From 01a1835d380c31cf6c037cac3a6cf09bf468504e Mon Sep 17 00:00:00 2001 From: "junwen.ye" Date: Tue, 30 Mar 2021 19:18:19 +0800 Subject: [PATCH] input/misc: Import VL53L1 TOF AF sensor driver [ALM:10872982] [FP4]:vl53l3 power on &&&%%%comment:[FP4]:vl53l3 power on &&&%%%bug number:10872982 &&&%%%product name:sm7225_r_fp4 &&&%%%root cause:coding &&&%%%Bug category:T2M &&&%%%Module_Impact:kernel &&&%%%Test_Suggestion:tof function &&&%%%Solution:NA &&&%%%Test_Report:ok in native &&&%%%VAL Can Test:NO [merothh]: - Unset default y --- drivers/input/misc/Kconfig | 10 + drivers/input/misc/Makefile | 1 + drivers/input/misc/vl53L1/.gitignore | 1 + drivers/input/misc/vl53L1/Kbuild | 49 + drivers/input/misc/vl53L1/Makefile | 12 + drivers/input/misc/vl53L1/inc/vl53l1_api.h | 1447 ++++ .../misc/vl53L1/inc/vl53l1_api_calibration.h | 137 + .../input/misc/vl53L1/inc/vl53l1_api_core.h | 680 ++ .../input/misc/vl53L1/inc/vl53l1_api_debug.h | 341 + .../misc/vl53L1/inc/vl53l1_api_preset_modes.h | 595 ++ .../misc/vl53L1/inc/vl53l1_api_strings.h | 159 + drivers/input/misc/vl53L1/inc/vl53l1_core.h | 748 ++ .../misc/vl53L1/inc/vl53l1_core_support.h | 152 + drivers/input/misc/vl53L1/inc/vl53l1_def.h | 804 ++ .../misc/vl53L1/inc/vl53l1_dmax_structs.h | 92 + .../misc/vl53L1/inc/vl53l1_error_codes.h | 223 + .../misc/vl53L1/inc/vl53l1_error_exceptions.h | 40 + .../misc/vl53L1/inc/vl53l1_error_strings.h | 148 + .../input/misc/vl53L1/inc/vl53l1_hist_char.h | 57 + .../input/misc/vl53L1/inc/vl53l1_hist_map.h | 68 + .../misc/vl53L1/inc/vl53l1_hist_structs.h | 299 + drivers/input/misc/vl53L1/inc/vl53l1_ll_def.h | 1754 ++++ .../input/misc/vl53L1/inc/vl53l1_ll_device.h | 1063 +++ drivers/input/misc/vl53L1/inc/vl53l1_nvm.h | 169 + .../input/misc/vl53L1/inc/vl53l1_nvm_debug.h | 75 + .../input/misc/vl53L1/inc/vl53l1_nvm_map.h | 447 + .../misc/vl53L1/inc/vl53l1_nvm_structs.h | 297 + .../misc/vl53L1/inc/vl53l1_preset_setup.h | 67 + .../misc/vl53L1/inc/vl53l1_register_funcs.h | 662 ++ .../misc/vl53L1/inc/vl53l1_register_map.h | 2390 ++++++ .../vl53L1/inc/vl53l1_register_settings.h | 130 + .../misc/vl53L1/inc/vl53l1_register_structs.h | 999 +++ .../misc/vl53L1/inc/vl53l1_silicon_core.h | 37 + .../vl53L1/inc/vl53l1_tuning_parm_defaults.h | 393 + drivers/input/misc/vl53L1/inc/vl53l1_wait.h | 100 + .../misc/vl53L1/inc/vl53l1_zone_presets.h | 55 + drivers/input/misc/vl53L1/ipp/ipp_linux.c | 336 + .../misc/vl53L1/protected/inc/vl53l1_dmax.h | 63 + .../inc/vl53l1_dmax_private_structs.h | 89 + .../protected/inc/vl53l1_hist_algos_gen3.h | 156 + .../protected/inc/vl53l1_hist_algos_gen4.h | 102 + .../vl53L1/protected/inc/vl53l1_hist_core.h | 100 + .../vl53L1/protected/inc/vl53l1_hist_funcs.h | 67 + .../inc/vl53l1_hist_private_structs.h | 269 + .../protected/inc/vl53l1_sigma_estimate.h | 126 + .../misc/vl53L1/protected/inc/vl53l1_xtalk.h | 168 + .../inc/vl53l1_xtalk_private_structs.h | 75 + .../misc/vl53L1/protected/src/vl53l1_dmax.c | 299 + .../protected/src/vl53l1_hist_algos_gen3.c | 857 ++ .../protected/src/vl53l1_hist_algos_gen4.c | 561 ++ .../vl53L1/protected/src/vl53l1_hist_core.c | 520 ++ .../vl53L1/protected/src/vl53l1_hist_funcs.c | 293 + .../protected/src/vl53l1_sigma_estimate.c | 550 ++ .../misc/vl53L1/protected/src/vl53l1_xtalk.c | 1195 +++ drivers/input/misc/vl53L1/src/vl53l1_api.c | 3977 +++++++++ .../misc/vl53L1/src/vl53l1_api_calibration.c | 2170 +++++ .../input/misc/vl53L1/src/vl53l1_api_core.c | 7294 +++++++++++++++++ .../input/misc/vl53L1/src/vl53l1_api_debug.c | 3399 ++++++++ .../misc/vl53L1/src/vl53l1_api_preset_modes.c | 3680 +++++++++ .../misc/vl53L1/src/vl53l1_api_strings.c | 221 + drivers/input/misc/vl53L1/src/vl53l1_core.c | 4822 +++++++++++ .../misc/vl53L1/src/vl53l1_core_support.c | 637 ++ .../misc/vl53L1/src/vl53l1_error_strings.c | 248 + .../input/misc/vl53L1/src/vl53l1_hist_char.c | 162 + drivers/input/misc/vl53L1/src/vl53l1_nvm.c | 1540 ++++ .../input/misc/vl53L1/src/vl53l1_nvm_debug.c | 1032 +++ .../misc/vl53L1/src/vl53l1_register_funcs.c | 4131 ++++++++++ .../misc/vl53L1/src/vl53l1_silicon_core.c | 94 + drivers/input/misc/vl53L1/src/vl53l1_wait.c | 466 ++ .../misc/vl53L1/src/vl53l1_zone_presets.c | 152 + drivers/input/misc/vl53L1/st,stmvl53l1.txt | 26 + drivers/input/misc/vl53L1/stmvl53l1-i2c.h | 115 + drivers/input/misc/vl53L1/stmvl53l1.dtbo | Bin 0 -> 445 bytes drivers/input/misc/vl53L1/stmvl53l1.h | 399 + drivers/input/misc/vl53L1/stmvl53l1_i2c.c | 346 + drivers/input/misc/vl53L1/stmvl53l1_if.h | 677 ++ .../input/misc/vl53L1/stmvl53l1_internal_if.h | 100 + drivers/input/misc/vl53L1/stmvl53l1_ipp.h | 366 + drivers/input/misc/vl53L1/stmvl53l1_ipp_nl.c | 363 + drivers/input/misc/vl53L1/stmvl53l1_log.c | 59 + .../input/misc/vl53L1/stmvl53l1_module-i2c.c | 944 +++ drivers/input/misc/vl53L1/stmvl53l1_module.c | 4248 ++++++++++ drivers/input/misc/vl53L1/stmvl53l1_tunings.h | 22 + drivers/input/misc/vl53L1/vl53l1_platform.h | 423 + .../input/misc/vl53L1/vl53l1_platform_ipp.c | 127 + .../input/misc/vl53L1/vl53l1_platform_ipp.h | 170 + .../misc/vl53L1/vl53l1_platform_ipp_imports.h | 17 + .../input/misc/vl53L1/vl53l1_platform_log.h | 157 + .../misc/vl53L1/vl53l1_platform_user_config.h | 97 + .../misc/vl53L1/vl53l1_platform_user_data.h | 43 + .../vl53L1/vl53l1_platform_user_defines.h | 72 + drivers/input/misc/vl53L1/vl53l1_types.h | 27 + 92 files changed, 63350 insertions(+) create mode 100644 drivers/input/misc/vl53L1/.gitignore create mode 100644 drivers/input/misc/vl53L1/Kbuild create mode 100644 drivers/input/misc/vl53L1/Makefile create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_api.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_api_calibration.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_api_core.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_api_debug.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_api_preset_modes.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_api_strings.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_core.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_core_support.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_def.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_dmax_structs.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_error_codes.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_error_exceptions.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_error_strings.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_hist_char.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_hist_map.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_hist_structs.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_ll_def.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_ll_device.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_nvm.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_nvm_debug.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_nvm_map.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_nvm_structs.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_preset_setup.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_register_funcs.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_register_map.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_register_settings.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_register_structs.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_silicon_core.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_tuning_parm_defaults.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_wait.h create mode 100644 drivers/input/misc/vl53L1/inc/vl53l1_zone_presets.h create mode 100644 drivers/input/misc/vl53L1/ipp/ipp_linux.c create mode 100644 drivers/input/misc/vl53L1/protected/inc/vl53l1_dmax.h create mode 100644 drivers/input/misc/vl53L1/protected/inc/vl53l1_dmax_private_structs.h create mode 100644 drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_algos_gen3.h create mode 100644 drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_algos_gen4.h create mode 100644 drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_core.h create mode 100644 drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_funcs.h create mode 100644 drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_private_structs.h create mode 100644 drivers/input/misc/vl53L1/protected/inc/vl53l1_sigma_estimate.h create mode 100644 drivers/input/misc/vl53L1/protected/inc/vl53l1_xtalk.h create mode 100644 drivers/input/misc/vl53L1/protected/inc/vl53l1_xtalk_private_structs.h create mode 100644 drivers/input/misc/vl53L1/protected/src/vl53l1_dmax.c create mode 100644 drivers/input/misc/vl53L1/protected/src/vl53l1_hist_algos_gen3.c create mode 100644 drivers/input/misc/vl53L1/protected/src/vl53l1_hist_algos_gen4.c create mode 100644 drivers/input/misc/vl53L1/protected/src/vl53l1_hist_core.c create mode 100644 drivers/input/misc/vl53L1/protected/src/vl53l1_hist_funcs.c create mode 100644 drivers/input/misc/vl53L1/protected/src/vl53l1_sigma_estimate.c create mode 100644 drivers/input/misc/vl53L1/protected/src/vl53l1_xtalk.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_api.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_api_calibration.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_api_core.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_api_debug.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_api_preset_modes.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_api_strings.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_core.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_core_support.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_error_strings.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_hist_char.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_nvm.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_nvm_debug.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_register_funcs.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_silicon_core.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_wait.c create mode 100644 drivers/input/misc/vl53L1/src/vl53l1_zone_presets.c create mode 100644 drivers/input/misc/vl53L1/st,stmvl53l1.txt create mode 100644 drivers/input/misc/vl53L1/stmvl53l1-i2c.h create mode 100644 drivers/input/misc/vl53L1/stmvl53l1.dtbo create mode 100644 drivers/input/misc/vl53L1/stmvl53l1.h create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_i2c.c create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_if.h create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_internal_if.h create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_ipp.h create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_ipp_nl.c create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_log.c create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_module-i2c.c create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_module.c create mode 100644 drivers/input/misc/vl53L1/stmvl53l1_tunings.h create mode 100644 drivers/input/misc/vl53L1/vl53l1_platform.h create mode 100644 drivers/input/misc/vl53L1/vl53l1_platform_ipp.c create mode 100644 drivers/input/misc/vl53L1/vl53l1_platform_ipp.h create mode 100644 drivers/input/misc/vl53L1/vl53l1_platform_ipp_imports.h create mode 100644 drivers/input/misc/vl53L1/vl53l1_platform_log.h create mode 100644 drivers/input/misc/vl53L1/vl53l1_platform_user_config.h create mode 100644 drivers/input/misc/vl53L1/vl53l1_platform_user_data.h create mode 100644 drivers/input/misc/vl53L1/vl53l1_platform_user_defines.h create mode 100644 drivers/input/misc/vl53L1/vl53l1_types.h diff --git a/drivers/input/misc/Kconfig b/drivers/input/misc/Kconfig index 3d7ca037962d..fc781afcf61a 100644 --- a/drivers/input/misc/Kconfig +++ b/drivers/input/misc/Kconfig @@ -885,4 +885,14 @@ config INPUT_SC27XX_VIBRA To compile this driver as a module, choose M here. The module will be called sc27xx_vibra. +config STMVL53L1 + tristate "STM VL53L3 Proximity support" + depends on I2C=y + help + Say Y here if you want to use STMicroelectronics's vl53L3 TOF AF sensor + through I2C interface. + + To compile this driver as a module, choose M here: the + module will be called stmvl53l3. + endif diff --git a/drivers/input/misc/Makefile b/drivers/input/misc/Makefile index a99ea9586234..7d75a9aef844 100644 --- a/drivers/input/misc/Makefile +++ b/drivers/input/misc/Makefile @@ -85,3 +85,4 @@ obj-$(CONFIG_INPUT_WM831X_ON) += wm831x-on.o obj-$(CONFIG_INPUT_XEN_KBDDEV_FRONTEND) += xen-kbdfront.o obj-$(CONFIG_INPUT_YEALINK) += yealink.o obj-$(CONFIG_INPUT_IDEAPAD_SLIDEBAR) += ideapad_slidebar.o +obj-$(CONFIG_STMVL53L1) += vl53L1/ diff --git a/drivers/input/misc/vl53L1/.gitignore b/drivers/input/misc/vl53L1/.gitignore new file mode 100644 index 000000000000..e3228b19b61f --- /dev/null +++ b/drivers/input/misc/vl53L1/.gitignore @@ -0,0 +1 @@ +/doc_out/ diff --git a/drivers/input/misc/vl53L1/Kbuild b/drivers/input/misc/vl53L1/Kbuild new file mode 100644 index 000000000000..fd902663a8e3 --- /dev/null +++ b/drivers/input/misc/vl53L1/Kbuild @@ -0,0 +1,49 @@ +# +# Kbuild for the vl53L1 drivers. +# + +ccflags-y += -I$(src)/inc -I$(src) + + +ccflags-y += -I$(src)/protected/inc +ccflags-y += -DVL53L1_FULL_KERNEL + + + +ccflags-y += -DVL53L3 + + +# define this environment variable if you want to compile driver for an old +# kernel +ifdef OLD_NETLINK_API +ccflags-y += -DOLD_NETLINK_API +endif + +VL53L1_LOG_ENABLE := true +ifdef VL53L1_LOG_ENABLE +ccflags-y += -DVL53L1_LOG_ENABLE +endif + +obj-$(CONFIG_STMVL53L1) += stmvl53l1.o +stmvl53l1-objs := stmvl53l1_module.o stmvl53l1_module-i2c.o + +stmvl53l1-objs += vl53l1_platform_ipp.o +stmvl53l1-objs += protected/src/vl53l1_hist_funcs.o +stmvl53l1-objs += protected/src/vl53l1_xtalk.o +stmvl53l1-objs += protected/src/vl53l1_hist_algos_gen3.o +stmvl53l1-objs += protected/src/vl53l1_hist_core.o +stmvl53l1-objs += protected/src/vl53l1_sigma_estimate.o +stmvl53l1-objs += protected/src/vl53l1_dmax.o +stmvl53l1-objs += protected/src/vl53l1_hist_algos_gen4.o + +stmvl53l1-objs += stmvl53l1_i2c.o stmvl53l1_log.o +stmvl53l1-objs += src/vl53l1_api.o src/vl53l1_api_core.o +stmvl53l1-objs += src/vl53l1_api_strings.o src/vl53l1_error_strings.o +stmvl53l1-objs += src/vl53l1_core.o src/vl53l1_register_funcs.o +stmvl53l1-objs += src/vl53l1_api_preset_modes.o +stmvl53l1-objs += src/vl53l1_api_calibration.o +stmvl53l1-objs += src/vl53l1_silicon_core.o +stmvl53l1-objs += src/vl53l1_zone_presets.o src/vl53l1_nvm.o +stmvl53l1-objs += src/vl53l1_api_debug.o src/vl53l1_core_support.o +stmvl53l1-objs += src/vl53l1_wait.o +stmvl53l1-objs += src/vl53l1_nvm_debug.o diff --git a/drivers/input/misc/vl53L1/Makefile b/drivers/input/misc/vl53L1/Makefile new file mode 100644 index 000000000000..e95fe853c86c --- /dev/null +++ b/drivers/input/misc/vl53L1/Makefile @@ -0,0 +1,12 @@ +ifneq ($(KERNELRELEASE),) +include Kbuild + +else +KDIR ?= /lib/modules/`uname -r`/build + +default: + CONFIG_STMVL53L1=m $(MAKE) -C $(KDIR) M=$$PWD +clean: + CONFIG_STMVL53L1=m $(MAKE) -C $(KDIR) M=$$PWD clean + +endif diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_api.h b/drivers/input/misc/vl53L1/inc/vl53l1_api.h new file mode 100644 index 000000000000..e61f8a73195b --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_api.h @@ -0,0 +1,1447 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +#ifndef _VL53L1_API_H_ +#define _VL53L1_API_H_ + +#include "vl53l1_api_strings.h" +#include "vl53l1_api_core.h" +#include "vl53l1_preset_setup.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +#if !defined(VL53L1DevDataGet) +#warning "PALDevDataGet is deprecated define VL53L1DevDataGet instead" +#define VL53L1DevDataGet(Dev, field) (Dev->Data.field) +#endif + +#if !defined(VL53L1DevDataSet) +#warning "PALDevDataSet is deprecated define VL53L1DevDataSet instead" +#define VL53L1DevDataSet(Dev, field, data) ((Dev->Data.field) = (data)) +#endif + +/** @defgroup VL53L1_cut11_group VL53L1 cut1.1 Function Definition + * @brief VL53L1 cut1.1 Function Definition + * @{ + */ + +/** @defgroup VL53L1_general_group VL53L1 General Functions + * @brief General functions and definitions + * @{ + */ + +/** + * @brief Return the VL53L1 driver Version + * + * @note This function doesn't access to the device + * + * @param pVersion Rer to current driver Version + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetVersion(VL53L1_Version_t *pVersion); + +/** + * @brief Reads the Product Revision for a for given Device + * This function can be used to distinguish cut1.0 from cut1.1. + * + * @param Dev Device Handle + * @param pProductRevisionMajor Pointer to Product Revision Major + * for a given Device + * @param pProductRevisionMinor Pointer to Product Revision Minor + * for a given Device + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetProductRevision(VL53L1_DEV Dev, + uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor); + +/** + * @brief Reads the Device information for given Device + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pVL53L1_DeviceInfo Pointer to current device info for a given + * Device + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetDeviceInfo(VL53L1_DEV Dev, + VL53L1_DeviceInfo_t *pVL53L1_DeviceInfo); + +/** + * @brief Reads the Device unique identifier + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pUid Pointer to current device unique ID + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetUID(VL53L1_DEV Dev, uint64_t *pUid); + +/** + * @brief Human readable Range Status string for a given RangeStatus + * + * @note This function doesn't access to the device + * + * @param RangeStatus The RangeStatus code as stored on + * @a VL53L1_RangingMeasurementData_t + * @param pRangeStatusString The returned RangeStatus string. Shall be + * defined as char buf[VL53L1_MAX_STRING_LENGTH] + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetRangeStatusString(uint8_t RangeStatus, + char *pRangeStatusString); + +/** + * @brief Human readable error string for driver error status + * + * @note This function doesn't access to the device + * + * @param PalErrorCode The error code as stored on @a VL53L1_Error + * @param pPalErrorString The error string corresponding to the + * PalErrorCode. Shall be defined as char buf[VL53L1_MAX_STRING_LENGTH] + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetPalErrorString(VL53L1_Error PalErrorCode, + char *pPalErrorString); + +/** + * @brief Human readable driver State string + * + * @note This function doesn't access to the device + * + * @param PalStateCode The State code as stored on @a VL53L1_State + * @param pPalStateString The State string corresponding to the + * PalStateCode. Shall be defined as char buf[VL53L1_MAX_STRING_LENGTH] + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetPalStateString(VL53L1_State PalStateCode, + char *pPalStateString); + +/** + * @brief Reads the internal state of the driver for a given Device + * + * @note This function doesn't access to the device + * + * @param Dev Device Handle + * @param pPalState Pointer to current state of the PAL for a + * given Device + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetPalState(VL53L1_DEV Dev, + VL53L1_State *pPalState); + + + +/** @} VL53L1_general_group */ + +/** @defgroup VL53L1_init_group VL53L1 Init Functions + * @brief VL53L1 Init Functions + * @{ + */ + +/** + * @brief Set new device address + * + * After completion the device will answer to the new address programmed. + * This function should be called when several devices are used in parallel + * before start programming the sensor. + * When a single device us used, there is no need to call this function. + * + * When it is requested for multi devices system this function MUST be called + * prior to VL53L1_DataInit() + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param DeviceAddress The new Device address + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetDeviceAddress(VL53L1_DEV Dev, + uint8_t DeviceAddress); + +/** + * + * @brief One time device initialization + * + * To be called after device has been powered on and booted + * see @a VL53L1_WaitDeviceBooted() + * + * @par Function Description + * When not used after a fresh device "power up", it may return + * @a #VL53L1_ERROR_CALIBRATION_WARNING meaning wrong calibration data + * may have been fetched from device that can result in ranging offset error\n + * If VL53L1_DataInit is called several times then the application must restore + * calibration calling @a VL53L1_SetOffsetCalibrationData() + * It implies application has gathered calibration data thanks to + * @a VL53L1_GetOffsetCalibrationData() after an initial calibration stage. + * This function will change the VL53L1_State from VL53L1_STATE_POWERDOWN to + * VL53L1_STATE_WAIT_STATICINIT. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_DataInit(VL53L1_DEV Dev); + + +/** + * @brief Do basic device init (and eventually patch loading) + * This function will change the VL53L1_State from + * VL53L1_STATE_WAIT_STATICINIT to VL53L1_STATE_IDLE. + * In this stage all default setting will be applied. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_StaticInit(VL53L1_DEV Dev); + +/** + * @brief Wait for device booted after chip enable (hardware standby) + * This function can be run only when VL53L1_State is VL53L1_STATE_POWERDOWN. + * + * @param Dev Device Handle + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + * + */ +VL53L1_Error VL53L1_WaitDeviceBooted(VL53L1_DEV Dev); + + +/** @} VL53L1_init_group */ + +/** @defgroup VL53L1_parameters_group VL53L1 Parameters Functions + * @brief Functions used to prepare and setup the device + * @{ + */ + +/** + * @brief Set a new Preset Mode + * @par Function Description + * Set device to a new Operating Mode (High speed ranging, Multi objects ...) + * + * @note This function doesn't Access to the device + * + * @warning This function change the timing budget to 16 ms and the inter- + * measurement period to 1000 ms. Also the VL53L1_DISTANCEMODE_LONG is used. + * + * @param Dev Device Handle + * @param PresetMode New Preset mode to apply + *
Valid values are: + */ +/** + * @li VL53L1_PRESETMODE_MULTIZONES_SCANNING + * @li VL53L1_PRESETMODE_RANGING + * @li VL53L1_PRESETMODE_AUTONOMOUS + * @li VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS + * @li VL53L1_PRESETMODE_LITE_RANGING + * @li VL53L1_PRESETMODE_OLT + */ +/** + * + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_MODE_NOT_SUPPORTED This error occurs when PresetMode is + * not in the supported list + */ +VL53L1_Error VL53L1_SetPresetMode(VL53L1_DEV Dev, + VL53L1_PresetModes PresetMode); + +/** + * @brief Get current Preset Mode + * @par Function Description + * Get actual mode of the device(ranging, histogram ...) + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param pPresetMode Pointer to current apply mode value + * + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_MODE_NOT_SUPPORTED This error occurs when + * DeviceMode is not in the supported list + */ +VL53L1_Error VL53L1_GetPresetMode(VL53L1_DEV Dev, + VL53L1_PresetModes *pPresetMode); + + +/** + * @brief Set the distance mode + * @par Function Description + * Set the distance mode to be used for the next ranging.
+ * The modes Short, Medium and Long are used to optimize the ranging accuracy + * in a specific range of distance.
The user select one of these modes to + * select the distance range.
+ * Two additional modes are supported: AUTO and AUTO_LITE the difference between + * these modes is the following.
+ * The mode AUTO take into account both the ranging distance (RangeMilliMeter) + * and the dmax distance (DmaxMilliMeter).
The algorithm uses the ranging + * distance when the range status is ok and uses the dmax distance when the + * range status is not ok.
+ * The AUTO_LITE take into account only the ranging distance, so nothing is done + * in case of range error i.e. the distance mode will not be changed. + * @note This function doesn't Access to the device + * + * @warning This function should be called after @a VL53L1_SetPresetMode(). + + * @param Dev Device Handle + * @param DistanceMode Distance mode to apply valid values are: + * @li VL53L1_DISTANCEMODE_SHORT + * @li VL53L1_DISTANCEMODE_MEDIUM + * @li VL53L1_DISTANCEMODE_LONG + * @li VL53L1_DISTANCEMODE_AUTO_LITE + * @li VL53L1_DISTANCEMODE_AUTO + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_MODE_NOT_SUPPORTED This error occurs when DistanceMode + * is not in the supported list + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetDistanceMode(VL53L1_DEV Dev, + VL53L1_DistanceModes DistanceMode); + +/** + * @brief Get the distance mode + * @par Function Description + * Get the distance mode used for the next ranging. + * + * @param Dev Device Handle + * @param *pDistanceMode Pointer to Distance mode + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetDistanceMode(VL53L1_DEV Dev, + VL53L1_DistanceModes *pDistanceMode); + + +/** + * @brief Set the output mode + * @par Function Description + * Set the output mode to be used for the next ranging. The output mode is used + * to select, in case of multiple objects, which one will be used in + * function @a VL53L1_GetRangingMeasurementData(). + * VL53L1_SetOutputMode also sets the object used by automatic + * distance mode algorithm when @a VL53L1_SetDistanceMode() is + * set to automatic mode. + * + * @note This function doesn't Access to the device + * + * @warning This function should be called after @a VL53L1_SetPresetMode(). + + * @param Dev Device Handle + * @param OutputMode Output mode to apply valid values are: + * @li VL53L1_OUTPUTMODE_NEAREST + * @li VL53L1_OUTPUTMODE_STRONGEST + * + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_MODE_NOT_SUPPORTED This error occurs when OutputMode + * is not in the supported list + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetOutputMode(VL53L1_DEV Dev, + VL53L1_OutputModes OutputMode); + +/** + * @brief Get the output mode + * @par Function Description + * Get the output mode used for the next ranging. + * + * @param Dev Device Handle + * @param *pOutputMode Pointer to Output mode + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetOutputMode(VL53L1_DEV Dev, + VL53L1_OutputModes *pOutputMode); + + +/** + * @brief Set Ranging Timing Budget in microseconds + * + * @par Function Description + * Defines the maximum time allowed by the user to the device to run a + * full ranging sequence for the current mode (ranging, histogram, ASL ...) + * + * @param Dev Device Handle + * @param MeasurementTimingBudgetMicroSeconds Max measurement time in + * microseconds. + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_INVALID_PARAMS Error timing parameter not + * supported. + * The maximum accepted value for the + * computed timing budget is 10 seconds + * the minimum value depends on the preset + * mode selected. + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetMeasurementTimingBudgetMicroSeconds( + VL53L1_DEV Dev, uint32_t MeasurementTimingBudgetMicroSeconds); + +/** + * @brief Get Ranging Timing Budget in microseconds + * + * @par Function Description + * Returns the programmed the maximum time allowed by the user to the + * device to run a full ranging sequence for the current mode + * (ranging, histogram, ASL ...) + * + * @param Dev Device Handle + * @param pMeasurementTimingBudgetMicroSeconds Max measurement time in + * microseconds. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetMeasurementTimingBudgetMicroSeconds( + VL53L1_DEV Dev, uint32_t *pMeasurementTimingBudgetMicroSeconds); + + +/** + * Program continuous mode Inter-Measurement period in milliseconds + * + * @par Function Description + * When trying to set too short time return INVALID_PARAMS minimal value + * + * @param Dev Device Handle + * @param InterMeasurementPeriodMilliSeconds Inter-Measurement Period in ms. + * this value should be greater than the duration set in + * @a VL53L1_SetMeasurementTimingBudgetMicroSeconds() to ensure smooth ranging + * operation. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetInterMeasurementPeriodMilliSeconds( + VL53L1_DEV Dev, uint32_t InterMeasurementPeriodMilliSeconds); + +/** + * Get continuous mode Inter-Measurement period in milliseconds + * + * @par Function Description + * + * @param Dev Device Handle + * @param pInterMeasurementPeriodMilliSeconds Pointer to programmed + * Inter-Measurement Period in milliseconds. + * @return VL53L1_ERROR_NONE + */ +VL53L1_Error VL53L1_GetInterMeasurementPeriodMilliSeconds( + VL53L1_DEV Dev, uint32_t *pInterMeasurementPeriodMilliSeconds); + +/** + * @brief target reflectance for Dmax setting + * @par Function Description + * Allow user to set the value for target reflectance @ 940nm to calculate the + * ambient DMAX values for. Set to 50% by default by @a VL53L1_DataInit() + * + * @param Dev Device Handle + * @param DmaxReflectance Reflectance % in 16.16 fixed point + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_INVALID_PARAMS in case input value is not in range + * from 0 to 100. Note that this is a fix point value so the max value is + * 100 * 65536. + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetDmaxReflectance(VL53L1_DEV Dev, + FixPoint1616_t DmaxReflectance); + +/** + * @brief Get target reflectance for Dmax + * @par Function Description + * Retrieves the value for target reflectance @ 940nm to calculate the + * ambient DMAX values for. Set to 50% by default by @a VL53L1_DataInit() + * + * @param Dev Device Handle + * @param pDmaxReflectance pointer to Reflectance % in 16.16 fixed point + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetDmaxReflectance(VL53L1_DEV Dev, + FixPoint1616_t *pDmaxReflectance); +/** + * @brief Set function for ambient Dmax mode + * + * + * @param Dev Device Handle + * @param DmaxMode DMAX mode to be used in ranging + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + + +VL53L1_Error VL53L1_SetDmaxMode(VL53L1_DEV Dev, + VL53L1_DeviceDmaxModes DmaxMode); + +/** + * @brief Get function for ambient Dmax mode + * + * @param Dev Device Handle + * @param pDmaxMode output pointer to DMAX mode currently in use + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GetDmaxMode(VL53L1_DEV Dev, + VL53L1_DeviceDmaxModes *pDmaxMode); + +/** @} VL53L1_parameters_group */ + + +/** @defgroup VL53L1_limitcheck_group VL53L1 Limit Check Functions + * @brief Functions used for the Limit checks + * @{ + */ + + + +/** + * @brief Get the number of the check limit managed by a given Device + * + * @par Function Description + * This function give the number of the check limit managed by the Device + * + * @param pNumberOfLimitCheck Pointer to the number of check limit. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetNumberOfLimitCheck( + uint16_t *pNumberOfLimitCheck); + +/** + * @brief Return a description string for a given limit check number + * + * @par Function Description + * This function returns a description string for a given limit check number. + * The limit check is identified with the LimitCheckId. + * + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L1_GetNumberOfLimitCheck() ). + * @param pLimitCheckString Pointer to the description string of + * the given check limit. Shall be defined as char buf[VL53L1_MAX_STRING_LENGTH] + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetLimitCheckInfo(uint16_t LimitCheckId, + char *pLimitCheckString); + +/** + * @brief Return a the Status of the specified check limit + * + * @par Function Description + * This function returns the Status of the specified check limit. + * The value indicate if the check is fail or not. + * The limit check is identified with the LimitCheckId. + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + (0<= LimitCheckId < VL53L1_GetNumberOfLimitCheck() ). + * @param pLimitCheckStatus Pointer to the + Limit Check Status of the given check limit. + * LimitCheckStatus : + * 0 the check is not fail or not enabled + * 1 the check if fail + * + *

+ * + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetLimitCheckStatus(VL53L1_DEV Dev, + uint16_t LimitCheckId, uint8_t *pLimitCheckStatus); + +/** + * @brief Enable/Disable a specific limit check + * + * @par Function Description + * This function Enable/Disable a specific limit check. + * The limit check is identified with the LimitCheckId. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L1_GetNumberOfLimitCheck() ). + * @param LimitCheckEnable + * @li set LimitCheckEnable=1 enables the LimitCheckId limit + * @li set LimitCheckEnable=0 disables the LimitCheckId limit + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_INVALID_PARAMS This error is returned + * when LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetLimitCheckEnable(VL53L1_DEV Dev, + uint16_t LimitCheckId, uint8_t LimitCheckEnable); + +/** + * @brief Get specific limit check enable state + * + * @par Function Description + * This function get the enable state of a specific limit check. + * The limit check is identified with the LimitCheckId. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L1_GetNumberOfLimitCheck() ). + * @param pLimitCheckEnable Pointer to the check limit enable + * value. + * @li if 1 the check limit corresponding to LimitCheckId is Enabled + * @li if 0 the check limit corresponding to LimitCheckId is disabled + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_INVALID_PARAMS This error is returned + * when LimitCheckId value is out of range. + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetLimitCheckEnable(VL53L1_DEV Dev, + uint16_t LimitCheckId, uint8_t *pLimitCheckEnable); + +/** + * @brief Set a specific limit check value + * + * @par Function Description + * This function set a specific limit check value. + * The limit check is identified with the LimitCheckId. + * + * @note Note that the value written with that function will not be applied if + * the limit is not enabled. In other words this function will not enable the + * limit but change only the value. In case the limit is not enabled the value + * is saved internally and applied with VL53L1_SetLimitCheckEnable. + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L1_GetNumberOfLimitCheck() ). + * @param LimitCheckValue Limit check Value for a given + * LimitCheckId + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetLimitCheckValue(VL53L1_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t LimitCheckValue); + +/** + * @brief Get a specific limit check value + * + * @par Function Description + * This function get a specific limit check value from device then it updates + * internal values and check enables. + * The limit check is identified with the LimitCheckId. + * + * @note This function get the current value from device if zero then the value + * returned is the one stored by the user, but in that case the check is store + * as disabled. If the value from device is not zero, this is returned and set + * into the memory at the same way that user call VL53L1_SetLimitCheckValue() + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L1_GetNumberOfLimitCheck() ). + * @param pLimitCheckValue Pointer to Limit + * check Value for a given LimitCheckId. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetLimitCheckValue(VL53L1_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckValue); + +/** + * @brief Get the current value of the signal used for the limit check + * + * @par Function Description + * This function get a the current value of the signal used for the limit check. + * To obtain the latest value you should run a valid ranging before. + * The value reported is linked to the limit check identified with the + * LimitCheckId. + * + * @param Dev Device Handle + * @param LimitCheckId Limit Check ID + * (0<= LimitCheckId < VL53L1_GetNumberOfLimitCheck() ). + * @param pLimitCheckCurrent Pointer to current Value for a + * given LimitCheckId. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetLimitCheckCurrent(VL53L1_DEV Dev, + uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckCurrent); + +/** @} VL53L1_limitcheck_group */ + + + +/** @defgroup VL53L1_ROI_group VL53L1 ROI Functions + * @brief Functions used to select ROIs + * @{ + */ + +/** + * @brief Get the Maximum number of ROI Zones managed by the Device + * + * @par Function Description + * Get Maximum number of ROI Zones managed by the Device. + * + * @note The number of Zone depends on the preset mode used so to have the + * right number this function should be call after @a VL53L1_SetPresetMode() + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param pMaxNumberOfROI Pointer to the Maximum Number + * of ROI Zones value. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetMaxNumberOfROI(VL53L1_DEV Dev, + uint8_t *pMaxNumberOfROI); +/** + * @brief Set the ROI to be used for ranging + * + * @par Function Description + * The user defined ROIs are rectangles described as per the following system + * from the Top Left corner to the Bottom Right corner. + *
Minimal ROI size is 4x4 spads + * @image html roi_coord.png + * + * @param Dev Device Handle + * @param pRoiConfig Pointer to the Structure containing all the + * ROI to be used. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetROI(VL53L1_DEV Dev, + VL53L1_RoiConfig_t *pRoiConfig); + +/** + * @brief Get the ROI managed by the Device + * + * @par Function Description + * Get the ROI managed by the Device + * + * @param Dev Device Handle + * @param pRoiConfig Pointer to the Structure containing all the + * ROI to be used. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetROI(VL53L1_DEV Dev, + VL53L1_RoiConfig_t *pRoiConfig); + +/** @} VL53L1_ROI_group */ + +/* \internal */ +/** @defgroup VL53L1_sequencestep_group VL53L1 Sequence Step Functions + * @brief Functions used to select Steps done on each ranging + * @{ + */ + +/** + * @brief Gets number of sequence steps managed by the API. + * + * @par Function Description + * This function retrieves the number of sequence steps currently managed + * by the API + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param pNumberOfSequenceSteps Out parameter reporting the number of + * sequence steps. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetNumberOfSequenceSteps(VL53L1_DEV Dev, + uint8_t *pNumberOfSequenceSteps); + +/** + * @brief Gets the name of a given sequence step. + * + * @par Function Description + * This function retrieves the name of sequence steps corresponding to + * SequenceStepId. + * + * @note This function doesn't Accesses the device + * + * @param SequenceStepId Sequence step identifier. + * @param pSequenceStepsString Pointer to Info string. Shall be + * defined as char buf[VL53L1_MAX_STRING_LENGTH] + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetSequenceStepsInfo( + VL53L1_SequenceStepId SequenceStepId, char *pSequenceStepsString); + + + +/** + * @brief Sets the (on/off) state of a requested sequence step. + * + * @par Function Description + * This function enables/disables a requested sequence step. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param SequenceStepId Sequence step identifier. + * @param SequenceStepEnabled Demanded state {0=Off,1=On} + * is enabled. + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_INVALID_PARAMS Error SequenceStepId parameter not + * supported. + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetSequenceStepEnable(VL53L1_DEV Dev, + VL53L1_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled); + +/** + * @brief Gets the (on/off) state of a requested sequence step. + * + * @par Function Description + * This function retrieves the state of a requested sequence step, i.e. on/off. + * + * @note This function Accesses the device + * + * @param Dev Device Handle + * @param SequenceStepId Sequence step identifier. + * @param pSequenceStepEnabled Out parameter reporting if the sequence step + * is enabled {0=Off,1=On}. + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_INVALID_PARAMS Error SequenceStepId parameter not + * supported. + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetSequenceStepEnable(VL53L1_DEV Dev, + VL53L1_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled); + + +/** @} VL53L1_sequencestep_group */ +/* \endinternal */ + + + +/** @defgroup VL53L1_measurement_group VL53L1 Measurement Functions + * @brief Functions used for the measurements + * @{ + */ + +/** + * @brief Start device measurement + * + * @details Started measurement will depend on preset parameters set through + * @a VL53L1_SetPreseMode() + * This function will change the VL53L1_State from VL53L1_STATE_IDLE to + * VL53L1_STATE_RUNNING. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_MODE_NOT_SUPPORTED This error occurs when + * PresetMode programmed with @a VL53L1_SetPresetMode + * @return VL53L1_ERROR_TIME_OUT Time out on start measurement + * @return VL53L1_ERROR_INVALID_PARAMS This error might occur in timed mode + * when inter measurement period is smaller or too close to the timing budget. + * In such case measurements are not started and user must correct the timings + * passed to @a VL53L1_SetMeasurementTimingBudgetMicroSeconds() and + * @a VL53L1_SetInterMeasurementPeriodMilliSeconds() functions. + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_StartMeasurement(VL53L1_DEV Dev); + +/** + * @brief Stop device measurement + * + * @details Will set the device in standby mode at end of current measurement\n + * Not necessary in single mode as device shall return automatically + * in standby mode at end of measurement. + * This function will change the VL53L1_State from VL53L1_STATE_RUNNING + * to VL53L1_STATE_IDLE. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_StopMeasurement(VL53L1_DEV Dev); + +/** + * @brief Clear the Interrupt flag and start new measurement + * * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_ClearInterruptAndStartMeasurement(VL53L1_DEV Dev); + +/** + * @brief Return Measurement Data Ready + * + * @par Function Description + * This function indicate that a measurement data is ready. + * This function is used for non-blocking capture. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param pMeasurementDataReady Pointer to Measurement Data Ready. + * 0 = data not ready, 1 = data ready + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetMeasurementDataReady(VL53L1_DEV Dev, + uint8_t *pMeasurementDataReady); + +/** + * @brief Wait for measurement data ready. + * Blocking function. + * Note that the timeout is given by: + * VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS defined in def.h + * + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_TIME_OUT In case of timeout + */ +VL53L1_Error VL53L1_WaitMeasurementDataReady(VL53L1_DEV Dev); + + +/** + * @brief Retrieve the measurements from device for a given setup + * + * @par Function Description + * Get data from last successful Ranging measurement + */ +/** + * @warning this function will return only the first ROI data and only the + * first object. For multi objects or multi ROI use: + * @a Vl53L1_GetMultiRangingData. + * In case of RANGING only one output is given, this can + * be selected with the help of @a VL53L1_SetOutputMode() + * In case of MULTIZONES_SCANNING and error will be raised because not + * supported in that function. + */ +/** + * + * @warning USER must call @a VL53L1_ClearInterruptAndStartMeasurement() prior + * to call again this function + * + * @note This function Access to the device + * + * @note The first valid value returned by this function will have a range + * status equal to VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK which means that + * the data is valid but no wrap around check have been done. User should take + * care about that. + * + * @param Dev Device Handle + * @param pRangingMeasurementData Pointer to the data structure to fill up. + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_MODE_NOT_SUPPORTED in case of MULTIZONES_SCANNING + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetRangingMeasurementData(VL53L1_DEV Dev, + VL53L1_RangingMeasurementData_t *pRangingMeasurementData); + +/** + * @brief Retrieve all ROI's measurements from device for a given setup + * + * @par Function Description + * Get data from last successful Ranging measurement + * @warning USER should take care about @a VL53L1_GetNumberOfROI() + * before get data. + * Bare driver will fill a NumberOfROI times the corresponding data + * structure used in the measurement function. + * + * @warning USER must call @a VL53L1_ClearInterruptAndStartMeasurement() prior + * to call again this function + * + * @note This function Access to the device + * + * @note The first valid value returned by this function will have a range + * status equal to VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK which means that + * the data is valid but no wrap around check have been done. User should take + * care about that. + * + * @param Dev Device Handle + * @param pMultiRangingData Pointer to the data structure to fill up. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetMultiRangingData(VL53L1_DEV Dev, + VL53L1_MultiRangingData_t *pMultiRangingData); + +/** + * @brief Get Additional Data + * + * @par Function Description + * This function is used to get lld debugging data on the last histogram + * measurement. shall be called when a new measurement is ready (interrupt or + * positive VL53L1_GetMeasurementDataReady() polling) and before a call to + * VL53L1_ClearInterruptAndStartMeasurement(). Depending on the PresetMode + * currently set parts of the returned data structure may be not relevant. + * + * @param Dev Device Handle + * @param pAdditionalData Pointer to Additional data + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetAdditionalData(VL53L1_DEV Dev, + VL53L1_AdditionalData_t *pAdditionalData); + + +/** @} VL53L1_measurement_group */ + +/** @defgroup VL53L1_Calibration_group VL53L1 Calibration Functions + * @brief Functions used for Calibration + * @{ + */ + + +/** + * @brief Set Tuning Parameter value for a given parameter ID + * + * @par Function Description + * This function is used to improve the performance of the device. It permit to + * change a particular value used for a timeout or a threshold or a constant + * in an algorithm. The function will change the value of the parameter + * identified by an unique ID. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param TuningParameterId Tuning Parameter ID + * @param TuningParameterValue Tuning Parameter Value + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetTuningParameter(VL53L1_DEV Dev, + uint16_t TuningParameterId, int32_t TuningParameterValue); + +/** + * @brief Get Tuning Parameter value for a given parameter ID + * + * @par Function Description + * This function is used to get the value of the parameter + * identified by an unique ID. + * + * @note This function doesn't Access to the device + * + * @param Dev Device Handle + * @param TuningParameterId Tuning Parameter ID + * @param pTuningParameterValue Pointer to Tuning Parameter Value + * for a given TuningParameterId. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetTuningParameter(VL53L1_DEV Dev, + uint16_t TuningParameterId, int32_t *pTuningParameterValue); + +/** + * @brief Performs Reference Spad Management + * + * @par Function Description + * The reference SPAD initialization procedure determines the minimum amount + * of reference spads to be enables to achieve a target reference signal rate + * and should be performed once during initialization. + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_PerformRefSpadManagement(VL53L1_DEV Dev); + +/** + * @brief Enable/Disable dynamic Xtalk compensation feature + * + * Enable/Disable dynamic Xtalk compensation (aka smudge correction). + * + * @param Dev Device Handle + * @param Mode Set the smudge correction mode + * See ::VL53L1_SmudgeCorrectionModes + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SmudgeCorrectionEnable(VL53L1_DEV Dev, + VL53L1_SmudgeCorrectionModes Mode); + +/** + * @brief Enable/Disable Cross talk compensation feature + * + * Enable/Disable Cross Talk correction. + * + * @param Dev Device Handle + * @param XTalkCompensationEnable Cross talk compensation + * to be set 0 = disabled or 1 = enabled. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetXTalkCompensationEnable(VL53L1_DEV Dev, +uint8_t XTalkCompensationEnable); + +/** + * @brief Get Cross talk compensation rate enable + * + * Get if the Cross Talk is Enabled or Disabled. + * + * @note This function doesn't access to the device + * + * @param Dev Device Handle + * @param pXTalkCompensationEnable Pointer to the Cross talk compensation + * state 0=disabled or 1 = enabled + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetXTalkCompensationEnable(VL53L1_DEV Dev, + uint8_t *pXTalkCompensationEnable); + + +/** + * @brief Perform XTalk Calibration + * + * @details Perform a XTalk calibration of the Device. + * This function will launch a ranging measurement, if interrupts + * are enabled an interrupt will be done. + * This function will clear the interrupt generated automatically. + * This function will program a new value for the XTalk compensation + * and it will enable the cross talk before exit. + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param CalibrationOption Select the Calibration to be run : + * @param CalibrationOption + * @li VL53L1_XTALKCALIBRATIONMODE_SINGLE_TARGET the calibration uses current + * preset and distance mode without altering them.
+ * User must call @a VL53L1_SetPresetMode() with VL53L1_PRESETMODE_AUTONOMOUS, + * VL53L1_PRESETMODE_LITE_RANGING or VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS + * parameter prior to launch calibration + * @li VL53L1_XTALKCALIBRATIONMODE_NO_TARGET the calibration sets appropriate + * preset and distance mode and thus override existing ones
+ * User must call @a VL53L1_SetPresetMode() again after calibration to set the + * desired one. during this calibration mode no object must be put below a 80cm + * distance from the target + * @li VL53L1_XTALKCALIBRATIONMODE_FULL_ROI the calibration sets appropriate + * preset and distance mode and thus override existing ones
+ * User must call @a VL53L1_SetPresetMode() again after calibration to set the + * desired one. + * The ROI settings must define a single 16x16 ROI before to launch this + * function. + * The calibration uses a target which should be located at least @60cm from the + * device. The actual location of the target shall be passed + * through the bare driver tuning parameters table + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_PerformXTalkCalibration(VL53L1_DEV Dev, + uint8_t CalibrationOption); + +/** + * @brief Define the mode to be used for the offset calibration + * + * Define the mode to be used for the offset calibration. This function should + * be called before run the @a VL53L1_PerformOffsetCalibration() + * + * @param Dev Device Handle + * @param OffsetCalibrationMode Offset Calibration Mode valid values are: + * @li VL53L1_OFFSETCALIBRATIONMODE_STANDARD + * @li VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY + * @li VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetOffsetCalibrationMode(VL53L1_DEV Dev, + VL53L1_OffsetCalibrationModes OffsetCalibrationMode); + +/** + * @brief Define the mode to be used for the offset correction + * + * Define the mode to be used for the offset correction. + * + * @param Dev Device Handle + * @param OffsetCorrectionMode Offset Correction Mode valid values are: + * @li VL53L1_OFFSETCORRECTIONMODE_STANDARD + * @li VL53L1_OFFSETCORRECTIONMODE_PERZONE + * @li VL53L1_OFFSETCORRECTIONMODE_PERVCSEL + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetOffsetCorrectionMode(VL53L1_DEV Dev, + VL53L1_OffsetCorrectionModes OffsetCorrectionMode); + + +/** + * @brief Perform Offset Calibration + * + * @details Perform a Offset calibration of the Device. + * This function will launch a ranging measurement, if interrupts are + * enabled interrupts will be done. + * This function will program a new value for the Offset calibration value + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param CalDistanceMilliMeter Calibration distance value used for the + * offset compensation. + * @param CalReflectancePercent Calibration Target reflectance @ 940nm + * in percentage. + * + * @return VL53L1_ERROR_NONE + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_PerformOffsetCalibration(VL53L1_DEV Dev, + int32_t CalDistanceMilliMeter, + FixPoint1616_t CalReflectancePercent); + +/** + * @brief Perform Offset simple Calibration + * + * @details Perform a very simple offset calibration of the Device. + * This function will launch few ranging measurements and computes offset + * calibration. The preset mode and the distance mode MUST be set by the + * application before to call this function. + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param CalDistanceMilliMeter Calibration distance value used for the + * offset compensation. + * + * @return VL53L1_ERROR_NONE + * @return VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL the calibration failed by + * lack of valid measurements + * @return VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH means that the target + * distance combined to the number of loops performed in the calibration lead to + * an internal overflow. Try to reduce the distance of the target (140 mm) + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_PerformOffsetSimpleCalibration(VL53L1_DEV Dev, + int32_t CalDistanceMilliMeter); + +/** + * @brief Perform Offset simple Calibration with a "zero distance" target + * + * @details Perform a simple offset calibration of the Device. + * This function will launch few ranging measurements and computes offset + * calibration. The preset mode and the distance mode MUST be set by the + * application before to call this function. + * A target must be place very close to the device. + * Ideally the target shall be touching the coverglass. + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @param Dev Device Handle + * + * @return VL53L1_ERROR_NONE + * @return VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL the calibration failed by + * lack of valid measurements + * @return VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH means that the target + * distance is too large, try to put the target closer to the device + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_PerformOffsetZeroDistanceCalibration(VL53L1_DEV Dev); + +/** + * @brief Perform Offset per Vcsel Calibration. i.e. per distance mode + * + * @details Perform offset calibration of the Device depending on the + * three distance mode settings: short, medium and long. + * This function will launch few ranging measurements and computes offset + * calibration in each of the three distance modes. + * The preset mode MUST be set by the application before to call this function. + * + * @warning This function is a blocking function + * + * @note This function Access to the device + * + * @param Dev Device Handle + * @param CalDistanceMilliMeter Distance of the target used for the + * offset compensation calibration. + * + * @return VL53L1_ERROR_NONE + * @return VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL the calibration failed by + * lack of valid measurements + * @return VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH means that the target + * distance combined to the number of loops performed in the calibration lead to + * an internal overflow. Try to reduce the distance of the target (140 mm) + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_PerformOffsetPerVcselCalibration(VL53L1_DEV Dev, + int32_t CalDistanceMilliMeter); +/** + * @brief Sets the Calibration Data. + * + * @par Function Description + * This function set all the Calibration Data issued from the functions + * @a VL53L1_PerformRefSpadManagement(), @a VL53L1_PerformXTalkCalibration, + * @a VL53L1_PerformOffsetCalibration() + * + * @note This function doesn't Accesses the device + * + * @param Dev Device Handle + * @param *pCalibrationData Pointer to Calibration data to be set. + * @return VL53L1_ERROR_NONE Success + * @return VL53L1_ERROR_INVALID_PARAMS pCalibrationData points to an older + * version of the inner structure. Need for support to convert its content. + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetCalibrationData(VL53L1_DEV Dev, + VL53L1_CalibrationData_t *pCalibrationData); + +/** + * @brief Gets the Calibration Data. + * + * @par Function Description + * This function get all the Calibration Data issued from the functions + * @a VL53L1_PerformRefSpadManagement(), @a VL53L1_PerformXTalkCalibration, + * @a VL53L1_PerformOffsetCalibration() + * + * @note This function doesn't Accesses the device + * + * @param Dev Device Handle + * @param *pCalibrationData pointer where to store Calibration + * data. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetCalibrationData(VL53L1_DEV Dev, + VL53L1_CalibrationData_t *pCalibrationData); + +/** + * @brief Sets the Zone Calibration Data. + * + * @par Function Description + * This function set all the Zone nCalibration Data issued from the functions + * @a VL53L1_PerformOffsetCalibration() in multi zone + * + * @note This function doesn't Accesses the device + * + * @param Dev Device Handle + * @param *pZoneCalibrationData Pointer to Zone Calibration data to be + * set. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_SetZoneCalibrationData(VL53L1_DEV Dev, + VL53L1_ZoneCalibrationData_t *pZoneCalibrationData); + +/** + * @brief Gets the Zone Calibration Data. + * + * @par Function Description + * This function get all the Zone Calibration Data issued from the functions + * @a VL53L1_PerformOffsetCalibration() + * + * @note This function doesn't Accesses the device + * + * @param Dev Device Handle + * @param *pZoneCalibrationData pointer where to store Zone Calibration + * data. + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetZoneCalibrationData(VL53L1_DEV Dev, + VL53L1_ZoneCalibrationData_t *pZoneCalibrationData); +/** + * @brief Gets the optical center. + * + * @par Function Description + * This function get the optical center issued from the nvm set at FTM stage + * expressed in the same coordinate system as the ROI are + * + * @note This function doesn't Accesses the device + * + * @param Dev Device Handle + * @param pOpticalCenterX pointer to the X position of center + * in 16.16 fix point + * @param pOpticalCenterY pointer to the Y position of center + * in 16.16 fix point + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_GetOpticalCenter(VL53L1_DEV Dev, + FixPoint1616_t *pOpticalCenterX, + FixPoint1616_t *pOpticalCenterY); + +/** @} VL53L1_Calibration_group */ + +/** @defgroup VL53L1_Thresholds_group VL53L1 IRQ Triggered events Functions + * @brief Functions used to configure interrupt to be triggered only when + * a measurement satisfies some thresholds parameters + * @{ + */ + +/** + * @brief Configure the interrupt config, from the given structure + * + * @param[in] Dev : Device Handle + * @param[in] pConfig : pointer to configuration structure + */ + +VL53L1_Error VL53L1_SetThresholdConfig(VL53L1_DEV Dev, + VL53L1_DetectionConfig_t *pConfig); + +/** + * @brief Retrieves the interrupt config structure currently programmed + * into the API + * + * @param[in] Dev : Device Handle + * @param[out] pConfig : pointer to configuration structure + */ + +VL53L1_Error VL53L1_GetThresholdConfig(VL53L1_DEV Dev, + VL53L1_DetectionConfig_t *pConfig); + + +/** @} VL53L1_Thresholds_group */ + + +/** @} VL53L1_cut11_group */ + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L1_API_H_ */ diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_api_calibration.h b/drivers/input/misc/vl53L1/inc/vl53l1_api_calibration.h new file mode 100644 index 000000000000..6bce3dd06994 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_api_calibration.h @@ -0,0 +1,137 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_API_CALIBRATION_H_ +#define _VL53L1_API_CALIBRATION_H_ + +#include "vl53l1_platform.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + +VL53L1_Error VL53L1_run_ref_spad_char(VL53L1_DEV Dev, + VL53L1_Error * pcal_status); + + + + +VL53L1_Error VL53L1_run_device_test( + VL53L1_DEV Dev, + VL53L1_DeviceTestMode device_test_mode); + + + + +VL53L1_Error VL53L1_run_spad_rate_map( + VL53L1_DEV Dev, + VL53L1_DeviceTestMode device_test_mode, + VL53L1_DeviceSscArray array_select, + uint32_t ssc_config_timeout_us, + VL53L1_spad_rate_data_t *pspad_rate_data); + + + + +VL53L1_Error VL53L1_run_xtalk_extraction( + VL53L1_DEV Dev, + VL53L1_Error *pcal_status); + + + +VL53L1_Error VL53L1_get_and_avg_xtalk_samples( + VL53L1_DEV Dev, + uint8_t num_of_samples, + uint8_t measurement_mode, + int16_t xtalk_filter_thresh_max_mm, + int16_t xtalk_filter_thresh_min_mm, + uint16_t xtalk_max_valid_rate_kcps, + uint8_t xtalk_result_id, + uint8_t xtalk_histo_id, + VL53L1_xtalk_range_results_t *pxtalk_results, + VL53L1_histogram_bin_data_t *psum_histo, + VL53L1_histogram_bin_data_t *pavg_histo); + + + +VL53L1_Error VL53L1_run_offset_calibration( + VL53L1_DEV Dev, + int16_t cal_distance_mm, + uint16_t cal_reflectance_pc, + VL53L1_Error *pcal_status); + + + + +VL53L1_Error VL53L1_run_phasecal_average( + VL53L1_DEV Dev, + uint8_t measurement_mode, + uint8_t phasecal_result__vcsel_start, + uint16_t phasecal_num_of_samples, + VL53L1_range_results_t *prange_results, + uint16_t *pphasecal_result__reference_phase, + uint16_t *pzero_distance_phase); + + + + +VL53L1_Error VL53L1_run_zone_calibration( + VL53L1_DEV Dev, + VL53L1_DevicePresetModes device_preset_mode, + VL53L1_DeviceZonePreset zone_preset, + VL53L1_zone_config_t *pzone_cfg, + int16_t cal_distance_mm, + uint16_t cal_reflectance_pc, + VL53L1_Error *pcal_status); + + + + +void VL53L1_hist_xtalk_extract_data_init( + VL53L1_hist_xtalk_extract_data_t *pxtalk_data); + + + +VL53L1_Error VL53L1_hist_xtalk_extract_update( + int16_t target_distance_mm, + uint16_t target_width_oversize, + VL53L1_histogram_bin_data_t *phist_bins, + VL53L1_hist_xtalk_extract_data_t *pxtalk_data); + + + +VL53L1_Error VL53L1_hist_xtalk_extract_fini( + VL53L1_histogram_bin_data_t *phist_bins, + VL53L1_hist_xtalk_extract_data_t *pxtalk_data, + VL53L1_xtalk_calibration_results_t *pxtalk_cal, + VL53L1_xtalk_histogram_shape_t *pxtalk_shape); + + + + +VL53L1_Error VL53L1_run_hist_xtalk_extraction( + VL53L1_DEV Dev, + int16_t cal_distance_mm, + VL53L1_Error *pcal_status); + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_api_core.h b/drivers/input/misc/vl53L1/inc/vl53l1_api_core.h new file mode 100644 index 000000000000..4a90a269ec40 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_api_core.h @@ -0,0 +1,680 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_API_CORE_H_ +#define _VL53L1_API_CORE_H_ + +#include "vl53l1_platform.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + +VL53L1_Error VL53L1_get_version( + VL53L1_DEV Dev, + VL53L1_ll_version_t *pversion); + + + + +VL53L1_Error VL53L1_get_device_firmware_version( + VL53L1_DEV Dev, + uint16_t *pfw_version); + + + + +VL53L1_Error VL53L1_data_init( + VL53L1_DEV Dev, + uint8_t read_p2p_data); + + + + +VL53L1_Error VL53L1_read_p2p_data( + VL53L1_DEV Dev); + + + + +VL53L1_Error VL53L1_software_reset( + VL53L1_DEV Dev); + + + + +VL53L1_Error VL53L1_set_part_to_part_data( + VL53L1_DEV Dev, + VL53L1_calibration_data_t *pcal_data); + + + + +VL53L1_Error VL53L1_get_part_to_part_data( + VL53L1_DEV Dev, + VL53L1_calibration_data_t *pcal_data); + + + + +VL53L1_Error VL53L1_get_tuning_debug_data( + VL53L1_DEV Dev, + VL53L1_tuning_parameters_t *ptun_data); + + + + +VL53L1_Error VL53L1_set_inter_measurement_period_ms( + VL53L1_DEV Dev, + uint32_t inter_measurement_period_ms); + + + + +VL53L1_Error VL53L1_get_inter_measurement_period_ms( + VL53L1_DEV Dev, + uint32_t *pinter_measurement_period_ms); + + + + +VL53L1_Error VL53L1_set_timeouts_us( + VL53L1_DEV Dev, + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us); + + + + +VL53L1_Error VL53L1_get_timeouts_us( + VL53L1_DEV Dev, + uint32_t *pphasecal_config_timeout_us, + uint32_t *pmm_config_timeout_us, + uint32_t *prange_config_timeout_us); + + + + +VL53L1_Error VL53L1_set_calibration_repeat_period( + VL53L1_DEV Dev, + uint16_t cal_config__repeat_period); + + + + +VL53L1_Error VL53L1_get_calibration_repeat_period( + VL53L1_DEV Dev, + uint16_t *pcal_config__repeat_period); + + + + +VL53L1_Error VL53L1_set_sequence_config_bit( + VL53L1_DEV Dev, + VL53L1_DeviceSequenceConfig bit_id, + uint8_t value); + + + + +VL53L1_Error VL53L1_get_sequence_config_bit( + VL53L1_DEV Dev, + VL53L1_DeviceSequenceConfig bit_id, + uint8_t *pvalue); + + + + +VL53L1_Error VL53L1_set_interrupt_polarity( + VL53L1_DEV Dev, + VL53L1_DeviceInterruptPolarity interrupt_polarity); + + + + +VL53L1_Error VL53L1_get_interrupt_polarity( + VL53L1_DEV Dev, + VL53L1_DeviceInterruptPolarity *pinterrupt_polarity); + + + +VL53L1_Error VL53L1_get_refspadchar_config_struct( + VL53L1_DEV Dev, + VL53L1_refspadchar_config_t *pdata); + + + +VL53L1_Error VL53L1_set_refspadchar_config_struct( + VL53L1_DEV Dev, + VL53L1_refspadchar_config_t *pdata); + + + +VL53L1_Error VL53L1_set_range_ignore_threshold( + VL53L1_DEV Dev, + uint8_t range_ignore_thresh_mult, + uint16_t range_ignore_threshold_mcps); + + + +VL53L1_Error VL53L1_get_range_ignore_threshold( + VL53L1_DEV Dev, + uint8_t *prange_ignore_thresh_mult, + uint16_t *prange_ignore_threshold_mcps_internal, + uint16_t *prange_ignore_threshold_mcps_current); + + + + +VL53L1_Error VL53L1_set_user_zone( + VL53L1_DEV Dev, + VL53L1_user_zone_t *puser_zone); + + + + +VL53L1_Error VL53L1_get_user_zone( + VL53L1_DEV Dev, + VL53L1_user_zone_t *puser_zone); + + + + +VL53L1_Error VL53L1_get_mode_mitigation_roi( + VL53L1_DEV Dev, + VL53L1_user_zone_t *pmm_roi); + + + + +VL53L1_Error VL53L1_set_zone_config( + VL53L1_DEV Dev, + VL53L1_zone_config_t *pzone_cfg); + + + + +VL53L1_Error VL53L1_get_zone_config( + VL53L1_DEV Dev, + VL53L1_zone_config_t *pzone_cfg); + + + + +VL53L1_Error VL53L1_set_preset_mode( + VL53L1_DEV Dev, + VL53L1_DevicePresetModes device_preset_mode, + uint16_t dss_config__target_total_rate_mcps, + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us, + uint32_t inter_measurement_period_ms); + + + + +VL53L1_Error VL53L1_get_preset_mode_timing_cfg( + VL53L1_DEV Dev, + VL53L1_DevicePresetModes device_preset_mode, + uint16_t *pdss_config__target_total_rate_mcps, + uint32_t *pphasecal_config_timeout_us, + uint32_t *pmm_config_timeout_us, + uint32_t *prange_config_timeout_us); + + + +VL53L1_Error VL53L1_set_zone_preset( + VL53L1_DEV Dev, + VL53L1_DeviceZonePreset zone_preset); + + + +VL53L1_Error VL53L1_enable_xtalk_compensation( + VL53L1_DEV Dev); + + + +VL53L1_Error VL53L1_disable_xtalk_compensation( + VL53L1_DEV Dev); + + + + +void VL53L1_get_xtalk_compensation_enable( + VL53L1_DEV Dev, + uint8_t *pcrosstalk_compensation_enable); + + + +VL53L1_Error VL53L1_init_and_start_range( + VL53L1_DEV Dev, + uint8_t measurement_mode, + VL53L1_DeviceConfigLevel device_config_level); + + + + +VL53L1_Error VL53L1_stop_range( + VL53L1_DEV Dev); + + + + +VL53L1_Error VL53L1_get_measurement_results( + VL53L1_DEV Dev, + VL53L1_DeviceResultsLevel device_result_level); + + + + +VL53L1_Error VL53L1_get_device_results( + VL53L1_DEV Dev, + VL53L1_DeviceResultsLevel device_result_level, + VL53L1_range_results_t *prange_results); + + + + +VL53L1_Error VL53L1_clear_interrupt_and_enable_next_range( + VL53L1_DEV Dev, + uint8_t measurement_mode); + + + + +VL53L1_Error VL53L1_get_histogram_bin_data( + VL53L1_DEV Dev, + VL53L1_histogram_bin_data_t *phist_data); + + + + +void VL53L1_copy_sys_and_core_results_to_range_results( + int32_t gain_factor, + VL53L1_system_results_t *psys, + VL53L1_core_results_t *pcore, + VL53L1_range_results_t *presults); + + + +VL53L1_Error VL53L1_set_zone_dss_config( + VL53L1_DEV Dev, + VL53L1_zone_private_dyn_cfg_t *pzone_dyn_cfg); + + + + +VL53L1_Error VL53L1_calc_ambient_dmax( + VL53L1_DEV Dev, + uint16_t target_reflectance, + int16_t *pambient_dmax_mm); + + + + +VL53L1_Error VL53L1_set_GPIO_interrupt_config( + VL53L1_DEV Dev, + VL53L1_GPIO_Interrupt_Mode intr_mode_distance, + VL53L1_GPIO_Interrupt_Mode intr_mode_rate, + uint8_t intr_new_measure_ready, + uint8_t intr_no_target, + uint8_t intr_combined_mode, + uint16_t thresh_distance_high, + uint16_t thresh_distance_low, + uint16_t thresh_rate_high, + uint16_t thresh_rate_low + ); + + + +VL53L1_Error VL53L1_set_GPIO_interrupt_config_struct( + VL53L1_DEV Dev, + VL53L1_GPIO_interrupt_config_t intconf); + + + +VL53L1_Error VL53L1_get_GPIO_interrupt_config( + VL53L1_DEV Dev, + VL53L1_GPIO_interrupt_config_t *pintconf); + + + + +VL53L1_Error VL53L1_set_dmax_mode( + VL53L1_DEV Dev, + VL53L1_DeviceDmaxMode dmax_mode); + + + +VL53L1_Error VL53L1_get_dmax_mode( + VL53L1_DEV Dev, + VL53L1_DeviceDmaxMode *pdmax_mode); + + + + +VL53L1_Error VL53L1_get_dmax_calibration_data( + VL53L1_DEV Dev, + VL53L1_DeviceDmaxMode dmax_mode, + uint8_t zone_id, + VL53L1_dmax_calibration_data_t *pdmax_cal); + + + + +VL53L1_Error VL53L1_set_hist_dmax_config( + VL53L1_DEV Dev, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg); + + + +VL53L1_Error VL53L1_get_hist_dmax_config( + VL53L1_DEV Dev, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg); + + + + +VL53L1_Error VL53L1_set_offset_calibration_mode( + VL53L1_DEV Dev, + VL53L1_OffsetCalibrationMode offset_cal_mode); + + + + +VL53L1_Error VL53L1_get_offset_calibration_mode( + VL53L1_DEV Dev, + VL53L1_OffsetCalibrationMode *poffset_cal_mode); + + + + +VL53L1_Error VL53L1_set_offset_correction_mode( + VL53L1_DEV Dev, + VL53L1_OffsetCalibrationMode offset_cor_mode); + + + + +VL53L1_Error VL53L1_get_offset_correction_mode( + VL53L1_DEV Dev, + VL53L1_OffsetCorrectionMode *poffset_cor_mode); + + + + +VL53L1_Error VL53L1_set_zone_calibration_data( + VL53L1_DEV Dev, + VL53L1_zone_calibration_results_t *pzone_cal); + + + + +VL53L1_Error VL53L1_get_zone_calibration_data( + VL53L1_DEV Dev, + VL53L1_zone_calibration_results_t *pzone_cal); + + + + +VL53L1_Error VL53L1_get_lite_xtalk_margin_kcps( + VL53L1_DEV Dev, + int16_t *pxtalk_margin); + + + +VL53L1_Error VL53L1_set_lite_xtalk_margin_kcps( + VL53L1_DEV Dev, + int16_t xtalk_margin); + + + + +VL53L1_Error VL53L1_get_histogram_xtalk_margin_kcps( + VL53L1_DEV Dev, + int16_t *pxtalk_margin); + + + +VL53L1_Error VL53L1_set_histogram_xtalk_margin_kcps( + VL53L1_DEV Dev, + int16_t xtalk_margin); + + + +VL53L1_Error VL53L1_get_histogram_phase_consistency( + VL53L1_DEV Dev, + uint8_t *pphase_consistency); + + + +VL53L1_Error VL53L1_set_histogram_phase_consistency( + VL53L1_DEV Dev, + uint8_t phase_consistency); + + + +VL53L1_Error VL53L1_get_histogram_event_consistency( + VL53L1_DEV Dev, + uint8_t *pevent_consistency); + + + +VL53L1_Error VL53L1_set_histogram_event_consistency( + VL53L1_DEV Dev, + uint8_t event_consistency); + + + +VL53L1_Error VL53L1_get_histogram_ambient_threshold_sigma( + VL53L1_DEV Dev, + uint8_t *pamb_thresh_sigma); + + + +VL53L1_Error VL53L1_set_histogram_ambient_threshold_sigma( + VL53L1_DEV Dev, + uint8_t amb_thresh_sigma); + + + +VL53L1_Error VL53L1_get_lite_min_count_rate( + VL53L1_DEV Dev, + uint16_t *plite_mincountrate); + + + + +VL53L1_Error VL53L1_set_lite_min_count_rate( + VL53L1_DEV Dev, + uint16_t lite_mincountrate); + + + + + +VL53L1_Error VL53L1_get_lite_sigma_threshold( + VL53L1_DEV Dev, + uint16_t *plite_sigma); + + + + +VL53L1_Error VL53L1_set_lite_sigma_threshold( + VL53L1_DEV Dev, + uint16_t lite_sigma); + + + + +VL53L1_Error VL53L1_restore_xtalk_nvm_default( + VL53L1_DEV Dev); + + + +VL53L1_Error VL53L1_get_xtalk_detect_config( + VL53L1_DEV Dev, + int16_t *pmax_valid_range_mm, + int16_t *pmin_valid_range_mm, + uint16_t *pmax_valid_rate_kcps, + uint16_t *pmax_sigma_mm); + + + +VL53L1_Error VL53L1_set_xtalk_detect_config( + VL53L1_DEV Dev, + int16_t max_valid_range_mm, + int16_t min_valid_range_mm, + uint16_t max_valid_rate_kcps, + uint16_t max_sigma_mm); + + + +VL53L1_Error VL53L1_get_target_order_mode( + VL53L1_DEV Dev, + VL53L1_HistTargetOrder *phist_target_order); + + + +VL53L1_Error VL53L1_set_target_order_mode( + VL53L1_DEV Dev, + VL53L1_HistTargetOrder hist_target_order); + + + + +VL53L1_Error VL53L1_set_dmax_reflectance_values( + VL53L1_DEV Dev, + VL53L1_dmax_reflectance_array_t *pdmax_reflectances); + + + +VL53L1_Error VL53L1_get_dmax_reflectance_values( + VL53L1_DEV Dev, + VL53L1_dmax_reflectance_array_t *pdmax_reflectances); + + + +VL53L1_Error VL53L1_set_vhv_config( + VL53L1_DEV Dev, + uint8_t vhv_init_en, + uint8_t vhv_init_value); + + + +VL53L1_Error VL53L1_get_vhv_config( + VL53L1_DEV Dev, + uint8_t *pvhv_init_en, + uint8_t *pvhv_init_value); + + + +VL53L1_Error VL53L1_set_vhv_loopbound( + VL53L1_DEV Dev, + uint8_t vhv_loopbound); + + + +VL53L1_Error VL53L1_get_vhv_loopbound( + VL53L1_DEV Dev, + uint8_t *pvhv_loopbound); + + + +VL53L1_Error VL53L1_get_tuning_parm( + VL53L1_DEV Dev, + VL53L1_TuningParms tuning_parm_key, + int32_t *ptuning_parm_value); + + + +VL53L1_Error VL53L1_set_tuning_parm( + VL53L1_DEV Dev, + VL53L1_TuningParms tuning_parm_key, + int32_t tuning_parm_value); + + + +VL53L1_Error VL53L1_dynamic_xtalk_correction_enable( + VL53L1_DEV Dev + ); + + + +VL53L1_Error VL53L1_dynamic_xtalk_correction_disable( + VL53L1_DEV Dev + ); + + + + +VL53L1_Error VL53L1_dynamic_xtalk_correction_apply_enable( + VL53L1_DEV Dev + ); + + + +VL53L1_Error VL53L1_dynamic_xtalk_correction_apply_disable( + VL53L1_DEV Dev + ); + + + +VL53L1_Error VL53L1_dynamic_xtalk_correction_single_apply_enable( + VL53L1_DEV Dev + ); + + + +VL53L1_Error VL53L1_dynamic_xtalk_correction_single_apply_disable( + VL53L1_DEV Dev + ); + + + +VL53L1_Error VL53L1_dynamic_xtalk_correction_set_scalers( + VL53L1_DEV Dev, + int16_t x_scaler_in, + int16_t y_scaler_in, + uint8_t user_scaler_set_in + ); + + + +VL53L1_Error VL53L1_get_current_xtalk_settings( + VL53L1_DEV Dev, + VL53L1_xtalk_calibration_results_t *pxtalk + ); + + + +VL53L1_Error VL53L1_set_current_xtalk_settings( + VL53L1_DEV Dev, + VL53L1_xtalk_calibration_results_t *pxtalk + ); + +VL53L1_Error VL53L1_load_patch(VL53L1_DEV Dev); + +VL53L1_Error VL53L1_unload_patch(VL53L1_DEV Dev); + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_api_debug.h b/drivers/input/misc/vl53L1/inc/vl53l1_api_debug.h new file mode 100644 index 000000000000..c3ce689c719f --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_api_debug.h @@ -0,0 +1,341 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_API_DEBUG_H_ +#define _VL53L1_API_DEBUG_H_ + +#include "vl53l1_platform.h" +#include "vl53l1_nvm_structs.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + + +VL53L1_Error VL53L1_decode_calibration_data_buffer( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_calibration_data_t *pdata); + + + + + + +VL53L1_Error VL53L1_get_nvm_debug_data( + VL53L1_DEV Dev, + VL53L1_decoded_nvm_data_t *pdata); + + + +VL53L1_Error VL53L1_get_histogram_debug_data( + VL53L1_DEV Dev, + VL53L1_histogram_bin_data_t *pdata); + + + + + + +VL53L1_Error VL53L1_get_additional_data( + VL53L1_DEV Dev, + VL53L1_additional_data_t *pdata); + + + + + + +VL53L1_Error VL53L1_get_xtalk_debug_data( + VL53L1_DEV Dev, + VL53L1_xtalk_debug_data_t *pdata); + + + + +VL53L1_Error VL53L1_get_offset_debug_data( + VL53L1_DEV Dev, + VL53L1_offset_debug_data_t *pdata); + +#ifdef VL53L1_LOG_ENABLE + + + +void VL53L1_signed_fixed_point_sprintf( + int32_t fp_value, + uint8_t frac_bits, + uint16_t buf_size, + char *pbuffer); + + + + +void VL53L1_print_static_nvm_managed( + VL53L1_static_nvm_managed_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_customer_nvm_managed( + VL53L1_customer_nvm_managed_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_nvm_copy_data( + VL53L1_nvm_copy_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_histogram_bin_data( + VL53L1_histogram_bin_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_xtalk_histogram_data( + VL53L1_xtalk_histogram_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_xtalk_histogram_shape_data( + VL53L1_xtalk_histogram_shape_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_range_results( + VL53L1_range_results_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + +void VL53L1_print_range_data( + VL53L1_range_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_offset_range_results( + VL53L1_offset_range_results_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_offset_range_data( + VL53L1_offset_range_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_cal_peak_rate_map( + VL53L1_cal_peak_rate_map_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_additional_offset_cal_data( + VL53L1_additional_offset_cal_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + +void VL53L1_print_additional_data( + VL53L1_additional_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_gain_calibration_data( + VL53L1_gain_calibration_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_zone_calibration_data( + VL53L1_zone_calibration_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_zone_calibration_results( + VL53L1_zone_calibration_results_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_xtalk_range_results( + VL53L1_xtalk_range_results_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_xtalk_range_data( + VL53L1_xtalk_range_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_xtalk_calibration_results( + VL53L1_xtalk_calibration_results_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_xtalk_config( + VL53L1_xtalk_config_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + +void VL53L1_print_xtalk_extract_config( + VL53L1_xtalkextract_config_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + +void VL53L1_print_zone_cal_config( + VL53L1_zonecal_config_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + +void VL53L1_print_offset_cal_config( + VL53L1_offsetcal_config_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_dmax_calibration_data( + VL53L1_dmax_calibration_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_calibration_data( + VL53L1_calibration_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_xtalk_debug_data( + VL53L1_xtalk_debug_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + +void VL53L1_print_offset_debug_data( + VL53L1_offset_debug_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_optical_centre( + VL53L1_optical_centre_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_user_zone( + VL53L1_user_zone_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + +void VL53L1_print_zone_config( + VL53L1_zone_config_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_spad_rate_data( + VL53L1_spad_rate_data_t *pspad_rates, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_spad_rate_map( + VL53L1_spad_rate_data_t *pspad_rates, + char *pprefix, + uint32_t trace_flags); + + +#endif + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_api_preset_modes.h b/drivers/input/misc/vl53L1/inc/vl53l1_api_preset_modes.h new file mode 100644 index 000000000000..8efc203ca308 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_api_preset_modes.h @@ -0,0 +1,595 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_API_PRESET_MODES_H_ +#define _VL53L1_API_PRESET_MODES_H_ + +#include "vl53l1_ll_def.h" +#include "vl53l1_dmax_structs.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + +VL53L1_Error VL53L1_init_refspadchar_config_struct( + VL53L1_refspadchar_config_t *pdata); + + + + +VL53L1_Error VL53L1_init_ssc_config_struct( + VL53L1_ssc_config_t *pdata); + + + + +VL53L1_Error VL53L1_init_xtalk_config_struct( + VL53L1_customer_nvm_managed_t *pnvm, + VL53L1_xtalk_config_t *pdata); + + + +VL53L1_Error VL53L1_init_xtalk_extract_config_struct( + VL53L1_xtalkextract_config_t *pdata); + + + +VL53L1_Error VL53L1_init_offset_cal_config_struct( + VL53L1_offsetcal_config_t *pdata); + + + +VL53L1_Error VL53L1_init_zone_cal_config_struct( + VL53L1_zonecal_config_t *pdata); + + + +VL53L1_Error VL53L1_init_hist_post_process_config_struct( + uint8_t xtalk_compensation_enable, + VL53L1_hist_post_process_config_t *pdata); + + + + +VL53L1_Error VL53L1_init_dmax_calibration_data_struct( + VL53L1_dmax_calibration_data_t *pdata); + + + + +VL53L1_Error VL53L1_init_tuning_parm_storage_struct( + VL53L1_tuning_parm_storage_t *pdata); + + + +VL53L1_Error VL53L1_init_hist_gen3_dmax_config_struct( + VL53L1_hist_gen3_dmax_config_t *pdata); + + + + +VL53L1_Error VL53L1_preset_mode_standard_ranging( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_standard_ranging_short_range( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + + +VL53L1_Error VL53L1_preset_mode_standard_ranging_long_range( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + + +VL53L1_Error VL53L1_preset_mode_standard_ranging_mm1_cal( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + + +VL53L1_Error VL53L1_preset_mode_standard_ranging_mm2_cal( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + + +VL53L1_Error VL53L1_preset_mode_timed_ranging( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_timed_ranging_short_range( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_timed_ranging_long_range( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_low_power_auto_ranging( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg, + VL53L1_low_power_auto_data_t *plpadata); + + + +VL53L1_Error VL53L1_preset_mode_low_power_auto_short_ranging( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg, + VL53L1_low_power_auto_data_t *plpadata); + + + +VL53L1_Error VL53L1_preset_mode_low_power_auto_long_ranging( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg, + VL53L1_low_power_auto_data_t *plpadata); + + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_with_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_with_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_mm1_cal( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_mm2_cal( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_ref( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_histogram_characterisation( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + + +VL53L1_Error VL53L1_preset_mode_histogram_xtalk_planar( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + + +VL53L1_Error VL53L1_preset_mode_histogram_xtalk_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + + +VL53L1_Error VL53L1_preset_mode_histogram_xtalk_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_histogram_multizone( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_histogram_multizone_short_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_histogram_multizone_long_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_short_timing( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_histogram_long_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_histogram_medium_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_histogram_short_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_special_histogram_short_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_histogram_long_range_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_histogram_long_range_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_histogram_medium_range_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_histogram_medium_range_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_histogram_short_range_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_histogram_short_range_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_olt( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_preset_mode_singleshot_ranging( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg); + + + + +void VL53L1_copy_hist_cfg_to_static_cfg( + VL53L1_histogram_config_t *phistogram, + VL53L1_static_config_t *pstatic, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic); + + + +void VL53L1_copy_hist_bins_to_static_cfg( + VL53L1_histogram_config_t *phistogram, + VL53L1_static_config_t *pstatic, + VL53L1_timing_config_t *ptiming); + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_api_strings.h b/drivers/input/misc/vl53L1/inc/vl53l1_api_strings.h new file mode 100644 index 000000000000..eb9904cead67 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_api_strings.h @@ -0,0 +1,159 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +/** + * @file vl53l1_api_strings.h + * @brief VL53L1 API function declarations for decoding error codes to a + * text strings + */ + + +#ifndef VL53L1_API_STRINGS_H_ +#define VL53L1_API_STRINGS_H_ + +#include "vl53l1_def.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + +/** + * @brief Generates a string for the input device range status code + * + * @param[in] RangeStatus : Device Range AStatus Code + * @param[out] pRangeStatusString : pointer to character buffer + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_get_range_status_string( + uint8_t RangeStatus, + char *pRangeStatusString); + +/** + * @brief Generates an error string for the input PAL error code + * + * @param[in] PalErrorCode : PAL Error Code + * @param[out] pPalErrorString : pointer to character buffer + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_get_pal_error_string( + VL53L1_Error PalErrorCode, + char *pPalErrorString); + +/** + * @brief Generates a string for the input PAL State code + * + * @param[in] PalStateCode : PAL State Code + * @param[out] pPalStateString : pointer to character buffer + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_get_pal_state_string( + VL53L1_State PalStateCode, + char *pPalStateString); + + +/** + * @brief Generates a string for the sequence step Id + * + * @param[in] SequenceStepId : Sequence Step Id + * @param[out] pSequenceStepsString : pointer to character buffer + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_get_sequence_steps_info( + VL53L1_SequenceStepId SequenceStepId, + char *pSequenceStepsString); + +/** + * @brief Generates a string for the limit check Id + * + * @param[in] LimitCheckId : Limit check Id + * @param[out] pLimitCheckString : pointer to character buffer + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_get_limit_check_info(uint16_t LimitCheckId, + char *pLimitCheckString); + +#ifndef VL53L1_USE_EMPTY_STRING + #define VL53L1_STRING_DEVICE_INFO_NAME0 "VL53L1 cut1.0" + #define VL53L1_STRING_DEVICE_INFO_NAME1 "VL53L1 cut1.1" + #define VL53L1_STRING_DEVICE_INFO_TYPE "VL53L1" + + /* Range Status */ + #define VL53L1_STRING_RANGESTATUS_NONE "No Update" + #define VL53L1_STRING_RANGESTATUS_RANGEVALID "Range Valid" + #define VL53L1_STRING_RANGESTATUS_SIGMA "Sigma Fail" + #define VL53L1_STRING_RANGESTATUS_SIGNAL "Signal Fail" + #define VL53L1_STRING_RANGESTATUS_MINRANGE "Min Range Fail" + #define VL53L1_STRING_RANGESTATUS_PHASE "Phase Fail" + #define VL53L1_STRING_RANGESTATUS_HW "Hardware Fail" + + + /* Range Status */ + #define VL53L1_STRING_STATE_POWERDOWN "POWERDOWN State" + #define VL53L1_STRING_STATE_WAIT_STATICINIT \ + "Wait for staticinit State" + #define VL53L1_STRING_STATE_STANDBY "STANDBY State" + #define VL53L1_STRING_STATE_IDLE "IDLE State" + #define VL53L1_STRING_STATE_RUNNING "RUNNING State" + #define VL53L1_STRING_STATE_RESET "RESET State" + #define VL53L1_STRING_STATE_UNKNOWN "UNKNOWN State" + #define VL53L1_STRING_STATE_ERROR "ERROR State" + + + + /* Check Enable */ + #define VL53L1_STRING_CHECKENABLE_SIGMA_FINAL_RANGE \ + "SIGMA FINAL RANGE" + #define VL53L1_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE \ + "SIGNAL RATE FINAL RANGE" + #define VL53L1_STRING_CHECKENABLE_SIGNAL_MIN_CLIP \ + "SIGNAL MIN CLIP" + #define VL53L1_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD \ + "RANGE IGNORE THRESHOLD" + #define VL53L1_STRING_CHECKENABLE_RANGE_PHASE_HIGH \ + "RANGE PHASE HIGH" + #define VL53L1_STRING_CHECKENABLE_RANGE_PHASE_LOW \ + "RANGE PHASE LOW" + #define VL53L1_STRING_CHECKENABLE_RANGE_PHASE_CONSISTENCY \ + "RANGE PHASE CONSISTENCY" + + /* Sequence Step */ + #define VL53L1_STRING_SEQUENCESTEP_VHV "VHV" + #define VL53L1_STRING_SEQUENCESTEP_PHASECAL "PHASE CAL" + #define VL53L1_STRING_SEQUENCESTEP_REFPHASE "REF PHASE" + #define VL53L1_STRING_SEQUENCESTEP_DSS1 "DSS1" + #define VL53L1_STRING_SEQUENCESTEP_DSS2 "DSS2" + #define VL53L1_STRING_SEQUENCESTEP_MM1 "MM1" + #define VL53L1_STRING_SEQUENCESTEP_MM2 "MM2" + #define VL53L1_STRING_SEQUENCESTEP_RANGE "RANGE" +#endif /* VL53L1_USE_EMPTY_STRING */ + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_core.h b/drivers/input/misc/vl53L1/inc/vl53l1_core.h new file mode 100644 index 000000000000..dc08caae5277 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_core.h @@ -0,0 +1,748 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_CORE_H_ +#define _VL53L1_CORE_H_ + +#include "vl53l1_platform.h" +#include "vl53l1_core_support.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + +void VL53L1_init_version( + VL53L1_DEV Dev); + + + + +void VL53L1_init_ll_driver_state( + VL53L1_DEV Dev, + VL53L1_DeviceState ll_state); + + + + +VL53L1_Error VL53L1_update_ll_driver_rd_state( + VL53L1_DEV Dev); + + + + +VL53L1_Error VL53L1_check_ll_driver_rd_state( + VL53L1_DEV Dev); + + + + +VL53L1_Error VL53L1_update_ll_driver_cfg_state( + VL53L1_DEV Dev); + + + + +void VL53L1_copy_rtn_good_spads_to_buffer( + VL53L1_nvm_copy_data_t *pdata, + uint8_t *pbuffer); + + + + +void VL53L1_init_system_results( + VL53L1_system_results_t *pdata); + + + + +void V53L1_init_zone_results_structure( + uint8_t active_zones, + VL53L1_zone_results_t *pdata); + + + + +void V53L1_init_zone_dss_configs( + VL53L1_DEV Dev); + + + + +void VL53L1_init_histogram_config_structure( + uint8_t even_bin0, + uint8_t even_bin1, + uint8_t even_bin2, + uint8_t even_bin3, + uint8_t even_bin4, + uint8_t even_bin5, + uint8_t odd_bin0, + uint8_t odd_bin1, + uint8_t odd_bin2, + uint8_t odd_bin3, + uint8_t odd_bin4, + uint8_t odd_bin5, + VL53L1_histogram_config_t *pdata); + + + +void VL53L1_init_histogram_multizone_config_structure( + uint8_t even_bin0, + uint8_t even_bin1, + uint8_t even_bin2, + uint8_t even_bin3, + uint8_t even_bin4, + uint8_t even_bin5, + uint8_t odd_bin0, + uint8_t odd_bin1, + uint8_t odd_bin2, + uint8_t odd_bin3, + uint8_t odd_bin4, + uint8_t odd_bin5, + VL53L1_histogram_config_t *pdata); + + + + +void VL53L1_init_xtalk_bin_data_struct( + uint32_t bin_value, + uint16_t VL53L1_p_024, + VL53L1_xtalk_histogram_shape_t *pdata); + + + + +void VL53L1_i2c_encode_uint16_t( + uint16_t ip_value, + uint16_t count, + uint8_t *pbuffer); + + + + +uint16_t VL53L1_i2c_decode_uint16_t( + uint16_t count, + uint8_t *pbuffer); + + + + +void VL53L1_i2c_encode_int16_t( + int16_t ip_value, + uint16_t count, + uint8_t *pbuffer); + + + + +int16_t VL53L1_i2c_decode_int16_t( + uint16_t count, + uint8_t *pbuffer); + + + + +void VL53L1_i2c_encode_uint32_t( + uint32_t ip_value, + uint16_t count, + uint8_t *pbuffer); + + + + +uint32_t VL53L1_i2c_decode_uint32_t( + uint16_t count, + uint8_t *pbuffer); + + + + +uint32_t VL53L1_i2c_decode_with_mask( + uint16_t count, + uint8_t *pbuffer, + uint32_t bit_mask, + uint32_t down_shift, + uint32_t offset); + + + + +void VL53L1_i2c_encode_int32_t( + int32_t ip_value, + uint16_t count, + uint8_t *pbuffer); + + + + +int32_t VL53L1_i2c_decode_int32_t( + uint16_t count, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_start_test( + VL53L1_DEV Dev, + uint8_t test_mode__ctrl); + + + + +VL53L1_Error VL53L1_set_firmware_enable_register( + VL53L1_DEV Dev, + uint8_t value); + + + + +VL53L1_Error VL53L1_enable_firmware( + VL53L1_DEV Dev); + + + + +VL53L1_Error VL53L1_disable_firmware( + VL53L1_DEV Dev); + + + + +VL53L1_Error VL53L1_set_powerforce_register( + VL53L1_DEV Dev, + uint8_t value); + + + + + +VL53L1_Error VL53L1_enable_powerforce( + VL53L1_DEV Dev); + + + +VL53L1_Error VL53L1_disable_powerforce( + VL53L1_DEV Dev); + + + + + +VL53L1_Error VL53L1_clear_interrupt( + VL53L1_DEV Dev); + + + + + +VL53L1_Error VL53L1_force_shadow_stream_count_to_zero( + VL53L1_DEV Dev); + + + + +uint32_t VL53L1_calc_macro_period_us( + uint16_t fast_osc_frequency, + uint8_t VL53L1_p_009); + + + + +uint16_t VL53L1_calc_range_ignore_threshold( + uint32_t central_rate, + int16_t x_gradient, + int16_t y_gradient, + uint8_t rate_mult); + + + + +uint32_t VL53L1_calc_timeout_mclks( + uint32_t timeout_us, + uint32_t macro_period_us); + + + +uint16_t VL53L1_calc_encoded_timeout( + uint32_t timeout_us, + uint32_t macro_period_us); + + + + +uint32_t VL53L1_calc_timeout_us( + uint32_t timeout_mclks, + uint32_t macro_period_us); + + + +uint32_t VL53L1_calc_decoded_timeout_us( + uint16_t timeout_encoded, + uint32_t macro_period_us); + + + + +uint16_t VL53L1_encode_timeout( + uint32_t timeout_mclks); + + + + +uint32_t VL53L1_decode_timeout( + uint16_t encoded_timeout); + + + + +VL53L1_Error VL53L1_calc_timeout_register_values( + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us, + uint16_t fast_osc_frequency, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming); + + + + +uint8_t VL53L1_encode_vcsel_period( + uint8_t VL53L1_p_031); + + + + +uint32_t VL53L1_decode_unsigned_integer( + uint8_t *pbuffer, + uint8_t no_of_bytes); + + + + +void VL53L1_encode_unsigned_integer( + uint32_t ip_value, + uint8_t no_of_bytes, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_hist_copy_and_scale_ambient_info( + VL53L1_zone_hist_info_t *pidata, + VL53L1_histogram_bin_data_t *podata); + + + + +void VL53L1_hist_get_bin_sequence_config( + VL53L1_DEV Dev, + VL53L1_histogram_bin_data_t *pdata); + + + + +VL53L1_Error VL53L1_hist_phase_consistency_check( + VL53L1_DEV Dev, + VL53L1_zone_hist_info_t *phist_prev, + VL53L1_zone_objects_t *prange_prev, + VL53L1_range_results_t *prange_curr); + + + + + + + +VL53L1_Error VL53L1_hist_events_consistency_check( + uint8_t event_sigma, + uint16_t min_effective_spad_count, + VL53L1_zone_hist_info_t *phist_prev, + VL53L1_object_data_t *prange_prev, + VL53L1_range_data_t *prange_curr, + int32_t *pevents_tolerance, + int32_t *pevents_delta, + VL53L1_DeviceError *prange_status); + + + + + + + +VL53L1_Error VL53L1_hist_merged_pulse_check( + int16_t min_max_tolerance_mm, + VL53L1_range_data_t *pdata, + VL53L1_DeviceError *prange_status); + + + + + + +VL53L1_Error VL53L1_hist_xmonitor_consistency_check( + VL53L1_DEV Dev, + VL53L1_zone_hist_info_t *phist_prev, + VL53L1_zone_objects_t *prange_prev, + VL53L1_range_data_t *prange_curr); + + + + + + +VL53L1_Error VL53L1_hist_wrap_dmax( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_histogram_bin_data_t *pcurrent, + int16_t *pwrap_dmax_mm); + + + + +void VL53L1_hist_combine_mm1_mm2_offsets( + int16_t mm1_offset_mm, + int16_t mm2_offset_mm, + uint8_t encoded_mm_roi_centre, + uint8_t encoded_mm_roi_size, + uint8_t encoded_zone_centre, + uint8_t encoded_zone_size, + VL53L1_additional_offset_cal_data_t *pcal_data, + uint8_t *pgood_spads, + uint16_t aperture_attenuation, + int16_t *prange_offset_mm); + + + + +VL53L1_Error VL53L1_hist_xtalk_extract_calc_window( + int16_t target_distance_mm, + uint16_t target_width_oversize, + VL53L1_histogram_bin_data_t *phist_bins, + VL53L1_hist_xtalk_extract_data_t *pxtalk_data); + + + + +VL53L1_Error VL53L1_hist_xtalk_extract_calc_event_sums( + VL53L1_histogram_bin_data_t *phist_bins, + VL53L1_hist_xtalk_extract_data_t *pxtalk_data); + + + + +VL53L1_Error VL53L1_hist_xtalk_extract_calc_rate_per_spad( + VL53L1_hist_xtalk_extract_data_t *pxtalk_data); + + + +VL53L1_Error VL53L1_hist_xtalk_extract_calc_shape( + VL53L1_hist_xtalk_extract_data_t *pxtalk_data, + VL53L1_xtalk_histogram_shape_t *pxtalk_shape); + + + +VL53L1_Error VL53L1_hist_xtalk_shape_model( + uint16_t events_per_bin, + uint16_t pulse_centre, + uint16_t pulse_width, + VL53L1_xtalk_histogram_shape_t *pxtalk_shape); + + + + +uint16_t VL53L1_hist_xtalk_shape_model_interp( + uint16_t events_per_bin, + uint32_t phase_delta); + + + + +void VL53L1_spad_number_to_byte_bit_index( + uint8_t spad_number, + uint8_t *pbyte_index, + uint8_t *pbit_index, + uint8_t *pbit_mask); + + + + +void VL53L1_encode_row_col( + uint8_t row, + uint8_t col, + uint8_t *pspad_number); + + + + +void VL53L1_decode_zone_size( + uint8_t encoded_xy_size, + uint8_t *pwidth, + uint8_t *pheight); + + + + +void VL53L1_encode_zone_size( + uint8_t width, + uint8_t height, + uint8_t *pencoded_xy_size); + + + + +void VL53L1_decode_zone_limits( + uint8_t encoded_xy_centre, + uint8_t encoded_xy_size, + int16_t *px_ll, + int16_t *py_ll, + int16_t *px_ur, + int16_t *py_ur); + + + + +uint8_t VL53L1_is_aperture_location( + uint8_t row, + uint8_t col); + + + + +void VL53L1_calc_max_effective_spads( + uint8_t encoded_zone_centre, + uint8_t encoded_zone_size, + uint8_t *pgood_spads, + uint16_t aperture_attenuation, + uint16_t *pmax_effective_spads); + + + + +void VL53L1_calc_mm_effective_spads( + uint8_t encoded_mm_roi_centre, + uint8_t encoded_mm_roi_size, + uint8_t encoded_zone_centre, + uint8_t encoded_zone_size, + uint8_t *pgood_spads, + uint16_t aperture_attenuation, + uint16_t *pmm_inner_effective_spads, + uint16_t *pmm_outer_effective_spads); + + + + +void VL53L1_hist_copy_results_to_sys_and_core( + VL53L1_histogram_bin_data_t *pbins, + VL53L1_range_results_t *phist, + VL53L1_system_results_t *psys, + VL53L1_core_results_t *pcore); + + + + +VL53L1_Error VL53L1_sum_histogram_data( + VL53L1_histogram_bin_data_t *phist_input, + VL53L1_histogram_bin_data_t *phist_output); + + + + +VL53L1_Error VL53L1_avg_histogram_data( + uint8_t no_of_samples, + VL53L1_histogram_bin_data_t *phist_sum, + VL53L1_histogram_bin_data_t *phist_avg); + + + + +VL53L1_Error VL53L1_save_cfg_data( + VL53L1_DEV Dev); + + + + +VL53L1_Error VL53L1_dynamic_zone_update( + VL53L1_DEV Dev, + VL53L1_range_results_t *presults); + + + + +VL53L1_Error VL53L1_update_internal_stream_counters( + VL53L1_DEV Dev, + uint8_t external_stream_count, + uint8_t *pinternal_stream_count, + uint8_t *pinternal_stream_count_val + ); + + + +VL53L1_Error VL53L1_multizone_hist_bins_update( + VL53L1_DEV Dev); + + + +VL53L1_Error VL53L1_set_histogram_multizone_initial_bin_config( + VL53L1_zone_config_t *pzone_cfg, + VL53L1_histogram_config_t *phist_cfg, + VL53L1_histogram_config_t *pmulti_hist + ); + + + +uint8_t VL53L1_encode_GPIO_interrupt_config( + VL53L1_GPIO_interrupt_config_t *pintconf); + + + +VL53L1_GPIO_interrupt_config_t VL53L1_decode_GPIO_interrupt_config( + uint8_t system__interrupt_config); + + + +VL53L1_Error VL53L1_set_GPIO_distance_threshold( + VL53L1_DEV Dev, + uint16_t threshold_high, + uint16_t threshold_low); + + + +VL53L1_Error VL53L1_set_GPIO_rate_threshold( + VL53L1_DEV Dev, + uint16_t threshold_high, + uint16_t threshold_low); + + + +VL53L1_Error VL53L1_set_GPIO_thresholds_from_struct( + VL53L1_DEV Dev, + VL53L1_GPIO_interrupt_config_t *pintconf); + + + + + +VL53L1_Error VL53L1_set_ref_spad_char_config( + VL53L1_DEV Dev, + uint8_t vcsel_period_a, + uint32_t phasecal_timeout_us, + uint16_t total_rate_target_mcps, + uint16_t max_count_rate_rtn_limit_mcps, + uint16_t min_count_rate_rtn_limit_mcps, + uint16_t fast_osc_frequency); + + + + +VL53L1_Error VL53L1_set_ssc_config( + VL53L1_DEV Dev, + VL53L1_ssc_config_t *pssc_cfg, + uint16_t fast_osc_frequency); + + + + +VL53L1_Error VL53L1_get_spad_rate_data( + VL53L1_DEV Dev, + VL53L1_spad_rate_data_t *pspad_rates); + + + +uint32_t VL53L1_calc_crosstalk_plane_offset_with_margin( + uint32_t plane_offset_kcps, + int16_t margin_offset_kcps); + + + +VL53L1_Error VL53L1_low_power_auto_data_init( + VL53L1_DEV Dev + ); + + + +VL53L1_Error VL53L1_low_power_auto_data_stop_range( + VL53L1_DEV Dev + ); + + + + +VL53L1_Error VL53L1_dynamic_xtalk_correction_calc_required_samples( + VL53L1_DEV Dev + ); + + + +VL53L1_Error VL53L1_dynamic_xtalk_correction_calc_new_xtalk( + VL53L1_DEV Dev, + uint32_t xtalk_offset_out, + VL53L1_smudge_corrector_config_t *pconfig, + VL53L1_smudge_corrector_data_t *pout, + uint8_t add_smudge, + uint8_t soft_update + ); + + + +VL53L1_Error VL53L1_dynamic_xtalk_correction_corrector( + VL53L1_DEV Dev + ); + + + +VL53L1_Error VL53L1_dynamic_xtalk_correction_data_init( + VL53L1_DEV Dev + ); + + + +VL53L1_Error VL53L1_dynamic_xtalk_correction_output_init( + VL53L1_LLDriverResults_t *pres + ); + + + +VL53L1_Error VL53L1_xtalk_cal_data_init( + VL53L1_DEV Dev + ); + + + +VL53L1_Error VL53L1_config_low_power_auto_mode( + VL53L1_general_config_t *pgeneral, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_low_power_auto_data_t *plpadata + ); + + + +VL53L1_Error VL53L1_low_power_auto_setup_manual_calibration( + VL53L1_DEV Dev); + + + +VL53L1_Error VL53L1_low_power_auto_update_DSS( + VL53L1_DEV Dev); + + +VL53L1_Error VL53L1_compute_histo_merge_nb( + VL53L1_DEV Dev, uint8_t *histo_merge_nb); + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_core_support.h b/drivers/input/misc/vl53L1/inc/vl53l1_core_support.h new file mode 100644 index 000000000000..644c1ebc6699 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_core_support.h @@ -0,0 +1,152 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_CORE_SUPPORT_H_ +#define _VL53L1_CORE_SUPPORT_H_ + +#include "vl53l1_types.h" +#include "vl53l1_hist_structs.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + +uint32_t VL53L1_calc_pll_period_us( + uint16_t fast_osc_frequency); + + + + + +uint32_t VL53L1_duration_maths( + uint32_t pll_period_us, + uint32_t vcsel_parm_pclks, + uint32_t window_vclks, + uint32_t periods_elapsed_mclks); + + + +uint32_t VL53L1_events_per_spad_maths( + int32_t VL53L1_p_013, + uint16_t num_spads, + uint32_t duration); + + + + +uint32_t VL53L1_isqrt( + uint32_t num); + + + + +void VL53L1_hist_calc_zero_distance_phase( + VL53L1_histogram_bin_data_t *pdata); + + + + +void VL53L1_hist_estimate_ambient_from_thresholded_bins( + int32_t ambient_threshold_sigma, + VL53L1_histogram_bin_data_t *pdata); + + + + +void VL53L1_hist_remove_ambient_bins( + VL53L1_histogram_bin_data_t *pdata); + + + + +uint32_t VL53L1_calc_pll_period_mm( + uint16_t fast_osc_frequency); + + + + +uint16_t VL53L1_rate_maths( + int32_t VL53L1_p_008, + uint32_t time_us); + + + + +uint16_t VL53L1_rate_per_spad_maths( + uint32_t frac_bits, + uint32_t peak_count_rate, + uint16_t num_spads, + uint32_t max_output_value); + + + + +int32_t VL53L1_range_maths( + uint16_t fast_osc_frequency, + uint16_t VL53L1_p_017, + uint16_t zero_distance_phase, + uint8_t fractional_bits, + int32_t gain_factor, + int32_t range_offset_mm); + + + + +uint8_t VL53L1_decode_vcsel_period( + uint8_t vcsel_period_reg); + + + +void VL53L1_copy_xtalk_bin_data_to_histogram_data_struct( + VL53L1_xtalk_histogram_shape_t *pxtalk, + VL53L1_histogram_bin_data_t *phist); + + + + +void VL53L1_init_histogram_bin_data_struct( + int32_t bin_value, + uint16_t VL53L1_p_024, + VL53L1_histogram_bin_data_t *pdata); + + + + +void VL53L1_decode_row_col( + uint8_t spad_number, + uint8_t *prow, + uint8_t *pcol); + + + + +void VL53L1_hist_find_min_max_bin_values( + VL53L1_histogram_bin_data_t *pdata); + + + + +void VL53L1_hist_estimate_ambient_from_ambient_bins( + VL53L1_histogram_bin_data_t *pdata); + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_def.h b/drivers/input/misc/vl53L1/inc/vl53l1_def.h new file mode 100644 index 000000000000..3431e58009f0 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_def.h @@ -0,0 +1,804 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +/** + * @file vl53l1_def.h + * + * @brief Type definitions for VL53L1 API. + * + */ + + +#ifndef _VL53L1_DEF_H_ +#define _VL53L1_DEF_H_ + +#include "vl53l1_ll_def.h" + +#ifdef __cplusplus +extern "C" { +#endif + +/** @defgroup VL53L1_globaldefine_group VL53L1 Defines + * @brief VL53L1 Defines + * @{ + */ + + +/** VL53L1 IMPLEMENTATION major version */ +#define VL53L1_IMPLEMENTATION_VER_MAJOR 6 +/** VL53L1 IMPLEMENTATION minor version */ +#define VL53L1_IMPLEMENTATION_VER_MINOR 6 +/** VL53L1 IMPLEMENTATION sub version */ +#define VL53L1_IMPLEMENTATION_VER_SUB 4 +/** VL53L1 IMPLEMENTATION sub version */ +#define VL53L1_IMPLEMENTATION_VER_REVISION 2462 + +/**************************************** + * PRIVATE define do not edit + ****************************************/ + +/** @brief Defines the parameters of the Get Version Functions + */ +typedef struct { + uint32_t revision; /*!< revision number */ + uint8_t major; /*!< major number */ + uint8_t minor; /*!< minor number */ + uint8_t build; /*!< build number */ +} VL53L1_Version_t; + + +#define VL53L1_DEVINFO_STRLEN 32 + +/** @brief Defines the parameters of the Get Device Info Functions + */ +typedef struct { + char Name[VL53L1_DEVINFO_STRLEN]; + /*!< Full Name of the Device e.g. VL53L1 cut1.1 */ + char Type[VL53L1_DEVINFO_STRLEN]; + /*!< Type of the Device e.g VL53L1 */ + char ProductId[VL53L1_DEVINFO_STRLEN]; + /*!< Product Identifier String + * @warning Not yet implemented + */ + uint8_t ProductType; + /*!< Product Type, VL53L1 = 0xCC, VL53L3 = 0xAA + * Stands as module_type in the datasheet + */ + uint8_t ProductRevisionMajor; + /*!< Product revision major */ + uint8_t ProductRevisionMinor; + /*!< Product revision minor */ +} VL53L1_DeviceInfo_t; + + + +/** @defgroup VL53L1_define_PresetModes_group Defines Preset modes + * Defines all possible preset modes for the device + * @{ + */ +typedef uint8_t VL53L1_PresetModes; + +#define VL53L1_PRESETMODE_RANGING ((VL53L1_PresetModes) 1) +#define VL53L1_PRESETMODE_MULTIZONES_SCANNING ((VL53L1_PresetModes) 2) +#define VL53L1_PRESETMODE_AUTONOMOUS ((VL53L1_PresetModes) 3) +#define VL53L1_PRESETMODE_LITE_RANGING ((VL53L1_PresetModes) 4) +#define VL53L1_PRESETMODE_OLT ((VL53L1_PresetModes) 7) +#define VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS ((VL53L1_PresetModes) 8) +#define VL53L1_PRESETMODE_PROXY_RANGING_MODE ((VL53L1_PresetModes) 9) + + /* ... Modes to be added depending on device */ +/** @} VL53L1_define_PresetModes_group */ + + +/** @defgroup VL53L1_define_DistanceModes_group Defines Distance modes + * Defines all possible Distance modes for the device + * @{ + */ +typedef uint8_t VL53L1_DistanceModes; + +#define VL53L1_DISTANCEMODE_SHORT ((VL53L1_DistanceModes) 1) +#define VL53L1_DISTANCEMODE_MEDIUM ((VL53L1_DistanceModes) 2) +#define VL53L1_DISTANCEMODE_LONG ((VL53L1_DistanceModes) 3) +/** @} VL53L1_define_DistanceModes_group */ + +/** @defgroup VL53L1_define_OutputModes_group Defines Output modes + * Defines all possible Output modes for the device + * @{ + */ +typedef uint8_t VL53L1_OutputModes; + +#define VL53L1_OUTPUTMODE_NEAREST ((VL53L1_OutputModes) 1) +#define VL53L1_OUTPUTMODE_STRONGEST ((VL53L1_OutputModes) 2) + +/** @} VL53L1_define_OutputModes_group */ + +/** @defgroup VL53L1_define_XtalkCal_group Defines Xtalk Calibration modes + * Defines all possible Offset Calibration modes for the device + * @{ + */ +typedef uint8_t VL53L1_XtalkCalibrationModes; + +#define VL53L1_XTALKCALIBRATIONMODE_NO_TARGET \ + ((VL53L1_OffsetCalibrationModes) 0) +/*!< To perform Xtalk calibration with no target below 80 cm */ +#define VL53L1_XTALKCALIBRATIONMODE_SINGLE_TARGET \ + ((VL53L1_OffsetCalibrationModes) 1) +/*!< To perform Xtalk calibration with one target */ +#define VL53L1_XTALKCALIBRATIONMODE_FULL_ROI \ + ((VL53L1_OffsetCalibrationModes) 2) +/*!< To perform Xtalk calibration based on histogram with full ROI */ + +/** @} VL53L1_define_XtalkCal_group */ + +/** @defgroup VL53L1_define_OffsetCal_group Defines Offset Calibration modes + * Defines all possible Offset Calibration modes for the device + * @{ + */ +typedef uint8_t VL53L1_OffsetCalibrationModes; + +#define VL53L1_OFFSETCALIBRATIONMODE_STANDARD \ + ((VL53L1_OffsetCalibrationModes) 1) +#define VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY \ + ((VL53L1_OffsetCalibrationModes) 2) +#define VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE \ + ((VL53L1_OffsetCalibrationModes) 3) + +/** @} VL53L1_define_OffsetCal_group */ + +/** @defgroup VL53L1_define_DeviceDmaxModes_group Defines Dmax source modes + * Defines all possible sources for Dmax calibration for the device + * @{ + */ +typedef uint8_t VL53L1_DeviceDmaxModes; + +#define VL53L1_DMAXMODE_FMT_CAL_DATA ((VL53L1_DeviceDmaxModes) 1) +#define VL53L1_DMAXMODE_CUSTCAL_DATA ((VL53L1_DeviceDmaxModes) 2) +#define VL53L1_DMAXMODE_PER_ZONE_CAL_DATA ((VL53L1_DeviceDmaxModes) 3) + +/** @} VL53L1_define_DeviceDmaxModes_group */ + +/** @defgroup VL53L1_define_OffsetCorrectionModesBD_group + * Device Offset Correction Mode + * + * @brief Defines all possible offset correction modes for the device + * @{ + */ +typedef uint8_t VL53L1_OffsetCorrectionModes; + +#define VL53L1_OFFSETCORRECTIONMODE_STANDARD ((VL53L1_OffsetCorrectionMode) 1) +#define VL53L1_OFFSETCORRECTIONMODE_PERZONE ((VL53L1_OffsetCorrectionMode) 2) +#define VL53L1_OFFSETCORRECTIONMODE_PERVCSEL ((VL53L1_OffsetCorrectionMode) 3) + +/** @} VL53L1_define_OffsetCorrectionModesBD_group */ + +/** @defgroup VL53L1_define_RoiStatus_group Defines Roi Status + * Defines the read status mode + * @{ + */ +typedef uint8_t VL53L1_RoiStatus; + +#define VL53L1_ROISTATUS_NOT_VALID ((VL53L1_RoiStatus) 0) +#define VL53L1_ROISTATUS_VALID_NOT_LAST ((VL53L1_RoiStatus) 1) +#define VL53L1_ROISTATUS_VALID_LAST ((VL53L1_RoiStatus) 2) +/** @} VL53L1_define_RoiStatus_group */ + + +/** @defgroup VL53L1_CheckEnable_group Check Enable list + * @brief Check Enable code + * + * Define used to specify the LimitCheckId. + * Use @a VL53L1_GetLimitCheckInfo() to get the string. + * @{ + */ + +#define VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE 0 +#define VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1 + +#define VL53L1_CHECKENABLE_NUMBER_OF_CHECKS 2 + +/** @} end of VL53L1_CheckEnable_group */ + + +/** @defgroup VL53L1_ThresholdMode_gropup Detection Functionality + * @brief Defines the different functionalities for the detection feature + * @{ + */ +typedef uint8_t VL53L1_ThresholdMode; + +#define VL53L1_THRESHOLD_CROSSED_LOW \ + ((VL53L1_ThresholdMode) 0) + /*!< Trigger interrupt if value < thresh_low */ +#define VL53L1_THRESHOLD_CROSSED_HIGH \ + ((VL53L1_ThresholdMode) 1) + /*!< Trigger interrupt if value > thresh_high */ +#define VL53L1_THRESHOLD_OUT_OF_WINDOW \ + ((VL53L1_ThresholdMode) 2) + /*!< Trigger interrupt if value < thresh_low OR value > thresh_high */ +#define VL53L1_THRESHOLD_IN_WINDOW \ + ((VL53L1_ThresholdMode) 3) + /*!< Trigger interrupt if value > thresh_low AND value < thresh_high */ + +/** @} end of VL53L1_ThresholdMode_gropup */ + +/** @brief Defines parameters for Distance detection Thresholds configuration + */ +typedef struct { + VL53L1_ThresholdMode CrossMode; + uint16_t High; /*!< Distance threshold high limit in mm */ + uint16_t Low; /*!< Distance threshold low limit in mm */ +} VL53L1_DistanceThreshold_t; + +/** @brief Defines parameters for Signal rate detection Thresholds configuration + */ +typedef struct { + VL53L1_ThresholdMode CrossMode; + FixPoint1616_t High; /*!< Signal rate threshold high limit */ + FixPoint1616_t Low; /*!< Signal rate threshold low limit */ +} VL53L1_RateThreshold_t; + +/** @defgroup VL53L1_DetectionMode_group Gpio Functionality + * @brief Defines conditions leading to device's IT on GPIO + * @{ + */ +typedef uint8_t VL53L1_DetectionMode; + +#define VL53L1_DETECTION_NORMAL_RUN \ + ((VL53L1_DetectionMode) 0) + /*!< Trigger interrupt on new measurement regardless of threshold + * just like after a VL53L1_SetPresetMode() call + */ +#define VL53L1_DETECTION_DISTANCE_ONLY \ + ((VL53L1_DetectionMode) 1) + /*!< Trigger interrupt if "threshold event" occurs on distance */ +#define VL53L1_DETECTION_RATE_ONLY \ + ((VL53L1_DetectionMode) 2) + /*!< Trigger interrupt if "threshold event" occurs on signal rate */ +#define VL53L1_DETECTION_DISTANCE_AND_RATE \ + ((VL53L1_DetectionMode) 3) + /*!< Trigger interrupt if "threshold event" occurs on distance AND rate + */ +#define VL53L1_DETECTION_DISTANCE_OR_RATE \ + ((VL53L1_DetectionMode) 4) + /*!< Trigger interrupt if "threshold event" occurs on distance OR rate + */ + +/** @} end of VL53L1_DetectionMode_group */ + +/** @brief Defines parameters for User/object Detection configuration + */ +typedef struct { + VL53L1_DetectionMode DetectionMode; /*!< See #VL53L1_DetectionMode*/ + uint8_t IntrNoTarget; /*!< 1 to trigger IT in case of no target found */ + VL53L1_DistanceThreshold_t Distance; /*!< limits in mm */ + VL53L1_RateThreshold_t Rate;/*!< limits in FixPoint1616_t */ +} VL53L1_DetectionConfig_t; + + +/** @brief Defines all parameters for the device + */ +typedef struct { + VL53L1_PresetModes PresetMode; + /*!< Defines the operating mode to be used for the next measure */ + VL53L1_OutputModes OutputMode; + /*!< Defines the Output mode to be used for the next measure */ + VL53L1_DistanceModes DistanceMode; + /*!< Defines the operating mode to be used for the next measure */ + uint32_t MeasurementTimingBudgetMicroSeconds; + /*!< Defines the allowed total time for a single measurement */ + uint8_t LimitChecksEnable[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array store all the Limit Check enable for this device. */ + uint8_t LimitChecksStatus[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array stores all the Status of the check linked to last + * measurement. + */ + FixPoint1616_t LimitChecksValue[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array stores all the Limit Check value for this device */ + FixPoint1616_t LimitChecksCurrent[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; + /*!< This Array stores all the Limit Check current value from latest + * ranging + */ +} VL53L1_DeviceParameters_t; + + +/** @defgroup VL53L1_define_State_group Defines the current status of the device + * Defines the current status of the device + * @{ + */ + +typedef uint8_t VL53L1_State; + +#define VL53L1_STATE_POWERDOWN ((VL53L1_State) 0) + /*!< Device is in HW reset */ +#define VL53L1_STATE_WAIT_STATICINIT ((VL53L1_State) 1) + /*!< Device is initialized and wait for static initialization */ +#define VL53L1_STATE_STANDBY ((VL53L1_State) 2) + /*!< Device is in Low power Standby mode */ +#define VL53L1_STATE_IDLE ((VL53L1_State) 3) + /*!< Device has been initialized and ready to do measurements */ +#define VL53L1_STATE_RUNNING ((VL53L1_State) 4) + /*!< Device is performing measurement */ +#define VL53L1_STATE_RESET ((VL53L1_State) 5) + /*!< Soft reset has been run on Device */ +#define VL53L1_STATE_UNKNOWN ((VL53L1_State) 98) + /*!< Device is in unknown state and need to be rebooted */ +#define VL53L1_STATE_ERROR ((VL53L1_State) 99) + /*!< Device is in error state and need to be rebooted */ + +/** @} VL53L1_define_State_group */ + +/** @defgroup VL53L1_define_Smudge_Mode_group Defines smudge correction modes + * Defines the smudge correction modes + * @{ + */ + +typedef uint8_t VL53L1_SmudgeCorrectionModes; + +#define VL53L1_SMUDGE_CORRECTION_NONE ((VL53L1_SmudgeCorrectionModes) 0) + /*!< Smudge correction is applied continously accross the rangings */ +#define VL53L1_SMUDGE_CORRECTION_CONTINUOUS ((VL53L1_SmudgeCorrectionModes) 1) + /*!< Smudge correction is applied continously accross the rangings */ +#define VL53L1_SMUDGE_CORRECTION_SINGLE ((VL53L1_SmudgeCorrectionModes) 2) + /*!< Smudge correction is applied only once accross the rangings */ +#define VL53L1_SMUDGE_CORRECTION_DEBUG ((VL53L1_SmudgeCorrectionModes) 3) + /*!< Smudge detection is applied continously but Xtalk values are not + * updated automatically within the driver + */ + +/** @} VL53L1_define_Smudge_Correction_Mode_group */ + + +/** + * @struct VL53L1_RangingMeasurementData_t + * @brief Single Range measurement data. + */ +typedef struct { + uint32_t TimeStamp; + /*!< 32-bit time stamp. + * @warning Not yet implemented + */ + + uint8_t StreamCount; + /*!< 8-bit Stream Count. */ + + uint8_t RangeQualityLevel; + /*!< indicate a quality level in percentage from 0 to 100 + * @warning Not yet implemented + */ + + FixPoint1616_t SignalRateRtnMegaCps; + /*!< Return signal rate (MCPS)\n these is a 16.16 fix point + * value, which is effectively a measure of target + * reflectance. + */ + + FixPoint1616_t AmbientRateRtnMegaCps; + /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point + * value, which is effectively a measure of the ambien + * t light. + */ + + uint16_t EffectiveSpadRtnCount; + /*!< Return the effective SPAD count for the return signal. + * To obtain Real value it should be divided by 256 + */ + + FixPoint1616_t SigmaMilliMeter; + /*!< Return the Sigma value in millimeter */ + + int16_t RangeMilliMeter; + /*!< range distance in millimeter. This should be between + * RangeMinMilliMeter and RangeMaxMilliMeter + */ + + uint8_t RangeFractionalPart; + /*!< Fractional part of range distance. Final value is a + * RangeMilliMeter + RangeFractionalPart/256. + * @warning Not yet implemented + */ + + uint8_t RangeStatus; + /*!< Range Status for the current measurement. This is device + * dependent. Value = 0 means value is valid. + */ +} VL53L1_RangingMeasurementData_t; + +/** + * @struct VL53L1_TargetRangeData_t + * @brief One Range measurement data for each target. + */ +typedef struct { + uint8_t RangeQualityLevel; + /*!< indicate a quality level in percentage from 0 to 100 + * @warning Not yet implemented + */ + + int16_t RangeMaxMilliMeter; + /*!< Tells what is the maximum detection distance of the object + * in current setup and environment conditions (Filled when + * applicable) + */ + + int16_t RangeMinMilliMeter; + /*!< Tells what is the minimum detection distance of the object + * in current setup and environment conditions (Filled when + * applicable) + */ + + FixPoint1616_t SignalRateRtnMegaCps; + /*!< Return signal rate (MCPS)\n these is a 16.16 fix point + * value, which is effectively a measure of target + * reflectance. + */ + + FixPoint1616_t AmbientRateRtnMegaCps; + /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point + * value, which is effectively a measure of the ambien + * t light. + */ + + FixPoint1616_t SigmaMilliMeter; + /*!< Return the Sigma value in millimeter */ + + int16_t RangeMilliMeter; + /*!< range distance in millimeter. This should be between + * RangeMinMilliMeter and RangeMaxMilliMeter + */ + + uint8_t RangeFractionalPart; + /*!< Fractional part of range distance. Final value is a + * RangeMilliMeter + RangeFractionalPart/256. + * @warning Not yet implemented + */ + + uint8_t RangeStatus; + /*!< Range Status for the current measurement. This is device + * dependent. Value = 0 means value is valid. + */ + + uint8_t ExtendedRange; + /*!< Extended range flag for the current measurement. + * Value = 1 means timings A&B are combined to increase the + * maximum distance range. + */ +} VL53L1_TargetRangeData_t; +/** + * @struct VL53L1_MultiRangingData_t + * @brief Structure for storing the set of range results for a single ROI + * + */ +typedef struct { + uint32_t TimeStamp; + /*!< 32-bit time stamp. + * @warning Not yet implemented + */ + + uint8_t StreamCount; + /*!< 8-bit Stream Count. */ + + uint8_t RoiNumber; + /*!< Denotes on which ROI the range data is related to. */ + uint8_t NumberOfObjectsFound; + /*!< Indicate the number of objects found in the current ROI. + * This is used to know how many ranging data should be get. + * NumberOfObjectsFound is in the range 0 to + * VL53L1_MAX_RANGE_RESULTS. + */ + VL53L1_RoiStatus RoiStatus; + /*!< Indicate if the data read is valid or not or if this is + * the last valid data in the ROI. + */ + VL53L1_TargetRangeData_t RangeData[VL53L1_MAX_RANGE_RESULTS]; + /*!< Range data each target distance */ + uint8_t HasXtalkValueChanged; + /*!< set to 1 if a new Xtalk value has been computed whilst + * smudge correction mode enable by with + * VL53L1_SmudgeCorrectionEnable() function is either + * VL53L1_SMUDGE_CORRECTION_CONTINUOUS or + * VL53L1_SMUDGE_CORRECTION_SINGLE. + */ + uint16_t EffectiveSpadRtnCount; + /*!< Return the effective SPAD count for the return signal. + * To obtain Real value it should be divided by 256 + */ + int16_t DmaxMilliMeter; + /*!< range Dmax distance in millimeter. + */ + VL53L1_DistanceModes RecommendedDistanceMode; + /*!< suggestion for a better distance mode choice to improve + * range accuracy. + */ +} VL53L1_MultiRangingData_t; + + +/** @brief Defines User Zone(ROI) parameters + * + */ +typedef struct { + + uint8_t TopLeftX; /*!< Top Left x coordinate: 0-15 range */ + uint8_t TopLeftY; /*!< Top Left y coordinate: 0-15 range */ + uint8_t BotRightX; /*!< Bot Right x coordinate: 0-15 range */ + uint8_t BotRightY; /*!< Bot Right y coordinate: 0-15 range */ + +} VL53L1_UserRoi_t; + + +/** @brief Defines ROI configuration parameters + * + * Support up a max of 16 zones, Each Zone has the same size + * + */ +typedef struct { + + uint8_t NumberOfRoi; /*!< Number of Rois defined*/ + + VL53L1_UserRoi_t UserRois[VL53L1_MAX_USER_ZONES]; + /*!< List of Rois */ + +} VL53L1_RoiConfig_t; + +/** + * @struct VL53L1_CustomerNvmManaged_t + * + */ + +typedef struct { + uint8_t global_config__spad_enables_ref_0; + uint8_t global_config__spad_enables_ref_1; + uint8_t global_config__spad_enables_ref_2; + uint8_t global_config__spad_enables_ref_3; + uint8_t global_config__spad_enables_ref_4; + uint8_t global_config__spad_enables_ref_5; + uint8_t global_config__ref_en_start_select; + uint8_t ref_spad_man__num_requested_ref_spads; + uint8_t ref_spad_man__ref_location; + uint32_t algo__crosstalk_compensation_plane_offset_kcps; + int16_t algo__crosstalk_compensation_x_plane_gradient_kcps; + int16_t algo__crosstalk_compensation_y_plane_gradient_kcps; + uint16_t ref_spad_char__total_rate_target_mcps; + int16_t algo__part_to_part_range_offset_mm; + int16_t mm_config__inner_offset_mm; + int16_t mm_config__outer_offset_mm; +} VL53L1_CustomerNvmManaged_t; + +/** + * @struct VL53L1_CalibrationData_t + * @brief Structure for storing the Calibration Data + * + */ + +typedef struct { + + uint32_t struct_version; + VL53L1_CustomerNvmManaged_t customer; + VL53L1_dmax_calibration_data_t fmt_dmax_cal; + VL53L1_dmax_calibration_data_t cust_dmax_cal; + VL53L1_additional_offset_cal_data_t add_off_cal_data; + VL53L1_optical_centre_t optical_centre; + VL53L1_xtalk_histogram_data_t xtalkhisto; + VL53L1_gain_calibration_data_t gain_cal; + VL53L1_cal_peak_rate_map_t cal_peak_rate_map; + VL53L1_per_vcsel_period_offset_cal_data_t per_vcsel_cal_data; + uint32_t algo__xtalk_cpo_HistoMerge_kcps[VL53L1_BIN_REC_SIZE]; +} VL53L1_CalibrationData_t; + +#define VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION 0x20 +/** VL53L1 additional Calibration Data struct version final struct version + * is given by adding it to VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION + */ + +#define VL53L1_CALIBRATION_DATA_STRUCT_VERSION \ + (VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION + \ + VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION) +/* VL53L1 Calibration Data struct version */ + +/** + * @struct VL53L1_AdditionalData_t + * @brief Structure for storing the Additional Data + * + */ +typedef VL53L1_additional_data_t VL53L1_AdditionalData_t; + +/** + * @struct VL53L1_ZoneCalibrationData_t + * @brief Structure for storing the Zone Calibration Data + * + */ +typedef VL53L1_zone_calibration_results_t VL53L1_ZoneCalibrationData_t; + +/** @defgroup VL53L1_define_SequenceStepId_group Defines the SequenceStep + * Defines the the sequence steps performed during ranging.. + * @{ + */ +typedef uint8_t VL53L1_SequenceStepId; + +#define VL53L1_SEQUENCESTEP_VHV ((VL53L1_SequenceStepId) 0) +/*!>12)&0xFFFF) +#define VL53L1_FIXPOINT44TOFIXPOINT1616(Value) \ + (FixPoint1616_t)((uint32_t)Value<<12) + +#define VL53L1_FIXPOINT1616TOFIXPOINT72(Value) \ + (uint16_t)((Value>>14)&0xFFFF) +#define VL53L1_FIXPOINT72TOFIXPOINT1616(Value) \ + (FixPoint1616_t)((uint32_t)Value<<14) + +#define VL53L1_FIXPOINT1616TOFIXPOINT97(Value) \ + (uint16_t)((Value>>9)&0xFFFF) +#define VL53L1_FIXPOINT97TOFIXPOINT1616(Value) \ + (FixPoint1616_t)((uint32_t)Value<<9) + +#define VL53L1_FIXPOINT1616TOFIXPOINT88(Value) \ + (uint16_t)((Value>>8)&0xFFFF) +#define VL53L1_FIXPOINT88TOFIXPOINT1616(Value) \ + (FixPoint1616_t)((uint32_t)Value<<8) + +#define VL53L1_FIXPOINT1616TOFIXPOINT412(Value) \ + (uint16_t)((Value>>4)&0xFFFF) +#define VL53L1_FIXPOINT412TOFIXPOINT1616(Value) \ + (FixPoint1616_t)((uint32_t)Value<<4) + +#define VL53L1_FIXPOINT1616TOFIXPOINT313(Value) \ + (uint16_t)((Value>>3)&0xFFFF) +#define VL53L1_FIXPOINT313TOFIXPOINT1616(Value) \ + (FixPoint1616_t)((uint32_t)Value<<3) + +#define VL53L1_FIXPOINT1616TOFIXPOINT08(Value) \ + (uint8_t)((Value>>8)&0x00FF) +#define VL53L1_FIXPOINT08TOFIXPOINT1616(Value) \ + (FixPoint1616_t)((uint32_t)Value<<8) + +#define VL53L1_FIXPOINT1616TOFIXPOINT53(Value) \ + (uint8_t)((Value>>13)&0x00FF) +#define VL53L1_FIXPOINT53TOFIXPOINT1616(Value) \ + (FixPoint1616_t)((uint32_t)Value<<13) + +#define VL53L1_FIXPOINT1616TOFIXPOINT102(Value) \ + (uint16_t)((Value>>14)&0x0FFF) +#define VL53L1_FIXPOINT102TOFIXPOINT1616(Value) \ + (FixPoint1616_t)((uint32_t)Value<<14) + +#define VL53L1_FIXPOINT1616TOFIXPOINT142(Value) \ + (uint16_t)((Value>>14)&0xFFFF) +#define VL53L1_FIXPOINT142TOFIXPOINT1616(Value) \ + (FixPoint1616_t)((uint32_t)Value<<14) + +#define VL53L1_FIXPOINT1616TOFIXPOINT160(Value) \ + (uint16_t)((Value>>16)&0xFFFF) +#define VL53L1_FIXPOINT160TOFIXPOINT1616(Value) \ + (FixPoint1616_t)((uint32_t)Value<<16) + +#define VL53L1_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \ + (uint16_t)lsb) + +#ifndef SUPPRESS_UNUSED_WARNING +#define SUPPRESS_UNUSED_WARNING(x) ((void) (x)) +#endif + +/** @} VL53L1_define_GeneralMacro_group */ + +/** @} VL53L1_globaldefine_group */ + + + +#ifdef __cplusplus +} +#endif + + +#endif /* _VL53L1_DEF_H_ */ diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_dmax_structs.h b/drivers/input/misc/vl53L1/inc/vl53l1_dmax_structs.h new file mode 100644 index 000000000000..2e4537b3653e --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_dmax_structs.h @@ -0,0 +1,92 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + + + +#ifndef _VL53L1_DMAX_STRUCTS_H_ +#define _VL53L1_DMAX_STRUCTS_H_ + +#include "vl53l1_types.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + + +#define VL53L1_MAX_AMBIENT_DMAX_VALUES 5 + + + + + +typedef struct { + + + + uint16_t ref__actual_effective_spads; + + uint16_t ref__peak_signal_count_rate_mcps; + + uint16_t ref__distance_mm; + + uint16_t ref_reflectance_pc; + + + + + uint16_t coverglass_transmission; + + +} VL53L1_dmax_calibration_data_t; + + + + +typedef struct { + + + + uint8_t signal_thresh_sigma; + + uint8_t ambient_thresh_sigma; + + int32_t min_ambient_thresh_events; + + int32_t signal_total_events_limit; + + + uint16_t target_reflectance_for_dmax_calc[ + VL53L1_MAX_AMBIENT_DMAX_VALUES]; + + uint16_t max_effective_spads; + + + + + uint16_t dss_config__target_total_rate_mcps; + + uint8_t dss_config__aperture_attenuation; + + +} VL53L1_hist_gen3_dmax_config_t; + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_error_codes.h b/drivers/input/misc/vl53L1/inc/vl53l1_error_codes.h new file mode 100644 index 000000000000..cf7cda97dfe7 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_error_codes.h @@ -0,0 +1,223 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +/** + * @file vl53l1_error_codes.h + * + * @brief Error Code definitions for VL53L1 API. + * + */ + +#ifndef _VL53L1_ERROR_CODES_H_ +#define _VL53L1_ERROR_CODES_H_ + +#include "vl53l1_types.h" + +#ifdef __cplusplus +extern "C" { +#endif + + +/* + **************************************** + * PRIVATE define do not edit + *************************************** + */ + +/* + * @defgroup VL53L1_define_Error_group Error and Warning code returned by API + * The following DEFINE are used to identify the PAL ERROR + * @{ + */ + +typedef int8_t VL53L1_Error; + +#define VL53L1_ERROR_NONE ((VL53L1_Error) 0) +#define VL53L1_ERROR_CALIBRATION_WARNING ((VL53L1_Error) - 1) + /*!< Warning invalid calibration data may be in used + * \a VL53L1_InitData() + * \a VL53L1_GetOffsetCalibrationData + * \a VL53L1_SetOffsetCalibrationData + */ +#define VL53L1_ERROR_MIN_CLIPPED ((VL53L1_Error) - 2) + /*!< Warning parameter passed was clipped to min before to be applied */ + +#define VL53L1_ERROR_UNDEFINED ((VL53L1_Error) - 3) + /*!< Unqualified error */ +#define VL53L1_ERROR_INVALID_PARAMS ((VL53L1_Error) - 4) + /*!< Parameter passed is invalid or out of range */ +#define VL53L1_ERROR_NOT_SUPPORTED ((VL53L1_Error) - 5) + /*!< Function is not supported in current mode or configuration */ +#define VL53L1_ERROR_RANGE_ERROR ((VL53L1_Error) - 6) + /*!< Device report a ranging error interrupt status */ +#define VL53L1_ERROR_TIME_OUT ((VL53L1_Error) - 7) + /*!< Aborted due to time out */ +#define VL53L1_ERROR_MODE_NOT_SUPPORTED ((VL53L1_Error) - 8) + /*!< Asked mode is not supported by the device */ +#define VL53L1_ERROR_BUFFER_TOO_SMALL ((VL53L1_Error) - 9) + /*!< ... */ +#define VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL ((VL53L1_Error) - 10) + /*!< Supplied buffer is larger than I2C supports */ +#define VL53L1_ERROR_GPIO_NOT_EXISTING ((VL53L1_Error) - 11) + /*!< User tried to setup a non-existing GPIO pin */ +#define VL53L1_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L1_Error) - 12) + /*!< unsupported GPIO functionality */ +#define VL53L1_ERROR_CONTROL_INTERFACE ((VL53L1_Error) - 13) + /*!< error reported from IO functions */ +#define VL53L1_ERROR_INVALID_COMMAND ((VL53L1_Error) - 14) + /*!< The command is not allowed in the current device state + * (power down) + */ +#define VL53L1_ERROR_DIVISION_BY_ZERO ((VL53L1_Error) - 15) + /*!< In the function a division by zero occurs */ +#define VL53L1_ERROR_REF_SPAD_INIT ((VL53L1_Error) - 16) + /*!< Error during reference SPAD initialization */ +#define VL53L1_ERROR_GPH_SYNC_CHECK_FAIL ((VL53L1_Error) - 17) + /*!< GPH sync interrupt check fail - API out of sync with device*/ +#define VL53L1_ERROR_STREAM_COUNT_CHECK_FAIL ((VL53L1_Error) - 18) + /*!< Stream count check fail - API out of sync with device */ +#define VL53L1_ERROR_GPH_ID_CHECK_FAIL ((VL53L1_Error) - 19) + /*!< GPH ID check fail - API out of sync with device */ +#define VL53L1_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL ((VL53L1_Error) - 20) + /*!< Zone dynamic config stream count check failed - API out of sync */ +#define VL53L1_ERROR_ZONE_GPH_ID_CHECK_FAIL ((VL53L1_Error) - 21) + /*!< Zone dynamic config GPH ID check failed - API out of sync */ + +#define VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL ((VL53L1_Error) - 22) + /*!< Thrown when run_xtalk_extraction fn has 0 succesful samples + * when using the full array to sample the xtalk. In this case there is + * not enough information to generate new Xtalk parm info. The function + * will exit and leave the current xtalk parameters unaltered + */ +#define VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL ((VL53L1_Error) - 23) + /*!< Thrown when run_xtalk_extraction fn has found that the + * avg sigma estimate of the full array xtalk sample is > than the + * maximal limit allowed. In this case the xtalk sample is too noisy for + * measurement. The function will exit and leave the current xtalk + * parameters unaltered. + */ + + +#define VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL ((VL53L1_Error) - 24) + /*!< Thrown if there one of stages has no valid offset calibration + * samples. A fatal error calibration not valid + */ +#define VL53L1_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL ((VL53L1_Error) - 25) + /*!< Thrown if there one of stages has zero effective SPADS + * Traps the case when MM1 SPADs is zero. + * A fatal error calibration not valid + */ +#define VL53L1_ERROR_ZONE_CAL_NO_SAMPLE_FAIL ((VL53L1_Error) - 26) + /*!< Thrown if then some of the zones have no valid samples + * A fatal error calibration not valid + */ + +#define VL53L1_ERROR_TUNING_PARM_KEY_MISMATCH ((VL53L1_Error) - 27) + /*!< Thrown if the tuning file key table version does not match with + * expected value. The driver expects the key table version to match + * the compiled default version number in the define + * #VL53L1_TUNINGPARM_KEY_TABLE_VERSION_DEFAULT + */ + +#define VL53L1_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS ((VL53L1_Error) - 28) + /*!< Thrown if there are less than 5 good SPADs are available. */ +#define VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH ((VL53L1_Error) - 29) + /*!< Thrown if the final reference rate is greater than + * the upper reference rate limit - default is 40 Mcps. + * Implies a minimum Q3 (x10) SPAD (5) selected + */ +#define VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW ((VL53L1_Error) - 30) + /*!< Thrown if the final reference rate is less than + * the lower reference rate limit - default is 10 Mcps. + * Implies maximum Q1 (x1) SPADs selected + */ + + +#define VL53L1_WARNING_OFFSET_CAL_MISSING_SAMPLES ((VL53L1_Error) - 31) + /*!< Thrown if there is less than the requested number of + * valid samples. + */ +#define VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH ((VL53L1_Error) - 32) + /*!< Thrown if the offset calibration range sigma estimate is greater + * than 8.0 mm. This is the recommended min value to yield a stable + * offset measurement + */ +#define VL53L1_WARNING_OFFSET_CAL_RATE_TOO_HIGH ((VL53L1_Error) - 33) + /*!< Thrown when VL53L1_run_offset_calibration() peak rate is greater + * than that 50.0Mcps. This is the recommended max rate to avoid + * pile-up influencing the offset measurement + */ +#define VL53L1_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW ((VL53L1_Error) - 34) + /*!< Thrown when VL53L1_run_offset_calibration() when one of stages + * range has less that 5.0 effective SPADS. This is the recommended + * min value to yield a stable offset + */ + + +#define VL53L1_WARNING_ZONE_CAL_MISSING_SAMPLES ((VL53L1_Error) - 35) + /*!< Thrown if one of more of the zones have less than + * the requested number of valid samples + */ +#define VL53L1_WARNING_ZONE_CAL_SIGMA_TOO_HIGH ((VL53L1_Error) - 36) + /*!< Thrown if one or more zones have sigma estimate value greater + * than 8.0 mm. This is the recommended min value to yield a stable + * offset measurement + */ +#define VL53L1_WARNING_ZONE_CAL_RATE_TOO_HIGH ((VL53L1_Error) - 37) + /*!< Thrown if one of more zones have peak rate higher than + * that 50.0Mcps. This is the recommended max rate to avoid + * pile-up influencing the offset measurement + */ + + +#define VL53L1_WARNING_XTALK_MISSING_SAMPLES ((VL53L1_Error) - 38) + /*!< Thrown to notify that some of the xtalk samples did not yield + * valid ranging pulse data while attempting to measure + * the xtalk signal in vl53l1_run_xtalk_extract(). This can signify any + * of the zones are missing samples, for further debug information the + * xtalk_results struct should be referred to. This warning is for + * notification only, xtalk pulse and shape have still been generated + */ +#define VL53L1_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT ((VL53L1_Error) - 39) + /*!< Thrown to notify that some of teh xtalk samples used for gradient + * generation did not yield valid ranging pulse data while attempting to + * measure the xtalk signal in vl53l1_run_xtalk_extract(). This can + * signify that any one of the zones 0-3 yielded no successful samples. + * xtalk_results struct should be referred to for further debug info. + * This warning is for notification only, the xtalk pulse and shape + * have still been generated. + */ +#define VL53L1_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT ((VL53L1_Error) - 40) + /*!< Thrown to notify that some of the xtalk samples used for gradient + * generation did not pass the sigma limit check while attempting to + * measure the xtalk signal in vl53l1_run_xtalk_extract(). This can + * signify that any one of the zones 0-3 yielded an avg sigma_mm + * value > the limit. The xtalk_results struct should be referred to for + * further debug info. + * This warning is for notification only, the xtalk pulse and shape + * have still been generated. + */ + +#define VL53L1_ERROR_NOT_IMPLEMENTED ((VL53L1_Error) - 41) + /*!< Tells requested functionality has not been implemented yet or + * not compatible with the device + */ +#define VL53L1_ERROR_PLATFORM_SPECIFIC_START ((VL53L1_Error) - 60) + /*!< Tells the starting code for platform */ +/** @} VL53L1_define_Error_group */ + + +#ifdef __cplusplus +} +#endif + + +#endif /* _VL53L1_ERROR_CODES_H_ */ diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_error_exceptions.h b/drivers/input/misc/vl53L1/inc/vl53l1_error_exceptions.h new file mode 100644 index 000000000000..5508fa31a462 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_error_exceptions.h @@ -0,0 +1,40 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_ERROR_EXCEPTIONS_H_ +#define _VL53L1_ERROR_EXCEPTIONS_H_ + +#define IGNORE_DIVISION_BY_ZERO 0 + +#define IGNORE_XTALK_EXTRACTION_NO_SAMPLE_FAIL 0 +#define IGNORE_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL 0 +#define IGNORE_XTALK_EXTRACTION_NO_SAMPLE_FOR_GRADIENT_WARN 0 +#define IGNORE_XTALK_EXTRACTION_SIGMA_LIMIT_FOR_GRADIENT_WARN 0 +#define IGNORE_XTALK_EXTRACTION_MISSING_SAMPLES_WARN 0 + +#define IGNORE_REF_SPAD_CHAR_NOT_ENOUGH_SPADS 0 +#define IGNORE_REF_SPAD_CHAR_RATE_TOO_HIGH 0 +#define IGNORE_REF_SPAD_CHAR_RATE_TOO_LOW 0 + +#define IGNORE_OFFSET_CAL_MISSING_SAMPLES 0 +#define IGNORE_OFFSET_CAL_SIGMA_TOO_HIGH 0 +#define IGNORE_OFFSET_CAL_RATE_TOO_HIGH 0 +#define IGNORE_OFFSET_CAL_SPAD_COUNT_TOO_LOW 0 + +#define IGNORE_ZONE_CAL_MISSING_SAMPLES 0 +#define IGNORE_ZONE_CAL_SIGMA_TOO_HIGH 0 +#define IGNORE_ZONE_CAL_RATE_TOO_HIGH 0 + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_error_strings.h b/drivers/input/misc/vl53L1/inc/vl53l1_error_strings.h new file mode 100644 index 000000000000..3651c429429b --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_error_strings.h @@ -0,0 +1,148 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + +#ifndef VL53L1_ERROR_STRINGS_H_ +#define VL53L1_ERROR_STRINGS_H_ + +#include "vl53l1_error_codes.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + +VL53L1_Error VL53L1_get_pal_error_string( + VL53L1_Error PalErrorCode, + char *pPalErrorString); + + +#ifndef VL53L1_USE_EMPTY_STRING + + + #define VL53L1_STRING_ERROR_NONE \ + "No Error" + #define VL53L1_STRING_ERROR_CALIBRATION_WARNING \ + "Calibration Warning Error" + #define VL53L1_STRING_ERROR_MIN_CLIPPED \ + "Min clipped error" + #define VL53L1_STRING_ERROR_UNDEFINED \ + "Undefined error" + #define VL53L1_STRING_ERROR_INVALID_PARAMS \ + "Invalid parameters error" + #define VL53L1_STRING_ERROR_NOT_SUPPORTED \ + "Not supported error" + #define VL53L1_STRING_ERROR_RANGE_ERROR \ + "Range error" + #define VL53L1_STRING_ERROR_TIME_OUT \ + "Time out error" + #define VL53L1_STRING_ERROR_MODE_NOT_SUPPORTED \ + "Mode not supported error" + #define VL53L1_STRING_ERROR_BUFFER_TOO_SMALL \ + "Buffer too small" + #define VL53L1_STRING_ERROR_COMMS_BUFFER_TOO_SMALL \ + "Comms Buffer too small" + #define VL53L1_STRING_ERROR_GPIO_NOT_EXISTING \ + "GPIO not existing" + #define VL53L1_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \ + "GPIO funct not supported" + #define VL53L1_STRING_ERROR_CONTROL_INTERFACE \ + "Control Interface Error" + #define VL53L1_STRING_ERROR_INVALID_COMMAND \ + "Invalid Command Error" + #define VL53L1_STRING_ERROR_DIVISION_BY_ZERO \ + "Division by zero Error" + #define VL53L1_STRING_ERROR_REF_SPAD_INIT \ + "Reference Spad Init Error" + #define VL53L1_STRING_ERROR_GPH_SYNC_CHECK_FAIL \ + "GPH Sync Check Fail - API out of sync" + #define VL53L1_STRING_ERROR_STREAM_COUNT_CHECK_FAIL \ + "Stream Count Check Fail - API out of sync" + #define VL53L1_STRING_ERROR_GPH_ID_CHECK_FAIL \ + "GPH ID Check Fail - API out of sync" + #define VL53L1_STRING_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL \ + "Zone Stream Count Check Fail - API out of sync" + #define VL53L1_STRING_ERROR_ZONE_GPH_ID_CHECK_FAIL \ + "Zone GPH ID Check Fail - API out of sync" + + #define VL53L1_STRING_ERROR_XTALK_EXTRACTION_NO_SAMPLES_FAIL \ + "No Xtalk using full array - Xtalk Extract Fail" + #define VL53L1_STRING_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL \ + "Xtalk does not meet required VL53L1_p_011 limit - Xtalk Extract Fail" + + #define VL53L1_STRING_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL \ + "Offset Cal - one of more stages with no valid samples - fatal" + #define VL53L1_STRING_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL \ + "Offset Cal - one of more stages with no SPADS enables - fatal" + #define VL53L1_STRING_ERROR_ZONE_CAL_NO_SAMPLE_FAIL \ + "Zone Cal - one of more zones with no valid samples - fatal" + + #define VL53L1_STRING_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS \ + "Ref SPAD Char - Not Enough Good SPADs" + #define VL53L1_STRING_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH \ + "Ref SPAD Char - Final Ref Rate too high" + #define VL53L1_STRING_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW \ + "Ref SPAD Char - Final Ref Rate too low" + + #define VL53L1_STRING_WARNING_OFFSET_CAL_MISSING_SAMPLES \ + "Offset Cal - Less than the requested number of valid samples" + #define VL53L1_STRING_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH \ + "Offset Cal - Sigma estimate value too high - offset not stable" + #define VL53L1_STRING_WARNING_OFFSET_CAL_RATE_TOO_HIGH \ + "Offset Cal - Rate too high - in pile up" + #define VL53L1_STRING_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW \ + "Offset Cal - Insufficient SPADs - offset may not be stable" + + #define VL53L1_STRING_WARNING_ZONE_CAL_MISSING_SAMPLES \ + "Zone Cal - One or more zone with less than requested valid samples" + #define VL53L1_STRING_WARNING_ZONE_CAL_SIGMA_TOO_HIGH \ + "Zone Cal - One of more zones the VL53L1_p_011 estimate too high" + #define VL53L1_STRING_WARNING_ZONE_CAL_RATE_TOO_HIGH \ + "Zone Cal - One of more zones with rate too high - in pile up" + + #define VL53L1_STRING_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT \ + "Xtalk - Gradient sample num = 0" + #define VL53L1_STRING_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT \ + "Xtalk - Gradient Sigma > Limit" + #define VL53L1_STRING_WARNING_XTALK_MISSING_SAMPLES \ + "Xtalk - Some missing and invalid samples" + + #define VL53L1_STRING_ERROR_DEVICE_FIRMWARE_TOO_OLD \ + "Device Firmware too old" + #define VL53L1_STRING_ERROR_DEVICE_FIRMWARE_TOO_NEW \ + "Device Firmware too new" + #define VL53L1_STRING_ERROR_UNIT_TEST_FAIL \ + "Unit Test Fail" + #define VL53L1_STRING_ERROR_FILE_READ_FAIL \ + "File Read Fail" + #define VL53L1_STRING_ERROR_FILE_WRITE_FAIL \ + "File Write Fail" + + #define VL53L1_STRING_ERROR_NOT_IMPLEMENTED \ + "Not implemented error" + #define VL53L1_STRING_UNKNOW_ERROR_CODE \ + "Unknown Error Code" + +#endif + + +#ifdef __cplusplus +} +#endif + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_hist_char.h b/drivers/input/misc/vl53L1/inc/vl53l1_hist_char.h new file mode 100644 index 000000000000..04861e794543 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_hist_char.h @@ -0,0 +1,57 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + +#ifndef _VL53L1_HIST_CHAR_H_ +#define _VL53L1_HIST_CHAR_H_ + +#include "vl53l1_platform.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + + + + +VL53L1_Error VL53L1_set_calib_config( + VL53L1_DEV Dev, + uint8_t vcsel_delay__a0, + uint8_t calib_1, + uint8_t calib_2, + uint8_t calib_3, + uint8_t calib_2__a0, + uint8_t spad_readout); + + + + +VL53L1_Error VL53L1_set_hist_calib_pulse_delay( + VL53L1_DEV Dev, + uint8_t calib_delay); + + + + +VL53L1_Error VL53L1_disable_calib_pulse_delay( + VL53L1_DEV Dev); + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_hist_map.h b/drivers/input/misc/vl53L1/inc/vl53l1_hist_map.h new file mode 100644 index 000000000000..19024b5015ce --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_hist_map.h @@ -0,0 +1,68 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + +#ifndef _VL53L1_HIST_MAP_H_ +#define _VL53L1_HIST_MAP_H_ + +#include "vl53l1_register_map.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + + + + +#define VL53L1_HISTOGRAM_CONFIG__OPCODE_SEQUENCE_0 \ + VL53L1_SIGMA_ESTIMATOR__EFFECTIVE_PULSE_WIDTH_NS + +#define VL53L1_HISTOGRAM_CONFIG__OPCODE_SEQUENCE_1 \ + VL53L1_SIGMA_ESTIMATOR__EFFECTIVE_AMBIENT_WIDTH_NS + +#define VL53L1_HISTOGRAM_CONFIG__OPCODE_SEQUENCE_2 \ + VL53L1_SIGMA_ESTIMATOR__SIGMA_REF_MM + +#define VL53L1_HISTOGRAM_CONFIG__AMB_THRESH_HIGH \ + VL53L1_ALGO__RANGE_IGNORE_THRESHOLD_MCPS + + + + +#define VL53L1_RESULT__HISTOGRAM_BIN_0_2 0x008E +#define VL53L1_RESULT__HISTOGRAM_BIN_0_1 0x008F +#define VL53L1_RESULT__HISTOGRAM_BIN_0_0 0x0090 + +#define VL53L1_RESULT__HISTOGRAM_BIN_23_2 0x00D3 +#define VL53L1_RESULT__HISTOGRAM_BIN_23_1 0x00D4 +#define VL53L1_RESULT__HISTOGRAM_BIN_23_0 0x00D5 + +#define VL53L1_RESULT__HISTOGRAM_BIN_23_0_MSB 0x00D9 +#define VL53L1_RESULT__HISTOGRAM_BIN_23_0_LSB 0x00DA + + + +#define VL53L1_HISTOGRAM_BIN_DATA_I2C_INDEX \ + VL53L1_RESULT__INTERRUPT_STATUS +#define VL53L1_HISTOGRAM_BIN_DATA_I2C_SIZE_BYTES \ + (VL53L1_RESULT__HISTOGRAM_BIN_23_0_LSB - \ + VL53L1_RESULT__INTERRUPT_STATUS + 1) + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_hist_structs.h b/drivers/input/misc/vl53L1/inc/vl53l1_hist_structs.h new file mode 100644 index 000000000000..3df3e8c7bd12 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_hist_structs.h @@ -0,0 +1,299 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + +#ifndef _VL53L1_HIST_STRUCTS_H_ +#define _VL53L1_HIST_STRUCTS_H_ + +#include "vl53l1_ll_device.h" +#include "vl53l1_dmax_structs.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +#define VL53L1_MAX_BIN_SEQUENCE_LENGTH 6 +#define VL53L1_MAX_BIN_SEQUENCE_CODE 15 +#define VL53L1_HISTOGRAM_BUFFER_SIZE 24 +#define VL53L1_XTALK_HISTO_BINS 12 + + + +typedef struct { + + uint8_t histogram_config__spad_array_selection; + + uint8_t histogram_config__low_amb_even_bin_0_1; + uint8_t histogram_config__low_amb_even_bin_2_3; + uint8_t histogram_config__low_amb_even_bin_4_5; + + uint8_t histogram_config__low_amb_odd_bin_0_1; + uint8_t histogram_config__low_amb_odd_bin_2_3; + uint8_t histogram_config__low_amb_odd_bin_4_5; + + uint8_t histogram_config__mid_amb_even_bin_0_1; + uint8_t histogram_config__mid_amb_even_bin_2_3; + uint8_t histogram_config__mid_amb_even_bin_4_5; + + uint8_t histogram_config__mid_amb_odd_bin_0_1; + uint8_t histogram_config__mid_amb_odd_bin_2; + uint8_t histogram_config__mid_amb_odd_bin_3_4; + uint8_t histogram_config__mid_amb_odd_bin_5; + + uint8_t histogram_config__user_bin_offset; + + uint8_t histogram_config__high_amb_even_bin_0_1; + uint8_t histogram_config__high_amb_even_bin_2_3; + uint8_t histogram_config__high_amb_even_bin_4_5; + + uint8_t histogram_config__high_amb_odd_bin_0_1; + uint8_t histogram_config__high_amb_odd_bin_2_3; + uint8_t histogram_config__high_amb_odd_bin_4_5; + + uint16_t histogram_config__amb_thresh_low; + + uint16_t histogram_config__amb_thresh_high; + + +} VL53L1_histogram_config_t; + + + + +typedef struct { + + VL53L1_HistAlgoSelect hist_algo_select; + + + VL53L1_HistTargetOrder hist_target_order; + + + uint8_t filter_woi0; + + uint8_t filter_woi1; + + + VL53L1_HistAmbEstMethod hist_amb_est_method; + + uint8_t ambient_thresh_sigma0; + + uint8_t ambient_thresh_sigma1; + + + + uint16_t ambient_thresh_events_scaler; + + + + int32_t min_ambient_thresh_events; + + uint16_t noise_threshold; + + + int32_t signal_total_events_limit; + + uint8_t sigma_estimator__sigma_ref_mm; + + uint16_t sigma_thresh; + + int16_t range_offset_mm; + + uint16_t gain_factor; + + + uint8_t valid_phase_low; + + uint8_t valid_phase_high; + + uint8_t algo__consistency_check__phase_tolerance; + + uint8_t algo__consistency_check__event_sigma; + + + + uint16_t algo__consistency_check__event_min_spad_count; + + + + uint16_t algo__consistency_check__min_max_tolerance; + + + uint8_t algo__crosstalk_compensation_enable; + + uint32_t algo__crosstalk_compensation_plane_offset_kcps; + + int16_t algo__crosstalk_compensation_x_plane_gradient_kcps; + + int16_t algo__crosstalk_compensation_y_plane_gradient_kcps; + + + int16_t algo__crosstalk_detect_min_valid_range_mm; + + int16_t algo__crosstalk_detect_max_valid_range_mm; + + uint16_t algo__crosstalk_detect_max_valid_rate_kcps; + + uint16_t algo__crosstalk_detect_max_sigma_mm; + + + + uint8_t algo__crosstalk_detect_event_sigma; + + + + uint16_t algo__crosstalk_detect_min_max_tolerance; + + +} VL53L1_hist_post_process_config_t; + + + +typedef struct { + + + VL53L1_DeviceState cfg_device_state; + + VL53L1_DeviceState rd_device_state; + + + uint8_t zone_id; + + uint32_t time_stamp; + + + uint8_t VL53L1_p_022; + + uint8_t VL53L1_p_023; + + uint8_t VL53L1_p_024; + + uint8_t number_of_ambient_bins; + + uint8_t bin_seq[VL53L1_MAX_BIN_SEQUENCE_LENGTH]; + + uint8_t bin_rep[VL53L1_MAX_BIN_SEQUENCE_LENGTH]; + + int32_t bin_data[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + + uint8_t result__interrupt_status; + + uint8_t result__range_status; + + uint8_t result__report_status; + + uint8_t result__stream_count; + + uint16_t result__dss_actual_effective_spads; + + + uint16_t phasecal_result__reference_phase; + + uint8_t phasecal_result__vcsel_start; + + uint8_t cal_config__vcsel_start; + + uint16_t vcsel_width; + + uint8_t VL53L1_p_009; + + uint16_t VL53L1_p_019; + + uint32_t total_periods_elapsed; + + + uint32_t peak_duration_us; + + uint32_t woi_duration_us; + + + int32_t min_bin_value; + + int32_t max_bin_value; + + + uint16_t zero_distance_phase; + + uint8_t number_of_ambient_samples; + + int32_t ambient_events_sum; + + int32_t VL53L1_p_004; + + + uint8_t roi_config__user_roi_centre_spad; + + uint8_t roi_config__user_roi_requested_global_xy_size; + + +} VL53L1_histogram_bin_data_t; + + + + +typedef struct { + + + uint8_t zone_id; + + uint32_t time_stamp; + + + uint8_t VL53L1_p_022; + + uint8_t VL53L1_p_023; + + uint8_t VL53L1_p_024; + + uint32_t bin_data[VL53L1_XTALK_HISTO_BINS]; + + + + uint16_t phasecal_result__reference_phase; + + uint8_t phasecal_result__vcsel_start; + + uint8_t cal_config__vcsel_start; + + uint16_t vcsel_width; + + uint16_t VL53L1_p_019; + + uint16_t zero_distance_phase; + + +} VL53L1_xtalk_histogram_shape_t; + + + + +typedef struct { + + + VL53L1_xtalk_histogram_shape_t xtalk_shape; + + VL53L1_histogram_bin_data_t xtalk_hist_removed; + +} VL53L1_xtalk_histogram_data_t; + + + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_ll_def.h b/drivers/input/misc/vl53L1/inc/vl53l1_ll_def.h new file mode 100644 index 000000000000..3ced6c02ec35 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_ll_def.h @@ -0,0 +1,1754 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + +#ifndef _VL53L1_LL_DEF_H_ +#define _VL53L1_LL_DEF_H_ + +#include "vl53l1_error_codes.h" +#include "vl53l1_register_structs.h" +#include "vl53l1_platform_user_config.h" +#include "vl53l1_platform_user_defines.h" +#include "vl53l1_hist_structs.h" +#include "vl53l1_dmax_structs.h" +#include "vl53l1_error_exceptions.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + +#define VL53L1_LL_API_IMPLEMENTATION_VER_MAJOR 1 + +#define VL53L1_LL_API_IMPLEMENTATION_VER_MINOR 1 + +#define VL53L1_LL_API_IMPLEMENTATION_VER_SUB 48 + +#define VL53L1_LL_API_IMPLEMENTATION_VER_REVISION 12224 + +#define VL53L1_LL_API_IMPLEMENTATION_VER_STRING "1.1.48.12224" + + +#define VL53L1_FIRMWARE_VER_MINIMUM 398 +#define VL53L1_FIRMWARE_VER_MAXIMUM 400 + + + + +#define VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION 0xECAB0102 + + + + +#define VL53L1_LL_ZONE_CALIBRATION_DATA_STRUCT_VERSION 0xECAE0101 + + + + + +#define VL53L1_BIN_REC_SIZE 6 + +#define VL53L1_TIMING_CONF_A_B_SIZE 2 + +#define VL53L1_FRAME_WAIT_EVENT 6 + + + +#define VL53L1_MAX_XTALK_RANGE_RESULTS 5 + + +#define VL53L1_MAX_OFFSET_RANGE_RESULTS 3 + + +#define VL53L1_NVM_MAX_FMT_RANGE_DATA 4 + + +#define VL53L1_NVM_PEAK_RATE_MAP_SAMPLES 25 + +#define VL53L1_NVM_PEAK_RATE_MAP_WIDTH 5 + +#define VL53L1_NVM_PEAK_RATE_MAP_HEIGHT 5 + + + + +#define VL53L1_ERROR_DEVICE_FIRMWARE_TOO_OLD ((VL53L1_Error) - 80) + +#define VL53L1_ERROR_DEVICE_FIRMWARE_TOO_NEW ((VL53L1_Error) - 85) + +#define VL53L1_ERROR_UNIT_TEST_FAIL ((VL53L1_Error) - 90) + +#define VL53L1_ERROR_FILE_READ_FAIL ((VL53L1_Error) - 95) + +#define VL53L1_ERROR_FILE_WRITE_FAIL ((VL53L1_Error) - 96) + + + + + + +typedef struct { + uint32_t ll_revision; + uint8_t ll_major; + uint8_t ll_minor; + uint8_t ll_build; +} VL53L1_ll_version_t; + + + + +typedef struct { + + uint8_t device_test_mode; + uint8_t VL53L1_p_009; + uint32_t timeout_us; + uint16_t target_count_rate_mcps; + + uint16_t min_count_rate_limit_mcps; + + uint16_t max_count_rate_limit_mcps; + + +} VL53L1_refspadchar_config_t; + + + + +typedef struct { + + uint16_t dss_config__target_total_rate_mcps; + + uint32_t phasecal_config_timeout_us; + + uint32_t mm_config_timeout_us; + + uint32_t range_config_timeout_us; + + uint8_t num_of_samples; + + int16_t algo__crosstalk_extract_min_valid_range_mm; + + int16_t algo__crosstalk_extract_max_valid_range_mm; + + uint16_t algo__crosstalk_extract_max_valid_rate_kcps; + + uint16_t algo__crosstalk_extract_max_sigma_mm; + + +} VL53L1_xtalkextract_config_t; + + + + +typedef struct { + + uint16_t dss_config__target_total_rate_mcps; + + uint32_t phasecal_config_timeout_us; + + uint32_t range_config_timeout_us; + + uint32_t mm_config_timeout_us; + + uint8_t pre_num_of_samples; + + uint8_t mm1_num_of_samples; + + uint8_t mm2_num_of_samples; + + +} VL53L1_offsetcal_config_t; + + + + +typedef struct { + + uint16_t dss_config__target_total_rate_mcps; + + uint32_t phasecal_config_timeout_us; + + uint32_t mm_config_timeout_us; + + uint32_t range_config_timeout_us; + + uint16_t phasecal_num_of_samples; + + uint16_t zone_num_of_samples; + + +} VL53L1_zonecal_config_t; + + + + + +typedef struct { + + VL53L1_DeviceSscArray array_select; + + uint8_t VL53L1_p_009; + + uint8_t vcsel_start; + + uint8_t vcsel_width; + + uint32_t timeout_us; + + uint16_t rate_limit_mcps; + + +} VL53L1_ssc_config_t; + + + + +typedef struct { + + + uint32_t algo__crosstalk_compensation_plane_offset_kcps; + + int16_t algo__crosstalk_compensation_x_plane_gradient_kcps; + + int16_t algo__crosstalk_compensation_y_plane_gradient_kcps; + + uint32_t nvm_default__crosstalk_compensation_plane_offset_kcps; + + int16_t nvm_default__crosstalk_compensation_x_plane_gradient_kcps; + + int16_t nvm_default__crosstalk_compensation_y_plane_gradient_kcps; + + uint8_t global_crosstalk_compensation_enable; + + int16_t histogram_mode_crosstalk_margin_kcps; + + int16_t lite_mode_crosstalk_margin_kcps; + + uint8_t crosstalk_range_ignore_threshold_mult; + + uint16_t crosstalk_range_ignore_threshold_rate_mcps; + + int16_t algo__crosstalk_detect_min_valid_range_mm; + + int16_t algo__crosstalk_detect_max_valid_range_mm; + + uint16_t algo__crosstalk_detect_max_valid_rate_kcps; + + uint16_t algo__crosstalk_detect_max_sigma_mm; + + + +} VL53L1_xtalk_config_t; + + + + +typedef struct { + + + uint16_t tp_tuning_parm_version; + + uint16_t tp_tuning_parm_key_table_version; + + uint16_t tp_tuning_parm_lld_version; + + uint8_t tp_init_phase_rtn_lite_long; + + uint8_t tp_init_phase_rtn_lite_med; + + uint8_t tp_init_phase_rtn_lite_short; + + uint8_t tp_init_phase_ref_lite_long; + + uint8_t tp_init_phase_ref_lite_med; + + uint8_t tp_init_phase_ref_lite_short; + + + uint8_t tp_init_phase_rtn_hist_long; + + uint8_t tp_init_phase_rtn_hist_med; + + uint8_t tp_init_phase_rtn_hist_short; + + uint8_t tp_init_phase_ref_hist_long; + + uint8_t tp_init_phase_ref_hist_med; + + uint8_t tp_init_phase_ref_hist_short; + + + uint8_t tp_consistency_lite_phase_tolerance; + + uint8_t tp_phasecal_target; + + uint16_t tp_cal_repeat_rate; + + uint8_t tp_lite_min_clip; + + + uint16_t tp_lite_long_sigma_thresh_mm; + + uint16_t tp_lite_med_sigma_thresh_mm; + + uint16_t tp_lite_short_sigma_thresh_mm; + + + uint16_t tp_lite_long_min_count_rate_rtn_mcps; + + uint16_t tp_lite_med_min_count_rate_rtn_mcps; + + uint16_t tp_lite_short_min_count_rate_rtn_mcps; + + + uint8_t tp_lite_sigma_est_pulse_width_ns; + + uint8_t tp_lite_sigma_est_amb_width_ns; + + uint8_t tp_lite_sigma_ref_mm; + + uint8_t tp_lite_seed_cfg; + + uint8_t tp_timed_seed_cfg; + + + uint8_t tp_lite_quantifier; + + uint8_t tp_lite_first_order_select; + + + uint16_t tp_dss_target_lite_mcps; + + uint16_t tp_dss_target_histo_mcps; + + uint16_t tp_dss_target_histo_mz_mcps; + + uint16_t tp_dss_target_timed_mcps; + + uint16_t tp_dss_target_very_short_mcps; + + + uint32_t tp_phasecal_timeout_lite_us; + + uint32_t tp_phasecal_timeout_hist_long_us; + + uint32_t tp_phasecal_timeout_hist_med_us; + + uint32_t tp_phasecal_timeout_hist_short_us; + + + uint32_t tp_phasecal_timeout_mz_long_us; + + uint32_t tp_phasecal_timeout_mz_med_us; + + uint32_t tp_phasecal_timeout_mz_short_us; + + uint32_t tp_phasecal_timeout_timed_us; + + + uint32_t tp_mm_timeout_lite_us; + + uint32_t tp_mm_timeout_histo_us; + + uint32_t tp_mm_timeout_mz_us; + + uint32_t tp_mm_timeout_timed_us; + + uint32_t tp_mm_timeout_lpa_us; + + + uint32_t tp_range_timeout_lite_us; + + uint32_t tp_range_timeout_histo_us; + + uint32_t tp_range_timeout_mz_us; + + uint32_t tp_range_timeout_timed_us; + + uint32_t tp_range_timeout_lpa_us; + + uint32_t tp_phasecal_patch_power; + + uint8_t tp_hist_merge; + + uint32_t tp_reset_merge_threshold; + + uint8_t tp_hist_merge_max_size; + + uint8_t tp_uwr_enable; + int16_t tp_uwr_med_z_1_min; + int16_t tp_uwr_med_z_1_max; + int16_t tp_uwr_med_z_2_min; + int16_t tp_uwr_med_z_2_max; + int16_t tp_uwr_med_z_3_min; + int16_t tp_uwr_med_z_3_max; + int16_t tp_uwr_med_z_4_min; + int16_t tp_uwr_med_z_4_max; + int16_t tp_uwr_med_z_5_min; + int16_t tp_uwr_med_z_5_max; + int16_t tp_uwr_med_z_6_min; + int16_t tp_uwr_med_z_6_max; + int16_t tp_uwr_med_corr_z_1_rangea; + int16_t tp_uwr_med_corr_z_1_rangeb; + int16_t tp_uwr_med_corr_z_2_rangea; + int16_t tp_uwr_med_corr_z_2_rangeb; + int16_t tp_uwr_med_corr_z_3_rangea; + int16_t tp_uwr_med_corr_z_3_rangeb; + int16_t tp_uwr_med_corr_z_4_rangea; + int16_t tp_uwr_med_corr_z_4_rangeb; + int16_t tp_uwr_med_corr_z_5_rangea; + int16_t tp_uwr_med_corr_z_5_rangeb; + int16_t tp_uwr_med_corr_z_6_rangea; + int16_t tp_uwr_med_corr_z_6_rangeb; + int16_t tp_uwr_lng_z_1_min; + int16_t tp_uwr_lng_z_1_max; + int16_t tp_uwr_lng_z_2_min; + int16_t tp_uwr_lng_z_2_max; + int16_t tp_uwr_lng_z_3_min; + int16_t tp_uwr_lng_z_3_max; + int16_t tp_uwr_lng_z_4_min; + int16_t tp_uwr_lng_z_4_max; + int16_t tp_uwr_lng_z_5_min; + int16_t tp_uwr_lng_z_5_max; + int16_t tp_uwr_lng_corr_z_1_rangea; + int16_t tp_uwr_lng_corr_z_1_rangeb; + int16_t tp_uwr_lng_corr_z_2_rangea; + int16_t tp_uwr_lng_corr_z_2_rangeb; + int16_t tp_uwr_lng_corr_z_3_rangea; + int16_t tp_uwr_lng_corr_z_3_rangeb; + int16_t tp_uwr_lng_corr_z_4_rangea; + int16_t tp_uwr_lng_corr_z_4_rangeb; + int16_t tp_uwr_lng_corr_z_5_rangea; + int16_t tp_uwr_lng_corr_z_5_rangeb; + +} VL53L1_tuning_parm_storage_t; + + + + + +typedef struct { + + uint8_t x_centre; + uint8_t y_centre; + +} VL53L1_optical_centre_t; + + + + +typedef struct { + + uint8_t x_centre; + uint8_t y_centre; + uint8_t width; + uint8_t height; + +} VL53L1_user_zone_t; + + + + +typedef struct { + + uint8_t max_zones; + uint8_t active_zones; + + + +VL53L1_histogram_config_t multizone_hist_cfg; + + VL53L1_user_zone_t user_zones[VL53L1_MAX_USER_ZONES]; + + + uint8_t bin_config[VL53L1_MAX_USER_ZONES]; + + +} VL53L1_zone_config_t; + + + +typedef struct { + + + VL53L1_GPIO_Interrupt_Mode intr_mode_distance; + + + VL53L1_GPIO_Interrupt_Mode intr_mode_rate; + + + uint8_t intr_new_measure_ready; + + + uint8_t intr_no_target; + + + uint8_t intr_combined_mode; + + + + + + uint16_t threshold_distance_high; + + + uint16_t threshold_distance_low; + + + uint16_t threshold_rate_high; + + + uint16_t threshold_rate_low; + +} VL53L1_GPIO_interrupt_config_t; + + + + +typedef struct { + + + uint8_t vhv_loop_bound; + + + uint8_t is_low_power_auto_mode; + + + uint8_t low_power_auto_range_count; + + + uint8_t saved_interrupt_config; + + + uint8_t saved_vhv_init; + + + uint8_t saved_vhv_timeout; + + + uint8_t first_run_phasecal_result; + + + uint32_t dss__total_rate_per_spad_mcps; + + + uint16_t dss__required_spads; + +} VL53L1_low_power_auto_data_t; + + + + + + + +typedef struct { + + + uint8_t smudge_corr_enabled; + + + uint8_t smudge_corr_apply_enabled; + + + uint8_t smudge_corr_single_apply; + + + + + uint16_t smudge_margin; + + + uint32_t noise_margin; + + + uint32_t user_xtalk_offset_limit; + + + uint8_t user_xtalk_offset_limit_hi; + + + uint32_t sample_limit; + + + uint32_t single_xtalk_delta; + + + uint32_t averaged_xtalk_delta; + + + uint32_t smudge_corr_clip_limit; + + + uint32_t smudge_corr_ambient_threshold; + + + uint8_t scaler_calc_method; + + + int16_t x_gradient_scaler; + + + int16_t y_gradient_scaler; + + + uint8_t user_scaler_set; + + + uint32_t nodetect_ambient_threshold; + + + uint32_t nodetect_sample_limit; + + + uint32_t nodetect_xtalk_offset; + + + uint16_t nodetect_min_range_mm; + + + uint32_t max_smudge_factor; + +} VL53L1_smudge_corrector_config_t; + + + +typedef struct { + + + uint32_t current_samples; + + + uint32_t required_samples; + + + uint64_t accumulator; + + + uint32_t nodetect_counter; + +} VL53L1_smudge_corrector_internals_t; + + + +typedef struct { + + + uint8_t smudge_corr_valid; + + + uint8_t smudge_corr_clipped; + + + uint8_t single_xtalk_delta_flag; + + + uint8_t averaged_xtalk_delta_flag; + + + uint8_t sample_limit_exceeded_flag; + + + uint8_t gradient_zero_flag; + + + uint8_t new_xtalk_applied_flag; + + + uint32_t algo__crosstalk_compensation_plane_offset_kcps; + + + int16_t algo__crosstalk_compensation_x_plane_gradient_kcps; + + + int16_t algo__crosstalk_compensation_y_plane_gradient_kcps; + + +} VL53L1_smudge_corrector_data_t; + + + + + +typedef struct { + + + + uint8_t range_id; + + uint32_t time_stamp; + + uint8_t VL53L1_p_015; + + uint8_t VL53L1_p_022; + + uint8_t VL53L1_p_025; + + uint8_t VL53L1_p_026; + + uint8_t VL53L1_p_016; + + uint8_t VL53L1_p_027; + + + uint16_t width; + + uint8_t VL53L1_p_030; + + + uint16_t fast_osc_frequency; + + uint16_t zero_distance_phase; + + uint16_t VL53L1_p_006; + + + uint32_t total_periods_elapsed; + + + uint32_t peak_duration_us; + + + uint32_t woi_duration_us; + + + + + + uint32_t VL53L1_p_020; + + uint32_t VL53L1_p_021; + + int32_t VL53L1_p_013; + + + + + uint16_t peak_signal_count_rate_mcps; + + uint16_t avg_signal_count_rate_mcps; + + uint16_t ambient_count_rate_mcps; + + uint16_t total_rate_per_spad_mcps; + + uint32_t VL53L1_p_012; + + + + + uint16_t VL53L1_p_005; + + + + + uint16_t VL53L1_p_028; + + uint16_t VL53L1_p_014; + + uint16_t VL53L1_p_029; + + + + + int16_t min_range_mm; + + int16_t median_range_mm; + + int16_t max_range_mm; + + + + + uint8_t range_status; + +} VL53L1_range_data_t; + + + + +typedef struct { + + VL53L1_DeviceState cfg_device_state; + + VL53L1_DeviceState rd_device_state; + + uint8_t zone_id; + + uint8_t stream_count; + + + int16_t VL53L1_p_007[VL53L1_MAX_AMBIENT_DMAX_VALUES]; + + int16_t wrap_dmax_mm; + + + uint8_t device_status; + + + uint8_t max_results; + + uint8_t active_results; + + VL53L1_range_data_t VL53L1_p_002[VL53L1_MAX_RANGE_RESULTS]; + + VL53L1_range_data_t xmonitor; + + VL53L1_smudge_corrector_data_t smudge_corrector_data; + + + +} VL53L1_range_results_t; + + + + +typedef struct { + + uint8_t no_of_samples; + + uint32_t rate_per_spad_kcps_sum; + + uint32_t rate_per_spad_kcps_avg; + + int32_t signal_total_events_sum; + + int32_t signal_total_events_avg; + + uint32_t sigma_mm_sum; + + uint32_t sigma_mm_avg; + + uint32_t median_phase_sum; + + uint32_t median_phase_avg; + + +} VL53L1_xtalk_range_data_t; + + + + +typedef struct { + + VL53L1_Error cal_status; + + uint8_t num_of_samples_status; + + uint8_t zero_samples_status; + + uint8_t max_sigma_status; + + uint8_t max_results; + + uint8_t active_results; + + + VL53L1_xtalk_range_data_t + VL53L1_p_002[VL53L1_MAX_XTALK_RANGE_RESULTS]; + + VL53L1_histogram_bin_data_t central_histogram_sum; + + VL53L1_histogram_bin_data_t central_histogram_avg; + + uint8_t central_histogram__window_start; + + uint8_t central_histogram__window_end; + + VL53L1_histogram_bin_data_t + histogram_avg_1[VL53L1_MAX_XTALK_RANGE_RESULTS]; + + VL53L1_histogram_bin_data_t + histogram_avg_2[VL53L1_MAX_XTALK_RANGE_RESULTS]; + + VL53L1_histogram_bin_data_t + xtalk_avg[VL53L1_MAX_XTALK_RANGE_RESULTS]; + + +} VL53L1_xtalk_range_results_t; + + + + +typedef struct { + + uint8_t preset_mode; + + uint8_t dss_config__roi_mode_control; + + uint16_t dss_config__manual_effective_spads_select; + + uint8_t no_of_samples; + + uint32_t effective_spads; + + uint32_t peak_rate_mcps; + + uint32_t VL53L1_p_005; + + int32_t median_range_mm; + + int32_t range_mm_offset; + + +} VL53L1_offset_range_data_t; + + + + +typedef struct { + + int16_t cal_distance_mm; + + uint16_t cal_reflectance_pc; + + VL53L1_Error cal_status; + + uint8_t cal_report; + + uint8_t max_results; + + uint8_t active_results; + + VL53L1_offset_range_data_t + VL53L1_p_002[VL53L1_MAX_OFFSET_RANGE_RESULTS]; + + +} VL53L1_offset_range_results_t; + + + + +typedef struct { + + uint16_t result__mm_inner_actual_effective_spads; + + uint16_t result__mm_outer_actual_effective_spads; + + uint16_t result__mm_inner_peak_signal_count_rtn_mcps; + + uint16_t result__mm_outer_peak_signal_count_rtn_mcps; + + +} VL53L1_additional_offset_cal_data_t; + + + +typedef struct { + int16_t short_a_offset_mm; + int16_t short_b_offset_mm; + int16_t medium_a_offset_mm; + int16_t medium_b_offset_mm; + int16_t long_a_offset_mm; + int16_t long_b_offset_mm; +} VL53L1_per_vcsel_period_offset_cal_data_t; + + + + + +typedef struct { + + uint32_t VL53L1_p_020; + + uint32_t VL53L1_p_021; + + uint16_t VL53L1_p_014; + + uint8_t range_status; + + +} VL53L1_object_data_t; + + + + +typedef struct { + + VL53L1_DeviceState cfg_device_state; + + VL53L1_DeviceState rd_device_state; + + uint8_t zone_id; + + uint8_t stream_count; + + uint8_t max_objects; + + uint8_t active_objects; + + VL53L1_object_data_t VL53L1_p_002[VL53L1_MAX_RANGE_RESULTS]; + + + VL53L1_object_data_t xmonitor; + + +} VL53L1_zone_objects_t; + + + + + + +typedef struct { + + uint8_t max_zones; + + uint8_t active_zones; + + VL53L1_zone_objects_t VL53L1_p_002[VL53L1_MAX_USER_ZONES]; + + +} VL53L1_zone_results_t; + + + + +typedef struct { + + VL53L1_DeviceState rd_device_state; + + + uint8_t number_of_ambient_bins; + + + uint16_t result__dss_actual_effective_spads; + + uint8_t VL53L1_p_009; + + uint32_t total_periods_elapsed; + + + int32_t ambient_events_sum; + + +} VL53L1_zone_hist_info_t; + + + + +typedef struct { + + uint8_t max_zones; + + uint8_t active_zones; + + VL53L1_zone_hist_info_t VL53L1_p_002[VL53L1_MAX_USER_ZONES]; + + +} VL53L1_zone_histograms_t; + + + + +typedef struct { + + uint32_t no_of_samples; + + uint32_t effective_spads; + + uint32_t peak_rate_mcps; + + uint32_t VL53L1_p_014; + + uint32_t VL53L1_p_005; + + int32_t median_range_mm; + + int32_t range_mm_offset; + + +} VL53L1_zone_calibration_data_t; + + + + + + +typedef struct { + + uint32_t struct_version; + + VL53L1_DevicePresetModes preset_mode; + + VL53L1_DeviceZonePreset zone_preset; + + int16_t cal_distance_mm; + + uint16_t cal_reflectance_pc; + + uint16_t phasecal_result__reference_phase; + + uint16_t zero_distance_phase; + + VL53L1_Error cal_status; + + uint8_t max_zones; + + uint8_t active_zones; + + VL53L1_zone_calibration_data_t VL53L1_p_002[VL53L1_MAX_USER_ZONES]; + + +} VL53L1_zone_calibration_results_t; + + + + + +typedef struct { + + int16_t cal_distance_mm; + + uint16_t cal_reflectance_pc; + + uint16_t max_samples; + + uint16_t width; + + uint16_t height; + + uint16_t peak_rate_mcps[VL53L1_NVM_PEAK_RATE_MAP_SAMPLES]; + + +} VL53L1_cal_peak_rate_map_t; + + + + +typedef struct { + + uint8_t expected_stream_count; + + uint8_t expected_gph_id; + + uint8_t dss_mode; + + uint16_t dss_requested_effective_spad_count; + + uint8_t seed_cfg; + + uint8_t initial_phase_seed; + + + uint8_t roi_config__user_roi_centre_spad; + + uint8_t roi_config__user_roi_requested_global_xy_size; + + +} VL53L1_zone_private_dyn_cfg_t; + + + + +typedef struct { + + uint8_t max_zones; + + uint8_t active_zones; + + VL53L1_zone_private_dyn_cfg_t VL53L1_p_002[VL53L1_MAX_USER_ZONES]; + + +} VL53L1_zone_private_dyn_cfgs_t; + + + +typedef struct { + + uint32_t algo__crosstalk_compensation_plane_offset_kcps; + + int16_t algo__crosstalk_compensation_x_plane_gradient_kcps; + + int16_t algo__crosstalk_compensation_y_plane_gradient_kcps; + + uint32_t algo__xtalk_cpo_HistoMerge_kcps[VL53L1_BIN_REC_SIZE]; + + +} VL53L1_xtalk_calibration_results_t; + + + + +typedef struct { + + + uint32_t sample_count; + + + uint32_t pll_period_mm; + + + uint32_t peak_duration_us_sum; + + + uint32_t effective_spad_count_sum; + + + uint32_t zero_distance_phase_sum; + + + uint32_t zero_distance_phase_avg; + + + int32_t event_scaler_sum; + + + int32_t event_scaler_avg; + + + int32_t signal_events_sum; + + + uint32_t xtalk_rate_kcps_per_spad; + + + int32_t xtalk_start_phase; + + + int32_t xtalk_end_phase; + + + int32_t xtalk_width_phase; + + + int32_t target_start_phase; + + + int32_t target_end_phase; + + + int32_t target_width_phase; + + + int32_t effective_width; + + + int32_t event_scaler; + + + uint8_t VL53L1_p_015; + + + uint8_t VL53L1_p_016; + + + uint8_t target_start; + + + int32_t max_shape_value; + + + int32_t bin_data_sums[VL53L1_XTALK_HISTO_BINS]; + +} VL53L1_hist_xtalk_extract_data_t; + + + + +typedef struct { + + uint16_t standard_ranging_gain_factor; + + uint16_t histogram_ranging_gain_factor; + + +} VL53L1_gain_calibration_data_t; + + + + +typedef struct { + + VL53L1_DeviceState cfg_device_state; + + uint8_t cfg_stream_count; + + uint8_t cfg_internal_stream_count; + + uint8_t cfg_internal_stream_count_val; + + uint8_t cfg_gph_id; + + uint8_t cfg_timing_status; + + uint8_t cfg_zone_id; + + + VL53L1_DeviceState rd_device_state; + + uint8_t rd_stream_count; + + uint8_t rd_internal_stream_count; + + uint8_t rd_internal_stream_count_val; + + uint8_t rd_gph_id; + + uint8_t rd_timing_status; + + uint8_t rd_zone_id; + + +} VL53L1_ll_driver_state_t; + + + + +typedef struct { + + uint8_t wait_method; + + VL53L1_DevicePresetModes preset_mode; + + VL53L1_DeviceZonePreset zone_preset; + + VL53L1_DeviceMeasurementModes measurement_mode; + + VL53L1_OffsetCalibrationMode offset_calibration_mode; + + VL53L1_OffsetCorrectionMode offset_correction_mode; + + VL53L1_DeviceDmaxMode dmax_mode; + + uint32_t phasecal_config_timeout_us; + + uint32_t mm_config_timeout_us; + + uint32_t range_config_timeout_us; + + uint32_t inter_measurement_period_ms; + + uint16_t dss_config__target_total_rate_mcps; + + uint32_t fw_ready_poll_duration_ms; + + uint8_t fw_ready; + + uint8_t debug_mode; + + + + VL53L1_ll_version_t version; + + + VL53L1_ll_driver_state_t ll_state; + + + VL53L1_GPIO_interrupt_config_t gpio_interrupt_config; + + + VL53L1_customer_nvm_managed_t customer; + VL53L1_cal_peak_rate_map_t cal_peak_rate_map; + VL53L1_additional_offset_cal_data_t add_off_cal_data; + VL53L1_dmax_calibration_data_t fmt_dmax_cal; + VL53L1_dmax_calibration_data_t cust_dmax_cal; + VL53L1_gain_calibration_data_t gain_cal; + VL53L1_user_zone_t mm_roi; + VL53L1_optical_centre_t optical_centre; + VL53L1_zone_config_t zone_cfg; + + + VL53L1_tuning_parm_storage_t tuning_parms; + + + uint8_t rtn_good_spads[VL53L1_RTN_SPAD_BUFFER_SIZE]; + + + VL53L1_refspadchar_config_t refspadchar; + VL53L1_ssc_config_t ssc_cfg; + VL53L1_hist_post_process_config_t histpostprocess; + VL53L1_hist_gen3_dmax_config_t dmax_cfg; + VL53L1_xtalkextract_config_t xtalk_extract_cfg; + VL53L1_xtalk_config_t xtalk_cfg; + VL53L1_offsetcal_config_t offsetcal_cfg; + VL53L1_zonecal_config_t zonecal_cfg; + + + VL53L1_static_nvm_managed_t stat_nvm; + VL53L1_histogram_config_t hist_cfg; + VL53L1_static_config_t stat_cfg; + VL53L1_general_config_t gen_cfg; + VL53L1_timing_config_t tim_cfg; + VL53L1_dynamic_config_t dyn_cfg; + VL53L1_system_control_t sys_ctrl; + VL53L1_system_results_t sys_results; + VL53L1_nvm_copy_data_t nvm_copy_data; + + + VL53L1_histogram_bin_data_t hist_data; + VL53L1_histogram_bin_data_t hist_xtalk; + + + VL53L1_xtalk_histogram_data_t xtalk_shapes; + VL53L1_xtalk_range_results_t xtalk_results; + VL53L1_xtalk_calibration_results_t xtalk_cal; + VL53L1_hist_xtalk_extract_data_t xtalk_extract; + + + VL53L1_offset_range_results_t offset_results; + + + VL53L1_core_results_t core_results; + VL53L1_debug_results_t dbg_results; + + VL53L1_smudge_corrector_config_t smudge_correct_config; + + VL53L1_smudge_corrector_internals_t smudge_corrector_internals; + + + + + VL53L1_low_power_auto_data_t low_power_auto_data; + + +#ifdef PAL_EXTENDED + + VL53L1_patch_results_t patch_results; + VL53L1_shadow_core_results_t shadow_core_results; + VL53L1_shadow_system_results_t shadow_sys_results; + VL53L1_prev_shadow_core_results_t prev_shadow_core_results; + VL53L1_prev_shadow_system_results_t prev_shadow_sys_results; +#endif + uint8_t wArea1[1536]; + uint8_t wArea2[512]; + VL53L1_per_vcsel_period_offset_cal_data_t per_vcsel_cal_data; + + uint8_t bin_rec_pos; + + uint8_t pos_before_next_recom; + + int32_t multi_bins_rec[VL53L1_BIN_REC_SIZE] + [VL53L1_TIMING_CONF_A_B_SIZE][VL53L1_HISTOGRAM_BUFFER_SIZE]; + + int16_t PreviousRangeMilliMeter[VL53L1_MAX_RANGE_RESULTS]; + uint8_t PreviousRangeStatus[VL53L1_MAX_RANGE_RESULTS]; + uint8_t PreviousExtendedRange[VL53L1_MAX_RANGE_RESULTS]; + uint8_t PreviousStreamCount; + +} VL53L1_LLDriverData_t; + + + + +typedef struct { + + + VL53L1_range_results_t range_results; + + + VL53L1_zone_private_dyn_cfgs_t zone_dyn_cfgs; + + + VL53L1_zone_results_t zone_results; + VL53L1_zone_histograms_t zone_hists; + VL53L1_zone_calibration_results_t zone_cal; + +} VL53L1_LLDriverResults_t; + + + + +typedef struct { + + uint32_t struct_version; + VL53L1_customer_nvm_managed_t customer; + VL53L1_dmax_calibration_data_t fmt_dmax_cal; + VL53L1_dmax_calibration_data_t cust_dmax_cal; + VL53L1_additional_offset_cal_data_t add_off_cal_data; + VL53L1_optical_centre_t optical_centre; + VL53L1_xtalk_histogram_data_t xtalkhisto; + VL53L1_gain_calibration_data_t gain_cal; + VL53L1_cal_peak_rate_map_t cal_peak_rate_map; + VL53L1_per_vcsel_period_offset_cal_data_t per_vcsel_cal_data; + +} VL53L1_calibration_data_t; + + + + +typedef struct { + + VL53L1_customer_nvm_managed_t customer; + VL53L1_xtalkextract_config_t xtalk_extract_cfg; + VL53L1_xtalk_config_t xtalk_cfg; + VL53L1_histogram_bin_data_t hist_data; + VL53L1_xtalk_histogram_data_t xtalk_shapes; + VL53L1_xtalk_range_results_t xtalk_results; + +} VL53L1_xtalk_debug_data_t; + + + + +typedef struct { + + VL53L1_customer_nvm_managed_t customer; + VL53L1_dmax_calibration_data_t fmt_dmax_cal; + VL53L1_dmax_calibration_data_t cust_dmax_cal; + VL53L1_additional_offset_cal_data_t add_off_cal_data; + VL53L1_offset_range_results_t offset_results; + +} VL53L1_offset_debug_data_t; + + + + +typedef struct { + uint16_t vl53l1_tuningparm_version; + uint16_t vl53l1_tuningparm_key_table_version; + uint16_t vl53l1_tuningparm_lld_version; + uint8_t vl53l1_tuningparm_hist_algo_select; + uint8_t vl53l1_tuningparm_hist_target_order; + uint8_t vl53l1_tuningparm_hist_filter_woi_0; + uint8_t vl53l1_tuningparm_hist_filter_woi_1; + uint8_t vl53l1_tuningparm_hist_amb_est_method; + uint8_t vl53l1_tuningparm_hist_amb_thresh_sigma_0; + uint8_t vl53l1_tuningparm_hist_amb_thresh_sigma_1; + int32_t vl53l1_tuningparm_hist_min_amb_thresh_events; + uint16_t vl53l1_tuningparm_hist_amb_events_scaler; + uint16_t vl53l1_tuningparm_hist_noise_threshold; + int32_t vl53l1_tuningparm_hist_signal_total_events_limit; + uint8_t vl53l1_tuningparm_hist_sigma_est_ref_mm; + uint16_t vl53l1_tuningparm_hist_sigma_thresh_mm; + uint16_t vl53l1_tuningparm_hist_gain_factor; + uint8_t vl53l1_tuningparm_consistency_hist_phase_tolerance; + uint16_t vl53l1_tuningparm_consistency_hist_min_max_tolerance_mm; + uint8_t vl53l1_tuningparm_consistency_hist_event_sigma; + uint16_t vl53l1_tuningparm_consistency_hist_event_sigma_min_spad_limit; + uint8_t vl53l1_tuningparm_initial_phase_rtn_histo_long_range; + uint8_t vl53l1_tuningparm_initial_phase_rtn_histo_med_range; + uint8_t vl53l1_tuningparm_initial_phase_rtn_histo_short_range; + uint8_t vl53l1_tuningparm_initial_phase_ref_histo_long_range; + uint8_t vl53l1_tuningparm_initial_phase_ref_histo_med_range; + uint8_t vl53l1_tuningparm_initial_phase_ref_histo_short_range; + int16_t vl53l1_tuningparm_xtalk_detect_min_valid_range_mm; + int16_t vl53l1_tuningparm_xtalk_detect_max_valid_range_mm; + uint16_t vl53l1_tuningparm_xtalk_detect_max_sigma_mm; + uint16_t vl53l1_tuningparm_xtalk_detect_min_max_tolerance; + uint16_t vl53l1_tuningparm_xtalk_detect_max_valid_rate_kcps; + uint8_t vl53l1_tuningparm_xtalk_detect_event_sigma; + int16_t vl53l1_tuningparm_hist_xtalk_margin_kcps; + uint8_t vl53l1_tuningparm_consistency_lite_phase_tolerance; + uint8_t vl53l1_tuningparm_phasecal_target; + uint16_t vl53l1_tuningparm_lite_cal_repeat_rate; + uint16_t vl53l1_tuningparm_lite_ranging_gain_factor; + uint8_t vl53l1_tuningparm_lite_min_clip_mm; + uint16_t vl53l1_tuningparm_lite_long_sigma_thresh_mm; + uint16_t vl53l1_tuningparm_lite_med_sigma_thresh_mm; + uint16_t vl53l1_tuningparm_lite_short_sigma_thresh_mm; + uint16_t vl53l1_tuningparm_lite_long_min_count_rate_rtn_mcps; + uint16_t vl53l1_tuningparm_lite_med_min_count_rate_rtn_mcps; + uint16_t vl53l1_tuningparm_lite_short_min_count_rate_rtn_mcps; + uint8_t vl53l1_tuningparm_lite_sigma_est_pulse_width; + uint8_t vl53l1_tuningparm_lite_sigma_est_amb_width_ns; + uint8_t vl53l1_tuningparm_lite_sigma_ref_mm; + uint8_t vl53l1_tuningparm_lite_rit_mult; + uint8_t vl53l1_tuningparm_lite_seed_config; + uint8_t vl53l1_tuningparm_lite_quantifier; + uint8_t vl53l1_tuningparm_lite_first_order_select; + int16_t vl53l1_tuningparm_lite_xtalk_margin_kcps; + uint8_t vl53l1_tuningparm_initial_phase_rtn_lite_long_range; + uint8_t vl53l1_tuningparm_initial_phase_rtn_lite_med_range; + uint8_t vl53l1_tuningparm_initial_phase_rtn_lite_short_range; + uint8_t vl53l1_tuningparm_initial_phase_ref_lite_long_range; + uint8_t vl53l1_tuningparm_initial_phase_ref_lite_med_range; + uint8_t vl53l1_tuningparm_initial_phase_ref_lite_short_range; + uint8_t vl53l1_tuningparm_timed_seed_config; + uint8_t vl53l1_tuningparm_dmax_cfg_signal_thresh_sigma; + uint16_t vl53l1_tuningparm_dmax_cfg_reflectance_array_0; + uint16_t vl53l1_tuningparm_dmax_cfg_reflectance_array_1; + uint16_t vl53l1_tuningparm_dmax_cfg_reflectance_array_2; + uint16_t vl53l1_tuningparm_dmax_cfg_reflectance_array_3; + uint16_t vl53l1_tuningparm_dmax_cfg_reflectance_array_4; + uint8_t vl53l1_tuningparm_vhv_loopbound; + uint8_t vl53l1_tuningparm_refspadchar_device_test_mode; + uint8_t vl53l1_tuningparm_refspadchar_vcsel_period; + uint32_t vl53l1_tuningparm_refspadchar_phasecal_timeout_us; + uint16_t vl53l1_tuningparm_refspadchar_target_count_rate_mcps; + uint16_t vl53l1_tuningparm_refspadchar_min_countrate_limit_mcps; + uint16_t vl53l1_tuningparm_refspadchar_max_countrate_limit_mcps; + uint8_t vl53l1_tuningparm_xtalk_extract_num_of_samples; + int16_t vl53l1_tuningparm_xtalk_extract_min_filter_thresh_mm; + int16_t vl53l1_tuningparm_xtalk_extract_max_filter_thresh_mm; + uint16_t vl53l1_tuningparm_xtalk_extract_dss_rate_mcps; + uint32_t vl53l1_tuningparm_xtalk_extract_phasecal_timeout_us; + uint16_t vl53l1_tuningparm_xtalk_extract_max_valid_rate_kcps; + uint16_t vl53l1_tuningparm_xtalk_extract_sigma_threshold_mm; + uint32_t vl53l1_tuningparm_xtalk_extract_dss_timeout_us; + uint32_t vl53l1_tuningparm_xtalk_extract_bin_timeout_us; + uint16_t vl53l1_tuningparm_offset_cal_dss_rate_mcps; + uint32_t vl53l1_tuningparm_offset_cal_phasecal_timeout_us; + uint32_t vl53l1_tuningparm_offset_cal_mm_timeout_us; + uint32_t vl53l1_tuningparm_offset_cal_range_timeout_us; + uint8_t vl53l1_tuningparm_offset_cal_pre_samples; + uint8_t vl53l1_tuningparm_offset_cal_mm1_samples; + uint8_t vl53l1_tuningparm_offset_cal_mm2_samples; + uint16_t vl53l1_tuningparm_zone_cal_dss_rate_mcps; + uint32_t vl53l1_tuningparm_zone_cal_phasecal_timeout_us; + uint32_t vl53l1_tuningparm_zone_cal_dss_timeout_us; + uint16_t vl53l1_tuningparm_zone_cal_phasecal_num_samples; + uint32_t vl53l1_tuningparm_zone_cal_range_timeout_us; + uint16_t vl53l1_tuningparm_zone_cal_zone_num_samples; + uint8_t vl53l1_tuningparm_spadmap_vcsel_period; + uint8_t vl53l1_tuningparm_spadmap_vcsel_start; + uint16_t vl53l1_tuningparm_spadmap_rate_limit_mcps; + uint16_t vl53l1_tuningparm_lite_dss_config_target_total_rate_mcps; + uint16_t vl53l1_tuningparm_ranging_dss_config_target_total_rate_mcps; + uint16_t vl53l1_tuningparm_mz_dss_config_target_total_rate_mcps; + uint16_t vl53l1_tuningparm_timed_dss_config_target_total_rate_mcps; + uint32_t vl53l1_tuningparm_lite_phasecal_config_timeout_us; + uint32_t vl53l1_tuningparm_ranging_long_phasecal_config_timeout_us; + uint32_t vl53l1_tuningparm_ranging_med_phasecal_config_timeout_us; + uint32_t vl53l1_tuningparm_ranging_short_phasecal_config_timeout_us; + uint32_t vl53l1_tuningparm_mz_long_phasecal_config_timeout_us; + uint32_t vl53l1_tuningparm_mz_med_phasecal_config_timeout_us; + uint32_t vl53l1_tuningparm_mz_short_phasecal_config_timeout_us; + uint32_t vl53l1_tuningparm_timed_phasecal_config_timeout_us; + uint32_t vl53l1_tuningparm_lite_mm_config_timeout_us; + uint32_t vl53l1_tuningparm_ranging_mm_config_timeout_us; + uint32_t vl53l1_tuningparm_mz_mm_config_timeout_us; + uint32_t vl53l1_tuningparm_timed_mm_config_timeout_us; + uint32_t vl53l1_tuningparm_lite_range_config_timeout_us; + uint32_t vl53l1_tuningparm_ranging_range_config_timeout_us; + uint32_t vl53l1_tuningparm_mz_range_config_timeout_us; + uint32_t vl53l1_tuningparm_timed_range_config_timeout_us; + uint16_t vl53l1_tuningparm_dynxtalk_smudge_margin; + uint32_t vl53l1_tuningparm_dynxtalk_noise_margin; + uint32_t vl53l1_tuningparm_dynxtalk_xtalk_offset_limit; + uint8_t vl53l1_tuningparm_dynxtalk_xtalk_offset_limit_hi; + uint32_t vl53l1_tuningparm_dynxtalk_sample_limit; + uint32_t vl53l1_tuningparm_dynxtalk_single_xtalk_delta; + uint32_t vl53l1_tuningparm_dynxtalk_averaged_xtalk_delta; + uint32_t vl53l1_tuningparm_dynxtalk_clip_limit; + uint8_t vl53l1_tuningparm_dynxtalk_scaler_calc_method; + int16_t vl53l1_tuningparm_dynxtalk_xgradient_scaler; + int16_t vl53l1_tuningparm_dynxtalk_ygradient_scaler; + uint8_t vl53l1_tuningparm_dynxtalk_user_scaler_set; + uint8_t vl53l1_tuningparm_dynxtalk_smudge_cor_single_apply; + uint32_t vl53l1_tuningparm_dynxtalk_xtalk_amb_threshold; + uint32_t vl53l1_tuningparm_dynxtalk_nodetect_amb_threshold_kcps; + uint32_t vl53l1_tuningparm_dynxtalk_nodetect_sample_limit; + uint32_t vl53l1_tuningparm_dynxtalk_nodetect_xtalk_offset_kcps; + uint16_t vl53l1_tuningparm_dynxtalk_nodetect_min_range_mm; + uint8_t vl53l1_tuningparm_lowpowerauto_vhv_loop_bound; + uint32_t vl53l1_tuningparm_lowpowerauto_mm_config_timeout_us; + uint32_t vl53l1_tuningparm_lowpowerauto_range_config_timeout_us; + uint16_t vl53l1_tuningparm_very_short_dss_rate_mcps; + uint32_t vl53l1_tuningparm_phasecal_patch_power; +} VL53L1_tuning_parameters_t; + + + + + +typedef struct { + + uint16_t target_reflectance_for_dmax[VL53L1_MAX_AMBIENT_DMAX_VALUES]; + +} VL53L1_dmax_reflectance_array_t; + + + + +typedef struct { + + uint8_t spad_type; + + uint16_t VL53L1_p_023; + + uint16_t rate_data[VL53L1_NO_OF_SPAD_ENABLES]; + + uint16_t no_of_values; + + uint8_t fractional_bits; + + uint8_t error_status; + + +} VL53L1_spad_rate_data_t; + + + + + + +typedef struct { + + VL53L1_DevicePresetModes preset_mode; + + VL53L1_DeviceZonePreset zone_preset; + + VL53L1_DeviceMeasurementModes measurement_mode; + + VL53L1_OffsetCalibrationMode offset_calibration_mode; + + VL53L1_OffsetCorrectionMode offset_correction_mode; + + VL53L1_DeviceDmaxMode dmax_mode; + + + uint32_t phasecal_config_timeout_us; + + uint32_t mm_config_timeout_us; + + uint32_t range_config_timeout_us; + + uint32_t inter_measurement_period_ms; + + uint16_t dss_config__target_total_rate_mcps; + + + VL53L1_histogram_bin_data_t VL53L1_p_010; + + +} VL53L1_additional_data_t; + + + + + + + + +#define SUPPRESS_UNUSED_WARNING(x) \ + ((void) (x)) + + +#define IGNORE_STATUS(__FUNCTION_ID__, __ERROR_STATUS_CHECK__, __STATUS__) \ + do { \ + DISABLE_WARNINGS(); \ + if (__FUNCTION_ID__) { \ + if (__STATUS__ == __ERROR_STATUS_CHECK__) { \ + __STATUS__ = VL53L1_ERROR_NONE; \ + WARN_OVERRIDE_STATUS(__FUNCTION_ID__); \ + } \ + } \ + ENABLE_WARNINGS(); \ + } \ + while (0) + +#define VL53L1_COPYSTRING(str, ...) \ + (strncpy(str, ##__VA_ARGS__, VL53L1_MAX_STRING_LENGTH-1)) + +#ifdef __cplusplus +} +#endif + +#endif + + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_ll_device.h b/drivers/input/misc/vl53L1/inc/vl53l1_ll_device.h new file mode 100644 index 000000000000..fd57e97fa861 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_ll_device.h @@ -0,0 +1,1063 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_LL_DEVICE_H_ +#define _VL53L1_LL_DEVICE_H_ + +#include "vl53l1_types.h" +#include "vl53l1_platform_user_config.h" + +#define VL53L1_I2C 0x01 +#define VL53L1_SPI 0x00 + + + + + +typedef uint8_t VL53L1_WaitMethod; + +#define VL53L1_WAIT_METHOD_BLOCKING ((VL53L1_WaitMethod) 0) +#define VL53L1_WAIT_METHOD_NON_BLOCKING ((VL53L1_WaitMethod) 1) + + + + +typedef uint8_t VL53L1_DeviceState; + +#define VL53L1_DEVICESTATE_POWERDOWN ((VL53L1_DeviceState) 0) +#define VL53L1_DEVICESTATE_HW_STANDBY ((VL53L1_DeviceState) 1) +#define VL53L1_DEVICESTATE_FW_COLDBOOT ((VL53L1_DeviceState) 2) +#define VL53L1_DEVICESTATE_SW_STANDBY ((VL53L1_DeviceState) 3) +#define VL53L1_DEVICESTATE_RANGING_DSS_AUTO ((VL53L1_DeviceState) 4) +#define VL53L1_DEVICESTATE_RANGING_DSS_MANUAL ((VL53L1_DeviceState) 5) +#define VL53L1_DEVICESTATE_RANGING_WAIT_GPH_SYNC ((VL53L1_DeviceState) 6) +#define VL53L1_DEVICESTATE_RANGING_GATHER_DATA ((VL53L1_DeviceState) 7) +#define VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA ((VL53L1_DeviceState) 8) + +#define VL53L1_DEVICESTATE_UNKNOWN ((VL53L1_DeviceState) 98) +#define VL53L1_DEVICESTATE_ERROR ((VL53L1_DeviceState) 99) + + + + + +typedef uint8_t VL53L1_DeviceZonePreset; + +#define VL53L1_DEVICEZONEPRESET_NONE \ + ((VL53L1_DeviceZonePreset) 0) + +#define VL53L1_DEVICEZONEPRESET_XTALK_PLANAR \ + ((VL53L1_DeviceZonePreset) 1) +#define VL53L1_DEVICEZONEPRESET_1X1_SIZE_16X16 \ + ((VL53L1_DeviceZonePreset) 2) +#define VL53L1_DEVICEZONEPRESET_1X2_SIZE_16X8 \ + ((VL53L1_DeviceZonePreset) 3) +#define VL53L1_DEVICEZONEPRESET_2X1_SIZE_8X16 \ + ((VL53L1_DeviceZonePreset) 4) +#define VL53L1_DEVICEZONEPRESET_2X2_SIZE_8X8 \ + ((VL53L1_DeviceZonePreset) 5) +#define VL53L1_DEVICEZONEPRESET_3X3_SIZE_5X5 \ + ((VL53L1_DeviceZonePreset) 6) +#define VL53L1_DEVICEZONEPRESET_4X4_SIZE_4X4 \ + ((VL53L1_DeviceZonePreset) 7) +#define VL53L1_DEVICEZONEPRESET_5X5_SIZE_4X4 \ + ((VL53L1_DeviceZonePreset) 8) +#define VL53L1_DEVICEZONEPRESET_11X11_SIZE_5X5 \ + ((VL53L1_DeviceZonePreset) 9) +#define VL53L1_DEVICEZONEPRESET_13X13_SIZE_4X4 \ + ((VL53L1_DeviceZonePreset) 10) + +#define VL53L1_DEVICEZONEPRESET_1X1_SIZE_4X4_POS_8X8 \ + ((VL53L1_DeviceZonePreset) 11) + +#define VL53L1_DEVICEZONEPRESET_CUSTOM \ + ((VL53L1_DeviceZonePreset) 255) + + + + + +typedef uint8_t VL53L1_DevicePresetModes; + +#define VL53L1_DEVICEPRESETMODE_NONE \ + ((VL53L1_DevicePresetModes) 0) +#define VL53L1_DEVICEPRESETMODE_STANDARD_RANGING \ + ((VL53L1_DevicePresetModes) 1) +#define VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_SHORT_RANGE \ + ((VL53L1_DevicePresetModes) 2) +#define VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_LONG_RANGE \ + ((VL53L1_DevicePresetModes) 3) +#define VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM1_CAL \ + ((VL53L1_DevicePresetModes) 4) +#define VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM2_CAL \ + ((VL53L1_DevicePresetModes) 5) +#define VL53L1_DEVICEPRESETMODE_TIMED_RANGING \ + ((VL53L1_DevicePresetModes) 6) +#define VL53L1_DEVICEPRESETMODE_TIMED_RANGING_SHORT_RANGE \ + ((VL53L1_DevicePresetModes) 7) +#define VL53L1_DEVICEPRESETMODE_TIMED_RANGING_LONG_RANGE \ + ((VL53L1_DevicePresetModes) 8) +#define VL53L1_DEVICEPRESETMODE_NEAR_FARRANGING \ + ((VL53L1_DevicePresetModes) 9) +#define VL53L1_DEVICEPRESETMODE_QUADRANT_RANGING \ + ((VL53L1_DevicePresetModes) 10) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING \ + ((VL53L1_DevicePresetModes) 11) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_SHORT_TIMING \ + ((VL53L1_DevicePresetModes) 12) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_CHARACTERISATION \ + ((VL53L1_DevicePresetModes) 13) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_XTALK_PLANAR \ + ((VL53L1_DevicePresetModes) 14) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_XTALK_MM1 \ + ((VL53L1_DevicePresetModes) 15) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_XTALK_MM2 \ + ((VL53L1_DevicePresetModes) 16) +#define VL53L1_DEVICEPRESETMODE_OLT \ + ((VL53L1_DevicePresetModes) 17) +#define VL53L1_DEVICEPRESETMODE_SINGLESHOT_RANGING \ + ((VL53L1_DevicePresetModes) 18) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_REF_ARRAY \ + ((VL53L1_DevicePresetModes) 19) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_WITH_MM1 \ + ((VL53L1_DevicePresetModes) 20) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_WITH_MM2 \ + ((VL53L1_DevicePresetModes) 21) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM1_CAL \ + ((VL53L1_DevicePresetModes) 22) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM2_CAL \ + ((VL53L1_DevicePresetModes) 23) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE \ + ((VL53L1_DevicePresetModes) 24) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_SHORT_RANGE \ + ((VL53L1_DevicePresetModes) 25) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_LONG_RANGE \ + ((VL53L1_DevicePresetModes) 26) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE \ + ((VL53L1_DevicePresetModes) 27) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE_MM1 \ + ((VL53L1_DevicePresetModes) 28) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE_MM2 \ + ((VL53L1_DevicePresetModes) 29) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE \ + ((VL53L1_DevicePresetModes) 30) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE_MM1 \ + ((VL53L1_DevicePresetModes) 31) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE_MM2 \ + ((VL53L1_DevicePresetModes) 32) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE \ + ((VL53L1_DevicePresetModes) 33) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE_MM1 \ + ((VL53L1_DevicePresetModes) 34) +#define VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE_MM2 \ + ((VL53L1_DevicePresetModes) 35) +#define VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_SHORT_RANGE \ + ((VL53L1_DevicePresetModes) 36) +#define VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_MEDIUM_RANGE \ + ((VL53L1_DevicePresetModes) 37) +#define VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_LONG_RANGE \ + ((VL53L1_DevicePresetModes) 38) +#define VL53L1_DEVICEPRESETMODE_SPECIAL_HISTOGRAM_SHORT_RANGE \ + ((VL53L1_DevicePresetModes) 39) + + + + + +typedef uint8_t VL53L1_DeviceMeasurementModes; + +#define VL53L1_DEVICEMEASUREMENTMODE_STOP \ + ((VL53L1_DeviceMeasurementModes) 0x00) +#define VL53L1_DEVICEMEASUREMENTMODE_SINGLESHOT \ + ((VL53L1_DeviceMeasurementModes) 0x10) +#define VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK \ + ((VL53L1_DeviceMeasurementModes) 0x20) +#define VL53L1_DEVICEMEASUREMENTMODE_TIMED \ + ((VL53L1_DeviceMeasurementModes) 0x40) +#define VL53L1_DEVICEMEASUREMENTMODE_ABORT \ + ((VL53L1_DeviceMeasurementModes) 0x80) + + + + + +typedef uint8_t VL53L1_OffsetCalibrationMode; + +#define VL53L1_OFFSETCALIBRATIONMODE__NONE \ + ((VL53L1_OffsetCalibrationMode) 0) +#define VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD \ + ((VL53L1_OffsetCalibrationMode) 1) +#define VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM \ + ((VL53L1_OffsetCalibrationMode) 2) +#define VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY \ + ((VL53L1_OffsetCalibrationMode) 3) +#define VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM_PRE_RANGE_ONLY \ + ((VL53L1_OffsetCalibrationMode) 4) +#define VL53L1_OFFSETCALIBRATIONMODE__PER_ZONE \ + ((VL53L1_OffsetCalibrationMode) 5) + + + + + +typedef uint8_t VL53L1_OffsetCorrectionMode; + +#define VL53L1_OFFSETCORRECTIONMODE__NONE \ + ((VL53L1_OffsetCorrectionMode) 0) +#define VL53L1_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS \ + ((VL53L1_OffsetCorrectionMode) 1) +#define VL53L1_OFFSETCORRECTIONMODE__PER_ZONE_OFFSETS \ + ((VL53L1_OffsetCorrectionMode) 2) +#define VL53L1_OFFSETCORRECTIONMODE__PER_VCSEL_OFFSETS \ + ((VL53L1_OffsetCorrectionMode) 3) + + + + + +typedef uint8_t VL53L1_DeviceDmaxMode; + +#define VL53L1_DEVICEDMAXMODE__NONE \ + ((VL53L1_DeviceDmaxMode) 0) +#define VL53L1_DEVICEDMAXMODE__FMT_CAL_DATA \ + ((VL53L1_DeviceDmaxMode) 1) +#define VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA \ + ((VL53L1_DeviceDmaxMode) 2) +#define VL53L1_DEVICEDMAXMODE__PER_ZONE_CAL_DATA \ + ((VL53L1_DeviceDmaxMode) 3) + + + + + +typedef uint8_t VL53L1_DeviceSequenceConfig; + +#define VL53L1_DEVICESEQUENCECONFIG_VHV \ + ((VL53L1_DeviceSequenceConfig) 0) +#define VL53L1_DEVICESEQUENCECONFIG_PHASECAL \ + ((VL53L1_DeviceSequenceConfig) 1) +#define VL53L1_DEVICESEQUENCECONFIG_REFERENCE_PHASE \ + ((VL53L1_DeviceSequenceConfig) 2) +#define VL53L1_DEVICESEQUENCECONFIG_DSS1 \ + ((VL53L1_DeviceSequenceConfig) 3) +#define VL53L1_DEVICESEQUENCECONFIG_DSS2 \ + ((VL53L1_DeviceSequenceConfig) 4) +#define VL53L1_DEVICESEQUENCECONFIG_MM1 \ + ((VL53L1_DeviceSequenceConfig) 5) +#define VL53L1_DEVICESEQUENCECONFIG_MM2 \ + ((VL53L1_DeviceSequenceConfig) 6) +#define VL53L1_DEVICESEQUENCECONFIG_RANGE \ + ((VL53L1_DeviceSequenceConfig) 7) + + + + + +typedef uint8_t VL53L1_DeviceInterruptPolarity; + +#define VL53L1_DEVICEINTERRUPTPOLARITY_ACTIVE_HIGH \ + ((VL53L1_DeviceInterruptPolarity) 0x00) +#define VL53L1_DEVICEINTERRUPTPOLARITY_ACTIVE_LOW \ + ((VL53L1_DeviceInterruptPolarity) 0x10) +#define VL53L1_DEVICEINTERRUPTPOLARITY_BIT_MASK \ + ((VL53L1_DeviceInterruptPolarity) 0x10) +#define VL53L1_DEVICEINTERRUPTPOLARITY_CLEAR_MASK \ + ((VL53L1_DeviceInterruptPolarity) 0xEF) + + + + + +typedef uint8_t VL53L1_DeviceGpioMode; + +#define VL53L1_DEVICEGPIOMODE_OUTPUT_CONSTANT_ZERO \ + ((VL53L1_DeviceGpioMode) 0x00) +#define VL53L1_DEVICEGPIOMODE_OUTPUT_RANGE_AND_ERROR_INTERRUPTS \ + ((VL53L1_DeviceGpioMode) 0x01) +#define VL53L1_DEVICEGPIOMODE_OUTPUT_TIMIER_INTERRUPTS \ + ((VL53L1_DeviceGpioMode) 0x02) +#define VL53L1_DEVICEGPIOMODE_OUTPUT_RANGE_MODE_INTERRUPT_STATUS \ + ((VL53L1_DeviceGpioMode) 0x03) +#define VL53L1_DEVICEGPIOMODE_OUTPUT_SLOW_OSCILLATOR_CLOCK \ + ((VL53L1_DeviceGpioMode) 0x04) +#define VL53L1_DEVICEGPIOMODE_BIT_MASK \ + ((VL53L1_DeviceGpioMode) 0x0F) +#define VL53L1_DEVICEGPIOMODE_CLEAR_MASK \ + ((VL53L1_DeviceGpioMode) 0xF0) + + + + + +typedef uint8_t VL53L1_DeviceError; + +#define VL53L1_DEVICEERROR_NOUPDATE \ + ((VL53L1_DeviceError) 0) + +#define VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \ + ((VL53L1_DeviceError) 1) +#define VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \ + ((VL53L1_DeviceError) 2) +#define VL53L1_DEVICEERROR_NOVHVVALUEFOUND \ + ((VL53L1_DeviceError) 3) +#define VL53L1_DEVICEERROR_MSRCNOTARGET \ + ((VL53L1_DeviceError) 4) +#define VL53L1_DEVICEERROR_RANGEPHASECHECK \ + ((VL53L1_DeviceError) 5) +#define VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK \ + ((VL53L1_DeviceError) 6) +#define VL53L1_DEVICEERROR_PHASECONSISTENCY \ + ((VL53L1_DeviceError) 7) +#define VL53L1_DEVICEERROR_MINCLIP \ + ((VL53L1_DeviceError) 8) +#define VL53L1_DEVICEERROR_RANGECOMPLETE \ + ((VL53L1_DeviceError) 9) +#define VL53L1_DEVICEERROR_ALGOUNDERFLOW \ + ((VL53L1_DeviceError) 10) +#define VL53L1_DEVICEERROR_ALGOOVERFLOW \ + ((VL53L1_DeviceError) 11) +#define VL53L1_DEVICEERROR_RANGEIGNORETHRESHOLD \ + ((VL53L1_DeviceError) 12) +#define VL53L1_DEVICEERROR_USERROICLIP \ + ((VL53L1_DeviceError) 13) +#define VL53L1_DEVICEERROR_REFSPADCHARNOTENOUGHDPADS \ + ((VL53L1_DeviceError) 14) +#define VL53L1_DEVICEERROR_REFSPADCHARMORETHANTARGET \ + ((VL53L1_DeviceError) 15) +#define VL53L1_DEVICEERROR_REFSPADCHARLESSTHANTARGET \ + ((VL53L1_DeviceError) 16) +#define VL53L1_DEVICEERROR_MULTCLIPFAIL \ + ((VL53L1_DeviceError) 17) +#define VL53L1_DEVICEERROR_GPHSTREAMCOUNT0READY \ + ((VL53L1_DeviceError) 18) +#define VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK \ + ((VL53L1_DeviceError) 19) +#define VL53L1_DEVICEERROR_EVENTCONSISTENCY \ + ((VL53L1_DeviceError) 20) +#define VL53L1_DEVICEERROR_MINSIGNALEVENTCHECK \ + ((VL53L1_DeviceError) 21) +#define VL53L1_DEVICEERROR_RANGECOMPLETE_MERGED_PULSE \ + ((VL53L1_DeviceError) 22) + + +#define VL53L1_DEVICEERROR_PREV_RANGE_NO_TARGETS \ + ((VL53L1_DeviceError) 23) + + + + + +typedef uint8_t VL53L1_DeviceReportStatus; + +#define VL53L1_DEVICEREPORTSTATUS_NOUPDATE \ + ((VL53L1_DeviceReportStatus) 0) + +#define VL53L1_DEVICEREPORTSTATUS_ROI_SETUP \ + ((VL53L1_DeviceReportStatus) 1) +#define VL53L1_DEVICEREPORTSTATUS_VHV \ + ((VL53L1_DeviceReportStatus) 2) +#define VL53L1_DEVICEREPORTSTATUS_PHASECAL \ + ((VL53L1_DeviceReportStatus) 3) +#define VL53L1_DEVICEREPORTSTATUS_REFERENCE_PHASE \ + ((VL53L1_DeviceReportStatus) 4) +#define VL53L1_DEVICEREPORTSTATUS_DSS1 \ + ((VL53L1_DeviceReportStatus) 5) +#define VL53L1_DEVICEREPORTSTATUS_DSS2 \ + ((VL53L1_DeviceReportStatus) 6) +#define VL53L1_DEVICEREPORTSTATUS_MM1 \ + ((VL53L1_DeviceReportStatus) 7) +#define VL53L1_DEVICEREPORTSTATUS_MM2 \ + ((VL53L1_DeviceReportStatus) 8) +#define VL53L1_DEVICEREPORTSTATUS_RANGE \ + ((VL53L1_DeviceReportStatus) 9) +#define VL53L1_DEVICEREPORTSTATUS_HISTOGRAM \ + ((VL53L1_DeviceReportStatus) 10) + + + + + +typedef uint8_t VL53L1_DeviceDssMode; + +#define VL53L1_DEVICEDSSMODE__DISABLED \ + ((VL53L1_DeviceDssMode) 0) +#define VL53L1_DEVICEDSSMODE__TARGET_RATE \ + ((VL53L1_DeviceDssMode) 1) +#define VL53L1_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS \ + ((VL53L1_DeviceDssMode) 2) +#define VL53L1_DEVICEDSSMODE__BLOCK_SELECT \ + ((VL53L1_DeviceDssMode) 3) + + + + + + +typedef uint8_t VL53L1_HistAlgoSelect; + +#define VL53L1_HIST_ALGO_SELECT__PW_HIST_GEN1 \ + ((VL53L1_HistAlgoSelect) 1) +#define VL53L1_HIST_ALGO_SELECT__PW_HIST_GEN2 \ + ((VL53L1_HistAlgoSelect) 2) +#define VL53L1_HIST_ALGO_SELECT__PW_HIST_GEN3 \ + ((VL53L1_HistAlgoSelect) 3) +#define VL53L1_HIST_ALGO_SELECT__PW_HIST_GEN4 \ + ((VL53L1_HistAlgoSelect) 4) + + + + + + +typedef uint8_t VL53L1_HistTargetOrder; + +#define VL53L1_HIST_TARGET_ORDER__INCREASING_DISTANCE \ + ((VL53L1_HistTargetOrder) 1) +#define VL53L1_HIST_TARGET_ORDER__STRONGEST_FIRST \ + ((VL53L1_HistTargetOrder) 2) + + + + + + +typedef uint8_t VL53L1_HistAmbEstMethod; + +#define VL53L1_HIST_AMB_EST_METHOD__AMBIENT_BINS \ + ((VL53L1_HistAmbEstMethod) 1) +#define VL53L1_HIST_AMB_EST_METHOD__THRESHOLDED_BINS \ + ((VL53L1_HistAmbEstMethod) 2) + + + + + + +typedef uint8_t VL53L1_HistXtalkCompEnable; + +#define VL53L1_HIST_XTALK_COMP__DIS \ + ((VL53L1_HistXtalkCompEnable) 0) +#define VL53L1_HIST_XTALK_COMP__EN \ + ((VL53L1_HistXtalkCompEnable) 1) + + + + +typedef uint8_t VL53L1_DeviceConfigLevel; + +#define VL53L1_DEVICECONFIGLEVEL_SYSTEM_CONTROL \ + ((VL53L1_DeviceConfigLevel) 0) + +#define VL53L1_DEVICECONFIGLEVEL_DYNAMIC_ONWARDS \ + ((VL53L1_DeviceConfigLevel) 1) + +#define VL53L1_DEVICECONFIGLEVEL_TIMING_ONWARDS \ + ((VL53L1_DeviceConfigLevel) 2) + +#define VL53L1_DEVICECONFIGLEVEL_GENERAL_ONWARDS \ + ((VL53L1_DeviceConfigLevel) 3) + +#define VL53L1_DEVICECONFIGLEVEL_STATIC_ONWARDS \ + ((VL53L1_DeviceConfigLevel) 4) + +#define VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS \ + ((VL53L1_DeviceConfigLevel) 5) + +#define VL53L1_DEVICECONFIGLEVEL_FULL \ + ((VL53L1_DeviceConfigLevel) 6) + + + + + + +typedef uint8_t VL53L1_DeviceResultsLevel; + +#define VL53L1_DEVICERESULTSLEVEL_SYSTEM_RESULTS \ + ((VL53L1_DeviceResultsLevel) 0) + +#define VL53L1_DEVICERESULTSLEVEL_UPTO_CORE \ + ((VL53L1_DeviceResultsLevel) 1) + +#define VL53L1_DEVICERESULTSLEVEL_FULL \ + ((VL53L1_DeviceResultsLevel) 2) + + + + + + + +typedef uint8_t VL53L1_DeviceTestMode; + +#define VL53L1_DEVICETESTMODE_NONE \ + ((VL53L1_DeviceTestMode) 0x00) + +#define VL53L1_DEVICETESTMODE_NVM_ZERO \ + ((VL53L1_DeviceTestMode) 0x01) + +#define VL53L1_DEVICETESTMODE_NVM_COPY \ + ((VL53L1_DeviceTestMode) 0x02) + +#define VL53L1_DEVICETESTMODE_PATCH \ + ((VL53L1_DeviceTestMode) 0x03) + +#define VL53L1_DEVICETESTMODE_DCR \ + ((VL53L1_DeviceTestMode) 0x04) + +#define VL53L1_DEVICETESTMODE_LCR_VCSEL_OFF \ + ((VL53L1_DeviceTestMode) 0x05) + +#define VL53L1_DEVICETESTMODE_LCR_VCSEL_ON \ + ((VL53L1_DeviceTestMode) 0x06) + +#define VL53L1_DEVICETESTMODE_SPOT_CENTRE_LOCATE \ + ((VL53L1_DeviceTestMode) 0x07) + +#define VL53L1_DEVICETESTMODE_REF_SPAD_CHAR_WITH_PRE_VHV \ + ((VL53L1_DeviceTestMode) 0x08) + +#define VL53L1_DEVICETESTMODE_REF_SPAD_CHAR_ONLY \ + ((VL53L1_DeviceTestMode) 0x09) + + + + + + + +typedef uint8_t VL53L1_DeviceSscArray; + +#define VL53L1_DEVICESSCARRAY_RTN ((VL53L1_DeviceSscArray) 0x00) + +#define VL53L1_DEVICETESTMODE_REF ((VL53L1_DeviceSscArray) 0x01) + + + + + + + +#define VL53L1_RETURN_ARRAY_ONLY 0x01 + +#define VL53L1_REFERENCE_ARRAY_ONLY 0x10 + +#define VL53L1_BOTH_RETURN_AND_REFERENCE_ARRAYS 0x11 + +#define VL53L1_NEITHER_RETURN_AND_REFERENCE_ARRAYS 0x00 + + + + + + +#define VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH 0x00 + +#define VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_LOW 0x10 + +#define VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_MASK 0x10 + + + + + + +#define VL53L1_POLLING_DELAY_US 1000 + +#define VL53L1_SOFTWARE_RESET_DURATION_US 100 + +#define VL53L1_FIRMWARE_BOOT_TIME_US 1200 + +#define VL53L1_ENABLE_POWERFORCE_SETTLING_TIME_US 250 + +#define VL53L1_SPAD_ARRAY_WIDTH 16 + +#define VL53L1_SPAD_ARRAY_HEIGHT 16 + +#define VL53L1_NVM_SIZE_IN_BYTES 512 + +#define VL53L1_NO_OF_SPAD_ENABLES 256 + +#define VL53L1_RTN_SPAD_BUFFER_SIZE 32 + +#define VL53L1_REF_SPAD_BUFFER_SIZE 6 + +#define VL53L1_AMBIENT_WINDOW_VCSEL_PERIODS 256 + +#define VL53L1_RANGING_WINDOW_VCSEL_PERIODS 2048 + +#define VL53L1_MACRO_PERIOD_VCSEL_PERIODS \ + (VL53L1_AMBIENT_WINDOW_VCSEL_PERIODS + \ + VL53L1_RANGING_WINDOW_VCSEL_PERIODS) + +#define VL53L1_MAX_ALLOWED_PHASE 0xFFFF + + +#define VL53L1_RTN_SPAD_UNITY_TRANSMISSION 0x0100 + +#define VL53L1_RTN_SPAD_APERTURE_TRANSMISSION 0x0038 + + +#define VL53L1_SPAD_TOTAL_COUNT_MAX ((0x01 << 29) - 1) + +#define VL53L1_SPAD_TOTAL_COUNT_RES_THRES (0x01 << 24) + +#define VL53L1_COUNT_RATE_INTERNAL_MAX ((0x01 << 24) - 1) + +#define VL53L1_SPEED_OF_LIGHT_IN_AIR 299704 + +#define VL53L1_SPEED_OF_LIGHT_IN_AIR_DIV_8 (299704 >> 3) + + + + + + + + +typedef uint8_t VL53L1_ZoneConfig_BinConfig_select; + +#define VL53L1_ZONECONFIG_BINCONFIG__LOWAMB \ + ((VL53L1_ZoneConfig_BinConfig_select) 1) +#define VL53L1_ZONECONFIG_BINCONFIG__MIDAMB \ + ((VL53L1_ZoneConfig_BinConfig_select) 2) +#define VL53L1_ZONECONFIG_BINCONFIG__HIGHAMB \ + ((VL53L1_ZoneConfig_BinConfig_select) 3) + + + + + +typedef uint8_t VL53L1_GPIO_Interrupt_Mode; + +#define VL53L1_GPIOINTMODE_LEVEL_LOW \ + ((VL53L1_GPIO_Interrupt_Mode) 0) + +#define VL53L1_GPIOINTMODE_LEVEL_HIGH \ + ((VL53L1_GPIO_Interrupt_Mode) 1) + +#define VL53L1_GPIOINTMODE_OUT_OF_WINDOW \ + ((VL53L1_GPIO_Interrupt_Mode) 2) + +#define VL53L1_GPIOINTMODE_IN_WINDOW \ + ((VL53L1_GPIO_Interrupt_Mode) 3) + + + + + + +typedef uint16_t VL53L1_TuningParms; + +#define VL53L1_TUNINGPARMS_LLD_PUBLIC_MIN_ADDRESS \ + ((VL53L1_TuningParms) VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS) +#define VL53L1_TUNINGPARMS_LLD_PUBLIC_MAX_ADDRESS \ + ((VL53L1_TuningParms) VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_5_RANGEB) + +#define VL53L1_TUNINGPARMS_LLD_PRIVATE_MIN_ADDRESS \ + ((VL53L1_TuningParms) VL53L1_TUNINGPARM_PRIVATE_PAGE_BASE_ADDRESS) +#define VL53L1_TUNINGPARMS_LLD_PRIVATE_MAX_ADDRESS \ + ((VL53L1_TuningParms) VL53L1_TUNINGPARMS_LLD_PRIVATE_MIN_ADDRESS) + +#define VL53L1_TUNINGPARM_VERSION \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 0)) +#define VL53L1_TUNINGPARM_KEY_TABLE_VERSION \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 1)) +#define VL53L1_TUNINGPARM_LLD_VERSION \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 2)) +#define VL53L1_TUNINGPARM_HIST_ALGO_SELECT \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 3)) +#define VL53L1_TUNINGPARM_HIST_TARGET_ORDER \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 4)) +#define VL53L1_TUNINGPARM_HIST_FILTER_WOI_0 \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 5)) +#define VL53L1_TUNINGPARM_HIST_FILTER_WOI_1 \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 6)) +#define VL53L1_TUNINGPARM_HIST_AMB_EST_METHOD \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 7)) +#define VL53L1_TUNINGPARM_HIST_AMB_THRESH_SIGMA_0 \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 8)) +#define VL53L1_TUNINGPARM_HIST_AMB_THRESH_SIGMA_1 \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 9)) +#define VL53L1_TUNINGPARM_HIST_MIN_AMB_THRESH_EVENTS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 10)) +#define VL53L1_TUNINGPARM_HIST_AMB_EVENTS_SCALER \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 11)) +#define VL53L1_TUNINGPARM_HIST_NOISE_THRESHOLD \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 12)) +#define VL53L1_TUNINGPARM_HIST_SIGNAL_TOTAL_EVENTS_LIMIT \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 13)) +#define VL53L1_TUNINGPARM_HIST_SIGMA_EST_REF_MM \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 14)) +#define VL53L1_TUNINGPARM_HIST_SIGMA_THRESH_MM \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 15)) +#define VL53L1_TUNINGPARM_HIST_GAIN_FACTOR \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 16)) +#define VL53L1_TUNINGPARM_CONSISTENCY_HIST_PHASE_TOLERANCE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 17)) +#define VL53L1_TUNINGPARM_CONSISTENCY_HIST_MIN_MAX_TOLERANCE_MM \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 18)) +#define VL53L1_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 19)) +#define VL53L1_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA_MIN_SPAD_LIMIT \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 20)) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_LONG_RANGE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 21)) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_MED_RANGE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 22)) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_SHORT_RANGE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 23)) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_REF_HISTO_LONG_RANGE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 24)) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_REF_HISTO_MED_RANGE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 25)) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_REF_HISTO_SHORT_RANGE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 26)) +#define VL53L1_TUNINGPARM_XTALK_DETECT_MIN_VALID_RANGE_MM \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 27)) +#define VL53L1_TUNINGPARM_XTALK_DETECT_MAX_VALID_RANGE_MM \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 28)) +#define VL53L1_TUNINGPARM_XTALK_DETECT_MAX_SIGMA_MM \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 29)) +#define VL53L1_TUNINGPARM_XTALK_DETECT_MIN_MAX_TOLERANCE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 30)) +#define VL53L1_TUNINGPARM_XTALK_DETECT_MAX_VALID_RATE_KCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 31)) +#define VL53L1_TUNINGPARM_XTALK_DETECT_EVENT_SIGMA \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 32)) +#define VL53L1_TUNINGPARM_HIST_XTALK_MARGIN_KCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 33)) +#define VL53L1_TUNINGPARM_CONSISTENCY_LITE_PHASE_TOLERANCE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 34)) +#define VL53L1_TUNINGPARM_PHASECAL_TARGET \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 35)) +#define VL53L1_TUNINGPARM_LITE_CAL_REPEAT_RATE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 36)) +#define VL53L1_TUNINGPARM_LITE_RANGING_GAIN_FACTOR \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 37)) +#define VL53L1_TUNINGPARM_LITE_MIN_CLIP_MM \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 38)) +#define VL53L1_TUNINGPARM_LITE_LONG_SIGMA_THRESH_MM \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 39)) +#define VL53L1_TUNINGPARM_LITE_MED_SIGMA_THRESH_MM \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 40)) +#define VL53L1_TUNINGPARM_LITE_SHORT_SIGMA_THRESH_MM \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 41)) +#define VL53L1_TUNINGPARM_LITE_LONG_MIN_COUNT_RATE_RTN_MCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 42)) +#define VL53L1_TUNINGPARM_LITE_MED_MIN_COUNT_RATE_RTN_MCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 43)) +#define VL53L1_TUNINGPARM_LITE_SHORT_MIN_COUNT_RATE_RTN_MCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 44)) +#define VL53L1_TUNINGPARM_LITE_SIGMA_EST_PULSE_WIDTH \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 45)) +#define VL53L1_TUNINGPARM_LITE_SIGMA_EST_AMB_WIDTH_NS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 46)) +#define VL53L1_TUNINGPARM_LITE_SIGMA_REF_MM \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 47)) +#define VL53L1_TUNINGPARM_LITE_RIT_MULT \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 48)) +#define VL53L1_TUNINGPARM_LITE_SEED_CONFIG \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 49)) +#define VL53L1_TUNINGPARM_LITE_QUANTIFIER \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 50)) +#define VL53L1_TUNINGPARM_LITE_FIRST_ORDER_SELECT \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 51)) +#define VL53L1_TUNINGPARM_LITE_XTALK_MARGIN_KCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 52)) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_LITE_LONG_RANGE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 53)) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_LITE_MED_RANGE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 54)) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_LITE_SHORT_RANGE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 55)) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_REF_LITE_LONG_RANGE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 56)) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_REF_LITE_MED_RANGE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 57)) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_REF_LITE_SHORT_RANGE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 58)) +#define VL53L1_TUNINGPARM_TIMED_SEED_CONFIG \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 59)) +#define VL53L1_TUNINGPARM_DMAX_CFG_SIGNAL_THRESH_SIGMA \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 60)) +#define VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_0 \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 61)) +#define VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_1 \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 62)) +#define VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_2 \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 63)) +#define VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_3 \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 64)) +#define VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_4 \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 65)) +#define VL53L1_TUNINGPARM_VHV_LOOPBOUND \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 66)) +#define VL53L1_TUNINGPARM_REFSPADCHAR_DEVICE_TEST_MODE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 67)) +#define VL53L1_TUNINGPARM_REFSPADCHAR_VCSEL_PERIOD \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 68)) +#define VL53L1_TUNINGPARM_REFSPADCHAR_PHASECAL_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 69)) +#define VL53L1_TUNINGPARM_REFSPADCHAR_TARGET_COUNT_RATE_MCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 70)) +#define VL53L1_TUNINGPARM_REFSPADCHAR_MIN_COUNTRATE_LIMIT_MCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 71)) +#define VL53L1_TUNINGPARM_REFSPADCHAR_MAX_COUNTRATE_LIMIT_MCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 72)) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_NUM_OF_SAMPLES \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 73)) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_MIN_FILTER_THRESH_MM \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 74)) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_MAX_FILTER_THRESH_MM \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 75)) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_DSS_RATE_MCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 76)) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_PHASECAL_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 77)) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_MAX_VALID_RATE_KCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 78)) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_SIGMA_THRESHOLD_MM \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 79)) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_DSS_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 80)) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_BIN_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 81)) +#define VL53L1_TUNINGPARM_OFFSET_CAL_DSS_RATE_MCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 82)) +#define VL53L1_TUNINGPARM_OFFSET_CAL_PHASECAL_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 83)) +#define VL53L1_TUNINGPARM_OFFSET_CAL_MM_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 84)) +#define VL53L1_TUNINGPARM_OFFSET_CAL_RANGE_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 85)) +#define VL53L1_TUNINGPARM_OFFSET_CAL_PRE_SAMPLES \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 86)) +#define VL53L1_TUNINGPARM_OFFSET_CAL_MM1_SAMPLES \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 87)) +#define VL53L1_TUNINGPARM_OFFSET_CAL_MM2_SAMPLES \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 88)) +#define VL53L1_TUNINGPARM_ZONE_CAL_DSS_RATE_MCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 89)) +#define VL53L1_TUNINGPARM_ZONE_CAL_PHASECAL_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 90)) +#define VL53L1_TUNINGPARM_ZONE_CAL_DSS_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 91)) +#define VL53L1_TUNINGPARM_ZONE_CAL_PHASECAL_NUM_SAMPLES \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 92)) +#define VL53L1_TUNINGPARM_ZONE_CAL_RANGE_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 93)) +#define VL53L1_TUNINGPARM_ZONE_CAL_ZONE_NUM_SAMPLES \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 94)) +#define VL53L1_TUNINGPARM_SPADMAP_VCSEL_PERIOD \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 95)) +#define VL53L1_TUNINGPARM_SPADMAP_VCSEL_START \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 96)) +#define VL53L1_TUNINGPARM_SPADMAP_RATE_LIMIT_MCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 97)) +#define VL53L1_TUNINGPARM_LITE_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 98)) +#define VL53L1_TUNINGPARM_RANGING_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 99)) +#define VL53L1_TUNINGPARM_MZ_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 100)) +#define VL53L1_TUNINGPARM_TIMED_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 101)) +#define VL53L1_TUNINGPARM_LITE_PHASECAL_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 102)) +#define VL53L1_TUNINGPARM_RANGING_LONG_PHASECAL_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 103)) +#define VL53L1_TUNINGPARM_RANGING_MED_PHASECAL_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 104)) +#define VL53L1_TUNINGPARM_RANGING_SHORT_PHASECAL_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 105)) +#define VL53L1_TUNINGPARM_MZ_LONG_PHASECAL_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 106)) +#define VL53L1_TUNINGPARM_MZ_MED_PHASECAL_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 107)) +#define VL53L1_TUNINGPARM_MZ_SHORT_PHASECAL_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 108)) +#define VL53L1_TUNINGPARM_TIMED_PHASECAL_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 109)) +#define VL53L1_TUNINGPARM_LITE_MM_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 110)) +#define VL53L1_TUNINGPARM_RANGING_MM_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 111)) +#define VL53L1_TUNINGPARM_MZ_MM_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 112)) +#define VL53L1_TUNINGPARM_TIMED_MM_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 113)) +#define VL53L1_TUNINGPARM_LITE_RANGE_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 114)) +#define VL53L1_TUNINGPARM_RANGING_RANGE_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 115)) +#define VL53L1_TUNINGPARM_MZ_RANGE_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 116)) +#define VL53L1_TUNINGPARM_TIMED_RANGE_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 117)) +#define VL53L1_TUNINGPARM_DYNXTALK_SMUDGE_MARGIN \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 118)) +#define VL53L1_TUNINGPARM_DYNXTALK_NOISE_MARGIN \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 119)) +#define VL53L1_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 120)) +#define VL53L1_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT_HI \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 121)) +#define VL53L1_TUNINGPARM_DYNXTALK_SAMPLE_LIMIT \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 122)) +#define VL53L1_TUNINGPARM_DYNXTALK_SINGLE_XTALK_DELTA \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 123)) +#define VL53L1_TUNINGPARM_DYNXTALK_AVERAGED_XTALK_DELTA \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 124)) +#define VL53L1_TUNINGPARM_DYNXTALK_CLIP_LIMIT \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 125)) +#define VL53L1_TUNINGPARM_DYNXTALK_SCALER_CALC_METHOD \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 126)) +#define VL53L1_TUNINGPARM_DYNXTALK_XGRADIENT_SCALER \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 127)) +#define VL53L1_TUNINGPARM_DYNXTALK_YGRADIENT_SCALER \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 128)) +#define VL53L1_TUNINGPARM_DYNXTALK_USER_SCALER_SET \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 129)) +#define VL53L1_TUNINGPARM_DYNXTALK_SMUDGE_COR_SINGLE_APPLY \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 130)) +#define VL53L1_TUNINGPARM_DYNXTALK_XTALK_AMB_THRESHOLD \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 131)) +#define VL53L1_TUNINGPARM_DYNXTALK_NODETECT_AMB_THRESHOLD_KCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 132)) +#define VL53L1_TUNINGPARM_DYNXTALK_NODETECT_SAMPLE_LIMIT \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 133)) +#define VL53L1_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 134)) +#define VL53L1_TUNINGPARM_DYNXTALK_NODETECT_MIN_RANGE_MM \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 135)) +#define VL53L1_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 136)) +#define VL53L1_TUNINGPARM_LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 137)) +#define VL53L1_TUNINGPARM_LOWPOWERAUTO_RANGE_CONFIG_TIMEOUT_US \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 138)) +#define VL53L1_TUNINGPARM_VERY_SHORT_DSS_RATE_MCPS \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 139)) +#define VL53L1_TUNINGPARM_PHASECAL_PATCH_POWER \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 140)) +#define VL53L1_TUNINGPARM_HIST_MERGE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 141)) +#define VL53L1_TUNINGPARM_RESET_MERGE_THRESHOLD \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 142)) +#define VL53L1_TUNINGPARM_HIST_MERGE_MAX_SIZE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 143)) +#define VL53L1_TUNINGPARM_DYNXTALK_MAX_SMUDGE_FACTOR \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 144)) +#define VL53L1_TUNINGPARM_UWR_ENABLE \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 145)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_1_MIN \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 146)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_1_MAX \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 147)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_2_MIN \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 148)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_2_MAX \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 149)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_3_MIN \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 150)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_3_MAX \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 151)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_4_MIN \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 152)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_4_MAX \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 153)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_5_MIN \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 154)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_5_MAX \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 155)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_6_MIN \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 156)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_6_MAX \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 157)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_1_RANGEA \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 158)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_1_RANGEB \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 159)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_2_RANGEA \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 160)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_2_RANGEB \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 161)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_3_RANGEA \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 162)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_3_RANGEB \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 163)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_4_RANGEA \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 164)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_4_RANGEB \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 165)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_5_RANGEA \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 166)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_5_RANGEB \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 167)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_6_RANGEA \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 168)) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_6_RANGEB \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 169)) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_1_MIN \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 170)) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_1_MAX \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 171)) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_2_MIN \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 172)) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_2_MAX \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 173)) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_3_MIN \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 174)) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_3_MAX \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 175)) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_4_MIN \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 176)) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_4_MAX \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 177)) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_5_MIN \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 178)) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_5_MAX \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 179)) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_1_RANGEA \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 180)) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_1_RANGEB \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 181)) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_2_RANGEA \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 182)) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_2_RANGEB \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 183)) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_3_RANGEA \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 184)) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_3_RANGEB \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 185)) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_4_RANGEA \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 186)) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_4_RANGEB \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 187)) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_5_RANGEA \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 188)) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_5_RANGEB \ +((VL53L1_TuningParms) (VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS + 189)) + + + + + +#endif + + + + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_nvm.h b/drivers/input/misc/vl53L1/inc/vl53l1_nvm.h new file mode 100644 index 000000000000..58e136e77c3f --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_nvm.h @@ -0,0 +1,169 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + + + +#ifndef _VL53L1_NVM_H_ +#define _VL53L1_NVM_H_ + +#include "vl53l1_ll_def.h" +#include "vl53l1_platform.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +#define VL53L1_NVM_POWER_UP_DELAY_US 50 +#define VL53L1_NVM_READ_TRIGGER_DELAY_US 5 + + + +VL53L1_Error VL53L1_nvm_enable( + VL53L1_DEV Dev, + uint16_t nvm_ctrl_pulse_width, + int32_t nvm_power_up_delay_us); + + + + +VL53L1_Error VL53L1_nvm_read( + VL53L1_DEV Dev, + uint8_t start_address, + uint8_t count, + uint8_t *pdata); + + + + +VL53L1_Error VL53L1_nvm_disable( + VL53L1_DEV Dev); + + + + +VL53L1_Error VL53L1_nvm_format_decode( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_decoded_nvm_data_t *pdata); + + + + +VL53L1_Error VL53L1_nvm_decode_optical_centre( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_optical_centre_t *pdata); + + + + +VL53L1_Error VL53L1_nvm_decode_cal_peak_rate_map( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_cal_peak_rate_map_t *pdata); + + + + +VL53L1_Error VL53L1_nvm_decode_additional_offset_cal_data( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_additional_offset_cal_data_t *pdata); + + + + +VL53L1_Error VL53L1_nvm_decode_fmt_range_results_data( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_decoded_nvm_fmt_range_data_t *pdata); + + + + +VL53L1_Error VL53L1_nvm_decode_fmt_info( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_decoded_nvm_fmt_info_t *pdata); + + + + +VL53L1_Error VL53L1_nvm_decode_ews_info( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_decoded_nvm_ews_info_t *pdata); + + + + +void VL53L1_nvm_format_encode( + VL53L1_decoded_nvm_data_t *pnvm_info, + uint8_t *pnvm_data); + + + + +VL53L1_Error VL53L1_read_nvm_raw_data( + VL53L1_DEV Dev, + uint8_t start_address, + uint8_t count, + uint8_t *pnvm_raw_data); + + + + +VL53L1_Error VL53L1_read_nvm( + VL53L1_DEV Dev, + uint8_t nvm_format, + VL53L1_decoded_nvm_data_t *pnvm_info); + + + + +VL53L1_Error VL53L1_read_nvm_optical_centre( + VL53L1_DEV Dev, + VL53L1_optical_centre_t *pcentre); + + + + +VL53L1_Error VL53L1_read_nvm_cal_peak_rate_map( + VL53L1_DEV Dev, + VL53L1_cal_peak_rate_map_t *pcal_data); + + + + +VL53L1_Error VL53L1_read_nvm_additional_offset_cal_data( + VL53L1_DEV Dev, + VL53L1_additional_offset_cal_data_t *pcal_data); + + + + +VL53L1_Error VL53L1_read_nvm_fmt_range_results_data( + VL53L1_DEV Dev, + uint16_t range_results_select, + VL53L1_decoded_nvm_fmt_range_data_t *prange_data); + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_nvm_debug.h b/drivers/input/misc/vl53L1/inc/vl53l1_nvm_debug.h new file mode 100644 index 000000000000..34259440eb70 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_nvm_debug.h @@ -0,0 +1,75 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + +#ifndef _VL53L1_NVM_DEBUG_H_ +#define _VL53L1_NVM_DEBUG_H_ + +#include "vl53l1_ll_def.h" +#include "vl53l1_nvm_structs.h" + + + +#ifdef __cplusplus +extern "C" +{ +#endif + +#ifdef VL53L1_LOG_ENABLE + + + +void VL53L1_print_nvm_raw_data( + uint8_t *pnvm_raw_data, + uint32_t trace_flags); + + + + +void VL53L1_print_decoded_nvm_data( + VL53L1_decoded_nvm_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_decoded_nvm_fmt_range_data( + VL53L1_decoded_nvm_fmt_range_data_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + + +void VL53L1_print_decoded_nvm_fmt_info( + VL53L1_decoded_nvm_fmt_info_t *pdata, + char *pprefix, + uint32_t trace_flags); + + + +void VL53L1_print_decoded_nvm_ews_info( + VL53L1_decoded_nvm_ews_info_t *pdata, + char *pprefix, + uint32_t trace_flags); + +#endif + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_nvm_map.h b/drivers/input/misc/vl53L1/inc/vl53l1_nvm_map.h new file mode 100644 index 000000000000..795bfe007d82 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_nvm_map.h @@ -0,0 +1,447 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + + + +#ifndef _VL53L1_NVM_MAP_H_ +#define _VL53L1_NVM_MAP_H_ + + +#ifdef __cplusplus +extern "C" +{ +#endif + + + + +#define VL53L1_NVM__IDENTIFICATION__MODEL_ID 0x0008 + +#define VL53L1_NVM__IDENTIFICATION__MODULE_TYPE 0x000C + +#define VL53L1_NVM__IDENTIFICATION__REVISION_ID 0x000D + +#define VL53L1_NVM__IDENTIFICATION__MODULE_ID 0x000E + +#define VL53L1_NVM__I2C_VALID 0x0010 + +#define VL53L1_NVM__I2C_SLAVE__DEVICE_ADDRESS 0x0011 + +#define VL53L1_NVM__EWS__OSC_MEASURED__FAST_OSC_FREQUENCY 0x0014 + +#define VL53L1_NVM__EWS__FAST_OSC_TRIM_MAX 0x0016 + +#define VL53L1_NVM__EWS__FAST_OSC_FREQ_SET 0x0017 + +#define VL53L1_NVM__EWS__SLOW_OSC_CALIBRATION 0x0018 + +#define VL53L1_NVM__FMT__OSC_MEASURED__FAST_OSC_FREQUENCY 0x001C + +#define VL53L1_NVM__FMT__FAST_OSC_TRIM_MAX 0x001E + +#define VL53L1_NVM__FMT__FAST_OSC_FREQ_SET 0x001F + +#define VL53L1_NVM__FMT__SLOW_OSC_CALIBRATION 0x0020 + +#define VL53L1_NVM__VHV_CONFIG_UNLOCK 0x0028 + +#define VL53L1_NVM__REF_SELVDDPIX 0x0029 + +#define VL53L1_NVM__REF_SELVQUENCH 0x002A + +#define VL53L1_NVM__REGAVDD1V2_SEL_REGDVDD1V2_SEL 0x002B + +#define VL53L1_NVM__VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x002C + +#define VL53L1_NVM__VHV_CONFIG__COUNT_THRESH 0x002D + +#define VL53L1_NVM__VHV_CONFIG__OFFSET 0x002E + +#define VL53L1_NVM__VHV_CONFIG__INIT 0x002F + +#define VL53L1_NVM__LASER_SAFETY__VCSEL_TRIM_LL 0x0030 + +#define VL53L1_NVM__LASER_SAFETY__VCSEL_SELION_LL 0x0031 + +#define VL53L1_NVM__LASER_SAFETY__VCSEL_SELION_MAX_LL 0x0032 + +#define VL53L1_NVM__LASER_SAFETY__MULT_LL 0x0034 + +#define VL53L1_NVM__LASER_SAFETY__CLIP_LL 0x0035 + +#define VL53L1_NVM__LASER_SAFETY__VCSEL_TRIM_LD 0x0038 + +#define VL53L1_NVM__LASER_SAFETY__VCSEL_SELION_LD 0x0039 + +#define VL53L1_NVM__LASER_SAFETY__VCSEL_SELION_MAX_LD 0x003A + +#define VL53L1_NVM__LASER_SAFETY__MULT_LD 0x003C + +#define VL53L1_NVM__LASER_SAFETY__CLIP_LD 0x003D + +#define VL53L1_NVM__LASER_SAFETY_LOCK_BYTE 0x0040 + +#define VL53L1_NVM__LASER_SAFETY_UNLOCK_BYTE 0x0044 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_0_ 0x0048 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_1_ 0x0049 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_2_ 0x004A + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_3_ 0x004B + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_4_ 0x004C + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_5_ 0x004D + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_6_ 0x004E + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_7_ 0x004F + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_8_ 0x0050 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_9_ 0x0051 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_10_ 0x0052 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_11_ 0x0053 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_12_ 0x0054 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_13_ 0x0055 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_14_ 0x0056 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_15_ 0x0057 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_16_ 0x0058 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_17_ 0x0059 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_18_ 0x005A + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_19_ 0x005B + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_20_ 0x005C + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_21_ 0x005D + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_22_ 0x005E + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_23_ 0x005F + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_24_ 0x0060 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_25_ 0x0061 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_26_ 0x0062 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_27_ 0x0063 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_28_ 0x0064 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_29_ 0x0065 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_30_ 0x0066 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_RTN_31_ 0x0067 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC1_0_ 0x0068 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC1_1_ 0x0069 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC1_2_ 0x006A + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC1_3_ 0x006B + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC1_4_ 0x006C + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC1_5_ 0x006D + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC2_0_ 0x0070 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC2_1_ 0x0071 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC2_2_ 0x0072 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC2_3_ 0x0073 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC2_4_ 0x0074 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC2_5_ 0x0075 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC3_0_ 0x0078 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC3_1_ 0x0079 + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC3_2_ 0x007A + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC3_3_ 0x007B + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC3_4_ 0x007C + +#define VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC3_5_ 0x007D + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_0_ 0x0080 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_1_ 0x0081 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_2_ 0x0082 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_3_ 0x0083 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_4_ 0x0084 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_5_ 0x0085 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_6_ 0x0086 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_7_ 0x0087 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_8_ 0x0088 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_9_ 0x0089 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_10_ 0x008A + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_11_ 0x008B + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_12_ 0x008C + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_13_ 0x008D + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_14_ 0x008E + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_15_ 0x008F + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_16_ 0x0090 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_17_ 0x0091 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_18_ 0x0092 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_19_ 0x0093 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_20_ 0x0094 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_21_ 0x0095 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_22_ 0x0096 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_23_ 0x0097 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_24_ 0x0098 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_25_ 0x0099 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_26_ 0x009A + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_27_ 0x009B + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_28_ 0x009C + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_29_ 0x009D + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_30_ 0x009E + +#define VL53L1_NVM__FMT__SPAD_ENABLES_RTN_31_ 0x009F + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC1_0_ 0x00A0 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC1_1_ 0x00A1 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC1_2_ 0x00A2 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC1_3_ 0x00A3 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC1_4_ 0x00A4 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC1_5_ 0x00A5 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC2_0_ 0x00A8 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC2_1_ 0x00A9 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC2_2_ 0x00AA + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC2_3_ 0x00AB + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC2_4_ 0x00AC + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC2_5_ 0x00AD + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC3_0_ 0x00B0 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC3_1_ 0x00B1 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC3_2_ 0x00B2 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC3_3_ 0x00B3 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC3_4_ 0x00B4 + +#define VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC3_5_ 0x00B5 + +#define VL53L1_NVM__FMT__ROI_CONFIG__MODE_ROI_CENTRE_SPAD 0x00B8 + +#define VL53L1_NVM__FMT__ROI_CONFIG__MODE_ROI_XY_SIZE 0x00B9 + +#define VL53L1_NVM__FMT__REF_SPAD_APPLY__NUM_REQUESTED_REF_SPAD 0x00BC + +#define VL53L1_NVM__FMT__REF_SPAD_MAN__REF_LOCATION 0x00BD + +#define VL53L1_NVM__FMT__MM_CONFIG__INNER_OFFSET_MM 0x00C0 + +#define VL53L1_NVM__FMT__MM_CONFIG__OUTER_OFFSET_MM 0x00C2 + +#define VL53L1_NVM__FMT__ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x00C4 + +#define VL53L1_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS 0x00C8 + +#define VL53L1_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS \ + 0x00CA + +#define VL53L1_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS \ + 0x00CC + +#define VL53L1_NVM__FMT__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_0 0x00CE + +#define VL53L1_NVM__FMT__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_1 0x00CF + +#define VL53L1_NVM__CUSTOMER_NVM_SPACE_PROGRAMMED 0x00E0 + +#define VL53L1_NVM__CUST__I2C_SLAVE__DEVICE_ADDRESS 0x00E4 + +#define VL53L1_NVM__CUST__REF_SPAD_APPLY__NUM_REQUESTED_REF_SPAD 0x00E8 + +#define VL53L1_NVM__CUST__REF_SPAD_MAN__REF_LOCATION 0x00E9 + +#define VL53L1_NVM__CUST__MM_CONFIG__INNER_OFFSET_MM 0x00EC + +#define VL53L1_NVM__CUST__MM_CONFIG__OUTER_OFFSET_MM 0x00EE + +#define VL53L1_NVM__CUST__ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x00F0 + +#define VL53L1_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS 0x00F4 + +#define VL53L1_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS \ + 0x00F6 + +#define VL53L1_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS \ + 0x00F8 + +#define VL53L1_NVM__CUST__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_0 0x00FA + +#define VL53L1_NVM__CUST__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_1 0x00FB + +#define VL53L1_NVM__FMT__FGC__BYTE_0 0x01DC + +#define VL53L1_NVM__FMT__FGC__BYTE_1 0x01DD + +#define VL53L1_NVM__FMT__FGC__BYTE_2 0x01DE + +#define VL53L1_NVM__FMT__FGC__BYTE_3 0x01DF + +#define VL53L1_NVM__FMT__FGC__BYTE_4 0x01E0 + +#define VL53L1_NVM__FMT__FGC__BYTE_5 0x01E1 + +#define VL53L1_NVM__FMT__FGC__BYTE_6 0x01E2 + +#define VL53L1_NVM__FMT__FGC__BYTE_7 0x01E3 + +#define VL53L1_NVM__FMT__FGC__BYTE_8 0x01E4 + +#define VL53L1_NVM__FMT__FGC__BYTE_9 0x01E5 + +#define VL53L1_NVM__FMT__FGC__BYTE_10 0x01E6 + +#define VL53L1_NVM__FMT__FGC__BYTE_11 0x01E7 + +#define VL53L1_NVM__FMT__FGC__BYTE_12 0x01E8 + +#define VL53L1_NVM__FMT__FGC__BYTE_13 0x01E9 + +#define VL53L1_NVM__FMT__FGC__BYTE_14 0x01EA + +#define VL53L1_NVM__FMT__FGC__BYTE_15 0x01EB + +#define VL53L1_NVM__FMT__TEST_PROGRAM_MAJOR_MINOR 0x01EC + +#define VL53L1_NVM__FMT__MAP_MAJOR_MINOR 0x01ED + +#define VL53L1_NVM__FMT__YEAR_MONTH 0x01EE + +#define VL53L1_NVM__FMT__DAY_MODULE_DATE_PHASE 0x01EF + +#define VL53L1_NVM__FMT__TIME 0x01F0 + +#define VL53L1_NVM__FMT__TESTER_ID 0x01F2 + +#define VL53L1_NVM__FMT__SITE_ID 0x01F3 + +#define VL53L1_NVM__EWS__TEST_PROGRAM_MAJOR_MINOR 0x01F4 + +#define VL53L1_NVM__EWS__PROBE_CARD_MAJOR_MINOR 0x01F5 + +#define VL53L1_NVM__EWS__TESTER_ID 0x01F6 + +#define VL53L1_NVM__EWS__LOT__BYTE_0 0x01F8 + +#define VL53L1_NVM__EWS__LOT__BYTE_1 0x01F9 + +#define VL53L1_NVM__EWS__LOT__BYTE_2 0x01FA + +#define VL53L1_NVM__EWS__LOT__BYTE_3 0x01FB + +#define VL53L1_NVM__EWS__LOT__BYTE_4 0x01FC + +#define VL53L1_NVM__EWS__LOT__BYTE_5 0x01FD + +#define VL53L1_NVM__EWS__WAFER 0x01FD + +#define VL53L1_NVM__EWS__XCOORD 0x01FE + +#define VL53L1_NVM__EWS__YCOORD 0x01FF + + +#define VL53L1_NVM__FMT__OPTICAL_CENTRE_DATA_INDEX 0x00B8 +#define VL53L1_NVM__FMT__OPTICAL_CENTRE_DATA_SIZE 4 + +#define VL53L1_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_INDEX 0x015C +#define VL53L1_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_SIZE 56 + +#define VL53L1_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_INDEX 0x0194 +#define VL53L1_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_SIZE 8 + +#define VL53L1_NVM__FMT__RANGE_RESULTS__140MM_MM_PRE_RANGE 0x019C +#define VL53L1_NVM__FMT__RANGE_RESULTS__140MM_DARK 0x01AC +#define VL53L1_NVM__FMT__RANGE_RESULTS__400MM_DARK 0x01BC +#define VL53L1_NVM__FMT__RANGE_RESULTS__400MM_AMBIENT 0x01CC +#define VL53L1_NVM__FMT__RANGE_RESULTS__SIZE_BYTES 16 + + + + + + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_nvm_structs.h b/drivers/input/misc/vl53L1/inc/vl53l1_nvm_structs.h new file mode 100644 index 000000000000..caeac2add3f7 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_nvm_structs.h @@ -0,0 +1,297 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + + + +#ifndef _VL53L1_NVM_STRUCTS_H_ +#define _VL53L1_NVM_STRUCTS_H_ + + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include "vl53l1_platform.h" +#include "vl53l1_ll_def.h" + + + + +typedef struct { + + uint16_t result__actual_effective_rtn_spads; + + uint8_t ref_spad_array__num_requested_ref_spads; + + uint8_t ref_spad_array__ref_location; + + uint16_t result__peak_signal_count_rate_rtn_mcps; + + uint16_t result__ambient_count_rate_rtn_mcps; + + uint16_t result__peak_signal_count_rate_ref_mcps; + + uint16_t result__ambient_count_rate_ref_mcps; + + uint16_t measured_distance_mm; + + uint16_t measured_distance_stdev_mm; + + +} VL53L1_decoded_nvm_fmt_range_data_t; + + + + +typedef struct { + + char nvm__fmt__fgc[19]; + + uint8_t nvm__fmt__test_program_major; + + uint8_t nvm__fmt__test_program_minor; + + uint8_t nvm__fmt__map_major; + + uint8_t nvm__fmt__map_minor; + + uint8_t nvm__fmt__year; + + uint8_t nvm__fmt__month; + + uint8_t nvm__fmt__day; + + uint8_t nvm__fmt__module_date_phase; + + uint16_t nvm__fmt__time; + + uint8_t nvm__fmt__tester_id; + + uint8_t nvm__fmt__site_id; + + uint8_t nvm__ews__test_program_major; + + uint8_t nvm__ews__test_program_minor; + + uint8_t nvm__ews__probe_card_major; + + uint8_t nvm__ews__probe_card_minor; + + uint8_t nvm__ews__tester_id; + + + char nvm__ews__lot[8]; + + uint8_t nvm__ews__wafer; + + uint8_t nvm__ews__xcoord; + + uint8_t nvm__ews__ycoord; + +} VL53L1_decoded_nvm_fmt_info_t; + + + + +typedef struct { + + uint8_t nvm__ews__test_program_major; + + uint8_t nvm__ews__test_program_minor; + + uint8_t nvm__ews__probe_card_major; + + uint8_t nvm__ews__probe_card_minor; + + uint8_t nvm__ews__tester_id; + + + char nvm__ews__lot[8]; + + uint8_t nvm__ews__wafer; + + uint8_t nvm__ews__xcoord; + + uint8_t nvm__ews__ycoord; + + +} VL53L1_decoded_nvm_ews_info_t; + + + + +typedef struct { + uint8_t nvm__identification_model_id; + + uint8_t nvm__identification_module_type; + + uint8_t nvm__identification_revision_id; + + uint16_t nvm__identification_module_id; + + uint8_t nvm__i2c_valid; + + uint8_t nvm__i2c_device_address_ews; + + uint16_t nvm__ews__fast_osc_frequency; + + uint8_t nvm__ews__fast_osc_trim_max; + + uint8_t nvm__ews__fast_osc_freq_set; + + uint16_t nvm__ews__slow_osc_calibration; + + uint16_t nvm__fmt__fast_osc_frequency; + + uint8_t nvm__fmt__fast_osc_trim_max; + + uint8_t nvm__fmt__fast_osc_freq_set; + + uint16_t nvm__fmt__slow_osc_calibration; + + uint8_t nvm__vhv_config_unlock; + + uint8_t nvm__ref_selvddpix; + + uint8_t nvm__ref_selvquench; + + uint8_t nvm__regavdd1v2_sel; + + uint8_t nvm__regdvdd1v2_sel; + + uint8_t nvm__vhv_timeout__macrop; + + uint8_t nvm__vhv_loop_bound; + + uint8_t nvm__vhv_count_threshold; + + uint8_t nvm__vhv_offset; + + uint8_t nvm__vhv_init_enable; + + uint8_t nvm__vhv_init_value; + + uint8_t nvm__laser_safety_vcsel_trim_ll; + + uint8_t nvm__laser_safety_vcsel_selion_ll; + + uint8_t nvm__laser_safety_vcsel_selion_max_ll; + + uint8_t nvm__laser_safety_mult_ll; + + uint8_t nvm__laser_safety_clip_ll; + + uint8_t nvm__laser_safety_vcsel_trim_ld; + + uint8_t nvm__laser_safety_vcsel_selion_ld; + + uint8_t nvm__laser_safety_vcsel_selion_max_ld; + + uint8_t nvm__laser_safety_mult_ld; + + uint8_t nvm__laser_safety_clip_ld; + + uint8_t nvm__laser_safety_lock_byte; + + uint8_t nvm__laser_safety_unlock_byte; + + uint8_t nvm__ews__spad_enables_rtn[VL53L1_RTN_SPAD_BUFFER_SIZE]; + + uint8_t nvm__ews__spad_enables_ref__loc1[VL53L1_REF_SPAD_BUFFER_SIZE]; + + uint8_t nvm__ews__spad_enables_ref__loc2[VL53L1_REF_SPAD_BUFFER_SIZE]; + + uint8_t nvm__ews__spad_enables_ref__loc3[VL53L1_REF_SPAD_BUFFER_SIZE]; + + uint8_t nvm__fmt__spad_enables_rtn[VL53L1_RTN_SPAD_BUFFER_SIZE]; + + uint8_t nvm__fmt__spad_enables_ref__loc1[VL53L1_REF_SPAD_BUFFER_SIZE]; + + uint8_t nvm__fmt__spad_enables_ref__loc2[VL53L1_REF_SPAD_BUFFER_SIZE]; + + uint8_t nvm__fmt__spad_enables_ref__loc3[VL53L1_REF_SPAD_BUFFER_SIZE]; + + uint8_t nvm__fmt__roi_config__mode_roi_centre_spad; + + uint8_t nvm__fmt__roi_config__mode_roi_x_size; + + uint8_t nvm__fmt__roi_config__mode_roi_y_size; + + uint8_t nvm__fmt__ref_spad_apply__num_requested_ref_spad; + + uint8_t nvm__fmt__ref_spad_man__ref_location; + + uint16_t nvm__fmt__mm_config__inner_offset_mm; + + uint16_t nvm__fmt__mm_config__outer_offset_mm; + + uint16_t nvm__fmt__algo_part_to_part_range_offset_mm; + + uint16_t nvm__fmt__algo__crosstalk_compensation_plane_offset_kcps; + + uint16_t nvm__fmt__algo__crosstalk_compensation_x_plane_gradient_kcps; + + uint16_t nvm__fmt__algo__crosstalk_compensation_y_plane_gradient_kcps; + + uint8_t nvm__fmt__spare__host_config__nvm_config_spare_0; + + uint8_t nvm__fmt__spare__host_config__nvm_config_spare_1; + + uint8_t nvm__customer_space_programmed; + + uint8_t nvm__cust__i2c_device_address; + + uint8_t nvm__cust__ref_spad_apply__num_requested_ref_spad; + + uint8_t nvm__cust__ref_spad_man__ref_location; + + uint16_t nvm__cust__mm_config__inner_offset_mm; + + uint16_t nvm__cust__mm_config__outer_offset_mm; + + uint16_t nvm__cust__algo_part_to_part_range_offset_mm; + + uint16_t nvm__cust__algo__crosstalk_compensation_plane_offset_kcps; + + uint16_t nvm__cust__algo__crosstalk_compensation_x_plane_gradient_kcps; + + uint16_t nvm__cust__algo__crosstalk_compensation_y_plane_gradient_kcps; + + uint8_t nvm__cust__spare__host_config__nvm_config_spare_0; + + uint8_t nvm__cust__spare__host_config__nvm_config_spare_1; + + + VL53L1_optical_centre_t fmt_optical_centre; + VL53L1_cal_peak_rate_map_t fmt_peak_rate_map; + VL53L1_additional_offset_cal_data_t fmt_add_offset_data; + + VL53L1_decoded_nvm_fmt_range_data_t + fmt_range_data[VL53L1_NVM_MAX_FMT_RANGE_DATA]; + + VL53L1_decoded_nvm_fmt_info_t fmt_info; + VL53L1_decoded_nvm_ews_info_t ews_info; + +} VL53L1_decoded_nvm_data_t; + + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_preset_setup.h b/drivers/input/misc/vl53L1/inc/vl53l1_preset_setup.h new file mode 100644 index 000000000000..834273efdc6a --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_preset_setup.h @@ -0,0 +1,67 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +#ifndef _VL53L1_PRESET_SETUP_H_ +#define _VL53L1_PRESET_SETUP_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +/* indexes for the bare driver tuning setting API function */ +enum VL53L1_Tuning_t { + VL53L1_TUNING_VERSION = 0, + VL53L1_TUNING_PROXY_MIN, + VL53L1_TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM, + VL53L1_TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER, + VL53L1_TUNING_MIN_AMBIENT_DMAX_VALID, + VL53L1_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER, + VL53L1_TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM, + VL53L1_TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT, + VL53L1_TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN, + VL53L1_TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET, + VL53L1_TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR, + VL53L1_TUNING_MAX_TUNABLE_KEY +}; + +/* default values for the tuning settings parameters */ +#define TUNING_VERSION 0x0007 + +#define TUNING_PROXY_MIN -30 /* min distance in mm */ +#define TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM 600 +/* Target distance in mm for single target Xtalk */ +#define TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER 50 +/* Number of sample used for single target Xtalk */ +#define TUNING_MIN_AMBIENT_DMAX_VALID 8 +/* Minimum ambient level to state the Dmax returned by the device is valid */ +#define TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER 10 +/* Maximum loops to perform simple offset calibration */ +#define TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM 600 +/* Target distance in mm for target Xtalk from Bins method*/ +#define TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT 3 +/* Number of loops done during the simple offset calibration*/ +#define TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR_DEFAULT 9 +/* zero distance offset calibration non linear compensation default value */ + +/* The following settings are related to the fix for ticket EwokP #558410 */ +#define TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN 24 +/* Acceptance margin for the xtalk_shape bin_data sum computation */ +#define TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET 50 +/* Recovery value for Xtalk compensation plane offset in kcps */ +/* 50 stands for ~0.10 kcps cover glass in 7.9 format */ +/* End of settings related to the fix for ticket EwokP #558410 */ + +#ifdef __cplusplus +} +#endif + +#endif /* _VL53L1_PRESET_SETUP_H_ */ diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_register_funcs.h b/drivers/input/misc/vl53L1/inc/vl53l1_register_funcs.h new file mode 100644 index 000000000000..7e1185b4cb47 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_register_funcs.h @@ -0,0 +1,662 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_REGISTER_FUNCS_H_ +#define _VL53L1_REGISTER_FUNCS_H_ + +#include "vl53l1_platform.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + + + + +VL53L1_Error VL53L1_i2c_encode_static_nvm_managed( + VL53L1_static_nvm_managed_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_static_nvm_managed( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_static_nvm_managed_t *pdata); + + + + +VL53L1_Error VL53L1_set_static_nvm_managed( + VL53L1_DEV Dev, + VL53L1_static_nvm_managed_t *pdata); + + + + +VL53L1_Error VL53L1_get_static_nvm_managed( + VL53L1_DEV Dev, + VL53L1_static_nvm_managed_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_customer_nvm_managed( + VL53L1_customer_nvm_managed_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_customer_nvm_managed( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_customer_nvm_managed_t *pdata); + + + + +VL53L1_Error VL53L1_set_customer_nvm_managed( + VL53L1_DEV Dev, + VL53L1_customer_nvm_managed_t *pdata); + + + + +VL53L1_Error VL53L1_get_customer_nvm_managed( + VL53L1_DEV Dev, + VL53L1_customer_nvm_managed_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_static_config( + VL53L1_static_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_static_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_static_config_t *pdata); + + + + +VL53L1_Error VL53L1_set_static_config( + VL53L1_DEV Dev, + VL53L1_static_config_t *pdata); + + + + +VL53L1_Error VL53L1_get_static_config( + VL53L1_DEV Dev, + VL53L1_static_config_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_general_config( + VL53L1_general_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_general_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_general_config_t *pdata); + + + + +VL53L1_Error VL53L1_set_general_config( + VL53L1_DEV Dev, + VL53L1_general_config_t *pdata); + + + + +VL53L1_Error VL53L1_get_general_config( + VL53L1_DEV Dev, + VL53L1_general_config_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_timing_config( + VL53L1_timing_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_timing_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_timing_config_t *pdata); + + + + +VL53L1_Error VL53L1_set_timing_config( + VL53L1_DEV Dev, + VL53L1_timing_config_t *pdata); + + + + +VL53L1_Error VL53L1_get_timing_config( + VL53L1_DEV Dev, + VL53L1_timing_config_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_dynamic_config( + VL53L1_dynamic_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_dynamic_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_dynamic_config_t *pdata); + + + + +VL53L1_Error VL53L1_set_dynamic_config( + VL53L1_DEV Dev, + VL53L1_dynamic_config_t *pdata); + + + + +VL53L1_Error VL53L1_get_dynamic_config( + VL53L1_DEV Dev, + VL53L1_dynamic_config_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_system_control( + VL53L1_system_control_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_system_control( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_system_control_t *pdata); + + + + +VL53L1_Error VL53L1_set_system_control( + VL53L1_DEV Dev, + VL53L1_system_control_t *pdata); + + + + +VL53L1_Error VL53L1_get_system_control( + VL53L1_DEV Dev, + VL53L1_system_control_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_system_results( + VL53L1_system_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_system_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_system_results_t *pdata); + + + + +VL53L1_Error VL53L1_set_system_results( + VL53L1_DEV Dev, + VL53L1_system_results_t *pdata); + + + + +VL53L1_Error VL53L1_get_system_results( + VL53L1_DEV Dev, + VL53L1_system_results_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_core_results( + VL53L1_core_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_core_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_core_results_t *pdata); + + + + +VL53L1_Error VL53L1_set_core_results( + VL53L1_DEV Dev, + VL53L1_core_results_t *pdata); + + + + +VL53L1_Error VL53L1_get_core_results( + VL53L1_DEV Dev, + VL53L1_core_results_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_debug_results( + VL53L1_debug_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_debug_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_debug_results_t *pdata); + + + + +VL53L1_Error VL53L1_set_debug_results( + VL53L1_DEV Dev, + VL53L1_debug_results_t *pdata); + + + + +VL53L1_Error VL53L1_get_debug_results( + VL53L1_DEV Dev, + VL53L1_debug_results_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_nvm_copy_data( + VL53L1_nvm_copy_data_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_nvm_copy_data( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_nvm_copy_data_t *pdata); + + + + +VL53L1_Error VL53L1_set_nvm_copy_data( + VL53L1_DEV Dev, + VL53L1_nvm_copy_data_t *pdata); + + + + +VL53L1_Error VL53L1_get_nvm_copy_data( + VL53L1_DEV Dev, + VL53L1_nvm_copy_data_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_prev_shadow_system_results( + VL53L1_prev_shadow_system_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_prev_shadow_system_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_prev_shadow_system_results_t *pdata); + + + + +VL53L1_Error VL53L1_set_prev_shadow_system_results( + VL53L1_DEV Dev, + VL53L1_prev_shadow_system_results_t *pdata); + + + + +VL53L1_Error VL53L1_get_prev_shadow_system_results( + VL53L1_DEV Dev, + VL53L1_prev_shadow_system_results_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_prev_shadow_core_results( + VL53L1_prev_shadow_core_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_prev_shadow_core_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_prev_shadow_core_results_t *pdata); + + + + +VL53L1_Error VL53L1_set_prev_shadow_core_results( + VL53L1_DEV Dev, + VL53L1_prev_shadow_core_results_t *pdata); + + + + +VL53L1_Error VL53L1_get_prev_shadow_core_results( + VL53L1_DEV Dev, + VL53L1_prev_shadow_core_results_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_patch_debug( + VL53L1_patch_debug_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_patch_debug( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_patch_debug_t *pdata); + + + + +VL53L1_Error VL53L1_set_patch_debug( + VL53L1_DEV Dev, + VL53L1_patch_debug_t *pdata); + + + + +VL53L1_Error VL53L1_get_patch_debug( + VL53L1_DEV Dev, + VL53L1_patch_debug_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_gph_general_config( + VL53L1_gph_general_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_gph_general_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_gph_general_config_t *pdata); + + + + +VL53L1_Error VL53L1_set_gph_general_config( + VL53L1_DEV Dev, + VL53L1_gph_general_config_t *pdata); + + + + +VL53L1_Error VL53L1_get_gph_general_config( + VL53L1_DEV Dev, + VL53L1_gph_general_config_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_gph_static_config( + VL53L1_gph_static_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_gph_static_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_gph_static_config_t *pdata); + + + + +VL53L1_Error VL53L1_set_gph_static_config( + VL53L1_DEV Dev, + VL53L1_gph_static_config_t *pdata); + + + + +VL53L1_Error VL53L1_get_gph_static_config( + VL53L1_DEV Dev, + VL53L1_gph_static_config_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_gph_timing_config( + VL53L1_gph_timing_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_gph_timing_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_gph_timing_config_t *pdata); + + + + +VL53L1_Error VL53L1_set_gph_timing_config( + VL53L1_DEV Dev, + VL53L1_gph_timing_config_t *pdata); + + + + +VL53L1_Error VL53L1_get_gph_timing_config( + VL53L1_DEV Dev, + VL53L1_gph_timing_config_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_fw_internal( + VL53L1_fw_internal_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_fw_internal( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_fw_internal_t *pdata); + + + + +VL53L1_Error VL53L1_set_fw_internal( + VL53L1_DEV Dev, + VL53L1_fw_internal_t *pdata); + + + + +VL53L1_Error VL53L1_get_fw_internal( + VL53L1_DEV Dev, + VL53L1_fw_internal_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_patch_results( + VL53L1_patch_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_patch_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_patch_results_t *pdata); + + + + +VL53L1_Error VL53L1_set_patch_results( + VL53L1_DEV Dev, + VL53L1_patch_results_t *pdata); + + + + +VL53L1_Error VL53L1_get_patch_results( + VL53L1_DEV Dev, + VL53L1_patch_results_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_shadow_system_results( + VL53L1_shadow_system_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_shadow_system_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_shadow_system_results_t *pdata); + + + + +VL53L1_Error VL53L1_set_shadow_system_results( + VL53L1_DEV Dev, + VL53L1_shadow_system_results_t *pdata); + + + + +VL53L1_Error VL53L1_get_shadow_system_results( + VL53L1_DEV Dev, + VL53L1_shadow_system_results_t *pdata); + + + + +VL53L1_Error VL53L1_i2c_encode_shadow_core_results( + VL53L1_shadow_core_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer); + + + + +VL53L1_Error VL53L1_i2c_decode_shadow_core_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_shadow_core_results_t *pdata); + + + + +VL53L1_Error VL53L1_set_shadow_core_results( + VL53L1_DEV Dev, + VL53L1_shadow_core_results_t *pdata); + + + + +VL53L1_Error VL53L1_get_shadow_core_results( + VL53L1_DEV Dev, + VL53L1_shadow_core_results_t *pdata); + + +#ifdef __cplusplus +} +#endif + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_register_map.h b/drivers/input/misc/vl53L1/inc/vl53l1_register_map.h new file mode 100644 index 000000000000..148a9c15252e --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_register_map.h @@ -0,0 +1,2390 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_REGISTER_MAP_H_ +#define _VL53L1_REGISTER_MAP_H_ + + + +#define VL53L1_SOFT_RESET 0x0000 + +#define VL53L1_I2C_SLAVE__DEVICE_ADDRESS 0x0001 + +#define VL53L1_ANA_CONFIG__VHV_REF_SEL_VDDPIX 0x0002 + +#define VL53L1_ANA_CONFIG__VHV_REF_SEL_VQUENCH 0x0003 + +#define VL53L1_ANA_CONFIG__REG_AVDD1V2_SEL 0x0004 + +#define VL53L1_ANA_CONFIG__FAST_OSC__TRIM 0x0005 + +#define VL53L1_OSC_MEASURED__FAST_OSC__FREQUENCY 0x0006 + +#define VL53L1_OSC_MEASURED__FAST_OSC__FREQUENCY_HI 0x0006 + +#define VL53L1_OSC_MEASURED__FAST_OSC__FREQUENCY_LO 0x0007 + +#define VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND 0x0008 + +#define VL53L1_VHV_CONFIG__COUNT_THRESH 0x0009 + +#define VL53L1_VHV_CONFIG__OFFSET 0x000A + +#define VL53L1_VHV_CONFIG__INIT 0x000B + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0 0x000D + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_1 0x000E + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_2 0x000F + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_3 0x0010 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_4 0x0011 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_5 0x0012 + +#define VL53L1_GLOBAL_CONFIG__REF_EN_START_SELECT 0x0013 + +#define VL53L1_REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS 0x0014 + +#define VL53L1_REF_SPAD_MAN__REF_LOCATION 0x0015 + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS 0x0016 + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS_HI 0x0016 + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS_LO 0x0017 + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS 0x0018 + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS_HI 0x0018 + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS_LO 0x0019 + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS 0x001A + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS_HI 0x001A + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS_LO 0x001B + +#define VL53L1_REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS 0x001C + +#define VL53L1_REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS_HI 0x001C + +#define VL53L1_REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS_LO 0x001D + +#define VL53L1_ALGO__PART_TO_PART_RANGE_OFFSET_MM 0x001E + +#define VL53L1_ALGO__PART_TO_PART_RANGE_OFFSET_MM_HI 0x001E + +#define VL53L1_ALGO__PART_TO_PART_RANGE_OFFSET_MM_LO 0x001F + +#define VL53L1_MM_CONFIG__INNER_OFFSET_MM 0x0020 + +#define VL53L1_MM_CONFIG__INNER_OFFSET_MM_HI 0x0020 + +#define VL53L1_MM_CONFIG__INNER_OFFSET_MM_LO 0x0021 + +#define VL53L1_MM_CONFIG__OUTER_OFFSET_MM 0x0022 + +#define VL53L1_MM_CONFIG__OUTER_OFFSET_MM_HI 0x0022 + +#define VL53L1_MM_CONFIG__OUTER_OFFSET_MM_LO 0x0023 + +#define VL53L1_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS 0x0024 + +#define VL53L1_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS_HI 0x0024 + +#define VL53L1_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS_LO 0x0025 + +#define VL53L1_DEBUG__CTRL 0x0026 + +#define VL53L1_TEST_MODE__CTRL 0x0027 + +#define VL53L1_CLK_GATING__CTRL 0x0028 + +#define VL53L1_NVM_BIST__CTRL 0x0029 + +#define VL53L1_NVM_BIST__NUM_NVM_WORDS 0x002A + +#define VL53L1_NVM_BIST__START_ADDRESS 0x002B + +#define VL53L1_HOST_IF__STATUS 0x002C + +#define VL53L1_PAD_I2C_HV__CONFIG 0x002D + +#define VL53L1_PAD_I2C_HV__EXTSUP_CONFIG 0x002E + +#define VL53L1_GPIO_HV_PAD__CTRL 0x002F + +#define VL53L1_GPIO_HV_MUX__CTRL 0x0030 + +#define VL53L1_GPIO__TIO_HV_STATUS 0x0031 + +#define VL53L1_GPIO__FIO_HV_STATUS 0x0032 + +#define VL53L1_ANA_CONFIG__SPAD_SEL_PSWIDTH 0x0033 + +#define VL53L1_ANA_CONFIG__VCSEL_PULSE_WIDTH_OFFSET 0x0034 + +#define VL53L1_ANA_CONFIG__FAST_OSC__CONFIG_CTRL 0x0035 + +#define VL53L1_SIGMA_ESTIMATOR__EFFECTIVE_PULSE_WIDTH_NS 0x0036 + +#define VL53L1_SIGMA_ESTIMATOR__EFFECTIVE_AMBIENT_WIDTH_NS 0x0037 + +#define VL53L1_SIGMA_ESTIMATOR__SIGMA_REF_MM 0x0038 + +#define VL53L1_ALGO__CROSSTALK_COMPENSATION_VALID_HEIGHT_MM 0x0039 + +#define VL53L1_SPARE_HOST_CONFIG__STATIC_CONFIG_SPARE_0 0x003A + +#define VL53L1_SPARE_HOST_CONFIG__STATIC_CONFIG_SPARE_1 0x003B + +#define VL53L1_ALGO__RANGE_IGNORE_THRESHOLD_MCPS 0x003C + +#define VL53L1_ALGO__RANGE_IGNORE_THRESHOLD_MCPS_HI 0x003C + +#define VL53L1_ALGO__RANGE_IGNORE_THRESHOLD_MCPS_LO 0x003D + +#define VL53L1_ALGO__RANGE_IGNORE_VALID_HEIGHT_MM 0x003E + +#define VL53L1_ALGO__RANGE_MIN_CLIP 0x003F + +#define VL53L1_ALGO__CONSISTENCY_CHECK__TOLERANCE 0x0040 + +#define VL53L1_SPARE_HOST_CONFIG__STATIC_CONFIG_SPARE_2 0x0041 + +#define VL53L1_SD_CONFIG__RESET_STAGES_MSB 0x0042 + +#define VL53L1_SD_CONFIG__RESET_STAGES_LSB 0x0043 + +#define VL53L1_GPH_CONFIG__STREAM_COUNT_UPDATE_VALUE 0x0044 + +#define VL53L1_GLOBAL_CONFIG__STREAM_DIVIDER 0x0045 + +#define VL53L1_SYSTEM__INTERRUPT_CONFIG_GPIO 0x0046 + +#define VL53L1_CAL_CONFIG__VCSEL_START 0x0047 + +#define VL53L1_CAL_CONFIG__REPEAT_RATE 0x0048 + +#define VL53L1_CAL_CONFIG__REPEAT_RATE_HI 0x0048 + +#define VL53L1_CAL_CONFIG__REPEAT_RATE_LO 0x0049 + +#define VL53L1_GLOBAL_CONFIG__VCSEL_WIDTH 0x004A + +#define VL53L1_PHASECAL_CONFIG__TIMEOUT_MACROP 0x004B + +#define VL53L1_PHASECAL_CONFIG__TARGET 0x004C + +#define VL53L1_PHASECAL_CONFIG__OVERRIDE 0x004D + +#define VL53L1_DSS_CONFIG__ROI_MODE_CONTROL 0x004F + +#define VL53L1_SYSTEM__THRESH_RATE_HIGH 0x0050 + +#define VL53L1_SYSTEM__THRESH_RATE_HIGH_HI 0x0050 + +#define VL53L1_SYSTEM__THRESH_RATE_HIGH_LO 0x0051 + +#define VL53L1_SYSTEM__THRESH_RATE_LOW 0x0052 + +#define VL53L1_SYSTEM__THRESH_RATE_LOW_HI 0x0052 + +#define VL53L1_SYSTEM__THRESH_RATE_LOW_LO 0x0053 + +#define VL53L1_DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT 0x0054 + +#define VL53L1_DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_HI 0x0054 + +#define VL53L1_DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_LO 0x0055 + +#define VL53L1_DSS_CONFIG__MANUAL_BLOCK_SELECT 0x0056 + +#define VL53L1_DSS_CONFIG__APERTURE_ATTENUATION 0x0057 + +#define VL53L1_DSS_CONFIG__MAX_SPADS_LIMIT 0x0058 + +#define VL53L1_DSS_CONFIG__MIN_SPADS_LIMIT 0x0059 + +#define VL53L1_MM_CONFIG__TIMEOUT_MACROP_A_HI 0x005A + +#define VL53L1_MM_CONFIG__TIMEOUT_MACROP_A_LO 0x005B + +#define VL53L1_MM_CONFIG__TIMEOUT_MACROP_B_HI 0x005C + +#define VL53L1_MM_CONFIG__TIMEOUT_MACROP_B_LO 0x005D + +#define VL53L1_RANGE_CONFIG__TIMEOUT_MACROP_A_HI 0x005E + +#define VL53L1_RANGE_CONFIG__TIMEOUT_MACROP_A_LO 0x005F + +#define VL53L1_RANGE_CONFIG__VCSEL_PERIOD_A 0x0060 + +#define VL53L1_RANGE_CONFIG__TIMEOUT_MACROP_B_HI 0x0061 + +#define VL53L1_RANGE_CONFIG__TIMEOUT_MACROP_B_LO 0x0062 + +#define VL53L1_RANGE_CONFIG__VCSEL_PERIOD_B 0x0063 + +#define VL53L1_RANGE_CONFIG__SIGMA_THRESH 0x0064 + +#define VL53L1_RANGE_CONFIG__SIGMA_THRESH_HI 0x0064 + +#define VL53L1_RANGE_CONFIG__SIGMA_THRESH_LO 0x0065 + +#define VL53L1_RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS 0x0066 + +#define VL53L1_RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_HI 0x0066 + +#define VL53L1_RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_LO 0x0067 + +#define VL53L1_RANGE_CONFIG__VALID_PHASE_LOW 0x0068 + +#define VL53L1_RANGE_CONFIG__VALID_PHASE_HIGH 0x0069 + +#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD 0x006C + +#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD_3 0x006C + +#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD_2 0x006D + +#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD_1 0x006E + +#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD_0 0x006F + +#define VL53L1_SYSTEM__FRACTIONAL_ENABLE 0x0070 + +#define VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD_0 0x0071 + +#define VL53L1_SYSTEM__THRESH_HIGH 0x0072 + +#define VL53L1_SYSTEM__THRESH_HIGH_HI 0x0072 + +#define VL53L1_SYSTEM__THRESH_HIGH_LO 0x0073 + +#define VL53L1_SYSTEM__THRESH_LOW 0x0074 + +#define VL53L1_SYSTEM__THRESH_LOW_HI 0x0074 + +#define VL53L1_SYSTEM__THRESH_LOW_LO 0x0075 + +#define VL53L1_SYSTEM__ENABLE_XTALK_PER_QUADRANT 0x0076 + +#define VL53L1_SYSTEM__SEED_CONFIG 0x0077 + +#define VL53L1_SD_CONFIG__WOI_SD0 0x0078 + +#define VL53L1_SD_CONFIG__WOI_SD1 0x0079 + +#define VL53L1_SD_CONFIG__INITIAL_PHASE_SD0 0x007A + +#define VL53L1_SD_CONFIG__INITIAL_PHASE_SD1 0x007B + +#define VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD_1 0x007C + +#define VL53L1_SD_CONFIG__FIRST_ORDER_SELECT 0x007D + +#define VL53L1_SD_CONFIG__QUANTIFIER 0x007E + +#define VL53L1_ROI_CONFIG__USER_ROI_CENTRE_SPAD 0x007F + +#define VL53L1_ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE 0x0080 + +#define VL53L1_SYSTEM__SEQUENCE_CONFIG 0x0081 + +#define VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD 0x0082 + +#define VL53L1_POWER_MANAGEMENT__GO1_POWER_FORCE 0x0083 + +#define VL53L1_SYSTEM__STREAM_COUNT_CTRL 0x0084 + +#define VL53L1_FIRMWARE__ENABLE 0x0085 + +#define VL53L1_SYSTEM__INTERRUPT_CLEAR 0x0086 + +#define VL53L1_SYSTEM__MODE_START 0x0087 + +#define VL53L1_RESULT__INTERRUPT_STATUS 0x0088 + +#define VL53L1_RESULT__RANGE_STATUS 0x0089 + +#define VL53L1_RESULT__REPORT_STATUS 0x008A + +#define VL53L1_RESULT__STREAM_COUNT 0x008B + +#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 0x008C + +#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x008C + +#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x008D + +#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0 0x008E + +#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x008E + +#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x008F + +#define VL53L1_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0 0x0090 + +#define VL53L1_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_HI 0x0090 + +#define VL53L1_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_LO 0x0091 + +#define VL53L1_RESULT__SIGMA_SD0 0x0092 + +#define VL53L1_RESULT__SIGMA_SD0_HI 0x0092 + +#define VL53L1_RESULT__SIGMA_SD0_LO 0x0093 + +#define VL53L1_RESULT__PHASE_SD0 0x0094 + +#define VL53L1_RESULT__PHASE_SD0_HI 0x0094 + +#define VL53L1_RESULT__PHASE_SD0_LO 0x0095 + +#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0096 + +#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_HI 0x0096 + +#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_LO 0x0097 + +#define VL53L1_PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 0x0098 + +#define VL53L1__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_HI 0x0098 + +#define VL53L1___PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_LO 0x0099 + +#define VL53L1_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0 0x009A + +#define VL53L1_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x009A + +#define VL53L1_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x009B + +#define VL53L1_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0 0x009C + +#define VL53L1_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x009C + +#define VL53L1_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x009D + +#define VL53L1_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0 0x009E + +#define VL53L1_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x009E + +#define VL53L1_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x009F + +#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1 0x00A0 + +#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_HI 0x00A0 + +#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_LO 0x00A1 + +#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1 0x00A2 + +#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_HI 0x00A2 + +#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_LO 0x00A3 + +#define VL53L1_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1 0x00A4 + +#define VL53L1_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_HI 0x00A4 + +#define VL53L1_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_LO 0x00A5 + +#define VL53L1_RESULT__SIGMA_SD1 0x00A6 + +#define VL53L1_RESULT__SIGMA_SD1_HI 0x00A6 + +#define VL53L1_RESULT__SIGMA_SD1_LO 0x00A7 + +#define VL53L1_RESULT__PHASE_SD1 0x00A8 + +#define VL53L1_RESULT__PHASE_SD1_HI 0x00A8 + +#define VL53L1_RESULT__PHASE_SD1_LO 0x00A9 + +#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1 0x00AA + +#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_HI 0x00AA + +#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_LO 0x00AB + +#define VL53L1_RESULT__SPARE_0_SD1 0x00AC + +#define VL53L1_RESULT__SPARE_0_SD1_HI 0x00AC + +#define VL53L1_RESULT__SPARE_0_SD1_LO 0x00AD + +#define VL53L1_RESULT__SPARE_1_SD1 0x00AE + +#define VL53L1_RESULT__SPARE_1_SD1_HI 0x00AE + +#define VL53L1_RESULT__SPARE_1_SD1_LO 0x00AF + +#define VL53L1_RESULT__SPARE_2_SD1 0x00B0 + +#define VL53L1_RESULT__SPARE_2_SD1_HI 0x00B0 + +#define VL53L1_RESULT__SPARE_2_SD1_LO 0x00B1 + +#define VL53L1_RESULT__SPARE_3_SD1 0x00B2 + +#define VL53L1_RESULT__THRESH_INFO 0x00B3 + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 0x00B4 + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_3 0x00B4 + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_2 0x00B5 + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_1 0x00B6 + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_0 0x00B7 + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0 0x00B8 + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_3 0x00B8 + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_2 0x00B9 + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_1 0x00BA + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_0 0x00BB + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0 0x00BC + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_3 0x00BC + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_2 0x00BD + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_1 0x00BE + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_0 0x00BF + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0 0x00C0 + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_3 0x00C0 + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_2 0x00C1 + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_1 0x00C2 + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_0 0x00C3 + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1 0x00C4 + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_3 0x00C4 + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_2 0x00C5 + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_1 0x00C6 + +#define VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_0 0x00C7 + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1 0x00C8 + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_3 0x00C8 + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_2 0x00C9 + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_1 0x00CA + +#define VL53L1_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_0 0x00CB + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1 0x00CC + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_3 0x00CC + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_2 0x00CD + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_1 0x00CE + +#define VL53L1_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_0 0x00CF + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1 0x00D0 + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_3 0x00D0 + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_2 0x00D1 + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_1 0x00D2 + +#define VL53L1_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_0 0x00D3 + +#define VL53L1_RESULT_CORE__SPARE_0 0x00D4 + +#define VL53L1_PHASECAL_RESULT__REFERENCE_PHASE 0x00D6 + +#define VL53L1_PHASECAL_RESULT__REFERENCE_PHASE_HI 0x00D6 + +#define VL53L1_PHASECAL_RESULT__REFERENCE_PHASE_LO 0x00D7 + +#define VL53L1_PHASECAL_RESULT__VCSEL_START 0x00D8 + +#define VL53L1_REF_SPAD_CHAR_RESULT__NUM_ACTUAL_REF_SPADS 0x00D9 + +#define VL53L1_REF_SPAD_CHAR_RESULT__REF_LOCATION 0x00DA + +#define VL53L1_VHV_RESULT__COLDBOOT_STATUS 0x00DB + +#define VL53L1_VHV_RESULT__SEARCH_RESULT 0x00DC + +#define VL53L1_VHV_RESULT__LATEST_SETTING 0x00DD + +#define VL53L1_RESULT__OSC_CALIBRATE_VAL 0x00DE + +#define VL53L1_RESULT__OSC_CALIBRATE_VAL_HI 0x00DE + +#define VL53L1_RESULT__OSC_CALIBRATE_VAL_LO 0x00DF + +#define VL53L1_ANA_CONFIG__POWERDOWN_GO1 0x00E0 + +#define VL53L1_ANA_CONFIG__REF_BG_CTRL 0x00E1 + +#define VL53L1_ANA_CONFIG__REGDVDD1V2_CTRL 0x00E2 + +#define VL53L1_ANA_CONFIG__OSC_SLOW_CTRL 0x00E3 + +#define VL53L1_TEST_MODE__STATUS 0x00E4 + +#define VL53L1_FIRMWARE__SYSTEM_STATUS 0x00E5 + +#define VL53L1_FIRMWARE__MODE_STATUS 0x00E6 + +#define VL53L1_FIRMWARE__SECONDARY_MODE_STATUS 0x00E7 + +#define VL53L1_FIRMWARE__CAL_REPEAT_RATE_COUNTER 0x00E8 + +#define VL53L1_FIRMWARE__CAL_REPEAT_RATE_COUNTER_HI 0x00E8 + +#define VL53L1_FIRMWARE__CAL_REPEAT_RATE_COUNTER_LO 0x00E9 + +#define VL53L1_FIRMWARE__HISTOGRAM_BIN 0x00EA + +#define VL53L1_GPH__SYSTEM__THRESH_HIGH 0x00EC + +#define VL53L1_GPH__SYSTEM__THRESH_HIGH_HI 0x00EC + +#define VL53L1_GPH__SYSTEM__THRESH_HIGH_LO 0x00ED + +#define VL53L1_GPH__SYSTEM__THRESH_LOW 0x00EE + +#define VL53L1_GPH__SYSTEM__THRESH_LOW_HI 0x00EE + +#define VL53L1_GPH__SYSTEM__THRESH_LOW_LO 0x00EF + +#define VL53L1_GPH__SYSTEM__ENABLE_XTALK_PER_QUADRANT 0x00F0 + +#define VL53L1_GPH__SPARE_0 0x00F1 + +#define VL53L1_GPH__SD_CONFIG__WOI_SD0 0x00F2 + +#define VL53L1_GPH__SD_CONFIG__WOI_SD1 0x00F3 + +#define VL53L1_GPH__SD_CONFIG__INITIAL_PHASE_SD0 0x00F4 + +#define VL53L1_GPH__SD_CONFIG__INITIAL_PHASE_SD1 0x00F5 + +#define VL53L1_GPH__SD_CONFIG__FIRST_ORDER_SELECT 0x00F6 + +#define VL53L1_GPH__SD_CONFIG__QUANTIFIER 0x00F7 + +#define VL53L1_GPH__ROI_CONFIG__USER_ROI_CENTRE_SPAD 0x00F8 + +#define VL53L1_GPH__ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE 0x00F9 + +#define VL53L1_GPH__SYSTEM__SEQUENCE_CONFIG 0x00FA + +#define VL53L1_GPH__GPH_ID 0x00FB + +#define VL53L1_SYSTEM__INTERRUPT_SET 0x00FC + +#define VL53L1_INTERRUPT_MANAGER__ENABLES 0x00FD + +#define VL53L1_INTERRUPT_MANAGER__CLEAR 0x00FE + +#define VL53L1_INTERRUPT_MANAGER__STATUS 0x00FF + +#define VL53L1_MCU_TO_HOST_BANK__WR_ACCESS_EN 0x0100 + +#define VL53L1_POWER_MANAGEMENT__GO1_RESET_STATUS 0x0101 + +#define VL53L1_PAD_STARTUP_MODE__VALUE_RO 0x0102 + +#define VL53L1_PAD_STARTUP_MODE__VALUE_CTRL 0x0103 + +#define VL53L1_PLL_PERIOD_US 0x0104 + +#define VL53L1_PLL_PERIOD_US_3 0x0104 + +#define VL53L1_PLL_PERIOD_US_2 0x0105 + +#define VL53L1_PLL_PERIOD_US_1 0x0106 + +#define VL53L1_PLL_PERIOD_US_0 0x0107 + +#define VL53L1_INTERRUPT_SCHEDULER__DATA_OUT 0x0108 + +#define VL53L1_INTERRUPT_SCHEDULER__DATA_OUT_3 0x0108 + +#define VL53L1_INTERRUPT_SCHEDULER__DATA_OUT_2 0x0109 + +#define VL53L1_INTERRUPT_SCHEDULER__DATA_OUT_1 0x010A + +#define VL53L1_INTERRUPT_SCHEDULER__DATA_OUT_0 0x010B + +#define VL53L1_NVM_BIST__COMPLETE 0x010C + +#define VL53L1_NVM_BIST__STATUS 0x010D + +#define VL53L1_IDENTIFICATION__MODEL_ID 0x010F + +#define VL53L1_IDENTIFICATION__MODULE_TYPE 0x0110 + +#define VL53L1_IDENTIFICATION__REVISION_ID 0x0111 + +#define VL53L1_IDENTIFICATION__MODULE_ID 0x0112 + +#define VL53L1_IDENTIFICATION__MODULE_ID_HI 0x0112 + +#define VL53L1_IDENTIFICATION__MODULE_ID_LO 0x0113 + +#define VL53L1_ANA_CONFIG__FAST_OSC__TRIM_MAX 0x0114 + +#define VL53L1_ANA_CONFIG__FAST_OSC__FREQ_SET 0x0115 + +#define VL53L1_ANA_CONFIG__VCSEL_TRIM 0x0116 + +#define VL53L1_ANA_CONFIG__VCSEL_SELION 0x0117 + +#define VL53L1_ANA_CONFIG__VCSEL_SELION_MAX 0x0118 + +#define VL53L1_PROTECTED_LASER_SAFETY__LOCK_BIT 0x0119 + +#define VL53L1_LASER_SAFETY__KEY 0x011A + +#define VL53L1_LASER_SAFETY__KEY_RO 0x011B + +#define VL53L1_LASER_SAFETY__CLIP 0x011C + +#define VL53L1_LASER_SAFETY__MULT 0x011D + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_0 0x011E + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_1 0x011F + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_2 0x0120 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_3 0x0121 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_4 0x0122 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_5 0x0123 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_6 0x0124 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_7 0x0125 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_8 0x0126 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_9 0x0127 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_10 0x0128 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_11 0x0129 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_12 0x012A + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_13 0x012B + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_14 0x012C + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_15 0x012D + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_16 0x012E + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_17 0x012F + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_18 0x0130 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_19 0x0131 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_20 0x0132 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_21 0x0133 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_22 0x0134 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_23 0x0135 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_24 0x0136 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_25 0x0137 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_26 0x0138 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_27 0x0139 + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_28 0x013A + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_29 0x013B + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_30 0x013C + +#define VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_RTN_31 0x013D + +#define VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD 0x013E + +#define VL53L1_ROI_CONFIG__MODE_ROI_XY_SIZE 0x013F + +#define VL53L1_GO2_HOST_BANK_ACCESS__OVERRIDE 0x0300 + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLICAND 0x0400 + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLICAND_3 0x0400 + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLICAND_2 0x0401 + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLICAND_1 0x0402 + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLICAND_0 0x0403 + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLIER 0x0404 + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLIER_3 0x0404 + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLIER_2 0x0405 + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLIER_1 0x0406 + +#define VL53L1_MCU_UTIL_MULTIPLIER__MULTIPLIER_0 0x0407 + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_HI 0x0408 + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_HI_3 0x0408 + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_HI_2 0x0409 + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_HI_1 0x040A + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_HI_0 0x040B + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_LO 0x040C + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_LO_3 0x040C + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_LO_2 0x040D + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_LO_1 0x040E + +#define VL53L1_MCU_UTIL_MULTIPLIER__PRODUCT_LO_0 0x040F + +#define VL53L1_MCU_UTIL_MULTIPLIER__START 0x0410 + +#define VL53L1_MCU_UTIL_MULTIPLIER__STATUS 0x0411 + +#define VL53L1_MCU_UTIL_DIVIDER__START 0x0412 + +#define VL53L1_MCU_UTIL_DIVIDER__STATUS 0x0413 + +#define VL53L1_MCU_UTIL_DIVIDER__DIVIDEND 0x0414 + +#define VL53L1_MCU_UTIL_DIVIDER__DIVIDEND_3 0x0414 + +#define VL53L1_MCU_UTIL_DIVIDER__DIVIDEND_2 0x0415 + +#define VL53L1_MCU_UTIL_DIVIDER__DIVIDEND_1 0x0416 + +#define VL53L1_MCU_UTIL_DIVIDER__DIVIDEND_0 0x0417 + +#define VL53L1_MCU_UTIL_DIVIDER__DIVISOR 0x0418 + +#define VL53L1_MCU_UTIL_DIVIDER__DIVISOR_3 0x0418 + +#define VL53L1_MCU_UTIL_DIVIDER__DIVISOR_2 0x0419 + +#define VL53L1_MCU_UTIL_DIVIDER__DIVISOR_1 0x041A + +#define VL53L1_MCU_UTIL_DIVIDER__DIVISOR_0 0x041B + +#define VL53L1_MCU_UTIL_DIVIDER__QUOTIENT 0x041C + +#define VL53L1_MCU_UTIL_DIVIDER__QUOTIENT_3 0x041C + +#define VL53L1_MCU_UTIL_DIVIDER__QUOTIENT_2 0x041D + +#define VL53L1_MCU_UTIL_DIVIDER__QUOTIENT_1 0x041E + +#define VL53L1_MCU_UTIL_DIVIDER__QUOTIENT_0 0x041F + +#define VL53L1_TIMER0__VALUE_IN 0x0420 + +#define VL53L1_TIMER0__VALUE_IN_3 0x0420 + +#define VL53L1_TIMER0__VALUE_IN_2 0x0421 + +#define VL53L1_TIMER0__VALUE_IN_1 0x0422 + +#define VL53L1_TIMER0__VALUE_IN_0 0x0423 + +#define VL53L1_TIMER1__VALUE_IN 0x0424 + +#define VL53L1_TIMER1__VALUE_IN_3 0x0424 + +#define VL53L1_TIMER1__VALUE_IN_2 0x0425 + +#define VL53L1_TIMER1__VALUE_IN_1 0x0426 + +#define VL53L1_TIMER1__VALUE_IN_0 0x0427 + +#define VL53L1_TIMER0__CTRL 0x0428 + +#define VL53L1_TIMER1__CTRL 0x0429 + +#define VL53L1_MCU_GENERAL_PURPOSE__GP_0 0x042C + +#define VL53L1_MCU_GENERAL_PURPOSE__GP_1 0x042D + +#define VL53L1_MCU_GENERAL_PURPOSE__GP_2 0x042E + +#define VL53L1_MCU_GENERAL_PURPOSE__GP_3 0x042F + +#define VL53L1_MCU_RANGE_CALC__CONFIG 0x0430 + +#define VL53L1_MCU_RANGE_CALC__OFFSET_CORRECTED_RANGE 0x0432 + +#define VL53L1_MCU_RANGE_CALC__OFFSET_CORRECTED_RANGE_HI 0x0432 + +#define VL53L1_MCU_RANGE_CALC__OFFSET_CORRECTED_RANGE_LO 0x0433 + +#define VL53L1_MCU_RANGE_CALC__SPARE_4 0x0434 + +#define VL53L1_MCU_RANGE_CALC__SPARE_4_3 0x0434 + +#define VL53L1_MCU_RANGE_CALC__SPARE_4_2 0x0435 + +#define VL53L1_MCU_RANGE_CALC__SPARE_4_1 0x0436 + +#define VL53L1_MCU_RANGE_CALC__SPARE_4_0 0x0437 + +#define VL53L1_MCU_RANGE_CALC__AMBIENT_DURATION_PRE_CALC 0x0438 + +#define VL53L1_MCU_RANGE_CALC__AMBIENT_DURATION_PRE_CALC_HI 0x0438 + +#define VL53L1_MCU_RANGE_CALC__AMBIENT_DURATION_PRE_CALC_LO 0x0439 + +#define VL53L1_MCU_RANGE_CALC__ALGO_VCSEL_PERIOD 0x043C + +#define VL53L1_MCU_RANGE_CALC__SPARE_5 0x043D + +#define VL53L1_MCU_RANGE_CALC__ALGO_TOTAL_PERIODS 0x043E + +#define VL53L1_MCU_RANGE_CALC__ALGO_TOTAL_PERIODS_HI 0x043E + +#define VL53L1_MCU_RANGE_CALC__ALGO_TOTAL_PERIODS_LO 0x043F + +#define VL53L1_MCU_RANGE_CALC__ALGO_ACCUM_PHASE 0x0440 + +#define VL53L1_MCU_RANGE_CALC__ALGO_ACCUM_PHASE_3 0x0440 + +#define VL53L1_MCU_RANGE_CALC__ALGO_ACCUM_PHASE_2 0x0441 + +#define VL53L1_MCU_RANGE_CALC__ALGO_ACCUM_PHASE_1 0x0442 + +#define VL53L1_MCU_RANGE_CALC__ALGO_ACCUM_PHASE_0 0x0443 + +#define VL53L1_MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS 0x0444 + +#define VL53L1_MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS_3 0x0444 + +#define VL53L1_MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS_2 0x0445 + +#define VL53L1_MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS_1 0x0446 + +#define VL53L1_MCU_RANGE_CALC__ALGO_SIGNAL_EVENTS_0 0x0447 + +#define VL53L1_MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS 0x0448 + +#define VL53L1_MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS_3 0x0448 + +#define VL53L1_MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS_2 0x0449 + +#define VL53L1_MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS_1 0x044A + +#define VL53L1_MCU_RANGE_CALC__ALGO_AMBIENT_EVENTS_0 0x044B + +#define VL53L1_MCU_RANGE_CALC__SPARE_6 0x044C + +#define VL53L1_MCU_RANGE_CALC__SPARE_6_HI 0x044C + +#define VL53L1_MCU_RANGE_CALC__SPARE_6_LO 0x044D + +#define VL53L1_MCU_RANGE_CALC__ALGO_ADJUST_VCSEL_PERIOD 0x044E + +#define VL53L1_MCU_RANGE_CALC__ALGO_ADJUST_VCSEL_PERIOD_HI 0x044E + +#define VL53L1_MCU_RANGE_CALC__ALGO_ADJUST_VCSEL_PERIOD_LO 0x044F + +#define VL53L1_MCU_RANGE_CALC__NUM_SPADS 0x0450 + +#define VL53L1_MCU_RANGE_CALC__NUM_SPADS_HI 0x0450 + +#define VL53L1_MCU_RANGE_CALC__NUM_SPADS_LO 0x0451 + +#define VL53L1_MCU_RANGE_CALC__PHASE_OUTPUT 0x0452 + +#define VL53L1_MCU_RANGE_CALC__PHASE_OUTPUT_HI 0x0452 + +#define VL53L1_MCU_RANGE_CALC__PHASE_OUTPUT_LO 0x0453 + +#define VL53L1_MCU_RANGE_CALC__RATE_PER_SPAD_MCPS 0x0454 + +#define VL53L1_MCU_RANGE_CALC__RATE_PER_SPAD_MCPS_3 0x0454 + +#define VL53L1_MCU_RANGE_CALC__RATE_PER_SPAD_MCPS_2 0x0455 + +#define VL53L1_MCU_RANGE_CALC__RATE_PER_SPAD_MCPS_1 0x0456 + +#define VL53L1_MCU_RANGE_CALC__RATE_PER_SPAD_MCPS_0 0x0457 + +#define VL53L1_MCU_RANGE_CALC__SPARE_7 0x0458 + +#define VL53L1_MCU_RANGE_CALC__SPARE_8 0x0459 + +#define VL53L1_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_MCPS 0x045A + +#define VL53L1_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_MCPS_HI 0x045A + +#define VL53L1_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_MCPS_LO 0x045B + +#define VL53L1_MCU_RANGE_CALC__AVG_SIGNAL_RATE_MCPS 0x045C + +#define VL53L1_MCU_RANGE_CALC__AVG_SIGNAL_RATE_MCPS_HI 0x045C + +#define VL53L1_MCU_RANGE_CALC__AVG_SIGNAL_RATE_MCPS_LO 0x045D + +#define VL53L1_MCU_RANGE_CALC__AMBIENT_RATE_MCPS 0x045E + +#define VL53L1_MCU_RANGE_CALC__AMBIENT_RATE_MCPS_HI 0x045E + +#define VL53L1_MCU_RANGE_CALC__AMBIENT_RATE_MCPS_LO 0x045F + +#define VL53L1_MCU_RANGE_CALC__XTALK 0x0460 + +#define VL53L1_MCU_RANGE_CALC__XTALK_HI 0x0460 + +#define VL53L1_MCU_RANGE_CALC__XTALK_LO 0x0461 + +#define VL53L1_MCU_RANGE_CALC__CALC_STATUS 0x0462 + +#define VL53L1_MCU_RANGE_CALC__DEBUG 0x0463 + +#define VL53L1_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_XTALK_CORR_MCPS 0x0464 + +#define VL53L1_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_XTALK_CORR_MCPS_HI 0x0464 + +#define VL53L1_MCU_RANGE_CALC__PEAK_SIGNAL_RATE_XTALK_CORR_MCPS_LO 0x0465 + +#define VL53L1_MCU_RANGE_CALC__SPARE_0 0x0468 + +#define VL53L1_MCU_RANGE_CALC__SPARE_1 0x0469 + +#define VL53L1_MCU_RANGE_CALC__SPARE_2 0x046A + +#define VL53L1_MCU_RANGE_CALC__SPARE_3 0x046B + +#define VL53L1_PATCH__CTRL 0x0470 + +#define VL53L1_PATCH__JMP_ENABLES 0x0472 + +#define VL53L1_PATCH__JMP_ENABLES_HI 0x0472 + +#define VL53L1_PATCH__JMP_ENABLES_LO 0x0473 + +#define VL53L1_PATCH__DATA_ENABLES 0x0474 + +#define VL53L1_PATCH__DATA_ENABLES_HI 0x0474 + +#define VL53L1_PATCH__DATA_ENABLES_LO 0x0475 + +#define VL53L1_PATCH__OFFSET_0 0x0476 + +#define VL53L1_PATCH__OFFSET_0_HI 0x0476 + +#define VL53L1_PATCH__OFFSET_0_LO 0x0477 + +#define VL53L1_PATCH__OFFSET_1 0x0478 + +#define VL53L1_PATCH__OFFSET_1_HI 0x0478 + +#define VL53L1_PATCH__OFFSET_1_LO 0x0479 + +#define VL53L1_PATCH__OFFSET_2 0x047A + +#define VL53L1_PATCH__OFFSET_2_HI 0x047A + +#define VL53L1_PATCH__OFFSET_2_LO 0x047B + +#define VL53L1_PATCH__OFFSET_3 0x047C + +#define VL53L1_PATCH__OFFSET_3_HI 0x047C + +#define VL53L1_PATCH__OFFSET_3_LO 0x047D + +#define VL53L1_PATCH__OFFSET_4 0x047E + +#define VL53L1_PATCH__OFFSET_4_HI 0x047E + +#define VL53L1_PATCH__OFFSET_4_LO 0x047F + +#define VL53L1_PATCH__OFFSET_5 0x0480 + +#define VL53L1_PATCH__OFFSET_5_HI 0x0480 + +#define VL53L1_PATCH__OFFSET_5_LO 0x0481 + +#define VL53L1_PATCH__OFFSET_6 0x0482 + +#define VL53L1_PATCH__OFFSET_6_HI 0x0482 + +#define VL53L1_PATCH__OFFSET_6_LO 0x0483 + +#define VL53L1_PATCH__OFFSET_7 0x0484 + +#define VL53L1_PATCH__OFFSET_7_HI 0x0484 + +#define VL53L1_PATCH__OFFSET_7_LO 0x0485 + +#define VL53L1_PATCH__OFFSET_8 0x0486 + +#define VL53L1_PATCH__OFFSET_8_HI 0x0486 + +#define VL53L1_PATCH__OFFSET_8_LO 0x0487 + +#define VL53L1_PATCH__OFFSET_9 0x0488 + +#define VL53L1_PATCH__OFFSET_9_HI 0x0488 + +#define VL53L1_PATCH__OFFSET_9_LO 0x0489 + +#define VL53L1_PATCH__OFFSET_10 0x048A + +#define VL53L1_PATCH__OFFSET_10_HI 0x048A + +#define VL53L1_PATCH__OFFSET_10_LO 0x048B + +#define VL53L1_PATCH__OFFSET_11 0x048C + +#define VL53L1_PATCH__OFFSET_11_HI 0x048C + +#define VL53L1_PATCH__OFFSET_11_LO 0x048D + +#define VL53L1_PATCH__OFFSET_12 0x048E + +#define VL53L1_PATCH__OFFSET_12_HI 0x048E + +#define VL53L1_PATCH__OFFSET_12_LO 0x048F + +#define VL53L1_PATCH__OFFSET_13 0x0490 + +#define VL53L1_PATCH__OFFSET_13_HI 0x0490 + +#define VL53L1_PATCH__OFFSET_13_LO 0x0491 + +#define VL53L1_PATCH__OFFSET_14 0x0492 + +#define VL53L1_PATCH__OFFSET_14_HI 0x0492 + +#define VL53L1_PATCH__OFFSET_14_LO 0x0493 + +#define VL53L1_PATCH__OFFSET_15 0x0494 + +#define VL53L1_PATCH__OFFSET_15_HI 0x0494 + +#define VL53L1_PATCH__OFFSET_15_LO 0x0495 + +#define VL53L1_PATCH__ADDRESS_0 0x0496 + +#define VL53L1_PATCH__ADDRESS_0_HI 0x0496 + +#define VL53L1_PATCH__ADDRESS_0_LO 0x0497 + +#define VL53L1_PATCH__ADDRESS_1 0x0498 + +#define VL53L1_PATCH__ADDRESS_1_HI 0x0498 + +#define VL53L1_PATCH__ADDRESS_1_LO 0x0499 + +#define VL53L1_PATCH__ADDRESS_2 0x049A + +#define VL53L1_PATCH__ADDRESS_2_HI 0x049A + +#define VL53L1_PATCH__ADDRESS_2_LO 0x049B + +#define VL53L1_PATCH__ADDRESS_3 0x049C + +#define VL53L1_PATCH__ADDRESS_3_HI 0x049C + +#define VL53L1_PATCH__ADDRESS_3_LO 0x049D + +#define VL53L1_PATCH__ADDRESS_4 0x049E + +#define VL53L1_PATCH__ADDRESS_4_HI 0x049E + +#define VL53L1_PATCH__ADDRESS_4_LO 0x049F + +#define VL53L1_PATCH__ADDRESS_5 0x04A0 + +#define VL53L1_PATCH__ADDRESS_5_HI 0x04A0 + +#define VL53L1_PATCH__ADDRESS_5_LO 0x04A1 + +#define VL53L1_PATCH__ADDRESS_6 0x04A2 + +#define VL53L1_PATCH__ADDRESS_6_HI 0x04A2 + +#define VL53L1_PATCH__ADDRESS_6_LO 0x04A3 + +#define VL53L1_PATCH__ADDRESS_7 0x04A4 + +#define VL53L1_PATCH__ADDRESS_7_HI 0x04A4 + +#define VL53L1_PATCH__ADDRESS_7_LO 0x04A5 + +#define VL53L1_PATCH__ADDRESS_8 0x04A6 + +#define VL53L1_PATCH__ADDRESS_8_HI 0x04A6 + +#define VL53L1_PATCH__ADDRESS_8_LO 0x04A7 + +#define VL53L1_PATCH__ADDRESS_9 0x04A8 + +#define VL53L1_PATCH__ADDRESS_9_HI 0x04A8 + +#define VL53L1_PATCH__ADDRESS_9_LO 0x04A9 + +#define VL53L1_PATCH__ADDRESS_10 0x04AA + +#define VL53L1_PATCH__ADDRESS_10_HI 0x04AA + +#define VL53L1_PATCH__ADDRESS_10_LO 0x04AB + +#define VL53L1_PATCH__ADDRESS_11 0x04AC + +#define VL53L1_PATCH__ADDRESS_11_HI 0x04AC + +#define VL53L1_PATCH__ADDRESS_11_LO 0x04AD + +#define VL53L1_PATCH__ADDRESS_12 0x04AE + +#define VL53L1_PATCH__ADDRESS_12_HI 0x04AE + +#define VL53L1_PATCH__ADDRESS_12_LO 0x04AF + +#define VL53L1_PATCH__ADDRESS_13 0x04B0 + +#define VL53L1_PATCH__ADDRESS_13_HI 0x04B0 + +#define VL53L1_PATCH__ADDRESS_13_LO 0x04B1 + +#define VL53L1_PATCH__ADDRESS_14 0x04B2 + +#define VL53L1_PATCH__ADDRESS_14_HI 0x04B2 + +#define VL53L1_PATCH__ADDRESS_14_LO 0x04B3 + +#define VL53L1_PATCH__ADDRESS_15 0x04B4 + +#define VL53L1_PATCH__ADDRESS_15_HI 0x04B4 + +#define VL53L1_PATCH__ADDRESS_15_LO 0x04B5 + +#define VL53L1_SPI_ASYNC_MUX__CTRL 0x04C0 + +#define VL53L1_CLK__CONFIG 0x04C4 + +#define VL53L1_GPIO_LV_MUX__CTRL 0x04CC + +#define VL53L1_GPIO_LV_PAD__CTRL 0x04CD + +#define VL53L1_PAD_I2C_LV__CONFIG 0x04D0 + +#define VL53L1_PAD_STARTUP_MODE__VALUE_RO_GO1 0x04D4 + +#define VL53L1_HOST_IF__STATUS_GO1 0x04D5 + +#define VL53L1_MCU_CLK_GATING__CTRL 0x04D8 + +#define VL53L1_TEST__BIST_ROM_CTRL 0x04E0 + +#define VL53L1_TEST__BIST_ROM_RESULT 0x04E1 + +#define VL53L1_TEST__BIST_ROM_MCU_SIG 0x04E2 + +#define VL53L1_TEST__BIST_ROM_MCU_SIG_HI 0x04E2 + +#define VL53L1_TEST__BIST_ROM_MCU_SIG_LO 0x04E3 + +#define VL53L1_TEST__BIST_RAM_CTRL 0x04E4 + +#define VL53L1_TEST__BIST_RAM_RESULT 0x04E5 + +#define VL53L1_TEST__TMC 0x04E8 + +#define VL53L1_TEST__PLL_BIST_MIN_THRESHOLD 0x04F0 + +#define VL53L1_TEST__PLL_BIST_MIN_THRESHOLD_HI 0x04F0 + +#define VL53L1_TEST__PLL_BIST_MIN_THRESHOLD_LO 0x04F1 + +#define VL53L1_TEST__PLL_BIST_MAX_THRESHOLD 0x04F2 + +#define VL53L1_TEST__PLL_BIST_MAX_THRESHOLD_HI 0x04F2 + +#define VL53L1_TEST__PLL_BIST_MAX_THRESHOLD_LO 0x04F3 + +#define VL53L1_TEST__PLL_BIST_COUNT_OUT 0x04F4 + +#define VL53L1_TEST__PLL_BIST_COUNT_OUT_HI 0x04F4 + +#define VL53L1_TEST__PLL_BIST_COUNT_OUT_LO 0x04F5 + +#define VL53L1_TEST__PLL_BIST_GONOGO 0x04F6 + +#define VL53L1_TEST__PLL_BIST_CTRL 0x04F7 + +#define VL53L1_RANGING_CORE__DEVICE_ID 0x0680 + +#define VL53L1_RANGING_CORE__REVISION_ID 0x0681 + +#define VL53L1_RANGING_CORE__CLK_CTRL1 0x0683 + +#define VL53L1_RANGING_CORE__CLK_CTRL2 0x0684 + +#define VL53L1_RANGING_CORE__WOI_1 0x0685 + +#define VL53L1_RANGING_CORE__WOI_REF_1 0x0686 + +#define VL53L1_RANGING_CORE__START_RANGING 0x0687 + +#define VL53L1_RANGING_CORE__LOW_LIMIT_1 0x0690 + +#define VL53L1_RANGING_CORE__HIGH_LIMIT_1 0x0691 + +#define VL53L1_RANGING_CORE__LOW_LIMIT_REF_1 0x0692 + +#define VL53L1_RANGING_CORE__HIGH_LIMIT_REF_1 0x0693 + +#define VL53L1_RANGING_CORE__QUANTIFIER_1_MSB 0x0694 + +#define VL53L1_RANGING_CORE__QUANTIFIER_1_LSB 0x0695 + +#define VL53L1_RANGING_CORE__QUANTIFIER_REF_1_MSB 0x0696 + +#define VL53L1_RANGING_CORE__QUANTIFIER_REF_1_LSB 0x0697 + +#define VL53L1_RANGING_CORE__AMBIENT_OFFSET_1_MSB 0x0698 + +#define VL53L1_RANGING_CORE__AMBIENT_OFFSET_1_LSB 0x0699 + +#define VL53L1_RANGING_CORE__AMBIENT_OFFSET_REF_1_MSB 0x069A + +#define VL53L1_RANGING_CORE__AMBIENT_OFFSET_REF_1_LSB 0x069B + +#define VL53L1_RANGING_CORE__FILTER_STRENGTH_1 0x069C + +#define VL53L1_RANGING_CORE__FILTER_STRENGTH_REF_1 0x069D + +#define VL53L1_RANGING_CORE__SIGNAL_EVENT_LIMIT_1_MSB 0x069E + +#define VL53L1_RANGING_CORE__SIGNAL_EVENT_LIMIT_1_LSB 0x069F + +#define VL53L1_RANGING_CORE__SIGNAL_EVENT_LIMIT_REF_1_MSB 0x06A0 + +#define VL53L1_RANGING_CORE__SIGNAL_EVENT_LIMIT_REF_1_LSB 0x06A1 + +#define VL53L1_RANGING_CORE__TIMEOUT_OVERALL_PERIODS_MSB 0x06A4 + +#define VL53L1_RANGING_CORE__TIMEOUT_OVERALL_PERIODS_LSB 0x06A5 + +#define VL53L1_RANGING_CORE__INVERT_HW 0x06A6 + +#define VL53L1_RANGING_CORE__FORCE_HW 0x06A7 + +#define VL53L1_RANGING_CORE__STATIC_HW_VALUE 0x06A8 + +#define VL53L1_RANGING_CORE__FORCE_CONTINUOUS_AMBIENT 0x06A9 + +#define VL53L1_RANGING_CORE__TEST_PHASE_SELECT_TO_FILTER 0x06AA + +#define VL53L1_RANGING_CORE__TEST_PHASE_SELECT_TO_TIMING_GEN 0x06AB + +#define VL53L1_RANGING_CORE__INITIAL_PHASE_VALUE_1 0x06AC + +#define VL53L1_RANGING_CORE__INITIAL_PHASE_VALUE_REF_1 0x06AD + +#define VL53L1_RANGING_CORE__FORCE_UP_IN 0x06AE + +#define VL53L1_RANGING_CORE__FORCE_DN_IN 0x06AF + +#define VL53L1_RANGING_CORE__STATIC_UP_VALUE_1 0x06B0 + +#define VL53L1_RANGING_CORE__STATIC_UP_VALUE_REF_1 0x06B1 + +#define VL53L1_RANGING_CORE__STATIC_DN_VALUE_1 0x06B2 + +#define VL53L1_RANGING_CORE__STATIC_DN_VALUE_REF_1 0x06B3 + +#define VL53L1_RANGING_CORE__MONITOR_UP_DN 0x06B4 + +#define VL53L1_RANGING_CORE__INVERT_UP_DN 0x06B5 + +#define VL53L1_RANGING_CORE__CPUMP_1 0x06B6 + +#define VL53L1_RANGING_CORE__CPUMP_2 0x06B7 + +#define VL53L1_RANGING_CORE__CPUMP_3 0x06B8 + +#define VL53L1_RANGING_CORE__OSC_1 0x06B9 + +#define VL53L1_RANGING_CORE__PLL_1 0x06BB + +#define VL53L1_RANGING_CORE__PLL_2 0x06BC + +#define VL53L1_RANGING_CORE__REFERENCE_1 0x06BD + +#define VL53L1_RANGING_CORE__REFERENCE_3 0x06BF + +#define VL53L1_RANGING_CORE__REFERENCE_4 0x06C0 + +#define VL53L1_RANGING_CORE__REFERENCE_5 0x06C1 + +#define VL53L1_RANGING_CORE__REGAVDD1V2 0x06C3 + +#define VL53L1_RANGING_CORE__CALIB_1 0x06C4 + +#define VL53L1_RANGING_CORE__CALIB_2 0x06C5 + +#define VL53L1_RANGING_CORE__CALIB_3 0x06C6 + +#define VL53L1_RANGING_CORE__TST_MUX_SEL1 0x06C9 + +#define VL53L1_RANGING_CORE__TST_MUX_SEL2 0x06CA + +#define VL53L1_RANGING_CORE__TST_MUX 0x06CB + +#define VL53L1_RANGING_CORE__GPIO_OUT_TESTMUX 0x06CC + +#define VL53L1_RANGING_CORE__CUSTOM_FE 0x06CD + +#define VL53L1_RANGING_CORE__CUSTOM_FE_2 0x06CE + +#define VL53L1_RANGING_CORE__SPAD_READOUT 0x06CF + +#define VL53L1_RANGING_CORE__SPAD_READOUT_1 0x06D0 + +#define VL53L1_RANGING_CORE__SPAD_READOUT_2 0x06D1 + +#define VL53L1_RANGING_CORE__SPAD_PS 0x06D2 + +#define VL53L1_RANGING_CORE__LASER_SAFETY_2 0x06D4 + +#define VL53L1_RANGING_CORE__NVM_CTRL__MODE 0x0780 + +#define VL53L1_RANGING_CORE__NVM_CTRL__PDN 0x0781 + +#define VL53L1_RANGING_CORE__NVM_CTRL__PROGN 0x0782 + +#define VL53L1_RANGING_CORE__NVM_CTRL__READN 0x0783 + +#define VL53L1_RANGING_CORE__NVM_CTRL__PULSE_WIDTH_MSB 0x0784 + +#define VL53L1_RANGING_CORE__NVM_CTRL__PULSE_WIDTH_LSB 0x0785 + +#define VL53L1_RANGING_CORE__NVM_CTRL__HV_RISE_MSB 0x0786 + +#define VL53L1_RANGING_CORE__NVM_CTRL__HV_RISE_LSB 0x0787 + +#define VL53L1_RANGING_CORE__NVM_CTRL__HV_FALL_MSB 0x0788 + +#define VL53L1_RANGING_CORE__NVM_CTRL__HV_FALL_LSB 0x0789 + +#define VL53L1_RANGING_CORE__NVM_CTRL__TST 0x078A + +#define VL53L1_RANGING_CORE__NVM_CTRL__TESTREAD 0x078B + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAIN_MMM 0x078C + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAIN_LMM 0x078D + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAIN_LLM 0x078E + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAIN_LLL 0x078F + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAOUT_MMM 0x0790 + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAOUT_LMM 0x0791 + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAOUT_LLM 0x0792 + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAOUT_LLL 0x0793 + +#define VL53L1_RANGING_CORE__NVM_CTRL__ADDR 0x0794 + +#define VL53L1_RANGING_CORE__NVM_CTRL__DATAOUT_ECC 0x0795 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_0 0x0796 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_1 0x0797 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_2 0x0798 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_3 0x0799 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_4 0x079A + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_5 0x079B + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_6 0x079C + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_7 0x079D + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_8 0x079E + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_9 0x079F + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_10 0x07A0 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_11 0x07A1 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_12 0x07A2 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_13 0x07A3 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_14 0x07A4 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_15 0x07A5 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_16 0x07A6 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_17 0x07A7 + +#define VL53L1_RANGING_CORE__SPAD_SHIFT_EN 0x07BA + +#define VL53L1_RANGING_CORE__SPAD_DISABLE_CTRL 0x07BB + +#define VL53L1_RANGING_CORE__SPAD_EN_SHIFT_OUT_DEBUG 0x07BC + +#define VL53L1_RANGING_CORE__SPI_MODE 0x07BD + +#define VL53L1_RANGING_CORE__GPIO_DIR 0x07BE + +#define VL53L1_RANGING_CORE__VCSEL_PERIOD 0x0880 + +#define VL53L1_RANGING_CORE__VCSEL_START 0x0881 + +#define VL53L1_RANGING_CORE__VCSEL_STOP 0x0882 + +#define VL53L1_RANGING_CORE__VCSEL_1 0x0885 + +#define VL53L1_RANGING_CORE__VCSEL_STATUS 0x088D + +#define VL53L1_RANGING_CORE__STATUS 0x0980 + +#define VL53L1_RANGING_CORE__LASER_CONTINUITY_STATE 0x0981 + +#define VL53L1_RANGING_CORE__RANGE_1_MMM 0x0982 + +#define VL53L1_RANGING_CORE__RANGE_1_LMM 0x0983 + +#define VL53L1_RANGING_CORE__RANGE_1_LLM 0x0984 + +#define VL53L1_RANGING_CORE__RANGE_1_LLL 0x0985 + +#define VL53L1_RANGING_CORE__RANGE_REF_1_MMM 0x0986 + +#define VL53L1_RANGING_CORE__RANGE_REF_1_LMM 0x0987 + +#define VL53L1_RANGING_CORE__RANGE_REF_1_LLM 0x0988 + +#define VL53L1_RANGING_CORE__RANGE_REF_1_LLL 0x0989 + +#define VL53L1_RANGING_CORE__AMBIENT_WINDOW_EVENTS_1_MMM 0x098A + +#define VL53L1_RANGING_CORE__AMBIENT_WINDOW_EVENTS_1_LMM 0x098B + +#define VL53L1_RANGING_CORE__AMBIENT_WINDOW_EVENTS_1_LLM 0x098C + +#define VL53L1_RANGING_CORE__AMBIENT_WINDOW_EVENTS_1_LLL 0x098D + +#define VL53L1_RANGING_CORE__RANGING_TOTAL_EVENTS_1_MMM 0x098E + +#define VL53L1_RANGING_CORE__RANGING_TOTAL_EVENTS_1_LMM 0x098F + +#define VL53L1_RANGING_CORE__RANGING_TOTAL_EVENTS_1_LLM 0x0990 + +#define VL53L1_RANGING_CORE__RANGING_TOTAL_EVENTS_1_LLL 0x0991 + +#define VL53L1_RANGING_CORE__SIGNAL_TOTAL_EVENTS_1_MMM 0x0992 + +#define VL53L1_RANGING_CORE__SIGNAL_TOTAL_EVENTS_1_LMM 0x0993 + +#define VL53L1_RANGING_CORE__SIGNAL_TOTAL_EVENTS_1_LLM 0x0994 + +#define VL53L1_RANGING_CORE__SIGNAL_TOTAL_EVENTS_1_LLL 0x0995 + +#define VL53L1_RANGING_CORE__TOTAL_PERIODS_ELAPSED_1_MM 0x0996 + +#define VL53L1_RANGING_CORE__TOTAL_PERIODS_ELAPSED_1_LM 0x0997 + +#define VL53L1_RANGING_CORE__TOTAL_PERIODS_ELAPSED_1_LL 0x0998 + +#define VL53L1_RANGING_CORE__AMBIENT_MISMATCH_MM 0x0999 + +#define VL53L1_RANGING_CORE__AMBIENT_MISMATCH_LM 0x099A + +#define VL53L1_RANGING_CORE__AMBIENT_MISMATCH_LL 0x099B + +#define VL53L1_RANGING_CORE__AMBIENT_WINDOW_EVENTS_REF_1_MMM 0x099C + +#define VL53L1_RANGING_CORE__AMBIENT_WINDOW_EVENTS_REF_1_LMM 0x099D + +#define VL53L1_RANGING_CORE__AMBIENT_WINDOW_EVENTS_REF_1_LLM 0x099E + +#define VL53L1_RANGING_CORE__AMBIENT_WINDOW_EVENTS_REF_1_LLL 0x099F + +#define VL53L1_RANGING_CORE__RANGING_TOTAL_EVENTS_REF_1_MMM 0x09A0 + +#define VL53L1_RANGING_CORE__RANGING_TOTAL_EVENTS_REF_1_LMM 0x09A1 + +#define VL53L1_RANGING_CORE__RANGING_TOTAL_EVENTS_REF_1_LLM 0x09A2 + +#define VL53L1_RANGING_CORE__RANGING_TOTAL_EVENTS_REF_1_LLL 0x09A3 + +#define VL53L1_RANGING_CORE__SIGNAL_TOTAL_EVENTS_REF_1_MMM 0x09A4 + +#define VL53L1_RANGING_CORE__SIGNAL_TOTAL_EVENTS_REF_1_LMM 0x09A5 + +#define VL53L1_RANGING_CORE__SIGNAL_TOTAL_EVENTS_REF_1_LLM 0x09A6 + +#define VL53L1_RANGING_CORE__SIGNAL_TOTAL_EVENTS_REF_1_LLL 0x09A7 + +#define VL53L1_RANGING_CORE__TOTAL_PERIODS_ELAPSED_REF_1_MM 0x09A8 + +#define VL53L1_RANGING_CORE__TOTAL_PERIODS_ELAPSED_REF_1_LM 0x09A9 + +#define VL53L1_RANGING_CORE__TOTAL_PERIODS_ELAPSED_REF_1_LL 0x09AA + +#define VL53L1_RANGING_CORE__AMBIENT_MISMATCH_REF_MM 0x09AB + +#define VL53L1_RANGING_CORE__AMBIENT_MISMATCH_REF_LM 0x09AC + +#define VL53L1_RANGING_CORE__AMBIENT_MISMATCH_REF_LL 0x09AD + +#define VL53L1_RANGING_CORE__GPIO_CONFIG__A0 0x0A00 + +#define VL53L1_RANGING_CORE__RESET_CONTROL__A0 0x0A01 + +#define VL53L1_RANGING_CORE__INTR_MANAGER__A0 0x0A02 + +#define VL53L1_RANGING_CORE__POWER_FSM_TIME_OSC__A0 0x0A06 + +#define VL53L1_RANGING_CORE__VCSEL_ATEST__A0 0x0A07 + +#define VL53L1_RANGING_CORE__VCSEL_PERIOD_CLIPPED__A0 0x0A08 + +#define VL53L1_RANGING_CORE__VCSEL_STOP_CLIPPED__A0 0x0A09 + +#define VL53L1_RANGING_CORE__CALIB_2__A0 0x0A0A + +#define VL53L1_RANGING_CORE__STOP_CONDITION__A0 0x0A0B + +#define VL53L1_RANGING_CORE__STATUS_RESET__A0 0x0A0C + +#define VL53L1_RANGING_CORE__READOUT_CFG__A0 0x0A0D + +#define VL53L1_RANGING_CORE__WINDOW_SETTING__A0 0x0A0E + +#define VL53L1_RANGING_CORE__VCSEL_DELAY__A0 0x0A1A + +#define VL53L1_RANGING_CORE__REFERENCE_2__A0 0x0A1B + +#define VL53L1_RANGING_CORE__REGAVDD1V2__A0 0x0A1D + +#define VL53L1_RANGING_CORE__TST_MUX__A0 0x0A1F + +#define VL53L1_RANGING_CORE__CUSTOM_FE_2__A0 0x0A20 + +#define VL53L1_RANGING_CORE__SPAD_READOUT__A0 0x0A21 + +#define VL53L1_RANGING_CORE__CPUMP_1__A0 0x0A22 + +#define VL53L1_RANGING_CORE__SPARE_REGISTER__A0 0x0A23 + +#define VL53L1_RANGING_CORE__VCSEL_CONT_STAGE5_BYPASS__A0 0x0A24 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_18 0x0A25 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_19 0x0A26 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_20 0x0A27 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_21 0x0A28 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_22 0x0A29 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_23 0x0A2A + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_24 0x0A2B + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_25 0x0A2C + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_26 0x0A2D + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_27 0x0A2E + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_28 0x0A2F + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_29 0x0A30 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_30 0x0A31 + +#define VL53L1_RANGING_CORE__RET_SPAD_EN_31 0x0A32 + +#define VL53L1_RANGING_CORE__REF_SPAD_EN_0__EWOK 0x0A33 + +#define VL53L1_RANGING_CORE__REF_SPAD_EN_1__EWOK 0x0A34 + +#define VL53L1_RANGING_CORE__REF_SPAD_EN_2__EWOK 0x0A35 + +#define VL53L1_RANGING_CORE__REF_SPAD_EN_3__EWOK 0x0A36 + +#define VL53L1_RANGING_CORE__REF_SPAD_EN_4__EWOK 0x0A37 + +#define VL53L1_RANGING_CORE__REF_SPAD_EN_5__EWOK 0x0A38 + +#define VL53L1_RANGING_CORE__REF_EN_START_SELECT 0x0A39 + +#define VL53L1_RANGING_CORE__REGDVDD1V2_ATEST__EWOK 0x0A41 + +#define VL53L1_SOFT_RESET_GO1 0x0B00 + +#define VL53L1_PRIVATE__PATCH_BASE_ADDR_RSLV 0x0E00 + +#define VL53L1_PREV_SHADOW_RESULT__INTERRUPT_STATUS 0x0ED0 + +#define VL53L1_PREV_SHADOW_RESULT__RANGE_STATUS 0x0ED1 + +#define VL53L1_PREV_SHADOW_RESULT__REPORT_STATUS 0x0ED2 + +#define VL53L1_PREV_SHADOW_RESULT__STREAM_COUNT 0x0ED3 + +#define VL53L1_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 0x0ED4 + +#define VL53L1_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0ED4 + +#define VL53L1_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0ED5 + +#define VL53L1_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0 0x0ED6 + +#define VL53L1_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x0ED6 + +#define VL53L1_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x0ED7 + +#define VL53L1_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0 0x0ED8 + +#define VL53L1_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_HI 0x0ED8 + +#define VL53L1_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_LO 0x0ED9 + +#define VL53L1_PREV_SHADOW_RESULT__SIGMA_SD0 0x0EDA + +#define VL53L1_PREV_SHADOW_RESULT__SIGMA_SD0_HI 0x0EDA + +#define VL53L1_PREV_SHADOW_RESULT__SIGMA_SD0_LO 0x0EDB + +#define VL53L1_PREV_SHADOW_RESULT__PHASE_SD0 0x0EDC + +#define VL53L1_PREV_SHADOW_RESULT__PHASE_SD0_HI 0x0EDC + +#define VL53L1_PREV_SHADOW_RESULT__PHASE_SD0_LO 0x0EDD + +#define VL53L1_PREV_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0EDE + +#define VL53L1_PREV__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_HI 0x0EDE + +#define VL53L1_PREV__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_LO 0x0EDF + +#define VL53L1_PREV__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 0x0EE0 + +#define VL53L1_PPEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_HI 0x0EE0 + +#define VL53L1_PPEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_LO 0x0EE1 + +#define VL53L1_PREV_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0 0x0EE2 + +#define VL53L1_PREV_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0EE2 + +#define VL53L1_PREV_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0EE3 + +#define VL53L1_PREV_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0 0x0EE4 + +#define VL53L1_PREV_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0EE4 + +#define VL53L1_PREV_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0EE5 + +#define VL53L1_PREV_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0 0x0EE6 + +#define VL53L1_PREV_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x0EE6 + +#define VL53L1_PREV_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x0EE7 + +#define VL53L1_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1 0x0EE8 + +#define VL53L1_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_HI 0x0EE8 + +#define VL53L1_PREV_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_LO 0x0EE9 + +#define VL53L1_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1 0x0EEA + +#define VL53L1_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_HI 0x0EEA + +#define VL53L1_PREV_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_LO 0x0EEB + +#define VL53L1_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1 0x0EEC + +#define VL53L1_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_HI 0x0EEC + +#define VL53L1_PREV_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_LO 0x0EED + +#define VL53L1_PREV_SHADOW_RESULT__SIGMA_SD1 0x0EEE + +#define VL53L1_PREV_SHADOW_RESULT__SIGMA_SD1_HI 0x0EEE + +#define VL53L1_PREV_SHADOW_RESULT__SIGMA_SD1_LO 0x0EEF + +#define VL53L1_PREV_SHADOW_RESULT__PHASE_SD1 0x0EF0 + +#define VL53L1_PREV_SHADOW_RESULT__PHASE_SD1_HI 0x0EF0 + +#define VL53L1_PREV_SHADOW_RESULT__PHASE_SD1_LO 0x0EF1 + +#define VL53L1_PREV_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1 0x0EF2 + +#define VL53L1_PFINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_HI 0x0EF2 + +#define VL53L1_PFINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_LO 0x0EF3 + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_0_SD1 0x0EF4 + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_0_SD1_HI 0x0EF4 + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_0_SD1_LO 0x0EF5 + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_1_SD1 0x0EF6 + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_1_SD1_HI 0x0EF6 + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_1_SD1_LO 0x0EF7 + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_2_SD1 0x0EF8 + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_2_SD1_HI 0x0EF8 + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_2_SD1_LO 0x0EF9 + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_3_SD1 0x0EFA + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_3_SD1_HI 0x0EFA + +#define VL53L1_PREV_SHADOW_RESULT__SPARE_3_SD1_LO 0x0EFB + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 0x0EFC + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_3 0x0EFC + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_2 0x0EFD + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_1 0x0EFE + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_0 0x0EFF + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0 0x0F00 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_3 0x0F00 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_2 0x0F01 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_1 0x0F02 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_0 0x0F03 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0 0x0F04 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_3 0x0F04 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_2 0x0F05 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_1 0x0F06 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_0 0x0F07 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0 0x0F08 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_3 0x0F08 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_2 0x0F09 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_1 0x0F0A + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_0 0x0F0B + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1 0x0F0C + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_3 0x0F0C + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_2 0x0F0D + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_1 0x0F0E + +#define VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_0 0x0F0F + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1 0x0F10 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_3 0x0F10 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_2 0x0F11 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_1 0x0F12 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_0 0x0F13 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1 0x0F14 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_3 0x0F14 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_2 0x0F15 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_1 0x0F16 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_0 0x0F17 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1 0x0F18 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_3 0x0F18 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_2 0x0F19 + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_1 0x0F1A + +#define VL53L1_PREV_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_0 0x0F1B + +#define VL53L1_PREV_SHADOW_RESULT_CORE__SPARE_0 0x0F1C + +#define VL53L1_RESULT__DEBUG_STATUS 0x0F20 + +#define VL53L1_RESULT__DEBUG_STAGE 0x0F21 + +#define VL53L1_GPH__SYSTEM__THRESH_RATE_HIGH 0x0F24 + +#define VL53L1_GPH__SYSTEM__THRESH_RATE_HIGH_HI 0x0F24 + +#define VL53L1_GPH__SYSTEM__THRESH_RATE_HIGH_LO 0x0F25 + +#define VL53L1_GPH__SYSTEM__THRESH_RATE_LOW 0x0F26 + +#define VL53L1_GPH__SYSTEM__THRESH_RATE_LOW_HI 0x0F26 + +#define VL53L1_GPH__SYSTEM__THRESH_RATE_LOW_LO 0x0F27 + +#define VL53L1_GPH__SYSTEM__INTERRUPT_CONFIG_GPIO 0x0F28 + +#define VL53L1_GPH__DSS_CONFIG__ROI_MODE_CONTROL 0x0F2F + +#define VL53L1_GPH__DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT 0x0F30 + +#define VL53L1_GPH__DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_HI 0x0F30 + +#define VL53L1_GPH__DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT_LO 0x0F31 + +#define VL53L1_GPH__DSS_CONFIG__MANUAL_BLOCK_SELECT 0x0F32 + +#define VL53L1_GPH__DSS_CONFIG__MAX_SPADS_LIMIT 0x0F33 + +#define VL53L1_GPH__DSS_CONFIG__MIN_SPADS_LIMIT 0x0F34 + +#define VL53L1_GPH__MM_CONFIG__TIMEOUT_MACROP_A_HI 0x0F36 + +#define VL53L1_GPH__MM_CONFIG__TIMEOUT_MACROP_A_LO 0x0F37 + +#define VL53L1_GPH__MM_CONFIG__TIMEOUT_MACROP_B_HI 0x0F38 + +#define VL53L1_GPH__MM_CONFIG__TIMEOUT_MACROP_B_LO 0x0F39 + +#define VL53L1_GPH__RANGE_CONFIG__TIMEOUT_MACROP_A_HI 0x0F3A + +#define VL53L1_GPH__RANGE_CONFIG__TIMEOUT_MACROP_A_LO 0x0F3B + +#define VL53L1_GPH__RANGE_CONFIG__VCSEL_PERIOD_A 0x0F3C + +#define VL53L1_GPH__RANGE_CONFIG__VCSEL_PERIOD_B 0x0F3D + +#define VL53L1_GPH__RANGE_CONFIG__TIMEOUT_MACROP_B_HI 0x0F3E + +#define VL53L1_GPH__RANGE_CONFIG__TIMEOUT_MACROP_B_LO 0x0F3F + +#define VL53L1_GPH__RANGE_CONFIG__SIGMA_THRESH 0x0F40 + +#define VL53L1_GPH__RANGE_CONFIG__SIGMA_THRESH_HI 0x0F40 + +#define VL53L1_GPH__RANGE_CONFIG__SIGMA_THRESH_LO 0x0F41 + +#define VL53L1_GPH__RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS 0x0F42 + +#define VL53L1_GPH__RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_HI 0x0F42 + +#define VL53L1_GPH__RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS_LO 0x0F43 + +#define VL53L1_GPH__RANGE_CONFIG__VALID_PHASE_LOW 0x0F44 + +#define VL53L1_GPH__RANGE_CONFIG__VALID_PHASE_HIGH 0x0F45 + +#define VL53L1_FIRMWARE__INTERNAL_STREAM_COUNT_DIV 0x0F46 + +#define VL53L1_FIRMWARE__INTERNAL_STREAM_COUNTER_VAL 0x0F47 + +#define VL53L1_DSS_CALC__ROI_CTRL 0x0F54 + +#define VL53L1_DSS_CALC__SPARE_1 0x0F55 + +#define VL53L1_DSS_CALC__SPARE_2 0x0F56 + +#define VL53L1_DSS_CALC__SPARE_3 0x0F57 + +#define VL53L1_DSS_CALC__SPARE_4 0x0F58 + +#define VL53L1_DSS_CALC__SPARE_5 0x0F59 + +#define VL53L1_DSS_CALC__SPARE_6 0x0F5A + +#define VL53L1_DSS_CALC__SPARE_7 0x0F5B + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_0 0x0F5C + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_1 0x0F5D + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_2 0x0F5E + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_3 0x0F5F + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_4 0x0F60 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_5 0x0F61 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_6 0x0F62 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_7 0x0F63 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_8 0x0F64 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_9 0x0F65 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_10 0x0F66 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_11 0x0F67 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_12 0x0F68 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_13 0x0F69 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_14 0x0F6A + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_15 0x0F6B + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_16 0x0F6C + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_17 0x0F6D + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_18 0x0F6E + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_19 0x0F6F + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_20 0x0F70 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_21 0x0F71 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_22 0x0F72 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_23 0x0F73 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_24 0x0F74 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_25 0x0F75 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_26 0x0F76 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_27 0x0F77 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_28 0x0F78 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_29 0x0F79 + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_30 0x0F7A + +#define VL53L1_DSS_CALC__USER_ROI_SPAD_EN_31 0x0F7B + +#define VL53L1_DSS_CALC__USER_ROI_0 0x0F7C + +#define VL53L1_DSS_CALC__USER_ROI_1 0x0F7D + +#define VL53L1_DSS_CALC__MODE_ROI_0 0x0F7E + +#define VL53L1_DSS_CALC__MODE_ROI_1 0x0F7F + +#define VL53L1_SIGMA_ESTIMATOR_CALC__SPARE_0 0x0F80 + +#define VL53L1_VHV_RESULT__PEAK_SIGNAL_RATE_MCPS 0x0F82 + +#define VL53L1_VHV_RESULT__PEAK_SIGNAL_RATE_MCPS_HI 0x0F82 + +#define VL53L1_VHV_RESULT__PEAK_SIGNAL_RATE_MCPS_LO 0x0F83 + +#define VL53L1_VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF 0x0F84 + +#define VL53L1_VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF_3 0x0F84 + +#define VL53L1_VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF_2 0x0F85 + +#define VL53L1_VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF_1 0x0F86 + +#define VL53L1_VHV_RESULT__SIGNAL_TOTAL_EVENTS_REF_0 0x0F87 + +#define VL53L1_PHASECAL_RESULT__PHASE_OUTPUT_REF 0x0F88 + +#define VL53L1_PHASECAL_RESULT__PHASE_OUTPUT_REF_HI 0x0F88 + +#define VL53L1_PHASECAL_RESULT__PHASE_OUTPUT_REF_LO 0x0F89 + +#define VL53L1_DSS_RESULT__TOTAL_RATE_PER_SPAD 0x0F8A + +#define VL53L1_DSS_RESULT__TOTAL_RATE_PER_SPAD_HI 0x0F8A + +#define VL53L1_DSS_RESULT__TOTAL_RATE_PER_SPAD_LO 0x0F8B + +#define VL53L1_DSS_RESULT__ENABLED_BLOCKS 0x0F8C + +#define VL53L1_DSS_RESULT__NUM_REQUESTED_SPADS 0x0F8E + +#define VL53L1_DSS_RESULT__NUM_REQUESTED_SPADS_HI 0x0F8E + +#define VL53L1_DSS_RESULT__NUM_REQUESTED_SPADS_LO 0x0F8F + +#define VL53L1_MM_RESULT__INNER_INTERSECTION_RATE 0x0F92 + +#define VL53L1_MM_RESULT__INNER_INTERSECTION_RATE_HI 0x0F92 + +#define VL53L1_MM_RESULT__INNER_INTERSECTION_RATE_LO 0x0F93 + +#define VL53L1_MM_RESULT__OUTER_COMPLEMENT_RATE 0x0F94 + +#define VL53L1_MM_RESULT__OUTER_COMPLEMENT_RATE_HI 0x0F94 + +#define VL53L1_MM_RESULT__OUTER_COMPLEMENT_RATE_LO 0x0F95 + +#define VL53L1_MM_RESULT__TOTAL_OFFSET 0x0F96 + +#define VL53L1_MM_RESULT__TOTAL_OFFSET_HI 0x0F96 + +#define VL53L1_MM_RESULT__TOTAL_OFFSET_LO 0x0F97 + +#define VL53L1_XTALK_CALC__XTALK_FOR_ENABLED_SPADS 0x0F98 + +#define VL53L1_XTALK_CALC__XTALK_FOR_ENABLED_SPADS_3 0x0F98 + +#define VL53L1_XTALK_CALC__XTALK_FOR_ENABLED_SPADS_2 0x0F99 + +#define VL53L1_XTALK_CALC__XTALK_FOR_ENABLED_SPADS_1 0x0F9A + +#define VL53L1_XTALK_CALC__XTALK_FOR_ENABLED_SPADS_0 0x0F9B + +#define VL53L1_XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS 0x0F9C + +#define VL53L1_XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS_3 0x0F9C + +#define VL53L1_XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS_2 0x0F9D + +#define VL53L1_XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS_1 0x0F9E + +#define VL53L1_XTALK_RESULT__AVG_XTALK_USER_ROI_KCPS_0 0x0F9F + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS 0x0FA0 + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS_3 0x0FA0 + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS_2 0x0FA1 + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS_1 0x0FA2 + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_INNER_ROI_KCPS_0 0x0FA3 + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS 0x0FA4 + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS_3 0x0FA4 + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS_2 0x0FA5 + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS_1 0x0FA6 + +#define VL53L1_XTALK_RESULT__AVG_XTALK_MM_OUTER_ROI_KCPS_0 0x0FA7 + +#define VL53L1_RANGE_RESULT__ACCUM_PHASE 0x0FA8 + +#define VL53L1_RANGE_RESULT__ACCUM_PHASE_3 0x0FA8 + +#define VL53L1_RANGE_RESULT__ACCUM_PHASE_2 0x0FA9 + +#define VL53L1_RANGE_RESULT__ACCUM_PHASE_1 0x0FAA + +#define VL53L1_RANGE_RESULT__ACCUM_PHASE_0 0x0FAB + +#define VL53L1_RANGE_RESULT__OFFSET_CORRECTED_RANGE 0x0FAC + +#define VL53L1_RANGE_RESULT__OFFSET_CORRECTED_RANGE_HI 0x0FAC + +#define VL53L1_RANGE_RESULT__OFFSET_CORRECTED_RANGE_LO 0x0FAD + +#define VL53L1_SHADOW_PHASECAL_RESULT__VCSEL_START 0x0FAE + +#define VL53L1_SHADOW_RESULT__INTERRUPT_STATUS 0x0FB0 + +#define VL53L1_SHADOW_RESULT__RANGE_STATUS 0x0FB1 + +#define VL53L1_SHADOW_RESULT__REPORT_STATUS 0x0FB2 + +#define VL53L1_SHADOW_RESULT__STREAM_COUNT 0x0FB3 + +#define VL53L1_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0 0x0FB4 + +#define VL53L1_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0FB4 + +#define VL53L1_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0FB5 + +#define VL53L1_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0 0x0FB6 + +#define VL53L1_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x0FB6 + +#define VL53L1_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x0FB7 + +#define VL53L1_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0 0x0FB8 + +#define VL53L1_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_HI 0x0FB8 + +#define VL53L1_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD0_LO 0x0FB9 + +#define VL53L1_SHADOW_RESULT__SIGMA_SD0 0x0FBA + +#define VL53L1_SHADOW_RESULT__SIGMA_SD0_HI 0x0FBA + +#define VL53L1_SHADOW_RESULT__SIGMA_SD0_LO 0x0FBB + +#define VL53L1_SHADOW_RESULT__PHASE_SD0 0x0FBC + +#define VL53L1_SHADOW_RESULT__PHASE_SD0_HI 0x0FBC + +#define VL53L1_SHADOW_RESULT__PHASE_SD0_LO 0x0FBD + +#define VL53L1_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0 0x0FBE + +#define VL53L1_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_HI 0x0FBE + +#define VL53L1_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0_LO 0x0FBF + +#define VL53L1_SHPEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0 0x0FC0 + +#define VL53L1_SHPEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_HI 0x0FC0 + +#define VL53L1_SHPEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0_LO 0x0FC1 + +#define VL53L1_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0 0x0FC2 + +#define VL53L1_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0FC2 + +#define VL53L1_SHADOW_RESULT__MM_INNER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0FC3 + +#define VL53L1_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0 0x0FC4 + +#define VL53L1_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_HI 0x0FC4 + +#define VL53L1_SHADOW_RESULT__MM_OUTER_ACTUAL_EFFECTIVE_SPADS_SD0_LO 0x0FC5 + +#define VL53L1_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0 0x0FC6 + +#define VL53L1_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_HI 0x0FC6 + +#define VL53L1_SHADOW_RESULT__AVG_SIGNAL_COUNT_RATE_MCPS_SD0_LO 0x0FC7 + +#define VL53L1_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1 0x0FC8 + +#define VL53L1_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_HI 0x0FC8 + +#define VL53L1_SHADOW_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD1_LO 0x0FC9 + +#define VL53L1_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1 0x0FCA + +#define VL53L1_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_HI 0x0FCA + +#define VL53L1_SHADOW_RESULT__PEAK_SIGNAL_COUNT_RATE_MCPS_SD1_LO 0x0FCB + +#define VL53L1_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1 0x0FCC + +#define VL53L1_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_HI 0x0FCC + +#define VL53L1_SHADOW_RESULT__AMBIENT_COUNT_RATE_MCPS_SD1_LO 0x0FCD + +#define VL53L1_SHADOW_RESULT__SIGMA_SD1 0x0FCE + +#define VL53L1_SHADOW_RESULT__SIGMA_SD1_HI 0x0FCE + +#define VL53L1_SHADOW_RESULT__SIGMA_SD1_LO 0x0FCF + +#define VL53L1_SHADOW_RESULT__PHASE_SD1 0x0FD0 + +#define VL53L1_SHADOW_RESULT__PHASE_SD1_HI 0x0FD0 + +#define VL53L1_SHADOW_RESULT__PHASE_SD1_LO 0x0FD1 + +#define VL53L1_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1 0x0FD2 + +#define VL53L1_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_HI 0x0FD2 + +#define VL53L1_SHADOW_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD1_LO 0x0FD3 + +#define VL53L1_SHADOW_RESULT__SPARE_0_SD1 0x0FD4 + +#define VL53L1_SHADOW_RESULT__SPARE_0_SD1_HI 0x0FD4 + +#define VL53L1_SHADOW_RESULT__SPARE_0_SD1_LO 0x0FD5 + +#define VL53L1_SHADOW_RESULT__SPARE_1_SD1 0x0FD6 + +#define VL53L1_SHADOW_RESULT__SPARE_1_SD1_HI 0x0FD6 + +#define VL53L1_SHADOW_RESULT__SPARE_1_SD1_LO 0x0FD7 + +#define VL53L1_SHADOW_RESULT__SPARE_2_SD1 0x0FD8 + +#define VL53L1_SHADOW_RESULT__SPARE_2_SD1_HI 0x0FD8 + +#define VL53L1_SHADOW_RESULT__SPARE_2_SD1_LO 0x0FD9 + +#define VL53L1_SHADOW_RESULT__SPARE_3_SD1 0x0FDA + +#define VL53L1_SHADOW_RESULT__THRESH_INFO 0x0FDB + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 0x0FDC + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_3 0x0FDC + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_2 0x0FDD + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_1 0x0FDE + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0_0 0x0FDF + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0 0x0FE0 + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_3 0x0FE0 + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_2 0x0FE1 + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_1 0x0FE2 + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD0_0 0x0FE3 + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0 0x0FE4 + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_3 0x0FE4 + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_2 0x0FE5 + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_1 0x0FE6 + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD0_0 0x0FE7 + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0 0x0FE8 + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_3 0x0FE8 + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_2 0x0FE9 + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_1 0x0FEA + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD0_0 0x0FEB + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1 0x0FEC + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_3 0x0FEC + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_2 0x0FED + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_1 0x0FEE + +#define VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD1_0 0x0FEF + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1 0x0FF0 + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_3 0x0FF0 + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_2 0x0FF1 + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_1 0x0FF2 + +#define VL53L1_SHADOW_RESULT_CORE__RANGING_TOTAL_EVENTS_SD1_0 0x0FF3 + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1 0x0FF4 + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_3 0x0FF4 + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_2 0x0FF5 + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_1 0x0FF6 + +#define VL53L1_SHADOW_RESULT_CORE__SIGNAL_TOTAL_EVENTS_SD1_0 0x0FF7 + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1 0x0FF8 + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_3 0x0FF8 + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_2 0x0FF9 + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_1 0x0FFA + +#define VL53L1_SHADOW_RESULT_CORE__TOTAL_PERIODS_ELAPSED_SD1_0 0x0FFB + +#define VL53L1_SHADOW_RESULT_CORE__SPARE_0 0x0FFC + +#define VL53L1_SHADOW_PHASECAL_RESULT__REFERENCE_PHASE_HI 0x0FFE + +#define VL53L1_SHADOW_PHASECAL_RESULT__REFERENCE_PHASE_LO 0x0FFF + + + + + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_register_settings.h b/drivers/input/misc/vl53L1/inc/vl53l1_register_settings.h new file mode 100644 index 000000000000..856777bd93e5 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_register_settings.h @@ -0,0 +1,130 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_REGISTER_SETTINGS_H_ +#define _VL53L1_REGISTER_SETTINGS_H_ + + + + + + +#define VL53L1_DEVICESCHEDULERMODE_PSEUDO_SOLO 0x00 +#define VL53L1_DEVICESCHEDULERMODE_STREAMING 0x01 +#define VL53L1_DEVICESCHEDULERMODE_HISTOGRAM 0x02 + + + + + +#define VL53L1_DEVICEREADOUTMODE_SINGLE_SD (0x00 << 2) +#define VL53L1_DEVICEREADOUTMODE_DUAL_SD (0x01 << 2) +#define VL53L1_DEVICEREADOUTMODE_SPLIT_READOUT (0x02 << 2) +#define VL53L1_DEVICEREADOUTMODE_SPLIT_MANUAL (0x03 << 2) + + + + + + +#define VL53L1_DEVICEMEASUREMENTMODE_MODE_MASK 0xF0 +#define VL53L1_DEVICEMEASUREMENTMODE_STOP_MASK 0x0F + +#define VL53L1_GROUPEDPARAMETERHOLD_ID_MASK 0x02 + + + +#define VL53L1_EWOK_I2C_DEV_ADDR_DEFAULT 0x29 + +#define VL53L1_OSC_FREQUENCY 0x00 +#define VL53L1_OSC_TRIM_DEFAULT 0x00 +#define VL53L1_OSC_FREQ_SET_DEFAULT 0x00 + +#define VL53L1_RANGE_HISTOGRAM_REF 0x08 +#define VL53L1_RANGE_HISTOGRAM_RET 0x10 +#define VL53L1_RANGE_HISTOGRAM_BOTH 0x18 +#define VL53L1_RANGE_HISTOGRAM_INIT 0x20 +#define VL53L1_RANGE_VHV_INIT 0x40 + + +#define VL53L1_RESULT_RANGE_STATUS 0x1F + + +#define VL53L1_SYSTEM__SEED_CONFIG__MANUAL 0x00 +#define VL53L1_SYSTEM__SEED_CONFIG__STANDARD 0x01 +#define VL53L1_SYSTEM__SEED_CONFIG__EVEN_UPDATE_ONLY 0x02 + + +#define VL53L1_INTERRUPT_CONFIG_LEVEL_LOW 0x00 +#define VL53L1_INTERRUPT_CONFIG_LEVEL_HIGH 0x01 +#define VL53L1_INTERRUPT_CONFIG_OUT_OF_WINDOW 0x02 +#define VL53L1_INTERRUPT_CONFIG_IN_WINDOW 0x03 +#define VL53L1_INTERRUPT_CONFIG_NEW_SAMPLE_READY 0x20 + + +#define VL53L1_CLEAR_RANGE_INT 0x01 +#define VL53L1_CLEAR_ERROR_INT 0x02 + + +#define VL53L1_SEQUENCE_VHV_EN 0x01 +#define VL53L1_SEQUENCE_PHASECAL_EN 0x02 +#define VL53L1_SEQUENCE_REFERENCE_PHASE_EN 0x04 +#define VL53L1_SEQUENCE_DSS1_EN 0x08 +#define VL53L1_SEQUENCE_DSS2_EN 0x10 +#define VL53L1_SEQUENCE_MM1_EN 0x20 +#define VL53L1_SEQUENCE_MM2_EN 0x40 +#define VL53L1_SEQUENCE_RANGE_EN 0x80 + + +#define VL53L1_DSS_CONTROL__ROI_SUBTRACT 0x20 +#define VL53L1_DSS_CONTROL__ROI_INTERSECT 0x10 + +#define VL53L1_DSS_CONTROL__MODE_DISABLED 0x00 +#define VL53L1_DSS_CONTROL__MODE_TARGET_RATE 0x01 +#define VL53L1_DSS_CONTROL__MODE_EFFSPADS 0x02 +#define VL53L1_DSS_CONTROL__MODE_BLOCKSELECT 0x03 + + + +#define VL53L1_RANGING_CORE__SPAD_READOUT__STANDARD 0x45 +#define VL53L1_RANGING_CORE__SPAD_READOUT__RETURN_ARRAY_ONLY 0x05 +#define VL53L1_RANGING_CORE__SPAD_READOUT__REFERENCE_ARRAY_ONLY 0x55 +#define VL53L1_RANGING_CORE__SPAD_READOUT__RETURN_SPLIT_ARRAY 0x25 +#define VL53L1_RANGING_CORE__SPAD_READOUT__CALIB_PULSES 0xF5 + + +#define VL53L1_LASER_SAFETY__KEY_VALUE 0x6C + + + +#define VL53L1_RANGE_STATUS__RANGE_STATUS_MASK 0x1F +#define VL53L1_RANGE_STATUS__MAX_THRESHOLD_HIT_MASK 0x20 +#define VL53L1_RANGE_STATUS__MIN_THRESHOLD_HIT_MASK 0x40 +#define VL53L1_RANGE_STATUS__GPH_ID_RANGE_STATUS_MASK 0x80 + + + +#define VL53L1_INTERRUPT_STATUS__INT_STATUS_MASK 0x07 +#define VL53L1_INTERRUPT_STATUS__INT_ERROR_STATUS_MASK 0x18 +#define VL53L1_INTERRUPT_STATUS__GPH_ID_INT_STATUS_MASK 0x20 + + + + +#endif + + + + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_register_structs.h b/drivers/input/misc/vl53L1/inc/vl53l1_register_structs.h new file mode 100644 index 000000000000..1a08dc7f6652 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_register_structs.h @@ -0,0 +1,999 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_REGISTER_STRUCTS_H_ +#define _VL53L1_REGISTER_STRUCTS_H_ + +#include "vl53l1_types.h" +#include "vl53l1_register_map.h" + +#define VL53L1_STATIC_NVM_MANAGED_I2C_INDEX \ + VL53L1_I2C_SLAVE__DEVICE_ADDRESS +#define VL53L1_CUSTOMER_NVM_MANAGED_I2C_INDEX \ + VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0 +#define VL53L1_STATIC_CONFIG_I2C_INDEX \ + VL53L1_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS +#define VL53L1_GENERAL_CONFIG_I2C_INDEX \ + VL53L1_GPH_CONFIG__STREAM_COUNT_UPDATE_VALUE +#define VL53L1_TIMING_CONFIG_I2C_INDEX \ + VL53L1_MM_CONFIG__TIMEOUT_MACROP_A_HI +#define VL53L1_DYNAMIC_CONFIG_I2C_INDEX \ + VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD_0 +#define VL53L1_SYSTEM_CONTROL_I2C_INDEX \ + VL53L1_POWER_MANAGEMENT__GO1_POWER_FORCE +#define VL53L1_SYSTEM_RESULTS_I2C_INDEX \ + VL53L1_RESULT__INTERRUPT_STATUS +#define VL53L1_CORE_RESULTS_I2C_INDEX \ + VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 +#define VL53L1_DEBUG_RESULTS_I2C_INDEX \ + VL53L1_PHASECAL_RESULT__REFERENCE_PHASE +#define VL53L1_NVM_COPY_DATA_I2C_INDEX \ + VL53L1_IDENTIFICATION__MODEL_ID +#define VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_INDEX \ + VL53L1_PREV_SHADOW_RESULT__INTERRUPT_STATUS +#define VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_INDEX \ + VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 +#define VL53L1_PATCH_DEBUG_I2C_INDEX \ + VL53L1_RESULT__DEBUG_STATUS +#define VL53L1_GPH_GENERAL_CONFIG_I2C_INDEX \ + VL53L1_GPH__SYSTEM__THRESH_RATE_HIGH +#define VL53L1_GPH_STATIC_CONFIG_I2C_INDEX \ + VL53L1_GPH__DSS_CONFIG__ROI_MODE_CONTROL +#define VL53L1_GPH_TIMING_CONFIG_I2C_INDEX \ + VL53L1_GPH__MM_CONFIG__TIMEOUT_MACROP_A_HI +#define VL53L1_FW_INTERNAL_I2C_INDEX \ + VL53L1_FIRMWARE__INTERNAL_STREAM_COUNT_DIV +#define VL53L1_PATCH_RESULTS_I2C_INDEX \ + VL53L1_DSS_CALC__ROI_CTRL +#define VL53L1_SHADOW_SYSTEM_RESULTS_I2C_INDEX \ + VL53L1_SHADOW_PHASECAL_RESULT__VCSEL_START +#define VL53L1_SHADOW_CORE_RESULTS_I2C_INDEX \ + VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0 + +#define VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES 11 +#define VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES 23 +#define VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES 32 +#define VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES 22 +#define VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES 23 +#define VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES 18 +#define VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES 5 +#define VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES 44 +#define VL53L1_CORE_RESULTS_I2C_SIZE_BYTES 33 +#define VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES 56 +#define VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES 49 +#define VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES 44 +#define VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES 33 +#define VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES 2 +#define VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES 5 +#define VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES 6 +#define VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES 16 +#define VL53L1_FW_INTERNAL_I2C_SIZE_BYTES 2 +#define VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES 90 +#define VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES 82 +#define VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES 33 + + + + +typedef struct { + uint8_t i2c_slave__device_address; + + uint8_t ana_config__vhv_ref_sel_vddpix; + + uint8_t ana_config__vhv_ref_sel_vquench; + + uint8_t ana_config__reg_avdd1v2_sel; + + uint8_t ana_config__fast_osc__trim; + + uint16_t osc_measured__fast_osc__frequency; + + uint8_t vhv_config__timeout_macrop_loop_bound; + + uint8_t vhv_config__count_thresh; + + uint8_t vhv_config__offset; + + uint8_t vhv_config__init; + +} VL53L1_static_nvm_managed_t; + + + + +typedef struct { + uint8_t global_config__spad_enables_ref_0; + + uint8_t global_config__spad_enables_ref_1; + + uint8_t global_config__spad_enables_ref_2; + + uint8_t global_config__spad_enables_ref_3; + + uint8_t global_config__spad_enables_ref_4; + + uint8_t global_config__spad_enables_ref_5; + + uint8_t global_config__ref_en_start_select; + + uint8_t ref_spad_man__num_requested_ref_spads; + + uint8_t ref_spad_man__ref_location; + + uint16_t algo__crosstalk_compensation_plane_offset_kcps; + + int16_t algo__crosstalk_compensation_x_plane_gradient_kcps; + + int16_t algo__crosstalk_compensation_y_plane_gradient_kcps; + + uint16_t ref_spad_char__total_rate_target_mcps; + + int16_t algo__part_to_part_range_offset_mm; + + int16_t mm_config__inner_offset_mm; + + int16_t mm_config__outer_offset_mm; + +} VL53L1_customer_nvm_managed_t; + + + + +typedef struct { + uint16_t dss_config__target_total_rate_mcps; + + uint8_t debug__ctrl; + + uint8_t test_mode__ctrl; + + uint8_t clk_gating__ctrl; + + uint8_t nvm_bist__ctrl; + + uint8_t nvm_bist__num_nvm_words; + + uint8_t nvm_bist__start_address; + + uint8_t host_if__status; + + uint8_t pad_i2c_hv__config; + + uint8_t pad_i2c_hv__extsup_config; + + uint8_t gpio_hv_pad__ctrl; + + uint8_t gpio_hv_mux__ctrl; + + uint8_t gpio__tio_hv_status; + + uint8_t gpio__fio_hv_status; + + uint8_t ana_config__spad_sel_pswidth; + + uint8_t ana_config__vcsel_pulse_width_offset; + + uint8_t ana_config__fast_osc__config_ctrl; + + uint8_t sigma_estimator__effective_pulse_width_ns; + + uint8_t sigma_estimator__effective_ambient_width_ns; + + uint8_t sigma_estimator__sigma_ref_mm; + + uint8_t algo__crosstalk_compensation_valid_height_mm; + + uint8_t spare_host_config__static_config_spare_0; + + uint8_t spare_host_config__static_config_spare_1; + + uint16_t algo__range_ignore_threshold_mcps; + + uint8_t algo__range_ignore_valid_height_mm; + + uint8_t algo__range_min_clip; + + uint8_t algo__consistency_check__tolerance; + + uint8_t spare_host_config__static_config_spare_2; + + uint8_t sd_config__reset_stages_msb; + + uint8_t sd_config__reset_stages_lsb; + +} VL53L1_static_config_t; + + + + +typedef struct { + uint8_t gph_config__stream_count_update_value; + + uint8_t global_config__stream_divider; + + uint8_t system__interrupt_config_gpio; + + uint8_t cal_config__vcsel_start; + + uint16_t cal_config__repeat_rate; + + uint8_t global_config__vcsel_width; + + uint8_t phasecal_config__timeout_macrop; + + uint8_t phasecal_config__target; + + uint8_t phasecal_config__override; + + uint8_t dss_config__roi_mode_control; + + uint16_t system__thresh_rate_high; + + uint16_t system__thresh_rate_low; + + uint16_t dss_config__manual_effective_spads_select; + + uint8_t dss_config__manual_block_select; + + uint8_t dss_config__aperture_attenuation; + + uint8_t dss_config__max_spads_limit; + + uint8_t dss_config__min_spads_limit; + +} VL53L1_general_config_t; + + + + +typedef struct { + uint8_t mm_config__timeout_macrop_a_hi; + + uint8_t mm_config__timeout_macrop_a_lo; + + uint8_t mm_config__timeout_macrop_b_hi; + + uint8_t mm_config__timeout_macrop_b_lo; + + uint8_t range_config__timeout_macrop_a_hi; + + uint8_t range_config__timeout_macrop_a_lo; + + uint8_t range_config__vcsel_period_a; + + uint8_t range_config__timeout_macrop_b_hi; + + uint8_t range_config__timeout_macrop_b_lo; + + uint8_t range_config__vcsel_period_b; + + uint16_t range_config__sigma_thresh; + + uint16_t range_config__min_count_rate_rtn_limit_mcps; + + uint8_t range_config__valid_phase_low; + + uint8_t range_config__valid_phase_high; + + uint32_t system__intermeasurement_period; + + uint8_t system__fractional_enable; + +} VL53L1_timing_config_t; + + + + +typedef struct { + uint8_t system__grouped_parameter_hold_0; + + uint16_t system__thresh_high; + + uint16_t system__thresh_low; + + uint8_t system__enable_xtalk_per_quadrant; + + uint8_t system__seed_config; + + uint8_t sd_config__woi_sd0; + + uint8_t sd_config__woi_sd1; + + uint8_t sd_config__initial_phase_sd0; + + uint8_t sd_config__initial_phase_sd1; + + uint8_t system__grouped_parameter_hold_1; + + uint8_t sd_config__first_order_select; + + uint8_t sd_config__quantifier; + + uint8_t roi_config__user_roi_centre_spad; + + uint8_t roi_config__user_roi_requested_global_xy_size; + + uint8_t system__sequence_config; + + uint8_t system__grouped_parameter_hold; + +} VL53L1_dynamic_config_t; + + + + +typedef struct { + uint8_t power_management__go1_power_force; + + uint8_t system__stream_count_ctrl; + + uint8_t firmware__enable; + + uint8_t system__interrupt_clear; + + uint8_t system__mode_start; + +} VL53L1_system_control_t; + + + + +typedef struct { + uint8_t result__interrupt_status; + + uint8_t result__range_status; + + uint8_t result__report_status; + + uint8_t result__stream_count; + + uint16_t result__dss_actual_effective_spads_sd0; + + uint16_t result__peak_signal_count_rate_mcps_sd0; + + uint16_t result__ambient_count_rate_mcps_sd0; + + uint16_t result__sigma_sd0; + + uint16_t result__phase_sd0; + + uint16_t result__final_crosstalk_corrected_range_mm_sd0; + + uint16_t result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0; + + uint16_t result__mm_inner_actual_effective_spads_sd0; + + uint16_t result__mm_outer_actual_effective_spads_sd0; + + uint16_t result__avg_signal_count_rate_mcps_sd0; + + uint16_t result__dss_actual_effective_spads_sd1; + + uint16_t result__peak_signal_count_rate_mcps_sd1; + + uint16_t result__ambient_count_rate_mcps_sd1; + + uint16_t result__sigma_sd1; + + uint16_t result__phase_sd1; + + uint16_t result__final_crosstalk_corrected_range_mm_sd1; + + uint16_t result__spare_0_sd1; + + uint16_t result__spare_1_sd1; + + uint16_t result__spare_2_sd1; + + uint8_t result__spare_3_sd1; + + uint8_t result__thresh_info; + +} VL53L1_system_results_t; + + + + +typedef struct { + uint32_t result_core__ambient_window_events_sd0; + + uint32_t result_core__ranging_total_events_sd0; + + int32_t result_core__signal_total_events_sd0; + + uint32_t result_core__total_periods_elapsed_sd0; + + uint32_t result_core__ambient_window_events_sd1; + + uint32_t result_core__ranging_total_events_sd1; + + int32_t result_core__signal_total_events_sd1; + + uint32_t result_core__total_periods_elapsed_sd1; + + uint8_t result_core__spare_0; + +} VL53L1_core_results_t; + + + + +typedef struct { + uint16_t phasecal_result__reference_phase; + + uint8_t phasecal_result__vcsel_start; + + uint8_t ref_spad_char_result__num_actual_ref_spads; + + uint8_t ref_spad_char_result__ref_location; + + uint8_t vhv_result__coldboot_status; + + uint8_t vhv_result__search_result; + + uint8_t vhv_result__latest_setting; + + uint16_t result__osc_calibrate_val; + + uint8_t ana_config__powerdown_go1; + + uint8_t ana_config__ref_bg_ctrl; + + uint8_t ana_config__regdvdd1v2_ctrl; + + uint8_t ana_config__osc_slow_ctrl; + + uint8_t test_mode__status; + + uint8_t firmware__system_status; + + uint8_t firmware__mode_status; + + uint8_t firmware__secondary_mode_status; + + uint16_t firmware__cal_repeat_rate_counter; + + uint16_t gph__system__thresh_high; + + uint16_t gph__system__thresh_low; + + uint8_t gph__system__enable_xtalk_per_quadrant; + + uint8_t gph__spare_0; + + uint8_t gph__sd_config__woi_sd0; + + uint8_t gph__sd_config__woi_sd1; + + uint8_t gph__sd_config__initial_phase_sd0; + + uint8_t gph__sd_config__initial_phase_sd1; + + uint8_t gph__sd_config__first_order_select; + + uint8_t gph__sd_config__quantifier; + + uint8_t gph__roi_config__user_roi_centre_spad; + + uint8_t gph__roi_config__user_roi_requested_global_xy_size; + + uint8_t gph__system__sequence_config; + + uint8_t gph__gph_id; + + uint8_t system__interrupt_set; + + uint8_t interrupt_manager__enables; + + uint8_t interrupt_manager__clear; + + uint8_t interrupt_manager__status; + + uint8_t mcu_to_host_bank__wr_access_en; + + uint8_t power_management__go1_reset_status; + + uint8_t pad_startup_mode__value_ro; + + uint8_t pad_startup_mode__value_ctrl; + + uint32_t pll_period_us; + + uint32_t interrupt_scheduler__data_out; + + uint8_t nvm_bist__complete; + + uint8_t nvm_bist__status; + +} VL53L1_debug_results_t; + + + + +typedef struct { + uint8_t identification__model_id; + + uint8_t identification__module_type; + + uint8_t identification__revision_id; + + uint16_t identification__module_id; + + uint8_t ana_config__fast_osc__trim_max; + + uint8_t ana_config__fast_osc__freq_set; + + uint8_t ana_config__vcsel_trim; + + uint8_t ana_config__vcsel_selion; + + uint8_t ana_config__vcsel_selion_max; + + uint8_t protected_laser_safety__lock_bit; + + uint8_t laser_safety__key; + + uint8_t laser_safety__key_ro; + + uint8_t laser_safety__clip; + + uint8_t laser_safety__mult; + + uint8_t global_config__spad_enables_rtn_0; + + uint8_t global_config__spad_enables_rtn_1; + + uint8_t global_config__spad_enables_rtn_2; + + uint8_t global_config__spad_enables_rtn_3; + + uint8_t global_config__spad_enables_rtn_4; + + uint8_t global_config__spad_enables_rtn_5; + + uint8_t global_config__spad_enables_rtn_6; + + uint8_t global_config__spad_enables_rtn_7; + + uint8_t global_config__spad_enables_rtn_8; + + uint8_t global_config__spad_enables_rtn_9; + + uint8_t global_config__spad_enables_rtn_10; + + uint8_t global_config__spad_enables_rtn_11; + + uint8_t global_config__spad_enables_rtn_12; + + uint8_t global_config__spad_enables_rtn_13; + + uint8_t global_config__spad_enables_rtn_14; + + uint8_t global_config__spad_enables_rtn_15; + + uint8_t global_config__spad_enables_rtn_16; + + uint8_t global_config__spad_enables_rtn_17; + + uint8_t global_config__spad_enables_rtn_18; + + uint8_t global_config__spad_enables_rtn_19; + + uint8_t global_config__spad_enables_rtn_20; + + uint8_t global_config__spad_enables_rtn_21; + + uint8_t global_config__spad_enables_rtn_22; + + uint8_t global_config__spad_enables_rtn_23; + + uint8_t global_config__spad_enables_rtn_24; + + uint8_t global_config__spad_enables_rtn_25; + + uint8_t global_config__spad_enables_rtn_26; + + uint8_t global_config__spad_enables_rtn_27; + + uint8_t global_config__spad_enables_rtn_28; + + uint8_t global_config__spad_enables_rtn_29; + + uint8_t global_config__spad_enables_rtn_30; + + uint8_t global_config__spad_enables_rtn_31; + + uint8_t roi_config__mode_roi_centre_spad; + + uint8_t roi_config__mode_roi_xy_size; + +} VL53L1_nvm_copy_data_t; + + + + +typedef struct { + uint8_t prev_shadow_result__interrupt_status; + + uint8_t prev_shadow_result__range_status; + + uint8_t prev_shadow_result__report_status; + + uint8_t prev_shadow_result__stream_count; + + uint16_t prev_shadow_result__dss_actual_effective_spads_sd0; + + uint16_t prev_shadow_result__peak_signal_count_rate_mcps_sd0; + + uint16_t prev_shadow_result__ambient_count_rate_mcps_sd0; + + uint16_t prev_shadow_result__sigma_sd0; + + uint16_t prev_shadow_result__phase_sd0; + + uint16_t prev_shadow_result__final_crosstalk_corrected_range_mm_sd0; + + uint16_t + psr__peak_signal_count_rate_crosstalk_corrected_mcps_sd0; + + uint16_t prev_shadow_result__mm_inner_actual_effective_spads_sd0; + + uint16_t prev_shadow_result__mm_outer_actual_effective_spads_sd0; + + uint16_t prev_shadow_result__avg_signal_count_rate_mcps_sd0; + + uint16_t prev_shadow_result__dss_actual_effective_spads_sd1; + + uint16_t prev_shadow_result__peak_signal_count_rate_mcps_sd1; + + uint16_t prev_shadow_result__ambient_count_rate_mcps_sd1; + + uint16_t prev_shadow_result__sigma_sd1; + + uint16_t prev_shadow_result__phase_sd1; + + uint16_t prev_shadow_result__final_crosstalk_corrected_range_mm_sd1; + + uint16_t prev_shadow_result__spare_0_sd1; + + uint16_t prev_shadow_result__spare_1_sd1; + + uint16_t prev_shadow_result__spare_2_sd1; + + uint16_t prev_shadow_result__spare_3_sd1; + +} VL53L1_prev_shadow_system_results_t; + + + + +typedef struct { + uint32_t prev_shadow_result_core__ambient_window_events_sd0; + + uint32_t prev_shadow_result_core__ranging_total_events_sd0; + + int32_t prev_shadow_result_core__signal_total_events_sd0; + + uint32_t prev_shadow_result_core__total_periods_elapsed_sd0; + + uint32_t prev_shadow_result_core__ambient_window_events_sd1; + + uint32_t prev_shadow_result_core__ranging_total_events_sd1; + + int32_t prev_shadow_result_core__signal_total_events_sd1; + + uint32_t prev_shadow_result_core__total_periods_elapsed_sd1; + + uint8_t prev_shadow_result_core__spare_0; + +} VL53L1_prev_shadow_core_results_t; + + + + +typedef struct { + uint8_t result__debug_status; + + uint8_t result__debug_stage; + +} VL53L1_patch_debug_t; + + + + +typedef struct { + uint16_t gph__system__thresh_rate_high; + + uint16_t gph__system__thresh_rate_low; + + uint8_t gph__system__interrupt_config_gpio; + +} VL53L1_gph_general_config_t; + + + + +typedef struct { + uint8_t gph__dss_config__roi_mode_control; + + uint16_t gph__dss_config__manual_effective_spads_select; + + uint8_t gph__dss_config__manual_block_select; + + uint8_t gph__dss_config__max_spads_limit; + + uint8_t gph__dss_config__min_spads_limit; + +} VL53L1_gph_static_config_t; + + + + +typedef struct { + uint8_t gph__mm_config__timeout_macrop_a_hi; + + uint8_t gph__mm_config__timeout_macrop_a_lo; + + uint8_t gph__mm_config__timeout_macrop_b_hi; + + uint8_t gph__mm_config__timeout_macrop_b_lo; + + uint8_t gph__range_config__timeout_macrop_a_hi; + + uint8_t gph__range_config__timeout_macrop_a_lo; + + uint8_t gph__range_config__vcsel_period_a; + + uint8_t gph__range_config__vcsel_period_b; + + uint8_t gph__range_config__timeout_macrop_b_hi; + + uint8_t gph__range_config__timeout_macrop_b_lo; + + uint16_t gph__range_config__sigma_thresh; + + uint16_t gph__range_config__min_count_rate_rtn_limit_mcps; + + uint8_t gph__range_config__valid_phase_low; + + uint8_t gph__range_config__valid_phase_high; + +} VL53L1_gph_timing_config_t; + + + + +typedef struct { + uint8_t firmware__internal_stream_count_div; + + uint8_t firmware__internal_stream_counter_val; + +} VL53L1_fw_internal_t; + + + + +typedef struct { + uint8_t dss_calc__roi_ctrl; + + uint8_t dss_calc__spare_1; + + uint8_t dss_calc__spare_2; + + uint8_t dss_calc__spare_3; + + uint8_t dss_calc__spare_4; + + uint8_t dss_calc__spare_5; + + uint8_t dss_calc__spare_6; + + uint8_t dss_calc__spare_7; + + uint8_t dss_calc__user_roi_spad_en_0; + + uint8_t dss_calc__user_roi_spad_en_1; + + uint8_t dss_calc__user_roi_spad_en_2; + + uint8_t dss_calc__user_roi_spad_en_3; + + uint8_t dss_calc__user_roi_spad_en_4; + + uint8_t dss_calc__user_roi_spad_en_5; + + uint8_t dss_calc__user_roi_spad_en_6; + + uint8_t dss_calc__user_roi_spad_en_7; + + uint8_t dss_calc__user_roi_spad_en_8; + + uint8_t dss_calc__user_roi_spad_en_9; + + uint8_t dss_calc__user_roi_spad_en_10; + + uint8_t dss_calc__user_roi_spad_en_11; + + uint8_t dss_calc__user_roi_spad_en_12; + + uint8_t dss_calc__user_roi_spad_en_13; + + uint8_t dss_calc__user_roi_spad_en_14; + + uint8_t dss_calc__user_roi_spad_en_15; + + uint8_t dss_calc__user_roi_spad_en_16; + + uint8_t dss_calc__user_roi_spad_en_17; + + uint8_t dss_calc__user_roi_spad_en_18; + + uint8_t dss_calc__user_roi_spad_en_19; + + uint8_t dss_calc__user_roi_spad_en_20; + + uint8_t dss_calc__user_roi_spad_en_21; + + uint8_t dss_calc__user_roi_spad_en_22; + + uint8_t dss_calc__user_roi_spad_en_23; + + uint8_t dss_calc__user_roi_spad_en_24; + + uint8_t dss_calc__user_roi_spad_en_25; + + uint8_t dss_calc__user_roi_spad_en_26; + + uint8_t dss_calc__user_roi_spad_en_27; + + uint8_t dss_calc__user_roi_spad_en_28; + + uint8_t dss_calc__user_roi_spad_en_29; + + uint8_t dss_calc__user_roi_spad_en_30; + + uint8_t dss_calc__user_roi_spad_en_31; + + uint8_t dss_calc__user_roi_0; + + uint8_t dss_calc__user_roi_1; + + uint8_t dss_calc__mode_roi_0; + + uint8_t dss_calc__mode_roi_1; + + uint8_t sigma_estimator_calc__spare_0; + + uint16_t vhv_result__peak_signal_rate_mcps; + + uint32_t vhv_result__signal_total_events_ref; + + uint16_t phasecal_result__phase_output_ref; + + uint16_t dss_result__total_rate_per_spad; + + uint8_t dss_result__enabled_blocks; + + uint16_t dss_result__num_requested_spads; + + uint16_t mm_result__inner_intersection_rate; + + uint16_t mm_result__outer_complement_rate; + + uint16_t mm_result__total_offset; + + uint32_t xtalk_calc__xtalk_for_enabled_spads; + + uint32_t xtalk_result__avg_xtalk_user_roi_kcps; + + uint32_t xtalk_result__avg_xtalk_mm_inner_roi_kcps; + + uint32_t xtalk_result__avg_xtalk_mm_outer_roi_kcps; + + uint32_t range_result__accum_phase; + + uint16_t range_result__offset_corrected_range; + +} VL53L1_patch_results_t; + + + + +typedef struct { + uint8_t shadow_phasecal_result__vcsel_start; + + uint8_t shadow_result__interrupt_status; + + uint8_t shadow_result__range_status; + + uint8_t shadow_result__report_status; + + uint8_t shadow_result__stream_count; + + uint16_t shadow_result__dss_actual_effective_spads_sd0; + + uint16_t shadow_result__peak_signal_count_rate_mcps_sd0; + + uint16_t shadow_result__ambient_count_rate_mcps_sd0; + + uint16_t shadow_result__sigma_sd0; + + uint16_t shadow_result__phase_sd0; + + uint16_t shadow_result__final_crosstalk_corrected_range_mm_sd0; + + uint16_t + shr__peak_signal_count_rate_crosstalk_corrected_mcps_sd0; + + uint16_t shadow_result__mm_inner_actual_effective_spads_sd0; + + uint16_t shadow_result__mm_outer_actual_effective_spads_sd0; + + uint16_t shadow_result__avg_signal_count_rate_mcps_sd0; + + uint16_t shadow_result__dss_actual_effective_spads_sd1; + + uint16_t shadow_result__peak_signal_count_rate_mcps_sd1; + + uint16_t shadow_result__ambient_count_rate_mcps_sd1; + + uint16_t shadow_result__sigma_sd1; + + uint16_t shadow_result__phase_sd1; + + uint16_t shadow_result__final_crosstalk_corrected_range_mm_sd1; + + uint16_t shadow_result__spare_0_sd1; + + uint16_t shadow_result__spare_1_sd1; + + uint16_t shadow_result__spare_2_sd1; + + uint8_t shadow_result__spare_3_sd1; + + uint8_t shadow_result__thresh_info; + + uint8_t shadow_phasecal_result__reference_phase_hi; + + uint8_t shadow_phasecal_result__reference_phase_lo; + +} VL53L1_shadow_system_results_t; + + + + +typedef struct { + uint32_t shadow_result_core__ambient_window_events_sd0; + + uint32_t shadow_result_core__ranging_total_events_sd0; + + int32_t shadow_result_core__signal_total_events_sd0; + + uint32_t shadow_result_core__total_periods_elapsed_sd0; + + uint32_t shadow_result_core__ambient_window_events_sd1; + + uint32_t shadow_result_core__ranging_total_events_sd1; + + int32_t shadow_result_core__signal_total_events_sd1; + + uint32_t shadow_result_core__total_periods_elapsed_sd1; + + uint8_t shadow_result_core__spare_0; + +} VL53L1_shadow_core_results_t; + + +#endif + + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_silicon_core.h b/drivers/input/misc/vl53L1/inc/vl53l1_silicon_core.h new file mode 100644 index 000000000000..7df54088e77a --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_silicon_core.h @@ -0,0 +1,37 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_SILICON_CORE_H_ +#define _VL53L1_SILICON_CORE_H_ + +#include "vl53l1_platform.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + +VL53L1_Error VL53L1_is_firmware_ready_silicon( + VL53L1_DEV Dev, + uint8_t *pready); + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_tuning_parm_defaults.h b/drivers/input/misc/vl53L1/inc/vl53l1_tuning_parm_defaults.h new file mode 100644 index 000000000000..d880ea5b72d6 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_tuning_parm_defaults.h @@ -0,0 +1,393 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + +#define VL53L1_TUNINGPARM_VERSION_DEFAULT \ +((uint16_t) 31) +#define VL53L1_TUNINGPARM_KEY_TABLE_VERSION_DEFAULT \ +((uint16_t) 14) +#define VL53L1_TUNINGPARM_LLD_VERSION_DEFAULT \ +((uint16_t) 12180) +#define VL53L1_TUNINGPARM_HIST_ALGO_SELECT_DEFAULT \ +((uint8_t) 4) +#define VL53L1_TUNINGPARM_HIST_TARGET_ORDER_DEFAULT \ +((uint8_t) 1) +#define VL53L1_TUNINGPARM_HIST_FILTER_WOI_0_DEFAULT \ +((uint8_t) 1) +#define VL53L1_TUNINGPARM_HIST_FILTER_WOI_1_DEFAULT \ +((uint8_t) 2) +#define VL53L1_TUNINGPARM_HIST_AMB_EST_METHOD_DEFAULT \ +((uint8_t) 1) +#define VL53L1_TUNINGPARM_HIST_AMB_THRESH_SIGMA_0_DEFAULT \ +((uint8_t) 80) +#define VL53L1_TUNINGPARM_HIST_AMB_THRESH_SIGMA_1_DEFAULT \ +((uint8_t) 100) +#define VL53L1_TUNINGPARM_HIST_MIN_AMB_THRESH_EVENTS_DEFAULT \ +((int32_t) 16) +#define VL53L1_TUNINGPARM_HIST_AMB_EVENTS_SCALER_DEFAULT \ +((uint16_t) 4157) +#define VL53L1_TUNINGPARM_HIST_NOISE_THRESHOLD_DEFAULT \ +((uint16_t) 50) +#define VL53L1_TUNINGPARM_HIST_SIGNAL_TOTAL_EVENTS_LIMIT_DEFAULT \ +((int32_t) 100) +#define VL53L1_TUNINGPARM_HIST_SIGMA_EST_REF_MM_DEFAULT \ +((uint8_t) 1) +#define VL53L1_TUNINGPARM_HIST_SIGMA_THRESH_MM_DEFAULT \ +((uint16_t) 180) +#define VL53L1_TUNINGPARM_HIST_GAIN_FACTOR_DEFAULT \ +((uint16_t) 1987) +#define VL53L1_TUNINGPARM_CONSISTENCY_HIST_PHASE_TOLERANCE_DEFAULT \ +((uint8_t) 8) +#define VL53L1_TUNINGPARM_CONSISTENCY_HIST_MIN_MAX_TOLERANCE_MM_DEFAULT \ +((uint16_t) 0) +#define VL53L1_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA_DEFAULT \ +((uint8_t) 0) +#define VL53L1_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA_MIN_SPAD_LIMIT_DEFAULT \ +((uint16_t) 2048) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_LONG_RANGE_DEFAULT \ +((uint8_t) 9) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_MED_RANGE_DEFAULT \ +((uint8_t) 5) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_SHORT_RANGE_DEFAULT \ +((uint8_t) 3) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_REF_HISTO_LONG_RANGE_DEFAULT \ +((uint8_t) 6) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_REF_HISTO_MED_RANGE_DEFAULT \ +((uint8_t) 6) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_REF_HISTO_SHORT_RANGE_DEFAULT \ +((uint8_t) 6) +#define VL53L1_TUNINGPARM_XTALK_DETECT_MIN_VALID_RANGE_MM_DEFAULT \ +((int16_t) -50) +#define VL53L1_TUNINGPARM_XTALK_DETECT_MAX_VALID_RANGE_MM_DEFAULT \ +((int16_t) 50) +#define VL53L1_TUNINGPARM_XTALK_DETECT_MAX_SIGMA_MM_DEFAULT \ +((uint16_t) 140) +#define VL53L1_TUNINGPARM_XTALK_DETECT_MIN_MAX_TOLERANCE_DEFAULT \ +((uint16_t) 50) +#define VL53L1_TUNINGPARM_XTALK_DETECT_MAX_VALID_RATE_KCPS_DEFAULT \ +((uint16_t) 400) +#define VL53L1_TUNINGPARM_XTALK_DETECT_EVENT_SIGMA_DEFAULT \ +((uint8_t) 80) +#define VL53L1_TUNINGPARM_HIST_XTALK_MARGIN_KCPS_DEFAULT \ +((int16_t) 0) +#define VL53L1_TUNINGPARM_CONSISTENCY_LITE_PHASE_TOLERANCE_DEFAULT \ +((uint8_t) 2) +#define VL53L1_TUNINGPARM_PHASECAL_TARGET_DEFAULT \ +((uint8_t) 33) +#define VL53L1_TUNINGPARM_LITE_CAL_REPEAT_RATE_DEFAULT \ +((uint16_t) 0) +#define VL53L1_TUNINGPARM_LITE_RANGING_GAIN_FACTOR_DEFAULT \ +((uint16_t) 2011) +#define VL53L1_TUNINGPARM_LITE_MIN_CLIP_MM_DEFAULT \ +((uint8_t) 0) +#define VL53L1_TUNINGPARM_LITE_LONG_SIGMA_THRESH_MM_DEFAULT \ +((uint16_t) 60) +#define VL53L1_TUNINGPARM_LITE_MED_SIGMA_THRESH_MM_DEFAULT \ +((uint16_t) 60) +#define VL53L1_TUNINGPARM_LITE_SHORT_SIGMA_THRESH_MM_DEFAULT \ +((uint16_t) 60) +#define VL53L1_TUNINGPARM_LITE_LONG_MIN_COUNT_RATE_RTN_MCPS_DEFAULT \ +((uint16_t) 128) +#define VL53L1_TUNINGPARM_LITE_MED_MIN_COUNT_RATE_RTN_MCPS_DEFAULT \ +((uint16_t) 128) +#define VL53L1_TUNINGPARM_LITE_SHORT_MIN_COUNT_RATE_RTN_MCPS_DEFAULT \ +((uint16_t) 128) +#define VL53L1_TUNINGPARM_LITE_SIGMA_EST_PULSE_WIDTH_DEFAULT \ +((uint8_t) 8) +#define VL53L1_TUNINGPARM_LITE_SIGMA_EST_AMB_WIDTH_NS_DEFAULT \ +((uint8_t) 16) +#define VL53L1_TUNINGPARM_LITE_SIGMA_REF_MM_DEFAULT \ +((uint8_t) 1) +#define VL53L1_TUNINGPARM_LITE_RIT_MULT_DEFAULT \ +((uint8_t) 64) +#define VL53L1_TUNINGPARM_LITE_SEED_CONFIG_DEFAULT \ +((uint8_t) 2) +#define VL53L1_TUNINGPARM_LITE_QUANTIFIER_DEFAULT \ +((uint8_t) 2) +#define VL53L1_TUNINGPARM_LITE_FIRST_ORDER_SELECT_DEFAULT \ +((uint8_t) 0) +#define VL53L1_TUNINGPARM_LITE_XTALK_MARGIN_KCPS_DEFAULT \ +((int16_t) 0) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_LITE_LONG_RANGE_DEFAULT \ +((uint8_t) 14) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_LITE_MED_RANGE_DEFAULT \ +((uint8_t) 10) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_LITE_SHORT_RANGE_DEFAULT \ +((uint8_t) 6) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_REF_LITE_LONG_RANGE_DEFAULT \ +((uint8_t) 14) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_REF_LITE_MED_RANGE_DEFAULT \ +((uint8_t) 10) +#define VL53L1_TUNINGPARM_INITIAL_PHASE_REF_LITE_SHORT_RANGE_DEFAULT \ +((uint8_t) 6) +#define VL53L1_TUNINGPARM_TIMED_SEED_CONFIG_DEFAULT \ +((uint8_t) 1) +#define VL53L1_TUNINGPARM_DMAX_CFG_SIGNAL_THRESH_SIGMA_DEFAULT \ +((uint8_t) 32) +#define VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_0_DEFAULT \ +((uint16_t) 15) +#define VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_1_DEFAULT \ +((uint16_t) 52) +#define VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_2_DEFAULT \ +((uint16_t) 200) +#define VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_3_DEFAULT \ +((uint16_t) 364) +#define VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_4_DEFAULT \ +((uint16_t) 400) +#define VL53L1_TUNINGPARM_VHV_LOOPBOUND_DEFAULT \ +((uint8_t) 129) +#define VL53L1_TUNINGPARM_REFSPADCHAR_DEVICE_TEST_MODE_DEFAULT \ +((uint8_t) 8) +#define VL53L1_TUNINGPARM_REFSPADCHAR_VCSEL_PERIOD_DEFAULT \ +((uint8_t) 11) +#define VL53L1_TUNINGPARM_REFSPADCHAR_PHASECAL_TIMEOUT_US_DEFAULT \ +((uint32_t) 1000) +#define VL53L1_TUNINGPARM_REFSPADCHAR_TARGET_COUNT_RATE_MCPS_DEFAULT \ +((uint16_t) 2560) +#define VL53L1_TUNINGPARM_REFSPADCHAR_MIN_COUNTRATE_LIMIT_MCPS_DEFAULT \ +((uint16_t) 1280) +#define VL53L1_TUNINGPARM_REFSPADCHAR_MAX_COUNTRATE_LIMIT_MCPS_DEFAULT \ +((uint16_t) 5120) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_NUM_OF_SAMPLES_DEFAULT \ +((uint8_t) 7) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_MIN_FILTER_THRESH_MM_DEFAULT \ +((int16_t) -70) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_MAX_FILTER_THRESH_MM_DEFAULT \ +((int16_t) 70) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_DSS_RATE_MCPS_DEFAULT \ +((uint16_t) 5120) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_PHASECAL_TIMEOUT_US_DEFAULT \ +((uint32_t) 15000) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_MAX_VALID_RATE_KCPS_DEFAULT \ +((uint16_t) 640) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_SIGMA_THRESHOLD_MM_DEFAULT \ +((uint16_t) 140) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_DSS_TIMEOUT_US_DEFAULT \ +((uint32_t) 2000) +#define VL53L1_TUNINGPARM_XTALK_EXTRACT_BIN_TIMEOUT_US_DEFAULT \ +((uint32_t) 10000) +#define VL53L1_TUNINGPARM_OFFSET_CAL_DSS_RATE_MCPS_DEFAULT \ +((uint16_t) 2560) +#define VL53L1_TUNINGPARM_OFFSET_CAL_PHASECAL_TIMEOUT_US_DEFAULT \ +((uint32_t) 15000) +#define VL53L1_TUNINGPARM_OFFSET_CAL_MM_TIMEOUT_US_DEFAULT \ +((uint32_t) 13000) +#define VL53L1_TUNINGPARM_OFFSET_CAL_RANGE_TIMEOUT_US_DEFAULT \ +((uint32_t) 13000) +#define VL53L1_TUNINGPARM_OFFSET_CAL_PRE_SAMPLES_DEFAULT \ +((uint8_t) 8) +#define VL53L1_TUNINGPARM_OFFSET_CAL_MM1_SAMPLES_DEFAULT \ +((uint8_t) 40) +#define VL53L1_TUNINGPARM_OFFSET_CAL_MM2_SAMPLES_DEFAULT \ +((uint8_t) 9) +#define VL53L1_TUNINGPARM_ZONE_CAL_DSS_RATE_MCPS_DEFAULT \ +((uint16_t) 5120) +#define VL53L1_TUNINGPARM_ZONE_CAL_PHASECAL_TIMEOUT_US_DEFAULT \ +((uint32_t) 15000) +#define VL53L1_TUNINGPARM_ZONE_CAL_DSS_TIMEOUT_US_DEFAULT \ +((uint32_t) 2000) +#define VL53L1_TUNINGPARM_ZONE_CAL_PHASECAL_NUM_SAMPLES_DEFAULT \ +((uint16_t) 16) +#define VL53L1_TUNINGPARM_ZONE_CAL_RANGE_TIMEOUT_US_DEFAULT \ +((uint32_t) 1000) +#define VL53L1_TUNINGPARM_ZONE_CAL_ZONE_NUM_SAMPLES_DEFAULT \ +((uint16_t) 8) +#define VL53L1_TUNINGPARM_SPADMAP_VCSEL_PERIOD_DEFAULT \ +((uint8_t) 18) +#define VL53L1_TUNINGPARM_SPADMAP_VCSEL_START_DEFAULT \ +((uint8_t) 15) +#define VL53L1_TUNINGPARM_SPADMAP_RATE_LIMIT_MCPS_DEFAULT \ +((uint16_t) 12) +#define VL53L1_TUNINGPARM_LITE_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS_DEFAULT \ +((uint16_t) 2560) +#define VL53L1_TUNINGPARM_RANGING_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS_DEFAULT \ +((uint16_t) 5120) +#define VL53L1_TUNINGPARM_MZ_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS_DEFAULT \ +((uint16_t) 5120) +#define VL53L1_TUNINGPARM_TIMED_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS_DEFAULT \ +((uint16_t) 2560) +#define VL53L1_TUNINGPARM_LITE_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 1000) +#define VL53L1_TUNINGPARM_RANGING_LONG_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 15000) +#define VL53L1_TUNINGPARM_RANGING_MED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 9000) +#define VL53L1_TUNINGPARM_RANGING_SHORT_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 6000) +#define VL53L1_TUNINGPARM_MZ_LONG_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 15000) +#define VL53L1_TUNINGPARM_MZ_MED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 9000) +#define VL53L1_TUNINGPARM_MZ_SHORT_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 6000) +#define VL53L1_TUNINGPARM_TIMED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 1000) +#define VL53L1_TUNINGPARM_LITE_MM_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 2000) +#define VL53L1_TUNINGPARM_RANGING_MM_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 2000) +#define VL53L1_TUNINGPARM_MZ_MM_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 2000) +#define VL53L1_TUNINGPARM_TIMED_MM_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 2000) +#define VL53L1_TUNINGPARM_LITE_RANGE_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 63000) +#define VL53L1_TUNINGPARM_RANGING_RANGE_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 2500) +#define VL53L1_TUNINGPARM_MZ_RANGE_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 2500) +#define VL53L1_TUNINGPARM_TIMED_RANGE_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 13000) +#define VL53L1_TUNINGPARM_DYNXTALK_SMUDGE_MARGIN_DEFAULT \ +((uint16_t) 0) +#define VL53L1_TUNINGPARM_DYNXTALK_NOISE_MARGIN_DEFAULT \ +((uint32_t) 100) +#define VL53L1_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT_DEFAULT \ +((uint32_t) 0) +#define VL53L1_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT_HI_DEFAULT \ +((uint8_t) 0) +#define VL53L1_TUNINGPARM_DYNXTALK_SAMPLE_LIMIT_DEFAULT \ +((uint32_t) 200) +#define VL53L1_TUNINGPARM_DYNXTALK_SINGLE_XTALK_DELTA_DEFAULT \ +((uint32_t) 2048) +#define VL53L1_TUNINGPARM_DYNXTALK_AVERAGED_XTALK_DELTA_DEFAULT \ +((uint32_t) 308) +#define VL53L1_TUNINGPARM_DYNXTALK_CLIP_LIMIT_DEFAULT \ +((uint32_t) 10240) +#define VL53L1_TUNINGPARM_DYNXTALK_SCALER_CALC_METHOD_DEFAULT \ +((uint8_t) 0) +#define VL53L1_TUNINGPARM_DYNXTALK_XGRADIENT_SCALER_DEFAULT \ +((int16_t) 256) +#define VL53L1_TUNINGPARM_DYNXTALK_YGRADIENT_SCALER_DEFAULT \ +((int16_t) 256) +#define VL53L1_TUNINGPARM_DYNXTALK_USER_SCALER_SET_DEFAULT \ +((uint8_t) 0) +#define VL53L1_TUNINGPARM_DYNXTALK_SMUDGE_COR_SINGLE_APPLY_DEFAULT \ +((uint8_t) 0) +#define VL53L1_TUNINGPARM_DYNXTALK_XTALK_AMB_THRESHOLD_DEFAULT \ +((uint32_t) 128) +#define VL53L1_TUNINGPARM_DYNXTALK_NODETECT_AMB_THRESHOLD_KCPS_DEFAULT \ +((uint32_t) 57671680) +#define VL53L1_TUNINGPARM_DYNXTALK_NODETECT_SAMPLE_LIMIT_DEFAULT \ +((uint32_t) 40) +#define VL53L1_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS_DEFAULT \ +((uint32_t) 410) +#define VL53L1_TUNINGPARM_DYNXTALK_NODETECT_MIN_RANGE_MM_DEFAULT \ +((uint16_t) 900) +#define VL53L1_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND_DEFAULT \ +((uint8_t) 3) +#define VL53L1_TUNINGPARM_LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 1) +#define VL53L1_TUNINGPARM_LOWPOWERAUTO_RANGE_CONFIG_TIMEOUT_US_DEFAULT \ +((uint32_t) 8000) +#define VL53L1_TUNINGPARM_VERY_SHORT_DSS_RATE_MCPS_DEFAULT \ +((uint16_t) 10240) +#define VL53L1_TUNINGPARM_PHASECAL_PATCH_POWER_DEFAULT \ +((uint32_t) 0) +#define VL53L1_TUNINGPARM_HIST_MERGE_DEFAULT \ +((uint8_t) 1) +#define VL53L1_TUNINGPARM_RESET_MERGE_THRESHOLD_DEFAULT \ +((uint32_t) 15000) +#define VL53L1_TUNINGPARM_HIST_MERGE_MAX_SIZE_DEFAULT \ +((uint8_t) 6) +#define VL53L1_TUNINGPARM_DYNXTALK_MAX_SMUDGE_FACTOR_DEFAULT \ +((uint32_t) 2000) +#define VL53L1_TUNINGPARM_UWR_ENABLE_DEFAULT \ +((uint8_t) 1) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_1_MIN_DEFAULT \ +((int16_t) 2000) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_1_MAX_DEFAULT \ +((int16_t) 2750) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_2_MIN_DEFAULT \ +((int16_t) 250) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_2_MAX_DEFAULT \ +((int16_t) 1000) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_3_MIN_DEFAULT \ +((int16_t) 1250) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_3_MAX_DEFAULT \ +((int16_t) 1750) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_4_MIN_DEFAULT \ +((int16_t) 1250) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_4_MAX_DEFAULT \ +((int16_t) 1750) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_5_MIN_DEFAULT \ +((int16_t) -200) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_5_MAX_DEFAULT \ +((int16_t) 200) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_6_MIN_DEFAULT \ +((int16_t) 250) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_6_MAX_DEFAULT \ +((int16_t) 1250) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_1_RANGEA_DEFAULT \ +((int16_t) 2300) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_1_RANGEB_DEFAULT \ +((int16_t) 0) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_2_RANGEA_DEFAULT \ +((int16_t) 2300) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_2_RANGEB_DEFAULT \ +((int16_t) 3050) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_3_RANGEA_DEFAULT \ +((int16_t) 4600) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_3_RANGEB_DEFAULT \ +((int16_t) 3050) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_4_RANGEA_DEFAULT \ +((int16_t) 4600) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_4_RANGEB_DEFAULT \ +((int16_t) 6200) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_5_RANGEA_DEFAULT \ +((int16_t) 0) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_5_RANGEB_DEFAULT \ +((int16_t) 0) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_6_RANGEA_DEFAULT \ +((int16_t) 6960) +#define VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_6_RANGEB_DEFAULT \ +((int16_t) 6190) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_1_MIN_DEFAULT \ +((int16_t) 250) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_1_MAX_DEFAULT \ +((int16_t) 1250) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_2_MIN_DEFAULT \ +((int16_t) 3250) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_2_MAX_DEFAULT \ +((int16_t) 4500) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_3_MIN_DEFAULT \ +((int16_t) -200) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_3_MAX_DEFAULT \ +((int16_t) 200) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_4_MIN_DEFAULT \ +((int16_t) 2850) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_4_MAX_DEFAULT \ +((int16_t) 3300) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_5_MIN_DEFAULT \ +((int16_t) 0) +#define VL53L1_TUNINGPARM_UWR_LONG_ZONE_5_MAX_DEFAULT \ +((int16_t) 0) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_1_RANGEA_DEFAULT \ +((int16_t) 3850) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_1_RANGEB_DEFAULT \ +((int16_t) 4600) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_2_RANGEA_DEFAULT \ +((int16_t) 3850) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_2_RANGEB_DEFAULT \ +((int16_t) 0) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_3_RANGEA_DEFAULT \ +((int16_t) 0) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_3_RANGEB_DEFAULT \ +((int16_t) 0) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_4_RANGEA_DEFAULT \ +((int16_t) 7700) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_4_RANGEB_DEFAULT \ +((int16_t) 4640) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_5_RANGEA_DEFAULT \ +((int16_t) 0) +#define VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_5_RANGEB_DEFAULT \ +((int16_t) 0) + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_wait.h b/drivers/input/misc/vl53L1/inc/vl53l1_wait.h new file mode 100644 index 000000000000..9c49305bc536 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_wait.h @@ -0,0 +1,100 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_WAIT_H_ +#define _VL53L1_WAIT_H_ + +#include "vl53l1_platform.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + +VL53L1_Error VL53L1_wait_for_boot_completion( + VL53L1_DEV Dev); + + + + +VL53L1_Error VL53L1_wait_for_firmware_ready( + VL53L1_DEV Dev); + + + + +VL53L1_Error VL53L1_wait_for_range_completion( + VL53L1_DEV Dev); + + + + +VL53L1_Error VL53L1_wait_for_test_completion( + VL53L1_DEV Dev); + + + + + + +VL53L1_Error VL53L1_is_boot_complete( + VL53L1_DEV Dev, + uint8_t *pready); + + + +VL53L1_Error VL53L1_is_firmware_ready( + VL53L1_DEV Dev, + uint8_t *pready); + + + + +VL53L1_Error VL53L1_is_new_data_ready( + VL53L1_DEV Dev, + uint8_t *pready); + + + + + + +VL53L1_Error VL53L1_poll_for_boot_completion( + VL53L1_DEV Dev, + uint32_t timeout_ms); + + + + +VL53L1_Error VL53L1_poll_for_firmware_ready( + VL53L1_DEV Dev, + uint32_t timeout_ms); + + + + +VL53L1_Error VL53L1_poll_for_range_completion( + VL53L1_DEV Dev, + uint32_t timeout_ms); + + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/inc/vl53l1_zone_presets.h b/drivers/input/misc/vl53L1/inc/vl53l1_zone_presets.h new file mode 100644 index 000000000000..4629ea72eed2 --- /dev/null +++ b/drivers/input/misc/vl53L1/inc/vl53l1_zone_presets.h @@ -0,0 +1,55 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_ZONE_PRESETS_H_ +#define _VL53L1_ZONE_PRESETS_H_ + +#include "vl53l1_ll_def.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + +VL53L1_Error VL53L1_init_zone_config_structure( + uint8_t x_off, + uint8_t x_inc, + uint8_t x_zones, + uint8_t y_off, + uint8_t y_inc, + uint8_t y_zones, + uint8_t width, + uint8_t height, + VL53L1_zone_config_t *pdata); + + + + +VL53L1_Error VL53L1_zone_preset_xtalk_planar( + VL53L1_general_config_t *pgeneral, + VL53L1_zone_config_t *pzone_cfg); + + + +VL53L1_Error VL53L1_init_zone_config_histogram_bins( + VL53L1_zone_config_t *pdata); + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/ipp/ipp_linux.c b/drivers/input/misc/vl53L1/ipp/ipp_linux.c new file mode 100644 index 000000000000..b3a167915148 --- /dev/null +++ b/drivers/input/misc/vl53L1/ipp/ipp_linux.c @@ -0,0 +1,336 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +/** + * @file ipp_linux.c kernel side implementation of vl53l1 protected processing + * + * @date Sep 1, 2016 + * @author : imaging + * + * @ingroup ipp_dev + */ + +#include "stmvl53l1.h" + +#define IPP_ERR_CODE (VL53L1_ERROR_PLATFORM_SPECIFIC_START-1) + +static int stmvl53l1_ipp_do_wrapper(struct stmvl53l1_data *data, + struct ipp_work_t *pin, struct ipp_work_t *pout, int payload_out) +{ + int rc; + + if (data->ipp.buzy) { + vl53l1_errmsg("try exec new ipp but still buzy on previous"); + /* TODO shall we discard it and push new ? */ + rc = IPP_ERR_CODE; + goto done; + } + WARN_ON(pin->payload > IPP_WORK_MAX_PAYLOAD); + stmvl531_ipp_tim_start(data); + rc = stmvl53l1_ipp_do(data, pin, pout); + if (rc != 0) { + vl53l1_errmsg("stmvl53l1_ipp_do err %d\n", rc); + rc = IPP_ERR_CODE; + goto done; + } + vl53l1_dbgmsg("ipp ok \n"); + /* check what we got back if valid answer error etc */ + if (pout->status) { + vl53l1_errmsg("ipp error status %d from user", pout->status); + if (pout->status >= stmvl53l1_ipp_status_proc_code) + rc = pout->status & (stmvl53l1_ipp_status_proc_code-1); + else + rc = IPP_ERR_CODE; + goto done; + } + WARN_ON(pout->payload > IPP_WORK_MAX_PAYLOAD); + if (pout->payload != payload_out) { + /* bad formated answer */ + vl53l1_errmsg("bad payload %d != %d in ipp work back", + pout->payload, payload_out); + rc = IPP_ERR_CODE; + goto done; + } + stmvl531_ipp_tim_stop(data); + stmvl531_ipp_stat(data, "ipp #%5x to=%3d fm=%3d in %5ld us", + pin->xfer_id, pin->payload, + pout->payload, + stmvl531_ipp_time(data)); + + rc = 0; +done: + + return rc; +} + +/** + * @file vl53l1_platform_ipp.h + * + * @brief EwokPlus25 IPP Wrapper Functions + */ + +/** + * @brief IPP Wrapper call for histogram post processing + * + * + * @param[in] Dev : Device handle + * @param[in] pdmax_cal : DMAX calibration data + * @param[in] pdmax_cfg : DMAX configuration data + * @param[in] ppost_cfg : VL53L1_hist_post_process_config_t + * @param[in] pbins : Input histogram raw bin data + * @param[in] pxtalk : Cross talk histogram data + * @param[in] pArea1 : Extern. allocated to save stack + * @param[in] pArea1 : Extern. allocated to save stack + * @param[out] presults : Output VL53L1_range_results_t + * structure + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_ipp_hist_process_data( + VL53L1_DEV dev, + VL53L1_dmax_calibration_data_t *pdmax_cal, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg, + VL53L1_hist_post_process_config_t *ppost_cfg, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_xtalk_histogram_data_t *pxtalk, + uint8_t *pArea1, + uint8_t *pArea2, + uint8_t *phisto_merge_nb, + VL53L1_range_results_t *presults) +{ + struct stmvl53l1_data *data = (struct stmvl53l1_data *) + container_of(dev, struct stmvl53l1_data, stdev); + struct ipp_work_t *pout = &data->ipp.work_out; + struct ipp_work_t *pin = &data->ipp.work; + int rc; + VL53L1_range_results_t *presults_ipp; + + IPP_SERIALIZE_VAR; + + /* These external workspace input params are useless with IPP managed in + * the daemon because the histogram processing function is actually + * allocating its data in USER stack within the daemon not the kernel one + */ + (void)pArea1; + (void)pArea2; + + /* setup pin */ + IPP_SERIALIZE_START(pin->data, 6); + IPP_SET_ARG_PTR(pin->data, 0, pdmax_cal); + IPP_SET_ARG_PTR(pin->data, 1, pdmax_cfg); + IPP_SET_ARG_PTR(pin->data, 2, ppost_cfg); + IPP_SET_ARG_PTR(pin->data, 3, pbins); + IPP_SET_ARG_PTR(pin->data, 4, pxtalk); + IPP_SET_ARG_PTR(pin->data, 5, phisto_merge_nb); + pin->payload = IPP_SERIALIZE_PAYLAOD(); + pin->process_no = stmvl53l1_ipp_cal_hist; + + /* setup pout */ + IPP_SERIALIZE_START(pout->data, 1); + IPP_OUT_ARG_PTR(pout->data, 0, presults_ipp); + + /* do ipp */ + rc = stmvl53l1_ipp_do_wrapper(data, pin, pout, IPP_SERIALIZE_PAYLAOD()); + if (rc) + goto done; + + /* copy output */ + memcpy(presults, presults_ipp, sizeof(*presults)); + + rc = 0; +done: + + return rc; +} + +/** + * @brief IPP Wrapper call for histogram ambient dmax calc + * + * The target reflectance in percent for the DMAX calculation + * is set by target_reflectance input + * + * The fixed point format is 7.2 + * + * @param[in] Dev : Device handle + * @param[in] target_reflectance : target reflectance to report ambient DMAX + * Percentage in 7.2 fixed point format + * @param[in] pdmax_cal : DMAX calibration data + * @param[in] pdmax_cfg : DMAX configuration data + * @param[in] pbins : Input histogram raw bin data + * @param[out] pambient_dmax_mm : Output ambient DMAX distance in [mm] + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_ipp_hist_ambient_dmax( + VL53L1_DEV dev, + uint16_t target_reflectance, + VL53L1_dmax_calibration_data_t *pdmax_cal, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg, + VL53L1_histogram_bin_data_t *pbins, + int16_t *pambient_dmax_mm) +{ + struct stmvl53l1_data *data = (struct stmvl53l1_data *) + container_of(dev, struct stmvl53l1_data, stdev); + struct ipp_work_t *pout = &data->ipp.work_out; + struct ipp_work_t *pin = &data->ipp.work; + int rc; + int16_t *pambient_dmax_mm_ipp; + + IPP_SERIALIZE_VAR; + + /* setup pin */ + IPP_SERIALIZE_START(pin->data, 4); + IPP_SET_ARG(pin->data, 0, target_reflectance); + IPP_SET_ARG_PTR(pin->data, 1, pdmax_cal); + IPP_SET_ARG_PTR(pin->data, 2, pdmax_cfg); + IPP_SET_ARG_PTR(pin->data, 3, pbins); + pin->payload = IPP_SERIALIZE_PAYLAOD(); + pin->process_no = stmvl53l1_ipp_hist_ambient_dmax; + + /* setup pout */ + IPP_SERIALIZE_START(pout->data, 1); + IPP_OUT_ARG_PTR(pout->data, 0, pambient_dmax_mm_ipp); + + /* do ipp */ + rc = stmvl53l1_ipp_do_wrapper(data, pin, pout, IPP_SERIALIZE_PAYLAOD()); + if (rc) + goto done; + + /* copy output */ + memcpy(pambient_dmax_mm, pambient_dmax_mm_ipp, + sizeof(*pambient_dmax_mm)); + + rc = 0; +done: + + return rc; +} + +/** + * @brief IPP Wrapper call for xtalk calibration post processing + * + * @param[in] Dev : Device handle + * @param[in] pxtalk_ranges : Input VL53L1_xtalk_range_results_t + * Must contain 5 ranges, 4 quadrants + 1 + * full FoV + * @param[out] pxtalk_shape : Output normalised Cross talk histogram + * shape + * @param[out] pxtalk_cal : Output VL53L1_xtalk_calibration_results_t + * structure + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ +VL53L1_Error VL53L1_ipp_xtalk_calibration_process_data( + VL53L1_DEV dev, + VL53L1_xtalk_range_results_t *pxtalk_ranges, + VL53L1_xtalk_histogram_data_t *pxtalk_shape, + VL53L1_xtalk_calibration_results_t *pxtalk_cal) +{ + struct stmvl53l1_data *data = (struct stmvl53l1_data *) + container_of(dev, struct stmvl53l1_data, stdev); + struct ipp_work_t *pout = &data->ipp.work_out; + struct ipp_work_t *pin = &data->ipp.work; + int rc; + VL53L1_xtalk_histogram_data_t *pxtalk_shape_ipp; + VL53L1_xtalk_calibration_results_t *pxtalk_cal_ipp; + + IPP_SERIALIZE_VAR; + + /* setup pin */ + IPP_SERIALIZE_START(pin->data, 1); + IPP_SET_ARG_PTR(pin->data, 0, pxtalk_ranges); + pin->payload = IPP_SERIALIZE_PAYLAOD(); + pin->process_no = stmvl53l1_ipp_xtalk_calibration; + + /* setup pout */ + IPP_SERIALIZE_START(pout->data, 2); + IPP_OUT_ARG_PTR(pout->data, 0, pxtalk_shape_ipp); + IPP_OUT_ARG_PTR(pout->data, 1, pxtalk_cal_ipp); + + /* do ipp */ + rc = stmvl53l1_ipp_do_wrapper(data, pin, pout, IPP_SERIALIZE_PAYLAOD()); + if (rc) + goto done; + + /* copy output */ + memcpy(pxtalk_shape, pxtalk_shape_ipp, sizeof(*pxtalk_shape)); + memcpy(pxtalk_cal, pxtalk_cal_ipp, sizeof(*pxtalk_cal)); + + rc = 0; +done: + + return rc; +} + +/** + * @brief IPP Wrapper call for Generating Xtalk data from dual reflectance + * histogram data + * + * @param[in] Dev : Device handle + * @param[in] pxtalk_results : Pointer to xtalk_results structure + * containing dual reflectance + * histogram data + * @param[in] expected_target_distance_mm : User input of true target distance + * @param[in] higher_reflectance : User input detailing which + * histogram data 1 or 2 has the + * highest reflectance. + * @param[out] pxtalk_avg_samples : Pointer to output xtalk histogram + * data + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_ipp_generate_dual_reflectance_xtalk_samples( + VL53L1_DEV dev, + VL53L1_xtalk_range_results_t *pxtalk_results, + uint16_t expected_target_distance_mm, + uint8_t higher_reflectance, + VL53L1_histogram_bin_data_t *pxtalk_avg_samples) +{ + struct stmvl53l1_data *data = (struct stmvl53l1_data *) + container_of(dev, struct stmvl53l1_data, stdev); + struct ipp_work_t *pout = &data->ipp.work_out; + struct ipp_work_t *pin = &data->ipp.work; + int rc; + VL53L1_histogram_bin_data_t *pxtalk_avg_samples_ipp; + + IPP_SERIALIZE_VAR; + + /* setup pin */ + IPP_SERIALIZE_START(pin->data, 3); + IPP_SET_ARG_PTR(pin->data, 0, pxtalk_results); + IPP_SET_ARG(pin->data, 1, expected_target_distance_mm); + IPP_SET_ARG(pin->data, 2, higher_reflectance); + pin->payload = IPP_SERIALIZE_PAYLAOD(); + pin->process_no = stmvl53l1_ipp_generate_dual_reflectance_xtalk_samples; + + /* setup pout */ + IPP_SERIALIZE_START(pout->data, 1); + IPP_OUT_ARG_PTR(pout->data, 0, pxtalk_avg_samples_ipp); + + /* do ipp */ + rc = stmvl53l1_ipp_do_wrapper(data, pin, pout, IPP_SERIALIZE_PAYLAOD()); + if (rc) + goto done; + + /* copy output */ + memcpy(pxtalk_avg_samples, pxtalk_avg_samples_ipp, + sizeof(*pxtalk_avg_samples)); + + rc = 0; +done: + + return rc; +} diff --git a/drivers/input/misc/vl53L1/protected/inc/vl53l1_dmax.h b/drivers/input/misc/vl53L1/protected/inc/vl53l1_dmax.h new file mode 100644 index 000000000000..1e81a2305111 --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/inc/vl53l1_dmax.h @@ -0,0 +1,63 @@ + +/* SPDX-License-Identifier: BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_DMAX_H_ +#define _VL53L1_DMAX_H_ + +#include "vl53l1_types.h" +#include "vl53l1_hist_structs.h" +#include "vl53l1_dmax_private_structs.h" +#include "vl53l1_error_codes.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + +VL53L1_Error VL53L1_f_001( + uint16_t target_reflectance, + VL53L1_dmax_calibration_data_t *pcal, + VL53L1_hist_gen3_dmax_config_t *pcfg, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_hist_gen3_dmax_private_data_t *pdata, + int16_t *pambient_dmax_mm); + + + + +uint32_t VL53L1_f_002( + uint32_t events_threshold, + uint32_t ref_signal_events, + uint32_t ref_distance_mm, + uint32_t signal_thresh_sigma); + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/protected/inc/vl53l1_dmax_private_structs.h b/drivers/input/misc/vl53L1/protected/inc/vl53l1_dmax_private_structs.h new file mode 100644 index 000000000000..d3395e3d2556 --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/inc/vl53l1_dmax_private_structs.h @@ -0,0 +1,89 @@ + +/* SPDX-License-Identifier: BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + + + + +#ifndef _VL53L1_DMAX_PRIVATE_STRUCTS_H_ +#define _VL53L1_DMAX_PRIVATE_STRUCTS_H_ + +#include "vl53l1_types.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + + + + +typedef struct { + + uint32_t VL53L1_p_036; + + + uint8_t VL53L1_p_064; + + uint8_t VL53L1_p_065; + + + uint16_t VL53L1_p_066; + + uint16_t VL53L1_p_067; + + uint16_t VL53L1_p_068; + + uint16_t VL53L1_p_037; + + + uint32_t VL53L1_p_012; + + uint32_t VL53L1_p_033; + + + uint16_t VL53L1_p_001; + + + uint16_t VL53L1_p_006; + + + uint32_t VL53L1_p_004; + + uint32_t VL53L1_p_034; + + + int16_t VL53L1_p_035; + + int16_t VL53L1_p_007; + + +} VL53L1_hist_gen3_dmax_private_data_t; + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_algos_gen3.h b/drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_algos_gen3.h new file mode 100644 index 000000000000..72ca3df9d773 --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_algos_gen3.h @@ -0,0 +1,156 @@ + +/* SPDX-License-Identifier: BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + + +#ifndef _VL53L1_HIST_ALGOS_GEN3_H_ +#define _VL53L1_HIST_ALGOS_GEN3_H_ + +#include "vl53l1_types.h" +#include "vl53l1_ll_def.h" + +#include "vl53l1_hist_private_structs.h" +#include "vl53l1_dmax_private_structs.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + + + + +void VL53L1_f_016( + VL53L1_hist_gen3_algo_private_data_t *palgo); + + + + + + +VL53L1_Error VL53L1_f_018( + uint16_t ambient_threshold_events_scaler, + int32_t ambient_threshold_sigma, + int32_t min_ambient_threshold_events, + uint8_t algo__crosstalk_compensation_enable, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_histogram_bin_data_t *pxtalk, + VL53L1_hist_gen3_algo_private_data_t *palgo); + + + + + + +VL53L1_Error VL53L1_f_019( + VL53L1_hist_gen3_algo_private_data_t *palgo); + + + + +VL53L1_Error VL53L1_f_020( + VL53L1_hist_gen3_algo_private_data_t *palgo); + + + + +VL53L1_Error VL53L1_f_021( + VL53L1_hist_gen3_algo_private_data_t *palgo); + + + + +VL53L1_Error VL53L1_f_028( + VL53L1_HistTargetOrder target_order, + VL53L1_hist_gen3_algo_private_data_t *palgo); + + + + +VL53L1_Error VL53L1_f_022( + uint8_t pulse_no, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_hist_gen3_algo_private_data_t *palgo); + + + +VL53L1_Error VL53L1_f_027( + uint8_t pulse_no, + uint8_t clip_events, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_hist_gen3_algo_private_data_t *palgo); + + + + +VL53L1_Error VL53L1_f_030( + int16_t VL53L1_p_022, + int16_t VL53L1_p_026, + uint8_t VL53L1_p_031, + uint8_t clip_events, + VL53L1_histogram_bin_data_t *pbins, + uint32_t *pphase); + + + + +VL53L1_Error VL53L1_f_023( + uint8_t pulse_no, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_hist_gen3_algo_private_data_t *palgo, + int32_t pad_value, + VL53L1_histogram_bin_data_t *ppulse); + + + + +VL53L1_Error VL53L1_f_026( + uint8_t bin, + uint8_t sigma_estimator__sigma_ref_mm, + uint8_t VL53L1_p_031, + uint8_t VL53L1_p_055, + uint8_t crosstalk_compensation_enable, + VL53L1_histogram_bin_data_t *phist_data_ap, + VL53L1_histogram_bin_data_t *phist_data_zp, + VL53L1_histogram_bin_data_t *pxtalk_hist, + uint16_t *psigma_est); + + + + +void VL53L1_f_029( + uint8_t range_id, + uint8_t valid_phase_low, + uint8_t valid_phase_high, + uint16_t sigma_thres, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_hist_pulse_data_t *ppulse, + VL53L1_range_data_t *pdata); + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_algos_gen4.h b/drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_algos_gen4.h new file mode 100644 index 000000000000..1c4eb162419b --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_algos_gen4.h @@ -0,0 +1,102 @@ + +/* SPDX-License-Identifier: BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + + +#ifndef _VL53L1_HIST_ALGOS_GEN4_H_ +#define _VL53L1_HIST_ALGOS_GEN4_H_ + +#include "vl53l1_types.h" +#include "vl53l1_ll_def.h" + +#include "vl53l1_hist_private_structs.h" +#include "vl53l1_dmax_private_structs.h" + + +#ifdef __cplusplus +extern "C" +{ +#endif + + + + +void VL53L1_f_032( + VL53L1_hist_gen4_algo_filtered_data_t *palgo); + + + + +VL53L1_Error VL53L1_f_033( + VL53L1_dmax_calibration_data_t *pdmax_cal, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg, + VL53L1_hist_post_process_config_t *ppost_cfg, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_histogram_bin_data_t *pxtalk, + VL53L1_hist_gen3_algo_private_data_t *palgo, + VL53L1_hist_gen4_algo_filtered_data_t *pfiltered, + VL53L1_hist_gen3_dmax_private_data_t *pdmax_algo, + VL53L1_range_results_t *presults, + uint8_t histo_merge_nb); + + + + + +VL53L1_Error VL53L1_f_034( + uint8_t pulse_no, + VL53L1_histogram_bin_data_t *ppulse, + VL53L1_hist_gen3_algo_private_data_t *palgo, + VL53L1_hist_gen4_algo_filtered_data_t *pfiltered); + + + + +VL53L1_Error VL53L1_f_035( + uint8_t pulse_no, + uint16_t noise_threshold, + VL53L1_hist_gen4_algo_filtered_data_t *pfiltered, + VL53L1_hist_gen3_algo_private_data_t *palgo); + + + + +VL53L1_Error VL53L1_f_036( + uint8_t bin, + int32_t VL53L1_p_003, + int32_t VL53L1_p_018, + int32_t VL53L1_p_001, + int32_t ax, + int32_t bx, + int32_t cx, + int32_t VL53L1_p_004, + uint8_t VL53L1_p_031, + uint32_t *pmedian_phase); + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_core.h b/drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_core.h new file mode 100644 index 000000000000..e53c4d92512e --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_core.h @@ -0,0 +1,100 @@ + +/* SPDX-License-Identifier: BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + + +#ifndef _VL53L1_HIST_CORE_H_ +#define _VL53L1_HIST_CORE_H_ + +#include "vl53l1_types.h" +#include "vl53l1_ll_def.h" +#include "vl53l1_hist_private_structs.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + + + + +void VL53L1_f_013( + uint8_t VL53L1_p_018, + uint8_t filter_woi, + VL53L1_histogram_bin_data_t *pbins, + int32_t *pa, + int32_t *pb, + int32_t *pc); + + + + +VL53L1_Error VL53L1_f_011( + uint16_t vcsel_width, + uint16_t fast_osc_frequency, + uint32_t total_periods_elapsed, + uint16_t VL53L1_p_006, + VL53L1_range_data_t *pdata, + uint8_t histo_merge_nb); + + + + +void VL53L1_f_012( + uint16_t gain_factor, + int16_t range_offset_mm, + VL53L1_range_data_t *pdata); + + + + +void VL53L1_f_037( + VL53L1_histogram_bin_data_t *pdata, + int32_t ambient_estimate_counts_per_bin); + + + + +void VL53L1_f_004( + VL53L1_histogram_bin_data_t *pxtalk, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_histogram_bin_data_t *pxtalk_realigned); + + + +int8_t VL53L1_f_038( + VL53L1_histogram_bin_data_t *pdata1, + VL53L1_histogram_bin_data_t *pdata2); + + + +VL53L1_Error VL53L1_f_039( + VL53L1_histogram_bin_data_t *pidata, + VL53L1_histogram_bin_data_t *podata); + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_funcs.h b/drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_funcs.h new file mode 100644 index 000000000000..070c6880fe92 --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_funcs.h @@ -0,0 +1,67 @@ + +/* SPDX-License-Identifier: BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + + +#ifndef _VL53L1_HIST_FUNCS_H_ +#define _VL53L1_HIST_FUNCS_H_ + +#include "vl53l1_types.h" +#include "vl53l1_ll_def.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + + + + +VL53L1_Error VL53L1_hist_process_data( + VL53L1_dmax_calibration_data_t *pdmax_cal, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg, + VL53L1_hist_post_process_config_t *ppost_cfg, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_xtalk_histogram_data_t *pxtalk, + uint8_t *pArea1, + uint8_t *pArea2, + VL53L1_range_results_t *presults, + uint8_t *HistMergeNumber); + + + + +VL53L1_Error VL53L1_hist_ambient_dmax( + uint16_t target_reflectance, + VL53L1_dmax_calibration_data_t *pdmax_cal, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg, + VL53L1_histogram_bin_data_t *pbins, + int16_t *pambient_dmax_mm); + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_private_structs.h b/drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_private_structs.h new file mode 100644 index 000000000000..2fd0fde0544f --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/inc/vl53l1_hist_private_structs.h @@ -0,0 +1,269 @@ + +/* SPDX-License-Identifier: BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + + +#ifndef _VL53L1_HIST_PRIVATE_STRUCTS_H_ +#define _VL53L1_HIST_PRIVATE_STRUCTS_H_ + +#include "vl53l1_types.h" +#include "vl53l1_hist_structs.h" + +#define VL53L1_D_001 8 + +#ifdef __cplusplus +extern "C" { +#endif + + + + +typedef struct { + + uint8_t VL53L1_p_022; + + uint8_t VL53L1_p_023; + + uint8_t VL53L1_p_024; + + uint8_t VL53L1_p_030; + + int32_t VL53L1_p_020; + + + int32_t VL53L1_p_048[VL53L1_HISTOGRAM_BUFFER_SIZE]; + int32_t VL53L1_p_069[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + uint8_t VL53L1_p_043[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + int32_t VL53L1_p_008[VL53L1_HISTOGRAM_BUFFER_SIZE]; + uint16_t VL53L1_p_017[VL53L1_HISTOGRAM_BUFFER_SIZE]; + uint16_t VL53L1_p_011[VL53L1_HISTOGRAM_BUFFER_SIZE]; + +} VL53L1_hist_gen1_algo_private_data_t; + + + + +typedef struct { + + uint8_t VL53L1_p_022; + + uint8_t VL53L1_p_023; + + uint8_t VL53L1_p_024; + + uint16_t VL53L1_p_019; + + uint8_t VL53L1_p_009; + + uint8_t VL53L1_p_030; + + int32_t VL53L1_p_004; + + int32_t VL53L1_p_020; + + + int32_t VL53L1_p_003[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + int32_t VL53L1_p_018[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + int32_t VL53L1_p_001[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + + int32_t VL53L1_p_008[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + int32_t VL53L1_p_041[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + int32_t VL53L1_p_039[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + int32_t VL53L1_p_040[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + +} VL53L1_hist_gen2_algo_filtered_data_t; + + + + +typedef struct { + + uint8_t VL53L1_p_022; + + uint8_t VL53L1_p_023; + + uint8_t VL53L1_p_024; + + int32_t VL53L1_p_032; + + + uint8_t VL53L1_p_042[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + uint8_t VL53L1_p_044[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + + uint32_t VL53L1_p_017[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + uint16_t VL53L1_p_011[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + + uint8_t VL53L1_p_043[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + +} VL53L1_hist_gen2_algo_detection_data_t; + + + + +typedef struct { + + uint8_t VL53L1_p_015; + + uint8_t VL53L1_p_022; + + uint8_t VL53L1_p_025; + + uint8_t VL53L1_p_026; + + uint8_t VL53L1_p_016; + + + uint8_t VL53L1_p_027; + + uint8_t VL53L1_p_055; + + + int32_t VL53L1_p_020; + + int32_t VL53L1_p_021; + + int32_t VL53L1_p_013; + + + uint32_t VL53L1_p_028; + + uint32_t VL53L1_p_014; + + uint32_t VL53L1_p_029; + + + uint16_t VL53L1_p_005; + + +} VL53L1_hist_pulse_data_t; + + + + +typedef struct { + + uint8_t VL53L1_p_022; + + uint8_t VL53L1_p_023; + + uint8_t VL53L1_p_024; + + uint8_t VL53L1_p_031; + + uint8_t VL53L1_p_045; + + int32_t VL53L1_p_004; + + int32_t VL53L1_p_032; + + + uint8_t VL53L1_p_043[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + uint8_t VL53L1_p_046[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + uint8_t VL53L1_p_047[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + + int32_t VL53L1_p_056[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + int32_t VL53L1_p_048[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + int32_t VL53L1_p_008[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + + uint8_t VL53L1_p_049; + + uint8_t VL53L1_p_050; + + uint8_t VL53L1_p_051; + + + VL53L1_hist_pulse_data_t VL53L1_p_002[VL53L1_D_001]; + + + + + VL53L1_histogram_bin_data_t VL53L1_p_010; + + VL53L1_histogram_bin_data_t VL53L1_p_038; + + VL53L1_histogram_bin_data_t VL53L1_p_052; + + VL53L1_histogram_bin_data_t VL53L1_p_053; + + VL53L1_histogram_bin_data_t VL53L1_p_054; + + + + +} VL53L1_hist_gen3_algo_private_data_t; + + + + +typedef struct { + + uint8_t VL53L1_p_022; + + uint8_t VL53L1_p_023; + + uint8_t VL53L1_p_024; + + + int32_t VL53L1_p_003[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + int32_t VL53L1_p_018[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + int32_t VL53L1_p_001[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + + int32_t VL53L1_p_039[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + int32_t VL53L1_p_040[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + + uint8_t VL53L1_p_043[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + +} VL53L1_hist_gen4_algo_filtered_data_t; + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/protected/inc/vl53l1_sigma_estimate.h b/drivers/input/misc/vl53L1/protected/inc/vl53l1_sigma_estimate.h new file mode 100644 index 000000000000..9aa88da09381 --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/inc/vl53l1_sigma_estimate.h @@ -0,0 +1,126 @@ + +/* SPDX-License-Identifier: BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + +#ifndef _VL53L1_SIGMA_ESTIMATE_H_ +#define _VL53L1_SIGMA_ESTIMATE_H_ + +#include "vl53l1_types.h" +#include "vl53l1_ll_def.h" + +#ifdef __cplusplus +extern "C" { +#endif + +#define VL53L1_D_002 0xFFFF + + +#define VL53L1_D_008 0xFFFF +#define VL53L1_D_003 0xFFFFFF +#define VL53L1_D_007 0xFFFFFFFF +#define VL53L1_D_005 0x7FFFFFFFFF +#define VL53L1_D_009 0xFFFFFFFFFF +#define VL53L1_D_010 0xFFFFFFFFFFFF +#define VL53L1_D_004 0xFFFFFFFFFFFFFF +#define VL53L1_D_006 0x7FFFFFFFFFFFFFFF +#define VL53L1_D_011 0xFFFFFFFFFFFFFFFF + + + + +uint16_t VL53L1_f_042( + uint8_t sigma_estimator__effective_pulse_width_ns, + uint8_t sigma_estimator__effective_ambient_width_ns, + uint8_t sigma_estimator__sigma_ref_mm, + VL53L1_range_data_t *pdata); + + + + +uint16_t VL53L1_f_044( + uint8_t sigma_estimator__effective_pulse_width_ns, + uint8_t sigma_estimator__effective_ambient_width_ns, + uint8_t sigma_estimator__sigma_ref_mm, + VL53L1_range_data_t *pdata); + + + + + + +VL53L1_Error VL53L1_f_045( + uint8_t sigma_estimator__sigma_ref_mm, + uint32_t VL53L1_p_003, + uint32_t VL53L1_p_018, + uint32_t VL53L1_p_001, + uint32_t a_zp, + uint32_t c_zp, + uint32_t bx, + uint32_t ax_zp, + uint32_t cx_zp, + uint32_t VL53L1_p_004, + uint16_t fast_osc_frequency, + uint16_t *psigma_est); + + + + + + + +VL53L1_Error VL53L1_f_014( + uint8_t sigma_estimator__sigma_ref_mm, + uint32_t VL53L1_p_003, + uint32_t VL53L1_p_018, + uint32_t VL53L1_p_001, + uint32_t a_zp, + uint32_t c_zp, + uint32_t bx, + uint32_t ax_zp, + uint32_t cx_zp, + uint32_t VL53L1_p_004, + uint16_t fast_osc_frequency, + uint16_t *psigma_est); + + + +uint32_t VL53L1_f_046( + uint64_t VL53L1_p_003, + uint32_t size + ); + + + + + +uint32_t VL53L1_f_043( + uint32_t VL53L1_p_003, + uint32_t VL53L1_p_018); + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/protected/inc/vl53l1_xtalk.h b/drivers/input/misc/vl53L1/protected/inc/vl53l1_xtalk.h new file mode 100644 index 000000000000..936f76c82d2a --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/inc/vl53l1_xtalk.h @@ -0,0 +1,168 @@ + +/* SPDX-License-Identifier: BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + + + + +#ifndef _VL53L1_XTALK_H_ +#define _VL53L1_XTALK_H_ + +#include "vl53l1_types.h" +#include "vl53l1_ll_def.h" +#include "vl53l1_xtalk_private_structs.h" + +#ifdef __cplusplus +extern "C" { +#endif + + + + +VL53L1_Error VL53L1_xtalk_calibration_process_data( + VL53L1_xtalk_range_results_t *pxtalk_ranges, + VL53L1_xtalk_histogram_data_t *pxtalk_shape, + VL53L1_xtalk_calibration_results_t *pxtalk_cal); + + + + +VL53L1_Error VL53L1_f_049( + VL53L1_histogram_bin_data_t *pavg_bins, + VL53L1_xtalk_algo_data_t *pdebug, + VL53L1_xtalk_range_data_t *pxtalk_data, + uint8_t histogram__window_start, + uint8_t histogram__window_end, + VL53L1_xtalk_histogram_shape_t *pxtalk_shape); + + + +VL53L1_Error VL53L1_f_047( + VL53L1_xtalk_range_results_t *pxtalk_results, + VL53L1_xtalk_algo_data_t *pdebug, + int16_t *xgradient, + int16_t *ygradient); + + + + +VL53L1_Error VL53L1_f_048( + VL53L1_xtalk_range_data_t *pxtalk_data, + VL53L1_xtalk_algo_data_t *pdebug, + uint32_t *xtalk_mean_offset_kcps); + + + + +VL53L1_Error VL53L1_f_053( + VL53L1_histogram_bin_data_t *phist_data, + VL53L1_xtalk_range_data_t *pxtalk_data, + VL53L1_xtalk_algo_data_t *pdebug, + VL53L1_xtalk_histogram_shape_t *pxtalk_histo); + + + + + +VL53L1_Error VL53L1_f_040( + uint32_t mean_offset, + int16_t xgradient, + int16_t ygradient, + int8_t centre_offset_x, + int8_t centre_offset_y, + uint16_t roi_effective_spads, + uint8_t roi_centre_spad, + uint8_t roi_xy_size, + uint32_t *xtalk_rate_kcps); + + + + +VL53L1_Error VL53L1_f_041( + VL53L1_histogram_bin_data_t *phist_data, + VL53L1_xtalk_histogram_shape_t *pxtalk_data, + uint32_t xtalk_rate_kcps, + VL53L1_histogram_bin_data_t *pxtalkcount_data); + + + + +VL53L1_Error VL53L1_f_055( + VL53L1_histogram_bin_data_t *phist_data, + VL53L1_histogram_bin_data_t *pxtalk_data, + uint8_t xtalk_bin_offset); + + + +VL53L1_Error VL53L1_f_052( + VL53L1_histogram_bin_data_t *pxtalk_data, + uint32_t amb_threshold, + uint8_t VL53L1_p_022, + uint8_t VL53L1_p_026); + + + +VL53L1_Error VL53L1_f_054( + VL53L1_customer_nvm_managed_t *pcustomer, + VL53L1_dynamic_config_t *pdyn_cfg, + VL53L1_xtalk_histogram_data_t *pxtalk_shape, + VL53L1_histogram_bin_data_t *pip_hist_data, + VL53L1_histogram_bin_data_t *pop_hist_data, + VL53L1_histogram_bin_data_t *pxtalk_count_data); + + + + +VL53L1_Error VL53L1_f_051( + uint8_t sigma_mult, + int32_t VL53L1_p_004, + uint32_t *ambient_noise); + + + +VL53L1_Error VL53L1_generate_dual_reflectance_xtalk_samples( + VL53L1_xtalk_range_results_t *pxtalk_results, + uint16_t expected_target_distance_mm, + uint8_t higher_reflectance, + VL53L1_histogram_bin_data_t *pxtalk_avg_samples +); + + + + + +VL53L1_Error VL53L1_f_050( + VL53L1_histogram_bin_data_t *pzone_avg_1, + VL53L1_histogram_bin_data_t *pzone_avg_2, + uint16_t expected_target_distance, + uint8_t subtract_amb, + uint8_t higher_reflectance, + VL53L1_histogram_bin_data_t *pxtalk_output +); + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/protected/inc/vl53l1_xtalk_private_structs.h b/drivers/input/misc/vl53L1/protected/inc/vl53l1_xtalk_private_structs.h new file mode 100644 index 000000000000..788ace14da0d --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/inc/vl53l1_xtalk_private_structs.h @@ -0,0 +1,75 @@ + +/* SPDX-License-Identifier: BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + + + +#ifndef _VL53L1_XTALK_PRIVATE_STRUCTS_H_ +#define _VL53L1_XTALK_PRIVATE_STRUCTS_H_ + +#include "vl53l1_types.h" +#include "vl53l1_hist_structs.h" + + +#ifdef __cplusplus +extern "C" +{ +#endif + +#define VL53L1_D_012 4 + + + +typedef struct { + + + + + uint32_t VL53L1_p_062[VL53L1_D_012]; + + + int16_t VL53L1_p_060; + + int16_t VL53L1_p_061; + + + VL53L1_histogram_bin_data_t VL53L1_p_057; + + VL53L1_histogram_bin_data_t VL53L1_p_058; + + + + uint32_t VL53L1_p_059; + + + uint32_t VL53L1_p_063[VL53L1_XTALK_HISTO_BINS]; + + +} VL53L1_xtalk_algo_data_t; + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/protected/src/vl53l1_dmax.c b/drivers/input/misc/vl53L1/protected/src/vl53l1_dmax.c new file mode 100644 index 000000000000..23cda26565f4 --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/src/vl53l1_dmax.c @@ -0,0 +1,299 @@ + +// SPDX-License-Identifier: BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + +#include "vl53l1_types.h" +#include "vl53l1_platform_log.h" +#include "vl53l1_platform_user_defines.h" +#include "vl53l1_core_support.h" +#include "vl53l1_error_codes.h" + +#include "vl53l1_dmax.h" + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_PROTECTED, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_PROTECTED, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_PROTECTED, \ + status, fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_PROTECTED, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_f_001( + uint16_t target_reflectance, + VL53L1_dmax_calibration_data_t *pcal, + VL53L1_hist_gen3_dmax_config_t *pcfg, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_hist_gen3_dmax_private_data_t *pdata, + int16_t *pambient_dmax_mm) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint32_t pll_period_us = 0; + uint32_t periods_elapsed = 0; + + uint32_t tmp32 = 0; + uint64_t tmp64 = 0; + + uint32_t amb_thres_delta = 0; + + LOG_FUNCTION_START(""); + + + + pdata->VL53L1_p_006 = 0x0000; + pdata->VL53L1_p_033 = 0x0000; + pdata->VL53L1_p_001 = 0x0000; + pdata->VL53L1_p_012 = 0x0000; + pdata->VL53L1_p_004 = 0x0000; + pdata->VL53L1_p_034 = 0x0000; + pdata->VL53L1_p_035 = 0; + pdata->VL53L1_p_007 = 0; + + *pambient_dmax_mm = 0; + + + if ((pbins->VL53L1_p_019 != 0) && + (pbins->total_periods_elapsed != 0)) { + + + + pll_period_us = + VL53L1_calc_pll_period_us(pbins->VL53L1_p_019); + + + + periods_elapsed = pbins->total_periods_elapsed + 1; + + + + pdata->VL53L1_p_036 = + VL53L1_duration_maths( + pll_period_us, + 1<<4, + VL53L1_RANGING_WINDOW_VCSEL_PERIODS, + periods_elapsed); + + + pdata->VL53L1_p_001 = + VL53L1_rate_maths( + pbins->VL53L1_p_004, + pdata->VL53L1_p_036); + + + + pdata->VL53L1_p_033 = + VL53L1_events_per_spad_maths( + pbins->VL53L1_p_004, + pbins->result__dss_actual_effective_spads, + pdata->VL53L1_p_036); + + + + pdata->VL53L1_p_037 = pcfg->max_effective_spads; + pdata->VL53L1_p_006 = pcfg->max_effective_spads; + + if (pdata->VL53L1_p_033 > 0) { + tmp64 = + (uint64_t)pcfg->dss_config__target_total_rate_mcps; + tmp64 *= 1000; + tmp64 <<= (11+1); + tmp32 = pdata->VL53L1_p_033/2; + tmp64 += (uint64_t)tmp32; + tmp64 = do_division_u(tmp64, + (uint64_t)pdata->VL53L1_p_033); + + if (tmp64 < (uint64_t)pcfg->max_effective_spads) + pdata->VL53L1_p_006 = (uint16_t)tmp64; + } + } + + + + if ((pcal->ref__actual_effective_spads != 0) && + (pbins->VL53L1_p_019 != 0) && + (pcal->ref_reflectance_pc != 0) && + (pbins->total_periods_elapsed != 0)) { + + + + tmp64 = (uint64_t)pcal->ref__peak_signal_count_rate_mcps; + tmp64 *= (1000 * 256); + tmp32 = pcal->ref__actual_effective_spads/2; + tmp64 += (uint64_t)tmp32; + tmp64 = do_division_u(tmp64, + (uint64_t)pcal->ref__actual_effective_spads); + + pdata->VL53L1_p_012 = (uint32_t)tmp64; + pdata->VL53L1_p_012 <<= 4; + + + + tmp64 = (uint64_t)pdata->VL53L1_p_036; + tmp64 *= (uint64_t)pdata->VL53L1_p_033; + tmp64 *= (uint64_t)pdata->VL53L1_p_006; + tmp64 += (1<<(11+7)); + tmp64 >>= (11+8); + tmp64 += 500; + tmp64 = do_division_u(tmp64, 1000); + + + if (tmp64 > 0x00FFFFFF) + tmp64 = 0x00FFFFFF; + + pdata->VL53L1_p_004 = (uint32_t)tmp64; + + + + tmp64 = (uint64_t)pdata->VL53L1_p_036; + tmp64 *= (uint64_t)pdata->VL53L1_p_012; + tmp64 *= (uint64_t)pdata->VL53L1_p_006; + tmp64 += (1<<(11+7)); + tmp64 >>= (11+8); + + + + tmp64 *= ((uint64_t)target_reflectance * + (uint64_t)pcal->coverglass_transmission); + + tmp64 += ((uint64_t)pcal->ref_reflectance_pc * 128); + tmp64 = do_division_u(tmp64, + ((uint64_t)pcal->ref_reflectance_pc * 256)); + + tmp64 += 500; + tmp64 = do_division_u(tmp64, 1000); + + + if (tmp64 > 0x00FFFFFF) + tmp64 = 0x00FFFFFF; + + pdata->VL53L1_p_034 = (uint32_t)tmp64; + + + + tmp32 = VL53L1_isqrt(pdata->VL53L1_p_004 << 8); + tmp32 *= (uint32_t)pcfg->ambient_thresh_sigma; + + + + if (pdata->VL53L1_p_004 < + (uint32_t)pcfg->min_ambient_thresh_events) { + + amb_thres_delta = + pcfg->min_ambient_thresh_events - + (uint32_t)pdata->VL53L1_p_004; + + + amb_thres_delta <<= 8; + + if (tmp32 < amb_thres_delta) + tmp32 = amb_thres_delta; + } + + + + pdata->VL53L1_p_007 = + (int16_t)VL53L1_f_002( + tmp32, + pdata->VL53L1_p_034, + (uint32_t)pcal->ref__distance_mm, + (uint32_t)pcfg->signal_thresh_sigma); + + + + tmp32 = (uint32_t)pdata->VL53L1_p_034; + tmp32 *= (uint32_t)pbins->vcsel_width; + tmp32 += (1 << 3); + tmp32 /= (1 << 4); + + pdata->VL53L1_p_035 = + (int16_t)VL53L1_f_002( + 256 * (uint32_t)pcfg->signal_total_events_limit, + tmp32, + (uint32_t)pcal->ref__distance_mm, + (uint32_t)pcfg->signal_thresh_sigma); + + + + + if (pdata->VL53L1_p_035 < pdata->VL53L1_p_007) + *pambient_dmax_mm = pdata->VL53L1_p_035; + else + *pambient_dmax_mm = pdata->VL53L1_p_007; + + } + + LOG_FUNCTION_END(status); + + return status; + +} + + +uint32_t VL53L1_f_002( + uint32_t events_threshold, + uint32_t ref_signal_events, + uint32_t ref_distance_mm, + uint32_t signal_thresh_sigma) +{ + + + + uint32_t tmp32 = 0; + uint32_t range_mm = 0; + + tmp32 = 4 * events_threshold; + + + + tmp32 += ((uint32_t)signal_thresh_sigma * + (uint32_t)signal_thresh_sigma); + + + + tmp32 = VL53L1_isqrt(tmp32); + tmp32 += (uint32_t)signal_thresh_sigma; + + + + range_mm = + (uint32_t)VL53L1_isqrt(ref_signal_events << 4); + range_mm *= ref_distance_mm; + + if (tmp32 > 0) { + range_mm += (tmp32); + range_mm /= (2*tmp32); + } + + return range_mm; + +} + diff --git a/drivers/input/misc/vl53L1/protected/src/vl53l1_hist_algos_gen3.c b/drivers/input/misc/vl53L1/protected/src/vl53l1_hist_algos_gen3.c new file mode 100644 index 000000000000..8596a55e2b3c --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/src/vl53l1_hist_algos_gen3.c @@ -0,0 +1,857 @@ + +// SPDX-License-Identifier: BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + +#include "vl53l1_types.h" +#include "vl53l1_platform_log.h" + +#include "vl53l1_core_support.h" +#include "vl53l1_error_codes.h" + +#include "vl53l1_hist_core.h" +#include "vl53l1_hist_algos_gen3.h" +#include "vl53l1_sigma_estimate.h" +#include "vl53l1_dmax.h" + + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_HISTOGRAM, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_HISTOGRAM, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_HISTOGRAM,\ + status, fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_HISTOGRAM, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +void VL53L1_f_016( + VL53L1_hist_gen3_algo_private_data_t *palgo) +{ + + + uint8_t lb = 0; + + palgo->VL53L1_p_023 = VL53L1_HISTOGRAM_BUFFER_SIZE; + palgo->VL53L1_p_022 = 0; + palgo->VL53L1_p_024 = 0; + palgo->VL53L1_p_045 = 0; + palgo->VL53L1_p_004 = 0; + palgo->VL53L1_p_032 = 0; + + for (lb = palgo->VL53L1_p_022; lb < palgo->VL53L1_p_023; lb++) { + palgo->VL53L1_p_043[lb] = 0; + palgo->VL53L1_p_046[lb] = 0; + palgo->VL53L1_p_047[lb] = 0; + palgo->VL53L1_p_048[lb] = 0; + palgo->VL53L1_p_008[lb] = 0; + } + + palgo->VL53L1_p_049 = 0; + palgo->VL53L1_p_050 = VL53L1_D_001; + palgo->VL53L1_p_051 = 0; + + + + VL53L1_init_histogram_bin_data_struct( + 0, + VL53L1_HISTOGRAM_BUFFER_SIZE, + &(palgo->VL53L1_p_010)); + VL53L1_init_histogram_bin_data_struct( + 0, + VL53L1_HISTOGRAM_BUFFER_SIZE, + &(palgo->VL53L1_p_038)); + VL53L1_init_histogram_bin_data_struct( + 0, + VL53L1_HISTOGRAM_BUFFER_SIZE, + &(palgo->VL53L1_p_052)); + VL53L1_init_histogram_bin_data_struct( + 0, + VL53L1_HISTOGRAM_BUFFER_SIZE, + &(palgo->VL53L1_p_053)); + VL53L1_init_histogram_bin_data_struct( + 0, + VL53L1_HISTOGRAM_BUFFER_SIZE, + &(palgo->VL53L1_p_054)); +} + + + +VL53L1_Error VL53L1_f_018( + uint16_t ambient_threshold_events_scaler, + int32_t ambient_threshold_sigma, + int32_t min_ambient_threshold_events, + uint8_t algo__crosstalk_compensation_enable, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_histogram_bin_data_t *pxtalk, + VL53L1_hist_gen3_algo_private_data_t *palgo) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t lb = 0; + uint8_t VL53L1_p_001 = 0; + int64_t tmp = 0; + int32_t amb_events = 0; + int32_t VL53L1_p_008 = 0; + int32_t samples = 0; + + LOG_FUNCTION_START(""); + + + palgo->VL53L1_p_023 = pbins->VL53L1_p_023; + palgo->VL53L1_p_022 = pbins->VL53L1_p_022; + palgo->VL53L1_p_024 = pbins->VL53L1_p_024; + palgo->VL53L1_p_004 = pbins->VL53L1_p_004; + + + + palgo->VL53L1_p_031 = + VL53L1_decode_vcsel_period(pbins->VL53L1_p_009); + + + + tmp = (int64_t)pbins->VL53L1_p_004; + tmp *= (int64_t)ambient_threshold_events_scaler; + tmp += 2048; + tmp = do_division_s(tmp, 4096); + amb_events = (int32_t)tmp; + + + + for (lb = 0; lb < pbins->VL53L1_p_024; lb++) { + + VL53L1_p_001 = lb >> 2; + samples = (int32_t)pbins->bin_rep[VL53L1_p_001]; + + if (samples > 0) { + + if (lb < pxtalk->VL53L1_p_024 && + algo__crosstalk_compensation_enable > 0) + VL53L1_p_008 = samples * (amb_events + + pxtalk->bin_data[lb]); + else + VL53L1_p_008 = samples * amb_events; + + VL53L1_p_008 = VL53L1_isqrt(VL53L1_p_008); + + VL53L1_p_008 += (samples/2); + VL53L1_p_008 /= samples; + VL53L1_p_008 *= ambient_threshold_sigma; + VL53L1_p_008 += 8; + VL53L1_p_008 /= 16; + VL53L1_p_008 += amb_events; + + if (VL53L1_p_008 < min_ambient_threshold_events) + VL53L1_p_008 = min_ambient_threshold_events; + + palgo->VL53L1_p_056[lb] = VL53L1_p_008; + palgo->VL53L1_p_032 = VL53L1_p_008; + } + + + + } + + + + palgo->VL53L1_p_045 = 0; + + for (lb = pbins->VL53L1_p_022; lb < pbins->VL53L1_p_024; lb++) { + + if (pbins->bin_data[lb] > palgo->VL53L1_p_056[lb]) { + palgo->VL53L1_p_043[lb] = 1; + palgo->VL53L1_p_046[lb] = 1; + palgo->VL53L1_p_045++; + } else { + palgo->VL53L1_p_043[lb] = 0; + palgo->VL53L1_p_046[lb] = 0; + } + } + + LOG_FUNCTION_END(status); + + return status; + +} + + + + +VL53L1_Error VL53L1_f_019( + VL53L1_hist_gen3_algo_private_data_t *palgo) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + uint8_t j = 0; + uint8_t found = 0; + + LOG_FUNCTION_START(""); + + palgo->VL53L1_p_049 = 0; + + for (i = 0; i < palgo->VL53L1_p_031; i++) { + + j = (i + 1) % palgo->VL53L1_p_031; + + + + if (i < palgo->VL53L1_p_024 && j < palgo->VL53L1_p_024) { + if (palgo->VL53L1_p_046[i] == 0 && + palgo->VL53L1_p_046[j] == 1 && + found == 0) { + palgo->VL53L1_p_049 = i; + found = 1; + } + } + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_f_020( + VL53L1_hist_gen3_algo_private_data_t *palgo) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t i = 0; + uint8_t j = 0; + uint8_t lb = 0; + + LOG_FUNCTION_START(""); + + for (lb = palgo->VL53L1_p_049; + lb < (palgo->VL53L1_p_049 + + palgo->VL53L1_p_031); + lb++) { + + + + i = lb % palgo->VL53L1_p_031; + j = (lb + 1) % palgo->VL53L1_p_031; + + + + if (i < palgo->VL53L1_p_024 && j < palgo->VL53L1_p_024) { + + if (palgo->VL53L1_p_046[i] == 0 && + palgo->VL53L1_p_046[j] == 1) + palgo->VL53L1_p_051++; + + if (palgo->VL53L1_p_046[i] > 0) + palgo->VL53L1_p_047[i] = palgo->VL53L1_p_051; + else + palgo->VL53L1_p_047[i] = 0; + } + + } + + + if (palgo->VL53L1_p_051 > palgo->VL53L1_p_050) + palgo->VL53L1_p_051 = palgo->VL53L1_p_050; + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_f_021( + VL53L1_hist_gen3_algo_private_data_t *palgo) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + uint8_t j = 0; + uint8_t blb = 0; + uint8_t pulse_no = 0; + + uint8_t max_filter_half_width = 0; + + VL53L1_hist_pulse_data_t *pdata; + + LOG_FUNCTION_START(""); + + + + max_filter_half_width = palgo->VL53L1_p_031 - 1; + max_filter_half_width = max_filter_half_width >> 1; + + for (blb = palgo->VL53L1_p_049; + blb < (palgo->VL53L1_p_049 + + palgo->VL53L1_p_031); + blb++) { + + + + i = blb % palgo->VL53L1_p_031; + j = (blb + 1) % palgo->VL53L1_p_031; + + + + if (i < palgo->VL53L1_p_024 && + j < palgo->VL53L1_p_024) { + + + + if (palgo->VL53L1_p_047[i] == 0 && + palgo->VL53L1_p_047[j] > 0) { + + pulse_no = palgo->VL53L1_p_047[j] - 1; + pdata = &(palgo->VL53L1_p_002[pulse_no]); + + if (pulse_no < palgo->VL53L1_p_050) { + pdata->VL53L1_p_015 = blb; + pdata->VL53L1_p_022 = blb + 1; + pdata->VL53L1_p_025 = 0xFF; + pdata->VL53L1_p_026 = 0; + pdata->VL53L1_p_016 = 0; + } + } + + + + if (palgo->VL53L1_p_047[i] > 0 + && palgo->VL53L1_p_047[j] == 0) { + + pulse_no = palgo->VL53L1_p_047[i] - 1; + pdata = &(palgo->VL53L1_p_002[pulse_no]); + + if (pulse_no < palgo->VL53L1_p_050) { + + pdata->VL53L1_p_026 = blb; + pdata->VL53L1_p_016 = blb + 1; + + pdata->VL53L1_p_027 = + (pdata->VL53L1_p_026 + 1) - + pdata->VL53L1_p_022; + pdata->VL53L1_p_055 = + (pdata->VL53L1_p_016 + 1) - + pdata->VL53L1_p_015; + + if (pdata->VL53L1_p_055 > + max_filter_half_width) + pdata->VL53L1_p_055 = + max_filter_half_width; + } + + } + } + } + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_f_028( + VL53L1_HistTargetOrder target_order, + VL53L1_hist_gen3_algo_private_data_t *palgo) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_hist_pulse_data_t tmp; + VL53L1_hist_pulse_data_t *ptmp = &tmp; + VL53L1_hist_pulse_data_t *p0; + VL53L1_hist_pulse_data_t *p1; + + uint8_t i = 0; + uint8_t swapped = 1; + + LOG_FUNCTION_START(""); + + if (!(palgo->VL53L1_p_051 > 1)) + goto ENDFUNC; + + while (swapped > 0) { + + swapped = 0; + + for (i = 1; i < palgo->VL53L1_p_051; i++) { + + p0 = &(palgo->VL53L1_p_002[i-1]); + p1 = &(palgo->VL53L1_p_002[i]); + + + + if (target_order + == VL53L1_HIST_TARGET_ORDER__STRONGEST_FIRST) { + + if (p0->VL53L1_p_013 < + p1->VL53L1_p_013) { + + + + memcpy(ptmp, + p1, sizeof(VL53L1_hist_pulse_data_t)); + memcpy(p1, + p0, sizeof(VL53L1_hist_pulse_data_t)); + memcpy(p0, + ptmp, sizeof(VL53L1_hist_pulse_data_t)); + + swapped = 1; + } + + } else { + + if (p0->VL53L1_p_014 > p1->VL53L1_p_014) { + + + + memcpy(ptmp, + p1, sizeof(VL53L1_hist_pulse_data_t)); + memcpy(p1, + p0, sizeof(VL53L1_hist_pulse_data_t)); + memcpy(p0, + ptmp, sizeof(VL53L1_hist_pulse_data_t)); + + swapped = 1; + } + + } + } + } + +ENDFUNC: + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_f_022( + uint8_t pulse_no, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_hist_gen3_algo_private_data_t *palgo) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + uint8_t lb = 0; + + VL53L1_hist_pulse_data_t *pdata = &(palgo->VL53L1_p_002[pulse_no]); + + LOG_FUNCTION_START(""); + + + + pdata->VL53L1_p_021 = 0; + pdata->VL53L1_p_020 = 0; + + for (lb = pdata->VL53L1_p_015; lb <= pdata->VL53L1_p_016; lb++) { + i = lb % palgo->VL53L1_p_031; + pdata->VL53L1_p_021 += pbins->bin_data[i]; + pdata->VL53L1_p_020 += palgo->VL53L1_p_004; + } + + + + pdata->VL53L1_p_013 = + pdata->VL53L1_p_021 - pdata->VL53L1_p_020; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_f_027( + uint8_t pulse_no, + uint8_t clip_events, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_hist_gen3_algo_private_data_t *palgo) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + int16_t VL53L1_p_015 = 0; + int16_t VL53L1_p_016 = 0; + int16_t window_width = 0; + uint32_t tmp_phase = 0; + + VL53L1_hist_pulse_data_t *pdata = &(palgo->VL53L1_p_002[pulse_no]); + + LOG_FUNCTION_START(""); + + + + i = pdata->VL53L1_p_025 % palgo->VL53L1_p_031; + + VL53L1_p_015 = (int16_t)i; + VL53L1_p_015 += (int16_t)pdata->VL53L1_p_015; + VL53L1_p_015 -= (int16_t)pdata->VL53L1_p_025; + + VL53L1_p_016 = (int16_t)i; + VL53L1_p_016 += (int16_t)pdata->VL53L1_p_016; + VL53L1_p_016 -= (int16_t)pdata->VL53L1_p_025; + + + window_width = VL53L1_p_016 - VL53L1_p_015; + if (window_width > 3) + window_width = 3; + + status = + VL53L1_f_030( + VL53L1_p_015, + VL53L1_p_015 + window_width, + palgo->VL53L1_p_031, + clip_events, + pbins, + &(pdata->VL53L1_p_028)); + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_f_030( + VL53L1_p_016 - window_width, + VL53L1_p_016, + palgo->VL53L1_p_031, + clip_events, + pbins, + &(pdata->VL53L1_p_029)); + + + if (pdata->VL53L1_p_028 > pdata->VL53L1_p_029) { + tmp_phase = pdata->VL53L1_p_028; + pdata->VL53L1_p_028 = pdata->VL53L1_p_029; + pdata->VL53L1_p_029 = tmp_phase; + } + + + if (pdata->VL53L1_p_014 < pdata->VL53L1_p_028) + pdata->VL53L1_p_028 = pdata->VL53L1_p_014; + + + if (pdata->VL53L1_p_014 > pdata->VL53L1_p_029) + pdata->VL53L1_p_029 = pdata->VL53L1_p_014; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_f_030( + int16_t VL53L1_p_022, + int16_t VL53L1_p_026, + uint8_t VL53L1_p_031, + uint8_t clip_events, + VL53L1_histogram_bin_data_t *pbins, + uint32_t *pphase) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + int16_t i = 0; + int16_t lb = 0; + + int64_t VL53L1_p_008 = 0; + int64_t event_sum = 0; + int64_t weighted_sum = 0; + + LOG_FUNCTION_START(""); + + *pphase = VL53L1_MAX_ALLOWED_PHASE; + + for (lb = VL53L1_p_022; lb <= VL53L1_p_026; lb++) { + + + if (lb < 0) + i = lb + (int16_t)VL53L1_p_031; + else + i = lb % (int16_t)VL53L1_p_031; + + VL53L1_p_008 = + (int64_t)pbins->bin_data[i] - + (int64_t)pbins->VL53L1_p_004; + + + if (clip_events > 0 && VL53L1_p_008 < 0) + VL53L1_p_008 = 0; + + event_sum += VL53L1_p_008; + + weighted_sum += + (VL53L1_p_008 * (1024 + (2048*(int64_t)lb))); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "\tb = %5d : i = %5d : VL53L1_p_008 = %8d,", + lb, i, VL53L1_p_008); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + " event_sum = %8d, weighted_sum = %8d\n", + event_sum, weighted_sum); + } + + if (event_sum > 0) { + + weighted_sum += do_division_s(event_sum, 2); + weighted_sum = do_division_s(weighted_sum, event_sum); + + if (weighted_sum < 0) + weighted_sum = 0; + + *pphase = (uint32_t)weighted_sum; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_f_023( + uint8_t pulse_no, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_hist_gen3_algo_private_data_t *palgo, + int32_t pad_value, + VL53L1_histogram_bin_data_t *ppulse) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + uint8_t lb = 0; + + VL53L1_hist_pulse_data_t *pdata = &(palgo->VL53L1_p_002[pulse_no]); + + LOG_FUNCTION_START(""); + + + + memcpy(ppulse, pbins, sizeof(VL53L1_histogram_bin_data_t)); + + + + for (lb = palgo->VL53L1_p_049; + lb < (palgo->VL53L1_p_049 + + palgo->VL53L1_p_031); + lb++) { + + if (lb < pdata->VL53L1_p_015 || lb > pdata->VL53L1_p_016) { + i = lb % palgo->VL53L1_p_031; + if (i < ppulse->VL53L1_p_024) + ppulse->bin_data[i] = pad_value; + } + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_f_026( + uint8_t bin, + uint8_t sigma_estimator__sigma_ref_mm, + uint8_t VL53L1_p_031, + uint8_t VL53L1_p_055, + uint8_t crosstalk_compensation_enable, + VL53L1_histogram_bin_data_t *phist_data_ap, + VL53L1_histogram_bin_data_t *phist_data_zp, + VL53L1_histogram_bin_data_t *pxtalk_hist, + uint16_t *psigma_est) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_Error func_status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + int32_t VL53L1_p_003 = 0; + int32_t VL53L1_p_018 = 0; + int32_t VL53L1_p_001 = 0; + int32_t a_zp = 0; + int32_t c_zp = 0; + int32_t ax = 0; + int32_t bx = 0; + int32_t cx = 0; + + + + i = bin % VL53L1_p_031; + + + + VL53L1_f_013( + i, + VL53L1_p_055, + phist_data_zp, + &a_zp, + &VL53L1_p_018, + &c_zp); + + + + VL53L1_f_013( + i, + VL53L1_p_055, + phist_data_ap, + &VL53L1_p_003, + &VL53L1_p_018, + &VL53L1_p_001); + + if (crosstalk_compensation_enable > 0) + VL53L1_f_013( + i, + VL53L1_p_055, + pxtalk_hist, + &ax, + &bx, + &cx); + + + + + + + + func_status = + VL53L1_f_014( + sigma_estimator__sigma_ref_mm, + (uint32_t)VL53L1_p_003, + (uint32_t)VL53L1_p_018, + (uint32_t)VL53L1_p_001, + (uint32_t)a_zp, + (uint32_t)c_zp, + (uint32_t)bx, + (uint32_t)ax, + (uint32_t)cx, + (uint32_t)phist_data_ap->VL53L1_p_004, + phist_data_ap->VL53L1_p_019, + psigma_est); + + + + + if (func_status == VL53L1_ERROR_DIVISION_BY_ZERO) + *psigma_est = 0xFFFF; + + + return status; +} + + +void VL53L1_f_029( + uint8_t range_id, + uint8_t valid_phase_low, + uint8_t valid_phase_high, + uint16_t sigma_thres, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_hist_pulse_data_t *ppulse, + VL53L1_range_data_t *pdata) +{ + + uint16_t lower_phase_limit = 0; + uint16_t upper_phase_limit = 0; + + + + pdata->range_id = range_id; + pdata->time_stamp = 0; + + pdata->VL53L1_p_015 = ppulse->VL53L1_p_015; + pdata->VL53L1_p_022 = ppulse->VL53L1_p_022; + pdata->VL53L1_p_025 = ppulse->VL53L1_p_025; + pdata->VL53L1_p_026 = ppulse->VL53L1_p_026; + pdata->VL53L1_p_016 = ppulse->VL53L1_p_016; + pdata->VL53L1_p_027 = ppulse->VL53L1_p_027; + + + + pdata->VL53L1_p_030 = + (ppulse->VL53L1_p_016 + 1) - ppulse->VL53L1_p_015; + + + + pdata->zero_distance_phase = pbins->zero_distance_phase; + pdata->VL53L1_p_005 = ppulse->VL53L1_p_005; + pdata->VL53L1_p_028 = (uint16_t)ppulse->VL53L1_p_028; + pdata->VL53L1_p_014 = (uint16_t)ppulse->VL53L1_p_014; + pdata->VL53L1_p_029 = (uint16_t)ppulse->VL53L1_p_029; + pdata->VL53L1_p_021 = (uint32_t)ppulse->VL53L1_p_021; + pdata->VL53L1_p_013 = ppulse->VL53L1_p_013; + pdata->VL53L1_p_020 = (uint32_t)ppulse->VL53L1_p_020; + pdata->total_periods_elapsed = pbins->total_periods_elapsed; + + + + pdata->range_status = VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK; + + + if (sigma_thres > 0 && + (uint32_t)ppulse->VL53L1_p_005 > ((uint32_t)sigma_thres << 5)) + pdata->range_status = VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK; + + + + lower_phase_limit = (uint8_t)valid_phase_low << 8; + if (lower_phase_limit < pdata->zero_distance_phase) + lower_phase_limit = + pdata->zero_distance_phase - + lower_phase_limit; + else + lower_phase_limit = 0; + + upper_phase_limit = (uint8_t)valid_phase_high << 8; + upper_phase_limit += pbins->zero_distance_phase; + + if (pdata->VL53L1_p_014 < lower_phase_limit || + pdata->VL53L1_p_014 > upper_phase_limit) + pdata->range_status = VL53L1_DEVICEERROR_RANGEPHASECHECK; + +} + + diff --git a/drivers/input/misc/vl53L1/protected/src/vl53l1_hist_algos_gen4.c b/drivers/input/misc/vl53L1/protected/src/vl53l1_hist_algos_gen4.c new file mode 100644 index 000000000000..e450804b23e6 --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/src/vl53l1_hist_algos_gen4.c @@ -0,0 +1,561 @@ + +// SPDX-License-Identifier: BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + +#include "vl53l1_types.h" +#include "vl53l1_platform_log.h" + +#include "vl53l1_core_support.h" +#include "vl53l1_error_codes.h" + +#include "vl53l1_hist_core.h" +#include "vl53l1_hist_algos_gen3.h" +#include "vl53l1_hist_algos_gen4.h" +#include "vl53l1_sigma_estimate.h" +#include "vl53l1_dmax.h" +#ifdef __KERNEL__ +#include +#include +#endif + + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_HISTOGRAM, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_HISTOGRAM, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_HISTOGRAM, \ + status, fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_HISTOGRAM, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +void VL53L1_f_032( + VL53L1_hist_gen4_algo_filtered_data_t *palgo) +{ + + + uint8_t lb = 0; + + palgo->VL53L1_p_023 = VL53L1_HISTOGRAM_BUFFER_SIZE; + palgo->VL53L1_p_022 = 0; + palgo->VL53L1_p_024 = 0; + + for (lb = palgo->VL53L1_p_022; lb < palgo->VL53L1_p_023; lb++) { + palgo->VL53L1_p_003[lb] = 0; + palgo->VL53L1_p_018[lb] = 0; + palgo->VL53L1_p_001[lb] = 0; + palgo->VL53L1_p_039[lb] = 0; + palgo->VL53L1_p_040[lb] = 0; + palgo->VL53L1_p_043[lb] = 0; + } +} + + +VL53L1_Error VL53L1_f_033( + VL53L1_dmax_calibration_data_t *pdmax_cal, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg, + VL53L1_hist_post_process_config_t *ppost_cfg, + VL53L1_histogram_bin_data_t *pbins_input, + VL53L1_histogram_bin_data_t *pxtalk, + VL53L1_hist_gen3_algo_private_data_t *palgo3, + VL53L1_hist_gen4_algo_filtered_data_t *pfiltered, + VL53L1_hist_gen3_dmax_private_data_t *pdmax_algo, + VL53L1_range_results_t *presults, + uint8_t histo_merge_nb) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_hist_pulse_data_t *ppulse_data; + VL53L1_range_data_t *prange_data; + + uint8_t p = 0; + VL53L1_histogram_bin_data_t *pB = &(palgo3->VL53L1_p_010); + + LOG_FUNCTION_START(""); + + + + + + VL53L1_f_016(palgo3); + + + + memcpy( + &(palgo3->VL53L1_p_010), + pbins_input, + sizeof(VL53L1_histogram_bin_data_t)); + + + + presults->cfg_device_state = pbins_input->cfg_device_state; + presults->rd_device_state = pbins_input->rd_device_state; + presults->zone_id = pbins_input->zone_id; + presults->stream_count = pbins_input->result__stream_count; + presults->wrap_dmax_mm = 0; + presults->max_results = VL53L1_MAX_RANGE_RESULTS; + presults->active_results = 0; + + for (p = 0; p < VL53L1_MAX_AMBIENT_DMAX_VALUES; p++) + presults->VL53L1_p_007[p] = 0; + + + + VL53L1_hist_calc_zero_distance_phase(&(palgo3->VL53L1_p_010)); + + + + if (ppost_cfg->hist_amb_est_method == + VL53L1_HIST_AMB_EST_METHOD__THRESHOLDED_BINS) + VL53L1_hist_estimate_ambient_from_thresholded_bins( + (int32_t)ppost_cfg->ambient_thresh_sigma0, + &(palgo3->VL53L1_p_010)); + else + VL53L1_hist_estimate_ambient_from_ambient_bins( + &(palgo3->VL53L1_p_010)); + + + VL53L1_hist_remove_ambient_bins(&(palgo3->VL53L1_p_010)); + + + if (ppost_cfg->algo__crosstalk_compensation_enable > 0) + VL53L1_f_004( + pxtalk, + &(palgo3->VL53L1_p_010), + &(palgo3->VL53L1_p_038)); + + + + pdmax_cfg->ambient_thresh_sigma = + ppost_cfg->ambient_thresh_sigma1; + + for (p = 0; p < VL53L1_MAX_AMBIENT_DMAX_VALUES; p++) { + if (status == VL53L1_ERROR_NONE) { + status = + VL53L1_f_001( + pdmax_cfg->target_reflectance_for_dmax_calc[p], + pdmax_cal, + pdmax_cfg, + &(palgo3->VL53L1_p_010), + pdmax_algo, + &(presults->VL53L1_p_007[p])); + } + } + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_f_018( + ppost_cfg->ambient_thresh_events_scaler, + (int32_t)ppost_cfg->ambient_thresh_sigma1, + (int32_t)ppost_cfg->min_ambient_thresh_events, + ppost_cfg->algo__crosstalk_compensation_enable, + &(palgo3->VL53L1_p_010), + &(palgo3->VL53L1_p_038), + palgo3); + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_f_019(palgo3); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_f_020(palgo3); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_f_021(palgo3); + + + + for (p = 0; p < palgo3->VL53L1_p_051; p++) { + + ppulse_data = &(palgo3->VL53L1_p_002[p]); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_f_022( + p, + &(palgo3->VL53L1_p_010), + palgo3); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_f_023( + p, + &(palgo3->VL53L1_p_010), + palgo3, + pB->VL53L1_p_004, + &(palgo3->VL53L1_p_052)); + + + + if (status == VL53L1_ERROR_NONE) { + status = + VL53L1_f_023( + p, + &(palgo3->VL53L1_p_010), + palgo3, + 0, + &(palgo3->VL53L1_p_053)); + } + + + + if (status == VL53L1_ERROR_NONE) { + status = + VL53L1_f_023( + p, + &(palgo3->VL53L1_p_038), + palgo3, + 0, + &(palgo3->VL53L1_p_054)); + } + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_f_034( + p, + &(palgo3->VL53L1_p_052), + palgo3, + pfiltered); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_f_035( + p, + ppost_cfg->noise_threshold, + pfiltered, + palgo3); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_f_026( + ppulse_data->VL53L1_p_025, + ppost_cfg->sigma_estimator__sigma_ref_mm, + palgo3->VL53L1_p_031, + ppulse_data->VL53L1_p_055, + ppost_cfg->algo__crosstalk_compensation_enable, + &(palgo3->VL53L1_p_052), + &(palgo3->VL53L1_p_053), + &(palgo3->VL53L1_p_054), + &(ppulse_data->VL53L1_p_005)); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_f_027( + p, + 1, + &(palgo3->VL53L1_p_010), + palgo3); + + } + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_f_028( + ppost_cfg->hist_target_order, + palgo3); + + + + for (p = 0; p < palgo3->VL53L1_p_051; p++) { + + ppulse_data = &(palgo3->VL53L1_p_002[p]); + + + if (!(presults->active_results < presults->max_results)) + continue; + + + + + if (ppulse_data->VL53L1_p_013 > + ppost_cfg->signal_total_events_limit && + ppulse_data->VL53L1_p_025 < 0xFF) { + + prange_data = + &(presults->VL53L1_p_002[presults->active_results]); + + if (status == VL53L1_ERROR_NONE) + VL53L1_f_029( + presults->active_results, + ppost_cfg->valid_phase_low, + ppost_cfg->valid_phase_high, + ppost_cfg->sigma_thresh, + &(palgo3->VL53L1_p_010), + ppulse_data, + prange_data); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_f_011( + pB->vcsel_width, + pB->VL53L1_p_019, + pB->total_periods_elapsed, + pB->result__dss_actual_effective_spads, + prange_data, + histo_merge_nb); + + if (status == VL53L1_ERROR_NONE) + VL53L1_f_012( + ppost_cfg->gain_factor, + ppost_cfg->range_offset_mm, + prange_data); + + presults->active_results++; + } + + } + + + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_f_034( + uint8_t pulse_no, + VL53L1_histogram_bin_data_t *ppulse, + VL53L1_hist_gen3_algo_private_data_t *palgo3, + VL53L1_hist_gen4_algo_filtered_data_t *pfiltered) +{ + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_hist_pulse_data_t *pdata = &(palgo3->VL53L1_p_002[pulse_no]); + + uint8_t lb = 0; + uint8_t i = 0; + int32_t suma = 0; + int32_t sumb = 0; + int32_t sumc = 0; + + LOG_FUNCTION_START(""); + + pfiltered->VL53L1_p_023 = palgo3->VL53L1_p_023; + pfiltered->VL53L1_p_022 = palgo3->VL53L1_p_022; + pfiltered->VL53L1_p_024 = palgo3->VL53L1_p_024; + + + + for (lb = pdata->VL53L1_p_015; lb <= pdata->VL53L1_p_016; lb++) { + + i = lb % palgo3->VL53L1_p_031; + + + VL53L1_f_013( + i, + pdata->VL53L1_p_055, + ppulse, + &suma, + &sumb, + &sumc); + + + pfiltered->VL53L1_p_003[i] = suma; + pfiltered->VL53L1_p_018[i] = sumb; + pfiltered->VL53L1_p_001[i] = sumc; + + + + pfiltered->VL53L1_p_039[i] = + (suma + sumb) - + (sumc + palgo3->VL53L1_p_004); + + + + pfiltered->VL53L1_p_040[i] = + (sumb + sumc) - + (suma + palgo3->VL53L1_p_004); + } + + return status; +} + + +VL53L1_Error VL53L1_f_035( + uint8_t pulse_no, + uint16_t noise_threshold, + VL53L1_hist_gen4_algo_filtered_data_t *pfiltered, + VL53L1_hist_gen3_algo_private_data_t *palgo3) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_Error func_status = VL53L1_ERROR_NONE; + + VL53L1_hist_pulse_data_t *pdata = &(palgo3->VL53L1_p_002[pulse_no]); + + uint8_t lb = 0; + uint8_t i = 0; + uint8_t j = 0; + + SUPPRESS_UNUSED_WARNING(noise_threshold); + + for (lb = pdata->VL53L1_p_015; lb < pdata->VL53L1_p_016; lb++) { + + i = lb % palgo3->VL53L1_p_031; + j = (lb+1) % palgo3->VL53L1_p_031; + + if (i < palgo3->VL53L1_p_024 && + j < palgo3->VL53L1_p_024) { + + if (pfiltered->VL53L1_p_039[i] == 0 && + pfiltered->VL53L1_p_040[i] == 0) + + pfiltered->VL53L1_p_043[i] = 0; + + else if (pfiltered->VL53L1_p_039[i] >= 0 && + pfiltered->VL53L1_p_040[i] >= 0) + pfiltered->VL53L1_p_043[i] = 1; + + else if (pfiltered->VL53L1_p_039[i] < 0 && + pfiltered->VL53L1_p_040[i] >= 0 && + pfiltered->VL53L1_p_039[j] >= 0 && + pfiltered->VL53L1_p_040[j] < 0) + pfiltered->VL53L1_p_043[i] = 1; + + else + pfiltered->VL53L1_p_043[i] = 0; + + + if (pfiltered->VL53L1_p_043[i] > 0) { + + pdata->VL53L1_p_025 = lb; + + func_status = + VL53L1_f_036( + lb, + pfiltered->VL53L1_p_003[i], + pfiltered->VL53L1_p_018[i], + pfiltered->VL53L1_p_001[i], + 0, + 0, + 0, + palgo3->VL53L1_p_004, + palgo3->VL53L1_p_031, + &(pdata->VL53L1_p_014)); + + if (func_status == + VL53L1_ERROR_DIVISION_BY_ZERO) + pfiltered->VL53L1_p_043[i] = 0; + + } + } + } + + return status; +} + + +VL53L1_Error VL53L1_f_036( + uint8_t bin, + int32_t VL53L1_p_003, + int32_t VL53L1_p_018, + int32_t VL53L1_p_001, + int32_t ax, + int32_t bx, + int32_t cx, + int32_t VL53L1_p_004, + uint8_t VL53L1_p_031, + uint32_t *pmean_phase) +{ + + + VL53L1_Error status = VL53L1_ERROR_DIVISION_BY_ZERO; + + int64_t mean_phase = VL53L1_MAX_ALLOWED_PHASE; + int32_t mean_phase32; + int64_t VL53L1_p_041 = 0; + int64_t half_b_minus_amb = 0; + + + VL53L1_p_041 = 4096 * ((int64_t)VL53L1_p_001 - + (int64_t)cx - (int64_t)VL53L1_p_003 - (int64_t)ax); + half_b_minus_amb = 4096 * ((int64_t)VL53L1_p_018 - + (int64_t)bx - (int64_t)VL53L1_p_004); + + if (half_b_minus_amb != 0) { + mean_phase = (4096 * VL53L1_p_041) + half_b_minus_amb; + mean_phase = do_division_s(mean_phase, (half_b_minus_amb * 2)); + mean_phase += 2048; + mean_phase += (4096 * (int64_t)bin); + + mean_phase = do_division_s((mean_phase + 1), 2); + + if (mean_phase < 0) + mean_phase = 0; + if (mean_phase > VL53L1_MAX_ALLOWED_PHASE) + mean_phase = VL53L1_MAX_ALLOWED_PHASE; + + mean_phase32 = (int32_t)mean_phase; + mean_phase32 = mean_phase32 % + ((int32_t)VL53L1_p_031 * 2048); + mean_phase = mean_phase32; + + status = VL53L1_ERROR_NONE; + } + + *pmean_phase = (uint32_t)mean_phase; + + return status; +} + + diff --git a/drivers/input/misc/vl53L1/protected/src/vl53l1_hist_core.c b/drivers/input/misc/vl53L1/protected/src/vl53l1_hist_core.c new file mode 100644 index 000000000000..6aeb97dec154 --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/src/vl53l1_hist_core.c @@ -0,0 +1,520 @@ + +// SPDX-License-Identifier: BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + +#include "vl53l1_platform_log.h" + +#include "vl53l1_core_support.h" +#include "vl53l1_hist_structs.h" + +#include "vl53l1_xtalk.h" +#include "vl53l1_sigma_estimate.h" + +#include "vl53l1_hist_core.h" + + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_HISTOGRAM, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_HISTOGRAM, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_HISTOGRAM, \ + status, fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_HISTOGRAM, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +void VL53L1_f_013( + uint8_t VL53L1_p_018, + uint8_t filter_woi, + VL53L1_histogram_bin_data_t *pbins, + int32_t *pa, + int32_t *pb, + int32_t *pc) +{ + + + uint8_t w = 0; + uint8_t j = 0; + + *pa = 0; + *pb = pbins->bin_data[VL53L1_p_018]; + *pc = 0; + + for (w = 0 ; w < ((filter_woi << 1)+1) ; w++) { + + + j = ((VL53L1_p_018 + w + pbins->VL53L1_p_024) - + filter_woi) % pbins->VL53L1_p_024; + + + if (w < filter_woi) + *pa += pbins->bin_data[j]; + else if (w > filter_woi) + *pc += pbins->bin_data[j]; + } +} + + +VL53L1_Error VL53L1_f_011( + uint16_t vcsel_width, + uint16_t fast_osc_frequency, + uint32_t total_periods_elapsed, + uint16_t VL53L1_p_006, + VL53L1_range_data_t *pdata, + uint8_t histo_merge_nb) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint32_t pll_period_us = 0; + uint32_t periods_elapsed = 0; + uint32_t count_rate_total = 0; + + LOG_FUNCTION_START(""); + + + + pdata->width = vcsel_width; + pdata->fast_osc_frequency = fast_osc_frequency; + pdata->total_periods_elapsed = total_periods_elapsed; + pdata->VL53L1_p_006 = VL53L1_p_006; + + + + if (pdata->fast_osc_frequency == 0) + status = VL53L1_ERROR_DIVISION_BY_ZERO; + + if (pdata->total_periods_elapsed == 0) + status = VL53L1_ERROR_DIVISION_BY_ZERO; + + if (status == VL53L1_ERROR_NONE) { + + + + pll_period_us = + VL53L1_calc_pll_period_us(pdata->fast_osc_frequency); + + + + periods_elapsed = pdata->total_periods_elapsed + 1; + + + + pdata->peak_duration_us = VL53L1_duration_maths( + pll_period_us, + (uint32_t)pdata->width, + VL53L1_RANGING_WINDOW_VCSEL_PERIODS, + periods_elapsed); + + pdata->woi_duration_us = VL53L1_duration_maths( + pll_period_us, + ((uint32_t)pdata->VL53L1_p_030) << 4, + VL53L1_RANGING_WINDOW_VCSEL_PERIODS, + periods_elapsed); + + + + pdata->peak_signal_count_rate_mcps = VL53L1_rate_maths( + (int32_t)pdata->VL53L1_p_013, + pdata->peak_duration_us); + + pdata->avg_signal_count_rate_mcps = VL53L1_rate_maths( + (int32_t)pdata->VL53L1_p_013, + pdata->woi_duration_us); + + pdata->ambient_count_rate_mcps = VL53L1_rate_maths( + (int32_t)pdata->VL53L1_p_020, + pdata->woi_duration_us); + + + + count_rate_total = + (uint32_t)pdata->peak_signal_count_rate_mcps + + (uint32_t)pdata->ambient_count_rate_mcps; + + if (histo_merge_nb > 1) + count_rate_total /= histo_merge_nb; + + pdata->total_rate_per_spad_mcps = + VL53L1_rate_per_spad_maths( + 0x06, + count_rate_total, + pdata->VL53L1_p_006, + 0xFFFF); + + + + pdata->VL53L1_p_012 = + VL53L1_events_per_spad_maths( + pdata->VL53L1_p_013, + pdata->VL53L1_p_006, + pdata->peak_duration_us); + + + + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %d:%-46s : %10d\n", + pdata->range_id, "peak_duration_us", + pdata->peak_duration_us); + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %d:%-46s : %10d\n", + pdata->range_id, "woi_duration_us", + pdata->woi_duration_us); + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %d:%-46s : %10u\n", + pdata->range_id, "peak_signal_count_rate_mcps", + pdata->peak_signal_count_rate_mcps); + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %d:%-46s : %10u\n", + pdata->range_id, "ambient_count_rate_mcps", + pdata->ambient_count_rate_mcps); + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %d:%-46s : %10u\n", + pdata->range_id, "total_rate_per_spad_mcps", + pdata->total_rate_per_spad_mcps); + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %d:%-46s : %10u\n", + pdata->range_id, "VL53L1_p_012", + pdata->VL53L1_p_012); + + } + + LOG_FUNCTION_END(status); + + return status; +} + + +void VL53L1_f_012( + uint16_t gain_factor, + int16_t range_offset_mm, + VL53L1_range_data_t *pdata) +{ + + + LOG_FUNCTION_START(""); + + + + pdata->min_range_mm = + (int16_t)VL53L1_range_maths( + pdata->fast_osc_frequency, + pdata->VL53L1_p_028, + pdata->zero_distance_phase, + 0, + (int32_t)gain_factor, + (int32_t)range_offset_mm); + + pdata->median_range_mm = + (int16_t)VL53L1_range_maths( + pdata->fast_osc_frequency, + pdata->VL53L1_p_014, + pdata->zero_distance_phase, + 0, + (int32_t)gain_factor, + (int32_t)range_offset_mm); + + pdata->max_range_mm = + (int16_t)VL53L1_range_maths( + pdata->fast_osc_frequency, + pdata->VL53L1_p_029, + pdata->zero_distance_phase, + 0, + (int32_t)gain_factor, + (int32_t)range_offset_mm); + + + + + + LOG_FUNCTION_END(0); +} + + +void VL53L1_f_037( + VL53L1_histogram_bin_data_t *pdata, + int32_t ambient_estimate_counts_per_bin) +{ + + + uint8_t i = 0; + + for (i = 0 ; i < pdata->VL53L1_p_024 ; i++) + pdata->bin_data[i] = pdata->bin_data[i] - + ambient_estimate_counts_per_bin; +} + + +void VL53L1_f_004( + VL53L1_histogram_bin_data_t *pxtalk, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_histogram_bin_data_t *pxtalk_realigned) +{ + + + uint8_t i = 0; + uint8_t min_bins = 0; + int8_t bin_offset = 0; + int8_t bin_access = 0; + + LOG_FUNCTION_START(""); + + + + + + memcpy( + pxtalk_realigned, + pbins, + sizeof(VL53L1_histogram_bin_data_t)); + + for (i = 0 ; i < pxtalk_realigned->VL53L1_p_023 ; i++) + pxtalk_realigned->bin_data[i] = 0; + + + + bin_offset = VL53L1_f_038( + pbins, + pxtalk); + + + + if (pxtalk->VL53L1_p_024 < pbins->VL53L1_p_024) + min_bins = pxtalk->VL53L1_p_024; + else + min_bins = pbins->VL53L1_p_024; + + + for (i = 0 ; i < min_bins ; i++) { + + + + if (bin_offset >= 0) + bin_access = ((int8_t)i + (int8_t)bin_offset) + % (int8_t)pbins->VL53L1_p_024; + else + bin_access = ((int8_t)pbins->VL53L1_p_024 + + ((int8_t)i + (int8_t)bin_offset)) + % (int8_t)pbins->VL53L1_p_024; + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + "Subtract: %8d : %8d : %8d : %8d : %8d : %8d\n", + i, bin_access, bin_offset, pbins->VL53L1_p_024, + pbins->bin_data[(uint8_t)bin_access], + pxtalk->bin_data[i]); + + + + if (pbins->bin_data[(uint8_t)bin_access] > + pxtalk->bin_data[i]) { + + pbins->bin_data[(uint8_t)bin_access] = + pbins->bin_data[(uint8_t)bin_access] + - pxtalk->bin_data[i]; + + } else { + pbins->bin_data[(uint8_t)bin_access] = 0; + } + + + + + pxtalk_realigned->bin_data[(uint8_t)bin_access] = + pxtalk->bin_data[i]; + + + + } + + + + LOG_FUNCTION_END(0); +} + + +int8_t VL53L1_f_038( + VL53L1_histogram_bin_data_t *pdata1, + VL53L1_histogram_bin_data_t *pdata2) +{ + + + int32_t phase_delta = 0; + int8_t bin_offset = 0; + uint32_t period = 0; + uint32_t remapped_phase = 0; + + LOG_FUNCTION_START(""); + + + + period = 2048 * + (uint32_t)VL53L1_decode_vcsel_period(pdata1->VL53L1_p_009); + + remapped_phase = (uint32_t)pdata2->zero_distance_phase % period; + + + phase_delta = (int32_t)pdata1->zero_distance_phase + - (int32_t)remapped_phase; + + + + if (phase_delta > 0) + bin_offset = (int8_t)((phase_delta + 1024) / 2048); + else + bin_offset = (int8_t)((phase_delta - 1024) / 2048); + + LOG_FUNCTION_END(0); + + return bin_offset; +} + + +VL53L1_Error VL53L1_f_039( + VL53L1_histogram_bin_data_t *pidata, + VL53L1_histogram_bin_data_t *podata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t bin_initial_index[VL53L1_MAX_BIN_SEQUENCE_CODE+1]; + uint8_t bin_repeat_count[VL53L1_MAX_BIN_SEQUENCE_CODE+1]; + + uint8_t bin_cfg = 0; + uint8_t bin_seq_length = 0; + int32_t repeat_count = 0; + + uint8_t VL53L1_p_018 = 0; + uint8_t lc = 0; + uint8_t i = 0; + + LOG_FUNCTION_START(""); + + + + memcpy(podata, pidata, sizeof(VL53L1_histogram_bin_data_t)); + + + podata->VL53L1_p_024 = 0; + + for (lc = 0 ; lc < VL53L1_MAX_BIN_SEQUENCE_LENGTH ; lc++) + podata->bin_seq[lc] = VL53L1_MAX_BIN_SEQUENCE_CODE+1; + + for (lc = 0 ; lc < podata->VL53L1_p_023 ; lc++) + podata->bin_data[lc] = 0; + + + + for (lc = 0 ; lc <= VL53L1_MAX_BIN_SEQUENCE_CODE ; lc++) { + bin_initial_index[lc] = 0x00; + bin_repeat_count[lc] = 0x00; + } + + + + + bin_seq_length = 0x00; + + for (lc = 0 ; lc < VL53L1_MAX_BIN_SEQUENCE_LENGTH ; lc++) { + + bin_cfg = pidata->bin_seq[lc]; + + + + if (bin_repeat_count[bin_cfg] == 0) { + bin_initial_index[bin_cfg] = bin_seq_length * 4; + podata->bin_seq[bin_seq_length] = bin_cfg; + bin_seq_length++; + } + + bin_repeat_count[bin_cfg]++; + + + + VL53L1_p_018 = bin_initial_index[bin_cfg]; + + for (i = 0 ; i < 4 ; i++) + podata->bin_data[VL53L1_p_018+i] += + pidata->bin_data[lc*4+i]; + + } + + + + for (lc = 0 ; lc < VL53L1_MAX_BIN_SEQUENCE_LENGTH ; lc++) { + + bin_cfg = podata->bin_seq[lc]; + + if (bin_cfg <= VL53L1_MAX_BIN_SEQUENCE_CODE) + podata->bin_rep[lc] = + bin_repeat_count[bin_cfg]; + else + podata->bin_rep[lc] = 0; + } + + podata->VL53L1_p_024 = bin_seq_length * 4; + + + + + + for (lc = 0 ; lc <= VL53L1_MAX_BIN_SEQUENCE_CODE ; lc++) { + + repeat_count = (int32_t)bin_repeat_count[lc]; + + if (repeat_count > 0) { + + VL53L1_p_018 = bin_initial_index[lc]; + + for (i = 0 ; i < 4 ; i++) { + podata->bin_data[VL53L1_p_018+i] += + (repeat_count/2); + podata->bin_data[VL53L1_p_018+i] /= + repeat_count; + } + } + } + + + + podata->number_of_ambient_bins = 0; + if ((bin_repeat_count[7] > 0) || + (bin_repeat_count[15] > 0)) + podata->number_of_ambient_bins = 4; + + LOG_FUNCTION_END(status); + + return status; +} + diff --git a/drivers/input/misc/vl53L1/protected/src/vl53l1_hist_funcs.c b/drivers/input/misc/vl53L1/protected/src/vl53l1_hist_funcs.c new file mode 100644 index 000000000000..a55d90eac7a2 --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/src/vl53l1_hist_funcs.c @@ -0,0 +1,293 @@ + +// SPDX-License-Identifier: BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + + + + +#include "vl53l1_types.h" +#include "vl53l1_platform_log.h" + +#include "vl53l1_core_support.h" +#include "vl53l1_error_codes.h" +#include "vl53l1_ll_def.h" + +#include "vl53l1_hist_funcs.h" +#include "vl53l1_hist_core.h" +#include "vl53l1_hist_private_structs.h" +#include "vl53l1_dmax_private_structs.h" +#include "vl53l1_xtalk.h" +#include "vl53l1_hist_algos_gen3.h" +#include "vl53l1_hist_algos_gen4.h" +#include "vl53l1_dmax.h" + + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_HISTOGRAM, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_HISTOGRAM, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_HISTOGRAM, \ + status, fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_HISTOGRAM, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_hist_process_data( + VL53L1_dmax_calibration_data_t *pdmax_cal, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg, + VL53L1_hist_post_process_config_t *ppost_cfg, + VL53L1_histogram_bin_data_t *pbins_input, + VL53L1_xtalk_histogram_data_t *pxtalk_shape, + uint8_t *pArea1, + uint8_t *pArea2, + VL53L1_range_results_t *presults, + uint8_t *HistMergeNumber) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_hist_gen3_algo_private_data_t *palgo_gen3 = + (VL53L1_hist_gen3_algo_private_data_t *) pArea1; + VL53L1_hist_gen4_algo_filtered_data_t *pfiltered4 = + (VL53L1_hist_gen4_algo_filtered_data_t *) pArea2; + + VL53L1_hist_gen3_dmax_private_data_t dmax_algo_gen3; + VL53L1_hist_gen3_dmax_private_data_t *pdmax_algo_gen3 = + &dmax_algo_gen3; + + VL53L1_histogram_bin_data_t bins_averaged; + VL53L1_histogram_bin_data_t *pbins_averaged = &bins_averaged; + + VL53L1_range_data_t *pdata; + + uint32_t xtalk_rate_kcps = 0; + uint32_t max_xtalk_rate_per_spad_kcps = 0; + uint8_t xtalk_enable = 0; + uint8_t r = 0; + uint8_t t = 0; + uint32_t XtalkDetectMaxSigma = 0; + + + int16_t delta_mm = 0; + + + LOG_FUNCTION_START(""); + + + + VL53L1_f_039( + pbins_input, + pbins_averaged); + + + + VL53L1_init_histogram_bin_data_struct( + 0, + pxtalk_shape->xtalk_shape.VL53L1_p_024, + &(pxtalk_shape->xtalk_hist_removed)); + + + + VL53L1_copy_xtalk_bin_data_to_histogram_data_struct( + &(pxtalk_shape->xtalk_shape), + &(pxtalk_shape->xtalk_hist_removed)); + + + + if ((status == VL53L1_ERROR_NONE) && + (ppost_cfg->algo__crosstalk_compensation_enable > 0)) + status = + VL53L1_f_040( + ppost_cfg->algo__crosstalk_compensation_plane_offset_kcps, + ppost_cfg->algo__crosstalk_compensation_x_plane_gradient_kcps, + ppost_cfg->algo__crosstalk_compensation_y_plane_gradient_kcps, + 0, + 0, + pbins_input->result__dss_actual_effective_spads, + pbins_input->roi_config__user_roi_centre_spad, + pbins_input->roi_config__user_roi_requested_global_xy_size, + &(xtalk_rate_kcps)); + + + + if ((status == VL53L1_ERROR_NONE) && + (ppost_cfg->algo__crosstalk_compensation_enable > 0)) + status = + VL53L1_f_041( + pbins_averaged, + &(pxtalk_shape->xtalk_shape), + xtalk_rate_kcps, + &(pxtalk_shape->xtalk_hist_removed)); + + + + + + presults->xmonitor.total_periods_elapsed = + pbins_averaged->total_periods_elapsed; + presults->xmonitor.VL53L1_p_006 = + pbins_averaged->result__dss_actual_effective_spads; + + presults->xmonitor.peak_signal_count_rate_mcps = 0; + presults->xmonitor.VL53L1_p_012 = 0; + + presults->xmonitor.range_id = 0; + presults->xmonitor.range_status = VL53L1_DEVICEERROR_NOUPDATE; + + + + xtalk_enable = 0; + if (ppost_cfg->algo__crosstalk_compensation_enable > 0) + xtalk_enable = 1; + + + + for (r = 0 ; r <= xtalk_enable ; r++) { + + + ppost_cfg->algo__crosstalk_compensation_enable = r; + + + + status = + VL53L1_f_033( + pdmax_cal, + pdmax_cfg, + ppost_cfg, + pbins_averaged, + &(pxtalk_shape->xtalk_hist_removed), + palgo_gen3, + pfiltered4, + pdmax_algo_gen3, + presults, + *HistMergeNumber); + + + if (!(status == VL53L1_ERROR_NONE && r == 0)) + continue; + + + + if (presults->active_results == 0) { + pdata = &(presults->VL53L1_p_002[0]); + pdata->ambient_count_rate_mcps = + pdmax_algo_gen3->VL53L1_p_001; + pdata->VL53L1_p_006 = + pdmax_algo_gen3->VL53L1_p_006; + } + + + + max_xtalk_rate_per_spad_kcps = (uint32_t)( + ppost_cfg->algo__crosstalk_detect_max_valid_rate_kcps); + max_xtalk_rate_per_spad_kcps *= (uint32_t)(*HistMergeNumber); + max_xtalk_rate_per_spad_kcps <<= 4; + + for (t = 0 ; t < presults->active_results ; t++) { + + pdata = &(presults->VL53L1_p_002[t]); + + + + if (pdata->max_range_mm > pdata->min_range_mm) + delta_mm = + pdata->max_range_mm - + pdata->min_range_mm; + else + delta_mm = + pdata->min_range_mm - + pdata->max_range_mm; + + XtalkDetectMaxSigma = + ppost_cfg->algo__crosstalk_detect_max_sigma_mm; + XtalkDetectMaxSigma *= (uint32_t)(*HistMergeNumber); + XtalkDetectMaxSigma <<= 5; + if (pdata->median_range_mm > + ppost_cfg->algo__crosstalk_detect_min_valid_range_mm && + pdata->median_range_mm < + ppost_cfg->algo__crosstalk_detect_max_valid_range_mm && + pdata->VL53L1_p_012 < + max_xtalk_rate_per_spad_kcps && + pdata->VL53L1_p_005 < XtalkDetectMaxSigma && + delta_mm < + ppost_cfg->algo__crosstalk_detect_min_max_tolerance) { + + + + memcpy( + &(presults->xmonitor), + pdata, + sizeof(VL53L1_range_data_t)); + + } + } + + } + + + + ppost_cfg->algo__crosstalk_compensation_enable = xtalk_enable; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_hist_ambient_dmax( + uint16_t target_reflectance, + VL53L1_dmax_calibration_data_t *pdmax_cal, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg, + VL53L1_histogram_bin_data_t *pbins, + int16_t *pambient_dmax_mm) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_hist_gen3_dmax_private_data_t dmax_algo; + VL53L1_hist_gen3_dmax_private_data_t *pdmax_algo = &dmax_algo; + + LOG_FUNCTION_START(""); + + status = + VL53L1_f_001( + target_reflectance, + pdmax_cal, + pdmax_cfg, + pbins, + pdmax_algo, + pambient_dmax_mm); + + LOG_FUNCTION_END(status); + + return status; +} + diff --git a/drivers/input/misc/vl53L1/protected/src/vl53l1_sigma_estimate.c b/drivers/input/misc/vl53L1/protected/src/vl53l1_sigma_estimate.c new file mode 100644 index 000000000000..725436b7cfce --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/src/vl53l1_sigma_estimate.c @@ -0,0 +1,550 @@ + +// SPDX-License-Identifier: BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + +#include "vl53l1_types.h" +#include "vl53l1_platform_log.h" + +#include "vl53l1_core_support.h" +#include "vl53l1_error_codes.h" + +#include "vl53l1_sigma_estimate.h" + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_PROTECTED, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_PROTECTED, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_PROTECTED, \ + status, fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_PROTECTED, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +uint16_t VL53L1_f_042( + uint8_t sigma_estimator__effective_pulse_width_ns, + uint8_t sigma_estimator__effective_ambient_width_ns, + uint8_t sigma_estimator__sigma_ref_mm, + VL53L1_range_data_t *pdata) +{ + + + + uint16_t sigma_est = VL53L1_D_002; + + uint32_t tmp0 = 0; + uint32_t tmp1 = 0; + uint32_t tmp2 = 0; + + uint32_t sigma_est__rtn_array = 0; + uint32_t sigma_est__ref_array = 0; + + LOG_FUNCTION_START(""); + + if (pdata->peak_signal_count_rate_mcps > 0 && + pdata->VL53L1_p_013 > 0) { + + + + tmp0 = 100 * + (uint32_t)sigma_estimator__effective_pulse_width_ns; + + + + tmp1 = ((uint32_t)sigma_estimator__effective_pulse_width_ns * + 100 * + (uint32_t)sigma_estimator__effective_ambient_width_ns); + + tmp1 = (tmp1 + + (uint32_t)pdata->peak_signal_count_rate_mcps/2) / + (uint32_t)pdata->peak_signal_count_rate_mcps; + + + + sigma_est__rtn_array = + VL53L1_f_043(tmp0, tmp1); + + + + sigma_est__rtn_array = + ((VL53L1_SPEED_OF_LIGHT_IN_AIR + 1000) / 2000) * + sigma_est__rtn_array; + + + + tmp2 = + VL53L1_isqrt(12 * (uint32_t)pdata->VL53L1_p_013); + + if (tmp2 > 0) { + + sigma_est__rtn_array = + (sigma_est__rtn_array + tmp2/2) / tmp2; + + + + sigma_est__ref_array = + 100 * (uint32_t)sigma_estimator__sigma_ref_mm; + + sigma_est = + (uint16_t)VL53L1_f_043( + (uint32_t)sigma_est__ref_array, + sigma_est__rtn_array); + + } else { + sigma_est = VL53L1_D_002; + } + + } + + pdata->VL53L1_p_005 = sigma_est; + + LOG_FUNCTION_END(0); + + return sigma_est; + +} + + +uint16_t VL53L1_f_044( + uint8_t sigma_estimator__effective_pulse_width_ns, + uint8_t sigma_estimator__effective_ambient_width_ns, + uint8_t sigma_estimator__sigma_ref_mm, + VL53L1_range_data_t *pdata) +{ + + + uint16_t sigma_est = VL53L1_D_002; + + uint32_t eqn7 = 0; + uint32_t sigma_est__ref_sq = 0; + uint32_t sigma_est__rtn_sq = 0; + + uint64_t tmp0 = 0; + uint64_t tmp1 = 0; + + LOG_FUNCTION_START(""); + + if (pdata->peak_signal_count_rate_mcps > 0 && + pdata->VL53L1_p_013 > 0) { + + + + eqn7 = 4573 * 4573; + eqn7 = eqn7 / (3 * (uint32_t)pdata->VL53L1_p_013); + + + + tmp0 = ((uint64_t)sigma_estimator__effective_pulse_width_ns) + << 8; + + + + tmp1 = ((uint64_t)pdata->ambient_count_rate_mcps * + (uint64_t)sigma_estimator__effective_ambient_width_ns) + << 8; + + tmp1 = do_division_u(tmp1, + (uint64_t)pdata->peak_signal_count_rate_mcps); + + + + tmp1 = 16 * (uint64_t)eqn7 * (tmp0 * tmp0 + tmp1 * tmp1); + tmp1 = do_division_u(tmp1, (15625 * 15625)); + sigma_est__rtn_sq = (uint32_t)tmp1; + + + + sigma_est__ref_sq = ((uint32_t)sigma_estimator__sigma_ref_mm) + << 2; + + sigma_est__ref_sq = sigma_est__ref_sq * sigma_est__ref_sq; + + + + sigma_est = (uint16_t)VL53L1_isqrt(sigma_est__ref_sq + + sigma_est__rtn_sq); + + } + + pdata->VL53L1_p_005 = sigma_est; + + LOG_FUNCTION_END(0); + + return sigma_est; + +} + + + +VL53L1_Error VL53L1_f_045( + uint8_t sigma_estimator__sigma_ref_mm, + uint32_t VL53L1_p_003, + uint32_t VL53L1_p_018, + uint32_t VL53L1_p_001, + uint32_t a_zp, + uint32_t c_zp, + uint32_t bx, + uint32_t ax_zp, + uint32_t cx_zp, + uint32_t VL53L1_p_004, + uint16_t fast_osc_frequency, + uint16_t *psigma_est) +{ + + + VL53L1_Error status = VL53L1_ERROR_DIVISION_BY_ZERO; + uint32_t sigma_int = VL53L1_D_002; + + uint32_t pll_period_mm = 0; + + uint64_t tmp0 = 0; + uint64_t tmp1 = 0; + uint64_t b_minus_amb = 0; + uint64_t VL53L1_p_041 = 0; + + *psigma_est = VL53L1_D_002; + + + + if (fast_osc_frequency != 0) { + + + + pll_period_mm = VL53L1_calc_pll_period_mm(fast_osc_frequency); + + + pll_period_mm = (pll_period_mm + 0x02) >> 2; + + + + if (VL53L1_p_004 > VL53L1_p_018) + b_minus_amb = (uint64_t)VL53L1_p_004 - + (uint64_t)VL53L1_p_018; + else + b_minus_amb = (uint64_t)VL53L1_p_018 - + (uint64_t)VL53L1_p_004; + + + + if (VL53L1_p_003 > VL53L1_p_001) + VL53L1_p_041 = (uint64_t)VL53L1_p_003 - + (uint64_t)VL53L1_p_001; + else + VL53L1_p_041 = (uint64_t)VL53L1_p_001 - + (uint64_t)VL53L1_p_003; + + + + + + if (b_minus_amb != 0) { + + + + tmp0 = (uint64_t)pll_period_mm * + (uint64_t)pll_period_mm; + tmp0 = tmp0 * ((uint64_t)c_zp + + (uint64_t)cx_zp + (uint64_t)a_zp + + (uint64_t)ax_zp); + tmp0 = do_division_u((tmp0 + (b_minus_amb >> 1)), + b_minus_amb); + + + + tmp1 = (uint64_t)pll_period_mm * + (uint64_t)pll_period_mm * VL53L1_p_041; + tmp1 = do_division_u((tmp1 + (b_minus_amb >> 1)), + b_minus_amb); + + tmp1 = tmp1 * VL53L1_p_041; + tmp1 = do_division_u((tmp1 + (b_minus_amb >> 1)), + b_minus_amb); + + tmp1 = tmp1 * ((uint64_t)VL53L1_p_018 + (uint64_t)bx + + (uint64_t)VL53L1_p_004); + tmp1 = do_division_u((tmp1 + (b_minus_amb >> 1)), + b_minus_amb); + + + + tmp0 = tmp0 + tmp1; + tmp0 = do_division_u((tmp0 + (b_minus_amb >> 1)), + b_minus_amb); + tmp0 = (tmp0 + 0x01) >> 2; + + + + tmp1 = (uint64_t)sigma_estimator__sigma_ref_mm << 2; + tmp1 = tmp1 * tmp1; + tmp0 = tmp0 + tmp1; + + + + if (tmp0 > 0xFFFFFFFF) + tmp0 = 0xFFFFFFFF; + + sigma_int = VL53L1_isqrt((uint32_t)tmp0); + + + + if (sigma_int > VL53L1_D_002) + *psigma_est = + (uint16_t)VL53L1_D_002; + else + *psigma_est = (uint16_t)sigma_int; + + status = VL53L1_ERROR_NONE; + } + + } + + return status; +} + + + +VL53L1_Error VL53L1_f_014( + uint8_t sigma_estimator__sigma_ref_mm, + uint32_t VL53L1_p_003, + uint32_t VL53L1_p_018, + uint32_t VL53L1_p_001, + uint32_t a_zp, + uint32_t c_zp, + uint32_t bx, + uint32_t ax_zp, + uint32_t cx_zp, + uint32_t VL53L1_p_004, + uint16_t fast_osc_frequency, + uint16_t *psigma_est) +{ + + + VL53L1_Error status = VL53L1_ERROR_DIVISION_BY_ZERO; + uint32_t sigma_int = VL53L1_D_002; + + uint32_t pll_period_mm = 0; + + uint64_t tmp0 = 0; + uint64_t tmp1 = 0; + uint64_t b_minus_amb = 0; + uint64_t VL53L1_p_041 = 0; + + *psigma_est = VL53L1_D_002; + + + + if (fast_osc_frequency != 0) { + + + + pll_period_mm = VL53L1_calc_pll_period_mm(fast_osc_frequency); + + + + if (VL53L1_p_004 > VL53L1_p_018) + b_minus_amb = (uint64_t)VL53L1_p_004 - + (uint64_t)VL53L1_p_018; + else + b_minus_amb = (uint64_t)VL53L1_p_018 - + (uint64_t)VL53L1_p_004; + + + + if (VL53L1_p_003 > VL53L1_p_001) + VL53L1_p_041 = (uint64_t)VL53L1_p_003 - + (uint64_t)VL53L1_p_001; + else + VL53L1_p_041 = (uint64_t)VL53L1_p_001 - + (uint64_t)VL53L1_p_003; + + + + if (b_minus_amb != 0) { + + + + + tmp0 = (uint64_t)VL53L1_p_018 + (uint64_t)bx + + (uint64_t)VL53L1_p_004; + if (tmp0 > VL53L1_D_003) + tmp0 = VL53L1_D_003; + + + + tmp1 = (uint64_t)VL53L1_p_041 * (uint64_t)VL53L1_p_041; + tmp1 = tmp1 << 8; + + + if (tmp1 > VL53L1_D_004) + tmp1 = VL53L1_D_004; + + + tmp1 = do_division_u(tmp1, b_minus_amb); + tmp1 = do_division_u(tmp1, b_minus_amb); + + + if (tmp1 > (uint64_t)VL53L1_D_005) + tmp1 = (uint64_t)VL53L1_D_005; + + + tmp0 = tmp1 * tmp0; + + + tmp1 = (uint64_t)c_zp + (uint64_t)cx_zp + + (uint64_t)a_zp + (uint64_t)ax_zp; + + + if (tmp1 > (uint64_t)VL53L1_D_003) + tmp1 = (uint64_t)VL53L1_D_003; + + tmp1 = tmp1 << 8; + + + tmp0 = tmp1 + tmp0; + if (tmp0 > (uint64_t)VL53L1_D_006) + tmp0 = (uint64_t)VL53L1_D_006; + + + + + + + if (tmp0 > (uint64_t)VL53L1_D_007) { + tmp0 = do_division_u(tmp0, b_minus_amb); + tmp0 = tmp0 * pll_period_mm; + } else { + tmp0 = tmp0 * pll_period_mm; + tmp0 = do_division_u(tmp0, b_minus_amb); + } + + + if (tmp0 > (uint64_t)VL53L1_D_006) + tmp0 = (uint64_t)VL53L1_D_006; + + + + if (tmp0 > (uint64_t)VL53L1_D_007) { + tmp0 = do_division_u(tmp0, b_minus_amb); + tmp0 = do_division_u(tmp0, 4); + tmp0 = tmp0 * pll_period_mm; + } else { + tmp0 = tmp0 * pll_period_mm; + tmp0 = do_division_u(tmp0, b_minus_amb); + tmp0 = do_division_u(tmp0, 4); + } + + + if (tmp0 > (uint64_t)VL53L1_D_006) + tmp0 = (uint64_t)VL53L1_D_006; + + + tmp0 = tmp0 >> 2; + + + if (tmp0 > (uint64_t)VL53L1_D_007) + tmp0 = (uint64_t)VL53L1_D_007; + + + tmp1 = (uint64_t)sigma_estimator__sigma_ref_mm << 7; + tmp1 = tmp1 * tmp1; + tmp0 = tmp0 + tmp1; + + + if (tmp0 > (uint64_t)VL53L1_D_007) + tmp0 = (uint64_t)VL53L1_D_007; + + + sigma_int = VL53L1_isqrt((uint32_t)tmp0); + + *psigma_est = (uint16_t)sigma_int; + + status = VL53L1_ERROR_NONE; + } + + } + + return status; +} + +uint32_t VL53L1_f_046( + uint64_t VL53L1_p_003, + uint32_t size + ) +{ + + + uint64_t next; + uint64_t upper; + uint64_t lower; + uint32_t stepsize; + uint32_t count; + + + next = VL53L1_p_003; + upper = 0; + lower = 0; + stepsize = size/2; + count = 0; + + while (1) { + upper = next >> stepsize; + lower = next & ((1 << stepsize) - 1); + + if (upper != 0) { + count += stepsize; + next = upper; + } else { + next = lower; + } + + stepsize = stepsize / 2; + if (stepsize == 0) + break; + } + + return count; +} + + + +uint32_t VL53L1_f_043( + uint32_t VL53L1_p_003, + uint32_t VL53L1_p_018) +{ + + + uint32_t res = 0; + + if (VL53L1_p_003 > 65535 || VL53L1_p_018 > 65535) + res = 65535; + else + res = VL53L1_isqrt(VL53L1_p_003*VL53L1_p_003 + + VL53L1_p_018*VL53L1_p_018); + + return res; +} + + diff --git a/drivers/input/misc/vl53L1/protected/src/vl53l1_xtalk.c b/drivers/input/misc/vl53L1/protected/src/vl53l1_xtalk.c new file mode 100644 index 000000000000..2ddfcb28bc24 --- /dev/null +++ b/drivers/input/misc/vl53L1/protected/src/vl53l1_xtalk.c @@ -0,0 +1,1195 @@ + +// SPDX-License-Identifier: BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 Protected and is dual licensed, + either 'STMicroelectronics Proprietary license' + or 'BSD 3-clause "New" or "Revised" License' , at your option. + + ****************************************************************************** + + 'STMicroelectronics Proprietary license' + + ****************************************************************************** + + License terms: STMicroelectronics Proprietary in accordance with licensing + terms at www.st.com/sla0081 + + ****************************************************************************** + */ + + + + +#include "vl53l1_types.h" +#include "vl53l1_platform_log.h" + +#include "vl53l1_core_support.h" +#include "vl53l1_error_codes.h" + +#include "vl53l1_xtalk.h" +#include "vl53l1_hist_core.h" + + + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_HISTOGRAM, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_HISTOGRAM, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_HISTOGRAM, \ + status, fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_HISTOGRAM, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_xtalk_calibration_process_data( + VL53L1_xtalk_range_results_t *pxtalk_results, + VL53L1_xtalk_histogram_data_t *pxtalk_shape, + VL53L1_xtalk_calibration_results_t *pxtalk_cal) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_xtalk_algo_data_t xtalk_debug; + VL53L1_xtalk_algo_data_t *pdebug = &xtalk_debug; + VL53L1_xtalk_range_data_t *pxtalk_data = NULL; + + VL53L1_histogram_bin_data_t avg_bins; + VL53L1_histogram_bin_data_t *pavg_bins = &avg_bins; + + LOG_FUNCTION_START(""); + + + + memcpy(pavg_bins, &(pxtalk_results->central_histogram_avg), + sizeof(VL53L1_histogram_bin_data_t)); + + + + if (status == VL53L1_ERROR_NONE) + VL53L1_init_histogram_bin_data_struct( + 0, 0, &(pdebug->VL53L1_p_057)); + + if (status == VL53L1_ERROR_NONE) + VL53L1_init_histogram_bin_data_struct( + 0, 0, &(pdebug->VL53L1_p_058)); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_f_047( + pxtalk_results, + pdebug, + &(pxtalk_cal->algo__crosstalk_compensation_x_plane_gradient_kcps + ), + &(pxtalk_cal->algo__crosstalk_compensation_y_plane_gradient_kcps + )); + + + + + + if (status != VL53L1_ERROR_NONE) + goto ENDFUNC; + + pxtalk_data = &(pxtalk_results->VL53L1_p_002[4]); + + if (pxtalk_data->no_of_samples > 0) { + + + + if (status == VL53L1_ERROR_NONE) { + memcpy(&(pdebug->VL53L1_p_057), + pavg_bins, + sizeof(VL53L1_histogram_bin_data_t)); + } + + + + status = VL53L1_f_048( + pxtalk_data, + pdebug, + &(pxtalk_cal->algo__crosstalk_compensation_plane_offset_kcps)); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_f_049( + pavg_bins, + pdebug, + pxtalk_data, + pxtalk_results->central_histogram__window_start, + pxtalk_results->central_histogram__window_end, + &(pxtalk_shape->xtalk_shape)); + + } else { + + + + pxtalk_cal->algo__crosstalk_compensation_plane_offset_kcps = 0; + + + + pdebug->VL53L1_p_059 = 0; + + + } + + +ENDFUNC: + + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_generate_dual_reflectance_xtalk_samples( + VL53L1_xtalk_range_results_t *pxtalk_results, + uint16_t expected_target_distance_mm, + uint8_t higher_reflectance, + VL53L1_histogram_bin_data_t *pxtalk_avg_samples +) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_histogram_bin_data_t *pzone_avg_1 = + &(pxtalk_results->histogram_avg_1[0]); + VL53L1_histogram_bin_data_t *pzone_avg_2 = + &(pxtalk_results->histogram_avg_2[0]); + + VL53L1_histogram_bin_data_t *pxtalk_output = pxtalk_avg_samples; + + + + int i = 0; + + + + for (i = 0 ; i < 5 ; i++) { + + if (status == VL53L1_ERROR_NONE) + VL53L1_init_histogram_bin_data_struct( + 0, 0, pzone_avg_1); + + if (status == VL53L1_ERROR_NONE) + VL53L1_init_histogram_bin_data_struct( + 0, 0, pzone_avg_2); + + pzone_avg_1++; + pzone_avg_2++; + } + + + + + pzone_avg_1 = &(pxtalk_results->histogram_avg_1[0]); + pzone_avg_2 = &(pxtalk_results->histogram_avg_2[0]); + + for (i = 0 ; i < 5 ; i++) { + + if (status == VL53L1_ERROR_NONE) { + + status = VL53L1_f_050( + pzone_avg_1, + pzone_avg_2, + expected_target_distance_mm, + 0x01, + higher_reflectance, + pxtalk_output + ); + + + + pzone_avg_1++; + pzone_avg_2++; + pxtalk_output++; + + } + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_f_050( + VL53L1_histogram_bin_data_t *pzone_avg_1, + VL53L1_histogram_bin_data_t *pzone_avg_2, + uint16_t expected_target_distance, + uint8_t subtract_amb, + uint8_t higher_reflectance, + VL53L1_histogram_bin_data_t *pxtalk_output +) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_histogram_bin_data_t zone_avg_realigned; + + + SUPPRESS_UNUSED_WARNING(pxtalk_output); + SUPPRESS_UNUSED_WARNING(expected_target_distance); + + + + if ((status == VL53L1_ERROR_NONE) && (subtract_amb == 0x01)) { + VL53L1_f_037( + pzone_avg_1, + pzone_avg_1->VL53L1_p_004); + + + pzone_avg_1->VL53L1_p_004 = 0x0; + } + + if ((status == VL53L1_ERROR_NONE) && (subtract_amb == 0x01)) { + VL53L1_f_037( + pzone_avg_2, + pzone_avg_2->VL53L1_p_004); + + + pzone_avg_2->VL53L1_p_004 = 0x0; + } + + + + + + if (status == VL53L1_ERROR_NONE) { + if (higher_reflectance == 0x01) { + VL53L1_f_004( + pzone_avg_2, + pzone_avg_1, + &zone_avg_realigned); + } else { + + + + VL53L1_f_004( + pzone_avg_1, + pzone_avg_2, + &zone_avg_realigned); + + + + } + } + + + + + + + + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_f_049( + VL53L1_histogram_bin_data_t *pavg_bins, + VL53L1_xtalk_algo_data_t *pdebug, + VL53L1_xtalk_range_data_t *pxtalk_data, + uint8_t histogram__window_start, + uint8_t histogram__window_end, + VL53L1_xtalk_histogram_shape_t *pxtalk_shape) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + + + uint32_t ambient_thresh = 0; + + + + if (status == VL53L1_ERROR_NONE) + VL53L1_f_037( + pavg_bins, + pavg_bins->VL53L1_p_004); + + + + if (status == VL53L1_ERROR_NONE) + VL53L1_f_051( + 6, + pavg_bins->VL53L1_p_004, + &ambient_thresh); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_f_052( + pavg_bins, + ambient_thresh, + histogram__window_start, + histogram__window_end); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_f_053( + pavg_bins, + pxtalk_data, + pdebug, + pxtalk_shape); + + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_f_047( + VL53L1_xtalk_range_results_t *pxtalk_results, + VL53L1_xtalk_algo_data_t *pdebug, + int16_t *xgradient, + int16_t *ygradient + ) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_xtalk_range_data_t *presults_int = NULL; + + int i = 0; + + uint32_t xtalk_per_spad[4]; + int32_t VL53L1_p_060 = 0; + int32_t VL53L1_p_061 = 0; + + uint8_t result_invalid = 0; + + + LOG_FUNCTION_START(""); + + + + *xgradient = 0; + *ygradient = 0; + + + + + for (i = 0; i < 4; i++) + xtalk_per_spad[i] = 0; + + + + for (i = 0; i < 4; i++) { + + if (status == VL53L1_ERROR_NONE) { + + presults_int = &(pxtalk_results->VL53L1_p_002[i]); + + + + + if (presults_int->no_of_samples == 0) { + + + result_invalid = 1; + pdebug->VL53L1_p_062[i] = 0; + + + } else { + + xtalk_per_spad[i] = + presults_int->rate_per_spad_kcps_avg; + + + + pdebug->VL53L1_p_062[i] = + (uint32_t)xtalk_per_spad[i]; + + } + } + + } + + + + if ((status == VL53L1_ERROR_NONE) && (result_invalid == 0)) { + + + + if (status == VL53L1_ERROR_NONE) { + VL53L1_p_060 = ((int32_t)xtalk_per_spad[1] + - (int32_t)xtalk_per_spad[0]) / (8); + VL53L1_p_061 = ((int32_t)xtalk_per_spad[3] + - (int32_t)xtalk_per_spad[2]) / (8); + } + + + + + if (status == VL53L1_ERROR_NONE) { + if (VL53L1_p_060 < -32767) { + VL53L1_p_060 = -32767; + } else { + if (VL53L1_p_060 > 32767) + VL53L1_p_060 = 32767; + } + + if (VL53L1_p_061 < -32767) { + VL53L1_p_061 = -32767; + } else { + if (VL53L1_p_061 > 32767) + VL53L1_p_061 = 32767; + } + + + + pdebug->VL53L1_p_060 = (int16_t)VL53L1_p_060; + pdebug->VL53L1_p_061 = (int16_t)VL53L1_p_061; + } + + } else { + + + + VL53L1_p_060 = 0; + VL53L1_p_061 = 0; + + pdebug->VL53L1_p_060 = 0; + pdebug->VL53L1_p_061 = 0; + } + + + + if (status == VL53L1_ERROR_NONE) { + *xgradient = (int16_t)VL53L1_p_060; + *ygradient = (int16_t)VL53L1_p_061; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_f_048( + VL53L1_xtalk_range_data_t *pxtalk_data, + VL53L1_xtalk_algo_data_t *pdebug, + uint32_t *xtalk_mean_offset_kcps + ) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint32_t xtalk_per_spad = 0; + uint8_t result_invalid = 0; + + LOG_FUNCTION_START(""); + + *xtalk_mean_offset_kcps = 0; + + + if (pxtalk_data->no_of_samples == 0) { + + + + result_invalid = 1; + + + + pdebug->VL53L1_p_059 = 0; + + } + + + + + if ((status == VL53L1_ERROR_NONE) && (result_invalid == 0)) { + + + + xtalk_per_spad = pxtalk_data->rate_per_spad_kcps_avg >> 2; + + + + pdebug->VL53L1_p_059 = xtalk_per_spad; + + + if (xtalk_per_spad < 0x3FFFF) + *xtalk_mean_offset_kcps = (uint32_t)xtalk_per_spad; + else + *xtalk_mean_offset_kcps = 0x3FFFF; + + } else { + + + + *xtalk_mean_offset_kcps = 0; + } + + LOG_FUNCTION_END(status); + + return status; + +} + + + + +VL53L1_Error VL53L1_f_053( + VL53L1_histogram_bin_data_t *phist_data, + VL53L1_xtalk_range_data_t *pxtalk_data, + VL53L1_xtalk_algo_data_t *pdebug, + VL53L1_xtalk_histogram_shape_t *pxtalk_histo + ) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t idx; + int32_t tmpi32; + uint8_t i = 0; + uint64_t bin_data[VL53L1_XTALK_HISTO_BINS]; + + LOG_FUNCTION_START(""); + + + + + + + pxtalk_histo->VL53L1_p_023 = + phist_data->VL53L1_p_023; + pxtalk_histo->cal_config__vcsel_start = + phist_data->cal_config__vcsel_start; + pxtalk_histo->VL53L1_p_019 = + phist_data->VL53L1_p_019; + pxtalk_histo->VL53L1_p_022 = + phist_data->VL53L1_p_022; + pxtalk_histo->time_stamp = + phist_data->time_stamp; + pxtalk_histo->vcsel_width = + phist_data->vcsel_width; + pxtalk_histo->zero_distance_phase = + phist_data->zero_distance_phase; + pxtalk_histo->zone_id = + phist_data->zone_id; + pxtalk_histo->VL53L1_p_024 = + VL53L1_XTALK_HISTO_BINS; + pxtalk_histo->phasecal_result__reference_phase = + phist_data->phasecal_result__reference_phase; + pxtalk_histo->phasecal_result__vcsel_start = + phist_data->phasecal_result__vcsel_start; + + memcpy(&(pdebug->VL53L1_p_058), + phist_data, sizeof(VL53L1_histogram_bin_data_t)); + + + + + + if (pxtalk_data->signal_total_events_avg == 0) { + for (i = 0; i < pxtalk_histo->VL53L1_p_024; i++) + bin_data[i] = 0; + goto FAIL; + } + + for (i = 0; i < pxtalk_histo->VL53L1_p_024; i++) { + idx = i + phist_data->number_of_ambient_bins; + if (phist_data->bin_data[idx] > 0) { + bin_data[i] = + ((uint64_t)phist_data->bin_data[idx] << 10); + tmpi32 = pxtalk_data->signal_total_events_avg / 2; + bin_data[i] = bin_data[i] + (uint64_t)tmpi32; + bin_data[i] = do_division_u(bin_data[i], + (uint64_t)pxtalk_data->signal_total_events_avg); + } else { + bin_data[i] = 0; + } + } + +FAIL: + + + for (i = 0; i < VL53L1_XTALK_HISTO_BINS; i++) + pxtalk_histo->bin_data[i] = (uint32_t)bin_data[i]; + + + + for (i = 0; i < pxtalk_histo->VL53L1_p_024; i++) + pdebug->VL53L1_p_063[i] = pxtalk_histo->bin_data[i]; + + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_f_054( + VL53L1_customer_nvm_managed_t *pcustomer, + VL53L1_dynamic_config_t *pdyn_cfg, + VL53L1_xtalk_histogram_data_t *pxtalk_shape, + VL53L1_histogram_bin_data_t *pip_hist_data, + VL53L1_histogram_bin_data_t *pop_hist_data, + VL53L1_histogram_bin_data_t *pxtalk_count_data) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + + + uint32_t xtalk_rate_kcps = 0; + + LOG_FUNCTION_START(""); + + + + memcpy(pop_hist_data, pip_hist_data, + sizeof(VL53L1_histogram_bin_data_t)); + + + + status = + VL53L1_f_040( + pcustomer->algo__crosstalk_compensation_plane_offset_kcps, + pcustomer->algo__crosstalk_compensation_x_plane_gradient_kcps, + pcustomer->algo__crosstalk_compensation_y_plane_gradient_kcps, + 0, + 0, + pip_hist_data->result__dss_actual_effective_spads, + + pdyn_cfg->roi_config__user_roi_centre_spad, + pdyn_cfg->roi_config__user_roi_requested_global_xy_size, + &(xtalk_rate_kcps)); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_f_041( + pip_hist_data, + &(pxtalk_shape->xtalk_shape), + xtalk_rate_kcps, + pxtalk_count_data); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_f_055( + pop_hist_data, + pxtalk_count_data, + pip_hist_data->number_of_ambient_bins); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_f_040( + uint32_t mean_offset, + int16_t xgradient, + int16_t ygradient, + int8_t centre_offset_x, + int8_t centre_offset_y, + uint16_t roi_effective_spads, + uint8_t roi_centre_spad, + uint8_t roi_xy_size, + uint32_t *xtalk_rate_kcps + ) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t row = 0; + uint8_t col = 0; + + + + int16_t bound_l_x = 0; + int16_t bound_r_x = 0; + int16_t bound_u_y = 0; + int16_t bound_d_y = 0; + + int64_t xtalk_rate_ll = 0; + int64_t xtalk_rate_ur = 0; + + int64_t xtalk_avg = 0; + + LOG_FUNCTION_START(""); + + SUPPRESS_UNUSED_WARNING(roi_effective_spads); + + + + + + + if (status == VL53L1_ERROR_NONE) { + VL53L1_decode_row_col( + roi_centre_spad, + &row, + &col); + } + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Row", row); + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Col", col); + + + + if (status == VL53L1_ERROR_NONE) { + if ((((int16_t)roi_xy_size / 16) & 0x01) == 1) + bound_l_x = (int16_t) col - + (((int16_t)roi_xy_size / 32) + 1); + else + bound_l_x = (int16_t) col - + ((int16_t)roi_xy_size / 32); + + bound_r_x = (int16_t) col + ((int16_t)roi_xy_size / 32); + + if ((((int16_t)roi_xy_size) & 0x01) == 1) + bound_d_y = (int16_t) row - + ((((int16_t)roi_xy_size & 0x0f) / 2) + 1); + else + bound_d_y = (int16_t) row - + (((int16_t)roi_xy_size & 0x0f) / 2); + + bound_u_y = (int16_t) row + + (((int16_t)roi_xy_size & 0xf) / 2); + } + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Bound_l_x", bound_l_x); + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Bound_r_x", bound_r_x); + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Bound_u_y", bound_u_y); + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Bound_d_y", bound_d_y); + + + + + if (status == VL53L1_ERROR_NONE) { + bound_l_x = (2 * bound_l_x) - 15 + + (2 * (int16_t)centre_offset_x); + bound_r_x = (2 * bound_r_x) - 15 + + (2 * (int16_t)centre_offset_x); + bound_u_y = (2 * bound_u_y) - 15 + + (2 * (int16_t)centre_offset_y); + bound_d_y = (2 * bound_d_y) - 15 + + (2 * (int16_t)centre_offset_y); + } + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Bound_l_x", bound_l_x); + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Bound_r_x", bound_r_x); + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Bound_u_y", bound_u_y); + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "Bound_d_y", bound_d_y); + + + + + if (status == VL53L1_ERROR_NONE) { + xtalk_rate_ll = ((int64_t)bound_l_x * + ((int64_t)xgradient)) + ((int64_t)bound_d_y * + ((int64_t)ygradient)); + xtalk_rate_ll = do_division_s((xtalk_rate_ll + 1), 2); + xtalk_rate_ll += ((int64_t)mean_offset * 4); + + xtalk_rate_ur = ((int64_t)bound_r_x * + ((int64_t)xgradient)) + ((int64_t)bound_u_y * + ((int64_t)ygradient)); + xtalk_rate_ur = do_division_s((xtalk_rate_ur + 1), 2); + xtalk_rate_ur += ((int64_t)mean_offset * 4); + } + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "xtalk_rate_ll", xtalk_rate_ll); + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "xtalk_rate_ur", xtalk_rate_ur); + + + + if (status == VL53L1_ERROR_NONE) + xtalk_avg = do_division_s( + ((xtalk_rate_ll + xtalk_rate_ur) + 1), 2); + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "xtalk_avg", xtalk_avg); + + + + if (status == VL53L1_ERROR_NONE) + if (xtalk_avg < 0) + xtalk_avg = 0; + + + + + + *xtalk_rate_kcps = (uint32_t) xtalk_avg; + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "xtalk_rate_kcps", xtalk_avg); + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_f_041( + VL53L1_histogram_bin_data_t *phist_data, + VL53L1_xtalk_histogram_shape_t *pxtalk_data, + uint32_t xtalk_rate_kcps, + VL53L1_histogram_bin_data_t *pxtalkcount_data + ) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint64_t xtalk_events_per_spad = 0; + uint64_t xtalk_total_events = 0; + uint64_t xtalk_temp_bin = 0; + + uint8_t i = 0; + + LOG_FUNCTION_START(""); + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "pk_duration_internal", phist_data->peak_duration_us); + + + + xtalk_events_per_spad = do_division_u((((uint64_t)xtalk_rate_kcps * + (uint64_t)phist_data->peak_duration_us) + 500), 1000); + + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "xtalk_events_per_spad", xtalk_events_per_spad); + + + + + xtalk_total_events = xtalk_events_per_spad * + (uint64_t)phist_data->result__dss_actual_effective_spads; + + xtalk_total_events = do_division_u((xtalk_total_events), 256); + + xtalk_total_events = do_division_u((xtalk_total_events + 1024), 2048); + + if (xtalk_total_events > 0xFFFFFFFF) + xtalk_total_events = 0xFFFFFFFF; + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "xtalk_total_events", xtalk_total_events); + + + + + + + for (i = 0; i < pxtalk_data->VL53L1_p_024; i++) { + xtalk_temp_bin = (uint64_t)pxtalk_data->bin_data[i] * + (uint64_t)xtalk_total_events; + xtalk_temp_bin = do_division_u((xtalk_temp_bin + 512), 1024); + pxtalkcount_data->bin_data[i] = (uint32_t)xtalk_temp_bin; + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "bin_data", pxtalkcount_data->bin_data[i]); + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_f_055( + VL53L1_histogram_bin_data_t *phist_data, + VL53L1_histogram_bin_data_t *pxtalk_data, + uint8_t xtalk_bin_offset) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + + int32_t temp_bin; + + LOG_FUNCTION_START(""); + + + + + if (status == VL53L1_ERROR_NONE) + for (i = xtalk_bin_offset; + i < pxtalk_data->VL53L1_p_024; i++) { + + temp_bin = (int32_t)phist_data->bin_data[i] - + (int32_t)pxtalk_data->bin_data[i - xtalk_bin_offset]; + + if (temp_bin < 0) + temp_bin = 0; + + phist_data->bin_data[i] = (uint32_t)temp_bin; + } + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_f_052( + VL53L1_histogram_bin_data_t *pxtalk_data, + uint32_t amb_threshold, + uint8_t VL53L1_p_022, + uint8_t VL53L1_p_026) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + uint8_t first_bin_int = 0; + uint8_t first_bin_inc = 0; + uint8_t last_bin_int = 0; + uint8_t realign_bin = 0; + uint8_t realign_index = 0; + int32_t realign_bin_data[VL53L1_HISTOGRAM_BUFFER_SIZE]; + + LOG_FUNCTION_START(""); + + + + for (i = 0 ; i < VL53L1_HISTOGRAM_BUFFER_SIZE ; i++) + realign_bin_data[i] = 0; + + first_bin_int = VL53L1_p_022; + last_bin_int = VL53L1_p_026; + + + + + + VL53L1_hist_remove_ambient_bins(pxtalk_data); + + + + first_bin_int = (first_bin_int) % + pxtalk_data->VL53L1_p_024; + + last_bin_int = (last_bin_int) % + pxtalk_data->VL53L1_p_024; + + first_bin_inc = (first_bin_int + 1) % pxtalk_data->VL53L1_p_024; + + + + if (first_bin_inc > last_bin_int) { + + + realign_bin = pxtalk_data->VL53L1_p_024 - first_bin_inc; + + + first_bin_int = (first_bin_int + realign_bin) % + pxtalk_data->VL53L1_p_024; + last_bin_int = (last_bin_int + realign_bin) % + pxtalk_data->VL53L1_p_024; + + + pxtalk_data->zero_distance_phase = + pxtalk_data->zero_distance_phase + + ((uint16_t)realign_bin * 2048); + } + + if (realign_bin > 0) { + + for (i = 0; i < pxtalk_data->VL53L1_p_024; i++) + realign_bin_data[i] = pxtalk_data->bin_data[i]; + + + for (i = 0; i < pxtalk_data->VL53L1_p_024; i++) { + realign_index = (pxtalk_data->VL53L1_p_024 - + realign_bin + i) + % pxtalk_data->VL53L1_p_024; + + pxtalk_data->bin_data[i] = + realign_bin_data[realign_index]; + } + } + + + + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "first bin int", first_bin_int); + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "last bin int", last_bin_int); + + trace_print( + VL53L1_TRACE_LEVEL_DEBUG, + " %-48s : %10d\n", + "amb thresh", amb_threshold); + + + + + + for (i = 0; i < pxtalk_data->VL53L1_p_024; i++) { + + if (first_bin_int <= last_bin_int) { + if ((i >= first_bin_int) && (i <= last_bin_int)) { + if (pxtalk_data->bin_data[i] < + (int32_t)amb_threshold) + pxtalk_data->bin_data[i] = 0; + } else { + pxtalk_data->bin_data[i] = 0; + } + } else { + if ((i >= first_bin_int) || (i <= last_bin_int)) { + if (pxtalk_data->bin_data[i] < + (int32_t)amb_threshold) { + pxtalk_data->bin_data[i] = 0; + } + } else { + pxtalk_data->bin_data[i] = 0; + } + } + } + + + + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_f_051( + uint8_t sigma_mult, + int32_t VL53L1_p_004, + uint32_t *ambient_noise) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint32_t ambient_events_per_bin_int = 0; + + LOG_FUNCTION_START(""); + + if (VL53L1_p_004 <= 0) + ambient_events_per_bin_int = 1; + else + ambient_events_per_bin_int = (uint32_t)VL53L1_p_004; + + *ambient_noise = VL53L1_isqrt(ambient_events_per_bin_int); + + *ambient_noise = *ambient_noise * (uint32_t)sigma_mult; + + LOG_FUNCTION_END(status); + + return status; +} + + + + + + + + + + + + + + + + + + + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_api.c b/drivers/input/misc/vl53L1/src/vl53l1_api.c new file mode 100644 index 000000000000..0b20343749c4 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_api.c @@ -0,0 +1,3977 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#include "vl53l1_api.h" +#include "vl53l1_api_strings.h" +#include "vl53l1_register_settings.h" +#include "vl53l1_register_funcs.h" +#include "vl53l1_core.h" +#include "vl53l1_api_calibration.h" +#include "vl53l1_wait.h" +#include "vl53l1_preset_setup.h" +#include "vl53l1_api_debug.h" +#include "vl53l1_api_core.h" +#include "vl53l1_nvm.h" + + +#define ZONE_CHECK VL53L1_MAX_USER_ZONES + +#if ZONE_CHECK < 5 +#error Must define at least 5 zones in MAX_USER_ZONES constant +#endif + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_API, status, \ + fmt, ##__VA_ARGS__) + +#ifdef VL53L1_LOG_ENABLE +#define trace_print(level, ...) trace_print_module_function(\ + VL53L1_TRACE_MODULE_API, level, VL53L1_TRACE_FUNCTION_NONE, \ + ##__VA_ARGS__) +#endif + +#ifndef MIN +#define MIN(v1, v2) ((v1) < (v2) ? (v1) : (v2)) +#endif +#ifndef MAX +#define MAX(v1, v2) ((v1) < (v2) ? (v2) : (v1)) +#endif + +#define DMAX_REFLECTANCE_IDX 2 + + + +#define LOWPOWER_AUTO_VHV_LOOP_DURATION_US 245 +#define LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING 1448 +#define LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING 2100 + +#define FDA_MAX_TIMING_BUDGET_US 550000 + + + + + + +static int32_t BDTable[VL53L1_TUNING_MAX_TUNABLE_KEY] = { + TUNING_VERSION, + TUNING_PROXY_MIN, + TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM, + TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER, + TUNING_MIN_AMBIENT_DMAX_VALID, + TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER, + TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM, + TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT, + TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN, + TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET, + TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR_DEFAULT, +}; + + +static VL53L1_Error SingleTargetXTalkCalibration(VL53L1_DEV Dev) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + uint32_t sum_ranging = 0; + uint32_t sum_spads = 0; + FixPoint1616_t sum_signalRate = 0; + FixPoint1616_t total_count = 0; + uint8_t xtalk_meas = 0; + uint8_t xtalk_measmax = + BDTable[VL53L1_TUNING_SINGLE_TARGET_XTALK_SAMPLE_NUMBER]; + VL53L1_RangingMeasurementData_t RMData; + FixPoint1616_t xTalkStoredMeanSignalRate; + FixPoint1616_t xTalkStoredMeanRange; + FixPoint1616_t xTalkStoredMeanRtnSpads; + uint32_t xTalkStoredMeanRtnSpadsAsInt; + uint32_t xTalkCalDistanceAsInt; + FixPoint1616_t XTalkCompensationRateMegaCps; + uint32_t signalXTalkTotalPerSpad; + VL53L1_PresetModes PresetMode; + VL53L1_CalibrationData_t CalibrationData; + VL53L1_CustomerNvmManaged_t *pC; + + + LOG_FUNCTION_START(""); + + + PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); + + if ((PresetMode != VL53L1_PRESETMODE_AUTONOMOUS) && + (PresetMode != VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS) && + (PresetMode != VL53L1_PRESETMODE_LITE_RANGING)) { + Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; + goto ENDFUNC; + } + + + Status = VL53L1_disable_xtalk_compensation(Dev); + + if (Status != VL53L1_ERROR_NONE) + goto ENDFUNC; + + Status = VL53L1_StartMeasurement(Dev); + + if (Status != VL53L1_ERROR_NONE) + goto ENDFUNC; + + + VL53L1_WaitMeasurementDataReady(Dev); + VL53L1_GetRangingMeasurementData(Dev, &RMData); + VL53L1_ClearInterruptAndStartMeasurement(Dev); + + sum_ranging = 0; + sum_spads = 0; + sum_signalRate = 0; + total_count = 0; + for (xtalk_meas = 0; xtalk_meas < xtalk_measmax; xtalk_meas++) { + VL53L1_WaitMeasurementDataReady(Dev); + VL53L1_GetRangingMeasurementData(Dev, &RMData); + VL53L1_ClearInterruptAndStartMeasurement(Dev); + if (RMData.RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) { + sum_ranging += RMData.RangeMilliMeter; + sum_signalRate += RMData.SignalRateRtnMegaCps; + sum_spads += RMData.EffectiveSpadRtnCount / 256; + total_count++; + } + } + Status = VL53L1_StopMeasurement(Dev); + + if (total_count > 0) { + + xTalkStoredMeanSignalRate = sum_signalRate / total_count; + xTalkStoredMeanRange = (FixPoint1616_t)(sum_ranging << 16); + xTalkStoredMeanRange /= total_count; + xTalkStoredMeanRtnSpads = (FixPoint1616_t)(sum_spads << 16); + xTalkStoredMeanRtnSpads /= total_count; + + + xTalkStoredMeanRtnSpadsAsInt = (xTalkStoredMeanRtnSpads + + 0x8000) >> 16; + + + xTalkCalDistanceAsInt = ((uint32_t)BDTable[ + VL53L1_TUNING_SINGLE_TARGET_XTALK_TARGET_DISTANCE_MM]); + if (xTalkStoredMeanRtnSpadsAsInt == 0 || + xTalkCalDistanceAsInt == 0 || + xTalkStoredMeanRange >= (xTalkCalDistanceAsInt << 16)) { + XTalkCompensationRateMegaCps = 0; + } else { + + signalXTalkTotalPerSpad = (xTalkStoredMeanSignalRate) / + xTalkStoredMeanRtnSpadsAsInt; + + + signalXTalkTotalPerSpad *= (((uint32_t)1 << 16) - + (xTalkStoredMeanRange / xTalkCalDistanceAsInt)); + + + XTalkCompensationRateMegaCps = (signalXTalkTotalPerSpad + + 0x8000) >> 16; + } + + + Status = VL53L1_GetCalibrationData(Dev, &CalibrationData); + + if (Status != VL53L1_ERROR_NONE) + goto ENDFUNC; + + pC = &CalibrationData.customer; + + pC->algo__crosstalk_compensation_plane_offset_kcps = + (uint32_t)(1000 * ((XTalkCompensationRateMegaCps + + ((uint32_t)1<<6)) >> (16-9))); + + Status = VL53L1_SetCalibrationData(Dev, &CalibrationData); + + if (Status != VL53L1_ERROR_NONE) + goto ENDFUNC; + + Status = VL53L1_enable_xtalk_compensation(Dev); + + } else + + Status = VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL; + +ENDFUNC: + LOG_FUNCTION_END(Status); + return Status; + +} + + +static VL53L1_Error CheckValidRectRoi(VL53L1_UserRoi_t ROI) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + if ((ROI.TopLeftX > 15) || (ROI.TopLeftY > 15) || + (ROI.BotRightX > 15) || (ROI.BotRightY > 15)) + Status = VL53L1_ERROR_INVALID_PARAMS; + + if ((ROI.TopLeftX > ROI.BotRightX) || (ROI.TopLeftY < ROI.BotRightY)) + Status = VL53L1_ERROR_INVALID_PARAMS; + + LOG_FUNCTION_END(Status); + return Status; +} + +static VL53L1_GPIO_Interrupt_Mode ConvertModeToLLD(VL53L1_Error *pStatus, + VL53L1_ThresholdMode CrossMode) +{ + VL53L1_GPIO_Interrupt_Mode Mode; + + switch (CrossMode) { + case VL53L1_THRESHOLD_CROSSED_LOW: + Mode = VL53L1_GPIOINTMODE_LEVEL_LOW; + break; + case VL53L1_THRESHOLD_CROSSED_HIGH: + Mode = VL53L1_GPIOINTMODE_LEVEL_HIGH; + break; + case VL53L1_THRESHOLD_OUT_OF_WINDOW: + Mode = VL53L1_GPIOINTMODE_OUT_OF_WINDOW; + break; + case VL53L1_THRESHOLD_IN_WINDOW: + Mode = VL53L1_GPIOINTMODE_IN_WINDOW; + break; + default: + + Mode = VL53L1_GPIOINTMODE_LEVEL_HIGH; + *pStatus = VL53L1_ERROR_INVALID_PARAMS; + } + return Mode; +} + +static VL53L1_ThresholdMode ConvertModeFromLLD(VL53L1_Error *pStatus, + VL53L1_GPIO_Interrupt_Mode CrossMode) +{ + VL53L1_ThresholdMode Mode; + + switch (CrossMode) { + case VL53L1_GPIOINTMODE_LEVEL_LOW: + Mode = VL53L1_THRESHOLD_CROSSED_LOW; + break; + case VL53L1_GPIOINTMODE_LEVEL_HIGH: + Mode = VL53L1_THRESHOLD_CROSSED_HIGH; + break; + case VL53L1_GPIOINTMODE_OUT_OF_WINDOW: + Mode = VL53L1_THRESHOLD_OUT_OF_WINDOW; + break; + case VL53L1_GPIOINTMODE_IN_WINDOW: + Mode = VL53L1_THRESHOLD_IN_WINDOW; + break; + default: + + Mode = VL53L1_THRESHOLD_CROSSED_HIGH; + *pStatus = VL53L1_ERROR_UNDEFINED; + } + return Mode; +} + + + +VL53L1_Error VL53L1_GetVersion(VL53L1_Version_t *pVersion) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + pVersion->major = VL53L1_IMPLEMENTATION_VER_MAJOR; + pVersion->minor = VL53L1_IMPLEMENTATION_VER_MINOR; + pVersion->build = VL53L1_IMPLEMENTATION_VER_SUB; + + pVersion->revision = VL53L1_IMPLEMENTATION_VER_REVISION; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetProductRevision(VL53L1_DEV Dev, + uint8_t *pProductRevisionMajor, uint8_t *pProductRevisionMinor) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t revision_id; + VL53L1_LLDriverData_t *pLLData; + + LOG_FUNCTION_START(""); + + pLLData = VL53L1DevStructGetLLDriverHandle(Dev); + revision_id = pLLData->nvm_copy_data.identification__revision_id; + *pProductRevisionMajor = 1; + *pProductRevisionMinor = (revision_id & 0xF0) >> 4; + + LOG_FUNCTION_END(Status); + return Status; + +} + +VL53L1_Error VL53L1_GetDeviceInfo(VL53L1_DEV Dev, + VL53L1_DeviceInfo_t *pVL53L1_DeviceInfo) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t revision_id; + VL53L1_LLDriverData_t *pLLData; + + LOG_FUNCTION_START(""); + + pLLData = VL53L1DevStructGetLLDriverHandle(Dev); + + strncpy(pVL53L1_DeviceInfo->ProductId, "", + VL53L1_DEVINFO_STRLEN-1); + pVL53L1_DeviceInfo->ProductType = + pLLData->nvm_copy_data.identification__module_type; + + revision_id = pLLData->nvm_copy_data.identification__revision_id; + pVL53L1_DeviceInfo->ProductRevisionMajor = 1; + pVL53L1_DeviceInfo->ProductRevisionMinor = (revision_id & 0xF0) >> 4; + +#ifndef VL53L1_USE_EMPTY_STRING + if (pVL53L1_DeviceInfo->ProductRevisionMinor == 0) + strncpy(pVL53L1_DeviceInfo->Name, + VL53L1_STRING_DEVICE_INFO_NAME0, + VL53L1_DEVINFO_STRLEN-1); + else + strncpy(pVL53L1_DeviceInfo->Name, + VL53L1_STRING_DEVICE_INFO_NAME1, + VL53L1_DEVINFO_STRLEN-1); + strncpy(pVL53L1_DeviceInfo->Type, + VL53L1_STRING_DEVICE_INFO_TYPE, + VL53L1_DEVINFO_STRLEN-1); + + if (pVL53L1_DeviceInfo->ProductType == 0xAA) { + pVL53L1_DeviceInfo->Name[5] = '3'; + pVL53L1_DeviceInfo->Type[5] = '3'; + } +#else + pVL53L1_DeviceInfo->Name[0] = 0; + pVL53L1_DeviceInfo->Type[0] = 0; +#endif + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetUID(VL53L1_DEV Dev, uint64_t *pUid) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t fmtdata[8]; + + LOG_FUNCTION_START(""); + + Status = VL53L1_read_nvm_raw_data(Dev, + (uint8_t)(0x1F8 >> 2), + (uint8_t)(8 >> 2), + fmtdata); + memcpy(pUid, fmtdata, sizeof(uint64_t)); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetRangeStatusString(uint8_t RangeStatus, + char *pRangeStatusString) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_range_status_string(RangeStatus, + pRangeStatusString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetPalErrorString(VL53L1_Error PalErrorCode, + char *pPalErrorString) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_pal_error_string(PalErrorCode, pPalErrorString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetPalStateString(VL53L1_State PalStateCode, + char *pPalStateString) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_pal_state_string(PalStateCode, pPalStateString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetPalState(VL53L1_DEV Dev, VL53L1_State *pPalState) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pPalState = VL53L1DevDataGet(Dev, PalState); + + LOG_FUNCTION_END(Status); + return Status; +} + + + + +VL53L1_Error VL53L1_SetDeviceAddress(VL53L1_DEV Dev, uint8_t DeviceAddress) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_WrByte(Dev, VL53L1_I2C_SLAVE__DEVICE_ADDRESS, + DeviceAddress / 2); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_DataInit(VL53L1_DEV Dev) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t i; + VL53L1_LLDriverData_t *pdev; + + LOG_FUNCTION_START(""); + + +#ifdef USE_I2C_2V8 + Status = VL53L1_RdByte(Dev, VL53L1_PAD_I2C_HV__EXTSUP_CONFIG, &i); + if (Status == VL53L1_ERROR_NONE) { + i = (i & 0xfe) | 0x01; + Status = VL53L1_WrByte(Dev, VL53L1_PAD_I2C_HV__EXTSUP_CONFIG, + i); + } +#endif + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_data_init(Dev, 1); + + if (Status == VL53L1_ERROR_NONE) { + pdev = VL53L1DevStructGetLLDriverHandle(Dev); + memset(&pdev->per_vcsel_cal_data, 0, + sizeof(pdev->per_vcsel_cal_data)); + } + + if (Status == VL53L1_ERROR_NONE) { + VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_WAIT_STATICINIT); + VL53L1DevDataSet(Dev, CurrentParameters.PresetMode, + VL53L1_PRESETMODE_RANGING); + } + + + for (i = 0; i < VL53L1_CHECKENABLE_NUMBER_OF_CHECKS; i++) { + if (Status == VL53L1_ERROR_NONE) + Status |= VL53L1_SetLimitCheckEnable(Dev, i, 1); + else + break; + + } + + + if (Status == VL53L1_ERROR_NONE) { + Status = VL53L1_set_dmax_mode(Dev, + VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA); + } + + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_StaticInit(VL53L1_DEV Dev) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t measurement_mode; + + LOG_FUNCTION_START(""); + + VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_IDLE); + + measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + VL53L1DevDataSet(Dev, LLData.measurement_mode, measurement_mode); + + VL53L1DevDataSet(Dev, CurrentParameters.DistanceMode, + VL53L1_DISTANCEMODE_LONG); + VL53L1DevDataSet(Dev, CurrentParameters.OutputMode, + VL53L1_OUTPUTMODE_NEAREST); + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_WaitDeviceBooted(VL53L1_DEV Dev) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_poll_for_boot_completion(Dev, + VL53L1_BOOT_COMPLETION_POLLING_TIMEOUT_MS); + + LOG_FUNCTION_END(Status); + return Status; +} + + + + +static VL53L1_Error ComputeDevicePresetMode( + VL53L1_PresetModes PresetMode, + VL53L1_DistanceModes DistanceMode, + VL53L1_DevicePresetModes *pDevicePresetMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + uint8_t DistIdx; + VL53L1_DevicePresetModes LightModes[3] = { + VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_SHORT_RANGE, + VL53L1_DEVICEPRESETMODE_STANDARD_RANGING, + VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_LONG_RANGE}; + + VL53L1_DevicePresetModes RangingModes[3] = { + VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE, + VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE, + VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE}; + + VL53L1_DevicePresetModes ScanningModes[3] = { + VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_SHORT_RANGE, + VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE, + VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_LONG_RANGE}; + + VL53L1_DevicePresetModes TimedModes[3] = { + VL53L1_DEVICEPRESETMODE_TIMED_RANGING_SHORT_RANGE, + VL53L1_DEVICEPRESETMODE_TIMED_RANGING, + VL53L1_DEVICEPRESETMODE_TIMED_RANGING_LONG_RANGE}; + + VL53L1_DevicePresetModes LowPowerTimedModes[3] = { + VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_SHORT_RANGE, + VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_MEDIUM_RANGE, + VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_LONG_RANGE}; + + *pDevicePresetMode = VL53L1_DEVICEPRESETMODE_STANDARD_RANGING; + + switch (DistanceMode) { + case VL53L1_DISTANCEMODE_SHORT: + DistIdx = 0; + break; + case VL53L1_DISTANCEMODE_MEDIUM: + DistIdx = 1; + break; + default: + DistIdx = 2; + } + + switch (PresetMode) { + case VL53L1_PRESETMODE_LITE_RANGING: + *pDevicePresetMode = LightModes[DistIdx]; + break; + + case VL53L1_PRESETMODE_RANGING: + *pDevicePresetMode = RangingModes[DistIdx]; + break; + + case VL53L1_PRESETMODE_MULTIZONES_SCANNING: + *pDevicePresetMode = ScanningModes[DistIdx]; + break; + + case VL53L1_PRESETMODE_AUTONOMOUS: + *pDevicePresetMode = TimedModes[DistIdx]; + break; + + case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS: + *pDevicePresetMode = LowPowerTimedModes[DistIdx]; + break; + case VL53L1_PRESETMODE_OLT: + *pDevicePresetMode = VL53L1_DEVICEPRESETMODE_OLT; + break; + case VL53L1_PRESETMODE_PROXY_RANGING_MODE: + *pDevicePresetMode = + VL53L1_DEVICEPRESETMODE_SPECIAL_HISTOGRAM_SHORT_RANGE; + break; + + default: + + Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; + } + + return Status; +} + +static VL53L1_Error SetPresetMode(VL53L1_DEV Dev, + VL53L1_PresetModes PresetMode, + VL53L1_DistanceModes DistanceMode, + uint32_t inter_measurement_period_ms) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_DevicePresetModes device_preset_mode; + uint8_t measurement_mode; + uint16_t dss_config__target_total_rate_mcps; + uint32_t phasecal_config_timeout_us; + uint32_t mm_config_timeout_us; + uint32_t lld_range_config_timeout_us; + + LOG_FUNCTION_START("%d", (int)PresetMode); + + if ((PresetMode == VL53L1_PRESETMODE_AUTONOMOUS) || + (PresetMode == VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS)) + measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_TIMED; + else + measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + + + Status = ComputeDevicePresetMode(PresetMode, DistanceMode, + &device_preset_mode); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_get_preset_mode_timing_cfg(Dev, + device_preset_mode, + &dss_config__target_total_rate_mcps, + &phasecal_config_timeout_us, + &mm_config_timeout_us, + &lld_range_config_timeout_us); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_set_preset_mode( + Dev, + device_preset_mode, + dss_config__target_total_rate_mcps, + phasecal_config_timeout_us, + mm_config_timeout_us, + lld_range_config_timeout_us, + inter_measurement_period_ms); + + if (Status == VL53L1_ERROR_NONE) + VL53L1DevDataSet(Dev, LLData.measurement_mode, + measurement_mode); + + if (Status == VL53L1_ERROR_NONE) + VL53L1DevDataSet(Dev, CurrentParameters.PresetMode, PresetMode); + + VL53L1DevDataSet(Dev, CurrentParameters.OutputMode, + VL53L1_OUTPUTMODE_NEAREST); + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_SetPresetMode(VL53L1_DEV Dev, VL53L1_PresetModes PresetMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_DistanceModes DistanceMode = VL53L1_DISTANCEMODE_LONG; + + LOG_FUNCTION_START("%d", (int)PresetMode); + + + Status = VL53L1_low_power_auto_data_init(Dev); + + if (PresetMode == VL53L1_PRESETMODE_PROXY_RANGING_MODE) + DistanceMode = VL53L1_DISTANCEMODE_SHORT; + Status = SetPresetMode(Dev, + PresetMode, + DistanceMode, + 1000); + + if (Status == VL53L1_ERROR_NONE) { + if ((PresetMode == VL53L1_PRESETMODE_LITE_RANGING) || + (PresetMode == VL53L1_PRESETMODE_AUTONOMOUS) || + (PresetMode == VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS)) + Status = VL53L1_SetMeasurementTimingBudgetMicroSeconds( + Dev, 41000); + else + + Status = VL53L1_SetMeasurementTimingBudgetMicroSeconds( + Dev, 33333); + } + + if (Status == VL53L1_ERROR_NONE) { + + Status = VL53L1_SetInterMeasurementPeriodMilliSeconds(Dev, + 1000); + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_GetPresetMode(VL53L1_DEV Dev, + VL53L1_PresetModes *pPresetMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pPresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetDistanceMode(VL53L1_DEV Dev, + VL53L1_DistanceModes DistanceMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_PresetModes PresetMode; + uint32_t inter_measurement_period_ms; + uint32_t TimingBudget; + uint32_t MmTimeoutUs; + uint32_t PhaseCalTimeoutUs; + VL53L1_zone_config_t zone_config; + + LOG_FUNCTION_START("%d", (int)DistanceMode); + + PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); + + + + if ((PresetMode == VL53L1_PRESETMODE_PROXY_RANGING_MODE) && + (DistanceMode != VL53L1_DISTANCEMODE_SHORT)) + return VL53L1_ERROR_INVALID_PARAMS; + if ((DistanceMode != VL53L1_DISTANCEMODE_SHORT) && + (DistanceMode != VL53L1_DISTANCEMODE_MEDIUM) && + (DistanceMode != VL53L1_DISTANCEMODE_LONG)) + return VL53L1_ERROR_INVALID_PARAMS; + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_get_zone_config(Dev, &zone_config); + + inter_measurement_period_ms = VL53L1DevDataGet(Dev, + LLData.inter_measurement_period_ms); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_get_timeouts_us(Dev, &PhaseCalTimeoutUs, + &MmTimeoutUs, &TimingBudget); + + if (Status == VL53L1_ERROR_NONE) + Status = SetPresetMode(Dev, + PresetMode, + DistanceMode, + inter_measurement_period_ms); + + if (Status == VL53L1_ERROR_NONE) { + VL53L1DevDataSet(Dev, CurrentParameters.DistanceMode, + DistanceMode); + } + + if (Status == VL53L1_ERROR_NONE) { + Status = VL53L1_set_timeouts_us(Dev, PhaseCalTimeoutUs, + MmTimeoutUs, TimingBudget); + + if (Status == VL53L1_ERROR_NONE) + VL53L1DevDataSet(Dev, LLData.range_config_timeout_us, + TimingBudget); + } + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_set_zone_config(Dev, &zone_config); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetDistanceMode(VL53L1_DEV Dev, + VL53L1_DistanceModes *pDistanceMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pDistanceMode = VL53L1DevDataGet(Dev, CurrentParameters.DistanceMode); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetOutputMode(VL53L1_DEV Dev, + VL53L1_OutputModes OutputMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if ((OutputMode != VL53L1_OUTPUTMODE_NEAREST) && + (OutputMode != VL53L1_OUTPUTMODE_STRONGEST)) + Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; + else + VL53L1DevDataSet(Dev, CurrentParameters.OutputMode, OutputMode); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetOutputMode(VL53L1_DEV Dev, + VL53L1_OutputModes *pOutputMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pOutputMode = VL53L1DevDataGet(Dev, CurrentParameters.OutputMode); + + LOG_FUNCTION_END(Status); + return Status; +} + + + +VL53L1_Error VL53L1_SetMeasurementTimingBudgetMicroSeconds(VL53L1_DEV Dev, + uint32_t MeasurementTimingBudgetMicroSeconds) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t Mm1Enabled; + uint8_t Mm2Enabled; + uint32_t TimingGuard; + uint32_t divisor; + uint32_t TimingBudget; + uint32_t MmTimeoutUs; + VL53L1_PresetModes PresetMode; + uint32_t PhaseCalTimeoutUs; + uint32_t vhv; + int32_t vhv_loops; + uint32_t FDAMaxTimingBudgetUs = FDA_MAX_TIMING_BUDGET_US; + + LOG_FUNCTION_START(""); + + + if (MeasurementTimingBudgetMicroSeconds > 10000000) + Status = VL53L1_ERROR_INVALID_PARAMS; + + if (Status == VL53L1_ERROR_NONE) { + Status = VL53L1_GetSequenceStepEnable(Dev, + VL53L1_SEQUENCESTEP_MM1, &Mm1Enabled); + } + + if (Status == VL53L1_ERROR_NONE) { + Status = VL53L1_GetSequenceStepEnable(Dev, + VL53L1_SEQUENCESTEP_MM2, &Mm2Enabled); + } + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_get_timeouts_us(Dev, + &PhaseCalTimeoutUs, + &MmTimeoutUs, + &TimingBudget); + + if (Status == VL53L1_ERROR_NONE) { + PresetMode = VL53L1DevDataGet(Dev, + CurrentParameters.PresetMode); + + TimingGuard = 0; + divisor = 1; + switch (PresetMode) { + case VL53L1_PRESETMODE_LITE_RANGING: + if ((Mm1Enabled == 1) || (Mm2Enabled == 1)) + TimingGuard = 5000; + else + TimingGuard = 1000; + break; + + case VL53L1_PRESETMODE_AUTONOMOUS: + FDAMaxTimingBudgetUs *= 2; + if ((Mm1Enabled == 1) || (Mm2Enabled == 1)) + TimingGuard = 26600; + else + TimingGuard = 21600; + divisor = 2; + break; + + case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS: + FDAMaxTimingBudgetUs *= 2; + vhv = LOWPOWER_AUTO_VHV_LOOP_DURATION_US; + VL53L1_get_tuning_parm(Dev, + VL53L1_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND, + &vhv_loops); + if (vhv_loops > 0) { + vhv += vhv_loops * + LOWPOWER_AUTO_VHV_LOOP_DURATION_US; + } + TimingGuard = LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING + + LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING + + vhv; + divisor = 2; + break; + + case VL53L1_PRESETMODE_RANGING: + case VL53L1_PRESETMODE_MULTIZONES_SCANNING: + case VL53L1_PRESETMODE_PROXY_RANGING_MODE: + TimingGuard = 1700; + divisor = 6; + break; + + case VL53L1_PRESETMODE_OLT: + TimingGuard = MmTimeoutUs + 5000; + break; + default: + + Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; + } + + if (MeasurementTimingBudgetMicroSeconds <= TimingGuard) + Status = VL53L1_ERROR_INVALID_PARAMS; + else { + TimingBudget = (MeasurementTimingBudgetMicroSeconds + - TimingGuard); + } + + if (Status == VL53L1_ERROR_NONE) { + if (TimingBudget > FDAMaxTimingBudgetUs) + Status = VL53L1_ERROR_INVALID_PARAMS; + else { + TimingBudget /= divisor; + Status = VL53L1_set_timeouts_us( + Dev, + PhaseCalTimeoutUs, + MmTimeoutUs, + TimingBudget); + } + + if (Status == VL53L1_ERROR_NONE) + VL53L1DevDataSet(Dev, + LLData.range_config_timeout_us, + TimingBudget); + } + } + if (Status == VL53L1_ERROR_NONE) { + VL53L1DevDataSet(Dev, + CurrentParameters.MeasurementTimingBudgetMicroSeconds, + MeasurementTimingBudgetMicroSeconds); + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_GetMeasurementTimingBudgetMicroSeconds(VL53L1_DEV Dev, + uint32_t *pMeasurementTimingBudgetMicroSeconds) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t Mm1Enabled = 0; + uint8_t Mm2Enabled = 0; + uint32_t MmTimeoutUs = 0; + uint32_t RangeTimeoutUs = 0; + uint32_t MeasTimingBdg = 0; + uint32_t PhaseCalTimeoutUs = 0; + VL53L1_PresetModes PresetMode; + uint32_t TimingGuard; + uint32_t vhv; + int32_t vhv_loops; + + LOG_FUNCTION_START(""); + + *pMeasurementTimingBudgetMicroSeconds = 0; + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_GetSequenceStepEnable(Dev, + VL53L1_SEQUENCESTEP_MM1, &Mm1Enabled); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_GetSequenceStepEnable(Dev, + VL53L1_SEQUENCESTEP_MM2, &Mm2Enabled); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_get_timeouts_us(Dev, + &PhaseCalTimeoutUs, + &MmTimeoutUs, + &RangeTimeoutUs); + + if (Status == VL53L1_ERROR_NONE) { + PresetMode = VL53L1DevDataGet(Dev, + CurrentParameters.PresetMode); + + switch (PresetMode) { + case VL53L1_PRESETMODE_LITE_RANGING: + if ((Mm1Enabled == 1) || (Mm2Enabled == 1)) + MeasTimingBdg = RangeTimeoutUs + 5000; + else + MeasTimingBdg = RangeTimeoutUs + 1000; + + break; + + case VL53L1_PRESETMODE_AUTONOMOUS: + if ((Mm1Enabled == 1) || (Mm2Enabled == 1)) + MeasTimingBdg = 2 * RangeTimeoutUs + 26600; + else + MeasTimingBdg = 2 * RangeTimeoutUs + 21600; + + break; + + case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS: + vhv = LOWPOWER_AUTO_VHV_LOOP_DURATION_US; + VL53L1_get_tuning_parm(Dev, + VL53L1_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND, + &vhv_loops); + if (vhv_loops > 0) { + vhv += vhv_loops * + LOWPOWER_AUTO_VHV_LOOP_DURATION_US; + } + TimingGuard = LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING + + LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING + + vhv; + MeasTimingBdg = 2 * RangeTimeoutUs + TimingGuard; + break; + + case VL53L1_PRESETMODE_RANGING: + case VL53L1_PRESETMODE_MULTIZONES_SCANNING: + case VL53L1_PRESETMODE_PROXY_RANGING_MODE: + MeasTimingBdg = (6 * RangeTimeoutUs) + 1700; + break; + + case VL53L1_PRESETMODE_OLT: + MeasTimingBdg = RangeTimeoutUs + MmTimeoutUs + 5000; + break; + default: + + Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; + } + } + if (Status == VL53L1_ERROR_NONE) + *pMeasurementTimingBudgetMicroSeconds = MeasTimingBdg; + + LOG_FUNCTION_END(Status); + return Status; +} + + + +VL53L1_Error VL53L1_SetInterMeasurementPeriodMilliSeconds(VL53L1_DEV Dev, + uint32_t InterMeasurementPeriodMilliSeconds) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint32_t adjustedIMP; + + LOG_FUNCTION_START(""); + + + adjustedIMP = InterMeasurementPeriodMilliSeconds; + adjustedIMP += (adjustedIMP * 64) / 1000; + + Status = VL53L1_set_inter_measurement_period_ms(Dev, + adjustedIMP); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetInterMeasurementPeriodMilliSeconds(VL53L1_DEV Dev, + uint32_t *pInterMeasurementPeriodMilliSeconds) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint32_t adjustedIMP; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_inter_measurement_period_ms(Dev, &adjustedIMP); + + adjustedIMP -= (adjustedIMP * 64) / 1000; + *pInterMeasurementPeriodMilliSeconds = adjustedIMP; + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetDmaxReflectance(VL53L1_DEV Dev, + FixPoint1616_t DmaxReflectance) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_dmax_reflectance_array_t dmax_reflectances; + + LOG_FUNCTION_START(""); + + if (DmaxReflectance > 100*65536) + Status = VL53L1_ERROR_INVALID_PARAMS; + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_get_dmax_reflectance_values(Dev, + &dmax_reflectances); + + if (Status == VL53L1_ERROR_NONE) { + dmax_reflectances.target_reflectance_for_dmax[ + DMAX_REFLECTANCE_IDX] = + VL53L1_FIXPOINT1616TOFIXPOINT72(DmaxReflectance); + Status = VL53L1_set_dmax_reflectance_values(Dev, + &dmax_reflectances); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetDmaxReflectance(VL53L1_DEV Dev, + FixPoint1616_t *pDmaxReflectance) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_dmax_reflectance_array_t dmax_reflectances; + uint16_t r; + + LOG_FUNCTION_START(""); + Status = VL53L1_get_dmax_reflectance_values(Dev, &dmax_reflectances); + if (Status == VL53L1_ERROR_NONE) { + r = dmax_reflectances.target_reflectance_for_dmax[ + DMAX_REFLECTANCE_IDX]; + *pDmaxReflectance = VL53L1_FIXPOINT72TOFIXPOINT1616(r); + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_SetDmaxMode(VL53L1_DEV Dev, + VL53L1_DeviceDmaxModes DmaxMode) +{ + + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_DeviceDmaxMode dmax_mode; + + LOG_FUNCTION_START(""); + + switch (DmaxMode) { + case VL53L1_DMAXMODE_FMT_CAL_DATA: + dmax_mode = VL53L1_DEVICEDMAXMODE__FMT_CAL_DATA; + break; + case VL53L1_DMAXMODE_CUSTCAL_DATA: + dmax_mode = VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA; + break; + case VL53L1_DMAXMODE_PER_ZONE_CAL_DATA: + dmax_mode = VL53L1_DEVICEDMAXMODE__PER_ZONE_CAL_DATA; + break; + default: + Status = VL53L1_ERROR_INVALID_PARAMS; + break; + } + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_set_dmax_mode(Dev, dmax_mode); + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_GetDmaxMode(VL53L1_DEV Dev, + VL53L1_DeviceDmaxModes *pDmaxMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_DeviceDmaxMode dmax_mode; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_dmax_mode(Dev, &dmax_mode); + if (Status == VL53L1_ERROR_NONE) { + switch (dmax_mode) { + case VL53L1_DEVICEDMAXMODE__FMT_CAL_DATA: + *pDmaxMode = VL53L1_DMAXMODE_FMT_CAL_DATA; + break; + case VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA: + *pDmaxMode = VL53L1_DMAXMODE_CUSTCAL_DATA; + break; + case VL53L1_DEVICEDMAXMODE__PER_ZONE_CAL_DATA: + *pDmaxMode = VL53L1_DMAXMODE_PER_ZONE_CAL_DATA; + break; + default: + *pDmaxMode = VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA; + Status = VL53L1_ERROR_NOT_IMPLEMENTED; + break; + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + + + + + + +VL53L1_Error VL53L1_GetNumberOfLimitCheck(uint16_t *pNumberOfLimitCheck) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + *pNumberOfLimitCheck = VL53L1_CHECKENABLE_NUMBER_OF_CHECKS; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetLimitCheckInfo(uint16_t LimitCheckId, + char *pLimitCheckString) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_limit_check_info(LimitCheckId, + pLimitCheckString); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetLimitCheckStatus(VL53L1_DEV Dev, uint16_t LimitCheckId, + uint8_t *pLimitCheckStatus) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t Temp8; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L1_ERROR_INVALID_PARAMS; + } else { + VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + LimitCheckId, Temp8); + *pLimitCheckStatus = Temp8; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +static VL53L1_Error SetLimitValue(VL53L1_DEV Dev, uint16_t LimitCheckId, + FixPoint1616_t value) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint16_t tmpuint16; + + LOG_FUNCTION_START(""); + + switch (LimitCheckId) { + case VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE: + tmpuint16 = VL53L1_FIXPOINT1616TOFIXPOINT142(value); + VL53L1_set_lite_sigma_threshold(Dev, tmpuint16); + break; + case VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + tmpuint16 = VL53L1_FIXPOINT1616TOFIXPOINT97(value); + VL53L1_set_lite_min_count_rate(Dev, tmpuint16); + break; + default: + Status = VL53L1_ERROR_INVALID_PARAMS; + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_SetLimitCheckEnable(VL53L1_DEV Dev, uint16_t LimitCheckId, + uint8_t LimitCheckEnable) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + FixPoint1616_t TempFix1616 = 0; + + LOG_FUNCTION_START(""); + + + if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L1_ERROR_INVALID_PARAMS; + } else { + + if (LimitCheckEnable == 0) + TempFix1616 = 0; + else + VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + LimitCheckId, TempFix1616); + + Status = SetLimitValue(Dev, LimitCheckId, TempFix1616); + } + + if (Status == VL53L1_ERROR_NONE) + VL53L1_SETARRAYPARAMETERFIELD(Dev, + LimitChecksEnable, + LimitCheckId, + ((LimitCheckEnable == 0) ? 0 : 1)); + + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetLimitCheckEnable(VL53L1_DEV Dev, uint16_t LimitCheckId, + uint8_t *pLimitCheckEnable) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t Temp8; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L1_ERROR_INVALID_PARAMS; + *pLimitCheckEnable = 0; + } else { + VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + LimitCheckId, Temp8); + *pLimitCheckEnable = Temp8; + } + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetLimitCheckValue(VL53L1_DEV Dev, uint16_t LimitCheckId, + FixPoint1616_t LimitCheckValue) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t LimitChecksEnable; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L1_ERROR_INVALID_PARAMS; + } else { + + VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksEnable, + LimitCheckId, + LimitChecksEnable); + + if (LimitChecksEnable == 0) { + + VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksValue, + LimitCheckId, LimitCheckValue); + } else { + + Status = SetLimitValue(Dev, LimitCheckId, + LimitCheckValue); + + if (Status == VL53L1_ERROR_NONE) { + VL53L1_SETARRAYPARAMETERFIELD(Dev, + LimitChecksValue, + LimitCheckId, LimitCheckValue); + } + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetLimitCheckValue(VL53L1_DEV Dev, uint16_t LimitCheckId, + FixPoint1616_t *pLimitCheckValue) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint16_t MinCountRate; + FixPoint1616_t TempFix1616; + uint16_t SigmaThresh; + + LOG_FUNCTION_START(""); + + switch (LimitCheckId) { + case VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE: + Status = VL53L1_get_lite_sigma_threshold(Dev, &SigmaThresh); + TempFix1616 = VL53L1_FIXPOINT142TOFIXPOINT1616(SigmaThresh); + break; + case VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + Status = VL53L1_get_lite_min_count_rate(Dev, &MinCountRate); + TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616(MinCountRate); + break; + default: + Status = VL53L1_ERROR_INVALID_PARAMS; + } + + if (Status == VL53L1_ERROR_NONE) { + + if (TempFix1616 == 0) { + + VL53L1_GETARRAYPARAMETERFIELD(Dev, + LimitChecksValue, LimitCheckId, + TempFix1616); + *pLimitCheckValue = TempFix1616; + VL53L1_SETARRAYPARAMETERFIELD(Dev, + LimitChecksEnable, LimitCheckId, 0); + } else { + *pLimitCheckValue = TempFix1616; + VL53L1_SETARRAYPARAMETERFIELD(Dev, + LimitChecksValue, LimitCheckId, + TempFix1616); + VL53L1_SETARRAYPARAMETERFIELD(Dev, + LimitChecksEnable, LimitCheckId, 1); + } + } + LOG_FUNCTION_END(Status); + return Status; + +} + +VL53L1_Error VL53L1_GetLimitCheckCurrent(VL53L1_DEV Dev, uint16_t LimitCheckId, + FixPoint1616_t *pLimitCheckCurrent) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + FixPoint1616_t TempFix1616 = 0; + + LOG_FUNCTION_START(""); + + if (LimitCheckId >= VL53L1_CHECKENABLE_NUMBER_OF_CHECKS) { + Status = VL53L1_ERROR_INVALID_PARAMS; + } else { + VL53L1_GETARRAYPARAMETERFIELD(Dev, LimitChecksCurrent, + LimitCheckId, TempFix1616); + *pLimitCheckCurrent = TempFix1616; + } + + LOG_FUNCTION_END(Status); + return Status; + +} + + + + + + + + +VL53L1_Error VL53L1_GetMaxNumberOfROI(VL53L1_DEV Dev, + uint8_t *pMaxNumberOfROI) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_PresetModes PresetMode; + + LOG_FUNCTION_START(""); + + PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); + + + if (PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING) + *pMaxNumberOfROI = VL53L1_MAX_USER_ZONES; + else + *pMaxNumberOfROI = 1; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetROI(VL53L1_DEV Dev, + VL53L1_RoiConfig_t *pRoiConfig) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_PresetModes PresetMode; + uint8_t MaxNumberOfROI = 1; + VL53L1_zone_config_t zone_cfg; + VL53L1_UserRoi_t CurrROI; + uint8_t i; + uint8_t x_centre; + uint8_t y_centre; + uint8_t width, height; + + LOG_FUNCTION_START(""); + + + PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); + + + if (PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING) + MaxNumberOfROI = VL53L1_MAX_USER_ZONES; + + if ((pRoiConfig->NumberOfRoi > MaxNumberOfROI) || + (pRoiConfig->NumberOfRoi < 1)) + Status = VL53L1_ERROR_INVALID_PARAMS; + + if (Status == VL53L1_ERROR_NONE) { + + + zone_cfg.max_zones = MaxNumberOfROI; + zone_cfg.active_zones = pRoiConfig->NumberOfRoi - 1; + + for (i = 0; i < pRoiConfig->NumberOfRoi; i++) { + CurrROI = pRoiConfig->UserRois[i]; + + Status = CheckValidRectRoi(CurrROI); + if (Status != VL53L1_ERROR_NONE) + break; + + x_centre = (CurrROI.BotRightX + CurrROI.TopLeftX + 1) + / 2; + y_centre = (CurrROI.TopLeftY + CurrROI.BotRightY + 1) + / 2; + width = (CurrROI.BotRightX - CurrROI.TopLeftX); + height = (CurrROI.TopLeftY - CurrROI.BotRightY); + if ((width < 3) || (height < 3)) { + Status = VL53L1_ERROR_INVALID_PARAMS; + break; + } + zone_cfg.user_zones[i].x_centre = x_centre; + zone_cfg.user_zones[i].y_centre = y_centre; + zone_cfg.user_zones[i].width = width; + zone_cfg.user_zones[i].height = height; + } + } + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_set_zone_config(Dev, &zone_cfg); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetROI(VL53L1_DEV Dev, + VL53L1_RoiConfig_t *pRoiConfig) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_zone_config_t zone_cfg; + uint8_t i; + uint8_t TopLeftX; + uint8_t TopLeftY; + uint8_t BotRightX; + uint8_t BotRightY; + + LOG_FUNCTION_START(""); + + VL53L1_get_zone_config(Dev, &zone_cfg); + + pRoiConfig->NumberOfRoi = zone_cfg.active_zones + 1; + + for (i = 0; i < pRoiConfig->NumberOfRoi; i++) { + TopLeftX = (2 * zone_cfg.user_zones[i].x_centre - + zone_cfg.user_zones[i].width) >> 1; + TopLeftY = (2 * zone_cfg.user_zones[i].y_centre + + zone_cfg.user_zones[i].height) >> 1; + BotRightX = (2 * zone_cfg.user_zones[i].x_centre + + zone_cfg.user_zones[i].width) >> 1; + BotRightY = (2 * zone_cfg.user_zones[i].y_centre - + zone_cfg.user_zones[i].height) >> 1; + pRoiConfig->UserRois[i].TopLeftX = TopLeftX; + pRoiConfig->UserRois[i].TopLeftY = TopLeftY; + pRoiConfig->UserRois[i].BotRightX = BotRightX; + pRoiConfig->UserRois[i].BotRightY = BotRightY; + } + + LOG_FUNCTION_END(Status); + return Status; +} + + + + + + + +VL53L1_Error VL53L1_GetNumberOfSequenceSteps(VL53L1_DEV Dev, + uint8_t *pNumberOfSequenceSteps) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + SUPPRESS_UNUSED_WARNING(Dev); + + LOG_FUNCTION_START(""); + + *pNumberOfSequenceSteps = VL53L1_SEQUENCESTEP_NUMBER_OF_ITEMS; + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetSequenceStepsInfo(VL53L1_SequenceStepId SequenceStepId, + char *pSequenceStepsString) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_sequence_steps_info( + SequenceStepId, + pSequenceStepsString); + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L1_Error VL53L1_SetSequenceStepEnable(VL53L1_DEV Dev, + VL53L1_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint32_t MeasurementTimingBudgetMicroSeconds; + + LOG_FUNCTION_START(""); + + + + Status = VL53L1_set_sequence_config_bit(Dev, + (VL53L1_DeviceSequenceConfig)SequenceStepId, + SequenceStepEnabled); + + + if (Status == VL53L1_ERROR_NONE) { + + + MeasurementTimingBudgetMicroSeconds = VL53L1DevDataGet(Dev, + CurrentParameters.MeasurementTimingBudgetMicroSeconds); + + VL53L1_SetMeasurementTimingBudgetMicroSeconds(Dev, + MeasurementTimingBudgetMicroSeconds); + } + + LOG_FUNCTION_END(Status); + + return Status; +} + + +VL53L1_Error VL53L1_GetSequenceStepEnable(VL53L1_DEV Dev, + VL53L1_SequenceStepId SequenceStepId, uint8_t *pSequenceStepEnabled) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_sequence_config_bit(Dev, + (VL53L1_DeviceSequenceConfig)SequenceStepId, + pSequenceStepEnabled); + + LOG_FUNCTION_END(Status); + return Status; +} + + + + + + + + + + +VL53L1_Error VL53L1_StartMeasurement(VL53L1_DEV Dev) +{ +#define TIMED_MODE_TIMING_GUARD_MILLISECONDS 4 + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t DeviceMeasurementMode; + VL53L1_State CurrPalState; + VL53L1_Error lStatus; + uint32_t MTBus, IMPms; + uint8_t i; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + + LOG_FUNCTION_START(""); + VL53L1_load_patch(Dev); + for (i = 0; i < VL53L1_MAX_RANGE_RESULTS; i++) { + pdev->PreviousRangeMilliMeter[i] = 0; + pdev->PreviousRangeStatus[i] = 255; + pdev->PreviousExtendedRange[i] = 0; + } + pdev->PreviousStreamCount = 0; + CurrPalState = VL53L1DevDataGet(Dev, PalState); + switch (CurrPalState) { + case VL53L1_STATE_IDLE: + Status = VL53L1_ERROR_NONE; + break; + case VL53L1_STATE_POWERDOWN: + case VL53L1_STATE_WAIT_STATICINIT: + case VL53L1_STATE_STANDBY: + case VL53L1_STATE_RUNNING: + case VL53L1_STATE_RESET: + case VL53L1_STATE_UNKNOWN: + case VL53L1_STATE_ERROR: + Status = VL53L1_ERROR_INVALID_COMMAND; + break; + default: + Status = VL53L1_ERROR_UNDEFINED; + } + + DeviceMeasurementMode = VL53L1DevDataGet(Dev, LLData.measurement_mode); + + + if ((Status == VL53L1_ERROR_NONE) && + (DeviceMeasurementMode == VL53L1_DEVICEMEASUREMENTMODE_TIMED)) { + lStatus = VL53L1_GetMeasurementTimingBudgetMicroSeconds(Dev, + &MTBus); + + MTBus /= 1000; + lStatus = VL53L1_GetInterMeasurementPeriodMilliSeconds(Dev, + &IMPms); + + SUPPRESS_UNUSED_WARNING(lStatus); + if (IMPms < MTBus + TIMED_MODE_TIMING_GUARD_MILLISECONDS) + Status = VL53L1_ERROR_INVALID_PARAMS; + } + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_init_and_start_range( + Dev, + DeviceMeasurementMode, + VL53L1_DEVICECONFIGLEVEL_FULL); + + + if (Status == VL53L1_ERROR_NONE) + VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_RUNNING); + + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_StopMeasurement(VL53L1_DEV Dev) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_stop_range(Dev); + VL53L1_unload_patch(Dev); + + if (Status == VL53L1_ERROR_NONE) + VL53L1DevDataSet(Dev, PalState, VL53L1_STATE_IDLE); + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_ClearInterruptAndStartMeasurement(VL53L1_DEV Dev) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t DeviceMeasurementMode; + + LOG_FUNCTION_START(""); + + DeviceMeasurementMode = VL53L1DevDataGet(Dev, LLData.measurement_mode); + + Status = VL53L1_clear_interrupt_and_enable_next_range(Dev, + DeviceMeasurementMode); + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_GetMeasurementDataReady(VL53L1_DEV Dev, + uint8_t *pMeasurementDataReady) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_is_new_data_ready(Dev, pMeasurementDataReady); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_WaitMeasurementDataReady(VL53L1_DEV Dev) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + Status = VL53L1_poll_for_range_completion(Dev, + VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS); + + LOG_FUNCTION_END(Status); + return Status; +} + +static void GenNewPresetMode(int16_t RefRange, + VL53L1_DistanceModes InternalDistanceMode, + VL53L1_DistanceModes *pNewDistanceMode) +{ + uint16_t HRLI = 600; + uint16_t HRLH = 700; + uint16_t MRLI = 1400; + uint16_t MRLH = 1500; + + switch (InternalDistanceMode) { + case VL53L1_DISTANCEMODE_SHORT: + + if (RefRange > MRLH) + *pNewDistanceMode = VL53L1_DISTANCEMODE_LONG; + else if (RefRange > HRLH) + *pNewDistanceMode = VL53L1_DISTANCEMODE_MEDIUM; + break; + case VL53L1_DISTANCEMODE_MEDIUM: + + if (RefRange > MRLH) + *pNewDistanceMode = VL53L1_DISTANCEMODE_LONG; + else if (RefRange < HRLI) + *pNewDistanceMode = VL53L1_DISTANCEMODE_SHORT; + break; + default: + + if (RefRange < HRLI) + *pNewDistanceMode = VL53L1_DISTANCEMODE_SHORT; + else if (RefRange < MRLI) + *pNewDistanceMode = VL53L1_DISTANCEMODE_MEDIUM; + break; + } +} + +static void CheckAndChangeDistanceMode(VL53L1_DEV Dev, + VL53L1_TargetRangeData_t *pRangeData, + int16_t Ambient100DmaxMm, + VL53L1_DistanceModes *pNewDistanceMode +) +{ + VL53L1_DistanceModes DistanceMode; + uint8_t RangeStatus = pRangeData->RangeStatus; + uint8_t DmaxValid; + int32_t MinAmbient = BDTable[VL53L1_TUNING_MIN_AMBIENT_DMAX_VALID]; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + int32_t tmpint32; + + + switch (RangeStatus) { + case VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL: + case VL53L1_RANGESTATUS_WRAP_TARGET_FAIL: + case VL53L1_RANGESTATUS_RANGE_VALID_MERGED_PULSE: + case VL53L1_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL: + case VL53L1_RANGESTATUS_SYNCRONISATION_INT: + case VL53L1_RANGESTATUS_NONE: + return; + default: + + break; + } + + DmaxValid = 1; + tmpint32 = pdev->hist_data.VL53L1_p_004; + if ((tmpint32 < MinAmbient) || (Ambient100DmaxMm == 0)) + DmaxValid = 0; + + DistanceMode = VL53L1DevDataGet(Dev, + CurrentParameters.DistanceMode); + + *pNewDistanceMode = DistanceMode; + + if (RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) + GenNewPresetMode(pRangeData->RangeMilliMeter, + DistanceMode, pNewDistanceMode); + else { + if (DmaxValid) + GenNewPresetMode(Ambient100DmaxMm, + DistanceMode, pNewDistanceMode); + else + *pNewDistanceMode = VL53L1_DISTANCEMODE_LONG; + } +} + +static uint8_t ComputeRQL(uint8_t active_results, + uint8_t FilteredRangeStatus, + VL53L1_range_data_t *presults_data) +{ + int16_t T_Wide = 150; + int16_t SRL = 300; + uint16_t SRAS = 30; + FixPoint1616_t RAS; + FixPoint1616_t SRQL; + FixPoint1616_t GI = 7713587; + FixPoint1616_t GGm = 3198157; + FixPoint1616_t LRAP = 6554; + FixPoint1616_t partial; + uint8_t finalvalue; + uint8_t returnvalue; + + if (active_results == 0) + returnvalue = 0; + else if (((presults_data->max_range_mm - + presults_data->min_range_mm) >= T_Wide) || + (FilteredRangeStatus == VL53L1_DEVICEERROR_PHASECONSISTENCY)) + returnvalue = 50; + else { + if (presults_data->median_range_mm < SRL) + RAS = SRAS * 65536; + else + RAS = LRAP * presults_data->median_range_mm; + + + if (RAS != 0) { + partial = (GGm * presults_data->VL53L1_p_005); + partial = partial + (RAS >> 1); + partial = partial / RAS; + partial = partial * 65536; + if (partial <= GI) + SRQL = GI - partial; + else + SRQL = 50 * 65536; + } else + SRQL = 100 * 65536; + + finalvalue = (uint8_t)(SRQL >> 16); + returnvalue = MAX(50, MIN(100, finalvalue)); + } + + return returnvalue; +} + + +static uint8_t ConvertStatusLite(uint8_t FilteredRangeStatus) +{ + uint8_t RangeStatus; + + switch (FilteredRangeStatus) { + case VL53L1_DEVICEERROR_GPHSTREAMCOUNT0READY: + RangeStatus = VL53L1_RANGESTATUS_SYNCRONISATION_INT; + break; + case VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK: + RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL; + break; + case VL53L1_DEVICEERROR_RANGEPHASECHECK: + RangeStatus = VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL; + break; + case VL53L1_DEVICEERROR_MSRCNOTARGET: + RangeStatus = VL53L1_RANGESTATUS_SIGNAL_FAIL; + break; + case VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK: + RangeStatus = VL53L1_RANGESTATUS_SIGMA_FAIL; + break; + case VL53L1_DEVICEERROR_PHASECONSISTENCY: + RangeStatus = VL53L1_RANGESTATUS_WRAP_TARGET_FAIL; + break; + case VL53L1_DEVICEERROR_RANGEIGNORETHRESHOLD: + RangeStatus = VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL; + break; + case VL53L1_DEVICEERROR_MINCLIP: + RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED; + break; + case VL53L1_DEVICEERROR_RANGECOMPLETE: + RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID; + break; + default: + RangeStatus = VL53L1_RANGESTATUS_NONE; + } + + return RangeStatus; +} + + +static uint8_t ConvertStatusHisto(uint8_t FilteredRangeStatus) +{ + uint8_t RangeStatus; + + switch (FilteredRangeStatus) { + case VL53L1_DEVICEERROR_RANGEPHASECHECK: + RangeStatus = VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL; + break; + case VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK: + RangeStatus = VL53L1_RANGESTATUS_SIGMA_FAIL; + break; + case VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK: + RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL; + break; + case VL53L1_DEVICEERROR_PHASECONSISTENCY: + RangeStatus = VL53L1_RANGESTATUS_WRAP_TARGET_FAIL; + break; + case VL53L1_DEVICEERROR_PREV_RANGE_NO_TARGETS: + RangeStatus = VL53L1_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL; + break; + case VL53L1_DEVICEERROR_EVENTCONSISTENCY: + RangeStatus = VL53L1_RANGESTATUS_WRAP_TARGET_FAIL; + break; + case VL53L1_DEVICEERROR_RANGECOMPLETE_MERGED_PULSE: + RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID_MERGED_PULSE; + break; + case VL53L1_DEVICEERROR_RANGECOMPLETE: + RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID; + break; + default: + RangeStatus = VL53L1_RANGESTATUS_NONE; + } + + return RangeStatus; +} + +static VL53L1_Error SetSimpleData(VL53L1_DEV Dev, + uint8_t active_results, uint8_t device_status, + VL53L1_range_data_t *presults_data, + VL53L1_RangingMeasurementData_t *pRangeData) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t FilteredRangeStatus; + uint8_t SigmaLimitflag; + uint8_t SignalLimitflag; + uint8_t Temp8Enable; + uint8_t Temp8; + FixPoint1616_t AmbientRate; + FixPoint1616_t SignalRate; + FixPoint1616_t TempFix1616; + FixPoint1616_t LimitCheckValue; + VL53L1_PresetModes PresetMode; + int16_t Range; + + pRangeData->TimeStamp = presults_data->time_stamp; + + FilteredRangeStatus = presults_data->range_status & 0x1F; + + pRangeData->RangeQualityLevel = ComputeRQL(active_results, + FilteredRangeStatus, + presults_data); + + SignalRate = VL53L1_FIXPOINT97TOFIXPOINT1616( + presults_data->peak_signal_count_rate_mcps); + pRangeData->SignalRateRtnMegaCps + = SignalRate; + + AmbientRate = VL53L1_FIXPOINT97TOFIXPOINT1616( + presults_data->ambient_count_rate_mcps); + pRangeData->AmbientRateRtnMegaCps = AmbientRate; + + pRangeData->EffectiveSpadRtnCount = + presults_data->VL53L1_p_006; + + TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616( + presults_data->VL53L1_p_005); + + pRangeData->SigmaMilliMeter = TempFix1616; + + pRangeData->RangeMilliMeter = presults_data->median_range_mm; + + pRangeData->RangeFractionalPart = 0; + + + switch (device_status) { + case VL53L1_DEVICEERROR_MULTCLIPFAIL: + case VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE: + case VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE: + case VL53L1_DEVICEERROR_NOVHVVALUEFOUND: + pRangeData->RangeStatus = VL53L1_RANGESTATUS_HARDWARE_FAIL; + break; + case VL53L1_DEVICEERROR_USERROICLIP: + pRangeData->RangeStatus = VL53L1_RANGESTATUS_MIN_RANGE_FAIL; + break; + default: + pRangeData->RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID; + } + + + if (pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) { + PresetMode = VL53L1DevDataGet(Dev, + CurrentParameters.PresetMode); + if ((PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING) || + (PresetMode == VL53L1_PRESETMODE_RANGING) || + (PresetMode == VL53L1_PRESETMODE_PROXY_RANGING_MODE)) + pRangeData->RangeStatus = + ConvertStatusHisto(FilteredRangeStatus); + else + pRangeData->RangeStatus = + ConvertStatusLite(FilteredRangeStatus); + } + + + TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616( + presults_data->VL53L1_p_005); + VL53L1_SETARRAYPARAMETERFIELD(Dev, + LimitChecksCurrent, VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, + TempFix1616); + + TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616( + presults_data->peak_signal_count_rate_mcps); + VL53L1_SETARRAYPARAMETERFIELD(Dev, + LimitChecksCurrent, VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + TempFix1616); + + + + VL53L1_GetLimitCheckValue(Dev, + VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, + &LimitCheckValue); + + SigmaLimitflag = (FilteredRangeStatus == + VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK) + ? 1 : 0; + + VL53L1_GetLimitCheckEnable(Dev, + VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, + &Temp8Enable); + + Temp8 = ((Temp8Enable == 1) && (SigmaLimitflag == 1)) ? 1 : 0; + VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8); + + + VL53L1_GetLimitCheckValue(Dev, + VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + &LimitCheckValue); + + SignalLimitflag = (FilteredRangeStatus == + VL53L1_DEVICEERROR_MSRCNOTARGET) + ? 1 : 0; + + VL53L1_GetLimitCheckEnable(Dev, + VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + &Temp8Enable); + + Temp8 = ((Temp8Enable == 1) && (SignalLimitflag == 1)) ? 1 : 0; + VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, Temp8); + + Range = pRangeData->RangeMilliMeter; + if ((pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) && + (Range < 0)) { + if (Range < BDTable[VL53L1_TUNING_PROXY_MIN]) + pRangeData->RangeStatus = + VL53L1_RANGESTATUS_RANGE_INVALID; + else + pRangeData->RangeMilliMeter = 0; + } + + return Status; +} + +static VL53L1_Error SetTargetData(VL53L1_DEV Dev, + uint8_t active_results, uint8_t streamcount, uint8_t iteration, + uint8_t device_status, VL53L1_range_data_t *presults_data, + VL53L1_TargetRangeData_t *pRangeData) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_tuning_parm_storage_t *tp = + &(pdev->tuning_parms); + uint8_t sequency; + uint8_t FilteredRangeStatus; + uint8_t SigmaLimitflag; + uint8_t SignalLimitflag; + uint8_t Temp8Enable; + uint8_t Temp8; + FixPoint1616_t AmbientRate; + FixPoint1616_t SignalRate; + FixPoint1616_t TempFix1616; + FixPoint1616_t LimitCheckValue; + VL53L1_PresetModes PresetMode; + int16_t Range, RangeDiff, RangeMillimeterInit; + int32_t ExtendedRangeEnabled = 0; + uint8_t uwr_status; + int16_t AddOffset; + + FilteredRangeStatus = presults_data->range_status & 0x1F; + + pRangeData->RangeQualityLevel = ComputeRQL(active_results, + FilteredRangeStatus, + presults_data); + + SignalRate = VL53L1_FIXPOINT97TOFIXPOINT1616( + presults_data->peak_signal_count_rate_mcps); + pRangeData->SignalRateRtnMegaCps + = SignalRate; + + AmbientRate = VL53L1_FIXPOINT97TOFIXPOINT1616( + presults_data->ambient_count_rate_mcps); + pRangeData->AmbientRateRtnMegaCps = AmbientRate; + + TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616( + presults_data->VL53L1_p_005); + + pRangeData->SigmaMilliMeter = TempFix1616; + + pRangeData->RangeMilliMeter = presults_data->median_range_mm; + pRangeData->RangeMaxMilliMeter = presults_data->max_range_mm; + pRangeData->RangeMinMilliMeter = presults_data->min_range_mm; + + pRangeData->RangeFractionalPart = 0; + + + switch (device_status) { + case VL53L1_DEVICEERROR_MULTCLIPFAIL: + case VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE: + case VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE: + case VL53L1_DEVICEERROR_NOVHVVALUEFOUND: + pRangeData->RangeStatus = VL53L1_RANGESTATUS_HARDWARE_FAIL; + break; + case VL53L1_DEVICEERROR_USERROICLIP: + pRangeData->RangeStatus = VL53L1_RANGESTATUS_MIN_RANGE_FAIL; + break; + default: + pRangeData->RangeStatus = VL53L1_RANGESTATUS_RANGE_VALID; + } + + + if ((pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) && + (active_results == 0)) { + pRangeData->RangeStatus = VL53L1_RANGESTATUS_NONE; + pRangeData->SignalRateRtnMegaCps = 0; + pRangeData->SigmaMilliMeter = 0; + pRangeData->RangeMilliMeter = 8191; + pRangeData->RangeMaxMilliMeter = 8191; + pRangeData->RangeMinMilliMeter = 8191; + } + + + if (pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) { + PresetMode = VL53L1DevDataGet(Dev, + CurrentParameters.PresetMode); + if ((PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING) || + (PresetMode == VL53L1_PRESETMODE_RANGING) || + (PresetMode == VL53L1_PRESETMODE_PROXY_RANGING_MODE)) + pRangeData->RangeStatus = + ConvertStatusHisto(FilteredRangeStatus); + else + pRangeData->RangeStatus = + ConvertStatusLite(FilteredRangeStatus); + } + + + TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616( + presults_data->VL53L1_p_005); + VL53L1_SETARRAYPARAMETERFIELD(Dev, + LimitChecksCurrent, VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, + TempFix1616); + + TempFix1616 = VL53L1_FIXPOINT97TOFIXPOINT1616( + presults_data->peak_signal_count_rate_mcps); + VL53L1_SETARRAYPARAMETERFIELD(Dev, + LimitChecksCurrent, VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + TempFix1616); + + + + VL53L1_GetLimitCheckValue(Dev, + VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, + &LimitCheckValue); + + SigmaLimitflag = (FilteredRangeStatus == + VL53L1_DEVICEERROR_SIGMATHRESHOLDCHECK) + ? 1 : 0; + + VL53L1_GetLimitCheckEnable(Dev, + VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, + &Temp8Enable); + + Temp8 = ((Temp8Enable == 1) && (SigmaLimitflag == 1)) ? 1 : 0; + VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, Temp8); + + + VL53L1_GetLimitCheckValue(Dev, + VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + &LimitCheckValue); + + SignalLimitflag = (FilteredRangeStatus == + VL53L1_DEVICEERROR_MSRCNOTARGET) + ? 1 : 0; + + VL53L1_GetLimitCheckEnable(Dev, + VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, + &Temp8Enable); + + Temp8 = ((Temp8Enable == 1) && (SignalLimitflag == 1)) ? 1 : 0; + VL53L1_SETARRAYPARAMETERFIELD(Dev, LimitChecksStatus, + VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, Temp8); + + Range = pRangeData->RangeMilliMeter; + if ((pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) && + (Range < 0)) { + if (Range < BDTable[VL53L1_TUNING_PROXY_MIN]) + pRangeData->RangeStatus = + VL53L1_RANGESTATUS_RANGE_INVALID; + else + pRangeData->RangeMilliMeter = 0; + } + + + + VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_UWR_ENABLE, + &ExtendedRangeEnabled); + + sequency = streamcount % 2; + uwr_status = 1; + RangeMillimeterInit = pRangeData->RangeMilliMeter; + AddOffset = 0; + + pRangeData->ExtendedRange = 0; + + if (ExtendedRangeEnabled && + (pRangeData->RangeStatus == + VL53L1_RANGESTATUS_WRAP_TARGET_FAIL || + pRangeData->RangeStatus == + VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL) + && (pdev->PreviousRangeStatus[iteration] == + VL53L1_RANGESTATUS_WRAP_TARGET_FAIL || + pdev->PreviousRangeStatus[iteration] == + VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL || + (pdev->PreviousRangeStatus[iteration] == + VL53L1_RANGESTATUS_RANGE_VALID && + pdev->PreviousExtendedRange[iteration] == 1))) + { + if (((pdev->PreviousStreamCount) == + (pdev->hist_data.result__stream_count - 1 )) + || ((pdev->PreviousStreamCount) == + (pdev->hist_data.result__stream_count + 127))) + { + RangeDiff = pRangeData->RangeMilliMeter - + pdev->PreviousRangeMilliMeter[iteration]; + + switch (pdev->preset_mode) { + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE: + + uwr_status = 0; + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE: + if (RangeDiff > tp->tp_uwr_med_z_1_min && + RangeDiff < tp->tp_uwr_med_z_1_max && + sequency == 1) { + AddOffset = + tp->tp_uwr_med_corr_z_1_rangeb; + } + else + if (RangeDiff < -tp->tp_uwr_med_z_1_min && + RangeDiff > -tp->tp_uwr_med_z_1_max && + sequency == 0) { + AddOffset = + tp->tp_uwr_med_corr_z_1_rangea; + } + else + if (RangeDiff > tp->tp_uwr_med_z_2_min && + RangeDiff < tp->tp_uwr_med_z_2_max && + sequency == 0) { + AddOffset = + tp->tp_uwr_med_corr_z_2_rangea; + } + else + if (RangeDiff < -tp->tp_uwr_med_z_2_min && + RangeDiff > -tp->tp_uwr_med_z_2_max && + sequency == 1) { + AddOffset = + tp->tp_uwr_med_corr_z_2_rangeb; + } + else + if (RangeDiff > tp->tp_uwr_med_z_3_min && + RangeDiff < tp->tp_uwr_med_z_3_max && + sequency == 1) { + AddOffset = + tp->tp_uwr_med_corr_z_3_rangeb; + } + else + if (RangeDiff < -tp->tp_uwr_med_z_3_min && + RangeDiff > -tp->tp_uwr_med_z_3_max && + sequency == 0) { + AddOffset = + tp->tp_uwr_med_corr_z_3_rangea; + } + else + if (RangeDiff > tp->tp_uwr_med_z_4_min && + RangeDiff < tp->tp_uwr_med_z_4_max && + sequency == 0) { + AddOffset = + tp->tp_uwr_med_corr_z_4_rangea; + } + else + if (RangeDiff < -tp->tp_uwr_med_z_4_min && + RangeDiff > -tp->tp_uwr_med_z_4_max && + sequency == 1) { + AddOffset = + tp->tp_uwr_med_corr_z_4_rangeb; + } + else + if (RangeDiff < tp->tp_uwr_med_z_5_max && + RangeDiff > tp->tp_uwr_med_z_5_min) { + AddOffset = + tp->tp_uwr_med_corr_z_5_rangea; + } + else + if (RangeDiff > tp->tp_uwr_med_z_6_min && + RangeDiff < tp->tp_uwr_med_z_6_max && + sequency == 1) { + AddOffset = + tp->tp_uwr_med_corr_z_6_rangeb; + } + else + if (RangeDiff < -tp->tp_uwr_med_z_6_min && + RangeDiff > -tp->tp_uwr_med_z_6_max && + sequency == 0) { + AddOffset = + tp->tp_uwr_med_corr_z_6_rangea; + } + else + + + + + + + + + + + + uwr_status = 0; + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE: + if (RangeDiff > tp->tp_uwr_lng_z_1_min && + RangeDiff < tp->tp_uwr_lng_z_1_max && + sequency == 0) { + AddOffset = + tp->tp_uwr_lng_corr_z_1_rangea; + } + else + if (RangeDiff < -tp->tp_uwr_lng_z_1_min && + RangeDiff > -tp->tp_uwr_lng_z_1_max && + sequency == 1) { + AddOffset = + tp->tp_uwr_lng_corr_z_1_rangeb; + } + else + if (RangeDiff > tp->tp_uwr_lng_z_2_min && + RangeDiff < tp->tp_uwr_lng_z_2_max && + sequency == 1) { + AddOffset = + tp->tp_uwr_lng_corr_z_2_rangeb; + } + else + if (RangeDiff < -tp->tp_uwr_lng_z_2_min && + RangeDiff > -tp->tp_uwr_lng_z_2_max && + sequency == 0) { + AddOffset = + tp->tp_uwr_lng_corr_z_2_rangea; + } + else + if (RangeDiff < tp->tp_uwr_lng_z_3_max && + RangeDiff > tp->tp_uwr_lng_z_3_min) { + AddOffset = + tp->tp_uwr_lng_corr_z_3_rangea; + } + else + if (RangeDiff > tp->tp_uwr_lng_z_4_min && + RangeDiff < tp->tp_uwr_lng_z_4_max && + sequency == 1) { + AddOffset = + tp->tp_uwr_lng_corr_z_4_rangeb; + } + else + if (RangeDiff < -tp->tp_uwr_lng_z_4_min && + RangeDiff > -tp->tp_uwr_lng_z_4_max && + sequency == 0) { + AddOffset = + tp->tp_uwr_lng_corr_z_4_rangea; + } + else + uwr_status = 0; + break; + + default: + uwr_status = 0; + break; + } + } + + if (uwr_status) { + pRangeData->RangeMilliMeter += AddOffset; + pRangeData->RangeMinMilliMeter += AddOffset; + pRangeData->RangeMaxMilliMeter += AddOffset; + pRangeData->ExtendedRange = 1; + pRangeData->RangeStatus = 0; + } + + } + + pdev->PreviousRangeMilliMeter[iteration] = RangeMillimeterInit; + pdev->PreviousRangeStatus[iteration] = pRangeData->RangeStatus; + pdev->PreviousExtendedRange[iteration] = pRangeData->ExtendedRange; + pdev->PreviousStreamCount = pdev->hist_data.result__stream_count; + + return Status; +} + +static uint8_t GetOutputDataIndex(VL53L1_DEV Dev, + VL53L1_range_results_t *presults) +{ + uint8_t i; + uint8_t index = 0; + VL53L1_OutputModes OutputMode; + + OutputMode = VL53L1DevDataGet(Dev, CurrentParameters.OutputMode); + + + if (OutputMode == VL53L1_OUTPUTMODE_NEAREST) + return 0; + + + for (i = 1; i < presults->active_results; i++) { + if (presults->VL53L1_p_002[i].peak_signal_count_rate_mcps > + presults->VL53L1_p_002[index].peak_signal_count_rate_mcps) + index = i; + } + + return index; +} + +VL53L1_Error VL53L1_GetRangingMeasurementData(VL53L1_DEV Dev, + VL53L1_RangingMeasurementData_t *pRangingMeasurementData) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_range_results_t *presults = + (VL53L1_range_results_t *) pdev->wArea1; + VL53L1_range_data_t *presults_data; + VL53L1_PresetModes PresetMode; + uint8_t index = 0; + + LOG_FUNCTION_START(""); + + + PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); + + if (PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING) { + Status = VL53L1_ERROR_MODE_NOT_SUPPORTED; + LOG_FUNCTION_END(Status); + return Status; + } + + + memset(pRangingMeasurementData, 0xFF, + sizeof(VL53L1_RangingMeasurementData_t)); + + + Status = VL53L1_get_device_results( + Dev, + VL53L1_DEVICERESULTSLEVEL_FULL, + presults); + + if (Status == VL53L1_ERROR_NONE) { + pRangingMeasurementData->StreamCount = presults->stream_count; + + + index = GetOutputDataIndex(Dev, presults); + presults_data = &(presults->VL53L1_p_002[index]); + Status = SetSimpleData(Dev, presults->active_results, + presults->device_status, + presults_data, + pRangingMeasurementData); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +static VL53L1_Error SetMeasurementData(VL53L1_DEV Dev, + VL53L1_range_results_t *presults, + VL53L1_MultiRangingData_t *pMultiRangingData) +{ + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + uint8_t i; + uint8_t iteration; + VL53L1_TargetRangeData_t *pRangeData; + VL53L1_range_data_t *presults_data; + int16_t dmax_min; + VL53L1_Error Status = VL53L1_ERROR_NONE; + uint8_t Furthest_idx = 0; + int16_t Furthest_range = 0; + uint8_t ActiveResults, amb_idx; + + pMultiRangingData->NumberOfObjectsFound = presults->active_results; + pMultiRangingData->RoiNumber = presults->zone_id; + pMultiRangingData->HasXtalkValueChanged = + presults->smudge_corrector_data.new_xtalk_applied_flag; + dmax_min = MIN(presults->wrap_dmax_mm, + presults->VL53L1_p_007[DMAX_REFLECTANCE_IDX]); + pMultiRangingData->DmaxMilliMeter = dmax_min; + + + pMultiRangingData->TimeStamp = 0; + + pMultiRangingData->StreamCount = presults->stream_count; + + pMultiRangingData->RecommendedDistanceMode = + VL53L1DevDataGet(Dev, CurrentParameters.DistanceMode); + ActiveResults = presults->active_results; + if (ActiveResults < 1) + + iteration = 1; + else + iteration = ActiveResults; + for (i = 0; i < iteration; i++) { + pRangeData = &(pMultiRangingData->RangeData[i]); + + presults_data = &(presults->VL53L1_p_002[i]); + if (Status == VL53L1_ERROR_NONE) + Status = SetTargetData(Dev, ActiveResults, + pMultiRangingData->StreamCount, + i, + presults->device_status, + presults_data, + pRangeData); + + pMultiRangingData->EffectiveSpadRtnCount = + presults_data->VL53L1_p_006; + + if ((pRangeData->RangeStatus == VL53L1_RANGESTATUS_RANGE_VALID) + && (pRangeData->RangeMilliMeter > Furthest_range)) { + Furthest_range = pRangeData->RangeMilliMeter; + Furthest_idx = i; + } + } + for (i = iteration; i < VL53L1_MAX_RANGE_RESULTS; i++) { + pdev->PreviousRangeMilliMeter[i] = 0; + pdev->PreviousRangeStatus[i] = 255; + pdev->PreviousExtendedRange[i] = 0; + } + + if ((Status == VL53L1_ERROR_NONE) && (ActiveResults > 0)) { + pRangeData = &(pMultiRangingData->RangeData[Furthest_idx]); + amb_idx = VL53L1_MAX_AMBIENT_DMAX_VALUES-1; + CheckAndChangeDistanceMode(Dev, pRangeData, + presults->VL53L1_p_007[amb_idx], + &pMultiRangingData->RecommendedDistanceMode); + } + + return Status; +} + +VL53L1_Error VL53L1_GetMultiRangingData(VL53L1_DEV Dev, + VL53L1_MultiRangingData_t *pMultiRangingData) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_range_results_t *presults = + (VL53L1_range_results_t *) pdev->wArea1; + + LOG_FUNCTION_START(""); + + + memset(pMultiRangingData, 0xFF, + sizeof(VL53L1_MultiRangingData_t)); + + + Status = VL53L1_get_device_results( + Dev, + VL53L1_DEVICERESULTSLEVEL_FULL, + presults); + + + if (Status == VL53L1_ERROR_NONE) { + switch (presults->rd_device_state) { + case VL53L1_DEVICESTATE_RANGING_GATHER_DATA: + pMultiRangingData->RoiStatus = + VL53L1_ROISTATUS_VALID_NOT_LAST; + break; + case VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA: + pMultiRangingData->RoiStatus = + VL53L1_ROISTATUS_VALID_LAST; + break; + default: + pMultiRangingData->RoiStatus = + VL53L1_ROISTATUS_NOT_VALID; + } + + Status = SetMeasurementData(Dev, + presults, + pMultiRangingData); + + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetAdditionalData(VL53L1_DEV Dev, + VL53L1_AdditionalData_t *pAdditionalData) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_additional_data(Dev, pAdditionalData); + + LOG_FUNCTION_END(Status); + return Status; +} + + + + + + +VL53L1_Error VL53L1_SetTuningParameter(VL53L1_DEV Dev, + uint16_t TuningParameterId, int32_t TuningParameterValue) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (TuningParameterId == + VL53L1_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS) + return VL53L1_ERROR_INVALID_PARAMS; + + if (TuningParameterId >= 32768) + Status = VL53L1_set_tuning_parm(Dev, + TuningParameterId, + TuningParameterValue); + else { + if (TuningParameterId < VL53L1_TUNING_MAX_TUNABLE_KEY) + BDTable[TuningParameterId] = TuningParameterValue; + else + Status = VL53L1_ERROR_INVALID_PARAMS; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetTuningParameter(VL53L1_DEV Dev, + uint16_t TuningParameterId, int32_t *pTuningParameterValue) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (TuningParameterId >= 32768) + Status = VL53L1_get_tuning_parm(Dev, + TuningParameterId, + pTuningParameterValue); + else { + if (TuningParameterId < VL53L1_TUNING_MAX_TUNABLE_KEY) + *pTuningParameterValue = BDTable[TuningParameterId]; + else + Status = VL53L1_ERROR_INVALID_PARAMS; + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_PerformRefSpadManagement(VL53L1_DEV Dev) +{ +#ifdef VL53L1_NOCALIB + VL53L1_Error Status = VL53L1_ERROR_NOT_SUPPORTED; + + SUPPRESS_UNUSED_WARNING(Dev); + + LOG_FUNCTION_START(""); +#else + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_Error RawStatus; + uint8_t dcrbuffer[24]; + uint8_t *commbuf; + uint8_t numloc[2] = {5, 3}; + VL53L1_LLDriverData_t *pdev; + VL53L1_customer_nvm_managed_t *pc; + VL53L1_PresetModes PresetMode; + + LOG_FUNCTION_START(""); + + pdev = VL53L1DevStructGetLLDriverHandle(Dev); + pc = &pdev->customer; + + if (Status == VL53L1_ERROR_NONE) { + PresetMode = VL53L1DevDataGet(Dev, + CurrentParameters.PresetMode); + Status = VL53L1_run_ref_spad_char(Dev, &RawStatus); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_SetPresetMode(Dev, PresetMode); + } + + if (Status == VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH) { + + Status = VL53L1_read_nvm_raw_data(Dev, + (uint8_t)(0xA0 >> 2), + (uint8_t)(24 >> 2), + dcrbuffer); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_WriteMulti(Dev, + VL53L1_REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS, + numloc, 2); + + if (Status == VL53L1_ERROR_NONE) { + pc->ref_spad_man__num_requested_ref_spads = numloc[0]; + pc->ref_spad_man__ref_location = numloc[1]; + } + + if (Status == VL53L1_ERROR_NONE) + commbuf = &dcrbuffer[16]; + + + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_WriteMulti(Dev, + VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0, + commbuf, 6); + + if (Status == VL53L1_ERROR_NONE) { + pc->global_config__spad_enables_ref_0 = commbuf[0]; + pc->global_config__spad_enables_ref_1 = commbuf[1]; + pc->global_config__spad_enables_ref_2 = commbuf[2]; + pc->global_config__spad_enables_ref_3 = commbuf[3]; + pc->global_config__spad_enables_ref_4 = commbuf[4]; + pc->global_config__spad_enables_ref_5 = commbuf[5]; + } + + } + +#endif + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SmudgeCorrectionEnable(VL53L1_DEV Dev, + VL53L1_SmudgeCorrectionModes Mode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_Error s1 = VL53L1_ERROR_NONE; + VL53L1_Error s2 = VL53L1_ERROR_NONE; + VL53L1_Error s3 = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + switch (Mode) { + case VL53L1_SMUDGE_CORRECTION_NONE: + s1 = VL53L1_dynamic_xtalk_correction_disable(Dev); + s2 = VL53L1_dynamic_xtalk_correction_apply_disable(Dev); + s3 = VL53L1_dynamic_xtalk_correction_single_apply_disable(Dev); + break; + case VL53L1_SMUDGE_CORRECTION_CONTINUOUS: + s1 = VL53L1_dynamic_xtalk_correction_enable(Dev); + s2 = VL53L1_dynamic_xtalk_correction_apply_enable(Dev); + s3 = VL53L1_dynamic_xtalk_correction_single_apply_disable(Dev); + break; + case VL53L1_SMUDGE_CORRECTION_SINGLE: + s1 = VL53L1_dynamic_xtalk_correction_enable(Dev); + s2 = VL53L1_dynamic_xtalk_correction_apply_enable(Dev); + s3 = VL53L1_dynamic_xtalk_correction_single_apply_enable(Dev); + break; + case VL53L1_SMUDGE_CORRECTION_DEBUG: + s1 = VL53L1_dynamic_xtalk_correction_enable(Dev); + s2 = VL53L1_dynamic_xtalk_correction_apply_disable(Dev); + s3 = VL53L1_dynamic_xtalk_correction_single_apply_disable(Dev); + break; + default: + Status = VL53L1_ERROR_INVALID_PARAMS; + break; + } + + if (Status == VL53L1_ERROR_NONE) { + Status = s1; + if (Status == VL53L1_ERROR_NONE) + Status = s2; + if (Status == VL53L1_ERROR_NONE) + Status = s3; + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetXTalkCompensationEnable(VL53L1_DEV Dev, + uint8_t XTalkCompensationEnable) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (XTalkCompensationEnable == 0) + Status = VL53L1_disable_xtalk_compensation(Dev); + else + Status = VL53L1_enable_xtalk_compensation(Dev); + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_GetXTalkCompensationEnable(VL53L1_DEV Dev, + uint8_t *pXTalkCompensationEnable) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + VL53L1_get_xtalk_compensation_enable( + Dev, + pXTalkCompensationEnable); + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_PerformXTalkCalibration(VL53L1_DEV Dev, + uint8_t CalibrationOption) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_Error UStatus; + int16_t CalDistanceMm; + VL53L1_xtalk_calibration_results_t xtalk; + + VL53L1_CalibrationData_t caldata; + VL53L1_LLDriverData_t *pLLData; + int i; + uint32_t *pPlaneOffsetKcps; + uint32_t Margin = + BDTable[VL53L1_TUNING_XTALK_FULL_ROI_BIN_SUM_MARGIN]; + uint32_t DefaultOffset = + BDTable[VL53L1_TUNING_XTALK_FULL_ROI_DEFAULT_OFFSET]; + uint32_t *pLLDataPlaneOffsetKcps; + uint32_t sum = 0; + uint8_t binok = 0; + int32_t merge; + + LOG_FUNCTION_START(""); + + pPlaneOffsetKcps = + &caldata.customer.algo__crosstalk_compensation_plane_offset_kcps; + pLLData = VL53L1DevStructGetLLDriverHandle(Dev); + pLLDataPlaneOffsetKcps = + &pLLData->xtalk_cal.algo__crosstalk_compensation_plane_offset_kcps; + VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, &merge); + + VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, 0); + switch (CalibrationOption) { + case VL53L1_XTALKCALIBRATIONMODE_NO_TARGET: + Status = VL53L1_run_xtalk_extraction(Dev, &UStatus); + + if (Status == VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL) + VL53L1_xtalk_cal_data_init(Dev); + break; + case VL53L1_XTALKCALIBRATIONMODE_SINGLE_TARGET: + Status = SingleTargetXTalkCalibration(Dev); + break; + case VL53L1_XTALKCALIBRATIONMODE_FULL_ROI: + CalDistanceMm = (int16_t) + BDTable[VL53L1_TUNING_XTALK_FULL_ROI_TARGET_DISTANCE_MM]; + + VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, + merge); + Status = VL53L1_run_hist_xtalk_extraction(Dev, CalDistanceMm, + &UStatus); + + VL53L1_GetCalibrationData(Dev, &caldata); + for (i = 0; i < VL53L1_XTALK_HISTO_BINS; i++) { + sum += caldata.xtalkhisto.xtalk_shape.bin_data[i]; + if (caldata.xtalkhisto.xtalk_shape.bin_data[i] > 0) + binok++; + } + if ((UStatus == + VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL) || + (sum > (1024 + Margin)) || (sum < (1024 - Margin)) || + (binok < 3)) { + *pPlaneOffsetKcps = DefaultOffset; + *pLLDataPlaneOffsetKcps = DefaultOffset; + caldata.xtalkhisto.xtalk_shape.bin_data[0] = 307; + caldata.xtalkhisto.xtalk_shape.bin_data[1] = 410; + caldata.xtalkhisto.xtalk_shape.bin_data[2] = 410; + caldata.xtalkhisto.xtalk_shape.bin_data[3] = 307; + for (i = 4; i < VL53L1_XTALK_HISTO_BINS; i++) + caldata.xtalkhisto.xtalk_shape.bin_data[i] = 0; + for (i = 0; i < VL53L1_BIN_REC_SIZE; i++) + caldata.algo__xtalk_cpo_HistoMerge_kcps[i] = + DefaultOffset + DefaultOffset * i; + VL53L1_SetCalibrationData(Dev, &caldata); + } + + break; + default: + Status = VL53L1_ERROR_INVALID_PARAMS; + } + VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, merge); + + if (Status == VL53L1_ERROR_NONE) { + Status = VL53L1_get_current_xtalk_settings(Dev, &xtalk); + Status = VL53L1_set_tuning_parm(Dev, + VL53L1_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS, + xtalk.algo__crosstalk_compensation_plane_offset_kcps); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetOffsetCalibrationMode(VL53L1_DEV Dev, + VL53L1_OffsetCalibrationModes OffsetCalibrationMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_OffsetCalibrationMode offset_cal_mode; + + LOG_FUNCTION_START(""); + + if (OffsetCalibrationMode == VL53L1_OFFSETCALIBRATIONMODE_STANDARD) { + offset_cal_mode = + VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD; + } else if (OffsetCalibrationMode == + VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY) { + offset_cal_mode = + VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY; + } else if (OffsetCalibrationMode == + VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE) { + offset_cal_mode = + VL53L1_OFFSETCALIBRATIONMODE__PER_ZONE; + } else { + Status = VL53L1_ERROR_INVALID_PARAMS; + } + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_set_offset_calibration_mode(Dev, + offset_cal_mode); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetOffsetCorrectionMode(VL53L1_DEV Dev, + VL53L1_OffsetCorrectionModes OffsetCorrectionMode) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_OffsetCorrectionMode offset_cor_mode; + + LOG_FUNCTION_START(""); + + if (OffsetCorrectionMode == VL53L1_OFFSETCORRECTIONMODE_STANDARD) { + offset_cor_mode = + VL53L1_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS; + } else if (OffsetCorrectionMode == + VL53L1_OFFSETCORRECTIONMODE_PERZONE) { + offset_cor_mode = + VL53L1_OFFSETCORRECTIONMODE__PER_ZONE_OFFSETS; + } else if (OffsetCorrectionMode == + VL53L1_OFFSETCORRECTIONMODE_PERVCSEL) { + offset_cor_mode = + VL53L1_OFFSETCORRECTIONMODE__PER_VCSEL_OFFSETS; + } else { + Status = VL53L1_ERROR_INVALID_PARAMS; + } + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_set_offset_correction_mode(Dev, + offset_cor_mode); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_PerformOffsetCalibration(VL53L1_DEV Dev, + int32_t CalDistanceMilliMeter, FixPoint1616_t CalReflectancePercent) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_Error UnfilteredStatus; + VL53L1_OffsetCalibrationMode offset_cal_mode; + uint16_t CalReflectancePercent_int; + + VL53L1_DevicePresetModes device_preset_mode; + VL53L1_DeviceZonePreset zone_preset; + VL53L1_zone_config_t zone_cfg; + int32_t MergeEnabled; + + LOG_FUNCTION_START(""); + + CalReflectancePercent_int = + VL53L1_FIXPOINT1616TOFIXPOINT72(CalReflectancePercent); + + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_get_offset_calibration_mode(Dev, + &offset_cal_mode); + + if (Status != VL53L1_ERROR_NONE) { + LOG_FUNCTION_END(Status); + return Status; + } + + + if ((offset_cal_mode == + VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD) || + (offset_cal_mode == + VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY + )) { + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_run_offset_calibration( + Dev, + (int16_t)CalDistanceMilliMeter, + CalReflectancePercent_int, + &UnfilteredStatus); + + } else if (offset_cal_mode == + VL53L1_OFFSETCALIBRATIONMODE__PER_ZONE) { + VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, + &MergeEnabled); + VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, 0); + device_preset_mode = + VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_LONG_RANGE; + zone_preset = VL53L1_DEVICEZONEPRESET_CUSTOM; + + Status = VL53L1_get_zone_config(Dev, &zone_cfg); + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_run_zone_calibration( + Dev, + device_preset_mode, + zone_preset, + &zone_cfg, + (int16_t)CalDistanceMilliMeter, + CalReflectancePercent_int, + &UnfilteredStatus); + VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, + MergeEnabled); + + } else { + Status = VL53L1_ERROR_INVALID_PARAMS; + } + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_PerformOffsetSimpleCalibration(VL53L1_DEV Dev, + int32_t CalDistanceMilliMeter) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + int32_t sum_ranging; + uint8_t offset_meas; + int16_t Max, UnderMax, OverMax, Repeat; + int32_t total_count, inloopcount; + int32_t IncRounding; + int16_t meanDistance_mm; + int16_t offset; + VL53L1_RangingMeasurementData_t RangingMeasurementData; + VL53L1_LLDriverData_t *pdev; + uint8_t goodmeas; + VL53L1_Error SmudgeStatus = VL53L1_ERROR_NONE; + uint8_t smudge_corr_en; + + LOG_FUNCTION_START(""); + + pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled; + SmudgeStatus = VL53L1_dynamic_xtalk_correction_disable(Dev); + + pdev->customer.algo__part_to_part_range_offset_mm = 0; + pdev->customer.mm_config__inner_offset_mm = 0; + pdev->customer.mm_config__outer_offset_mm = 0; + memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data)); + Repeat = BDTable[VL53L1_TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT]; + Max = BDTable[ + VL53L1_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER]; + UnderMax = 1 + (Max / 2); + OverMax = Max + (Max / 2); + sum_ranging = 0; + total_count = 0; + + while ((Repeat > 0) && (Status == VL53L1_ERROR_NONE)) { + Status = VL53L1_StartMeasurement(Dev); + + if (Status == VL53L1_ERROR_NONE) { + VL53L1_WaitMeasurementDataReady(Dev); + VL53L1_GetRangingMeasurementData(Dev, + &RangingMeasurementData); + VL53L1_ClearInterruptAndStartMeasurement(Dev); + } + + inloopcount = 0; + offset_meas = 0; + while ((Status == VL53L1_ERROR_NONE) && (inloopcount < Max) && + (offset_meas < OverMax)) { + Status = VL53L1_WaitMeasurementDataReady(Dev); + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_GetRangingMeasurementData(Dev, + &RangingMeasurementData); + goodmeas = (RangingMeasurementData.RangeStatus == + VL53L1_RANGESTATUS_RANGE_VALID); + if ((Status == VL53L1_ERROR_NONE) && goodmeas) { + sum_ranging = sum_ranging + + RangingMeasurementData.RangeMilliMeter; + inloopcount++; + } + Status = VL53L1_ClearInterruptAndStartMeasurement(Dev); + offset_meas++; + } + total_count += inloopcount; + + + if (inloopcount < UnderMax) + Status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL; + + VL53L1_StopMeasurement(Dev); + + Repeat--; + + } + + if ((SmudgeStatus == VL53L1_ERROR_NONE) && (smudge_corr_en == 1)) + SmudgeStatus = VL53L1_dynamic_xtalk_correction_enable(Dev); + + if ((sum_ranging < 0) || + (sum_ranging > ((int32_t) total_count * 0xffff))) + Status = VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH; + + if ((Status == VL53L1_ERROR_NONE) && (total_count > 0)) { + IncRounding = total_count / 2; + meanDistance_mm = (int16_t)((sum_ranging + IncRounding) + / total_count); + offset = (int16_t)CalDistanceMilliMeter - meanDistance_mm; + pdev->customer.algo__part_to_part_range_offset_mm = 0; + pdev->customer.mm_config__inner_offset_mm = offset; + pdev->customer.mm_config__outer_offset_mm = offset; + + Status = VL53L1_set_customer_nvm_managed(Dev, + &(pdev->customer)); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_PerformOffsetZeroDistanceCalibration(VL53L1_DEV Dev) +{ + #define START_OFFSET 50 + VL53L1_Error Status = VL53L1_ERROR_NONE; + int32_t sum_ranging; + uint8_t offset_meas; + int16_t Max, UnderMax, OverMax, Repeat; + int32_t total_count, inloopcount; + int32_t IncRounding; + int16_t meanDistance_mm; + int16_t offset, ZeroDistanceOffset; + VL53L1_RangingMeasurementData_t RangingMeasurementData; + VL53L1_LLDriverData_t *pdev; + uint8_t goodmeas; + VL53L1_Error SmudgeStatus = VL53L1_ERROR_NONE; + uint8_t smudge_corr_en; + + LOG_FUNCTION_START(""); + + pdev = VL53L1DevStructGetLLDriverHandle(Dev); + smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled; + SmudgeStatus = VL53L1_dynamic_xtalk_correction_disable(Dev); + pdev->customer.algo__part_to_part_range_offset_mm = 0; + pdev->customer.mm_config__inner_offset_mm = START_OFFSET; + pdev->customer.mm_config__outer_offset_mm = START_OFFSET; + memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data)); + ZeroDistanceOffset = BDTable[ + VL53L1_TUNING_ZERO_DISTANCE_OFFSET_NON_LINEAR_FACTOR]; + Repeat = BDTable[VL53L1_TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT]; + Max = BDTable[ + VL53L1_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER]; + UnderMax = 1 + (Max / 2); + OverMax = Max + (Max / 2); + sum_ranging = 0; + total_count = 0; + + while ((Repeat > 0) && (Status == VL53L1_ERROR_NONE)) { + Status = VL53L1_StartMeasurement(Dev); + if (Status == VL53L1_ERROR_NONE) { + VL53L1_WaitMeasurementDataReady(Dev); + VL53L1_GetRangingMeasurementData(Dev, + &RangingMeasurementData); + VL53L1_ClearInterruptAndStartMeasurement(Dev); + } + inloopcount = 0; + offset_meas = 0; + while ((Status == VL53L1_ERROR_NONE) && (inloopcount < Max) && + (offset_meas < OverMax)) { + Status = VL53L1_WaitMeasurementDataReady(Dev); + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_GetRangingMeasurementData(Dev, + &RangingMeasurementData); + goodmeas = (RangingMeasurementData.RangeStatus == + VL53L1_RANGESTATUS_RANGE_VALID); + if ((Status == VL53L1_ERROR_NONE) && goodmeas) { + sum_ranging = sum_ranging + + RangingMeasurementData.RangeMilliMeter; + inloopcount++; + } + Status = VL53L1_ClearInterruptAndStartMeasurement(Dev); + offset_meas++; + } + total_count += inloopcount; + if (inloopcount < UnderMax) + Status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL; + VL53L1_StopMeasurement(Dev); + Repeat--; + } + if ((SmudgeStatus == VL53L1_ERROR_NONE) && (smudge_corr_en == 1)) + SmudgeStatus = VL53L1_dynamic_xtalk_correction_enable(Dev); + if ((sum_ranging < 0) || + (sum_ranging > ((int32_t) total_count * 0xffff))) + Status = VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH; + + if ((Status == VL53L1_ERROR_NONE) && (total_count > 0)) { + IncRounding = total_count / 2; + meanDistance_mm = (int16_t) + ((sum_ranging + IncRounding) / total_count); + offset = START_OFFSET - meanDistance_mm + ZeroDistanceOffset; + pdev->customer.algo__part_to_part_range_offset_mm = 0; + pdev->customer.mm_config__inner_offset_mm = offset; + pdev->customer.mm_config__outer_offset_mm = offset; + Status = VL53L1_set_customer_nvm_managed(Dev, + &(pdev->customer)); + } + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_SetCalibrationData(VL53L1_DEV Dev, + VL53L1_CalibrationData_t *pCalibrationData) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_CustomerNvmManaged_t *pC; + VL53L1_calibration_data_t cal_data; + uint32_t x, IncomeVersion, CurrentVersion; + uint8_t CalStopsOn_cal_peak_rate_map = 0; + VL53L1_xtalk_calibration_results_t xtalk; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + cal_data.struct_version = pCalibrationData->struct_version - + VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION; + + IncomeVersion = pCalibrationData->struct_version; + CurrentVersion = VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION + + VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION; + + if ((IncomeVersion < CurrentVersion) && + ((IncomeVersion & 0xFFFFFF0F) == + (CurrentVersion & 0xFFFFFF0F))) { + cal_data.struct_version = + VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION; + CalStopsOn_cal_peak_rate_map = 1; + + pdev->tuning_parms.tp_hist_merge = 0; + } + + + + memcpy( + &(cal_data.fmt_dmax_cal), + &(pCalibrationData->fmt_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + + + memcpy( + &(cal_data.cust_dmax_cal), + &(pCalibrationData->cust_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + + + memcpy( + &(cal_data.add_off_cal_data), + &(pCalibrationData->add_off_cal_data), + sizeof(VL53L1_additional_offset_cal_data_t)); + + + memcpy( + &(cal_data.optical_centre), + &(pCalibrationData->optical_centre), + sizeof(VL53L1_optical_centre_t)); + + + memcpy( + &(cal_data.xtalkhisto), + &(pCalibrationData->xtalkhisto), + sizeof(VL53L1_xtalk_histogram_data_t)); + + + memcpy( + &(cal_data.gain_cal), + &(pCalibrationData->gain_cal), + sizeof(VL53L1_gain_calibration_data_t)); + + + memcpy( + &(cal_data.cal_peak_rate_map), + &(pCalibrationData->cal_peak_rate_map), + sizeof(VL53L1_cal_peak_rate_map_t)); + + + if (!CalStopsOn_cal_peak_rate_map) + memcpy( + &(cal_data.per_vcsel_cal_data), + &(pCalibrationData->per_vcsel_cal_data), + sizeof(VL53L1_per_vcsel_period_offset_cal_data_t)); + else { + cal_data.per_vcsel_cal_data.short_a_offset_mm = + cal_data.per_vcsel_cal_data.short_b_offset_mm = + cal_data.per_vcsel_cal_data.medium_a_offset_mm = + cal_data.per_vcsel_cal_data.medium_b_offset_mm = + cal_data.per_vcsel_cal_data.long_a_offset_mm = + cal_data.per_vcsel_cal_data.long_b_offset_mm = 0; + } + + pC = &pCalibrationData->customer; + x = pC->algo__crosstalk_compensation_plane_offset_kcps; + cal_data.customer.algo__crosstalk_compensation_plane_offset_kcps = + (uint16_t)(x&0x0000FFFF); + + cal_data.customer.global_config__spad_enables_ref_0 = + pC->global_config__spad_enables_ref_0; + cal_data.customer.global_config__spad_enables_ref_1 = + pC->global_config__spad_enables_ref_1; + cal_data.customer.global_config__spad_enables_ref_2 = + pC->global_config__spad_enables_ref_2; + cal_data.customer.global_config__spad_enables_ref_3 = + pC->global_config__spad_enables_ref_3; + cal_data.customer.global_config__spad_enables_ref_4 = + pC->global_config__spad_enables_ref_4; + cal_data.customer.global_config__spad_enables_ref_5 = + pC->global_config__spad_enables_ref_5; + cal_data.customer.global_config__ref_en_start_select = + pC->global_config__ref_en_start_select; + cal_data.customer.ref_spad_man__num_requested_ref_spads = + pC->ref_spad_man__num_requested_ref_spads; + cal_data.customer.ref_spad_man__ref_location = + pC->ref_spad_man__ref_location; + cal_data.customer.algo__crosstalk_compensation_x_plane_gradient_kcps = + pC->algo__crosstalk_compensation_x_plane_gradient_kcps; + cal_data.customer.algo__crosstalk_compensation_y_plane_gradient_kcps = + pC->algo__crosstalk_compensation_y_plane_gradient_kcps; + cal_data.customer.ref_spad_char__total_rate_target_mcps = + pC->ref_spad_char__total_rate_target_mcps; + cal_data.customer.algo__part_to_part_range_offset_mm = + pC->algo__part_to_part_range_offset_mm; + cal_data.customer.mm_config__inner_offset_mm = + pC->mm_config__inner_offset_mm; + cal_data.customer.mm_config__outer_offset_mm = + pC->mm_config__outer_offset_mm; + + Status = VL53L1_set_part_to_part_data(Dev, &cal_data); + if (Status != VL53L1_ERROR_NONE) + goto ENDFUNC; + + Status = VL53L1_get_current_xtalk_settings(Dev, &xtalk); + + if (Status != VL53L1_ERROR_NONE) + goto ENDFUNC; + + xtalk.algo__crosstalk_compensation_plane_offset_kcps = x; + + Status = VL53L1_set_tuning_parm(Dev, + VL53L1_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS, + x); + + + if (!CalStopsOn_cal_peak_rate_map) + memcpy( + &(xtalk.algo__xtalk_cpo_HistoMerge_kcps[0]), + &(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps[0]), + sizeof(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps)); + else + memset( + &(xtalk.algo__xtalk_cpo_HistoMerge_kcps[0]), 0, + sizeof(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps)); + + Status = VL53L1_set_current_xtalk_settings(Dev, &xtalk); + +ENDFUNC: + LOG_FUNCTION_END(Status); + return Status; + +} + +VL53L1_Error VL53L1_GetCalibrationData(VL53L1_DEV Dev, + VL53L1_CalibrationData_t *pCalibrationData) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_calibration_data_t cal_data; + VL53L1_CustomerNvmManaged_t *pC; + VL53L1_customer_nvm_managed_t *pC2; + VL53L1_xtalk_calibration_results_t xtalk; + uint32_t tmp; + VL53L1_PresetModes PresetMode; + + LOG_FUNCTION_START(""); + + + Status = VL53L1_get_part_to_part_data(Dev, &cal_data); + + pCalibrationData->struct_version = cal_data.struct_version + + VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION; + + + memcpy( + &(pCalibrationData->fmt_dmax_cal), + &(cal_data.fmt_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + + + memcpy( + &(pCalibrationData->cust_dmax_cal), + &(cal_data.cust_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + + + memcpy( + &(pCalibrationData->add_off_cal_data), + &(cal_data.add_off_cal_data), + sizeof(VL53L1_additional_offset_cal_data_t)); + + + memcpy( + &(pCalibrationData->optical_centre), + &(cal_data.optical_centre), + sizeof(VL53L1_optical_centre_t)); + + + memcpy( + &(pCalibrationData->xtalkhisto), + &(cal_data.xtalkhisto), + sizeof(VL53L1_xtalk_histogram_data_t)); + + memcpy( + &(pCalibrationData->gain_cal), + &(cal_data.gain_cal), + sizeof(VL53L1_gain_calibration_data_t)); + + + memcpy( + &(pCalibrationData->cal_peak_rate_map), + &(cal_data.cal_peak_rate_map), + sizeof(VL53L1_cal_peak_rate_map_t)); + + + memcpy( + &(pCalibrationData->per_vcsel_cal_data), + &(cal_data.per_vcsel_cal_data), + sizeof(VL53L1_per_vcsel_period_offset_cal_data_t)); + + pC = &pCalibrationData->customer; + pC2 = &cal_data.customer; + pC->global_config__spad_enables_ref_0 = + pC2->global_config__spad_enables_ref_0; + pC->global_config__spad_enables_ref_1 = + pC2->global_config__spad_enables_ref_1; + pC->global_config__spad_enables_ref_2 = + pC2->global_config__spad_enables_ref_2; + pC->global_config__spad_enables_ref_3 = + pC2->global_config__spad_enables_ref_3; + pC->global_config__spad_enables_ref_4 = + pC2->global_config__spad_enables_ref_4; + pC->global_config__spad_enables_ref_5 = + pC2->global_config__spad_enables_ref_5; + pC->global_config__ref_en_start_select = + pC2->global_config__ref_en_start_select; + pC->ref_spad_man__num_requested_ref_spads = + pC2->ref_spad_man__num_requested_ref_spads; + pC->ref_spad_man__ref_location = + pC2->ref_spad_man__ref_location; + pC->algo__crosstalk_compensation_x_plane_gradient_kcps = + pC2->algo__crosstalk_compensation_x_plane_gradient_kcps; + pC->algo__crosstalk_compensation_y_plane_gradient_kcps = + pC2->algo__crosstalk_compensation_y_plane_gradient_kcps; + pC->ref_spad_char__total_rate_target_mcps = + pC2->ref_spad_char__total_rate_target_mcps; + pC->algo__part_to_part_range_offset_mm = + pC2->algo__part_to_part_range_offset_mm; + pC->mm_config__inner_offset_mm = + pC2->mm_config__inner_offset_mm; + pC->mm_config__outer_offset_mm = + pC2->mm_config__outer_offset_mm; + + pC->algo__crosstalk_compensation_plane_offset_kcps = + (uint32_t)( + pC2->algo__crosstalk_compensation_plane_offset_kcps); + + PresetMode = VL53L1DevDataGet(Dev, CurrentParameters.PresetMode); + + if ((PresetMode == VL53L1_PRESETMODE_RANGING) || + (PresetMode == VL53L1_PRESETMODE_MULTIZONES_SCANNING) || + (PresetMode == VL53L1_PRESETMODE_PROXY_RANGING_MODE) + ) { + + Status = VL53L1_get_current_xtalk_settings(Dev, &xtalk); + + if (Status != VL53L1_ERROR_NONE) + goto ENDFUNC; + + tmp = xtalk.algo__crosstalk_compensation_plane_offset_kcps; + pC->algo__crosstalk_compensation_plane_offset_kcps = tmp; + tmp = xtalk.algo__crosstalk_compensation_x_plane_gradient_kcps; + pC->algo__crosstalk_compensation_x_plane_gradient_kcps = tmp; + tmp = xtalk.algo__crosstalk_compensation_y_plane_gradient_kcps; + pC->algo__crosstalk_compensation_y_plane_gradient_kcps = tmp; + + memcpy(&(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps[0]), + &(xtalk.algo__xtalk_cpo_HistoMerge_kcps[0]), + sizeof(pCalibrationData->algo__xtalk_cpo_HistoMerge_kcps)); + } +ENDFUNC: + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_SetZoneCalibrationData(VL53L1_DEV Dev, + VL53L1_ZoneCalibrationData_t *pZoneCalibrationData) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_set_zone_calibration_data(Dev, pZoneCalibrationData); + + LOG_FUNCTION_END(Status); + return Status; + +} + +VL53L1_Error VL53L1_GetZoneCalibrationData(VL53L1_DEV Dev, + VL53L1_ZoneCalibrationData_t *pZoneCalibrationData) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_zone_calibration_data(Dev, pZoneCalibrationData); + + LOG_FUNCTION_END(Status); + return Status; +} + +VL53L1_Error VL53L1_GetOpticalCenter(VL53L1_DEV Dev, + FixPoint1616_t *pOpticalCenterX, + FixPoint1616_t *pOpticalCenterY) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_calibration_data_t CalibrationData; + + LOG_FUNCTION_START(""); + + *pOpticalCenterX = 0; + *pOpticalCenterY = 0; + Status = VL53L1_get_part_to_part_data(Dev, &CalibrationData); + if (Status == VL53L1_ERROR_NONE) { + *pOpticalCenterX = VL53L1_FIXPOINT44TOFIXPOINT1616( + CalibrationData.optical_centre.x_centre); + *pOpticalCenterY = VL53L1_FIXPOINT44TOFIXPOINT1616( + CalibrationData.optical_centre.y_centre); + } + + LOG_FUNCTION_END(Status); + return Status; +} + + + + + + +VL53L1_Error VL53L1_SetThresholdConfig(VL53L1_DEV Dev, + VL53L1_DetectionConfig_t *pConfig) +{ +#define BADTHRESBOUNDS(T) \ + (((T.CrossMode == VL53L1_THRESHOLD_OUT_OF_WINDOW) || \ + (T.CrossMode == VL53L1_THRESHOLD_IN_WINDOW)) && (T.Low > T.High)) + + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_GPIO_interrupt_config_t Cfg; + uint16_t g; + FixPoint1616_t gain, high1616, low1616; + VL53L1_LLDriverData_t *pdev; + + LOG_FUNCTION_START(""); + + pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + Status = VL53L1_get_GPIO_interrupt_config(Dev, &Cfg); + if (Status != VL53L1_ERROR_NONE) + return Status; + + if (pConfig->DetectionMode == VL53L1_DETECTION_NORMAL_RUN) { + Cfg.intr_new_measure_ready = 1; + Status = VL53L1_set_GPIO_interrupt_config_struct(Dev, + Cfg); + } else { + if (BADTHRESBOUNDS(pConfig->Distance)) + Status = VL53L1_ERROR_INVALID_PARAMS; + if ((Status == VL53L1_ERROR_NONE) && + (BADTHRESBOUNDS(pConfig->Rate))) + Status = VL53L1_ERROR_INVALID_PARAMS; + if (Status == VL53L1_ERROR_NONE) { + Cfg.intr_new_measure_ready = 0; + Cfg.intr_no_target = pConfig->IntrNoTarget; + + g = pdev->gain_cal.standard_ranging_gain_factor; + if (g != 0) { + + gain = (FixPoint1616_t) ((uint32_t)g << 5); + high1616 = (FixPoint1616_t) ((uint32_t) + pConfig->Distance.High << 16); + low1616 = (FixPoint1616_t) ((uint32_t) + pConfig->Distance.Low << 16); + + high1616 = (high1616 + 32768) / gain; + low1616 = (low1616 + 32768) / gain; + Cfg.threshold_distance_high = (uint16_t) + (high1616 & 0xFFFF); + Cfg.threshold_distance_low = (uint16_t) + (low1616 & 0xFFFF); + } + Cfg.threshold_rate_high = + VL53L1_FIXPOINT1616TOFIXPOINT97( + pConfig->Rate.High); + Cfg.threshold_rate_low = + VL53L1_FIXPOINT1616TOFIXPOINT97( + pConfig->Rate.Low); + + Cfg.intr_mode_distance = ConvertModeToLLD( + &Status, + pConfig->Distance.CrossMode); + if (Status == VL53L1_ERROR_NONE) + Cfg.intr_mode_rate = ConvertModeToLLD( + &Status, + pConfig->Rate.CrossMode); + } + + + if (Status == VL53L1_ERROR_NONE) { + Cfg.intr_combined_mode = 1; + switch (pConfig->DetectionMode) { + case VL53L1_DETECTION_DISTANCE_ONLY: + Cfg.threshold_rate_high = 0; + Cfg.threshold_rate_low = 0; + break; + case VL53L1_DETECTION_RATE_ONLY: + Cfg.threshold_distance_high = 0; + Cfg.threshold_distance_low = 0; + break; + case VL53L1_DETECTION_DISTANCE_OR_RATE: + + break; + case VL53L1_DETECTION_DISTANCE_AND_RATE: + Cfg.intr_combined_mode = 0; + break; + default: + Status = VL53L1_ERROR_INVALID_PARAMS; + } + } + + if (Status == VL53L1_ERROR_NONE) + Status = + VL53L1_set_GPIO_interrupt_config_struct(Dev, Cfg); + + } + + LOG_FUNCTION_END(Status); + return Status; +} + + +VL53L1_Error VL53L1_GetThresholdConfig(VL53L1_DEV Dev, + VL53L1_DetectionConfig_t *pConfig) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + VL53L1_GPIO_interrupt_config_t Cfg; + + LOG_FUNCTION_START(""); + + Status = VL53L1_get_GPIO_interrupt_config(Dev, &Cfg); + + if (Status != VL53L1_ERROR_NONE) { + LOG_FUNCTION_END(Status); + return Status; + } + + pConfig->IntrNoTarget = Cfg.intr_no_target; + pConfig->Distance.High = Cfg.threshold_distance_high; + pConfig->Distance.Low = Cfg.threshold_distance_low; + pConfig->Rate.High = + VL53L1_FIXPOINT97TOFIXPOINT1616( + Cfg.threshold_rate_high); + pConfig->Rate.Low = + VL53L1_FIXPOINT97TOFIXPOINT1616(Cfg.threshold_rate_low); + pConfig->Distance.CrossMode = + ConvertModeFromLLD(&Status, Cfg.intr_mode_distance); + if (Status == VL53L1_ERROR_NONE) + pConfig->Rate.CrossMode = + ConvertModeFromLLD(&Status, Cfg.intr_mode_rate); + + if (Cfg.intr_new_measure_ready == 1) { + pConfig->DetectionMode = VL53L1_DETECTION_NORMAL_RUN; + } else { + + if (Status == VL53L1_ERROR_NONE) { + if (Cfg.intr_combined_mode == 0) + pConfig->DetectionMode = + VL53L1_DETECTION_DISTANCE_AND_RATE; + else { + if ((Cfg.threshold_distance_high == 0) && + (Cfg.threshold_distance_low == 0)) + pConfig->DetectionMode = + VL53L1_DETECTION_RATE_ONLY; + else if ((Cfg.threshold_rate_high == 0) && + (Cfg.threshold_rate_low == 0)) + pConfig->DetectionMode = + VL53L1_DETECTION_DISTANCE_ONLY; + else + pConfig->DetectionMode = + VL53L1_DETECTION_DISTANCE_OR_RATE; + } + } + } + + LOG_FUNCTION_END(Status); + return Status; +} + + + + +VL53L1_Error VL53L1_PerformOffsetPerVcselCalibration(VL53L1_DEV Dev, + int32_t CalDistanceMilliMeter) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + int32_t sum_ranging_range_A, sum_ranging_range_B; + uint8_t offset_meas_range_A, offset_meas_range_B; + int16_t Max, UnderMax, OverMax, Repeat; + int32_t inloopcount; + int32_t IncRounding; + int16_t meanDistance_mm; + VL53L1_RangingMeasurementData_t RangingMeasurementData; + VL53L1_LLDriverData_t *pdev; + uint8_t goodmeas; + VL53L1_PresetModes currentMode; + VL53L1_DistanceModes currentDist; + VL53L1_DistanceModes DistMode[3] = {VL53L1_DISTANCEMODE_SHORT, + VL53L1_DISTANCEMODE_MEDIUM, VL53L1_DISTANCEMODE_LONG}; + int16_t offsetA[3]; + int16_t offsetB[3]; + + VL53L1_Error SmudgeStatus = VL53L1_ERROR_NONE; + uint8_t smudge_corr_en, isc; + + LOG_FUNCTION_START(""); + + pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled; + SmudgeStatus = VL53L1_dynamic_xtalk_correction_disable(Dev); + + pdev->customer.algo__part_to_part_range_offset_mm = 0; + pdev->customer.mm_config__inner_offset_mm = 0; + pdev->customer.mm_config__outer_offset_mm = 0; + pdev->customer.mm_config__outer_offset_mm = 0; + memset(&pdev->per_vcsel_cal_data, 0, sizeof(pdev->per_vcsel_cal_data)); + + Repeat = 0; + Max = 2 * BDTable[ + VL53L1_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER]; + UnderMax = 1 + (Max / 2); + OverMax = Max + (Max / 2); + + Status = VL53L1_GetPresetMode(Dev, ¤tMode); + Status = VL53L1_GetDistanceMode(Dev, ¤tDist); + + while ((Repeat < 3) && (Status == VL53L1_ERROR_NONE)) { + Status = VL53L1_SetDistanceMode(Dev, DistMode[Repeat]); + Status = VL53L1_StartMeasurement(Dev); + + if (Status == VL53L1_ERROR_NONE) { + VL53L1_WaitMeasurementDataReady(Dev); + VL53L1_GetRangingMeasurementData(Dev, + &RangingMeasurementData); + VL53L1_ClearInterruptAndStartMeasurement(Dev); + } + + inloopcount = 0; + offset_meas_range_A = 0; + sum_ranging_range_A = 0; + offset_meas_range_B = 0; + sum_ranging_range_B = 0; + while ((Status == VL53L1_ERROR_NONE) && (inloopcount < Max) && + (inloopcount < OverMax)) { + Status = VL53L1_WaitMeasurementDataReady(Dev); + if (Status == VL53L1_ERROR_NONE) + Status = VL53L1_GetRangingMeasurementData(Dev, + &RangingMeasurementData); + goodmeas = (RangingMeasurementData.RangeStatus == + VL53L1_RANGESTATUS_RANGE_VALID); + isc = pdev->ll_state.cfg_internal_stream_count; + if ((Status == VL53L1_ERROR_NONE) && goodmeas) { + if (isc & 0x01) { + sum_ranging_range_A += + RangingMeasurementData.RangeMilliMeter; + offset_meas_range_A++; + } else { + sum_ranging_range_B += + RangingMeasurementData.RangeMilliMeter; + offset_meas_range_B++; + } + inloopcount = offset_meas_range_A + + offset_meas_range_B; + } + Status = VL53L1_ClearInterruptAndStartMeasurement(Dev); + } + + + if (inloopcount < UnderMax) + Status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL; + + VL53L1_StopMeasurement(Dev); + + + if ((sum_ranging_range_A < 0) || + (sum_ranging_range_B < 0) || + (sum_ranging_range_A > + ((int32_t) offset_meas_range_A * 0xffff)) || + (sum_ranging_range_B > + ((int32_t) offset_meas_range_B * 0xffff))) { + Status = VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH; + } + + if ((Status == VL53L1_ERROR_NONE) && + (offset_meas_range_A > 0)) { + IncRounding = offset_meas_range_A / 2; + meanDistance_mm = (int16_t) + ((sum_ranging_range_A + IncRounding) + / offset_meas_range_A); + offsetA[Repeat] = (int16_t) + CalDistanceMilliMeter - meanDistance_mm; + } + + if ((Status == VL53L1_ERROR_NONE) && + (offset_meas_range_B > 0)) { + IncRounding = offset_meas_range_B / 2; + meanDistance_mm = (int16_t) + ((sum_ranging_range_B + IncRounding) + / offset_meas_range_B); + offsetB[Repeat] = (int16_t) + CalDistanceMilliMeter - meanDistance_mm; + } + Repeat++; + } + + if ((SmudgeStatus == VL53L1_ERROR_NONE) && (smudge_corr_en == 1)) + SmudgeStatus = VL53L1_dynamic_xtalk_correction_enable(Dev); + + if (Status == VL53L1_ERROR_NONE) { + pdev->per_vcsel_cal_data.short_a_offset_mm = offsetA[0]; + pdev->per_vcsel_cal_data.short_b_offset_mm = offsetB[0]; + pdev->per_vcsel_cal_data.medium_a_offset_mm = offsetA[1]; + pdev->per_vcsel_cal_data.medium_b_offset_mm = offsetB[1]; + pdev->per_vcsel_cal_data.long_a_offset_mm = offsetA[2]; + pdev->per_vcsel_cal_data.long_b_offset_mm = offsetB[2]; + } + + VL53L1_SetPresetMode(Dev, currentMode); + VL53L1_SetDistanceMode(Dev, currentDist); + + LOG_FUNCTION_END(Status); + return Status; +} + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_api_calibration.c b/drivers/input/misc/vl53L1/src/vl53l1_api_calibration.c new file mode 100644 index 000000000000..ee0b30432382 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_api_calibration.c @@ -0,0 +1,2170 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_ll_device.h" +#include "vl53l1_platform.h" +#include "vl53l1_platform_ipp.h" +#include "vl53l1_register_map.h" +#include "vl53l1_register_funcs.h" +#include "vl53l1_register_settings.h" +#include "vl53l1_hist_map.h" +#include "vl53l1_hist_structs.h" +#include "vl53l1_core.h" +#include "vl53l1_wait.h" +#include "vl53l1_api_preset_modes.h" +#include "vl53l1_silicon_core.h" +#include "vl53l1_api_core.h" +#include "vl53l1_api_calibration.h" + +#ifdef VL53L1_LOG_ENABLE + #include "vl53l1_api_debug.h" +#endif + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, \ + fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_CORE, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_run_ref_spad_char( + VL53L1_DEV Dev, + VL53L1_Error *pcal_status) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t comms_buffer[6]; + + VL53L1_refspadchar_config_t *prefspadchar = &(pdev->refspadchar); + + LOG_FUNCTION_START(""); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_powerforce(Dev); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_ref_spad_char_config( + Dev, + prefspadchar->VL53L1_p_009, + prefspadchar->timeout_us, + prefspadchar->target_count_rate_mcps, + prefspadchar->max_count_rate_limit_mcps, + prefspadchar->min_count_rate_limit_mcps, + pdev->stat_nvm.osc_measured__fast_osc__frequency); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_run_device_test( + Dev, + prefspadchar->device_test_mode); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_ReadMulti( + Dev, + VL53L1_REF_SPAD_CHAR_RESULT__NUM_ACTUAL_REF_SPADS, + comms_buffer, + 2); + + if (status == VL53L1_ERROR_NONE) { + pdev->dbg_results.ref_spad_char_result__num_actual_ref_spads = + comms_buffer[0]; + pdev->dbg_results.ref_spad_char_result__ref_location = + comms_buffer[1]; + } + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WriteMulti( + Dev, + VL53L1_REF_SPAD_MAN__NUM_REQUESTED_REF_SPADS, + comms_buffer, + 2); + + if (status == VL53L1_ERROR_NONE) { + pdev->customer.ref_spad_man__num_requested_ref_spads = + comms_buffer[0]; + pdev->customer.ref_spad_man__ref_location = + comms_buffer[1]; + } + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_ReadMulti( + Dev, + VL53L1_RESULT__SPARE_0_SD1, + comms_buffer, + 6); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WriteMulti( + Dev, + VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0, + comms_buffer, + 6); + + if (status == VL53L1_ERROR_NONE) { + pdev->customer.global_config__spad_enables_ref_0 = + comms_buffer[0]; + pdev->customer.global_config__spad_enables_ref_1 = + comms_buffer[1]; + pdev->customer.global_config__spad_enables_ref_2 = + comms_buffer[2]; + pdev->customer.global_config__spad_enables_ref_3 = + comms_buffer[3]; + pdev->customer.global_config__spad_enables_ref_4 = + comms_buffer[4]; + pdev->customer.global_config__spad_enables_ref_5 = + comms_buffer[5]; + } + +#ifdef VL53L1_LOG_ENABLE + + if (status == VL53L1_ERROR_NONE) + VL53L1_print_customer_nvm_managed( + &(pdev->customer), + "run_ref_spad_char():pdev->lldata.customer.", + VL53L1_TRACE_MODULE_REF_SPAD_CHAR); +#endif + + if (status == VL53L1_ERROR_NONE) { + + switch (pdev->sys_results.result__range_status) { + + case VL53L1_DEVICEERROR_REFSPADCHARNOTENOUGHDPADS: + status = VL53L1_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS; + break; + + case VL53L1_DEVICEERROR_REFSPADCHARMORETHANTARGET: + status = VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH; + break; + + case VL53L1_DEVICEERROR_REFSPADCHARLESSTHANTARGET: + status = VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW; + break; + } + } + + + + *pcal_status = status; + + + + IGNORE_STATUS( + IGNORE_REF_SPAD_CHAR_NOT_ENOUGH_SPADS, + VL53L1_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS, + status); + + IGNORE_STATUS( + IGNORE_REF_SPAD_CHAR_RATE_TOO_HIGH, + VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH, + status); + + IGNORE_STATUS( + IGNORE_REF_SPAD_CHAR_RATE_TOO_LOW, + VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW, + status); + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_run_xtalk_extraction( + VL53L1_DEV Dev, + VL53L1_Error *pcal_status) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + + + VL53L1_xtalkextract_config_t *pX = &(pdev->xtalk_extract_cfg); + VL53L1_xtalk_config_t *pC = &(pdev->xtalk_cfg); + VL53L1_xtalk_calibration_results_t *pXC = &(pdev->xtalk_cal); + + uint8_t results_invalid = 0; + + uint8_t i = 0; + uint16_t tmp16 = 0; + + uint8_t measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + + LOG_FUNCTION_START(""); + + + + + + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->xtalk_results.central_histogram_avg)); + + VL53L1_init_histogram_bin_data_struct( + 0, + (uint16_t)VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->xtalk_results.central_histogram_sum)); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_preset_mode( + Dev, + VL53L1_DEVICEPRESETMODE_HISTOGRAM_XTALK_PLANAR, + + pX->dss_config__target_total_rate_mcps, + pX->phasecal_config_timeout_us, + pX->mm_config_timeout_us, + pX->range_config_timeout_us, + + 100); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_xtalk_compensation(Dev); + + + + pdev->xtalk_results.max_results = VL53L1_MAX_XTALK_RANGE_RESULTS; + pdev->xtalk_results.active_results = pdev->zone_cfg.active_zones+1; + + + + pdev->xtalk_results.central_histogram__window_start = 0xFF; + pdev->xtalk_results.central_histogram__window_end = 0x00; + + pdev->xtalk_results.num_of_samples_status = 0x00; + pdev->xtalk_results.zero_samples_status = 0x00; + pdev->xtalk_results.max_sigma_status = 0x00; + + for (i = 0; i < pdev->xtalk_results.max_results; i++) { + pdev->xtalk_results.VL53L1_p_002[i].no_of_samples = 0; + pdev->xtalk_results.VL53L1_p_002[i].signal_total_events_avg = 0; + pdev->xtalk_results.VL53L1_p_002[i].signal_total_events_sum = 0; + pdev->xtalk_results.VL53L1_p_002[i].rate_per_spad_kcps_sum = 0; + pdev->xtalk_results.VL53L1_p_002[i].rate_per_spad_kcps_avg = 0; + pdev->xtalk_results.VL53L1_p_002[i].sigma_mm_sum = 0; + pdev->xtalk_results.VL53L1_p_002[i].sigma_mm_avg = 0; + + pdev->xtalk_results.VL53L1_p_002[i].median_phase_sum = 0; + pdev->xtalk_results.VL53L1_p_002[i].median_phase_avg = 0; + + } + + + if (status == VL53L1_ERROR_NONE) { + + status = + VL53L1_get_and_avg_xtalk_samples( + Dev, + + pX->num_of_samples, + + measurement_mode, + + pX->algo__crosstalk_extract_max_valid_range_mm, + pX->algo__crosstalk_extract_min_valid_range_mm, + pX->algo__crosstalk_extract_max_valid_rate_kcps, + + 0x0, + 0x4, + &(pdev->xtalk_results), + &(pdev->xtalk_results.central_histogram_sum), + &(pdev->xtalk_results.central_histogram_avg)); + } + + + + + + + + if (status == VL53L1_ERROR_NONE) + if ((pdev->xtalk_results.VL53L1_p_002[4].no_of_samples == 0) || + (pdev->xtalk_results.VL53L1_p_002[4].sigma_mm_avg > + ((uint32_t)pX->algo__crosstalk_extract_max_sigma_mm + << 5))) + results_invalid = 0x01; + + + +#ifdef VL53L1_LOG_ENABLE + if (status == VL53L1_ERROR_NONE) + VL53L1_print_xtalk_range_results( + &(pdev->xtalk_results), + "pdev->xtalk_results", + VL53L1_TRACE_MODULE_CORE); +#endif + + if ((status == VL53L1_ERROR_NONE) && (results_invalid == 0)) { + + status = + VL53L1_ipp_xtalk_calibration_process_data( + Dev, + &(pdev->xtalk_results), + &(pdev->xtalk_shapes), + &(pdev->xtalk_cal)); + + } + if ((status == VL53L1_ERROR_NONE) && (results_invalid == 0)) { + for (i = 0; i < VL53L1_BIN_REC_SIZE; i++) + pXC->algo__xtalk_cpo_HistoMerge_kcps[i] = + pXC->algo__crosstalk_compensation_plane_offset_kcps; + pC->algo__crosstalk_compensation_x_plane_gradient_kcps = + pXC->algo__crosstalk_compensation_x_plane_gradient_kcps; + pC->algo__crosstalk_compensation_y_plane_gradient_kcps = + pXC->algo__crosstalk_compensation_y_plane_gradient_kcps; + pC->algo__crosstalk_compensation_plane_offset_kcps = + pXC->algo__crosstalk_compensation_plane_offset_kcps; + } + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_xtalk_compensation(Dev); + + + + + if (status == VL53L1_ERROR_NONE) { + + for (i = 0; i < pdev->xtalk_results.max_results; i++) { + + if (pdev->xtalk_results.VL53L1_p_002[i].no_of_samples != + + pX->num_of_samples) { + + pdev->xtalk_results.num_of_samples_status = + pdev->xtalk_results.num_of_samples_status | + (1 << i); + } + + if (pdev->xtalk_results.VL53L1_p_002[i].no_of_samples == + 0x00) { + pdev->xtalk_results.zero_samples_status = + pdev->xtalk_results.zero_samples_status | + (1 << i); + } + + + + + tmp16 = pX->algo__crosstalk_extract_max_sigma_mm; + if (pdev->xtalk_results.VL53L1_p_002[i].sigma_mm_avg > + ((uint32_t)tmp16 << 5)) { + pdev->xtalk_results.max_sigma_status = + pdev->xtalk_results.max_sigma_status | + (1 << i); + } + + } + } + + + if (results_invalid > 0) { + + if (pdev->xtalk_results.VL53L1_p_002[4].no_of_samples == 0) { + status = VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL; + } else { + + + if (pdev->xtalk_results.VL53L1_p_002[4].sigma_mm_avg > + (((uint32_t)pX->algo__crosstalk_extract_max_sigma_mm) + << 5)) { + status = + VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL; + } + + } + } else { + + if (pdev->xtalk_results.zero_samples_status != 0x00) { + status = VL53L1_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT; + } else { + if (pdev->xtalk_results.max_sigma_status != 0x00) { + status = + VL53L1_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT; + } else { + if (pdev->xtalk_results.num_of_samples_status != + 0x00) + status = + VL53L1_WARNING_XTALK_MISSING_SAMPLES; + } + } + } + + + + pdev->xtalk_results.cal_status = status; + *pcal_status = pdev->xtalk_results.cal_status; + + + + IGNORE_STATUS( + IGNORE_XTALK_EXTRACTION_NO_SAMPLE_FAIL, + VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL, + status); + + IGNORE_STATUS( + IGNORE_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL, + VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL, + status); + + IGNORE_STATUS( + IGNORE_XTALK_EXTRACTION_NO_SAMPLE_FOR_GRADIENT_WARN, + VL53L1_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT, + status); + + IGNORE_STATUS( + IGNORE_XTALK_EXTRACTION_SIGMA_LIMIT_FOR_GRADIENT_WARN, + VL53L1_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT, + status); + + IGNORE_STATUS( + IGNORE_XTALK_EXTRACTION_MISSING_SAMPLES_WARN, + VL53L1_WARNING_XTALK_MISSING_SAMPLES, + status); + +#ifdef VL53L1_LOG_ENABLE + + + + VL53L1_print_customer_nvm_managed( + &(pdev->customer), + "run_xtalk_extraction():pdev->lldata.customer.", + VL53L1_TRACE_MODULE_XTALK_DATA); + + VL53L1_print_xtalk_config( + &(pdev->xtalk_cfg), + "run_xtalk_extraction():pdev->lldata.xtalk_cfg.", + VL53L1_TRACE_MODULE_XTALK_DATA); + + VL53L1_print_xtalk_extract_config( + &(pdev->xtalk_extract_cfg), + "run_xtalk_extraction():pdev->lldata.xtalk_extract_cfg.", + VL53L1_TRACE_MODULE_XTALK_DATA); + + VL53L1_print_histogram_bin_data( + &(pdev->hist_data), + "run_xtalk_extraction():pdev->lldata.hist_data.", + VL53L1_TRACE_MODULE_XTALK_DATA); + + VL53L1_print_xtalk_histogram_data( + &(pdev->xtalk_shapes), + "pdev->lldata.xtalk_shapes.", + VL53L1_TRACE_MODULE_XTALK_DATA); + + VL53L1_print_xtalk_range_results( + &(pdev->xtalk_results), + "run_xtalk_extraction():pdev->lldata.xtalk_results.", + VL53L1_TRACE_MODULE_XTALK_DATA); + +#endif + + LOG_FUNCTION_END(status); + + return status; + +} + + + +VL53L1_Error VL53L1_get_and_avg_xtalk_samples( + VL53L1_DEV Dev, + uint8_t num_of_samples, + uint8_t measurement_mode, + int16_t xtalk_filter_thresh_max_mm, + int16_t xtalk_filter_thresh_min_mm, + uint16_t xtalk_max_valid_rate_kcps, + uint8_t xtalk_result_id, + uint8_t xtalk_histo_id, + VL53L1_xtalk_range_results_t *pXR, + VL53L1_histogram_bin_data_t *psum_histo, + VL53L1_histogram_bin_data_t *pavg_histo) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + +#ifdef VL53L1_LOG_ENABLE + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); +#endif + + VL53L1_range_results_t *prs = + (VL53L1_range_results_t *) pdev->wArea1; + + VL53L1_range_data_t *prange_data; + VL53L1_xtalk_range_data_t *pxtalk_range_data; + + uint8_t i = 0; + uint8_t j = 0; + uint8_t zone_id = 0; + uint8_t final_zone = pdev->zone_cfg.active_zones+1; + uint8_t valid_result; + + uint8_t smudge_corr_en = 0; + + + + + smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled; + + status = VL53L1_dynamic_xtalk_correction_disable(Dev); + + + VL53L1_load_patch(Dev); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_init_and_start_range( + Dev, + measurement_mode, + VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS); + + + for (i = 0; i <= (final_zone*num_of_samples); i++) { + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_wait_for_range_completion(Dev); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_get_device_results( + Dev, + VL53L1_DEVICERESULTSLEVEL_FULL, + prs); + + + + if (status == VL53L1_ERROR_NONE && + pdev->ll_state.rd_device_state != + VL53L1_DEVICESTATE_RANGING_WAIT_GPH_SYNC) { + + zone_id = pdev->ll_state.rd_zone_id + xtalk_result_id; + prange_data = &(prs->VL53L1_p_002[0]); + + + if (prs->active_results > 1) { + for (j = 1; + j < prs->active_results; j++) { + if (prs->VL53L1_p_002[j].median_range_mm + < + prange_data->median_range_mm) + prange_data = + &(prs->VL53L1_p_002[j]); + + } + } + + pxtalk_range_data = &(pXR->VL53L1_p_002[zone_id]); + + + + if ((prs->active_results > 0) && + (prange_data->median_range_mm < + xtalk_filter_thresh_max_mm) && + (prange_data->median_range_mm > + xtalk_filter_thresh_min_mm) && + (prange_data->VL53L1_p_012 < + (uint32_t)(xtalk_max_valid_rate_kcps * 16))) + valid_result = 1; + else + valid_result = 0; + + if (valid_result == 1) { + + pxtalk_range_data->no_of_samples++; + + pxtalk_range_data->rate_per_spad_kcps_sum += + prange_data->VL53L1_p_012; + + pxtalk_range_data->signal_total_events_sum += + prange_data->VL53L1_p_013; + + pxtalk_range_data->sigma_mm_sum += + (uint32_t)prange_data->VL53L1_p_005; + + + + pxtalk_range_data->median_phase_sum += + (uint32_t)prange_data->VL53L1_p_014; + + + + + } + + if ((valid_result == 1) && (zone_id >= 4)) { + status = VL53L1_sum_histogram_data( + &(pdev->hist_data), + psum_histo); + + + + if (prange_data->VL53L1_p_015 < + pXR->central_histogram__window_start) + pXR->central_histogram__window_start = + prange_data->VL53L1_p_015; + + + if (prange_data->VL53L1_p_016 > + pXR->central_histogram__window_end) + pXR->central_histogram__window_end = + prange_data->VL53L1_p_016; + + } + + } + + + +#ifdef VL53L1_LOG_ENABLE + if (status == VL53L1_ERROR_NONE) { + VL53L1_print_range_results( + &(pres->range_results), + "pres->range_results.", + VL53L1_TRACE_MODULE_CORE); + } +#endif + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_wait_for_firmware_ready(Dev); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_clear_interrupt_and_enable_next_range( + Dev, + measurement_mode); + + + } + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_stop_range(Dev); + + VL53L1_unload_patch(Dev); + + + + for (i = 0; i < (pdev->zone_cfg.active_zones+1); i++) { + + pxtalk_range_data = &(pXR->VL53L1_p_002[i+xtalk_result_id]); + + if (pxtalk_range_data->no_of_samples > 0) { + pxtalk_range_data->rate_per_spad_kcps_avg = + pxtalk_range_data->rate_per_spad_kcps_sum / + (uint32_t)pxtalk_range_data->no_of_samples; + + pxtalk_range_data->signal_total_events_avg = + pxtalk_range_data->signal_total_events_sum / + (int32_t)pxtalk_range_data->no_of_samples; + + pxtalk_range_data->sigma_mm_avg = + pxtalk_range_data->sigma_mm_sum / + (uint32_t)pxtalk_range_data->no_of_samples; + + + + pxtalk_range_data->median_phase_avg = + pxtalk_range_data->median_phase_sum / + (uint32_t)pxtalk_range_data->no_of_samples; + + + + } else { + pxtalk_range_data->rate_per_spad_kcps_avg = + pxtalk_range_data->rate_per_spad_kcps_sum; + pxtalk_range_data->signal_total_events_avg = + pxtalk_range_data->signal_total_events_sum; + pxtalk_range_data->sigma_mm_avg = + pxtalk_range_data->sigma_mm_sum; + + + + pxtalk_range_data->median_phase_avg = + pxtalk_range_data->median_phase_sum; + + + } + } + + + + memcpy(pavg_histo, &(pdev->hist_data), + sizeof(VL53L1_histogram_bin_data_t)); + + + + if (status == VL53L1_ERROR_NONE) { + + pxtalk_range_data = &(pXR->VL53L1_p_002[xtalk_histo_id]); + + status = VL53L1_avg_histogram_data( + pxtalk_range_data->no_of_samples, + psum_histo, + pavg_histo); + } + + + + + if (status == VL53L1_ERROR_NONE) { + if (smudge_corr_en == 1) + status = VL53L1_dynamic_xtalk_correction_enable(Dev); + } + + + LOG_FUNCTION_END(status); + + return status; + +} + + + +VL53L1_Error VL53L1_run_offset_calibration( + VL53L1_DEV Dev, + int16_t cal_distance_mm, + uint16_t cal_reflectance_pc, + VL53L1_Error *pcal_status) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + VL53L1_DevicePresetModes device_preset_modes[ + VL53L1_MAX_OFFSET_RANGE_RESULTS]; + + VL53L1_range_results_t *prange_results = + (VL53L1_range_results_t *) pdev->wArea1; + + VL53L1_range_data_t *pRData = NULL; + VL53L1_offset_range_data_t *pfs = NULL; + VL53L1_general_config_t *pG = &(pdev->gen_cfg); + VL53L1_additional_offset_cal_data_t *pAO = &(pdev->add_off_cal_data); + + uint8_t i = 0; + uint8_t m = 0; + uint8_t measurement_mode = + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + uint16_t manual_effective_spads = + pG->dss_config__manual_effective_spads_select; + + uint8_t num_of_samples[VL53L1_MAX_OFFSET_RANGE_RESULTS]; + + uint8_t smudge_corr_en = 0; + + LOG_FUNCTION_START(""); + + + + switch (pdev->offset_calibration_mode) { + + case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM: + case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM_PRE_RANGE_ONLY: + device_preset_modes[0] = + VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING; + device_preset_modes[1] = + VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM1_CAL; + device_preset_modes[2] = + VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM2_CAL; + break; + + default: + device_preset_modes[0] = + VL53L1_DEVICEPRESETMODE_STANDARD_RANGING; + device_preset_modes[1] = + VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM1_CAL; + device_preset_modes[2] = + VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM2_CAL; + break; + } + + + + num_of_samples[0] = pdev->offsetcal_cfg.pre_num_of_samples; + num_of_samples[1] = pdev->offsetcal_cfg.mm1_num_of_samples; + num_of_samples[2] = pdev->offsetcal_cfg.mm2_num_of_samples; + + + + + switch (pdev->offset_calibration_mode) { + + case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY: + case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM_PRE_RANGE_ONLY: + + pdev->offset_results.active_results = 1; + + break; + + default: + + pdev->customer.mm_config__inner_offset_mm = 0; + pdev->customer.mm_config__outer_offset_mm = 0; + pdev->offset_results.active_results = + VL53L1_MAX_OFFSET_RANGE_RESULTS; + + break; + } + + pdev->customer.algo__part_to_part_range_offset_mm = 0; + + + + pdev->offset_results.max_results = VL53L1_MAX_OFFSET_RANGE_RESULTS; + pdev->offset_results.cal_distance_mm = cal_distance_mm; + pdev->offset_results.cal_reflectance_pc = cal_reflectance_pc; + + for (m = 0; m < VL53L1_MAX_OFFSET_RANGE_RESULTS; m++) { + + pfs = &(pdev->offset_results.VL53L1_p_002[m]); + pfs->preset_mode = 0; + pfs->no_of_samples = 0; + pfs->effective_spads = 0; + pfs->peak_rate_mcps = 0; + pfs->VL53L1_p_005 = 0; + pfs->median_range_mm = 0; + } + + + + + smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled; + + status = VL53L1_dynamic_xtalk_correction_disable(Dev); + + + + for (m = 0; m < pdev->offset_results.active_results; m++) { + + pfs = &(pdev->offset_results.VL53L1_p_002[m]); + + pfs->preset_mode = device_preset_modes[m]; + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_preset_mode( + Dev, + device_preset_modes[m], + + pdev->offsetcal_cfg.dss_config__target_total_rate_mcps, + pdev->offsetcal_cfg.phasecal_config_timeout_us, + pdev->offsetcal_cfg.mm_config_timeout_us, + pdev->offsetcal_cfg.range_config_timeout_us, + + 100); + + pG->dss_config__manual_effective_spads_select = + manual_effective_spads; + + + VL53L1_load_patch(Dev); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_init_and_start_range( + Dev, + measurement_mode, + VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS); + + for (i = 0; i <= (num_of_samples[m]+2); i++) { + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_wait_for_range_completion(Dev); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_get_device_results( + Dev, + VL53L1_DEVICERESULTSLEVEL_FULL, + prange_results); + + + + pRData = &(prange_results->VL53L1_p_002[0]); + + if ((prange_results->active_results > 0 && + prange_results->stream_count > 1) && + (pRData->range_status == + VL53L1_DEVICEERROR_RANGECOMPLETE)) { + + pfs->no_of_samples++; + pfs->effective_spads += + (uint32_t)pRData->VL53L1_p_006; + pfs->peak_rate_mcps += + (uint32_t)pRData->peak_signal_count_rate_mcps; + pfs->VL53L1_p_005 += + (uint32_t)pRData->VL53L1_p_005; + pfs->median_range_mm += + (int32_t)pRData->median_range_mm; + + pfs->dss_config__roi_mode_control = + pG->dss_config__roi_mode_control; + pfs->dss_config__manual_effective_spads_select = + pG->dss_config__manual_effective_spads_select; + + } + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_wait_for_firmware_ready(Dev); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_clear_interrupt_and_enable_next_range( + Dev, + measurement_mode); + } + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_stop_range(Dev); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WaitUs(Dev, 1000); + VL53L1_unload_patch(Dev); + + + if (pfs->no_of_samples > 0) { + + pfs->effective_spads += (pfs->no_of_samples/2); + pfs->effective_spads /= pfs->no_of_samples; + + pfs->peak_rate_mcps += (pfs->no_of_samples/2); + pfs->peak_rate_mcps /= pfs->no_of_samples; + + pfs->VL53L1_p_005 += (pfs->no_of_samples/2); + pfs->VL53L1_p_005 /= pfs->no_of_samples; + + pfs->median_range_mm += (pfs->no_of_samples/2); + pfs->median_range_mm /= pfs->no_of_samples; + + pfs->range_mm_offset = (int32_t)cal_distance_mm; + pfs->range_mm_offset -= pfs->median_range_mm; + + + if (pfs->preset_mode == + VL53L1_DEVICEPRESETMODE_STANDARD_RANGING) + manual_effective_spads = + (uint16_t)pfs->effective_spads; + } + } + + + + switch (pdev->offset_calibration_mode) { + + case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD_PRE_RANGE_ONLY: + case VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__HISTOGRAM_PRE_RANGE_ONLY: + + + pdev->customer.mm_config__inner_offset_mm += + (int16_t)pdev->offset_results.VL53L1_p_002[0].range_mm_offset; + pdev->customer.mm_config__outer_offset_mm += + (int16_t)pdev->offset_results.VL53L1_p_002[0].range_mm_offset; + break; + + default: + + pdev->customer.mm_config__inner_offset_mm = + (int16_t)pdev->offset_results.VL53L1_p_002[1].range_mm_offset; + pdev->customer.mm_config__outer_offset_mm = + (int16_t)pdev->offset_results.VL53L1_p_002[2].range_mm_offset; + pdev->customer.algo__part_to_part_range_offset_mm = 0; + + + + pAO->result__mm_inner_actual_effective_spads = + (uint16_t)pdev->offset_results.VL53L1_p_002[1].effective_spads; + pAO->result__mm_outer_actual_effective_spads = + (uint16_t)pdev->offset_results.VL53L1_p_002[2].effective_spads; + + pAO->result__mm_inner_peak_signal_count_rtn_mcps = + (uint16_t)pdev->offset_results.VL53L1_p_002[1].peak_rate_mcps; + pAO->result__mm_outer_peak_signal_count_rtn_mcps = + (uint16_t)pdev->offset_results.VL53L1_p_002[2].peak_rate_mcps; + + break; + } + + + + pdev->cust_dmax_cal.ref__actual_effective_spads = + (uint16_t)pdev->offset_results.VL53L1_p_002[0].effective_spads; + pdev->cust_dmax_cal.ref__peak_signal_count_rate_mcps = + (uint16_t)pdev->offset_results.VL53L1_p_002[0].peak_rate_mcps; + + + pdev->cust_dmax_cal.ref__distance_mm = cal_distance_mm * 16; + + pdev->cust_dmax_cal.ref_reflectance_pc = cal_reflectance_pc; + pdev->cust_dmax_cal.coverglass_transmission = 0x0100; + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_customer_nvm_managed( + Dev, + &(pdev->customer)); + + + + + if (status == VL53L1_ERROR_NONE) { + if (smudge_corr_en == 1) + status = VL53L1_dynamic_xtalk_correction_enable(Dev); + } + + + + + for (m = 0; m < pdev->offset_results.active_results; m++) { + + pfs = &(pdev->offset_results.VL53L1_p_002[m]); + + if (status == VL53L1_ERROR_NONE) { + + pdev->offset_results.cal_report = m; + + if (pfs->no_of_samples < num_of_samples[m]) + status = + VL53L1_WARNING_OFFSET_CAL_MISSING_SAMPLES; + + + if (m == 0 && pfs->VL53L1_p_005 > + ((uint32_t)VL53L1_OFFSET_CAL_MAX_SIGMA_MM << 5)) + status = + VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH; + + if (pfs->peak_rate_mcps > + VL53L1_OFFSET_CAL_MAX_PRE_PEAK_RATE_MCPS) + status = + VL53L1_WARNING_OFFSET_CAL_RATE_TOO_HIGH; + + if (pfs->dss_config__manual_effective_spads_select < + VL53L1_OFFSET_CAL_MIN_EFFECTIVE_SPADS) + status = + VL53L1_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW; + + if (pfs->dss_config__manual_effective_spads_select == 0) + status = + VL53L1_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL; + + if (pfs->no_of_samples == 0) + status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL; + } + } + + + + pdev->offset_results.cal_status = status; + *pcal_status = pdev->offset_results.cal_status; + + + + IGNORE_STATUS( + IGNORE_OFFSET_CAL_MISSING_SAMPLES, + VL53L1_WARNING_OFFSET_CAL_MISSING_SAMPLES, + status); + + IGNORE_STATUS( + IGNORE_OFFSET_CAL_SIGMA_TOO_HIGH, + VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH, + status); + + IGNORE_STATUS( + IGNORE_OFFSET_CAL_RATE_TOO_HIGH, + VL53L1_WARNING_OFFSET_CAL_RATE_TOO_HIGH, + status); + + IGNORE_STATUS( + IGNORE_OFFSET_CAL_SPAD_COUNT_TOO_LOW, + VL53L1_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW, + status); + +#ifdef VL53L1_LOG_ENABLE + + + + VL53L1_print_customer_nvm_managed( + &(pdev->customer), + "run_offset_calibration():pdev->lldata.customer.", + VL53L1_TRACE_MODULE_OFFSET_DATA); + + VL53L1_print_dmax_calibration_data( + &(pdev->fmt_dmax_cal), + "run_offset_calibration():pdev->lldata.fmt_dmax_cal.", + VL53L1_TRACE_MODULE_OFFSET_DATA); + + VL53L1_print_dmax_calibration_data( + &(pdev->cust_dmax_cal), + "run_offset_calibration():pdev->lldata.cust_dmax_cal.", + VL53L1_TRACE_MODULE_OFFSET_DATA); + + VL53L1_print_additional_offset_cal_data( + &(pdev->add_off_cal_data), + "run_offset_calibration():pdev->lldata.add_off_cal_data.", + VL53L1_TRACE_MODULE_OFFSET_DATA); + + VL53L1_print_offset_range_results( + &(pdev->offset_results), + "run_offset_calibration():pdev->lldata.offset_results.", + VL53L1_TRACE_MODULE_OFFSET_DATA); +#endif + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_run_phasecal_average( + VL53L1_DEV Dev, + uint8_t measurement_mode, + uint8_t phasecal_result__vcsel_start, + uint16_t phasecal_num_of_samples, + VL53L1_range_results_t *prange_results, + uint16_t *pphasecal_result__reference_phase, + uint16_t *pzero_distance_phase) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + uint16_t i = 0; + uint16_t m = 0; + uint32_t samples = 0; + + uint32_t period = 0; + uint32_t VL53L1_p_017 = 0; + uint32_t phasecal_result__reference_phase = 0; + uint32_t zero_distance_phase = 0; + + + VL53L1_load_patch(Dev); + + for (m = 0; m < phasecal_num_of_samples; m++) { + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_init_and_start_range( + Dev, + measurement_mode, + VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS); + + for (i = 0; i <= 1; i++) { + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_wait_for_range_completion(Dev); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_get_device_results( + Dev, + VL53L1_DEVICERESULTSLEVEL_FULL, + prange_results); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_wait_for_firmware_ready(Dev); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_clear_interrupt_and_enable_next_range( + Dev, + measurement_mode); + } + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_stop_range(Dev); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WaitUs(Dev, 1000); + + + + if (status == VL53L1_ERROR_NONE) { + + samples++; + + + period = 2048 * + (uint32_t)VL53L1_decode_vcsel_period( + pdev->hist_data.VL53L1_p_009); + + VL53L1_p_017 = period; + VL53L1_p_017 += (uint32_t)( + pdev->hist_data.phasecal_result__reference_phase); + VL53L1_p_017 += + (2048 * + (uint32_t)phasecal_result__vcsel_start); + VL53L1_p_017 -= (2048 * + (uint32_t)pdev->hist_data.cal_config__vcsel_start); + + VL53L1_p_017 = VL53L1_p_017 % period; + + phasecal_result__reference_phase += (uint32_t)( + pdev->hist_data.phasecal_result__reference_phase); + + zero_distance_phase += (uint32_t)VL53L1_p_017; + } + } + VL53L1_unload_patch(Dev); + + + + if (status == VL53L1_ERROR_NONE && samples > 0) { + + phasecal_result__reference_phase += (samples >> 1); + phasecal_result__reference_phase /= samples; + + zero_distance_phase += (samples >> 1); + zero_distance_phase /= samples; + + *pphasecal_result__reference_phase = + (uint16_t)phasecal_result__reference_phase; + *pzero_distance_phase = + (uint16_t)zero_distance_phase; + } + + return status; +} + + +VL53L1_Error VL53L1_run_zone_calibration( + VL53L1_DEV Dev, + VL53L1_DevicePresetModes device_preset_mode, + VL53L1_DeviceZonePreset zone_preset, + VL53L1_zone_config_t *pzone_cfg, + int16_t cal_distance_mm, + uint16_t cal_reflectance_pc, + VL53L1_Error *pcal_status) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + VL53L1_range_results_t *pRR = + (VL53L1_range_results_t *) pdev->wArea1; + VL53L1_range_data_t *prange_data = NULL; + VL53L1_zone_calibration_data_t *pzone_data = NULL; + + uint16_t i = 0; + uint16_t m = 0; + + uint8_t z = 0; + uint8_t measurement_mode = + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + + VL53L1_OffsetCorrectionMode offset_cor_mode = + VL53L1_OFFSETCORRECTIONMODE__NONE; + + LOG_FUNCTION_START(""); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_preset_mode( + Dev, + device_preset_mode, + + pdev->zonecal_cfg.dss_config__target_total_rate_mcps, + pdev->zonecal_cfg.phasecal_config_timeout_us, + pdev->zonecal_cfg.mm_config_timeout_us, + pdev->zonecal_cfg.range_config_timeout_us, + + 100); + + + + if (zone_preset == VL53L1_DEVICEZONEPRESET_CUSTOM) { + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_zone_config( + Dev, + pzone_cfg); + + } else if (zone_preset != VL53L1_DEVICEZONEPRESET_NONE) { + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_zone_preset( + Dev, + zone_preset); + } + + + + pres->zone_cal.preset_mode = device_preset_mode; + pres->zone_cal.zone_preset = zone_preset; + + pres->zone_cal.cal_distance_mm = cal_distance_mm * 16; + pres->zone_cal.cal_reflectance_pc = cal_reflectance_pc; + pres->zone_cal.max_zones = VL53L1_MAX_USER_ZONES; + pres->zone_cal.active_zones = pdev->zone_cfg.active_zones + 1; + + for (i = 0; i < VL53L1_MAX_USER_ZONES; i++) { + pres->zone_cal.VL53L1_p_002[i].no_of_samples = 0; + pres->zone_cal.VL53L1_p_002[i].effective_spads = 0; + pres->zone_cal.VL53L1_p_002[i].peak_rate_mcps = 0; + pres->zone_cal.VL53L1_p_002[i].VL53L1_p_014 = 0; + pres->zone_cal.VL53L1_p_002[i].VL53L1_p_005 = 0; + pres->zone_cal.VL53L1_p_002[i].median_range_mm = 0; + pres->zone_cal.VL53L1_p_002[i].range_mm_offset = 0; + } + + pres->zone_cal.phasecal_result__reference_phase = 0; + pres->zone_cal.zero_distance_phase = 0; + + + + status = + VL53L1_get_offset_correction_mode( + Dev, + &offset_cor_mode); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_offset_correction_mode( + Dev, + VL53L1_OFFSETCORRECTIONMODE__NONE); + + + VL53L1_load_patch(Dev); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_init_and_start_range( + Dev, + measurement_mode, + VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS); + + + + + m = (pdev->zonecal_cfg.zone_num_of_samples + 2) * + (uint16_t)pres->zone_cal.active_zones; + + + for (i = 0; i <= m; i++) { + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_wait_for_range_completion(Dev); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_get_device_results( + Dev, + VL53L1_DEVICERESULTSLEVEL_FULL, + pRR); + + + + prange_data = &(pRR->VL53L1_p_002[0]); + + if (pRR->active_results > 0 && + i > (uint16_t)pres->zone_cal.active_zones) { + + if (prange_data->range_status == + VL53L1_DEVICEERROR_RANGECOMPLETE) { + + pres->zone_cal.phasecal_result__reference_phase + = + pdev->hist_data.phasecal_result__reference_phase + ; + pres->zone_cal.zero_distance_phase = + pdev->hist_data.zero_distance_phase; + + pzone_data = + &(pres->zone_cal.VL53L1_p_002[pRR->zone_id]); + pzone_data->no_of_samples++; + pzone_data->effective_spads += + (uint32_t)prange_data->VL53L1_p_006; + pzone_data->peak_rate_mcps += (uint32_t)( + prange_data->peak_signal_count_rate_mcps); + pzone_data->VL53L1_p_014 += + (uint32_t)prange_data->VL53L1_p_014; + pzone_data->VL53L1_p_005 += + (uint32_t)prange_data->VL53L1_p_005; + pzone_data->median_range_mm += + (int32_t)prange_data->median_range_mm; + + } + } + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_wait_for_firmware_ready(Dev); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_clear_interrupt_and_enable_next_range( + Dev, + measurement_mode); + } + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_stop_range(Dev); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WaitUs(Dev, 1000); + VL53L1_unload_patch(Dev); + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_run_phasecal_average( + Dev, + measurement_mode, + pdev->hist_data.phasecal_result__vcsel_start, + + pdev->zonecal_cfg.phasecal_num_of_samples, + + pRR, + &(pres->zone_cal.phasecal_result__reference_phase), + &(pres->zone_cal.zero_distance_phase)); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_offset_correction_mode( + Dev, + offset_cor_mode); + + + + if (status == VL53L1_ERROR_NONE) { + + for (z = 0; z < pres->zone_cal.active_zones; z++) { + + pzone_data = &(pres->zone_cal.VL53L1_p_002[z]); + + + if (pzone_data->no_of_samples > 0) { + + pzone_data->effective_spads += + (pzone_data->no_of_samples/2); + pzone_data->effective_spads /= + pzone_data->no_of_samples; + + pzone_data->peak_rate_mcps += + (pzone_data->no_of_samples/2); + pzone_data->peak_rate_mcps /= + pzone_data->no_of_samples; + + pzone_data->VL53L1_p_014 += + (pzone_data->no_of_samples/2); + pzone_data->VL53L1_p_014 /= + pzone_data->no_of_samples; + + pzone_data->VL53L1_p_005 += + (pzone_data->no_of_samples/2); + pzone_data->VL53L1_p_005 /= + pzone_data->no_of_samples; + + + + pzone_data->median_range_mm = + VL53L1_range_maths( + pdev->stat_nvm.osc_measured__fast_osc__frequency + , (uint16_t)pzone_data->VL53L1_p_014, + pres->zone_cal.zero_distance_phase, + 2, + 0x0800, + 0); + + pzone_data->range_mm_offset = + ((int32_t)cal_distance_mm) * 4; + pzone_data->range_mm_offset -= + pzone_data->median_range_mm; + + + if (pzone_data->no_of_samples < + pdev->zonecal_cfg.zone_num_of_samples) + status = + VL53L1_WARNING_ZONE_CAL_MISSING_SAMPLES; + + + if (pzone_data->VL53L1_p_005 > + ((uint32_t)VL53L1_ZONE_CAL_MAX_SIGMA_MM + << 5)) + status = + VL53L1_WARNING_ZONE_CAL_SIGMA_TOO_HIGH; + + if (pzone_data->peak_rate_mcps > + VL53L1_ZONE_CAL_MAX_PRE_PEAK_RATE_MCPS) + status = + VL53L1_WARNING_ZONE_CAL_RATE_TOO_HIGH; + + } else { + status = VL53L1_ERROR_ZONE_CAL_NO_SAMPLE_FAIL; + } + } + } + + + + pres->zone_cal.cal_status = status; + *pcal_status = pres->zone_cal.cal_status; + + + + IGNORE_STATUS( + IGNORE_ZONE_CAL_MISSING_SAMPLES, + VL53L1_WARNING_ZONE_CAL_MISSING_SAMPLES, + status); + + IGNORE_STATUS( + IGNORE_ZONE_CAL_SIGMA_TOO_HIGH, + VL53L1_WARNING_ZONE_CAL_SIGMA_TOO_HIGH, + status); + + IGNORE_STATUS( + IGNORE_ZONE_CAL_RATE_TOO_HIGH, + VL53L1_WARNING_ZONE_CAL_RATE_TOO_HIGH, + status); + +#ifdef VL53L1_LOG_ENABLE + + + + VL53L1_print_zone_calibration_results( + &(pres->zone_cal), + "run_zone_calibration():pdev->llresults.zone_cal.", + VL53L1_TRACE_MODULE_OFFSET_DATA); + +#endif + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_run_spad_rate_map( + VL53L1_DEV Dev, + VL53L1_DeviceTestMode device_test_mode, + VL53L1_DeviceSscArray array_select, + uint32_t ssc_config_timeout_us, + VL53L1_spad_rate_data_t *pspad_rate_data) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_powerforce(Dev); + + + + if (status == VL53L1_ERROR_NONE) { + pdev->ssc_cfg.array_select = array_select; + pdev->ssc_cfg.timeout_us = ssc_config_timeout_us; + status = + VL53L1_set_ssc_config( + Dev, + &(pdev->ssc_cfg), + pdev->stat_nvm.osc_measured__fast_osc__frequency); + } + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_run_device_test( + Dev, + device_test_mode); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_get_spad_rate_data( + Dev, + pspad_rate_data); + + if (device_test_mode == VL53L1_DEVICETESTMODE_LCR_VCSEL_ON) + pspad_rate_data->fractional_bits = 7; + else + pspad_rate_data->fractional_bits = 15; + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_powerforce(Dev); + +#ifdef VL53L1_LOG_ENABLE + + + if (status == VL53L1_ERROR_NONE) { + VL53L1_print_spad_rate_data( + pspad_rate_data, + "run_spad_rate_map():", + VL53L1_TRACE_MODULE_SPAD_RATE_MAP); + VL53L1_print_spad_rate_map( + pspad_rate_data, + "run_spad_rate_map():", + VL53L1_TRACE_MODULE_SPAD_RATE_MAP); + } +#endif + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_run_device_test( + VL53L1_DEV Dev, + VL53L1_DeviceTestMode device_test_mode) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t comms_buffer[2]; + uint8_t gpio_hv_mux__ctrl = 0; + + LOG_FUNCTION_START(""); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_RdByte( + Dev, + VL53L1_GPIO_HV_MUX__CTRL, + &gpio_hv_mux__ctrl); + + if (status == VL53L1_ERROR_NONE) + pdev->stat_cfg.gpio_hv_mux__ctrl = gpio_hv_mux__ctrl; + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_start_test( + Dev, + device_test_mode); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_wait_for_test_completion(Dev); + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_ReadMulti( + Dev, + VL53L1_RESULT__RANGE_STATUS, + comms_buffer, + 2); + + if (status == VL53L1_ERROR_NONE) { + pdev->sys_results.result__range_status = comms_buffer[0]; + pdev->sys_results.result__report_status = comms_buffer[1]; + } + + + + pdev->sys_results.result__range_status &= + VL53L1_RANGE_STATUS__RANGE_STATUS_MASK; + + if (status == VL53L1_ERROR_NONE) { + trace_print( + VL53L1_TRACE_LEVEL_INFO, + " Device Test Complete:\n\t%-32s = %3u\n\t%-32s = %3u\n", + "result__range_status", + pdev->sys_results.result__range_status, + "result__report_status", + pdev->sys_results.result__report_status); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_clear_interrupt(Dev); + } + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_start_test( + Dev, + 0x00); + + LOG_FUNCTION_END(status); + + return status; +} + + +void VL53L1_hist_xtalk_extract_data_init( + VL53L1_hist_xtalk_extract_data_t *pxtalk_data) +{ + + + int32_t lb = 0; + + pxtalk_data->sample_count = 0U; + pxtalk_data->pll_period_mm = 0U; + pxtalk_data->peak_duration_us_sum = 0U; + pxtalk_data->effective_spad_count_sum = 0U; + pxtalk_data->zero_distance_phase_sum = 0U; + pxtalk_data->zero_distance_phase_avg = 0U; + pxtalk_data->event_scaler_sum = 0U; + pxtalk_data->event_scaler_avg = 4096U; + pxtalk_data->signal_events_sum = 0; + pxtalk_data->xtalk_rate_kcps_per_spad = 0U; + pxtalk_data->VL53L1_p_015 = 0U; + pxtalk_data->VL53L1_p_016 = 0U; + pxtalk_data->target_start = 0U; + + for (lb = 0; lb < VL53L1_XTALK_HISTO_BINS; lb++) + pxtalk_data->bin_data_sums[lb] = 0; + +} + + +VL53L1_Error VL53L1_hist_xtalk_extract_update( + int16_t target_distance_mm, + uint16_t target_width_oversize, + VL53L1_histogram_bin_data_t *phist_bins, + VL53L1_hist_xtalk_extract_data_t *pxtalk_data) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = + VL53L1_hist_xtalk_extract_calc_window( + target_distance_mm, + target_width_oversize, + phist_bins, + pxtalk_data); + + if (status == VL53L1_ERROR_NONE) { + status = + VL53L1_hist_xtalk_extract_calc_event_sums( + phist_bins, + pxtalk_data); + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_hist_xtalk_extract_fini( + VL53L1_histogram_bin_data_t *phist_bins, + VL53L1_hist_xtalk_extract_data_t *pxtalk_data, + VL53L1_xtalk_calibration_results_t *pxtalk_cal, + VL53L1_xtalk_histogram_shape_t *pxtalk_shape) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_xtalk_calibration_results_t *pX = pxtalk_cal; + + LOG_FUNCTION_START(""); + + if (pxtalk_data->sample_count > 0) { + + + pxtalk_data->event_scaler_avg = pxtalk_data->event_scaler_sum; + pxtalk_data->event_scaler_avg += + (pxtalk_data->sample_count >> 1); + pxtalk_data->event_scaler_avg /= pxtalk_data->sample_count; + + + + status = + VL53L1_hist_xtalk_extract_calc_rate_per_spad( + pxtalk_data); + + + + if (status == VL53L1_ERROR_NONE) { + + + pxtalk_data->zero_distance_phase_avg = + pxtalk_data->zero_distance_phase_sum; + pxtalk_data->zero_distance_phase_avg += + (pxtalk_data->sample_count >> 1); + pxtalk_data->zero_distance_phase_avg /= + pxtalk_data->sample_count; + + + status = + VL53L1_hist_xtalk_extract_calc_shape( + pxtalk_data, + pxtalk_shape); + + + + + pxtalk_shape->phasecal_result__vcsel_start = + phist_bins->phasecal_result__vcsel_start; + pxtalk_shape->cal_config__vcsel_start = + phist_bins->cal_config__vcsel_start; + pxtalk_shape->vcsel_width = + phist_bins->vcsel_width; + pxtalk_shape->VL53L1_p_019 = + phist_bins->VL53L1_p_019; + } + + + if (status == VL53L1_ERROR_NONE) { + + + pX->algo__crosstalk_compensation_plane_offset_kcps = + pxtalk_data->xtalk_rate_kcps_per_spad; + pX->algo__crosstalk_compensation_x_plane_gradient_kcps + = 0U; + pX->algo__crosstalk_compensation_y_plane_gradient_kcps + = 0U; + + } + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_run_hist_xtalk_extraction( + VL53L1_DEV Dev, + int16_t cal_distance_mm, + VL53L1_Error *pcal_status) +{ + + + #define OVERSIZE 4 + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_xtalkextract_config_t *pX = &(pdev->xtalk_extract_cfg); + VL53L1_xtalk_config_t *pC = &(pdev->xtalk_cfg); + VL53L1_xtalk_calibration_results_t *pXC = &(pdev->xtalk_cal); + + + + uint8_t smudge_corr_en = 0; + uint8_t i = 0; + int8_t k = 0; + uint8_t nbloops; + int32_t initMergeSize = 0; + int32_t MergeEnabled = 0; + uint32_t deltaXtalk; + uint32_t stepXtalk; + uint32_t XtalkMin; + uint32_t XtalkMax; + uint8_t measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + int8_t MaxId; + uint8_t histo_merge_nb; + uint8_t wait_for_accumulation; + VL53L1_range_results_t *prange_results = + (VL53L1_range_results_t *) pdev->wArea1; + uint8_t Very1stRange = 0; + + LOG_FUNCTION_START(""); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_preset_mode( + Dev, + VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE, + pX->dss_config__target_total_rate_mcps, + pX->phasecal_config_timeout_us, + pX->mm_config_timeout_us, + pX->range_config_timeout_us, + 100); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_xtalk_compensation(Dev); + + + + smudge_corr_en = pdev->smudge_correct_config.smudge_corr_enabled; + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_dynamic_xtalk_correction_disable(Dev); + + + VL53L1_load_patch(Dev); + + VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE_MAX_SIZE, + &initMergeSize); + VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, + &MergeEnabled); + memset(&pdev->xtalk_cal, 0, sizeof(pdev->xtalk_cal)); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_init_and_start_range( + Dev, measurement_mode, + VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS); + + MaxId = pdev->tuning_parms.tp_hist_merge_max_size - 1; + nbloops = (MergeEnabled == 0 ? 1 : 2); + for (k = 0; k < nbloops; k++) { + + VL53L1_hist_xtalk_extract_data_init( + &(pdev->xtalk_extract)); + VL53L1_set_tuning_parm(Dev, + VL53L1_TUNINGPARM_HIST_MERGE_MAX_SIZE, + k * MaxId + 1); + + for (i = 0; i <= pX->num_of_samples; i++) { + if (status == VL53L1_ERROR_NONE) + status = VL53L1_wait_for_range_completion(Dev); + if (status == VL53L1_ERROR_NONE) + status = VL53L1_get_device_results(Dev, + VL53L1_DEVICERESULTSLEVEL_FULL, + prange_results); + Very1stRange = + (pdev->ll_state.rd_device_state == + VL53L1_DEVICESTATE_RANGING_WAIT_GPH_SYNC); + + VL53L1_compute_histo_merge_nb(Dev, &histo_merge_nb); + wait_for_accumulation = ((k != 0) && + (MergeEnabled) && + (status == VL53L1_ERROR_NONE) && + (histo_merge_nb < + pdev->tuning_parms.tp_hist_merge_max_size)); + if (wait_for_accumulation) + i = 0; + else { + if ((status == VL53L1_ERROR_NONE) && + (!Very1stRange)) { + status = + VL53L1_hist_xtalk_extract_update( + cal_distance_mm, + OVERSIZE, + &(pdev->hist_data), + &(pdev->xtalk_extract)); + } + } + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_wait_for_firmware_ready(Dev); + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_clear_interrupt_and_enable_next_range( + Dev, measurement_mode); + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_hist_xtalk_extract_fini( + &(pdev->hist_data), + &(pdev->xtalk_extract), + &(pdev->xtalk_cal), + &(pdev->xtalk_shapes.xtalk_shape)); + if (status != VL53L1_ERROR_NONE) + goto LOOPOUT; + pXC->algo__xtalk_cpo_HistoMerge_kcps[k * MaxId] = + pXC->algo__crosstalk_compensation_plane_offset_kcps; + } + } + +LOOPOUT: + + VL53L1_stop_range(Dev); + + VL53L1_set_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE_MAX_SIZE, + initMergeSize); + VL53L1_unload_patch(Dev); + + if (status != VL53L1_ERROR_NONE) + status = VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL; + else if ((MergeEnabled == 1) && (MaxId > 0)) { + XtalkMin = pXC->algo__xtalk_cpo_HistoMerge_kcps[0]; + XtalkMax = pXC->algo__xtalk_cpo_HistoMerge_kcps[MaxId]; + pXC->algo__crosstalk_compensation_plane_offset_kcps = + XtalkMin; + if (XtalkMax >= XtalkMin) { + deltaXtalk = XtalkMax - XtalkMin; + stepXtalk = deltaXtalk / MaxId; + for (k = 1; k < MaxId; k++) + pXC->algo__xtalk_cpo_HistoMerge_kcps[k] = + XtalkMin + stepXtalk * k; + } else + status = + VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL; + } + + if (status == VL53L1_ERROR_NONE) { + pC->algo__crosstalk_compensation_x_plane_gradient_kcps = + pXC->algo__crosstalk_compensation_x_plane_gradient_kcps; + pC->algo__crosstalk_compensation_y_plane_gradient_kcps = + pXC->algo__crosstalk_compensation_y_plane_gradient_kcps; + pC->algo__crosstalk_compensation_plane_offset_kcps = + pXC->algo__crosstalk_compensation_plane_offset_kcps; + } + + + pdev->xtalk_results.cal_status = status; + *pcal_status = pdev->xtalk_results.cal_status; + + + status = VL53L1_enable_xtalk_compensation(Dev); + if (smudge_corr_en == 1) + status = VL53L1_dynamic_xtalk_correction_enable(Dev); + +#ifdef VL53L1_LOG_ENABLE + + + + VL53L1_print_customer_nvm_managed( + &(pdev->customer), + "run_xtalk_extraction():pdev->lldata.customer.", + VL53L1_TRACE_MODULE_XTALK_DATA); + + VL53L1_print_xtalk_config( + &(pdev->xtalk_cfg), + "run_xtalk_extraction():pdev->lldata.xtalk_cfg.", + VL53L1_TRACE_MODULE_XTALK_DATA); + + VL53L1_print_xtalk_histogram_data( + &(pdev->xtalk_shapes), + "pdev->lldata.xtalk_shapes.", + VL53L1_TRACE_MODULE_XTALK_DATA); + +#endif + + LOG_FUNCTION_END(status); + + return status; +} + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_api_core.c b/drivers/input/misc/vl53L1/src/vl53l1_api_core.c new file mode 100644 index 000000000000..9444cab99427 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_api_core.c @@ -0,0 +1,7294 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_ll_device.h" +#include "vl53l1_platform.h" +#include "vl53l1_platform_ipp.h" +#include "vl53l1_register_map.h" +#include "vl53l1_register_settings.h" +#include "vl53l1_register_funcs.h" +#include "vl53l1_hist_map.h" +#include "vl53l1_hist_structs.h" +#include "vl53l1_nvm_map.h" +#include "vl53l1_nvm_structs.h" +#include "vl53l1_nvm.h" +#include "vl53l1_core.h" +#include "vl53l1_wait.h" +#include "vl53l1_zone_presets.h" +#include "vl53l1_api_preset_modes.h" +#include "vl53l1_silicon_core.h" +#include "vl53l1_api_core.h" +#include "vl53l1_tuning_parm_defaults.h" + +#ifdef VL53L1_LOG_ENABLE +#include "vl53l1_api_debug.h" +#endif + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, \ + fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_CORE, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + +#define VL53L1_MAX_I2C_XFER_SIZE 256 + +static VL53L1_Error select_offset_per_vcsel(VL53L1_LLDriverData_t *pdev, + int16_t *poffset) { + VL53L1_Error status = VL53L1_ERROR_NONE; + int16_t tA, tB; + uint8_t isc; + + switch (pdev->preset_mode) { + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE: + tA = pdev->per_vcsel_cal_data.short_a_offset_mm; + tB = pdev->per_vcsel_cal_data.short_b_offset_mm; + break; + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE: + tA = pdev->per_vcsel_cal_data.medium_a_offset_mm; + tB = pdev->per_vcsel_cal_data.medium_b_offset_mm; + break; + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE: + tA = pdev->per_vcsel_cal_data.long_a_offset_mm; + tB = pdev->per_vcsel_cal_data.long_b_offset_mm; + break; + default: + status = VL53L1_ERROR_INVALID_PARAMS; + *poffset = 0; + break; + } + + isc = pdev->ll_state.cfg_internal_stream_count; + if (status == VL53L1_ERROR_NONE) + *poffset = (isc & 0x01) ? tA : tB; + + return status; +} + +static void vl53l1_diff_histo_stddev(VL53L1_LLDriverData_t *pdev, + VL53L1_histogram_bin_data_t *pdata, uint8_t timing, uint8_t HighIndex, + uint8_t prev_pos, int32_t *pdiff_histo_stddev) { + uint16_t bin = 0; + int32_t total_rate_pre = 0; + int32_t total_rate_cur = 0; + int32_t PrevBin, CurrBin; + + total_rate_pre = 0; + total_rate_cur = 0; + + + for (bin = timing * 4; bin < HighIndex; bin++) { + total_rate_pre += + pdev->multi_bins_rec[prev_pos][timing][bin]; + total_rate_cur += pdata->bin_data[bin]; + } + + if ((total_rate_pre != 0) && (total_rate_cur != 0)) + for (bin = timing * 4; bin < HighIndex; bin++) { + PrevBin = pdev->multi_bins_rec[prev_pos][timing][bin]; + PrevBin = (PrevBin * 1000) / total_rate_pre; + CurrBin = pdata->bin_data[bin] * 1000 / total_rate_cur; + *pdiff_histo_stddev += (PrevBin - CurrBin) * + (PrevBin - CurrBin); + } +} + +static void vl53l1_histo_merge(VL53L1_DEV Dev, + VL53L1_histogram_bin_data_t *pdata) { + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + uint16_t bin = 0; + uint8_t i = 0; + int32_t TuningBinRecSize = 0; + uint8_t recom_been_reset = 0; + uint8_t timing = 0; + int32_t rmt = 0; + int32_t diff_histo_stddev = 0; + uint8_t HighIndex, prev_pos; + uint8_t BuffSize = VL53L1_HISTOGRAM_BUFFER_SIZE; + uint8_t pos; + + VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE_MAX_SIZE, + &TuningBinRecSize); + + VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_RESET_MERGE_THRESHOLD, + &rmt); + + + if (pdev->pos_before_next_recom == 0) { + + timing = 1 - pdata->result__stream_count % 2; + + diff_histo_stddev = 0; + HighIndex = BuffSize - timing * 4; + if (pdev->bin_rec_pos > 0) + prev_pos = pdev->bin_rec_pos - 1; + else + prev_pos = (TuningBinRecSize - 1); + + if (pdev->multi_bins_rec[prev_pos][timing][4] > 0) + vl53l1_diff_histo_stddev(pdev, pdata, + timing, HighIndex, prev_pos, + &diff_histo_stddev); + + if (diff_histo_stddev >= rmt) { + memset(pdev->multi_bins_rec, 0, + sizeof(pdev->multi_bins_rec)); + pdev->bin_rec_pos = 0; + + recom_been_reset = 1; + + if (timing == 0) + pdev->pos_before_next_recom = + VL53L1_FRAME_WAIT_EVENT; + else + pdev->pos_before_next_recom = + VL53L1_FRAME_WAIT_EVENT + 1; + } else { + + pos = pdev->bin_rec_pos; + for (i = 0; i < BuffSize; i++) + pdev->multi_bins_rec[pos][timing][i] = + pdata->bin_data[i]; + } + + if (pdev->bin_rec_pos == (TuningBinRecSize - 1) && timing == 1) + pdev->bin_rec_pos = 0; + else if (timing == 1) + pdev->bin_rec_pos++; + + if (!((recom_been_reset == 1) && (timing == 0)) && + (pdev->pos_before_next_recom == 0)) { + + for (bin = 0; bin < BuffSize; bin++) + pdata->bin_data[bin] = 0; + + for (bin = 0; bin < BuffSize; bin++) + for (i = 0; i < TuningBinRecSize; i++) + pdata->bin_data[bin] += + (pdev->multi_bins_rec[i][timing][bin]); + } + } else { + + pdev->pos_before_next_recom--; + if (pdev->pos_before_next_recom == 255) + pdev->pos_before_next_recom = 0; + } +} + +VL53L1_Error VL53L1_load_patch( + VL53L1_DEV Dev) { + VL53L1_Error status = VL53L1_ERROR_NONE; + int32_t patch_tuning = 0; + uint8_t comms_buffer[256]; + uint32_t patch_power; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte(Dev, + VL53L1_FIRMWARE__ENABLE, 0x00); + + if (status == VL53L1_ERROR_NONE) + VL53L1_enable_powerforce(Dev); + + VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_PHASECAL_PATCH_POWER, + &patch_tuning); + + switch (patch_tuning) { + case 0: + patch_power = 0x00; + break; + case 1: + patch_power = 0x10; + break; + case 2: + patch_power = 0x20; + break; + case 3: + patch_power = 0x40; + break; + default: + patch_power = 0x00; + } + + if (status == VL53L1_ERROR_NONE) { + + comms_buffer[0] = 0x29; + comms_buffer[1] = 0xC9; + comms_buffer[2] = 0x0E; + comms_buffer[3] = 0x40; + comms_buffer[4] = 0x28; + comms_buffer[5] = patch_power; + + status = VL53L1_WriteMulti(Dev, + VL53L1_PATCH__OFFSET_0, comms_buffer, 6); + } + + if (status == VL53L1_ERROR_NONE) { + comms_buffer[0] = 0x03; + comms_buffer[1] = 0x6D; + comms_buffer[2] = 0x03; + comms_buffer[3] = 0x6F; + comms_buffer[4] = 0x07; + comms_buffer[5] = 0x29; + status = VL53L1_WriteMulti(Dev, + VL53L1_PATCH__ADDRESS_0, comms_buffer, 6); + } + + if (status == VL53L1_ERROR_NONE) { + comms_buffer[0] = 0x00; + comms_buffer[1] = 0x07; + status = VL53L1_WriteMulti(Dev, + VL53L1_PATCH__JMP_ENABLES, comms_buffer, 2); + } + + if (status == VL53L1_ERROR_NONE) { + comms_buffer[0] = 0x00; + comms_buffer[1] = 0x07; + status = VL53L1_WriteMulti(Dev, + VL53L1_PATCH__DATA_ENABLES, comms_buffer, 2); + } + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte(Dev, + VL53L1_PATCH__CTRL, 0x01); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte(Dev, + VL53L1_FIRMWARE__ENABLE, 0x01); + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_unload_patch( + VL53L1_DEV Dev) { + VL53L1_Error status = VL53L1_ERROR_NONE; + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte(Dev, + VL53L1_FIRMWARE__ENABLE, 0x00); + + if (status == VL53L1_ERROR_NONE) + VL53L1_disable_powerforce(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte(Dev, + VL53L1_PATCH__CTRL, 0x00); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte(Dev, + VL53L1_FIRMWARE__ENABLE, 0x01); + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_get_version( + VL53L1_DEV Dev, + VL53L1_ll_version_t *pdata) +{ + + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + VL53L1_init_version(Dev); + + memcpy(pdata, &(pdev->version), sizeof(VL53L1_ll_version_t)); + + return VL53L1_ERROR_NONE; +} + + +VL53L1_Error VL53L1_get_device_firmware_version( + VL53L1_DEV Dev, + uint16_t *pfw_version) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_RdWord( + Dev, + VL53L1_MCU_GENERAL_PURPOSE__GP_0, + pfw_version); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_data_init( + VL53L1_DEV Dev, + uint8_t read_p2p_data) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + + + VL53L1_zone_objects_t *pobjects; + + uint8_t i = 0; + + LOG_FUNCTION_START(""); + + VL53L1_init_ll_driver_state( + Dev, + VL53L1_DEVICESTATE_UNKNOWN); + + pres->range_results.max_results = VL53L1_MAX_RANGE_RESULTS; + pres->range_results.active_results = 0; + pres->zone_results.max_zones = VL53L1_MAX_USER_ZONES; + pres->zone_results.active_zones = 0; + + for (i = 0; i < VL53L1_MAX_USER_ZONES; i++) { + pobjects = &(pres->zone_results.VL53L1_p_002[i]); + pobjects->xmonitor.VL53L1_p_020 = 0; + pobjects->xmonitor.VL53L1_p_021 = 0; + pobjects->xmonitor.VL53L1_p_014 = 0; + pobjects->xmonitor.range_status = + VL53L1_DEVICEERROR_NOUPDATE; + } + + + + pres->zone_hists.max_zones = VL53L1_MAX_USER_ZONES; + pres->zone_hists.active_zones = 0; + + + + pres->zone_cal.max_zones = VL53L1_MAX_USER_ZONES; + pres->zone_cal.active_zones = 0; + for (i = 0; i < VL53L1_MAX_USER_ZONES; i++) { + pres->zone_cal.VL53L1_p_002[i].no_of_samples = 0; + pres->zone_cal.VL53L1_p_002[i].effective_spads = 0; + pres->zone_cal.VL53L1_p_002[i].peak_rate_mcps = 0; + pres->zone_cal.VL53L1_p_002[i].median_range_mm = 0; + pres->zone_cal.VL53L1_p_002[i].range_mm_offset = 0; + } + + pdev->wait_method = VL53L1_WAIT_METHOD_BLOCKING; + pdev->preset_mode = VL53L1_DEVICEPRESETMODE_STANDARD_RANGING; + pdev->zone_preset = VL53L1_DEVICEZONEPRESET_NONE; + pdev->measurement_mode = VL53L1_DEVICEMEASUREMENTMODE_STOP; + + pdev->offset_calibration_mode = + VL53L1_OFFSETCALIBRATIONMODE__MM1_MM2__STANDARD; + pdev->offset_correction_mode = + VL53L1_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS; + pdev->dmax_mode = + VL53L1_DEVICEDMAXMODE__FMT_CAL_DATA; + + pdev->phasecal_config_timeout_us = 1000; + pdev->mm_config_timeout_us = 2000; + pdev->range_config_timeout_us = 13000; + pdev->inter_measurement_period_ms = 100; + pdev->dss_config__target_total_rate_mcps = 0x0A00; + pdev->debug_mode = 0x00; + + pdev->offset_results.max_results = VL53L1_MAX_OFFSET_RANGE_RESULTS; + pdev->offset_results.active_results = 0; + + + + pdev->gain_cal.standard_ranging_gain_factor = + VL53L1_TUNINGPARM_LITE_RANGING_GAIN_FACTOR_DEFAULT; + pdev->gain_cal.histogram_ranging_gain_factor = + VL53L1_TUNINGPARM_HIST_GAIN_FACTOR_DEFAULT; + + + VL53L1_init_version(Dev); + + + memset(pdev->multi_bins_rec, 0, sizeof(pdev->multi_bins_rec)); + pdev->bin_rec_pos = 0; + pdev->pos_before_next_recom = 0; + + + + if (read_p2p_data > 0 && status == VL53L1_ERROR_NONE) + status = VL53L1_read_p2p_data(Dev); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_init_refspadchar_config_struct( + &(pdev->refspadchar)); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_init_ssc_config_struct( + &(pdev->ssc_cfg)); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_init_xtalk_config_struct( + &(pdev->customer), + &(pdev->xtalk_cfg)); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_init_xtalk_extract_config_struct( + &(pdev->xtalk_extract_cfg)); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_init_offset_cal_config_struct( + &(pdev->offsetcal_cfg)); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_init_zone_cal_config_struct( + &(pdev->zonecal_cfg)); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_init_hist_post_process_config_struct( + pdev->xtalk_cfg.global_crosstalk_compensation_enable, + &(pdev->histpostprocess)); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_init_hist_gen3_dmax_config_struct( + &(pdev->dmax_cfg)); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_init_tuning_parm_storage_struct( + &(pdev->tuning_parms)); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_set_preset_mode( + Dev, + pdev->preset_mode, + pdev->dss_config__target_total_rate_mcps, + pdev->phasecal_config_timeout_us, + pdev->mm_config_timeout_us, + pdev->range_config_timeout_us, + pdev->inter_measurement_period_ms); + + + VL53L1_init_histogram_bin_data_struct( + 0, + VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->hist_data)); + + VL53L1_init_histogram_bin_data_struct( + 0, + VL53L1_HISTOGRAM_BUFFER_SIZE, + &(pdev->hist_xtalk)); + + + VL53L1_init_xtalk_bin_data_struct( + 0, + VL53L1_XTALK_HISTO_BINS, + &(pdev->xtalk_shapes.xtalk_shape)); + + + + VL53L1_xtalk_cal_data_init( + Dev + ); + + + + VL53L1_dynamic_xtalk_correction_data_init( + Dev + ); + + + + VL53L1_low_power_auto_data_init( + Dev + ); + +#ifdef VL53L1_LOG_ENABLE + + + + VL53L1_print_static_nvm_managed( + &(pdev->stat_nvm), + "data_init():pdev->lldata.stat_nvm.", + VL53L1_TRACE_MODULE_DATA_INIT); + + VL53L1_print_customer_nvm_managed( + &(pdev->customer), + "data_init():pdev->lldata.customer.", + VL53L1_TRACE_MODULE_DATA_INIT); + + VL53L1_print_nvm_copy_data( + &(pdev->nvm_copy_data), + "data_init():pdev->lldata.nvm_copy_data.", + VL53L1_TRACE_MODULE_DATA_INIT); + + VL53L1_print_dmax_calibration_data( + &(pdev->fmt_dmax_cal), + "data_init():pdev->lldata.fmt_dmax_cal.", + VL53L1_TRACE_MODULE_DATA_INIT); + + VL53L1_print_dmax_calibration_data( + &(pdev->cust_dmax_cal), + "data_init():pdev->lldata.cust_dmax_cal.", + VL53L1_TRACE_MODULE_DATA_INIT); + + VL53L1_print_additional_offset_cal_data( + &(pdev->add_off_cal_data), + "data_init():pdev->lldata.add_off_cal_data.", + VL53L1_TRACE_MODULE_DATA_INIT); + + VL53L1_print_user_zone( + &(pdev->mm_roi), + "data_init():pdev->lldata.mm_roi.", + VL53L1_TRACE_MODULE_DATA_INIT); + + VL53L1_print_optical_centre( + &(pdev->optical_centre), + "data_init():pdev->lldata.optical_centre.", + VL53L1_TRACE_MODULE_DATA_INIT); + + VL53L1_print_cal_peak_rate_map( + &(pdev->cal_peak_rate_map), + "data_init():pdev->lldata.cal_peak_rate_map.", + VL53L1_TRACE_MODULE_DATA_INIT); + +#endif + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_read_p2p_data( + VL53L1_DEV Dev) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_hist_post_process_config_t *pHP = &(pdev->histpostprocess); + VL53L1_customer_nvm_managed_t *pN = &(pdev->customer); + VL53L1_additional_offset_cal_data_t *pCD = &(pdev->add_off_cal_data); + + VL53L1_decoded_nvm_fmt_range_data_t fmt_rrd; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_get_static_nvm_managed( + Dev, + &(pdev->stat_nvm)); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_get_customer_nvm_managed( + Dev, + &(pdev->customer)); + + if (status == VL53L1_ERROR_NONE) { + + status = VL53L1_get_nvm_copy_data( + Dev, + &(pdev->nvm_copy_data)); + + + if (status == VL53L1_ERROR_NONE) + VL53L1_copy_rtn_good_spads_to_buffer( + &(pdev->nvm_copy_data), + &(pdev->rtn_good_spads[0])); + } + + + + if (status == VL53L1_ERROR_NONE) { + pHP->algo__crosstalk_compensation_plane_offset_kcps = + pN->algo__crosstalk_compensation_plane_offset_kcps; + pHP->algo__crosstalk_compensation_x_plane_gradient_kcps = + pN->algo__crosstalk_compensation_x_plane_gradient_kcps; + pHP->algo__crosstalk_compensation_y_plane_gradient_kcps = + pN->algo__crosstalk_compensation_y_plane_gradient_kcps; + } + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_read_nvm_optical_centre( + Dev, + &(pdev->optical_centre)); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_read_nvm_cal_peak_rate_map( + Dev, + &(pdev->cal_peak_rate_map)); + + + + if (status == VL53L1_ERROR_NONE) { + + status = + VL53L1_read_nvm_additional_offset_cal_data( + Dev, + &(pdev->add_off_cal_data)); + + + + if (pCD->result__mm_inner_peak_signal_count_rtn_mcps == 0 && + pCD->result__mm_outer_peak_signal_count_rtn_mcps == 0) { + + pCD->result__mm_inner_peak_signal_count_rtn_mcps + = 0x0080; + pCD->result__mm_outer_peak_signal_count_rtn_mcps + = 0x0180; + + + + VL53L1_calc_mm_effective_spads( + pdev->nvm_copy_data.roi_config__mode_roi_centre_spad, + pdev->nvm_copy_data.roi_config__mode_roi_xy_size, + 0xC7, + 0xFF, + &(pdev->rtn_good_spads[0]), + VL53L1_RTN_SPAD_APERTURE_TRANSMISSION, + &(pCD->result__mm_inner_actual_effective_spads), + &(pCD->result__mm_outer_actual_effective_spads)); + } + } + + + if (status == VL53L1_ERROR_NONE) { + + status = + VL53L1_read_nvm_fmt_range_results_data( + Dev, + VL53L1_NVM__FMT__RANGE_RESULTS__140MM_DARK, + &fmt_rrd); + + if (status == VL53L1_ERROR_NONE) { + pdev->fmt_dmax_cal.ref__actual_effective_spads = + fmt_rrd.result__actual_effective_rtn_spads; + pdev->fmt_dmax_cal.ref__peak_signal_count_rate_mcps = + fmt_rrd.result__peak_signal_count_rate_rtn_mcps; + pdev->fmt_dmax_cal.ref__distance_mm = + fmt_rrd.measured_distance_mm; + + + if (pdev->cal_peak_rate_map.cal_reflectance_pc != 0) { + pdev->fmt_dmax_cal.ref_reflectance_pc = + pdev->cal_peak_rate_map.cal_reflectance_pc; + } else { + pdev->fmt_dmax_cal.ref_reflectance_pc = 0x0014; + } + + + pdev->fmt_dmax_cal.coverglass_transmission = 0x0100; + } + } + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_RdWord( + Dev, + VL53L1_RESULT__OSC_CALIBRATE_VAL, + &(pdev->dbg_results.result__osc_calibrate_val)); + + + + if (pdev->stat_nvm.osc_measured__fast_osc__frequency < 0x1000) { + trace_print( + VL53L1_TRACE_LEVEL_WARNING, + "\nInvalid %s value (0x%04X) - forcing to 0x%04X\n\n", + "pdev->stat_nvm.osc_measured__fast_osc__frequency", + pdev->stat_nvm.osc_measured__fast_osc__frequency, + 0xBCCC); + pdev->stat_nvm.osc_measured__fast_osc__frequency = 0xBCCC; + } + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_get_mode_mitigation_roi( + Dev, + &(pdev->mm_roi)); + + + + if (pdev->optical_centre.x_centre == 0 && + pdev->optical_centre.y_centre == 0) { + pdev->optical_centre.x_centre = + pdev->mm_roi.x_centre << 4; + pdev->optical_centre.y_centre = + pdev->mm_roi.y_centre << 4; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_software_reset( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_SOFT_RESET, + 0x00); + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WaitUs( + Dev, + VL53L1_SOFTWARE_RESET_DURATION_US); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_SOFT_RESET, + 0x01); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_wait_for_boot_completion(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_part_to_part_data( + VL53L1_DEV Dev, + VL53L1_calibration_data_t *pcal_data) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_xtalk_config_t *pC = &(pdev->xtalk_cfg); + VL53L1_hist_post_process_config_t *pHP = &(pdev->histpostprocess); + VL53L1_customer_nvm_managed_t *pN = &(pdev->customer); + + uint32_t tempu32; + + LOG_FUNCTION_START(""); + + if (pcal_data->struct_version != + VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION) { + status = VL53L1_ERROR_INVALID_PARAMS; + } + + if (status == VL53L1_ERROR_NONE) { + + + memcpy( + &(pdev->customer), + &(pcal_data->customer), + sizeof(VL53L1_customer_nvm_managed_t)); + + + memcpy( + &(pdev->add_off_cal_data), + &(pcal_data->add_off_cal_data), + sizeof(VL53L1_additional_offset_cal_data_t)); + + + memcpy( + &(pdev->fmt_dmax_cal), + &(pcal_data->fmt_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + + + memcpy( + &(pdev->cust_dmax_cal), + &(pcal_data->cust_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + + + memcpy( + &(pdev->xtalk_shapes), + &(pcal_data->xtalkhisto), + sizeof(VL53L1_xtalk_histogram_data_t)); + + + memcpy( + &(pdev->gain_cal), + &(pcal_data->gain_cal), + sizeof(VL53L1_gain_calibration_data_t)); + + + memcpy( + &(pdev->cal_peak_rate_map), + &(pcal_data->cal_peak_rate_map), + sizeof(VL53L1_cal_peak_rate_map_t)); + + + memcpy( + &(pdev->per_vcsel_cal_data), + &(pcal_data->per_vcsel_cal_data), + sizeof(VL53L1_per_vcsel_period_offset_cal_data_t)); + + + + pC->algo__crosstalk_compensation_plane_offset_kcps = + pN->algo__crosstalk_compensation_plane_offset_kcps; + pC->algo__crosstalk_compensation_x_plane_gradient_kcps = + pN->algo__crosstalk_compensation_x_plane_gradient_kcps; + pC->algo__crosstalk_compensation_y_plane_gradient_kcps = + pN->algo__crosstalk_compensation_y_plane_gradient_kcps; + + pHP->algo__crosstalk_compensation_plane_offset_kcps = + VL53L1_calc_crosstalk_plane_offset_with_margin( + pC->algo__crosstalk_compensation_plane_offset_kcps, + pC->histogram_mode_crosstalk_margin_kcps); + + pHP->algo__crosstalk_compensation_x_plane_gradient_kcps = + pC->algo__crosstalk_compensation_x_plane_gradient_kcps; + pHP->algo__crosstalk_compensation_y_plane_gradient_kcps = + pC->algo__crosstalk_compensation_y_plane_gradient_kcps; + + + + if (pC->global_crosstalk_compensation_enable == 0x00) { + pN->algo__crosstalk_compensation_plane_offset_kcps = + 0x00; + pN->algo__crosstalk_compensation_x_plane_gradient_kcps = + 0x00; + pN->algo__crosstalk_compensation_y_plane_gradient_kcps = + 0x00; + } else { + tempu32 = + VL53L1_calc_crosstalk_plane_offset_with_margin( + pC->algo__crosstalk_compensation_plane_offset_kcps, + pC->lite_mode_crosstalk_margin_kcps); + + + if (tempu32 > 0xFFFF) + tempu32 = 0xFFFF; + + pN->algo__crosstalk_compensation_plane_offset_kcps = + (uint16_t)tempu32; + } + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_part_to_part_data( + VL53L1_DEV Dev, + VL53L1_calibration_data_t *pcal_data) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_xtalk_config_t *pC = &(pdev->xtalk_cfg); + VL53L1_customer_nvm_managed_t *pCN = &(pcal_data->customer); + + LOG_FUNCTION_START(""); + + pcal_data->struct_version = + VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION; + + + memcpy( + &(pcal_data->customer), + &(pdev->customer), + sizeof(VL53L1_customer_nvm_managed_t)); + + + + + if (pC->algo__crosstalk_compensation_plane_offset_kcps > 0xFFFF) { + pCN->algo__crosstalk_compensation_plane_offset_kcps = + 0xFFFF; + } else { + pCN->algo__crosstalk_compensation_plane_offset_kcps = + (uint16_t)pC->algo__crosstalk_compensation_plane_offset_kcps; + } + pCN->algo__crosstalk_compensation_x_plane_gradient_kcps = + pC->algo__crosstalk_compensation_x_plane_gradient_kcps; + pCN->algo__crosstalk_compensation_y_plane_gradient_kcps = + pC->algo__crosstalk_compensation_y_plane_gradient_kcps; + + + memcpy( + &(pcal_data->fmt_dmax_cal), + &(pdev->fmt_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + + + memcpy( + &(pcal_data->cust_dmax_cal), + &(pdev->cust_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + + + memcpy( + &(pcal_data->add_off_cal_data), + &(pdev->add_off_cal_data), + sizeof(VL53L1_additional_offset_cal_data_t)); + + + memcpy( + &(pcal_data->optical_centre), + &(pdev->optical_centre), + sizeof(VL53L1_optical_centre_t)); + + + memcpy( + &(pcal_data->xtalkhisto), + &(pdev->xtalk_shapes), + sizeof(VL53L1_xtalk_histogram_data_t)); + + + memcpy( + &(pcal_data->gain_cal), + &(pdev->gain_cal), + sizeof(VL53L1_gain_calibration_data_t)); + + + memcpy( + &(pcal_data->cal_peak_rate_map), + &(pdev->cal_peak_rate_map), + sizeof(VL53L1_cal_peak_rate_map_t)); + + + memcpy( + &(pcal_data->per_vcsel_cal_data), + &(pdev->per_vcsel_cal_data), + sizeof(VL53L1_per_vcsel_period_offset_cal_data_t)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_inter_measurement_period_ms( + VL53L1_DEV Dev, + uint32_t inter_measurement_period_ms) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + if (pdev->dbg_results.result__osc_calibrate_val == 0) + status = VL53L1_ERROR_DIVISION_BY_ZERO; + + if (status == VL53L1_ERROR_NONE) { + pdev->inter_measurement_period_ms = inter_measurement_period_ms; + pdev->tim_cfg.system__intermeasurement_period = + inter_measurement_period_ms * + (uint32_t)pdev->dbg_results.result__osc_calibrate_val; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_inter_measurement_period_ms( + VL53L1_DEV Dev, + uint32_t *pinter_measurement_period_ms) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + if (pdev->dbg_results.result__osc_calibrate_val == 0) + status = VL53L1_ERROR_DIVISION_BY_ZERO; + + if (status == VL53L1_ERROR_NONE) + *pinter_measurement_period_ms = + pdev->tim_cfg.system__intermeasurement_period / + (uint32_t)pdev->dbg_results.result__osc_calibrate_val; + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_timeouts_us( + VL53L1_DEV Dev, + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + if (pdev->stat_nvm.osc_measured__fast_osc__frequency == 0) + status = VL53L1_ERROR_DIVISION_BY_ZERO; + + if (status == VL53L1_ERROR_NONE) { + + pdev->phasecal_config_timeout_us = phasecal_config_timeout_us; + pdev->mm_config_timeout_us = mm_config_timeout_us; + pdev->range_config_timeout_us = range_config_timeout_us; + + status = + VL53L1_calc_timeout_register_values( + phasecal_config_timeout_us, + mm_config_timeout_us, + range_config_timeout_us, + pdev->stat_nvm.osc_measured__fast_osc__frequency, + &(pdev->gen_cfg), + &(pdev->tim_cfg)); + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_timeouts_us( + VL53L1_DEV Dev, + uint32_t *pphasecal_config_timeout_us, + uint32_t *pmm_config_timeout_us, + uint32_t *prange_config_timeout_us) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + uint32_t macro_period_us = 0; + uint16_t timeout_encoded = 0; + + LOG_FUNCTION_START(""); + + if (pdev->stat_nvm.osc_measured__fast_osc__frequency == 0) + status = VL53L1_ERROR_DIVISION_BY_ZERO; + + if (status == VL53L1_ERROR_NONE) { + + + macro_period_us = + VL53L1_calc_macro_period_us( + pdev->stat_nvm.osc_measured__fast_osc__frequency, + pdev->tim_cfg.range_config__vcsel_period_a); + + + + *pphasecal_config_timeout_us = + VL53L1_calc_timeout_us( + (uint32_t)pdev->gen_cfg.phasecal_config__timeout_macrop, + macro_period_us); + + + + timeout_encoded = + (uint16_t)pdev->tim_cfg.mm_config__timeout_macrop_a_hi; + timeout_encoded = (timeout_encoded << 8) + + (uint16_t)pdev->tim_cfg.mm_config__timeout_macrop_a_lo; + + *pmm_config_timeout_us = + VL53L1_calc_decoded_timeout_us( + timeout_encoded, + macro_period_us); + + + + timeout_encoded = + (uint16_t)pdev->tim_cfg.range_config__timeout_macrop_a_hi; + timeout_encoded = (timeout_encoded << 8) + + (uint16_t)pdev->tim_cfg.range_config__timeout_macrop_a_lo; + + *prange_config_timeout_us = + VL53L1_calc_decoded_timeout_us( + timeout_encoded, + macro_period_us); + + pdev->phasecal_config_timeout_us = *pphasecal_config_timeout_us; + pdev->mm_config_timeout_us = *pmm_config_timeout_us; + pdev->range_config_timeout_us = *prange_config_timeout_us; + + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_calibration_repeat_period( + VL53L1_DEV Dev, + uint16_t cal_config__repeat_period) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + pdev->gen_cfg.cal_config__repeat_rate = cal_config__repeat_period; + + return status; + +} + + +VL53L1_Error VL53L1_get_calibration_repeat_period( + VL53L1_DEV Dev, + uint16_t *pcal_config__repeat_period) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + *pcal_config__repeat_period = pdev->gen_cfg.cal_config__repeat_rate; + + return status; + +} + + +VL53L1_Error VL53L1_set_sequence_config_bit( + VL53L1_DEV Dev, + VL53L1_DeviceSequenceConfig bit_id, + uint8_t value) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t bit_mask = 0x01; + uint8_t clr_mask = 0xFF - bit_mask; + uint8_t bit_value = value & bit_mask; + + if (bit_id <= VL53L1_DEVICESEQUENCECONFIG_RANGE) { + + if (bit_id > 0) { + bit_mask = 0x01 << bit_id; + bit_value = bit_value << bit_id; + clr_mask = 0xFF - bit_mask; + } + + pdev->dyn_cfg.system__sequence_config = + (pdev->dyn_cfg.system__sequence_config & clr_mask) | + bit_value; + + } else { + status = VL53L1_ERROR_INVALID_PARAMS; + } + + return status; + +} + + +VL53L1_Error VL53L1_get_sequence_config_bit( + VL53L1_DEV Dev, + VL53L1_DeviceSequenceConfig bit_id, + uint8_t *pvalue) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t bit_mask = 0x01; + + if (bit_id <= VL53L1_DEVICESEQUENCECONFIG_RANGE) { + + if (bit_id > 0) + bit_mask = 0x01 << bit_id; + + *pvalue = + pdev->dyn_cfg.system__sequence_config & bit_mask; + + if (bit_id > 0) + *pvalue = *pvalue >> bit_id; + + } else { + status = VL53L1_ERROR_INVALID_PARAMS; + } + + return status; +} + + +VL53L1_Error VL53L1_set_interrupt_polarity( + VL53L1_DEV Dev, + VL53L1_DeviceInterruptPolarity interrupt_polarity) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + pdev->stat_cfg.gpio_hv_mux__ctrl = + (pdev->stat_cfg.gpio_hv_mux__ctrl & + VL53L1_DEVICEINTERRUPTPOLARITY_CLEAR_MASK) | + (interrupt_polarity & + VL53L1_DEVICEINTERRUPTPOLARITY_BIT_MASK); + + return status; + +} + + +VL53L1_Error VL53L1_set_refspadchar_config_struct( + VL53L1_DEV Dev, + VL53L1_refspadchar_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->refspadchar.device_test_mode = pdata->device_test_mode; + pdev->refspadchar.VL53L1_p_009 = pdata->VL53L1_p_009; + pdev->refspadchar.timeout_us = pdata->timeout_us; + pdev->refspadchar.target_count_rate_mcps = + pdata->target_count_rate_mcps; + pdev->refspadchar.min_count_rate_limit_mcps = + pdata->min_count_rate_limit_mcps; + pdev->refspadchar.max_count_rate_limit_mcps = + pdata->max_count_rate_limit_mcps; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_get_refspadchar_config_struct( + VL53L1_DEV Dev, + VL53L1_refspadchar_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdata->device_test_mode = pdev->refspadchar.device_test_mode; + pdata->VL53L1_p_009 = pdev->refspadchar.VL53L1_p_009; + pdata->timeout_us = pdev->refspadchar.timeout_us; + pdata->target_count_rate_mcps = + pdev->refspadchar.target_count_rate_mcps; + pdata->min_count_rate_limit_mcps = + pdev->refspadchar.min_count_rate_limit_mcps; + pdata->max_count_rate_limit_mcps = + pdev->refspadchar.max_count_rate_limit_mcps; + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_set_range_ignore_threshold( + VL53L1_DEV Dev, + uint8_t range_ignore_thresh_mult, + uint16_t range_ignore_threshold_mcps) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + pdev->xtalk_cfg.crosstalk_range_ignore_threshold_rate_mcps = + range_ignore_threshold_mcps; + + pdev->xtalk_cfg.crosstalk_range_ignore_threshold_mult = + range_ignore_thresh_mult; + + return status; + +} + +VL53L1_Error VL53L1_get_range_ignore_threshold( + VL53L1_DEV Dev, + uint8_t *prange_ignore_thresh_mult, + uint16_t *prange_ignore_threshold_mcps_internal, + uint16_t *prange_ignore_threshold_mcps_current) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + *prange_ignore_thresh_mult = + pdev->xtalk_cfg.crosstalk_range_ignore_threshold_mult; + + *prange_ignore_threshold_mcps_current = + pdev->stat_cfg.algo__range_ignore_threshold_mcps; + + *prange_ignore_threshold_mcps_internal = + pdev->xtalk_cfg.crosstalk_range_ignore_threshold_rate_mcps; + + return status; + +} + + + +VL53L1_Error VL53L1_get_interrupt_polarity( + VL53L1_DEV Dev, + VL53L1_DeviceInterruptPolarity *pinterrupt_polarity) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + *pinterrupt_polarity = + pdev->stat_cfg.gpio_hv_mux__ctrl & + VL53L1_DEVICEINTERRUPTPOLARITY_BIT_MASK; + + return status; + +} + + +VL53L1_Error VL53L1_set_user_zone( + VL53L1_DEV Dev, + VL53L1_user_zone_t *puser_zone) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + VL53L1_encode_row_col( + puser_zone->y_centre, + puser_zone->x_centre, + &(pdev->dyn_cfg.roi_config__user_roi_centre_spad)); + + + VL53L1_encode_zone_size( + puser_zone->width, + puser_zone->height, + &(pdev->dyn_cfg.roi_config__user_roi_requested_global_xy_size)); + + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_user_zone( + VL53L1_DEV Dev, + VL53L1_user_zone_t *puser_zone) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + VL53L1_decode_row_col( + pdev->dyn_cfg.roi_config__user_roi_centre_spad, + &(puser_zone->y_centre), + &(puser_zone->x_centre)); + + + VL53L1_decode_zone_size( + pdev->dyn_cfg.roi_config__user_roi_requested_global_xy_size, + &(puser_zone->width), + &(puser_zone->height)); + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_get_mode_mitigation_roi( + VL53L1_DEV Dev, + VL53L1_user_zone_t *pmm_roi) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t x = 0; + uint8_t y = 0; + uint8_t xy_size = 0; + + LOG_FUNCTION_START(""); + + + VL53L1_decode_row_col( + pdev->nvm_copy_data.roi_config__mode_roi_centre_spad, + &y, + &x); + + pmm_roi->x_centre = x; + pmm_roi->y_centre = y; + + + xy_size = pdev->nvm_copy_data.roi_config__mode_roi_xy_size; + + pmm_roi->height = xy_size >> 4; + pmm_roi->width = xy_size & 0x0F; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_zone_config( + VL53L1_DEV Dev, + VL53L1_zone_config_t *pzone_cfg) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + memcpy(&(pdev->zone_cfg.user_zones), &(pzone_cfg->user_zones), + sizeof(pdev->zone_cfg.user_zones)); + + + pdev->zone_cfg.max_zones = pzone_cfg->max_zones; + pdev->zone_cfg.active_zones = pzone_cfg->active_zones; + + status = VL53L1_init_zone_config_histogram_bins(&pdev->zone_cfg); + + + + if (pzone_cfg->active_zones == 0) + pdev->gen_cfg.global_config__stream_divider = 0; + else if (pzone_cfg->active_zones < VL53L1_MAX_USER_ZONES) + pdev->gen_cfg.global_config__stream_divider = + pzone_cfg->active_zones + 1; + else + pdev->gen_cfg.global_config__stream_divider = + VL53L1_MAX_USER_ZONES + 1; + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_get_zone_config( + VL53L1_DEV Dev, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + memcpy(pzone_cfg, &(pdev->zone_cfg), sizeof(VL53L1_zone_config_t)); + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_get_preset_mode_timing_cfg( + VL53L1_DEV Dev, + VL53L1_DevicePresetModes device_preset_mode, + uint16_t *pdss_config__target_total_rate_mcps, + uint32_t *pphasecal_config_timeout_us, + uint32_t *pmm_config_timeout_us, + uint32_t *prange_config_timeout_us) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + switch (device_preset_mode) { + + case VL53L1_DEVICEPRESETMODE_STANDARD_RANGING: + case VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_SHORT_RANGE: + case VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_LONG_RANGE: + case VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM1_CAL: + case VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM2_CAL: + case VL53L1_DEVICEPRESETMODE_OLT: + *pdss_config__target_total_rate_mcps = + pdev->tuning_parms.tp_dss_target_lite_mcps; + *pphasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_lite_us; + *pmm_config_timeout_us = + pdev->tuning_parms.tp_mm_timeout_lite_us; + *prange_config_timeout_us = + pdev->tuning_parms.tp_range_timeout_lite_us; + break; + + case VL53L1_DEVICEPRESETMODE_TIMED_RANGING: + case VL53L1_DEVICEPRESETMODE_TIMED_RANGING_SHORT_RANGE: + case VL53L1_DEVICEPRESETMODE_TIMED_RANGING_LONG_RANGE: + case VL53L1_DEVICEPRESETMODE_SINGLESHOT_RANGING: + *pdss_config__target_total_rate_mcps = + pdev->tuning_parms.tp_dss_target_timed_mcps; + *pphasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_timed_us; + *pmm_config_timeout_us = + pdev->tuning_parms.tp_mm_timeout_timed_us; + *prange_config_timeout_us = + pdev->tuning_parms.tp_range_timeout_timed_us; + break; + + case VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_SHORT_RANGE: + case VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_MEDIUM_RANGE: + case VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_LONG_RANGE: + *pdss_config__target_total_rate_mcps = + pdev->tuning_parms.tp_dss_target_timed_mcps; + *pphasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_timed_us; + *pmm_config_timeout_us = + pdev->tuning_parms.tp_mm_timeout_lpa_us; + *prange_config_timeout_us = + pdev->tuning_parms.tp_range_timeout_lpa_us; + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING: + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_WITH_MM1: + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_WITH_MM2: + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM1_CAL: + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM2_CAL: + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_REF_ARRAY: + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE: + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE_MM1: + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE_MM2: + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_CHARACTERISATION: + *pdss_config__target_total_rate_mcps = + pdev->tuning_parms.tp_dss_target_histo_mcps; + *pphasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_hist_long_us; + *pmm_config_timeout_us = + pdev->tuning_parms.tp_mm_timeout_histo_us; + *prange_config_timeout_us = + pdev->tuning_parms.tp_range_timeout_histo_us; + + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE: + *pdss_config__target_total_rate_mcps = + pdev->tuning_parms.tp_dss_target_histo_mz_mcps; + *pphasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_mz_med_us; + *pmm_config_timeout_us = + pdev->tuning_parms.tp_mm_timeout_mz_us; + *prange_config_timeout_us = + pdev->tuning_parms.tp_range_timeout_mz_us; + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_SHORT_RANGE: + *pdss_config__target_total_rate_mcps = + pdev->tuning_parms.tp_dss_target_histo_mz_mcps; + *pphasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_mz_short_us; + *pmm_config_timeout_us = + pdev->tuning_parms.tp_mm_timeout_mz_us; + *prange_config_timeout_us = + pdev->tuning_parms.tp_range_timeout_mz_us; + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_LONG_RANGE: + *pdss_config__target_total_rate_mcps = + pdev->tuning_parms.tp_dss_target_histo_mz_mcps; + *pphasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_mz_long_us; + *pmm_config_timeout_us = + pdev->tuning_parms.tp_mm_timeout_mz_us; + *prange_config_timeout_us = + pdev->tuning_parms.tp_range_timeout_mz_us; + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_SHORT_TIMING: + *pdss_config__target_total_rate_mcps = + pdev->tuning_parms.tp_dss_target_histo_mcps; + *pphasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_hist_short_us; + *pmm_config_timeout_us = + pdev->tuning_parms.tp_mm_timeout_histo_us; + *prange_config_timeout_us = + pdev->tuning_parms.tp_range_timeout_histo_us; + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE: + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE_MM1: + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE_MM2: + *pdss_config__target_total_rate_mcps = + pdev->tuning_parms.tp_dss_target_histo_mcps; + *pphasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_hist_med_us; + *pmm_config_timeout_us = + pdev->tuning_parms.tp_mm_timeout_histo_us; + *prange_config_timeout_us = + pdev->tuning_parms.tp_range_timeout_histo_us; + break; + + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE: + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE_MM1: + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE_MM2: + *pdss_config__target_total_rate_mcps = + pdev->tuning_parms.tp_dss_target_histo_mcps; + *pphasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_hist_short_us; + *pmm_config_timeout_us = + pdev->tuning_parms.tp_mm_timeout_histo_us; + *prange_config_timeout_us = + pdev->tuning_parms.tp_range_timeout_histo_us; + break; + + case VL53L1_DEVICEPRESETMODE_SPECIAL_HISTOGRAM_SHORT_RANGE: + *pdss_config__target_total_rate_mcps = + pdev->tuning_parms.tp_dss_target_very_short_mcps; + *pphasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_hist_short_us; + *pmm_config_timeout_us = + pdev->tuning_parms.tp_mm_timeout_histo_us; + *prange_config_timeout_us = + pdev->tuning_parms.tp_range_timeout_histo_us; + break; + + default: + status = VL53L1_ERROR_INVALID_PARAMS; + break; + + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_preset_mode( + VL53L1_DEV Dev, + VL53L1_DevicePresetModes device_preset_mode, + uint16_t dss_config__target_total_rate_mcps, + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us, + uint32_t inter_measurement_period_ms) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + VL53L1_hist_post_process_config_t *phistpostprocess = + &(pdev->histpostprocess); + + VL53L1_static_config_t *pstatic = &(pdev->stat_cfg); + VL53L1_histogram_config_t *phistogram = &(pdev->hist_cfg); + VL53L1_general_config_t *pgeneral = &(pdev->gen_cfg); + VL53L1_timing_config_t *ptiming = &(pdev->tim_cfg); + VL53L1_dynamic_config_t *pdynamic = &(pdev->dyn_cfg); + VL53L1_system_control_t *psystem = &(pdev->sys_ctrl); + VL53L1_zone_config_t *pzone_cfg = &(pdev->zone_cfg); + VL53L1_tuning_parm_storage_t *ptuning_parms = &(pdev->tuning_parms); + VL53L1_low_power_auto_data_t *plpadata = + &(pdev->low_power_auto_data); + + LOG_FUNCTION_START(""); + + + pdev->preset_mode = device_preset_mode; + pdev->mm_config_timeout_us = mm_config_timeout_us; + pdev->range_config_timeout_us = range_config_timeout_us; + pdev->inter_measurement_period_ms = inter_measurement_period_ms; + + + + VL53L1_init_ll_driver_state( + Dev, + VL53L1_DEVICESTATE_SW_STANDBY); + + + + switch (device_preset_mode) { + + case VL53L1_DEVICEPRESETMODE_STANDARD_RANGING: + status = VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_SHORT_RANGE: + status = VL53L1_preset_mode_standard_ranging_short_range( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_LONG_RANGE: + status = VL53L1_preset_mode_standard_ranging_long_range( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM1_CAL: + status = VL53L1_preset_mode_standard_ranging_mm1_cal( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_STANDARD_RANGING_MM2_CAL: + status = VL53L1_preset_mode_standard_ranging_mm2_cal( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_TIMED_RANGING: + status = VL53L1_preset_mode_timed_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_TIMED_RANGING_SHORT_RANGE: + status = VL53L1_preset_mode_timed_ranging_short_range( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_TIMED_RANGING_LONG_RANGE: + status = VL53L1_preset_mode_timed_ranging_long_range( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING: + status = VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_WITH_MM1: + status = VL53L1_preset_mode_histogram_ranging_with_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_WITH_MM2: + status = VL53L1_preset_mode_histogram_ranging_with_mm2( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM1_CAL: + status = VL53L1_preset_mode_histogram_ranging_mm1_cal( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_MM2_CAL: + status = VL53L1_preset_mode_histogram_ranging_mm2_cal( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE: + status = VL53L1_preset_mode_histogram_multizone( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_SHORT_RANGE: + status = VL53L1_preset_mode_histogram_multizone_short_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MULTIZONE_LONG_RANGE: + status = VL53L1_preset_mode_histogram_multizone_long_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_REF_ARRAY: + status = VL53L1_preset_mode_histogram_ranging_ref( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_RANGING_SHORT_TIMING: + status = VL53L1_preset_mode_histogram_ranging_short_timing( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE: + status = VL53L1_preset_mode_histogram_long_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE_MM1: + status = VL53L1_preset_mode_histogram_long_range_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_LONG_RANGE_MM2: + status = VL53L1_preset_mode_histogram_long_range_mm2( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE: + status = VL53L1_preset_mode_histogram_medium_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE_MM1: + status = VL53L1_preset_mode_histogram_medium_range_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_MEDIUM_RANGE_MM2: + status = VL53L1_preset_mode_histogram_medium_range_mm2( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE: + status = VL53L1_preset_mode_histogram_short_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE_MM1: + status = VL53L1_preset_mode_histogram_short_range_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_SHORT_RANGE_MM2: + status = VL53L1_preset_mode_histogram_short_range_mm2( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_CHARACTERISATION: + status = VL53L1_preset_mode_histogram_characterisation( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_XTALK_PLANAR: + status = VL53L1_preset_mode_histogram_xtalk_planar( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_XTALK_MM1: + status = VL53L1_preset_mode_histogram_xtalk_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_HISTOGRAM_XTALK_MM2: + status = VL53L1_preset_mode_histogram_xtalk_mm2( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_OLT: + status = VL53L1_preset_mode_olt( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_SINGLESHOT_RANGING: + status = VL53L1_preset_mode_singleshot_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + case VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_SHORT_RANGE: + status = VL53L1_preset_mode_low_power_auto_short_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg, + plpadata); + break; + + case VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_MEDIUM_RANGE: + status = VL53L1_preset_mode_low_power_auto_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg, + plpadata); + break; + + case VL53L1_DEVICEPRESETMODE_LOWPOWERAUTO_LONG_RANGE: + status = VL53L1_preset_mode_low_power_auto_long_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg, + plpadata); + break; + + + case VL53L1_DEVICEPRESETMODE_SPECIAL_HISTOGRAM_SHORT_RANGE: + status = VL53L1_preset_mode_special_histogram_short_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + break; + + default: + status = VL53L1_ERROR_INVALID_PARAMS; + break; + + } + + + + if (status == VL53L1_ERROR_NONE) { + + pstatic->dss_config__target_total_rate_mcps = + dss_config__target_total_rate_mcps; + pdev->dss_config__target_total_rate_mcps = + dss_config__target_total_rate_mcps; + + } + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_timeouts_us( + Dev, + phasecal_config_timeout_us, + mm_config_timeout_us, + range_config_timeout_us); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_inter_measurement_period_ms( + Dev, + inter_measurement_period_ms); + + + + V53L1_init_zone_results_structure( + pdev->zone_cfg.active_zones+1, + &(pres->zone_results)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_zone_preset( + VL53L1_DEV Dev, + VL53L1_DeviceZonePreset zone_preset) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + VL53L1_general_config_t *pgeneral = &(pdev->gen_cfg); + VL53L1_zone_config_t *pzone_cfg = &(pdev->zone_cfg); + + LOG_FUNCTION_START(""); + + + pdev->zone_preset = zone_preset; + + + + switch (zone_preset) { + + case VL53L1_DEVICEZONEPRESET_XTALK_PLANAR: + status = + VL53L1_zone_preset_xtalk_planar( + pgeneral, + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_1X1_SIZE_16X16: + status = + VL53L1_init_zone_config_structure( + 8, 1, 1, + 8, 1, 1, + 15, 15, + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_1X2_SIZE_16X8: + status = + VL53L1_init_zone_config_structure( + 8, 1, 1, + 4, 8, 2, + 15, 7, + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_2X1_SIZE_8X16: + status = + VL53L1_init_zone_config_structure( + 4, 8, 2, + 8, 1, 1, + 7, 15, + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_2X2_SIZE_8X8: + status = + VL53L1_init_zone_config_structure( + 4, 8, 2, + 4, 8, 2, + 7, 7, + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_3X3_SIZE_5X5: + status = + VL53L1_init_zone_config_structure( + 2, 5, 3, + 2, 5, 3, + 4, 4, + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_4X4_SIZE_4X4: + status = + VL53L1_init_zone_config_structure( + 2, 4, 4, + 2, 4, 4, + 3, 3, + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_5X5_SIZE_4X4: + status = + VL53L1_init_zone_config_structure( + 2, 3, 5, + 2, 3, 5, + 3, 3, + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_11X11_SIZE_5X5: + status = + VL53L1_init_zone_config_structure( + 3, 1, 11, + 3, 1, 11, + 4, 4, + pzone_cfg); + break; + + case VL53L1_DEVICEZONEPRESET_13X13_SIZE_4X4: + status = + VL53L1_init_zone_config_structure( + 2, 1, 13, + 2, 1, 13, + 3, 3, + pzone_cfg); + + break; + + case VL53L1_DEVICEZONEPRESET_1X1_SIZE_4X4_POS_8X8: + status = + VL53L1_init_zone_config_structure( + 8, 1, 1, + 8, 1, 1, + 3, 3, + pzone_cfg); + break; + + } + + + + if (pzone_cfg->active_zones == 0) + pdev->gen_cfg.global_config__stream_divider = 0; + else if (pzone_cfg->active_zones < VL53L1_MAX_USER_ZONES) + pdev->gen_cfg.global_config__stream_divider = + pzone_cfg->active_zones + 1; + else + pdev->gen_cfg.global_config__stream_divider = + VL53L1_MAX_USER_ZONES + 1; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_enable_xtalk_compensation( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint32_t tempu32; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_xtalk_config_t *pC = &(pdev->xtalk_cfg); + VL53L1_hist_post_process_config_t *pHP = &(pdev->histpostprocess); + VL53L1_customer_nvm_managed_t *pN = &(pdev->customer); + + LOG_FUNCTION_START(""); + + + tempu32 = VL53L1_calc_crosstalk_plane_offset_with_margin( + pC->algo__crosstalk_compensation_plane_offset_kcps, + pC->lite_mode_crosstalk_margin_kcps); + if (tempu32 > 0xFFFF) + tempu32 = 0xFFFF; + + pN->algo__crosstalk_compensation_plane_offset_kcps = + (uint16_t)tempu32; + + pN->algo__crosstalk_compensation_x_plane_gradient_kcps = + pC->algo__crosstalk_compensation_x_plane_gradient_kcps; + + pN->algo__crosstalk_compensation_y_plane_gradient_kcps = + pC->algo__crosstalk_compensation_y_plane_gradient_kcps; + + + pHP->algo__crosstalk_compensation_plane_offset_kcps = + VL53L1_calc_crosstalk_plane_offset_with_margin( + pC->algo__crosstalk_compensation_plane_offset_kcps, + pC->histogram_mode_crosstalk_margin_kcps); + + pHP->algo__crosstalk_compensation_x_plane_gradient_kcps + = pC->algo__crosstalk_compensation_x_plane_gradient_kcps; + pHP->algo__crosstalk_compensation_y_plane_gradient_kcps + = pC->algo__crosstalk_compensation_y_plane_gradient_kcps; + + + + pC->global_crosstalk_compensation_enable = 0x01; + + pHP->algo__crosstalk_compensation_enable = + pC->global_crosstalk_compensation_enable; + + + + + if (status == VL53L1_ERROR_NONE) { + pC->crosstalk_range_ignore_threshold_rate_mcps = + VL53L1_calc_range_ignore_threshold( + pC->algo__crosstalk_compensation_plane_offset_kcps, + pC->algo__crosstalk_compensation_x_plane_gradient_kcps, + pC->algo__crosstalk_compensation_y_plane_gradient_kcps, + pC->crosstalk_range_ignore_threshold_mult); +} + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_set_customer_nvm_managed( + Dev, + &(pdev->customer)); + + LOG_FUNCTION_END(status); + + return status; + +} + +void VL53L1_get_xtalk_compensation_enable( + VL53L1_DEV Dev, + uint8_t *pcrosstalk_compensation_enable) +{ + + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + *pcrosstalk_compensation_enable = + pdev->xtalk_cfg.global_crosstalk_compensation_enable; + +} + + +VL53L1_Error VL53L1_get_lite_xtalk_margin_kcps( + VL53L1_DEV Dev, + int16_t *pxtalk_margin) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *pxtalk_margin = pdev->xtalk_cfg.lite_mode_crosstalk_margin_kcps; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_lite_xtalk_margin_kcps( + VL53L1_DEV Dev, + int16_t xtalk_margin) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->xtalk_cfg.lite_mode_crosstalk_margin_kcps = xtalk_margin; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_histogram_xtalk_margin_kcps( + VL53L1_DEV Dev, + int16_t *pxtalk_margin) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *pxtalk_margin = pdev->xtalk_cfg.histogram_mode_crosstalk_margin_kcps; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_histogram_xtalk_margin_kcps( + VL53L1_DEV Dev, + int16_t xtalk_margin) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->xtalk_cfg.histogram_mode_crosstalk_margin_kcps = xtalk_margin; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_restore_xtalk_nvm_default( + VL53L1_DEV Dev) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_xtalk_config_t *pC = &(pdev->xtalk_cfg); + + LOG_FUNCTION_START(""); + + pC->algo__crosstalk_compensation_plane_offset_kcps = + pC->nvm_default__crosstalk_compensation_plane_offset_kcps; + pC->algo__crosstalk_compensation_x_plane_gradient_kcps = + pC->nvm_default__crosstalk_compensation_x_plane_gradient_kcps; + pC->algo__crosstalk_compensation_y_plane_gradient_kcps = + pC->nvm_default__crosstalk_compensation_y_plane_gradient_kcps; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_disable_xtalk_compensation( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_hist_post_process_config_t *pHP = &(pdev->histpostprocess); + VL53L1_customer_nvm_managed_t *pN = &(pdev->customer); + + LOG_FUNCTION_START(""); + + + pN->algo__crosstalk_compensation_plane_offset_kcps = + 0x00; + + pN->algo__crosstalk_compensation_x_plane_gradient_kcps = + 0x00; + + pN->algo__crosstalk_compensation_y_plane_gradient_kcps = + 0x00; + + + + pdev->xtalk_cfg.global_crosstalk_compensation_enable = 0x00; + + pHP->algo__crosstalk_compensation_enable = + pdev->xtalk_cfg.global_crosstalk_compensation_enable; + + + + if (status == VL53L1_ERROR_NONE) { + pdev->xtalk_cfg.crosstalk_range_ignore_threshold_rate_mcps = + 0x0000; + } + + + + if (status == VL53L1_ERROR_NONE) { + status = + VL53L1_set_customer_nvm_managed( + Dev, + &(pdev->customer)); + } + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_get_histogram_phase_consistency( + VL53L1_DEV Dev, + uint8_t *pphase_consistency) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_hist_post_process_config_t *pHP = &(pdev->histpostprocess); + + LOG_FUNCTION_START(""); + + *pphase_consistency = + pHP->algo__consistency_check__phase_tolerance; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_histogram_phase_consistency( + VL53L1_DEV Dev, + uint8_t phase_consistency) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->histpostprocess.algo__consistency_check__phase_tolerance = + phase_consistency; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_get_histogram_event_consistency( + VL53L1_DEV Dev, + uint8_t *pevent_consistency) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *pevent_consistency = + pdev->histpostprocess.algo__consistency_check__event_sigma; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_histogram_event_consistency( + VL53L1_DEV Dev, + uint8_t event_consistency) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->histpostprocess.algo__consistency_check__event_sigma = + event_consistency; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_get_histogram_ambient_threshold_sigma( + VL53L1_DEV Dev, + uint8_t *pamb_thresh_sigma) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *pamb_thresh_sigma = + pdev->histpostprocess.ambient_thresh_sigma1; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_histogram_ambient_threshold_sigma( + VL53L1_DEV Dev, + uint8_t amb_thresh_sigma) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->histpostprocess.ambient_thresh_sigma1 = + amb_thresh_sigma; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_get_lite_sigma_threshold( + VL53L1_DEV Dev, + uint16_t *plite_sigma) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *plite_sigma = + pdev->tim_cfg.range_config__sigma_thresh; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_lite_sigma_threshold( + VL53L1_DEV Dev, + uint16_t lite_sigma) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->tim_cfg.range_config__sigma_thresh = lite_sigma; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_get_lite_min_count_rate( + VL53L1_DEV Dev, + uint16_t *plite_mincountrate) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *plite_mincountrate = + pdev->tim_cfg.range_config__min_count_rate_rtn_limit_mcps; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_lite_min_count_rate( + VL53L1_DEV Dev, + uint16_t lite_mincountrate) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->tim_cfg.range_config__min_count_rate_rtn_limit_mcps = + lite_mincountrate; + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_get_xtalk_detect_config( + VL53L1_DEV Dev, + int16_t *pmax_valid_range_mm, + int16_t *pmin_valid_range_mm, + uint16_t *pmax_valid_rate_kcps, + uint16_t *pmax_sigma_mm) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *pmax_valid_range_mm = + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_range_mm; + *pmin_valid_range_mm = + pdev->xtalk_cfg.algo__crosstalk_detect_min_valid_range_mm; + *pmax_valid_rate_kcps = + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_rate_kcps; + *pmax_sigma_mm = + pdev->xtalk_cfg.algo__crosstalk_detect_max_sigma_mm; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_xtalk_detect_config( + VL53L1_DEV Dev, + int16_t max_valid_range_mm, + int16_t min_valid_range_mm, + uint16_t max_valid_rate_kcps, + uint16_t max_sigma_mm) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_range_mm = + max_valid_range_mm; + pdev->xtalk_cfg.algo__crosstalk_detect_min_valid_range_mm = + min_valid_range_mm; + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_rate_kcps = + max_valid_rate_kcps; + pdev->xtalk_cfg.algo__crosstalk_detect_max_sigma_mm = + max_sigma_mm; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_get_target_order_mode( + VL53L1_DEV Dev, + VL53L1_HistTargetOrder *phist_target_order) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *phist_target_order = + pdev->histpostprocess.hist_target_order; + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_target_order_mode( + VL53L1_DEV Dev, + VL53L1_HistTargetOrder hist_target_order) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->histpostprocess.hist_target_order = hist_target_order; + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_get_dmax_reflectance_values( + VL53L1_DEV Dev, + VL53L1_dmax_reflectance_array_t *pdmax_reflectances) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + for (i = 0; i < VL53L1_MAX_AMBIENT_DMAX_VALUES; i++) { + pdmax_reflectances->target_reflectance_for_dmax[i] = + pdev->dmax_cfg.target_reflectance_for_dmax_calc[i]; + } + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_set_dmax_reflectance_values( + VL53L1_DEV Dev, + VL53L1_dmax_reflectance_array_t *pdmax_reflectances) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + for (i = 0; i < VL53L1_MAX_AMBIENT_DMAX_VALUES; i++) { + pdev->dmax_cfg.target_reflectance_for_dmax_calc[i] = + pdmax_reflectances->target_reflectance_for_dmax[i]; + } + + LOG_FUNCTION_END(status); + + return status; + +} + +VL53L1_Error VL53L1_get_vhv_loopbound( + VL53L1_DEV Dev, + uint8_t *pvhv_loopbound) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *pvhv_loopbound = + pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound / 4; + + LOG_FUNCTION_END(status); + + return status; + +} + + + +VL53L1_Error VL53L1_set_vhv_loopbound( + VL53L1_DEV Dev, + uint8_t vhv_loopbound) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound = + (pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound & 0x03) + + (vhv_loopbound * 4); + + LOG_FUNCTION_END(status); + + return status; + +} + + + +VL53L1_Error VL53L1_get_vhv_config( + VL53L1_DEV Dev, + uint8_t *pvhv_init_en, + uint8_t *pvhv_init_value) +{ + + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *pvhv_init_en = (pdev->stat_nvm.vhv_config__init & 0x80) >> 7; + *pvhv_init_value = + (pdev->stat_nvm.vhv_config__init & 0x7F); + + LOG_FUNCTION_END(status); + + return status; + +} + + + +VL53L1_Error VL53L1_set_vhv_config( + VL53L1_DEV Dev, + uint8_t vhv_init_en, + uint8_t vhv_init_value) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->stat_nvm.vhv_config__init = + ((vhv_init_en & 0x01) << 7) + + (vhv_init_value & 0x7F); + + LOG_FUNCTION_END(status); + + return status; + +} + + + +VL53L1_Error VL53L1_init_and_start_range( + VL53L1_DEV Dev, + uint8_t measurement_mode, + VL53L1_DeviceConfigLevel device_config_level) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + uint8_t buffer[VL53L1_MAX_I2C_XFER_SIZE]; + + VL53L1_static_nvm_managed_t *pstatic_nvm = &(pdev->stat_nvm); + VL53L1_customer_nvm_managed_t *pcustomer_nvm = &(pdev->customer); + VL53L1_static_config_t *pstatic = &(pdev->stat_cfg); + VL53L1_general_config_t *pgeneral = &(pdev->gen_cfg); + VL53L1_timing_config_t *ptiming = &(pdev->tim_cfg); + VL53L1_dynamic_config_t *pdynamic = &(pdev->dyn_cfg); + VL53L1_system_control_t *psystem = &(pdev->sys_ctrl); + + VL53L1_ll_driver_state_t *pstate = &(pdev->ll_state); + VL53L1_customer_nvm_managed_t *pN = &(pdev->customer); + + uint8_t *pbuffer = &buffer[0]; + uint16_t i = 0; + uint16_t i2c_index = 0; + uint16_t i2c_buffer_offset_bytes = 0; + uint16_t i2c_buffer_size_bytes = 0; + + LOG_FUNCTION_START(""); + + + pdev->measurement_mode = measurement_mode; + + + + psystem->system__mode_start = + (psystem->system__mode_start & + VL53L1_DEVICEMEASUREMENTMODE_STOP_MASK) | + measurement_mode; + + + + status = + VL53L1_set_user_zone( + Dev, + &(pdev->zone_cfg.user_zones[pdev->ll_state.cfg_zone_id])); + + + if (pdev->zone_cfg.active_zones > 0) { + status = + VL53L1_set_zone_dss_config( + Dev, + &(pres->zone_dyn_cfgs.VL53L1_p_002[pdev->ll_state.cfg_zone_id]) + ); + } + + + + + if (((pdev->sys_ctrl.system__mode_start & + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM) == 0x00) && + (pdev->xtalk_cfg.global_crosstalk_compensation_enable + == 0x01)) { + pdev->stat_cfg.algo__range_ignore_threshold_mcps = + pdev->xtalk_cfg.crosstalk_range_ignore_threshold_rate_mcps; + } + + + + + + if (pdev->low_power_auto_data.low_power_auto_range_count == 0xFF) + pdev->low_power_auto_data.low_power_auto_range_count = 0x0; + + + if ((pdev->low_power_auto_data.is_low_power_auto_mode == 1) && + (pdev->low_power_auto_data.low_power_auto_range_count == 0)) { + + pdev->low_power_auto_data.saved_interrupt_config = + pdev->gen_cfg.system__interrupt_config_gpio; + + pdev->gen_cfg.system__interrupt_config_gpio = 1 << 5; + + if ((pdev->dyn_cfg.system__sequence_config & ( + VL53L1_SEQUENCE_MM1_EN | VL53L1_SEQUENCE_MM2_EN)) == + 0x0) { + pN->algo__part_to_part_range_offset_mm = + (pN->mm_config__outer_offset_mm << 2); + } else { + pN->algo__part_to_part_range_offset_mm = 0x0; + } + + + if (device_config_level < + VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS) { + device_config_level = + VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS; + } + } + + if ((pdev->low_power_auto_data.is_low_power_auto_mode == 1) && + (pdev->low_power_auto_data.low_power_auto_range_count == 1)) { + + pdev->gen_cfg.system__interrupt_config_gpio = + pdev->low_power_auto_data.saved_interrupt_config; + + + device_config_level = VL53L1_DEVICECONFIGLEVEL_FULL; + } + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_save_cfg_data(Dev); + + + + switch (device_config_level) { + case VL53L1_DEVICECONFIGLEVEL_FULL: + i2c_index = VL53L1_STATIC_NVM_MANAGED_I2C_INDEX; + break; + case VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS: + i2c_index = VL53L1_CUSTOMER_NVM_MANAGED_I2C_INDEX; + break; + case VL53L1_DEVICECONFIGLEVEL_STATIC_ONWARDS: + i2c_index = VL53L1_STATIC_CONFIG_I2C_INDEX; + break; + case VL53L1_DEVICECONFIGLEVEL_GENERAL_ONWARDS: + i2c_index = VL53L1_GENERAL_CONFIG_I2C_INDEX; + break; + case VL53L1_DEVICECONFIGLEVEL_TIMING_ONWARDS: + i2c_index = VL53L1_TIMING_CONFIG_I2C_INDEX; + break; + case VL53L1_DEVICECONFIGLEVEL_DYNAMIC_ONWARDS: + i2c_index = VL53L1_DYNAMIC_CONFIG_I2C_INDEX; + break; + default: + i2c_index = VL53L1_SYSTEM_CONTROL_I2C_INDEX; + break; + } + + + + i2c_buffer_size_bytes = + (VL53L1_SYSTEM_CONTROL_I2C_INDEX + + VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES) - + i2c_index; + + + + pbuffer = &buffer[0]; + for (i = 0; i < i2c_buffer_size_bytes; i++) + *pbuffer++ = 0; + + + + if (device_config_level >= VL53L1_DEVICECONFIGLEVEL_FULL && + status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = + VL53L1_STATIC_NVM_MANAGED_I2C_INDEX - i2c_index; + + status = + VL53L1_i2c_encode_static_nvm_managed( + pstatic_nvm, + VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes]); + } + + if (device_config_level >= VL53L1_DEVICECONFIGLEVEL_CUSTOMER_ONWARDS && + status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = + VL53L1_CUSTOMER_NVM_MANAGED_I2C_INDEX - i2c_index; + + status = + VL53L1_i2c_encode_customer_nvm_managed( + pcustomer_nvm, + VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes]); + } + + if (device_config_level >= VL53L1_DEVICECONFIGLEVEL_STATIC_ONWARDS && + status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = + VL53L1_STATIC_CONFIG_I2C_INDEX - i2c_index; + + status = + VL53L1_i2c_encode_static_config( + pstatic, + VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes]); + } + + if (device_config_level >= VL53L1_DEVICECONFIGLEVEL_GENERAL_ONWARDS && + status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = + VL53L1_GENERAL_CONFIG_I2C_INDEX - i2c_index; + + status = + VL53L1_i2c_encode_general_config( + pgeneral, + VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes]); + } + + if (device_config_level >= VL53L1_DEVICECONFIGLEVEL_TIMING_ONWARDS && + status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = + VL53L1_TIMING_CONFIG_I2C_INDEX - i2c_index; + + status = + VL53L1_i2c_encode_timing_config( + ptiming, + VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes]); + } + + if (device_config_level >= VL53L1_DEVICECONFIGLEVEL_DYNAMIC_ONWARDS && + status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = + VL53L1_DYNAMIC_CONFIG_I2C_INDEX - i2c_index; + + + if ((psystem->system__mode_start & + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK) == + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK) { + pdynamic->system__grouped_parameter_hold_0 = + pstate->cfg_gph_id | 0x01; + pdynamic->system__grouped_parameter_hold_1 = + pstate->cfg_gph_id | 0x01; + pdynamic->system__grouped_parameter_hold = + pstate->cfg_gph_id; + } + status = + VL53L1_i2c_encode_dynamic_config( + pdynamic, + VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes]); + } + + if (status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = + VL53L1_SYSTEM_CONTROL_I2C_INDEX - i2c_index; + + status = + VL53L1_i2c_encode_system_control( + psystem, + VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes]); + } + + + + if (status == VL53L1_ERROR_NONE) { + status = + VL53L1_WriteMulti( + Dev, + i2c_index, + buffer, + (uint32_t)i2c_buffer_size_bytes); + } + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_update_ll_driver_rd_state(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_update_ll_driver_cfg_state(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_stop_range( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + + + pdev->sys_ctrl.system__mode_start = + (pdev->sys_ctrl.system__mode_start & + VL53L1_DEVICEMEASUREMENTMODE_STOP_MASK) | + VL53L1_DEVICEMEASUREMENTMODE_ABORT; + + status = VL53L1_set_system_control( + Dev, + &pdev->sys_ctrl); + + + pdev->sys_ctrl.system__mode_start = + (pdev->sys_ctrl.system__mode_start & + VL53L1_DEVICEMEASUREMENTMODE_STOP_MASK); + + + VL53L1_init_ll_driver_state( + Dev, + VL53L1_DEVICESTATE_SW_STANDBY); + + + V53L1_init_zone_results_structure( + pdev->zone_cfg.active_zones+1, + &(pres->zone_results)); + + + V53L1_init_zone_dss_configs(Dev); + + + if (pdev->low_power_auto_data.is_low_power_auto_mode == 1) + VL53L1_low_power_auto_data_stop_range(Dev); + + return status; +} + + +VL53L1_Error VL53L1_get_measurement_results( + VL53L1_DEV Dev, + VL53L1_DeviceResultsLevel device_results_level) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t buffer[VL53L1_MAX_I2C_XFER_SIZE]; + + VL53L1_system_results_t *psystem_results = &(pdev->sys_results); + VL53L1_core_results_t *pcore_results = &(pdev->core_results); + VL53L1_debug_results_t *pdebug_results = &(pdev->dbg_results); + + uint16_t i2c_index = VL53L1_SYSTEM_RESULTS_I2C_INDEX; + uint16_t i2c_buffer_offset_bytes = 0; + uint16_t i2c_buffer_size_bytes = 0; + + LOG_FUNCTION_START(""); + + + + switch (device_results_level) { + case VL53L1_DEVICERESULTSLEVEL_FULL: + i2c_buffer_size_bytes = + (VL53L1_DEBUG_RESULTS_I2C_INDEX + + VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES) - + i2c_index; + break; + case VL53L1_DEVICERESULTSLEVEL_UPTO_CORE: + i2c_buffer_size_bytes = + (VL53L1_CORE_RESULTS_I2C_INDEX + + VL53L1_CORE_RESULTS_I2C_SIZE_BYTES) - + i2c_index; + break; + default: + i2c_buffer_size_bytes = + VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES; + break; + } + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_ReadMulti( + Dev, + i2c_index, + buffer, + (uint32_t)i2c_buffer_size_bytes); + + + + if (device_results_level >= VL53L1_DEVICERESULTSLEVEL_FULL && + status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = + VL53L1_DEBUG_RESULTS_I2C_INDEX - i2c_index; + + status = + VL53L1_i2c_decode_debug_results( + VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes], + pdebug_results); + } + + if (device_results_level >= VL53L1_DEVICERESULTSLEVEL_UPTO_CORE && + status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = + VL53L1_CORE_RESULTS_I2C_INDEX - i2c_index; + + status = + VL53L1_i2c_decode_core_results( + VL53L1_CORE_RESULTS_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes], + pcore_results); + } + + if (status == VL53L1_ERROR_NONE) { + + i2c_buffer_offset_bytes = 0; + status = + VL53L1_i2c_decode_system_results( + VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES, + &buffer[i2c_buffer_offset_bytes], + psystem_results); + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_device_results( + VL53L1_DEV Dev, + VL53L1_DeviceResultsLevel device_results_level, + VL53L1_range_results_t *prange_results) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + VL53L1_range_results_t *presults = + &(pres->range_results); + VL53L1_zone_objects_t *pobjects = + &(pres->zone_results.VL53L1_p_002[0]); + VL53L1_ll_driver_state_t *pstate = + &(pdev->ll_state); + VL53L1_zone_config_t *pzone_cfg = + &(pdev->zone_cfg); + VL53L1_zone_hist_info_t *phist_info = + &(pres->zone_hists.VL53L1_p_002[0]); + + VL53L1_dmax_calibration_data_t dmax_cal; + VL53L1_dmax_calibration_data_t *pdmax_cal = &dmax_cal; + VL53L1_hist_post_process_config_t *pHP = &(pdev->histpostprocess); + VL53L1_xtalk_config_t *pC = &(pdev->xtalk_cfg); + VL53L1_low_power_auto_data_t *pL = &(pdev->low_power_auto_data); + VL53L1_histogram_bin_data_t *pHD = &(pdev->hist_data); + VL53L1_customer_nvm_managed_t *pN = &(pdev->customer); + VL53L1_zone_histograms_t *pZH = &(pres->zone_hists); + VL53L1_xtalk_calibration_results_t *pXCR = &(pdev->xtalk_cal); + uint8_t tmp8; + uint8_t zid; + uint8_t i; + uint8_t histo_merge_nb, idx; + uint8_t merge_enabled; + VL53L1_range_data_t *pdata; + + LOG_FUNCTION_START(""); + + merge_enabled = (pdev->tuning_parms.tp_hist_merge == 1) && + (VL53L1DevDataGet(Dev, CurrentParameters.PresetMode) == + VL53L1_PRESETMODE_RANGING); + + + if ((pdev->sys_ctrl.system__mode_start & + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM) + == VL53L1_DEVICESCHEDULERMODE_HISTOGRAM) { + + + + status = VL53L1_get_histogram_bin_data( + Dev, + &(pdev->hist_data)); + + + + + if (status == VL53L1_ERROR_NONE && + pHD->number_of_ambient_bins == 0) { + zid = pdev->ll_state.rd_zone_id; + status = VL53L1_hist_copy_and_scale_ambient_info( + &(pZH->VL53L1_p_002[zid]), + &(pdev->hist_data)); + } + + + if (status != VL53L1_ERROR_NONE) + goto UPDATE_DYNAMIC_CONFIG; + + VL53L1_compute_histo_merge_nb(Dev, &histo_merge_nb); + if (histo_merge_nb == 0) + histo_merge_nb = 1; + idx = histo_merge_nb - 1; + if (merge_enabled) + pC->algo__crosstalk_compensation_plane_offset_kcps = + pXCR->algo__xtalk_cpo_HistoMerge_kcps[idx]; + + pHP->gain_factor = + pdev->gain_cal.histogram_ranging_gain_factor; + + pHP->algo__crosstalk_compensation_plane_offset_kcps = + VL53L1_calc_crosstalk_plane_offset_with_margin( + pC->algo__crosstalk_compensation_plane_offset_kcps, + pC->histogram_mode_crosstalk_margin_kcps); + + pHP->algo__crosstalk_compensation_x_plane_gradient_kcps = + pC->algo__crosstalk_compensation_x_plane_gradient_kcps; + pHP->algo__crosstalk_compensation_y_plane_gradient_kcps = + pC->algo__crosstalk_compensation_y_plane_gradient_kcps; + + pdev->dmax_cfg.ambient_thresh_sigma = + pHP->ambient_thresh_sigma1; + pdev->dmax_cfg.min_ambient_thresh_events = + pHP->min_ambient_thresh_events; + pdev->dmax_cfg.signal_total_events_limit = + pHP->signal_total_events_limit; + pdev->dmax_cfg.dss_config__target_total_rate_mcps = + pdev->stat_cfg.dss_config__target_total_rate_mcps; + pdev->dmax_cfg.dss_config__aperture_attenuation = + pdev->gen_cfg.dss_config__aperture_attenuation; + + pHP->algo__crosstalk_detect_max_valid_range_mm = + pC->algo__crosstalk_detect_max_valid_range_mm; + pHP->algo__crosstalk_detect_min_valid_range_mm = + pC->algo__crosstalk_detect_min_valid_range_mm; + pHP->algo__crosstalk_detect_max_valid_rate_kcps = + pC->algo__crosstalk_detect_max_valid_rate_kcps; + pHP->algo__crosstalk_detect_max_sigma_mm = + pC->algo__crosstalk_detect_max_sigma_mm; + + + + VL53L1_copy_rtn_good_spads_to_buffer( + &(pdev->nvm_copy_data), + &(pdev->rtn_good_spads[0])); + + + + switch (pdev->offset_correction_mode) { + + case VL53L1_OFFSETCORRECTIONMODE__MM1_MM2_OFFSETS: + tmp8 = pdev->gen_cfg.dss_config__aperture_attenuation; + + VL53L1_hist_combine_mm1_mm2_offsets( + pN->mm_config__inner_offset_mm, + pN->mm_config__outer_offset_mm, + pdev->nvm_copy_data.roi_config__mode_roi_centre_spad, + pdev->nvm_copy_data.roi_config__mode_roi_xy_size, + pHD->roi_config__user_roi_centre_spad, + pHD->roi_config__user_roi_requested_global_xy_size, + &(pdev->add_off_cal_data), + &(pdev->rtn_good_spads[0]), + (uint16_t)tmp8, + &(pHP->range_offset_mm)); + break; + case VL53L1_OFFSETCORRECTIONMODE__PER_ZONE_OFFSETS: + zid = pdev->ll_state.rd_zone_id; + pHP->range_offset_mm = (int16_t)( + pres->zone_cal.VL53L1_p_002[zid].range_mm_offset); + break; + case VL53L1_OFFSETCORRECTIONMODE__PER_VCSEL_OFFSETS: + select_offset_per_vcsel( + pdev, + &(pHP->range_offset_mm)); + pHP->range_offset_mm *= 4; + break; + default: + pHP->range_offset_mm = 0; + break; + + } + + + + if (status != VL53L1_ERROR_NONE) + goto UPDATE_DYNAMIC_CONFIG; + + + VL53L1_calc_max_effective_spads( + pHD->roi_config__user_roi_centre_spad, + pHD->roi_config__user_roi_requested_global_xy_size, + &(pdev->rtn_good_spads[0]), + (uint16_t)pdev->gen_cfg.dss_config__aperture_attenuation, + &(pdev->dmax_cfg.max_effective_spads)); + + status = + VL53L1_get_dmax_calibration_data( + Dev, + pdev->dmax_mode, + pdev->ll_state.rd_zone_id, + pdmax_cal); + + + + if (status != VL53L1_ERROR_NONE) + goto UPDATE_DYNAMIC_CONFIG; + + status = VL53L1_ipp_hist_process_data( + Dev, + pdmax_cal, + &(pdev->dmax_cfg), + &(pdev->histpostprocess), + &(pdev->hist_data), + &(pdev->xtalk_shapes), + pdev->wArea1, + pdev->wArea2, + &histo_merge_nb, + presults); + + if ((merge_enabled) && (histo_merge_nb > 1)) + for (i = 0; i < VL53L1_MAX_RANGE_RESULTS; i++) { + pdata = &(presults->VL53L1_p_002[i]); + pdata->VL53L1_p_020 /= histo_merge_nb; + pdata->VL53L1_p_021 /= histo_merge_nb; + pdata->VL53L1_p_013 /= histo_merge_nb; + pdata->peak_signal_count_rate_mcps /= histo_merge_nb; + pdata->avg_signal_count_rate_mcps /= histo_merge_nb; + pdata->ambient_count_rate_mcps /= histo_merge_nb; + pdata->VL53L1_p_012 /= histo_merge_nb; + } + + + if (status != VL53L1_ERROR_NONE) + goto UPDATE_DYNAMIC_CONFIG; + + status = VL53L1_hist_wrap_dmax( + &(pdev->histpostprocess), + &(pdev->hist_data), + &(presults->wrap_dmax_mm)); + + + if (status != VL53L1_ERROR_NONE) + goto UPDATE_DYNAMIC_CONFIG; + + zid = pdev->ll_state.rd_zone_id; + status = VL53L1_hist_phase_consistency_check( + Dev, + &(pZH->VL53L1_p_002[zid]), + &(pres->zone_results.VL53L1_p_002[zid]), + presults); + + + if (status != VL53L1_ERROR_NONE) + goto UPDATE_DYNAMIC_CONFIG; + + zid = pdev->ll_state.rd_zone_id; + status = VL53L1_hist_xmonitor_consistency_check( + Dev, + &(pZH->VL53L1_p_002[zid]), + &(pres->zone_results.VL53L1_p_002[zid]), + &(presults->xmonitor)); + + + if (status != VL53L1_ERROR_NONE) + goto UPDATE_DYNAMIC_CONFIG; + + + zid = pdev->ll_state.rd_zone_id; + pZH->max_zones = VL53L1_MAX_USER_ZONES; + pZH->active_zones = + pdev->zone_cfg.active_zones+1; + pHD->zone_id = zid; + + if (zid < + pres->zone_results.max_zones) { + + phist_info = + &(pZH->VL53L1_p_002[zid]); + + phist_info->rd_device_state = + pHD->rd_device_state; + + phist_info->number_of_ambient_bins = + pHD->number_of_ambient_bins; + + phist_info->result__dss_actual_effective_spads = + pHD->result__dss_actual_effective_spads; + + phist_info->VL53L1_p_009 = + pHD->VL53L1_p_009; + + phist_info->total_periods_elapsed = + pHD->total_periods_elapsed; + + phist_info->ambient_events_sum = + pHD->ambient_events_sum; + } + + + + if (status != VL53L1_ERROR_NONE) + goto UPDATE_DYNAMIC_CONFIG; + + VL53L1_hist_copy_results_to_sys_and_core( + &(pdev->hist_data), + presults, + &(pdev->sys_results), + &(pdev->core_results)); + + +UPDATE_DYNAMIC_CONFIG: + if (pzone_cfg->active_zones > 0) { + if (pstate->rd_device_state != + VL53L1_DEVICESTATE_RANGING_WAIT_GPH_SYNC) { + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_dynamic_zone_update( + Dev, presults); + } + } + + + for (i = 0; i < VL53L1_MAX_USER_ZONES; i++) { + pzone_cfg->bin_config[i] = + ((pdev->ll_state.cfg_internal_stream_count) + & 0x01) ? + VL53L1_ZONECONFIG_BINCONFIG__HIGHAMB : + VL53L1_ZONECONFIG_BINCONFIG__LOWAMB; + } + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_multizone_hist_bins_update(Dev); + + } + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_dynamic_xtalk_correction_corrector(Dev); + +#ifdef VL53L1_LOG_ENABLE + if (status == VL53L1_ERROR_NONE) + VL53L1_print_histogram_bin_data( + &(pdev->hist_data), + "get_device_results():pdev->lldata.hist_data.", + VL53L1_TRACE_MODULE_HISTOGRAM_DATA); +#endif + + if (merge_enabled) + pC->algo__crosstalk_compensation_plane_offset_kcps = + pXCR->algo__xtalk_cpo_HistoMerge_kcps[0]; + } else { + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_get_measurement_results( + Dev, + device_results_level); + + if (status == VL53L1_ERROR_NONE) + VL53L1_copy_sys_and_core_results_to_range_results( + (int32_t)pdev->gain_cal.standard_ranging_gain_factor, + &(pdev->sys_results), + &(pdev->core_results), + presults); + + + + if (pL->is_low_power_auto_mode == 1) { + + if ((status == VL53L1_ERROR_NONE) && + (pL->low_power_auto_range_count == 0)) { + + status = + VL53L1_low_power_auto_setup_manual_calibration( + Dev); + pL->low_power_auto_range_count = 1; + } else if ((status == VL53L1_ERROR_NONE) && + (pL->low_power_auto_range_count == 1)) { + pL->low_power_auto_range_count = 2; + } + + + if ((pL->low_power_auto_range_count != 0xFF) && + (status == VL53L1_ERROR_NONE)) { + status = VL53L1_low_power_auto_update_DSS( + Dev); + } + } + + } + + + presults->cfg_device_state = pdev->ll_state.cfg_device_state; + presults->rd_device_state = pdev->ll_state.rd_device_state; + presults->zone_id = pdev->ll_state.rd_zone_id; + + if (status == VL53L1_ERROR_NONE) { + + + pres->zone_results.max_zones = VL53L1_MAX_USER_ZONES; + pres->zone_results.active_zones = pdev->zone_cfg.active_zones+1; + zid = pdev->ll_state.rd_zone_id; + + if (zid < pres->zone_results.max_zones) { + + pobjects = + &(pres->zone_results.VL53L1_p_002[zid]); + + pobjects->cfg_device_state = + presults->cfg_device_state; + pobjects->rd_device_state = presults->rd_device_state; + pobjects->zone_id = presults->zone_id; + pobjects->stream_count = presults->stream_count; + + + + pobjects->xmonitor.VL53L1_p_020 = + presults->xmonitor.VL53L1_p_020; + pobjects->xmonitor.VL53L1_p_021 = + presults->xmonitor.VL53L1_p_021; + pobjects->xmonitor.VL53L1_p_014 = + presults->xmonitor.VL53L1_p_014; + pobjects->xmonitor.range_status = + presults->xmonitor.range_status; + + pobjects->max_objects = presults->max_results; + pobjects->active_objects = presults->active_results; + + for (i = 0; i < presults->active_results; i++) { + pobjects->VL53L1_p_002[i].VL53L1_p_020 = + presults->VL53L1_p_002[i].VL53L1_p_020; + pobjects->VL53L1_p_002[i].VL53L1_p_021 = + presults->VL53L1_p_002[i].VL53L1_p_021; + pobjects->VL53L1_p_002[i].VL53L1_p_014 = + presults->VL53L1_p_002[i].VL53L1_p_014; + pobjects->VL53L1_p_002[i].range_status = + presults->VL53L1_p_002[i].range_status; + } + + + } + } + + + + memcpy( + prange_results, + presults, + sizeof(VL53L1_range_results_t)); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_check_ll_driver_rd_state(Dev); + +#ifdef VL53L1_LOG_ENABLE + if (status == VL53L1_ERROR_NONE) + VL53L1_print_range_results( + presults, + "get_device_results():pdev->llresults.range_results.", + VL53L1_TRACE_MODULE_RANGE_RESULTS_DATA); +#endif + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_clear_interrupt_and_enable_next_range( + VL53L1_DEV Dev, + uint8_t measurement_mode) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_init_and_start_range( + Dev, + measurement_mode, + VL53L1_DEVICECONFIGLEVEL_GENERAL_ONWARDS); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_histogram_bin_data( + VL53L1_DEV Dev, + VL53L1_histogram_bin_data_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + VL53L1_zone_private_dyn_cfg_t *pzone_dyn_cfg; + + VL53L1_static_nvm_managed_t *pstat_nvm = &(pdev->stat_nvm); + VL53L1_static_config_t *pstat_cfg = &(pdev->stat_cfg); + VL53L1_general_config_t *pgen_cfg = &(pdev->gen_cfg); + VL53L1_timing_config_t *ptim_cfg = &(pdev->tim_cfg); + VL53L1_range_results_t *presults = &(pres->range_results); + + uint8_t buffer[VL53L1_MAX_I2C_XFER_SIZE]; + uint8_t *pbuffer = &buffer[0]; + uint8_t bin_23_0 = 0x00; + uint16_t bin = 0; + uint16_t i2c_buffer_offset_bytes = 0; + uint16_t encoded_timeout = 0; + uint32_t pll_period_us = 0; + uint32_t periods_elapsed_tmp = 0; + uint8_t i = 0; + int32_t hist_merge = 0; + + LOG_FUNCTION_START(""); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_HISTOGRAM_BIN_DATA_I2C_INDEX, + pbuffer, + VL53L1_HISTOGRAM_BIN_DATA_I2C_SIZE_BYTES); + + + + pdata->result__interrupt_status = *(pbuffer + 0); + pdata->result__range_status = *(pbuffer + 1); + pdata->result__report_status = *(pbuffer + 2); + pdata->result__stream_count = *(pbuffer + 3); + pdata->result__dss_actual_effective_spads = + VL53L1_i2c_decode_uint16_t(2, pbuffer + 4); + + + + i2c_buffer_offset_bytes = + VL53L1_PHASECAL_RESULT__REFERENCE_PHASE - + VL53L1_HISTOGRAM_BIN_DATA_I2C_INDEX; + + pbuffer = &buffer[i2c_buffer_offset_bytes]; + + pdata->phasecal_result__reference_phase = + VL53L1_i2c_decode_uint16_t(2, pbuffer); + + i2c_buffer_offset_bytes = + VL53L1_PHASECAL_RESULT__VCSEL_START - + VL53L1_HISTOGRAM_BIN_DATA_I2C_INDEX; + + pdata->phasecal_result__vcsel_start = buffer[i2c_buffer_offset_bytes]; + + + + pdev->dbg_results.phasecal_result__reference_phase = + pdata->phasecal_result__reference_phase; + pdev->dbg_results.phasecal_result__vcsel_start = + pdata->phasecal_result__vcsel_start; + + + + i2c_buffer_offset_bytes = + VL53L1_RESULT__HISTOGRAM_BIN_23_0_MSB - + VL53L1_HISTOGRAM_BIN_DATA_I2C_INDEX; + + bin_23_0 = buffer[i2c_buffer_offset_bytes] << 2; + + i2c_buffer_offset_bytes = + VL53L1_RESULT__HISTOGRAM_BIN_23_0_LSB - + VL53L1_HISTOGRAM_BIN_DATA_I2C_INDEX; + + bin_23_0 += buffer[i2c_buffer_offset_bytes]; + + i2c_buffer_offset_bytes = + VL53L1_RESULT__HISTOGRAM_BIN_23_0 - + VL53L1_HISTOGRAM_BIN_DATA_I2C_INDEX; + + buffer[i2c_buffer_offset_bytes] = bin_23_0; + + + + i2c_buffer_offset_bytes = + VL53L1_RESULT__HISTOGRAM_BIN_0_2 - + VL53L1_HISTOGRAM_BIN_DATA_I2C_INDEX; + + pbuffer = &buffer[i2c_buffer_offset_bytes]; + for (bin = 0; bin < VL53L1_HISTOGRAM_BUFFER_SIZE; bin++) { + pdata->bin_data[bin] = + (int32_t)VL53L1_i2c_decode_uint32_t(3, pbuffer); + pbuffer += 3; + } + + VL53L1_get_tuning_parm(Dev, VL53L1_TUNINGPARM_HIST_MERGE, + &hist_merge); + + if (pdata->result__stream_count == 0) { + + memset(pdev->multi_bins_rec, 0, sizeof(pdev->multi_bins_rec)); + pdev->bin_rec_pos = 0; + pdev->pos_before_next_recom = 0; + } + + if (hist_merge == 1) + vl53l1_histo_merge(Dev, pdata); + + + pdata->zone_id = pdev->ll_state.rd_zone_id; + pdata->VL53L1_p_022 = 0; + pdata->VL53L1_p_023 = VL53L1_HISTOGRAM_BUFFER_SIZE; + pdata->VL53L1_p_024 = VL53L1_HISTOGRAM_BUFFER_SIZE; + + pdata->cal_config__vcsel_start = pgen_cfg->cal_config__vcsel_start; + + + + pdata->vcsel_width = + ((uint16_t)pgen_cfg->global_config__vcsel_width) << 4; + pdata->vcsel_width += + (uint16_t)pstat_cfg->ana_config__vcsel_pulse_width_offset; + + + pdata->VL53L1_p_019 = + pstat_nvm->osc_measured__fast_osc__frequency; + + + + VL53L1_hist_get_bin_sequence_config(Dev, pdata); + + + + if (pdev->ll_state.rd_timing_status == 0) { + + encoded_timeout = + (ptim_cfg->range_config__timeout_macrop_a_hi << 8) + + ptim_cfg->range_config__timeout_macrop_a_lo; + pdata->VL53L1_p_009 = ptim_cfg->range_config__vcsel_period_a; + } else { + + encoded_timeout = + (ptim_cfg->range_config__timeout_macrop_b_hi << 8) + + ptim_cfg->range_config__timeout_macrop_b_lo; + pdata->VL53L1_p_009 = ptim_cfg->range_config__vcsel_period_b; + } + + + + pdata->number_of_ambient_bins = 0; + + for (i = 0; i < 6; i++) { + if ((pdata->bin_seq[i] & 0x07) == 0x07) + pdata->number_of_ambient_bins = + pdata->number_of_ambient_bins + 0x04; + } + + pdata->total_periods_elapsed = + VL53L1_decode_timeout(encoded_timeout); + + + + + pll_period_us = + VL53L1_calc_pll_period_us(pdata->VL53L1_p_019); + + + + periods_elapsed_tmp = pdata->total_periods_elapsed + 1; + + + + pdata->peak_duration_us = + VL53L1_duration_maths( + pll_period_us, + (uint32_t)pdata->vcsel_width, + VL53L1_RANGING_WINDOW_VCSEL_PERIODS, + periods_elapsed_tmp); + + pdata->woi_duration_us = 0; + + + + VL53L1_hist_calc_zero_distance_phase(pdata); + + + + VL53L1_hist_estimate_ambient_from_ambient_bins(pdata); + + + + pdata->cfg_device_state = pdev->ll_state.cfg_device_state; + pdata->rd_device_state = pdev->ll_state.rd_device_state; + + + + pzone_dyn_cfg = &(pres->zone_dyn_cfgs.VL53L1_p_002[pdata->zone_id]); + + pdata->roi_config__user_roi_centre_spad = + pzone_dyn_cfg->roi_config__user_roi_centre_spad; + pdata->roi_config__user_roi_requested_global_xy_size = + pzone_dyn_cfg->roi_config__user_roi_requested_global_xy_size; + + + + presults->device_status = VL53L1_DEVICEERROR_NOUPDATE; + + + + switch (pdata->result__range_status & + VL53L1_RANGE_STATUS__RANGE_STATUS_MASK) { + + case VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE: + case VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE: + case VL53L1_DEVICEERROR_NOVHVVALUEFOUND: + case VL53L1_DEVICEERROR_USERROICLIP: + case VL53L1_DEVICEERROR_MULTCLIPFAIL: + + presults->device_status = (pdata->result__range_status & + VL53L1_RANGE_STATUS__RANGE_STATUS_MASK); + + status = VL53L1_ERROR_RANGE_ERROR; + + break; + + } + + LOG_FUNCTION_END(status); + + return status; +} + + +void VL53L1_copy_sys_and_core_results_to_range_results( + int32_t gain_factor, + VL53L1_system_results_t *psys, + VL53L1_core_results_t *pcore, + VL53L1_range_results_t *presults) +{ + uint8_t i = 0; + + VL53L1_range_data_t *pdata; + int32_t range_mm = 0; + uint32_t tmpu32 = 0; + uint16_t rpscr_crosstalk_corrected_mcps_sd0; + uint16_t rmmo_effective_spads_sd0; + uint16_t rmmi_effective_spads_sd0; + + LOG_FUNCTION_START(""); + + + + presults->zone_id = 0; + presults->stream_count = psys->result__stream_count; + presults->wrap_dmax_mm = 0; + presults->max_results = VL53L1_MAX_RANGE_RESULTS; + presults->active_results = 1; + rpscr_crosstalk_corrected_mcps_sd0 = + psys->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0; + rmmo_effective_spads_sd0 = + psys->result__mm_outer_actual_effective_spads_sd0; + rmmi_effective_spads_sd0 = + psys->result__mm_inner_actual_effective_spads_sd0; + + + for (i = 0; i < VL53L1_MAX_AMBIENT_DMAX_VALUES; i++) + presults->VL53L1_p_007[i] = 0; + + pdata = &(presults->VL53L1_p_002[0]); + + for (i = 0; i < 2; i++) { + + pdata->range_id = i; + pdata->time_stamp = 0; + + if ((psys->result__stream_count == 0) && + ((psys->result__range_status & + VL53L1_RANGE_STATUS__RANGE_STATUS_MASK) == + VL53L1_DEVICEERROR_RANGECOMPLETE)) { + pdata->range_status = + VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK; + } else { + pdata->range_status = + psys->result__range_status & + VL53L1_RANGE_STATUS__RANGE_STATUS_MASK; + } + + pdata->VL53L1_p_015 = 0; + pdata->VL53L1_p_022 = 0; + pdata->VL53L1_p_025 = 0; + pdata->VL53L1_p_026 = 0; + pdata->VL53L1_p_016 = 0; + pdata->VL53L1_p_027 = 0; + + switch (i) { + + case 0: + if (psys->result__report_status == + VL53L1_DEVICEREPORTSTATUS_MM1) + pdata->VL53L1_p_006 = + rmmi_effective_spads_sd0; + else if (psys->result__report_status == + VL53L1_DEVICEREPORTSTATUS_MM2) + pdata->VL53L1_p_006 = + rmmo_effective_spads_sd0; + else + pdata->VL53L1_p_006 = + psys->result__dss_actual_effective_spads_sd0; + + pdata->peak_signal_count_rate_mcps = + rpscr_crosstalk_corrected_mcps_sd0; + pdata->avg_signal_count_rate_mcps = + psys->result__avg_signal_count_rate_mcps_sd0; + pdata->ambient_count_rate_mcps = + psys->result__ambient_count_rate_mcps_sd0; + + + + + tmpu32 = ((uint32_t)psys->result__sigma_sd0 << 5); + if (tmpu32 > 0xFFFF) + tmpu32 = 0xFFFF; + + pdata->VL53L1_p_005 = (uint16_t)tmpu32; + + + + pdata->VL53L1_p_014 = + psys->result__phase_sd0; + + range_mm = (int32_t)( + psys->result__final_crosstalk_corrected_range_mm_sd0); + + + range_mm *= gain_factor; + range_mm += 0x0400; + range_mm /= 0x0800; + + pdata->median_range_mm = (int16_t)range_mm; + + pdata->VL53L1_p_021 = + pcore->result_core__ranging_total_events_sd0; + pdata->VL53L1_p_013 = + pcore->result_core__signal_total_events_sd0; + pdata->total_periods_elapsed = + pcore->result_core__total_periods_elapsed_sd0; + pdata->VL53L1_p_020 = + pcore->result_core__ambient_window_events_sd0; + + break; + case 1: + + pdata->VL53L1_p_006 = + psys->result__dss_actual_effective_spads_sd1; + pdata->peak_signal_count_rate_mcps = + psys->result__peak_signal_count_rate_mcps_sd1; + pdata->avg_signal_count_rate_mcps = + 0xFFFF; + pdata->ambient_count_rate_mcps = + psys->result__ambient_count_rate_mcps_sd1; + + + + + tmpu32 = ((uint32_t)psys->result__sigma_sd1 << 5); + if (tmpu32 > 0xFFFF) + tmpu32 = 0xFFFF; + + pdata->VL53L1_p_005 = (uint16_t)tmpu32; + + + + pdata->VL53L1_p_014 = + psys->result__phase_sd1; + + range_mm = (int32_t)( + psys->result__final_crosstalk_corrected_range_mm_sd1); + + + range_mm *= gain_factor; + range_mm += 0x0400; + range_mm /= 0x0800; + + pdata->median_range_mm = (int16_t)range_mm; + + pdata->VL53L1_p_021 = + pcore->result_core__ranging_total_events_sd1; + pdata->VL53L1_p_013 = + pcore->result_core__signal_total_events_sd1; + pdata->total_periods_elapsed = + pcore->result_core__total_periods_elapsed_sd1; + pdata->VL53L1_p_020 = + pcore->result_core__ambient_window_events_sd1; + + break; + } + + + pdata->VL53L1_p_028 = pdata->VL53L1_p_014; + pdata->VL53L1_p_029 = pdata->VL53L1_p_014; + pdata->min_range_mm = pdata->median_range_mm; + pdata->max_range_mm = pdata->median_range_mm; + + pdata++; + } + + + + presults->device_status = VL53L1_DEVICEERROR_NOUPDATE; + + + + switch (psys->result__range_status & + VL53L1_RANGE_STATUS__RANGE_STATUS_MASK) { + + case VL53L1_DEVICEERROR_VCSELCONTINUITYTESTFAILURE: + case VL53L1_DEVICEERROR_VCSELWATCHDOGTESTFAILURE: + case VL53L1_DEVICEERROR_NOVHVVALUEFOUND: + case VL53L1_DEVICEERROR_USERROICLIP: + case VL53L1_DEVICEERROR_MULTCLIPFAIL: + + presults->device_status = (psys->result__range_status & + VL53L1_RANGE_STATUS__RANGE_STATUS_MASK); + + presults->VL53L1_p_002[0].range_status = + VL53L1_DEVICEERROR_NOUPDATE; + break; + + } + + LOG_FUNCTION_END(0); +} + + +VL53L1_Error VL53L1_set_zone_dss_config( + VL53L1_DEV Dev, + VL53L1_zone_private_dyn_cfg_t *pzone_dyn_cfg) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_ll_driver_state_t *pstate = &(pdev->ll_state); + + LOG_FUNCTION_START(""); + + if (pstate->cfg_device_state == + VL53L1_DEVICESTATE_RANGING_DSS_MANUAL) { + pdev->gen_cfg.dss_config__roi_mode_control = + VL53L1_DSS_CONTROL__MODE_EFFSPADS; + pdev->gen_cfg.dss_config__manual_effective_spads_select = + pzone_dyn_cfg->dss_requested_effective_spad_count; + } else { + pdev->gen_cfg.dss_config__roi_mode_control = + VL53L1_DSS_CONTROL__MODE_TARGET_RATE; + } + + LOG_FUNCTION_END(status); + return status; +} + + +VL53L1_Error VL53L1_calc_ambient_dmax( + VL53L1_DEV Dev, + uint16_t target_reflectance, + int16_t *pambient_dmax_mm) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + VL53L1_dmax_calibration_data_t dmax_cal; + VL53L1_dmax_calibration_data_t *pdmax_cal = &dmax_cal; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_get_dmax_calibration_data( + Dev, + pdev->debug_mode, + pdev->ll_state.rd_zone_id, + pdmax_cal); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_ipp_hist_ambient_dmax( + Dev, + target_reflectance, + &(pdev->fmt_dmax_cal), + &(pdev->dmax_cfg), + &(pdev->hist_data), + pambient_dmax_mm); + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_set_GPIO_interrupt_config( + VL53L1_DEV Dev, + VL53L1_GPIO_Interrupt_Mode intr_mode_distance, + VL53L1_GPIO_Interrupt_Mode intr_mode_rate, + uint8_t intr_new_measure_ready, + uint8_t intr_no_target, + uint8_t intr_combined_mode, + uint16_t thresh_distance_high, + uint16_t thresh_distance_low, + uint16_t thresh_rate_high, + uint16_t thresh_rate_low + ) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_GPIO_interrupt_config_t *pintconf = + &(pdev->gpio_interrupt_config); + + LOG_FUNCTION_START(""); + + + pintconf->intr_mode_distance = intr_mode_distance; + pintconf->intr_mode_rate = intr_mode_rate; + pintconf->intr_new_measure_ready = intr_new_measure_ready; + pintconf->intr_no_target = intr_no_target; + pintconf->intr_combined_mode = intr_combined_mode; + pintconf->threshold_distance_high = thresh_distance_high; + pintconf->threshold_distance_low = thresh_distance_low; + pintconf->threshold_rate_high = thresh_rate_high; + pintconf->threshold_rate_low = thresh_rate_low; + + + pdev->gen_cfg.system__interrupt_config_gpio = + VL53L1_encode_GPIO_interrupt_config(pintconf); + + + + status = VL53L1_set_GPIO_thresholds_from_struct( + Dev, + pintconf); + + LOG_FUNCTION_END(status); + return status; +} + + + +VL53L1_Error VL53L1_set_GPIO_interrupt_config_struct( + VL53L1_DEV Dev, + VL53L1_GPIO_interrupt_config_t intconf) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_GPIO_interrupt_config_t *pintconf = + &(pdev->gpio_interrupt_config); + + LOG_FUNCTION_START(""); + + + memcpy(pintconf, &(intconf), sizeof(VL53L1_GPIO_interrupt_config_t)); + + + pdev->gen_cfg.system__interrupt_config_gpio = + VL53L1_encode_GPIO_interrupt_config(pintconf); + + + status = VL53L1_set_GPIO_thresholds_from_struct( + Dev, + pintconf); + + LOG_FUNCTION_END(status); + return status; +} + + + +VL53L1_Error VL53L1_get_GPIO_interrupt_config( + VL53L1_DEV Dev, + VL53L1_GPIO_interrupt_config_t *pintconf) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + pdev->gpio_interrupt_config = VL53L1_decode_GPIO_interrupt_config( + pdev->gen_cfg.system__interrupt_config_gpio); + + + pdev->gpio_interrupt_config.threshold_distance_high = + pdev->dyn_cfg.system__thresh_high; + pdev->gpio_interrupt_config.threshold_distance_low = + pdev->dyn_cfg.system__thresh_low; + + pdev->gpio_interrupt_config.threshold_rate_high = + pdev->gen_cfg.system__thresh_rate_high; + pdev->gpio_interrupt_config.threshold_rate_low = + pdev->gen_cfg.system__thresh_rate_low; + + if (pintconf == &(pdev->gpio_interrupt_config)) { + + } else { + + + memcpy(pintconf, &(pdev->gpio_interrupt_config), + sizeof(VL53L1_GPIO_interrupt_config_t)); + } + + LOG_FUNCTION_END(status); + return status; +} + + +VL53L1_Error VL53L1_set_dmax_mode( + VL53L1_DEV Dev, + VL53L1_DeviceDmaxMode dmax_mode) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->dmax_mode = dmax_mode; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_dmax_mode( + VL53L1_DEV Dev, + VL53L1_DeviceDmaxMode *pdmax_mode) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *pdmax_mode = pdev->dmax_mode; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_dmax_calibration_data( + VL53L1_DEV Dev, + VL53L1_DeviceDmaxMode dmax_mode, + uint8_t zone_id, + VL53L1_dmax_calibration_data_t *pdmax_cal) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + LOG_FUNCTION_START(""); + + switch (dmax_mode) { + + case VL53L1_DEVICEDMAXMODE__PER_ZONE_CAL_DATA: + pdmax_cal->ref__actual_effective_spads = + (uint16_t)pres->zone_cal.VL53L1_p_002[zone_id].effective_spads; + pdmax_cal->ref__peak_signal_count_rate_mcps = + (uint16_t)pres->zone_cal.VL53L1_p_002[zone_id].peak_rate_mcps; + pdmax_cal->ref__distance_mm = + pres->zone_cal.cal_distance_mm; + pdmax_cal->ref_reflectance_pc = + pres->zone_cal.cal_reflectance_pc; + pdmax_cal->coverglass_transmission = 0x0100; + break; + + case VL53L1_DEVICEDMAXMODE__CUST_CAL_DATA: + memcpy( + pdmax_cal, + &(pdev->cust_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + break; + + case VL53L1_DEVICEDMAXMODE__FMT_CAL_DATA: + memcpy( + pdmax_cal, + &(pdev->fmt_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + break; + + default: + status = VL53L1_ERROR_INVALID_PARAMS; + break; + + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_hist_dmax_config( + VL53L1_DEV Dev, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + memcpy( + &(pdev->dmax_cfg), + pdmax_cfg, + sizeof(VL53L1_hist_gen3_dmax_config_t)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_hist_dmax_config( + VL53L1_DEV Dev, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + memcpy( + pdmax_cfg, + &(pdev->dmax_cfg), + sizeof(VL53L1_hist_gen3_dmax_config_t)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_offset_calibration_mode( + VL53L1_DEV Dev, + VL53L1_OffsetCalibrationMode offset_cal_mode) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->offset_calibration_mode = offset_cal_mode; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_offset_calibration_mode( + VL53L1_DEV Dev, + VL53L1_OffsetCalibrationMode *poffset_cal_mode) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *poffset_cal_mode = pdev->offset_calibration_mode; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_offset_correction_mode( + VL53L1_DEV Dev, + VL53L1_OffsetCorrectionMode offset_cor_mode) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->offset_correction_mode = offset_cor_mode; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_offset_correction_mode( + VL53L1_DEV Dev, + VL53L1_OffsetCorrectionMode *poffset_cor_mode) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + *poffset_cor_mode = pdev->offset_correction_mode; + + LOG_FUNCTION_END(status); + + return status; +} + + + + +VL53L1_Error VL53L1_set_zone_calibration_data( + VL53L1_DEV Dev, + VL53L1_zone_calibration_results_t *pzone_cal) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverResults_t *pres = VL53L1DevStructGetLLResultsHandle(Dev); + + LOG_FUNCTION_START(""); + + if (pzone_cal->struct_version != + VL53L1_LL_ZONE_CALIBRATION_DATA_STRUCT_VERSION) + status = VL53L1_ERROR_INVALID_PARAMS; + + + if (status == VL53L1_ERROR_NONE) + + memcpy( + &(pres->zone_cal), + pzone_cal, + sizeof(VL53L1_zone_calibration_results_t)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_zone_calibration_data( + VL53L1_DEV Dev, + VL53L1_zone_calibration_results_t *pzone_cal) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverResults_t *pres = VL53L1DevStructGetLLResultsHandle(Dev); + + LOG_FUNCTION_START(""); + + + memcpy( + pzone_cal, + &(pres->zone_cal), + sizeof(VL53L1_zone_calibration_results_t)); + + pzone_cal->struct_version = + VL53L1_LL_ZONE_CALIBRATION_DATA_STRUCT_VERSION; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_tuning_debug_data( + VL53L1_DEV Dev, + VL53L1_tuning_parameters_t *ptun_data) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_hist_post_process_config_t *pHP = &(pdev->histpostprocess); + VL53L1_xtalkextract_config_t *pXC = &(pdev->xtalk_extract_cfg); + + LOG_FUNCTION_START(""); + + ptun_data->vl53l1_tuningparm_version = + pdev->tuning_parms.tp_tuning_parm_version; + + ptun_data->vl53l1_tuningparm_key_table_version = + pdev->tuning_parms.tp_tuning_parm_key_table_version; + + + ptun_data->vl53l1_tuningparm_lld_version = + pdev->tuning_parms.tp_tuning_parm_lld_version; + + ptun_data->vl53l1_tuningparm_hist_algo_select = + pHP->hist_algo_select; + + ptun_data->vl53l1_tuningparm_hist_target_order = + pHP->hist_target_order; + + ptun_data->vl53l1_tuningparm_hist_filter_woi_0 = + pHP->filter_woi0; + + ptun_data->vl53l1_tuningparm_hist_filter_woi_1 = + pHP->filter_woi1; + + ptun_data->vl53l1_tuningparm_hist_amb_est_method = + pHP->hist_amb_est_method; + + ptun_data->vl53l1_tuningparm_hist_amb_thresh_sigma_0 = + pHP->ambient_thresh_sigma0; + + ptun_data->vl53l1_tuningparm_hist_amb_thresh_sigma_1 = + pHP->ambient_thresh_sigma1; + + ptun_data->vl53l1_tuningparm_hist_min_amb_thresh_events = + pHP->min_ambient_thresh_events; + + ptun_data->vl53l1_tuningparm_hist_amb_events_scaler = + pHP->ambient_thresh_events_scaler; + + ptun_data->vl53l1_tuningparm_hist_noise_threshold = + pHP->noise_threshold; + + ptun_data->vl53l1_tuningparm_hist_signal_total_events_limit = + pHP->signal_total_events_limit; + + ptun_data->vl53l1_tuningparm_hist_sigma_est_ref_mm = + pHP->sigma_estimator__sigma_ref_mm; + + ptun_data->vl53l1_tuningparm_hist_sigma_thresh_mm = + pHP->sigma_thresh; + + ptun_data->vl53l1_tuningparm_hist_gain_factor = + pdev->gain_cal.histogram_ranging_gain_factor; + + ptun_data->vl53l1_tuningparm_consistency_hist_phase_tolerance = + pHP->algo__consistency_check__phase_tolerance; + + ptun_data->vl53l1_tuningparm_consistency_hist_min_max_tolerance_mm = + pHP->algo__consistency_check__min_max_tolerance; + + ptun_data->vl53l1_tuningparm_consistency_hist_event_sigma = + pHP->algo__consistency_check__event_sigma; + + ptun_data->vl53l1_tuningparm_consistency_hist_event_sigma_min_spad_limit + = pHP->algo__consistency_check__event_min_spad_count; + + ptun_data->vl53l1_tuningparm_initial_phase_rtn_histo_long_range = + pdev->tuning_parms.tp_init_phase_rtn_hist_long; + + ptun_data->vl53l1_tuningparm_initial_phase_rtn_histo_med_range = + pdev->tuning_parms.tp_init_phase_rtn_hist_med; + + ptun_data->vl53l1_tuningparm_initial_phase_rtn_histo_short_range = + pdev->tuning_parms.tp_init_phase_rtn_hist_short; + + ptun_data->vl53l1_tuningparm_initial_phase_ref_histo_long_range = + pdev->tuning_parms.tp_init_phase_ref_hist_long; + + ptun_data->vl53l1_tuningparm_initial_phase_ref_histo_med_range = + pdev->tuning_parms.tp_init_phase_ref_hist_med; + + ptun_data->vl53l1_tuningparm_initial_phase_ref_histo_short_range = + pdev->tuning_parms.tp_init_phase_ref_hist_short; + + ptun_data->vl53l1_tuningparm_xtalk_detect_min_valid_range_mm = + pdev->xtalk_cfg.algo__crosstalk_detect_min_valid_range_mm; + + ptun_data->vl53l1_tuningparm_xtalk_detect_max_valid_range_mm = + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_range_mm; + + ptun_data->vl53l1_tuningparm_xtalk_detect_max_sigma_mm = + pdev->xtalk_cfg.algo__crosstalk_detect_max_sigma_mm; + + ptun_data->vl53l1_tuningparm_xtalk_detect_min_max_tolerance = + pHP->algo__crosstalk_detect_min_max_tolerance; + + ptun_data->vl53l1_tuningparm_xtalk_detect_max_valid_rate_kcps = + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_rate_kcps; + + ptun_data->vl53l1_tuningparm_xtalk_detect_event_sigma = + pHP->algo__crosstalk_detect_event_sigma; + + ptun_data->vl53l1_tuningparm_hist_xtalk_margin_kcps = + pdev->xtalk_cfg.histogram_mode_crosstalk_margin_kcps; + + ptun_data->vl53l1_tuningparm_consistency_lite_phase_tolerance = + pdev->tuning_parms.tp_consistency_lite_phase_tolerance; + + ptun_data->vl53l1_tuningparm_phasecal_target = + pdev->tuning_parms.tp_phasecal_target; + + ptun_data->vl53l1_tuningparm_lite_cal_repeat_rate = + pdev->tuning_parms.tp_cal_repeat_rate; + + ptun_data->vl53l1_tuningparm_lite_ranging_gain_factor = + pdev->gain_cal.standard_ranging_gain_factor; + + ptun_data->vl53l1_tuningparm_lite_min_clip_mm = + pdev->tuning_parms.tp_lite_min_clip; + + ptun_data->vl53l1_tuningparm_lite_long_sigma_thresh_mm = + pdev->tuning_parms.tp_lite_long_sigma_thresh_mm; + + ptun_data->vl53l1_tuningparm_lite_med_sigma_thresh_mm = + pdev->tuning_parms.tp_lite_med_sigma_thresh_mm; + + ptun_data->vl53l1_tuningparm_lite_short_sigma_thresh_mm = + pdev->tuning_parms.tp_lite_short_sigma_thresh_mm; + + ptun_data->vl53l1_tuningparm_lite_long_min_count_rate_rtn_mcps = + pdev->tuning_parms.tp_lite_long_min_count_rate_rtn_mcps; + + ptun_data->vl53l1_tuningparm_lite_med_min_count_rate_rtn_mcps = + pdev->tuning_parms.tp_lite_med_min_count_rate_rtn_mcps; + + ptun_data->vl53l1_tuningparm_lite_short_min_count_rate_rtn_mcps = + pdev->tuning_parms.tp_lite_short_min_count_rate_rtn_mcps; + + ptun_data->vl53l1_tuningparm_lite_sigma_est_pulse_width = + pdev->tuning_parms.tp_lite_sigma_est_pulse_width_ns; + + ptun_data->vl53l1_tuningparm_lite_sigma_est_amb_width_ns = + pdev->tuning_parms.tp_lite_sigma_est_amb_width_ns; + + ptun_data->vl53l1_tuningparm_lite_sigma_ref_mm = + pdev->tuning_parms.tp_lite_sigma_ref_mm; + + ptun_data->vl53l1_tuningparm_lite_rit_mult = + pdev->xtalk_cfg.crosstalk_range_ignore_threshold_mult; + + ptun_data->vl53l1_tuningparm_lite_seed_config = + pdev->tuning_parms.tp_lite_seed_cfg; + + ptun_data->vl53l1_tuningparm_lite_quantifier = + pdev->tuning_parms.tp_lite_quantifier; + + ptun_data->vl53l1_tuningparm_lite_first_order_select = + pdev->tuning_parms.tp_lite_first_order_select; + + ptun_data->vl53l1_tuningparm_lite_xtalk_margin_kcps = + pdev->xtalk_cfg.lite_mode_crosstalk_margin_kcps; + + ptun_data->vl53l1_tuningparm_initial_phase_rtn_lite_long_range = + pdev->tuning_parms.tp_init_phase_rtn_lite_long; + + ptun_data->vl53l1_tuningparm_initial_phase_rtn_lite_med_range = + pdev->tuning_parms.tp_init_phase_rtn_lite_med; + + ptun_data->vl53l1_tuningparm_initial_phase_rtn_lite_short_range = + pdev->tuning_parms.tp_init_phase_rtn_lite_short; + + ptun_data->vl53l1_tuningparm_initial_phase_ref_lite_long_range = + pdev->tuning_parms.tp_init_phase_ref_lite_long; + + ptun_data->vl53l1_tuningparm_initial_phase_ref_lite_med_range = + pdev->tuning_parms.tp_init_phase_ref_lite_med; + + ptun_data->vl53l1_tuningparm_initial_phase_ref_lite_short_range = + pdev->tuning_parms.tp_init_phase_ref_lite_short; + + ptun_data->vl53l1_tuningparm_timed_seed_config = + pdev->tuning_parms.tp_timed_seed_cfg; + + ptun_data->vl53l1_tuningparm_dmax_cfg_signal_thresh_sigma = + pdev->dmax_cfg.signal_thresh_sigma; + + ptun_data->vl53l1_tuningparm_dmax_cfg_reflectance_array_0 = + pdev->dmax_cfg.target_reflectance_for_dmax_calc[0]; + + ptun_data->vl53l1_tuningparm_dmax_cfg_reflectance_array_1 = + pdev->dmax_cfg.target_reflectance_for_dmax_calc[1]; + + ptun_data->vl53l1_tuningparm_dmax_cfg_reflectance_array_2 = + pdev->dmax_cfg.target_reflectance_for_dmax_calc[2]; + + ptun_data->vl53l1_tuningparm_dmax_cfg_reflectance_array_3 = + pdev->dmax_cfg.target_reflectance_for_dmax_calc[3]; + + ptun_data->vl53l1_tuningparm_dmax_cfg_reflectance_array_4 = + pdev->dmax_cfg.target_reflectance_for_dmax_calc[4]; + + ptun_data->vl53l1_tuningparm_vhv_loopbound = + pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound; + + ptun_data->vl53l1_tuningparm_refspadchar_device_test_mode = + pdev->refspadchar.device_test_mode; + + ptun_data->vl53l1_tuningparm_refspadchar_vcsel_period = + pdev->refspadchar.VL53L1_p_009; + + ptun_data->vl53l1_tuningparm_refspadchar_phasecal_timeout_us = + pdev->refspadchar.timeout_us; + + ptun_data->vl53l1_tuningparm_refspadchar_target_count_rate_mcps = + pdev->refspadchar.target_count_rate_mcps; + + ptun_data->vl53l1_tuningparm_refspadchar_min_countrate_limit_mcps = + pdev->refspadchar.min_count_rate_limit_mcps; + + ptun_data->vl53l1_tuningparm_refspadchar_max_countrate_limit_mcps = + pdev->refspadchar.max_count_rate_limit_mcps; + + ptun_data->vl53l1_tuningparm_xtalk_extract_num_of_samples = + pXC->num_of_samples; + + ptun_data->vl53l1_tuningparm_xtalk_extract_min_filter_thresh_mm = + pXC->algo__crosstalk_extract_min_valid_range_mm; + + ptun_data->vl53l1_tuningparm_xtalk_extract_max_filter_thresh_mm = + pXC->algo__crosstalk_extract_max_valid_range_mm; + + ptun_data->vl53l1_tuningparm_xtalk_extract_dss_rate_mcps = + pXC->dss_config__target_total_rate_mcps; + + ptun_data->vl53l1_tuningparm_xtalk_extract_phasecal_timeout_us = + pXC->phasecal_config_timeout_us; + + ptun_data->vl53l1_tuningparm_xtalk_extract_max_valid_rate_kcps = + pXC->algo__crosstalk_extract_max_valid_rate_kcps; + + ptun_data->vl53l1_tuningparm_xtalk_extract_sigma_threshold_mm = + pXC->algo__crosstalk_extract_max_sigma_mm; + + ptun_data->vl53l1_tuningparm_xtalk_extract_dss_timeout_us = + pXC->mm_config_timeout_us; + + ptun_data->vl53l1_tuningparm_xtalk_extract_bin_timeout_us = + pXC->range_config_timeout_us; + + ptun_data->vl53l1_tuningparm_offset_cal_dss_rate_mcps = + pdev->offsetcal_cfg.dss_config__target_total_rate_mcps; + + ptun_data->vl53l1_tuningparm_offset_cal_phasecal_timeout_us = + pdev->offsetcal_cfg.phasecal_config_timeout_us; + + ptun_data->vl53l1_tuningparm_offset_cal_mm_timeout_us = + pdev->offsetcal_cfg.mm_config_timeout_us; + + ptun_data->vl53l1_tuningparm_offset_cal_range_timeout_us = + pdev->offsetcal_cfg.range_config_timeout_us; + + ptun_data->vl53l1_tuningparm_offset_cal_pre_samples = + pdev->offsetcal_cfg.pre_num_of_samples; + + ptun_data->vl53l1_tuningparm_offset_cal_mm1_samples = + pdev->offsetcal_cfg.mm1_num_of_samples; + + ptun_data->vl53l1_tuningparm_offset_cal_mm2_samples = + pdev->offsetcal_cfg.mm2_num_of_samples; + + ptun_data->vl53l1_tuningparm_zone_cal_dss_rate_mcps = + pdev->zonecal_cfg.dss_config__target_total_rate_mcps; + + ptun_data->vl53l1_tuningparm_zone_cal_phasecal_timeout_us = + pdev->zonecal_cfg.phasecal_config_timeout_us; + + ptun_data->vl53l1_tuningparm_zone_cal_dss_timeout_us = + pdev->zonecal_cfg.mm_config_timeout_us; + + ptun_data->vl53l1_tuningparm_zone_cal_phasecal_num_samples = + pdev->zonecal_cfg.phasecal_num_of_samples; + + ptun_data->vl53l1_tuningparm_zone_cal_range_timeout_us = + pdev->zonecal_cfg.range_config_timeout_us; + + ptun_data->vl53l1_tuningparm_zone_cal_zone_num_samples = + pdev->zonecal_cfg.zone_num_of_samples; + + ptun_data->vl53l1_tuningparm_spadmap_vcsel_period = + pdev->ssc_cfg.VL53L1_p_009; + + ptun_data->vl53l1_tuningparm_spadmap_vcsel_start = + pdev->ssc_cfg.vcsel_start; + + ptun_data->vl53l1_tuningparm_spadmap_rate_limit_mcps = + pdev->ssc_cfg.rate_limit_mcps; + + ptun_data->vl53l1_tuningparm_lite_dss_config_target_total_rate_mcps = + pdev->tuning_parms.tp_dss_target_lite_mcps; + + ptun_data->vl53l1_tuningparm_ranging_dss_config_target_total_rate_mcps = + pdev->tuning_parms.tp_dss_target_histo_mcps; + + ptun_data->vl53l1_tuningparm_mz_dss_config_target_total_rate_mcps = + pdev->tuning_parms.tp_dss_target_histo_mz_mcps; + + ptun_data->vl53l1_tuningparm_timed_dss_config_target_total_rate_mcps = + pdev->tuning_parms.tp_dss_target_timed_mcps; + + ptun_data->vl53l1_tuningparm_lite_phasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_lite_us; + + ptun_data->vl53l1_tuningparm_ranging_long_phasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_hist_long_us; + + ptun_data->vl53l1_tuningparm_ranging_med_phasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_hist_med_us; + + ptun_data->vl53l1_tuningparm_ranging_short_phasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_hist_short_us; + + ptun_data->vl53l1_tuningparm_mz_long_phasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_mz_long_us; + + ptun_data->vl53l1_tuningparm_mz_med_phasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_mz_med_us; + + ptun_data->vl53l1_tuningparm_mz_short_phasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_mz_short_us; + + ptun_data->vl53l1_tuningparm_timed_phasecal_config_timeout_us = + pdev->tuning_parms.tp_phasecal_timeout_timed_us; + + ptun_data->vl53l1_tuningparm_lite_mm_config_timeout_us = + pdev->tuning_parms.tp_mm_timeout_lite_us; + + ptun_data->vl53l1_tuningparm_ranging_mm_config_timeout_us = + pdev->tuning_parms.tp_mm_timeout_histo_us; + + ptun_data->vl53l1_tuningparm_mz_mm_config_timeout_us = + pdev->tuning_parms.tp_mm_timeout_mz_us; + + ptun_data->vl53l1_tuningparm_timed_mm_config_timeout_us = + pdev->tuning_parms.tp_mm_timeout_timed_us; + + ptun_data->vl53l1_tuningparm_lite_range_config_timeout_us = + pdev->tuning_parms.tp_range_timeout_lite_us; + + ptun_data->vl53l1_tuningparm_ranging_range_config_timeout_us = + pdev->tuning_parms.tp_range_timeout_histo_us; + + ptun_data->vl53l1_tuningparm_mz_range_config_timeout_us = + pdev->tuning_parms.tp_range_timeout_mz_us; + + ptun_data->vl53l1_tuningparm_timed_range_config_timeout_us = + pdev->tuning_parms.tp_range_timeout_timed_us; + + ptun_data->vl53l1_tuningparm_dynxtalk_smudge_margin = + pdev->smudge_correct_config.smudge_margin; + + ptun_data->vl53l1_tuningparm_dynxtalk_noise_margin = + pdev->smudge_correct_config.noise_margin; + + ptun_data->vl53l1_tuningparm_dynxtalk_xtalk_offset_limit = + pdev->smudge_correct_config.user_xtalk_offset_limit; + + ptun_data->vl53l1_tuningparm_dynxtalk_xtalk_offset_limit_hi = + pdev->smudge_correct_config.user_xtalk_offset_limit_hi; + + ptun_data->vl53l1_tuningparm_dynxtalk_sample_limit = + pdev->smudge_correct_config.sample_limit; + + ptun_data->vl53l1_tuningparm_dynxtalk_single_xtalk_delta = + pdev->smudge_correct_config.single_xtalk_delta; + + ptun_data->vl53l1_tuningparm_dynxtalk_averaged_xtalk_delta = + pdev->smudge_correct_config.averaged_xtalk_delta; + + ptun_data->vl53l1_tuningparm_dynxtalk_clip_limit = + pdev->smudge_correct_config.smudge_corr_clip_limit; + + ptun_data->vl53l1_tuningparm_dynxtalk_scaler_calc_method = + pdev->smudge_correct_config.scaler_calc_method; + + ptun_data->vl53l1_tuningparm_dynxtalk_xgradient_scaler = + pdev->smudge_correct_config.x_gradient_scaler; + + ptun_data->vl53l1_tuningparm_dynxtalk_ygradient_scaler = + pdev->smudge_correct_config.y_gradient_scaler; + + ptun_data->vl53l1_tuningparm_dynxtalk_user_scaler_set = + pdev->smudge_correct_config.user_scaler_set; + + ptun_data->vl53l1_tuningparm_dynxtalk_smudge_cor_single_apply = + pdev->smudge_correct_config.smudge_corr_single_apply; + + ptun_data->vl53l1_tuningparm_dynxtalk_xtalk_amb_threshold = + pdev->smudge_correct_config.smudge_corr_ambient_threshold; + + ptun_data->vl53l1_tuningparm_dynxtalk_nodetect_amb_threshold_kcps = + pdev->smudge_correct_config.nodetect_ambient_threshold; + + ptun_data->vl53l1_tuningparm_dynxtalk_nodetect_sample_limit = + pdev->smudge_correct_config.nodetect_sample_limit; + + ptun_data->vl53l1_tuningparm_dynxtalk_nodetect_xtalk_offset_kcps = + pdev->smudge_correct_config.nodetect_xtalk_offset; + + ptun_data->vl53l1_tuningparm_dynxtalk_nodetect_min_range_mm = + pdev->smudge_correct_config.nodetect_min_range_mm; + + ptun_data->vl53l1_tuningparm_lowpowerauto_vhv_loop_bound = + pdev->low_power_auto_data.vhv_loop_bound; + + ptun_data->vl53l1_tuningparm_lowpowerauto_mm_config_timeout_us = + pdev->tuning_parms.tp_mm_timeout_lpa_us; + + ptun_data->vl53l1_tuningparm_lowpowerauto_range_config_timeout_us = + pdev->tuning_parms.tp_range_timeout_lpa_us; + + ptun_data->vl53l1_tuningparm_very_short_dss_rate_mcps = + pdev->tuning_parms.tp_dss_target_very_short_mcps; + + ptun_data->vl53l1_tuningparm_phasecal_patch_power = + pdev->tuning_parms.tp_phasecal_patch_power; + + LOG_FUNCTION_END(status); + + return status; +} + + + + + +VL53L1_Error VL53L1_get_tuning_parm( + VL53L1_DEV Dev, + VL53L1_TuningParms tuning_parm_key, + int32_t *ptuning_parm_value) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_hist_post_process_config_t *pHP = &(pdev->histpostprocess); + VL53L1_xtalkextract_config_t *pXC = &(pdev->xtalk_extract_cfg); + + LOG_FUNCTION_START(""); + + switch (tuning_parm_key) { + + case VL53L1_TUNINGPARM_VERSION: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_tuning_parm_version; + break; + case VL53L1_TUNINGPARM_KEY_TABLE_VERSION: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_tuning_parm_key_table_version; + break; + case VL53L1_TUNINGPARM_LLD_VERSION: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_tuning_parm_lld_version; + break; + case VL53L1_TUNINGPARM_HIST_ALGO_SELECT: + *ptuning_parm_value = + (int32_t)pHP->hist_algo_select; + break; + case VL53L1_TUNINGPARM_HIST_TARGET_ORDER: + *ptuning_parm_value = + (int32_t)pHP->hist_target_order; + break; + case VL53L1_TUNINGPARM_HIST_FILTER_WOI_0: + *ptuning_parm_value = + (int32_t)pHP->filter_woi0; + break; + case VL53L1_TUNINGPARM_HIST_FILTER_WOI_1: + *ptuning_parm_value = + (int32_t)pHP->filter_woi1; + break; + case VL53L1_TUNINGPARM_HIST_AMB_EST_METHOD: + *ptuning_parm_value = + (int32_t)pHP->hist_amb_est_method; + break; + case VL53L1_TUNINGPARM_HIST_AMB_THRESH_SIGMA_0: + *ptuning_parm_value = + (int32_t)pHP->ambient_thresh_sigma0; + break; + case VL53L1_TUNINGPARM_HIST_AMB_THRESH_SIGMA_1: + *ptuning_parm_value = + (int32_t)pHP->ambient_thresh_sigma1; + break; + case VL53L1_TUNINGPARM_HIST_MIN_AMB_THRESH_EVENTS: + *ptuning_parm_value = + (int32_t)pHP->min_ambient_thresh_events; + break; + case VL53L1_TUNINGPARM_HIST_AMB_EVENTS_SCALER: + *ptuning_parm_value = + (int32_t)pHP->ambient_thresh_events_scaler; + break; + case VL53L1_TUNINGPARM_HIST_NOISE_THRESHOLD: + *ptuning_parm_value = + (int32_t)pHP->noise_threshold; + break; + case VL53L1_TUNINGPARM_HIST_SIGNAL_TOTAL_EVENTS_LIMIT: + *ptuning_parm_value = + (int32_t)pHP->signal_total_events_limit; + break; + case VL53L1_TUNINGPARM_HIST_SIGMA_EST_REF_MM: + *ptuning_parm_value = + (int32_t)pHP->sigma_estimator__sigma_ref_mm; + break; + case VL53L1_TUNINGPARM_HIST_SIGMA_THRESH_MM: + *ptuning_parm_value = + (int32_t)pHP->sigma_thresh; + break; + case VL53L1_TUNINGPARM_HIST_GAIN_FACTOR: + *ptuning_parm_value = + (int32_t)pdev->gain_cal.histogram_ranging_gain_factor; + break; + case VL53L1_TUNINGPARM_CONSISTENCY_HIST_PHASE_TOLERANCE: + *ptuning_parm_value = + (int32_t)pHP->algo__consistency_check__phase_tolerance; + break; + case VL53L1_TUNINGPARM_CONSISTENCY_HIST_MIN_MAX_TOLERANCE_MM: + *ptuning_parm_value = + (int32_t)pHP->algo__consistency_check__min_max_tolerance; + break; + case VL53L1_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA: + *ptuning_parm_value = + (int32_t)pHP->algo__consistency_check__event_sigma; + break; + case VL53L1_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA_MIN_SPAD_LIMIT: + *ptuning_parm_value = + (int32_t)pHP->algo__consistency_check__event_min_spad_count; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_LONG_RANGE: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_init_phase_rtn_hist_long; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_MED_RANGE: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_init_phase_rtn_hist_med; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_SHORT_RANGE: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_init_phase_rtn_hist_short; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_REF_HISTO_LONG_RANGE: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_init_phase_ref_hist_long; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_REF_HISTO_MED_RANGE: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_init_phase_ref_hist_med; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_REF_HISTO_SHORT_RANGE: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_init_phase_ref_hist_short; + break; + case VL53L1_TUNINGPARM_XTALK_DETECT_MIN_VALID_RANGE_MM: + *ptuning_parm_value = (int32_t)( + pdev->xtalk_cfg.algo__crosstalk_detect_min_valid_range_mm); + break; + case VL53L1_TUNINGPARM_XTALK_DETECT_MAX_VALID_RANGE_MM: + *ptuning_parm_value = (int32_t)( + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_range_mm); + break; + case VL53L1_TUNINGPARM_XTALK_DETECT_MAX_SIGMA_MM: + *ptuning_parm_value = + (int32_t)pdev->xtalk_cfg.algo__crosstalk_detect_max_sigma_mm; + break; + case VL53L1_TUNINGPARM_XTALK_DETECT_MIN_MAX_TOLERANCE: + *ptuning_parm_value = + (int32_t)pHP->algo__crosstalk_detect_min_max_tolerance; + break; + case VL53L1_TUNINGPARM_XTALK_DETECT_MAX_VALID_RATE_KCPS: + *ptuning_parm_value = (int32_t)( + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_rate_kcps); + break; + case VL53L1_TUNINGPARM_XTALK_DETECT_EVENT_SIGMA: + *ptuning_parm_value = + (int32_t)pHP->algo__crosstalk_detect_event_sigma; + break; + case VL53L1_TUNINGPARM_HIST_XTALK_MARGIN_KCPS: + *ptuning_parm_value = + (int32_t)pdev->xtalk_cfg.histogram_mode_crosstalk_margin_kcps; + break; + case VL53L1_TUNINGPARM_CONSISTENCY_LITE_PHASE_TOLERANCE: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_consistency_lite_phase_tolerance; + break; + case VL53L1_TUNINGPARM_PHASECAL_TARGET: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_phasecal_target; + break; + case VL53L1_TUNINGPARM_LITE_CAL_REPEAT_RATE: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_cal_repeat_rate; + break; + case VL53L1_TUNINGPARM_LITE_RANGING_GAIN_FACTOR: + *ptuning_parm_value = + (int32_t)pdev->gain_cal.standard_ranging_gain_factor; + break; + case VL53L1_TUNINGPARM_LITE_MIN_CLIP_MM: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_lite_min_clip; + break; + case VL53L1_TUNINGPARM_LITE_LONG_SIGMA_THRESH_MM: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_lite_long_sigma_thresh_mm; + break; + case VL53L1_TUNINGPARM_LITE_MED_SIGMA_THRESH_MM: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_lite_med_sigma_thresh_mm; + break; + case VL53L1_TUNINGPARM_LITE_SHORT_SIGMA_THRESH_MM: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_lite_short_sigma_thresh_mm; + break; + case VL53L1_TUNINGPARM_LITE_LONG_MIN_COUNT_RATE_RTN_MCPS: + *ptuning_parm_value = (int32_t)( + pdev->tuning_parms.tp_lite_long_min_count_rate_rtn_mcps); + break; + case VL53L1_TUNINGPARM_LITE_MED_MIN_COUNT_RATE_RTN_MCPS: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_lite_med_min_count_rate_rtn_mcps; + break; + case VL53L1_TUNINGPARM_LITE_SHORT_MIN_COUNT_RATE_RTN_MCPS: + *ptuning_parm_value = (int32_t)( + pdev->tuning_parms.tp_lite_short_min_count_rate_rtn_mcps); + break; + case VL53L1_TUNINGPARM_LITE_SIGMA_EST_PULSE_WIDTH: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_lite_sigma_est_pulse_width_ns; + break; + case VL53L1_TUNINGPARM_LITE_SIGMA_EST_AMB_WIDTH_NS: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_lite_sigma_est_amb_width_ns; + break; + case VL53L1_TUNINGPARM_LITE_SIGMA_REF_MM: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_lite_sigma_ref_mm; + break; + case VL53L1_TUNINGPARM_LITE_RIT_MULT: + *ptuning_parm_value = + (int32_t)pdev->xtalk_cfg.crosstalk_range_ignore_threshold_mult; + break; + case VL53L1_TUNINGPARM_LITE_SEED_CONFIG: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_lite_seed_cfg; + break; + case VL53L1_TUNINGPARM_LITE_QUANTIFIER: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_lite_quantifier; + break; + case VL53L1_TUNINGPARM_LITE_FIRST_ORDER_SELECT: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_lite_first_order_select; + break; + case VL53L1_TUNINGPARM_LITE_XTALK_MARGIN_KCPS: + *ptuning_parm_value = + (int32_t)pdev->xtalk_cfg.lite_mode_crosstalk_margin_kcps; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_LITE_LONG_RANGE: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_init_phase_rtn_lite_long; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_LITE_MED_RANGE: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_init_phase_rtn_lite_med; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_LITE_SHORT_RANGE: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_init_phase_rtn_lite_short; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_REF_LITE_LONG_RANGE: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_init_phase_ref_lite_long; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_REF_LITE_MED_RANGE: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_init_phase_ref_lite_med; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_REF_LITE_SHORT_RANGE: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_init_phase_ref_lite_short; + break; + case VL53L1_TUNINGPARM_TIMED_SEED_CONFIG: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_timed_seed_cfg; + break; + case VL53L1_TUNINGPARM_DMAX_CFG_SIGNAL_THRESH_SIGMA: + *ptuning_parm_value = + (int32_t)pdev->dmax_cfg.signal_thresh_sigma; + break; + case VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_0: + *ptuning_parm_value = + (int32_t)pdev->dmax_cfg.target_reflectance_for_dmax_calc[0]; + break; + case VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_1: + *ptuning_parm_value = + (int32_t)pdev->dmax_cfg.target_reflectance_for_dmax_calc[1]; + break; + case VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_2: + *ptuning_parm_value = + (int32_t)pdev->dmax_cfg.target_reflectance_for_dmax_calc[2]; + break; + case VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_3: + *ptuning_parm_value = + (int32_t)pdev->dmax_cfg.target_reflectance_for_dmax_calc[3]; + break; + case VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_4: + *ptuning_parm_value = + (int32_t)pdev->dmax_cfg.target_reflectance_for_dmax_calc[4]; + break; + case VL53L1_TUNINGPARM_VHV_LOOPBOUND: + *ptuning_parm_value = + (int32_t)pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound; + break; + case VL53L1_TUNINGPARM_REFSPADCHAR_DEVICE_TEST_MODE: + *ptuning_parm_value = + (int32_t)pdev->refspadchar.device_test_mode; + break; + case VL53L1_TUNINGPARM_REFSPADCHAR_VCSEL_PERIOD: + *ptuning_parm_value = + (int32_t)pdev->refspadchar.VL53L1_p_009; + break; + case VL53L1_TUNINGPARM_REFSPADCHAR_PHASECAL_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->refspadchar.timeout_us; + break; + case VL53L1_TUNINGPARM_REFSPADCHAR_TARGET_COUNT_RATE_MCPS: + *ptuning_parm_value = + (int32_t)pdev->refspadchar.target_count_rate_mcps; + break; + case VL53L1_TUNINGPARM_REFSPADCHAR_MIN_COUNTRATE_LIMIT_MCPS: + *ptuning_parm_value = + (int32_t)pdev->refspadchar.min_count_rate_limit_mcps; + break; + case VL53L1_TUNINGPARM_REFSPADCHAR_MAX_COUNTRATE_LIMIT_MCPS: + *ptuning_parm_value = + (int32_t)pdev->refspadchar.max_count_rate_limit_mcps; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_NUM_OF_SAMPLES: + *ptuning_parm_value = + (int32_t)pXC->num_of_samples; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_MIN_FILTER_THRESH_MM: + *ptuning_parm_value = + (int32_t)pXC->algo__crosstalk_extract_min_valid_range_mm; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_MAX_FILTER_THRESH_MM: + *ptuning_parm_value = + (int32_t)pXC->algo__crosstalk_extract_max_valid_range_mm; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_DSS_RATE_MCPS: + *ptuning_parm_value = + (int32_t)pXC->dss_config__target_total_rate_mcps; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_PHASECAL_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pXC->phasecal_config_timeout_us; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_MAX_VALID_RATE_KCPS: + *ptuning_parm_value = + (int32_t)pXC->algo__crosstalk_extract_max_valid_rate_kcps; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_SIGMA_THRESHOLD_MM: + *ptuning_parm_value = + (int32_t)pXC->algo__crosstalk_extract_max_sigma_mm; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_DSS_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pXC->mm_config_timeout_us; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_BIN_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pXC->range_config_timeout_us; + break; + case VL53L1_TUNINGPARM_OFFSET_CAL_DSS_RATE_MCPS: + *ptuning_parm_value = + (int32_t)pdev->offsetcal_cfg.dss_config__target_total_rate_mcps; + break; + case VL53L1_TUNINGPARM_OFFSET_CAL_PHASECAL_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->offsetcal_cfg.phasecal_config_timeout_us; + break; + case VL53L1_TUNINGPARM_OFFSET_CAL_MM_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->offsetcal_cfg.mm_config_timeout_us; + break; + case VL53L1_TUNINGPARM_OFFSET_CAL_RANGE_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->offsetcal_cfg.range_config_timeout_us; + break; + case VL53L1_TUNINGPARM_OFFSET_CAL_PRE_SAMPLES: + *ptuning_parm_value = + (int32_t)pdev->offsetcal_cfg.pre_num_of_samples; + break; + case VL53L1_TUNINGPARM_OFFSET_CAL_MM1_SAMPLES: + *ptuning_parm_value = + (int32_t)pdev->offsetcal_cfg.mm1_num_of_samples; + break; + case VL53L1_TUNINGPARM_OFFSET_CAL_MM2_SAMPLES: + *ptuning_parm_value = + (int32_t)pdev->offsetcal_cfg.mm2_num_of_samples; + break; + case VL53L1_TUNINGPARM_ZONE_CAL_DSS_RATE_MCPS: + *ptuning_parm_value = + (int32_t)pdev->zonecal_cfg.dss_config__target_total_rate_mcps; + break; + case VL53L1_TUNINGPARM_ZONE_CAL_PHASECAL_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->zonecal_cfg.phasecal_config_timeout_us; + break; + case VL53L1_TUNINGPARM_ZONE_CAL_DSS_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->zonecal_cfg.mm_config_timeout_us; + break; + case VL53L1_TUNINGPARM_ZONE_CAL_PHASECAL_NUM_SAMPLES: + *ptuning_parm_value = + (int32_t)pdev->zonecal_cfg.phasecal_num_of_samples; + break; + case VL53L1_TUNINGPARM_ZONE_CAL_RANGE_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->zonecal_cfg.range_config_timeout_us; + break; + case VL53L1_TUNINGPARM_ZONE_CAL_ZONE_NUM_SAMPLES: + *ptuning_parm_value = + (int32_t)pdev->zonecal_cfg.zone_num_of_samples; + break; + case VL53L1_TUNINGPARM_SPADMAP_VCSEL_PERIOD: + *ptuning_parm_value = + (int32_t)pdev->ssc_cfg.VL53L1_p_009; + break; + case VL53L1_TUNINGPARM_SPADMAP_VCSEL_START: + *ptuning_parm_value = + (int32_t)pdev->ssc_cfg.vcsel_start; + break; + case VL53L1_TUNINGPARM_SPADMAP_RATE_LIMIT_MCPS: + *ptuning_parm_value = + (int32_t)pdev->ssc_cfg.rate_limit_mcps; + break; + case VL53L1_TUNINGPARM_LITE_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_dss_target_lite_mcps; + break; + case VL53L1_TUNINGPARM_RANGING_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_dss_target_histo_mcps; + break; + case VL53L1_TUNINGPARM_MZ_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_dss_target_histo_mz_mcps; + break; + case VL53L1_TUNINGPARM_TIMED_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_dss_target_timed_mcps; + break; + case VL53L1_TUNINGPARM_LITE_PHASECAL_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_phasecal_timeout_lite_us; + break; + case VL53L1_TUNINGPARM_RANGING_LONG_PHASECAL_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_phasecal_timeout_hist_long_us; + break; + case VL53L1_TUNINGPARM_RANGING_MED_PHASECAL_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_phasecal_timeout_hist_med_us; + break; + case VL53L1_TUNINGPARM_RANGING_SHORT_PHASECAL_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_phasecal_timeout_hist_short_us; + break; + case VL53L1_TUNINGPARM_MZ_LONG_PHASECAL_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_phasecal_timeout_mz_long_us; + break; + case VL53L1_TUNINGPARM_MZ_MED_PHASECAL_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_phasecal_timeout_mz_med_us; + break; + case VL53L1_TUNINGPARM_MZ_SHORT_PHASECAL_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_phasecal_timeout_mz_short_us; + break; + case VL53L1_TUNINGPARM_TIMED_PHASECAL_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_phasecal_timeout_timed_us; + break; + case VL53L1_TUNINGPARM_LITE_MM_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_mm_timeout_lite_us; + break; + case VL53L1_TUNINGPARM_RANGING_MM_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_mm_timeout_histo_us; + break; + case VL53L1_TUNINGPARM_MZ_MM_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_mm_timeout_mz_us; + break; + case VL53L1_TUNINGPARM_TIMED_MM_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_mm_timeout_timed_us; + break; + case VL53L1_TUNINGPARM_LITE_RANGE_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_range_timeout_lite_us; + break; + case VL53L1_TUNINGPARM_RANGING_RANGE_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_range_timeout_histo_us; + break; + case VL53L1_TUNINGPARM_MZ_RANGE_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_range_timeout_mz_us; + break; + case VL53L1_TUNINGPARM_TIMED_RANGE_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_range_timeout_timed_us; + break; + case VL53L1_TUNINGPARM_DYNXTALK_SMUDGE_MARGIN: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.smudge_margin; + break; + case VL53L1_TUNINGPARM_DYNXTALK_NOISE_MARGIN: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.noise_margin; + break; + case VL53L1_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.user_xtalk_offset_limit; + break; + case VL53L1_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT_HI: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.user_xtalk_offset_limit_hi; + break; + case VL53L1_TUNINGPARM_DYNXTALK_SAMPLE_LIMIT: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.sample_limit; + break; + case VL53L1_TUNINGPARM_DYNXTALK_SINGLE_XTALK_DELTA: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.single_xtalk_delta; + break; + case VL53L1_TUNINGPARM_DYNXTALK_AVERAGED_XTALK_DELTA: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.averaged_xtalk_delta; + break; + case VL53L1_TUNINGPARM_DYNXTALK_CLIP_LIMIT: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.smudge_corr_clip_limit; + break; + case VL53L1_TUNINGPARM_DYNXTALK_SCALER_CALC_METHOD: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.scaler_calc_method; + break; + case VL53L1_TUNINGPARM_DYNXTALK_XGRADIENT_SCALER: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.x_gradient_scaler; + break; + case VL53L1_TUNINGPARM_DYNXTALK_YGRADIENT_SCALER: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.y_gradient_scaler; + break; + case VL53L1_TUNINGPARM_DYNXTALK_USER_SCALER_SET: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.user_scaler_set; + break; + case VL53L1_TUNINGPARM_DYNXTALK_SMUDGE_COR_SINGLE_APPLY: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.smudge_corr_single_apply; + break; + case VL53L1_TUNINGPARM_DYNXTALK_XTALK_AMB_THRESHOLD: + *ptuning_parm_value = (int32_t)( + pdev->smudge_correct_config.smudge_corr_ambient_threshold); + break; + case VL53L1_TUNINGPARM_DYNXTALK_NODETECT_AMB_THRESHOLD_KCPS: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.nodetect_ambient_threshold; + break; + case VL53L1_TUNINGPARM_DYNXTALK_NODETECT_SAMPLE_LIMIT: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.nodetect_sample_limit; + break; + case VL53L1_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.nodetect_xtalk_offset; + break; + case VL53L1_TUNINGPARM_DYNXTALK_NODETECT_MIN_RANGE_MM: + *ptuning_parm_value = + (int32_t)pdev->smudge_correct_config.nodetect_min_range_mm; + break; + case VL53L1_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND: + *ptuning_parm_value = + (int32_t)pdev->low_power_auto_data.vhv_loop_bound; + break; + case VL53L1_TUNINGPARM_LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_mm_timeout_lpa_us; + break; + case VL53L1_TUNINGPARM_LOWPOWERAUTO_RANGE_CONFIG_TIMEOUT_US: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_range_timeout_lpa_us; + break; + case VL53L1_TUNINGPARM_VERY_SHORT_DSS_RATE_MCPS: + *ptuning_parm_value = + (int32_t)pdev->tuning_parms.tp_dss_target_very_short_mcps; + break; + case VL53L1_TUNINGPARM_PHASECAL_PATCH_POWER: + *ptuning_parm_value = + (int32_t) pdev->tuning_parms.tp_phasecal_patch_power; + break; + case VL53L1_TUNINGPARM_HIST_MERGE: + *ptuning_parm_value = + (int32_t) pdev->tuning_parms.tp_hist_merge; + break; + case VL53L1_TUNINGPARM_RESET_MERGE_THRESHOLD: + *ptuning_parm_value = + (int32_t) pdev->tuning_parms.tp_reset_merge_threshold; + break; + case VL53L1_TUNINGPARM_HIST_MERGE_MAX_SIZE: + *ptuning_parm_value = + (int32_t) pdev->tuning_parms.tp_hist_merge_max_size; + break; + case VL53L1_TUNINGPARM_DYNXTALK_MAX_SMUDGE_FACTOR: + *ptuning_parm_value = + pdev->smudge_correct_config.max_smudge_factor; + break; + + case VL53L1_TUNINGPARM_UWR_ENABLE: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_enable; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_1_MIN: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_z_1_min; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_1_MAX: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_z_1_max; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_2_MIN: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_z_2_min; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_2_MAX: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_z_2_max; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_3_MIN: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_z_3_min; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_3_MAX: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_z_3_max; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_4_MIN: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_z_4_min; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_4_MAX: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_z_4_max; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_5_MIN: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_z_5_min; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_5_MAX: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_z_5_max; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_6_MIN: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_z_6_min; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_6_MAX: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_z_6_max; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_1_RANGEA: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_corr_z_1_rangea; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_1_RANGEB: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_corr_z_1_rangeb; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_2_RANGEA: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_corr_z_2_rangea; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_2_RANGEB: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_corr_z_2_rangeb; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_3_RANGEA: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_corr_z_3_rangea; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_3_RANGEB: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_corr_z_3_rangeb; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_4_RANGEA: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_corr_z_4_rangea; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_4_RANGEB: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_corr_z_4_rangeb; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_5_RANGEA: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_corr_z_5_rangea; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_5_RANGEB: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_corr_z_5_rangeb; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_6_RANGEA: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_corr_z_6_rangea; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_6_RANGEB: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_med_corr_z_6_rangeb; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_1_MIN: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_z_1_min; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_1_MAX: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_z_1_max; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_2_MIN: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_z_2_min; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_2_MAX: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_z_2_max; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_3_MIN: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_z_3_min; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_3_MAX: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_z_3_max; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_4_MIN: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_z_4_min; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_4_MAX: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_z_4_max; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_5_MIN: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_z_5_min; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_5_MAX: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_z_5_max; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_1_RANGEA: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_corr_z_1_rangea; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_1_RANGEB: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_corr_z_1_rangeb; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_2_RANGEA: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_corr_z_2_rangea; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_2_RANGEB: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_corr_z_2_rangeb; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_3_RANGEA: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_corr_z_3_rangea; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_3_RANGEB: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_corr_z_3_rangeb; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_4_RANGEA: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_corr_z_4_rangea; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_4_RANGEB: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_corr_z_4_rangeb; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_5_RANGEA: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_corr_z_5_rangea; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_5_RANGEB: + *ptuning_parm_value = + pdev->tuning_parms.tp_uwr_lng_corr_z_5_rangeb; + break; + + default: + *ptuning_parm_value = 0x7FFFFFFF; + status = VL53L1_ERROR_INVALID_PARAMS; + break; + + } + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_set_tuning_parm( + VL53L1_DEV Dev, + VL53L1_TuningParms tuning_parm_key, + int32_t tuning_parm_value) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_hist_post_process_config_t *pHP = &(pdev->histpostprocess); + VL53L1_xtalkextract_config_t *pXC = &(pdev->xtalk_extract_cfg); + + LOG_FUNCTION_START(""); + + switch (tuning_parm_key) { + + case VL53L1_TUNINGPARM_VERSION: + pdev->tuning_parms.tp_tuning_parm_version = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_KEY_TABLE_VERSION: + pdev->tuning_parms.tp_tuning_parm_key_table_version = + (uint16_t)tuning_parm_value; + + + + if ((uint16_t)tuning_parm_value + != VL53L1_TUNINGPARM_KEY_TABLE_VERSION_DEFAULT) + status = VL53L1_ERROR_TUNING_PARM_KEY_MISMATCH; + + break; + case VL53L1_TUNINGPARM_LLD_VERSION: + pdev->tuning_parms.tp_tuning_parm_lld_version = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_ALGO_SELECT: + pHP->hist_algo_select = + (VL53L1_HistAlgoSelect)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_TARGET_ORDER: + pHP->hist_target_order = + (VL53L1_HistTargetOrder)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_FILTER_WOI_0: + pHP->filter_woi0 = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_FILTER_WOI_1: + pHP->filter_woi1 = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_AMB_EST_METHOD: + pHP->hist_amb_est_method = + (VL53L1_HistAmbEstMethod)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_AMB_THRESH_SIGMA_0: + pHP->ambient_thresh_sigma0 = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_AMB_THRESH_SIGMA_1: + pHP->ambient_thresh_sigma1 = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_MIN_AMB_THRESH_EVENTS: + pHP->min_ambient_thresh_events = + (int32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_AMB_EVENTS_SCALER: + pHP->ambient_thresh_events_scaler = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_NOISE_THRESHOLD: + pHP->noise_threshold = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_SIGNAL_TOTAL_EVENTS_LIMIT: + pHP->signal_total_events_limit = + (int32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_SIGMA_EST_REF_MM: + pHP->sigma_estimator__sigma_ref_mm = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_SIGMA_THRESH_MM: + pHP->sigma_thresh = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_GAIN_FACTOR: + pdev->gain_cal.histogram_ranging_gain_factor = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_CONSISTENCY_HIST_PHASE_TOLERANCE: + pHP->algo__consistency_check__phase_tolerance = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_CONSISTENCY_HIST_MIN_MAX_TOLERANCE_MM: + pHP->algo__consistency_check__min_max_tolerance = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA: + pHP->algo__consistency_check__event_sigma = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA_MIN_SPAD_LIMIT: + pHP->algo__consistency_check__event_min_spad_count = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_LONG_RANGE: + pdev->tuning_parms.tp_init_phase_rtn_hist_long = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_MED_RANGE: + pdev->tuning_parms.tp_init_phase_rtn_hist_med = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_SHORT_RANGE: + pdev->tuning_parms.tp_init_phase_rtn_hist_short = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_REF_HISTO_LONG_RANGE: + pdev->tuning_parms.tp_init_phase_ref_hist_long = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_REF_HISTO_MED_RANGE: + pdev->tuning_parms.tp_init_phase_ref_hist_med = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_REF_HISTO_SHORT_RANGE: + pdev->tuning_parms.tp_init_phase_ref_hist_short = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_XTALK_DETECT_MIN_VALID_RANGE_MM: + pdev->xtalk_cfg.algo__crosstalk_detect_min_valid_range_mm = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_XTALK_DETECT_MAX_VALID_RANGE_MM: + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_range_mm = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_XTALK_DETECT_MAX_SIGMA_MM: + pdev->xtalk_cfg.algo__crosstalk_detect_max_sigma_mm = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_XTALK_DETECT_MIN_MAX_TOLERANCE: + pHP->algo__crosstalk_detect_min_max_tolerance = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_XTALK_DETECT_MAX_VALID_RATE_KCPS: + pdev->xtalk_cfg.algo__crosstalk_detect_max_valid_rate_kcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_XTALK_DETECT_EVENT_SIGMA: + pHP->algo__crosstalk_detect_event_sigma = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_XTALK_MARGIN_KCPS: + pdev->xtalk_cfg.histogram_mode_crosstalk_margin_kcps = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_CONSISTENCY_LITE_PHASE_TOLERANCE: + pdev->tuning_parms.tp_consistency_lite_phase_tolerance = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_PHASECAL_TARGET: + pdev->tuning_parms.tp_phasecal_target = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_CAL_REPEAT_RATE: + pdev->tuning_parms.tp_cal_repeat_rate = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_RANGING_GAIN_FACTOR: + pdev->gain_cal.standard_ranging_gain_factor = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_MIN_CLIP_MM: + pdev->tuning_parms.tp_lite_min_clip = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_LONG_SIGMA_THRESH_MM: + pdev->tuning_parms.tp_lite_long_sigma_thresh_mm = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_MED_SIGMA_THRESH_MM: + pdev->tuning_parms.tp_lite_med_sigma_thresh_mm = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_SHORT_SIGMA_THRESH_MM: + pdev->tuning_parms.tp_lite_short_sigma_thresh_mm = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_LONG_MIN_COUNT_RATE_RTN_MCPS: + pdev->tuning_parms.tp_lite_long_min_count_rate_rtn_mcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_MED_MIN_COUNT_RATE_RTN_MCPS: + pdev->tuning_parms.tp_lite_med_min_count_rate_rtn_mcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_SHORT_MIN_COUNT_RATE_RTN_MCPS: + pdev->tuning_parms.tp_lite_short_min_count_rate_rtn_mcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_SIGMA_EST_PULSE_WIDTH: + pdev->tuning_parms.tp_lite_sigma_est_pulse_width_ns = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_SIGMA_EST_AMB_WIDTH_NS: + pdev->tuning_parms.tp_lite_sigma_est_amb_width_ns = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_SIGMA_REF_MM: + pdev->tuning_parms.tp_lite_sigma_ref_mm = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_RIT_MULT: + pdev->xtalk_cfg.crosstalk_range_ignore_threshold_mult = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_SEED_CONFIG: + pdev->tuning_parms.tp_lite_seed_cfg = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_QUANTIFIER: + pdev->tuning_parms.tp_lite_quantifier = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_FIRST_ORDER_SELECT: + pdev->tuning_parms.tp_lite_first_order_select = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_XTALK_MARGIN_KCPS: + pdev->xtalk_cfg.lite_mode_crosstalk_margin_kcps = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_LITE_LONG_RANGE: + pdev->tuning_parms.tp_init_phase_rtn_lite_long = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_LITE_MED_RANGE: + pdev->tuning_parms.tp_init_phase_rtn_lite_med = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_LITE_SHORT_RANGE: + pdev->tuning_parms.tp_init_phase_rtn_lite_short = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_REF_LITE_LONG_RANGE: + pdev->tuning_parms.tp_init_phase_ref_lite_long = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_REF_LITE_MED_RANGE: + pdev->tuning_parms.tp_init_phase_ref_lite_med = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_INITIAL_PHASE_REF_LITE_SHORT_RANGE: + pdev->tuning_parms.tp_init_phase_ref_lite_short = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_TIMED_SEED_CONFIG: + pdev->tuning_parms.tp_timed_seed_cfg = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DMAX_CFG_SIGNAL_THRESH_SIGMA: + pdev->dmax_cfg.signal_thresh_sigma = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_0: + pdev->dmax_cfg.target_reflectance_for_dmax_calc[0] = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_1: + pdev->dmax_cfg.target_reflectance_for_dmax_calc[1] = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_2: + pdev->dmax_cfg.target_reflectance_for_dmax_calc[2] = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_3: + pdev->dmax_cfg.target_reflectance_for_dmax_calc[3] = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_4: + pdev->dmax_cfg.target_reflectance_for_dmax_calc[4] = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_VHV_LOOPBOUND: + pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_REFSPADCHAR_DEVICE_TEST_MODE: + pdev->refspadchar.device_test_mode = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_REFSPADCHAR_VCSEL_PERIOD: + pdev->refspadchar.VL53L1_p_009 = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_REFSPADCHAR_PHASECAL_TIMEOUT_US: + pdev->refspadchar.timeout_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_REFSPADCHAR_TARGET_COUNT_RATE_MCPS: + pdev->refspadchar.target_count_rate_mcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_REFSPADCHAR_MIN_COUNTRATE_LIMIT_MCPS: + pdev->refspadchar.min_count_rate_limit_mcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_REFSPADCHAR_MAX_COUNTRATE_LIMIT_MCPS: + pdev->refspadchar.max_count_rate_limit_mcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_NUM_OF_SAMPLES: + pXC->num_of_samples = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_MIN_FILTER_THRESH_MM: + pXC->algo__crosstalk_extract_min_valid_range_mm = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_MAX_FILTER_THRESH_MM: + pXC->algo__crosstalk_extract_max_valid_range_mm = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_DSS_RATE_MCPS: + pXC->dss_config__target_total_rate_mcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_PHASECAL_TIMEOUT_US: + pXC->phasecal_config_timeout_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_MAX_VALID_RATE_KCPS: + pXC->algo__crosstalk_extract_max_valid_rate_kcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_SIGMA_THRESHOLD_MM: + pXC->algo__crosstalk_extract_max_sigma_mm = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_DSS_TIMEOUT_US: + pXC->mm_config_timeout_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_XTALK_EXTRACT_BIN_TIMEOUT_US: + pXC->range_config_timeout_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_OFFSET_CAL_DSS_RATE_MCPS: + pdev->offsetcal_cfg.dss_config__target_total_rate_mcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_OFFSET_CAL_PHASECAL_TIMEOUT_US: + pdev->offsetcal_cfg.phasecal_config_timeout_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_OFFSET_CAL_MM_TIMEOUT_US: + pdev->offsetcal_cfg.mm_config_timeout_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_OFFSET_CAL_RANGE_TIMEOUT_US: + pdev->offsetcal_cfg.range_config_timeout_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_OFFSET_CAL_PRE_SAMPLES: + pdev->offsetcal_cfg.pre_num_of_samples = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_OFFSET_CAL_MM1_SAMPLES: + pdev->offsetcal_cfg.mm1_num_of_samples = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_OFFSET_CAL_MM2_SAMPLES: + pdev->offsetcal_cfg.mm2_num_of_samples = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_ZONE_CAL_DSS_RATE_MCPS: + pdev->zonecal_cfg.dss_config__target_total_rate_mcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_ZONE_CAL_PHASECAL_TIMEOUT_US: + pdev->zonecal_cfg.phasecal_config_timeout_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_ZONE_CAL_DSS_TIMEOUT_US: + pdev->zonecal_cfg.mm_config_timeout_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_ZONE_CAL_PHASECAL_NUM_SAMPLES: + pdev->zonecal_cfg.phasecal_num_of_samples = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_ZONE_CAL_RANGE_TIMEOUT_US: + pdev->zonecal_cfg.range_config_timeout_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_ZONE_CAL_ZONE_NUM_SAMPLES: + pdev->zonecal_cfg.zone_num_of_samples = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_SPADMAP_VCSEL_PERIOD: + pdev->ssc_cfg.VL53L1_p_009 = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_SPADMAP_VCSEL_START: + pdev->ssc_cfg.vcsel_start = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_SPADMAP_RATE_LIMIT_MCPS: + pdev->ssc_cfg.rate_limit_mcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS: + pdev->tuning_parms.tp_dss_target_lite_mcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_RANGING_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS: + pdev->tuning_parms.tp_dss_target_histo_mcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_MZ_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS: + pdev->tuning_parms.tp_dss_target_histo_mz_mcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_TIMED_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS: + pdev->tuning_parms.tp_dss_target_timed_mcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_PHASECAL_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_phasecal_timeout_lite_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_RANGING_LONG_PHASECAL_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_phasecal_timeout_hist_long_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_RANGING_MED_PHASECAL_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_phasecal_timeout_hist_med_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_RANGING_SHORT_PHASECAL_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_phasecal_timeout_hist_short_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_MZ_LONG_PHASECAL_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_phasecal_timeout_mz_long_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_MZ_MED_PHASECAL_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_phasecal_timeout_mz_med_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_MZ_SHORT_PHASECAL_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_phasecal_timeout_mz_short_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_TIMED_PHASECAL_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_phasecal_timeout_timed_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_MM_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_mm_timeout_lite_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_RANGING_MM_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_mm_timeout_histo_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_MZ_MM_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_mm_timeout_mz_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_TIMED_MM_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_mm_timeout_timed_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LITE_RANGE_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_range_timeout_lite_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_RANGING_RANGE_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_range_timeout_histo_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_MZ_RANGE_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_range_timeout_mz_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_TIMED_RANGE_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_range_timeout_timed_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_SMUDGE_MARGIN: + pdev->smudge_correct_config.smudge_margin = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_NOISE_MARGIN: + pdev->smudge_correct_config.noise_margin = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT: + pdev->smudge_correct_config.user_xtalk_offset_limit = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT_HI: + pdev->smudge_correct_config.user_xtalk_offset_limit_hi = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_SAMPLE_LIMIT: + pdev->smudge_correct_config.sample_limit = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_SINGLE_XTALK_DELTA: + pdev->smudge_correct_config.single_xtalk_delta = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_AVERAGED_XTALK_DELTA: + pdev->smudge_correct_config.averaged_xtalk_delta = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_CLIP_LIMIT: + pdev->smudge_correct_config.smudge_corr_clip_limit = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_SCALER_CALC_METHOD: + pdev->smudge_correct_config.scaler_calc_method = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_XGRADIENT_SCALER: + pdev->smudge_correct_config.x_gradient_scaler = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_YGRADIENT_SCALER: + pdev->smudge_correct_config.y_gradient_scaler = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_USER_SCALER_SET: + pdev->smudge_correct_config.user_scaler_set = + (uint8_t)tuning_parm_value; + break; + + case VL53L1_TUNINGPARM_DYNXTALK_SMUDGE_COR_SINGLE_APPLY: + pdev->smudge_correct_config.smudge_corr_single_apply = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_XTALK_AMB_THRESHOLD: + pdev->smudge_correct_config.smudge_corr_ambient_threshold = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_NODETECT_AMB_THRESHOLD_KCPS: + pdev->smudge_correct_config.nodetect_ambient_threshold = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_NODETECT_SAMPLE_LIMIT: + pdev->smudge_correct_config.nodetect_sample_limit = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS: + pdev->smudge_correct_config.nodetect_xtalk_offset = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_NODETECT_MIN_RANGE_MM: + pdev->smudge_correct_config.nodetect_min_range_mm = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND: + pdev->low_power_auto_data.vhv_loop_bound = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_mm_timeout_lpa_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_LOWPOWERAUTO_RANGE_CONFIG_TIMEOUT_US: + pdev->tuning_parms.tp_range_timeout_lpa_us = + (uint32_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_VERY_SHORT_DSS_RATE_MCPS: + pdev->tuning_parms.tp_dss_target_very_short_mcps = + (uint16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_PHASECAL_PATCH_POWER: + pdev->tuning_parms.tp_phasecal_patch_power = + (uint16_t) tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_MERGE: + pdev->tuning_parms.tp_hist_merge = + (uint16_t) tuning_parm_value; + break; + case VL53L1_TUNINGPARM_RESET_MERGE_THRESHOLD: + pdev->tuning_parms.tp_reset_merge_threshold = + (uint16_t) tuning_parm_value; + break; + case VL53L1_TUNINGPARM_HIST_MERGE_MAX_SIZE: + pdev->tuning_parms.tp_hist_merge_max_size = + (uint16_t) tuning_parm_value; + break; + case VL53L1_TUNINGPARM_DYNXTALK_MAX_SMUDGE_FACTOR: + pdev->smudge_correct_config.max_smudge_factor = + (uint32_t)tuning_parm_value; + break; + + case VL53L1_TUNINGPARM_UWR_ENABLE: + pdev->tuning_parms.tp_uwr_enable = + (uint8_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_1_MIN: + pdev->tuning_parms.tp_uwr_med_z_1_min = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_1_MAX: + pdev->tuning_parms.tp_uwr_med_z_1_max = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_2_MIN: + pdev->tuning_parms.tp_uwr_med_z_2_min = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_2_MAX: + pdev->tuning_parms.tp_uwr_med_z_2_max = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_3_MIN: + pdev->tuning_parms.tp_uwr_med_z_3_min = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_3_MAX: + pdev->tuning_parms.tp_uwr_med_z_3_max = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_4_MIN: + pdev->tuning_parms.tp_uwr_med_z_4_min = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_4_MAX: + pdev->tuning_parms.tp_uwr_med_z_4_max = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_5_MIN: + pdev->tuning_parms.tp_uwr_med_z_5_min = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_5_MAX: + pdev->tuning_parms.tp_uwr_med_z_5_max = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_6_MIN: + pdev->tuning_parms.tp_uwr_med_z_6_min = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_6_MAX: + pdev->tuning_parms.tp_uwr_med_z_6_max = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_1_RANGEA: + pdev->tuning_parms.tp_uwr_med_corr_z_1_rangea = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_1_RANGEB: + pdev->tuning_parms.tp_uwr_med_corr_z_1_rangeb = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_2_RANGEA: + pdev->tuning_parms.tp_uwr_med_corr_z_2_rangea = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_2_RANGEB: + pdev->tuning_parms.tp_uwr_med_corr_z_2_rangeb = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_3_RANGEA: + pdev->tuning_parms.tp_uwr_med_corr_z_3_rangea = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_3_RANGEB: + pdev->tuning_parms.tp_uwr_med_corr_z_3_rangeb = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_4_RANGEA: + pdev->tuning_parms.tp_uwr_med_corr_z_4_rangea = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_4_RANGEB: + pdev->tuning_parms.tp_uwr_med_corr_z_4_rangeb = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_5_RANGEA: + pdev->tuning_parms.tp_uwr_med_corr_z_5_rangea = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_5_RANGEB: + pdev->tuning_parms.tp_uwr_med_corr_z_5_rangeb = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_6_RANGEA: + pdev->tuning_parms.tp_uwr_med_corr_z_6_rangea = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_6_RANGEB: + pdev->tuning_parms.tp_uwr_med_corr_z_6_rangeb = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_1_MIN: + pdev->tuning_parms.tp_uwr_lng_z_1_min = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_1_MAX: + pdev->tuning_parms.tp_uwr_lng_z_1_max = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_2_MIN: + pdev->tuning_parms.tp_uwr_lng_z_2_min = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_2_MAX: + pdev->tuning_parms.tp_uwr_lng_z_2_max = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_3_MIN: + pdev->tuning_parms.tp_uwr_lng_z_3_min = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_3_MAX: + pdev->tuning_parms.tp_uwr_lng_z_3_max = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_4_MIN: + pdev->tuning_parms.tp_uwr_lng_z_4_min = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_4_MAX: + pdev->tuning_parms.tp_uwr_lng_z_4_max = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_5_MIN: + pdev->tuning_parms.tp_uwr_lng_z_5_min = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_ZONE_5_MAX: + pdev->tuning_parms.tp_uwr_lng_z_5_max = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_1_RANGEA: + pdev->tuning_parms.tp_uwr_lng_corr_z_1_rangea = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_1_RANGEB: + pdev->tuning_parms.tp_uwr_lng_corr_z_1_rangeb = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_2_RANGEA: + pdev->tuning_parms.tp_uwr_lng_corr_z_2_rangea = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_2_RANGEB: + pdev->tuning_parms.tp_uwr_lng_corr_z_2_rangeb = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_3_RANGEA: + pdev->tuning_parms.tp_uwr_lng_corr_z_3_rangea = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_3_RANGEB: + pdev->tuning_parms.tp_uwr_lng_corr_z_3_rangeb = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_4_RANGEA: + pdev->tuning_parms.tp_uwr_lng_corr_z_4_rangea = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_4_RANGEB: + pdev->tuning_parms.tp_uwr_lng_corr_z_4_rangeb = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_5_RANGEA: + pdev->tuning_parms.tp_uwr_lng_corr_z_5_rangea = + (int16_t)tuning_parm_value; + break; + case VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_5_RANGEB: + pdev->tuning_parms.tp_uwr_lng_corr_z_5_rangeb = + (int16_t)tuning_parm_value; + break; + + + default: + status = VL53L1_ERROR_INVALID_PARAMS; + break; + + } + + LOG_FUNCTION_END(status); + + return status; +} + + + + + +VL53L1_Error VL53L1_dynamic_xtalk_correction_enable( + VL53L1_DEV Dev + ) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->smudge_correct_config.smudge_corr_enabled = 1; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_dynamic_xtalk_correction_disable( + VL53L1_DEV Dev + ) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->smudge_correct_config.smudge_corr_enabled = 0; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_dynamic_xtalk_correction_apply_enable( + VL53L1_DEV Dev + ) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->smudge_correct_config.smudge_corr_apply_enabled = 1; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_dynamic_xtalk_correction_apply_disable( + VL53L1_DEV Dev + ) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->smudge_correct_config.smudge_corr_apply_enabled = 0; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_dynamic_xtalk_correction_single_apply_enable( + VL53L1_DEV Dev + ) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->smudge_correct_config.smudge_corr_single_apply = 1; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_dynamic_xtalk_correction_single_apply_disable( + VL53L1_DEV Dev + ) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->smudge_correct_config.smudge_corr_single_apply = 0; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_dynamic_xtalk_correction_set_scalers( + VL53L1_DEV Dev, + int16_t x_scaler_in, + int16_t y_scaler_in, + uint8_t user_scaler_set_in + ) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->smudge_correct_config.x_gradient_scaler = x_scaler_in; + pdev->smudge_correct_config.y_gradient_scaler = y_scaler_in; + pdev->smudge_correct_config.user_scaler_set = user_scaler_set_in; + + LOG_FUNCTION_END(status); + + return status; +} + + + + + + +VL53L1_Error VL53L1_get_current_xtalk_settings( + VL53L1_DEV Dev, + VL53L1_xtalk_calibration_results_t *pxtalk + ) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t i; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pxtalk->algo__crosstalk_compensation_plane_offset_kcps = + pdev->xtalk_cfg.algo__crosstalk_compensation_plane_offset_kcps; + pxtalk->algo__crosstalk_compensation_x_plane_gradient_kcps = + pdev->xtalk_cfg.algo__crosstalk_compensation_x_plane_gradient_kcps; + pxtalk->algo__crosstalk_compensation_y_plane_gradient_kcps = + pdev->xtalk_cfg.algo__crosstalk_compensation_y_plane_gradient_kcps; + for (i = 0; i < VL53L1_BIN_REC_SIZE; i++) + pxtalk->algo__xtalk_cpo_HistoMerge_kcps[i] = + pdev->xtalk_cal.algo__xtalk_cpo_HistoMerge_kcps[i]; + + LOG_FUNCTION_END(status); + + return status; + +} + + + + + +VL53L1_Error VL53L1_set_current_xtalk_settings( + VL53L1_DEV Dev, + VL53L1_xtalk_calibration_results_t *pxtalk + ) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t i; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->xtalk_cfg.algo__crosstalk_compensation_plane_offset_kcps = + pxtalk->algo__crosstalk_compensation_plane_offset_kcps; + pdev->xtalk_cfg.algo__crosstalk_compensation_x_plane_gradient_kcps = + pxtalk->algo__crosstalk_compensation_x_plane_gradient_kcps; + pdev->xtalk_cfg.algo__crosstalk_compensation_y_plane_gradient_kcps = + pxtalk->algo__crosstalk_compensation_y_plane_gradient_kcps; + for (i = 0; i < VL53L1_BIN_REC_SIZE; i++) + pdev->xtalk_cal.algo__xtalk_cpo_HistoMerge_kcps[i] = + pxtalk->algo__xtalk_cpo_HistoMerge_kcps[i]; + + LOG_FUNCTION_END(status); + + return status; + +} + + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_api_debug.c b/drivers/input/misc/vl53L1/src/vl53l1_api_debug.c new file mode 100644 index 000000000000..c84618bb94e5 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_api_debug.c @@ -0,0 +1,3399 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_ll_device.h" +#include "vl53l1_register_structs.h" +#include "vl53l1_hist_structs.h" +#include "vl53l1_nvm_structs.h" +#include "vl53l1_nvm.h" +#include "vl53l1_core.h" +#include "vl53l1_api_debug.h" + +#ifdef VL53L1_LOG_ENABLE +#include "vl53l1_nvm_debug.h" +#endif + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, \ + fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(trace_flags, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_decode_calibration_data_buffer( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_calibration_data_t *pdata) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (sizeof(VL53L1_calibration_data_t) > buf_size) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + memcpy(pdata, pbuffer, sizeof(VL53L1_calibration_data_t)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_nvm_debug_data( + VL53L1_DEV Dev, + VL53L1_decoded_nvm_data_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = VL53L1_read_nvm(Dev, 0, pdata); + +#ifdef VL53L1_LOG_ENABLE + if (status == VL53L1_ERROR_NONE) + VL53L1_print_decoded_nvm_data( + pdata, + "get_nvm_debug_data():pnvm_info.", + VL53L1_TRACE_MODULE_NVM_DATA); +#endif + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_histogram_debug_data( + VL53L1_DEV Dev, + VL53L1_histogram_bin_data_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + memcpy( + pdata, + &(pdev->hist_data), + sizeof(VL53L1_histogram_bin_data_t)); + + LOG_FUNCTION_END(status); + + return status; +} + + + + +VL53L1_Error VL53L1_get_additional_data( + VL53L1_DEV Dev, + VL53L1_additional_data_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + pdata->preset_mode = pdev->preset_mode; + pdata->zone_preset = pdev->zone_preset; + pdata->measurement_mode = pdev->measurement_mode; + pdata->offset_calibration_mode = pdev->offset_calibration_mode; + pdata->offset_correction_mode = pdev->offset_correction_mode; + pdata->dmax_mode = pdev->dmax_mode; + + pdata->phasecal_config_timeout_us = pdev->phasecal_config_timeout_us; + pdata->mm_config_timeout_us = pdev->mm_config_timeout_us; + pdata->range_config_timeout_us = pdev->range_config_timeout_us; + pdata->inter_measurement_period_ms = pdev->inter_measurement_period_ms; + pdata->dss_config__target_total_rate_mcps = + pdev->dss_config__target_total_rate_mcps; + + + + status = + VL53L1_get_histogram_debug_data( + Dev, + &(pdata->VL53L1_p_010)); + + LOG_FUNCTION_END(status); + + return status; +} + + + + +VL53L1_Error VL53L1_get_xtalk_debug_data( + VL53L1_DEV Dev, + VL53L1_xtalk_debug_data_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + memcpy( + &(pdata->customer), + &(pdev->customer), + sizeof(VL53L1_customer_nvm_managed_t)); + + memcpy( + &(pdata->xtalk_cfg), + &(pdev->xtalk_cfg), + sizeof(VL53L1_xtalk_config_t)); + + memcpy( + &(pdata->hist_data), + &(pdev->hist_data), + sizeof(VL53L1_histogram_bin_data_t)); + + memcpy( + &(pdata->xtalk_shapes), + &(pdev->xtalk_shapes), + sizeof(VL53L1_xtalk_histogram_data_t)); + + memcpy( + &(pdata->xtalk_results), + &(pdev->xtalk_results), + sizeof(VL53L1_xtalk_range_results_t)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_offset_debug_data( + VL53L1_DEV Dev, + VL53L1_offset_debug_data_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + memcpy( + &(pdata->customer), + &(pdev->customer), + sizeof(VL53L1_customer_nvm_managed_t)); + + memcpy( + &(pdata->fmt_dmax_cal), + &(pdev->fmt_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + + memcpy( + &(pdata->cust_dmax_cal), + &(pdev->cust_dmax_cal), + sizeof(VL53L1_dmax_calibration_data_t)); + + memcpy( + &(pdata->add_off_cal_data), + &(pdev->add_off_cal_data), + sizeof(VL53L1_additional_offset_cal_data_t)); + + memcpy( + &(pdata->offset_results), + &(pdev->offset_results), + sizeof(VL53L1_offset_range_results_t)); + + LOG_FUNCTION_END(status); + + return status; +} + +#ifdef VL53L1_LOG_ENABLE + +void VL53L1_signed_fixed_point_sprintf( + int32_t signed_fp_value, + uint8_t frac_bits, + uint16_t buf_size, + char *pbuffer) +{ + + + uint32_t fp_value = 0; + uint32_t unity_fp_value = 0; + uint32_t sign_bit = 0; + uint32_t int_part = 0; + uint32_t frac_part = 0; + uint32_t dec_points = 0; + uint32_t dec_scaler = 0; + uint32_t dec_part = 0; + + uint64_t tmp_long_int = 0; + + char fmt[VL53L1_MAX_STRING_LENGTH]; + + SUPPRESS_UNUSED_WARNING(buf_size); + + + + sign_bit = signed_fp_value >> 31; + + if (sign_bit > 0) { + fp_value = 0x80000000 - + (0x7FFFFFFF & (uint32_t)signed_fp_value); + } else + fp_value = (uint32_t)signed_fp_value; + + int_part = fp_value >> frac_bits; + unity_fp_value = 0x01 << frac_bits; + frac_part = fp_value & (unity_fp_value-1); + + + dec_points = 2; + dec_scaler = 100; + + while (dec_scaler < unity_fp_value) { + dec_points++; + dec_scaler *= 10; + } + + + if (sign_bit > 0) + sprintf(fmt, "-%%u.%%0%uu", dec_points); + else + sprintf(fmt, "%%u.%%0%uu", dec_points); + + + tmp_long_int = (uint64_t)frac_part * (uint64_t)dec_scaler; + tmp_long_int += (uint64_t)unity_fp_value/2; + + tmp_long_int = do_division_u(tmp_long_int, (uint64_t)unity_fp_value); + + dec_part = (uint32_t)tmp_long_int; + + + sprintf( + pbuffer, + fmt, + int_part, + dec_part); +} + + +void VL53L1_print_static_nvm_managed( + VL53L1_static_nvm_managed_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = 0x%02X\n", + pprefix, + "i2c_slave__device_address", + pdata->i2c_slave__device_address); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__vhv_ref_sel_vddpix", + pdata->ana_config__vhv_ref_sel_vddpix); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__vhv_ref_sel_vquench", + pdata->ana_config__vhv_ref_sel_vquench); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__reg_avdd1v2_sel", + pdata->ana_config__reg_avdd1v2_sel); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__fast_osc__trim", + pdata->ana_config__fast_osc__trim); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->osc_measured__fast_osc__frequency, + 12, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "osc_measured__fast_osc__frequency", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "vhv_config__timeout_macrop_loop_bound", + pdata->vhv_config__timeout_macrop_loop_bound); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "vhv_config__count_thresh", + pdata->vhv_config__count_thresh); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "vhv_config__offset", + pdata->vhv_config__offset); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "vhv_config__init", + pdata->vhv_config__init); +} + + +void VL53L1_print_customer_nvm_managed( + VL53L1_customer_nvm_managed_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + int16_t tmpi16; + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_ref_0", + pdata->global_config__spad_enables_ref_0); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_ref_1", + pdata->global_config__spad_enables_ref_1); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_ref_2", + pdata->global_config__spad_enables_ref_2); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_ref_3", + pdata->global_config__spad_enables_ref_3); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_ref_4", + pdata->global_config__spad_enables_ref_4); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_ref_5", + pdata->global_config__spad_enables_ref_5); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__ref_en_start_select", + pdata->global_config__ref_en_start_select); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ref_spad_man__num_requested_ref_spads", + pdata->ref_spad_man__num_requested_ref_spads); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ref_spad_man__ref_location", + pdata->ref_spad_man__ref_location); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_compensation_plane_offset_kcps, + 9, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_plane_offset_kcps", + fp_text); + + tmpi16 = pdata->algo__crosstalk_compensation_x_plane_gradient_kcps; + VL53L1_signed_fixed_point_sprintf( + (int32_t)tmpi16, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_x_plane_gradient_kcps", + fp_text); + + tmpi16 = pdata->algo__crosstalk_compensation_y_plane_gradient_kcps; + VL53L1_signed_fixed_point_sprintf( + (int32_t)tmpi16, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_y_plane_gradient_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->ref_spad_char__total_rate_target_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "ref_spad_char__total_rate_target_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__part_to_part_range_offset_mm, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__part_to_part_range_offset_mm", + fp_text); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "mm_config__inner_offset_mm", + pdata->mm_config__inner_offset_mm); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "mm_config__outer_offset_mm", + pdata->mm_config__outer_offset_mm); +} + + +void VL53L1_print_nvm_copy_data( + VL53L1_nvm_copy_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "identification__model_id", + pdata->identification__model_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "identification__module_type", + pdata->identification__module_type); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "identification__revision_id", + pdata->identification__revision_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "identification__module_id", + pdata->identification__module_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__fast_osc__trim_max", + pdata->ana_config__fast_osc__trim_max); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__fast_osc__freq_set", + pdata->ana_config__fast_osc__freq_set); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__vcsel_trim", + pdata->ana_config__vcsel_trim); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__vcsel_selion", + pdata->ana_config__vcsel_selion); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ana_config__vcsel_selion_max", + pdata->ana_config__vcsel_selion_max); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "protected_laser_safety__lock_bit", + pdata->protected_laser_safety__lock_bit); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "laser_safety__key", + pdata->laser_safety__key); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "laser_safety__key_ro", + pdata->laser_safety__key_ro); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "laser_safety__clip", + pdata->laser_safety__clip); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "laser_safety__mult", + pdata->laser_safety__mult); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_0", + pdata->global_config__spad_enables_rtn_0); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_1", + pdata->global_config__spad_enables_rtn_1); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_2", + pdata->global_config__spad_enables_rtn_2); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_3", + pdata->global_config__spad_enables_rtn_3); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_4", + pdata->global_config__spad_enables_rtn_4); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_5", + pdata->global_config__spad_enables_rtn_5); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_6", + pdata->global_config__spad_enables_rtn_6); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_7", + pdata->global_config__spad_enables_rtn_7); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_8", + pdata->global_config__spad_enables_rtn_8); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_9", + pdata->global_config__spad_enables_rtn_9); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_10", + pdata->global_config__spad_enables_rtn_10); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_11", + pdata->global_config__spad_enables_rtn_11); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_12", + pdata->global_config__spad_enables_rtn_12); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_13", + pdata->global_config__spad_enables_rtn_13); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_14", + pdata->global_config__spad_enables_rtn_14); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_15", + pdata->global_config__spad_enables_rtn_15); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_16", + pdata->global_config__spad_enables_rtn_16); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_17", + pdata->global_config__spad_enables_rtn_17); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_18", + pdata->global_config__spad_enables_rtn_18); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_19", + pdata->global_config__spad_enables_rtn_19); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_20", + pdata->global_config__spad_enables_rtn_20); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_21", + pdata->global_config__spad_enables_rtn_21); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_22", + pdata->global_config__spad_enables_rtn_22); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_23", + pdata->global_config__spad_enables_rtn_23); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_24", + pdata->global_config__spad_enables_rtn_24); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_25", + pdata->global_config__spad_enables_rtn_25); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_26", + pdata->global_config__spad_enables_rtn_26); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_27", + pdata->global_config__spad_enables_rtn_27); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_28", + pdata->global_config__spad_enables_rtn_28); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_29", + pdata->global_config__spad_enables_rtn_29); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_30", + pdata->global_config__spad_enables_rtn_30); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_config__spad_enables_rtn_31", + pdata->global_config__spad_enables_rtn_31); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "roi_config__mode_roi_centre_spad", + pdata->roi_config__mode_roi_centre_spad); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = 0x%02X\n", + pprefix, + "roi_config__mode_roi_xy_size", + pdata->roi_config__mode_roi_xy_size); +} + + +void VL53L1_print_histogram_bin_data( + VL53L1_histogram_bin_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + uint8_t i = 0; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cfg_device_state", + pdata->cfg_device_state); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "rd_device_state", + pdata->rd_device_state); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_p_022", + pdata->VL53L1_p_022); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_p_023", + pdata->VL53L1_p_023); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_p_024", + pdata->VL53L1_p_024); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "number_of_ambient_bins", + pdata->number_of_ambient_bins); + + for (i = 0; i < VL53L1_MAX_BIN_SEQUENCE_LENGTH; i++) { + sprintf(ppre_text, "%sbin_seq[%u]", pprefix, i); + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->bin_seq[i]); + } + + for (i = 0; i < VL53L1_MAX_BIN_SEQUENCE_LENGTH; i++) { + sprintf(ppre_text, "%sbin_rep[%u]", pprefix, i); + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->bin_rep[i]); + } + + for (i = 0; i < pdata->VL53L1_p_024; i++) { + sprintf(ppre_text, "%sbin_data[%u]", pprefix, i); + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %d\n", + ppre_text, + pdata->bin_data[i]); + } + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "result__interrupt_status", + pdata->result__interrupt_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "result__range_status", + pdata->result__range_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "result__report_status", + pdata->result__report_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "result__stream_count", + pdata->result__stream_count); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__dss_actual_effective_spads, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__dss_actual_effective_spads", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->phasecal_result__reference_phase, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "phasecal_result__reference_phase", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "phasecal_result__vcsel_start", + pdata->phasecal_result__vcsel_start); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cal_config__vcsel_start", + pdata->cal_config__vcsel_start); + + VL53L1_signed_fixed_point_sprintf( + (uint32_t)pdata->vcsel_width, + 4, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "vcsel_width", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_p_009", + pdata->VL53L1_p_009); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_p_019, + 12, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_p_019", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "total_periods_elapsed", + pdata->total_periods_elapsed); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "peak_duration_us", + pdata->peak_duration_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "woi_duration_us", + pdata->woi_duration_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "min_bin_value", + pdata->min_bin_value); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "max_bin_value", + pdata->max_bin_value); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->zero_distance_phase, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "zero_distance_phase", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "number_of_ambient_samples", + pdata->number_of_ambient_samples); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "ambient_events_sum", + pdata->ambient_events_sum); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "VL53L1_p_004", + pdata->VL53L1_p_004); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = 0x%02X\n", + pprefix, + "roi_config__user_roi_centre_spad", + pdata->roi_config__user_roi_centre_spad); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = 0x%02X\n", + pprefix, + "roi_config__user_roi_requested_global_xy_size", + pdata->roi_config__user_roi_requested_global_xy_size); +} + + +void VL53L1_print_xtalk_histogram_shape_data( + VL53L1_xtalk_histogram_shape_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + uint8_t i = 0; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_p_022", + pdata->VL53L1_p_022); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_p_023", + pdata->VL53L1_p_023); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_p_024", + pdata->VL53L1_p_024); + + for (i = 0; i < pdata->VL53L1_p_024; i++) { + + sprintf(ppre_text, "%sbin_data[%u]", pprefix, i); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->bin_data[i], + 10, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %s\n", + ppre_text, + fp_text); + } + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->phasecal_result__reference_phase, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "phasecal_result__reference_phase", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "phasecal_result__vcsel_start", + pdata->phasecal_result__vcsel_start); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cal_config__vcsel_start", + pdata->cal_config__vcsel_start); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->vcsel_width, + 4, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "vcsel_width", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_p_019, + 12, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_p_019", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->zero_distance_phase, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "zero_distance_phase", + fp_text); +} + + +void VL53L1_print_xtalk_histogram_data( + VL53L1_xtalk_histogram_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + + sprintf(ppre_text, "%sxtalk_shape.", pprefix); + VL53L1_print_xtalk_histogram_shape_data( + &(pdata->xtalk_shape), + ppre_text, trace_flags); + + + sprintf(ppre_text, "%sxtalk_hist_removed.", pprefix); + VL53L1_print_histogram_bin_data( + &(pdata->xtalk_hist_removed), + ppre_text, trace_flags); +} + + +void VL53L1_print_range_data( + VL53L1_range_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "range_id", + pdata->range_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "time_stamp", + pdata->time_stamp); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_p_015", + pdata->VL53L1_p_015); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_p_022", + pdata->VL53L1_p_022); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_p_025", + pdata->VL53L1_p_025); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_p_026", + pdata->VL53L1_p_026); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_p_016", + pdata->VL53L1_p_016); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_p_027", + pdata->VL53L1_p_027); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->width, + 4, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "width", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_p_030", + pdata->VL53L1_p_030); + + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->fast_osc_frequency, + 12, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "fast_osc_frequency", + fp_text); + + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->zero_distance_phase, + 11, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "zero_distance_phase", + fp_text); + + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_p_006, + 8, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "actual_effective_spad", + fp_text); + + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "total_periods_elapsed", + pdata->total_periods_elapsed); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "peak_duration_us", + pdata->peak_duration_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "woi_duration_us", + pdata->woi_duration_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "VL53L1_p_020", + pdata->VL53L1_p_020); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "VL53L1_p_021", + pdata->VL53L1_p_021); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "VL53L1_p_013", + pdata->VL53L1_p_013); + + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->peak_signal_count_rate_mcps, + 7, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "peak_signal_count_rate_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->avg_signal_count_rate_mcps, + 7, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "avg_signal_count_rate_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->ambient_count_rate_mcps, + 7, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "ambient_count_rate_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->total_rate_per_spad_mcps, + 13, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "total_rate_per_spad_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_p_012, + 11, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_p_012", + fp_text); + + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_p_005, + 2, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_p_005", + fp_text); + + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_p_028, + 11, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_p_028", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_p_014, + 11, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_p_014", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_p_029, + 11, VL53L1_MAX_STRING_LENGTH, fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_p_029", + fp_text); + + + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "min_range_mm", + pdata->min_range_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "median_range_mm", + pdata->median_range_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "max_range_mm", + pdata->max_range_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "range_status", + pdata->range_status); +} + + +void VL53L1_print_range_results( + VL53L1_range_results_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + uint8_t i = 0; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cfg_device_state", + pdata->cfg_device_state); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "rd_device_state", + pdata->rd_device_state); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "zone_id", + pdata->zone_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "stream_count", + pdata->stream_count); + + for (i = 0; i < VL53L1_MAX_AMBIENT_DMAX_VALUES; i++) { + sprintf( + ppre_text, + "%sambient_dmax_mm[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->VL53L1_p_007[i]); + } + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "device_status", + pdata->device_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "wrap_dmax_mm", + pdata->wrap_dmax_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "max_results", + pdata->max_results); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "active_results", + pdata->active_results); + + for (i = 0; i < pdata->active_results; i++) { + sprintf(ppre_text, "%sdata[%u].", pprefix, i); + VL53L1_print_range_data( + &pdata->VL53L1_p_002[i], + ppre_text, trace_flags); + } + + sprintf(ppre_text, "%sxmonitor.", pprefix); + VL53L1_print_range_data( + &pdata->xmonitor, + ppre_text, trace_flags); +} + + +void VL53L1_print_offset_range_results( + VL53L1_offset_range_results_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + uint8_t i = 0; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cal_distance_mm", + pdata->cal_distance_mm); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->cal_reflectance_pc, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "cal_reflectance_pc", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cal_status", + pdata->cal_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cal_report", + pdata->cal_report); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "max_results", + pdata->max_results); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "active_results", + pdata->active_results); + + for (i = 0; i < pdata->active_results; i++) { + sprintf(ppre_text, "%sdata[%u].", pprefix, i); + VL53L1_print_offset_range_data( + &(pdata->VL53L1_p_002[i]), + ppre_text, trace_flags); + } +} + + +void VL53L1_print_offset_range_data( + VL53L1_offset_range_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "preset_mode", + pdata->preset_mode); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "dss_config__roi_mode_control", + pdata->dss_config__roi_mode_control); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->dss_config__manual_effective_spads_select, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "dss_config__manual_effective_spads_select", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "no_of_samples", + pdata->no_of_samples); + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->effective_spads, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "effective_spads", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->peak_rate_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "peak_rate_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_p_005, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_p_005", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "median_range_mm", + pdata->median_range_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "range_mm_offset", + pdata->range_mm_offset); +} + + +void VL53L1_print_cal_peak_rate_map( + VL53L1_cal_peak_rate_map_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + uint8_t i = 0; + uint8_t x = 0; + uint8_t y = 0; + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->cal_distance_mm, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "cal_distance_mm", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->cal_reflectance_pc, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "cal_reflectance_pc", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "max_samples", + pdata->max_samples); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "width", + pdata->width); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "height", + pdata->height); + + i = 0; + for (y = 0; y < pdata->height; y++) { + for (x = 0; x < pdata->width; x++) { + + sprintf(ppre_text, "%speak_rate_mcps[%u]", pprefix, i); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->peak_rate_mcps[i], + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %s\n", + ppre_text, + fp_text); + + i++; + } + } +} + +void VL53L1_print_additional_data( + VL53L1_additional_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "preset_mode", + pdata->preset_mode); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "zone_preset", + pdata->zone_preset); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "measurement_mode", + pdata->measurement_mode); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "offset_calibration_mode", + pdata->offset_calibration_mode); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "offset_correction_mode", + pdata->offset_correction_mode); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "dmax_mode", + pdata->dmax_mode); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "phasecal_config_timeout_us", + pdata->phasecal_config_timeout_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "mm_config_timeout_us", + pdata->mm_config_timeout_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "range_config_timeout_us", + pdata->range_config_timeout_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "inter_measurement_period_ms", + pdata->inter_measurement_period_ms); + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->dss_config__target_total_rate_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "dss_config__target_total_rate_mcps", + fp_text); + + sprintf(ppre_text, "%s VL53L1_p_010.", pprefix); + VL53L1_print_histogram_bin_data( + &pdata->VL53L1_p_010, + ppre_text, trace_flags); + + +} + + +void VL53L1_print_additional_offset_cal_data( + VL53L1_additional_offset_cal_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__mm_inner_actual_effective_spads, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__mm_inner_actual_effective_spads", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__mm_outer_actual_effective_spads, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__mm_outer_actual_effective_spads", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__mm_inner_peak_signal_count_rtn_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__mm_inner_peak_signal_count_rtn_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__mm_outer_peak_signal_count_rtn_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__mm_outer_peak_signal_count_rtn_mcps", + fp_text); +} + + +void VL53L1_print_gain_calibration_data( + VL53L1_gain_calibration_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->standard_ranging_gain_factor, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "standard_ranging_gain_factor", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->histogram_ranging_gain_factor, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "histogram_ranging_gain_factor", + fp_text); +} + + +void VL53L1_print_zone_calibration_data( + VL53L1_zone_calibration_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "no_of_samples", + pdata->no_of_samples); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->effective_spads, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "effective_spads", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->peak_rate_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "peak_rate_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_p_014, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_p_014", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->VL53L1_p_005, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "VL53L1_p_005", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->median_range_mm, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "median_range_mm", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->range_mm_offset, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "range_mm_offset", + fp_text); +} + + +void VL53L1_print_zone_calibration_results( + VL53L1_zone_calibration_results_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + uint8_t i = 0; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "preset_mode", + pdata->preset_mode); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "zone_preset", + pdata->zone_preset); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cal_distance_mm", + pdata->cal_distance_mm); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->cal_reflectance_pc, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "cal_reflectance_pc", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->phasecal_result__reference_phase, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "phasecal_result__reference_phase", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->zero_distance_phase, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "zero_distance_phase", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cal_status", + pdata->cal_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "max_zones", + pdata->max_zones); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "active_zones", + pdata->active_zones); + + for (i = 0; i < pdata->active_zones; i++) { + sprintf(ppre_text, "%sdata[%u].", pprefix, i); + VL53L1_print_zone_calibration_data( + &(pdata->VL53L1_p_002[i]), + ppre_text, trace_flags); + } +} + +void VL53L1_print_xtalk_range_results( + VL53L1_xtalk_range_results_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + uint8_t i = 0; + + VL53L1_histogram_bin_data_t *pbin_data; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "cal_status", + pdata->cal_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "num_of_samples_status", + pdata->num_of_samples_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "zero_samples_status", + pdata->zero_samples_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "max_sigma_status", + pdata->max_sigma_status); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "max_results", + pdata->max_results); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "active_results", + pdata->active_results); + + for (i = 0; i < pdata->active_results; i++) { + sprintf(ppre_text, "%sdata[%u].", pprefix, i); + VL53L1_print_xtalk_range_data( + &(pdata->VL53L1_p_002[i]), + ppre_text, trace_flags); + } + + sprintf(ppre_text, "%scentral_histogram_sum.", pprefix); + VL53L1_print_histogram_bin_data( + &pdata->central_histogram_sum, + ppre_text, trace_flags); + + sprintf(ppre_text, "%scentral_histogram_avg.", pprefix); + VL53L1_print_histogram_bin_data( + &pdata->central_histogram_avg, + ppre_text, trace_flags); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_p_015", + pdata->central_histogram__window_start); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "VL53L1_p_016", + pdata->central_histogram__window_end); + + pbin_data = &(pdata->histogram_avg_1[0]); + + for (i = 0; i < 5; i++) { + sprintf(ppre_text, "%shistogram_avg_1[%u].", pprefix, i); + VL53L1_print_histogram_bin_data( + pbin_data, + ppre_text, trace_flags); + pbin_data++; + } + + pbin_data = &(pdata->histogram_avg_2[0]); + + for (i = 0; i < 5; i++) { + sprintf(ppre_text, "%shistogram_avg_2[%u].", pprefix, i); + VL53L1_print_histogram_bin_data( + pbin_data, + ppre_text, trace_flags); + pbin_data++; + } + + pbin_data = &(pdata->xtalk_avg[0]); + + for (i = 0; i < 5; i++) { + sprintf(ppre_text, "%sxtalk_avg[%u].", pprefix, i); + VL53L1_print_histogram_bin_data( + pbin_data, + ppre_text, trace_flags); + pbin_data++; + } +} + + +void VL53L1_print_xtalk_range_data( + VL53L1_xtalk_range_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "no_of_samples", + pdata->no_of_samples); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "signal_total_events_sum", + pdata->signal_total_events_sum); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "signal_total_events_avg", + pdata->signal_total_events_avg); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->rate_per_spad_kcps_sum, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "rate_per_spad_kcps_sum", + fp_text); + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->rate_per_spad_kcps_avg, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "rate_per_spad_kcps_avg", + fp_text); +} + + +void VL53L1_print_xtalk_calibration_results( + VL53L1_xtalk_calibration_results_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + int16_t tmpi16; + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_compensation_plane_offset_kcps, + 9, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_plane_offset_kcps", + fp_text); + + tmpi16 = pdata->algo__crosstalk_compensation_x_plane_gradient_kcps; + VL53L1_signed_fixed_point_sprintf( + (int32_t)tmpi16, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_x_plane_gradient_kcps", + fp_text); + + tmpi16 = pdata->algo__crosstalk_compensation_y_plane_gradient_kcps; + VL53L1_signed_fixed_point_sprintf( + (int32_t)tmpi16, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_y_plane_gradient_kcps", + fp_text); +} + + +void VL53L1_print_xtalk_config( + VL53L1_xtalk_config_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + int16_t tmpi16; + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_compensation_plane_offset_kcps, + 9, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_plane_offset_kcps", + fp_text); + + tmpi16 = pdata->algo__crosstalk_compensation_x_plane_gradient_kcps; + VL53L1_signed_fixed_point_sprintf( + (int32_t)tmpi16, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_x_plane_gradient_kcps", + fp_text); + + tmpi16 = pdata->algo__crosstalk_compensation_y_plane_gradient_kcps; + VL53L1_signed_fixed_point_sprintf( + (int32_t)tmpi16, + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_compensation_y_plane_gradient_kcps", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "global_crosstalk_compensation_enable", + pdata->global_crosstalk_compensation_enable); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->histogram_mode_crosstalk_margin_kcps, + 9, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "histogram_mode_crosstalk_margin_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->lite_mode_crosstalk_margin_kcps, + 9, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "lite_mode_crosstalk_margin_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->crosstalk_range_ignore_threshold_mult, + 5, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "crosstalk_range_ignore_threshold_mult", + fp_text); + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->crosstalk_range_ignore_threshold_rate_mcps, + 13, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "crosstalk_range_ignore_threshold_rate_mcps", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "algo__crosstalk_detect_max_valid_range_mm", + pdata->algo__crosstalk_detect_max_valid_range_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "algo__crosstalk_detect_min_valid_range_mm", + pdata->algo__crosstalk_detect_min_valid_range_mm); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_detect_max_valid_rate_kcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_detect_max_valid_rate_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_detect_max_sigma_mm, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_detect_max_sigma_mm", + fp_text); + +} + + +void VL53L1_print_xtalk_extract_config( + VL53L1_xtalkextract_config_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->dss_config__target_total_rate_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "dss_config__target_total_rate_mcps", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "mm_config_timeout_us", + pdata->mm_config_timeout_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "range_config_timeout_us", + pdata->range_config_timeout_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "num_of_samples", + pdata->num_of_samples); + + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "algo__crosstalk_extract_max_valid_range_mm", + pdata->algo__crosstalk_extract_max_valid_range_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "algo__crosstalk_extract_min_valid_range_mm", + pdata->algo__crosstalk_extract_min_valid_range_mm); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_extract_max_valid_rate_kcps, + 9, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_extract_max_valid_rate_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->algo__crosstalk_extract_max_sigma_mm, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "algo__crosstalk_extract_max_sigma_mm", + fp_text); + +} + + +void VL53L1_print_zone_cal_config( + VL53L1_zonecal_config_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->dss_config__target_total_rate_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "dss_config__target_total_rate_mcps", + fp_text); + + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "mm_config_timeout_us", + pdata->mm_config_timeout_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "range_config_timeout_us", + pdata->range_config_timeout_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "phasecal_config_timeout_us", + pdata->phasecal_config_timeout_us); + + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "phasecal_num_of_samples", + pdata->phasecal_num_of_samples); + + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "zone_num_of_samples", + pdata->zone_num_of_samples); + +} + +void VL53L1_print_offset_cal_config( + VL53L1_offsetcal_config_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->dss_config__target_total_rate_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "dss_config__target_total_rate_mcps", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "phasecal_config_timeout_us", + pdata->phasecal_config_timeout_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "range_config_timeout_us", + pdata->range_config_timeout_us); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "pre_num_of_samples", + pdata->pre_num_of_samples); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "mm1_num_of_samples", + pdata->mm1_num_of_samples); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "mm2_num_of_samples", + pdata->mm2_num_of_samples); + + +} + + +void VL53L1_print_dmax_calibration_data( + VL53L1_dmax_calibration_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->ref__actual_effective_spads, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "ref__actual_effective_spads", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->ref__peak_signal_count_rate_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "ref__peak_signal_count_rate_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->ref__distance_mm, + 4, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "ref__distance_mm", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->ref_reflectance_pc, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "ref_reflectance_pc", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->coverglass_transmission, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "coverglass_transmission", + fp_text); +} + + +void VL53L1_print_calibration_data( + VL53L1_calibration_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = 0x%08X\n", + pprefix, + "struct_version", + pdata->struct_version); + + sprintf(ppre_text, "%scustomer.", pprefix); + VL53L1_print_customer_nvm_managed( + &(pdata->customer), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sfmt_dmax_cal.", pprefix); + VL53L1_print_dmax_calibration_data( + &(pdata->fmt_dmax_cal), + ppre_text, trace_flags); + + sprintf(ppre_text, "%scust_dmax_cal.", pprefix); + VL53L1_print_dmax_calibration_data( + &(pdata->cust_dmax_cal), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sadd_off_cal_data.", pprefix); + VL53L1_print_additional_offset_cal_data( + &(pdata->add_off_cal_data), + ppre_text, trace_flags); + + sprintf(ppre_text, "%soptical_centre.", pprefix); + VL53L1_print_optical_centre( + &(pdata->optical_centre), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sxtalkhisto.", pprefix); + VL53L1_print_xtalk_histogram_data( + &(pdata->xtalkhisto), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sgain_cal.", pprefix); + VL53L1_print_gain_calibration_data( + &(pdata->gain_cal), + ppre_text, trace_flags); + + sprintf(ppre_text, "%scal_peak_rate_map.", pprefix); + VL53L1_print_cal_peak_rate_map( + &(pdata->cal_peak_rate_map), + ppre_text, trace_flags); +} + + +void VL53L1_print_xtalk_debug_data( + VL53L1_xtalk_debug_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + sprintf(ppre_text, "%scustomer.", pprefix); + VL53L1_print_customer_nvm_managed( + &(pdata->customer), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sxtalk_cfg.", pprefix); + VL53L1_print_xtalk_config( + &(pdata->xtalk_cfg), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sxtalk_extract_cfg.", pprefix); + VL53L1_print_xtalk_extract_config( + &(pdata->xtalk_extract_cfg), + ppre_text, trace_flags); + + sprintf(ppre_text, "%shist_data.", pprefix); + VL53L1_print_histogram_bin_data( + &(pdata->hist_data), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sxtalk_shapes.", pprefix); + VL53L1_print_xtalk_histogram_data( + &(pdata->xtalk_shapes), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sgain_cal.", pprefix); + VL53L1_print_xtalk_range_results( + &(pdata->xtalk_results), + ppre_text, trace_flags); +} + + +void VL53L1_print_offset_debug_data( + VL53L1_offset_debug_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + sprintf(ppre_text, "%scustomer.", pprefix); + VL53L1_print_customer_nvm_managed( + &(pdata->customer), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sfmt_dmax_cal.", pprefix); + VL53L1_print_dmax_calibration_data( + &(pdata->fmt_dmax_cal), + ppre_text, trace_flags); + + sprintf(ppre_text, "%scust_dmax_cal.", pprefix); + VL53L1_print_dmax_calibration_data( + &(pdata->cust_dmax_cal), + ppre_text, trace_flags); + + sprintf(ppre_text, "%sadd_off_cal_data.", pprefix); + VL53L1_print_additional_offset_cal_data( + &(pdata->add_off_cal_data), + ppre_text, trace_flags); + + sprintf(ppre_text, "%soffset_results.", pprefix); + VL53L1_print_offset_range_results( + &(pdata->offset_results), + ppre_text, trace_flags); +} + + +void VL53L1_print_zone_config( + VL53L1_zone_config_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + uint8_t i = 0; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "max_zones", + pdata->max_zones); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "active_zones", + pdata->active_zones); + + for (i = 0; i < pdata->active_zones; i++) { + sprintf(ppre_text, "%suser_zones[%u].", pprefix, i); + VL53L1_print_user_zone( + &pdata->user_zones[i], + ppre_text, + trace_flags); + } +} + + +void VL53L1_print_optical_centre( + VL53L1_optical_centre_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->x_centre, + 4, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "x_centre", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->y_centre, + 4, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "y_centre", + fp_text); +} + + +void VL53L1_print_user_zone( + VL53L1_user_zone_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + + + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "x_centre", + pdata->x_centre); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "y_centre", + pdata->y_centre); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "width", + pdata->width); + + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "height", + pdata->height); +} + + +void VL53L1_print_spad_rate_data( + VL53L1_spad_rate_data_t *pspad_rates, + char *pprefix, + uint32_t trace_flags) +{ + + + + uint16_t spad_no = 0; + uint8_t row = 0; + uint8_t col = 0; + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%8s,%4s,%4s, %s\n", + pprefix, + "spad_no", + "row", + "col", + "peak_rate_mcps"); + + for (spad_no = 0; spad_no < pspad_rates->no_of_values; spad_no++) { + + + VL53L1_decode_row_col( + (uint8_t)spad_no, + &row, + &col); + + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pspad_rates->rate_data[spad_no], + pspad_rates->fractional_bits, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%8u,%4u,%4u, %s\n", + pprefix, + spad_no, + row, + col, + fp_text); + } +} + + +void VL53L1_print_spad_rate_map( + VL53L1_spad_rate_data_t *pspad_rates, + char *pprefix, + uint32_t trace_flags) +{ + + + + uint8_t spad_no = 0; + uint8_t row = 0; + uint8_t col = 0; + + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%4s", + pprefix, + " "); + + for (col = 0; col < VL53L1_SPAD_ARRAY_WIDTH; col++) + trace_print( + VL53L1_TRACE_LEVEL_INFO, + ",%8u", + col); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "\n"); + + + + for (row = 0; row < VL53L1_SPAD_ARRAY_HEIGHT; row++) { + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%4u", + pprefix, + row); + + for (col = 0; col < VL53L1_SPAD_ARRAY_HEIGHT; col++) { + + + + VL53L1_encode_row_col( + row, + col, + &spad_no); + + + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pspad_rates->rate_data[spad_no], + pspad_rates->fractional_bits, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + ",%8s", + fp_text); + } + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "\n"); + } +} + + +#endif + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_api_preset_modes.c b/drivers/input/misc/vl53L1/src/vl53l1_api_preset_modes.c new file mode 100644 index 000000000000..d31efb4123b5 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_api_preset_modes.c @@ -0,0 +1,3680 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_platform_log.h" +#include "vl53l1_register_structs.h" +#include "vl53l1_register_settings.h" +#include "vl53l1_hist_structs.h" +#include "vl53l1_zone_presets.h" +#include "vl53l1_core.h" +#include "vl53l1_api_preset_modes.h" +#include "vl53l1_tuning_parm_defaults.h" + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_API,\ + status, fmt, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_init_refspadchar_config_struct( + VL53L1_refspadchar_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + pdata->device_test_mode = + VL53L1_TUNINGPARM_REFSPADCHAR_DEVICE_TEST_MODE_DEFAULT; + pdata->VL53L1_p_009 = + VL53L1_TUNINGPARM_REFSPADCHAR_VCSEL_PERIOD_DEFAULT; + pdata->timeout_us = + VL53L1_TUNINGPARM_REFSPADCHAR_PHASECAL_TIMEOUT_US_DEFAULT; + pdata->target_count_rate_mcps = + VL53L1_TUNINGPARM_REFSPADCHAR_TARGET_COUNT_RATE_MCPS_DEFAULT; + pdata->min_count_rate_limit_mcps = + VL53L1_TUNINGPARM_REFSPADCHAR_MIN_COUNTRATE_LIMIT_MCPS_DEFAULT; + pdata->max_count_rate_limit_mcps = + VL53L1_TUNINGPARM_REFSPADCHAR_MAX_COUNTRATE_LIMIT_MCPS_DEFAULT; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_init_ssc_config_struct( + VL53L1_ssc_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + pdata->array_select = VL53L1_DEVICESSCARRAY_RTN; + + + pdata->VL53L1_p_009 = + VL53L1_TUNINGPARM_SPADMAP_VCSEL_PERIOD_DEFAULT; + + + pdata->vcsel_start = + VL53L1_TUNINGPARM_SPADMAP_VCSEL_START_DEFAULT; + + + pdata->vcsel_width = 0x02; + + + pdata->timeout_us = 36000; + + + pdata->rate_limit_mcps = + VL53L1_TUNINGPARM_SPADMAP_RATE_LIMIT_MCPS_DEFAULT; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_init_xtalk_config_struct( + VL53L1_customer_nvm_managed_t *pnvm, + VL53L1_xtalk_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + + pdata->algo__crosstalk_compensation_plane_offset_kcps = + pnvm->algo__crosstalk_compensation_plane_offset_kcps; + pdata->algo__crosstalk_compensation_x_plane_gradient_kcps = + pnvm->algo__crosstalk_compensation_x_plane_gradient_kcps; + pdata->algo__crosstalk_compensation_y_plane_gradient_kcps = + pnvm->algo__crosstalk_compensation_y_plane_gradient_kcps; + + + + pdata->nvm_default__crosstalk_compensation_plane_offset_kcps = + (uint32_t)pnvm->algo__crosstalk_compensation_plane_offset_kcps; + pdata->nvm_default__crosstalk_compensation_x_plane_gradient_kcps = + pnvm->algo__crosstalk_compensation_x_plane_gradient_kcps; + pdata->nvm_default__crosstalk_compensation_y_plane_gradient_kcps = + pnvm->algo__crosstalk_compensation_y_plane_gradient_kcps; + + pdata->histogram_mode_crosstalk_margin_kcps = + VL53L1_TUNINGPARM_HIST_XTALK_MARGIN_KCPS_DEFAULT; + pdata->lite_mode_crosstalk_margin_kcps = + VL53L1_TUNINGPARM_LITE_XTALK_MARGIN_KCPS_DEFAULT; + + + + pdata->crosstalk_range_ignore_threshold_mult = + VL53L1_TUNINGPARM_LITE_RIT_MULT_DEFAULT; + + if ((pdata->algo__crosstalk_compensation_plane_offset_kcps == 0x00) + && (pdata->algo__crosstalk_compensation_x_plane_gradient_kcps + == 0x00) + && (pdata->algo__crosstalk_compensation_y_plane_gradient_kcps + == 0x00)) + pdata->global_crosstalk_compensation_enable = 0x00; + else + pdata->global_crosstalk_compensation_enable = 0x01; + + + if ((status == VL53L1_ERROR_NONE) && + (pdata->global_crosstalk_compensation_enable == 0x01)) { + pdata->crosstalk_range_ignore_threshold_rate_mcps = + VL53L1_calc_range_ignore_threshold( + pdata->algo__crosstalk_compensation_plane_offset_kcps, + pdata->algo__crosstalk_compensation_x_plane_gradient_kcps, + pdata->algo__crosstalk_compensation_y_plane_gradient_kcps, + pdata->crosstalk_range_ignore_threshold_mult); + } else { + pdata->crosstalk_range_ignore_threshold_rate_mcps = 0; + } + + + + + pdata->algo__crosstalk_detect_min_valid_range_mm = + VL53L1_TUNINGPARM_XTALK_DETECT_MIN_VALID_RANGE_MM_DEFAULT; + pdata->algo__crosstalk_detect_max_valid_range_mm = + VL53L1_TUNINGPARM_XTALK_DETECT_MAX_VALID_RANGE_MM_DEFAULT; + pdata->algo__crosstalk_detect_max_valid_rate_kcps = + VL53L1_TUNINGPARM_XTALK_DETECT_MAX_VALID_RATE_KCPS_DEFAULT; + pdata->algo__crosstalk_detect_max_sigma_mm = + VL53L1_TUNINGPARM_XTALK_DETECT_MAX_SIGMA_MM_DEFAULT; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_init_xtalk_extract_config_struct( + VL53L1_xtalkextract_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + pdata->dss_config__target_total_rate_mcps = + VL53L1_TUNINGPARM_XTALK_EXTRACT_DSS_RATE_MCPS_DEFAULT; + + pdata->mm_config_timeout_us = + VL53L1_TUNINGPARM_XTALK_EXTRACT_DSS_TIMEOUT_US_DEFAULT; + + pdata->num_of_samples = + VL53L1_TUNINGPARM_XTALK_EXTRACT_NUM_OF_SAMPLES_DEFAULT; + + pdata->phasecal_config_timeout_us = + VL53L1_TUNINGPARM_XTALK_EXTRACT_PHASECAL_TIMEOUT_US_DEFAULT; + + pdata->range_config_timeout_us = + VL53L1_TUNINGPARM_XTALK_EXTRACT_BIN_TIMEOUT_US_DEFAULT; + + + + + pdata->algo__crosstalk_extract_min_valid_range_mm = + VL53L1_TUNINGPARM_XTALK_EXTRACT_MIN_FILTER_THRESH_MM_DEFAULT; + pdata->algo__crosstalk_extract_max_valid_range_mm = + VL53L1_TUNINGPARM_XTALK_EXTRACT_MAX_FILTER_THRESH_MM_DEFAULT; + pdata->algo__crosstalk_extract_max_valid_rate_kcps = + VL53L1_TUNINGPARM_XTALK_EXTRACT_MAX_VALID_RATE_KCPS_DEFAULT; + pdata->algo__crosstalk_extract_max_sigma_mm = + VL53L1_TUNINGPARM_XTALK_EXTRACT_SIGMA_THRESHOLD_MM_DEFAULT; + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_init_offset_cal_config_struct( + VL53L1_offsetcal_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + pdata->dss_config__target_total_rate_mcps = + VL53L1_TUNINGPARM_OFFSET_CAL_DSS_RATE_MCPS_DEFAULT; + + pdata->phasecal_config_timeout_us = + VL53L1_TUNINGPARM_OFFSET_CAL_PHASECAL_TIMEOUT_US_DEFAULT; + + pdata->range_config_timeout_us = + VL53L1_TUNINGPARM_OFFSET_CAL_RANGE_TIMEOUT_US_DEFAULT; + + pdata->mm_config_timeout_us = + VL53L1_TUNINGPARM_OFFSET_CAL_MM_TIMEOUT_US_DEFAULT; + + + + + pdata->pre_num_of_samples = + VL53L1_TUNINGPARM_OFFSET_CAL_PRE_SAMPLES_DEFAULT; + pdata->mm1_num_of_samples = + VL53L1_TUNINGPARM_OFFSET_CAL_MM1_SAMPLES_DEFAULT; + pdata->mm2_num_of_samples = + VL53L1_TUNINGPARM_OFFSET_CAL_MM2_SAMPLES_DEFAULT; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_init_zone_cal_config_struct( + VL53L1_zonecal_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + pdata->dss_config__target_total_rate_mcps = + VL53L1_TUNINGPARM_ZONE_CAL_DSS_RATE_MCPS_DEFAULT; + + pdata->phasecal_config_timeout_us = + VL53L1_TUNINGPARM_ZONE_CAL_PHASECAL_TIMEOUT_US_DEFAULT; + + pdata->range_config_timeout_us = + VL53L1_TUNINGPARM_ZONE_CAL_RANGE_TIMEOUT_US_DEFAULT; + + pdata->mm_config_timeout_us = + VL53L1_TUNINGPARM_ZONE_CAL_DSS_TIMEOUT_US_DEFAULT; + + + + + pdata->phasecal_num_of_samples = + VL53L1_TUNINGPARM_ZONE_CAL_PHASECAL_NUM_SAMPLES_DEFAULT; + pdata->zone_num_of_samples = + VL53L1_TUNINGPARM_ZONE_CAL_ZONE_NUM_SAMPLES_DEFAULT; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_init_hist_post_process_config_struct( + uint8_t xtalk_compensation_enable, + VL53L1_hist_post_process_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + pdata->hist_algo_select = + VL53L1_TUNINGPARM_HIST_ALGO_SELECT_DEFAULT; + + + + pdata->hist_target_order = + VL53L1_TUNINGPARM_HIST_TARGET_ORDER_DEFAULT; + + + + pdata->filter_woi0 = + VL53L1_TUNINGPARM_HIST_FILTER_WOI_0_DEFAULT; + pdata->filter_woi1 = + VL53L1_TUNINGPARM_HIST_FILTER_WOI_1_DEFAULT; + + + pdata->hist_amb_est_method = + VL53L1_TUNINGPARM_HIST_AMB_EST_METHOD_DEFAULT; + + pdata->ambient_thresh_sigma0 = + VL53L1_TUNINGPARM_HIST_AMB_THRESH_SIGMA_0_DEFAULT; + pdata->ambient_thresh_sigma1 = + VL53L1_TUNINGPARM_HIST_AMB_THRESH_SIGMA_1_DEFAULT; + + + pdata->ambient_thresh_events_scaler = + VL53L1_TUNINGPARM_HIST_AMB_EVENTS_SCALER_DEFAULT; + + + pdata->min_ambient_thresh_events = + VL53L1_TUNINGPARM_HIST_MIN_AMB_THRESH_EVENTS_DEFAULT; + + pdata->noise_threshold = + VL53L1_TUNINGPARM_HIST_NOISE_THRESHOLD_DEFAULT; + + pdata->signal_total_events_limit = + VL53L1_TUNINGPARM_HIST_SIGNAL_TOTAL_EVENTS_LIMIT_DEFAULT; + pdata->sigma_estimator__sigma_ref_mm = + VL53L1_TUNINGPARM_HIST_SIGMA_EST_REF_MM_DEFAULT; + + + pdata->sigma_thresh = + VL53L1_TUNINGPARM_HIST_SIGMA_THRESH_MM_DEFAULT; + + pdata->range_offset_mm = 0; + + pdata->gain_factor = + VL53L1_TUNINGPARM_HIST_GAIN_FACTOR_DEFAULT; + + + + pdata->valid_phase_low = 0x08; + pdata->valid_phase_high = 0x88; + + + + pdata->algo__consistency_check__phase_tolerance = + VL53L1_TUNINGPARM_CONSISTENCY_HIST_PHASE_TOLERANCE_DEFAULT; + + + + pdata->algo__consistency_check__event_sigma = + VL53L1_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA_DEFAULT; + + + pdata->algo__consistency_check__event_min_spad_count = + VL53L1_TUNINGPARM_CONSISTENCY_HIST_EVENT_SIGMA_MIN_SPAD_LIMIT_DEFAULT; + + + + pdata->algo__consistency_check__min_max_tolerance = + VL53L1_TUNINGPARM_CONSISTENCY_HIST_MIN_MAX_TOLERANCE_MM_DEFAULT; + + + pdata->algo__crosstalk_compensation_enable = xtalk_compensation_enable; + + + pdata->algo__crosstalk_detect_min_valid_range_mm = + VL53L1_TUNINGPARM_XTALK_DETECT_MIN_VALID_RANGE_MM_DEFAULT; + pdata->algo__crosstalk_detect_max_valid_range_mm = + VL53L1_TUNINGPARM_XTALK_DETECT_MAX_VALID_RANGE_MM_DEFAULT; + pdata->algo__crosstalk_detect_max_valid_rate_kcps = + VL53L1_TUNINGPARM_XTALK_DETECT_MAX_VALID_RATE_KCPS_DEFAULT; + pdata->algo__crosstalk_detect_max_sigma_mm = + VL53L1_TUNINGPARM_XTALK_DETECT_MAX_SIGMA_MM_DEFAULT; + + + + + + pdata->algo__crosstalk_detect_event_sigma = + VL53L1_TUNINGPARM_XTALK_DETECT_EVENT_SIGMA_DEFAULT; + + + + pdata->algo__crosstalk_detect_min_max_tolerance = + VL53L1_TUNINGPARM_XTALK_DETECT_MIN_MAX_TOLERANCE_DEFAULT; + + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_init_dmax_calibration_data_struct( + VL53L1_dmax_calibration_data_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + pdata->ref__actual_effective_spads = 0x5F2D; + + pdata->ref__peak_signal_count_rate_mcps = 0x0844; + + pdata->ref__distance_mm = 0x08A5; + + + pdata->ref_reflectance_pc = 0x0014; + + + pdata->coverglass_transmission = 0x0100; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_init_tuning_parm_storage_struct( + VL53L1_tuning_parm_storage_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + pdata->tp_tuning_parm_version = + VL53L1_TUNINGPARM_VERSION_DEFAULT; + pdata->tp_tuning_parm_key_table_version = + VL53L1_TUNINGPARM_KEY_TABLE_VERSION_DEFAULT; + pdata->tp_tuning_parm_lld_version = + VL53L1_TUNINGPARM_LLD_VERSION_DEFAULT; + pdata->tp_init_phase_rtn_lite_long = + VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_LITE_LONG_RANGE_DEFAULT; + pdata->tp_init_phase_rtn_lite_med = + VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_LITE_MED_RANGE_DEFAULT; + pdata->tp_init_phase_rtn_lite_short = + VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_LITE_SHORT_RANGE_DEFAULT; + pdata->tp_init_phase_ref_lite_long = + VL53L1_TUNINGPARM_INITIAL_PHASE_REF_LITE_LONG_RANGE_DEFAULT; + pdata->tp_init_phase_ref_lite_med = + VL53L1_TUNINGPARM_INITIAL_PHASE_REF_LITE_MED_RANGE_DEFAULT; + pdata->tp_init_phase_ref_lite_short = + VL53L1_TUNINGPARM_INITIAL_PHASE_REF_LITE_SHORT_RANGE_DEFAULT; + pdata->tp_init_phase_rtn_hist_long = + VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_LONG_RANGE_DEFAULT; + pdata->tp_init_phase_rtn_hist_med = + VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_MED_RANGE_DEFAULT; + pdata->tp_init_phase_rtn_hist_short = + VL53L1_TUNINGPARM_INITIAL_PHASE_RTN_HISTO_SHORT_RANGE_DEFAULT; + pdata->tp_init_phase_ref_hist_long = + VL53L1_TUNINGPARM_INITIAL_PHASE_REF_HISTO_LONG_RANGE_DEFAULT; + pdata->tp_init_phase_ref_hist_med = + VL53L1_TUNINGPARM_INITIAL_PHASE_REF_HISTO_MED_RANGE_DEFAULT; + pdata->tp_init_phase_ref_hist_short = + VL53L1_TUNINGPARM_INITIAL_PHASE_REF_HISTO_SHORT_RANGE_DEFAULT; + pdata->tp_consistency_lite_phase_tolerance = + VL53L1_TUNINGPARM_CONSISTENCY_LITE_PHASE_TOLERANCE_DEFAULT; + pdata->tp_phasecal_target = + VL53L1_TUNINGPARM_PHASECAL_TARGET_DEFAULT; + pdata->tp_cal_repeat_rate = + VL53L1_TUNINGPARM_LITE_CAL_REPEAT_RATE_DEFAULT; + pdata->tp_lite_min_clip = + VL53L1_TUNINGPARM_LITE_MIN_CLIP_MM_DEFAULT; + pdata->tp_lite_long_sigma_thresh_mm = + VL53L1_TUNINGPARM_LITE_LONG_SIGMA_THRESH_MM_DEFAULT; + pdata->tp_lite_med_sigma_thresh_mm = + VL53L1_TUNINGPARM_LITE_MED_SIGMA_THRESH_MM_DEFAULT; + pdata->tp_lite_short_sigma_thresh_mm = + VL53L1_TUNINGPARM_LITE_SHORT_SIGMA_THRESH_MM_DEFAULT; + pdata->tp_lite_long_min_count_rate_rtn_mcps = + VL53L1_TUNINGPARM_LITE_LONG_MIN_COUNT_RATE_RTN_MCPS_DEFAULT; + pdata->tp_lite_med_min_count_rate_rtn_mcps = + VL53L1_TUNINGPARM_LITE_MED_MIN_COUNT_RATE_RTN_MCPS_DEFAULT; + pdata->tp_lite_short_min_count_rate_rtn_mcps = + VL53L1_TUNINGPARM_LITE_SHORT_MIN_COUNT_RATE_RTN_MCPS_DEFAULT; + pdata->tp_lite_sigma_est_pulse_width_ns = + VL53L1_TUNINGPARM_LITE_SIGMA_EST_PULSE_WIDTH_DEFAULT; + pdata->tp_lite_sigma_est_amb_width_ns = + VL53L1_TUNINGPARM_LITE_SIGMA_EST_AMB_WIDTH_NS_DEFAULT; + pdata->tp_lite_sigma_ref_mm = + VL53L1_TUNINGPARM_LITE_SIGMA_REF_MM_DEFAULT; + pdata->tp_lite_seed_cfg = + VL53L1_TUNINGPARM_LITE_SEED_CONFIG_DEFAULT; + pdata->tp_timed_seed_cfg = + VL53L1_TUNINGPARM_TIMED_SEED_CONFIG_DEFAULT; + pdata->tp_lite_quantifier = + VL53L1_TUNINGPARM_LITE_QUANTIFIER_DEFAULT; + pdata->tp_lite_first_order_select = + VL53L1_TUNINGPARM_LITE_FIRST_ORDER_SELECT_DEFAULT; + + + + + pdata->tp_dss_target_lite_mcps = + VL53L1_TUNINGPARM_LITE_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS_DEFAULT; + pdata->tp_dss_target_histo_mcps = + VL53L1_TUNINGPARM_RANGING_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS_DEFAULT; + pdata->tp_dss_target_histo_mz_mcps = + VL53L1_TUNINGPARM_MZ_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS_DEFAULT; + pdata->tp_dss_target_timed_mcps = + VL53L1_TUNINGPARM_TIMED_DSS_CONFIG_TARGET_TOTAL_RATE_MCPS_DEFAULT; + pdata->tp_phasecal_timeout_lite_us = + VL53L1_TUNINGPARM_LITE_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT; + pdata->tp_phasecal_timeout_hist_long_us = + VL53L1_TUNINGPARM_RANGING_LONG_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT; + pdata->tp_phasecal_timeout_hist_med_us = + VL53L1_TUNINGPARM_RANGING_MED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT; + pdata->tp_phasecal_timeout_hist_short_us = + VL53L1_TUNINGPARM_RANGING_SHORT_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT; + pdata->tp_phasecal_timeout_mz_long_us = + VL53L1_TUNINGPARM_MZ_LONG_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT; + pdata->tp_phasecal_timeout_mz_med_us = + VL53L1_TUNINGPARM_MZ_MED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT; + pdata->tp_phasecal_timeout_mz_short_us = + VL53L1_TUNINGPARM_MZ_SHORT_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT; + pdata->tp_phasecal_timeout_timed_us = + VL53L1_TUNINGPARM_TIMED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT; + pdata->tp_mm_timeout_lite_us = + VL53L1_TUNINGPARM_LITE_MM_CONFIG_TIMEOUT_US_DEFAULT; + pdata->tp_mm_timeout_histo_us = + VL53L1_TUNINGPARM_RANGING_MM_CONFIG_TIMEOUT_US_DEFAULT; + pdata->tp_mm_timeout_mz_us = + VL53L1_TUNINGPARM_MZ_MM_CONFIG_TIMEOUT_US_DEFAULT; + pdata->tp_mm_timeout_timed_us = + VL53L1_TUNINGPARM_TIMED_MM_CONFIG_TIMEOUT_US_DEFAULT; + pdata->tp_range_timeout_lite_us = + VL53L1_TUNINGPARM_LITE_RANGE_CONFIG_TIMEOUT_US_DEFAULT; + pdata->tp_range_timeout_histo_us = + VL53L1_TUNINGPARM_RANGING_RANGE_CONFIG_TIMEOUT_US_DEFAULT; + pdata->tp_range_timeout_mz_us = + VL53L1_TUNINGPARM_MZ_RANGE_CONFIG_TIMEOUT_US_DEFAULT; + pdata->tp_range_timeout_timed_us = + VL53L1_TUNINGPARM_TIMED_RANGE_CONFIG_TIMEOUT_US_DEFAULT; + + + + pdata->tp_mm_timeout_lpa_us = + VL53L1_TUNINGPARM_LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US_DEFAULT; + pdata->tp_range_timeout_lpa_us = + VL53L1_TUNINGPARM_LOWPOWERAUTO_RANGE_CONFIG_TIMEOUT_US_DEFAULT; + + pdata->tp_dss_target_very_short_mcps = + VL53L1_TUNINGPARM_VERY_SHORT_DSS_RATE_MCPS_DEFAULT; + + pdata->tp_phasecal_patch_power = + VL53L1_TUNINGPARM_PHASECAL_PATCH_POWER_DEFAULT; + + pdata->tp_hist_merge = + VL53L1_TUNINGPARM_HIST_MERGE_DEFAULT; + + pdata->tp_reset_merge_threshold = + VL53L1_TUNINGPARM_RESET_MERGE_THRESHOLD_DEFAULT; + + pdata->tp_hist_merge_max_size = + VL53L1_TUNINGPARM_HIST_MERGE_MAX_SIZE_DEFAULT; + + pdata->tp_uwr_enable = + VL53L1_TUNINGPARM_UWR_ENABLE_DEFAULT; + pdata->tp_uwr_med_z_1_min = + VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_1_MIN_DEFAULT; + pdata->tp_uwr_med_z_1_max = + VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_1_MAX_DEFAULT; + pdata->tp_uwr_med_z_2_min = + VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_2_MIN_DEFAULT; + pdata->tp_uwr_med_z_2_max = + VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_2_MAX_DEFAULT; + pdata->tp_uwr_med_z_3_min = + VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_3_MIN_DEFAULT; + pdata->tp_uwr_med_z_3_max = + VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_3_MAX_DEFAULT; + pdata->tp_uwr_med_z_4_min = + VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_4_MIN_DEFAULT; + pdata->tp_uwr_med_z_4_max = + VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_4_MAX_DEFAULT; + pdata->tp_uwr_med_z_5_min = + VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_5_MIN_DEFAULT; + pdata->tp_uwr_med_z_5_max = + VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_5_MAX_DEFAULT; + pdata->tp_uwr_med_z_6_min = + VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_6_MIN_DEFAULT; + pdata->tp_uwr_med_z_6_max = + VL53L1_TUNINGPARM_UWR_MEDIUM_ZONE_6_MAX_DEFAULT; + pdata->tp_uwr_med_corr_z_1_rangea = + VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_1_RANGEA_DEFAULT; + pdata->tp_uwr_med_corr_z_1_rangeb = + VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_1_RANGEB_DEFAULT; + pdata->tp_uwr_med_corr_z_2_rangea = + VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_2_RANGEA_DEFAULT; + pdata->tp_uwr_med_corr_z_2_rangeb = + VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_2_RANGEB_DEFAULT; + pdata->tp_uwr_med_corr_z_3_rangea = + VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_3_RANGEA_DEFAULT; + pdata->tp_uwr_med_corr_z_3_rangeb = + VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_3_RANGEB_DEFAULT; + pdata->tp_uwr_med_corr_z_4_rangea = + VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_4_RANGEA_DEFAULT; + pdata->tp_uwr_med_corr_z_4_rangeb = + VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_4_RANGEB_DEFAULT; + pdata->tp_uwr_med_corr_z_5_rangea = + VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_5_RANGEA_DEFAULT; + pdata->tp_uwr_med_corr_z_5_rangeb = + VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_5_RANGEB_DEFAULT; + pdata->tp_uwr_med_corr_z_6_rangea = + VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_6_RANGEA_DEFAULT; + pdata->tp_uwr_med_corr_z_6_rangeb = + VL53L1_TUNINGPARM_UWR_MEDIUM_CORRECTION_ZONE_6_RANGEB_DEFAULT; + pdata->tp_uwr_lng_z_1_min = + VL53L1_TUNINGPARM_UWR_LONG_ZONE_1_MIN_DEFAULT; + pdata->tp_uwr_lng_z_1_max = + VL53L1_TUNINGPARM_UWR_LONG_ZONE_1_MAX_DEFAULT; + pdata->tp_uwr_lng_z_2_min = + VL53L1_TUNINGPARM_UWR_LONG_ZONE_2_MIN_DEFAULT; + pdata->tp_uwr_lng_z_2_max = + VL53L1_TUNINGPARM_UWR_LONG_ZONE_2_MAX_DEFAULT; + pdata->tp_uwr_lng_z_3_min = + VL53L1_TUNINGPARM_UWR_LONG_ZONE_3_MIN_DEFAULT; + pdata->tp_uwr_lng_z_3_max = + VL53L1_TUNINGPARM_UWR_LONG_ZONE_3_MAX_DEFAULT; + pdata->tp_uwr_lng_z_4_min = + VL53L1_TUNINGPARM_UWR_LONG_ZONE_4_MIN_DEFAULT; + pdata->tp_uwr_lng_z_4_max = + VL53L1_TUNINGPARM_UWR_LONG_ZONE_4_MAX_DEFAULT; + pdata->tp_uwr_lng_z_5_min = + VL53L1_TUNINGPARM_UWR_LONG_ZONE_5_MIN_DEFAULT; + pdata->tp_uwr_lng_z_5_max = + VL53L1_TUNINGPARM_UWR_LONG_ZONE_5_MAX_DEFAULT; + pdata->tp_uwr_lng_corr_z_1_rangea = + VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_1_RANGEA_DEFAULT; + pdata->tp_uwr_lng_corr_z_1_rangeb = + VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_1_RANGEB_DEFAULT; + pdata->tp_uwr_lng_corr_z_2_rangea = + VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_2_RANGEA_DEFAULT; + pdata->tp_uwr_lng_corr_z_2_rangeb = + VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_2_RANGEB_DEFAULT; + pdata->tp_uwr_lng_corr_z_3_rangea = + VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_3_RANGEA_DEFAULT; + pdata->tp_uwr_lng_corr_z_3_rangeb = + VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_3_RANGEB_DEFAULT; + pdata->tp_uwr_lng_corr_z_4_rangea = + VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_4_RANGEA_DEFAULT; + pdata->tp_uwr_lng_corr_z_4_rangeb = + VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_4_RANGEB_DEFAULT; + pdata->tp_uwr_lng_corr_z_5_rangea = + VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_5_RANGEA_DEFAULT; + pdata->tp_uwr_lng_corr_z_5_rangeb = + VL53L1_TUNINGPARM_UWR_LONG_CORRECTION_ZONE_5_RANGEB_DEFAULT; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_init_hist_gen3_dmax_config_struct( + VL53L1_hist_gen3_dmax_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + pdata->dss_config__target_total_rate_mcps = 0x1400; + pdata->dss_config__aperture_attenuation = 0x38; + + pdata->signal_thresh_sigma = + VL53L1_TUNINGPARM_DMAX_CFG_SIGNAL_THRESH_SIGMA_DEFAULT; + pdata->ambient_thresh_sigma = 0x70; + pdata->min_ambient_thresh_events = 16; + pdata->signal_total_events_limit = 100; + pdata->max_effective_spads = 0xFFFF; + + + + pdata->target_reflectance_for_dmax_calc[0] = + VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_0_DEFAULT; + pdata->target_reflectance_for_dmax_calc[1] = + VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_1_DEFAULT; + pdata->target_reflectance_for_dmax_calc[2] = + VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_2_DEFAULT; + pdata->target_reflectance_for_dmax_calc[3] = + VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_3_DEFAULT; + pdata->target_reflectance_for_dmax_calc[4] = + VL53L1_TUNINGPARM_DMAX_CFG_REFLECTANCE_ARRAY_4_DEFAULT; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_standard_ranging( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + pstatic->dss_config__target_total_rate_mcps = 0x0A00; + pstatic->debug__ctrl = 0x00; + pstatic->test_mode__ctrl = 0x00; + pstatic->clk_gating__ctrl = 0x00; + pstatic->nvm_bist__ctrl = 0x00; + pstatic->nvm_bist__num_nvm_words = 0x00; + pstatic->nvm_bist__start_address = 0x00; + pstatic->host_if__status = 0x00; + pstatic->pad_i2c_hv__config = 0x00; + pstatic->pad_i2c_hv__extsup_config = 0x00; + + + pstatic->gpio_hv_pad__ctrl = 0x00; + + + pstatic->gpio_hv_mux__ctrl = + VL53L1_DEVICEINTERRUPTPOLARITY_ACTIVE_LOW | + VL53L1_DEVICEGPIOMODE_OUTPUT_RANGE_AND_ERROR_INTERRUPTS; + + pstatic->gpio__tio_hv_status = 0x02; + pstatic->gpio__fio_hv_status = 0x00; + pstatic->ana_config__spad_sel_pswidth = 0x02; + pstatic->ana_config__vcsel_pulse_width_offset = 0x08; + pstatic->ana_config__fast_osc__config_ctrl = 0x00; + + pstatic->sigma_estimator__effective_pulse_width_ns = + ptuning_parms->tp_lite_sigma_est_pulse_width_ns; + pstatic->sigma_estimator__effective_ambient_width_ns = + ptuning_parms->tp_lite_sigma_est_amb_width_ns; + pstatic->sigma_estimator__sigma_ref_mm = + ptuning_parms->tp_lite_sigma_ref_mm; + + pstatic->algo__crosstalk_compensation_valid_height_mm = 0x01; + pstatic->spare_host_config__static_config_spare_0 = 0x00; + pstatic->spare_host_config__static_config_spare_1 = 0x00; + + pstatic->algo__range_ignore_threshold_mcps = 0x0000; + + + pstatic->algo__range_ignore_valid_height_mm = 0xff; + pstatic->algo__range_min_clip = + ptuning_parms->tp_lite_min_clip; + + pstatic->algo__consistency_check__tolerance = + ptuning_parms->tp_consistency_lite_phase_tolerance; + pstatic->spare_host_config__static_config_spare_2 = 0x00; + pstatic->sd_config__reset_stages_msb = 0x00; + pstatic->sd_config__reset_stages_lsb = 0x00; + + pgeneral->gph_config__stream_count_update_value = 0x00; + pgeneral->global_config__stream_divider = 0x00; + pgeneral->system__interrupt_config_gpio = + VL53L1_INTERRUPT_CONFIG_NEW_SAMPLE_READY; + pgeneral->cal_config__vcsel_start = 0x0B; + + + pgeneral->cal_config__repeat_rate = + ptuning_parms->tp_cal_repeat_rate; + pgeneral->global_config__vcsel_width = 0x02; + + pgeneral->phasecal_config__timeout_macrop = 0x0D; + + pgeneral->phasecal_config__target = + ptuning_parms->tp_phasecal_target; + pgeneral->phasecal_config__override = 0x00; + pgeneral->dss_config__roi_mode_control = + VL53L1_DEVICEDSSMODE__TARGET_RATE; + + pgeneral->system__thresh_rate_high = 0x0000; + pgeneral->system__thresh_rate_low = 0x0000; + + pgeneral->dss_config__manual_effective_spads_select = 0x8C00; + pgeneral->dss_config__manual_block_select = 0x00; + + + pgeneral->dss_config__aperture_attenuation = 0x38; + pgeneral->dss_config__max_spads_limit = 0xFF; + pgeneral->dss_config__min_spads_limit = 0x01; + + + + + ptiming->mm_config__timeout_macrop_a_hi = 0x00; + ptiming->mm_config__timeout_macrop_a_lo = 0x1a; + ptiming->mm_config__timeout_macrop_b_hi = 0x00; + ptiming->mm_config__timeout_macrop_b_lo = 0x20; + + ptiming->range_config__timeout_macrop_a_hi = 0x01; + ptiming->range_config__timeout_macrop_a_lo = 0xCC; + + ptiming->range_config__vcsel_period_a = 0x0B; + + ptiming->range_config__timeout_macrop_b_hi = 0x01; + ptiming->range_config__timeout_macrop_b_lo = 0xF5; + + ptiming->range_config__vcsel_period_b = 0x09; + + ptiming->range_config__sigma_thresh = + ptuning_parms->tp_lite_med_sigma_thresh_mm; + + ptiming->range_config__min_count_rate_rtn_limit_mcps = + ptuning_parms->tp_lite_med_min_count_rate_rtn_mcps; + + + ptiming->range_config__valid_phase_low = 0x08; + ptiming->range_config__valid_phase_high = 0x78; + ptiming->system__intermeasurement_period = 0x00000000; + ptiming->system__fractional_enable = 0x00; + + + + phistogram->histogram_config__low_amb_even_bin_0_1 = 0x07; + phistogram->histogram_config__low_amb_even_bin_2_3 = 0x21; + phistogram->histogram_config__low_amb_even_bin_4_5 = 0x43; + + phistogram->histogram_config__low_amb_odd_bin_0_1 = 0x10; + phistogram->histogram_config__low_amb_odd_bin_2_3 = 0x32; + phistogram->histogram_config__low_amb_odd_bin_4_5 = 0x54; + + phistogram->histogram_config__mid_amb_even_bin_0_1 = 0x07; + phistogram->histogram_config__mid_amb_even_bin_2_3 = 0x21; + phistogram->histogram_config__mid_amb_even_bin_4_5 = 0x43; + + phistogram->histogram_config__mid_amb_odd_bin_0_1 = 0x10; + phistogram->histogram_config__mid_amb_odd_bin_2 = 0x02; + phistogram->histogram_config__mid_amb_odd_bin_3_4 = 0x43; + phistogram->histogram_config__mid_amb_odd_bin_5 = 0x05; + + phistogram->histogram_config__user_bin_offset = 0x00; + + phistogram->histogram_config__high_amb_even_bin_0_1 = 0x07; + phistogram->histogram_config__high_amb_even_bin_2_3 = 0x21; + phistogram->histogram_config__high_amb_even_bin_4_5 = 0x43; + + phistogram->histogram_config__high_amb_odd_bin_0_1 = 0x10; + phistogram->histogram_config__high_amb_odd_bin_2_3 = 0x32; + phistogram->histogram_config__high_amb_odd_bin_4_5 = 0x54; + + phistogram->histogram_config__amb_thresh_low = 0xFFFF; + phistogram->histogram_config__amb_thresh_high = 0xFFFF; + + phistogram->histogram_config__spad_array_selection = 0x00; + + + pzone_cfg->max_zones = VL53L1_MAX_USER_ZONES; + pzone_cfg->active_zones = 0x00; + pzone_cfg->user_zones[0].height = 0x0f; + pzone_cfg->user_zones[0].width = 0x0f; + pzone_cfg->user_zones[0].x_centre = 0x08; + pzone_cfg->user_zones[0].y_centre = 0x08; + + + + pdynamic->system__grouped_parameter_hold_0 = 0x01; + + pdynamic->system__thresh_high = 0x0000; + pdynamic->system__thresh_low = 0x0000; + pdynamic->system__enable_xtalk_per_quadrant = 0x00; + pdynamic->system__seed_config = + ptuning_parms->tp_lite_seed_cfg; + + + pdynamic->sd_config__woi_sd0 = 0x0B; + + pdynamic->sd_config__woi_sd1 = 0x09; + + pdynamic->sd_config__initial_phase_sd0 = + ptuning_parms->tp_init_phase_rtn_lite_med; + pdynamic->sd_config__initial_phase_sd1 = + ptuning_parms->tp_init_phase_ref_lite_med; + + pdynamic->system__grouped_parameter_hold_1 = 0x01; + + + + pdynamic->sd_config__first_order_select = + ptuning_parms->tp_lite_first_order_select; + pdynamic->sd_config__quantifier = + ptuning_parms->tp_lite_quantifier; + + + pdynamic->roi_config__user_roi_centre_spad = 0xC7; + + pdynamic->roi_config__user_roi_requested_global_xy_size = 0xFF; + + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_MM2_EN | + VL53L1_SEQUENCE_RANGE_EN; + + pdynamic->system__grouped_parameter_hold = 0x02; + + + + + psystem->system__stream_count_ctrl = 0x00; + psystem->firmware__enable = 0x01; + psystem->system__interrupt_clear = + VL53L1_CLEAR_RANGE_INT; + + psystem->system__mode_start = + VL53L1_DEVICESCHEDULERMODE_STREAMING | + VL53L1_DEVICEREADOUTMODE_SINGLE_SD | + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_standard_ranging_short_range( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + ptiming->range_config__vcsel_period_a = 0x07; + ptiming->range_config__vcsel_period_b = 0x05; + ptiming->range_config__sigma_thresh = + ptuning_parms->tp_lite_short_sigma_thresh_mm; + ptiming->range_config__min_count_rate_rtn_limit_mcps = + ptuning_parms->tp_lite_short_min_count_rate_rtn_mcps; + ptiming->range_config__valid_phase_low = 0x08; + ptiming->range_config__valid_phase_high = 0x38; + + + + pdynamic->sd_config__woi_sd0 = 0x07; + pdynamic->sd_config__woi_sd1 = 0x05; + pdynamic->sd_config__initial_phase_sd0 = + ptuning_parms->tp_init_phase_rtn_lite_short; + pdynamic->sd_config__initial_phase_sd1 = + ptuning_parms->tp_init_phase_ref_lite_short; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_standard_ranging_long_range( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + ptiming->range_config__vcsel_period_a = 0x0F; + ptiming->range_config__vcsel_period_b = 0x0D; + ptiming->range_config__sigma_thresh = + ptuning_parms->tp_lite_long_sigma_thresh_mm; + ptiming->range_config__min_count_rate_rtn_limit_mcps = + ptuning_parms->tp_lite_long_min_count_rate_rtn_mcps; + ptiming->range_config__valid_phase_low = 0x08; + ptiming->range_config__valid_phase_high = 0xB8; + + + + pdynamic->sd_config__woi_sd0 = 0x0F; + pdynamic->sd_config__woi_sd1 = 0x0D; + pdynamic->sd_config__initial_phase_sd0 = + ptuning_parms->tp_init_phase_rtn_lite_long; + pdynamic->sd_config__initial_phase_sd1 = + ptuning_parms->tp_init_phase_ref_lite_long; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_standard_ranging_mm1_cal( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + pgeneral->dss_config__roi_mode_control = + VL53L1_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS; + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_MM1_EN; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_standard_ranging_mm2_cal( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + pgeneral->dss_config__roi_mode_control = + VL53L1_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS; + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_MM2_EN; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_timed_ranging( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + + pdynamic->system__grouped_parameter_hold = 0x00; + + + ptiming->range_config__timeout_macrop_a_hi = 0x00; + ptiming->range_config__timeout_macrop_a_lo = 0xB1; + + ptiming->range_config__timeout_macrop_b_hi = 0x00; + ptiming->range_config__timeout_macrop_b_lo = 0xD4; + + + + ptiming->system__intermeasurement_period = 0x00000600; + pdynamic->system__seed_config = + ptuning_parms->tp_timed_seed_cfg; + + + + + psystem->system__mode_start = + VL53L1_DEVICESCHEDULERMODE_PSEUDO_SOLO | + VL53L1_DEVICEREADOUTMODE_SINGLE_SD | + VL53L1_DEVICEMEASUREMENTMODE_TIMED; + } + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_preset_mode_timed_ranging_short_range( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = VL53L1_preset_mode_standard_ranging_short_range( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + + pdynamic->system__grouped_parameter_hold = 0x00; + + + + + + ptiming->range_config__timeout_macrop_a_hi = 0x01; + ptiming->range_config__timeout_macrop_a_lo = 0x84; + + ptiming->range_config__timeout_macrop_b_hi = 0x01; + ptiming->range_config__timeout_macrop_b_lo = 0xB1; + + ptiming->system__intermeasurement_period = 0x00000600; + pdynamic->system__seed_config = + ptuning_parms->tp_timed_seed_cfg; + + + + + psystem->system__mode_start = + VL53L1_DEVICESCHEDULERMODE_PSEUDO_SOLO | + VL53L1_DEVICEREADOUTMODE_SINGLE_SD | + VL53L1_DEVICEMEASUREMENTMODE_TIMED; + } + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_preset_mode_timed_ranging_long_range( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = VL53L1_preset_mode_standard_ranging_long_range( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + + pdynamic->system__grouped_parameter_hold = 0x00; + + + + + + ptiming->range_config__timeout_macrop_a_hi = 0x00; + ptiming->range_config__timeout_macrop_a_lo = 0x97; + + ptiming->range_config__timeout_macrop_b_hi = 0x00; + ptiming->range_config__timeout_macrop_b_lo = 0xB1; + + ptiming->system__intermeasurement_period = 0x00000600; + pdynamic->system__seed_config = + ptuning_parms->tp_timed_seed_cfg; + + + + + psystem->system__mode_start = + VL53L1_DEVICESCHEDULERMODE_PSEUDO_SOLO | + VL53L1_DEVICEREADOUTMODE_SINGLE_SD | + VL53L1_DEVICEMEASUREMENTMODE_TIMED; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_low_power_auto_ranging( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg, + VL53L1_low_power_auto_data_t *plpadata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = VL53L1_preset_mode_timed_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_config_low_power_auto_mode( + pgeneral, + pdynamic, + plpadata + ); + } + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_preset_mode_low_power_auto_short_ranging( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg, + VL53L1_low_power_auto_data_t *plpadata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = VL53L1_preset_mode_timed_ranging_short_range( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_config_low_power_auto_mode( + pgeneral, + pdynamic, + plpadata + ); + } + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_preset_mode_low_power_auto_long_ranging( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg, + VL53L1_low_power_auto_data_t *plpadata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = VL53L1_preset_mode_timed_ranging_long_range( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_config_low_power_auto_mode( + pgeneral, + pdynamic, + plpadata + ); + } + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_preset_mode_singleshot_ranging( + + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + + pdynamic->system__grouped_parameter_hold = 0x00; + + + + + ptiming->range_config__timeout_macrop_a_hi = 0x00; + ptiming->range_config__timeout_macrop_a_lo = 0xB1; + + ptiming->range_config__timeout_macrop_b_hi = 0x00; + ptiming->range_config__timeout_macrop_b_lo = 0xD4; + + pdynamic->system__seed_config = + ptuning_parms->tp_timed_seed_cfg; + + + + + psystem->system__mode_start = + VL53L1_DEVICESCHEDULERMODE_PSEUDO_SOLO | + VL53L1_DEVICEREADOUTMODE_SINGLE_SD | + VL53L1_DEVICEMEASUREMENTMODE_SINGLESHOT; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + pstatic->dss_config__target_total_rate_mcps = 0x1400; + + + + VL53L1_init_histogram_config_structure( + 7, 0, 1, 2, 3, 4, + 0, 1, 2, 3, 4, 5, + phistogram); + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 2, 3, 4, + 0, 1, 2, 3, 4, 5, + &(pzone_cfg->multizone_hist_cfg)); + + + + + ptiming->range_config__vcsel_period_a = 0x09; + ptiming->range_config__vcsel_period_b = 0x0B; + pdynamic->sd_config__woi_sd0 = 0x09; + pdynamic->sd_config__woi_sd1 = 0x0B; + + + + + ptiming->mm_config__timeout_macrop_a_hi = 0x00; + ptiming->mm_config__timeout_macrop_a_lo = 0x20; + ptiming->mm_config__timeout_macrop_b_hi = 0x00; + ptiming->mm_config__timeout_macrop_b_lo = 0x1A; + + + ptiming->range_config__timeout_macrop_a_hi = 0x00; + ptiming->range_config__timeout_macrop_a_lo = 0x28; + + + ptiming->range_config__timeout_macrop_b_hi = 0x00; + ptiming->range_config__timeout_macrop_b_lo = 0x21; + + + pgeneral->phasecal_config__timeout_macrop = 0xF5; + + + + phistpostprocess->valid_phase_low = 0x08; + phistpostprocess->valid_phase_high = 0x88; + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + + + VL53L1_SEQUENCE_RANGE_EN; + + + + + psystem->system__mode_start = + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM | + VL53L1_DEVICEREADOUTMODE_DUAL_SD | + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_with_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + VL53L1_init_histogram_config_structure( + 7, 0, 1, 2, 3, 4, + 8+0, 8+1, 8+2, 3, 4, 5, + phistogram); + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 2, 3, 4, + 8+0, 8+1, 8+2, 3, 4, 5, + &(pzone_cfg->multizone_hist_cfg)); + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_MM1_EN | + VL53L1_SEQUENCE_RANGE_EN; + + + + psystem->system__mode_start = + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM | + VL53L1_DEVICEREADOUTMODE_DUAL_SD | + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_with_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_ranging_with_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_MM2_EN | + VL53L1_SEQUENCE_RANGE_EN; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_mm1_cal( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + VL53L1_init_histogram_config_structure( + 7, 8+0, 8+1, 8+2, 8+3, 8+4, + 8+0, 8+1, 8+2, 8+3, 8+4, 8+5, + phistogram); + + + VL53L1_init_histogram_multizone_config_structure( + 7, 8+0, 8+1, 8+2, 8+3, 8+4, + 8+0, 8+1, 8+2, 8+3, 8+4, 8+5, + &(pzone_cfg->multizone_hist_cfg)); + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + pgeneral->dss_config__roi_mode_control = + VL53L1_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS; + + + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_MM1_EN | + VL53L1_SEQUENCE_RANGE_EN; + + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_mm2_cal( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_ranging_mm1_cal( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + if (status == VL53L1_ERROR_NONE) { + + + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_MM2_EN | + VL53L1_SEQUENCE_RANGE_EN; + + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_short_timing( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + pstatic->dss_config__target_total_rate_mcps = 0x1400; + + + + VL53L1_init_histogram_config_structure( + 7, 0, 1, 2, 3, 4, + 7, 0, 1, 2, 3, 4, + phistogram); + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 2, 3, 4, + 7, 0, 1, 2, 3, 4, + &(pzone_cfg->multizone_hist_cfg)); + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + ptiming->range_config__vcsel_period_a = 0x04; + ptiming->range_config__vcsel_period_b = 0x03; + ptiming->mm_config__timeout_macrop_a_hi = 0x00; + ptiming->mm_config__timeout_macrop_a_lo = 0x42; + ptiming->mm_config__timeout_macrop_b_hi = 0x00; + ptiming->mm_config__timeout_macrop_b_lo = 0x42; + ptiming->range_config__timeout_macrop_a_hi = 0x00; + ptiming->range_config__timeout_macrop_a_lo = 0x52; + ptiming->range_config__timeout_macrop_b_hi = 0x00; + ptiming->range_config__timeout_macrop_b_lo = 0x66; + + pgeneral->cal_config__vcsel_start = 0x04; + + + + pgeneral->phasecal_config__timeout_macrop = 0xa4; + + + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + + + VL53L1_SEQUENCE_RANGE_EN; + + + + + psystem->system__mode_start = + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM | + VL53L1_DEVICEREADOUTMODE_DUAL_SD | + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_long_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + VL53L1_init_histogram_config_structure( + 7, 0, 1, 2, 3, 4, + 0, 1, 2, 3, 4, 5, + phistogram); + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 2, 3, 4, + 0, 1, 2, 3, 4, 5, + &(pzone_cfg->multizone_hist_cfg)); + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + ptiming->range_config__vcsel_period_a = 0x09; + ptiming->range_config__vcsel_period_b = 0x0b; + + + + ptiming->mm_config__timeout_macrop_a_hi = 0x00; + ptiming->mm_config__timeout_macrop_a_lo = 0x21; + ptiming->mm_config__timeout_macrop_b_hi = 0x00; + ptiming->mm_config__timeout_macrop_b_lo = 0x1b; + + + + ptiming->range_config__timeout_macrop_a_hi = 0x00; + ptiming->range_config__timeout_macrop_a_lo = 0x29; + ptiming->range_config__timeout_macrop_b_hi = 0x00; + ptiming->range_config__timeout_macrop_b_lo = 0x22; + + + + pgeneral->cal_config__vcsel_start = 0x09; + + + + pgeneral->phasecal_config__timeout_macrop = 0xF5; + + + + pdynamic->sd_config__woi_sd0 = 0x09; + pdynamic->sd_config__woi_sd1 = 0x0B; + pdynamic->sd_config__initial_phase_sd0 = + ptuning_parms->tp_init_phase_rtn_hist_long; + pdynamic->sd_config__initial_phase_sd1 = + ptuning_parms->tp_init_phase_ref_hist_long; + + + + phistpostprocess->valid_phase_low = 0x08; + phistpostprocess->valid_phase_high = 0x88; + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_RANGE_EN; + + + + + psystem->system__mode_start = + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM | + VL53L1_DEVICEREADOUTMODE_DUAL_SD | + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_long_range_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_long_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + VL53L1_init_histogram_config_structure( + 7, 0, 1, 2, 3, 4, + 8+0, 8+1, 8+2, 3, 4, 5, + phistogram); + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 2, 3, 4, + 8+0, 8+1, 8+2, 3, 4, 5, + &(pzone_cfg->multizone_hist_cfg)); + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_MM1_EN | + VL53L1_SEQUENCE_RANGE_EN; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_long_range_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_long_range_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_MM2_EN | + VL53L1_SEQUENCE_RANGE_EN; + } + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_preset_mode_histogram_medium_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + VL53L1_init_histogram_config_structure( + 7, 0, 1, 1, 2, 2, + 0, 1, 2, 1, 2, 3, + phistogram); + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 1, 2, 2, + 0, 1, 2, 1, 2, 3, + &(pzone_cfg->multizone_hist_cfg)); + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + ptiming->range_config__vcsel_period_a = 0x05; + ptiming->range_config__vcsel_period_b = 0x07; + + + + ptiming->mm_config__timeout_macrop_a_hi = 0x00; + ptiming->mm_config__timeout_macrop_a_lo = 0x36; + ptiming->mm_config__timeout_macrop_b_hi = 0x00; + ptiming->mm_config__timeout_macrop_b_lo = 0x28; + + + + ptiming->range_config__timeout_macrop_a_hi = 0x00; + ptiming->range_config__timeout_macrop_a_lo = 0x44; + ptiming->range_config__timeout_macrop_b_hi = 0x00; + ptiming->range_config__timeout_macrop_b_lo = 0x33; + + + + pgeneral->cal_config__vcsel_start = 0x05; + + + + pgeneral->phasecal_config__timeout_macrop = 0xF5; + + + + pdynamic->sd_config__woi_sd0 = 0x05; + pdynamic->sd_config__woi_sd1 = 0x07; + pdynamic->sd_config__initial_phase_sd0 = + ptuning_parms->tp_init_phase_rtn_hist_med; + pdynamic->sd_config__initial_phase_sd1 = + ptuning_parms->tp_init_phase_ref_hist_med; + + + + phistpostprocess->valid_phase_low = 0x08; + phistpostprocess->valid_phase_high = 0x48; + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_RANGE_EN; + + + + + psystem->system__mode_start = + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM | + VL53L1_DEVICEREADOUTMODE_DUAL_SD | + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_medium_range_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_medium_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + VL53L1_init_histogram_config_structure( + 7, 0, 1, 1, 2, 2, + 8+0, 8+1, 8+2, 1, 2, 3, + phistogram); + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 1, 2, 2, + 8+0, 8+1, 8+2, 1, 2, 3, + &(pzone_cfg->multizone_hist_cfg)); + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_MM1_EN | + VL53L1_SEQUENCE_RANGE_EN; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_medium_range_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_medium_range_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_MM2_EN | + VL53L1_SEQUENCE_RANGE_EN; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_short_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + VL53L1_init_histogram_config_structure( + 7, 7, 0, 1, 1, 1, + 0, 1, 1, 1, 2, 2, + phistogram); + + + VL53L1_init_histogram_multizone_config_structure( + 7, 7, 0, 1, 1, 1, + 0, 1, 1, 1, 2, 2, + &(pzone_cfg->multizone_hist_cfg)); + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + ptiming->range_config__vcsel_period_a = 0x03; + ptiming->range_config__vcsel_period_b = 0x05; + + + + ptiming->mm_config__timeout_macrop_a_hi = 0x00; + ptiming->mm_config__timeout_macrop_a_lo = 0x52; + ptiming->mm_config__timeout_macrop_b_hi = 0x00; + ptiming->mm_config__timeout_macrop_b_lo = 0x37; + + + + ptiming->range_config__timeout_macrop_a_hi = 0x00; + ptiming->range_config__timeout_macrop_a_lo = 0x66; + ptiming->range_config__timeout_macrop_b_hi = 0x00; + ptiming->range_config__timeout_macrop_b_lo = 0x44; + + + + pgeneral->cal_config__vcsel_start = 0x03; + + + + pgeneral->phasecal_config__timeout_macrop = 0xF5; + + + + pdynamic->sd_config__woi_sd0 = 0x03; + pdynamic->sd_config__woi_sd1 = 0x05; + pdynamic->sd_config__initial_phase_sd0 = + ptuning_parms->tp_init_phase_rtn_hist_short; + pdynamic->sd_config__initial_phase_sd1 = + ptuning_parms->tp_init_phase_ref_hist_short; + + + phistpostprocess->valid_phase_low = 0x08; + phistpostprocess->valid_phase_high = 0x28; + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_MM1_EN | + + VL53L1_SEQUENCE_RANGE_EN; + + + + + psystem->system__mode_start = + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM | + VL53L1_DEVICEREADOUTMODE_DUAL_SD | + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + } + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_preset_mode_special_histogram_short_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_short_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + VL53L1_init_histogram_config_structure( + 7, 7, 0, 0, 1, 1, + 0, 0, 0, 1, 1, 1, + phistogram); + + + VL53L1_init_histogram_multizone_config_structure( + 7, 7, 0, 0, 1, 1, + 0, 0, 0, 1, 1, 1, + &(pzone_cfg->multizone_hist_cfg)); + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + ptiming->range_config__vcsel_period_a = 0x02; + ptiming->range_config__vcsel_period_b = 0x03; + + + + pgeneral->cal_config__vcsel_start = 0x00; + + + + pgeneral->phasecal_config__target = 0x31; + + + + pdynamic->sd_config__woi_sd0 = 0x02; + pdynamic->sd_config__woi_sd1 = 0x03; + pdynamic->sd_config__initial_phase_sd0 = + ptuning_parms->tp_init_phase_rtn_hist_short; + pdynamic->sd_config__initial_phase_sd1 = + ptuning_parms->tp_init_phase_ref_hist_short; + + + + phistpostprocess->valid_phase_low = 0x10; + phistpostprocess->valid_phase_high = 0x18; + + } + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_preset_mode_histogram_short_range_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_short_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + VL53L1_init_histogram_config_structure( + 7, 7, 0, 1, 1, 1, + 8+0, 8+1, 1, 1, 2, 2, + phistogram); + + + VL53L1_init_histogram_multizone_config_structure( + 7, 7, 0, 1, 1, 1, + 8+0, 8+1, 1, 1, 2, 2, + &(pzone_cfg->multizone_hist_cfg)); + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_MM1_EN | + VL53L1_SEQUENCE_RANGE_EN; + + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_short_range_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_short_range_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_MM2_EN | + VL53L1_SEQUENCE_RANGE_EN; + } + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_preset_mode_histogram_characterisation( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + pstatic->debug__ctrl = 0x01; + psystem->power_management__go1_power_force = 0x01; + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_RANGE_EN; + + psystem->system__mode_start = + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM | + VL53L1_DEVICEREADOUTMODE_SPLIT_MANUAL | + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_xtalk_planar( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_multizone_long_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + status = + VL53L1_zone_preset_xtalk_planar( + pgeneral, + pzone_cfg); + + + + ptiming->range_config__vcsel_period_a = 0x09; + ptiming->range_config__vcsel_period_b = 0x09; + + + + VL53L1_init_histogram_config_structure( + 7, 0, 1, 2, 3, 4, + 7, 0, 1, 2, 3, 4, + phistogram); + + + + VL53L1_init_histogram_multizone_config_structure( + 7, 0, 1, 2, 3, 4, + 7, 0, 1, 2, 3, 4, + &(pzone_cfg->multizone_hist_cfg)); + + + + + if (status == VL53L1_ERROR_NONE) { + status = + VL53L1_set_histogram_multizone_initial_bin_config( + pzone_cfg, + phistogram, + &(pzone_cfg->multizone_hist_cfg)); + } + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + } + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_preset_mode_histogram_xtalk_mm1( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + + if (status == VL53L1_ERROR_NONE) { + + + + + + VL53L1_init_histogram_config_structure( + 8+7, 8+0, 8+1, 8+2, 8+3, 8+4, + 8+7, 8+0, 8+1, 8+2, 8+3, 8+4, + phistogram); + + + VL53L1_init_histogram_multizone_config_structure( + 8+7, 8+0, 8+1, 8+2, 8+3, 8+4, + 8+7, 8+0, 8+1, 8+2, 8+3, 8+4, + &(pzone_cfg->multizone_hist_cfg)); + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + + + + ptiming->range_config__vcsel_period_a = 0x09; + ptiming->range_config__vcsel_period_b = 0x09; + + + + ptiming->mm_config__timeout_macrop_a_hi = 0x00; + ptiming->mm_config__timeout_macrop_a_lo = 0x21; + ptiming->mm_config__timeout_macrop_b_hi = 0x00; + ptiming->mm_config__timeout_macrop_b_lo = 0x21; + + + + ptiming->range_config__timeout_macrop_a_hi = 0x00; + ptiming->range_config__timeout_macrop_a_lo = 0x29; + ptiming->range_config__timeout_macrop_b_hi = 0x00; + ptiming->range_config__timeout_macrop_b_lo = 0x29; + + + + pgeneral->cal_config__vcsel_start = 0x09; + + + + pgeneral->phasecal_config__timeout_macrop = 0xF5; + + + + pdynamic->sd_config__woi_sd0 = 0x09; + pdynamic->sd_config__woi_sd1 = 0x09; + pdynamic->sd_config__initial_phase_sd0 = 0x09; + pdynamic->sd_config__initial_phase_sd1 = 0x06; + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_MM1_EN | + VL53L1_SEQUENCE_RANGE_EN; + + + + + psystem->system__mode_start = + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM | + VL53L1_DEVICEREADOUTMODE_DUAL_SD | + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_xtalk_mm2( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_xtalk_mm1( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + VL53L1_SEQUENCE_DSS2_EN | + VL53L1_SEQUENCE_MM2_EN | + VL53L1_SEQUENCE_RANGE_EN; + + + + LOG_FUNCTION_END(status); + + return status; +} + + + + +VL53L1_Error VL53L1_preset_mode_histogram_multizone( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_medium_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + status = + VL53L1_init_zone_config_structure( + 4, 8, 2, + 4, 8, 2, + 7, 7, + pzone_cfg); + + pgeneral->global_config__stream_divider = + pzone_cfg->active_zones + 1; + + + + if (status == VL53L1_ERROR_NONE) { + status = + VL53L1_set_histogram_multizone_initial_bin_config( + pzone_cfg, + phistogram, + &(pzone_cfg->multizone_hist_cfg)); + } + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + } + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_preset_mode_histogram_multizone_short_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_short_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + status = + VL53L1_init_zone_config_structure( + 4, 8, 2, + 4, 8, 2, + 7, 7, + pzone_cfg); + + pgeneral->global_config__stream_divider = + pzone_cfg->active_zones + 1; + + + + if (status == VL53L1_ERROR_NONE) { + status = + VL53L1_set_histogram_multizone_initial_bin_config( + pzone_cfg, + phistogram, + &(pzone_cfg->multizone_hist_cfg) + ); + } + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_preset_mode_histogram_multizone_long_range( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_long_range( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + status = + VL53L1_init_zone_config_structure( + 4, 8, 2, + 4, 8, 2, + 7, 7, + pzone_cfg); + + pgeneral->global_config__stream_divider = + pzone_cfg->active_zones + 1; + + + + if (status == VL53L1_ERROR_NONE) { + status = + VL53L1_set_histogram_multizone_initial_bin_config( + pzone_cfg, + phistogram, + &(pzone_cfg->multizone_hist_cfg)); + } + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + } + + LOG_FUNCTION_END(status); + + return status; +} + + + + +VL53L1_Error VL53L1_preset_mode_olt( + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = VL53L1_preset_mode_standard_ranging( + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) + + psystem->system__stream_count_ctrl = 0x01; + + LOG_FUNCTION_END(status); + + return status; +} + + +void VL53L1_copy_hist_cfg_to_static_cfg( + VL53L1_histogram_config_t *phistogram, + VL53L1_static_config_t *pstatic, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic) +{ + + + LOG_FUNCTION_START(""); + + SUPPRESS_UNUSED_WARNING(pgeneral); + + pstatic->sigma_estimator__effective_pulse_width_ns = + phistogram->histogram_config__high_amb_even_bin_0_1; + pstatic->sigma_estimator__effective_ambient_width_ns = + phistogram->histogram_config__high_amb_even_bin_2_3; + pstatic->sigma_estimator__sigma_ref_mm = + phistogram->histogram_config__high_amb_even_bin_4_5; + + pstatic->algo__crosstalk_compensation_valid_height_mm = + phistogram->histogram_config__high_amb_odd_bin_0_1; + + pstatic->spare_host_config__static_config_spare_0 = + phistogram->histogram_config__high_amb_odd_bin_2_3; + pstatic->spare_host_config__static_config_spare_1 = + phistogram->histogram_config__high_amb_odd_bin_4_5; + + pstatic->algo__range_ignore_threshold_mcps = + (((uint16_t)phistogram->histogram_config__mid_amb_even_bin_0_1) + << 8) + + (uint16_t)phistogram->histogram_config__mid_amb_even_bin_2_3; + + pstatic->algo__range_ignore_valid_height_mm = + phistogram->histogram_config__mid_amb_even_bin_4_5; + pstatic->algo__range_min_clip = + phistogram->histogram_config__mid_amb_odd_bin_0_1; + pstatic->algo__consistency_check__tolerance = + phistogram->histogram_config__mid_amb_odd_bin_2; + + pstatic->spare_host_config__static_config_spare_2 = + phistogram->histogram_config__mid_amb_odd_bin_3_4; + pstatic->sd_config__reset_stages_msb = + phistogram->histogram_config__mid_amb_odd_bin_5; + + pstatic->sd_config__reset_stages_lsb = + phistogram->histogram_config__user_bin_offset; + + ptiming->range_config__sigma_thresh = + (((uint16_t)phistogram->histogram_config__low_amb_even_bin_0_1) + << 8) + + (uint16_t)phistogram->histogram_config__low_amb_even_bin_2_3; + + ptiming->range_config__min_count_rate_rtn_limit_mcps = + (((uint16_t)phistogram->histogram_config__low_amb_even_bin_4_5) + << 8) + + (uint16_t)phistogram->histogram_config__low_amb_odd_bin_0_1; + + ptiming->range_config__valid_phase_low = + phistogram->histogram_config__low_amb_odd_bin_2_3; + ptiming->range_config__valid_phase_high = + phistogram->histogram_config__low_amb_odd_bin_4_5; + + pdynamic->system__thresh_high = + phistogram->histogram_config__amb_thresh_low; + + pdynamic->system__thresh_low = + phistogram->histogram_config__amb_thresh_high; + + pdynamic->system__enable_xtalk_per_quadrant = + phistogram->histogram_config__spad_array_selection; + + LOG_FUNCTION_END(0); + +} + +void VL53L1_copy_hist_bins_to_static_cfg( + VL53L1_histogram_config_t *phistogram, + VL53L1_static_config_t *pstatic, + VL53L1_timing_config_t *ptiming) +{ + + + LOG_FUNCTION_START(""); + + pstatic->sigma_estimator__effective_pulse_width_ns = + phistogram->histogram_config__high_amb_even_bin_0_1; + pstatic->sigma_estimator__effective_ambient_width_ns = + phistogram->histogram_config__high_amb_even_bin_2_3; + pstatic->sigma_estimator__sigma_ref_mm = + phistogram->histogram_config__high_amb_even_bin_4_5; + + pstatic->algo__crosstalk_compensation_valid_height_mm = + phistogram->histogram_config__high_amb_odd_bin_0_1; + + pstatic->spare_host_config__static_config_spare_0 = + phistogram->histogram_config__high_amb_odd_bin_2_3; + pstatic->spare_host_config__static_config_spare_1 = + phistogram->histogram_config__high_amb_odd_bin_4_5; + + pstatic->algo__range_ignore_threshold_mcps = + (((uint16_t)phistogram->histogram_config__mid_amb_even_bin_0_1) + << 8) + + (uint16_t)phistogram->histogram_config__mid_amb_even_bin_2_3; + + pstatic->algo__range_ignore_valid_height_mm = + phistogram->histogram_config__mid_amb_even_bin_4_5; + pstatic->algo__range_min_clip = + phistogram->histogram_config__mid_amb_odd_bin_0_1; + pstatic->algo__consistency_check__tolerance = + phistogram->histogram_config__mid_amb_odd_bin_2; + + pstatic->spare_host_config__static_config_spare_2 = + phistogram->histogram_config__mid_amb_odd_bin_3_4; + pstatic->sd_config__reset_stages_msb = + phistogram->histogram_config__mid_amb_odd_bin_5; + + ptiming->range_config__sigma_thresh = + (((uint16_t)phistogram->histogram_config__low_amb_even_bin_0_1) + << 8) + + (uint16_t)phistogram->histogram_config__low_amb_even_bin_2_3; + + ptiming->range_config__min_count_rate_rtn_limit_mcps = + (((uint16_t)phistogram->histogram_config__low_amb_even_bin_4_5) + << 8) + + (uint16_t)phistogram->histogram_config__low_amb_odd_bin_0_1; + + ptiming->range_config__valid_phase_low = + phistogram->histogram_config__low_amb_odd_bin_2_3; + ptiming->range_config__valid_phase_high = + phistogram->histogram_config__low_amb_odd_bin_4_5; + + LOG_FUNCTION_END(0); + +} + + +VL53L1_Error VL53L1_preset_mode_histogram_ranging_ref( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_static_config_t *pstatic, + VL53L1_histogram_config_t *phistogram, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_system_control_t *psystem, + VL53L1_tuning_parm_storage_t *ptuning_parms, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_preset_mode_histogram_ranging( + phistpostprocess, + pstatic, + phistogram, + pgeneral, + ptiming, + pdynamic, + psystem, + ptuning_parms, + pzone_cfg); + + + + if (status == VL53L1_ERROR_NONE) { + + + + phistogram->histogram_config__spad_array_selection = 0x01; + + + + VL53L1_copy_hist_cfg_to_static_cfg( + phistogram, + pstatic, + pgeneral, + ptiming, + pdynamic); + } + + LOG_FUNCTION_END(status); + + return status; +} + + + + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_api_strings.c b/drivers/input/misc/vl53L1/src/vl53l1_api_strings.c new file mode 100644 index 000000000000..1e3b3be12368 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_api_strings.c @@ -0,0 +1,221 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + + +#include "vl53l1_api_core.h" +#include "vl53l1_api_strings.h" +#include "vl53l1_error_codes.h" +#include "vl53l1_error_strings.h" + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_API, status, fmt, \ + ##__VA_ARGS__) + + +VL53L1_Error VL53L1_get_range_status_string( + uint8_t RangeStatus, + char *pRangeStatusString) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + +#ifdef VL53L1_USE_EMPTY_STRING + SUPPRESS_UNUSED_WARNING(RangeStatus); + VL53L1_COPYSTRING(pRangeStatusString, ""); +#else + switch (RangeStatus) { + case 0: + VL53L1_COPYSTRING(pRangeStatusString, + VL53L1_STRING_RANGESTATUS_RANGEVALID); + break; + case 1: + VL53L1_COPYSTRING(pRangeStatusString, + VL53L1_STRING_RANGESTATUS_SIGMA); + break; + case 2: + VL53L1_COPYSTRING(pRangeStatusString, + VL53L1_STRING_RANGESTATUS_SIGNAL); + break; + case 3: + VL53L1_COPYSTRING(pRangeStatusString, + VL53L1_STRING_RANGESTATUS_MINRANGE); + break; + case 4: + VL53L1_COPYSTRING(pRangeStatusString, + VL53L1_STRING_RANGESTATUS_PHASE); + break; + case 5: + VL53L1_COPYSTRING(pRangeStatusString, + VL53L1_STRING_RANGESTATUS_HW); + break; + + default: + VL53L1_COPYSTRING(pRangeStatusString, + VL53L1_STRING_RANGESTATUS_NONE); + } +#endif + + LOG_FUNCTION_END(status); + return status; +} + + +VL53L1_Error VL53L1_get_pal_state_string( + VL53L1_State PalStateCode, + char *pPalStateString) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + +#ifdef VL53L1_USE_EMPTY_STRING + SUPPRESS_UNUSED_WARNING(PalStateCode); + VL53L1_COPYSTRING(pPalStateString, ""); +#else + switch (PalStateCode) { + case VL53L1_STATE_POWERDOWN: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_POWERDOWN); + break; + case VL53L1_STATE_WAIT_STATICINIT: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_WAIT_STATICINIT); + break; + case VL53L1_STATE_STANDBY: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_STANDBY); + break; + case VL53L1_STATE_IDLE: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_IDLE); + break; + case VL53L1_STATE_RUNNING: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_RUNNING); + break; + case VL53L1_STATE_RESET: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_RESET); + break; + case VL53L1_STATE_UNKNOWN: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_UNKNOWN); + break; + case VL53L1_STATE_ERROR: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_ERROR); + break; + + default: + VL53L1_COPYSTRING(pPalStateString, + VL53L1_STRING_STATE_UNKNOWN); + } +#endif + + LOG_FUNCTION_END(status); + return status; +} + +VL53L1_Error VL53L1_get_sequence_steps_info( + VL53L1_SequenceStepId SequenceStepId, + char *pSequenceStepsString) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + +#ifdef VL53L1_USE_EMPTY_STRING + SUPPRESS_UNUSED_WARNING(SequenceStepId); + VL53L1_COPYSTRING(pSequenceStepsString, ""); +#else + switch (SequenceStepId) { + case VL53L1_SEQUENCESTEP_VHV: + VL53L1_COPYSTRING(pSequenceStepsString, + VL53L1_STRING_SEQUENCESTEP_VHV); + break; + case VL53L1_SEQUENCESTEP_PHASECAL: + VL53L1_COPYSTRING(pSequenceStepsString, + VL53L1_STRING_SEQUENCESTEP_PHASECAL); + break; + case VL53L1_SEQUENCESTEP_REFPHASE: + VL53L1_COPYSTRING(pSequenceStepsString, + VL53L1_STRING_SEQUENCESTEP_DSS1); + break; + case VL53L1_SEQUENCESTEP_DSS1: + VL53L1_COPYSTRING(pSequenceStepsString, + VL53L1_STRING_SEQUENCESTEP_DSS1); + break; + case VL53L1_SEQUENCESTEP_DSS2: + VL53L1_COPYSTRING(pSequenceStepsString, + VL53L1_STRING_SEQUENCESTEP_DSS2); + break; + case VL53L1_SEQUENCESTEP_MM1: + VL53L1_COPYSTRING(pSequenceStepsString, + VL53L1_STRING_SEQUENCESTEP_MM1); + break; + case VL53L1_SEQUENCESTEP_MM2: + VL53L1_COPYSTRING(pSequenceStepsString, + VL53L1_STRING_SEQUENCESTEP_MM2); + break; + case VL53L1_SEQUENCESTEP_RANGE: + VL53L1_COPYSTRING(pSequenceStepsString, + VL53L1_STRING_SEQUENCESTEP_RANGE); + break; + default: + Status = VL53L1_ERROR_INVALID_PARAMS; + } +#endif + + LOG_FUNCTION_END(Status); + + return Status; +} + +VL53L1_Error VL53L1_get_limit_check_info(uint16_t LimitCheckId, + char *pLimitCheckString) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + +#ifdef VL53L1_USE_EMPTY_STRING + SUPPRESS_UNUSED_WARNING(LimitCheckId); + VL53L1_COPYSTRING(pLimitCheckString, ""); +#else + switch (LimitCheckId) { + case VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE: + VL53L1_COPYSTRING(pLimitCheckString, + VL53L1_STRING_CHECKENABLE_SIGMA_FINAL_RANGE); + break; + case VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE: + VL53L1_COPYSTRING(pLimitCheckString, + VL53L1_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE); + break; + default: + VL53L1_COPYSTRING(pLimitCheckString, + VL53L1_STRING_UNKNOW_ERROR_CODE); + } +#endif + + LOG_FUNCTION_END(Status); + return Status; +} + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_core.c b/drivers/input/misc/vl53L1/src/vl53l1_core.c new file mode 100644 index 000000000000..7dea0d6ae7c9 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_core.c @@ -0,0 +1,4822 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_ll_device.h" +#include "vl53l1_platform.h" +#include "vl53l1_register_map.h" +#include "vl53l1_register_funcs.h" +#include "vl53l1_register_settings.h" +#include "vl53l1_hist_structs.h" +#include "vl53l1_api_preset_modes.h" +#include "vl53l1_core.h" +#include "vl53l1_tuning_parm_defaults.h" + + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, \ + status, fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_CORE, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +void VL53L1_init_version( + VL53L1_DEV Dev) +{ + + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + pdev->version.ll_major = VL53L1_LL_API_IMPLEMENTATION_VER_MAJOR; + pdev->version.ll_minor = VL53L1_LL_API_IMPLEMENTATION_VER_MINOR; + pdev->version.ll_build = VL53L1_LL_API_IMPLEMENTATION_VER_SUB; + pdev->version.ll_revision = VL53L1_LL_API_IMPLEMENTATION_VER_REVISION; +} + + +void VL53L1_init_ll_driver_state( + VL53L1_DEV Dev, + VL53L1_DeviceState device_state) +{ + + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_ll_driver_state_t *pstate = &(pdev->ll_state); + + pstate->cfg_device_state = device_state; + pstate->cfg_stream_count = 0; + pstate->cfg_gph_id = VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + pstate->cfg_timing_status = 0; + pstate->cfg_zone_id = 0; + + pstate->rd_device_state = device_state; + pstate->rd_stream_count = 0; + pstate->rd_gph_id = VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + pstate->rd_timing_status = 0; + pstate->rd_zone_id = 0; + +} + + +VL53L1_Error VL53L1_update_ll_driver_rd_state( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_ll_driver_state_t *pstate = &(pdev->ll_state); + + + + LOG_FUNCTION_START(""); + + + + if ((pdev->sys_ctrl.system__mode_start & + VL53L1_DEVICEMEASUREMENTMODE_MODE_MASK) == 0x00) { + + pstate->rd_device_state = VL53L1_DEVICESTATE_SW_STANDBY; + pstate->rd_stream_count = 0; + pstate->rd_internal_stream_count = 0; + pstate->rd_internal_stream_count_val = 0; + pstate->rd_gph_id = VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + pstate->rd_timing_status = 0; + pstate->rd_zone_id = 0; + + } else { + + + + if (pstate->rd_stream_count == 0xFF) + pstate->rd_stream_count = 0x80; + else + pstate->rd_stream_count++; + + + status = VL53L1_update_internal_stream_counters(Dev, + pstate->rd_stream_count, + &(pstate->rd_internal_stream_count), + &(pstate->rd_internal_stream_count_val)); + + + + pstate->rd_gph_id ^= VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + + + + switch (pstate->rd_device_state) { + + case VL53L1_DEVICESTATE_SW_STANDBY: + + if ((pdev->dyn_cfg.system__grouped_parameter_hold & + VL53L1_GROUPEDPARAMETERHOLD_ID_MASK) > 0) { + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_WAIT_GPH_SYNC; + } else { + if (pstate->rd_zone_id >= + pdev->zone_cfg.active_zones) + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA; + else + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_GATHER_DATA; + } + + pstate->rd_stream_count = 0; + pstate->rd_internal_stream_count = 0; + pstate->rd_internal_stream_count_val = 0; + pstate->rd_timing_status = 0; + pstate->rd_zone_id = 0; + + break; + + case VL53L1_DEVICESTATE_RANGING_WAIT_GPH_SYNC: + pstate->rd_stream_count = 0; + pstate->rd_internal_stream_count = 0; + pstate->rd_internal_stream_count_val = 0; + pstate->rd_zone_id = 0; + if (pstate->rd_zone_id >= + pdev->zone_cfg.active_zones) + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA; + else + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_GATHER_DATA; + + break; + + case VL53L1_DEVICESTATE_RANGING_GATHER_DATA: + pstate->rd_zone_id++; + if (pstate->rd_zone_id >= + pdev->zone_cfg.active_zones) + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA; + else + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_GATHER_DATA; + + break; + + case VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA: + pstate->rd_zone_id = 0; + pstate->rd_timing_status ^= 0x01; + + if (pstate->rd_zone_id >= + pdev->zone_cfg.active_zones) + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA; + else + pstate->rd_device_state = + VL53L1_DEVICESTATE_RANGING_GATHER_DATA; + break; + + default: + pstate->rd_device_state = + VL53L1_DEVICESTATE_SW_STANDBY; + pstate->rd_stream_count = 0; + pstate->rd_internal_stream_count = 0; + pstate->rd_internal_stream_count_val = 0; + pstate->rd_gph_id = VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + pstate->rd_timing_status = 0; + pstate->rd_zone_id = 0; + break; + } + } + + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_check_ll_driver_rd_state( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + VL53L1_ll_driver_state_t *pstate = &(pdev->ll_state); + VL53L1_system_results_t *psys_results = &(pdev->sys_results); + VL53L1_histogram_bin_data_t *phist_data = &(pdev->hist_data); + VL53L1_zone_private_dyn_cfgs_t *pZ = &(pres->zone_dyn_cfgs); + + uint8_t device_range_status = 0; + uint8_t device_stream_count = 0; + uint8_t device_gph_id = 0; + uint8_t histogram_mode = 0; + uint8_t expected_stream_count = 0; + uint8_t expected_gph_id = 0; + + LOG_FUNCTION_START(""); + + + + device_range_status = + psys_results->result__range_status & + VL53L1_RANGE_STATUS__RANGE_STATUS_MASK; + + device_stream_count = psys_results->result__stream_count; + + + + histogram_mode = + (pdev->sys_ctrl.system__mode_start & + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM) == + VL53L1_DEVICESCHEDULERMODE_HISTOGRAM; + + + device_gph_id = (psys_results->result__interrupt_status & + VL53L1_INTERRUPT_STATUS__GPH_ID_INT_STATUS_MASK) >> 4; + + if (histogram_mode) + device_gph_id = (phist_data->result__interrupt_status & + VL53L1_INTERRUPT_STATUS__GPH_ID_INT_STATUS_MASK) >> 4; + + + + if (!((pdev->sys_ctrl.system__mode_start & + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK) == + VL53L1_DEVICEMEASUREMENTMODE_BACKTOBACK)) + goto ENDFUNC; + + + + if (pstate->rd_device_state == + VL53L1_DEVICESTATE_RANGING_WAIT_GPH_SYNC) { + + if (histogram_mode == 0) { + if (device_range_status != + VL53L1_DEVICEERROR_GPHSTREAMCOUNT0READY) + status = + VL53L1_ERROR_GPH_SYNC_CHECK_FAIL; + + } + } else { + if (pstate->rd_stream_count != device_stream_count) + status = VL53L1_ERROR_STREAM_COUNT_CHECK_FAIL; + + + if (pstate->rd_gph_id != device_gph_id) + status = VL53L1_ERROR_GPH_ID_CHECK_FAIL; + + + + + expected_stream_count = + pZ->VL53L1_p_002[pstate->rd_zone_id].expected_stream_count; + expected_gph_id = + pZ->VL53L1_p_002[pstate->rd_zone_id].expected_gph_id; + + + + if (expected_stream_count != device_stream_count) { + + + if (!((pdev->zone_cfg.active_zones == 0) && + (device_stream_count == 255))) + status = + VL53L1_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL; + + + } + + + + if (expected_gph_id != device_gph_id) + status = VL53L1_ERROR_ZONE_GPH_ID_CHECK_FAIL; + + } + + + +ENDFUNC: + LOG_FUNCTION_END(status); + return status; +} + + +VL53L1_Error VL53L1_update_ll_driver_cfg_state( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + VL53L1_ll_driver_state_t *pstate = &(pdev->ll_state); + VL53L1_zone_private_dyn_cfgs_t *pZ = &(pres->zone_dyn_cfgs); + + uint8_t prev_cfg_zone_id; + uint8_t prev_cfg_gph_id; + uint8_t prev_cfg_stream_count; + + LOG_FUNCTION_START(""); + + + + + + if ((pdev->sys_ctrl.system__mode_start & + VL53L1_DEVICEMEASUREMENTMODE_MODE_MASK) == 0x00) { + + pstate->cfg_device_state = VL53L1_DEVICESTATE_SW_STANDBY; + pstate->cfg_stream_count = 0; + pstate->cfg_internal_stream_count = 0; + pstate->cfg_internal_stream_count_val = 0; + pstate->cfg_gph_id = VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + pstate->cfg_timing_status = 0; + pstate->cfg_zone_id = 0; + prev_cfg_zone_id = 0; + prev_cfg_gph_id = 0; + prev_cfg_stream_count = 0; + + } else { + + prev_cfg_gph_id = pstate->cfg_gph_id; + prev_cfg_zone_id = pstate->cfg_zone_id; + prev_cfg_stream_count = pstate->cfg_stream_count; + + + + if (pstate->cfg_stream_count == 0xFF) + pstate->cfg_stream_count = 0x80; + else + pstate->cfg_stream_count++; + + + status = VL53L1_update_internal_stream_counters( + Dev, + pstate->cfg_stream_count, + &(pstate->cfg_internal_stream_count), + &(pstate->cfg_internal_stream_count_val)); + + + + pstate->cfg_gph_id ^= VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + + + + switch (pstate->cfg_device_state) { + + case VL53L1_DEVICESTATE_SW_STANDBY: + pstate->cfg_zone_id = 1; + if (pstate->cfg_zone_id > + pdev->zone_cfg.active_zones) { + pstate->cfg_zone_id = 0; + pstate->cfg_timing_status ^= 0x01; + } + pstate->cfg_stream_count = 1; + + if (pdev->gen_cfg.global_config__stream_divider == 0) { + pstate->cfg_internal_stream_count = 1; + pstate->cfg_internal_stream_count_val = 0; + } else { + pstate->cfg_internal_stream_count = 0; + pstate->cfg_internal_stream_count_val = 1; + } + pstate->cfg_device_state = + VL53L1_DEVICESTATE_RANGING_DSS_AUTO; + break; + + case VL53L1_DEVICESTATE_RANGING_DSS_AUTO: + pstate->cfg_zone_id++; + if (pstate->cfg_zone_id > + pdev->zone_cfg.active_zones) { + + pstate->cfg_zone_id = 0; + pstate->cfg_timing_status ^= 0x01; + + + + + if (pdev->zone_cfg.active_zones > 0) { + pstate->cfg_device_state = + VL53L1_DEVICESTATE_RANGING_DSS_MANUAL; + } + } + break; + + case VL53L1_DEVICESTATE_RANGING_DSS_MANUAL: + pstate->cfg_zone_id++; + if (pstate->cfg_zone_id > + pdev->zone_cfg.active_zones) { + pstate->cfg_zone_id = 0; + pstate->cfg_timing_status ^= 0x01; + } + break; + + default: + pstate->cfg_device_state = + VL53L1_DEVICESTATE_SW_STANDBY; + pstate->cfg_stream_count = 0; + pstate->cfg_internal_stream_count = 0; + pstate->cfg_internal_stream_count_val = 0; + pstate->cfg_gph_id = + VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + pstate->cfg_timing_status = 0; + pstate->cfg_zone_id = 0; + break; + } + } + + + if (pdev->zone_cfg.active_zones == 0) { + + pZ->VL53L1_p_002[prev_cfg_zone_id].expected_stream_count + = prev_cfg_stream_count - 1; + + pZ->VL53L1_p_002[pstate->rd_zone_id].expected_gph_id = + prev_cfg_gph_id ^ VL53L1_GROUPEDPARAMETERHOLD_ID_MASK; + } else { + pZ->VL53L1_p_002[prev_cfg_zone_id].expected_stream_count + = prev_cfg_stream_count; + pZ->VL53L1_p_002[prev_cfg_zone_id].expected_gph_id = + prev_cfg_gph_id; + } + + + + LOG_FUNCTION_END(status); + + return status; +} + + +void VL53L1_copy_rtn_good_spads_to_buffer( + VL53L1_nvm_copy_data_t *pdata, + uint8_t *pbuffer) +{ + + + *(pbuffer + 0) = pdata->global_config__spad_enables_rtn_0; + *(pbuffer + 1) = pdata->global_config__spad_enables_rtn_1; + *(pbuffer + 2) = pdata->global_config__spad_enables_rtn_2; + *(pbuffer + 3) = pdata->global_config__spad_enables_rtn_3; + *(pbuffer + 4) = pdata->global_config__spad_enables_rtn_4; + *(pbuffer + 5) = pdata->global_config__spad_enables_rtn_5; + *(pbuffer + 6) = pdata->global_config__spad_enables_rtn_6; + *(pbuffer + 7) = pdata->global_config__spad_enables_rtn_7; + *(pbuffer + 8) = pdata->global_config__spad_enables_rtn_8; + *(pbuffer + 9) = pdata->global_config__spad_enables_rtn_9; + *(pbuffer + 10) = pdata->global_config__spad_enables_rtn_10; + *(pbuffer + 11) = pdata->global_config__spad_enables_rtn_11; + *(pbuffer + 12) = pdata->global_config__spad_enables_rtn_12; + *(pbuffer + 13) = pdata->global_config__spad_enables_rtn_13; + *(pbuffer + 14) = pdata->global_config__spad_enables_rtn_14; + *(pbuffer + 15) = pdata->global_config__spad_enables_rtn_15; + *(pbuffer + 16) = pdata->global_config__spad_enables_rtn_16; + *(pbuffer + 17) = pdata->global_config__spad_enables_rtn_17; + *(pbuffer + 18) = pdata->global_config__spad_enables_rtn_18; + *(pbuffer + 19) = pdata->global_config__spad_enables_rtn_19; + *(pbuffer + 20) = pdata->global_config__spad_enables_rtn_20; + *(pbuffer + 21) = pdata->global_config__spad_enables_rtn_21; + *(pbuffer + 22) = pdata->global_config__spad_enables_rtn_22; + *(pbuffer + 23) = pdata->global_config__spad_enables_rtn_23; + *(pbuffer + 24) = pdata->global_config__spad_enables_rtn_24; + *(pbuffer + 25) = pdata->global_config__spad_enables_rtn_25; + *(pbuffer + 26) = pdata->global_config__spad_enables_rtn_26; + *(pbuffer + 27) = pdata->global_config__spad_enables_rtn_27; + *(pbuffer + 28) = pdata->global_config__spad_enables_rtn_28; + *(pbuffer + 29) = pdata->global_config__spad_enables_rtn_29; + *(pbuffer + 30) = pdata->global_config__spad_enables_rtn_30; + *(pbuffer + 31) = pdata->global_config__spad_enables_rtn_31; +} + + +void VL53L1_init_system_results( + VL53L1_system_results_t *pdata) +{ + + + pdata->result__interrupt_status = 0xFF; + pdata->result__range_status = 0xFF; + pdata->result__report_status = 0xFF; + pdata->result__stream_count = 0xFF; + + pdata->result__dss_actual_effective_spads_sd0 = 0xFFFF; + pdata->result__peak_signal_count_rate_mcps_sd0 = 0xFFFF; + pdata->result__ambient_count_rate_mcps_sd0 = 0xFFFF; + pdata->result__sigma_sd0 = 0xFFFF; + pdata->result__phase_sd0 = 0xFFFF; + pdata->result__final_crosstalk_corrected_range_mm_sd0 = 0xFFFF; + pdata->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = + 0xFFFF; + pdata->result__mm_inner_actual_effective_spads_sd0 = 0xFFFF; + pdata->result__mm_outer_actual_effective_spads_sd0 = 0xFFFF; + pdata->result__avg_signal_count_rate_mcps_sd0 = 0xFFFF; + + pdata->result__dss_actual_effective_spads_sd1 = 0xFFFF; + pdata->result__peak_signal_count_rate_mcps_sd1 = 0xFFFF; + pdata->result__ambient_count_rate_mcps_sd1 = 0xFFFF; + pdata->result__sigma_sd1 = 0xFFFF; + pdata->result__phase_sd1 = 0xFFFF; + pdata->result__final_crosstalk_corrected_range_mm_sd1 = 0xFFFF; + pdata->result__spare_0_sd1 = 0xFFFF; + pdata->result__spare_1_sd1 = 0xFFFF; + pdata->result__spare_2_sd1 = 0xFFFF; + pdata->result__spare_3_sd1 = 0xFF; + +} + + +void V53L1_init_zone_results_structure( + uint8_t active_zones, + VL53L1_zone_results_t *pdata) +{ + + + + uint8_t z = 0; + VL53L1_zone_objects_t *pobjects; + + pdata->max_zones = VL53L1_MAX_USER_ZONES; + pdata->active_zones = active_zones; + + for (z = 0; z < pdata->max_zones; z++) { + pobjects = &(pdata->VL53L1_p_002[z]); + pobjects->cfg_device_state = VL53L1_DEVICESTATE_SW_STANDBY; + pobjects->rd_device_state = VL53L1_DEVICESTATE_SW_STANDBY; + pobjects->max_objects = VL53L1_MAX_RANGE_RESULTS; + pobjects->active_objects = 0; + } +} + +void V53L1_init_zone_dss_configs( + VL53L1_DEV Dev) +{ + + + + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + uint8_t z = 0; + uint8_t max_zones = VL53L1_MAX_USER_ZONES; + VL53L1_zone_private_dyn_cfgs_t *pdata = &(pres->zone_dyn_cfgs); + + for (z = 0; z < max_zones; z++) { + pdata->VL53L1_p_002[z].dss_mode = + VL53L1_DSS_CONTROL__MODE_TARGET_RATE; + pdata->VL53L1_p_002[z].dss_requested_effective_spad_count = 0; + } +} + + +void VL53L1_init_histogram_config_structure( + uint8_t even_bin0, + uint8_t even_bin1, + uint8_t even_bin2, + uint8_t even_bin3, + uint8_t even_bin4, + uint8_t even_bin5, + uint8_t odd_bin0, + uint8_t odd_bin1, + uint8_t odd_bin2, + uint8_t odd_bin3, + uint8_t odd_bin4, + uint8_t odd_bin5, + VL53L1_histogram_config_t *pdata) +{ + + + pdata->histogram_config__low_amb_even_bin_0_1 = + (even_bin1 << 4) + even_bin0; + pdata->histogram_config__low_amb_even_bin_2_3 = + (even_bin3 << 4) + even_bin2; + pdata->histogram_config__low_amb_even_bin_4_5 = + (even_bin5 << 4) + even_bin4; + + pdata->histogram_config__low_amb_odd_bin_0_1 = + (odd_bin1 << 4) + odd_bin0; + pdata->histogram_config__low_amb_odd_bin_2_3 = + (odd_bin3 << 4) + odd_bin2; + pdata->histogram_config__low_amb_odd_bin_4_5 = + (odd_bin5 << 4) + odd_bin4; + + pdata->histogram_config__mid_amb_even_bin_0_1 = + pdata->histogram_config__low_amb_even_bin_0_1; + pdata->histogram_config__mid_amb_even_bin_2_3 = + pdata->histogram_config__low_amb_even_bin_2_3; + pdata->histogram_config__mid_amb_even_bin_4_5 = + pdata->histogram_config__low_amb_even_bin_4_5; + + pdata->histogram_config__mid_amb_odd_bin_0_1 = + pdata->histogram_config__low_amb_odd_bin_0_1; + pdata->histogram_config__mid_amb_odd_bin_2 = odd_bin2; + pdata->histogram_config__mid_amb_odd_bin_3_4 = + (odd_bin4 << 4) + odd_bin3; + pdata->histogram_config__mid_amb_odd_bin_5 = odd_bin5; + + pdata->histogram_config__user_bin_offset = 0x00; + + pdata->histogram_config__high_amb_even_bin_0_1 = + pdata->histogram_config__low_amb_even_bin_0_1; + pdata->histogram_config__high_amb_even_bin_2_3 = + pdata->histogram_config__low_amb_even_bin_2_3; + pdata->histogram_config__high_amb_even_bin_4_5 = + pdata->histogram_config__low_amb_even_bin_4_5; + + pdata->histogram_config__high_amb_odd_bin_0_1 = + pdata->histogram_config__low_amb_odd_bin_0_1; + pdata->histogram_config__high_amb_odd_bin_2_3 = + pdata->histogram_config__low_amb_odd_bin_2_3; + pdata->histogram_config__high_amb_odd_bin_4_5 = + pdata->histogram_config__low_amb_odd_bin_4_5; + + + + pdata->histogram_config__amb_thresh_low = 0xFFFF; + pdata->histogram_config__amb_thresh_high = 0xFFFF; + + + + pdata->histogram_config__spad_array_selection = 0x00; + +} + +void VL53L1_init_histogram_multizone_config_structure( + uint8_t even_bin0, + uint8_t even_bin1, + uint8_t even_bin2, + uint8_t even_bin3, + uint8_t even_bin4, + uint8_t even_bin5, + uint8_t odd_bin0, + uint8_t odd_bin1, + uint8_t odd_bin2, + uint8_t odd_bin3, + uint8_t odd_bin4, + uint8_t odd_bin5, + VL53L1_histogram_config_t *pdata) +{ + + + pdata->histogram_config__low_amb_even_bin_0_1 = + (even_bin1 << 4) + even_bin0; + pdata->histogram_config__low_amb_even_bin_2_3 = + (even_bin3 << 4) + even_bin2; + pdata->histogram_config__low_amb_even_bin_4_5 = + (even_bin5 << 4) + even_bin4; + + pdata->histogram_config__low_amb_odd_bin_0_1 = + pdata->histogram_config__low_amb_even_bin_0_1; + pdata->histogram_config__low_amb_odd_bin_2_3 + = pdata->histogram_config__low_amb_even_bin_2_3; + pdata->histogram_config__low_amb_odd_bin_4_5 + = pdata->histogram_config__low_amb_even_bin_4_5; + + pdata->histogram_config__mid_amb_even_bin_0_1 = + pdata->histogram_config__low_amb_even_bin_0_1; + pdata->histogram_config__mid_amb_even_bin_2_3 + = pdata->histogram_config__low_amb_even_bin_2_3; + pdata->histogram_config__mid_amb_even_bin_4_5 + = pdata->histogram_config__low_amb_even_bin_4_5; + + pdata->histogram_config__mid_amb_odd_bin_0_1 + = pdata->histogram_config__low_amb_odd_bin_0_1; + pdata->histogram_config__mid_amb_odd_bin_2 = odd_bin2; + pdata->histogram_config__mid_amb_odd_bin_3_4 = + (odd_bin4 << 4) + odd_bin3; + pdata->histogram_config__mid_amb_odd_bin_5 = odd_bin5; + + pdata->histogram_config__user_bin_offset = 0x00; + + pdata->histogram_config__high_amb_even_bin_0_1 = + (odd_bin1 << 4) + odd_bin0; + pdata->histogram_config__high_amb_even_bin_2_3 = + (odd_bin3 << 4) + odd_bin2; + pdata->histogram_config__high_amb_even_bin_4_5 = + (odd_bin5 << 4) + odd_bin4; + + pdata->histogram_config__high_amb_odd_bin_0_1 + = pdata->histogram_config__high_amb_even_bin_0_1; + pdata->histogram_config__high_amb_odd_bin_2_3 + = pdata->histogram_config__high_amb_even_bin_2_3; + pdata->histogram_config__high_amb_odd_bin_4_5 + = pdata->histogram_config__high_amb_even_bin_4_5; + + + + pdata->histogram_config__amb_thresh_low = 0xFFFF; + pdata->histogram_config__amb_thresh_high = 0xFFFF; + + + + pdata->histogram_config__spad_array_selection = 0x00; +} + + +void VL53L1_init_xtalk_bin_data_struct( + uint32_t bin_value, + uint16_t VL53L1_p_024, + VL53L1_xtalk_histogram_shape_t *pdata) +{ + + + + uint16_t i = 0; + + pdata->zone_id = 0; + pdata->time_stamp = 0; + + pdata->VL53L1_p_022 = 0; + pdata->VL53L1_p_023 = VL53L1_XTALK_HISTO_BINS; + pdata->VL53L1_p_024 = (uint8_t)VL53L1_p_024; + + pdata->phasecal_result__reference_phase = 0; + pdata->phasecal_result__vcsel_start = 0; + pdata->cal_config__vcsel_start = 0; + + pdata->vcsel_width = 0; + pdata->VL53L1_p_019 = 0; + + pdata->zero_distance_phase = 0; + + for (i = 0; i < VL53L1_XTALK_HISTO_BINS; i++) { + if (i < VL53L1_p_024) + pdata->bin_data[i] = bin_value; + else + pdata->bin_data[i] = 0; + } +} + + +void VL53L1_i2c_encode_uint16_t( + uint16_t ip_value, + uint16_t count, + uint8_t *pbuffer) +{ + + + uint16_t i = 0; + uint16_t VL53L1_p_002 = 0; + + VL53L1_p_002 = ip_value; + + for (i = 0; i < count; i++) { + pbuffer[count-i-1] = (uint8_t)(VL53L1_p_002 & 0x00FF); + VL53L1_p_002 = VL53L1_p_002 >> 8; + } +} + +uint16_t VL53L1_i2c_decode_uint16_t( + uint16_t count, + uint8_t *pbuffer) +{ + + + uint16_t value = 0x00; + + while (count-- > 0) + value = (value << 8) | (uint16_t)*pbuffer++; + + return value; +} + + +void VL53L1_i2c_encode_int16_t( + int16_t ip_value, + uint16_t count, + uint8_t *pbuffer) +{ + + + uint16_t i = 0; + int16_t VL53L1_p_002 = 0; + + VL53L1_p_002 = ip_value; + + for (i = 0; i < count; i++) { + pbuffer[count-i-1] = (uint8_t)(VL53L1_p_002 & 0x00FF); + VL53L1_p_002 = VL53L1_p_002 >> 8; + } +} + +int16_t VL53L1_i2c_decode_int16_t( + uint16_t count, + uint8_t *pbuffer) +{ + + + int16_t value = 0x00; + + + if (*pbuffer >= 0x80) + value = 0xFFFF; + + while (count-- > 0) + value = (value << 8) | (int16_t)*pbuffer++; + + return value; +} + +void VL53L1_i2c_encode_uint32_t( + uint32_t ip_value, + uint16_t count, + uint8_t *pbuffer) +{ + + + uint16_t i = 0; + uint32_t VL53L1_p_002 = 0; + + VL53L1_p_002 = ip_value; + + for (i = 0; i < count; i++) { + pbuffer[count-i-1] = (uint8_t)(VL53L1_p_002 & 0x00FF); + VL53L1_p_002 = VL53L1_p_002 >> 8; + } +} + +uint32_t VL53L1_i2c_decode_uint32_t( + uint16_t count, + uint8_t *pbuffer) +{ + + + uint32_t value = 0x00; + + while (count-- > 0) + value = (value << 8) | (uint32_t)*pbuffer++; + + return value; +} + + +uint32_t VL53L1_i2c_decode_with_mask( + uint16_t count, + uint8_t *pbuffer, + uint32_t bit_mask, + uint32_t down_shift, + uint32_t offset) +{ + + + uint32_t value = 0x00; + + + while (count-- > 0) + value = (value << 8) | (uint32_t)*pbuffer++; + + + value = value & bit_mask; + if (down_shift > 0) + value = value >> down_shift; + + + value = value + offset; + + return value; +} + + +void VL53L1_i2c_encode_int32_t( + int32_t ip_value, + uint16_t count, + uint8_t *pbuffer) +{ + + + uint16_t i = 0; + int32_t VL53L1_p_002 = 0; + + VL53L1_p_002 = ip_value; + + for (i = 0; i < count; i++) { + pbuffer[count-i-1] = (uint8_t)(VL53L1_p_002 & 0x00FF); + VL53L1_p_002 = VL53L1_p_002 >> 8; + } +} + +int32_t VL53L1_i2c_decode_int32_t( + uint16_t count, + uint8_t *pbuffer) +{ + + + int32_t value = 0x00; + + + if (*pbuffer >= 0x80) + value = 0xFFFFFFFF; + + while (count-- > 0) + value = (value << 8) | (int32_t)*pbuffer++; + + return value; +} + + +VL53L1_Error VL53L1_start_test( + VL53L1_DEV Dev, + uint8_t test_mode__ctrl) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_WrByte( + Dev, + VL53L1_TEST_MODE__CTRL, + test_mode__ctrl); + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_firmware_enable_register( + VL53L1_DEV Dev, + uint8_t value) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + pdev->sys_ctrl.firmware__enable = value; + + status = VL53L1_WrByte( + Dev, + VL53L1_FIRMWARE__ENABLE, + pdev->sys_ctrl.firmware__enable); + + return status; +} + +VL53L1_Error VL53L1_enable_firmware( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = VL53L1_set_firmware_enable_register(Dev, 0x01); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_disable_firmware( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = VL53L1_set_firmware_enable_register(Dev, 0x00); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_powerforce_register( + VL53L1_DEV Dev, + uint8_t value) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + pdev->sys_ctrl.power_management__go1_power_force = value; + + status = VL53L1_WrByte( + Dev, + VL53L1_POWER_MANAGEMENT__GO1_POWER_FORCE, + pdev->sys_ctrl.power_management__go1_power_force); + + return status; +} + + +VL53L1_Error VL53L1_enable_powerforce( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = VL53L1_set_powerforce_register(Dev, 0x01); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_disable_powerforce( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = VL53L1_set_powerforce_register(Dev, 0x00); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_clear_interrupt( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->sys_ctrl.system__interrupt_clear = VL53L1_CLEAR_RANGE_INT; + + status = VL53L1_WrByte( + Dev, + VL53L1_SYSTEM__INTERRUPT_CLEAR, + pdev->sys_ctrl.system__interrupt_clear); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_force_shadow_stream_count_to_zero( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_WrByte( + Dev, + VL53L1_SHADOW_RESULT__STREAM_COUNT, + 0x00); + } + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + return status; +} + + +uint32_t VL53L1_calc_macro_period_us( + uint16_t fast_osc_frequency, + uint8_t VL53L1_p_009) +{ + + + uint32_t pll_period_us = 0; + uint8_t VL53L1_p_031 = 0; + uint32_t macro_period_us = 0; + + LOG_FUNCTION_START(""); + + + + pll_period_us = VL53L1_calc_pll_period_us(fast_osc_frequency); + + + + VL53L1_p_031 = VL53L1_decode_vcsel_period(VL53L1_p_009); + + + + macro_period_us = + (uint32_t)VL53L1_MACRO_PERIOD_VCSEL_PERIODS * + pll_period_us; + macro_period_us = macro_period_us >> 6; + + macro_period_us = macro_period_us * (uint32_t)VL53L1_p_031; + macro_period_us = macro_period_us >> 6; + + + + LOG_FUNCTION_END(0); + + return macro_period_us; +} + + +uint16_t VL53L1_calc_range_ignore_threshold( + uint32_t central_rate, + int16_t x_gradient, + int16_t y_gradient, + uint8_t rate_mult) +{ + + + int32_t range_ignore_thresh_int = 0; + uint16_t range_ignore_thresh_kcps = 0; + int32_t central_rate_int = 0; + int16_t x_gradient_int = 0; + int16_t y_gradient_int = 0; + + LOG_FUNCTION_START(""); + + + + central_rate_int = ((int32_t)central_rate * (1 << 4)) / (1000); + + if (x_gradient < 0) + x_gradient_int = x_gradient * -1; + + if (y_gradient < 0) + y_gradient_int = y_gradient * -1; + + + + + + range_ignore_thresh_int = (8 * x_gradient_int * 4) + + (8 * y_gradient_int * 4); + + + + range_ignore_thresh_int = range_ignore_thresh_int / 1000; + + + + range_ignore_thresh_int = range_ignore_thresh_int + central_rate_int; + + + + range_ignore_thresh_int = (int32_t)rate_mult * range_ignore_thresh_int; + + range_ignore_thresh_int = (range_ignore_thresh_int + (1<<4)) / (1<<5); + + + + if (range_ignore_thresh_int > 0xFFFF) + range_ignore_thresh_kcps = 0xFFFF; + else + range_ignore_thresh_kcps = (uint16_t)range_ignore_thresh_int; + + + + LOG_FUNCTION_END(0); + + return range_ignore_thresh_kcps; +} + + +uint32_t VL53L1_calc_timeout_mclks( + uint32_t timeout_us, + uint32_t macro_period_us) +{ + + + uint32_t timeout_mclks = 0; + + LOG_FUNCTION_START(""); + + timeout_mclks = + ((timeout_us << 12) + (macro_period_us>>1)) / + macro_period_us; + + LOG_FUNCTION_END(0); + + return timeout_mclks; +} + + +uint16_t VL53L1_calc_encoded_timeout( + uint32_t timeout_us, + uint32_t macro_period_us) +{ + + + uint32_t timeout_mclks = 0; + uint16_t timeout_encoded = 0; + + LOG_FUNCTION_START(""); + + timeout_mclks = + VL53L1_calc_timeout_mclks(timeout_us, macro_period_us); + + timeout_encoded = + VL53L1_encode_timeout(timeout_mclks); + + + + LOG_FUNCTION_END(0); + + return timeout_encoded; +} + + +uint32_t VL53L1_calc_timeout_us( + uint32_t timeout_mclks, + uint32_t macro_period_us) +{ + + + uint32_t timeout_us = 0; + uint64_t tmp = 0; + + LOG_FUNCTION_START(""); + + tmp = (uint64_t)timeout_mclks * (uint64_t)macro_period_us; + tmp += 0x00800; + tmp = tmp >> 12; + + timeout_us = (uint32_t)tmp; + + + + LOG_FUNCTION_END(0); + + return timeout_us; +} + +uint32_t VL53L1_calc_crosstalk_plane_offset_with_margin( + uint32_t plane_offset_kcps, + int16_t margin_offset_kcps) +{ + uint32_t plane_offset_with_margin = 0; + int32_t plane_offset_kcps_temp = 0; + + LOG_FUNCTION_START(""); + + plane_offset_kcps_temp = + (int32_t)plane_offset_kcps + + (int32_t)margin_offset_kcps; + + if (plane_offset_kcps_temp < 0) + plane_offset_kcps_temp = 0; + else + if (plane_offset_kcps_temp > 0x3FFFF) + plane_offset_kcps_temp = 0x3FFFF; + + plane_offset_with_margin = (uint32_t) plane_offset_kcps_temp; + + LOG_FUNCTION_END(0); + + return plane_offset_with_margin; + +} + +uint32_t VL53L1_calc_decoded_timeout_us( + uint16_t timeout_encoded, + uint32_t macro_period_us) +{ + + + uint32_t timeout_mclks = 0; + uint32_t timeout_us = 0; + + LOG_FUNCTION_START(""); + + timeout_mclks = + VL53L1_decode_timeout(timeout_encoded); + + timeout_us = + VL53L1_calc_timeout_us(timeout_mclks, macro_period_us); + + LOG_FUNCTION_END(0); + + return timeout_us; +} + + +uint16_t VL53L1_encode_timeout(uint32_t timeout_mclks) +{ + + + uint16_t encoded_timeout = 0; + uint32_t ls_byte = 0; + uint16_t ms_byte = 0; + + if (timeout_mclks > 0) { + ls_byte = timeout_mclks - 1; + + while ((ls_byte & 0xFFFFFF00) > 0) { + ls_byte = ls_byte >> 1; + ms_byte++; + } + + encoded_timeout = (ms_byte << 8) + + (uint16_t) (ls_byte & 0x000000FF); + } + + return encoded_timeout; +} + + +uint32_t VL53L1_decode_timeout(uint16_t encoded_timeout) +{ + + + uint32_t timeout_macro_clks = 0; + + timeout_macro_clks = ((uint32_t) (encoded_timeout & 0x00FF) + << (uint32_t) ((encoded_timeout & 0xFF00) >> 8)) + 1; + + return timeout_macro_clks; +} + + +VL53L1_Error VL53L1_calc_timeout_register_values( + uint32_t phasecal_config_timeout_us, + uint32_t mm_config_timeout_us, + uint32_t range_config_timeout_us, + uint16_t fast_osc_frequency, + VL53L1_general_config_t *pgeneral, + VL53L1_timing_config_t *ptiming) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint32_t macro_period_us = 0; + uint32_t timeout_mclks = 0; + uint16_t timeout_encoded = 0; + + LOG_FUNCTION_START(""); + + if (fast_osc_frequency == 0) { + status = VL53L1_ERROR_DIVISION_BY_ZERO; + } else { + + macro_period_us = + VL53L1_calc_macro_period_us( + fast_osc_frequency, + ptiming->range_config__vcsel_period_a); + + + timeout_mclks = + VL53L1_calc_timeout_mclks( + phasecal_config_timeout_us, + macro_period_us); + + + if (timeout_mclks > 0xFF) + timeout_mclks = 0xFF; + + pgeneral->phasecal_config__timeout_macrop = + (uint8_t)timeout_mclks; + + + timeout_encoded = + VL53L1_calc_encoded_timeout( + mm_config_timeout_us, + macro_period_us); + + ptiming->mm_config__timeout_macrop_a_hi = + (uint8_t)((timeout_encoded & 0xFF00) >> 8); + ptiming->mm_config__timeout_macrop_a_lo = + (uint8_t) (timeout_encoded & 0x00FF); + + + timeout_encoded = + VL53L1_calc_encoded_timeout( + range_config_timeout_us, + macro_period_us); + + ptiming->range_config__timeout_macrop_a_hi = + (uint8_t)((timeout_encoded & 0xFF00) >> 8); + ptiming->range_config__timeout_macrop_a_lo = + (uint8_t) (timeout_encoded & 0x00FF); + + + macro_period_us = + VL53L1_calc_macro_period_us( + fast_osc_frequency, + ptiming->range_config__vcsel_period_b); + + + timeout_encoded = + VL53L1_calc_encoded_timeout( + mm_config_timeout_us, + macro_period_us); + + ptiming->mm_config__timeout_macrop_b_hi = + (uint8_t)((timeout_encoded & 0xFF00) >> 8); + ptiming->mm_config__timeout_macrop_b_lo = + (uint8_t) (timeout_encoded & 0x00FF); + + + timeout_encoded = VL53L1_calc_encoded_timeout( + range_config_timeout_us, + macro_period_us); + + ptiming->range_config__timeout_macrop_b_hi = + (uint8_t)((timeout_encoded & 0xFF00) >> 8); + ptiming->range_config__timeout_macrop_b_lo = + (uint8_t) (timeout_encoded & 0x00FF); + } + + LOG_FUNCTION_END(0); + + return status; + +} + + +uint8_t VL53L1_encode_vcsel_period(uint8_t VL53L1_p_031) +{ + + + uint8_t vcsel_period_reg = 0; + + vcsel_period_reg = (VL53L1_p_031 >> 1) - 1; + + return vcsel_period_reg; +} + + +uint32_t VL53L1_decode_unsigned_integer( + uint8_t *pbuffer, + uint8_t no_of_bytes) +{ + + + uint8_t i = 0; + uint32_t decoded_value = 0; + + for (i = 0; i < no_of_bytes; i++) + decoded_value = (decoded_value << 8) + (uint32_t)pbuffer[i]; + + return decoded_value; +} + + +void VL53L1_encode_unsigned_integer( + uint32_t ip_value, + uint8_t no_of_bytes, + uint8_t *pbuffer) +{ + + + uint8_t i = 0; + uint32_t VL53L1_p_002 = 0; + + VL53L1_p_002 = ip_value; + for (i = 0; i < no_of_bytes; i++) { + pbuffer[no_of_bytes-i-1] = VL53L1_p_002 & 0x00FF; + VL53L1_p_002 = VL53L1_p_002 >> 8; + } +} + + +VL53L1_Error VL53L1_hist_copy_and_scale_ambient_info( + VL53L1_zone_hist_info_t *pidata, + VL53L1_histogram_bin_data_t *podata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + int64_t evts = 0; + int64_t tmpi = 0; + int64_t tmpo = 0; + + LOG_FUNCTION_START(""); + + + if (pidata->result__dss_actual_effective_spads == 0) { + status = VL53L1_ERROR_DIVISION_BY_ZERO; + } else { + if (pidata->number_of_ambient_bins > 0 && + podata->number_of_ambient_bins == 0) { + + + + tmpo = 1 + (int64_t)podata->total_periods_elapsed; + tmpo *= + (int64_t)podata->result__dss_actual_effective_spads; + + tmpi = 1 + (int64_t)pidata->total_periods_elapsed; + tmpi *= + (int64_t)pidata->result__dss_actual_effective_spads; + + evts = tmpo * + (int64_t)pidata->ambient_events_sum; + evts += (tmpi/2); + + + if (tmpi != 0) + evts = do_division_s(evts, tmpi); + + podata->ambient_events_sum = (int32_t)evts; + + + + podata->VL53L1_p_004 = + podata->ambient_events_sum; + podata->VL53L1_p_004 += + ((int32_t)pidata->number_of_ambient_bins / 2); + podata->VL53L1_p_004 /= + (int32_t)pidata->number_of_ambient_bins; + } + } + + LOG_FUNCTION_END(0); + + return status; +} + + +void VL53L1_hist_get_bin_sequence_config( + VL53L1_DEV Dev, + VL53L1_histogram_bin_data_t *pdata) +{ + + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + int32_t amb_thresh_low = 0; + int32_t amb_thresh_high = 0; + + uint8_t i = 0; + + LOG_FUNCTION_START(""); + + + + amb_thresh_low = 1024 * + (int32_t)pdev->hist_cfg.histogram_config__amb_thresh_low; + amb_thresh_high = 1024 * + (int32_t)pdev->hist_cfg.histogram_config__amb_thresh_high; + + + + if ((pdev->ll_state.rd_stream_count & 0x01) == 0) { + + pdata->bin_seq[5] = + pdev->hist_cfg.histogram_config__mid_amb_even_bin_4_5 >> 4; + pdata->bin_seq[4] = + pdev->hist_cfg.histogram_config__mid_amb_even_bin_4_5 & 0x0F; + pdata->bin_seq[3] = + pdev->hist_cfg.histogram_config__mid_amb_even_bin_2_3 >> 4; + pdata->bin_seq[2] = + pdev->hist_cfg.histogram_config__mid_amb_even_bin_2_3 & 0x0F; + pdata->bin_seq[1] = + pdev->hist_cfg.histogram_config__mid_amb_even_bin_0_1 >> 4; + pdata->bin_seq[0] = + pdev->hist_cfg.histogram_config__mid_amb_even_bin_0_1 & 0x0F; + + if (pdata->ambient_events_sum > amb_thresh_high) { + pdata->bin_seq[5] = + pdev->hist_cfg.histogram_config__high_amb_even_bin_4_5 + >> 4; + pdata->bin_seq[4] = + pdev->hist_cfg.histogram_config__high_amb_even_bin_4_5 + & 0x0F; + pdata->bin_seq[3] = + pdev->hist_cfg.histogram_config__high_amb_even_bin_2_3 + >> 4; + pdata->bin_seq[2] = + pdev->hist_cfg.histogram_config__high_amb_even_bin_2_3 + & 0x0F; + pdata->bin_seq[1] = + pdev->hist_cfg.histogram_config__high_amb_even_bin_0_1 + >> 4; + pdata->bin_seq[0] = + pdev->hist_cfg.histogram_config__high_amb_even_bin_0_1 + & 0x0F; + } + + if (pdata->ambient_events_sum < amb_thresh_low) { + pdata->bin_seq[5] = + pdev->hist_cfg.histogram_config__low_amb_even_bin_4_5 + >> 4; + pdata->bin_seq[4] = + pdev->hist_cfg.histogram_config__low_amb_even_bin_4_5 + & 0x0F; + pdata->bin_seq[3] = + pdev->hist_cfg.histogram_config__low_amb_even_bin_2_3 + >> 4; + pdata->bin_seq[2] = + pdev->hist_cfg.histogram_config__low_amb_even_bin_2_3 + & 0x0F; + pdata->bin_seq[1] = + pdev->hist_cfg.histogram_config__low_amb_even_bin_0_1 + >> 4; + pdata->bin_seq[0] = + pdev->hist_cfg.histogram_config__low_amb_even_bin_0_1 + & 0x0F; + } + + } else { + pdata->bin_seq[5] = + pdev->hist_cfg.histogram_config__mid_amb_odd_bin_5 + & 0x0F; + pdata->bin_seq[4] = + pdev->hist_cfg.histogram_config__mid_amb_odd_bin_3_4 + & 0x0F; + pdata->bin_seq[3] = + pdev->hist_cfg.histogram_config__mid_amb_odd_bin_3_4 + >> 4; + pdata->bin_seq[2] = + pdev->hist_cfg.histogram_config__mid_amb_odd_bin_2 & + 0x0F; + pdata->bin_seq[1] = + pdev->hist_cfg.histogram_config__mid_amb_odd_bin_0_1 + >> 4; + pdata->bin_seq[0] = + pdev->hist_cfg.histogram_config__mid_amb_odd_bin_0_1 + & 0x0F; + + if (pdata->ambient_events_sum > amb_thresh_high) { + pdata->bin_seq[5] = + pdev->hist_cfg.histogram_config__high_amb_odd_bin_4_5 + >> 4; + pdata->bin_seq[4] = + pdev->hist_cfg.histogram_config__high_amb_odd_bin_4_5 + & 0x0F; + pdata->bin_seq[3] = + pdev->hist_cfg.histogram_config__high_amb_odd_bin_2_3 + >> 4; + pdata->bin_seq[2] = + pdev->hist_cfg.histogram_config__high_amb_odd_bin_2_3 + & 0x0F; + pdata->bin_seq[1] = + pdev->hist_cfg.histogram_config__high_amb_odd_bin_0_1 + >> 4; + pdata->bin_seq[0] = + pdev->hist_cfg.histogram_config__high_amb_odd_bin_0_1 + & 0x0F; + } + + if (pdata->ambient_events_sum < amb_thresh_low) { + pdata->bin_seq[5] = + pdev->hist_cfg.histogram_config__low_amb_odd_bin_4_5 + >> 4; + pdata->bin_seq[4] = + pdev->hist_cfg.histogram_config__low_amb_odd_bin_4_5 + & 0x0F; + pdata->bin_seq[3] = + pdev->hist_cfg.histogram_config__low_amb_odd_bin_2_3 + >> 4; + pdata->bin_seq[2] = + pdev->hist_cfg.histogram_config__low_amb_odd_bin_2_3 + & 0x0F; + pdata->bin_seq[1] = + pdev->hist_cfg.histogram_config__low_amb_odd_bin_0_1 + >> 4; + pdata->bin_seq[0] = + pdev->hist_cfg.histogram_config__low_amb_odd_bin_0_1 + & 0x0F; + } + } + + + + for (i = 0; i < VL53L1_MAX_BIN_SEQUENCE_LENGTH; i++) + pdata->bin_rep[i] = 1; + + LOG_FUNCTION_END(0); + +} + + +VL53L1_Error VL53L1_hist_phase_consistency_check( + VL53L1_DEV Dev, + VL53L1_zone_hist_info_t *phist_prev, + VL53L1_zone_objects_t *prange_prev, + VL53L1_range_results_t *prange_curr) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t lc = 0; + uint8_t p = 0; + + uint16_t phase_delta = 0; + uint16_t phase_tolerance = 0; + + int32_t events_delta = 0; + int32_t events_tolerance = 0; + + + uint8_t event_sigma; + uint16_t event_min_spad_count; + uint16_t min_max_tolerance; + uint8_t pht; + + VL53L1_DeviceError range_status = 0; + + LOG_FUNCTION_START(""); + + event_sigma = + pdev->histpostprocess.algo__consistency_check__event_sigma; + event_min_spad_count = + pdev->histpostprocess.algo__consistency_check__event_min_spad_count; + min_max_tolerance = + pdev->histpostprocess.algo__consistency_check__min_max_tolerance; + + + pht = pdev->histpostprocess.algo__consistency_check__phase_tolerance; + phase_tolerance = (uint16_t)pht; + phase_tolerance = phase_tolerance << 8; + + + + if (prange_prev->rd_device_state != + VL53L1_DEVICESTATE_RANGING_GATHER_DATA && + prange_prev->rd_device_state != + VL53L1_DEVICESTATE_RANGING_OUTPUT_DATA) + return status; + + + + if (phase_tolerance == 0) + return status; + + for (lc = 0; lc < prange_curr->active_results; lc++) { + + if (!((prange_curr->VL53L1_p_002[lc].range_status == + VL53L1_DEVICEERROR_RANGECOMPLETE) || + (prange_curr->VL53L1_p_002[lc].range_status == + VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK))) + continue; + + + + + + + if (prange_prev->active_objects == 0) + prange_curr->VL53L1_p_002[lc].range_status = + VL53L1_DEVICEERROR_PREV_RANGE_NO_TARGETS; + else + prange_curr->VL53L1_p_002[lc].range_status = + VL53L1_DEVICEERROR_PHASECONSISTENCY; + + + + + + for (p = 0; p < prange_prev->active_objects; p++) { + + if (prange_curr->VL53L1_p_002[lc].VL53L1_p_014 > + prange_prev->VL53L1_p_002[p].VL53L1_p_014) { + phase_delta = + prange_curr->VL53L1_p_002[lc].VL53L1_p_014 - + prange_prev->VL53L1_p_002[p].VL53L1_p_014; + } else { + phase_delta = + prange_prev->VL53L1_p_002[p].VL53L1_p_014 - + prange_curr->VL53L1_p_002[lc].VL53L1_p_014; + } + + if (phase_delta < phase_tolerance) { + + + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_hist_events_consistency_check( + event_sigma, + event_min_spad_count, + phist_prev, + &(prange_prev->VL53L1_p_002[p]), + &(prange_curr->VL53L1_p_002[lc]), + &events_tolerance, + &events_delta, + &range_status); + + + + + if (status == VL53L1_ERROR_NONE && + range_status == + VL53L1_DEVICEERROR_RANGECOMPLETE) + status = + VL53L1_hist_merged_pulse_check( + min_max_tolerance, + &(prange_curr->VL53L1_p_002[lc]), + &range_status); + + prange_curr->VL53L1_p_002[lc].range_status = + range_status; + } + } + + } + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_hist_events_consistency_check( + uint8_t event_sigma, + uint16_t min_effective_spad_count, + VL53L1_zone_hist_info_t *phist_prev, + VL53L1_object_data_t *prange_prev, + VL53L1_range_data_t *prange_curr, + int32_t *pevents_tolerance, + int32_t *pevents_delta, + VL53L1_DeviceError *prange_status) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + int64_t tmpp = 0; + int64_t tmpc = 0; + int64_t events_scaler = 0; + int64_t events_scaler_sq = 0; + int64_t c_signal_events = 0; + int64_t c_sig_noise_sq = 0; + int64_t c_amb_noise_sq = 0; + int64_t p_amb_noise_sq = 0; + + int32_t p_signal_events = 0; + uint32_t noise_sq_sum = 0; + + + + if (event_sigma == 0) { + *prange_status = VL53L1_DEVICEERROR_RANGECOMPLETE; + return status; + } + + + + tmpp = 1 + (int64_t)phist_prev->total_periods_elapsed; + tmpp *= (int64_t)phist_prev->result__dss_actual_effective_spads; + + + + tmpc = 1 + (int64_t)prange_curr->total_periods_elapsed; + tmpc *= (int64_t)prange_curr->VL53L1_p_006; + + + + events_scaler = tmpp * 4096; + events_scaler += (tmpc/2); + if (tmpc != 0) + events_scaler = do_division_s(events_scaler, tmpc); + + events_scaler_sq = events_scaler * events_scaler; + events_scaler_sq += 2048; + events_scaler_sq /= 4096; + + + + c_signal_events = (int64_t)prange_curr->VL53L1_p_021; + c_signal_events -= (int64_t)prange_curr->VL53L1_p_020; + c_signal_events *= (int64_t)events_scaler; + c_signal_events += 2048; + c_signal_events /= 4096; + + c_sig_noise_sq = (int64_t)events_scaler_sq; + c_sig_noise_sq *= (int64_t)prange_curr->VL53L1_p_021; + c_sig_noise_sq += 2048; + c_sig_noise_sq /= 4096; + + c_amb_noise_sq = (int64_t)events_scaler_sq; + c_amb_noise_sq *= (int64_t)prange_curr->VL53L1_p_020; + c_amb_noise_sq += 2048; + c_amb_noise_sq /= 4096; + + + c_amb_noise_sq += 2; + c_amb_noise_sq /= 4; + + + + p_amb_noise_sq = + (int64_t)prange_prev->VL53L1_p_020; + + + p_amb_noise_sq += 2; + p_amb_noise_sq /= 4; + + noise_sq_sum = + (uint32_t)prange_prev->VL53L1_p_021 + + (uint32_t)c_sig_noise_sq + + (uint32_t)p_amb_noise_sq + + (uint32_t)c_amb_noise_sq; + + *pevents_tolerance = + (int32_t)VL53L1_isqrt(noise_sq_sum * 16); + + *pevents_tolerance *= (int32_t)event_sigma; + *pevents_tolerance += 32; + *pevents_tolerance /= 64; + + p_signal_events = (int32_t)prange_prev->VL53L1_p_021; + p_signal_events -= (int32_t)prange_prev->VL53L1_p_020; + + if ((int32_t)c_signal_events > p_signal_events) + *pevents_delta = + (int32_t)c_signal_events - p_signal_events; + else + *pevents_delta = + p_signal_events - (int32_t)c_signal_events; + + if (*pevents_delta > *pevents_tolerance && + prange_curr->VL53L1_p_006 > min_effective_spad_count) + *prange_status = VL53L1_DEVICEERROR_EVENTCONSISTENCY; + else + *prange_status = VL53L1_DEVICEERROR_RANGECOMPLETE; + + + + + + return status; +} + + + + +VL53L1_Error VL53L1_hist_merged_pulse_check( + int16_t min_max_tolerance_mm, + VL53L1_range_data_t *pdata, + VL53L1_DeviceError *prange_status) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + int16_t delta_mm = 0; + + if (pdata->max_range_mm > pdata->min_range_mm) + delta_mm = + pdata->max_range_mm - pdata->min_range_mm; + else + delta_mm = + pdata->min_range_mm - pdata->max_range_mm; + + if (min_max_tolerance_mm > 0 && + delta_mm > min_max_tolerance_mm) + *prange_status = VL53L1_DEVICEERROR_RANGECOMPLETE_MERGED_PULSE; + else + *prange_status = VL53L1_DEVICEERROR_RANGECOMPLETE; + + return status; +} + + + + +VL53L1_Error VL53L1_hist_xmonitor_consistency_check( + VL53L1_DEV Dev, + VL53L1_zone_hist_info_t *phist_prev, + VL53L1_zone_objects_t *prange_prev, + VL53L1_range_data_t *prange_curr) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + int32_t events_delta = 0; + int32_t events_tolerance = 0; + uint8_t event_sigma; + uint16_t min_spad_count; + + event_sigma = pdev->histpostprocess.algo__crosstalk_detect_event_sigma; + min_spad_count = + pdev->histpostprocess.algo__consistency_check__event_min_spad_count; + + if (prange_curr->range_status == VL53L1_DEVICEERROR_RANGECOMPLETE || + prange_curr->range_status == + VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK || + prange_curr->range_status == + VL53L1_DEVICEERROR_EVENTCONSISTENCY) { + + if (prange_prev->xmonitor.range_status == + VL53L1_DEVICEERROR_RANGECOMPLETE || + prange_prev->xmonitor.range_status == + VL53L1_DEVICEERROR_RANGECOMPLETE_NO_WRAP_CHECK || + prange_prev->xmonitor.range_status == + VL53L1_DEVICEERROR_EVENTCONSISTENCY) { + + prange_curr->range_status = + VL53L1_DEVICEERROR_RANGECOMPLETE; + + status = + VL53L1_hist_events_consistency_check( + event_sigma, + min_spad_count, + phist_prev, + &(prange_prev->xmonitor), + prange_curr, + &events_tolerance, + &events_delta, + &(prange_curr->range_status)); + + } + } + + return status; +} + + + + +VL53L1_Error VL53L1_hist_wrap_dmax( + VL53L1_hist_post_process_config_t *phistpostprocess, + VL53L1_histogram_bin_data_t *pcurrent, + int16_t *pwrap_dmax_mm) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint32_t pll_period_mm = 0; + uint32_t wrap_dmax_phase = 0; + uint32_t range_mm = 0; + + LOG_FUNCTION_START(""); + + *pwrap_dmax_mm = 0; + + + if (pcurrent->VL53L1_p_019 != 0) { + + + + pll_period_mm = + VL53L1_calc_pll_period_mm( + pcurrent->VL53L1_p_019); + + + + wrap_dmax_phase = + (uint32_t)phistpostprocess->valid_phase_high << 8; + + + + range_mm = wrap_dmax_phase * pll_period_mm; + range_mm = (range_mm + (1<<14)) >> 15; + + *pwrap_dmax_mm = (int16_t)range_mm; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +void VL53L1_hist_combine_mm1_mm2_offsets( + int16_t mm1_offset_mm, + int16_t mm2_offset_mm, + uint8_t encoded_mm_roi_centre, + uint8_t encoded_mm_roi_size, + uint8_t encoded_zone_centre, + uint8_t encoded_zone_size, + VL53L1_additional_offset_cal_data_t *pcal_data, + uint8_t *pgood_spads, + uint16_t aperture_attenuation, + int16_t *prange_offset_mm) +{ + + + + uint16_t max_mm_inner_effective_spads = 0; + uint16_t max_mm_outer_effective_spads = 0; + uint16_t mm_inner_effective_spads = 0; + uint16_t mm_outer_effective_spads = 0; + + uint32_t scaled_mm1_peak_rate_mcps = 0; + uint32_t scaled_mm2_peak_rate_mcps = 0; + + int32_t tmp0 = 0; + int32_t tmp1 = 0; + + + + VL53L1_calc_mm_effective_spads( + encoded_mm_roi_centre, + encoded_mm_roi_size, + 0xC7, + 0xFF, + pgood_spads, + aperture_attenuation, + &max_mm_inner_effective_spads, + &max_mm_outer_effective_spads); + + if ((max_mm_inner_effective_spads == 0) || + (max_mm_outer_effective_spads == 0)) + goto FAIL; + + + + VL53L1_calc_mm_effective_spads( + encoded_mm_roi_centre, + encoded_mm_roi_size, + encoded_zone_centre, + encoded_zone_size, + pgood_spads, + aperture_attenuation, + &mm_inner_effective_spads, + &mm_outer_effective_spads); + + + + scaled_mm1_peak_rate_mcps = + (uint32_t)pcal_data->result__mm_inner_peak_signal_count_rtn_mcps; + scaled_mm1_peak_rate_mcps *= (uint32_t)mm_inner_effective_spads; + scaled_mm1_peak_rate_mcps /= (uint32_t)max_mm_inner_effective_spads; + + scaled_mm2_peak_rate_mcps = + (uint32_t)pcal_data->result__mm_outer_peak_signal_count_rtn_mcps; + scaled_mm2_peak_rate_mcps *= (uint32_t)mm_outer_effective_spads; + scaled_mm2_peak_rate_mcps /= (uint32_t)max_mm_outer_effective_spads; + + + + tmp0 = ((int32_t)mm1_offset_mm * (int32_t)scaled_mm1_peak_rate_mcps); + tmp0 += ((int32_t)mm2_offset_mm * (int32_t)scaled_mm2_peak_rate_mcps); + + tmp1 = (int32_t)scaled_mm1_peak_rate_mcps + + (int32_t)scaled_mm2_peak_rate_mcps; + + + + if (tmp1 != 0) + tmp0 = (tmp0 * 4) / tmp1; +FAIL: + *prange_offset_mm = (int16_t)tmp0; + +} + + +VL53L1_Error VL53L1_hist_xtalk_extract_calc_window( + int16_t target_distance_mm, + uint16_t target_width_oversize, + VL53L1_histogram_bin_data_t *phist_bins, + VL53L1_hist_xtalk_extract_data_t *pxtalk_data) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + pxtalk_data->pll_period_mm = + VL53L1_calc_pll_period_mm(phist_bins->VL53L1_p_019); + + + pxtalk_data->xtalk_width_phase = + (int32_t)phist_bins->vcsel_width * 128; + pxtalk_data->target_width_phase = + pxtalk_data->xtalk_width_phase + + (int32_t)target_width_oversize * 128; + + + + pxtalk_data->xtalk_start_phase = + (int32_t)phist_bins->zero_distance_phase - + (pxtalk_data->xtalk_width_phase / 2); + pxtalk_data->xtalk_end_phase = + (int32_t)pxtalk_data->xtalk_start_phase + + pxtalk_data->xtalk_width_phase; + + if (pxtalk_data->xtalk_start_phase < 0) + pxtalk_data->xtalk_start_phase = 0; + + + + + pxtalk_data->VL53L1_p_015 = + (uint8_t)(pxtalk_data->xtalk_start_phase / 2048); + + + pxtalk_data->VL53L1_p_016 = + (uint8_t)((pxtalk_data->xtalk_end_phase + 2047) / 2048); + + + + pxtalk_data->target_start_phase = + (int32_t)target_distance_mm * 2048 * 16; + pxtalk_data->target_start_phase += + ((int32_t)pxtalk_data->pll_period_mm / 2); + pxtalk_data->target_start_phase /= (int32_t)pxtalk_data->pll_period_mm; + pxtalk_data->target_start_phase += + (int32_t)phist_bins->zero_distance_phase; + + + + pxtalk_data->target_start_phase -= + (pxtalk_data->target_width_phase / 2); + pxtalk_data->target_end_phase = + (int32_t)pxtalk_data->target_start_phase + + pxtalk_data->target_width_phase; + + if (pxtalk_data->target_start_phase < 0) + pxtalk_data->target_start_phase = 0; + + + pxtalk_data->target_start = + (uint8_t)(pxtalk_data->target_start_phase / 2048); + + + if (pxtalk_data->VL53L1_p_016 > (pxtalk_data->target_start-1)) + pxtalk_data->VL53L1_p_016 = pxtalk_data->target_start-1; + + + pxtalk_data->effective_width = + (2048 * ((int32_t)pxtalk_data->VL53L1_p_016+1)); + pxtalk_data->effective_width -= pxtalk_data->xtalk_start_phase; + + + if (pxtalk_data->effective_width > pxtalk_data->xtalk_width_phase) + pxtalk_data->effective_width = pxtalk_data->xtalk_width_phase; + + if (pxtalk_data->effective_width < 1) + pxtalk_data->effective_width = 1; + + + pxtalk_data->event_scaler = pxtalk_data->xtalk_width_phase * 1000; + pxtalk_data->event_scaler += (pxtalk_data->effective_width / 2); + pxtalk_data->event_scaler /= pxtalk_data->effective_width; + + + if (pxtalk_data->event_scaler < 1000) + pxtalk_data->event_scaler = 1000; + + if (pxtalk_data->event_scaler > 4000) + pxtalk_data->event_scaler = 4000; + + + pxtalk_data->event_scaler_sum += pxtalk_data->event_scaler; + + + pxtalk_data->peak_duration_us_sum += + (uint32_t)phist_bins->peak_duration_us; + + + pxtalk_data->effective_spad_count_sum += + (uint32_t)phist_bins->result__dss_actual_effective_spads; + + + pxtalk_data->zero_distance_phase_sum += + (uint32_t)phist_bins->zero_distance_phase; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_hist_xtalk_extract_calc_event_sums( + VL53L1_histogram_bin_data_t *phist_bins, + VL53L1_hist_xtalk_extract_data_t *pxtalk_data) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t lb = 0; + uint8_t i = 0; + + LOG_FUNCTION_START(""); + + + + for (lb = pxtalk_data->VL53L1_p_015; + lb <= pxtalk_data->VL53L1_p_016; + lb++) { + + + i = (lb + phist_bins->number_of_ambient_bins + + phist_bins->VL53L1_p_024) % + phist_bins->VL53L1_p_024; + + + pxtalk_data->signal_events_sum += phist_bins->bin_data[i]; + pxtalk_data->signal_events_sum -= + phist_bins->VL53L1_p_004; + } + + + + for (lb = 0; lb < VL53L1_XTALK_HISTO_BINS && + lb < phist_bins->VL53L1_p_024; lb++) { + + + i = (lb + phist_bins->number_of_ambient_bins + + phist_bins->VL53L1_p_024) % + phist_bins->VL53L1_p_024; + + + pxtalk_data->bin_data_sums[lb] += phist_bins->bin_data[i]; + pxtalk_data->bin_data_sums[lb] -= + phist_bins->VL53L1_p_004; + } + + pxtalk_data->sample_count += 1; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_hist_xtalk_extract_calc_rate_per_spad( + VL53L1_hist_xtalk_extract_data_t *pxtalk_data) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint64_t tmp64_0 = 0; + uint64_t tmp64_1 = 0; + uint64_t xtalk_per_spad = 0; + + LOG_FUNCTION_START(""); + + + + + + + if (pxtalk_data->signal_events_sum > 0) { + tmp64_0 = + ((uint64_t)pxtalk_data->signal_events_sum * + (uint64_t)pxtalk_data->sample_count * + (uint64_t)pxtalk_data->event_scaler_avg * 256U) << 9U; + tmp64_1 = + (uint64_t)pxtalk_data->effective_spad_count_sum * + (uint64_t)pxtalk_data->peak_duration_us_sum; + + + + if (tmp64_1 > 0U) { + + tmp64_0 = tmp64_0 + (tmp64_1 >> 1U); + xtalk_per_spad = do_division_u(tmp64_0, tmp64_1); + } else { + xtalk_per_spad = (uint64_t)tmp64_0; + } + + } else { + status = VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL; + } + + pxtalk_data->xtalk_rate_kcps_per_spad = (uint32_t)xtalk_per_spad; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_hist_xtalk_extract_calc_shape( + VL53L1_hist_xtalk_extract_data_t *pxtalk_data, + VL53L1_xtalk_histogram_shape_t *pxtalk_shape) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + int32_t lb = 0; + uint64_t total_events = 0U; + uint64_t tmp64_0 = 0U; + int32_t remaining_area = 1024; + + LOG_FUNCTION_START(""); + + + + pxtalk_shape->VL53L1_p_022 = 0; + pxtalk_shape->VL53L1_p_023 = VL53L1_XTALK_HISTO_BINS; + pxtalk_shape->VL53L1_p_024 = VL53L1_XTALK_HISTO_BINS; + + pxtalk_shape->zero_distance_phase = + (uint16_t)pxtalk_data->zero_distance_phase_avg; + pxtalk_shape->phasecal_result__reference_phase = + (uint16_t)pxtalk_data->zero_distance_phase_avg + (3*2048); + + + + if (pxtalk_data->signal_events_sum > 0) + total_events = + (uint64_t)pxtalk_data->signal_events_sum * + (uint64_t)pxtalk_data->event_scaler_avg; + else + total_events = 1; + if (total_events == 0) + total_events = 1; + + + remaining_area = 1024; + pxtalk_data->max_shape_value = 0; + + for (lb = 0; lb < VL53L1_XTALK_HISTO_BINS; lb++) { + + if ((lb < (int32_t)pxtalk_data->VL53L1_p_015 || + lb > (int32_t)pxtalk_data->VL53L1_p_016) || + pxtalk_data->bin_data_sums[lb] < 0) { + + + if (remaining_area > 0 && remaining_area < 1024) { + if (remaining_area > + pxtalk_data->max_shape_value) { + pxtalk_shape->bin_data[lb] = + (uint32_t)pxtalk_data->max_shape_value; + remaining_area -= + pxtalk_data->max_shape_value; + } else { + pxtalk_shape->bin_data[lb] = + (uint32_t)remaining_area; + remaining_area = 0; + } + } else { + pxtalk_shape->bin_data[lb] = 0; + } + + } else { + + tmp64_0 = + (uint64_t)pxtalk_data->bin_data_sums[lb] + * 1024U * 1000U; + tmp64_0 += (total_events >> 1); + tmp64_0 = do_division_u(tmp64_0, total_events); + if (tmp64_0 > 0xFFFFU) + tmp64_0 = 0xFFFFU; + + pxtalk_shape->bin_data[lb] = (uint32_t)tmp64_0; + + + if ((int32_t)pxtalk_shape->bin_data[lb] > + pxtalk_data->max_shape_value) + pxtalk_data->max_shape_value = + (int32_t)pxtalk_shape->bin_data[lb]; + + remaining_area -= (int32_t)pxtalk_shape->bin_data[lb]; + } + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_hist_xtalk_shape_model( + uint16_t events_per_bin, + uint16_t pulse_centre, + uint16_t pulse_width, + VL53L1_xtalk_histogram_shape_t *pxtalk_shape) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint32_t phase_start = 0; + uint32_t phase_stop = 0; + uint32_t phase_bin = 0; + + uint32_t bin_start = 0; + uint32_t bin_stop = 0; + + uint32_t lb = 0; + uint16_t VL53L1_p_008 = 0; + + LOG_FUNCTION_START(""); + + + + pxtalk_shape->VL53L1_p_022 = 0; + pxtalk_shape->VL53L1_p_023 = VL53L1_XTALK_HISTO_BINS; + pxtalk_shape->VL53L1_p_024 = VL53L1_XTALK_HISTO_BINS; + + pxtalk_shape->zero_distance_phase = pulse_centre; + pxtalk_shape->phasecal_result__reference_phase = + pulse_centre + (3*2048); + + + if (pulse_centre > (pulse_width >> 1)) + phase_start = (uint32_t)pulse_centre - + ((uint32_t)pulse_width >> 1); + else + phase_start = 0; + + phase_stop = (uint32_t)pulse_centre + + ((uint32_t)pulse_width >> 1); + + + bin_start = (phase_start / 2048); + bin_stop = (phase_stop / 2048); + + for (lb = 0; lb < VL53L1_XTALK_HISTO_BINS; lb++) { + VL53L1_p_008 = 0; + + + if (lb == bin_start && lb == bin_stop) { + VL53L1_p_008 = + VL53L1_hist_xtalk_shape_model_interp( + events_per_bin, + phase_stop - phase_start); + + } else if (lb > bin_start && lb < bin_stop) { + + + VL53L1_p_008 = events_per_bin; + + } else if (lb == bin_start) { + + + phase_bin = (lb + 1) * 2048; + VL53L1_p_008 = + VL53L1_hist_xtalk_shape_model_interp( + events_per_bin, + (phase_bin - phase_start)); + + } else if (lb == bin_stop) { + + + phase_bin = lb * 2048; + VL53L1_p_008 = + VL53L1_hist_xtalk_shape_model_interp( + events_per_bin, + (phase_stop - phase_bin)); + } + + pxtalk_shape->bin_data[lb] = VL53L1_p_008; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +uint16_t VL53L1_hist_xtalk_shape_model_interp( + uint16_t events_per_bin, + uint32_t phase_delta) +{ + + + uint32_t VL53L1_p_008 = 0; + + LOG_FUNCTION_START(""); + + + VL53L1_p_008 = (uint32_t)events_per_bin * phase_delta; + VL53L1_p_008 += 1024; + VL53L1_p_008 /= 2048; + + + if (VL53L1_p_008 > 0xFFFFU) + VL53L1_p_008 = 0xFFFFU; + + LOG_FUNCTION_END(0); + + return (uint16_t)VL53L1_p_008; +} + + +void VL53L1_spad_number_to_byte_bit_index( + uint8_t spad_number, + uint8_t *pbyte_index, + uint8_t *pbit_index, + uint8_t *pbit_mask) +{ + + + + *pbyte_index = spad_number >> 3; + *pbit_index = spad_number & 0x07; + *pbit_mask = 0x01 << *pbit_index; + +} + + +void VL53L1_encode_row_col( + uint8_t row, + uint8_t col, + uint8_t *pspad_number) +{ + + + if (row > 7) + *pspad_number = 128 + (col << 3) + (15-row); + else + *pspad_number = ((15-col) << 3) + row; + +} + + +void VL53L1_decode_zone_size( + uint8_t encoded_xy_size, + uint8_t *pwidth, + uint8_t *pheight) +{ + + + + *pheight = encoded_xy_size >> 4; + *pwidth = encoded_xy_size & 0x0F; + +} + + +void VL53L1_encode_zone_size( + uint8_t width, + uint8_t height, + uint8_t *pencoded_xy_size) +{ + + + *pencoded_xy_size = (height << 4) + width; + +} + + +void VL53L1_decode_zone_limits( + uint8_t encoded_xy_centre, + uint8_t encoded_xy_size, + int16_t *px_ll, + int16_t *py_ll, + int16_t *px_ur, + int16_t *py_ur) +{ + + + + uint8_t x_centre = 0; + uint8_t y_centre = 0; + uint8_t width = 0; + uint8_t height = 0; + + + + VL53L1_decode_row_col( + encoded_xy_centre, + &y_centre, + &x_centre); + + VL53L1_decode_zone_size( + encoded_xy_size, + &width, + &height); + + + + *px_ll = (int16_t)x_centre - ((int16_t)width + 1) / 2; + if (*px_ll < 0) + *px_ll = 0; + + *px_ur = *px_ll + (int16_t)width; + if (*px_ur > (VL53L1_SPAD_ARRAY_WIDTH-1)) + *px_ur = VL53L1_SPAD_ARRAY_WIDTH-1; + + *py_ll = (int16_t)y_centre - ((int16_t)height + 1) / 2; + if (*py_ll < 0) + *py_ll = 0; + + *py_ur = *py_ll + (int16_t)height; + if (*py_ur > (VL53L1_SPAD_ARRAY_HEIGHT-1)) + *py_ur = VL53L1_SPAD_ARRAY_HEIGHT-1; +} + + +uint8_t VL53L1_is_aperture_location( + uint8_t row, + uint8_t col) +{ + + + uint8_t is_aperture = 0; + uint8_t mod_row = row % 4; + uint8_t mod_col = col % 4; + + if (mod_row == 0 && mod_col == 2) + is_aperture = 1; + + if (mod_row == 2 && mod_col == 0) + is_aperture = 1; + + return is_aperture; +} + + +void VL53L1_calc_max_effective_spads( + uint8_t encoded_zone_centre, + uint8_t encoded_zone_size, + uint8_t *pgood_spads, + uint16_t aperture_attenuation, + uint16_t *pmax_effective_spads) +{ + + + + int16_t x = 0; + int16_t y = 0; + + int16_t zone_x_ll = 0; + int16_t zone_y_ll = 0; + int16_t zone_x_ur = 0; + int16_t zone_y_ur = 0; + + uint8_t spad_number = 0; + uint8_t byte_index = 0; + uint8_t bit_index = 0; + uint8_t bit_mask = 0; + + uint8_t is_aperture = 0; + + + + VL53L1_decode_zone_limits( + encoded_zone_centre, + encoded_zone_size, + &zone_x_ll, + &zone_y_ll, + &zone_x_ur, + &zone_y_ur); + + + + *pmax_effective_spads = 0; + + for (y = zone_y_ll; y <= zone_y_ur; y++) { + for (x = zone_x_ll; x <= zone_x_ur; x++) { + + + + VL53L1_encode_row_col( + (uint8_t)y, + (uint8_t)x, + &spad_number); + + + + VL53L1_spad_number_to_byte_bit_index( + spad_number, + &byte_index, + &bit_index, + &bit_mask); + + + + if ((pgood_spads[byte_index] & bit_mask) > 0) { + + + is_aperture = VL53L1_is_aperture_location( + (uint8_t)y, + (uint8_t)x); + + if (is_aperture > 0) + *pmax_effective_spads += + aperture_attenuation; + else + *pmax_effective_spads += 0x0100; + + } + } + } +} + + +void VL53L1_calc_mm_effective_spads( + uint8_t encoded_mm_roi_centre, + uint8_t encoded_mm_roi_size, + uint8_t encoded_zone_centre, + uint8_t encoded_zone_size, + uint8_t *pgood_spads, + uint16_t aperture_attenuation, + uint16_t *pmm_inner_effective_spads, + uint16_t *pmm_outer_effective_spads) +{ + + + + int16_t x = 0; + int16_t y = 0; + + int16_t mm_x_ll = 0; + int16_t mm_y_ll = 0; + int16_t mm_x_ur = 0; + int16_t mm_y_ur = 0; + + int16_t zone_x_ll = 0; + int16_t zone_y_ll = 0; + int16_t zone_x_ur = 0; + int16_t zone_y_ur = 0; + + uint8_t spad_number = 0; + uint8_t byte_index = 0; + uint8_t bit_index = 0; + uint8_t bit_mask = 0; + + uint8_t is_aperture = 0; + uint16_t spad_attenuation = 0; + + + + VL53L1_decode_zone_limits( + encoded_mm_roi_centre, + encoded_mm_roi_size, + &mm_x_ll, + &mm_y_ll, + &mm_x_ur, + &mm_y_ur); + + VL53L1_decode_zone_limits( + encoded_zone_centre, + encoded_zone_size, + &zone_x_ll, + &zone_y_ll, + &zone_x_ur, + &zone_y_ur); + + + + *pmm_inner_effective_spads = 0; + *pmm_outer_effective_spads = 0; + + for (y = zone_y_ll; y <= zone_y_ur; y++) { + for (x = zone_x_ll; x <= zone_x_ur; x++) { + + + + VL53L1_encode_row_col( + (uint8_t)y, + (uint8_t)x, + &spad_number); + + + + VL53L1_spad_number_to_byte_bit_index( + spad_number, + &byte_index, + &bit_index, + &bit_mask); + + + + if ((pgood_spads[byte_index] & bit_mask) > 0) { + + + is_aperture = VL53L1_is_aperture_location( + (uint8_t)y, + (uint8_t)x); + + if (is_aperture > 0) + spad_attenuation = aperture_attenuation; + else + spad_attenuation = 0x0100; + + + + if (x >= mm_x_ll && x <= mm_x_ur && + y >= mm_y_ll && y <= mm_y_ur) + *pmm_inner_effective_spads += + spad_attenuation; + else + *pmm_outer_effective_spads += + spad_attenuation; + } + } + } +} + + +void VL53L1_hist_copy_results_to_sys_and_core( + VL53L1_histogram_bin_data_t *pbins, + VL53L1_range_results_t *phist, + VL53L1_system_results_t *psys, + VL53L1_core_results_t *pcore) +{ + + + uint8_t i = 0; + + VL53L1_range_data_t *pdata; + + LOG_FUNCTION_START(""); + + + + VL53L1_init_system_results(psys); + + + + psys->result__interrupt_status = pbins->result__interrupt_status; + psys->result__range_status = phist->active_results; + psys->result__report_status = pbins->result__report_status; + psys->result__stream_count = pbins->result__stream_count; + + pdata = &(phist->VL53L1_p_002[0]); + + for (i = 0; i < phist->active_results; i++) { + + switch (i) { + case 0: + psys->result__dss_actual_effective_spads_sd0 = + pdata->VL53L1_p_006; + psys->result__peak_signal_count_rate_mcps_sd0 = + pdata->peak_signal_count_rate_mcps; + psys->result__avg_signal_count_rate_mcps_sd0 = + pdata->avg_signal_count_rate_mcps; + psys->result__ambient_count_rate_mcps_sd0 = + pdata->ambient_count_rate_mcps; + + psys->result__sigma_sd0 = pdata->VL53L1_p_005; + psys->result__phase_sd0 = pdata->VL53L1_p_014; + + psys->result__final_crosstalk_corrected_range_mm_sd0 = + (uint16_t)pdata->median_range_mm; + + psys->result__phase_sd1 = pdata->zero_distance_phase; + + pcore->result_core__ranging_total_events_sd0 = + pdata->VL53L1_p_021; + pcore->result_core__signal_total_events_sd0 = + pdata->VL53L1_p_013; + pcore->result_core__total_periods_elapsed_sd0 = + pdata->total_periods_elapsed; + pcore->result_core__ambient_window_events_sd0 = + pdata->VL53L1_p_020; + + break; + case 1: + psys->result__dss_actual_effective_spads_sd1 = + pdata->VL53L1_p_006; + psys->result__peak_signal_count_rate_mcps_sd1 = + pdata->peak_signal_count_rate_mcps; + psys->result__ambient_count_rate_mcps_sd1 = + pdata->ambient_count_rate_mcps; + + psys->result__sigma_sd1 = pdata->VL53L1_p_005; + psys->result__phase_sd1 = pdata->VL53L1_p_014; + + psys->result__final_crosstalk_corrected_range_mm_sd1 = + (uint16_t)pdata->median_range_mm; + + pcore->result_core__ranging_total_events_sd1 = + pdata->VL53L1_p_021; + pcore->result_core__signal_total_events_sd1 = + pdata->VL53L1_p_013; + pcore->result_core__total_periods_elapsed_sd1 = + pdata->total_periods_elapsed; + pcore->result_core__ambient_window_events_sd1 = + pdata->VL53L1_p_020; + break; + } + + pdata++; + } + + LOG_FUNCTION_END(0); + +} + + +VL53L1_Error VL53L1_sum_histogram_data( + VL53L1_histogram_bin_data_t *phist_input, + VL53L1_histogram_bin_data_t *phist_output) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + uint8_t smallest_bin_num = 0; + + LOG_FUNCTION_START(""); + + + + if (status == VL53L1_ERROR_NONE) { + if (phist_output->VL53L1_p_024 >= + phist_input->VL53L1_p_024) + smallest_bin_num = phist_input->VL53L1_p_024; + else + smallest_bin_num = phist_output->VL53L1_p_024; + } + + + + + + if (status == VL53L1_ERROR_NONE) + for (i = 0; i < smallest_bin_num; i++) + + phist_output->bin_data[i] += phist_input->bin_data[i]; + + if (status == VL53L1_ERROR_NONE) + phist_output->VL53L1_p_004 += + phist_input->VL53L1_p_004; + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_avg_histogram_data( + uint8_t no_of_samples, + VL53L1_histogram_bin_data_t *phist_sum, + VL53L1_histogram_bin_data_t *phist_avg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + + LOG_FUNCTION_START(""); + + + + + + if (status == VL53L1_ERROR_NONE) { + for (i = 0; i < phist_sum->VL53L1_p_024; i++) { + + + + if (no_of_samples > 0) + phist_avg->bin_data[i] = + phist_sum->bin_data[i] / + (int32_t)no_of_samples; + else + phist_avg->bin_data[i] = phist_sum->bin_data[i]; + } + } + + if (status == VL53L1_ERROR_NONE) { + if (no_of_samples > 0) + phist_avg->VL53L1_p_004 = + phist_sum->VL53L1_p_004 / + (int32_t)no_of_samples; + else + phist_avg->VL53L1_p_004 = + phist_sum->VL53L1_p_004; + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_save_cfg_data( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + + VL53L1_zone_private_dyn_cfg_t *pzone_dyn_cfg; + VL53L1_dynamic_config_t *pdynamic = &(pdev->dyn_cfg); + + LOG_FUNCTION_START(""); + + pzone_dyn_cfg = + &(pres->zone_dyn_cfgs.VL53L1_p_002[pdev->ll_state.cfg_zone_id]); + + pzone_dyn_cfg->expected_stream_count = + pdev->ll_state.cfg_stream_count; + + pzone_dyn_cfg->expected_gph_id = + pdev->ll_state.cfg_gph_id; + + pzone_dyn_cfg->roi_config__user_roi_centre_spad = + pdynamic->roi_config__user_roi_centre_spad; + + pzone_dyn_cfg->roi_config__user_roi_requested_global_xy_size = + pdynamic->roi_config__user_roi_requested_global_xy_size; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_dynamic_zone_update( + VL53L1_DEV Dev, + VL53L1_range_results_t *presults) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = + VL53L1DevStructGetLLResultsHandle(Dev); + VL53L1_zone_private_dyn_cfgs_t *pZ = &(pres->zone_dyn_cfgs); + + uint8_t zone_id = pdev->ll_state.rd_zone_id; + uint8_t i; + uint16_t max_total_rate_per_spads; + uint16_t target_rate = + pdev->stat_cfg.dss_config__target_total_rate_mcps; + uint32_t temp = 0xFFFF; +#ifdef VL53L1_LOG_ENABLE + uint16_t eff_spad_cnt = + pZ->VL53L1_p_002[zone_id].dss_requested_effective_spad_count; +#endif + + LOG_FUNCTION_START(""); + + pZ->VL53L1_p_002[zone_id].dss_requested_effective_spad_count = 0; + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " DYNZONEUPDATE: peak signal count rate mcps:"); + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + "%u actual effective spads: %u\n", + presults->VL53L1_p_002[0].peak_signal_count_rate_mcps, + presults->VL53L1_p_002[0].VL53L1_p_006); + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " DYNZONEUPDATE: active results: %u\n", + presults->active_results); + + max_total_rate_per_spads = + presults->VL53L1_p_002[0].total_rate_per_spad_mcps; + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " DYNZONEUPDATE: max total rate per spad at start: %u\n", + max_total_rate_per_spads); + + for (i = 1; i < presults->active_results; i++) { + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " DYNZONEUPDATE: zone total rate per spad: zone_id: %u,", + i); + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + "total rate per spad: %u\n", + presults->VL53L1_p_002[i].total_rate_per_spad_mcps); + + if (presults->VL53L1_p_002[i].total_rate_per_spad_mcps > + max_total_rate_per_spads) + max_total_rate_per_spads = + presults->VL53L1_p_002[i].total_rate_per_spad_mcps; + + } + + if (max_total_rate_per_spads == 0) { + + temp = 0xFFFF; + } else { + + temp = target_rate << 14; + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " DYNZONEUPDATE: 1: temp: %u\n", + temp); + + + temp = temp / max_total_rate_per_spads; + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " DYNZONEUPDATE: 2: temp: %u\n", + temp); + + + if (temp > 0xFFFF) + temp = 0xFFFF; + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " DYNZONEUPDATE: 3: temp: %u\n", + temp); + } + + pZ->VL53L1_p_002[zone_id].dss_requested_effective_spad_count = + (uint16_t)temp; + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " DYNZONEUPDATE: zone_id: %u, target_rate: %u,", + zone_id, + target_rate); + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + "max_total_rate_per_spads: %u, requested_spads: %u\n", + max_total_rate_per_spads, + eff_spad_cnt); + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_multizone_hist_bins_update( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_ll_driver_state_t *pstate = &(pdev->ll_state); + VL53L1_zone_config_t *pzone_cfg = &(pdev->zone_cfg); + VL53L1_histogram_config_t *phist_cfg = &(pdev->hist_cfg); + VL53L1_histogram_config_t *pmulti_hist = + &(pzone_cfg->multizone_hist_cfg); + + uint8_t next_range_is_odd_timing = (pstate->cfg_stream_count) % 2; + + LOG_FUNCTION_START(""); + + + if (pzone_cfg->bin_config[pdev->ll_state.cfg_zone_id] == + VL53L1_ZONECONFIG_BINCONFIG__LOWAMB) { + if (!next_range_is_odd_timing) { + trace_print (VL53L1_TRACE_LEVEL_DEBUG, + " HISTBINCONFIGUPDATE: Setting LOWAMB EVEN timing\n"); + phist_cfg->histogram_config__low_amb_even_bin_0_1 = + pmulti_hist->histogram_config__low_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_even_bin_2_3 = + pmulti_hist->histogram_config__low_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_even_bin_4_5 = + pmulti_hist->histogram_config__low_amb_even_bin_4_5; + } + + if (next_range_is_odd_timing) { + trace_print (VL53L1_TRACE_LEVEL_DEBUG, + " HISTBINCONFIGUPDATE: Setting LOWAMB ODD timing\n"); + phist_cfg->histogram_config__low_amb_odd_bin_0_1 = + pmulti_hist->histogram_config__low_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_odd_bin_2_3 = + pmulti_hist->histogram_config__low_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_odd_bin_4_5 = + pmulti_hist->histogram_config__low_amb_even_bin_4_5; + } + } else if (pzone_cfg->bin_config[pdev->ll_state.cfg_zone_id] == + VL53L1_ZONECONFIG_BINCONFIG__MIDAMB) { + trace_print (VL53L1_TRACE_LEVEL_DEBUG, + " HISTBINCONFIGUPDATE: Setting MIDAMB timing\n"); + if (!next_range_is_odd_timing) { + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + " HISTBINCONFIGUPDATE: Setting MIDAMB EVEN timing\n"); + phist_cfg->histogram_config__low_amb_even_bin_0_1 = + pmulti_hist->histogram_config__mid_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_even_bin_2_3 = + pmulti_hist->histogram_config__mid_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_even_bin_4_5 = + pmulti_hist->histogram_config__mid_amb_even_bin_4_5; + } + + if (next_range_is_odd_timing) { + trace_print (VL53L1_TRACE_LEVEL_DEBUG, + " HISTBINCONFIGUPDATE: Setting MIDAMB ODD timing\n"); + phist_cfg->histogram_config__low_amb_odd_bin_0_1 = + pmulti_hist->histogram_config__mid_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_odd_bin_2_3 = + pmulti_hist->histogram_config__mid_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_odd_bin_4_5 = + pmulti_hist->histogram_config__mid_amb_even_bin_4_5; + } + } else if (pzone_cfg->bin_config[pdev->ll_state.cfg_zone_id] == + VL53L1_ZONECONFIG_BINCONFIG__HIGHAMB) { + if (!next_range_is_odd_timing) { + trace_print (VL53L1_TRACE_LEVEL_DEBUG, + " HISTBINCONFIGUPDATE: Setting HIGHAMB EVEN timing\n" + ); + phist_cfg->histogram_config__low_amb_even_bin_0_1 = + pmulti_hist->histogram_config__high_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_even_bin_2_3 = + pmulti_hist->histogram_config__high_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_even_bin_4_5 = + pmulti_hist->histogram_config__high_amb_even_bin_4_5; + } + + if (next_range_is_odd_timing) { + trace_print (VL53L1_TRACE_LEVEL_DEBUG, + " HISTBINCONFIGUPDATE: Setting HIGHAMB ODD timing\n"); + phist_cfg->histogram_config__low_amb_odd_bin_0_1 = + pmulti_hist->histogram_config__high_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_odd_bin_2_3 = + pmulti_hist->histogram_config__high_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_odd_bin_4_5 = + pmulti_hist->histogram_config__high_amb_even_bin_4_5; + } + } + + + + if (status == VL53L1_ERROR_NONE) { + VL53L1_copy_hist_bins_to_static_cfg( + phist_cfg, + &(pdev->stat_cfg), + &(pdev->tim_cfg)); + } + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_update_internal_stream_counters( + VL53L1_DEV Dev, + uint8_t external_stream_count, + uint8_t *pinternal_stream_count, + uint8_t *pinternal_stream_count_val) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t stream_divider; + + VL53L1_LLDriverData_t *pdev = + VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + stream_divider = pdev->gen_cfg.global_config__stream_divider; + + if (stream_divider == 0) { + + + *pinternal_stream_count = external_stream_count; + + } else if (*pinternal_stream_count_val == (stream_divider-1)) { + + + if (*pinternal_stream_count == 0xFF) + *pinternal_stream_count = 0x80; + else + *pinternal_stream_count = *pinternal_stream_count + 1; + + + *pinternal_stream_count_val = 0; + + } else { + + + *pinternal_stream_count_val = *pinternal_stream_count_val + 1; + } + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + "UPDINTSTREAMCOUNT internal_steam_count: %d,", + *pinternal_stream_count); + + trace_print(VL53L1_TRACE_LEVEL_DEBUG, + "internal_stream_count_val: %d, divider: %d\n", + *pinternal_stream_count_val, + stream_divider); + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_set_histogram_multizone_initial_bin_config( + VL53L1_zone_config_t *pzone_cfg, + VL53L1_histogram_config_t *phist_cfg, + VL53L1_histogram_config_t *pmulti_hist) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + if (pzone_cfg->bin_config[0] == + VL53L1_ZONECONFIG_BINCONFIG__LOWAMB) { + phist_cfg->histogram_config__low_amb_even_bin_0_1 = + pmulti_hist->histogram_config__low_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_even_bin_2_3 = + pmulti_hist->histogram_config__low_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_even_bin_4_5 = + pmulti_hist->histogram_config__low_amb_even_bin_4_5; + + phist_cfg->histogram_config__low_amb_odd_bin_0_1 = + pmulti_hist->histogram_config__low_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_odd_bin_2_3 = + pmulti_hist->histogram_config__low_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_odd_bin_4_5 = + pmulti_hist->histogram_config__low_amb_even_bin_4_5; + } else if (pzone_cfg->bin_config[0] == + VL53L1_ZONECONFIG_BINCONFIG__MIDAMB) { + phist_cfg->histogram_config__low_amb_even_bin_0_1 = + pmulti_hist->histogram_config__mid_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_even_bin_2_3 = + pmulti_hist->histogram_config__mid_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_even_bin_4_5 = + pmulti_hist->histogram_config__mid_amb_even_bin_4_5; + + phist_cfg->histogram_config__low_amb_odd_bin_0_1 = + pmulti_hist->histogram_config__mid_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_odd_bin_2_3 = + pmulti_hist->histogram_config__mid_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_odd_bin_4_5 = + pmulti_hist->histogram_config__mid_amb_even_bin_4_5; + } else if (pzone_cfg->bin_config[0] == + VL53L1_ZONECONFIG_BINCONFIG__HIGHAMB) { + phist_cfg->histogram_config__low_amb_even_bin_0_1 = + pmulti_hist->histogram_config__high_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_even_bin_2_3 = + pmulti_hist->histogram_config__high_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_even_bin_4_5 = + pmulti_hist->histogram_config__high_amb_even_bin_4_5; + phist_cfg->histogram_config__low_amb_odd_bin_0_1 = + pmulti_hist->histogram_config__high_amb_even_bin_0_1; + phist_cfg->histogram_config__low_amb_odd_bin_2_3 = + pmulti_hist->histogram_config__high_amb_even_bin_2_3; + phist_cfg->histogram_config__low_amb_odd_bin_4_5 = + pmulti_hist->histogram_config__high_amb_even_bin_4_5; + } + + LOG_FUNCTION_END(status); + return status; +} + + + +uint8_t VL53L1_encode_GPIO_interrupt_config( + VL53L1_GPIO_interrupt_config_t *pintconf) +{ + uint8_t system__interrupt_config; + + system__interrupt_config = pintconf->intr_mode_distance; + system__interrupt_config |= ((pintconf->intr_mode_rate) << 2); + system__interrupt_config |= ((pintconf->intr_new_measure_ready) << 5); + system__interrupt_config |= ((pintconf->intr_no_target) << 6); + system__interrupt_config |= ((pintconf->intr_combined_mode) << 7); + + return system__interrupt_config; +} + + + +VL53L1_GPIO_interrupt_config_t VL53L1_decode_GPIO_interrupt_config( + uint8_t system__interrupt_config) +{ + VL53L1_GPIO_interrupt_config_t intconf; + + intconf.intr_mode_distance = system__interrupt_config & 0x03; + intconf.intr_mode_rate = (system__interrupt_config >> 2) & 0x03; + intconf.intr_new_measure_ready = (system__interrupt_config >> 5) & 0x01; + intconf.intr_no_target = (system__interrupt_config >> 6) & 0x01; + intconf.intr_combined_mode = (system__interrupt_config >> 7) & 0x01; + + + intconf.threshold_rate_low = 0; + intconf.threshold_rate_high = 0; + intconf.threshold_distance_low = 0; + intconf.threshold_distance_high = 0; + + return intconf; +} + + + +VL53L1_Error VL53L1_set_GPIO_distance_threshold( + VL53L1_DEV Dev, + uint16_t threshold_high, + uint16_t threshold_low) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->dyn_cfg.system__thresh_high = threshold_high; + pdev->dyn_cfg.system__thresh_low = threshold_low; + + LOG_FUNCTION_END(status); + return status; +} + + + +VL53L1_Error VL53L1_set_GPIO_rate_threshold( + VL53L1_DEV Dev, + uint16_t threshold_high, + uint16_t threshold_low) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->gen_cfg.system__thresh_rate_high = threshold_high; + pdev->gen_cfg.system__thresh_rate_low = threshold_low; + + LOG_FUNCTION_END(status); + return status; +} + + + +VL53L1_Error VL53L1_set_GPIO_thresholds_from_struct( + VL53L1_DEV Dev, + VL53L1_GPIO_interrupt_config_t *pintconf) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = VL53L1_set_GPIO_distance_threshold( + Dev, + pintconf->threshold_distance_high, + pintconf->threshold_distance_low); + + if (status == VL53L1_ERROR_NONE) { + status = + VL53L1_set_GPIO_rate_threshold( + Dev, + pintconf->threshold_rate_high, + pintconf->threshold_rate_low); + } + + LOG_FUNCTION_END(status); + return status; +} + + +VL53L1_Error VL53L1_set_ref_spad_char_config( + VL53L1_DEV Dev, + uint8_t vcsel_period_a, + uint32_t phasecal_timeout_us, + uint16_t total_rate_target_mcps, + uint16_t max_count_rate_rtn_limit_mcps, + uint16_t min_count_rate_rtn_limit_mcps, + uint16_t fast_osc_frequency) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t buffer[2]; + + uint32_t macro_period_us = 0; + uint32_t timeout_mclks = 0; + + LOG_FUNCTION_START(""); + + + macro_period_us = + VL53L1_calc_macro_period_us( + fast_osc_frequency, + vcsel_period_a); + + + + timeout_mclks = phasecal_timeout_us << 12; + timeout_mclks = timeout_mclks + (macro_period_us>>1); + timeout_mclks = timeout_mclks / macro_period_us; + + if (timeout_mclks > 0xFF) + pdev->gen_cfg.phasecal_config__timeout_macrop = 0xFF; + else + pdev->gen_cfg.phasecal_config__timeout_macrop = + (uint8_t)timeout_mclks; + + pdev->tim_cfg.range_config__vcsel_period_a = vcsel_period_a; + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WrByte( + Dev, + VL53L1_PHASECAL_CONFIG__TIMEOUT_MACROP, + pdev->gen_cfg.phasecal_config__timeout_macrop); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WrByte( + Dev, + VL53L1_RANGE_CONFIG__VCSEL_PERIOD_A, + pdev->tim_cfg.range_config__vcsel_period_a); + + + + buffer[0] = pdev->tim_cfg.range_config__vcsel_period_a; + buffer[1] = pdev->tim_cfg.range_config__vcsel_period_a; + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WriteMulti( + Dev, + VL53L1_SD_CONFIG__WOI_SD0, + buffer, + 2); + + + + pdev->customer.ref_spad_char__total_rate_target_mcps = + total_rate_target_mcps; + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WrWord( + Dev, + VL53L1_REF_SPAD_CHAR__TOTAL_RATE_TARGET_MCPS, + total_rate_target_mcps); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WrWord( + Dev, + VL53L1_RANGE_CONFIG__SIGMA_THRESH, + max_count_rate_rtn_limit_mcps); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WrWord( + Dev, + VL53L1_RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, + min_count_rate_rtn_limit_mcps); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_ssc_config( + VL53L1_DEV Dev, + VL53L1_ssc_config_t *pssc_cfg, + uint16_t fast_osc_frequency) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t buffer[5]; + + uint32_t macro_period_us = 0; + uint16_t timeout_encoded = 0; + + LOG_FUNCTION_START(""); + + + macro_period_us = + VL53L1_calc_macro_period_us( + fast_osc_frequency, + pssc_cfg->VL53L1_p_009); + + + timeout_encoded = + VL53L1_calc_encoded_timeout( + pssc_cfg->timeout_us, + macro_period_us); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WrByte( + Dev, + VL53L1_CAL_CONFIG__VCSEL_START, + pssc_cfg->vcsel_start); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WrByte( + Dev, + VL53L1_GLOBAL_CONFIG__VCSEL_WIDTH, + pssc_cfg->vcsel_width); + + + + buffer[0] = (uint8_t)((timeout_encoded & 0x0000FF00) >> 8); + buffer[1] = (uint8_t) (timeout_encoded & 0x000000FF); + buffer[2] = pssc_cfg->VL53L1_p_009; + buffer[3] = (uint8_t)((pssc_cfg->rate_limit_mcps & 0x0000FF00) >> 8); + buffer[4] = (uint8_t) (pssc_cfg->rate_limit_mcps & 0x000000FF); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WriteMulti( + Dev, + VL53L1_RANGE_CONFIG__TIMEOUT_MACROP_B_HI, + buffer, + 5); + + + + buffer[0] = pssc_cfg->VL53L1_p_009; + buffer[1] = pssc_cfg->VL53L1_p_009; + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WriteMulti( + Dev, + VL53L1_SD_CONFIG__WOI_SD0, + buffer, + 2); + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WrByte( + Dev, + VL53L1_NVM_BIST__CTRL, + pssc_cfg->array_select); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_spad_rate_data( + VL53L1_DEV Dev, + VL53L1_spad_rate_data_t *pspad_rates) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + int i = 0; + + uint8_t VL53L1_p_002[512]; + uint8_t *pdata = &VL53L1_p_002[0]; + + LOG_FUNCTION_START(""); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_ReadMulti( + Dev, + VL53L1_PRIVATE__PATCH_BASE_ADDR_RSLV, + pdata, + 512); + + + pdata = &VL53L1_p_002[0]; + for (i = 0; i < VL53L1_NO_OF_SPAD_ENABLES; i++) { + pspad_rates->rate_data[i] = + (uint16_t)VL53L1_decode_unsigned_integer(pdata, 2); + pdata += 2; + } + + + + pspad_rates->VL53L1_p_023 = VL53L1_NO_OF_SPAD_ENABLES; + pspad_rates->no_of_values = VL53L1_NO_OF_SPAD_ENABLES; + pspad_rates->fractional_bits = 15; + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_dynamic_xtalk_correction_calc_required_samples( + VL53L1_DEV Dev + ) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = VL53L1DevStructGetLLResultsHandle(Dev); + VL53L1_smudge_corrector_config_t *pconfig = + &(pdev->smudge_correct_config); + VL53L1_smudge_corrector_internals_t *pint = + &(pdev->smudge_corrector_internals); + + VL53L1_range_results_t *presults = &(pres->range_results); + VL53L1_range_data_t *pxmonitor = &(presults->xmonitor); + + uint32_t peak_duration_us = pxmonitor->peak_duration_us; + + uint64_t temp64a; + uint64_t temp64z; + + LOG_FUNCTION_START(""); + + if (peak_duration_us == 0) + peak_duration_us = 1000; + + temp64a = pxmonitor->VL53L1_p_021 + + pxmonitor->VL53L1_p_020; + temp64a = do_division_u((temp64a * 1000), peak_duration_us); + temp64a = do_division_u((temp64a * 1000), peak_duration_us); + + temp64z = pconfig->noise_margin * pxmonitor->VL53L1_p_006; + if (temp64z == 0) + temp64z = 1; + temp64a = temp64a * 1000 * 256; + temp64a = do_division_u(temp64a, temp64z); + temp64a = temp64a * 1000 * 256; + temp64a = do_division_u(temp64a, temp64z); + + pint->required_samples = (uint32_t)temp64a; + + + if (pint->required_samples < 2) + pint->required_samples = 2; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_dynamic_xtalk_correction_calc_new_xtalk( + VL53L1_DEV Dev, + uint32_t xtalk_offset_out, + VL53L1_smudge_corrector_config_t *pconfig, + VL53L1_smudge_corrector_data_t *pout, + uint8_t add_smudge, + uint8_t soft_update + ) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + int16_t x_gradient_scaler; + int16_t y_gradient_scaler; + uint32_t orig_xtalk_offset; + int16_t orig_x_gradient; + int16_t orig_y_gradient; + uint8_t histo_merge_nb; + uint8_t i; + int32_t itemp32; + uint32_t SmudgeFactor; + VL53L1_xtalk_config_t *pX = &(pdev->xtalk_cfg); + VL53L1_xtalk_calibration_results_t *pC = &(pdev->xtalk_cal); + uint32_t *pcpo; + uint32_t max, nXtalk, cXtalk; + uint8_t merge_enabled; + + + LOG_FUNCTION_START(""); + + merge_enabled = (pdev->tuning_parms.tp_hist_merge == 1) && + (VL53L1DevDataGet(Dev, CurrentParameters.PresetMode) == + VL53L1_PRESETMODE_RANGING); + + + if (add_smudge == 1) { + pout->algo__crosstalk_compensation_plane_offset_kcps = + (uint32_t)xtalk_offset_out + + (uint32_t)pconfig->smudge_margin; + } else { + pout->algo__crosstalk_compensation_plane_offset_kcps = + (uint32_t)xtalk_offset_out; + } + + + orig_xtalk_offset = + pX->nvm_default__crosstalk_compensation_plane_offset_kcps; + + orig_x_gradient = + pX->nvm_default__crosstalk_compensation_x_plane_gradient_kcps; + + orig_y_gradient = + pX->nvm_default__crosstalk_compensation_y_plane_gradient_kcps; + + if (((pconfig->user_scaler_set == 0) || + (pconfig->scaler_calc_method == 1)) && + (pC->algo__crosstalk_compensation_plane_offset_kcps != 0)) { + + VL53L1_compute_histo_merge_nb(Dev, &histo_merge_nb); + if (histo_merge_nb == 0) + histo_merge_nb = 1; + if (!merge_enabled) + orig_xtalk_offset = + pC->algo__crosstalk_compensation_plane_offset_kcps; + else + orig_xtalk_offset = + pC->algo__xtalk_cpo_HistoMerge_kcps[histo_merge_nb-1]; + + orig_x_gradient = + pC->algo__crosstalk_compensation_x_plane_gradient_kcps; + + orig_y_gradient = + pC->algo__crosstalk_compensation_y_plane_gradient_kcps; + } + + + if ((pconfig->user_scaler_set == 0) && (orig_x_gradient == 0)) + pout->gradient_zero_flag |= 0x01; + + if ((pconfig->user_scaler_set == 0) && (orig_y_gradient == 0)) + pout->gradient_zero_flag |= 0x02; + + + + if (orig_xtalk_offset == 0) + orig_xtalk_offset = 1; + + + + if (pconfig->user_scaler_set == 1) { + x_gradient_scaler = pconfig->x_gradient_scaler; + y_gradient_scaler = pconfig->y_gradient_scaler; + } else { + + x_gradient_scaler = (int16_t)do_division_s( + (((int32_t)orig_x_gradient) << 6), + orig_xtalk_offset); + pconfig->x_gradient_scaler = x_gradient_scaler; + y_gradient_scaler = (int16_t)do_division_s( + (((int32_t)orig_y_gradient) << 6), + orig_xtalk_offset); + pconfig->y_gradient_scaler = y_gradient_scaler; + } + + + + if (pconfig->scaler_calc_method == 0) { + + + itemp32 = (int32_t)( + pout->algo__crosstalk_compensation_plane_offset_kcps * + x_gradient_scaler); + itemp32 = itemp32 >> 6; + if (itemp32 > 0xFFFF) + itemp32 = 0xFFFF; + + pout->algo__crosstalk_compensation_x_plane_gradient_kcps = + (int16_t)itemp32; + + itemp32 = (int32_t)( + pout->algo__crosstalk_compensation_plane_offset_kcps * + y_gradient_scaler); + itemp32 = itemp32 >> 6; + if (itemp32 > 0xFFFF) + itemp32 = 0xFFFF; + + pout->algo__crosstalk_compensation_y_plane_gradient_kcps = + (int16_t)itemp32; + } else if (pconfig->scaler_calc_method == 1) { + + + itemp32 = (int32_t)(orig_xtalk_offset - + pout->algo__crosstalk_compensation_plane_offset_kcps); + itemp32 = (int32_t)(do_division_s(itemp32, 16)); + itemp32 = itemp32 << 2; + itemp32 = itemp32 + (int32_t)(orig_x_gradient); + if (itemp32 > 0xFFFF) + itemp32 = 0xFFFF; + + pout->algo__crosstalk_compensation_x_plane_gradient_kcps = + (int16_t)itemp32; + + itemp32 = (int32_t)(orig_xtalk_offset - + pout->algo__crosstalk_compensation_plane_offset_kcps); + itemp32 = (int32_t)(do_division_s(itemp32, 80)); + itemp32 = itemp32 << 2; + itemp32 = itemp32 + (int32_t)(orig_y_gradient); + if (itemp32 > 0xFFFF) + itemp32 = 0xFFFF; + + pout->algo__crosstalk_compensation_y_plane_gradient_kcps = + (int16_t)itemp32; + } + + + if (pconfig->smudge_corr_apply_enabled == 1 && + (soft_update != 1)) { + pout->new_xtalk_applied_flag = 1; + nXtalk = pout->algo__crosstalk_compensation_plane_offset_kcps; + + VL53L1_compute_histo_merge_nb(Dev, &histo_merge_nb); + max = pdev->tuning_parms.tp_hist_merge_max_size; + pcpo = &(pC->algo__xtalk_cpo_HistoMerge_kcps[0]); + if ((histo_merge_nb > 0) && merge_enabled && (nXtalk != 0)) { + cXtalk = + pC->algo__xtalk_cpo_HistoMerge_kcps[histo_merge_nb-1]; + SmudgeFactor = cXtalk * 1000 / nXtalk; + if (SmudgeFactor >= pconfig->max_smudge_factor) + pout->new_xtalk_applied_flag = 0; + else if (SmudgeFactor > 0) + for (i = 0; i < max; i++) { + *pcpo *= 1000; + *pcpo /= SmudgeFactor; + pcpo++; + } + } + if (pout->new_xtalk_applied_flag) { + + pX->algo__crosstalk_compensation_plane_offset_kcps = + pout->algo__crosstalk_compensation_plane_offset_kcps; + pX->algo__crosstalk_compensation_x_plane_gradient_kcps = + pout->algo__crosstalk_compensation_x_plane_gradient_kcps; + pX->algo__crosstalk_compensation_y_plane_gradient_kcps = + pout->algo__crosstalk_compensation_y_plane_gradient_kcps; + + if (pconfig->smudge_corr_single_apply == 1) { + + pconfig->smudge_corr_apply_enabled = 0; + pconfig->smudge_corr_single_apply = 0; + } + } + } + + + if (soft_update != 1) + pout->smudge_corr_valid = 1; + + LOG_FUNCTION_END(status); + + return status; +} + +#define CONT_CONTINUE 0 +#define CONT_NEXT_LOOP 1 +#define CONT_RESET 2 +VL53L1_Error VL53L1_dynamic_xtalk_correction_corrector( + VL53L1_DEV Dev + ) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = VL53L1DevStructGetLLResultsHandle(Dev); + VL53L1_smudge_corrector_config_t *pconfig = + &(pdev->smudge_correct_config); + VL53L1_smudge_corrector_internals_t *pint = + &(pdev->smudge_corrector_internals); + VL53L1_smudge_corrector_data_t *pout = + &(pres->range_results.smudge_corrector_data); + VL53L1_range_results_t *pR = &(pres->range_results); + VL53L1_xtalk_config_t *pX = &(pdev->xtalk_cfg); + + uint8_t run_smudge_detection = 0; + uint8_t merging_complete = 0; + uint8_t run_nodetect = 0; + uint8_t ambient_check = 0; + int32_t itemp32 = 0; + uint64_t utemp64 = 0; + uint8_t continue_processing = CONT_CONTINUE; + uint32_t xtalk_offset_out = 0; + uint32_t xtalk_offset_in = 0; + uint32_t current_xtalk = 0; + uint32_t smudge_margin_adjusted = 0; + uint8_t i = 0; + uint8_t nodetect_index = 0; + uint16_t amr; + uint32_t cco; + uint8_t histo_merge_nb; + uint8_t merge_enabled; + + + LOG_FUNCTION_START(""); + + merge_enabled = (pdev->tuning_parms.tp_hist_merge == 1) && + (VL53L1DevDataGet(Dev, CurrentParameters.PresetMode) == + VL53L1_PRESETMODE_RANGING); + + VL53L1_compute_histo_merge_nb(Dev, &histo_merge_nb); + if ((histo_merge_nb == 0) || (!merge_enabled)) + histo_merge_nb = 1; + + + VL53L1_dynamic_xtalk_correction_output_init(pres); + + + ambient_check = (pconfig->smudge_corr_ambient_threshold == 0) || + ((pconfig->smudge_corr_ambient_threshold * histo_merge_nb) > + ((uint32_t)pR->xmonitor.ambient_count_rate_mcps)); + + + merging_complete = ((!merge_enabled) || + (histo_merge_nb == pdev->tuning_parms.tp_hist_merge_max_size)); + + run_smudge_detection = + (pconfig->smudge_corr_enabled == 1) && + ambient_check && + (pR->xmonitor.range_status + == VL53L1_DEVICEERROR_RANGECOMPLETE) && + merging_complete; + + + if ((pR->xmonitor.range_status + != VL53L1_DEVICEERROR_RANGECOMPLETE) && + (pconfig->smudge_corr_enabled == 1)) { + + run_nodetect = 2; + for (i = 0; i < pR->active_results; i++) { + if (pR->VL53L1_p_002[i].range_status == + VL53L1_DEVICEERROR_RANGECOMPLETE) { + if (pR->VL53L1_p_002[i].median_range_mm + <= + pconfig->nodetect_min_range_mm) { + run_nodetect = 0; + } else { + if (run_nodetect == 2) { + run_nodetect = 1; + nodetect_index = i; + } + } + } + } + + if (run_nodetect == 2) + + run_nodetect = 0; + + amr = + pR->VL53L1_p_002[nodetect_index].ambient_count_rate_mcps; + + if (run_nodetect == 1) { + + + + + utemp64 = 1000 * ((uint64_t)amr); + + + utemp64 = utemp64 << 9; + + + if (utemp64 < pconfig->nodetect_ambient_threshold) + run_nodetect = 1; + else + run_nodetect = 0; + + } + } + + + if (run_smudge_detection) { + + pint->nodetect_counter = 0; + + + VL53L1_dynamic_xtalk_correction_calc_required_samples(Dev); + + + xtalk_offset_in = + pR->xmonitor.VL53L1_p_012; + + + cco = pX->algo__crosstalk_compensation_plane_offset_kcps; + current_xtalk = ((uint32_t)cco) << 2; + + + smudge_margin_adjusted = + ((uint32_t)(pconfig->smudge_margin)) << 2; + + + itemp32 = xtalk_offset_in - current_xtalk + + smudge_margin_adjusted; + + if (itemp32 < 0) + itemp32 = itemp32 * (-1); + + + if (itemp32 > ((int32_t)pconfig->single_xtalk_delta)) { + if ((int32_t)xtalk_offset_in > + ((int32_t)current_xtalk - + (int32_t)smudge_margin_adjusted)) { + pout->single_xtalk_delta_flag = 1; + } else { + pout->single_xtalk_delta_flag = 2; + } + } + + + pint->current_samples = pint->current_samples + 1; + + + if (pint->current_samples > pconfig->sample_limit) { + pout->sample_limit_exceeded_flag = 1; + continue_processing = CONT_RESET; + } else { + pint->accumulator = pint->accumulator + + xtalk_offset_in; + } + + if (pint->current_samples < pint->required_samples) + continue_processing = CONT_NEXT_LOOP; + + + xtalk_offset_out = + (uint32_t)(do_division_u(pint->accumulator, + pint->current_samples)); + + + itemp32 = xtalk_offset_out - current_xtalk + + smudge_margin_adjusted; + + if (itemp32 < 0) + itemp32 = itemp32 * (-1); + + if (continue_processing == CONT_CONTINUE && + (itemp32 >= ((int32_t)(pconfig->averaged_xtalk_delta))) + ) { + if ((int32_t)xtalk_offset_out > + ((int32_t)current_xtalk - + (int32_t)smudge_margin_adjusted)) + pout->averaged_xtalk_delta_flag = 1; + else + pout->averaged_xtalk_delta_flag = 2; + } + + if (continue_processing == CONT_CONTINUE && + (itemp32 < ((int32_t)(pconfig->averaged_xtalk_delta))) + ) + + continue_processing = CONT_RESET; + + + + pout->smudge_corr_clipped = 0; + if ((continue_processing == CONT_CONTINUE) && + (pconfig->smudge_corr_clip_limit != 0)) { + if (xtalk_offset_out > + (pconfig->smudge_corr_clip_limit * histo_merge_nb)) { + pout->smudge_corr_clipped = 1; + continue_processing = CONT_RESET; + } + } + + + + if (pconfig->user_xtalk_offset_limit_hi && + (xtalk_offset_out > + pconfig->user_xtalk_offset_limit)) + xtalk_offset_out = + pconfig->user_xtalk_offset_limit; + + + + if ((pconfig->user_xtalk_offset_limit_hi == 0) && + (xtalk_offset_out < + pconfig->user_xtalk_offset_limit)) + xtalk_offset_out = + pconfig->user_xtalk_offset_limit; + + + + xtalk_offset_out = xtalk_offset_out >> 2; + if (xtalk_offset_out > 0x3FFFF) + xtalk_offset_out = 0x3FFFF; + + + if (continue_processing == CONT_CONTINUE) { + + VL53L1_dynamic_xtalk_correction_calc_new_xtalk( + Dev, + xtalk_offset_out, + pconfig, + pout, + 1, + 0 + ); + + + continue_processing = CONT_RESET; + } else { + + VL53L1_dynamic_xtalk_correction_calc_new_xtalk( + Dev, + xtalk_offset_out, + pconfig, + pout, + 1, + 1 + ); + } + + + if (continue_processing == CONT_RESET) { + pint->accumulator = 0; + pint->current_samples = 0; + pint->nodetect_counter = 0; + } + + } + + continue_processing = CONT_CONTINUE; + if (run_nodetect == 1) { + + pint->nodetect_counter += 1; + + + if (pint->nodetect_counter < pconfig->nodetect_sample_limit) + continue_processing = CONT_NEXT_LOOP; + + + xtalk_offset_out = (uint32_t)(pconfig->nodetect_xtalk_offset); + + if (continue_processing == CONT_CONTINUE) { + + VL53L1_dynamic_xtalk_correction_calc_new_xtalk( + Dev, + xtalk_offset_out, + pconfig, + pout, + 0, + 0 + ); + + + pout->smudge_corr_valid = 2; + + + continue_processing = CONT_RESET; + } else { + + VL53L1_dynamic_xtalk_correction_calc_new_xtalk( + Dev, + xtalk_offset_out, + pconfig, + pout, + 0, + 1 + ); + } + + + if (continue_processing == CONT_RESET) { + pint->accumulator = 0; + pint->current_samples = 0; + pint->nodetect_counter = 0; + } + } + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_dynamic_xtalk_correction_data_init( + VL53L1_DEV Dev + ) +{ + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_LLDriverResults_t *pres = VL53L1DevStructGetLLResultsHandle(Dev); + + LOG_FUNCTION_START(""); + + + + pdev->smudge_correct_config.smudge_corr_enabled = 1; + pdev->smudge_correct_config.smudge_corr_apply_enabled = 1; + pdev->smudge_correct_config.smudge_corr_single_apply = + VL53L1_TUNINGPARM_DYNXTALK_SMUDGE_COR_SINGLE_APPLY_DEFAULT; + + pdev->smudge_correct_config.smudge_margin = + VL53L1_TUNINGPARM_DYNXTALK_SMUDGE_MARGIN_DEFAULT; + pdev->smudge_correct_config.noise_margin = + VL53L1_TUNINGPARM_DYNXTALK_NOISE_MARGIN_DEFAULT; + pdev->smudge_correct_config.user_xtalk_offset_limit = + VL53L1_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT_DEFAULT; + pdev->smudge_correct_config.user_xtalk_offset_limit_hi = + VL53L1_TUNINGPARM_DYNXTALK_XTALK_OFFSET_LIMIT_HI_DEFAULT; + pdev->smudge_correct_config.sample_limit = + VL53L1_TUNINGPARM_DYNXTALK_SAMPLE_LIMIT_DEFAULT; + pdev->smudge_correct_config.single_xtalk_delta = + VL53L1_TUNINGPARM_DYNXTALK_SINGLE_XTALK_DELTA_DEFAULT; + pdev->smudge_correct_config.averaged_xtalk_delta = + VL53L1_TUNINGPARM_DYNXTALK_AVERAGED_XTALK_DELTA_DEFAULT; + pdev->smudge_correct_config.smudge_corr_clip_limit = + VL53L1_TUNINGPARM_DYNXTALK_CLIP_LIMIT_DEFAULT; + pdev->smudge_correct_config.smudge_corr_ambient_threshold = + VL53L1_TUNINGPARM_DYNXTALK_XTALK_AMB_THRESHOLD_DEFAULT; + pdev->smudge_correct_config.scaler_calc_method = + 0; + pdev->smudge_correct_config.x_gradient_scaler = + VL53L1_TUNINGPARM_DYNXTALK_XGRADIENT_SCALER_DEFAULT; + pdev->smudge_correct_config.y_gradient_scaler = + VL53L1_TUNINGPARM_DYNXTALK_YGRADIENT_SCALER_DEFAULT; + pdev->smudge_correct_config.user_scaler_set = + VL53L1_TUNINGPARM_DYNXTALK_USER_SCALER_SET_DEFAULT; + pdev->smudge_correct_config.nodetect_ambient_threshold = + VL53L1_TUNINGPARM_DYNXTALK_NODETECT_AMB_THRESHOLD_KCPS_DEFAULT; + pdev->smudge_correct_config.nodetect_sample_limit = + VL53L1_TUNINGPARM_DYNXTALK_NODETECT_SAMPLE_LIMIT_DEFAULT; + pdev->smudge_correct_config.nodetect_xtalk_offset = + VL53L1_TUNINGPARM_DYNXTALK_NODETECT_XTALK_OFFSET_KCPS_DEFAULT; + pdev->smudge_correct_config.nodetect_min_range_mm = + VL53L1_TUNINGPARM_DYNXTALK_NODETECT_MIN_RANGE_MM_DEFAULT; + pdev->smudge_correct_config.max_smudge_factor = + VL53L1_TUNINGPARM_DYNXTALK_MAX_SMUDGE_FACTOR_DEFAULT; + + + pdev->smudge_corrector_internals.current_samples = 0; + pdev->smudge_corrector_internals.required_samples = 0; + pdev->smudge_corrector_internals.accumulator = 0; + pdev->smudge_corrector_internals.nodetect_counter = 0; + + + VL53L1_dynamic_xtalk_correction_output_init(pres); + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_dynamic_xtalk_correction_output_init( + VL53L1_LLDriverResults_t *pres + ) +{ + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_smudge_corrector_data_t *pdata; + + LOG_FUNCTION_START(""); + + + pdata = &(pres->range_results.smudge_corrector_data); + + pdata->smudge_corr_valid = 0; + pdata->smudge_corr_clipped = 0; + pdata->single_xtalk_delta_flag = 0; + pdata->averaged_xtalk_delta_flag = 0; + pdata->sample_limit_exceeded_flag = 0; + pdata->gradient_zero_flag = 0; + pdata->new_xtalk_applied_flag = 0; + + pdata->algo__crosstalk_compensation_plane_offset_kcps = 0; + pdata->algo__crosstalk_compensation_x_plane_gradient_kcps = 0; + pdata->algo__crosstalk_compensation_y_plane_gradient_kcps = 0; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_xtalk_cal_data_init( + VL53L1_DEV Dev + ) +{ + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + pdev->xtalk_cal.algo__crosstalk_compensation_plane_offset_kcps = 0; + pdev->xtalk_cal.algo__crosstalk_compensation_x_plane_gradient_kcps = 0; + pdev->xtalk_cal.algo__crosstalk_compensation_y_plane_gradient_kcps = 0; + memset(&pdev->xtalk_cal.algo__xtalk_cpo_HistoMerge_kcps[0], 0, + sizeof(pdev->xtalk_cal.algo__xtalk_cpo_HistoMerge_kcps)); + + LOG_FUNCTION_END(status); + + return status; +} + + + + + + +VL53L1_Error VL53L1_low_power_auto_data_init( + VL53L1_DEV Dev + ) +{ + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + pdev->low_power_auto_data.vhv_loop_bound = + VL53L1_TUNINGPARM_LOWPOWERAUTO_VHV_LOOP_BOUND_DEFAULT; + pdev->low_power_auto_data.is_low_power_auto_mode = 0; + pdev->low_power_auto_data.low_power_auto_range_count = 0; + pdev->low_power_auto_data.saved_interrupt_config = 0; + pdev->low_power_auto_data.saved_vhv_init = 0; + pdev->low_power_auto_data.saved_vhv_timeout = 0; + pdev->low_power_auto_data.first_run_phasecal_result = 0; + pdev->low_power_auto_data.dss__total_rate_per_spad_mcps = 0; + pdev->low_power_auto_data.dss__required_spads = 0; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_low_power_auto_data_stop_range( + VL53L1_DEV Dev + ) +{ + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + + + pdev->low_power_auto_data.low_power_auto_range_count = 0xFF; + + pdev->low_power_auto_data.first_run_phasecal_result = 0; + pdev->low_power_auto_data.dss__total_rate_per_spad_mcps = 0; + pdev->low_power_auto_data.dss__required_spads = 0; + + + if (pdev->low_power_auto_data.saved_vhv_init != 0) + pdev->stat_nvm.vhv_config__init = + pdev->low_power_auto_data.saved_vhv_init; + if (pdev->low_power_auto_data.saved_vhv_timeout != 0) + pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound = + pdev->low_power_auto_data.saved_vhv_timeout; + + + pdev->gen_cfg.phasecal_config__override = 0x00; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_config_low_power_auto_mode( + VL53L1_general_config_t *pgeneral, + VL53L1_dynamic_config_t *pdynamic, + VL53L1_low_power_auto_data_t *plpadata + ) +{ + + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + plpadata->is_low_power_auto_mode = 1; + + + plpadata->low_power_auto_range_count = 0; + + + pdynamic->system__sequence_config = + VL53L1_SEQUENCE_VHV_EN | + VL53L1_SEQUENCE_PHASECAL_EN | + VL53L1_SEQUENCE_DSS1_EN | + + + + VL53L1_SEQUENCE_RANGE_EN; + + + pgeneral->dss_config__manual_effective_spads_select = 200 << 8; + pgeneral->dss_config__roi_mode_control = + VL53L1_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_low_power_auto_setup_manual_calibration( + VL53L1_DEV Dev) +{ + + + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + pdev->low_power_auto_data.saved_vhv_init = + pdev->stat_nvm.vhv_config__init; + pdev->low_power_auto_data.saved_vhv_timeout = + pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound; + + + pdev->stat_nvm.vhv_config__init &= 0x7F; + + pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound = + (pdev->stat_nvm.vhv_config__timeout_macrop_loop_bound & 0x03) + + (pdev->low_power_auto_data.vhv_loop_bound << 2); + + pdev->gen_cfg.phasecal_config__override = 0x01; + pdev->low_power_auto_data.first_run_phasecal_result = + pdev->dbg_results.phasecal_result__vcsel_start; + pdev->gen_cfg.cal_config__vcsel_start = + pdev->low_power_auto_data.first_run_phasecal_result; + + LOG_FUNCTION_END(status); + + return status; +} + +VL53L1_Error VL53L1_low_power_auto_update_DSS( + VL53L1_DEV Dev) +{ + + + + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + VL53L1_system_results_t *pS = &(pdev->sys_results); + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint32_t utemp32a; + + LOG_FUNCTION_START(""); + + + + + utemp32a = + pS->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 + + pS->result__ambient_count_rate_mcps_sd0; + + + if (utemp32a > 0xFFFF) + utemp32a = 0xFFFF; + + + + utemp32a = utemp32a << 16; + + + if (pdev->sys_results.result__dss_actual_effective_spads_sd0 == 0) + status = VL53L1_ERROR_DIVISION_BY_ZERO; + else { + + utemp32a = utemp32a / + pdev->sys_results.result__dss_actual_effective_spads_sd0; + + pdev->low_power_auto_data.dss__total_rate_per_spad_mcps = + utemp32a; + + + utemp32a = pdev->stat_cfg.dss_config__target_total_rate_mcps << + 16; + + + if (pdev->low_power_auto_data.dss__total_rate_per_spad_mcps + == 0) + status = VL53L1_ERROR_DIVISION_BY_ZERO; + else { + + utemp32a = utemp32a / + pdev->low_power_auto_data.dss__total_rate_per_spad_mcps; + + + if (utemp32a > 0xFFFF) + utemp32a = 0xFFFF; + + + pdev->low_power_auto_data.dss__required_spads = + (uint16_t)utemp32a; + + + pdev->gen_cfg.dss_config__manual_effective_spads_select + = pdev->low_power_auto_data.dss__required_spads; + pdev->gen_cfg.dss_config__roi_mode_control = + VL53L1_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS; + } + + } + + if (status == VL53L1_ERROR_DIVISION_BY_ZERO) { + + + + pdev->low_power_auto_data.dss__required_spads = 0x8000; + + + pdev->gen_cfg.dss_config__manual_effective_spads_select = + pdev->low_power_auto_data.dss__required_spads; + pdev->gen_cfg.dss_config__roi_mode_control = + VL53L1_DEVICEDSSMODE__REQUESTED_EFFFECTIVE_SPADS; + + + status = VL53L1_ERROR_NONE; + } + + LOG_FUNCTION_END(status); + + return status; +} + + + + +VL53L1_Error VL53L1_compute_histo_merge_nb( + VL53L1_DEV Dev, uint8_t *histo_merge_nb) +{ + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t i, timing; + uint8_t sum = 0; + + timing = (pdev->hist_data.bin_seq[0] == 7 ? 1 : 0); + for (i = 0; i < VL53L1_BIN_REC_SIZE; i++) + if (pdev->multi_bins_rec[i][timing][7] > 0) + sum++; + *histo_merge_nb = sum; + + return status; +} + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_core_support.c b/drivers/input/misc/vl53L1/src/vl53l1_core_support.c new file mode 100644 index 000000000000..d5f59212f2ea --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_core_support.c @@ -0,0 +1,637 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_ll_device.h" +#include "vl53l1_platform_log.h" +#include "vl53l1_core_support.h" +#include "vl53l1_platform_user_data.h" +#include "vl53l1_platform_user_defines.h" + + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, \ + status, fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_CORE, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +uint32_t VL53L1_calc_pll_period_us( + uint16_t fast_osc_frequency) +{ + + + uint32_t pll_period_us = 0; + + LOG_FUNCTION_START(""); + + if (fast_osc_frequency > 0) + pll_period_us = (0x01 << 30) / fast_osc_frequency; + + + + LOG_FUNCTION_END(0); + + return pll_period_us; +} + + +uint32_t VL53L1_duration_maths( + uint32_t pll_period_us, + uint32_t vcsel_parm_pclks, + uint32_t window_vclks, + uint32_t elapsed_mclks) +{ + + + uint64_t tmp_long_int = 0; + uint32_t duration_us = 0; + + + duration_us = window_vclks * pll_period_us; + + + duration_us = duration_us >> 12; + + + tmp_long_int = (uint64_t)duration_us; + + + duration_us = elapsed_mclks * vcsel_parm_pclks; + + + duration_us = duration_us >> 4; + + + tmp_long_int = tmp_long_int * (uint64_t)duration_us; + + + tmp_long_int = tmp_long_int >> 12; + + + if (tmp_long_int > 0xFFFFFFFF) + tmp_long_int = 0xFFFFFFFF; + + duration_us = (uint32_t)tmp_long_int; + + return duration_us; +} + + +uint32_t VL53L1_events_per_spad_maths( + int32_t VL53L1_p_013, + uint16_t num_spads, + uint32_t duration) +{ + uint64_t total_hist_counts = 0; + uint64_t xtalk_per_spad = 0; + uint32_t rate_per_spad_kcps = 0; + + + + + + + uint64_t dividend = ((uint64_t)VL53L1_p_013 + * 1000 * 256); + + if (num_spads != 0) + total_hist_counts = do_division_u( + dividend, (uint64_t)num_spads); + + + + if (duration > 0) { + + + uint64_t dividend = (((uint64_t)(total_hist_counts << 11)) + + ((uint64_t)duration / 2)); + + xtalk_per_spad = do_division_u(dividend, (uint64_t)duration); + } else { + xtalk_per_spad = (uint64_t)(total_hist_counts << 11); + } + + rate_per_spad_kcps = (uint32_t)xtalk_per_spad; + + return rate_per_spad_kcps; +} + + +uint32_t VL53L1_isqrt(uint32_t num) +{ + + + + uint32_t res = 0; + uint32_t bit = 1 << 30; + + + while (bit > num) + bit >>= 2; + + while (bit != 0) { + if (num >= res + bit) { + num -= res + bit; + res = (res >> 1) + bit; + } else { + res >>= 1; + } + bit >>= 2; + } + + return res; +} + + +void VL53L1_hist_calc_zero_distance_phase( + VL53L1_histogram_bin_data_t *pdata) +{ + + + uint32_t period = 0; + uint32_t VL53L1_p_017 = 0; + + LOG_FUNCTION_START(""); + + period = 2048 * + (uint32_t)VL53L1_decode_vcsel_period(pdata->VL53L1_p_009); + + VL53L1_p_017 = period; + VL53L1_p_017 += (uint32_t)pdata->phasecal_result__reference_phase; + VL53L1_p_017 += (2048 * (uint32_t)pdata->phasecal_result__vcsel_start); + VL53L1_p_017 -= (2048 * (uint32_t)pdata->cal_config__vcsel_start); + + VL53L1_p_017 = VL53L1_p_017 % period; + + pdata->zero_distance_phase = (uint16_t)VL53L1_p_017; + + LOG_FUNCTION_END(0); +} + + +void VL53L1_hist_estimate_ambient_from_thresholded_bins( + int32_t ambient_threshold_sigma, + VL53L1_histogram_bin_data_t *pdata) +{ + + + uint8_t bin = 0; + int32_t VL53L1_p_032 = 0; + + LOG_FUNCTION_START(""); + + + + VL53L1_hist_find_min_max_bin_values(pdata); + + + + VL53L1_p_032 = + (int32_t)VL53L1_isqrt((uint32_t)pdata->min_bin_value); + VL53L1_p_032 *= ambient_threshold_sigma; + VL53L1_p_032 += 0x07; + VL53L1_p_032 = VL53L1_p_032 >> 4; + VL53L1_p_032 += pdata->min_bin_value; + + + + pdata->number_of_ambient_samples = 0; + pdata->ambient_events_sum = 0; + + for (bin = 0; bin < pdata->VL53L1_p_024; bin++) + if (pdata->bin_data[bin] < VL53L1_p_032) { + pdata->ambient_events_sum += pdata->bin_data[bin]; + pdata->number_of_ambient_samples++; + } + + + + if (pdata->number_of_ambient_samples > 0) { + pdata->VL53L1_p_004 = + pdata->ambient_events_sum; + pdata->VL53L1_p_004 += + ((int32_t)pdata->number_of_ambient_samples/2); + pdata->VL53L1_p_004 /= + (int32_t)pdata->number_of_ambient_samples; + } + + LOG_FUNCTION_END(0); +} + + +void VL53L1_hist_remove_ambient_bins( + VL53L1_histogram_bin_data_t *pdata) +{ + + + + uint8_t bin = 0; + uint8_t lc = 0; + uint8_t i = 0; + + + + if ((pdata->bin_seq[0] & 0x07) == 0x07) { + + i = 0; + for (lc = 0; lc < VL53L1_MAX_BIN_SEQUENCE_LENGTH; lc++) { + if ((pdata->bin_seq[lc] & 0x07) != 0x07) { + pdata->bin_seq[i] = pdata->bin_seq[lc]; + pdata->bin_rep[i] = pdata->bin_rep[lc]; + i++; + } + } + + + + for (lc = i; lc < VL53L1_MAX_BIN_SEQUENCE_LENGTH; lc++) { + pdata->bin_seq[lc] = VL53L1_MAX_BIN_SEQUENCE_CODE + 1; + pdata->bin_rep[lc] = 0; + } + } + + if (pdata->number_of_ambient_bins > 0) { + + + for (bin = pdata->number_of_ambient_bins; + bin < pdata->VL53L1_p_023; bin++) { + pdata->bin_data[bin-pdata->number_of_ambient_bins] = + pdata->bin_data[bin]; + } + + + pdata->VL53L1_p_024 = + pdata->VL53L1_p_024 - + pdata->number_of_ambient_bins; + pdata->number_of_ambient_bins = 0; + } +} + + +uint32_t VL53L1_calc_pll_period_mm( + uint16_t fast_osc_frequency) +{ + + + uint32_t pll_period_us = 0; + uint32_t pll_period_mm = 0; + + LOG_FUNCTION_START(""); + + + + pll_period_us = VL53L1_calc_pll_period_us(fast_osc_frequency); + + + + + pll_period_mm = + VL53L1_SPEED_OF_LIGHT_IN_AIR_DIV_8 * + (pll_period_us >> 2); + + + pll_period_mm = (pll_period_mm + (0x01<<15)) >> 16; + + LOG_FUNCTION_END(0); + + return pll_period_mm; +} + + +uint16_t VL53L1_rate_maths( + int32_t VL53L1_p_008, + uint32_t time_us) +{ + + + uint32_t tmp_int = 0; + uint32_t frac_bits = 7; + uint16_t rate_mcps = 0; + + + + if (VL53L1_p_008 > VL53L1_SPAD_TOTAL_COUNT_MAX) + tmp_int = VL53L1_SPAD_TOTAL_COUNT_MAX; + else if (VL53L1_p_008 > 0) + tmp_int = (uint32_t)VL53L1_p_008; + + + + + if (VL53L1_p_008 > VL53L1_SPAD_TOTAL_COUNT_RES_THRES) + frac_bits = 3; + else + frac_bits = 7; + + + if (time_us > 0) + tmp_int = ((tmp_int << frac_bits) + (time_us / 2)) / time_us; + + + if (VL53L1_p_008 > VL53L1_SPAD_TOTAL_COUNT_RES_THRES) + tmp_int = tmp_int << 4; + + + + if (tmp_int > 0xFFFF) + tmp_int = 0xFFFF; + + rate_mcps = (uint16_t)tmp_int; + + return rate_mcps; +} + + +uint16_t VL53L1_rate_per_spad_maths( + uint32_t frac_bits, + uint32_t peak_count_rate, + uint16_t num_spads, + uint32_t max_output_value) +{ + + uint32_t tmp_int = 0; + + + uint16_t rate_per_spad = 0; + + + + + + if (num_spads > 0) { + tmp_int = (peak_count_rate << 8) << frac_bits; + tmp_int = (tmp_int + + ((uint32_t)num_spads / 2)) / + (uint32_t)num_spads; + } else { + tmp_int = ((peak_count_rate) << frac_bits); + } + + + + if (tmp_int > max_output_value) + tmp_int = max_output_value; + + rate_per_spad = (uint16_t)tmp_int; + + return rate_per_spad; +} + + +int32_t VL53L1_range_maths( + uint16_t fast_osc_frequency, + uint16_t VL53L1_p_017, + uint16_t zero_distance_phase, + uint8_t fractional_bits, + int32_t gain_factor, + int32_t range_offset_mm) +{ + + + uint32_t pll_period_us = 0; + int64_t tmp_long_int = 0; + int32_t range_mm = 0; + int32_t range_mm_10 = 0; + + + + pll_period_us = VL53L1_calc_pll_period_us(fast_osc_frequency); + + + + tmp_long_int = (int64_t)VL53L1_p_017 - (int64_t)zero_distance_phase; + + + + tmp_long_int = tmp_long_int * (int64_t)pll_period_us; + + + + tmp_long_int = tmp_long_int / (0x01 << 9); + + + + tmp_long_int = tmp_long_int * VL53L1_SPEED_OF_LIGHT_IN_AIR_DIV_8; + + + + tmp_long_int = tmp_long_int / (0x01 << 22); + + + range_mm = (int32_t)tmp_long_int + range_offset_mm; + + + range_mm *= gain_factor; + range_mm += 0x0400; + range_mm /= 0x0800; + + + if (fractional_bits == 0) { + range_mm_10 = range_mm * 10; + range_mm_10 = range_mm_10 / (0x01 << 2); + if ((range_mm_10 % 10) < 5) + range_mm = (int16_t)(range_mm_10 / 10); + else + range_mm = (int16_t)(range_mm_10 / 10 + 1); + } else if (fractional_bits == 1) + range_mm = range_mm / (0x01 << 1); + + return range_mm; +} + + +uint8_t VL53L1_decode_vcsel_period(uint8_t vcsel_period_reg) +{ + + + uint8_t VL53L1_p_031 = 0; + + VL53L1_p_031 = (vcsel_period_reg + 1) << 1; + + return VL53L1_p_031; +} + + +void VL53L1_copy_xtalk_bin_data_to_histogram_data_struct( + VL53L1_xtalk_histogram_shape_t *pxtalk, + VL53L1_histogram_bin_data_t *phist) +{ + + + phist->cal_config__vcsel_start = + pxtalk->cal_config__vcsel_start; + phist->VL53L1_p_019 = + pxtalk->VL53L1_p_019; + phist->VL53L1_p_022 = + pxtalk->VL53L1_p_022; + + phist->phasecal_result__reference_phase = + pxtalk->phasecal_result__reference_phase; + phist->phasecal_result__vcsel_start = + pxtalk->phasecal_result__vcsel_start; + + phist->vcsel_width = + pxtalk->vcsel_width; + phist->zero_distance_phase = + pxtalk->zero_distance_phase; + + phist->zone_id = pxtalk->zone_id; + phist->VL53L1_p_023 = pxtalk->VL53L1_p_023; + phist->time_stamp = pxtalk->time_stamp; +} + + +void VL53L1_init_histogram_bin_data_struct( + int32_t bin_value, + uint16_t VL53L1_p_024, + VL53L1_histogram_bin_data_t *pdata) +{ + + + + uint16_t i = 0; + + pdata->cfg_device_state = VL53L1_DEVICESTATE_SW_STANDBY; + pdata->rd_device_state = VL53L1_DEVICESTATE_SW_STANDBY; + + pdata->zone_id = 0; + pdata->time_stamp = 0; + + pdata->VL53L1_p_022 = 0; + pdata->VL53L1_p_023 = VL53L1_HISTOGRAM_BUFFER_SIZE; + pdata->VL53L1_p_024 = (uint8_t)VL53L1_p_024; + pdata->number_of_ambient_bins = 0; + + pdata->result__interrupt_status = 0; + pdata->result__range_status = 0; + pdata->result__report_status = 0; + pdata->result__stream_count = 0; + + pdata->result__dss_actual_effective_spads = 0; + pdata->phasecal_result__reference_phase = 0; + pdata->phasecal_result__vcsel_start = 0; + pdata->cal_config__vcsel_start = 0; + + pdata->vcsel_width = 0; + pdata->VL53L1_p_009 = 0; + pdata->VL53L1_p_019 = 0; + pdata->total_periods_elapsed = 0; + + pdata->min_bin_value = 0; + pdata->max_bin_value = 0; + + pdata->zero_distance_phase = 0; + pdata->number_of_ambient_samples = 0; + pdata->ambient_events_sum = 0; + pdata->VL53L1_p_004 = 0; + + for (i = 0; i < VL53L1_MAX_BIN_SEQUENCE_LENGTH; i++) + pdata->bin_seq[i] = (uint8_t)i; + + for (i = 0; i < VL53L1_MAX_BIN_SEQUENCE_LENGTH; i++) + pdata->bin_rep[i] = 1; + + + for (i = 0; i < VL53L1_HISTOGRAM_BUFFER_SIZE; i++) + if (i < VL53L1_p_024) + pdata->bin_data[i] = bin_value; + else + pdata->bin_data[i] = 0; + + +} + + +void VL53L1_decode_row_col( + uint8_t spad_number, + uint8_t *prow, + uint8_t *pcol) +{ + + + + if (spad_number > 127) { + *prow = 8 + ((255-spad_number) & 0x07); + *pcol = (spad_number-128) >> 3; + } else { + *prow = spad_number & 0x07; + *pcol = (127-spad_number) >> 3; + } +} + + +void VL53L1_hist_find_min_max_bin_values( + VL53L1_histogram_bin_data_t *pdata) +{ + + + uint8_t bin = 0; + + LOG_FUNCTION_START(""); + + for (bin = 0; bin < pdata->VL53L1_p_024; bin++) { + + if (bin == 0 || pdata->min_bin_value >= pdata->bin_data[bin]) + pdata->min_bin_value = pdata->bin_data[bin]; + + if (bin == 0 || pdata->max_bin_value <= pdata->bin_data[bin]) + pdata->max_bin_value = pdata->bin_data[bin]; + + } + + LOG_FUNCTION_END(0); + +} + + +void VL53L1_hist_estimate_ambient_from_ambient_bins( + VL53L1_histogram_bin_data_t *pdata) +{ + + + uint8_t bin = 0; + + LOG_FUNCTION_START(""); + + if (pdata->number_of_ambient_bins > 0) { + + pdata->number_of_ambient_samples = + pdata->number_of_ambient_bins; + + + + pdata->ambient_events_sum = 0; + for (bin = 0; bin < pdata->number_of_ambient_bins; bin++) + pdata->ambient_events_sum += pdata->bin_data[bin]; + + pdata->VL53L1_p_004 = pdata->ambient_events_sum; + pdata->VL53L1_p_004 += + ((int32_t)pdata->number_of_ambient_bins / 2); + pdata->VL53L1_p_004 /= + (int32_t)pdata->number_of_ambient_bins; + + } + + LOG_FUNCTION_END(0); +} + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_error_strings.c b/drivers/input/misc/vl53L1/src/vl53l1_error_strings.c new file mode 100644 index 000000000000..723e549266d6 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_error_strings.c @@ -0,0 +1,248 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#include "vl53l1_error_codes.h" +#include "vl53l1_error_strings.h" +#include "vl53l1_platform_log.h" +#include "vl53l1_ll_def.h" + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_API, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_API, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_API, \ + status, fmt, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_get_pal_error_string( + VL53L1_Error PalErrorCode, + char *pPalErrorString) +{ + VL53L1_Error Status = VL53L1_ERROR_NONE; + +#ifdef VL53L1_USE_EMPTY_STRING + SUPPRESS_UNUSED_WARNING(PalErrorCode); +#endif + + LOG_FUNCTION_START(""); + +#ifdef VL53L1_USE_EMPTY_STRING + VL53L1_COPYSTRING(pPalErrorString, ""); +#else + + switch (PalErrorCode) { + case VL53L1_ERROR_NONE: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_NONE); + break; + case VL53L1_ERROR_CALIBRATION_WARNING: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_CALIBRATION_WARNING); + break; + case VL53L1_ERROR_MIN_CLIPPED: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_MIN_CLIPPED); + break; + case VL53L1_ERROR_UNDEFINED: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_UNDEFINED); + break; + case VL53L1_ERROR_INVALID_PARAMS: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_INVALID_PARAMS); + break; + case VL53L1_ERROR_NOT_SUPPORTED: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_NOT_SUPPORTED); + break; + case VL53L1_ERROR_RANGE_ERROR: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_RANGE_ERROR); + break; + case VL53L1_ERROR_TIME_OUT: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_TIME_OUT); + break; + case VL53L1_ERROR_MODE_NOT_SUPPORTED: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_MODE_NOT_SUPPORTED); + break; + case VL53L1_ERROR_BUFFER_TOO_SMALL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_BUFFER_TOO_SMALL); + break; + case VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_COMMS_BUFFER_TOO_SMALL); + break; + case VL53L1_ERROR_GPIO_NOT_EXISTING: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_GPIO_NOT_EXISTING); + break; + case VL53L1_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED); + break; + case VL53L1_ERROR_CONTROL_INTERFACE: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_CONTROL_INTERFACE); + break; + case VL53L1_ERROR_INVALID_COMMAND: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_INVALID_COMMAND); + break; + case VL53L1_ERROR_DIVISION_BY_ZERO: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_DIVISION_BY_ZERO); + break; + case VL53L1_ERROR_REF_SPAD_INIT: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_REF_SPAD_INIT); + break; + case VL53L1_ERROR_GPH_SYNC_CHECK_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_GPH_SYNC_CHECK_FAIL); + break; + case VL53L1_ERROR_STREAM_COUNT_CHECK_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_STREAM_COUNT_CHECK_FAIL); + break; + case VL53L1_ERROR_GPH_ID_CHECK_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_GPH_ID_CHECK_FAIL); + break; + case VL53L1_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_ZONE_STREAM_COUNT_CHECK_FAIL); + break; + case VL53L1_ERROR_ZONE_GPH_ID_CHECK_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_ZONE_GPH_ID_CHECK_FAIL); + break; + + case VL53L1_ERROR_XTALK_EXTRACTION_NO_SAMPLE_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_XTALK_EXTRACTION_NO_SAMPLES_FAIL); + break; + case VL53L1_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_XTALK_EXTRACTION_SIGMA_LIMIT_FAIL); + break; + + case VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL); + break; + case VL53L1_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_OFFSET_CAL_NO_SPADS_ENABLED_FAIL); + break; + case VL53L1_ERROR_ZONE_CAL_NO_SAMPLE_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_ZONE_CAL_NO_SAMPLE_FAIL); + break; + + case VL53L1_WARNING_OFFSET_CAL_MISSING_SAMPLES: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_OFFSET_CAL_MISSING_SAMPLES); + break; + case VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH); + break; + case VL53L1_WARNING_OFFSET_CAL_RATE_TOO_HIGH: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_OFFSET_CAL_RATE_TOO_HIGH); + break; + case VL53L1_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_OFFSET_CAL_SPAD_COUNT_TOO_LOW); + break; + + case VL53L1_WARNING_ZONE_CAL_MISSING_SAMPLES: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_ZONE_CAL_MISSING_SAMPLES); + break; + case VL53L1_WARNING_ZONE_CAL_SIGMA_TOO_HIGH: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_ZONE_CAL_SIGMA_TOO_HIGH); + break; + case VL53L1_WARNING_ZONE_CAL_RATE_TOO_HIGH: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_ZONE_CAL_RATE_TOO_HIGH); + break; + + case VL53L1_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_REF_SPAD_CHAR_NOT_ENOUGH_SPADS); + break; + case VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_REF_SPAD_CHAR_RATE_TOO_HIGH); + break; + case VL53L1_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_REF_SPAD_CHAR_RATE_TOO_LOW); + break; + + case VL53L1_WARNING_XTALK_MISSING_SAMPLES: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_XTALK_MISSING_SAMPLES); + break; + case VL53L1_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_XTALK_NO_SAMPLES_FOR_GRADIENT); + break; + case VL53L1_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_WARNING_XTALK_SIGMA_LIMIT_FOR_GRADIENT); + break; + + case VL53L1_ERROR_DEVICE_FIRMWARE_TOO_OLD: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_DEVICE_FIRMWARE_TOO_OLD); + break; + case VL53L1_ERROR_DEVICE_FIRMWARE_TOO_NEW: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_DEVICE_FIRMWARE_TOO_NEW); + break; + case VL53L1_ERROR_UNIT_TEST_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_UNIT_TEST_FAIL); + break; + case VL53L1_ERROR_FILE_READ_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_FILE_READ_FAIL); + break; + case VL53L1_ERROR_FILE_WRITE_FAIL: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_FILE_WRITE_FAIL); + break; + case VL53L1_ERROR_NOT_IMPLEMENTED: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_ERROR_NOT_IMPLEMENTED); + break; + default: + VL53L1_COPYSTRING(pPalErrorString, + VL53L1_STRING_UNKNOW_ERROR_CODE); + } + +#endif + + LOG_FUNCTION_END(Status); + + return Status; +} + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_hist_char.c b/drivers/input/misc/vl53L1/src/vl53l1_hist_char.c new file mode 100644 index 000000000000..208868bbf9ba --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_hist_char.c @@ -0,0 +1,162 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + +#include +#include + + + +#include "vl53l1_core.h" +#include "vl53l1_register_settings.h" +#include "vl53l1_hist_char.h" + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_HISTOGRAM, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_HISTOGRAM, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_HISTOGRAM,\ + status, fmt, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_set_calib_config( + VL53L1_DEV Dev, + uint8_t vcsel_delay__a0, + uint8_t calib_1, + uint8_t calib_2, + uint8_t calib_3, + uint8_t calib_2__a0, + uint8_t spad_readout) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[3]; + + LOG_FUNCTION_START(""); + + + + status = VL53L1_enable_powerforce(Dev); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + + + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__VCSEL_DELAY__A0, + vcsel_delay__a0); + } + + + + if (status == VL53L1_ERROR_NONE) { + + + comms_buffer[0] = calib_1; + comms_buffer[1] = calib_2; + comms_buffer[2] = calib_3; + + status = VL53L1_WriteMulti( + Dev, + VL53L1_RANGING_CORE__CALIB_1, + comms_buffer, + 3); + } + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__CALIB_2__A0, + calib_2__a0); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__SPAD_READOUT, + spad_readout); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + + +VL53L1_Error VL53L1_set_hist_calib_pulse_delay( + VL53L1_DEV Dev, + uint8_t calib_delay) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = + VL53L1_set_calib_config( + Dev, + 0x01, + calib_delay, + 0x04, + 0x08, + 0x14, + VL53L1_RANGING_CORE__SPAD_READOUT__CALIB_PULSES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_disable_calib_pulse_delay( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + status = + VL53L1_set_calib_config( + Dev, + 0x00, + 0x00, + 0x00, + 0x00, + 0x00, + VL53L1_RANGING_CORE__SPAD_READOUT__STANDARD); + + LOG_FUNCTION_END(status); + + return status; +} + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_nvm.c b/drivers/input/misc/vl53L1/src/vl53l1_nvm.c new file mode 100644 index 000000000000..c3c8f6e2830a --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_nvm.c @@ -0,0 +1,1540 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + +#ifdef _MSC_VER +#define snprintf _snprintf +#endif + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_platform.h" +#include "vl53l1_platform_log.h" +#include "vl53l1_register_map.h" +#include "vl53l1_core.h" +#include "vl53l1_nvm_structs.h" +#include "vl53l1_nvm_map.h" +#include "vl53l1_nvm.h" + + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_NVM, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_NVM, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_NVM,\ + status, fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(VL53L1_TRACE_MODULE_NVM, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_nvm_enable( + VL53L1_DEV Dev, + uint16_t nvm_ctrl_pulse_width, + int32_t nvm_power_up_delay_us) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_powerforce(Dev); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WaitUs( + Dev, + VL53L1_ENABLE_POWERFORCE_SETTLING_TIME_US); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__PDN, + 0x01); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__CLK_CTRL1, + 0x05); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WaitUs( + Dev, + nvm_power_up_delay_us); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__MODE, + 0x01); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrWord( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__PULSE_WIDTH_MSB, + nvm_ctrl_pulse_width); + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_nvm_read( + VL53L1_DEV Dev, + uint8_t start_address, + uint8_t count, + uint8_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t nvm_addr = 0; + + LOG_FUNCTION_START(""); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%-12s = 0x%02X (%3u)\n", + "nvm_addr", nvm_addr, nvm_addr); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%-12s = 0x%02X (%3u)\n", + "count", count, count); + + for (nvm_addr = start_address; + nvm_addr < (start_address+count) ; nvm_addr++) { + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__ADDR, + nvm_addr); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__READN, + 0x00); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WaitUs( + Dev, + VL53L1_NVM_READ_TRIGGER_DELAY_US); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__READN, + 0x01); + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__DATAOUT_MMM, + pdata, + 4); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "NVM address : 0x%02X = 0x%02X%02X%02X%02X\n", + nvm_addr, *pdata, *(pdata+1), *(pdata+2), *(pdata+3)); + + + + pdata = pdata + 4; + + + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_nvm_disable( + VL53L1_DEV Dev) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__READN, + 0x01); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WrByte( + Dev, + VL53L1_RANGING_CORE__NVM_CTRL__PDN, + 0x00); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_powerforce(Dev); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_nvm_format_decode( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_decoded_nvm_data_t *pdata) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i = 0; + uint8_t *ptmp = NULL; + int pptmp[VL53L1_NVM_MAX_FMT_RANGE_DATA]; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_NVM_SIZE_IN_BYTES) + return VL53L1_ERROR_BUFFER_TOO_SMALL; + + pdata->nvm__identification_model_id = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__IDENTIFICATION__MODEL_ID, + 0x000000FF, + 0, + 0); + pdata->nvm__identification_module_type = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__IDENTIFICATION__MODULE_TYPE, + 0x000000FF, + 0, + 0); + pdata->nvm__identification_revision_id = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__IDENTIFICATION__REVISION_ID, + 0x0000000F, + 0, + 0); + pdata->nvm__identification_module_id = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__IDENTIFICATION__MODULE_ID, + 0x0000FFFF, + 0, + 0); + pdata->nvm__i2c_valid = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__I2C_VALID, + 0x000000FF, + 0, + 0); + pdata->nvm__i2c_device_address_ews = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__I2C_SLAVE__DEVICE_ADDRESS, + 0x000000FF, + 0, + 0); + pdata->nvm__ews__fast_osc_frequency = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + + VL53L1_NVM__EWS__OSC_MEASURED__FAST_OSC_FREQUENCY, + 0x0000FFFF, + 0, + 0); + pdata->nvm__ews__fast_osc_trim_max = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__FAST_OSC_TRIM_MAX, + 0x0000007F, + 0, + 0); + pdata->nvm__ews__fast_osc_freq_set = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__FAST_OSC_FREQ_SET, + 0x00000007, + 0, + 0); + pdata->nvm__ews__slow_osc_calibration = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__EWS__SLOW_OSC_CALIBRATION, + 0x000003FF, + 0, + 0); + pdata->nvm__fmt__fast_osc_frequency = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + + VL53L1_NVM__FMT__OSC_MEASURED__FAST_OSC_FREQUENCY, + 0x0000FFFF, + 0, + 0); + pdata->nvm__fmt__fast_osc_trim_max = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FAST_OSC_TRIM_MAX, + 0x0000007F, + 0, + 0); + pdata->nvm__fmt__fast_osc_freq_set = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FAST_OSC_FREQ_SET, + 0x00000007, + 0, + 0); + pdata->nvm__fmt__slow_osc_calibration = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__FMT__SLOW_OSC_CALIBRATION, + 0x000003FF, + 0, + 0); + pdata->nvm__vhv_config_unlock = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__VHV_CONFIG_UNLOCK, + 0x000000FF, + 0, + 0); + pdata->nvm__ref_selvddpix = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__REF_SELVDDPIX, + 0x0000000F, + 0, + 0); + pdata->nvm__ref_selvquench = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__REF_SELVQUENCH, + 0x00000078, + 3, + 0); + pdata->nvm__regavdd1v2_sel = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__REGAVDD1V2_SEL_REGDVDD1V2_SEL, + 0x0000000C, + 2, + 0); + pdata->nvm__regdvdd1v2_sel = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__REGAVDD1V2_SEL_REGDVDD1V2_SEL, + 0x00000003, + 0, + 0); + pdata->nvm__vhv_timeout__macrop = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + + VL53L1_NVM__VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, + 0x00000003, + 0, + 0); + pdata->nvm__vhv_loop_bound = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + + VL53L1_NVM__VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, + 0x000000FC, + 2, + 0); + pdata->nvm__vhv_count_threshold = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__VHV_CONFIG__COUNT_THRESH, + 0x000000FF, + 0, + 0); + pdata->nvm__vhv_offset = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__VHV_CONFIG__OFFSET, + 0x0000003F, + 0, + 0); + pdata->nvm__vhv_init_enable = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__VHV_CONFIG__INIT, + 0x00000080, + 7, + 0); + pdata->nvm__vhv_init_value = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__VHV_CONFIG__INIT, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_vcsel_trim_ll = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__VCSEL_TRIM_LL, + 0x00000007, + 0, + 0); + pdata->nvm__laser_safety_vcsel_selion_ll = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__VCSEL_SELION_LL, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_vcsel_selion_max_ll = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__VCSEL_SELION_MAX_LL, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_mult_ll = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__MULT_LL, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_clip_ll = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__CLIP_LL, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_vcsel_trim_ld = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__VCSEL_TRIM_LD, + 0x00000007, + 0, + 0); + pdata->nvm__laser_safety_vcsel_selion_ld = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__VCSEL_SELION_LD, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_vcsel_selion_max_ld = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__VCSEL_SELION_MAX_LD, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_mult_ld = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__MULT_LD, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_clip_ld = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY__CLIP_LD, + 0x0000003F, + 0, + 0); + pdata->nvm__laser_safety_lock_byte = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY_LOCK_BYTE, + 0x000000FF, + 0, + 0); + pdata->nvm__laser_safety_unlock_byte = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__LASER_SAFETY_UNLOCK_BYTE, + 0x000000FF, + 0, + 0); + + + + ptmp = pbuffer + VL53L1_NVM__EWS__SPAD_ENABLES_RTN_0_; + for (i = 0 ; i < VL53L1_RTN_SPAD_BUFFER_SIZE ; i++) + pdata->nvm__ews__spad_enables_rtn[i] = *ptmp++; + + ptmp = pbuffer + VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC1_0_; + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) + pdata->nvm__ews__spad_enables_ref__loc1[i] = *ptmp++; + + ptmp = pbuffer + VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC2_0_; + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) + pdata->nvm__ews__spad_enables_ref__loc2[i] = *ptmp++; + + ptmp = pbuffer + VL53L1_NVM__EWS__SPAD_ENABLES_REF__LOC3_0_; + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) + pdata->nvm__ews__spad_enables_ref__loc3[i] = *ptmp++; + + + + ptmp = pbuffer + VL53L1_NVM__FMT__SPAD_ENABLES_RTN_0_; + for (i = 0 ; i < VL53L1_RTN_SPAD_BUFFER_SIZE ; i++) + pdata->nvm__fmt__spad_enables_rtn[i] = *ptmp++; + + ptmp = pbuffer + VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC1_0_; + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) + pdata->nvm__fmt__spad_enables_ref__loc1[i] = *ptmp++; + + ptmp = pbuffer + VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC2_0_; + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) + pdata->nvm__fmt__spad_enables_ref__loc2[i] = *ptmp++; + + ptmp = pbuffer + VL53L1_NVM__FMT__SPAD_ENABLES_REF__LOC3_0_; + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) + pdata->nvm__fmt__spad_enables_ref__loc3[i] = *ptmp++; + + + pdata->nvm__fmt__roi_config__mode_roi_centre_spad = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + + VL53L1_NVM__FMT__ROI_CONFIG__MODE_ROI_CENTRE_SPAD, + 0x000000FF, + 0, + 0); + pdata->nvm__fmt__roi_config__mode_roi_x_size = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + + VL53L1_NVM__FMT__ROI_CONFIG__MODE_ROI_XY_SIZE, + 0x000000F0, + 4, + 0); + pdata->nvm__fmt__roi_config__mode_roi_y_size = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__ROI_CONFIG__MODE_ROI_XY_SIZE, + 0x0000000F, + 0, + 0); + pdata->nvm__fmt__ref_spad_apply__num_requested_ref_spad = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + + VL53L1_NVM__FMT__REF_SPAD_APPLY__NUM_REQUESTED_REF_SPAD, + 0x000000FF, + 0, + 0); + pdata->nvm__fmt__ref_spad_man__ref_location = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__REF_SPAD_MAN__REF_LOCATION, + 0x00000003, + 0, + 0); + pdata->nvm__fmt__mm_config__inner_offset_mm = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__FMT__MM_CONFIG__INNER_OFFSET_MM, + 0x0000FFFF, + 0, + 0); + pdata->nvm__fmt__mm_config__outer_offset_mm = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__FMT__MM_CONFIG__OUTER_OFFSET_MM, + 0x0000FFFF, + 0, + 0); + pdata->nvm__fmt__algo_part_to_part_range_offset_mm = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + + VL53L1_NVM__FMT__ALGO__PART_TO_PART_RANGE_OFFSET_MM, + 0x00000FFF, + 0, + 0); + pdata->nvm__fmt__algo__crosstalk_compensation_plane_offset_kcps = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + + VL53L1_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS, + 0x0000FFFF, + 0, + 0); + pdata->nvm__fmt__algo__crosstalk_compensation_x_plane_gradient_kcps = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + + VL53L1_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS, + 0x0000FFFF, + 0, + 0); + pdata->nvm__fmt__algo__crosstalk_compensation_y_plane_gradient_kcps = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + + VL53L1_NVM__FMT__ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS, + 0x0000FFFF, + 0, + 0); + pdata->nvm__fmt__spare__host_config__nvm_config_spare_0 = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + + VL53L1_NVM__FMT__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_0, + 0x000000FF, + 0, + 0); + pdata->nvm__fmt__spare__host_config__nvm_config_spare_1 = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + + VL53L1_NVM__FMT__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_1, + 0x000000FF, + 0, + 0); + pdata->nvm__customer_space_programmed = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__CUSTOMER_NVM_SPACE_PROGRAMMED, + 0x000000FF, + 0, + 0); + pdata->nvm__cust__i2c_device_address = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__CUST__I2C_SLAVE__DEVICE_ADDRESS, + 0x000000FF, + 0, + 0); + pdata->nvm__cust__ref_spad_apply__num_requested_ref_spad = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + + VL53L1_NVM__CUST__REF_SPAD_APPLY__NUM_REQUESTED_REF_SPAD, + 0x000000FF, + 0, + 0); + pdata->nvm__cust__ref_spad_man__ref_location = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__CUST__REF_SPAD_MAN__REF_LOCATION, + 0x00000003, + 0, + 0); + pdata->nvm__cust__mm_config__inner_offset_mm = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__CUST__MM_CONFIG__INNER_OFFSET_MM, + 0x0000FFFF, + 0, + 0); + pdata->nvm__cust__mm_config__outer_offset_mm = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__CUST__MM_CONFIG__OUTER_OFFSET_MM, + 0x0000FFFF, + 0, + 0); + pdata->nvm__cust__algo_part_to_part_range_offset_mm = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + + VL53L1_NVM__CUST__ALGO__PART_TO_PART_RANGE_OFFSET_MM, + 0x00000FFF, + 0, + 0); + pdata->nvm__cust__algo__crosstalk_compensation_plane_offset_kcps = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + + VL53L1_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS, + 0x0000FFFF, + 0, + 0); + pdata->nvm__cust__algo__crosstalk_compensation_x_plane_gradient_kcps = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + + VL53L1_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS, + 0x0000FFFF, + 0, + 0); + pdata->nvm__cust__algo__crosstalk_compensation_y_plane_gradient_kcps = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + + VL53L1_NVM__CUST__ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS, + 0x0000FFFF, + 0, + 0); + pdata->nvm__cust__spare__host_config__nvm_config_spare_0 = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__CUST__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_0, + 0x000000FF, + 0, + 0); + pdata->nvm__cust__spare__host_config__nvm_config_spare_1 = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + + VL53L1_NVM__CUST__SPARE_HOST_CONFIG__NVM_CONFIG_SPARE_1, + 0x000000FF, + 0, + 0); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_nvm_decode_optical_centre( + buf_size, + pbuffer + VL53L1_NVM__FMT__OPTICAL_CENTRE_DATA_INDEX, + &(pdata->fmt_optical_centre)); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_nvm_decode_cal_peak_rate_map( + buf_size, + pbuffer + VL53L1_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_INDEX, + &(pdata->fmt_peak_rate_map)); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_nvm_decode_additional_offset_cal_data( + buf_size, + pbuffer + + VL53L1_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_INDEX, + &(pdata->fmt_add_offset_data)); + + + + pptmp[0] = VL53L1_NVM__FMT__RANGE_RESULTS__140MM_MM_PRE_RANGE; + pptmp[1] = VL53L1_NVM__FMT__RANGE_RESULTS__140MM_DARK; + pptmp[2] = VL53L1_NVM__FMT__RANGE_RESULTS__400MM_DARK; + pptmp[3] = VL53L1_NVM__FMT__RANGE_RESULTS__400MM_AMBIENT; + + for (i = 0 ; i < VL53L1_NVM_MAX_FMT_RANGE_DATA ; i++) { + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_nvm_decode_fmt_range_results_data( + buf_size, + pbuffer + pptmp[i], + &(pdata->fmt_range_data[i])); + } + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_nvm_decode_fmt_info( + buf_size, + pbuffer, + &(pdata->fmt_info)); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_nvm_decode_ews_info( + buf_size, + pbuffer, + &(pdata->ews_info)); + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_nvm_decode_optical_centre( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_optical_centre_t *pdata) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint16_t tmp = 0; + + if (buf_size < VL53L1_NVM__FMT__OPTICAL_CENTRE_DATA_SIZE) + return VL53L1_ERROR_BUFFER_TOO_SMALL; + + + tmp = 0x0100; + tmp -= (uint16_t)*(pbuffer + 2); + if (tmp > 0x0FF) + tmp = 0; + + pdata->x_centre = (uint8_t)tmp; + pdata->y_centre = *(pbuffer + 3); + + return status; +} + + +VL53L1_Error VL53L1_nvm_decode_cal_peak_rate_map( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_cal_peak_rate_map_t *pdata) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t *ptmp = NULL; + uint8_t i = 0; + + if (buf_size < VL53L1_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_SIZE) + return VL53L1_ERROR_BUFFER_TOO_SMALL; + + pdata->cal_distance_mm = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer); + + pdata->cal_reflectance_pc = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 2); + pdata->cal_reflectance_pc = + pdata->cal_reflectance_pc >> 6; + + pdata->max_samples = VL53L1_NVM_PEAK_RATE_MAP_SAMPLES; + pdata->width = VL53L1_NVM_PEAK_RATE_MAP_WIDTH; + pdata->height = VL53L1_NVM_PEAK_RATE_MAP_HEIGHT; + + ptmp = pbuffer + 4; + for (i = 0 ; i < VL53L1_NVM_PEAK_RATE_MAP_SAMPLES ; i++) { + pdata->peak_rate_mcps[i] = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, ptmp); + ptmp += 2; + } + + return status; +} + + +VL53L1_Error VL53L1_nvm_decode_additional_offset_cal_data( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_additional_offset_cal_data_t *pdata) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + if (buf_size < VL53L1_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_SIZE) + return VL53L1_ERROR_BUFFER_TOO_SMALL; + + pdata->result__mm_inner_actual_effective_spads = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer); + + pdata->result__mm_outer_actual_effective_spads = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 2); + + pdata->result__mm_inner_peak_signal_count_rtn_mcps = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 4); + + pdata->result__mm_outer_peak_signal_count_rtn_mcps = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 6); + + return status; +} + + +VL53L1_Error VL53L1_nvm_decode_fmt_range_results_data( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_decoded_nvm_fmt_range_data_t *pdata) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + if (buf_size < VL53L1_NVM__FMT__RANGE_RESULTS__SIZE_BYTES) + return VL53L1_ERROR_BUFFER_TOO_SMALL; + + pdata->result__actual_effective_rtn_spads = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer); + + pdata->ref_spad_array__num_requested_ref_spads = + *(pbuffer+2); + + pdata->ref_spad_array__ref_location = + *(pbuffer+3); + + pdata->result__peak_signal_count_rate_rtn_mcps = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 4); + + pdata->result__ambient_count_rate_rtn_mcps = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 6); + + pdata->result__peak_signal_count_rate_ref_mcps = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 8); + + pdata->result__ambient_count_rate_ref_mcps = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 10); + + pdata->measured_distance_mm = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 12); + + pdata->measured_distance_stdev_mm = + (uint16_t)VL53L1_i2c_decode_uint16_t(2, pbuffer + 14); + + return status; +} + + +VL53L1_Error VL53L1_nvm_decode_fmt_info( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_decoded_nvm_fmt_info_t *pdata) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + if (buf_size < VL53L1_NVM_SIZE_IN_BYTES) + return VL53L1_ERROR_BUFFER_TOO_SMALL; + + pdata->nvm__fmt__fgc[0] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_0, + 0x000000FE, + 1, + 0); + pdata->nvm__fmt__fgc[1] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_1, + 0x000001FC, + 2, + 0); + pdata->nvm__fmt__fgc[2] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_2 - 1, + 0x000003F8, + 3, + 0); + pdata->nvm__fmt__fgc[3] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_3 - 1, + 0x000007F0, + 4, + 0); + pdata->nvm__fmt__fgc[4] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_4 - 1, + 0x00000FE0, + 5, + 0); + pdata->nvm__fmt__fgc[5] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_5 - 1, + 0x00001FC0, + 6, + 0); + pdata->nvm__fmt__fgc[6] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_6 - 1, + 0x00003F80, + 7, + 0); + pdata->nvm__fmt__fgc[7] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_6, + 0x0000007F, + 0, + 0); + pdata->nvm__fmt__fgc[8] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_7, + 0x000000FE, + 1, + 0); + pdata->nvm__fmt__fgc[9] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_8, + 0x000001FC, + 2, + 0); + pdata->nvm__fmt__fgc[10] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_9 - 1, + 0x000003F8, + 3, + 0); + pdata->nvm__fmt__fgc[11] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_10 - 1, + 0x000007F0, + 4, + 0); + pdata->nvm__fmt__fgc[12] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_11 - 1, + 0x00000FE0, + 5, + 0); + pdata->nvm__fmt__fgc[13] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_12 - 1, + 0x00001FC0, + 6, + 0); + pdata->nvm__fmt__fgc[14] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_13 - 1, + 0x00003F80, + 7, + 0); + pdata->nvm__fmt__fgc[15] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_13, + 0x0000007F, + 0, + 0); + pdata->nvm__fmt__fgc[16] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_14, + 0x000000FE, + 1, + 0); + pdata->nvm__fmt__fgc[17] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__FGC__BYTE_15, + 0x000001FC, + 2, + 0); + pdata->nvm__fmt__fgc[18] = 0x00; + + pdata->nvm__fmt__test_program_major = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__TEST_PROGRAM_MAJOR_MINOR, + 0x000000E0, + 5, + 0); + pdata->nvm__fmt__test_program_minor = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__TEST_PROGRAM_MAJOR_MINOR, + 0x0000001F, + 0, + 0); + pdata->nvm__fmt__map_major = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__MAP_MAJOR_MINOR, + 0x000000E0, + 5, + 0); + pdata->nvm__fmt__map_minor = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__MAP_MAJOR_MINOR, + 0x0000001F, + 0, + 0); + pdata->nvm__fmt__year = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__YEAR_MONTH, + 0x000000F0, + 4, + 0); + pdata->nvm__fmt__month = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__YEAR_MONTH, + 0x0000000F, + 0, + 0); + pdata->nvm__fmt__day = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__DAY_MODULE_DATE_PHASE, + 0x000000F8, + 3, + 0); + pdata->nvm__fmt__module_date_phase = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__DAY_MODULE_DATE_PHASE, + 0x00000007, + 0, + 0); + pdata->nvm__fmt__time = + (uint16_t)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__FMT__TIME, + 0x0000FFFF, + 0, + 0); + pdata->nvm__fmt__tester_id = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__TESTER_ID, + 0x000000FF, + 0, + 0); + pdata->nvm__fmt__site_id = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__FMT__SITE_ID, + 0x000000FF, + 0, + 0); + + return status; +} + + +VL53L1_Error VL53L1_nvm_decode_ews_info( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_decoded_nvm_ews_info_t *pdata) +{ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + if (buf_size < VL53L1_NVM_SIZE_IN_BYTES) + return VL53L1_ERROR_BUFFER_TOO_SMALL; + + pdata->nvm__ews__test_program_major = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__TEST_PROGRAM_MAJOR_MINOR, + 0x000000E0, + 5, + 0); + pdata->nvm__ews__test_program_minor = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__TEST_PROGRAM_MAJOR_MINOR, + 0x0000001F, + 0, + 0); + pdata->nvm__ews__probe_card_major = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__PROBE_CARD_MAJOR_MINOR, + 0x000000F0, + 4, + 0); + pdata->nvm__ews__probe_card_minor = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__PROBE_CARD_MAJOR_MINOR, + 0x0000000F, + 0, + 0); + pdata->nvm__ews__tester_id = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__TESTER_ID, + 0x000000FF, + 0, + 0); + pdata->nvm__ews__lot[0] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__LOT__BYTE_0, + 0x000000FC, + 2, + 32); + pdata->nvm__ews__lot[1] = + (char)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__EWS__LOT__BYTE_1 - 1, + 0x000003F0, + 4, + 32); + pdata->nvm__ews__lot[2] = + (char)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__EWS__LOT__BYTE_2 - 1, + 0x00000FC0, + 6, + 32); + pdata->nvm__ews__lot[3] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__LOT__BYTE_2, + 0x0000003F, + 0, + 32); + pdata->nvm__ews__lot[4] = + (char)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__LOT__BYTE_3, + 0x000000FC, + 2, + 32); + pdata->nvm__ews__lot[5] = + (char)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__EWS__LOT__BYTE_4 - 1, + 0x000003F0, + 4, + 32); + pdata->nvm__ews__lot[6] = + (char)VL53L1_i2c_decode_with_mask( + 2, + pbuffer + VL53L1_NVM__EWS__LOT__BYTE_5 - 1, + 0x00000FC0, + 6, + 32); + + pdata->nvm__ews__lot[7] = 0x00; + + pdata->nvm__ews__wafer = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__WAFER, + 0x0000001F, + 0, + 0); + pdata->nvm__ews__xcoord = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__XCOORD, + 0x000000FF, + 0, + 0); + pdata->nvm__ews__ycoord = + (uint8_t)VL53L1_i2c_decode_with_mask( + 1, + pbuffer + VL53L1_NVM__EWS__YCOORD, + 0x000000FF, + 0, + 0); + + return status; + +} + + +void VL53L1_nvm_format_encode( + VL53L1_decoded_nvm_data_t *pnvm_info, + uint8_t *pnvm_data) +{ + SUPPRESS_UNUSED_WARNING(pnvm_info); + SUPPRESS_UNUSED_WARNING(pnvm_data); +} + + +VL53L1_Error VL53L1_read_nvm_raw_data( + VL53L1_DEV Dev, + uint8_t start_address, + uint8_t count, + uint8_t *pnvm_raw_data) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_nvm_enable( + Dev, + 0x0004, + VL53L1_NVM_POWER_UP_DELAY_US); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_nvm_read( + Dev, + start_address, + count, + pnvm_raw_data); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_nvm_disable(Dev); + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_read_nvm( + VL53L1_DEV Dev, + uint8_t nvm_format, + VL53L1_decoded_nvm_data_t *pnvm_info) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t nvm_data[VL53L1_NVM_SIZE_IN_BYTES]; + + LOG_FUNCTION_START(""); + + SUPPRESS_UNUSED_WARNING(nvm_format); + + + + status = VL53L1_read_nvm_raw_data( + Dev, + 0, + VL53L1_NVM_SIZE_IN_BYTES >> 2, + nvm_data); + + + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_nvm_format_decode( + VL53L1_NVM_SIZE_IN_BYTES, + nvm_data, + pnvm_info); + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_read_nvm_optical_centre( + VL53L1_DEV Dev, + VL53L1_optical_centre_t *pcentre) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t nvm_data[VL53L1_NVM__FMT__OPTICAL_CENTRE_DATA_SIZE]; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_read_nvm_raw_data( + Dev, + (uint8_t)(VL53L1_NVM__FMT__OPTICAL_CENTRE_DATA_INDEX + >> 2), + (uint8_t)(VL53L1_NVM__FMT__OPTICAL_CENTRE_DATA_SIZE + >> 2), + nvm_data); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_nvm_decode_optical_centre( + VL53L1_NVM__FMT__OPTICAL_CENTRE_DATA_SIZE, + nvm_data, + pcentre); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_read_nvm_cal_peak_rate_map( + VL53L1_DEV Dev, + VL53L1_cal_peak_rate_map_t *pcal_data) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t nvm_data[VL53L1_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_SIZE]; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_read_nvm_raw_data( + Dev, + (uint8_t)(VL53L1_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_INDEX + >> 2), + (uint8_t)(VL53L1_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_SIZE + >> 2), + nvm_data); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_nvm_decode_cal_peak_rate_map( + VL53L1_NVM__FMT__CAL_PEAK_RATE_MAP_DATA_SIZE, + nvm_data, + pcal_data); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_read_nvm_additional_offset_cal_data( + VL53L1_DEV Dev, + VL53L1_additional_offset_cal_data_t *pcal_data) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t nvm_data[VL53L1_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_SIZE]; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_read_nvm_raw_data( + Dev, + (uint8_t)( + VL53L1_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_INDEX >> 2), + (uint8_t)( + VL53L1_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_SIZE >> 2), + nvm_data); + + + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_nvm_decode_additional_offset_cal_data( + VL53L1_NVM__FMT__ADDITIONAL_OFFSET_CAL_DATA_SIZE, + nvm_data, + pcal_data); + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_read_nvm_fmt_range_results_data( + VL53L1_DEV Dev, + uint16_t range_results_select, + VL53L1_decoded_nvm_fmt_range_data_t *prange_data) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t nvm_data[VL53L1_NVM__FMT__RANGE_RESULTS__SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + + + status = VL53L1_read_nvm_raw_data( + Dev, + (uint8_t)(range_results_select >> 2), + (uint8_t)(VL53L1_NVM__FMT__RANGE_RESULTS__SIZE_BYTES >> 2), + nvm_data); + + + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_nvm_decode_fmt_range_results_data( + VL53L1_NVM__FMT__RANGE_RESULTS__SIZE_BYTES, + nvm_data, + prange_data); + + LOG_FUNCTION_END(status); + + return status; + +} + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_nvm_debug.c b/drivers/input/misc/vl53L1/src/vl53l1_nvm_debug.c new file mode 100644 index 000000000000..0c2e01fd8fed --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_nvm_debug.c @@ -0,0 +1,1032 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_platform.h" +#include "vl53l1_platform_log.h" +#include "vl53l1_register_map.h" +#include "vl53l1_api_debug.h" +#include "vl53l1_nvm_structs.h" +#include "vl53l1_nvm_debug.h" + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_NVM, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_NVM, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_NVM,\ + status, fmt, ##__VA_ARGS__) + +#define trace_print(level, ...) \ + _LOG_TRACE_PRINT(trace_flags, \ + level, VL53L1_TRACE_FUNCTION_NONE, ##__VA_ARGS__) + +#ifdef VL53L1_LOG_ENABLE + +void VL53L1_print_nvm_raw_data( + uint8_t *pnvm_raw_data, + uint32_t trace_flags) +{ + + + int i = 0; + + LOG_FUNCTION_START(""); + + for (i = 0 ; i < VL53L1_NVM_SIZE_IN_BYTES ; i++) { + if (i % 4 == 0) + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "\n NVM Addr 0x%02X : 0x", + i/4); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%02X", + *pnvm_raw_data++); + } + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "\n"); + + LOG_FUNCTION_END(0); +} + + +void VL53L1_print_decoded_nvm_data( + VL53L1_decoded_nvm_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + char fp_text[VL53L1_MAX_STRING_LENGTH]; + char pre_text[VL53L1_MAX_STRING_LENGTH]; + char *ppre_text = &(pre_text[0]); + + uint8_t i = 0; + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__identification_model_id", + pdata->nvm__identification_model_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__identification_module_type", + pdata->nvm__identification_module_type); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__identification_revision_id", + pdata->nvm__identification_revision_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__identification_module_id", + pdata->nvm__identification_module_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__i2c_valid", + pdata->nvm__i2c_valid); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__i2c_device_address_ews", + pdata->nvm__i2c_device_address_ews); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->nvm__ews__fast_osc_frequency, + 12, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__ews__fast_osc_frequency", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__fast_osc_trim_max", + pdata->nvm__ews__fast_osc_trim_max); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__fast_osc_freq_set", + pdata->nvm__ews__fast_osc_freq_set); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__slow_osc_calibration", + pdata->nvm__ews__slow_osc_calibration); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->nvm__fmt__fast_osc_frequency, + 12, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__fmt__fast_osc_frequency", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__fast_osc_trim_max", + pdata->nvm__fmt__fast_osc_trim_max); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__fast_osc_freq_set", + pdata->nvm__fmt__fast_osc_freq_set); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__slow_osc_calibration", + pdata->nvm__fmt__slow_osc_calibration); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__vhv_config_unlock", + pdata->nvm__vhv_config_unlock); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ref_selvddpix", + pdata->nvm__ref_selvddpix); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ref_selvquench", + pdata->nvm__ref_selvquench); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__regavdd1v2_sel", + pdata->nvm__regavdd1v2_sel); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__regdvdd1v2_sel", + pdata->nvm__regdvdd1v2_sel); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__vhv_timeout__macrop", + pdata->nvm__vhv_timeout__macrop); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__vhv_loop_bound", + pdata->nvm__vhv_loop_bound); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__vhv_count_threshold", + pdata->nvm__vhv_count_threshold); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__vhv_offset", + pdata->nvm__vhv_offset); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__vhv_init_enable", + pdata->nvm__vhv_init_enable); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__vhv_init_value", + pdata->nvm__vhv_init_value); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_vcsel_trim_ll", + pdata->nvm__laser_safety_vcsel_trim_ll); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_vcsel_selion_ll", + pdata->nvm__laser_safety_vcsel_selion_ll); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_vcsel_selion_max_ll", + pdata->nvm__laser_safety_vcsel_selion_max_ll); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_mult_ll", + pdata->nvm__laser_safety_mult_ll); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_clip_ll", + pdata->nvm__laser_safety_clip_ll); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_vcsel_trim_ld", + pdata->nvm__laser_safety_vcsel_trim_ld); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_vcsel_selion_ld", + pdata->nvm__laser_safety_vcsel_selion_ld); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_vcsel_selion_max_ld", + pdata->nvm__laser_safety_vcsel_selion_max_ld); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_mult_ld", + pdata->nvm__laser_safety_mult_ld); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_clip_ld", + pdata->nvm__laser_safety_clip_ld); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_lock_byte", + pdata->nvm__laser_safety_lock_byte); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__laser_safety_unlock_byte", + pdata->nvm__laser_safety_unlock_byte); + + + + for (i = 0 ; i < VL53L1_RTN_SPAD_BUFFER_SIZE ; i++) { + sprintf( + ppre_text, + "%snvm__ews__spad_enables_rtn[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->nvm__ews__spad_enables_rtn[i]); + } + + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) { + sprintf( + ppre_text, + "%snvm__ews__spad_enables_ref__loc1[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->nvm__ews__spad_enables_ref__loc1[i]); + } + + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) { + sprintf( + ppre_text, + "%snvm__ews__spad_enables_ref__loc2[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->nvm__ews__spad_enables_ref__loc2[i]); + } + + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) { + sprintf( + ppre_text, + "%snvm__ews__spad_enables_ref__loc3[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->nvm__ews__spad_enables_ref__loc3[i]); + } + + + + + for (i = 0 ; i < VL53L1_RTN_SPAD_BUFFER_SIZE ; i++) { + sprintf( + ppre_text, + "%snvm__fmt__spad_enables_rtn[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->nvm__fmt__spad_enables_rtn[i]); + } + + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) { + sprintf( + ppre_text, + "%snvm__fmt__spad_enables_ref__loc1[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->nvm__fmt__spad_enables_ref__loc1[i]); + } + + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) { + sprintf( + ppre_text, + "%snvm__fmt__spad_enables_ref__loc2[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->nvm__fmt__spad_enables_ref__loc2[i]); + } + + for (i = 0 ; i < VL53L1_REF_SPAD_BUFFER_SIZE ; i++) { + sprintf( + ppre_text, + "%snvm__fmt__spad_enables_ref__loc3[%u]", + pprefix, i); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s = %u\n", + ppre_text, + pdata->nvm__fmt__spad_enables_ref__loc3[i]); + } + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__roi_config__mode_roi_centre_spad", + pdata->nvm__fmt__roi_config__mode_roi_centre_spad); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__roi_config__mode_roi_x_size", + pdata->nvm__fmt__roi_config__mode_roi_x_size); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__roi_config__mode_roi_y_size", + pdata->nvm__fmt__roi_config__mode_roi_y_size); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__ref_spad_apply__num_requested_ref_spad", + pdata->nvm__fmt__ref_spad_apply__num_requested_ref_spad); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__ref_spad_man__ref_location", + pdata->nvm__fmt__ref_spad_man__ref_location); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "nvm__fmt__mm_config__inner_offset_mm", + pdata->nvm__fmt__mm_config__inner_offset_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "nvm__fmt__mm_config__outer_offset_mm", + pdata->nvm__fmt__mm_config__outer_offset_mm); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->nvm__fmt__algo_part_to_part_range_offset_mm, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__fmt__algo_part_to_part_range_offset_mm", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)( + pdata->nvm__fmt__algo__crosstalk_compensation_plane_offset_kcps), + 9, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__fmt__algo__crosstalk_compensation_plane_offset_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)( + pdata->nvm__fmt__algo__crosstalk_compensation_x_plane_gradient_kcps), + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__fmt__algo__crosstalk_compensation_x_plane_gradient_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)( + pdata->nvm__fmt__algo__crosstalk_compensation_y_plane_gradient_kcps), + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__fmt__algo__crosstalk_compensation_y_plane_gradient_kcps", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__spare__host_config__nvm_config_spare_0", + pdata->nvm__fmt__spare__host_config__nvm_config_spare_0); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__spare__host_config__nvm_config_spare_1", + pdata->nvm__fmt__spare__host_config__nvm_config_spare_1); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__customer_space_programmed", + pdata->nvm__customer_space_programmed); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__cust__i2c_device_address", + pdata->nvm__cust__i2c_device_address); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__cust__ref_spad_apply__num_requested_ref_spad", + pdata->nvm__cust__ref_spad_apply__num_requested_ref_spad); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__cust__ref_spad_man__ref_location", + pdata->nvm__cust__ref_spad_man__ref_location); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "nvm__cust__mm_config__inner_offset_mm", + pdata->nvm__cust__mm_config__inner_offset_mm); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %d\n", + pprefix, + "nvm__cust__mm_config__outer_offset_mm", + pdata->nvm__cust__mm_config__outer_offset_mm); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->nvm__cust__algo_part_to_part_range_offset_mm, + 2, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__cust__algo_part_to_part_range_offset_mm", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (uint32_t)( + pdata->nvm__cust__algo__crosstalk_compensation_plane_offset_kcps), + 9, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__cust__algo__crosstalk_compensation_plane_offset_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)( + pdata->nvm__cust__algo__crosstalk_compensation_x_plane_gradient_kcps), + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__cust__algo__crosstalk_compensation_x_plane_gradient_kcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)( + pdata->nvm__cust__algo__crosstalk_compensation_y_plane_gradient_kcps), + 11, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "nvm__cust__algo__crosstalk_compensation_y_plane_gradient_kcps", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__cust__spare__host_config__nvm_config_spare_0", + pdata->nvm__cust__spare__host_config__nvm_config_spare_0); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__cust__spare__host_config__nvm_config_spare_1", + pdata->nvm__cust__spare__host_config__nvm_config_spare_1); + + + + sprintf( + ppre_text, + "%sfmt_optical_centre.", pprefix); + + VL53L1_print_optical_centre( + &(pdata->fmt_optical_centre), + ppre_text, + VL53L1_TRACE_MODULE_NVM_DATA); + + + + sprintf( + ppre_text, + "%sfmt_peak_rate_map.", pprefix); + + VL53L1_print_cal_peak_rate_map( + &(pdata->fmt_peak_rate_map), + ppre_text, + VL53L1_TRACE_MODULE_NVM_DATA); + + + + sprintf( + ppre_text, + "%sfmt_add_offset_data.", + pprefix); + + VL53L1_print_additional_offset_cal_data( + &(pdata->fmt_add_offset_data), + ppre_text, + VL53L1_TRACE_MODULE_NVM_DATA); + + + + for (i = 0 ; i < VL53L1_NVM_MAX_FMT_RANGE_DATA ; i++) { + sprintf( + ppre_text, + "%sfmt_range_data[%u].", + pprefix, i); + + VL53L1_print_decoded_nvm_fmt_range_data( + &(pdata->fmt_range_data[i]), + ppre_text, + trace_flags); + } + + sprintf( + ppre_text, + "%sfmt_info.", + pprefix); + + VL53L1_print_decoded_nvm_fmt_info( + &(pdata->fmt_info), + ppre_text, + trace_flags); + + sprintf( + ppre_text, + "%sews_info.", + pprefix); + + VL53L1_print_decoded_nvm_ews_info( + &(pdata->ews_info), + ppre_text, + trace_flags); +} + + +void VL53L1_print_decoded_nvm_fmt_range_data( + VL53L1_decoded_nvm_fmt_range_data_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + char fp_text[VL53L1_MAX_STRING_LENGTH]; + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__actual_effective_rtn_spads, + 8, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__actual_effective_rtn_spads", + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ref_spad_array__num_requested_ref_spads", + pdata->ref_spad_array__num_requested_ref_spads); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "ref_spad_array__ref_location", + pdata->ref_spad_array__ref_location); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__peak_signal_count_rate_rtn_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__peak_signal_count_rate_rtn_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__ambient_count_rate_rtn_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__ambient_count_rate_rtn_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__peak_signal_count_rate_ref_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "result__peak_signal_count_rate_ref_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->result__ambient_count_rate_ref_mcps, + 7, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "result__ambient_count_rate_ref_mcps", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (int32_t)pdata->measured_distance_mm, + 4, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "measured_distance_mm", + fp_text); + + VL53L1_signed_fixed_point_sprintf( + (uint32_t)pdata->measured_distance_stdev_mm, + 4, + VL53L1_MAX_STRING_LENGTH, + fp_text); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %s\n", + pprefix, + "measured_distance_stdev_mm", + fp_text); +} + + +void VL53L1_print_decoded_nvm_fmt_info( + VL53L1_decoded_nvm_fmt_info_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = \"%s\"\n", + pprefix, + "nvm__fmt__fgc", + pdata->nvm__fmt__fgc); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__test_program_major", + pdata->nvm__fmt__test_program_major); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__test_program_minor", + pdata->nvm__fmt__test_program_minor); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__map_major", + pdata->nvm__fmt__map_major); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__map_minor", + pdata->nvm__fmt__map_minor); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__year", + pdata->nvm__fmt__year); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__month", + pdata->nvm__fmt__month); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__day", + pdata->nvm__fmt__day); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__module_date_phase", + pdata->nvm__fmt__module_date_phase); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__time", + pdata->nvm__fmt__time); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__tester_id", + pdata->nvm__fmt__tester_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__fmt__site_id", + pdata->nvm__fmt__site_id); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__test_program_major", + pdata->nvm__ews__test_program_major); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__test_program_minor", + pdata->nvm__ews__test_program_minor); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__probe_card_major", + pdata->nvm__ews__probe_card_major); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__probe_card_minor", + pdata->nvm__ews__probe_card_minor); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__tester_id", + pdata->nvm__ews__tester_id); +} + + +void VL53L1_print_decoded_nvm_ews_info( + VL53L1_decoded_nvm_ews_info_t *pdata, + char *pprefix, + uint32_t trace_flags) +{ + trace_print(VL53L1_TRACE_LEVEL_INFO, + "%s%s = \"%s\"\n", + pprefix, + "nvm__ews__lot", + pdata->nvm__ews__lot); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__wafer", + pdata->nvm__ews__wafer); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__xcoord", + pdata->nvm__ews__xcoord); + + trace_print( + VL53L1_TRACE_LEVEL_INFO, + "%s%s = %u\n", + pprefix, + "nvm__ews__ycoord", + pdata->nvm__ews__ycoord); +} + +#endif + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_register_funcs.c b/drivers/input/misc/vl53L1/src/vl53l1_register_funcs.c new file mode 100644 index 000000000000..0e3ae3b7de26 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_register_funcs.c @@ -0,0 +1,4131 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_platform.h" +#include "vl53l1_platform_log.h" +#include "vl53l1_core.h" +#include "vl53l1_register_map.h" +#include "vl53l1_register_structs.h" +#include "vl53l1_register_funcs.h" + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_REGISTERS, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_REGISTERS, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_REGISTERS,\ + status, fmt, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_i2c_encode_static_nvm_managed( + VL53L1_static_nvm_managed_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->i2c_slave__device_address & 0x7F; + *(pbuffer + 1) = + pdata->ana_config__vhv_ref_sel_vddpix & 0xF; + *(pbuffer + 2) = + pdata->ana_config__vhv_ref_sel_vquench & 0x7F; + *(pbuffer + 3) = + pdata->ana_config__reg_avdd1v2_sel & 0x3; + *(pbuffer + 4) = + pdata->ana_config__fast_osc__trim & 0x7F; + VL53L1_i2c_encode_uint16_t( + pdata->osc_measured__fast_osc__frequency, + 2, + pbuffer + 5); + *(pbuffer + 7) = + pdata->vhv_config__timeout_macrop_loop_bound; + *(pbuffer + 8) = + pdata->vhv_config__count_thresh; + *(pbuffer + 9) = + pdata->vhv_config__offset & 0x3F; + *(pbuffer + 10) = + pdata->vhv_config__init; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_static_nvm_managed( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_static_nvm_managed_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->i2c_slave__device_address = + (*(pbuffer + 0)) & 0x7F; + pdata->ana_config__vhv_ref_sel_vddpix = + (*(pbuffer + 1)) & 0xF; + pdata->ana_config__vhv_ref_sel_vquench = + (*(pbuffer + 2)) & 0x7F; + pdata->ana_config__reg_avdd1v2_sel = + (*(pbuffer + 3)) & 0x3; + pdata->ana_config__fast_osc__trim = + (*(pbuffer + 4)) & 0x7F; + pdata->osc_measured__fast_osc__frequency = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 5)); + pdata->vhv_config__timeout_macrop_loop_bound = + (*(pbuffer + 7)); + pdata->vhv_config__count_thresh = + (*(pbuffer + 8)); + pdata->vhv_config__offset = + (*(pbuffer + 9)) & 0x3F; + pdata->vhv_config__init = + (*(pbuffer + 10)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_static_nvm_managed( + VL53L1_DEV Dev, + VL53L1_static_nvm_managed_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_static_nvm_managed( + pdata, + VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_I2C_SLAVE__DEVICE_ADDRESS, + comms_buffer, + VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_static_nvm_managed( + VL53L1_DEV Dev, + VL53L1_static_nvm_managed_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_I2C_SLAVE__DEVICE_ADDRESS, + comms_buffer, + VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_static_nvm_managed( + VL53L1_STATIC_NVM_MANAGED_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_customer_nvm_managed( + VL53L1_customer_nvm_managed_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->global_config__spad_enables_ref_0; + *(pbuffer + 1) = + pdata->global_config__spad_enables_ref_1; + *(pbuffer + 2) = + pdata->global_config__spad_enables_ref_2; + *(pbuffer + 3) = + pdata->global_config__spad_enables_ref_3; + *(pbuffer + 4) = + pdata->global_config__spad_enables_ref_4; + *(pbuffer + 5) = + pdata->global_config__spad_enables_ref_5 & 0xF; + *(pbuffer + 6) = + pdata->global_config__ref_en_start_select; + *(pbuffer + 7) = + pdata->ref_spad_man__num_requested_ref_spads & 0x3F; + *(pbuffer + 8) = + pdata->ref_spad_man__ref_location & 0x3; + VL53L1_i2c_encode_uint16_t( + pdata->algo__crosstalk_compensation_plane_offset_kcps, + 2, + pbuffer + 9); + VL53L1_i2c_encode_int16_t( + pdata->algo__crosstalk_compensation_x_plane_gradient_kcps, + 2, + pbuffer + 11); + VL53L1_i2c_encode_int16_t( + pdata->algo__crosstalk_compensation_y_plane_gradient_kcps, + 2, + pbuffer + 13); + VL53L1_i2c_encode_uint16_t( + pdata->ref_spad_char__total_rate_target_mcps, + 2, + pbuffer + 15); + VL53L1_i2c_encode_int16_t( + pdata->algo__part_to_part_range_offset_mm & 0x1FFF, + 2, + pbuffer + 17); + VL53L1_i2c_encode_int16_t( + pdata->mm_config__inner_offset_mm, + 2, + pbuffer + 19); + VL53L1_i2c_encode_int16_t( + pdata->mm_config__outer_offset_mm, + 2, + pbuffer + 21); + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_customer_nvm_managed( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_customer_nvm_managed_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->global_config__spad_enables_ref_0 = + (*(pbuffer + 0)); + pdata->global_config__spad_enables_ref_1 = + (*(pbuffer + 1)); + pdata->global_config__spad_enables_ref_2 = + (*(pbuffer + 2)); + pdata->global_config__spad_enables_ref_3 = + (*(pbuffer + 3)); + pdata->global_config__spad_enables_ref_4 = + (*(pbuffer + 4)); + pdata->global_config__spad_enables_ref_5 = + (*(pbuffer + 5)) & 0xF; + pdata->global_config__ref_en_start_select = + (*(pbuffer + 6)); + pdata->ref_spad_man__num_requested_ref_spads = + (*(pbuffer + 7)) & 0x3F; + pdata->ref_spad_man__ref_location = + (*(pbuffer + 8)) & 0x3; + pdata->algo__crosstalk_compensation_plane_offset_kcps = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 9)); + pdata->algo__crosstalk_compensation_x_plane_gradient_kcps = + (VL53L1_i2c_decode_int16_t(2, pbuffer + 11)); + pdata->algo__crosstalk_compensation_y_plane_gradient_kcps = + (VL53L1_i2c_decode_int16_t(2, pbuffer + 13)); + pdata->ref_spad_char__total_rate_target_mcps = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 15)); + pdata->algo__part_to_part_range_offset_mm = + (VL53L1_i2c_decode_int16_t(2, pbuffer + 17)) & 0x1FFF; + pdata->mm_config__inner_offset_mm = + (VL53L1_i2c_decode_int16_t(2, pbuffer + 19)); + pdata->mm_config__outer_offset_mm = + (VL53L1_i2c_decode_int16_t(2, pbuffer + 21)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_customer_nvm_managed( + VL53L1_DEV Dev, + VL53L1_customer_nvm_managed_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_customer_nvm_managed( + pdata, + VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0, + comms_buffer, + VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_customer_nvm_managed( + VL53L1_DEV Dev, + VL53L1_customer_nvm_managed_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_GLOBAL_CONFIG__SPAD_ENABLES_REF_0, + comms_buffer, + VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_customer_nvm_managed( + VL53L1_CUSTOMER_NVM_MANAGED_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_static_config( + VL53L1_static_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + VL53L1_i2c_encode_uint16_t( + pdata->dss_config__target_total_rate_mcps, + 2, + pbuffer + 0); + *(pbuffer + 2) = + pdata->debug__ctrl & 0x1; + *(pbuffer + 3) = + pdata->test_mode__ctrl & 0xF; + *(pbuffer + 4) = + pdata->clk_gating__ctrl & 0xF; + *(pbuffer + 5) = + pdata->nvm_bist__ctrl & 0x1F; + *(pbuffer + 6) = + pdata->nvm_bist__num_nvm_words & 0x7F; + *(pbuffer + 7) = + pdata->nvm_bist__start_address & 0x7F; + *(pbuffer + 8) = + pdata->host_if__status & 0x1; + *(pbuffer + 9) = + pdata->pad_i2c_hv__config; + *(pbuffer + 10) = + pdata->pad_i2c_hv__extsup_config & 0x1; + *(pbuffer + 11) = + pdata->gpio_hv_pad__ctrl & 0x3; + *(pbuffer + 12) = + pdata->gpio_hv_mux__ctrl & 0x1F; + *(pbuffer + 13) = + pdata->gpio__tio_hv_status & 0x3; + *(pbuffer + 14) = + pdata->gpio__fio_hv_status & 0x3; + *(pbuffer + 15) = + pdata->ana_config__spad_sel_pswidth & 0x7; + *(pbuffer + 16) = + pdata->ana_config__vcsel_pulse_width_offset & 0x1F; + *(pbuffer + 17) = + pdata->ana_config__fast_osc__config_ctrl & 0x1; + *(pbuffer + 18) = + pdata->sigma_estimator__effective_pulse_width_ns; + *(pbuffer + 19) = + pdata->sigma_estimator__effective_ambient_width_ns; + *(pbuffer + 20) = + pdata->sigma_estimator__sigma_ref_mm; + *(pbuffer + 21) = + pdata->algo__crosstalk_compensation_valid_height_mm; + *(pbuffer + 22) = + pdata->spare_host_config__static_config_spare_0; + *(pbuffer + 23) = + pdata->spare_host_config__static_config_spare_1; + VL53L1_i2c_encode_uint16_t( + pdata->algo__range_ignore_threshold_mcps, + 2, + pbuffer + 24); + *(pbuffer + 26) = + pdata->algo__range_ignore_valid_height_mm; + *(pbuffer + 27) = + pdata->algo__range_min_clip; + *(pbuffer + 28) = + pdata->algo__consistency_check__tolerance & 0xF; + *(pbuffer + 29) = + pdata->spare_host_config__static_config_spare_2; + *(pbuffer + 30) = + pdata->sd_config__reset_stages_msb & 0xF; + *(pbuffer + 31) = + pdata->sd_config__reset_stages_lsb; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_static_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_static_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->dss_config__target_total_rate_mcps = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 0)); + pdata->debug__ctrl = + (*(pbuffer + 2)) & 0x1; + pdata->test_mode__ctrl = + (*(pbuffer + 3)) & 0xF; + pdata->clk_gating__ctrl = + (*(pbuffer + 4)) & 0xF; + pdata->nvm_bist__ctrl = + (*(pbuffer + 5)) & 0x1F; + pdata->nvm_bist__num_nvm_words = + (*(pbuffer + 6)) & 0x7F; + pdata->nvm_bist__start_address = + (*(pbuffer + 7)) & 0x7F; + pdata->host_if__status = + (*(pbuffer + 8)) & 0x1; + pdata->pad_i2c_hv__config = + (*(pbuffer + 9)); + pdata->pad_i2c_hv__extsup_config = + (*(pbuffer + 10)) & 0x1; + pdata->gpio_hv_pad__ctrl = + (*(pbuffer + 11)) & 0x3; + pdata->gpio_hv_mux__ctrl = + (*(pbuffer + 12)) & 0x1F; + pdata->gpio__tio_hv_status = + (*(pbuffer + 13)) & 0x3; + pdata->gpio__fio_hv_status = + (*(pbuffer + 14)) & 0x3; + pdata->ana_config__spad_sel_pswidth = + (*(pbuffer + 15)) & 0x7; + pdata->ana_config__vcsel_pulse_width_offset = + (*(pbuffer + 16)) & 0x1F; + pdata->ana_config__fast_osc__config_ctrl = + (*(pbuffer + 17)) & 0x1; + pdata->sigma_estimator__effective_pulse_width_ns = + (*(pbuffer + 18)); + pdata->sigma_estimator__effective_ambient_width_ns = + (*(pbuffer + 19)); + pdata->sigma_estimator__sigma_ref_mm = + (*(pbuffer + 20)); + pdata->algo__crosstalk_compensation_valid_height_mm = + (*(pbuffer + 21)); + pdata->spare_host_config__static_config_spare_0 = + (*(pbuffer + 22)); + pdata->spare_host_config__static_config_spare_1 = + (*(pbuffer + 23)); + pdata->algo__range_ignore_threshold_mcps = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 24)); + pdata->algo__range_ignore_valid_height_mm = + (*(pbuffer + 26)); + pdata->algo__range_min_clip = + (*(pbuffer + 27)); + pdata->algo__consistency_check__tolerance = + (*(pbuffer + 28)) & 0xF; + pdata->spare_host_config__static_config_spare_2 = + (*(pbuffer + 29)); + pdata->sd_config__reset_stages_msb = + (*(pbuffer + 30)) & 0xF; + pdata->sd_config__reset_stages_lsb = + (*(pbuffer + 31)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_static_config( + VL53L1_DEV Dev, + VL53L1_static_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_static_config( + pdata, + VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS, + comms_buffer, + VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_static_config( + VL53L1_DEV Dev, + VL53L1_static_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_DSS_CONFIG__TARGET_TOTAL_RATE_MCPS, + comms_buffer, + VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_static_config( + VL53L1_STATIC_CONFIG_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_general_config( + VL53L1_general_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->gph_config__stream_count_update_value; + *(pbuffer + 1) = + pdata->global_config__stream_divider; + *(pbuffer + 2) = + pdata->system__interrupt_config_gpio; + *(pbuffer + 3) = + pdata->cal_config__vcsel_start & 0x7F; + VL53L1_i2c_encode_uint16_t( + pdata->cal_config__repeat_rate & 0xFFF, + 2, + pbuffer + 4); + *(pbuffer + 6) = + pdata->global_config__vcsel_width & 0x7F; + *(pbuffer + 7) = + pdata->phasecal_config__timeout_macrop; + *(pbuffer + 8) = + pdata->phasecal_config__target; + *(pbuffer + 9) = + pdata->phasecal_config__override & 0x1; + *(pbuffer + 11) = + pdata->dss_config__roi_mode_control & 0x7; + VL53L1_i2c_encode_uint16_t( + pdata->system__thresh_rate_high, + 2, + pbuffer + 12); + VL53L1_i2c_encode_uint16_t( + pdata->system__thresh_rate_low, + 2, + pbuffer + 14); + VL53L1_i2c_encode_uint16_t( + pdata->dss_config__manual_effective_spads_select, + 2, + pbuffer + 16); + *(pbuffer + 18) = + pdata->dss_config__manual_block_select; + *(pbuffer + 19) = + pdata->dss_config__aperture_attenuation; + *(pbuffer + 20) = + pdata->dss_config__max_spads_limit; + *(pbuffer + 21) = + pdata->dss_config__min_spads_limit; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_general_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_general_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->gph_config__stream_count_update_value = + (*(pbuffer + 0)); + pdata->global_config__stream_divider = + (*(pbuffer + 1)); + pdata->system__interrupt_config_gpio = + (*(pbuffer + 2)); + pdata->cal_config__vcsel_start = + (*(pbuffer + 3)) & 0x7F; + pdata->cal_config__repeat_rate = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 4)) & 0xFFF; + pdata->global_config__vcsel_width = + (*(pbuffer + 6)) & 0x7F; + pdata->phasecal_config__timeout_macrop = + (*(pbuffer + 7)); + pdata->phasecal_config__target = + (*(pbuffer + 8)); + pdata->phasecal_config__override = + (*(pbuffer + 9)) & 0x1; + pdata->dss_config__roi_mode_control = + (*(pbuffer + 11)) & 0x7; + pdata->system__thresh_rate_high = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 12)); + pdata->system__thresh_rate_low = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 14)); + pdata->dss_config__manual_effective_spads_select = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 16)); + pdata->dss_config__manual_block_select = + (*(pbuffer + 18)); + pdata->dss_config__aperture_attenuation = + (*(pbuffer + 19)); + pdata->dss_config__max_spads_limit = + (*(pbuffer + 20)); + pdata->dss_config__min_spads_limit = + (*(pbuffer + 21)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_general_config( + VL53L1_DEV Dev, + VL53L1_general_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_general_config( + pdata, + VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_GPH_CONFIG__STREAM_COUNT_UPDATE_VALUE, + comms_buffer, + VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_general_config( + VL53L1_DEV Dev, + VL53L1_general_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_GPH_CONFIG__STREAM_COUNT_UPDATE_VALUE, + comms_buffer, + VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_general_config( + VL53L1_GENERAL_CONFIG_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_timing_config( + VL53L1_timing_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->mm_config__timeout_macrop_a_hi & 0xF; + *(pbuffer + 1) = + pdata->mm_config__timeout_macrop_a_lo; + *(pbuffer + 2) = + pdata->mm_config__timeout_macrop_b_hi & 0xF; + *(pbuffer + 3) = + pdata->mm_config__timeout_macrop_b_lo; + *(pbuffer + 4) = + pdata->range_config__timeout_macrop_a_hi & 0xF; + *(pbuffer + 5) = + pdata->range_config__timeout_macrop_a_lo; + *(pbuffer + 6) = + pdata->range_config__vcsel_period_a & 0x3F; + *(pbuffer + 7) = + pdata->range_config__timeout_macrop_b_hi & 0xF; + *(pbuffer + 8) = + pdata->range_config__timeout_macrop_b_lo; + *(pbuffer + 9) = + pdata->range_config__vcsel_period_b & 0x3F; + VL53L1_i2c_encode_uint16_t( + pdata->range_config__sigma_thresh, + 2, + pbuffer + 10); + VL53L1_i2c_encode_uint16_t( + pdata->range_config__min_count_rate_rtn_limit_mcps, + 2, + pbuffer + 12); + *(pbuffer + 14) = + pdata->range_config__valid_phase_low; + *(pbuffer + 15) = + pdata->range_config__valid_phase_high; + VL53L1_i2c_encode_uint32_t( + pdata->system__intermeasurement_period, + 4, + pbuffer + 18); + *(pbuffer + 22) = + pdata->system__fractional_enable & 0x1; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_timing_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_timing_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->mm_config__timeout_macrop_a_hi = + (*(pbuffer + 0)) & 0xF; + pdata->mm_config__timeout_macrop_a_lo = + (*(pbuffer + 1)); + pdata->mm_config__timeout_macrop_b_hi = + (*(pbuffer + 2)) & 0xF; + pdata->mm_config__timeout_macrop_b_lo = + (*(pbuffer + 3)); + pdata->range_config__timeout_macrop_a_hi = + (*(pbuffer + 4)) & 0xF; + pdata->range_config__timeout_macrop_a_lo = + (*(pbuffer + 5)); + pdata->range_config__vcsel_period_a = + (*(pbuffer + 6)) & 0x3F; + pdata->range_config__timeout_macrop_b_hi = + (*(pbuffer + 7)) & 0xF; + pdata->range_config__timeout_macrop_b_lo = + (*(pbuffer + 8)); + pdata->range_config__vcsel_period_b = + (*(pbuffer + 9)) & 0x3F; + pdata->range_config__sigma_thresh = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 10)); + pdata->range_config__min_count_rate_rtn_limit_mcps = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 12)); + pdata->range_config__valid_phase_low = + (*(pbuffer + 14)); + pdata->range_config__valid_phase_high = + (*(pbuffer + 15)); + pdata->system__intermeasurement_period = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 18)); + pdata->system__fractional_enable = + (*(pbuffer + 22)) & 0x1; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_timing_config( + VL53L1_DEV Dev, + VL53L1_timing_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_timing_config( + pdata, + VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_MM_CONFIG__TIMEOUT_MACROP_A_HI, + comms_buffer, + VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_timing_config( + VL53L1_DEV Dev, + VL53L1_timing_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_MM_CONFIG__TIMEOUT_MACROP_A_HI, + comms_buffer, + VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_timing_config( + VL53L1_TIMING_CONFIG_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_dynamic_config( + VL53L1_dynamic_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->system__grouped_parameter_hold_0 & 0x3; + VL53L1_i2c_encode_uint16_t( + pdata->system__thresh_high, + 2, + pbuffer + 1); + VL53L1_i2c_encode_uint16_t( + pdata->system__thresh_low, + 2, + pbuffer + 3); + *(pbuffer + 5) = + pdata->system__enable_xtalk_per_quadrant & 0x1; + *(pbuffer + 6) = + pdata->system__seed_config & 0x7; + *(pbuffer + 7) = + pdata->sd_config__woi_sd0; + *(pbuffer + 8) = + pdata->sd_config__woi_sd1; + *(pbuffer + 9) = + pdata->sd_config__initial_phase_sd0 & 0x7F; + *(pbuffer + 10) = + pdata->sd_config__initial_phase_sd1 & 0x7F; + *(pbuffer + 11) = + pdata->system__grouped_parameter_hold_1 & 0x3; + *(pbuffer + 12) = + pdata->sd_config__first_order_select & 0x3; + *(pbuffer + 13) = + pdata->sd_config__quantifier & 0xF; + *(pbuffer + 14) = + pdata->roi_config__user_roi_centre_spad; + *(pbuffer + 15) = + pdata->roi_config__user_roi_requested_global_xy_size; + *(pbuffer + 16) = + pdata->system__sequence_config; + *(pbuffer + 17) = + pdata->system__grouped_parameter_hold & 0x3; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_dynamic_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_dynamic_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->system__grouped_parameter_hold_0 = + (*(pbuffer + 0)) & 0x3; + pdata->system__thresh_high = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 1)); + pdata->system__thresh_low = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 3)); + pdata->system__enable_xtalk_per_quadrant = + (*(pbuffer + 5)) & 0x1; + pdata->system__seed_config = + (*(pbuffer + 6)) & 0x7; + pdata->sd_config__woi_sd0 = + (*(pbuffer + 7)); + pdata->sd_config__woi_sd1 = + (*(pbuffer + 8)); + pdata->sd_config__initial_phase_sd0 = + (*(pbuffer + 9)) & 0x7F; + pdata->sd_config__initial_phase_sd1 = + (*(pbuffer + 10)) & 0x7F; + pdata->system__grouped_parameter_hold_1 = + (*(pbuffer + 11)) & 0x3; + pdata->sd_config__first_order_select = + (*(pbuffer + 12)) & 0x3; + pdata->sd_config__quantifier = + (*(pbuffer + 13)) & 0xF; + pdata->roi_config__user_roi_centre_spad = + (*(pbuffer + 14)); + pdata->roi_config__user_roi_requested_global_xy_size = + (*(pbuffer + 15)); + pdata->system__sequence_config = + (*(pbuffer + 16)); + pdata->system__grouped_parameter_hold = + (*(pbuffer + 17)) & 0x3; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_dynamic_config( + VL53L1_DEV Dev, + VL53L1_dynamic_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_dynamic_config( + pdata, + VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD_0, + comms_buffer, + VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_dynamic_config( + VL53L1_DEV Dev, + VL53L1_dynamic_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD_0, + comms_buffer, + VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_dynamic_config( + VL53L1_DYNAMIC_CONFIG_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_system_control( + VL53L1_system_control_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->power_management__go1_power_force & 0x1; + *(pbuffer + 1) = + pdata->system__stream_count_ctrl & 0x1; + *(pbuffer + 2) = + pdata->firmware__enable & 0x1; + *(pbuffer + 3) = + pdata->system__interrupt_clear & 0x3; + *(pbuffer + 4) = + pdata->system__mode_start; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_system_control( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_system_control_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->power_management__go1_power_force = + (*(pbuffer + 0)) & 0x1; + pdata->system__stream_count_ctrl = + (*(pbuffer + 1)) & 0x1; + pdata->firmware__enable = + (*(pbuffer + 2)) & 0x1; + pdata->system__interrupt_clear = + (*(pbuffer + 3)) & 0x3; + pdata->system__mode_start = + (*(pbuffer + 4)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_system_control( + VL53L1_DEV Dev, + VL53L1_system_control_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_system_control( + pdata, + VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_POWER_MANAGEMENT__GO1_POWER_FORCE, + comms_buffer, + VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_system_control( + VL53L1_DEV Dev, + VL53L1_system_control_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_POWER_MANAGEMENT__GO1_POWER_FORCE, + comms_buffer, + VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_system_control( + VL53L1_SYSTEM_CONTROL_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_system_results( + VL53L1_system_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->result__interrupt_status & 0x3F; + *(pbuffer + 1) = + pdata->result__range_status; + *(pbuffer + 2) = + pdata->result__report_status & 0xF; + *(pbuffer + 3) = + pdata->result__stream_count; + VL53L1_i2c_encode_uint16_t( + pdata->result__dss_actual_effective_spads_sd0, + 2, + pbuffer + 4); + VL53L1_i2c_encode_uint16_t( + pdata->result__peak_signal_count_rate_mcps_sd0, + 2, + pbuffer + 6); + VL53L1_i2c_encode_uint16_t( + pdata->result__ambient_count_rate_mcps_sd0, + 2, + pbuffer + 8); + VL53L1_i2c_encode_uint16_t( + pdata->result__sigma_sd0, + 2, + pbuffer + 10); + VL53L1_i2c_encode_uint16_t( + pdata->result__phase_sd0, + 2, + pbuffer + 12); + VL53L1_i2c_encode_uint16_t( + pdata->result__final_crosstalk_corrected_range_mm_sd0, + 2, + pbuffer + 14); + VL53L1_i2c_encode_uint16_t( + pdata->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0, + 2, + pbuffer + 16); + VL53L1_i2c_encode_uint16_t( + pdata->result__mm_inner_actual_effective_spads_sd0, + 2, + pbuffer + 18); + VL53L1_i2c_encode_uint16_t( + pdata->result__mm_outer_actual_effective_spads_sd0, + 2, + pbuffer + 20); + VL53L1_i2c_encode_uint16_t( + pdata->result__avg_signal_count_rate_mcps_sd0, + 2, + pbuffer + 22); + VL53L1_i2c_encode_uint16_t( + pdata->result__dss_actual_effective_spads_sd1, + 2, + pbuffer + 24); + VL53L1_i2c_encode_uint16_t( + pdata->result__peak_signal_count_rate_mcps_sd1, + 2, + pbuffer + 26); + VL53L1_i2c_encode_uint16_t( + pdata->result__ambient_count_rate_mcps_sd1, + 2, + pbuffer + 28); + VL53L1_i2c_encode_uint16_t( + pdata->result__sigma_sd1, + 2, + pbuffer + 30); + VL53L1_i2c_encode_uint16_t( + pdata->result__phase_sd1, + 2, + pbuffer + 32); + VL53L1_i2c_encode_uint16_t( + pdata->result__final_crosstalk_corrected_range_mm_sd1, + 2, + pbuffer + 34); + VL53L1_i2c_encode_uint16_t( + pdata->result__spare_0_sd1, + 2, + pbuffer + 36); + VL53L1_i2c_encode_uint16_t( + pdata->result__spare_1_sd1, + 2, + pbuffer + 38); + VL53L1_i2c_encode_uint16_t( + pdata->result__spare_2_sd1, + 2, + pbuffer + 40); + *(pbuffer + 42) = + pdata->result__spare_3_sd1; + *(pbuffer + 43) = + pdata->result__thresh_info; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_system_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_system_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->result__interrupt_status = + (*(pbuffer + 0)) & 0x3F; + pdata->result__range_status = + (*(pbuffer + 1)); + pdata->result__report_status = + (*(pbuffer + 2)) & 0xF; + pdata->result__stream_count = + (*(pbuffer + 3)); + pdata->result__dss_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 4)); + pdata->result__peak_signal_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 6)); + pdata->result__ambient_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 8)); + pdata->result__sigma_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 10)); + pdata->result__phase_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 12)); + pdata->result__final_crosstalk_corrected_range_mm_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 14)); + pdata->result__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 16)); + pdata->result__mm_inner_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 18)); + pdata->result__mm_outer_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 20)); + pdata->result__avg_signal_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 22)); + pdata->result__dss_actual_effective_spads_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 24)); + pdata->result__peak_signal_count_rate_mcps_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 26)); + pdata->result__ambient_count_rate_mcps_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 28)); + pdata->result__sigma_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 30)); + pdata->result__phase_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 32)); + pdata->result__final_crosstalk_corrected_range_mm_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 34)); + pdata->result__spare_0_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 36)); + pdata->result__spare_1_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 38)); + pdata->result__spare_2_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 40)); + pdata->result__spare_3_sd1 = + (*(pbuffer + 42)); + pdata->result__thresh_info = + (*(pbuffer + 43)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_system_results( + VL53L1_DEV Dev, + VL53L1_system_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_system_results( + pdata, + VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_RESULT__INTERRUPT_STATUS, + comms_buffer, + VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_system_results( + VL53L1_DEV Dev, + VL53L1_system_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_RESULT__INTERRUPT_STATUS, + comms_buffer, + VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_system_results( + VL53L1_SYSTEM_RESULTS_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_core_results( + VL53L1_core_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_CORE_RESULTS_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + VL53L1_i2c_encode_uint32_t( + pdata->result_core__ambient_window_events_sd0, + 4, + pbuffer + 0); + VL53L1_i2c_encode_uint32_t( + pdata->result_core__ranging_total_events_sd0, + 4, + pbuffer + 4); + VL53L1_i2c_encode_int32_t( + pdata->result_core__signal_total_events_sd0, + 4, + pbuffer + 8); + VL53L1_i2c_encode_uint32_t( + pdata->result_core__total_periods_elapsed_sd0, + 4, + pbuffer + 12); + VL53L1_i2c_encode_uint32_t( + pdata->result_core__ambient_window_events_sd1, + 4, + pbuffer + 16); + VL53L1_i2c_encode_uint32_t( + pdata->result_core__ranging_total_events_sd1, + 4, + pbuffer + 20); + VL53L1_i2c_encode_int32_t( + pdata->result_core__signal_total_events_sd1, + 4, + pbuffer + 24); + VL53L1_i2c_encode_uint32_t( + pdata->result_core__total_periods_elapsed_sd1, + 4, + pbuffer + 28); + *(pbuffer + 32) = + pdata->result_core__spare_0; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_core_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_core_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_CORE_RESULTS_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->result_core__ambient_window_events_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 0)); + pdata->result_core__ranging_total_events_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 4)); + pdata->result_core__signal_total_events_sd0 = + (VL53L1_i2c_decode_int32_t(4, pbuffer + 8)); + pdata->result_core__total_periods_elapsed_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 12)); + pdata->result_core__ambient_window_events_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 16)); + pdata->result_core__ranging_total_events_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 20)); + pdata->result_core__signal_total_events_sd1 = + (VL53L1_i2c_decode_int32_t(4, pbuffer + 24)); + pdata->result_core__total_periods_elapsed_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 28)); + pdata->result_core__spare_0 = + (*(pbuffer + 32)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_core_results( + VL53L1_DEV Dev, + VL53L1_core_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_CORE_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_core_results( + pdata, + VL53L1_CORE_RESULTS_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0, + comms_buffer, + VL53L1_CORE_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_core_results( + VL53L1_DEV Dev, + VL53L1_core_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_CORE_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0, + comms_buffer, + VL53L1_CORE_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_core_results( + VL53L1_CORE_RESULTS_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_debug_results( + VL53L1_debug_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + VL53L1_i2c_encode_uint16_t( + pdata->phasecal_result__reference_phase, + 2, + pbuffer + 0); + *(pbuffer + 2) = + pdata->phasecal_result__vcsel_start & 0x7F; + *(pbuffer + 3) = + pdata->ref_spad_char_result__num_actual_ref_spads & 0x3F; + *(pbuffer + 4) = + pdata->ref_spad_char_result__ref_location & 0x3; + *(pbuffer + 5) = + pdata->vhv_result__coldboot_status & 0x1; + *(pbuffer + 6) = + pdata->vhv_result__search_result & 0x3F; + *(pbuffer + 7) = + pdata->vhv_result__latest_setting & 0x3F; + VL53L1_i2c_encode_uint16_t( + pdata->result__osc_calibrate_val & 0x3FF, + 2, + pbuffer + 8); + *(pbuffer + 10) = + pdata->ana_config__powerdown_go1 & 0x3; + *(pbuffer + 11) = + pdata->ana_config__ref_bg_ctrl & 0x3; + *(pbuffer + 12) = + pdata->ana_config__regdvdd1v2_ctrl & 0xF; + *(pbuffer + 13) = + pdata->ana_config__osc_slow_ctrl & 0x7; + *(pbuffer + 14) = + pdata->test_mode__status & 0x1; + *(pbuffer + 15) = + pdata->firmware__system_status & 0x3; + *(pbuffer + 16) = + pdata->firmware__mode_status; + *(pbuffer + 17) = + pdata->firmware__secondary_mode_status; + VL53L1_i2c_encode_uint16_t( + pdata->firmware__cal_repeat_rate_counter & 0xFFF, + 2, + pbuffer + 18); + VL53L1_i2c_encode_uint16_t( + pdata->gph__system__thresh_high, + 2, + pbuffer + 22); + VL53L1_i2c_encode_uint16_t( + pdata->gph__system__thresh_low, + 2, + pbuffer + 24); + *(pbuffer + 26) = + pdata->gph__system__enable_xtalk_per_quadrant & 0x1; + *(pbuffer + 27) = + pdata->gph__spare_0 & 0x7; + *(pbuffer + 28) = + pdata->gph__sd_config__woi_sd0; + *(pbuffer + 29) = + pdata->gph__sd_config__woi_sd1; + *(pbuffer + 30) = + pdata->gph__sd_config__initial_phase_sd0 & 0x7F; + *(pbuffer + 31) = + pdata->gph__sd_config__initial_phase_sd1 & 0x7F; + *(pbuffer + 32) = + pdata->gph__sd_config__first_order_select & 0x3; + *(pbuffer + 33) = + pdata->gph__sd_config__quantifier & 0xF; + *(pbuffer + 34) = + pdata->gph__roi_config__user_roi_centre_spad; + *(pbuffer + 35) = + pdata->gph__roi_config__user_roi_requested_global_xy_size; + *(pbuffer + 36) = + pdata->gph__system__sequence_config; + *(pbuffer + 37) = + pdata->gph__gph_id & 0x1; + *(pbuffer + 38) = + pdata->system__interrupt_set & 0x3; + *(pbuffer + 39) = + pdata->interrupt_manager__enables & 0x1F; + *(pbuffer + 40) = + pdata->interrupt_manager__clear & 0x1F; + *(pbuffer + 41) = + pdata->interrupt_manager__status & 0x1F; + *(pbuffer + 42) = + pdata->mcu_to_host_bank__wr_access_en & 0x1; + *(pbuffer + 43) = + pdata->power_management__go1_reset_status & 0x1; + *(pbuffer + 44) = + pdata->pad_startup_mode__value_ro & 0x3; + *(pbuffer + 45) = + pdata->pad_startup_mode__value_ctrl & 0x3F; + VL53L1_i2c_encode_uint32_t( + pdata->pll_period_us & 0x3FFFF, + 4, + pbuffer + 46); + VL53L1_i2c_encode_uint32_t( + pdata->interrupt_scheduler__data_out, + 4, + pbuffer + 50); + *(pbuffer + 54) = + pdata->nvm_bist__complete & 0x1; + *(pbuffer + 55) = + pdata->nvm_bist__status & 0x1; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_debug_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_debug_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->phasecal_result__reference_phase = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 0)); + pdata->phasecal_result__vcsel_start = + (*(pbuffer + 2)) & 0x7F; + pdata->ref_spad_char_result__num_actual_ref_spads = + (*(pbuffer + 3)) & 0x3F; + pdata->ref_spad_char_result__ref_location = + (*(pbuffer + 4)) & 0x3; + pdata->vhv_result__coldboot_status = + (*(pbuffer + 5)) & 0x1; + pdata->vhv_result__search_result = + (*(pbuffer + 6)) & 0x3F; + pdata->vhv_result__latest_setting = + (*(pbuffer + 7)) & 0x3F; + pdata->result__osc_calibrate_val = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 8)) & 0x3FF; + pdata->ana_config__powerdown_go1 = + (*(pbuffer + 10)) & 0x3; + pdata->ana_config__ref_bg_ctrl = + (*(pbuffer + 11)) & 0x3; + pdata->ana_config__regdvdd1v2_ctrl = + (*(pbuffer + 12)) & 0xF; + pdata->ana_config__osc_slow_ctrl = + (*(pbuffer + 13)) & 0x7; + pdata->test_mode__status = + (*(pbuffer + 14)) & 0x1; + pdata->firmware__system_status = + (*(pbuffer + 15)) & 0x3; + pdata->firmware__mode_status = + (*(pbuffer + 16)); + pdata->firmware__secondary_mode_status = + (*(pbuffer + 17)); + pdata->firmware__cal_repeat_rate_counter = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 18)) & 0xFFF; + pdata->gph__system__thresh_high = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 22)); + pdata->gph__system__thresh_low = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 24)); + pdata->gph__system__enable_xtalk_per_quadrant = + (*(pbuffer + 26)) & 0x1; + pdata->gph__spare_0 = + (*(pbuffer + 27)) & 0x7; + pdata->gph__sd_config__woi_sd0 = + (*(pbuffer + 28)); + pdata->gph__sd_config__woi_sd1 = + (*(pbuffer + 29)); + pdata->gph__sd_config__initial_phase_sd0 = + (*(pbuffer + 30)) & 0x7F; + pdata->gph__sd_config__initial_phase_sd1 = + (*(pbuffer + 31)) & 0x7F; + pdata->gph__sd_config__first_order_select = + (*(pbuffer + 32)) & 0x3; + pdata->gph__sd_config__quantifier = + (*(pbuffer + 33)) & 0xF; + pdata->gph__roi_config__user_roi_centre_spad = + (*(pbuffer + 34)); + pdata->gph__roi_config__user_roi_requested_global_xy_size = + (*(pbuffer + 35)); + pdata->gph__system__sequence_config = + (*(pbuffer + 36)); + pdata->gph__gph_id = + (*(pbuffer + 37)) & 0x1; + pdata->system__interrupt_set = + (*(pbuffer + 38)) & 0x3; + pdata->interrupt_manager__enables = + (*(pbuffer + 39)) & 0x1F; + pdata->interrupt_manager__clear = + (*(pbuffer + 40)) & 0x1F; + pdata->interrupt_manager__status = + (*(pbuffer + 41)) & 0x1F; + pdata->mcu_to_host_bank__wr_access_en = + (*(pbuffer + 42)) & 0x1; + pdata->power_management__go1_reset_status = + (*(pbuffer + 43)) & 0x1; + pdata->pad_startup_mode__value_ro = + (*(pbuffer + 44)) & 0x3; + pdata->pad_startup_mode__value_ctrl = + (*(pbuffer + 45)) & 0x3F; + pdata->pll_period_us = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 46)) & 0x3FFFF; + pdata->interrupt_scheduler__data_out = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 50)); + pdata->nvm_bist__complete = + (*(pbuffer + 54)) & 0x1; + pdata->nvm_bist__status = + (*(pbuffer + 55)) & 0x1; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_debug_results( + VL53L1_DEV Dev, + VL53L1_debug_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_debug_results( + pdata, + VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_PHASECAL_RESULT__REFERENCE_PHASE, + comms_buffer, + VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_debug_results( + VL53L1_DEV Dev, + VL53L1_debug_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_PHASECAL_RESULT__REFERENCE_PHASE, + comms_buffer, + VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_debug_results( + VL53L1_DEBUG_RESULTS_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_nvm_copy_data( + VL53L1_nvm_copy_data_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->identification__model_id; + *(pbuffer + 1) = + pdata->identification__module_type; + *(pbuffer + 2) = + pdata->identification__revision_id; + VL53L1_i2c_encode_uint16_t( + pdata->identification__module_id, + 2, + pbuffer + 3); + *(pbuffer + 5) = + pdata->ana_config__fast_osc__trim_max & 0x7F; + *(pbuffer + 6) = + pdata->ana_config__fast_osc__freq_set & 0x7; + *(pbuffer + 7) = + pdata->ana_config__vcsel_trim & 0x7; + *(pbuffer + 8) = + pdata->ana_config__vcsel_selion & 0x3F; + *(pbuffer + 9) = + pdata->ana_config__vcsel_selion_max & 0x3F; + *(pbuffer + 10) = + pdata->protected_laser_safety__lock_bit & 0x1; + *(pbuffer + 11) = + pdata->laser_safety__key & 0x7F; + *(pbuffer + 12) = + pdata->laser_safety__key_ro & 0x1; + *(pbuffer + 13) = + pdata->laser_safety__clip & 0x3F; + *(pbuffer + 14) = + pdata->laser_safety__mult & 0x3F; + *(pbuffer + 15) = + pdata->global_config__spad_enables_rtn_0; + *(pbuffer + 16) = + pdata->global_config__spad_enables_rtn_1; + *(pbuffer + 17) = + pdata->global_config__spad_enables_rtn_2; + *(pbuffer + 18) = + pdata->global_config__spad_enables_rtn_3; + *(pbuffer + 19) = + pdata->global_config__spad_enables_rtn_4; + *(pbuffer + 20) = + pdata->global_config__spad_enables_rtn_5; + *(pbuffer + 21) = + pdata->global_config__spad_enables_rtn_6; + *(pbuffer + 22) = + pdata->global_config__spad_enables_rtn_7; + *(pbuffer + 23) = + pdata->global_config__spad_enables_rtn_8; + *(pbuffer + 24) = + pdata->global_config__spad_enables_rtn_9; + *(pbuffer + 25) = + pdata->global_config__spad_enables_rtn_10; + *(pbuffer + 26) = + pdata->global_config__spad_enables_rtn_11; + *(pbuffer + 27) = + pdata->global_config__spad_enables_rtn_12; + *(pbuffer + 28) = + pdata->global_config__spad_enables_rtn_13; + *(pbuffer + 29) = + pdata->global_config__spad_enables_rtn_14; + *(pbuffer + 30) = + pdata->global_config__spad_enables_rtn_15; + *(pbuffer + 31) = + pdata->global_config__spad_enables_rtn_16; + *(pbuffer + 32) = + pdata->global_config__spad_enables_rtn_17; + *(pbuffer + 33) = + pdata->global_config__spad_enables_rtn_18; + *(pbuffer + 34) = + pdata->global_config__spad_enables_rtn_19; + *(pbuffer + 35) = + pdata->global_config__spad_enables_rtn_20; + *(pbuffer + 36) = + pdata->global_config__spad_enables_rtn_21; + *(pbuffer + 37) = + pdata->global_config__spad_enables_rtn_22; + *(pbuffer + 38) = + pdata->global_config__spad_enables_rtn_23; + *(pbuffer + 39) = + pdata->global_config__spad_enables_rtn_24; + *(pbuffer + 40) = + pdata->global_config__spad_enables_rtn_25; + *(pbuffer + 41) = + pdata->global_config__spad_enables_rtn_26; + *(pbuffer + 42) = + pdata->global_config__spad_enables_rtn_27; + *(pbuffer + 43) = + pdata->global_config__spad_enables_rtn_28; + *(pbuffer + 44) = + pdata->global_config__spad_enables_rtn_29; + *(pbuffer + 45) = + pdata->global_config__spad_enables_rtn_30; + *(pbuffer + 46) = + pdata->global_config__spad_enables_rtn_31; + *(pbuffer + 47) = + pdata->roi_config__mode_roi_centre_spad; + *(pbuffer + 48) = + pdata->roi_config__mode_roi_xy_size; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_nvm_copy_data( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_nvm_copy_data_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->identification__model_id = + (*(pbuffer + 0)); + pdata->identification__module_type = + (*(pbuffer + 1)); + pdata->identification__revision_id = + (*(pbuffer + 2)); + pdata->identification__module_id = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 3)); + pdata->ana_config__fast_osc__trim_max = + (*(pbuffer + 5)) & 0x7F; + pdata->ana_config__fast_osc__freq_set = + (*(pbuffer + 6)) & 0x7; + pdata->ana_config__vcsel_trim = + (*(pbuffer + 7)) & 0x7; + pdata->ana_config__vcsel_selion = + (*(pbuffer + 8)) & 0x3F; + pdata->ana_config__vcsel_selion_max = + (*(pbuffer + 9)) & 0x3F; + pdata->protected_laser_safety__lock_bit = + (*(pbuffer + 10)) & 0x1; + pdata->laser_safety__key = + (*(pbuffer + 11)) & 0x7F; + pdata->laser_safety__key_ro = + (*(pbuffer + 12)) & 0x1; + pdata->laser_safety__clip = + (*(pbuffer + 13)) & 0x3F; + pdata->laser_safety__mult = + (*(pbuffer + 14)) & 0x3F; + pdata->global_config__spad_enables_rtn_0 = + (*(pbuffer + 15)); + pdata->global_config__spad_enables_rtn_1 = + (*(pbuffer + 16)); + pdata->global_config__spad_enables_rtn_2 = + (*(pbuffer + 17)); + pdata->global_config__spad_enables_rtn_3 = + (*(pbuffer + 18)); + pdata->global_config__spad_enables_rtn_4 = + (*(pbuffer + 19)); + pdata->global_config__spad_enables_rtn_5 = + (*(pbuffer + 20)); + pdata->global_config__spad_enables_rtn_6 = + (*(pbuffer + 21)); + pdata->global_config__spad_enables_rtn_7 = + (*(pbuffer + 22)); + pdata->global_config__spad_enables_rtn_8 = + (*(pbuffer + 23)); + pdata->global_config__spad_enables_rtn_9 = + (*(pbuffer + 24)); + pdata->global_config__spad_enables_rtn_10 = + (*(pbuffer + 25)); + pdata->global_config__spad_enables_rtn_11 = + (*(pbuffer + 26)); + pdata->global_config__spad_enables_rtn_12 = + (*(pbuffer + 27)); + pdata->global_config__spad_enables_rtn_13 = + (*(pbuffer + 28)); + pdata->global_config__spad_enables_rtn_14 = + (*(pbuffer + 29)); + pdata->global_config__spad_enables_rtn_15 = + (*(pbuffer + 30)); + pdata->global_config__spad_enables_rtn_16 = + (*(pbuffer + 31)); + pdata->global_config__spad_enables_rtn_17 = + (*(pbuffer + 32)); + pdata->global_config__spad_enables_rtn_18 = + (*(pbuffer + 33)); + pdata->global_config__spad_enables_rtn_19 = + (*(pbuffer + 34)); + pdata->global_config__spad_enables_rtn_20 = + (*(pbuffer + 35)); + pdata->global_config__spad_enables_rtn_21 = + (*(pbuffer + 36)); + pdata->global_config__spad_enables_rtn_22 = + (*(pbuffer + 37)); + pdata->global_config__spad_enables_rtn_23 = + (*(pbuffer + 38)); + pdata->global_config__spad_enables_rtn_24 = + (*(pbuffer + 39)); + pdata->global_config__spad_enables_rtn_25 = + (*(pbuffer + 40)); + pdata->global_config__spad_enables_rtn_26 = + (*(pbuffer + 41)); + pdata->global_config__spad_enables_rtn_27 = + (*(pbuffer + 42)); + pdata->global_config__spad_enables_rtn_28 = + (*(pbuffer + 43)); + pdata->global_config__spad_enables_rtn_29 = + (*(pbuffer + 44)); + pdata->global_config__spad_enables_rtn_30 = + (*(pbuffer + 45)); + pdata->global_config__spad_enables_rtn_31 = + (*(pbuffer + 46)); + pdata->roi_config__mode_roi_centre_spad = + (*(pbuffer + 47)); + pdata->roi_config__mode_roi_xy_size = + (*(pbuffer + 48)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_nvm_copy_data( + VL53L1_DEV Dev, + VL53L1_nvm_copy_data_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_nvm_copy_data( + pdata, + VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_IDENTIFICATION__MODEL_ID, + comms_buffer, + VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_nvm_copy_data( + VL53L1_DEV Dev, + VL53L1_nvm_copy_data_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_IDENTIFICATION__MODEL_ID, + comms_buffer, + VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_nvm_copy_data( + VL53L1_NVM_COPY_DATA_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_prev_shadow_system_results( + VL53L1_prev_shadow_system_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->prev_shadow_result__interrupt_status & 0x3F; + *(pbuffer + 1) = + pdata->prev_shadow_result__range_status; + *(pbuffer + 2) = + pdata->prev_shadow_result__report_status & 0xF; + *(pbuffer + 3) = + pdata->prev_shadow_result__stream_count; + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__dss_actual_effective_spads_sd0, + 2, + pbuffer + 4); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__peak_signal_count_rate_mcps_sd0, + 2, + pbuffer + 6); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__ambient_count_rate_mcps_sd0, + 2, + pbuffer + 8); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__sigma_sd0, + 2, + pbuffer + 10); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__phase_sd0, + 2, + pbuffer + 12); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__final_crosstalk_corrected_range_mm_sd0, + 2, + pbuffer + 14); + VL53L1_i2c_encode_uint16_t( + pdata->psr__peak_signal_count_rate_crosstalk_corrected_mcps_sd0, + 2, + pbuffer + 16); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__mm_inner_actual_effective_spads_sd0, + 2, + pbuffer + 18); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__mm_outer_actual_effective_spads_sd0, + 2, + pbuffer + 20); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__avg_signal_count_rate_mcps_sd0, + 2, + pbuffer + 22); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__dss_actual_effective_spads_sd1, + 2, + pbuffer + 24); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__peak_signal_count_rate_mcps_sd1, + 2, + pbuffer + 26); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__ambient_count_rate_mcps_sd1, + 2, + pbuffer + 28); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__sigma_sd1, + 2, + pbuffer + 30); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__phase_sd1, + 2, + pbuffer + 32); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__final_crosstalk_corrected_range_mm_sd1, + 2, + pbuffer + 34); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__spare_0_sd1, + 2, + pbuffer + 36); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__spare_1_sd1, + 2, + pbuffer + 38); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__spare_2_sd1, + 2, + pbuffer + 40); + VL53L1_i2c_encode_uint16_t( + pdata->prev_shadow_result__spare_3_sd1, + 2, + pbuffer + 42); + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_prev_shadow_system_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_prev_shadow_system_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->prev_shadow_result__interrupt_status = + (*(pbuffer + 0)) & 0x3F; + pdata->prev_shadow_result__range_status = + (*(pbuffer + 1)); + pdata->prev_shadow_result__report_status = + (*(pbuffer + 2)) & 0xF; + pdata->prev_shadow_result__stream_count = + (*(pbuffer + 3)); + pdata->prev_shadow_result__dss_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 4)); + pdata->prev_shadow_result__peak_signal_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 6)); + pdata->prev_shadow_result__ambient_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 8)); + pdata->prev_shadow_result__sigma_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 10)); + pdata->prev_shadow_result__phase_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 12)); + pdata->prev_shadow_result__final_crosstalk_corrected_range_mm_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 14)); + pdata->psr__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 16)); + pdata->prev_shadow_result__mm_inner_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 18)); + pdata->prev_shadow_result__mm_outer_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 20)); + pdata->prev_shadow_result__avg_signal_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 22)); + pdata->prev_shadow_result__dss_actual_effective_spads_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 24)); + pdata->prev_shadow_result__peak_signal_count_rate_mcps_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 26)); + pdata->prev_shadow_result__ambient_count_rate_mcps_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 28)); + pdata->prev_shadow_result__sigma_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 30)); + pdata->prev_shadow_result__phase_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 32)); + pdata->prev_shadow_result__final_crosstalk_corrected_range_mm_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 34)); + pdata->prev_shadow_result__spare_0_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 36)); + pdata->prev_shadow_result__spare_1_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 38)); + pdata->prev_shadow_result__spare_2_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 40)); + pdata->prev_shadow_result__spare_3_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 42)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_prev_shadow_system_results( + VL53L1_DEV Dev, + VL53L1_prev_shadow_system_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_prev_shadow_system_results( + pdata, + VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_PREV_SHADOW_RESULT__INTERRUPT_STATUS, + comms_buffer, + VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_prev_shadow_system_results( + VL53L1_DEV Dev, + VL53L1_prev_shadow_system_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_PREV_SHADOW_RESULT__INTERRUPT_STATUS, + comms_buffer, + VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_prev_shadow_system_results( + VL53L1_PREV_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_prev_shadow_core_results( + VL53L1_prev_shadow_core_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + VL53L1_i2c_encode_uint32_t( + pdata->prev_shadow_result_core__ambient_window_events_sd0, + 4, + pbuffer + 0); + VL53L1_i2c_encode_uint32_t( + pdata->prev_shadow_result_core__ranging_total_events_sd0, + 4, + pbuffer + 4); + VL53L1_i2c_encode_int32_t( + pdata->prev_shadow_result_core__signal_total_events_sd0, + 4, + pbuffer + 8); + VL53L1_i2c_encode_uint32_t( + pdata->prev_shadow_result_core__total_periods_elapsed_sd0, + 4, + pbuffer + 12); + VL53L1_i2c_encode_uint32_t( + pdata->prev_shadow_result_core__ambient_window_events_sd1, + 4, + pbuffer + 16); + VL53L1_i2c_encode_uint32_t( + pdata->prev_shadow_result_core__ranging_total_events_sd1, + 4, + pbuffer + 20); + VL53L1_i2c_encode_int32_t( + pdata->prev_shadow_result_core__signal_total_events_sd1, + 4, + pbuffer + 24); + VL53L1_i2c_encode_uint32_t( + pdata->prev_shadow_result_core__total_periods_elapsed_sd1, + 4, + pbuffer + 28); + *(pbuffer + 32) = + pdata->prev_shadow_result_core__spare_0; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_prev_shadow_core_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_prev_shadow_core_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->prev_shadow_result_core__ambient_window_events_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 0)); + pdata->prev_shadow_result_core__ranging_total_events_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 4)); + pdata->prev_shadow_result_core__signal_total_events_sd0 = + (VL53L1_i2c_decode_int32_t(4, pbuffer + 8)); + pdata->prev_shadow_result_core__total_periods_elapsed_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 12)); + pdata->prev_shadow_result_core__ambient_window_events_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 16)); + pdata->prev_shadow_result_core__ranging_total_events_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 20)); + pdata->prev_shadow_result_core__signal_total_events_sd1 = + (VL53L1_i2c_decode_int32_t(4, pbuffer + 24)); + pdata->prev_shadow_result_core__total_periods_elapsed_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 28)); + pdata->prev_shadow_result_core__spare_0 = + (*(pbuffer + 32)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_prev_shadow_core_results( + VL53L1_DEV Dev, + VL53L1_prev_shadow_core_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_prev_shadow_core_results( + pdata, + VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0, + comms_buffer, + VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_prev_shadow_core_results( + VL53L1_DEV Dev, + VL53L1_prev_shadow_core_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_PREV_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0, + comms_buffer, + VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_prev_shadow_core_results( + VL53L1_PREV_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_patch_debug( + VL53L1_patch_debug_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->result__debug_status; + *(pbuffer + 1) = + pdata->result__debug_stage; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_patch_debug( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_patch_debug_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->result__debug_status = + (*(pbuffer + 0)); + pdata->result__debug_stage = + (*(pbuffer + 1)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_patch_debug( + VL53L1_DEV Dev, + VL53L1_patch_debug_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_patch_debug( + pdata, + VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_RESULT__DEBUG_STATUS, + comms_buffer, + VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_patch_debug( + VL53L1_DEV Dev, + VL53L1_patch_debug_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_RESULT__DEBUG_STATUS, + comms_buffer, + VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_patch_debug( + VL53L1_PATCH_DEBUG_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_gph_general_config( + VL53L1_gph_general_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + VL53L1_i2c_encode_uint16_t( + pdata->gph__system__thresh_rate_high, + 2, + pbuffer + 0); + VL53L1_i2c_encode_uint16_t( + pdata->gph__system__thresh_rate_low, + 2, + pbuffer + 2); + *(pbuffer + 4) = + pdata->gph__system__interrupt_config_gpio; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_gph_general_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_gph_general_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->gph__system__thresh_rate_high = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 0)); + pdata->gph__system__thresh_rate_low = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 2)); + pdata->gph__system__interrupt_config_gpio = + (*(pbuffer + 4)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_gph_general_config( + VL53L1_DEV Dev, + VL53L1_gph_general_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_gph_general_config( + pdata, + VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_GPH__SYSTEM__THRESH_RATE_HIGH, + comms_buffer, + VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_gph_general_config( + VL53L1_DEV Dev, + VL53L1_gph_general_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_GPH__SYSTEM__THRESH_RATE_HIGH, + comms_buffer, + VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_gph_general_config( + VL53L1_GPH_GENERAL_CONFIG_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_gph_static_config( + VL53L1_gph_static_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->gph__dss_config__roi_mode_control & 0x7; + VL53L1_i2c_encode_uint16_t( + pdata->gph__dss_config__manual_effective_spads_select, + 2, + pbuffer + 1); + *(pbuffer + 3) = + pdata->gph__dss_config__manual_block_select; + *(pbuffer + 4) = + pdata->gph__dss_config__max_spads_limit; + *(pbuffer + 5) = + pdata->gph__dss_config__min_spads_limit; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_gph_static_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_gph_static_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->gph__dss_config__roi_mode_control = + (*(pbuffer + 0)) & 0x7; + pdata->gph__dss_config__manual_effective_spads_select = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 1)); + pdata->gph__dss_config__manual_block_select = + (*(pbuffer + 3)); + pdata->gph__dss_config__max_spads_limit = + (*(pbuffer + 4)); + pdata->gph__dss_config__min_spads_limit = + (*(pbuffer + 5)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_gph_static_config( + VL53L1_DEV Dev, + VL53L1_gph_static_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_gph_static_config( + pdata, + VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_GPH__DSS_CONFIG__ROI_MODE_CONTROL, + comms_buffer, + VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_gph_static_config( + VL53L1_DEV Dev, + VL53L1_gph_static_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_GPH__DSS_CONFIG__ROI_MODE_CONTROL, + comms_buffer, + VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_gph_static_config( + VL53L1_GPH_STATIC_CONFIG_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_gph_timing_config( + VL53L1_gph_timing_config_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->gph__mm_config__timeout_macrop_a_hi & 0xF; + *(pbuffer + 1) = + pdata->gph__mm_config__timeout_macrop_a_lo; + *(pbuffer + 2) = + pdata->gph__mm_config__timeout_macrop_b_hi & 0xF; + *(pbuffer + 3) = + pdata->gph__mm_config__timeout_macrop_b_lo; + *(pbuffer + 4) = + pdata->gph__range_config__timeout_macrop_a_hi & 0xF; + *(pbuffer + 5) = + pdata->gph__range_config__timeout_macrop_a_lo; + *(pbuffer + 6) = + pdata->gph__range_config__vcsel_period_a & 0x3F; + *(pbuffer + 7) = + pdata->gph__range_config__vcsel_period_b & 0x3F; + *(pbuffer + 8) = + pdata->gph__range_config__timeout_macrop_b_hi & 0xF; + *(pbuffer + 9) = + pdata->gph__range_config__timeout_macrop_b_lo; + VL53L1_i2c_encode_uint16_t( + pdata->gph__range_config__sigma_thresh, + 2, + pbuffer + 10); + VL53L1_i2c_encode_uint16_t( + pdata->gph__range_config__min_count_rate_rtn_limit_mcps, + 2, + pbuffer + 12); + *(pbuffer + 14) = + pdata->gph__range_config__valid_phase_low; + *(pbuffer + 15) = + pdata->gph__range_config__valid_phase_high; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_gph_timing_config( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_gph_timing_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->gph__mm_config__timeout_macrop_a_hi = + (*(pbuffer + 0)) & 0xF; + pdata->gph__mm_config__timeout_macrop_a_lo = + (*(pbuffer + 1)); + pdata->gph__mm_config__timeout_macrop_b_hi = + (*(pbuffer + 2)) & 0xF; + pdata->gph__mm_config__timeout_macrop_b_lo = + (*(pbuffer + 3)); + pdata->gph__range_config__timeout_macrop_a_hi = + (*(pbuffer + 4)) & 0xF; + pdata->gph__range_config__timeout_macrop_a_lo = + (*(pbuffer + 5)); + pdata->gph__range_config__vcsel_period_a = + (*(pbuffer + 6)) & 0x3F; + pdata->gph__range_config__vcsel_period_b = + (*(pbuffer + 7)) & 0x3F; + pdata->gph__range_config__timeout_macrop_b_hi = + (*(pbuffer + 8)) & 0xF; + pdata->gph__range_config__timeout_macrop_b_lo = + (*(pbuffer + 9)); + pdata->gph__range_config__sigma_thresh = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 10)); + pdata->gph__range_config__min_count_rate_rtn_limit_mcps = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 12)); + pdata->gph__range_config__valid_phase_low = + (*(pbuffer + 14)); + pdata->gph__range_config__valid_phase_high = + (*(pbuffer + 15)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_gph_timing_config( + VL53L1_DEV Dev, + VL53L1_gph_timing_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_gph_timing_config( + pdata, + VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_GPH__MM_CONFIG__TIMEOUT_MACROP_A_HI, + comms_buffer, + VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_gph_timing_config( + VL53L1_DEV Dev, + VL53L1_gph_timing_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_GPH__MM_CONFIG__TIMEOUT_MACROP_A_HI, + comms_buffer, + VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_gph_timing_config( + VL53L1_GPH_TIMING_CONFIG_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_fw_internal( + VL53L1_fw_internal_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_FW_INTERNAL_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->firmware__internal_stream_count_div; + *(pbuffer + 1) = + pdata->firmware__internal_stream_counter_val; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_fw_internal( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_fw_internal_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_FW_INTERNAL_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->firmware__internal_stream_count_div = + (*(pbuffer + 0)); + pdata->firmware__internal_stream_counter_val = + (*(pbuffer + 1)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_fw_internal( + VL53L1_DEV Dev, + VL53L1_fw_internal_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_FW_INTERNAL_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_fw_internal( + pdata, + VL53L1_FW_INTERNAL_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_FIRMWARE__INTERNAL_STREAM_COUNT_DIV, + comms_buffer, + VL53L1_FW_INTERNAL_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_fw_internal( + VL53L1_DEV Dev, + VL53L1_fw_internal_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_FW_INTERNAL_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_FIRMWARE__INTERNAL_STREAM_COUNT_DIV, + comms_buffer, + VL53L1_FW_INTERNAL_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_fw_internal( + VL53L1_FW_INTERNAL_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_patch_results( + VL53L1_patch_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->dss_calc__roi_ctrl & 0x3; + *(pbuffer + 1) = + pdata->dss_calc__spare_1; + *(pbuffer + 2) = + pdata->dss_calc__spare_2; + *(pbuffer + 3) = + pdata->dss_calc__spare_3; + *(pbuffer + 4) = + pdata->dss_calc__spare_4; + *(pbuffer + 5) = + pdata->dss_calc__spare_5; + *(pbuffer + 6) = + pdata->dss_calc__spare_6; + *(pbuffer + 7) = + pdata->dss_calc__spare_7; + *(pbuffer + 8) = + pdata->dss_calc__user_roi_spad_en_0; + *(pbuffer + 9) = + pdata->dss_calc__user_roi_spad_en_1; + *(pbuffer + 10) = + pdata->dss_calc__user_roi_spad_en_2; + *(pbuffer + 11) = + pdata->dss_calc__user_roi_spad_en_3; + *(pbuffer + 12) = + pdata->dss_calc__user_roi_spad_en_4; + *(pbuffer + 13) = + pdata->dss_calc__user_roi_spad_en_5; + *(pbuffer + 14) = + pdata->dss_calc__user_roi_spad_en_6; + *(pbuffer + 15) = + pdata->dss_calc__user_roi_spad_en_7; + *(pbuffer + 16) = + pdata->dss_calc__user_roi_spad_en_8; + *(pbuffer + 17) = + pdata->dss_calc__user_roi_spad_en_9; + *(pbuffer + 18) = + pdata->dss_calc__user_roi_spad_en_10; + *(pbuffer + 19) = + pdata->dss_calc__user_roi_spad_en_11; + *(pbuffer + 20) = + pdata->dss_calc__user_roi_spad_en_12; + *(pbuffer + 21) = + pdata->dss_calc__user_roi_spad_en_13; + *(pbuffer + 22) = + pdata->dss_calc__user_roi_spad_en_14; + *(pbuffer + 23) = + pdata->dss_calc__user_roi_spad_en_15; + *(pbuffer + 24) = + pdata->dss_calc__user_roi_spad_en_16; + *(pbuffer + 25) = + pdata->dss_calc__user_roi_spad_en_17; + *(pbuffer + 26) = + pdata->dss_calc__user_roi_spad_en_18; + *(pbuffer + 27) = + pdata->dss_calc__user_roi_spad_en_19; + *(pbuffer + 28) = + pdata->dss_calc__user_roi_spad_en_20; + *(pbuffer + 29) = + pdata->dss_calc__user_roi_spad_en_21; + *(pbuffer + 30) = + pdata->dss_calc__user_roi_spad_en_22; + *(pbuffer + 31) = + pdata->dss_calc__user_roi_spad_en_23; + *(pbuffer + 32) = + pdata->dss_calc__user_roi_spad_en_24; + *(pbuffer + 33) = + pdata->dss_calc__user_roi_spad_en_25; + *(pbuffer + 34) = + pdata->dss_calc__user_roi_spad_en_26; + *(pbuffer + 35) = + pdata->dss_calc__user_roi_spad_en_27; + *(pbuffer + 36) = + pdata->dss_calc__user_roi_spad_en_28; + *(pbuffer + 37) = + pdata->dss_calc__user_roi_spad_en_29; + *(pbuffer + 38) = + pdata->dss_calc__user_roi_spad_en_30; + *(pbuffer + 39) = + pdata->dss_calc__user_roi_spad_en_31; + *(pbuffer + 40) = + pdata->dss_calc__user_roi_0; + *(pbuffer + 41) = + pdata->dss_calc__user_roi_1; + *(pbuffer + 42) = + pdata->dss_calc__mode_roi_0; + *(pbuffer + 43) = + pdata->dss_calc__mode_roi_1; + *(pbuffer + 44) = + pdata->sigma_estimator_calc__spare_0; + VL53L1_i2c_encode_uint16_t( + pdata->vhv_result__peak_signal_rate_mcps, + 2, + pbuffer + 46); + VL53L1_i2c_encode_uint32_t( + pdata->vhv_result__signal_total_events_ref, + 4, + pbuffer + 48); + VL53L1_i2c_encode_uint16_t( + pdata->phasecal_result__phase_output_ref, + 2, + pbuffer + 52); + VL53L1_i2c_encode_uint16_t( + pdata->dss_result__total_rate_per_spad, + 2, + pbuffer + 54); + *(pbuffer + 56) = + pdata->dss_result__enabled_blocks; + VL53L1_i2c_encode_uint16_t( + pdata->dss_result__num_requested_spads, + 2, + pbuffer + 58); + VL53L1_i2c_encode_uint16_t( + pdata->mm_result__inner_intersection_rate, + 2, + pbuffer + 62); + VL53L1_i2c_encode_uint16_t( + pdata->mm_result__outer_complement_rate, + 2, + pbuffer + 64); + VL53L1_i2c_encode_uint16_t( + pdata->mm_result__total_offset, + 2, + pbuffer + 66); + VL53L1_i2c_encode_uint32_t( + pdata->xtalk_calc__xtalk_for_enabled_spads & 0xFFFFFF, + 4, + pbuffer + 68); + VL53L1_i2c_encode_uint32_t( + pdata->xtalk_result__avg_xtalk_user_roi_kcps & 0xFFFFFF, + 4, + pbuffer + 72); + VL53L1_i2c_encode_uint32_t( + pdata->xtalk_result__avg_xtalk_mm_inner_roi_kcps & 0xFFFFFF, + 4, + pbuffer + 76); + VL53L1_i2c_encode_uint32_t( + pdata->xtalk_result__avg_xtalk_mm_outer_roi_kcps & 0xFFFFFF, + 4, + pbuffer + 80); + VL53L1_i2c_encode_uint32_t( + pdata->range_result__accum_phase, + 4, + pbuffer + 84); + VL53L1_i2c_encode_uint16_t( + pdata->range_result__offset_corrected_range, + 2, + pbuffer + 88); + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_patch_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_patch_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->dss_calc__roi_ctrl = + (*(pbuffer + 0)) & 0x3; + pdata->dss_calc__spare_1 = + (*(pbuffer + 1)); + pdata->dss_calc__spare_2 = + (*(pbuffer + 2)); + pdata->dss_calc__spare_3 = + (*(pbuffer + 3)); + pdata->dss_calc__spare_4 = + (*(pbuffer + 4)); + pdata->dss_calc__spare_5 = + (*(pbuffer + 5)); + pdata->dss_calc__spare_6 = + (*(pbuffer + 6)); + pdata->dss_calc__spare_7 = + (*(pbuffer + 7)); + pdata->dss_calc__user_roi_spad_en_0 = + (*(pbuffer + 8)); + pdata->dss_calc__user_roi_spad_en_1 = + (*(pbuffer + 9)); + pdata->dss_calc__user_roi_spad_en_2 = + (*(pbuffer + 10)); + pdata->dss_calc__user_roi_spad_en_3 = + (*(pbuffer + 11)); + pdata->dss_calc__user_roi_spad_en_4 = + (*(pbuffer + 12)); + pdata->dss_calc__user_roi_spad_en_5 = + (*(pbuffer + 13)); + pdata->dss_calc__user_roi_spad_en_6 = + (*(pbuffer + 14)); + pdata->dss_calc__user_roi_spad_en_7 = + (*(pbuffer + 15)); + pdata->dss_calc__user_roi_spad_en_8 = + (*(pbuffer + 16)); + pdata->dss_calc__user_roi_spad_en_9 = + (*(pbuffer + 17)); + pdata->dss_calc__user_roi_spad_en_10 = + (*(pbuffer + 18)); + pdata->dss_calc__user_roi_spad_en_11 = + (*(pbuffer + 19)); + pdata->dss_calc__user_roi_spad_en_12 = + (*(pbuffer + 20)); + pdata->dss_calc__user_roi_spad_en_13 = + (*(pbuffer + 21)); + pdata->dss_calc__user_roi_spad_en_14 = + (*(pbuffer + 22)); + pdata->dss_calc__user_roi_spad_en_15 = + (*(pbuffer + 23)); + pdata->dss_calc__user_roi_spad_en_16 = + (*(pbuffer + 24)); + pdata->dss_calc__user_roi_spad_en_17 = + (*(pbuffer + 25)); + pdata->dss_calc__user_roi_spad_en_18 = + (*(pbuffer + 26)); + pdata->dss_calc__user_roi_spad_en_19 = + (*(pbuffer + 27)); + pdata->dss_calc__user_roi_spad_en_20 = + (*(pbuffer + 28)); + pdata->dss_calc__user_roi_spad_en_21 = + (*(pbuffer + 29)); + pdata->dss_calc__user_roi_spad_en_22 = + (*(pbuffer + 30)); + pdata->dss_calc__user_roi_spad_en_23 = + (*(pbuffer + 31)); + pdata->dss_calc__user_roi_spad_en_24 = + (*(pbuffer + 32)); + pdata->dss_calc__user_roi_spad_en_25 = + (*(pbuffer + 33)); + pdata->dss_calc__user_roi_spad_en_26 = + (*(pbuffer + 34)); + pdata->dss_calc__user_roi_spad_en_27 = + (*(pbuffer + 35)); + pdata->dss_calc__user_roi_spad_en_28 = + (*(pbuffer + 36)); + pdata->dss_calc__user_roi_spad_en_29 = + (*(pbuffer + 37)); + pdata->dss_calc__user_roi_spad_en_30 = + (*(pbuffer + 38)); + pdata->dss_calc__user_roi_spad_en_31 = + (*(pbuffer + 39)); + pdata->dss_calc__user_roi_0 = + (*(pbuffer + 40)); + pdata->dss_calc__user_roi_1 = + (*(pbuffer + 41)); + pdata->dss_calc__mode_roi_0 = + (*(pbuffer + 42)); + pdata->dss_calc__mode_roi_1 = + (*(pbuffer + 43)); + pdata->sigma_estimator_calc__spare_0 = + (*(pbuffer + 44)); + pdata->vhv_result__peak_signal_rate_mcps = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 46)); + pdata->vhv_result__signal_total_events_ref = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 48)); + pdata->phasecal_result__phase_output_ref = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 52)); + pdata->dss_result__total_rate_per_spad = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 54)); + pdata->dss_result__enabled_blocks = + (*(pbuffer + 56)); + pdata->dss_result__num_requested_spads = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 58)); + pdata->mm_result__inner_intersection_rate = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 62)); + pdata->mm_result__outer_complement_rate = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 64)); + pdata->mm_result__total_offset = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 66)); + pdata->xtalk_calc__xtalk_for_enabled_spads = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 68)) & 0xFFFFFF; + pdata->xtalk_result__avg_xtalk_user_roi_kcps = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 72)) & 0xFFFFFF; + pdata->xtalk_result__avg_xtalk_mm_inner_roi_kcps = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 76)) & 0xFFFFFF; + pdata->xtalk_result__avg_xtalk_mm_outer_roi_kcps = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 80)) & 0xFFFFFF; + pdata->range_result__accum_phase = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 84)); + pdata->range_result__offset_corrected_range = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 88)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_patch_results( + VL53L1_DEV Dev, + VL53L1_patch_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_patch_results( + pdata, + VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_DSS_CALC__ROI_CTRL, + comms_buffer, + VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_patch_results( + VL53L1_DEV Dev, + VL53L1_patch_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_DSS_CALC__ROI_CTRL, + comms_buffer, + VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_patch_results( + VL53L1_PATCH_RESULTS_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_shadow_system_results( + VL53L1_shadow_system_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + *(pbuffer + 0) = + pdata->shadow_phasecal_result__vcsel_start; + *(pbuffer + 2) = + pdata->shadow_result__interrupt_status & 0x3F; + *(pbuffer + 3) = + pdata->shadow_result__range_status; + *(pbuffer + 4) = + pdata->shadow_result__report_status & 0xF; + *(pbuffer + 5) = + pdata->shadow_result__stream_count; + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__dss_actual_effective_spads_sd0, + 2, + pbuffer + 6); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__peak_signal_count_rate_mcps_sd0, + 2, + pbuffer + 8); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__ambient_count_rate_mcps_sd0, + 2, + pbuffer + 10); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__sigma_sd0, + 2, + pbuffer + 12); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__phase_sd0, + 2, + pbuffer + 14); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__final_crosstalk_corrected_range_mm_sd0, + 2, + pbuffer + 16); + VL53L1_i2c_encode_uint16_t( + pdata->shr__peak_signal_count_rate_crosstalk_corrected_mcps_sd0, + 2, + pbuffer + 18); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__mm_inner_actual_effective_spads_sd0, + 2, + pbuffer + 20); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__mm_outer_actual_effective_spads_sd0, + 2, + pbuffer + 22); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__avg_signal_count_rate_mcps_sd0, + 2, + pbuffer + 24); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__dss_actual_effective_spads_sd1, + 2, + pbuffer + 26); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__peak_signal_count_rate_mcps_sd1, + 2, + pbuffer + 28); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__ambient_count_rate_mcps_sd1, + 2, + pbuffer + 30); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__sigma_sd1, + 2, + pbuffer + 32); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__phase_sd1, + 2, + pbuffer + 34); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__final_crosstalk_corrected_range_mm_sd1, + 2, + pbuffer + 36); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__spare_0_sd1, + 2, + pbuffer + 38); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__spare_1_sd1, + 2, + pbuffer + 40); + VL53L1_i2c_encode_uint16_t( + pdata->shadow_result__spare_2_sd1, + 2, + pbuffer + 42); + *(pbuffer + 44) = + pdata->shadow_result__spare_3_sd1; + *(pbuffer + 45) = + pdata->shadow_result__thresh_info; + *(pbuffer + 80) = + pdata->shadow_phasecal_result__reference_phase_hi; + *(pbuffer + 81) = + pdata->shadow_phasecal_result__reference_phase_lo; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_shadow_system_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_shadow_system_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->shadow_phasecal_result__vcsel_start = + (*(pbuffer + 0)); + pdata->shadow_result__interrupt_status = + (*(pbuffer + 2)) & 0x3F; + pdata->shadow_result__range_status = + (*(pbuffer + 3)); + pdata->shadow_result__report_status = + (*(pbuffer + 4)) & 0xF; + pdata->shadow_result__stream_count = + (*(pbuffer + 5)); + pdata->shadow_result__dss_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 6)); + pdata->shadow_result__peak_signal_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 8)); + pdata->shadow_result__ambient_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 10)); + pdata->shadow_result__sigma_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 12)); + pdata->shadow_result__phase_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 14)); + pdata->shadow_result__final_crosstalk_corrected_range_mm_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 16)); + pdata->shr__peak_signal_count_rate_crosstalk_corrected_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 18)); + pdata->shadow_result__mm_inner_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 20)); + pdata->shadow_result__mm_outer_actual_effective_spads_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 22)); + pdata->shadow_result__avg_signal_count_rate_mcps_sd0 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 24)); + pdata->shadow_result__dss_actual_effective_spads_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 26)); + pdata->shadow_result__peak_signal_count_rate_mcps_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 28)); + pdata->shadow_result__ambient_count_rate_mcps_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 30)); + pdata->shadow_result__sigma_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 32)); + pdata->shadow_result__phase_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 34)); + pdata->shadow_result__final_crosstalk_corrected_range_mm_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 36)); + pdata->shadow_result__spare_0_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 38)); + pdata->shadow_result__spare_1_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 40)); + pdata->shadow_result__spare_2_sd1 = + (VL53L1_i2c_decode_uint16_t(2, pbuffer + 42)); + pdata->shadow_result__spare_3_sd1 = + (*(pbuffer + 44)); + pdata->shadow_result__thresh_info = + (*(pbuffer + 45)); + pdata->shadow_phasecal_result__reference_phase_hi = + (*(pbuffer + 80)); + pdata->shadow_phasecal_result__reference_phase_lo = + (*(pbuffer + 81)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_shadow_system_results( + VL53L1_DEV Dev, + VL53L1_shadow_system_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_shadow_system_results( + pdata, + VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_SHADOW_PHASECAL_RESULT__VCSEL_START, + comms_buffer, + VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_shadow_system_results( + VL53L1_DEV Dev, + VL53L1_shadow_system_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_SHADOW_PHASECAL_RESULT__VCSEL_START, + comms_buffer, + VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_shadow_system_results( + VL53L1_SHADOW_SYSTEM_RESULTS_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_i2c_encode_shadow_core_results( + VL53L1_shadow_core_results_t *pdata, + uint16_t buf_size, + uint8_t *pbuffer) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + VL53L1_i2c_encode_uint32_t( + pdata->shadow_result_core__ambient_window_events_sd0, + 4, + pbuffer + 0); + VL53L1_i2c_encode_uint32_t( + pdata->shadow_result_core__ranging_total_events_sd0, + 4, + pbuffer + 4); + VL53L1_i2c_encode_int32_t( + pdata->shadow_result_core__signal_total_events_sd0, + 4, + pbuffer + 8); + VL53L1_i2c_encode_uint32_t( + pdata->shadow_result_core__total_periods_elapsed_sd0, + 4, + pbuffer + 12); + VL53L1_i2c_encode_uint32_t( + pdata->shadow_result_core__ambient_window_events_sd1, + 4, + pbuffer + 16); + VL53L1_i2c_encode_uint32_t( + pdata->shadow_result_core__ranging_total_events_sd1, + 4, + pbuffer + 20); + VL53L1_i2c_encode_int32_t( + pdata->shadow_result_core__signal_total_events_sd1, + 4, + pbuffer + 24); + VL53L1_i2c_encode_uint32_t( + pdata->shadow_result_core__total_periods_elapsed_sd1, + 4, + pbuffer + 28); + *(pbuffer + 32) = + pdata->shadow_result_core__spare_0; + LOG_FUNCTION_END(status); + + + return status; +} + + +VL53L1_Error VL53L1_i2c_decode_shadow_core_results( + uint16_t buf_size, + uint8_t *pbuffer, + VL53L1_shadow_core_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + if (buf_size < VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES) + return VL53L1_ERROR_COMMS_BUFFER_TOO_SMALL; + + pdata->shadow_result_core__ambient_window_events_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 0)); + pdata->shadow_result_core__ranging_total_events_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 4)); + pdata->shadow_result_core__signal_total_events_sd0 = + (VL53L1_i2c_decode_int32_t(4, pbuffer + 8)); + pdata->shadow_result_core__total_periods_elapsed_sd0 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 12)); + pdata->shadow_result_core__ambient_window_events_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 16)); + pdata->shadow_result_core__ranging_total_events_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 20)); + pdata->shadow_result_core__signal_total_events_sd1 = + (VL53L1_i2c_decode_int32_t(4, pbuffer + 24)); + pdata->shadow_result_core__total_periods_elapsed_sd1 = + (VL53L1_i2c_decode_uint32_t(4, pbuffer + 28)); + pdata->shadow_result_core__spare_0 = + (*(pbuffer + 32)); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_set_shadow_core_results( + VL53L1_DEV Dev, + VL53L1_shadow_core_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_encode_shadow_core_results( + pdata, + VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES, + comms_buffer); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_WriteMulti( + Dev, + VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0, + comms_buffer, + VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_get_shadow_core_results( + VL53L1_DEV Dev, + VL53L1_shadow_core_results_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t comms_buffer[VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES]; + + LOG_FUNCTION_START(""); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_disable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_ReadMulti( + Dev, + VL53L1_SHADOW_RESULT_CORE__AMBIENT_WINDOW_EVENTS_SD0, + comms_buffer, + VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_enable_firmware(Dev); + + if (status == VL53L1_ERROR_NONE) + status = VL53L1_i2c_decode_shadow_core_results( + VL53L1_SHADOW_CORE_RESULTS_I2C_SIZE_BYTES, + comms_buffer, + pdata); + + LOG_FUNCTION_END(status); + + return status; +} + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_silicon_core.c b/drivers/input/misc/vl53L1/src/vl53l1_silicon_core.c new file mode 100644 index 000000000000..de0ca1999f1e --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_silicon_core.c @@ -0,0 +1,94 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_platform.h" +#include "vl53l1_register_map.h" +#include "vl53l1_core.h" +#include "vl53l1_silicon_core.h" + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE,\ + status, fmt, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_is_firmware_ready_silicon( + VL53L1_DEV Dev, + uint8_t *pready) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t comms_buffer[5]; + + LOG_FUNCTION_START(""); + + + + status = VL53L1_ReadMulti( + Dev, + VL53L1_INTERRUPT_MANAGER__ENABLES, + comms_buffer, + 5); + + if (status != VL53L1_ERROR_NONE) + goto ENDFUNC; + + pdev->dbg_results.interrupt_manager__enables = + comms_buffer[0]; + pdev->dbg_results.interrupt_manager__clear = + comms_buffer[1]; + pdev->dbg_results.interrupt_manager__status = + comms_buffer[2]; + pdev->dbg_results.mcu_to_host_bank__wr_access_en = + comms_buffer[3]; + pdev->dbg_results.power_management__go1_reset_status = + comms_buffer[4]; + + if ((pdev->sys_ctrl.power_management__go1_power_force & 0x01) + == 0x01) { + + if (((pdev->dbg_results.interrupt_manager__enables & + 0x1F) == 0x1F) && + ((pdev->dbg_results.interrupt_manager__clear + & 0x1F) == 0x1F)) + *pready = 0x01; + else + *pready = 0x00; + + } else { + + + if ((pdev->dbg_results.power_management__go1_reset_status + & 0x01) == 0x00) + *pready = 0x01; + else + *pready = 0x00; + } + + +ENDFUNC: + LOG_FUNCTION_END(status); + + return status; +} + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_wait.c b/drivers/input/misc/vl53L1/src/vl53l1_wait.c new file mode 100644 index 000000000000..08659fe92a55 --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_wait.c @@ -0,0 +1,466 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_ll_device.h" +#include "vl53l1_platform.h" +#include "vl53l1_core.h" +#include "vl53l1_silicon_core.h" +#include "vl53l1_wait.h" +#include "vl53l1_register_settings.h" + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE, status, \ + fmt, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_wait_for_boot_completion( + VL53L1_DEV Dev) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t fw_ready = 0; + + LOG_FUNCTION_START(""); + + if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) { + + + + status = + VL53L1_poll_for_boot_completion( + Dev, + VL53L1_BOOT_COMPLETION_POLLING_TIMEOUT_MS); + + } else { + + + + fw_ready = 0; + while (fw_ready == 0x00 && status == VL53L1_ERROR_NONE) { + status = VL53L1_is_boot_complete( + Dev, + &fw_ready); + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_WaitMs( + Dev, + VL53L1_POLLING_DELAY_MS); + } + } + } + + LOG_FUNCTION_END(status); + + return status; + +} + + +VL53L1_Error VL53L1_wait_for_firmware_ready( + VL53L1_DEV Dev) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t fw_ready = 0; + uint8_t mode_start = 0; + + LOG_FUNCTION_START(""); + + + mode_start = + pdev->sys_ctrl.system__mode_start & + VL53L1_DEVICEMEASUREMENTMODE_MODE_MASK; + + + + if ((mode_start == VL53L1_DEVICEMEASUREMENTMODE_TIMED) || + (mode_start == VL53L1_DEVICEMEASUREMENTMODE_SINGLESHOT)) { + + if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) { + + + + status = + VL53L1_poll_for_firmware_ready( + Dev, + VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS); + + } else { + + + + fw_ready = 0; + while (fw_ready == 0x00 && status == + VL53L1_ERROR_NONE) { + status = VL53L1_is_firmware_ready( + Dev, + &fw_ready); + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_WaitMs( + Dev, + VL53L1_POLLING_DELAY_MS); + } + } + } + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_wait_for_range_completion( + VL53L1_DEV Dev) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t data_ready = 0; + + LOG_FUNCTION_START(""); + + if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) { + + + + status = + VL53L1_poll_for_range_completion( + Dev, + VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS); + + } else { + + + + data_ready = 0; + while (data_ready == 0x00 && status == VL53L1_ERROR_NONE) { + status = VL53L1_is_new_data_ready( + Dev, + &data_ready); + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_WaitMs( + Dev, + VL53L1_POLLING_DELAY_MS); + } + } + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_wait_for_test_completion( + VL53L1_DEV Dev) +{ + + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t data_ready = 0; + + LOG_FUNCTION_START(""); + + if (pdev->wait_method == VL53L1_WAIT_METHOD_BLOCKING) { + + + + status = + VL53L1_poll_for_range_completion( + Dev, + VL53L1_TEST_COMPLETION_POLLING_TIMEOUT_MS); + + } else { + + + + data_ready = 0; + while (data_ready == 0x00 && status == VL53L1_ERROR_NONE) { + status = VL53L1_is_new_data_ready( + Dev, + &data_ready); + + if (status == VL53L1_ERROR_NONE) { + status = VL53L1_WaitMs( + Dev, + VL53L1_POLLING_DELAY_MS); + } + } + } + + LOG_FUNCTION_END(status); + + return status; +} + + + + +VL53L1_Error VL53L1_is_boot_complete( + VL53L1_DEV Dev, + uint8_t *pready) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t firmware__system_status = 0; + + LOG_FUNCTION_START(""); + + + + status = + VL53L1_RdByte( + Dev, + VL53L1_FIRMWARE__SYSTEM_STATUS, + &firmware__system_status); + + + + if ((firmware__system_status & 0x01) == 0x01) { + *pready = 0x01; + VL53L1_init_ll_driver_state( + Dev, + VL53L1_DEVICESTATE_SW_STANDBY); + } else { + *pready = 0x00; + VL53L1_init_ll_driver_state( + Dev, + VL53L1_DEVICESTATE_FW_COLDBOOT); + } + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_is_firmware_ready( + VL53L1_DEV Dev, + uint8_t *pready) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + LOG_FUNCTION_START(""); + + status = VL53L1_is_firmware_ready_silicon( + Dev, + pready); + + pdev->fw_ready = *pready; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_is_new_data_ready( + VL53L1_DEV Dev, + uint8_t *pready) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t gpio__mux_active_high_hv = 0; + uint8_t gpio__tio_hv_status = 0; + uint8_t interrupt_ready = 0; + + LOG_FUNCTION_START(""); + + gpio__mux_active_high_hv = + pdev->stat_cfg.gpio_hv_mux__ctrl & + VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_MASK; + + if (gpio__mux_active_high_hv == VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH) + interrupt_ready = 0x01; + else + interrupt_ready = 0x00; + + + + status = VL53L1_RdByte( + Dev, + VL53L1_GPIO__TIO_HV_STATUS, + &gpio__tio_hv_status); + + + + if ((gpio__tio_hv_status & 0x01) == interrupt_ready) + *pready = 0x01; + else + *pready = 0x00; + + LOG_FUNCTION_END(status); + + return status; +} + + + + +VL53L1_Error VL53L1_poll_for_boot_completion( + VL53L1_DEV Dev, + uint32_t timeout_ms) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + + status = VL53L1_WaitUs( + Dev, + VL53L1_FIRMWARE_BOOT_TIME_US); + + if (status == VL53L1_ERROR_NONE) + status = + VL53L1_WaitValueMaskEx( + Dev, + timeout_ms, + VL53L1_FIRMWARE__SYSTEM_STATUS, + 0x01, + 0x01, + VL53L1_POLLING_DELAY_MS); + + if (status == VL53L1_ERROR_NONE) + VL53L1_init_ll_driver_state(Dev, VL53L1_DEVICESTATE_SW_STANDBY); + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_poll_for_firmware_ready( + VL53L1_DEV Dev, + uint32_t timeout_ms) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint32_t start_time_ms = 0; + uint32_t current_time_ms = 0; + int32_t poll_delay_ms = VL53L1_POLLING_DELAY_MS; + uint8_t fw_ready = 0; + + + + VL53L1_GetTickCount(&start_time_ms); + pdev->fw_ready_poll_duration_ms = 0; + + + + while ((status == VL53L1_ERROR_NONE) && + (pdev->fw_ready_poll_duration_ms < timeout_ms) && + (fw_ready == 0)) { + + status = VL53L1_is_firmware_ready( + Dev, + &fw_ready); + + if (status == VL53L1_ERROR_NONE && + fw_ready == 0 && + poll_delay_ms > 0) { + status = VL53L1_WaitMs( + Dev, + poll_delay_ms); + } + + + VL53L1_GetTickCount(¤t_time_ms); + pdev->fw_ready_poll_duration_ms = + current_time_ms - start_time_ms; + } + + if (fw_ready == 0 && status == VL53L1_ERROR_NONE) + status = VL53L1_ERROR_TIME_OUT; + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_poll_for_range_completion( + VL53L1_DEV Dev, + uint32_t timeout_ms) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + VL53L1_LLDriverData_t *pdev = VL53L1DevStructGetLLDriverHandle(Dev); + + uint8_t gpio__mux_active_high_hv = 0; + uint8_t interrupt_ready = 0; + + LOG_FUNCTION_START(""); + + gpio__mux_active_high_hv = + pdev->stat_cfg.gpio_hv_mux__ctrl & + VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_MASK; + + if (gpio__mux_active_high_hv == VL53L1_DEVICEINTERRUPTLEVEL_ACTIVE_HIGH) + interrupt_ready = 0x01; + else + interrupt_ready = 0x00; + + status = + VL53L1_WaitValueMaskEx( + Dev, + timeout_ms, + VL53L1_GPIO__TIO_HV_STATUS, + interrupt_ready, + 0x01, + VL53L1_POLLING_DELAY_MS); + + LOG_FUNCTION_END(status); + + return status; +} + + diff --git a/drivers/input/misc/vl53L1/src/vl53l1_zone_presets.c b/drivers/input/misc/vl53L1/src/vl53l1_zone_presets.c new file mode 100644 index 000000000000..a3e5b74b1eaa --- /dev/null +++ b/drivers/input/misc/vl53L1/src/vl53l1_zone_presets.c @@ -0,0 +1,152 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + + +#include "vl53l1_ll_def.h" +#include "vl53l1_ll_device.h" +#include "vl53l1_platform_log.h" +#include "vl53l1_zone_presets.h" + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) +#define LOG_FUNCTION_END_FMT(status, fmt, ...) \ + _LOG_FUNCTION_END_FMT(VL53L1_TRACE_MODULE_CORE,\ + status, fmt, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_init_zone_config_structure( + uint8_t x_off, + uint8_t x_inc, + uint8_t x_zones, + uint8_t y_off, + uint8_t y_inc, + uint8_t y_zones, + uint8_t width, + uint8_t height, + VL53L1_zone_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t x = 0; + uint8_t y = 0; + uint16_t i = 0; + + LOG_FUNCTION_START(""); + + pdata->max_zones = VL53L1_MAX_USER_ZONES; + + i = 0; + + for (x = 0 ; x < x_zones ; x++) { + for (y = 0 ; y < y_zones ; y++) { + + if (i < VL53L1_MAX_USER_ZONES) { + + pdata->active_zones = (uint8_t)i; + pdata->user_zones[i].height = height; + pdata->user_zones[i].width = width; + pdata->user_zones[i].x_centre = + x_off + (x * x_inc); + pdata->user_zones[i].y_centre = + y_off + (y * y_inc); + } + + i++; + } + } + + status = VL53L1_init_zone_config_histogram_bins(pdata); + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_zone_preset_xtalk_planar( + VL53L1_general_config_t *pgeneral, + VL53L1_zone_config_t *pzone_cfg) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + LOG_FUNCTION_START(""); + + + pgeneral->global_config__stream_divider = 0x05; + + + pzone_cfg->active_zones = 0x04; + + pzone_cfg->user_zones[0].height = 15; + pzone_cfg->user_zones[0].width = 7; + pzone_cfg->user_zones[0].x_centre = 4; + pzone_cfg->user_zones[0].y_centre = 8; + + pzone_cfg->user_zones[1].height = 15; + pzone_cfg->user_zones[1].width = 7; + pzone_cfg->user_zones[1].x_centre = 12; + pzone_cfg->user_zones[1].y_centre = 8; + + pzone_cfg->user_zones[2].height = 7; + pzone_cfg->user_zones[2].width = 15; + pzone_cfg->user_zones[2].x_centre = 8; + pzone_cfg->user_zones[2].y_centre = 4; + + pzone_cfg->user_zones[3].height = 7; + pzone_cfg->user_zones[3].width = 15; + pzone_cfg->user_zones[3].x_centre = 8; + pzone_cfg->user_zones[3].y_centre = 12; + + + + pzone_cfg->user_zones[4].height = 15; + pzone_cfg->user_zones[4].width = 15; + pzone_cfg->user_zones[4].x_centre = 8; + pzone_cfg->user_zones[4].y_centre = 8; + + status = VL53L1_init_zone_config_histogram_bins(pzone_cfg); + + + LOG_FUNCTION_END(status); + + return status; +} + + +VL53L1_Error VL53L1_init_zone_config_histogram_bins( + VL53L1_zone_config_t *pdata) +{ + + + VL53L1_Error status = VL53L1_ERROR_NONE; + + uint8_t i; + + LOG_FUNCTION_START(""); + + for (i = 0; i < pdata->max_zones; i++) + pdata->bin_config[i] = VL53L1_ZONECONFIG_BINCONFIG__LOWAMB; + + LOG_FUNCTION_END(status); + + return status; +} + diff --git a/drivers/input/misc/vl53L1/st,stmvl53l1.txt b/drivers/input/misc/vl53L1/st,stmvl53l1.txt new file mode 100644 index 000000000000..3f81932590c2 --- /dev/null +++ b/drivers/input/misc/vl53L1/st,stmvl53l1.txt @@ -0,0 +1,26 @@ +StMicroelectronis vl53l1 + +Requires properties: +- compatible: must be "st,stmvl53l1". +- reg: I2C address of the chip. +- xsdn-gpio: gpio number connected to vl53l1 reset pin. + +Optional properties: +- intr-gpio: gpio number connected to vl53l1 irq pin. +- vdd: a phandle for the regulator supplying power for vl53l1. +- pwren-gpio: gpio number use to control vl53l1 power. + +Example: + &i2c1 { + /* ... */ + + stmvl53l1: stmvl53l1@29 { + compatible = "st,stmvl53l1"; + reg = <0x29>; + xsdn-gpio = <19>; + pwren-gpio = <12>; + intr-gpio = <16>; + }; + + /* ... */ + }; diff --git a/drivers/input/misc/vl53L1/stmvl53l1-i2c.h b/drivers/input/misc/vl53L1/stmvl53l1-i2c.h new file mode 100644 index 000000000000..323cd577d936 --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1-i2c.h @@ -0,0 +1,115 @@ +/************************************************************************** + * Copyright (c) 2016, STMicroelectronics - All Rights Reserved + + License terms: BSD 3-clause "New" or "Revised" License. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software + without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + ****************************************************************************/ + +/** @file stmvl53l1-i2c.h + * Linux kernel i2c/cci wrapper for ST VL53L1 sensor i2c interface + **/ + +#ifndef STMVL53L1_I2C_H +#define STMVL53L1_I2C_H +#include +#include "stmvl53l1.h" + +struct i2c_data { + struct i2c_client *client; + /** back link to driver for interrupt and clean-up */ + struct stmvl53l1_data *vl53l1_data; + struct pinctrl *pinctrl; + struct pinctrl_state *pins_active; + struct pinctrl_state *pins_suspend; + struct pinctrl_state *pins_release; + + + + /* reference counter */ + struct kref ref; + + /*!< if null no regulator use for power ctrl */ + struct regulator *vdd; + + /*!< power enable gpio number + * + * if -1 no gpio if vdd not avl pwr is not controllable + */ + int pwren_gpio; + + /*!< xsdn reset (low active) gpio number to device + * + * -1 mean none assume no "resetable" + */ + int xsdn_gpio; + + /*!< intr gpio number to device + * + * intr is active/low negative edge by default + * + * -1 mean none assume use polling + * @warning if the dev tree and intr gpio is require please adapt code + */ + int intr_gpio; + + /*!< device boot i2c register address + * + * boot_reg is the value of device i2c address after it is bring out + * of reset. + */ + int boot_reg; + + /*!< is set if above irq gpio got acquired */ + struct i2d_data_flags_t { + unsigned pwr_owned:1; /*!< set if pwren gpio is owned*/ + unsigned xsdn_owned:1; /*!< set if sxdn gpio is owned*/ + unsigned intr_owned:1; /*!< set if intr gpio is owned*/ + unsigned intr_started:1; /*!< set if irq is hanlde */ + } io_flag; + + /** the irq vectore assigned to gpio + * -1 if no irq hanled + */ + int irq; + + struct msgtctrl_t { + unsigned unhandled_irq_vec:1; + } msg_flag; +}; + +int stmvl53l1_init_i2c(void); +void __exit stmvl53l1_exit_i2c(void *arg); +int stmvl53l1_power_up_i2c(void *arg); +int stmvl53l1_power_down_i2c(void *arg); +int stmvl53l1_reset_release_i2c(void *arg); +int stmvl53l1_reset_hold_i2c(void *arg); +void stmvl53l1_clean_up_i2c(void); +int stmvl53l1_start_intr(void *object, int *poll_mode); +void *stmvl53l1_get(void *arg); +void stmvl53l1_put(void *arg); + +#endif /* STMVL53L1_I2C_H */ diff --git a/drivers/input/misc/vl53L1/stmvl53l1.dtbo b/drivers/input/misc/vl53L1/stmvl53l1.dtbo new file mode 100644 index 0000000000000000000000000000000000000000..94df07293396d944d3f935fb4469a3e4cdbc5720 GIT binary patch literal 445 zcmY*VOHRZv40V7Ff|2-$1EAS}G!@e#1Pq&5v1Y@%N>fjXl(bb6hJibA1ULgH;07aZ zfN+`?f~6Nf`^Ao(kJ0xUfV~0075NA9Cxm^%9>Lo^<)?xEJ6RuXk{@|q7@;SH(Anjb zdUeJYhF2PEHxC{B-7Uh-=j;0yd6wtR5{=@|dF~4a{lIHceC$OsW}RNDi*uFEv+I!R zYP$EWoBYa==HE*Qr-Y$@O8hX2Z;0bFIsTkd3`5W*E0^RhH(Z6Z)93u7x^u;&IVSlO~ps#Z48J{jz(tepu-nTZsB E0LcSKtpET3 literal 0 HcmV?d00001 diff --git a/drivers/input/misc/vl53L1/stmvl53l1.h b/drivers/input/misc/vl53L1/stmvl53l1.h new file mode 100644 index 000000000000..0c1c9d0dda31 --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1.h @@ -0,0 +1,399 @@ +/************************************************************************** + * Copyright (c) 2016, STMicroelectronics - All Rights Reserved + + License terms: BSD 3-clause "New" or "Revised" License. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software + without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + ****************************************************************************/ +/** + * @file stmvl53l1.h header for vl53l1 sensor driver + */ +#ifndef STMVL53L1_H +#define STMVL53L1_H + +#include +#include +#include +#include +#include + +#include "vl53l1_api.h" + +/** + * IPP adapt + */ +#ifdef DEBUG +# define IPP_PRINT(...) printk(__VA_ARGS__) +#else +# define IPP_PRINT(...) (void)0 +#endif + +#include "stmvl53l1_ipp.h" +#include "stmvl53l1_if.h" + +/** + * Configure the Netlink-id use + */ +#ifndef STMVL531_CFG_NETLINK_USER +#define STMVL531_CFG_NETLINK_USER 29 +#endif + +#define STMVL53L1_MAX_CCI_XFER_SZ 256 +#define STMVL53L1_DRV_NAME "stmvl53l1" + +/** + * configure usage of regulator device from device tree info + * to enable/disable sensor power + * see module-i2c or module-cci file + */ +/* define CFG_STMVL53L1_HAVE_REGULATOR */ + +#define DRIVER_VERSION "14.0.6" + +/** @ingroup vl53l1_config + * @{ + */ +/** + * Configure max number of device the driver can support + */ +#define STMVL53L1_CFG_MAX_DEV 2 +/** @} */ /* ingroup vl53l1_config */ + +/** @ingroup vl53l1_mod_dbg + * @{ + */ +#if 0 +#define DEBUG 1 +#endif +#if 0 +#define FORCE_CONSOLE_DEBUG +#endif + +extern int stmvl53l1_enable_debug; + +#ifdef DEBUG +# ifdef FORCE_CONSOLE_DEBUG +#define vl53l1_dbgmsg(str, ...) do { \ + if (stmvl53l1_enable_debug) \ + pr_info("%s: " str, __func__, ##__VA_ARGS__); \ +} while (0) +# else +#define vl53l1_dbgmsg(str, ...) do { \ + if (stmvl53l1_enable_debug) \ + pr_debug("%s: " str, __func__, ##__VA_ARGS__); \ +} while (0) +# endif +#else +# define vl53l1_dbgmsg(...) (void)0 +#endif + +/** + * set to 0 1 activate or not debug from work (data interrupt/polling) + */ +#define WORK_DEBUG 0 +#if WORK_DEBUG +# define work_dbg(msg, ...)\ + printk("[D WK53L1] :" msg "\n", ##__VA_ARGS__) +#else +# define work_dbg(...) (void)0 +#endif + +#define vl53l1_info(str, args...) \ + pr_info("%s: " str "\n", __func__, ##args) + +#define vl53l1_errmsg(str, args...) \ + pr_err("%s: " str, __func__, ##args) + +#define vl53l1_wanrmsg(str, args...) \ + pr_warn("%s: " str, __func__, ##args) + +/* turn off poll log if not defined */ +#ifndef STMVL53L1_LOG_POLL_TIMING +# define STMVL53L1_LOG_POLL_TIMING 0 +#endif +/* turn off cci log timing if not defined */ +#ifndef STMVL53L1_LOG_CCI_TIMING +# define STMVL53L1_LOG_CCI_TIMING 0 +#endif + +/**@} */ /* ingroup mod_dbg*/ + +#include +#include +#include + +#ifndef VL53L1_FULL_KERNEL +/** if set to 1 enable ipp execution timing (if debug enabled) + * @ingroup vl53l1_mod_dbg + */ +#define IPP_LOG_TIMING 1 + +struct ipp_data_t { + struct ipp_work_t work; + struct ipp_work_t work_out; + int test_n; + /*!< buzy state 0 is idle + *any other value do not try to use (state value defined in source) + */ + int buzy; + int waited_xfer_id; + /*!< when buzy is set that is the id we are expecting + * note that value 0 is reserved and stand for "not waiting" + * as such never id 0 will be in any round trip exchange + * it's ok for daemon to use 0 in "ping" when it identify himself + */ + int status; /** if that is not 0 do not look at out work data */ + wait_queue_head_t waitq; + /*!< ipp caller are put in that queue wait while job is posted to user + * @warning ipp and dev mutex will be released before waiting + * see @ref ipp_abort + */ +#if IPP_LOG_TIMING + struct timeval start_tv, stop_tv; +#endif +}; +#endif + +struct stmvl53l1_waiters { + struct list_head list; + pid_t pid; +}; + +/* + * driver data structs + */ +struct stmvl53l1_data { + int id; /*!< multiple device id 0 based*/ + char name[64]; /*!< misc device name */ + uint8_t product_type; /*!< L1:0xCC L3:0xAA i.e. module_type in datasheet */ + + VL53L1_DevData_t stdev; /*!ipp.stop_tv) +# define stmvl531_ipp_tim_start(data)\ + do_gettimeofday(&data->ipp.start_tv) +# define stmvl531_ipp_time(data)\ + stmvl53l1_tv_dif(&data->ipp.start_tv, &data->ipp.stop_tv) +# define stmvl531_ipp_stat(data, fmt, ...)\ + vl53l1_dbgmsg("IPPSTAT " fmt "\n", ##__VA_ARGS__) +#else +# define stmvl531_ipp_tim_stop(data) (void)0 +# define stmvl531_ipp_tim_start(data) (void)0 +# define stmvl531_ipp_stat(...) (void)0 +#endif +#endif +}; + + +/** + * timeval diff in us + * + * @param pstart_tv + * @param pstop_tv + */ +long stmvl53l1_tv_dif(struct timeval *pstart_tv, struct timeval *pstop_tv); + + +/** + * The device table list table is update as device get added + * we do not support adding removing device mutiple time ! + * use for clean "unload" purpose + */ +extern struct stmvl53l1_data *stmvl53l1_dev_table[]; + +int stmvl53l1_setup(struct stmvl53l1_data *data); +void stmvl53l1_cleanup(struct stmvl53l1_data *data); +#ifdef CONFIG_PM_SLEEP +void stmvl53l1_pm_suspend_stop(struct stmvl53l1_data *data); +#endif +int stmvl53l1_intr_handler(struct stmvl53l1_data *data); + +#ifndef VL53L1_FULL_KERNEL +/** + * request ipp to abort or stop + * + * require dev work_mutex held + * + * @warning because the "waiting" work can't be aborted we must wake it up + * it will happen and at some later time not earlier than release of lock + * if after lock release we have a new request to start the race may not be + * handled correctly + * + * @param data the device + * @return 0 if no ipp got canceled, @warning this is maybe not grant we + * can't re-sched "dev work" and re-run the worker back + */ +int stmvl53l1_ipp_stop(struct stmvl53l1_data *data); + +int stmvl53l1_ipp_do(struct stmvl53l1_data *data, struct ipp_work_t *work_in, + struct ipp_work_t *work_out); + +/** + * per device netlink init + * @param data + * @return + */ +int stmvl53l1_ipp_setup(struct stmvl53l1_data *data); +/** + * per device ipp netlink cleaning + * @param data + * @return + */ +void stmvl53l1_ipp_cleanup(struct stmvl53l1_data *data); + +/** + * Module init for netlink + * @return 0 on success + */ +int stmvl53l1_ipp_init(void); + +/** + * Module exit for netlink + * @return 0 on success + */ +void stmvl53l1_ipp_exit(void); + +/** + * enable and start ipp exhange + * @param n_dev number of device to run on + * @param data dev struct + * @return 0 on success + */ +int stmvl53l1_ipp_enable(int n_dev, struct stmvl53l1_data *data); +#endif + + +/* + * function pointer structs + */ + + + +#endif /* STMVL53L1_H */ diff --git a/drivers/input/misc/vl53L1/stmvl53l1_i2c.c b/drivers/input/misc/vl53L1/stmvl53l1_i2c.c new file mode 100644 index 000000000000..7e1715a9d6f6 --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_i2c.c @@ -0,0 +1,346 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +/** + * @file stmvl53l1_i2c.c vl53l1 linux native i2c interface + * + */ +#include "stmvl53l1.h" +#include "stmvl53l1-i2c.h" +#include + +static inline void st_gettimeofday(struct timeval *tv) +{ + struct timespec64 now; + + ktime_get_real_ts64(&now); + tv->tv_sec = now.tv_sec; + tv->tv_usec = now.tv_nsec/1000; +} + +#if STMVL53L1_LOG_POLL_TIMING +/** + * helper to elapse time in polling + * @param ptv pointer to start time_val + + */ +# define poll_timing_log(ptv) \ + vl53l1_dbgmsg("poll in %d us\n", tv_elapsed_us(ptv)) +#else +# define poll_timing_log(...) (void)0 +#endif + +#if STMVL53L1_LOG_CCI_TIMING +/** + * compute elapsed time in in micro sec based on do_gettimeofday + * @param tv pointer to start time_val + * @return time elapsed in micro seconde + */ + +/** + * compute elapsed time in in micro sec based on do_gettimeofday + * @param tv pointer to start time_val + * @return time elapsed in micro seconde + */ +static uint32_t tv_elapsed_us(struct timeval *tv) +{ + struct timeval now; + + st_gettimeofday(&now); + return (now.tv_sec - tv->tv_sec) * 1000000 + (now.tv_usec - + tv->tv_usec); +} + +# define cci_access_var struct timeval cci_log_start_tv +# define cci_access_start()\ + st_gettimeofday(&cci_log_start_tv) +# define cci_access_over(fmt, ...) \ + vl53l1_dbgmsg("cci_timing %d us" fmt "\n", \ + tv_elapsed_us(&cci_log_start_tv), ##__VA_ARGS__) +#else +# define cci_access_var +# define cci_access_start(...) (void)0 +# define cci_access_over(...) (void)0 +#endif + +#ifdef STMVL53L1_DEBUG_I2C +# define i2c_debug(fmt, ...) vl53l1_dbgmsg(fmt, ##__VA_ARGS__) +#else +# define i2c_debug(fmt, ...) (void)0 +#endif + +VL53L1_Error VL53L1_GetTickCount(uint32_t *ptime_ms) +{ + (void)ptime_ms; + BUG_ON(1); +} + +/** + * compute elapsed time in in milli sec based on do_gettimeofday + * @param tv pointer to start time_val + * @return time elapsed in milli seconde + */ +static uint32_t tv_elapsed_ms(struct timeval *tv) +{ + struct timeval now; + + st_gettimeofday(&now); + return (now.tv_sec - tv->tv_sec) * 1000 + + (now.tv_usec - tv->tv_usec) / 1000; +} + +static int cci_write(struct stmvl53l1_data *dev, int index, + uint8_t *data, uint16_t len) +{ + uint8_t buffer[STMVL53L1_MAX_CCI_XFER_SZ + 2]; + struct i2c_msg msg; + struct i2c_data *i2c_client_obj = (struct i2c_data *)dev->client_object; + struct i2c_client *client = (struct i2c_client *)i2c_client_obj->client; + int rc; + + cci_access_var; + if (len > STMVL53L1_MAX_CCI_XFER_SZ || len == 0) { + vl53l1_errmsg("invalid len %d\n", len); + return -1; + } + cci_access_start(); + /* build up little endian index in buffer */ + buffer[0] = (index >> 8) & 0xFF; + buffer[1] = (index >> 0) & 0xFF; + /* copy write data to buffer after index */ + memcpy(buffer + 2, data, len); + /* set i2c msg */ + msg.addr = client->addr; + msg.flags = client->flags; + msg.buf = buffer; + msg.len = len + 2; + + rc = i2c_transfer(client->adapter, &msg, 1); + if (rc != 1) { + vl53l1_errmsg("wr i2c_transfer err:%d, index 0x%x len %d\n", + rc, index, len); + } + cci_access_over("rd status %d long %d ", rc != 1, len); + return rc != 1; +} + +static int cci_read(struct stmvl53l1_data *dev, int index, + uint8_t *data, uint16_t len) +{ + uint8_t buffer[2]; + struct i2c_msg msg[2]; + struct i2c_data *i2c_client_obj = (struct i2c_data *)dev->client_object; + struct i2c_client *client = (struct i2c_client *)i2c_client_obj->client; + int rc; + + cci_access_var; + if (len > STMVL53L1_MAX_CCI_XFER_SZ || len == 0) { + vl53l1_errmsg("invalid len %d\n", len); + return -1; + } + cci_access_start(); + + /* build up little endian index in buffer */ + buffer[0] = (index >> 8) & 0xFF; + buffer[1] = (index >> 0) & 0xFF; + + msg[0].addr = client->addr; + msg[0].flags = client->flags; /* Write */ + msg[0].buf = buffer; + msg[0].len = 2; + /* read part of the i2c transaction */ + msg[1].addr = client->addr; + msg[1].flags = I2C_M_RD | client->flags; + msg[1].buf = data; + msg[1].len = len; + + rc = i2c_transfer(client->adapter, msg, 2); + if (rc != 2) { + pr_err("%s: i2c_transfer :%d, @%x index 0x%x len %d\n", + __func__, rc, client->addr, index, len); + + } + cci_access_over(" wr len %d status %d", rc != 2, len); + return rc != 2; +} + +VL53L1_Error VL53L1_WrByte(VL53L1_DEV pdev, uint16_t index, uint8_t data) +{ + struct stmvl53l1_data *dev; + + dev = (struct stmvl53l1_data *)container_of(pdev, + struct stmvl53l1_data, + stdev); + + return cci_write(dev, index, &data, 1); + +} + +VL53L1_Error VL53L1_RdByte(VL53L1_DEV pdev, uint16_t index, uint8_t *pdata) +{ + struct stmvl53l1_data *dev; + + dev = (struct stmvl53l1_data *)container_of(pdev, + struct stmvl53l1_data, + stdev); + + return cci_read(dev, index, pdata, 1) ? + VL53L1_ERROR_CONTROL_INTERFACE : VL53L1_ERROR_NONE; +} + +VL53L1_Error VL53L1_WrWord(VL53L1_DEV pdev, uint16_t index, uint16_t data) +{ + VL53L1_Error status; + uint8_t buffer[2]; + + /* Split 16-bit word into MS and L* stmvl53l1 FlightSense sensor */ + + buffer[0] = (uint8_t) (data >> 8); + buffer[1] = (uint8_t) (data & 0x00FF); + i2c_debug(" @%x d= %x => [ %x , %x ] ", index, data, buffer[0], + buffer[1]); + status = VL53L1_WriteMulti(pdev, index, buffer, 2); + + return status; +} + +VL53L1_Error VL53L1_RdWord(VL53L1_DEV pdev, uint16_t index, uint16_t *pdata) +{ + VL53L1_Error status; + uint8_t buffer[2]; + + status = VL53L1_ReadMulti(pdev, index, buffer, 2); + + *pdata = ((uint16_t) buffer[0] << 8) + (uint16_t) buffer[1]; + + return status; +} + +VL53L1_Error VL53L1_WrDWord(VL53L1_DEV pdev, uint16_t index, uint32_t data) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t buffer[4]; + + /* Split 32-bit word into MS ... LS bytes */ + buffer[0] = (uint8_t) (data >> 24); + buffer[1] = (uint8_t) ((data & 0x00FF0000) >> 16); + buffer[2] = (uint8_t) ((data & 0x0000FF00) >> 8); + buffer[3] = (uint8_t) (data & 0x000000FF); + + status = VL53L1_WriteMulti(pdev, index, buffer, 4); + + return status; +} + +VL53L1_Error VL53L1_RdDWord(VL53L1_DEV pdev, uint16_t index, uint32_t *pdata) +{ + VL53L1_Error status = VL53L1_ERROR_NONE; + uint8_t buffer[4]; + + status = VL53L1_ReadMulti(pdev, index, buffer, 4); + + *pdata = ((uint32_t) buffer[0] << 24) + ((uint32_t) buffer[1] << 16) + + ((uint32_t) buffer[2] << 8) + (uint32_t) buffer[3]; + + return status; +} + +VL53L1_Error VL53L1_WriteMulti(VL53L1_DEV pdev, uint16_t index, + uint8_t *pdata, uint32_t count) +{ + struct stmvl53l1_data *dev; + + dev = (struct stmvl53l1_data *)container_of(pdev, + struct stmvl53l1_data, + stdev); + + return cci_write(dev, index, pdata, count) ? + VL53L1_ERROR_CONTROL_INTERFACE : VL53L1_ERROR_NONE; +} + +VL53L1_Error VL53L1_ReadMulti(VL53L1_DEV pdev, uint16_t index, + uint8_t *pdata, uint32_t count) +{ + struct stmvl53l1_data *dev; + + dev = (struct stmvl53l1_data *)container_of(pdev, + struct stmvl53l1_data, + stdev); + + return cci_read(dev, index, pdata, count) ? + VL53L1_ERROR_CONTROL_INTERFACE : VL53L1_ERROR_NONE; +} + +static int is_time_over(struct timeval *tv, uint32_t msec) +{ + return tv_elapsed_ms(tv) >= msec; +} + +VL53L1_Error VL53L1_WaitValueMaskEx(VL53L1_DEV pdev, + uint32_t timeout_ms, + uint16_t index, + uint8_t value, + uint8_t mask, uint32_t poll_delay_ms) +{ + struct timeval start_tv; + struct stmvl53l1_data *dev; + int rc, time_over; + uint8_t rd_val; + + dev = (struct stmvl53l1_data *)container_of(pdev, + struct stmvl53l1_data, + stdev); + + st_gettimeofday(&start_tv); + do { + rc = cci_read(dev, index, &rd_val, 1); + if (rc) + return VL53L1_ERROR_CONTROL_INTERFACE; + if ((rd_val & mask) == value) { + poll_timing_log(&start_tv); + return VL53L1_ERROR_NONE; + } + vl53l1_dbgmsg("poll @%x %x & %d != %x", index, + rd_val, mask, value); + time_over = is_time_over(&start_tv, timeout_ms); + if (!time_over) + msleep(poll_delay_ms); + } while (!time_over); + vl53l1_errmsg("time over %d ms", timeout_ms); + return VL53L1_ERROR_TIME_OUT; +} + +VL53L1_Error VL53L1_WaitUs(VL53L1_DEV pdev, int32_t wait_us) +{ + struct stmvl53l1_data *data; + + data = (struct stmvl53l1_data *)container_of(pdev, + struct stmvl53l1_data, + stdev); + + if (!data->is_delay_allowed) + return VL53L1_ERROR_PLATFORM_SPECIFIC_START; + + /* follow Documentation/timers/timers-howto.txt recommendations */ + if (wait_us < 10) + udelay(wait_us); + else if (wait_us < 20000) + usleep_range(wait_us, wait_us + 1); + else + msleep(wait_us / 1000); + + return VL53L1_ERROR_NONE; +} + +VL53L1_Error VL53L1_WaitMs(VL53L1_DEV pdev, int32_t wait_ms) +{ + return VL53L1_WaitUs(pdev, wait_ms * 1000); +} diff --git a/drivers/input/misc/vl53L1/stmvl53l1_if.h b/drivers/input/misc/vl53L1/stmvl53l1_if.h new file mode 100644 index 000000000000..ac9a31dc6bfe --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_if.h @@ -0,0 +1,677 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +/** + * @file stmvl53l1_if.h vl53l1 kernel driver user interface + * + * @note to use this header in a user space application it requires + * all st bare/ll driver platform wrapper files (for data struct def) + * this files (types etc ..) shall be same or compliant with bar driver version + * used in the kernel module + */ + +#ifndef STMVL53L1_IF_H +#define STMVL53L1_IF_H + + +#include "vl53l1_def.h" +/** + * @addtogroup vl53l1_ioctl + * @{ + */ + +/** + * misc device name for ioctl device + * + * for mutli instance all device 2nd and next instance are basic name +"1"+"2" + * @li stmvl53l1_ranging + * @li stmvl53l1_ranging1 + * @li stmvl53l1_ranging2 + */ +#define VL53L1_MISC_DEV_NAME "stmvl53l1_ranging" +/** + * register data use for simple/single ranging data @ref VL53L1_IOCTL_GETDATAS + * + * @warning this definition is subject to change ! + */ +#define stmvl531_range_data_t VL53L1_RangingMeasurementData_t + +/** + * parameter name in @ref stmvl53l1_parameter when using + * @ref VL53L1_IOCTL_PARAMETER + */ +enum __stmv53l1_parameter_name_e { + VL53L1_XTALKENABLE_PAR = 2, + /*!< VL53L1_XTALKENABLE_PAR enable/disable crosstalk compensation\n + * valid value : + * @li 0 disable crosstalk compensation + * @li 1 enable crosstalk compensation + * + * @warning mode can only be set while not ranging + */ + + VL53L1_DEVICEMODE_PAR = 6, + /*!< DEVICEMODE_PAR set ranging mode  \n + * valid mode value : + * @li 1 @a VL53L1_PRESETMODE_RANGING default ranging + * @li 2 @a VL53L1_PRESETMODE_MULTIZONES_SCANNING multiple zone + * @li 3 @a VL53L1_PRESETMODE_AUTONOMOUS autonomous mode + * @li 4 @a VL53L1_PRESETMODE_LITE_RANGING low mips ranging mode + * @li 8 @a VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS low power autonomous + * mode + * + * @warning mode can only be set while not ranging + */ + + VL53L1_POLLDELAY_PAR = 10, + /*!< set the polling delay (msec)\n + * + * @note apply only when operates in polling mode as no effect + * otherwise + */ + VL53L1_TIMINGBUDGET_PAR = 11, + /*!< VL53L1_TIMINGBUDGET_PAR + * @ref stmvl53l1_parameter.value field is timing budget + * in micro second + * + * @note Please refer to VL53L1 user manual for minimum timing budget + * according to the selected mode + * + * Mode / timing budget | Min | Typical + * ------------------------------------- | ----- | ------- + * VL53L1_PRESETMODE_RANGING | 8 ms | 16 ms + * VL53L1_PRESETMODE_MULTIZONES_SCANNING | 8 ms | 16 ms + * VL53L1_PRESETMODE_AUTONOMOUS | 41 ms | 76 ms + * VL53L1_PRESETMODE_LITE_RANGING | 17 ms | 66 ms + * VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS | 20 ms | 20 ms + * + */ + + VL53L1_DISTANCEMODE_PAR = 12, + /*!< VL53L1_DISTANCEMODE_PAR + * valid distance mode value : + * @li 1 @a VL53L1_DISTANCEMODE_SHORT + * @li 2 @a VL53L1_DISTANCEMODE_MEDIUM + * @li 3 @a VL53L1_DISTANCEMODE_LONG + * + * @warning distance mode can only be set while not ranging + */ + + VL53L1_OUTPUTMODE_PAR = 13, + /*!< VL53L1_OUTPUTMODE_PAR + * valid output mode value : + * @li 1 @a VL53L1_OUTPUTMODE_NEAREST + * @li 2 @a VL53L1_OUTPUTMODE_STRONGEST + * + * @warning distance mode can only be set while not ranging + */ + + VL53L1_FORCEDEVICEONEN_PAR = 14, + /*!< VL53L1_FORCEDEVICEONEN_PAR + * This parameter will control if device is put under reset when + * stopped. + * valid force device on value : + * @li 0 feature is disable. Device is put under reset when stopped. + * @li 1 feature is enable. Device is not put under reset when stopped. + */ + + VL53L1_LASTERROR_PAR = 15, + /*!< VL53L1_LASTERROR_PAR + * This is a read only parameter. It will return last device internal + * error. It's valid only after an ioctl/sysfs return an -EIO error. + */ + + VL53L1_OFFSETCORRECTIONMODE_PAR = 16, + /*!< VL53L1_OFFSETCORRECTIONMODE_PAR + * This parameter will define which mode to use for the offset + * correction. + * valid force device on value : + * @li 1 @a VL53L1_OFFSETCORRECTIONMODE_STANDARD + * @li 2 @a VL53L1_OFFSETCORRECTIONMODE_PERZONE + * + * @warning offset correction mode can only be set while not ranging + */ + + VL53L1_OPTICALCENTER_PAR = 17, + /*!< VL53L1_OPTICALCENTER_PAR + * This is a read only parameter. It will return optical center issued + * from the nvm set at FTM stage. value will contain X position of + * center. value2 will contain Y position of center. + * Return values have FixPoint1616_t type. + */ + + VL53L1_DMAXREFLECTANCE_PAR = 18, + /*!< VL53L1_DMAXREFLECTANCE_PAR + * This parameter will define target reflectance @ 940nm used to + * calculate the ambient DMAX. Parameter is of type FixPoint1616_t. + * + * @warning dmax reflectance can only be be set while not ranging + */ + + VL53L1_DMAXMODE_PAR = 19, + /*!< VL53L1_DMAXMODE_PAR + * This parameter will select Dmax mode. + * valid Dmax mode value : + * @li 1 @a VL53L1_DMAXMODE_FMT_CAL_DATA + * @li 2 @a VL53L1_DMAXMODE_CUSTCAL_DATA + * @li 3 @a VL53L1_DMAXMODE_PER_ZONE_CAL_DATA + * + * @warning Dmax mode can only be set while not ranging + */ + + VL53L1_TUNING_PAR = 20, + /*!< VL53L1_DMAXMODE_PAR + * This parameter is a write only parameter. It will allow to provide + * low level layer with a configuration parameter. + * value will be use as a key parameter. + * value2 will be use as value parameter. + * + * @warning those configuration parameter settings are only allowed + * before device is start once. + */ + + VL53L1_SMUDGECORRECTIONMODE_PAR = 21, + /*!< VL53L1_SMUDGECORRECTIONMODE_PAR + * This parameter will control if smudge correction is enable and how + * crosstalk values are updated. + * @li 0 @a VL53L1_SMUDGE_CORRECTION_NONE + * @li 1 @a VL53L1_SMUDGE_CORRECTION_CONTINUOUS + * @li 2 @a VL53L1_SMUDGE_CORRECTION_SINGLE + * @li 3 @a VL53L1_SMUDGE_CORRECTION_DEBUG + */ + + VL53L1_ISXTALKVALUECHANGED_PAR = 22, + /*!< VL53L1_ISXTALKCHANGED_PAR + * This is a read only parameter. It will return if Xtalk value has + * been updated while ranging. This parameter is reset each time device + * start to range. + * @li 0 Xtalk values has not been changed. + * @li 1 Xtalk values has been changed. + */ +}; +#define stmv53l1_parameter_name_e enum __stmv53l1_parameter_name_e + +/** + * parameter structure use in @ref VL53L1_IOCTL_PARAMETER + */ +struct stmvl53l1_parameter { + uint32_t is_read; /*!< [in] 1: Get 0: Set*/ + /*!< [in] parameter to set/get + * see @ref stmv53l1_parameter_name_e + */ + stmv53l1_parameter_name_e name; + int32_t value; /*!< [in/out] value to set /get */ + int32_t value2; /*!< [in/out] optional 2nd value */ + int32_t status; /*!< [out] status of the operation */ +}; + + +/** + * roi structure use as @ref VL53L1_IOCTL_ROI arg + * + * see @ref stmvl53l1_roi_full_t for easy to use type variable declaration + * required + */ +struct stmvl53l1_roi_t { + int32_t is_read; + /*!< specify roi transfer direction \n + * @li 0 to get roi + * @li !0 to set roi + */ + /*! roi data and count type use in @ VL53L1_IOCTL_ROI */ + struct roi_cfg_t { + uint8_t NumberOfRoi; + /*!< [in/out] Number of Rois to set/get + * + * on set :\n + * [in] number of roi to set + * @note 0 set can be used to return to device default roi usage + * + * on get :\n + * [in] max number provided\n + * [out] number of ROI copied back to user\n + * @warning 0 will not return any roi datas! + */ + VL53L1_UserRoi_t UserRois[1]; + /*!< roi data array length definition is 1 but + * NumberOfRoi+ FirstRoiToScan in array are required + * and will be effectively copy to/from user space + * + * @sa stmvl53l1_roi_full_t + */ + } roi_cfg /*! [in/out] roi data and count */; +}; + +/** + * full roi struct use in @ref VL53L1_IOCTL_ROI arg + * + * this definition make easier variable declaration with the max roi storage + * capabilities. + * + * @sa stmvl53l1_roi_t for field details + */ +struct stmvl53l1_roi_full_t { + int32_t is_read; + /*!< specify roi transfer direction \n + * @li 0 to get roi + * @li !0 to set roi + */ + VL53L1_RoiConfig_t roi_cfg; + /*!< roi data array of max length but only requested copy to/from user + * space effectively used + * see @a stmvl53l1_roi_t::roi_cfg for details + */ +}; + +/** + * parameter structure use in @ref VL53L1_IOCTL_CALIBRATION_DATA + */ +struct stmvl53l1_ioctl_calibration_data_t { + int32_t is_read; /*!< [in] 1: Get 0: Set*/ + VL53L1_CalibrationData_t data; + /*!< [in/out] data to set /get. Caller + * should consider this structure as an opaque one + */ +}; + +/** + * Opaque structure use to hold content of zone offset calibration result. + */ +#define stmvl531_zone_calibration_data_t \ + struct _stmvl531_zone_calibration_data_t + +struct _stmvl531_zone_calibration_data_t { + uint32_t id; + VL53L1_ZoneCalibrationData_t data; +}; + +/** + * parameter structure use in @ref VL53L1_IOCTL_ZONE_CALIBRATION_DATA + */ +struct stmvl53l1_ioctl_zone_calibration_data_t { + int32_t is_read; /*!< [in] 1: Get 0: Set*/ + stmvl531_zone_calibration_data_t data; + /*!< [in/out] data to set /get. Caller + * should consider this structure as an opaque one + */ +}; + +/** Select reference spad calibration in @ref VL53L1_IOCTL_PERFORM_CALIBRATION. + * + * param1, param2 and param3 not use + */ +#define VL53L1_CALIBRATION_REF_SPAD 0 + +/** Select crosstalk calibration in @ref VL53L1_IOCTL_PERFORM_CALIBRATION. + * + * param1 is calibration method. param2 and param3 not use. + * @li VL53L1_XTALKCALIBRATIONMODE_NO_TARGET + * @li VL53L1_XTALKCALIBRATIONMODE_SINGLE_TARGET + * @li VL53L1_XTALKCALIBRATIONMODE_FULL_ROI + */ +#define VL53L1_CALIBRATION_CROSSTALK 1 + +/** Select offset calibration @ref VL53L1_IOCTL_PERFORM_CALIBRATION. + * param1 is offset calibration mode. Parameter is either: + * - VL53L1_OFFSETCALIBRATIONMODE_STANDARD + * - VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY + * - VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE (deprecated) + * param2 is target distance in mm. + * param3 is target reflectance in percent. Parameter is of type FixPoint1616_t. + * + * Note that VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE usage is deprecated. Per + * zone offset calibration should use VL53L1_CALIBRATION_OFFSET_PER_ZONE + * instead. + */ +#define VL53L1_CALIBRATION_OFFSET 2 + +/** Select offset calibration per zone @ref VL53L1_IOCTL_PERFORM_CALIBRATION. + * param1 is offset calibration mode. Parameter is: + * - VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE + * param2 is target distance in mm. + * param3 is target reflectance in percent. Parameter is of type FixPoint1616_t. + * + * Note that region of interest should be defined by a prior call to + * VL53L1_IOCTL_ROI before calling VL53L1_IOCTL_PERFORM_CALIBRATION / + * VL53L1_CALIBRATION_OFFSET combinaison. + */ +#define VL53L1_CALIBRATION_OFFSET_PER_ZONE 3 + +/** Select simple offset calibration @ref VL53L1_IOCTL_PERFORM_CALIBRATION. + * param1 is target distance in mm. + * param2 and param3 are not used + */ +#define VL53L1_CALIBRATION_OFFSET_SIMPLE 4 + +/** Select per Vcsel offset calibration @ref VL53L1_IOCTL_PERFORM_CALIBRATION. + * param1 is target distance in mm. + * param2 and param3 are not used + * this calibration is used by the VL53L1_OFFSETCORRECTIONMODE_PERVCSEL mode + */ +#define VL53L1_CALIBRATION_OFFSET_PER_VCSEL 5 + +/** Select no Distance offset calibration @ref VL53L1_IOCTL_PERFORM_CALIBRATION. + * param1, param2 and param3 are not used + */ +#define VL53L1_CALIBRATION_OFFSET_ZERO_DISTANCE 6 + +/** + * parameter structure use in @ref VL53L1_IOCTL_PERFORM_CALIBRATION + */ +struct stmvl53l1_ioctl_perform_calibration_t { + uint32_t calibration_type; + /*!< [in] select which calibration to do : + * @li @ref VL53L1_CALIBRATION_REF_SPAD + * @li @ref VL53L1_CALIBRATION_CROSSTALK + * @li @ref VL53L1_CALIBRATION_OFFSET + * @li @ref VL53L1_CALIBRATION_OFFSET_PER_ZONE + * @li @ref VL53L1_CALIBRATION_OFFSET_SIMPLE + * @li @ref VL53L1_CALIBRATION_OFFSET_PER_VCSEL + * @li @ref VL53L1_CALIBRATION_OFFSET_ZERO_DISTANCE + */ + uint32_t param1; + /*!< [in] first param. Usage depends on calibration_type */ + uint32_t param2; + /*!< [in] second param. Usage depends on calibration_type */ + uint32_t param3; + /*!< [in] third param. Usage depends on calibration_type */ +}; + +/** + * parameter structure use in @ref VL53L1_IOCTL_AUTONOMOUS_CONFIG + */ +struct stmvl53l1_autonomous_config_t { + int32_t is_read; + /*!< [in] 1: Get 0: Set*/ + uint32_t pollingTimeInMs; + /*!< [in/out] interval between two measure in ms */ + VL53L1_DetectionConfig_t config; + /*!< [int/out] autonomous mode configuration structure */ +}; + +/* + * IOCTL definitions + */ + + +/** + * Start ranging (no argument) + * + * @note sysfs and ioctl control are assumed mutual exclusive use + * control from ioctl execute with no consideration of sysfs path. + * + * @return : + * @li 0 on success + * @li -EBUSY if already started + * @li -ENXIO failed to change i2c address change after reset release + * @li -EIO. Read last_error to get device error code + * @li -ENODEV. Device has been removed. + * + * example user land : + @code + int smtvl53l1_start(int fd){error + int rc; + rc= ioctl(fd, VL53L1_IOCTL_START,NULL); + if( rc ){ + if( errno == EBUSY){ + //the device is already started + ioctl_warn("already started"); + return EBUSY; + } + } + if( rc ){ + ioctl_error("%d %s", rc,strerror(errno)); + } + return rc; +} + @endcode +*/ + +#define VL53L1_IOCTL_START _IO('p', 0x01) + +/** + * stop ranging (no argument) + + * @note sysfs and ioctl control are assumed mutual exclusive use + * control from ioctl execute action with no consideration of sysfs path. + * + * @return + * @li 0 on success + * @li -EBUSY if it was already + * @li -EIO. Read last_error to get device error code + * @li -ENODEV. Device has been removed. + * + * c example userland : + @code +int smtvl53l1_stop(int fd){ + int rc; + rc= ioctl(fd, VL53L1_IOCTL_STOP,NULL); + if( rc ){ + if( errno == EBUSY ){ + ioctl_warn("already stopped"); + return errno; + } + ioctl_error("%d %s", rc,strerror(errno)); + } + return rc; +} +@endcode + */ +#define VL53L1_IOCTL_STOP _IO('p', 0x05) + +/** + * get single ranging data @sa for multi zone/objet + * + * retrieve the last range data available form the device + * + * @param in/out data struct ptr of type @ref stmvl531_range_data_t + * it may come in but is out as of now + * + * @return 0 on success else o, error check errno + * @li -EFAULT fault in cpy to f/m user out range data not copied + * @li -ENODEV. Device has been removed. + * + * @warning this ioctl will not wait for a new range sample acquisition + * it will return what available at time it get called . Hence same data maybe + * returned many time when doing fast polling.\n + * End user must inspect the data structure (time stamp etc )to find about it\n + * Despite it's non "waiting" nature this ioctl may still block/sleep shortly + * to ensure race free usage acquiring mutex and/or locks. + */ +#define VL53L1_IOCTL_GETDATAS \ + _IOWR('p', 0x0b, stmvl531_range_data_t) + +/** + * set or get parameter + * + * @param parameter in/out @ref stmvl53l1_parameter + * @sa stmv53l1_parameter_name_e + * + * for get if ioctl fail do not check for out params it is not valid + * for set theirs not copy back only see ioctl status, errno to get error case + * + * @return 0 on success else o, error check errno + * @li -ENODEV. Device has been removed. + * + * @note a set parameter may not be absorbed straight aways ! + */ +#define VL53L1_IOCTL_PARAMETER \ + _IOWR('p', 0x0d, struct stmvl53l1_parameter) + + +/** + * set/get roi + * + * shall only be use while device is stopped (EBUSY error otherwise) + * setting 0 rois stand for "disable user define roi usage, use device default" + * + * @param roi_cfg [in/out] type @ref stmvl53l1_roi_t and + * @ref stmvl53l1_roi_full_t + * @note when getting roi the returned roi cnt is set to available number + * of roi in driver but at most requested number or available one + * will be set in returned structure + * @warning the coordinate system is not usual image x,y (y down)but traditional + * ecludian x,y (y up) + * + * @warning once defined the user roi is kept alive until unset by user . + * User shall update roi when required (mode change etc ..)\n + * To return to default unset roi by setting none, device will return to default + * at next start + * + * @note roi validity is only checked at start ranging , as such invalid roi set + * can make start to fail + * + * @return 0 on success , see errno for error detail + * @li EBUSY when trying to set roi while ranging + * @li ENODEV never device get started and trying to get more rois than set + * @li other errno code could be ll driver specific + */ +#define VL53L1_IOCTL_ROI\ + _IOWR('p', 0x0e, struct stmvl53l1_roi_t) + +/** + * Get multi object/zone ranging data + * + * this call is non blocking and will return what available internally + * in all case (veen error) + * + * @param [out] multi zone range @ref VL53L1_MultiRangingData_t always update + * but -EFAULT error case + * + * @return 0 on success else o, error check errno + * @li -EFAULT fault in cpy to f/m user out range data not copyed + * @li -ENOEXEC active mode is not mutli-zone + * @li -ENODEV device is not ranging or device has been removed. + * as in that case MZ data may not be fully valid + */ +#define VL53L1_IOCTL_MZ_DATA\ + _IOR('p', 0x0f, VL53L1_MultiRangingData_t) + +/** + * get single ranging data @sa for multi zone/objet + * + * this call is equivalent to VL53L1_IOCTL_GETDATAS but will block until + * new data are available since previous call. + * + * @param in/out data struct ptr of type @ref stmvl531_range_data_t + * it may come in but is out as of now + * + * @return 0 on success else o, error check errno + * @li -EFAULT fault in cpy to f/m user out range data not copied + * @li -ENODEV device is not ranging or device has been removed. + * @li -ERESTARTSYS interrupt while sleeping. + */ +#define VL53L1_IOCTL_GETDATAS_BLOCKING\ + _IOWR('p', 0x10, stmvl531_range_data_t) + +/** + * Get multi object/zone ranging data + * + * this call is equivalent to VL53L1_IOCTL_MZ_DATA but will block until + * new data are available since previous call. + * + * @param [out] multi zone range @ref VL53L1_MultiRangingData_t always update + * but -EFAULT error case + * + * @return 0 on success else o, error check errno + * @li -EFAULT fault in cpy to f/m user out range data not copyed + * @li -ENOEXEC active mode is not mutli-zone + * @li -ENODEV device is not ranging or device has been removed. + * @li -ERESTARTSYS interrupt while sleeping. + * as in that case MZ data may not be fully valid + */ +#define VL53L1_IOCTL_MZ_DATA_BLOCKING\ + _IOR('p', 0x11, VL53L1_MultiRangingData_t) + +/** + * Get / set calibration data + * + * this call allow client to either read calibration data after calibration + * has been performed to store them in the host filesystem or push calibration + * data before ranging at each start-up. + * + * @param [in/out] data struct ptr of type + * @ref stmvl53l1_ioctl_calibration_data_t. Caller should consider it as an + * opaque structure. + * + * use this after either VL53L1_CALIBRATION_REF_SPAD, + * VL53L1_CALIBRATION_CROSSTALK or VL53L1_CALIBRATION_OFFSET. + * + * @return 0 on success else o, error check errno + * @li -EFAULT fault in cpy to f/m user out range data not copied + * @li -EBUSY when trying to set calibration data while ranging + * @li -EIO. Read last_error to get device error code + * @li -ENODEV. Device has been removed. + */ +#define VL53L1_IOCTL_CALIBRATION_DATA\ + _IOWR('p', 0x12, struct stmvl53l1_ioctl_calibration_data_t) + +/** + * Get / set zone calibration data + * + * this call allow client to either read zone calibration data after calibration + * has been performed to store them in the host filesystem or push zone + * calibration data before ranging at each start-up. + * + * use this after VL53L1_CALIBRATION_OFFSET_PER_ZONE calibration. + * + * @param [in/out] data struct ptr of type + * @ref stmvl53l1_ioctl_zone_calibration_data_t. Caller should consider it as an + * opaque structure. + * + * @return 0 on success else o, error check errno + * @li -EFAULT fault in cpy to f/m user out range data not copied + * @li -EBUSY when trying to set calibration data while ranging + * @li -EIO. Read last_error to get device error code + * @li -ENODEV. Device has been removed. + */ +#define VL53L1_IOCTL_ZONE_CALIBRATION_DATA\ + _IOWR('p', 0x12, struct stmvl53l1_ioctl_zone_calibration_data_t) + +/** + * perform calibration squence according to calibration_type + * + * this call is attended to be used during factory calibration. You select + * calibration to issue using calibration_type. + * + * @param [in] data struct ptr of type + * @ref stmvl53l1_ioctl_perform_calibration_t. + * + * @return 0 on success else o, error check errno + * @li -EFAULT fault in cpy to f/m user out range data not copied + * @li -EBUSY when trying to perform calibration data while ranging + * @li -EIO. Read last_error to get device error code + * @li -ENODEV. Device has been removed. + */ +#define VL53L1_IOCTL_PERFORM_CALIBRATION\ + _IOW('p', 0x13, struct stmvl53l1_ioctl_perform_calibration_t) + +/** + * set/get configure autonomous mode parameters + * + * Allow to get or set autonomous configuration. Change it only when device + * is stopped otherwise you will receive an EBUSY error. + * + * @param stmvl53l1_autonomous_config_t [in/out] + * + * @note autonomous config validity is only checked at start ranging , as such + * invalid autonomous config set can make start to fail. + * + * @return 0 on success , see errno for error detail + * @li -EFAULT failed to copy from/to configuration. + * @li -EBUSY when trying to change configuration while ranging. + * @li -ENODEV. Device has been removed. + */ +#define VL53L1_IOCTL_AUTONOMOUS_CONFIG\ + _IOWR('p', 0x14, struct stmvl53l1_autonomous_config_t) + +/** @} */ /* ioctl group */ +#endif /* STMVL53L1_IF_H */ diff --git a/drivers/input/misc/vl53L1/stmvl53l1_internal_if.h b/drivers/input/misc/vl53L1/stmvl53l1_internal_if.h new file mode 100644 index 000000000000..17900318e9c7 --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_internal_if.h @@ -0,0 +1,100 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +#ifndef STMVL53L1_INTERNAL_IF_H +#define STMVL53L1_INTERNAL_IF_H + +#include "vl53l1_def.h" + +/* interface definition move in this file is not supposed to be use by a normal + * client. It's only here for internal testing purpose. + */ + +/* structure and ioctl that allow raw access to vl53l1 register */ +struct stmvl53l1_register { + uint32_t is_read; /*!< type of the access 1: read 0: write*/ + uint32_t index; /*!< register index */ + uint32_t cnt; /*!< register size shall be 1 to n */ + int32_t status; /*!< operation status 0 ok else error */ + + union reg_data_t { + uint8_t b; /*!< single data byte*/ + uint16_t w; /*!< single data word (16 bits)*/ + uint32_t dw; /*!< single data dword (32 bits)*/ + /*!< any size byte array + * @note only effectively used array size is needed and will be + * set/used another possible register definition is + * @ref stmvl53l1_register_flexi + */ + uint8_t bytes[256]; + /*!< data only *@warning device is big endian and + * no endianess adaptation is performed by + * @ref VL53L1_IOCTL_REGISTER + */ + } data; +}; + +struct stmvl53l1_register_flexi { + uint32_t is_read; /*!< [in] type of the access 1: read 0: write*/ + uint32_t index; /*!< [in] register index */ + uint32_t cnt; /*!< [in] register size shall be 1 to n */ + int32_t status; /*!< [out] operation status 0 ok else error */ + uint8_t data[]; /*!< [in/out] flexible array size data */ + /*!< data only *@warning device is big endian and + * no endianess adaptation is performed by @ref VL53L1_IOCTL_REGISTER + */ +}; + +#define VL53L1_IOCTL_REGISTER _IOWR('p', 0x0c, struct stmvl53l1_register) + +struct stmvl53l1_data_with_additional { + VL53L1_MultiRangingData_t data; + VL53L1_AdditionalData_t additional_data; +}; + +/** + * Get multi object/zone ranging data with additional data for debug + * + * this call is non blocking and will return what available internally + * in all case (veen error) + * + * @param [out] multi zone range @ref VL53L1_MultiRangingData_t always update + * but -EFAULT error case + * + * @return 0 on success else o, error check errno + * @li -EFAULT fault in cpy to f/m user out range data not copyed + * @li -ENOEXEC active mode is not mutli-zone + * @li -ENODEV device is not ranging or device has been removed. + * as in that case MZ data may not be fully valid + */ +#define VL53L1_IOCTL_MZ_DATA_ADDITIONAL\ + _IOR('p', 0x15, struct stmvl53l1_data_with_additional) + +/** + * Get multi object/zone ranging data + * + * this call is equivalent to VL53L1_IOCTL_MZ_DATA_ADDITIONAL but will block + * until new data are available since previous call. + * + * @param [out] multi zone range @ref VL53L1_MultiRangingData_t always update + * but -EFAULT error case + * + * @return 0 on success else o, error check errno + * @li -EFAULT fault in cpy to f/m user out range data not copyed + * @li -ENOEXEC active mode is not mutli-zone + * @li -ENODEV device is not ranging or device has been removed. + * @li -ERESTARTSYS interrupt while sleeping. + * as in that case MZ data may not be fully valid + */ +#define VL53L1_IOCTL_MZ_DATA_ADDITIONAL_BLOCKING\ + _IOR('p', 0x16, struct stmvl53l1_data_with_additional) + +#endif diff --git a/drivers/input/misc/vl53L1/stmvl53l1_ipp.h b/drivers/input/misc/vl53L1/stmvl53l1_ipp.h new file mode 100644 index 000000000000..d6f21eadca7d --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_ipp.h @@ -0,0 +1,366 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +/** + * @file stmvl53l1_ipp.h + * + * helper to serialize de-serialize data in ipp exchange between user/kernel + * + * @date Sep 2, 2016 + * @author imaging + */ + +#ifndef _STMVL53L1_IPP_H_ +#define _STMVL53L1_IPP_H_ + +#include "vl53l1_types.h" + + +/** @ingroup ipp_dev + * @{ + */ + +/** + * @defgroup ipp_serialize ST IPP serialization helper + * + * to use the dump help you lust define first a few extra "specific" + * + * @li IPP_PRINT(fmt,..) with typical printf/printk interface + */ + /** @{ */ +/** + * generic data type to serialized scalar and offset for pointer + * + * serialized data can be seen as a first array of n ipp_art_t + * where each input are arg value for scaler type + * and an offset with respect to the ipp_arg base array where the data + * + * @note if all ipp argument can fit on 32 bit then ipp_arg_t is best set as + * a 32 bit base type '(i e uint32_t) to save space + * on 64 bit cpu it can remain 64 bit type to get better alignment + */ +typedef uint64_t ipp_arg_t; + +/** + * set to the cpu structure alignment and packing constrain + * + * all serialized argument passed by pointer will be stored with + * this memory align constrain + * + * + * @note if target cpu is ok to access unaligned data or less constrain ie 64 + * bit data align 32 are ok then it can be set to 4 to save space in data + * packing and copy\n + * We may be over constraining in many cases as a struct is only required to + * be aligned on i'st biggest item size + * + * @warning it must be a 2 power of 2 (& operation instead of mudulo used in + * align calculation) + * @warning using 8 byte constrain require that the @a ipp_arg_t is already + * aligned on that constrain + */ +#define IPP_ALIGN_REQ 8 + +/** + * set x to it's nearest aligned offset (not that 0 is fine as a valid offset + * than will not be up aligned to next align chunk ) + */ +#define IPP_ALIGN_OFFSET(x) (((x)+(IPP_ALIGN_REQ-1)) & (~(IPP_ALIGN_REQ-1))) + +/** + * declare variable needed for ipp serialization + */ +#define IPP_SERIALIZE_VAR int ipp_offset +/** + * Put in function start to init the serialization coding + * + * @param ipp_args buffer for data serialization + * @param n_args is the total number of argument scalar and ptr to serialized + * dot not count out only arg that will be returned + * + * it define local var "ipp_offset" used to accumulate all input args that must + * be serialize. It reserve header room in the buffer to place for scalar args + * and offset for args ptr copy + * + * args pass by pointer must be serialized by @ref IPP_SET_ARG_PTR in order they + * are declare\n + * scalar args can be serialized in any order with @ref IPP_SET_ARG + * + * scalar args that can't be cast to basic @ref ipp_arg_t shall be serialized + * Manually or using a macro similar to ptr that can be pass by copy + * + *@note @ref IPP_SERIALIZE_VAR must be use first + * @code + * int ipp_to _ser(int arg0, struct st_t *pdata1){ + * char *local var; + * ipp_arg_t args[256]; + * IPP_SERIALIZE_START(2); + * IPP_SET_ARG(args, 0, arg0); + * IPP_SET_ARG_PTR(args, 1, pdata); + * do_one_ipp(args); + * } + * @endcode + * + */ +#define IPP_SERIALIZE_START(ipp_args, n_args)\ + (ipp_offset = IPP_ALIGN_OFFSET((char *)(&ipp_args[n_args]) - \ + (char *)ipp_args)) + +/** + * @brief Serialize scalar argument + * + * serialized arg number n into ipp_args\n + * can be used in any order + * + * @param ipp_args the args buffer + * @param n 0 base arg number + * @param v the scalar argument variable + * @warning usable only for scalar type that can be copy on a ipp_arg_t + */ +#define IPP_SET_ARG(ipp_args, n, v) memcpy(&ipp_args[n], &v, sizeof(v)) + +/** + * @brief Serialize an arg passed by pointer + * + * @param ipp_args the arg ptr array + * @param n the arg number to serialize + * @param pdata argument it must be a type like struct x_t * int [n] etc ... + * that size is given by size of and and be copied by a single memcpy + */ +#define IPP_SET_ARG_PTR(ipp_args, n, pdata)\ + do {\ + ipp_args[n] = ipp_offset;\ + memcpy(((char *)ipp_args) + ipp_offset, pdata, sizeof(*pdata));\ + ipp_offset = IPP_ALIGN_OFFSET(ipp_offset + sizeof(*pdata));\ + } while (0) + +/** + * serialize out get ptr for pdata + * + * @note it does not cpy data just set ptr and update the offset + * @warning to be use in order + * + * @param ipp_args the arg ptr array + * @param n the arg number to serialize (unused) + * @param pdata init to ptr in ipp_args type is used for offset computation + * @warning to use sequential in order agr are serialized + */ +#define IPP_OUT_ARG_PTR(ipp_args, n, pdata)\ + do {\ + pdata = (void *)(((char *)ipp_args) + ipp_offset);\ + ipp_offset = IPP_ALIGN_OFFSET(ipp_offset + \ + (int)sizeof(*pdata));\ + } while (0) + + +/** + * @brief ipp get payload + * + * @return paylaod at time used \n + * when all done it's overall out payload + * + * require @ref IPP_SERIALIZE_VAR and @ref IPP_SERIALIZE_START used first\n + * best use after all @ref IPP_OUT_ARG_PTR or @ref IPP_SET_ARG_PTR done to get + * full payload + **/ +#define IPP_SERIALIZE_PAYLAOD() (ipp_offset + IPP_WORK_HDR_SIZE) + +/** + * de-serialize and argument that was passed by value + * @param ipp_args the args array + * @param n the 0 base argument number + * @param v argument it must be exact type + * + * + * @code + * f_deserialize(ipp_arg_t args[]) + * { + * // f_ser is like (uint16_t arg0, struct s_arg_t * arg1, int arg2) + * uint16_t arg0; + * void * parg1; + * int arg2; + * + * IPP_GET_ARG( args, 0, arg0) + * IPP_GET_ARG( args, 2, arg2) + * } + * @endcode + */ +#define IPP_GET_ARG(ipp_args, n, v) memcpy(&v, &ipp_args[n], sizeof(v)) + + +/** + * de-serialize an argument passed by pointer + * + * @param ipp_args the serialized argument array + * @param n 0 base argument number + * @param p ptr to arg to be set + * + * @note unlike serializing de-serializing pointer args data can be done in any + * order + * + * @code + * struct some_struct_t *parg2; + * IPP_GET_ARG_PTR(args,2,parg2); + * @endcode + */ +#define IPP_GET_ARG_PTR(ipp_args, n, p) (p = (void *)((char *)ipp_args + \ + ipp_args[n])) + + + + +/** + * debug macro to pint out all serialized args + * + * Implementation shall define IPP_PRINT_FUNC function to use + */ +#define IPP_PRINT_ARGS(ipp_args, n) \ + do {\ + int i;\ + for (i = 0; i < n; i++)\ + IPP_PRINT("arg#%d/%d is %8d 0x%08x\n", i, n,\ + ipp_args[i], ipp_args[i]);\ + IPP_PRINT("used data size %d\n", ipp_offset);\ + } while (0) + + +/** + * processing code type of proccesing + * + * used in @a ipp_work_t::process_no + */ +enum stmvl53l1_ipp_proccesing_e { + stmvl53l1_ipp_ping = 0, + /*!< stmvl53l1_ipp_ping + * @li can be sent by driver to check client is alive + * @li daemon sent it to identify and register himself to the driver + */ + stmvl53l1_ipp_cal_hist = 1, + /*!< stmvl53l1_ipp_cal_hist process cal hist*/ + + stmvl53l1_ipp_xtalk_calibration = 2, + /*!< stmvl53l1_ipp_xtalk_calibration process crosstalk calibration data + */ + + stmvl53l1_ipp_hist_ambient_dmax = 3, + /*!< stmvl53l1_ipp_hist_ambient_dmax process ambient dmac calculation + * from histogram + */ + + stmvl53l1_ipp_generate_dual_reflectance_xtalk_samples = 4, + /*!< stmvl53l1_ipp_generate_dual_reflectance_xtalk_samples process + * Xtalk data from dual reflectance histogram data + */ + + /** keep last*/ + stmvl53l1_ipp_max /*!< stmvl53l1_ipp_max */ +}; + +/** + * status use on @a ipp_work_t::status + */ +enum stmvl53l1_ipp_status_e { + stmvl53l1_ipp_status_ok = 0, /*!< ok work done */ + stmvl53l1_ipp_status_inv_id, /*!< dev id not supported or invalid */ + stmvl53l1_ipp_status_inv_proc, + /*!< process_no asked not supported or not implemented */ + stmvl53l1_ipp_status_inv_payload, + /*!< data payload for asked processing incorrect*/ + + stmvl53l1_ipp_status_proc_code = 0x100, + /*!< the lowest 8 bit is the error code form the processing */ +}; + +/** + * Ipp work (job) struct + * + * containing header with sequenc control information plus serialized data + */ +struct ipp_work_t { + int8_t dev_id; /*!< [in]/[out] device id */ + /*!< Identify the work do be run see @a stmvl53l1_ipp_proccesing_e */ + uint8_t process_no; + /*!< [out] status from daemon */ + int16_t status; + /*!< [in/out] unique xfer id */ + uint32_t xfer_id; + /*!< [in/out] effective data length including header*/ + uint32_t payload; + +/** max IPP data payload (not including header) + * + * we substract size of of item above + * must be lesss than one netlink packet + */ +#define MAX_IPP_DATA ((4096-4*3)/8) + ipp_arg_t data[MAX_IPP_DATA]; /*!< [in][out] */ +}; + +/** + * size of header only message ( no payload) + * require \#include in user land + */ +#define IPP_WORK_HDR_SIZE (offsetof(struct ipp_work_t, data[0])) +/** + * max payload per ipp transfer + */ +#define IPP_WORK_MAX_PAYLOAD sizeof(struct ipp_work_t) + +/** copy ipp header from src to dest + * + * used to prepare return work using incoming work header + * @param dest dest work ptr + * @param src src work ptr + */ +#define IPP_CPY_HEADER(dest, src) memcpy(dest, src, IPP_WORK_HDR_SIZE) + +/** + * dump in human readble way ipp struct + * + * @note require IPP_PRINT macro + * + * @param pw ipp_work struct to dump + * @param max_data max amount of data to be dump + * @param max_dev max number of dev (for check) + */ +static inline void ipp_dump_work(struct ipp_work_t *pw, uint32_t max_data, + int max_dev) +{ + uint32_t data_cnt; + uint32_t i; + uint8_t *pbdata; + + (void)max_dev; /* avoid warning when not used */ + (void)pbdata; /*avoid warning in case no print no use*/ + + IPP_PRINT("dev #%d (%s)\n", pw->dev_id, pw->dev_id < max_dev ? + "ok" : "bad"); + IPP_PRINT("process #%d (%s)\n", pw->process_no, + pw->process_no < stmvl53l1_ipp_max ? "ok" : "bad"); + IPP_PRINT("status %d\n", pw->status); + IPP_PRINT("Xfer id 0x%08X payload %d bytes (%s)\n", pw->xfer_id, + pw->payload, + pw->payload > IPP_WORK_MAX_PAYLOAD ? "invalid" : "ok"); + data_cnt = pw->payload > IPP_WORK_MAX_PAYLOAD ? + IPP_WORK_MAX_PAYLOAD : pw->payload; + data_cnt = data_cnt > max_data ? max_data : data_cnt; + for (i = 0, pbdata = (uint8_t *)pw->data; i < data_cnt; i++) { + if (i%16 == 0) + IPP_PRINT("\n%4X\t", i); + IPP_PRINT("%02X ", pbdata[i]); + } + IPP_PRINT("\n"); +} + +/** @} */ /* ingroup helper */ + +/** @} */ /* ingroup ipp_dev */ +#endif /* _STMVL53L1_IPP_H_ */ diff --git a/drivers/input/misc/vl53L1/stmvl53l1_ipp_nl.c b/drivers/input/misc/vl53L1/stmvl53l1_ipp_nl.c new file mode 100644 index 000000000000..e545d341a077 --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_ipp_nl.c @@ -0,0 +1,363 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +/** + * @file stmvl53l1_ipp_nl.c vl53l1 ipp proxy over netlink kernel side + */ +#include +#include +#include +#include +#include + +#include "stmvl53l1.h" + +#include "vl53l1_platform_ipp.h" +#include "stmvl53l1_ipp.h" + +#define IPP_DEBUG 1 +#ifndef IPP_DEBUG +# define _ipp_dump_work(...) (void)0 +#else +# define _ipp_dump_work(...) ipp_dump_work(__VA_ARGS__) +#endif + +#define IPP_STATE_PENDING 1 +#define IPP_STATE_COMPLETED 2 +#define IPP_STATE_CANCELED 4 + +#define IPP_TIMEOUT_MS 100 + +/** the single netlink strut use by all instance + * @note is NULL until set + */ +static struct sock *nl_sk; + +static DEFINE_MUTEX(ipp_mutex); + +/** + * current registered daemon pid + * @note default value 0 or later 1 is kind of invalid and will require + * user space to connect before we can send any packet + */ +static int daemon_pid; + +/** + * next xfer_id (shared other all dev) + * no direct us used @@ref get_next_xfer_id (will get lock) + * @note default to 0 what is "reserved" + */ +static int next_xfer_id; + + +#define ipp_err(fmt, ...) pr_err("STMVL53L1 IPP Err in %s %d :" fmt "\n", \ + __func__, __LINE__, ##__VA_ARGS__) + +#define ipp_warn(fmt, ...) pr_warn("STMVL53L1 IPP wng in %s %d : "fmt"\n",\ + __func__, __LINE__, ##__VA_ARGS__) + +#if 0 +# define ipp_dbg(fmt, ...) pr_info("IPP %s %d " fmt "\n",\ + __func__, __LINE__, ##__VA_ARGS__) +#else +# define ipp_dbg(...) (void)0 +#endif + +/** + * get and managed increment of next xfer_id + * @note will get ipp_mutex + * @return the xfer_id to be used + */ +static int get_next_xfer_id(void) +{ + mutex_lock(&ipp_mutex); + next_xfer_id++; + /*0 is reserved skip it*/ + if (next_xfer_id == 0) + next_xfer_id = 1; + mutex_unlock(&ipp_mutex); + + return next_xfer_id; +} + +static int send_client_msg(void *msg_data, int msg_size) +{ + int rc; + struct sk_buff *skb_out; + struct nlmsghdr *nlh; + void *nl_data; + + ipp_dbg("to send %d byte", msg_size); + skb_out = nlmsg_new(msg_size, 0); + if (!skb_out) { + ipp_err("nlmsg_new fail\n"); + return -1; + } + + nlh = nlmsg_put(skb_out, 0, 0, NLMSG_DONE, msg_size, 0); + NETLINK_CB(skb_out).dst_group = 0; /* not in mcast group */ + + nl_data = nlmsg_data(nlh); /*get data ptr from header*/ + memcpy(nl_data, msg_data, msg_size); + + /* FIXME do we real need to lock to send a data other nl_sk ? */ + mutex_lock(&ipp_mutex); + rc = nlmsg_unicast(nl_sk, skb_out, daemon_pid); + if (rc < 0) + ipp_err("fail to send data size %d to pid %d\n", + msg_size, daemon_pid); + /* stat can be done here in else case */ + mutex_unlock(&ipp_mutex); + + return rc; +} + +/* + * ipp lock is held ping already handled + */ +int ipp_in_process(struct ipp_work_t *pwork) +{ + struct stmvl53l1_data *data; + + ipp_dbg("enter"); + _ipp_dump_work(pwork, IPP_WORK_MAX_PAYLOAD, STMVL53L1_CFG_MAX_DEV); + + /* work id check already done */ + data = stmvl53l1_dev_table[pwork->dev_id]; + ipp_dbg("to lock "); + /* Release now useless ipp_mutex for below work since we may deadlock + * with irq path. + */ + mutex_unlock(&ipp_mutex); + mutex_lock(&data->work_mutex); + if (data->ipp.buzy == IPP_STATE_PENDING) { + /* if it was already handled ignore it */ + if (data->ipp.waited_xfer_id == pwork->xfer_id) { + /* ok that is what we are expecting back */ + memcpy(&data->ipp.work_out, pwork, pwork->payload); + data->ipp.buzy |= IPP_STATE_COMPLETED; + ipp_dbg("to wake ipp waiter as buzy state %d", + data->ipp.buzy); + wake_up(&data->ipp.waitq); + goto done_lock; + } + } + /* either not waiting any more or not the expected id drop it */ + ipp_err("dev #%d ippp buzy %d xfer id %d rcv id %d droping it", + data->id, data->ipp.buzy, data->ipp.waited_xfer_id, + pwork->xfer_id); +done_lock: + mutex_unlock(&data->work_mutex); + mutex_lock(&ipp_mutex); + + return 0; +} + +int stmvl53l1_ipp_stop(struct stmvl53l1_data *data) +{ + int rc; + + rc = data->ipp.buzy; + ipp_dbg("#%d to stop buzy %d", data->id, data->ipp.buzy); + if (data->ipp.buzy) { + /* set invalid wait id to discard canceled job when back */ + data->ipp.waited_xfer_id = 0; + data->ipp.buzy |= IPP_STATE_CANCELED|IPP_STATE_COMPLETED; + ipp_dbg("#%dto wake up worker", data->id); + /* wake up worker or abort the thread */ + wake_up(&data->ipp.waitq); + } + + return rc; +} + +/* + * ipp and dev lock are held + * release and re-grabbed here + */ +int stmvl53l1_ipp_do(struct stmvl53l1_data *data, + struct ipp_work_t *pin, struct ipp_work_t *pout) +{ + int xfer_id; + int rc; + bool has_timeout; + + ipp_dbg("enter"); + + xfer_id = get_next_xfer_id(); + /* set xfer and device dependent part of the work */ + pin->dev_id = data->id; + pin->xfer_id = xfer_id; + data->ipp.waited_xfer_id = xfer_id; + /* try to do it */ + rc = send_client_msg(pin, pin->payload); + /* shall we retry if fail to send for some time or number of try ? */ + if (rc < 0) { + rc = -1; + ipp_err("fail to send msg %d", rc); + } else if (data->ipp.buzy == 0) { + /* send ok put the ipp on buzy state while locked */ + data->ipp.buzy = IPP_STATE_PENDING; + /* unlock now that state is marked buzy */ + mutex_unlock(&data->work_mutex); + + /* put task to wait for completion */ + ipp_dbg("to wait"); + has_timeout = !wait_event_timeout(data->ipp.waitq, + (data->ipp.buzy != IPP_STATE_PENDING), + msecs_to_jiffies(IPP_TIMEOUT_MS)); + + /* relock the main lock */ + mutex_lock(&data->work_mutex); + + rc = (data->ipp.buzy & IPP_STATE_CANCELED) || has_timeout ? + -1 : 0; + if (rc) { + ipp_dbg("waking up with from canceled/timeout ipp"); + } else { + /* return status from the ipp itself */ + ipp_dbg("ip back with status %d", data->ipp.status); + rc = data->ipp.status; + } + data->ipp.buzy = 0;/* buzy clear but locked so safe */ + } else { + ipp_dbg("buzy still not zero %d", data->ipp.buzy); + rc = -1; + } + + +/* done_lock: */ + return rc; +} + + +static void stmvl53l1_nl_recv_msg(struct sk_buff *skb_in) +{ + int pid_chg = 0; + int pid; + struct nlmsghdr *nlh; + struct ipp_work_t *pwork; + + ipp_dbg("Entering"); + + nlh = (struct nlmsghdr *)skb_in->data; + pid = nlh->nlmsg_pid; /*pid of sending process */ + + pwork = nlmsg_data(nlh); + if (pwork->payload < IPP_WORK_HDR_SIZE || + pwork->payload > IPP_WORK_MAX_PAYLOAD){ + /* invalid header size */ + ipp_err("invalid msg header size %d", pwork->payload); + _ipp_dump_work(pwork, IPP_WORK_MAX_PAYLOAD, + STMVL53L1_CFG_MAX_DEV); + return; + } + + mutex_lock(&ipp_mutex); + + if ((pwork->dev_id >= STMVL53L1_CFG_MAX_DEV) || (pwork->dev_id < 0)) { + ipp_err("invalid dev id on msg %d", pwork->dev_id); + _ipp_dump_work(pwork, IPP_WORK_MAX_PAYLOAD, + STMVL53L1_CFG_MAX_DEV); + goto done_locked; + } + + if (pwork->process_no == stmvl53l1_ipp_ping) { + /* in that case the payload must be exact status size only + * if not it is a badly format message or bad message + */ + if (pwork->payload != IPP_WORK_HDR_SIZE) { + ipp_err("invalid ping msg size %d!=%zu ", + pwork->payload, IPP_WORK_HDR_SIZE); + _ipp_dump_work(pwork, IPP_WORK_MAX_PAYLOAD, + STMVL53L1_CFG_MAX_DEV); + goto done_locked; + } + /* if pid was not set or change resent all ongoing ipp */ + if (pid != daemon_pid) + ipp_warn("pid chg %d => %d\n", daemon_pid, pid); + else + ipp_dbg("got ping fm pid %d\n", daemon_pid); + daemon_pid = pid; + pid_chg = 1; + } else { + ipp_in_process(pwork); + } + done_locked: + mutex_unlock(&ipp_mutex); +} + +int stmvl53l1_ipp_setup(struct stmvl53l1_data *data) +{ + int rc; + + mutex_lock(&ipp_mutex); + + data->ipp.buzy = 0; + init_waitqueue_head(&data->ipp.waitq); + ipp_dbg("now %d dev daemon pid is %d", STMVL53L1_CFG_MAX_DEV, + daemon_pid); + rc = 0; + + mutex_unlock(&ipp_mutex); + + return rc; +} + +void stmvl53l1_ipp_cleanup(struct stmvl53l1_data *data) +{ + /* nothink to do */ +} + +#if !defined(OLD_NETLINK_API) +struct netlink_kernel_cfg cfg = { + .input = stmvl53l1_nl_recv_msg +}; +#endif + +static int netlink_protocol_type = STMVL531_CFG_NETLINK_USER; + +module_param(netlink_protocol_type, int, 0444); +MODULE_PARM_DESC(netlink_protocol_type, + "select netlink protocol type for ipp communications"); + +int stmvl53l1_ipp_init(void) +{ + mutex_init(&ipp_mutex); + daemon_pid = 1; /* pid 1 is safe should not be use for user space */ + +#if defined(OLD_NETLINK_API) + nl_sk = netlink_kernel_create(&init_net, + netlink_protocol_type, + 0, + stmvl53l1_nl_recv_msg, + NULL, + THIS_MODULE); +#else + nl_sk = netlink_kernel_create(&init_net, + netlink_protocol_type, + &cfg); +#endif + + return nl_sk ? 0 : -1; +} + + +void stmvl53l1_ipp_exit(void) +{ + if (nl_sk != NULL) { + vl53l1_dbgmsg("releasing netlink socket"); + netlink_kernel_release(nl_sk); + nl_sk = NULL; + } +} + + diff --git a/drivers/input/misc/vl53L1/stmvl53l1_log.c b/drivers/input/misc/vl53L1/stmvl53l1_log.c new file mode 100644 index 000000000000..bfe5419a6734 --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_log.c @@ -0,0 +1,59 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +/** + * @file /stmvl53l1_module.c vl53l1_module ST VL53L1 linux kernel module + * + * This is implementation of low level driver trace support + */ +#include +#include + +#include "stmvl53l1.h" + +#ifdef VL53L1_LOG_ENABLE + +static bool trace_function; +static int trace_module; +static int trace_level; + +module_param(trace_function, bool, 0644); +MODULE_PARM_DESC(trace_function, + "allow tracing of low level function entry and exit"); + +module_param(trace_module, int, 0644); +MODULE_PARM_DESC(trace_module, + "control tracing of low level per module"); + +module_param(trace_level, int, 0644); +MODULE_PARM_DESC(trace_level, + "control tracing of low level per level"); + +void log_trace_print(uint32_t module, uint32_t level, uint32_t function, + const char *format, ...) +{ + va_list args; + + if (function && !trace_function) + return; + + if (!(module & trace_module)) + return; + + if (level > trace_level) + return; + + va_start(args, format); + vprintk(format, args); + va_end(args); +} + +#endif diff --git a/drivers/input/misc/vl53L1/stmvl53l1_module-i2c.c b/drivers/input/misc/vl53L1/stmvl53l1_module-i2c.c new file mode 100644 index 000000000000..5d5fb0eb7122 --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_module-i2c.c @@ -0,0 +1,944 @@ +/************************************************************************** + * Copyright (c) 2016, STMicroelectronics - All Rights Reserved + + License terms: BSD 3-clause "New" or "Revised" License. + + Redistribution and use in source and binary forms, with or without + modification, are permitted provided that the following conditions are met: + + 1. Redistributions of source code must retain the above copyright notice, this + list of conditions and the following disclaimer. + + 2. Redistributions in binary form must reproduce the above copyright notice, + this list of conditions and the following disclaimer in the documentation + and/or other materials provided with the distribution. + + 3. Neither the name of the copyright holder nor the names of its contributors + may be used to endorse or promote products derived from this software + without specific prior written permission. + + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE + FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL + DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR + SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, + OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE + OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + ****************************************************************************/ + +/** + * @file stmvl53l1_module-i2c.c + * + * implement STM VL53L1 module interface i2c wrapper + control + * using linux native i2c + gpio + reg api + */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* + * power specific includes + */ +#include +#include +#include +#include +#include +#include + +#include "stmvl53l1-i2c.h" +#include "stmvl53l1.h" + +#define STMVL53L1_SLAVE_ADDR (0x52>>1) + +/** @ingroup drv_port + * @{ + */ + +/** + * control specific debug message echo + * + * Set to 0/1 do not remove + * + * most dbg warn err messages goes true main driver macro + * this one permit some specific debug without activating all main dbg + */ +#define MODI2C_DEBUG 0 + +/* + * mutex to handle device i2c address changes. It allow to avoid multiple + * device active with same i2c addresses at the same time. Note that we don't + * support case where boot_reg has the same value as a final i2c address of + * another device. + */ +static DEFINE_MUTEX(dev_addr_change_mutex); + +/** + * i2c client assigned to our driver + * + * this is use for stm test purpose as we fake client create and regstration + * we stores the i2c client for release in clean-up overwise we wan't reload + * the module multiple time + * + * in a normal dev tree prod system this is not required + */ +static struct i2c_client *stm_test_i2c_client; + +/* + * pi3: + * insmod stmvl53l1.ko force_device=1 adapter_nb=1 xsdn_gpio_nb=19 + * intr_gpio_nb=16 pwren_gpio_nb=12 + * + * panda + * insmod stmvl53l1.ko force_device=1 adapter_nb=4 xsdn_gpio_nb=56 + * intr_gpio_nb=59 pwren_gpio_nb=55 + */ + +static int force_device; +static int adapter_nb = -1; +static int xsdn_gpio_nb = -1; +static int pwren_gpio_nb = -1; +static int intr_gpio_nb = -1; + +module_param(force_device, int, 0000); +MODULE_PARM_DESC(force_device, "force device insertion at module init"); + +module_param(adapter_nb, int, 0000); +MODULE_PARM_DESC(adapter_nb, "i2c adapter to use"); + +module_param(xsdn_gpio_nb, int, 0000); +MODULE_PARM_DESC(xsdn_gpio_nb, "select gpio numer to use for vl53l1 reset"); + +module_param(pwren_gpio_nb, int, 0000); +MODULE_PARM_DESC(pwren_gpio_nb, "select gpio numer to use for vl53l1 power"); + +module_param(intr_gpio_nb, int, 0000); +MODULE_PARM_DESC(intr_gpio_nb, "select gpio numer to use for vl53l1 interrupt"); + +/** + * warn message + * + * @warning use only in scope where i2c_data ptr is present + **/ +#define modi2c_warn(fmt, ...)\ + dev_WARN(&i2c_data->client->dev, fmt, ##__VA_ARGS__) + +/** + * err message + * + * @warning use only in scope where i2c_data ptr is present + */ +#define modi2c_err(fmt, ...)\ + dev_err(&i2c_data->client->dev, fmt, ##__VA_ARGS__) + + + +#if MODI2C_DEBUG +# define modi2c_dbg(fmt, ...)\ + pr_devel("%s "fmt"\n", __func__, ##__VA_ARGS__) +#else +# define modi2c_dbg(...) (void)0 +#endif + +static int insert_device(void) +{ + int ret = 0; + struct i2c_adapter *adapter; + struct i2c_board_info info = { + .type = "stmvl53l1", + .addr = STMVL53L1_SLAVE_ADDR, + }; + + memset(&info, 0, sizeof(info)); + strcpy(info.type, "stmvl53l1"); + info.addr = STMVL53L1_SLAVE_ADDR; + adapter = i2c_get_adapter(adapter_nb); + if (!adapter) { + ret = -EINVAL; + goto done; + } + stm_test_i2c_client = i2c_new_device(adapter, &info); + if (!stm_test_i2c_client) + ret = -EINVAL; + +done: + return ret; +} + +static int get_xsdn(struct device *dev, struct i2c_data *i2c_data) +{ + int rc = 0; + + i2c_data->io_flag.xsdn_owned = 0; + if (i2c_data->xsdn_gpio == -1) { + vl53l1_errmsg("reset gpio is required"); + rc = -ENODEV; + goto no_gpio; + } + + vl53l1_dbgmsg("request xsdn_gpio %d", i2c_data->xsdn_gpio); + rc = gpio_request(i2c_data->xsdn_gpio, "vl53l1_xsdn"); + if (rc) { + vl53l1_errmsg("fail to acquire xsdn %d", rc); + goto request_failed; + } + + rc = gpio_direction_output(i2c_data->xsdn_gpio, 0); + if (rc) { + vl53l1_errmsg("fail to configure xsdn as output %d", rc); + goto direction_failed; + } + i2c_data->io_flag.xsdn_owned = 1; + + return rc; + +direction_failed: + gpio_free(i2c_data->xsdn_gpio); + +request_failed: +no_gpio: + return rc; +} + +static void put_xsdn(struct i2c_data *i2c_data) +{ + if (i2c_data->io_flag.xsdn_owned) { + vl53l1_dbgmsg("release xsdn_gpio %d", i2c_data->xsdn_gpio); + gpio_free(i2c_data->xsdn_gpio); + i2c_data->io_flag.xsdn_owned = 0; + i2c_data->xsdn_gpio = -1; + } + i2c_data->xsdn_gpio = -1; +} + +static int get_pwren(struct device *dev, struct i2c_data *i2c_data) +{ + int rc = 0; + + i2c_data->io_flag.pwr_owned = 0; + if (i2c_data->pwren_gpio == -1) { + vl53l1_wanrmsg("pwren gpio disable"); + goto no_gpio; + } + + vl53l1_dbgmsg("request pwren_gpio %d", i2c_data->pwren_gpio); + rc = gpio_request(i2c_data->pwren_gpio, "vl53l1_pwren"); + if (rc) { + vl53l1_errmsg("fail to acquire pwren %d", rc); + goto request_failed; + } + + rc = gpio_direction_output(i2c_data->pwren_gpio, 0); + if (rc) { + vl53l1_errmsg("fail to configure pwren as output %d", rc); + goto direction_failed; + } + i2c_data->io_flag.pwr_owned = 1; + + return rc; + +direction_failed: + gpio_free(i2c_data->xsdn_gpio); + +request_failed: +no_gpio: + return rc; +} + +static void put_pwren(struct i2c_data *i2c_data) +{ + if (i2c_data->io_flag.pwr_owned) { + vl53l1_dbgmsg("release pwren_gpio %d", i2c_data->pwren_gpio); + gpio_free(i2c_data->pwren_gpio); + i2c_data->io_flag.pwr_owned = 0; + i2c_data->pwren_gpio = -1; + } + i2c_data->pwren_gpio = -1; +} + +static int get_intr(struct device *dev, struct i2c_data *i2c_data) +{ + int rc = 0; + + i2c_data->io_flag.intr_owned = 0; + if (i2c_data->intr_gpio == -1) { + vl53l1_wanrmsg("no interrupt gpio"); + goto no_gpio; + } + + vl53l1_dbgmsg("request intr_gpio %d", i2c_data->intr_gpio); + rc = gpio_request(i2c_data->intr_gpio, "vl53l1_intr"); + if (rc) { + vl53l1_errmsg("fail to acquire intr %d", rc); + goto request_failed; + } + + rc = gpio_direction_input(i2c_data->intr_gpio); + if (rc) { + vl53l1_errmsg("fail to configure intr as input %d", rc); + goto direction_failed; + } + + i2c_data->irq = gpio_to_irq(i2c_data->intr_gpio); + if (i2c_data->irq < 0) { + vl53l1_errmsg("fail to map GPIO: %d to interrupt:%d\n", + i2c_data->intr_gpio, i2c_data->irq); + goto irq_failed; + } + i2c_data->io_flag.intr_owned = 1; + + return rc; + +irq_failed: +direction_failed: + gpio_free(i2c_data->intr_gpio); + +request_failed: +no_gpio: + return rc; +} + +static void put_intr(struct i2c_data *i2c_data) +{ + if (i2c_data->io_flag.intr_owned) { + if (i2c_data->io_flag.intr_started) { + free_irq(i2c_data->irq, i2c_data); + i2c_data->io_flag.intr_started = 0; + } + vl53l1_dbgmsg("release intr_gpio %d", i2c_data->intr_gpio); + gpio_free(i2c_data->intr_gpio); + i2c_data->io_flag.intr_owned = 0; + } + i2c_data->intr_gpio = -1; +} + +/** + * parse dev tree for all platform specific input + */ +static int stmvl53l1_parse_tree(struct device *dev, struct i2c_data *i2c_data) +{ + int rc = 0; + + i2c_data->pinctrl = devm_pinctrl_get(dev); + if (IS_ERR_OR_NULL(i2c_data->pinctrl)) { + vl53l1_wanrmsg("Failed to get pinctrl, please check dts"); + rc = PTR_ERR(i2c_data->pinctrl); + goto err_pinctrl_get; + } + + i2c_data->pins_active = pinctrl_lookup_state(i2c_data->pinctrl, "stmvl53l1_active"); + if (IS_ERR_OR_NULL(i2c_data->pins_active)) { + vl53l1_wanrmsg("Pin state[active] not found"); + rc = PTR_ERR(i2c_data->pins_active); + goto err_pinctrl_lookup; + } + + i2c_data->pins_suspend = pinctrl_lookup_state(i2c_data->pinctrl, "stmvl53l1_suspend"); + if (IS_ERR_OR_NULL(i2c_data->pins_suspend)) { + vl53l1_wanrmsg("Pin state[suspend] not found"); + rc = PTR_ERR(i2c_data->pins_suspend); + goto err_pinctrl_lookup; + } + + i2c_data->pins_release = pinctrl_lookup_state(i2c_data->pinctrl, "stmvl53l1_release"); + if (IS_ERR_OR_NULL(i2c_data->pins_release)) { + vl53l1_wanrmsg("Pin state[release] not found"); + rc = PTR_ERR(i2c_data->pins_release); + } + + /* if force device is in use then gpio nb comes from module param else + * we use devicetree. + */ + i2c_data->vdd = NULL; + i2c_data->pwren_gpio = -1; + i2c_data->xsdn_gpio = -1; + i2c_data->intr_gpio = -1; + i2c_data->boot_reg = STMVL53L1_SLAVE_ADDR; + if (force_device) { + i2c_data->xsdn_gpio = xsdn_gpio_nb; + i2c_data->pwren_gpio = pwren_gpio_nb; + i2c_data->intr_gpio = intr_gpio_nb; + } else if (dev->of_node) { + /* power : either vdd or pwren_gpio. try reulator first */ + i2c_data->vdd = devm_regulator_get(dev, "vl53_vdd"); + if (IS_ERR(i2c_data->vdd) || i2c_data->vdd == NULL) { + i2c_data->vdd = NULL; + /* try gpio */ + rc = of_property_read_u32_array(dev->of_node, + "pwren-gpio", &i2c_data->pwren_gpio, 1); + if (rc) { + i2c_data->pwren_gpio = -1; + vl53l1_wanrmsg( + "no regulator, nor power gpio => power ctrl disabled"); + } + } + rc = regulator_enable(i2c_data->vdd); + if (rc) + pr_err("i2c_data->vdd failed to enable\n"); + + i2c_data->xsdn_gpio = of_get_named_gpio(dev->of_node, "xsdn-gpio",0); + if (i2c_data->xsdn_gpio < 0) + vl53l1_wanrmsg("Unable to get reset_gpio"); + + i2c_data->intr_gpio = of_get_named_gpio(dev->of_node, "intr-gpio",0); + if (i2c_data->intr_gpio < 0) { + vl53l1_wanrmsg("Unable to get intr_gpio"); + } + + rc = of_property_read_u32_array(dev->of_node, "boot-reg", + &i2c_data->boot_reg, 1); + if (rc) { + vl53l1_wanrmsg("Unable to find boot-reg %d %d", + rc, i2c_data->boot_reg); + i2c_data->boot_reg = STMVL53L1_SLAVE_ADDR; + } + } + + /* configure gpios */ + rc = get_xsdn(dev, i2c_data); + if (rc) + goto no_xsdn; + rc = get_pwren(dev, i2c_data); + if (rc) + goto no_pwren; + rc = get_intr(dev, i2c_data); + if (rc) + goto no_intr; + + return rc; + +err_pinctrl_lookup: + if (i2c_data->pinctrl) { + devm_pinctrl_put(i2c_data->pinctrl); + } +err_pinctrl_get: + i2c_data->pinctrl = NULL; + i2c_data->pins_release = NULL; + i2c_data->pins_suspend = NULL; + i2c_data->pins_active = NULL; + return rc; + +no_intr: + if (i2c_data->vdd) { + regulator_put(i2c_data->vdd); + i2c_data->vdd = NULL; + } + put_pwren(i2c_data); +no_pwren: + put_xsdn(i2c_data); +no_xsdn: + return rc; +} + +static void stmvl53l1_release_gpios(struct i2c_data *i2c_data) +{ + put_xsdn(i2c_data); + if (i2c_data->vdd) { + regulator_put(i2c_data->vdd); + i2c_data->vdd = NULL; + } + put_pwren(i2c_data); + put_intr(i2c_data); +} +struct i2c_data *stmvl53l1_i2c_data = NULL; + +static int stmvl53l1_probe(struct i2c_client *client, + const struct i2c_device_id *id) +{ + int rc = 0; + struct stmvl53l1_data *vl53l1_data = NULL; + struct i2c_data *i2c_data = NULL; + + vl53l1_dbgmsg("Enter %s : 0x%02x\n", client->name, client->addr); + + if (!i2c_check_functionality(client->adapter, I2C_FUNC_SMBUS_BYTE)) { + rc = -EIO; + return rc; + } + + vl53l1_data = kzalloc(sizeof(struct stmvl53l1_data), GFP_KERNEL); + if (!vl53l1_data) { + rc = -ENOMEM; + return rc; + } + if (vl53l1_data) { + vl53l1_data->client_object = + kzalloc(sizeof(struct i2c_data), GFP_KERNEL); + if (!vl53l1_data) + goto done_freemem; + i2c_data = (struct i2c_data *)vl53l1_data->client_object; + } + i2c_data->client = client; + i2c_data->vl53l1_data = vl53l1_data; + i2c_data->irq = -1 ; /* init to no irq */ + + /* parse and configure hardware */ + rc = stmvl53l1_parse_tree(&i2c_data->client->dev, i2c_data); + if (rc) + goto done_freemem; + + if (i2c_data->pinctrl && i2c_data->pins_active) { + rc = pinctrl_select_state(i2c_data->pinctrl, i2c_data->pins_active); + if (rc < 0) { + vl53l1_dbgmsg("Set suspend pin state error:%d", rc); + } + } + + /* setup device name */ + /* vl53l1_data->dev_name = dev_name(&client->dev); */ + + /* setup client data */ + i2c_set_clientdata(client, vl53l1_data); + + /* end up by core driver setup */ + rc = stmvl53l1_setup(vl53l1_data); + if (rc) + goto release_gpios; + vl53l1_dbgmsg("End\n"); + + kref_init(&i2c_data->ref); + stmvl53l1_i2c_data = i2c_data; + + return rc; + +release_gpios: + stmvl53l1_release_gpios(i2c_data); + +done_freemem: + /* kfree safe against NULL */ + kfree(vl53l1_data); + kfree(i2c_data); + + return -1; +} + +static int stmvl53l1_remove(struct i2c_client *client) +{ + struct stmvl53l1_data *data = i2c_get_clientdata(client); + struct i2c_data *i2c_data = (struct i2c_data *)data->client_object; + int ret = 0; + + vl53l1_dbgmsg("Enter\n"); + mutex_lock(&data->work_mutex); + /* main driver cleanup */ + stmvl53l1_cleanup(data); + + /* release gpios */ + stmvl53l1_release_gpios(i2c_data); + + if (i2c_data->pinctrl && i2c_data->pins_active) { + ret = pinctrl_select_state(i2c_data->pinctrl, i2c_data->pins_release); + if (ret < 0) { + vl53l1_dbgmsg("Set suspend pin state error:%d", ret); + } + } + + mutex_unlock(&data->work_mutex); + + stmvl53l1_put(data->client_object); + + vl53l1_dbgmsg("End\n"); + + return 0; +} + +#ifdef CONFIG_PM_SLEEP +static int stmvl53l1_suspend(struct device *dev) +{ + struct stmvl53l1_data *data = i2c_get_clientdata(to_i2c_client(dev)); + int ret = 0; + + vl53l1_dbgmsg("Enter\n"); + mutex_lock(&data->work_mutex); + /* Stop ranging */ + stmvl53l1_pm_suspend_stop(data); + + mutex_unlock(&data->work_mutex); + + if (stmvl53l1_i2c_data->pinctrl && stmvl53l1_i2c_data->pins_suspend) { + ret = pinctrl_select_state(stmvl53l1_i2c_data->pinctrl, stmvl53l1_i2c_data->pins_suspend); + if (ret < 0) { + vl53l1_dbgmsg("Set suspend pin state error:%d", ret); + } + } + + vl53l1_dbgmsg("End\n"); + + return 0; +} + +static int stmvl53l1_resume(struct device *dev) +{ + int ret = 0; +#if 0 + struct stmvl53l1_data *data = i2c_get_clientdata(to_i2c_client(dev)); + + vl53l1_dbgmsg("Enter\n"); + + mutex_lock(&data->work_mutex); + + /* do nothing user will restart measurements */ + + mutex_unlock(&data->work_mutex); + + vl53l1_dbgmsg("End\n"); +#else + vl53l1_dbgmsg("Enter\n"); + if (stmvl53l1_i2c_data->pinctrl && stmvl53l1_i2c_data->pins_active) { + ret = pinctrl_select_state(stmvl53l1_i2c_data->pinctrl, stmvl53l1_i2c_data->pins_active); + if (ret < 0) { + vl53l1_dbgmsg("Set suspend pin state error:%d", ret); + } + } + + vl53l1_dbgmsg("End\n"); +#endif + return 0; +} +#endif + + +static SIMPLE_DEV_PM_OPS(stmvl53l1_pm_ops, stmvl53l1_suspend, stmvl53l1_resume); + +static const struct i2c_device_id stmvl53l1_id[] = { + { STMVL53L1_DRV_NAME, 0 }, + { }, +}; +MODULE_DEVICE_TABLE(i2c, stmvl53l1_id); + +static const struct of_device_id st_stmvl53l1_dt_match[] = { + { .compatible = "st,"STMVL53L1_DRV_NAME, }, + { }, +}; + +static struct i2c_driver stmvl53l1_driver = { + .driver = { + .name = STMVL53L1_DRV_NAME, + .owner = THIS_MODULE, + .of_match_table = st_stmvl53l1_dt_match, + .pm = &stmvl53l1_pm_ops, + }, + .probe = stmvl53l1_probe, + .remove = stmvl53l1_remove, + .id_table = stmvl53l1_id, + +}; + +/** + * give power to device + * + * @param object the i2c layer object + * @return + */ +int stmvl53l1_power_up_i2c(void *object) +{ + int rc = 0; + struct i2c_data *data = (struct i2c_data *) object; + + vl53l1_dbgmsg("Enter\n"); + + /* turn on power */ + if (data->vdd) { + rc = regulator_enable(data->vdd); + if (rc) { + vl53l1_errmsg("fail to turn on regulator"); + return rc; + } + } else if (data->pwren_gpio != -1) { + gpio_set_value(data->pwren_gpio, 1); + vl53l1_info("slow power on"); + } else + vl53l1_wanrmsg("no power control"); + + return rc; +} + +/** + * remove power to device (reset it) + * + * @param i2c_object the i2c layer object + * @return 0 on success + */ +int stmvl53l1_power_down_i2c(void *i2c_object) +{ + struct i2c_data *data = (struct i2c_data *) i2c_object; + int rc = 0; + + vl53l1_dbgmsg("Enter\n"); + + /* turn off power */ + if (data->vdd) { + rc = regulator_disable(data->vdd); + if (rc) + vl53l1_errmsg("reg disable failed. rc=%d\n", + rc); + } else if (data->pwren_gpio != -1) { + gpio_set_value(data->pwren_gpio, 0); + } + vl53l1_dbgmsg("power off"); + + vl53l1_dbgmsg("End\n"); + + return rc; +} + +static int handle_i2c_address_device_change_lock(struct i2c_data *data) +{ + struct i2c_client *client = (struct i2c_client *) data->client; + uint8_t buffer[3]; + struct i2c_msg msg; + int rc = 0; + + vl53l1_dbgmsg("change device i2c address from 0x%02x to 0x%02x", + data->boot_reg, client->addr); + /* no i2c-access must occur before fw boot time */ + usleep_range(VL53L1_FIRMWARE_BOOT_TIME_US, + VL53L1_FIRMWARE_BOOT_TIME_US + 1); + + /* manually send message to update i2c address */ + buffer[0] = (VL53L1_I2C_SLAVE__DEVICE_ADDRESS >> 8) & 0xFF; + buffer[1] = (VL53L1_I2C_SLAVE__DEVICE_ADDRESS >> 0) & 0xFF; + buffer[2] = client->addr; + msg.addr = data->boot_reg; + msg.flags = client->flags; + msg.buf = buffer; + msg.len = 3; + if (i2c_transfer(client->adapter, &msg, 1) != 1) { + rc = -ENXIO; + vl53l1_errmsg("Fail to change i2c address to 0x%02x", + client->addr); + } + + return rc; +} + +/* reset release will also handle device address change. It will avoid state + * where multiple stm53l1 are bring out of reset at the same time with the + * same boot address. + * Note that we don't manage case where boot_reg has the same value as a final + * i2c address of another device. This case is not supported and will lead + * to unpredictable behavior. + */ +static int release_reset(struct i2c_data *data) +{ + struct i2c_client *client = (struct i2c_client *) data->client; + int rc = 0; + bool is_address_change = client->addr != data->boot_reg; + + if (is_address_change) + mutex_lock(&dev_addr_change_mutex); + + gpio_set_value(data->xsdn_gpio, 1); + if (is_address_change) { + rc = handle_i2c_address_device_change_lock(data); + if (rc) + gpio_set_value(data->xsdn_gpio, 0); + } + + if (is_address_change) + mutex_unlock(&dev_addr_change_mutex); + + return rc; +} + +/** + * release device reset + * + * @param i2c_object the i2c layer object + * @return 0 on success + */ +int stmvl53l1_reset_release_i2c(void *i2c_object) +{ + int rc; + struct i2c_data *data = (struct i2c_data *) i2c_object; + + vl53l1_dbgmsg("Enter\n"); + + rc = release_reset(data); + if (rc) + goto error; + + /* and now wait for device end of boot */ + data->vl53l1_data->is_delay_allowed = true; + rc = VL53L1_WaitDeviceBooted(&data->vl53l1_data->stdev); + data->vl53l1_data->is_delay_allowed = false; + if (rc) { + gpio_set_value(data->xsdn_gpio, 0); + vl53l1_errmsg("boot fail with error %d", rc); + data->vl53l1_data->last_error = rc; + rc = -EIO; + } + +error: + vl53l1_dbgmsg("End\n"); + + return rc; +} + +/** + * put device under reset + * + * @param i2c_object the i2c layer object + * @return 0 on success + */ +int stmvl53l1_reset_hold_i2c(void *i2c_object) +{ + struct i2c_data *data = (struct i2c_data *) i2c_object; + + vl53l1_dbgmsg("Enter\n"); + + gpio_set_value(data->xsdn_gpio, 0); + + vl53l1_dbgmsg("End\n"); + + return 0; +} + +int stmvl53l1_init_i2c(void) +{ + int ret = 0; + + vl53l1_dbgmsg("Enter\n"); + + /* register as a i2c client device */ + ret = i2c_add_driver(&stmvl53l1_driver); + if (ret) + vl53l1_errmsg("%d erro ret:%d\n", __LINE__, ret); + + if (!ret && force_device) + ret = insert_device(); + + if (ret) + i2c_del_driver(&stmvl53l1_driver); + + vl53l1_dbgmsg("End with rc:%d\n", ret); + + return ret; +} + + +void stmvl53l1_clean_up_i2c(void) +{ + if (stm_test_i2c_client) { + vl53l1_dbgmsg("to unregister i2c client\n"); + i2c_unregister_device(stm_test_i2c_client); + } +} + +static irqreturn_t stmvl53l1_irq_handler_i2c(int vec, void *info) +{ + struct i2c_data *i2c_data = (struct i2c_data *)info; + + if (i2c_data->irq == vec) { + modi2c_dbg("irq"); + stmvl53l1_intr_handler(i2c_data->vl53l1_data); + modi2c_dbg("over"); + } else { + if (!i2c_data->msg_flag.unhandled_irq_vec) { + modi2c_warn("unmatching vec %d != %d\n", + vec, i2c_data->irq); + i2c_data->msg_flag.unhandled_irq_vec = 1; + } + } + + return IRQ_HANDLED; +} + +/** + * enable and start intr handling + * + * @param object our i2c_data specific object + * @param poll_mode [in/out] set to force mode clear to use irq + * @return 0 on success and set ->poll_mode if it faill ranging wan't start + */ +int stmvl53l1_start_intr(void *object, int *poll_mode) +{ + struct i2c_data *i2c_data; + int rc; + + i2c_data = (struct i2c_data *)object; + /* irq and gpio acquire config done in parse_tree */ + if (i2c_data->irq < 0) { + /* the i2c tree as no intr force polling mode */ + *poll_mode = -1; + return 0; + } + /* clear irq warning report enabe it again for this session */ + i2c_data->msg_flag.unhandled_irq_vec = 0; + /* if started do no nothing */ + if (i2c_data->io_flag.intr_started) { + /* nothing to do */ + *poll_mode = 0; + return 0; + } + + vl53l1_dbgmsg("to register_irq:%d\n", i2c_data->irq); + rc = request_threaded_irq(i2c_data->irq, NULL, + stmvl53l1_irq_handler_i2c, + IRQF_TRIGGER_FALLING|IRQF_ONESHOT, + "vl53l1_interrupt", + (void *)i2c_data); + if (rc) { + vl53l1_errmsg("fail to req threaded irq rc=%d\n", rc); + *poll_mode = 0; + } else { + vl53l1_dbgmsg("irq %d now handled\n", i2c_data->irq); + i2c_data->io_flag.intr_started = 1; + *poll_mode = 0; + } + return rc; +} + +void *stmvl53l1_get(void *object) +{ + struct i2c_data *data = (struct i2c_data *) object; + + vl53l1_dbgmsg("Enter\n"); + kref_get(&data->ref); + vl53l1_dbgmsg("End\n"); + + return object; +} + +static void memory_release(struct kref *kref) +{ + struct i2c_data *data = container_of(kref, struct i2c_data, ref); + + vl53l1_dbgmsg("Enter\n"); + kfree(data->vl53l1_data); + kfree(data); + vl53l1_dbgmsg("End\n"); +} + +void stmvl53l1_put(void *object) +{ + struct i2c_data *data = (struct i2c_data *) object; + + vl53l1_dbgmsg("Enter\n"); + kref_put(&data->ref, memory_release); + vl53l1_dbgmsg("End\n"); +} + +void __exit stmvl53l1_exit_i2c(void *i2c_object) +{ + vl53l1_dbgmsg("Enter\n"); + i2c_del_driver(&stmvl53l1_driver); + vl53l1_dbgmsg("End\n"); +} diff --git a/drivers/input/misc/vl53L1/stmvl53l1_module.c b/drivers/input/misc/vl53L1/stmvl53l1_module.c new file mode 100644 index 000000000000..a2439752a908 --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_module.c @@ -0,0 +1,4248 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +/** + * @file /stmvl53l1_module.c vl53l1_module ST VL53L1 linux kernel module + * + * main file + */ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* + * API includes + */ + +#include "stmvl53l1.h" +#include "stmvl53l1-i2c.h" +#include "stmvl53l1_ipp.h" + +#include "stmvl53l1_if.h" /* our device interface to user space */ +#include "stmvl53l1_internal_if.h" + +/* + * include default tuning file + */ +#include "stmvl53l1_tunings.h" + +/** @ingroup vl53l1_config + * @{ + */ +/** + * default polling period delay in millisecond + * + * It can be set at run time via @ref vl53l1_ioctl or @ref sysfs_attrib + * + * @note apply only for device operating in polling mode only + */ +#define STMVL53L1_CFG_POLL_DELAY_MS 5 + +/** + * default timing budget in microsecond + * + * Can be change at run time via @ref vl53l1_ioctl or @ref sysfs_attrib + */ + +#define STMVL53L1_CFG_TIMING_BUDGET_US 30000//16000 + +/** default preset ranging mode */ +#define STMVL53L1_CFG_DEFAULT_MODE VL53L1_PRESETMODE_RANGING + +/** default distance mode */ +#define STMVL53L1_CFG_DEFAULT_DISTANCE_MODE VL53L1_DISTANCEMODE_LONG + +/** default crosstalk enable */ + +#define STMVL53L1_CFG_DEFAULT_CROSSTALK_ENABLE 1//0 + +/** default output mode */ +#define STMVL53L1_CFG_DEFAULT_OUTPUT_MODE VL53L1_OUTPUTMODE_NEAREST + +#define STMVL53L1_CFG_DEFAULT_OFFSET_CORRECTION_MODE \ + VL53L1_OFFSETCORRECTIONMODE_STANDARD + +/** default Dmax mode */ +#define STMVL53L1_CFG_DEFAULT_DMAX_MODE VL53L1_DMAXMODE_FMT_CAL_DATA + +/** default smudge correction enable value */ +#define STMVL53L1_CFG_DEFAULT_SMUDGE_CORRECTION_MODE \ + VL53L1_SMUDGE_CORRECTION_CONTINUOUS + +/** @} */ /* ingroup vl53l1_config */ + +/** @ingroup vl53l1_mod_dbg + * @{ + */ + +/** + * activate dump of roi in roi ctrl operation + * + * @note uses @a vl53l1_dbgmsg for output so make sure to enable debug + * to get roi dump + */ + +#define STMVL53L1_CFG_ROI_DEBUG 1 + +/** @} */ /* ingroup vl53l1_mod_dbg*/ + +static inline void st_gettimeofday(struct timeval *tv) +{ + struct timespec64 now; + + ktime_get_real_ts64(&now); + tv->tv_sec = now.tv_sec; + tv->tv_usec = now.tv_nsec/1000; +} + +/* #define DEBUG_TIME_LOG */ + + +#ifdef DEBUG_TIME_LOG +struct timeval start_tv, stop_tv; +#endif + +/* Set default value to 1 to allow to see module insertion debug messages */ +int stmvl53l1_enable_debug = 1; + +#define VL53L1_INPUT_DEVICE_NAME "STM VL53L1 proximity sensor" + +static long stmvl53l1_ioctl(struct file *file, + unsigned int cmd, unsigned long arg); +static int stmvl53l1_open(struct inode *inode, struct file *file); +static int stmvl53l1_release(struct inode *inode, struct file *file); +static int ctrl_start(struct stmvl53l1_data *data); +static int ctrl_stop(struct stmvl53l1_data *data); + +static bool force_device_on_en_default = false; + +module_param(force_device_on_en_default, bool, 0444); +MODULE_PARM_DESC(force_device_on_en_default, + "select whether force_device_on_en is true or false by default"); + +/* boilerplate for integer parameter */ +#define IMPLEMENT_PARAMETER_INTEGER(sysfs_name, info_name)\ +static ssize_t stmvl53l1_show_##sysfs_name(struct device *dev, \ + struct device_attribute *attr, char *buf) \ +{ \ + struct stmvl53l1_data *data = dev_get_drvdata(dev); \ + int param; \ +\ + mutex_lock(&data->work_mutex); \ + param = data->sysfs_name; \ + mutex_unlock(&data->work_mutex);; \ +\ + return scnprintf(buf, PAGE_SIZE, "%d\n", param); \ +} \ +\ +static ssize_t stmvl53l1_store_##sysfs_name(struct device *dev, \ + struct device_attribute *attr, \ + const char *buf, size_t count) \ +{ \ + struct stmvl53l1_data *data = dev_get_drvdata(dev); \ + int rc; \ + int param; \ +\ + mutex_lock(&data->work_mutex); \ +\ + if (kstrtoint(buf, 0, ¶m)) { \ + vl53l1_errmsg("invalid syntax in %s", buf); \ + rc = -EINVAL; \ + } else \ + rc = stmvl53l1_set_##sysfs_name(data, param); \ +\ + mutex_unlock(&data->work_mutex); \ +\ + return rc ? rc : count; \ +} \ +\ +static int ctrl_param_##sysfs_name(struct stmvl53l1_data *data, \ + struct stmvl53l1_parameter *param) \ +{ \ + int rc; \ +\ + if (param->is_read) { \ + param->value = data->sysfs_name; \ + param->status = 0; \ + vl53l1_dbgmsg("get " info_name " %d", param->value); \ + rc = 0; \ + } else { \ + rc = stmvl53l1_set_##sysfs_name(data, param->value); \ + vl53l1_dbgmsg("rc %d req %d now %d", rc, \ + param->value, data->sysfs_name); \ + } \ +\ + return rc; \ +} + +/** + * module interface struct + * interface to platform speficic device handling , concern power/reset ... + */ +struct stmvl53l1_module_fn_t { + int (*init)(void); /*!< init */ + /** + * clean up job + * @param data module specific data ptr + */ + void (*deinit)(void *data); + /** + * give device power + * @param data specific module storage ptr + * @return 0 on sucess + */ + int (*power_up)(void *data); + /** + * power down TOFO also stop intr + */ + int (*power_down)(void *data); + /* + * release reset so device start. + */ + int (*reset_release)(void *data); + /* + * put device under reset. + */ + int (*reset_hold)(void *data); + + /** + * enable interrupt + * + * @param object : interface speficic ptr + * @note "module specfic ptr is data->client_object + * @return 0 on success else error then drievr wan't start ranging! + * if no interrupt or it can't be hooked but still to operated in poll + * mode then return 0 and force data->poll_mode + * might have to clear poll_mode exlplcilty if to operate in real intr + * mode as pool mode + * is the default + */ + int (*start_intr)(void *object, int *poll_mode); + + void (*clean_up)(void); /*!< optional can be void */ + + /* increment reference counter */ + void *(*get)(void *object); + + /* decrement reference counter and deallocate memory when zero */ + void (*put)(void *object); +}; + +/** i2c module interface*/ +static struct stmvl53l1_module_fn_t stmvl53l1_module_func_tbl = { + .init = stmvl53l1_init_i2c, + .deinit = stmvl53l1_exit_i2c, + .power_up = stmvl53l1_power_up_i2c, + .power_down = stmvl53l1_power_down_i2c, + .reset_release = stmvl53l1_reset_release_i2c, + .reset_hold = stmvl53l1_reset_hold_i2c, + .clean_up = stmvl53l1_clean_up_i2c, + .start_intr = stmvl53l1_start_intr, + .get = stmvl53l1_get, + .put = stmvl53l1_put, +}; + + +#ifndef MIN +# define MIN(a, b) ((a) < (b) ? (a) : (b)) +#endif + +/* + * INPUT Subsys interface + */ + +static void stmvl53l1_input_push_data(struct stmvl53l1_data *data); + +/* + * Mutex to handle device id add/removal + */ +static DEFINE_MUTEX(dev_table_mutex); + +/** + * in-used device LUT + * we need this as the message reception from netlink message can't + * associate directly to a device instance that is as we look up id + * to device data structure + */ +struct stmvl53l1_data *stmvl53l1_dev_table[STMVL53L1_CFG_MAX_DEV]; + +/** + * Misc device device operations + */ +static const struct file_operations stmvl53l1_ranging_fops = { + .owner = THIS_MODULE, + .unlocked_ioctl = stmvl53l1_ioctl, + .open = stmvl53l1_open, + .release = stmvl53l1_release, + /* .flush = stmvl53l0_flush, */ +}; + +static int store_last_error(struct stmvl53l1_data *data, int rc) +{ + data->last_error = rc; + + return -EIO; +} + +static int allocate_dev_id(void) +{ + int i; + + mutex_lock(&dev_table_mutex); + + for (i = 0; i < STMVL53L1_CFG_MAX_DEV; i++) + if (!stmvl53l1_dev_table[i]) + break; + i = i < STMVL53L1_CFG_MAX_DEV ? i : -1; + + mutex_unlock(&dev_table_mutex); + + return i; +} + +static void deallocate_dev_id(int id) +{ + mutex_lock(&dev_table_mutex); + + stmvl53l1_dev_table[id] = NULL; + + mutex_unlock(&dev_table_mutex); +} + +/* helpers to manage reader list for blockint ioctl */ +/* call them with lock */ +static void empty_and_free_list(struct list_head *head) +{ + struct stmvl53l1_waiters *waiter; + struct stmvl53l1_waiters *tmp; + + list_for_each_entry_safe(waiter, tmp, head, list) { + list_del(&waiter->list); + kfree(waiter); + } +} + +static int add_reader(pid_t pid, struct list_head *head) +{ + struct stmvl53l1_waiters *new_waiter; + + new_waiter = kmalloc(sizeof(struct stmvl53l1_waiters), GFP_KERNEL); + if (!new_waiter) + return -ENOMEM; + new_waiter->pid = pid; + list_add(&new_waiter->list, head); + + return 0; +} + +static bool is_pid_in_list(pid_t pid, struct list_head *head) +{ + struct stmvl53l1_waiters *waiter; + + list_for_each_entry(waiter, head, list) + if (waiter->pid == pid) + return true; + + return false; +} + +static void wake_up_data_waiters(struct stmvl53l1_data *data) +{ + empty_and_free_list(&data->simple_data_reader_list); + empty_and_free_list(&data->mz_data_reader_list); + wake_up(&data->waiter_for_data); +} + +static void stmvl53l1_insert_flush_events_lock(struct stmvl53l1_data *data) +{ + while (data->flush_todo_counter) { + data->flushCount++; + input_report_abs(data->input_dev_ps, ABS_GAS, data->flushCount); + input_sync(data->input_dev_ps); + vl53l1_dbgmsg("Sensor HAL Flush Count = %u\n", + data->flushCount); + data->flush_todo_counter--; + } +} + +static int reset_release(struct stmvl53l1_data *data) +{ + int rc; + + if (!data->reset_state) + return 0; + + rc = stmvl53l1_module_func_tbl.reset_release(data->client_object); + if (rc) + vl53l1_errmsg("reset release fail rc=%d\n", rc); + else + data->reset_state = 0; + + return rc; +} + +static int reset_hold(struct stmvl53l1_data *data) +{ + int rc; + + if (data->reset_state) + return 0; + + if (data->force_device_on_en) + return 0; + + rc = stmvl53l1_module_func_tbl.reset_hold(data->client_object); + if (!rc) + data->reset_state = 1; + + return rc; +} + +#ifdef DEBUG_TIME_LOG +static void stmvl53l0_DebugTimeGet(struct timeval *ptv) +{ + st_gettimeofday(ptv); +} + +#endif + +/** + * + * @param pstart_tv time val starting point + * @param pstop_tv time val end point + * @return time dif in usec + */ +long stmvl53l1_tv_dif(struct timeval *pstart_tv, struct timeval *pstop_tv) +{ + long total_sec, total_usec; + + total_sec = pstop_tv->tv_sec - pstart_tv->tv_sec; + total_usec = (pstop_tv->tv_usec - pstart_tv->tv_usec); + + return total_sec*1000000+total_usec; +} + +#if STMVL53L1_CFG_ROI_DEBUG +static void dump_roi(VL53L1_UserRoi_t *rois, uint32_t n) +{ + uint32_t i; + + vl53l1_dbgmsg("roi dump %d roi:\n", n); + for (i = 0; i < n ; i++) { + vl53l1_dbgmsg("ROI#%02d %2d %2d %2d %2d\n", (int)i, + (int)rois[i].TopLeftX, (int)rois[i].TopLeftY, + (int)rois[i].BotRightX, (int)rois[i].BotRightY); + } +} +#else +# define dump_roi(...) (void)0 +#endif + +static int setup_tunings(struct stmvl53l1_data *data) +{ + int rc = 0; + int i; + + for (i = 0; i < ARRAY_SIZE(tunings); i++) { + rc = VL53L1_SetTuningParameter(&data->stdev, tunings[i][0], + tunings[i][1]); + if (rc) { + rc = store_last_error(data, rc); + break; + } + } + + return rc; +} + +/** + * + * @param data device data + * @return non 0 if current "preset mode" is a multi zone one + */ +static int is_mz_mode(struct stmvl53l1_data *data) +{ + return data->preset_mode == VL53L1_PRESETMODE_RANGING || + data->preset_mode == VL53L1_PRESETMODE_MULTIZONES_SCANNING; +} + +static void kill_mz_data(VL53L1_MultiRangingData_t *pdata) +{ + int i; + + memset(pdata, 0, sizeof(*pdata)); + for (i = 0; i < VL53L1_MAX_RANGE_RESULTS; i++) + pdata->RangeData[i].RangeStatus = VL53L1_RANGESTATUS_NONE; + pdata->RoiStatus = VL53L1_ROISTATUS_NOT_VALID; +} + +static void stmvl53l1_setup_auto_config(struct stmvl53l1_data *data) +{ + /* default config is detect object below 300mm with 1s period */ + data->auto_pollingTimeInMs = 1000; + data->auto_config.DetectionMode = VL53L1_DETECTION_DISTANCE_ONLY; + data->auto_config.IntrNoTarget = 0; + data->auto_config.Distance.CrossMode = VL53L1_THRESHOLD_CROSSED_LOW; + data->auto_config.Distance.High = 1000; + data->auto_config.Distance.Low = 300; + data->auto_config.Rate.CrossMode = VL53L1_THRESHOLD_CROSSED_LOW; + data->auto_config.Rate.High = 0; + data->auto_config.Rate.Low = 0; +} + +static uint32_t stmvl53l1_compute_hash(VL53L1_RoiConfig_t *roi_cfg) +{ + return jhash(roi_cfg->UserRois, + roi_cfg->NumberOfRoi * sizeof(VL53L1_UserRoi_t), + roi_cfg->NumberOfRoi); +} + +static int stmvl53l1_check_calibration_id(struct stmvl53l1_data *data) +{ + uint32_t roi_id; + int rc; + + if (data->offset_correction_mode != VL53L1_OFFSETCORRECTIONMODE_PERZONE) + return 0; + if (data->current_roi_id == 0) + return 0; + + roi_id = stmvl53l1_compute_hash(&data->roi_cfg); + rc = roi_id == data->current_roi_id ? 0 : -EINVAL; + + if (rc) + vl53l1_errmsg( + "Mismatch in zone calibration data 0x%08x != 0x%08x", + roi_id, data->current_roi_id); + + return rc; +} + +/** + * send params to sensor + * + * @warning must be used if only stopped + * @param data device data + * @return 0 on sucess + */ +static int stmvl53l1_sendparams(struct stmvl53l1_data *data) +{ + int rc; + + /* activated stored or last request defined mode */ + rc = VL53L1_SetPresetMode(&data->stdev, data->preset_mode); + if (rc) { + vl53l1_errmsg("VL53L1_SetPresetMode %d fail %d", + data->preset_mode, rc); + rc = store_last_error(data, rc); + goto done; + } + + rc = VL53L1_SetXTalkCompensationEnable(&data->stdev, + data->crosstalk_enable); + if (rc) { + vl53l1_errmsg("VL53L1_SetXTalkCompensationEnable %d fail %d", + data->crosstalk_enable, rc); + rc = store_last_error(data, rc); + goto done; + } + + /* apply distance mode only in lite and standard ranging */ + rc = VL53L1_SetDistanceMode(&data->stdev, data->distance_mode); + if (rc) { + vl53l1_errmsg("VL53L1_SetDistanceMode %d fail %d", + data->distance_mode, rc); + rc = store_last_error(data, rc); + goto done; + } + + /* apply timing budget */ + rc = VL53L1_SetMeasurementTimingBudgetMicroSeconds(&data->stdev, + data->timing_budget); + if (rc) { + vl53l1_errmsg("SetTimingBudget %d fail %d", + data->timing_budget, rc); + rc = store_last_error(data, rc); + goto done; + } + vl53l1_dbgmsg("timing budget @%d\n", data->timing_budget); + + /* apply offset correction mode */ + rc = VL53L1_SetOffsetCorrectionMode(&data->stdev, + data->offset_correction_mode); + if (rc) { + vl53l1_errmsg("offset correction mode %d fail %d", + data->offset_correction_mode, rc); + rc = store_last_error(data, rc); + goto done; + } + vl53l1_dbgmsg("offset correction mode @%d\n", + data->offset_correction_mode); + + /* check zone calibration vs roi */ + rc = stmvl53l1_check_calibration_id(data); + if (rc) + goto done; + + /* apply Dmax reflectance */ + rc = VL53L1_SetDmaxReflectance(&data->stdev, data->dmax_reflectance); + if (rc) { + vl53l1_errmsg("dmax relectance %d fail %d", + data->dmax_reflectance, rc); + rc = store_last_error(data, rc); + goto done; + } + vl53l1_dbgmsg("dmax reflectance @%d\n", data->dmax_reflectance); + + /* apply Dmax mode */ + rc = VL53L1_SetDmaxMode(&data->stdev, data->dmax_mode); + if (rc) { + vl53l1_errmsg("dmax mode %d fail %d", data->dmax_mode, rc); + rc = store_last_error(data, rc); + goto done; + } + vl53l1_dbgmsg("dmax mode @%d\n", data->dmax_mode); + + /* apply smudge correction enable */ + rc = VL53L1_SmudgeCorrectionEnable(&data->stdev, + data->smudge_correction_mode); + if (rc) { + vl53l1_errmsg("smudge correction mode %d fail %d", + data->smudge_correction_mode, rc); + rc = store_last_error(data, rc); + goto done; + } + vl53l1_dbgmsg("smudge correction mode @%d\n", + data->smudge_correction_mode); + + /* apply roi if any set */ + if (data->roi_cfg.NumberOfRoi) { + rc = VL53L1_SetROI(&data->stdev, &data->roi_cfg); + if (rc) { + vl53l1_errmsg("VL53L1_SetROI fail %d\n", rc); + rc = store_last_error(data, rc); + goto done; + } + vl53l1_dbgmsg("#%d custom ROI set status\n", + data->roi_cfg.NumberOfRoi); + } else { + vl53l1_dbgmsg("using default ROI\n"); + } + + /* set autonomous mode configuration */ + if ((data->preset_mode == VL53L1_PRESETMODE_AUTONOMOUS) || + (data->preset_mode == VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS)) { + rc = VL53L1_SetInterMeasurementPeriodMilliSeconds(&data->stdev, + data->auto_pollingTimeInMs); + if (rc) { + vl53l1_errmsg("Fail to set auto period %d\n", rc); + rc = store_last_error(data, rc); + goto done; + } + rc = VL53L1_SetThresholdConfig(&data->stdev, + &data->auto_config); + if (rc) { + vl53l1_errmsg("Fail to set auto config %d\n", rc); + rc = store_last_error(data, rc); + goto done; + } + } + +done: + + return rc; +} + +/** + * start sensor + * + * @warning must be used if only stopped + * @param data device data + * @return 0 on sucess + */ +static int stmvl53l1_start(struct stmvl53l1_data *data) +{ + int rc; + + data->is_first_irq = true; + data->is_data_valid = false; + data->is_xtalk_value_changed = false; + + rc = reset_release(data); + if (rc) + goto done; + + /* full setup when out of reset or power up */ + rc = VL53L1_StaticInit(&data->stdev); + if (rc) { + vl53l1_errmsg("VL53L1_StaticInit @%d fail %d\n", + __LINE__, rc); + rc = store_last_error(data, rc); + goto done; + } + + rc = stmvl53l1_sendparams(data); + if (rc) + goto done; + + /* init the timing */ + st_gettimeofday(&data->start_tv); + data->meas.start_tv = data->start_tv; + /* init the ranging data => kill the previous ranging mz data */ + kill_mz_data(&data->meas.multi_range_data); + /* kill the single ranging data */ + memset(&data->meas.single_range_data, 0, + sizeof(VL53L1_RangingMeasurementData_t)); + + data->allow_hidden_start_stop = false; + /* kick off ranging */ + rc = VL53L1_StartMeasurement(&data->stdev); + if (rc) { + vl53l1_errmsg("VL53L1_StartMeasurement @%d fail %d", + __LINE__, rc); + rc = store_last_error(data, rc); + goto done; + } + + data->meas.cnt = 0; + data->meas.err_cnt = 0; + data->meas.err_tot = 0; + data->meas.poll_cnt = 0; + data->meas.intr = 0; + data->enable_sensor = 1; + if (data->poll_mode) { + /* kick off the periodical polling work */ + schedule_delayed_work(&data->dwork, + msecs_to_jiffies(data->poll_delay_ms)); + } +done: + data->is_first_start_done = true; + + return rc; +} + +/** + * stop sensor + * + * work lock must be held + * @warning to be used if only started! + */ +static int stmvl53l1_stop(struct stmvl53l1_data *data) +{ + int rc; + + rc = VL53L1_StopMeasurement(&data->stdev); + if (rc) { + vl53l1_errmsg("VL53L1_StopMeasurement @%d fail %d", + __LINE__, rc); + rc = store_last_error(data, rc); + } + /* put device under reset */ + /* do we ask explicit intr stop or just use stop */ + reset_hold(data); + + data->enable_sensor = 0; + if (data->poll_mode) { + /* cancel periodical polling work */ + cancel_delayed_work(&data->dwork); + } + +#ifndef VL53L1_FULL_KERNEL + /* if we are in ipp waiting mode then abort it */ + stmvl53l1_ipp_stop(data); +#endif + /* wake up all waiters */ + /* they will receive -ENODEV error */ + wake_up_data_waiters(data); + + return rc; +} + +/* + * SysFS support + */ +static ssize_t stmvl53l1_show_enable_ps_sensor(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + + return snprintf(buf, 5, "%d\n", data->enable_sensor); +} + +static ssize_t stmvl53l1_store_enable_ps_sensor(struct device *dev, + struct device_attribute *attr, const char *buf, + size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int rc = 0; + unsigned long val; + + rc = kstrtoul(buf, 10, &val); + if (rc) { + vl53l1_errmsg("enable sensor syntax in %s\n", buf); + return -EINVAL; + } + if (val == 1) { + rc = ctrl_start(data); + } else if (val == 0) { + rc = ctrl_stop(data); + } else { + /* TODO: Remove this workaround after investigation + * see Codex - 479397 for details + */ + vl53l1_dbgmsg("Unclog Input sub-system\n"); + /* Unclog the input device sub-system */ + input_report_abs(data->input_dev_ps, ABS_HAT0X, -1); + input_report_abs(data->input_dev_ps, ABS_HAT0Y, -1); + input_report_abs(data->input_dev_ps, ABS_HAT1X, -1); + input_report_abs(data->input_dev_ps, ABS_HAT1Y, -1); + input_report_abs(data->input_dev_ps, ABS_HAT2X, -1); + input_report_abs(data->input_dev_ps, ABS_HAT2Y, -1); + input_report_abs(data->input_dev_ps, ABS_HAT3X, -1); + input_report_abs(data->input_dev_ps, ABS_HAT3Y, -1); + input_report_abs(data->input_dev_ps, ABS_WHEEL, -1); + input_report_abs(data->input_dev_ps, ABS_BRAKE, -1); + input_report_abs(data->input_dev_ps, ABS_GAS, -1); + input_report_abs(data->input_dev_ps, ABS_TILT_X, -1); + input_report_abs(data->input_dev_ps, ABS_TILT_Y, -1); + input_report_abs(data->input_dev_ps, ABS_TOOL_WIDTH, -1); + input_report_abs(data->input_dev_ps, ABS_DISTANCE, -1); + input_report_abs(data->input_dev_ps, ABS_THROTTLE, -1); + input_report_abs(data->input_dev_ps, ABS_RUDDER, -1); + input_report_abs(data->input_dev_ps, ABS_MISC, -1); + input_report_abs(data->input_dev_ps, ABS_VOLUME, + -1); + input_sync(data->input_dev_ps); + vl53l1_dbgmsg("Unclog the input sub-system\n"); + rc = 0; + } + + vl53l1_dbgmsg("End\n"); + + return rc ? rc : count; +} + + +static ssize_t stmvl53l1_show_product_type(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int param; + + mutex_lock(&data->work_mutex); + param = data->product_type; + mutex_unlock(&data->work_mutex); + + return scnprintf(buf, PAGE_SIZE, "%d\n", param); +} + +/** + * sysfs attribute "product_type" [rd] + * + * @li read show the device product type + * + * @return 0 on success , EINVAL if fail to start + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(product_type, 0440/*S_IRUGO*/, + stmvl53l1_show_product_type, + NULL); + +/** + * sysfs attribute "enable_ps_sensor" [rd/wr] + * + * @li read show the current enable state + * @li write set the new state value "0" put sensor off "1" put it on + * + * @return 0 on success , EINVAL if fail to start + * + * @warning their's no check and assume exclusive usage of sysfs and ioctl\n + * Sensor will be put on/off disregard of any setup done by the ioctl channel. + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(enable_ps_sensor, 0664/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_enable_ps_sensor, + stmvl53l1_store_enable_ps_sensor); + +static int stmvl53l1_set_poll_delay_ms(struct stmvl53l1_data *data, int delay) +{ + int rc = 0; + + if (delay <= 0) + rc = -EINVAL; + else + data->poll_delay_ms = delay; + + return rc; +} + +IMPLEMENT_PARAMETER_INTEGER(poll_delay_ms, "poll delay ms") + +/** + * sysfs attribute "poll_delay_ms" [rd/wr] + * + * @li read show the current polling delay in millisecond + * @li write set the new polling delay in millisecond + * + * @note apply only if device is in polling mode\n + * for best performances (minimal delay and cpu load ) set it to the device + * period operating period +1 millis + + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(set_delay_ms, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_poll_delay_ms, + stmvl53l1_store_poll_delay_ms); + +/* Timing Budget */ +static int stmvl53l1_set_timing_budget(struct stmvl53l1_data *data, int timing) +{ + int rc = 0; + + if (timing <= 0) { + vl53l1_errmsg("invalid timing valid %d\n", timing); + rc = -EINVAL; + } else if (data->enable_sensor) { + rc = VL53L1_SetMeasurementTimingBudgetMicroSeconds(&data->stdev, + timing); + if (rc) { + vl53l1_errmsg("SetTimingBudget %d fail %d", timing, rc); + rc = store_last_error(data, rc); + } else + data->timing_budget = timing; + } else + data->timing_budget = timing; + + return rc; +} + +IMPLEMENT_PARAMETER_INTEGER(timing_budget, "timing budget") + +/** + * sysfs "timing_budget" [rd/wr] + * + * set or get the ranging timing budget in microsecond + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(timing_budget, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_timing_budget, + stmvl53l1_store_timing_budget); + + +static ssize_t stmvl53l1_show_roi(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int i; + int n; + + + mutex_lock(&data->work_mutex); + if (data->roi_cfg.NumberOfRoi == 0) { + /* none define by user */ + /* we could get what stored but may not even be default */ + n = scnprintf(buf, PAGE_SIZE, "device default\n"); + } else { + for (i = 0, n = 0; i < data->roi_cfg.NumberOfRoi; i++) { + n += scnprintf(buf+n, PAGE_SIZE-n, "%d %d %d %d%c", + data->roi_cfg.UserRois[i].TopLeftX, + data->roi_cfg.UserRois[i].TopLeftY, + data->roi_cfg.UserRois[i].BotRightX, + data->roi_cfg.UserRois[i].BotRightY, + i == data->roi_cfg.NumberOfRoi-1 ? + '\n' : ','); + } + } + mutex_unlock(&data->work_mutex); + return n; +} + + +static const char str_roi_ranging[] = "ERROR can't set roi while ranging\n"; + +static ssize_t stmvl53l1_store_roi(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + VL53L1_UserRoi_t rois[VL53L1_MAX_USER_ZONES]; + int rc; + + mutex_lock(&data->work_mutex); + if (data->enable_sensor) { + vl53l1_errmsg(" cant set roi now\n"); + rc = -EBUSY; + } else { + int n, n_roi = 0; + const char *pc = buf; + int tlx, tly, brx, bry; + + while (n_roi < VL53L1_MAX_USER_ZONES && pc != NULL + && *pc != 0 && *pc != '\n') { + n = sscanf(pc, "%d %d %d %d", &tlx, &tly, &brx, &bry); + if (n == 4) { + rois[n_roi].TopLeftX = tlx; + rois[n_roi].TopLeftY = tly; + rois[n_roi].BotRightX = brx; + rois[n_roi].BotRightY = bry; + n_roi++; + } else { + vl53l1_errmsg( +"wrong roi #%d syntax around %s of %s", n_roi, pc, buf); + n_roi = -1; + break; + } + /* find next roi separator */ + pc = strchr(pc, ','); + if (pc) + pc++; + } + /*if any set them */ + if (n_roi >= 0) { + if (n_roi) + memcpy(data->roi_cfg.UserRois, rois, + n_roi*sizeof(rois[0])); + data->roi_cfg.NumberOfRoi = n_roi; + dump_roi(data->roi_cfg.UserRois, + data->roi_cfg.NumberOfRoi); + rc = count; + } else { + rc = -EINVAL; + } + } + mutex_unlock(&data->work_mutex); + vl53l1_dbgmsg("ret %d count %d\n", rc, (int)count); + + return rc; +} + +/** + * sysfs attribute "roi" [rd/wr] + * + * @li read show the current user customized roi setting + * @li write set user custom roi, it can only be done while not ranging. + * + * syntax for set input roi + * @li "[tlx tly brx bry,]\n" repeat n time require will set the n roi + * @li "\n" will reset + * + * @warning roi coordinate is not image x,y(down) but euclidian x,y(up) + * + * @warning roi validity is only check at next range start + * @warning user is responsible to set appropriate number an roi before each + * mode change + * @note roi can be return to default by setting none "" + * + *@code + * >#to set 2x roi + * >echo "0 15 15 0, 0 8 8 0" > /sys/class/input6/roi + * >echo $? + * 0 + * >cat /sys/class/input6/roi + * "0 15 15 0,0 8 8 0" + * #to cancel user define roi" + * >echo "" > /sys/class/input1/roi + * >echo $? + * 0 + * >echo "1" > /sys/class/input6/enable_ps_senspor + * #try to set roi while ranging + * >echo "0 15 15 0, 0 8 8 0" > /sys/class/input6/roi + * [58451.912109] stmvl53l1_store_roi: cant set roi now + * >echo $? + * 1 + *@endcode + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(roi, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_roi, + stmvl53l1_store_roi); + + +static int stmvl53l1_set_preset_mode(struct stmvl53l1_data *data, int mode) +{ + int rc = 0; + + if (data->enable_sensor) { + vl53l1_errmsg("can't change mode while ranging\n"); + rc = -EBUSY; + } else { + switch (mode) { + case VL53L1_PRESETMODE_RANGING: + case VL53L1_PRESETMODE_MULTIZONES_SCANNING: + case VL53L1_PRESETMODE_LITE_RANGING: + case VL53L1_PRESETMODE_AUTONOMOUS: + case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS: + data->preset_mode = mode; + break; + default: + vl53l1_errmsg("invalid mode %d\n", mode); + rc = -EINVAL; + break; + } + } + + return rc; +} + +IMPLEMENT_PARAMETER_INTEGER(preset_mode, "preset mode") + +/** + * sysfs attribute "mode " [rd/wr] + * + * set the mode value can only be used while: not ranging + * @li 1 @a VL53L1_PRESETMODE_RANGING default ranging + * @li 2 @a VL53L1_PRESETMODE_MULTIZONES_SCANNING multiple zone + * @li 3 @a VL53L1_PRESETMODE_AUTONOMOUS autonomous mode + * @li 4 @a VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS low Power autonomous mode + * @li 5 @a VL53L1_PRESETMODE_LITE_RANGING low mips ranging mode + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(mode, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_preset_mode, + stmvl53l1_store_preset_mode); + +static int stmvl53l1_set_distance_mode(struct stmvl53l1_data *data, + int distance_mode) +{ + int rc = 0; + + if (data->enable_sensor) { + vl53l1_errmsg("can't change distance mode while ranging\n"); + rc = -EBUSY; + } else { + switch (distance_mode) { + case VL53L1_DISTANCEMODE_SHORT: + case VL53L1_DISTANCEMODE_MEDIUM: + case VL53L1_DISTANCEMODE_LONG: + data->distance_mode = distance_mode; + break; + default: + vl53l1_errmsg("invalid distance mode %d\n", + distance_mode); + rc = -EINVAL; + break; + } + } + + return rc; +} + +IMPLEMENT_PARAMETER_INTEGER(distance_mode, "distance mode") + +/** + * sysfs attribute " distance mode" [rd/wr] + * + * set the distance mode value can only be used while: not ranging + * @li 1 @a VL53L1_DISTANCEMODE_SHORT + * @li 2 @a VL53L1_DISTANCEMODE_MEDIUM + * @li 3 @a VL53L1_DISTANCEMODE_LONG + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(distance_mode, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_distance_mode, + stmvl53l1_store_distance_mode); + +static int stmvl53l1_set_crosstalk_enable(struct stmvl53l1_data *data, + int crosstalk_enable) +{ + int rc = 0; + + if (data->enable_sensor) { + vl53l1_errmsg("can't change crosstalk enable while ranging\n"); + rc = -EBUSY; + } else if (crosstalk_enable == 0 || crosstalk_enable == 1) { + data->crosstalk_enable = crosstalk_enable; + } else { + vl53l1_errmsg("invalid crosstalk enable %d\n", + crosstalk_enable); + rc = -EINVAL; + } + + return rc; +} + +IMPLEMENT_PARAMETER_INTEGER(crosstalk_enable, "crosstalk enable") + +/** + * sysfs attribute " crosstalk enable" [rd/wr] + * + * control if crosstalk compensation is eanble or not + * @li 0 disable crosstalk compensation + * @li 1 enable crosstalk compensation + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(crosstalk_enable, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_crosstalk_enable, + stmvl53l1_store_crosstalk_enable); + +static int stmvl53l1_set_output_mode(struct stmvl53l1_data *data, + int output_mode) +{ + int rc = 0; + + if (data->enable_sensor) { + vl53l1_errmsg("can't change output mode while ranging\n"); + rc = -EBUSY; + } else { + switch (output_mode) { + case VL53L1_OUTPUTMODE_NEAREST: + case VL53L1_OUTPUTMODE_STRONGEST: + data->output_mode = output_mode; + break; + default: + vl53l1_errmsg("invalid output mode %d\n", output_mode); + rc = -EINVAL; + break; + } + } + + return rc; +} + +IMPLEMENT_PARAMETER_INTEGER(output_mode, "output mode") + +/** + * sysfs attribute " output mode" [rd/wr] + * + * set the output mode value can only be used while: not ranging + * @li 1 @a VL53L1_OUTPUTMODE_NEAREST + * @li 2 @a VL53L1_OUTPUTMODE_STRONGEST + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(output_mode, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_output_mode, + stmvl53l1_store_output_mode); + + +static int stmvl53l1_set_force_device_on_en(struct stmvl53l1_data *data, + int force_device_on_en) +{ + int rc; + + if (force_device_on_en != 0 && force_device_on_en != 1) { + vl53l1_errmsg("invalid force_device_on_en mode %d\n", + force_device_on_en); + return -EINVAL; + } + + data->force_device_on_en = force_device_on_en; + + /* don't update reset if sensor is enable */ + if (data->enable_sensor) + return 0; + + /* ok update reset according force_device_on_en value */ + if (force_device_on_en) + rc = reset_release(data); + else + rc = reset_hold(data); + + return rc; +} + +IMPLEMENT_PARAMETER_INTEGER(force_device_on_en, "force device on enable") + +/** + * sysfs attribute " force_device_on_enable" [rd/wr] + * + * Control if device is put under reset when stopped. + * @li 0 feature is disable. Device is put under reset when stopped. + * @li 1 feature is enable. Device is not put under reset when stopped. + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(force_device_on_enable, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_force_device_on_en, + stmvl53l1_store_force_device_on_en); + +static int stmvl53l1_set_offset_correction_mode(struct stmvl53l1_data *data, + int offset_correction_mode) +{ + int rc = 0; + + if (data->enable_sensor) { + vl53l1_errmsg( + "can't change offset correction mode while ranging\n"); + rc = -EBUSY; + } else { + switch (offset_correction_mode) { + case VL53L1_OFFSETCORRECTIONMODE_STANDARD: + case VL53L1_OFFSETCORRECTIONMODE_PERZONE: + case VL53L1_OFFSETCORRECTIONMODE_PERVCSEL: + data->offset_correction_mode = offset_correction_mode; + break; + default: + vl53l1_errmsg("invalid offset correction mode %d\n", + offset_correction_mode); + rc = -EINVAL; + break; + } + } + + return rc; +} + +IMPLEMENT_PARAMETER_INTEGER(offset_correction_mode, "offset correction mode") + +/** + * sysfs attribute " offset_correction_mode" [rd/wr] + * + * Control which offset correction is apply on result. can only be used + * while: not ranging + * @li 1 @a VL53L1_OFFSETCORRECTIONMODE_STANDARD + * @li 2 @a VL53L1_OFFSETCORRECTIONMODE_PERZONE + * @li 3 @a VL53L1_OFFSETCORRECTIONMODE_PERVCSEL + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(offset_correction_mode, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_offset_correction_mode, + stmvl53l1_store_offset_correction_mode); + +static ssize_t stmvl53l1_do_flush(struct device *dev, + struct device_attribute *attr, const char *buf, size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + + mutex_lock(&data->work_mutex); + + data->flush_todo_counter++; + if (data->enable_sensor == 0) + stmvl53l1_insert_flush_events_lock(data); + + mutex_unlock(&data->work_mutex); + + return count; +} + +static DEVICE_ATTR(do_flush, 0660/*S_IWUGO | S_IRUGO*/, + NULL, + stmvl53l1_do_flush); + +static ssize_t stmvl53l1_show_enable_debug(struct device *dev, + struct device_attribute *attr, char *buf) +{ + return scnprintf(buf, PAGE_SIZE, "%d\n", stmvl53l1_enable_debug); +} + +static ssize_t stmvl53l1_store_enable_debug(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + int enable_debug; + int rc = 0; + + if (kstrtoint(buf, 0, &enable_debug)) { + vl53l1_errmsg("invalid syntax in %s", buf); + rc = -EINVAL; + } else + stmvl53l1_enable_debug = enable_debug; + + return rc ? rc : count; +} + +/** + * sysfs attribute " debug enable" [rd/wr] + * + * dynamic control of vl53l1_dbgmsg messages. Note that in any case your code + * must be enable with DEBUG in stmvl53l1.h at compile time. + * @li 0 disable vl53l1_dbgmsg messages + * @li 1 enable vl53l1_dbgmsg messages + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(enable_debug, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_enable_debug, + stmvl53l1_store_enable_debug); + +static ssize_t display_FixPoint1616(char *buf, size_t size, FixPoint1616_t fix) +{ + uint32_t msb = fix >> 16; + uint32_t lsb = fix & 0xffff; + + lsb = (lsb * 1000000ULL + 32768) / 65536; + + return scnprintf(buf, size, "%d.%06d", msb, (uint32_t) lsb); +} + +static ssize_t stmvl53l1_show_autonomous_config(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + ssize_t res = 0; + + res += scnprintf(&buf[res], PAGE_SIZE, "%d %d %d %d %d %d %d ", + data->auto_pollingTimeInMs, + data->auto_config.DetectionMode, + data->auto_config.IntrNoTarget, + data->auto_config.Distance.CrossMode, + data->auto_config.Distance.High, + data->auto_config.Distance.Low, + data->auto_config.Rate.CrossMode); + + res += display_FixPoint1616(&buf[res], PAGE_SIZE - res, + data->auto_config.Rate.High); + + res += scnprintf(&buf[res], PAGE_SIZE - res, " "); + + res += display_FixPoint1616(&buf[res], PAGE_SIZE - res, + data->auto_config.Rate.Low); + + res += scnprintf(&buf[res], PAGE_SIZE - res, "\n"); + + return res; +} + +static const char *parse_integer(const char *buf, int *res) +{ + int rc; + + while (*buf == ' ') + buf++; + rc = sscanf(buf, "%d ", res); + if (!rc) + return NULL; + + return strchr(buf, ' '); +} + +static bool is_float_format(const char *buf, bool is_last) +{ + char *dot = strchr(buf, '.'); + char *space_or_eos = strchr(buf, is_last ? '\0' : ' '); + + if (!space_or_eos) + return !!dot; + if (!dot) + return false; + + return dot < space_or_eos ? true : false; +} + +static int parse_FixPoint16x16_lsb(const char *lsb_char) +{ + int lsb = 0; + int digit_nb = 0; + + /* parse at most 6 digits */ + lsb_char++; + while (isdigit(*lsb_char) && digit_nb < 6) { + lsb = lsb * 10 + (*lsb_char - '0'); + lsb_char++; + digit_nb++; + } + while (digit_nb++ < 6) + lsb = lsb * 10; + + return div64_s64(lsb * 65536ULL + 500000, 1000000); +} + +/* parse next fix point value and return a pointer to next blank or newline + * character according to is_last parameter. + * parse string must have digit for integer part (something like '.125' will + * return an error) or an error will be return. Only the first 6 digit of the + * decimal part will be parsed. + */ +static const char *parse_FixPoint16x16(const char *buf, FixPoint1616_t *res, + bool is_last) +{ + bool is_float; + int msb; + int lsb = 0; + int rc; + + while (*buf == ' ') + buf++; + is_float = is_float_format(buf, is_last); + + /* scan msb */ + rc = sscanf(buf, "%d ", &msb); + if (!rc) + return NULL; + /* then lsb if present */ + if (is_float) + lsb = parse_FixPoint16x16_lsb(strchr(buf, '.')); + *res = (msb << 16) + lsb; + + return strchr(buf, is_last ? '\0' : ' '); +} + +static ssize_t stmvl53l1_store_autonomous_config(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int pollingTimeInMs, DetectionMode, IntrNoTarget; + int d_CrossMode, d_High, d_Low; + int r_CrossMode; + FixPoint1616_t r_High, r_Low; + const char *buf_ori = buf; + int rc; + + mutex_lock(&data->work_mutex); + + if (data->enable_sensor) + goto busy; + + buf = parse_integer(buf, &pollingTimeInMs); + if (!buf) + goto invalid; + buf = parse_integer(buf, &DetectionMode); + if (!buf) + goto invalid; + buf = parse_integer(buf, &IntrNoTarget); + if (!buf) + goto invalid; + buf = parse_integer(buf, &d_CrossMode); + if (!buf) + goto invalid; + buf = parse_integer(buf, &d_High); + if (!buf) + goto invalid; + buf = parse_integer(buf, &d_Low); + if (!buf) + goto invalid; + buf = parse_integer(buf, &r_CrossMode); + if (!buf) + goto invalid; + buf = parse_FixPoint16x16(buf, &r_High, false); + if (!buf) + goto invalid; + buf = parse_FixPoint16x16(buf, &r_Low, true); + if (!buf) + goto invalid; + + data->auto_pollingTimeInMs = pollingTimeInMs; + data->auto_config.DetectionMode = DetectionMode; + data->auto_config.IntrNoTarget = IntrNoTarget; + data->auto_config.Distance.CrossMode = d_CrossMode; + data->auto_config.Distance.High = d_High; + data->auto_config.Distance.Low = d_Low; + data->auto_config.Rate.CrossMode = r_CrossMode; + data->auto_config.Rate.High = r_High; + data->auto_config.Rate.Low = r_Low; + + mutex_unlock(&data->work_mutex); + + return count; + +busy: + vl53l1_errmsg("can't change config while ranging"); + rc = -EBUSY; + goto error; + +invalid: + vl53l1_errmsg("invalid syntax in %s", buf_ori); + rc = -EINVAL; + goto error; + +error: + mutex_unlock(&data->work_mutex); + + return rc; +} + +/** + * sysfs attribute " autonomous_config" [rd/wr] + * + * Will set/get autonomous configuration using sysfs. + * + * format is the following : + * + * + * + *@code + * > echo "1000 1 0 0 1000 300 0 2.2 1.001" > autonomous_config + *@endcode + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(autonomous_config, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_autonomous_config, + stmvl53l1_store_autonomous_config); + +static ssize_t stmvl53l1_show_last_error_config(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + + return scnprintf(buf, PAGE_SIZE, "%d\n", data->last_error); +} + +/** + * sysfs attribute " last_error" [rd] + * + * Will get last internal error using sysfs. + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(last_error, 0440/*S_IRUGO*/, + stmvl53l1_show_last_error_config, + NULL); + +static ssize_t stmvl53l1_show_optical_center_config(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + ssize_t res = 0; + + res += display_FixPoint1616(&buf[res], PAGE_SIZE - res, + data->optical_offset_x); + res += scnprintf(&buf[res], PAGE_SIZE - res, " "); + res += display_FixPoint1616(&buf[res], PAGE_SIZE - res, + data->optical_offset_y); + + res += scnprintf(&buf[res], PAGE_SIZE - res, "\n"); + + return res; +} + +/** + * sysfs attribute " optical_center" [rd] + * + * Will get optical_center using sysfs. + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(optical_center, 0440/*S_IRUGO*/, + stmvl53l1_show_optical_center_config, + NULL); + +static int stmvl53l1_set_dmax_reflectance(struct stmvl53l1_data *data, + int dmax_reflectance) +{ + int rc = 0; + + if (data->enable_sensor) { + vl53l1_errmsg( + "can't change dmax reflectance while ranging\n"); + rc = -EBUSY; + } else + data->dmax_reflectance = dmax_reflectance; + + return rc; +} + +static ssize_t stmvl53l1_show_dmax_reflectance(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + ssize_t res = 0; + + res += display_FixPoint1616(&buf[res], PAGE_SIZE - res, + data->dmax_reflectance); + + res += scnprintf(&buf[res], PAGE_SIZE - res, "\n"); + + return res; +} + +static ssize_t stmvl53l1_store_dmax_reflectance(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + FixPoint1616_t dmax_reflectance; + const char *buf_ori = buf; + int rc; + + mutex_lock(&data->work_mutex); + + buf = parse_FixPoint16x16(buf, &dmax_reflectance, true); + if (!buf) + goto invalid; + rc = stmvl53l1_set_dmax_reflectance(data, dmax_reflectance); + if (rc) + goto error; + + mutex_unlock(&data->work_mutex); + + return count; + +invalid: + vl53l1_errmsg("invalid syntax in %s", buf_ori); + rc = -EINVAL; + goto error; + +error: + mutex_unlock(&data->work_mutex); + + return rc; +} + +/** + * sysfs attribute "dmax_reflectance" [rd/wr] + * + * target reflectance use for calculate the ambient DMAX. can only be used + * while: not ranging + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(dmax_reflectance, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_dmax_reflectance, + stmvl53l1_store_dmax_reflectance); + +static int stmvl53l1_set_dmax_mode(struct stmvl53l1_data *data, + int dmax_mode) +{ + int rc = 0; + + if (data->enable_sensor) { + vl53l1_errmsg("can't change dmax mode while ranging\n"); + rc = -EBUSY; + } else { + switch (dmax_mode) { + case VL53L1_DMAXMODE_FMT_CAL_DATA: + case VL53L1_DMAXMODE_CUSTCAL_DATA: + case VL53L1_DMAXMODE_PER_ZONE_CAL_DATA: + data->dmax_mode = dmax_mode; + break; + default: + vl53l1_errmsg("invalid dmax mode %d\n", dmax_mode); + rc = -EINVAL; + break; + } + } + + return rc; +} + +IMPLEMENT_PARAMETER_INTEGER(dmax_mode, "dmax mode") + +/** + * sysfs attribute " dmax mode" [rd/wr] + * + * set the dmax mode value can only be used while: not ranging + * @li 1 @a VL53L1_DMAXMODE_FMT_CAL_DATA + * @li 2 @a VL53L1_DMAXMODE_CUSTCAL_DATA + * @li 3 @a VL53L1_DMAXMODE_PER_ZONE_CAL_DATA + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(dmax_mode, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_dmax_mode, + stmvl53l1_store_dmax_mode); + +static int stmvl53l1_set_tuning(struct stmvl53l1_data *data, int key, + int value) +{ + int rc; + + if (data->enable_sensor) { + vl53l1_errmsg("can't change tuning params while ranging\n"); + return -EBUSY; + } + + if (data->is_calibrating) { + vl53l1_errmsg("can't change tuning params while calibrating\n"); + return -EBUSY; + } + + if (key & ~0xffff) + return -EINVAL; + + vl53l1_dbgmsg("trying to set %d with key %d", value, key); + + rc = VL53L1_SetTuningParameter(&data->stdev, key, value); + if (rc) + rc = store_last_error(data, rc); + + return rc; +} + +static ssize_t stmvl53l1_store_tuning(struct device *dev, + struct device_attribute *attr, + const char *buf, size_t count) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int key; + int value; + int n; + int rc; + + mutex_lock(&data->work_mutex); + + n = sscanf(buf, "%d %d", &key, &value); + if (n != 2) { + rc = -EINVAL; + goto error; + } + rc = stmvl53l1_set_tuning(data, key, value); + if (rc) + goto error; + + mutex_unlock(&data->work_mutex); + + return count; + +error: + mutex_unlock(&data->work_mutex); + + return rc; +} + +/** + * sysfs attribute "tuning" [wr] + * + * write a tuning parameter. Two integer parameters are given. First one + * is a key that specify which tuning parameter is update. Other one is the + * value which is write. + * + * writing a tuning parameter is only allowed before the first start. + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(tuning, 0220/*S_IWUGO */, + NULL, + stmvl53l1_store_tuning); + +static int stmvl53l1_display_tuning_key(struct stmvl53l1_data *data, char *buf, + int *pos, int key) +{ + int rc = 0; + int value = 0; + int sz; + + rc = VL53L1_GetTuningParameter(&data->stdev, key, &value); + if (rc) + return 0; + + sz = snprintf(&buf[*pos], PAGE_SIZE - *pos, "%d %d\n", key, value); + if (sz >= PAGE_SIZE - *pos) + return -ENOSPC; /* FIXME : another better error ? */ + + *pos += sz; + + return 0; +} + +static ssize_t stmvl53l1_show_tuning_status(struct device *dev, + struct device_attribute *attr, char *buf) +{ + const int max_tuning_key = 65535; + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int rc; + int i; + int pos = 0; + + mutex_lock(&data->work_mutex); + + for (i = 0; i < max_tuning_key; ++i) { + rc = stmvl53l1_display_tuning_key(data, buf, &pos, i); + if (rc) + break; + } + + mutex_unlock(&data->work_mutex); + + return rc ? rc : pos; +} + +/** + * sysfs attribute "tuning_status" [rd] + * + * write a tuning parameter. Two integer parameters are given. First one + * is a key that specify which tuning parameter is update. Other one is the + * value which is write. + * + * writing a tuning parameter is only allowed before the first start. + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(tuning_status, 0440/*S_IRUGO */, + stmvl53l1_show_tuning_status, + NULL); + +static int stmvl53l1_set_smudge_correction_mode(struct stmvl53l1_data *data, + int smudge_correction_mode) +{ + int rc = 0; + + if (data->enable_sensor) { + vl53l1_errmsg("can't change smudge corr mode while ranging\n"); + rc = -EBUSY; + } else { + switch (smudge_correction_mode) { + case VL53L1_SMUDGE_CORRECTION_NONE: + case VL53L1_SMUDGE_CORRECTION_CONTINUOUS: + case VL53L1_SMUDGE_CORRECTION_SINGLE: + case VL53L1_SMUDGE_CORRECTION_DEBUG: + data->smudge_correction_mode = smudge_correction_mode; + break; + default: + vl53l1_errmsg("invalid smudge correction mode %d\n", + smudge_correction_mode); + rc = -EINVAL; + break; + } + } + + return rc; +} + +IMPLEMENT_PARAMETER_INTEGER(smudge_correction_mode, "smudge correction mode") + +/** + * sysfs attribute " smudge_correction_mode" [rd/wr] + * + * This parameter will control if smudge correction is enable and how crosstalk + * values are updated. + * @li 0 @a VL53L1_SMUDGE_CORRECTION_NONE + * @li 1 @a VL53L1_SMUDGE_CORRECTION_CONTINUOUS + * @li 2 @a VL53L1_SMUDGE_CORRECTION_SINGLE + * @li 3 @a VL53L1_SMUDGE_CORRECTION_DEBUG + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(smudge_correction_mode, 0660/*S_IWUGO | S_IRUGO*/, + stmvl53l1_show_smudge_correction_mode, + stmvl53l1_store_smudge_correction_mode); + +static ssize_t stmvl53l1_show_is_xtalk_value_changed_config(struct device *dev, + struct device_attribute *attr, char *buf) +{ + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int param; + + mutex_lock(&data->work_mutex); + param = data->is_xtalk_value_changed; + mutex_unlock(&data->work_mutex); + + return scnprintf(buf, PAGE_SIZE, "%d\n", param); +} + +/** + * sysfs attribute " optical_center" [rd] + * + * Will get optical_center using sysfs. + * + * @ingroup sysfs_attrib + */ +static DEVICE_ATTR(is_xtalk_value_changed, 0440/*S_IRUGO*/, + stmvl53l1_show_is_xtalk_value_changed_config, + NULL); + +static struct attribute *stmvl53l1_attributes[] = { + &dev_attr_enable_ps_sensor.attr, + &dev_attr_set_delay_ms.attr, + &dev_attr_timing_budget.attr, + &dev_attr_roi.attr, + &dev_attr_mode.attr, + &dev_attr_do_flush.attr, + &dev_attr_distance_mode.attr, + &dev_attr_crosstalk_enable.attr, + &dev_attr_enable_debug.attr, + &dev_attr_output_mode.attr, + &dev_attr_force_device_on_enable.attr, + &dev_attr_autonomous_config.attr, + &dev_attr_last_error.attr, + &dev_attr_offset_correction_mode.attr, + &dev_attr_optical_center.attr, + &dev_attr_dmax_reflectance.attr, + &dev_attr_dmax_mode.attr, + &dev_attr_tuning.attr, + &dev_attr_tuning_status.attr, + &dev_attr_smudge_correction_mode.attr, + &dev_attr_is_xtalk_value_changed.attr, + &dev_attr_product_type.attr, + NULL +}; + +static const struct attribute_group stmvl53l1_attr_group = { + .attrs = stmvl53l1_attributes, +}; + +static ssize_t stmvl53l1_calib_data_read(struct file *filp, + struct kobject *kobj, struct bin_attribute *attr, + char *buf, loff_t off, size_t count) +{ + struct device *dev = container_of(kobj, struct device, kobj); + struct stmvl53l1_data *data = dev_get_drvdata(dev); + VL53L1_CalibrationData_t calib; + int rc; + void *src = (void *) &calib; + + mutex_lock(&data->work_mutex); + + vl53l1_dbgmsg("off = %lld / count = %d", off, count); + + /* sanity check */ + if (off < 0 || off > sizeof(VL53L1_CalibrationData_t)) + goto invalid; + + /* got current calibration data */ + memset(&calib, 0, sizeof(calib)); + rc = VL53L1_GetCalibrationData(&data->stdev, &calib); + if (rc) { + vl53l1_errmsg("VL53L1_GetCalibrationData fail %d", rc); + rc = store_last_error(data, rc); + goto error; + } + + /* copy to buffer */ + if (off + count > sizeof(VL53L1_CalibrationData_t)) + count = sizeof(VL53L1_CalibrationData_t) - off; + memcpy(buf, src + off, count); + + mutex_unlock(&data->work_mutex); + + return count; + +invalid: + vl53l1_errmsg("invalid syntax"); + rc = -EINVAL; + goto error; + +error: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static ssize_t stmvl53l1_calib_data_write(struct file *filp, + struct kobject *kobj, struct bin_attribute *attr, + char *buf, loff_t off, size_t count) +{ + struct device *dev = container_of(kobj, struct device, kobj); + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int rc; + + mutex_lock(&data->work_mutex); + + vl53l1_dbgmsg("off = %lld / count = %d", off, count); + + if (data->enable_sensor) { + rc = -EBUSY; + vl53l1_errmsg("can't set calib data while ranging\n"); + goto error; + } + + /* we only support one time write */ + if (off != 0 || count != sizeof(VL53L1_CalibrationData_t)) + goto invalid; + + rc = VL53L1_SetCalibrationData(&data->stdev, + (VL53L1_CalibrationData_t *) buf); + if (rc) { + vl53l1_errmsg("VL53L1_SetCalibrationData fail %d", rc); + rc = store_last_error(data, rc); + goto error; + } + + mutex_unlock(&data->work_mutex); + + return count; + +invalid: + vl53l1_errmsg("invalid syntax"); + rc = -EINVAL; + goto error; + +error: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static struct bin_attribute stmvl53l1_calib_data_attr = { + .attr = { + .name = "calibration_data", + .mode = 0660/*S_IWUGO | S_IRUGO*/, + }, + .size = sizeof(VL53L1_CalibrationData_t), + .read = stmvl53l1_calib_data_read, + .write = stmvl53l1_calib_data_write, +}; + +static ssize_t stmvl53l1_zone_calib_data_read(struct file *filp, + struct kobject *kobj, struct bin_attribute *attr, + char *buf, loff_t off, size_t count) +{ + struct device *dev = container_of(kobj, struct device, kobj); + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int rc; + void *src = (void *) &data->calib.data; + + mutex_lock(&data->work_mutex); + + vl53l1_dbgmsg("off = %lld / count = %d", off, count); + + /* sanity check */ + if (off < 0 || off > sizeof(stmvl531_zone_calibration_data_t)) + goto invalid; + + /* got current zone calibration data */ + rc = VL53L1_GetZoneCalibrationData(&data->stdev, + &data->calib.data.data); + if (rc) { + vl53l1_errmsg("VL53L1_GetZoneCalibrationData fail %d", rc); + rc = store_last_error(data, rc); + goto error; + } + data->calib.data.id = data->current_roi_id; + + /* copy to buffer */ + if (off + count > sizeof(stmvl531_zone_calibration_data_t)) + count = sizeof(stmvl531_zone_calibration_data_t) - off; + memcpy(buf, src + off, count); + + mutex_unlock(&data->work_mutex); + + return count; + +invalid: + vl53l1_errmsg("invalid syntax"); + rc = -EINVAL; + goto error; + +error: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static ssize_t stmvl53l1_zone_calib_data_write(struct file *filp, + struct kobject *kobj, struct bin_attribute *attr, + char *buf, loff_t off, size_t count) +{ + struct device *dev = container_of(kobj, struct device, kobj); + struct stmvl53l1_data *data = dev_get_drvdata(dev); + int rc; + void *dst = &data->calib.data; + + mutex_lock(&data->work_mutex); + + vl53l1_dbgmsg("off = %lld / count = %d", off, count); + + /* implementation if quite fragile. We suppose successive access. We + * trigger set on last byte write if amount is exact. + */ + if (off < 0 || off > sizeof(stmvl531_zone_calibration_data_t)) + goto invalid; + if (off + count > sizeof(stmvl531_zone_calibration_data_t)) + goto invalid; + + memcpy(dst + off, buf, count); + if (off + count == sizeof(stmvl531_zone_calibration_data_t)) { + vl53l1_dbgmsg("trigger zone calib setting"); + rc = VL53L1_SetZoneCalibrationData(&data->stdev, + &data->calib.data.data); + if (rc) { + vl53l1_errmsg("VL53L1_SetZoneCalibrationData fail %d", + rc); + rc = store_last_error(data, rc); + goto error; + } + data->current_roi_id = data->calib.data.id; + } + + mutex_unlock(&data->work_mutex); + + return count; + +invalid: + vl53l1_errmsg("invalid syntax"); + rc = -EINVAL; + goto error; + +error: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static struct bin_attribute stmvl53l1_zone_calib_data_attr = { + .attr = { + .name = "zone_calibration_data", + .mode = 0660/*S_IWUGO | S_IRUGO*/, + }, + .size = sizeof(stmvl531_zone_calibration_data_t), + .read = stmvl53l1_zone_calib_data_read, + .write = stmvl53l1_zone_calib_data_write, +}; + +static int ctrl_reg_access(struct stmvl53l1_data *data, void *p) +{ + struct stmvl53l1_register reg; + size_t total_byte; + int rc; + + if (data->is_device_remove) + return -ENODEV; + + total_byte = offsetof(struct stmvl53l1_register, data.b); + if (copy_from_user(®, p, total_byte)) { + vl53l1_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + + if (reg.cnt > STMVL53L1_MAX_CCI_XFER_SZ) { + vl53l1_errmsg("reg len %d > size limit\n", reg.cnt); + return -EINVAL; + } + + total_byte = offsetof(struct stmvl53l1_register, data.bytes[reg.cnt]); + /* for write get the effective data part of the structure */ + if (!reg.is_read) { + if (copy_from_user(®, p, total_byte)) { + vl53l1_errmsg(" data cpy fail\n"); + return -EFAULT; + } + } + + /* put back to user only needed amount of data */ + if (!reg.is_read) { + rc = VL53L1_WriteMulti(&data->stdev, (uint16_t)reg.index, + reg.data.bytes, reg.cnt); + reg.status = rc; + /* for write only write back status no data */ + total_byte = offsetof(struct stmvl53l1_register, data.b); + vl53l1_dbgmsg("wr %x %d bytes statu %d\n", + reg.index, reg.cnt, rc); + if (rc) + rc = store_last_error(data, rc); + } else { + rc = VL53L1_ReadMulti(&data->stdev, (uint16_t)reg.index, + reg.data.bytes, reg.cnt); + reg.status = rc; + vl53l1_dbgmsg("rd %x %d bytes status %d\n", + reg.index, reg.cnt, rc); + /* if fail do not copy back data only status */ + if (rc) { + total_byte = offsetof(struct stmvl53l1_register, + data.b); + rc = store_last_error(data, rc); + } + /* else the total byte is already the full pay-load with data */ + } + + if (copy_to_user(p, ®, total_byte)) { + vl53l1_errmsg("%d, fail\n", __LINE__); + return -EFAULT; + } + return rc; +} + + +/* + * + */ +static int ctrl_start(struct stmvl53l1_data *data) +{ + int rc; + + mutex_lock(&data->work_mutex); + + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + + vl53l1_dbgmsg(" state = %d\n", data->enable_sensor); + + /* turn on tof sensor only if it's not already started */ + if (data->enable_sensor == 0 && !data->is_calibrating) { + /* to start */ + rc = stmvl53l1_start(data); + } else{ + rc = -EBUSY; + } + vl53l1_dbgmsg(" final state = %d\n", data->enable_sensor); + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +/** + * no lock version of ctrl_stop (mutex shall be held) + * + * @warning exist only for use in device exit to ensure "locked and started" + * may also beuse in soem erro handling when mutex is already locked + * @return 0 on success and was running >0 if already off <0 on error + */ +static int _ctrl_stop(struct stmvl53l1_data *data) +{ + int rc; + + vl53l1_dbgmsg("enter state = %d\n", data->enable_sensor); + /* be sure waiters are woken */ + data->is_data_valid = true; + /* turn on tof sensor only if it's not enabled by other client */ + if (data->enable_sensor == 1) { + /* to stop */ + rc = stmvl53l1_stop(data); + } else { + vl53l1_dbgmsg("already off did nothing\n"); + rc = 0; + } + stmvl53l1_insert_flush_events_lock(data); + vl53l1_dbgmsg(" final state = %d\n", data->enable_sensor); + + return rc; +} + +/** + * get work lock and stop sensor + * + * see @ref _ctrl_stop + * + * @param data device + * @return 0 on success EBUSY if arleady off + */ +static int ctrl_stop(struct stmvl53l1_data *data) +{ + int rc; + + mutex_lock(&data->work_mutex); + + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + if (data->enable_sensor) + rc = _ctrl_stop(data); + else + rc = -EBUSY; + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static int ctrl_getdata(struct stmvl53l1_data *data, void __user *p) +{ + int rc; + + mutex_lock(&data->work_mutex); + + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + rc = copy_to_user(p, + &data->meas.single_range_data, + sizeof(stmvl531_range_data_t)); + if (rc) { + vl53l1_dbgmsg("copy to user fail %d", rc); + rc = -EFAULT; + } + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static bool is_new_data_for_me(struct stmvl53l1_data *data, pid_t pid, + struct list_head *head) +{ + return data->is_data_valid && !is_pid_in_list(pid, head); +} + +static bool sleep_for_data_condition(struct stmvl53l1_data *data, pid_t pid, + struct list_head *head) +{ + bool res; + + mutex_lock(&data->work_mutex); + res = is_new_data_for_me(data, pid, head); + mutex_unlock(&data->work_mutex); + + return res; +} + +static int sleep_for_data(struct stmvl53l1_data *data, pid_t pid, + struct list_head *head) +{ + int rc; + + mutex_unlock(&data->work_mutex); + rc = wait_event_killable(data->waiter_for_data, + sleep_for_data_condition(data, pid, head)); + mutex_lock(&data->work_mutex); + + return data->enable_sensor ? rc : -ENODEV; +} + +static int ctrl_getdata_blocking(struct stmvl53l1_data *data, void __user *p) +{ + int rc = 0; + pid_t pid = current->pid; + + mutex_lock(&data->work_mutex); + /* If device not ranging then exit on error */ + if (data->is_device_remove || !data->enable_sensor) { + rc = -ENODEV; + goto done; + } + /* sleep if data already read */ + if (!is_new_data_for_me(data, pid, &data->simple_data_reader_list)) + rc = sleep_for_data(data, pid, &data->simple_data_reader_list); + if (rc) + goto done; + + /* unless we got interrupted we return data to user and note read */ + rc = copy_to_user(p, &data->meas.single_range_data, + sizeof(stmvl531_range_data_t)); + if (rc) + goto done; + rc = add_reader(pid, &data->simple_data_reader_list); + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static int ctrl_mz_data_common(struct stmvl53l1_data *data, void __user *p, + bool is_additional) +{ + struct stmvl53l1_data_with_additional __user *d = p; + int rc; + + mutex_lock(&data->work_mutex); + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + rc = copy_to_user(&d->data, &data->meas.multi_range_data, + sizeof(VL53L1_MultiRangingData_t)); + if (rc) { + vl53l1_dbgmsg("copy to user fail %d", rc); + rc = -EFAULT; + goto done; + } + if (is_additional) { + rc = copy_to_user(&d->additional_data, + &data->meas.additional_data, + sizeof(VL53L1_AdditionalData_t)); + if (rc) { + vl53l1_dbgmsg("copy to user fail %d", rc); + rc = -EFAULT; + goto done; + } + } + if (!data->enable_sensor) + rc = -ENODEV; + else if (!is_mz_mode(data)) + rc = -ENOEXEC; + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static int ctrl_mz_data_blocking_common(struct stmvl53l1_data *data, + void __user *p, bool is_additional) +{ + int rc = 0; + struct stmvl53l1_data_with_additional __user *d = p; + pid_t pid = current->pid; + + mutex_lock(&data->work_mutex); + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + /* mode 2 or 3 */ + if (!is_mz_mode(data)) { + rc = -ENOEXEC; + goto done; + } + /* If device not ranging then exit on error */ + if (!data->enable_sensor) { + rc = -ENODEV; + goto done; + } + /* sleep if data already read */ + if (!is_new_data_for_me(data, pid, &data->mz_data_reader_list)) + rc = sleep_for_data(data, pid, &data->mz_data_reader_list); + if (rc) + goto done; + + /* unless we got interrupted we return data to user and note read */ + rc = copy_to_user(&d->data, &data->meas.multi_range_data, + sizeof(VL53L1_MultiRangingData_t)); + if (rc) + goto done; + if (is_additional) { + rc = copy_to_user(&d->additional_data, + &data->meas.additional_data, + sizeof(VL53L1_AdditionalData_t)); + if (rc) + goto done; + } + rc = add_reader(pid, &data->mz_data_reader_list); + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +/** + * Get multi zone data + * @param data + * @param p [out] user ptr to @ref VL53L1_MultiRangingData_t structure\n + * is always set but on EFAULT error + * + * @return + * @li 0 on success + * @li ENODEV if not ranging + * @li ENOEXEC not in multi zone mode + * @li EFAULT copy to user error + */ +static int ctrl_mz_data(struct stmvl53l1_data *data, void __user *p) +{ + return ctrl_mz_data_common(data, p, false); +} + +static int ctrl_mz_data_blocking(struct stmvl53l1_data *data, void __user *p) +{ + return ctrl_mz_data_blocking_common(data, p, false); +} + +/** + * Get multi zone data with histogram debug data + * @param data + * @param p [out] user ptr to @ref struct stmvl53l1_data_with_additional + * structure is always set but on EFAULT error + * + * @return + * @li 0 on success + * @li ENODEV if not ranging + * @li ENOEXEC not in multi zone mode + * @li EFAULT copy to user error + */ +static int ctrl_mz_data_additional(struct stmvl53l1_data *data, void __user *p) +{ + return ctrl_mz_data_common(data, p, true); +} + +static int ctrl_mz_data_blocking_additional(struct stmvl53l1_data *data, + void __user *p) +{ + return ctrl_mz_data_blocking_common(data, p, true); +} + +static int ctrl_param_last_error(struct stmvl53l1_data *data, + struct stmvl53l1_parameter *param) +{ + int rc; + + if (param->is_read) { + param->value = data->last_error; + param->status = 0; + vl53l1_dbgmsg("get last error %d", param->value); + rc = 0; + } else { + rc = -EINVAL; + } + + return rc; +} + +static int ctrl_param_optical_center(struct stmvl53l1_data *data, + struct stmvl53l1_parameter *param) +{ + if (!param->is_read) + return -EINVAL; + + param->value = data->optical_offset_x; + param->value2 = data->optical_offset_y; + + return 0; +} + +static int ctrl_param_dmax_reflectance(struct stmvl53l1_data *data, + struct stmvl53l1_parameter *param) +{ + int rc; + + if (param->is_read) { + param->value = data->dmax_reflectance; + param->status = 0; + vl53l1_dbgmsg("get dmax reflectance %d", param->value); + rc = 0; + } else { + rc = stmvl53l1_set_dmax_reflectance(data, param->value); + vl53l1_dbgmsg("rc %d req %d now %d", rc, + param->value, data->dmax_reflectance); + } + + return rc; +} + +static int ctrl_param_tuning(struct stmvl53l1_data *data, + struct stmvl53l1_parameter *param) +{ + if (param->is_read) + return -EINVAL; + + return stmvl53l1_set_tuning(data, param->value, param->value2); +} + +static int ctrl_param_is_xtalk_value_changed(struct stmvl53l1_data *data, + struct stmvl53l1_parameter *param) +{ + if (!param->is_read) + return -EINVAL; + + param->value = data->is_xtalk_value_changed; + + return 0; +} + +/** + * handle ioctl set param mode + * + * @param data + * @param p + * @return 0 on success + */ +static int ctrl_params(struct stmvl53l1_data *data, void __user *p) +{ + int rc, rc2; + struct stmvl53l1_parameter param; + + mutex_lock(&data->work_mutex); + + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + rc = copy_from_user(¶m, p, sizeof(param)); + param.status = 0; + if (rc) { + rc = -EFAULT; + goto done; /* no need for status in user struct */ + } + switch (param.name) { + case VL53L1_POLLDELAY_PAR: + rc = ctrl_param_poll_delay_ms(data, ¶m); + break; + case VL53L1_TIMINGBUDGET_PAR: + rc = ctrl_param_timing_budget(data, ¶m); + break; + case VL53L1_DEVICEMODE_PAR: + rc = ctrl_param_preset_mode(data, ¶m); + break; + case VL53L1_DISTANCEMODE_PAR: + rc = ctrl_param_distance_mode(data, ¶m); + break; + case VL53L1_XTALKENABLE_PAR: + rc = ctrl_param_crosstalk_enable(data, ¶m); + break; + case VL53L1_OUTPUTMODE_PAR: + rc = ctrl_param_output_mode(data, ¶m); + break; + case VL53L1_FORCEDEVICEONEN_PAR: + rc = ctrl_param_force_device_on_en(data, ¶m); + break; + case VL53L1_LASTERROR_PAR: + rc = ctrl_param_last_error(data, ¶m); + break; + case VL53L1_OFFSETCORRECTIONMODE_PAR: + rc = ctrl_param_offset_correction_mode(data, ¶m); + break; + case VL53L1_OPTICALCENTER_PAR: + rc = ctrl_param_optical_center(data, ¶m); + break; + case VL53L1_DMAXREFLECTANCE_PAR: + rc = ctrl_param_dmax_reflectance(data, ¶m); + break; + case VL53L1_DMAXMODE_PAR: + rc = ctrl_param_dmax_mode(data, ¶m); + break; + case VL53L1_TUNING_PAR: + rc = ctrl_param_tuning(data, ¶m); + break; + case VL53L1_SMUDGECORRECTIONMODE_PAR: + rc = ctrl_param_smudge_correction_mode(data, ¶m); + break; + case VL53L1_ISXTALKVALUECHANGED_PAR: + rc = ctrl_param_is_xtalk_value_changed(data, ¶m); + break; + default: + vl53l1_errmsg("unknown or unsupported %d\n", param.name); + rc = -EINVAL; + } + /* copy back (status at least ) to user */ + if (param.is_read && rc == 0) { + rc2 = copy_to_user(p, ¶m, sizeof(param)); + if (rc2) { + rc = -EFAULT; /* kill prev status if that fail */ + vl53l1_errmsg("copy to user fail %d\n", rc); + } + } +done: + mutex_unlock(&data->work_mutex); + return rc; +} + +/** + * implement set/get roi ioctl + * @param data device + * @param p user space ioctl arg ptr + * @return 0 on success <0 errno code + * @li -EINVAL invalid number of roi + * @li -EBUSY when trying to set roi while ranging + * @li -EFAULT if cpy to/fm user fail for requested number of roi + */ +static int ctrl_roi(struct stmvl53l1_data *data, void __user *p) +{ + int rc; + int roi_cnt; + struct stmvl53l1_roi_full_t rois; + + mutex_lock(&data->work_mutex); + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + /* copy fixed part of args at first */ + rc = copy_from_user(&rois, p, + offsetof(struct stmvl53l1_roi_full_t, + roi_cfg.UserRois[0])); + if (rc) { + rc = -EFAULT; + goto done; + } + /* check no of roi limit is ok */ + roi_cnt = rois.roi_cfg.NumberOfRoi; + if (roi_cnt > VL53L1_MAX_USER_ZONES) { + vl53l1_errmsg("invalid roi spec cnt=%d > %d", + rois.roi_cfg.NumberOfRoi, + VL53L1_MAX_USER_ZONES); + rc = -EINVAL; + goto done; + } + + if (rois.is_read) { + int cpy_size; + + roi_cnt = MIN(rois.roi_cfg.NumberOfRoi, + data->roi_cfg.NumberOfRoi); + cpy_size = offsetof(VL53L1_RoiConfig_t, UserRois[roi_cnt]); + /* copy from local to user only effective part requested */ + rc = copy_to_user(&((struct stmvl53l1_roi_full_t *)p)->roi_cfg, + &data->roi_cfg, cpy_size); + vl53l1_dbgmsg("return %d of %d\n", roi_cnt, + data->roi_cfg.NumberOfRoi); + } else { + /* SET check cnt roi is ok */ + if (data->enable_sensor) { + rc = -EBUSY; + vl53l1_errmsg("can't set roi while ranging\n"); + goto done; + } + /* get full data that required from user */ + rc = copy_from_user(&rois, p, + offsetof(struct stmvl53l1_roi_full_t, + roi_cfg.UserRois[roi_cnt])); + if (rc) { + vl53l1_errmsg("get %d roi fm user fail", roi_cnt); + rc = -EFAULT; + goto done; + } + dump_roi(data->roi_cfg.UserRois, data->roi_cfg.NumberOfRoi); + /* we may ask ll driver to check but check is mode dependent + * and so we could get erroneous error back + */ + memcpy(&data->roi_cfg, &rois.roi_cfg, sizeof(data->roi_cfg)); + } +done: + mutex_unlock(&data->work_mutex); + return rc; +} + +static int ctrl_autonomous_config(struct stmvl53l1_data *data, void __user *p) +{ + int rc = 0; + struct stmvl53l1_autonomous_config_t full; + + mutex_lock(&data->work_mutex); + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + /* first copy all data */ + rc = copy_from_user(&full, p, sizeof(full)); + if (rc) { + rc = -EFAULT; + goto done; + } + + if (full.is_read) { + full.pollingTimeInMs = data->auto_pollingTimeInMs; + full.config = data->auto_config; + rc = copy_to_user(p, &full, sizeof(full)); + if (rc) + rc = -EFAULT; + } else { + if (data->enable_sensor) { + rc = -EBUSY; + vl53l1_errmsg("can't change config while ranging\n"); + goto done; + } + data->auto_pollingTimeInMs = full.pollingTimeInMs; + data->auto_config = full.config; + } + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static int ctrl_calibration_data(struct stmvl53l1_data *data, void __user *p) +{ + int rc; + struct stmvl53l1_ioctl_calibration_data_t calib; + int data_offset = offsetof(struct stmvl53l1_ioctl_calibration_data_t, + data); + + mutex_lock(&data->work_mutex); + + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + rc = copy_from_user(&calib, p, data_offset); + if (rc) { + vl53l1_errmsg("fail to detect read or write %d", rc); + rc = -EFAULT; + goto done; + } + + if (calib.is_read) { + memset(&calib.data, 0, sizeof(calib.data)); + rc = VL53L1_GetCalibrationData(&data->stdev, &calib.data); + if (rc) { + vl53l1_errmsg("VL53L1_GetCalibrationData fail %d", rc); + rc = store_last_error(data, rc); + goto done; + } + rc = copy_to_user(p + data_offset, &calib.data, + sizeof(calib.data)); + } else { + if (data->enable_sensor) { + rc = -EBUSY; + vl53l1_errmsg("can't set calib data while ranging\n"); + goto done; + } + rc = copy_from_user(&calib.data, p + data_offset, + sizeof(calib.data)); + if (rc) { + vl53l1_errmsg("fail to copy calib data"); + rc = -EFAULT; + goto done; + } + rc = VL53L1_SetCalibrationData(&data->stdev, &calib.data); + if (rc) { + vl53l1_errmsg("VL53L1_SetCalibrationData fail %d", rc); + rc = store_last_error(data, rc); + } + } + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static int ctrl_zone_calibration_data(struct stmvl53l1_data *data, + void __user *p) +{ + int rc; + struct stmvl53l1_ioctl_zone_calibration_data_t *calib; + int data_offset = + offsetof(struct stmvl53l1_ioctl_zone_calibration_data_t, data); + + mutex_lock(&data->work_mutex); + + calib = &data->calib; + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + rc = copy_from_user(calib, p, data_offset); + if (rc) { + vl53l1_errmsg("fail to detect read or write %d", rc); + rc = -EFAULT; + goto done; + } + + if (calib->is_read) { + memset(&calib->data, 0, sizeof(calib->data)); + rc = VL53L1_GetZoneCalibrationData(&data->stdev, + &calib->data.data); + if (rc) { + vl53l1_errmsg("VL53L1_GetZoneCalibrationData fail %d", + rc); + rc = store_last_error(data, rc); + goto done; + } + calib->data.id = data->current_roi_id; + rc = copy_to_user(p + data_offset, &calib->data, + sizeof(calib->data)); + } else { + if (data->enable_sensor) { + rc = -EBUSY; + vl53l1_errmsg("can't set calib data while ranging\n"); + goto done; + } + rc = copy_from_user(&calib->data, p + data_offset, + sizeof(calib->data)); + if (rc) { + vl53l1_errmsg("fail to copy calib data"); + rc = -EFAULT; + goto done; + } + rc = VL53L1_SetZoneCalibrationData(&data->stdev, + &calib->data.data); + if (rc) { + vl53l1_errmsg("VL53L1_SetZoneCalibrationData fail %d", + rc); + rc = store_last_error(data, rc); + goto done; + } + data->current_roi_id = calib->data.id; + } + +done: + mutex_unlock(&data->work_mutex); + + return rc; +} + +static int ctrl_perform_calibration_ref_spad_lock(struct stmvl53l1_data *data, + struct stmvl53l1_ioctl_perform_calibration_t *calib) +{ + int rc = VL53L1_PerformRefSpadManagement(&data->stdev); + + if (rc) { + vl53l1_errmsg("VL53L1_PerformRefSpadManagement fail => %d", rc); + rc = store_last_error(data, rc); + } + + return rc; +} + +static int ctrl_perform_calibration_crosstalk_lock(struct stmvl53l1_data *data, + struct stmvl53l1_ioctl_perform_calibration_t *calib) +{ + int rc = 0; + + /* Set the preset mode passed on param2 */ + data->preset_mode = (VL53L1_PresetModes)(calib->param2); + + rc = stmvl53l1_sendparams(data); + if (rc) + goto done; + + rc = VL53L1_PerformXTalkCalibration(&data->stdev, calib->param1); + if (rc) { + vl53l1_errmsg("VL53L1_PerformXTalkCalibration fail => %d", rc); + rc = store_last_error(data, rc); + } + +done: + return rc; +} + +static int ctrl_perform_zone_calibration_offset_lock( + struct stmvl53l1_data *data, + struct stmvl53l1_ioctl_perform_calibration_t *calib) +{ + int rc; + + /* first sanity check */ + if (calib->param1 != VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE) { + vl53l1_errmsg("invalid param1"); + rc = -EINVAL; + goto done; + } + + /* setup offset calibration mode */ + rc = VL53L1_SetOffsetCalibrationMode(&data->stdev, calib->param1); + if (rc) { + vl53l1_errmsg("VL53L1_SetOffsetCalibrationMode fail => %d", rc); + rc = store_last_error(data, rc); + goto done; + } + + /* set mode to multi zone to allow roi settings */ + rc = VL53L1_SetPresetMode(&data->stdev, + VL53L1_PRESETMODE_MULTIZONES_SCANNING); + if (rc) { + vl53l1_errmsg("VL53L1_SetPresetMode fail => %d", rc); + rc = store_last_error(data, rc); + goto done; + } + + /* setup roi */ + rc = VL53L1_SetROI(&data->stdev, &data->roi_cfg); + if (rc) { + vl53l1_errmsg("VL53L1_SetROI fail => %d", rc); + rc = store_last_error(data, rc); + goto done; + } + + /* finally perform calibration */ + /* allow delay add after stop in VL53L1_run__calibration */ + data->is_delay_allowed = 1; + rc = VL53L1_PerformOffsetCalibration(&data->stdev, calib->param2, + calib->param3); + data->is_delay_allowed = 0; + if (rc) { + vl53l1_errmsg("VL53L1_PerformOffsetCalibration fail => %d", rc); + rc = store_last_error(data, rc); + } + + /* save roi hash for later use */ + data->current_roi_id = stmvl53l1_compute_hash(&data->roi_cfg); + +done: + return rc; +} + +static int ctrl_perform_calibration_offset_lock(struct stmvl53l1_data *data, + struct stmvl53l1_ioctl_perform_calibration_t *calib) +{ + int rc; + + /* for legacy purpose we still support mz */ + if (calib->param1 == VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE) + return ctrl_perform_zone_calibration_offset_lock(data, calib); + + /* setup offset calibration mode */ + rc = VL53L1_SetOffsetCalibrationMode(&data->stdev, calib->param1); + if (rc) { + vl53l1_errmsg("VL53L1_SetOffsetCalibrationMode fail => %d", rc); + rc = store_last_error(data, rc); + goto done; + } + + /* finally perform calibration */ + /* allow delay add after stop in VL53L1_run__calibration */ + data->is_delay_allowed = 1; + rc = VL53L1_PerformOffsetCalibration(&data->stdev, calib->param2, + calib->param3); + data->is_delay_allowed = 0; + if (rc) { + vl53l1_errmsg("VL53L1_PerformOffsetCalibration fail => %d", rc); + rc = store_last_error(data, rc); + } + +done: + return rc; +} + +static int ctrl_perform_simple_calibration_offset_lock( + struct stmvl53l1_data *data, + struct stmvl53l1_ioctl_perform_calibration_t *calib) +{ + int rc; + + /* finally perform calibration */ + /* allow delay add after stop in VL53L1_run__calibration */ + data->is_delay_allowed = 1; + + rc = stmvl53l1_sendparams(data); + if (rc) + goto done; + + rc = VL53L1_PerformOffsetSimpleCalibration(&data->stdev, calib->param1); + data->is_delay_allowed = 0; + if (rc) { + vl53l1_errmsg( + "VL53L1_PerformOffsetSimpleCalibration fail => %d", rc); + rc = store_last_error(data, rc); + } + +done: + return rc; +} + +static int ctrl_perform_per_vcsel_calibration_offset_lock( + struct stmvl53l1_data *data, + struct stmvl53l1_ioctl_perform_calibration_t *calib) +{ + int rc; + + /* finally perform calibration */ + /* allow delay add after stop in VL53L1_run__calibration */ + data->is_delay_allowed = 1; + + rc = stmvl53l1_sendparams(data); + if (rc) + goto done; + + rc = VL53L1_PerformOffsetPerVcselCalibration(&data->stdev, + calib->param1); + data->is_delay_allowed = 0; + if (rc) { + vl53l1_errmsg( + "VL53L1_PerformOffsetPerVcselCalibration fail => %d", rc); + rc = store_last_error(data, rc); + } + +done: + return rc; +} + +static int ctrl_perform_zero_distance_calibration_offset_lock( + struct stmvl53l1_data *data, + struct stmvl53l1_ioctl_perform_calibration_t *calib) +{ + int rc; + + /* finally perform calibration */ + /* allow delay add after stop in VL53L1_run__calibration */ + data->is_delay_allowed = 1; + + rc = stmvl53l1_sendparams(data); + if (rc) + goto done; + + rc = VL53L1_PerformOffsetZeroDistanceCalibration(&data->stdev); + data->is_delay_allowed = 0; + if (rc) { + vl53l1_errmsg( + "VL53L1_PerformOffsetZeroDistanceCalibration fail => %d", rc); + rc = store_last_error(data, rc); + } + +done: + return rc; +} + +static int ctrl_perform_calibration(struct stmvl53l1_data *data, void __user *p) +{ + int rc; + struct stmvl53l1_ioctl_perform_calibration_t calib; + + mutex_lock(&data->work_mutex); + + if (data->is_device_remove) { + rc = -ENODEV; + goto done; + } + data->is_calibrating = true; + rc = copy_from_user(&calib, p, sizeof(calib)); + if (rc) { + rc = -EFAULT; + goto done; + } + if (data->enable_sensor) { + rc = -EBUSY; + vl53l1_errmsg("can't perform calibration while ranging\n"); + goto done; + } + + rc = reset_release(data); + if (rc) + goto done; + + rc = VL53L1_StaticInit(&data->stdev); + if (rc) { + vl53l1_errmsg("VL53L1_StaticInit fail => %d", rc); + rc = store_last_error(data, rc); + goto done; + } + + switch (calib.calibration_type) { + case VL53L1_CALIBRATION_REF_SPAD: + rc = ctrl_perform_calibration_ref_spad_lock(data, + &calib); + break; + case VL53L1_CALIBRATION_CROSSTALK: + rc = ctrl_perform_calibration_crosstalk_lock(data, + &calib); + break; + case VL53L1_CALIBRATION_OFFSET: + rc = ctrl_perform_calibration_offset_lock(data, + &calib); + break; + case VL53L1_CALIBRATION_OFFSET_SIMPLE: + rc = ctrl_perform_simple_calibration_offset_lock(data, + &calib); + break; + case VL53L1_CALIBRATION_OFFSET_PER_ZONE: + rc = ctrl_perform_zone_calibration_offset_lock(data, + &calib); + break; + case VL53L1_CALIBRATION_OFFSET_PER_VCSEL: + rc = ctrl_perform_per_vcsel_calibration_offset_lock(data, + &calib); + break; + case VL53L1_CALIBRATION_OFFSET_ZERO_DISTANCE: + rc = ctrl_perform_zero_distance_calibration_offset_lock(data, + &calib); + break; + default: + rc = -EINVAL; + break; + } + + reset_hold(data); + +done: + data->is_calibrating = false; + data->is_first_start_done = true; + mutex_unlock(&data->work_mutex); + + return rc; +} + +static int stmvl53l1_ioctl_handler( + struct stmvl53l1_data *data, + unsigned int cmd, unsigned long arg, + void __user *p) +{ + int rc = 0; + + if (!data) + return -EINVAL; + + switch (cmd) { + + case VL53L1_IOCTL_START: + vl53l1_dbgmsg("VL53L1_IOCTL_START\n"); + rc = ctrl_start(data); + break; + + case VL53L1_IOCTL_STOP: + vl53l1_dbgmsg("VL53L1_IOCTL_STOP\n"); + rc = ctrl_stop(data); + break; + + case VL53L1_IOCTL_GETDATAS: + /* vl53l1_dbgmsg("VL53L1_IOCTL_GETDATAS\n"); */ + rc = ctrl_getdata(data, p); + break; + + case VL53L1_IOCTL_GETDATAS_BLOCKING: + /* vl53l1_dbgmsg("VL53L1_IOCTL_GETDATAS_BLOCKING\n"); */ + rc = ctrl_getdata_blocking(data, p); + break; + + /* Register tool */ + case VL53L1_IOCTL_REGISTER: + vl53l1_dbgmsg("VL53L1_IOCTL_REGISTER\n"); + rc = ctrl_reg_access(data, p); + break; + + case VL53L1_IOCTL_PARAMETER: + vl53l1_dbgmsg("VL53L1_IOCTL_PARAMETER\n"); + rc = ctrl_params(data, p); + break; + + case VL53L1_IOCTL_ROI: + vl53l1_dbgmsg("VL53L1_IOCTL_ROI\n"); + rc = ctrl_roi(data, p); + break; + case VL53L1_IOCTL_MZ_DATA: + /* vl53l1_dbgmsg("VL53L1_IOCTL_MZ_DATA\n"); */ + rc = ctrl_mz_data(data, p); + break; + case VL53L1_IOCTL_MZ_DATA_BLOCKING: + /* vl53l1_dbgmsg("VL53L1_IOCTL_MZ_DATA_BLOCKING\n"); */ + rc = ctrl_mz_data_blocking(data, p); + break; + case VL53L1_IOCTL_CALIBRATION_DATA: + vl53l1_dbgmsg("VL53L1_IOCTL_CALIBRATION_DATA\n"); + rc = ctrl_calibration_data(data, p); + break; + case VL53L1_IOCTL_PERFORM_CALIBRATION: + vl53l1_dbgmsg("VL53L1_IOCTL_PERFORM_CALIBRATION\n"); + rc = ctrl_perform_calibration(data, p); + break; + case VL53L1_IOCTL_AUTONOMOUS_CONFIG: + vl53l1_dbgmsg("VL53L1_IOCTL_AUTONOMOUS_CONFIG\n"); + rc = ctrl_autonomous_config(data, p); + break; + case VL53L1_IOCTL_ZONE_CALIBRATION_DATA: + vl53l1_dbgmsg("VL53L1_IOCTL_ZONE_CALIBRATION_DATA\n"); + rc = ctrl_zone_calibration_data(data, p); + break; + case VL53L1_IOCTL_MZ_DATA_ADDITIONAL: + /* vl53l1_dbgmsg("VL53L1_IOCTL_MZ_DATA_ADDITIONAL\n"); */ + rc = ctrl_mz_data_additional(data, p); + break; + case VL53L1_IOCTL_MZ_DATA_ADDITIONAL_BLOCKING: + /* vl53l1_dbgmsg("VL53L1_IOCTL_MZ_DATA_ADDITIONAL_BLOCKING\n"); + */ + rc = ctrl_mz_data_blocking_additional(data, p); + break; + default: + rc = -EINVAL; + break; + } + + return rc; +} + + + +static int stmvl53l1_open(struct inode *inode, struct file *file) +{ + struct stmvl53l1_data *data = container_of(file->private_data, + struct stmvl53l1_data, miscdev); + + vl53l1_dbgmsg("Start\n"); + stmvl53l1_module_func_tbl.get(data->client_object); + vl53l1_dbgmsg("End\n"); + + return 0; +} + +static int stmvl53l1_release(struct inode *inode, struct file *file) +{ + struct stmvl53l1_data *data = container_of(file->private_data, + struct stmvl53l1_data, miscdev); + + vl53l1_dbgmsg("Start\n"); + stmvl53l1_module_func_tbl.put(data->client_object); + vl53l1_dbgmsg("End\n"); + + return 0; +} + + +/** max number or error per measure too abort */ +#define stvm531_get_max_meas_err(...) 3 +/** max number or error per stream too abort */ +#define stvm531_get_max_stream_err(...) 6 + +static void detect_xtalk_value_change(struct stmvl53l1_data *data, + VL53L1_MultiRangingData_t *meas) +{ + data->is_xtalk_value_changed = meas->HasXtalkValueChanged ? true : + data->is_xtalk_value_changed; +} + +/** + * handle data retrieval and dispatch + * + * work lock must be held + * + * called form work or interrupt thread it must be a blocable context ! + * @param data the device + */ +static void stmvl53l1_on_newdata_event(struct stmvl53l1_data *data) +{ + int rc; + VL53L1_RangingMeasurementData_t *pmsinglerange; + VL53L1_MultiRangingData_t *pmrange; + VL53L1_MultiRangingData_t *tmprange; + VL53L1_TargetRangeData_t RangeData[VL53L1_MAX_RANGE_RESULTS]; + VL53L1_RangingMeasurementData_t singledata; + long ts_msec; + int i; + + st_gettimeofday(&data->meas.comp_tv); + ts_msec = stmvl53l1_tv_dif(&data->start_tv, &data->meas.comp_tv)/1000; + + pmrange = &data->meas.multi_range_data; + tmprange = &data->meas.tmp_range_data; + pmsinglerange = &data->meas.single_range_data; + + memcpy(&singledata, pmsinglerange, + sizeof(VL53L1_RangingMeasurementData_t)); + for (i = 0; i < VL53L1_MAX_RANGE_RESULTS; i++) + memcpy(&RangeData[i], &pmrange->RangeData[i], + sizeof(VL53L1_TargetRangeData_t)); + + data->meas.intr++; + + /* use get data method based on active mode */ + switch (data->preset_mode) { + case VL53L1_PRESETMODE_LITE_RANGING: + case VL53L1_PRESETMODE_AUTONOMOUS: + case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS: + rc = VL53L1_GetRangingMeasurementData(&data->stdev, + pmsinglerange); + break; + case VL53L1_PRESETMODE_RANGING: + case VL53L1_PRESETMODE_MULTIZONES_SCANNING: + /* IMPORTANT : during VL53L1_GetMultiRangingData() call + * work_mutex is release during ipp. This is why we use + * tmp_range_data which is not access somewhere else. When we are + * back we then copy tmp_range_data in multi_range_data. + */ + + rc = VL53L1_GetMultiRangingData(&data->stdev, + &data->meas.tmp_range_data); + if (rc) + vl53l1_errmsg("VL53L1_GetRangingMeasurementData @%d %d", + __LINE__, rc); + + /* be sure we got VL53L1_RANGESTATUS_NONE for object 0 if we got + * invalid roi or no object. So if client read data using + * VL53L1_IOCTL_GETDATAS we got correct status. + */ + if (tmprange->RoiStatus == VL53L1_ROISTATUS_NOT_VALID || + tmprange->NumberOfObjectsFound == 0) + tmprange->RangeData[0].RangeStatus = + VL53L1_RANGESTATUS_NONE; + + memcpy(pmrange, tmprange, sizeof(VL53L1_MultiRangingData_t)); + + /* got histogram debug data in case user want it later on */ + if (!rc) + rc = VL53L1_GetAdditionalData(&data->stdev, + &data->meas.additional_data); + detect_xtalk_value_change(data, pmrange); + break; + default: + /* that must be some bug or data corruption stop now */ + rc = -1; + vl53l1_errmsg("unsorted mode %d=>stop\n", data->preset_mode); + _ctrl_stop(data); + } + /* check if not stopped yet + * as we may have been unlocked we must re-check + */ + if (data->enable_sensor == 0) { + vl53l1_dbgmsg("at meas #%d we got stopped\n", data->meas.cnt); + return; + } + if (rc) { + vl53l1_errmsg("VL53L1_GetRangingMeasurementData @%d %d", + __LINE__, rc); + data->meas.err_cnt++; + data->meas.err_tot++; + if (data->meas.err_cnt > stvm531_get_max_meas_err(data) || + data->meas.err_tot > stvm531_get_max_stream_err(data)) { + vl53l1_errmsg("on #%d %d err %d tot stop", + data->meas.cnt, data->meas.err_cnt, + data->meas.err_tot); + _ctrl_stop(data); + } + return; + } + + /* FIXME: remove when implemented by ll or bare driver */ + pmrange->TimeStamp = ts_msec; + pmsinglerange->TimeStamp = ts_msec; + for (i = 1; i < pmrange->NumberOfObjectsFound; i++) + pmrange->TimeStamp = ts_msec; + + data->meas.cnt++; + vl53l1_dbgmsg("#%3d %2d poll ts %5d status=%d obj cnt=%d\n", + data->meas.cnt, + data->meas.poll_cnt, + pmrange->TimeStamp, + pmrange->RangeData[0].RangeStatus, + pmrange->NumberOfObjectsFound); +#if 1 + vl53l1_dbgmsg( + "meas m#%04d i#%04d p#%04d in %d ms data status_range single[%d %d],multi[%d %d],tmp[%d %d]\n", + + (int)data->meas.cnt, + (int)data->meas.intr, + (int)data->meas.poll_cnt, + (int)stmvl53l1_tv_dif(&data->meas.start_tv, + &data->meas.comp_tv)/1000, + (int)pmsinglerange->RangeStatus, + (int)pmsinglerange->RangeMilliMeter, + (int)pmrange->RangeData[0].RangeStatus, + (int)pmrange->RangeData[0].RangeMilliMeter, + (int)tmprange->RangeData[0].RangeStatus, + (int)tmprange->RangeData[0].RangeMilliMeter); +#endif + /* ready that is not always on each new data event */ + + /* mark data as valid from now */ + data->is_data_valid = true; + + /* wake up sleeping client */ + wake_up_data_waiters(data); + + /* push data to input subsys and only and make val for ioctl*/ + stmvl53l1_input_push_data(data); + stmvl53l1_insert_flush_events_lock(data); + + /* roll time now data got used */ + data->meas.start_tv = data->meas.comp_tv; + data->meas.poll_cnt = 0; + data->meas.err_cnt = 0; +} + + +/** + * * handle interrupt/pusdo irq by polling handling + * + * work lock must be held + * + * @param data driver + * @return 0 on success + */ +static int stmvl53l1_intr_process(struct stmvl53l1_data *data) +{ + uint8_t data_rdy; + int rc = 0; + struct timeval tv_now; + + if (!data->enable_sensor) + goto done; + + data->meas.poll_cnt++; + rc = VL53L1_GetMeasurementDataReady(&data->stdev, &data_rdy); + if (rc) { + vl53l1_errmsg("GetMeasurementDataReady @%d %d, fail\n", + __LINE__, rc); + /* too many successive fail => stop but do not try to do any new + * i/o + */ + goto stop_io; + } + + if (!data_rdy) { + /* FIXME this part to completely skip + * if using interrupt and sure we have + * no false interrupt to handle or no to do any timing check + */ + long poll_us; + + st_gettimeofday(&tv_now); + poll_us = stmvl53l1_tv_dif(&data->meas.start_tv, &tv_now); + if (poll_us > data->timing_budget*4) { + vl53l1_errmsg("we're polling %ld ms too long\n", + poll_us/1000); + /* fixme stop or just warn ? */ + goto stop_io; + } + /* keep trying it could be intr with no processing */ + work_dbg("intr with no data rdy"); + goto done; + } + /* we have data to handle */ + /* first irq after reset has no data so we skip it */ + if (data->is_first_irq) { + data->is_first_irq = false; + + if (data->preset_mode == + VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS) { + /* + * If VL53L1_GetRangingMeasurementData() + * is not called after + * for the first ranging measurement, + * the thresholds do not seem + * to work for ALP mode + */ + VL53L1_RangingMeasurementData_t RangingMeasurementData; + + /* printk("Test Workaround for ALP mode\n"); */ + VL53L1_GetRangingMeasurementData(&data->stdev, + &RangingMeasurementData); + } + + } else + stmvl53l1_on_newdata_event(data); + /* enable_sensor could change on event handling check again */ + if (data->enable_sensor) { + /* clear interrupt and continue ranging */ + work_dbg("intr clr"); + /* In autonomous mode, bare driver will trigger stop/start + * sequence. In that case it wall call platform delay functions. + * So allow delay in VL53L1_ClearInterruptAndStartMeasurement() + * call. + */ + data->is_delay_allowed = data->allow_hidden_start_stop; + rc = VL53L1_ClearInterruptAndStartMeasurement(&data->stdev); + data->is_delay_allowed = 0; + if (rc) { + /* go to stop but stop any new i/o for dbg */ + vl53l1_errmsg("Cltr intr restart fail %d\n", rc); + goto stop_io; + } + } +done: + return rc; +stop_io: + /* too many successive fail take action => stop but do not try to do + * any new i/o + */ + vl53l1_errmsg("GetDatardy fail stop\n"); + _ctrl_stop(data); + return rc; + +} + +static void stmvl53l1_work_handler(struct work_struct *work) +{ + struct stmvl53l1_data *data; + + data = container_of(work, struct stmvl53l1_data, dwork.work); + work_dbg("enter"); + mutex_lock(&data->work_mutex); + stmvl53l1_intr_process(data); + if (data->poll_mode && data->enable_sensor) { + /* re-sched ourself */ + schedule_delayed_work(&data->dwork, + msecs_to_jiffies(data->poll_delay_ms)); + } + mutex_unlock(&data->work_mutex); +} + +static void stmvl53l1_input_push_data_singleobject(struct stmvl53l1_data *data) +{ + struct input_dev *input = data->input_dev_ps; + VL53L1_RangingMeasurementData_t *meas = &data->meas.single_range_data; + FixPoint1616_t LimitCheckCurrent; + VL53L1_Error st = VL53L1_ERROR_NONE; + + vl53l1_dbgmsg("******* FIXME!!! ************\n"); + vl53l1_dbgmsg("Sensor HAL in Lite ranging mode not yet updated\n"); + vl53l1_dbgmsg("******* FIXME!!! ************\n"); + + /* Do not send the events till this if fixed properly */ + return; + + input_report_abs(input, ABS_DISTANCE, (meas->RangeMilliMeter + 5) / 10); + input_report_abs(input, ABS_HAT0X, meas->TimeStamp / 1000); + input_report_abs(input, ABS_HAT0Y, (meas->TimeStamp % 1000) * 1000); + input_report_abs(input, ABS_HAT1X, meas->RangeMilliMeter); + input_report_abs(input, ABS_HAT1Y, meas->RangeStatus); + input_report_abs(input, ABS_HAT2X, meas->SignalRateRtnMegaCps); + input_report_abs(input, ABS_HAT2Y, meas->AmbientRateRtnMegaCps); + input_report_abs(input, ABS_HAT3X, meas->SigmaMilliMeter); + st = VL53L1_GetLimitCheckCurrent(&data->stdev, + VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE, &LimitCheckCurrent); + if (st == VL53L1_ERROR_NONE) + input_report_abs(input, ABS_WHEEL, LimitCheckCurrent); + input_report_abs(input, ABS_TILT_Y, meas->EffectiveSpadRtnCount); + input_report_abs(input, ABS_TOOL_WIDTH, meas->RangeQualityLevel); + + input_sync(input); +} + +static void stmvl53l1_input_push_data_multiobject(struct stmvl53l1_data *data) +{ + VL53L1_MultiRangingData_t *mmeas = &data->meas.multi_range_data; + int i; + int rc; + VL53L1_TargetRangeData_t *meas_array[4]; + VL53L1_CalibrationData_t calibration_data; + struct timeval tv; + struct input_dev *input = data->input_dev_ps; + + st_gettimeofday(&tv); + + for (i = 0; i < 4; i++) + meas_array[i] = &mmeas->RangeData[i]; + + /************************************************************* + * INPUT EVENT CODE L1/L3 Data + ABS_HAT0X Time in Sec(32) + ABS_HAT0Y Time in uSec(32) + ABS_HAT1X Obj0_Distance(16) : Obj0_Sigma(16) + ABS_HAT1Y Obj0_MinRange(16) : Obj0_MaxRange(16) + ABS_HAT2X Obj1_Distance(16) : Obj1_Sigma(16) + ABS_HAT2Y Obj1_ MinRange (16) : Obj1_ MaxRange (16) + ABS_HAT3X Obj0_SignalRate_Spad(32) + ABS_HAT3Y Obj1_SignalRate_Spad(32) + ABS_WHEEL AmbientRate(32) + ABS_BRAKE EffectiveSpadRtnCount(16):RangeStatus_1(8): + Range_status_0(8) + ABS_TILT_X XtalkChange(8) :StreamCount(8) : + NumberofObjects(2) : RoiNumber(4) : + RoiStatus(2) + ABS_TILT_Y DMAX + ABS_TOOL_WIDTH XtalkValue + ABS_DISTANCE + ABS_THROTTLE + ABS_RUDDER + ABS_MISC + ABS_VOLUME + ************************************************************/ + + rc = VL53L1_GetCalibrationData(&data->stdev, &calibration_data); + if (rc) { + /* This should not happen */ + vl53l1_errmsg("%d error:%d\n", __LINE__, rc); + return; + } + + /* ABS_HAT0X - Time in Sec(32) */ + + input_report_abs(input, ABS_HAT0X, tv.tv_sec); + vl53l1_dbgmsg("ABS_HAT0X : %ld, %zu\n", tv.tv_sec, sizeof(tv.tv_sec)); + /* ABS_HAT0Y - Time in uSec(32) */ + /* REVISIT : The following code may cause loss of data due to */ + /* 8 bytes to 32 bits conversion */ + input_report_abs(input, ABS_HAT0Y, tv.tv_usec); + vl53l1_dbgmsg("ABS_HAT0Y : %ld\n", tv.tv_usec); + + /* ABS_WHEEL - AmbientRate(32) */ + input_report_abs(input, ABS_WHEEL, + meas_array[0]->AmbientRateRtnMegaCps); + vl53l1_dbgmsg("ABS_WHEEL : AmbRate = %d\n", + meas_array[0]->AmbientRateRtnMegaCps); + + /* ABS_TILT_X XtalkChange(8) :StreamCount(8) : */ + /* Number of Objects(2) : RoiNumber(4) : RoiStatus(2) */ + input_report_abs(input, ABS_TILT_X, + (mmeas->HasXtalkValueChanged << 16) + | (mmeas->StreamCount << 8) + | ((mmeas->NumberOfObjectsFound & 0x3) << 6) + | ((mmeas->RoiNumber & 0xF) << 2) + | (mmeas->RoiStatus & 0x3)); + vl53l1_dbgmsg("ABS_TILT_X :(%d):(%d):(%d):(%d):(%d)\n\n", + mmeas->HasXtalkValueChanged, + mmeas->StreamCount, + mmeas->NumberOfObjectsFound, + mmeas->RoiNumber, + mmeas->RoiStatus + ); + + + /* ABS_TILT_Y DMAX */ + input_report_abs(input, ABS_TILT_Y, mmeas->DmaxMilliMeter); + vl53l1_dbgmsg("ABS_TILT_Y DMAX = %d\n", mmeas->DmaxMilliMeter); + + /* ABS_TOOL_WIDTH */ + input_report_abs(input, ABS_TOOL_WIDTH, +calibration_data.customer.algo__crosstalk_compensation_plane_offset_kcps); + vl53l1_dbgmsg("ABS_TOOL_WIDTH Xtalk = %d\n", +calibration_data.customer.algo__crosstalk_compensation_plane_offset_kcps); + + /* ABS_BRAKE - EffectiveSpadRtnCount(16):RangeStatus_3(1): */ + /* Range_status_2(0) */ + input_report_abs(input, ABS_BRAKE, + mmeas->EffectiveSpadRtnCount << 16 + | ((meas_array[1]->RangeStatus) << 8) + | meas_array[0]->RangeStatus); + + vl53l1_dbgmsg("ABS_BRAKE : (%d):(%d):(%d)\n", + mmeas->EffectiveSpadRtnCount, + meas_array[1]->RangeStatus, + meas_array[0]->RangeStatus); + + vl53l1_dbgmsg("ABS_BRAKE : 0x%X\n", + (mmeas->EffectiveSpadRtnCount & 0xFFFF) << 16 + | ((meas_array[1]->RangeStatus) << 8) + | meas_array[0]->RangeStatus); + + /* Remaining of data are meaningless in case of no target */ + if (mmeas->NumberOfObjectsFound == 0) { + input_sync(input); + return; + } + + /* ABS_HAT1X - Obj0_Distance(16) : Obj0_Sigma(16) */ + input_report_abs(input, ABS_HAT1X, meas_array[0]->RangeMilliMeter << 16 + | (meas_array[0]->SigmaMilliMeter/65536)); + vl53l1_dbgmsg("ABS_HAT1X : 0x%X(%d:%d)\n", + meas_array[0]->RangeMilliMeter << 16 + | (meas_array[0]->SigmaMilliMeter/65536), + meas_array[0]->RangeMilliMeter, + (meas_array[0]->SigmaMilliMeter/65536)); + + /* ABS_HAT1Y - Obj0_MinRange(16) : Obj0_MaxRange(16) */ + input_report_abs(input, ABS_HAT1Y, + meas_array[0]->RangeMinMilliMeter << 16 + | meas_array[0]->RangeMaxMilliMeter); + + vl53l1_dbgmsg("ABS_HAT1Y : 0x%X(%d:%d)\n", + meas_array[0]->RangeMinMilliMeter << 16 + | meas_array[0]->RangeMaxMilliMeter, + meas_array[0]->RangeMinMilliMeter, + meas_array[0]->RangeMaxMilliMeter); + + if (mmeas->NumberOfObjectsFound > 1) { + /* ABS_HAT2X - Obj1_Distance(16) : Obj1_Sigma(16) */ + input_report_abs(input, ABS_HAT2X, + meas_array[1]->RangeMilliMeter << 16 + | (meas_array[1]->SigmaMilliMeter/65536)); + vl53l1_dbgmsg("ABS_HAT2X : 0x%x(%d:%d)\n", + meas_array[1]->RangeMilliMeter << 16 + | (meas_array[1]->SigmaMilliMeter/65536), + meas_array[1]->RangeMilliMeter, + (meas_array[1]->SigmaMilliMeter/65536)); + + /* ABS_HAT2Y - Obj1_ MinRange (16) : Obj1_ MaxRange (16) */ + input_report_abs(input, ABS_HAT2Y, + meas_array[1]->RangeMinMilliMeter << 16 + | meas_array[1]->RangeMaxMilliMeter); + + vl53l1_dbgmsg("ABS_HAT1Y : 0x%X(%d:%d)\n", + meas_array[1]->RangeMinMilliMeter << 16 + | meas_array[1]->RangeMaxMilliMeter, + meas_array[1]->RangeMinMilliMeter, + meas_array[1]->RangeMaxMilliMeter); + + } + + /* ABS_HAT3X - Obj0_SignalRate_Spad(32) */ + input_report_abs(input, ABS_HAT3X, + meas_array[0]->SignalRateRtnMegaCps); + vl53l1_dbgmsg("ABS_HAT3X : SignalRateRtnMegaCps_0(%d)\n", + meas_array[0]->SignalRateRtnMegaCps); + if (mmeas->NumberOfObjectsFound > 1) { + /* ABS_HAT3Y - Obj1_SignalRate_Spad(32) */ + input_report_abs(input, ABS_HAT3Y, + meas_array[1]->SignalRateRtnMegaCps); + vl53l1_dbgmsg("ABS_HAT3Y : SignalRateRtnMegaCps_1(%d)\n", + meas_array[1]->SignalRateRtnMegaCps); + } + + input_sync(input); + + +} + +static void stmvl53l1_input_push_data(struct stmvl53l1_data *data) +{ + /* use get data method based on active mode */ + switch (data->preset_mode) { + case VL53L1_PRESETMODE_LITE_RANGING: + case VL53L1_PRESETMODE_AUTONOMOUS: + case VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS: + stmvl53l1_input_push_data_singleobject(data); + break; + default: + /* VL53L1_PRESETMODE_RANGING: + * VL53L1_PRESETMODE_MULTIZONES_SCANNING: + */ + stmvl53l1_input_push_data_multiobject(data); + } +} + +static int stmvl53l1_input_setup(struct stmvl53l1_data *data) +{ + int rc; + struct input_dev *idev; + /* Register to Input Device */ + idev = input_allocate_device(); + if (idev == NULL) { + rc = -ENOMEM; + vl53l1_errmsg("%d error:%d\n", __LINE__, rc); + goto exit_err; + } + /* setup all event */ + set_bit(EV_ABS, idev->evbit); + + input_set_abs_params(idev, ABS_DISTANCE, 0, 0xff, 0, 0); + + input_set_abs_params(idev, ABS_HAT0X, 0, 0xffffffff, 0, 0); + input_set_abs_params(idev, ABS_HAT0Y, 0, 0xffffffff, 0, 0); + input_set_abs_params(idev, ABS_HAT1X, 0, 0xffffffff, 0, 0); + input_set_abs_params(idev, ABS_HAT1Y, 0, 0xffffffff, 0, 0); + input_set_abs_params(idev, ABS_HAT2X, 0, 0xffffffff, 0, 0); + input_set_abs_params(idev, ABS_HAT2Y, 0, 0xffffffff, 0, 0); + input_set_abs_params(idev, ABS_HAT3X, 0, 0xffffffff, 0, 0); + input_set_abs_params(idev, ABS_HAT3Y, 0, 0xffffffff, 0, 0); + input_set_abs_params(idev, ABS_WHEEL, 0, 0xffffffff, 0, 0); + + input_set_abs_params(idev, ABS_TILT_Y, 0, 0xffffffff, 0, 0); + + input_set_abs_params(idev, ABS_BRAKE, 0, 0xffffffff, 0, 0); + input_set_abs_params(idev, ABS_TILT_X, 0, 0xffffffff, 0, 0); + input_set_abs_params(idev, ABS_TOOL_WIDTH, 0, 0xffffffff, 0, 0); + + input_set_abs_params(idev, ABS_THROTTLE, 0, 0xffffffff, 0, 0); + input_set_abs_params(idev, ABS_RUDDER, 0, 0xffffffff, 0, 0); + input_set_abs_params(idev, ABS_MISC, 0, 0xffffffff, 0, 0); + + input_set_abs_params(idev, ABS_VOLUME, 0, 0xffffffff, 0, 0); + input_set_abs_params(idev, ABS_GAS, 0, 0xffffffff, 0, 0); + + idev->name = "STM VL53L1 proximity sensor"; + rc = input_register_device(idev); + if (rc) { + rc = -ENOMEM; + vl53l1_errmsg("%d error:%d\n", __LINE__, rc); + goto exit_free_dev_ps; + } + /* setup drv data */ + input_set_drvdata(idev, data); + data->input_dev_ps = idev; + return 0; + + +exit_free_dev_ps: + input_free_device(data->input_dev_ps); +exit_err: + return rc; +} + +/** + * handler to be called by interface module on interrupt + * + * managed poll/irq filtering in case poll/irq can be soft forced + * and the module side still fire interrupt + * + * @param data + * @return 0 if all ok else for error + */ +int stmvl53l1_intr_handler(struct stmvl53l1_data *data) +{ + int rc; + + mutex_lock(&data->work_mutex); + + /* handle it only if if we are not stopped */ + if (data->enable_sensor) { + rc = stmvl53l1_intr_process(data); + } else { + /* it's likely race/last unhandled interrupt after + * stop. + * Such dummy irq also occured during offset and crosstalk + * calibration procedures. + */ + vl53l1_dbgmsg("got intr but not on (dummy or calibration)\n"); + rc = 0; + } + + mutex_unlock(&data->work_mutex); + return rc; +} + + +/** + * One time device setup + * + * call by bus (i2c/cci) level probe to finalize non bus related device setup + * + * @param data The device data + * @return 0 on success + */ +int stmvl53l1_setup(struct stmvl53l1_data *data) +{ + int rc = 0; + VL53L1_DeviceInfo_t dev_info; + + vl53l1_dbgmsg("Enter\n"); + + /* acquire an id */ + data->id = allocate_dev_id(); + if (data->id < 0) { + vl53l1_errmsg("too many device already created"); + return -1; + } + vl53l1_dbgmsg("Dev id %d is @%p\n", data->id, data); + stmvl53l1_dev_table[data->id] = data; + + /* init mutex */ + /* mutex_init(&data->update_lock); */ + mutex_init(&data->work_mutex); + + /* init work handler */ + INIT_DELAYED_WORK(&data->dwork, stmvl53l1_work_handler); +#ifndef VL53L1_FULL_KERNEL + /* init ipp side */ + stmvl53l1_ipp_setup(data); +#endif + data->force_device_on_en = force_device_on_en_default; + data->reset_state = 1; + data->is_calibrating = false; + data->last_error = VL53L1_ERROR_NONE; + data->is_device_remove = false; + + rc = stmvl53l1_module_func_tbl.power_up(data->client_object); + if (rc) { + vl53l1_errmsg("%d,error rc %d\n", __LINE__, rc); + goto exit_ipp_cleanup; + } + rc = reset_release(data); + if (rc) + goto exit_ipp_cleanup; + + rc = stmvl53l1_input_setup(data); + if (rc) + goto exit_ipp_cleanup; + + /* init blocking ioctl stuff */ + INIT_LIST_HEAD(&data->simple_data_reader_list); + INIT_LIST_HEAD(&data->mz_data_reader_list); + init_waitqueue_head(&data->waiter_for_data); + data->is_data_valid = false; + + /* Register sysfs hooks under input dev */ + rc = sysfs_create_group(&data->input_dev_ps->dev.kobj, + &stmvl53l1_attr_group); + if (rc) { + rc = -ENOMEM; + vl53l1_errmsg("%d error:%d\n", __LINE__, rc); + goto exit_unregister_dev_ps; + } + rc = sysfs_create_bin_file(&data->input_dev_ps->dev.kobj, + &stmvl53l1_calib_data_attr); + if (rc) { + rc = -ENOMEM; + vl53l1_errmsg("%d error:%d\n", __LINE__, rc); + goto exit_unregister_dev_ps; + } + rc = sysfs_create_bin_file(&data->input_dev_ps->dev.kobj, + &stmvl53l1_zone_calib_data_attr); + if (rc) { + rc = -ENOMEM; + vl53l1_errmsg("%d error:%d\n", __LINE__, rc); + goto exit_unregister_dev_ps; + } + + data->enable_sensor = 0; + + data->poll_delay_ms = STMVL53L1_CFG_POLL_DELAY_MS; + data->timing_budget = STMVL53L1_CFG_TIMING_BUDGET_US; + data->preset_mode = STMVL53L1_CFG_DEFAULT_MODE; + data->distance_mode = STMVL53L1_CFG_DEFAULT_DISTANCE_MODE; + data->crosstalk_enable = STMVL53L1_CFG_DEFAULT_CROSSTALK_ENABLE; + data->output_mode = STMVL53L1_CFG_DEFAULT_OUTPUT_MODE; + data->offset_correction_mode = + STMVL53L1_CFG_DEFAULT_OFFSET_CORRECTION_MODE; + stmvl53l1_setup_auto_config(data); + data->dmax_mode = STMVL53L1_CFG_DEFAULT_DMAX_MODE; + data->smudge_correction_mode = + STMVL53L1_CFG_DEFAULT_SMUDGE_CORRECTION_MODE; + data->current_roi_id = 0; + data->is_xtalk_value_changed = false; + + data->is_delay_allowed = true; + /* need to be done once */ + rc = VL53L1_DataInit(&data->stdev); + data->is_delay_allowed = false; + if (rc) { + vl53l1_errmsg("VL53L1_DataInit %d\n", rc); + goto exit_unregister_dev_ps; + } + + rc = VL53L1_GetDeviceInfo(&data->stdev, &dev_info); + if (rc) { + vl53l1_errmsg("VL53L1_GetDeviceInfo %d\n", rc); + goto exit_unregister_dev_ps; + } + vl53l1_errmsg("device name %s\ntype %s\n", + dev_info.Name, dev_info.Type); + + data->product_type = dev_info.ProductType; + + /* get managed data here */ + rc = VL53L1_GetDmaxReflectance(&data->stdev, &data->dmax_reflectance); + if (rc) { + vl53l1_errmsg("VL53L1_GetDmaxReflectance %d\n", rc); + goto exit_unregister_dev_ps; + } + rc = VL53L1_GetOpticalCenter(&data->stdev, &data->optical_offset_x, + &data->optical_offset_y); + if (rc) { + vl53l1_errmsg("VL53L1_GetOpticalCenter %d\n", rc); + goto exit_unregister_dev_ps; + } + + /* set tuning from stmvl53l1_tunings.h */ + rc = setup_tunings(data); + if (rc) { + vl53l1_errmsg("setup_tunings %d\n", rc); + goto exit_unregister_dev_ps; + } + + /* Set special parameters for VL53L3 (ticket 513812) */ + if (dev_info.ProductType == 0xAA) { + data->timing_budget = 30000; + data->crosstalk_enable = 1; + data->dmax_mode = VL53L1_DMAXMODE_CUSTCAL_DATA; + data->smudge_correction_mode = + VL53L1_SMUDGE_CORRECTION_CONTINUOUS; + data->dmax_reflectance = (5 << 16); + } + /* End of Set special parameters for VL53L3 (ticket 513812) */ + + /* if working in interrupt ask intr to enable and hook the handler */ + data->poll_mode = 0; + rc = stmvl53l1_module_func_tbl.start_intr(data->client_object, + &data->poll_mode); + if (rc < 0) { + vl53l1_errmsg("can't start no intr\n"); + goto exit_unregister_dev_ps; + } + + data->is_first_irq = true; + data->is_first_start_done = false; + data->is_delay_allowed = false; + + /* to register as a misc device */ + data->miscdev.minor = MISC_DYNAMIC_MINOR; + /* multiple dev name use id in name but 1st */ + if (data->id == 0) + strcpy(data->name, VL53L1_MISC_DEV_NAME); + else + sprintf(data->name, "%s%d", VL53L1_MISC_DEV_NAME, data->id); + + data->miscdev.name = data->name; + data->miscdev.fops = &stmvl53l1_ranging_fops; + vl53l1_errmsg("Misc device registration name:%s\n", data->miscdev.name); + rc = misc_register(&data->miscdev); + if (rc != 0) { + vl53l1_errmsg("misc dev reg fail\n"); + goto exit_unregister_dev_ps; + } + /* bring back device under reset */ + reset_hold(data); + + return 0; + +exit_unregister_dev_ps: + sysfs_remove_bin_file(&data->input_dev_ps->dev.kobj, + &stmvl53l1_zone_calib_data_attr); + sysfs_remove_bin_file(&data->input_dev_ps->dev.kobj, + &stmvl53l1_calib_data_attr); + sysfs_remove_group(&data->input_dev_ps->dev.kobj, + &stmvl53l1_attr_group); + input_unregister_device(data->input_dev_ps); +exit_ipp_cleanup: +#ifndef VL53L1_FULL_KERNEL + stmvl53l1_ipp_cleanup(data); +#endif + return rc; +} + + +void stmvl53l1_cleanup(struct stmvl53l1_data *data) +{ + int rc; + + vl53l1_dbgmsg("enter\n"); + rc = _ctrl_stop(data); + if (rc < 0) + vl53l1_errmsg("stop failed %d aborting anyway\n", rc); + + if (data->input_dev_ps) { + vl53l1_dbgmsg("to remove sysfs group\n"); + sysfs_remove_group(&data->input_dev_ps->dev.kobj, + &stmvl53l1_attr_group); + sysfs_remove_bin_file(&data->input_dev_ps->dev.kobj, + &stmvl53l1_calib_data_attr); + sysfs_remove_bin_file(&data->input_dev_ps->dev.kobj, + &stmvl53l1_zone_calib_data_attr); + + vl53l1_dbgmsg("to unregister input dev\n"); + input_unregister_device(data->input_dev_ps); + } + + if (!IS_ERR(data->miscdev.this_device) && + data->miscdev.this_device != NULL) { + vl53l1_dbgmsg("to unregister misc dev\n"); + misc_deregister(&data->miscdev); + } +#ifndef VL53L1_FULL_KERNEL + stmvl53l1_ipp_cleanup(data); +#endif + /* be sure device is put under reset */ + data->force_device_on_en = false; + reset_hold(data); + stmvl53l1_module_func_tbl.power_down(data->client_object); + vl53l1_dbgmsg("done\n"); + deallocate_dev_id(data->id); + data->is_device_remove = true; +} + +#ifdef CONFIG_PM_SLEEP +void stmvl53l1_pm_suspend_stop(struct stmvl53l1_data *data) +{ + int rc; + + vl53l1_dbgmsg("Enter\n"); + + rc = _ctrl_stop(data); + if (rc < 0) + vl53l1_errmsg("stop failed %d aborting anyway\n", rc); + + vl53l1_dbgmsg("done\n"); +} +#endif + +static long stmvl53l1_ioctl(struct file *file, + unsigned int cmd, unsigned long arg) +{ + long ret; + struct stmvl53l1_data *data = + container_of(file->private_data, + struct stmvl53l1_data, miscdev); + ret = stmvl53l1_ioctl_handler(data, cmd, arg, (void __user *)arg); + return ret; +} + +static int __init stmvl53l1_init(void) +{ + int rc = -1; + + vl53l1_dbgmsg("Enter\n"); +#ifndef VL53L1_FULL_KERNEL + rc = stmvl53l1_ipp_init(); + if (rc) + goto done; + /* i2c/cci client specific init function */ + rc = stmvl53l1_module_func_tbl.init(); + if (rc) + stmvl53l1_ipp_exit(); +done: +#else + /* i2c/cci client specific init function */ + rc = stmvl53l1_module_func_tbl.init(); +#endif + vl53l1_dbgmsg("End %d\n", rc); + return rc; +} + +static void __exit stmvl53l1_exit(void) +{ + vl53l1_dbgmsg("Enter\n"); + stmvl53l1_module_func_tbl.deinit(NULL); + if (stmvl53l1_module_func_tbl.clean_up != NULL) + stmvl53l1_module_func_tbl.clean_up(); +#ifndef VL53L1_FULL_KERNEL + stmvl53l1_ipp_exit(); +#endif + vl53l1_dbgmsg("End\n"); +} + + +/* MODULE_DEVICE_TABLE(i2c, stmvl53l1_id); */ +MODULE_AUTHOR("STMicroelectronics Imaging Division"); +MODULE_DESCRIPTION("ST FlightSense Time-of-Flight sensor driver"); +MODULE_LICENSE("Dual BSD/GPL"); +MODULE_VERSION(DRIVER_VERSION); + +module_init(stmvl53l1_init); +module_exit(stmvl53l1_exit); diff --git a/drivers/input/misc/vl53L1/stmvl53l1_tunings.h b/drivers/input/misc/vl53L1/stmvl53l1_tunings.h new file mode 100644 index 000000000000..e74662460d46 --- /dev/null +++ b/drivers/input/misc/vl53L1/stmvl53l1_tunings.h @@ -0,0 +1,22 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +/* + * THIS IS A GENERATED FILE + */ + +#ifndef STMVL53L1_TUNINGS_H +#define STMVL53L1_TUNINGS_H + +static const int tunings[][2] = { +}; + +#endif /* STMVL53L1_TUNINGS_H */ diff --git a/drivers/input/misc/vl53L1/vl53l1_platform.h b/drivers/input/misc/vl53L1/vl53l1_platform.h new file mode 100644 index 000000000000..588dfbe03c21 --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_platform.h @@ -0,0 +1,423 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +#ifndef _VL53L1_PLATFORM_H_ +#define _VL53L1_PLATFORM_H_ + +#include "vl53l1_ll_def.h" +#include "vl53l1_platform_log.h" + +#define VL53L1_IPP_API +#include "vl53l1_platform_ipp_imports.h" +#include "vl53l1_platform_user_data.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +/** + * @file vl53l1_platform.h + * + * @brief All end user OS/platform/application porting + */ + + + +/** + * @brief Initialise platform comms. + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] comms_type : selects between I2C and SPI + * @param[in] comms_speed_khz : unsigned short containing the I2C speed in kHz + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_CommsInitialise( + VL53L1_Dev_t *pdev, + uint8_t comms_type, + uint16_t comms_speed_khz); + + +/** + * @brief Close platform comms. + * + * @param[in] pdev : pointer to device structure (device handle) + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_CommsClose( + VL53L1_Dev_t *pdev); + + +/** + * @brief Writes the supplied byte buffer to the device + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] index : uint16_t register index value + * @param[in] pdata : pointer to uint8_t (byte) buffer containing the data + * to be written + * @param[in] count : number of bytes in the supplied byte buffer + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_WriteMulti( + VL53L1_Dev_t *pdev, + uint16_t index, + uint8_t *pdata, + uint32_t count); + + +/** + * @brief Reads the requested number of bytes from the device + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] index : uint16_t register index value + * @param[out] pdata : pointer to the uint8_t (byte) buffer to store read + * data + * @param[in] count : number of bytes to read + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_ReadMulti( + VL53L1_Dev_t *pdev, + uint16_t index, + uint8_t *pdata, + uint32_t count); + + +/** + * @brief Writes a single byte to the device + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] index : uint16_t register index value + * @param[in] data : uint8_t data value to write + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_WrByte( + VL53L1_Dev_t *pdev, + uint16_t index, + uint8_t data); + + +/** + * @brief Writes a single word (16-bit unsigned) to the device + * + * Manages the big-endian nature of the device register map + * (first byte written is the MS byte). + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] index : uint16_t register index value + * @param[in] data : uin16_t data value write + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_WrWord( + VL53L1_Dev_t *pdev, + uint16_t index, + uint16_t data); + + +/** + * @brief Writes a single dword (32-bit unsigned) to the device + * + * Manages the big-endian nature of the device register map + * (first byte written is the MS byte). + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] index : uint16_t register index value + * @param[in] data : uint32_t data value to write + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_WrDWord( + VL53L1_Dev_t *pdev, + uint16_t index, + uint32_t data); + + + +/** + * @brief Reads a single byte from the device + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] index : uint16_t register index + * @param[out] pdata : pointer to uint8_t data value + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + * + */ + +VL53L1_Error VL53L1_RdByte( + VL53L1_Dev_t *pdev, + uint16_t index, + uint8_t *pdata); + + +/** + * @brief Reads a single word (16-bit unsigned) from the device + * + * Manages the big-endian nature of the device (first byte read is the MS byte). + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] index : uint16_t register index value + * @param[out] pdata : pointer to uint16_t data value + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_RdWord( + VL53L1_Dev_t *pdev, + uint16_t index, + uint16_t *pdata); + + +/** + * @brief Reads a single dword (32-bit unsigned) from the device + * + * Manages the big-endian nature of the device (first byte read is the MS byte). + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] index : uint16_t register index value + * @param[out] pdata : pointer to uint32_t data value + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_RdDWord( + VL53L1_Dev_t *pdev, + uint16_t index, + uint32_t *pdata); + + + +/** + * @brief Implements a programmable wait in us + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] wait_us : integer wait in micro seconds + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_WaitUs( + VL53L1_Dev_t *pdev, + int32_t wait_us); + + +/** + * @brief Implements a programmable wait in ms + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] wait_ms : integer wait in milliseconds + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_WaitMs( + VL53L1_Dev_t *pdev, + int32_t wait_ms); + + +/** + * @brief Get the frequency of the timer used for ranging results time stamps + * + * @param[out] ptimer_freq_hz : pointer for timer frequency + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GetTimerFrequency(int32_t *ptimer_freq_hz); + +/** + * @brief Get the timer value in units of timer_freq_hz (see + * VL53L1_get_timestamp_frequency()) + * + * @param[out] ptimer_count : pointer for timer count value + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GetTimerValue(int32_t *ptimer_count); + + +/** + * @brief Set the mode of a specified GPIO pin + * + * @param pin - an identifier specifying the pin being modified - defined per + * platform + * + * @param mode - an identifier specifying the requested mode - defined per + * platform + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GpioSetMode(uint8_t pin, uint8_t mode); + + +/** + * @brief Set the value of a specified GPIO pin + * + * @param pin - an identifier specifying the pin being modified - defined per + * platform + * + * @param value - a value to set on the GPIO pin - typically 0 or 1 + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GpioSetValue(uint8_t pin, uint8_t value); + + +/** + * @brief Get the value of a specified GPIO pin + * + * @param pin - an identifier specifying the pin being modified - defined per + * platform + * + * @param pvalue - a value retrieved from the GPIO pin - typically 0 or 1 + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GpioGetValue(uint8_t pin, uint8_t *pvalue); + + +/** + * @brief Sets and clears the XShutdown pin on the Ewok + * + * @param value - the value for xshutdown - 0 = in reset, 1 = operational + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GpioXshutdown(uint8_t value); + + +/** + * @brief Sets and clears the Comms Mode pin (NCS) on the Ewok + * + * @param value - the value for comms select - 0 = I2C, 1 = SPI + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GpioCommsSelect(uint8_t value); + + +/** + * @brief Enables and disables the power to the Ewok module + * + * @param value - the state of the power supply - 0 = power off, 1 = power on + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GpioPowerEnable(uint8_t value); + +/** + * @brief Enables callbacks to the supplied funtion pointer when Ewok interrupts + * ocurr + * + * @param function - a function callback supplies by the caller, for interrupt + * notification + * @param edge_type - falling edge or rising edge interrupt detection + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GpioInterruptEnable(void (*function)(void), + uint8_t edge_type); + + +/** + * @brief Disables the callback on Ewok interrupts + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GpioInterruptDisable(void); + + +/* + * @brief Gets current system tick count in [ms] + * + * @return time_ms : current time in [ms] + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_GetTickCount( + uint32_t *ptime_ms); + + +/** + * @brief Register "wait for value" polling routine + * + * Port of the V2WReg Script function WaitValueMaskEx() + * + * @param[in] pdev : pointer to device structure (device handle) + * @param[in] timeout_ms : timeout in [ms] + * @param[in] index : uint16_t register index value + * @param[in] value : value to wait for + * @param[in] mask : mask to be applied before comparison with value + * @param[in] poll_delay_ms : polling delay been each read transaction in [ms] + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_WaitValueMaskEx( + VL53L1_Dev_t *pdev, + uint32_t timeout_ms, + uint16_t index, + uint8_t value, + uint8_t mask, + uint32_t poll_delay_ms); + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/vl53l1_platform_ipp.c b/drivers/input/misc/vl53L1/vl53l1_platform_ipp.c new file mode 100644 index 000000000000..29ebf873c4ac --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_platform_ipp.c @@ -0,0 +1,127 @@ + +// SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +/** + * @file vl53l1_platform_ipp.c + * + * @brief EwokPlus25 IPP Wrapper Layer + */ + +#include "vl53l1_platform.h" +#include "vl53l1_platform_ipp.h" +#include "vl53l1_ll_def.h" +#include "vl53l1_hist_structs.h" +#include "vl53l1_hist_funcs.h" +#include "vl53l1_xtalk.h" + + +#define LOG_FUNCTION_START(fmt, ...) \ + _LOG_FUNCTION_START(VL53L1_TRACE_MODULE_CORE, fmt, ##__VA_ARGS__) +#define LOG_FUNCTION_END(status, ...) \ + _LOG_FUNCTION_END(VL53L1_TRACE_MODULE_CORE, status, ##__VA_ARGS__) + + +VL53L1_Error VL53L1_ipp_hist_process_data( + VL53L1_DEV Dev, + VL53L1_dmax_calibration_data_t *pdmax_cal, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg, + VL53L1_hist_post_process_config_t *ppost_cfg, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_xtalk_histogram_data_t *pxtalk, + uint8_t *pArea1, + uint8_t *pArea2, + uint8_t *phisto_merge_nb, + VL53L1_range_results_t *presults) +{ + + /* + * IPP wrapper for histogram post processing function + */ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + SUPPRESS_UNUSED_WARNING(Dev); + + status = + VL53L1_hist_process_data( + pdmax_cal, + pdmax_cfg, + ppost_cfg, + pbins, + pxtalk, + pArea1, + pArea2, + presults, + phisto_merge_nb); + + return status; +} + + +VL53L1_Error VL53L1_ipp_hist_ambient_dmax( + VL53L1_DEV Dev, + uint16_t target_reflectance, + VL53L1_dmax_calibration_data_t *pdmax_cal, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg, + VL53L1_histogram_bin_data_t *pbins, + int16_t *pambient_dmax_mm) +{ + + /* + * IPP wrapper for histogram ambient DMAX function + * + * The target reflectance in percent for the DMAX calculation + * is set by target_reflectance input + * + * The fixed point format is 7.2 + */ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + SUPPRESS_UNUSED_WARNING(Dev); + + status = + VL53L1_hist_ambient_dmax( + target_reflectance, + pdmax_cal, + pdmax_cfg, + pbins, + pambient_dmax_mm); + + return status; +} + + +VL53L1_Error VL53L1_ipp_xtalk_calibration_process_data( + VL53L1_DEV Dev, + VL53L1_xtalk_range_results_t *pxtalk_ranges, + VL53L1_xtalk_histogram_data_t *pxtalk_shape, + VL53L1_xtalk_calibration_results_t *pxtalk_cal) +{ + + /* + * IPP wrapper for histogram post processing function + */ + + VL53L1_Error status = VL53L1_ERROR_NONE; + + SUPPRESS_UNUSED_WARNING(Dev); + + status = + VL53L1_xtalk_calibration_process_data( + pxtalk_ranges, + pxtalk_shape, + pxtalk_cal); + + return status; +} + + diff --git a/drivers/input/misc/vl53L1/vl53l1_platform_ipp.h b/drivers/input/misc/vl53L1/vl53l1_platform_ipp.h new file mode 100644 index 000000000000..7888bd68ae93 --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_platform_ipp.h @@ -0,0 +1,170 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +#ifndef _VL53L1_PLATFORM_IPP_H_ +#define _VL53L1_PLATFORM_IPP_H_ + +#include "vl53l1_ll_def.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +/** + * @file vl53l1_platform_ipp.h + * + * @brief EwokPlus25 IPP Wrapper Functions + */ + +/** + * @brief IPP Wrapper call for histogram post processing + * + * + * @param[in] Dev : Device handle + * @param[in] pdmax_cal : DMAX calibration data + * @param[in] pdmax_cfg : DMAX configuration data + * @param[in] ppost_cfg : VL53L1_hist_post_process_config_t + * @param[in] pbins : Input histogram raw bin data + * @param[in] pxtalk : Cross talk histogram data + * @param[out] presults : Output VL53L1_range_results_t + * structure + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_ipp_hist_process_data( + VL53L1_DEV Dev, + VL53L1_dmax_calibration_data_t *pdmax_cal, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg, + VL53L1_hist_post_process_config_t *ppost_cfg, + VL53L1_histogram_bin_data_t *pbins, + VL53L1_xtalk_histogram_data_t *pxtalk, + uint8_t *pArea1, + uint8_t *pArea2, + uint8_t *phisto_merge_nb, + VL53L1_range_results_t *presults); + + +/** + * @brief IPP Wrapper call for histogram ambient dmax calc + * + * The target reflectance in percent for the DMAX calculation + * is set by target_reflectance input + * + * The fixed point format is 7.2 + * + * @param[in] Dev : Device handle + * @param[in] target_reflectance : target reflectance to report ambient DMAX + * Percentage in 7.2 fixed point format + * @param[in] pdmax_cal : DMAX calibration data + * @param[in] pdmax_cfg : DMAX configuration data + * @param[in] pbins : Input histogram raw bin data + * @param[out] pambient_dmax_mm : Output ambient DMAX distance in [mm] + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_ipp_hist_ambient_dmax( + VL53L1_DEV Dev, + uint16_t target_reflectance, + VL53L1_dmax_calibration_data_t *pdmax_cal, + VL53L1_hist_gen3_dmax_config_t *pdmax_cfg, + VL53L1_histogram_bin_data_t *pbins, + int16_t *pambient_dmax_mm); + + +/** + * @brief IPP Wrapper call for xtalk calibration post processing + * + * @param[in] Dev : Device handle + * @param[in] pxtalk_ranges : Input VL53L1_xtalk_range_results_t + * Must contain 5 ranges, 4 quadrants + 1 + * full FoV + * @param[out] pxtalk_shape : Output normalised Cross talk histogram + * shape + * @param[out] pxtalk_cal : Output VL53L1_xtalk_calibration_results_t + * structure + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_ipp_xtalk_calibration_process_data( + VL53L1_DEV Dev, + VL53L1_xtalk_range_results_t *pxtalk_ranges, + VL53L1_xtalk_histogram_data_t *pxtalk_shape, + VL53L1_xtalk_calibration_results_t *pxtalk_cal); + + +/** + * @brief IPP Wrapper call for applying histogram xtalk correction + * + * @param[in] Dev : Device handle + * @param[in] pcustomer : Pointer to input customer data structure + * @param[in] pdyn_cfg : Pointer to input dynamic parameters + * structure + * @param[in] pxtalk_shape : Pointer to input normalised xtalk + * histogram shape + * @param[in] pip_hist_data : Pointer to input histogram data struct + * @param[out] pop_hist_data : Pointer to output xtalk corrected + * histogram data struct + * @param[out] pxtalk_count_data : Pointer to output xtalk histogram + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_ipp_hist_xtalk_correction( + VL53L1_DEV Dev, + VL53L1_customer_nvm_managed_t *pcustomer, + VL53L1_dynamic_config_t *pdyn_cfg, + VL53L1_xtalk_histogram_data_t *pxtalk_shape, + VL53L1_histogram_bin_data_t *pip_hist_data, + VL53L1_histogram_bin_data_t *pop_hist_data, + VL53L1_histogram_bin_data_t *pxtalk_count_data); + +/** + * @brief IPP Wrapper call for Generating Xtalk data from dual reflectance + * histogram data + * + * @param[in] Dev : Device handle + * @param[in] pxtalk_results : Pointer to xtalk_results structure + * containing dual reflectance + * histogram data + * @param[in] expected_target_distance_mm : User input of true target distance + * @param[in] higher_reflectance : User input detailing which + * histogram data 1 or 2 has the + * highest reflectance. + * @param[out] pxtalk_avg_samples : Pointer to output xtalk histogram + * data + * + * @return VL53L1_ERROR_NONE Success + * @return "Other error code" See ::VL53L1_Error + */ + +VL53L1_Error VL53L1_ipp_generate_dual_reflectance_xtalk_samples( + VL53L1_DEV Dev, + VL53L1_xtalk_range_results_t *pxtalk_results, + uint16_t expected_target_distance_mm, + uint8_t higher_reflectance, + VL53L1_histogram_bin_data_t *pxtalk_avg_samples); + + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/vl53l1_platform_ipp_imports.h b/drivers/input/misc/vl53L1/vl53l1_platform_ipp_imports.h new file mode 100644 index 000000000000..c2192510cd74 --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_platform_ipp_imports.h @@ -0,0 +1,17 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + + +#ifndef _VL53L1_PLATFORM_IPP_IMPORTS_H_ +#define _VL53L1_PLATFORM_IPP_IMPORTS_H_ + +#endif diff --git a/drivers/input/misc/vl53L1/vl53l1_platform_log.h b/drivers/input/misc/vl53L1/vl53l1_platform_log.h new file mode 100644 index 000000000000..743aa5655017 --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_platform_log.h @@ -0,0 +1,157 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +/** + * @file vl53l1_platform_log.h + * + * @brief EwokPlus25 platform logging function definition + */ + + +#ifndef _VL53L1_PLATFORM_LOG_H_ +#define _VL53L1_PLATFORM_LOG_H_ + +#include + +#ifdef VL53L1_LOG_ENABLE + #include "vl53l1_platform_user_config.h" + + #ifdef _MSC_VER + # define EWOKPLUS_EXPORTS __declspec(dllexport) + #else + # define EWOKPLUS_EXPORTS + #endif + + #include "vl53l1_types.h" + + #ifdef __cplusplus + extern "C" { + #endif + + #include + + /** + * @brief Set the level, output and specific functions for module + * logging. + * + * + * @param filename - full path of output log file, NULL for print to + * stdout + * + * @param modules - Module or None or All to trace + * VL53L1_TRACE_MODULE_NONE + * VL53L1_TRACE_MODULE_API + * VL53L1_TRACE_MODULE_CORE + * VL53L1_TRACE_MODULE_TUNING + * VL53L1_TRACE_MODULE_CHARACTERISATION + * VL53L1_TRACE_MODULE_PLATFORM + * VL53L1_TRACE_MODULE_ALL + * + * @param level - trace level + * VL53L1_TRACE_LEVEL_NONE + * VL53L1_TRACE_LEVEL_ERRORS + * VL53L1_TRACE_LEVEL_WARNING + * VL53L1_TRACE_LEVEL_INFO + * VL53L1_TRACE_LEVEL_DEBUG + * VL53L1_TRACE_LEVEL_ALL + * VL53L1_TRACE_LEVEL_IGNORE + * + * @param functions - function level to trace; + * VL53L1_TRACE_FUNCTION_NONE + * VL53L1_TRACE_FUNCTION_I2C + * VL53L1_TRACE_FUNCTION_ALL + * + * @return status - always VL53L1_ERROR_NONE + * + */ + + #define VL53L1_TRACE_LEVEL_NONE 0x00000000 + #define VL53L1_TRACE_LEVEL_ERRORS 0x00000001 + #define VL53L1_TRACE_LEVEL_WARNING 0x00000002 + #define VL53L1_TRACE_LEVEL_INFO 0x00000004 + #define VL53L1_TRACE_LEVEL_DEBUG 0x00000008 + #define VL53L1_TRACE_LEVEL_ALL 0x00000010 + #define VL53L1_TRACE_LEVEL_IGNORE 0x00000020 + + #define VL53L1_TRACE_FUNCTION_NONE 0x00000000 + #define VL53L1_TRACE_FUNCTION_I2C 0x00000001 + #define VL53L1_TRACE_FUNCTION_ALL 0x7fffffff + + #define VL53L1_TRACE_MODULE_NONE 0x00000000 + #define VL53L1_TRACE_MODULE_API 0x00000001 + #define VL53L1_TRACE_MODULE_CORE 0x00000002 + #define VL53L1_TRACE_MODULE_PROTECTED 0x00000004 + #define VL53L1_TRACE_MODULE_HISTOGRAM 0x00000008 + #define VL53L1_TRACE_MODULE_REGISTERS 0x00000010 + #define VL53L1_TRACE_MODULE_PLATFORM 0x00000020 + #define VL53L1_TRACE_MODULE_NVM 0x00000040 + #define VL53L1_TRACE_MODULE_CALIBRATION_DATA 0x00000080 + #define VL53L1_TRACE_MODULE_NVM_DATA 0x00000100 + #define VL53L1_TRACE_MODULE_HISTOGRAM_DATA 0x00000200 + #define VL53L1_TRACE_MODULE_RANGE_RESULTS_DATA 0x00000400 + #define VL53L1_TRACE_MODULE_XTALK_DATA 0x00000800 + #define VL53L1_TRACE_MODULE_OFFSET_DATA 0x00001000 + #define VL53L1_TRACE_MODULE_DATA_INIT 0x00002000 + #define VL53L1_TRACE_MODULE_REF_SPAD_CHAR 0x00004000 + #define VL53L1_TRACE_MODULE_SPAD_RATE_MAP 0x00008000 + #ifdef PAL_EXTENDED + #define VL53L1_TRACE_MODULE_SPAD 0x01000000 + #define VL53L1_TRACE_MODULE_FMT 0x02000000 + #define VL53L1_TRACE_MODULE_UTILS 0x04000000 + #define VL53L1_TRACE_MODULE_BENCH_FUNCS 0x08000000 + #endif + #define VL53L1_TRACE_MODULE_CUSTOMER_API 0x40000000 + #define VL53L1_TRACE_MODULE_ALL 0x7fffffff + + extern void log_trace_print(uint32_t module, uint32_t level, + uint32_t function, const char *format, ...); + + #define _LOG_TRACE_PRINT_FMT(module, level, function, format, ...) \ + log_trace_print(module, level, function, \ + KERN_INFO " " format, ##__VA_ARGS__) + #define _LOG_TRACE_PRINT(module, level, function, ...) \ + _LOG_TRACE_PRINT_FMT(module, level, function, ##__VA_ARGS__) + #define _LOG_FUNCTION_START(module, fmt, ...) \ + log_trace_print(module, VL53L1_TRACE_LEVEL_NONE, \ + VL53L1_TRACE_FUNCTION_ALL, \ + KERN_INFO " %s "fmt"\n", __func__, ##__VA_ARGS__) + #define _LOG_FUNCTION_END(module, status, ...) \ + log_trace_print(module, VL53L1_TRACE_LEVEL_NONE, \ + VL53L1_TRACE_FUNCTION_ALL, \ + KERN_INFO " %s %d\n", __func__, status) + #define _LOG_FUNCTION_END_FMT(module, status, fmt, ...) \ + log_trace_print(module, VL53L1_TRACE_LEVEL_NONE, \ + VL53L1_TRACE_FUNCTION_ALL, \ + KERN_INFO " %s %d"fmt"\n", __func__, status, \ + ##__VA_ARGS__) + #define _LOG_GET_TRACE_FUNCTIONS() 0 + #define _LOG_SET_TRACE_FUNCTIONS(functions) + + #define _LOG_STRING_BUFFER(x) char x[VL53L1_MAX_STRING_LENGTH] + + #ifdef __cplusplus + } + #endif + +#else /* VL53L1_LOG_ENABLE - no logging */ + #include "vl53l1_platform_user_config.h" + + #define _LOG_TRACE_PRINT(module, level, function, ...) + #define _LOG_FUNCTION_START(module, fmt, ...) + #define _LOG_FUNCTION_END(module, status, ...) + #define _LOG_FUNCTION_END_FMT(module, status, fmt, ...) + #define _LOG_GET_TRACE_FUNCTIONS() 0 + #define _LOG_SET_TRACE_FUNCTIONS(functions) + #define _LOG_STRING_BUFFER(x) + +#endif /* VL53L1_LOG_ENABLE */ + +#endif /* _VL53L1_PLATFORM_LOG_H_ */ diff --git a/drivers/input/misc/vl53L1/vl53l1_platform_user_config.h b/drivers/input/misc/vl53L1/vl53l1_platform_user_config.h new file mode 100644 index 000000000000..d21a76549ad0 --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_platform_user_config.h @@ -0,0 +1,97 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +/** + * @file vl53l1_platform_user_config.h + * + * @brief EwokPlus compile time user modifiable configuration + */ + + +#ifndef _VL53L1_PLATFORM_USER_CONFIG_H_ +#define _VL53L1_PLATFORM_USER_CONFIG_H_ + +#define VL53L1_BYTES_PER_WORD 2 +#define VL53L1_BYTES_PER_DWORD 4 + +/* Define polling delays */ +#define VL53L1_BOOT_COMPLETION_POLLING_TIMEOUT_MS 500 +#define VL53L1_RANGE_COMPLETION_POLLING_TIMEOUT_MS 2000 +#define VL53L1_TEST_COMPLETION_POLLING_TIMEOUT_MS 60000 + +#define VL53L1_POLLING_DELAY_MS 1 + +/* Define LLD TuningParms Page Base Address + * - Part of Patch_AddedTuningParms_11761 + */ +#define VL53L1_TUNINGPARM_PUBLIC_PAGE_BASE_ADDRESS 0x8000 +#define VL53L1_TUNINGPARM_PRIVATE_PAGE_BASE_ADDRESS 0xC000 + +#define VL53L1_GAIN_FACTOR__STANDARD_DEFAULT 0x0800 + /*!< Default standard ranging gain correction factor + * 1.11 format. 1.0 = 0x0800, 0.980 = 0x07D7 + */ +#define VL53L1_GAIN_FACTOR__HISTOGRAM_DEFAULT 0x0800 + /*!< Default histogram ranging gain correction factor + * 1.11 format. 1.0 = 0x0800, 0.975 = 0x07CC + */ + + +#define VL53L1_OFFSET_CAL_MIN_EFFECTIVE_SPADS 0x0500 + /*!< Lower Limit for the MM1 effective SPAD count during offset + * calibration Format 8.8 0x0500 -> 5.0 effective SPADs + */ + +#define VL53L1_OFFSET_CAL_MAX_PRE_PEAK_RATE_MCPS 0x1900 + /*!< Max Limit for the pre range preak rate during offset + * calibration Format 9.7 0x1900 -> 50.0 Mcps. + * If larger then in pile up + */ + +#define VL53L1_OFFSET_CAL_MAX_SIGMA_MM 0x0040 + /*!< Max sigma estimate limit during offset calibration + * Check applies to pre-range, mm1 and mm2 ranges + * Format 14.2 0x0040 -> 16.0mm. + */ + + +#define VL53L1_ZONE_CAL_MAX_PRE_PEAK_RATE_MCPS 0x1900 + /*!< Max Peak Rate Limit for the during zone calibration + * Format 9.7 0x1900 -> 50.0 Mcps. + * If larger then in pile up + */ + +#define VL53L1_ZONE_CAL_MAX_SIGMA_MM 0x0040 + /*!< Max sigma estimate limit during zone calibration + * Format 14.2 0x0040 -> 16.0mm. + */ + + +#define VL53L1_XTALK_EXTRACT_MAX_SIGMA_MM 0x008C + /*!< Max Sigma value allowed for a successful xtalk extraction + * Format 14.2 0x008C -> 35.0 mm. + */ + + +#define VL53L1_MAX_USER_ZONES 169 + /*!< Max number of user Zones - maximal limitation from + * FW stream divide - value of 254 + */ + +#define VL53L1_MAX_RANGE_RESULTS 4 + /*!< Sets the maximum number of targets distances the histogram + * post processing can generate + */ + +#define VL53L1_MAX_STRING_LENGTH 512 + +#endif /* _VL53L1_PLATFORM_USER_CONFIG_H_ */ + diff --git a/drivers/input/misc/vl53L1/vl53l1_platform_user_data.h b/drivers/input/misc/vl53L1/vl53l1_platform_user_data.h new file mode 100644 index 000000000000..a3529a504d38 --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_platform_user_data.h @@ -0,0 +1,43 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + +#ifndef _VL53L1_PLATFORM_USER_DATA_H_ +#define _VL53L1_PLATFORM_USER_DATA_H_ + +#include "vl53l1_ll_def.h" + +#include +#include "vl53l1_def.h" + +#ifdef __cplusplus +extern "C" +{ +#endif + +#include + +#define VL53L1_Dev_t VL53L1_DevData_t +#define VL53L1_DEV VL53L1_DevData_t * + +#define VL53L1DevDataGet(Dev, field) (Dev->field) +#define VL53L1DevDataSet(Dev, field, data) ((Dev->field) = (data)) + +#define VL53L1DevStructGetLLDriverHandle(Dev) (&VL53L1DevDataGet(Dev, LLData)) +#define VL53L1DevStructGetLLResultsHandle(Dev) (&VL53L1DevDataGet(Dev,\ + llresults)) + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/vl53l1_platform_user_defines.h b/drivers/input/misc/vl53L1/vl53l1_platform_user_defines.h new file mode 100644 index 000000000000..f9e98beb43d4 --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_platform_user_defines.h @@ -0,0 +1,72 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + + +#ifndef _VL53L1_PLATFORM_USER_DEFINES_H_ +#define _VL53L1_PLATFORM_USER_DEFINES_H_ + +#ifdef __cplusplus +extern "C" +{ +#endif + +#ifdef __KERNEL__ +#include +#endif + +/** + * @file vl53l1_platform_user_defines.h + * + * @brief All end user OS/platform/application definitions + */ + + +/** + * @def do_division_u + * @brief customer supplied division operation - 64-bit unsigned + * + * @param dividend unsigned 64-bit numerator + * @param divisor unsigned 64-bit denominator + */ +#ifdef __KERNEL__ +#define do_division_u(dividend, divisor) div64_u64(dividend, divisor) +#else +#define do_division_u(dividend, divisor) (dividend / divisor) +#endif + +/** + * @def do_division_s + * @brief customer supplied division operation - 64-bit signed + * + * @param dividend signed 64-bit numerator + * @param divisor signed 64-bit denominator + */ +#ifdef __KERNEL__ +#define do_division_s(dividend, divisor) div64_s64(dividend, divisor) +#else +#define do_division_s(dividend, divisor) (dividend / divisor) +#endif + +#define WARN_OVERRIDE_STATUS(__X__)\ + trace_print(VL53L1_TRACE_LEVEL_WARNING, #__X__) + + +#define DISABLE_WARNINGS() +#define ENABLE_WARNINGS() + + + +#ifdef __cplusplus +} +#endif + +#endif + diff --git a/drivers/input/misc/vl53L1/vl53l1_types.h b/drivers/input/misc/vl53L1/vl53l1_types.h new file mode 100644 index 000000000000..3b1c331039eb --- /dev/null +++ b/drivers/input/misc/vl53L1/vl53l1_types.h @@ -0,0 +1,27 @@ + +/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ +/****************************************************************************** + * Copyright (c) 2020, STMicroelectronics - All Rights Reserved + + This file is part of VL53L1 and is dual licensed, + either GPL-2.0+ + or 'BSD 3-clause "New" or "Revised" License' , at your option. + ****************************************************************************** + */ + +/** + * @file vl53l1_types.h + * @brief VL53L1 types definition + */ + +#ifndef _VL53L1_TYPES_H_ +#define _VL53L1_TYPES_H_ + +#include +/** use where fractional values are expected + * + * Given a floating point value f it's .16 bit point is (int)(f*(1<<16)) + */ +typedef uint32_t FixPoint1616_t; + +#endif /* VL53L1_TYPES_H_ */ -- GitLab