charles macneill
Contains Ayoub's Ranging and Custom interfaces for the VL53L3CX
Diff: vl53l3cx_class.h
- Revision:
- 0:c1910e04fc6c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/vl53l3cx_class.h Wed Jul 21 14:19:31 2021 +0000
@@ -0,0 +1,2644 @@
+/*******************************************************************************
+ Copyright © 2018, 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 __VL53LX_CLASS_H
+#define __VL53LX_CLASS_H
+
+#ifdef _MSC_VER
+ #ifdef VL53LX_API_EXPORTS
+ #define VL53LX_API __declspec(dllexport)
+ #else
+ #define VL53LX_API
+ #endif
+#else
+ #define VL53LX_API
+#endif
+
+/* Includes ------------------------------------------------------------------*/
+
+#include "mbed.h"
+#include "RangeSensor.h"
+#include "vl53lx_def.h"
+#include "vl53L3_I2c.h"
+
+
+
+#include "PinNames.h"
+#include "vl53lx_error_codes.h"
+#include "vl53lx_platform_user_data.h"
+
+#include "vl53lx_nvm_structs.h"//cgm
+#include "vl53lx_xtalk_private_structs.h"
+#include "vl53lx_hist_private_structs.h"
+#include "vl53lx_dmax_private_structs.h"
+#include "vl53lx_api.h"
+
+#include "Stmpe1600.h"
+/**********************************************************/
+#if (MBED_VERSION > 60300)
+extern "C" void wait_ms(int ms);
+#endif
+
+
+#define VL53LX_DEFAULT_DEVICE_ADDRESS 0x52
+
+
+
+#define VL53LX_MAX_I2C_XFER_SIZE 256
+#define CONT_CONTINUE 0
+#define CONT_NEXT_LOOP 1
+#define CONT_RESET 2
+
+
+/* vl53lx_api.c */
+
+#ifndef MIN
+ #define MIN(v1, v2) ((v1) < (v2) ? (v1) : (v2))
+#endif
+#ifndef MAX
+ #define MAX(v1, v2) ((v1) < (v2) ? (v2) : (v1))
+#endif
+
+#define DMAX_REFLECTANCE_IDX 2
+
+
+
+#define LOWPOWER_AUTO_VHV_LOOP_DURATION_US 245
+#define LOWPOWER_AUTO_OVERHEAD_BEFORE_A_RANGING 1448
+#define LOWPOWER_AUTO_OVERHEAD_BETWEEN_A_B_RANGING 2100
+
+#define FDA_MAX_TIMING_BUDGET_US 550000
+
+
+#define VL53LX_NVM_POWER_UP_DELAY_US 50
+#define VL53LX_NVM_READ_TRIGGER_DELAY_US 5
+
+
+#define VL53LX_D_002 0xFFFF
+#define VL53LX_D_008 0xFFFF
+#define VL53LX_D_003 0xFFFFFF
+#define VL53LX_D_007 0xFFFFFFFF
+#define VL53LX_D_005 0x7FFFFFFFFF
+#define VL53LX_D_009 0xFFFFFFFFFF
+#define VL53LX_D_010 0xFFFFFFFFFFFF
+#define VL53LX_D_004 0xFFFFFFFFFFFFFF
+#define VL53LX_D_006 0x7FFFFFFFFFFFFFFF
+#define VL53LX_D_011 0xFFFFFFFFFFFFFFFF
+
+#define VL53L1X_DEFAULT_DEVICE_ADDRESS 0x52
+#define HIGH 1
+
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a VL53L3CX sensor component
+ */
+
+class VL53L3CX : 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, 0x52 by default
+ */
+
+ VL53L3CX(vl53L3_DevI2C *i2c, Stmpe1600DigiOut *pin, PinName pin_gpio1, uint8_t dev_addr = VL53LX_DEFAULT_DEVICE_ADDRESS)
+ : RangeSensor(), dev_i2c(i2c), _expgpio0(pin)
+ {
+
+ Dev = new VL53L3CX_Object_t;
+ I2cDevAddr = dev_addr;
+ Dev->IO.Address = VL53LX_DEFAULT_DEVICE_ADDRESS;
+
+ _gpio0 = NULL;
+ if (pin_gpio1 != NC) {
+ _gpio1Int = new InterruptIn(pin_gpio1);
+ } else {
+ _gpio1Int = NULL;
+ }
+
+ i2c_inst = i2c;
+
+ }
+
+
+ /** Destructor
+ */
+ virtual ~VL53L3CX() {}
+ /* warning: VL53LX 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 */
+ virtual void VL53LX_On(void)
+ {
+ printf("VL53L1_On\r\n");
+ if (_gpio0) {
+ *_gpio0 = 1;
+ } else {
+ if (_expgpio0) {
+ *_expgpio0 = 1;
+ }
+ }
+ wait_ms(100);
+ }
+
+ /**
+ * @brief PowerOff the sensor
+ * @return void
+ */
+ /* turns off the sensor */
+ virtual void VL53LX_Off(void)
+ {
+ printf("VL53L1_Off\r\n");
+ if (_gpio0) {
+ *_gpio0 = 0;
+ } else {
+ if (_expgpio0) {
+ *_expgpio0 = 0;
+ }
+ }
+ wait_ms(100);
+ }
+
+
+
+ /**
+ * @brief Initialize the sensor with default values
+ * @return 0 on Success
+ */
+
+ VL53LX_Error InitSensor(uint8_t address)
+ {
+
+ VL53LX_Error status = VL53LX_ERROR_NONE;
+ VL53LX_Off();
+ VL53LX_On();
+ Dev->IO.Address = VL53LX_DEFAULT_DEVICE_ADDRESS;
+
+ status = VL53L3CX_SetDeviceAddress(address);
+
+ wait_ms(100);
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53L3CX_WaitDeviceBooted();
+ printf("VL53L3CX_WaitDeviceBooted %d \n",status);
+ }
+
+ if (status == VL53LX_ERROR_NONE) {
+ status = VL53L3CX_DataInit();
+ printf("VL53L3CX_DataInit %d %d\n",status,Dev->IO.Address );
+ }
+
+
+ return status;
+ }
+
+
+
+ /**
+ *
+ * @brief One time device initialization
+ * @param void
+ * @return 0 on success
+ */
+ virtual int Init()
+ {
+ return VL53L3CX_DataInit();
+ }
+
+ int init(void *init)
+ {
+ return VL53L3CX_DataInit();
+ }
+
+ /* Read function of the ID device */
+ virtual int ReadID()
+ {
+ uint64_t Uid;
+ VL53L3CX_GetUID(&Uid);
+ if (Uid == 0x00FF000000FF) {
+ return 0;
+ }
+ return -1;
+ }
+
+
+
+ /**
+ * @brief Get ranging result and only that
+ * @param pRange_mm Pointer to range distance
+ * @return 0 on success
+ */
+ virtual int GetDistance(uint32_t *piData)
+ {
+ (void)piData;
+ return 0;
+ }
+
+
+ /* vl53lx_api.h */
+
+ /** @defgroup VL53LX_group VL53LX Function Definition
+ * @brief VL53LX Function Definition
+ * @{
+ */
+
+ /** @defgroup VL53LX_general_group VL53LX General Functions
+ * @brief General functions and definitions
+ * @{
+ */
+
+ /**
+ * @brief Return the VL53L3CX driver Version
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param pVersion Rer to current driver Version
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_GetVersion(VL53LX_Version_t *pVersion);
+
+ /**
+ * @brief Reads the Product Revision for a for given Device
+ * This function can be used to distinguish cut1.0 from cut1.1.
+ *
+ * @param Dev Device Handle
+ * @param pProductRevisionMajor Pointer to Product Revision Major
+ * for a given Device
+ * @param pProductRevisionMinor Pointer to Product Revision Minor
+ * for a given Device
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_GetProductRevision(uint8_t *pProductRevisionMajor,
+ uint8_t *pProductRevisionMinor);
+
+ /**
+ * @brief Reads the Device information for given Device
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @param pVL53LX_DeviceInfo Pointer to current device info for a given
+ * Device
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_GetDeviceInfo(
+ VL53LX_DeviceInfo_t *pVL53LX_DeviceInfo);
+
+ /**
+ * @brief Reads the Device unique identifier
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @param pUid Pointer to current device unique ID
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_GetUID(uint64_t *pUid);
+
+
+ /** @} VL53LX_general_group */
+
+ /** @defgroup VL53LX_init_group VL53LX Init Functions
+ * @brief VL53LX Init Functions
+ * @{
+ */
+
+ /**
+ * @brief Set new device address
+ *
+ * After completion the device will answer to the new address programmed.
+ * This function should be called when several devices are used in parallel
+ * before start programming the sensor.
+ * When a single device us used, there is no need to call this function.
+ *
+ * When it is requested for multi devices system this function MUST be called
+ * prior to VL53LX_DataInit()
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @param DeviceAddress The new Device address
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_SetDeviceAddress(uint8_t DeviceAddress);
+
+ /**
+ *
+ * @brief One time device initialization
+ *
+ * To be called after device has been powered on and booted
+ * see @a VL53L3CX_WaitDeviceBooted()
+ *
+ * @par Function Description
+ * When not used after a fresh device "power up", it may return
+ * @a #VL53LX_Error_CALIBRATION_WARNING meaning wrong calibration data
+ * may have been fetched from device that can result in ranging offset error\n
+ * If VL53LX_DataInit is called several times then the application must restore
+ * calibration calling @a VL53LX_SetOffsetCalibrationData()
+ * It implies application has gathered calibration data thanks to
+ * @a VL53LX_GetOffsetCalibrationData() after an initial calibration stage.
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_DataInit();
+
+ /**
+ * @brief Wait for device booted after chip enable (hardware standby)
+ *
+ * @param Dev Device Handle
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ *
+ */
+ VL53LX_Error VL53L3CX_WaitDeviceBooted();
+
+
+ /** @} VL53LX_init_group */
+
+ /** @defgroup VL53LX_parameters_group VL53LX Parameters Functions
+ * @brief Functions used to prepare and setup the device
+ * @{
+ */
+
+ /**
+ * @brief Set the distance mode
+ * @par Function Description
+ * Set the distance mode to be used for the next ranging.<br>
+ * The modes Short, Medium and Long are used to optimize the ranging accuracy
+ * in a specific range of distance.<br> The user select one of these modes to
+ * select the distance range.
+ * @note This function doesn't Access to the device
+ *
+ * @warning This function should be called after @a VL53LX_DataInit().
+
+ * @param Dev Device Handle
+ * @param DistanceMode Distance mode to apply, valid values are:
+ * @li VL53LX_DISTANCEMODE_SHORT
+ * @li VL53LX_DISTANCEMODE_MEDIUM
+ * @li VL53LX_DISTANCEMODE_LONG
+ * @return VL53LX_Error_NONE Success
+ * @return VL53LX_Error_MODE_NOT_SUPPORTED This error occurs when DistanceMode
+ * is not in the supported list
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_SetDistanceMode(
+ VL53LX_DistanceModes DistanceMode);
+
+ /**
+ * @brief Get the distance mode
+ * @par Function Description
+ * Get the distance mode used for the next ranging.
+ *
+ * @param Dev Device Handle
+ * @param *pDistanceMode Pointer to Distance mode
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_GetDistanceMode(
+ VL53LX_DistanceModes *pDistanceMode);
+
+
+ /**
+ * @brief Set Ranging Timing Budget in microseconds
+ *
+ * @par Function Description
+ * Defines the maximum time allowed by the user to the device to run a
+ * full ranging sequence for the current mode (ranging, histogram, ASL ...)
+ *
+ * @param Dev Device Handle
+ * @param MeasurementTimingBudgetMicroSeconds Max measurement time in
+ * microseconds.
+ * @return VL53LX_Error_NONE Success
+ * @return VL53LX_Error_INVALID_PARAMS Error timing parameter not
+ * supported.
+ * The maximum accepted value for the
+ * computed timing budget is 10 seconds
+ * the minimum value depends on the preset
+ * mode selected.
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_SetMeasurementTimingBudgetMicroSeconds(uint32_t MeasurementTimingBudgetMicroSeconds);
+
+ /**
+ * @brief Get Ranging Timing Budget in microseconds
+ *
+ * @par Function Description
+ * Returns the programmed the maximum time allowed by the user to the
+ * device to run a full ranging sequence for the current mode
+ * (ranging, histogram, ...)
+ *
+ * @param Dev Device Handle
+ * @param pMeasurementTimingBudgetMicroSeconds Max measurement time in
+ * microseconds.
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_GetMeasurementTimingBudgetMicroSeconds(uint32_t *pMeasurementTimingBudgetMicroSeconds);
+ /** @} VL53LX_parameters_group */
+
+
+ /** @defgroup VL53LX_measurement_group VL53LX Measurement Functions
+ * @brief Functions used for the measurements
+ * @{
+ */
+
+ /**
+ * @brief Start device measurement
+ *
+ * @details Started measurement will depend on distance parameter set through
+ * @a VL53L3CX_SetDistanceMode()
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @return VL53LX_Error_NONE Success
+ * @return VL53LX_Error_TIME_OUT Time out on start measurement
+ * @return VL53LX_Error_INVALID_PARAMS This error might occur in timed mode
+ * when inter measurement period is smaller or too close to the timing budget.
+ * In such case measurements are not started and user must correct the timings
+ * passed to @a VL53LX_SetMeasurementTimingBudgetMicroSeconds() and
+ * @a VL53LX_SetInterMeasurementPeriodMilliSeconds() functions.
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_StartMeasurement();
+
+ /**
+ * @brief Stop device measurement
+ *
+ * @details Will set the device in standby mode at end of current measurement\n
+ * Not necessary in single mode as device shall return automatically
+ * in standby mode at end of measurement.
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_StopMeasurement();
+
+ /**
+ * @brief Clear the Interrupt flag and start new measurement
+ * *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_ClearInterruptAndStartMeasurement();
+
+ /**
+ * @brief Return Measurement Data Ready
+ *
+ * @par Function Description
+ * This function indicate that a measurement data is ready.
+ * This function is used for non-blocking capture.
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @param pMeasurementDataReady Pointer to Measurement Data Ready.
+ * 0 = data not ready, 1 = data ready
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_GetMeasurementDataReady(
+ uint8_t *pMeasurementDataReady);
+
+ /**
+ * @brief Wait for measurement data ready.
+ * Blocking function.
+ * Note that the timeout is given by:
+ * VL53LX_RANGE_COMPLETION_POLLING_TIMEOUT_MS defined in def.h
+ *
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @return VL53LX_Error_NONE Success
+ * @return VL53LX_Error_TIME_OUT In case of timeout
+ */
+ VL53LX_Error VL53L3CX_WaitMeasurementDataReady();
+
+
+ /**
+ * @brief Retrieve all measurements from device with the current setup
+ *
+ * @par Function Description
+ * Get data from last successful Ranging measurement
+ *
+ * @warning USER must call @a VL53LX_ClearInterruptAndStartMeasurement() prior
+ * to call again this function
+ *
+ * @note This function Access to the device
+ *
+ * @note The first valid value returned by this function will have a range
+ * status equal to VL53LX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK which means that
+ * the data is valid but no wrap around check have been done. User should take
+ * care about that.
+ *
+ * @param Dev Device Handle
+ * @param pMultiRangingData Pointer to the data structure to fill up.
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_GetMultiRangingData(VL53LX_MultiRangingData_t *pMultiRangingData);
+
+ /**
+ * @brief Get Additional Data
+ *
+ * @par Function Description
+ * This function is used to get lld debugging data on the last histogram
+ * measurement. shall be called when a new measurement is ready (interrupt or
+ * positive VL53LX_GetMeasurementDataReady() polling) and before a call to
+ * VL53LX_ClearInterruptAndStartMeasurement().
+ *
+ * @param Dev Device Handle
+ * @param pAdditionalData Pointer to Additional data
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_GetAdditionalData( VL53LX_AdditionalData_t *pAdditionalData);
+
+
+ /** @} VL53LX_measurement_group */
+
+ /** @defgroup VL53LX_Calibration_group VL53LX Calibration Functions
+ * @brief Functions used for Calibration
+ * @{
+ */
+
+
+ /**
+ * @brief Set Tuning Parameter value for a given parameter ID
+ *
+ * @par Function Description
+ * This function is used to improve the performance of the device. It permit to
+ * change a particular value used for a timeout or a threshold or a constant
+ * in an algorithm. The function will change the value of the parameter
+ * identified by an unique ID.
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param Dev Device Handle
+ * @param TuningParameterId Tuning Parameter ID
+ * @param TuningParameterValue Tuning Parameter Value
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_SetTuningParameter(
+ uint16_t TuningParameterId, int32_t TuningParameterValue);
+
+ /**
+ * @brief Get Tuning Parameter value for a given parameter ID
+ *
+ * @par Function Description
+ * This function is used to get the value of the parameter
+ * identified by an unique ID.
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param Dev Device Handle
+ * @param TuningParameterId Tuning Parameter ID
+ * @param pTuningParameterValue Pointer to Tuning Parameter Value
+ * for a given TuningParameterId.
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_GetTuningParameter(
+ uint16_t TuningParameterId, int32_t *pTuningParameterValue);
+
+ /**
+ * @brief Performs Reference Spad Management
+ *
+ * @par Function Description
+ * The reference SPAD initialization procedure determines the minimum amount
+ * of reference spads to be enables to achieve a target reference signal rate
+ * and should be performed once during initialization.
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_PerformRefSpadManagement();
+
+ /**
+ * @brief Enable/Disable dynamic Xtalk compensation feature
+ *
+ * Enable/Disable dynamic Xtalk compensation (aka smudge correction).
+ *
+ * @param Dev Device Handle
+ * @param Mode Set the smudge correction mode
+ * See ::VL53LX_SmudgeCorrectionModes
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_SmudgeCorrectionEnable(
+ VL53LX_SmudgeCorrectionModes Mode);
+
+
+ /**
+ * @brief Enable/Disable Cross talk compensation feature
+ *
+ * Enable/Disable Cross Talk correction.
+ *
+ * @param Dev Device Handle
+ * @param XTalkCompensationEnable Cross talk compensation
+ * to be set 0 = disabled or 1 = enabled.
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_SetXTalkCompensationEnable(
+ uint8_t XTalkCompensationEnable);
+
+ /**
+ * @brief Get Cross talk compensation rate enable
+ *
+ * Get if the Cross Talk is Enabled or Disabled.
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param Dev Device Handle
+ * @param pXTalkCompensationEnable Pointer to the Cross talk compensation
+ * state 0=disabled or 1 = enabled
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_GetXTalkCompensationEnable(
+ uint8_t *pXTalkCompensationEnable);
+
+ /**
+ * @brief Perform XTalk Calibration
+ *
+ * @details Perform a XTalk calibration of the Device.
+ * This function will launch a measurement, if interrupts
+ * are enabled an interrupt will be done.
+ * This function will clear the interrupt generated automatically.
+ * This function will program a new value for the XTalk compensation
+ * and it will enable the cross talk before exit.
+ *
+ * @warning This function is a blocking function
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * the calibration sets appropriate
+ * distance mode and thus override existing one<br>
+ * The calibration uses a target which should be located at least @60cm from the
+ * device. The actual location of the target shall be passed
+ * through the bare driver tuning parameters table
+ *
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_PerformXTalkCalibration();
+
+
+ /**
+ * @brief Define the mode to be used for the offset correction
+ *
+ * Define the mode to be used for the offset correction.
+ *
+ * @param Dev Device Handle
+ * @param OffsetCorrectionMode Offset Correction Mode valid values are:
+ * @li VL53LX_OFFSETCORRECTIONMODE_STANDARD
+ * @li VL53LX_OFFSETCORRECTIONMODE_PERVCSEL
+ *
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_SetOffsetCorrectionMode(
+ VL53LX_OffsetCorrectionModes OffsetCorrectionMode);
+
+
+ /**
+ * @brief Perform Offset simple Calibration
+ *
+ * @details Perform a very simple offset calibration of the Device.
+ * This function will launch few ranging measurements and computes offset
+ * calibration. The preset mode and the distance mode MUST be set by the
+ * application before to call this function.
+ *
+ * @warning This function is a blocking function
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @param CalDistanceMilliMeter Calibration distance value used for the
+ * offset compensation.
+ *
+ * @return VL53LX_Error_NONE
+ * @return VL53LX_Error_OFFSET_CAL_NO_SAMPLE_FAIL the calibration failed by
+ * lack of valid measurements
+ * @return VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH means that the target
+ * distance combined to the number of loops performed in the calibration lead to
+ * an internal overflow. Try to reduce the distance of the target (140 mm)
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_PerformOffsetSimpleCalibration(
+ int32_t CalDistanceMilliMeter);
+
+ /**
+ * @brief Perform Offset simple Calibration with a "zero distance" target
+ *
+ * @details Perform a simple offset calibration of the Device.
+ * This function will launch few ranging measurements and computes offset
+ * calibration. The preset mode and the distance mode MUST be set by the
+ * application before to call this function.
+ * A target must be place very close to the device.
+ * Ideally the target shall be touching the coverglass.
+ *
+ * @warning This function is a blocking function
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ *
+ * @return VL53LX_Error_NONE
+ * @return VL53LX_Error_OFFSET_CAL_NO_SAMPLE_FAIL the calibration failed by
+ * lack of valid measurements
+ * @return VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH means that the target
+ * distance is too large, try to put the target closer to the device
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_PerformOffsetZeroDistanceCalibration();
+
+
+ /**
+ * @brief Perform Offset per Vcsel Calibration. i.e. per distance mode
+ *
+ * @details Perform offset calibration of the Device depending on the
+ * three distance mode settings: short, medium and long.
+ * This function will launch few ranging measurements and computes offset
+ * calibration in each of the three distance modes.
+ * The preset mode MUST be set by the application before to call this function.
+ *
+ * @warning This function is a blocking function
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @param CalDistanceMilliMeter Distance of the target used for the
+ * offset compensation calibration.
+ *
+ * @return VL53LX_Error_NONE
+ * @return VL53LX_Error_OFFSET_CAL_NO_SAMPLE_FAIL the calibration failed by
+ * lack of valid measurements
+ * @return VL53LX_WARNING_OFFSET_CAL_SIGMA_TOO_HIGH means that the target
+ * distance combined to the number of loops performed in the calibration lead to
+ * an internal overflow. Try to reduce the distance of the target (140 mm)
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_PerformOffsetPerVcselCalibration(
+ int32_t CalDistanceMilliMeter);
+
+
+ /**
+ * @brief Sets the Calibration Data.
+ *
+ * @par Function Description
+ * This function set all the Calibration Data issued from the functions
+ * @a VL53LX_PerformRefSpadManagement(), @a VL53LX_PerformXTalkCalibration,
+ * @a VL53LX_PerformOffsetCalibration()
+ *
+ * @note This function doesn't Accesses the device
+ *
+ * @param Dev Device Handle
+ * @param *pCalibrationData Pointer to Calibration data to be set.
+ * @return VL53LX_Error_NONE Success
+ * @return VL53LX_Error_INVALID_PARAMS pCalibrationData points to an older
+ * version of the inner structure. Need for support to convert its content.
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_SetCalibrationData(
+ VL53LX_CalibrationData_t *pCalibrationData);
+
+ /**
+ * @brief Gets the Calibration Data.
+ *
+ * @par Function Description
+ * This function get all the Calibration Data issued from the functions
+ * @a VL53LX_PerformRefSpadManagement(), @a VL53LX_PerformXTalkCalibration,
+ * @a VL53LX_PerformOffsetCalibration()
+ *
+ * @note This function doesn't Accesses the device
+ *
+ * @param Dev Device Handle
+ * @param *pCalibrationData pointer where to store Calibration
+ * data.
+ * @return VL53LX_Error_NONE Success
+ * @return "Other error code" See ::VL53LX_Error
+ */
+ VL53LX_Error VL53L3CX_GetCalibrationData(
+ VL53LX_CalibrationData_t *pCalibrationData);
+
+ /** @} VL53LX_Calibration_group */
+
+ /** @} VL53LX_group */
+ VL53LX_Error VL53L3CX_RdWord(VL53LX_DEV Dev, uint16_t index, uint16_t *data);
+
+ // protected:
+
+ /* vl53lx_api_core.h functions */
+
+ VL53LX_Error VL53L3CX_get_version(VL53LX_ll_version_t *pversion);
+ VL53LX_Error VL53L3CX_data_init(uint8_t read_p2p_data);
+ VL53LX_Error VL53L3CX_read_p2p_data();
+ VL53LX_Error VL53L3CX_set_part_to_part_data(VL53LX_calibration_data_t *pcal_data);
+ VL53LX_Error VL53L3CX_get_part_to_part_data(VL53LX_calibration_data_t *pcal_data);
+ VL53LX_Error VL53L3CX_get_tuning_debug_data(VL53LX_tuning_parameters_t *ptun_data);
+ VL53LX_Error VL53L3CX_set_inter_measurement_period_ms(uint32_t inter_measurement_period_ms);
+ VL53LX_Error VL53L3CX_get_inter_measurement_period_ms(uint32_t *pinter_measurement_period_ms);
+ VL53LX_Error VL53L3CX_set_timeouts_us(
+ uint32_t phasecal_config_timeout_us,
+ uint32_t mm_config_timeout_us,
+ uint32_t range_config_timeout_us);
+
+ VL53LX_Error VL53L3CX_get_timeouts_us(
+ uint32_t *pphasecal_config_timeout_us,
+ uint32_t *pmm_config_timeout_us,
+ uint32_t *prange_config_timeout_us);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_user_zone(
+ VL53LX_user_zone_t *puser_zone);
+
+ VL53LX_Error VL53L3CX_get_user_zone(
+ VL53LX_user_zone_t *puser_zone);
+
+
+ VL53LX_Error VL53L3CX_get_mode_mitigation_roi(
+ VL53LX_user_zone_t *pmm_roi);
+
+
+ VL53LX_Error VL53L3CX_set_zone_config(
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53L3CX_get_zone_config(
+ VL53LX_zone_config_t *pzone_cfg);
+
+
+ VL53LX_Error VL53L3CX_set_preset_mode(
+ VL53LX_DevicePresetModes device_preset_mode,
+ 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,
+ uint32_t inter_measurement_period_ms);
+
+ VL53LX_Error VL53L3CX_get_preset_mode_timing_cfg(
+ VL53LX_DevicePresetModes device_preset_mode,
+ uint16_t *pdss_config__target_total_rate_mcps,
+ uint32_t *pphasecal_config_timeout_us,
+ uint32_t *pmm_config_timeout_us,
+ uint32_t *prange_config_timeout_us);
+
+
+ VL53LX_Error VL53L3CX_set_zone_preset(
+ VL53LX_DeviceZonePreset zone_preset);
+
+
+ VL53LX_Error VL53L3CX_enable_xtalk_compensation();
+
+ VL53LX_Error VL53L3CX_disable_xtalk_compensation();
+
+
+ void VL53L3CX_get_xtalk_compensation_enable(
+ uint8_t *pcrosstalk_compensation_enable);
+
+
+ VL53LX_Error VL53L3CX_init_and_start_range(
+ uint8_t measurement_mode,
+ VL53LX_DeviceConfigLevel device_config_level);
+
+
+ VL53LX_Error VL53L3CX_stop_range(); // remove
+
+ VL53LX_Error VL53L3CX_get_measurement_results(
+ VL53LX_DeviceResultsLevel device_result_level);
+
+
+ VL53LX_Error VL53L3CX_get_device_results(
+ VL53LX_DeviceResultsLevel device_result_level,
+ VL53LX_range_results_t *prange_results);
+
+
+ VL53LX_Error VL53L3CX_clear_interrupt_and_enable_next_range(
+ uint8_t measurement_mode);
+
+
+ VL53LX_Error VL53L3CX_get_histogram_bin_data(
+ VL53LX_histogram_bin_data_t *phist_data);
+
+ void VL53L3CX_copy_sys_and_core_results_to_range_results(
+ int32_t gain_factor,
+ VL53LX_system_results_t *psys,
+ VL53LX_core_results_t *pcore,
+ VL53LX_range_results_t *presults);
+
+
+
+ VL53LX_Error VL53L3CX_set_zone_dss_config(
+ VL53LX_zone_private_dyn_cfg_t *pzone_dyn_cfg);
+
+
+ VL53LX_Error VL53L3CX_set_dmax_mode(
+ VL53LX_DeviceDmaxMode dmax_mode);
+
+
+ VL53LX_Error VL53L3CX_get_dmax_mode(
+ VL53LX_DeviceDmaxMode *pdmax_mode);
+
+
+ VL53LX_Error VL53L3CX_set_dmax_calibration_data(
+ VL53LX_DeviceDmaxMode dmax_mode,
+ VL53LX_dmax_calibration_data_t *pdmax_cal);
+
+
+ VL53LX_Error VL53L3CX_get_dmax_calibration_data(
+ VL53LX_DeviceDmaxMode dmax_mode,
+ VL53LX_dmax_calibration_data_t *pdmax_cal);
+
+
+ VL53LX_Error VL53L3CX_set_offset_correction_mode(
+ VL53LX_OffsetCalibrationMode offset_cor_mode);
+
+
+ VL53LX_Error VL53L3CX_get_offset_correction_mode(
+ VL53LX_OffsetCorrectionMode *poffset_cor_mode);
+
+
+ VL53LX_Error VL53L3CX_et_zone_calibration_data(
+ VL53LX_zone_calibration_results_t *pzone_cal);
+
+
+ VL53LX_Error VL53L3CX_set_zone_calibration_data(
+ VL53LX_zone_calibration_results_t *pzone_cal);
+
+
+
+ VL53LX_Error VL53L3CX_get_tuning_parm(
+ VL53LX_TuningParms tuning_parm_key,
+ int32_t *ptuning_parm_value);
+
+
+
+ VL53LX_Error VL53L3CX_set_tuning_parm(
+ VL53LX_TuningParms tuning_parm_key,
+ int32_t tuning_parm_value);
+
+
+
+ VL53LX_Error VL53L3CX_dynamic_xtalk_correction_enable();
+
+
+
+ VL53LX_Error VL53L3CX_dynamic_xtalk_correction_disable();
+
+
+
+
+ VL53LX_Error VL53L3CX_dynamic_xtalk_correction_apply_enable();
+
+
+
+ VL53LX_Error VL53L3CX_dynamic_xtalk_correction_apply_disable();
+
+
+
+ VL53LX_Error VL53L3CX_dynamic_xtalk_correction_single_apply_enable();
+
+
+
+ VL53LX_Error VL53L3CX_dynamic_xtalk_correction_single_apply_disable();
+
+
+ VL53LX_Error VL53L3CX_get_current_xtalk_settings(
+
+ VL53LX_xtalk_calibration_results_t *pxtalk
+ );
+
+
+
+ VL53LX_Error VL53L3CX_set_current_xtalk_settings(
+
+ VL53LX_xtalk_calibration_results_t *pxtalk
+ );
+
+ VL53LX_Error VL53L3CX_load_patch();
+
+ VL53LX_Error VL53L3CX_unload_patch();
+
+
+ /* vl53lx_register_funcs.h */
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_static_nvm_managed(
+ VL53LX_static_nvm_managed_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_static_nvm_managed(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_static_nvm_managed_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_static_nvm_managed(
+ VL53LX_static_nvm_managed_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_static_nvm_managed(
+ VL53LX_static_nvm_managed_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_customer_nvm_managed(
+ VL53LX_customer_nvm_managed_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_customer_nvm_managed(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_customer_nvm_managed_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_customer_nvm_managed(
+ VL53LX_customer_nvm_managed_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_customer_nvm_managed(
+ VL53LX_customer_nvm_managed_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_static_config(
+ VL53LX_static_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_static_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_static_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_static_config(
+ VL53LX_static_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_static_config(
+ VL53LX_static_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_general_config(
+ VL53LX_general_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_general_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_general_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_general_config(
+ VL53LX_general_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_general_config(
+ VL53LX_general_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_timing_config(
+ VL53LX_timing_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_timing_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_timing_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_timing_config(
+ VL53LX_timing_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_timing_config(
+ VL53LX_timing_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_dynamic_config(
+ VL53LX_dynamic_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_dynamic_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_dynamic_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_dynamic_config(
+ VL53LX_dynamic_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_dynamic_config(
+ VL53LX_dynamic_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_system_control(
+ VL53LX_system_control_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_system_control(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_system_control_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_system_control(
+ VL53LX_system_control_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_system_control(
+ VL53LX_system_control_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_system_results(
+ VL53LX_system_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_system_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_system_results(
+ VL53LX_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_system_results(
+ VL53LX_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_core_results(
+ VL53LX_core_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_core_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_core_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_core_results(
+ VL53LX_core_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_core_results(
+ VL53LX_core_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_debug_results(
+ VL53LX_debug_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_debug_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_debug_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_debug_results(
+ VL53LX_debug_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_debug_results(
+ VL53LX_debug_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_nvm_copy_data(
+ VL53LX_nvm_copy_data_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_nvm_copy_data(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_nvm_copy_data_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_nvm_copy_data(
+ VL53LX_nvm_copy_data_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_nvm_copy_data(
+ VL53LX_nvm_copy_data_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_prev_shadow_system_results(
+ VL53LX_prev_shadow_system_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_prev_shadow_system_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_prev_shadow_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_prev_shadow_system_results(
+ VL53LX_prev_shadow_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_prev_shadow_system_results(
+ VL53LX_prev_shadow_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_prev_shadow_core_results(
+ VL53LX_prev_shadow_core_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_prev_shadow_core_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_prev_shadow_core_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_prev_shadow_core_results(
+ VL53LX_prev_shadow_core_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_prev_shadow_core_results(
+ VL53LX_prev_shadow_core_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_patch_debug(
+ VL53LX_patch_debug_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_patch_debug(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_patch_debug_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_patch_debug(
+ VL53LX_patch_debug_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_patch_debug(
+ VL53LX_patch_debug_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_gph_general_config(
+ VL53LX_gph_general_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_gph_general_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_gph_general_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_gph_general_config(
+ VL53LX_gph_general_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_gph_general_config(
+ VL53LX_gph_general_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_gph_static_config(
+ VL53LX_gph_static_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_gph_static_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_gph_static_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_gph_static_config(
+ VL53LX_gph_static_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_gph_static_config(
+ VL53LX_gph_static_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_gph_timing_config(
+ VL53LX_gph_timing_config_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_gph_timing_config(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_gph_timing_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_gph_timing_config(
+ VL53LX_gph_timing_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_gph_timing_config(
+ VL53LX_gph_timing_config_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_fw_internal(
+ VL53LX_fw_internal_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_fw_internal(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_fw_internal_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_fw_internal(
+ VL53LX_fw_internal_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_fw_internal(
+ VL53LX_fw_internal_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_patch_results(
+ VL53LX_patch_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_patch_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_patch_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_patch_results(
+ VL53LX_patch_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_patch_results(
+ VL53LX_patch_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_shadow_system_results(
+ VL53LX_shadow_system_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_shadow_system_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_shadow_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_shadow_system_results(
+ VL53LX_shadow_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_shadow_system_results(
+ VL53LX_shadow_system_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_encode_shadow_core_results(
+ VL53LX_shadow_core_results_t *pdata,
+ uint16_t buf_size,
+ uint8_t *pbuffer);
+
+
+
+
+ VL53LX_Error VL53L3CX_i2c_decode_shadow_core_results(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_shadow_core_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_set_shadow_core_results(
+ VL53LX_shadow_core_results_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_get_shadow_core_results(
+ VL53LX_shadow_core_results_t *pdata);
+
+
+
+ /* vl53lx_nvm.h */
+
+
+ VL53LX_Error VL53L3CX_nvm_enable(
+ uint16_t nvm_ctrl_pulse_width,
+ int32_t nvm_power_up_delay_us);
+
+
+
+
+ VL53LX_Error VL53L3CX_nvm_read(
+ uint8_t start_address,
+ uint8_t count,
+ uint8_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_nvm_disable();
+
+
+
+
+ VL53LX_Error VL53L3CX_nvm_format_decode(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_decoded_nvm_data_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_nvm_decode_optical_centre(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_optical_centre_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_nvm_decode_cal_peak_rate_map(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_cal_peak_rate_map_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_nvm_decode_additional_offset_cal_data(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_additional_offset_cal_data_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_nvm_decode_fmt_range_results_data(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_decoded_nvm_fmt_range_data_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_nvm_decode_fmt_info(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_decoded_nvm_fmt_info_t *pdata);
+
+
+
+
+ VL53LX_Error VL53L3CX_nvm_decode_ews_info(
+ uint16_t buf_size,
+ uint8_t *pbuffer,
+ VL53LX_decoded_nvm_ews_info_t *pdata);
+
+
+
+
+ void VL53L3CX_nvm_format_encode(
+ VL53LX_decoded_nvm_data_t *pnvm_info,
+ uint8_t *pnvm_data);
+
+
+
+
+ VL53LX_Error VL53L3CX_read_nvm_raw_data(
+ uint8_t start_address,
+ uint8_t count,
+ uint8_t *pnvm_raw_data);
+
+
+
+
+ VL53LX_Error VL53L3CX_read_nvm(
+ uint8_t nvm_format,
+ VL53LX_decoded_nvm_data_t *pnvm_info);
+
+
+
+
+ VL53LX_Error VL53L3CX_read_nvm_optical_centre(
+ VL53LX_optical_centre_t *pcentre);
+
+
+
+
+ VL53LX_Error VL53L3CX_read_nvm_cal_peak_rate_map(
+ VL53LX_cal_peak_rate_map_t *pcal_data);
+
+
+
+
+ VL53LX_Error VL53L3CX_read_nvm_additional_offset_cal_data(
+ VL53LX_additional_offset_cal_data_t *pcal_data);
+
+
+
+
+ VL53LX_Error VL53L3CX_read_nvm_fmt_range_results_data(
+ uint16_t range_results_select,
+ VL53LX_decoded_nvm_fmt_range_data_t *prange_data);
+
+
+
+ /* vl53lx_platform_ipp.h */
+
+ VL53LX_Error VL53L3CX_ipp_hist_process_data(
+ VL53LX_dmax_calibration_data_t *pdmax_cal,
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
+ VL53LX_hist_post_process_config_t *ppost_cfg,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_xtalk_histogram_data_t *pxtalk,
+ uint8_t *pArea1,
+ uint8_t *pArea2,
+ uint8_t *phisto_merge_nb,
+ VL53LX_range_results_t *presults);
+
+ VL53LX_Error VL53L3CX_ipp_hist_ambient_dmax(
+ uint16_t target_reflectance,
+ VL53LX_dmax_calibration_data_t *pdmax_cal,
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
+ VL53LX_histogram_bin_data_t *pbins,
+ int16_t *pambient_dmax_mm);
+
+ VL53LX_Error VL53L3CX_ipp_xtalk_calibration_process_data(
+ VL53LX_xtalk_range_results_t *pxtalk_ranges,
+ VL53LX_xtalk_histogram_data_t *pxtalk_shape,
+ VL53LX_xtalk_calibration_results_t *pxtalk_cal);
+
+
+
+
+ /* vl53lx_hist_funcs.h */
+
+
+ VL53LX_Error VL53L3CX_hist_process_data(
+ VL53LX_dmax_calibration_data_t *pdmax_cal,
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
+ VL53LX_hist_post_process_config_t *ppost_cfg,
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_xtalk_histogram_data_t *pxtalk,
+ uint8_t *pArea1,
+ uint8_t *pArea2,
+ VL53LX_range_results_t *presults,
+ uint8_t *HistMergeNumber);
+
+
+ VL53LX_Error VL53L3CX_hist_ambient_dmax(
+ uint16_t target_reflectance,
+ VL53LX_dmax_calibration_data_t *pdmax_cal,
+ VL53LX_hist_gen3_dmax_config_t *pdmax_cfg,
+ VL53LX_histogram_bin_data_t *pbins,
+ int16_t *pambient_dmax_mm);
+
+
+ /* vl53lx_core_support.h */
+
+ uint8_t VL53L3CX_decode_vcsel_period( uint8_t vcsel_period_reg);
+
+ uint32_t VL53L3CX_events_per_spad_maths(
+ int32_t VL53LX_p_010,
+ uint16_t num_spads,
+ uint32_t duration);
+
+ uint32_t VL53L3CX_isqrt(
+ uint32_t num);
+
+ void VL53L3CX_hist_calc_zero_distance_phase(
+ VL53LX_histogram_bin_data_t *pdata);
+
+ void VL53L3CX_hist_estimate_ambient_from_thresholded_bins(
+ int32_t ambient_threshold_sigma,
+ VL53LX_histogram_bin_data_t *pdata);
+
+ void VL53L3CX_hist_remove_ambient_bins(
+ VL53LX_histogram_bin_data_t *pdata);
+
+ uint32_t VL53L3CX_calc_pll_period_mm(
+ uint16_t fast_osc_frequency);
+
+ uint16_t VL53L3CX_rate_maths(
+ int32_t VL53LX_p_018,
+ uint32_t time_us);
+
+ uint16_t VL53L3CX_rate_per_spad_maths(
+ uint32_t frac_bits,
+ uint32_t peak_count_rate,
+ uint16_t num_spads,
+ uint32_t max_output_value);
+
+ int32_t VL53L3CX_range_maths(
+ uint16_t fast_osc_frequency,
+ uint16_t VL53LX_p_014,
+ uint16_t zero_distance_phase,
+ uint8_t fractional_bits,
+ int32_t gain_factor,
+ int32_t range_offset_mm);
+
+
+ void VL53L3CX_copy_xtalk_bin_data_to_histogram_data_struct(
+ VL53LX_xtalk_histogram_shape_t *pxtalk,
+ VL53LX_histogram_bin_data_t *phist);
+
+ void VL53L3CX_init_histogram_bin_data_struct(
+ int32_t bin_value,
+ uint16_t VL53LX_p_021,
+ VL53LX_histogram_bin_data_t *pdata);
+
+ void VL53L3CX_decode_row_col(
+ uint8_t spad_number,
+ uint8_t *prow,
+ uint8_t *pcol);
+
+ void VL53L3CX_hist_find_min_max_bin_values(
+ VL53LX_histogram_bin_data_t *pdata);
+
+ void VL53L3CX_hist_estimate_ambient_from_ambient_bins(
+ VL53LX_histogram_bin_data_t *pdata);
+
+ uint32_t VL53L3CX_calc_pll_period_us(
+ uint16_t fast_osc_frequency);
+
+ uint32_t VL53L3CX_duration_maths(
+ uint32_t pll_period_us,
+ uint32_t vcsel_parm_pclks,
+ uint32_t window_vclks,
+ uint32_t periods_elapsed_mclks);
+
+
+ /* vl53lx_core.h */
+
+ void VL53L3CX_init_version();
+
+ void VL53L3CX_init_ll_driver_state(
+ VL53LX_DeviceState ll_state);
+
+ VL53LX_Error VL53L3CX_update_ll_driver_rd_state();
+
+ VL53LX_Error VL53L3CX_check_ll_driver_rd_state();
+
+ VL53LX_Error VL53L3CX_update_ll_driver_cfg_state();
+
+ void VL53L3CX_copy_rtn_good_spads_to_buffer(
+ VL53LX_nvm_copy_data_t *pdata,
+ uint8_t *pbuffer);
+
+ void VL53L3CX_init_system_results(
+ VL53LX_system_results_t *pdata);
+
+ void VL53L3CX_init_zone_results_structure(
+ uint8_t active_zones,
+ VL53LX_zone_results_t *pdata);
+
+ void VL53L3CX_init_zone_dss_configs();
+
+ void VL53L3CX_init_histogram_config_structure(
+ uint8_t even_bin0,
+ uint8_t even_bin1,
+ uint8_t even_bin2,
+ uint8_t even_bin3,
+ uint8_t even_bin4,
+ uint8_t even_bin5,
+ uint8_t odd_bin0,
+ uint8_t odd_bin1,
+ uint8_t odd_bin2,
+ uint8_t odd_bin3,
+ uint8_t odd_bin4,
+ uint8_t odd_bin5,
+ VL53LX_histogram_config_t *pdata);
+
+ void VL53L3CX_init_histogram_multizone_config_structure(
+ uint8_t even_bin0,
+ uint8_t even_bin1,
+ uint8_t even_bin2,
+ uint8_t even_bin3,
+ uint8_t even_bin4,
+ uint8_t even_bin5,
+ uint8_t odd_bin0,
+ uint8_t odd_bin1,
+ uint8_t odd_bin2,
+ uint8_t odd_bin3,
+ uint8_t odd_bin4,
+ uint8_t odd_bin5,
+ VL53LX_histogram_config_t *pdata);
+
+ void VL53L3CX_init_xtalk_bin_data_struct(
+ uint32_t bin_value,
+ uint16_t VL53LX_p_021,
+ VL53LX_xtalk_histogram_shape_t *pdata);
+
+ void VL53L3CX_i2c_encode_uint16_t(
+ uint16_t ip_value,
+ uint16_t count,
+ uint8_t *pbuffer);
+
+ uint16_t VL53L3CX_i2c_decode_uint16_t(
+ uint16_t count,
+ uint8_t *pbuffer);
+
+ void VL53L3CX_i2c_encode_int16_t(
+ int16_t ip_value,
+ uint16_t count,
+ uint8_t *pbuffer);
+
+ int16_t VL53L3CX_i2c_decode_int16_t(
+ uint16_t count,
+ uint8_t *pbuffer);
+
+ void VL53L3CX_i2c_encode_uint32_t(
+ uint32_t ip_value,
+ uint16_t count,
+ uint8_t *pbuffer);
+
+ uint32_t VL53L3CX_i2c_decode_uint32_t(
+ uint16_t count,
+ uint8_t *pbuffer);
+
+ uint32_t VL53L3CX_i2c_decode_with_mask(
+ uint16_t count,
+ uint8_t *pbuffer,
+ uint32_t bit_mask,
+ uint32_t down_shift,
+ uint32_t offset);
+
+ void VL53L3CX_i2c_encode_int32_t(
+ int32_t ip_value,
+ uint16_t count,
+ uint8_t *pbuffer);
+
+ int32_t VL53L3CX_i2c_decode_int32_t(
+ uint16_t count,
+ uint8_t *pbuffer);
+
+ VL53LX_Error VL53L3CX_start_test(
+ uint8_t test_mode__ctrl);
+
+ VL53LX_Error VL53L3CX_set_firmware_enable_register(uint8_t value);
+
+ VL53LX_Error VL53L3CX_enable_firmware();
+
+ VL53LX_Error VL53L3CX_disable_firmware();
+
+ VL53LX_Error VL53L3CX_set_powerforce_register(
+ uint8_t value);
+
+ VL53LX_Error VL53L3CX_enable_powerforce();
+
+ VL53LX_Error VL53L3CX_disable_powerforce();
+
+ VL53LX_Error VL53L3CX_clear_interrupt();
+
+ VL53LX_Error VL53L3CX_force_shadow_stream_count_to_zero();
+
+ uint32_t VL53L3CX_calc_macro_period_us(
+ uint16_t fast_osc_frequency,
+ uint8_t VL53LX_p_005);
+
+ uint16_t VL53L3CX_calc_range_ignore_threshold(
+ uint32_t central_rate,
+ int16_t x_gradient,
+ int16_t y_gradient,
+ uint8_t rate_mult);
+
+ uint32_t VL53L3CX_calc_timeout_mclks(
+ uint32_t timeout_us,
+ uint32_t macro_period_us);
+
+ uint16_t VL53L3CX_calc_encoded_timeout(
+ uint32_t timeout_us,
+ uint32_t macro_period_us);
+
+ uint32_t VL53L3CX_calc_timeout_us(
+ uint32_t timeout_mclks,
+ uint32_t macro_period_us);
+
+ uint32_t VL53L3CX_calc_decoded_timeout_us(
+ uint16_t timeout_encoded,
+ uint32_t macro_period_us);
+
+ uint16_t VL53L3CX_encode_timeout(
+ uint32_t timeout_mclks);
+
+ uint32_t VL53L3CX_decode_timeout(
+ uint16_t encoded_timeout);
+
+ VL53LX_Error VL53L3CX_calc_timeout_register_values(
+ uint32_t phasecal_config_timeout_us,
+ uint32_t mm_config_timeout_us,
+ uint32_t range_config_timeout_us,
+ uint16_t fast_osc_frequency,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming);
+
+ uint8_t VL53L3CX_encode_vcsel_period(
+ uint8_t VL53LX_p_030);
+
+ uint32_t VL53L3CX_decode_unsigned_integer(
+ uint8_t *pbuffer,
+ uint8_t no_of_bytes);
+
+ void VL53L3CX_encode_unsigned_integer(
+ uint32_t ip_value,
+ uint8_t no_of_bytes,
+ uint8_t *pbuffer);
+
+ VL53LX_Error VL53L3CX_hist_copy_and_scale_ambient_info(
+ VL53LX_zone_hist_info_t *pidata,
+ VL53LX_histogram_bin_data_t *podata);
+
+ void VL53L3CX_hist_get_bin_sequence_config(
+ VL53LX_histogram_bin_data_t *pdata);
+
+ VL53LX_Error VL53L3CX_hist_phase_consistency_check(
+ VL53LX_zone_hist_info_t *phist_prev,
+ VL53LX_zone_objects_t *prange_prev,
+ VL53LX_range_results_t *prange_curr);
+
+ VL53LX_Error VL53L3CX_hist_events_consistency_check(
+ uint8_t event_sigma,
+ uint16_t min_effective_spad_count,
+ VL53LX_zone_hist_info_t *phist_prev,
+ VL53LX_object_data_t *prange_prev,
+ VL53LX_range_data_t *prange_curr,
+ int32_t *pevents_tolerance,
+ int32_t *pevents_delta,
+ VL53LX_DeviceError *prange_status);
+
+ VL53LX_Error VL53L3CX_hist_merged_pulse_check(
+ int16_t min_max_tolerance_mm,
+ VL53LX_range_data_t *pdata,
+ VL53LX_DeviceError *prange_status);
+
+ VL53LX_Error VL53L3CX_hist_xmonitor_consistency_check(
+ VL53LX_zone_hist_info_t *phist_prev,
+ VL53LX_zone_objects_t *prange_prev,
+ VL53LX_range_data_t *prange_curr);
+
+ VL53LX_Error VL53L3CX_hist_wrap_dmax(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_histogram_bin_data_t *pcurrent,
+ int16_t *pwrap_dmax_mm);
+
+ void VL53L3CX_hist_combine_mm1_mm2_offsets(
+ int16_t mm1_offset_mm,
+ int16_t mm2_offset_mm,
+ uint8_t encoded_mm_roi_centre,
+ uint8_t encoded_mm_roi_size,
+ uint8_t encoded_zone_centre,
+ uint8_t encoded_zone_size,
+ VL53LX_additional_offset_cal_data_t *pcal_data,
+ uint8_t *pgood_spads,
+ uint16_t aperture_attenuation,
+ int16_t *prange_offset_mm);
+
+ VL53LX_Error VL53L3CX_hist_xtalk_extract_calc_window(
+ int16_t target_distance_mm,
+ uint16_t target_width_oversize,
+ VL53LX_histogram_bin_data_t *phist_bins,
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data);
+
+ VL53LX_Error VL53L3CX_hist_xtalk_extract_calc_event_sums(
+ VL53LX_histogram_bin_data_t *phist_bins,
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data);
+
+ VL53LX_Error VL53L3CX_hist_xtalk_extract_calc_rate_per_spad(
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data);
+
+ VL53LX_Error VL53L3CX_hist_xtalk_extract_calc_shape(
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data,
+ VL53LX_xtalk_histogram_shape_t *pxtalk_shape);
+
+ VL53LX_Error VL53L3CX_hist_xtalk_shape_model(
+ uint16_t events_per_bin,
+ uint16_t pulse_centre,
+ uint16_t pulse_width,
+ VL53LX_xtalk_histogram_shape_t *pxtalk_shape);
+
+ uint16_t VL53L3CX_hist_xtalk_shape_model_interp(
+ uint16_t events_per_bin,
+ uint32_t phase_delta);
+
+ void VL53L3CX_spad_number_to_byte_bit_index(
+ uint8_t spad_number,
+ uint8_t *pbyte_index,
+ uint8_t *pbit_index,
+ uint8_t *pbit_mask);
+
+ void VL53L3CX_encode_row_col(
+ uint8_t row,
+ uint8_t col,
+ uint8_t *pspad_number);
+
+ void VL53L3CX_decode_zone_size(
+ uint8_t encoded_xy_size,
+ uint8_t *pwidth,
+ uint8_t *pheight);
+
+ void VL53L3CX_encode_zone_size(
+ uint8_t width,
+ uint8_t height,
+ uint8_t *pencoded_xy_size);
+
+ void VL53L3CX_decode_zone_limits(
+ uint8_t encoded_xy_centre,
+ uint8_t encoded_xy_size,
+ int16_t *px_ll,
+ int16_t *py_ll,
+ int16_t *px_ur,
+ int16_t *py_ur);
+
+ uint8_t VL53L3CX_is_aperture_location(
+ uint8_t row,
+ uint8_t col);
+
+ void VL53L3CX_calc_max_effective_spads(
+ uint8_t encoded_zone_centre,
+ uint8_t encoded_zone_size,
+ uint8_t *pgood_spads,
+ uint16_t aperture_attenuation,
+ uint16_t *pmax_effective_spads);
+
+ void VL53L3CX_calc_mm_effective_spads(
+ uint8_t encoded_mm_roi_centre,
+ uint8_t encoded_mm_roi_size,
+ uint8_t encoded_zone_centre,
+ uint8_t encoded_zone_size,
+ uint8_t *pgood_spads,
+ uint16_t aperture_attenuation,
+ uint16_t *pmm_inner_effective_spads,
+ uint16_t *pmm_outer_effective_spads);
+
+ void VL53L3CX_hist_copy_results_to_sys_and_core(
+ VL53LX_histogram_bin_data_t *pbins,
+ VL53LX_range_results_t *phist,
+ VL53LX_system_results_t *psys,
+ VL53LX_core_results_t *pcore);
+
+
+
+
+ VL53LX_Error VL53L3CX_save_cfg_data();
+
+ VL53LX_Error VL53L3CX_dynamic_zone_update(
+ VL53LX_range_results_t *presults);
+
+ VL53LX_Error VL53L3CX_update_internal_stream_counters(
+ uint8_t external_stream_count,
+ uint8_t *pinternal_stream_count,
+ uint8_t *pinternal_stream_count_val
+ );
+
+ VL53LX_Error VL53L3CX_multizone_hist_bins_update();
+
+ VL53LX_Error VL53L3CX_set_histogram_multizone_initial_bin_config(
+ VL53LX_zone_config_t *pzone_cfg,
+ VL53LX_histogram_config_t *phist_cfg,
+ VL53LX_histogram_config_t *pmulti_hist
+ );
+
+ uint8_t VL53L3CX_encode_GPIO_interrupt_config(
+ VL53LX_GPIO_interrupt_config_t *pintconf);
+
+ VL53LX_GPIO_interrupt_config_t VL53L3CX_decode_GPIO_interrupt_config(
+ uint8_t system__interrupt_config);
+
+ VL53LX_Error VL53L3CX_set_GPIO_distance_threshold(
+ uint16_t threshold_high,
+ uint16_t threshold_low);
+
+ VL53LX_Error VL53L3CX_set_GPIO_rate_threshold(
+ uint16_t threshold_high,
+ uint16_t threshold_low);
+
+ VL53LX_Error VL53L3CX_set_GPIO_thresholds_from_struct(
+ VL53LX_GPIO_interrupt_config_t *pintconf);
+
+ VL53LX_Error VL53L3CX_set_ref_spad_char_config(
+ uint8_t vcsel_period_a,
+ uint32_t phasecal_timeout_us,
+ uint16_t total_rate_target_mcps,
+ uint16_t max_count_rate_rtn_limit_mcps,
+ uint16_t min_count_rate_rtn_limit_mcps,
+ uint16_t fast_osc_frequency);
+
+ VL53LX_Error VL53L3CX_set_ssc_config(
+ VL53LX_ssc_config_t *pssc_cfg,
+ uint16_t fast_osc_frequency);
+
+ VL53LX_Error VL53L3CX_get_spad_rate_data(
+ VL53LX_spad_rate_data_t *pspad_rates);
+
+ uint32_t VL53L3CX_calc_crosstalk_plane_offset_with_margin(
+ uint32_t plane_offset_kcps,
+ int16_t margin_offset_kcps);
+
+ VL53LX_Error VL53L3CX_low_power_auto_data_init();
+
+ VL53LX_Error VL53L3CX_low_power_auto_data_stop_range();
+
+ VL53LX_Error VL53L3CX_dynamic_xtalk_correction_calc_required_samples();
+
+ VL53LX_Error VL53L3CX_dynamic_xtalk_correction_calc_new_xtalk(
+ uint32_t xtalk_offset_out,
+ VL53LX_smudge_corrector_config_t *pconfig,
+ VL53LX_smudge_corrector_data_t *pout,
+ uint8_t add_smudge,
+ uint8_t soft_update
+ );
+
+ VL53LX_Error VL53L3CX_dynamic_xtalk_correction_corrector();
+
+ VL53LX_Error VL53L3CX_dynamic_xtalk_correction_data_init();
+
+ VL53LX_Error VL53L3CX_dynamic_xtalk_correction_output_init(
+ VL53LX_LLDriverResults_t *pres
+ );
+
+ VL53LX_Error VL53L3CX_xtalk_cal_data_init();
+
+ VL53LX_Error VL53L3CX_config_low_power_auto_mode(
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_low_power_auto_data_t *plpadata
+ );
+
+ VL53LX_Error VL53L3CX_low_power_auto_setup_manual_calibration();
+
+ VL53LX_Error VL53L3CX_low_power_auto_update_DSS();
+
+ VL53LX_Error VL53L3CX_compute_histo_merge_nb(uint8_t *histo_merge_nb);
+
+
+
+ /* vl53lx_wait.h */
+
+ VL53LX_Error VL53L3CX_wait_for_boot_completion();
+
+ VL53LX_Error VL53L3CX_wait_for_firmware_ready();
+
+ VL53LX_Error VL53L3CX_wait_for_range_completion();
+
+ VL53LX_Error VL53L3CX_wait_for_test_completion();
+
+ VL53LX_Error VL53L3CX_is_boot_complete(uint8_t *pready);
+
+ VL53LX_Error VL53L3CX_is_firmware_ready(uint8_t *pready);
+
+ VL53LX_Error VL53L3CX_is_new_data_ready(uint8_t *pready);
+
+ VL53LX_Error VL53L3CX_poll_for_boot_completion(uint32_t timeout_ms);
+
+ VL53LX_Error VL53L3CX_poll_for_firmware_ready(uint32_t timeout_ms);
+
+ VL53LX_Error VL53L3CX_poll_for_range_completion(uint32_t timeout_ms);
+
+
+ /* vl53lx_zone_presets.h */
+
+ VL53LX_Error VL53L3CX_init_zone_config_structure(
+ uint8_t x_off,
+ uint8_t x_inc,
+ uint8_t x_zones,
+ uint8_t y_off,
+ uint8_t y_inc,
+ uint8_t y_zones,
+ uint8_t width,
+ uint8_t height,
+ VL53LX_zone_config_t *pdata);
+
+
+ VL53LX_Error VL53L3CX_init_zone_config_histogram_bins(
+ VL53LX_zone_config_t *pdata);
+
+
+ /* vl53lx_api_preset_modes.h */
+
+ VL53LX_Error VL53L3CX_init_refspadchar_config_struct(
+ VL53LX_refspadchar_config_t *pdata);
+
+ VL53LX_Error VL53L3CX_init_ssc_config_struct(
+ VL53LX_ssc_config_t *pdata);
+
+ VL53LX_Error VL53L3CX_init_xtalk_config_struct(
+ VL53LX_customer_nvm_managed_t *pnvm,
+ VL53LX_xtalk_config_t *pdata);
+
+ VL53LX_Error VL53L3CX_init_xtalk_extract_config_struct(
+ VL53LX_xtalkextract_config_t *pdata);
+
+ VL53LX_Error VL53L3CX_init_offset_cal_config_struct(
+ VL53LX_offsetcal_config_t *pdata);
+
+ VL53LX_Error VL53L3CX_init_zone_cal_config_struct(
+ VL53LX_zonecal_config_t *pdata);
+
+ VL53LX_Error VL53L3CX_init_hist_post_process_config_struct(
+ uint8_t xtalk_compensation_enable,
+ VL53LX_hist_post_process_config_t *pdata);
+
+ VL53LX_Error VL53L3CX_init_dmax_calibration_data_struct(
+ VL53LX_dmax_calibration_data_t *pdata);
+
+ VL53LX_Error VL53L3CX_init_tuning_parm_storage_struct(
+ VL53LX_tuning_parm_storage_t *pdata);
+
+ VL53LX_Error VL53L3CX_init_hist_gen3_dmax_config_struct(
+ VL53LX_hist_gen3_dmax_config_t *pdata);
+
+ VL53LX_Error VL53L3CX_preset_mode_standard_ranging(
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+
+
+ VL53LX_Error VL53L3CX_preset_mode_histogram_ranging(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+
+ VL53LX_Error VL53L3CX_preset_mode_histogram_characterisation(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53L3CX_preset_mode_histogram_xtalk_planar(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+
+ VL53LX_Error VL53L3CX_preset_mode_histogram_long_range(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53L3CX_preset_mode_histogram_medium_range(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+ VL53LX_Error VL53L3CX_preset_mode_histogram_short_range(
+ VL53LX_hist_post_process_config_t *phistpostprocess,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic,
+ VL53LX_system_control_t *psystem,
+ VL53LX_tuning_parm_storage_t *ptuning_parms,
+ VL53LX_zone_config_t *pzone_cfg);
+
+
+
+
+ void VL53L3CX_copy_hist_cfg_to_static_cfg(
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_general_config_t *pgeneral,
+ VL53LX_timing_config_t *ptiming,
+ VL53LX_dynamic_config_t *pdynamic);
+
+ void VL53L3CX_copy_hist_bins_to_static_cfg(
+ VL53LX_histogram_config_t *phistogram,
+ VL53LX_static_config_t *pstatic,
+ VL53LX_timing_config_t *ptiming);
+
+
+ /* vl53lx_silicon_core.h */
+ VL53LX_Error VL53L3CX_is_firmware_ready_silicon(
+ uint8_t *pready);
+
+
+
+
+ /* vl53lx_xtalk.h */
+
+ VL53LX_Error VL53L3CX_xtalk_calibration_process_data(
+ VL53LX_xtalk_range_results_t *pxtalk_ranges,
+ VL53LX_xtalk_histogram_data_t *pxtalk_shape,
+ VL53LX_xtalk_calibration_results_t *pxtalk_cal);
+
+
+
+ /* vl53lx_api_calibration.h */
+
+ VL53LX_Error VL53L3CX_run_ref_spad_char(
+ VL53LX_Error *pcal_status);
+
+
+
+
+ VL53LX_Error VL53L3CX_run_device_test(
+ VL53LX_DeviceTestMode device_test_mode);
+
+
+
+ VL53LX_Error VL53L3CX_run_xtalk_extraction(
+ VL53LX_Error *pcal_status);
+
+
+
+ VL53LX_Error VL53L3CX_get_and_avg_xtalk_samples(
+ uint8_t num_of_samples,
+ uint8_t measurement_mode,
+ int16_t xtalk_filter_thresh_max_mm,
+ int16_t xtalk_filter_thresh_min_mm,
+ uint16_t xtalk_max_valid_rate_kcps,
+ uint8_t xtalk_result_id,
+ uint8_t xtalk_histo_id,
+ VL53LX_xtalk_range_results_t *pxtalk_results,
+ VL53LX_histogram_bin_data_t *psum_histo,
+ VL53LX_histogram_bin_data_t *pavg_histo);
+
+
+
+ VL53LX_Error VL53L3CX__run_phasecal_average(
+ uint8_t measurement_mode,
+ uint8_t phasecal_result__vcsel_start,
+ uint16_t phasecal_num_of_samples,
+ VL53LX_range_results_t *prange_results,
+ uint16_t *pphasecal_result__reference_phase,
+ uint16_t *pzero_distance_phase);
+
+
+ void VL53L3CX_hist_xtalk_extract_data_init(
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data);
+
+
+
+ VL53LX_Error VL53L3CX_hist_xtalk_extract_update(
+ int16_t target_distance_mm,
+ uint16_t target_width_oversize,
+ VL53LX_histogram_bin_data_t *phist_bins,
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data);
+
+
+
+ VL53LX_Error VL53L3CX_hist_xtalk_extract_fini(
+ VL53LX_histogram_bin_data_t *phist_bins,
+ VL53LX_hist_xtalk_extract_data_t *pxtalk_data,
+ VL53LX_xtalk_calibration_results_t *pxtalk_cal,
+ VL53LX_xtalk_histogram_shape_t *pxtalk_shape);
+
+
+
+
+ VL53LX_Error VL53L3CX_run_hist_xtalk_extraction(
+ int16_t cal_distance_mm,
+ VL53LX_Error *pcal_status);
+
+ /* vl53lx_api_core.c static functions */
+ void VL53L3CX_histo_merge(VL53LX_histogram_bin_data_t *pdata);
+
+ /* vl53lx_api.c static functions */
+
+ int BDTable[11];
+
+
+
+ /* Write and read functions from I2C */
+
+ VL53LX_Error VL53L3CX_WrByte(VL53LX_DEV Dev, uint16_t index, uint8_t data);
+ VL53LX_Error VL53L3CX_WrWord(VL53LX_DEV Dev, uint16_t index, uint16_t data);
+ VL53LX_Error VL53L3CX_WrDWord(VL53LX_DEV Dev, uint16_t index, uint32_t data);
+ VL53LX_Error VL53L3CX_RdByte(VL53LX_DEV Dev, uint16_t index, uint8_t *data);
+ // VL53LX_Error VL53L3CX_RdWord(VL53LX_DEV Dev, uint16_t index, uint16_t *data);
+ VL53LX_Error VL53L3CX_RdDWord(VL53LX_DEV Dev, uint16_t index, uint32_t *data);
+ VL53LX_Error VL53L3CX_UpdateByte(VL53LX_DEV Dev, uint16_t index, uint8_t AndData, uint8_t OrData);
+
+ VL53LX_Error VL53L3CX_WriteMulti(VL53LX_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count);
+ VL53LX_Error VL53L3CX_ReadMulti(VL53LX_DEV Dev, uint16_t index, uint8_t *pdata, uint32_t count);
+
+ VL53LX_Error VL53L3CX_I2CWrite(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToWrite);
+ VL53LX_Error VL53L3CX_I2CRead(uint8_t DeviceAddr, uint16_t RegisterAddr, uint8_t *pBuffer, uint16_t NumByteToRead);
+ VL53LX_Error VL53L3CX_GetTickCount(uint32_t *ptick_count_ms);
+ VL53LX_Error VL53L3CX_WaitUs(VL53LX_Dev_t *pdev, int32_t wait_us);
+ VL53LX_Error VL53L3CX_WaitMs(VL53LX_DEV Dev, int32_t wait_ms);
+
+ VL53LX_Error VL53L3CX_WaitValueMaskEx(VL53LX_DEV dev, uint32_t timeout_ms, uint16_t index, uint8_t value, uint8_t mask, uint32_t poll_delay_ms);
+
+ // dummy routines needed for inherited functions
+ int read_id(uint8_t *id)
+ {
+ printf("dwwdji");
+ return 26;
+ }
+
+
+
+ int get_distance(uint32_t *pi_data)
+ {
+ return 43;
+ }
+
+
+ //protected:
+
+ /* IO Device */
+ vl53L3_DevI2C *dev_i2c;
+ /* Digital out pin */
+ int gpio0;
+
+ /* Device data */
+ VL53LX_Dev_t MyDevice;
+ VL53LX_DEV Dev;
+
+ vl53L3_DevI2C *i2c_inst;
+
+ /* Digital out pin */
+ DigitalOut *_gpio0;
+ /* GPIO expander */
+ Stmpe1600DigiOut *_expgpio0;
+ /* Measure detection IRQ */
+ InterruptIn *_gpio1Int;
+ int I2cDevAddr;
+};
+
+#endif /* _VL53LX_CLASS_H_ */
+