vl53l1_def.h

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00003 
00004  This file is part of VL53L1 Core and is dual licensed,
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00006  Proprietary license'
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00008 
00009  ******************************************************************************
00010 
00011  'STMicroelectronics Proprietary license'
00012 
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00014 
00015  License terms: STMicroelectronics Proprietary in accordance with licensing
00016  terms at www.st.com/sla0081
00017 
00018  STMicroelectronics confidential
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00020  specifically authorized in writing by STMicroelectronics.
00021 
00022 
00023  *******************************************************************************
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00025  Alternatively, VL53L1 Core may be distributed under the terms of
00026  'BSD 3-clause "New" or "Revised" License', in which case the following
00027  provisions apply instead of the ones mentioned above :
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00029  *******************************************************************************
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00031  License terms: BSD 3-clause "New" or "Revised" License.
00032 
00033  Redistribution and use in source and binary forms, with or without
00034  modification, are permitted provided that the following conditions are met:
00035 
00036  1. Redistributions of source code must retain the above copyright notice, this
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00059  *******************************************************************************
00060  */
00061 
00062 /**
00063  * @file vl53l1_def.h
00064  *
00065  * @brief Type definitions for VL53L1 API.
00066  *
00067  */
00068 
00069 
00070 #ifndef _VL53L1_DEF_H_
00071 #define _VL53L1_DEF_H_
00072 
00073 #include "vl53l1_ll_def.h"
00074 
00075 #ifdef __cplusplus
00076 extern "C" {
00077 #endif
00078 
00079 /** @defgroup VL53L1_globaldefine_group VL53L1 Defines
00080  *  @brief    VL53L1 Defines
00081  *  @{
00082  */
00083 
00084 
00085 /** VL53L1 IMPLEMENTATION major version */
00086 #define VL53L1_IMPLEMENTATION_VER_MAJOR       6
00087 /** VL53L1 IMPLEMENTATION minor version */
00088 #define VL53L1_IMPLEMENTATION_VER_MINOR       6
00089 /** VL53L1 IMPLEMENTATION sub version */
00090 #define VL53L1_IMPLEMENTATION_VER_SUB         1
00091 /** VL53L1 IMPLEMENTATION sub version */
00092 #define VL53L1_IMPLEMENTATION_VER_REVISION  2432
00093 
00094 /****************************************
00095  * PRIVATE define do not edit
00096  ****************************************/
00097 
00098 /** @brief Defines the parameters of the Get Version Functions
00099  */
00100 typedef struct {
00101     uint32_t     revision ; /*!< revision number */
00102     uint8_t      major ;    /*!< major number */
00103     uint8_t      minor ;    /*!< minor number */
00104     uint8_t      build ;    /*!< build number */
00105 } VL53L1_Version_t;
00106 
00107 
00108 #define VL53L1_DEVINFO_STRLEN 32
00109 
00110 /** @brief Defines the parameters of the Get Device Info Functions
00111  */
00112 typedef struct {
00113     char Name[VL53L1_DEVINFO_STRLEN];
00114         /*!< Full Name of the Device e.g. VL53L1 cut1.1 */
00115     char Type[VL53L1_DEVINFO_STRLEN];
00116         /*!< Type of the Device e.g VL53L1 */
00117     char ProductId[VL53L1_DEVINFO_STRLEN];
00118         /*!< Product Identifier String
00119          * @warning Not yet implemented
00120          */
00121     uint8_t ProductType;
00122         /*!< Product Type, VL53L1 = 0xCC, VL53L3 = 0xAA
00123          * Stands as module_type in the datasheet
00124          */
00125     uint8_t ProductRevisionMajor;
00126         /*!< Product revision major */
00127     uint8_t ProductRevisionMinor;
00128         /*!< Product revision minor */
00129 } VL53L1_DeviceInfo_t;
00130 
00131 
00132 
00133 /** @defgroup VL53L1_define_PresetModes_group Defines Preset modes
00134  *  Defines all possible preset modes for the device
00135  *  @{
00136  */
00137 typedef uint8_t VL53L1_PresetModes;
00138 
00139 #define VL53L1_PRESETMODE_RANGING                   ((VL53L1_PresetModes)  1)
00140 #define VL53L1_PRESETMODE_MULTIZONES_SCANNING       ((VL53L1_PresetModes)  2)
00141 #define VL53L1_PRESETMODE_AUTONOMOUS                ((VL53L1_PresetModes)  3)
00142 #define VL53L1_PRESETMODE_LITE_RANGING              ((VL53L1_PresetModes)  4)
00143 #define VL53L1_PRESETMODE_OLT                       ((VL53L1_PresetModes)  7)
00144 #define VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS       ((VL53L1_PresetModes)  8)
00145 #define VL53L1_PRESETMODE_PROXY_RANGING_MODE        ((VL53L1_PresetModes)  9)
00146 
00147     /* ... Modes to be added depending on device */
00148 /** @} VL53L1_define_PresetModes_group */
00149 
00150 
00151 /** @defgroup VL53L1_define_DistanceModes_group Defines Distance modes
00152  *  Defines all possible Distance modes for the device
00153  *  @{
00154  */
00155 typedef uint8_t VL53L1_DistanceModes;
00156 
00157 #define VL53L1_DISTANCEMODE_SHORT             ((VL53L1_DistanceModes)  1)
00158 #define VL53L1_DISTANCEMODE_MEDIUM            ((VL53L1_DistanceModes)  2)
00159 #define VL53L1_DISTANCEMODE_LONG              ((VL53L1_DistanceModes)  3)
00160 /** @} VL53L1_define_DistanceModes_group */
00161 
00162 /** @defgroup VL53L1_define_OutputModes_group Defines Output modes
00163  *  Defines all possible Output modes for the device
00164  *  @{
00165  */
00166 typedef uint8_t VL53L1_OutputModes;
00167 
00168 #define VL53L1_OUTPUTMODE_NEAREST          ((VL53L1_OutputModes)  1)
00169 #define VL53L1_OUTPUTMODE_STRONGEST        ((VL53L1_OutputModes)  2)
00170 
00171 /** @} VL53L1_define_OutputModes_group */
00172 
00173 /** @defgroup VL53L1_define_XtalkCal_group Defines Xtalk Calibration modes
00174  *  Defines all possible Offset Calibration modes for the device
00175  *  @{
00176  */
00177 typedef uint8_t VL53L1_XtalkCalibrationModes;
00178 
00179 #define VL53L1_XTALKCALIBRATIONMODE_NO_TARGET \
00180     ((VL53L1_OffsetCalibrationModes) 0)
00181 /*!< To perform Xtalk calibration with no target below 80 cm */
00182 #define VL53L1_XTALKCALIBRATIONMODE_SINGLE_TARGET \
00183     ((VL53L1_OffsetCalibrationModes)  1)
00184 /*!< To perform Xtalk calibration with one target */
00185 #define VL53L1_XTALKCALIBRATIONMODE_FULL_ROI \
00186     ((VL53L1_OffsetCalibrationModes)  2)
00187 /*!< To perform Xtalk calibration based on histogram with full ROI */
00188 
00189 /** @} VL53L1_define_XtalkCal_group */
00190 
00191 /** @defgroup VL53L1_define_OffsetCal_group Defines Offset Calibration modes
00192  *  Defines all possible Offset Calibration modes for the device
00193  *  @{
00194  */
00195 typedef uint8_t VL53L1_OffsetCalibrationModes;
00196 
00197 #define VL53L1_OFFSETCALIBRATIONMODE_STANDARD \
00198     ((VL53L1_OffsetCalibrationModes)  1)
00199 #define VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY  \
00200     ((VL53L1_OffsetCalibrationModes)  2)
00201 #define VL53L1_OFFSETCALIBRATIONMODE_MULTI_ZONE    \
00202     ((VL53L1_OffsetCalibrationModes)  3)
00203 
00204 /** @} VL53L1_define_OffsetCal_group */
00205 
00206 /** @defgroup VL53L1_define_DeviceDmaxModes_group Defines Dmax source modes
00207  *  Defines all possible sources for Dmax calibration for the device
00208  *  @{
00209  */
00210 typedef uint8_t VL53L1_DeviceDmaxModes;
00211 
00212 #define VL53L1_DMAXMODE_FMT_CAL_DATA      ((VL53L1_DeviceDmaxModes)  1)
00213 #define VL53L1_DMAXMODE_CUSTCAL_DATA      ((VL53L1_DeviceDmaxModes)  2)
00214 #define VL53L1_DMAXMODE_PER_ZONE_CAL_DATA ((VL53L1_DeviceDmaxModes)  3)
00215 
00216 /** @} VL53L1_define_DeviceDmaxModes_group */
00217 
00218 /** @defgroup VL53L1_define_OffsetCorrectionModesBD_group
00219  *  Device Offset Correction Mode
00220  *
00221  *  @brief Defines all possible offset correction modes for the device
00222  *  @{
00223  */
00224 typedef uint8_t VL53L1_OffsetCorrectionModes;
00225 
00226 #define VL53L1_OFFSETCORRECTIONMODE_STANDARD ((VL53L1_OffsetCorrectionMode)  1)
00227 #define VL53L1_OFFSETCORRECTIONMODE_PERZONE  ((VL53L1_OffsetCorrectionMode)  2)
00228 #define VL53L1_OFFSETCORRECTIONMODE_PERVCSEL ((VL53L1_OffsetCorrectionMode)  3)
00229 
00230 /** @} VL53L1_define_OffsetCorrectionModesBD_group */
00231 
00232 /** @defgroup VL53L1_define_RoiStatus_group Defines Roi Status
00233  *  Defines the read status mode
00234  *  @{
00235  */
00236 typedef uint8_t VL53L1_RoiStatus;
00237 
00238 #define VL53L1_ROISTATUS_NOT_VALID                 ((VL53L1_RoiStatus)  0)
00239 #define VL53L1_ROISTATUS_VALID_NOT_LAST            ((VL53L1_RoiStatus)  1)
00240 #define VL53L1_ROISTATUS_VALID_LAST                ((VL53L1_RoiStatus)  2)
00241 /** @} VL53L1_define_RoiStatus_group */
00242 
00243 
00244 /** @defgroup VL53L1_CheckEnable_group Check Enable list
00245  *  @brief Check Enable code
00246  *
00247  *  Define used to specify the LimitCheckId.
00248  *  Use @a VL53L1_GetLimitCheckInfo() to get the string.
00249  *  @{
00250  */
00251 
00252 #define VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE           0
00253 #define VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE     1
00254 
00255 #define VL53L1_CHECKENABLE_NUMBER_OF_CHECKS            2
00256 
00257 /** @}  end of VL53L1_CheckEnable_group */
00258 
00259 
00260 /** @defgroup VL53L1_ThresholdMode_gropup Detection Functionality
00261  *  @brief Defines the different functionalities for the detection feature
00262  *  @{
00263  */
00264 typedef uint8_t VL53L1_ThresholdMode;
00265 
00266 #define VL53L1_THRESHOLD_CROSSED_LOW   \
00267     ((VL53L1_ThresholdMode)  0)
00268     /*!< Trigger interrupt if value < thresh_low */
00269 #define VL53L1_THRESHOLD_CROSSED_HIGH   \
00270     ((VL53L1_ThresholdMode)  1)
00271     /*!< Trigger interrupt if value > thresh_high */
00272 #define VL53L1_THRESHOLD_OUT_OF_WINDOW    \
00273     ((VL53L1_ThresholdMode)  2)
00274     /*!< Trigger interrupt if value < thresh_low OR value > thresh_high */
00275 #define VL53L1_THRESHOLD_IN_WINDOW        \
00276     ((VL53L1_ThresholdMode)  3)
00277     /*!< Trigger interrupt if value > thresh_low AND value < thresh_high */
00278 
00279 /** @} end of VL53L1_ThresholdMode_gropup */
00280 
00281 /** @brief Defines parameters for Distance detection Thresholds configuration
00282  */
00283 typedef struct {
00284     VL53L1_ThresholdMode CrossMode;
00285     uint16_t High ; /*!< Distance threshold high limit in mm */
00286     uint16_t Low ;  /*!< Distance threshold low limit  in mm */
00287 } VL53L1_DistanceThreshold_t;
00288 
00289 /** @brief Defines parameters for Signal rate detection Thresholds configuration
00290  */
00291 typedef struct {
00292     VL53L1_ThresholdMode CrossMode;
00293     FixPoint1616_t High ; /*!< Signal rate threshold high limit */
00294     FixPoint1616_t Low ;  /*!< Signal rate threshold low limit */
00295 } VL53L1_RateThreshold_t;
00296 
00297 /** @defgroup VL53L1_DetectionMode_group Gpio Functionality
00298  *  @brief Defines conditions leading to device's IT on GPIO
00299  *  @{
00300  */
00301 typedef uint8_t VL53L1_DetectionMode;
00302 
00303 #define VL53L1_DETECTION_NORMAL_RUN   \
00304     ((VL53L1_DetectionMode)  0)
00305     /*!< Trigger interrupt on new measurement regardless of threshold
00306      * just like after a VL53L1_SetPresetMode() call
00307      */
00308 #define VL53L1_DETECTION_DISTANCE_ONLY   \
00309     ((VL53L1_DetectionMode)  1)
00310     /*!< Trigger interrupt if "threshold event" occurs on distance */
00311 #define VL53L1_DETECTION_RATE_ONLY   \
00312     ((VL53L1_DetectionMode)  2)
00313     /*!< Trigger interrupt if "threshold event" occurs on signal rate */
00314 #define VL53L1_DETECTION_DISTANCE_AND_RATE   \
00315     ((VL53L1_DetectionMode)  3)
00316     /*!< Trigger interrupt if "threshold event" occurs on distance AND rate
00317      */
00318 #define VL53L1_DETECTION_DISTANCE_OR_RATE   \
00319     ((VL53L1_DetectionMode)  4)
00320     /*!< Trigger interrupt if "threshold event" occurs on distance OR rate
00321      */
00322 
00323 /** @} end of VL53L1_DetectionMode_group */
00324 
00325 /** @brief Defines parameters for User/object Detection configuration
00326  */
00327 typedef struct {
00328     VL53L1_DetectionMode DetectionMode ; /*!< See #VL53L1_DetectionMode*/
00329     uint8_t IntrNoTarget ; /*!< 1 to trigger IT in case of no target found */
00330     VL53L1_DistanceThreshold_t Distance ; /*!< limits in mm */
00331     VL53L1_RateThreshold_t Rate ;/*!< limits in FixPoint1616_t */
00332 } VL53L1_DetectionConfig_t;
00333 
00334 
00335 /** @brief Defines all parameters for the device
00336  */
00337 typedef struct {
00338     VL53L1_PresetModes PresetMode;
00339     /*!< Defines the operating mode to be used for the next measure */
00340     VL53L1_OutputModes OutputMode;
00341     /*!< Defines the Output mode to be used for the next measure */
00342     VL53L1_DistanceModes DistanceMode;
00343     /*!< Defines the operating mode to be used for the next measure */
00344     uint32_t MeasurementTimingBudgetMicroSeconds;
00345     /*!< Defines the allowed total time for a single measurement */
00346     uint8_t LimitChecksEnable[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS];
00347     /*!< This Array store all the Limit Check enable for this device. */
00348     uint8_t LimitChecksStatus[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS];
00349     /*!< This Array stores all the Status of the check linked to last
00350      * measurement.
00351      */
00352     FixPoint1616_t LimitChecksValue[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS];
00353     /*!< This Array stores all the Limit Check value for this device */
00354     FixPoint1616_t LimitChecksCurrent[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS];
00355     /*!< This Array stores all the Limit Check current value from latest
00356      * ranging
00357      */
00358 } VL53L1_DeviceParameters_t;
00359 
00360 
00361 /** @defgroup VL53L1_define_State_group Defines the current status of the device
00362  *  Defines the current status of the device
00363  *  @{
00364  */
00365 
00366 typedef uint8_t VL53L1_State;
00367 
00368 #define VL53L1_STATE_POWERDOWN       ((VL53L1_State)  0)
00369     /*!< Device is in HW reset  */
00370 #define VL53L1_STATE_WAIT_STATICINIT ((VL53L1_State)  1)
00371     /*!< Device is initialized and wait for static initialization  */
00372 #define VL53L1_STATE_STANDBY         ((VL53L1_State)  2)
00373     /*!< Device is in Low power Standby mode   */
00374 #define VL53L1_STATE_IDLE            ((VL53L1_State)  3)
00375     /*!< Device has been initialized and ready to do measurements  */
00376 #define VL53L1_STATE_RUNNING         ((VL53L1_State)  4)
00377     /*!< Device is performing measurement */
00378 #define VL53L1_STATE_RESET           ((VL53L1_State)  5)
00379     /*!< Soft reset has been run on Device */
00380 #define VL53L1_STATE_UNKNOWN         ((VL53L1_State)  98)
00381     /*!< Device is in unknown state and need to be rebooted  */
00382 #define VL53L1_STATE_ERROR           ((VL53L1_State)  99)
00383     /*!< Device is in error state and need to be rebooted  */
00384 
00385 /** @} VL53L1_define_State_group */
00386 
00387 /** @defgroup VL53L1_define_Smudge_Mode_group Defines smudge correction modes
00388  *  Defines the smudge correction modes
00389  *  @{
00390  */
00391 
00392 typedef uint8_t VL53L1_SmudgeCorrectionModes;
00393 
00394 #define VL53L1_SMUDGE_CORRECTION_NONE       ((VL53L1_SmudgeCorrectionModes)  0)
00395     /*!< Smudge correction is applied continously accross the rangings */
00396 #define VL53L1_SMUDGE_CORRECTION_CONTINUOUS ((VL53L1_SmudgeCorrectionModes)  1)
00397     /*!< Smudge correction is applied continously accross the rangings */
00398 #define VL53L1_SMUDGE_CORRECTION_SINGLE     ((VL53L1_SmudgeCorrectionModes)  2)
00399     /*!< Smudge correction is applied only once accross the rangings */
00400 #define VL53L1_SMUDGE_CORRECTION_DEBUG      ((VL53L1_SmudgeCorrectionModes)  3)
00401     /*!< Smudge detection is applied continously but Xtalk values are not
00402      * updated automatically within the driver
00403      */
00404 
00405 /** @} VL53L1_define_Smudge_Correction_Mode_group */
00406 
00407 
00408 /**
00409  * @struct VL53L1_RangingMeasurementData_t
00410  * @brief Single Range measurement data.
00411  */
00412 typedef struct {
00413     uint32_t TimeStamp;
00414         /*!< 32-bit time stamp.
00415          * @warning Not yet implemented
00416          */
00417 
00418     uint8_t StreamCount;
00419         /*!< 8-bit Stream Count. */
00420 
00421     uint8_t RangeQualityLevel;
00422         /*!< indicate a quality level in percentage from 0 to 100
00423          * @warning Not yet implemented
00424          */
00425 
00426     FixPoint1616_t SignalRateRtnMegaCps;
00427         /*!< Return signal rate (MCPS)\n these is a 16.16 fix point
00428          *  value, which is effectively a measure of target
00429          *   reflectance.
00430          */
00431 
00432     FixPoint1616_t AmbientRateRtnMegaCps;
00433         /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
00434          *  value, which is effectively a measure of the ambien
00435          *  t light.
00436          */
00437 
00438     uint16_t EffectiveSpadRtnCount;
00439         /*!< Return the effective SPAD count for the return signal.
00440          *  To obtain Real value it should be divided by 256
00441          */
00442 
00443     FixPoint1616_t SigmaMilliMeter;
00444         /*!< Return the Sigma value in millimeter */
00445 
00446     int16_t RangeMilliMeter;
00447         /*!< range distance in millimeter. This should be between
00448          *  RangeMinMilliMeter and RangeMaxMilliMeter
00449          */
00450 
00451     uint8_t RangeFractionalPart;
00452         /*!< Fractional part of range distance. Final value is a
00453          *  RangeMilliMeter + RangeFractionalPart/256.
00454          *  @warning Not yet implemented
00455          */
00456 
00457     uint8_t RangeStatus;
00458         /*!< Range Status for the current measurement. This is device
00459          *  dependent. Value = 0 means value is valid.
00460          */
00461 } VL53L1_RangingMeasurementData_t;
00462 
00463 /**
00464  * @struct VL53L1_TargetRangeData_t
00465  * @brief One Range measurement data for each target.
00466  */
00467 typedef struct {
00468     uint8_t RangeQualityLevel;
00469         /*!< indicate a quality level in percentage from 0 to 100
00470          * @warning Not yet implemented
00471          */
00472 
00473     int16_t RangeMaxMilliMeter;
00474         /*!< Tells what is the maximum detection distance of the object
00475          * in current setup and environment conditions (Filled when
00476          *  applicable)
00477          */
00478 
00479     int16_t RangeMinMilliMeter;
00480         /*!< Tells what is the minimum detection distance of the object
00481          * in current setup and environment conditions (Filled when
00482          *  applicable)
00483          */
00484 
00485     FixPoint1616_t SignalRateRtnMegaCps;
00486         /*!< Return signal rate (MCPS)\n these is a 16.16 fix point
00487          *  value, which is effectively a measure of target
00488          *   reflectance.
00489          */
00490 
00491     FixPoint1616_t AmbientRateRtnMegaCps;
00492         /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
00493          *  value, which is effectively a measure of the ambien
00494          *  t light.
00495          */
00496 
00497     FixPoint1616_t SigmaMilliMeter;
00498         /*!< Return the Sigma value in millimeter */
00499 
00500     int16_t RangeMilliMeter;
00501         /*!< range distance in millimeter. This should be between
00502          *  RangeMinMilliMeter and RangeMaxMilliMeter
00503          */
00504 
00505     uint8_t RangeFractionalPart;
00506         /*!< Fractional part of range distance. Final value is a
00507          *  RangeMilliMeter + RangeFractionalPart/256.
00508          *  @warning Not yet implemented
00509          */
00510 
00511     uint8_t RangeStatus;
00512         /*!< Range Status for the current measurement. This is device
00513          *  dependent. Value = 0 means value is valid.
00514          */
00515 
00516     uint8_t ExtendedRange;
00517         /*!< Extended range flag for the current measurement.
00518          *  Value = 1 means timings A&B are combined to increase the
00519          *  maximum distance range.
00520          */
00521 } VL53L1_TargetRangeData_t;
00522 /**
00523  * @struct  VL53L1_MultiRangingData_t
00524  * @brief   Structure for storing the set of range results for a single ROI
00525  *
00526  */
00527 typedef struct {
00528     uint32_t TimeStamp;
00529         /*!< 32-bit time stamp.
00530          * @warning Not yet implemented
00531          */
00532 
00533     uint8_t StreamCount;
00534         /*!< 8-bit Stream Count. */
00535 
00536     uint8_t RoiNumber;
00537         /*!< Denotes on which ROI the range data is related to. */
00538     uint8_t NumberOfObjectsFound;
00539         /*!< Indicate the number of objects found in the current ROI.
00540          * This is used to know how many ranging data should be get.
00541          * NumberOfObjectsFound is in the range 0 to
00542          * VL53L1_MAX_RANGE_RESULTS.
00543          */
00544     VL53L1_RoiStatus RoiStatus;
00545         /*!< Indicate if the data read is valid or not or if this is
00546          * the last valid data in the ROI.
00547          */
00548     VL53L1_TargetRangeData_t RangeData[VL53L1_MAX_RANGE_RESULTS];
00549         /*!< Range data each target distance */
00550     uint8_t HasXtalkValueChanged;
00551         /*!< set to 1 if a new Xtalk value has been computed whilst
00552          * smudge correction mode enable by with
00553          * VL53L1_SmudgeCorrectionEnable() function is either
00554          * VL53L1_SMUDGE_CORRECTION_CONTINUOUS or
00555          * VL53L1_SMUDGE_CORRECTION_SINGLE.
00556          */
00557     uint16_t EffectiveSpadRtnCount;
00558         /*!< Return the effective SPAD count for the return signal.
00559          *  To obtain Real value it should be divided by 256
00560          */
00561     int16_t DmaxMilliMeter;
00562         /*!< range Dmax distance in millimeter.
00563          */
00564     VL53L1_DistanceModes RecommendedDistanceMode;
00565         /*!< suggestion for a better distance mode choice to improve
00566          *  range accuracy.
00567          */
00568 } VL53L1_MultiRangingData_t;
00569 
00570 
00571 /** @brief Defines User Zone(ROI) parameters
00572  *
00573  */
00574 typedef struct {
00575 
00576     uint8_t   TopLeftX;   /*!< Top Left x coordinate:  0-15 range */
00577     uint8_t   TopLeftY;   /*!< Top Left y coordinate:  0-15 range */
00578     uint8_t   BotRightX;  /*!< Bot Right x coordinate: 0-15 range */
00579     uint8_t   BotRightY;  /*!< Bot Right y coordinate: 0-15 range */
00580 
00581 } VL53L1_UserRoi_t;
00582 
00583 
00584 /** @brief Defines ROI configuration parameters
00585  *
00586  *  Support up a max of 16 zones, Each Zone has the same size
00587  *
00588  */
00589 typedef struct {
00590 
00591     uint8_t             NumberOfRoi;   /*!< Number of Rois defined*/
00592 
00593     VL53L1_UserRoi_t    UserRois[VL53L1_MAX_USER_ZONES];
00594         /*!< List of Rois */
00595 
00596 } VL53L1_RoiConfig_t;
00597 
00598 /**
00599  * @struct VL53L1_CustomerNvmManaged_t
00600  *
00601  */
00602 
00603 typedef struct {
00604     uint8_t   global_config__spad_enables_ref_0;
00605     uint8_t   global_config__spad_enables_ref_1;
00606     uint8_t   global_config__spad_enables_ref_2;
00607     uint8_t   global_config__spad_enables_ref_3;
00608     uint8_t   global_config__spad_enables_ref_4;
00609     uint8_t   global_config__spad_enables_ref_5;
00610     uint8_t   global_config__ref_en_start_select;
00611     uint8_t   ref_spad_man__num_requested_ref_spads;
00612     uint8_t   ref_spad_man__ref_location;
00613     uint32_t  algo__crosstalk_compensation_plane_offset_kcps;
00614     int16_t   algo__crosstalk_compensation_x_plane_gradient_kcps;
00615     int16_t   algo__crosstalk_compensation_y_plane_gradient_kcps;
00616     uint16_t  ref_spad_char__total_rate_target_mcps;
00617     int16_t   algo__part_to_part_range_offset_mm;
00618     int16_t   mm_config__inner_offset_mm;
00619     int16_t   mm_config__outer_offset_mm;
00620 } VL53L1_CustomerNvmManaged_t;
00621 
00622 /**
00623  * @struct  VL53L1_CalibrationData_t
00624  * @brief   Structure for storing the Calibration Data
00625  *
00626  */
00627 
00628 typedef struct {
00629 
00630     uint32_t                             struct_version;
00631     VL53L1_CustomerNvmManaged_t          customer;
00632     VL53L1_dmax_calibration_data_t       fmt_dmax_cal;
00633     VL53L1_dmax_calibration_data_t       cust_dmax_cal;
00634     VL53L1_additional_offset_cal_data_t  add_off_cal_data;
00635     VL53L1_optical_centre_t              optical_centre;
00636     VL53L1_xtalk_histogram_data_t        xtalkhisto;
00637     VL53L1_gain_calibration_data_t       gain_cal;
00638     VL53L1_cal_peak_rate_map_t           cal_peak_rate_map;
00639     VL53L1_per_vcsel_period_offset_cal_data_t per_vcsel_cal_data;
00640     uint32_t  algo__xtalk_cpo_HistoMerge_kcps[VL53L1_BIN_REC_SIZE];
00641 } VL53L1_CalibrationData_t;
00642 
00643 #define VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION  0x20
00644 /** VL53L1 additional Calibration Data struct version final struct version
00645  * is given by adding it to  VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION
00646  */
00647 
00648 #define VL53L1_CALIBRATION_DATA_STRUCT_VERSION \
00649         (VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION + \
00650         VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION)
00651 /* VL53L1 Calibration Data struct version */
00652 
00653 /**
00654  * @struct  VL53L1_AdditionalData_t
00655  * @brief   Structure for storing the Additional Data
00656  *
00657  */
00658 typedef VL53L1_additional_data_t VL53L1_AdditionalData_t;
00659 
00660 /**
00661  * @struct  VL53L1_ZoneCalibrationData_t
00662  * @brief   Structure for storing the Zone Calibration Data
00663  *
00664  */
00665 typedef VL53L1_zone_calibration_results_t VL53L1_ZoneCalibrationData_t;
00666 
00667 /** @defgroup VL53L1_define_SequenceStepId_group Defines the SequenceStep
00668  *  Defines the the sequence steps performed during ranging..
00669  *  @{
00670  */
00671 typedef uint8_t VL53L1_SequenceStepId;
00672 
00673 #define  VL53L1_SEQUENCESTEP_VHV         ((VL53L1_SequenceStepId) 0)
00674 /*!<VHV. */
00675 #define  VL53L1_SEQUENCESTEP_PHASECAL        ((VL53L1_SequenceStepId) 1)
00676 /*!<Phase Calibration. */
00677 #define  VL53L1_SEQUENCESTEP_REFPHASE        ((VL53L1_SequenceStepId) 2)
00678 /*!<Reference Phase. */
00679 #define  VL53L1_SEQUENCESTEP_DSS1        ((VL53L1_SequenceStepId) 3)
00680 /*!<DSS1. */
00681 #define  VL53L1_SEQUENCESTEP_DSS2        ((VL53L1_SequenceStepId) 4)
00682 /*!<DSS2. */
00683 #define  VL53L1_SEQUENCESTEP_MM1         ((VL53L1_SequenceStepId) 5)
00684 /*!<Mode Mitigation 1. */
00685 #define  VL53L1_SEQUENCESTEP_MM2         ((VL53L1_SequenceStepId) 6)
00686 /*!<Mode Mitigation 2. */
00687 #define  VL53L1_SEQUENCESTEP_RANGE       ((VL53L1_SequenceStepId) 7)
00688 /*!<Final Range step. */
00689 
00690 #define  VL53L1_SEQUENCESTEP_NUMBER_OF_ITEMS             8
00691 /*!<Number of Sequence Step Managed by the API. */
00692 
00693 /** @} VL53L1_define_SequenceStepId_group */
00694 
00695 /** @defgroup VL53L1_define_RangeStatus_group Defines the Range Status
00696  *  @{
00697  */
00698 #define  VL53L1_RANGESTATUS_RANGE_VALID             0
00699 /*!<The Range is valid. */
00700 #define  VL53L1_RANGESTATUS_SIGMA_FAIL              1
00701 /*!<Sigma Fail. */
00702 #define  VL53L1_RANGESTATUS_SIGNAL_FAIL             2
00703 /*!<Signal fail. */
00704 #define  VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED   3
00705 /*!<Target is below minimum detection threshold. */
00706 #define  VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL            4
00707 /*!<Phase out of valid limits -  different to a wrap exit. */
00708 #define  VL53L1_RANGESTATUS_HARDWARE_FAIL           5
00709 /*!<Hardware fail. */
00710 #define  VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL  6
00711 /*!<The Range is valid but the wraparound check has not been done. */
00712 #define VL53L1_RANGESTATUS_WRAP_TARGET_FAIL         7
00713 /*!<Wrapped target - no matching phase in other VCSEL period timing. */
00714 #define VL53L1_RANGESTATUS_PROCESSING_FAIL          8
00715 /*!<Internal algo underflow or overflow in lite ranging. */
00716 #define VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL            9
00717 /*!<Specific to lite ranging. */
00718 #define VL53L1_RANGESTATUS_SYNCRONISATION_INT           10
00719 /*!<1st interrupt when starting ranging in back to back mode. Ignore data. */
00720 #define VL53L1_RANGESTATUS_RANGE_VALID_MERGED_PULSE     11
00721 /*!<All Range ok but object is result of multiple pulses merging together.
00722  * Used by RQL for merged pulse detection
00723  */
00724 #define VL53L1_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL    12
00725 /*!<Used  by RQL  as different to phase fail. */
00726 #define VL53L1_RANGESTATUS_MIN_RANGE_FAIL           13
00727 /*!<User ROI input is not valid e.g. beyond SPAD Array.*/
00728 #define VL53L1_RANGESTATUS_RANGE_INVALID            14
00729 /*!<lld returned valid range but negative value ! */
00730 #define  VL53L1_RANGESTATUS_NONE                255
00731 /*!<No Update. */
00732 
00733 /** @} VL53L1_define_RangeStatus_group */
00734 
00735 
00736 /** @brief  Contains the Internal data of the Bare Driver
00737  */
00738 
00739 typedef struct {
00740     VL53L1_LLDriverData_t   LLData;
00741     /*!< Low Level Driver data structure */
00742 
00743     VL53L1_LLDriverResults_t llresults;
00744     /*!< Low Level Driver data structure */
00745 
00746     VL53L1_State      PalState; /* Store the pal state */
00747     VL53L1_DeviceParameters_t CurrentParameters;
00748     /*!< Current Device Parameter */
00749 
00750 } VL53L1_DevData_t;
00751 
00752 
00753 /* MACRO Definitions */
00754 /** @defgroup VL53L1_define_GeneralMacro_group General Macro Defines
00755  *  General Macro Defines
00756  *  @{
00757  */
00758 
00759 /* Defines */
00760 #define VL53L1_SETPARAMETERFIELD(Dev, field, value) \
00761     (VL53L1DevDataSet(Dev, CurrentParameters.field, value))
00762 
00763 #define VL53L1_GETPARAMETERFIELD(Dev, field, variable) \
00764     (variable = VL53L1DevDataGet(Dev, CurrentParameters).field)
00765 
00766 
00767 #define VL53L1_SETARRAYPARAMETERFIELD(Dev, field, index, value) \
00768     (VL53L1DevDataSet(Dev, CurrentParameters.field[index], value))
00769 
00770 #define VL53L1_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \
00771     (variable = VL53L1DevDataGet(Dev, CurrentParameters).field[index])
00772 
00773 
00774 #define VL53L1_SETDEVICESPECIFICPARAMETER(Dev, field, value) \
00775     (VL53L1DevDataSet(Dev, DeviceSpecificParameters.field, value))
00776 
00777 #define VL53L1_GETDEVICESPECIFICPARAMETER(Dev, field) \
00778     (VL53L1DevDataGet(Dev, DeviceSpecificParameters).field)
00779 
00780 
00781 #define VL53L1_FIXPOINT1616TOFIXPOINT44(Value) \
00782     (uint16_t)((Value>>12)&0xFFFF)
00783 #define VL53L1_FIXPOINT44TOFIXPOINT1616(Value) \
00784     (FixPoint1616_t)((uint32_t)Value<<12)
00785 
00786 #define VL53L1_FIXPOINT1616TOFIXPOINT72(Value) \
00787     (uint16_t)((Value>>14)&0xFFFF)
00788 #define VL53L1_FIXPOINT72TOFIXPOINT1616(Value) \
00789     (FixPoint1616_t)((uint32_t)Value<<14)
00790 
00791 #define VL53L1_FIXPOINT1616TOFIXPOINT97(Value) \
00792     (uint16_t)((Value>>9)&0xFFFF)
00793 #define VL53L1_FIXPOINT97TOFIXPOINT1616(Value) \
00794     (FixPoint1616_t)((uint32_t)Value<<9)
00795 
00796 #define VL53L1_FIXPOINT1616TOFIXPOINT88(Value) \
00797     (uint16_t)((Value>>8)&0xFFFF)
00798 #define VL53L1_FIXPOINT88TOFIXPOINT1616(Value) \
00799     (FixPoint1616_t)((uint32_t)Value<<8)
00800 
00801 #define VL53L1_FIXPOINT1616TOFIXPOINT412(Value) \
00802     (uint16_t)((Value>>4)&0xFFFF)
00803 #define VL53L1_FIXPOINT412TOFIXPOINT1616(Value) \
00804     (FixPoint1616_t)((uint32_t)Value<<4)
00805 
00806 #define VL53L1_FIXPOINT1616TOFIXPOINT313(Value) \
00807     (uint16_t)((Value>>3)&0xFFFF)
00808 #define VL53L1_FIXPOINT313TOFIXPOINT1616(Value) \
00809     (FixPoint1616_t)((uint32_t)Value<<3)
00810 
00811 #define VL53L1_FIXPOINT1616TOFIXPOINT08(Value) \
00812     (uint8_t)((Value>>8)&0x00FF)
00813 #define VL53L1_FIXPOINT08TOFIXPOINT1616(Value) \
00814     (FixPoint1616_t)((uint32_t)Value<<8)
00815 
00816 #define VL53L1_FIXPOINT1616TOFIXPOINT53(Value) \
00817     (uint8_t)((Value>>13)&0x00FF)
00818 #define VL53L1_FIXPOINT53TOFIXPOINT1616(Value) \
00819     (FixPoint1616_t)((uint32_t)Value<<13)
00820 
00821 #define VL53L1_FIXPOINT1616TOFIXPOINT102(Value) \
00822     (uint16_t)((Value>>14)&0x0FFF)
00823 #define VL53L1_FIXPOINT102TOFIXPOINT1616(Value) \
00824     (FixPoint1616_t)((uint32_t)Value<<14)
00825 
00826 #define VL53L1_FIXPOINT1616TOFIXPOINT142(Value) \
00827     (uint16_t)((Value>>14)&0xFFFF)
00828 #define VL53L1_FIXPOINT142TOFIXPOINT1616(Value) \
00829     (FixPoint1616_t)((uint32_t)Value<<14)
00830 
00831 #define VL53L1_FIXPOINT1616TOFIXPOINT160(Value) \
00832     (uint16_t)((Value>>16)&0xFFFF)
00833 #define VL53L1_FIXPOINT160TOFIXPOINT1616(Value) \
00834     (FixPoint1616_t)((uint32_t)Value<<16)
00835 
00836 #define VL53L1_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \
00837         (uint16_t)lsb)
00838 
00839 #ifndef SUPPRESS_UNUSED_WARNING
00840 #define SUPPRESS_UNUSED_WARNING(x) ((void) (x))
00841 #endif
00842 
00843 /** @} VL53L1_define_GeneralMacro_group */
00844 
00845 /** @} VL53L1_globaldefine_group */
00846 
00847 
00848 
00849 #ifdef __cplusplus
00850 }
00851 #endif
00852 
00853 
00854 #endif /* _VL53L1_DEF_H_ */
00855