Diff: Components/VL6180X/vl6180x_def.h

Revision:

1:1de1ea2994d9

Child:

4:a5abf7757947

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+++ b/Components/VL6180X/vl6180x_def.h	Wed Sep 09 16:00:39 2015 +0000
@@ -0,0 +1,743 @@
+/*******************************************************************************
+Copyright © 2014, 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.
+********************************************************************************/
+
+/*
+ * $Date: 2015-05-13 14:12:05 +0200 (Wed, 13 May 2015) $
+ * $Revision: 2290 $
+ */
+
+/**
+ * @file VL6180x_def.h
+ *
+ * @brief Type definitions for vl6180x api.
+ *
+ */
+
+
+#ifndef _VL6180x_DEF
+#define _VL6180x_DEF
+
+/** API major version */
+#define VL6180x_API_REV_MAJOR   3
+/** API minor version */
+#define VL6180x_API_REV_MINOR   0
+/** API sub version */
+#define VL6180x_API_REV_SUB     1
+
+#define VL6180X_STR_HELPER(x) #x
+#define VL6180X_STR(x) VL6180X_STR_HELPER(x)
+
+#include "vl6180x_cfg.h"
+#include "vl6180x_types.h"
+
+/*
+ * check configuration macro raise error or warning and suggest a default value
+ */
+
+#ifndef VL6180x_UPSCALE_SUPPORT
+#error "VL6180x_UPSCALE_SUPPORT not defined"
+/* TODO you must define value for  upscale support in your vl6180x_cfg.h  */
+#endif
+
+#ifndef VL6180x_ALS_SUPPORT
+#error "VL6180x_ALS_SUPPORT not defined"
+/* TODO you must define VL6180x_ALS_SUPPORT  with a value in your vl6180x_cfg.h  set to 0 do disable*/
+#endif
+
+#ifndef VL6180x_HAVE_DMAX_RANGING
+#error "VL6180x_HAVE_DMAX_RANGING not defined"
+/* TODO you may remove or comment these #error and keep the default below  or update your vl6180x_cfg.h .h file */
+/**
+ * force VL6180x_HAVE_DMAX_RANGING to not supported when not part of cfg file
+ */
+#define VL6180x_HAVE_DMAX_RANGING   0
+#endif
+
+#ifndef VL6180x_EXTENDED_RANGE
+#define VL6180x_EXTENDED_RANGE   0
+#endif
+
+#ifndef  VL6180x_WRAP_AROUND_FILTER_SUPPORT
+#error "VL6180x_WRAP_AROUND_FILTER_SUPPORT not defined ?"
+/* TODO you may remove or comment these #error and keep the default below  or update vl6180x_cfg.h file */
+/**
+ * force VL6180x_WRAP_AROUND_FILTER_SUPPORT to not supported when not part of cfg file
+ */
+#define VL6180x_WRAP_AROUND_FILTER_SUPPORT 0
+#endif
+
+
+
+
+/****************************************
+ * PRIVATE define do not edit
+ ****************************************/
+
+/** Maximal buffer size ever use in i2c */
+#define VL6180x_MAX_I2C_XFER_SIZE   8 /* At present time it 6 byte max but that can change */
+
+#if VL6180x_UPSCALE_SUPPORT < 0
+/**
+ * @def VL6180x_HAVE_UPSCALE_DATA
+ * @brief  is defined if device data structure has data so when user configurable up-scale is active
+ */
+#define VL6180x_HAVE_UPSCALE_DATA /* have data only for user configurable up-scale config */
+#endif
+
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT
+/**
+ * @def VL6180x_HAVE_WRAP_AROUND_DATA
+ * @brief  is defined if device data structure has filter data so when active in cfg file
+ */
+#define  VL6180x_HAVE_WRAP_AROUND_DATA
+#endif
+
+#if VL6180x_ALS_SUPPORT != 0
+/**
+ * @def  VL6180x_HAVE_ALS_DATA
+ * @brief is defined when als data are include in device data structure so when als suport if configured
+ */
+#define VL6180x_HAVE_ALS_DATA
+#endif
+
+
+#if VL6180x_WRAP_AROUND_FILTER_SUPPORT || VL6180x_HAVE_DMAX_RANGING
+    #define VL6180x_HAVE_RATE_DATA
+#endif
+
+/** Error and warning code returned by API
+ *
+ * negative value are true error mostly fatal\n
+ * positive value  are warning most of time it's ok to continue\n
+ */
+enum VL6180x_ErrCode_t{
+    API_NO_ERROR        = 0,
+    CALIBRATION_WARNING = 1,  /*!< warning invalid calibration data may be in used \a  VL6180x_InitData() \a VL6180x_GetOffsetCalibrationData \a VL6180x_SetOffsetCalibrationData*/
+    MIN_CLIPED          = 2,  /*!< warning parameter passed was clipped to min before to be applied */
+    NOT_GUARANTEED      = 3,  /*!< Correct operation is not guaranteed typically using extended ranging on vl6180x */
+    NOT_READY           = 4,  /*!< the data is not ready retry */
+
+    API_ERROR      = -1,    /*!< Unqualified error */
+    INVALID_PARAMS = -2,    /*!< parameter passed is invalid or out of range */
+    NOT_SUPPORTED  = -3,    /*!< function is not supported in current mode or configuration */
+    RANGE_ERROR    = -4,    /*!< device report a ranging error interrupt status */
+    TIME_OUT       = -5,    /*!< aborted due to time out */
+};
+
+/**
+ * Filtered result data structure  range data is to be used
+ */
+typedef struct RangeFilterResult_tag {
+    uint16_t range_mm;      /*!< Filtered ranging value */
+    uint16_t rawRange_mm;   /*!< raw range value (scaled) */
+} RangeFilterResult_t;
+
+/**
+ * "small" unsigned data type used in filter
+ *
+ * if data space saving is not a concern it can be change to platform native unsigned int
+ */
+typedef uint8_t  FilterType1_t;
+
+/**
+ * @def FILTER_NBOF_SAMPLES
+ * @brief sample history len used for wrap around filtering
+ */
+#define FILTER_NBOF_SAMPLES             10
+/**
+ * Wrap around filter internal data
+ */
+struct FilterData_t {
+    uint32_t MeasurementIndex;                      /*!< current measurement index */
+    uint16_t LastTrueRange[FILTER_NBOF_SAMPLES];    /*!< filtered/corrected  distance history */
+    uint32_t LastReturnRates[FILTER_NBOF_SAMPLES];  /*!< Return rate history */
+    uint16_t StdFilteredReads;                      /*!< internal use */
+    FilterType1_t Default_ZeroVal;                  /*!< internal use */
+    FilterType1_t Default_VAVGVal;                  /*!< internal use */
+    FilterType1_t NoDelay_ZeroVal;                  /*!< internal use */
+    FilterType1_t NoDelay_VAVGVal;                  /*!< internal use */
+    FilterType1_t Previous_VAVGDiff;                /*!< internal use */
+};
+
+#if  VL6180x_HAVE_DMAX_RANGING
+typedef int32_t DMaxFix_t;
+struct DMaxData_t {
+    uint32_t ambTuningWindowFactor_K; /*!<  internal algo tuning (*1000) */
+
+    DMaxFix_t retSignalAt400mm;  /*!< intermediate dmax computation value caching @a #SYSRANGE_CROSSTALK_COMPENSATION_RATE and private reg 0x02A */
+    //int32_t RegB8;              /*!< register 0xB8 cached to speed reduce i2c traffic for dmax computation */
+    /* place all word data below to optimize struct packing */
+    //int32_t minSignalNeeded;    /*!< optimized computation intermediate base on register cached value */
+    int32_t snrLimit_K;         /*!< cached and optimized computation intermediate from  @a #SYSRANGE_MAX_AMBIENT_LEVEL_MULT */
+    uint16_t ClipSnrLimit;      /*!< Max value for snr limit */
+    /* place all byte data below to optimize packing */
+    //uint8_t MaxConvTime;        /*!< cached max convergence time @a #SYSRANGE_MAX_CONVERGENCE_TIME*/
+};
+#endif
+
+/**
+ * @struct VL6180xDevData_t
+ *
+ * @brief Per VL6180x device St private data structure \n
+ * End user should never access any of these field directly
+ *
+ * These must never access directly but only via VL6180xDev/SetData(dev, field) macro
+ */
+struct VL6180xDevData_t {
+
+    uint32_t Part2PartAmbNVM;  /*!< backed up NVM value */
+    uint32_t XTalkCompRate_KCps; /*! Cached XTlak Compensation Rate */
+
+    uint16_t EceFactorM;        /*!< Ece Factor M numerator  */
+    uint16_t EceFactorD;        /*!< Ece Factor D denominator*/
+
+#ifdef VL6180x_HAVE_ALS_DATA
+    uint16_t IntegrationPeriod; /*!< cached als Integration period avoid slow read from device at each measure */
+    uint16_t AlsGainCode;       /*!< cached Als gain avoid slow read from device at each measure */
+    uint16_t AlsScaler;         /*!< cached Als scaler avoid slow read from device at each measure */
+#endif
+
+#ifdef VL6180x_HAVE_UPSCALE_DATA
+    uint8_t UpscaleFactor;      /*!<  up-scaling factor*/
+#endif
+
+#ifdef  VL6180x_HAVE_WRAP_AROUND_DATA
+    uint8_t WrapAroundFilterActive; /*!< Filter on/off */
+    struct FilterData_t FilterData; /*!< Filter internal data state history ... */
+#endif
+
+#if  VL6180x_HAVE_DMAX_RANGING
+    struct DMaxData_t DMaxData;
+    uint8_t DMaxEnable;
+#endif
+    int8_t  Part2PartOffsetNVM;     /*!< backed up NVM value */
+};
+
+#if VL6180x_SINGLE_DEVICE_DRIVER
+extern  struct VL6180xDevData_t SingleVL6180xDevData;
+#define VL6180xDevDataGet(dev, field) (SingleVL6180xDevData.field)
+/* is also used as direct accessor like VL6180xDevDataGet(dev, x)++*/
+#define VL6180xDevDataSet(dev, field, data) (SingleVL6180xDevData.field)=(data)
+#endif
+
+
+/**
+ * @struct VL6180x_RangeData_t
+ * @brief Range and any optional measurement data.
+ */
+typedef struct {
+    int32_t range_mm;          /*!< range distance in mm. */
+    int32_t signalRate_mcps;   /*!< signal rate (MCPS)\n these is a 9.7 fix point value, which is effectively a measure of target reflectance.*/
+    uint32_t errorStatus;      /*!< Error status of the current measurement. \n
+                                  see @a ::RangeError_u @a VL6180x_GetRangeStatusErrString() */
+
+
+#ifdef VL6180x_HAVE_RATE_DATA
+    uint32_t rtnAmbRate;    /*!< Return Ambient rate in KCount per sec related to \a RESULT_RANGE_RETURN_AMB_COUNT */
+    uint32_t rtnRate;       /*!< Return rate in KCount per sec  related to \a RESULT_RANGE_RETURN_SIGNAL_COUNT  */
+    uint32_t rtnConvTime;   /*!< Return Convergence time \a RESULT_RANGE_RETURN_CONV_TIME */
+    uint32_t refConvTime;   /*!< Reference convergence time \a RESULT_RANGE_REFERENCE_CONV_TIME */
+#endif
+
+
+#if  VL6180x_HAVE_DMAX_RANGING
+    uint32_t DMax;              /*!< DMax  when applicable */
+#endif
+
+#ifdef  VL6180x_HAVE_WRAP_AROUND_DATA
+    RangeFilterResult_t FilteredData; /*!< Filter result main range_mm is updated */
+#endif
+}VL6180x_RangeData_t;
+
+
+/** use where fix point 9.7 bit values are expected
+ *
+ * given a floating point value f it's .7 bit point is (int)(f*(1<<7))*/
+typedef uint16_t FixPoint97_t;
+
+/** lux data type */
+typedef uint32_t lux_t;
+
+/**
+ * @brief This data type defines als  measurement data.
+ */
+typedef struct VL6180x_AlsData_st{
+    lux_t lux;                 /**< Light measurement (Lux) */
+    uint32_t errorStatus;      /**< Error status of the current measurement. \n
+     * No Error := 0. \n
+     * Refer to product sheets for other error codes. */
+}VL6180x_AlsData_t;
+
+/**
+ * @brief Range status Error code
+ *
+ * @a VL6180x_GetRangeStatusErrString() if configured ( @a #VL6180x_RANGE_STATUS_ERRSTRING )
+ * related to register @a #RESULT_RANGE_STATUS and additional post processing
+ */
+typedef enum {
+    NoError_=0,                /*!< 0  0b0000 NoError  */
+    VCSEL_Continuity_Test,     /*!< 1  0b0001 VCSEL_Continuity_Test */
+    VCSEL_Watchdog_Test,       /*!< 2  0b0010 VCSEL_Watchdog_Test */
+    VCSEL_Watchdog,            /*!< 3  0b0011 VCSEL_Watchdog */
+    PLL1_Lock,                 /*!< 4  0b0100 PLL1_Lock */
+    PLL2_Lock,                 /*!< 5  0b0101 PLL2_Lock */
+    Early_Convergence_Estimate,/*!< 6  0b0110 Early_Convergence_Estimate */
+    Max_Convergence,           /*!< 7  0b0111 Max_Convergence */
+    No_Target_Ignore,          /*!< 8  0b1000 No_Target_Ignore */
+    Not_used_9,                /*!< 9  0b1001 Not_used */
+    Not_used_10,               /*!< 10 0b1010 Not_used_ */
+    Max_Signal_To_Noise_Ratio, /*!< 11 0b1011 Max_Signal_To_Noise_Ratio*/
+    Raw_Ranging_Algo_Underflow,/*!< 12 0b1100 Raw_Ranging_Algo_Underflow*/
+    Raw_Ranging_Algo_Overflow, /*!< 13 0b1101 Raw_Ranging_Algo_Overflow */
+    Ranging_Algo_Underflow,    /*!< 14 0b1110 Ranging_Algo_Underflow */
+    Ranging_Algo_Overflow,     /*!< 15 0b1111 Ranging_Algo_Overflow */
+
+    /* code below are addition for API/software side they are not hardware*/
+    RangingFiltered =0x10,     /*!< 16 0b10000 filtered by post processing*/
+
+} RangeError_u;
+
+
+/** @defgroup device_regdef Device registers & masks definitions
+ *  @brief    Device registers and masks definitions
+ */
+
+ 
+/** @ingroup device_regdef
+ * @{*/
+
+/**
+ * The device model ID
+ */
+#define IDENTIFICATION_MODEL_ID                 0x000
+/**
+ * Revision identifier of the Device for major change.
+ */
+#define IDENTIFICATION_MODULE_REV_MAJOR         0x003
+/**
+ * Revision identifier of the Device for minor change.
+ */
+#define IDENTIFICATION_MODULE_REV_MINOR         0x004
+
+
+/**
+ * @def SYSTEM_MODE_GPIO0
+ * @brief Configures polarity and select which function gpio 0 serves.
+ *  Gpio0 is chip enable at power up ! Be aware of all h/w implication of turning it to output.
+ *  Same definition as #SYSTEM_MODE_GPIO1
+ * @ingroup device_regdef
+ */
+#define SYSTEM_MODE_GPIO0                       0x010
+/**
+ * @def SYSTEM_MODE_GPIO1
+ * @brief Configures polarity and select what als or ranging functionality gpio pin serves.
+ *
+ * Function can be #GPIOx_SELECT_OFF  #GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT.\n
+ * Same definition apply to register GPIO0 that is used as chip enable at power up.
+ * @ingroup device_regdef
+ */
+#define SYSTEM_MODE_GPIO1                       0x011
+    /** gpio pad POLARITY mask in #SYSTEM_MODE_GPIO1 (and/or 0) write  1  to set active high polarity (positive edge) */
+    #define GPIOx_POLARITY_SELECT_MASK              0x20
+    /** gpio pad Function select shift in #SYSTEM_MODE_GPIO1 or 0 */
+    #define GPIOx_FUNCTIONALITY_SELECT_SHIFT          1
+    /** gpio pad Function select mask in #SYSTEM_MODE_GPIO1 or 0 */
+    #define GPIOx_FUNCTIONALITY_SELECT_MASK          (0xF<<GPIOx_FUNCTIONALITY_SELECT_SHIFT)
+    /** select no interrupt in #SYSTEM_MODE_GPIO1 pad is put in  Hi-Z*/
+    #define GPIOx_SELECT_OFF                        0x00
+    /** select gpiox as interrupt output in  #SYSTEM_MODE_GPIO1 */
+    #define GPIOx_SELECT_GPIO_INTERRUPT_OUTPUT      0x08
+    /** select range as source for interrupt on in #SYSTEM_MODE_GPIO1 */
+    #define GPIOx_MODE_SELECT_RANGING               0x00
+    /** select als as source for interrupt on in #SYSTEM_MODE_GPIO1 */
+    #define GPIOx_MODE_SELECT_ALS                   0x01
+
+
+/**
+ * @def SYSTEM_INTERRUPT_CONFIG_GPIO
+ *
+ * @brief   Configure Als and Ranging interrupt reporting
+ *
+ * Possible values for Range and ALS are\n
+ *
+ * #CONFIG_GPIO_INTERRUPT_DISABLED\n
+ * #CONFIG_GPIO_INTERRUPT_LEVEL_LOW\n
+ * #CONFIG_GPIO_INTERRUPT_LEVEL_HIGH\n
+ * #CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW\n
+ * #CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY\n
+ * Apply respective rang/als shift and mask \n
+ *  #CONFIG_GPIO_RANGE_SHIFT and full reg mask #CONFIG_GPIO_RANGE_MASK\n
+ *  #CONFIG_GPIO_ALS_SHIFT and full reg mask #CONFIG_GPIO_ALS_MASK\n
+ *
+ * \sa GPIO use for interrupt #SYSTEM_MODE_GPIO0 or #SYSTEM_MODE_GPIO1\n
+ * @ingroup device_regdef
+ */
+#define SYSTEM_INTERRUPT_CONFIG_GPIO           0x014
+    /** RANGE bits shift in #SYSTEM_INTERRUPT_CONFIG_GPIO */
+    #define CONFIG_GPIO_RANGE_SHIFT            0
+    /** RANGE bits mask in #SYSTEM_INTERRUPT_CONFIG_GPIO  (unshifted)*/
+    #define CONFIG_GPIO_RANGE_MASK             (0x7<<CONFIG_GPIO_RANGE_SHIFT)
+    /** ALS bits shift in #SYSTEM_INTERRUPT_CONFIG_GPIO */
+    #define CONFIG_GPIO_ALS_SHIFT              3
+    /** ALS bits mask in #SYSTEM_INTERRUPT_CONFIG_GPIO  (unshifted)*/
+    #define CONFIG_GPIO_ALS_MASK               (0x7<<CONFIG_GPIO_ALS_SHIFT)
+    /** interrupt is disabled */
+    #define CONFIG_GPIO_INTERRUPT_DISABLED         0x00
+    /** trigger when value < low threshold */
+    #define CONFIG_GPIO_INTERRUPT_LEVEL_LOW        0x01
+    /** trigger when value < low threshold */
+    #define CONFIG_GPIO_INTERRUPT_LEVEL_HIGH       0x02
+    /** trigger when outside range defined by high low threshold */
+    #define CONFIG_GPIO_INTERRUPT_OUT_OF_WINDOW    0x03
+    /** trigger when new sample are ready */
+    #define CONFIG_GPIO_INTERRUPT_NEW_SAMPLE_READY 0x04
+
+/**
+ *  @def SYSTEM_INTERRUPT_CLEAR
+ *  @brief Writing to this register will clear interrupt source
+ *
+ *  Use or combination of any #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR
+ *  @ingroup device_regdef
+ */
+#define SYSTEM_INTERRUPT_CLEAR                0x015
+    /** clear ranging interrupt in write to #SYSTEM_INTERRUPT_CLEAR */
+    #define INTERRUPT_CLEAR_RANGING                0x01
+    /** clear als interrupt  in write to #SYSTEM_INTERRUPT_CLEAR */
+    #define INTERRUPT_CLEAR_ALS                    0x02
+    /** clear error interrupt in write to #SYSTEM_INTERRUPT_CLEAR */
+    #define INTERRUPT_CLEAR_ERROR                  0x04
+
+/** After power up or reset this register will start reading 1 when device is ready */
+#define SYSTEM_FRESH_OUT_OF_RESET             0x016
+
+/**
+ * @def SYSTEM_GROUPED_PARAMETER_HOLD
+ * @brief Writing 1/0 activate/deactivate safe host update of multiple register in critical group \n
+ *        rather use \a VL6180x_SetGroupParamHold()
+ *
+ * The critical register group is made of: \n
+ * #SYSTEM_INTERRUPT_CONFIG_GPIO \n
+ * #SYSRANGE_THRESH_HIGH \n
+ * #SYSRANGE_THRESH_LOW \n
+ * #SYSALS_INTEGRATION_PERIOD \n
+ * #SYSALS_ANALOGUE_GAIN \n
+ * #SYSALS_THRESH_HIGH \n
+ * #SYSALS_THRESH_LOW
+ * @ingroup device_regdef
+ */
+#define SYSTEM_GROUPED_PARAMETER_HOLD         0x017
+
+
+/**
+ * @def SYSRANGE_START
+ * @brief Start/stop and set operating range mode
+ *
+ * Write Combination of #MODE_START_STOP  and #MODE_CONTINUOUS to select and start desired operation.
+ *
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_START                        0x018
+    /** mask existing bit in #SYSRANGE_START*/
+    #define MODE_MASK          0x03
+    /** bit 0 in #SYSRANGE_START write 1 toggle state in continuous mode and arm next shot in single shot mode */
+    #define MODE_START_STOP    0x01
+    /** bit 1 write 1 in #SYSRANGE_START set continuous operation mode */
+    #define MODE_CONTINUOUS    0x02
+    /** bit 1 write 0 in #SYSRANGE_START set single shot mode */
+    #define MODE_SINGLESHOT    0x00
+
+/**
+ * @def SYSRANGE_THRESH_HIGH
+ * High level range  threshold (must be scaled)
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_THRESH_HIGH                  0x019
+
+/**
+ * @def SYSRANGE_THRESH_LOW
+ * Low level range  threshold (must be scaled)
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_THRESH_LOW                   0x01A
+
+/**
+ * @def SYSRANGE_INTERMEASUREMENT_PERIOD
+ * @brief Continuous mode intermeasurement delay \a VL6180x_RangeSetInterMeasPeriod()
+ *
+ * Time delay between measurements in Ranging continuous mode.\n
+ * Range 0-254 (0 = 10ms).\n Step size = 10ms.
+ *
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_INTERMEASUREMENT_PERIOD      0x01B
+
+/**
+ * @brief Maximum time to run measurement in Ranging modes.
+ * Range 1 - 63 ms (1 code = 1 ms);
+ *
+ * Measurement aborted when limit reached to aid power  reduction.\
+ * For example, 0x01 = 1ms, 0x0a = 10ms.\
+ * Note: Effective max_convergence_time depends on readout_averaging_sample_period setting.
+ *
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_MAX_CONVERGENCE_TIME         0x01C
+/**@brief Cross talk compensation rate
+ * @warning  never write register directly use @a VL6180x_SetXTalkCompensationRate()
+ * refer to manual for calibration procedure and computation
+ * @ingroup device_regdef
+ */
+#define SYSRANGE_CROSSTALK_COMPENSATION_RATE  0x01E
+/**
+ * @brief Minimum range value in mm to qualify for crosstalk compensation
+ */
+#define SYSRANGE_CROSSTALK_VALID_HEIGHT       0x021
+#define SYSRANGE_EARLY_CONVERGENCE_ESTIMATE   0x022
+#define SYSRANGE_PART_TO_PART_RANGE_OFFSET    0x024
+#define SYSRANGE_RANGE_IGNORE_VALID_HEIGHT    0x025
+#define SYSRANGE_RANGE_IGNORE_THRESHOLD       0x026
+#define SYSRANGE_EMITTER_BLOCK_THRESHOLD      0x028
+#define SYSRANGE_MAX_AMBIENT_LEVEL_THRESH     0x02A
+#define SYSRANGE_MAX_AMBIENT_LEVEL_MULT       0x02C
+/** @brief  various Enable check enabel register
+ *  @a VL6180x_RangeSetEceState()
+ */
+#define SYSRANGE_RANGE_CHECK_ENABLES          0x02D
+    #define RANGE_CHECK_ECE_ENABLE_MASK      0x01
+    #define RANGE_CHECK_RANGE_ENABLE_MASK    0x02
+    #define RANGE_CHECK_SNR_ENABLKE          0x10
+
+#define SYSRANGE_VHV_RECALIBRATE              0x02E
+#define SYSRANGE_VHV_REPEAT_RATE              0x031
+
+/**
+ * @def SYSALS_START
+ * @brief Start/stop and set operating als mode
+ *
+ * same bit definition as range \a #SYSRANGE_START \n
+ */
+#define SYSALS_START                          0x038
+
+/** ALS low Threshold high */
+#define SYSALS_THRESH_HIGH                    0x03A
+/** ALS low Threshold low */
+#define SYSALS_THRESH_LOW                     0x03C
+/** ALS intermeasurement period */
+#define SYSALS_INTERMEASUREMENT_PERIOD        0x03E
+/** 
+ * @warning or value with 0x40 when writing to these register*/
+#define SYSALS_ANALOGUE_GAIN                  0x03F
+/** ALS integration period */
+#define SYSALS_INTEGRATION_PERIOD             0x040
+
+/**
+ * @brief Result range status
+ *
+ *  Hold the various range interrupt flags and error Specific error codes
+ */
+#define RESULT_RANGE_STATUS                   0x04D
+    /** Device ready for new command bit 0*/
+    #define RANGE_DEVICE_READY_MASK       0x01
+    /** mask for error status covers bits [7:4]  in #RESULT_RANGE_STATUS @a ::RangeError_u */
+    #define RANGE_ERROR_CODE_MASK         0xF0 /* */
+    /** range error bit position in #RESULT_RANGE_STATUS */
+    #define RANGE_ERROR_CODE_SHIFT        4
+
+/**
+ * @def RESULT_ALS_STATUS
+ * @brief Result  als status \n
+ *  Hold the various als interrupt flags and Specific error codes
+ */
+#define RESULT_ALS_STATUS                     0x4E
+    /** Device ready for new command bit 0*/
+   #define ALS_DEVICE_READY_MASK       0x01
+
+/**
+ * @def RESULT_ALS_VAL
+ * @brief 16 Bit ALS count output value.
+ *
+ * Lux value depends on Gain and integration settings and calibrated lux/count setting
+ * \a VL6180x_AlsGetLux() \a VL6180x_AlsGetMeasurement()
+ */
+#define RESULT_ALS_VAL                        0x50
+
+/**
+ * @def FW_ALS_RESULT_SCALER
+ * @brief Als scaler register  Bits [3:0] analogue gain 1 to 16x
+ * these register content is cached by API in \a VL6180xDevData_t::AlsScaler
+ * for lux computation acceleration
+ */
+#define FW_ALS_RESULT_SCALER                  0x120
+
+
+/**
+ * these union can be use as a generic bit field type for map #RESULT_INTERRUPT_STATUS_GPIO register
+ * @ingroup device_regdef
+ */
+typedef union IntrStatus_u{
+    uint8_t val;           /*!< raw 8 bit register value*/
+    struct  {
+        unsigned Range     :3; /*!< Range status one of :\n  \a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD  \n \a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD  \n \a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n \a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY */
+        unsigned Als       :3; /*!< Als status one of: \n \a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD  \n \a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD  \n \a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n \a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY  */
+        unsigned Error     :2; /*!<  Error status of: \n \a #RES_INT_ERROR_LASER_SAFETY  \n \a #RES_INT_ERROR_PLL */
+     } status;                 /*!< interrupt status as bit field */
+} IntrStatus_t;
+
+/**
+ * @def RESULT_INTERRUPT_STATUS_GPIO
+ * @brief System interrupt status report selected interrupt for als and ranging
+ *
+ * These register can be polled even if no gpio pins is active\n
+ * What reported is selected by \a  #SYSTEM_INTERRUPT_CONFIG_GPIO \n
+ * Range mask with \a #RES_INT_RANGE_MASK and shit by \a #RES_INT_RANGE_SHIFT
+ * Als   mask with \a #RES_INT_ALS_MASK and shit by \a #RES_INT_ALS_SHIFT
+ * Result value express condition (or combination?)
+ * \a #RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD \n
+ * \a #RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD \n
+ * \a #RES_INT_STAT_GPIO_OUT_OF_WINDOW \n
+ * \a #RES_INT_STAT_GPIO_NEW_SAMPLE_READY
+ *
+ * @ingroup device_regdef
+ */
+#define RESULT_INTERRUPT_STATUS_GPIO          0x4F
+    /** ranging interrupt 1st bit position in #RESULT_INTERRUPT_STATUS_GPIO */
+    #define RES_INT_RANGE_SHIFT  0
+    /** ALS interrupt 1st bit position in #RESULT_INTERRUPT_STATUS_GPIO */
+    #define RES_INT_ALS_SHIFT    3
+    /** interrupt bit position in #RESULT_INTERRUPT_STATUS_GPIO */
+    #define RES_INT_ERROR_SHIFT  6
+    /** Ranging interrupt mask in #RESULT_INTERRUPT_STATUS_GPIO (prior to shift)  \sa IntrStatus_t */
+    #define RES_INT_RANGE_MASK (0x7<<RES_INT_RANGE_SHIFT)
+    /** als interrupt mask in #RESULT_INTERRUPT_STATUS_GPIO (prior to shift)  \sa IntrStatus_t */
+    #define RES_INT_ALS_MASK   (0x7<<RES_INT_ALS_SHIFT)
+
+    /** low threshold condition in #RESULT_INTERRUPT_STATUS_GPIO for */
+    #define RES_INT_STAT_GPIO_LOW_LEVEL_THRESHOLD  0x01
+    /** high threshold condition in #RESULT_INTERRUPT_STATUS_GPIO for ALs or Rage*/
+    #define RES_INT_STAT_GPIO_HIGH_LEVEL_THRESHOLD 0x02
+    /** out of window condition in #RESULT_INTERRUPT_STATUS_GPIO */
+    #define RES_INT_STAT_GPIO_OUT_OF_WINDOW        0x03
+    /** new sample ready in #RESULT_INTERRUPT_STATUS_GPIO */
+    #define RES_INT_STAT_GPIO_NEW_SAMPLE_READY     0x04
+    /** error  in #RESULT_INTERRUPT_STATUS_GPIO */
+    #define RES_INT_ERROR_MASK (0x3<<RES_INT_ERROR_SHIFT)
+        /** laser safety error on #RES_INT_ERROR_MASK of #RESULT_INTERRUPT_STATUS_GPIO */
+        #define RES_INT_ERROR_LASER_SAFETY  1
+        /** pll 1 or 2 error on #RES_INT_ERROR_MASK of #RESULT_INTERRUPT_STATUS_GPIO*/
+        #define RES_INT_ERROR_PLL           2
+
+/**
+ * Final range result value presented to the user for use. Unit is in mm.
+ */
+#define RESULT_RANGE_VAL                        0x062
+
+/**
+ * Raw Range result value with offset applied (no cross talk compensation applied). Unit is in mm.
+ */
+#define RESULT_RANGE_RAW                        0x064
+
+/**
+ * @brief Sensor count rate of signal returns correlated to IR emitter.
+ *
+ * Computed from RETURN_SIGNAL_COUNT / RETURN_CONV_TIME. Mcps 9.7 format
+ */
+#define RESULT_RANGE_SIGNAL_RATE                0x066
+
+/**
+ * @brief Return signal count
+ *
+ *  Sensor count output value attributed to signal correlated to IR emitter on the Return array.
+ */
+#define RESULT_RANGE_RETURN_SIGNAL_COUNT        0x06C
+
+/**
+ * @brief Reference signal count
+ *
+ * sensor count output value attributed to signal correlated to IR emitter on the Reference array.
+ */
+#define RESULT_RANGE_REFERENCE_SIGNAL_COUNT     0x070
+
+/**
+ * @brief Return ambient count
+ *
+ * sensor count output value attributed to uncorrelated ambient signal on the Return array.
+ * Must be multiplied by 6 if used to calculate the ambient to signal threshold
+ */
+#define RESULT_RANGE_RETURN_AMB_COUNT           0x074
+
+/**
+ * @brief   Reference ambient count
+ *
+ * Sensor count output value attributed to uncorrelated ambient signal on the Reference array.
+ */
+#define RESULT_RANGE_REFERENCE_AMB_COUNT        0x078
+
+/**
+ * sensor count output value attributed to signal on the Return array.
+ */
+#define RESULT_RANGE_RETURN_CONV_TIME           0x07C
+
+/**
+ * sensor count output value attributed to signal on the Reference array.
+ */
+#define RESULT_RANGE_REFERENCE_CONV_TIME        0x080
+
+
+/**
+ * @def RANGE_SCALER
+ * @brief RANGE scaling register
+ *
+ * Never should  user write directly onto that register directly \a VL6180x_UpscaleSetScaling()
+ */
+#define RANGE_SCALER                            0x096
+
+/**
+ * @def READOUT_AVERAGING_SAMPLE_PERIOD
+ * @brief Readout averaging sample period register
+ *
+ *
+ * The internal readout averaging sample period can be adjusted from 0 to 255.
+ * Increasing the sampling period decreases noise but also reduces the effective
+ * max convergence time and increases power consumption
+ * Each unit sample period corresponds to around 64.5 μs additional processing time.
+ * The recommended setting is 48 which equates to around 4.3 ms.
+ *
+ * see datasheet for more detail
+ */
+#define READOUT_AVERAGING_SAMPLE_PERIOD     0x10A
+
+/**
+ * @def I2C_SLAVE_DEVICE_ADDRESS
+ * User programmable I2C address (7-bit). Device address can be re-designated after power-up.
+ * @warning What programmed in the register 7-0 are bit 8-1 of i2c address on bus (bit 0 is rd/wr)
+ * so what prohamd is commonly whar ergfer as adrerss /2
+ * @sa VL6180x_SetI2CAddress()
+ */
+#define I2C_SLAVE_DEVICE_ADDRESS               0x212
+
+#endif /* _VL6180x_DEF */