS && + status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = \ + VL53L1_STATIC_CONFIG_I2C_INDEX - i2c_index; + + status = + VL53L1_i2c_encode_static_config( + pstatic, + VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes]); + } + + if (device_config_level >= VL53L1_DEVICECONFIGLEVEL_GENERAL_ONWARDS && + status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = + VL53L1_GENERAL_CONFIG_I2C_INDEX - i2c_index; + + status = + VL53L1_i2c_encode_general_config( + pgeneral, + VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes]); + } + + if (device_config_level >= VL53L1_DEVICECONFIGLEVEL_TIMING_ONWARDS && + status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = \ + VL53L1_TIMING_CONFIG_I2C_INDEX - i2c_index; + + status = + VL53L1_i2c_encode_timing_config( + ptiming, + VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes]); + } + + if (device_config_level >= VL53L1_DEVICECONFIGLEVEL_DYNAMIC_ONWARDS && + status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = \ + VL53L1_DYNAMIC_CONFIG_I2C_INDEX - i2c_index; + + + + if ((psystem->system__mode_start & + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK) == + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK) { + pdynamic->system__grouped_parameter_hold_0 = pstate->cfg_gph_id | 0x01; + pdynamic->system__grouped_parameter_hold_1 = pstate->cfg_gph_id | 0x01; + pdynamic->system__grouped_parameter_hold = pstate->cfg_gph_id; + } + status = + VL53L1_i2c_encode_dynamic_config( + pdynamic, + VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes]); + } + + if (status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = \ + VL53L1_SYSTEM_CONTROL_I2C_INDEX - i2c_index; + + status = + VL53L1_i2c_encode_system_control( + psystem, + VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes]); + } + + + + + if (status == VL53L1_ERROR_NONE) { + status = + VL53L1_WriteMulti( + Dev, + i2c_index, + buffer, + (uint32_t)i2c_buffer_size_bytes); + } + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_update_ll_driver_rd_state(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_update_ll_driver_cfg_state(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_stop_range( + VL53L1_DEV Dev) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + + + + pdev->sys_ctrl.system__mode_start = + (pdev->sys_ctrl.system__mode_start & VL53L1_DEVICEMEASUREMENTMODE_STOP_MASK) | + VL53L1_DEVICEMEASUREMENTMODE_ABORT; + + status = VL53L1_set_system_control( + Dev, + &pdev->sys_ctrl); + + + + pdev->sys_ctrl.system__mode_start = + (pdev->sys_ctrl.system__mode_start & VL53L1_DEVICEMEASUREMENTMODE_STOP_MASK); + + + + VL53L1_init_ll_driver_state( + Dev, + VL53L1_DEVICESTATE_SW_STANDBY); + + + + V53L1_init_zone_results_structure( + pdev->zone_cfg.active_zones+1, + &(pres->zone_results)); + + return status; +} + +VL53L1_Error VL53L1_get_measurement_results( + VL53L1_DEV Dev, + VL53L1_DeviceResultsLevel device_results_level) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t buffer[VL53L1_MAX_I2C_XFER_SIZE]; + + VL53L1_system_results_t *psystem_results = &(pdev->sys_results); + VL53L1_core_results_t *pcore_results = &(pdev->core_results); + VL53L1_debug_results_t *pdebug_results = &(pdev->dbg_results); + + uint16_t i2c_index = VL53L1_SYSTEM_RESULTS_I2C_INDEX; + uint16_t i2c_buffer_offset_bytes = 0; + uint16_t i2c_buffer_size_bytes = 0; + + LOG_FUNCTION_START(""); + + + + + switch (device_results_level) { + case VL53L1_DEVICERESULTSLEVEL_FULL: + i2c_buffer_size_bytes = + (VL53L1_DEBUG_RESULTS_I2C_INDEX + + VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES) - + i2c_index; + break; + case VL53L1_DEVICERESULTSLEVEL_UPTO_CORE: + i2c_buffer_size_bytes = + (VL53L1_CORE_RESULTS_I2C_INDEX + + VL53L1_CORE_RESULTS_I2C_SIZE_BYTES) - + i2c_index; + break; + default: + i2c_buffer_size_bytes = + VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES; + break; + } + + + + + if (status == VL53L1_ERROR_NONE) + + status = + VL53L1_ReadMulti( + Dev, + i2c_index, + buffer, + (uint32_t)i2c_buffer_size_bytes); + + + + + if (device_results_level >= VL53L1_DEVICERESULTSLEVEL_FULL && + status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = + VL53L1_DEBUG_RESULTS_I2C_INDEX - i2c_index; + + status = + VL53L1_i2c_decode_debug_results( + VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes], + pdebug_results); + } + + if (device_results_level >= VL53L1_DEVICERESULTSLEVEL_UPTO_CORE && + status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = + VL53L1_CORE_RESULTS_I2C_INDEX - i2c_index; + + status = + VL53L1_i2c_decode_core_results( + VL53L1_CORE_RESULTS_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes], + pcore_results); + } + + if (status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = 0; + status = + VL53L1_i2c_decode_system_results( + VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes], + psystem_results); + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_device_results( + VL53L1_DEV Dev, + VL53L1_DeviceResultsLevel device_results_level, + VL53L1_range_results_t *prange_results) +{ + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + VL53L1_range_results_t *presults = &(pres->range_results); + VL53L1_zone_objects_t *pobjects = &(pres->zone_results.VL53L1_PRM_00005[0]); + VL53L1_ll_driver_state_t *pstate = &(pdev->ll_state); + VL53L1_zone_config_t *pzone_cfg = &(pdev->zone_cfg); + VL53L1_zone_hist_info_t *phist_info = &(pres->zone_hists.VL53L1_PRM_00005[0]); + + VL53L1_dmax_calibration_data_t dmax_cal; + VL53L1_dmax_calibration_data_t *pdmax_cal = &dmax_cal; + + uint8_t i; + + LOG_FUNCTION_START(""); + + + + + if ((pdev->sys_ctrl.system__mode_start & + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM) + == VL53L1_DEVICESCHEDULERMODE_HISTOGRAM) { + + + + + + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_get_histogram_bin_data( + Dev, + &(pdev->hist_data)); + + + + + + + if (status == VL53L1_ERROR_NONE && + pdev->hist_data.number_of_ambient_bins == 0) + status = VL53L1_hist_copy_and_scale_ambient_info( + &(pres->zone_hists.VL53L1_PRM_00005[pdev->ll_state.rd_zone_id]), + &(pdev->hist_data)); + + + + + + + + if (status == VL53L1_ERROR_NONE) { + + pdev->histpostprocess.gain_factor = + pdev->gain_cal.histogram_ranging_gain_factor; + + pdev->histpostprocess.algo__crosstalk_compensation_plane_offset_kcps = + VL53L1_calc_crosstalk_plane_offset_with_margin( + pdev->xtalk_cfg.algo__crosstalk_compensation_plane_offset_kcps, + pdev->xtalk_cfg.histogram_mode_crosstalk_margin_kcps); + + pdev->histpostprocess.algo__crosstalk_compensation_x_plane_gradient_kcps = + pdev->xtalk_cfg.algo__crosstalk_compensation_x_plane_gradient_kcps; + pdev->histpostprocess.algo__crosstalk_compensation_y_plane_gradient_kcps = + pdev->xtalk_cfg.algo__crosstalk_compensation_y_plane_gradient_kcps; + + pdev->dmax_cfg.ambient_thresh_sigma = + pdev->histpostprocess.ambient_thresh_sigma1; + pdev->dmax_cfg.min_ambient_thresh_events = + pdev->histpostprocess.min_ambient_thresh_events; + pdev->dmax_cfg.dss_config__target_total_rate_mcps = + pdev->stat_cfg.dss_config__target_total_rate_mcps; + pdev->dmax_cfg.dss_config__aperture_attenuation = + pdev->gen_cfg.dss_config__aperture_attenuation; + + pdev->histpostprocess.algo__crosstalk_detect_max_valid_range_mm = + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_range_mm; + pdev->histpostprocess.algo__crosstalk_detect_min_valid_range_mm = + pdev->xtalk_cfg.algo__crosstalk_detect_min_valid_range_mm; + pdev->histpostprocess.algo__crosstalk_detect_max_valid_rate_kcps = + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_rate_kcps; + pdev->histpostprocess.algo__crosstalk_detect_max_sigma_mm = + pdev->xtalk_cfg.algo__crosstalk_detect_max_sigma_mm; + + + + + VL53L1_copy_rtn_good_spads_to_buffer( + &(pdev->nvm_copy_data), + &(pdev->rtn_good_spads[0])); + + + + + switch (pdev->offset_correction_mode) { + + case VL53L1_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS: + + VL53L1_hist_combine_mm1_mm2_offsets( + pdev->customer.mm_config__inner_offset_mm, + pdev->customer.mm_config__outer_offset_mm, + pdev->nvm_copy_data.roi_config__mode_roi_centre_spad, + pdev->nvm_copy_data.roi_config__mode_roi_xy_size, + pdev->hist_data.roi_config__user_roi_centre_spad, + pdev->hist_data.roi_config__user_roi_requested_global_xy_size, + &(pdev->add_off_cal_data), + &(pdev->rtn_good_spads[0]), + (uint16_t)pdev->gen_cfg.dss_config__aperture_attenuation, + &(pdev->histpostprocess.range_offset_mm)); + + break; + + case VL53L1_OFFSETCORRECTIONMODE__PER_ZONE_OFFSETS: + pdev->histpostprocess.range_offset_mm = + (int16_t)pres->zone_cal.VL53L1_PRM_00005[pdev->ll_state.rd_zone_id].range_mm_offset; + break; + + default: + pdev->histpostprocess.range_offset_mm = 0; + break; + + } + } + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_get_dmax_calibration_data( + Dev, + pdev->dmax_mode, + pdev->ll_state.rd_zone_id, + pdmax_cal); + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_ipp_hist_process_data( + Dev, + pdmax_cal, + &(pdev->dmax_cfg), + &(pdev->histpostprocess), + &(pdev->hist_data), + &(pdev->xtalk_shapes), + presults); + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_hist_wrap_dmax( + &(pdev->histpostprocess), + &(pdev->hist_data), + &(presults->wrap_dmax_mm)); + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_hist_phase_consistency_check( + Dev, + &(pres->zone_hists.VL53L1_PRM_00005[pdev->ll_state.rd_zone_id]), + &(pdev->hist_data), + &(pres->zone_results.VL53L1_PRM_00005[pdev->ll_state.rd_zone_id]), + presults); + + + + + + + if (status == VL53L1_ERROR_NONE) { + + pres->zone_hists.max_zones = VL53L1_MAX_USER_ZONES; + pres->zone_hists.active_zones = pdev->zone_cfg.active_zones+1; + pdev->hist_data.zone_id = pdev->ll_state.rd_zone_id; + + if (pdev->ll_state.rd_zone_id < pres->zone_results.max_zones) { + + phist_info = + &(pres->zone_hists.VL53L1_PRM_00005[pdev->ll_state.rd_zone_id]); + + phist_info->rd_device_state = + pdev->hist_data.rd_device_state; + + phist_info->number_of_ambient_bins = + pdev->hist_data.number_of_ambient_bins; + + phist_info->result__dss_actual_effective_spads = + pdev->hist_data.result__dss_actual_effective_spads; + + phist_info->VL53L1_PRM_00007 = + pdev->hist_data.VL53L1_PRM_00007; + + phist_info->total_periods_elapsed = + pdev->hist_data.total_periods_elapsed; + + phist_info->ambient_events_sum = + pdev->hist_data.ambient_events_sum; + } + + } + + + + + + + + if (status == VL53L1_ERROR_NONE) + VL53L1_hist_copy_results_to_sys_and_core( + &(pdev->hist_data), + presults, + &(pdev->sys_results), + &(pdev->core_results)); + + + + + + + + if (pzone_cfg->active_zones > 0) { + if (pstate->rd_device_state != + VL53L1_DEVICESTATE_RANGING_WAIT_GPH_SYNC) { + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_dynamic_zone_update( + Dev, presults); + } + } + + + + + + for (i = 0; i < VL53L1_MAX_USER_ZONES; i++) { + pzone_cfg->bin_config[i] = + ((pdev->ll_state.cfg_internal_stream_count) & 0x01) ? + VL53L1_ZONECONFIG_BINCONFIG__HIGHAMB : + VL53L1_ZONECONFIG_BINCONFIG__LOWAMB; + } + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_multizone_hist_bins_update(Dev); + + } + +#ifdef VL53L1_LOG_ENABLE + if (status == VL53L1_ERROR_NONE) + VL53L1_print_histogram_bin_data( + &(pdev->hist_data), + "get_device_results():pdev->lldata.hist_data.", + VL53L1_TRACE_MODULE_HISTOGRAM_DATA); +#endif + + } else { + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_get_measurement_results( + Dev, + device_results_level); + + if (status == VL53L1_ERROR_NONE) + VL53L1_copy_sys_and_core_results_to_range_results( + (int32_t)pdev->gain_cal.standard_ranging_gain_factor, + &(pdev->sys_results), + &(pdev->core_results), + presults); + } + + + + presults->cfg_device_state = pdev->ll_state.cfg_device_state; + presults->rd_device_state = pdev->ll_state.rd_device_state; + presults->zone_id = pdev->ll_state.rd_zone_id; + + if (status == VL53L1_ERROR_NONE) { + + + + pres->zone_results.max_zones = VL53L1_MAX_USER_ZONES; + pres->zone_results.active_zones = pdev->zone_cfg.active_zones+1; + + if (pdev->ll_state.rd_zone_id < pres->zone_results.max_zones) { + + pobjects = + &(pres->zone_results.VL53L1_PRM_00005[pdev->ll_state.rd_zone_id]); + + pobjects->cfg_device_state = presults->cfg_device_state; + pobjects->rd_device_state = presults->rd_device_state; + pobjects->zone_id = presults->zone_id; + pobjects->stream_count = presults->stream_count; + + pobjects->max_objects = presults->max_results; + pobjects->active_objects = presults->active_results; + + for (i = 0; i < presults->active_results; i++) { + pobjects->VL53L1_PRM_00005[i].VL53L1_PRM_00023 = + presults->VL53L1_PRM_00005[i].VL53L1_PRM_00023; + pobjects->VL53L1_PRM_00005[i].VL53L1_PRM_00022 = + presults->VL53L1_PRM_00005[i].VL53L1_PRM_00022; + pobjects->VL53L1_PRM_00005[i].VL53L1_PRM_00014 = + presults->VL53L1_PRM_00005[i].VL53L1_PRM_00014; + } + } + } + + + + + memcpy( + prange_results, + presults, + sizeof(VL53L1_range_results_t)); + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_check_ll_driver_rd_state(Dev); + +#ifdef VL53L1_LOG_ENABLE + if (status == VL53L1_ERROR_NONE) + VL53L1_print_range_results( + presults, + "get_device_results():pdev->llresults.range_results.", + VL53L1_TRACE_MODULE_RANGE_RESULTS_DATA); +#endif + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_clear_interrupt_and_enable_next_range( + VL53L1_DEV Dev, + uint8_t measurement_mode) +{ + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_init_and_start_range( + Dev, + measurement_mode, + VL53L1_DEVICECONFIGLEVEL_GENERAL_ONWARDS); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_histogram_bin_data( + VL53L1_DEV Dev, + VL53L1_histogram_bin_data_t *pdata) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + VL53L1_zone_private_dyn_cfg_t *pzone_dyn_cfg; + + VL53L1_static_nvm_managed_t *pstat_nvm = &(pdev->stat_nvm); + VL53L1_static_config_t *pstat_cfg = &(pdev->stat_cfg); + VL53L1_general_config_t *pgen_cfg = &(pdev->gen_cfg); + VL53L1_timing_config_t *ptim_cfg = &(pdev->tim_cfg); + + uint8_t buffer[VL53L1_MAX_I2C_XFER_SIZE]; + uint8_t *pbuffer = &buffer[0]; + uint8_t bin_23_0 = 0x00; + uint16_t bin = 0; + uint16_t i2c_buffer_offset_bytes = 0; + uint16_t encoded_timeout = 0; + + uint32_t pll_period_us = 0; + uint32_t periods_elapsed_tmp = 0; + + uint8_t i = 0; + + LOG_FUNCTION_START(""); + + + + + + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_ReadMulti( + Dev, + VL53L1_HISTOGRAM_BIN_DATA_I2C_INDEX, + pbuffer, + VL53L1_HISTOGRAM_BIN_DATA_I2C_SIZE_BYTES); + + + + + + + pdata->result__interrupt_status = *(pbuffer + 0); + pdata->result__range_status = *(pbuffer + 1); + pdata->result__report_status = *(pbuffer + 2); + pdata->result__stream_count = *(pbuffer + 3); + pdata->result__dss_actual_effective_spads = + VL53L1_i2c_decode_uint16_t(2, pbuffer + 4); + + + + + + + i2c_buffer_offset_bytes = \ + VL53L1_PHASECAL_RESULT__REFERENCE_PHASE - \ + VL53L1_HISTOGRAM_BIN_DATA_I2C_INDEX; + + pbuffer = &buffer[i2c_buffer_offset_bytes]; + + pdata->phasecal_result__reference_phase = + VL53L1_i2c_decode_uint16_t(2, pbuffer); + + i2c_buffer_offset_bytes = \ + VL53L1_PHASECAL_RESULT__VCSEL_START - \ + VL53L1_HISTOGRAM_BIN_DATA_I2C_INDEX; + + pdata->phasecal_result__vcsel_start = buffer[i2c_buffer_offset_bytes]; + + + + + pdev->dbg_results.phasecal_result__reference_phase = + pdata->phasecal_result__reference_phase; + pdev->dbg_results.phasecal_result__vcsel_start = + pdata->phasecal_result__vcsel_start; + + + + + + + + i2c_buffer_offset_bytes = \ + VL53L1_RESULT__HISTOGRAM_BIN_23_0_MSB - \ + VL53L1_HISTOGRAM_BIN_DATA_I2C_INDEX; + + bin_23_0 = buffer[i2c_buffer_offset_bytes] << 2; + + i2c_buffer_offset_bytes = \ + VL53L1_RESULT__HISTOGRAM_BIN_23_0_LSB - \ + VL53L1_HISTOGRAM_BIN_DATA_I2C_INDEX; + + bin_23_0 += buffer[i2c_buffer_offset_bytes]; + + i2c_buffer_offset_bytes = \ + VL53L1_RESULT__HISTOGRAM_BIN_23_0 - \ + VL53L1_HISTOGRAM_BIN_DATA_I2C_INDEX; + + buffer[i2c_buffer_offset_bytes] = bin_23_0; + + + + + + + + i2c_buffer_offset_bytes = \ + VL53L1_RESULT__HISTOGRAM_BIN_0_2 - \ + VL53L1_HISTOGRAM_BIN_DATA_I2C_INDEX; + + pbuffer = &buffer[i2c_buffer_offset_bytes]; + for (bin = 0 ; bin < VL53L1_HISTOGRAM_BUFFER_SIZE ; bin++) { + pdata->bin_data[bin] = + (int32_t)VL53L1_i2c_decode_uint32_t(3, pbuffer); + pbuffer += 3; + } + + + + pdata->zone_id = pdev->ll_state.rd_zone_id; + pdata->VL53L1_PRM_00015 = 0; + pdata->VL53L1_PRM_00016 = VL53L1_HISTOGRAM_BUFFER_SIZE; + pdata->VL53L1_PRM_00017 = VL53L1_HISTOGRAM_BUFFER_SIZE; + + pdata->cal_config__vcsel_start = pgen_cfg->cal_config__vcsel_start; + + + + + pdata->vcsel_width = + ((uint16_t)pgen_cfg->global_config__vcsel_width) << 4; + pdata->vcsel_width += + (uint16_t)pstat_cfg->ana_config__vcsel_pulse_width_offset; + + + + pdata->VL53L1_PRM_00018 = + pstat_nvm->osc_measured__fast_osc__frequency; + + + + + VL53L1_hist_get_bin_sequence_config(Dev, pdata); + + + + + + + if (pdev->ll_state.rd_timing_status == 0) { + + encoded_timeout = \ + (ptim_cfg->range_config__timeout_macrop_a_hi << 8) \ + + ptim_cfg->range_config__timeout_macrop_a_lo; + pdata->VL53L1_PRM_00007 = ptim_cfg->range_config__vcsel_period_a; + } else { + + encoded_timeout = \ + (ptim_cfg->range_config__timeout_macrop_b_hi << 8) \ + + ptim_cfg->range_config__timeout_macrop_b_lo; + pdata->VL53L1_PRM_00007 = ptim_cfg->range_config__vcsel_period_b; + } + + + + + pdata->number_of_ambient_bins = 0; + + for (i = 0; i < 6; i++) { + if ((pdata->bin_seq[i] & 0x07) == 0x07) { + pdata->number_of_ambient_bins = + pdata->number_of_ambient_bins + 0x04; + } + } + + pdata->total_periods_elapsed = + VL53L1_decode_timeout(encoded_timeout); + + + + + + + + pll_period_us = + VL53L1_calc_pll_period_us(pdata->VL53L1_PRM_00018); + + + + + periods_elapsed_tmp = pdata->total_periods_elapsed + 1; + + + + + + + pdata->peak_duration_us = + VL53L1_duration_maths( + pll_period_us, + (uint32_t)pdata->vcsel_width, + VL53L1_RANGING_WINDOW_VCSEL_PERIODS, + periods_elapsed_tmp); + + pdata->woi_duration_us = 0; + + + + + VL53L1_hist_calc_zero_distance_phase(pdata); + + + + + + + VL53L1_hist_estimate_ambient_from_ambient_bins(pdata); + + + + + pdata->cfg_device_state = pdev->ll_state.cfg_device_state; + pdata->rd_device_state = pdev->ll_state.rd_device_state; + + + + + pzone_dyn_cfg = &(pres->zone_dyn_cfgs.VL53L1_PRM_00005[pdata->zone_id]); + + pdata->roi_config__user_roi_centre_spad = + pzone_dyn_cfg->roi_config__user_roi_centre_spad; + pdata->roi_config__user_roi_requested_global_xy_size = + pzone_dyn_cfg->roi_config__user_roi_requested_global_xy_size; + + + + + switch (pdata->result__range_status & + VL53L1_RANGE_STATUS__RANGE_STATUS_MASK) { + + case VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE: + case VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE: + case VL53L1_DEVICEERROR_NOVHVVALUEFOUND: + case VL53L1_DEVICEERROR_USERROICLIP: + case VL53L1_DEVICEERROR_MULTCLIPFAIL: + status = VL53L1_ERROR_RANGE_ERROR; + break; + + } + + LOG_FUNCTION_END(status); + + return status; +} + + +void VL53L1_copy_sys_and_core_results_to_range_results( + int32_t gain_factor, + VL53L1_system_results_t *psys, + VL53L1_core_results_t *pcore, + VL53L1_range_results_t *presults) +{ + uint8_t i = 0; + + VL53L1_range_data_t *pdata; + int32_t range_mm = 0; + + LOG_FUNCTION_START(""); + + + + + presults->zone_id = 0; + presults->stream_count = psys->result__stream_count; + presults->wrap_dmax_mm = 0; + presults->max_results = VL53L1_MAX_RANGE_RESULTS; + presults->active_results = 1; + + for (i = 0 ; i < VL53L1_MAX_AMBIENT_DMAX_VALUES ; i++) + presults->ambient_dmax_mm[i] = 0; + + pdata = &(presults->VL53L1_PRM_00005[0]); + + for (i = 0 ; i < 2 ; i++) { + + pdata->range_id = i; + pdata->time_stamp = 0; + pdata->range_status = + psys->result__range_status & VL53L1_RANGE_STATUS__RANGE_STATUS_MASK; + + pdata->VL53L1_PRM_00010 = 0; + pdata->VL53L1_PRM_00015 = 0; + pdata->VL53L1_PRM_00019 = 0; + pdata->VL53L1_PRM_00020 = 0; + pdata->VL53L1_PRM_00011 = 0; + pdata->VL53L1_PRM_00021 = 0; + + switch (i) { + + case 0: + + if (psys->result__report_status == VL53L1_DEVICEREPORTSTATUS_MM1) + pdata->VL53L1_PRM_00003 = + psys->result__mm_inner_actual_effective_spads_sd0; + else if (psys->result__report_status == VL53L1_DEVICEREPORTSTATUS_MM2) + pdata->VL53L1_PRM_00003 = + psys->result__mm_outer_actual_effective_spads_sd0; + else + pdata->VL53L1_PRM_00003 = + psys->result__dss_actual_effective_spads_sd0; + + pdata->peak_signal_count_rate_mcps = + psys->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0; + pdata->avg_signal_count_rate_mcps = + psys->result__avg_signal_count_rate_mcps_sd0; + pdata->ambient_count_rate_mcps = + psys->result__ambient_count_rate_mcps_sd0; + + pdata->VL53L1_PRM_00004 = + psys->result__sigma_sd0; + pdata->VL53L1_PRM_00014 = + psys->result__phase_sd0; + + range_mm = + (int32_t)psys->result__final_crosstalk_corrected_range_mm_sd0; + + + + range_mm *= gain_factor; + range_mm += 0x0400; + range_mm /= 0x0800; + + pdata->median_range_mm = (int16_t)range_mm; + + pdata->VL53L1_PRM_00022 = + pcore->result_core__ranging_total_events_sd0; + pdata->VL53L1_PRM_00009 = + pcore->result_core__signal_total_events_sd0; + pdata->total_periods_elapsed = + pcore->result_core__total_periods_elapsed_sd0; + pdata->VL53L1_PRM_00023 = + pcore->result_core__ambient_window_events_sd0; + + break; + case 1: + + pdata->VL53L1_PRM_00003 = + psys->result__dss_actual_effective_spads_sd1; + pdata->peak_signal_count_rate_mcps = + psys->result__peak_signal_count_rate_mcps_sd1; + pdata->avg_signal_count_rate_mcps = + 0xFFFF; + pdata->ambient_count_rate_mcps = + psys->result__ambient_count_rate_mcps_sd1; + + pdata->VL53L1_PRM_00004 = + psys->result__sigma_sd1; + pdata->VL53L1_PRM_00014 = + psys->result__phase_sd1; + + range_mm = + (int32_t)psys->result__final_crosstalk_corrected_range_mm_sd1; + + + + range_mm *= gain_factor; + range_mm += 0x0400; + range_mm /= 0x0800; + + pdata->median_range_mm = (int16_t)range_mm; + + pdata->VL53L1_PRM_00022 = + pcore->result_core__ranging_total_events_sd1; + pdata->VL53L1_PRM_00009 = + pcore->result_core__signal_total_events_sd1; + pdata->total_periods_elapsed = + pcore->result_core__total_periods_elapsed_sd1; + pdata->VL53L1_PRM_00023 = + pcore->result_core__ambient_window_events_sd1; + + break; + } + + + + + + pdata->VL53L1_PRM_00024 = pdata->VL53L1_PRM_00014; + pdata->VL53L1_PRM_00025 = pdata->VL53L1_PRM_00014; + pdata->min_range_mm = pdata->median_range_mm; + pdata->max_range_mm = pdata->median_range_mm; + + pdata++; + } + + LOG_FUNCTION_END(0); +} + + +VL53L1_Error VL53L1_set_zone_dss_config( + VL53L1_DEV Dev, + VL53L1_zone_private_dyn_cfg_t *pzone_dyn_cfg) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + if (pzone_dyn_cfg->dss_requested_effective_spad_count == 0) { + pdev->gen_cfg.dss_config__roi_mode_control = + VL53L1_DSS_CONTROL__MODE_TARGET_RATE; + } else { + pdev->gen_cfg.dss_config__roi_mode_control = + VL53L1_DSS_CONTROL__MODE_EFFSPADS; + pdev->gen_cfg.dss_config__manual_effective_spads_select = + pzone_dyn_cfg->dss_requested_effective_spad_count; + } + + LOG_FUNCTION_END(status); + return status; +} + + +VL53L1_Error VL53L1_calc_ambient_dmax( + VL53L1_DEV Dev, + uint16_t target_reflectance, + int16_t *pambient_dmax_mm) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + VL53L1_dmax_calibration_data_t dmax_cal; + VL53L1_dmax_calibration_data_t *pdmax_cal = &dmax_cal; + + LOG_FUNCTION_START(""); + + + + + + + status = + VL53L1_get_dmax_calibration_data( + Dev, + pdev->debug_mode, + pdev->ll_state.rd_zone_id, + pdmax_cal); + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_ipp_hist_ambient_dmax( + Dev, + target_reflectance, + &(pdev->fmt_dmax_cal), + &(pdev->dmax_cfg), + &(pdev->hist_data), + pambient_dmax_mm); + + LOG_FUNCTION_END(status); + + return status; +} + + + + + + +VL53L1_Error VL53L1_set_GPIO_interrupt_config( + VL53L1_DEV Dev, + VL53L1_GPIO_Interrupt_Mode intr_mode_distance, + VL53L1_GPIO_Interrupt_Mode intr_mode_rate, + uint8_t intr_new_measure_ready, + uint8_t intr_no_target, + uint8_t intr_combined_mode, + uint16_t thresh_distance_high, + uint16_t thresh_distance_low, + uint16_t thresh_rate_high, + uint16_t thresh_rate_low + ) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_GPIO_interrupt_config_t *pintconf = &(pdev->gpio_interrupt_config); + + LOG_FUNCTION_START(""); + + + + pintconf->intr_mode_distance = intr_mode_distance; + pintconf->intr_mode_rate = intr_mode_rate; + pintconf->intr_new_measure_ready = intr_new_measure_ready; + pintconf->intr_no_target = intr_no_target; + pintconf->intr_combined_mode = intr_combined_mode; + pintconf->threshold_distance_high = thresh_distance_high; + pintconf->threshold_distance_low = thresh_distance_low; + pintconf->threshold_rate_high = thresh_rate_high; + pintconf->threshold_rate_low = thresh_rate_low; + + + + pdev->gen_cfg.system__interrupt_config_gpio = + VL53L1_encode_GPIO_interrupt_config(pintconf); + + + + + status = VL53L1_set_GPIO_thresholds_from_struct( + Dev, + pintconf); + + LOG_FUNCTION_END(status); + return status; +} + + + + + + +VL53L1_Error VL53L1_set_GPIO_interrupt_config_struct( + VL53L1_DEV Dev, + VL53L1_GPIO_interrupt_config_t intconf) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_GPIO_interrupt_config_t *pintconf = &(pdev->gpio_interrupt_config); + + LOG_FUNCTION_START(""); + + + + memcpy(pintconf, &(intconf), sizeof(VL53L1_GPIO_interrupt_config_t)); + + + + pdev->gen_cfg.system__interrupt_config_gpio = + VL53L1_encode_GPIO_interrupt_config(pintconf); + + + + status = VL53L1_set_GPIO_thresholds_from_struct( + Dev, + pintconf); + + LOG_FUNCTION_END(status); + return status; +} + + + + + + +VL53L1_Error VL53L1_get_GPIO_interrupt_config( + VL53L1_DEV Dev, + VL53L1_GPIO_interrupt_config_t *pintconf) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + + + + pdev->gpio_interrupt_config = VL53L1_decode_GPIO_interrupt_config( + pdev->gen_cfg.system__interrupt_config_gpio); + + + + + + pdev->gpio_interrupt_config.threshold_distance_high = + pdev->dyn_cfg.system__thresh_high; + pdev->gpio_interrupt_config.threshold_distance_low = + pdev->dyn_cfg.system__thresh_low; + + pdev->gpio_interrupt_config.threshold_rate_high = + pdev->gen_cfg.system__thresh_rate_high; + pdev->gpio_interrupt_config.threshold_rate_low = + pdev->gen_cfg.system__thresh_rate_low; + + if (pintconf == &(pdev->gpio_interrupt_config)) { + + + } else { + + + + memcpy(pintconf, &(pdev->gpio_interrupt_config), + sizeof(VL53L1_GPIO_interrupt_config_t)); + } + + LOG_FUNCTION_END(status); + return status; +} + + +VL53L1_Error VL53L1_set_dmax_mode( + VL53L1_DEV Dev, + VL53L1_DeviceDmaxMode dmax_mode) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->dmax_mode = dmax_mode; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_dmax_mode( + VL53L1_DEV Dev, + VL53L1_DeviceDmaxMode *pdmax_mode) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *pdmax_mode = pdev->dmax_mode; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_dmax_calibration_data( + VL53L1_DEV Dev, + VL53L1_DeviceDmaxMode dmax_mode, + uint8_t zone_id, + VL53L1_dmax_calibration_data_t *pdmax_cal) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + LOG_FUNCTION_START(""); + + switch (dmax_mode) { + + case VL53L1_DEVICEDMAXMODE__PER_ZONE_CAL_DATA: + pdmax_cal->ref__actual_effective_spads = + (uint16_t)pres->zone_cal.VL53L1_PRM_00005[zone_id].effective_spads; + pdmax_cal->ref__peak_signal_count_rate_mcps = + (uint16_t)pres->zone_cal.VL53L1_PRM_00005[zone_id].peak_rate_mcps; + pdmax_cal->ref__distance_mm = + pres->zone_cal.cal_distance_mm; + pdmax_cal->ref_reflectance_pc = + pres->zone_cal.cal_reflectance_pc; + pdmax_cal->coverglass_transmission = 0x0100; + break; + + case VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA: + memcpy( + pdmax_cal, + &(pdev->cust_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + break; + + case VL53L1_DEVICEDMAXMODE__FMT_CAL_DATA: + memcpy( + pdmax_cal, + &(pdev->fmt_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + break; + + default: + status = VL53L1_ERROR_INVALID_PARAMS; + break; + + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_hist_dmax_config( + VL53L1_DEV Dev, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + memcpy( + &(pdev->dmax_cfg), + pdmax_cfg, + sizeof(VL53L1_hist_gen3_dmax_config_t)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_hist_dmax_config( + VL53L1_DEV Dev, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + memcpy( + pdmax_cfg, + &(pdev->dmax_cfg), + sizeof(VL53L1_hist_gen3_dmax_config_t)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_offset_calibration_mode( + VL53L1_DEV Dev, + VL53L1_OffsetCalibrationMode offset_cal_mode) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->offset_calibration_mode = offset_cal_mode; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_offset_calibration_mode( + VL53L1_DEV Dev, + VL53L1_OffsetCalibrationMode *poffset_cal_mode) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *poffset_cal_mode = pdev->offset_calibration_mode; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_offset_correction_mode( + VL53L1_DEV Dev, + VL53L1_OffsetCorrectionMode offset_cor_mode) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->offset_correction_mode = offset_cor_mode; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_offset_correction_mode( + VL53L1_DEV Dev, + VL53L1_OffsetCorrectionMode *poffset_cor_mode) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *poffset_cor_mode = pdev->offset_correction_mode; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_zone_calibration_data( + VL53L1_DEV Dev, + VL53L1_zone_calibration_results_t *pzone_cal) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverResults_t *pres = VL53L1DevStructGetLLResultsHandle(Dev); + + LOG_FUNCTION_START(""); + + + + memcpy( + &(pres->zone_cal), + pzone_cal, + sizeof(VL53L1_zone_calibration_results_t)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_zone_calibration_data( + VL53L1_DEV Dev, + VL53L1_zone_calibration_results_t *pzone_cal) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverResults_t *pres = VL53L1DevStructGetLLResultsHandle(Dev); + + LOG_FUNCTION_START(""); + + + + memcpy( + pzone_cal, + &(pres->zone_cal), + sizeof(VL53L1_zone_calibration_results_t)); + + LOG_FUNCTION_END(status); + + return status; +} + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_api_debug.c b/drivers/input/misc/vl53L1/src/vl53l1_api_debug.c new file mode 100644 index 000000000000..558317721c55 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_api_debug.c @@ -0,0 +1,3184 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_ll_device.h" +#include "vl53l1_register_structs.h" +#include "vl53l1_hist_structs.h" +#include "vl53l1_nvm_structs.h" +#include "vl53l1_nvm.h" +#include "vl53l1_core.h" +#include "vl53l1_api_debug.h" + +#ifdef VL53L1_LOG_ENABLE +#include "vl53l1_nvm_debug.h" +#endif + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, \ + fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(trace_flags, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_decode_calibration_data_buffer( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_calibration_data_t *pdata) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (sizeof(VL53L1_calibration_data_t) > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + memcpy(pdata, pbuffer, sizeof(VL53L1_calibration_data_t)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_nvm_debug_data( + VL53L1_DEV Dev, + VL53L1_decoded_nvm_data_t *pdata) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = VL53L1_read_nvm(Dev, 0, pdata); + +#ifdef VL53L1_LOG_ENABLE + if (status == VL53L1_ERROR_NONE) + VL53L1_print_decoded_nvm_data( + pdata, + "get_nvm_debug_data():pnvm_info.", + VL53L1_TRACE_MODULE_NVM_DATA); +#endif + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_histogram_debug_data( + VL53L1_DEV Dev, + VL53L1_histogram_bin_data_t *pdata) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + memcpy( + pdata, + &(pdev->hist_data), + sizeof(VL53L1_histogram_bin_data_t)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_xtalk_debug_data( + VL53L1_DEV Dev, + VL53L1_xtalk_debug_data_t *pdata) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + memcpy( + &(pdata->customer), + &(pdev->customer), + sizeof(VL53L1_customer_nvm_managed_t)); + + memcpy( + &(pdata->xtalk_cfg), + &(pdev->xtalk_cfg), + sizeof(VL53L1_xtalk_config_t)); + + memcpy( + &(pdata->hist_data), + &(pdev->hist_data), + sizeof(VL53L1_histogram_bin_data_t)); + + memcpy( + &(pdata->xtalk_shapes), + &(pdev->xtalk_shapes), + sizeof(VL53L1_xtalk_histogram_data_t)); + + memcpy( + &(pdata->xtalk_results), + &(pdev->xtalk_results), + sizeof(VL53L1_xtalk_range_results_t)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_offset_debug_data( + VL53L1_DEV Dev, + VL53L1_offset_debug_data_t *pdata) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + memcpy( + &(pdata->customer), + &(pdev->customer), + sizeof(VL53L1_customer_nvm_managed_t)); + + memcpy( + &(pdata->fmt_dmax_cal), + &(pdev->fmt_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + + memcpy( + &(pdata->cust_dmax_cal), + &(pdev->cust_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + + memcpy( + &(pdata->add_off_cal_data), + &(pdev->add_off_cal_data), + sizeof(VL53L1_additional_offset_cal_data_t)); + + memcpy( + &(pdata->offset_results), + &(pdev->offset_results), + sizeof(VL53L1_offset_range_results_t)); + + LOG_FUNCTION_END(status); + + return status; +} + +#ifdef VL53L1_LOG_ENABLE + +void VL53L1_signed_fixed_point_sprintf( + int32_t signed_fp_value, + uint8_t frac_bits, + uint16_t buf_size, + char *pbuffer) +{ + + + + + + uint32_t fp_value = 0; + uint32_t unity_fp_value = 0; + uint32_t sign_bit = 0; + uint32_t int_part = 0; + uint32_t frac_part = 0; + uint32_t dec_points = 0; + uint32_t dec_scaler = 0; + uint32_t dec_part = 0; + + uint64_t tmp_long_int = 0; + + char fmt[VL53L1_MAX_STRING_LENGTH]; + + SUPPRESS_UNUSED_WARNING(buf_size); + + + + + sign_bit = signed_fp_value >> 31; + + if (sign_bit > 0) { + fp_value = 0x80000000 - + (0x7FFFFFFF & (uint32_t)signed_fp_value); + } else + fp_value = (uint32_t)signed_fp_value; + + int_part = fp_value >> frac_bits; + unity_fp_value = 0x01 << frac_bits; + frac_part = fp_value & (unity_fp_value-1); + + + + + + dec_points = 2; + dec_scaler = 100; + + while (dec_scaler < unity_fp_value) { + dec_points++; + dec_scaler *= 10; + } + + + + if (sign_bit > 0) + sprintf(fmt, "-%%u.%%0%uu", dec_points); + else + sprintf(fmt, "%%u.%%0%uu", dec_points); + + + + + + tmp_long_int = (uint64_t)frac_part * (uint64_t)dec_scaler; + tmp_long_int += (uint64_t)unity_fp_value/2; + + tmp_long_int = do_division_u(tmp_long_int, (uint64_t)unity_fp_value); + + dec_part = (uint32_t)tmp_long_int; + + + + sprintf( + pbuffer, + fmt, + int_part, + dec_part); +} + + +void VL53L1_print_static_nvm_managed( + VL53L1_static_nvm_managed_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = 0x%02X\n", + pprefix, + "i2c_slave__device_address", + pdata->i2c_slave__device_address); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__vhv_ref_sel_vddpix", + pdata->ana_config__vhv_ref_sel_vddpix); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__vhv_ref_sel_vquench", + pdata->ana_config__vhv_ref_sel_vquench); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__reg_avdd1v2_sel", + pdata->ana_config__reg_avdd1v2_sel); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__fast_osc__trim", + pdata->ana_config__fast_osc__trim); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->osc_measured__fast_osc__frequency, + 12, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "osc_measured__fast_osc__frequency", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "vhv_config__timeout_macrop_loop_bound", + pdata->vhv_config__timeout_macrop_loop_bound); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "vhv_config__count_thresh", + pdata->vhv_config__count_thresh); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "vhv_config__offset", + pdata->vhv_config__offset); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "vhv_config__init", + pdata->vhv_config__init); +} + + +void VL53L1_print_customer_nvm_managed( + VL53L1_customer_nvm_managed_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_ref_0", + pdata->global_config__spad_enables_ref_0); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_ref_1", + pdata->global_config__spad_enables_ref_1); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_ref_2", + pdata->global_config__spad_enables_ref_2); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_ref_3", + pdata->global_config__spad_enables_ref_3); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_ref_4", + pdata->global_config__spad_enables_ref_4); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_ref_5", + pdata->global_config__spad_enables_ref_5); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__ref_en_start_select", + pdata->global_config__ref_en_start_select); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ref_spad_man__num_requested_ref_spads", + pdata->ref_spad_man__num_requested_ref_spads); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ref_spad_man__ref_location", + pdata->ref_spad_man__ref_location); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_compensation_plane_offset_kcps, + 9, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_plane_offset_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_compensation_x_plane_gradient_kcps, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_x_plane_gradient_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_compensation_y_plane_gradient_kcps, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_y_plane_gradient_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->ref_spad_char__total_rate_target_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "ref_spad_char__total_rate_target_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__part_to_part_range_offset_mm, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__part_to_part_range_offset_mm", + fp_text); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "mm_config__inner_offset_mm", + pdata->mm_config__inner_offset_mm); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "mm_config__outer_offset_mm", + pdata->mm_config__outer_offset_mm); +} + + +void VL53L1_print_nvm_copy_data( + VL53L1_nvm_copy_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "identification__model_id", + pdata->identification__model_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "identification__module_type", + pdata->identification__module_type); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "identification__revision_id", + pdata->identification__revision_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "identification__module_id", + pdata->identification__module_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__fast_osc__trim_max", + pdata->ana_config__fast_osc__trim_max); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__fast_osc__freq_set", + pdata->ana_config__fast_osc__freq_set); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__vcsel_trim", + pdata->ana_config__vcsel_trim); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__vcsel_selion", + pdata->ana_config__vcsel_selion); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__vcsel_selion_max", + pdata->ana_config__vcsel_selion_max); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "protected_laser_safety__lock_bit", + pdata->protected_laser_safety__lock_bit); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "laser_safety__key", + pdata->laser_safety__key); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "laser_safety__key_ro", + pdata->laser_safety__key_ro); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "laser_safety__clip", + pdata->laser_safety__clip); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "laser_safety__mult", + pdata->laser_safety__mult); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_0", + pdata->global_config__spad_enables_rtn_0); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_1", + pdata->global_config__spad_enables_rtn_1); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_2", + pdata->global_config__spad_enables_rtn_2); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_3", + pdata->global_config__spad_enables_rtn_3); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_4", + pdata->global_config__spad_enables_rtn_4); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_5", + pdata->global_config__spad_enables_rtn_5); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_6", + pdata->global_config__spad_enables_rtn_6); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_7", + pdata->global_config__spad_enables_rtn_7); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_8", + pdata->global_config__spad_enables_rtn_8); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_9", + pdata->global_config__spad_enables_rtn_9); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_10", + pdata->global_config__spad_enables_rtn_10); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_11", + pdata->global_config__spad_enables_rtn_11); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_12", + pdata->global_config__spad_enables_rtn_12); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_13", + pdata->global_config__spad_enables_rtn_13); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_14", + pdata->global_config__spad_enables_rtn_14); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_15", + pdata->global_config__spad_enables_rtn_15); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_16", + pdata->global_config__spad_enables_rtn_16); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_17", + pdata->global_config__spad_enables_rtn_17); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_18", + pdata->global_config__spad_enables_rtn_18); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_19", + pdata->global_config__spad_enables_rtn_19); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_20", + pdata->global_config__spad_enables_rtn_20); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_21", + pdata->global_config__spad_enables_rtn_21); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_22", + pdata->global_config__spad_enables_rtn_22); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_23", + pdata->global_config__spad_enables_rtn_23); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_24", + pdata->global_config__spad_enables_rtn_24); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_25", + pdata->global_config__spad_enables_rtn_25); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_26", + pdata->global_config__spad_enables_rtn_26); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_27", + pdata->global_config__spad_enables_rtn_27); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_28", + pdata->global_config__spad_enables_rtn_28); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_29", + pdata->global_config__spad_enables_rtn_29); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_30", + pdata->global_config__spad_enables_rtn_30); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_31", + pdata->global_config__spad_enables_rtn_31); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "roi_config__mode_roi_centre_spad", + pdata->roi_config__mode_roi_centre_spad); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = 0x%02X\n", + pprefix, + "roi_config__mode_roi_xy_size", + pdata->roi_config__mode_roi_xy_size); +} + + +void VL53L1_print_histogram_bin_data( + VL53L1_histogram_bin_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + uint8_t i = 0; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cfg_device_state", + pdata->cfg_device_state); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "rd_device_state", + pdata->rd_device_state); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_PRM_00015", + pdata->VL53L1_PRM_00015); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_PRM_00016", + pdata->VL53L1_PRM_00016); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_PRM_00017", + pdata->VL53L1_PRM_00017); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "number_of_ambient_bins", + pdata->number_of_ambient_bins); + + for (i = 0 ; i < VL53L1_MAX_BIN_SEQUENCE_LENGTH ; i++) { + sprintf(ppre_text, "%sbin_seq[%u]", pprefix, i); + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->bin_seq[i]); + } + + for (i = 0 ; i < VL53L1_MAX_BIN_SEQUENCE_LENGTH ; i++) { + sprintf(ppre_text, "%sbin_rep[%u]", pprefix, i); + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->bin_rep[i]); + } + + for (i = 0 ; i < pdata->VL53L1_PRM_00017 ; i++) { + sprintf(ppre_text, "%sbin_data[%u]", pprefix, i); + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %d\n", + ppre_text, + pdata->bin_data[i]); + } + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "result__interrupt_status", + pdata->result__interrupt_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "result__range_status", + pdata->result__range_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "result__report_status", + pdata->result__report_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "result__stream_count", + pdata->result__stream_count); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__dss_actual_effective_spads, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__dss_actual_effective_spads", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->phasecal_result__reference_phase, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "phasecal_result__reference_phase", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "phasecal_result__vcsel_start", + pdata->phasecal_result__vcsel_start); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cal_config__vcsel_start", + pdata->cal_config__vcsel_start); + + VL53L1_signed_fixed_point_sprintf( + (uint32_t)pdata->vcsel_width, + 4, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "vcsel_width", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_PRM_00007", + pdata->VL53L1_PRM_00007); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_PRM_00018, + 12, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_PRM_00018", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "total_periods_elapsed", + pdata->total_periods_elapsed); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "peak_duration_us", + pdata->peak_duration_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "woi_duration_us", + pdata->woi_duration_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "min_bin_value", + pdata->min_bin_value); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "max_bin_value", + pdata->max_bin_value); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->zero_distance_phase, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "zero_distance_phase", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "number_of_ambient_samples", + pdata->number_of_ambient_samples); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "ambient_events_sum", + pdata->ambient_events_sum); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "VL53L1_PRM_00026", + pdata->VL53L1_PRM_00026); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = 0x%02X\n", + pprefix, + "roi_config__user_roi_centre_spad", + pdata->roi_config__user_roi_centre_spad); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = 0x%02X\n", + pprefix, + "roi_config__user_roi_requested_global_xy_size", + pdata->roi_config__user_roi_requested_global_xy_size); +} + + +void VL53L1_print_xtalk_histogram_shape_data( + VL53L1_xtalk_histogram_shape_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + uint8_t i = 0; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_PRM_00015", + pdata->VL53L1_PRM_00015); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_PRM_00016", + pdata->VL53L1_PRM_00016); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_PRM_00017", + pdata->VL53L1_PRM_00017); + + for (i = 0 ; i < pdata->VL53L1_PRM_00017 ; i++) { + + sprintf(ppre_text, "%sbin_data[%u]", pprefix, i); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->bin_data[i], + 10, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %s\n", + ppre_text, + fp_text); + } + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->phasecal_result__reference_phase, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "phasecal_result__reference_phase", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "phasecal_result__vcsel_start", + pdata->phasecal_result__vcsel_start); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cal_config__vcsel_start", + pdata->cal_config__vcsel_start); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->vcsel_width, + 4, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "vcsel_width", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_PRM_00018, + 12, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_PRM_00018", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->zero_distance_phase, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "zero_distance_phase", + fp_text); +} + + +void VL53L1_print_xtalk_histogram_data( + VL53L1_xtalk_histogram_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + + + sprintf(ppre_text, "%sxtalk_shape.", pprefix); + VL53L1_print_xtalk_histogram_shape_data( + &(pdata->xtalk_shape), + ppre_text, trace_flags); + + + + sprintf(ppre_text, "%sxtalk_hist_removed.", pprefix); + VL53L1_print_histogram_bin_data( + &(pdata->xtalk_hist_removed), + ppre_text, trace_flags); +} + + +void VL53L1_print_range_data( + VL53L1_range_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "range_id", + pdata->range_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "time_stamp", + pdata->time_stamp); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_PRM_00010", + pdata->VL53L1_PRM_00010); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_PRM_00015", + pdata->VL53L1_PRM_00015); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_PRM_00019", + pdata->VL53L1_PRM_00019); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_PRM_00020", + pdata->VL53L1_PRM_00020); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_PRM_00011", + pdata->VL53L1_PRM_00011); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_PRM_00021", + pdata->VL53L1_PRM_00021); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->width, + 4, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "width", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_PRM_00027", + pdata->VL53L1_PRM_00027); + + + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->fast_osc_frequency, + 12, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "fast_osc_frequency", + fp_text); + + + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->zero_distance_phase, + 11, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "zero_distance_phase", + fp_text); + + + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_PRM_00003, + 8, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "actual_effective_spad", + fp_text); + + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "total_periods_elapsed", + pdata->total_periods_elapsed); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "peak_duration_us", + pdata->peak_duration_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "woi_duration_us", + pdata->woi_duration_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "VL53L1_PRM_00023", + pdata->VL53L1_PRM_00023); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "VL53L1_PRM_00022", + pdata->VL53L1_PRM_00022); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "VL53L1_PRM_00009", + pdata->VL53L1_PRM_00009); + + + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->peak_signal_count_rate_mcps, + 7, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "peak_signal_count_rate_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->avg_signal_count_rate_mcps, + 7, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "avg_signal_count_rate_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->ambient_count_rate_mcps, + 7, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "ambient_count_rate_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->total_rate_per_spad_mcps, + 13, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "total_rate_per_spad_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_PRM_00008, + 11, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_PRM_00008", + fp_text); + + + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_PRM_00004, + 2, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_PRM_00004", + fp_text); + + + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_PRM_00024, + 11, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_PRM_00024", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_PRM_00014, + 11, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_PRM_00014", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_PRM_00025, + 11, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_PRM_00025", + fp_text); + + + + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "min_range_mm", + pdata->min_range_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "median_range_mm", + pdata->median_range_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "max_range_mm", + pdata->max_range_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "range_status", + pdata->range_status); +} + + +void VL53L1_print_range_results( + VL53L1_range_results_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + uint8_t i = 0; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cfg_device_state", + pdata->cfg_device_state); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "rd_device_state", + pdata->rd_device_state); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "zone_id", + pdata->zone_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "stream_count", + pdata->stream_count); + + for (i = 0 ; i < VL53L1_MAX_AMBIENT_DMAX_VALUES ; i++) { + sprintf( + ppre_text, + "%sambient_dmax_mm[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->ambient_dmax_mm[i]); + } + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "wrap_dmax_mm", + pdata->wrap_dmax_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "max_results", + pdata->max_results); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "active_results", + pdata->active_results); + + for (i = 0 ; i < pdata->active_results ; i++) { + sprintf(ppre_text, "%sdata[%u].", pprefix, i); + VL53L1_print_range_data( + &pdata->VL53L1_PRM_00005[i], + ppre_text, trace_flags); + } +} + + +void VL53L1_print_offset_range_results( + VL53L1_offset_range_results_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + uint8_t i = 0; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cal_distance_mm", + pdata->cal_distance_mm); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->cal_reflectance_pc, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "cal_reflectance_pc", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cal_status", + pdata->cal_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cal_report", + pdata->cal_report); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "max_results", + pdata->max_results); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "active_results", + pdata->active_results); + + for (i = 0 ; i < pdata->active_results ; i++) { + sprintf(ppre_text, "%sdata[%u].", pprefix, i); + VL53L1_print_offset_range_data( + &(pdata->VL53L1_PRM_00005[i]), + ppre_text, trace_flags); + } +} + + +void VL53L1_print_offset_range_data( + VL53L1_offset_range_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "preset_mode", + pdata->preset_mode); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "dss_config__roi_mode_control", + pdata->dss_config__roi_mode_control); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->dss_config__manual_effective_spads_select, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "dss_config__manual_effective_spads_select", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "no_of_samples", + pdata->no_of_samples); + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->effective_spads, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "effective_spads", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->peak_rate_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "peak_rate_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_PRM_00004, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_PRM_00004", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "median_range_mm", + pdata->median_range_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "range_mm_offset", + pdata->range_mm_offset); +} + + +void VL53L1_print_cal_peak_rate_map( + VL53L1_cal_peak_rate_map_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + uint8_t i = 0; + uint8_t x = 0; + uint8_t y = 0; + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->cal_distance_mm, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "cal_distance_mm", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->cal_reflectance_pc, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "cal_reflectance_pc", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "max_samples", + pdata->max_samples); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "width", + pdata->width); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "height", + pdata->height); + + i = 0; + for (y = 0 ; y < pdata->height ; y++) { + for (x = 0 ; x < pdata->width ; x++) { + + sprintf(ppre_text, "%speak_rate_mcps[%u]", pprefix, i); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->peak_rate_mcps[i], + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %s\n", + ppre_text, + fp_text); + + i++; + } + } +} + + +void VL53L1_print_additional_offset_cal_data( + VL53L1_additional_offset_cal_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__mm_inner_actual_effective_spads, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__mm_inner_actual_effective_spads", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__mm_outer_actual_effective_spads, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__mm_outer_actual_effective_spads", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__mm_inner_peak_signal_count_rtn_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__mm_inner_peak_signal_count_rtn_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__mm_outer_peak_signal_count_rtn_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__mm_outer_peak_signal_count_rtn_mcps", + fp_text); +} + + +void VL53L1_print_gain_calibration_data( + VL53L1_gain_calibration_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->standard_ranging_gain_factor, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "standard_ranging_gain_factor", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->histogram_ranging_gain_factor, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "histogram_ranging_gain_factor", + fp_text); +} + + +void VL53L1_print_zone_calibration_data( + VL53L1_zone_calibration_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "no_of_samples", + pdata->no_of_samples); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->effective_spads, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "effective_spads", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->peak_rate_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "peak_rate_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_PRM_00014, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_PRM_00014", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_PRM_00004, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_PRM_00004", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->median_range_mm, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "median_range_mm", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->range_mm_offset, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "range_mm_offset", + fp_text); +} + + +void VL53L1_print_zone_calibration_results( + VL53L1_zone_calibration_results_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + uint8_t i = 0; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "preset_mode", + pdata->preset_mode); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "zone_preset", + pdata->zone_preset); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cal_distance_mm", + pdata->cal_distance_mm); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->cal_reflectance_pc, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "cal_reflectance_pc", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->phasecal_result__reference_phase, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "phasecal_result__reference_phase", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->zero_distance_phase, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "zero_distance_phase", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cal_status", + pdata->cal_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "max_zones", + pdata->max_zones); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "active_zones", + pdata->active_zones); + + for (i = 0 ; i < pdata->active_zones ; i++) { + sprintf(ppre_text, "%sdata[%u].", pprefix, i); + VL53L1_print_zone_calibration_data( + &(pdata->VL53L1_PRM_00005[i]), + ppre_text, trace_flags); + } +} + +void VL53L1_print_xtalk_range_results( + VL53L1_xtalk_range_results_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + uint8_t i = 0; + + VL53L1_histogram_bin_data_t *pbin_data; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cal_status", + pdata->cal_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "num_of_samples_status", + pdata->num_of_samples_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "zero_samples_status", + pdata->zero_samples_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "max_sigma_status", + pdata->max_sigma_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "max_results", + pdata->max_results); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "active_results", + pdata->active_results); + + for (i = 0 ; i < pdata->active_results ; i++) { + sprintf(ppre_text, "%sdata[%u].", pprefix, i); + VL53L1_print_xtalk_range_data( + &(pdata->VL53L1_PRM_00005[i]), + ppre_text, trace_flags); + } + + sprintf(ppre_text, "%scentral_histogram_sum.", pprefix); + VL53L1_print_histogram_bin_data( + &pdata->central_histogram_sum, + ppre_text, trace_flags); + + sprintf(ppre_text, "%scentral_histogram_avg.", pprefix); + VL53L1_print_histogram_bin_data( + &pdata->central_histogram_avg, + ppre_text, trace_flags); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_PRM_00010", + pdata->central_histogram__window_start); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_PRM_00011", + pdata->central_histogram__window_end); + + pbin_data = &(pdata->histogram_avg_1[0]); + + for (i = 0 ; i < 5 ; i++) { + sprintf(ppre_text, "%shistogram_avg_1[%u].", pprefix, i); + VL53L1_print_histogram_bin_data( + pbin_data, + ppre_text, trace_flags); + pbin_data++; + } + + pbin_data = &(pdata->histogram_avg_2[0]); + + for (i = 0 ; i < 5 ; i++) { + sprintf(ppre_text, "%shistogram_avg_2[%u].", pprefix, i); + VL53L1_print_histogram_bin_data( + pbin_data, + ppre_text, trace_flags); + pbin_data++; + } + + pbin_data = &(pdata->xtalk_avg[0]); + + for (i = 0 ; i < 5 ; i++) { + sprintf(ppre_text, "%sxtalk_avg[%u].", pprefix, i); + VL53L1_print_histogram_bin_data( + pbin_data, + ppre_text, trace_flags); + pbin_data++; + } +} + + +void VL53L1_print_xtalk_range_data( + VL53L1_xtalk_range_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "no_of_samples", + pdata->no_of_samples); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "signal_total_events_sum", + pdata->signal_total_events_sum); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "signal_total_events_avg", + pdata->signal_total_events_avg); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->rate_per_spad_kcps_sum, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "rate_per_spad_kcps_sum", + fp_text); + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->rate_per_spad_kcps_avg, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "rate_per_spad_kcps_avg", + fp_text); +} + + +void VL53L1_print_xtalk_calibration_results( + VL53L1_xtalk_calibration_results_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_compensation_plane_offset_kcps, + 9, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_plane_offset_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_compensation_x_plane_gradient_kcps, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_x_plane_gradient_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_compensation_y_plane_gradient_kcps, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_y_plane_gradient_kcps", + fp_text); +} + + +void VL53L1_print_xtalk_config( + VL53L1_xtalk_config_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_compensation_plane_offset_kcps, + 9, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_plane_offset_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_compensation_x_plane_gradient_kcps, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_x_plane_gradient_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_compensation_y_plane_gradient_kcps, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_y_plane_gradient_kcps", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_crosstalk_compensation_enable", + pdata->global_crosstalk_compensation_enable); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->histogram_mode_crosstalk_margin_kcps, + 9, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "histogram_mode_crosstalk_margin_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->lite_mode_crosstalk_margin_kcps, + 9, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "lite_mode_crosstalk_margin_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->crosstalk_range_ignore_threshold_mult, + 5, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "crosstalk_range_ignore_threshold_mult", + fp_text); + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->crosstalk_range_ignore_threshold_rate_mcps, + 13, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "crosstalk_range_ignore_threshold_rate_mcps", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "algo__crosstalk_detect_max_valid_range_mm", + pdata->algo__crosstalk_detect_max_valid_range_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "algo__crosstalk_detect_min_valid_range_mm", + pdata->algo__crosstalk_detect_min_valid_range_mm); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_detect_max_valid_rate_kcps, + 9, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_detect_max_valid_rate_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_detect_max_sigma_mm, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_detect_max_sigma_mm", + fp_text); + +} + + +void VL53L1_print_dmax_calibration_data( + VL53L1_dmax_calibration_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->ref__actual_effective_spads, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "ref__actual_effective_spads", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->ref__peak_signal_count_rate_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "ref__peak_signal_count_rate_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->ref__distance_mm, + 4, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "ref__distance_mm", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->ref_reflectance_pc, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "ref_reflectance_pc", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->coverglass_transmission, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "coverglass_transmission", + fp_text); +} + + +void VL53L1_print_calibration_data( + VL53L1_calibration_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = 0x%08X\n", + pprefix, + "struct_version", + pdata->struct_version); + + sprintf(ppre_text, "%scustomer.", pprefix); + VL53L1_print_customer_nvm_managed( + &(pdata->customer), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sfmt_dmax_cal.", pprefix); + VL53L1_print_dmax_calibration_data( + &(pdata->fmt_dmax_cal), + ppre_text, trace_flags); + + sprintf(ppre_text, "%scust_dmax_cal.", pprefix); + VL53L1_print_dmax_calibration_data( + &(pdata->cust_dmax_cal), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sadd_off_cal_data.", pprefix); + VL53L1_print_additional_offset_cal_data( + &(pdata->add_off_cal_data), + ppre_text, trace_flags); + + sprintf(ppre_text, "%smm_roi.", pprefix); + VL53L1_print_user_zone( + &(pdata->mm_roi), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sxtalkhisto.", pprefix); + VL53L1_print_xtalk_histogram_data( + &(pdata->xtalkhisto), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sgain_cal.", pprefix); + VL53L1_print_gain_calibration_data( + &(pdata->gain_cal), + ppre_text, trace_flags); + + sprintf(ppre_text, "%scal_peak_rate_map.", pprefix); + VL53L1_print_cal_peak_rate_map( + &(pdata->cal_peak_rate_map), + ppre_text, trace_flags); +} + + +void VL53L1_print_xtalk_debug_data( + VL53L1_xtalk_debug_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + sprintf(ppre_text, "%scustomer.", pprefix); + VL53L1_print_customer_nvm_managed( + &(pdata->customer), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sxtalk_cfg.", pprefix); + VL53L1_print_xtalk_config( + &(pdata->xtalk_cfg), + ppre_text, trace_flags); + + sprintf(ppre_text, "%shist_data.", pprefix); + VL53L1_print_histogram_bin_data( + &(pdata->hist_data), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sxtalk_shapes.", pprefix); + VL53L1_print_xtalk_histogram_data( + &(pdata->xtalk_shapes), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sgain_cal.", pprefix); + VL53L1_print_xtalk_range_results( + &(pdata->xtalk_results), + ppre_text, trace_flags); +} + + +void VL53L1_print_offset_debug_data( + VL53L1_offset_debug_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + sprintf(ppre_text, "%scustomer.", pprefix); + VL53L1_print_customer_nvm_managed( + &(pdata->customer), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sfmt_dmax_cal.", pprefix); + VL53L1_print_dmax_calibration_data( + &(pdata->fmt_dmax_cal), + ppre_text, trace_flags); + + sprintf(ppre_text, "%scust_dmax_cal.", pprefix); + VL53L1_print_dmax_calibration_data( + &(pdata->cust_dmax_cal), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sadd_off_cal_data.", pprefix); + VL53L1_print_additional_offset_cal_data( + &(pdata->add_off_cal_data), + ppre_text, trace_flags); + + sprintf(ppre_text, "%soffset_results.", pprefix); + VL53L1_print_offset_range_results( + &(pdata->offset_results), + ppre_text, trace_flags); +} + + +void VL53L1_print_zone_config( + VL53L1_zone_config_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + uint8_t i = 0; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "max_zones", + pdata->max_zones); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "active_zones", + pdata->active_zones); + + for (i = 0; i < pdata->active_zones; i++) { + sprintf(ppre_text, "%suser_zones[%u].", pprefix, i); + VL53L1_print_user_zone( + &pdata->user_zones[i], + ppre_text, + trace_flags); + } +} + + +void VL53L1_print_user_zone( + VL53L1_user_zone_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "x_centre", + pdata->x_centre); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "y_centre", + pdata->y_centre); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "width", + pdata->width); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "height", + pdata->height); +} + + +void VL53L1_print_spad_rate_data( + VL53L1_spad_rate_data_t *pspad_rates, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + + uint16_t spad_no = 0; + uint8_t row = 0; + uint8_t col = 0; + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%8s,%4s,%4s, %s\n", + pprefix, + "spad_no", + "row", + "col", + "peak_rate_mcps"); + + for (spad_no = 0 ; spad_no < pspad_rates->no_of_values ; spad_no++) { + + + + VL53L1_decode_row_col( + (uint8_t)spad_no, + &row, + &col); + + + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pspad_rates->rate_data[spad_no], + pspad_rates->fractional_bits, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + + + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%8u,%4u,%4u, %s\n", + pprefix, + spad_no, + row, + col, + fp_text); + } +} + + +void VL53L1_print_spad_rate_map( + VL53L1_spad_rate_data_t *pspad_rates, + char *pprefix, + uint32_t trace_flags) +{ + + + + + + + uint8_t spad_no = 0; + uint8_t row = 0; + uint8_t col = 0; + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%4s", + pprefix, + " "); + + for (col = 0 ; col < VL53L1_SPAD_ARRAY_WIDTH ; col++) + trace_print( + VL53L1_TRACE_LEVEL_INFO, + ",%8u", + col); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "\n"); + + + + + for (row = 0 ; row < VL53L1_SPAD_ARRAY_HEIGHT ; row++) { + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%4u", + pprefix, + row); + + for (col = 0 ; col < VL53L1_SPAD_ARRAY_HEIGHT ; col++) { + + + + + VL53L1_encode_row_col( + row, + col, + &spad_no); + + + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pspad_rates->rate_data[spad_no], + pspad_rates->fractional_bits, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + + + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + ",%8s", + fp_text); + } + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "\n"); + } +} + + +#endif + + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_api_preset_modes.c b/drivers/input/misc/vl53L1/src/vl53l1_api_preset_modes.c new file mode 100644 index 000000000000..8a637da6d4d0 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_api_preset_modes.c @@ -0,0 +1,4086 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_platform_log.h" +#include "vl53l1_register_structs.h" +#include "vl53l1_register_settings.h" +#include "vl53l1_hist_structs.h" +#include "vl53l1_zone_presets.h" +#include "vl53l1_core.h" +#include "vl53l1_api_preset_modes.h" + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_API, status, fmt, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_init_refspadchar_config_struct( + VL53L1_refspadchar_config_t *pdata) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + + + + + + + pdata->device_test_mode = + VL53L1_DEVICETESTMODE_REF_SPAD_CHAR_WITH_PRE_VHV; + pdata->VL53L1_PRM_00007 = 0x0B; + pdata->timeout_us = 1000; + pdata->target_count_rate_mcps = 0x0A00; + pdata->min_count_rate_limit_mcps = 0x0500; + pdata->max_count_rate_limit_mcps = 0x1400; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_init_ssc_config_struct( + VL53L1_ssc_config_t *pdata) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + + + + pdata->array_select = VL53L1_DEVICESSCARRAY_RTN; + + + + pdata->VL53L1_PRM_00007 = 0x12; + + + + pdata->vcsel_start = 0x0F; + + + + pdata->vcsel_start = 0x02; + + + + pdata->timeout_us = 36000; + + + + + + + pdata->rate_limit_mcps = 0x000C; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_init_xtalk_config_struct( + VL53L1_customer_nvm_managed_t *pnvm, + VL53L1_xtalk_config_t *pdata) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + + + + + + + + + + + + pdata->algo__crosstalk_compensation_plane_offset_kcps = + pnvm->algo__crosstalk_compensation_plane_offset_kcps; + pdata->algo__crosstalk_compensation_x_plane_gradient_kcps = + pnvm->algo__crosstalk_compensation_x_plane_gradient_kcps; + pdata->algo__crosstalk_compensation_y_plane_gradient_kcps = + pnvm->algo__crosstalk_compensation_y_plane_gradient_kcps; + + + + + pdata->nvm_default__crosstalk_compensation_plane_offset_kcps = + pnvm->algo__crosstalk_compensation_plane_offset_kcps; + pdata->nvm_default__crosstalk_compensation_x_plane_gradient_kcps = + pnvm->algo__crosstalk_compensation_x_plane_gradient_kcps; + pdata->nvm_default__crosstalk_compensation_y_plane_gradient_kcps = + pnvm->algo__crosstalk_compensation_y_plane_gradient_kcps; + + pdata->histogram_mode_crosstalk_margin_kcps = + 0x00; + pdata->lite_mode_crosstalk_margin_kcps = + 0x00; + + + + + pdata->crosstalk_range_ignore_threshold_mult = 64; + + if ((pdata->algo__crosstalk_compensation_plane_offset_kcps == 0x00) + && (pdata->algo__crosstalk_compensation_x_plane_gradient_kcps == 0x00) + && (pdata->algo__crosstalk_compensation_y_plane_gradient_kcps == 0x00)) + pdata->global_crosstalk_compensation_enable = 0x00; + else + pdata->global_crosstalk_compensation_enable = 0x01; + + + if ((status == VL53L1_ERROR_NONE) && + (pdata->global_crosstalk_compensation_enable == 0x01)) { + pdata->crosstalk_range_ignore_threshold_rate_mcps = + VL53L1_calc_range_ignore_threshold( + pdata->algo__crosstalk_compensation_plane_offset_kcps, + pdata->algo__crosstalk_compensation_x_plane_gradient_kcps, + pdata->algo__crosstalk_compensation_y_plane_gradient_kcps, + pdata->crosstalk_range_ignore_threshold_mult); + } else { + pdata->crosstalk_range_ignore_threshold_rate_mcps = 0; + } + + + + + + + + + + pdata->algo__crosstalk_detect_min_valid_range_mm = -50; + pdata->algo__crosstalk_detect_max_valid_range_mm = 50; + pdata->algo__crosstalk_detect_max_valid_rate_kcps = 0xC800; + pdata->algo__crosstalk_detect_max_sigma_mm = + VL53L1_XTALK_EXTRACT_MAX_SIGMA_MM; + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_init_hist_post_process_config_struct( + uint8_t xtalk_compensation_enable, + VL53L1_hist_post_process_config_t *pdata) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + pdata->hist_algo_select = + VL53L1_HIST_ALGO_SELECT__PW_HIST_GEN4; + + pdata->hist_target_order = + VL53L1_HIST_TARGET_ORDER__INCREASING_DISTANCE; + + + + + pdata->filter_woi0 = 1; + + pdata->filter_woi1 = 2; + + + pdata->hist_amb_est_method = + VL53L1_HIST_AMB_EST_METHOD__AMBIENT_BINS; + pdata->ambient_thresh_sigma0 = 80; + + pdata->ambient_thresh_sigma1 = 112; + + pdata->min_ambient_thresh_events = 16; + + + pdata->noise_threshold = 50; + + + pdata->signal_total_events_limit = 100; + + pdata->sigma_estimator__sigma_ref_mm = 1; + + + + + + + + + + + + + + + pdata->sigma_thresh = 160; + + pdata->range_offset_mm = 0; + + + pdata->gain_factor = 0x0800; + + + + + + + + + + + + + + + + pdata->valid_phase_low = 0x08; + pdata->valid_phase_high = 0x88; + + + + + + + + + + pdata->algo__consistency_check__phase_tolerance = 8; + + + + + + + + pdata->algo__consistency_check__event_sigma = 112; + + + + pdata->algo__crosstalk_compensation_enable = xtalk_compensation_enable; + + + + + + + + pdata->algo__crosstalk_detect_min_valid_range_mm = -50; + pdata->algo__crosstalk_detect_max_valid_range_mm = 50; + pdata->algo__crosstalk_detect_max_valid_rate_kcps = 0xC800; + pdata->algo__crosstalk_detect_max_sigma_mm = + VL53L1_XTALK_EXTRACT_MAX_SIGMA_MM; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_init_dmax_calibration_data_struct( + VL53L1_dmax_calibration_data_t *pdata) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + + pdata->ref__actual_effective_spads = 0x5F2D; + + + pdata->ref__peak_signal_count_rate_mcps = 0x0844; + + + pdata->ref__distance_mm = 0x08A5; + + + + + + + + + pdata->ref_reflectance_pc = 0x000F; + + + + pdata->coverglass_transmission = 0x0100; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_init_hist_gen3_dmax_config_struct( + VL53L1_hist_gen3_dmax_config_t *pdata) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + pdata->dss_config__target_total_rate_mcps = 0x1400; + pdata->dss_config__aperture_attenuation = 0x38; + + pdata->signal_thresh_sigma = 0x20; + pdata->ambient_thresh_sigma = 0x70; + pdata->min_ambient_thresh_events = 16; + pdata->estimated_spad_yield = 85; + + + + + + + + + + + + pdata->target_reflectance_for_dmax_calc[0] = 15; + pdata->target_reflectance_for_dmax_calc[1] = 52; + pdata->target_reflectance_for_dmax_calc[2] = 200; + pdata->target_reflectance_for_dmax_calc[3] = 364; + pdata->target_reflectance_for_dmax_calc[4] = 400; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_standard_ranging( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + + pstatic->dss_config__target_total_rate_mcps = 0x0A00; + pstatic->debug__ctrl = 0x00; + pstatic->test_mode__ctrl = 0x00; + pstatic->clk_gating__ctrl = 0x00; + pstatic->nvm_bist__ctrl = 0x00; + pstatic->nvm_bist__num_nvm_words = 0x00; + pstatic->nvm_bist__start_address = 0x00; + pstatic->host_if__status = 0x00; + pstatic->pad_i2c_hv__config = 0x00; + pstatic->pad_i2c_hv__extsup_config = 0x00; + + + + + + + pstatic->gpio_hv_pad__ctrl = 0x00; + + + + + + + + + pstatic->gpio_hv_mux__ctrl = \ + VL53L1_DEVICEINTERRUPTPOLARITY_ACTIVE_LOW | \ + VL53L1_DEVICEGPIOMODE_OUTPUT_RANGE_AND_ERROR_INTERRUPTS; + + pstatic->gpio__tio_hv_status = 0x02; + pstatic->gpio__fio_hv_status = 0x00; + pstatic->ana_config__spad_sel_pswidth = 0x02; + pstatic->ana_config__vcsel_pulse_width_offset = 0x08; + pstatic->ana_config__fast_osc__config_ctrl = 0x00; + + pstatic->sigma_estimator__effective_pulse_width_ns = 0x08; + pstatic->sigma_estimator__effective_ambient_width_ns = 0x10; + pstatic->sigma_estimator__sigma_ref_mm = 0x01; + + + pstatic->algo__crosstalk_compensation_valid_height_mm = 0x01; + pstatic->spare_host_config__static_config_spare_0 = 0x00; + pstatic->spare_host_config__static_config_spare_1 = 0x00; + + pstatic->algo__range_ignore_threshold_mcps = 0x0000; + + + + pstatic->algo__range_ignore_valid_height_mm = 0xff; + pstatic->algo__range_min_clip = 0x00; + + + + + + + pstatic->algo__consistency_check__tolerance = 0x02; + pstatic->spare_host_config__static_config_spare_2 = 0x00; + pstatic->sd_config__reset_stages_msb = 0x00; + pstatic->sd_config__reset_stages_lsb = 0x00; + + pgeneral->gph_config__stream_count_update_value = 0x00; + pgeneral->global_config__stream_divider = 0x00; + pgeneral->system__interrupt_config_gpio = + VL53L1_INTERRUPT_CONFIG_NEW_SAMPLE_READY; + pgeneral->cal_config__vcsel_start = 0x0B; + + + + + + + + + pgeneral->cal_config__repeat_rate = 0; + pgeneral->global_config__vcsel_width = 0x02; + + + pgeneral->phasecal_config__timeout_macrop = 0x0D; + + + pgeneral->phasecal_config__target = 0x21; + pgeneral->phasecal_config__override = 0x00; + pgeneral->dss_config__roi_mode_control = + VL53L1_DEVICEDSSMODE__TARGET_RATE; + + + pgeneral->system__thresh_rate_high = 0x0000; + pgeneral->system__thresh_rate_low = 0x0000; + + + pgeneral->dss_config__manual_effective_spads_select = 0x8C00; + pgeneral->dss_config__manual_block_select = 0x00; + + + + + + + + + pgeneral->dss_config__aperture_attenuation = 0x38; + pgeneral->dss_config__max_spads_limit = 0xFF; + pgeneral->dss_config__min_spads_limit = 0x01; + + + + + ptiming->mm_config__timeout_macrop_a_hi = 0x00; + ptiming->mm_config__timeout_macrop_a_lo = 0x06; + ptiming->mm_config__timeout_macrop_b_hi = 0x00; + ptiming->mm_config__timeout_macrop_b_lo = 0x06; + ptiming->range_config__timeout_macrop_a_hi = 0x02; + ptiming->range_config__timeout_macrop_a_lo = 0x85; + + + ptiming->range_config__vcsel_period_a = 0x0B; + ptiming->range_config__timeout_macrop_b_hi = 0x01; + ptiming->range_config__timeout_macrop_b_lo = 0x92; + + + ptiming->range_config__vcsel_period_b = 0x09; + + + + + + + + ptiming->range_config__sigma_thresh = 0x003C; + + + + + + + ptiming->range_config__min_count_rate_rtn_limit_mcps = 0x0080; + + + + + + + ptiming->range_config__valid_phase_low = 0x08; + ptiming->range_config__valid_phase_high = 0x78; + ptiming->system__intermeasurement_period = 0x00000000; + ptiming->system__fractional_enable = 0x00; + + + + + + + + + + + + + + + + + + + + + + + + + + + + + phistogram->histogram_config__low_amb_even_bin_0_1 = 0x07; + phistogram->histogram_config__low_amb_even_bin_2_3 = 0x21; + phistogram->histogram_config__low_amb_even_bin_4_5 = 0x43; + + phistogram->histogram_config__low_amb_odd_bin_0_1 = 0x10; + phistogram->histogram_config__low_amb_odd_bin_2_3 = 0x32; + phistogram->histogram_config__low_amb_odd_bin_4_5 = 0x54; + + phistogram->histogram_config__mid_amb_even_bin_0_1 = 0x07; + phistogram->histogram_config__mid_amb_even_bin_2_3 = 0x21; + phistogram->histogram_config__mid_amb_even_bin_4_5 = 0x43; + + phistogram->histogram_config__mid_amb_odd_bin_0_1 = 0x10; + phistogram->histogram_config__mid_amb_odd_bin_2 = 0x02; + phistogram->histogram_config__mid_amb_odd_bin_3_4 = 0x43; + phistogram->histogram_config__mid_amb_odd_bin_5 = 0x05; + + phistogram->histogram_config__user_bin_offset = 0x00; + + phistogram->histogram_config__high_amb_even_bin_0_1 = 0x07; + phistogram->histogram_config__high_amb_even_bin_2_3 = 0x21; + phistogram->histogram_config__high_amb_even_bin_4_5 = 0x43; + + phistogram->histogram_config__high_amb_odd_bin_0_1 = 0x10; + phistogram->histogram_config__high_amb_odd_bin_2_3 = 0x32; + phistogram->histogram_config__high_amb_odd_bin_4_5 = 0x54; + + phistogram->histogram_config__amb_thresh_low = 0xFFFF; + phistogram->histogram_config__amb_thresh_high = 0xFFFF; + + phistogram->histogram_config__spad_array_selection = 0x00; + + + + + + + + + pzone_cfg->max_zones = VL53L1_MAX_USER_ZONES; + pzone_cfg->active_zones = 0x00; + pzone_cfg->user_zones[0].height = 0x0f; + pzone_cfg->user_zones[0].width = 0x0f; + pzone_cfg->user_zones[0].x_centre = 0x08; + pzone_cfg->user_zones[0].y_centre = 0x08; + + + + + pdynamic->system__grouped_parameter_hold_0 = 0x01; + + pdynamic->system__thresh_high = 0x0000; + pdynamic->system__thresh_low = 0x0000; + pdynamic->system__enable_xtalk_per_quadrant = 0x00; + pdynamic->system__seed_config = + VL53L1_SYSTEM__SEED_CONFIG__EVEN_UPDATE_ONLY; + + + pdynamic->sd_config__woi_sd0 = 0x0B; + + + pdynamic->sd_config__woi_sd1 = 0x09; + pdynamic->sd_config__initial_phase_sd0 = 0x0A; + pdynamic->sd_config__initial_phase_sd1 = 0x0A; + + pdynamic->system__grouped_parameter_hold_1 = 0x01; + + + + + + + + + + + + + + + + + + + + + + + + + + + + + pdynamic->sd_config__first_order_select = 0x00; + pdynamic->sd_config__quantifier = 0x02; + + + + + + + pdynamic->roi_config__user_roi_centre_spad = 0xC7; + + + pdynamic->roi_config__user_roi_requested_global_xy_size = 0xFF; + + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_MM2_EN | \ + VL53L1_SEQUENCE_RANGE_EN; + + pdynamic->system__grouped_parameter_hold = 0x02; + + + + + + psystem->system__stream_count_ctrl = 0x00; + psystem->firmware__enable = 0x01; + psystem->system__interrupt_clear = \ + VL53L1_CLEAR_RANGE_INT; + + psystem->system__mode_start = \ + VL53L1_DEVICESCHEDULERMODE_STREAMING | \ + VL53L1_DEVICEREADOUTMODE_SINGLE_SD | \ + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_standard_ranging_short_range( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + + status = VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + + + + + + + ptiming->range_config__vcsel_period_a = 0x07; + ptiming->range_config__vcsel_period_b = 0x05; + ptiming->range_config__sigma_thresh = 0x0050; + ptiming->range_config__min_count_rate_rtn_limit_mcps = 0x0020; + ptiming->range_config__valid_phase_low = 0x08; + ptiming->range_config__valid_phase_high = 0x38; + + + + + + + + pdynamic->sd_config__woi_sd0 = 0x07; + pdynamic->sd_config__woi_sd1 = 0x05; + pdynamic->sd_config__initial_phase_sd0 = 0x06; + pdynamic->sd_config__initial_phase_sd1 = 0x06; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_standard_ranging_long_range( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + + status = VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + + + + + + + ptiming->range_config__vcsel_period_a = 0x0F; + ptiming->range_config__vcsel_period_b = 0x0D; + ptiming->range_config__sigma_thresh = 0x0050; + ptiming->range_config__min_count_rate_rtn_limit_mcps = 0x0020; + ptiming->range_config__valid_phase_low = 0x08; + ptiming->range_config__valid_phase_high = 0xB8; + + + + + + + + pdynamic->sd_config__woi_sd0 = 0x0F; + pdynamic->sd_config__woi_sd1 = 0x0D; + pdynamic->sd_config__initial_phase_sd0 = 0x0E; + pdynamic->sd_config__initial_phase_sd1 = 0x0E; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_standard_ranging_mm1_cal( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + + status = VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + pgeneral->dss_config__roi_mode_control = + VL53L1_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS; + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_MM1_EN; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_standard_ranging_mm2_cal( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + + status = VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + pgeneral->dss_config__roi_mode_control = + VL53L1_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS; + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_MM2_EN; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_timed_ranging( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + pdynamic->system__grouped_parameter_hold = 0x00; + + + + + + ptiming->system__intermeasurement_period = 0x00000600; + pdynamic->system__seed_config = + VL53L1_SYSTEM__SEED_CONFIG__STANDARD; + + + + + + + psystem->system__mode_start = + VL53L1_DEVICESCHEDULERMODE_PSEUDO_SOLO | \ + VL53L1_DEVICEREADOUTMODE_SINGLE_SD | \ + VL53L1_DEVICEMEASUREMENTMODE_TIMED; + } + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_preset_mode_timed_ranging_short_range( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = VL53L1_preset_mode_standard_ranging_short_range( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + pdynamic->system__grouped_parameter_hold = 0x00; + + + + + + ptiming->system__intermeasurement_period = 0x00000600; + pdynamic->system__seed_config = + VL53L1_SYSTEM__SEED_CONFIG__STANDARD; + + + + + + + psystem->system__mode_start = + VL53L1_DEVICESCHEDULERMODE_PSEUDO_SOLO | \ + VL53L1_DEVICEREADOUTMODE_SINGLE_SD | \ + VL53L1_DEVICEMEASUREMENTMODE_TIMED; + } + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_preset_mode_timed_ranging_long_range( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = VL53L1_preset_mode_standard_ranging_long_range( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + pdynamic->system__grouped_parameter_hold = 0x00; + + + + + + ptiming->system__intermeasurement_period = 0x00000600; + pdynamic->system__seed_config = + VL53L1_SYSTEM__SEED_CONFIG__STANDARD; + + + + + + + psystem->system__mode_start = + VL53L1_DEVICESCHEDULERMODE_PSEUDO_SOLO | \ + VL53L1_DEVICEREADOUTMODE_SINGLE_SD | \ + VL53L1_DEVICEMEASUREMENTMODE_TIMED; + } + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_preset_mode_singleshot_ranging( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + pdynamic->system__grouped_parameter_hold = 0x00; + + + + + pdynamic->system__seed_config = + VL53L1_SYSTEM__SEED_CONFIG__STANDARD; + + + + + + + psystem->system__mode_start = \ + VL53L1_DEVICESCHEDULERMODE_PSEUDO_SOLO | \ + VL53L1_DEVICEREADOUTMODE_SINGLE_SD | \ + VL53L1_DEVICEMEASUREMENTMODE_SINGLESHOT; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + pstatic->dss_config__target_total_rate_mcps = 0x1400; + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + VL53L1_init_histogram_config_structure( + 7, 0, 1, 2, 3, 4, + 0, 1, 2, 3, 4, 5, + phistogram); + + + + + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 2, 3, 4, + 0, 1, 2, 3, 4, 5, + &(pzone_cfg->multizone_hist_cfg)); + + + + + + + + + + + ptiming->range_config__vcsel_period_a = 0x09; + ptiming->range_config__vcsel_period_b = 0x0B; + pdynamic->sd_config__woi_sd0 = 0x09; + pdynamic->sd_config__woi_sd1 = 0x0B; + + + + + + + + + phistpostprocess->valid_phase_low = 0x08; + phistpostprocess->valid_phase_high = 0x88; + + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + + + + + + + + pgeneral->phasecal_config__timeout_macrop = 0x40; + + + + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + + + + + VL53L1_SEQUENCE_RANGE_EN; + + + + + + psystem->system__mode_start = \ + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM | \ + VL53L1_DEVICEREADOUTMODE_DUAL_SD | \ + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_with_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + VL53L1_init_histogram_config_structure( + 7, 0, 1, 2, 3, 4, + 8+0, 8+1, 8+2, 3, 4, 5, + phistogram); + + + + + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 2, 3, 4, + 8+0, 8+1, 8+2, 3, 4, 5, + &(pzone_cfg->multizone_hist_cfg)); + + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_MM1_EN | \ + VL53L1_SEQUENCE_RANGE_EN; + + + + + psystem->system__mode_start = \ + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM | \ + VL53L1_DEVICEREADOUTMODE_DUAL_SD | \ + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_with_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_ranging_with_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_MM2_EN | \ + VL53L1_SEQUENCE_RANGE_EN; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_mm1_cal( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + + + + + + + + + + + VL53L1_init_histogram_config_structure( + 7, 8+0, 8+1, 8+2, 8+3, 8+4, + 8+0, 8+1, 8+2, 8+3, 8+4, 8+5, + phistogram); + + + + + + + VL53L1_init_histogram_multizone_config_structure( + 7, 8+0, 8+1, 8+2, 8+3, 8+4, + 8+0, 8+1, 8+2, 8+3, 8+4, 8+5, + &(pzone_cfg->multizone_hist_cfg)); + + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + + pgeneral->dss_config__roi_mode_control = + VL53L1_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS; + + + + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_MM1_EN | \ + VL53L1_SEQUENCE_RANGE_EN; + + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_mm2_cal( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_ranging_mm1_cal( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + if (status == VL53L1_ERROR_NONE) { + + + + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_MM2_EN | \ + VL53L1_SEQUENCE_RANGE_EN; + + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_short_timing( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + pstatic->dss_config__target_total_rate_mcps = 0x1400; + + + + + VL53L1_init_histogram_config_structure( + 7, 0, 1, 2, 3, 4, + 7, 0, 1, 2, 3, 4, + phistogram); + + + + + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 2, 3, 4, + 7, 0, 1, 2, 3, 4, + &(pzone_cfg->multizone_hist_cfg)); + + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + + + + ptiming->range_config__vcsel_period_a = 0x04; + ptiming->range_config__vcsel_period_b = 0x03; + ptiming->mm_config__timeout_macrop_a_hi = 0x00; + ptiming->mm_config__timeout_macrop_a_lo = 0x42; + ptiming->mm_config__timeout_macrop_b_hi = 0x00; + ptiming->mm_config__timeout_macrop_b_lo = 0x42; + ptiming->range_config__timeout_macrop_a_hi = 0x00; + ptiming->range_config__timeout_macrop_a_lo = 0x52; + ptiming->range_config__timeout_macrop_b_hi = 0x00; + ptiming->range_config__timeout_macrop_b_lo = 0x66; + + pgeneral->cal_config__vcsel_start = 0x04; + + + + + + + + + + + pgeneral->phasecal_config__timeout_macrop = 0xa4; + + + + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + + + + + VL53L1_SEQUENCE_RANGE_EN; + + + + + + psystem->system__mode_start = \ + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM | \ + VL53L1_DEVICEREADOUTMODE_DUAL_SD | \ + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_long_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + + + + VL53L1_init_histogram_config_structure( + 7, 0, 1, 2, 3, 4, + 0, 1, 2, 3, 4, 5, + phistogram); + + + + + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 2, 3, 4, + + 0, 1, 2, 3, 4, 5, + + &(pzone_cfg->multizone_hist_cfg)); + + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + + + + ptiming->range_config__vcsel_period_a = 0x09; + ptiming->range_config__vcsel_period_b = 0x0b; + + + + + + + ptiming->mm_config__timeout_macrop_a_hi = 0x00; + ptiming->mm_config__timeout_macrop_a_lo = 0x21; + ptiming->mm_config__timeout_macrop_b_hi = 0x00; + ptiming->mm_config__timeout_macrop_b_lo = 0x1b; + + + + + ptiming->range_config__timeout_macrop_a_hi = 0x00; + ptiming->range_config__timeout_macrop_a_lo = 0x29; + ptiming->range_config__timeout_macrop_b_hi = 0x00; + ptiming->range_config__timeout_macrop_b_lo = 0x22; + + + + + pgeneral->cal_config__vcsel_start = 0x09; + + + + + + + + + + + + + + pgeneral->phasecal_config__timeout_macrop = 0x42; + + + + + pdynamic->sd_config__woi_sd0 = 0x09; + pdynamic->sd_config__woi_sd1 = 0x0B; + pdynamic->sd_config__initial_phase_sd0 = 0x09; + pdynamic->sd_config__initial_phase_sd1 = 0x09; + + + + + + + + + phistpostprocess->valid_phase_low = 0x08; + phistpostprocess->valid_phase_high = 0x88; + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_RANGE_EN; + + + + + + psystem->system__mode_start = \ + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM | \ + VL53L1_DEVICEREADOUTMODE_DUAL_SD | \ + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_long_range_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_long_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + + + + VL53L1_init_histogram_config_structure( + 7, 0, 1, 2, 3, 4, + 8+0, 8+1, 8+2, 3, 4, 5, + phistogram); + + + + + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 2, 3, 4, + 8+0, 8+1, 8+2, 3, 4, 5, + &(pzone_cfg->multizone_hist_cfg)); + + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_MM1_EN | \ + VL53L1_SEQUENCE_RANGE_EN; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_long_range_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_long_range_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_MM2_EN | \ + VL53L1_SEQUENCE_RANGE_EN; + } + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_preset_mode_histogram_medium_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + + + + VL53L1_init_histogram_config_structure( + 7, 0, 1, 1, 2, 2, + 0, 1, 2, 1, 2, 3, + phistogram); + + + + + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 2, 3, 4, + 0, 1, 2, 1, 2, 3, + &(pzone_cfg->multizone_hist_cfg)); + + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + + + + ptiming->range_config__vcsel_period_a = 0x05; + ptiming->range_config__vcsel_period_b = 0x07; + + + + + + + ptiming->mm_config__timeout_macrop_a_hi = 0x00; + ptiming->mm_config__timeout_macrop_a_lo = 0x37; + ptiming->mm_config__timeout_macrop_b_hi = 0x00; + ptiming->mm_config__timeout_macrop_b_lo = 0x29; + + + + + ptiming->range_config__timeout_macrop_a_hi = 0x00; + ptiming->range_config__timeout_macrop_a_lo = 0x44; + ptiming->range_config__timeout_macrop_b_hi = 0x00; + ptiming->range_config__timeout_macrop_b_lo = 0x33; + + + + + pgeneral->cal_config__vcsel_start = 0x05; + + + + + + + + + + + + + + pgeneral->phasecal_config__timeout_macrop = 0x6D; + + + + + pdynamic->sd_config__woi_sd0 = 0x05; + pdynamic->sd_config__woi_sd1 = 0x07; + pdynamic->sd_config__initial_phase_sd0 = 0x05; + pdynamic->sd_config__initial_phase_sd1 = 0x05; + + + + + + + + + phistpostprocess->valid_phase_low = 0x08; + phistpostprocess->valid_phase_high = 0x48; + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_RANGE_EN; + + + + + + psystem->system__mode_start = \ + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM | \ + VL53L1_DEVICEREADOUTMODE_DUAL_SD | \ + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_medium_range_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_medium_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + VL53L1_init_histogram_config_structure( + 7, 0, 1, 1, 2, 2, + 8+0, 8+1, 8+2, 1, 2, 3, + phistogram); + + + + + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 1, 2, 2, + 8+0, 8+1, 8+2, 1, 2, 3, + &(pzone_cfg->multizone_hist_cfg)); + + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_MM1_EN | \ + VL53L1_SEQUENCE_RANGE_EN; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_medium_range_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_medium_range_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_MM2_EN | \ + VL53L1_SEQUENCE_RANGE_EN; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_short_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + + + + VL53L1_init_histogram_config_structure( + 7, 7, 0, 1, 1, 1, + 0, 1, 1, 1, 2, 2, + phistogram); + + + + + + + VL53L1_init_histogram_multizone_config_structure( + 7, 7, 0, 1, 1, 1, + 0, 1, 1, 1, 2, 2, + &(pzone_cfg->multizone_hist_cfg)); + + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + + + + ptiming->range_config__vcsel_period_a = 0x03; + ptiming->range_config__vcsel_period_b = 0x05; + + + + + + + ptiming->mm_config__timeout_macrop_a_hi = 0x00; + ptiming->mm_config__timeout_macrop_a_lo = 0x52; + ptiming->mm_config__timeout_macrop_b_hi = 0x00; + ptiming->mm_config__timeout_macrop_b_lo = 0x37; + + + + + ptiming->range_config__timeout_macrop_a_hi = 0x00; + ptiming->range_config__timeout_macrop_a_lo = 0x66; + ptiming->range_config__timeout_macrop_b_hi = 0x00; + ptiming->range_config__timeout_macrop_b_lo = 0x44; + + + + + pgeneral->cal_config__vcsel_start = 0x03; + + + + + + + + + + + + + + pgeneral->phasecal_config__timeout_macrop = 0xA4; + + + + + pdynamic->sd_config__woi_sd0 = 0x03; + pdynamic->sd_config__woi_sd1 = 0x05; + pdynamic->sd_config__initial_phase_sd0 = 0x03; + pdynamic->sd_config__initial_phase_sd1 = 0x03; + + + + + + + + + phistpostprocess->valid_phase_low = 0x08; + phistpostprocess->valid_phase_high = 0x28; + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_MM1_EN | \ + + + VL53L1_SEQUENCE_RANGE_EN; + + + + + + psystem->system__mode_start = \ + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM | \ + VL53L1_DEVICEREADOUTMODE_DUAL_SD | \ + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_short_range_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_short_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + + + + VL53L1_init_histogram_config_structure( + 7, 7, 0, 1, 1, 1, + 8+0, 8+1, 1, 1, 2, 2, + phistogram); + + + + + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 1, 1, 1, + 8+0, 8+1, 1, 1, 2, 2, + &(pzone_cfg->multizone_hist_cfg)); + + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_MM1_EN | \ + VL53L1_SEQUENCE_RANGE_EN; + + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_short_range_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_short_range_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_MM2_EN | \ + VL53L1_SEQUENCE_RANGE_EN; + } + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_preset_mode_histogram_characterisation( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + pstatic->debug__ctrl = 0x01; + psystem->power_management__go1_power_force = 0x01; + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_RANGE_EN; + + psystem->system__mode_start = \ + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM | \ + VL53L1_DEVICEREADOUTMODE_SPLIT_MANUAL | \ + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_xtalk_planar( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_multizone_long_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + status = + VL53L1_zone_preset_xtalk_planar( + pgeneral, + pzone_cfg); + + + + + + + + + + + ptiming->range_config__sigma_thresh = 0x0000; + + + ptiming->range_config__min_count_rate_rtn_limit_mcps = 0x0000; + + + + + + + + ptiming->range_config__vcsel_period_a = 0x09; + ptiming->range_config__vcsel_period_b = 0x09; + + + + + VL53L1_init_histogram_config_structure( + 7, 0, 1, 2, 3, 4, + 7, 0, 1, 2, 3, 4, + phistogram); + + + + + + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 2, 3, 4, + + 7, 0, 1, 2, 3, 4, + + &(pzone_cfg->multizone_hist_cfg)); + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_set_histogram_multizone_initial_bin_config( + pzone_cfg, + phistogram, + &(pzone_cfg->multizone_hist_cfg)); + } + + + + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + } + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_preset_mode_histogram_xtalk_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + + + + + + + ptiming->range_config__sigma_thresh = 0x0000; + + + ptiming->range_config__min_count_rate_rtn_limit_mcps = 0x0000; + + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + + + + VL53L1_init_histogram_config_structure( + 8+7, 8+0, 8+1, 8+2, 8+3, 8+4, + 8+7, 8+0, 8+1, 8+2, 8+3, 8+4, + phistogram); + + + + + + + VL53L1_init_histogram_multizone_config_structure( + 8+7, 8+0, 8+1, 8+2, 8+3, 8+4, + 8+7, 8+0, 8+1, 8+2, 8+3, 8+4, + &(pzone_cfg->multizone_hist_cfg)); + + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + + + + ptiming->range_config__vcsel_period_a = 0x09; + ptiming->range_config__vcsel_period_b = 0x09; + + + + + + + ptiming->mm_config__timeout_macrop_a_hi = 0x00; + ptiming->mm_config__timeout_macrop_a_lo = 0x21; + ptiming->mm_config__timeout_macrop_b_hi = 0x00; + ptiming->mm_config__timeout_macrop_b_lo = 0x21; + + + + + ptiming->range_config__timeout_macrop_a_hi = 0x00; + ptiming->range_config__timeout_macrop_a_lo = 0x29; + ptiming->range_config__timeout_macrop_b_hi = 0x00; + ptiming->range_config__timeout_macrop_b_lo = 0x29; + + + + + pgeneral->cal_config__vcsel_start = 0x09; + + + + + + + + + + + + + + pgeneral->phasecal_config__timeout_macrop = 0x42; + + + + + pdynamic->sd_config__woi_sd0 = 0x09; + pdynamic->sd_config__woi_sd1 = 0x09; + pdynamic->sd_config__initial_phase_sd0 = 0x09; + pdynamic->sd_config__initial_phase_sd1 = 0x09; + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_MM1_EN | \ + VL53L1_SEQUENCE_RANGE_EN; + + + + + + psystem->system__mode_start = \ + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM | \ + VL53L1_DEVICEREADOUTMODE_DUAL_SD | \ + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_xtalk_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_xtalk_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + pdynamic->system__sequence_config = \ + VL53L1_SEQUENCE_VHV_EN | \ + VL53L1_SEQUENCE_PHASECAL_EN | \ + VL53L1_SEQUENCE_DSS1_EN | \ + VL53L1_SEQUENCE_DSS2_EN | \ + VL53L1_SEQUENCE_MM2_EN | \ + VL53L1_SEQUENCE_RANGE_EN; + + + + LOG_FUNCTION_END(status); + + return status; +} + + + + +VL53L1_Error VL53L1_preset_mode_histogram_multizone( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_medium_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + status = + VL53L1_init_zone_config_structure( + 4, 8, 2, + + 4, 8, 2, + + 7, 7, + + pzone_cfg); + + pgeneral->global_config__stream_divider = + pzone_cfg->active_zones + 1; + + + + + + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_set_histogram_multizone_initial_bin_config ( + pzone_cfg, + phistogram, + &(pzone_cfg->multizone_hist_cfg)); + } + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + } + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_preset_mode_histogram_multizone_short_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_short_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + status = + VL53L1_init_zone_config_structure( + 4, 8, 2, + + 4, 8, 2, + + 7, 7, + + pzone_cfg); + + pgeneral->global_config__stream_divider = + pzone_cfg->active_zones + 1; + + + + + + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_set_histogram_multizone_initial_bin_config ( + pzone_cfg, + phistogram, + &(pzone_cfg->multizone_hist_cfg) + ); + } + + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_multizone_long_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_long_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + status = + VL53L1_init_zone_config_structure( + 4, 8, 2, + + 4, 8, 2, + + 7, 7, + + pzone_cfg); + + pgeneral->global_config__stream_divider = + pzone_cfg->active_zones + 1; + + + + + + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_set_histogram_multizone_initial_bin_config ( + pzone_cfg, + phistogram, + &(pzone_cfg->multizone_hist_cfg)); + } + + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + } + + LOG_FUNCTION_END(status); + + return status; +} + + + + +VL53L1_Error VL53L1_preset_mode_olt( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + psystem->system__stream_count_ctrl = 0x01; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +void VL53L1_copy_hist_cfg_to_static_cfg( + VL53L1_histogram_config_t *phistogram, + VL53L1_static_config_t *pstatic, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic) +{ + + + + + + + LOG_FUNCTION_START(""); + + SUPPRESS_UNUSED_WARNING(pgeneral); + + pstatic->sigma_estimator__effective_pulse_width_ns = + phistogram->histogram_config__high_amb_even_bin_0_1; + pstatic->sigma_estimator__effective_ambient_width_ns = + phistogram->histogram_config__high_amb_even_bin_2_3; + pstatic->sigma_estimator__sigma_ref_mm = + phistogram->histogram_config__high_amb_even_bin_4_5; + + pstatic->algo__crosstalk_compensation_valid_height_mm = + phistogram->histogram_config__high_amb_odd_bin_0_1; + + pstatic->spare_host_config__static_config_spare_0 = + phistogram->histogram_config__high_amb_odd_bin_2_3; + pstatic->spare_host_config__static_config_spare_1 = + phistogram->histogram_config__high_amb_odd_bin_4_5; + + pstatic->algo__range_ignore_threshold_mcps = + (((uint16_t)phistogram->histogram_config__mid_amb_even_bin_0_1) << 8) + + (uint16_t)phistogram->histogram_config__mid_amb_even_bin_2_3; + + pstatic->algo__range_ignore_valid_height_mm = + phistogram->histogram_config__mid_amb_even_bin_4_5; + pstatic->algo__range_min_clip = + phistogram->histogram_config__mid_amb_odd_bin_0_1; + pstatic->algo__consistency_check__tolerance = + phistogram->histogram_config__mid_amb_odd_bin_2; + + pstatic->spare_host_config__static_config_spare_2 = + phistogram->histogram_config__mid_amb_odd_bin_3_4; + pstatic->sd_config__reset_stages_msb = + phistogram->histogram_config__mid_amb_odd_bin_5; + + pstatic->sd_config__reset_stages_lsb = + phistogram->histogram_config__user_bin_offset; + + ptiming->range_config__sigma_thresh = + (((uint16_t)phistogram->histogram_config__low_amb_even_bin_0_1) << 8) + + (uint16_t)phistogram->histogram_config__low_amb_even_bin_2_3; + + ptiming->range_config__min_count_rate_rtn_limit_mcps = + (((uint16_t)phistogram->histogram_config__low_amb_even_bin_4_5) << 8) + + (uint16_t)phistogram->histogram_config__low_amb_odd_bin_0_1; + + ptiming->range_config__valid_phase_low = + phistogram->histogram_config__low_amb_odd_bin_2_3; + ptiming->range_config__valid_phase_high = + phistogram->histogram_config__low_amb_odd_bin_4_5; + + pdynamic->system__thresh_high = + phistogram->histogram_config__amb_thresh_low; + + pdynamic->system__thresh_low = + phistogram->histogram_config__amb_thresh_high; + + pdynamic->system__enable_xtalk_per_quadrant = + phistogram->histogram_config__spad_array_selection; + + LOG_FUNCTION_END(0); + +} + +void VL53L1_copy_hist_bins_to_static_cfg( + VL53L1_histogram_config_t *phistogram, + VL53L1_static_config_t *pstatic, + VL53L1_timing_config_t *ptiming + ) +{ + + + + + + + LOG_FUNCTION_START(""); + + pstatic->sigma_estimator__effective_pulse_width_ns = + phistogram->histogram_config__high_amb_even_bin_0_1; + pstatic->sigma_estimator__effective_ambient_width_ns = + phistogram->histogram_config__high_amb_even_bin_2_3; + pstatic->sigma_estimator__sigma_ref_mm = + phistogram->histogram_config__high_amb_even_bin_4_5; + + pstatic->algo__crosstalk_compensation_valid_height_mm = + phistogram->histogram_config__high_amb_odd_bin_0_1; + + pstatic->spare_host_config__static_config_spare_0 = + phistogram->histogram_config__high_amb_odd_bin_2_3; + pstatic->spare_host_config__static_config_spare_1 = + phistogram->histogram_config__high_amb_odd_bin_4_5; + + pstatic->algo__range_ignore_threshold_mcps = + (((uint16_t)phistogram->histogram_config__mid_amb_even_bin_0_1) << 8) + + (uint16_t)phistogram->histogram_config__mid_amb_even_bin_2_3; + + pstatic->algo__range_ignore_valid_height_mm = + phistogram->histogram_config__mid_amb_even_bin_4_5; + pstatic->algo__range_min_clip = + phistogram->histogram_config__mid_amb_odd_bin_0_1; + pstatic->algo__consistency_check__tolerance = + phistogram->histogram_config__mid_amb_odd_bin_2; + + pstatic->spare_host_config__static_config_spare_2 = + phistogram->histogram_config__mid_amb_odd_bin_3_4; + pstatic->sd_config__reset_stages_msb = + phistogram->histogram_config__mid_amb_odd_bin_5; + + ptiming->range_config__sigma_thresh = + (((uint16_t)phistogram->histogram_config__low_amb_even_bin_0_1) << 8) + + (uint16_t)phistogram->histogram_config__low_amb_even_bin_2_3; + + ptiming->range_config__min_count_rate_rtn_limit_mcps = + (((uint16_t)phistogram->histogram_config__low_amb_even_bin_4_5) << 8) + + (uint16_t)phistogram->histogram_config__low_amb_odd_bin_0_1; + + ptiming->range_config__valid_phase_low = + phistogram->histogram_config__low_amb_odd_bin_2_3; + ptiming->range_config__valid_phase_high = + phistogram->histogram_config__low_amb_odd_bin_4_5; + + LOG_FUNCTION_END(0); + +} + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_ref( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + phistogram->histogram_config__spad_array_selection = 0x00; + + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + } + + LOG_FUNCTION_END(status); + + return status; +} + + + + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_api_strings.c b/drivers/input/misc/vl53L1/src/vl53l1_api_strings.c new file mode 100644 index 000000000000..bdab77694bbc --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_api_strings.c @@ -0,0 +1,333 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#include "vl53l1_api_core.h" +#include "vl53l1_api_strings.h" +#include "vl53l1_error_codes.h" +#include "vl53l1_error_strings.h" + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_API, status, fmt, \ + ##__VA_ARGS__) + + +VL53L1_Error VL53L1_get_range_status_string( + uint8_t RangeStatus, + char *pRangeStatusString) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + +#ifdef VL53L1_USE_EMPTY_STRING + VL53L1_COPYSTRING(pRangeStatusString, ""); +#else + switch (RangeStatus) { + case 0: + VL53L1_COPYSTRING(pRangeStatusString, + VL53L1_STRING_RANGESTATUS_RANGEVALID); + break; + case 1: + VL53L1_COPYSTRING(pRangeStatusString, + VL53L1_STRING_RANGESTATUS_SIGMA); + break; + case 2: + VL53L1_COPYSTRING(pRangeStatusString, + VL53L1_STRING_RANGESTATUS_SIGNAL); + break; + case 3: + VL53L1_COPYSTRING(pRangeStatusString, + VL53L1_STRING_RANGESTATUS_MINRANGE); + break; + case 4: + VL53L1_COPYSTRING(pRangeStatusString, + VL53L1_STRING_RANGESTATUS_PHASE); + break; + case 5: + VL53L1_COPYSTRING(pRangeStatusString, + VL53L1_STRING_RANGESTATUS_HW); + break; + + default: + + VL53L1_COPYSTRING(pRangeStatusString, + VL53L1_STRING_RANGESTATUS_NONE); + } +#endif + + LOG_FUNCTION_END(status); + return status; +} + + +VL53L1_Error VL53L1_get_pal_state_string( + VL53L1_State PalStateCode, + char *pPalStateString) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + +#ifdef VL53L1_USE_EMPTY_STRING + VL53L1_COPYSTRING(pPalStateString, ""); +#else + switch (PalStateCode) { + case VL53L1_STATE_POWERDOWN: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_POWERDOWN); + break; + case VL53L1_STATE_WAIT_STATICINIT: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_WAIT_STATICINIT); + break; + case VL53L1_STATE_STANDBY: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_STANDBY); + break; + case VL53L1_STATE_IDLE: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_IDLE); + break; + case VL53L1_STATE_RUNNING: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_RUNNING); + break; + case VL53L1_STATE_RESET: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_RESET); + break; + case VL53L1_STATE_UNKNOWN: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_UNKNOWN); + break; + case VL53L1_STATE_ERROR: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_ERROR); + break; + + default: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_UNKNOWN); + } +#endif + + LOG_FUNCTION_END(status); + return status; +} + +VL53L1_Error VL53L1_get_sequence_steps_info( + VL53L1_SequenceStepId SequenceStepId, + char *pSequenceStepsString) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + +#ifdef VL53L1_USE_EMPTY_STRING + VL53L1_COPYSTRING(pSequenceStepsString, ""); +#else + switch (SequenceStepId) { + case VL53L1_SEQUENCESTEP_VHV: + VL53L1_COPYSTRING(pSequenceStepsString, + VL53L1_STRING_SEQUENCESTEP_VHV); + break; + case VL53L1_SEQUENCESTEP_PHASECAL: + VL53L1_COPYSTRING(pSequenceStepsString, + VL53L1_STRING_SEQUENCESTEP_PHASECAL); + break; + case VL53L1_SEQUENCESTEP_REFPHASE: + VL53L1_COPYSTRING(pSequenceStepsString, + VL53L1_STRING_SEQUENCESTEP_DSS1); + break; + case VL53L1_SEQUENCESTEP_DSS1: + VL53L1_COPYSTRING(pSequenceStepsString, + VL53L1_STRING_SEQUENCESTEP_DSS1); + break; + case VL53L1_SEQUENCESTEP_DSS2: + VL53L1_COPYSTRING(pSequenceStepsString, + VL53L1_STRING_SEQUENCESTEP_DSS2); + break; + case VL53L1_SEQUENCESTEP_MM1: + VL53L1_COPYSTRING(pSequenceStepsString, + VL53L1_STRING_SEQUENCESTEP_MM1); + break; + case VL53L1_SEQUENCESTEP_MM2: + VL53L1_COPYSTRING(pSequenceStepsString, + VL53L1_STRING_SEQUENCESTEP_MM2); + break; + case VL53L1_SEQUENCESTEP_RANGE: + VL53L1_COPYSTRING(pSequenceStepsString, + VL53L1_STRING_SEQUENCESTEP_RANGE); + break; + default: + Status = VL53L1_ERROR_INVALID_PARAMS; + } +#endif + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L1_Error VL53L1_get_limit_check_info(uint16_t LimitCheckId, + char *pLimitCheckString) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + +#ifdef VL53L1_USE_EMPTY_STRING + VL53L1_COPYSTRING(pLimitCheckString, ""); +#else + switch (LimitCheckId) { + case VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE: + VL53L1_COPYSTRING(pLimitCheckString, + VL53L1_STRING_CHECKENABLE_SIGMA_FINAL_RANGE); + break; + case VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + VL53L1_COPYSTRING(pLimitCheckString, + VL53L1_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE); + break; + default: + VL53L1_COPYSTRING(pLimitCheckString, + VL53L1_STRING_UNKNOW_ERROR_CODE); + } +#endif + + LOG_FUNCTION_END(Status); + return Status; +} + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_core.c b/drivers/input/misc/vl53L1/src/vl53l1_core.c new file mode 100644 index 000000000000..405182db0ec4 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_core.c @@ -0,0 +1,3961 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_ll_device.h" +#include "vl53l1_platform.h" +#include "vl53l1_register_map.h" +#include "vl53l1_register_funcs.h" +#include "vl53l1_register_settings.h" +#include "vl53l1_hist_structs.h" +#include "vl53l1_api_preset_modes.h" +#include "vl53l1_core.h" + + + + + + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, \ + status, fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_CORE, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +void VL53L1_init_version( + VL53L1_DEV Dev) +{ + + + + + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + pdev->version.ll_major = VL53L1_LL_API_IMPLEMENTATION_VER_MAJOR; + pdev->version.ll_minor = VL53L1_LL_API_IMPLEMENTATION_VER_MINOR; + pdev->version.ll_build = VL53L1_LL_API_IMPLEMENTATION_VER_SUB; + pdev->version.ll_revision = VL53L1_LL_API_IMPLEMENTATION_VER_REVISION; +} + + +void VL53L1_init_ll_driver_state( + VL53L1_DEV Dev, + VL53L1_DeviceState device_state) +{ + + + + + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_ll_driver_state_t *pstate = &(pdev->ll_state); + + pstate->cfg_device_state = device_state; + pstate->cfg_stream_count = 0; + pstate->cfg_gph_id = VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + pstate->cfg_timing_status = 0; + pstate->cfg_zone_id = 0; + + pstate->rd_device_state = device_state; + pstate->rd_stream_count = 0; + pstate->rd_gph_id = VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + pstate->rd_timing_status = 0; + pstate->rd_zone_id = 0; + +} + + +VL53L1_Error VL53L1_update_ll_driver_rd_state( + VL53L1_DEV Dev) +{ + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_ll_driver_state_t *pstate = &(pdev->ll_state); + + + + + LOG_FUNCTION_START(""); + + + + + + if ((pdev->sys_ctrl.system__mode_start & + VL53L1_DEVICEMEASUREMENTMODE_MODE_MASK) == 0x00) { + + pstate->rd_device_state = VL53L1_DEVICESTATE_SW_STANDBY; + pstate->rd_stream_count = 0; + pstate->rd_internal_stream_count = 0; + pstate->rd_internal_stream_count_val = 0; + pstate->rd_gph_id = VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + pstate->rd_timing_status = 0; + pstate->rd_zone_id = 0; + + } else { + + + + + + + if (pstate->rd_stream_count == 0xFF) { + pstate->rd_stream_count = 0x80; + } else { + pstate->rd_stream_count++; + } + + + + + + status = VL53L1_update_internal_stream_counters(Dev, + pstate->rd_stream_count, + &(pstate->rd_internal_stream_count), + &(pstate->rd_internal_stream_count_val)); + + + + + + + pstate->rd_gph_id ^= VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + + + + + switch (pstate->rd_device_state) { + + case VL53L1_DEVICESTATE_SW_STANDBY: + + if ((pdev->dyn_cfg.system__grouped_parameter_hold & + VL53L1_GROUPEDPARAMETERHOLD_ID_MASK) > 0) { + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_WAIT_GPH_SYNC; + } else { + if (pstate->rd_zone_id >= + pdev->zone_cfg.active_zones) { + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA; + } else { + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_GATHER_DATA; + } + } + + pstate->rd_stream_count = 0; + pstate->rd_internal_stream_count = 0; + pstate->rd_internal_stream_count_val = 0; + pstate->rd_timing_status = 0; + pstate->rd_zone_id = 0; + + break; + + case VL53L1_DEVICESTATE_RANGING_WAIT_GPH_SYNC: + pstate->rd_stream_count = 0; + pstate->rd_internal_stream_count = 0; + pstate->rd_internal_stream_count_val = 0; + pstate->rd_zone_id = 0; + if (pstate->rd_zone_id >= + pdev->zone_cfg.active_zones) { + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA; + } else { + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_GATHER_DATA; + } + break; + + case VL53L1_DEVICESTATE_RANGING_GATHER_DATA: + pstate->rd_zone_id++; + if (pstate->rd_zone_id >= + pdev->zone_cfg.active_zones) { + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA; + } else { + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_GATHER_DATA; + } + break; + + case VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA: + pstate->rd_zone_id = 0; + pstate->rd_timing_status ^= 0x01; + + if (pstate->rd_zone_id >= + pdev->zone_cfg.active_zones) { + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA; + } else { + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_GATHER_DATA; + } + break; + + default: + pstate->rd_device_state = + VL53L1_DEVICESTATE_SW_STANDBY; + pstate->rd_stream_count = 0; + pstate->rd_internal_stream_count = 0; + pstate->rd_internal_stream_count_val = 0; + pstate->rd_gph_id = VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + pstate->rd_timing_status = 0; + pstate->rd_zone_id = 0; + break; + } + } + + + + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_check_ll_driver_rd_state( + VL53L1_DEV Dev) +{ + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + VL53L1_ll_driver_state_t *pstate = &(pdev->ll_state); + VL53L1_system_results_t *psys_results = &(pdev->sys_results); + VL53L1_histogram_bin_data_t *phist_data = &(pdev->hist_data); + + uint8_t device_range_status = 0; + uint8_t device_stream_count = 0; + uint8_t device_gph_id = 0; + uint8_t histogram_mode = 0; + uint8_t expected_stream_count = 0; + uint8_t expected_gph_id = 0; + + LOG_FUNCTION_START(""); + + + + + + device_range_status = + psys_results->result__range_status & + VL53L1_RANGE_STATUS__RANGE_STATUS_MASK; + + device_stream_count = psys_results->result__stream_count; + + + + + histogram_mode = + (pdev->sys_ctrl.system__mode_start & + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM) == + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM; + + + + device_gph_id = (psys_results->result__interrupt_status & + VL53L1_INTERRUPT_STATUS__GPH_ID_INT_STATUS_MASK) >> 4; + + if (histogram_mode) { + device_gph_id = (phist_data->result__interrupt_status & + VL53L1_INTERRUPT_STATUS__GPH_ID_INT_STATUS_MASK) >> 4; + } + + + + + if ((pdev->sys_ctrl.system__mode_start & + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK) == + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK) { + + + + + + + + + + + + + + + if (pstate->rd_device_state == + VL53L1_DEVICESTATE_RANGING_WAIT_GPH_SYNC) { + + if (histogram_mode == 0) { + if (device_range_status != + VL53L1_DEVICEERROR_GPHSTREAMCOUNT0READY) { + status = VL53L1_ERROR_GPH_SYNC_CHECK_FAIL; + } + } + } else { + if (pstate->rd_stream_count != device_stream_count) { + status = VL53L1_ERROR_STREAM_COUNT_CHECK_FAIL; + } + + + + + + + if (pstate->rd_gph_id != device_gph_id) { + status = VL53L1_ERROR_GPH_ID_CHECK_FAIL; + + + + + + + + } else { + + + + + + + + } + + + + + + + expected_stream_count = + pres->zone_dyn_cfgs.VL53L1_PRM_00005[pstate->rd_zone_id].expected_stream_count; + expected_gph_id = + pres->zone_dyn_cfgs.VL53L1_PRM_00005[pstate->rd_zone_id].expected_gph_id; + + + + + + + if (expected_stream_count != device_stream_count) { + + + + + if ((pdev->zone_cfg.active_zones == 0) && + (device_stream_count == 255)) { + + + + + + + + + } else { + status = VL53L1_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL; + + + + + + + + } + } + + + + + + + if (expected_gph_id != device_gph_id) { + status = VL53L1_ERROR_ZONE_GPH_ID_CHECK_FAIL; + + + + + + + + } + } + + + + + + + + + + + + + + } + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_update_ll_driver_cfg_state( + VL53L1_DEV Dev) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + VL53L1_ll_driver_state_t *pstate = &(pdev->ll_state); + + uint8_t prev_cfg_zone_id; + uint8_t prev_cfg_gph_id; + uint8_t prev_cfg_stream_count; + + LOG_FUNCTION_START(""); + + + + + + + + + if ((pdev->sys_ctrl.system__mode_start & + VL53L1_DEVICEMEASUREMENTMODE_MODE_MASK) == 0x00) { + + pstate->cfg_device_state = VL53L1_DEVICESTATE_SW_STANDBY; + pstate->cfg_stream_count = 0; + pstate->cfg_internal_stream_count = 0; + pstate->cfg_internal_stream_count_val = 0; + pstate->cfg_gph_id = VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + pstate->cfg_timing_status = 0; + pstate->cfg_zone_id = 0; + prev_cfg_zone_id = 0; + prev_cfg_gph_id = 0; + prev_cfg_stream_count = 0; + + } else { + + + + + prev_cfg_gph_id = pstate->cfg_gph_id; + prev_cfg_zone_id = pstate->cfg_zone_id; + prev_cfg_stream_count = pstate->cfg_stream_count; + + + + + + + if (pstate->cfg_stream_count == 0xFF) { + pstate->cfg_stream_count = 0x80; + } else { + pstate->cfg_stream_count++; + } + + + + + + status = VL53L1_update_internal_stream_counters( + Dev, + pstate->cfg_stream_count, + &(pstate->cfg_internal_stream_count), + &(pstate->cfg_internal_stream_count_val)); + + + + + + + pstate->cfg_gph_id ^= VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + + + + + + + switch (pstate->cfg_device_state) { + + case VL53L1_DEVICESTATE_SW_STANDBY: + pstate->cfg_zone_id = 1; + if (pstate->cfg_zone_id > + pdev->zone_cfg.active_zones) { + pstate->cfg_zone_id = 0; + pstate->cfg_timing_status ^= 0x01; + } + pstate->cfg_stream_count = 1; + + if (pdev->gen_cfg.global_config__stream_divider == 0) { + pstate->cfg_internal_stream_count = 1; + pstate->cfg_internal_stream_count_val = 0; + } else { + pstate->cfg_internal_stream_count = 0; + pstate->cfg_internal_stream_count_val = 1; + } + pstate->cfg_device_state = VL53L1_DEVICESTATE_RANGING_DSS_AUTO; + break; + + case VL53L1_DEVICESTATE_RANGING_DSS_AUTO: + pstate->cfg_zone_id++; + if (pstate->cfg_zone_id > + pdev->zone_cfg.active_zones) { + + pstate->cfg_zone_id = 0; + pstate->cfg_timing_status ^= 0x01; + + + + + + + if (pdev->zone_cfg.active_zones > 0) { + pstate->cfg_device_state = + VL53L1_DEVICESTATE_RANGING_DSS_MANUAL; + } + } + break; + + case VL53L1_DEVICESTATE_RANGING_DSS_MANUAL: + pstate->cfg_zone_id++; + if (pstate->cfg_zone_id > + pdev->zone_cfg.active_zones) { + pstate->cfg_zone_id = 0; + pstate->cfg_timing_status ^= 0x01; + } + break; + + default: + pstate->cfg_device_state = VL53L1_DEVICESTATE_SW_STANDBY; + pstate->cfg_stream_count = 0; + pstate->cfg_internal_stream_count = 0; + pstate->cfg_internal_stream_count_val = 0; + pstate->cfg_gph_id = VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + pstate->cfg_timing_status = 0; + pstate->cfg_zone_id = 0; + break; + } + } + + + + + + + if (pdev->zone_cfg.active_zones == 0) { + + + + + + pres->zone_dyn_cfgs.VL53L1_PRM_00005[prev_cfg_zone_id].expected_stream_count = + prev_cfg_stream_count - 1; + + pres->zone_dyn_cfgs.VL53L1_PRM_00005[pstate->rd_zone_id].expected_gph_id = + prev_cfg_gph_id ^ VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + } else { + pres->zone_dyn_cfgs.VL53L1_PRM_00005[prev_cfg_zone_id].expected_stream_count = + prev_cfg_stream_count; + pres->zone_dyn_cfgs.VL53L1_PRM_00005[prev_cfg_zone_id].expected_gph_id = + prev_cfg_gph_id; + } + + + + + + LOG_FUNCTION_END(status); + + return status; +} + + +void VL53L1_copy_rtn_good_spads_to_buffer( + VL53L1_nvm_copy_data_t *pdata, + uint8_t *pbuffer) +{ + + + + + + *(pbuffer + 0) = pdata->global_config__spad_enables_rtn_0; + *(pbuffer + 1) = pdata->global_config__spad_enables_rtn_1; + *(pbuffer + 2) = pdata->global_config__spad_enables_rtn_2; + *(pbuffer + 3) = pdata->global_config__spad_enables_rtn_3; + *(pbuffer + 4) = pdata->global_config__spad_enables_rtn_4; + *(pbuffer + 5) = pdata->global_config__spad_enables_rtn_5; + *(pbuffer + 6) = pdata->global_config__spad_enables_rtn_6; + *(pbuffer + 7) = pdata->global_config__spad_enables_rtn_7; + *(pbuffer + 8) = pdata->global_config__spad_enables_rtn_8; + *(pbuffer + 9) = pdata->global_config__spad_enables_rtn_9; + *(pbuffer + 10) = pdata->global_config__spad_enables_rtn_10; + *(pbuffer + 11) = pdata->global_config__spad_enables_rtn_11; + *(pbuffer + 12) = pdata->global_config__spad_enables_rtn_12; + *(pbuffer + 13) = pdata->global_config__spad_enables_rtn_13; + *(pbuffer + 14) = pdata->global_config__spad_enables_rtn_14; + *(pbuffer + 15) = pdata->global_config__spad_enables_rtn_15; + *(pbuffer + 16) = pdata->global_config__spad_enables_rtn_16; + *(pbuffer + 17) = pdata->global_config__spad_enables_rtn_17; + *(pbuffer + 18) = pdata->global_config__spad_enables_rtn_18; + *(pbuffer + 19) = pdata->global_config__spad_enables_rtn_19; + *(pbuffer + 20) = pdata->global_config__spad_enables_rtn_20; + *(pbuffer + 21) = pdata->global_config__spad_enables_rtn_21; + *(pbuffer + 22) = pdata->global_config__spad_enables_rtn_22; + *(pbuffer + 23) = pdata->global_config__spad_enables_rtn_23; + *(pbuffer + 24) = pdata->global_config__spad_enables_rtn_24; + *(pbuffer + 25) = pdata->global_config__spad_enables_rtn_25; + *(pbuffer + 26) = pdata->global_config__spad_enables_rtn_26; + *(pbuffer + 27) = pdata->global_config__spad_enables_rtn_27; + *(pbuffer + 28) = pdata->global_config__spad_enables_rtn_28; + *(pbuffer + 29) = pdata->global_config__spad_enables_rtn_29; + *(pbuffer + 30) = pdata->global_config__spad_enables_rtn_30; + *(pbuffer + 31) = pdata->global_config__spad_enables_rtn_31; +} + + +void VL53L1_init_system_results( + VL53L1_system_results_t *pdata) +{ + + + + + + + pdata->result__interrupt_status = 0xFF; + pdata->result__range_status = 0xFF; + pdata->result__report_status = 0xFF; + pdata->result__stream_count = 0xFF; + + pdata->result__dss_actual_effective_spads_sd0 = 0xFFFF; + pdata->result__peak_signal_count_rate_mcps_sd0 = 0xFFFF; + pdata->result__ambient_count_rate_mcps_sd0 = 0xFFFF; + pdata->result__sigma_sd0 = 0xFFFF; + pdata->result__phase_sd0 = 0xFFFF; + pdata->result__final_crosstalk_corrected_range_mm_sd0 = 0xFFFF; + pdata->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = + 0xFFFF; + pdata->result__mm_inner_actual_effective_spads_sd0 = 0xFFFF; + pdata->result__mm_outer_actual_effective_spads_sd0 = 0xFFFF; + pdata->result__avg_signal_count_rate_mcps_sd0 = 0xFFFF; + + pdata->result__dss_actual_effective_spads_sd1 = 0xFFFF; + pdata->result__peak_signal_count_rate_mcps_sd1 = 0xFFFF; + pdata->result__ambient_count_rate_mcps_sd1 = 0xFFFF; + pdata->result__sigma_sd1 = 0xFFFF; + pdata->result__phase_sd1 = 0xFFFF; + pdata->result__final_crosstalk_corrected_range_mm_sd1 = 0xFFFF; + pdata->result__spare_0_sd1 = 0xFFFF; + pdata->result__spare_1_sd1 = 0xFFFF; + pdata->result__spare_2_sd1 = 0xFFFF; + pdata->result__spare_3_sd1 = 0xFF; + +} + + +void V53L1_init_zone_results_structure( + uint8_t active_zones, + VL53L1_zone_results_t *pdata) +{ + + + + + uint8_t z = 0; + VL53L1_zone_objects_t *pobjects; + + pdata->max_zones = VL53L1_MAX_USER_ZONES; + pdata->active_zones = active_zones; + + for (z = 0 ; z < pdata->max_zones ; z++) { + pobjects = &(pdata->VL53L1_PRM_00005[z]); + pobjects->cfg_device_state = VL53L1_DEVICESTATE_SW_STANDBY; + pobjects->rd_device_state = VL53L1_DEVICESTATE_SW_STANDBY; + pobjects->max_objects = VL53L1_MAX_RANGE_RESULTS; + pobjects->active_objects = 0; + } +} + + +void VL53L1_init_histogram_config_structure( + uint8_t even_bin0, + uint8_t even_bin1, + uint8_t even_bin2, + uint8_t even_bin3, + uint8_t even_bin4, + uint8_t even_bin5, + uint8_t odd_bin0, + uint8_t odd_bin1, + uint8_t odd_bin2, + uint8_t odd_bin3, + uint8_t odd_bin4, + uint8_t odd_bin5, + VL53L1_histogram_config_t *pdata) +{ + + + + + + + pdata->histogram_config__low_amb_even_bin_0_1 = (even_bin1 << 4) + even_bin0; + pdata->histogram_config__low_amb_even_bin_2_3 = (even_bin3 << 4) + even_bin2; + pdata->histogram_config__low_amb_even_bin_4_5 = (even_bin5 << 4) + even_bin4; + + pdata->histogram_config__low_amb_odd_bin_0_1 = (odd_bin1 << 4) + odd_bin0; + pdata->histogram_config__low_amb_odd_bin_2_3 = (odd_bin3 << 4) + odd_bin2; + pdata->histogram_config__low_amb_odd_bin_4_5 = (odd_bin5 << 4) + odd_bin4; + + pdata->histogram_config__mid_amb_even_bin_0_1 = pdata->histogram_config__low_amb_even_bin_0_1; + pdata->histogram_config__mid_amb_even_bin_2_3 = pdata->histogram_config__low_amb_even_bin_2_3; + pdata->histogram_config__mid_amb_even_bin_4_5 = pdata->histogram_config__low_amb_even_bin_4_5; + + pdata->histogram_config__mid_amb_odd_bin_0_1 = pdata->histogram_config__low_amb_odd_bin_0_1; + pdata->histogram_config__mid_amb_odd_bin_2 = odd_bin2; + pdata->histogram_config__mid_amb_odd_bin_3_4 = (odd_bin4 << 4) + odd_bin3; + pdata->histogram_config__mid_amb_odd_bin_5 = odd_bin5; + + pdata->histogram_config__user_bin_offset = 0x00; + + pdata->histogram_config__high_amb_even_bin_0_1 = pdata->histogram_config__low_amb_even_bin_0_1; + pdata->histogram_config__high_amb_even_bin_2_3 = pdata->histogram_config__low_amb_even_bin_2_3; + pdata->histogram_config__high_amb_even_bin_4_5 = pdata->histogram_config__low_amb_even_bin_4_5; + + pdata->histogram_config__high_amb_odd_bin_0_1 = pdata->histogram_config__low_amb_odd_bin_0_1; + pdata->histogram_config__high_amb_odd_bin_2_3 = pdata->histogram_config__low_amb_odd_bin_2_3; + pdata->histogram_config__high_amb_odd_bin_4_5 = pdata->histogram_config__low_amb_odd_bin_4_5; + + + + + pdata->histogram_config__amb_thresh_low = 0xFFFF; + pdata->histogram_config__amb_thresh_high = 0xFFFF; + + + + + pdata->histogram_config__spad_array_selection = 0x00; + +} + +void VL53L1_init_histogram_multizone_config_structure( + uint8_t even_bin0, + uint8_t even_bin1, + uint8_t even_bin2, + uint8_t even_bin3, + uint8_t even_bin4, + uint8_t even_bin5, + uint8_t odd_bin0, + uint8_t odd_bin1, + uint8_t odd_bin2, + uint8_t odd_bin3, + uint8_t odd_bin4, + uint8_t odd_bin5, + VL53L1_histogram_config_t *pdata) +{ + + + + + + + + pdata->histogram_config__low_amb_even_bin_0_1 = (even_bin1 << 4) + even_bin0; + pdata->histogram_config__low_amb_even_bin_2_3 = (even_bin3 << 4) + even_bin2; + pdata->histogram_config__low_amb_even_bin_4_5 = (even_bin5 << 4) + even_bin4; + + pdata->histogram_config__low_amb_odd_bin_0_1 = + pdata->histogram_config__low_amb_even_bin_0_1; + pdata->histogram_config__low_amb_odd_bin_2_3 + = pdata->histogram_config__low_amb_even_bin_2_3; + pdata->histogram_config__low_amb_odd_bin_4_5 + = pdata->histogram_config__low_amb_even_bin_4_5; + + pdata->histogram_config__mid_amb_even_bin_0_1 = + pdata->histogram_config__low_amb_even_bin_0_1; + pdata->histogram_config__mid_amb_even_bin_2_3 + = pdata->histogram_config__low_amb_even_bin_2_3; + pdata->histogram_config__mid_amb_even_bin_4_5 + = pdata->histogram_config__low_amb_even_bin_4_5; + + pdata->histogram_config__mid_amb_odd_bin_0_1 + = pdata->histogram_config__low_amb_odd_bin_0_1; + pdata->histogram_config__mid_amb_odd_bin_2 = odd_bin2; + pdata->histogram_config__mid_amb_odd_bin_3_4 = (odd_bin4 << 4) + odd_bin3; + pdata->histogram_config__mid_amb_odd_bin_5 = odd_bin5; + + pdata->histogram_config__user_bin_offset = 0x00; + + pdata->histogram_config__high_amb_even_bin_0_1 = (odd_bin1 << 4) + odd_bin0; + pdata->histogram_config__high_amb_even_bin_2_3 = (odd_bin3 << 4) + odd_bin2; + pdata->histogram_config__high_amb_even_bin_4_5 = (odd_bin5 << 4) + odd_bin4; + + pdata->histogram_config__high_amb_odd_bin_0_1 + = pdata->histogram_config__high_amb_even_bin_0_1; + pdata->histogram_config__high_amb_odd_bin_2_3 + = pdata->histogram_config__high_amb_even_bin_2_3; + pdata->histogram_config__high_amb_odd_bin_4_5 + = pdata->histogram_config__high_amb_even_bin_4_5; + + + + + pdata->histogram_config__amb_thresh_low = 0xFFFF; + pdata->histogram_config__amb_thresh_high = 0xFFFF; + + + + + pdata->histogram_config__spad_array_selection = 0x00; +} + + +void VL53L1_init_xtalk_bin_data_struct( + uint32_t bin_value, + uint16_t VL53L1_PRM_00017, + VL53L1_xtalk_histogram_shape_t *pdata) +{ + + + + + + + uint16_t i = 0; + + pdata->zone_id = 0; + pdata->time_stamp = 0; + + pdata->VL53L1_PRM_00015 = 0; + pdata->VL53L1_PRM_00016 = VL53L1_XTALK_HISTO_BINS; + pdata->VL53L1_PRM_00017 = (uint8_t)VL53L1_PRM_00017; + + pdata->phasecal_result__reference_phase = 0; + pdata->phasecal_result__vcsel_start = 0; + pdata->cal_config__vcsel_start = 0; + + pdata->vcsel_width = 0; + pdata->VL53L1_PRM_00018 = 0; + + pdata->zero_distance_phase = 0; + + for (i = 0 ; i < VL53L1_XTALK_HISTO_BINS; i++) { + if (i < VL53L1_PRM_00017) { + pdata->bin_data[i] = bin_value; + } else { + pdata->bin_data[i] = 0; + } + } +} + + +void VL53L1_i2c_encode_uint16_t( + uint16_t ip_value, + uint16_t count, + uint8_t *pbuffer) +{ + + + + + + + uint16_t i = 0; + uint16_t VL53L1_PRM_00005 = 0; + + VL53L1_PRM_00005 = ip_value; + + for (i = 0; i < count ; i++) { + pbuffer[count-i-1] = (uint8_t)(VL53L1_PRM_00005 & 0x00FF); + VL53L1_PRM_00005 = VL53L1_PRM_00005 >> 8; + } +} + +uint16_t VL53L1_i2c_decode_uint16_t( + uint16_t count, + uint8_t *pbuffer) +{ + + + + + + + uint16_t value = 0x00; + + while (count-- > 0) { + value = (value << 8) | (uint16_t)*pbuffer++; + } + + return value; +} + + +void VL53L1_i2c_encode_int16_t( + int16_t ip_value, + uint16_t count, + uint8_t *pbuffer) +{ + + + + + + + uint16_t i = 0; + int16_t VL53L1_PRM_00005 = 0; + + VL53L1_PRM_00005 = ip_value; + + for (i = 0; i < count ; i++) { + pbuffer[count-i-1] = (uint8_t)(VL53L1_PRM_00005 & 0x00FF); + VL53L1_PRM_00005 = VL53L1_PRM_00005 >> 8; + } +} + +int16_t VL53L1_i2c_decode_int16_t( + uint16_t count, + uint8_t *pbuffer) +{ + + + + + + + int16_t value = 0x00; + + + + if (*pbuffer >= 0x80) { + value = 0xFFFF; + } + + while (count-- > 0) { + value = (value << 8) | (int16_t)*pbuffer++; + } + + return value; +} + +void VL53L1_i2c_encode_uint32_t( + uint32_t ip_value, + uint16_t count, + uint8_t *pbuffer) +{ + + + + + + + uint16_t i = 0; + uint32_t VL53L1_PRM_00005 = 0; + + VL53L1_PRM_00005 = ip_value; + + for (i = 0; i < count ; i++) { + pbuffer[count-i-1] = (uint8_t)(VL53L1_PRM_00005 & 0x00FF); + VL53L1_PRM_00005 = VL53L1_PRM_00005 >> 8; + } +} + +uint32_t VL53L1_i2c_decode_uint32_t( + uint16_t count, + uint8_t *pbuffer) +{ + + + + + + + uint32_t value = 0x00; + + while (count-- > 0) { + value = (value << 8) | (uint32_t)*pbuffer++; + } + + return value; +} + + +uint32_t VL53L1_i2c_decode_with_mask( + uint16_t count, + uint8_t *pbuffer, + uint32_t bit_mask, + uint32_t down_shift, + uint32_t offset) +{ + + + + + + + uint32_t value = 0x00; + + + + while (count-- > 0) { + value = (value << 8) | (uint32_t)*pbuffer++; + } + + + + value = value & bit_mask; + if (down_shift > 0) { + value = value >> down_shift; + } + + + + value = value + offset; + + return value; +} + + +void VL53L1_i2c_encode_int32_t( + int32_t ip_value, + uint16_t count, + uint8_t *pbuffer) +{ + + + + + + + uint16_t i = 0; + int32_t VL53L1_PRM_00005 = 0; + + VL53L1_PRM_00005 = ip_value; + + for (i = 0; i < count ; i++) { + pbuffer[count-i-1] = (uint8_t)(VL53L1_PRM_00005 & 0x00FF); + VL53L1_PRM_00005 = VL53L1_PRM_00005 >> 8; + } +} + +int32_t VL53L1_i2c_decode_int32_t( + uint16_t count, + uint8_t *pbuffer) +{ + + + + + + + int32_t value = 0x00; + + + + if (*pbuffer >= 0x80) { + value = 0xFFFFFFFF; + } + + while (count-- > 0) { + value = (value << 8) | (int32_t)*pbuffer++; + } + + return value; +} + + +VL53L1_Error VL53L1_start_test( + VL53L1_DEV Dev, + uint8_t test_mode__ctrl) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) { + + status = VL53L1_WrByte( + Dev, + VL53L1_TEST_MODE__CTRL, + test_mode__ctrl); + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_firmware_enable_register( + VL53L1_DEV Dev, + uint8_t value) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + pdev->sys_ctrl.firmware__enable = value; + + status = VL53L1_WrByte( + Dev, + VL53L1_FIRMWARE__ENABLE, + pdev->sys_ctrl.firmware__enable); + + return status; +} + +VL53L1_Error VL53L1_enable_firmware( + VL53L1_DEV Dev) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = VL53L1_set_firmware_enable_register(Dev, 0x01); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_disable_firmware( + VL53L1_DEV Dev) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = VL53L1_set_firmware_enable_register(Dev, 0x00); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_powerforce_register( + VL53L1_DEV Dev, + uint8_t value) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + pdev->sys_ctrl.power_management__go1_power_force = value; + + status = VL53L1_WrByte( + Dev, + VL53L1_POWER_MANAGEMENT__GO1_POWER_FORCE, + pdev->sys_ctrl.power_management__go1_power_force); + + return status; +} + + +VL53L1_Error VL53L1_enable_powerforce( + VL53L1_DEV Dev) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = VL53L1_set_powerforce_register(Dev, 0x01); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_disable_powerforce( + VL53L1_DEV Dev) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = VL53L1_set_powerforce_register(Dev, 0x00); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_clear_interrupt( + VL53L1_DEV Dev) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->sys_ctrl.system__interrupt_clear = VL53L1_CLEAR_RANGE_INT; + + status = VL53L1_WrByte( + Dev, + VL53L1_SYSTEM__INTERRUPT_CLEAR, + pdev->sys_ctrl.system__interrupt_clear); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_force_shadow_stream_count_to_zero( + VL53L1_DEV Dev) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + if (status == VL53L1_ERROR_NONE) { + + status = VL53L1_disable_firmware(Dev); + } + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_WrByte( + Dev, + VL53L1_SHADOW_RESULT__STREAM_COUNT, + 0x00); + } + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_enable_firmware(Dev); + } + + return status; +} + + +uint32_t VL53L1_calc_macro_period_us( + uint16_t fast_osc_frequency, + uint8_t VL53L1_PRM_00007) +{ + + + + + + + + + uint32_t pll_period_us = 0; + uint8_t VL53L1_PRM_00028 = 0; + uint32_t macro_period_us = 0; + + LOG_FUNCTION_START(""); + + + + + + + pll_period_us = VL53L1_calc_pll_period_us(fast_osc_frequency); + + + + + + + VL53L1_PRM_00028 = VL53L1_decode_vcsel_period(VL53L1_PRM_00007); + + + + + + + + + + + + + + + macro_period_us = + (uint32_t)VL53L1_MACRO_PERIOD_VCSEL_PERIODS * + pll_period_us; + macro_period_us = macro_period_us >> 6; + + macro_period_us = macro_period_us * (uint32_t)VL53L1_PRM_00028; + macro_period_us = macro_period_us >> 6; + + + + + + + + + + + + + + LOG_FUNCTION_END(0); + + return macro_period_us; +} + + +uint16_t VL53L1_calc_range_ignore_threshold( + uint16_t central_rate, + int16_t x_gradient, + int16_t y_gradient, + uint8_t rate_mult) +{ + + + + + + + + + + + + + + + + int32_t range_ignore_thresh_int = 0; + uint16_t range_ignore_thresh_kcps = 0; + int32_t central_rate_int = 0; + int16_t x_gradient_int = 0; + int16_t y_gradient_int = 0; + + LOG_FUNCTION_START(""); + + + + + central_rate_int = ((int32_t)central_rate * (1 << 4)) / (1000); + + if (x_gradient < 0) { + x_gradient_int = x_gradient * -1; + } + + if (y_gradient < 0) { + y_gradient_int = y_gradient * -1; + } + + + + + + + + + range_ignore_thresh_int = (8 * x_gradient_int * 4) + (8 * y_gradient_int * 4); + + + + + range_ignore_thresh_int = range_ignore_thresh_int / 1000; + + + + + range_ignore_thresh_int = range_ignore_thresh_int + central_rate_int; + + + + + range_ignore_thresh_int = (int32_t)rate_mult * range_ignore_thresh_int; + + range_ignore_thresh_int = (range_ignore_thresh_int + (1<<4)) / (1<<5); + + + + + if (range_ignore_thresh_int > 0xFFFF) { + range_ignore_thresh_kcps = 0xFFFF; + } else { + range_ignore_thresh_kcps = (uint16_t)range_ignore_thresh_int; + } + + + + + + + + LOG_FUNCTION_END(0); + + return range_ignore_thresh_kcps; +} + + +uint32_t VL53L1_calc_timeout_mclks( + uint32_t timeout_us, + uint32_t macro_period_us) +{ + + + + + + + + + + + uint32_t timeout_mclks = 0; + + LOG_FUNCTION_START(""); + + timeout_mclks = + ((timeout_us << 12) + (macro_period_us>>1)) / + macro_period_us; + + LOG_FUNCTION_END(0); + + return timeout_mclks; +} + + +uint16_t VL53L1_calc_encoded_timeout( + uint32_t timeout_us, + uint32_t macro_period_us) +{ + + + + + + + + + + + uint32_t timeout_mclks = 0; + uint16_t timeout_encoded = 0; + + LOG_FUNCTION_START(""); + + timeout_mclks = + VL53L1_calc_timeout_mclks(timeout_us, macro_period_us); + + timeout_encoded = + VL53L1_encode_timeout(timeout_mclks); + + + + + + + + + + + LOG_FUNCTION_END(0); + + return timeout_encoded; +} + + +uint32_t VL53L1_calc_timeout_us( + uint32_t timeout_mclks, + uint32_t macro_period_us) +{ + + + + + + + + + + + uint32_t timeout_us = 0; + uint64_t tmp = 0; + + LOG_FUNCTION_START(""); + + tmp = (uint64_t)timeout_mclks * (uint64_t)macro_period_us; + tmp += 0x00800; + tmp = tmp >> 12; + + timeout_us = (uint32_t)tmp; + + + + + + + + + + + + LOG_FUNCTION_END(0); + + return timeout_us; +} + +uint16_t VL53L1_calc_crosstalk_plane_offset_with_margin( + uint16_t plane_offset_kcps, + int16_t margin_offset_kcps) +{ + uint16_t plane_offset_with_margin = 0; + int32_t plane_offset_kcps_temp = 0; + + LOG_FUNCTION_START(""); + + plane_offset_kcps_temp = + (int32_t)plane_offset_kcps + + (int32_t)margin_offset_kcps; + + if (plane_offset_kcps_temp < 0) { + plane_offset_kcps_temp = 0; + } else { + if (plane_offset_kcps_temp > 0xFFFF) { + plane_offset_kcps_temp = 0xFFFF; + } + } + + plane_offset_with_margin = (uint16_t) plane_offset_kcps_temp; + + LOG_FUNCTION_END(0); + + return plane_offset_with_margin; + +} + +uint32_t VL53L1_calc_decoded_timeout_us( + uint16_t timeout_encoded, + uint32_t macro_period_us) +{ + + + + + + + + + + + uint32_t timeout_mclks = 0; + uint32_t timeout_us = 0; + + LOG_FUNCTION_START(""); + + timeout_mclks = + VL53L1_decode_timeout(timeout_encoded); + + timeout_us = + VL53L1_calc_timeout_us(timeout_mclks, macro_period_us); + + LOG_FUNCTION_END(0); + + return timeout_us; +} + + +uint16_t VL53L1_encode_timeout(uint32_t timeout_mclks) +{ + + + + + + uint16_t encoded_timeout = 0; + uint32_t ls_byte = 0; + uint16_t ms_byte = 0; + + if (timeout_mclks > 0) { + ls_byte = timeout_mclks - 1; + + while ((ls_byte & 0xFFFFFF00) > 0) { + ls_byte = ls_byte >> 1; + ms_byte++; + } + + encoded_timeout = (ms_byte << 8) + + (uint16_t) (ls_byte & 0x000000FF); + } + + return encoded_timeout; +} + + +uint32_t VL53L1_decode_timeout(uint16_t encoded_timeout) +{ + + + + + + + uint32_t timeout_macro_clks = 0; + + timeout_macro_clks = ((uint32_t) (encoded_timeout & 0x00FF) + << (uint32_t) ((encoded_timeout & 0xFF00) >> 8)) + 1; + + return timeout_macro_clks; +} + + +VL53L1_Error VL53L1_calc_timeout_register_values( + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us, + uint16_t fast_osc_frequency, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming) +{ + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint32_t macro_period_us = 0; + uint32_t timeout_mclks = 0; + uint16_t timeout_encoded = 0; + + LOG_FUNCTION_START(""); + + if (fast_osc_frequency == 0) { + status = VL53L1_ERROR_DIVISION_BY_ZERO; + } else { + + + macro_period_us = + VL53L1_calc_macro_period_us( + fast_osc_frequency, + ptiming->range_config__vcsel_period_a); + + + + timeout_mclks = + VL53L1_calc_timeout_mclks( + phasecal_config_timeout_us, + macro_period_us); + + + + if (timeout_mclks > 0xFF) + timeout_mclks = 0xFF; + + pgeneral->phasecal_config__timeout_macrop = + (uint8_t)timeout_mclks; + + + + timeout_encoded = + VL53L1_calc_encoded_timeout( + mm_config_timeout_us, + macro_period_us); + + ptiming->mm_config__timeout_macrop_a_hi = + (uint8_t)((timeout_encoded & 0xFF00) >> 8); + ptiming->mm_config__timeout_macrop_a_lo = + (uint8_t) (timeout_encoded & 0x00FF); + + + + timeout_encoded = + VL53L1_calc_encoded_timeout( + range_config_timeout_us, + macro_period_us); + + ptiming->range_config__timeout_macrop_a_hi = + (uint8_t)((timeout_encoded & 0xFF00) >> 8); + ptiming->range_config__timeout_macrop_a_lo = + (uint8_t) (timeout_encoded & 0x00FF); + + + + macro_period_us = + VL53L1_calc_macro_period_us( + fast_osc_frequency, + ptiming->range_config__vcsel_period_b); + + + + timeout_encoded = + VL53L1_calc_encoded_timeout( + mm_config_timeout_us, + macro_period_us); + + ptiming->mm_config__timeout_macrop_b_hi = + (uint8_t)((timeout_encoded & 0xFF00) >> 8); + ptiming->mm_config__timeout_macrop_b_lo = + (uint8_t) (timeout_encoded & 0x00FF); + + + + timeout_encoded = VL53L1_calc_encoded_timeout( + range_config_timeout_us, + macro_period_us); + + ptiming->range_config__timeout_macrop_b_hi = + (uint8_t)((timeout_encoded & 0xFF00) >> 8); + ptiming->range_config__timeout_macrop_b_lo = + (uint8_t) (timeout_encoded & 0x00FF); + } + + LOG_FUNCTION_END(0); + + return status; + +} + + +uint8_t VL53L1_encode_vcsel_period(uint8_t VL53L1_PRM_00028) +{ + + + + + + + uint8_t vcsel_period_reg = 0; + + vcsel_period_reg = (VL53L1_PRM_00028 >> 1) - 1; + + return vcsel_period_reg; +} + + +uint32_t VL53L1_decode_unsigned_integer( + uint8_t *pbuffer, + uint8_t no_of_bytes) +{ + + + + + + uint8_t i = 0; + uint32_t decoded_value = 0; + + for (i = 0 ; i < no_of_bytes ; i++) { + decoded_value = (decoded_value << 8) + (uint32_t)pbuffer[i]; + } + + return decoded_value; +} + + +void VL53L1_encode_unsigned_integer( + uint32_t ip_value, + uint8_t no_of_bytes, + uint8_t *pbuffer) +{ + + + + + + uint8_t i = 0; + uint32_t VL53L1_PRM_00005 = 0; + + VL53L1_PRM_00005 = ip_value; + for (i = 0; i < no_of_bytes ; i++) { + pbuffer[no_of_bytes-i-1] = VL53L1_PRM_00005 & 0x00FF; + VL53L1_PRM_00005 = VL53L1_PRM_00005 >> 8; + } +} + + +VL53L1_Error VL53L1_hist_copy_and_scale_ambient_info( + VL53L1_zone_hist_info_t *pidata, + VL53L1_histogram_bin_data_t *podata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + int64_t VL53L1_PRM_00006 = 0; + int64_t tmpi = 0; + int64_t tmpo = 0; + + LOG_FUNCTION_START(""); + + + if (pidata->result__dss_actual_effective_spads == 0) { + status = VL53L1_ERROR_DIVISION_BY_ZERO; + } else { + if (pidata->number_of_ambient_bins > 0 && + podata->number_of_ambient_bins == 0) { + + + + + + + + + + + tmpo = 1 + (int64_t)podata->total_periods_elapsed; + tmpo *= (int64_t)podata->result__dss_actual_effective_spads; + + tmpi = 1 + (int64_t)pidata->total_periods_elapsed; + tmpi *= (int64_t)pidata->result__dss_actual_effective_spads; + + VL53L1_PRM_00006 = tmpo * (int64_t)pidata->ambient_events_sum; + VL53L1_PRM_00006 += (tmpi/2); + + + + + VL53L1_PRM_00006 = do_division_s(VL53L1_PRM_00006, tmpi); + + podata->ambient_events_sum = (int32_t)VL53L1_PRM_00006; + + + + + + + podata->VL53L1_PRM_00026 = podata->ambient_events_sum; + podata->VL53L1_PRM_00026 += + ((int32_t)pidata->number_of_ambient_bins / 2); + podata->VL53L1_PRM_00026 /= + (int32_t)pidata->number_of_ambient_bins; + } + } + + LOG_FUNCTION_END(0); + + return status; +} + + +void VL53L1_hist_get_bin_sequence_config( + VL53L1_DEV Dev, + VL53L1_histogram_bin_data_t *pdata) +{ + + + + + + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + int32_t amb_thresh_low = 0; + int32_t amb_thresh_high = 0; + + uint8_t i = 0; + + LOG_FUNCTION_START(""); + + + + + amb_thresh_low = 1024 * + (int32_t)pdev->hist_cfg.histogram_config__amb_thresh_low; + amb_thresh_high = 1024 * + (int32_t)pdev->hist_cfg.histogram_config__amb_thresh_high; + + + + + + + + + + + if ((pdev->ll_state.rd_stream_count & 0x01) == 0) { + + pdata->bin_seq[5] = + pdev->hist_cfg.histogram_config__mid_amb_even_bin_4_5 >> 4; + pdata->bin_seq[4] = + pdev->hist_cfg.histogram_config__mid_amb_even_bin_4_5 & 0x0F; + pdata->bin_seq[3] = + pdev->hist_cfg.histogram_config__mid_amb_even_bin_2_3 >> 4; + pdata->bin_seq[2] = + pdev->hist_cfg.histogram_config__mid_amb_even_bin_2_3 & 0x0F; + pdata->bin_seq[1] = + pdev->hist_cfg.histogram_config__mid_amb_even_bin_0_1 >> 4; + pdata->bin_seq[0] = + pdev->hist_cfg.histogram_config__mid_amb_even_bin_0_1 & 0x0F; + + if (pdata->ambient_events_sum > amb_thresh_high) { + pdata->bin_seq[5] = + pdev->hist_cfg.histogram_config__high_amb_even_bin_4_5 >> 4; + pdata->bin_seq[4] = + pdev->hist_cfg.histogram_config__high_amb_even_bin_4_5 & 0x0F; + pdata->bin_seq[3] = + pdev->hist_cfg.histogram_config__high_amb_even_bin_2_3 >> 4; + pdata->bin_seq[2] = + pdev->hist_cfg.histogram_config__high_amb_even_bin_2_3 & 0x0F; + pdata->bin_seq[1] = + pdev->hist_cfg.histogram_config__high_amb_even_bin_0_1 >> 4; + pdata->bin_seq[0] = + pdev->hist_cfg.histogram_config__high_amb_even_bin_0_1 & 0x0F; + } + + if (pdata->ambient_events_sum < amb_thresh_low) { + pdata->bin_seq[5] = + pdev->hist_cfg.histogram_config__low_amb_even_bin_4_5 >> 4; + pdata->bin_seq[4] = + pdev->hist_cfg.histogram_config__low_amb_even_bin_4_5 & 0x0F; + pdata->bin_seq[3] = + pdev->hist_cfg.histogram_config__low_amb_even_bin_2_3 >> 4; + pdata->bin_seq[2] = + pdev->hist_cfg.histogram_config__low_amb_even_bin_2_3 & 0x0F; + pdata->bin_seq[1] = + pdev->hist_cfg.histogram_config__low_amb_even_bin_0_1 >> 4; + pdata->bin_seq[0] = + pdev->hist_cfg.histogram_config__low_amb_even_bin_0_1 & 0x0F; + } + + } else { + pdata->bin_seq[5] = + pdev->hist_cfg.histogram_config__mid_amb_odd_bin_5 & 0x0F; + pdata->bin_seq[4] = + pdev->hist_cfg.histogram_config__mid_amb_odd_bin_3_4 & 0x0F; + pdata->bin_seq[3] = + pdev->hist_cfg.histogram_config__mid_amb_odd_bin_3_4 >> 4; + pdata->bin_seq[2] = + pdev->hist_cfg.histogram_config__mid_amb_odd_bin_2 & 0x0F; + pdata->bin_seq[1] = + pdev->hist_cfg.histogram_config__mid_amb_odd_bin_0_1 >> 4; + pdata->bin_seq[0] = + pdev->hist_cfg.histogram_config__mid_amb_odd_bin_0_1 & 0x0F; + + if (pdata->ambient_events_sum > amb_thresh_high) { + pdata->bin_seq[5] = + pdev->hist_cfg.histogram_config__high_amb_odd_bin_4_5 >> 4; + pdata->bin_seq[4] = + pdev->hist_cfg.histogram_config__high_amb_odd_bin_4_5 & 0x0F; + pdata->bin_seq[3] = + pdev->hist_cfg.histogram_config__high_amb_odd_bin_2_3 >> 4; + pdata->bin_seq[2] = + pdev->hist_cfg.histogram_config__high_amb_odd_bin_2_3 & 0x0F; + pdata->bin_seq[1] = + pdev->hist_cfg.histogram_config__high_amb_odd_bin_0_1 >> 4; + pdata->bin_seq[0] = + pdev->hist_cfg.histogram_config__high_amb_odd_bin_0_1 & 0x0F; + } + + if (pdata->ambient_events_sum < amb_thresh_low) { + pdata->bin_seq[5] = + pdev->hist_cfg.histogram_config__low_amb_odd_bin_4_5 >> 4; + pdata->bin_seq[4] = + pdev->hist_cfg.histogram_config__low_amb_odd_bin_4_5 & 0x0F; + pdata->bin_seq[3] = + pdev->hist_cfg.histogram_config__low_amb_odd_bin_2_3 >> 4; + pdata->bin_seq[2] = + pdev->hist_cfg.histogram_config__low_amb_odd_bin_2_3 & 0x0F; + pdata->bin_seq[1] = + pdev->hist_cfg.histogram_config__low_amb_odd_bin_0_1 >> 4; + pdata->bin_seq[0] = + pdev->hist_cfg.histogram_config__low_amb_odd_bin_0_1 & 0x0F; + } + } + + + + + for (i = 0 ; i < VL53L1_MAX_BIN_SEQUENCE_LENGTH ; i++) { + pdata->bin_rep[i] = 1; + } + + LOG_FUNCTION_END(0); + +} + + +VL53L1_Error VL53L1_hist_phase_consistency_check( + VL53L1_DEV Dev, + VL53L1_zone_hist_info_t *phist_prev, + VL53L1_histogram_bin_data_t *phist_curr, + VL53L1_zone_objects_t *prange_prev, + VL53L1_range_results_t *prange_curr) +{ + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t VL53L1_PRM_00001 = 0; + uint8_t p = 0; + + uint16_t phase_delta = 0; + uint16_t phase_tolerance = 0; + + int32_t events_delta = 0; + int32_t events_tolerance = 0; + + VL53L1_DeviceError range_status = 0; + + LOG_FUNCTION_START(""); + + + + + phase_tolerance = + (uint16_t)pdev->histpostprocess.algo__consistency_check__phase_tolerance; + phase_tolerance = phase_tolerance << 8; + + + + + if (prange_prev->rd_device_state != VL53L1_DEVICESTATE_RANGING_GATHER_DATA && + prange_prev->rd_device_state != VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA) { + return status; + } + + + + + if (phase_tolerance == 0) { + return status; + } + + for (VL53L1_PRM_00001 = 0 ; VL53L1_PRM_00001 < prange_curr->active_results ; VL53L1_PRM_00001++) { + + if ((prange_curr->VL53L1_PRM_00005[VL53L1_PRM_00001].range_status == + VL53L1_DEVICEERROR_RANGECOMPLETE) || + (prange_curr->VL53L1_PRM_00005[VL53L1_PRM_00001].range_status == + VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK)) { + + + + + prange_curr->VL53L1_PRM_00005[VL53L1_PRM_00001].range_status = + VL53L1_DEVICEERROR_PHASECONSISTENCY; + + + + + + + + for (p = 0 ; p < prange_prev->active_objects ; p++) { + + if (prange_curr->VL53L1_PRM_00005[VL53L1_PRM_00001].VL53L1_PRM_00014 > + prange_prev->VL53L1_PRM_00005[p].VL53L1_PRM_00014) { + phase_delta = + prange_curr->VL53L1_PRM_00005[VL53L1_PRM_00001].VL53L1_PRM_00014 - + prange_prev->VL53L1_PRM_00005[p].VL53L1_PRM_00014; + } else { + phase_delta = + prange_prev->VL53L1_PRM_00005[p].VL53L1_PRM_00014 - + prange_curr->VL53L1_PRM_00005[VL53L1_PRM_00001].VL53L1_PRM_00014; + } + + if (phase_delta < phase_tolerance) { + + + + + + + status = + VL53L1_hist_events_consistency_check( + Dev, + VL53L1_PRM_00001, + p, + phist_prev, + phist_curr, + prange_prev, + prange_curr, + &events_tolerance, + &events_delta, + &range_status); + + prange_curr->VL53L1_PRM_00005[VL53L1_PRM_00001].range_status = + range_status; + } + } + } + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_hist_events_consistency_check( + VL53L1_DEV Dev, + uint8_t VL53L1_PRM_00001, + uint8_t p, + VL53L1_zone_hist_info_t *phist_prev, + VL53L1_histogram_bin_data_t *phist_curr, + VL53L1_zone_objects_t *prange_prev, + VL53L1_range_results_t *prange_curr, + int32_t *pevents_tolerance, + int32_t *pevents_delta, + VL53L1_DeviceError *prange_status) +{ + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t event_sigma = 0; + + int64_t tmpp = 0; + int64_t tmpc = 0; + int64_t events_scaler = 0; + int64_t events_scaler_sq = 0; + int64_t c_signal_events = 0; + int64_t c_sig_noise_sq = 0; + int64_t c_amb_noise_sq = 0; + int64_t p_amb_noise_sq = 0; + + int32_t p_signal_events = 0; + uint32_t noise_sq_sum = 0; + + SUPPRESS_UNUSED_WARNING(phist_curr); + + + + + event_sigma = + pdev->histpostprocess.algo__consistency_check__event_sigma; + + if (event_sigma == 0) { + *prange_status = VL53L1_DEVICEERROR_RANGECOMPLETE; + return status; + } + + + + + tmpp = 1 + (int64_t)phist_prev->total_periods_elapsed; + tmpp *= (int64_t)phist_prev->result__dss_actual_effective_spads; + + + + + tmpc = 1 + (int64_t)prange_curr->VL53L1_PRM_00005[VL53L1_PRM_00001].total_periods_elapsed; + tmpc *= (int64_t)prange_curr->VL53L1_PRM_00005[VL53L1_PRM_00001].VL53L1_PRM_00003; + + + + + events_scaler = tmpp * 4096; + events_scaler += (tmpc/2); + events_scaler = do_division_s(events_scaler, tmpc); + + events_scaler_sq = events_scaler * events_scaler; + events_scaler_sq += 2048; + events_scaler_sq /= 4096; + + + + + c_signal_events = (int64_t)prange_curr->VL53L1_PRM_00005[VL53L1_PRM_00001].VL53L1_PRM_00022; + c_signal_events -= (int64_t)prange_curr->VL53L1_PRM_00005[VL53L1_PRM_00001].VL53L1_PRM_00023; + c_signal_events *= (int64_t)events_scaler; + c_signal_events += 2048; + c_signal_events /= 4096; + + c_sig_noise_sq = (int64_t)events_scaler_sq; + c_sig_noise_sq *= (int64_t)prange_curr->VL53L1_PRM_00005[VL53L1_PRM_00001].VL53L1_PRM_00022; + c_sig_noise_sq += 2048; + c_sig_noise_sq /= 4096; + + c_amb_noise_sq = (int64_t)events_scaler_sq; + c_amb_noise_sq *= (int64_t)prange_curr->VL53L1_PRM_00005[VL53L1_PRM_00001].VL53L1_PRM_00023; + c_amb_noise_sq += 2048; + c_amb_noise_sq /= 4096; + + + + c_amb_noise_sq += 2; + c_amb_noise_sq /= 4; + + + + + + + + p_amb_noise_sq = + (int64_t)prange_prev->VL53L1_PRM_00005[p].VL53L1_PRM_00023; + + + + p_amb_noise_sq += 2; + p_amb_noise_sq /= 4; + + noise_sq_sum = + (uint32_t)prange_prev->VL53L1_PRM_00005[p].VL53L1_PRM_00022 + + (uint32_t)c_sig_noise_sq + + (uint32_t)p_amb_noise_sq + + (uint32_t)c_amb_noise_sq; + + *pevents_tolerance = + (int32_t)VL53L1_isqrt(noise_sq_sum * 16); + + *pevents_tolerance *= (int32_t)event_sigma; + *pevents_tolerance += 32; + *pevents_tolerance /= 64; + + p_signal_events = (int32_t)prange_prev->VL53L1_PRM_00005[p].VL53L1_PRM_00022; + p_signal_events -= (int32_t)prange_prev->VL53L1_PRM_00005[p].VL53L1_PRM_00023; + + if ((int32_t)c_signal_events > p_signal_events) { + *pevents_delta = + (int32_t)c_signal_events - p_signal_events; + } else { + *pevents_delta = + p_signal_events - (int32_t)c_signal_events; + } + + if (*pevents_delta > *pevents_tolerance) + *prange_status = VL53L1_DEVICEERROR_EVENTCONSISTENCY; + else + *prange_status = VL53L1_DEVICEERROR_RANGECOMPLETE; + + + + + + + + + + + + + + + + return status; +} + + +VL53L1_Error VL53L1_hist_wrap_dmax( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_histogram_bin_data_t *pcurrent, + int16_t *pwrap_dmax_mm) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint32_t pll_period_mm = 0; + uint32_t wrap_dmax_phase = 0; + uint32_t range_mm = 0; + + LOG_FUNCTION_START(""); + + *pwrap_dmax_mm = 0; + + + if (pcurrent->VL53L1_PRM_00018 != 0) { + + + + + pll_period_mm = + VL53L1_calc_pll_period_mm( + pcurrent->VL53L1_PRM_00018); + + + + + wrap_dmax_phase = + (uint32_t)phistpostprocess->valid_phase_high << 8; + + + + + + range_mm = wrap_dmax_phase * pll_period_mm; + range_mm = (range_mm + (1<<14)) >> 15; + + *pwrap_dmax_mm = (int16_t)range_mm; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +void VL53L1_hist_combine_mm1_mm2_offsets( + int16_t mm1_offset_mm, + int16_t mm2_offset_mm, + uint8_t encoded_mm_roi_centre, + uint8_t encoded_mm_roi_size, + uint8_t encoded_zone_centre, + uint8_t encoded_zone_size, + VL53L1_additional_offset_cal_data_t *pcal_data, + uint8_t *pgood_spads, + uint16_t aperture_attenuation, + int16_t *prange_offset_mm) +{ + + + + + + + + + + + + + + + + uint16_t max_mm_inner_effective_spads = 0; + uint16_t max_mm_outer_effective_spads = 0; + uint16_t mm_inner_effective_spads = 0; + uint16_t mm_outer_effective_spads = 0; + + uint32_t scaled_mm1_peak_rate_mcps = 0; + uint32_t scaled_mm2_peak_rate_mcps = 0; + + int32_t tmp0 = 0; + int32_t tmp1 = 0; + + + + + VL53L1_calc_mm_effective_spads( + encoded_mm_roi_centre, + encoded_mm_roi_size, + 0xC7, + + 0xFF, + pgood_spads, + aperture_attenuation, + &max_mm_inner_effective_spads, + &max_mm_outer_effective_spads); + + + + + VL53L1_calc_mm_effective_spads( + encoded_mm_roi_centre, + encoded_mm_roi_size, + encoded_zone_centre, + encoded_zone_size, + pgood_spads, + aperture_attenuation, + &mm_inner_effective_spads, + &mm_outer_effective_spads); + + + + + scaled_mm1_peak_rate_mcps = (uint32_t)pcal_data->result__mm_inner_peak_signal_count_rtn_mcps; + scaled_mm1_peak_rate_mcps *= (uint32_t)mm_inner_effective_spads; + scaled_mm1_peak_rate_mcps /= (uint32_t)max_mm_inner_effective_spads; + + scaled_mm2_peak_rate_mcps = (uint32_t)pcal_data->result__mm_outer_peak_signal_count_rtn_mcps; + scaled_mm2_peak_rate_mcps *= (uint32_t)mm_outer_effective_spads; + scaled_mm2_peak_rate_mcps /= (uint32_t)max_mm_outer_effective_spads; + + + + + tmp0 = ((int32_t)mm1_offset_mm * (int32_t)scaled_mm1_peak_rate_mcps); + tmp0 += ((int32_t)mm2_offset_mm * (int32_t)scaled_mm2_peak_rate_mcps); + + tmp1 = (int32_t)scaled_mm1_peak_rate_mcps + + (int32_t)scaled_mm2_peak_rate_mcps; + + + + + + + if (tmp1 != 0) { + tmp0 = (tmp0 * 4) / tmp1; + } + + *prange_offset_mm = (int16_t)tmp0; + +} + + +void VL53L1_spad_number_to_byte_bit_index( + uint8_t spad_number, + uint8_t *pbyte_index, + uint8_t *pbit_index, + uint8_t *pbit_mask) +{ + + + + + + + + + + + *pbyte_index = spad_number >> 3; + *pbit_index = spad_number & 0x07; + *pbit_mask = 0x01 << *pbit_index; + +} + + +void VL53L1_encode_row_col( + uint8_t row, + uint8_t col, + uint8_t *pspad_number) +{ + + + + + + if (row > 7) { + *pspad_number = 128 + (col << 3) + (15-row); + } else { + *pspad_number = ((15-col) << 3) + row; + } +} + + +void VL53L1_decode_zone_size( + uint8_t encoded_xy_size, + uint8_t *pwidth, + uint8_t *pheight) +{ + + + + + + + + + + + + *pheight = encoded_xy_size >> 4; + *pwidth = encoded_xy_size & 0x0F; + +} + + +void VL53L1_encode_zone_size( + uint8_t width, + uint8_t height, + uint8_t *pencoded_xy_size) +{ + + + + + + + + + + + *pencoded_xy_size = (height << 4) + width; + +} + + +void VL53L1_decode_zone_limits( + uint8_t encoded_xy_centre, + uint8_t encoded_xy_size, + int16_t *px_ll, + int16_t *py_ll, + int16_t *px_ur, + int16_t *py_ur) +{ + + + + + + + + + + uint8_t x_centre = 0; + uint8_t y_centre = 0; + uint8_t width = 0; + uint8_t height = 0; + + + + + VL53L1_decode_row_col( + encoded_xy_centre, + &y_centre, + &x_centre); + + VL53L1_decode_zone_size( + encoded_xy_size, + &width, + &height); + + + + + *px_ll = (int16_t)x_centre - ((int16_t)width + 1) / 2; + if (*px_ll < 0) + *px_ll = 0; + + *px_ur = *px_ll + (int16_t)width; + if (*px_ur > (VL53L1_SPAD_ARRAY_WIDTH-1)) + *px_ur = VL53L1_SPAD_ARRAY_WIDTH-1; + + *py_ll = (int16_t)y_centre - ((int16_t)height + 1) / 2; + if (*py_ll < 0) + *py_ll = 0; + + *py_ur = *py_ll + (int16_t)height; + if (*py_ur > (VL53L1_SPAD_ARRAY_HEIGHT-1)) + *py_ur = VL53L1_SPAD_ARRAY_HEIGHT-1; +} + + +uint8_t VL53L1_is_aperture_location( + uint8_t row, + uint8_t col) +{ + + + + + + uint8_t is_aperture = 0; + uint8_t mod_row = row % 4; + uint8_t mod_col = col % 4; + + if (mod_row == 0 && mod_col == 2) + is_aperture = 1; + + if (mod_row == 2 && mod_col == 0) + is_aperture = 1; + + return is_aperture; +} + + +void VL53L1_calc_mm_effective_spads( + uint8_t encoded_mm_roi_centre, + uint8_t encoded_mm_roi_size, + uint8_t encoded_zone_centre, + uint8_t encoded_zone_size, + uint8_t *pgood_spads, + uint16_t aperture_attenuation, + uint16_t *pmm_inner_effective_spads, + uint16_t *pmm_outer_effective_spads) +{ + + + + + + + + int16_t x = 0; + int16_t y = 0; + + int16_t mm_x_ll = 0; + int16_t mm_y_ll = 0; + int16_t mm_x_ur = 0; + int16_t mm_y_ur = 0; + + int16_t zone_x_ll = 0; + int16_t zone_y_ll = 0; + int16_t zone_x_ur = 0; + int16_t zone_y_ur = 0; + + uint8_t spad_number = 0; + uint8_t byte_index = 0; + uint8_t bit_index = 0; + uint8_t bit_mask = 0; + + uint8_t is_aperture = 0; + uint16_t spad_attenuation = 0; + + + + + VL53L1_decode_zone_limits( + encoded_mm_roi_centre, + encoded_mm_roi_size, + &mm_x_ll, + &mm_y_ll, + &mm_x_ur, + &mm_y_ur); + + VL53L1_decode_zone_limits( + encoded_zone_centre, + encoded_zone_size, + &zone_x_ll, + &zone_y_ll, + &zone_x_ur, + &zone_y_ur); + + + + + + + + + + *pmm_inner_effective_spads = 0; + *pmm_outer_effective_spads = 0; + + for (y = zone_y_ll ; y <= zone_y_ur ; y++) { + for (x = zone_x_ll ; x <= zone_x_ur ; x++) { + + + + + VL53L1_encode_row_col( + (uint8_t)y, + (uint8_t)x, + &spad_number); + + + + + + + + + VL53L1_spad_number_to_byte_bit_index( + spad_number, + &byte_index, + &bit_index, + &bit_mask); + + + + + if ((pgood_spads[byte_index] & bit_mask) > 0) { + + + + is_aperture = VL53L1_is_aperture_location( + (uint8_t)y, + (uint8_t)x); + + if (is_aperture > 0) + spad_attenuation = aperture_attenuation; + else + spad_attenuation = 0x0100; + + + + + + + + if (x >= mm_x_ll && x <= mm_x_ur && + y >= mm_y_ll && y <= mm_y_ur) + *pmm_inner_effective_spads += + spad_attenuation; + else + *pmm_outer_effective_spads += + spad_attenuation; + } + } + } +} + + +void VL53L1_hist_copy_results_to_sys_and_core( + VL53L1_histogram_bin_data_t *pbins, + VL53L1_range_results_t *phist, + VL53L1_system_results_t *psys, + VL53L1_core_results_t *pcore) +{ + + + + + + uint8_t i = 0; + + VL53L1_range_data_t *pdata; + + LOG_FUNCTION_START(""); + + + + + VL53L1_init_system_results(psys); + + + + + psys->result__interrupt_status = pbins->result__interrupt_status; + psys->result__range_status = phist->active_results; + psys->result__report_status = pbins->result__report_status; + psys->result__stream_count = pbins->result__stream_count; + + pdata = &(phist->VL53L1_PRM_00005[0]); + + for (i = 0 ; i < phist->active_results ; i++) { + + switch (i) { + case 0: + psys->result__dss_actual_effective_spads_sd0 = \ + pdata->VL53L1_PRM_00003; + psys->result__peak_signal_count_rate_mcps_sd0 = \ + pdata->peak_signal_count_rate_mcps; + psys->result__avg_signal_count_rate_mcps_sd0 = \ + pdata->avg_signal_count_rate_mcps; + psys->result__ambient_count_rate_mcps_sd0 = \ + pdata->ambient_count_rate_mcps; + + psys->result__sigma_sd0 = pdata->VL53L1_PRM_00004; + psys->result__phase_sd0 = pdata->VL53L1_PRM_00014; + + psys->result__final_crosstalk_corrected_range_mm_sd0 = \ + (uint16_t)pdata->median_range_mm; + + psys->result__phase_sd1 = pdata->zero_distance_phase; + + pcore->result_core__ranging_total_events_sd0 = \ + pdata->VL53L1_PRM_00022; + pcore->result_core__signal_total_events_sd0 = \ + pdata->VL53L1_PRM_00009; + pcore->result_core__total_periods_elapsed_sd0 = \ + pdata->total_periods_elapsed; + pcore->result_core__ambient_window_events_sd0 = \ + pdata->VL53L1_PRM_00023; + + break; + case 1: + psys->result__dss_actual_effective_spads_sd1 = \ + pdata->VL53L1_PRM_00003; + psys->result__peak_signal_count_rate_mcps_sd1 = \ + pdata->peak_signal_count_rate_mcps; + psys->result__ambient_count_rate_mcps_sd1 = \ + pdata->ambient_count_rate_mcps; + + psys->result__sigma_sd1 = pdata->VL53L1_PRM_00004; + psys->result__phase_sd1 = pdata->VL53L1_PRM_00014; + + psys->result__final_crosstalk_corrected_range_mm_sd1 = \ + (uint16_t)pdata->median_range_mm; + + pcore->result_core__ranging_total_events_sd1 = \ + pdata->VL53L1_PRM_00022; + pcore->result_core__signal_total_events_sd1 = \ + pdata->VL53L1_PRM_00009; + pcore->result_core__total_periods_elapsed_sd1 = \ + pdata->total_periods_elapsed; + pcore->result_core__ambient_window_events_sd1 = \ + pdata->VL53L1_PRM_00023; + break; + } + + pdata++; + } + + LOG_FUNCTION_END(0); + +} + + +VL53L1_Error VL53L1_sum_histogram_data ( + VL53L1_histogram_bin_data_t *phist_input, + VL53L1_histogram_bin_data_t *phist_output) +{ + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + uint8_t smallest_bin_num = 0; + + LOG_FUNCTION_START(""); + + + + + if (status == VL53L1_ERROR_NONE) { + + if (phist_output->VL53L1_PRM_00017 >= phist_input->VL53L1_PRM_00017) { + smallest_bin_num = phist_input->VL53L1_PRM_00017; + } else { + smallest_bin_num = phist_output->VL53L1_PRM_00017; + } + } + + + + + + + + + if (status == VL53L1_ERROR_NONE) { + + for (i = 0 ; i < smallest_bin_num ; i++) { + + + + + phist_output->bin_data[i] += phist_input->bin_data[i]; + } + } + + if (status == VL53L1_ERROR_NONE) { + + phist_output->VL53L1_PRM_00026 += + phist_input->VL53L1_PRM_00026; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_avg_histogram_data( + uint8_t no_of_samples, + VL53L1_histogram_bin_data_t *phist_sum, + VL53L1_histogram_bin_data_t *phist_avg) +{ + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + + LOG_FUNCTION_START(""); + + + + + + + + + if (status == VL53L1_ERROR_NONE) { + + for (i = 0 ; i < phist_sum->VL53L1_PRM_00017 ; i++) { + + + + + if (no_of_samples > 0) { + phist_avg->bin_data[i] = phist_sum->bin_data[i] / + (int32_t)no_of_samples; + } else { + phist_avg->bin_data[i] = phist_sum->bin_data[i]; + } + } + } + + if (status == VL53L1_ERROR_NONE) { + + if (no_of_samples > 0) { + phist_avg->VL53L1_PRM_00026 = + phist_sum->VL53L1_PRM_00026 / (int32_t)no_of_samples; + } else { + phist_avg->VL53L1_PRM_00026 = + phist_sum->VL53L1_PRM_00026; + } + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_save_cfg_data( + VL53L1_DEV Dev) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + VL53L1_zone_private_dyn_cfg_t *pzone_dyn_cfg; + VL53L1_dynamic_config_t *pdynamic = &(pdev->dyn_cfg); + + LOG_FUNCTION_START(""); + + pzone_dyn_cfg = &(pres->zone_dyn_cfgs.VL53L1_PRM_00005[pdev->ll_state.cfg_zone_id]); + + pzone_dyn_cfg->expected_stream_count = + pdev->ll_state.cfg_stream_count; + + pzone_dyn_cfg->expected_gph_id = + pdev->ll_state.cfg_gph_id; + + pzone_dyn_cfg->roi_config__user_roi_centre_spad = + pdynamic->roi_config__user_roi_centre_spad; + + pzone_dyn_cfg->roi_config__user_roi_requested_global_xy_size = + pdynamic->roi_config__user_roi_requested_global_xy_size; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_dynamic_zone_update( + VL53L1_DEV Dev, + VL53L1_range_results_t *presults) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + VL53L1_ll_driver_state_t *pstate = &(pdev->ll_state); +#if 0 //Feb 24 - Local change to prevent compilation warning + VL53L1_zone_config_t *pzone_cfg; +#endif + uint8_t zone_id = pdev->ll_state.rd_zone_id; + uint8_t i; + uint16_t max_total_rate_per_spads; + uint16_t target_rate = pdev->stat_cfg.dss_config__target_total_rate_mcps; + uint32_t temp = 0xFFFF; + + LOG_FUNCTION_START(""); + + + + + + + + + + + + if (pstate->cfg_device_state == + VL53L1_DEVICESTATE_RANGING_DSS_MANUAL) { + + + + + + + + pres->zone_dyn_cfgs.VL53L1_PRM_00005[zone_id].dss_requested_effective_spad_count = 0; + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " DYNZONEUPDATE: peak signal count rate mcps:\ + %u actual effective spads: %u\n", + presults->VL53L1_PRM_00005[0].peak_signal_count_rate_mcps, + presults->VL53L1_PRM_00005[0].VL53L1_PRM_00003); + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " DYNZONEUPDATE: active results: %u\n", + presults->active_results); + + max_total_rate_per_spads = presults->VL53L1_PRM_00005[0].total_rate_per_spad_mcps; + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " DYNZONEUPDATE: max total rate per spad at start: %u\n", + max_total_rate_per_spads); + + for (i = 1; i < presults->active_results; i++) { + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " DYNZONEUPDATE: zone total rate per spad: zone_id: %u,\ + total rate per spad: %u\n", + i, + presults->VL53L1_PRM_00005[i].total_rate_per_spad_mcps); + + if (presults->VL53L1_PRM_00005[i].total_rate_per_spad_mcps > + max_total_rate_per_spads) { + max_total_rate_per_spads = + presults->VL53L1_PRM_00005[i].total_rate_per_spad_mcps; + } + } + + if (max_total_rate_per_spads == 0) { + + + + + + temp = 0xFFFF; + } else { + + + + + + temp = target_rate << 14; + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " DYNZONEUPDATE: 1: temp: %u\n", + temp); + + + + + + temp = temp / max_total_rate_per_spads; + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " DYNZONEUPDATE: 2: temp: %u\n", + temp); + + + + + + if (temp > 0xFFFF) { + temp = 0xFFFF; + } + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " DYNZONEUPDATE: 3: temp: %u\n", + temp); + } + + pres->zone_dyn_cfgs.VL53L1_PRM_00005[zone_id].dss_requested_effective_spad_count = + (uint16_t)temp; + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " DYNZONEUPDATE: zone_id: %u, target_rate: %u,\ + max_total_rate_per_spads: %u, requested_spads: %u\n", + zone_id, + target_rate, + max_total_rate_per_spads, + pres->zone_dyn_cfgs.VL53L1_PRM_00005[zone_id].dss_requested_effective_spad_count); + } + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_multizone_hist_bins_update( + VL53L1_DEV Dev) +{ + + + + + + + + + + + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_ll_driver_state_t *pstate = &(pdev->ll_state); + VL53L1_zone_config_t *pzone_cfg = &(pdev->zone_cfg); + VL53L1_histogram_config_t *phist_cfg = &(pdev->hist_cfg); + VL53L1_histogram_config_t *pmulti_hist = &(pzone_cfg->multizone_hist_cfg); + + uint8_t next_range_is_odd_timing = (pstate->cfg_stream_count) % 2; + + LOG_FUNCTION_START(""); + + + + + + if (pzone_cfg->bin_config[pdev->ll_state.cfg_zone_id] == + VL53L1_ZONECONFIG_BINCONFIG__LOWAMB) { + if (!next_range_is_odd_timing) { + trace_print (VL53L1_TRACE_LEVEL_DEBUG, + " HISTBINCONFIGUPDATE: Setting LOWAMB EVEN timing\n"); + phist_cfg->histogram_config__low_amb_even_bin_0_1 = + pmulti_hist->histogram_config__low_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_even_bin_2_3 = + pmulti_hist->histogram_config__low_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_even_bin_4_5 = + pmulti_hist->histogram_config__low_amb_even_bin_4_5; + } + + if (next_range_is_odd_timing) { + trace_print (VL53L1_TRACE_LEVEL_DEBUG, + " HISTBINCONFIGUPDATE: Setting LOWAMB ODD timing\n"); + phist_cfg->histogram_config__low_amb_odd_bin_0_1 = + pmulti_hist->histogram_config__low_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_odd_bin_2_3 = + pmulti_hist->histogram_config__low_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_odd_bin_4_5 = + pmulti_hist->histogram_config__low_amb_even_bin_4_5; + } + } else if (pzone_cfg->bin_config[pdev->ll_state.cfg_zone_id] == + VL53L1_ZONECONFIG_BINCONFIG__MIDAMB) { + + trace_print (VL53L1_TRACE_LEVEL_DEBUG, + " HISTBINCONFIGUPDATE: Setting MIDAMB timing\n"); + if (!next_range_is_odd_timing) { + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " HISTBINCONFIGUPDATE: Setting MIDAMB EVEN timing\n"); + phist_cfg->histogram_config__low_amb_even_bin_0_1 = + pmulti_hist->histogram_config__mid_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_even_bin_2_3 = + pmulti_hist->histogram_config__mid_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_even_bin_4_5 = + pmulti_hist->histogram_config__mid_amb_even_bin_4_5; + } + + if (next_range_is_odd_timing) { + trace_print (VL53L1_TRACE_LEVEL_DEBUG, + " HISTBINCONFIGUPDATE: Setting MIDAMB ODD timing\n"); + phist_cfg->histogram_config__low_amb_odd_bin_0_1 = + pmulti_hist->histogram_config__mid_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_odd_bin_2_3 = + pmulti_hist->histogram_config__mid_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_odd_bin_4_5 = + pmulti_hist->histogram_config__mid_amb_even_bin_4_5; + } + } else if (pzone_cfg->bin_config[pdev->ll_state.cfg_zone_id] == + VL53L1_ZONECONFIG_BINCONFIG__HIGHAMB) { + if (!next_range_is_odd_timing) { + trace_print (VL53L1_TRACE_LEVEL_DEBUG, + " HISTBINCONFIGUPDATE: Setting HIGHAMB EVEN timing\n"); + phist_cfg->histogram_config__low_amb_even_bin_0_1 = + pmulti_hist->histogram_config__high_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_even_bin_2_3 = + pmulti_hist->histogram_config__high_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_even_bin_4_5 = + pmulti_hist->histogram_config__high_amb_even_bin_4_5; + } + + if (next_range_is_odd_timing) { + trace_print (VL53L1_TRACE_LEVEL_DEBUG, + " HISTBINCONFIGUPDATE: Setting HIGHAMB ODD timing\n"); + phist_cfg->histogram_config__low_amb_odd_bin_0_1 = + pmulti_hist->histogram_config__high_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_odd_bin_2_3 = + pmulti_hist->histogram_config__high_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_odd_bin_4_5 = + pmulti_hist->histogram_config__high_amb_even_bin_4_5; + } + } + + + + + + + if (status == VL53L1_ERROR_NONE) { + + VL53L1_copy_hist_bins_to_static_cfg( + phist_cfg, + &(pdev->stat_cfg), + &(pdev->tim_cfg)); + } + + LOG_FUNCTION_END(status); + + return status; +} + + + + + + + + + + + + + + + + +VL53L1_Error VL53L1_update_internal_stream_counters( + VL53L1_DEV Dev, + uint8_t external_stream_count, + uint8_t *pinternal_stream_count, + uint8_t *pinternal_stream_count_val) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t stream_divider; + + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + stream_divider = pdev->gen_cfg.global_config__stream_divider; + + if (stream_divider == 0) { + + + + + + + *pinternal_stream_count = external_stream_count; + + } else if (*pinternal_stream_count_val == (stream_divider-1)) { + + + + + + if (*pinternal_stream_count == 0xFF) { + *pinternal_stream_count = 0x80; + } else { + *pinternal_stream_count = *pinternal_stream_count + 1; + } + + + + + + *pinternal_stream_count_val = 0; + + } else { + + + + + + *pinternal_stream_count_val = *pinternal_stream_count_val + 1; + } + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + "UPDINTSTREAMCOUNT internal_steam_count: %d,\ + internal_stream_count_val: %d, divider: %d\n", + *pinternal_stream_count, + *pinternal_stream_count_val, + stream_divider); + + LOG_FUNCTION_END(status); + + return status; +} + + + + + + + +VL53L1_Error VL53L1_set_histogram_multizone_initial_bin_config( + VL53L1_zone_config_t *pzone_cfg, + VL53L1_histogram_config_t *phist_cfg, + VL53L1_histogram_config_t *pmulti_hist + ) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + if (pzone_cfg->bin_config[0] == + VL53L1_ZONECONFIG_BINCONFIG__LOWAMB) { + phist_cfg->histogram_config__low_amb_even_bin_0_1 = + pmulti_hist->histogram_config__low_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_even_bin_2_3 = + pmulti_hist->histogram_config__low_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_even_bin_4_5 = + pmulti_hist->histogram_config__low_amb_even_bin_4_5; + + phist_cfg->histogram_config__low_amb_odd_bin_0_1 = + pmulti_hist->histogram_config__low_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_odd_bin_2_3 = + pmulti_hist->histogram_config__low_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_odd_bin_4_5 = + pmulti_hist->histogram_config__low_amb_even_bin_4_5; + } else if (pzone_cfg->bin_config[0] == + VL53L1_ZONECONFIG_BINCONFIG__MIDAMB) { + + phist_cfg->histogram_config__low_amb_even_bin_0_1 = + pmulti_hist->histogram_config__mid_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_even_bin_2_3 = + pmulti_hist->histogram_config__mid_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_even_bin_4_5 = + pmulti_hist->histogram_config__mid_amb_even_bin_4_5; + + phist_cfg->histogram_config__low_amb_odd_bin_0_1 = + pmulti_hist->histogram_config__mid_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_odd_bin_2_3 = + pmulti_hist->histogram_config__mid_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_odd_bin_4_5 = + pmulti_hist->histogram_config__mid_amb_even_bin_4_5; + } else if (pzone_cfg->bin_config[0] == + VL53L1_ZONECONFIG_BINCONFIG__HIGHAMB) { + phist_cfg->histogram_config__low_amb_even_bin_0_1 = + pmulti_hist->histogram_config__high_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_even_bin_2_3 = + pmulti_hist->histogram_config__high_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_even_bin_4_5 = + pmulti_hist->histogram_config__high_amb_even_bin_4_5; + phist_cfg->histogram_config__low_amb_odd_bin_0_1 = + pmulti_hist->histogram_config__high_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_odd_bin_2_3 = + pmulti_hist->histogram_config__high_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_odd_bin_4_5 = + pmulti_hist->histogram_config__high_amb_even_bin_4_5; + } + + LOG_FUNCTION_END(status); + return status; +} + + + + + + +uint8_t VL53L1_encode_GPIO_interrupt_config( + VL53L1_GPIO_interrupt_config_t *pintconf) +{ + uint8_t system__interrupt_config; + + system__interrupt_config = pintconf->intr_mode_distance; + system__interrupt_config |= ((pintconf->intr_mode_rate) << 2); + system__interrupt_config |= ((pintconf->intr_new_measure_ready) << 5); + system__interrupt_config |= ((pintconf->intr_no_target) << 6); + system__interrupt_config |= ((pintconf->intr_combined_mode) << 7); + + return system__interrupt_config; +} + + + + + + +VL53L1_GPIO_interrupt_config_t VL53L1_decode_GPIO_interrupt_config( + uint8_t system__interrupt_config) +{ + VL53L1_GPIO_interrupt_config_t intconf; + + intconf.intr_mode_distance = system__interrupt_config & 0x03; + intconf.intr_mode_rate = (system__interrupt_config >> 2) & 0x03; + intconf.intr_new_measure_ready = (system__interrupt_config >> 5) & 0x01; + intconf.intr_no_target = (system__interrupt_config >> 6) & 0x01; + intconf.intr_combined_mode = (system__interrupt_config >> 7) & 0x01; + + return intconf; +} + + + + + + +VL53L1_Error VL53L1_set_GPIO_distance_threshold( + VL53L1_DEV Dev, + uint16_t threshold_high, + uint16_t threshold_low) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->dyn_cfg.system__thresh_high = threshold_high; + pdev->dyn_cfg.system__thresh_low = threshold_low; + + LOG_FUNCTION_END(status); + return status; +} + + + + + + +VL53L1_Error VL53L1_set_GPIO_rate_threshold( + VL53L1_DEV Dev, + uint16_t threshold_high, + uint16_t threshold_low) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->gen_cfg.system__thresh_rate_high = threshold_high; + pdev->gen_cfg.system__thresh_rate_low = threshold_low; + + LOG_FUNCTION_END(status); + return status; +} + + + + + + +VL53L1_Error VL53L1_set_GPIO_thresholds_from_struct( + VL53L1_DEV Dev, + VL53L1_GPIO_interrupt_config_t *pintconf) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = VL53L1_set_GPIO_distance_threshold( + Dev, + pintconf->threshold_distance_high, + pintconf->threshold_distance_low); + + if (status == VL53L1_ERROR_NONE) { + status = + VL53L1_set_GPIO_rate_threshold( + Dev, + pintconf->threshold_rate_high, + pintconf->threshold_rate_low); + } + + LOG_FUNCTION_END(status); + return status; +} + + +VL53L1_Error VL53L1_set_ref_spad_char_config( + VL53L1_DEV Dev, + uint8_t vcsel_period_a, + uint32_t phasecal_timeout_us, + uint16_t total_rate_target_mcps, + uint16_t max_count_rate_rtn_limit_mcps, + uint16_t min_count_rate_rtn_limit_mcps, + uint16_t fast_osc_frequency) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t buffer[2]; + + uint32_t macro_period_us = 0; + uint32_t timeout_mclks = 0; + + LOG_FUNCTION_START(""); + + + + + + macro_period_us = + VL53L1_calc_macro_period_us( + fast_osc_frequency, + vcsel_period_a); + + + + + + + timeout_mclks = phasecal_timeout_us << 12; + timeout_mclks = timeout_mclks + (macro_period_us>>1); + timeout_mclks = timeout_mclks / macro_period_us; + + if (timeout_mclks > 0xFF) + pdev->gen_cfg.phasecal_config__timeout_macrop = 0xFF; + else + pdev->gen_cfg.phasecal_config__timeout_macrop = + (uint8_t)timeout_mclks; + + pdev->tim_cfg.range_config__vcsel_period_a = vcsel_period_a; + + + + + + + if (status == VL53L1_ERROR_NONE) + + status = + VL53L1_WrByte( + Dev, + VL53L1_PHASECAL_CONFIG__TIMEOUT_MACROP, + pdev->gen_cfg.phasecal_config__timeout_macrop); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WrByte( + Dev, + VL53L1_RANGE_CONFIG__VCSEL_PERIOD_A, + pdev->tim_cfg.range_config__vcsel_period_a); + + + + + + + + buffer[0] = pdev->tim_cfg.range_config__vcsel_period_a; + buffer[1] = pdev->tim_cfg.range_config__vcsel_period_a; + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WriteMulti( + Dev, + VL53L1_SD_CONFIG__WOI_SD0, + buffer, + 2); + + + + + + + + pdev->customer.ref_spad_char__total_rate_target_mcps = + total_rate_target_mcps; + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WrWord( + Dev, + VL53L1_REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS, + total_rate_target_mcps); + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WrWord( + Dev, + VL53L1_RANGE_CONFIG__SIGMA_THRESH, + max_count_rate_rtn_limit_mcps); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WrWord( + Dev, + VL53L1_RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, + min_count_rate_rtn_limit_mcps); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_ssc_config( + VL53L1_DEV Dev, + VL53L1_ssc_config_t *pssc_cfg, + uint16_t fast_osc_frequency) +{ + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t buffer[5]; + + uint32_t macro_period_us = 0; + uint16_t timeout_encoded = 0; + + LOG_FUNCTION_START(""); + + + + + + macro_period_us = + VL53L1_calc_macro_period_us( + fast_osc_frequency, + pssc_cfg->VL53L1_PRM_00007); + + + + + + timeout_encoded = + VL53L1_calc_encoded_timeout( + pssc_cfg->timeout_us, + macro_period_us); + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WrByte( + Dev, + VL53L1_CAL_CONFIG__VCSEL_START, + pssc_cfg->vcsel_start); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WrByte( + Dev, + VL53L1_GLOBAL_CONFIG__VCSEL_WIDTH, + pssc_cfg->vcsel_width); + + + + + buffer[0] = (uint8_t)((timeout_encoded & 0x0000FF00) >> 8); + buffer[1] = (uint8_t) (timeout_encoded & 0x000000FF); + buffer[2] = pssc_cfg->VL53L1_PRM_00007; + buffer[3] = (uint8_t)((pssc_cfg->rate_limit_mcps & 0x0000FF00) >> 8); + buffer[4] = (uint8_t) (pssc_cfg->rate_limit_mcps & 0x000000FF); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WriteMulti( + Dev, + VL53L1_RANGE_CONFIG__TIMEOUT_MACROP_B_HI, + buffer, + 5); + + + + + + + + buffer[0] = pssc_cfg->VL53L1_PRM_00007; + buffer[1] = pssc_cfg->VL53L1_PRM_00007; + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WriteMulti( + Dev, + VL53L1_SD_CONFIG__WOI_SD0, + buffer, + 2); + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WrByte( + Dev, + VL53L1_NVM_BIST__CTRL, + pssc_cfg->array_select); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_spad_rate_data( + VL53L1_DEV Dev, + VL53L1_spad_rate_data_t *pspad_rates) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + int i = 0; + + uint8_t VL53L1_PRM_00005[512]; + uint8_t *pdata = &VL53L1_PRM_00005[0]; + + LOG_FUNCTION_START(""); + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_ReadMulti( + Dev, + VL53L1_PRIVATE__PATCH_BASE_ADDR_RSLV, + pdata, + 512); + + + + pdata = &VL53L1_PRM_00005[0]; + for (i = 0 ; i < VL53L1_NO_OF_SPAD_ENABLES ; i++) { + pspad_rates->rate_data[i] = + (uint16_t)VL53L1_decode_unsigned_integer(pdata, 2); + pdata += 2; + } + + + + + pspad_rates->VL53L1_PRM_00016 = VL53L1_NO_OF_SPAD_ENABLES; + pspad_rates->no_of_values = VL53L1_NO_OF_SPAD_ENABLES; + pspad_rates->fractional_bits = 15; + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_core_support.c b/drivers/input/misc/vl53L1/src/vl53l1_core_support.c new file mode 100644 index 000000000000..3176e424d4c0 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_core_support.c @@ -0,0 +1,931 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_ll_device.h" +#include "vl53l1_platform_log.h" +#include "vl53l1_core_support.h" +#include "vl53l1_platform_user_data.h" +#include "vl53l1_platform_user_defines.h" + + + + + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, \ + status, fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_CORE, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +uint32_t VL53L1_calc_pll_period_us( + uint16_t fast_osc_frequency) +{ + + + + + + + + + + + + + + + uint32_t pll_period_us = 0; + + LOG_FUNCTION_START(""); + + pll_period_us = (0x01 << 30) / fast_osc_frequency; + + + + + + + + LOG_FUNCTION_END(0); + + return pll_period_us; +} + + +uint32_t VL53L1_duration_maths( + uint32_t pll_period_us, + uint32_t vcsel_parm_pclks, + uint32_t window_vclks, + uint32_t elapsed_mclks) +{ + + + + + + + + + + + uint64_t tmp_long_int = 0; + uint32_t duration_us = 0; + + + + + + + duration_us = window_vclks * pll_period_us; + + + + + + duration_us = duration_us >> 12; + + + + tmp_long_int = (uint64_t)duration_us; + + + + + + + duration_us = elapsed_mclks * vcsel_parm_pclks; + + + + + + duration_us = duration_us >> 4; + + + + + + tmp_long_int = tmp_long_int * (uint64_t)duration_us; + + + + + + tmp_long_int = tmp_long_int >> 12; + + + + if (tmp_long_int > 0xFFFFFFFF) { + tmp_long_int = 0xFFFFFFFF; + } + + duration_us = (uint32_t)tmp_long_int; + + return duration_us; +} + + +uint32_t VL53L1_events_per_spad_maths( + int32_t VL53L1_PRM_00009, + uint16_t num_spads, + uint32_t duration) +{ + uint64_t total_hist_counts = 0; + uint64_t xtalk_per_spad = 0; + uint32_t rate_per_spad_kcps = 0; + + + + + + + + + + + + + + + + + + uint64_t dividend = ((uint64_t)VL53L1_PRM_00009 + * 1000 * 256); + + total_hist_counts = do_division_u(dividend, (uint64_t)num_spads); + + + + + if (duration > 0) { + + + + + + + + + uint64_t dividend = (((uint64_t)(total_hist_counts << 11)) + + ((uint64_t)duration / 2)); + + xtalk_per_spad = do_division_u(dividend, (uint64_t)duration); + } else { + xtalk_per_spad = (uint64_t)(total_hist_counts << 11); + } + + rate_per_spad_kcps = (uint32_t)xtalk_per_spad; + + return rate_per_spad_kcps; +} + + +uint32_t VL53L1_isqrt(uint32_t num) +{ + + + + + + + + + uint32_t res = 0; + uint32_t bit = 1 << 30; + + + + + while (bit > num) { + bit >>= 2; + } + + while (bit != 0) { + if (num >= res + bit) { + num -= res + bit; + res = (res >> 1) + bit; + } else { + res >>= 1; + } + bit >>= 2; + } + + return res; +} + + +void VL53L1_hist_calc_zero_distance_phase( + VL53L1_histogram_bin_data_t *pdata) +{ + + + + + + + uint32_t period = 0; + uint32_t VL53L1_PRM_00013 = 0; + + LOG_FUNCTION_START(""); + + period = 2048 * + (uint32_t)VL53L1_decode_vcsel_period(pdata->VL53L1_PRM_00007); + + VL53L1_PRM_00013 = period; + VL53L1_PRM_00013 += (uint32_t)pdata->phasecal_result__reference_phase; + VL53L1_PRM_00013 += (2048 * (uint32_t)pdata->phasecal_result__vcsel_start); + VL53L1_PRM_00013 -= (2048 * (uint32_t)pdata->cal_config__vcsel_start); + + VL53L1_PRM_00013 = VL53L1_PRM_00013 % period; + + pdata->zero_distance_phase = (uint16_t)VL53L1_PRM_00013; + + LOG_FUNCTION_END(0); +} + + +void VL53L1_hist_estimate_ambient_from_thresholded_bins( + int32_t ambient_threshold_sigma, + VL53L1_histogram_bin_data_t *pdata) +{ + + + + + + + + + + uint8_t bin = 0; + int32_t VL53L1_PRM_00029 = 0; + + LOG_FUNCTION_START(""); + + + + + + + VL53L1_hist_find_min_max_bin_values(pdata); + + + + + + + + VL53L1_PRM_00029 = (int32_t)VL53L1_isqrt((uint32_t)pdata->min_bin_value); + VL53L1_PRM_00029 *= ambient_threshold_sigma; + VL53L1_PRM_00029 += 0x07; + VL53L1_PRM_00029 = VL53L1_PRM_00029 >> 4; + VL53L1_PRM_00029 += pdata->min_bin_value; + + + + + + + pdata->number_of_ambient_samples = 0; + pdata->ambient_events_sum = 0; + + for (bin = 0 ; bin < pdata->VL53L1_PRM_00017 ; bin++) { + if (pdata->bin_data[bin] < VL53L1_PRM_00029) { + pdata->ambient_events_sum += pdata->bin_data[bin]; + pdata->number_of_ambient_samples++; + } + } + + + + + + + if (pdata->number_of_ambient_samples > 0) { + pdata->VL53L1_PRM_00026 = pdata->ambient_events_sum; + pdata->VL53L1_PRM_00026 += ((int32_t)pdata->number_of_ambient_samples/2); + pdata->VL53L1_PRM_00026 /= (int32_t)pdata->number_of_ambient_samples; + } + + LOG_FUNCTION_END(0); +} + + +void VL53L1_hist_remove_ambient_bins( + VL53L1_histogram_bin_data_t *pdata) +{ + + + + + + + + uint8_t bin = 0; + uint8_t VL53L1_PRM_00001 = 0; + uint8_t i = 0; + + + + + if ((pdata->bin_seq[0] & 0x07) == 0x07) { + + i = 0; + for (VL53L1_PRM_00001 = 0 ; VL53L1_PRM_00001 < VL53L1_MAX_BIN_SEQUENCE_LENGTH ; VL53L1_PRM_00001++) { + if ((pdata->bin_seq[VL53L1_PRM_00001] & 0x07) != 0x07) { + pdata->bin_seq[i] = pdata->bin_seq[VL53L1_PRM_00001]; + pdata->bin_rep[i] = pdata->bin_rep[VL53L1_PRM_00001]; + i++; + } + } + + + + + + + for (VL53L1_PRM_00001 = i ; VL53L1_PRM_00001 < VL53L1_MAX_BIN_SEQUENCE_LENGTH ; VL53L1_PRM_00001++) { + pdata->bin_seq[VL53L1_PRM_00001] = VL53L1_MAX_BIN_SEQUENCE_CODE + 1; + pdata->bin_rep[VL53L1_PRM_00001] = 0; + } + } + + if (pdata->number_of_ambient_bins > 0) { + + + + for (bin = pdata->number_of_ambient_bins ; + bin < pdata->VL53L1_PRM_00016 ; bin++) { + pdata->bin_data[bin-pdata->number_of_ambient_bins] = + pdata->bin_data[bin]; + } + + + + pdata->VL53L1_PRM_00017 = + pdata->VL53L1_PRM_00017 - + pdata->number_of_ambient_bins; + pdata->number_of_ambient_bins = 0; + } +} + + +uint32_t VL53L1_calc_pll_period_mm( + uint16_t fast_osc_frequency) +{ + + + + + + + uint32_t pll_period_us = 0; + uint32_t pll_period_mm = 0; + + LOG_FUNCTION_START(""); + + + + + + + pll_period_us = VL53L1_calc_pll_period_us(fast_osc_frequency); + + + + + + + + + + + + + pll_period_mm = + VL53L1_SPEED_OF_LIGHT_IN_AIR_DIV_8 * + (pll_period_us >> 2); + + + + pll_period_mm = (pll_period_mm + (0x01<<15)) >> 16; + + LOG_FUNCTION_END(0); + + return pll_period_mm; +} + + +uint16_t VL53L1_rate_maths( + int32_t VL53L1_PRM_00006, + uint32_t time_us) +{ + + + + + + + + + + + + + uint32_t tmp_int = 0; + uint32_t frac_bits = 7; + uint16_t rate_mcps = 0; + + + + + + + + if (VL53L1_PRM_00006 > VL53L1_SPAD_TOTAL_COUNT_MAX) { + tmp_int = VL53L1_SPAD_TOTAL_COUNT_MAX; + } else if (VL53L1_PRM_00006 > 0) { + tmp_int = (uint32_t)VL53L1_PRM_00006; + } + + + + + + + + if (VL53L1_PRM_00006 > VL53L1_SPAD_TOTAL_COUNT_RES_THRES) { + frac_bits = 3; + } else { + frac_bits = 7; + } + + + + + + + + if (time_us > 0) { + tmp_int = ((tmp_int << frac_bits) + (time_us / 2)) / time_us; + } + + + + + + if (VL53L1_PRM_00006 > VL53L1_SPAD_TOTAL_COUNT_RES_THRES) { + tmp_int = tmp_int << 4; + } + + + + + + + + if (tmp_int > 0xFFFF) { + tmp_int = 0xFFFF; + } + + rate_mcps = (uint16_t)tmp_int; + + return rate_mcps; +} + + +uint16_t VL53L1_rate_per_spad_maths( + uint32_t frac_bits, + uint32_t peak_count_rate, + uint16_t num_spads, + uint32_t max_output_value) +{ + + uint32_t tmp_int = 0; + + + + uint16_t rate_per_spad = 0; + + + + + + + + + + if (num_spads > 0) { + tmp_int = (peak_count_rate << 8) << frac_bits; + tmp_int = (tmp_int + ((uint32_t)num_spads / 2)) / (uint32_t)num_spads; + } else { + tmp_int = ((peak_count_rate) << frac_bits); + } + + + + + if (tmp_int > max_output_value) { + tmp_int = max_output_value; + } + + rate_per_spad = (uint16_t)tmp_int; + + return rate_per_spad; +} + + +int32_t VL53L1_range_maths( + uint16_t fast_osc_frequency, + uint16_t VL53L1_PRM_00013, + uint16_t zero_distance_phase, + int32_t gain_factor, + int32_t range_offset_mm) +{ + + + + + + uint32_t pll_period_us = 0; + + int64_t tmp_long_int = 0; + int32_t range_mm = 0; + + + + + pll_period_us = VL53L1_calc_pll_period_us(fast_osc_frequency); + + + + + + + + + + + tmp_long_int = (int64_t)VL53L1_PRM_00013 - (int64_t)zero_distance_phase; + + + + + + + + + + + tmp_long_int = tmp_long_int * (int64_t)pll_period_us; + + + + + + + tmp_long_int = tmp_long_int / (0x01 << 9); + + + + + + + + + + + + tmp_long_int = tmp_long_int * VL53L1_SPEED_OF_LIGHT_IN_AIR_DIV_8; + + + + + + + tmp_long_int = tmp_long_int / (0x01 << 22); + + + + range_mm = (int32_t)tmp_long_int + range_offset_mm; + + + + range_mm *= gain_factor; + range_mm += 0x0400; + range_mm /= 0x0800; + + + + range_mm = range_mm / (0x01 << 2); + + return range_mm; +} + + +uint8_t VL53L1_decode_vcsel_period(uint8_t vcsel_period_reg) +{ + + + + + + + uint8_t VL53L1_PRM_00028 = 0; + + VL53L1_PRM_00028 = (vcsel_period_reg + 1) << 1; + + return VL53L1_PRM_00028; +} + + +void VL53L1_copy_xtalk_bin_data_to_histogram_data_struct( + VL53L1_xtalk_histogram_shape_t *pxtalk, + VL53L1_histogram_bin_data_t *phist) +{ + + + + + + + phist->cal_config__vcsel_start = + pxtalk->cal_config__vcsel_start; + phist->VL53L1_PRM_00018 = + pxtalk->VL53L1_PRM_00018; + phist->VL53L1_PRM_00015 = + pxtalk->VL53L1_PRM_00015; + + phist->phasecal_result__reference_phase = + pxtalk->phasecal_result__reference_phase; + phist->phasecal_result__vcsel_start = + pxtalk->phasecal_result__vcsel_start; + + phist->vcsel_width = + pxtalk->vcsel_width; + phist->zero_distance_phase = + pxtalk->zero_distance_phase; + + phist->zone_id = pxtalk->zone_id; + phist->VL53L1_PRM_00016 = pxtalk->VL53L1_PRM_00016; + phist->time_stamp = pxtalk->time_stamp; +} + + +void VL53L1_init_histogram_bin_data_struct( + int32_t bin_value, + uint16_t VL53L1_PRM_00017, + VL53L1_histogram_bin_data_t *pdata) +{ + + + + + + + uint16_t i = 0; + + pdata->cfg_device_state = VL53L1_DEVICESTATE_SW_STANDBY; + pdata->rd_device_state = VL53L1_DEVICESTATE_SW_STANDBY; + + pdata->zone_id = 0; + pdata->time_stamp = 0; + + pdata->VL53L1_PRM_00015 = 0; + pdata->VL53L1_PRM_00016 = VL53L1_HISTOGRAM_BUFFER_SIZE; + pdata->VL53L1_PRM_00017 = (uint8_t)VL53L1_PRM_00017; + pdata->number_of_ambient_bins = 0; + + pdata->result__interrupt_status = 0; + pdata->result__range_status = 0; + pdata->result__report_status = 0; + pdata->result__stream_count = 0; + + pdata->result__dss_actual_effective_spads = 0; + pdata->phasecal_result__reference_phase = 0; + pdata->phasecal_result__vcsel_start = 0; + pdata->cal_config__vcsel_start = 0; + + pdata->vcsel_width = 0; + pdata->VL53L1_PRM_00007 = 0; + pdata->VL53L1_PRM_00018 = 0; + pdata->total_periods_elapsed = 0; + + pdata->min_bin_value = 0; + pdata->max_bin_value = 0; + + pdata->zero_distance_phase = 0; + pdata->number_of_ambient_samples = 0; + pdata->ambient_events_sum = 0; + pdata->VL53L1_PRM_00026 = 0; + + for (i = 0 ; i < VL53L1_MAX_BIN_SEQUENCE_LENGTH ; i++) { + pdata->bin_seq[i] = (uint8_t)i; + } + for (i = 0 ; i < VL53L1_MAX_BIN_SEQUENCE_LENGTH ; i++) { + pdata->bin_rep[i] = 1; + } + + for (i = 0 ; i < VL53L1_HISTOGRAM_BUFFER_SIZE ; i++) { + if (i < VL53L1_PRM_00017) { + pdata->bin_data[i] = bin_value; + } else { + pdata->bin_data[i] = 0; + } + } +} + + +void VL53L1_decode_row_col( + uint8_t spad_number, + uint8_t *prow, + uint8_t *pcol) +{ + + + + + + + + if (spad_number > 127) { + *prow = 8 + ((255-spad_number) & 0x07); + *pcol = (spad_number-128) >> 3; + } else { + *prow = spad_number & 0x07; + *pcol = (127-spad_number) >> 3; + } +} + + +void VL53L1_hist_find_min_max_bin_values( + VL53L1_histogram_bin_data_t *pdata) +{ + + + + + + uint8_t bin = 0; + + LOG_FUNCTION_START(""); + + for (bin = 0 ; bin < pdata->VL53L1_PRM_00017 ; bin++) { + + if (bin == 0 || pdata->min_bin_value >= pdata->bin_data[bin]) { + pdata->min_bin_value = pdata->bin_data[bin]; + } + + if (bin == 0 || pdata->max_bin_value <= pdata->bin_data[bin]) { + pdata->max_bin_value = pdata->bin_data[bin]; + } + } + + LOG_FUNCTION_END(0); + +} + + +void VL53L1_hist_estimate_ambient_from_ambient_bins( + VL53L1_histogram_bin_data_t *pdata) +{ + + + + + + + uint8_t bin = 0; + + LOG_FUNCTION_START(""); + + if (pdata->number_of_ambient_bins > 0) { + + pdata->number_of_ambient_samples = + pdata->number_of_ambient_bins; + + + + + pdata->ambient_events_sum = 0; + for (bin = 0 ; bin < pdata->number_of_ambient_bins ; bin++) { + pdata->ambient_events_sum += pdata->bin_data[bin]; + } + + pdata->VL53L1_PRM_00026 = pdata->ambient_events_sum; + pdata->VL53L1_PRM_00026 += + ((int32_t)pdata->number_of_ambient_bins / 2); + pdata->VL53L1_PRM_00026 /= + (int32_t)pdata->number_of_ambient_bins; + + } + + LOG_FUNCTION_END(0); +} + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_error_strings.c b/drivers/input/misc/vl53L1/src/vl53l1_error_strings.c new file mode 100644 index 000000000000..716ef9ba3607 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_error_strings.c @@ -0,0 +1,327 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#include "vl53l1_error_codes.h" +#include "vl53l1_error_strings.h" +#include "vl53l1_platform_log.h" +#include "vl53l1_ll_def.h" + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_API, \ + status, fmt, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_get_pal_error_string( + VL53L1_Error PalErrorCode, + char *pPalErrorString) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + +#ifdef VL53L1_USE_EMPTY_STRING + VL53L1_COPYSTRING(pPalErrorString, ""); +#else + + switch (PalErrorCode) { + case VL53L1_ERROR_NONE: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_NONE); + break; + case VL53L1_ERROR_CALIBRATION_WARNING: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_CALIBRATION_WARNING); + break; + case VL53L1_ERROR_MIN_CLIPPED: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_MIN_CLIPPED); + break; + case VL53L1_ERROR_UNDEFINED: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_UNDEFINED); + break; + case VL53L1_ERROR_INVALID_PARAMS: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_INVALID_PARAMS); + break; + case VL53L1_ERROR_NOT_SUPPORTED: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_NOT_SUPPORTED); + break; + case VL53L1_ERROR_RANGE_ERROR: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_RANGE_ERROR); + break; + case VL53L1_ERROR_TIME_OUT: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_TIME_OUT); + break; + case VL53L1_ERROR_MODE_NOT_SUPPORTED: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_MODE_NOT_SUPPORTED); + break; + case VL53L1_ERROR_BUFFER_TOO_SMALL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_BUFFER_TOO_SMALL); + break; + case VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_COMMS_BUFFER_TOO_SMALL); + break; + case VL53L1_ERROR_GPIO_NOT_EXISTING: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_GPIO_NOT_EXISTING); + break; + case VL53L1_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED); + break; + case VL53L1_ERROR_CONTROL_INTERFACE: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_CONTROL_INTERFACE); + break; + case VL53L1_ERROR_INVALID_COMMAND: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_INVALID_COMMAND); + break; + case VL53L1_ERROR_DIVISION_BY_ZERO: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_DIVISION_BY_ZERO); + break; + case VL53L1_ERROR_REF_SPAD_INIT: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_REF_SPAD_INIT); + break; + case VL53L1_ERROR_GPH_SYNC_CHECK_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_GPH_SYNC_CHECK_FAIL); + break; + case VL53L1_ERROR_STREAM_COUNT_CHECK_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_STREAM_COUNT_CHECK_FAIL); + break; + case VL53L1_ERROR_GPH_ID_CHECK_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_GPH_ID_CHECK_FAIL); + break; + case VL53L1_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL); + break; + case VL53L1_ERROR_ZONE_GPH_ID_CHECK_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_ZONE_GPH_ID_CHECK_FAIL); + break; + + case VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_XTALK_EXTRACTION_NO_SAMPLES_FAIL); + break; + case VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL); + break; + + case VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL); + break; + case VL53L1_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL); + break; + case VL53L1_ERROR_ZONE_CAL_NO_SAMPLE_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_ZONE_CAL_NO_SAMPLE_FAIL); + break; + + case VL53L1_WARNING_OFFSET_CAL_MISSING_SAMPLES: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_OFFSET_CAL_MISSING_SAMPLES); + break; + case VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH); + break; + case VL53L1_WARNING_OFFSET_CAL_RATE_TOO_HIGH: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_OFFSET_CAL_RATE_TOO_HIGH); + break; + case VL53L1_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW); + break; + + case VL53L1_WARNING_ZONE_CAL_MISSING_SAMPLES: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_ZONE_CAL_MISSING_SAMPLES); + break; + case VL53L1_WARNING_ZONE_CAL_SIGMA_TOO_HIGH: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_ZONE_CAL_SIGMA_TOO_HIGH); + break; + case VL53L1_WARNING_ZONE_CAL_RATE_TOO_HIGH: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_ZONE_CAL_RATE_TOO_HIGH); + break; + + case VL53L1_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS); + break; + case VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH); + break; + case VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW); + break; + + case VL53L1_WARNING_XTALK_MISSING_SAMPLES: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_XTALK_MISSING_SAMPLES); + break; + case VL53L1_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT); + break; + case VL53L1_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT); + break; + + case VL53L1_ERROR_DEVICE_FIRMWARE_TOO_OLD: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_DEVICE_FIRMWARE_TOO_OLD); + break; + case VL53L1_ERROR_DEVICE_FIRMWARE_TOO_NEW: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_DEVICE_FIRMWARE_TOO_NEW); + break; + case VL53L1_ERROR_UNIT_TEST_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_UNIT_TEST_FAIL); + break; + case VL53L1_ERROR_FILE_READ_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_FILE_READ_FAIL); + break; + case VL53L1_ERROR_FILE_WRITE_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_FILE_WRITE_FAIL); + break; + case VL53L1_ERROR_NOT_IMPLEMENTED: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_NOT_IMPLEMENTED); + break; + default: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_UNKNOW_ERROR_CODE); + } + +#endif + + LOG_FUNCTION_END(Status); + + return Status; +} + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_fpga_core.c b/drivers/input/misc/vl53L1/src/vl53l1_fpga_core.c new file mode 100644 index 000000000000..194eb570c306 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_fpga_core.c @@ -0,0 +1,167 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_platform.h" +#include "vl53l1_register_map.h" +#include "vl53l1_core.h" +#include "vl53l1_fpga_core.h" + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, fmt, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_is_firmware_ready_fpga( + VL53L1_DEV Dev, + uint8_t *pready) +{ + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t comms_buffer[5]; + + LOG_FUNCTION_START(""); + + + + + status = VL53L1_ReadMulti( + Dev, + VL53L1_INTERRUPT_MANAGER__ENABLES, + comms_buffer, + 5); + + if (status == VL53L1_ERROR_NONE) { + + pdev->dbg_results.interrupt_manager__enables = + comms_buffer[0]; + pdev->dbg_results.interrupt_manager__clear = + comms_buffer[1]; + pdev->dbg_results.interrupt_manager__status = + comms_buffer[2]; + pdev->dbg_results.mcu_to_host_bank__wr_access_en = + comms_buffer[3]; + pdev->dbg_results.power_management__go1_reset_status = + comms_buffer[4]; + + if (((pdev->dbg_results.interrupt_manager__enables & 0x1F) == 0x1F) && + ((pdev->dbg_results.interrupt_manager__clear & 0x1F) == 0x1F)) + *pready = 0x01; + else + *pready = 0x00; + } + + LOG_FUNCTION_END(status); + + return status; +} + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_hist_char.c b/drivers/input/misc/vl53L1/src/vl53l1_hist_char.c new file mode 100644 index 000000000000..0570d90dd969 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_hist_char.c @@ -0,0 +1,282 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#include + +#include + + + + + + + +#include "vl53l1_core.h" +#include "vl53l1_register_settings.h" +#include "vl53l1_hist_char.h" + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_HISTOGRAM, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_HISTOGRAM, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_HISTOGRAM, status, fmt, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_set_calib_config( + VL53L1_DEV Dev, + uint8_t vcsel_delay__a0, + uint8_t calib_1, + uint8_t calib_2, + uint8_t calib_3, + uint8_t calib_2__a0, + uint8_t spad_readout) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[3]; + + LOG_FUNCTION_START(""); + + + + + if (status == VL53L1_ERROR_NONE) { + + status = VL53L1_enable_powerforce(Dev); + } + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_disable_firmware(Dev); + } + + + + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__VCSEL_DELAY__A0, + vcsel_delay__a0); + } + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + + + comms_buffer[0] = calib_1; + comms_buffer[1] = calib_2; + comms_buffer[2] = calib_3; + + status = VL53L1_WriteMulti( + Dev, + VL53L1_RANGING_CORE__CALIB_1, + comms_buffer, + 3); + } + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__CALIB_2__A0, + calib_2__a0); + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__SPAD_READOUT, + spad_readout); + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_set_hist_calib_pulse_delay( + VL53L1_DEV Dev, + uint8_t calib_delay) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = + VL53L1_set_calib_config( + Dev, + 0x01, + + calib_delay, + + 0x04, + + 0x08, + + 0x14, + + VL53L1_RANGING_CORE__SPAD_READOUT__CALIB_PULSES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_disable_calib_pulse_delay( + VL53L1_DEV Dev) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = + VL53L1_set_calib_config( + Dev, + 0x00, + + 0x00, + + 0x00, + + 0x00, + + 0x00, + + VL53L1_RANGING_CORE__SPAD_READOUT__STANDARD); + + LOG_FUNCTION_END(status); + + return status; +} + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_nvm.c b/drivers/input/misc/vl53L1/src/vl53l1_nvm.c new file mode 100644 index 000000000000..f595257aceaa --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_nvm.c @@ -0,0 +1,1639 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#ifdef _MSC_VER +#define snprintf _snprintf +#endif + + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_platform.h" +#include "vl53l1_platform_log.h" +#include "vl53l1_register_map.h" +#include "vl53l1_core.h" +#include "vl53l1_nvm_structs.h" +#include "vl53l1_nvm_map.h" +#include "vl53l1_nvm.h" + + + + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_NVM, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_NVM, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_NVM, status, fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_NVM, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_nvm_enable( + VL53L1_DEV Dev, + uint16_t nvm_ctrl_pulse_width, + int32_t nvm_power_up_delay_us) +{ + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_disable_firmware(Dev); + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_powerforce(Dev); + + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WaitUs( + Dev, + VL53L1_ENABLE_POWERFORCE_SETTLING_TIME_US); + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__PDN, + 0x01); + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__CLK_CTRL1, + 0x05); + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WaitUs( + Dev, + nvm_power_up_delay_us); + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__MODE, + 0x01); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrWord( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__PULSE_WIDTH_MSB, + nvm_ctrl_pulse_width); + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_nvm_read( + VL53L1_DEV Dev, + uint8_t start_address, + uint8_t count, + uint8_t *pdata) +{ + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t nvm_addr = 0; + + LOG_FUNCTION_START(""); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%-12s = 0x%02X (%3u)\n", + "nvm_addr", nvm_addr, nvm_addr); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%-12s = 0x%02X (%3u)\n", + "count", count, count); + + for (nvm_addr = start_address; nvm_addr < (start_address+count) ; nvm_addr++) { + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__ADDR, + nvm_addr); + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__READN, + 0x00); + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WaitUs( + Dev, + VL53L1_NVM_READ_TRIGGER_DELAY_US); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__READN, + 0x01); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__DATAOUT_MMM, + pdata, + 4); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "NVM address : 0x%02X = 0x%02X%02X%02X%02X\n", + nvm_addr, *pdata, *(pdata+1), *(pdata+2), *(pdata+3)); + + + + + pdata = pdata + 4; + + + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_nvm_disable( + VL53L1_DEV Dev) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__READN, + 0x01); + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__PDN, + 0x00); + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_powerforce(Dev); + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_nvm_format_decode( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_decoded_nvm_data_t *pdata) +{ + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + uint8_t *ptmp = NULL; + int pptmp[VL53L1_NVM_MAX_FMT_RANGE_DATA]; + + LOG_FUNCTION_START(""); + + if (VL53L1_NVM_SIZE_IN_BYTES > buf_size) + return VL53L1_ERROR_BUFFER_TOO_SMALL; + + pdata->nvm__identification_model_id = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__IDENTIFICATION__MODEL_ID, + 0x000000FF, + 0, + 0); + pdata->nvm__identification_module_type = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__IDENTIFICATION__MODULE_TYPE, + 0x000000FF, + 0, + 0); + pdata->nvm__identification_revision_id = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__IDENTIFICATION__REVISION_ID, + 0x0000000F, + 0, + 0); + pdata->nvm__identification_module_id = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__IDENTIFICATION__MODULE_ID, + 0x0000FFFF, + 0, + 0); + pdata->nvm__i2c_valid = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__I2C_VALID, + 0x000000FF, + 0, + 0); + pdata->nvm__i2c_device_address_ews = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__I2C_SLAVE__DEVICE_ADDRESS, + 0x000000FF, + 0, + 0); + pdata->nvm__ews__fast_osc_frequency = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__EWS__OSC_MEASURED__FAST_OSC_FREQUENCY, + 0x0000FFFF, + 0, + 0); + pdata->nvm__ews__fast_osc_trim_max = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__FAST_OSC_TRIM_MAX, + 0x0000007F, + 0, + 0); + pdata->nvm__ews__fast_osc_freq_set = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__FAST_OSC_FREQ_SET, + 0x00000007, + 0, + 0); + pdata->nvm__ews__slow_osc_calibration = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__EWS__SLOW_OSC_CALIBRATION, + 0x000003FF, + 0, + 0); + pdata->nvm__fmt__fast_osc_frequency = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__FMT__OSC_MEASURED__FAST_OSC_FREQUENCY, + 0x0000FFFF, + 0, + 0); + pdata->nvm__fmt__fast_osc_trim_max = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FAST_OSC_TRIM_MAX, + 0x0000007F, + 0, + 0); + pdata->nvm__fmt__fast_osc_freq_set = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FAST_OSC_FREQ_SET, + 0x00000007, + 0, + 0); + pdata->nvm__fmt__slow_osc_calibration = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__FMT__SLOW_OSC_CALIBRATION, + 0x000003FF, + 0, + 0); + pdata->nvm__vhv_config_unlock = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__VHV_CONFIG_UNLOCK, + 0x000000FF, + 0, + 0); + pdata->nvm__ref_selvddpix = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__REF_SELVDDPIX, + 0x0000000F, + 0, + 0); + pdata->nvm__ref_selvquench = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__REF_SELVQUENCH, + 0x00000078, + 3, + 0); + pdata->nvm__regavdd1v2_sel = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__REGAVDD1V2_SEL_REGDVDD1V2_SEL, + 0x0000000C, + 2, + 0); + pdata->nvm__regdvdd1v2_sel = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__REGAVDD1V2_SEL_REGDVDD1V2_SEL, + 0x00000003, + 0, + 0); + pdata->nvm__vhv_timeout__macrop = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, + 0x00000003, + 0, + 0); + pdata->nvm__vhv_loop_bound = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, + 0x000000FC, + 2, + 0); + pdata->nvm__vhv_count_threshold = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__VHV_CONFIG__COUNT_THRESH, + 0x000000FF, + 0, + 0); + pdata->nvm__vhv_offset = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__VHV_CONFIG__OFFSET, + 0x0000003F, + 0, + 0); + pdata->nvm__vhv_init_enable = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__VHV_CONFIG__INIT, + 0x00000080, + 7, + 0); + pdata->nvm__vhv_init_value = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__VHV_CONFIG__INIT, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_vcsel_trim_ll = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__VCSEL_TRIM_LL, + 0x00000007, + 0, + 0); + pdata->nvm__laser_safety_vcsel_selion_ll = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__VCSEL_SELION_LL, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_vcsel_selion_max_ll = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__VCSEL_SELION_MAX_LL, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_mult_ll = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__MULT_LL, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_clip_ll = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__CLIP_LL, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_vcsel_trim_ld = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__VCSEL_TRIM_LD, + 0x00000007, + 0, + 0); + pdata->nvm__laser_safety_vcsel_selion_ld = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__VCSEL_SELION_LD, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_vcsel_selion_max_ld = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__VCSEL_SELION_MAX_LD, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_mult_ld = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__MULT_LD, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_clip_ld = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__CLIP_LD, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_lock_byte = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY_LOCK_BYTE, + 0x000000FF, + 0, + 0); + pdata->nvm__laser_safety_unlock_byte = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY_UNLOCK_BYTE, + 0x000000FF, + 0, + 0); + + + + + ptmp = pbuffer + VL53L1_NVM__EWS__SPAD_ENABLES_RTN_0_; + for (i = 0 ; i < VL53L1_RTN_SPAD_BUFFER_SIZE ; i++) + pdata->nvm__ews__spad_enables_rtn[i] = *ptmp++; + + ptmp = pbuffer + VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC1_0_; + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) + pdata->nvm__ews__spad_enables_ref__loc1[i] = *ptmp++; + + ptmp = pbuffer + VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC2_0_; + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) + pdata->nvm__ews__spad_enables_ref__loc2[i] = *ptmp++; + + ptmp = pbuffer + VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC3_0_; + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) + pdata->nvm__ews__spad_enables_ref__loc3[i] = *ptmp++; + + + + + ptmp = pbuffer + VL53L1_NVM__FMT__SPAD_ENABLES_RTN_0_; + for (i = 0 ; i < VL53L1_RTN_SPAD_BUFFER_SIZE ; i++) + pdata->nvm__fmt__spad_enables_rtn[i] = *ptmp++; + + ptmp = pbuffer + VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC1_0_; + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) + pdata->nvm__fmt__spad_enables_ref__loc1[i] = *ptmp++; + + ptmp = pbuffer + VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC2_0_; + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) + pdata->nvm__fmt__spad_enables_ref__loc2[i] = *ptmp++; + + ptmp = pbuffer + VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC3_0_; + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) + pdata->nvm__fmt__spad_enables_ref__loc3[i] = *ptmp++; + + + pdata->nvm__fmt__roi_config__mode_roi_centre_spad = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__ROI_CONFIG__MODE_ROI_CENTRE_SPAD, + 0x000000FF, + 0, + 0); + pdata->nvm__fmt__roi_config__mode_roi_x_size = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__ROI_CONFIG__MODE_ROI_XY_SIZE, + 0x000000F0, + 4, + 0); + pdata->nvm__fmt__roi_config__mode_roi_y_size = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__ROI_CONFIG__MODE_ROI_XY_SIZE, + 0x0000000F, + 0, + 0); + pdata->nvm__fmt__ref_spad_apply__num_requested_ref_spad = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__REF_SPAD_APPLY__NUM_REQUESTED_REF_SPAD, + 0x000000FF, + 0, + 0); + pdata->nvm__fmt__ref_spad_man__ref_location = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__REF_SPAD_MAN__REF_LOCATION, + 0x00000003, + 0, + 0); + pdata->nvm__fmt__mm_config__inner_offset_mm = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__FMT__MM_CONFIG__INNER_OFFSET_MM, + 0x0000FFFF, + 0, + 0); + pdata->nvm__fmt__mm_config__outer_offset_mm = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__FMT__MM_CONFIG__OUTER_OFFSET_MM, + 0x0000FFFF, + 0, + 0); + pdata->nvm__fmt__algo_part_to_part_range_offset_mm = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__FMT__ALGO__PART_TO_PART_RANGE_OFFSET_MM, + 0x00000FFF, + 0, + 0); + pdata->nvm__fmt__algo__crosstalk_compensation_plane_offset_kcps = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS, + 0x0000FFFF, + 0, + 0); + pdata->nvm__fmt__algo__crosstalk_compensation_x_plane_gradient_kcps = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS, + 0x0000FFFF, + 0, + 0); + pdata->nvm__fmt__algo__crosstalk_compensation_y_plane_gradient_kcps = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS, + 0x0000FFFF, + 0, + 0); + pdata->nvm__fmt__spare__host_config__nvm_config_spare_0 = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_0, + 0x000000FF, + 0, + 0); + pdata->nvm__fmt__spare__host_config__nvm_config_spare_1 = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_1, + 0x000000FF, + 0, + 0); + pdata->nvm__customer_space_programmed = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__CUSTOMER_NVM_SPACE_PROGRAMMED, + 0x000000FF, + 0, + 0); + pdata->nvm__cust__i2c_device_address = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__CUST__I2C_SLAVE__DEVICE_ADDRESS, + 0x000000FF, + 0, + 0); + pdata->nvm__cust__ref_spad_apply__num_requested_ref_spad = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__CUST__REF_SPAD_APPLY__NUM_REQUESTED_REF_SPAD, + 0x000000FF, + 0, + 0); + pdata->nvm__cust__ref_spad_man__ref_location = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__CUST__REF_SPAD_MAN__REF_LOCATION, + 0x00000003, + 0, + 0); + pdata->nvm__cust__mm_config__inner_offset_mm = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__CUST__MM_CONFIG__INNER_OFFSET_MM, + 0x0000FFFF, + 0, + 0); + pdata->nvm__cust__mm_config__outer_offset_mm = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__CUST__MM_CONFIG__OUTER_OFFSET_MM, + 0x0000FFFF, + 0, + 0); + pdata->nvm__cust__algo_part_to_part_range_offset_mm = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__CUST__ALGO__PART_TO_PART_RANGE_OFFSET_MM, + 0x00000FFF, + 0, + 0); + pdata->nvm__cust__algo__crosstalk_compensation_plane_offset_kcps = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS, + 0x0000FFFF, + 0, + 0); + pdata->nvm__cust__algo__crosstalk_compensation_x_plane_gradient_kcps = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS, + 0x0000FFFF, + 0, + 0); + pdata->nvm__cust__algo__crosstalk_compensation_y_plane_gradient_kcps = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS, + 0x0000FFFF, + 0, + 0); + pdata->nvm__cust__spare__host_config__nvm_config_spare_0 = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__CUST__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_0, + 0x000000FF, + 0, + 0); + pdata->nvm__cust__spare__host_config__nvm_config_spare_1 = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__CUST__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_1, + 0x000000FF, + 0, + 0); + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_nvm_decode_cal_peak_rate_map( + buf_size, + pbuffer + VL53L1_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_INDEX, + &(pdata->fmt_peak_rate_map)); + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_nvm_decode_additional_offset_cal_data( + buf_size, + pbuffer + VL53L1_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_INDEX, + &(pdata->fmt_add_offset_data)); + + + + + pptmp[0] = VL53L1_NVM__FMT__RANGE_RESULTS__140MM_MM_PRE_RANGE; + pptmp[1] = VL53L1_NVM__FMT__RANGE_RESULTS__140MM_DARK; + pptmp[2] = VL53L1_NVM__FMT__RANGE_RESULTS__400MM_DARK; + pptmp[3] = VL53L1_NVM__FMT__RANGE_RESULTS__400MM_AMBIENT; + + for (i = 0 ; i < VL53L1_NVM_MAX_FMT_RANGE_DATA ; i++) { + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_nvm_decode_fmt_range_results_data( + buf_size, + pbuffer + pptmp[i], + &(pdata->fmt_range_data[i])); + } + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_nvm_decode_fmt_info( + buf_size, + pbuffer, + &(pdata->fmt_info)); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_nvm_decode_ews_info( + buf_size, + pbuffer, + &(pdata->ews_info)); + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_nvm_decode_cal_peak_rate_map( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_cal_peak_rate_map_t *pdata) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t *ptmp = NULL; + uint8_t i = 0; + + if (VL53L1_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_SIZE > buf_size) + return VL53L1_ERROR_BUFFER_TOO_SMALL; + + pdata->cal_distance_mm = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer); + + pdata->cal_reflectance_pc = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 2); + pdata->cal_reflectance_pc = + pdata->cal_reflectance_pc >> 6; + + pdata->max_samples = VL53L1_NVM_PEAK_RATE_MAP_SAMPLES; + pdata->width = VL53L1_NVM_PEAK_RATE_MAP_WIDTH; + pdata->height = VL53L1_NVM_PEAK_RATE_MAP_HEIGHT; + + ptmp = pbuffer + 4; + for (i = 0 ; i < VL53L1_NVM_PEAK_RATE_MAP_SAMPLES ; i++) { + pdata->peak_rate_mcps[i] = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, ptmp); + ptmp += 2; + } + + return status; +} + + +VL53L1_Error VL53L1_nvm_decode_additional_offset_cal_data( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_additional_offset_cal_data_t *pdata) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + if (VL53L1_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_SIZE > buf_size) + return VL53L1_ERROR_BUFFER_TOO_SMALL; + + pdata->result__mm_inner_actual_effective_spads = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer); + + pdata->result__mm_outer_actual_effective_spads = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 2); + + pdata->result__mm_inner_peak_signal_count_rtn_mcps = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 4); + + pdata->result__mm_outer_peak_signal_count_rtn_mcps = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 6); + + return status; +} + + +VL53L1_Error VL53L1_nvm_decode_fmt_range_results_data( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_decoded_nvm_fmt_range_data_t *pdata) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + if (VL53L1_NVM__FMT__RANGE_RESULTS__SIZE_BYTES > buf_size) + return VL53L1_ERROR_BUFFER_TOO_SMALL; + + pdata->result__actual_effective_rtn_spads = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer); + + pdata->ref_spad_array__num_requested_ref_spads = + *(pbuffer+2); + + pdata->ref_spad_array__ref_location = + *(pbuffer+3); + + pdata->result__peak_signal_count_rate_rtn_mcps = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 4); + + pdata->result__ambient_count_rate_rtn_mcps = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 6); + + pdata->result__peak_signal_count_rate_ref_mcps = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 8); + + pdata->result__ambient_count_rate_ref_mcps = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 10); + + pdata->measured_distance_mm = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 12); + + pdata->measured_distance_stdev_mm = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 14); + + return status; +} + + +VL53L1_Error VL53L1_nvm_decode_fmt_info( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_decoded_nvm_fmt_info_t *pdata) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + if (VL53L1_NVM_SIZE_IN_BYTES > buf_size) + return VL53L1_ERROR_BUFFER_TOO_SMALL; + + pdata->nvm__fmt__fgc[0] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_0, + 0x000000FE, + 1, + 0); + pdata->nvm__fmt__fgc[1] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_1, + 0x000001FC, + 2, + 0); + pdata->nvm__fmt__fgc[2] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_2 - 1, + 0x000003F8, + 3, + 0); + pdata->nvm__fmt__fgc[3] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_3 - 1, + 0x000007F0, + 4, + 0); + pdata->nvm__fmt__fgc[4] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_4 - 1, + 0x00000FE0, + 5, + 0); + pdata->nvm__fmt__fgc[5] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_5 - 1, + 0x00001FC0, + 6, + 0); + pdata->nvm__fmt__fgc[6] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_6 - 1, + 0x00003F80, + 7, + 0); + pdata->nvm__fmt__fgc[7] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_6, + 0x0000007F, + 0, + 0); + pdata->nvm__fmt__fgc[8] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_7, + 0x000000FE, + 1, + 0); + pdata->nvm__fmt__fgc[9] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_8, + 0x000001FC, + 2, + 0); + pdata->nvm__fmt__fgc[10] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_9 - 1, + 0x000003F8, + 3, + 0); + pdata->nvm__fmt__fgc[11] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_10 - 1, + 0x000007F0, + 4, + 0); + pdata->nvm__fmt__fgc[12] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_11 - 1, + 0x00000FE0, + 5, + 0); + pdata->nvm__fmt__fgc[13] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_12 - 1, + 0x00001FC0, + 6, + 0); + pdata->nvm__fmt__fgc[14] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_13 - 1, + 0x00003F80, + 7, + 0); + pdata->nvm__fmt__fgc[15] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_13, + 0x0000007F, + 0, + 0); + pdata->nvm__fmt__fgc[16] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_14, + 0x000000FE, + 1, + 0); + pdata->nvm__fmt__fgc[17] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_15, + 0x000001FC, + 2, + 0); + pdata->nvm__fmt__fgc[18] = 0x00; + + pdata->nvm__fmt__test_program_major = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__TEST_PROGRAM_MAJOR_MINOR, + 0x000000E0, + 5, + 0); + pdata->nvm__fmt__test_program_minor = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__TEST_PROGRAM_MAJOR_MINOR, + 0x0000001F, + 0, + 0); + pdata->nvm__fmt__map_major = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__MAP_MAJOR_MINOR, + 0x000000E0, + 5, + 0); + pdata->nvm__fmt__map_minor = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__MAP_MAJOR_MINOR, + 0x0000001F, + 0, + 0); + pdata->nvm__fmt__year = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__YEAR_MONTH, + 0x000000F0, + 4, + 0); + pdata->nvm__fmt__month = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__YEAR_MONTH, + 0x0000000F, + 0, + 0); + pdata->nvm__fmt__day = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__DAY_MODULE_DATE_PHASE, + 0x000000F8, + 3, + 0); + pdata->nvm__fmt__module_date_phase = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__DAY_MODULE_DATE_PHASE, + 0x00000007, + 0, + 0); + pdata->nvm__fmt__time = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__FMT__TIME, + 0x0000FFFF, + 0, + 0); + pdata->nvm__fmt__tester_id = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__TESTER_ID, + 0x000000FF, + 0, + 0); + pdata->nvm__fmt__site_id = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__SITE_ID, + 0x000000FF, + 0, + 0); + + return status; +} + + +VL53L1_Error VL53L1_nvm_decode_ews_info( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_decoded_nvm_ews_info_t *pdata) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + if (VL53L1_NVM_SIZE_IN_BYTES > buf_size) + return VL53L1_ERROR_BUFFER_TOO_SMALL; + + pdata->nvm__ews__test_program_major = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__TEST_PROGRAM_MAJOR_MINOR, + 0x000000E0, + 5, + 0); + pdata->nvm__ews__test_program_minor = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__TEST_PROGRAM_MAJOR_MINOR, + 0x0000001F, + 0, + 0); + pdata->nvm__ews__probe_card_major = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__PROBE_CARD_MAJOR_MINOR, + 0x000000F0, + 4, + 0); + pdata->nvm__ews__probe_card_minor = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__PROBE_CARD_MAJOR_MINOR, + 0x0000000F, + 0, + 0); + pdata->nvm__ews__tester_id = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__TESTER_ID, + 0x000000FF, + 0, + 0); + pdata->nvm__ews__lot[6] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__LOT__BYTE_0, + 0x000000FC, + 2, + 32); + pdata->nvm__ews__lot[5] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__LOT__BYTE_1 - 1, + 0x000003F0, + 4, + 32); + pdata->nvm__ews__lot[4] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__LOT__BYTE_2 - 1, + 0x00000FC0, + 6, + 32); + pdata->nvm__ews__lot[3] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__LOT__BYTE_2, + 0x0000003F, + 0, + 32); + pdata->nvm__ews__lot[2] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__LOT__BYTE_3, + 0x000000FC, + 2, + 32); + pdata->nvm__ews__lot[1] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__LOT__BYTE_4 - 1, + 0x000003F0, + 4, + 32); + pdata->nvm__ews__lot[0] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__LOT__BYTE_5 - 1, + 0x00000FC0, + 6, + 32); + + pdata->nvm__ews__lot[7] = 0x00; + + pdata->nvm__ews__wafer = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__WAFER, + 0x0000001F, + 0, + 0); + pdata->nvm__ews__xcoord = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__XCOORD, + 0x000000FF, + 0, + 0); + pdata->nvm__ews__ycoord = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__YCOORD, + 0x000000FF, + 0, + 0); + + return status; + +} + + +void VL53L1_nvm_format_encode( + VL53L1_decoded_nvm_data_t *pnvm_info, + uint8_t *pnvm_data) +{ + SUPPRESS_UNUSED_WARNING(pnvm_info); + SUPPRESS_UNUSED_WARNING(pnvm_data); +} + + +VL53L1_Error VL53L1_read_nvm_raw_data( + VL53L1_DEV Dev, + uint8_t start_address, + uint8_t count, + uint8_t *pnvm_raw_data) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_nvm_enable( + Dev, + 0x0004, + VL53L1_NVM_POWER_UP_DELAY_US); + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_nvm_read( + Dev, + start_address, + count, + pnvm_raw_data); + + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_nvm_disable(Dev); + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_read_nvm( + VL53L1_DEV Dev, + uint8_t nvm_format, + VL53L1_decoded_nvm_data_t *pnvm_info) +{ + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + + + uint8_t nvm_data[2*VL53L1_NVM_SIZE_IN_BYTES]; + + LOG_FUNCTION_START(""); + + SUPPRESS_UNUSED_WARNING(nvm_format); + + + + + status = VL53L1_read_nvm_raw_data( + Dev, + 0, + VL53L1_NVM_SIZE_IN_BYTES >> 2, + nvm_data); + + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_nvm_format_decode( + VL53L1_NVM_SIZE_IN_BYTES, + nvm_data, + pnvm_info); + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_read_nvm_cal_peak_rate_map( + VL53L1_DEV Dev, + VL53L1_cal_peak_rate_map_t *pcal_data) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + + + uint8_t nvm_data[2*VL53L1_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_SIZE]; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_read_nvm_raw_data( + Dev, + (uint8_t)(VL53L1_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_INDEX >> 2), + (uint8_t)(VL53L1_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_SIZE >> 2), + nvm_data); + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_nvm_decode_cal_peak_rate_map( + VL53L1_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_SIZE, + nvm_data, + pcal_data); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_read_nvm_additional_offset_cal_data( + VL53L1_DEV Dev, + VL53L1_additional_offset_cal_data_t *pcal_data) +{ + + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + + + uint8_t nvm_data[2*VL53L1_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_SIZE]; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_read_nvm_raw_data( + Dev, + (uint8_t)(VL53L1_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_INDEX >> 2), + (uint8_t)(VL53L1_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_SIZE >> 2), + nvm_data); + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_nvm_decode_additional_offset_cal_data( + VL53L1_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_SIZE, + nvm_data, + pcal_data); + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_read_nvm_fmt_range_results_data( + VL53L1_DEV Dev, + uint16_t range_results_select, + VL53L1_decoded_nvm_fmt_range_data_t *prange_data) +{ + + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + + + uint8_t nvm_data[2*VL53L1_NVM__FMT__RANGE_RESULTS__SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + + + + status = VL53L1_read_nvm_raw_data( + Dev, + (uint8_t)(range_results_select >> 2), + (uint8_t)(VL53L1_NVM__FMT__RANGE_RESULTS__SIZE_BYTES >> 2), + nvm_data); + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_nvm_decode_fmt_range_results_data( + VL53L1_NVM__FMT__RANGE_RESULTS__SIZE_BYTES, + nvm_data, + prange_data); + + LOG_FUNCTION_END(status); + + return status; + +} + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_nvm_debug.c b/drivers/input/misc/vl53L1/src/vl53l1_nvm_debug.c new file mode 100644 index 000000000000..fcf9ce51f5cf --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_nvm_debug.c @@ -0,0 +1,1103 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_platform.h" +#include "vl53l1_platform_log.h" +#include "vl53l1_register_map.h" +#include "vl53l1_api_debug.h" +#include "vl53l1_nvm_structs.h" +#include "vl53l1_nvm_debug.h" + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_NVM, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_NVM, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_NVM, status, fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(trace_flags, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + +#ifdef VL53L1_LOG_ENABLE + +void VL53L1_print_nvm_raw_data( + uint8_t *pnvm_raw_data, + uint32_t trace_flags) +{ + + + + + + int i = 0; + + LOG_FUNCTION_START(""); + + for (i = 0 ; i < VL53L1_NVM_SIZE_IN_BYTES ; i++) { + if (i % 4 == 0) + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "\n NVM Addr 0x%02X : 0x", + i/4); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%02X", + *pnvm_raw_data++); + } + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "\n"); + + LOG_FUNCTION_END(0); +} + + +void VL53L1_print_decoded_nvm_data( + VL53L1_decoded_nvm_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + char fp_text[VL53L1_MAX_STRING_LENGTH]; + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + uint8_t i = 0; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__identification_model_id", + pdata->nvm__identification_model_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__identification_module_type", + pdata->nvm__identification_module_type); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__identification_revision_id", + pdata->nvm__identification_revision_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__identification_module_id", + pdata->nvm__identification_module_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__i2c_valid", + pdata->nvm__i2c_valid); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__i2c_device_address_ews", + pdata->nvm__i2c_device_address_ews); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->nvm__ews__fast_osc_frequency, + 12, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__ews__fast_osc_frequency", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__fast_osc_trim_max", + pdata->nvm__ews__fast_osc_trim_max); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__fast_osc_freq_set", + pdata->nvm__ews__fast_osc_freq_set); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__slow_osc_calibration", + pdata->nvm__ews__slow_osc_calibration); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->nvm__fmt__fast_osc_frequency, + 12, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__fmt__fast_osc_frequency", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__fast_osc_trim_max", + pdata->nvm__fmt__fast_osc_trim_max); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__fast_osc_freq_set", + pdata->nvm__fmt__fast_osc_freq_set); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__slow_osc_calibration", + pdata->nvm__fmt__slow_osc_calibration); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__vhv_config_unlock", + pdata->nvm__vhv_config_unlock); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ref_selvddpix", + pdata->nvm__ref_selvddpix); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ref_selvquench", + pdata->nvm__ref_selvquench); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__regavdd1v2_sel", + pdata->nvm__regavdd1v2_sel); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__regdvdd1v2_sel", + pdata->nvm__regdvdd1v2_sel); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__vhv_timeout__macrop", + pdata->nvm__vhv_timeout__macrop); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__vhv_loop_bound", + pdata->nvm__vhv_loop_bound); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__vhv_count_threshold", + pdata->nvm__vhv_count_threshold); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__vhv_offset", + pdata->nvm__vhv_offset); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__vhv_init_enable", + pdata->nvm__vhv_init_enable); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__vhv_init_value", + pdata->nvm__vhv_init_value); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_vcsel_trim_ll", + pdata->nvm__laser_safety_vcsel_trim_ll); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_vcsel_selion_ll", + pdata->nvm__laser_safety_vcsel_selion_ll); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_vcsel_selion_max_ll", + pdata->nvm__laser_safety_vcsel_selion_max_ll); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_mult_ll", + pdata->nvm__laser_safety_mult_ll); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_clip_ll", + pdata->nvm__laser_safety_clip_ll); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_vcsel_trim_ld", + pdata->nvm__laser_safety_vcsel_trim_ld); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_vcsel_selion_ld", + pdata->nvm__laser_safety_vcsel_selion_ld); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_vcsel_selion_max_ld", + pdata->nvm__laser_safety_vcsel_selion_max_ld); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_mult_ld", + pdata->nvm__laser_safety_mult_ld); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_clip_ld", + pdata->nvm__laser_safety_clip_ld); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_lock_byte", + pdata->nvm__laser_safety_lock_byte); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_unlock_byte", + pdata->nvm__laser_safety_unlock_byte); + + + + + for (i = 0 ; i < VL53L1_RTN_SPAD_BUFFER_SIZE ; i++) { + sprintf( + ppre_text, + "%snvm__ews__spad_enables_rtn[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->nvm__ews__spad_enables_rtn[i]); + } + + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) { + sprintf( + ppre_text, + "%snvm__ews__spad_enables_ref__loc1[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->nvm__ews__spad_enables_ref__loc1[i]); + } + + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) { + sprintf( + ppre_text, + "%snvm__ews__spad_enables_ref__loc2[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->nvm__ews__spad_enables_ref__loc2[i]); + } + + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) { + sprintf( + ppre_text, + "%snvm__ews__spad_enables_ref__loc3[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->nvm__ews__spad_enables_ref__loc3[i]); + } + + + + + + for (i = 0 ; i < VL53L1_RTN_SPAD_BUFFER_SIZE ; i++) { + sprintf( + ppre_text, + "%snvm__fmt__spad_enables_rtn[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->nvm__fmt__spad_enables_rtn[i]); + } + + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) { + sprintf( + ppre_text, + "%snvm__fmt__spad_enables_ref__loc1[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->nvm__fmt__spad_enables_ref__loc1[i]); + } + + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) { + sprintf( + ppre_text, + "%snvm__fmt__spad_enables_ref__loc2[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->nvm__fmt__spad_enables_ref__loc2[i]); + } + + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) { + sprintf( + ppre_text, + "%snvm__fmt__spad_enables_ref__loc3[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->nvm__fmt__spad_enables_ref__loc3[i]); + } + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__roi_config__mode_roi_centre_spad", + pdata->nvm__fmt__roi_config__mode_roi_centre_spad); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__roi_config__mode_roi_x_size", + pdata->nvm__fmt__roi_config__mode_roi_x_size); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__roi_config__mode_roi_y_size", + pdata->nvm__fmt__roi_config__mode_roi_y_size); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__ref_spad_apply__num_requested_ref_spad", + pdata->nvm__fmt__ref_spad_apply__num_requested_ref_spad); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__ref_spad_man__ref_location", + pdata->nvm__fmt__ref_spad_man__ref_location); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "nvm__fmt__mm_config__inner_offset_mm", + pdata->nvm__fmt__mm_config__inner_offset_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "nvm__fmt__mm_config__outer_offset_mm", + pdata->nvm__fmt__mm_config__outer_offset_mm); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->nvm__fmt__algo_part_to_part_range_offset_mm, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__fmt__algo_part_to_part_range_offset_mm", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->nvm__fmt__algo__crosstalk_compensation_plane_offset_kcps, + 9, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__fmt__algo__crosstalk_compensation_plane_offset_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->nvm__fmt__algo__crosstalk_compensation_x_plane_gradient_kcps, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__fmt__algo__crosstalk_compensation_x_plane_gradient_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->nvm__fmt__algo__crosstalk_compensation_y_plane_gradient_kcps, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__fmt__algo__crosstalk_compensation_y_plane_gradient_kcps", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__spare__host_config__nvm_config_spare_0", + pdata->nvm__fmt__spare__host_config__nvm_config_spare_0); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__spare__host_config__nvm_config_spare_1", + pdata->nvm__fmt__spare__host_config__nvm_config_spare_1); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__customer_space_programmed", + pdata->nvm__customer_space_programmed); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__cust__i2c_device_address", + pdata->nvm__cust__i2c_device_address); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__cust__ref_spad_apply__num_requested_ref_spad", + pdata->nvm__cust__ref_spad_apply__num_requested_ref_spad); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__cust__ref_spad_man__ref_location", + pdata->nvm__cust__ref_spad_man__ref_location); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "nvm__cust__mm_config__inner_offset_mm", + pdata->nvm__cust__mm_config__inner_offset_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "nvm__cust__mm_config__outer_offset_mm", + pdata->nvm__cust__mm_config__outer_offset_mm); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->nvm__cust__algo_part_to_part_range_offset_mm, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__cust__algo_part_to_part_range_offset_mm", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (uint32_t)pdata->nvm__cust__algo__crosstalk_compensation_plane_offset_kcps, + 9, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__cust__algo__crosstalk_compensation_plane_offset_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->nvm__cust__algo__crosstalk_compensation_x_plane_gradient_kcps, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__cust__algo__crosstalk_compensation_x_plane_gradient_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->nvm__cust__algo__crosstalk_compensation_y_plane_gradient_kcps, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__cust__algo__crosstalk_compensation_y_plane_gradient_kcps", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__cust__spare__host_config__nvm_config_spare_0", + pdata->nvm__cust__spare__host_config__nvm_config_spare_0); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__cust__spare__host_config__nvm_config_spare_1", + pdata->nvm__cust__spare__host_config__nvm_config_spare_1); + + + + + sprintf( + ppre_text, + "%sfmt_peak_rate_map.", pprefix); + + VL53L1_print_cal_peak_rate_map( + &(pdata->fmt_peak_rate_map), + ppre_text, + VL53L1_TRACE_MODULE_NVM_DATA); + + sprintf( + ppre_text, + "%sfmt_add_offset_data.", + pprefix); + + VL53L1_print_additional_offset_cal_data( + &(pdata->fmt_add_offset_data), + ppre_text, + VL53L1_TRACE_MODULE_NVM_DATA); + + + + + for (i = 0 ; i < VL53L1_NVM_MAX_FMT_RANGE_DATA ; i++) { + sprintf( + ppre_text, + "%sfmt_range_data[%u].", + pprefix, i); + + VL53L1_print_decoded_nvm_fmt_range_data( + &(pdata->fmt_range_data[i]), + ppre_text, + trace_flags); + } + + sprintf( + ppre_text, + "%sfmt_info.", + pprefix); + + VL53L1_print_decoded_nvm_fmt_info( + &(pdata->fmt_info), + ppre_text, + trace_flags); + + sprintf( + ppre_text, + "%sews_info.", + pprefix); + + VL53L1_print_decoded_nvm_ews_info( + &(pdata->ews_info), + ppre_text, + trace_flags); +} + + +void VL53L1_print_decoded_nvm_fmt_range_data( + VL53L1_decoded_nvm_fmt_range_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__actual_effective_rtn_spads, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__actual_effective_rtn_spads", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ref_spad_array__num_requested_ref_spads", + pdata->ref_spad_array__num_requested_ref_spads); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ref_spad_array__ref_location", + pdata->ref_spad_array__ref_location); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__peak_signal_count_rate_rtn_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__peak_signal_count_rate_rtn_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__ambient_count_rate_rtn_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__ambient_count_rate_rtn_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__peak_signal_count_rate_ref_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "result__peak_signal_count_rate_ref_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__ambient_count_rate_ref_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__ambient_count_rate_ref_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->measured_distance_mm, + 4, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "measured_distance_mm", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (uint32_t)pdata->measured_distance_stdev_mm, + 4, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "measured_distance_stdev_mm", + fp_text); +} + + +void VL53L1_print_decoded_nvm_fmt_info( + VL53L1_decoded_nvm_fmt_info_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = \"%s\"\n", + pprefix, + "nvm__fmt__fgc", + pdata->nvm__fmt__fgc); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__test_program_major", + pdata->nvm__fmt__test_program_major); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__test_program_minor", + pdata->nvm__fmt__test_program_minor); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__map_major", + pdata->nvm__fmt__map_major); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__map_minor", + pdata->nvm__fmt__map_minor); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__year", + pdata->nvm__fmt__year); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__month", + pdata->nvm__fmt__month); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__day", + pdata->nvm__fmt__day); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__module_date_phase", + pdata->nvm__fmt__module_date_phase); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__time", + pdata->nvm__fmt__time); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__tester_id", + pdata->nvm__fmt__tester_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__site_id", + pdata->nvm__fmt__site_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__test_program_major", + pdata->nvm__ews__test_program_major); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__test_program_minor", + pdata->nvm__ews__test_program_minor); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__probe_card_major", + pdata->nvm__ews__probe_card_major); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__probe_card_minor", + pdata->nvm__ews__probe_card_minor); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__tester_id", + pdata->nvm__ews__tester_id); +} + + +void VL53L1_print_decoded_nvm_ews_info( + VL53L1_decoded_nvm_ews_info_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = \"%s\"\n", + pprefix, + "nvm__ews__lot", + pdata->nvm__ews__lot); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__wafer", + pdata->nvm__ews__wafer); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__xcoord", + pdata->nvm__ews__xcoord); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__ycoord", + pdata->nvm__ews__ycoord); +} + +#endif + + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_register_funcs.c b/drivers/input/misc/vl53L1/src/vl53l1_register_funcs.c new file mode 100644 index 000000000000..2651c4b37384 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_register_funcs.c @@ -0,0 +1,4594 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_platform.h" +#include "vl53l1_platform_log.h" +#include "vl53l1_core.h" +#include "vl53l1_register_map.h" +#include "vl53l1_register_structs.h" +#include "vl53l1_register_funcs.h" + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_REGISTERS, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_REGISTERS, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_REGISTERS, status, fmt, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_i2c_encode_static_nvm_managed( + VL53L1_static_nvm_managed_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->i2c_slave__device_address & 0x7F; + *(pbuffer + 1) = + pdata->ana_config__vhv_ref_sel_vddpix & 0xF; + *(pbuffer + 2) = + pdata->ana_config__vhv_ref_sel_vquench & 0x7F; + *(pbuffer + 3) = + pdata->ana_config__reg_avdd1v2_sel & 0x3; + *(pbuffer + 4) = + pdata->ana_config__fast_osc__trim & 0x7F; + VL53L1_i2c_encode_uint16_t( + pdata->osc_measured__fast_osc__frequency, + 2, + pbuffer + 5); + *(pbuffer + 7) = + pdata->vhv_config__timeout_macrop_loop_bound; + *(pbuffer + 8) = + pdata->vhv_config__count_thresh; + *(pbuffer + 9) = + pdata->vhv_config__offset & 0x3F; + *(pbuffer + 10) = + pdata->vhv_config__init; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_static_nvm_managed( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_static_nvm_managed_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->i2c_slave__device_address = + (*(pbuffer + 0)) & 0x7F; + pdata->ana_config__vhv_ref_sel_vddpix = + (*(pbuffer + 1)) & 0xF; + pdata->ana_config__vhv_ref_sel_vquench = + (*(pbuffer + 2)) & 0x7F; + pdata->ana_config__reg_avdd1v2_sel = + (*(pbuffer + 3)) & 0x3; + pdata->ana_config__fast_osc__trim = + (*(pbuffer + 4)) & 0x7F; + pdata->osc_measured__fast_osc__frequency = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 5)); + pdata->vhv_config__timeout_macrop_loop_bound = + (*(pbuffer + 7)); + pdata->vhv_config__count_thresh = + (*(pbuffer + 8)); + pdata->vhv_config__offset = + (*(pbuffer + 9)) & 0x3F; + pdata->vhv_config__init = + (*(pbuffer + 10)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_static_nvm_managed( + VL53L1_DEV Dev, + VL53L1_static_nvm_managed_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_static_nvm_managed( + pdata, + VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_I2C_SLAVE__DEVICE_ADDRESS, + comms_buffer, + VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_static_nvm_managed( + VL53L1_DEV Dev, + VL53L1_static_nvm_managed_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_ReadMulti( + Dev, + VL53L1_I2C_SLAVE__DEVICE_ADDRESS, + comms_buffer, + VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_static_nvm_managed( + VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_customer_nvm_managed( + VL53L1_customer_nvm_managed_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->global_config__spad_enables_ref_0; + *(pbuffer + 1) = + pdata->global_config__spad_enables_ref_1; + *(pbuffer + 2) = + pdata->global_config__spad_enables_ref_2; + *(pbuffer + 3) = + pdata->global_config__spad_enables_ref_3; + *(pbuffer + 4) = + pdata->global_config__spad_enables_ref_4; + *(pbuffer + 5) = + pdata->global_config__spad_enables_ref_5 & 0xF; + *(pbuffer + 6) = + pdata->global_config__ref_en_start_select; + *(pbuffer + 7) = + pdata->ref_spad_man__num_requested_ref_spads & 0x3F; + *(pbuffer + 8) = + pdata->ref_spad_man__ref_location & 0x3; + VL53L1_i2c_encode_uint16_t( + pdata->algo__crosstalk_compensation_plane_offset_kcps, + 2, + pbuffer + 9); + VL53L1_i2c_encode_int16_t( + pdata->algo__crosstalk_compensation_x_plane_gradient_kcps, + 2, + pbuffer + 11); + VL53L1_i2c_encode_int16_t( + pdata->algo__crosstalk_compensation_y_plane_gradient_kcps, + 2, + pbuffer + 13); + VL53L1_i2c_encode_uint16_t( + pdata->ref_spad_char__total_rate_target_mcps, + 2, + pbuffer + 15); + VL53L1_i2c_encode_int16_t( + pdata->algo__part_to_part_range_offset_mm & 0x1FFF, + 2, + pbuffer + 17); + VL53L1_i2c_encode_int16_t( + pdata->mm_config__inner_offset_mm, + 2, + pbuffer + 19); + VL53L1_i2c_encode_int16_t( + pdata->mm_config__outer_offset_mm, + 2, + pbuffer + 21); + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_customer_nvm_managed( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_customer_nvm_managed_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->global_config__spad_enables_ref_0 = + (*(pbuffer + 0)); + pdata->global_config__spad_enables_ref_1 = + (*(pbuffer + 1)); + pdata->global_config__spad_enables_ref_2 = + (*(pbuffer + 2)); + pdata->global_config__spad_enables_ref_3 = + (*(pbuffer + 3)); + pdata->global_config__spad_enables_ref_4 = + (*(pbuffer + 4)); + pdata->global_config__spad_enables_ref_5 = + (*(pbuffer + 5)) & 0xF; + pdata->global_config__ref_en_start_select = + (*(pbuffer + 6)); + pdata->ref_spad_man__num_requested_ref_spads = + (*(pbuffer + 7)) & 0x3F; + pdata->ref_spad_man__ref_location = + (*(pbuffer + 8)) & 0x3; + pdata->algo__crosstalk_compensation_plane_offset_kcps = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 9)); + pdata->algo__crosstalk_compensation_x_plane_gradient_kcps = + (VL53L1_i2c_decode_int16_t(2, pbuffer + 11)); + pdata->algo__crosstalk_compensation_y_plane_gradient_kcps = + (VL53L1_i2c_decode_int16_t(2, pbuffer + 13)); + pdata->ref_spad_char__total_rate_target_mcps = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 15)); + pdata->algo__part_to_part_range_offset_mm = + (VL53L1_i2c_decode_int16_t(2, pbuffer + 17)) & 0x1FFF; + pdata->mm_config__inner_offset_mm = + (VL53L1_i2c_decode_int16_t(2, pbuffer + 19)); + pdata->mm_config__outer_offset_mm = + (VL53L1_i2c_decode_int16_t(2, pbuffer + 21)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_customer_nvm_managed( + VL53L1_DEV Dev, + VL53L1_customer_nvm_managed_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_customer_nvm_managed( + pdata, + VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0, + comms_buffer, + VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_customer_nvm_managed( + VL53L1_DEV Dev, + VL53L1_customer_nvm_managed_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_ReadMulti( + Dev, + VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0, + comms_buffer, + VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_customer_nvm_managed( + VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_static_config( + VL53L1_static_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + VL53L1_i2c_encode_uint16_t( + pdata->dss_config__target_total_rate_mcps, + 2, + pbuffer + 0); + *(pbuffer + 2) = + pdata->debug__ctrl & 0x1; + *(pbuffer + 3) = + pdata->test_mode__ctrl & 0xF; + *(pbuffer + 4) = + pdata->clk_gating__ctrl & 0xF; + *(pbuffer + 5) = + pdata->nvm_bist__ctrl & 0x1F; + *(pbuffer + 6) = + pdata->nvm_bist__num_nvm_words & 0x7F; + *(pbuffer + 7) = + pdata->nvm_bist__start_address & 0x7F; + *(pbuffer + 8) = + pdata->host_if__status & 0x1; + *(pbuffer + 9) = + pdata->pad_i2c_hv__config; + *(pbuffer + 10) = + pdata->pad_i2c_hv__extsup_config & 0x1; + *(pbuffer + 11) = + pdata->gpio_hv_pad__ctrl & 0x3; + *(pbuffer + 12) = + pdata->gpio_hv_mux__ctrl & 0x1F; + *(pbuffer + 13) = + pdata->gpio__tio_hv_status & 0x3; + *(pbuffer + 14) = + pdata->gpio__fio_hv_status & 0x3; + *(pbuffer + 15) = + pdata->ana_config__spad_sel_pswidth & 0x7; + *(pbuffer + 16) = + pdata->ana_config__vcsel_pulse_width_offset & 0x1F; + *(pbuffer + 17) = + pdata->ana_config__fast_osc__config_ctrl & 0x1; + *(pbuffer + 18) = + pdata->sigma_estimator__effective_pulse_width_ns; + *(pbuffer + 19) = + pdata->sigma_estimator__effective_ambient_width_ns; + *(pbuffer + 20) = + pdata->sigma_estimator__sigma_ref_mm; + *(pbuffer + 21) = + pdata->algo__crosstalk_compensation_valid_height_mm; + *(pbuffer + 22) = + pdata->spare_host_config__static_config_spare_0; + *(pbuffer + 23) = + pdata->spare_host_config__static_config_spare_1; + VL53L1_i2c_encode_uint16_t( + pdata->algo__range_ignore_threshold_mcps, + 2, + pbuffer + 24); + *(pbuffer + 26) = + pdata->algo__range_ignore_valid_height_mm; + *(pbuffer + 27) = + pdata->algo__range_min_clip; + *(pbuffer + 28) = + pdata->algo__consistency_check__tolerance & 0xF; + *(pbuffer + 29) = + pdata->spare_host_config__static_config_spare_2; + *(pbuffer + 30) = + pdata->sd_config__reset_stages_msb & 0xF; + *(pbuffer + 31) = + pdata->sd_config__reset_stages_lsb; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_static_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_static_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->dss_config__target_total_rate_mcps = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 0)); + pdata->debug__ctrl = + (*(pbuffer + 2)) & 0x1; + pdata->test_mode__ctrl = + (*(pbuffer + 3)) & 0xF; + pdata->clk_gating__ctrl = + (*(pbuffer + 4)) & 0xF; + pdata->nvm_bist__ctrl = + (*(pbuffer + 5)) & 0x1F; + pdata->nvm_bist__num_nvm_words = + (*(pbuffer + 6)) & 0x7F; + pdata->nvm_bist__start_address = + (*(pbuffer + 7)) & 0x7F; + pdata->host_if__status = + (*(pbuffer + 8)) & 0x1; + pdata->pad_i2c_hv__config = + (*(pbuffer + 9)); + pdata->pad_i2c_hv__extsup_config = + (*(pbuffer + 10)) & 0x1; + pdata->gpio_hv_pad__ctrl = + (*(pbuffer + 11)) & 0x3; + pdata->gpio_hv_mux__ctrl = + (*(pbuffer + 12)) & 0x1F; + pdata->gpio__tio_hv_status = + (*(pbuffer + 13)) & 0x3; + pdata->gpio__fio_hv_status = + (*(pbuffer + 14)) & 0x3; + pdata->ana_config__spad_sel_pswidth = + (*(pbuffer + 15)) & 0x7; + pdata->ana_config__vcsel_pulse_width_offset = + (*(pbuffer + 16)) & 0x1F; + pdata->ana_config__fast_osc__config_ctrl = + (*(pbuffer + 17)) & 0x1; + pdata->sigma_estimator__effective_pulse_width_ns = + (*(pbuffer + 18)); + pdata->sigma_estimator__effective_ambient_width_ns = + (*(pbuffer + 19)); + pdata->sigma_estimator__sigma_ref_mm = + (*(pbuffer + 20)); + pdata->algo__crosstalk_compensation_valid_height_mm = + (*(pbuffer + 21)); + pdata->spare_host_config__static_config_spare_0 = + (*(pbuffer + 22)); + pdata->spare_host_config__static_config_spare_1 = + (*(pbuffer + 23)); + pdata->algo__range_ignore_threshold_mcps = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 24)); + pdata->algo__range_ignore_valid_height_mm = + (*(pbuffer + 26)); + pdata->algo__range_min_clip = + (*(pbuffer + 27)); + pdata->algo__consistency_check__tolerance = + (*(pbuffer + 28)) & 0xF; + pdata->spare_host_config__static_config_spare_2 = + (*(pbuffer + 29)); + pdata->sd_config__reset_stages_msb = + (*(pbuffer + 30)) & 0xF; + pdata->sd_config__reset_stages_lsb = + (*(pbuffer + 31)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_static_config( + VL53L1_DEV Dev, + VL53L1_static_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_static_config( + pdata, + VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS, + comms_buffer, + VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_static_config( + VL53L1_DEV Dev, + VL53L1_static_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_ReadMulti( + Dev, + VL53L1_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS, + comms_buffer, + VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_static_config( + VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_general_config( + VL53L1_general_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->gph_config__stream_count_update_value; + *(pbuffer + 1) = + pdata->global_config__stream_divider; + *(pbuffer + 2) = + pdata->system__interrupt_config_gpio; + *(pbuffer + 3) = + pdata->cal_config__vcsel_start & 0x7F; + VL53L1_i2c_encode_uint16_t( + pdata->cal_config__repeat_rate & 0xFFF, + 2, + pbuffer + 4); + *(pbuffer + 6) = + pdata->global_config__vcsel_width & 0x7F; + *(pbuffer + 7) = + pdata->phasecal_config__timeout_macrop; + *(pbuffer + 8) = + pdata->phasecal_config__target; + *(pbuffer + 9) = + pdata->phasecal_config__override & 0x1; + *(pbuffer + 11) = + pdata->dss_config__roi_mode_control & 0x7; + VL53L1_i2c_encode_uint16_t( + pdata->system__thresh_rate_high, + 2, + pbuffer + 12); + VL53L1_i2c_encode_uint16_t( + pdata->system__thresh_rate_low, + 2, + pbuffer + 14); + VL53L1_i2c_encode_uint16_t( + pdata->dss_config__manual_effective_spads_select, + 2, + pbuffer + 16); + *(pbuffer + 18) = + pdata->dss_config__manual_block_select; + *(pbuffer + 19) = + pdata->dss_config__aperture_attenuation; + *(pbuffer + 20) = + pdata->dss_config__max_spads_limit; + *(pbuffer + 21) = + pdata->dss_config__min_spads_limit; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_general_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_general_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->gph_config__stream_count_update_value = + (*(pbuffer + 0)); + pdata->global_config__stream_divider = + (*(pbuffer + 1)); + pdata->system__interrupt_config_gpio = + (*(pbuffer + 2)); + pdata->cal_config__vcsel_start = + (*(pbuffer + 3)) & 0x7F; + pdata->cal_config__repeat_rate = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 4)) & 0xFFF; + pdata->global_config__vcsel_width = + (*(pbuffer + 6)) & 0x7F; + pdata->phasecal_config__timeout_macrop = + (*(pbuffer + 7)); + pdata->phasecal_config__target = + (*(pbuffer + 8)); + pdata->phasecal_config__override = + (*(pbuffer + 9)) & 0x1; + pdata->dss_config__roi_mode_control = + (*(pbuffer + 11)) & 0x7; + pdata->system__thresh_rate_high = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 12)); + pdata->system__thresh_rate_low = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 14)); + pdata->dss_config__manual_effective_spads_select = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 16)); + pdata->dss_config__manual_block_select = + (*(pbuffer + 18)); + pdata->dss_config__aperture_attenuation = + (*(pbuffer + 19)); + pdata->dss_config__max_spads_limit = + (*(pbuffer + 20)); + pdata->dss_config__min_spads_limit = + (*(pbuffer + 21)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_general_config( + VL53L1_DEV Dev, + VL53L1_general_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_general_config( + pdata, + VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_GPH_CONFIG__STREAM_COUNT_UPDATE_VALUE, + comms_buffer, + VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_general_config( + VL53L1_DEV Dev, + VL53L1_general_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_ReadMulti( + Dev, + VL53L1_GPH_CONFIG__STREAM_COUNT_UPDATE_VALUE, + comms_buffer, + VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_general_config( + VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_timing_config( + VL53L1_timing_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->mm_config__timeout_macrop_a_hi & 0xF; + *(pbuffer + 1) = + pdata->mm_config__timeout_macrop_a_lo; + *(pbuffer + 2) = + pdata->mm_config__timeout_macrop_b_hi & 0xF; + *(pbuffer + 3) = + pdata->mm_config__timeout_macrop_b_lo; + *(pbuffer + 4) = + pdata->range_config__timeout_macrop_a_hi & 0xF; + *(pbuffer + 5) = + pdata->range_config__timeout_macrop_a_lo; + *(pbuffer + 6) = + pdata->range_config__vcsel_period_a & 0x3F; + *(pbuffer + 7) = + pdata->range_config__timeout_macrop_b_hi & 0xF; + *(pbuffer + 8) = + pdata->range_config__timeout_macrop_b_lo; + *(pbuffer + 9) = + pdata->range_config__vcsel_period_b & 0x3F; + VL53L1_i2c_encode_uint16_t( + pdata->range_config__sigma_thresh, + 2, + pbuffer + 10); + VL53L1_i2c_encode_uint16_t( + pdata->range_config__min_count_rate_rtn_limit_mcps, + 2, + pbuffer + 12); + *(pbuffer + 14) = + pdata->range_config__valid_phase_low; + *(pbuffer + 15) = + pdata->range_config__valid_phase_high; + VL53L1_i2c_encode_uint32_t( + pdata->system__intermeasurement_period, + 4, + pbuffer + 18); + *(pbuffer + 22) = + pdata->system__fractional_enable & 0x1; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_timing_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_timing_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->mm_config__timeout_macrop_a_hi = + (*(pbuffer + 0)) & 0xF; + pdata->mm_config__timeout_macrop_a_lo = + (*(pbuffer + 1)); + pdata->mm_config__timeout_macrop_b_hi = + (*(pbuffer + 2)) & 0xF; + pdata->mm_config__timeout_macrop_b_lo = + (*(pbuffer + 3)); + pdata->range_config__timeout_macrop_a_hi = + (*(pbuffer + 4)) & 0xF; + pdata->range_config__timeout_macrop_a_lo = + (*(pbuffer + 5)); + pdata->range_config__vcsel_period_a = + (*(pbuffer + 6)) & 0x3F; + pdata->range_config__timeout_macrop_b_hi = + (*(pbuffer + 7)) & 0xF; + pdata->range_config__timeout_macrop_b_lo = + (*(pbuffer + 8)); + pdata->range_config__vcsel_period_b = + (*(pbuffer + 9)) & 0x3F; + pdata->range_config__sigma_thresh = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 10)); + pdata->range_config__min_count_rate_rtn_limit_mcps = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 12)); + pdata->range_config__valid_phase_low = + (*(pbuffer + 14)); + pdata->range_config__valid_phase_high = + (*(pbuffer + 15)); + pdata->system__intermeasurement_period = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 18)); + pdata->system__fractional_enable = + (*(pbuffer + 22)) & 0x1; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_timing_config( + VL53L1_DEV Dev, + VL53L1_timing_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_timing_config( + pdata, + VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_MM_CONFIG__TIMEOUT_MACROP_A_HI, + comms_buffer, + VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_timing_config( + VL53L1_DEV Dev, + VL53L1_timing_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_ReadMulti( + Dev, + VL53L1_MM_CONFIG__TIMEOUT_MACROP_A_HI, + comms_buffer, + VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_timing_config( + VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_dynamic_config( + VL53L1_dynamic_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->system__grouped_parameter_hold_0 & 0x3; + VL53L1_i2c_encode_uint16_t( + pdata->system__thresh_high, + 2, + pbuffer + 1); + VL53L1_i2c_encode_uint16_t( + pdata->system__thresh_low, + 2, + pbuffer + 3); + *(pbuffer + 5) = + pdata->system__enable_xtalk_per_quadrant & 0x1; + *(pbuffer + 6) = + pdata->system__seed_config & 0x7; + *(pbuffer + 7) = + pdata->sd_config__woi_sd0; + *(pbuffer + 8) = + pdata->sd_config__woi_sd1; + *(pbuffer + 9) = + pdata->sd_config__initial_phase_sd0 & 0x7F; + *(pbuffer + 10) = + pdata->sd_config__initial_phase_sd1 & 0x7F; + *(pbuffer + 11) = + pdata->system__grouped_parameter_hold_1 & 0x3; + *(pbuffer + 12) = + pdata->sd_config__first_order_select & 0x3; + *(pbuffer + 13) = + pdata->sd_config__quantifier & 0xF; + *(pbuffer + 14) = + pdata->roi_config__user_roi_centre_spad; + *(pbuffer + 15) = + pdata->roi_config__user_roi_requested_global_xy_size; + *(pbuffer + 16) = + pdata->system__sequence_config; + *(pbuffer + 17) = + pdata->system__grouped_parameter_hold & 0x3; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_dynamic_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_dynamic_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->system__grouped_parameter_hold_0 = + (*(pbuffer + 0)) & 0x3; + pdata->system__thresh_high = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 1)); + pdata->system__thresh_low = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 3)); + pdata->system__enable_xtalk_per_quadrant = + (*(pbuffer + 5)) & 0x1; + pdata->system__seed_config = + (*(pbuffer + 6)) & 0x7; + pdata->sd_config__woi_sd0 = + (*(pbuffer + 7)); + pdata->sd_config__woi_sd1 = + (*(pbuffer + 8)); + pdata->sd_config__initial_phase_sd0 = + (*(pbuffer + 9)) & 0x7F; + pdata->sd_config__initial_phase_sd1 = + (*(pbuffer + 10)) & 0x7F; + pdata->system__grouped_parameter_hold_1 = + (*(pbuffer + 11)) & 0x3; + pdata->sd_config__first_order_select = + (*(pbuffer + 12)) & 0x3; + pdata->sd_config__quantifier = + (*(pbuffer + 13)) & 0xF; + pdata->roi_config__user_roi_centre_spad = + (*(pbuffer + 14)); + pdata->roi_config__user_roi_requested_global_xy_size = + (*(pbuffer + 15)); + pdata->system__sequence_config = + (*(pbuffer + 16)); + pdata->system__grouped_parameter_hold = + (*(pbuffer + 17)) & 0x3; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_dynamic_config( + VL53L1_DEV Dev, + VL53L1_dynamic_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_dynamic_config( + pdata, + VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD_0, + comms_buffer, + VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_dynamic_config( + VL53L1_DEV Dev, + VL53L1_dynamic_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_ReadMulti( + Dev, + VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD_0, + comms_buffer, + VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_dynamic_config( + VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_system_control( + VL53L1_system_control_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->power_management__go1_power_force & 0x1; + *(pbuffer + 1) = + pdata->system__stream_count_ctrl & 0x1; + *(pbuffer + 2) = + pdata->firmware__enable & 0x1; + *(pbuffer + 3) = + pdata->system__interrupt_clear & 0x3; + *(pbuffer + 4) = + pdata->system__mode_start; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_system_control( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_system_control_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->power_management__go1_power_force = + (*(pbuffer + 0)) & 0x1; + pdata->system__stream_count_ctrl = + (*(pbuffer + 1)) & 0x1; + pdata->firmware__enable = + (*(pbuffer + 2)) & 0x1; + pdata->system__interrupt_clear = + (*(pbuffer + 3)) & 0x3; + pdata->system__mode_start = + (*(pbuffer + 4)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_system_control( + VL53L1_DEV Dev, + VL53L1_system_control_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_system_control( + pdata, + VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_POWER_MANAGEMENT__GO1_POWER_FORCE, + comms_buffer, + VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_system_control( + VL53L1_DEV Dev, + VL53L1_system_control_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_ReadMulti( + Dev, + VL53L1_POWER_MANAGEMENT__GO1_POWER_FORCE, + comms_buffer, + VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_system_control( + VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_system_results( + VL53L1_system_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->result__interrupt_status & 0x3F; + *(pbuffer + 1) = + pdata->result__range_status; + *(pbuffer + 2) = + pdata->result__report_status & 0xF; + *(pbuffer + 3) = + pdata->result__stream_count; + VL53L1_i2c_encode_uint16_t( + pdata->result__dss_actual_effective_spads_sd0, + 2, + pbuffer + 4); + VL53L1_i2c_encode_uint16_t( + pdata->result__peak_signal_count_rate_mcps_sd0, + 2, + pbuffer + 6); + VL53L1_i2c_encode_uint16_t( + pdata->result__ambient_count_rate_mcps_sd0, + 2, + pbuffer + 8); + VL53L1_i2c_encode_uint16_t( + pdata->result__sigma_sd0, + 2, + pbuffer + 10); + VL53L1_i2c_encode_uint16_t( + pdata->result__phase_sd0, + 2, + pbuffer + 12); + VL53L1_i2c_encode_uint16_t( + pdata->result__final_crosstalk_corrected_range_mm_sd0, + 2, + pbuffer + 14); + VL53L1_i2c_encode_uint16_t( + pdata->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0, + 2, + pbuffer + 16); + VL53L1_i2c_encode_uint16_t( + pdata->result__mm_inner_actual_effective_spads_sd0, + 2, + pbuffer + 18); + VL53L1_i2c_encode_uint16_t( + pdata->result__mm_outer_actual_effective_spads_sd0, + 2, + pbuffer + 20); + VL53L1_i2c_encode_uint16_t( + pdata->result__avg_signal_count_rate_mcps_sd0, + 2, + pbuffer + 22); + VL53L1_i2c_encode_uint16_t( + pdata->result__dss_actual_effective_spads_sd1, + 2, + pbuffer + 24); + VL53L1_i2c_encode_uint16_t( + pdata->result__peak_signal_count_rate_mcps_sd1, + 2, + pbuffer + 26); + VL53L1_i2c_encode_uint16_t( + pdata->result__ambient_count_rate_mcps_sd1, + 2, + pbuffer + 28); + VL53L1_i2c_encode_uint16_t( + pdata->result__sigma_sd1, + 2, + pbuffer + 30); + VL53L1_i2c_encode_uint16_t( + pdata->result__phase_sd1, + 2, + pbuffer + 32); + VL53L1_i2c_encode_uint16_t( + pdata->result__final_crosstalk_corrected_range_mm_sd1, + 2, + pbuffer + 34); + VL53L1_i2c_encode_uint16_t( + pdata->result__spare_0_sd1, + 2, + pbuffer + 36); + VL53L1_i2c_encode_uint16_t( + pdata->result__spare_1_sd1, + 2, + pbuffer + 38); + VL53L1_i2c_encode_uint16_t( + pdata->result__spare_2_sd1, + 2, + pbuffer + 40); + *(pbuffer + 42) = + pdata->result__spare_3_sd1; + *(pbuffer + 43) = + pdata->result__thresh_info; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_system_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_system_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->result__interrupt_status = + (*(pbuffer + 0)) & 0x3F; + pdata->result__range_status = + (*(pbuffer + 1)); + pdata->result__report_status = + (*(pbuffer + 2)) & 0xF; + pdata->result__stream_count = + (*(pbuffer + 3)); + pdata->result__dss_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 4)); + pdata->result__peak_signal_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 6)); + pdata->result__ambient_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 8)); + pdata->result__sigma_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 10)); + pdata->result__phase_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 12)); + pdata->result__final_crosstalk_corrected_range_mm_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 14)); + pdata->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 16)); + pdata->result__mm_inner_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 18)); + pdata->result__mm_outer_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 20)); + pdata->result__avg_signal_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 22)); + pdata->result__dss_actual_effective_spads_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 24)); + pdata->result__peak_signal_count_rate_mcps_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 26)); + pdata->result__ambient_count_rate_mcps_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 28)); + pdata->result__sigma_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 30)); + pdata->result__phase_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 32)); + pdata->result__final_crosstalk_corrected_range_mm_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 34)); + pdata->result__spare_0_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 36)); + pdata->result__spare_1_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 38)); + pdata->result__spare_2_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 40)); + pdata->result__spare_3_sd1 = + (*(pbuffer + 42)); + pdata->result__thresh_info = + (*(pbuffer + 43)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_system_results( + VL53L1_DEV Dev, + VL53L1_system_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_system_results( + pdata, + VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_RESULT__INTERRUPT_STATUS, + comms_buffer, + VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_system_results( + VL53L1_DEV Dev, + VL53L1_system_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_ReadMulti( + Dev, + VL53L1_RESULT__INTERRUPT_STATUS, + comms_buffer, + VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_system_results( + VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_core_results( + VL53L1_core_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_CORE_RESULTS_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + VL53L1_i2c_encode_uint32_t( + pdata->result_core__ambient_window_events_sd0, + 4, + pbuffer + 0); + VL53L1_i2c_encode_uint32_t( + pdata->result_core__ranging_total_events_sd0, + 4, + pbuffer + 4); + VL53L1_i2c_encode_int32_t( + pdata->result_core__signal_total_events_sd0, + 4, + pbuffer + 8); + VL53L1_i2c_encode_uint32_t( + pdata->result_core__total_periods_elapsed_sd0, + 4, + pbuffer + 12); + VL53L1_i2c_encode_uint32_t( + pdata->result_core__ambient_window_events_sd1, + 4, + pbuffer + 16); + VL53L1_i2c_encode_uint32_t( + pdata->result_core__ranging_total_events_sd1, + 4, + pbuffer + 20); + VL53L1_i2c_encode_int32_t( + pdata->result_core__signal_total_events_sd1, + 4, + pbuffer + 24); + VL53L1_i2c_encode_uint32_t( + pdata->result_core__total_periods_elapsed_sd1, + 4, + pbuffer + 28); + *(pbuffer + 32) = + pdata->result_core__spare_0; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_core_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_core_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_CORE_RESULTS_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->result_core__ambient_window_events_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 0)); + pdata->result_core__ranging_total_events_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 4)); + pdata->result_core__signal_total_events_sd0 = + (VL53L1_i2c_decode_int32_t(4, pbuffer + 8)); + pdata->result_core__total_periods_elapsed_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 12)); + pdata->result_core__ambient_window_events_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 16)); + pdata->result_core__ranging_total_events_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 20)); + pdata->result_core__signal_total_events_sd1 = + (VL53L1_i2c_decode_int32_t(4, pbuffer + 24)); + pdata->result_core__total_periods_elapsed_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 28)); + pdata->result_core__spare_0 = + (*(pbuffer + 32)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_core_results( + VL53L1_DEV Dev, + VL53L1_core_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_CORE_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_core_results( + pdata, + VL53L1_CORE_RESULTS_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0, + comms_buffer, + VL53L1_CORE_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_core_results( + VL53L1_DEV Dev, + VL53L1_core_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_CORE_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_ReadMulti( + Dev, + VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0, + comms_buffer, + VL53L1_CORE_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_core_results( + VL53L1_CORE_RESULTS_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_debug_results( + VL53L1_debug_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + VL53L1_i2c_encode_uint16_t( + pdata->phasecal_result__reference_phase, + 2, + pbuffer + 0); + *(pbuffer + 2) = + pdata->phasecal_result__vcsel_start & 0x7F; + *(pbuffer + 3) = + pdata->ref_spad_char_result__num_actual_ref_spads & 0x3F; + *(pbuffer + 4) = + pdata->ref_spad_char_result__ref_location & 0x3; + *(pbuffer + 5) = + pdata->vhv_result__coldboot_status & 0x1; + *(pbuffer + 6) = + pdata->vhv_result__search_result & 0x3F; + *(pbuffer + 7) = + pdata->vhv_result__latest_setting & 0x3F; + VL53L1_i2c_encode_uint16_t( + pdata->result__osc_calibrate_val & 0x3FF, + 2, + pbuffer + 8); + *(pbuffer + 10) = + pdata->ana_config__powerdown_go1 & 0x3; + *(pbuffer + 11) = + pdata->ana_config__ref_bg_ctrl & 0x3; + *(pbuffer + 12) = + pdata->ana_config__regdvdd1v2_ctrl & 0xF; + *(pbuffer + 13) = + pdata->ana_config__osc_slow_ctrl & 0x7; + *(pbuffer + 14) = + pdata->test_mode__status & 0x1; + *(pbuffer + 15) = + pdata->firmware__system_status & 0x3; + *(pbuffer + 16) = + pdata->firmware__mode_status; + *(pbuffer + 17) = + pdata->firmware__secondary_mode_status; + VL53L1_i2c_encode_uint16_t( + pdata->firmware__cal_repeat_rate_counter & 0xFFF, + 2, + pbuffer + 18); + VL53L1_i2c_encode_uint16_t( + pdata->gph__system__thresh_high, + 2, + pbuffer + 22); + VL53L1_i2c_encode_uint16_t( + pdata->gph__system__thresh_low, + 2, + pbuffer + 24); + *(pbuffer + 26) = + pdata->gph__system__enable_xtalk_per_quadrant & 0x1; + *(pbuffer + 27) = + pdata->gph__spare_0 & 0x7; + *(pbuffer + 28) = + pdata->gph__sd_config__woi_sd0; + *(pbuffer + 29) = + pdata->gph__sd_config__woi_sd1; + *(pbuffer + 30) = + pdata->gph__sd_config__initial_phase_sd0 & 0x7F; + *(pbuffer + 31) = + pdata->gph__sd_config__initial_phase_sd1 & 0x7F; + *(pbuffer + 32) = + pdata->gph__sd_config__first_order_select & 0x3; + *(pbuffer + 33) = + pdata->gph__sd_config__quantifier & 0xF; + *(pbuffer + 34) = + pdata->gph__roi_config__user_roi_centre_spad; + *(pbuffer + 35) = + pdata->gph__roi_config__user_roi_requested_global_xy_size; + *(pbuffer + 36) = + pdata->gph__system__sequence_config; + *(pbuffer + 37) = + pdata->gph__gph_id & 0x1; + *(pbuffer + 38) = + pdata->system__interrupt_set & 0x3; + *(pbuffer + 39) = + pdata->interrupt_manager__enables & 0x1F; + *(pbuffer + 40) = + pdata->interrupt_manager__clear & 0x1F; + *(pbuffer + 41) = + pdata->interrupt_manager__status & 0x1F; + *(pbuffer + 42) = + pdata->mcu_to_host_bank__wr_access_en & 0x1; + *(pbuffer + 43) = + pdata->power_management__go1_reset_status & 0x1; + *(pbuffer + 44) = + pdata->pad_startup_mode__value_ro & 0x3; + *(pbuffer + 45) = + pdata->pad_startup_mode__value_ctrl & 0x3F; + VL53L1_i2c_encode_uint32_t( + pdata->pll_period_us & 0x3FFFF, + 4, + pbuffer + 46); + VL53L1_i2c_encode_uint32_t( + pdata->interrupt_scheduler__data_out, + 4, + pbuffer + 50); + *(pbuffer + 54) = + pdata->nvm_bist__complete & 0x1; + *(pbuffer + 55) = + pdata->nvm_bist__status & 0x1; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_debug_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_debug_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->phasecal_result__reference_phase = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 0)); + pdata->phasecal_result__vcsel_start = + (*(pbuffer + 2)) & 0x7F; + pdata->ref_spad_char_result__num_actual_ref_spads = + (*(pbuffer + 3)) & 0x3F; + pdata->ref_spad_char_result__ref_location = + (*(pbuffer + 4)) & 0x3; + pdata->vhv_result__coldboot_status = + (*(pbuffer + 5)) & 0x1; + pdata->vhv_result__search_result = + (*(pbuffer + 6)) & 0x3F; + pdata->vhv_result__latest_setting = + (*(pbuffer + 7)) & 0x3F; + pdata->result__osc_calibrate_val = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 8)) & 0x3FF; + pdata->ana_config__powerdown_go1 = + (*(pbuffer + 10)) & 0x3; + pdata->ana_config__ref_bg_ctrl = + (*(pbuffer + 11)) & 0x3; + pdata->ana_config__regdvdd1v2_ctrl = + (*(pbuffer + 12)) & 0xF; + pdata->ana_config__osc_slow_ctrl = + (*(pbuffer + 13)) & 0x7; + pdata->test_mode__status = + (*(pbuffer + 14)) & 0x1; + pdata->firmware__system_status = + (*(pbuffer + 15)) & 0x3; + pdata->firmware__mode_status = + (*(pbuffer + 16)); + pdata->firmware__secondary_mode_status = + (*(pbuffer + 17)); + pdata->firmware__cal_repeat_rate_counter = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 18)) & 0xFFF; + pdata->gph__system__thresh_high = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 22)); + pdata->gph__system__thresh_low = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 24)); + pdata->gph__system__enable_xtalk_per_quadrant = + (*(pbuffer + 26)) & 0x1; + pdata->gph__spare_0 = + (*(pbuffer + 27)) & 0x7; + pdata->gph__sd_config__woi_sd0 = + (*(pbuffer + 28)); + pdata->gph__sd_config__woi_sd1 = + (*(pbuffer + 29)); + pdata->gph__sd_config__initial_phase_sd0 = + (*(pbuffer + 30)) & 0x7F; + pdata->gph__sd_config__initial_phase_sd1 = + (*(pbuffer + 31)) & 0x7F; + pdata->gph__sd_config__first_order_select = + (*(pbuffer + 32)) & 0x3; + pdata->gph__sd_config__quantifier = + (*(pbuffer + 33)) & 0xF; + pdata->gph__roi_config__user_roi_centre_spad = + (*(pbuffer + 34)); + pdata->gph__roi_config__user_roi_requested_global_xy_size = + (*(pbuffer + 35)); + pdata->gph__system__sequence_config = + (*(pbuffer + 36)); + pdata->gph__gph_id = + (*(pbuffer + 37)) & 0x1; + pdata->system__interrupt_set = + (*(pbuffer + 38)) & 0x3; + pdata->interrupt_manager__enables = + (*(pbuffer + 39)) & 0x1F; + pdata->interrupt_manager__clear = + (*(pbuffer + 40)) & 0x1F; + pdata->interrupt_manager__status = + (*(pbuffer + 41)) & 0x1F; + pdata->mcu_to_host_bank__wr_access_en = + (*(pbuffer + 42)) & 0x1; + pdata->power_management__go1_reset_status = + (*(pbuffer + 43)) & 0x1; + pdata->pad_startup_mode__value_ro = + (*(pbuffer + 44)) & 0x3; + pdata->pad_startup_mode__value_ctrl = + (*(pbuffer + 45)) & 0x3F; + pdata->pll_period_us = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 46)) & 0x3FFFF; + pdata->interrupt_scheduler__data_out = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 50)); + pdata->nvm_bist__complete = + (*(pbuffer + 54)) & 0x1; + pdata->nvm_bist__status = + (*(pbuffer + 55)) & 0x1; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_debug_results( + VL53L1_DEV Dev, + VL53L1_debug_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_debug_results( + pdata, + VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_PHASECAL_RESULT__REFERENCE_PHASE, + comms_buffer, + VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_debug_results( + VL53L1_DEV Dev, + VL53L1_debug_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_ReadMulti( + Dev, + VL53L1_PHASECAL_RESULT__REFERENCE_PHASE, + comms_buffer, + VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_debug_results( + VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_nvm_copy_data( + VL53L1_nvm_copy_data_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->identification__model_id; + *(pbuffer + 1) = + pdata->identification__module_type; + *(pbuffer + 2) = + pdata->identification__revision_id; + VL53L1_i2c_encode_uint16_t( + pdata->identification__module_id, + 2, + pbuffer + 3); + *(pbuffer + 5) = + pdata->ana_config__fast_osc__trim_max & 0x7F; + *(pbuffer + 6) = + pdata->ana_config__fast_osc__freq_set & 0x7; + *(pbuffer + 7) = + pdata->ana_config__vcsel_trim & 0x7; + *(pbuffer + 8) = + pdata->ana_config__vcsel_selion & 0x3F; + *(pbuffer + 9) = + pdata->ana_config__vcsel_selion_max & 0x3F; + *(pbuffer + 10) = + pdata->protected_laser_safety__lock_bit & 0x1; + *(pbuffer + 11) = + pdata->laser_safety__key & 0x7F; + *(pbuffer + 12) = + pdata->laser_safety__key_ro & 0x1; + *(pbuffer + 13) = + pdata->laser_safety__clip & 0x3F; + *(pbuffer + 14) = + pdata->laser_safety__mult & 0x3F; + *(pbuffer + 15) = + pdata->global_config__spad_enables_rtn_0; + *(pbuffer + 16) = + pdata->global_config__spad_enables_rtn_1; + *(pbuffer + 17) = + pdata->global_config__spad_enables_rtn_2; + *(pbuffer + 18) = + pdata->global_config__spad_enables_rtn_3; + *(pbuffer + 19) = + pdata->global_config__spad_enables_rtn_4; + *(pbuffer + 20) = + pdata->global_config__spad_enables_rtn_5; + *(pbuffer + 21) = + pdata->global_config__spad_enables_rtn_6; + *(pbuffer + 22) = + pdata->global_config__spad_enables_rtn_7; + *(pbuffer + 23) = + pdata->global_config__spad_enables_rtn_8; + *(pbuffer + 24) = + pdata->global_config__spad_enables_rtn_9; + *(pbuffer + 25) = + pdata->global_config__spad_enables_rtn_10; + *(pbuffer + 26) = + pdata->global_config__spad_enables_rtn_11; + *(pbuffer + 27) = + pdata->global_config__spad_enables_rtn_12; + *(pbuffer + 28) = + pdata->global_config__spad_enables_rtn_13; + *(pbuffer + 29) = + pdata->global_config__spad_enables_rtn_14; + *(pbuffer + 30) = + pdata->global_config__spad_enables_rtn_15; + *(pbuffer + 31) = + pdata->global_config__spad_enables_rtn_16; + *(pbuffer + 32) = + pdata->global_config__spad_enables_rtn_17; + *(pbuffer + 33) = + pdata->global_config__spad_enables_rtn_18; + *(pbuffer + 34) = + pdata->global_config__spad_enables_rtn_19; + *(pbuffer + 35) = + pdata->global_config__spad_enables_rtn_20; + *(pbuffer + 36) = + pdata->global_config__spad_enables_rtn_21; + *(pbuffer + 37) = + pdata->global_config__spad_enables_rtn_22; + *(pbuffer + 38) = + pdata->global_config__spad_enables_rtn_23; + *(pbuffer + 39) = + pdata->global_config__spad_enables_rtn_24; + *(pbuffer + 40) = + pdata->global_config__spad_enables_rtn_25; + *(pbuffer + 41) = + pdata->global_config__spad_enables_rtn_26; + *(pbuffer + 42) = + pdata->global_config__spad_enables_rtn_27; + *(pbuffer + 43) = + pdata->global_config__spad_enables_rtn_28; + *(pbuffer + 44) = + pdata->global_config__spad_enables_rtn_29; + *(pbuffer + 45) = + pdata->global_config__spad_enables_rtn_30; + *(pbuffer + 46) = + pdata->global_config__spad_enables_rtn_31; + *(pbuffer + 47) = + pdata->roi_config__mode_roi_centre_spad; + *(pbuffer + 48) = + pdata->roi_config__mode_roi_xy_size; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_nvm_copy_data( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_nvm_copy_data_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->identification__model_id = + (*(pbuffer + 0)); + pdata->identification__module_type = + (*(pbuffer + 1)); + pdata->identification__revision_id = + (*(pbuffer + 2)); + pdata->identification__module_id = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 3)); + pdata->ana_config__fast_osc__trim_max = + (*(pbuffer + 5)) & 0x7F; + pdata->ana_config__fast_osc__freq_set = + (*(pbuffer + 6)) & 0x7; + pdata->ana_config__vcsel_trim = + (*(pbuffer + 7)) & 0x7; + pdata->ana_config__vcsel_selion = + (*(pbuffer + 8)) & 0x3F; + pdata->ana_config__vcsel_selion_max = + (*(pbuffer + 9)) & 0x3F; + pdata->protected_laser_safety__lock_bit = + (*(pbuffer + 10)) & 0x1; + pdata->laser_safety__key = + (*(pbuffer + 11)) & 0x7F; + pdata->laser_safety__key_ro = + (*(pbuffer + 12)) & 0x1; + pdata->laser_safety__clip = + (*(pbuffer + 13)) & 0x3F; + pdata->laser_safety__mult = + (*(pbuffer + 14)) & 0x3F; + pdata->global_config__spad_enables_rtn_0 = + (*(pbuffer + 15)); + pdata->global_config__spad_enables_rtn_1 = + (*(pbuffer + 16)); + pdata->global_config__spad_enables_rtn_2 = + (*(pbuffer + 17)); + pdata->global_config__spad_enables_rtn_3 = + (*(pbuffer + 18)); + pdata->global_config__spad_enables_rtn_4 = + (*(pbuffer + 19)); + pdata->global_config__spad_enables_rtn_5 = + (*(pbuffer + 20)); + pdata->global_config__spad_enables_rtn_6 = + (*(pbuffer + 21)); + pdata->global_config__spad_enables_rtn_7 = + (*(pbuffer + 22)); + pdata->global_config__spad_enables_rtn_8 = + (*(pbuffer + 23)); + pdata->global_config__spad_enables_rtn_9 = + (*(pbuffer + 24)); + pdata->global_config__spad_enables_rtn_10 = + (*(pbuffer + 25)); + pdata->global_config__spad_enables_rtn_11 = + (*(pbuffer + 26)); + pdata->global_config__spad_enables_rtn_12 = + (*(pbuffer + 27)); + pdata->global_config__spad_enables_rtn_13 = + (*(pbuffer + 28)); + pdata->global_config__spad_enables_rtn_14 = + (*(pbuffer + 29)); + pdata->global_config__spad_enables_rtn_15 = + (*(pbuffer + 30)); + pdata->global_config__spad_enables_rtn_16 = + (*(pbuffer + 31)); + pdata->global_config__spad_enables_rtn_17 = + (*(pbuffer + 32)); + pdata->global_config__spad_enables_rtn_18 = + (*(pbuffer + 33)); + pdata->global_config__spad_enables_rtn_19 = + (*(pbuffer + 34)); + pdata->global_config__spad_enables_rtn_20 = + (*(pbuffer + 35)); + pdata->global_config__spad_enables_rtn_21 = + (*(pbuffer + 36)); + pdata->global_config__spad_enables_rtn_22 = + (*(pbuffer + 37)); + pdata->global_config__spad_enables_rtn_23 = + (*(pbuffer + 38)); + pdata->global_config__spad_enables_rtn_24 = + (*(pbuffer + 39)); + pdata->global_config__spad_enables_rtn_25 = + (*(pbuffer + 40)); + pdata->global_config__spad_enables_rtn_26 = + (*(pbuffer + 41)); + pdata->global_config__spad_enables_rtn_27 = + (*(pbuffer + 42)); + pdata->global_config__spad_enables_rtn_28 = + (*(pbuffer + 43)); + pdata->global_config__spad_enables_rtn_29 = + (*(pbuffer + 44)); + pdata->global_config__spad_enables_rtn_30 = + (*(pbuffer + 45)); + pdata->global_config__spad_enables_rtn_31 = + (*(pbuffer + 46)); + pdata->roi_config__mode_roi_centre_spad = + (*(pbuffer + 47)); + pdata->roi_config__mode_roi_xy_size = + (*(pbuffer + 48)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_nvm_copy_data( + VL53L1_DEV Dev, + VL53L1_nvm_copy_data_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_nvm_copy_data( + pdata, + VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_IDENTIFICATION__MODEL_ID, + comms_buffer, + VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_nvm_copy_data( + VL53L1_DEV Dev, + VL53L1_nvm_copy_data_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_ReadMulti( + Dev, + VL53L1_IDENTIFICATION__MODEL_ID, + comms_buffer, + VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_nvm_copy_data( + VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_prev_shadow_system_results( + VL53L1_prev_shadow_system_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->prev_shadow_result__interrupt_status & 0x3F; + *(pbuffer + 1) = + pdata->prev_shadow_result__range_status; + *(pbuffer + 2) = + pdata->prev_shadow_result__report_status & 0xF; + *(pbuffer + 3) = + pdata->prev_shadow_result__stream_count; + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__dss_actual_effective_spads_sd0, + 2, + pbuffer + 4); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__peak_signal_count_rate_mcps_sd0, + 2, + pbuffer + 6); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__ambient_count_rate_mcps_sd0, + 2, + pbuffer + 8); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__sigma_sd0, + 2, + pbuffer + 10); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__phase_sd0, + 2, + pbuffer + 12); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__final_crosstalk_corrected_range_mm_sd0, + 2, + pbuffer + 14); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0, + 2, + pbuffer + 16); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__mm_inner_actual_effective_spads_sd0, + 2, + pbuffer + 18); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__mm_outer_actual_effective_spads_sd0, + 2, + pbuffer + 20); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__avg_signal_count_rate_mcps_sd0, + 2, + pbuffer + 22); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__dss_actual_effective_spads_sd1, + 2, + pbuffer + 24); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__peak_signal_count_rate_mcps_sd1, + 2, + pbuffer + 26); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__ambient_count_rate_mcps_sd1, + 2, + pbuffer + 28); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__sigma_sd1, + 2, + pbuffer + 30); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__phase_sd1, + 2, + pbuffer + 32); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__final_crosstalk_corrected_range_mm_sd1, + 2, + pbuffer + 34); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__spare_0_sd1, + 2, + pbuffer + 36); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__spare_1_sd1, + 2, + pbuffer + 38); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__spare_2_sd1, + 2, + pbuffer + 40); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__spare_3_sd1, + 2, + pbuffer + 42); + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_prev_shadow_system_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_prev_shadow_system_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->prev_shadow_result__interrupt_status = + (*(pbuffer + 0)) & 0x3F; + pdata->prev_shadow_result__range_status = + (*(pbuffer + 1)); + pdata->prev_shadow_result__report_status = + (*(pbuffer + 2)) & 0xF; + pdata->prev_shadow_result__stream_count = + (*(pbuffer + 3)); + pdata->prev_shadow_result__dss_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 4)); + pdata->prev_shadow_result__peak_signal_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 6)); + pdata->prev_shadow_result__ambient_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 8)); + pdata->prev_shadow_result__sigma_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 10)); + pdata->prev_shadow_result__phase_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 12)); + pdata->prev_shadow_result__final_crosstalk_corrected_range_mm_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 14)); + pdata->prev_shadow_result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 16)); + pdata->prev_shadow_result__mm_inner_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 18)); + pdata->prev_shadow_result__mm_outer_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 20)); + pdata->prev_shadow_result__avg_signal_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 22)); + pdata->prev_shadow_result__dss_actual_effective_spads_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 24)); + pdata->prev_shadow_result__peak_signal_count_rate_mcps_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 26)); + pdata->prev_shadow_result__ambient_count_rate_mcps_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 28)); + pdata->prev_shadow_result__sigma_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 30)); + pdata->prev_shadow_result__phase_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 32)); + pdata->prev_shadow_result__final_crosstalk_corrected_range_mm_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 34)); + pdata->prev_shadow_result__spare_0_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 36)); + pdata->prev_shadow_result__spare_1_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 38)); + pdata->prev_shadow_result__spare_2_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 40)); + pdata->prev_shadow_result__spare_3_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 42)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_prev_shadow_system_results( + VL53L1_DEV Dev, + VL53L1_prev_shadow_system_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_prev_shadow_system_results( + pdata, + VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_PREV_SHADOW_RESULT__INTERRUPT_STATUS, + comms_buffer, + VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_prev_shadow_system_results( + VL53L1_DEV Dev, + VL53L1_prev_shadow_system_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_PREV_SHADOW_RESULT__INTERRUPT_STATUS, + comms_buffer, + VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_prev_shadow_system_results( + VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_prev_shadow_core_results( + VL53L1_prev_shadow_core_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + VL53L1_i2c_encode_uint32_t( + pdata->prev_shadow_result_core__ambient_window_events_sd0, + 4, + pbuffer + 0); + VL53L1_i2c_encode_uint32_t( + pdata->prev_shadow_result_core__ranging_total_events_sd0, + 4, + pbuffer + 4); + VL53L1_i2c_encode_int32_t( + pdata->prev_shadow_result_core__signal_total_events_sd0, + 4, + pbuffer + 8); + VL53L1_i2c_encode_uint32_t( + pdata->prev_shadow_result_core__total_periods_elapsed_sd0, + 4, + pbuffer + 12); + VL53L1_i2c_encode_uint32_t( + pdata->prev_shadow_result_core__ambient_window_events_sd1, + 4, + pbuffer + 16); + VL53L1_i2c_encode_uint32_t( + pdata->prev_shadow_result_core__ranging_total_events_sd1, + 4, + pbuffer + 20); + VL53L1_i2c_encode_int32_t( + pdata->prev_shadow_result_core__signal_total_events_sd1, + 4, + pbuffer + 24); + VL53L1_i2c_encode_uint32_t( + pdata->prev_shadow_result_core__total_periods_elapsed_sd1, + 4, + pbuffer + 28); + *(pbuffer + 32) = + pdata->prev_shadow_result_core__spare_0; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_prev_shadow_core_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_prev_shadow_core_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->prev_shadow_result_core__ambient_window_events_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 0)); + pdata->prev_shadow_result_core__ranging_total_events_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 4)); + pdata->prev_shadow_result_core__signal_total_events_sd0 = + (VL53L1_i2c_decode_int32_t(4, pbuffer + 8)); + pdata->prev_shadow_result_core__total_periods_elapsed_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 12)); + pdata->prev_shadow_result_core__ambient_window_events_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 16)); + pdata->prev_shadow_result_core__ranging_total_events_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 20)); + pdata->prev_shadow_result_core__signal_total_events_sd1 = + (VL53L1_i2c_decode_int32_t(4, pbuffer + 24)); + pdata->prev_shadow_result_core__total_periods_elapsed_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 28)); + pdata->prev_shadow_result_core__spare_0 = + (*(pbuffer + 32)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_prev_shadow_core_results( + VL53L1_DEV Dev, + VL53L1_prev_shadow_core_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_prev_shadow_core_results( + pdata, + VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0, + comms_buffer, + VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_prev_shadow_core_results( + VL53L1_DEV Dev, + VL53L1_prev_shadow_core_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0, + comms_buffer, + VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_prev_shadow_core_results( + VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_patch_debug( + VL53L1_patch_debug_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->result__debug_status; + *(pbuffer + 1) = + pdata->result__debug_stage; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_patch_debug( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_patch_debug_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->result__debug_status = + (*(pbuffer + 0)); + pdata->result__debug_stage = + (*(pbuffer + 1)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_patch_debug( + VL53L1_DEV Dev, + VL53L1_patch_debug_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_patch_debug( + pdata, + VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_RESULT__DEBUG_STATUS, + comms_buffer, + VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_patch_debug( + VL53L1_DEV Dev, + VL53L1_patch_debug_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_RESULT__DEBUG_STATUS, + comms_buffer, + VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_patch_debug( + VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_gph_general_config( + VL53L1_gph_general_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + VL53L1_i2c_encode_uint16_t( + pdata->gph__system__thresh_rate_high, + 2, + pbuffer + 0); + VL53L1_i2c_encode_uint16_t( + pdata->gph__system__thresh_rate_low, + 2, + pbuffer + 2); + *(pbuffer + 4) = + pdata->gph__system__interrupt_config_gpio; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_gph_general_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_gph_general_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->gph__system__thresh_rate_high = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 0)); + pdata->gph__system__thresh_rate_low = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 2)); + pdata->gph__system__interrupt_config_gpio = + (*(pbuffer + 4)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_gph_general_config( + VL53L1_DEV Dev, + VL53L1_gph_general_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_gph_general_config( + pdata, + VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_GPH__SYSTEM__THRESH_RATE_HIGH, + comms_buffer, + VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_gph_general_config( + VL53L1_DEV Dev, + VL53L1_gph_general_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_GPH__SYSTEM__THRESH_RATE_HIGH, + comms_buffer, + VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_gph_general_config( + VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_gph_static_config( + VL53L1_gph_static_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->gph__dss_config__roi_mode_control & 0x7; + VL53L1_i2c_encode_uint16_t( + pdata->gph__dss_config__manual_effective_spads_select, + 2, + pbuffer + 1); + *(pbuffer + 3) = + pdata->gph__dss_config__manual_block_select; + *(pbuffer + 4) = + pdata->gph__dss_config__max_spads_limit; + *(pbuffer + 5) = + pdata->gph__dss_config__min_spads_limit; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_gph_static_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_gph_static_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->gph__dss_config__roi_mode_control = + (*(pbuffer + 0)) & 0x7; + pdata->gph__dss_config__manual_effective_spads_select = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 1)); + pdata->gph__dss_config__manual_block_select = + (*(pbuffer + 3)); + pdata->gph__dss_config__max_spads_limit = + (*(pbuffer + 4)); + pdata->gph__dss_config__min_spads_limit = + (*(pbuffer + 5)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_gph_static_config( + VL53L1_DEV Dev, + VL53L1_gph_static_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_gph_static_config( + pdata, + VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_GPH__DSS_CONFIG__ROI_MODE_CONTROL, + comms_buffer, + VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_gph_static_config( + VL53L1_DEV Dev, + VL53L1_gph_static_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_GPH__DSS_CONFIG__ROI_MODE_CONTROL, + comms_buffer, + VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_gph_static_config( + VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_gph_timing_config( + VL53L1_gph_timing_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->gph__mm_config__timeout_macrop_a_hi & 0xF; + *(pbuffer + 1) = + pdata->gph__mm_config__timeout_macrop_a_lo; + *(pbuffer + 2) = + pdata->gph__mm_config__timeout_macrop_b_hi & 0xF; + *(pbuffer + 3) = + pdata->gph__mm_config__timeout_macrop_b_lo; + *(pbuffer + 4) = + pdata->gph__range_config__timeout_macrop_a_hi & 0xF; + *(pbuffer + 5) = + pdata->gph__range_config__timeout_macrop_a_lo; + *(pbuffer + 6) = + pdata->gph__range_config__vcsel_period_a & 0x3F; + *(pbuffer + 7) = + pdata->gph__range_config__vcsel_period_b & 0x3F; + *(pbuffer + 8) = + pdata->gph__range_config__timeout_macrop_b_hi & 0xF; + *(pbuffer + 9) = + pdata->gph__range_config__timeout_macrop_b_lo; + VL53L1_i2c_encode_uint16_t( + pdata->gph__range_config__sigma_thresh, + 2, + pbuffer + 10); + VL53L1_i2c_encode_uint16_t( + pdata->gph__range_config__min_count_rate_rtn_limit_mcps, + 2, + pbuffer + 12); + *(pbuffer + 14) = + pdata->gph__range_config__valid_phase_low; + *(pbuffer + 15) = + pdata->gph__range_config__valid_phase_high; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_gph_timing_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_gph_timing_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->gph__mm_config__timeout_macrop_a_hi = + (*(pbuffer + 0)) & 0xF; + pdata->gph__mm_config__timeout_macrop_a_lo = + (*(pbuffer + 1)); + pdata->gph__mm_config__timeout_macrop_b_hi = + (*(pbuffer + 2)) & 0xF; + pdata->gph__mm_config__timeout_macrop_b_lo = + (*(pbuffer + 3)); + pdata->gph__range_config__timeout_macrop_a_hi = + (*(pbuffer + 4)) & 0xF; + pdata->gph__range_config__timeout_macrop_a_lo = + (*(pbuffer + 5)); + pdata->gph__range_config__vcsel_period_a = + (*(pbuffer + 6)) & 0x3F; + pdata->gph__range_config__vcsel_period_b = + (*(pbuffer + 7)) & 0x3F; + pdata->gph__range_config__timeout_macrop_b_hi = + (*(pbuffer + 8)) & 0xF; + pdata->gph__range_config__timeout_macrop_b_lo = + (*(pbuffer + 9)); + pdata->gph__range_config__sigma_thresh = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 10)); + pdata->gph__range_config__min_count_rate_rtn_limit_mcps = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 12)); + pdata->gph__range_config__valid_phase_low = + (*(pbuffer + 14)); + pdata->gph__range_config__valid_phase_high = + (*(pbuffer + 15)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_gph_timing_config( + VL53L1_DEV Dev, + VL53L1_gph_timing_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_gph_timing_config( + pdata, + VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_GPH__MM_CONFIG__TIMEOUT_MACROP_A_HI, + comms_buffer, + VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_gph_timing_config( + VL53L1_DEV Dev, + VL53L1_gph_timing_config_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_GPH__MM_CONFIG__TIMEOUT_MACROP_A_HI, + comms_buffer, + VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_gph_timing_config( + VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_fw_internal( + VL53L1_fw_internal_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_FW_INTERNAL_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->firmware__internal_stream_count_div; + *(pbuffer + 1) = + pdata->firmware__internal_stream_counter_val; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_fw_internal( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_fw_internal_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_FW_INTERNAL_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->firmware__internal_stream_count_div = + (*(pbuffer + 0)); + pdata->firmware__internal_stream_counter_val = + (*(pbuffer + 1)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_fw_internal( + VL53L1_DEV Dev, + VL53L1_fw_internal_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_FW_INTERNAL_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_fw_internal( + pdata, + VL53L1_FW_INTERNAL_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_FIRMWARE__INTERNAL_STREAM_COUNT_DIV, + comms_buffer, + VL53L1_FW_INTERNAL_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_fw_internal( + VL53L1_DEV Dev, + VL53L1_fw_internal_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_FW_INTERNAL_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_FIRMWARE__INTERNAL_STREAM_COUNT_DIV, + comms_buffer, + VL53L1_FW_INTERNAL_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_fw_internal( + VL53L1_FW_INTERNAL_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_patch_results( + VL53L1_patch_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->dss_calc__roi_ctrl & 0x3; + *(pbuffer + 1) = + pdata->dss_calc__spare_1; + *(pbuffer + 2) = + pdata->dss_calc__spare_2; + *(pbuffer + 3) = + pdata->dss_calc__spare_3; + *(pbuffer + 4) = + pdata->dss_calc__spare_4; + *(pbuffer + 5) = + pdata->dss_calc__spare_5; + *(pbuffer + 6) = + pdata->dss_calc__spare_6; + *(pbuffer + 7) = + pdata->dss_calc__spare_7; + *(pbuffer + 8) = + pdata->dss_calc__user_roi_spad_en_0; + *(pbuffer + 9) = + pdata->dss_calc__user_roi_spad_en_1; + *(pbuffer + 10) = + pdata->dss_calc__user_roi_spad_en_2; + *(pbuffer + 11) = + pdata->dss_calc__user_roi_spad_en_3; + *(pbuffer + 12) = + pdata->dss_calc__user_roi_spad_en_4; + *(pbuffer + 13) = + pdata->dss_calc__user_roi_spad_en_5; + *(pbuffer + 14) = + pdata->dss_calc__user_roi_spad_en_6; + *(pbuffer + 15) = + pdata->dss_calc__user_roi_spad_en_7; + *(pbuffer + 16) = + pdata->dss_calc__user_roi_spad_en_8; + *(pbuffer + 17) = + pdata->dss_calc__user_roi_spad_en_9; + *(pbuffer + 18) = + pdata->dss_calc__user_roi_spad_en_10; + *(pbuffer + 19) = + pdata->dss_calc__user_roi_spad_en_11; + *(pbuffer + 20) = + pdata->dss_calc__user_roi_spad_en_12; + *(pbuffer + 21) = + pdata->dss_calc__user_roi_spad_en_13; + *(pbuffer + 22) = + pdata->dss_calc__user_roi_spad_en_14; + *(pbuffer + 23) = + pdata->dss_calc__user_roi_spad_en_15; + *(pbuffer + 24) = + pdata->dss_calc__user_roi_spad_en_16; + *(pbuffer + 25) = + pdata->dss_calc__user_roi_spad_en_17; + *(pbuffer + 26) = + pdata->dss_calc__user_roi_spad_en_18; + *(pbuffer + 27) = + pdata->dss_calc__user_roi_spad_en_19; + *(pbuffer + 28) = + pdata->dss_calc__user_roi_spad_en_20; + *(pbuffer + 29) = + pdata->dss_calc__user_roi_spad_en_21; + *(pbuffer + 30) = + pdata->dss_calc__user_roi_spad_en_22; + *(pbuffer + 31) = + pdata->dss_calc__user_roi_spad_en_23; + *(pbuffer + 32) = + pdata->dss_calc__user_roi_spad_en_24; + *(pbuffer + 33) = + pdata->dss_calc__user_roi_spad_en_25; + *(pbuffer + 34) = + pdata->dss_calc__user_roi_spad_en_26; + *(pbuffer + 35) = + pdata->dss_calc__user_roi_spad_en_27; + *(pbuffer + 36) = + pdata->dss_calc__user_roi_spad_en_28; + *(pbuffer + 37) = + pdata->dss_calc__user_roi_spad_en_29; + *(pbuffer + 38) = + pdata->dss_calc__user_roi_spad_en_30; + *(pbuffer + 39) = + pdata->dss_calc__user_roi_spad_en_31; + *(pbuffer + 40) = + pdata->dss_calc__user_roi_0; + *(pbuffer + 41) = + pdata->dss_calc__user_roi_1; + *(pbuffer + 42) = + pdata->dss_calc__mode_roi_0; + *(pbuffer + 43) = + pdata->dss_calc__mode_roi_1; + *(pbuffer + 44) = + pdata->sigma_estimator_calc__spare_0; + VL53L1_i2c_encode_uint16_t( + pdata->vhv_result__peak_signal_rate_mcps, + 2, + pbuffer + 46); + VL53L1_i2c_encode_uint32_t( + pdata->vhv_result__signal_total_events_ref, + 4, + pbuffer + 48); + VL53L1_i2c_encode_uint16_t( + pdata->phasecal_result__phase_output_ref, + 2, + pbuffer + 52); + VL53L1_i2c_encode_uint16_t( + pdata->dss_result__total_rate_per_spad, + 2, + pbuffer + 54); + *(pbuffer + 56) = + pdata->dss_result__enabled_blocks; + VL53L1_i2c_encode_uint16_t( + pdata->dss_result__num_requested_spads, + 2, + pbuffer + 58); + VL53L1_i2c_encode_uint16_t( + pdata->mm_result__inner_intersection_rate, + 2, + pbuffer + 62); + VL53L1_i2c_encode_uint16_t( + pdata->mm_result__outer_complement_rate, + 2, + pbuffer + 64); + VL53L1_i2c_encode_uint16_t( + pdata->mm_result__total_offset, + 2, + pbuffer + 66); + VL53L1_i2c_encode_uint32_t( + pdata->xtalk_calc__xtalk_for_enabled_spads & 0xFFFFFF, + 4, + pbuffer + 68); + VL53L1_i2c_encode_uint32_t( + pdata->xtalk_result__avg_xtalk_user_roi_kcps & 0xFFFFFF, + 4, + pbuffer + 72); + VL53L1_i2c_encode_uint32_t( + pdata->xtalk_result__avg_xtalk_mm_inner_roi_kcps & 0xFFFFFF, + 4, + pbuffer + 76); + VL53L1_i2c_encode_uint32_t( + pdata->xtalk_result__avg_xtalk_mm_outer_roi_kcps & 0xFFFFFF, + 4, + pbuffer + 80); + VL53L1_i2c_encode_uint32_t( + pdata->range_result__accum_phase, + 4, + pbuffer + 84); + VL53L1_i2c_encode_uint16_t( + pdata->range_result__offset_corrected_range, + 2, + pbuffer + 88); + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_patch_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_patch_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->dss_calc__roi_ctrl = + (*(pbuffer + 0)) & 0x3; + pdata->dss_calc__spare_1 = + (*(pbuffer + 1)); + pdata->dss_calc__spare_2 = + (*(pbuffer + 2)); + pdata->dss_calc__spare_3 = + (*(pbuffer + 3)); + pdata->dss_calc__spare_4 = + (*(pbuffer + 4)); + pdata->dss_calc__spare_5 = + (*(pbuffer + 5)); + pdata->dss_calc__spare_6 = + (*(pbuffer + 6)); + pdata->dss_calc__spare_7 = + (*(pbuffer + 7)); + pdata->dss_calc__user_roi_spad_en_0 = + (*(pbuffer + 8)); + pdata->dss_calc__user_roi_spad_en_1 = + (*(pbuffer + 9)); + pdata->dss_calc__user_roi_spad_en_2 = + (*(pbuffer + 10)); + pdata->dss_calc__user_roi_spad_en_3 = + (*(pbuffer + 11)); + pdata->dss_calc__user_roi_spad_en_4 = + (*(pbuffer + 12)); + pdata->dss_calc__user_roi_spad_en_5 = + (*(pbuffer + 13)); + pdata->dss_calc__user_roi_spad_en_6 = + (*(pbuffer + 14)); + pdata->dss_calc__user_roi_spad_en_7 = + (*(pbuffer + 15)); + pdata->dss_calc__user_roi_spad_en_8 = + (*(pbuffer + 16)); + pdata->dss_calc__user_roi_spad_en_9 = + (*(pbuffer + 17)); + pdata->dss_calc__user_roi_spad_en_10 = + (*(pbuffer + 18)); + pdata->dss_calc__user_roi_spad_en_11 = + (*(pbuffer + 19)); + pdata->dss_calc__user_roi_spad_en_12 = + (*(pbuffer + 20)); + pdata->dss_calc__user_roi_spad_en_13 = + (*(pbuffer + 21)); + pdata->dss_calc__user_roi_spad_en_14 = + (*(pbuffer + 22)); + pdata->dss_calc__user_roi_spad_en_15 = + (*(pbuffer + 23)); + pdata->dss_calc__user_roi_spad_en_16 = + (*(pbuffer + 24)); + pdata->dss_calc__user_roi_spad_en_17 = + (*(pbuffer + 25)); + pdata->dss_calc__user_roi_spad_en_18 = + (*(pbuffer + 26)); + pdata->dss_calc__user_roi_spad_en_19 = + (*(pbuffer + 27)); + pdata->dss_calc__user_roi_spad_en_20 = + (*(pbuffer + 28)); + pdata->dss_calc__user_roi_spad_en_21 = + (*(pbuffer + 29)); + pdata->dss_calc__user_roi_spad_en_22 = + (*(pbuffer + 30)); + pdata->dss_calc__user_roi_spad_en_23 = + (*(pbuffer + 31)); + pdata->dss_calc__user_roi_spad_en_24 = + (*(pbuffer + 32)); + pdata->dss_calc__user_roi_spad_en_25 = + (*(pbuffer + 33)); + pdata->dss_calc__user_roi_spad_en_26 = + (*(pbuffer + 34)); + pdata->dss_calc__user_roi_spad_en_27 = + (*(pbuffer + 35)); + pdata->dss_calc__user_roi_spad_en_28 = + (*(pbuffer + 36)); + pdata->dss_calc__user_roi_spad_en_29 = + (*(pbuffer + 37)); + pdata->dss_calc__user_roi_spad_en_30 = + (*(pbuffer + 38)); + pdata->dss_calc__user_roi_spad_en_31 = + (*(pbuffer + 39)); + pdata->dss_calc__user_roi_0 = + (*(pbuffer + 40)); + pdata->dss_calc__user_roi_1 = + (*(pbuffer + 41)); + pdata->dss_calc__mode_roi_0 = + (*(pbuffer + 42)); + pdata->dss_calc__mode_roi_1 = + (*(pbuffer + 43)); + pdata->sigma_estimator_calc__spare_0 = + (*(pbuffer + 44)); + pdata->vhv_result__peak_signal_rate_mcps = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 46)); + pdata->vhv_result__signal_total_events_ref = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 48)); + pdata->phasecal_result__phase_output_ref = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 52)); + pdata->dss_result__total_rate_per_spad = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 54)); + pdata->dss_result__enabled_blocks = + (*(pbuffer + 56)); + pdata->dss_result__num_requested_spads = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 58)); + pdata->mm_result__inner_intersection_rate = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 62)); + pdata->mm_result__outer_complement_rate = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 64)); + pdata->mm_result__total_offset = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 66)); + pdata->xtalk_calc__xtalk_for_enabled_spads = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 68)) & 0xFFFFFF; + pdata->xtalk_result__avg_xtalk_user_roi_kcps = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 72)) & 0xFFFFFF; + pdata->xtalk_result__avg_xtalk_mm_inner_roi_kcps = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 76)) & 0xFFFFFF; + pdata->xtalk_result__avg_xtalk_mm_outer_roi_kcps = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 80)) & 0xFFFFFF; + pdata->range_result__accum_phase = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 84)); + pdata->range_result__offset_corrected_range = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 88)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_patch_results( + VL53L1_DEV Dev, + VL53L1_patch_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_patch_results( + pdata, + VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_DSS_CALC__ROI_CTRL, + comms_buffer, + VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_patch_results( + VL53L1_DEV Dev, + VL53L1_patch_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_DSS_CALC__ROI_CTRL, + comms_buffer, + VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_patch_results( + VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_shadow_system_results( + VL53L1_shadow_system_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->shadow_phasecal_result__vcsel_start; + *(pbuffer + 2) = + pdata->shadow_result__interrupt_status & 0x3F; + *(pbuffer + 3) = + pdata->shadow_result__range_status; + *(pbuffer + 4) = + pdata->shadow_result__report_status & 0xF; + *(pbuffer + 5) = + pdata->shadow_result__stream_count; + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__dss_actual_effective_spads_sd0, + 2, + pbuffer + 6); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__peak_signal_count_rate_mcps_sd0, + 2, + pbuffer + 8); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__ambient_count_rate_mcps_sd0, + 2, + pbuffer + 10); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__sigma_sd0, + 2, + pbuffer + 12); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__phase_sd0, + 2, + pbuffer + 14); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__final_crosstalk_corrected_range_mm_sd0, + 2, + pbuffer + 16); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0, + 2, + pbuffer + 18); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__mm_inner_actual_effective_spads_sd0, + 2, + pbuffer + 20); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__mm_outer_actual_effective_spads_sd0, + 2, + pbuffer + 22); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__avg_signal_count_rate_mcps_sd0, + 2, + pbuffer + 24); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__dss_actual_effective_spads_sd1, + 2, + pbuffer + 26); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__peak_signal_count_rate_mcps_sd1, + 2, + pbuffer + 28); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__ambient_count_rate_mcps_sd1, + 2, + pbuffer + 30); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__sigma_sd1, + 2, + pbuffer + 32); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__phase_sd1, + 2, + pbuffer + 34); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__final_crosstalk_corrected_range_mm_sd1, + 2, + pbuffer + 36); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__spare_0_sd1, + 2, + pbuffer + 38); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__spare_1_sd1, + 2, + pbuffer + 40); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__spare_2_sd1, + 2, + pbuffer + 42); + *(pbuffer + 44) = + pdata->shadow_result__spare_3_sd1; + *(pbuffer + 45) = + pdata->shadow_result__thresh_info; + *(pbuffer + 80) = + pdata->shadow_phasecal_result__reference_phase_hi; + *(pbuffer + 81) = + pdata->shadow_phasecal_result__reference_phase_lo; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_shadow_system_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_shadow_system_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->shadow_phasecal_result__vcsel_start = + (*(pbuffer + 0)); + pdata->shadow_result__interrupt_status = + (*(pbuffer + 2)) & 0x3F; + pdata->shadow_result__range_status = + (*(pbuffer + 3)); + pdata->shadow_result__report_status = + (*(pbuffer + 4)) & 0xF; + pdata->shadow_result__stream_count = + (*(pbuffer + 5)); + pdata->shadow_result__dss_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 6)); + pdata->shadow_result__peak_signal_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 8)); + pdata->shadow_result__ambient_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 10)); + pdata->shadow_result__sigma_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 12)); + pdata->shadow_result__phase_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 14)); + pdata->shadow_result__final_crosstalk_corrected_range_mm_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 16)); + pdata->shadow_result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 18)); + pdata->shadow_result__mm_inner_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 20)); + pdata->shadow_result__mm_outer_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 22)); + pdata->shadow_result__avg_signal_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 24)); + pdata->shadow_result__dss_actual_effective_spads_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 26)); + pdata->shadow_result__peak_signal_count_rate_mcps_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 28)); + pdata->shadow_result__ambient_count_rate_mcps_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 30)); + pdata->shadow_result__sigma_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 32)); + pdata->shadow_result__phase_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 34)); + pdata->shadow_result__final_crosstalk_corrected_range_mm_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 36)); + pdata->shadow_result__spare_0_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 38)); + pdata->shadow_result__spare_1_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 40)); + pdata->shadow_result__spare_2_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 42)); + pdata->shadow_result__spare_3_sd1 = + (*(pbuffer + 44)); + pdata->shadow_result__thresh_info = + (*(pbuffer + 45)); + pdata->shadow_phasecal_result__reference_phase_hi = + (*(pbuffer + 80)); + pdata->shadow_phasecal_result__reference_phase_lo = + (*(pbuffer + 81)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_shadow_system_results( + VL53L1_DEV Dev, + VL53L1_shadow_system_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_shadow_system_results( + pdata, + VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_SHADOW_PHASECAL_RESULT__VCSEL_START, + comms_buffer, + VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_shadow_system_results( + VL53L1_DEV Dev, + VL53L1_shadow_system_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_SHADOW_PHASECAL_RESULT__VCSEL_START, + comms_buffer, + VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_shadow_system_results( + VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_shadow_core_results( + VL53L1_shadow_core_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + VL53L1_i2c_encode_uint32_t( + pdata->shadow_result_core__ambient_window_events_sd0, + 4, + pbuffer + 0); + VL53L1_i2c_encode_uint32_t( + pdata->shadow_result_core__ranging_total_events_sd0, + 4, + pbuffer + 4); + VL53L1_i2c_encode_int32_t( + pdata->shadow_result_core__signal_total_events_sd0, + 4, + pbuffer + 8); + VL53L1_i2c_encode_uint32_t( + pdata->shadow_result_core__total_periods_elapsed_sd0, + 4, + pbuffer + 12); + VL53L1_i2c_encode_uint32_t( + pdata->shadow_result_core__ambient_window_events_sd1, + 4, + pbuffer + 16); + VL53L1_i2c_encode_uint32_t( + pdata->shadow_result_core__ranging_total_events_sd1, + 4, + pbuffer + 20); + VL53L1_i2c_encode_int32_t( + pdata->shadow_result_core__signal_total_events_sd1, + 4, + pbuffer + 24); + VL53L1_i2c_encode_uint32_t( + pdata->shadow_result_core__total_periods_elapsed_sd1, + 4, + pbuffer + 28); + *(pbuffer + 32) = + pdata->shadow_result_core__spare_0; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_shadow_core_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_shadow_core_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->shadow_result_core__ambient_window_events_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 0)); + pdata->shadow_result_core__ranging_total_events_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 4)); + pdata->shadow_result_core__signal_total_events_sd0 = + (VL53L1_i2c_decode_int32_t(4, pbuffer + 8)); + pdata->shadow_result_core__total_periods_elapsed_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 12)); + pdata->shadow_result_core__ambient_window_events_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 16)); + pdata->shadow_result_core__ranging_total_events_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 20)); + pdata->shadow_result_core__signal_total_events_sd1 = + (VL53L1_i2c_decode_int32_t(4, pbuffer + 24)); + pdata->shadow_result_core__total_periods_elapsed_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 28)); + pdata->shadow_result_core__spare_0 = + (*(pbuffer + 32)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_shadow_core_results( + VL53L1_DEV Dev, + VL53L1_shadow_core_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_i2c_encode_shadow_core_results( + pdata, + VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0, + comms_buffer, + VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_shadow_core_results( + VL53L1_DEV Dev, + VL53L1_shadow_core_results_t *pdata) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0, + comms_buffer, + VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_shadow_core_results( + VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_silicon_core.c b/drivers/input/misc/vl53L1/src/vl53l1_silicon_core.c new file mode 100644 index 000000000000..acd5c1769eb9 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_silicon_core.c @@ -0,0 +1,180 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_platform.h" +#include "vl53l1_register_map.h" +#include "vl53l1_core.h" +#include "vl53l1_silicon_core.h" + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, fmt, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_is_firmware_ready_silicon( + VL53L1_DEV Dev, + uint8_t *pready) +{ + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t comms_buffer[5]; + + LOG_FUNCTION_START(""); + + + + + status = VL53L1_ReadMulti( + Dev, + VL53L1_INTERRUPT_MANAGER__ENABLES, + comms_buffer, + 5); + + if (status == VL53L1_ERROR_NONE) { + + pdev->dbg_results.interrupt_manager__enables = + comms_buffer[0]; + pdev->dbg_results.interrupt_manager__clear = + comms_buffer[1]; + pdev->dbg_results.interrupt_manager__status = + comms_buffer[2]; + pdev->dbg_results.mcu_to_host_bank__wr_access_en = + comms_buffer[3]; + pdev->dbg_results.power_management__go1_reset_status = + comms_buffer[4]; + + if ((pdev->sys_ctrl.power_management__go1_power_force & 0x01) == 0x01) { + + if (((pdev->dbg_results.interrupt_manager__enables & 0x1F) == 0x1F) && + ((pdev->dbg_results.interrupt_manager__clear & 0x1F) == 0x1F)) + *pready = 0x01; + else + *pready = 0x00; + + } else { + + + + if ((pdev->dbg_results.power_management__go1_reset_status & 0x01) == 0x00) + *pready = 0x01; + else + *pready = 0x00; + } + + } + + LOG_FUNCTION_END(status); + + return status; +} + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_wait.c b/drivers/input/misc/vl53L1/src/vl53l1_wait.c new file mode 100644 index 000000000000..a04854961bbb --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_wait.c @@ -0,0 +1,627 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_ll_device.h" +#include "vl53l1_platform.h" +#include "vl53l1_core.h" +#include "vl53l1_fpga_core.h" +#include "vl53l1_silicon_core.h" +#include "vl53l1_wait.h" +#include "vl53l1_register_settings.h" + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, \ + fmt, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_wait_for_boot_completion( + VL53L1_DEV Dev) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t fw_ready = 0; + + LOG_FUNCTION_START(""); + + if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) { + + + + + status = + VL53L1_poll_for_boot_completion( + Dev, + VL53L1_BOOT_COMPLETION_POLLING_TIMEOUT_MS); + + } else { + + + + + fw_ready = 0; + while (fw_ready == 0x00 && status == VL53L1_ERROR_NONE) { + status = VL53L1_is_boot_complete( + Dev, + &fw_ready); + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_WaitMs( + Dev, + VL53L1_POLLING_DELAY_MS); + } + } + } + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_wait_for_firmware_ready( + VL53L1_DEV Dev) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t fw_ready = 0; + uint8_t mode_start = 0; + + LOG_FUNCTION_START(""); + + + + + + mode_start = + pdev->sys_ctrl.system__mode_start & + VL53L1_DEVICEMEASUREMENTMODE_MODE_MASK; + + + + + + + + if ((mode_start == VL53L1_DEVICEMEASUREMENTMODE_TIMED) || + (mode_start == VL53L1_DEVICEMEASUREMENTMODE_SINGLESHOT)) { + + if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) { + + + + + status = + VL53L1_poll_for_firmware_ready( + Dev, + VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS); + + } else { + + + + + fw_ready = 0; + while (fw_ready == 0x00 && status == VL53L1_ERROR_NONE) { + status = VL53L1_is_firmware_ready( + Dev, + &fw_ready); + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_WaitMs( + Dev, + VL53L1_POLLING_DELAY_MS); + } + } + } + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_wait_for_range_completion( + VL53L1_DEV Dev) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t data_ready = 0; + + LOG_FUNCTION_START(""); + + if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) { + + + + + status = + VL53L1_poll_for_range_completion( + Dev, + VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS); + + } else { + + + + + data_ready = 0; + while (data_ready == 0x00 && status == VL53L1_ERROR_NONE) { + status = VL53L1_is_new_data_ready( + Dev, + &data_ready); + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_WaitMs( + Dev, + VL53L1_POLLING_DELAY_MS); + } + } + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_wait_for_test_completion( + VL53L1_DEV Dev) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t data_ready = 0; + + LOG_FUNCTION_START(""); + + if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) { + + + + + status = + VL53L1_poll_for_range_completion( + Dev, + VL53L1_TEST_COMPLETION_POLLING_TIMEOUT_MS); + + } else { + + + + + data_ready = 0; + while (data_ready == 0x00 && status == VL53L1_ERROR_NONE) { + status = VL53L1_is_new_data_ready( + Dev, + &data_ready); + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_WaitMs( + Dev, + VL53L1_POLLING_DELAY_MS); + } + } + } + + LOG_FUNCTION_END(status); + + return status; +} + + + + +VL53L1_Error VL53L1_is_boot_complete( + VL53L1_DEV Dev, + uint8_t *pready) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t firmware__system_status = 0; + + LOG_FUNCTION_START(""); + + + + + status = + VL53L1_RdByte( + Dev, + VL53L1_FIRMWARE__SYSTEM_STATUS, + &firmware__system_status); + + + + + + + if ((firmware__system_status & 0x01) == 0x01) { + *pready = 0x01; + VL53L1_init_ll_driver_state( + Dev, + VL53L1_DEVICESTATE_SW_STANDBY); + } else { + *pready = 0x00; + VL53L1_init_ll_driver_state( + Dev, + VL53L1_DEVICESTATE_FW_COLDBOOT); + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_is_firmware_ready( + VL53L1_DEV Dev, + uint8_t *pready) +{ + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + if (pdev->fpga_system > 0) + status = VL53L1_is_firmware_ready_fpga( + Dev, + pready); + else + status = VL53L1_is_firmware_ready_silicon( + Dev, + pready); + + pdev->fw_ready = *pready; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_is_new_data_ready( + VL53L1_DEV Dev, + uint8_t *pready) +{ + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t gpio__mux_active_high_hv = 0; + uint8_t gpio__tio_hv_status = 0; + uint8_t interrupt_ready = 0; + + LOG_FUNCTION_START(""); + + gpio__mux_active_high_hv = + pdev->stat_cfg.gpio_hv_mux__ctrl & + VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_MASK; + + if (gpio__mux_active_high_hv == VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH) + interrupt_ready = 0x01; + else + interrupt_ready = 0x00; + + + + + status = VL53L1_RdByte( + Dev, + VL53L1_GPIO__TIO_HV_STATUS, + &gpio__tio_hv_status); + + + + + if ((gpio__tio_hv_status & 0x01) == interrupt_ready) + *pready = 0x01; + else + *pready = 0x00; + + LOG_FUNCTION_END(status); + + return status; +} + + + + +VL53L1_Error VL53L1_poll_for_boot_completion( + VL53L1_DEV Dev, + uint32_t timeout_ms) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + + + + status = VL53L1_WaitUs( + Dev, + VL53L1_FIRMWARE_BOOT_TIME_US); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WaitValueMaskEx( + Dev, + timeout_ms, + VL53L1_FIRMWARE__SYSTEM_STATUS, + 0x01, + 0x01, + VL53L1_POLLING_DELAY_MS); + + if (status == VL53L1_ERROR_NONE) + VL53L1_init_ll_driver_state(Dev, VL53L1_DEVICESTATE_SW_STANDBY); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_poll_for_firmware_ready( + VL53L1_DEV Dev, + uint32_t timeout_ms) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint32_t start_time_ms = 0; + uint32_t current_time_ms = 0; + int32_t poll_delay_ms = VL53L1_POLLING_DELAY_MS; + uint8_t fw_ready = 0; + + + + + VL53L1_GetTickCount(&start_time_ms); + + pdev->fw_ready_poll_duration_ms = 0; + + + + + while ((status == VL53L1_ERROR_NONE) && + (pdev->fw_ready_poll_duration_ms < timeout_ms) && + (fw_ready == 0)) { + + status = VL53L1_is_firmware_ready( + Dev, + &fw_ready); + + if (status == VL53L1_ERROR_NONE && + fw_ready == 0 && + poll_delay_ms > 0) { + status = VL53L1_WaitMs( + Dev, + poll_delay_ms); + } + + + + + + + VL53L1_GetTickCount(¤t_time_ms); + + pdev->fw_ready_poll_duration_ms = + current_time_ms - start_time_ms; + } + + if (fw_ready == 0 && status == VL53L1_ERROR_NONE) + status = VL53L1_ERROR_TIME_OUT; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_poll_for_range_completion( + VL53L1_DEV Dev, + uint32_t timeout_ms) +{ + + + + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t gpio__mux_active_high_hv = 0; + uint8_t interrupt_ready = 0; + + LOG_FUNCTION_START(""); + + gpio__mux_active_high_hv = + pdev->stat_cfg.gpio_hv_mux__ctrl & + VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_MASK; + + if (gpio__mux_active_high_hv == VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH) + interrupt_ready = 0x01; + else + interrupt_ready = 0x00; + + status = + VL53L1_WaitValueMaskEx( + Dev, + timeout_ms, + VL53L1_GPIO__TIO_HV_STATUS, + interrupt_ready, + 0x01, + VL53L1_POLLING_DELAY_MS); + + LOG_FUNCTION_END(status); + + return status; +} + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_zone_presets.c b/drivers/input/misc/vl53L1/src/vl53l1_zone_presets.c new file mode 100644 index 000000000000..de75b9211b2c --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_zone_presets.c @@ -0,0 +1,253 @@ + +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* This file is part of VL53L1 Core and is dual licensed, either 'STMicroelectronics +* Proprietary license' +* or 'BSD 3-clause "New" or "Revised" License' , at your option. +* +******************************************************************************** +* +* 'STMicroelectronics Proprietary license' +* +******************************************************************************** +* +* License terms: STMicroelectronics Proprietary in accordance with licensing +* terms at www.st.com/sla0044 +* +* STMicroelectronics confidential +* Reproduction and Communication of this document is strictly prohibited unless +* specifically authorized in writing by STMicroelectronics. +* +* +******************************************************************************** +* +* Alternatively, VL53L1 Core may be distributed under the terms of +* 'BSD 3-clause "New" or "Revised" License', in which case the following +* provisions apply instead of the ones +* mentioned above : +* +******************************************************************************** +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +* +* +******************************************************************************** +* +*/ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_ll_device.h" +#include "vl53l1_platform_log.h" +#include "vl53l1_zone_presets.h" + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, fmt, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_init_zone_config_structure( + uint8_t x_off, + uint8_t x_inc, + uint8_t x_zones, + uint8_t y_off, + uint8_t y_inc, + uint8_t y_zones, + uint8_t width, + uint8_t height, + VL53L1_zone_config_t *pdata) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t x = 0; + uint8_t y = 0; + uint16_t i = 0; + + LOG_FUNCTION_START(""); + + pdata->max_zones = VL53L1_MAX_USER_ZONES; + + i = 0; + + for (x = 0 ; x < x_zones ; x++) { + for (y = 0 ; y < y_zones ; y++) { + + if (i < VL53L1_MAX_USER_ZONES) { + + pdata->active_zones = (uint8_t)i; + pdata->user_zones[i].height = height; + pdata->user_zones[i].width = width; + pdata->user_zones[i].x_centre = x_off + (x * x_inc); + pdata->user_zones[i].y_centre = y_off + (y * y_inc); + } + + i++; + } + } + + if (status == VL53L1_ERROR_NONE) { + + status = VL53L1_init_zone_config_histogram_bins(pdata); + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_zone_preset_xtalk_planar( + VL53L1_general_config_t *pgeneral, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + + pgeneral->global_config__stream_divider = 0x05; + + + + pzone_cfg->active_zones = 0x04; + + pzone_cfg->user_zones[0].height = 15; + pzone_cfg->user_zones[0].width = 7; + pzone_cfg->user_zones[0].x_centre = 4; + pzone_cfg->user_zones[0].y_centre = 8; + + pzone_cfg->user_zones[1].height = 15; + pzone_cfg->user_zones[1].width = 7; + pzone_cfg->user_zones[1].x_centre = 12; + pzone_cfg->user_zones[1].y_centre = 8; + + pzone_cfg->user_zones[2].height = 7; + pzone_cfg->user_zones[2].width = 15; + pzone_cfg->user_zones[2].x_centre = 8; + pzone_cfg->user_zones[2].y_centre = 4; + + pzone_cfg->user_zones[3].height = 7; + pzone_cfg->user_zones[3].width = 15; + pzone_cfg->user_zones[3].x_centre = 8; + pzone_cfg->user_zones[3].y_centre = 12; + + + + + pzone_cfg->user_zones[4].height = 15; + pzone_cfg->user_zones[4].width = 15; + pzone_cfg->user_zones[4].x_centre = 8; + pzone_cfg->user_zones[4].y_centre = 8; + + if (status == VL53L1_ERROR_NONE) { + + status = VL53L1_init_zone_config_histogram_bins(pzone_cfg); + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_init_zone_config_histogram_bins( + VL53L1_zone_config_t *pdata) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i; + + LOG_FUNCTION_START(""); + + for (i = 0; i < pdata->max_zones; i++) + pdata->bin_config[i] = VL53L1_ZONECONFIG_BINCONFIG__LOWAMB; + + LOG_FUNCTION_END(status); + + return status; +} + diff --git a/drivers/input/misc/vl53L1/stmvl53l1-i2c.h b/drivers/input/misc/vl53L1/stmvl53l1-i2c.h new file mode 100644 index 000000000000..e68ca420783d --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1-i2c.h @@ -0,0 +1,109 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +/** @file stmvl53l1-i2c.h + * Linux kernel i2c/cci wrapper for ST VL53L1 sensor i2c interface + **/ + +#ifndef STMVL53L1_I2C_H +#define STMVL53L1_I2C_H +#include +#include "stmvl53l1.h" + +struct i2c_data { + struct i2c_client *client; + /** back link to driver for interrupt and clean-up */ + struct stmvl53l1_data *vl53l1_data; + + /* reference counter */ + struct kref ref; + + /*!< if null no regulator use for power ctrl */ + struct regulator *vdd; + + /*!< power enable gpio number + * + * if -1 no gpio if vdd not avl pwr is not controllable + */ + int pwren_gpio; + + /*!< xsdn reset (low active) gpio number to device + * + * -1 mean none assume no "resetable" + */ + int xsdn_gpio; + + /*!< intr gpio number to device + * + * intr is active/low negative edge by default + * + * -1 mean none assume use polling + * @warning if the dev tree and intr gpio is require please adapt code + */ + int intr_gpio; + + /*!< device boot i2c register address + * + * boot_reg is the value of device i2c address after it is bring out + * of reset. + */ + int boot_reg; + + /*!< is set if above irq gpio got acquired */ + struct i2d_data_flags_t { + unsigned pwr_owned:1; /*!< set if pwren gpio is owned*/ + unsigned xsdn_owned:1; /*!< set if sxdn gpio is owned*/ + unsigned intr_owned:1; /*!< set if intr gpio is owned*/ + unsigned intr_started:1; /*!< set if irq is hanlde */ + } io_flag; + + /** the irq vectore assigned to gpio + * -1 if no irq hanled + */ + int irq; + + struct msgtctrl_t { + unsigned unhandled_irq_vec:1; + } msg_flag; +}; + +int stmvl53l1_init_i2c(void); +void __exit stmvl53l1_exit_i2c(void *); +int stmvl53l1_power_up_i2c(void *); +int stmvl53l1_power_down_i2c(void *); +int stmvl53l1_reset_release_i2c(void *); +int stmvl53l1_reset_hold_i2c(void *); +void stmvl53l1_clean_up_i2c(void); +int stmvl53l1_start_intr(void *object, int *poll_mode); +void *stmvl53l1_get(void *); +void stmvl53l1_put(void *); + +#endif /* STMVL53L1_I2C_H */ diff --git a/drivers/input/misc/vl53L1/stmvl53l1.h b/drivers/input/misc/vl53L1/stmvl53l1.h new file mode 100644 index 000000000000..04cba5d04617 --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1.h @@ -0,0 +1,379 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +*License terms : BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ +/** + * @file stmvl53l1.h header for vl53l1 sensor driver + */ +#ifndef STMVL53L1_H +#define STMVL53L1_H + +#include +#include +#include +#include +#include + +#include "vl53l1_api.h" + +/** + * IPP adapt + */ +#ifdef DEBUG +# define IPP_PRINT(...) printk(__VA_ARGS__) +#else +# define IPP_PRINT(...) (void)0 +#endif + +#include "stmvl53l1_ipp.h" +#include "stmvl53l1_if.h" + +/** + * Configure the Netlink-id use + */ +#define STMVL531_CFG_NETLINK_USER 23 + +#define STMVL53L1_MAX_CCI_XFER_SZ 256 +#define STMVL53L1_DRV_NAME "stmvl53l1" + +/** + * configure usage of regulator device from device tree info + * to enable/disable sensor power + * see module-i2c or module-cci file + */ +/* define CFG_STMVL53L1_HAVE_REGULATOR */ + +#define DRIVER_VERSION "8.0.0_b4.1._1268" + +/** @ingroup vl53l1_config + * @{ + */ +/** + * Configure max number of device the driver can support + */ +#define STMVL53L1_CFG_MAX_DEV 2 +/** @ingroup vl53l1_mod_dbg + * @{ + */ +#if 1 +#define DEBUG 1 +#endif +#if 0 +#define FORCE_CONSOLE_DEBUG +#endif + +extern int stmvl53l1_enable_debug; + +#ifdef DEBUG +# ifdef FORCE_CONSOLE_DEBUG +#define vl53l1_dbgmsg(str, ...) do { \ + if (stmvl53l1_enable_debug) \ + pr_info("%s: " str, __func__, ##__VA_ARGS__); \ + } while (0) +# else +#define vl53l1_dbgmsg(str, ...) do { \ + if (stmvl53l1_enable_debug) \ + pr_debug("%s: " str, __func__, ##__VA_ARGS__); \ + } while (0) +# endif +#else +# define vl53l1_dbgmsg(...) (void)0 +#endif + +/** + * set to 0 1 activate or not debug from work (data interrupt/polling) + */ +#define WORK_DEBUG 0 +#if WORK_DEBUG +# define work_dbg(msg, ...)\ + printk("[D WK53L1] :" msg "\n", ##__VA_ARGS__) +#else +# define work_dbg(...) (void)0 +#endif + +#define vl53l1_info(str, args...) \ + pr_info("%s: " str, __func__, ##args) + +#define vl53l1_errmsg(str, args...) \ + pr_err("%s: " str, __func__, ##args) + +#define vl53l1_wanrmsg(str, args...) \ + pr_warn("%s: " str, __func__, ##args) + +/* turn off poll log if not defined */ +#ifndef STMVL53L1_LOG_POLL_TIMING +# define STMVL53L1_LOG_POLL_TIMING 0 +#endif +/* turn off cci log timing if not defined */ +#ifndef STMVL53L1_LOG_CCI_TIMING +# define STMVL53L1_LOG_CCI_TIMING 0 +#endif + +/**@} */ /* ingroup mod_dbg*/ + +#include +#include +#include + +/** if set to 1 enable ipp execution timing (if debug enabled) + * @ingroup vl53l1_mod_dbg + */ +#define IPP_LOG_TIMING 1 + +struct ipp_data_t { + struct ipp_work_t work; + struct ipp_work_t work_out; + int test_n; + int buzy; /*!< buzy state 0 is idle + * any other value do not try to use (state value defined in source) + */ + int waited_xfer_id; + /*!< when buzy is set that is the id we are expecting + * note that value 0 is reserved and stand for "not waiting" + * as such never id 0 will be in any round trip exchange + * it's ok for daemon to use 0 in "ping" when it identify himself + */ + int status; /** if that is not 0 do not look at out work data */ + wait_queue_head_t waitq; + /*!< ipp caller are put in that queue wait while job is posted to user + * @warning ipp and dev mutex will be released before waiting + * see @ref ipp_abort + */ +#if IPP_LOG_TIMING + struct timeval start_tv, stop_tv; +#endif +}; + +struct stmvl53l1_waiters { + struct list_head list; + pid_t pid; +}; + +/* + * driver data structs + */ +struct stmvl53l1_data { + int id; /*!< multiple device id 0 based*/ + char name[64]; /*!< misc device name */ + int32_t hw_rev; /*!< hardware revision number*/ + + VL53L1_DevData_t stdev; /*!ipp.stop_tv) +# define stmvl531_ipp_tim_start(data)\ + do_gettimeofday(&data->ipp.start_tv) +# define stmvl531_ipp_time(data)\ + stmvl53l1_tv_dif(&data->ipp.start_tv, &data->ipp.stop_tv) +# define stmvl531_ipp_stat(data, fmt, ...)\ + vl53l1_dbgmsg("IPPSTAT " fmt "\n", ##__VA_ARGS__) +#else +# define stmvl531_ipp_tim_stop(data) (void)0 +# define stmvl531_ipp_tim_start(data) (void)0 +# define stmvl531_ipp_stat(...) (void)0 +#endif +}; + + +/** + * timeval diff in us + * + * @param pstart_tv + * @param pstop_tv + */ +long stmvl53l1_tv_dif(struct timeval *pstart_tv, struct timeval *pstop_tv); + + +/** + * The device table list table is update as device get added + * we do not support adding removing device mutiple time ! + * use for clean "unload" purpose + */ +extern struct stmvl53l1_data *stmvl53l1_dev_table[]; + +int stmvl53l1_setup(struct stmvl53l1_data *data); +void stmvl53l1_cleanup(struct stmvl53l1_data *data); +int stmvl53l1_intr_handler(struct stmvl53l1_data *data); + +int stmvl53l1_sysfs_laser(struct stmvl53l1_data *data, bool create); + +/** + * request ipp to abort or stop + * + * require dev work_mutex held + * + * @warning because the "waiting" work can't be aborted we must wake it up + * it will happen and at some later time not earlier than release of lock + * if after lock release we have a new request to start the race may not be + * handled correctly + * + * @param data the device + * @return 0 if no ipp got canceled, @warning this is maybe not grant we + * can't re-sched "dev work" and re-run the worker back + */ +int stmvl53l1_ipp_stop(struct stmvl53l1_data *data); + +int stmvl53l1_ipp_do(struct stmvl53l1_data *data, struct ipp_work_t *work_in, + struct ipp_work_t *work_out); + +/** + * per device netlink init + * @param data + * @return + */ +int stmvl53l1_ipp_setup(struct stmvl53l1_data *data); +/** + * per device ipp netlink cleaning + * @param data + * @return + */ +void stmvl53l1_ipp_cleanup(struct stmvl53l1_data *data); + +/** + * Module init for netlink + * @return 0 on success + */ +int stmvl53l1_ipp_init(void); + +/** + * Module exit for netlink + * @return 0 on success + */ +void __exit stmvl53l1_ipp_exit(void); + +/** + * enable and start ipp exhange + * @param n_dev number of device to run on + * @param data dev struct + * @return 0 on success + */ +int stmvl53l1_ipp_enable(int n_dev, struct stmvl53l1_data *data); + + +/* + * function pointer structs + */ + + + +#endif /* STMVL53L1_H */ diff --git a/drivers/input/misc/vl53L1/stmvl53l1_i2c.c b/drivers/input/misc/vl53L1/stmvl53l1_i2c.c new file mode 100644 index 000000000000..fb63b07e49d8 --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_i2c.c @@ -0,0 +1,366 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +/** + * @file stmvl53l1_i2c.c vl53l1 linux native i2c interface + * + */ +#include "stmvl53l1.h" +#include "stmvl53l1-i2c.h" +#include + + + +#if STMVL53L1_LOG_POLL_TIMING +/** + * helper to elapse time in polling + * @param ptv pointer to start time_val + + */ +# define poll_timing_log(ptv) \ + vl53l1_dbgmsg("poll in %d us\n", tv_elapsed_us(ptv)) +#else +# define poll_timing_log(...) (void)0 +#endif + +#if STMVL53L1_LOG_CCI_TIMING +/** + * compute elapsed time in in micro sec based on do_gettimeofday + * @param tv pointer to start time_val + * @return time elapsed in micro seconde + */ + +/** + * compute elapsed time in in micro sec based on do_gettimeofday + * @param tv pointer to start time_val + * @return time elapsed in micro seconde + */ +static uint32_t tv_elapsed_us(struct timeval *tv) +{ + struct timeval now; + + do_gettimeofday(&now); + return (now.tv_sec - tv->tv_sec)*1000000 + (now.tv_usec - tv->tv_usec); +} + +# define cci_access_var struct timeval cci_log_start_tv +# define cci_access_start()\ + do_gettimeofday(&cci_log_start_tv) +# define cci_access_over(fmt, ...) \ + vl53l1_dbgmsg("cci_timing %d us" fmt "\n", \ + tv_elapsed_us(&cci_log_start_tv), ##__VA_ARGS__) +#else +# define cci_access_var +# define cci_access_start(...) (void)0 +# define cci_access_over(...) (void)0 +#endif + +#ifdef STMVL53L1_DEBUG_I2C +# define i2c_debug(fmt, ...) vl53l1_dbgmsg(fmt, ##__VA_ARGS__) +#else +# define i2c_debug(fmt, ...) (void)0 +#endif + + +VL53L1_Error VL53L1_GetTickCount(uint32_t *ptime_ms) +{ + (void)ptime_ms; + BUG_ON(1); +} +/** + * compute elapsed time in in milli sec based on do_gettimeofday + * @param tv pointer to start time_val + * @return time elapsed in milli seconde + */ +static uint32_t tv_elapsed_ms(struct timeval *tv) +{ + struct timeval now; + + do_gettimeofday(&now); + return (now.tv_sec - tv->tv_sec) * 1000 + + (now.tv_usec - tv->tv_usec) / 1000; +} + +static int cci_write(struct stmvl53l1_data *dev, int index, + uint8_t *data, uint16_t len){ + uint8_t buffer[STMVL53L1_MAX_CCI_XFER_SZ+2]; + struct i2c_msg msg; + struct i2c_data *i2c_client_obj = + (struct i2c_data *) dev->client_object; + struct i2c_client *client = + (struct i2c_client *) i2c_client_obj->client; + int rc; + + cci_access_var; + if (len > STMVL53L1_MAX_CCI_XFER_SZ || len == 0) { + vl53l1_errmsg("invalid len %d\n", len); + return -1; + } + cci_access_start(); + /* build up little endian index in buffer */ + buffer[0] = (index >> 8) & 0xFF; + buffer[1] = (index >> 0) & 0xFF; + /* copy write data to buffer after index */ + memcpy(buffer+2, data, len); + /* set i2c msg */ + msg.addr = client->addr; + msg.flags = client->flags; + msg.buf = buffer; + msg.len = len+2; + + rc = i2c_transfer(client->adapter, &msg, 1); + if (rc != 1) { + vl53l1_errmsg("wr i2c_transfer err:%d, index 0x%x len %d\n", + rc, index, len); + } + cci_access_over("rd status %d long %d ", rc != 1, len); + return rc != 1; +} + +static int cci_read(struct stmvl53l1_data *dev, int index, + uint8_t *data, uint16_t len) +{ + uint8_t buffer[2]; + struct i2c_msg msg[2]; + struct i2c_data *i2c_client_obj = + (struct i2c_data *) dev->client_object; + struct i2c_client *client = + (struct i2c_client *) i2c_client_obj->client; + int rc; + + cci_access_var; + if (len > STMVL53L1_MAX_CCI_XFER_SZ || len == 0) { + vl53l1_errmsg("invalid len %d\n", len); + return -1; + } + cci_access_start(); + + /* build up little endian index in buffer */ + buffer[0] = (index >> 8) & 0xFF; + buffer[1] = (index >> 0) & 0xFF; + + msg[0].addr = client->addr; + msg[0].flags = client->flags;/* Write */ + msg[0].buf = buffer; + msg[0].len = 2; + /* read part of the i2c transaction */ + msg[1].addr = client->addr; + msg[1].flags = I2C_M_RD|client->flags; + msg[1].buf = data; + msg[1].len = len; + + rc = i2c_transfer(client->adapter, msg, 2); + if (rc != 2) { + pr_err("%s: i2c_transfer :%d, @%x index 0x%x len %d\n", + __func__, rc, client->addr, index, len); + + } + cci_access_over(" wr len %d status %d", rc != 2, len); + return rc != 2; +} + + +VL53L1_Error VL53L1_WrByte(VL53L1_DEV pdev, + uint16_t index, + uint8_t data) +{ + struct stmvl53l1_data *dev; + + dev = (struct stmvl53l1_data *)container_of(pdev, + struct stmvl53l1_data, stdev); + + return cci_write(dev, index, &data, 1); + +} + + +VL53L1_Error VL53L1_RdByte( + VL53L1_DEV pdev, + uint16_t index, + uint8_t *pdata) +{ + struct stmvl53l1_data *dev; + + dev = (struct stmvl53l1_data *) container_of(pdev, + struct stmvl53l1_data, stdev); + + return cci_read(dev, index, pdata, 1) ? + VL53L1_ERROR_CONTROL_INTERFACE : VL53L1_ERROR_NONE; +} + +VL53L1_Error VL53L1_WrWord(VL53L1_DEV pdev, uint16_t index, uint16_t data) +{ + VL53L1_Error status; + uint8_t buffer[2]; + + /* Split 16-bit word into MS and L* stmvl53l1 FlightSense sensor */ + + buffer[0] = (uint8_t) (data >> 8); + buffer[1] = (uint8_t) (data & 0x00FF); + i2c_debug(" @%x d= %x => [ %x , %x ] ", index, data, buffer[0], + buffer[1]); + status = VL53L1_WriteMulti(pdev, index, buffer, 2); + + return status; +} + + +VL53L1_Error VL53L1_RdWord(VL53L1_DEV pdev, uint16_t index, uint16_t *pdata) +{ + VL53L1_Error status; + uint8_t buffer[2]; + + status = VL53L1_ReadMulti(pdev, index, buffer, 2); + + *pdata = ((uint16_t) buffer[0] << 8) + (uint16_t) buffer[1]; + + return status; +} + + +VL53L1_Error VL53L1_WrDWord(VL53L1_DEV pdev, uint16_t index, uint32_t data) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t buffer[4]; + + /* Split 32-bit word into MS ... LS bytes */ + buffer[0] = (uint8_t) (data >> 24); + buffer[1] = (uint8_t) ((data & 0x00FF0000) >> 16); + buffer[2] = (uint8_t) ((data & 0x0000FF00) >> 8); + buffer[3] = (uint8_t) (data & 0x000000FF); + + status = VL53L1_WriteMulti(pdev, index, buffer, 4); + + return status; +} + +VL53L1_Error VL53L1_RdDWord(VL53L1_DEV pdev, uint16_t index, uint32_t *pdata) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t buffer[4]; + + status = VL53L1_ReadMulti(pdev, index, buffer, 4); + + *pdata = ((uint32_t) buffer[0] << 24) + ((uint32_t) buffer[1] << 16) + + ((uint32_t) buffer[2] << 8) + (uint32_t) buffer[3]; + + return status; +} + +VL53L1_Error VL53L1_WriteMulti(VL53L1_DEV pdev, uint16_t index, + uint8_t *pdata, uint32_t count) +{ + struct stmvl53l1_data *dev; + + dev = (struct stmvl53l1_data *) container_of(pdev, + struct stmvl53l1_data, stdev); + + return cci_write(dev, index, pdata, count) ? + VL53L1_ERROR_CONTROL_INTERFACE : VL53L1_ERROR_NONE; +} + +VL53L1_Error VL53L1_ReadMulti(VL53L1_DEV pdev, uint16_t index, + uint8_t *pdata, uint32_t count) +{ + struct stmvl53l1_data *dev; + + dev = (struct stmvl53l1_data *) container_of(pdev, + struct stmvl53l1_data, stdev); + + return cci_read(dev, index, pdata, count) ? + VL53L1_ERROR_CONTROL_INTERFACE : VL53L1_ERROR_NONE; +} + +static int is_time_over(struct timeval *tv, uint32_t msec) +{ + return tv_elapsed_ms(tv) >= msec; +} + +VL53L1_Error VL53L1_WaitValueMaskEx( + VL53L1_DEV pdev, + uint32_t timeout_ms, + uint16_t index, + uint8_t value, + uint8_t mask, + uint32_t poll_delay_ms) +{ + struct timeval start_tv; + struct stmvl53l1_data *dev; + int rc, time_over; + uint8_t rd_val; + + dev = (struct stmvl53l1_data *) container_of(pdev, + struct stmvl53l1_data, stdev); + + do_gettimeofday(&start_tv); + do { + rc = cci_read(dev, index, &rd_val, 1); + if (rc) + return VL53L1_ERROR_CONTROL_INTERFACE; + if ((rd_val & mask) == value) { + poll_timing_log(&start_tv); + return VL53L1_ERROR_NONE; + } + vl53l1_dbgmsg("poll @%x %x & %d != %x", index, + rd_val, mask, value); + time_over = is_time_over(&start_tv, timeout_ms); + if (!time_over) + msleep(poll_delay_ms); + } while (!time_over); + vl53l1_errmsg("time over %d ms", timeout_ms); + return VL53L1_ERROR_TIME_OUT; +} + +VL53L1_Error VL53L1_WaitUs(VL53L1_DEV pdev, int32_t wait_us) +{ + struct stmvl53l1_data *data; + + data = (struct stmvl53l1_data *) container_of(pdev, + struct stmvl53l1_data, stdev); + + if (!data->is_delay_allowed) + return VL53L1_ERROR_PLATFORM_SPECIFIC_START; + + /* follow Documentation/timers/timers-howto.txt recommendations */ + if (wait_us < 10) + udelay(wait_us); + else if (wait_us < 20000) + usleep_range(wait_us, wait_us + 1); + else + msleep(wait_us / 1000); + + return VL53L1_ERROR_NONE; +} + +VL53L1_Error VL53L1_WaitMs(VL53L1_DEV pdev, int32_t wait_ms) +{ + return VL53L1_WaitUs(pdev, wait_ms * 1000); +} diff --git a/drivers/input/misc/vl53L1/stmvl53l1_if.h b/drivers/input/misc/vl53L1/stmvl53l1_if.h new file mode 100644 index 000000000000..ecc29290ce3f --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_if.h @@ -0,0 +1,564 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +*License terms : BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + + +/** + * @file stmvl53l1_if.h vl53l1 kernel driver user interface + * + * @note to use this header in a user space application it requires + * all st bare/ll driver platform wrapper files (for data struct def) + * this files (types etc ..) shall be same or compliant with bar driver version + * used in the kernel module + */ + +#ifndef STMVL53L1_IF_H +#define STMVL53L1_IF_H + + +#include "vl53l1_def.h" +/** + * @addtogroup vl53l1_ioctl + * @{ + */ + +/** + * misc device name for ioctl device + * + * for mutli instance all device 2nd and next instance are basic name +"1"+"2" + * @li stmvl53l1_ranging + * @li stmvl53l1_ranging1 + * @li stmvl53l1_ranging2 + */ +#define VL53L1_MISC_DEV_NAME "laser" +/** + * register data use for simple/single ranging data @ref VL53L1_IOCTL_GETDATAS + * + * @warning this definition is subject to change ! + */ +#define stmvl531_range_data_t VL53L1_RangingMeasurementData_t + +/** + * parameter name in @ref stmvl53l1_parameter when using + * @ref VL53L1_IOCTL_PARAMETER + */ +enum __stmv53l1_parameter_name_e { + VL53L1_XTALKENABLE_PAR = 2, + /*!< VL53L1_XTALKENABLE_PAR enable/disable crosstalk compensation\n + * valid value : + * @li 0 disable crosstalk compensation + * @li 1 enable crosstalk compensation + * + * @warning mode can only be set while not ranging + */ + + VL53L1_DEVICEMODE_PAR = 6, + /*!< DEVICEMODE_PAR set ranging mode  \n + * valid mode value : + * @li 1 @a VL53L1_PRESETMODE_RANGING default ranging + * @li 2 @a VL53L1_PRESETMODE_MULTIZONES_SCANNING multiple zone + * @li 3 @a VL53L1_PRESETMODE_AUTONOMOUS autonomous mode + * @li 4 @a VL53L1_PRESETMODE_LITE_RANGING low mips ranging mode + * + * @warning mode can only be set while not ranging + */ + + VL53L1_POLLDELAY_PAR = 10, + /*!< set the polling delay (msec)\n + * + * @note apply only when operates in polling mode as no effect + * otherwise + */ + VL53L1_TIMINGBUDGET_PAR = 11, + /*!< VL53L1_TIMINGBUDGET_PAR + * @ref stmvl53l1_parameter.value field is timing budget in micro second + * + * @note the value cannot be set while ranging will set ebusy errno, + * value set is absorbed at next range start @ref VL53L1_IOCTL_START + */ + + VL53L1_DISTANCEMODE_PAR = 12, + /*!< VL53L1_DISTANCEMODE_PAR + * valid distance mode value : + * @li 1 @a VL53L1_DISTANCEMODE_SHORT + * @li 2 @a VL53L1_DISTANCEMODE_MEDIUM + * @li 3 @a VL53L1_DISTANCEMODE_LONG + * @li 4 @a VL53L1_DISTANCEMODE_AUTO_LITE + * @li 5 @a VL53L1_DISTANCEMODE_AUTO + * + * @warning distance mode can only be set while not ranging + */ + + VL53L1_OUTPUTMODE_PAR = 13, + /*!< VL53L1_OUTPUTMODE_PAR + * valid output mode value : + * @li 1 @a VL53L1_OUTPUTMODE_NEAREST + * @li 2 @a VL53L1_OUTPUTMODE_STRONGEST + * + * @warning distance mode can only be set while not ranging + */ + + VL53L1_FORCEDEVICEONEN_PAR = 14, + /*!< VL53L1_FORCEDEVICEONEN_PAR + * This parameter will control if device is put under reset when + * stopped. + * valid force device on value : + * @li 0 feature is disable. Device is put under reset when stopped. + * @li 1 feature is enable. Device is not put under reset when stopped. + */ + + VL53L1_LASTERROR_PAR = 15, + /*!< VL53L1_LASTERROR_PAR + * This is a read only parameter. It will return last device internal + * error. It's valid only after an ioctl/sysfs return an -EIO error. + */ + + VL53L1_CAMERAMODE_PAR = 16, + /*!< VL53L1_CAMERAMODE_PAR + * valid camera mode value : + * @li 0 device is out of camera mode. + * @li 1 device is in camera mode. + */ + + VL53L1_HWREV_PAR = 17, + /*!< VL53L1_HWREV_PAR + * This is a read only parameter. It will return HW revision number + */ +}; +#define stmv53l1_parameter_name_e enum __stmv53l1_parameter_name_e + +/** + * parameter structure use in @ref VL53L1_IOCTL_PARAMETER + */ +struct stmvl53l1_parameter { + uint32_t is_read; /*!< [in] 1: Get 0: Set*/ + stmv53l1_parameter_name_e name; /*!< [in] parameter to set/get + * see @ref stmv53l1_parameter_name_e + */ + + int32_t value; /*!< [in/out] value to set /get */ + int32_t value2; /*!< [in/out] optional 2nd value */ + int32_t status; /*!< [out] status of the operation */ +}; + + +/** + * roi structure use as @ref VL53L1_IOCTL_ROI arg + * + * see @ref stmvl53l1_roi_full_t for easy to use type variable declaration + * required + */ +struct stmvl53l1_roi_t { + int32_t is_read; + /*!< specify roi transfer direction \n + * @li 0 to get roi + * @li !0 to set roi + */ + /*! roi data and count type use in @ VL53L1_IOCTL_ROI */ + struct roi_cfg_t { + uint8_t NumberOfRoi; + /*!< [in/out] Number of Rois to set/get + * + * on set :\n + * [in] number of roi to set + * @note 0 set can be used to return to device default roi usage + * + * on get :\n + * [in] max number provided\n + * [out] number of ROI copied back to user\n + * @warning 0 will not return any roi datas! + */ + VL53L1_UserRoi_t UserRois[1]; + /*!< roi data array length definition is 1 but + * NumberOfRoi+ FirstRoiToScan in array are required + * and will be effectively copy to/from user space + * + * @sa stmvl53l1_roi_full_t + */ + } roi_cfg /*! [in/out] roi data and count */; +}; + +/** + * full roi struct use in @ref VL53L1_IOCTL_ROI arg + * + * this definition make easier variable declaration with the max roi storage + * capabilities. + * + * @sa stmvl53l1_roi_t for field details + */ +struct stmvl53l1_roi_full_t { + int32_t is_read; + /*!< specify roi transfer direction \n + * @li 0 to get roi + * @li !0 to set roi + */ + VL53L1_RoiConfig_t roi_cfg; + /*!< roi data array of max length but only requested copy to/from user + * space effectively used + * see @a stmvl53l1_roi_t::roi_cfg for details + */ +}; + +/** + * parameter structure use in @ref VL53L1_IOCTL_CALIBRATION_DATA + */ +struct stmvl53l1_ioctl_calibration_data_t { + int32_t is_read; /*!< [in] 1: Get 0: Set*/ + VL53L1_CalibrationData_t data; + /*!< [in/out] data to set /get. Caller + * should consider this structure as an opaque one + */ +}; + +/** Select reference spad calibration in @ref VL53L1_IOCTL_PERFORM_CALIBRATION. + * + * param1, param2 and param3 not use + */ +#define VL53L1_CALIBRATION_REF_SPAD 0 + +/** Select crosstalk calibration in @ref VL53L1_IOCTL_PERFORM_CALIBRATION. + * + * param1 is calibration method. param2 and param3 not use. + */ +#define VL53L1_CALIBRATION_CROSSTALK 1 + +/** Select offset calibration @ref VL53L1_IOCTL_PERFORM_CALIBRATION. + * param1 is target distance in mm. param2 and + * param3 not use. + */ +#define VL53L1_CALIBRATION_OFFSET 2 + +/** + * parameter structure use in @ref VL53L1_IOCTL_PERFORM_CALIBRATION + */ +struct stmvl53l1_ioctl_perform_calibration_t { + uint32_t calibration_type; + /*!< [in] select which calibration to do : + * @li @ref VL53L1_CALIBRATION_REF_SPAD + * @li @ref VL53L1_CALIBRATION_CROSSTALK + * @li @ref VL53L1_CALIBRATION_OFFSET + */ + uint32_t param1; + /*!< [in] first param. Usage depends on calibration_type */ + uint32_t param2; + /*!< [in] second param. Usage depends on calibration_type */ + uint32_t param3; + /*!< [in] third param. Usage depends on calibration_type */ +}; + +/** + * parameter structure use in @ref VL53L1_IOCTL_AUTONOMOUS_CONFIG + */ +struct stmvl53l1_autonomous_config_t { + int32_t is_read; + /*!< [in] 1: Get 0: Set*/ + uint32_t pollingTimeInMs; + /*!< [in/out] interval between two measure in ms */ + VL53L1_DetectionConfig_t config; + /*!< [int/out] autonomous mode configuration structure */ +}; + +/* + * IOCTL definitions + */ + + +/** + * Start ranging (no argument) + * + * @note sysfs and ioctl control are assumed mutual exclusive use + * control from ioctl execute with no consideration of sysfs path. + * + * @return : + * @li 0 on success + * @li -EBUSY if already started + * @li other any possible over "st bare driver error code" + * (shall be positive) + * + * example user land : + @code + int smtvl53l1_start(int fd){error + int rc; + rc = ioctl(fd, VL53L1_IOCTL_START, NULL); + if( rc ){ + if( errno == EBUSY){ + //the device is already started + ioctl_warn("already started"); + return EBUSY; + } + } + if( rc ){ + ioctl_error("%d %s", rc,strerror(errno)); + } + return rc; +} + @endcode +*/ + +#define VL53L1_IOCTL_START _IO('p', 0x01) + +/* Alias for VL53L1_IOCTL_START. Still present for legacy support but usage is + * deprecated. Consider using VL53L1_IOCTL_START instead. May be removed without + * further notice. + */ +#define VL53L1_IOCTL_INIT VL53L1_IOCTL_START + +/** + * stop ranging (no argument) + + * @note sysfs and ioctl control are assumed mutual exclusive use + * control from ioctl execute action with no consideration of sysfs path. + * + * @return + * @li 0 on success + * @li -EBUSY if it was already + * @li other specific error code shall be >0 + * + * c example userland : + @code +int smtvl53l1_stop(int fd){ + int rc; + rc= ioctl(fd, VL53L1_IOCTL_STOP,NULL); + if( rc ){ + if( errno == EBUSY ){ + ioctl_warn("already stopped"); + return errno; + } + ioctl_error("%d %s", rc,strerror(errno)); + } + return rc; +} +@endcode + */ +#define VL53L1_IOCTL_STOP _IO('p', 0x05) + +/** + * get single ranging data @sa for multi zone/objet + * + * retrieve the last range data available form the device + * + * @param in/out data struct ptr of type @ref stmvl531_range_data_t + * it may come in but is out as of now + * + * @return 0 on success else o, error check errno + * @li -EFAULT fault in cpy to f/m user out range data not copied + * + * @warning this ioctl will not wait for a new range sample acquisition + * it will return what available at time it get called . Hence same data maybe + * returned many time when doing fast polling.\n + * End user must inspect the data structure (time stamp etc )to find about it\n + * Despite it's non "waiting" nature this ioctl may still block/sleep shortly + * to ensure race free usage acquiring mutex and/or locks. + */ +#define VL53L1_IOCTL_GETDATAS \ + _IOWR('p', 0x0b, stmvl531_range_data_t) + +/** + * set or get parameter + * + * @param parameter in/out @ref stmvl53l1_parameter + * @sa stmv53l1_parameter_name_e + * + * for get if ioctl fail do not check for out params it is not valid + * for set theirs not copy back only see ioctl status, errno to get error case + * + * @note a set parameter may not be absorbed straight aways ! + */ +#define VL53L1_IOCTL_PARAMETER \ + _IOWR('p', 0x0d, struct stmvl53l1_parameter) + + +/** + * set/get roi + * + * shall only be use while device is stopped (EBUSY error otherwise) + * setting 0 rois stand for "disable user define roi usage, use device default" + * + * @param roi_cfg [in/out] type @ref stmvl53l1_roi_t and + * @ref stmvl53l1_roi_full_t + * @note when getting roi the returned roi cnt is set to available number + * of roi in driver but at most requested number or available one + * will be set in returned structure + * @warning the coordinate system is not usual image x,y (y down)but traditional + * ecludian x,y (y up) + * + * @warning once defined the user roi is kept alive until unset by user . + * User shall update roi when required (mode change etc ..)\n + * To return to default unset roi by setting none, device will return to default + * at next start + * + * @note roi validity is only checked at start ranging , as such invalid roi set + * can make start to fail + * + * @return 0 on success , see errno for error detail + * @li EBUSY when trying to set roi while ranging + * @li ENODEV never device get started and trying to get more rois than set + * @li other errno code could be ll driver specific + */ +#define VL53L1_IOCTL_ROI\ + _IOWR('p', 0x0e, struct stmvl53l1_roi_t) + +/** + * Get multi object/zone ranging data + * + * this call is non blocking and will return what available internally + * in all case (veen error) + * + * @param [out] multi zone range @ref VL53L1_MultiRangingData_t always update + * but -EFAULT error case + * + * @return 0 on success else o, error check errno + * @li -EFAULT fault in cpy to f/m user out range data not copyed + * @li -ENOEXEC active mode is not mutli-zone + * @li -ENODEV device is not ranging + * as in that case MZ data may not be fully valid + */ +#define VL53L1_IOCTL_MZ_DATA\ + _IOR('p', 0x0f, VL53L1_MultiRangingData_t) + +/** + * get single ranging data @sa for multi zone/objet + * + * this call is equivalent to VL53L1_IOCTL_GETDATAS but will block until + * new data are available since previous call. + * + * @param in/out data struct ptr of type @ref stmvl531_range_data_t + * it may come in but is out as of now + * + * @return 0 on success else o, error check errno + * @li -EFAULT fault in cpy to f/m user out range data not copied + * @li -ENODEV device is not ranging. + * @li -ERESTARTSYS interrupt while sleeping. + */ +#define VL53L1_IOCTL_GETDATAS_BLOCKING\ + _IOWR('p', 0x10, stmvl531_range_data_t) + +/** + * Get multi object/zone ranging data + * + * this call is equivalent to VL53L1_IOCTL_MZ_DATA but will block until + * new data are available since previous call. + * + * @param [out] multi zone range @ref VL53L1_MultiRangingData_t always update + * but -EFAULT error case + * + * @return 0 on success else o, error check errno + * @li -EFAULT fault in cpy to f/m user out range data not copyed + * @li -ENOEXEC active mode is not mutli-zone + * @li -ENODEV device is not ranging. + * @li -ERESTARTSYS interrupt while sleeping. + * as in that case MZ data may not be fully valid + */ +#define VL53L1_IOCTL_MZ_DATA_BLOCKING\ + _IOR('p', 0x11, VL53L1_MultiRangingData_t) + +/** + * Get / set calibration data + * + * this call allow client to either read calibration data after calibration + * has been performed to store them in the host filesystem or push calibration + * data before ranging at each start-up. + * + * @param [in/out] data struct ptr of type + * @ref stmvl53l1_ioctl_calibration_data_t. Caller should consider it as an + * opaque structure. + * + * @return 0 on success else o, error check errno + * @li -EFAULT fault in cpy to f/m user out range data not copied + * @li -EBUSY when trying to set calibration data while ranging + */ +#define VL53L1_IOCTL_CALIBRATION_DATA\ + _IOWR('p', 0x12, struct stmvl53l1_ioctl_calibration_data_t) + +/** + * perform calibration squence according to calibration_type + * + * this call is attended to be used during factory calibration. You select + * calibration to issue using calibration_type. + * + * @param [in] data struct ptr of type + * @ref stmvl53l1_ioctl_perform_calibration_t. + * + * @return 0 on success else o, error check errno + * @li -EFAULT fault in cpy to f/m user out range data not copied + * @li -EBUSY when trying to perform calibration data while ranging + */ +#define VL53L1_IOCTL_PERFORM_CALIBRATION\ + _IOW('p', 0x13, struct stmvl53l1_ioctl_perform_calibration_t) + +/** + * set/get configure autonomous mode parameters + * + * Allow to get or set autonomous configuration. Change it only when device + * is stopped otherwise you will receive an EBUSY error. + * + * @param stmvl53l1_autonomous_config_t [in/out] + * + * @note autonomous config validity is only checked at start ranging , as such + * invalid autonomous config set can make start to fail. + * + * @return 0 on success , see errno for error detail + * @li -EFAULT failed to copy from/to configuration. + * @li -EBUSY when trying to change configuration while ranging. + */ +#define VL53L1_IOCTL_AUTONOMOUS_CONFIG\ + _IOWR('p', 0x14, struct stmvl53l1_autonomous_config_t) + +/** + * suspend ranging (no argument) + + * @note sysfs and ioctl control are assumed mutual exclusive use + * control from ioctl execute action with no consideration of sysfs path. + * + * @return + * @li 0 on success + * @li -EBUSY if it was already + * @li other specific error code shall be >0 + * + * c example userland : + @code +int smtvl53l1_stop(int fd){ + int rc; + rc= ioctl(fd, VL53L1_IOCTL_SUSPEND,NULL); + if( rc ){ + if( errno == EBUSY ){ + ioctl_warn("already suspended"); + return errno; + } + ioctl_error("%d %s", rc,strerror(errno)); + } + return rc; +} +@endcode + */ +#define VL53L1_IOCTL_SUSPEND _IO('p', 0x15) + +/** @} */ /* ioctl group */ +#endif /* STMVL53L1_IF_H */ diff --git a/drivers/input/misc/vl53L1/stmvl53l1_internal_if.h b/drivers/input/misc/vl53L1/stmvl53l1_internal_if.h new file mode 100644 index 000000000000..e3ba0cccd24c --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_internal_if.h @@ -0,0 +1,75 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +#ifndef STMVL53L1_INTERNAL_IF_H +#define STMVL53L1_INTERNAL_IF_H + +#include "vl53l1_def.h" + +/* interface definition move in this file is not supposed to be use by a normal + * client. It's only here for internal testing purpose. + */ + +/* structure and ioctl that allow raw access to vl53l1 register */ +struct stmvl53l1_register { + uint32_t is_read; /*!< type of the access 1: read 0: write*/ + uint32_t index; /*!< register index */ + uint32_t cnt; /*!< register size shall be 1 to n */ + int32_t status; /*!< operation status 0 ok else error */ + + union reg_data_t { + uint8_t b; /*!< single data byte*/ + uint16_t w; /*!< single data word (16 bits)*/ + uint32_t dw; /*!< single data dword (32 bits)*/ + uint8_t bytes[256]; /*!< any size byte array + * @note only effectively used array size is needed and will be + * set/used another possible register definition is + * @ref stmvl53l1_register_flexi + */ + } data; /*!< data only *@warning device is big endian and + * no endianess adaptation is performed by @ref VL53L1_IOCTL_REGISTER + */ +}; + +struct stmvl53l1_register_flexi { + uint32_t is_read; /*!< [in] type of the access 1: read 0: write*/ + uint32_t index; /*!< [in] register index */ + uint32_t cnt; /*!< [în] register size shall be 1 to n */ + int32_t status; /*!< [out] operation status 0 ok else error */ + uint8_t data[]; /*!< [in/out] flexible array size data */ + /*!< data only *@warning device is big endian and + * no endianess adaptation is performed by @ref VL53L1_IOCTL_REGISTER + */ +}; + +#define VL53L1_IOCTL_REGISTER _IOWR('p', 0x0c, struct stmvl53l1_register) + +#endif diff --git a/drivers/input/misc/vl53L1/stmvl53l1_ipp.h b/drivers/input/misc/vl53L1/stmvl53l1_ipp.h new file mode 100644 index 000000000000..cd8bc0b48b78 --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_ipp.h @@ -0,0 +1,386 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +/** + * @file stmvl53l1_ipp.h + * + * helper to serialize de-serialize data in ipp exchange between user/kernel + * + * @date Sep 2, 2016 + * @author imaging + */ + +#ifndef _STMVL53L1_IPP_H_ +#define _STMVL53L1_IPP_H_ + +#include "vl53l1_types.h" + + +/** @ingroup ipp_dev + * @{ + */ + +/** + * @defgroup ipp_serialize ST IPP serialization helper + * + * to use the dump help you lust define first a few extra "specific" + * + * @li IPP_PRINT(fmt,..) with typical printf/printk interface + */ + /** @{ */ +/** + * generic data type to serialized scalar and offset for pointer + * + * serialized data can be seen as a first array of n ipp_art_t + * where each input are arg value for scaler type + * and an offset with respect to the ipp_arg base array where the data + * + * @note if all ipp argument can fit on 32 bit then ipp_arg_t is best set as + * a 32 bit base type '(i e uint32_t) to save space + * on 64 bit cpu it can remain 64 bit type to get better alignment + */ +typedef uint64_t ipp_arg_t; + +/** + * set to the cpu structure alignment and packing constrain + * + * all serialized argument passed by pointer will be stored with + * this memory align constrain + * + * + * @note if target cpu is ok to access unaligned data or less constrain ie 64 + * bit data align 32 are ok then it can be set to 4 to save space in data + * packing and copy\n + * We may be over constraining in many cases as a struct is only required to + * be aligned on i'st biggest item size + * + * @warning it must be a 2 power of 2 (& operation instead of mudulo used in + * align calculation) + * @warning using 8 byte constrain require that the @a ipp_arg_t is already + * aligned on that constrain + */ +#define IPP_ALIGN_REQ 8 + +/** + * set x to it's nearest aligned offset (not that 0 is fine as a valid offset + * than will not be up aligned to next align chunk ) + */ +#define IPP_ALIGN_OFFSET(x) (((x)+(IPP_ALIGN_REQ-1)) & (~(IPP_ALIGN_REQ-1))) + +/** + * declare variable needed for ipp serialization + */ +#define IPP_SERIALIZE_VAR int ipp_offset +/** + * Put in function start to init the serialization coding + * + * @param ipp_args buffer for data serialization + * @param n_args is the total number of argument scalar and ptr to serialized + * dot not count out only arg that will be returned + * + * it define local var "ipp_offset" used to accumulate all input args that must + * be serialize. It reserve header room in the buffer to place for scalar args + * and offset for args ptr copy + * + * args pass by pointer must be serialized by @ref IPP_SET_ARG_PTR in order they + * are declare\n + * scalar args can be serialized in any order with @ref IPP_SET_ARG + * + * scalar args that can't be cast to basic @ref ipp_arg_t shall be serialized + * Manually or using a macro similar to ptr that can be pass by copy + * + *@note @ref IPP_SERIALIZE_VAR must be use first + * @code + * int ipp_to _ser(int arg0, struct st_t *pdata1){ + * char *local var; + * ipp_arg_t args[256]; + * IPP_SERIALIZE_START(2); + * IPP_SET_ARG(args, 0, arg0); + * IPP_SET_ARG_PTR(args, 1, pdata); + * do_one_ipp(args); + * } + * @endcode + * + */ +#define IPP_SERIALIZE_START(ipp_args, n_args)\ + (ipp_offset = IPP_ALIGN_OFFSET((char *)(&ipp_args[n_args]) - \ + (char *)ipp_args)) + +/** + * @brief Serialize scalar argument + * + * serialized arg number n into ipp_args\n + * can be used in any order + * + * @param ipp_args the args buffer + * @param n 0 base arg number + * @param v the scalar argument variable + * @warning usable only for scalar type that can be copy on a ipp_arg_t + */ +#define IPP_SET_ARG(ipp_args, n, v) memcpy(&ipp_args[n], &v, sizeof(v)) + +/** + * @brief Serialize an arg passed by pointer + * + * @param ipp_args the arg ptr array + * @param n the arg number to serialize + * @param pdata argument it must be a type like struct x_t * int [n] etc ... + * that size is given by size of and and be copied by a single memcpy + */ +#define IPP_SET_ARG_PTR(ipp_args, n, pdata)\ + do {\ + ipp_args[n] = ipp_offset;\ + memcpy(((char *)ipp_args) + ipp_offset, pdata, sizeof(*pdata));\ + ipp_offset = IPP_ALIGN_OFFSET(ipp_offset + sizeof(*pdata));\ + } while (0) + +/** + * serialize out get ptr for pdata + * + * @note it does not cpy data just set ptr and update the offset + * @warning to be use in order + * + * @param ipp_args the arg ptr array + * @param n the arg number to serialize (unused) + * @param pdata init to ptr in ipp_args type is used for offset computation + * @warning to use sequential in order agr are serialized + */ +#define IPP_OUT_ARG_PTR(ipp_args, n, pdata)\ + do {\ + pdata = (void *)(((char *)ipp_args) + ipp_offset);\ + ipp_offset = IPP_ALIGN_OFFSET(ipp_offset + \ + (int)sizeof(*pdata));\ + } while (0) + + +/** + * @brief ipp get payload + * + * @return paylaod at time used \n + * when all done it's overall out payload + * + * require @ref IPP_SERIALIZE_VAR and @ref IPP_SERIALIZE_START used first\n + * best use after all @ref IPP_OUT_ARG_PTR or @ref IPP_SET_ARG_PTR done to get + * full payload + **/ +#define IPP_SERIALIZE_PAYLAOD() (ipp_offset + IPP_WORK_HDR_SIZE) + +/** + * de-serialize and argument that was passed by value + * @param ipp_args the args array + * @param n the 0 base argument number + * @param v argument it must be exact type + * + * + * @code + * f_deserialize(ipp_arg_t args[]) + * { + * // f_ser is like (uint16_t arg0, struct s_arg_t * arg1, int arg2) + * uint16_t arg0; + * void * parg1; + * int arg2; + * + * IPP_GET_ARG( args, 0, arg0) + * IPP_GET_ARG( args, 2, arg2) + * } + * @endcode + */ +#define IPP_GET_ARG(ipp_args, n, v) memcpy(&v, &ipp_args[n], sizeof(v)) + + +/** + * de-serialize an argument passed by pointer + * + * @param ipp_args the serialized argument array + * @param n 0 base argument number + * @param p ptr to arg to be set + * + * @note unlike serializing de-serializing pointer args data can be done in any + * order + * + * @code + * struct some_struct_t *parg2; + * IPP_GET_ARG_PTR(args,2,parg2); + * @endcode + */ +#define IPP_GET_ARG_PTR(ipp_args, n, p) (p = (void *)((char *)ipp_args + \ + ipp_args[n])) + + + + +/** + * debug macro to pint out all serialized args + * + * Implementation shall define IPP_PRINT_FUNC function to use + */ +#define IPP_PRINT_ARGS(ipp_args, n) \ + do {\ + int i;\ + for (i = 0; i < n; i++)\ + IPP_PRINT("arg#%d/%d is %8d 0x%08x\n", i, n,\ + ipp_args[i], ipp_args[i]);\ + IPP_PRINT("used data size %d\n", ipp_offset);\ + } while (0) + + +/** + * processing code type of proccesing + * + * used in @a ipp_work_t::process_no + */ +enum stmvl53l1_ipp_proccesing_e { + stmvl53l1_ipp_ping = 0, + /*!< stmvl53l1_ipp_ping + * @li can be sent by driver to check client is alive + * @li daemon sent it to identify and register himself to the driver + */ + stmvl53l1_ipp_cal_hist = 1, + /*!< stmvl53l1_ipp_cal_hist process cal hist*/ + + stmvl53l1_ipp_xtalk_calibration = 2, + /*!< stmvl53l1_ipp_xtalk_calibration process crosstalk calibration data + */ + + stmvl53l1_ipp_hist_ambient_dmax = 3, + /*!< stmvl53l1_ipp_hist_ambient_dmax process ambient dmac calculation + * from histogram + */ + + stmvl53l1_ipp_generate_dual_reflectance_xtalk_samples = 4, + /*!< stmvl53l1_ipp_generate_dual_reflectance_xtalk_samples process + * Xtalk data from dual reflectance histogram data + */ + + /** keep last*/ + stmvl53l1_ipp_max /*!< stmvl53l1_ipp_max */ +}; + +/** + * status use on @a ipp_work_t::status + */ +enum stmvl53l1_ipp_status_e { + stmvl53l1_ipp_status_ok = 0, /*!< ok work done */ + stmvl53l1_ipp_status_inv_id, /*!< dev id not supported or invalid */ + stmvl53l1_ipp_status_inv_proc, + /*!< process_no asked not supported or not implemented */ + stmvl53l1_ipp_status_inv_payload, + /*!< data payload for asked processing incorrect*/ + + stmvl53l1_ipp_status_proc_code = 0x100, + /*!< the lowest 8 bit is the error code form the processing */ +}; + +/** + * Ipp work (job) struct + * + * containing header with sequenc control information plus serialized data + */ +struct ipp_work_t { + int8_t dev_id; /*!< [in]/[out] device id */ + /*!< Identify the work do be run see @a stmvl53l1_ipp_proccesing_e */ + uint8_t process_no; + /*!< [out] status from daemon */ + int16_t status; + /*!< [in/out] unique xfer id */ + uint32_t xfer_id; + /*!< [in/out] effective data length including header*/ + uint32_t payload; + +/** max IPP data payload (not including header) + * + * we substract size of of item above + * must be lesss than one netlink packet +*/ +#define MAX_IPP_DATA ((4096-4*3)/8) + ipp_arg_t data[MAX_IPP_DATA]; /*!< [in][out] */ +}; + +/** + * size of header only message ( no payload) + * require \#include in user land +*/ +#define IPP_WORK_HDR_SIZE (offsetof(struct ipp_work_t, data[0])) +/** + * max payload per ipp transfer + */ +#define IPP_WORK_MAX_PAYLOAD sizeof(struct ipp_work_t) + +/** copy ipp header from src to dest + * + * used to prepare return work using incoming work header + * @param dest dest work ptr + * @param src src work ptr + */ +#define IPP_CPY_HEADER(dest, src) memcpy(dest, src, IPP_WORK_HDR_SIZE) + +/** + * dump in human readble way ipp struct + * + * @note require IPP_PRINT macro + * + * @param pw ipp_work struct to dump + * @param max_data max amount of data to be dump + * @param max_dev max number of dev (for check) + */ +static inline void ipp_dump_work(struct ipp_work_t *pw, uint32_t max_data, + int max_dev) +{ + uint32_t data_cnt; + uint32_t i; + uint8_t *pbdata; + + (void)max_dev; /* avoid warning when not used */ + (void)pbdata; /*avoid warning in case no print no use*/ + + IPP_PRINT("dev #%d (%s)\n", pw->dev_id, pw->dev_id < max_dev ? + "ok" : "bad"); + IPP_PRINT("process #%d (%s)\n", pw->process_no, + pw->process_no < stmvl53l1_ipp_max ? "ok" : "bad"); + IPP_PRINT("status %d\n", pw->status); + IPP_PRINT("Xfer id 0x%08X payload %d bytes (%s)\n", pw->xfer_id, + pw->payload, + pw->payload > IPP_WORK_MAX_PAYLOAD ? "invalid" : "ok"); + data_cnt = pw->payload > IPP_WORK_MAX_PAYLOAD ? + IPP_WORK_MAX_PAYLOAD : pw->payload; + data_cnt = data_cnt > max_data ? max_data : data_cnt; + for (i = 0, pbdata = (uint8_t *)pw->data; i < data_cnt; i++) { + if (i%16 == 0) + IPP_PRINT("\n%4X\t", i); + IPP_PRINT("%02X ", pbdata[i]); + } + IPP_PRINT("\n"); +} + +/** @} */ /* ingroup helper */ + +/** @} */ /* ingroup ipp_dev */ +#endif /* _STMVL53L1_IPP_H_ */ diff --git a/drivers/input/misc/vl53L1/stmvl53l1_ipp_nl.c b/drivers/input/misc/vl53L1/stmvl53l1_ipp_nl.c new file mode 100644 index 000000000000..74e05fa058eb --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_ipp_nl.c @@ -0,0 +1,378 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +*License terms : BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +/** + * @file stmvl53l1_ipp_nl.c vl53l1 ipp proxy over netlink kernel side + */ +#include +#include +#include +#include +#include + +#include "stmvl53l1.h" + +#include "vl53l1_platform_ipp.h" +#include "stmvl53l1_ipp.h" + +#define IPP_DEBUG 1 +#ifndef IPP_DEBUG +# define _ipp_dump_work(...) (void)0 +#else +# define _ipp_dump_work(...) ipp_dump_work(__VA_ARGS__) +#endif + +#define IPP_STATE_PENDING 1 +#define IPP_STATE_COMPLETED 2 +#define IPP_STATE_CANCELED 4 + +#define IPP_TIMEOUT_MS 100 + +/** the single netlink strut use by all instance + * @note is NULL until set + */ +static struct sock *nl_sk; + +static DEFINE_MUTEX(ipp_mutex); + +/** + * current registered daemon pid + * @note default value 0 or later 1 is kind of invalid and will require + * user space to connect before we can send any packet + */ +static int daemon_pid; + +/** + * next xfer_id (shared other all dev) + * no direct us used @@ref get_next_xfer_id (will get lock) + * @note default to 0 what is "reserved" + */ +static int next_xfer_id; + + +#define ipp_err(fmt, ...) pr_err("STMVL53L1 IPP Err in %s %d :" fmt "\n", \ + __func__, __LINE__, ##__VA_ARGS__) + +#define ipp_warn(fmt, ...) pr_warn("STMVL53L1 IPP wng in %s %d : "fmt"\n",\ + __func__, __LINE__, ##__VA_ARGS__) + +#if 0 +# define ipp_dbg(fmt, ...) pr_info("IPP %s %d " fmt "\n",\ + __func__, __LINE__, ##__VA_ARGS__) +#else +# define ipp_dbg(...) (void)0 +#endif + +/** + * get and managed increment of next xfer_id + * @note will get ipp_mutex + * @return the xfer_id to be used + */ +static int get_next_xfer_id(void) +{ + mutex_lock(&ipp_mutex); + next_xfer_id++; + /*0 is reserved skip it*/ + if (next_xfer_id == 0) + next_xfer_id = 1; + mutex_unlock(&ipp_mutex); + + return next_xfer_id; +} + +static int send_client_msg(void *msg_data, int msg_size) +{ + int rc; + struct sk_buff *skb_out; + struct nlmsghdr *nlh; + void *nl_data; + + ipp_dbg("to send %d byte", msg_size); + skb_out = nlmsg_new(msg_size, 0); + if (!skb_out) { + ipp_err("nlmsg_new fail\n"); + return -1; + } + + nlh = nlmsg_put(skb_out, 0, 0, NLMSG_DONE, msg_size, 0); + NETLINK_CB(skb_out).dst_group = 0; /* not in mcast group */ + + nl_data = nlmsg_data(nlh); /*get data ptr from header*/ + memcpy(nl_data, msg_data, msg_size); + + /* FIXME do we real need to lock to send a data other nl_sk ? */ + mutex_lock(&ipp_mutex); + rc = nlmsg_unicast(nl_sk, skb_out, daemon_pid); + if (rc < 0) + ipp_err("fail to send data size %d to pid %d\n", + msg_size, daemon_pid); + /* stat can be done here in else case */ + mutex_unlock(&ipp_mutex); + + return rc; +} + +/* + * ipp lock is held ping already handled + */ +int ipp_in_process(struct ipp_work_t *pwork) +{ + struct stmvl53l1_data *data; + + ipp_dbg("enter"); + _ipp_dump_work(pwork, IPP_WORK_MAX_PAYLOAD, STMVL53L1_CFG_MAX_DEV); + + /* work id check already done */ + data = stmvl53l1_dev_table[pwork->dev_id]; + ipp_dbg("to lock "); + mutex_lock(&data->work_mutex); + if (data->ipp.buzy == IPP_STATE_PENDING) { + /* if it was already handled ignore it */ + if (data->ipp.waited_xfer_id == pwork->xfer_id) { + /* ok that is what we are expecting back */ + memcpy(&data->ipp.work_out, pwork, pwork->payload); + data->ipp.buzy |= IPP_STATE_COMPLETED; + ipp_dbg("to wake ipp waiter as buzy state %d", + data->ipp.buzy); + wake_up(&data->ipp.waitq); + goto done_lock; + } + } + /* either not waiting any more or not the expected id drop it */ + ipp_err("dev #%d ippp buzy %d xfer id %d rcv id %d droping it", + data->id, data->ipp.buzy, data->ipp.waited_xfer_id, + pwork->xfer_id); +done_lock: + mutex_unlock(&data->work_mutex); + + return 0; +} + +int stmvl53l1_ipp_stop(struct stmvl53l1_data *data) +{ + int rc; + + rc = data->ipp.buzy; + ipp_dbg("#%d to stop buzy %d", data->id, data->ipp.buzy); + if (data->ipp.buzy) { + /* set invalid wait id to discard canceled job when back */ + data->ipp.waited_xfer_id = 0; + data->ipp.buzy |= IPP_STATE_CANCELED|IPP_STATE_COMPLETED; + ipp_dbg("#%dto wake up worker", data->id); + /* wake up worker or abort the thread */ + wake_up(&data->ipp.waitq); + } + + return rc; +} + +/* + * ipp and dev lock are held + * release and re-grabbed here + */ +int stmvl53l1_ipp_do(struct stmvl53l1_data *data, + struct ipp_work_t *pin, struct ipp_work_t *pout) +{ + int xfer_id; + int rc; + bool has_timeout; + + ipp_dbg("enter"); + + xfer_id = get_next_xfer_id(); + /* set xfer and device dependent part of the work */ + pin->dev_id = data->id; + pin->xfer_id = xfer_id; + data->ipp.waited_xfer_id = xfer_id; + /* try to do it */ + rc = send_client_msg(pin, pin->payload); + /* shall we retry if fail to send for some time or number of try ? */ + if (rc < 0) { + rc = -1; + ipp_err("fail to send msg %d", rc); + } else if (data->ipp.buzy == 0) { + /* send ok put the ipp on buzy state while locked */ + data->ipp.buzy = IPP_STATE_PENDING; + /* unlock now that state is marked buzy */ + mutex_unlock(&data->work_mutex); + + /* put task to wait for completion */ + ipp_dbg("to wait"); + has_timeout = !wait_event_timeout(data->ipp.waitq, + (data->ipp.buzy != IPP_STATE_PENDING), + msecs_to_jiffies(IPP_TIMEOUT_MS)); + + /* relock the main lock */ + mutex_lock(&data->work_mutex); + + rc = (data->ipp.buzy & IPP_STATE_CANCELED) || has_timeout ? + -1 : 0; + if (rc) { + ipp_dbg("waking up with from canceled/timeout ipp"); + } else { + /* return status from the ipp itself */ + ipp_dbg("ip back with status %d", data->ipp.status); + rc = data->ipp.status; + } + data->ipp.buzy = 0;/* buzy clear but locked so safe */ + } else { + ipp_dbg("buzy still not zero %d", data->ipp.buzy); + rc = -1; + } + + +/* done_lock: */ + return rc; +} + + +static void stmvl53l1_nl_recv_msg(struct sk_buff *skb_in) +{ + int pid_chg = 0; + int pid; + struct nlmsghdr *nlh; + struct ipp_work_t *pwork; + + ipp_dbg("Entering"); + + nlh = (struct nlmsghdr *)skb_in->data; + pid = nlh->nlmsg_pid; /*pid of sending process */ + + pwork = nlmsg_data(nlh); + if (pwork->payload < IPP_WORK_HDR_SIZE || + pwork->payload > IPP_WORK_MAX_PAYLOAD){ + /* invalid header size */ + ipp_err("invalid msg header size %d", pwork->payload); + _ipp_dump_work(pwork, IPP_WORK_MAX_PAYLOAD, + STMVL53L1_CFG_MAX_DEV); + return; + } + + mutex_lock(&ipp_mutex); + + if (pwork->dev_id >= STMVL53L1_CFG_MAX_DEV) { + ipp_err("invalid dev id on msg %d", pwork->dev_id); + _ipp_dump_work(pwork, IPP_WORK_MAX_PAYLOAD, + STMVL53L1_CFG_MAX_DEV); + goto done_locked; + } + + if (pwork->process_no == stmvl53l1_ipp_ping) { + /* in that case the payload must be exact status size only + * if not it is a badly format message or bad message + */ + if (pwork->payload != IPP_WORK_HDR_SIZE) { + ipp_err("invalid ping msg size %d!=%zu ", + pwork->payload, IPP_WORK_HDR_SIZE); + _ipp_dump_work(pwork, IPP_WORK_MAX_PAYLOAD, + STMVL53L1_CFG_MAX_DEV); + goto done_locked; + } + /* if pid was not set or change resent all ongoing ipp */ + if (pid != daemon_pid) + ipp_warn("pid chg %d => %d\n", daemon_pid, pid); + else + ipp_dbg("got ping fm pid %d\n", daemon_pid); + daemon_pid = pid; + pid_chg = 1; + } else { + ipp_in_process(pwork); + } + done_locked: + mutex_unlock(&ipp_mutex); +} + +int stmvl53l1_ipp_setup(struct stmvl53l1_data *data) +{ + int rc; + + mutex_lock(&ipp_mutex); + + data->ipp.buzy = 0; + init_waitqueue_head(&data->ipp.waitq); + ipp_dbg("now %d dev daemon pid is %d", STMVL53L1_CFG_MAX_DEV, + daemon_pid); + rc = 0; + + mutex_unlock(&ipp_mutex); + + return rc; +} + +void stmvl53l1_ipp_cleanup(struct stmvl53l1_data *data) +{ + /* nothink to do */ +} + +#if !defined(OLD_NETLINK_API) +struct netlink_kernel_cfg cfg = { + .input = stmvl53l1_nl_recv_msg +}; +#endif + +static int netlink_protocol_type = STMVL531_CFG_NETLINK_USER; + +module_param(netlink_protocol_type, int, 0444); +MODULE_PARM_DESC(netlink_protocol_type, + "select netlink protocol type for ipp communications"); + +int stmvl53l1_ipp_init(void) +{ + mutex_init(&ipp_mutex); + daemon_pid = 1; /* pid 1 is safe should not be use for user space */ + +#if defined(OLD_NETLINK_API) + nl_sk = netlink_kernel_create(&init_net, + netlink_protocol_type, + 0, + stmvl53l1_nl_recv_msg, + NULL, + THIS_MODULE); +#else + nl_sk = netlink_kernel_create(&init_net, + netlink_protocol_type, + &cfg); +#endif + + return nl_sk ? 0 : -1; +} + + +void __exit stmvl53l1_ipp_exit(void) +{ + if (nl_sk != NULL) { + vl53l1_dbgmsg("releasing netlink socket"); + netlink_kernel_release(nl_sk); + nl_sk = NULL; + } +} + + diff --git a/drivers/input/misc/vl53L1/stmvl53l1_log.c b/drivers/input/misc/vl53L1/stmvl53l1_log.c new file mode 100644 index 000000000000..6a10fe3cf289 --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_log.c @@ -0,0 +1,78 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ +/** + * @file /stmvl53l1_module.c vl53l1_module ST VL53L1 linux kernel module + * + * This is implementation of low level driver trace support + */ +#include +#include + +#include "stmvl53l1.h" + +#ifdef VL53L1_LOG_ENABLE + +static bool trace_function; +static int trace_module; +static int trace_level; + +module_param(trace_function, bool, 0644); +MODULE_PARM_DESC(trace_function, + "allow tracing of low level function entry and exit"); + +module_param(trace_module, int, 0644); +MODULE_PARM_DESC(trace_module, + "control tracing of low level per module"); + +module_param(trace_level, int, 0644); +MODULE_PARM_DESC(trace_level, + "control tracing of low level per level"); + +void log_trace_print(uint32_t module, uint32_t level, uint32_t function, + const char *format, ...) +{ + va_list args; + + if (function && !trace_function) + return; + + if (!(module & trace_module)) + return; + + if (level > trace_level) + return; + + va_start(args, format); + vprintk(format, args); + va_end(args); +} + +#endif diff --git a/drivers/input/misc/vl53L1/stmvl53l1_module-i2c.c b/drivers/input/misc/vl53L1/stmvl53l1_module-i2c.c new file mode 100644 index 000000000000..e2f63cbe391e --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_module-i2c.c @@ -0,0 +1,890 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +*License terms : BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +/** + * @file stmvl53l1_module-i2c.c + * + * implement STM VL53L1 module interface i2c wrapper + control + * using linux native i2c + gpio + reg api + */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* + * power specific includes + */ +#include +#include +#include +#include +#include +#include + +#include "stmvl53l1-i2c.h" +#include "stmvl53l1.h" + +#define STMVL53L1_SLAVE_ADDR (0x52>>1) + +/** @ingroup drv_port + * @{ + */ + +/** + * control specific debug message echo + * + * Set to 0/1 do not remove + * + * most dbg warn err messages goes true main driver macro + * this one permit some specific debug without activating all main dbg + */ +#define MODI2C_DEBUG 0 + +/* + * mutex to handle device i2c address changes. It allow to avoid multiple + * device active with same i2c addresses at the same time. Note that we don't + * support case where boot_reg has the same value as a final i2c address of + * another device. + */ +static DEFINE_MUTEX(dev_addr_change_mutex); + +struct vl53l1_pinctrl_info { + struct pinctrl *pinctrl; + struct pinctrl_state *gpio_state_active; + struct pinctrl_state *gpio_state_suspend; +} g_pinctrl_info; + +/** + * i2c client assigned to our driver + * + * this is use for stm test purpose as we fake client create and regstration + * we stores the i2c client for release in clean-up overwise we wan't reload + * the module multiple time + * + * in a normal dev tree prod system this is not required + */ +static struct i2c_client *stm_test_i2c_client; + +/* + * pi3: + * insmod stmvl53l1.ko force_device=1 adapter_nb=1 xsdn_gpio_nb=19 + * intr_gpio_nb=16 pwren_gpio_nb=12 + * + * panda + * insmod stmvl53l1.ko force_device=1 adapter_nb=4 xsdn_gpio_nb=56 + * intr_gpio_nb=59 pwren_gpio_nb=55 +*/ + +static int force_device; +static int adapter_nb = -1; +static int xsdn_gpio_nb = -1; +static int pwren_gpio_nb = -1; +static int intr_gpio_nb = -1; + +module_param(force_device, int, 0); +MODULE_PARM_DESC(force_device, "force device insertion at module init"); + +module_param(adapter_nb, int, 0); +MODULE_PARM_DESC(adapter_nb, "i2c adapter to use"); + +module_param(xsdn_gpio_nb, int, 0); +MODULE_PARM_DESC(xsdn_gpio_nb, "select gpio numer to use for vl53l1 reset"); + +module_param(pwren_gpio_nb, int, 0); +MODULE_PARM_DESC(pwren_gpio_nb, "select gpio numer to use for vl53l1 power"); + +module_param(intr_gpio_nb, int, 0); +MODULE_PARM_DESC(intr_gpio_nb, "select gpio numer to use for vl53l1 interrupt"); + +/** + * warn message + * + * @warning use only in scope where i2c_data ptr is present + **/ +#define modi2c_warn(fmt, ...)\ + dev_WARN(&i2c_data->client->dev, fmt, ##__VA_ARGS__) + +/** + * err message + * + * @warning use only in scope where i2c_data ptr is present + */ +#define modi2c_err(fmt, ...)\ + dev_err(&i2c_data->client->dev, fmt, ##__VA_ARGS__) + + + +#if MODI2C_DEBUG +# define modi2c_dbg(fmt, ...)\ + pr_devel("%s "fmt"\n", __func__, ##__VA_ARGS__) +#else +# define modi2c_dbg(...) (void)0 +#endif + +static int insert_device(void) +{ + int ret = 0; + struct i2c_adapter *adapter; + struct i2c_board_info info = { + .type = "stmvl53l1", + .addr = STMVL53L1_SLAVE_ADDR, + }; + + adapter = i2c_get_adapter(adapter_nb); + if (!adapter) + ret = -EINVAL; + stm_test_i2c_client = i2c_new_device(adapter, &info); + if (!stm_test_i2c_client) + ret = -EINVAL; + + return ret; +} + +static int get_xsdn(struct device *dev, struct i2c_data *i2c_data) +{ + int rc = 0; + + i2c_data->io_flag.xsdn_owned = 0; + if (i2c_data->xsdn_gpio == -1) { + vl53l1_errmsg("reset gpio is required"); + rc = -ENODEV; + goto no_gpio; + } + + vl53l1_dbgmsg("request xsdn_gpio %d", i2c_data->xsdn_gpio); + rc = gpio_request(i2c_data->xsdn_gpio, "vl53l1_xsdn"); + if (rc) { + vl53l1_errmsg("fail to acquire xsdn %d", rc); + goto request_failed; + } + + rc = gpio_direction_output(i2c_data->xsdn_gpio, 0); + if (rc) { + vl53l1_errmsg("fail to configure xsdn as output %d", rc); + goto direction_failed; + } + i2c_data->io_flag.xsdn_owned = 1; + + return rc; + +direction_failed: + gpio_free(i2c_data->xsdn_gpio); + +request_failed: +no_gpio: + return rc; +} + +static void put_xsdn(struct i2c_data *i2c_data) +{ + if (i2c_data->io_flag.xsdn_owned) { + vl53l1_dbgmsg("release xsdn_gpio %d", i2c_data->xsdn_gpio); + gpio_free(i2c_data->xsdn_gpio); + i2c_data->io_flag.xsdn_owned = 0; + i2c_data->xsdn_gpio = -1; + } + i2c_data->xsdn_gpio = -1; +} + +static int get_pwren(struct device *dev, struct i2c_data *i2c_data) +{ + int rc = 0; + + i2c_data->io_flag.pwr_owned = 0; + if (i2c_data->pwren_gpio == -1) { + vl53l1_wanrmsg("pwren gpio disable"); + goto no_gpio; + } + + vl53l1_dbgmsg("request pwren_gpio %d", i2c_data->pwren_gpio); + rc = gpio_request(i2c_data->pwren_gpio, "vl53l1_pwren"); + if (rc) { + vl53l1_errmsg("fail to acquire pwren %d", rc); + goto request_failed; + } + + rc = gpio_direction_output(i2c_data->pwren_gpio, 0); + if (rc) { + vl53l1_errmsg("fail to configure pwren as output %d", rc); + goto direction_failed; + } + i2c_data->io_flag.pwr_owned = 1; + + return rc; + +direction_failed: + gpio_free(i2c_data->xsdn_gpio); + +request_failed: +no_gpio: + return rc; +} + +static void put_pwren(struct i2c_data *i2c_data) +{ + if (i2c_data->io_flag.pwr_owned) { + vl53l1_dbgmsg("release pwren_gpio %d", i2c_data->pwren_gpio); + gpio_free(i2c_data->pwren_gpio); + i2c_data->io_flag.pwr_owned = 0; + i2c_data->pwren_gpio = -1; + } + i2c_data->pwren_gpio = -1; +} + +static int get_intr(struct device *dev, struct i2c_data *i2c_data) +{ + int rc = 0; + + i2c_data->io_flag.intr_owned = 0; + if (i2c_data->intr_gpio == -1) { + vl53l1_wanrmsg("no interrupt gpio"); + goto no_gpio; + } + + vl53l1_dbgmsg("request intr_gpio %d", i2c_data->intr_gpio); + rc = gpio_request(i2c_data->intr_gpio, "vl53l1_intr"); + if (rc) { + vl53l1_errmsg("fail to acquire intr %d", rc); + goto request_failed; + } + + rc = gpio_direction_input(i2c_data->intr_gpio); + if (rc) { + vl53l1_errmsg("fail to configure intr as input %d", rc); + goto direction_failed; + } + + i2c_data->irq = gpio_to_irq(i2c_data->intr_gpio); + if (i2c_data->irq < 0) { + vl53l1_errmsg("fail to map GPIO: %d to interrupt:%d\n", + i2c_data->intr_gpio, i2c_data->irq); + goto irq_failed; + } + i2c_data->io_flag.intr_owned = 1; + + return rc; + +irq_failed: +direction_failed: + gpio_free(i2c_data->intr_gpio); + +request_failed: +no_gpio: + return rc; +} + +static void put_intr(struct i2c_data *i2c_data) +{ + if (i2c_data->io_flag.intr_owned) { + if (i2c_data->io_flag.intr_started) { + free_irq(i2c_data->irq, i2c_data); + i2c_data->io_flag.intr_started = 0; + } + vl53l1_dbgmsg("release intr_gpio %d", i2c_data->intr_gpio); + gpio_free(i2c_data->intr_gpio); + i2c_data->io_flag.intr_owned = 0; + } + i2c_data->intr_gpio = -1; +} + +static int get_dt_xtalk_data(struct device_node *of_node, + struct stmvl53l1_data *vl53l1_data) +{ + int rc = 0; + uint32_t x_array[3] = {0}; + + if(of_node == NULL || vl53l1_data == NULL) + return -EINVAL; + + rc = of_property_read_u32_array(of_node, "st,xtalkval", + x_array, 3); + if (rc) { + vl53l1_errmsg("failed to read xtalk-offset\n"); + vl53l1_data->xtalk_offset = 0; + vl53l1_data->xtalk_x = 0; + vl53l1_data->xtalk_y = 0; + } else { + vl53l1_data->xtalk_offset = (uint16_t)x_array[0] & 0xFFFF; + vl53l1_data->xtalk_x = (int16_t)(x_array[1] & 0xFFFF); + vl53l1_data->xtalk_y = (int16_t)(x_array[2] & 0xFFFF); + } + + vl53l1_info("xtalk info: %u %d %d\n", + vl53l1_data->xtalk_offset, + vl53l1_data->xtalk_x, + vl53l1_data->xtalk_y); + return rc; +} + +/** + * parse dev tree for all platform specific input + */ +static int stmvl53l1_parse_tree(struct device *dev, struct i2c_data *i2c_data) +{ + int rc = 0; + + /* if force device is in use then gpio nb comes from module param else + * we use devicetree. + */ + i2c_data->vdd = NULL; + i2c_data->pwren_gpio = -1; + i2c_data->xsdn_gpio = -1; + i2c_data->intr_gpio = -1; + i2c_data->boot_reg = STMVL53L1_SLAVE_ADDR; + if (force_device) { + i2c_data->xsdn_gpio = xsdn_gpio_nb; + i2c_data->pwren_gpio = pwren_gpio_nb; + i2c_data->intr_gpio = intr_gpio_nb; + } else if (dev->of_node) { + /* power : either vdd or pwren_gpio. try reulator first */ + i2c_data->vdd = regulator_get_optional(dev, "vdd-vl53l1"); + if (IS_ERR(i2c_data->vdd) || i2c_data->vdd == NULL) { + i2c_data->vdd = NULL; + /* try gpio */ + rc = of_property_read_u32_array(dev->of_node, + "pwren-gpio", &i2c_data->pwren_gpio, 1); + if (rc) { + i2c_data->pwren_gpio = -1; + vl53l1_wanrmsg( + "no regulator, nor power gpio => power ctrl disabled"); + } + } + + g_pinctrl_info.pinctrl = devm_pinctrl_get(dev); + if (!IS_ERR_OR_NULL(g_pinctrl_info.pinctrl)) { + g_pinctrl_info.gpio_state_active = + pinctrl_lookup_state(g_pinctrl_info.pinctrl, + "laser_default"); + + g_pinctrl_info.gpio_state_suspend = + pinctrl_lookup_state(g_pinctrl_info.pinctrl, + "laser_suspend"); + } else + vl53l1_errmsg("Getting pinctrl handle failed\n"); + + rc = of_property_read_u32_array(dev->of_node, "xsdn-gpio", + &i2c_data->xsdn_gpio, 1); + if (rc) { + vl53l1_wanrmsg("Unable to find xsdn-gpio %d %d", + rc, i2c_data->xsdn_gpio); + if (of_gpio_count(dev->of_node) >= 2) + i2c_data->xsdn_gpio = of_get_gpio(dev->of_node, 0); + else + i2c_data->xsdn_gpio = -1; + } + rc = of_property_read_u32_array(dev->of_node, "intr-gpio", + &i2c_data->intr_gpio, 1); + if (rc) { + vl53l1_wanrmsg("Unable to find intr-gpio %d %d", + rc, i2c_data->intr_gpio); + + if (of_gpio_count(dev->of_node) >= 2) + i2c_data->intr_gpio = of_get_gpio(dev->of_node, 1); + else + i2c_data->intr_gpio = -1; + } + rc = of_property_read_u32_array(dev->of_node, "boot-reg", + &i2c_data->boot_reg, 1); + if (rc) { + vl53l1_wanrmsg("Unable to find boot-reg %d %d", + rc, i2c_data->boot_reg); + i2c_data->boot_reg = STMVL53L1_SLAVE_ADDR; + } + + get_dt_xtalk_data(dev->of_node, i2c_data->vl53l1_data); + } + + /* configure gpios */ + rc = get_xsdn(dev, i2c_data); + if (rc) + goto no_xsdn; + rc = get_pwren(dev, i2c_data); + if (rc) + goto no_pwren; + rc = get_intr(dev, i2c_data); + if (rc) + goto no_intr; + + return rc; + +no_intr: + if (i2c_data->vdd) { + regulator_put(i2c_data->vdd); + i2c_data->vdd = NULL; + } + put_pwren(i2c_data); +no_pwren: + put_xsdn(i2c_data); +no_xsdn: + return rc; +} + +static void stmvl53l1_release_gpios(struct i2c_data *i2c_data) +{ + put_xsdn(i2c_data); + if (i2c_data->vdd) { + regulator_put(i2c_data->vdd); + i2c_data->vdd = NULL; + } + put_pwren(i2c_data); + put_intr(i2c_data); +} + +static int stmvl53l1_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + int rc = 0; + struct stmvl53l1_data *vl53l1_data = NULL; + struct i2c_data *i2c_data = NULL; + + vl53l1_dbgmsg("Enter %s : 0x%02x\n", client->name, client->addr); + + if (!i2c_check_functionality(client->adapter, I2C_FUNC_SMBUS_BYTE)) { + rc = -EIO; + return rc; + } + + vl53l1_data = kzalloc(sizeof(struct stmvl53l1_data), GFP_KERNEL); + if (!vl53l1_data) { + rc = -ENOMEM; + return rc; + } + if (vl53l1_data) { + vl53l1_data->client_object = + kzalloc(sizeof(struct i2c_data), GFP_KERNEL); + if (!vl53l1_data) + goto done_freemem; + i2c_data = (struct i2c_data *)vl53l1_data->client_object; + } + i2c_data->client = client; + i2c_data->vl53l1_data = vl53l1_data; + i2c_data->irq = -1 ; /* init to no irq */ + + /* parse and configure hardware */ + rc = stmvl53l1_parse_tree(&i2c_data->client->dev, i2c_data); + if (rc) + goto done_freemem; + + /* setup device name */ + /* vl53l1_data->dev_name = dev_name(&client->dev); */ + + /* setup client data */ + i2c_set_clientdata(client, vl53l1_data); + + /* end up by core driver setup */ + rc = stmvl53l1_setup(vl53l1_data); + if (rc) + goto release_gpios; + + vl53l1_data->sysfs_base = i2c_data->client->addr; + rc = stmvl53l1_sysfs_laser(vl53l1_data, true); + if (rc) + goto release_gpios; + vl53l1_dbgmsg("End\n"); + + kref_init(&i2c_data->ref); + return rc; + +release_gpios: + stmvl53l1_release_gpios(i2c_data); + +done_freemem: + /* kfree safe against NULL */ + kfree(vl53l1_data); + kfree(i2c_data); + + return -1; +} + +static int stmvl53l1_remove(struct i2c_client *client) +{ + struct stmvl53l1_data *data = i2c_get_clientdata(client); + struct i2c_data *i2c_data = (struct i2c_data *)data->client_object; + + vl53l1_dbgmsg("Enter\n"); + mutex_lock(&data->work_mutex); + + stmvl53l1_sysfs_laser(data, false); + + /* main driver cleanup */ + stmvl53l1_cleanup(data); + + /* release gpios */ + stmvl53l1_release_gpios(i2c_data); + + mutex_unlock(&data->work_mutex); + + stmvl53l1_put(data->client_object); + + vl53l1_dbgmsg("End\n"); + + return 0; +} + +static const struct i2c_device_id stmvl53l1_id[] = { + { STMVL53L1_DRV_NAME, 0 }, + { }, +}; +MODULE_DEVICE_TABLE(i2c, stmvl53l1_id); + +static const struct of_device_id st_stmvl53l1_dt_match[] = { + { .compatible = "st,"STMVL53L1_DRV_NAME, }, + { }, +}; + +static struct i2c_driver stmvl53l1_driver = { + .driver = { + .name = STMVL53L1_DRV_NAME, + .owner = THIS_MODULE, + .of_match_table = st_stmvl53l1_dt_match, + }, + .probe = stmvl53l1_probe, + .remove = stmvl53l1_remove, + .id_table = stmvl53l1_id, + +}; + +/** + * give power to device + * + * @param object the i2c layer object + * @return + */ +int stmvl53l1_power_up_i2c(void *object) +{ + int rc = 0; + struct i2c_data *data = (struct i2c_data *) object; + + vl53l1_dbgmsg("Enter\n"); + + /* turn on power */ + if (data->vdd) { + rc = regulator_enable(data->vdd); + if (rc) { + vl53l1_errmsg("fail to turn on regulator"); + return rc; + } + } else if (data->pwren_gpio != -1) { + gpio_set_value(data->pwren_gpio, 1); + vl53l1_info("slow power on"); + } else + vl53l1_wanrmsg("no power control"); + + return rc; +} + +/** + * remove power to device (reset it) + * + * @param i2c_object the i2c layer object + * @return 0 on success + */ +int stmvl53l1_power_down_i2c(void *i2c_object) +{ + struct i2c_data *data = (struct i2c_data *) i2c_object; + int rc = 0; + + vl53l1_dbgmsg("Enter\n"); + + /* turn off power */ + if (data->vdd) { + rc = regulator_disable(data->vdd); + if (rc) + vl53l1_errmsg("reg disable failed. rc=%d\n", + rc); + } else if (data->pwren_gpio != -1) { + gpio_set_value(data->pwren_gpio, 0); + } + vl53l1_dbgmsg("power off"); + + vl53l1_dbgmsg("End\n"); + + return rc; +} + +static int handle_i2c_address_device_change_lock(struct i2c_data *data) +{ + struct i2c_client *client = (struct i2c_client *) data->client; + uint8_t buffer[3]; + struct i2c_msg msg; + int rc = 0; + + vl53l1_dbgmsg("change device i2c address from 0x%02x to 0x%02x", + data->boot_reg, client->addr); + /* no i2c-access must occur before fw boot time */ + usleep_range(VL53L1_FIRMWARE_BOOT_TIME_US, + VL53L1_FIRMWARE_BOOT_TIME_US + 1); + + /* manually send message to update i2c address */ + buffer[0] = (VL53L1_I2C_SLAVE__DEVICE_ADDRESS >> 8) & 0xFF; + buffer[1] = (VL53L1_I2C_SLAVE__DEVICE_ADDRESS >> 0) & 0xFF; + buffer[2] = client->addr; + msg.addr = data->boot_reg; + msg.flags = client->flags; + msg.buf = buffer; + msg.len = 3; + if (i2c_transfer(client->adapter, &msg, 1) != 1) { + rc = -ENXIO; + vl53l1_errmsg("Fail to change i2c address to 0x%02x", + client->addr); + } + + return rc; +} +/* reset release will also handle device address change. It will avoid state + * where multiple stm53l1 are bring out of reset at the same time with the + * same boot address. + * Note that we don't manage case where boot_reg has the same value as a final + * i2c address of another device. This case is not supported and will lead + * to unpredictable behavior. + */ +static int release_reset(struct i2c_data *data) +{ + struct i2c_client *client = (struct i2c_client *) data->client; + int rc = 0; + bool is_address_change = client->addr != data->boot_reg; + + if (is_address_change) + mutex_lock(&dev_addr_change_mutex); + + gpio_set_value(data->xsdn_gpio, 1); + if (is_address_change) { + rc = handle_i2c_address_device_change_lock(data); + if (rc) + gpio_set_value(data->xsdn_gpio, 0); + } + + if (is_address_change) + mutex_unlock(&dev_addr_change_mutex); + + return rc; +} + +/** + * release device reset + * + * @param i2c_object the i2c layer object + * @return 0 on success + */ +int stmvl53l1_reset_release_i2c(void *i2c_object) +{ + int rc; + struct i2c_data *data = (struct i2c_data *) i2c_object; + + vl53l1_dbgmsg("Enter\n"); + + rc = release_reset(data); + + pinctrl_select_state(g_pinctrl_info.pinctrl, + g_pinctrl_info.gpio_state_active); + if (rc) + goto error; + + /* and now wait for device end of boot */ + data->vl53l1_data->is_delay_allowed = true; + rc = VL53L1_WaitDeviceBooted(&data->vl53l1_data->stdev); + data->vl53l1_data->is_delay_allowed = false; + if (rc) { + gpio_set_value(data->xsdn_gpio, 0); + vl53l1_errmsg("boot fail with error %d", rc); + data->vl53l1_data->last_error = rc; + rc = -EIO; + } + +error: + vl53l1_dbgmsg("End\n"); + + return rc; +} + +/** + * put device under reset + * + * @param i2c_object the i2c layer object + * @return 0 on success + */ +int stmvl53l1_reset_hold_i2c(void *i2c_object) +{ + struct i2c_data *data = (struct i2c_data *) i2c_object; + + vl53l1_dbgmsg("Enter\n"); + + gpio_set_value(data->xsdn_gpio, 0); + + pinctrl_select_state(g_pinctrl_info.pinctrl, + g_pinctrl_info.gpio_state_suspend); + + vl53l1_dbgmsg("End\n"); + + return 0; +} + +int stmvl53l1_init_i2c(void) +{ + int ret = 0; + + vl53l1_dbgmsg("Enter\n"); + + /* register as a i2c client device */ + ret = i2c_add_driver(&stmvl53l1_driver); + if (ret) + vl53l1_errmsg("%d erro ret:%d\n", __LINE__, ret); + + if (!ret && force_device) + ret = insert_device(); + + vl53l1_dbgmsg("End with rc:%d\n", ret); + + return ret; +} + + +void stmvl53l1_clean_up_i2c(void) +{ + if (stm_test_i2c_client) { + vl53l1_dbgmsg("to unregister i2c client\n"); + i2c_unregister_device(stm_test_i2c_client); + } +} + +static irqreturn_t stmvl53l1_irq_handler_i2c(int vec, void *info) +{ + struct i2c_data *i2c_data = (struct i2c_data *)info; + + if (i2c_data->irq == vec) { + modi2c_dbg("irq"); + stmvl53l1_intr_handler(i2c_data->vl53l1_data); + modi2c_dbg("over"); + } else { + if (!i2c_data->msg_flag.unhandled_irq_vec) { + modi2c_warn("unmatching vec %d != %d\n", + vec, i2c_data->irq); + i2c_data->msg_flag.unhandled_irq_vec = 1; + } + } + + return IRQ_HANDLED; +} + +/** + * enable and start intr handling + * + * @param object our i2c_data specific object + * @param poll_mode [in/out] set to force mode clear to use irq + * @return 0 on success and set ->poll_mode if it faill ranging wan't start + */ +int stmvl53l1_start_intr(void *object, int *poll_mode) +{ + struct i2c_data *i2c_data; + int rc; + + i2c_data = (struct i2c_data *)object; + /* irq and gpio acquire config done in parse_tree */ + if (i2c_data->irq < 0) { + /* the i2c tree as no intr force polling mode */ + *poll_mode = -1; + return 0; + } + /* clear irq warning report enabe it again for this session */ + i2c_data->msg_flag.unhandled_irq_vec = 0; + /* if started do no nothing */ + if (i2c_data->io_flag.intr_started) { + /* nothing to do */ + *poll_mode = 0; + return 0; + } + + vl53l1_dbgmsg("to register_irq:%d\n", i2c_data->irq); + rc = request_threaded_irq(i2c_data->irq, NULL, + stmvl53l1_irq_handler_i2c, + IRQF_TRIGGER_FALLING|IRQF_ONESHOT, + "vl53l1_interrupt", + (void *)i2c_data); + if (rc) { + vl53l1_errmsg("fail to req threaded irq rc=%d\n", rc); + *poll_mode = 0; + } else { + vl53l1_dbgmsg("irq %d now handled\n", i2c_data->irq); + i2c_data->io_flag.intr_started = 1; + *poll_mode = 0; + } + return rc; +} + +void *stmvl53l1_get(void *object) +{ + struct i2c_data *data = (struct i2c_data *) object; + + vl53l1_dbgmsg("Enter\n"); + kref_get(&data->ref); + vl53l1_dbgmsg("End\n"); + + return object; +} + +static void memory_release(struct kref *kref) +{ + struct i2c_data *data = container_of(kref, struct i2c_data, ref); + + vl53l1_dbgmsg("Enter\n"); + kfree(data->vl53l1_data); + kfree(data); + vl53l1_dbgmsg("End\n"); +} + +void stmvl53l1_put(void *object) +{ + struct i2c_data *data = (struct i2c_data *) object; + + vl53l1_dbgmsg("Enter\n"); + kref_put(&data->ref, memory_release); + vl53l1_dbgmsg("End\n"); +} +void __exit stmvl53l1_exit_i2c(void *i2c_object) +{ + vl53l1_dbgmsg("Enter\n"); + i2c_del_driver(&stmvl53l1_driver); + vl53l1_dbgmsg("End\n"); +} diff --git a/drivers/input/misc/vl53L1/stmvl53l1_module.c b/drivers/input/misc/vl53L1/stmvl53l1_module.c new file mode 100644 index 000000000000..bdb0d8d6a4cc --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_module.c @@ -0,0 +1,3636 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +*License terms : BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ +/** + * @file /stmvl53l1_module.c vl53l1_module ST VL53L1 linux kernel module + * + * main file + */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* + * API includes + */ + +#include "stmvl53l1.h" +#include "stmvl53l1-i2c.h" +#include "stmvl53l1_ipp.h" + +#include "stmvl53l1_if.h" /* our device interface to user space */ +#include "stmvl53l1_internal_if.h" + +/** @ingroup vl53l1_config + * @{ + */ +/** + * default polling period delay in millisecond + * + * It can be set at run time via @ref vl53l1_ioctl or @ref sysfs_attrib + * + * @note apply only for device operating in polling mode only + */ +#define STMVL53L1_CFG_POLL_DELAY_MS 5 + +/** + * default timing budget in microsecond + * + * Can be change at run time via @ref vl53l1_ioctl or @ref sysfs_attrib + */ +#define STMVL53L1_CFG_TIMING_BUDGET_US 33000 + +/** default preset ranging mode */ +#define STMVL53L1_CFG_DEFAULT_MODE VL53L1_PRESETMODE_RANGING + +/** default distance mode */ +#define STMVL53L1_CFG_DEFAULT_DISTANCE_MODE VL53L1_DISTANCEMODE_LONG + +/** default crosstalk enable */ +#define STMVL53L1_CFG_DEFAULT_CROSSTALK_ENABLE 1 + +/** default crosstalk for autonomous mode */ +#define STMVL53L1_CFG_DEFAULT_CROSSTALK_AUTONOMOUS 1000 + +/** max distance value mm */ +#define STMVL53L1_MAX_DISTANCE 0x1FFF + +/** default output mode */ +#define STMVL53L1_CFG_DEFAULT_OUTPUT_MODE VL53L1_OUTPUTMODE_NEAREST + +/** @} */ /* ingroup vl53l1_config */ + +/** @ingroup vl53l1_mod_dbg + * @{ + */ + +/** + * activate dump of roi in roi ctrl operation + * + * @note uses @a vl53l1_dbgmsg for output so make sure to enable debug + * to get roi dump + */ +#define STMVL53L1_CFG_ROI_DEBUG 0 + +/** @} */ /* ingroup vl53l1_mod_dbg*/ + +/* #define DEBUG_TIME_LOG */ + + +#ifdef DEBUG_TIME_LOG +struct timeval start_tv, stop_tv; +#endif + +/* Set default value to 1 to allow to see module insertion debug messages */ +int stmvl53l1_enable_debug = 1; + +#define VL53L1_INPUT_DEVICE_NAME "STM VL53L1 proximity sensor" + +static long stmvl53l1_ioctl(struct file *file, + unsigned int cmd, unsigned long arg); +static int stmvl53l1_open(struct inode *inode, struct file *file); +static int stmvl53l1_release(struct inode *inode, struct file *file); +static int ctrl_start(struct stmvl53l1_data *data); +static int ctrl_stop(struct stmvl53l1_data *data); +static int ctrl_suspend(struct stmvl53l1_data *data); + +#ifdef CONFIG_COMPAT +static long stmvl53l1_compat_ioctl(struct file *file, + unsigned int cmd, unsigned long arg); +#endif +static bool force_device_on_en_default = false; + +module_param(force_device_on_en_default, bool, 0444); +MODULE_PARM_DESC(force_device_on_en_default, + "select whether force_device_on_en is true or false by default"); +/** + * module interface struct + * interface to platform speficic device handling , concern power/reset ... + */ +struct stmvl53l1_module_fn_t { + int (*init)(void); /*!< init */ + /** + * clean up job + * @param data module specific data ptr + */ + void (*deinit)(void *data); + /** + * give device power + * @param data specific module storage ptr + * @return 0 on sucess + */ + int (*power_up)(void *data); + /** + * power down TOFO also stop intr + */ + int (*power_down)(void *data); + /* + * release reset so device start. + */ + int (*reset_release)(void *data); + /* + * put device under reset. + */ + int (*reset_hold)(void *data); + + /** + * enable interrupt + * + * @param object : interface speficic ptr + * @note "module specfic ptr is data->client_object + * @return 0 on success else error then drievr wan't start ranging! + * if no interrupt or it can't be hooked but still to operated in poll + * mode then return 0 and force data->poll_mode + * might have to clear poll_mode exlplcilty if to operate in real intr + * mode as pool mode + * is the default + */ + int (*start_intr)(void *object, int *poll_mode); + + void (*clean_up)(void); /*!< optional can be void */ + + /* increment reference counter */ + void *(*get)(void *object); + + /* decrement reference counter and deallocate memory when zero */ + void (*put)(void *object); +}; + +/** i2c module interface*/ +static struct stmvl53l1_module_fn_t stmvl53l1_module_func_tbl = { + .init = stmvl53l1_init_i2c, + .deinit = stmvl53l1_exit_i2c, + .power_up = stmvl53l1_power_up_i2c, + .power_down = stmvl53l1_power_down_i2c, + .reset_release = stmvl53l1_reset_release_i2c, + .reset_hold = stmvl53l1_reset_hold_i2c, + .clean_up = stmvl53l1_clean_up_i2c, + .start_intr = stmvl53l1_start_intr, + .get = stmvl53l1_get, + .put = stmvl53l1_put, +}; + + +#ifndef MIN +# define MIN(a, b) ((a) < (b) ? (a) : (b)) +#endif + + +/* + * INPUT Subsys interface + */ + +static void stmvl53l1_input_push_data(struct stmvl53l1_data *data); + +/* + * Global data + */ + +/* We statically inc the value on each probe/setup but it could come from + * the i2c or platform data and/or device tree + */ +static DEFINE_MUTEX(dev_table_mutex); + +/** + * in-used device LUT + * we need this as the message reception from netlink message can't + * associate directly to a device instance that is as we look up id + * to device data structure + */ +struct stmvl53l1_data *stmvl53l1_dev_table[STMVL53L1_CFG_MAX_DEV]; + +/** + * Misc device device operations + */ +static const struct file_operations stmvl53l1_ranging_fops = { + .owner = THIS_MODULE, + .unlocked_ioctl = stmvl53l1_ioctl, +#ifdef CONFIG_COMPAT + .compat_ioctl = stmvl53l1_compat_ioctl, +#endif + .open = stmvl53l1_open, + .release = stmvl53l1_release, + /* .flush = stmvl53l0_flush, */ +}; + +static int store_last_error(struct stmvl53l1_data *data, int rc) +{ + data->last_error = rc; + + return -EIO; +} + +static int allocate_dev_id(void) +{ + int i; + + mutex_lock(&dev_table_mutex); + + for (i = 0; i < STMVL53L1_CFG_MAX_DEV; i++) + if (!stmvl53l1_dev_table[i]) + break; + i = i < STMVL53L1_CFG_MAX_DEV ? i : -1; + + mutex_unlock(&dev_table_mutex); + + return i; +} + +static void deallocate_dev_id(int id) +{ + mutex_lock(&dev_table_mutex); + + stmvl53l1_dev_table[id] = NULL; + + mutex_unlock(&dev_table_mutex); +} + +/* helpers to manage reader list for blockint ioctl */ +/* call them with lock */ +static void empty_and_free_list(struct list_head *head) +{ + struct stmvl53l1_waiters *waiter; + struct stmvl53l1_waiters *tmp; + + list_for_each_entry_safe(waiter, tmp, head, list) { + list_del(&waiter->list); + kfree(waiter); + } +} + +static int add_reader(pid_t pid, struct list_head *head) +{ + struct stmvl53l1_waiters *new_waiter; + + new_waiter = kmalloc(sizeof(struct stmvl53l1_waiters), GFP_KERNEL); + if (!new_waiter) + return -ENOMEM; + new_waiter->pid = pid; + list_add(&new_waiter->list, head); + + return 0; +} + +static bool is_pid_in_list(pid_t pid, struct list_head *head) +{ + struct stmvl53l1_waiters *waiter; + + list_for_each_entry(waiter, head, list) + if (waiter->pid == pid) + return true; + + return false; +} + +static void wake_up_data_waiters(struct stmvl53l1_data *data) +{ + empty_and_free_list(&data->simple_data_reader_list); + empty_and_free_list(&data->mz_data_reader_list); + wake_up(&data->waiter_for_data); +} + +static void stmvl53l1_insert_flush_events_lock(struct stmvl53l1_data *data) +{ + while (data->flush_todo_counter) { + data->flushCount++; + input_report_abs(data->input_dev_ps, ABS_GAS, data->flushCount); + input_sync(data->input_dev_ps); + vl53l1_dbgmsg("Sensor HAL Flush Count = %u\n", + data->flushCount); + data->flush_todo_counter--; + } +} + +static int reset_release(struct stmvl53l1_data *data) +{ + int rc; + + if (!data->reset_state) + return 0; + + vl53l1_dbgmsg("turn on vdd\n"); + rc = stmvl53l1_module_func_tbl.power_up(data->client_object); + if (rc) { + vl53l1_errmsg("%d,error rc %d\n", __LINE__, rc); + return rc; + } + + rc = stmvl53l1_module_func_tbl.reset_release(data->client_object); + if (rc) + vl53l1_errmsg("reset release fail rc=%d\n", rc); + else + data->reset_state = 0; + + return rc; +} + +static int reset_hold(struct stmvl53l1_data *data) +{ + int rc; + + if (data->reset_state) + return 0; + + if (data->force_device_on_en) + return 0; + + rc = stmvl53l1_module_func_tbl.reset_hold(data->client_object); + if (!rc) + data->reset_state = 1; + + vl53l1_dbgmsg("turn off vdd\n"); + rc = stmvl53l1_module_func_tbl.power_down(data->client_object); + if (rc) { + vl53l1_errmsg("%d,error rc %d\n", __LINE__, rc); + return rc; + } + + return rc; +} + +#ifdef DEBUG_TIME_LOG +static void stmvl53l0_DebugTimeGet(struct timeval *ptv) +{ + do_gettimeofday(ptv); +} + +#endif + +/** + * + * @param pstart_tv time val starting point + * @param pstop_tv time val end point + * @return time dif in usec + */ +long stmvl53l1_tv_dif(struct timeval *pstart_tv, struct timeval *pstop_tv) +{ + long total_sec, total_usec; + + total_sec = pstop_tv->tv_sec - pstart_tv->tv_sec; + total_usec = (pstop_tv->tv_usec - pstart_tv->tv_usec); + + return total_sec*1000000+total_usec; +} + +#if STMVL53L1_CFG_ROI_DEBUG +static void dump_roi(VL53L1_UserRoi_t *rois, uint32_t n) +{ + uint32_t i; + + vl53l1_dbgmsg("roi dump %d roi:\n", n); + for (i = 0; i < n ; i++) { + vl53l1_dbgmsg("ROI#%02d %2d %2d %2d %2d\n", (int)i, + (int)rois[i].TopLeftX, (int)rois[i].TopLeftY, + (int)rois[i].BotRightX, (int)rois[i].BotRightY); + } +} +#else +# define dump_roi(...) (void)0 +#endif + +/** + * + * @param data device data + * @return non 0 if current "preset mode" is a multi zone one + */ +static int is_mz_mode(struct stmvl53l1_data *data) +{ + return data->preset_mode == VL53L1_PRESETMODE_RANGING || + data->preset_mode == VL53L1_PRESETMODE_MULTIZONES_SCANNING; +} + +static void kill_mz_data(VL53L1_MultiRangingData_t *pdata) +{ + int i; + + memset(pdata, 0, sizeof(*pdata)); + for (i = 0; i < VL53L1_MAX_RANGE_RESULTS; i++) + pdata->RangeData[i].RangeStatus = -1; + pdata->RoiStatus = VL53L1_ROISTATUS_NOT_VALID; +} + +static void stmvl53l1_setup_auto_config(struct stmvl53l1_data *data) +{ + /* default config is detect object below 300mm with 1s period */ + data->auto_pollingTimeInMs = 1000; + data->auto_config.DetectionMode = VL53L1_DETECTION_DISTANCE_ONLY; + data->auto_config.IntrNoTarget = 0; + data->auto_config.Distance.CrossMode = VL53L1_THRESHOLD_CROSSED_LOW; + data->auto_config.Distance.High = 1000; + data->auto_config.Distance.Low = 300; + data->auto_config.Rate.CrossMode = VL53L1_THRESHOLD_CROSSED_LOW; + data->auto_config.Rate.High = 0; + data->auto_config.Rate.Low = 0; +} + +/** + * start sensor + * + * @warning must be used if only stopped + * @param data device data + * @return 0 on sucess + */ +static int stmvl53l1_start(struct stmvl53l1_data *data) +{ + int rc; + VL53L1_CalibrationData_t cali; + + data->is_first_irq = true; + data->is_data_valid = false; + + rc = reset_release(data); + if (rc) + goto done; + + /* full setup when out of reset or power up */ + rc = VL53L1_StaticInit(&data->stdev); + if (rc) { + vl53l1_errmsg("VL53L1_StaticInit @%d fail %d\n", + __LINE__, rc); + rc = store_last_error(data, rc); + goto done; + } + + /* activated stored or last request defined mode */ + rc = VL53L1_SetPresetMode(&data->stdev, data->preset_mode); + if (rc) { + vl53l1_errmsg("VL53L1_SetPresetMode %d fail %d", + data->preset_mode, rc); + rc = store_last_error(data, rc); + goto done; + } + + if (data->preset_mode == VL53L1_PRESETMODE_AUTONOMOUS) { + /* disable xtalk and set short distance mode + * for autonomous mode */ + data->crosstalk_enable = 0; + data->distance_mode = VL53L1_DISTANCEMODE_SHORT; + } else { + /* restore xtalk and distance mode to default + * values for non-autonomous mode */ + data->crosstalk_enable = + STMVL53L1_CFG_DEFAULT_CROSSTALK_ENABLE; + data->distance_mode = + STMVL53L1_CFG_DEFAULT_DISTANCE_MODE; + } + + rc = VL53L1_SetXTalkCompensationEnable(&data->stdev, + data->crosstalk_enable); + if (rc) { + vl53l1_errmsg("VL53L1_SetXTalkCompensationEnable %d fail %d", + data->crosstalk_enable, rc); + rc = store_last_error(data, rc); + goto done; + } + + /* apply distance mode only in lite and standard ranging */ + rc = VL53L1_SetDistanceMode(&data->stdev, data->distance_mode); + if (rc) { + vl53l1_errmsg("VL53L1_SetDistanceMode %d fail %d", + data->distance_mode, rc); + rc = store_last_error(data, rc); + goto done; + } + + /* apply timing budget */ + rc = VL53L1_SetMeasurementTimingBudgetMicroSeconds(&data->stdev, + data->timing_budget); + if (rc) { + vl53l1_errmsg("SetTimingBudget %d fail %d", + data->timing_budget, rc); + rc = store_last_error(data, rc); + goto done; + } + vl53l1_dbgmsg("timing budget @%d\n", data->timing_budget); + + /* aplly roi if any set */ + if (data->roi_cfg.NumberOfRoi) { + rc = VL53L1_SetROI(&data->stdev, &data->roi_cfg); + if (rc) { + vl53l1_errmsg("VL53L1_SetROI fail %d\n", rc); + rc = store_last_error(data, rc); + goto done; + } + vl53l1_dbgmsg("#%d custom ROI set status\n", + data->roi_cfg.NumberOfRoi); + } else { + vl53l1_dbgmsg("using default ROI\n"); + } + + /* init the timing */ + do_gettimeofday(&data->start_tv); + data->meas.start_tv = data->start_tv; + /* init the ranging data => kill the previous ranging mz data */ + kill_mz_data(&data->meas.multi_range_data); + + memset(&cali, 0, sizeof(cali)); + rc = VL53L1_GetCalibrationData(&data->stdev, &cali); + if (rc) { + vl53l1_errmsg("VL53L1_GetCalibrationData fail\n"); + rc = store_last_error(data, rc); + goto done; + } + + /* set autonomous mode configuration */ + if (data->preset_mode == VL53L1_PRESETMODE_AUTONOMOUS) { + if (data->cam_mode == 0) { + rc = VL53L1_SetInterMeasurementPeriodMilliSeconds( + &data->stdev, + data->auto_pollingTimeInMs); + if (rc) { + vl53l1_errmsg("Fail to set auto period %d\n", + rc); + rc = store_last_error(data, rc); + goto done; + } + rc = VL53L1_SetThresholdConfig(&data->stdev, + &data->auto_config); + if (rc) { + vl53l1_errmsg("Fail to set auto config %d\n", + rc); + rc = store_last_error(data, rc); + goto done; + } + } else { + /* set camera autonomous configration */ + rc = VL53L1_SetInterMeasurementPeriodMilliSeconds( + &data->stdev, + data->auto_pollingTimeInMs_cam); + if (rc) { + vl53l1_errmsg("Fail to set auto period %d\n", + rc); + rc = store_last_error(data, rc); + goto done; + } + rc = VL53L1_SetThresholdConfig(&data->stdev, + &data->auto_config_cam); + if (rc) { + vl53l1_errmsg("Fail to set auto config %d\n", + rc); + rc = store_last_error(data, rc); + goto done; + } + } + cali.customer.algo__crosstalk_compensation_plane_offset_kcps + = STMVL53L1_CFG_DEFAULT_CROSSTALK_AUTONOMOUS; + } else { + cali.customer.algo__crosstalk_compensation_plane_offset_kcps + = data->xtalk_offset; + } + + rc = VL53L1_SetCalibrationData(&data->stdev, &cali); + if (rc) { + vl53l1_errmsg("VL53L1_SetCalibrationData fail\n"); + rc = store_last_error(data, rc); + goto done; + } + + data->allow_hidden_start_stop = + (data->distance_mode == VL53L1_DISTANCEMODE_AUTO || + data->distance_mode == VL53L1_DISTANCEMODE_AUTO_LITE); + /* kick off ranging */ + rc = VL53L1_StartMeasurement(&data->stdev); + if (rc) { + vl53l1_errmsg("VL53L1_StartMeasurement @%d fail %d", + __LINE__, rc); + rc = store_last_error(data, rc); + goto done; + } + + data->meas.cnt = 0; + data->meas.err_cnt = 0; + data->meas.err_tot = 0; + data->meas.poll_cnt = 0; + data->meas.intr = 0; + data->enable_sensor = 1; + if (data->poll_mode) { + /* kick off the periodical polling work */ + schedule_delayed_work(&data->dwork, + msecs_to_jiffies(data->poll_delay_ms)); + } +done: + return rc; +} + +/** + * stop sensor + * + * work lock must be held + * @warning to be used if only started! + */ +static int stmvl53l1_stop(struct stmvl53l1_data *data) +{ + int rc; + + rc = VL53L1_StopMeasurement(&data->stdev); + if (rc) { + vl53l1_errmsg("VL53L1_StopMeasurement @%d fail %d", + __LINE__, rc); + rc = store_last_error(data, rc); + } + /* put device under reset */ + /* do we ask explicit intr stop or just use stop */ + reset_hold(data); + + data->enable_sensor = 0; + data->timing_budget = STMVL53L1_CFG_TIMING_BUDGET_US; + if (data->poll_mode) { + /* cancel periodical polling work */ + cancel_delayed_work(&data->dwork); + } + + /* if we are in ipp waiting mode then abort it */ + stmvl53l1_ipp_stop(data); + /* wake up all waiters */ + /* they will receive -ENODEV error */ + wake_up_data_waiters(data); + + return rc; +} + +static int activate_sar_mode(struct stmvl53l1_data *data) +{ + int rc = VL53L1_ERROR_NONE; + + if (data == NULL) + return -EFAULT; + + if (data->enable_sensor == 0 && + !data->is_calibrating && + data->sar_mode == 1 && + data->cam_mode != 1) { + data->preset_mode = VL53L1_PRESETMODE_AUTONOMOUS; + rc = stmvl53l1_start(data); + if (rc == VL53L1_ERROR_NONE) + vl53l1_info("sensor in sar mode!\n"); + else + vl53l1_errmsg("fail to active sar err %d\n", rc); + } else + vl53l1_info("skip sar activation\n"); + + return rc; +} + +static int deactivate_sar_mode(struct stmvl53l1_data *data) +{ + int rc = VL53L1_ERROR_NONE; + + if (data == NULL) + return -EFAULT; + + if (data->enable_sensor == 1 && + !data->is_calibrating && + data->preset_mode == VL53L1_PRESETMODE_AUTONOMOUS && + data->cam_mode != 1) { + rc = stmvl53l1_stop(data); + if (rc == VL53L1_ERROR_NONE) { + vl53l1_info("sensor is out of sar mode!\n"); + /* set preset mode back to default ranging mode */ + data->preset_mode = VL53L1_PRESETMODE_RANGING; + } else + vl53l1_errmsg("fail to deactivate sar err %d\n", rc); + } else + vl53l1_info("sar is not actived, skip deactivation\n"); + + return rc; +} + +/* + * SysFS support + */ +static ssize_t stmvl53l1_show_enable_ps_sensor(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + + return snprintf(buf, 5, "%d\n", data->enable_sensor); +} + +static ssize_t stmvl53l1_store_enable_ps_sensor(struct device *dev, + struct device_attribute *attr, const char *buf, + size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int rc; + unsigned long val; + + rc = kstrtoul(buf, 10, &val); + if (rc) { + vl53l1_errmsg("enable sensor syntax in %s\n", buf); + return -EINVAL; + } + val = val ? 1 : 0; + vl53l1_dbgmsg("enable_sensor is %d => %d\n", + data->enable_sensor, (int)val); + + rc = val == 1 ? ctrl_start(data) : ctrl_stop(data); + vl53l1_dbgmsg("End\n"); + + return rc ? rc : count; +} + +/** + * sysfs attribute "enable_ps_sensor" [rd/wr] + * + * @li read show the current enable state + * @li write set the new state value "0" put sensor off "1" put it on + * + * @return 0 on success , EINVAL if fail to start + * + * @warning their's no check and assume exclusive usage of sysfs and ioctl\n + * Sensor will be put on/off disregard of any setup done by the ioctl channel. + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(enable_ps_sensor, 0664/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_enable_ps_sensor, + stmvl53l1_store_enable_ps_sensor); + +static int stmvl53l1_set_poll_delay_ms(struct stmvl53l1_data *data, int delay) +{ + int rc = 0; + + if (delay <= 0) + rc = -EINVAL; + else + data->poll_delay_ms = delay; + + return rc; +} + +static ssize_t stmvl53l1_show_poll_delay_ms(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + + return scnprintf(buf, PAGE_SIZE, "%d\n", data->poll_delay_ms); +} + +/* for work handler scheduler time */ +static ssize_t stmvl53l1_store_poll_delay_ms(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int rc; + int delay; + + mutex_lock(&data->work_mutex); + + if (kstrtoint(buf, 0, &delay)) { + vl53l1_errmsg("invalid syntax in %s", buf); + rc = -EINVAL; + } else + rc = stmvl53l1_set_poll_delay_ms(data, delay); + + mutex_unlock(&data->work_mutex); + + return rc ? rc : count; +} + +/** + * sysfs attribute "poll_delay_ms" [rd/wr] + * + * @li read show the current polling delay in millisecond + * @li write set the new polling delay in millisecond + * + * @note apply only if device is in polling mode\n + * for best performances (minimal delay and cpu load ) set it to the device + * period operating period +1 millis + + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(set_delay_ms, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_poll_delay_ms, + stmvl53l1_store_poll_delay_ms); + +/* Timing Budget */ +static int stmvl53l1_set_timing_budget(struct stmvl53l1_data *data, int timing) +{ + int rc = 0; + + if (timing <= 0) { + vl53l1_errmsg("invalid timing valid %d\n", timing); + rc = -EINVAL; + } else if (data->enable_sensor) { + rc = VL53L1_SetMeasurementTimingBudgetMicroSeconds(&data->stdev, + timing); + if (rc) { + vl53l1_errmsg("SetTimingBudget %d fail %d", timing, rc); + rc = store_last_error(data, rc); + } else + data->timing_budget = timing; + } else + data->timing_budget = timing; + + return rc; +} + +static ssize_t stmvl53l1_show_timing_budget(struct device *dev, + struct device_attribute *attr, char *buf) +{ + int n; + struct stmvl53l1_data *data = dev_get_drvdata(dev); + + mutex_lock(&data->work_mutex); + + n = scnprintf(buf, PAGE_SIZE, "%d\n", data->timing_budget); + + mutex_unlock(&data->work_mutex); + + return n; +} + +static ssize_t stmvl53l1_store_timing_budget(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int rc; + int timing; + + mutex_lock(&data->work_mutex); + + if (kstrtoint(buf, 0, &timing)) { + vl53l1_errmsg("invalid syntax in %s", buf); + rc = -EINVAL; + } else + rc = stmvl53l1_set_timing_budget(data, timing); + + mutex_unlock(&data->work_mutex); + + return rc ? rc : count; +} + +/** + * sysfs "timing_budget" [rd/wr] + * + * set or get the ranging timing budget in microsecond + * + * @warning can only be set while not ranging , trying to set it while ranging + * is an error (EBUSY) + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(timing_budget, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_timing_budget, + stmvl53l1_store_timing_budget); + + +static ssize_t stmvl53l1_show_roi(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int i; + int n; + + + mutex_lock(&data->work_mutex); + if (data->roi_cfg.NumberOfRoi == 0) { + /* none define by user */ + /* we could get what stored but may not even be default */ + n = scnprintf(buf, PAGE_SIZE, "device default\n"); + } else { + for (i = 0, n = 0; i < data->roi_cfg.NumberOfRoi; i++) { + n += scnprintf(buf+n, PAGE_SIZE-n, "%d %d %d %d%c", + data->roi_cfg.UserRois[i].TopLeftX, + data->roi_cfg.UserRois[i].TopLeftY, + data->roi_cfg.UserRois[i].BotRightX, + data->roi_cfg.UserRois[i].BotRightY, + i == data->roi_cfg.NumberOfRoi-1 ? + '\n' : ','); + } + } + mutex_unlock(&data->work_mutex); + return n; +} + + +static const char str_roi_ranging[] = "ERROR can't set roi while ranging\n"; + +static ssize_t stmvl53l1_store_roi(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + VL53L1_UserRoi_t rois[VL53L1_MAX_USER_ZONES]; + int rc; + + mutex_lock(&data->work_mutex); + if (data->enable_sensor) { + vl53l1_errmsg(" cant set roi now\n"); + rc = -EBUSY; + } else { + int n, n_roi = 0; + const char *pc = buf; + int tlx, tly, brx, bry; + + while (n_roi < VL53L1_MAX_USER_ZONES && pc != NULL + && *pc != 0 && *pc != '\n') { + n = sscanf(pc, "%d %d %d %d", &tlx, &tly, &brx, &bry); + if (n == 4) { + rois[n_roi].TopLeftX = tlx; + rois[n_roi].TopLeftY = tly; + rois[n_roi].BotRightX = brx; + rois[n_roi].BotRightY = bry; + n_roi++; + } else { + vl53l1_errmsg( +"wrong roi #%d syntax around %s of %s", n_roi, pc, buf); + n_roi = -1; + break; + } + /* find next roi separator */ + pc = strchr(pc, ','); + if (pc) + pc++; + } + /*if any set them */ + if (n_roi >= 0) { + if (n_roi) + memcpy(data->roi_cfg.UserRois, rois, + n_roi*sizeof(rois[0])); + data->roi_cfg.NumberOfRoi = n_roi; + dump_roi(data->roi_cfg.UserRois, + data->roi_cfg.NumberOfRoi); + rc = count; + } else { + rc = -EINVAL; + } + } + mutex_unlock(&data->work_mutex); + vl53l1_dbgmsg("ret %d count %d\n", rc, (int)count); + + return rc; +} + +/** + * sysfs attribute "roi" [rd/wr] + * + * @li read show the current user customized roi setting + * @li write set user custom roi, it can only be done while not ranging. + * + * syntax for set input roi + * @li "[tlx tly brx bry,]\n" repeat n time require will set the n roi + * @li "\n" will reset + * + * @warning roi coordinate is not image x,y(down) but euclidian x,y(up) + * + * @warning roi validity is only check at next range start + * @warning user is responsible to set approriate number an roi before each mode + * change + * @note roi can be retrun to defautl by setting none "" + * + *@code + * >#to set 2x roi + * >echo "0 15 15 0, 0 8 8 0" > /sys/class/input6/roi + * >echo $? + * 0 + * >cat /sys/class/input6/roi + * "0 15 15 0,0 8 8 0" + * #to cancel user define roi" + * >echo "" > /sys/class/input1/roi + * >echo $? + * 0 + * >echo "1" > /sys/class/input6/enable_ps_senspor + * #try to set roi while ranging + * >echo "0 15 15 0, 0 8 8 0" > /sys/class/input6/roi + * [58451.912109] stmvl53l1_store_roi: cant set roi now + * >echo $? + * 1 + *@endcode + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(roi, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_roi, + stmvl53l1_store_roi); + + +static int stmvl53l1_set_mode(struct stmvl53l1_data *data, int mode) +{ + int rc = 0; + + if (data->enable_sensor) { + vl53l1_errmsg("can't change mode while ranging\n"); + rc = -EBUSY; + } else { + switch (mode) { + case VL53L1_PRESETMODE_RANGING: + case VL53L1_PRESETMODE_MULTIZONES_SCANNING: + case VL53L1_PRESETMODE_LITE_RANGING: + case VL53L1_PRESETMODE_AUTONOMOUS: + data->preset_mode = mode; + break; + default: + vl53l1_errmsg("invalid mode %d\n", mode); + rc = -EINVAL; + break; + } + } + + return rc; +} + +static ssize_t stmvl53l1_show_mode(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + + return scnprintf(buf, PAGE_SIZE, "%d\n", data->preset_mode); +} + +static ssize_t stmvl53l1_store_mode(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int rc; + int mode; + + mutex_lock(&data->work_mutex); + + if (kstrtoint(buf, 0, &mode)) { + vl53l1_errmsg("invalid syntax in %s", buf); + rc = -EINVAL; + } else + rc = stmvl53l1_set_mode(data, mode); + + mutex_unlock(&data->work_mutex); + + return rc ? rc : count; +} + +/** + * sysfs attribute "mode " [rd/wr] + * + * set the mode value can only be used while: not ranging + * @li 1 @a VL53L1_PRESETMODE_RANGING default ranging + * @li 2 @a VL53L1_PRESETMODE_MULTIZONES_SCANNING multiple zone + * @li 3 @a VL53L1_PRESETMODE_AUTONOMOUS autonomous mode + * @li 4 @a VL53L1_PRESETMODE_LITE_RANGING low mips ranging mode + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(mode, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_mode, + stmvl53l1_store_mode); + +static int stmvl53l1_set_distance_mode(struct stmvl53l1_data *data, + int distance_mode) +{ + int rc = 0; + + if (data->enable_sensor) { + vl53l1_errmsg("can't change distance mode while ranging\n"); + rc = -EBUSY; + } else { + switch (distance_mode) { + case VL53L1_DISTANCEMODE_SHORT: + case VL53L1_DISTANCEMODE_MEDIUM: + case VL53L1_DISTANCEMODE_LONG: + case VL53L1_DISTANCEMODE_AUTO_LITE: + case VL53L1_DISTANCEMODE_AUTO: + data->distance_mode = distance_mode; + break; + default: + vl53l1_errmsg("invalid distance mode %d\n", + distance_mode); + rc = -EINVAL; + break; + } + } + + return rc; +} + +static ssize_t stmvl53l1_show_distance_mode(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + + return scnprintf(buf, PAGE_SIZE, "%d\n", data->distance_mode); +} + +static ssize_t stmvl53l1_store_distance_mode(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int rc; + int distance_mode; + + mutex_lock(&data->work_mutex); + + if (kstrtoint(buf, 0, &distance_mode)) { + vl53l1_errmsg("invalid syntax in %s", buf); + rc = -EINVAL; + } else + rc = stmvl53l1_set_distance_mode(data, distance_mode); + + mutex_unlock(&data->work_mutex); + + return rc ? rc : count; +} + +/** + * sysfs attribute " distance mode" [rd/wr] + * + * set the distance mode value can only be used while: not ranging + * @li 1 @a VL53L1_DISTANCEMODE_SHORT + * @li 2 @a VL53L1_DISTANCEMODE_MEDIUM + * @li 3 @a VL53L1_DISTANCEMODE_LONG + * @li 4 @a VL53L1_DISTANCEMODE_AUTO_LITE + * @li 5 @a VL53L1_DISTANCEMODE_AUTO + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(distance_mode, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_distance_mode, + stmvl53l1_store_distance_mode); + +static int stmvl53l1_set_crosstalk_enable(struct stmvl53l1_data *data, + int crosstalk_enable) +{ + int rc = 0; + + if (data->enable_sensor) { + vl53l1_errmsg("can't change crosstalk enable while ranging\n"); + rc = -EBUSY; + } else if (crosstalk_enable == 0 || crosstalk_enable == 1) { + data->crosstalk_enable = crosstalk_enable; + } else { + vl53l1_errmsg("invalid crosstalk enable %d\n", + crosstalk_enable); + rc = -EINVAL; + } + + return rc; +} + +static ssize_t stmvl53l1_show_crosstalk_enable(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + + return scnprintf(buf, PAGE_SIZE, "%d\n", data->crosstalk_enable); +} + +static ssize_t stmvl53l1_store_crosstalk_enable(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int rc; + int crosstalk_enable; + + mutex_lock(&data->work_mutex); + if (kstrtoint(buf, 0, &crosstalk_enable)) { + vl53l1_errmsg("invalid syntax in %s", buf); + rc = -EINVAL; + } else + rc = stmvl53l1_set_crosstalk_enable(data, crosstalk_enable); + + mutex_unlock(&data->work_mutex); + + return rc ? rc : count; +} + +/** + * sysfs attribute " crosstalk enable" [rd/wr] + * + * control if crosstalk compensation is eanble or not + * @li 0 disable crosstalk compensation + * @li 1 enable crosstalk compensation + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(crosstalk_enable, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_crosstalk_enable, + stmvl53l1_store_crosstalk_enable); + +static int stmvl53l1_set_output_mode(struct stmvl53l1_data *data, + int output_mode) +{ + int rc = 0; + + if (data->enable_sensor) { + vl53l1_errmsg("can't change output mode while ranging\n"); + rc = -EBUSY; + } else { + switch (output_mode) { + case VL53L1_OUTPUTMODE_NEAREST: + case VL53L1_OUTPUTMODE_STRONGEST: + data->output_mode = output_mode; + break; + default: + vl53l1_errmsg("invalid output mode %d\n", output_mode); + rc = -EINVAL; + break; + } + } + + return rc; +} + +static ssize_t stmvl53l1_show_output_mode(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + + return scnprintf(buf, PAGE_SIZE, "%d\n", data->output_mode); +} + +static ssize_t stmvl53l1_store_output_mode(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int rc; + int output_mode; + + mutex_lock(&data->work_mutex); + + if (kstrtoint(buf, 0, &output_mode)) { + vl53l1_errmsg("invalid syntax in %s", buf); + rc = -EINVAL; + } else + rc = stmvl53l1_set_output_mode(data, output_mode); + + mutex_unlock(&data->work_mutex); + + return rc ? rc : count; +} + +/** + * sysfs attribute " output mode" [rd/wr] + * + * set the output mode value can only be used while: not ranging + * @li 1 @a VL53L1_OUTPUTMODE_NEAREST + * @li 2 @a VL53L1_OUTPUTMODE_STRONGEST + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(output_mode, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_output_mode, + stmvl53l1_store_output_mode); + + +static int stmvl53l1_set_force_device_on_en(struct stmvl53l1_data *data, + int force_device_on_en) +{ + int rc; + + if (force_device_on_en != 0 && force_device_on_en != 1) { + vl53l1_errmsg("invalid force_device_on_en mode %d\n", + force_device_on_en); + return -EINVAL; + } + + data->force_device_on_en = force_device_on_en; + + /* don't update reset if sensor is enable */ + if (data->enable_sensor) + return 0; + + /* ok update reset according force_device_on_en value */ + if (force_device_on_en) + rc = reset_release(data); + else + rc = reset_hold(data); + + return rc; +} + +static ssize_t stmvl53l1_show_force_device_on_en(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + + return scnprintf(buf, PAGE_SIZE, "%d\n", data->force_device_on_en); +} + +static ssize_t stmvl53l1_store_force_device_on_en(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int rc; + int force_device_on_en; + + mutex_lock(&data->work_mutex); + + if (kstrtoint(buf, 0, &force_device_on_en)) { + vl53l1_errmsg("invalid syntax in %s", buf); + rc = -EINVAL; + } else + rc = stmvl53l1_set_force_device_on_en(data, force_device_on_en); + + mutex_unlock(&data->work_mutex); + + return rc ? rc : count; +} + +/** + * sysfs attribute " force_device_on_enable" [rd/wr] + * + * Control if device is put under reset when stopped. + * @li 0 feature is disable. Device is put under reset when stopped. + * @li 1 feature is enable. Device is not put under reset when stopped. + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(force_device_on_enable, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_force_device_on_en, + stmvl53l1_store_force_device_on_en); + +static ssize_t stmvl53l1_do_flush(struct device *dev, + struct device_attribute *attr, const char *buf, size_t count) { + struct stmvl53l1_data *data = dev_get_drvdata(dev); + + mutex_lock(&data->work_mutex); + + data->flush_todo_counter++; + stmvl53l1_insert_flush_events_lock(data); + + mutex_unlock(&data->work_mutex); + + return count; +} + +static DEVICE_ATTR(do_flush, 0660/*S_IWUGO | S_IRUGO*/, + NULL, + stmvl53l1_do_flush); + +static ssize_t stmvl53l1_show_enable_debug(struct device *dev, + struct device_attribute *attr, char *buf) +{ + return scnprintf(buf, PAGE_SIZE, "%d\n", stmvl53l1_enable_debug); +} + +static ssize_t stmvl53l1_store_enable_debug(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + int enable_debug; + int rc = 0; + + if (kstrtoint(buf, 0, &enable_debug)) { + vl53l1_errmsg("invalid syntax in %s", buf); + rc = -EINVAL; + } else + stmvl53l1_enable_debug = enable_debug; + + return rc ? rc : count; +} + +/** + * sysfs attribute " debug enable" [rd/wr] + * + * dynamic control of vl53l1_dbgmsg messages. Note that in any case your code + * must be enable with DEBUG in stmvl53l1.h at compile time. + * @li 0 disable vl53l1_dbgmsg messages + * @li 1 enable vl53l1_dbgmsg messages + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(enable_debug, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_enable_debug, + stmvl53l1_store_enable_debug); + +static ssize_t display_FixPoint1616(char *buf, size_t size, FixPoint1616_t fix) +{ + uint32_t msb = fix >> 16; + uint32_t lsb = fix & 0xffff; + + lsb = (lsb * 1000000ULL + 32768) / 65536; + + return scnprintf(buf, size, "%d.%06d", msb, (uint32_t) lsb); +} + +static ssize_t stmvl53l1_show_autonomous_config(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + ssize_t res = 0; + + res += scnprintf(&buf[res], PAGE_SIZE, "%d %d %d %d %d %d %d ", + data->auto_pollingTimeInMs, + data->auto_config.DetectionMode, + data->auto_config.IntrNoTarget, + data->auto_config.Distance.CrossMode, + data->auto_config.Distance.High, + data->auto_config.Distance.Low, + data->auto_config.Rate.CrossMode); + + res += display_FixPoint1616(&buf[res], PAGE_SIZE - res, + data->auto_config.Rate.High); + + res += scnprintf(&buf[res], PAGE_SIZE - res, " "); + + res += display_FixPoint1616(&buf[res], PAGE_SIZE - res, + data->auto_config.Rate.Low); + + res += scnprintf(&buf[res], PAGE_SIZE - res, "\n"); + + return res; +} + +static const char *parse_integer(const char *buf, int *res) +{ + int rc; + + while (*buf == ' ') + buf++; + rc = sscanf(buf, "%d ", res); + if (!rc) + return NULL; + + return strchr(buf, ' '); +} + +static bool is_float_format(const char *buf, bool is_last) +{ + char *dot = strchr(buf, '.'); + char *space_or_new_line = strchr(buf, is_last ? '\n' : ' '); + + if (!space_or_new_line) + return !!dot; + if (!dot) + return false; + + return dot < space_or_new_line ? true : false; +} + +static int parse_FixPoint16x16_lsb(const char *lsb_char) +{ + int lsb = 0; + int digit_nb = 0; + + /* parse at most 6 digits */ + lsb_char++; + while (*lsb_char != ' ' && *lsb_char != '\n' && digit_nb < 6) { + lsb = lsb * 10 + (*lsb_char - '0'); + lsb_char++; + digit_nb++; + } + while (digit_nb++ < 6) + lsb = lsb * 10; + + return div64_s64(lsb * 65536ULL + 500000, 1000000); +} + +/* parse next fix point value and return a pointer to next blank or newline + * character according to is_last parameter. + * parse string must have digit for integer part (something like '.125' will + * return an error) or an error will be return. Only the first 6 digit of the + * decimal part will be parsed. + */ +static const char *parse_FixPoint16x16(const char *buf, FixPoint1616_t *res, + bool is_last) +{ + bool is_float; + int msb; + int lsb = 0; + int rc; + + while (*buf == ' ') + buf++; + is_float = is_float_format(buf, is_last); + + /* scan msb */ + rc = sscanf(buf, "%d ", &msb); + if (!rc) + return NULL; + /* then lsb if present */ + if (is_float) + lsb = parse_FixPoint16x16_lsb(strchr(buf, '.')); + *res = (msb << 16) + lsb; + + return strchr(buf, is_last ? '\n' : ' '); +} + +static ssize_t stmvl53l1_store_autonomous_config(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int pollingTimeInMs, DetectionMode, IntrNoTarget; + int d_CrossMode, d_High, d_Low; + int r_CrossMode; + FixPoint1616_t r_High, r_Low; + const char *buf_ori = buf; + int rc; + + mutex_lock(&data->work_mutex); + + buf = parse_integer(buf, &pollingTimeInMs); + if (!buf) + goto invalid; + buf = parse_integer(buf, &DetectionMode); + if (!buf) + goto invalid; + buf = parse_integer(buf, &IntrNoTarget); + if (!buf) + goto invalid; + buf = parse_integer(buf, &d_CrossMode); + if (!buf) + goto invalid; + buf = parse_integer(buf, &d_High); + if (!buf) + goto invalid; + buf = parse_integer(buf, &d_Low); + if (!buf) + goto invalid; + buf = parse_integer(buf, &r_CrossMode); + if (!buf) + goto invalid; + buf = parse_FixPoint16x16(buf, &r_High, false); + if (!buf) + goto invalid; + buf = parse_FixPoint16x16(buf, &r_Low, true); + if (!buf) + goto invalid; + + data->auto_pollingTimeInMs = pollingTimeInMs; + data->auto_config.DetectionMode = DetectionMode; + data->auto_config.IntrNoTarget = IntrNoTarget; + data->auto_config.Distance.CrossMode = d_CrossMode; + data->auto_config.Distance.High = d_High; + data->auto_config.Distance.Low = d_Low; + data->auto_config.Rate.CrossMode = r_CrossMode; + data->auto_config.Rate.High = r_High; + data->auto_config.Rate.Low = r_Low; + + mutex_unlock(&data->work_mutex); + + return count; + +invalid: + vl53l1_errmsg("invalid syntax in %s", buf_ori); + rc = -EINVAL; + goto error; + +error: + mutex_unlock(&data->work_mutex); + + return rc; +} + +/** + * sysfs attribute " autonomous_config" [rd/wr] + * + * Will set/get autonomous configuration using sysfs. + * + * format is the following : + * + * + * + *@code + * > echo "1000 1 0 0 1000 300 0 2.2 1.001" > autonomous_config + *@endcode + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(autonomous_config, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_autonomous_config, + stmvl53l1_store_autonomous_config); +static ssize_t stmvl53l1_show_last_error_config(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + + return scnprintf(buf, PAGE_SIZE, "%d\n", data->last_error); +} + +static ssize_t stmvl53l1_show_enable_sar(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + + return scnprintf(buf, PAGE_SIZE, "%d\n", data->sar_mode); +} + +static ssize_t stmvl53l1_store_enable_sar(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int rc = 0; + int mode; + + mutex_lock(&data->work_mutex); + + if (kstrtoint(buf, 0, &mode)) { + vl53l1_errmsg("invalid syntax in %s\n", buf); + rc = -EINVAL; + } else { + data->sar_mode = mode?1:0; + vl53l1_dbgmsg("sar mode is set to %d\n", data->sar_mode); + + if (data->sar_mode == 1) { + if (mode == 1) { + /* report far distance as initial value */ + struct input_dev *input = data->input_dev_ps; + + input_report_abs(input, ABS_HAT1X, 100); + input_report_abs(input, ABS_HAT1X, 101); + input_report_abs(input, ABS_HAT1X, 100); + input_sync(input); + } + activate_sar_mode(data); + } else + deactivate_sar_mode(data); + } + + mutex_unlock(&data->work_mutex); + + return rc ? rc : count; +} + +/** + * sysfs attribute "enable_sar" [rd/wr] + * + * To enable/disable the sar mode + * @li 0 disable sar mode + * @li 1 enable sar mode + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(enable_sar, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_enable_sar, + stmvl53l1_store_enable_sar); + +static ssize_t stmvl53l1_show_offset(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + + return scnprintf(buf, PAGE_SIZE, "%d,%d\n", + data->inner_offset, data->outer_offset); +} + +static ssize_t stmvl53l1_store_offset(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + VL53L1_CalibrationData_t cali_data; + int rc = 0; + int n = 0; + int inner = 0; + int outer = 0; + + mutex_lock(&data->work_mutex); + + if (data->enable_sensor) { + vl53l1_errmsg("can't set offset while ranging\n"); + rc = -EBUSY; + goto finish; + } + + n = sscanf(buf, "%d,%d", &inner, &outer); + if(n != 2) { + vl53l1_errmsg("wrong offset syntax around %s\n", buf); + rc = -EINVAL; + goto finish; + } + + memset(&cali_data, 0, sizeof(cali_data)); + rc = VL53L1_GetCalibrationData(&data->stdev, &cali_data); + if (rc) { + vl53l1_errmsg("VL53L1_GetCalibrationData fail\n"); + rc = -EINVAL; + goto finish; + } + + /* update offset values */ + vl53l1_info("previous offset is %d,%d\n", + cali_data.customer.mm_config__inner_offset_mm, + cali_data.customer.mm_config__outer_offset_mm); + cali_data.customer.mm_config__inner_offset_mm = inner; + cali_data.customer.mm_config__outer_offset_mm = outer; + + rc = VL53L1_SetCalibrationData(&data->stdev, &cali_data); + if (rc) { + vl53l1_errmsg("VL53L1_SetCalibrationData fail\n"); + rc = -EINVAL; + goto finish; + } + + data->inner_offset = (int16_t)inner; + data->outer_offset = (int16_t)outer; + vl53l1_info("offset is set to %d,%d\n", inner, outer); +finish: + mutex_unlock(&data->work_mutex); + return rc ? rc : count; +} + +/** + * sysfs attribute "enable_sar" [rd/wr] + * + * To enable/disable the sar mode + * @li 0 disable sar mode + * @li 1 enable sar mode + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(offset, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_offset, + stmvl53l1_store_offset); +static DEVICE_ATTR(last_error, 0440/*S_IRUGO*/, + stmvl53l1_show_last_error_config, + NULL); +static struct attribute *stmvl53l1_attributes[] = { + &dev_attr_enable_ps_sensor.attr, + &dev_attr_set_delay_ms.attr, + &dev_attr_timing_budget.attr, + &dev_attr_roi.attr, + &dev_attr_mode.attr, + &dev_attr_do_flush.attr, + &dev_attr_distance_mode.attr, + &dev_attr_crosstalk_enable.attr, + &dev_attr_enable_debug.attr, + &dev_attr_output_mode.attr, + &dev_attr_force_device_on_enable.attr, + &dev_attr_autonomous_config.attr, + &dev_attr_enable_sar.attr, + &dev_attr_offset.attr, + &dev_attr_last_error.attr, + NULL +}; + +static const struct attribute_group stmvl53l1_attr_group = { + .attrs = stmvl53l1_attributes, +}; + + + +static int ctrl_reg_access(struct stmvl53l1_data *data, void *p) +{ + struct stmvl53l1_register reg; + size_t total_byte; + int rc; + + if (data->is_device_remove) + return -ENODEV; + + total_byte = offsetof(struct stmvl53l1_register, data.b); + if (copy_from_user(®, p, total_byte)) { + vl53l1_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + + if (reg.cnt > STMVL53L1_MAX_CCI_XFER_SZ) { + vl53l1_errmsg("reg len %d > size limit\n", reg.cnt); + return -EINVAL; + } + + total_byte = offsetof(struct stmvl53l1_register, data.bytes[reg.cnt]); + /* for write get the effective data part of the structure */ + if (!reg.is_read) { + if (copy_from_user(®, p, total_byte)) { + vl53l1_errmsg(" data cpy fail\n"); + return -EFAULT; + } + } + + /* put back to user only needed amount of data */ + if (!reg.is_read) { + rc = VL53L1_WriteMulti(&data->stdev, (uint16_t)reg.index, + reg.data.bytes, reg.cnt); + reg.status = rc; + /* for write only write back status no data */ + total_byte = offsetof(struct stmvl53l1_register, data.b); + vl53l1_dbgmsg("wr %x %d bytes statu %d\n", + reg.index, reg.cnt, rc); + if (rc) + rc = store_last_error(data, rc); + } else { + rc = VL53L1_ReadMulti(&data->stdev, (uint16_t)reg.index, + reg.data.bytes, reg.cnt); + reg.status = rc; + vl53l1_dbgmsg("rd %x %d bytes status %d\n", + reg.index, reg.cnt, rc); + /* if fail do not copy back data only status */ + if (rc) { + total_byte = offsetof(struct stmvl53l1_register, + data.b); + rc = store_last_error(data, rc); + } + /* else the total byte is already the full pay-load with data */ + } + + if (copy_to_user(p, ®, total_byte)) { + vl53l1_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + return rc; +} + + +/* + * + */ +static int ctrl_start(struct stmvl53l1_data *data) +{ + int rc; + + mutex_lock(&data->work_mutex); + + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + + vl53l1_dbgmsg(" state = %d\n", data->enable_sensor); + + /* turn on tof sensor only if it's not already started */ + if (data->enable_sensor == 0 && !data->is_calibrating) { + /* to start */ + rc = stmvl53l1_start(data); + } else{ + rc = -EBUSY; + } + vl53l1_dbgmsg(" final state = %d\n", data->enable_sensor); + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +/** + * no lock version of ctrl_stop (mutex shall be held) + * + * @warning exist only for use in device exit to ensure "locked and started" + * may also beuse in soem erro handling when mutex is already locked + * @return 0 on success and was running >0 if already off <0 on error + */ +static int _ctrl_stop(struct stmvl53l1_data *data) +{ + int rc; + + vl53l1_dbgmsg("enter state = %d\n", data->enable_sensor); + /* be sure waiters are woken */ + data->is_data_valid = true; + /* turn on tof sensor only if it's not enabled by other client */ + if (data->enable_sensor == 1) { + /* to stop */ + rc = stmvl53l1_stop(data); + } else { + vl53l1_dbgmsg("already off did nothing\n"); + rc = 0; + } + stmvl53l1_insert_flush_events_lock(data); + vl53l1_dbgmsg(" final state = %d\n", data->enable_sensor); + + return rc; +} + +/** + * get work lock and stop sensor + * + * see @ref _ctrl_stop + * + * @param data device + * @return 0 on success EBUSY if arleady off + */ +static int ctrl_stop(struct stmvl53l1_data *data) +{ + int rc; + + mutex_lock(&data->work_mutex); + + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + + if (data->enable_sensor) { + rc = _ctrl_stop(data); + + if (data->cam_mode == 1) { + /* only restore sar mode when + it quits from camera mode */ + data->cam_mode = 0; + + if (data->sar_mode == 1) { + vl53l1_info("restore sar mode\n"); + activate_sar_mode(data); + } + } + } else + rc = -EBUSY; +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +/** + * get work lock and suspend sensor without checking sar mode + * + * @param data device + * @return 0 on success EBUSY if arleady off + */ +static int ctrl_suspend(struct stmvl53l1_data *data) +{ + int rc; + + mutex_lock(&data->work_mutex); + vl53l1_info("enter ctrl_suspend\n"); + if (data->enable_sensor) + rc = _ctrl_stop(data); + else + rc = -EBUSY; + mutex_unlock(&data->work_mutex); + + return rc; +} + +static int get_output_data_index(struct stmvl53l1_data *data) +{ + VL53L1_MultiRangingData_t *meas = &data->meas.multi_range_data; + int i; + int index = 0; + + /* multi_range_data already sort by proximity */ + if (data->output_mode == VL53L1_OUTPUTMODE_NEAREST) + return 0; + + /* else output mode is VL53L1_OUTPUTMODE_STRONGEST */ + for (i = 1; i < meas->NumberOfObjectsFound; i++) + if (meas->RangeData[i].SignalRateRtnMegaCps > + meas->RangeData[index].SignalRateRtnMegaCps) + index = i; + + return index; +} + +static int ctrl_getdata(struct stmvl53l1_data *data, void __user *p) +{ + int rc; + int index; + + mutex_lock(&data->work_mutex); + + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + index = get_output_data_index(data); + rc = copy_to_user(p, + &data->meas.multi_range_data.RangeData[index], + sizeof(stmvl531_range_data_t)); + if (rc) { + vl53l1_dbgmsg("copy to user fail %d", rc); + rc = -EFAULT; + } + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static bool is_new_data_for_me(struct stmvl53l1_data *data, pid_t pid, + struct list_head *head) +{ + return data->is_data_valid && !is_pid_in_list(pid, head); +} + +static bool sleep_for_data_condition(struct stmvl53l1_data *data, pid_t pid, + struct list_head *head) +{ + bool res; + + mutex_lock(&data->work_mutex); + res = is_new_data_for_me(data, pid, head); + mutex_unlock(&data->work_mutex); + + return res; +} + +static int sleep_for_data(struct stmvl53l1_data *data, pid_t pid, + struct list_head *head) +{ + int rc; + + mutex_unlock(&data->work_mutex); + rc = wait_event_killable(data->waiter_for_data, + sleep_for_data_condition(data, pid, head)); + mutex_lock(&data->work_mutex); + + return data->enable_sensor ? rc : -ENODEV; +} + +static int ctrl_getdata_blocking(struct stmvl53l1_data *data, void __user *p) +{ + int rc = 0; + pid_t pid = current->pid; + int index; + + mutex_lock(&data->work_mutex); + /* If device not ranging then exit on error */ + if (data->is_device_remove || !data->enable_sensor) { + rc = -ENODEV; + goto done; + } + /* sleep if data already read */ + if (!is_new_data_for_me(data, pid, &data->simple_data_reader_list)) + rc = sleep_for_data(data, pid, &data->simple_data_reader_list); + if (rc) + goto done; + + /* unless we got interrupted we return data to user and note read */ + index = get_output_data_index(data); + rc = copy_to_user(p, &data->meas.multi_range_data.RangeData[index], + sizeof(stmvl531_range_data_t)); + if (rc) + goto done; + rc = add_reader(pid, &data->simple_data_reader_list); + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +/** + * Get multi zone data + * @param data + * @param p [out] user ptr to @ref VL53L1_MultiRangingData_t structure\n + * is always set but on EFAULT error + * + * @return + * @li 0 on success + * @li ENODEV if not ranging + * @li ENOEXEC not in multi zone mode + * @li EFAULT copy to user error + */ +static int ctrl_mz_data(struct stmvl53l1_data *data, void __user *p) +{ + int rc; + + mutex_lock(&data->work_mutex); + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + rc = copy_to_user(p, &data->meas.multi_range_data, + sizeof(VL53L1_MultiRangingData_t)); + if (rc) { + vl53l1_dbgmsg("copy to user fail %d", rc); + rc = -EFAULT; + } + if (!data->enable_sensor) { + rc = -ENODEV; + } else + if (!is_mz_mode(data)) + rc = -ENOEXEC; + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static int ctrl_mz_data_blocking(struct stmvl53l1_data *data, void __user *p) +{ + int rc = 0; + VL53L1_MultiRangingData_t *meas = &data->meas.multi_range_data; + pid_t pid = current->pid; + + mutex_lock(&data->work_mutex); + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + /* mode 2 or 3 */ + if (!is_mz_mode(data)) { + rc = -ENOEXEC; + goto done; + } + /* If device not ranging then exit on error */ + if (!data->enable_sensor) { + rc = -ENODEV; + goto done; + } + /* sleep if data already read */ + if (!is_new_data_for_me(data, pid, &data->mz_data_reader_list)) + rc = sleep_for_data(data, pid, &data->mz_data_reader_list); + if (rc) + goto done; + + /* unless we got interrupted we return data to user and note read */ + rc = copy_to_user(p, meas, sizeof(VL53L1_MultiRangingData_t)); + if (rc) + goto done; + rc = add_reader(pid, &data->mz_data_reader_list); + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static int ctrl_param_timing_budget(struct stmvl53l1_data *data, + struct stmvl53l1_parameter *param) +{ + int rc; + + if (param->is_read) { + /* GET */ + param->value = data->timing_budget; + param->status = 0; + rc = 0; + vl53l1_dbgmsg("TIMINGBUDGET_PAR get status %d", rc); + } else { + rc = stmvl53l1_set_timing_budget(data, param->value); + vl53l1_dbgmsg("TIMINGBUDGET_PAR set status %d is %d", rc, + data->timing_budget); + } + + return rc; +} +/** + * handle ioctl set param poll delay + * + * @param data + * @param param in/out + * @return + */ +static int ctrl_param_poll_delay(struct stmvl53l1_data *data, + struct stmvl53l1_parameter *param) +{ + int rc; + + if (param->is_read) { + param->value = data->poll_delay_ms; + param->status = 0; + vl53l1_dbgmsg("poll delay get %d ms", param->value); + rc = 0; + } else { + rc = stmvl53l1_set_poll_delay_ms(data, param->value); + vl53l1_dbgmsg("poll delay set %d ms", data->poll_delay_ms); + } + + return rc; +} + + +static int ctrl_param_mode(struct stmvl53l1_data *data, + struct stmvl53l1_parameter *param) +{ + int rc; + + if (param->is_read) { + param->value = data->preset_mode; + param->status = 0; + vl53l1_dbgmsg("get mode %d", param->value); + rc = 0; + } else { + rc = stmvl53l1_set_mode(data, param->value); + vl53l1_dbgmsg("rc %d req %d now %d", rc, + param->value, data->preset_mode); + } + return rc; +} + +static int ctrl_param_distance_mode(struct stmvl53l1_data *data, + struct stmvl53l1_parameter *param) +{ + int rc; + + if (param->is_read) { + param->value = data->distance_mode; + param->status = 0; + vl53l1_dbgmsg("get distance mode %d", param->value); + rc = 0; + } else { + rc = stmvl53l1_set_distance_mode(data, param->value); + vl53l1_dbgmsg("rc %d req %d now %d", rc, + param->value, data->distance_mode); + } + + return rc; +} + +static int ctrl_param_crosstalk_enable(struct stmvl53l1_data *data, + struct stmvl53l1_parameter *param) +{ + int rc; + + if (param->is_read) { + param->value = data->crosstalk_enable; + param->status = 0; + vl53l1_dbgmsg("get crosstalk enable mode %d", param->value); + rc = 0; + } else { + rc = stmvl53l1_set_crosstalk_enable(data, param->value); + vl53l1_dbgmsg("rc %d req %d now %d", rc, + param->value, data->crosstalk_enable); + } + + return rc; +} + +static int ctrl_param_output_mode(struct stmvl53l1_data *data, + struct stmvl53l1_parameter *param) +{ + int rc; + + if (param->is_read) { + param->value = data->output_mode; + param->status = 0; + vl53l1_dbgmsg("get output mode %d", param->value); + rc = 0; + } else { + rc = stmvl53l1_set_output_mode(data, param->value); + vl53l1_dbgmsg("rc %d req %d now %d", rc, + param->value, data->output_mode); + } + + return rc; +} + +static int ctrl_force_device_on_en(struct stmvl53l1_data *data, + struct stmvl53l1_parameter *param) +{ + int rc; + + if (param->is_read) { + param->value = data->force_device_on_en; + param->status = 0; + vl53l1_dbgmsg("get force device on %d", param->value); + rc = 0; + } else { + rc = stmvl53l1_set_force_device_on_en(data, param->value); + vl53l1_dbgmsg("rc %d req %d now %d", rc, + param->value, data->force_device_on_en); + } + + return rc; +} + +static int ctrl_param_last_error(struct stmvl53l1_data *data, + struct stmvl53l1_parameter *param) +{ + int rc; + + if (param->is_read) { + param->value = data->last_error; + param->status = 0; + vl53l1_dbgmsg("get last error %d", param->value); + rc = 0; + } else { + rc = -EINVAL; + } + + return rc; +} + +static int ctrl_param_camera_mode(struct stmvl53l1_data *data, + struct stmvl53l1_parameter *param) +{ + if (param->is_read) { + param->value = data->cam_mode; + param->status = 0; + vl53l1_dbgmsg("get camera mode %d", param->value); + } else { + data->cam_mode = param->value; + vl53l1_dbgmsg("set camera mode %d", param->value); + } + + return 0; +} + +static int ctrl_param_hw_rev(struct stmvl53l1_data *data, + struct stmvl53l1_parameter *param) +{ + int rc; + + if (param->is_read) { + param->value = data->hw_rev; + param->status = 0; + vl53l1_dbgmsg("get hw rev %d", param->value); + rc = 0; + } else { + rc = -EINVAL; + } + + return rc; +} + +/** + * handle ioctl set param mode + * + * @param data + * @param p + * @return 0 on success + */ +static int ctrl_params(struct stmvl53l1_data *data, void __user *p) +{ + int rc, rc2; + struct stmvl53l1_parameter param; + + mutex_lock(&data->work_mutex); + + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + rc = copy_from_user(¶m, p, sizeof(param)); + if (rc) { + rc = -EFAULT; + goto done; /* no need for status in user struct */ + } + switch (param.name) { + case VL53L1_POLLDELAY_PAR: + rc = ctrl_param_poll_delay(data, ¶m); + break; + case VL53L1_TIMINGBUDGET_PAR: + rc = ctrl_param_timing_budget(data, ¶m); + break; + case VL53L1_DEVICEMODE_PAR: + rc = ctrl_param_mode(data, ¶m); + break; + case VL53L1_DISTANCEMODE_PAR: + rc = ctrl_param_distance_mode(data, ¶m); + break; + case VL53L1_XTALKENABLE_PAR: + rc = ctrl_param_crosstalk_enable(data, ¶m); + break; + case VL53L1_OUTPUTMODE_PAR: + rc = ctrl_param_output_mode(data, ¶m); + break; + case VL53L1_FORCEDEVICEONEN_PAR: + rc = ctrl_force_device_on_en(data, ¶m); + break; + case VL53L1_LASTERROR_PAR: + rc = ctrl_param_last_error(data, ¶m); + break; + case VL53L1_CAMERAMODE_PAR: + rc = ctrl_param_camera_mode(data, ¶m); + break; + case VL53L1_HWREV_PAR: + rc = ctrl_param_hw_rev(data, ¶m); + break; + default: + vl53l1_errmsg("unknown or unsupported %d\n", param.name); + rc = -EINVAL; + } + /* copy back (status at least ) to user */ + if (param.is_read && rc == 0) { + rc2 = copy_to_user(p, ¶m, sizeof(param)); + if (rc2) { + rc = -EFAULT; /* kill prev status if that fail */ + vl53l1_errmsg("copy to user fail %d\n", rc); + } + } +done: + mutex_unlock(&data->work_mutex); + return rc; +} + +/** + * implement set/get roi ioctl + * @param data device + * @param p user space ioctl arg ptr + * @return 0 on success <0 errno code + * @li -EINVAL invalid number of roi + * @li -EBUSY when trying to set roi while ranging + * @li -EFAULT if cpy to/fm user fail for requested number of roi + */ +static int ctrl_roi(struct stmvl53l1_data *data, void __user *p) +{ + int rc; + int roi_cnt; + struct stmvl53l1_roi_full_t rois; + + mutex_lock(&data->work_mutex); + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + /* copy fixed part of args at first */ + rc = copy_from_user(&rois, p, + offsetof(struct stmvl53l1_roi_full_t, + roi_cfg.UserRois[0])); + if (rc) { + rc = -EFAULT; + goto done; + } + /* check no of roi limit is ok */ + roi_cnt = rois.roi_cfg.NumberOfRoi; + if (roi_cnt > VL53L1_MAX_USER_ZONES) { + vl53l1_errmsg("invalid roi spec cnt=%d > %d", + rois.roi_cfg.NumberOfRoi, + VL53L1_MAX_USER_ZONES); + rc = -EINVAL; + goto done; + } + + if (rois.is_read) { + int cpy_size; + + roi_cnt = MIN(rois.roi_cfg.NumberOfRoi, + data->roi_cfg.NumberOfRoi); + cpy_size = offsetof(VL53L1_RoiConfig_t, UserRois[roi_cnt]); + /* copy from local to user only effective part requested */ + rc = copy_to_user(&((struct stmvl53l1_roi_full_t *)p)->roi_cfg, + &data->roi_cfg, cpy_size); + vl53l1_dbgmsg("return %d of %d\n", roi_cnt, + data->roi_cfg.NumberOfRoi); + } else { + /* SET check cnt roi is ok */ + if (data->enable_sensor) { + rc = -EBUSY; + vl53l1_errmsg("can't set roi while ranging\n"); + goto done; + } + /* get full data that required from user */ + rc = copy_from_user(&rois, p, + offsetof(struct stmvl53l1_roi_full_t, + roi_cfg.UserRois[roi_cnt])); + if (rc) { + vl53l1_errmsg("get %d roi fm user fail", roi_cnt); + rc = -EFAULT; + goto done; + } + dump_roi(data->roi_cfg.UserRois, data->roi_cfg.NumberOfRoi); + /* we may ask ll driver to check but check is mode dependent + * and so we could get erroneous error back + */ + memcpy(&data->roi_cfg, &rois.roi_cfg, sizeof(data->roi_cfg)); + } +done: + mutex_unlock(&data->work_mutex); + return rc; +} + +static int ctrl_autonomous_config(struct stmvl53l1_data *data, void __user *p) +{ + int rc = 0; + struct stmvl53l1_autonomous_config_t full; + + mutex_lock(&data->work_mutex); + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + /* first copy all data */ + rc = copy_from_user(&full, p, sizeof(full)); + if (rc) { + rc = -EFAULT; + goto done; + } + + if (full.is_read) { + full.pollingTimeInMs = data->auto_pollingTimeInMs; + full.config = data->auto_config; + rc = copy_to_user(p, &full, sizeof(full)); + if (rc) + rc = -EFAULT; + } else { + if (data->enable_sensor) { + rc = -EBUSY; + vl53l1_errmsg("can't change config while ranging\n"); + goto done; + } + data->auto_pollingTimeInMs = full.pollingTimeInMs; + data->auto_config = full.config; + } + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static int ctrl_autonomous_config_cam(struct stmvl53l1_data *data, + void __user *p) +{ + int rc = 0; + struct stmvl53l1_autonomous_config_t full; + + mutex_lock(&data->work_mutex); + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + /* first copy all data */ + rc = copy_from_user(&full, p, sizeof(full)); + if (rc) { + rc = -EFAULT; + goto done; + } + + if (full.is_read) { + full.pollingTimeInMs = data->auto_pollingTimeInMs_cam; + full.config = data->auto_config_cam; + rc = copy_to_user(p, &full, sizeof(full)); + if (rc) + rc = -EFAULT; + } else { + if (data->enable_sensor) { + rc = -EBUSY; + vl53l1_errmsg("can't change config while ranging\n"); + goto done; + } + data->auto_pollingTimeInMs_cam = full.pollingTimeInMs; + data->auto_config_cam = full.config; + } + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static int ctrl_calibration_data(struct stmvl53l1_data *data, void __user *p) +{ + int rc; + struct stmvl53l1_ioctl_calibration_data_t calib; + int data_offset = offsetof(struct stmvl53l1_ioctl_calibration_data_t, + data); + + mutex_lock(&data->work_mutex); + + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + rc = copy_from_user(&calib, p, data_offset); + if (rc) { + vl53l1_errmsg("fail to detect read or write %d", rc); + rc = -EFAULT; + goto done; + } + + if (calib.is_read) { + memset(&calib.data, 0, sizeof(calib.data)); + rc = VL53L1_GetCalibrationData(&data->stdev, &calib.data); + if (rc) { + vl53l1_errmsg("VL53L1_GetCalibrationData fail %d", rc); + rc = store_last_error(data, rc); + goto done; + } + rc = copy_to_user(p + data_offset, &calib.data, + sizeof(calib.data)); + } else { + if (data->enable_sensor) { + rc = -EBUSY; + vl53l1_errmsg("can't set calib data while ranging\n"); + goto done; + } + rc = copy_from_user(&calib.data, p + data_offset, + sizeof(calib.data)); + if (rc) { + vl53l1_errmsg("fail to copy calib data"); + rc = -EFAULT; + goto done; + } + rc = VL53L1_SetCalibrationData(&data->stdev, &calib.data); + if (rc) { + vl53l1_errmsg("VL53L1_SetCalibrationData fail %d", rc); + rc = store_last_error(data, rc); + } + } + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static int ctrl_perform_calibration_ref_spad_lock(struct stmvl53l1_data *data, + struct stmvl53l1_ioctl_perform_calibration_t *calib) +{ + int rc = VL53L1_PerformRefSpadManagement(&data->stdev); + + if (rc) { + vl53l1_errmsg("VL53L1_PerformRefSpadManagement fail => %d", rc); + rc = store_last_error(data, rc); + } + + return rc; +} + +static int ctrl_perform_calibration_crosstalk_lock(struct stmvl53l1_data *data, + struct stmvl53l1_ioctl_perform_calibration_t *calib) +{ + int rc = VL53L1_PerformXTalkCalibration(&data->stdev, calib->param1); + + if (rc) { + vl53l1_errmsg("VL53L1_PerformXTalkCalibration fail => %d", rc); + rc = store_last_error(data, rc); + } + + return rc; +} + +static int ctrl_perform_calibration_offset_lock(struct stmvl53l1_data *data, + struct stmvl53l1_ioctl_perform_calibration_t *calib) +{ + int rc; + + vl53l1_info("VL53L1_SetOffsetCalibrationMode para: %d %d %d\n", calib->param1, + calib->param2, calib->param3); + rc = VL53L1_SetOffsetCalibrationMode(&data->stdev, calib->param1); + if (rc) { + vl53l1_errmsg("VL53L1_SetOffsetCalibrationMode fail => %d", rc); + rc = store_last_error(data, rc); + goto done; + } + rc = VL53L1_PerformOffsetCalibration(&data->stdev, calib->param2, + calib->param3); + if (rc) { + vl53l1_errmsg("VL53L1_PerformOffsetCalibration fail => %d", rc); + rc = store_last_error(data, rc); + } + +done: + return rc; +} + +static int ctrl_perform_calibration(struct stmvl53l1_data *data, void __user *p) +{ + int rc; + struct stmvl53l1_ioctl_perform_calibration_t calib; + + mutex_lock(&data->work_mutex); + + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + data->is_calibrating = true; + rc = copy_from_user(&calib, p, sizeof(calib)); + if (rc) { + rc = -EFAULT; + goto done; + } + if (data->enable_sensor) { + rc = -EBUSY; + vl53l1_errmsg("can't perform calibration while ranging\n"); + goto done; + } + + rc = reset_release(data); + if (rc) + goto done; + + rc = VL53L1_StaticInit(&data->stdev); + if (rc) { + vl53l1_errmsg("VL53L1_StaticInit fail => %d", rc); + rc = store_last_error(data, rc); + goto done; + } + + switch (calib.calibration_type) { + case VL53L1_CALIBRATION_REF_SPAD: + rc = ctrl_perform_calibration_ref_spad_lock(data, + &calib); + break; + case VL53L1_CALIBRATION_CROSSTALK: + rc = ctrl_perform_calibration_ref_spad_lock(data, + &calib); + if (rc) { + vl53l1_errmsg("RefSpad Calibration error = %d\n", rc); + goto done; + } + rc = ctrl_perform_calibration_crosstalk_lock(data, + &calib); + break; + case VL53L1_CALIBRATION_OFFSET: + vl53l1_info("perform ref spad calibration first...\n"); + rc = ctrl_perform_calibration_ref_spad_lock(data, + &calib); + if (rc) { + vl53l1_errmsg("RefSpad Calibration error = %d\n", rc); + goto done; + } + rc = ctrl_perform_calibration_offset_lock(data, + &calib); + break; + default: + rc = -EINVAL; + break; + } + reset_hold(data); + +done: + data->is_calibrating = false; + mutex_unlock(&data->work_mutex); + + return rc; +} + +static int stmvl53l1_ioctl_handler( + struct stmvl53l1_data *data, + unsigned int cmd, unsigned long arg, + void __user *p) +{ + int rc = 0; + + if (!data) + return -EINVAL; + + switch (cmd) { + + case VL53L1_IOCTL_START: + vl53l1_dbgmsg("VL53L1_IOCTL_START\n"); + rc = ctrl_start(data); + break; + + case VL53L1_IOCTL_STOP: + vl53l1_dbgmsg("VL53L1_IOCTL_STOP\n"); + rc = ctrl_stop(data); + break; + + case VL53L1_IOCTL_SUSPEND: + vl53l1_dbgmsg("VL53L1_IOCTL_SUSPEND\n"); + rc = ctrl_suspend(data); + break; + + case VL53L1_IOCTL_GETDATAS: + /* vl53l1_dbgmsg("VL53L1_IOCTL_GETDATAS\n"); */ + rc = ctrl_getdata(data, p); + break; + + case VL53L1_IOCTL_GETDATAS_BLOCKING: + /* vl53l1_dbgmsg("VL53L1_IOCTL_GETDATAS_BLOCKING\n"); */ + rc = ctrl_getdata_blocking(data, p); + break; + + /* Register tool */ + case VL53L1_IOCTL_REGISTER: + vl53l1_dbgmsg("VL53L1_IOCTL_REGISTER\n"); + rc = ctrl_reg_access(data, p); + break; + + case VL53L1_IOCTL_PARAMETER: + vl53l1_dbgmsg("VL53L1_IOCTL_PARAMETER\n"); + rc = ctrl_params(data, p); + break; + + case VL53L1_IOCTL_ROI: + vl53l1_dbgmsg("VL53L1_IOCTL_ROI\n"); + rc = ctrl_roi(data, p); + break; + case VL53L1_IOCTL_MZ_DATA: + /* vl53l1_dbgmsg("VL53L1_IOCTL_MZ_DATA\n"); */ + rc = ctrl_mz_data(data, p); + break; + case VL53L1_IOCTL_MZ_DATA_BLOCKING: + /* vl53l1_dbgmsg("VL53L1_IOCTL_MZ_DATA_BLOCKING\n"); */ + rc = ctrl_mz_data_blocking(data, p); + break; + case VL53L1_IOCTL_CALIBRATION_DATA: + vl53l1_dbgmsg("VL53L1_IOCTL_CALIBRATION_DATA\n"); + rc = ctrl_calibration_data(data, p); + break; + case VL53L1_IOCTL_PERFORM_CALIBRATION: + vl53l1_dbgmsg("VL53L1_IOCTL_PERFORM_CALIBRATION\n"); + rc = ctrl_perform_calibration(data, p); + break; + case VL53L1_IOCTL_AUTONOMOUS_CONFIG: + vl53l1_dbgmsg("VL53L1_IOCTL_AUTONOMOUS_CONFIG\n"); + if (data->cam_mode == 0) + rc = ctrl_autonomous_config(data, p); + else + rc = ctrl_autonomous_config_cam(data, p); + break; + default: + rc = -EINVAL; + break; + } + + return rc; +} + + + +static int stmvl53l1_open(struct inode *inode, struct file *file) +{ + struct stmvl53l1_data *data = container_of(file->private_data, + struct stmvl53l1_data, miscdev); + + vl53l1_dbgmsg("Start\n"); + stmvl53l1_module_func_tbl.get(data->client_object); + vl53l1_dbgmsg("End\n"); + + return 0; +} + +static int stmvl53l1_release(struct inode *inode, struct file *file) +{ + struct stmvl53l1_data *data = container_of(file->private_data, + struct stmvl53l1_data, miscdev); + + vl53l1_dbgmsg("Start\n"); + stmvl53l1_module_func_tbl.put(data->client_object); + vl53l1_dbgmsg("End\n"); + + return 0; +} + + +/** max number or error per measure too abort */ +#define stvm531_get_max_meas_err(...) 3 +/** max number or error per stream too abort */ +#define stvm531_get_max_stream_err(...) 6 + +/** + * handle data retrieval and dispatch + * + * work lock must be held + * + * called form work or interrupt thread it must be a blocable context ! + * @param data the device + */ +static void stmvl53l1_on_newdata_event(struct stmvl53l1_data *data) +{ + int rc; + VL53L1_MultiRangingData_t *pmrange; + VL53L1_MultiRangingData_t *tmprange; + long ts_msec; + int i; + + do_gettimeofday(&data->meas.comp_tv); + ts_msec = stmvl53l1_tv_dif(&data->start_tv, &data->meas.comp_tv)/1000; + + pmrange = &data->meas.multi_range_data; + tmprange = &data->meas.tmp_range_data; + data->meas.intr++; + + /* use get data method based on active mode */ + switch (data->preset_mode) { + case VL53L1_PRESETMODE_LITE_RANGING: + case VL53L1_PRESETMODE_AUTONOMOUS: + rc = VL53L1_GetRangingMeasurementData(&data->stdev, + &pmrange->RangeData[0]); + /* set top level status so we got correct events in input + * subsystem. + */ + pmrange->RoiNumber = 0; + pmrange->RoiStatus = VL53L1_ROISTATUS_VALID_LAST; + pmrange->NumberOfObjectsFound = 1; + break; + case VL53L1_PRESETMODE_RANGING: + case VL53L1_PRESETMODE_MULTIZONES_SCANNING: + /* IMPORTANT : during VL53L1_GetMultiRangingData() call + * work_mutex is release during ipp. This is why we use + * tmp_range_data which is not access somewhere else. When we are + * back we then copy tmp_range_data in multi_range_data. + */ + + rc = VL53L1_GetMultiRangingData(&data->stdev, + &data->meas.tmp_range_data); + + /* be sure we got VL53L1_RANGESTATUS_NONE for object 0 if we got + * invalid roi or no object. So if client read data using + * VL53L1_IOCTL_GETDATAS we got correct status. + */ + if (tmprange->RoiStatus == VL53L1_ROISTATUS_NOT_VALID || + tmprange->NumberOfObjectsFound == 0) + tmprange->RangeData[0].RangeStatus = + VL53L1_RANGESTATUS_NONE; + + memcpy(pmrange, tmprange, sizeof(VL53L1_MultiRangingData_t)); + break; + default: + /* that must be some bug or data corruption stop now */ + rc = -1; + vl53l1_errmsg("unsorted mode %d=>stop\n", data->preset_mode); + _ctrl_stop(data); + } + /* check if not stopped yet + * as we may have been unlocked we must re-check + */ + if (data->enable_sensor == 0) { + vl53l1_dbgmsg("at meas #%d we got stoped\n", data->meas.cnt); + return; + } + if (rc) { + vl53l1_errmsg("VL53L1_GetRangingMeasurementData @%d %d", + __LINE__, rc); + data->meas.err_cnt++; + data->meas.err_tot++; + if (data->meas.err_cnt > stvm531_get_max_meas_err(data) || + data->meas.err_tot > stvm531_get_max_stream_err(data)) { + vl53l1_errmsg("on #%d %d err %d tot stop", + data->meas.cnt, data->meas.err_cnt, + data->meas.err_tot); + _ctrl_stop(data); + } + return; + } + + /* FIXME: remove when implemented by ll or bare driver */ + pmrange->RangeData[0].TimeStamp = ts_msec; + for (i = 1; i < pmrange->NumberOfObjectsFound; i++) + pmrange->RangeData[i].TimeStamp = ts_msec; + + data->meas.cnt++; + vl53l1_dbgmsg("#%3d %2d poll ts %5d status=%d obj cnt=%d\n", + data->meas.cnt, + data->meas.poll_cnt, + pmrange->RangeData[0].TimeStamp, + pmrange->RangeData[0].RangeStatus, + pmrange->NumberOfObjectsFound); +#if 0 + vl53l1_dbgmsg( +"meas m#%04d i#%04d p#%04d in %d ms data range status %d range %d\n", + (int)data->meas.cnt, + (int)data->meas.intr, + (int)data->meas.poll_cnt, + (int)stmvl53l1_tv_dif(&data->meas.start_tv, + &data->meas.comp_tv)/1000, + (int)data->meas.range_data.RangeStatus, + (int)data->meas.range_data.RangeMilliMeter); +#endif + /* ready that is not always on each new data event */ + + /* mark data as valid from now */ + data->is_data_valid = true; + + /* wake up sleeping client */ + wake_up_data_waiters(data); + + /* push data to input susbys and only and make avl for ioctl*/ + stmvl53l1_input_push_data(data); + stmvl53l1_insert_flush_events_lock(data); + + /* roll time now data got used */ + data->meas.start_tv = data->meas.comp_tv; + data->meas.poll_cnt = 0; + data->meas.err_cnt = 0; +} + + +/** + * * handle interrupt/pusdo irq by polling handling + * + * work lock must be held + * + * @param data driver + * @return 0 on success + */ +static int stmvl53l1_intr_process(struct stmvl53l1_data *data) +{ + uint8_t data_rdy; + int rc = 0; + struct timeval tv_now; + + if (!data->enable_sensor) + goto done; + + data->meas.poll_cnt++; + rc = VL53L1_GetMeasurementDataReady(&data->stdev, &data_rdy); + if (rc) { + vl53l1_errmsg("GetMeasurementDataReady @%d %d, fail\n", + __LINE__, rc); + /* too many successive fail => stop but do not try to do any new + * i/o + */ + goto stop_io; + } + + if (!data_rdy) { + /* FIXME this part to completely skip + * if using interrupt and sure we have + * no false interrupt to handle or no to do any timing check + */ + long poll_ms; + + do_gettimeofday(&tv_now); + poll_ms = stmvl53l1_tv_dif(&data->meas.start_tv, &tv_now)/1000; + if (poll_ms > data->timing_budget*4) { + vl53l1_errmsg("we're polling %ld too long\n", poll_ms); + /* fixme stop or just warn ? */ + goto stop_io; + } + /* keep trying it could be intr with no processing */ + work_dbg("intr with no data rdy"); + goto done; + } + /* we have data to handle */ + /* first irq after reset has no data so we skip it */ + if (data->is_first_irq) + data->is_first_irq = false; + else + stmvl53l1_on_newdata_event(data); + /* enable_sensor could change on event handling check again */ + if (data->enable_sensor) { + /* clear interrupt and continue ranging */ + work_dbg("intr clr"); + /* In autonomous mode, bare driver will trigger stop/start + * sequence. In that case it wall call platform delay functions. + * So allow delay in VL53L1_ClearInterruptAndStartMeasurement() + * call. + */ + data->is_delay_allowed = data->allow_hidden_start_stop; + rc = VL53L1_ClearInterruptAndStartMeasurement(&data->stdev); + data->is_delay_allowed = 0; + if (rc) { + /* go to stop but stop any new i/o for dbg */ + vl53l1_errmsg("Cltr intr restart fail %d\n", rc); + goto stop_io; + } + } +done: + return rc; +stop_io: + /* too many successive fail take action => stop but do not try to do + * any new i/o + */ + vl53l1_errmsg("GetDatardy fail stop\n"); + data->enable_sensor = 0; + return rc; + +} + +static void stmvl53l1_work_handler(struct work_struct *work) +{ + struct stmvl53l1_data *data; + + data = container_of(work, struct stmvl53l1_data, dwork.work); + work_dbg("enter"); + mutex_lock(&data->work_mutex); + stmvl53l1_intr_process(data); + if (data->poll_mode && data->enable_sensor) { + /* re-sched ourself */ + schedule_delayed_work(&data->dwork, + msecs_to_jiffies(data->poll_delay_ms)); + } + mutex_unlock(&data->work_mutex); +} + +static void stmvl53l1_input_push_data_object(struct stmvl53l1_data *data, + int roi, int obj, stmvl531_range_data_t *meas, int obj_number, + VL53L1_RoiStatus RoiStatus) +{ + struct input_dev *input = data->input_dev_ps; + FixPoint1616_t LimitCheckCurrent; + VL53L1_Error st = VL53L1_ERROR_NONE; + + /* set the distance value to max if range + * status is invalid in autonomous mode */ + if (data->preset_mode == VL53L1_PRESETMODE_AUTONOMOUS && + meas->RangeStatus != VL53L1_RANGESTATUS_RANGE_VALID) + meas->RangeMilliMeter = STMVL53L1_MAX_DISTANCE; + + input_report_abs(input, ABS_DISTANCE, (meas->RangeMilliMeter + 5) / 10); + input_report_abs(input, ABS_HAT0X, meas->TimeStamp / 1000); + input_report_abs(input, ABS_HAT0Y, (meas->TimeStamp % 1000) * 1000); + input_report_abs(input, ABS_HAT1X, meas->RangeMilliMeter); + input_report_abs(input, ABS_HAT1Y, meas->RangeStatus); + input_report_abs(input, ABS_HAT2X, meas->SignalRateRtnMegaCps); + input_report_abs(input, ABS_HAT2Y, meas->AmbientRateRtnMegaCps); + input_report_abs(input, ABS_HAT3X, meas->SigmaMilliMeter); + input_report_abs(input, ABS_HAT3Y, meas->DmaxMilliMeter); + st = VL53L1_GetLimitCheckCurrent(&data->stdev, + VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, &LimitCheckCurrent); + if (st == VL53L1_ERROR_NONE) + input_report_abs(input, ABS_WHEEL, LimitCheckCurrent); + input_report_abs(input, ABS_MISC, meas->EffectiveSpadRtnCount); + input_report_abs(input, ABS_BRAKE, (RoiStatus << 24) | (roi << 16) | + (obj_number << 8) | obj); + input_report_abs(input, ABS_TILT_X, (meas->RangeMaxMilliMeter << 16) | + meas->RangeMinMilliMeter); + input_report_abs(input, ABS_TOOL_WIDTH, meas->RangeQualityLevel); + + input_sync(input); +} + +static void stmvl53l1_input_push_data(struct stmvl53l1_data *data) +{ + VL53L1_MultiRangingData_t *meas = &data->meas.multi_range_data; + int obj_number = meas->NumberOfObjectsFound; + int i; + + /* be sure threre is at least one object */ + obj_number = obj_number ? obj_number : 1; + for (i = 0; i < obj_number; i++) + stmvl53l1_input_push_data_object(data, meas->RoiNumber, i, + &meas->RangeData[i], obj_number, meas->RoiStatus); +} + +static int stmvl53l1_input_setup(struct stmvl53l1_data *data) +{ + int rc; + struct input_dev *idev; + /* Register to Input Device */ + idev = input_allocate_device(); + if (idev == NULL) { + rc = -ENOMEM; + vl53l1_errmsg("%d error:%d\n", __LINE__, rc); + goto exit_err; + } + /* setup all event */ + set_bit(EV_ABS, idev->evbit); + /* range in cm*/ + input_set_abs_params(idev, ABS_DISTANCE, 0, 0xff, 0, 0); + /* tv_sec */ + input_set_abs_params(idev, ABS_HAT0X, 0, 0xffffffff, 0, 0); + /* tv_usec */ + input_set_abs_params(idev, ABS_HAT0Y, 0, 0xffffffff, 0, 0); + /* range in_mm */ + input_set_abs_params(idev, ABS_HAT1X, 0, 765, 0, 0); + /* error code change maximum to 0xff for more flexibility */ + input_set_abs_params(idev, ABS_HAT1Y, 0, 0xff, 0, 0); + /* rtnRate */ + input_set_abs_params(idev, ABS_HAT2X, 0, 0xffffffff, 0, 0); + /* rtn_amb_rate */ + input_set_abs_params(idev, ABS_HAT2Y, 0, 0xffffffff, 0, 0); + /* SigmaMilliMeter */ + input_set_abs_params(idev, ABS_HAT3X, 0, 0xffffffff, 0, 0); + /* dmax */ + input_set_abs_params(idev, ABS_HAT3Y, 0, 0xffffffff, 0, 0); + /* LimitCheckCurrent*/ + input_set_abs_params(idev, ABS_WHEEL, 0, 0xffffffff, 0, 0); + /* EffectiveSpadRtnCount */ + input_set_abs_params(idev, ABS_MISC, 0, 0xffffffff, 0, 0); + /* roi number in 16 msb bits with object number in 16 lsb bits */ + input_set_abs_params(idev, ABS_BRAKE, 0, 0xffffffff, 0, 0); + /* RangeMaxMilliMeter in 16 msb bits with RangeMinMilliMeter in lsb */ + input_set_abs_params(idev, ABS_TILT_X, 0, 0xffffffff, 0, 0); + /* ConfidenceLevel */ + input_set_abs_params(idev, ABS_TOOL_WIDTH, 0, 0xffffffff, 0, 0); + + /* flushCount */ + input_set_abs_params(idev, ABS_GAS, 0, 0xffffffff, 0, 0); + + /* those are still free to use + * input_set_abs_params(idev, ABS_RUDDER, 0, 0xffffffff, 0, 0); + * input_set_abs_params(idev, ABS_TILT_Y, 0, 0xffffffff, 0, 0); + */ + + idev->name = VL53L1_INPUT_DEVICE_NAME; + rc = input_register_device(idev); + if (rc) { + rc = -ENOMEM; + vl53l1_errmsg("%d error:%d\n", __LINE__, rc); + goto exit_free_dev_ps; + } + /* setup drv data */ + input_set_drvdata(idev, data); + data->input_dev_ps = idev; + return 0; + + +exit_free_dev_ps: + input_free_device(data->input_dev_ps); +exit_err: + return rc; +} + +/** + * handler to be called by interface module on interrupt + * + * managed poll/irq filtering in case poll/irq can be soft forced + * and the module side still fire interrupt + * + * @param data + * @return 0 if all ok else for error + */ +int stmvl53l1_intr_handler(struct stmvl53l1_data *data) +{ + int rc; + + mutex_lock(&data->work_mutex); + + /* handle it only if if we are not stopped */ + if (data->enable_sensor) { + rc = stmvl53l1_intr_process(data); + } else { + /* it's likely race/last unhandled interrupt after + * stop. + * Such dummy irq also occurred during offset and crosstalk + * calibration procedures. + */ + vl53l1_dbgmsg("got intr but not on (dummy or calibration)\n"); + rc = 0; + } + + mutex_unlock(&data->work_mutex); + return rc; +} + + +/** + * One time device setup + * + * call by bus (i2c/cci) level probe to finalize non bus related device setup + * + * @param data The device data + * @return 0 on success + */ +int stmvl53l1_setup(struct stmvl53l1_data *data) +{ + int rc = 0; + VL53L1_CalibrationData_t cali_data; + VL53L1_DeviceInfo_t dev_info; + + vl53l1_dbgmsg("Enter\n"); + + data->hw_rev = 0; + + /* acquire an id */ + data->id = allocate_dev_id(); + if (data->id < 0) { + vl53l1_errmsg("too many device already created"); + return -1; + } + vl53l1_dbgmsg("Dev id %d is @%p\n", data->id, data); + stmvl53l1_dev_table[data->id] = data; + + /* init mutex */ + /* mutex_init(&data->update_lock); */ + mutex_init(&data->work_mutex); + + /* init work handler */ + INIT_DELAYED_WORK(&data->dwork, stmvl53l1_work_handler); + + /* init ipp side */ + stmvl53l1_ipp_setup(data); + + data->force_device_on_en = force_device_on_en_default; + data->reset_state = 1; + data->is_calibrating = false; + data->last_error = VL53L1_ERROR_NONE; + data->is_device_remove = false; + + /* vdd will be controlled in reset_release() */ + rc = reset_release(data); + if (rc) + goto exit_ipp_cleanup; + + rc = stmvl53l1_input_setup(data); + if (rc) + goto exit_ipp_cleanup; + + /* init blocking ioctl stuff */ + INIT_LIST_HEAD(&data->simple_data_reader_list); + INIT_LIST_HEAD(&data->mz_data_reader_list); + init_waitqueue_head(&data->waiter_for_data); + data->is_data_valid = false; + + /* Register sysfs hooks under input dev */ + rc = sysfs_create_group(&data->input_dev_ps->dev.kobj, + &stmvl53l1_attr_group); + if (rc) { + rc = -ENOMEM; + vl53l1_errmsg("%d error:%d\n", __LINE__, rc); + goto exit_unregister_dev_ps; + } + + data->enable_sensor = 0; + + data->poll_delay_ms = STMVL53L1_CFG_POLL_DELAY_MS; + data->timing_budget = STMVL53L1_CFG_TIMING_BUDGET_US; + data->preset_mode = STMVL53L1_CFG_DEFAULT_MODE; + data->distance_mode = STMVL53L1_CFG_DEFAULT_DISTANCE_MODE; + data->crosstalk_enable = STMVL53L1_CFG_DEFAULT_CROSSTALK_ENABLE; + data->output_mode = STMVL53L1_CFG_DEFAULT_OUTPUT_MODE; + data->cam_mode = 0; + data->sar_mode = 0; + stmvl53l1_setup_auto_config(data); + + data->is_delay_allowed = true; + /* need to be done once */ + rc = VL53L1_DataInit(&data->stdev); + data->is_delay_allowed = false; + if (rc) { + vl53l1_errmsg("VL53L1_data_init %d\n", rc); + goto exit_unregister_dev_ps; + } + + rc = VL53L1_GetDeviceInfo(&data->stdev, &dev_info); + if (rc) { + vl53l1_errmsg("VL53L1_GetDeviceInfo %d\n", rc); + goto exit_unregister_dev_ps; + } + vl53l1_errmsg("device Product type 0x%x name %s\ntype %s\n", + dev_info.ProductType, dev_info.Name, dev_info.Type); + + data->hw_rev = dev_info.ProductRevisionMinor; + + memset(&cali_data, 0, sizeof(cali_data)); + rc = VL53L1_GetCalibrationData(&data->stdev, &cali_data); + if (rc) + vl53l1_errmsg("VL53L1_GetCalibrationData fail\n"); + else { + data->inner_offset = cali_data.customer.mm_config__inner_offset_mm; + data->outer_offset = cali_data.customer.mm_config__outer_offset_mm; + + /* update xtalk values */ + cali_data.customer.algo__crosstalk_compensation_plane_offset_kcps + = data->xtalk_offset; + cali_data.customer.algo__crosstalk_compensation_x_plane_gradient_kcps + = data->xtalk_x; + cali_data.customer.algo__crosstalk_compensation_y_plane_gradient_kcps + = data->xtalk_y; + + cali_data.xtalkhisto.xtalk_shape.VL53L1_PRM_00015 = 0 ; + cali_data.xtalkhisto.xtalk_shape.VL53L1_PRM_00016 = 24; + cali_data.xtalkhisto.xtalk_shape.VL53L1_PRM_00017 = 12; + cali_data.xtalkhisto.xtalk_shape.bin_data[0] = 353; + cali_data.xtalkhisto.xtalk_shape.bin_data[1] = 472; + cali_data.xtalkhisto.xtalk_shape.bin_data[2] = 472; + cali_data.xtalkhisto.xtalk_shape.bin_data[3] = 353; + cali_data.xtalkhisto.xtalk_shape.bin_data[4] = 0; + cali_data.xtalkhisto.xtalk_shape.bin_data[5] = 0; + cali_data.xtalkhisto.xtalk_shape.bin_data[6] = 0; + cali_data.xtalkhisto.xtalk_shape.bin_data[7] = 0; + cali_data.xtalkhisto.xtalk_shape.bin_data[8] = 0; + cali_data.xtalkhisto.xtalk_shape.bin_data[9] = 0; + cali_data.xtalkhisto.xtalk_shape.bin_data[10] = 0; + cali_data.xtalkhisto.xtalk_shape.bin_data[11] = 0; + cali_data.xtalkhisto.xtalk_shape.phasecal_result__reference_phase = 10240; + cali_data.xtalkhisto.xtalk_shape.phasecal_result__vcsel_start = 6; + cali_data.xtalkhisto.xtalk_shape.cal_config__vcsel_start = 9; + cali_data.xtalkhisto.xtalk_shape.vcsel_width = 40; + cali_data.xtalkhisto.xtalk_shape.VL53L1_PRM_00018 = 48332; + cali_data.xtalkhisto.xtalk_shape.zero_distance_phase = 4096; + cali_data.gain_cal.standard_ranging_gain_factor = 0x07D7; + cali_data.gain_cal.histogram_ranging_gain_factor = 0x07CC; + + rc = VL53L1_SetCalibrationData(&data->stdev, &cali_data); + if (rc) + vl53l1_errmsg("VL53L1_SetCalibrationData fail\n"); + else { + vl53l1_info("device xtalk data updated: %u %d %d\n", + cali_data.customer.algo__crosstalk_compensation_plane_offset_kcps, + cali_data.customer.algo__crosstalk_compensation_x_plane_gradient_kcps, + cali_data.customer.algo__crosstalk_compensation_y_plane_gradient_kcps); + } + } + + /* if working in interrupt ask intr to enable and hook the handler */ + data->poll_mode = 0; + rc = stmvl53l1_module_func_tbl.start_intr(data->client_object, + &data->poll_mode); + if (rc < 0) { + vl53l1_errmsg("can't start no intr\n"); + goto exit_unregister_dev_ps; + } + + data->is_first_irq = true; + data->is_delay_allowed = false; + + /* to register as a misc device */ + data->miscdev.minor = MISC_DYNAMIC_MINOR; + /* multiple dev name use id in name but 1st */ + if (data->id == 0) + strcpy(data->name, VL53L1_MISC_DEV_NAME); + else + sprintf(data->name, "%s%d", VL53L1_MISC_DEV_NAME, data->id); + + data->miscdev.name = data->name; + data->miscdev.fops = &stmvl53l1_ranging_fops; + vl53l1_errmsg("Misc device registration name:%s\n", data->miscdev.name); + rc = misc_register(&data->miscdev); + if (rc != 0) { + vl53l1_errmsg("misc dev reg fail\n"); + goto exit_unregister_dev_ps; + } + /* bring back device under reset */ + reset_hold(data); + + return 0; + +exit_unregister_dev_ps: + input_unregister_device(data->input_dev_ps); +exit_ipp_cleanup: + stmvl53l1_ipp_cleanup(data); + + return rc; +} + +/* Attribute: name (RO) */ +static ssize_t name_show(struct device *dev, + struct device_attribute *attr, char *buf) +{ + return scnprintf(buf, PAGE_SIZE, VL53L1_INPUT_DEVICE_NAME); +} + +static struct device_attribute laser_name_attributes = __ATTR_RO(name); + +#define LASERDEV_MINOR_BASE 256 +#define LASERDEV_MINOR_MAX 32 + +int stmvl53l1_sysfs_laser(struct stmvl53l1_data *data, bool create) +{ + int i, error = 0; + static struct class *laser_class; + static struct device *laser_class_dev; + static int minor; + + if (data == NULL) { + vl53l1_errmsg("stmvl53l1 dev data is null!\n"); + return -ENODEV; + } + + if (create) { + minor = input_get_new_minor(data->sysfs_base, 1, false); + if (minor < 0) + minor = input_get_new_minor(LASERDEV_MINOR_BASE, + LASERDEV_MINOR_MAX, true); + vl53l1_info("assigned minor %d\n", minor); + + laser_class = class_create(THIS_MODULE, "laser"); + if (IS_ERR(laser_class)) { + error = PTR_ERR(laser_class); + laser_class = NULL; + return error; + } + + laser_class_dev = device_create(laser_class, NULL, + MKDEV(INPUT_MAJOR, minor), + data, STMVL53L1_DRV_NAME); + if (IS_ERR(laser_class_dev)) { + error = PTR_ERR(laser_class_dev); + laser_class_dev = NULL; + return error; + } + + for (i = 0; stmvl53l1_attributes[i] != NULL; ++i) { + error = sysfs_create_file(&laser_class_dev->kobj, + stmvl53l1_attributes[i]); + if (error) + break; + } + + if (error) + goto device_destroy; + + error = device_create_file(laser_class_dev, + &laser_name_attributes); + if (error) + goto device_destroy; + } else { + if (!laser_class || !laser_class_dev) + return -ENODEV; + + device_remove_file(laser_class_dev, + &laser_name_attributes); + for (i = 0; stmvl53l1_attributes[i] != NULL; ++i) + sysfs_remove_file(&laser_class_dev->kobj, + stmvl53l1_attributes[i]); + + device_unregister(laser_class_dev); + class_unregister(laser_class); + } + + vl53l1_info("laser sysfs %s(0x%x) created\n", + STMVL53L1_DRV_NAME, data->sysfs_base); + return 0; + +device_destroy: + for (--i; i >= 0; --i) + sysfs_remove_file(&laser_class_dev->kobj, + stmvl53l1_attributes[i]); + device_destroy(laser_class, MKDEV(INPUT_MAJOR, minor)); + laser_class_dev = NULL; + class_unregister(laser_class); + vl53l1_errmsg("error creating laser class\n"); + + return -ENODEV; +} + +void stmvl53l1_cleanup(struct stmvl53l1_data *data) +{ +int rc; + + vl53l1_dbgmsg("enter\n"); + rc = _ctrl_stop(data); + if (rc < 0) + vl53l1_errmsg("stop failed %d aborting anyway\n", rc); + + if (data->input_dev_ps) { + vl53l1_dbgmsg("to remove sysfs group\n"); + sysfs_remove_group(&data->input_dev_ps->dev.kobj, + &stmvl53l1_attr_group); + + vl53l1_dbgmsg("to unregister input dev\n"); + input_unregister_device(data->input_dev_ps); + } + + if (!IS_ERR(data->miscdev.this_device) && + data->miscdev.this_device != NULL) { + vl53l1_dbgmsg("to unregister misc dev\n"); + misc_deregister(&data->miscdev); + } + stmvl53l1_ipp_cleanup(data); + /* be sure device is put under reset */ + data->force_device_on_en = false; + reset_hold(data); + vl53l1_dbgmsg("done\n"); + deallocate_dev_id(data->id); + data->is_device_remove = true; +} + +#ifdef CONFIG_COMPAT +static long stmvl53l1_compat_ioctl(struct file *file, + unsigned int cmd, unsigned long arg) +{ + int ret; + struct stmvl53l1_data *data = + container_of(file->private_data, + struct stmvl53l1_data, miscdev); + ret = stmvl53l1_ioctl_handler(data, cmd, arg, compat_ptr(arg)); + return ret; +} +#endif + +static long stmvl53l1_ioctl(struct file *file, + unsigned int cmd, unsigned long arg){ + long ret; + struct stmvl53l1_data *data = + container_of(file->private_data, + struct stmvl53l1_data, miscdev); + ret = stmvl53l1_ioctl_handler(data, cmd, arg, (void __user *)arg); + return ret; +} + +static int __init stmvl53l1_init(void) +{ + int rc = -1; + + vl53l1_dbgmsg("Enter\n"); + + rc = stmvl53l1_ipp_init(); + if (rc) + goto done; + /* i2c/cci client specific init function */ + rc = stmvl53l1_module_func_tbl.init(); +done: + vl53l1_dbgmsg("End %d\n", rc); + + return rc; +} + +static void __exit stmvl53l1_exit(void) +{ + vl53l1_dbgmsg("Enter\n"); + stmvl53l1_module_func_tbl.deinit(NULL); + if (stmvl53l1_module_func_tbl.clean_up != NULL) + stmvl53l1_module_func_tbl.clean_up(); + stmvl53l1_ipp_exit(); + vl53l1_dbgmsg("End\n"); +} + + +/* MODULE_DEVICE_TABLE(i2c, stmvl53l1_id); */ +MODULE_AUTHOR("STMicroelectronics Imaging Division"); +MODULE_DESCRIPTION("ST FlightSense Time-of-Flight sensor driver"); +MODULE_LICENSE("GPL"); +MODULE_VERSION(DRIVER_VERSION); + +module_init(stmvl53l1_init); +module_exit(stmvl53l1_exit); diff --git a/drivers/input/misc/vl53L1/vl53l1_platform.h b/drivers/input/misc/vl53L1/vl53l1_platform.h new file mode 100644 index 000000000000..cd5e51a7ea4d --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_platform.h @@ -0,0 +1,447 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + + +#ifndef _VL53L1_PLATFORM_H_ +#define _VL53L1_PLATFORM_H_ + +/*#define VL53L1_LOG_ENABLE 1 */ + + +#include "vl53l1_ll_def.h" +#include "vl53l1_platform_log.h" + +#define VL53L1_IPP_API +#include "vl53l1_platform_ipp_imports.h" +#include "vl53l1_platform_user_data.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +/** + * @file vl53l1_platform.h + * + * @brief All end user OS/platform/application porting + */ + + + +/** + * @brief Initialise platform comms. + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] comms_type : selects between I2C and SPI + * @param[in] comms_speed_khz : unsigned short containing the I2C speed in kHz + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_CommsInitialise( + VL53L1_Dev_t *pdev, + uint8_t comms_type, + uint16_t comms_speed_khz); + + +/** + * @brief Close platform comms. + * + * @param[in] pdev : pointer to device structure (device handle) + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_CommsClose( + VL53L1_Dev_t *pdev); + + +/** + * @brief Writes the supplied byte buffer to the device + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] index : uint16_t register index value + * @param[in] pdata : pointer to uint8_t (byte) buffer containing the data + * to be written + * @param[in] count : number of bytes in the supplied byte buffer + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_WriteMulti( + VL53L1_Dev_t *pdev, + uint16_t index, + uint8_t *pdata, + uint32_t count); + + +/** + * @brief Reads the requested number of bytes from the device + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] index : uint16_t register index value + * @param[out] pdata : pointer to the uint8_t (byte) buffer to store read + * data + * @param[in] count : number of bytes to read + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_ReadMulti( + VL53L1_Dev_t *pdev, + uint16_t index, + uint8_t *pdata, + uint32_t count); + + +/** + * @brief Writes a single byte to the device + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] index : uint16_t register index value + * @param[in] data : uint8_t data value to write + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_WrByte( + VL53L1_Dev_t *pdev, + uint16_t index, + uint8_t data); + + +/** + * @brief Writes a single word (16-bit unsigned) to the device + * + * Manages the big-endian nature of the device register map + * (first byte written is the MS byte). + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] index : uint16_t register index value + * @param[in] data : uin16_t data value write + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_WrWord( + VL53L1_Dev_t *pdev, + uint16_t index, + uint16_t data); + + +/** + * @brief Writes a single dword (32-bit unsigned) to the device + * + * Manages the big-endian nature of the device register map + * (first byte written is the MS byte). + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] index : uint16_t register index value + * @param[in] data : uint32_t data value to write + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_WrDWord( + VL53L1_Dev_t *pdev, + uint16_t index, + uint32_t data); + + + +/** + * @brief Reads a single byte from the device + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] index : uint16_t register index + * @param[out] pdata : pointer to uint8_t data value + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + * + */ + +VL53L1_Error VL53L1_RdByte( + VL53L1_Dev_t *pdev, + uint16_t index, + uint8_t *pdata); + + +/** + * @brief Reads a single word (16-bit unsigned) from the device + * + * Manages the big-endian nature of the device (first byte read is the MS byte). + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] index : uint16_t register index value + * @param[out] pdata : pointer to uint16_t data value + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_RdWord( + VL53L1_Dev_t *pdev, + uint16_t index, + uint16_t *pdata); + + +/** + * @brief Reads a single dword (32-bit unsigned) from the device + * + * Manages the big-endian nature of the device (first byte read is the MS byte). + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] index : uint16_t register index value + * @param[out] pdata : pointer to uint32_t data value + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_RdDWord( + VL53L1_Dev_t *pdev, + uint16_t index, + uint32_t *pdata); + + + +/** + * @brief Implements a programmable wait in us + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] wait_us : integer wait in micro seconds + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_WaitUs( + VL53L1_Dev_t *pdev, + int32_t wait_us); + + +/** + * @brief Implements a programmable wait in ms + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] wait_ms : integer wait in milliseconds + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_WaitMs( + VL53L1_Dev_t *pdev, + int32_t wait_ms); + + +/** +* @brief Get the frequency of the timer used for ranging results time stamps +* +* @param[out] ptimer_freq_hz : pointer for timer frequency +* + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error +*/ + +VL53L1_Error VL53L1_GetTimerFrequency(int32_t *ptimer_freq_hz); + +/** +* @brief Get the timer value in units of timer_freq_hz (see +* VL53L1_get_timestamp_frequency()) +* +* @param[out] ptimer_count : pointer for timer count value +* + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error +*/ + +VL53L1_Error VL53L1_GetTimerValue(int32_t *ptimer_count); + + +/** + * @brief Set the mode of a specified GPIO pin + * + * @param pin - an identifier specifying the pin being modified - defined per + * platform + * + * @param mode - an identifier specifying the requested mode - defined per + * platform + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GpioSetMode(uint8_t pin, uint8_t mode); + + +/** + * @brief Set the value of a specified GPIO pin + * + * @param pin - an identifier specifying the pin being modified - defined per + * platform + * + * @param value - a value to set on the GPIO pin - typically 0 or 1 + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GpioSetValue(uint8_t pin, uint8_t value); + + +/** + * @brief Get the value of a specified GPIO pin + * + * @param pin - an identifier specifying the pin being modified - defined per + * platform + * + * @param pvalue - a value retrieved from the GPIO pin - typically 0 or 1 + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GpioGetValue(uint8_t pin, uint8_t *pvalue); + + +/** + * @brief Sets and clears the XShutdown pin on the Ewok + * + * @param value - the value for xshutdown - 0 = in reset, 1 = operational + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GpioXshutdown(uint8_t value); + + +/** + * @brief Sets and clears the Comms Mode pin (NCS) on the Ewok + * + * @param value - the value for comms select - 0 = I2C, 1 = SPI + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GpioCommsSelect(uint8_t value); + + +/** + * @brief Enables and disables the power to the Ewok module + * + * @param value - the state of the power supply - 0 = power off, 1 = power on + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GpioPowerEnable(uint8_t value); + +/** + * @brief Enables callbacks to the supplied funtion pointer when Ewok interrupts + * ocurr + * + * @param function - a function callback supplies by the caller, for interrupt + * notification + * @param edge_type - falling edge or rising edge interrupt detection + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GpioInterruptEnable(void (*function)(void), + uint8_t edge_type); + + +/** + * @brief Disables the callback on Ewok interrupts + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GpioInterruptDisable(void); + + +/* + * @brief Gets current system tick count in [ms] + * + * @return time_ms : current time in [ms] + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GetTickCount( + uint32_t *ptime_ms); + + +/** + * @brief Register "wait for value" polling routine + * + * Port of the V2WReg Script function WaitValueMaskEx() + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] timeout_ms : timeout in [ms] + * @param[in] index : uint16_t register index value + * @param[in] value : value to wait for + * @param[in] mask : mask to be applied before comparison with value + * @param[in] poll_delay_ms : polling delay been each read transaction in [ms] + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_WaitValueMaskEx( + VL53L1_Dev_t *pdev, + uint32_t timeout_ms, + uint16_t index, + uint8_t value, + uint8_t mask, + uint32_t poll_delay_ms); + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/vl53l1_platform_ipp.h b/drivers/input/misc/vl53L1/vl53l1_platform_ipp.h new file mode 100644 index 000000000000..97144b30caf4 --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_platform_ipp.h @@ -0,0 +1,188 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + + +#ifndef _VL53L1_PLATFORM_IPP_H_ +#define _VL53L1_PLATFORM_IPP_H_ + +#include "vl53l1_ll_def.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +/** + * @file vl53l1_platform_ipp.h + * + * @brief EwokPlus25 IPP Wrapper Functions + */ + +/** + * @brief IPP Wrapper call for histogram post processing + * + * + * @param[in] Dev : Device handle + * @param[in] pdmax_cal : DMAX calibration data + * @param[in] pdmax_cfg : DMAX configuration data + * @param[in] ppost_cfg : VL53L1_hist_post_process_config_t + * @param[in] pbins : Input histogram raw bin data + * @param[in] pxtalk : Cross talk histogram data + * @param[out] presults : Output VL53L1_range_results_t + * structure + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_ipp_hist_process_data( + VL53L1_DEV Dev, + VL53L1_dmax_calibration_data_t *pdmax_cal, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg, + VL53L1_hist_post_process_config_t *ppost_cfg, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_xtalk_histogram_data_t *pxtalk, + VL53L1_range_results_t *presults); + + +/** + * @brief IPP Wrapper call for histogram ambient dmax calc + * + * The target reflectance in percent for the DMAX calculation + * is set by target_reflectance input + * + * The fixed point format is 7.2 + * + * @param[in] Dev : Device handle + * @param[in] target_reflectance : target reflectance to report ambient DMAX + * Percentage in 7.2 fixed point format + * @param[in] pdmax_cal : DMAX calibration data + * @param[in] pdmax_cfg : DMAX configuration data + * @param[in] pbins : Input histogram raw bin data + * @param[out] pambient_dmax_mm : Output ambient DMAX distance in [mm] + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_ipp_hist_ambient_dmax( + VL53L1_DEV Dev, + uint16_t target_reflectance, + VL53L1_dmax_calibration_data_t *pdmax_cal, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg, + VL53L1_histogram_bin_data_t *pbins, + int16_t *pambient_dmax_mm); + + +/** + * @brief IPP Wrapper call for xtalk calibration post processing + * + * @param[in] Dev : Device handle + * @param[in] pxtalk_ranges : Input VL53L1_xtalk_range_results_t + * Must contain 5 ranges, 4 quadrants + 1 + * full FoV + * @param[out] pxtalk_shape : Output normalised Cross talk histogram + * shape + * @param[out] pxtalk_cal : Output VL53L1_xtalk_calibration_results_t + * structure + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_ipp_xtalk_calibration_process_data( + VL53L1_DEV Dev, + VL53L1_xtalk_range_results_t *pxtalk_ranges, + VL53L1_xtalk_histogram_data_t *pxtalk_shape, + VL53L1_xtalk_calibration_results_t *pxtalk_cal); + + +/** + * @brief IPP Wrapper call for applying histogram xtalk correction + * + * @param[in] Dev : Device handle + * @param[in] pcustomer : Pointer to input customer data structure + * @param[in] pdyn_cfg : Pointer to input dynamic parameters + * structure + * @param[in] pxtalk_shape : Pointer to input normalised xtalk + * histogram shape + * @param[in] pip_hist_data : Pointer to input histogram data struct + * @param[out] pop_hist_data : Pointer to output xtalk corrected + * histogram data struct + * @param[out] pxtalk_count_data : Pointer to output xtalk histogram + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_ipp_hist_xtalk_correction( + VL53L1_DEV Dev, + VL53L1_customer_nvm_managed_t *pcustomer, + VL53L1_dynamic_config_t *pdyn_cfg, + VL53L1_xtalk_histogram_data_t *pxtalk_shape, + VL53L1_histogram_bin_data_t *pip_hist_data, + VL53L1_histogram_bin_data_t *pop_hist_data, + VL53L1_histogram_bin_data_t *pxtalk_count_data); + +/** + * @brief IPP Wrapper call for Generating Xtalk data from dual reflectance + * histogram data + * + * @param[in] Dev : Device handle + * @param[in] pxtalk_results : Pointer to xtalk_results structure + * containing dual reflectance + * histogram data + * @param[in] expected_target_distance_mm : User input of true target distance + * @param[in] higher_reflectance : User input detailing which + * histogram data 1 or 2 has the + * highest reflectance. + * @param[out] pxtalk_avg_samples : Pointer to output xtalk histogram + * data + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_ipp_generate_dual_reflectance_xtalk_samples( + VL53L1_DEV Dev, + VL53L1_xtalk_range_results_t *pxtalk_results, + uint16_t expected_target_distance_mm, + uint8_t higher_reflectance, + VL53L1_histogram_bin_data_t *pxtalk_avg_samples); + + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/vl53l1_platform_ipp_imports.h b/drivers/input/misc/vl53L1/vl53l1_platform_ipp_imports.h new file mode 100644 index 000000000000..187952d2bc15 --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_platform_ipp_imports.h @@ -0,0 +1,36 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + + +#ifndef _VL53L1_PLATFORM_IPP_IMPORTS_H_ +#define _VL53L1_PLATFORM_IPP_IMPORTS_H_ + +#endif diff --git a/drivers/input/misc/vl53L1/vl53l1_platform_log.h b/drivers/input/misc/vl53L1/vl53l1_platform_log.h new file mode 100644 index 000000000000..e531a028490f --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_platform_log.h @@ -0,0 +1,176 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + +/** + * @file vl53l1_platform_log.h + * + * @brief EwokPlus25 platform logging function definition + */ + + +#ifndef _VL53L1_PLATFORM_LOG_H_ +#define _VL53L1_PLATFORM_LOG_H_ + +#include + +#ifdef VL53L1_LOG_ENABLE + #include "vl53l1_platform_user_config.h" + + #ifdef _MSC_VER + # define EWOKPLUS_EXPORTS __declspec(dllexport) + #else + # define EWOKPLUS_EXPORTS + #endif + + #include "vl53l1_types.h" + + #ifdef __cplusplus + extern "C" { + #endif + + #include + + /** + * @brief Set the level, output and specific functions for module + * logging. + * + * + * @param filename - full path of output log file, NULL for print to + * stdout + * + * @param modules - Module or None or All to trace + * VL53L1_TRACE_MODULE_NONE + * VL53L1_TRACE_MODULE_API + * VL53L1_TRACE_MODULE_CORE + * VL53L1_TRACE_MODULE_TUNING + * VL53L1_TRACE_MODULE_CHARACTERISATION + * VL53L1_TRACE_MODULE_PLATFORM + * VL53L1_TRACE_MODULE_ALL + * + * @param level - trace level + * VL53L1_TRACE_LEVEL_NONE + * VL53L1_TRACE_LEVEL_ERRORS + * VL53L1_TRACE_LEVEL_WARNING + * VL53L1_TRACE_LEVEL_INFO + * VL53L1_TRACE_LEVEL_DEBUG + * VL53L1_TRACE_LEVEL_ALL + * VL53L1_TRACE_LEVEL_IGNORE + * + * @param functions - function level to trace; + * VL53L1_TRACE_FUNCTION_NONE + * VL53L1_TRACE_FUNCTION_I2C + * VL53L1_TRACE_FUNCTION_ALL + * + * @return status - always VL53L1_ERROR_NONE + * + */ + + #define VL53L1_TRACE_LEVEL_NONE 0x00000000 + #define VL53L1_TRACE_LEVEL_ERRORS 0x00000001 + #define VL53L1_TRACE_LEVEL_WARNING 0x00000002 + #define VL53L1_TRACE_LEVEL_INFO 0x00000004 + #define VL53L1_TRACE_LEVEL_DEBUG 0x00000008 + #define VL53L1_TRACE_LEVEL_ALL 0x00000010 + #define VL53L1_TRACE_LEVEL_IGNORE 0x00000020 + + #define VL53L1_TRACE_FUNCTION_NONE 0x00000000 + #define VL53L1_TRACE_FUNCTION_I2C 0x00000001 + #define VL53L1_TRACE_FUNCTION_ALL 0x7fffffff + + #define VL53L1_TRACE_MODULE_NONE 0x00000000 + #define VL53L1_TRACE_MODULE_API 0x00000001 + #define VL53L1_TRACE_MODULE_CORE 0x00000002 + #define VL53L1_TRACE_MODULE_PROTECTED 0x00000004 + #define VL53L1_TRACE_MODULE_HISTOGRAM 0x00000008 + #define VL53L1_TRACE_MODULE_REGISTERS 0x00000010 + #define VL53L1_TRACE_MODULE_PLATFORM 0x00000020 + #define VL53L1_TRACE_MODULE_NVM 0x00000040 + #define VL53L1_TRACE_MODULE_CALIBRATION_DATA 0x00000080 + #define VL53L1_TRACE_MODULE_NVM_DATA 0x00000100 + #define VL53L1_TRACE_MODULE_HISTOGRAM_DATA 0x00000200 + #define VL53L1_TRACE_MODULE_RANGE_RESULTS_DATA 0x00000400 + #define VL53L1_TRACE_MODULE_XTALK_DATA 0x00000800 + #define VL53L1_TRACE_MODULE_OFFSET_DATA 0x00001000 + #define VL53L1_TRACE_MODULE_DATA_INIT 0x00002000 + #define VL53L1_TRACE_MODULE_REF_SPAD_CHAR 0x00004000 + #define VL53L1_TRACE_MODULE_SPAD_RATE_MAP 0x00008000 + #ifdef PAL_EXTENDED + #define VL53L1_TRACE_MODULE_SPAD 0x01000000 + #define VL53L1_TRACE_MODULE_FMT 0x02000000 + #define VL53L1_TRACE_MODULE_UTILS 0x04000000 + #endif + #define VL53L1_TRACE_MODULE_CUSTOMER_API 0x40000000 + #define VL53L1_TRACE_MODULE_ALL 0x7fffffff + + extern void log_trace_print(uint32_t module, uint32_t level, + uint32_t function, const char *format, ...); + + #define _LOG_TRACE_PRINT_FMT(module, level, function, format, ...) \ + log_trace_print(module, level, function, \ + KERN_INFO " " format, ##__VA_ARGS__) + #define _LOG_TRACE_PRINT(module, level, function, ...) \ + _LOG_TRACE_PRINT_FMT(module, level, function, ##__VA_ARGS__) + #define _LOG_FUNCTION_START(module, fmt, ...) \ + log_trace_print(module, VL53L1_TRACE_LEVEL_NONE, \ + VL53L1_TRACE_FUNCTION_ALL, \ + KERN_INFO " %s "fmt"\n", __func__, ##__VA_ARGS__) + #define _LOG_FUNCTION_END(module, status, ...) \ + log_trace_print(module, VL53L1_TRACE_LEVEL_NONE, \ + VL53L1_TRACE_FUNCTION_ALL, \ + KERN_INFO " %s %d\n", __func__, status) + #define _LOG_FUNCTION_END_FMT(module, status, fmt, ...) \ + log_trace_print(module, VL53L1_TRACE_LEVEL_NONE, \ + VL53L1_TRACE_FUNCTION_ALL, \ + KERN_INFO " %s %d"fmt"\n", __func__, status, \ + ##__VA_ARGS__) + #define _LOG_GET_TRACE_FUNCTIONS() 0 + #define _LOG_SET_TRACE_FUNCTIONS(functions) + + #define _LOG_STRING_BUFFER(x) char x[VL53L1_MAX_STRING_LENGTH] + + #ifdef __cplusplus + } + #endif + +#else /* VL53L1_LOG_ENABLE - no logging */ + #include "vl53l1_platform_user_config.h" + + #define _LOG_TRACE_PRINT(module, level, function, ...) + #define _LOG_FUNCTION_START(module, fmt, ...) + #define _LOG_FUNCTION_END(module, status, ...) + #define _LOG_FUNCTION_END_FMT(module, status, fmt, ...) + #define _LOG_GET_TRACE_FUNCTIONS() 0 + #define _LOG_SET_TRACE_FUNCTIONS(functions) + #define _LOG_STRING_BUFFER(x) + +#endif /* VL53L1_LOG_ENABLE */ + +#endif /* _VL53L1_PLATFORM_LOG_H_ */ diff --git a/drivers/input/misc/vl53L1/vl53l1_platform_user_config.h b/drivers/input/misc/vl53L1/vl53l1_platform_user_config.h new file mode 100644 index 000000000000..4c080d45513c --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_platform_user_config.h @@ -0,0 +1,100 @@ +/******************************************************************************* +Copyright (C) 2015, STMicroelectronics International N.V. +All rights reserved. + +Redistribution and use in source and binary forms, with or without +modification, are permitted provided that the following conditions are met: + * Redistributions of source code must retain the above copyright + notice, this list of conditions and the following disclaimer. + * Redistributions in binary form must reproduce the above copyright + notice, this list of conditions and the following disclaimer in the + documentation and/or other materials provided with the distribution. + * Neither the name of STMicroelectronics nor the + names of its contributors may be used to endorse or promote products + derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND +NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. +IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY +DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +********************************************************************************/ + +/** + * @file vl53l1_platform_user_config.h + * + * @brief EwokPlus compile time user modifiable configuration + */ + + +#ifndef _VL53L1_PLATFORM_USER_CONFIG_H_ +#define _VL53L1_PLATFORM_USER_CONFIG_H_ + +#define VL53L1_BYTES_PER_WORD 2 +#define VL53L1_BYTES_PER_DWORD 4 + +/* Define polling delays */ +#define VL53L1_BOOT_COMPLETION_POLLING_TIMEOUT_MS 500 +#define VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS 2000 +#define VL53L1_TEST_COMPLETION_POLLING_TIMEOUT_MS 60000 + +#define VL53L1_POLLING_DELAY_MS 1 + + +#define VL53L1_GAIN_FACTOR__STANDARD_DEFAULT 0x0800 + /*!< Default standard ranging gain correction factor + 1.11 format. 1.0 = 0x0800, 0.980 = 0x07D7 */ +#define VL53L1_GAIN_FACTOR__HISTOGRAM_DEFAULT 0x0800 + /*!< Default histogram ranging gain correction factor + 1.11 format. 1.0 = 0x0800, 0.975 = 0x07CC */ + + +#define VL53L1_OFFSET_CAL_MIN_EFFECTIVE_SPADS 0x0500 + /*!< Lower Limit for the MM1 effective SPAD count during offset + calibration Format 8.8 0x0500 -> 5.0 effective SPADs */ + +#define VL53L1_OFFSET_CAL_MAX_PRE_PEAK_RATE_MCPS 0x1900 + /*!< Max Limit for the pre range peak rate during offset + calibration Format 9.7 0x1900 -> 50.0 Mcps. + If larger then in pile up */ + +#define VL53L1_OFFSET_CAL_MAX_SIGMA_MM 0x0040 + /*!< Max sigma estimate limit during offset calibration + Check applies to pre-range, mm1 and mm2 ranges + Format 14.2 0x0040 -> 16.0mm. */ + + +#define VL53L1_ZONE_CAL_MAX_PRE_PEAK_RATE_MCPS 0x1900 + /*!< Max Peak Rate Limit for the during zone calibration + Format 9.7 0x1900 -> 50.0 Mcps. + If larger then in pile up */ + +#define VL53L1_ZONE_CAL_MAX_SIGMA_MM 0x0040 + /*!< Max sigma estimate limit during zone calibration + Format 14.2 0x0040 -> 16.0mm. */ + + +#define VL53L1_XTALK_EXTRACT_MAX_SIGMA_MM 0x008C + /*!< Max Sigma value allowed for a successful xtalk extraction + Format 14.2 0x008C -> 35.0 mm.*/ + + +#define VL53L1_MAX_USER_ZONES 169 + /*!< Max number of user Zones - maximal limitation from + FW stream divide - value of 254 */ + +#define VL53L1_MAX_RANGE_RESULTS 4 + /*!< Sets the maximum number of targets distances the histogram + post processing can generate */ + + +#define VL53L1_MAX_STRING_LENGTH 512 + +#endif /* _VL53L1_PLATFORM_USER_CONFIG_H_ */ + diff --git a/drivers/input/misc/vl53L1/vl53l1_platform_user_data.h b/drivers/input/misc/vl53L1/vl53l1_platform_user_data.h new file mode 100644 index 000000000000..9b5114f155f0 --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_platform_user_data.h @@ -0,0 +1,62 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + + +#ifndef _VL53L1_PLATFORM_USER_DATA_H_ +#define _VL53L1_PLATFORM_USER_DATA_H_ + +#include "vl53l1_ll_def.h" + +#include +#include "vl53l1_def.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include + +#define VL53L1_Dev_t VL53L1_DevData_t +#define VL53L1_DEV VL53L1_DevData_t * + +#define PALDevDataGet(Dev, field) (Dev->field) +#define PALDevDataSet(Dev, field, data) ((Dev->field) = (data)) + +#define VL53L1DevStructGetLLDriverHandle(Dev) (&PALDevDataGet(Dev, LLData)) +#define VL53L1DevStructGetLLResultsHandle(Dev) (&PALDevDataGet(Dev, llresults)) + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/vl53l1_platform_user_defines.h b/drivers/input/misc/vl53L1/vl53l1_platform_user_defines.h new file mode 100644 index 000000000000..9bab15910be2 --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_platform_user_defines.h @@ -0,0 +1,92 @@ +/* +* Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*/ + + +#ifndef _VL53L1_PLATFORM_USER_DEFINES_H_ +#define _VL53L1_PLATFORM_USER_DEFINES_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#ifdef __KERNEL__ +#include +#endif + +/** + * @file vl53l1_platform_user_defines.h + * + * @brief All end user OS/platform/application definitions + */ + + +/** + * @def do_division_u + * @brief customer supplied division operation - 64-bit unsigned + * + * @param dividend unsigned 64-bit numerator + * @param divisor unsigned 64-bit denominator + */ +#ifdef __KERNEL__ +#define do_division_u(dividend, divisor) div64_u64(dividend, divisor) +#else +#define do_division_u(dividend, divisor) (dividend / divisor) +#endif + +/** + * @def do_division_s + * @brief customer supplied division operation - 64-bit signed + * + * @param dividend signed 64-bit numerator + * @param divisor signed 64-bit denominator + */ +#ifdef __KERNEL__ +#define do_division_s(dividend, divisor) div64_s64(dividend, divisor) +#else +#define do_division_s(dividend, divisor) (dividend / divisor) +#endif + +#define WARN_OVERRIDE_STATUS(__X__)\ + trace_print(VL53L1_TRACE_LEVEL_WARNING, #__X__) + + +#define DISABLE_WARNINGS() +#define ENABLE_WARNINGS() + + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/vl53l1_types.h b/drivers/input/misc/vl53L1/vl53l1_types.h new file mode 100644 index 000000000000..9dcd440a9628 --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_types.h @@ -0,0 +1,46 @@ +/******************************************************************************* +*Copyright (c) 2016, STMicroelectronics - All Rights Reserved +* +* License terms: BSD 3-clause "New" or "Revised" License. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions are met: +* +* 1. Redistributions of source code must retain the above copyright notice, this +* list of conditions and the following disclaimer. +* +* 2. Redistributions in binary form must reproduce the above copyright notice, +* this list of conditions and the following disclaimer in the documentation +* and/or other materials provided with the distribution. +* +* 3. Neither the name of the copyright holder nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" +* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, +* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*******************************************************************************/ +/** + * @file vl53l1_types.h + * @brief VL53L1 types definition + */ + +#ifndef _VL53L1_TYPES_H_ +#define _VL53L1_TYPES_H_ + +#include +/** use where fractional values are expected + * + * Given a floating point value f it's .16 bit point is (int)(f*(1<<16)) + */ +typedef uint32_t FixPoint1616_t; + +#endif /* VL53L1_TYPES_H_ */