VL53L0X_Error VL53L0X_StaticInit()

in boards/STM32L475_Discovery/BSP/Components/vl53l0x/vl53l0x_api.c [549:726]

• 127 lines of code
• 29 McCabe index (conditional complexity)

VL53L0X_Error VL53L0X_StaticInit(VL53L0X_DEV Dev)
{
	VL53L0X_Error Status = VL53L0X_ERROR_NONE;
	VL53L0X_DeviceParameters_t CurrentParameters = {0};
	uint8_t *pTuningSettingBuffer;
	uint16_t tempword = 0;
	uint8_t tempbyte = 0;
	uint8_t UseInternalTuningSettings = 0;
	uint32_t count = 0;
	uint8_t isApertureSpads = 0;
	uint32_t refSpadCount = 0;
	uint8_t ApertureSpads = 0;
	uint8_t vcselPulsePeriodPCLK;
	FixPoint1616_t seqTimeoutMilliSecs;

	LOG_FUNCTION_START("");

	Status = VL53L0X_get_info_from_device(Dev, 1);

	/* set the ref spad from NVM */
	count	= (uint32_t)VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
		ReferenceSpadCount);
	ApertureSpads = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
		ReferenceSpadType);

	/* NVM value invalid */
	if ((ApertureSpads > 1) ||
		((ApertureSpads == 1) && (count > 32)) ||
		((ApertureSpads == 0) && (count > 12)))
		Status = VL53L0X_perform_ref_spad_management(Dev, &refSpadCount,
			&isApertureSpads);
	else
		Status = VL53L0X_set_reference_spads(Dev, count, ApertureSpads);


	/* Initialize tuning settings buffer to prevent compiler warning. */
	pTuningSettingBuffer = DefaultTuningSettings;

	if (Status == VL53L0X_ERROR_NONE) {
		UseInternalTuningSettings = PALDevDataGet(Dev,
			UseInternalTuningSettings);

		if (UseInternalTuningSettings == 0)
			pTuningSettingBuffer = PALDevDataGet(Dev,
				pTuningSettingsPointer);
		else
			pTuningSettingBuffer = DefaultTuningSettings;

	}

	if (Status == VL53L0X_ERROR_NONE)
		Status = VL53L0X_load_tuning_settings(Dev, pTuningSettingBuffer);


	/* Set interrupt config to new sample ready */
	if (Status == VL53L0X_ERROR_NONE) {
		Status = VL53L0X_SetGpioConfig(Dev, 0, 0,
		VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY,
		VL53L0X_INTERRUPTPOLARITY_LOW);
	}

	if (Status == VL53L0X_ERROR_NONE) {
		Status = VL53L0X_WrByte(Dev, 0xFF, 0x01);
		Status |= VL53L0X_RdWord(Dev, 0x84, &tempword);
		Status |= VL53L0X_WrByte(Dev, 0xFF, 0x00);
	}

	if (Status == VL53L0X_ERROR_NONE) {
		VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, OscFrequencyMHz,
			VL53L0X_FIXPOINT412TOFIXPOINT1616(tempword));
	}

	/* After static init, some device parameters may be changed,
	 * so update them */
	if (Status == VL53L0X_ERROR_NONE)
		Status = VL53L0X_GetDeviceParameters(Dev, &CurrentParameters);


	if (Status == VL53L0X_ERROR_NONE) {
		Status = VL53L0X_GetFractionEnable(Dev, &tempbyte);
		if (Status == VL53L0X_ERROR_NONE)
			PALDevDataSet(Dev, RangeFractionalEnable, tempbyte);

	}

	if (Status == VL53L0X_ERROR_NONE)
		PALDevDataSet(Dev, CurrentParameters, CurrentParameters);


	/* read the sequence config and save it */
	if (Status == VL53L0X_ERROR_NONE) {
		Status = VL53L0X_RdByte(Dev,
		VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG, &tempbyte);
		if (Status == VL53L0X_ERROR_NONE)
			PALDevDataSet(Dev, SequenceConfig, tempbyte);

	}

	/* Disable MSRC and TCC by default */
	if (Status == VL53L0X_ERROR_NONE)
		Status = VL53L0X_SetSequenceStepEnable(Dev,
					VL53L0X_SEQUENCESTEP_TCC, 0);


	if (Status == VL53L0X_ERROR_NONE)
		Status = VL53L0X_SetSequenceStepEnable(Dev,
		VL53L0X_SEQUENCESTEP_MSRC, 0);


	/* Set PAL State to standby */
	if (Status == VL53L0X_ERROR_NONE)
		PALDevDataSet(Dev, PalState, VL53L0X_STATE_IDLE);



	/* Store pre-range vcsel period */
	if (Status == VL53L0X_ERROR_NONE) {
		Status = VL53L0X_GetVcselPulsePeriod(
			Dev,
			VL53L0X_VCSEL_PERIOD_PRE_RANGE,
			&vcselPulsePeriodPCLK);
	}

	if (Status == VL53L0X_ERROR_NONE) {
			VL53L0X_SETDEVICESPECIFICPARAMETER(
				Dev,
				PreRangeVcselPulsePeriod,
				vcselPulsePeriodPCLK);
	}

	/* Store final-range vcsel period */
	if (Status == VL53L0X_ERROR_NONE) {
		Status = VL53L0X_GetVcselPulsePeriod(
			Dev,
			VL53L0X_VCSEL_PERIOD_FINAL_RANGE,
			&vcselPulsePeriodPCLK);
	}

	if (Status == VL53L0X_ERROR_NONE) {
			VL53L0X_SETDEVICESPECIFICPARAMETER(
				Dev,
				FinalRangeVcselPulsePeriod,
				vcselPulsePeriodPCLK);
	}

	/* Store pre-range timeout */
	if (Status == VL53L0X_ERROR_NONE) {
		Status = VL53L0X_GetSequenceStepTimeout(
			Dev,
			VL53L0X_SEQUENCESTEP_PRE_RANGE,
			&seqTimeoutMilliSecs);
	}

	if (Status == VL53L0X_ERROR_NONE) {
		VL53L0X_SETDEVICESPECIFICPARAMETER(
			Dev,
			PreRangeTimeoutMicroSecs,
			seqTimeoutMilliSecs);
	}

	/* Store final-range timeout */
	if (Status == VL53L0X_ERROR_NONE) {
		Status = VL53L0X_GetSequenceStepTimeout(
			Dev,
			VL53L0X_SEQUENCESTEP_FINAL_RANGE,
			&seqTimeoutMilliSecs);
	}

	if (Status == VL53L0X_ERROR_NONE) {
		VL53L0X_SETDEVICESPECIFICPARAMETER(
			Dev,
			FinalRangeTimeoutMicroSecs,
			seqTimeoutMilliSecs);
	}

	LOG_FUNCTION_END(Status);
	return Status;
}