Robotique FIP
Code petit robot
Dependencies: X_NUCLEO_COMMON X_NUCLEO_IHM01A1 mbed
Diff: VL6180X/vl6180x_def.h
- Revision:
- 0:1cb50d31c3b5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL6180X/vl6180x_def.h Fri Mar 25 21:27:03 2016 +0000
@@ -0,0 +1,743 @@
+/*******************************************************************************
+Copyright © 2014, STMicroelectronics International N.V.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+********************************************************************************/
+
+/*
+ * $Date: 2015-05-13 14:12:05 +0200 (Wed, 13 May 2015) $
+ * $Revision: 2290 $
+ */
+
+/**
+ * @file VL6180x_def.h
+ *
+ * @brief Type definitions for vl6180x api.
+ *
+ */
+
+
+#ifndef _VL6180x_DEF
+#define _VL6180x_DEF
+
+/** API major version */
+#define VL6180x_API_REV_MAJOR 3
+/** API minor version */
+#define VL6180x_API_REV_MINOR 0
+/** API sub version */
+#define VL6180x_API_REV_SUB 1
+
+#define VL6180X_STR_HELPER(x) #x
+#define VL6180X_STR(x) VL6180X_STR_HELPER(x)
+
+#include "vl6180x_cfg.h"
+#include "vl6180x_types.h"
+
+/*
+ * check configuration macro raise error or warning and suggest a default value
+ */
+
+#ifndef VL6180x_UPSCALE_SUPPORT
+#error "VL6180x_UPSCALE_SUPPORT not defined"
+/* TODO you must define value for upscale support in your vl6180x_cfg.h */
+#endif
+
+#ifndef VL6180x_ALS_SUPPORT
+#error "VL6180x_ALS_SUPPORT not defined"
+/* TODO you must define VL6180x_ALS_SUPPORT with a value in your vl6180x_cfg.h set to 0 do disable*/
+#endif
+
+#ifndef VL6180x_HAVE_DMAX_RANGING
+#error "VL6180x_HAVE_DMAX_RANGING not defined"
+/* TODO you may remove or comment these #error and keep the default below or update your vl6180x_cfg.h .h file */
+/**
+ * force VL6180x_HAVE_DMAX_RANGING to not supported when not part of cfg file
+ */
+#define VL6180x_HAVE_DMAX_RANGING 0
+#endif
+
+#ifndef VL6180x_EXTENDED_RANGE
+#define VL6180x_EXTENDED_RANGE 0
+#endif
+
+#ifndef VL6180x_WRAP_AROUND_FILTER_SUPPORT
+#error "VL6180x_WRAP_AROUND_FILTER_SUPPORT not defined ?"
+/* TODO you may remove or comment these #error and keep the default below or update vl6180x_cfg.h file */
+/**
+ * force VL6180x_WRAP_AROUND_FILTER_SUPPORT to not supported when not part of cfg file
+ */
+#define VL6180x_WRAP_AROUND_FILTER_SUPPORT 0
+#endif
+
+
+
+
+/****************************************
+ * PRIVATE define do not edit
+ ****************************************/
+
+/** Maximal buffer size ever use in i2c */
+#define VL6180x_MAX_I2C_XFER_SIZE 8 /* At present time it 6 byte max but that can change */
+
+#if VL6180x_UPSCALE_SUPPORT < 0
+/**
+ * @def VL6180x_HAVE_UPSCALE_DATA
+ * @brief is defined if device data structure has data so when user configurable up-scale is active
+ */
+#define VL6180x_HAVE_UPSCALE_DATA /* have data only for user configurable up-scale config */
+#endif
+
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+/**
+ * @def VL6180x_HAVE_WRAP_AROUND_DATA
+ * @brief is defined if device data structure has filter data so when active in cfg file
+ */
+#define VL6180x_HAVE_WRAP_AROUND_DATA
+#endif
+
+#if VL6180x_ALS_SUPPORT != 0
+/**
+ * @def VL6180x_HAVE_ALS_DATA
+ * @brief is defined when als data are include in device data structure so when als suport if configured
+ */
+#define VL6180x_HAVE_ALS_DATA
+#endif
+
+
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
+ #define VL6180x_HAVE_RATE_DATA
+#endif
+
+/** Error and warning code returned by API
+ *
+ * negative value are true error mostly fatal\n
+ * positive value are warning most of time it's ok to continue\n
+ */
+enum VL6180x_ErrCode_t{
+ API_NO_ERROR = 0,
+ CALIBRATION_WARNING = 1, /*!< warning invalid calibration data may be in used \a VL6180x_InitData() \a VL6180x_GetOffsetCalibrationData \a VL6180x_SetOffsetCalibrationData*/
+ MIN_CLIPED = 2, /*!< warning parameter passed was clipped to min before to be applied */
+ NOT_GUARANTEED = 3, /*!< Correct operation is not guaranteed typically using extended ranging on vl6180x */
+ NOT_READY = 4, /*!< the data is not ready retry */
+
+ API_ERROR = -1, /*!< Unqualified error */
+ INVALID_PARAMS = -2, /*!< parameter passed is invalid or out of range */
+ NOT_SUPPORTED = -3, /*!< function is not supported in current mode or configuration */
+ RANGE_ERROR = -4, /*!< device report a ranging error interrupt status */
+ TIME_OUT = -5, /*!< aborted due to time out */
+};
+
+/**
+ * Filtered result data structure range data is to be used
+ */
+typedef struct RangeFilterResult_tag {
+ uint16_t range_mm; /*!< Filtered ranging value */
+ uint16_t rawRange_mm; /*!< raw range value (scaled) */
+} RangeFilterResult_t;
+
+/**
+ * "small" unsigned data type used in filter
+ *
+ * if data space saving is not a concern it can be change to platform native unsigned int
+ */
+typedef uint8_t FilterType1_t;
+
+/**
+ * @def FILTER_NBOF_SAMPLES
+ * @brief sample history len used for wrap around filtering
+ */
+#define FILTER_NBOF_SAMPLES 10
+/**
+ * Wrap around filter internal data
+ */
+struct FilterData_t {
+ uint32_t MeasurementIndex; /*!< current measurement index */
+ uint16_t LastTrueRange[FILTER_NBOF_SAMPLES]; /*!< filtered/corrected distance history */
+ uint32_t LastReturnRates[FILTER_NBOF_SAMPLES]; /*!< Return rate history */
+ uint16_t StdFilteredReads; /*!< internal use */
+ FilterType1_t Default_ZeroVal; /*!< internal use */
+ FilterType1_t Default_VAVGVal; /*!< internal use */
+ FilterType1_t NoDelay_ZeroVal; /*!< internal use */
+ FilterType1_t NoDelay_VAVGVal; /*!< internal use */
+ FilterType1_t Previous_VAVGDiff; /*!< internal use */
+};
+
+#if VL6180x_HAVE_DMAX_RANGING
+typedef int32_t DMaxFix_t;
+struct DMaxData_t {
+ uint32_t ambTuningWindowFactor_K; /*!< internal algo tuning (*1000) */
+
+ DMaxFix_t retSignalAt400mm; /*!< intermediate dmax computation value caching @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE and private reg 0x02A */
+ //int32_t RegB8; /*!< register 0xB8 cached to speed reduce i2c traffic for dmax computation */
+ /* place all word data below to optimize struct packing */
+ //int32_t minSignalNeeded; /*!< optimized computation intermediate base on register cached value */
+ int32_t snrLimit_K; /*!< cached and optimized computation intermediate from @a #SYSRANGE_MAX_AMBIENT_LEVEL_MULT */
+ uint16_t ClipSnrLimit; /*!< Max value for snr limit */
+ /* place all byte data below to optimize packing */
+ //uint8_t MaxConvTime; /*!< cached max convergence time @a #SYSRANGE_MAX_CONVERGENCE_TIME*/
+};
+#endif
+
+/**
+ * @struct VL6180xDevData_t
+ *
+ * @brief Per VL6180x device St private data structure \n
+ * End user should never access any of these field directly
+ *
+ * These must never access directly but only via VL6180xDev/SetData(dev, field) macro
+ */
+struct VL6180xDevData_t {
+
+ uint32_t Part2PartAmbNVM; /*!< backed up NVM value */
+ uint32_t XTalkCompRate_KCps; /*! Cached XTlak Compensation Rate */
+
+ uint16_t EceFactorM; /*!< Ece Factor M numerator */
+ uint16_t EceFactorD; /*!< Ece Factor D denominator*/
+
+#ifdef VL6180x_HAVE_ALS_DATA
+ uint16_t IntegrationPeriod; /*!< cached als Integration period avoid slow read from device at each measure */
+ uint16_t AlsGainCode; /*!< cached Als gain avoid slow read from device at each measure */
+ uint16_t AlsScaler; /*!< cached Als scaler avoid slow read from device at each measure */
+#endif
+
+#ifdef VL6180x_HAVE_UPSCALE_DATA
+ uint8_t UpscaleFactor; /*!< up-scaling factor*/
+#endif
+
+#ifdef VL6180x_HAVE_WRAP_AROUND_DATA
+ uint8_t WrapAroundFilterActive; /*!< Filter on/off */
+ struct FilterData_t FilterData; /*!< Filter internal data state history ... */
+#endif
+
+#if VL6180x_HAVE_DMAX_RANGING
+ struct DMaxData_t DMaxData;
+ uint8_t DMaxEnable;
+#endif
+ int8_t Part2PartOffsetNVM; /*!< backed up NVM value */
+};
+
+#if VL6180x_SINGLE_DEVICE_DRIVER
+extern struct VL6180xDevData_t SingleVL6180xDevData;
+#define VL6180xDevDataGet(dev, field) (SingleVL6180xDevData.field)
+/* is also used as direct accessor like VL6180xDevDataGet(dev, x)++*/
+#define VL6180xDevDataSet(dev, field, data) (SingleVL6180xDevData.field)=(data)
+#endif
+
+
+/**
+ * @struct VL6180x_RangeData_t
+ * @brief Range and any optional measurement data.
+ */
+typedef struct {
+ int32_t range_mm; /*!< range distance in mm. */
+ int32_t signalRate_mcps; /*!< signal rate (MCPS)\n these is a 9.7 fix point value, which is effectively a measure of target reflectance.*/
+ uint32_t errorStatus; /*!< Error status of the current measurement. \n
+ see @a ::RangeError_u @a VL6180x_GetRangeStatusErrString() */
+
+
+#ifdef VL6180x_HAVE_RATE_DATA
+ uint32_t rtnAmbRate; /*!< Return Ambient rate in KCount per sec related to \a RESULT_RANGE_RETURN_AMB_COUNT */
+ uint32_t rtnRate; /*!< Return rate in KCount per sec related to \a RESULT_RANGE_RETURN_SIGNAL_COUNT */
+ uint32_t rtnConvTime; /*!< Return Convergence time \a RESULT_RANGE_RETURN_CONV_TIME */
+ uint32_t refConvTime; /*!< Reference convergence time \a RESULT_RANGE_REFERENCE_CONV_TIME */
+#endif
+
+
+#if VL6180x_HAVE_DMAX_RANGING
+ uint32_t DMax; /*!< DMax when applicable */
+#endif
+
+#ifdef VL6180x_HAVE_WRAP_AROUND_DATA
+ RangeFilterResult_t FilteredData; /*!< Filter result main range_mm is updated */
+#endif
+}VL6180x_RangeData_t;
+
+
+/** use where fix point 9.7 bit values are expected
+ *
+ * given a floating point value f it's .7 bit point is (int)(f*(1<<7))*/
+typedef uint16_t FixPoint97_t;
+
+/** lux data type */
+typedef uint32_t lux_t;
+
+/**
+ * @brief This data type defines als measurement data.
+ */
+typedef struct VL6180x_AlsData_st{
+ lux_t lux; /**< Light measurement (Lux) */
+ uint32_t errorStatus; /**< Error status of the current measurement. \n
+ * No Error := 0. \n
+ * Refer to product sheets for other error codes. */
+}VL6180x_AlsData_t;
+
+/**
+ * @brief Range status Error code
+ *
+ * @a VL6180x_GetRangeStatusErrString() if configured ( @a #VL6180x_RANGE_STATUS_ERRSTRING )
+ * related to register @a #RESULT_RANGE_STATUS and additional post processing
+ */
+typedef enum {
+ NoError_=0, /*!< 0 0b0000 NoError */
+ VCSEL_Continuity_Test, /*!< 1 0b0001 VCSEL_Continuity_Test */
+ VCSEL_Watchdog_Test, /*!< 2 0b0010 VCSEL_Watchdog_Test */
+ VCSEL_Watchdog, /*!< 3 0b0011 VCSEL_Watchdog */
+ PLL1_Lock, /*!< 4 0b0100 PLL1_Lock */
+ PLL2_Lock, /*!< 5 0b0101 PLL2_Lock */
+ Early_Convergence_Estimate,/*!< 6 0b0110 Early_Convergence_Estimate */
+ Max_Convergence, /*!< 7 0b0111 Max_Convergence */
+ No_Target_Ignore, /*!< 8 0b1000 No_Target_Ignore */
+ Not_used_9, /*!< 9 0b1001 Not_used */
+ Not_used_10, /*!< 10 0b1010 Not_used_ */
+ Max_Signal_To_Noise_Ratio, /*!< 11 0b1011 Max_Signal_To_Noise_Ratio*/
+ Raw_Ranging_Algo_Underflow,/*!< 12 0b1100 Raw_Ranging_Algo_Underflow*/
+ Raw_Ranging_Algo_Overflow, /*!< 13 0b1101 Raw_Ranging_Algo_Overflow */
+ Ranging_Algo_Underflow, /*!< 14 0b1110 Ranging_Algo_Underflow */
+ Ranging_Algo_Overflow, /*!< 15 0b1111 Ranging_Algo_Overflow */
+
+ /* code below are addition for API/software side they are not hardware*/
+ RangingFiltered =0x10, /*!< 16 0b10000 filtered by post processing*/
+
+} RangeError_u;
+
+
+/** @defgroup device_regdef Device registers & masks definitions
+ * @brief Device registers and masks definitions
+ */
+
+
+/** @ingroup device_regdef
+ * @{*/
+
+/**
+ * The device model ID
+ */
+#define IDENTIFICATION_MODEL_ID 0x000
+/**
+ * Revision identifier of the Device for major change.
+ */
+#define IDENTIFICATION_MODULE_REV_MAJOR 0x003
+/**
+ * Revision identifier of the Device for minor change.
+ */
+#define IDENTIFICATION_MODULE_REV_MINOR 0x004
+
+
+/**
+ * @def SYSTEM_MODE_GPIO0
+ * @brief Configures polarity and select which function gpio 0 serves.
+ * Gpio0 is chip enable at power up ! Be aware of all h/w implication of turning it to output.
+ * Same definition as #SYSTEM_MODE_GPIO1
+ * @ingroup device_regdef
+ */
+#define SYSTEM_MODE_GPIO0 0x010
+/**
+ * @def SYSTEM_MODE_GPIO1
+ * @brief Configures polarity and select what als or ranging functionality gpio pin serves.
+ *
+ * Function can be #GPIOx_SELECT_OFF #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT.\n
+ * Same definition apply to register GPIO0 that is used as chip enable at power up.
+ * @ingroup device_regdef
+ */
+#define SYSTEM_MODE_GPIO1 0x011
+ /** gpio pad POLARITY mask in #SYSTEM_MODE_GPIO1 (and/or 0) write 1 to set active high polarity (positive edge) */
+ #define GPIOx_POLARITY_SELECT_MASK 0x20
+ /** gpio pad Function select shift in #SYSTEM_MODE_GPIO1 or 0 */
+ #define GPIOx_FUNCTIONALITY_SELECT_SHIFT 1
+ /** gpio pad Function select mask in #SYSTEM_MODE_GPIO1 or 0 */
+ #define GPIOx_FUNCTIONALITY_SELECT_MASK (0xF<<GPIOx_FUNCTIONALITY_SELECT_SHIFT)
+ /** select no interrupt in #SYSTEM_MODE_GPIO1 pad is put in Hi-Z*/
+ #define GPIOx_SELECT_OFF 0x00
+ /** select gpiox as interrupt output in #SYSTEM_MODE_GPIO1 */
+ #define GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT 0x08
+ /** select range as source for interrupt on in #SYSTEM_MODE_GPIO1 */
+ #define GPIOx_MODE_SELECT_RANGING 0x00
+ /** select als as source for interrupt on in #SYSTEM_MODE_GPIO1 */
+ #define GPIOx_MODE_SELECT_ALS 0x01
+
+
+/**
+ * @def SYSTEM_INTERRUPT_CONFIG_GPIO
+ *
+ * @brief Configure Als and Ranging interrupt reporting
+ *
+ * Possible values for Range and ALS are\n
+ *
+ * #CONFIG_GPIO_INTERRUPT_DISABLED\n
+ * #CONFIG_GPIO_INTERRUPT_LEVEL_LOW\n
+ * #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH\n
+ * #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW\n
+ * #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY\n
+ * Apply respective rang/als shift and mask \n
+ * #CONFIG_GPIO_RANGE_SHIFT and full reg mask #CONFIG_GPIO_RANGE_MASK\n
+ * #CONFIG_GPIO_ALS_SHIFT and full reg mask #CONFIG_GPIO_ALS_MASK\n
+ *
+ * \sa GPIO use for interrupt #SYSTEM_MODE_GPIO0 or #SYSTEM_MODE_GPIO1\n
+ * @ingroup device_regdef
+ */
+#define SYSTEM_INTERRUPT_CONFIG_GPIO 0x014
+ /** RANGE bits shift in #SYSTEM_INTERRUPT_CONFIG_GPIO */
+ #define CONFIG_GPIO_RANGE_SHIFT 0
+ /** RANGE bits mask in #SYSTEM_INTERRUPT_CONFIG_GPIO (unshifted)*/
+ #define CONFIG_GPIO_RANGE_MASK (0x7<<CONFIG_GPIO_RANGE_SHIFT)
+ /** ALS bits shift in #SYSTEM_INTERRUPT_CONFIG_GPIO */
+ #define CONFIG_GPIO_ALS_SHIFT 3
+ /** ALS bits mask in #SYSTEM_INTERRUPT_CONFIG_GPIO (unshifted)*/
+ #define CONFIG_GPIO_ALS_MASK (0x7<<CONFIG_GPIO_ALS_SHIFT)
+ /** interrupt is disabled */
+ #define CONFIG_GPIO_INTERRUPT_DISABLED 0x00
+ /** trigger when value < low threshold */
+ #define CONFIG_GPIO_INTERRUPT_LEVEL_LOW 0x01
+ /** trigger when value < low threshold */
+ #define CONFIG_GPIO_INTERRUPT_LEVEL_HIGH 0x02
+ /** trigger when outside range defined by high low threshold */
+ #define CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW 0x03
+ /** trigger when new sample are ready */
+ #define CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY 0x04
+
+/**
+ * @def SYSTEM_INTERRUPT_CLEAR
+ * @brief Writing to this register will clear interrupt source
+ *
+ * Use or combination of any #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR
+ * @ingroup device_regdef
+ */
+#define SYSTEM_INTERRUPT_CLEAR 0x015
+ /** clear ranging interrupt in write to #SYSTEM_INTERRUPT_CLEAR */
+ #define INTERRUPT_CLEAR_RANGING 0x01
+ /** clear als interrupt in write to #SYSTEM_INTERRUPT_CLEAR */
+ #define INTERRUPT_CLEAR_ALS 0x02
+ /** clear error interrupt in write to #SYSTEM_INTERRUPT_CLEAR */
+ #define INTERRUPT_CLEAR_ERROR 0x04
+
+/** After power up or reset this register will start reading 1 when device is ready */
+#define SYSTEM_FRESH_OUT_OF_RESET 0x016
+
+/**
+ * @def SYSTEM_GROUPED_PARAMETER_HOLD
+ * @brief Writing 1/0 activate/deactivate safe host update of multiple register in critical group \n
+ * rather use \a VL6180x_SetGroupParamHold()
+ *
+ * The critical register group is made of: \n
+ * #SYSTEM_INTERRUPT_CONFIG_GPIO \n
+ * #SYSRANGE_THRESH_HIGH \n
+ * #SYSRANGE_THRESH_LOW \n
+ * #SYSALS_INTEGRATION_PERIOD \n
+ * #SYSALS_ANALOGUE_GAIN \n
+ * #SYSALS_THRESH_HIGH \n
+ * #SYSALS_THRESH_LOW
+ * @ingroup device_regdef
+ */
+#define SYSTEM_GROUPED_PARAMETER_HOLD 0x017
+
+
+/**
+ * @def SYSRANGE_START
+ * @brief Start/stop and set operating range mode
+ *
+ * Write Combination of #MODE_START_STOP and #MODE_CONTINUOUS to select and start desired operation.
+ *
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_START 0x018
+ /** mask existing bit in #SYSRANGE_START*/
+ #define MODE_MASK 0x03
+ /** bit 0 in #SYSRANGE_START write 1 toggle state in continuous mode and arm next shot in single shot mode */
+ #define MODE_START_STOP 0x01
+ /** bit 1 write 1 in #SYSRANGE_START set continuous operation mode */
+ #define MODE_CONTINUOUS 0x02
+ /** bit 1 write 0 in #SYSRANGE_START set single shot mode */
+ #define MODE_SINGLESHOT 0x00
+
+/**
+ * @def SYSRANGE_THRESH_HIGH
+ * High level range threshold (must be scaled)
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_THRESH_HIGH 0x019
+
+/**
+ * @def SYSRANGE_THRESH_LOW
+ * Low level range threshold (must be scaled)
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_THRESH_LOW 0x01A
+
+/**
+ * @def SYSRANGE_INTERMEASUREMENT_PERIOD
+ * @brief Continuous mode intermeasurement delay \a VL6180x_RangeSetInterMeasPeriod()
+ *
+ * Time delay between measurements in Ranging continuous mode.\n
+ * Range 0-254 (0 = 10ms).\n Step size = 10ms.
+ *
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_INTERMEASUREMENT_PERIOD 0x01B
+
+/**
+ * @brief Maximum time to run measurement in Ranging modes.
+ * Range 1 - 63 ms (1 code = 1 ms);
+ *
+ * Measurement aborted when limit reached to aid power reduction.\
+ * For example, 0x01 = 1ms, 0x0a = 10ms.\
+ * Note: Effective max_convergence_time depends on readout_averaging_sample_period setting.
+ *
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_MAX_CONVERGENCE_TIME 0x01C
+/**@brief Cross talk compensation rate
+ * @warning never write register directly use @a VL6180x_SetXTalkCompensationRate()
+ * refer to manual for calibration procedure and computation
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_CROSSTALK_COMPENSATION_RATE 0x01E
+/**
+ * @brief Minimum range value in mm to qualify for crosstalk compensation
+ */
+#define SYSRANGE_CROSSTALK_VALID_HEIGHT 0x021
+#define SYSRANGE_EARLY_CONVERGENCE_ESTIMATE 0x022
+#define SYSRANGE_PART_TO_PART_RANGE_OFFSET 0x024
+#define SYSRANGE_RANGE_IGNORE_VALID_HEIGHT 0x025
+#define SYSRANGE_RANGE_IGNORE_THRESHOLD 0x026
+#define SYSRANGE_EMITTER_BLOCK_THRESHOLD 0x028
+#define SYSRANGE_MAX_AMBIENT_LEVEL_THRESH 0x02A
+#define SYSRANGE_MAX_AMBIENT_LEVEL_MULT 0x02C
+/** @brief various Enable check enabel register
+ * @a VL6180x_RangeSetEceState()
+ */
+#define SYSRANGE_RANGE_CHECK_ENABLES 0x02D
+ #define RANGE_CHECK_ECE_ENABLE_MASK 0x01
+ #define RANGE_CHECK_RANGE_ENABLE_MASK 0x02
+ #define RANGE_CHECK_SNR_ENABLKE 0x10
+
+#define SYSRANGE_VHV_RECALIBRATE 0x02E
+#define SYSRANGE_VHV_REPEAT_RATE 0x031
+
+/**
+ * @def SYSALS_START
+ * @brief Start/stop and set operating als mode
+ *
+ * same bit definition as range \a #SYSRANGE_START \n
+ */
+#define SYSALS_START 0x038
+
+/** ALS low Threshold high */
+#define SYSALS_THRESH_HIGH 0x03A
+/** ALS low Threshold low */
+#define SYSALS_THRESH_LOW 0x03C
+/** ALS intermeasurement period */
+#define SYSALS_INTERMEASUREMENT_PERIOD 0x03E
+/**
+ * @warning or value with 0x40 when writing to these register*/
+#define SYSALS_ANALOGUE_GAIN 0x03F
+/** ALS integration period */
+#define SYSALS_INTEGRATION_PERIOD 0x040
+
+/**
+ * @brief Result range status
+ *
+ * Hold the various range interrupt flags and error Specific error codes
+ */
+#define RESULT_RANGE_STATUS 0x04D
+ /** Device ready for new command bit 0*/
+ #define RANGE_DEVICE_READY_MASK 0x01
+ /** mask for error status covers bits [7:4] in #RESULT_RANGE_STATUS @a ::RangeError_u */
+ #define RANGE_ERROR_CODE_MASK 0xF0 /* */
+ /** range error bit position in #RESULT_RANGE_STATUS */
+ #define RANGE_ERROR_CODE_SHIFT 4
+
+/**
+ * @def RESULT_ALS_STATUS
+ * @brief Result als status \n
+ * Hold the various als interrupt flags and Specific error codes
+ */
+#define RESULT_ALS_STATUS 0x4E
+ /** Device ready for new command bit 0*/
+ #define ALS_DEVICE_READY_MASK 0x01
+
+/**
+ * @def RESULT_ALS_VAL
+ * @brief 16 Bit ALS count output value.
+ *
+ * Lux value depends on Gain and integration settings and calibrated lux/count setting
+ * \a VL6180x_AlsGetLux() \a VL6180x_AlsGetMeasurement()
+ */
+#define RESULT_ALS_VAL 0x50
+
+/**
+ * @def FW_ALS_RESULT_SCALER
+ * @brief Als scaler register Bits [3:0] analogue gain 1 to 16x
+ * these register content is cached by API in \a VL6180xDevData_t::AlsScaler
+ * for lux computation acceleration
+ */
+#define FW_ALS_RESULT_SCALER 0x120
+
+
+/**
+ * these union can be use as a generic bit field type for map #RESULT_INTERRUPT_STATUS_GPIO register
+ * @ingroup device_regdef
+ */
+typedef union IntrStatus_u{
+ uint8_t val; /*!< raw 8 bit register value*/
+ struct {
+ unsigned Range :3; /*!< Range status one of :\n \a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n \a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n \a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n \a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY */
+ unsigned Als :3; /*!< Als status one of: \n \a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n \a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n \a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n \a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY */
+ unsigned Error :2; /*!< Error status of: \n \a #RES_INT_ERROR_LASER_SAFETY \n \a #RES_INT_ERROR_PLL */
+ } status; /*!< interrupt status as bit field */
+} IntrStatus_t;
+
+/**
+ * @def RESULT_INTERRUPT_STATUS_GPIO
+ * @brief System interrupt status report selected interrupt for als and ranging
+ *
+ * These register can be polled even if no gpio pins is active\n
+ * What reported is selected by \a #SYSTEM_INTERRUPT_CONFIG_GPIO \n
+ * Range mask with \a #RES_INT_RANGE_MASK and shit by \a #RES_INT_RANGE_SHIFT
+ * Als mask with \a #RES_INT_ALS_MASK and shit by \a #RES_INT_ALS_SHIFT
+ * Result value express condition (or combination?)
+ * \a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n
+ * \a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n
+ * \a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n
+ * \a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY
+ *
+ * @ingroup device_regdef
+ */
+#define RESULT_INTERRUPT_STATUS_GPIO 0x4F
+ /** ranging interrupt 1st bit position in #RESULT_INTERRUPT_STATUS_GPIO */
+ #define RES_INT_RANGE_SHIFT 0
+ /** ALS interrupt 1st bit position in #RESULT_INTERRUPT_STATUS_GPIO */
+ #define RES_INT_ALS_SHIFT 3
+ /** interrupt bit position in #RESULT_INTERRUPT_STATUS_GPIO */
+ #define RES_INT_ERROR_SHIFT 6
+ /** Ranging interrupt mask in #RESULT_INTERRUPT_STATUS_GPIO (prior to shift) \sa IntrStatus_t */
+ #define RES_INT_RANGE_MASK (0x7<<RES_INT_RANGE_SHIFT)
+ /** als interrupt mask in #RESULT_INTERRUPT_STATUS_GPIO (prior to shift) \sa IntrStatus_t */
+ #define RES_INT_ALS_MASK (0x7<<RES_INT_ALS_SHIFT)
+
+ /** low threshold condition in #RESULT_INTERRUPT_STATUS_GPIO for */
+ #define RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD 0x01
+ /** high threshold condition in #RESULT_INTERRUPT_STATUS_GPIO for ALs or Rage*/
+ #define RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD 0x02
+ /** out of window condition in #RESULT_INTERRUPT_STATUS_GPIO */
+ #define RES_INT_STAT_GPIO_OUT_OF_WINDOW 0x03
+ /** new sample ready in #RESULT_INTERRUPT_STATUS_GPIO */
+ #define RES_INT_STAT_GPIO_NEW_SAMPLE_READY 0x04
+ /** error in #RESULT_INTERRUPT_STATUS_GPIO */
+ #define RES_INT_ERROR_MASK (0x3<<RES_INT_ERROR_SHIFT)
+ /** laser safety error on #RES_INT_ERROR_MASK of #RESULT_INTERRUPT_STATUS_GPIO */
+ #define RES_INT_ERROR_LASER_SAFETY 1
+ /** pll 1 or 2 error on #RES_INT_ERROR_MASK of #RESULT_INTERRUPT_STATUS_GPIO*/
+ #define RES_INT_ERROR_PLL 2
+
+/**
+ * Final range result value presented to the user for use. Unit is in mm.
+ */
+#define RESULT_RANGE_VAL 0x062
+
+/**
+ * Raw Range result value with offset applied (no cross talk compensation applied). Unit is in mm.
+ */
+#define RESULT_RANGE_RAW 0x064
+
+/**
+ * @brief Sensor count rate of signal returns correlated to IR emitter.
+ *
+ * Computed from RETURN_SIGNAL_COUNT / RETURN_CONV_TIME. Mcps 9.7 format
+ */
+#define RESULT_RANGE_SIGNAL_RATE 0x066
+
+/**
+ * @brief Return signal count
+ *
+ * Sensor count output value attributed to signal correlated to IR emitter on the Return array.
+ */
+#define RESULT_RANGE_RETURN_SIGNAL_COUNT 0x06C
+
+/**
+ * @brief Reference signal count
+ *
+ * sensor count output value attributed to signal correlated to IR emitter on the Reference array.
+ */
+#define RESULT_RANGE_REFERENCE_SIGNAL_COUNT 0x070
+
+/**
+ * @brief Return ambient count
+ *
+ * sensor count output value attributed to uncorrelated ambient signal on the Return array.
+ * Must be multiplied by 6 if used to calculate the ambient to signal threshold
+ */
+#define RESULT_RANGE_RETURN_AMB_COUNT 0x074
+
+/**
+ * @brief Reference ambient count
+ *
+ * Sensor count output value attributed to uncorrelated ambient signal on the Reference array.
+ */
+#define RESULT_RANGE_REFERENCE_AMB_COUNT 0x078
+
+/**
+ * sensor count output value attributed to signal on the Return array.
+ */
+#define RESULT_RANGE_RETURN_CONV_TIME 0x07C
+
+/**
+ * sensor count output value attributed to signal on the Reference array.
+ */
+#define RESULT_RANGE_REFERENCE_CONV_TIME 0x080
+
+
+/**
+ * @def RANGE_SCALER
+ * @brief RANGE scaling register
+ *
+ * Never should user write directly onto that register directly \a VL6180x_UpscaleSetScaling()
+ */
+#define RANGE_SCALER 0x096
+
+/**
+ * @def READOUT_AVERAGING_SAMPLE_PERIOD
+ * @brief Readout averaging sample period register
+ *
+ *
+ * The internal readout averaging sample period can be adjusted from 0 to 255.
+ * Increasing the sampling period decreases noise but also reduces the effective
+ * max convergence time and increases power consumption
+ * Each unit sample period corresponds to around 64.5 μs additional processing time.
+ * The recommended setting is 48 which equates to around 4.3 ms.
+ *
+ * see datasheet for more detail
+ */
+#define READOUT_AVERAGING_SAMPLE_PERIOD 0x10A
+
+/**
+ * @def I2C_SLAVE_DEVICE_ADDRESS
+ * User programmable I2C address (7-bit). Device address can be re-designated after power-up.
+ * @warning What programmed in the register 7-0 are bit 8-1 of i2c address on bus (bit 0 is rd/wr)
+ * so what prohamd is commonly whar ergfer as adrerss /2
+ * @sa VL6180x_SetI2CAddress()
+ */
+#define I2C_SLAVE_DEVICE_ADDRESS 0x212
+
+#endif /* _VL6180x_DEF */