Robotique FIP / Mbed 2 deprecated 1-DoorCloser

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Dependencies:   X_NUCLEO_COMMON X_NUCLEO_IHM01A1 mbed

VL6180X/vl6180x_def.h@0:1cb50d31c3b5, 2016-03-25 (annotated)

Committer:
julientiron
Date:
Fri Mar 25 21:27:03 2016 +0000
Revision:
0:1cb50d31c3b5
Code petit robot

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julientiron 0:1cb50d31c3b5 1 /*******************************************************************************
julientiron 0:1cb50d31c3b5 2 Copyright © 2014, STMicroelectronics International N.V.
julientiron 0:1cb50d31c3b5 3 All rights reserved.
julientiron 0:1cb50d31c3b5 4
julientiron 0:1cb50d31c3b5 5 Redistribution and use in source and binary forms, with or without
julientiron 0:1cb50d31c3b5 6 modification, are permitted provided that the following conditions are met:
julientiron 0:1cb50d31c3b5 7 * Redistributions of source code must retain the above copyright
julientiron 0:1cb50d31c3b5 8 notice, this list of conditions and the following disclaimer.
julientiron 0:1cb50d31c3b5 9 * Redistributions in binary form must reproduce the above copyright
julientiron 0:1cb50d31c3b5 10 notice, this list of conditions and the following disclaimer in the
julientiron 0:1cb50d31c3b5 11 documentation and/or other materials provided with the distribution.
julientiron 0:1cb50d31c3b5 12 * Neither the name of STMicroelectronics nor the
julientiron 0:1cb50d31c3b5 13 names of its contributors may be used to endorse or promote products
julientiron 0:1cb50d31c3b5 14 derived from this software without specific prior written permission.
julientiron 0:1cb50d31c3b5 15
julientiron 0:1cb50d31c3b5 16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
julientiron 0:1cb50d31c3b5 17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
julientiron 0:1cb50d31c3b5 18 WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
julientiron 0:1cb50d31c3b5 19 NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
julientiron 0:1cb50d31c3b5 20 IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
julientiron 0:1cb50d31c3b5 21 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
julientiron 0:1cb50d31c3b5 22 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
julientiron 0:1cb50d31c3b5 23 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
julientiron 0:1cb50d31c3b5 24 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
julientiron 0:1cb50d31c3b5 25 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
julientiron 0:1cb50d31c3b5 26 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
julientiron 0:1cb50d31c3b5 27 ********************************************************************************/
julientiron 0:1cb50d31c3b5 28
julientiron 0:1cb50d31c3b5 29 /*
julientiron 0:1cb50d31c3b5 30 * $Date: 2015-05-13 14:12:05 +0200 (Wed, 13 May 2015) $
julientiron 0:1cb50d31c3b5 31 * $Revision: 2290 $
julientiron 0:1cb50d31c3b5 32 */
julientiron 0:1cb50d31c3b5 33
julientiron 0:1cb50d31c3b5 34 /**
julientiron 0:1cb50d31c3b5 35 * @file VL6180x_def.h
julientiron 0:1cb50d31c3b5 36 *
julientiron 0:1cb50d31c3b5 37 * @brief Type definitions for vl6180x api.
julientiron 0:1cb50d31c3b5 38 *
julientiron 0:1cb50d31c3b5 39 */
julientiron 0:1cb50d31c3b5 40
julientiron 0:1cb50d31c3b5 41
julientiron 0:1cb50d31c3b5 42 #ifndef _VL6180x_DEF
julientiron 0:1cb50d31c3b5 43 #define _VL6180x_DEF
julientiron 0:1cb50d31c3b5 44
julientiron 0:1cb50d31c3b5 45 /** API major version */
julientiron 0:1cb50d31c3b5 46 #define VL6180x_API_REV_MAJOR 3
julientiron 0:1cb50d31c3b5 47 /** API minor version */
julientiron 0:1cb50d31c3b5 48 #define VL6180x_API_REV_MINOR 0
julientiron 0:1cb50d31c3b5 49 /** API sub version */
julientiron 0:1cb50d31c3b5 50 #define VL6180x_API_REV_SUB 1
julientiron 0:1cb50d31c3b5 51
julientiron 0:1cb50d31c3b5 52 #define VL6180X_STR_HELPER(x) #x
julientiron 0:1cb50d31c3b5 53 #define VL6180X_STR(x) VL6180X_STR_HELPER(x)
julientiron 0:1cb50d31c3b5 54
julientiron 0:1cb50d31c3b5 55 #include "vl6180x_cfg.h"
julientiron 0:1cb50d31c3b5 56 #include "vl6180x_types.h"
julientiron 0:1cb50d31c3b5 57
julientiron 0:1cb50d31c3b5 58 /*
julientiron 0:1cb50d31c3b5 59 * check configuration macro raise error or warning and suggest a default value
julientiron 0:1cb50d31c3b5 60 */
julientiron 0:1cb50d31c3b5 61
julientiron 0:1cb50d31c3b5 62 #ifndef VL6180x_UPSCALE_SUPPORT
julientiron 0:1cb50d31c3b5 63 #error "VL6180x_UPSCALE_SUPPORT not defined"
julientiron 0:1cb50d31c3b5 64 /* TODO you must define value for upscale support in your vl6180x_cfg.h */
julientiron 0:1cb50d31c3b5 65 #endif
julientiron 0:1cb50d31c3b5 66
julientiron 0:1cb50d31c3b5 67 #ifndef VL6180x_ALS_SUPPORT
julientiron 0:1cb50d31c3b5 68 #error "VL6180x_ALS_SUPPORT not defined"
julientiron 0:1cb50d31c3b5 69 /* TODO you must define VL6180x_ALS_SUPPORT with a value in your vl6180x_cfg.h set to 0 do disable*/
julientiron 0:1cb50d31c3b5 70 #endif
julientiron 0:1cb50d31c3b5 71
julientiron 0:1cb50d31c3b5 72 #ifndef VL6180x_HAVE_DMAX_RANGING
julientiron 0:1cb50d31c3b5 73 #error "VL6180x_HAVE_DMAX_RANGING not defined"
julientiron 0:1cb50d31c3b5 74 /* TODO you may remove or comment these #error and keep the default below or update your vl6180x_cfg.h .h file */
julientiron 0:1cb50d31c3b5 75 /**
julientiron 0:1cb50d31c3b5 76 * force VL6180x_HAVE_DMAX_RANGING to not supported when not part of cfg file
julientiron 0:1cb50d31c3b5 77 */
julientiron 0:1cb50d31c3b5 78 #define VL6180x_HAVE_DMAX_RANGING 0
julientiron 0:1cb50d31c3b5 79 #endif
julientiron 0:1cb50d31c3b5 80
julientiron 0:1cb50d31c3b5 81 #ifndef VL6180x_EXTENDED_RANGE
julientiron 0:1cb50d31c3b5 82 #define VL6180x_EXTENDED_RANGE 0
julientiron 0:1cb50d31c3b5 83 #endif
julientiron 0:1cb50d31c3b5 84
julientiron 0:1cb50d31c3b5 85 #ifndef VL6180x_WRAP_AROUND_FILTER_SUPPORT
julientiron 0:1cb50d31c3b5 86 #error "VL6180x_WRAP_AROUND_FILTER_SUPPORT not defined ?"
julientiron 0:1cb50d31c3b5 87 /* TODO you may remove or comment these #error and keep the default below or update vl6180x_cfg.h file */
julientiron 0:1cb50d31c3b5 88 /**
julientiron 0:1cb50d31c3b5 89 * force VL6180x_WRAP_AROUND_FILTER_SUPPORT to not supported when not part of cfg file
julientiron 0:1cb50d31c3b5 90 */
julientiron 0:1cb50d31c3b5 91 #define VL6180x_WRAP_AROUND_FILTER_SUPPORT 0
julientiron 0:1cb50d31c3b5 92 #endif
julientiron 0:1cb50d31c3b5 93
julientiron 0:1cb50d31c3b5 94
julientiron 0:1cb50d31c3b5 95
julientiron 0:1cb50d31c3b5 96
julientiron 0:1cb50d31c3b5 97 /****************************************
julientiron 0:1cb50d31c3b5 98 * PRIVATE define do not edit
julientiron 0:1cb50d31c3b5 99 ****************************************/
julientiron 0:1cb50d31c3b5 100
julientiron 0:1cb50d31c3b5 101 /** Maximal buffer size ever use in i2c */
julientiron 0:1cb50d31c3b5 102 #define VL6180x_MAX_I2C_XFER_SIZE 8 /* At present time it 6 byte max but that can change */
julientiron 0:1cb50d31c3b5 103
julientiron 0:1cb50d31c3b5 104 #if VL6180x_UPSCALE_SUPPORT < 0
julientiron 0:1cb50d31c3b5 105 /**
julientiron 0:1cb50d31c3b5 106 * @def VL6180x_HAVE_UPSCALE_DATA
julientiron 0:1cb50d31c3b5 107 * @brief is defined if device data structure has data so when user configurable up-scale is active
julientiron 0:1cb50d31c3b5 108 */
julientiron 0:1cb50d31c3b5 109 #define VL6180x_HAVE_UPSCALE_DATA /* have data only for user configurable up-scale config */
julientiron 0:1cb50d31c3b5 110 #endif
julientiron 0:1cb50d31c3b5 111
julientiron 0:1cb50d31c3b5 112 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT
julientiron 0:1cb50d31c3b5 113 /**
julientiron 0:1cb50d31c3b5 114 * @def VL6180x_HAVE_WRAP_AROUND_DATA
julientiron 0:1cb50d31c3b5 115 * @brief is defined if device data structure has filter data so when active in cfg file
julientiron 0:1cb50d31c3b5 116 */
julientiron 0:1cb50d31c3b5 117 #define VL6180x_HAVE_WRAP_AROUND_DATA
julientiron 0:1cb50d31c3b5 118 #endif
julientiron 0:1cb50d31c3b5 119
julientiron 0:1cb50d31c3b5 120 #if VL6180x_ALS_SUPPORT != 0
julientiron 0:1cb50d31c3b5 121 /**
julientiron 0:1cb50d31c3b5 122 * @def VL6180x_HAVE_ALS_DATA
julientiron 0:1cb50d31c3b5 123 * @brief is defined when als data are include in device data structure so when als suport if configured
julientiron 0:1cb50d31c3b5 124 */
julientiron 0:1cb50d31c3b5 125 #define VL6180x_HAVE_ALS_DATA
julientiron 0:1cb50d31c3b5 126 #endif
julientiron 0:1cb50d31c3b5 127
julientiron 0:1cb50d31c3b5 128
julientiron 0:1cb50d31c3b5 129 #if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
julientiron 0:1cb50d31c3b5 130 #define VL6180x_HAVE_RATE_DATA
julientiron 0:1cb50d31c3b5 131 #endif
julientiron 0:1cb50d31c3b5 132
julientiron 0:1cb50d31c3b5 133 /** Error and warning code returned by API
julientiron 0:1cb50d31c3b5 134 *
julientiron 0:1cb50d31c3b5 135 * negative value are true error mostly fatal\n
julientiron 0:1cb50d31c3b5 136 * positive value are warning most of time it's ok to continue\n
julientiron 0:1cb50d31c3b5 137 */
julientiron 0:1cb50d31c3b5 138 enum VL6180x_ErrCode_t{
julientiron 0:1cb50d31c3b5 139 API_NO_ERROR = 0,
julientiron 0:1cb50d31c3b5 140 CALIBRATION_WARNING = 1, /*!< warning invalid calibration data may be in used \a VL6180x_InitData() \a VL6180x_GetOffsetCalibrationData \a VL6180x_SetOffsetCalibrationData*/
julientiron 0:1cb50d31c3b5 141 MIN_CLIPED = 2, /*!< warning parameter passed was clipped to min before to be applied */
julientiron 0:1cb50d31c3b5 142 NOT_GUARANTEED = 3, /*!< Correct operation is not guaranteed typically using extended ranging on vl6180x */
julientiron 0:1cb50d31c3b5 143 NOT_READY = 4, /*!< the data is not ready retry */
julientiron 0:1cb50d31c3b5 144
julientiron 0:1cb50d31c3b5 145 API_ERROR = -1, /*!< Unqualified error */
julientiron 0:1cb50d31c3b5 146 INVALID_PARAMS = -2, /*!< parameter passed is invalid or out of range */
julientiron 0:1cb50d31c3b5 147 NOT_SUPPORTED = -3, /*!< function is not supported in current mode or configuration */
julientiron 0:1cb50d31c3b5 148 RANGE_ERROR = -4, /*!< device report a ranging error interrupt status */
julientiron 0:1cb50d31c3b5 149 TIME_OUT = -5, /*!< aborted due to time out */
julientiron 0:1cb50d31c3b5 150 };
julientiron 0:1cb50d31c3b5 151
julientiron 0:1cb50d31c3b5 152 /**
julientiron 0:1cb50d31c3b5 153 * Filtered result data structure range data is to be used
julientiron 0:1cb50d31c3b5 154 */
julientiron 0:1cb50d31c3b5 155 typedef struct RangeFilterResult_tag {
julientiron 0:1cb50d31c3b5 156 uint16_t range_mm; /*!< Filtered ranging value */
julientiron 0:1cb50d31c3b5 157 uint16_t rawRange_mm; /*!< raw range value (scaled) */
julientiron 0:1cb50d31c3b5 158 } RangeFilterResult_t;
julientiron 0:1cb50d31c3b5 159
julientiron 0:1cb50d31c3b5 160 /**
julientiron 0:1cb50d31c3b5 161 * "small" unsigned data type used in filter
julientiron 0:1cb50d31c3b5 162 *
julientiron 0:1cb50d31c3b5 163 * if data space saving is not a concern it can be change to platform native unsigned int
julientiron 0:1cb50d31c3b5 164 */
julientiron 0:1cb50d31c3b5 165 typedef uint8_t FilterType1_t;
julientiron 0:1cb50d31c3b5 166
julientiron 0:1cb50d31c3b5 167 /**
julientiron 0:1cb50d31c3b5 168 * @def FILTER_NBOF_SAMPLES
julientiron 0:1cb50d31c3b5 169 * @brief sample history len used for wrap around filtering
julientiron 0:1cb50d31c3b5 170 */
julientiron 0:1cb50d31c3b5 171 #define FILTER_NBOF_SAMPLES 10
julientiron 0:1cb50d31c3b5 172 /**
julientiron 0:1cb50d31c3b5 173 * Wrap around filter internal data
julientiron 0:1cb50d31c3b5 174 */
julientiron 0:1cb50d31c3b5 175 struct FilterData_t {
julientiron 0:1cb50d31c3b5 176 uint32_t MeasurementIndex; /*!< current measurement index */
julientiron 0:1cb50d31c3b5 177 uint16_t LastTrueRange[FILTER_NBOF_SAMPLES]; /*!< filtered/corrected distance history */
julientiron 0:1cb50d31c3b5 178 uint32_t LastReturnRates[FILTER_NBOF_SAMPLES]; /*!< Return rate history */
julientiron 0:1cb50d31c3b5 179 uint16_t StdFilteredReads; /*!< internal use */
julientiron 0:1cb50d31c3b5 180 FilterType1_t Default_ZeroVal; /*!< internal use */
julientiron 0:1cb50d31c3b5 181 FilterType1_t Default_VAVGVal; /*!< internal use */
julientiron 0:1cb50d31c3b5 182 FilterType1_t NoDelay_ZeroVal; /*!< internal use */
julientiron 0:1cb50d31c3b5 183 FilterType1_t NoDelay_VAVGVal; /*!< internal use */
julientiron 0:1cb50d31c3b5 184 FilterType1_t Previous_VAVGDiff; /*!< internal use */
julientiron 0:1cb50d31c3b5 185 };
julientiron 0:1cb50d31c3b5 186
julientiron 0:1cb50d31c3b5 187 #if VL6180x_HAVE_DMAX_RANGING
julientiron 0:1cb50d31c3b5 188 typedef int32_t DMaxFix_t;
julientiron 0:1cb50d31c3b5 189 struct DMaxData_t {
julientiron 0:1cb50d31c3b5 190 uint32_t ambTuningWindowFactor_K; /*!< internal algo tuning (*1000) */
julientiron 0:1cb50d31c3b5 191
julientiron 0:1cb50d31c3b5 192 DMaxFix_t retSignalAt400mm; /*!< intermediate dmax computation value caching @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE and private reg 0x02A */
julientiron 0:1cb50d31c3b5 193 //int32_t RegB8; /*!< register 0xB8 cached to speed reduce i2c traffic for dmax computation */
julientiron 0:1cb50d31c3b5 194 /* place all word data below to optimize struct packing */
julientiron 0:1cb50d31c3b5 195 //int32_t minSignalNeeded; /*!< optimized computation intermediate base on register cached value */
julientiron 0:1cb50d31c3b5 196 int32_t snrLimit_K; /*!< cached and optimized computation intermediate from @a #SYSRANGE_MAX_AMBIENT_LEVEL_MULT */
julientiron 0:1cb50d31c3b5 197 uint16_t ClipSnrLimit; /*!< Max value for snr limit */
julientiron 0:1cb50d31c3b5 198 /* place all byte data below to optimize packing */
julientiron 0:1cb50d31c3b5 199 //uint8_t MaxConvTime; /*!< cached max convergence time @a #SYSRANGE_MAX_CONVERGENCE_TIME*/
julientiron 0:1cb50d31c3b5 200 };
julientiron 0:1cb50d31c3b5 201 #endif
julientiron 0:1cb50d31c3b5 202
julientiron 0:1cb50d31c3b5 203 /**
julientiron 0:1cb50d31c3b5 204 * @struct VL6180xDevData_t
julientiron 0:1cb50d31c3b5 205 *
julientiron 0:1cb50d31c3b5 206 * @brief Per VL6180x device St private data structure \n
julientiron 0:1cb50d31c3b5 207 * End user should never access any of these field directly
julientiron 0:1cb50d31c3b5 208 *
julientiron 0:1cb50d31c3b5 209 * These must never access directly but only via VL6180xDev/SetData(dev, field) macro
julientiron 0:1cb50d31c3b5 210 */
julientiron 0:1cb50d31c3b5 211 struct VL6180xDevData_t {
julientiron 0:1cb50d31c3b5 212
julientiron 0:1cb50d31c3b5 213 uint32_t Part2PartAmbNVM; /*!< backed up NVM value */
julientiron 0:1cb50d31c3b5 214 uint32_t XTalkCompRate_KCps; /*! Cached XTlak Compensation Rate */
julientiron 0:1cb50d31c3b5 215
julientiron 0:1cb50d31c3b5 216 uint16_t EceFactorM; /*!< Ece Factor M numerator */
julientiron 0:1cb50d31c3b5 217 uint16_t EceFactorD; /*!< Ece Factor D denominator*/
julientiron 0:1cb50d31c3b5 218
julientiron 0:1cb50d31c3b5 219 #ifdef VL6180x_HAVE_ALS_DATA
julientiron 0:1cb50d31c3b5 220 uint16_t IntegrationPeriod; /*!< cached als Integration period avoid slow read from device at each measure */
julientiron 0:1cb50d31c3b5 221 uint16_t AlsGainCode; /*!< cached Als gain avoid slow read from device at each measure */
julientiron 0:1cb50d31c3b5 222 uint16_t AlsScaler; /*!< cached Als scaler avoid slow read from device at each measure */
julientiron 0:1cb50d31c3b5 223 #endif
julientiron 0:1cb50d31c3b5 224
julientiron 0:1cb50d31c3b5 225 #ifdef VL6180x_HAVE_UPSCALE_DATA
julientiron 0:1cb50d31c3b5 226 uint8_t UpscaleFactor; /*!< up-scaling factor*/
julientiron 0:1cb50d31c3b5 227 #endif
julientiron 0:1cb50d31c3b5 228
julientiron 0:1cb50d31c3b5 229 #ifdef VL6180x_HAVE_WRAP_AROUND_DATA
julientiron 0:1cb50d31c3b5 230 uint8_t WrapAroundFilterActive; /*!< Filter on/off */
julientiron 0:1cb50d31c3b5 231 struct FilterData_t FilterData; /*!< Filter internal data state history ... */
julientiron 0:1cb50d31c3b5 232 #endif
julientiron 0:1cb50d31c3b5 233
julientiron 0:1cb50d31c3b5 234 #if VL6180x_HAVE_DMAX_RANGING
julientiron 0:1cb50d31c3b5 235 struct DMaxData_t DMaxData;
julientiron 0:1cb50d31c3b5 236 uint8_t DMaxEnable;
julientiron 0:1cb50d31c3b5 237 #endif
julientiron 0:1cb50d31c3b5 238 int8_t Part2PartOffsetNVM; /*!< backed up NVM value */
julientiron 0:1cb50d31c3b5 239 };
julientiron 0:1cb50d31c3b5 240
julientiron 0:1cb50d31c3b5 241 #if VL6180x_SINGLE_DEVICE_DRIVER
julientiron 0:1cb50d31c3b5 242 extern struct VL6180xDevData_t SingleVL6180xDevData;
julientiron 0:1cb50d31c3b5 243 #define VL6180xDevDataGet(dev, field) (SingleVL6180xDevData.field)
julientiron 0:1cb50d31c3b5 244 /* is also used as direct accessor like VL6180xDevDataGet(dev, x)++*/
julientiron 0:1cb50d31c3b5 245 #define VL6180xDevDataSet(dev, field, data) (SingleVL6180xDevData.field)=(data)
julientiron 0:1cb50d31c3b5 246 #endif
julientiron 0:1cb50d31c3b5 247
julientiron 0:1cb50d31c3b5 248
julientiron 0:1cb50d31c3b5 249 /**
julientiron 0:1cb50d31c3b5 250 * @struct VL6180x_RangeData_t
julientiron 0:1cb50d31c3b5 251 * @brief Range and any optional measurement data.
julientiron 0:1cb50d31c3b5 252 */
julientiron 0:1cb50d31c3b5 253 typedef struct {
julientiron 0:1cb50d31c3b5 254 int32_t range_mm; /*!< range distance in mm. */
julientiron 0:1cb50d31c3b5 255 int32_t signalRate_mcps; /*!< signal rate (MCPS)\n these is a 9.7 fix point value, which is effectively a measure of target reflectance.*/
julientiron 0:1cb50d31c3b5 256 uint32_t errorStatus; /*!< Error status of the current measurement. \n
julientiron 0:1cb50d31c3b5 257 see @a ::RangeError_u @a VL6180x_GetRangeStatusErrString() */
julientiron 0:1cb50d31c3b5 258
julientiron 0:1cb50d31c3b5 259
julientiron 0:1cb50d31c3b5 260 #ifdef VL6180x_HAVE_RATE_DATA
julientiron 0:1cb50d31c3b5 261 uint32_t rtnAmbRate; /*!< Return Ambient rate in KCount per sec related to \a RESULT_RANGE_RETURN_AMB_COUNT */
julientiron 0:1cb50d31c3b5 262 uint32_t rtnRate; /*!< Return rate in KCount per sec related to \a RESULT_RANGE_RETURN_SIGNAL_COUNT */
julientiron 0:1cb50d31c3b5 263 uint32_t rtnConvTime; /*!< Return Convergence time \a RESULT_RANGE_RETURN_CONV_TIME */
julientiron 0:1cb50d31c3b5 264 uint32_t refConvTime; /*!< Reference convergence time \a RESULT_RANGE_REFERENCE_CONV_TIME */
julientiron 0:1cb50d31c3b5 265 #endif
julientiron 0:1cb50d31c3b5 266
julientiron 0:1cb50d31c3b5 267
julientiron 0:1cb50d31c3b5 268 #if VL6180x_HAVE_DMAX_RANGING
julientiron 0:1cb50d31c3b5 269 uint32_t DMax; /*!< DMax when applicable */
julientiron 0:1cb50d31c3b5 270 #endif
julientiron 0:1cb50d31c3b5 271
julientiron 0:1cb50d31c3b5 272 #ifdef VL6180x_HAVE_WRAP_AROUND_DATA
julientiron 0:1cb50d31c3b5 273 RangeFilterResult_t FilteredData; /*!< Filter result main range_mm is updated */
julientiron 0:1cb50d31c3b5 274 #endif
julientiron 0:1cb50d31c3b5 275 }VL6180x_RangeData_t;
julientiron 0:1cb50d31c3b5 276
julientiron 0:1cb50d31c3b5 277
julientiron 0:1cb50d31c3b5 278 /** use where fix point 9.7 bit values are expected
julientiron 0:1cb50d31c3b5 279 *
julientiron 0:1cb50d31c3b5 280 * given a floating point value f it's .7 bit point is (int)(f*(1<<7))*/
julientiron 0:1cb50d31c3b5 281 typedef uint16_t FixPoint97_t;
julientiron 0:1cb50d31c3b5 282
julientiron 0:1cb50d31c3b5 283 /** lux data type */
julientiron 0:1cb50d31c3b5 284 typedef uint32_t lux_t;
julientiron 0:1cb50d31c3b5 285
julientiron 0:1cb50d31c3b5 286 /**
julientiron 0:1cb50d31c3b5 287 * @brief This data type defines als measurement data.
julientiron 0:1cb50d31c3b5 288 */
julientiron 0:1cb50d31c3b5 289 typedef struct VL6180x_AlsData_st{
julientiron 0:1cb50d31c3b5 290 lux_t lux; /**< Light measurement (Lux) */
julientiron 0:1cb50d31c3b5 291 uint32_t errorStatus; /**< Error status of the current measurement. \n
julientiron 0:1cb50d31c3b5 292 * No Error := 0. \n
julientiron 0:1cb50d31c3b5 293 * Refer to product sheets for other error codes. */
julientiron 0:1cb50d31c3b5 294 }VL6180x_AlsData_t;
julientiron 0:1cb50d31c3b5 295
julientiron 0:1cb50d31c3b5 296 /**
julientiron 0:1cb50d31c3b5 297 * @brief Range status Error code
julientiron 0:1cb50d31c3b5 298 *
julientiron 0:1cb50d31c3b5 299 * @a VL6180x_GetRangeStatusErrString() if configured ( @a #VL6180x_RANGE_STATUS_ERRSTRING )
julientiron 0:1cb50d31c3b5 300 * related to register @a #RESULT_RANGE_STATUS and additional post processing
julientiron 0:1cb50d31c3b5 301 */
julientiron 0:1cb50d31c3b5 302 typedef enum {
julientiron 0:1cb50d31c3b5 303 NoError_=0, /*!< 0 0b0000 NoError */
julientiron 0:1cb50d31c3b5 304 VCSEL_Continuity_Test, /*!< 1 0b0001 VCSEL_Continuity_Test */
julientiron 0:1cb50d31c3b5 305 VCSEL_Watchdog_Test, /*!< 2 0b0010 VCSEL_Watchdog_Test */
julientiron 0:1cb50d31c3b5 306 VCSEL_Watchdog, /*!< 3 0b0011 VCSEL_Watchdog */
julientiron 0:1cb50d31c3b5 307 PLL1_Lock, /*!< 4 0b0100 PLL1_Lock */
julientiron 0:1cb50d31c3b5 308 PLL2_Lock, /*!< 5 0b0101 PLL2_Lock */
julientiron 0:1cb50d31c3b5 309 Early_Convergence_Estimate,/*!< 6 0b0110 Early_Convergence_Estimate */
julientiron 0:1cb50d31c3b5 310 Max_Convergence, /*!< 7 0b0111 Max_Convergence */
julientiron 0:1cb50d31c3b5 311 No_Target_Ignore, /*!< 8 0b1000 No_Target_Ignore */
julientiron 0:1cb50d31c3b5 312 Not_used_9, /*!< 9 0b1001 Not_used */
julientiron 0:1cb50d31c3b5 313 Not_used_10, /*!< 10 0b1010 Not_used_ */
julientiron 0:1cb50d31c3b5 314 Max_Signal_To_Noise_Ratio, /*!< 11 0b1011 Max_Signal_To_Noise_Ratio*/
julientiron 0:1cb50d31c3b5 315 Raw_Ranging_Algo_Underflow,/*!< 12 0b1100 Raw_Ranging_Algo_Underflow*/
julientiron 0:1cb50d31c3b5 316 Raw_Ranging_Algo_Overflow, /*!< 13 0b1101 Raw_Ranging_Algo_Overflow */
julientiron 0:1cb50d31c3b5 317 Ranging_Algo_Underflow, /*!< 14 0b1110 Ranging_Algo_Underflow */
julientiron 0:1cb50d31c3b5 318 Ranging_Algo_Overflow, /*!< 15 0b1111 Ranging_Algo_Overflow */
julientiron 0:1cb50d31c3b5 319
julientiron 0:1cb50d31c3b5 320 /* code below are addition for API/software side they are not hardware*/
julientiron 0:1cb50d31c3b5 321 RangingFiltered =0x10, /*!< 16 0b10000 filtered by post processing*/
julientiron 0:1cb50d31c3b5 322
julientiron 0:1cb50d31c3b5 323 } RangeError_u;
julientiron 0:1cb50d31c3b5 324
julientiron 0:1cb50d31c3b5 325
julientiron 0:1cb50d31c3b5 326 /** @defgroup device_regdef Device registers & masks definitions
julientiron 0:1cb50d31c3b5 327 * @brief Device registers and masks definitions
julientiron 0:1cb50d31c3b5 328 */
julientiron 0:1cb50d31c3b5 329
julientiron 0:1cb50d31c3b5 330
julientiron 0:1cb50d31c3b5 331 /** @ingroup device_regdef
julientiron 0:1cb50d31c3b5 332 * @{*/
julientiron 0:1cb50d31c3b5 333
julientiron 0:1cb50d31c3b5 334 /**
julientiron 0:1cb50d31c3b5 335 * The device model ID
julientiron 0:1cb50d31c3b5 336 */
julientiron 0:1cb50d31c3b5 337 #define IDENTIFICATION_MODEL_ID 0x000
julientiron 0:1cb50d31c3b5 338 /**
julientiron 0:1cb50d31c3b5 339 * Revision identifier of the Device for major change.
julientiron 0:1cb50d31c3b5 340 */
julientiron 0:1cb50d31c3b5 341 #define IDENTIFICATION_MODULE_REV_MAJOR 0x003
julientiron 0:1cb50d31c3b5 342 /**
julientiron 0:1cb50d31c3b5 343 * Revision identifier of the Device for minor change.
julientiron 0:1cb50d31c3b5 344 */
julientiron 0:1cb50d31c3b5 345 #define IDENTIFICATION_MODULE_REV_MINOR 0x004
julientiron 0:1cb50d31c3b5 346
julientiron 0:1cb50d31c3b5 347
julientiron 0:1cb50d31c3b5 348 /**
julientiron 0:1cb50d31c3b5 349 * @def SYSTEM_MODE_GPIO0
julientiron 0:1cb50d31c3b5 350 * @brief Configures polarity and select which function gpio 0 serves.
julientiron 0:1cb50d31c3b5 351 * Gpio0 is chip enable at power up ! Be aware of all h/w implication of turning it to output.
julientiron 0:1cb50d31c3b5 352 * Same definition as #SYSTEM_MODE_GPIO1
julientiron 0:1cb50d31c3b5 353 * @ingroup device_regdef
julientiron 0:1cb50d31c3b5 354 */
julientiron 0:1cb50d31c3b5 355 #define SYSTEM_MODE_GPIO0 0x010
julientiron 0:1cb50d31c3b5 356 /**
julientiron 0:1cb50d31c3b5 357 * @def SYSTEM_MODE_GPIO1
julientiron 0:1cb50d31c3b5 358 * @brief Configures polarity and select what als or ranging functionality gpio pin serves.
julientiron 0:1cb50d31c3b5 359 *
julientiron 0:1cb50d31c3b5 360 * Function can be #GPIOx_SELECT_OFF #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT.\n
julientiron 0:1cb50d31c3b5 361 * Same definition apply to register GPIO0 that is used as chip enable at power up.
julientiron 0:1cb50d31c3b5 362 * @ingroup device_regdef
julientiron 0:1cb50d31c3b5 363 */
julientiron 0:1cb50d31c3b5 364 #define SYSTEM_MODE_GPIO1 0x011
julientiron 0:1cb50d31c3b5 365 /** gpio pad POLARITY mask in #SYSTEM_MODE_GPIO1 (and/or 0) write 1 to set active high polarity (positive edge) */
julientiron 0:1cb50d31c3b5 366 #define GPIOx_POLARITY_SELECT_MASK 0x20
julientiron 0:1cb50d31c3b5 367 /** gpio pad Function select shift in #SYSTEM_MODE_GPIO1 or 0 */
julientiron 0:1cb50d31c3b5 368 #define GPIOx_FUNCTIONALITY_SELECT_SHIFT 1
julientiron 0:1cb50d31c3b5 369 /** gpio pad Function select mask in #SYSTEM_MODE_GPIO1 or 0 */
julientiron 0:1cb50d31c3b5 370 #define GPIOx_FUNCTIONALITY_SELECT_MASK (0xF<<GPIOx_FUNCTIONALITY_SELECT_SHIFT)
julientiron 0:1cb50d31c3b5 371 /** select no interrupt in #SYSTEM_MODE_GPIO1 pad is put in Hi-Z*/
julientiron 0:1cb50d31c3b5 372 #define GPIOx_SELECT_OFF 0x00
julientiron 0:1cb50d31c3b5 373 /** select gpiox as interrupt output in #SYSTEM_MODE_GPIO1 */
julientiron 0:1cb50d31c3b5 374 #define GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT 0x08
julientiron 0:1cb50d31c3b5 375 /** select range as source for interrupt on in #SYSTEM_MODE_GPIO1 */
julientiron 0:1cb50d31c3b5 376 #define GPIOx_MODE_SELECT_RANGING 0x00
julientiron 0:1cb50d31c3b5 377 /** select als as source for interrupt on in #SYSTEM_MODE_GPIO1 */
julientiron 0:1cb50d31c3b5 378 #define GPIOx_MODE_SELECT_ALS 0x01
julientiron 0:1cb50d31c3b5 379
julientiron 0:1cb50d31c3b5 380
julientiron 0:1cb50d31c3b5 381 /**
julientiron 0:1cb50d31c3b5 382 * @def SYSTEM_INTERRUPT_CONFIG_GPIO
julientiron 0:1cb50d31c3b5 383 *
julientiron 0:1cb50d31c3b5 384 * @brief Configure Als and Ranging interrupt reporting
julientiron 0:1cb50d31c3b5 385 *
julientiron 0:1cb50d31c3b5 386 * Possible values for Range and ALS are\n
julientiron 0:1cb50d31c3b5 387 *
julientiron 0:1cb50d31c3b5 388 * #CONFIG_GPIO_INTERRUPT_DISABLED\n
julientiron 0:1cb50d31c3b5 389 * #CONFIG_GPIO_INTERRUPT_LEVEL_LOW\n
julientiron 0:1cb50d31c3b5 390 * #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH\n
julientiron 0:1cb50d31c3b5 391 * #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW\n
julientiron 0:1cb50d31c3b5 392 * #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY\n
julientiron 0:1cb50d31c3b5 393 * Apply respective rang/als shift and mask \n
julientiron 0:1cb50d31c3b5 394 * #CONFIG_GPIO_RANGE_SHIFT and full reg mask #CONFIG_GPIO_RANGE_MASK\n
julientiron 0:1cb50d31c3b5 395 * #CONFIG_GPIO_ALS_SHIFT and full reg mask #CONFIG_GPIO_ALS_MASK\n
julientiron 0:1cb50d31c3b5 396 *
julientiron 0:1cb50d31c3b5 397 * \sa GPIO use for interrupt #SYSTEM_MODE_GPIO0 or #SYSTEM_MODE_GPIO1\n
julientiron 0:1cb50d31c3b5 398 * @ingroup device_regdef
julientiron 0:1cb50d31c3b5 399 */
julientiron 0:1cb50d31c3b5 400 #define SYSTEM_INTERRUPT_CONFIG_GPIO 0x014
julientiron 0:1cb50d31c3b5 401 /** RANGE bits shift in #SYSTEM_INTERRUPT_CONFIG_GPIO */
julientiron 0:1cb50d31c3b5 402 #define CONFIG_GPIO_RANGE_SHIFT 0
julientiron 0:1cb50d31c3b5 403 /** RANGE bits mask in #SYSTEM_INTERRUPT_CONFIG_GPIO (unshifted)*/
julientiron 0:1cb50d31c3b5 404 #define CONFIG_GPIO_RANGE_MASK (0x7<<CONFIG_GPIO_RANGE_SHIFT)
julientiron 0:1cb50d31c3b5 405 /** ALS bits shift in #SYSTEM_INTERRUPT_CONFIG_GPIO */
julientiron 0:1cb50d31c3b5 406 #define CONFIG_GPIO_ALS_SHIFT 3
julientiron 0:1cb50d31c3b5 407 /** ALS bits mask in #SYSTEM_INTERRUPT_CONFIG_GPIO (unshifted)*/
julientiron 0:1cb50d31c3b5 408 #define CONFIG_GPIO_ALS_MASK (0x7<<CONFIG_GPIO_ALS_SHIFT)
julientiron 0:1cb50d31c3b5 409 /** interrupt is disabled */
julientiron 0:1cb50d31c3b5 410 #define CONFIG_GPIO_INTERRUPT_DISABLED 0x00
julientiron 0:1cb50d31c3b5 411 /** trigger when value < low threshold */
julientiron 0:1cb50d31c3b5 412 #define CONFIG_GPIO_INTERRUPT_LEVEL_LOW 0x01
julientiron 0:1cb50d31c3b5 413 /** trigger when value < low threshold */
julientiron 0:1cb50d31c3b5 414 #define CONFIG_GPIO_INTERRUPT_LEVEL_HIGH 0x02
julientiron 0:1cb50d31c3b5 415 /** trigger when outside range defined by high low threshold */
julientiron 0:1cb50d31c3b5 416 #define CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW 0x03
julientiron 0:1cb50d31c3b5 417 /** trigger when new sample are ready */
julientiron 0:1cb50d31c3b5 418 #define CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY 0x04
julientiron 0:1cb50d31c3b5 419
julientiron 0:1cb50d31c3b5 420 /**
julientiron 0:1cb50d31c3b5 421 * @def SYSTEM_INTERRUPT_CLEAR
julientiron 0:1cb50d31c3b5 422 * @brief Writing to this register will clear interrupt source
julientiron 0:1cb50d31c3b5 423 *
julientiron 0:1cb50d31c3b5 424 * Use or combination of any #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR
julientiron 0:1cb50d31c3b5 425 * @ingroup device_regdef
julientiron 0:1cb50d31c3b5 426 */
julientiron 0:1cb50d31c3b5 427 #define SYSTEM_INTERRUPT_CLEAR 0x015
julientiron 0:1cb50d31c3b5 428 /** clear ranging interrupt in write to #SYSTEM_INTERRUPT_CLEAR */
julientiron 0:1cb50d31c3b5 429 #define INTERRUPT_CLEAR_RANGING 0x01
julientiron 0:1cb50d31c3b5 430 /** clear als interrupt in write to #SYSTEM_INTERRUPT_CLEAR */
julientiron 0:1cb50d31c3b5 431 #define INTERRUPT_CLEAR_ALS 0x02
julientiron 0:1cb50d31c3b5 432 /** clear error interrupt in write to #SYSTEM_INTERRUPT_CLEAR */
julientiron 0:1cb50d31c3b5 433 #define INTERRUPT_CLEAR_ERROR 0x04
julientiron 0:1cb50d31c3b5 434
julientiron 0:1cb50d31c3b5 435 /** After power up or reset this register will start reading 1 when device is ready */
julientiron 0:1cb50d31c3b5 436 #define SYSTEM_FRESH_OUT_OF_RESET 0x016
julientiron 0:1cb50d31c3b5 437
julientiron 0:1cb50d31c3b5 438 /**
julientiron 0:1cb50d31c3b5 439 * @def SYSTEM_GROUPED_PARAMETER_HOLD
julientiron 0:1cb50d31c3b5 440 * @brief Writing 1/0 activate/deactivate safe host update of multiple register in critical group \n
julientiron 0:1cb50d31c3b5 441 * rather use \a VL6180x_SetGroupParamHold()
julientiron 0:1cb50d31c3b5 442 *
julientiron 0:1cb50d31c3b5 443 * The critical register group is made of: \n
julientiron 0:1cb50d31c3b5 444 * #SYSTEM_INTERRUPT_CONFIG_GPIO \n
julientiron 0:1cb50d31c3b5 445 * #SYSRANGE_THRESH_HIGH \n
julientiron 0:1cb50d31c3b5 446 * #SYSRANGE_THRESH_LOW \n
julientiron 0:1cb50d31c3b5 447 * #SYSALS_INTEGRATION_PERIOD \n
julientiron 0:1cb50d31c3b5 448 * #SYSALS_ANALOGUE_GAIN \n
julientiron 0:1cb50d31c3b5 449 * #SYSALS_THRESH_HIGH \n
julientiron 0:1cb50d31c3b5 450 * #SYSALS_THRESH_LOW
julientiron 0:1cb50d31c3b5 451 * @ingroup device_regdef
julientiron 0:1cb50d31c3b5 452 */
julientiron 0:1cb50d31c3b5 453 #define SYSTEM_GROUPED_PARAMETER_HOLD 0x017
julientiron 0:1cb50d31c3b5 454
julientiron 0:1cb50d31c3b5 455
julientiron 0:1cb50d31c3b5 456 /**
julientiron 0:1cb50d31c3b5 457 * @def SYSRANGE_START
julientiron 0:1cb50d31c3b5 458 * @brief Start/stop and set operating range mode
julientiron 0:1cb50d31c3b5 459 *
julientiron 0:1cb50d31c3b5 460 * Write Combination of #MODE_START_STOP and #MODE_CONTINUOUS to select and start desired operation.
julientiron 0:1cb50d31c3b5 461 *
julientiron 0:1cb50d31c3b5 462 * @ingroup device_regdef
julientiron 0:1cb50d31c3b5 463 */
julientiron 0:1cb50d31c3b5 464 #define SYSRANGE_START 0x018
julientiron 0:1cb50d31c3b5 465 /** mask existing bit in #SYSRANGE_START*/
julientiron 0:1cb50d31c3b5 466 #define MODE_MASK 0x03
julientiron 0:1cb50d31c3b5 467 /** bit 0 in #SYSRANGE_START write 1 toggle state in continuous mode and arm next shot in single shot mode */
julientiron 0:1cb50d31c3b5 468 #define MODE_START_STOP 0x01
julientiron 0:1cb50d31c3b5 469 /** bit 1 write 1 in #SYSRANGE_START set continuous operation mode */
julientiron 0:1cb50d31c3b5 470 #define MODE_CONTINUOUS 0x02
julientiron 0:1cb50d31c3b5 471 /** bit 1 write 0 in #SYSRANGE_START set single shot mode */
julientiron 0:1cb50d31c3b5 472 #define MODE_SINGLESHOT 0x00
julientiron 0:1cb50d31c3b5 473
julientiron 0:1cb50d31c3b5 474 /**
julientiron 0:1cb50d31c3b5 475 * @def SYSRANGE_THRESH_HIGH
julientiron 0:1cb50d31c3b5 476 * High level range threshold (must be scaled)
julientiron 0:1cb50d31c3b5 477 * @ingroup device_regdef
julientiron 0:1cb50d31c3b5 478 */
julientiron 0:1cb50d31c3b5 479 #define SYSRANGE_THRESH_HIGH 0x019
julientiron 0:1cb50d31c3b5 480
julientiron 0:1cb50d31c3b5 481 /**
julientiron 0:1cb50d31c3b5 482 * @def SYSRANGE_THRESH_LOW
julientiron 0:1cb50d31c3b5 483 * Low level range threshold (must be scaled)
julientiron 0:1cb50d31c3b5 484 * @ingroup device_regdef
julientiron 0:1cb50d31c3b5 485 */
julientiron 0:1cb50d31c3b5 486 #define SYSRANGE_THRESH_LOW 0x01A
julientiron 0:1cb50d31c3b5 487
julientiron 0:1cb50d31c3b5 488 /**
julientiron 0:1cb50d31c3b5 489 * @def SYSRANGE_INTERMEASUREMENT_PERIOD
julientiron 0:1cb50d31c3b5 490 * @brief Continuous mode intermeasurement delay \a VL6180x_RangeSetInterMeasPeriod()
julientiron 0:1cb50d31c3b5 491 *
julientiron 0:1cb50d31c3b5 492 * Time delay between measurements in Ranging continuous mode.\n
julientiron 0:1cb50d31c3b5 493 * Range 0-254 (0 = 10ms).\n Step size = 10ms.
julientiron 0:1cb50d31c3b5 494 *
julientiron 0:1cb50d31c3b5 495 * @ingroup device_regdef
julientiron 0:1cb50d31c3b5 496 */
julientiron 0:1cb50d31c3b5 497 #define SYSRANGE_INTERMEASUREMENT_PERIOD 0x01B
julientiron 0:1cb50d31c3b5 498
julientiron 0:1cb50d31c3b5 499 /**
julientiron 0:1cb50d31c3b5 500 * @brief Maximum time to run measurement in Ranging modes.
julientiron 0:1cb50d31c3b5 501 * Range 1 - 63 ms (1 code = 1 ms);
julientiron 0:1cb50d31c3b5 502 *
julientiron 0:1cb50d31c3b5 503 * Measurement aborted when limit reached to aid power reduction.\
julientiron 0:1cb50d31c3b5 504 * For example, 0x01 = 1ms, 0x0a = 10ms.\
julientiron 0:1cb50d31c3b5 505 * Note: Effective max_convergence_time depends on readout_averaging_sample_period setting.
julientiron 0:1cb50d31c3b5 506 *
julientiron 0:1cb50d31c3b5 507 * @ingroup device_regdef
julientiron 0:1cb50d31c3b5 508 */
julientiron 0:1cb50d31c3b5 509 #define SYSRANGE_MAX_CONVERGENCE_TIME 0x01C
julientiron 0:1cb50d31c3b5 510 /**@brief Cross talk compensation rate
julientiron 0:1cb50d31c3b5 511 * @warning never write register directly use @a VL6180x_SetXTalkCompensationRate()
julientiron 0:1cb50d31c3b5 512 * refer to manual for calibration procedure and computation
julientiron 0:1cb50d31c3b5 513 * @ingroup device_regdef
julientiron 0:1cb50d31c3b5 514 */
julientiron 0:1cb50d31c3b5 515 #define SYSRANGE_CROSSTALK_COMPENSATION_RATE 0x01E
julientiron 0:1cb50d31c3b5 516 /**
julientiron 0:1cb50d31c3b5 517 * @brief Minimum range value in mm to qualify for crosstalk compensation
julientiron 0:1cb50d31c3b5 518 */
julientiron 0:1cb50d31c3b5 519 #define SYSRANGE_CROSSTALK_VALID_HEIGHT 0x021
julientiron 0:1cb50d31c3b5 520 #define SYSRANGE_EARLY_CONVERGENCE_ESTIMATE 0x022
julientiron 0:1cb50d31c3b5 521 #define SYSRANGE_PART_TO_PART_RANGE_OFFSET 0x024
julientiron 0:1cb50d31c3b5 522 #define SYSRANGE_RANGE_IGNORE_VALID_HEIGHT 0x025
julientiron 0:1cb50d31c3b5 523 #define SYSRANGE_RANGE_IGNORE_THRESHOLD 0x026
julientiron 0:1cb50d31c3b5 524 #define SYSRANGE_EMITTER_BLOCK_THRESHOLD 0x028
julientiron 0:1cb50d31c3b5 525 #define SYSRANGE_MAX_AMBIENT_LEVEL_THRESH 0x02A
julientiron 0:1cb50d31c3b5 526 #define SYSRANGE_MAX_AMBIENT_LEVEL_MULT 0x02C
julientiron 0:1cb50d31c3b5 527 /** @brief various Enable check enabel register
julientiron 0:1cb50d31c3b5 528 * @a VL6180x_RangeSetEceState()
julientiron 0:1cb50d31c3b5 529 */
julientiron 0:1cb50d31c3b5 530 #define SYSRANGE_RANGE_CHECK_ENABLES 0x02D
julientiron 0:1cb50d31c3b5 531 #define RANGE_CHECK_ECE_ENABLE_MASK 0x01
julientiron 0:1cb50d31c3b5 532 #define RANGE_CHECK_RANGE_ENABLE_MASK 0x02
julientiron 0:1cb50d31c3b5 533 #define RANGE_CHECK_SNR_ENABLKE 0x10
julientiron 0:1cb50d31c3b5 534
julientiron 0:1cb50d31c3b5 535 #define SYSRANGE_VHV_RECALIBRATE 0x02E
julientiron 0:1cb50d31c3b5 536 #define SYSRANGE_VHV_REPEAT_RATE 0x031
julientiron 0:1cb50d31c3b5 537
julientiron 0:1cb50d31c3b5 538 /**
julientiron 0:1cb50d31c3b5 539 * @def SYSALS_START
julientiron 0:1cb50d31c3b5 540 * @brief Start/stop and set operating als mode
julientiron 0:1cb50d31c3b5 541 *
julientiron 0:1cb50d31c3b5 542 * same bit definition as range \a #SYSRANGE_START \n
julientiron 0:1cb50d31c3b5 543 */
julientiron 0:1cb50d31c3b5 544 #define SYSALS_START 0x038
julientiron 0:1cb50d31c3b5 545
julientiron 0:1cb50d31c3b5 546 /** ALS low Threshold high */
julientiron 0:1cb50d31c3b5 547 #define SYSALS_THRESH_HIGH 0x03A
julientiron 0:1cb50d31c3b5 548 /** ALS low Threshold low */
julientiron 0:1cb50d31c3b5 549 #define SYSALS_THRESH_LOW 0x03C
julientiron 0:1cb50d31c3b5 550 /** ALS intermeasurement period */
julientiron 0:1cb50d31c3b5 551 #define SYSALS_INTERMEASUREMENT_PERIOD 0x03E
julientiron 0:1cb50d31c3b5 552 /**
julientiron 0:1cb50d31c3b5 553 * @warning or value with 0x40 when writing to these register*/
julientiron 0:1cb50d31c3b5 554 #define SYSALS_ANALOGUE_GAIN 0x03F
julientiron 0:1cb50d31c3b5 555 /** ALS integration period */
julientiron 0:1cb50d31c3b5 556 #define SYSALS_INTEGRATION_PERIOD 0x040
julientiron 0:1cb50d31c3b5 557
julientiron 0:1cb50d31c3b5 558 /**
julientiron 0:1cb50d31c3b5 559 * @brief Result range status
julientiron 0:1cb50d31c3b5 560 *
julientiron 0:1cb50d31c3b5 561 * Hold the various range interrupt flags and error Specific error codes
julientiron 0:1cb50d31c3b5 562 */
julientiron 0:1cb50d31c3b5 563 #define RESULT_RANGE_STATUS 0x04D
julientiron 0:1cb50d31c3b5 564 /** Device ready for new command bit 0*/
julientiron 0:1cb50d31c3b5 565 #define RANGE_DEVICE_READY_MASK 0x01
julientiron 0:1cb50d31c3b5 566 /** mask for error status covers bits [7:4] in #RESULT_RANGE_STATUS @a ::RangeError_u */
julientiron 0:1cb50d31c3b5 567 #define RANGE_ERROR_CODE_MASK 0xF0 /* */
julientiron 0:1cb50d31c3b5 568 /** range error bit position in #RESULT_RANGE_STATUS */
julientiron 0:1cb50d31c3b5 569 #define RANGE_ERROR_CODE_SHIFT 4
julientiron 0:1cb50d31c3b5 570
julientiron 0:1cb50d31c3b5 571 /**
julientiron 0:1cb50d31c3b5 572 * @def RESULT_ALS_STATUS
julientiron 0:1cb50d31c3b5 573 * @brief Result als status \n
julientiron 0:1cb50d31c3b5 574 * Hold the various als interrupt flags and Specific error codes
julientiron 0:1cb50d31c3b5 575 */
julientiron 0:1cb50d31c3b5 576 #define RESULT_ALS_STATUS 0x4E
julientiron 0:1cb50d31c3b5 577 /** Device ready for new command bit 0*/
julientiron 0:1cb50d31c3b5 578 #define ALS_DEVICE_READY_MASK 0x01
julientiron 0:1cb50d31c3b5 579
julientiron 0:1cb50d31c3b5 580 /**
julientiron 0:1cb50d31c3b5 581 * @def RESULT_ALS_VAL
julientiron 0:1cb50d31c3b5 582 * @brief 16 Bit ALS count output value.
julientiron 0:1cb50d31c3b5 583 *
julientiron 0:1cb50d31c3b5 584 * Lux value depends on Gain and integration settings and calibrated lux/count setting
julientiron 0:1cb50d31c3b5 585 * \a VL6180x_AlsGetLux() \a VL6180x_AlsGetMeasurement()
julientiron 0:1cb50d31c3b5 586 */
julientiron 0:1cb50d31c3b5 587 #define RESULT_ALS_VAL 0x50
julientiron 0:1cb50d31c3b5 588
julientiron 0:1cb50d31c3b5 589 /**
julientiron 0:1cb50d31c3b5 590 * @def FW_ALS_RESULT_SCALER
julientiron 0:1cb50d31c3b5 591 * @brief Als scaler register Bits [3:0] analogue gain 1 to 16x
julientiron 0:1cb50d31c3b5 592 * these register content is cached by API in \a VL6180xDevData_t::AlsScaler
julientiron 0:1cb50d31c3b5 593 * for lux computation acceleration
julientiron 0:1cb50d31c3b5 594 */
julientiron 0:1cb50d31c3b5 595 #define FW_ALS_RESULT_SCALER 0x120
julientiron 0:1cb50d31c3b5 596
julientiron 0:1cb50d31c3b5 597
julientiron 0:1cb50d31c3b5 598 /**
julientiron 0:1cb50d31c3b5 599 * these union can be use as a generic bit field type for map #RESULT_INTERRUPT_STATUS_GPIO register
julientiron 0:1cb50d31c3b5 600 * @ingroup device_regdef
julientiron 0:1cb50d31c3b5 601 */
julientiron 0:1cb50d31c3b5 602 typedef union IntrStatus_u{
julientiron 0:1cb50d31c3b5 603 uint8_t val; /*!< raw 8 bit register value*/
julientiron 0:1cb50d31c3b5 604 struct {
julientiron 0:1cb50d31c3b5 605 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 */
julientiron 0:1cb50d31c3b5 606 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 */
julientiron 0:1cb50d31c3b5 607 unsigned Error :2; /*!< Error status of: \n \a #RES_INT_ERROR_LASER_SAFETY \n \a #RES_INT_ERROR_PLL */
julientiron 0:1cb50d31c3b5 608 } status; /*!< interrupt status as bit field */
julientiron 0:1cb50d31c3b5 609 } IntrStatus_t;
julientiron 0:1cb50d31c3b5 610
julientiron 0:1cb50d31c3b5 611 /**
julientiron 0:1cb50d31c3b5 612 * @def RESULT_INTERRUPT_STATUS_GPIO
julientiron 0:1cb50d31c3b5 613 * @brief System interrupt status report selected interrupt for als and ranging
julientiron 0:1cb50d31c3b5 614 *
julientiron 0:1cb50d31c3b5 615 * These register can be polled even if no gpio pins is active\n
julientiron 0:1cb50d31c3b5 616 * What reported is selected by \a #SYSTEM_INTERRUPT_CONFIG_GPIO \n
julientiron 0:1cb50d31c3b5 617 * Range mask with \a #RES_INT_RANGE_MASK and shit by \a #RES_INT_RANGE_SHIFT
julientiron 0:1cb50d31c3b5 618 * Als mask with \a #RES_INT_ALS_MASK and shit by \a #RES_INT_ALS_SHIFT
julientiron 0:1cb50d31c3b5 619 * Result value express condition (or combination?)
julientiron 0:1cb50d31c3b5 620 * \a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n
julientiron 0:1cb50d31c3b5 621 * \a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n
julientiron 0:1cb50d31c3b5 622 * \a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n
julientiron 0:1cb50d31c3b5 623 * \a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY
julientiron 0:1cb50d31c3b5 624 *
julientiron 0:1cb50d31c3b5 625 * @ingroup device_regdef
julientiron 0:1cb50d31c3b5 626 */
julientiron 0:1cb50d31c3b5 627 #define RESULT_INTERRUPT_STATUS_GPIO 0x4F
julientiron 0:1cb50d31c3b5 628 /** ranging interrupt 1st bit position in #RESULT_INTERRUPT_STATUS_GPIO */
julientiron 0:1cb50d31c3b5 629 #define RES_INT_RANGE_SHIFT 0
julientiron 0:1cb50d31c3b5 630 /** ALS interrupt 1st bit position in #RESULT_INTERRUPT_STATUS_GPIO */
julientiron 0:1cb50d31c3b5 631 #define RES_INT_ALS_SHIFT 3
julientiron 0:1cb50d31c3b5 632 /** interrupt bit position in #RESULT_INTERRUPT_STATUS_GPIO */
julientiron 0:1cb50d31c3b5 633 #define RES_INT_ERROR_SHIFT 6
julientiron 0:1cb50d31c3b5 634 /** Ranging interrupt mask in #RESULT_INTERRUPT_STATUS_GPIO (prior to shift) \sa IntrStatus_t */
julientiron 0:1cb50d31c3b5 635 #define RES_INT_RANGE_MASK (0x7<<RES_INT_RANGE_SHIFT)
julientiron 0:1cb50d31c3b5 636 /** als interrupt mask in #RESULT_INTERRUPT_STATUS_GPIO (prior to shift) \sa IntrStatus_t */
julientiron 0:1cb50d31c3b5 637 #define RES_INT_ALS_MASK (0x7<<RES_INT_ALS_SHIFT)
julientiron 0:1cb50d31c3b5 638
julientiron 0:1cb50d31c3b5 639 /** low threshold condition in #RESULT_INTERRUPT_STATUS_GPIO for */
julientiron 0:1cb50d31c3b5 640 #define RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD 0x01
julientiron 0:1cb50d31c3b5 641 /** high threshold condition in #RESULT_INTERRUPT_STATUS_GPIO for ALs or Rage*/
julientiron 0:1cb50d31c3b5 642 #define RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD 0x02
julientiron 0:1cb50d31c3b5 643 /** out of window condition in #RESULT_INTERRUPT_STATUS_GPIO */
julientiron 0:1cb50d31c3b5 644 #define RES_INT_STAT_GPIO_OUT_OF_WINDOW 0x03
julientiron 0:1cb50d31c3b5 645 /** new sample ready in #RESULT_INTERRUPT_STATUS_GPIO */
julientiron 0:1cb50d31c3b5 646 #define RES_INT_STAT_GPIO_NEW_SAMPLE_READY 0x04
julientiron 0:1cb50d31c3b5 647 /** error in #RESULT_INTERRUPT_STATUS_GPIO */
julientiron 0:1cb50d31c3b5 648 #define RES_INT_ERROR_MASK (0x3<<RES_INT_ERROR_SHIFT)
julientiron 0:1cb50d31c3b5 649 /** laser safety error on #RES_INT_ERROR_MASK of #RESULT_INTERRUPT_STATUS_GPIO */
julientiron 0:1cb50d31c3b5 650 #define RES_INT_ERROR_LASER_SAFETY 1
julientiron 0:1cb50d31c3b5 651 /** pll 1 or 2 error on #RES_INT_ERROR_MASK of #RESULT_INTERRUPT_STATUS_GPIO*/
julientiron 0:1cb50d31c3b5 652 #define RES_INT_ERROR_PLL 2
julientiron 0:1cb50d31c3b5 653
julientiron 0:1cb50d31c3b5 654 /**
julientiron 0:1cb50d31c3b5 655 * Final range result value presented to the user for use. Unit is in mm.
julientiron 0:1cb50d31c3b5 656 */
julientiron 0:1cb50d31c3b5 657 #define RESULT_RANGE_VAL 0x062
julientiron 0:1cb50d31c3b5 658
julientiron 0:1cb50d31c3b5 659 /**
julientiron 0:1cb50d31c3b5 660 * Raw Range result value with offset applied (no cross talk compensation applied). Unit is in mm.
julientiron 0:1cb50d31c3b5 661 */
julientiron 0:1cb50d31c3b5 662 #define RESULT_RANGE_RAW 0x064
julientiron 0:1cb50d31c3b5 663
julientiron 0:1cb50d31c3b5 664 /**
julientiron 0:1cb50d31c3b5 665 * @brief Sensor count rate of signal returns correlated to IR emitter.
julientiron 0:1cb50d31c3b5 666 *
julientiron 0:1cb50d31c3b5 667 * Computed from RETURN_SIGNAL_COUNT / RETURN_CONV_TIME. Mcps 9.7 format
julientiron 0:1cb50d31c3b5 668 */
julientiron 0:1cb50d31c3b5 669 #define RESULT_RANGE_SIGNAL_RATE 0x066
julientiron 0:1cb50d31c3b5 670
julientiron 0:1cb50d31c3b5 671 /**
julientiron 0:1cb50d31c3b5 672 * @brief Return signal count
julientiron 0:1cb50d31c3b5 673 *
julientiron 0:1cb50d31c3b5 674 * Sensor count output value attributed to signal correlated to IR emitter on the Return array.
julientiron 0:1cb50d31c3b5 675 */
julientiron 0:1cb50d31c3b5 676 #define RESULT_RANGE_RETURN_SIGNAL_COUNT 0x06C
julientiron 0:1cb50d31c3b5 677
julientiron 0:1cb50d31c3b5 678 /**
julientiron 0:1cb50d31c3b5 679 * @brief Reference signal count
julientiron 0:1cb50d31c3b5 680 *
julientiron 0:1cb50d31c3b5 681 * sensor count output value attributed to signal correlated to IR emitter on the Reference array.
julientiron 0:1cb50d31c3b5 682 */
julientiron 0:1cb50d31c3b5 683 #define RESULT_RANGE_REFERENCE_SIGNAL_COUNT 0x070
julientiron 0:1cb50d31c3b5 684
julientiron 0:1cb50d31c3b5 685 /**
julientiron 0:1cb50d31c3b5 686 * @brief Return ambient count
julientiron 0:1cb50d31c3b5 687 *
julientiron 0:1cb50d31c3b5 688 * sensor count output value attributed to uncorrelated ambient signal on the Return array.
julientiron 0:1cb50d31c3b5 689 * Must be multiplied by 6 if used to calculate the ambient to signal threshold
julientiron 0:1cb50d31c3b5 690 */
julientiron 0:1cb50d31c3b5 691 #define RESULT_RANGE_RETURN_AMB_COUNT 0x074
julientiron 0:1cb50d31c3b5 692
julientiron 0:1cb50d31c3b5 693 /**
julientiron 0:1cb50d31c3b5 694 * @brief Reference ambient count
julientiron 0:1cb50d31c3b5 695 *
julientiron 0:1cb50d31c3b5 696 * Sensor count output value attributed to uncorrelated ambient signal on the Reference array.
julientiron 0:1cb50d31c3b5 697 */
julientiron 0:1cb50d31c3b5 698 #define RESULT_RANGE_REFERENCE_AMB_COUNT 0x078
julientiron 0:1cb50d31c3b5 699
julientiron 0:1cb50d31c3b5 700 /**
julientiron 0:1cb50d31c3b5 701 * sensor count output value attributed to signal on the Return array.
julientiron 0:1cb50d31c3b5 702 */
julientiron 0:1cb50d31c3b5 703 #define RESULT_RANGE_RETURN_CONV_TIME 0x07C
julientiron 0:1cb50d31c3b5 704
julientiron 0:1cb50d31c3b5 705 /**
julientiron 0:1cb50d31c3b5 706 * sensor count output value attributed to signal on the Reference array.
julientiron 0:1cb50d31c3b5 707 */
julientiron 0:1cb50d31c3b5 708 #define RESULT_RANGE_REFERENCE_CONV_TIME 0x080
julientiron 0:1cb50d31c3b5 709
julientiron 0:1cb50d31c3b5 710
julientiron 0:1cb50d31c3b5 711 /**
julientiron 0:1cb50d31c3b5 712 * @def RANGE_SCALER
julientiron 0:1cb50d31c3b5 713 * @brief RANGE scaling register
julientiron 0:1cb50d31c3b5 714 *
julientiron 0:1cb50d31c3b5 715 * Never should user write directly onto that register directly \a VL6180x_UpscaleSetScaling()
julientiron 0:1cb50d31c3b5 716 */
julientiron 0:1cb50d31c3b5 717 #define RANGE_SCALER 0x096
julientiron 0:1cb50d31c3b5 718
julientiron 0:1cb50d31c3b5 719 /**
julientiron 0:1cb50d31c3b5 720 * @def READOUT_AVERAGING_SAMPLE_PERIOD
julientiron 0:1cb50d31c3b5 721 * @brief Readout averaging sample period register
julientiron 0:1cb50d31c3b5 722 *
julientiron 0:1cb50d31c3b5 723 *
julientiron 0:1cb50d31c3b5 724 * The internal readout averaging sample period can be adjusted from 0 to 255.
julientiron 0:1cb50d31c3b5 725 * Increasing the sampling period decreases noise but also reduces the effective
julientiron 0:1cb50d31c3b5 726 * max convergence time and increases power consumption
julientiron 0:1cb50d31c3b5 727 * Each unit sample period corresponds to around 64.5 μs additional processing time.
julientiron 0:1cb50d31c3b5 728 * The recommended setting is 48 which equates to around 4.3 ms.
julientiron 0:1cb50d31c3b5 729 *
julientiron 0:1cb50d31c3b5 730 * see datasheet for more detail
julientiron 0:1cb50d31c3b5 731 */
julientiron 0:1cb50d31c3b5 732 #define READOUT_AVERAGING_SAMPLE_PERIOD 0x10A
julientiron 0:1cb50d31c3b5 733
julientiron 0:1cb50d31c3b5 734 /**
julientiron 0:1cb50d31c3b5 735 * @def I2C_SLAVE_DEVICE_ADDRESS
julientiron 0:1cb50d31c3b5 736 * User programmable I2C address (7-bit). Device address can be re-designated after power-up.
julientiron 0:1cb50d31c3b5 737 * @warning What programmed in the register 7-0 are bit 8-1 of i2c address on bus (bit 0 is rd/wr)
julientiron 0:1cb50d31c3b5 738 * so what prohamd is commonly whar ergfer as adrerss /2
julientiron 0:1cb50d31c3b5 739 * @sa VL6180x_SetI2CAddress()
julientiron 0:1cb50d31c3b5 740 */
julientiron 0:1cb50d31c3b5 741 #define I2C_SLAVE_DEVICE_ADDRESS 0x212
julientiron 0:1cb50d31c3b5 742
julientiron 0:1cb50d31c3b5 743 #endif /* _VL6180x_DEF */