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Write (This, REG_SYSRANGE_START, VHV_Init or 16#01#, Status);
if not Status then
return;
end if;
loop
Read (This, REG_RESULT_INTERRUPT_STATUS, Val, Status);
exit when not Status;
exit when (Val and 16#07#) /= 0;
end loop;
if not Status then
return;
end if;
Write (This, REG_SYSTEM_INTERRUPT_CLEAR, UInt8'(16#01#), Status);
if not Status then
return;
end if;
Write (This, REG_SYSRANGE_START, UInt8'(16#00#), Status);
end Perform_Single_Ref_Calibration;
-----------------------------
-- Perform_Ref_Calibration --
-----------------------------
procedure Perform_Ref_Calibration
(This : in out VL53L0X_Ranging_Sensor;
Status : out Boolean)
is
begin
-- VHV calibration
Write (This, REG_SYSTEM_SEQUENCE_CONFIG, UInt8'(16#01#), Status);
if Status then
Perform_Single_Ref_Calibration (This, 16#40#, Status);
end if;
-- Phase calibration
if Status then
Write (This, REG_SYSTEM_SEQUENCE_CONFIG, UInt8'(16#02#), Status);
end if;
if Status then
Perform_Single_Ref_Calibration (This, 16#00#, Status);
end if;
-- Restore the sequence config
if Status then
Write (This, REG_SYSTEM_SEQUENCE_CONFIG, UInt8'(16#E8#), Status);
end if;
end Perform_Ref_Calibration;
----------------------
-- Start_Continuous --
----------------------
procedure Start_Continuous (This : VL53L0X.VL53L0X_Ranging_Sensor;
Period_Ms : HAL.UInt32;
Status : out Boolean) is
-- From vl53l0xStartContinuous() in
-- crazyflie-firmware/src/drivers/src/vl53l0x.c
begin
Write (This, 16#80#, UInt8'(16#01#), Status);
if Status then
Write (This, 16#ff#, UInt8'(16#01#), Status);
end if;
if Status then
Write (This, 16#00#, UInt8'(16#00#), Status);
end if;
if Status then
Write (This, 16#91#, UInt8'(This.Stop_Variable), Status);
end if;
if Status then
Write (This, 16#00#, UInt8'(16#01#), Status);
end if;
if Status then
Write (This, 16#ff#, UInt8'(16#00#), Status);
end if;
if Status then
Write (This, 16#80#, UInt8'(16#00#), Status);
end if;
if not Status then
return;
end if;
if Period_Ms /= 0 then
-- continuous timed mode
declare
procedure Set_Inter_Measurement_Period_Milliseconds;
-- The Crazyflie code indicates that this is a missing
-- function that they've inlined.
procedure Set_Inter_Measurement_Period_Milliseconds is
Osc_Calibrate_Val : UInt16;
Period : UInt32 := Period_Ms;
begin
Read (This, REG_OSC_CALIBRATE_VAL, Osc_Calibrate_Val, Status);
if Status and then Osc_Calibrate_Val /= 0 then