charles macneill / VL53L1CB

Important changes to repositories hosted on mbed.com

Mbed hosted mercurial repositories are deprecated and are due to be permanently deleted in July 2026.

To keep a copy of this software download the repository Zip archive or clone locally using Mercurial.

It is also possible to export all your personal repositories from the account settings page.

inc/vl53l1_hist_structs.h@0:3d72bef69191, 2020-11-06 (annotated)

Committer:
charlesmn
Date:
Fri Nov 06 12:15:24 2020 +0000
Revision:
0:3d72bef69191
Initial release. Mbed library for VL53L1CB

Who changed what in which revision?

UserRevisionLine numberNew contents of line
charlesmn 0:3d72bef69191 1
charlesmn 0:3d72bef69191 2 /*******************************************************************************
charlesmn 0:3d72bef69191 3 * Copyright (c) 2020, STMicroelectronics - All Rights Reserved
charlesmn 0:3d72bef69191 4
charlesmn 0:3d72bef69191 5 This file is part of VL53L1 Core and is dual licensed,
charlesmn 0:3d72bef69191 6 either 'STMicroelectronics
charlesmn 0:3d72bef69191 7 Proprietary license'
charlesmn 0:3d72bef69191 8 or 'BSD 3-clause "New" or "Revised" License' , at your option.
charlesmn 0:3d72bef69191 9
charlesmn 0:3d72bef69191 10 ********************************************************************************
charlesmn 0:3d72bef69191 11
charlesmn 0:3d72bef69191 12 'STMicroelectronics Proprietary license'
charlesmn 0:3d72bef69191 13
charlesmn 0:3d72bef69191 14 ********************************************************************************
charlesmn 0:3d72bef69191 15
charlesmn 0:3d72bef69191 16 License terms: STMicroelectronics Proprietary in accordance with licensing
charlesmn 0:3d72bef69191 17 terms at www.st.com/sla0081
charlesmn 0:3d72bef69191 18
charlesmn 0:3d72bef69191 19 STMicroelectronics confidential
charlesmn 0:3d72bef69191 20 Reproduction and Communication of this document is strictly prohibited unless
charlesmn 0:3d72bef69191 21 specifically authorized in writing by STMicroelectronics.
charlesmn 0:3d72bef69191 22
charlesmn 0:3d72bef69191 23
charlesmn 0:3d72bef69191 24 ********************************************************************************
charlesmn 0:3d72bef69191 25
charlesmn 0:3d72bef69191 26 Alternatively, VL53L1 Core may be distributed under the terms of
charlesmn 0:3d72bef69191 27 'BSD 3-clause "New" or "Revised" License', in which case the following
charlesmn 0:3d72bef69191 28 provisions apply instead of the ones
charlesmn 0:3d72bef69191 29 mentioned above :
charlesmn 0:3d72bef69191 30
charlesmn 0:3d72bef69191 31 ********************************************************************************
charlesmn 0:3d72bef69191 32
charlesmn 0:3d72bef69191 33 License terms: BSD 3-clause "New" or "Revised" License.
charlesmn 0:3d72bef69191 34
charlesmn 0:3d72bef69191 35 Redistribution and use in source and binary forms, with or without
charlesmn 0:3d72bef69191 36 modification, are permitted provided that the following conditions are met:
charlesmn 0:3d72bef69191 37
charlesmn 0:3d72bef69191 38 1. Redistributions of source code must retain the above copyright notice, this
charlesmn 0:3d72bef69191 39 list of conditions and the following disclaimer.
charlesmn 0:3d72bef69191 40
charlesmn 0:3d72bef69191 41 2. Redistributions in binary form must reproduce the above copyright notice,
charlesmn 0:3d72bef69191 42 this list of conditions and the following disclaimer in the documentation
charlesmn 0:3d72bef69191 43 and/or other materials provided with the distribution.
charlesmn 0:3d72bef69191 44
charlesmn 0:3d72bef69191 45 3. Neither the name of the copyright holder nor the names of its contributors
charlesmn 0:3d72bef69191 46 may be used to endorse or promote products derived from this software
charlesmn 0:3d72bef69191 47 without specific prior written permission.
charlesmn 0:3d72bef69191 48
charlesmn 0:3d72bef69191 49 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
charlesmn 0:3d72bef69191 50 AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
charlesmn 0:3d72bef69191 51 IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
charlesmn 0:3d72bef69191 52 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
charlesmn 0:3d72bef69191 53 FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
charlesmn 0:3d72bef69191 54 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
charlesmn 0:3d72bef69191 55 SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
charlesmn 0:3d72bef69191 56 CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
charlesmn 0:3d72bef69191 57 OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
charlesmn 0:3d72bef69191 58 OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
charlesmn 0:3d72bef69191 59
charlesmn 0:3d72bef69191 60
charlesmn 0:3d72bef69191 61 ********************************************************************************
charlesmn 0:3d72bef69191 62
charlesmn 0:3d72bef69191 63 */
charlesmn 0:3d72bef69191 64
charlesmn 0:3d72bef69191 65
charlesmn 0:3d72bef69191 66
charlesmn 0:3d72bef69191 67
charlesmn 0:3d72bef69191 68
charlesmn 0:3d72bef69191 69 #ifndef _VL53L1_HIST_STRUCTS_H_
charlesmn 0:3d72bef69191 70 #define _VL53L1_HIST_STRUCTS_H_
charlesmn 0:3d72bef69191 71
charlesmn 0:3d72bef69191 72 #include "vl53l1_ll_device.h"
charlesmn 0:3d72bef69191 73 #include "vl53l1_dmax_structs.h"
charlesmn 0:3d72bef69191 74
charlesmn 0:3d72bef69191 75 #ifdef __cplusplus
charlesmn 0:3d72bef69191 76 extern "C"
charlesmn 0:3d72bef69191 77 {
charlesmn 0:3d72bef69191 78 #endif
charlesmn 0:3d72bef69191 79
charlesmn 0:3d72bef69191 80 #define VL53L1_MAX_BIN_SEQUENCE_LENGTH 6
charlesmn 0:3d72bef69191 81 #define VL53L1_MAX_BIN_SEQUENCE_CODE 15
charlesmn 0:3d72bef69191 82 #define VL53L1_HISTOGRAM_BUFFER_SIZE 24
charlesmn 0:3d72bef69191 83 #define VL53L1_XTALK_HISTO_BINS 12
charlesmn 0:3d72bef69191 84
charlesmn 0:3d72bef69191 85
charlesmn 0:3d72bef69191 86
charlesmn 0:3d72bef69191 87 typedef struct {
charlesmn 0:3d72bef69191 88
charlesmn 0:3d72bef69191 89 uint8_t histogram_config__spad_array_selection;
charlesmn 0:3d72bef69191 90
charlesmn 0:3d72bef69191 91 uint8_t histogram_config__low_amb_even_bin_0_1;
charlesmn 0:3d72bef69191 92 uint8_t histogram_config__low_amb_even_bin_2_3;
charlesmn 0:3d72bef69191 93 uint8_t histogram_config__low_amb_even_bin_4_5;
charlesmn 0:3d72bef69191 94
charlesmn 0:3d72bef69191 95 uint8_t histogram_config__low_amb_odd_bin_0_1;
charlesmn 0:3d72bef69191 96 uint8_t histogram_config__low_amb_odd_bin_2_3;
charlesmn 0:3d72bef69191 97 uint8_t histogram_config__low_amb_odd_bin_4_5;
charlesmn 0:3d72bef69191 98
charlesmn 0:3d72bef69191 99 uint8_t histogram_config__mid_amb_even_bin_0_1;
charlesmn 0:3d72bef69191 100 uint8_t histogram_config__mid_amb_even_bin_2_3;
charlesmn 0:3d72bef69191 101 uint8_t histogram_config__mid_amb_even_bin_4_5;
charlesmn 0:3d72bef69191 102
charlesmn 0:3d72bef69191 103 uint8_t histogram_config__mid_amb_odd_bin_0_1;
charlesmn 0:3d72bef69191 104 uint8_t histogram_config__mid_amb_odd_bin_2;
charlesmn 0:3d72bef69191 105 uint8_t histogram_config__mid_amb_odd_bin_3_4;
charlesmn 0:3d72bef69191 106 uint8_t histogram_config__mid_amb_odd_bin_5;
charlesmn 0:3d72bef69191 107
charlesmn 0:3d72bef69191 108 uint8_t histogram_config__user_bin_offset;
charlesmn 0:3d72bef69191 109
charlesmn 0:3d72bef69191 110 uint8_t histogram_config__high_amb_even_bin_0_1;
charlesmn 0:3d72bef69191 111 uint8_t histogram_config__high_amb_even_bin_2_3;
charlesmn 0:3d72bef69191 112 uint8_t histogram_config__high_amb_even_bin_4_5;
charlesmn 0:3d72bef69191 113
charlesmn 0:3d72bef69191 114 uint8_t histogram_config__high_amb_odd_bin_0_1;
charlesmn 0:3d72bef69191 115 uint8_t histogram_config__high_amb_odd_bin_2_3;
charlesmn 0:3d72bef69191 116 uint8_t histogram_config__high_amb_odd_bin_4_5;
charlesmn 0:3d72bef69191 117
charlesmn 0:3d72bef69191 118 uint16_t histogram_config__amb_thresh_low;
charlesmn 0:3d72bef69191 119
charlesmn 0:3d72bef69191 120 uint16_t histogram_config__amb_thresh_high;
charlesmn 0:3d72bef69191 121
charlesmn 0:3d72bef69191 122
charlesmn 0:3d72bef69191 123 } VL53L1_histogram_config_t;
charlesmn 0:3d72bef69191 124
charlesmn 0:3d72bef69191 125
charlesmn 0:3d72bef69191 126
charlesmn 0:3d72bef69191 127
charlesmn 0:3d72bef69191 128 typedef struct {
charlesmn 0:3d72bef69191 129
charlesmn 0:3d72bef69191 130 VL53L1_HistAlgoSelect hist_algo_select;
charlesmn 0:3d72bef69191 131
charlesmn 0:3d72bef69191 132
charlesmn 0:3d72bef69191 133 VL53L1_HistTargetOrder hist_target_order;
charlesmn 0:3d72bef69191 134
charlesmn 0:3d72bef69191 135
charlesmn 0:3d72bef69191 136 uint8_t filter_woi0;
charlesmn 0:3d72bef69191 137
charlesmn 0:3d72bef69191 138 uint8_t filter_woi1;
charlesmn 0:3d72bef69191 139
charlesmn 0:3d72bef69191 140
charlesmn 0:3d72bef69191 141 VL53L1_HistAmbEstMethod hist_amb_est_method;
charlesmn 0:3d72bef69191 142
charlesmn 0:3d72bef69191 143 uint8_t ambient_thresh_sigma0;
charlesmn 0:3d72bef69191 144
charlesmn 0:3d72bef69191 145 uint8_t ambient_thresh_sigma1;
charlesmn 0:3d72bef69191 146
charlesmn 0:3d72bef69191 147
charlesmn 0:3d72bef69191 148
charlesmn 0:3d72bef69191 149 uint16_t ambient_thresh_events_scaler;
charlesmn 0:3d72bef69191 150
charlesmn 0:3d72bef69191 151
charlesmn 0:3d72bef69191 152
charlesmn 0:3d72bef69191 153 int32_t min_ambient_thresh_events;
charlesmn 0:3d72bef69191 154
charlesmn 0:3d72bef69191 155 uint16_t noise_threshold;
charlesmn 0:3d72bef69191 156
charlesmn 0:3d72bef69191 157
charlesmn 0:3d72bef69191 158 int32_t signal_total_events_limit;
charlesmn 0:3d72bef69191 159
charlesmn 0:3d72bef69191 160 uint8_t sigma_estimator__sigma_ref_mm;
charlesmn 0:3d72bef69191 161
charlesmn 0:3d72bef69191 162 uint16_t sigma_thresh;
charlesmn 0:3d72bef69191 163
charlesmn 0:3d72bef69191 164 int16_t range_offset_mm;
charlesmn 0:3d72bef69191 165
charlesmn 0:3d72bef69191 166 uint16_t gain_factor;
charlesmn 0:3d72bef69191 167
charlesmn 0:3d72bef69191 168
charlesmn 0:3d72bef69191 169 uint8_t valid_phase_low;
charlesmn 0:3d72bef69191 170
charlesmn 0:3d72bef69191 171 uint8_t valid_phase_high;
charlesmn 0:3d72bef69191 172
charlesmn 0:3d72bef69191 173 uint8_t algo__consistency_check__phase_tolerance;
charlesmn 0:3d72bef69191 174
charlesmn 0:3d72bef69191 175 uint8_t algo__consistency_check__event_sigma;
charlesmn 0:3d72bef69191 176
charlesmn 0:3d72bef69191 177
charlesmn 0:3d72bef69191 178
charlesmn 0:3d72bef69191 179 uint16_t algo__consistency_check__event_min_spad_count;
charlesmn 0:3d72bef69191 180
charlesmn 0:3d72bef69191 181
charlesmn 0:3d72bef69191 182
charlesmn 0:3d72bef69191 183 uint16_t algo__consistency_check__min_max_tolerance;
charlesmn 0:3d72bef69191 184
charlesmn 0:3d72bef69191 185
charlesmn 0:3d72bef69191 186 uint8_t algo__crosstalk_compensation_enable;
charlesmn 0:3d72bef69191 187
charlesmn 0:3d72bef69191 188 uint32_t algo__crosstalk_compensation_plane_offset_kcps;
charlesmn 0:3d72bef69191 189
charlesmn 0:3d72bef69191 190 int16_t algo__crosstalk_compensation_x_plane_gradient_kcps;
charlesmn 0:3d72bef69191 191
charlesmn 0:3d72bef69191 192 int16_t algo__crosstalk_compensation_y_plane_gradient_kcps;
charlesmn 0:3d72bef69191 193
charlesmn 0:3d72bef69191 194
charlesmn 0:3d72bef69191 195 int16_t algo__crosstalk_detect_min_valid_range_mm;
charlesmn 0:3d72bef69191 196
charlesmn 0:3d72bef69191 197 int16_t algo__crosstalk_detect_max_valid_range_mm;
charlesmn 0:3d72bef69191 198
charlesmn 0:3d72bef69191 199 uint16_t algo__crosstalk_detect_max_valid_rate_kcps;
charlesmn 0:3d72bef69191 200
charlesmn 0:3d72bef69191 201 uint16_t algo__crosstalk_detect_max_sigma_mm;
charlesmn 0:3d72bef69191 202
charlesmn 0:3d72bef69191 203
charlesmn 0:3d72bef69191 204
charlesmn 0:3d72bef69191 205 uint8_t algo__crosstalk_detect_event_sigma;
charlesmn 0:3d72bef69191 206
charlesmn 0:3d72bef69191 207
charlesmn 0:3d72bef69191 208
charlesmn 0:3d72bef69191 209 uint16_t algo__crosstalk_detect_min_max_tolerance;
charlesmn 0:3d72bef69191 210
charlesmn 0:3d72bef69191 211
charlesmn 0:3d72bef69191 212 } VL53L1_hist_post_process_config_t;
charlesmn 0:3d72bef69191 213
charlesmn 0:3d72bef69191 214
charlesmn 0:3d72bef69191 215
charlesmn 0:3d72bef69191 216 typedef struct {
charlesmn 0:3d72bef69191 217
charlesmn 0:3d72bef69191 218
charlesmn 0:3d72bef69191 219 VL53L1_DeviceState cfg_device_state;
charlesmn 0:3d72bef69191 220
charlesmn 0:3d72bef69191 221 VL53L1_DeviceState rd_device_state;
charlesmn 0:3d72bef69191 222
charlesmn 0:3d72bef69191 223
charlesmn 0:3d72bef69191 224 uint8_t zone_id;
charlesmn 0:3d72bef69191 225
charlesmn 0:3d72bef69191 226 uint32_t time_stamp;
charlesmn 0:3d72bef69191 227
charlesmn 0:3d72bef69191 228
charlesmn 0:3d72bef69191 229 uint8_t VL53L1_p_022;
charlesmn 0:3d72bef69191 230
charlesmn 0:3d72bef69191 231 uint8_t VL53L1_p_023;
charlesmn 0:3d72bef69191 232
charlesmn 0:3d72bef69191 233 uint8_t VL53L1_p_024;
charlesmn 0:3d72bef69191 234
charlesmn 0:3d72bef69191 235 uint8_t number_of_ambient_bins;
charlesmn 0:3d72bef69191 236
charlesmn 0:3d72bef69191 237 uint8_t bin_seq[VL53L1_MAX_BIN_SEQUENCE_LENGTH];
charlesmn 0:3d72bef69191 238
charlesmn 0:3d72bef69191 239 uint8_t bin_rep[VL53L1_MAX_BIN_SEQUENCE_LENGTH];
charlesmn 0:3d72bef69191 240
charlesmn 0:3d72bef69191 241 int32_t bin_data[VL53L1_HISTOGRAM_BUFFER_SIZE];
charlesmn 0:3d72bef69191 242
charlesmn 0:3d72bef69191 243
charlesmn 0:3d72bef69191 244 uint8_t result__interrupt_status;
charlesmn 0:3d72bef69191 245
charlesmn 0:3d72bef69191 246 uint8_t result__range_status;
charlesmn 0:3d72bef69191 247
charlesmn 0:3d72bef69191 248 uint8_t result__report_status;
charlesmn 0:3d72bef69191 249
charlesmn 0:3d72bef69191 250 uint8_t result__stream_count;
charlesmn 0:3d72bef69191 251
charlesmn 0:3d72bef69191 252 uint16_t result__dss_actual_effective_spads;
charlesmn 0:3d72bef69191 253
charlesmn 0:3d72bef69191 254
charlesmn 0:3d72bef69191 255 uint16_t phasecal_result__reference_phase;
charlesmn 0:3d72bef69191 256
charlesmn 0:3d72bef69191 257 uint8_t phasecal_result__vcsel_start;
charlesmn 0:3d72bef69191 258
charlesmn 0:3d72bef69191 259 uint8_t cal_config__vcsel_start;
charlesmn 0:3d72bef69191 260
charlesmn 0:3d72bef69191 261 uint16_t vcsel_width;
charlesmn 0:3d72bef69191 262
charlesmn 0:3d72bef69191 263 uint8_t VL53L1_p_009;
charlesmn 0:3d72bef69191 264
charlesmn 0:3d72bef69191 265 uint16_t VL53L1_p_019;
charlesmn 0:3d72bef69191 266
charlesmn 0:3d72bef69191 267 uint32_t total_periods_elapsed;
charlesmn 0:3d72bef69191 268
charlesmn 0:3d72bef69191 269
charlesmn 0:3d72bef69191 270 uint32_t peak_duration_us;
charlesmn 0:3d72bef69191 271
charlesmn 0:3d72bef69191 272 uint32_t woi_duration_us;
charlesmn 0:3d72bef69191 273
charlesmn 0:3d72bef69191 274
charlesmn 0:3d72bef69191 275 int32_t min_bin_value;
charlesmn 0:3d72bef69191 276
charlesmn 0:3d72bef69191 277 int32_t max_bin_value;
charlesmn 0:3d72bef69191 278
charlesmn 0:3d72bef69191 279
charlesmn 0:3d72bef69191 280 uint16_t zero_distance_phase;
charlesmn 0:3d72bef69191 281
charlesmn 0:3d72bef69191 282 uint8_t number_of_ambient_samples;
charlesmn 0:3d72bef69191 283
charlesmn 0:3d72bef69191 284 int32_t ambient_events_sum;
charlesmn 0:3d72bef69191 285
charlesmn 0:3d72bef69191 286 int32_t VL53L1_p_004;
charlesmn 0:3d72bef69191 287
charlesmn 0:3d72bef69191 288
charlesmn 0:3d72bef69191 289 uint8_t roi_config__user_roi_centre_spad;
charlesmn 0:3d72bef69191 290
charlesmn 0:3d72bef69191 291 uint8_t roi_config__user_roi_requested_global_xy_size;
charlesmn 0:3d72bef69191 292
charlesmn 0:3d72bef69191 293
charlesmn 0:3d72bef69191 294 } VL53L1_histogram_bin_data_t;
charlesmn 0:3d72bef69191 295
charlesmn 0:3d72bef69191 296
charlesmn 0:3d72bef69191 297
charlesmn 0:3d72bef69191 298
charlesmn 0:3d72bef69191 299 typedef struct {
charlesmn 0:3d72bef69191 300
charlesmn 0:3d72bef69191 301
charlesmn 0:3d72bef69191 302 uint8_t zone_id;
charlesmn 0:3d72bef69191 303
charlesmn 0:3d72bef69191 304 uint32_t time_stamp;
charlesmn 0:3d72bef69191 305
charlesmn 0:3d72bef69191 306
charlesmn 0:3d72bef69191 307 uint8_t VL53L1_p_022;
charlesmn 0:3d72bef69191 308
charlesmn 0:3d72bef69191 309 uint8_t VL53L1_p_023;
charlesmn 0:3d72bef69191 310
charlesmn 0:3d72bef69191 311 uint8_t VL53L1_p_024;
charlesmn 0:3d72bef69191 312
charlesmn 0:3d72bef69191 313 uint32_t bin_data[VL53L1_XTALK_HISTO_BINS];
charlesmn 0:3d72bef69191 314
charlesmn 0:3d72bef69191 315
charlesmn 0:3d72bef69191 316
charlesmn 0:3d72bef69191 317 uint16_t phasecal_result__reference_phase;
charlesmn 0:3d72bef69191 318
charlesmn 0:3d72bef69191 319 uint8_t phasecal_result__vcsel_start;
charlesmn 0:3d72bef69191 320
charlesmn 0:3d72bef69191 321 uint8_t cal_config__vcsel_start;
charlesmn 0:3d72bef69191 322
charlesmn 0:3d72bef69191 323 uint16_t vcsel_width;
charlesmn 0:3d72bef69191 324
charlesmn 0:3d72bef69191 325 uint16_t VL53L1_p_019;
charlesmn 0:3d72bef69191 326
charlesmn 0:3d72bef69191 327 uint16_t zero_distance_phase;
charlesmn 0:3d72bef69191 328
charlesmn 0:3d72bef69191 329
charlesmn 0:3d72bef69191 330 } VL53L1_xtalk_histogram_shape_t;
charlesmn 0:3d72bef69191 331
charlesmn 0:3d72bef69191 332
charlesmn 0:3d72bef69191 333
charlesmn 0:3d72bef69191 334
charlesmn 0:3d72bef69191 335 typedef struct {
charlesmn 0:3d72bef69191 336
charlesmn 0:3d72bef69191 337
charlesmn 0:3d72bef69191 338 VL53L1_xtalk_histogram_shape_t xtalk_shape;
charlesmn 0:3d72bef69191 339
charlesmn 0:3d72bef69191 340 VL53L1_histogram_bin_data_t xtalk_hist_removed;
charlesmn 0:3d72bef69191 341
charlesmn 0:3d72bef69191 342 } VL53L1_xtalk_histogram_data_t;
charlesmn 0:3d72bef69191 343
charlesmn 0:3d72bef69191 344
charlesmn 0:3d72bef69191 345
charlesmn 0:3d72bef69191 346
charlesmn 0:3d72bef69191 347 #ifdef __cplusplus
charlesmn 0:3d72bef69191 348 }
charlesmn 0:3d72bef69191 349 #endif
charlesmn 0:3d72bef69191 350
charlesmn 0:3d72bef69191 351 #endif
charlesmn 0:3d72bef69191 352
charlesmn 0:3d72bef69191 353