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diff --git a/drivers/input/misc/vl53L0/Makefile b/drivers/input/misc/vl53L0/Makefile new file mode 100644 index 000000000000..4a6be55094b6 --- /dev/null +++ b/drivers/input/misc/vl53L0/Makefile @@ -0,0 +1,20 @@ +# +# Makefile for the vl53L0 drivers. +# + +# Each configuration option enables a list of files. +#FEATURE_USE_CCI := false +FEATURE_USE_CCI := true + +ifeq ($(FEATURE_USE_CCI), true) +ccflags-y += -Idrivers/input/misc/vl53L0/inc -DCAMERA_CCI +else +ccflags-y += -Idrivers/input/misc/vl53L0/inc +endif + +ccflags-y += -Idrivers/media/platform/msm/camera_v2/sensor/io +ccflags-y += -Idrivers/media/platform/msm/camera_v2 +ccflags-y += -Idrivers/media/platform/msm/camera_v2/common +ccflags-y += -Idrivers/media/platform/msm/camera_v2/sensor/cci +obj-$(CONFIG_STMVL53L0) += 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/inc/vl53l010_api.h b/drivers/input/misc/vl53L0/inc/vl53l010_api.h new file mode 100644 index 000000000000..282c65e33a93 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l010_api.h @@ -0,0 +1,1476 @@ +/******************************************************************************* + * 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 */ +#define VL53L010_EXTERNAL + + +/* 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); + + +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); + + + + +#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..5d36ab0f65e4 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l010_device.h @@ -0,0 +1,237 @@ +/******************************************************************************* + * 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) */ +/*!< Out Of Window (value < thresh_low OR value > thresh_high) */ +#define VL53L010_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT \ + ((VL53L010_GpioFunctionality) 3) +#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..714a0f1c479f --- /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..fe7906044feb --- /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..4f6f8020de49 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_api.h @@ -0,0 +1,1950 @@ +/******************************************************************************* + * 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 Return device stop completion status + * + * @par Function Description + * Returns stop completiob status. + * User shall call this function after a stop command + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pStopStatus Pointer to status variable to update + * @return VL53L0_ERROR_NONE Success + * @return "Other error code" See ::VL53L0_Error + */ +VL53L0_API VL53L0_Error VL53L0_GetStopCompletedStatus(VL53L0_DEV Dev, + uint32_t *pStopStatus); + + +/** + * @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 VL53L0_ERROR_INTERRUPT_NOT_CLEARED Cannot clear interrupts + * + * @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..df9b43987eb5 --- /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..21cf9edec0e0 --- /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..c2438a8cd79b --- /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..ba0bd03fe71f --- /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..2bb6a1e8ea33 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_api_strings.h @@ -0,0 +1,277 @@ +/******************************************************************************* + * 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_INTERRUPT_NOT_CLEARED \ + "Interrupt not Cleared" + #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" + #define VL53L0_STRING_CHECKENABLE_SIGNAL_RATE_MSRC \ + "SIGNAL RATE MSRC" + #define VL53L0_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE \ + "SIGNAL RATE PRE RANGE" + + /* 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..009715a5924f --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_def.h @@ -0,0 +1,663 @@ +/******************************************************************************* + * 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 20 +/** VL53L0 PAL IMPLEMENTATION sub version */ +#define VL53L0_IMPLEMENTATION_VER_REVISION 4606 +#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_INTERRUPT_NOT_CLEARED ((VL53L0_Error) - 12) + /*!< Error during interrupt clear */ +#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 + */ +} 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 */ + /*!< Indicate the types of histogram data : + *Return only, Reference only, both Return and Reference + */ + uint8_t HistogramType; + 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 + */ + + + /* Indicate if read from device has been done (==1) or not (==0) */ + uint8_t ReadDataFromDeviceDone; + 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 */ + /*!< Peek Signal rate at 400 mm*/ + FixPoint1616_t SignalRateMeasFixed400mm; + +} 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 + */ + uint8_t StopVariable; + /*!< StopVariable used during the stop sequence */ + 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) +/*!<Identifies the pre-range vcsel period. */ +#define VL53L0_VCSEL_PERIOD_FINAL_RANGE ((VL53L0_VcselPeriod) 1) +/*!<Identifies the final range vcsel period. */ + +/** @} VL53L0_define_VcselPeriod_group */ + +/** @defgroup VL53L0_define_SchedulerSequence_group Defines the steps + * carried out by the scheduler during a range measurement. + * @{ + * Defines the states of all the steps in the scheduler + * i.e. enabled/disabled. + */ +typedef struct { + uint8_t TccOn; /*!<Reports if Target Centre Check On */ + uint8_t MsrcOn; /*!<Reports if MSRC On */ + uint8_t DssOn; /*!<Reports if DSS On */ + uint8_t PreRangeOn; /*!<Reports if Pre-Range On */ + uint8_t FinalRangeOn; /*!<Reports if Final-Range On */ +} VL53L0_SchedulerSequenceSteps_t; + +/** @} VL53L0_define_SchedulerSequence_group */ + +/** @defgroup VL53L0_define_SequenceStepId_group Defines the Polarity + * of the Interrupt + * Defines the the sequence steps performed during ranging.. + * @{ + */ +typedef uint8_t VL53L0_SequenceStepId; + +#define VL53L0_SEQUENCESTEP_TCC ((VL53L0_VcselPeriod) 0) +/*!<Target CentreCheck identifier. */ +#define VL53L0_SEQUENCESTEP_DSS ((VL53L0_VcselPeriod) 1) +/*!<Dynamic Spad Selection function Identifier. */ +#define VL53L0_SEQUENCESTEP_MSRC ((VL53L0_VcselPeriod) 2) +/*!<Minimum Signal Rate Check function Identifier. */ +#define VL53L0_SEQUENCESTEP_PRE_RANGE ((VL53L0_VcselPeriod) 3) +/*!<Pre-Range check Identifier. */ +#define VL53L0_SEQUENCESTEP_FINAL_RANGE ((VL53L0_VcselPeriod) 4) +/*!<Final Range Check Identifier. */ + +#define VL53L0_SEQUENCESTEP_NUMBER_OF_CHECKS 5 +/*!<Number of Sequence Step Managed by the API. */ + +/** @} VL53L0_define_SequenceStepId_group */ + + +/* MACRO Definitions */ +/** @defgroup VL53L0_define_GeneralMacro_group General Macro Defines + * General Macro Defines + * @{ + */ + +/* Defines */ +#define VL53L0_SETPARAMETERFIELD(Dev, field, value) \ + PALDevDataSet(Dev, CurrentParameters.field, value) + +#define VL53L0_GETPARAMETERFIELD(Dev, field, variable) \ + (variable = ((PALDevDataGet(Dev, CurrentParameters)).field)) + + +#define VL53L0_SETARRAYPARAMETERFIELD(Dev, field, index, value) \ + PALDevDataSet(Dev, CurrentParameters.field[index], value) + +#define VL53L0_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \ + (variable = (PALDevDataGet(Dev, CurrentParameters)).field[index]) + + +#define VL53L0_SETDEVICESPECIFICPARAMETER(Dev, field, value) \ + PALDevDataSet(Dev, DeviceSpecificParameters.field, value) + +#define VL53L0_GETDEVICESPECIFICPARAMETER(Dev, field) \ + PALDevDataGet(Dev, DeviceSpecificParameters).field + + +#define VL53L0_FIXPOINT1616TOFIXPOINT97(Value) \ + (uint16_t)((Value>>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..b69b9cf72279 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_device.h @@ -0,0 +1,261 @@ +/******************************************************************************* + * 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_SIGNAL_RATE_MSRC 4 +#define VL53L0_CHECKENABLE_SIGNAL_RATE_PRE_RANGE 5 + +#define VL53L0_CHECKENABLE_NUMBER_OF_CHECKS 6 + +/** @} 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_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_interrupt_threshold_settings.h b/drivers/input/misc/vl53L0/inc/vl53l0_interrupt_threshold_settings.h new file mode 100644 index 000000000000..35acd8eb42e3 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_interrupt_threshold_settings.h @@ -0,0 +1,194 @@ +/******************************************************************************* + * 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_INTERRUPT_THRESHOLD_SETTINGS_H_ +#define _VL53L0_INTERRUPT_THRESHOLD_SETTINGS_H_ + + +#ifdef __cplusplus +extern "C" { +#endif + + +uint8_t InterruptThresholdSettings[] = { + + /* Start of Interrupt Threshold Settings */ + 0x1, 0xff, 0x00, + 0x1, 0x80, 0x01, + 0x1, 0xff, 0x01, + 0x1, 0x00, 0x00, + 0x1, 0xff, 0x01, + 0x1, 0x4f, 0x02, + 0x1, 0xFF, 0x0E, + 0x1, 0x00, 0x03, + 0x1, 0x01, 0x84, + 0x1, 0x02, 0x0A, + 0x1, 0x03, 0x03, + 0x1, 0x04, 0x08, + 0x1, 0x05, 0xC8, + 0x1, 0x06, 0x03, + 0x1, 0x07, 0x8D, + 0x1, 0x08, 0x08, + 0x1, 0x09, 0xC6, + 0x1, 0x0A, 0x01, + 0x1, 0x0B, 0x02, + 0x1, 0x0C, 0x00, + 0x1, 0x0D, 0xD5, + 0x1, 0x0E, 0x18, + 0x1, 0x0F, 0x12, + 0x1, 0x10, 0x01, + 0x1, 0x11, 0x82, + 0x1, 0x12, 0x00, + 0x1, 0x13, 0xD5, + 0x1, 0x14, 0x18, + 0x1, 0x15, 0x13, + 0x1, 0x16, 0x03, + 0x1, 0x17, 0x86, + 0x1, 0x18, 0x0A, + 0x1, 0x19, 0x09, + 0x1, 0x1A, 0x08, + 0x1, 0x1B, 0xC2, + 0x1, 0x1C, 0x03, + 0x1, 0x1D, 0x8F, + 0x1, 0x1E, 0x0A, + 0x1, 0x1F, 0x06, + 0x1, 0x20, 0x01, + 0x1, 0x21, 0x02, + 0x1, 0x22, 0x00, + 0x1, 0x23, 0xD5, + 0x1, 0x24, 0x18, + 0x1, 0x25, 0x22, + 0x1, 0x26, 0x01, + 0x1, 0x27, 0x82, + 0x1, 0x28, 0x00, + 0x1, 0x29, 0xD5, + 0x1, 0x2A, 0x18, + 0x1, 0x2B, 0x0B, + 0x1, 0x2C, 0x28, + 0x1, 0x2D, 0x78, + 0x1, 0x2E, 0x28, + 0x1, 0x2F, 0x91, + 0x1, 0x30, 0x00, + 0x1, 0x31, 0x0B, + 0x1, 0x32, 0x00, + 0x1, 0x33, 0x0B, + 0x1, 0x34, 0x00, + 0x1, 0x35, 0xA1, + 0x1, 0x36, 0x00, + 0x1, 0x37, 0xA0, + 0x1, 0x38, 0x00, + 0x1, 0x39, 0x04, + 0x1, 0x3A, 0x28, + 0x1, 0x3B, 0x30, + 0x1, 0x3C, 0x0C, + 0x1, 0x3D, 0x04, + 0x1, 0x3E, 0x0F, + 0x1, 0x3F, 0x79, + 0x1, 0x40, 0x28, + 0x1, 0x41, 0x1E, + 0x1, 0x42, 0x2F, + 0x1, 0x43, 0x87, + 0x1, 0x44, 0x00, + 0x1, 0x45, 0x0B, + 0x1, 0x46, 0x00, + 0x1, 0x47, 0x0B, + 0x1, 0x48, 0x00, + 0x1, 0x49, 0xA7, + 0x1, 0x4A, 0x00, + 0x1, 0x4B, 0xA6, + 0x1, 0x4C, 0x00, + 0x1, 0x4D, 0x04, + 0x1, 0x4E, 0x01, + 0x1, 0x4F, 0x00, + 0x1, 0x50, 0x00, + 0x1, 0x51, 0x80, + 0x1, 0x52, 0x09, + 0x1, 0x53, 0x08, + 0x1, 0x54, 0x01, + 0x1, 0x55, 0x00, + 0x1, 0x56, 0x0F, + 0x1, 0x57, 0x79, + 0x1, 0x58, 0x09, + 0x1, 0x59, 0x05, + 0x1, 0x5A, 0x00, + 0x1, 0x5B, 0x60, + 0x1, 0x5C, 0x05, + 0x1, 0x5D, 0xD1, + 0x1, 0x5E, 0x0C, + 0x1, 0x5F, 0x3C, + 0x1, 0x60, 0x00, + 0x1, 0x61, 0xD0, + 0x1, 0x62, 0x0B, + 0x1, 0x63, 0x03, + 0x1, 0x64, 0x28, + 0x1, 0x65, 0x10, + 0x1, 0x66, 0x2A, + 0x1, 0x67, 0x39, + 0x1, 0x68, 0x0B, + 0x1, 0x69, 0x02, + 0x1, 0x6A, 0x28, + 0x1, 0x6B, 0x10, + 0x1, 0x6C, 0x2A, + 0x1, 0x6D, 0x61, + 0x1, 0x6E, 0x0C, + 0x1, 0x6F, 0x00, + 0x1, 0x70, 0x0F, + 0x1, 0x71, 0x79, + 0x1, 0x72, 0x00, + 0x1, 0x73, 0x0B, + 0x1, 0x74, 0x00, + 0x1, 0x75, 0x0B, + 0x1, 0x76, 0x00, + 0x1, 0x77, 0xA1, + 0x1, 0x78, 0x00, + 0x1, 0x79, 0xA0, + 0x1, 0x7A, 0x00, + 0x1, 0x7B, 0x04, + 0x1, 0xFF, 0x04, + 0x1, 0x79, 0x1D, + 0x1, 0x7B, 0x27, + 0x1, 0x96, 0x0E, + 0x1, 0x97, 0xFE, + 0x1, 0x98, 0x03, + 0x1, 0x99, 0xEF, + 0x1, 0x9A, 0x02, + 0x1, 0x9B, 0x44, + 0x1, 0x73, 0x07, + 0x1, 0x70, 0x01, + 0x1, 0xff, 0x01, + 0x1, 0x00, 0x01, + 0x1, 0xff, 0x00, + 0x00, 0x00, 0x00 +}; + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L0_INTERRUPT_THRESHOLD_SETTINGS_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..f723a552a7f1 --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_platform.h @@ -0,0 +1,231 @@ +/******************************************************************************* + * 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 <linux/delay.h> +#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..8c38615239ad --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_platform_log.h @@ -0,0 +1,128 @@ +/******************************************************************************* + * 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 <linux/string.h> +/* LOG Functions */ + + +/** + * @file vl53l0_platform_log.h + * + * @brief platform log function definition + */ + +/* #define VL53L0_LOG_ENABLE */ + +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 <linux/module.h> + + +extern uint32_t _trace_level; + + + +int32_t VL53L0_trace_config(char *filename, uint32_t modules, + uint32_t level, uint32_t functions); + +#if 0 +void trace_print_module_function(uint32_t module, uint32_t level, + uint32_t function, const char *format, ...); +#else +#define trace_print_module_function(...) +#endif + +#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 Status %d\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_tuning.h b/drivers/input/misc/vl53L0/inc/vl53l0_tuning.h new file mode 100644 index 000000000000..a9f7ca70b5ac --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_tuning.h @@ -0,0 +1,146 @@ +/******************************************************************************* + * 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, + 0x01, 0x80, 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..c509913146ed --- /dev/null +++ b/drivers/input/misc/vl53L0/inc/vl53l0_types.h @@ -0,0 +1,69 @@ +/******************************************************************************* + * 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 <linux/types.h> + +#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..6c706bd0fe3b --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l010_api.c @@ -0,0 +1,4175 @@ +/******************************************************************************* + * 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 <stdlib.h> +#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) + + + +/* 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) do {\ + case ERRORCODE: \ + VL53L0_COPYSTRING(BUFFER, STRINGVALUE);\ + break;\ + } while (0) + +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; + + /* check if some error occurs */ + if (Byte & 0x18) + Status = VL53L0_ERROR_RANGE_ERROR; + + + 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 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..ee3f57872ffc --- /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..f9c2c2a4b7b7 --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_api.c @@ -0,0 +1,3109 @@ +/******************************************************************************* + * 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_interrupt_threshold_settings.h" +#include "vl53l0_api_core.h" +#include "vl53l0_api_histogram.h" +#include "vl53l0_api_calibration.h" +#include "vl53l0_api_strings.h" + +#ifndef __KERNEL__ +#include <stdlib.h> +#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; + uint8_t StopVariable; + + 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); + + Status |= VL53L0_WrByte(Dev, 0x80, 0x01); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x00, 0x00); + Status |= VL53L0_RdByte(Dev, 0x91, &StopVariable); + PALDevDataSet(Dev, StopVariable, StopVariable); + Status |= VL53L0_WrByte(Dev, 0x00, 0x01); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0_WrByte(Dev, 0x80, 0x00); + + /* 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); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetLimitCheckEnable(Dev, + VL53L0_CHECKENABLE_SIGNAL_RATE_MSRC, 0); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_SetLimitCheckEnable(Dev, + VL53L0_CHECKENABLE_SIGNAL_RATE_PRE_RANGE, 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); + + + /* 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 = 0; + uint8_t LimitCheckDisable = 0; + uint8_t Temp8; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L0_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L0_ERROR_INVALID_PARAMS; + } else { + if (LimitCheckEnable == 0) { + TempFix1616 = 0; + LimitCheckEnableInt = 0; + LimitCheckDisable = 1; + + } else { + VL53L0_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + LimitCheckId, TempFix1616); + LimitCheckDisable = 0; + /* 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; + + case VL53L0_CHECKENABLE_SIGNAL_RATE_MSRC: + + Temp8 = (uint8_t)(LimitCheckDisable << 1); + Status = VL53L0_UpdateByte(Dev, + VL53L0_REG_MSRC_CONFIG_CONTROL, + 0xFE, Temp8); + + break; + + case VL53L0_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: + + Temp8 = (uint8_t)(LimitCheckDisable << 4); + Status = VL53L0_UpdateByte(Dev, + VL53L0_REG_MSRC_CONFIG_CONTROL, + 0xEF, Temp8); + + 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; + + case VL53L0_CHECKENABLE_SIGNAL_RATE_MSRC: + case VL53L0_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: + + Status = VL53L0_WrWord(Dev, + VL53L0_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, + VL53L0_FIXPOINT1616TOFIXPOINT97( + 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; + + case VL53L0_CHECKENABLE_SIGNAL_RATE_MSRC: + case VL53L0_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: + Status = VL53L0_RdWord(Dev, + VL53L0_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT, + &Temp16); + if (Status == VL53L0_ERROR_NONE) + TempFix1616 = VL53L0_FIXPOINT97TOFIXPOINT1616(Temp16); + + + 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; + + case VL53L0_CHECKENABLE_SIGNAL_RATE_MSRC: + /* Need to run a ranging to have the latest values */ + LastRangeDataBuffer = PALDevDataGet(Dev, + LastRangeMeasure); + *pLimitCheckCurrent = + LastRangeDataBuffer.SignalRateRtnMegaCps; + + break; + + case VL53L0_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: + /* 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_CheckAndLoadInterruptSettings(VL53L0_DEV Dev, + uint8_t StartNotStopFlag) +{ + uint8_t InterruptConfig; + FixPoint1616_t ThresholdLow; + FixPoint1616_t ThresholdHigh; + VL53L0_Error Status = VL53L0_ERROR_NONE; + + InterruptConfig = VL53L0_GETDEVICESPECIFICPARAMETER(Dev, + Pin0GpioFunctionality); + + if ((InterruptConfig == + VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW) || + (InterruptConfig == + VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH) || + (InterruptConfig == + VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT)) { + + Status = VL53L0_GetInterruptThresholds(Dev, + VL53L0_DEVICEMODE_CONTINUOUS_RANGING, + &ThresholdLow, &ThresholdHigh); + + if (((ThresholdLow > 255*65536) || + (ThresholdHigh > 255*65536)) && + (Status == VL53L0_ERROR_NONE)) { + + if (StartNotStopFlag != 0) { + Status = VL53L0_load_tuning_settings(Dev, + InterruptThresholdSettings); + } else { + Status |= VL53L0_WrByte(Dev, 0xFF, 0x04); + Status |= VL53L0_WrByte(Dev, 0x70, 0x00); + Status |= VL53L0_WrByte(Dev, 0xFF, 0x00); + Status |= VL53L0_WrByte(Dev, 0x80, 0x00); + } + + } + + + } + + 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); + + Status = VL53L0_WrByte(Dev, 0x80, 0x01); + Status = VL53L0_WrByte(Dev, 0xFF, 0x01); + Status = VL53L0_WrByte(Dev, 0x00, 0x00); + Status = VL53L0_WrByte(Dev, 0x91, PALDevDataGet(Dev, StopVariable)); + Status = VL53L0_WrByte(Dev, 0x00, 0x01); + Status = VL53L0_WrByte(Dev, 0xFF, 0x00); + Status = VL53L0_WrByte(Dev, 0x80, 0x00); + + switch (DeviceMode) { + case VL53L0_DEVICEMODE_SINGLE_RANGING: + Status = VL53L0_WrByte(Dev, VL53L0_REG_SYSRANGE_START, 0x01); + + 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; + + } + + break; + case VL53L0_DEVICEMODE_CONTINUOUS_RANGING: + /* Back-to-back mode */ + + /* Check if need to apply interrupt settings */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_CheckAndLoadInterruptSettings(Dev, 1); + + Status = VL53L0_WrByte(Dev, + VL53L0_REG_SYSRANGE_START, + VL53L0_REG_SYSRANGE_MODE_BACKTOBACK); + 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 */ + /* Check if need to apply interrupt settings */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_CheckAndLoadInterruptSettings(Dev, 1); + + Status = VL53L0_WrByte(Dev, + VL53L0_REG_SYSRANGE_START, + VL53L0_REG_SYSRANGE_MODE_TIMED); + + 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_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); + + Status = VL53L0_WrByte(Dev, 0xFF, 0x01); + Status = VL53L0_WrByte(Dev, 0x00, 0x00); + Status = VL53L0_WrByte(Dev, 0x91, 0x00); + Status = VL53L0_WrByte(Dev, 0x00, 0x01); + Status = VL53L0_WrByte(Dev, 0xFF, 0x00); + + if (Status == VL53L0_ERROR_NONE) { + /* Set PAL State to Idle */ + PALDevDataSet(Dev, PalState, VL53L0_STATE_IDLE); + } + + /* Check if need to apply interrupt settings */ + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_CheckAndLoadInterruptSettings(Dev, 0); + + 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; +} + +VL53L0_Error VL53L0_GetStopCompletedStatus(VL53L0_DEV Dev, + uint32_t *pStopStatus) +{ + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint8_t Byte = 0; + + LOG_FUNCTION_START(""); + + Status = VL53L0_WrByte(Dev, 0xFF, 0x01); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_RdByte(Dev, 0x04, &Byte); + + if (Status == VL53L0_ERROR_NONE) + Status = VL53L0_WrByte(Dev, 0xFF, 0x0); + + *pStopStatus = Byte; + + if (Byte == 0) { + Status = VL53L0_WrByte(Dev, 0x80, 0x01); + Status = VL53L0_WrByte(Dev, 0xFF, 0x01); + Status = VL53L0_WrByte(Dev, 0x00, 0x00); + Status = VL53L0_WrByte(Dev, 0x91, + PALDevDataGet(Dev, StopVariable)); + Status = VL53L0_WrByte(Dev, 0x00, 0x01); + Status = VL53L0_WrByte(Dev, 0xFF, 0x00); + Status = VL53L0_WrByte(Dev, 0x80, 0x00); + } + + 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 */ + LoopCount = 0; + do { + Status = VL53L0_WrByte(Dev, + VL53L0_REG_SYSTEM_INTERRUPT_CLEAR, 0x01); + Status |= VL53L0_WrByte(Dev, + VL53L0_REG_SYSTEM_INTERRUPT_CLEAR, 0x00); + Status |= VL53L0_RdByte(Dev, + VL53L0_REG_RESULT_INTERRUPT_STATUS, &Byte); + LoopCount++; + } while (((Byte & 0x07) != 0x00) + && (LoopCount < 3) + && (Status == VL53L0_ERROR_NONE)); + + + if (LoopCount >= 3) + Status = VL53L0_ERROR_INTERRUPT_NOT_CLEARED; + + 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(""); + + Status = VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrWord(Dev, 0x40, SpadAmbientDamperThreshold); + Status |= 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(""); + + Status = VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_RdWord(Dev, 0x40, pSpadAmbientDamperThreshold); + Status |= 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); + + Status = VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_WrByte(Dev, 0x42, Byte); + Status |= 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(""); + + Status = VL53L0_WrByte(Dev, 0xFF, 0x01); + Status |= VL53L0_RdByte(Dev, 0x42, &Byte); + Status |= 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..fa7e579ddc17 --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_api_calibration.c @@ -0,0 +1,1284 @@ +/******************************************************************************* + * 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 <stdlib.h> +#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; + } + + *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 + * therefore set the min number of + * aperture spads as the result. + */ + isApertureSpads_int = 1; + refSpadCount_int = minimumSpadCount; + } + } + } 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..a04d0c4f5915 --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_api_core.c @@ -0,0 +1,2270 @@ +/******************************************************************************* + * 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 <stdlib.h> +#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; + } + } + + 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; + FixPoint1616_t sigmaEstP2Tmp; + 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; + + /* Check sigmaEstimateP2 + * If this value is too high there is not enough signal rate + * to calculate dmax value so set a suitable value to ensure + * a very small dmax. + */ + sigmaEstP2Tmp = (sigmaEstimateP2 + 0x8000) >> 16; + sigmaEstP2Tmp = (sigmaEstP2Tmp + cAmbEffWidthSigmaEst_ns/2)/ + cAmbEffWidthSigmaEst_ns; + sigmaEstP2Tmp *= cAmbEffWidthDMax_ns; + + if (sigmaEstP2Tmp > 0xffff) { + minSignalNeeded_p3 = 0xfff00000; + } else { + + /* 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; + + } + + /* FixPoint1814 / uint32 = FixPoint1814 */ + sigmaLimitTmp = ((cSigmaLimit << 14) + 500) / 1000; + + /* FixPoint1814 * FixPoint1814 = FixPoint3628 := FixPoint0428 */ + sigmaLimitTmp *= sigmaLimitTmp; + + /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ + sigmaEstSqTmp = cSigmaEstRef * cSigmaEstRef; + + /* FixPoint3232 >> 4 = FixPoint0428 */ + sigmaEstSqTmp = (sigmaEstSqTmp + 0x08) >> 4; + + /* FixPoint0428 - FixPoint0428 = FixPoint0428 */ + sigmaLimitTmp -= sigmaEstSqTmp; + + /* uint32_t * FixPoint0428 = FixPoint0428 */ + minSignalNeeded_p4 = 4 * 12 * sigmaLimitTmp; + + /* FixPoint0428 >> 14 = FixPoint1814 */ + minSignalNeeded_p4 = (minSignalNeeded_p4 + 0x2000) >> 14; + + /* uint32 + uint32 = uint32 */ + minSignalNeeded = (minSignalNeeded_p2 + minSignalNeeded_p3); + + /* uint32 / uint32 = uint32 */ + minSignalNeeded += (peakVcselDuration_us/2); + minSignalNeeded /= peakVcselDuration_us; + + /* uint32 << 14 = FixPoint1814 */ + minSignalNeeded <<= 14; + + /* FixPoint1814 / FixPoint1814 = 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; + const FixPoint1616_t cSigmaEstRtnMax = 0xF000; + const FixPoint1616_t cAmbToSignalRatioMax = 0xF0000000/ + cAmbientEffectiveWidth_centi_ns; + /* 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; + + /* Fix1616 >> 8 = Fix2408 */ + totalSignalRate_mcps = (totalSignalRate_mcps + 0x80) >> 8; + + /* Fix2408 * uint32 = Fix2408 */ + vcselTotalEventsRtn = totalSignalRate_mcps * + peakVcselDuration_us; + + /* Fix2408 >> 8 = uint32 */ + vcselTotalEventsRtn = (vcselTotalEventsRtn + 0x80) >> 8; + + /* Fix2408 << 8 = Fix1616 = */ + totalSignalRate_mcps <<= 8; + } + + if (Status != VL53L0_ERROR_NONE) { + LOG_FUNCTION_END(Status); + return Status; + } + + if (peakSignalRate_kcps == 0) { + *pSigmaEstimate = cSigmaEstMax; + PALDevDataSet(Dev, SigmaEstimate, cSigmaEstMax); + *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; + if (sigmaEstimateP2 > cAmbToSignalRatioMax) { + /* Clip to prevent overflow. Will ensure safe + * max result. + */ + sigmaEstimateP2 = cAmbToSignalRatioMax; + } + 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 8 bits to increase resolution prior to the + * division + */ + diff1_mcps <<= 8; + + /* FixPoint0824/FixPoint1616 = FixPoint2408 */ + xTalkCorrection = abs(diff1_mcps/diff2_mcps); + + /* FixPoint2408 << 8 = FixPoint1616 */ + xTalkCorrection <<= 8; + + /* 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 >> 16) = FixPoint3200 */ + sqr1 = (sqr1 + 0x8000) >> 16; + + /* FixPoint3200 * FixPoint3200 = FixPoint6400 */ + sqr1 *= sqr1; + + sqr2 = sigmaEstimateP2; + + /* (FixPoint1616 >> 16) = FixPoint3200 */ + sqr2 = (sqr2 + 0x8000) >> 16; + + /* FixPoint3200 * FixPoint3200 = FixPoint6400 */ + sqr2 *= sqr2; + + /* FixPoint64000 + FixPoint6400 = FixPoint6400 */ + sqrSum = sqr1 + sqr2; + + /* SQRT(FixPoin6400) = FixPoint3200 */ + sqrtResult_centi_ns = VL53L0_isqrt(sqrSum); + + /* (FixPoint3200 << 16) = FixPoint1616 */ + sqrtResult_centi_ns <<= 16; + + /* + * 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; + + if (sigmaEstRtn > cSigmaEstRtnMax) { + /* Clip to prevent overflow. Will ensure safe + * max result. + */ + sigmaEstRtn = cSigmaEstRtnMax; + } + + /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ + sqr1 = sigmaEstRtn * sigmaEstRtn; + /* FixPoint1616 * FixPoint1616 = FixPoint3232 */ + sqr2 = cSigmaEstRef * cSigmaEstRef; + + /* sqrt(FixPoint3232) = FixPoint1616 */ + sqrtResult = VL53L0_isqrt((sqr1 + sqr2)); + /* + * Note that the Shift by 4 bits increases resolution prior to + * the sqrt, therefore the result must be shifted by 2 bits 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); + + 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 */ + } + } + + /* DMAX only relevant during range error */ + if (*pPalRangeStatus == 0) + pRangingMeasurementData->RangeDMaxMilliMeter = 0; + + /* 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..21b0410dd6ae --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_api_histogram.c @@ -0,0 +1,750 @@ +/******************************************************************************* + * 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 <stdlib.h> +#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; + Status = 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..f575aec7c5ed --- /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 <stdlib.h> +#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..a5f2bbadd290 --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_api_strings.c @@ -0,0 +1,463 @@ +/******************************************************************************* + * 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 <stdlib.h> +#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_INTERRUPT_NOT_CLEARED: + VL53L0_COPYSTRING(pPalErrorString, + VL53L0_STRING_ERROR_INTERRUPT_NOT_CLEARED); + 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; + + case VL53L0_CHECKENABLE_SIGNAL_RATE_MSRC: + VL53L0_COPYSTRING(pLimitCheckString, + VL53L0_STRING_CHECKENABLE_SIGNAL_RATE_MSRC); + break; + + case VL53L0_CHECKENABLE_SIGNAL_RATE_PRE_RANGE: + VL53L0_COPYSTRING(pLimitCheckString, + VL53L0_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE); + 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..e4097e1ccdd5 --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_i2c_platform.c @@ -0,0 +1,383 @@ +/* + * 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.c + * \brief Code function defintions for EWOK Platform Layer + * + */ + + +#include <linux/i2c.h> +#include <linux/module.h> +#include <linux/delay.h> +#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 + + +/* none but could be for a flag var to + * get/pass to mutex interruptible return flags and try again + */ +#define VL53L0_I2C_USER_VAR +#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..f7292ab6f8f2 --- /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(""); + usleep_range(950, 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..3dc085f60326 --- /dev/null +++ b/drivers/input/misc/vl53L0/src/vl53l0_port_i2c.c @@ -0,0 +1,155 @@ +/* + * vl53l0_port_i2c.c + * + * Created on: July, 2015 + * Author: Teresa Tao + */ + +#include <linux/i2c.h> +#include <linux/module.h> +#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 +#ifndef CAMERA_CCI + } 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; + } +#endif + } + + 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 { +#ifndef CAMERA_CCI + 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; + } +#endif + } + + return 0; +} diff --git a/drivers/input/misc/vl53L0/stmvl53l0-cci.h b/drivers/input/misc/vl53L0/stmvl53l0-cci.h new file mode 100644 index 000000000000..51477701cb1d --- /dev/null +++ b/drivers/input/misc/vl53L0/stmvl53l0-cci.h @@ -0,0 +1,61 @@ +/* + * stmvl53l0-cci.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. + */ +/* + * Defines + */ +#ifndef STMVL53L0_CCI_H +#define STMVL53L0_CCI_H +#include <linux/types.h> + +#ifdef CAMERA_CCI +#include <soc/qcom/camera2.h> +#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; + struct msm_camera_gpio_conf *gconf; + struct msm_pinctrl_info pinctrl_info; + uint8_t cam_pinctrl_status; + +}; +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 /* CAMERA_CCI */ +#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..51a02c60802b --- /dev/null +++ b/drivers/input/misc/vl53L0/stmvl53l0-i2c.h @@ -0,0 +1,35 @@ +/* + * stmvl53l0-i2c.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. + */ +/* + * Defines + */ +#ifndef STMVL53L0_I2C_H +#define STMVL53L0_I2C_H +#include <linux/types.h> + +#ifndef CAMERA_CCI +struct i2c_data { + struct i2c_client *client; + struct regulator *vana; + uint8_t power_up; +}; +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 /* NOT CAMERA_CCI */ +#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..ae517ebe461a --- /dev/null +++ b/drivers/input/misc/vl53L0/stmvl53l0.h @@ -0,0 +1,217 @@ +/* + * stmvl53l0.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. + */ +/* + * Defines + */ +#ifndef STMVL53L0_H +#define STMVL53L0_H + +#include <linux/types.h> +#include <linux/mutex.h> +#include <linux/workqueue.h> +#include <linux/miscdevice.h> +#include <linux/wait.h> + + +#define STMVL53L0_DRV_NAME "stmvl53l0" +#define STMVL53L0_SLAVE_ADDR (0x52>>1) + +#define DRIVER_VERSION "1.0.5" +#define I2C_M_WR 0x00 +/* #define INT_POLLING_DELAY 20 */ + +/* if don't want to have output from vl53l0_dbgmsg, comment out #DEBUG macro */ +#define DEBUG +#define vl53l0_dbgmsg(str, args...) \ + pr_err("%s: " str, __func__, ##args) +#define vl53l0_errmsg(str, args...) \ + pr_err("%s: " str, __func__, ##args) + +#define VL53L0_VDD_MIN 2600000 +#define VL53L0_VDD_MAX 3000000 + +typedef enum { + NORMAL_MODE = 0, + OFFSETCALIB_MODE = 1, + XTALKCALIB_MODE = 2, +} init_mode_e; + +typedef enum { + OFFSET_PAR = 0, + XTALKRATE_PAR = 1, + XTALKENABLE_PAR = 2, + GPIOFUNC_PAR = 3, + LOWTHRESH_PAR = 4, + HIGHTHRESH_PAR = 5, + DEVICEMODE_PAR = 6, + INTERMEASUREMENT_PAR = 7, + REFERENCESPADS_PAR = 8, + REFCALIBRATION_PAR = 9, +} parameter_name_e; + +enum { + CCI_BUS = 0, + I2C_BUS = 1, +}; + +/* + * IOCTL register data structs + */ +struct stmvl53l0_register { + uint32_t is_read; /*1: read 0: 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*/ + parameter_name_e name; + int32_t value; + int32_t value2; + int32_t status; +}; + +/* + * IOCTL Custom Use Case + */ +struct stmvl53l0_custom_use_case { + FixPoint1616_t signalRateLimit; + FixPoint1616_t sigmaLimit; + uint32_t preRangePulsePeriod; + uint32_t finalRangePulsePeriod; + uint32_t timingBudget; +}; + + +/* + * 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; + /*!< Type of comms : VL53L0_COMMS_I2C or VL53L0_COMMS_SPI */ + uint8_t comms_type; + /*!< Comms speed [kHz] : typically 400kHz for I2C */ + uint16_t comms_speed_khz; + /* CCI_BUS; I2C_BUS */ + uint8_t bus_type; + + void *client_object; /* cci or i2c client */ + + struct mutex update_lock; + struct delayed_work dwork; /* for PS work handler */ + struct input_dev *input_dev_ps; + struct kobject *range_kobj; + + const char *dev_name; + /* function pointer */ + + /* misc device */ + struct miscdevice miscdev; + + int irq; + unsigned int reset; + + /* control flag from HAL */ + unsigned int enable_ps_sensor; + + /* PS parameters */ + unsigned int ps_data; /* to store PS data */ + + /* Calibration parameters */ + unsigned int offsetCalDistance; + unsigned int xtalkCalDistance; + + /* Calibration values */ + uint32_t refSpadCount; + uint8_t isApertureSpads; + uint8_t VhvSettings; + uint8_t PhaseCal; + int32_t OffsetMicroMeter; + FixPoint1616_t XTalkCompensationRateMegaCps; + uint32_t setCalibratedValue; + + /* Custom values set by app */ + FixPoint1616_t signalRateLimit; + FixPoint1616_t sigmaLimit; + uint32_t preRangePulsePeriod; + uint32_t finalRangePulsePeriod; + + + /* Range Data */ + VL53L0_RangingMeasurementData_t rangeData; + + /* Device parameters */ + VL53L0_DeviceModes deviceMode; + uint32_t interMeasurems; + VL53L0_GpioFunctionality gpio_function; + VL53L0_InterruptPolarity gpio_polarity; + FixPoint1616_t low_threshold; + FixPoint1616_t high_threshold; + + /* delay time in miniseconds*/ + uint8_t delay_ms; + + /* Timing Budget */ + uint32_t timingBudget; + /* Use this threshold to force restart ranging */ + uint32_t noInterruptCount; + /* Use this flag to denote use case*/ + uint8_t useCase; + /* Use this flag to indicate an update of use case */ + uint8_t updateUseCase; + /* Polling thread */ + struct task_struct *poll_thread; + /* Wait Queue on which the poll thread blocks */ + wait_queue_head_t poll_thread_wq; + + /* Recent interrupt status */ + uint32_t interruptStatus; + + struct mutex work_mutex; + + struct timer_list timer; + uint32_t flushCount; + + /* Debug */ + unsigned int enableDebug; + uint8_t interrupt_received; +}; + +/* + * function pointer structs + */ +struct stmvl53l0_module_fn_t { + int (*init)(void); + void (*deinit)(void *); + int (*power_up)(void *, unsigned int *); + int (*power_down)(void *); +}; + + + +int stmvl53l0_setup(struct stmvl53l0_data *data); +void stmvl53l0_cleanup(struct stmvl53l0_data *data); + +#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..e08edbcc73f9 --- /dev/null +++ b/drivers/input/misc/vl53L0/stmvl53l0_module-cci.c @@ -0,0 +1,509 @@ +/* + * stmvl53l0_module-cci.c - 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. + */ +#include <linux/uaccess.h> +#include <linux/module.h> +#include <linux/init.h> +#include <linux/slab.h> +#include <linux/i2c.h> +#include <linux/mutex.h> +#include <linux/delay.h> +#include <linux/interrupt.h> +#include <linux/irq.h> +#include <linux/gpio.h> +#include <linux/input.h> +#include <linux/miscdevice.h> +#include <linux/kernel.h> +#include <linux/fs.h> +#include <linux/time.h> +#include <linux/platform_device.h> +/* + * power specific includes + */ +#include <linux/pwm.h> +#include <linux/regulator/consumer.h> +#include <linux/pinctrl/consumer.h> +#include <linux/clk.h> +#include <linux/of_gpio.h> +/* + * 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" + +#ifdef CAMERA_CCI +/* + * 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, +}; + +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; + + vl53l0_dbgmsg("Enter\n"); + + if (dev->of_node) { + struct device_node *of_node = dev->of_node; + struct msm_tof_vreg *vreg_cfg; + + 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)) { + 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__); + return rc; + } + } + vl53l0_dbgmsg("vreg-name: %s min_volt: %d max_volt: %d", + vreg_cfg->cam_vreg->reg_name, + vreg_cfg->cam_vreg->min_voltage, + vreg_cfg->cam_vreg->max_voltage); + + rc = msm_sensor_driver_get_gpio_data(&(data->gconf), of_node); + if ((rc < 0) || (data->gconf == NULL)) { + vl53l0_errmsg + ("No Laser Sensor GPIOs to be configured!\n"); + } + + } + 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\n"); + + vreg_cfg = &data->vreg_cfg; + cnt = vreg_cfg->num_vreg; + vl53l0_dbgmsg("num_vreg: %d\n", cnt); + 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; +/* + * struct msm_tof_ctrl_t *tof_ctrl = v4l2_get_subdevdata(sd); + * if (!tof_ctrl) { + * pr_err("failed\n"); + * return -EINVAL; + * } + * if (tof_ctrl->tof_device_type == MSM_CAMERA_PLATFORM_DEVICE) { + * rc = tof_ctrl->i2c_client.i2c_func_tbl->i2c_util( + * &tof_ctrl->i2c_client, MSM_CCI_RELEASE); + * if (rc < 0) + * pr_err("cci_init failed\n"); + * } + * tof_ctrl->i2c_state = TOF_I2C_RELEASE; + */ + 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 (data->subdev_initialized == FALSE) { + 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(); + if (cci_client->cci_subdev == NULL) { + vl53l0_errmsg("CCI subdev is not initialized!!\n"); + return -ENODEV; + } + 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; + } + + cci_client->sid = 0x29; + cci_client->retries = 3; + cci_client->id_map = 0; + cci_client->cci_i2c_master = data->cci_master; + 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 *cci_object = NULL; + int32_t rc = 0; + + vl53l0_dbgmsg("Enter\n"); + + if (!pdev->dev.of_node) { + vl53l0_errmsg("of_node NULL\n"); + return -EINVAL; + } + + vl53l0_data = kzalloc(sizeof(struct stmvl53l0_data), GFP_KERNEL); + if (!vl53l0_data) { + rc = -ENOMEM; + return rc; + } + if (vl53l0_data) { + vl53l0_data->client_object = + kzalloc(sizeof(struct cci_data), GFP_KERNEL); + cci_object = (struct cci_data *)vl53l0_data->client_object; + } + cci_object->client = + (struct msm_camera_i2c_client *)&cci_object->g_client; + + /* setup bus type */ + vl53l0_data->bus_type = CCI_BUS; + + /* Set platform device handle */ + cci_object->subdev_ops = &msm_tof_subdev_ops; + cci_object->pdev = pdev; + rc = stmvl53l0_get_dt_data(&pdev->dev, cci_object); + if (rc < 0) { + vl53l0_errmsg("%d, failed rc %d\n", __LINE__, rc); + return rc; + } + cci_object->subdev_id = pdev->id; + + /* Set device type as platform device */ + cci_object->device_type = MSM_CAMERA_PLATFORM_DEVICE; + cci_object->subdev_initialized = FALSE; + + /* setup device name */ + vl53l0_data->dev_name = dev_name(&pdev->dev); + + /* setup device data */ + dev_set_drvdata(&pdev->dev, vl53l0_data); + + /* setup other stuff */ + rc = stmvl53l0_setup(vl53l0_data); + + /* init default value */ + cci_object->power_up = 0; + + vl53l0_dbgmsg("End\n"); + + return rc; + +} + +static int32_t stmvl53l0_platform_remove(struct platform_device *pdev) +{ + struct stmvl53l0_data *vl53l0_data = platform_get_drvdata(pdev); + + stmvl53l0_cleanup(vl53l0_data); + platform_set_drvdata(pdev, NULL); + + kfree(vl53l0_data->client_object); + kfree(vl53l0_data); + + return 0; +} + +static const struct of_device_id st_stmvl53l0_dt_match[] = { + {.compatible = "st,stmvl53l0",}, + {}, +}; + +static struct platform_driver stmvl53l0_platform_driver = { + .probe = stmvl53l0_platform_probe, + .remove = stmvl53l0_platform_remove, + .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; + struct gpio *gpio_tbl = NULL; + uint8_t gpio_tbl_size = 0; + int i = 0; + + vl53l0_dbgmsg("Enter"); + + /* need to init cci first */ + ret = stmvl53l0_cci_init(data); + if (ret) { + vl53l0_errmsg("stmvl53l0_cci_init failed %d\n", __LINE__); + return ret; + } + + /* Check if GPIO needs to be enabled for chip select */ + vl53l0_dbgmsg("Get gpio table!size: %d\n", + data->gconf->cam_gpio_req_tbl_size); + gpio_tbl = data->gconf->cam_gpio_req_tbl; + gpio_tbl_size = data->gconf->cam_gpio_req_tbl_size; + if (gpio_tbl_size > 0) { + ret = msm_camera_pinctrl_init(&(data->pinctrl_info), + &(data->pdev->dev)); + if (ret < 0) { + vl53l0_errmsg("Initialization of pinctrl failed\n"); + data->cam_pinctrl_status = 0; + } else { + data->cam_pinctrl_status = 1; + } + + for (i = 0; i < gpio_tbl_size; i++) { + ret = gpio_request_one(gpio_tbl[i].gpio, + gpio_tbl[i].flags, + gpio_tbl[i].label); + if (ret < 0) { + vl53l0_errmsg + ("Request for GPIO %d failed! Err: %d\n", + gpio_tbl[i].gpio, ret); + } else { + if (data->cam_pinctrl_status) { + ret = + pinctrl_select_state( + data->pinctrl_info.pinctrl, + data->pinctrl_info.gpio_state_active); + if (ret < 0) { + vl53l0_errmsg( + "%s: Cannot set pin to active state!\n", + __func__); + } + } + vl53l0_dbgmsg("Set pin %d value to 1!\n", + gpio_tbl[i].gpio); + gpio_set_value_cansleep(gpio_tbl[i].gpio, 1); + } + } + } + + /* actual power up */ + if (data && data->device_type == MSM_CAMERA_PLATFORM_DEVICE) { + ret = stmvl53l0_vreg_control(data, 1); + if (ret < 0) { + vl53l0_errmsg("stmvl53l0_vreg_control failed %d\n", + __LINE__); + return ret; + } + } + data->power_up = 1; + *preset_flag = 1; + vl53l0_dbgmsg("End\n"); + + return ret; +} + +int stmvl53l0_power_down_cci(void *cci_object) +{ + int ret = 0; + struct cci_data *data = (struct cci_data *)cci_object; + int i = 0; + struct gpio *gpio_tbl = NULL; + uint8_t gpio_tbl_size = 0; + + 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("CCI Release failed rc %d\n", ret); + + /* actual power down */ + if (data->device_type == MSM_CAMERA_PLATFORM_DEVICE) { + ret = stmvl53l0_vreg_control(data, 0); + if (ret < 0) { + vl53l0_errmsg + ("stmvl53l0_vreg_control failed %d\n", + __LINE__); + return ret; + } + } + + /* reset GPIO pins */ + gpio_tbl = data->gconf->cam_gpio_req_tbl; + gpio_tbl_size = data->gconf->cam_gpio_req_tbl_size; + if (gpio_tbl_size > 0) { + for (i = 0; i < gpio_tbl_size; i++) + gpio_set_value_cansleep(gpio_tbl[i].gpio, 0); + if (data->cam_pinctrl_status) { + ret = + pinctrl_select_state(data->pinctrl_info. + pinctrl, + data->pinctrl_info. + gpio_state_suspend); + if (ret < 0) { + vl53l0_errmsg( + "Error setting gpio pin to supsend state!\n"); + } + + devm_pinctrl_put(data->pinctrl_info.pinctrl); + data->cam_pinctrl_status = 0; + gpio_free_array(gpio_tbl, gpio_tbl_size); + } + } + } + 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"); +} +#endif /* end of CAMERA_CCI */ 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..0bff754de15b --- /dev/null +++ b/drivers/input/misc/vl53L0/stmvl53l0_module-i2c.c @@ -0,0 +1,266 @@ +/* + * stmvl53l0_module-i2c.c - 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. + */ +#include <linux/uaccess.h> +#include <linux/module.h> +#include <linux/init.h> +#include <linux/slab.h> +#include <linux/i2c.h> +#include <linux/mutex.h> +#include <linux/delay.h> +#include <linux/interrupt.h> +#include <linux/irq.h> +#include <linux/gpio.h> +#include <linux/input.h> +#include <linux/miscdevice.h> +#include <linux/kernel.h> +#include <linux/fs.h> +#include <linux/time.h> +#include <linux/platform_device.h> +/* + * power specific includes + */ +#include <linux/pwm.h> +#include <linux/regulator/consumer.h> +#include <linux/pinctrl/consumer.h> +#include <linux/clk.h> +#include <linux/of_gpio.h> +/* + * 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" +#ifndef CAMERA_CCI + +/* + * 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(dev, "vdd"); + if (IS_ERR(data->vana)) { + vl53l0_errmsg("vdd supply is not provided\n"); + ret = -1; + } + } + vl53l0_dbgmsg("End\n"); + + return ret; +} + +static int stmvl53l0_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + int rc = 0; + struct stmvl53l0_data *vl53l0_data = NULL; + struct i2c_data *i2c_object = NULL; + + vl53l0_dbgmsg("Enter\n"); + + if (!i2c_check_functionality(client->adapter, I2C_FUNC_SMBUS_BYTE)) { + rc = -EIO; + return rc; + } + + vl53l0_data = kzalloc(sizeof(struct stmvl53l0_data), GFP_KERNEL); + if (!vl53l0_data) { + rc = -ENOMEM; + return rc; + } + if (vl53l0_data) { + vl53l0_data->client_object = + kzalloc(sizeof(struct i2c_data), GFP_KERNEL); + i2c_object = (struct i2c_data *)vl53l0_data->client_object; + } + i2c_object->client = client; + + /* setup bus type */ + vl53l0_data->bus_type = I2C_BUS; + + /* 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); + + /* setup other stuff */ + rc = stmvl53l0_setup(vl53l0_data); + + /* init default value */ + i2c_object->power_up = 0; + + vl53l0_dbgmsg("End\n"); + return rc; +} + +static int stmvl53l0_remove(struct i2c_client *client) +{ + struct stmvl53l0_data *data = i2c_get_clientdata(client); + + vl53l0_dbgmsg("Enter\n"); + + /* Power down the device */ + stmvl53l0_power_down_i2c(data->client_object); + stmvl53l0_cleanup(data); + kfree(data->client_object); + kfree(data); + 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",}, + {}, +}; + +static struct i2c_driver stmvl53l0_driver = { + .driver = { + .name = STMVL53L0_DRV_NAME, + .owner = THIS_MODULE, + .of_match_table = st_stmvl53l0_dt_match, + }, + .probe = stmvl53l0_probe, + .remove = stmvl53l0_remove, + .id_table = stmvl53l0_id, + +}; + +int stmvl53l0_power_up_i2c(void *i2c_object, unsigned int *preset_flag) +{ + int ret = 0; +#ifndef STM_TEST + struct i2c_data *data = (struct i2c_data *)i2c_object; +#endif + + vl53l0_dbgmsg("Enter\n"); + + /* actual power on */ +#ifndef STM_TEST + 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); + + usleep_range(2950, 3000); + if (ret < 0) { + vl53l0_errmsg("reg enable(%p) failed.rc=%d\n", data->vana, ret); + return ret; + } + data->power_up = 1; + *preset_flag = 1; +#endif + + vl53l0_dbgmsg("End\n"); + return ret; +} + +int stmvl53l0_power_down_i2c(void *i2c_object) +{ + int ret = 0; +#ifndef STM_TEST + struct i2c_data *data = (struct i2c_data *)i2c_object; +#endif + + vl53l0_dbgmsg("Enter\n"); +#ifndef STM_TEST + usleep_range(2950, 3000); + ret = regulator_disable(data->vana); + if (ret < 0) + vl53l0_errmsg("reg disable(%p) failed.rc=%d\n", + data->vana, ret); + + data->power_up = 0; +#endif + + vl53l0_dbgmsg("End\n"); + return ret; +} + +int stmvl53l0_init_i2c(void) +{ + int ret = 0; + +#ifdef STM_TEST + struct i2c_client *client = NULL; + struct i2c_adapter *adapter; + struct i2c_board_info info = { + .type = "stmvl53l0", + .addr = STMVL53L0_SLAVE_ADDR, + }; +#endif + + vl53l0_dbgmsg("Enter\n"); + + /* register as a i2c client device */ + ret = i2c_add_driver(&stmvl53l0_driver); + if (ret) + vl53l0_errmsg("%d erro ret:%d\n", __LINE__, ret); + +#ifdef STM_TEST + if (!ret) { + adapter = i2c_get_adapter(4); + if (!adapter) + ret = -EINVAL; + else + client = i2c_new_device(adapter, &info); + if (!client) + ret = -EINVAL; + } +#endif + + vl53l0_dbgmsg("End with rc:%d\n", ret); + + return ret; +} + +void stmvl53l0_exit_i2c(void *i2c_object) +{ + vl53l0_dbgmsg("Enter\n"); + i2c_del_driver(&stmvl53l0_driver); + + vl53l0_dbgmsg("End\n"); +} + +#endif /* end of NOT CAMERA_CCI */ diff --git a/drivers/input/misc/vl53L0/stmvl53l0_module.c b/drivers/input/misc/vl53L0/stmvl53l0_module.c new file mode 100644 index 000000000000..f242e5f497d0 --- /dev/null +++ b/drivers/input/misc/vl53L0/stmvl53l0_module.c @@ -0,0 +1,2878 @@ +/* + * stmvl53l0_module.c - 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. + */ +#include <linux/uaccess.h> +#include <linux/module.h> +#include <linux/init.h> +#include <linux/slab.h> +#include <linux/i2c.h> +#include <linux/mutex.h> +#include <linux/delay.h> +#include <linux/interrupt.h> +#include <linux/irq.h> +#include <linux/gpio.h> +#include <linux/input.h> +#include <linux/miscdevice.h> +#include <linux/kernel.h> +#include <linux/fs.h> +#include <linux/time.h> +#include <linux/platform_device.h> +#include <linux/kobject.h> +#include <linux/kthread.h> +/* + * API includes + */ +#include "vl53l0_api.h" +#include "vl53l010_api.h" + +/*#define USE_INT */ +#define IRQ_NUM 59 +/* #define DEBUG_TIME_LOG */ +#ifdef DEBUG_TIME_LOG +struct timeval start_tv, stop_tv; +#endif + +/* + * Global data + */ + +#ifdef CAMERA_CCI +static struct stmvl53l0_module_fn_t stmvl53l0_module_func_tbl = { + .init = stmvl53l0_init_cci, + .deinit = stmvl53l0_exit_cci, + .power_up = stmvl53l0_power_up_cci, + .power_down = stmvl53l0_power_down_cci, +}; +#else +static struct stmvl53l0_module_fn_t stmvl53l0_module_func_tbl = { + .init = stmvl53l0_init_i2c, + .deinit = stmvl53l0_exit_i2c, + .power_up = stmvl53l0_power_up_i2c, + .power_down = stmvl53l0_power_down_i2c, +}; +#endif +struct stmvl53l0_module_fn_t *pmodule_func_tbl; + +struct stmvl53l0_api_fn_t { + int8_t (*GetVersion)(VL53L0_Version_t *pVersion); + int8_t (*GetPalSpecVersion)(VL53L0_Version_t *pPalSpecVersion); + + int8_t (*GetProductRevision)(VL53L0_DEV Dev, + uint8_t *pProductRevisionMajor, + uint8_t *pProductRevisionMinor); + int8_t (*GetDeviceInfo)(VL53L0_DEV Dev, + VL53L0_DeviceInfo_t *pVL53L0_DeviceInfo); + int8_t (*GetDeviceErrorStatus)(VL53L0_DEV Dev, + VL53L0_DeviceError *pDeviceErrorStatus); + int8_t (*GetRangeStatusString)(uint8_t RangeStatus, + char *pRangeStatusString); + int8_t (*GetDeviceErrorString)(VL53L0_DeviceError ErrorCode, + char *pDeviceErrorString); + int8_t (*GetPalErrorString)(VL53L0_Error PalErrorCode, + char *pPalErrorString); + int8_t (*GetPalStateString)(VL53L0_State PalStateCode, + char *pPalStateString); + int8_t (*GetPalState)(VL53L0_DEV Dev, VL53L0_State *pPalState); + int8_t (*SetPowerMode)(VL53L0_DEV Dev, + VL53L0_PowerModes PowerMode); + int8_t (*GetPowerMode)(VL53L0_DEV Dev, + VL53L0_PowerModes *pPowerMode); + int8_t (*SetOffsetCalibrationDataMicroMeter)(VL53L0_DEV Dev, + int32_t OffsetCalibrationDataMicroMeter); + int8_t (*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); + int8_t (*SetGroupParamHold)(VL53L0_DEV Dev, + uint8_t GroupParamHold); + int8_t (*GetUpperLimitMilliMeter)(VL53L0_DEV Dev, + uint16_t *pUpperLimitMilliMeter); + int8_t (*SetDeviceAddress)(VL53L0_DEV Dev, + uint8_t DeviceAddress); + int8_t (*DataInit)(VL53L0_DEV Dev); + int8_t (*SetTuningSettingBuffer)(VL53L0_DEV Dev, + uint8_t *pTuningSettingBuffer, + uint8_t UseInternalTuningSettings); + int8_t (*GetTuningSettingBuffer)(VL53L0_DEV Dev, + uint8_t **pTuningSettingBuffer, + uint8_t *pUseInternalTuningSettings); + int8_t (*StaticInit)(VL53L0_DEV Dev); + int8_t (*WaitDeviceBooted)(VL53L0_DEV Dev); + int8_t (*ResetDevice)(VL53L0_DEV Dev); + int8_t (*SetDeviceParameters)(VL53L0_DEV Dev, + const VL53L0_DeviceParameters_t *pDeviceParameters); + int8_t (*GetDeviceParameters)(VL53L0_DEV Dev, + VL53L0_DeviceParameters_t *pDeviceParameters); + int8_t (*SetDeviceMode)(VL53L0_DEV Dev, + VL53L0_DeviceModes DeviceMode); + int8_t (*GetDeviceMode)(VL53L0_DEV Dev, + VL53L0_DeviceModes *pDeviceMode); + int8_t (*SetHistogramMode)(VL53L0_DEV Dev, + VL53L0_HistogramModes HistogramMode); + int8_t (*GetHistogramMode)(VL53L0_DEV Dev, + VL53L0_HistogramModes *pHistogramMode); + int8_t (*SetMeasurementTimingBudgetMicroSeconds)(VL53L0_DEV Dev, + uint32_t MeasurementTimingBudgetMicroSeconds); + int8_t (*GetMeasurementTimingBudgetMicroSeconds)( + VL53L0_DEV Dev, + uint32_t *pMeasurementTimingBudgetMicroSeconds); + int8_t (*GetVcselPulsePeriod)(VL53L0_DEV Dev, + VL53L0_VcselPeriod VcselPeriodType, + uint8_t *pVCSELPulsePeriod); + int8_t (*SetVcselPulsePeriod)(VL53L0_DEV Dev, + VL53L0_VcselPeriod VcselPeriodType, + uint8_t VCSELPulsePeriod); + int8_t (*SetSequenceStepEnable)(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, + uint8_t SequenceStepEnabled); + int8_t (*GetSequenceStepEnable)(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, + uint8_t *pSequenceStepEnabled); + int8_t (*GetSequenceStepEnables)(VL53L0_DEV Dev, + VL53L0_SchedulerSequenceSteps_t *pSchedulerSequenceSteps); + int8_t (*SetSequenceStepTimeout)(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, + FixPoint1616_t TimeOutMilliSecs); + int8_t (*GetSequenceStepTimeout)(VL53L0_DEV Dev, + VL53L0_SequenceStepId SequenceStepId, + FixPoint1616_t *pTimeOutMilliSecs); + int8_t (*GetNumberOfSequenceSteps)(VL53L0_DEV Dev, + uint8_t *pNumberOfSequenceSteps); + int8_t (*GetSequenceStepsInfo)( + VL53L0_SequenceStepId SequenceStepId, + char *pSequenceStepsString); + int8_t (*SetInterMeasurementPeriodMilliSeconds)( + VL53L0_DEV Dev, + uint32_t InterMeasurementPeriodMilliSeconds); + int8_t (*GetInterMeasurementPeriodMilliSeconds)( + VL53L0_DEV Dev, + uint32_t *pInterMeasurementPeriodMilliSeconds); + int8_t (*SetXTalkCompensationEnable)(VL53L0_DEV Dev, + uint8_t XTalkCompensationEnable); + int8_t (*GetXTalkCompensationEnable)(VL53L0_DEV Dev, + uint8_t *pXTalkCompensationEnable); + int8_t (*SetXTalkCompensationRateMegaCps)( + VL53L0_DEV Dev, + FixPoint1616_t XTalkCompensationRateMegaCps); + int8_t (*GetXTalkCompensationRateMegaCps)( + VL53L0_DEV Dev, + FixPoint1616_t *pXTalkCompensationRateMegaCps); + int8_t (*GetNumberOfLimitCheck)( + uint16_t *pNumberOfLimitCheck); + int8_t (*GetLimitCheckInfo)(VL53L0_DEV Dev, + uint16_t LimitCheckId, char *pLimitCheckString); + int8_t (*SetLimitCheckEnable)(VL53L0_DEV Dev, + uint16_t LimitCheckId, + uint8_t LimitCheckEnable); + int8_t (*GetLimitCheckEnable)(VL53L0_DEV Dev, + uint16_t LimitCheckId, uint8_t *pLimitCheckEnable); + int8_t (*SetLimitCheckValue)(VL53L0_DEV Dev, + uint16_t LimitCheckId, + FixPoint1616_t LimitCheckValue); + int8_t (*GetLimitCheckValue)(VL53L0_DEV Dev, + uint16_t LimitCheckId, + FixPoint1616_t *pLimitCheckValue); + int8_t (*GetLimitCheckCurrent)(VL53L0_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckCurrent); + int8_t (*SetWrapAroundCheckEnable)(VL53L0_DEV Dev, + uint8_t WrapAroundCheckEnable); + int8_t (*GetWrapAroundCheckEnable)(VL53L0_DEV Dev, + uint8_t *pWrapAroundCheckEnable); + int8_t (*PerformSingleMeasurement)(VL53L0_DEV Dev); + int8_t (*PerformRefCalibration)(VL53L0_DEV Dev, + uint8_t *pVhvSettings, uint8_t *pPhaseCal); + int8_t (*SetRefCalibration)(VL53L0_DEV Dev, + uint8_t VhvSettings, + uint8_t PhaseCal); + int8_t (*GetRefCalibration)(VL53L0_DEV Dev, + uint8_t *pVhvSettings, + uint8_t *pPhaseCal); + int8_t (*PerformXTalkCalibration)(VL53L0_DEV Dev, + FixPoint1616_t XTalkCalDistance, + FixPoint1616_t *pXTalkCompensationRateMegaCps); + int8_t (*PerformOffsetCalibration)(VL53L0_DEV Dev, + FixPoint1616_t CalDistanceMilliMeter, + int32_t *pOffsetMicroMeter); + int8_t (*StartMeasurement)(VL53L0_DEV Dev); + int8_t (*StopMeasurement)(VL53L0_DEV Dev); + int8_t (*GetMeasurementDataReady)(VL53L0_DEV Dev, + uint8_t *pMeasurementDataReady); + int8_t (*WaitDeviceReadyForNewMeasurement)(VL53L0_DEV Dev, + uint32_t MaxLoop); + int8_t (*GetRangingMeasurementData)(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData); + int8_t (*GetHistogramMeasurementData)(VL53L0_DEV Dev, + VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData); + int8_t (*PerformSingleRangingMeasurement)(VL53L0_DEV Dev, + VL53L0_RangingMeasurementData_t *pRangingMeasurementData); + int8_t (*PerformSingleHistogramMeasurement)(VL53L0_DEV Dev, + VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData); + int8_t (*SetNumberOfROIZones)(VL53L0_DEV Dev, + uint8_t NumberOfROIZones); + int8_t (*GetNumberOfROIZones)(VL53L0_DEV Dev, + uint8_t *pNumberOfROIZones); + int8_t (*GetMaxNumberOfROIZones)(VL53L0_DEV Dev, + uint8_t *pMaxNumberOfROIZones); + int8_t (*SetGpioConfig)(VL53L0_DEV Dev, + uint8_t Pin, + VL53L0_DeviceModes DeviceMode, + VL53L0_GpioFunctionality Functionality, + VL53L0_InterruptPolarity Polarity); + int8_t (*GetGpioConfig)(VL53L0_DEV Dev, + uint8_t Pin, + VL53L0_DeviceModes *pDeviceMode, + VL53L0_GpioFunctionality *pFunctionality, + VL53L0_InterruptPolarity *pPolarity); + int8_t (*SetInterruptThresholds)(VL53L0_DEV Dev, + VL53L0_DeviceModes DeviceMode, + FixPoint1616_t ThresholdLow, + FixPoint1616_t ThresholdHigh); + int8_t (*GetInterruptThresholds)(VL53L0_DEV Dev, + VL53L0_DeviceModes DeviceMode, + FixPoint1616_t *pThresholdLow, + FixPoint1616_t *pThresholdHigh); + int8_t (*ClearInterruptMask)(VL53L0_DEV Dev, + uint32_t InterruptMask); + int8_t (*GetInterruptMaskStatus)(VL53L0_DEV Dev, + uint32_t *pInterruptMaskStatus); + int8_t (*EnableInterruptMask)(VL53L0_DEV Dev, uint32_t InterruptMask); + int8_t (*SetSpadAmbientDamperThreshold)(VL53L0_DEV Dev, + uint16_t SpadAmbientDamperThreshold); + int8_t (*GetSpadAmbientDamperThreshold)(VL53L0_DEV Dev, + uint16_t *pSpadAmbientDamperThreshold); + int8_t (*SetSpadAmbientDamperFactor)(VL53L0_DEV Dev, + uint16_t SpadAmbientDamperFactor); + int8_t (*GetSpadAmbientDamperFactor)(VL53L0_DEV Dev, + uint16_t *pSpadAmbientDamperFactor); + int8_t (*PerformRefSpadManagement)(VL53L0_DEV Dev, + uint32_t *refSpadCount, uint8_t *isApertureSpads); + int8_t (*SetReferenceSpads)(VL53L0_DEV Dev, + uint32_t count, uint8_t isApertureSpads); + int8_t (*GetReferenceSpads)(VL53L0_DEV Dev, + uint32_t *pSpadCount, uint8_t *pIsApertureSpads); +}; + +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, + .SetRefCalibration = VL53L0_SetRefCalibration, + .GetRefCalibration = VL53L0_GetRefCalibration, + .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, + .SetReferenceSpads = VL53L0_SetReferenceSpads, + .GetReferenceSpads = VL53L0_GetReferenceSpads, + +}; +struct stmvl53l0_api_fn_t *papi_func_tbl; + +/* + * IOCTL definitions + */ +#define VL53L0_IOCTL_INIT _IO('p', 0x01) +#define VL53L0_IOCTL_XTALKCALB _IOW('p', 0x02, unsigned int) +#define VL53L0_IOCTL_OFFCALB _IOW('p', 0x03, unsigned int) +#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_ACTIVATE_USE_CASE _IOW('p', 0x08, uint8_t) +#define VL53L0_IOCTL_ACTIVATE_CUSTOM_USE_CASE \ + _IOW('p', 0x09, struct stmvl53l0_custom_use_case) + +#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) + + +/* Mask fields to indicate Offset and Xtalk Comp + * values have been set by application + */ +#define SET_OFFSET_CALIB_DATA_MICROMETER_MASK 0x1 +#define SET_XTALK_COMP_RATE_MCPS_MASK 0x2 + +/* Macros used across different functions */ +#define USE_CASE_LONG_DISTANCE 1 +#define USE_CASE_HIGH_ACCURACY 2 +#define USE_CASE_HIGH_SPEED 3 +#define USE_CASE_CUSTOM 4 + +#define LONG_DISTANCE_TIMING_BUDGET 26000 +#define LONG_DISTANCE_SIGNAL_RATE_LIMIT (65536 / 10) /* 0.1 */ +#define LONG_DISTANCE_SIGMA_LIMIT (60*65536) +#define LONG_DISTANCE_PRE_RANGE_PULSE_PERIOD 18 +#define LONG_DISTANCE_FINAL_RANGE_PULSE_PERIOD 14 + + + +#define HIGH_ACCURACY_TIMING_BUDGET 200000 +#define HIGH_ACCURACY_SIGNAL_RATE_LIMIT (25 * 65536 / 100) /*0.25*/ +#define HIGH_ACCURACY_SIGMA_LIMIT (18*65536) +#define HIGH_ACCURACY_PRE_RANGE_PULSE_PERIOD 14 +#define HIGH_ACCURACY_FINAL_RANGE_PULSE_PERIOD 10 + + + +#define HIGH_SPEED_TIMING_BUDGET 20000 +#define HIGH_SPEED_SIGNAL_RATE_LIMIT (25 * 65536 / 100) /* 0.25 */ +#define HIGH_SPEED_SIGMA_LIMIT (32*65536) +#define HIGH_SPEED_PRE_RANGE_PULSE_PERIOD 14 +#define HIGH_SPEED_FINAL_RANGE_PULSE_PERIOD 10 + + + + + +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_init_client(struct stmvl53l0_data *data); +static int stmvl53l0_start(struct stmvl53l0_data *data, uint8_t scaling, + init_mode_e mode); +static int stmvl53l0_stop(struct stmvl53l0_data *data); +static int stmvl53l0_config_use_case(struct stmvl53l0_data *data); + +#ifdef DEBUG_TIME_LOG +static void stmvl53l0_DebugTimeGet(struct timeval *ptv) +{ + do_gettimeofday(ptv); +} + +static void stmvl53l0_DebugTimeDuration(struct timeval *pstart_tv, + struct timeval *pstop_tv) +{ + long total_sec, total_msec; + + total_sec = pstop_tv->tv_sec - pstart_tv->tv_sec; + total_msec = (pstop_tv->tv_usec - pstart_tv->tv_usec)/1000; + total_msec += total_sec * 1000; + pr_err("elapsedTime:%ld\n", total_msec); +} +#endif + +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; + 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->GetRangeStatusString = + VL53L0_GetRangeStatusString; + 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->SetRefCalibration = + VL53L0_SetRefCalibration; + papi_func_tbl->GetRefCalibration = + VL53L0_GetRefCalibration; + 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; + papi_func_tbl->SetReferenceSpads = VL53L0_SetReferenceSpads; + papi_func_tbl->GetReferenceSpads = VL53L0_GetReferenceSpads; + } 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->GetProductRevision = NULL;*/ + 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->PerformRefCalibration = + * VL53L010_PerformRefCalibration; + */ + papi_func_tbl->PerformRefCalibration = NULL; + papi_func_tbl->SetRefCalibration = NULL; + papi_func_tbl->GetRefCalibration = NULL; + 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; + papi_func_tbl->PerformRefSpadManagement = NULL; + papi_func_tbl->SetReferenceSpads = NULL; + papi_func_tbl->GetReferenceSpads = NULL; + } + +} + +static void stmvl53l0_ps_read_measurement(struct stmvl53l0_data *data) +{ + struct timeval tv; + VL53L0_DEV vl53l0_dev = data; + VL53L0_Error Status = VL53L0_ERROR_NONE; + FixPoint1616_t LimitCheckCurrent; + + do_gettimeofday(&tv); + + data->ps_data = data->rangeData.RangeMilliMeter; + 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); + Status = papi_func_tbl->GetLimitCheckCurrent(vl53l0_dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + &LimitCheckCurrent); + if (Status == VL53L0_ERROR_NONE) { + input_report_abs(data->input_dev_ps, ABS_WHEEL, + LimitCheckCurrent); + } + input_report_abs(data->input_dev_ps, ABS_PRESSURE, + data->rangeData.EffectiveSpadRtnCount); + input_sync(data->input_dev_ps); + + if (data->enableDebug) + vl53l0_errmsg( +"range:%d, RtnRateMcps:%d,err:0x%x,Dmax:%d,rtnambr:%d,time:%d,Spad:%d,SigmaLimit:%d\n", + data->rangeData.RangeMilliMeter, + data->rangeData.SignalRateRtnMegaCps, + data->rangeData.RangeStatus, + data->rangeData.RangeDMaxMilliMeter, + data->rangeData.AmbientRateRtnMegaCps, + data->rangeData.MeasurementTimeUsec, + data->rangeData.EffectiveSpadRtnCount, + LimitCheckCurrent + ); + + +} + +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("cancel_delayed_work return FALSE\n"); + + spin_unlock_irqrestore(&data->update_lock.wait_lock, flags); + +} + +void stmvl53l0_schedule_handler(struct stmvl53l0_data *data) +{ + unsigned long flags; + + 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. + */ + cancel_delayed_work(&data->dwork); + schedule_delayed_work(&data->dwork, 0); + spin_unlock_irqrestore(&data->update_lock.wait_lock, flags); + +} + + +#ifdef USE_INT +static irqreturn_t stmvl53l0_interrupt_handler(int vec, void *info) +{ + + struct stmvl53l0_data *data = (struct stmvl53l0_data *)info; + + if (data->irq == vec) { + data->interrupt_received = 1; + schedule_delayed_work(&data->dwork, 0); + } + return IRQ_HANDLED; +} +#else +/* Flag used to exit the thread when kthread_stop() is invoked */ +static int poll_thread_exit; +int stmvl53l0_poll_thread(void *data) +{ + VL53L0_DEV vl53l0_dev = data; + VL53L0_Error Status = VL53L0_ERROR_NONE; + uint32_t sleep_time = 0; + uint32_t interruptStatus = 0; + + pr_err("%s(%d) : Starting Polling thread\n", __func__, __LINE__); + + while (!kthread_should_stop()) { + /* Check if enable_ps_sensor is true or exit request is made. + * If not block + */ + wait_event(vl53l0_dev->poll_thread_wq, + (vl53l0_dev->enable_ps_sensor || poll_thread_exit)); + if (poll_thread_exit) { + pr_err( + "%s(%d) : Exiting the poll thread\n", __func__, __LINE__); + break; + } + + mutex_lock(&vl53l0_dev->work_mutex); + + sleep_time = vl53l0_dev->delay_ms; + Status = VL53L0_GetInterruptMaskStatus(vl53l0_dev, + &interruptStatus); + if (Status == VL53L0_ERROR_NONE && + interruptStatus && + interruptStatus != vl53l0_dev->interruptStatus) { + vl53l0_dev->interruptStatus = interruptStatus; + vl53l0_dev->noInterruptCount = 0; + stmvl53l0_schedule_handler(vl53l0_dev); + } else { + vl53l0_dev->noInterruptCount++; + } + + /*Force Clear interrupt mask and restart if + *no interrupt after twice the timingBudget + */ + if ((vl53l0_dev->noInterruptCount * vl53l0_dev->delay_ms) > + (vl53l0_dev->timingBudget * 2)) { + pr_err("No interrupt after (%u) msec(TimingBudget = %u) . Clear Interrupt Mask and restart\n", + (vl53l0_dev->noInterruptCount * + vl53l0_dev->delay_ms), + vl53l0_dev->timingBudget); + Status = papi_func_tbl->ClearInterruptMask(vl53l0_dev, + 0); + if (vl53l0_dev->deviceMode == + VL53L0_DEVICEMODE_SINGLE_RANGING) { + Status = papi_func_tbl->StartMeasurement( + vl53l0_dev); + if (Status != VL53L0_ERROR_NONE) { + pr_err("%s(%d) : Status = %d\n", + __func__, __LINE__, Status); + } + } + } + mutex_unlock(&vl53l0_dev->work_mutex); + /* Sleep for delay_ms milliseconds */ + msleep(sleep_time); + } + + return 0; +} +#endif + +/* work handler */ +static void stmvl53l0_work_handler(struct work_struct *work) +{ + struct stmvl53l0_data *data = container_of(work, struct stmvl53l0_data, + dwork.work); + VL53L0_DEV vl53l0_dev = data; + + VL53L0_Error Status = VL53L0_ERROR_NONE; + + mutex_lock(&data->work_mutex); + /* vl53l0_dbgmsg("Enter\n"); */ + + + if (vl53l0_dev->enable_ps_sensor == 1) { +#ifdef DEBUG_TIME_LOG + stmvl53l0_DebugTimeGet(&stop_tv); + stmvl53l0_DebugTimeDuration(&start_tv, &stop_tv); +#endif + /* Check if ISR has scheduled this function */ + if (vl53l0_dev->interrupt_received == 1) { + Status = papi_func_tbl->GetInterruptMaskStatus( + vl53l0_dev, + &vl53l0_dev->interruptStatus); + if (Status != VL53L0_ERROR_NONE) + pr_err("%s(%d) : Status = %d\n", + __func__, __LINE__, Status); + vl53l0_dev->interrupt_received = 0; + } + if (data->enableDebug) + pr_err("interruptStatus:0x%x, interrupt_received:%d\n", + vl53l0_dev->interruptStatus, + vl53l0_dev->interrupt_received); + + if (vl53l0_dev->interruptStatus == vl53l0_dev->gpio_function) { + Status = + papi_func_tbl->GetRangingMeasurementData( + vl53l0_dev, + &(data->rangeData)); + /* to push the measurement */ + if (Status == VL53L0_ERROR_NONE) + stmvl53l0_ps_read_measurement(data); + else + pr_err("%s(%d) : Status = %d\n", + __func__, __LINE__, Status); + + if (data->enableDebug) + pr_err("Measured range:%d\n", + data->rangeData.RangeMilliMeter); + + Status = papi_func_tbl->ClearInterruptMask( + vl53l0_dev, 0); + if (Status != VL53L0_ERROR_NONE) { + pr_err("%s(%d) : Status = %d\n", + __func__, __LINE__, Status); + } + + if (data->deviceMode == + VL53L0_DEVICEMODE_SINGLE_RANGING) { + /* Before restarting measurement + * check if use case needs to be changed + */ + + if (data->updateUseCase) { + Status = + stmvl53l0_config_use_case(data); + if (Status != + VL53L0_ERROR_NONE) { + vl53l0_errmsg( + "Failed to configure Use case = %u\n", + vl53l0_dev->useCase); + } else { + data->updateUseCase = 0; + } + } + Status = + papi_func_tbl->StartMeasurement( + vl53l0_dev); + } + } +#ifdef DEBUG_TIME_LOG + stmvl53l0_DebugTimeGet(&start_tv); +#endif + + } + + + vl53l0_dev->interruptStatus = 0; + + mutex_unlock(&data->work_mutex); + +} + + +/* + * SysFS support + */ +static ssize_t stmvl53l0_show_enable_ps_sensor(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l0_data *data = dev_get_drvdata(dev); + + return snprintf(buf, 5, "%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 = dev_get_drvdata(dev); + unsigned long val = 0; + + int ret = kstrtoul(buf, 10, &val); + + if (ret != 0) + return ret; + + if ((val != 0) && (val != 1)) { + vl53l0_errmsg("store unvalid value = %lu\n", val); + return count; + } + mutex_lock(&data->work_mutex); + vl53l0_dbgmsg("Enter, enable_ps_sensor flag:%d\n", + data->enable_ps_sensor); + vl53l0_dbgmsg("enable ps senosr ( %ld)\n", val); + + if (val == 1) { + /* turn on tof sensor */ + if (data->enable_ps_sensor == 0) { + /* to start */ + stmvl53l0_start(data, 3, NORMAL_MODE); + } else { + vl53l0_errmsg("Already enabled. Skip !"); + } + } else { + /* turn off tof sensor */ + if (data->enable_ps_sensor == 1) { + data->enable_ps_sensor = 0; + /* to stop */ + stmvl53l0_stop(data); + } + } + vl53l0_dbgmsg("End\n"); + mutex_unlock(&data->work_mutex); + + return count; +} + +static DEVICE_ATTR(enable_ps_sensor, 0664/*S_IWUGO | S_IRUGO*/, + stmvl53l0_show_enable_ps_sensor, + stmvl53l0_store_enable_ps_sensor); + +static ssize_t stmvl53l0_show_enable_debug(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l0_data *data = dev_get_drvdata(dev); + + return snprintf(buf, 5, "%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 = dev_get_drvdata(dev); + unsigned long on = 0; + + int ret = kstrtoul(buf, 10, &on); + + if (ret != 0) + return ret; + + if ((on != 0) && (on != 1)) { + vl53l0_errmsg("set debug=%lu\n", on); + return count; + } + data->enableDebug = on; + + return count; +} + +/* DEVICE_ATTR(name,mode,show,store) */ +static DEVICE_ATTR(enable_debug, 0660/*S_IWUSR | S_IRUGO*/, + stmvl53l0_show_enable_debug, + stmvl53l0_store_enable_debug); + +static ssize_t stmvl53l0_show_set_delay_ms(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l0_data *data = dev_get_drvdata(dev); + + return snprintf(buf, 5, "%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 = dev_get_drvdata(dev); + unsigned long delay_ms = 0; + + int ret = kstrtoul(buf, 10, &delay_ms); + + if (ret != 0) + return ret; + if (delay_ms == 0) { + vl53l0_errmsg("set delay_ms=%lu\n", 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, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l0_show_set_delay_ms, + stmvl53l0_store_set_delay_ms); + +/* Timing Budget */ +static ssize_t stmvl53l0_show_timing_budget(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l0_data *data = dev_get_drvdata(dev); + + return snprintf(buf, 10, "%d\n", data->timingBudget); +} + +static ssize_t stmvl53l0_store_set_timing_budget(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l0_data *data = dev_get_drvdata(dev); + unsigned long timingBudget = 0; + int ret = kstrtoul(buf, 10, &timingBudget); + + if (ret != 0) + return ret; + if (timingBudget == 0) { + vl53l0_errmsg("set timingBudget=%lu\n", timingBudget); + return count; + } + mutex_lock(&data->work_mutex); + data->timingBudget = timingBudget; + mutex_unlock(&data->work_mutex); + + return count; +} + +/* DEVICE_ATTR(name,mode,show,store) */ +static DEVICE_ATTR(set_timing_budget, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l0_show_timing_budget, + stmvl53l0_store_set_timing_budget); + + +/* Use case */ +static ssize_t stmvl53l0_show_use_case(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l0_data *data = dev_get_drvdata(dev); + + switch (data->useCase) { + case USE_CASE_LONG_DISTANCE: + return snprintf(buf, 20, "Long Distance\n"); + case USE_CASE_HIGH_ACCURACY: + return snprintf(buf, 20, "High Accuracy\n"); + case USE_CASE_HIGH_SPEED: + return snprintf(buf, 20, "High Speed\n"); + default: + break; + } + + return snprintf(buf, 25, "Unknown use case\n"); +} + +static ssize_t stmvl53l0_store_set_use_case(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l0_data *data = dev_get_drvdata(dev); + unsigned long useCase = 0; + int ret = kstrtoul(buf, 10, &useCase); + + if (ret != 0) + return ret; + + + mutex_lock(&data->work_mutex); + + if (useCase == USE_CASE_LONG_DISTANCE) { + data->timingBudget = LONG_DISTANCE_TIMING_BUDGET; + } else if (useCase == USE_CASE_HIGH_SPEED) { + data->timingBudget = HIGH_SPEED_TIMING_BUDGET; + } else if (useCase == USE_CASE_HIGH_ACCURACY) { + data->timingBudget = HIGH_ACCURACY_TIMING_BUDGET; + } else { + count = -EINVAL; + mutex_unlock(&data->work_mutex); + return count; + } + + data->useCase = useCase; + mutex_unlock(&data->work_mutex); + + return count; +} + +/* DEVICE_ATTR(name,mode,show,store) */ +static DEVICE_ATTR(set_use_case, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l0_show_use_case, + stmvl53l0_store_set_use_case); + + +/* Get Current configuration info */ +static ssize_t stmvl53l0_show_current_configuration(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l0_data *vl53l0_dev = dev_get_drvdata(dev); + VL53L0_Error Status = VL53L0_ERROR_NONE; + int ret = -1; + FixPoint1616_t LimitValue = 0; + uint8_t LimitEnable = 0; + uint32_t refSpadCount = 0; + uint8_t isApertureSpads = 0; + uint8_t VhvSettings = 0; + uint8_t PhaseCal = 0; + uint8_t pulsePeriod = 0; + uint32_t timingBudget = 0; + int32_t offsetCalibrationDataMicroMeter = -1; + uint8_t XTalkCompensationEnable = 0; + FixPoint1616_t xTalkCompensationRateMegaCps = 0; + + + ret = scnprintf(buf, PAGE_SIZE, "VL53L0 current configuration:\n"); + + mutex_lock(&vl53l0_dev->work_mutex); + pr_err("Driver Config:UseCase:%d, offsetCalDistance:%u,xtalkCalDistance:%u,setCalibratedValue:0x%X\n", + vl53l0_dev->useCase, vl53l0_dev->offsetCalDistance, + vl53l0_dev->xtalkCalDistance, + vl53l0_dev->setCalibratedValue); + + ret += scnprintf(buf + ret, PAGE_SIZE - ret, + "Driver Config:UseCase:%d, offsetCalDistance:%u,xtalkCalDistance:%u,setCalibratedValue:0x%X\n", + vl53l0_dev->useCase, + vl53l0_dev->offsetCalDistance, + vl53l0_dev->xtalkCalDistance, + vl53l0_dev->setCalibratedValue); + + if (vl53l0_dev->useCase == USE_CASE_CUSTOM) { + pr_err("CustomUseCase : Sigma=%u :Signal=%u: Pre=%u :Final=%u\n", + vl53l0_dev->sigmaLimit, + vl53l0_dev->signalRateLimit, + vl53l0_dev->preRangePulsePeriod, + vl53l0_dev->finalRangePulsePeriod); + + ret += scnprintf(buf + ret, PAGE_SIZE - ret, + "CustomUseCase : Sigma=%u :Signal=%u: Pre=%u :Final=%u\n", + vl53l0_dev->sigmaLimit, + vl53l0_dev->signalRateLimit, + vl53l0_dev->preRangePulsePeriod, + vl53l0_dev->finalRangePulsePeriod); + } + + + Status = papi_func_tbl->GetLimitCheckValue(vl53l0_dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + &LimitValue); + + if (Status == VL53L0_ERROR_NONE) { + Status = papi_func_tbl->GetLimitCheckEnable(vl53l0_dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + &LimitEnable); + } + + if (Status == VL53L0_ERROR_NONE) { + pr_err("Get LimitCheckValue SIGMA_FINAL_RANGE as:%d,Enable:%d\n", + (LimitValue>>16), LimitEnable); + ret += scnprintf(buf + ret, PAGE_SIZE - ret, + "Sigma Limit:%u, Enable:%u\n", + (LimitValue>>16), + LimitEnable); + 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); + } + + if (Status == VL53L0_ERROR_NONE) { + pr_err("Get LimitCheckValue SIGNAL_FINAL_RANGE as:%d(Fix1616),Enable:%d\n", + (LimitValue), LimitEnable); + ret += scnprintf(buf + ret, PAGE_SIZE - ret, + "SIGNAL Limit:%u, Enable:%u\n", + LimitValue, + LimitEnable); + + 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); + + } + + if (Status == VL53L0_ERROR_NONE) { + pr_err("Get LimitCheckValue SIGNAL_REF_CLIP as:%d(fix1616),Enable:%d\n", + (LimitValue), LimitEnable); + ret += scnprintf(buf + ret, PAGE_SIZE - ret, + "RefClipLimit:%u, Enable:%u\n", + LimitValue, + LimitEnable); + + 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); + } + + if (Status == VL53L0_ERROR_NONE) { + pr_err( + "Get LimitCheckValue RANGE_IGNORE_THRESHOLDas:%d(fix1616),Enable:%d\n", + (LimitValue), + LimitEnable); + ret += scnprintf(buf + ret, PAGE_SIZE - ret, + "RngIgnoreThresh:%u, Enable:%u\n", + LimitValue, + LimitEnable); + + Status = papi_func_tbl->GetRefCalibration(vl53l0_dev, + &VhvSettings, &PhaseCal); /* Ref calibration */ + + + } + + if (Status == VL53L0_ERROR_NONE) { + pr_err("GetRefCalibration - Vhv = %u, PhaseCal = %u\n", + VhvSettings, PhaseCal); + ret += scnprintf(buf + ret, PAGE_SIZE - ret, + "Vhv:%u, PhCal:%u\n", + VhvSettings, + PhaseCal); + + /* Ref Spad Management */ + Status = papi_func_tbl->GetReferenceSpads(vl53l0_dev, + &refSpadCount, &isApertureSpads); + } + + if (Status == VL53L0_ERROR_NONE) { + pr_err("GetSpads - Count = %u, IsAperture = %u\n", + refSpadCount, isApertureSpads); + ret += scnprintf(buf + ret, PAGE_SIZE - ret, + "SpadCount:%u, IsAperture:%u\n", + refSpadCount, + isApertureSpads); + + Status = papi_func_tbl->GetMeasurementTimingBudgetMicroSeconds( + vl53l0_dev, + &timingBudget); + } + + if (Status == VL53L0_ERROR_NONE) { + pr_err("TimingBudget = %u\n", timingBudget); + ret += scnprintf(buf + ret, PAGE_SIZE - ret, "TimBudget:%u\n", + timingBudget); + Status = papi_func_tbl->GetVcselPulsePeriod(vl53l0_dev, + VL53L0_VCSEL_PERIOD_PRE_RANGE, + &pulsePeriod); + } + + if (Status == VL53L0_ERROR_NONE) { + pr_err("GetVcselPulsePeriod - PRE_RANGE = %u\n", + pulsePeriod); + ret += scnprintf(buf + ret, PAGE_SIZE - ret, + "PulsePreRange:%u\n", + pulsePeriod); + + Status = papi_func_tbl->GetVcselPulsePeriod(vl53l0_dev, + VL53L0_VCSEL_PERIOD_FINAL_RANGE, + &pulsePeriod); + } + + if (Status == VL53L0_ERROR_NONE) { + pr_err("GetVcselPulsePeriod - FINAL_RANGE = %u\n", + pulsePeriod); + ret += scnprintf(buf + ret, PAGE_SIZE - ret, + "PulseFinalRange:%u\n", + pulsePeriod); + + Status = papi_func_tbl->GetOffsetCalibrationDataMicroMeter( + vl53l0_dev, + &offsetCalibrationDataMicroMeter); + } + + if (Status == VL53L0_ERROR_NONE) { + pr_err("OffsetCalibrationDataMicroMeter = %d\n", + offsetCalibrationDataMicroMeter); + ret += scnprintf(buf + ret, PAGE_SIZE - ret, "Offset:%d\n", + offsetCalibrationDataMicroMeter); + + Status = papi_func_tbl->GetXTalkCompensationEnable(vl53l0_dev, + &XTalkCompensationEnable); + } + + if (Status == VL53L0_ERROR_NONE) { + pr_err("Xtalk Enable = %u\n", XTalkCompensationEnable); + ret += scnprintf(buf + ret, PAGE_SIZE - ret, "XtalkEnable:%u\n", + XTalkCompensationEnable); + + Status = papi_func_tbl->GetXTalkCompensationRateMegaCps( + vl53l0_dev, + &xTalkCompensationRateMegaCps); + } + + + if (Status == VL53L0_ERROR_NONE) { + pr_err("XtalkComp MCPS = %u\n", xTalkCompensationRateMegaCps); + ret += scnprintf(buf + ret, PAGE_SIZE - ret, "XtalkMcps:%u\n", + xTalkCompensationRateMegaCps); + + } else { + pr_err("Error = %d\n", Status); + ret += scnprintf(buf + ret, PAGE_SIZE - ret, "Error:%d\n", + Status); + + } + + pr_err("Total Bytes returned = %d\n", ret); + + mutex_unlock(&vl53l0_dev->work_mutex); + + + return ret; +} + +/* DEVICE_ATTR(name,mode,show,store) */ +static DEVICE_ATTR(show_current_configuration, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l0_show_current_configuration, + NULL); +/* for work handler scheduler time */ +static ssize_t stmvl53l0_do_flush(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l0_data *data = dev_get_drvdata(dev); + + int ret = 0; + /* Revisit : Avoid lock if it takes too long time */ + mutex_lock(&data->work_mutex); + + vl53l0_dbgmsg("Starting timer to fire in 1ms (%ld)\n", jiffies); + ret = mod_timer(&data->timer, jiffies + msecs_to_jiffies(1)); + if (ret) + pr_err("Error from mod_timer = %d\n", ret); + + mutex_unlock(&data->work_mutex); + return count; +} + +/* DEVICE_ATTR(name,mode,show,store) */ +static DEVICE_ATTR(do_flush, 0660/*S_IWUGO | S_IRUGO*/, + NULL, + stmvl53l0_do_flush); +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_timing_budget.attr, + &dev_attr_set_use_case.attr, + &dev_attr_do_flush.attr, + &dev_attr_show_current_configuration.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; + uint8_t useCase = 0; + struct stmvl53l0_custom_use_case customUseCase; + struct stmvl53l0_data *data = + container_of(file->private_data, + struct stmvl53l0_data, miscdev); + struct stmvl53l0_register reg; + struct stmvl53l0_parameter parameter; + VL53L0_DEV vl53l0_dev = data; + VL53L0_DeviceModes deviceMode; + uint8_t page_num = 0; + VL53L0_Error Status = VL53L0_ERROR_NONE; + + if (!data) + return -EINVAL; + + vl53l0_dbgmsg("Enter enable_ps_sensor:%d\n", data->enable_ps_sensor); + switch (cmd) { + /* enable */ + case VL53L0_IOCTL_INIT: + vl53l0_dbgmsg("VL53L0_IOCTL_INIT\n"); + /* turn on tof sensor only if it's not enabled by other + * client + */ + if (data->enable_ps_sensor == 0) { + /* to start */ + stmvl53l0_start(data, 3, NORMAL_MODE); + } else + rc = -EINVAL; + break; + /* crosstalk calibration */ + case VL53L0_IOCTL_XTALKCALB: + vl53l0_dbgmsg("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; + + /* turn on tof sensor only if it's not enabled by other + * client + */ + if (data->enable_ps_sensor == 0) { + /* to start */ + stmvl53l0_start(data, 3, XTALKCALIB_MODE); + } else + rc = -EINVAL; + break; + /* set up Xtalk value */ + case VL53L0_IOCTL_SETXTALK: + vl53l0_dbgmsg("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("SETXTALK as 0x%x\n", xtalkint); + + /* later + * SetXTalkCompensationRate(vl53l0_dev, xtalkint); + */ + break; + /* offset calibration */ + case VL53L0_IOCTL_OFFCALB: + vl53l0_dbgmsg("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; + if (data->enable_ps_sensor == 0) { + /* to start */ + stmvl53l0_start(data, 3, OFFSETCALIB_MODE); + } else + rc = -EINVAL; + break; + /* set up offset value */ + case VL53L0_IOCTL_SETOFFSET: + vl53l0_dbgmsg("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("SETOFFSET as %d\n", offsetint); + + /* later + * SetOffsetCalibrationData(vl53l0_dev, offsetint); + */ + break; + + /* Config use case */ + case VL53L0_IOCTL_ACTIVATE_USE_CASE: + vl53l0_dbgmsg("VL53L0_IOCTL_ACTIVATE_USE_CASE\n"); + if (copy_from_user(&useCase, (uint8_t *)p, sizeof(uint8_t))) { + vl53l0_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + + /* Validate the user passed use case. + * Update the timingBudget value. The other + * parameters are updated approrpiately in config_use_case() + * Currently the timing budget can be updated through + * sysfs entry, and this needs additional steps to manage. + */ + switch (useCase) { + case USE_CASE_LONG_DISTANCE: + data->timingBudget = LONG_DISTANCE_TIMING_BUDGET; + break; + + case USE_CASE_HIGH_ACCURACY: + data->timingBudget = HIGH_ACCURACY_TIMING_BUDGET; + break; + + case USE_CASE_HIGH_SPEED: + data->timingBudget = HIGH_SPEED_TIMING_BUDGET; + break; + + default: + vl53l0_errmsg("%d, Unknown Use case = %u\n", __LINE__, + useCase); + return -EFAULT; + } + vl53l0_dbgmsg("useCase as %d\n", useCase); + /* record the use case */ + data->useCase = useCase; + + /* If ranging is in progress, let the work handler + * update the use case + */ + if (data->enable_ps_sensor) + data->updateUseCase = 1; + break; + + /* Config Custom use case */ + case VL53L0_IOCTL_ACTIVATE_CUSTOM_USE_CASE: + vl53l0_dbgmsg("VL53L0_IOCTL_ACTIVATE_CUSTOM_USE_CASE\n"); + if (copy_from_user(&customUseCase, + (struct stmvl53l0_custom_use_case *)p, + sizeof(struct stmvl53l0_custom_use_case))) { + vl53l0_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + + data->sigmaLimit = customUseCase.sigmaLimit; + data->signalRateLimit = customUseCase.signalRateLimit; + data->preRangePulsePeriod = customUseCase.preRangePulsePeriod; + data->finalRangePulsePeriod = + customUseCase.finalRangePulsePeriod; + data->timingBudget = customUseCase.timingBudget; + vl53l0_dbgmsg( + "Sigma=%u,Signal=%u,Pre=%u,Final=%u,timingBudget=%u\n", + data->sigmaLimit, + data->signalRateLimit, + data->preRangePulsePeriod, + data->finalRangePulsePeriod, + data->timingBudget); + + /* record the use case */ + data->useCase = USE_CASE_CUSTOM; + /* If ranging is in progress, + * let the work handler update the use case + */ + if (data->enable_ps_sensor) + data->updateUseCase = 1; + + break; + + + /* disable */ + case VL53L0_IOCTL_STOP: + vl53l0_dbgmsg("VL53L0_IOCTL_STOP\n"); + /* turn off tof sensor only if it's enabled by other client */ + if (data->enable_ps_sensor == 1) { + data->enable_ps_sensor = 0; + /* to stop */ + stmvl53l0_stop(data); + } + break; + /* Get all range data */ + case VL53L0_IOCTL_GETDATAS: + vl53l0_dbgmsg("VL53L0_IOCTL_GETDATAS\n"); + 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("VL53L0_IOCTL_REGISTER\n"); + 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( +"VL53L0_IOCTL_REGISTER, page number:%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("VL53L0_IOCTL_PARAMETER\n"); + if (copy_from_user(¶meter, (struct stmvl53l0_parameter *)p, + sizeof(struct stmvl53l0_parameter))) { + vl53l0_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + parameter.status = 0; + if (data->enableDebug) + vl53l0_dbgmsg( + "VL53L0_IOCTL_PARAMETER Name = %d\n", parameter.name); + 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); + data->OffsetMicroMeter = parameter.value; + data->setCalibratedValue + |= SET_OFFSET_CALIB_DATA_MICROMETER_MASK; + + } + vl53l0_dbgmsg("get parameter value as %d\n", + parameter.value); + break; + + case (REFERENCESPADS_PAR): + if (parameter.is_read) { + parameter.status = + papi_func_tbl->GetReferenceSpads(vl53l0_dev, + (uint32_t *)&(parameter.value), + (uint8_t *)&(parameter.value2)); + if (data->enableDebug) + vl53l0_dbgmsg( + "Get RefSpad : Count:%u, Type:%u\n", + parameter.value, + (uint8_t)parameter.value2); + } else { + if (data->enableDebug) + vl53l0_dbgmsg( + "Set RefSpad : Count:%u, Type:%u\n", + parameter.value, + (uint8_t)parameter.value2); + + parameter.status = + papi_func_tbl->SetReferenceSpads(vl53l0_dev, + (uint32_t)(parameter.value), + (uint8_t)(parameter.value2)); + + data->refSpadCount = parameter.value; + data->isApertureSpads = + (uint8_t)(parameter.value2); + } + break; + + case (REFCALIBRATION_PAR): + if (parameter.is_read) { + parameter.status = + papi_func_tbl->GetRefCalibration(vl53l0_dev, + (uint8_t *)&(parameter.value), + (uint8_t *)&(parameter.value2)); + if (data->enableDebug) + vl53l0_dbgmsg( + "Get Ref : Vhv:%u, PhaseCal:%u\n", + (uint8_t)parameter.value, + (uint8_t)parameter.value2); + } else { + if (data->enableDebug) + vl53l0_dbgmsg( + "Set Ref : Vhv:%u, PhaseCal:%u\n", + (uint8_t)parameter.value, + (uint8_t)parameter.value2); + parameter.status = + papi_func_tbl->SetRefCalibration( + vl53l0_dev, + (uint8_t)(parameter.value), + (uint8_t)(parameter.value2)); + data->VhvSettings = (uint8_t)parameter.value; + data->PhaseCal = (uint8_t)(parameter.value2); + } + break; + case (XTALKRATE_PAR): + if (parameter.is_read) + parameter.status = + papi_func_tbl->GetXTalkCompensationRateMegaCps( + vl53l0_dev, + (FixPoint1616_t *) + ¶meter.value); + else { + /* Range Ignore Threshold value */ + FixPoint1616_t ritValue = 0; + + parameter.status = + papi_func_tbl->SetXTalkCompensationRateMegaCps( + vl53l0_dev, + (FixPoint1616_t) + parameter.value); + data->XTalkCompensationRateMegaCps = + parameter.value; + data->setCalibratedValue |= + SET_XTALK_COMP_RATE_MCPS_MASK; + + + /*0.7 KCps converted to MCps */ + if (data->XTalkCompensationRateMegaCps < + 7*65536/10000) { + ritValue = 15 * 7 * 65536/100000; + } else { + ritValue = 15 * + vl53l0_dev->XTalkCompensationRateMegaCps + /10; + } + + if (papi_func_tbl->SetLimitCheckEnable + != NULL) { + Status = + papi_func_tbl->SetLimitCheckEnable( + vl53l0_dev, + VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + 1); + } + + if ((Status == VL53L0_ERROR_NONE) && + (papi_func_tbl->SetLimitCheckValue + != NULL)) { + vl53l0_dbgmsg( + "Set RIT - %u\n", ritValue); + Status = + papi_func_tbl->SetLimitCheckValue( + vl53l0_dev, + VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + ritValue); + } + + } + 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 (GPIOFUNC_PAR): + if (parameter.is_read) { + parameter.status = + papi_func_tbl->GetGpioConfig( + vl53l0_dev, + 0, + &deviceMode, + &data->gpio_function, + &data->gpio_polarity); + parameter.value = + data->gpio_function; + } else { + data->gpio_function = parameter.value; + parameter.status = + papi_func_tbl->SetGpioConfig( + vl53l0_dev, + 0, + 0, + data->gpio_function, + data->gpio_polarity); + } + break; + case (LOWTHRESH_PAR): + if (parameter.is_read) { + parameter.status = + papi_func_tbl->GetInterruptThresholds( + vl53l0_dev, + 0, + &(data->low_threshold), + &(data->high_threshold)); + parameter.value = + data->low_threshold >> 16; + } else { + data->low_threshold = parameter.value << 16; + parameter.status = + papi_func_tbl->SetInterruptThresholds( + vl53l0_dev, + 0, + data->low_threshold, + data->high_threshold); + } + break; + case (HIGHTHRESH_PAR): + if (parameter.is_read) { + parameter.status = + papi_func_tbl->GetInterruptThresholds( + vl53l0_dev, + 0, + &(data->low_threshold), + &(data->high_threshold)); + parameter.value = + data->high_threshold >> 16; + } else { + data->high_threshold = + parameter.value << 16; + parameter.status = + papi_func_tbl->SetInterruptThresholds( + vl53l0_dev, + 0, + data->low_threshold, + data->high_threshold); + } + break; + case (DEVICEMODE_PAR): + if (parameter.is_read) { + parameter.status = + papi_func_tbl->GetDeviceMode( + vl53l0_dev, + (VL53L0_DeviceModes *)&(parameter.value)); + } else { + parameter.status = + papi_func_tbl->SetDeviceMode( + vl53l0_dev, + (VL53L0_DeviceModes)(parameter.value)); + data->deviceMode = + (VL53L0_DeviceModes)(parameter.value); + } + break; + + + + case (INTERMEASUREMENT_PAR): + if (parameter.is_read) { + parameter.status = + papi_func_tbl->GetInterMeasurementPeriodMilliSeconds( + vl53l0_dev, + (uint32_t *)&(parameter.value)); + } else { + parameter.status = + papi_func_tbl->SetInterMeasurementPeriodMilliSeconds( + vl53l0_dev, + (uint32_t)(parameter.value)); + data->interMeasurems = parameter.value; + } + break; + + } + + 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; +} + +/* Flush will be invoked on close(device_fd) */ +static int stmvl53l0_flush(struct file *file, fl_owner_t id) +{ + struct stmvl53l0_data *data = container_of(file->private_data, + struct stmvl53l0_data, miscdev); + (void) file; + (void) id; + /* Revisit : Check if the + *instance are opened multiple times on some platforms + */ + mutex_lock(&data->work_mutex); + if (data) { + if (data->enable_ps_sensor == 1) { + /* turn off tof sensor if it's enabled */ + data->enable_ps_sensor = 0; + /* to stop */ + stmvl53l0_stop(data); + } + } + mutex_unlock(&data->work_mutex); + + return 0; +} + +static long stmvl53l0_ioctl(struct file *file, + unsigned int cmd, unsigned long arg) +{ + long ret; + struct stmvl53l0_data *data = + container_of(file->private_data, + struct stmvl53l0_data, miscdev); + mutex_lock(&data->work_mutex); + ret = stmvl53l0_ioctl_handler(file, cmd, arg, (void __user *)arg); + mutex_unlock(&data->work_mutex); + + return ret; +} + +/* + * Initialization function + */ +static int stmvl53l0_init_client(struct stmvl53l0_data *data) +{ + + VL53L0_Error Status = VL53L0_ERROR_NONE; + VL53L0_DeviceInfo_t DeviceInfo; + VL53L0_DEV vl53l0_dev = data; + uint32_t refSpadCount; + uint8_t isApertureSpads; + uint8_t VhvSettings; + uint8_t PhaseCal; + + + vl53l0_dbgmsg("Enter\n"); + + data->I2cDevAddr = 0x52; + data->comms_type = 1; + data->comms_speed_khz = 400; + + + + /* Setup API functions based on revision */ + stmvl53l0_setupAPIFunctions(data); + + /* Perform Ref and RefSpad calibrations and save the values */ + + + if (data->reset) { + pr_err("Call of VL53L0_DataInit\n"); + /* Data initialization */ + Status = papi_func_tbl->DataInit(vl53l0_dev); + /* data->reset = 0; */ + if (Status != VL53L0_ERROR_NONE) { + vl53l0_errmsg( + "%d- error status %d\n", __LINE__, Status); + return Status; + } + } + + vl53l0_dbgmsg("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); + } + /* Device Initialization */ + vl53l0_dbgmsg("Call of VL53L0_StaticInit\n"); + Status = papi_func_tbl->StaticInit(vl53l0_dev); + if (Status != VL53L0_ERROR_NONE) { + vl53l0_errmsg("%d- error status %d\n", __LINE__, Status); + return Status; + } + + + + + + if (papi_func_tbl->PerformRefCalibration != NULL && data->reset) { + vl53l0_dbgmsg("Call of VL53L0_PerformRefCalibration\n"); + Status = papi_func_tbl->PerformRefCalibration(vl53l0_dev, + &VhvSettings, &PhaseCal); /* Ref calibration */ + if (Status != + VL53L0_ERROR_NONE) { + vl53l0_errmsg( + "%d- error status %d\n", __LINE__, Status); + return Status; + } + } + vl53l0_dbgmsg("VHV = %u, PhaseCal = %u\n", VhvSettings, PhaseCal); + vl53l0_dev->VhvSettings = VhvSettings; + vl53l0_dev->PhaseCal = PhaseCal; + + if (papi_func_tbl->PerformRefSpadManagement != NULL && data->reset) { + vl53l0_dbgmsg( + "Call of VL53L0_PerformRefSpadManagement\n"); + Status = papi_func_tbl->PerformRefSpadManagement(vl53l0_dev, + &refSpadCount, + &isApertureSpads); /* Ref Spad Management */ + if (Status != VL53L0_ERROR_NONE) { + vl53l0_errmsg( + "%d- error status %d\n", __LINE__, Status); + return Status; + } + } + + vl53l0_dbgmsg( + "SpadCount = %u, isAperature = %u\n", + refSpadCount, isApertureSpads); + vl53l0_dev->refSpadCount = refSpadCount; + vl53l0_dev->isApertureSpads = isApertureSpads; + + + + + if (Status == VL53L0_ERROR_NONE && data->reset) { + if ((papi_func_tbl->SetOffsetCalibrationDataMicroMeter + != NULL) && + (vl53l0_dev->setCalibratedValue & + SET_OFFSET_CALIB_DATA_MICROMETER_MASK)) { + vl53l0_dbgmsg( + "Call of SetOffsetCalibrationDataMicroMeter\n"); + Status = + papi_func_tbl->SetOffsetCalibrationDataMicroMeter( + vl53l0_dev, + vl53l0_dev->OffsetMicroMeter); + if (Status != VL53L0_ERROR_NONE) { + vl53l0_errmsg( + "%d- error status %d\n", __LINE__, Status); + return Status; + } + } + } + + + + if (data->reset) { + if ((papi_func_tbl->SetXTalkCompensationRateMegaCps != NULL) && + (vl53l0_dev->setCalibratedValue & + SET_XTALK_COMP_RATE_MCPS_MASK)) { + vl53l0_dbgmsg( + "Call of SetXTalkCompensationRateMegaCps\n"); + Status = papi_func_tbl->SetXTalkCompensationRateMegaCps( + vl53l0_dev, + vl53l0_dev->XTalkCompensationRateMegaCps); + if (Status != VL53L0_ERROR_NONE) { + vl53l0_errmsg( + "%d- error status %d\n", + __LINE__, Status); + return Status; + } + } + } + + if (data->reset) { + if (vl53l0_dev->setCalibratedValue & + /* Xtalk calibration done*/ + SET_XTALK_COMP_RATE_MCPS_MASK) { + /* Range Ignore Threshold */ + FixPoint1616_t ritValue = 0; + + if (vl53l0_dev->XTalkCompensationRateMegaCps < + 7*65536/10000) { + /*0.7 KCps converted to MCps */ + ritValue = 15 * 7 * 65536/100000; + } else { + ritValue = 15 * + vl53l0_dev->XTalkCompensationRateMegaCps/10; + } + + if (papi_func_tbl->SetLimitCheckEnable != NULL) { + Status = papi_func_tbl->SetLimitCheckEnable( + vl53l0_dev, + VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + 1); + if (Status != VL53L0_ERROR_NONE) { + vl53l0_errmsg( + "%d- error status %d\n", __LINE__, + Status); + return Status; + } + } + + if (papi_func_tbl->SetLimitCheckValue != NULL) { + vl53l0_dbgmsg("Set RIT - %u\n", ritValue); + Status = papi_func_tbl->SetLimitCheckValue( + vl53l0_dev, + VL53L0_CHECKENABLE_RANGE_IGNORE_THRESHOLD, + ritValue); + if (Status != VL53L0_ERROR_NONE) { + vl53l0_errmsg( + "%d- error status %d\n", + __LINE__, Status); + return Status; + } + } + } + data->reset = 0; + } + + /* Setup in single ranging mode */ + + pr_err("Call of VL53L0_SetDeviceMode\n"); + Status = papi_func_tbl->SetDeviceMode(vl53l0_dev, + VL53L0_DEVICEMODE_SINGLE_RANGING); + if (Status != VL53L0_ERROR_NONE) { + vl53l0_errmsg("%d- error status %d\n", __LINE__, Status); + return Status; + } + + + Status = papi_func_tbl->SetWrapAroundCheckEnable(vl53l0_dev, 1); + if (Status != VL53L0_ERROR_NONE) { + vl53l0_errmsg("%d- error status %d\n", __LINE__, Status); + return Status; + } + + + vl53l0_dbgmsg("End\n"); + + return 0; +} + + +static int stmvl53l0_config_use_case(struct stmvl53l0_data *data) +{ + VL53L0_DEV vl53l0_dev = data; + VL53L0_Error Status = VL53L0_ERROR_NONE; + FixPoint1616_t signalRateLimit; + FixPoint1616_t sigmaLimit; + uint32_t preRangePulsePeriod; + uint32_t finalRangePulsePeriod; + + vl53l0_dbgmsg("Enter\n"); + + switch (vl53l0_dev->useCase) { + + case USE_CASE_LONG_DISTANCE: + sigmaLimit = LONG_DISTANCE_SIGMA_LIMIT; + signalRateLimit = LONG_DISTANCE_SIGNAL_RATE_LIMIT; + preRangePulsePeriod = LONG_DISTANCE_PRE_RANGE_PULSE_PERIOD; + finalRangePulsePeriod = LONG_DISTANCE_FINAL_RANGE_PULSE_PERIOD; + break; + + case USE_CASE_HIGH_ACCURACY: + sigmaLimit = HIGH_ACCURACY_SIGMA_LIMIT; + signalRateLimit = HIGH_ACCURACY_SIGNAL_RATE_LIMIT; + preRangePulsePeriod = HIGH_ACCURACY_PRE_RANGE_PULSE_PERIOD; + finalRangePulsePeriod = HIGH_ACCURACY_FINAL_RANGE_PULSE_PERIOD; + break; + + case USE_CASE_HIGH_SPEED: + sigmaLimit = HIGH_SPEED_SIGMA_LIMIT; + signalRateLimit = HIGH_SPEED_SIGNAL_RATE_LIMIT; + preRangePulsePeriod = HIGH_SPEED_PRE_RANGE_PULSE_PERIOD; + finalRangePulsePeriod = HIGH_SPEED_FINAL_RANGE_PULSE_PERIOD; + break; + + case USE_CASE_CUSTOM: + /* Set by application through IOCTL interface */ + sigmaLimit = vl53l0_dev->sigmaLimit; + signalRateLimit = vl53l0_dev->signalRateLimit; + preRangePulsePeriod = vl53l0_dev->preRangePulsePeriod; + finalRangePulsePeriod = vl53l0_dev->finalRangePulsePeriod; + break; + + default: + vl53l0_errmsg( + "Invalid use case = %d\n", vl53l0_dev->useCase); + /* Invalid parameter, should not reach here */ + return -EINVAL; + } + + vl53l0_dbgmsg( + "Configure UseCase(%d) : Sigma=%u,Signal=%u,Pre=%u,Final=%u,timingBudget=%u\n", + vl53l0_dev->useCase, + sigmaLimit, + signalRateLimit, + preRangePulsePeriod, + finalRangePulsePeriod, + vl53l0_dev->timingBudget); + + if (papi_func_tbl->SetLimitCheckEnable != NULL) { + Status = papi_func_tbl->SetLimitCheckEnable( + vl53l0_dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + 1); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = papi_func_tbl->SetLimitCheckEnable( + vl53l0_dev, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + 1); + } else { + vl53l0_errmsg( + "SetLimitCheckEnable(SIGMA_FINAL_RANGE) failed with errcode = %d\n", + Status); + } + + + if (Status == VL53L0_ERROR_NONE) { + Status = papi_func_tbl->SetLimitCheckValue( + vl53l0_dev, + VL53L0_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + signalRateLimit); + } else { + vl53l0_errmsg( + "SetLimitCheckEnable(SIGNAL_RATE_FINAL_RANGE) failed with errcode = %d\n", + Status); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = papi_func_tbl->SetLimitCheckValue(vl53l0_dev, + VL53L0_CHECKENABLE_SIGMA_FINAL_RANGE, + sigmaLimit); + } else { + vl53l0_dbgmsg( + "SIGNAL_RATE_FINAL_RANGE failed with errcode = %d\n", + Status); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = + papi_func_tbl->SetMeasurementTimingBudgetMicroSeconds( + vl53l0_dev, + vl53l0_dev->timingBudget); + } else { + vl53l0_dbgmsg( + "SIGMA_FINAL_RANGE failed with errcode = %d\n", + Status); + } + + + if (Status == VL53L0_ERROR_NONE) { + Status = papi_func_tbl->SetVcselPulsePeriod(vl53l0_dev, + VL53L0_VCSEL_PERIOD_PRE_RANGE, + preRangePulsePeriod); + } else { + vl53l0_dbgmsg( + "SetMeasurementTimingBudget failed with errcode = %d\n", + Status); + } + + if (Status == VL53L0_ERROR_NONE) { + Status = papi_func_tbl->SetVcselPulsePeriod(vl53l0_dev, + VL53L0_VCSEL_PERIOD_FINAL_RANGE, + finalRangePulsePeriod); + } else + vl53l0_dbgmsg( + "SetVcselPulsePeriod(PRE) failed with errcode = %d\n", Status); + + + if (Status != VL53L0_ERROR_NONE) + vl53l0_dbgmsg( + "SetVcselPulsePeriod(FINAL)failed with errcode = %d\n", Status); + + vl53l0_dbgmsg("End\n"); + return Status; +} +static int stmvl53l0_start(struct stmvl53l0_data *data, uint8_t scaling, + init_mode_e mode) +{ + int rc = 0; + VL53L0_DEV vl53l0_dev = data; + VL53L0_Error Status = VL53L0_ERROR_NONE; + + vl53l0_dbgmsg("Enter\n"); + + /* Power up */ + rc = pmodule_func_tbl->power_up(data->client_object, &data->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; + } + + /* check mode */ + if (mode != NORMAL_MODE) + papi_func_tbl->SetXTalkCompensationEnable(vl53l0_dev, 1); + + if (mode == OFFSETCALIB_MODE) { + /*VL53L0_SetOffsetCalibrationDataMicroMeter(vl53l0_dev, 0);*/ + FixPoint1616_t OffsetMicroMeter; + + papi_func_tbl->PerformOffsetCalibration(vl53l0_dev, + (data->offsetCalDistance<<16), + &OffsetMicroMeter); + pr_err("Offset calibration:%u\n", OffsetMicroMeter); + vl53l0_dev->OffsetMicroMeter = OffsetMicroMeter; + vl53l0_dev->setCalibratedValue |= + SET_OFFSET_CALIB_DATA_MICROMETER_MASK; + + return rc; + } else if (mode == XTALKCALIB_MODE) { + FixPoint1616_t XTalkCompensationRateMegaCps; + /*caltarget distance : 100mm and convert to + * fixed point 16 16 format + */ + papi_func_tbl->PerformXTalkCalibration(vl53l0_dev, + (data->xtalkCalDistance<<16), + &XTalkCompensationRateMegaCps); + pr_err("Xtalk calibration:%u\n", + XTalkCompensationRateMegaCps); + vl53l0_dev->XTalkCompensationRateMegaCps = + XTalkCompensationRateMegaCps; + vl53l0_dev->setCalibratedValue |= + SET_XTALK_COMP_RATE_MCPS_MASK; + + return rc; + } + /* set up device parameters */ + data->gpio_polarity = VL53L0_INTERRUPTPOLARITY_LOW; + + /* Following two calls are made from IOCTL as well */ + Status = papi_func_tbl->SetGpioConfig(vl53l0_dev, 0, 0, + data->gpio_function, + VL53L0_INTERRUPTPOLARITY_LOW); + if (Status != VL53L0_ERROR_NONE) { + vl53l0_errmsg("Failed to SetGpioConfig. Error = %d\n", Status); + return -EPERM; + } + + + Status = papi_func_tbl->SetInterruptThresholds(vl53l0_dev, 0, + data->low_threshold, + data->high_threshold); + if (Status != VL53L0_ERROR_NONE) { + vl53l0_errmsg( + "Failed to SetInterruptThresholds. Error = %d\n", Status); + return -EPERM; + } + + + if (data->deviceMode == VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING) { + Status = papi_func_tbl->SetInterMeasurementPeriodMilliSeconds( + vl53l0_dev, + data->interMeasurems); + if (Status != VL53L0_ERROR_NONE) { + vl53l0_errmsg( + "Failed to SetInterMeasurementPeriodMilliSeconds. Error = %d\n", + Status); + return -EPERM; + } + pr_err( + "DeviceMode:0x%x, interMeasurems:%d==\n", + data->deviceMode, + data->interMeasurems); + + + } + + + Status = papi_func_tbl->SetDeviceMode( + vl53l0_dev, + data->deviceMode); + if (Status != VL53L0_ERROR_NONE) { + vl53l0_errmsg("Failed to SetDeviceMode. Error = %d\n", Status); + return -EPERM; + } + + Status = papi_func_tbl->ClearInterruptMask(vl53l0_dev, + 0); + if (Status != VL53L0_ERROR_NONE) { + vl53l0_errmsg( + "Failed to ClearInterruptMask. Error = %d\n", Status); + return -EPERM; + } + + + + Status = stmvl53l0_config_use_case(vl53l0_dev); + if (Status != VL53L0_ERROR_NONE) { + vl53l0_errmsg( + "Failed to configure Use case = %u\n", + vl53l0_dev->useCase); + return -EPERM; + } + + /* start the ranging */ + Status = papi_func_tbl->StartMeasurement(vl53l0_dev); + if (Status != VL53L0_ERROR_NONE) { + vl53l0_errmsg( + "Failed to StartMeasurement. Error = %d\n", Status); + return -EPERM; + } + + data->enable_ps_sensor = 1; + +#ifndef USE_INT + /* Unblock the thread execution */ + wake_up(&vl53l0_dev->poll_thread_wq); +#endif + + vl53l0_dbgmsg("End\n"); + + return rc; +} + +static int stmvl53l0_stop(struct stmvl53l0_data *data) +{ + int rc = 0; + VL53L0_DEV vl53l0_dev = data; + + vl53l0_dbgmsg("Enter\n"); + + /* stop - if continuous mode */ + if (data->deviceMode == VL53L0_DEVICEMODE_CONTINUOUS_RANGING || + data->deviceMode == VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING) + papi_func_tbl->StopMeasurement(vl53l0_dev); + + /* clean interrupt */ + papi_func_tbl->ClearInterruptMask(vl53l0_dev, 0); + + /* cancel work handler */ + stmvl53l0_cancel_handler(data); + + /* Clear updateUseCase pending operation */ + data->updateUseCase = 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("End\n"); + + return rc; +} +static void stmvl53l0_timer_fn(unsigned long data) +{ + + VL53L0_DEV vl53l0_dev = (VL53L0_DEV)data; + + vl53l0_dev->flushCount++; + + input_report_abs(vl53l0_dev->input_dev_ps, ABS_GAS, + vl53l0_dev->flushCount); + + + input_sync(vl53l0_dev->input_dev_ps); + + vl53l0_dbgmsg("Sensor HAL Flush Count = %u\n", vl53l0_dev->flushCount); +} + + + +/* + * I2C init/probing/exit functions + */ +static const struct file_operations stmvl53l0_ranging_fops = { + .owner = THIS_MODULE, + .unlocked_ioctl = stmvl53l0_ioctl, + .open = stmvl53l0_open, + .flush = stmvl53l0_flush, +}; + + + +int stmvl53l0_setup(struct stmvl53l0_data *data) +{ + int rc = 0; + +#ifdef USE_INT + int irq = 0; +#endif + + vl53l0_dbgmsg("Enter\n"); + + /* init mutex */ + mutex_init(&data->update_lock); + mutex_init(&data->work_mutex); + +#ifdef USE_INT + /* init interrupt */ + gpio_request(IRQ_NUM, "vl53l0_gpio_int"); + gpio_direction_input(IRQ_NUM); + irq = gpio_to_irq(IRQ_NUM); + if (irq < 0) { + vl53l0_errmsg("filed to map GPIO: %d to interrupt:%d\n", + IRQ_NUM, irq); + } else { + vl53l0_dbgmsg("register_irq:%d\n", irq); + /* IRQF_TRIGGER_FALLING- poliarity:0 IRQF_TRIGGER_RISNG - + * poliarty:1 + */ + rc = request_threaded_irq(irq, NULL, + stmvl53l0_interrupt_handler, + IRQF_TRIGGER_FALLING|IRQF_ONESHOT, + "vl53l0_interrupt", + (void *)data); + if (rc) { + vl53l0_errmsg( +"%d, Could not allocate STMVL53L0_INT ! result:%d\n", __LINE__, rc); + free_irq(irq, data); + goto exit_free_irq; + } + } + data->irq = irq; + vl53l0_errmsg("interrupt is hooked\n"); +#else + + init_waitqueue_head(&data->poll_thread_wq); + + data->poll_thread = kthread_run(&stmvl53l0_poll_thread, + (void *)data, + "STM-VL53L0"); + if (data->poll_thread == NULL) { + pr_err( + "%s(%d) - Failed to create Polling thread\n", __func__, __LINE__); + goto exit_free_irq; + } +#endif + + /* init work handler */ + INIT_DELAYED_WORK(&data->dwork, stmvl53l0_work_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); + + input_set_abs_params(data->input_dev_ps, ABS_PRESSURE, 0, 0xffffffff, + 0, 0); + + input_set_abs_params(data->input_dev_ps, ABS_WHEEL, 0, 0xffffffff, + 0, 0); + + input_set_abs_params(data->input_dev_ps, ABS_GAS, 0, 0xffffffff, + 0, 0); + data->input_dev_ps->name = "STM VL53L0 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; + } + /* setup drv data */ + input_set_drvdata(data->input_dev_ps, data); + + /* 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->input_dev_ps->dev.kobj, + &stmvl53l0_attr_group); + if (rc) { + rc = -ENOMEM; + vl53l0_errmsg("%d error:%d\n", __LINE__, rc); + goto exit_unregister_dev_ps_1; + } + + setup_timer(&data->timer, + stmvl53l0_timer_fn, + (unsigned long)data); + + /* to register as a misc device */ + data->miscdev.minor = MISC_DYNAMIC_MINOR; + data->miscdev.name = "stmvl53l0_ranging"; + data->miscdev.fops = &stmvl53l0_ranging_fops; + vl53l0_errmsg("Misc device registration name:%s\n", data->dev_name); + if (misc_register(&data->miscdev) != 0) + vl53l0_errmsg( +"Could not register misc. dev for stmvl53l0 ranging\n"); + + /* init default device parameter value */ + data->enable_ps_sensor = 0; + data->reset = 1; + data->delay_ms = 30; /* delay time to 30ms */ + data->enableDebug = 0; + data->gpio_polarity = VL53L0_INTERRUPTPOLARITY_LOW; + data->gpio_function = VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY; + data->low_threshold = 60; + data->high_threshold = 200; + data->deviceMode = VL53L0_DEVICEMODE_SINGLE_RANGING; + data->interMeasurems = 30; + data->useCase = USE_CASE_LONG_DISTANCE; + data->timingBudget = LONG_DISTANCE_TIMING_BUDGET; + + /* Set default values used in Custom Mode Use Case */ + data->signalRateLimit = LONG_DISTANCE_SIGNAL_RATE_LIMIT; + data->sigmaLimit = LONG_DISTANCE_SIGMA_LIMIT; + data->preRangePulsePeriod = LONG_DISTANCE_PRE_RANGE_PULSE_PERIOD; + data->finalRangePulsePeriod = LONG_DISTANCE_FINAL_RANGE_PULSE_PERIOD; + + + + + 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: +#ifdef USE_INT + free_irq(irq, data); +#endif + kfree(data); + return rc; +} + +void stmvl53l0_cleanup(struct stmvl53l0_data *data) +{ +#ifndef USE_INT + pr_err("%s(%d) : Stop poll_thread\n", __func__, __LINE__); + poll_thread_exit = 1; + kthread_stop(data->poll_thread); +#endif +} +static int __init stmvl53l0_init(void) +{ + int ret = -1; + + vl53l0_dbgmsg("Enter\n"); + + /* assign function table */ + pmodule_func_tbl = &stmvl53l0_module_func_tbl; + papi_func_tbl = &stmvl53l0_api_func_tbl; + + /* client specific init function */ + ret = pmodule_func_tbl->init(); + + if (ret) + vl53l0_errmsg("%d failed with %d\n", __LINE__, ret); + + vl53l0_dbgmsg("End\n"); + + return ret; +} + +static void __exit stmvl53l0_exit(void) +{ + vl53l0_dbgmsg("Enter\n"); + + vl53l0_dbgmsg("End\n"); +} + + +MODULE_AUTHOR("STMicroelectronics Imaging Division"); +MODULE_DESCRIPTION("ST FlightSense Time-of-Flight sensor driver"); +MODULE_LICENSE("GPL"); +MODULE_VERSION(DRIVER_VERSION); + +module_init(stmvl53l0_init); +module_exit(stmvl53l0_exit); + |