Kenji Arai
/
VL53L0X_simple
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Dependents: Check_VL53L0X_simple_with_three_ToF Check_VL53L0X_simple_ToF_Sensor Check_VL53L0X_simple_with_three_ToF Check_VL53L0X_simple_ToF_Sensor ... more
Diff: VL53L0X.h
- Revision:
- 0:a1a69d32f310
- Child:
- 1:834986cdde0a
diff -r 000000000000 -r a1a69d32f310 VL53L0X.h
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/VL53L0X.h Fri Sep 29 15:38:50 2017 +0000
@@ -0,0 +1,2772 @@
+/*******************************************************************************
+ Copyright © 2016, STMicroelectronics International N.V.
+ All rights reserved.
+
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions are met:
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above copyright
+ notice, this list of conditions and the following disclaimer in the
+ documentation and/or other materials provided with the distribution.
+ * Neither the name of STMicroelectronics nor the
+ names of its contributors may be used to endorse or promote products
+ derived from this software without specific prior written permission.
+
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
+ NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
+ IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
+ DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *****************************************************************************/
+
+#ifndef __VL53L0X_CLASS_H
+#define __VL53L0X_CLASS_H
+
+
+#ifdef _MSC_VER
+# ifdef VL53L0X_API_EXPORTS
+# define VL53L0X_API __declspec(dllexport)
+# else
+# define VL53L0X_API
+# endif
+#else
+# define VL53L0X_API
+#endif
+
+
+/* Includes ------------------------------------------------------------------*/
+#include "mbed.h"
+#include "RangeSensor.h"
+#include "DevI2C.h"
+#include "PinNames.h"
+#include "VL53L0X_def.h"
+#include "VL53L0X_platform.h"
+#include "Stmpe1600.h"
+
+
+/**
+ * The device model ID
+ */
+#define IDENTIFICATION_MODEL_ID 0x000
+
+
+#define STATUS_OK 0x00
+#define STATUS_FAIL 0x01
+
+#define VL53L0X_OsDelay(...) wait_ms(2) // 2 msec delay. can also use wait(float secs)/wait_us(int)
+
+#ifdef USE_EMPTY_STRING
+#define VL53L0X_STRING_DEVICE_INFO_NAME ""
+#define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 ""
+#define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 ""
+#define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 ""
+#define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 ""
+#define VL53L0X_STRING_DEVICE_INFO_TYPE ""
+
+/* PAL ERROR strings */
+#define VL53L0X_STRING_ERROR_NONE ""
+#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING ""
+#define VL53L0X_STRING_ERROR_MIN_CLIPPED ""
+#define VL53L0X_STRING_ERROR_UNDEFINED ""
+#define VL53L0X_STRING_ERROR_INVALID_PARAMS ""
+#define VL53L0X_STRING_ERROR_NOT_SUPPORTED ""
+#define VL53L0X_STRING_ERROR_RANGE_ERROR ""
+#define VL53L0X_STRING_ERROR_TIME_OUT ""
+#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED ""
+#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL ""
+#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING ""
+#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ""
+#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE ""
+#define VL53L0X_STRING_ERROR_INVALID_COMMAND ""
+#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO ""
+#define VL53L0X_STRING_ERROR_REF_SPAD_INIT ""
+#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED ""
+
+#define VL53L0X_STRING_UNKNOW_ERROR_CODE ""
+
+
+
+/* Range Status */
+#define VL53L0X_STRING_RANGESTATUS_NONE ""
+#define VL53L0X_STRING_RANGESTATUS_RANGEVALID ""
+#define VL53L0X_STRING_RANGESTATUS_SIGMA ""
+#define VL53L0X_STRING_RANGESTATUS_SIGNAL ""
+#define VL53L0X_STRING_RANGESTATUS_MINRANGE ""
+#define VL53L0X_STRING_RANGESTATUS_PHASE ""
+#define VL53L0X_STRING_RANGESTATUS_HW ""
+
+
+/* Range Status */
+#define VL53L0X_STRING_STATE_POWERDOWN ""
+#define VL53L0X_STRING_STATE_WAIT_STATICINIT ""
+#define VL53L0X_STRING_STATE_STANDBY ""
+#define VL53L0X_STRING_STATE_IDLE ""
+#define VL53L0X_STRING_STATE_RUNNING ""
+#define VL53L0X_STRING_STATE_UNKNOWN ""
+#define VL53L0X_STRING_STATE_ERROR ""
+
+
+/* Device Specific */
+#define VL53L0X_STRING_DEVICEERROR_NONE ""
+#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ""
+#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ""
+#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND ""
+#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET ""
+#define VL53L0X_STRING_DEVICEERROR_SNRCHECK ""
+#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK ""
+#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK ""
+#define VL53L0X_STRING_DEVICEERROR_TCC ""
+#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY ""
+#define VL53L0X_STRING_DEVICEERROR_MINCLIP ""
+#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE ""
+#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW ""
+#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW ""
+#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD ""
+#define VL53L0X_STRING_DEVICEERROR_UNKNOWN ""
+
+/* Check Enable */
+#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE ""
+#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE ""
+#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP ""
+#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD ""
+
+/* Sequence Step */
+#define VL53L0X_STRING_SEQUENCESTEP_TCC ""
+#define VL53L0X_STRING_SEQUENCESTEP_DSS ""
+#define VL53L0X_STRING_SEQUENCESTEP_MSRC ""
+#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE ""
+#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE ""
+#else
+#define VL53L0X_STRING_DEVICE_INFO_NAME "VL53L0X cut1.0"
+#define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 "VL53L0X TS0"
+#define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 "VL53L0X TS1"
+#define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 "VL53L0X TS2"
+#define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 "VL53L0X ES1 or later"
+#define VL53L0X_STRING_DEVICE_INFO_TYPE "VL53L0X"
+
+/* PAL ERROR strings */
+#define VL53L0X_STRING_ERROR_NONE \
+ "No Error"
+#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING \
+ "Calibration Warning Error"
+#define VL53L0X_STRING_ERROR_MIN_CLIPPED \
+ "Min clipped error"
+#define VL53L0X_STRING_ERROR_UNDEFINED \
+ "Undefined error"
+#define VL53L0X_STRING_ERROR_INVALID_PARAMS \
+ "Invalid parameters error"
+#define VL53L0X_STRING_ERROR_NOT_SUPPORTED \
+ "Not supported error"
+#define VL53L0X_STRING_ERROR_RANGE_ERROR \
+ "Range error"
+#define VL53L0X_STRING_ERROR_TIME_OUT \
+ "Time out error"
+#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED \
+ "Mode not supported error"
+#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL \
+ "Buffer too small"
+#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING \
+ "GPIO not existing"
+#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \
+ "GPIO funct not supported"
+#define VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED \
+ "Interrupt not Cleared"
+#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE \
+ "Control Interface Error"
+#define VL53L0X_STRING_ERROR_INVALID_COMMAND \
+ "Invalid Command Error"
+#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO \
+ "Division by zero Error"
+#define VL53L0X_STRING_ERROR_REF_SPAD_INIT \
+ "Reference Spad Init Error"
+#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED \
+ "Not implemented error"
+
+#define VL53L0X_STRING_UNKNOW_ERROR_CODE \
+ "Unknown Error Code"
+
+
+
+/* Range Status */
+#define VL53L0X_STRING_RANGESTATUS_NONE "No Update"
+#define VL53L0X_STRING_RANGESTATUS_RANGEVALID "Range Valid"
+#define VL53L0X_STRING_RANGESTATUS_SIGMA "Sigma Fail"
+#define VL53L0X_STRING_RANGESTATUS_SIGNAL "Signal Fail"
+#define VL53L0X_STRING_RANGESTATUS_MINRANGE "Min Range Fail"
+#define VL53L0X_STRING_RANGESTATUS_PHASE "Phase Fail"
+#define VL53L0X_STRING_RANGESTATUS_HW "Hardware Fail"
+
+
+/* Range Status */
+#define VL53L0X_STRING_STATE_POWERDOWN "POWERDOWN State"
+#define VL53L0X_STRING_STATE_WAIT_STATICINIT \
+ "Wait for staticinit State"
+#define VL53L0X_STRING_STATE_STANDBY "STANDBY State"
+#define VL53L0X_STRING_STATE_IDLE "IDLE State"
+#define VL53L0X_STRING_STATE_RUNNING "RUNNING State"
+#define VL53L0X_STRING_STATE_UNKNOWN "UNKNOWN State"
+#define VL53L0X_STRING_STATE_ERROR "ERROR State"
+
+
+/* Device Specific */
+#define VL53L0X_STRING_DEVICEERROR_NONE "No Update"
+#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \
+ "VCSEL Continuity Test Failure"
+#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \
+ "VCSEL Watchdog Test Failure"
+#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND \
+ "No VHV Value found"
+#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET \
+ "MSRC No Target Error"
+#define VL53L0X_STRING_DEVICEERROR_SNRCHECK \
+ "SNR Check Exit"
+#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK \
+ "Range Phase Check Error"
+#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK \
+ "Sigma Threshold Check Error"
+#define VL53L0X_STRING_DEVICEERROR_TCC \
+ "TCC Error"
+#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY \
+ "Phase Consistency Error"
+#define VL53L0X_STRING_DEVICEERROR_MINCLIP \
+ "Min Clip Error"
+#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE \
+ "Range Complete"
+#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW \
+ "Range Algo Underflow Error"
+#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW \
+ "Range Algo Overlow Error"
+#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD \
+ "Range Ignore Threshold Error"
+#define VL53L0X_STRING_DEVICEERROR_UNKNOWN \
+ "Unknown error code"
+
+/* Check Enable */
+#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE \
+ "SIGMA FINAL RANGE"
+#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE \
+ "SIGNAL RATE FINAL RANGE"
+#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP \
+ "SIGNAL REF CLIP"
+#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD \
+ "RANGE IGNORE THRESHOLD"
+#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC \
+ "SIGNAL RATE MSRC"
+#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE \
+ "SIGNAL RATE PRE RANGE"
+
+/* Sequence Step */
+#define VL53L0X_STRING_SEQUENCESTEP_TCC "TCC"
+#define VL53L0X_STRING_SEQUENCESTEP_DSS "DSS"
+#define VL53L0X_STRING_SEQUENCESTEP_MSRC "MSRC"
+#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE "PRE RANGE"
+#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE "FINAL RANGE"
+#endif /* USE_EMPTY_STRING */
+
+/* sensor operating modes */
+typedef enum {
+ range_single_shot_polling = 1,
+ range_continuous_polling,
+ range_continuous_interrupt,
+ range_continuous_polling_low_threshold,
+ range_continuous_polling_high_threshold,
+ range_continuous_polling_out_of_window,
+ range_continuous_interrupt_low_threshold,
+ range_continuous_interrupt_high_threshold,
+ range_continuous_interrupt_out_of_window,
+} OperatingMode;
+
+/** default device address */
+#define DEFAULT_DEVICE_ADDRESS 0x52 /* (8-bit) */
+
+/* Classes -------------------------------------------------------------------*/
+/** Class representing a VL53L0 sensor component
+ */
+class VL53L0X : public RangeSensor
+{
+public:
+ /** Constructor
+ * @param[in] &i2c device I2C to be used for communication
+ * @param[in] &pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
+ * @param[in] dev_addr device address, 0x29 by default
+ */
+ VL53L0X(DevI2C *i2c, DigitalOut *pin, PinName pin_gpio1, uint8_t dev_addr = DEFAULT_DEVICE_ADDRESS) : _dev_i2c(i2c),
+ _gpio0(pin)
+ {
+ _my_device.I2cDevAddr = dev_addr;
+ _my_device.comms_type = 1; // VL53L0X_COMMS_I2C
+ _my_device.comms_speed_khz = 400;
+ _device = &_my_device;
+ _expgpio0 = NULL;
+ if (pin_gpio1 != NC) {
+ _gpio1Int = new InterruptIn(pin_gpio1);
+ } else {
+ _gpio1Int = NULL;
+ }
+ }
+
+ /** Constructor 2 (STMPE1600DigiOut)
+ * @param[in] i2c device I2C to be used for communication
+ * @param[in] &pin Gpio Expander STMPE1600DigiOut pin to be used as component GPIO_0 CE
+ * @param[in] pin_gpio1 pin Mbed InterruptIn PinName to be used as component GPIO_1 INT
+ * @param[in] device address, 0x29 by default
+ */
+ VL53L0X(DevI2C *i2c, Stmpe1600DigiOut *pin, PinName pin_gpio1,
+ uint8_t dev_addr = DEFAULT_DEVICE_ADDRESS) : _dev_i2c(i2c), _expgpio0(pin)
+ {
+ _my_device.I2cDevAddr = dev_addr;
+ _my_device.comms_type = 1; // VL53L0X_COMMS_I2C
+ _my_device.comms_speed_khz = 400;
+ _device = &_my_device;
+ _gpio0 = NULL;
+ if (pin_gpio1 != NC) {
+ _gpio1Int = new InterruptIn(pin_gpio1);
+ } else {
+ _gpio1Int = NULL;
+ }
+ }
+
+ /** Destructor
+ */
+ virtual ~VL53L0X()
+ {
+ if (_gpio1Int != NULL) {
+ delete _gpio1Int;
+ }
+ }
+
+ /*** Interface Methods ***/
+ /*** High level API ***/
+ /**
+ * @brief PowerOn the sensor
+ * @return void
+ */
+ /* turns on the sensor */
+ void VL53L0X_on(void)
+ {
+ if (_gpio0) {
+ *_gpio0 = 1;
+ } else {
+ if (_expgpio0) {
+ *_expgpio0 = 1;
+ }
+ }
+ wait_ms(10);
+ }
+
+ /**
+ * @brief PowerOff the sensor
+ * @return void
+ */
+ /* turns off the sensor */
+ void VL53L0X_off(void)
+ {
+ if (_gpio0) {
+ *_gpio0 = 0;
+ } else {
+ if (_expgpio0) {
+ *_expgpio0 = 0;
+ }
+ }
+ wait_ms(10);
+ }
+
+ /**
+ * @brief Initialize the sensor with default values
+ * @return "0" on success
+ */
+ int init_sensor(uint8_t new_addr);
+
+ /**
+ * @brief Start the measure indicated by operating mode
+ * @param[in] operating_mode specifies requested measure
+ * @param[in] fptr specifies call back function must be !NULL in case of interrupt measure
+ * @return "0" on success
+ */
+ int start_measurement(OperatingMode operating_mode, void (*fptr)(void));
+
+ /**
+ * @brief Get results for the measure indicated by operating mode
+ * @param[in] operating_mode specifies requested measure results
+ * @param[out] p_data pointer to the MeasureData_t structure to read data in to
+ * @return "0" on success
+ */
+ int get_measurement(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *p_data);
+
+ /**
+ * @brief Stop the currently running measure indicate by operating_mode
+ * @param[in] operating_mode specifies requested measure to stop
+ * @return "0" on success
+ */
+ int stop_measurement(OperatingMode operating_mode);
+
+ /**
+ * @brief Interrupt handling func to be called by user after an INT is occourred
+ * @param[in] opeating_mode indicating the in progress measure
+ * @param[out] Data pointer to the MeasureData_t structure to read data in to
+ * @return "0" on success
+ */
+ int handle_irq(OperatingMode operating_mode, VL53L0X_RangingMeasurementData_t *data);
+
+ /**
+ * @brief Enable interrupt measure IRQ
+ * @return "0" on success
+ */
+ void enable_interrupt_measure_detection_irq(void)
+ {
+ if (_gpio1Int != NULL) {
+ _gpio1Int->enable_irq();
+ }
+ }
+
+ /**
+ * @brief Disable interrupt measure IRQ
+ * @return "0" on success
+ */
+ void disable_interrupt_measure_detection_irq(void)
+ {
+ if (_gpio1Int != NULL) {
+ _gpio1Int->disable_irq();
+ }
+ }
+
+ /**
+ * @brief Attach a function to call when an interrupt is detected, i.e. measurement is ready
+ * @param[in] fptr pointer to call back function to be called whenever an interrupt occours
+ * @return "0" on success
+ */
+ void attach_interrupt_measure_detection_irq(void (*fptr)(void))
+ {
+ if (_gpio1Int != NULL) {
+ _gpio1Int->rise(fptr);
+ }
+ }
+
+ /** Wrapper functions */
+ /** @defgroup api_init Init functions
+ * @brief API init functions
+ * @ingroup api_hl
+ * @{
+ */
+
+ /**
+ *
+ * @brief One time device initialization
+ *
+ * To be called once and only once after device is brought out of reset (Chip enable) and booted.
+ *
+ * @par Function Description
+ * When not used after a fresh device "power up" or reset, it may return @a #CALIBRATION_WARNING
+ * meaning wrong calibration data may have been fetched from device that can result in ranging offset error\n
+ * If application cannot execute device reset or need to run VL53L0X_data_init multiple time
+ * then it must ensure proper offset calibration saving and restore on its own
+ * by using @a VL53L0X_get_offset_calibration_data_micro_meter() on first power up and then @a VL53L0X_set_offset_calibration_data_micro_meter() all all subsequent init
+ *
+ * @param void
+ * @return "0" on success, @a #CALIBRATION_WARNING if failed
+ */
+ virtual int init(void *init)
+ {
+ return VL53L0X_data_init(_device);
+ }
+
+ /**
+ * @brief Prepare device for operation
+ * @par Function Description
+ * Does static initialization and reprogram common default settings \n
+ * Device is prepared for new measure, ready single shot ranging or ALS typical polling operation\n
+ * After prepare user can : \n
+ * @li Call other API function to set other settings\n
+ * @li Configure the interrupt pins, etc... \n
+ * @li Then start ranging or ALS operations in single shot or continuous mode
+ *
+ * @param void
+ * @return "0" on success
+ */
+ int prepare()
+ {
+ VL53L0X_Error status = VL53L0X_ERROR_NONE;
+ uint32_t ref_spad_count;
+ uint8_t is_aperture_spads;
+ uint8_t vhv_settings;
+ uint8_t phase_cal;
+
+ if (status == VL53L0X_ERROR_NONE) {
+ printf("Call of VL53L0X_StaticInit\r\n");
+ status = VL53L0X_static_init(_device); // Device Initialization
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ printf("Call of VL53L0X_PerformRefCalibration\r\n");
+ status = VL53L0X_perform_ref_calibration(_device,
+ &vhv_settings, &phase_cal); // Device Initialization
+ }
+
+ if (status == VL53L0X_ERROR_NONE) {
+ printf("Call of VL53L0X_PerformRefSpadManagement\r\n");
+ status = VL53L0X_perform_ref_spad_management(_device,
+ &ref_spad_count, &is_aperture_spads); // Device Initialization
+// printf ("refSpadCount = %d, isApertureSpads = %d\r\n", refSpadCount, isApertureSpads);
+ }
+
+ return status;
+ }
+
+ /**
+ * @brief Start continuous ranging mode
+ *
+ * @details End user should ensure device is in idle state and not already running
+ * @return "0" on success
+ */
+ int range_start_continuous_mode()
+ {
+ int status;
+ status = VL53L0X_set_device_mode(_device, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);
+
+ if (status == VL53L0X_ERROR_NONE) {
+ printf ("Call of VL53L0X_StartMeasurement\r\n");
+ status = VL53L0X_start_measurement(_device);
+ }
+
+ return status;
+ }
+
+ /**
+ * @brief Get ranging result and only that
+ *
+ * @par Function Description
+ * Unlike @a VL53L0X_get_ranging_measurement_data() this function only retrieves the range in millimeter \n
+ * It does any required up-scale translation\n
+ * It can be called after success status polling or in interrupt mode \n
+ * @warning these function is not doing wrap around filtering \n
+ * This function doesn't perform any data ready check!
+ *
+ * @param p_data Pointer to range distance
+ * @return "0" on success
+ */
+ virtual int get_distance(uint32_t *p_data)
+ {
+ int status = 0;
+ VL53L0X_RangingMeasurementData_t p_ranging_measurement_data;
+
+ status = start_measurement(range_single_shot_polling, NULL);
+ if (!status) {
+ status = get_measurement(range_single_shot_polling, &p_ranging_measurement_data);
+ }
+ if (p_ranging_measurement_data.RangeStatus == 0) {
+ // we have a valid range.
+ *p_data = p_ranging_measurement_data.RangeMilliMeter;
+ } else {
+ *p_data = 0;
+ status = VL53L0X_ERROR_RANGE_ERROR;
+ }
+ stop_measurement(range_single_shot_polling);
+ return status;
+ }
+
+ /** @} */
+
+ /**
+ * @brief Set new device i2c address
+ *
+ * After completion the device will answer to the new address programmed.
+ *
+ * @param new_addr The new i2c address (7bit)
+ * @return "0" on success
+ */
+ int set_device_address(int new_addr)
+ {
+ int status;
+
+ status = VL53L0X_set_device_address(_device, new_addr);
+ if (!status) {
+ _device->I2cDevAddr = new_addr;
+ }
+ return status;
+
+ }
+
+ /**
+ * @brief Clear given system interrupt condition
+ *
+ * @par Function Description
+ * Clear given interrupt cause by writing into register #SYSTEM_INTERRUPT_CLEAR register.
+ * @param dev The device
+ * @param int_clear Which interrupt source to clear. Use any combinations of #INTERRUPT_CLEAR_RANGING , #INTERRUPT_CLEAR_ALS , #INTERRUPT_CLEAR_ERROR.
+ * @return "0" on success
+ */
+ int clear_interrupt(uint8_t int_clear)
+ {
+ return VL53L0X_clear_interrupt_mask(_device, int_clear);
+ }
+
+ /**
+ *
+ * @brief One time device initialization
+ *
+ * To be called once and only once after device is brought out of reset
+ * (Chip enable) and booted see @a VL53L0X_WaitDeviceBooted()
+ *
+ * @par Function Description
+ * When not used after a fresh device "power up" or reset, it may return
+ * @a #VL53L0X_ERROR_CALIBRATION_WARNING meaning wrong calibration data
+ * may have been fetched from device that can result in ranging offset error\n
+ * If application cannot execute device reset or need to run VL53L0X_DataInit
+ * multiple time then it must ensure proper offset calibration saving and
+ * restore on its own by using @a VL53L0X_GetOffsetCalibrationData() on first
+ * power up and then @a VL53L0X_SetOffsetCalibrationData() in all subsequent init
+ * This function will change the VL53L0X_State from VL53L0X_STATE_POWERDOWN to
+ * VL53L0X_STATE_WAIT_STATICINIT.
+ *
+ * @note This function accesses to the device
+ *
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_data_init(VL53L0X_DEV dev);
+
+ /**
+ * @brief Do basic device init (and eventually patch loading)
+ * This function will change the VL53L0X_State from
+ * VL53L0X_STATE_WAIT_STATICINIT to VL53L0X_STATE_IDLE.
+ * In this stage all default setting will be applied.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_static_init(VL53L0X_DEV dev);
+
+ /**
+ * @brief Perform Reference Calibration
+ *
+ * @details Perform a reference calibration of the Device.
+ * This function should be run from time to time before doing
+ * a ranging measurement.
+ * This function will launch a special ranging measurement, so
+ * if interrupt are enable an interrupt will be done.
+ * This function will clear the interrupt generated automatically.
+ *
+ * @warning This function is a blocking function
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_vhv_settings Pointer to vhv settings parameter.
+ * @param p_phase_cal Pointer to PhaseCal parameter.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV dev, uint8_t *p_vhv_settings,
+ uint8_t *p_phase_cal);
+
+ /**
+ * @brief Get Reference Calibration Parameters
+ *
+ * @par Function Description
+ * Get Reference Calibration Parameters.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_vhv_settings Pointer to VHV parameter
+ * @param p_phase_cal Pointer to PhaseCal Parameter
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_ref_calibration(VL53L0X_DEV dev,
+ uint8_t *p_vhv_settings, uint8_t *p_phase_cal);
+
+ VL53L0X_Error VL53L0X_set_ref_calibration(VL53L0X_DEV dev,
+ uint8_t vhv_settings, uint8_t phase_cal);
+
+ /**
+ * @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
+ *
+ * @note This function change the device mode to
+ * VL53L0X_DEVICEMODE_SINGLE_RANGING
+ *
+ * @param dev Device Handle
+ * @param ref_spad_count Reports ref Spad Count
+ * @param is_aperture_spads Reports if spads are of type
+ * aperture or non-aperture.
+ * 1:=aperture, 0:=Non-Aperture
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the Ref Spad procedure.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV dev,
+ uint32_t *ref_spad_count, uint8_t *is_aperture_spads);
+
+ /**
+ * @brief Applies Reference SPAD configuration
+ *
+ * @par Function Description
+ * This function applies a given number of reference spads, identified as
+ * either Aperture or Non-Aperture.
+ * The requested spad count and type are stored within the device specific
+ * parameters data for access by the host.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param refSpadCount Number of ref spads.
+ * @param is_aperture_spads Defines if spads are of type
+ * aperture or non-aperture.
+ * 1:=aperture, 0:=Non-Aperture
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference
+ * spad configuration.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV dev,
+ uint32_t refSpadCount, uint8_t is_aperture_spads);
+
+ /**
+ * @brief Retrieves SPAD configuration
+ *
+ * @par Function Description
+ * This function retrieves the current number of applied reference spads
+ * and also their type : Aperture or Non-Aperture.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_spad_count Number ref Spad Count
+ * @param p_is_aperture_spads Reports if spads are of type
+ * aperture or non-aperture.
+ * 1:=aperture, 0:=Non-Aperture
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference
+ * spad configuration.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_reference_spads(VL53L0X_DEV dev,
+ uint32_t *p_spad_count, uint8_t *p_is_aperture_spads);
+
+ /**
+ * @brief Get part to part calibration offset
+ *
+ * @par Function Description
+ * Should only be used after a successful call to @a VL53L0X_DataInit to backup
+ * device NVM value
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_offset_calibration_data_micro_meter Return part to part
+ * calibration offset from device (microns)
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
+ int32_t *p_offset_calibration_data_micro_meter);
+ /**
+ * Set or over-hide part to part calibration offset
+ * \sa VL53L0X_DataInit() VL53L0X_GetOffsetCalibrationDataMicroMeter()
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_offset_calibration_data_micro_meter Offset (microns)
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
+ int32_t offset_calibration_data_micro_meter);
+
+ VL53L0X_Error VL53L0X_perform_offset_calibration(VL53L0X_DEV dev,
+ FixPoint1616_t cal_distance_milli_meter,
+ int32_t *p_offset_micro_meter);
+
+ VL53L0X_Error VL53L0X_perform_xtalk_calibration(VL53L0X_DEV dev,
+ FixPoint1616_t xtalk_cal_distance,
+ FixPoint1616_t *p_xtalk_compensation_rate_mega_cps);
+
+ /**
+ * @brief Perform XTalk Measurement
+ *
+ * @details Measures the current cross talk from glass in front
+ * of the sensor.
+ * This functions performs a histogram measurement and uses the results
+ * to measure the crosstalk. For the function to be successful, there
+ * must be no target in front of the sensor.
+ *
+ * @warning This function is a blocking function
+ *
+ * @warning This function is not supported when the final range
+ * vcsel clock period is set below 10 PCLKS.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param timeout_ms Histogram measurement duration.
+ * @param p_xtalk_per_spad Output parameter containing the crosstalk
+ * measurement result, in MCPS/Spad.
+ * Format fixpoint 16:16.
+ * @param p_ambient_too_high Output parameter which indicate that
+ * pXtalkPerSpad is not good if the Ambient
+ * is too high.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS vcsel clock period not supported
+ * for this operation.
+ * Must not be less than 10PCLKS.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_perform_xtalk_measurement(VL53L0X_DEV dev,
+ uint32_t timeout_ms, FixPoint1616_t *p_xtalk_per_spad,
+ uint8_t *p_ambient_too_high);
+
+ /**
+ * @brief Enable/Disable Cross talk compensation feature
+ *
+ * @note This function is not Implemented.
+ * Enable/Disable Cross Talk by set to zero the Cross Talk value
+ * by using @a VL53L0X_SetXTalkCompensationRateMegaCps().
+ *
+ * @param dev Device Handle
+ * @param x_talk_compensation_enable Cross talk compensation
+ * to be set 0=disabled else = enabled
+ * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
+ */
+ VL53L0X_Error VL53L0X_set_x_talk_compensation_enable(VL53L0X_DEV dev,
+ uint8_t x_talk_compensation_enable);
+
+ /**
+ * @brief Get Cross talk compensation rate
+ *
+ * @note This function is not Implemented.
+ * Enable/Disable Cross Talk by set to zero the Cross Talk value by
+ * using @a VL53L0X_SetXTalkCompensationRateMegaCps().
+ *
+ * @param dev Device Handle
+ * @param p_x_talk_compensation_enable Pointer to the Cross talk compensation
+ * state 0=disabled or 1 = enabled
+ * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
+ */
+ VL53L0X_Error VL53L0X_get_x_talk_compensation_enable(VL53L0X_DEV dev,
+ uint8_t *p_x_talk_compensation_enable);
+ /**
+ * @brief Set Cross talk compensation rate
+ *
+ * @par Function Description
+ * Set Cross talk compensation rate.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param x_talk_compensation_rate_mega_cps Compensation rate in
+ * Mega counts per second
+ * (16.16 fix point) see
+ * datasheet for details
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_x_talk_compensation_rate_mega_cps(VL53L0X_DEV dev,
+ FixPoint1616_t x_talk_compensation_rate_mega_cps);
+
+ /**
+ * @brief Get Cross talk compensation rate
+ *
+ * @par Function Description
+ * Get Cross talk compensation rate.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_xtalk_compensation_rate_mega_cps Pointer to Compensation rate
+ * in Mega counts per second
+ * (16.16 fix point) see
+ * datasheet for details
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_x_talk_compensation_rate_mega_cps(VL53L0X_DEV dev,
+ FixPoint1616_t *p_xtalk_compensation_rate_mega_cps);
+
+ /**
+ * @brief Set a new device mode
+ * @par Function Description
+ * Set device to a new mode (ranging, histogram ...)
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param device_mode New device mode to apply
+ * Valid values are:
+ * VL53L0X_DEVICEMODE_SINGLE_RANGING
+ * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING
+ * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING
+ * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
+ * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
+ * VL53L0X_HISTOGRAMMODE_RETURN_ONLY
+ * VL53L0X_HISTOGRAMMODE_BOTH
+ *
+ *
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
+ * DeviceMode is not in the
+ * supported list
+ */
+ VL53L0X_Error VL53L0X_set_device_mode(VL53L0X_DEV dev, VL53L0X_DeviceModes device_mode);
+
+ /**
+ * @brief Get current new device mode
+ * @par Function Description
+ * Get actual mode of the device(ranging, histogram ...)
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_device_mode Pointer to current apply mode value
+ * Valid values are:
+ * VL53L0X_DEVICEMODE_SINGLE_RANGING
+ * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING
+ * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING
+ * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
+ * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
+ * VL53L0X_HISTOGRAMMODE_RETURN_ONLY
+ * VL53L0X_HISTOGRAMMODE_BOTH
+ *
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
+ * DeviceMode is not in the
+ * supported list
+ */
+ VL53L0X_Error VL53L0X_get_device_mode(VL53L0X_DEV dev,
+ VL53L0X_DeviceModes *p_device_mode);
+
+ /**
+ * @brief Get current configuration for GPIO pin for a given device
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param pin ID of the GPIO Pin
+ * @param p_device_mode Pointer to Device Mode associated to the Gpio.
+ * @param p_functionality Pointer to Pin functionality.
+ * Refer to ::VL53L0X_GpioFunctionality
+ * @param p_polarity Pointer to interrupt polarity.
+ * Active high or active low see
+ * ::VL53L0X_InterruptPolarity
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted.
+ * @return VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED
+ * This error occurs
+ * when Funcionality programmed is not in the supported list:
+ * Supported value are:
+ * VL53L0X_GPIOFUNCTIONALITY_OFF,
+ * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW,
+ * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH,
+ * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT,
+ * VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_gpio_config(VL53L0X_DEV dev, uint8_t pin,
+ VL53L0X_DeviceModes *p_device_mode,
+ VL53L0X_GpioFunctionality *p_functionality,
+ VL53L0X_InterruptPolarity *p_polarity);
+
+ /**
+ * @brief Set the configuration of GPIO pin for a given device
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param pin ID of the GPIO Pin
+ * @param functionality Select Pin functionality.
+ * Refer to ::VL53L0X_GpioFunctionality
+ * @param device_mode Device Mode associated to the Gpio.
+ * @param polarity Set interrupt polarity. Active high
+ * or active low see ::VL53L0X_InterruptPolarity
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted.
+ * @return VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED This error occurs
+ * when Functionality programmed is not in the supported list:
+ * Supported value are:
+ * VL53L0X_GPIOFUNCTIONALITY_OFF,
+ * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW,
+ * VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH,
+ VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT,
+ * VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_gpio_config(VL53L0X_DEV dev, uint8_t pin,
+ VL53L0X_DeviceModes device_mode, VL53L0X_GpioFunctionality functionality,
+ VL53L0X_InterruptPolarity polarity);
+
+ /**
+ * @brief Start device measurement
+ *
+ * @details Started measurement will depend on device parameters set through
+ * @a VL53L0X_SetParameters()
+ * This is a non-blocking function.
+ * This function will change the VL53L0X_State from VL53L0X_STATE_IDLE to
+ * VL53L0X_STATE_RUNNING.
+ *
+ * @note This function Access to the device
+ *
+
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
+ * DeviceMode programmed with @a VL53L0X_SetDeviceMode is not in the supported
+ * list:
+ * Supported mode are:
+ * VL53L0X_DEVICEMODE_SINGLE_RANGING,
+ * VL53L0X_DEVICEMODE_CONTINUOUS_RANGING,
+ * VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING
+ * @return VL53L0X_ERROR_TIME_OUT Time out on start measurement
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_start_measurement(VL53L0X_DEV dev);
+
+ /**
+ * @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.
+ * This function will change the VL53L0X_State from VL53L0X_STATE_RUNNING
+ * to VL53L0X_STATE_IDLE.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_stop_measurement(VL53L0X_DEV dev);
+
+ /**
+ * @brief Return device stop completion status
+ *
+ * @par Function Description
+ * Returns stop completiob status.
+ * User shall call this function after a stop command
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_stop_status Pointer to status variable to update
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_stop_completed_status(VL53L0X_DEV dev,
+ uint32_t *p_stop_status);
+
+ /**
+ * @brief Return Measurement Data Ready
+ *
+ * @par Function Description
+ * This function indicate that a measurement data is ready.
+ * This function check if interrupt mode is used then check is done accordingly.
+ * If perform function clear the interrupt, this function will not work,
+ * like in case of @a VL53L0X_PerformSingleRangingMeasurement().
+ * The previous function is blocking function, VL53L0X_GetMeasurementDataReady
+ * is used for non-blocking capture.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_measurement_data_ready Pointer to Measurement Data Ready.
+ * 0=data not ready, 1 = data ready
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_measurement_data_ready(VL53L0X_DEV dev,
+ uint8_t *p_measurement_data_ready);
+
+ /**
+ * @brief Retrieve the measurements from device for a given setup
+ *
+ * @par Function Description
+ * Get data from last successful Ranging measurement
+ * @warning USER should take care about @a VL53L0X_GetNumberOfROIZones()
+ * before get data.
+ * PAL will fill a NumberOfROIZones times the corresponding data
+ * structure used in the measurement function.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_ranging_measurement_data Pointer to the data structure to fill up.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_ranging_measurement_data(VL53L0X_DEV dev,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data);
+
+ /**
+ * @brief Clear given system interrupt condition
+ *
+ * @par Function Description
+ * Clear given interrupt(s).
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param interrupt_mask Mask of interrupts to clear
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INTERRUPT_NOT_CLEARED Cannot clear interrupts
+ *
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_clear_interrupt_mask(VL53L0X_DEV dev, uint32_t interrupt_mask);
+
+ /**
+ * @brief Return device interrupt status
+ *
+ * @par Function Description
+ * Returns currently raised interrupts by the device.
+ * User shall be able to activate/deactivate interrupts through
+ * @a VL53L0X_SetGpioConfig()
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_interrupt_mask_status Pointer to status variable to update
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_interrupt_mask_status(VL53L0X_DEV dev,
+ uint32_t *p_interrupt_mask_status);
+
+ /**
+ * @brief Performs a single ranging measurement and retrieve the ranging
+ * measurement data
+ *
+ * @par Function Description
+ * This function will change the device mode to VL53L0X_DEVICEMODE_SINGLE_RANGING
+ * with @a VL53L0X_SetDeviceMode(),
+ * It performs measurement with @a VL53L0X_PerformSingleMeasurement()
+ * It get data from last successful Ranging measurement with
+ * @a VL53L0X_GetRangingMeasurementData.
+ * Finally it clear the interrupt with @a VL53L0X_ClearInterruptMask().
+ *
+ * @note This function Access to the device
+ *
+ * @note This function change the device mode to
+ * VL53L0X_DEVICEMODE_SINGLE_RANGING
+ *
+ * @param dev Device Handle
+ * @param p_ranging_measurement_data Pointer to the data structure to fill up.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_perform_single_ranging_measurement(VL53L0X_DEV dev,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data);
+
+ /**
+ * @brief Single shot measurement.
+ *
+ * @par Function Description
+ * Perform simple measurement sequence (Start measure, Wait measure to end,
+ * and returns when measurement is done).
+ * Once function returns, user can get valid data by calling
+ * VL53L0X_GetRangingMeasurement or VL53L0X_GetHistogramMeasurement
+ * depending on defined measurement mode
+ * User should Clear the interrupt in case this are enabled by using the
+ * function VL53L0X_ClearInterruptMask().
+ *
+ * @warning This function is a blocking function
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_perform_single_measurement(VL53L0X_DEV dev);
+
+ /**
+ * @brief Read current status of the error register for the selected device
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_device_error_status Pointer to current error code of the device
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_device_error_status(VL53L0X_DEV dev,
+ VL53L0X_DeviceError *p_device_error_status);
+
+ /**
+ * @brief Human readable error string for a given Error Code
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param error_code The error code as stored on ::VL53L0X_DeviceError
+ * @param p_device_error_string The error string corresponding to the ErrorCode
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_device_error_string(
+ VL53L0X_DeviceError error_code, char *p_device_error_string);
+
+ /**
+ * @brief Human readable Range Status string for a given RangeStatus
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param range_status The RangeStatus code as stored on
+ * @a VL53L0X_RangingMeasurementData_t
+ * @param p_range_status_string The returned RangeStatus string.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_range_status_string(uint8_t range_status,
+ char *p_range_status_string);
+
+ VL53L0X_Error VL53L0X_get_total_signal_rate(VL53L0X_DEV dev,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
+ FixPoint1616_t *p_total_signal_rate_mcps);
+
+ VL53L0X_Error VL53L0X_get_total_xtalk_rate(VL53L0X_DEV dev,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
+ FixPoint1616_t *p_total_xtalk_rate_mcps);
+
+ /**
+ * @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, ASL ...)
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_measurement_timing_budget_micro_seconds Max measurement time in
+ * microseconds.
+ * Valid values are:
+ * >= 17000 microsecs when wraparound enabled
+ * >= 12000 microsecs when wraparound disabled
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
+ uint32_t *p_measurement_timing_budget_micro_seconds);
+
+ /**
+ * @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 ...)
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param measurement_timing_budget_micro_seconds Max measurement time in
+ * microseconds.
+ * Valid values are:
+ * >= 17000 microsecs when wraparound enabled
+ * >= 12000 microsecs when wraparound disabled
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned if
+ MeasurementTimingBudgetMicroSeconds out of range
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
+ uint32_t measurement_timing_budget_micro_seconds);
+
+ /**
+ * @brief Get specific limit check enable state
+ *
+ * @par Function Description
+ * This function get the enable state of a specific limit check.
+ * The limit check is identified with the LimitCheckId.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param limit_check_id Limit Check ID
+ * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
+ * @param p_limit_check_enable Pointer to the check limit enable
+ * value.
+ * if 1 the check limit
+ * corresponding to LimitCheckId is Enabled
+ * if 0 the check limit
+ * corresponding to LimitCheckId is disabled
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned
+ * when LimitCheckId value is out of range.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id,
+ uint8_t *p_limit_check_enable);
+
+ /**
+ * @brief Enable/Disable a specific limit check
+ *
+ * @par Function Description
+ * This function Enable/Disable a specific limit check.
+ * The limit check is identified with the LimitCheckId.
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param limit_check_id Limit Check ID
+ * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
+ * @param limit_check_enable if 1 the check limit
+ * corresponding to LimitCheckId is Enabled
+ * if 0 the check limit
+ * corresponding to LimitCheckId is disabled
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned
+ * when LimitCheckId value is out of range.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_limit_check_enable(VL53L0X_DEV dev, uint16_t limit_check_id,
+ uint8_t limit_check_enable);
+
+ /**
+ * @brief Get a specific limit check value
+ *
+ * @par Function Description
+ * This function get a specific limit check value from device then it updates
+ * internal values and check enables.
+ * The limit check is identified with the LimitCheckId.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param limit_check_id Limit Check ID
+ * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
+ * @param p_limit_check_value Pointer to Limit
+ * check Value for a given LimitCheckId.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned
+ * when LimitCheckId value is out of range.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id,
+ FixPoint1616_t *p_limit_check_value);
+
+ /**
+ * @brief Set a specific limit check value
+ *
+ * @par Function Description
+ * This function set a specific limit check value.
+ * The limit check is identified with the LimitCheckId.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param limit_check_id Limit Check ID
+ * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
+ * @param limit_check_value Limit check Value for a given
+ * LimitCheckId
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned when either
+ * LimitCheckId or LimitCheckValue value is out of range.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_limit_check_value(VL53L0X_DEV dev, uint16_t limit_check_id,
+ FixPoint1616_t limit_check_value);
+
+ /**
+ * @brief Get the current value of the signal used for the limit check
+ *
+ * @par Function Description
+ * This function get a the current value of the signal used for the limit check.
+ * To obtain the latest value you should run a ranging before.
+ * The value reported is linked to the limit check identified with the
+ * LimitCheckId.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param limit_check_id Limit Check ID
+ * (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
+ * @param p_limit_check_current Pointer to current Value for a
+ * given LimitCheckId.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned when
+ * LimitCheckId value is out of range.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_limit_check_current(VL53L0X_DEV dev, uint16_t limit_check_id,
+ FixPoint1616_t *p_limit_check_current);
+
+ /**
+ * @brief Return a the Status of the specified check limit
+ *
+ * @par Function Description
+ * This function returns the Status of the specified check limit.
+ * The value indicate if the check is fail or not.
+ * The limit check is identified with the LimitCheckId.
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param limit_check_id Limit Check ID
+ (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
+ * @param p_limit_check_status Pointer to the
+ Limit Check Status of the given check limit.
+ * LimitCheckStatus :
+ * 0 the check is not fail
+ * 1 the check if fail or not enabled
+ *
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is
+ returned when LimitCheckId value is out of range.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_limit_check_status(VL53L0X_DEV dev,
+ uint16_t limit_check_id, uint8_t *p_limit_check_status);
+
+ /**
+ * Get continuous mode Inter-Measurement period in milliseconds
+ *
+ * @par Function Description
+ * When trying to set too short time return INVALID_PARAMS minimal value
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_inter_measurement_period_milli_seconds Pointer to programmed
+ * Inter-Measurement Period in milliseconds.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_inter_measurement_period_milli_seconds(VL53L0X_DEV dev,
+ uint32_t *p_inter_measurement_period_milli_seconds);
+
+ /**
+ * Program continuous mode Inter-Measurement period in milliseconds
+ *
+ * @par Function Description
+ * When trying to set too short time return INVALID_PARAMS minimal value
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param inter_measurement_period_milli_seconds Inter-Measurement Period in ms.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_inter_measurement_period_milli_seconds(
+ VL53L0X_DEV dev, uint32_t inter_measurement_period_milli_seconds);
+
+ /**
+ * @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.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param device_address The new Device address
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_device_address(VL53L0X_DEV dev, uint8_t device_address);
+
+ /**
+ * @brief Do an hard reset or soft reset (depending on implementation) of the
+ * device \nAfter call of this function, device must be in same state as right
+ * after a power-up sequence.This function will change the VL53L0X_State to
+ * VL53L0X_STATE_POWERDOWN.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_reset_device(VL53L0X_DEV dev);
+
+ /**
+ * @brief Get setup of Wrap around Check
+ *
+ * @par Function Description
+ * This function get the wrapAround check enable parameters
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_wrap_around_check_enable Pointer to the Wrap around Check state
+ * 0=disabled or 1 = enabled
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_wrap_around_check_enable(VL53L0X_DEV dev,
+ uint8_t *p_wrap_around_check_enable);
+
+ /**
+ * @brief Enable (or disable) Wrap around Check
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param wrap_around_check_enable Wrap around Check to be set
+ * 0=disabled, other = enabled
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_wrap_around_check_enable(VL53L0X_DEV dev,
+ uint8_t wrap_around_check_enable);
+
+ /**
+ * @brief Gets the VCSEL pulse period.
+ *
+ * @par Function Description
+ * This function retrieves the VCSEL pulse period for the given period type.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param vcsel_period_type VCSEL period identifier (pre-range|final).
+ * @param p_vcsel_pulse_period_pclk Pointer to VCSEL period value.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS Error VcselPeriodType parameter not
+ * supported.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV dev,
+ VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk);
+
+ /**
+ * @brief Sets the VCSEL pulse period.
+ *
+ * @par Function Description
+ * This function retrieves the VCSEL pulse period for the given period type.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param vcsel_period_type VCSEL period identifier (pre-range|final).
+ * @param vcsel_pulse_period VCSEL period value
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS Error VcselPeriodType parameter not
+ * supported.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV dev,
+ VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period);
+
+ /**
+ * @brief Set low and high Interrupt thresholds for a given mode
+ * (ranging, ALS, ...) for a given device
+ *
+ * @par Function Description
+ * Set low and high Interrupt thresholds for a given mode (ranging, ALS, ...)
+ * for a given device
+ *
+ * @note This function Access to the device
+ *
+ * @note DeviceMode is ignored for the current device
+ *
+ * @param dev Device Handle
+ * @param device_mode Device Mode for which change thresholds
+ * @param threshold_low Low threshold (mm, lux ..., depending on the mode)
+ * @param threshold_high High threshold (mm, lux ..., depending on the mode)
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_interrupt_thresholds(VL53L0X_DEV dev,
+ VL53L0X_DeviceModes device_mode, FixPoint1616_t threshold_low,
+ FixPoint1616_t threshold_high);
+
+ /**
+ * @brief Get high and low Interrupt thresholds for a given mode
+ * (ranging, ALS, ...) for a given device
+ *
+ * @par Function Description
+ * Get high and low Interrupt thresholds for a given mode (ranging, ALS, ...)
+ * for a given device
+ *
+ * @note This function Access to the device
+ *
+ * @note DeviceMode is ignored for the current device
+ *
+ * @param dev Device Handle
+ * @param device_mode Device Mode from which read thresholds
+ * @param p_threshold_low Low threshold (mm, lux ..., depending on the mode)
+ * @param p_threshold_high High threshold (mm, lux ..., depending on the mode)
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_interrupt_thresholds(VL53L0X_DEV dev,
+ VL53L0X_DeviceModes device_mode, FixPoint1616_t *p_threshold_low,
+ FixPoint1616_t *p_threshold_high);
+
+ /**
+ * @brief Reads the Device information for given Device
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_VL53L0X_device_info Pointer to current device info for a given
+ * Device
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV dev,
+ VL53L0X_DeviceInfo_t *p_VL53L0X_device_info);
+
+ /**
+ * @brief Gets the (on/off) state of all sequence steps.
+ *
+ * @par Function Description
+ * This function retrieves the state of all sequence step in the scheduler.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param p_scheduler_sequence_steps Pointer to struct containing result.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_sequence_step_enables(VL53L0X_DEV dev,
+ VL53L0X_SchedulerSequenceSteps_t *p_scheduler_sequence_steps);
+
+ /**
+ * @brief Sets the (on/off) state of a requested sequence step.
+ *
+ * @par Function Description
+ * This function enables/disables a requested sequence step.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param sequence_step_id Sequence step identifier.
+ * @param sequence_step_enabled Demanded state {0=Off,1=On}
+ * is enabled.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not
+ * supported.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_sequence_step_enable(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_step_enabled);
+
+ /**
+ * @brief Gets the fraction enable parameter indicating the resolution of
+ * range measurements.
+ *
+ * @par Function Description
+ * Gets the fraction enable state, which translates to the resolution of
+ * range measurements as follows :Enabled:=0.25mm resolution,
+ * Not Enabled:=1mm resolution.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param p_enabled Output Parameter reporting the fraction enable state.
+ *
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_fraction_enable(VL53L0X_DEV dev, uint8_t *p_enabled);
+
+ /**
+ * @brief Sets the resolution of range measurements.
+ * @par Function Description
+ * Set resolution of range measurements to either 0.25mm if
+ * fraction enabled or 1mm if not enabled.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param enable Enable high resolution
+ *
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_range_fraction_enable(VL53L0X_DEV dev,
+ uint8_t enable);
+
+ /**
+ * @brief Return the VL53L0X PAL Implementation Version
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param p_version Pointer to current PAL Implementation Version
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_version(VL53L0X_Version_t *p_version);
+
+ /**
+ * @brief Reads the Product Revision for a for given Device
+ * This function can be used to distinguish cut1.0 from cut1.1.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_product_revision_major Pointer to Product Revision Major
+ * for a given Device
+ * @param p_product_revision_minor Pointer to Product Revision Minor
+ * for a given Device
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_product_revision(VL53L0X_DEV dev,
+ uint8_t *p_product_revision_major, uint8_t *p_product_revision_minor);
+
+ /**
+ * @brief Retrieve current device parameters
+ * @par Function Description
+ * Get actual parameters of the device
+ * @li Then start ranging operation.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_device_parameters Pointer to store current device parameters.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_device_parameters(VL53L0X_DEV dev,
+ VL53L0X_DeviceParameters_t *p_device_parameters);
+
+ /**
+ * @brief Human readable error string for current PAL error status
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param pal_error_code The error code as stored on @a VL53L0X_Error
+ * @param p_pal_error_string The error string corresponding to the
+ * PalErrorCode
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_pal_error_string(VL53L0X_Error pal_error_code,
+ char *p_pal_error_string);
+
+ /**
+ * @brief Return the PAL Specification Version used for the current
+ * implementation.
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param p_pal_spec_version Pointer to current PAL Specification Version
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_pal_spec_version(
+ VL53L0X_Version_t *p_pal_spec_version);
+
+ /**
+ * @brief Reads the internal state of the PAL for a given Device
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param dev Device Handle
+ * @param p_pal_state Pointer to current state of the PAL for a
+ * given Device
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_pal_state(VL53L0X_DEV dev,
+ VL53L0X_State *p_pal_state);
+
+ /**
+ * @brief Human readable PAL State string
+ *
+ * @note This function doesn't access to the device
+ *
+ * @param pal_state_code The State code as stored on @a VL53L0X_State
+ * @param p_pal_state_string The State string corresponding to the
+ * PalStateCode
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_pal_state_string(VL53L0X_State pal_state_code,
+ char *p_pal_state_string);
+
+ /*** End High level API ***/
+private:
+ /* api.h functions */
+
+ /**
+ * @brief Wait for device booted after chip enable (hardware standby)
+ * This function can be run only when VL53L0X_State is VL53L0X_STATE_POWERDOWN.
+ *
+ * @note This function is not Implemented
+ *
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
+ *
+ */
+ VL53L0X_Error VL53L0X_wait_device_booted(VL53L0X_DEV dev);
+
+
+ VL53L0X_Error sequence_step_enabled(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_config,
+ uint8_t *p_sequence_step_enabled);
+
+ VL53L0X_Error VL53L0X_check_and_load_interrupt_settings(VL53L0X_DEV dev,
+ uint8_t start_not_stopflag);
+
+
+ /* api_core.h functions */
+
+ VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV dev, uint8_t option);
+
+ VL53L0X_Error VL53L0X_device_read_strobe(VL53L0X_DEV dev);
+
+ VL53L0X_Error wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
+ uint32_t *p_measurement_timing_budget_micro_seconds);
+
+ VL53L0X_Error wrapped_VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV dev,
+ VL53L0X_VcselPeriod vcsel_period_type, uint8_t *p_vcsel_pulse_period_pclk);
+
+ uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg);
+
+ uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout);
+
+ uint32_t VL53L0X_calc_timeout_us(VL53L0X_DEV dev,
+ uint16_t timeout_period_mclks,
+ uint8_t vcsel_period_pclks);
+
+ uint32_t VL53L0X_calc_macro_period_ps(VL53L0X_DEV dev, uint8_t vcsel_period_pclks);
+
+ VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV dev);
+
+ VL53L0X_Error VL53L0X_load_tuning_settings(VL53L0X_DEV dev,
+ uint8_t *p_tuning_setting_buffer);
+
+ VL53L0X_Error VL53L0X_get_pal_range_status(VL53L0X_DEV dev,
+ uint8_t device_range_status,
+ FixPoint1616_t signal_rate,
+ uint16_t effective_spad_rtn_count,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
+ uint8_t *p_pal_range_status);
+ VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV dev,
+ VL53L0X_RangingMeasurementData_t *p_ranging_measurement_data,
+ FixPoint1616_t *p_sigma_estimate,
+ uint32_t *p_dmax_mm);
+ uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV dev,
+ uint32_t timeout_period_us,
+ uint8_t vcsel_period_pclks);
+ uint32_t VL53L0X_isqrt(uint32_t num);
+
+ uint32_t VL53L0X_quadrature_sum(uint32_t a, uint32_t b);
+
+ VL53L0X_Error VL53L0X_calc_dmax(
+ VL53L0X_DEV dev,
+ FixPoint1616_t total_signal_rate_mcps,
+ FixPoint1616_t total_corr_signal_rate_mcps,
+ FixPoint1616_t pw_mult,
+ uint32_t sigma_estimate_p1,
+ FixPoint1616_t sigma_estimate_p2,
+ uint32_t peak_vcsel_duration_us,
+ uint32_t *pd_max_mm);
+ VL53L0X_Error wrapped_VL53L0X_set_measurement_timing_budget_micro_seconds(VL53L0X_DEV dev,
+ uint32_t measurement_timing_budget_micro_seconds);
+ VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id,
+ uint32_t *p_time_out_micro_secs);
+ VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id,
+ uint32_t timeout_micro_secs);
+ uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks);
+ VL53L0X_Error wrapped_VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV dev,
+ VL53L0X_VcselPeriod vcsel_period_type, uint8_t vcsel_pulse_period_pclk);
+ uint8_t lv53l0x_encode_vcsel_period(uint8_t vcsel_period_pclks);
+
+ /* api_calibration.h functions */
+ VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV dev);
+ VL53L0X_Error wrapped_VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
+ int32_t *p_offset_calibration_data_micro_meter);
+ VL53L0X_Error wrapped_VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV dev,
+ int32_t offset_calibration_data_micro_meter);
+ VL53L0X_Error wrapped_VL53L0X_perform_ref_spad_management(VL53L0X_DEV dev,
+ uint32_t *ref_spad_count,
+ uint8_t *is_aperture_spads);
+ VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV dev,
+ uint8_t *p_vhv_settings, uint8_t *p_phase_cal, uint8_t get_data_enable);
+ VL53L0X_Error VL53L0X_perform_vhv_calibration(VL53L0X_DEV dev,
+ uint8_t *p_vhv_settings, const uint8_t get_data_enable,
+ const uint8_t restore_config);
+ VL53L0X_Error VL53L0X_perform_single_ref_calibration(VL53L0X_DEV dev,
+ uint8_t vhv_init_byte);
+ VL53L0X_Error VL53L0X_ref_calibration_io(VL53L0X_DEV dev, uint8_t read_not_write,
+ uint8_t vhv_settings, uint8_t phase_cal,
+ uint8_t *p_vhv_settings, uint8_t *p_phase_cal,
+ const uint8_t vhv_enable, const uint8_t phase_enable);
+ VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV dev,
+ uint8_t *p_phase_cal, const uint8_t get_data_enable,
+ const uint8_t restore_config);
+ VL53L0X_Error enable_ref_spads(VL53L0X_DEV dev,
+ uint8_t aperture_spads,
+ uint8_t good_spad_array[],
+ uint8_t spad_array[],
+ uint32_t size,
+ uint32_t start,
+ uint32_t offset,
+ uint32_t spad_count,
+ uint32_t *p_last_spad);
+ void get_next_good_spad(uint8_t good_spad_array[], uint32_t size,
+ uint32_t curr, int32_t *p_next);
+ uint8_t is_aperture(uint32_t spad_index);
+ VL53L0X_Error enable_spad_bit(uint8_t spad_array[], uint32_t size,
+ uint32_t spad_index);
+ VL53L0X_Error set_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array);
+ VL53L0X_Error get_ref_spad_map(VL53L0X_DEV dev, uint8_t *p_ref_spad_array);
+ VL53L0X_Error perform_ref_signal_measurement(VL53L0X_DEV dev,
+ uint16_t *p_ref_signal_rate);
+ VL53L0X_Error wrapped_VL53L0X_set_reference_spads(VL53L0X_DEV dev,
+ uint32_t count, uint8_t is_aperture_spads);
+
+ /* api_strings.h functions */
+ VL53L0X_Error wrapped_VL53L0X_get_device_info(VL53L0X_DEV dev,
+ VL53L0X_DeviceInfo_t *p_VL53L0X_device_info);
+ VL53L0X_Error VL53L0X_check_part_used(VL53L0X_DEV dev,
+ uint8_t *revision,
+ VL53L0X_DeviceInfo_t *p_VL53L0X_device_info);
+
+ /* Read function of the ID device */
+ // virtual int read_id();
+ virtual int read_id(uint8_t *id);
+
+ VL53L0X_Error wait_measurement_data_ready(VL53L0X_DEV dev);
+
+ VL53L0X_Error wait_stop_completed(VL53L0X_DEV dev);
+
+ /* Write and read functions from I2C */
+ /**
+ * Write single byte register
+ * @param dev Device Handle
+ * @param index The register index
+ * @param data 8 bit register data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_write_byte(VL53L0X_DEV dev, uint8_t index, uint8_t data);
+ /**
+ * Write word register
+ * @param dev Device Handle
+ * @param index The register index
+ * @param data 16 bit register data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_write_word(VL53L0X_DEV dev, uint8_t index, uint16_t data);
+ /**
+ * Write double word (4 byte) register
+ * @param dev Device Handle
+ * @param index The register index
+ * @param data 32 bit register data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_write_dword(VL53L0X_DEV dev, uint8_t index, uint32_t data);
+ /**
+ * Read single byte register
+ * @param dev Device Handle
+ * @param index The register index
+ * @param data pointer to 8 bit data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_read_byte(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data);
+ /**
+ * Read word (2byte) register
+ * @param dev Device Handle
+ * @param index The register index
+ * @param data pointer to 16 bit data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_read_word(VL53L0X_DEV dev, uint8_t index, uint16_t *p_data);
+ /**
+ * Read dword (4byte) register
+ * @param dev Device Handle
+ * @param index The register index
+ * @param data pointer to 32 bit data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_read_dword(VL53L0X_DEV dev, uint8_t index, uint32_t *p_data);
+ /**
+ * Threat safe Update (read/modify/write) single byte register
+ *
+ * Final_reg = (Initial_reg & and_data) |or_data
+ *
+ * @param dev Device Handle
+ * @param index The register index
+ * @param and_data 8 bit and data
+ * @param or_data 8 bit or data
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_update_byte(VL53L0X_DEV dev, uint8_t index, uint8_t and_data, uint8_t or_data);
+ /**
+ * Writes the supplied byte buffer to the device
+ * @param dev Device Handle
+ * @param index The register index
+ * @param p_data Pointer to uint8_t buffer containing the data to be written
+ * @param count Number of bytes in the supplied byte buffer
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_write_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count);
+ /**
+ * Reads the requested number of bytes from the device
+ * @param dev Device Handle
+ * @param index The register index
+ * @param p_data Pointer to the uint8_t buffer to store read data
+ * @param count Number of uint8_t's to read
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_read_multi(VL53L0X_DEV dev, uint8_t index, uint8_t *p_data, uint32_t count);
+
+ /**
+ * @brief Writes a buffer towards the I2C peripheral device.
+ * @param dev Device Handle
+ * @param p_data pointer to the byte-array data to send
+ * @param number_of_bytes number of bytes to be written.
+ * @retval 0 if ok,
+ * @retval -1 if an I2C error has occured
+ * @note On some devices if NumByteToWrite is greater
+ * than one, the RegisterAddr must be masked correctly!
+ */
+ VL53L0X_Error VL53L0X_i2c_write(uint8_t dev, uint8_t index, uint8_t *p_data, uint16_t number_of_bytes);
+
+ /**
+ * @brief Reads a buffer from the I2C peripheral device.
+ * @param dev Device Handle
+ * @param p_data pointer to the byte-array to read data in to
+ * @param number_of_bytes number of bytes to be read.
+ * @retval 0 if ok,
+ * @retval -1 if an I2C error has occured
+ * @note On some devices if NumByteToWrite is greater
+ * than one, the RegisterAddr must be masked correctly!
+ */
+ VL53L0X_Error VL53L0X_i2c_read(uint8_t dev, uint8_t index, uint8_t *p_data, uint16_t number_of_bytes);
+
+ /**
+ * @brief execute delay in all polling API call
+ *
+ * A typical multi-thread or RTOs implementation is to sleep the task for some 5ms (with 100Hz max rate faster polling is not needed)
+ * if nothing specific is need you can define it as an empty/void macro
+ * @code
+ * #define VL53L0X_PollingDelay(...) (void)0
+ * @endcode
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_polling_delay(VL53L0X_DEV dev); /* usually best implemented as a real function */
+
+ int is_present()
+ {
+ int status;
+ uint8_t id = 0;
+
+ status = read_id(&id);
+ if (status) {
+ VL53L0X_ErrLog("Failed to read ID device. Device not present!\n\r");
+ }
+ return status;
+ }
+
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////
+ //Added functions //
+ ///////////////////////////////////////////////////////////////////////////////////////////////////////
+
+ /**
+ * @brief Cycle Power to Device
+ *
+ * @return status - status 0 = ok, 1 = error
+ *
+ */
+ int32_t VL53L0X_cycle_power(void);
+
+ uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks);
+
+ VL53L0X_Error wrapped_VL53L0X_get_device_error_string(VL53L0X_DeviceError error_code,
+ char *p_device_error_string);
+
+ VL53L0X_Error wrapped_VL53L0X_get_limit_check_info(VL53L0X_DEV dev, uint16_t limit_check_id,
+ char *p_limit_check_string);
+
+ VL53L0X_Error wrapped_VL53L0X_get_pal_error_string(VL53L0X_Error pal_error_code,
+ char *p_pal_error_string);
+
+ VL53L0X_Error wrapped_VL53L0X_get_pal_state_string(VL53L0X_State pal_state_code,
+ char *p_pal_state_string);
+
+ VL53L0X_Error wrapped_VL53L0X_get_range_status_string(uint8_t range_status,
+ char *p_range_status_string);
+
+ VL53L0X_Error wrapped_VL53L0X_get_ref_calibration(VL53L0X_DEV dev,
+ uint8_t *p_vhv_settings, uint8_t *p_phase_cal);
+
+
+ VL53L0X_Error count_enabled_spads(uint8_t spad_array[],
+ uint32_t byte_count, uint32_t max_spads,
+ uint32_t *p_total_spads_enabled, uint8_t *p_is_aperture);
+
+ VL53L0X_Error wrapped_VL53L0X_get_sequence_steps_info(VL53L0X_SequenceStepId sequence_step_id,
+ char *p_sequence_steps_string);
+
+
+ /**
+ * @brief Gets the name of a given sequence step.
+ *
+ * @par Function Description
+ * This function retrieves the name of sequence steps corresponding to
+ * SequenceStepId.
+ *
+ * @note This function doesn't Accesses the device
+ *
+ * @param sequence_step_id Sequence step identifier.
+ * @param p_sequence_steps_string Pointer to Info string
+ *
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_sequence_steps_info(VL53L0X_SequenceStepId sequence_step_id,
+ char *p_sequence_steps_string);
+
+ /**
+ * @brief Get the frequency of the timer used for ranging results time stamps
+ *
+ * @param[out] p_timer_freq_hz : pointer for timer frequency
+ *
+ * @return status : 0 = ok, 1 = error
+ *
+ */
+ int32_t VL53L0X_get_timer_frequency(int32_t *p_timer_freq_hz);
+
+ /**
+ * @brief Get the timer value in units of timer_freq_hz (see VL53L0X_get_timestamp_frequency())
+ *
+ * @param[out] p_timer_count : pointer for timer count value
+ *
+ * @return status : 0 = ok, 1 = error
+ *
+ */
+ int32_t VL53L0X_get_timer_value(int32_t *p_timer_count);
+
+ /**
+ * @brief Configure ranging interrupt reported to system
+ *
+ * @note This function is not Implemented
+ *
+ * @param dev Device Handle
+ * @param interrupt_mask Mask of interrupt to Enable/disable
+ * (0:interrupt disabled or 1: interrupt enabled)
+ * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
+ */
+ VL53L0X_Error VL53L0X_enable_interrupt_mask(VL53L0X_DEV dev,
+ uint32_t interrupt_mask);
+
+ /**
+ * @brief Get Dmax Calibration Parameters for a given device
+ *
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_range_milli_meter Pointer to Calibration Distance
+ * @param p_signal_rate_rtn_mega_cps Pointer to Signal rate return
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_dmax_cal_parameters(VL53L0X_DEV dev,
+ uint16_t *p_range_milli_meter, FixPoint1616_t *p_signal_rate_rtn_mega_cps);
+
+ /**
+ * @brief Set Dmax Calibration Parameters for a given device
+ * When one of the parameter is zero, this function will get parameter
+ * from NVM.
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param range_milli_meter Calibration Distance
+ * @param signal_rate_rtn_mega_cps Signal rate return read at CalDistance
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_dmax_cal_parameters(VL53L0X_DEV dev,
+ uint16_t range_milli_meter, FixPoint1616_t signal_rate_rtn_mega_cps);
+
+ /**
+ * @brief Retrieve the measurements from device for a given setup
+ *
+ * @par Function Description
+ * Get data from last successful Histogram measurement
+ * @warning USER should take care about @a VL53L0X_GetNumberOfROIZones()
+ * before get data.
+ * PAL will fill a NumberOfROIZones times the corresponding data structure
+ * used in the measurement function.
+ *
+ * @note This function is not Implemented
+ *
+ * @param dev Device Handle
+ * @param p_histogram_measurement_data Pointer to the histogram data structure.
+ * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
+ */
+ VL53L0X_Error VL53L0X_get_histogram_measurement_data(VL53L0X_DEV dev,
+ VL53L0X_HistogramMeasurementData_t *p_histogram_measurement_data);
+
+ /**
+ * @brief Get current new device mode
+ * @par Function Description
+ * Get current Histogram mode of a Device
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_histogram_mode Pointer to current Histogram Mode value
+ * Valid values are:
+ * VL53L0X_HISTOGRAMMODE_DISABLED
+ * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
+ * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
+ * VL53L0X_HISTOGRAMMODE_RETURN_ONLY
+ * VL53L0X_HISTOGRAMMODE_BOTH
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_histogram_mode(VL53L0X_DEV dev,
+ VL53L0X_HistogramModes *p_histogram_mode);
+
+ /**
+ * @brief Set a new Histogram mode
+ * @par Function Description
+ * Set device to a new Histogram mode
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param histogram_mode New device mode to apply
+ * Valid values are:
+ * VL53L0X_HISTOGRAMMODE_DISABLED
+ * VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM
+ * VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY
+ * VL53L0X_HISTOGRAMMODE_RETURN_ONLY
+ * VL53L0X_HISTOGRAMMODE_BOTH
+ *
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when
+ * HistogramMode is not in the supported list
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_histogram_mode(VL53L0X_DEV dev,
+ VL53L0X_HistogramModes histogram_mode);
+
+ /**
+ * @brief Return a description string for a given limit check number
+ *
+ * @par Function Description
+ * This function returns a description string for a given limit check number.
+ * The limit check is identified with the LimitCheckId.
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param limit_check_id Limit Check ID
+ (0<= LimitCheckId < VL53L0X_GetNumberOfLimitCheck() ).
+ * @param p_limit_check_string Pointer to the
+ description string of the given check limit.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is
+ returned when LimitCheckId value is out of range.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_limit_check_info(VL53L0X_DEV dev,
+ uint16_t limit_check_id, char *p_limit_check_string);
+
+ /**
+ * @brief Get the linearity corrective gain
+ *
+ * @par Function Description
+ * Should only be used after a successful call to @a VL53L0X_DataInit to backup
+ * device NVM value
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_linearity_corrective_gain Pointer to the linearity
+ * corrective gain in x1000
+ * if value is 1000 then no modification is applied.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_linearity_corrective_gain(VL53L0X_DEV dev,
+ uint16_t *p_linearity_corrective_gain);
+
+ /**
+ * Set the linearity corrective gain
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param linearity_corrective_gain Linearity corrective
+ * gain in x1000
+ * if value is 1000 then no modification is applied.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_linearity_corrective_gain(VL53L0X_DEV dev,
+ int16_t linearity_corrective_gain);
+
+ /**
+ * @brief Get the Maximum number of ROI Zones managed by the Device
+ *
+ * @par Function Description
+ * Get Maximum number of ROI Zones managed by the Device.
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_max_number_of_roi_zones Pointer to the Maximum Number
+ * of ROI Zones value.
+ * @return VL53L0X_ERROR_NONE Success
+ */
+ VL53L0X_Error VL53L0X_get_max_number_of_roi_zones(VL53L0X_DEV dev,
+ uint8_t *p_max_number_of_roi_zones);
+
+ /**
+ * @brief Retrieve the Reference Signal after a measurements
+ *
+ * @par Function Description
+ * Get Reference Signal from last successful Ranging measurement
+ * This function return a valid value after that you call the
+ * @a VL53L0X_GetRangingMeasurementData().
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_measurement_ref_signal Pointer to the Ref Signal to fill up.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_measurement_ref_signal(VL53L0X_DEV dev,
+ FixPoint1616_t *p_measurement_ref_signal);
+
+ /**
+ * @brief Get the number of the check limit managed by a given Device
+ *
+ * @par Function Description
+ * This function give the number of the check limit managed by the Device
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param p_number_of_limit_check Pointer to the number of check limit.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_number_of_limit_check(
+ uint16_t *p_number_of_limit_check);
+
+ /**
+ * @brief Get the number of ROI Zones managed by the Device
+ *
+ * @par Function Description
+ * Get number of ROI Zones managed by the Device
+ * USER should take care about @a VL53L0X_GetNumberOfROIZones()
+ * before get data after a perform measurement.
+ * PAL will fill a NumberOfROIZones times the corresponding data
+ * structure used in the measurement function.
+ *
+ * @note This function doesn't Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_number_of_roi_zones Pointer to the Number of ROI Zones value.
+ * @return VL53L0X_ERROR_NONE Success
+ */
+ VL53L0X_Error VL53L0X_get_number_of_roi_zones(VL53L0X_DEV dev,
+ uint8_t *p_number_of_roi_zones);
+
+ /**
+ * @brief Set the number of ROI Zones to be used for a specific Device
+ *
+ * @par Function Description
+ * Set the number of ROI Zones to be used for a specific Device.
+ * The programmed value should be less than the max number of ROI Zones given
+ * with @a VL53L0X_GetMaxNumberOfROIZones().
+ * This version of API manage only one zone.
+ *
+ * @param dev Device Handle
+ * @param number_of_roi_zones Number of ROI Zones to be used for a
+ * specific Device.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS This error is returned if
+ * NumberOfROIZones != 1
+ */
+ VL53L0X_Error VL53L0X_set_number_of_roi_zones(VL53L0X_DEV dev,
+ uint8_t number_of_roi_zones);
+
+ /**
+ * @brief Gets number of sequence steps managed by the API.
+ *
+ * @par Function Description
+ * This function retrieves the number of sequence steps currently managed
+ * by the API
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param p_number_of_sequence_steps Out parameter reporting the number of
+ * sequence steps.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_number_of_sequence_steps(VL53L0X_DEV dev,
+ uint8_t *p_number_of_sequence_steps);
+ /**
+ * @brief Get the power mode for a given Device
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_power_mode Pointer to the current value of the power
+ * mode. see ::VL53L0X_PowerModes
+ * Valid values are:
+ * VL53L0X_POWERMODE_STANDBY_LEVEL1,
+ * VL53L0X_POWERMODE_IDLE_LEVEL1
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_power_mode(VL53L0X_DEV dev,
+ VL53L0X_PowerModes *p_power_mode);
+
+ /**
+ * @brief Set the power mode for a given Device
+ * The power mode can be Standby or Idle. Different level of both Standby and
+ * Idle can exists.
+ * This function should not be used when device is in Ranging state.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param power_mode The value of the power mode to set.
+ * see ::VL53L0X_PowerModes
+ * Valid values are:
+ * VL53L0X_POWERMODE_STANDBY_LEVEL1,
+ * VL53L0X_POWERMODE_IDLE_LEVEL1
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_MODE_NOT_SUPPORTED This error occurs when PowerMode
+ * is not in the supported list
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_power_mode(VL53L0X_DEV dev,
+ VL53L0X_PowerModes power_mode);
+
+ /**
+ * @brief Retrieves SPAD configuration
+ *
+ * @par Function Description
+ * This function retrieves the current number of applied reference spads
+ * and also their type : Aperture or Non-Aperture.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_spad_count Number ref Spad Count
+ * @param p_is_aperture_spads Reports if spads are of type
+ * aperture or non-aperture.
+ * 1:=aperture, 0:=Non-Aperture
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_REF_SPAD_INIT Error in the in the reference
+ * spad configuration.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error wrapped_VL53L0X_get_reference_spads(VL53L0X_DEV dev,
+ uint32_t *p_spad_count, uint8_t *p_is_aperture_spads);
+
+ /**
+ * @brief Gets the (on/off) state of a requested sequence step.
+ *
+ * @par Function Description
+ * This function retrieves the state of a requested sequence step, i.e. on/off.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param sequence_step_id Sequence step identifier.
+ * @param p_sequence_step_enabled Out parameter reporting if the sequence step
+ * is enabled {0=Off,1=On}.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not
+ * supported.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_sequence_step_enable(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id, uint8_t *p_sequence_step_enabled);
+
+
+ /**
+ * @brief Gets the timeout of a requested sequence step.
+ *
+ * @par Function Description
+ * This function retrieves the timeout of a requested sequence step.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param sequence_step_id Sequence step identifier.
+ * @param p_time_out_milli_secs Timeout value.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not
+ * supported.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_sequence_step_timeout(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id,
+ FixPoint1616_t *p_time_out_milli_secs);
+
+ /**
+ * @brief Sets the timeout of a requested sequence step.
+ *
+ * @par Function Description
+ * This function sets the timeout of a requested sequence step.
+ *
+ * @note This function Accesses the device
+ *
+ * @param dev Device Handle
+ * @param sequence_step_id Sequence step identifier.
+ * @param time_out_milli_secs Demanded timeout
+ * @return VL53L0X_ERROR_NONE Success
+ * @return VL53L0X_ERROR_INVALID_PARAMS Error SequenceStepId parameter not
+ * supported.
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_sequence_step_timeout(VL53L0X_DEV dev,
+ VL53L0X_SequenceStepId sequence_step_id, FixPoint1616_t time_out_milli_secs);
+
+ /**
+ * @brief Get the current SPAD Ambient Damper Factor value
+ *
+ * @par Function Description
+ * This function get the SPAD Ambient Damper Factor value
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_spad_ambient_damper_factor Pointer to programmed SPAD Ambient
+ * Damper Factor value
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_spad_ambient_damper_factor(VL53L0X_DEV dev,
+ uint16_t *p_spad_ambient_damper_factor);
+ /**
+ * @brief Set the SPAD Ambient Damper Factor value
+ *
+ * @par Function Description
+ * This function set the SPAD Ambient Damper Factor value
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param spad_ambient_damper_factor SPAD Ambient Damper Factor value
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_spad_ambient_damper_factor(VL53L0X_DEV dev,
+ uint16_t spad_ambient_damper_factor);
+
+ /**
+ * @brief Get the current SPAD Ambient Damper Threshold value
+ *
+ * @par Function Description
+ * This function get the SPAD Ambient Damper Threshold value
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_spad_ambient_damper_threshold Pointer to programmed
+ * SPAD Ambient Damper Threshold value
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_spad_ambient_damper_threshold(VL53L0X_DEV dev,
+ uint16_t *p_spad_ambient_damper_threshold);
+
+ /**
+ * @brief Set the SPAD Ambient Damper Threshold value
+ *
+ * @par Function Description
+ * This function set the SPAD Ambient Damper Threshold value
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param spad_ambient_damper_threshold SPAD Ambient Damper Threshold value
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_spad_ambient_damper_threshold(VL53L0X_DEV dev,
+ uint16_t spad_ambient_damper_threshold);
+
+ /**
+ * @brief Get the maximal distance for actual setup
+ * @par Function Description
+ * Device must be initialized through @a VL53L0X_SetParameters() prior calling
+ * this function.
+ *
+ * Any range value more than the value returned is to be considered as
+ * "no target detected" or
+ * "no target in detectable range"\n
+ * @warning The maximal distance depends on the setup
+ *
+ * @note This function is not Implemented
+ *
+ * @param dev Device Handle
+ * @param p_upper_limit_milli_meter The maximal range limit for actual setup
+ * (in millimeter)
+ * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
+ */
+ VL53L0X_Error VL53L0X_get_upper_limit_milli_meter(VL53L0X_DEV dev,
+ uint16_t *p_upper_limit_milli_meter);
+
+ /**
+ * @brief Get the tuning settings pointer and the internal external switch
+ * value.
+ *
+ * This function is used to get the Tuning settings buffer pointer and the
+ * value.
+ * of the switch to select either external or internal tuning settings.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param pp_tuning_setting_buffer Pointer to tuning settings buffer.
+ * @param p_use_internal_tuning_settings Pointer to store Use internal tuning
+ * settings value.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_get_tuning_setting_buffer(VL53L0X_DEV dev,
+ uint8_t **pp_tuning_setting_buffer, uint8_t *p_use_internal_tuning_settings);
+
+ /**
+ * @brief Set the tuning settings pointer
+ *
+ * This function is used to specify the Tuning settings buffer to be used
+ * for a given device. The buffer contains all the necessary data to permit
+ * the API to write tuning settings.
+ * This function permit to force the usage of either external or internal
+ * tuning settings.
+ *
+ * @note This function Access to the device
+ *
+ * @param dev Device Handle
+ * @param p_tuning_setting_buffer Pointer to tuning settings buffer.
+ * @param use_internal_tuning_settings Use internal tuning settings value.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_set_tuning_setting_buffer(VL53L0X_DEV dev,
+ uint8_t *p_tuning_setting_buffer, uint8_t use_internal_tuning_settings);
+
+ /**
+ * @defgroup VL53L0X_registerAccess_group PAL Register Access Functions
+ * @brief PAL Register Access Functions
+ * @{
+ */
+
+ /**
+ * Lock comms interface to serialize all commands to a shared I2C interface for a specific device
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_lock_sequence_access(VL53L0X_DEV dev);
+
+ /**
+ * Unlock comms interface to serialize all commands to a shared I2C interface for a specific device
+ * @param dev Device Handle
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error VL53L0X_unlock_sequence_access(VL53L0X_DEV dev);
+
+ /**
+ * @brief Prepare device for operation
+ * @par Function Description
+ * Update device with provided parameters
+ * @li Then start ranging operation.
+ *
+ * @note This function Access to the device
+ *
+ * @param Dev Device Handle
+ * @param pDeviceParameters Pointer to store current device parameters.
+ * @return VL53L0X_ERROR_NONE Success
+ * @return "Other error code" See ::VL53L0X_Error
+ */
+ VL53L0X_Error vl53L0x_set_device_parameters(VL53L0X_DEV Dev,
+ const VL53L0X_DeviceParameters_t *pDeviceParameters);
+
+ /**
+ * Set Group parameter Hold state
+ *
+ * @par Function Description
+ * Set or remove device internal group parameter hold
+ *
+ * @note This function is not Implemented
+ *
+ * @param dev Device Handle
+ * @param group_param_hold Group parameter Hold state to be set (on/off)
+ * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
+ */
+ VL53L0X_Error VL53L0X_set_group_param_hold(VL53L0X_DEV dev,
+ uint8_t group_param_hold);
+
+
+ /**
+ * @brief Wait for device ready for a new measurement command.
+ * Blocking function.
+ *
+ * @note This function is not Implemented
+ *
+ * @param dev Device Handle
+ * @param max_loop Max Number of polling loop (timeout).
+ * @return VL53L0X_ERROR_NOT_IMPLEMENTED Not implemented
+ */
+ VL53L0X_Error VL53L0X_wait_device_ready_for_new_measurement(VL53L0X_DEV dev,
+ uint32_t max_loop);
+
+ VL53L0X_Error VL53L0X_reverse_bytes(uint8_t *data, uint32_t size);
+
+ int range_meas_int_continuous_mode(void (*fptr)(void));
+
+
+ VL53L0X_DeviceInfo_t _device_info;
+
+ /* IO Device */
+ DevI2C *_dev_i2c;
+ /* Digital out pin */
+ DigitalOut *_gpio0;
+ /* GPIO expander */
+ Stmpe1600DigiOut *_expgpio0;
+ /* Measure detection IRQ */
+ InterruptIn *_gpio1Int;
+ /* Device data */
+ VL53L0X_Dev_t _my_device;
+ VL53L0X_DEV _device;
+};
+
+
+#endif /* _VL53L0X_CLASS_H_ */