original files from STSW-IMG007 VL53L1X API 2.3.3, run through dos2un…

…ix to ease merge
Dirk007 · Jul 1, 2019 · 215c70d · 215c70d
1 parent 19445d9
commit 215c70d
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Showing 42 changed files with 131 additions and 59 deletions.
diff --git a/vl53l1_api.c b/vl53l1_api.c
@@ -133,9 +133,11 @@ static int32_t BDTable[VL53L1_TUNING_MAX_TUNABLE_KEY] = {
 		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_XTALK_FULL_ROI_TARGET_DISTANCE_MM,
+		TUNING_SIMPLE_OFFSET_CALIBRATION_REPEAT
 };
 
+
 #define VL53L1_NVM_POWER_UP_DELAY_US             50
 #define VL53L1_NVM_READ_TRIGGER_DELAY_US          5
 
@@ -389,8 +391,8 @@ static VL53L1_Error SingleTargetXTalkCalibration(VL53L1_DEV Dev)
 {
 	VL53L1_Error Status = VL53L1_ERROR_NONE;
 
-	uint16_t sum_ranging = 0;
-	uint16_t sum_spads = 0;
+	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;
@@ -452,10 +454,10 @@ static VL53L1_Error SingleTargetXTalkCalibration(VL53L1_DEV Dev)
 	if (total_count > 0) {
 		/* FixPoint1616_t / uint16_t = FixPoint1616_t */
 		xTalkStoredMeanSignalRate = sum_signalRate / total_count;
-		xTalkStoredMeanRange = (FixPoint1616_t)((uint32_t)(
-			sum_ranging << 16) / total_count);
-		xTalkStoredMeanRtnSpads = (FixPoint1616_t)((uint32_t)(
-			sum_spads << 16) / total_count);
+		xTalkStoredMeanRange = (FixPoint1616_t)(sum_ranging << 16);
+		xTalkStoredMeanRange /= total_count;
+		xTalkStoredMeanRtnSpads = (FixPoint1616_t)(sum_spads << 16);
+		xTalkStoredMeanRtnSpads /= total_count;
 
 		/* Round Mean Spads to Whole Number.
 		 * Typically the calculated mean SPAD count is a whole number
@@ -511,7 +513,7 @@ static VL53L1_Error SingleTargetXTalkCalibration(VL53L1_DEV Dev)
 
 		pC->algo__crosstalk_compensation_plane_offset_kcps =
 			(uint32_t)(1000 * ((XTalkCompensationRateMegaCps  +
-				(1<<6)) >> (16-9)));
+				((uint32_t)1<<6)) >> (16-9)));
 
 		Status = VL53L1_SetCalibrationData(Dev, &CalibrationData);
 		CHECK_ERROR_GO_ENDFUNC;
@@ -1314,11 +1316,16 @@ VL53L1_Error VL53L1_SetInterMeasurementPeriodMilliSeconds(VL53L1_DEV Dev,
 	uint32_t InterMeasurementPeriodMilliSeconds)
 {
 	VL53L1_Error Status = VL53L1_ERROR_NONE;
+	uint32_t adjustedIMP;
 
 	LOG_FUNCTION_START("");
 
+	/* Fix for Ticket 468205 actual measurement period shorter than set */
+	adjustedIMP = InterMeasurementPeriodMilliSeconds;
+	adjustedIMP += (adjustedIMP * 64) / 1000;
+	/* End of fix for Ticket 468205 */
 	Status = VL53L1_set_inter_measurement_period_ms(Dev,
-			InterMeasurementPeriodMilliSeconds);
+			adjustedIMP);
 
 	LOG_FUNCTION_END(Status);
 	return Status;
@@ -1328,11 +1335,15 @@ 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,
-			pInterMeasurementPeriodMilliSeconds);
+	Status = VL53L1_get_inter_measurement_period_ms(Dev, &adjustedIMP);
+	/* Fix for Ticket 468205 actual measurement period shorter than set */
+	adjustedIMP -= (adjustedIMP * 64) / 1000;
+	*pInterMeasurementPeriodMilliSeconds = adjustedIMP;
+	/* End of fix for Ticket 468205 */
 
 	LOG_FUNCTION_END(Status);
 	return Status;
@@ -1720,9 +1731,12 @@ VL53L1_Error VL53L1_GetSequenceStepEnable(VL53L1_DEV Dev,
 
 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;
 
 	LOG_FUNCTION_START("");
 
@@ -1746,6 +1760,22 @@ VL53L1_Error VL53L1_StartMeasurement(VL53L1_DEV Dev)
 
 	DeviceMeasurementMode = VL53L1DevDataGet(Dev, LLData.measurement_mode);
 
+	/* Check timing configuration between timing budget and
+	* inter measurement period */
+	if ((Status == VL53L1_ERROR_NONE) &&
+		(DeviceMeasurementMode == VL53L1_DEVICEMEASUREMENTMODE_TIMED)) {
+		lStatus = VL53L1_GetMeasurementTimingBudgetMicroSeconds(Dev,
+				&MTBus);
+		/* convert timing budget in ms */
+		MTBus /= 1000;
+		lStatus = VL53L1_GetInterMeasurementPeriodMilliSeconds(Dev,
+				&IMPms);
+		/* trick to get rid of compiler "set but not used" warning */
+		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,
@@ -2178,7 +2208,6 @@ VL53L1_Error VL53L1_SetTuningParameter(VL53L1_DEV Dev,
 	VL53L1_Error Status = VL53L1_ERROR_NONE;
 
 	LOG_FUNCTION_START("");
-
 	if (TuningParameterId >= 32768)
 		Status = VL53L1_set_tuning_parm(Dev,
 			TuningParameterId,
@@ -2431,12 +2460,14 @@ VL53L1_Error VL53L1_PerformOffsetSimpleCalibration(VL53L1_DEV Dev,
 	VL53L1_Error Status = VL53L1_ERROR_NONE;
 	int32_t sum_ranging;
 	uint8_t offset_meas;
-	uint8_t Max;
-	uint8_t total_count;
+	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;
 
 	LOG_FUNCTION_START("");
 
@@ -2446,48 +2477,67 @@ VL53L1_Error VL53L1_PerformOffsetSimpleCalibration(VL53L1_DEV Dev,
 	pdev->customer.mm_config__inner_offset_mm = 0;
 	pdev->customer.mm_config__outer_offset_mm = 0;
 
-	Max = BDTable[VL53L1_TUNING_MAX_SIMPLE_OFFSET_CALIBRATION_SAMPLE_NUMBER];
-
-	Status = VL53L1_StartMeasurement(Dev);
+	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;
-	offset_meas = 0;
 	total_count = 0;
-	while ((Status == VL53L1_ERROR_NONE) && (offset_meas < Max)) {
-		Status = VL53L1_WaitMeasurementDataReady(Dev);
-		if (Status == VL53L1_ERROR_NONE) {
+
+	while ((Repeat > 0) && (Status == VL53L1_ERROR_NONE)) {
+		Status = VL53L1_StartMeasurement(Dev);
+		/* Very first ranging completion interrupt must be ignored */
+		if (Status == VL53L1_ERROR_NONE)
+			Status = VL53L1_WaitMeasurementDataReady(Dev);
+		if (Status == VL53L1_ERROR_NONE)
 			Status = VL53L1_GetRangingMeasurementData(Dev,
-					&RangingMeasurementData);
-		}
-		if (Status == VL53L1_ERROR_NONE) {
-			if (RangingMeasurementData.RangeStatus ==
-					VL53L1_RANGESTATUS_RANGE_VALID) {
+						&RangingMeasurementData);
+		if (Status == VL53L1_ERROR_NONE)
+			Status = VL53L1_ClearInterruptAndStartMeasurement(Dev);
+		/* offset calibration main loop */
+		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;
-				total_count++;
+				inloopcount++;
 			}
+			if (Status == VL53L1_ERROR_NONE) {
+				Status = VL53L1_ClearInterruptAndStartMeasurement(
+					Dev);
+			}
+			offset_meas++;
 		}
-		if (Status == VL53L1_ERROR_NONE) {
-			Status = VL53L1_ClearInterruptAndStartMeasurement(
-				Dev);
+		total_count += inloopcount;
+
+		/* no enough valid values found */
+		if (inloopcount < UnderMax) {
+			Status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
 		}
-		offset_meas++;
-	}
 
-	VL53L1_StopMeasurement(Dev);
+		VL53L1_StopMeasurement(Dev);
 
-	/* no valid values found */
-	if (total_count == 0) {
-		Status = VL53L1_ERROR_OFFSET_CAL_NO_SAMPLE_FAIL;
-	}
+		Repeat--;
 
+	}
 	/* check overflow (unlikely if target is near to the device) */
 	if ((sum_ranging < 0) ||
 		(sum_ranging > ((int32_t) total_count * 0xffff))) {
 		Status = VL53L1_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH;
 	}
 
-	if (Status == VL53L1_ERROR_NONE) {
-		meanDistance_mm = (int16_t)(sum_ranging / total_count);
+	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;
@@ -2730,11 +2780,11 @@ VL53L1_Error VL53L1_SetThresholdConfig(VL53L1_DEV Dev,
 				 * Apply invert distance gain to thresholds */
 				g = pdev->gain_cal.standard_ranging_gain_factor;
 				/* gain is ufix 5.11, convert to 16.16 */
-				gain = (FixPoint1616_t) (g << 5);
-				high1616 = (FixPoint1616_t)
-						(pConfig->Distance.High << 16);
-				low1616 = (FixPoint1616_t)
-						(pConfig->Distance.Low << 16);
+				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);
 				/* +32768 to round the results*/
 				high1616 = (high1616 + 32768) / gain;
 				low1616 = (low1616 + 32768) / gain;

diff --git a/vl53l1_api.h b/vl53l1_api.h
@@ -72,6 +72,18 @@ extern "C"
 {
 #endif
 
+#if !defined(VL53L1DevDataGet)
+#warning "Usage of PALDevDataGet is deprecated define VL53L1DevDataGet instead\
+	in your vl53l1_platform_user_data.h file"
+#define VL53L1DevDataGet(Dev, field) (Dev->Data.field)
+#endif
+
+#if !defined(VL53L1DevDataSet)
+#warning "Usage of PALDevDataSet is deprecated define VL53L1DevDataSet instead\
+	in your vl53l1_platform_user_data.h file"
+#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
  *  @{
@@ -403,6 +415,9 @@ VL53L1_Error VL53L1_GetMeasurementTimingBudgetMicroSeconds(
  *
  * @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
  */
@@ -761,8 +776,12 @@ VL53L1_Error VL53L1_GetSequenceStepEnable(VL53L1_DEV Dev,
  * @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);

diff --git a/vl53l1_api_calibration.c b/vl53l1_api_calibration.c
diff --git a/vl53l1_api_calibration.h b/vl53l1_api_calibration.h
diff --git a/vl53l1_api_core.c b/vl53l1_api_core.c
diff --git a/vl53l1_api_core.h b/vl53l1_api_core.h
diff --git a/vl53l1_api_debug.c b/vl53l1_api_debug.c
diff --git a/vl53l1_api_debug.h b/vl53l1_api_debug.h
diff --git a/vl53l1_api_preset_modes.c b/vl53l1_api_preset_modes.c
diff --git a/vl53l1_api_preset_modes.h b/vl53l1_api_preset_modes.h
diff --git a/vl53l1_api_strings.c b/vl53l1_api_strings.c
diff --git a/vl53l1_api_strings.h b/vl53l1_api_strings.h
diff --git a/vl53l1_core.c b/vl53l1_core.c
diff --git a/vl53l1_core.h b/vl53l1_core.h
diff --git a/vl53l1_core_support.c b/vl53l1_core_support.c
diff --git a/vl53l1_core_support.h b/vl53l1_core_support.h
diff --git a/vl53l1_def.h b/vl53l1_def.h
@@ -88,9 +88,9 @@ extern "C" {
 /** VL53L1 IMPLEMENTATION minor version */
 #define VL53L1_IMPLEMENTATION_VER_MINOR       3
 /** VL53L1 IMPLEMENTATION sub version */
-#define VL53L1_IMPLEMENTATION_VER_SUB         1
+#define VL53L1_IMPLEMENTATION_VER_SUB         3
 /** VL53L1 IMPLEMENTATION sub version */
-#define VL53L1_IMPLEMENTATION_VER_REVISION  1842
+#define VL53L1_IMPLEMENTATION_VER_REVISION  1885
 
 /****************************************
  * PRIVATE define do not edit
@@ -588,57 +588,57 @@ typedef struct {
 #define VL53L1_FIXPOINT1616TOFIXPOINT44(Value) \
 	(uint16_t)((Value>>12)&0xFFFF)
 #define VL53L1_FIXPOINT44TOFIXPOINT1616(Value) \
-	(FixPoint1616_t)(Value<<12)
+	(FixPoint1616_t)((uint32_t)Value<<12)
 
 #define VL53L1_FIXPOINT1616TOFIXPOINT72(Value) \
 	(uint16_t)((Value>>14)&0xFFFF)
 #define VL53L1_FIXPOINT72TOFIXPOINT1616(Value) \
-	(FixPoint1616_t)(Value<<14)
+	(FixPoint1616_t)((uint32_t)Value<<14)
 
 #define VL53L1_FIXPOINT1616TOFIXPOINT97(Value) \
 	(uint16_t)((Value>>9)&0xFFFF)
 #define VL53L1_FIXPOINT97TOFIXPOINT1616(Value) \
-	(FixPoint1616_t)(Value<<9)
+	(FixPoint1616_t)((uint32_t)Value<<9)
 
 #define VL53L1_FIXPOINT1616TOFIXPOINT88(Value) \
 	(uint16_t)((Value>>8)&0xFFFF)
 #define VL53L1_FIXPOINT88TOFIXPOINT1616(Value) \
-	(FixPoint1616_t)(Value<<8)
+	(FixPoint1616_t)((uint32_t)Value<<8)
 
 #define VL53L1_FIXPOINT1616TOFIXPOINT412(Value) \
 	(uint16_t)((Value>>4)&0xFFFF)
 #define VL53L1_FIXPOINT412TOFIXPOINT1616(Value) \
-	(FixPoint1616_t)(Value<<4)
+	(FixPoint1616_t)((uint32_t)Value<<4)
 
 #define VL53L1_FIXPOINT1616TOFIXPOINT313(Value) \
 	(uint16_t)((Value>>3)&0xFFFF)
 #define VL53L1_FIXPOINT313TOFIXPOINT1616(Value) \
-	(FixPoint1616_t)(Value<<3)
+	(FixPoint1616_t)((uint32_t)Value<<3)
 
 #define VL53L1_FIXPOINT1616TOFIXPOINT08(Value) \
 	(uint8_t)((Value>>8)&0x00FF)
 #define VL53L1_FIXPOINT08TOFIXPOINT1616(Value) \
-	(FixPoint1616_t)(Value<<8)
+	(FixPoint1616_t)((uint32_t)Value<<8)
 
 #define VL53L1_FIXPOINT1616TOFIXPOINT53(Value) \
 	(uint8_t)((Value>>13)&0x00FF)
 #define VL53L1_FIXPOINT53TOFIXPOINT1616(Value) \
-	(FixPoint1616_t)(Value<<13)
+	(FixPoint1616_t)((uint32_t)Value<<13)
 
 #define VL53L1_FIXPOINT1616TOFIXPOINT102(Value) \
 	(uint16_t)((Value>>14)&0x0FFF)
 #define VL53L1_FIXPOINT102TOFIXPOINT1616(Value) \
-	(FixPoint1616_t)(Value<<14)
+	(FixPoint1616_t)((uint32_t)Value<<14)
 
 #define VL53L1_FIXPOINT1616TOFIXPOINT142(Value) \
 	(uint16_t)((Value>>14)&0xFFFF)
 #define VL53L1_FIXPOINT142TOFIXPOINT1616(Value) \
-	(FixPoint1616_t)(Value<<14)
+	(FixPoint1616_t)((uint32_t)Value<<14)
 
 #define VL53L1_FIXPOINT1616TOFIXPOINT160(Value) \
 	(uint16_t)((Value>>16)&0xFFFF)
 #define VL53L1_FIXPOINT160TOFIXPOINT1616(Value) \
-	(FixPoint1616_t)(Value<<16)
+	(FixPoint1616_t)((uint32_t)Value<<16)
 
 #define VL53L1_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \
 		(uint16_t)lsb)

diff --git a/vl53l1_error_codes.h b/vl53l1_error_codes.h
diff --git a/vl53l1_error_exceptions.h b/vl53l1_error_exceptions.h
diff --git a/vl53l1_error_strings.c b/vl53l1_error_strings.c
diff --git a/vl53l1_error_strings.h b/vl53l1_error_strings.h
diff --git a/vl53l1_ll_def.h b/vl53l1_ll_def.h
diff --git a/vl53l1_ll_device.h b/vl53l1_ll_device.h
diff --git a/vl53l1_nvm_map.h b/vl53l1_nvm_map.h
diff --git a/vl53l1_platform.c b/vl53l1_platform.c
diff --git a/vl53l1_platform.h b/vl53l1_platform.h
diff --git a/vl53l1_platform_log.h b/vl53l1_platform_log.h
diff --git a/vl53l1_platform_user_config.h b/vl53l1_platform_user_config.h
diff --git a/vl53l1_platform_user_data.h b/vl53l1_platform_user_data.h
diff --git a/vl53l1_platform_user_defines.h b/vl53l1_platform_user_defines.h