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vl53l0x: Perform 'abs' operation before scaling and dividing mcps dif… #10

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vl53l0x: Perform 'abs' operation before scaling and dividing mcps dif… #10

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6 changes: 3 additions & 3 deletions sensor/vl53l0x/api/core/src/vl53l0x_api_core.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1861,8 +1861,8 @@ VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev,
* 500 is added to ensure rounding when integer division
* truncates.
*/
diff1_mcps = (((peakSignalRate_kcps << 16) -
2 * xTalkCompRate_kcps) + 500)/1000;
diff1_mcps = abs((int32_t) ((((peakSignalRate_kcps << 16) -
2 * xTalkCompRate_kcps) + 500)/1000));

/* vcselRate + xtalkCompRate */
diff2_mcps = ((peakSignalRate_kcps << 16) + 500)/1000;
Expand All @@ -1872,7 +1872,7 @@ VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev,
diff1_mcps <<= 8;

/* FixPoint0824/FixPoint1616 = FixPoint2408 */
xTalkCorrection = abs(diff1_mcps/diff2_mcps);
xTalkCorrection = diff1_mcps/diff2_mcps;

/* FixPoint2408 << 8 = FixPoint1616 */
xTalkCorrection <<= 8;
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