VL53L1X_calibration.c

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/*
* Copyright (c) 2017, STMicroelectronics - All Rights Reserved
*
* This file : part of VL53L1 Core and : dual licensed,
* either 'STMicroelectronics
* Proprietary license'
* or 'BSD 3-clause "New" or "Revised" License' , at your option.
*
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*
* 'STMicroelectronics Proprietary license'
*
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*
* License terms: STMicroelectronics Proprietary in accordance with licensing
* terms at www.st.com/sla0081
*
* STMicroelectronics confidential
* Reproduction and Communication of this document : strictly prohibited unless
* specifically authorized in writing by STMicroelectronics.
*
*
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*
* Alternatively, VL53L1 Core may be distributed under the terms of
* 'BSD 3-clause "New" or "Revised" License', in which case the following
* provisions apply instead of the ones mentioned above :
*
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*
* License terms: BSD 3-clause "New" or "Revised" License.
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/**
 * @file  vl53l1x_calibration.c
 * @brief Calibration functions implementation
 */
#include "VL53L1X_api.h"
#include "VL53L1X_calibration.h"

#define ALGO__PART_TO_PART_RANGE_OFFSET_MM  0x001E
#define MM_CONFIG__INNER_OFFSET_MM          0x0020
#define MM_CONFIG__OUTER_OFFSET_MM          0x0022

int8_t VL53L1X_CalibrateOffset(uint16_t dev, uint16_t TargetDistInMm, int16_t *offset)
{
    uint8_t i, tmp;
    int16_t AverageDistance = 0;
    uint16_t distance;
    VL53L1X_ERROR status = 0;

    status = VL53L1_WrWord(dev, ALGO__PART_TO_PART_RANGE_OFFSET_MM, 0x0);
    status = VL53L1_WrWord(dev, MM_CONFIG__INNER_OFFSET_MM, 0x0);
    status = VL53L1_WrWord(dev, MM_CONFIG__OUTER_OFFSET_MM, 0x0);
    status = VL53L1X_StartRanging(dev); /* Enable VL53L1X sensor */
    for (i = 0; i < 50; i++) {
        tmp = 0;
        while (tmp == 0){
            status = VL53L1X_CheckForDataReady(dev, &tmp);
        }
        status = VL53L1X_GetDistance(dev, &distance);
        status = VL53L1X_ClearInterrupt(dev);
        AverageDistance = AverageDistance + distance;
    }
    status = VL53L1X_StopRanging(dev);
    AverageDistance = AverageDistance / 50;
    *offset = TargetDistInMm - AverageDistance;
    status = VL53L1_WrWord(dev, ALGO__PART_TO_PART_RANGE_OFFSET_MM, *offset*4);
    return status;
}

int8_t VL53L1X_CalibrateXtalk(uint16_t dev, uint16_t TargetDistInMm, uint16_t *xtalk)
{
    uint8_t i, tmp;
    float AverageSignalRate = 0;
    float AverageDistance = 0;
    float AverageSpadNb = 0;
    uint16_t distance = 0, spadNum;
    uint16_t sr;
    VL53L1X_ERROR status = 0;
    uint32_t calXtalk;

    status = VL53L1_WrWord(dev, 0x0016,0);
    status = VL53L1X_StartRanging(dev);
    for (i = 0; i < 50; i++) {
        tmp = 0;
        while (tmp == 0){
            status = VL53L1X_CheckForDataReady(dev, &tmp);
        }
        status= VL53L1X_GetSignalRate(dev, &sr);
        status= VL53L1X_GetDistance(dev, &distance);
        status = VL53L1X_ClearInterrupt(dev);
        AverageDistance = AverageDistance + distance;
        status = VL53L1X_GetSpadNb(dev, &spadNum);
        AverageSpadNb = AverageSpadNb + spadNum;
        AverageSignalRate =
            AverageSignalRate + sr;
    }
    status = VL53L1X_StopRanging(dev);
    AverageDistance = AverageDistance / 50;
    AverageSpadNb = AverageSpadNb / 50;
    AverageSignalRate = AverageSignalRate / 50;
    /* Calculate Xtalk value */
    calXtalk = (uint16_t)(512*(AverageSignalRate*(1-(AverageDistance/TargetDistInMm)))/AverageSpadNb);
    *xtalk = (uint16_t)(calXtalk*1000)>>9;
    status = VL53L1_WrWord(dev, 0x0016, calXtalk);
    return status;
}