ST Expansion SW Team
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_ll_def.h
- Committer:
- Charles MacNeill
- Date:
- 2021-06-08
- Revision:
- 7:1add29d51e72
- Parent:
- 0:3ac96e360672
- Child:
- 18:0696efe39d08
File content as of revision 7:1add29d51e72:
/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */
/******************************************************************************
* Copyright (c) 2020, STMicroelectronics - All Rights Reserved
This file is part of VL53L1 and is dual licensed,
either GPL-2.0+
or 'BSD 3-clause "New" or "Revised" License' , at your option.
******************************************************************************
*/
#ifndef _VL53L1_LL_DEF_H_
#define _VL53L1_LL_DEF_H_
#include "vl53l1_error_codes.h"
#include "vl53l1_register_structs.h"
#include "vl53l1_platform_user_config.h"
#include "vl53l1_platform_user_defines.h"
#include "vl53l1_hist_structs.h"
#include "vl53l1_dmax_structs.h"
#include "vl53l1_error_exceptions.h"
#ifdef __cplusplus
extern "C" {
#endif
#define VL53L1_LL_API_IMPLEMENTATION_VER_MAJOR 1
#define VL53L1_LL_API_IMPLEMENTATION_VER_MINOR 1
#define VL53L1_LL_API_IMPLEMENTATION_VER_SUB 48
#define VL53L1_LL_API_IMPLEMENTATION_VER_REVISION 12224
#define VL53L1_LL_API_IMPLEMENTATION_VER_STRING "1.1.48.12224"
#define VL53L1_FIRMWARE_VER_MINIMUM 398
#define VL53L1_FIRMWARE_VER_MAXIMUM 400
#define VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION 0xECAB0102
#define VL53L1_LL_ZONE_CALIBRATION_DATA_STRUCT_VERSION 0xECAE0101
#define VL53L1_BIN_REC_SIZE 6
#define VL53L1_TIMING_CONF_A_B_SIZE 2
#define VL53L1_FRAME_WAIT_EVENT 6
#define VL53L1_MAX_XTALK_RANGE_RESULTS 5
#define VL53L1_MAX_OFFSET_RANGE_RESULTS 3
#define VL53L1_NVM_MAX_FMT_RANGE_DATA 4
#define VL53L1_NVM_PEAK_RATE_MAP_SAMPLES 25
#define VL53L1_NVM_PEAK_RATE_MAP_WIDTH 5
#define VL53L1_NVM_PEAK_RATE_MAP_HEIGHT 5
#define VL53L1_ERROR_DEVICE_FIRMWARE_TOO_OLD ((VL53L1_Error) - 80)
#define VL53L1_ERROR_DEVICE_FIRMWARE_TOO_NEW ((VL53L1_Error) - 85)
#define VL53L1_ERROR_UNIT_TEST_FAIL ((VL53L1_Error) - 90)
#define VL53L1_ERROR_FILE_READ_FAIL ((VL53L1_Error) - 95)
#define VL53L1_ERROR_FILE_WRITE_FAIL ((VL53L1_Error) - 96)
typedef struct {
uint32_t ll_revision;
uint8_t ll_major;
uint8_t ll_minor;
uint8_t ll_build;
} VL53L1_ll_version_t;
typedef struct {
uint8_t device_test_mode;
uint8_t VL53L1_p_009;
uint32_t timeout_us;
uint16_t target_count_rate_mcps;
uint16_t min_count_rate_limit_mcps;
uint16_t max_count_rate_limit_mcps;
} VL53L1_refspadchar_config_t;
typedef struct {
uint16_t dss_config__target_total_rate_mcps;
uint32_t phasecal_config_timeout_us;
uint32_t mm_config_timeout_us;
uint32_t range_config_timeout_us;
uint8_t num_of_samples;
int16_t algo__crosstalk_extract_min_valid_range_mm;
int16_t algo__crosstalk_extract_max_valid_range_mm;
uint16_t algo__crosstalk_extract_max_valid_rate_kcps;
uint16_t algo__crosstalk_extract_max_sigma_mm;
} VL53L1_xtalkextract_config_t;
typedef struct {
uint16_t dss_config__target_total_rate_mcps;
uint32_t phasecal_config_timeout_us;
uint32_t range_config_timeout_us;
uint32_t mm_config_timeout_us;
uint8_t pre_num_of_samples;
uint8_t mm1_num_of_samples;
uint8_t mm2_num_of_samples;
} VL53L1_offsetcal_config_t;
typedef struct {
uint16_t dss_config__target_total_rate_mcps;
uint32_t phasecal_config_timeout_us;
uint32_t mm_config_timeout_us;
uint32_t range_config_timeout_us;
uint16_t phasecal_num_of_samples;
uint16_t zone_num_of_samples;
} VL53L1_zonecal_config_t;
typedef struct {
VL53L1_DeviceSscArray array_select;
uint8_t VL53L1_p_009;
uint8_t vcsel_start;
uint8_t vcsel_width;
uint32_t timeout_us;
uint16_t rate_limit_mcps;
} VL53L1_ssc_config_t;
typedef struct {
uint32_t algo__crosstalk_compensation_plane_offset_kcps;
int16_t algo__crosstalk_compensation_x_plane_gradient_kcps;
int16_t algo__crosstalk_compensation_y_plane_gradient_kcps;
uint32_t nvm_default__crosstalk_compensation_plane_offset_kcps;
int16_t nvm_default__crosstalk_compensation_x_plane_gradient_kcps;
int16_t nvm_default__crosstalk_compensation_y_plane_gradient_kcps;
uint8_t global_crosstalk_compensation_enable;
int16_t histogram_mode_crosstalk_margin_kcps;
int16_t lite_mode_crosstalk_margin_kcps;
uint8_t crosstalk_range_ignore_threshold_mult;
uint16_t crosstalk_range_ignore_threshold_rate_mcps;
int16_t algo__crosstalk_detect_min_valid_range_mm;
int16_t algo__crosstalk_detect_max_valid_range_mm;
uint16_t algo__crosstalk_detect_max_valid_rate_kcps;
uint16_t algo__crosstalk_detect_max_sigma_mm;
} VL53L1_xtalk_config_t;
typedef struct {
uint16_t tp_tuning_parm_version;
uint16_t tp_tuning_parm_key_table_version;
uint16_t tp_tuning_parm_lld_version;
uint8_t tp_init_phase_rtn_lite_long;
uint8_t tp_init_phase_rtn_lite_med;
uint8_t tp_init_phase_rtn_lite_short;
uint8_t tp_init_phase_ref_lite_long;
uint8_t tp_init_phase_ref_lite_med;
uint8_t tp_init_phase_ref_lite_short;
uint8_t tp_init_phase_rtn_hist_long;
uint8_t tp_init_phase_rtn_hist_med;
uint8_t tp_init_phase_rtn_hist_short;
uint8_t tp_init_phase_ref_hist_long;
uint8_t tp_init_phase_ref_hist_med;
uint8_t tp_init_phase_ref_hist_short;
uint8_t tp_consistency_lite_phase_tolerance;
uint8_t tp_phasecal_target;
uint16_t tp_cal_repeat_rate;
uint8_t tp_lite_min_clip;
uint16_t tp_lite_long_sigma_thresh_mm;
uint16_t tp_lite_med_sigma_thresh_mm;
uint16_t tp_lite_short_sigma_thresh_mm;
uint16_t tp_lite_long_min_count_rate_rtn_mcps;
uint16_t tp_lite_med_min_count_rate_rtn_mcps;
uint16_t tp_lite_short_min_count_rate_rtn_mcps;
uint8_t tp_lite_sigma_est_pulse_width_ns;
uint8_t tp_lite_sigma_est_amb_width_ns;
uint8_t tp_lite_sigma_ref_mm;
uint8_t tp_lite_seed_cfg;
uint8_t tp_timed_seed_cfg;
uint8_t tp_lite_quantifier;
uint8_t tp_lite_first_order_select;
uint16_t tp_dss_target_lite_mcps;
uint16_t tp_dss_target_histo_mcps;
uint16_t tp_dss_target_histo_mz_mcps;
uint16_t tp_dss_target_timed_mcps;
uint16_t tp_dss_target_very_short_mcps;
uint32_t tp_phasecal_timeout_lite_us;
uint32_t tp_phasecal_timeout_hist_long_us;
uint32_t tp_phasecal_timeout_hist_med_us;
uint32_t tp_phasecal_timeout_hist_short_us;
uint32_t tp_phasecal_timeout_mz_long_us;
uint32_t tp_phasecal_timeout_mz_med_us;
uint32_t tp_phasecal_timeout_mz_short_us;
uint32_t tp_phasecal_timeout_timed_us;
uint32_t tp_mm_timeout_lite_us;
uint32_t tp_mm_timeout_histo_us;
uint32_t tp_mm_timeout_mz_us;
uint32_t tp_mm_timeout_timed_us;
uint32_t tp_mm_timeout_lpa_us;
uint32_t tp_range_timeout_lite_us;
uint32_t tp_range_timeout_histo_us;
uint32_t tp_range_timeout_mz_us;
uint32_t tp_range_timeout_timed_us;
uint32_t tp_range_timeout_lpa_us;
uint32_t tp_phasecal_patch_power;
uint8_t tp_hist_merge;
uint32_t tp_reset_merge_threshold;
uint8_t tp_hist_merge_max_size;
uint8_t tp_uwr_enable;
int16_t tp_uwr_med_z_1_min;
int16_t tp_uwr_med_z_1_max;
int16_t tp_uwr_med_z_2_min;
int16_t tp_uwr_med_z_2_max;
int16_t tp_uwr_med_z_3_min;
int16_t tp_uwr_med_z_3_max;
int16_t tp_uwr_med_z_4_min;
int16_t tp_uwr_med_z_4_max;
int16_t tp_uwr_med_z_5_min;
int16_t tp_uwr_med_z_5_max;
int16_t tp_uwr_med_z_6_min;
int16_t tp_uwr_med_z_6_max;
int16_t tp_uwr_med_corr_z_1_rangea;
int16_t tp_uwr_med_corr_z_1_rangeb;
int16_t tp_uwr_med_corr_z_2_rangea;
int16_t tp_uwr_med_corr_z_2_rangeb;
int16_t tp_uwr_med_corr_z_3_rangea;
int16_t tp_uwr_med_corr_z_3_rangeb;
int16_t tp_uwr_med_corr_z_4_rangea;
int16_t tp_uwr_med_corr_z_4_rangeb;
int16_t tp_uwr_med_corr_z_5_rangea;
int16_t tp_uwr_med_corr_z_5_rangeb;
int16_t tp_uwr_med_corr_z_6_rangea;
int16_t tp_uwr_med_corr_z_6_rangeb;
int16_t tp_uwr_lng_z_1_min;
int16_t tp_uwr_lng_z_1_max;
int16_t tp_uwr_lng_z_2_min;
int16_t tp_uwr_lng_z_2_max;
int16_t tp_uwr_lng_z_3_min;
int16_t tp_uwr_lng_z_3_max;
int16_t tp_uwr_lng_z_4_min;
int16_t tp_uwr_lng_z_4_max;
int16_t tp_uwr_lng_z_5_min;
int16_t tp_uwr_lng_z_5_max;
int16_t tp_uwr_lng_corr_z_1_rangea;
int16_t tp_uwr_lng_corr_z_1_rangeb;
int16_t tp_uwr_lng_corr_z_2_rangea;
int16_t tp_uwr_lng_corr_z_2_rangeb;
int16_t tp_uwr_lng_corr_z_3_rangea;
int16_t tp_uwr_lng_corr_z_3_rangeb;
int16_t tp_uwr_lng_corr_z_4_rangea;
int16_t tp_uwr_lng_corr_z_4_rangeb;
int16_t tp_uwr_lng_corr_z_5_rangea;
int16_t tp_uwr_lng_corr_z_5_rangeb;
} VL53L1_tuning_parm_storage_t;
typedef struct {
uint8_t x_centre;
uint8_t y_centre;
} VL53L1_optical_centre_t;
typedef struct {
uint8_t x_centre;
uint8_t y_centre;
uint8_t width;
uint8_t height;
} VL53L1_user_zone_t;
typedef struct {
uint8_t max_zones;
uint8_t active_zones;
VL53L1_histogram_config_t multizone_hist_cfg;
VL53L1_user_zone_t user_zones[VL53L1_MAX_USER_ZONES];
uint8_t bin_config[VL53L1_MAX_USER_ZONES];
} VL53L1_zone_config_t;
typedef struct {
VL53L1_GPIO_Interrupt_Mode intr_mode_distance;
VL53L1_GPIO_Interrupt_Mode intr_mode_rate;
uint8_t intr_new_measure_ready;
uint8_t intr_no_target;
uint8_t intr_combined_mode;
uint16_t threshold_distance_high;
uint16_t threshold_distance_low;
uint16_t threshold_rate_high;
uint16_t threshold_rate_low;
} VL53L1_GPIO_interrupt_config_t;
typedef struct {
uint8_t vhv_loop_bound;
uint8_t is_low_power_auto_mode;
uint8_t low_power_auto_range_count;
uint8_t saved_interrupt_config;
uint8_t saved_vhv_init;
uint8_t saved_vhv_timeout;
uint8_t first_run_phasecal_result;
uint32_t dss__total_rate_per_spad_mcps;
uint16_t dss__required_spads;
} VL53L1_low_power_auto_data_t;
typedef struct {
uint8_t smudge_corr_enabled;
uint8_t smudge_corr_apply_enabled;
uint8_t smudge_corr_single_apply;
uint16_t smudge_margin;
uint32_t noise_margin;
uint32_t user_xtalk_offset_limit;
uint8_t user_xtalk_offset_limit_hi;
uint32_t sample_limit;
uint32_t single_xtalk_delta;
uint32_t averaged_xtalk_delta;
uint32_t smudge_corr_clip_limit;
uint32_t smudge_corr_ambient_threshold;
uint8_t scaler_calc_method;
int16_t x_gradient_scaler;
int16_t y_gradient_scaler;
uint8_t user_scaler_set;
uint32_t nodetect_ambient_threshold;
uint32_t nodetect_sample_limit;
uint32_t nodetect_xtalk_offset;
uint16_t nodetect_min_range_mm;
uint32_t max_smudge_factor;
} VL53L1_smudge_corrector_config_t;
typedef struct {
uint32_t current_samples;
uint32_t required_samples;
uint64_t accumulator;
uint32_t nodetect_counter;
} VL53L1_smudge_corrector_internals_t;
typedef struct {
uint8_t smudge_corr_valid;
uint8_t smudge_corr_clipped;
uint8_t single_xtalk_delta_flag;
uint8_t averaged_xtalk_delta_flag;
uint8_t sample_limit_exceeded_flag;
uint8_t gradient_zero_flag;
uint8_t new_xtalk_applied_flag;
uint32_t algo__crosstalk_compensation_plane_offset_kcps;
int16_t algo__crosstalk_compensation_x_plane_gradient_kcps;
int16_t algo__crosstalk_compensation_y_plane_gradient_kcps;
} VL53L1_smudge_corrector_data_t;
typedef struct {
uint8_t range_id;
uint32_t time_stamp;
uint8_t VL53L1_p_015;
uint8_t VL53L1_p_022;
uint8_t VL53L1_p_025;
uint8_t VL53L1_p_026;
uint8_t VL53L1_p_016;
uint8_t VL53L1_p_027;
uint16_t width;
uint8_t VL53L1_p_030;
uint16_t fast_osc_frequency;
uint16_t zero_distance_phase;
uint16_t VL53L1_p_006;
uint32_t total_periods_elapsed;
uint32_t peak_duration_us;
uint32_t woi_duration_us;
uint32_t VL53L1_p_020;
uint32_t VL53L1_p_021;
int32_t VL53L1_p_013;
uint16_t peak_signal_count_rate_mcps;
uint16_t avg_signal_count_rate_mcps;
uint16_t ambient_count_rate_mcps;
uint16_t total_rate_per_spad_mcps;
uint32_t VL53L1_p_012;
uint16_t VL53L1_p_005;
uint16_t VL53L1_p_028;
uint16_t VL53L1_p_014;
uint16_t VL53L1_p_029;
int16_t min_range_mm;
int16_t median_range_mm;
int16_t max_range_mm;
uint8_t range_status;
} VL53L1_range_data_t;
typedef struct {
VL53L1_DeviceState cfg_device_state;
VL53L1_DeviceState rd_device_state;
uint8_t zone_id;
uint8_t stream_count;
int16_t VL53L1_p_007[VL53L1_MAX_AMBIENT_DMAX_VALUES];
int16_t wrap_dmax_mm;
uint8_t device_status;
uint8_t max_results;
uint8_t active_results;
VL53L1_range_data_t VL53L1_p_002[VL53L1_MAX_RANGE_RESULTS];
VL53L1_range_data_t xmonitor;
VL53L1_smudge_corrector_data_t smudge_corrector_data;
} VL53L1_range_results_t;
typedef struct {
uint8_t no_of_samples;
uint32_t rate_per_spad_kcps_sum;
uint32_t rate_per_spad_kcps_avg;
int32_t signal_total_events_sum;
int32_t signal_total_events_avg;
uint32_t sigma_mm_sum;
uint32_t sigma_mm_avg;
uint32_t median_phase_sum;
uint32_t median_phase_avg;
} VL53L1_xtalk_range_data_t;
typedef struct {
VL53L1_Error cal_status;
uint8_t num_of_samples_status;
uint8_t zero_samples_status;
uint8_t max_sigma_status;
uint8_t max_results;
uint8_t active_results;
VL53L1_xtalk_range_data_t
VL53L1_p_002[VL53L1_MAX_XTALK_RANGE_RESULTS];
VL53L1_histogram_bin_data_t central_histogram_sum;
VL53L1_histogram_bin_data_t central_histogram_avg;
uint8_t central_histogram__window_start;
uint8_t central_histogram__window_end;
VL53L1_histogram_bin_data_t
histogram_avg_1[VL53L1_MAX_XTALK_RANGE_RESULTS];
VL53L1_histogram_bin_data_t
histogram_avg_2[VL53L1_MAX_XTALK_RANGE_RESULTS];
VL53L1_histogram_bin_data_t
xtalk_avg[VL53L1_MAX_XTALK_RANGE_RESULTS];
} VL53L1_xtalk_range_results_t;
typedef struct {
uint8_t preset_mode;
uint8_t dss_config__roi_mode_control;
uint16_t dss_config__manual_effective_spads_select;
uint8_t no_of_samples;
uint32_t effective_spads;
uint32_t peak_rate_mcps;
uint32_t VL53L1_p_005;
int32_t median_range_mm;
int32_t range_mm_offset;
} VL53L1_offset_range_data_t;
typedef struct {
int16_t cal_distance_mm;
uint16_t cal_reflectance_pc;
VL53L1_Error cal_status;
uint8_t cal_report;
uint8_t max_results;
uint8_t active_results;
VL53L1_offset_range_data_t
VL53L1_p_002[VL53L1_MAX_OFFSET_RANGE_RESULTS];
} VL53L1_offset_range_results_t;
typedef struct {
uint16_t result__mm_inner_actual_effective_spads;
uint16_t result__mm_outer_actual_effective_spads;
uint16_t result__mm_inner_peak_signal_count_rtn_mcps;
uint16_t result__mm_outer_peak_signal_count_rtn_mcps;
} VL53L1_additional_offset_cal_data_t;
typedef struct {
int16_t short_a_offset_mm;
int16_t short_b_offset_mm;
int16_t medium_a_offset_mm;
int16_t medium_b_offset_mm;
int16_t long_a_offset_mm;
int16_t long_b_offset_mm;
} VL53L1_per_vcsel_period_offset_cal_data_t;
typedef struct {
uint32_t VL53L1_p_020;
uint32_t VL53L1_p_021;
uint16_t VL53L1_p_014;
uint8_t range_status;
} VL53L1_object_data_t;
typedef struct {
VL53L1_DeviceState cfg_device_state;
VL53L1_DeviceState rd_device_state;
uint8_t zone_id;
uint8_t stream_count;
uint8_t max_objects;
uint8_t active_objects;
VL53L1_object_data_t VL53L1_p_002[VL53L1_MAX_RANGE_RESULTS];
VL53L1_object_data_t xmonitor;
} VL53L1_zone_objects_t;
typedef struct {
uint8_t max_zones;
uint8_t active_zones;
VL53L1_zone_objects_t VL53L1_p_002[VL53L1_MAX_USER_ZONES];
} VL53L1_zone_results_t;
typedef struct {
VL53L1_DeviceState rd_device_state;
uint8_t number_of_ambient_bins;
uint16_t result__dss_actual_effective_spads;
uint8_t VL53L1_p_009;
uint32_t total_periods_elapsed;
int32_t ambient_events_sum;
} VL53L1_zone_hist_info_t;
typedef struct {
uint8_t max_zones;
uint8_t active_zones;
VL53L1_zone_hist_info_t VL53L1_p_002[VL53L1_MAX_USER_ZONES];
} VL53L1_zone_histograms_t;
typedef struct {
uint32_t no_of_samples;
uint32_t effective_spads;
uint32_t peak_rate_mcps;
uint32_t VL53L1_p_014;
uint32_t VL53L1_p_005;
int32_t median_range_mm;
int32_t range_mm_offset;
} VL53L1_zone_calibration_data_t;
typedef struct {
uint32_t struct_version;
VL53L1_DevicePresetModes preset_mode;
VL53L1_DeviceZonePreset zone_preset;
int16_t cal_distance_mm;
uint16_t cal_reflectance_pc;
uint16_t phasecal_result__reference_phase;
uint16_t zero_distance_phase;
VL53L1_Error cal_status;
uint8_t max_zones;
uint8_t active_zones;
VL53L1_zone_calibration_data_t VL53L1_p_002[VL53L1_MAX_USER_ZONES];
} VL53L1_zone_calibration_results_t;
typedef struct {
int16_t cal_distance_mm;
uint16_t cal_reflectance_pc;
uint16_t max_samples;
uint16_t width;
uint16_t height;
uint16_t peak_rate_mcps[VL53L1_NVM_PEAK_RATE_MAP_SAMPLES];
} VL53L1_cal_peak_rate_map_t;
typedef struct {
uint8_t expected_stream_count;
uint8_t expected_gph_id;
uint8_t dss_mode;
uint16_t dss_requested_effective_spad_count;
uint8_t seed_cfg;
uint8_t initial_phase_seed;
uint8_t roi_config__user_roi_centre_spad;
uint8_t roi_config__user_roi_requested_global_xy_size;
} VL53L1_zone_private_dyn_cfg_t;
typedef struct {
uint8_t max_zones;
uint8_t active_zones;
VL53L1_zone_private_dyn_cfg_t VL53L1_p_002[VL53L1_MAX_USER_ZONES];
} VL53L1_zone_private_dyn_cfgs_t;
typedef struct {
uint32_t algo__crosstalk_compensation_plane_offset_kcps;
int16_t algo__crosstalk_compensation_x_plane_gradient_kcps;
int16_t algo__crosstalk_compensation_y_plane_gradient_kcps;
uint32_t algo__xtalk_cpo_HistoMerge_kcps[VL53L1_BIN_REC_SIZE];
} VL53L1_xtalk_calibration_results_t;
typedef struct {
uint32_t sample_count;
uint32_t pll_period_mm;
uint32_t peak_duration_us_sum;
uint32_t effective_spad_count_sum;
uint32_t zero_distance_phase_sum;
uint32_t zero_distance_phase_avg;
int32_t event_scaler_sum;
int32_t event_scaler_avg;
int32_t signal_events_sum;
uint32_t xtalk_rate_kcps_per_spad;
int32_t xtalk_start_phase;
int32_t xtalk_end_phase;
int32_t xtalk_width_phase;
int32_t target_start_phase;
int32_t target_end_phase;
int32_t target_width_phase;
int32_t effective_width;
int32_t event_scaler;
uint8_t VL53L1_p_015;
uint8_t VL53L1_p_016;
uint8_t target_start;
int32_t max_shape_value;
int32_t bin_data_sums[VL53L1_XTALK_HISTO_BINS];
} VL53L1_hist_xtalk_extract_data_t;
typedef struct {
uint16_t standard_ranging_gain_factor;
uint16_t histogram_ranging_gain_factor;
} VL53L1_gain_calibration_data_t;
typedef struct {
VL53L1_DeviceState cfg_device_state;
uint8_t cfg_stream_count;
uint8_t cfg_internal_stream_count;
uint8_t cfg_internal_stream_count_val;
uint8_t cfg_gph_id;
uint8_t cfg_timing_status;
uint8_t cfg_zone_id;
VL53L1_DeviceState rd_device_state;
uint8_t rd_stream_count;
uint8_t rd_internal_stream_count;
uint8_t rd_internal_stream_count_val;
uint8_t rd_gph_id;
uint8_t rd_timing_status;
uint8_t rd_zone_id;
} VL53L1_ll_driver_state_t;
typedef struct {
uint8_t wait_method;
VL53L1_DevicePresetModes preset_mode;
VL53L1_DeviceZonePreset zone_preset;
VL53L1_DeviceMeasurementModes measurement_mode;
VL53L1_OffsetCalibrationMode offset_calibration_mode;
VL53L1_OffsetCorrectionMode offset_correction_mode;
VL53L1_DeviceDmaxMode dmax_mode;
uint32_t phasecal_config_timeout_us;
uint32_t mm_config_timeout_us;
uint32_t range_config_timeout_us;
uint32_t inter_measurement_period_ms;
uint16_t dss_config__target_total_rate_mcps;
uint32_t fw_ready_poll_duration_ms;
uint8_t fw_ready;
uint8_t debug_mode;
VL53L1_ll_version_t version;
VL53L1_ll_driver_state_t ll_state;
VL53L1_GPIO_interrupt_config_t gpio_interrupt_config;
VL53L1_customer_nvm_managed_t customer;
VL53L1_cal_peak_rate_map_t cal_peak_rate_map;
VL53L1_additional_offset_cal_data_t add_off_cal_data;
VL53L1_dmax_calibration_data_t fmt_dmax_cal;
VL53L1_dmax_calibration_data_t cust_dmax_cal;
VL53L1_gain_calibration_data_t gain_cal;
VL53L1_user_zone_t mm_roi;
VL53L1_optical_centre_t optical_centre;
VL53L1_zone_config_t zone_cfg;
VL53L1_tuning_parm_storage_t tuning_parms;
uint8_t rtn_good_spads[VL53L1_RTN_SPAD_BUFFER_SIZE];
VL53L1_refspadchar_config_t refspadchar;
VL53L1_ssc_config_t ssc_cfg;
VL53L1_hist_post_process_config_t histpostprocess;
VL53L1_hist_gen3_dmax_config_t dmax_cfg;
VL53L1_xtalkextract_config_t xtalk_extract_cfg;
VL53L1_xtalk_config_t xtalk_cfg;
VL53L1_offsetcal_config_t offsetcal_cfg;
VL53L1_zonecal_config_t zonecal_cfg;
VL53L1_static_nvm_managed_t stat_nvm;
VL53L1_histogram_config_t hist_cfg;
VL53L1_static_config_t stat_cfg;
VL53L1_general_config_t gen_cfg;
VL53L1_timing_config_t tim_cfg;
VL53L1_dynamic_config_t dyn_cfg;
VL53L1_system_control_t sys_ctrl;
VL53L1_system_results_t sys_results;
VL53L1_nvm_copy_data_t nvm_copy_data;
VL53L1_histogram_bin_data_t hist_data;
VL53L1_histogram_bin_data_t hist_xtalk;
VL53L1_xtalk_histogram_data_t xtalk_shapes;
VL53L1_xtalk_range_results_t xtalk_results;
VL53L1_xtalk_calibration_results_t xtalk_cal;
VL53L1_hist_xtalk_extract_data_t xtalk_extract;
VL53L1_offset_range_results_t offset_results;
VL53L1_core_results_t core_results;
VL53L1_debug_results_t dbg_results;
VL53L1_smudge_corrector_config_t smudge_correct_config;
VL53L1_smudge_corrector_internals_t smudge_corrector_internals;
VL53L1_low_power_auto_data_t low_power_auto_data;
#ifdef PAL_EXTENDED
VL53L1_patch_results_t patch_results;
VL53L1_shadow_core_results_t shadow_core_results;
VL53L1_shadow_system_results_t shadow_sys_results;
VL53L1_prev_shadow_core_results_t prev_shadow_core_results;
VL53L1_prev_shadow_system_results_t prev_shadow_sys_results;
#endif
uint8_t wArea1[1536];
uint8_t wArea2[512];
VL53L1_per_vcsel_period_offset_cal_data_t per_vcsel_cal_data;
uint8_t bin_rec_pos;
uint8_t pos_before_next_recom;
int32_t multi_bins_rec[VL53L1_BIN_REC_SIZE]
[VL53L1_TIMING_CONF_A_B_SIZE][VL53L1_HISTOGRAM_BUFFER_SIZE];
int16_t PreviousRangeMilliMeter[VL53L1_MAX_RANGE_RESULTS];
uint8_t PreviousRangeStatus[VL53L1_MAX_RANGE_RESULTS];
uint8_t PreviousExtendedRange[VL53L1_MAX_RANGE_RESULTS];
uint8_t PreviousStreamCount;
} VL53L1_LLDriverData_t;
typedef struct {
VL53L1_range_results_t range_results;
VL53L1_zone_private_dyn_cfgs_t zone_dyn_cfgs;
VL53L1_zone_results_t zone_results;
VL53L1_zone_histograms_t zone_hists;
VL53L1_zone_calibration_results_t zone_cal;
} VL53L1_LLDriverResults_t;
typedef struct {
uint32_t struct_version;
VL53L1_customer_nvm_managed_t customer;
VL53L1_dmax_calibration_data_t fmt_dmax_cal;
VL53L1_dmax_calibration_data_t cust_dmax_cal;
VL53L1_additional_offset_cal_data_t add_off_cal_data;
VL53L1_optical_centre_t optical_centre;
VL53L1_xtalk_histogram_data_t xtalkhisto;
VL53L1_gain_calibration_data_t gain_cal;
VL53L1_cal_peak_rate_map_t cal_peak_rate_map;
VL53L1_per_vcsel_period_offset_cal_data_t per_vcsel_cal_data;
} VL53L1_calibration_data_t;
typedef struct {
VL53L1_customer_nvm_managed_t customer;
VL53L1_xtalkextract_config_t xtalk_extract_cfg;
VL53L1_xtalk_config_t xtalk_cfg;
VL53L1_histogram_bin_data_t hist_data;
VL53L1_xtalk_histogram_data_t xtalk_shapes;
VL53L1_xtalk_range_results_t xtalk_results;
} VL53L1_xtalk_debug_data_t;
typedef struct {
VL53L1_customer_nvm_managed_t customer;
VL53L1_dmax_calibration_data_t fmt_dmax_cal;
VL53L1_dmax_calibration_data_t cust_dmax_cal;
VL53L1_additional_offset_cal_data_t add_off_cal_data;
VL53L1_offset_range_results_t offset_results;
} VL53L1_offset_debug_data_t;
typedef struct {
uint16_t vl53l1_tuningparm_version;
uint16_t vl53l1_tuningparm_key_table_version;
uint16_t vl53l1_tuningparm_lld_version;
uint8_t vl53l1_tuningparm_hist_algo_select;
uint8_t vl53l1_tuningparm_hist_target_order;
uint8_t vl53l1_tuningparm_hist_filter_woi_0;
uint8_t vl53l1_tuningparm_hist_filter_woi_1;
uint8_t vl53l1_tuningparm_hist_amb_est_method;
uint8_t vl53l1_tuningparm_hist_amb_thresh_sigma_0;
uint8_t vl53l1_tuningparm_hist_amb_thresh_sigma_1;
int32_t vl53l1_tuningparm_hist_min_amb_thresh_events;
uint16_t vl53l1_tuningparm_hist_amb_events_scaler;
uint16_t vl53l1_tuningparm_hist_noise_threshold;
int32_t vl53l1_tuningparm_hist_signal_total_events_limit;
uint8_t vl53l1_tuningparm_hist_sigma_est_ref_mm;
uint16_t vl53l1_tuningparm_hist_sigma_thresh_mm;
uint16_t vl53l1_tuningparm_hist_gain_factor;
uint8_t vl53l1_tuningparm_consistency_hist_phase_tolerance;
uint16_t vl53l1_tuningparm_consistency_hist_min_max_tolerance_mm;
uint8_t vl53l1_tuningparm_consistency_hist_event_sigma;
uint16_t vl53l1_tuningparm_consistency_hist_event_sigma_min_spad_limit;
uint8_t vl53l1_tuningparm_initial_phase_rtn_histo_long_range;
uint8_t vl53l1_tuningparm_initial_phase_rtn_histo_med_range;
uint8_t vl53l1_tuningparm_initial_phase_rtn_histo_short_range;
uint8_t vl53l1_tuningparm_initial_phase_ref_histo_long_range;
uint8_t vl53l1_tuningparm_initial_phase_ref_histo_med_range;
uint8_t vl53l1_tuningparm_initial_phase_ref_histo_short_range;
int16_t vl53l1_tuningparm_xtalk_detect_min_valid_range_mm;
int16_t vl53l1_tuningparm_xtalk_detect_max_valid_range_mm;
uint16_t vl53l1_tuningparm_xtalk_detect_max_sigma_mm;
uint16_t vl53l1_tuningparm_xtalk_detect_min_max_tolerance;
uint16_t vl53l1_tuningparm_xtalk_detect_max_valid_rate_kcps;
uint8_t vl53l1_tuningparm_xtalk_detect_event_sigma;
int16_t vl53l1_tuningparm_hist_xtalk_margin_kcps;
uint8_t vl53l1_tuningparm_consistency_lite_phase_tolerance;
uint8_t vl53l1_tuningparm_phasecal_target;
uint16_t vl53l1_tuningparm_lite_cal_repeat_rate;
uint16_t vl53l1_tuningparm_lite_ranging_gain_factor;
uint8_t vl53l1_tuningparm_lite_min_clip_mm;
uint16_t vl53l1_tuningparm_lite_long_sigma_thresh_mm;
uint16_t vl53l1_tuningparm_lite_med_sigma_thresh_mm;
uint16_t vl53l1_tuningparm_lite_short_sigma_thresh_mm;
uint16_t vl53l1_tuningparm_lite_long_min_count_rate_rtn_mcps;
uint16_t vl53l1_tuningparm_lite_med_min_count_rate_rtn_mcps;
uint16_t vl53l1_tuningparm_lite_short_min_count_rate_rtn_mcps;
uint8_t vl53l1_tuningparm_lite_sigma_est_pulse_width;
uint8_t vl53l1_tuningparm_lite_sigma_est_amb_width_ns;
uint8_t vl53l1_tuningparm_lite_sigma_ref_mm;
uint8_t vl53l1_tuningparm_lite_rit_mult;
uint8_t vl53l1_tuningparm_lite_seed_config;
uint8_t vl53l1_tuningparm_lite_quantifier;
uint8_t vl53l1_tuningparm_lite_first_order_select;
int16_t vl53l1_tuningparm_lite_xtalk_margin_kcps;
uint8_t vl53l1_tuningparm_initial_phase_rtn_lite_long_range;
uint8_t vl53l1_tuningparm_initial_phase_rtn_lite_med_range;
uint8_t vl53l1_tuningparm_initial_phase_rtn_lite_short_range;
uint8_t vl53l1_tuningparm_initial_phase_ref_lite_long_range;
uint8_t vl53l1_tuningparm_initial_phase_ref_lite_med_range;
uint8_t vl53l1_tuningparm_initial_phase_ref_lite_short_range;
uint8_t vl53l1_tuningparm_timed_seed_config;
uint8_t vl53l1_tuningparm_dmax_cfg_signal_thresh_sigma;
uint16_t vl53l1_tuningparm_dmax_cfg_reflectance_array_0;
uint16_t vl53l1_tuningparm_dmax_cfg_reflectance_array_1;
uint16_t vl53l1_tuningparm_dmax_cfg_reflectance_array_2;
uint16_t vl53l1_tuningparm_dmax_cfg_reflectance_array_3;
uint16_t vl53l1_tuningparm_dmax_cfg_reflectance_array_4;
uint8_t vl53l1_tuningparm_vhv_loopbound;
uint8_t vl53l1_tuningparm_refspadchar_device_test_mode;
uint8_t vl53l1_tuningparm_refspadchar_vcsel_period;
uint32_t vl53l1_tuningparm_refspadchar_phasecal_timeout_us;
uint16_t vl53l1_tuningparm_refspadchar_target_count_rate_mcps;
uint16_t vl53l1_tuningparm_refspadchar_min_countrate_limit_mcps;
uint16_t vl53l1_tuningparm_refspadchar_max_countrate_limit_mcps;
uint8_t vl53l1_tuningparm_xtalk_extract_num_of_samples;
int16_t vl53l1_tuningparm_xtalk_extract_min_filter_thresh_mm;
int16_t vl53l1_tuningparm_xtalk_extract_max_filter_thresh_mm;
uint16_t vl53l1_tuningparm_xtalk_extract_dss_rate_mcps;
uint32_t vl53l1_tuningparm_xtalk_extract_phasecal_timeout_us;
uint16_t vl53l1_tuningparm_xtalk_extract_max_valid_rate_kcps;
uint16_t vl53l1_tuningparm_xtalk_extract_sigma_threshold_mm;
uint32_t vl53l1_tuningparm_xtalk_extract_dss_timeout_us;
uint32_t vl53l1_tuningparm_xtalk_extract_bin_timeout_us;
uint16_t vl53l1_tuningparm_offset_cal_dss_rate_mcps;
uint32_t vl53l1_tuningparm_offset_cal_phasecal_timeout_us;
uint32_t vl53l1_tuningparm_offset_cal_mm_timeout_us;
uint32_t vl53l1_tuningparm_offset_cal_range_timeout_us;
uint8_t vl53l1_tuningparm_offset_cal_pre_samples;
uint8_t vl53l1_tuningparm_offset_cal_mm1_samples;
uint8_t vl53l1_tuningparm_offset_cal_mm2_samples;
uint16_t vl53l1_tuningparm_zone_cal_dss_rate_mcps;
uint32_t vl53l1_tuningparm_zone_cal_phasecal_timeout_us;
uint32_t vl53l1_tuningparm_zone_cal_dss_timeout_us;
uint16_t vl53l1_tuningparm_zone_cal_phasecal_num_samples;
uint32_t vl53l1_tuningparm_zone_cal_range_timeout_us;
uint16_t vl53l1_tuningparm_zone_cal_zone_num_samples;
uint8_t vl53l1_tuningparm_spadmap_vcsel_period;
uint8_t vl53l1_tuningparm_spadmap_vcsel_start;
uint16_t vl53l1_tuningparm_spadmap_rate_limit_mcps;
uint16_t vl53l1_tuningparm_lite_dss_config_target_total_rate_mcps;
uint16_t vl53l1_tuningparm_ranging_dss_config_target_total_rate_mcps;
uint16_t vl53l1_tuningparm_mz_dss_config_target_total_rate_mcps;
uint16_t vl53l1_tuningparm_timed_dss_config_target_total_rate_mcps;
uint32_t vl53l1_tuningparm_lite_phasecal_config_timeout_us;
uint32_t vl53l1_tuningparm_ranging_long_phasecal_config_timeout_us;
uint32_t vl53l1_tuningparm_ranging_med_phasecal_config_timeout_us;
uint32_t vl53l1_tuningparm_ranging_short_phasecal_config_timeout_us;
uint32_t vl53l1_tuningparm_mz_long_phasecal_config_timeout_us;
uint32_t vl53l1_tuningparm_mz_med_phasecal_config_timeout_us;
uint32_t vl53l1_tuningparm_mz_short_phasecal_config_timeout_us;
uint32_t vl53l1_tuningparm_timed_phasecal_config_timeout_us;
uint32_t vl53l1_tuningparm_lite_mm_config_timeout_us;
uint32_t vl53l1_tuningparm_ranging_mm_config_timeout_us;
uint32_t vl53l1_tuningparm_mz_mm_config_timeout_us;
uint32_t vl53l1_tuningparm_timed_mm_config_timeout_us;
uint32_t vl53l1_tuningparm_lite_range_config_timeout_us;
uint32_t vl53l1_tuningparm_ranging_range_config_timeout_us;
uint32_t vl53l1_tuningparm_mz_range_config_timeout_us;
uint32_t vl53l1_tuningparm_timed_range_config_timeout_us;
uint16_t vl53l1_tuningparm_dynxtalk_smudge_margin;
uint32_t vl53l1_tuningparm_dynxtalk_noise_margin;
uint32_t vl53l1_tuningparm_dynxtalk_xtalk_offset_limit;
uint8_t vl53l1_tuningparm_dynxtalk_xtalk_offset_limit_hi;
uint32_t vl53l1_tuningparm_dynxtalk_sample_limit;
uint32_t vl53l1_tuningparm_dynxtalk_single_xtalk_delta;
uint32_t vl53l1_tuningparm_dynxtalk_averaged_xtalk_delta;
uint32_t vl53l1_tuningparm_dynxtalk_clip_limit;
uint8_t vl53l1_tuningparm_dynxtalk_scaler_calc_method;
int16_t vl53l1_tuningparm_dynxtalk_xgradient_scaler;
int16_t vl53l1_tuningparm_dynxtalk_ygradient_scaler;
uint8_t vl53l1_tuningparm_dynxtalk_user_scaler_set;
uint8_t vl53l1_tuningparm_dynxtalk_smudge_cor_single_apply;
uint32_t vl53l1_tuningparm_dynxtalk_xtalk_amb_threshold;
uint32_t vl53l1_tuningparm_dynxtalk_nodetect_amb_threshold_kcps;
uint32_t vl53l1_tuningparm_dynxtalk_nodetect_sample_limit;
uint32_t vl53l1_tuningparm_dynxtalk_nodetect_xtalk_offset_kcps;
uint16_t vl53l1_tuningparm_dynxtalk_nodetect_min_range_mm;
uint8_t vl53l1_tuningparm_lowpowerauto_vhv_loop_bound;
uint32_t vl53l1_tuningparm_lowpowerauto_mm_config_timeout_us;
uint32_t vl53l1_tuningparm_lowpowerauto_range_config_timeout_us;
uint16_t vl53l1_tuningparm_very_short_dss_rate_mcps;
uint32_t vl53l1_tuningparm_phasecal_patch_power;
} VL53L1_tuning_parameters_t;
typedef struct {
uint16_t target_reflectance_for_dmax[VL53L1_MAX_AMBIENT_DMAX_VALUES];
} VL53L1_dmax_reflectance_array_t;
typedef struct {
uint8_t spad_type;
uint16_t VL53L1_p_023;
uint16_t rate_data[VL53L1_NO_OF_SPAD_ENABLES];
uint16_t no_of_values;
uint8_t fractional_bits;
uint8_t error_status;
} VL53L1_spad_rate_data_t;
typedef struct {
VL53L1_DevicePresetModes preset_mode;
VL53L1_DeviceZonePreset zone_preset;
VL53L1_DeviceMeasurementModes measurement_mode;
VL53L1_OffsetCalibrationMode offset_calibration_mode;
VL53L1_OffsetCorrectionMode offset_correction_mode;
VL53L1_DeviceDmaxMode dmax_mode;
uint32_t phasecal_config_timeout_us;
uint32_t mm_config_timeout_us;
uint32_t range_config_timeout_us;
uint32_t inter_measurement_period_ms;
uint16_t dss_config__target_total_rate_mcps;
VL53L1_histogram_bin_data_t VL53L1_p_010;
} VL53L1_additional_data_t;
#define SUPPRESS_UNUSED_WARNING(x) \
((void) (x))
#define IGNORE_STATUS(__FUNCTION_ID__, __ERROR_STATUS_CHECK__, __STATUS__) \
do { \
DISABLE_WARNINGS(); \
if (__FUNCTION_ID__) { \
if (__STATUS__ == __ERROR_STATUS_CHECK__) { \
__STATUS__ = VL53L1_ERROR_NONE; \
WARN_OVERRIDE_STATUS(__FUNCTION_ID__); \
} \
} \
ENABLE_WARNINGS(); \
} \
while (0)
#define VL53L1_COPYSTRING(str, ...) \
(strncpy(str, ##__VA_ARGS__, VL53L1_MAX_STRING_LENGTH-1))
#ifdef __cplusplus
}
#endif
#endif