pimoroni-pico/drivers/vl53l1x/vl53l1x.cpp

// Most of the functionality of this library is based on the VL53L1X API
// provided by ST (STSW-IMG007), and some of the explanatory comments are quoted
// or paraphrased from the API source code, API user manual (UM2356), and
// VL53L1X datasheet. Therefore, the license terms for the API source code
// (BSD 3-clause "New" or "Revised" License) also apply to this derivative work.
// Based on the code in https://github.com/pololu/vl53l1x-arduino
// Modified by https://github.com/simon3270/driver-vl53l1x

#include "vl53l1x.hpp"

// Constructors ////////////////////////////////////////////////////////////////

namespace pimoroni {

// Public Methods //////////////////////////////////////////////////////////////

// Initialize sensor using settings taken mostly from VL53L1_DataInit() and
// VL53L1_StaticInit().
// We are running a breakout, so will definitely configure the sensor for 2V8 mode
  uint16_t VL53L1X::getid() {
    return readReg16Bit(IDENTIFICATION__MODEL_ID);
  }
  uint16_t VL53L1X::getosc() {
    return readReg16Bit(OSC_MEASURED__FAST_OSC__FREQUENCY);
  }
  void VL53L1X::setosc(uint16_t value) {
    writeReg16Bit(OSC_MEASURED__FAST_OSC__FREQUENCY, value);
  }

  bool VL53L1X::init(bool io_2v8)
  {
    // Set some defaults
    setTimeout(0);
    did_timeout = false;
    calibrated = true;
    saved_vhv_init = 0;
    saved_vhv_timeout = 0;
    // distance_mode = 1;

    last_status = 0;

    // check model ID and module type registers (values specified in datasheet)
    if (readReg16Bit(IDENTIFICATION__MODEL_ID) != 0xEACC) { return false; }

    // VL53L1_software_reset() begin

    writeReg(SOFT_RESET, 0x00);
    sleep_us(100);
    writeReg(SOFT_RESET, 0x01);

    // give it some time to boot; otherwise the sensor NACKs during the readReg()
    // call below and the Arduino 101 doesn't seem to handle that well
    sleep_ms(1000);

    // VL53L1_poll_for_boot_completion() begin
    startTimeout();

    // check last_status in case we still get a NACK to try to deal with it correctly
    while ((readReg(FIRMWARE__SYSTEM_STATUS) & 0x01) == 0 || last_status != 0)
    {
      if (checkTimeoutExpired())
      {
        did_timeout = true;
        return false;
      }
    }
    // VL53L1_poll_for_boot_completion() end

    // VL53L1_software_reset() end

    // VL53L1_DataInit() begin

    // sensor uses 1V8 mode for I/O by default; switch to 2V8 mode if necessary
    if (io_2v8)
    {
      writeReg(PAD_I2C_HV__EXTSUP_CONFIG,
        readReg(PAD_I2C_HV__EXTSUP_CONFIG) | 0x01);
    }

    // store oscillator info for later use
    fast_osc_frequency = readReg16Bit(OSC_MEASURED__FAST_OSC__FREQUENCY);
    osc_calibrate_val = readReg16Bit(RESULT__OSC_CALIBRATE_VAL);

    // VL53L1_DataInit() end

    // VL53L1_StaticInit() begin

    // Note that the API does not actually apply the configuration settings below
    // when VL53L1_StaticInit() is called: it keeps a copy of the sensor's
    // register contents in memory and doesn't actually write them until a
    // measurement is started. Writing the configuration here means we don't have
    // to keep it all in memory and avoids a lot of redundant writes later.

    // the API sets the preset mode to LOWPOWER_AUTONOMOUS here:
    // VL53L1_set_preset_mode() begin

    // VL53L1_preset_mode_standard_ranging() begin

    // values labeled "tuning parm default" are from vl53l1_tuning_parm_defaults.h
    // (API uses these in VL53L1_init_tuning_parm_storage_struct())

    // static config
    // API resets PAD_I2C_HV__EXTSUP_CONFIG here, but maybe we don't want to do
    // that? (seems like it would disable 2V8 mode)
    writeReg16Bit(DSS_CONFIG__TARGET_TOTAL_RATE_MCPS, TargetRate); // should already be this value after reset
    writeReg(GPIO__TIO_HV_STATUS, 0x02);
    writeReg(SIGMA_ESTIMATOR__EFFECTIVE_PULSE_WIDTH_NS, 8); // tuning parm default
    writeReg(SIGMA_ESTIMATOR__EFFECTIVE_AMBIENT_WIDTH_NS, 16); // tuning parm default
    writeReg(ALGO__CROSSTALK_COMPENSATION_VALID_HEIGHT_MM, 0x01);
    writeReg(ALGO__RANGE_IGNORE_VALID_HEIGHT_MM, 0xFF);
    writeReg(ALGO__RANGE_MIN_CLIP, 0); // tuning parm default
    writeReg(ALGO__CONSISTENCY_CHECK__TOLERANCE, 2); // tuning parm default

    // general config
    writeReg16Bit(SYSTEM__THRESH_RATE_HIGH, 0x0000);
    writeReg16Bit(SYSTEM__THRESH_RATE_LOW, 0x0000);
    writeReg(DSS_CONFIG__APERTURE_ATTENUATION, 0x38);

    // timing config
    // most of these settings will be determined later by distance and timing
    // budget configuration
    writeReg16Bit(RANGE_CONFIG__SIGMA_THRESH, 360); // tuning parm default
    writeReg16Bit(RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS, 192); // tuning parm default

    // dynamic config

    writeReg(SYSTEM__GROUPED_PARAMETER_HOLD_0, 0x01);
    writeReg(SYSTEM__GROUPED_PARAMETER_HOLD_1, 0x01);
    writeReg(SD_CONFIG__QUANTIFIER, 2); // tuning parm default

    // VL53L1_preset_mode_standard_ranging() end

    // from VL53L1_preset_mode_timed_ranging_*
    // GPH is 0 after reset, but writing GPH0 and GPH1 above seem to set GPH to 1,
    // and things don't seem to work if we don't set GPH back to 0 (which the API
    // does here).
    writeReg(SYSTEM__GROUPED_PARAMETER_HOLD, 0x00);
    writeReg(SYSTEM__SEED_CONFIG, 1); // tuning parm default

    // from VL53L1_config_low_power_auto_mode
    writeReg(SYSTEM__SEQUENCE_CONFIG, 0x8B); // VHV, PHASECAL, DSS1, RANGE
    writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, 200 << 8);
    writeReg(DSS_CONFIG__ROI_MODE_CONTROL, 2); // REQUESTED_EFFFECTIVE_SPADS

    // VL53L1_set_preset_mode() end

    // default to long range, 50 ms timing budget
    // note that this is different than what the API defaults to
    setDistanceMode(Long);
    setMeasurementTimingBudget(50000);

    // VL53L1_StaticInit() end

    // the API triggers this change in VL53L1_init_and_start_range() once a
    // measurement is started; assumes MM1 and MM2 are disabled
    writeReg16Bit(ALGO__PART_TO_PART_RANGE_OFFSET_MM,
      readReg16Bit(MM_CONFIG__OUTER_OFFSET_MM) * 4);

    return true;
  }

  // Write an 8-bit register
  void VL53L1X::writeReg(uint16_t reg, uint8_t value)
  {
    alignas(2) struct u16_u32_buffer {
      uint16_t reg;
      uint8_t value;
    } buffer{reg, value};
    i2c->write_blocking(address, (uint8_t *)&buffer, 3, false);
  }

  // Write a 16-bit register
  void VL53L1X::writeReg16Bit(uint16_t reg, uint16_t value)
  {
    uint16_t buffer[2] = {reg, value};
    i2c->write_blocking(address, (uint8_t *)buffer, 4, false);
  }

  // Write a 32-bit register
  void VL53L1X::writeReg32Bit(uint16_t reg, uint32_t value)
  {
    alignas(2) struct u16_u32_buffer {
      uint16_t reg;
      uint32_t value;
    } buffer{reg, value};
    i2c->write_blocking(address, (uint8_t *)&buffer, 6, false);
  }

  // Read an 8-bit register
  uint8_t VL53L1X::readReg(regAddr reg)
  {
    uint8_t value;
    // TODO do we need to bswap reg?
    i2c->write_blocking(address, (uint8_t *)&reg, 2, true);
    i2c->read_blocking(address, &value, 1, false);
    return value;
  }

  // Read a 16-bit register
  uint16_t VL53L1X::readReg16Bit(uint16_t reg)
  {
    uint16_t value;
    // TODO do we need to bswap reg?
    i2c->write_blocking(address, (uint8_t *)&reg, 2, true);
    i2c->read_blocking(address, (uint8_t *)&value, 2, false);

    // TODO do we need to bswap this return value?
    return __bswap16(value);
  }

  // Read a 32-bit register
  uint32_t VL53L1X::readReg32Bit(uint16_t reg)
  {
    uint32_t value;
    reg= (reg << 8) + (reg >> 8);
    i2c->write_blocking(address, (uint8_t *)&reg, 2, true);
    i2c->read_blocking(address, (uint8_t *)&value, 4, false);

    // TODO do we need to bswap this return value?
    return __bswap32(value);
  }

  // set distance mode to Short, Medium, or Long
  // based on VL53L1_SetDistanceMode()
  bool VL53L1X::setDistanceMode(DistanceMode mode)
  {
    // save existing timing budget
    uint32_t budget_us = getMeasurementTimingBudget();

    switch (mode)
    {
      case Short:
        // from VL53L1_preset_mode_standard_ranging_short_range()

        // timing config
        writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x07);
        writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x05);
        writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0x38);

        // dynamic config
        writeReg(SD_CONFIG__WOI_SD0, 0x07);
        writeReg(SD_CONFIG__WOI_SD1, 0x05);
        writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 6); // tuning parm default
        writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 6); // tuning parm default

        break;

      case Medium:
        // from VL53L1_preset_mode_standard_ranging()

        // timing config
        writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0B);
        writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x09);
        writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0x78);

        // dynamic config
        writeReg(SD_CONFIG__WOI_SD0, 0x0B);
        writeReg(SD_CONFIG__WOI_SD1, 0x09);
        writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 10); // tuning parm default
        writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 10); // tuning parm default

        break;

      case Long: // long
        // from VL53L1_preset_mode_standard_ranging_long_range()

        // timing config
        writeReg(RANGE_CONFIG__VCSEL_PERIOD_A, 0x0F);
        writeReg(RANGE_CONFIG__VCSEL_PERIOD_B, 0x0D);
        writeReg(RANGE_CONFIG__VALID_PHASE_HIGH, 0xB8);

        // dynamic config
        writeReg(SD_CONFIG__WOI_SD0, 0x0F);
        writeReg(SD_CONFIG__WOI_SD1, 0x0D);
        writeReg(SD_CONFIG__INITIAL_PHASE_SD0, 14); // tuning parm default
        writeReg(SD_CONFIG__INITIAL_PHASE_SD1, 14); // tuning parm default

        break;

      default:
        // unrecognized mode - do nothing
        return false;
    }

    // reapply timing budget
    setMeasurementTimingBudget(budget_us);

    // save mode so it can be returned by getDistanceMode()
    distance_mode = mode;

    return true;
  }

  bool VL53L1X::setDistanceModeInt(uint8_t mode)
  {
    // Map the mode here to the internal Enum - must be a better way!
    switch (mode)
    {
      case 0:
        // Do nothing
        break;
      case 1:
        setDistanceMode(Short);
        break;
      case 2:
        setDistanceMode(Medium);
        break;
      case 3:
        setDistanceMode(Long);
        break;
    }
    return true;
  }

  // Set the measurement timing budget in microseconds, which is the time allowed
  // for one measurement. A longer timing budget allows for more accurate
  // measurements.
  // based on VL53L1_SetMeasurementTimingBudgetMicroSeconds()
  bool VL53L1X::setMeasurementTimingBudget(uint32_t budget_us)
  {
    // assumes PresetMode is LOWPOWER_AUTONOMOUS

    if (budget_us <= TimingGuard) { return false; }

    uint32_t range_config_timeout_us = budget_us -= TimingGuard;
    if (range_config_timeout_us > 1100000) { return false; } // FDA_MAX_TIMING_BUDGET_US * 2

    range_config_timeout_us /= 2;

    // VL53L1_calc_timeout_register_values() begin

    uint32_t macro_period_us;

    // "Update Macro Period for Range A VCSEL Period"
    macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_A));

    // "Update Phase timeout - uses Timing A"
    // Timeout of 1000 is tuning parm default (TIMED_PHASECAL_CONFIG_TIMEOUT_US_DEFAULT)
    // via VL53L1_get_preset_mode_timing_cfg().
    uint32_t phasecal_timeout_mclks = timeoutMicrosecondsToMclks(1000, macro_period_us);
    if (phasecal_timeout_mclks > 0xFF) { phasecal_timeout_mclks = 0xFF; }
    writeReg(PHASECAL_CONFIG__TIMEOUT_MACROP, phasecal_timeout_mclks);

    // "Update MM Timing A timeout"
    // Timeout of 1 is tuning parm default (LOWPOWERAUTO_MM_CONFIG_TIMEOUT_US_DEFAULT)
    // via VL53L1_get_preset_mode_timing_cfg(). With the API, the register
    // actually ends up with a slightly different value because it gets assigned,
    // retrieved, recalculated with a different macro period, and reassigned,
    // but it probably doesn't matter because it seems like the MM ("mode
    // mitigation"?) sequence steps are disabled in low power auto mode anyway.
    writeReg16Bit(MM_CONFIG__TIMEOUT_MACROP_A, encodeTimeout(
      timeoutMicrosecondsToMclks(1, macro_period_us)));

    // "Update Range Timing A timeout"
    writeReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_A, encodeTimeout(
      timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us)));

    // "Update Macro Period for Range B VCSEL Period"
    macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_B));

    // "Update MM Timing B timeout"
    // (See earlier comment about MM Timing A timeout.)
    writeReg16Bit(MM_CONFIG__TIMEOUT_MACROP_B, encodeTimeout(
      timeoutMicrosecondsToMclks(1, macro_period_us)));

    // "Update Range Timing B timeout"
    writeReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_B, encodeTimeout(
      timeoutMicrosecondsToMclks(range_config_timeout_us, macro_period_us)));

    // VL53L1_calc_timeout_register_values() end

    return true;
  }

  // Get the measurement timing budget in microseconds
  // based on VL53L1_SetMeasurementTimingBudgetMicroSeconds()
  uint32_t VL53L1X::getMeasurementTimingBudget()
  {
    // assumes PresetMode is LOWPOWER_AUTONOMOUS and these sequence steps are
    // enabled: VHV, PHASECAL, DSS1, RANGE

    // VL53L1_get_timeouts_us() begin

    // "Update Macro Period for Range A VCSEL Period"
    uint32_t macro_period_us = calcMacroPeriod(readReg(RANGE_CONFIG__VCSEL_PERIOD_A));

    // "Get Range Timing A timeout"

    uint32_t range_config_timeout_us = timeoutMclksToMicroseconds(decodeTimeout(
      readReg16Bit(RANGE_CONFIG__TIMEOUT_MACROP_A)), macro_period_us);

    // VL53L1_get_timeouts_us() end

    return  2 * range_config_timeout_us + TimingGuard;
  }

  // Start continuous ranging measurements, with the given inter-measurement
  // period in milliseconds determining how often the sensor takes a measurement.
  void VL53L1X::startContinuous(uint32_t period_ms)
  {
    // from VL53L1_set_inter_measurement_period_ms()
    writeReg32Bit(SYSTEM__INTERMEASUREMENT_PERIOD, period_ms * osc_calibrate_val);

    writeReg(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range
    writeReg(SYSTEM__MODE_START, 0x40); // mode_range__timed
  }

  // Stop continuous measurements
  // based on VL53L1_stop_range()
  void VL53L1X::stopContinuous()
  {
    writeReg(SYSTEM__MODE_START, 0x80); // mode_range__abort

    // VL53L1_low_power_auto_data_stop_range() begin

    calibrated = false;

    // "restore vhv configs"
    if (saved_vhv_init != 0)
    {
      writeReg(VHV_CONFIG__INIT, saved_vhv_init);
    }
    if (saved_vhv_timeout != 0)
    {
       writeReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND, saved_vhv_timeout);
    }

    // "remove phasecal override"
    writeReg(PHASECAL_CONFIG__OVERRIDE, 0x00);

    // VL53L1_low_power_auto_data_stop_range() end
  }

  // Returns a range reading in millimeters when continuous mode is active. If
  // blocking is true (the default), this function waits for a new measurement to
  // be available. If blocking is false, it will try to return data immediately.
  // (readSingle() also calls this function after starting a single-shot range
  // measurement)
  uint16_t VL53L1X::read(bool blocking)
  {
    if (blocking)
    {
      startTimeout();
      while (!dataReady())
      {
        if (checkTimeoutExpired())
        {
          did_timeout = true;
          return 0;
        }
        sleep_us(100);
      }
    }

    readResults();

    if (!calibrated)
    {
      setupManualCalibration();
      calibrated = true;
    }

    updateDSS();

    getRangingData();

    writeReg(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range

    return ranging_data.range_mm;
  }

  // Starts a single-shot range measurement. If blocking is true (the default),
  // this function waits for the measurement to finish and returns the reading.
  // Otherwise, it returns 0 immediately.
  uint16_t VL53L1X::readSingle(bool blocking)
  {
    writeReg(SYSTEM__INTERRUPT_CLEAR, 0x01); // sys_interrupt_clear_range
    writeReg(SYSTEM__MODE_START, 0x10); // mode_range__single_shot

    if (blocking)
    {
      return read(true);
    }
    else
    {
      return 0;
    }
  }

  // convert a RangeStatus to a readable string
  // Note that on an AVR, these strings are stored in RAM (dynamic memory), which
  // makes working with them easier but uses up 200+ bytes of RAM (many AVR-based
  // Arduinos only have about 2000 bytes of RAM). You can avoid this memory usage
  // if you do not call this function in your sketch.
  const char * VL53L1X::rangeStatusToString(RangeStatus status)
  {
    switch (status)
    {
      case RangeValid:
        return "range valid";

      case SigmaFail:
        return "sigma fail";

      case SignalFail:
        return "signal fail";

      case RangeValidMinRangeClipped:
        return "range valid, min range clipped";

      case OutOfBoundsFail:
        return "out of bounds fail";

      case HardwareFail:
        return "hardware fail";

      case RangeValidNoWrapCheckFail:
        return "range valid, no wrap check fail";

      case WrapTargetFail:
        return "wrap target fail";

      case XtalkSignalFail:
        return "xtalk signal fail";

      case SynchronizationInt:
        return "synchronization int";

      case MinRangeFail:
        return "min range fail";

      case None:
        return "no update";

      default:
        return "unknown status";
    }
  }

  // Did a timeout occur in one of the read functions since the last call to
  // timeoutOccurred()?
  bool VL53L1X::timeoutOccurred()
  {
    bool tmp = did_timeout;
    did_timeout = false;
    return tmp;
  }

  // Private Methods /////////////////////////////////////////////////////////////

  // "Setup ranges after the first one in low power auto mode by turning off
  // FW calibration steps and programming static values"
  // based on VL53L1_low_power_auto_setup_manual_calibration()
  void VL53L1X::setupManualCalibration()
  {
    // "save original vhv configs"
    saved_vhv_init = readReg(VHV_CONFIG__INIT);
    saved_vhv_timeout = readReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND);

    // "disable VHV init"
    writeReg(VHV_CONFIG__INIT, saved_vhv_init & 0x7F);

    // "set loop bound to tuning param"
    writeReg(VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND,
      (saved_vhv_timeout & 0x03) + (3 << 2)); // tuning parm default (LOWPOWERAUTO_VHV_LOOP_BOUND_DEFAULT)

    // "override phasecal"
    writeReg(PHASECAL_CONFIG__OVERRIDE, 0x01);
    writeReg(CAL_CONFIG__VCSEL_START, readReg(PHASECAL_RESULT__VCSEL_START));
  }

  // read measurement results into buffer
  void VL53L1X::readResults()
  {
    uint16_t reg = RESULT__RANGE_STATUS;
    // TODO do we need to bswap reg?
    uint8_t buffer[17];
    i2c->write_blocking(address, (uint8_t *)&reg, 2, true);
    i2c->read_blocking(address, buffer, 17, false);

    results.range_status = buffer[0];

    // bus->read(); // report_status: not used

    results.stream_count = buffer[2];

    results.dss_actual_effective_spads_sd0  = (uint16_t)buffer[3] << 8; // high byte
    results.dss_actual_effective_spads_sd0 |=           buffer[4];      // low byte

    // bus->read(); // peak_signal_count_rate_mcps_sd0: not used
    // bus->read();

    results.ambient_count_rate_mcps_sd0  = (uint16_t)buffer[7] << 8; // high byte
    results.ambient_count_rate_mcps_sd0 |=           buffer[8];      // low byte

    // bus->read(); // sigma_sd0: not used
    // bus->read();

    // bus->read(); // phase_sd0: not used
    // bus->read();

    results.final_crosstalk_corrected_range_mm_sd0  = (uint16_t)buffer[13] << 8; // high byte
    results.final_crosstalk_corrected_range_mm_sd0 |=           buffer[14];      // low byte

    results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0  = (uint16_t)buffer[15] << 8; // high byte
    results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 |=           buffer[16];      // low byte
  }

  // perform Dynamic SPAD Selection calculation/update
  // based on VL53L1_low_power_auto_update_DSS()
  void VL53L1X::updateDSS()
  {
    uint16_t spadCount = results.dss_actual_effective_spads_sd0;

    if (spadCount != 0)
    {
      // "Calc total rate per spad"

      uint32_t totalRatePerSpad =
        (uint32_t)results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0 +
        results.ambient_count_rate_mcps_sd0;

      // "clip to 16 bits"
      if (totalRatePerSpad > 0xFFFF) { totalRatePerSpad = 0xFFFF; }

      // "shift up to take advantage of 32 bits"
      totalRatePerSpad <<= 16;

      totalRatePerSpad /= spadCount;

      if (totalRatePerSpad != 0)
      {
        // "get the target rate and shift up by 16"
        uint32_t requiredSpads = ((uint32_t)TargetRate << 16) / totalRatePerSpad;

        // "clip to 16 bit"
        if (requiredSpads > 0xFFFF) { requiredSpads = 0xFFFF; }

        // "override DSS config"
        writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, requiredSpads);
        // DSS_CONFIG__ROI_MODE_CONTROL should already be set to REQUESTED_EFFFECTIVE_SPADS

        return;
      }
    }

    // If we reached this point, it means something above would have resulted in a
    // divide by zero.
    // "We want to gracefully set a spad target, not just exit with an error"

     // "set target to mid point"
     writeReg16Bit(DSS_CONFIG__MANUAL_EFFECTIVE_SPADS_SELECT, 0x8000);
  }

  // get range, status, rates from results buffer
  // based on VL53L1_GetRangingMeasurementData()
  void VL53L1X::getRangingData()
  {
    // VL53L1_copy_sys_and_core_results_to_range_results() begin

    uint16_t range = results.final_crosstalk_corrected_range_mm_sd0;

    // "apply correction gain"
    // gain factor of 2011 is tuning parm default (VL53L1_TUNINGPARM_LITE_RANGING_GAIN_FACTOR_DEFAULT)
    // Basically, this appears to scale the result by 2011/2048, or about 98%
    // (with the 1024 added for proper rounding).
    ranging_data.range_mm = ((uint32_t)range * 2011 + 0x0400) / 0x0800;

    // VL53L1_copy_sys_and_core_results_to_range_results() end

    // set range_status in ranging_data based on value of RESULT__RANGE_STATUS register
    // mostly based on ConvertStatusLite()
    switch(results.range_status)
    {
      case 17: // MULTCLIPFAIL
      case 2: // VCSELWATCHDOGTESTFAILURE
      case 1: // VCSELCONTINUITYTESTFAILURE
      case 3: // NOVHVVALUEFOUND
        // from SetSimpleData()
        ranging_data.range_status = HardwareFail;
        break;

      case 13: // USERROICLIP
       // from SetSimpleData()
        ranging_data.range_status = MinRangeFail;
        break;

      case 18: // GPHSTREAMCOUNT0READY
        ranging_data.range_status = SynchronizationInt;
        break;

      case 5: // RANGEPHASECHECK
        ranging_data.range_status =  OutOfBoundsFail;
        break;

      case 4: // MSRCNOTARGET
        ranging_data.range_status = SignalFail;
        break;

      case 6: // SIGMATHRESHOLDCHECK
        ranging_data.range_status = SigmaFail;
        break;

      case 7: // PHASECONSISTENCY
        ranging_data.range_status = WrapTargetFail;
        break;

      case 12: // RANGEIGNORETHRESHOLD
        ranging_data.range_status = XtalkSignalFail;
        break;

      case 8: // MINCLIP
        ranging_data.range_status = RangeValidMinRangeClipped;
        break;

      case 9: // RANGECOMPLETE
        // from VL53L1_copy_sys_and_core_results_to_range_results()
        if (results.stream_count == 0)
        {
          ranging_data.range_status = RangeValidNoWrapCheckFail;
        }
        else
        {
          ranging_data.range_status = RangeValid;
        }
        break;

      default:
        ranging_data.range_status = None;
    }

    // from SetSimpleData()
    ranging_data.peak_signal_count_rate_MCPS =
      countRateFixedToFloat(results.peak_signal_count_rate_crosstalk_corrected_mcps_sd0);
    ranging_data.ambient_count_rate_MCPS =
      countRateFixedToFloat(results.ambient_count_rate_mcps_sd0);
  }

  // Decode sequence step timeout in MCLKs from register value
  // based on VL53L1_decode_timeout()
  uint32_t VL53L1X::decodeTimeout(uint16_t reg_val)
  {
    return ((uint32_t)(reg_val & 0xFF) << (reg_val >> 8)) + 1;
  }

  // Encode sequence step timeout register value from timeout in MCLKs
  // based on VL53L1_encode_timeout()
  uint16_t VL53L1X::encodeTimeout(uint32_t timeout_mclks)
  {
    // encoded format: "(LSByte * 2^MSByte) + 1"

    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 >>= 1;
        ms_byte++;
      }

      return (ms_byte << 8) | (ls_byte & 0xFF);
    }
    else { return 0; }
  }

  // Convert sequence step timeout from macro periods to microseconds with given
  // macro period in microseconds (12.12 format)
  // based on VL53L1_calc_timeout_us()
  uint32_t VL53L1X::timeoutMclksToMicroseconds(uint32_t timeout_mclks, uint32_t macro_period_us)
  {
    return ((uint64_t)timeout_mclks * macro_period_us + 0x800) >> 12;
  }

  // Convert sequence step timeout from microseconds to macro periods with given
  // macro period in microseconds (12.12 format)
  // based on VL53L1_calc_timeout_mclks()
  uint32_t VL53L1X::timeoutMicrosecondsToMclks(uint32_t timeout_us, uint32_t macro_period_us)
  {
    return (((uint32_t)timeout_us << 12) + (macro_period_us >> 1)) / macro_period_us;
  }

  // Calculate macro period in microseconds (12.12 format) with given VCSEL period
  // assumes fast_osc_frequency has been read and stored
  // based on VL53L1_calc_macro_period_us()
  uint32_t VL53L1X::calcMacroPeriod(uint8_t vcsel_period)
  {
    // from VL53L1_calc_pll_period_us()
    // fast osc frequency in 4.12 format; PLL period in 0.24 format
    uint32_t pll_period_us = ((uint32_t)0x01 << 30) / fast_osc_frequency;

    // from VL53L1_decode_vcsel_period()
    uint8_t vcsel_period_pclks = (vcsel_period + 1) << 1;

    // VL53L1_MACRO_PERIOD_VCSEL_PERIODS = 2304
    uint32_t macro_period_us = (uint32_t)2304 * pll_period_us;
    macro_period_us >>= 6;
    macro_period_us *= vcsel_period_pclks;
    macro_period_us >>= 6;

    return macro_period_us;
  }
}