ST
Library for use with VL53L1X, intended to represent the Proximity sensor expansion board with the same name.
Dependencies: VL53L1X_mbed
Dependents: HelloWorld_53L1A1 VL53L1A1_Simple_Ranging_With_One_Device VL53L1A1_Simple_Ranging_With_All_Devices VL53L1X_Ranging_With_Multiple_Devices_MbedOS ... more
Diff: Components/VL53L0X/vl53l0x_class.h
- Revision:
- 0:c523920bcc09
- Child:
- 2:58b5e9097aa3
- Child:
- 4:4e1576541eed
diff -r 000000000000 -r c523920bcc09 Components/VL53L0X/vl53l0x_class.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Components/VL53L0X/vl53l0x_class.h Mon Nov 28 11:25:33 2016 +0000
@@ -0,0 +1,1391 @@
+/*******************************************************************************
+ Copyright © 2016, STMicroelectronics International N.V.
+ All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+ NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+ IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+ DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+
+#ifndef __VL53L0X_CLASS_H
+#define __VL53L0X_CLASS_H
+
+
+#ifdef _MSC_VER
+# ifdef VL53L0X_API_EXPORTS
+# define VL53L0X_API __declspec(dllexport)
+# else
+# define VL53L0X_API
+# endif
+#else
+# define VL53L0X_API
+#endif
+
+
+/* Includes ------------------------------------------------------------------*/
+#include "RangeSensor.h"
+#include "DevI2C.h"
+
+#include "vl53l0x_def.h"
+#include "vl53l0x_platform.h"
+#include "stmpe1600_class.h"
+
+
+/**
+ * The device model ID
+ */
+#define IDENTIFICATION_MODEL_ID 0x000
+
+
+#define STATUS_OK 0x00
+#define STATUS_FAIL 0x01
+
+
+#define VL53L0X_OsDelay(...) HAL_Delay(2)
+
+#ifdef USE_EMPTY_STRING
+ #define VL53L0X_STRING_DEVICE_INFO_NAME ""
+ #define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 ""
+ #define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 ""
+ #define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 ""
+ #define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 ""
+ #define VL53L0X_STRING_DEVICE_INFO_TYPE ""
+
+ /* PAL ERROR strings */
+ #define VL53L0X_STRING_ERROR_NONE ""
+ #define VL53L0X_STRING_ERROR_CALIBRATION_WARNING ""
+ #define VL53L0X_STRING_ERROR_MIN_CLIPPED ""
+ #define VL53L0X_STRING_ERROR_UNDEFINED ""
+ #define VL53L0X_STRING_ERROR_INVALID_PARAMS ""
+ #define VL53L0X_STRING_ERROR_NOT_SUPPORTED ""
+ #define VL53L0X_STRING_ERROR_RANGE_ERROR ""
+ #define VL53L0X_STRING_ERROR_TIME_OUT ""
+ #define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED ""
+ #define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL ""
+ #define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING ""
+ #define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ""
+ #define VL53L0X_STRING_ERROR_CONTROL_INTERFACE ""
+ #define VL53L0X_STRING_ERROR_INVALID_COMMAND ""
+ #define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO ""
+ #define VL53L0X_STRING_ERROR_REF_SPAD_INIT ""
+ #define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED ""
+
+ #define VL53L0X_STRING_UNKNOW_ERROR_CODE ""
+
+
+
+ /* Range Status */
+ #define VL53L0X_STRING_RANGESTATUS_NONE ""
+ #define VL53L0X_STRING_RANGESTATUS_RANGEVALID ""
+ #define VL53L0X_STRING_RANGESTATUS_SIGMA ""
+ #define VL53L0X_STRING_RANGESTATUS_SIGNAL ""
+ #define VL53L0X_STRING_RANGESTATUS_MINRANGE ""
+ #define VL53L0X_STRING_RANGESTATUS_PHASE ""
+ #define VL53L0X_STRING_RANGESTATUS_HW ""
+
+
+ /* Range Status */
+ #define VL53L0X_STRING_STATE_POWERDOWN ""
+ #define VL53L0X_STRING_STATE_WAIT_STATICINIT ""
+ #define VL53L0X_STRING_STATE_STANDBY ""
+ #define VL53L0X_STRING_STATE_IDLE ""
+ #define VL53L0X_STRING_STATE_RUNNING ""
+ #define VL53L0X_STRING_STATE_UNKNOWN ""
+ #define VL53L0X_STRING_STATE_ERROR ""
+
+
+ /* Device Specific */
+ #define VL53L0X_STRING_DEVICEERROR_NONE ""
+ #define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ""
+ #define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ""
+ #define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND ""
+ #define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET ""
+ #define VL53L0X_STRING_DEVICEERROR_SNRCHECK ""
+ #define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK ""
+ #define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK ""
+ #define VL53L0X_STRING_DEVICEERROR_TCC ""
+ #define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY ""
+ #define VL53L0X_STRING_DEVICEERROR_MINCLIP ""
+ #define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE ""
+ #define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW ""
+ #define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW ""
+ #define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD ""
+ #define VL53L0X_STRING_DEVICEERROR_UNKNOWN ""
+
+ /* Check Enable */
+ #define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE ""
+ #define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE ""
+ #define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP ""
+ #define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD ""
+
+ /* Sequence Step */
+ #define VL53L0X_STRING_SEQUENCESTEP_TCC ""
+ #define VL53L0X_STRING_SEQUENCESTEP_DSS ""
+ #define VL53L0X_STRING_SEQUENCESTEP_MSRC ""
+ #define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE ""
+ #define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE ""
+#else
+ #define VL53L0X_STRING_DEVICE_INFO_NAME "VL53L0X cut1.0"
+ #define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 "VL53L0X TS0"
+ #define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 "VL53L0X TS1"
+ #define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 "VL53L0X TS2"
+ #define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 "VL53L0X ES1 or later"
+ #define VL53L0X_STRING_DEVICE_INFO_TYPE "VL53L0X"
+
+ /* PAL ERROR strings */
+ #define VL53L0X_STRING_ERROR_NONE \
+ "No Error"
+ #define VL53L0X_STRING_ERROR_CALIBRATION_WARNING \
+ "Calibration Warning Error"
+ #define VL53L0X_STRING_ERROR_MIN_CLIPPED \
+ "Min clipped error"
+ #define VL53L0X_STRING_ERROR_UNDEFINED \
+ "Undefined error"
+ #define VL53L0X_STRING_ERROR_INVALID_PARAMS \
+ "Invalid parameters error"
+ #define VL53L0X_STRING_ERROR_NOT_SUPPORTED \
+ "Not supported error"
+ #define VL53L0X_STRING_ERROR_RANGE_ERROR \
+ "Range error"
+ #define VL53L0X_STRING_ERROR_TIME_OUT \
+ "Time out error"
+ #define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED \
+ "Mode not supported error"
+ #define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL \
+ "Buffer too small"
+ #define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING \
+ "GPIO not existing"
+ #define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \
+ "GPIO funct not supported"
+ #define VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED \
+ "Interrupt not Cleared"
+ #define VL53L0X_STRING_ERROR_CONTROL_INTERFACE \
+ "Control Interface Error"
+ #define VL53L0X_STRING_ERROR_INVALID_COMMAND \
+ "Invalid Command Error"
+ #define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO \
+ "Division by zero Error"
+ #define VL53L0X_STRING_ERROR_REF_SPAD_INIT \
+ "Reference Spad Init Error"
+ #define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED \
+ "Not implemented error"
+
+ #define VL53L0X_STRING_UNKNOW_ERROR_CODE \
+ "Unknown Error Code"
+
+
+
+ /* Range Status */
+ #define VL53L0X_STRING_RANGESTATUS_NONE "No Update"
+ #define VL53L0X_STRING_RANGESTATUS_RANGEVALID "Range Valid"
+ #define VL53L0X_STRING_RANGESTATUS_SIGMA "Sigma Fail"
+ #define VL53L0X_STRING_RANGESTATUS_SIGNAL "Signal Fail"
+ #define VL53L0X_STRING_RANGESTATUS_MINRANGE "Min Range Fail"
+ #define VL53L0X_STRING_RANGESTATUS_PHASE "Phase Fail"
+ #define VL53L0X_STRING_RANGESTATUS_HW "Hardware Fail"
+
+
+ /* Range Status */
+ #define VL53L0X_STRING_STATE_POWERDOWN "POWERDOWN State"
+ #define VL53L0X_STRING_STATE_WAIT_STATICINIT \
+ "Wait for staticinit State"
+ #define VL53L0X_STRING_STATE_STANDBY "STANDBY State"
+ #define VL53L0X_STRING_STATE_IDLE "IDLE State"
+ #define VL53L0X_STRING_STATE_RUNNING "RUNNING State"
+ #define VL53L0X_STRING_STATE_UNKNOWN "UNKNOWN State"
+ #define VL53L0X_STRING_STATE_ERROR "ERROR State"
+
+
+ /* Device Specific */
+ #define VL53L0X_STRING_DEVICEERROR_NONE "No Update"
+ #define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \
+ "VCSEL Continuity Test Failure"
+ #define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \
+ "VCSEL Watchdog Test Failure"
+ #define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND \
+ "No VHV Value found"
+ #define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET \
+ "MSRC No Target Error"
+ #define VL53L0X_STRING_DEVICEERROR_SNRCHECK \
+ "SNR Check Exit"
+ #define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK \
+ "Range Phase Check Error"
+ #define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK \
+ "Sigma Threshold Check Error"
+ #define VL53L0X_STRING_DEVICEERROR_TCC \
+ "TCC Error"
+ #define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY \
+ "Phase Consistency Error"
+ #define VL53L0X_STRING_DEVICEERROR_MINCLIP \
+ "Min Clip Error"
+ #define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE \
+ "Range Complete"
+ #define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW \
+ "Range Algo Underflow Error"
+ #define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW \
+ "Range Algo Overlow Error"
+ #define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD \
+ "Range Ignore Threshold Error"
+ #define VL53L0X_STRING_DEVICEERROR_UNKNOWN \
+ "Unknown error code"
+
+ /* Check Enable */
+ #define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE \
+ "SIGMA FINAL RANGE"
+ #define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE \
+ "SIGNAL RATE FINAL RANGE"
+ #define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP \
+ "SIGNAL REF CLIP"
+ #define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD \
+ "RANGE IGNORE THRESHOLD"
+ #define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC \
+ "SIGNAL RATE MSRC"
+ #define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE \
+ "SIGNAL RATE PRE RANGE"
+
+ /* Sequence Step */
+ #define VL53L0X_STRING_SEQUENCESTEP_TCC "TCC"
+ #define VL53L0X_STRING_SEQUENCESTEP_DSS "DSS"
+ #define VL53L0X_STRING_SEQUENCESTEP_MSRC "MSRC"
+ #define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE "PRE RANGE"
+ #define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE "FINAL RANGE"
+#endif /* USE_EMPTY_STRING */
+
+
+
+
+
+/* sensor operating modes */
+typedef enum
+{
+ range_single_shot_polling=1,
+ range_continuous_polling,
+ range_continuous_interrupt,
+ range_continuous_polling_low_threshold,
+ range_continuous_polling_high_threshold,
+ range_continuous_polling_out_of_window,
+ range_continuous_interrupt_low_threshold,
+ range_continuous_interrupt_high_threshold,
+ range_continuous_interrupt_out_of_window,
+}OperatingMode;
+
+/** default device address */
+#define DEFAULT_DEVICE_ADDRESS 0x52 /* (8-bit) */
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a VL53L0 sensor component
+ */
+class VL53L0X : public RangeSensor
+{
+ public:
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] &pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
+ * @param[in] DevAddr device address, 0x29 by default
+ */
+ VL53L0X(DevI2C &i2c, DigitalOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), dev_i2c(i2c), gpio0(&pin)
+ {
+ MyDevice.I2cDevAddr=DevAddr;
+ MyDevice.comms_type=1; // VL53L0X_COMMS_I2C
+ MyDevice.comms_speed_khz=400;
+ Device=&MyDevice;
+ expgpio0=NULL;
+ if (pin_gpio1 != NC) { gpio1Int = new InterruptIn(pin_gpio1); }
+ else { gpio1Int = NULL; }
+ }
+
+ /** Constructor 2 (STMPE1600DigiOut)
+ * @param[in] i2c device I2C to be used for communication
+ * @param[in] &pin Gpio Expander STMPE1600DigiOut pin to be used as component GPIO_0 CE
+ * @param[in] pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
+ * @param[in] device address, 0x29 by default
+ */
+ VL53L0X(DevI2C &i2c, STMPE1600DigiOut &pin, PinName pin_gpio1, uint8_t DevAddr=DEFAULT_DEVICE_ADDRESS) : RangeSensor(), dev_i2c(i2c), expgpio0(&pin)
+ {
+ MyDevice.I2cDevAddr=DevAddr;
+ MyDevice.comms_type=1; // VL53L0X_COMMS_I2C
+ MyDevice.comms_speed_khz=400;
+ Device=&MyDevice;
+ gpio0=NULL;
+ if (pin_gpio1 != NC) { gpio1Int = new InterruptIn(pin_gpio1); }
+ else { gpio1Int = NULL; }
+ }
+
+ /** Destructor
+ */
+ virtual ~VL53L0X(){
+ if (gpio1Int != NULL) delete gpio1Int;
+ }
+ /* warning: VL53L0X class inherits from GenericSensor, RangeSensor and LightSensor, that haven`t a destructor.
+ The warning should request to introduce a virtual destructor to make sure to delete the object */
+
+ /*** Interface Methods ***/
+ /*** High level API ***/
+ /**
+ * @brief PowerOn the sensor
+ * @return void
+ */
+ /* turns on the sensor */
+ void VL53L0X_On(void)
+ {
+ if (gpio0)
+ *gpio0 = 1;
+ else if (expgpio0)
+ *expgpio0 = 1;
+ }
+
+ /**
+ * @brief PowerOff the sensor
+ * @return void
+ */
+ /* turns off the sensor */
+ void VL53L0X_Off(void)
+ {
+ if (gpio0)
+ *gpio0 = 0;
+ else if (expgpio0)
+ *expgpio0 = 0;
+ }
+
+ /**
+ * @brief Initialize the sensor with default values
+ * @return 0 on Success
+ */
+ int InitSensor(uint8_t NewAddr);
+
+ int RawInitSensor(void);
+ int initDevice(VL53L0X_DEV Dev);
+ int setLongRangePresets(VL53L0X_DEV Dev);
+ int DoRanging(VL53L0X_Dev_t *pMyDevice);
+
+
+
+
+ /**
+ * @brief Start the measure indicated by operating mode
+ * @param[in] operating_mode specifies requested measure
+ * @param[in] fptr specifies call back function must be !NULL in case of interrupt measure
+ * @return 0 on Success
+ */
+ int StartMeasurement(OperatingMode operating_mode, void (*fptr)(void));
+
+ /**
+ * @brief Get results for the measure indicated by operating mode
+ * @param[in] operating_mode specifies requested measure results
+ * @param[out] Data pointer to the MeasureData_t structure to read data in to
+ * @return 0 on Success
+ */
+ int GetMeasurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);
+
+ /**
+ * @brief Stop the currently running measure indicate by operating_mode
+ * @param[in] operating_mode specifies requested measure to stop
+ * @return 0 on Success
+ */
+ int StopMeasurement(OperatingMode operating_mode);
+
+ /**
+ * @brief Interrupt handling func to be called by user after an INT is occourred
+ * @param[in] opeating_mode indicating the in progress measure
+ * @param[out] Data pointer to the MeasureData_t structure to read data in to
+ * @return 0 on Success
+ */
+ int HandleIRQ(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);
+
+ /**
+ * @brief Enable interrupt measure IRQ
+ * @return 0 on Success
+ */
+ void EnableInterruptMeasureDetectionIRQ(void)
+ {
+ if (gpio1Int != NULL) gpio1Int->enable_irq();
+ }
+
+ /**
+ * @brief Disable interrupt measure IRQ
+ * @return 0 on Success
+ */
+ void DisableInterruptMeasureDetectionIRQ(void)
+ {
+ if (gpio1Int != NULL) gpio1Int->disable_irq();
+ }
+ /*** End High level API ***/
+
+ /**
+ * @brief Attach a function to call when an interrupt is detected, i.e. measurement is ready
+ * @param[in] fptr pointer to call back function to be called whenever an interrupt occours
+ * @return 0 on Success
+ */
+ void AttachInterruptMeasureDetectionIRQ(void (*fptr)(void))
+ {
+ if (gpio1Int != NULL) gpio1Int->rise(fptr);
+ }
+
+ /**
+ * @brief Check the sensor presence
+ * @return 1 when device is present
+ */
+ unsigned Present()
+ {
+// return Device->Present;
+ return 1;
+ }
+
+ /** Wrapper functions */
+/** @defgroup api_init Init functions
+ * @brief API init functions
+ * @ingroup api_hl
+ * @{
+ */
+/**
+ * @brief Wait for device booted after chip enable (hardware standby)
+ * @par Function Description
+ * After Chip enable Application you can also simply wait at least 1ms to ensure device is ready
+ * @warning After device chip enable (gpio0) de-asserted user must wait gpio1 to get asserted (hardware standby).
+ * or wait at least 400usec prior to do any low level access or api call .
+ *
+ * This function implements polling for standby but you must ensure 400usec from chip enable passed\n
+ * @warning if device get prepared @a VL53L0X_Prepare() re-using these function can hold indefinitely\n
+ *
+ * @param void
+ * @return 0 on success
+ */
+ int WaitDeviceBooted()
+ {
+ return VL53L0X_WaitDeviceBooted(Device);
+// return 1;
+ }
+
+/**
+ *
+ * @brief One time device initialization
+ *
+ * To be called once and only once after device is brought out of reset (Chip enable) and booted see @a VL6180x_WaitDeviceBooted()
+ *
+ * @par Function Description
+ * When not used after a fresh device "power up" or reset, it may return @a #CALIBRATION_WARNING
+ * meaning wrong calibration data may have been fetched from device that can result in ranging offset error\n
+ * If application cannot execute device reset or need to run VL6180x_InitData multiple time
+ * then it must ensure proper offset calibration saving and restore on its own
+ * by using @a VL6180x_GetOffsetCalibrationData() on first power up and then @a VL6180x_SetOffsetCalibrationData() all all subsequent init
+ *
+ * @param void
+ * @return 0 on success, @a #CALIBRATION_WARNING if failed
+ */
+ virtual int Init()
+ {
+ return VL53L0X_DataInit(&MyDevice);
+// return VL53L0X_DataInit(Device);
+// return 1;
+ }
+
+/**
+ * @brief Configure GPIO1 function and set polarity.
+ * @par Function Description
+ * To be used prior to arm single shot measure or start continuous mode.
+ *
+ * The function uses @a VL6180x_SetupGPIOx() for setting gpio 1.
+ * @warning changing polarity can generate a spurious interrupt on pins.
+ * It sets an interrupt flags condition that must be cleared to avoid polling hangs. \n
+ * It is safe to run VL6180x_ClearAllInterrupt() just after.
+ *
+ * @param IntFunction The interrupt functionality to use one of :\n
+ * @a #GPIOx_SELECT_OFF \n
+ * @a #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT
+ * @param ActiveHigh The interrupt line polarity see ::IntrPol_e
+ * use @a #INTR_POL_LOW (falling edge) or @a #INTR_POL_HIGH (rising edge)
+ * @return 0 on success
+ */
+ int SetupGPIO1(uint8_t InitFunction, int ActiveHigh)
+ {
+// return VL6180x_SetupGPIO1(Device, InitFunction, ActiveHigh);
+ return 1;
+ }
+
+/**
+ * @brief Prepare device for operation
+ * @par Function Description
+ * Does static initialization and reprogram common default settings \n
+ * Device is prepared for new measure, ready single shot ranging or ALS typical polling operation\n
+ * After prepare user can : \n
+ * @li Call other API function to set other settings\n
+ * @li Configure the interrupt pins, etc... \n
+ * @li Then start ranging or ALS operations in single shot or continuous mode
+ *
+ * @param void
+ * @return 0 on success
+ */
+ int Prepare()
+ {
+// return VL6180x_Prepare(Device);
+ // taken from rangingTest() in vl53l0x_SingleRanging_Example.c
+ VL53L0X_Error Status = VL53L0X_ERROR_NONE;
+ uint32_t refSpadCount;
+ uint8_t isApertureSpads;
+ uint8_t VhvSettings;
+ uint8_t PhaseCal;
+
+ if(Status == VL53L0X_ERROR_NONE)
+ {
+ printf ("Call of VL53L0X_StaticInit\n");
+ Status = VL53L0X_StaticInit(Device); // Device Initialization
+ }
+
+ if(Status == VL53L0X_ERROR_NONE)
+ {
+ printf ("Call of VL53L0X_PerformRefCalibration\n");
+ Status = VL53L0X_PerformRefCalibration(Device,
+ &VhvSettings, &PhaseCal); // Device Initialization
+ }
+
+ if(Status == VL53L0X_ERROR_NONE)
+ {
+ printf ("Call of VL53L0X_PerformRefSpadManagement\n");
+ Status = VL53L0X_PerformRefSpadManagement(Device,
+ &refSpadCount, &isApertureSpads); // Device Initialization
+// printf ("refSpadCount = %d, isApertureSpads = %d\n", refSpadCount, isApertureSpads);
+ }
+
+ return Status;
+ }
+
+ /**
+ * @brief Start continuous ranging mode
+ *
+ * @details End user should ensure device is in idle state and not already running
+ * @return 0 on success
+ */
+ int RangeStartContinuousMode()
+ {
+// return VL6180x_RangeStartContinuousMode(Device);
+ return 1;
+ }
+
+/**
+ * @brief Start single shot ranging measure
+ *
+ * @details End user should ensure device is in idle state and not already running
+ * @return 0 on success
+ */
+ int RangeStartSingleShot()
+ {
+// return VL6180x_RangeStartSingleShot(Device);
+ return 1;
+ }
+
+/**
+ * @brief Set maximum convergence time
+ *
+ * @par Function Description
+ * Setting a low convergence time can impact maximal detectable distance.
+ * Refer to VL6180x Datasheet Table 7 : Typical range convergence time.
+ * A typical value for up to x3 scaling is 50 ms
+ *
+ * @param MaxConTime_msec
+ * @return 0 on success. <0 on error. >0 for calibration warning status
+ */
+ int RangeSetMaxConvergenceTime(uint8_t MaxConTime_msec)
+ {
+// return VL6180x_RangeSetMaxConvergenceTime(Device, MaxConTime_msec);
+ return 1;
+ }
+
+/**
+ * @brief Single shot Range measurement in polling mode.
+ *
+ * @par Function Description
+ * Kick off a new single shot range then wait for ready to retrieve it by polling interrupt status \n
+ * Ranging must be prepared by a first call to @a VL6180x_Prepare() and it is safer to clear very first poll call \n
+ * This function reference VL6180x_PollDelay(dev) porting macro/call on each polling loop,
+ * but PollDelay(dev) may never be called if measure in ready on first poll loop \n
+ * Should not be use in continuous mode operation as it will stop it and cause stop/start misbehaviour \n
+ * \n This function clears Range Interrupt status , but not error one. For that uses @a VL6180x_ClearErrorInterrupt() \n
+ * This range error is not related VL6180x_RangeData_t::errorStatus that refer measure status \n
+ *
+ * @param pRangeData Will be populated with the result ranging data @a VL6180x_RangeData_t
+ * @return 0 on success , @a #RANGE_ERROR if device reports an error case in it status (not cleared) use
+ *
+ * \sa ::VL6180x_RangeData_t
+ */
+ int RangePollMeasurement(VL53L0X_RangingMeasurementData_t *pRangeData)
+ {
+// return VL6180x_RangePollMeasurement(Device, pRangeData);
+ return 1;
+ }
+
+/**
+ * @brief Check for measure readiness and get it if ready
+ *
+ * @par Function Description
+ * Using this function is an alternative to @a VL6180x_RangePollMeasurement() to avoid polling operation. This is suitable for applications
+ * where host CPU is triggered on a interrupt (not from VL6180X) to perform ranging operation. In this scenario, we assume that the very first ranging
+ * operation is triggered by a call to @a VL6180x_RangeStartSingleShot(). Then, host CPU regularly calls @a VL6180x_RangeGetMeasurementIfReady() to
+ * get a distance measure if ready. In case the distance is not ready, host may get it at the next call.\n
+ *
+ * @warning
+ * This function does not re-start a new measurement : this is up to the host CPU to do it.\n
+ * This function clears Range Interrupt for measure ready , but not error interrupts. For that, uses @a VL6180x_ClearErrorInterrupt() \n
+ *
+ * @param pRangeData Will be populated with the result ranging data if available
+ * @return 0 when measure is ready pRange data is updated (untouched when not ready), >0 for warning and @a #NOT_READY if measurement not yet ready, <0 for error @a #RANGE_ERROR if device report an error,
+ */
+ int RangeGetMeasurementIfReady(VL53L0X_RangingMeasurementData_t *pRangeData)
+ {
+// return VL6180x_RangeGetMeasurementIfReady(Device, pRangeData);
+ return 1;
+ }
+
+/**
+ * @brief Retrieve range measurements set from device
+ *
+ * @par Function Description
+ * The measurement is made of range_mm status and error code @a VL6180x_RangeData_t \n
+ * Based on configuration selected extra measures are included.
+ *
+ * @warning should not be used in continuous if wrap around filter is active \n
+ * Does not perform any wait nor check for result availability or validity.
+ *\sa VL6180x_RangeGetResult for "range only" measurement
+ *
+ * @param pRangeData Pointer to the data structure to fill up
+ * @return 0 on success
+ */
+ int RangeGetMeasurement(VL53L0X_RangingMeasurementData_t *pRangeData)
+ {
+// return VL6180x_RangeGetMeasurement(Device, pRangeData);
+ return 1;
+ }
+
+/**
+ * @brief Get ranging result and only that
+ *
+ * @par Function Description
+ * Unlike @a VL6180x_RangeGetMeasurement() this function only retrieves the range in millimeter \n
+ * It does any required up-scale translation\n
+ * It can be called after success status polling or in interrupt mode \n
+ * @warning these function is not doing wrap around filtering \n
+ * This function doesn't perform any data ready check!
+ *
+ * @param pRange_mm Pointer to range distance
+ * @return 0 on success
+ */
+ virtual int GetRange(int32_t *piData)
+ {
+// return VL6180x_RangeGetResult(Device, piData);
+ return 1;
+ }
+
+/**
+ * @brief Configure ranging interrupt reported to application
+ *
+ * @param ConfigGpioInt Select ranging report\n select one (and only one) of:\n
+ * @a #CONFIG_GPIO_INTERRUPT_DISABLED \n
+ * @a #CONFIG_GPIO_INTERRUPT_LEVEL_LOW \n
+ * @a #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH \n
+ * @a #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW \n
+ * @a #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY
+ * @return 0 on success
+ */
+ int RangeConfigInterrupt(uint8_t ConfigGpioInt)
+ {
+// return VL6180x_RangeConfigInterrupt(Device, ConfigGpioInt);
+ return 1;
+ }
+
+/**
+ * @brief Return ranging error interrupt status
+ *
+ * @par Function Description
+ * Appropriate Interrupt report must have been selected first by @a VL6180x_RangeConfigInterrupt() or @a VL6180x_Prepare() \n
+ *
+ * Can be used in polling loop to wait for a given ranging event or in interrupt to read the trigger \n
+ * Events triggers are : \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 (RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD|RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD)
+ * @a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY \n
+ *
+ * @sa IntrStatus_t
+ * @param pIntStatus Pointer to status variable to update
+ * @return 0 on success
+ */
+ int RangeGetInterruptStatus(uint8_t *pIntStatus)
+ {
+// return VL6180x_RangeGetInterruptStatus(Device, pIntStatus);
+ return 1;
+ }
+
+/**
+ * @brief Low level ranging and ALS register static settings (you should call @a VL6180x_Prepare() function instead)
+ *
+ * @return 0 on success
+ */
+ int StaticInit()
+ {
+// return VL6180x_StaticInit(Device);
+ return 1;
+ }
+
+/**
+ * @brief Wait for device to be ready (before a new ranging command can be issued by application)
+ * @param MaxLoop Max Number of i2c polling loop see @a #msec_2_i2cloop
+ * @return 0 on success. <0 when fail \n
+ * @ref VL6180x_ErrCode_t::TIME_OUT for time out \n
+ * @ref VL6180x_ErrCode_t::INVALID_PARAMS if MaxLop<1
+ */
+ int RangeWaitDeviceReady(int MaxLoop )
+ {
+// return VL6180x_RangeWaitDeviceReady(Device, MaxLoop);
+ return 1;
+ }
+
+/**
+ * @brief Program Inter measurement period (used only in continuous mode)
+ *
+ * @par Function Description
+ * When trying to set too long time, it returns #INVALID_PARAMS
+ *
+ * @param InterMeasTime_msec Requires inter-measurement time in msec
+ * @return 0 on success
+ */
+ int RangeSetInterMeasPeriod(uint32_t InterMeasTime_msec)
+ {
+// return VL6180x_RangeSetInterMeasPeriod(Device, InterMeasTime_msec);
+ return 1;
+ }
+
+/**
+ * @brief Set device ranging scaling factor
+ *
+ * @par Function Description
+ * The ranging scaling factor is applied on the raw distance measured by the device to increase operating ranging at the price of the precision.
+ * Changing the scaling factor when device is not in f/w standby state (free running) is not safe.
+ * It can be source of spurious interrupt, wrongly scaled range etc ...
+ * @warning __This function doesns't update high/low threshold and other programmed settings linked to scaling factor__.
+ * To ensure proper operation, threshold and scaling changes should be done following this procedure: \n
+ * @li Set Group hold : @a VL6180x_SetGroupParamHold() \n
+ * @li Get Threshold @a VL6180x_RangeGetThresholds() \n
+ * @li Change scaling : @a VL6180x_UpscaleSetScaling() \n
+ * @li Set Threshold : @a VL6180x_RangeSetThresholds() \n
+ * @li Unset Group Hold : @a VL6180x_SetGroupParamHold()
+ *
+ * @param scaling Scaling factor to apply (1,2 or 3)
+ * @return 0 on success when up-scale support is not configured it fail for any
+ * scaling than the one statically configured.
+ */
+ int UpscaleSetScaling(uint8_t scaling)
+ {
+// return VL6180x_UpscaleSetScaling(Device, scaling);
+ return 1;
+ }
+
+/**
+ * @brief Get current ranging scaling factor
+ *
+ * @return The current scaling factor
+ */
+ int UpscaleGetScaling()
+ {
+// return VL6180x_UpscaleGetScaling(Device);
+ return 1;
+ }
+
+/**
+ * @brief Get the maximal distance for actual scaling
+ * @par Function Description
+ * Do not use prior to @a VL6180x_Prepare() or at least @a VL6180x_InitData()
+ *
+ * Any range value more than the value returned by this function is to be considered as "no target detected"
+ * or "no target in detectable range" \n
+ * @warning The maximal distance depends on the scaling
+ *
+ * @return The maximal range limit for actual mode and scaling
+ */
+ uint16_t GetUpperLimit()
+ {
+// return VL6180x_GetUpperLimit(Device);
+ return 1;
+ }
+
+/**
+ * @brief Apply low and high ranging thresholds that are considered only in continuous mode
+ *
+ * @par Function Description
+ * This function programs low and high ranging thresholds that are considered in continuous mode :
+ * interrupt will be raised only when an object is detected at a distance inside this [low:high] range.
+ * The function takes care of applying current scaling factor if any.\n
+ * To be safe, in continuous operation, thresholds must be changed under "group parameter hold" cover.
+ * Group hold can be activated/deactivated directly in the function or externally (then set 0)
+ * using /a VL6180x_SetGroupParamHold() function.
+ *
+ * @param low Low threshold in mm
+ * @param high High threshold in mm
+ * @param SafeHold Use of group parameters hold to surround threshold programming.
+ * @return 0 On success
+ */
+ int RangeSetThresholds(uint16_t low, uint16_t high, int SafeHold)
+ {
+// return VL6180x_RangeSetThresholds(Device, low, high, SafeHold);
+ return 1;
+ }
+
+/**
+ * @brief Get scaled high and low threshold from device
+ *
+ * @par Function Description
+ * Due to scaling factor, the returned value may be different from what has been programmed first (precision lost).
+ * For instance VL6180x_RangeSetThresholds(dev,11,22) with scale 3
+ * will read back 9 ((11/3)x3) and 21 ((22/3)x3).
+ *
+ * @param low scaled low Threshold ptr can be NULL if not needed
+ * @param high scaled High Threshold ptr can be NULL if not needed
+ * @return 0 on success, return value is undefined if both low and high are NULL
+ * @warning return value is undefined if both low and high are NULL
+ */
+ int RangeGetThresholds(uint16_t *low, uint16_t *high)
+ {
+// return VL6180x_RangeGetThresholds(Device, low, high);
+ return 1;
+ }
+
+/**
+ * @brief Set ranging raw thresholds (scaling not considered so not recommended to use it)
+ *
+ * @param low raw low threshold set to raw register
+ * @param high raw high threshold set to raw register
+ * @return 0 on success
+ */
+ int RangeSetRawThresholds(uint8_t low, uint8_t high)
+ {
+// return VL6180x_RangeSetRawThresholds(Device, low, high);
+ return 1;
+ }
+
+/**
+ * @brief Set Early Convergence Estimate ratio
+ * @par Function Description
+ * For more information on ECE check datasheet
+ * @warning May return a calibration warning in some use cases
+ *
+ * @param FactorM ECE factor M in M/D
+ * @param FactorD ECE factor D in M/D
+ * @return 0 on success. <0 on error. >0 on warning
+ */
+ int RangeSetEceFactor(uint16_t FactorM, uint16_t FactorD)
+ {
+// return VL6180x_RangeSetEceFactor(Device, FactorM, FactorD);
+ return 1;
+ }
+
+/**
+ * @brief Set Early Convergence Estimate state (See #SYSRANGE_RANGE_CHECK_ENABLES register)
+ * @param enable State to be set 0=disabled, otherwise enabled
+ * @return 0 on success
+ */
+ int RangeSetEceState(int enable)
+ {
+// return VL6180x_RangeSetEceState(Device, enable);
+ return 1;
+ }
+
+/**
+ * @brief Set activation state of the wrap around filter
+ * @param state New activation state (0=off, otherwise on)
+ * @return 0 on success
+ */
+ int FilterSetState(int state)
+ {
+// return VL6180x_FilterSetState(Device, state);
+ return 1;
+ }
+
+/**
+ * Get activation state of the wrap around filter
+ * @return Filter enabled or not, when filter is not supported it always returns 0S
+ */
+ int FilterGetState()
+ {
+// return VL6180x_FilterGetState(Device);
+ return 1;
+ }
+
+/**
+ * @brief Set activation state of DMax computation
+ * @param state New activation state (0=off, otherwise on)
+ * @return 0 on success
+ */
+ int DMaxSetState(int state)
+ {
+// return VL6180x_DMaxSetState(Device, state);
+ return 1;
+ }
+
+/**
+ * Get activation state of DMax computation
+ * @return Filter enabled or not, when filter is not supported it always returns 0S
+ */
+ int DMaxGetState()
+ {
+// return VL6180x_DMaxGetState(Device);
+ return 1;
+ }
+
+/**
+ * @brief Set ranging mode and start/stop measure (use high level functions instead : @a VL6180x_RangeStartSingleShot() or @a VL6180x_RangeStartContinuousMode())
+ *
+ * @par Function Description
+ * When used outside scope of known polling single shot stopped state, \n
+ * user must ensure the device state is "idle" before to issue a new command.
+ *
+ * @param mode A combination of working mode (#MODE_SINGLESHOT or #MODE_CONTINUOUS) and start/stop condition (#MODE_START_STOP) \n
+ * @return 0 on success
+ */
+ int RangeSetSystemMode(uint8_t mode)
+ {
+// return VL6180x_RangeSetSystemMode(Device, mode);
+ return 1;
+ }
+
+/** @} */
+
+/** @defgroup api_ll_range_calibration Ranging calibration functions
+ * @brief Ranging calibration functions
+ * @ingroup api_ll
+ * @{
+ */
+/**
+ * @brief Get part to part calibration offset
+ *
+ * @par Function Description
+ * Should only be used after a successful call to @a VL6180x_InitData to backup device nvm value
+ *
+ * @return part to part calibration offset from device
+ */
+ int8_t GetOffsetCalibrationData()
+ {
+// return VL6180x_GetOffsetCalibrationData(Device);
+ return 1;
+ }
+
+/**
+ * Set or over-write part to part calibration offset
+ * \sa VL6180x_InitData(), VL6180x_GetOffsetCalibrationData()
+ * @param offset Offset
+ */
+ void SetOffsetCalibrationData(int8_t offset)
+ {
+// return VL6180x_SetOffsetCalibrationData(Device, offset);
+ return;
+ }
+
+/**
+ * @brief Set Cross talk compensation rate
+ *
+ * @par Function Description
+ * It programs register @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE
+ *
+ * @param Rate Compensation rate (9.7 fix point) see datasheet for details
+ * @return 0 on success
+ */
+ int SetXTalkCompensationRate(uint16_t Rate)
+ {
+// return VL6180x_SetXTalkCompensationRate(Device, Rate);
+ return 1;
+ }
+/** @} */
+
+/**
+ * @brief Set new device i2c address
+ *
+ * After completion the device will answer to the new address programmed.
+ *
+ * @sa AN4478: Using multiple VL6180X's in a single design
+ * @param NewAddr The new i2c address (7bit)
+ * @return 0 on success
+ */
+ int SetDeviceAddress(int NewAddr)
+ {
+ int status;
+
+ status=VL53L0X_SetDeviceAddress(Device, NewAddr);
+ if(!status)
+ Device->I2cDevAddr=NewAddr;
+ return status;
+
+// return 1;
+ }
+
+/**
+ * @brief Fully configure gpio 0/1 pin : polarity and functionality
+ *
+ * @param pin gpio pin 0 or 1
+ * @param IntFunction Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
+ * @param ActiveHigh Set active high polarity, or active low see @a ::IntrPol_e
+ * @return 0 on success
+ */
+ int SetupGPIOx(int pin, uint8_t IntFunction, int ActiveHigh)
+ {
+// return VL6180x_SetupGPIOx(Device, pin, IntFunction, ActiveHigh);
+ return 1;
+ }
+
+/**
+ * @brief Set interrupt pin polarity for the given GPIO
+ *
+ * @param pin Pin 0 or 1
+ * @param active_high select active high or low polarity using @ref IntrPol_e
+ * @return 0 on success
+ */
+ int SetGPIOxPolarity(int pin, int active_high)
+ {
+// return VL6180x_SetGPIOxPolarity(Device, pin, active_high);
+ return 1;
+ }
+
+/**
+ * Select interrupt functionality for the given GPIO
+ *
+ * @par Function Description
+ * Functionality refer to @a SYSTEM_MODE_GPIO0
+ *
+ * @param pin Pin to configure 0 or 1 (gpio0 or gpio1)\nNote that gpio0 is chip enable at power up !
+ * @param functionality Pin functionality : either #GPIOx_SELECT_OFF or #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT (refer to #SYSTEM_MODE_GPIO1 register definition)
+ * @return 0 on success
+ */
+ int SetGPIOxFunctionality(int pin, uint8_t functionality)
+ {
+// return VL6180x_SetGPIOxFunctionality(Device, pin, functionality);
+ return 1;
+ }
+
+/**
+ * #brief Disable and turn to Hi-Z gpio output pin
+ *
+ * @param pin The pin number to disable 0 or 1
+ * @return 0 on success
+ */
+ int DisableGPIOxOut(int pin)
+ {
+// return VL6180x_DisableGPIOxOut(Device, pin);
+ return 1;
+ }
+
+/** @} */
+
+/** @defgroup api_ll_intr Interrupts management functions
+ * @brief Interrupts management functions
+ * @ingroup api_ll
+ * @{
+ */
+
+/**
+ * @brief Get all interrupts cause
+ *
+ * @param status Ptr to interrupt status. You can use @a IntrStatus_t::val
+ * @return 0 on success
+ */
+ int GetInterruptStatus(uint8_t *status)
+ {
+// return VL6180x_GetInterruptStatus(Device, status);
+ return 1;
+ }
+
+/**
+ * @brief Clear given system interrupt condition
+ *
+ * @par Function Description
+ * Clear given interrupt cause by writing into register #SYSTEM_INTERRUPT_CLEAR register.
+ * @param dev The device
+ * @param IntClear Which interrupt source to clear. Use any combinations of #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR.
+ * @return 0 On success
+ */
+ int ClearInterrupt(uint8_t IntClear)
+ {
+// return VL6180x_ClearInterrupt(Device, IntClear );
+ return 1;
+ }
+
+/**
+ * @brief Clear error interrupt
+ *
+ * @param dev The device
+ * @return 0 On success
+ */
+ #define VL6180x_ClearErrorInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR)
+
+/**
+ * @brief Clear All interrupt causes (als+range+error)
+ *
+ * @param dev The device
+ * @return 0 On success
+ */
+#define VL6180x_ClearAllInterrupt(dev) VL6180x_ClearInterrupt(dev, INTERRUPT_CLEAR_ERROR|INTERRUPT_CLEAR_RANGING|INTERRUPT_CLEAR_ALS)
+
+
+ private:
+ /* api.h functions */
+ VL53L0X_Error VL53L0X_DataInit(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_GetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev, int32_t *pOffsetCalibrationDataMicroMeter);
+ VL53L0X_Error VL53L0X_SetOffsetCalibrationDataMicroMeter(VL53L0X_DEV Dev,
+ int32_t OffsetCalibrationDataMicroMeter);
+ VL53L0X_Error VL53L0X_GetDeviceParameters(VL53L0X_DEV Dev,
+ VL53L0X_DeviceParameters_t *pDeviceParameters);
+ VL53L0X_Error VL53L0X_GetDeviceMode(VL53L0X_DEV Dev,
+ VL53L0X_DeviceModes *pDeviceMode);
+ VL53L0X_Error VL53L0X_GetInterMeasurementPeriodMilliSeconds(VL53L0X_DEV Dev,
+ uint32_t *pInterMeasurementPeriodMilliSeconds);
+ VL53L0X_Error VL53L0X_GetXTalkCompensationRateMegaCps(VL53L0X_DEV Dev,
+ FixPoint1616_t *pXTalkCompensationRateMegaCps);
+ VL53L0X_Error VL53L0X_GetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+ FixPoint1616_t *pLimitCheckValue);
+ VL53L0X_Error VL53L0X_GetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+ uint8_t *pLimitCheckEnable);
+ VL53L0X_Error VL53L0X_GetWrapAroundCheckEnable(VL53L0X_DEV Dev,
+ uint8_t *pWrapAroundCheckEnable);
+ VL53L0X_Error VL53L0X_GetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev,
+ uint32_t *pMeasurementTimingBudgetMicroSeconds);
+ VL53L0X_Error VL53L0X_GetSequenceStepEnables(VL53L0X_DEV Dev,
+ VL53L0X_SchedulerSequenceSteps_t *pSchedulerSequenceSteps);
+ VL53L0X_Error sequence_step_enabled(VL53L0X_DEV Dev,
+ VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceConfig,
+ uint8_t *pSequenceStepEnabled);
+ VL53L0X_Error VL53L0X_GetVcselPulsePeriod(VL53L0X_DEV Dev,
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK);
+ VL53L0X_Error VL53L0X_GetDeviceInfo(VL53L0X_DEV Dev,
+ VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
+ VL53L0X_Error VL53L0X_StaticInit(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_GetMeasurementDataReady(VL53L0X_DEV Dev,
+ uint8_t *pMeasurementDataReady);
+ VL53L0X_Error VL53L0X_GetInterruptMaskStatus(VL53L0X_DEV Dev,
+ uint32_t *pInterruptMaskStatus);
+ VL53L0X_Error VL53L0X_ClearInterruptMask(VL53L0X_DEV Dev, uint32_t InterruptMask);
+ VL53L0X_Error VL53L0X_PerformSingleRangingMeasurement(VL53L0X_DEV Dev,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData);
+ VL53L0X_Error VL53L0X_SetDeviceMode(VL53L0X_DEV Dev, VL53L0X_DeviceModes DeviceMode);
+ VL53L0X_Error VL53L0X_PerformSingleMeasurement(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_StartMeasurement(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_CheckAndLoadInterruptSettings(VL53L0X_DEV Dev,
+ uint8_t StartNotStopFlag);
+ VL53L0X_Error VL53L0X_GetInterruptThresholds(VL53L0X_DEV Dev,
+ VL53L0X_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow,
+ FixPoint1616_t *pThresholdHigh);
+ VL53L0X_Error VL53L0X_GetRangingMeasurementData(VL53L0X_DEV Dev,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData);
+ VL53L0X_Error VL53L0X_GetXTalkCompensationEnable(VL53L0X_DEV Dev,
+ uint8_t *pXTalkCompensationEnable);
+ VL53L0X_Error VL53L0X_WaitDeviceBooted(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_PerformRefCalibration(VL53L0X_DEV Dev, uint8_t *pVhvSettings,
+ uint8_t *pPhaseCal);
+ VL53L0X_Error VL53L0X_PerformRefSpadManagement(VL53L0X_DEV Dev,
+ uint32_t *refSpadCount, uint8_t *isApertureSpads);
+ VL53L0X_Error VL53L0X_SetDeviceAddress(VL53L0X_DEV Dev, uint8_t DeviceAddress);
+ VL53L0X_Error VL53L0X_SetGpioConfig(VL53L0X_DEV Dev, uint8_t Pin,
+ VL53L0X_DeviceModes DeviceMode, VL53L0X_GpioFunctionality Functionality,
+ VL53L0X_InterruptPolarity Polarity);
+ VL53L0X_Error VL53L0X_GetFractionEnable(VL53L0X_DEV Dev, uint8_t *pEnabled);
+ VL53L0X_Error VL53L0X_SetSequenceStepEnable(VL53L0X_DEV Dev,
+ VL53L0X_SequenceStepId SequenceStepId, uint8_t SequenceStepEnabled);
+ VL53L0X_Error VL53L0X_SetMeasurementTimingBudgetMicroSeconds(VL53L0X_DEV Dev,
+ uint32_t MeasurementTimingBudgetMicroSeconds);
+ VL53L0X_Error VL53L0X_SetLimitCheckEnable(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+ uint8_t LimitCheckEnable);
+ VL53L0X_Error VL53L0X_SetLimitCheckValue(VL53L0X_DEV Dev, uint16_t LimitCheckId,
+ FixPoint1616_t LimitCheckValue);
+ VL53L0X_Error VL53L0X_StopMeasurement(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_GetStopCompletedStatus(VL53L0X_DEV Dev,
+ uint32_t *pStopStatus);
+ VL53L0X_Error VL53L0X_SetVcselPulsePeriod(VL53L0X_DEV Dev,
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriod);
+
+ /* api_core.h functions */
+ VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV Dev, uint8_t option);
+ VL53L0X_Error VL53L0X_device_read_strobe(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev,
+ uint32_t *pMeasurementTimingBudgetMicroSeconds);
+ VL53L0X_Error VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV Dev,
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK);
+ uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg);
+ uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout);
+ uint32_t VL53L0X_calc_timeout_us(VL53L0X_DEV Dev,
+ uint16_t timeout_period_mclks,
+ uint8_t vcsel_period_pclks);
+ uint32_t VL53L0X_calc_macro_period_ps(VL53L0X_DEV Dev, uint8_t vcsel_period_pclks);
+ VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_load_tuning_settings(VL53L0X_DEV Dev,
+ uint8_t *pTuningSettingBuffer);
+ VL53L0X_Error VL53L0X_get_pal_range_status(VL53L0X_DEV Dev,
+ uint8_t DeviceRangeStatus,
+ FixPoint1616_t SignalRate,
+ uint16_t EffectiveSpadRtnCount,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ uint8_t *pPalRangeStatus);
+ VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ FixPoint1616_t *pSigmaEstimate,
+ uint32_t *pDmax_mm);
+ VL53L0X_Error VL53L0X_get_total_signal_rate(VL53L0X_DEV Dev,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ FixPoint1616_t *ptotal_signal_rate_mcps);
+ VL53L0X_Error VL53L0X_get_total_xtalk_rate(VL53L0X_DEV Dev,
+ VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
+ FixPoint1616_t *ptotal_xtalk_rate_mcps);
+ uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV Dev,
+ uint32_t timeout_period_us,
+ uint8_t vcsel_period_pclks);
+ uint32_t VL53L0X_isqrt(uint32_t num);
+ VL53L0X_Error VL53L0X_calc_dmax(
+ VL53L0X_DEV Dev,
+ FixPoint1616_t totalSignalRate_mcps,
+ FixPoint1616_t totalCorrSignalRate_mcps,
+ FixPoint1616_t pwMult,
+ uint32_t sigmaEstimateP1,
+ FixPoint1616_t sigmaEstimateP2,
+ uint32_t peakVcselDuration_us,
+ uint32_t *pdmax_mm);
+ VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV Dev,
+ uint32_t MeasurementTimingBudgetMicroSeconds);
+ VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV Dev,
+ VL53L0X_SequenceStepId SequenceStepId,
+ uint32_t *pTimeOutMicroSecs);
+ VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV Dev,
+ VL53L0X_SequenceStepId SequenceStepId,
+ uint32_t TimeOutMicroSecs);
+ uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks);
+ VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev,
+ VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK);
+ uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks);
+
+ /* api_calibration.h functions */
+ VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV Dev);
+ VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
+ int32_t *pOffsetCalibrationDataMicroMeter);
+ VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
+ int32_t OffsetCalibrationDataMicroMeter);
+ VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV Dev,
+ uint32_t *refSpadCount,
+ uint8_t *isApertureSpads);
+ VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV Dev,
+ uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable);
+ VL53L0X_Error VL53L0X_perform_vhv_calibration(VL53L0X_DEV Dev,
+ uint8_t *pVhvSettings, const uint8_t get_data_enable,
+ const uint8_t restore_config);
+ VL53L0X_Error VL53L0X_perform_single_ref_calibration(VL53L0X_DEV Dev,
+ uint8_t vhv_init_byte);
+ VL53L0X_Error VL53L0X_ref_calibration_io(VL53L0X_DEV Dev, uint8_t read_not_write,
+ uint8_t VhvSettings, uint8_t PhaseCal,
+ uint8_t *pVhvSettings, uint8_t *pPhaseCal,
+ const uint8_t vhv_enable, const uint8_t phase_enable);
+ VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV Dev,
+ uint8_t *pPhaseCal, const uint8_t get_data_enable,
+ const uint8_t restore_config);
+ VL53L0X_Error enable_ref_spads(VL53L0X_DEV Dev,
+ uint8_t apertureSpads,
+ uint8_t goodSpadArray[],
+ uint8_t spadArray[],
+ uint32_t size,
+ uint32_t start,
+ uint32_t offset,
+ uint32_t spadCount,
+ uint32_t *lastSpad);
+ void get_next_good_spad(uint8_t goodSpadArray[], uint32_t size,
+ uint32_t curr, int32_t *next);
+ uint8_t is_aperture(uint32_t spadIndex);
+ VL53L0X_Error enable_spad_bit(uint8_t spadArray[], uint32_t size,
+ uint32_t spadIndex);
+ VL53L0X_Error set_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray);
+ VL53L0X_Error get_ref_spad_map(VL53L0X_DEV Dev, uint8_t *refSpadArray);
+ VL53L0X_Error perform_ref_signal_measurement(VL53L0X_DEV Dev,
+ uint16_t *refSignalRate);
+ VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV Dev,
+ uint32_t count, uint8_t isApertureSpads);
+
+ /* api_strings.h functions */
+ VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV Dev,
+ VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
+ VL53L0X_Error VL53L0X_check_part_used(VL53L0X_DEV Dev,
+ uint8_t *Revision,
+ VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
+
+ /* Read function of the ID device */
+ virtual int ReadID();
+
+ VL53L0X_Error WaitMeasurementDataReady(VL53L0X_DEV Dev);
+ VL53L0X_Error WaitStopCompleted(VL53L0X_DEV Dev);
+
+ /* Write and read functions from I2C */
+
+ VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV dev, uint8_t index, uint8_t data);
+ VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV dev, uint8_t index, uint16_t data);
+ VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV dev, uint8_t index, uint32_t data);
+ VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV dev, uint8_t index, uint8_t *data);
+ VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV dev, uint8_t index, uint16_t *data);
+ VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV dev, uint8_t index, uint32_t *data);
+ VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV dev, uint8_t index, uint8_t AndData, uint8_t OrData);
+
+ VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
+ VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
+
+ VL53L0X_Error VL53L0X_I2CWrite(uint8_t dev, uint8_t index, uint8_t *data, uint16_t number_of_bytes);
+ VL53L0X_Error VL53L0X_I2CRead(uint8_t dev, uint8_t index, uint8_t *data, uint16_t number_of_bytes);
+
+ VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev); /* usually best implemented as a real function */
+
+ int IsPresent()
+ {
+ int status;
+
+ status=ReadID();
+ if(status)
+ VL53L0X_ErrLog("Failed to read ID device. Device not present!\n\r");
+ return status;
+ }
+ int StopRangeMeasurement(OperatingMode operating_mode);
+ int GetRangeMeas(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *Data);
+ int RangeSetLowThreshold(uint16_t threshold);
+ int RangeSetHighThreshold(uint16_t threshold);
+ int GetRangeError(VL53L0X_RangingMeasurementData_t *Data, VL53L0X_RangingMeasurementData_t RangeData);
+ int RangeMeasPollSingleShot();
+ int RangeMeasPollContinuousMode();
+ int RangeMeasIntContinuousMode(void (*fptr)(void));
+
+
+ VL53L0X_DeviceInfo_t DeviceInfo;
+
+ /* IO Device */
+ DevI2C &dev_i2c;
+ /* GPIO expander */
+// STMPE1600 &io_expander;
+// ExpGpioPinName xshutdown;
+ /* Digital out pin */
+ DigitalOut *gpio0;
+ /* GPIO expander */
+ STMPE1600DigiOut *expgpio0;
+ /* Measure detection IRQ */
+ InterruptIn *gpio1Int;
+ /* Device data */
+ VL53L0X_Dev_t MyDevice;
+ VL53L0X_DEV Device;
+};
+
+
+#endif /* _VL53L0X_CLASS_H_ */
+
+
X-NUCLEO-53L1A1 Ranging Sensor Expansion Board