ST Expansion SW Team / VL53L1CB

The VL53L1CB proximity sensor, based on ST’s FlightSense™, Time-of-Flight technology.

Dependencies:   X_NUCLEO_COMMON ST_INTERFACES

Dependents:   VL53L1CB_noshield_1sensor_polls_auton VL53L1CB_noshield_1sensor_interrupt_auton X_NUCLEO_53L1A2

Based on VL53L1 library, this is a library for the VL53L1CB ToF chip.

inc/vl53l1_def.h@7:1add29d51e72, 2021-06-08 (annotated)

Committer:
Charles MacNeill
Date:
Tue Jun 08 10:34:47 2021 +0100
Revision:
7:1add29d51e72
Parent:
0:3ac96e360672
Child:
18:0696efe39d08
Update to v6.6.5 of bare_driver

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Charles MacNeill 7:1add29d51e72 1
Charles MacNeill 7:1add29d51e72 2 /* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */
charlesmn 0:3ac96e360672 3 /******************************************************************************
Charles MacNeill 7:1add29d51e72 4 * Copyright (c) 2020, STMicroelectronics - All Rights Reserved
charlesmn 0:3ac96e360672 5
Charles MacNeill 7:1add29d51e72 6 This file is part of VL53L1 and is dual licensed,
Charles MacNeill 7:1add29d51e72 7 either GPL-2.0+
Charles MacNeill 7:1add29d51e72 8 or 'BSD 3-clause "New" or "Revised" License' , at your option.
Charles MacNeill 7:1add29d51e72 9 ******************************************************************************
charlesmn 0:3ac96e360672 10 */
charlesmn 0:3ac96e360672 11
charlesmn 0:3ac96e360672 12 /**
charlesmn 0:3ac96e360672 13 * @file vl53l1_def.h
charlesmn 0:3ac96e360672 14 *
charlesmn 0:3ac96e360672 15 * @brief Type definitions for VL53L1 API.
charlesmn 0:3ac96e360672 16 *
charlesmn 0:3ac96e360672 17 */
charlesmn 0:3ac96e360672 18
charlesmn 0:3ac96e360672 19
charlesmn 0:3ac96e360672 20 #ifndef _VL53L1_DEF_H_
charlesmn 0:3ac96e360672 21 #define _VL53L1_DEF_H_
charlesmn 0:3ac96e360672 22
charlesmn 0:3ac96e360672 23 #include "vl53l1_ll_def.h"
charlesmn 0:3ac96e360672 24
charlesmn 0:3ac96e360672 25 #ifdef __cplusplus
charlesmn 0:3ac96e360672 26 extern "C" {
charlesmn 0:3ac96e360672 27 #endif
charlesmn 0:3ac96e360672 28
charlesmn 0:3ac96e360672 29 /** @defgroup VL53L1_globaldefine_group VL53L1 Defines
charlesmn 0:3ac96e360672 30 * @brief VL53L1 Defines
charlesmn 0:3ac96e360672 31 * @{
charlesmn 0:3ac96e360672 32 */
charlesmn 0:3ac96e360672 33
charlesmn 0:3ac96e360672 34
charlesmn 0:3ac96e360672 35 /** VL53L1 IMPLEMENTATION major version */
charlesmn 0:3ac96e360672 36 #define VL53L1_IMPLEMENTATION_VER_MAJOR 6
charlesmn 0:3ac96e360672 37 /** VL53L1 IMPLEMENTATION minor version */
charlesmn 0:3ac96e360672 38 #define VL53L1_IMPLEMENTATION_VER_MINOR 6
charlesmn 0:3ac96e360672 39 /** VL53L1 IMPLEMENTATION sub version */
Charles MacNeill 7:1add29d51e72 40 #define VL53L1_IMPLEMENTATION_VER_SUB 5
charlesmn 0:3ac96e360672 41 /** VL53L1 IMPLEMENTATION sub version */
Charles MacNeill 7:1add29d51e72 42 #define VL53L1_IMPLEMENTATION_VER_REVISION 2496
charlesmn 0:3ac96e360672 43
charlesmn 0:3ac96e360672 44 /****************************************
charlesmn 0:3ac96e360672 45 * PRIVATE define do not edit
charlesmn 0:3ac96e360672 46 ****************************************/
charlesmn 0:3ac96e360672 47
charlesmn 0:3ac96e360672 48 /** @brief Defines the parameters of the Get Version Functions
charlesmn 0:3ac96e360672 49 */
charlesmn 0:3ac96e360672 50 typedef struct {
charlesmn 0:3ac96e360672 51 uint32_t revision; /*!< revision number */
charlesmn 0:3ac96e360672 52 uint8_t major; /*!< major number */
charlesmn 0:3ac96e360672 53 uint8_t minor; /*!< minor number */
charlesmn 0:3ac96e360672 54 uint8_t build; /*!< build number */
charlesmn 0:3ac96e360672 55 } VL53L1_Version_t;
charlesmn 0:3ac96e360672 56
charlesmn 0:3ac96e360672 57
charlesmn 0:3ac96e360672 58 #define VL53L1_DEVINFO_STRLEN 32
charlesmn 0:3ac96e360672 59
charlesmn 0:3ac96e360672 60 /** @brief Defines the parameters of the Get Device Info Functions
charlesmn 0:3ac96e360672 61 */
charlesmn 0:3ac96e360672 62 typedef struct {
charlesmn 0:3ac96e360672 63 char Name[VL53L1_DEVINFO_STRLEN];
charlesmn 0:3ac96e360672 64 /*!< Full Name of the Device e.g. VL53L1 cut1.1 */
charlesmn 0:3ac96e360672 65 char Type[VL53L1_DEVINFO_STRLEN];
charlesmn 0:3ac96e360672 66 /*!< Type of the Device e.g VL53L1 */
charlesmn 0:3ac96e360672 67 char ProductId[VL53L1_DEVINFO_STRLEN];
charlesmn 0:3ac96e360672 68 /*!< Product Identifier String
charlesmn 0:3ac96e360672 69 * @warning Not yet implemented
charlesmn 0:3ac96e360672 70 */
charlesmn 0:3ac96e360672 71 uint8_t ProductType;
charlesmn 0:3ac96e360672 72 /*!< Product Type, VL53L1 = 0xCC, VL53L3 = 0xAA
charlesmn 0:3ac96e360672 73 * Stands as module_type in the datasheet
charlesmn 0:3ac96e360672 74 */
charlesmn 0:3ac96e360672 75 uint8_t ProductRevisionMajor;
charlesmn 0:3ac96e360672 76 /*!< Product revision major */
charlesmn 0:3ac96e360672 77 uint8_t ProductRevisionMinor;
charlesmn 0:3ac96e360672 78 /*!< Product revision minor */
charlesmn 0:3ac96e360672 79 } VL53L1_DeviceInfo_t;
charlesmn 0:3ac96e360672 80
charlesmn 0:3ac96e360672 81
charlesmn 0:3ac96e360672 82
charlesmn 0:3ac96e360672 83 /** @defgroup VL53L1_define_PresetModes_group Defines Preset modes
charlesmn 0:3ac96e360672 84 * Defines all possible preset modes for the device
charlesmn 0:3ac96e360672 85 * @{
charlesmn 0:3ac96e360672 86 */
charlesmn 0:3ac96e360672 87 typedef uint8_t VL53L1_PresetModes;
charlesmn 0:3ac96e360672 88
charlesmn 0:3ac96e360672 89 #define VL53L1_PRESETMODE_RANGING ((VL53L1_PresetModes) 1)
charlesmn 0:3ac96e360672 90 #define VL53L1_PRESETMODE_MULTIZONES_SCANNING ((VL53L1_PresetModes) 2)
charlesmn 0:3ac96e360672 91 #define VL53L1_PRESETMODE_AUTONOMOUS ((VL53L1_PresetModes) 3)
charlesmn 0:3ac96e360672 92 #define VL53L1_PRESETMODE_LITE_RANGING ((VL53L1_PresetModes) 4)
charlesmn 0:3ac96e360672 93 #define VL53L1_PRESETMODE_OLT ((VL53L1_PresetModes) 7)
charlesmn 0:3ac96e360672 94 #define VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS ((VL53L1_PresetModes) 8)
charlesmn 0:3ac96e360672 95 #define VL53L1_PRESETMODE_PROXY_RANGING_MODE ((VL53L1_PresetModes) 9)
charlesmn 0:3ac96e360672 96
charlesmn 0:3ac96e360672 97 /* ... Modes to be added depending on device */
charlesmn 0:3ac96e360672 98 /** @} VL53L1_define_PresetModes_group */
charlesmn 0:3ac96e360672 99
charlesmn 0:3ac96e360672 100
charlesmn 0:3ac96e360672 101 /** @defgroup VL53L1_define_DistanceModes_group Defines Distance modes
charlesmn 0:3ac96e360672 102 * Defines all possible Distance modes for the device
charlesmn 0:3ac96e360672 103 * @{
charlesmn 0:3ac96e360672 104 */
charlesmn 0:3ac96e360672 105 typedef uint8_t VL53L1_DistanceModes;
charlesmn 0:3ac96e360672 106
charlesmn 0:3ac96e360672 107 #define VL53L1_DISTANCEMODE_SHORT ((VL53L1_DistanceModes) 1)
charlesmn 0:3ac96e360672 108 #define VL53L1_DISTANCEMODE_MEDIUM ((VL53L1_DistanceModes) 2)
charlesmn 0:3ac96e360672 109 #define VL53L1_DISTANCEMODE_LONG ((VL53L1_DistanceModes) 3)
charlesmn 0:3ac96e360672 110 /** @} VL53L1_define_DistanceModes_group */
charlesmn 0:3ac96e360672 111
charlesmn 0:3ac96e360672 112 /** @defgroup VL53L1_define_OutputModes_group Defines Output modes
charlesmn 0:3ac96e360672 113 * Defines all possible Output modes for the device
charlesmn 0:3ac96e360672 114 * @{
charlesmn 0:3ac96e360672 115 */
charlesmn 0:3ac96e360672 116 typedef uint8_t VL53L1_OutputModes;
charlesmn 0:3ac96e360672 117
charlesmn 0:3ac96e360672 118 #define VL53L1_OUTPUTMODE_NEAREST ((VL53L1_OutputModes) 1)
charlesmn 0:3ac96e360672 119 #define VL53L1_OUTPUTMODE_STRONGEST ((VL53L1_OutputModes) 2)
charlesmn 0:3ac96e360672 120
charlesmn 0:3ac96e360672 121 /** @} VL53L1_define_OutputModes_group */
charlesmn 0:3ac96e360672 122
charlesmn 0:3ac96e360672 123 /** @defgroup VL53L1_define_XtalkCal_group Defines Xtalk Calibration modes
charlesmn 0:3ac96e360672 124 * Defines all possible Offset Calibration modes for the device
charlesmn 0:3ac96e360672 125 * @{
charlesmn 0:3ac96e360672 126 */
charlesmn 0:3ac96e360672 127 typedef uint8_t VL53L1_XtalkCalibrationModes;
charlesmn 0:3ac96e360672 128
charlesmn 0:3ac96e360672 129 #define VL53L1_XTALKCALIBRATIONMODE_NO_TARGET \
charlesmn 0:3ac96e360672 130 ((VL53L1_OffsetCalibrationModes) 0)
charlesmn 0:3ac96e360672 131 /*!< To perform Xtalk calibration with no target below 80 cm */
charlesmn 0:3ac96e360672 132 #define VL53L1_XTALKCALIBRATIONMODE_SINGLE_TARGET \
charlesmn 0:3ac96e360672 133 ((VL53L1_OffsetCalibrationModes) 1)
charlesmn 0:3ac96e360672 134 /*!< To perform Xtalk calibration with one target */
charlesmn 0:3ac96e360672 135 #define VL53L1_XTALKCALIBRATIONMODE_FULL_ROI \
charlesmn 0:3ac96e360672 136 ((VL53L1_OffsetCalibrationModes) 2)
charlesmn 0:3ac96e360672 137 /*!< To perform Xtalk calibration based on histogram with full ROI */
charlesmn 0:3ac96e360672 138
charlesmn 0:3ac96e360672 139 /** @} VL53L1_define_XtalkCal_group */
charlesmn 0:3ac96e360672 140
charlesmn 0:3ac96e360672 141 /** @defgroup VL53L1_define_OffsetCal_group Defines Offset Calibration modes
charlesmn 0:3ac96e360672 142 * Defines all possible Offset Calibration modes for the device
charlesmn 0:3ac96e360672 143 * @{
charlesmn 0:3ac96e360672 144 */
charlesmn 0:3ac96e360672 145 typedef uint8_t VL53L1_OffsetCalibrationModes;
charlesmn 0:3ac96e360672 146
charlesmn 0:3ac96e360672 147 #define VL53L1_OFFSETCALIBRATIONMODE_STANDARD \
charlesmn 0:3ac96e360672 148 ((VL53L1_OffsetCalibrationModes) 1)
charlesmn 0:3ac96e360672 149 #define VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY \
charlesmn 0:3ac96e360672 150 ((VL53L1_OffsetCalibrationModes) 2)
charlesmn 0:3ac96e360672 151 #define VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE \
charlesmn 0:3ac96e360672 152 ((VL53L1_OffsetCalibrationModes) 3)
charlesmn 0:3ac96e360672 153
charlesmn 0:3ac96e360672 154 /** @} VL53L1_define_OffsetCal_group */
charlesmn 0:3ac96e360672 155
charlesmn 0:3ac96e360672 156 /** @defgroup VL53L1_define_DeviceDmaxModes_group Defines Dmax source modes
charlesmn 0:3ac96e360672 157 * Defines all possible sources for Dmax calibration for the device
charlesmn 0:3ac96e360672 158 * @{
charlesmn 0:3ac96e360672 159 */
charlesmn 0:3ac96e360672 160 typedef uint8_t VL53L1_DeviceDmaxModes;
charlesmn 0:3ac96e360672 161
charlesmn 0:3ac96e360672 162 #define VL53L1_DMAXMODE_FMT_CAL_DATA ((VL53L1_DeviceDmaxModes) 1)
charlesmn 0:3ac96e360672 163 #define VL53L1_DMAXMODE_CUSTCAL_DATA ((VL53L1_DeviceDmaxModes) 2)
charlesmn 0:3ac96e360672 164 #define VL53L1_DMAXMODE_PER_ZONE_CAL_DATA ((VL53L1_DeviceDmaxModes) 3)
charlesmn 0:3ac96e360672 165
charlesmn 0:3ac96e360672 166 /** @} VL53L1_define_DeviceDmaxModes_group */
charlesmn 0:3ac96e360672 167
charlesmn 0:3ac96e360672 168 /** @defgroup VL53L1_define_OffsetCorrectionModesBD_group
charlesmn 0:3ac96e360672 169 * Device Offset Correction Mode
charlesmn 0:3ac96e360672 170 *
charlesmn 0:3ac96e360672 171 * @brief Defines all possible offset correction modes for the device
charlesmn 0:3ac96e360672 172 * @{
charlesmn 0:3ac96e360672 173 */
charlesmn 0:3ac96e360672 174 typedef uint8_t VL53L1_OffsetCorrectionModes;
charlesmn 0:3ac96e360672 175
charlesmn 0:3ac96e360672 176 #define VL53L1_OFFSETCORRECTIONMODE_STANDARD ((VL53L1_OffsetCorrectionMode) 1)
charlesmn 0:3ac96e360672 177 #define VL53L1_OFFSETCORRECTIONMODE_PERZONE ((VL53L1_OffsetCorrectionMode) 2)
charlesmn 0:3ac96e360672 178 #define VL53L1_OFFSETCORRECTIONMODE_PERVCSEL ((VL53L1_OffsetCorrectionMode) 3)
charlesmn 0:3ac96e360672 179
charlesmn 0:3ac96e360672 180 /** @} VL53L1_define_OffsetCorrectionModesBD_group */
charlesmn 0:3ac96e360672 181
charlesmn 0:3ac96e360672 182 /** @defgroup VL53L1_define_RoiStatus_group Defines Roi Status
charlesmn 0:3ac96e360672 183 * Defines the read status mode
charlesmn 0:3ac96e360672 184 * @{
charlesmn 0:3ac96e360672 185 */
charlesmn 0:3ac96e360672 186 typedef uint8_t VL53L1_RoiStatus;
charlesmn 0:3ac96e360672 187
charlesmn 0:3ac96e360672 188 #define VL53L1_ROISTATUS_NOT_VALID ((VL53L1_RoiStatus) 0)
charlesmn 0:3ac96e360672 189 #define VL53L1_ROISTATUS_VALID_NOT_LAST ((VL53L1_RoiStatus) 1)
charlesmn 0:3ac96e360672 190 #define VL53L1_ROISTATUS_VALID_LAST ((VL53L1_RoiStatus) 2)
charlesmn 0:3ac96e360672 191 /** @} VL53L1_define_RoiStatus_group */
charlesmn 0:3ac96e360672 192
charlesmn 0:3ac96e360672 193
charlesmn 0:3ac96e360672 194 /** @defgroup VL53L1_CheckEnable_group Check Enable list
charlesmn 0:3ac96e360672 195 * @brief Check Enable code
charlesmn 0:3ac96e360672 196 *
charlesmn 0:3ac96e360672 197 * Define used to specify the LimitCheckId.
charlesmn 0:3ac96e360672 198 * Use @a VL53L1_GetLimitCheckInfo() to get the string.
charlesmn 0:3ac96e360672 199 * @{
charlesmn 0:3ac96e360672 200 */
charlesmn 0:3ac96e360672 201
charlesmn 0:3ac96e360672 202 #define VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE 0
charlesmn 0:3ac96e360672 203 #define VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1
charlesmn 0:3ac96e360672 204
charlesmn 0:3ac96e360672 205 #define VL53L1_CHECKENABLE_NUMBER_OF_CHECKS 2
charlesmn 0:3ac96e360672 206
charlesmn 0:3ac96e360672 207 /** @} end of VL53L1_CheckEnable_group */
charlesmn 0:3ac96e360672 208
charlesmn 0:3ac96e360672 209
charlesmn 0:3ac96e360672 210 /** @defgroup VL53L1_ThresholdMode_gropup Detection Functionality
charlesmn 0:3ac96e360672 211 * @brief Defines the different functionalities for the detection feature
charlesmn 0:3ac96e360672 212 * @{
charlesmn 0:3ac96e360672 213 */
charlesmn 0:3ac96e360672 214 typedef uint8_t VL53L1_ThresholdMode;
charlesmn 0:3ac96e360672 215
charlesmn 0:3ac96e360672 216 #define VL53L1_THRESHOLD_CROSSED_LOW \
charlesmn 0:3ac96e360672 217 ((VL53L1_ThresholdMode) 0)
charlesmn 0:3ac96e360672 218 /*!< Trigger interrupt if value < thresh_low */
charlesmn 0:3ac96e360672 219 #define VL53L1_THRESHOLD_CROSSED_HIGH \
charlesmn 0:3ac96e360672 220 ((VL53L1_ThresholdMode) 1)
charlesmn 0:3ac96e360672 221 /*!< Trigger interrupt if value > thresh_high */
charlesmn 0:3ac96e360672 222 #define VL53L1_THRESHOLD_OUT_OF_WINDOW \
charlesmn 0:3ac96e360672 223 ((VL53L1_ThresholdMode) 2)
charlesmn 0:3ac96e360672 224 /*!< Trigger interrupt if value < thresh_low OR value > thresh_high */
charlesmn 0:3ac96e360672 225 #define VL53L1_THRESHOLD_IN_WINDOW \
charlesmn 0:3ac96e360672 226 ((VL53L1_ThresholdMode) 3)
charlesmn 0:3ac96e360672 227 /*!< Trigger interrupt if value > thresh_low AND value < thresh_high */
charlesmn 0:3ac96e360672 228
charlesmn 0:3ac96e360672 229 /** @} end of VL53L1_ThresholdMode_gropup */
charlesmn 0:3ac96e360672 230
charlesmn 0:3ac96e360672 231 /** @brief Defines parameters for Distance detection Thresholds configuration
charlesmn 0:3ac96e360672 232 */
charlesmn 0:3ac96e360672 233 typedef struct {
charlesmn 0:3ac96e360672 234 VL53L1_ThresholdMode CrossMode;
charlesmn 0:3ac96e360672 235 uint16_t High; /*!< Distance threshold high limit in mm */
charlesmn 0:3ac96e360672 236 uint16_t Low; /*!< Distance threshold low limit in mm */
charlesmn 0:3ac96e360672 237 } VL53L1_DistanceThreshold_t;
charlesmn 0:3ac96e360672 238
charlesmn 0:3ac96e360672 239 /** @brief Defines parameters for Signal rate detection Thresholds configuration
charlesmn 0:3ac96e360672 240 */
charlesmn 0:3ac96e360672 241 typedef struct {
charlesmn 0:3ac96e360672 242 VL53L1_ThresholdMode CrossMode;
charlesmn 0:3ac96e360672 243 FixPoint1616_t High; /*!< Signal rate threshold high limit */
charlesmn 0:3ac96e360672 244 FixPoint1616_t Low; /*!< Signal rate threshold low limit */
charlesmn 0:3ac96e360672 245 } VL53L1_RateThreshold_t;
charlesmn 0:3ac96e360672 246
charlesmn 0:3ac96e360672 247 /** @defgroup VL53L1_DetectionMode_group Gpio Functionality
charlesmn 0:3ac96e360672 248 * @brief Defines conditions leading to device's IT on GPIO
charlesmn 0:3ac96e360672 249 * @{
charlesmn 0:3ac96e360672 250 */
charlesmn 0:3ac96e360672 251 typedef uint8_t VL53L1_DetectionMode;
charlesmn 0:3ac96e360672 252
charlesmn 0:3ac96e360672 253 #define VL53L1_DETECTION_NORMAL_RUN \
charlesmn 0:3ac96e360672 254 ((VL53L1_DetectionMode) 0)
charlesmn 0:3ac96e360672 255 /*!< Trigger interrupt on new measurement regardless of threshold
charlesmn 0:3ac96e360672 256 * just like after a VL53L1_SetPresetMode() call
charlesmn 0:3ac96e360672 257 */
charlesmn 0:3ac96e360672 258 #define VL53L1_DETECTION_DISTANCE_ONLY \
charlesmn 0:3ac96e360672 259 ((VL53L1_DetectionMode) 1)
charlesmn 0:3ac96e360672 260 /*!< Trigger interrupt if "threshold event" occurs on distance */
charlesmn 0:3ac96e360672 261 #define VL53L1_DETECTION_RATE_ONLY \
charlesmn 0:3ac96e360672 262 ((VL53L1_DetectionMode) 2)
charlesmn 0:3ac96e360672 263 /*!< Trigger interrupt if "threshold event" occurs on signal rate */
charlesmn 0:3ac96e360672 264 #define VL53L1_DETECTION_DISTANCE_AND_RATE \
charlesmn 0:3ac96e360672 265 ((VL53L1_DetectionMode) 3)
charlesmn 0:3ac96e360672 266 /*!< Trigger interrupt if "threshold event" occurs on distance AND rate
charlesmn 0:3ac96e360672 267 */
charlesmn 0:3ac96e360672 268 #define VL53L1_DETECTION_DISTANCE_OR_RATE \
charlesmn 0:3ac96e360672 269 ((VL53L1_DetectionMode) 4)
charlesmn 0:3ac96e360672 270 /*!< Trigger interrupt if "threshold event" occurs on distance OR rate
charlesmn 0:3ac96e360672 271 */
charlesmn 0:3ac96e360672 272
charlesmn 0:3ac96e360672 273 /** @} end of VL53L1_DetectionMode_group */
charlesmn 0:3ac96e360672 274
charlesmn 0:3ac96e360672 275 /** @brief Defines parameters for User/object Detection configuration
charlesmn 0:3ac96e360672 276 */
charlesmn 0:3ac96e360672 277 typedef struct {
charlesmn 0:3ac96e360672 278 VL53L1_DetectionMode DetectionMode; /*!< See #VL53L1_DetectionMode*/
charlesmn 0:3ac96e360672 279 uint8_t IntrNoTarget; /*!< 1 to trigger IT in case of no target found */
charlesmn 0:3ac96e360672 280 VL53L1_DistanceThreshold_t Distance; /*!< limits in mm */
charlesmn 0:3ac96e360672 281 VL53L1_RateThreshold_t Rate;/*!< limits in FixPoint1616_t */
charlesmn 0:3ac96e360672 282 } VL53L1_DetectionConfig_t;
charlesmn 0:3ac96e360672 283
charlesmn 0:3ac96e360672 284
charlesmn 0:3ac96e360672 285 /** @brief Defines all parameters for the device
charlesmn 0:3ac96e360672 286 */
charlesmn 0:3ac96e360672 287 typedef struct {
charlesmn 0:3ac96e360672 288 VL53L1_PresetModes PresetMode;
charlesmn 0:3ac96e360672 289 /*!< Defines the operating mode to be used for the next measure */
charlesmn 0:3ac96e360672 290 VL53L1_OutputModes OutputMode;
charlesmn 0:3ac96e360672 291 /*!< Defines the Output mode to be used for the next measure */
charlesmn 0:3ac96e360672 292 VL53L1_DistanceModes DistanceMode;
charlesmn 0:3ac96e360672 293 /*!< Defines the operating mode to be used for the next measure */
charlesmn 0:3ac96e360672 294 uint32_t MeasurementTimingBudgetMicroSeconds;
charlesmn 0:3ac96e360672 295 /*!< Defines the allowed total time for a single measurement */
charlesmn 0:3ac96e360672 296 uint8_t LimitChecksEnable[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS];
charlesmn 0:3ac96e360672 297 /*!< This Array store all the Limit Check enable for this device. */
charlesmn 0:3ac96e360672 298 uint8_t LimitChecksStatus[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS];
charlesmn 0:3ac96e360672 299 /*!< This Array stores all the Status of the check linked to last
charlesmn 0:3ac96e360672 300 * measurement.
charlesmn 0:3ac96e360672 301 */
charlesmn 0:3ac96e360672 302 FixPoint1616_t LimitChecksValue[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS];
charlesmn 0:3ac96e360672 303 /*!< This Array stores all the Limit Check value for this device */
charlesmn 0:3ac96e360672 304 FixPoint1616_t LimitChecksCurrent[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS];
charlesmn 0:3ac96e360672 305 /*!< This Array stores all the Limit Check current value from latest
charlesmn 0:3ac96e360672 306 * ranging
charlesmn 0:3ac96e360672 307 */
charlesmn 0:3ac96e360672 308 } VL53L1_DeviceParameters_t;
charlesmn 0:3ac96e360672 309
charlesmn 0:3ac96e360672 310
charlesmn 0:3ac96e360672 311 /** @defgroup VL53L1_define_State_group Defines the current status of the device
charlesmn 0:3ac96e360672 312 * Defines the current status of the device
charlesmn 0:3ac96e360672 313 * @{
charlesmn 0:3ac96e360672 314 */
charlesmn 0:3ac96e360672 315
charlesmn 0:3ac96e360672 316 typedef uint8_t VL53L1_State;
charlesmn 0:3ac96e360672 317
charlesmn 0:3ac96e360672 318 #define VL53L1_STATE_POWERDOWN ((VL53L1_State) 0)
charlesmn 0:3ac96e360672 319 /*!< Device is in HW reset */
charlesmn 0:3ac96e360672 320 #define VL53L1_STATE_WAIT_STATICINIT ((VL53L1_State) 1)
charlesmn 0:3ac96e360672 321 /*!< Device is initialized and wait for static initialization */
charlesmn 0:3ac96e360672 322 #define VL53L1_STATE_STANDBY ((VL53L1_State) 2)
charlesmn 0:3ac96e360672 323 /*!< Device is in Low power Standby mode */
charlesmn 0:3ac96e360672 324 #define VL53L1_STATE_IDLE ((VL53L1_State) 3)
charlesmn 0:3ac96e360672 325 /*!< Device has been initialized and ready to do measurements */
charlesmn 0:3ac96e360672 326 #define VL53L1_STATE_RUNNING ((VL53L1_State) 4)
charlesmn 0:3ac96e360672 327 /*!< Device is performing measurement */
charlesmn 0:3ac96e360672 328 #define VL53L1_STATE_RESET ((VL53L1_State) 5)
charlesmn 0:3ac96e360672 329 /*!< Soft reset has been run on Device */
charlesmn 0:3ac96e360672 330 #define VL53L1_STATE_UNKNOWN ((VL53L1_State) 98)
charlesmn 0:3ac96e360672 331 /*!< Device is in unknown state and need to be rebooted */
charlesmn 0:3ac96e360672 332 #define VL53L1_STATE_ERROR ((VL53L1_State) 99)
charlesmn 0:3ac96e360672 333 /*!< Device is in error state and need to be rebooted */
charlesmn 0:3ac96e360672 334
charlesmn 0:3ac96e360672 335 /** @} VL53L1_define_State_group */
charlesmn 0:3ac96e360672 336
charlesmn 0:3ac96e360672 337 /** @defgroup VL53L1_define_Smudge_Mode_group Defines smudge correction modes
charlesmn 0:3ac96e360672 338 * Defines the smudge correction modes
charlesmn 0:3ac96e360672 339 * @{
charlesmn 0:3ac96e360672 340 */
charlesmn 0:3ac96e360672 341
charlesmn 0:3ac96e360672 342 typedef uint8_t VL53L1_SmudgeCorrectionModes;
charlesmn 0:3ac96e360672 343
charlesmn 0:3ac96e360672 344 #define VL53L1_SMUDGE_CORRECTION_NONE ((VL53L1_SmudgeCorrectionModes) 0)
charlesmn 0:3ac96e360672 345 /*!< Smudge correction is applied continously accross the rangings */
charlesmn 0:3ac96e360672 346 #define VL53L1_SMUDGE_CORRECTION_CONTINUOUS ((VL53L1_SmudgeCorrectionModes) 1)
charlesmn 0:3ac96e360672 347 /*!< Smudge correction is applied continously accross the rangings */
charlesmn 0:3ac96e360672 348 #define VL53L1_SMUDGE_CORRECTION_SINGLE ((VL53L1_SmudgeCorrectionModes) 2)
charlesmn 0:3ac96e360672 349 /*!< Smudge correction is applied only once accross the rangings */
charlesmn 0:3ac96e360672 350 #define VL53L1_SMUDGE_CORRECTION_DEBUG ((VL53L1_SmudgeCorrectionModes) 3)
charlesmn 0:3ac96e360672 351 /*!< Smudge detection is applied continously but Xtalk values are not
charlesmn 0:3ac96e360672 352 * updated automatically within the driver
charlesmn 0:3ac96e360672 353 */
charlesmn 0:3ac96e360672 354
charlesmn 0:3ac96e360672 355 /** @} VL53L1_define_Smudge_Correction_Mode_group */
charlesmn 0:3ac96e360672 356
charlesmn 0:3ac96e360672 357
charlesmn 0:3ac96e360672 358 /**
charlesmn 0:3ac96e360672 359 * @struct VL53L1_RangingMeasurementData_t
charlesmn 0:3ac96e360672 360 * @brief Single Range measurement data.
charlesmn 0:3ac96e360672 361 */
charlesmn 0:3ac96e360672 362 typedef struct {
charlesmn 0:3ac96e360672 363 uint32_t TimeStamp;
charlesmn 0:3ac96e360672 364 /*!< 32-bit time stamp.
charlesmn 0:3ac96e360672 365 * @warning Not yet implemented
charlesmn 0:3ac96e360672 366 */
charlesmn 0:3ac96e360672 367
charlesmn 0:3ac96e360672 368 uint8_t StreamCount;
charlesmn 0:3ac96e360672 369 /*!< 8-bit Stream Count. */
charlesmn 0:3ac96e360672 370
charlesmn 0:3ac96e360672 371 uint8_t RangeQualityLevel;
charlesmn 0:3ac96e360672 372 /*!< indicate a quality level in percentage from 0 to 100
charlesmn 0:3ac96e360672 373 * @warning Not yet implemented
charlesmn 0:3ac96e360672 374 */
charlesmn 0:3ac96e360672 375
charlesmn 0:3ac96e360672 376 FixPoint1616_t SignalRateRtnMegaCps;
charlesmn 0:3ac96e360672 377 /*!< Return signal rate (MCPS)\n these is a 16.16 fix point
charlesmn 0:3ac96e360672 378 * value, which is effectively a measure of target
charlesmn 0:3ac96e360672 379 * reflectance.
charlesmn 0:3ac96e360672 380 */
charlesmn 0:3ac96e360672 381
charlesmn 0:3ac96e360672 382 FixPoint1616_t AmbientRateRtnMegaCps;
charlesmn 0:3ac96e360672 383 /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
charlesmn 0:3ac96e360672 384 * value, which is effectively a measure of the ambien
charlesmn 0:3ac96e360672 385 * t light.
charlesmn 0:3ac96e360672 386 */
charlesmn 0:3ac96e360672 387
charlesmn 0:3ac96e360672 388 uint16_t EffectiveSpadRtnCount;
charlesmn 0:3ac96e360672 389 /*!< Return the effective SPAD count for the return signal.
charlesmn 0:3ac96e360672 390 * To obtain Real value it should be divided by 256
charlesmn 0:3ac96e360672 391 */
charlesmn 0:3ac96e360672 392
charlesmn 0:3ac96e360672 393 FixPoint1616_t SigmaMilliMeter;
charlesmn 0:3ac96e360672 394 /*!< Return the Sigma value in millimeter */
charlesmn 0:3ac96e360672 395
charlesmn 0:3ac96e360672 396 int16_t RangeMilliMeter;
charlesmn 0:3ac96e360672 397 /*!< range distance in millimeter. This should be between
charlesmn 0:3ac96e360672 398 * RangeMinMilliMeter and RangeMaxMilliMeter
charlesmn 0:3ac96e360672 399 */
charlesmn 0:3ac96e360672 400
charlesmn 0:3ac96e360672 401 uint8_t RangeFractionalPart;
charlesmn 0:3ac96e360672 402 /*!< Fractional part of range distance. Final value is a
charlesmn 0:3ac96e360672 403 * RangeMilliMeter + RangeFractionalPart/256.
charlesmn 0:3ac96e360672 404 * @warning Not yet implemented
charlesmn 0:3ac96e360672 405 */
charlesmn 0:3ac96e360672 406
charlesmn 0:3ac96e360672 407 uint8_t RangeStatus;
charlesmn 0:3ac96e360672 408 /*!< Range Status for the current measurement. This is device
charlesmn 0:3ac96e360672 409 * dependent. Value = 0 means value is valid.
charlesmn 0:3ac96e360672 410 */
charlesmn 0:3ac96e360672 411 } VL53L1_RangingMeasurementData_t;
charlesmn 0:3ac96e360672 412
charlesmn 0:3ac96e360672 413 /**
charlesmn 0:3ac96e360672 414 * @struct VL53L1_TargetRangeData_t
charlesmn 0:3ac96e360672 415 * @brief One Range measurement data for each target.
charlesmn 0:3ac96e360672 416 */
charlesmn 0:3ac96e360672 417 typedef struct {
charlesmn 0:3ac96e360672 418 uint8_t RangeQualityLevel;
charlesmn 0:3ac96e360672 419 /*!< indicate a quality level in percentage from 0 to 100
charlesmn 0:3ac96e360672 420 * @warning Not yet implemented
charlesmn 0:3ac96e360672 421 */
charlesmn 0:3ac96e360672 422
charlesmn 0:3ac96e360672 423 int16_t RangeMaxMilliMeter;
charlesmn 0:3ac96e360672 424 /*!< Tells what is the maximum detection distance of the object
charlesmn 0:3ac96e360672 425 * in current setup and environment conditions (Filled when
charlesmn 0:3ac96e360672 426 * applicable)
charlesmn 0:3ac96e360672 427 */
charlesmn 0:3ac96e360672 428
charlesmn 0:3ac96e360672 429 int16_t RangeMinMilliMeter;
charlesmn 0:3ac96e360672 430 /*!< Tells what is the minimum detection distance of the object
charlesmn 0:3ac96e360672 431 * in current setup and environment conditions (Filled when
charlesmn 0:3ac96e360672 432 * applicable)
charlesmn 0:3ac96e360672 433 */
charlesmn 0:3ac96e360672 434
charlesmn 0:3ac96e360672 435 FixPoint1616_t SignalRateRtnMegaCps;
charlesmn 0:3ac96e360672 436 /*!< Return signal rate (MCPS)\n these is a 16.16 fix point
charlesmn 0:3ac96e360672 437 * value, which is effectively a measure of target
charlesmn 0:3ac96e360672 438 * reflectance.
charlesmn 0:3ac96e360672 439 */
charlesmn 0:3ac96e360672 440
charlesmn 0:3ac96e360672 441 FixPoint1616_t AmbientRateRtnMegaCps;
charlesmn 0:3ac96e360672 442 /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
charlesmn 0:3ac96e360672 443 * value, which is effectively a measure of the ambien
charlesmn 0:3ac96e360672 444 * t light.
charlesmn 0:3ac96e360672 445 */
charlesmn 0:3ac96e360672 446
charlesmn 0:3ac96e360672 447 FixPoint1616_t SigmaMilliMeter;
charlesmn 0:3ac96e360672 448 /*!< Return the Sigma value in millimeter */
charlesmn 0:3ac96e360672 449
charlesmn 0:3ac96e360672 450 int16_t RangeMilliMeter;
charlesmn 0:3ac96e360672 451 /*!< range distance in millimeter. This should be between
charlesmn 0:3ac96e360672 452 * RangeMinMilliMeter and RangeMaxMilliMeter
charlesmn 0:3ac96e360672 453 */
charlesmn 0:3ac96e360672 454
charlesmn 0:3ac96e360672 455 uint8_t RangeFractionalPart;
charlesmn 0:3ac96e360672 456 /*!< Fractional part of range distance. Final value is a
charlesmn 0:3ac96e360672 457 * RangeMilliMeter + RangeFractionalPart/256.
charlesmn 0:3ac96e360672 458 * @warning Not yet implemented
charlesmn 0:3ac96e360672 459 */
charlesmn 0:3ac96e360672 460
charlesmn 0:3ac96e360672 461 uint8_t RangeStatus;
charlesmn 0:3ac96e360672 462 /*!< Range Status for the current measurement. This is device
charlesmn 0:3ac96e360672 463 * dependent. Value = 0 means value is valid.
charlesmn 0:3ac96e360672 464 */
charlesmn 0:3ac96e360672 465
charlesmn 0:3ac96e360672 466 uint8_t ExtendedRange;
charlesmn 0:3ac96e360672 467 /*!< Extended range flag for the current measurement.
charlesmn 0:3ac96e360672 468 * Value = 1 means timings A&B are combined to increase the
charlesmn 0:3ac96e360672 469 * maximum distance range.
charlesmn 0:3ac96e360672 470 */
charlesmn 0:3ac96e360672 471 } VL53L1_TargetRangeData_t;
charlesmn 0:3ac96e360672 472 /**
charlesmn 0:3ac96e360672 473 * @struct VL53L1_MultiRangingData_t
charlesmn 0:3ac96e360672 474 * @brief Structure for storing the set of range results for a single ROI
charlesmn 0:3ac96e360672 475 *
charlesmn 0:3ac96e360672 476 */
charlesmn 0:3ac96e360672 477 typedef struct {
charlesmn 0:3ac96e360672 478 uint32_t TimeStamp;
charlesmn 0:3ac96e360672 479 /*!< 32-bit time stamp.
charlesmn 0:3ac96e360672 480 * @warning Not yet implemented
charlesmn 0:3ac96e360672 481 */
charlesmn 0:3ac96e360672 482
charlesmn 0:3ac96e360672 483 uint8_t StreamCount;
charlesmn 0:3ac96e360672 484 /*!< 8-bit Stream Count. */
charlesmn 0:3ac96e360672 485
charlesmn 0:3ac96e360672 486 uint8_t RoiNumber;
charlesmn 0:3ac96e360672 487 /*!< Denotes on which ROI the range data is related to. */
charlesmn 0:3ac96e360672 488 uint8_t NumberOfObjectsFound;
charlesmn 0:3ac96e360672 489 /*!< Indicate the number of objects found in the current ROI.
charlesmn 0:3ac96e360672 490 * This is used to know how many ranging data should be get.
charlesmn 0:3ac96e360672 491 * NumberOfObjectsFound is in the range 0 to
charlesmn 0:3ac96e360672 492 * VL53L1_MAX_RANGE_RESULTS.
charlesmn 0:3ac96e360672 493 */
charlesmn 0:3ac96e360672 494 VL53L1_RoiStatus RoiStatus;
charlesmn 0:3ac96e360672 495 /*!< Indicate if the data read is valid or not or if this is
charlesmn 0:3ac96e360672 496 * the last valid data in the ROI.
charlesmn 0:3ac96e360672 497 */
charlesmn 0:3ac96e360672 498 VL53L1_TargetRangeData_t RangeData[VL53L1_MAX_RANGE_RESULTS];
charlesmn 0:3ac96e360672 499 /*!< Range data each target distance */
charlesmn 0:3ac96e360672 500 uint8_t HasXtalkValueChanged;
charlesmn 0:3ac96e360672 501 /*!< set to 1 if a new Xtalk value has been computed whilst
charlesmn 0:3ac96e360672 502 * smudge correction mode enable by with
charlesmn 0:3ac96e360672 503 * VL53L1_SmudgeCorrectionEnable() function is either
charlesmn 0:3ac96e360672 504 * VL53L1_SMUDGE_CORRECTION_CONTINUOUS or
charlesmn 0:3ac96e360672 505 * VL53L1_SMUDGE_CORRECTION_SINGLE.
charlesmn 0:3ac96e360672 506 */
charlesmn 0:3ac96e360672 507 uint16_t EffectiveSpadRtnCount;
charlesmn 0:3ac96e360672 508 /*!< Return the effective SPAD count for the return signal.
charlesmn 0:3ac96e360672 509 * To obtain Real value it should be divided by 256
charlesmn 0:3ac96e360672 510 */
charlesmn 0:3ac96e360672 511 int16_t DmaxMilliMeter;
charlesmn 0:3ac96e360672 512 /*!< range Dmax distance in millimeter.
charlesmn 0:3ac96e360672 513 */
charlesmn 0:3ac96e360672 514 VL53L1_DistanceModes RecommendedDistanceMode;
charlesmn 0:3ac96e360672 515 /*!< suggestion for a better distance mode choice to improve
charlesmn 0:3ac96e360672 516 * range accuracy.
charlesmn 0:3ac96e360672 517 */
charlesmn 0:3ac96e360672 518 } VL53L1_MultiRangingData_t;
charlesmn 0:3ac96e360672 519
charlesmn 0:3ac96e360672 520
charlesmn 0:3ac96e360672 521 /** @brief Defines User Zone(ROI) parameters
charlesmn 0:3ac96e360672 522 *
charlesmn 0:3ac96e360672 523 */
charlesmn 0:3ac96e360672 524 typedef struct {
charlesmn 0:3ac96e360672 525
charlesmn 0:3ac96e360672 526 uint8_t TopLeftX; /*!< Top Left x coordinate: 0-15 range */
charlesmn 0:3ac96e360672 527 uint8_t TopLeftY; /*!< Top Left y coordinate: 0-15 range */
charlesmn 0:3ac96e360672 528 uint8_t BotRightX; /*!< Bot Right x coordinate: 0-15 range */
charlesmn 0:3ac96e360672 529 uint8_t BotRightY; /*!< Bot Right y coordinate: 0-15 range */
charlesmn 0:3ac96e360672 530
charlesmn 0:3ac96e360672 531 } VL53L1_UserRoi_t;
charlesmn 0:3ac96e360672 532
charlesmn 0:3ac96e360672 533
charlesmn 0:3ac96e360672 534 /** @brief Defines ROI configuration parameters
charlesmn 0:3ac96e360672 535 *
charlesmn 0:3ac96e360672 536 * Support up a max of 16 zones, Each Zone has the same size
charlesmn 0:3ac96e360672 537 *
charlesmn 0:3ac96e360672 538 */
charlesmn 0:3ac96e360672 539 typedef struct {
charlesmn 0:3ac96e360672 540
charlesmn 0:3ac96e360672 541 uint8_t NumberOfRoi; /*!< Number of Rois defined*/
charlesmn 0:3ac96e360672 542
charlesmn 0:3ac96e360672 543 VL53L1_UserRoi_t UserRois[VL53L1_MAX_USER_ZONES];
charlesmn 0:3ac96e360672 544 /*!< List of Rois */
charlesmn 0:3ac96e360672 545
charlesmn 0:3ac96e360672 546 } VL53L1_RoiConfig_t;
charlesmn 0:3ac96e360672 547
charlesmn 0:3ac96e360672 548 /**
charlesmn 0:3ac96e360672 549 * @struct VL53L1_CustomerNvmManaged_t
charlesmn 0:3ac96e360672 550 *
charlesmn 0:3ac96e360672 551 */
charlesmn 0:3ac96e360672 552
charlesmn 0:3ac96e360672 553 typedef struct {
charlesmn 0:3ac96e360672 554 uint8_t global_config__spad_enables_ref_0;
charlesmn 0:3ac96e360672 555 uint8_t global_config__spad_enables_ref_1;
charlesmn 0:3ac96e360672 556 uint8_t global_config__spad_enables_ref_2;
charlesmn 0:3ac96e360672 557 uint8_t global_config__spad_enables_ref_3;
charlesmn 0:3ac96e360672 558 uint8_t global_config__spad_enables_ref_4;
charlesmn 0:3ac96e360672 559 uint8_t global_config__spad_enables_ref_5;
charlesmn 0:3ac96e360672 560 uint8_t global_config__ref_en_start_select;
charlesmn 0:3ac96e360672 561 uint8_t ref_spad_man__num_requested_ref_spads;
charlesmn 0:3ac96e360672 562 uint8_t ref_spad_man__ref_location;
charlesmn 0:3ac96e360672 563 uint32_t algo__crosstalk_compensation_plane_offset_kcps;
charlesmn 0:3ac96e360672 564 int16_t algo__crosstalk_compensation_x_plane_gradient_kcps;
charlesmn 0:3ac96e360672 565 int16_t algo__crosstalk_compensation_y_plane_gradient_kcps;
charlesmn 0:3ac96e360672 566 uint16_t ref_spad_char__total_rate_target_mcps;
charlesmn 0:3ac96e360672 567 int16_t algo__part_to_part_range_offset_mm;
charlesmn 0:3ac96e360672 568 int16_t mm_config__inner_offset_mm;
charlesmn 0:3ac96e360672 569 int16_t mm_config__outer_offset_mm;
charlesmn 0:3ac96e360672 570 } VL53L1_CustomerNvmManaged_t;
charlesmn 0:3ac96e360672 571
charlesmn 0:3ac96e360672 572 /**
charlesmn 0:3ac96e360672 573 * @struct VL53L1_CalibrationData_t
charlesmn 0:3ac96e360672 574 * @brief Structure for storing the Calibration Data
charlesmn 0:3ac96e360672 575 *
charlesmn 0:3ac96e360672 576 */
charlesmn 0:3ac96e360672 577
charlesmn 0:3ac96e360672 578 typedef struct {
charlesmn 0:3ac96e360672 579
charlesmn 0:3ac96e360672 580 uint32_t struct_version;
charlesmn 0:3ac96e360672 581 VL53L1_CustomerNvmManaged_t customer;
charlesmn 0:3ac96e360672 582 VL53L1_dmax_calibration_data_t fmt_dmax_cal;
charlesmn 0:3ac96e360672 583 VL53L1_dmax_calibration_data_t cust_dmax_cal;
charlesmn 0:3ac96e360672 584 VL53L1_additional_offset_cal_data_t add_off_cal_data;
charlesmn 0:3ac96e360672 585 VL53L1_optical_centre_t optical_centre;
charlesmn 0:3ac96e360672 586 VL53L1_xtalk_histogram_data_t xtalkhisto;
charlesmn 0:3ac96e360672 587 VL53L1_gain_calibration_data_t gain_cal;
charlesmn 0:3ac96e360672 588 VL53L1_cal_peak_rate_map_t cal_peak_rate_map;
charlesmn 0:3ac96e360672 589 VL53L1_per_vcsel_period_offset_cal_data_t per_vcsel_cal_data;
charlesmn 0:3ac96e360672 590 uint32_t algo__xtalk_cpo_HistoMerge_kcps[VL53L1_BIN_REC_SIZE];
charlesmn 0:3ac96e360672 591 } VL53L1_CalibrationData_t;
charlesmn 0:3ac96e360672 592
charlesmn 0:3ac96e360672 593 #define VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION 0x20
charlesmn 0:3ac96e360672 594 /** VL53L1 additional Calibration Data struct version final struct version
charlesmn 0:3ac96e360672 595 * is given by adding it to VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION
charlesmn 0:3ac96e360672 596 */
charlesmn 0:3ac96e360672 597
charlesmn 0:3ac96e360672 598 #define VL53L1_CALIBRATION_DATA_STRUCT_VERSION \
charlesmn 0:3ac96e360672 599 (VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION + \
charlesmn 0:3ac96e360672 600 VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION)
charlesmn 0:3ac96e360672 601 /* VL53L1 Calibration Data struct version */
charlesmn 0:3ac96e360672 602
charlesmn 0:3ac96e360672 603 /**
charlesmn 0:3ac96e360672 604 * @struct VL53L1_AdditionalData_t
charlesmn 0:3ac96e360672 605 * @brief Structure for storing the Additional Data
charlesmn 0:3ac96e360672 606 *
charlesmn 0:3ac96e360672 607 */
charlesmn 0:3ac96e360672 608 typedef VL53L1_additional_data_t VL53L1_AdditionalData_t;
charlesmn 0:3ac96e360672 609
charlesmn 0:3ac96e360672 610 /**
charlesmn 0:3ac96e360672 611 * @struct VL53L1_ZoneCalibrationData_t
charlesmn 0:3ac96e360672 612 * @brief Structure for storing the Zone Calibration Data
charlesmn 0:3ac96e360672 613 *
charlesmn 0:3ac96e360672 614 */
charlesmn 0:3ac96e360672 615 typedef VL53L1_zone_calibration_results_t VL53L1_ZoneCalibrationData_t;
charlesmn 0:3ac96e360672 616
charlesmn 0:3ac96e360672 617 /** @defgroup VL53L1_define_SequenceStepId_group Defines the SequenceStep
charlesmn 0:3ac96e360672 618 * Defines the the sequence steps performed during ranging..
charlesmn 0:3ac96e360672 619 * @{
charlesmn 0:3ac96e360672 620 */
charlesmn 0:3ac96e360672 621 typedef uint8_t VL53L1_SequenceStepId;
charlesmn 0:3ac96e360672 622
charlesmn 0:3ac96e360672 623 #define VL53L1_SEQUENCESTEP_VHV ((VL53L1_SequenceStepId) 0)
charlesmn 0:3ac96e360672 624 /*!<VHV. */
charlesmn 0:3ac96e360672 625 #define VL53L1_SEQUENCESTEP_PHASECAL ((VL53L1_SequenceStepId) 1)
charlesmn 0:3ac96e360672 626 /*!<Phase Calibration. */
charlesmn 0:3ac96e360672 627 #define VL53L1_SEQUENCESTEP_REFPHASE ((VL53L1_SequenceStepId) 2)
charlesmn 0:3ac96e360672 628 /*!<Reference Phase. */
charlesmn 0:3ac96e360672 629 #define VL53L1_SEQUENCESTEP_DSS1 ((VL53L1_SequenceStepId) 3)
charlesmn 0:3ac96e360672 630 /*!<DSS1. */
charlesmn 0:3ac96e360672 631 #define VL53L1_SEQUENCESTEP_DSS2 ((VL53L1_SequenceStepId) 4)
charlesmn 0:3ac96e360672 632 /*!<DSS2. */
charlesmn 0:3ac96e360672 633 #define VL53L1_SEQUENCESTEP_MM1 ((VL53L1_SequenceStepId) 5)
charlesmn 0:3ac96e360672 634 /*!<Mode Mitigation 1. */
charlesmn 0:3ac96e360672 635 #define VL53L1_SEQUENCESTEP_MM2 ((VL53L1_SequenceStepId) 6)
charlesmn 0:3ac96e360672 636 /*!<Mode Mitigation 2. */
charlesmn 0:3ac96e360672 637 #define VL53L1_SEQUENCESTEP_RANGE ((VL53L1_SequenceStepId) 7)
charlesmn 0:3ac96e360672 638 /*!<Final Range step. */
charlesmn 0:3ac96e360672 639
charlesmn 0:3ac96e360672 640 #define VL53L1_SEQUENCESTEP_NUMBER_OF_ITEMS 8
charlesmn 0:3ac96e360672 641 /*!<Number of Sequence Step Managed by the API. */
charlesmn 0:3ac96e360672 642
charlesmn 0:3ac96e360672 643 /** @} VL53L1_define_SequenceStepId_group */
charlesmn 0:3ac96e360672 644
charlesmn 0:3ac96e360672 645 /** @defgroup VL53L1_define_RangeStatus_group Defines the Range Status
charlesmn 0:3ac96e360672 646 * @{
charlesmn 0:3ac96e360672 647 */
charlesmn 0:3ac96e360672 648 #define VL53L1_RANGESTATUS_RANGE_VALID 0
charlesmn 0:3ac96e360672 649 /*!<The Range is valid. */
charlesmn 0:3ac96e360672 650 #define VL53L1_RANGESTATUS_SIGMA_FAIL 1
charlesmn 0:3ac96e360672 651 /*!<Sigma Fail. */
charlesmn 0:3ac96e360672 652 #define VL53L1_RANGESTATUS_SIGNAL_FAIL 2
charlesmn 0:3ac96e360672 653 /*!<Signal fail. */
charlesmn 0:3ac96e360672 654 #define VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED 3
charlesmn 0:3ac96e360672 655 /*!<Target is below minimum detection threshold. */
charlesmn 0:3ac96e360672 656 #define VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL 4
charlesmn 0:3ac96e360672 657 /*!<Phase out of valid limits - different to a wrap exit. */
charlesmn 0:3ac96e360672 658 #define VL53L1_RANGESTATUS_HARDWARE_FAIL 5
charlesmn 0:3ac96e360672 659 /*!<Hardware fail. */
charlesmn 0:3ac96e360672 660 #define VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL 6
charlesmn 0:3ac96e360672 661 /*!<The Range is valid but the wraparound check has not been done. */
charlesmn 0:3ac96e360672 662 #define VL53L1_RANGESTATUS_WRAP_TARGET_FAIL 7
charlesmn 0:3ac96e360672 663 /*!<Wrapped target - no matching phase in other VCSEL period timing. */
charlesmn 0:3ac96e360672 664 #define VL53L1_RANGESTATUS_PROCESSING_FAIL 8
charlesmn 0:3ac96e360672 665 /*!<Internal algo underflow or overflow in lite ranging. */
charlesmn 0:3ac96e360672 666 #define VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL 9
charlesmn 0:3ac96e360672 667 /*!<Specific to lite ranging. */
charlesmn 0:3ac96e360672 668 #define VL53L1_RANGESTATUS_SYNCRONISATION_INT 10
charlesmn 0:3ac96e360672 669 /*!<1st interrupt when starting ranging in back to back mode. Ignore data. */
charlesmn 0:3ac96e360672 670 #define VL53L1_RANGESTATUS_RANGE_VALID_MERGED_PULSE 11
charlesmn 0:3ac96e360672 671 /*!<All Range ok but object is result of multiple pulses merging together.
charlesmn 0:3ac96e360672 672 * Used by RQL for merged pulse detection
charlesmn 0:3ac96e360672 673 */
charlesmn 0:3ac96e360672 674 #define VL53L1_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL 12
charlesmn 0:3ac96e360672 675 /*!<Used by RQL as different to phase fail. */
charlesmn 0:3ac96e360672 676 #define VL53L1_RANGESTATUS_MIN_RANGE_FAIL 13
charlesmn 0:3ac96e360672 677 /*!<User ROI input is not valid e.g. beyond SPAD Array.*/
charlesmn 0:3ac96e360672 678 #define VL53L1_RANGESTATUS_RANGE_INVALID 14
charlesmn 0:3ac96e360672 679 /*!<lld returned valid range but negative value ! */
charlesmn 0:3ac96e360672 680 #define VL53L1_RANGESTATUS_NONE 255
charlesmn 0:3ac96e360672 681 /*!<No Update. */
charlesmn 0:3ac96e360672 682
charlesmn 0:3ac96e360672 683 /** @} VL53L1_define_RangeStatus_group */
charlesmn 0:3ac96e360672 684
charlesmn 0:3ac96e360672 685
charlesmn 0:3ac96e360672 686 /** @brief Contains the Internal data of the Bare Driver
charlesmn 0:3ac96e360672 687 */
charlesmn 0:3ac96e360672 688
charlesmn 0:3ac96e360672 689 typedef struct {
charlesmn 0:3ac96e360672 690 VL53L1_LLDriverData_t LLData;
charlesmn 0:3ac96e360672 691 /*!< Low Level Driver data structure */
charlesmn 0:3ac96e360672 692
charlesmn 0:3ac96e360672 693 VL53L1_LLDriverResults_t llresults;
charlesmn 0:3ac96e360672 694 /*!< Low Level Driver data structure */
charlesmn 0:3ac96e360672 695
charlesmn 0:3ac96e360672 696 VL53L1_State PalState; /* Store the pal state */
charlesmn 0:3ac96e360672 697 VL53L1_DeviceParameters_t CurrentParameters;
charlesmn 0:3ac96e360672 698 /*!< Current Device Parameter */
charlesmn 0:3ac96e360672 699
charlesmn 0:3ac96e360672 700 } VL53L1_DevData_t;
charlesmn 0:3ac96e360672 701
charlesmn 0:3ac96e360672 702
charlesmn 0:3ac96e360672 703 /* MACRO Definitions */
charlesmn 0:3ac96e360672 704 /** @defgroup VL53L1_define_GeneralMacro_group General Macro Defines
charlesmn 0:3ac96e360672 705 * General Macro Defines
charlesmn 0:3ac96e360672 706 * @{
charlesmn 0:3ac96e360672 707 */
charlesmn 0:3ac96e360672 708
charlesmn 0:3ac96e360672 709 /* Defines */
charlesmn 0:3ac96e360672 710 #define VL53L1_SETPARAMETERFIELD(Dev, field, value) \
charlesmn 0:3ac96e360672 711 (VL53L1DevDataSet(Dev, CurrentParameters.field, value))
charlesmn 0:3ac96e360672 712
charlesmn 0:3ac96e360672 713 #define VL53L1_GETPARAMETERFIELD(Dev, field, variable) \
charlesmn 0:3ac96e360672 714 (variable = VL53L1DevDataGet(Dev, CurrentParameters).field)
charlesmn 0:3ac96e360672 715
charlesmn 0:3ac96e360672 716
charlesmn 0:3ac96e360672 717 #define VL53L1_SETARRAYPARAMETERFIELD(Dev, field, index, value) \
charlesmn 0:3ac96e360672 718 (VL53L1DevDataSet(Dev, CurrentParameters.field[index], value))
charlesmn 0:3ac96e360672 719
charlesmn 0:3ac96e360672 720 #define VL53L1_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \
charlesmn 0:3ac96e360672 721 (variable = VL53L1DevDataGet(Dev, CurrentParameters).field[index])
charlesmn 0:3ac96e360672 722
charlesmn 0:3ac96e360672 723
charlesmn 0:3ac96e360672 724 #define VL53L1_SETDEVICESPECIFICPARAMETER(Dev, field, value) \
charlesmn 0:3ac96e360672 725 (VL53L1DevDataSet(Dev, DeviceSpecificParameters.field, value))
charlesmn 0:3ac96e360672 726
charlesmn 0:3ac96e360672 727 #define VL53L1_GETDEVICESPECIFICPARAMETER(Dev, field) \
charlesmn 0:3ac96e360672 728 (VL53L1DevDataGet(Dev, DeviceSpecificParameters).field)
charlesmn 0:3ac96e360672 729
charlesmn 0:3ac96e360672 730
charlesmn 0:3ac96e360672 731 #define VL53L1_FIXPOINT1616TOFIXPOINT44(Value) \
charlesmn 0:3ac96e360672 732 (uint16_t)((Value>>12)&0xFFFF)
charlesmn 0:3ac96e360672 733 #define VL53L1_FIXPOINT44TOFIXPOINT1616(Value) \
charlesmn 0:3ac96e360672 734 (FixPoint1616_t)((uint32_t)Value<<12)
charlesmn 0:3ac96e360672 735
charlesmn 0:3ac96e360672 736 #define VL53L1_FIXPOINT1616TOFIXPOINT72(Value) \
charlesmn 0:3ac96e360672 737 (uint16_t)((Value>>14)&0xFFFF)
charlesmn 0:3ac96e360672 738 #define VL53L1_FIXPOINT72TOFIXPOINT1616(Value) \
charlesmn 0:3ac96e360672 739 (FixPoint1616_t)((uint32_t)Value<<14)
charlesmn 0:3ac96e360672 740
charlesmn 0:3ac96e360672 741 #define VL53L1_FIXPOINT1616TOFIXPOINT97(Value) \
charlesmn 0:3ac96e360672 742 (uint16_t)((Value>>9)&0xFFFF)
charlesmn 0:3ac96e360672 743 #define VL53L1_FIXPOINT97TOFIXPOINT1616(Value) \
charlesmn 0:3ac96e360672 744 (FixPoint1616_t)((uint32_t)Value<<9)
charlesmn 0:3ac96e360672 745
charlesmn 0:3ac96e360672 746 #define VL53L1_FIXPOINT1616TOFIXPOINT88(Value) \
charlesmn 0:3ac96e360672 747 (uint16_t)((Value>>8)&0xFFFF)
charlesmn 0:3ac96e360672 748 #define VL53L1_FIXPOINT88TOFIXPOINT1616(Value) \
charlesmn 0:3ac96e360672 749 (FixPoint1616_t)((uint32_t)Value<<8)
charlesmn 0:3ac96e360672 750
charlesmn 0:3ac96e360672 751 #define VL53L1_FIXPOINT1616TOFIXPOINT412(Value) \
charlesmn 0:3ac96e360672 752 (uint16_t)((Value>>4)&0xFFFF)
charlesmn 0:3ac96e360672 753 #define VL53L1_FIXPOINT412TOFIXPOINT1616(Value) \
charlesmn 0:3ac96e360672 754 (FixPoint1616_t)((uint32_t)Value<<4)
charlesmn 0:3ac96e360672 755
charlesmn 0:3ac96e360672 756 #define VL53L1_FIXPOINT1616TOFIXPOINT313(Value) \
charlesmn 0:3ac96e360672 757 (uint16_t)((Value>>3)&0xFFFF)
charlesmn 0:3ac96e360672 758 #define VL53L1_FIXPOINT313TOFIXPOINT1616(Value) \
charlesmn 0:3ac96e360672 759 (FixPoint1616_t)((uint32_t)Value<<3)
charlesmn 0:3ac96e360672 760
charlesmn 0:3ac96e360672 761 #define VL53L1_FIXPOINT1616TOFIXPOINT08(Value) \
charlesmn 0:3ac96e360672 762 (uint8_t)((Value>>8)&0x00FF)
charlesmn 0:3ac96e360672 763 #define VL53L1_FIXPOINT08TOFIXPOINT1616(Value) \
charlesmn 0:3ac96e360672 764 (FixPoint1616_t)((uint32_t)Value<<8)
charlesmn 0:3ac96e360672 765
charlesmn 0:3ac96e360672 766 #define VL53L1_FIXPOINT1616TOFIXPOINT53(Value) \
charlesmn 0:3ac96e360672 767 (uint8_t)((Value>>13)&0x00FF)
charlesmn 0:3ac96e360672 768 #define VL53L1_FIXPOINT53TOFIXPOINT1616(Value) \
charlesmn 0:3ac96e360672 769 (FixPoint1616_t)((uint32_t)Value<<13)
charlesmn 0:3ac96e360672 770
charlesmn 0:3ac96e360672 771 #define VL53L1_FIXPOINT1616TOFIXPOINT102(Value) \
charlesmn 0:3ac96e360672 772 (uint16_t)((Value>>14)&0x0FFF)
charlesmn 0:3ac96e360672 773 #define VL53L1_FIXPOINT102TOFIXPOINT1616(Value) \
charlesmn 0:3ac96e360672 774 (FixPoint1616_t)((uint32_t)Value<<14)
charlesmn 0:3ac96e360672 775
charlesmn 0:3ac96e360672 776 #define VL53L1_FIXPOINT1616TOFIXPOINT142(Value) \
charlesmn 0:3ac96e360672 777 (uint16_t)((Value>>14)&0xFFFF)
charlesmn 0:3ac96e360672 778 #define VL53L1_FIXPOINT142TOFIXPOINT1616(Value) \
charlesmn 0:3ac96e360672 779 (FixPoint1616_t)((uint32_t)Value<<14)
charlesmn 0:3ac96e360672 780
charlesmn 0:3ac96e360672 781 #define VL53L1_FIXPOINT1616TOFIXPOINT160(Value) \
charlesmn 0:3ac96e360672 782 (uint16_t)((Value>>16)&0xFFFF)
charlesmn 0:3ac96e360672 783 #define VL53L1_FIXPOINT160TOFIXPOINT1616(Value) \
charlesmn 0:3ac96e360672 784 (FixPoint1616_t)((uint32_t)Value<<16)
charlesmn 0:3ac96e360672 785
charlesmn 0:3ac96e360672 786 #define VL53L1_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \
charlesmn 0:3ac96e360672 787 (uint16_t)lsb)
charlesmn 0:3ac96e360672 788
charlesmn 0:3ac96e360672 789 #ifndef SUPPRESS_UNUSED_WARNING
charlesmn 0:3ac96e360672 790 #define SUPPRESS_UNUSED_WARNING(x) ((void) (x))
charlesmn 0:3ac96e360672 791 #endif
charlesmn 0:3ac96e360672 792
charlesmn 0:3ac96e360672 793 /** @} VL53L1_define_GeneralMacro_group */
charlesmn 0:3ac96e360672 794
charlesmn 0:3ac96e360672 795 /** @} VL53L1_globaldefine_group */
charlesmn 0:3ac96e360672 796
charlesmn 0:3ac96e360672 797
charlesmn 0:3ac96e360672 798
charlesmn 0:3ac96e360672 799 #ifdef __cplusplus
charlesmn 0:3ac96e360672 800 }
charlesmn 0:3ac96e360672 801 #endif
charlesmn 0:3ac96e360672 802
charlesmn 0:3ac96e360672 803
charlesmn 0:3ac96e360672 804 #endif /* _VL53L1_DEF_H_ */