Tarek Lule / VL53L0X_Condensed

Condensed Version of Public VL53L0X

Dependents:   ToF-Only-Tryout

VL53L0X_def.h@10:cd251e0fc2fd, 2019-03-24 (annotated)

Committer:
sepp_nepp
Date:
Sun Mar 24 22:24:16 2019 +0000
Revision:
10:cd251e0fc2fd
Parent:
8:abea9638127a
Child:
11:c6f95a42d4d7
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nikapov 0:a1a69d32f310 1 /*******************************************************************************
nikapov 0:a1a69d32f310 2 Copyright © 2016, STMicroelectronics International N.V.
nikapov 0:a1a69d32f310 3 All rights reserved.
nikapov 0:a1a69d32f310 4
nikapov 0:a1a69d32f310 5 Redistribution and use in source and binary forms, with or without
nikapov 0:a1a69d32f310 6 modification, are permitted provided that the following conditions are met:
nikapov 0:a1a69d32f310 7 * Redistributions of source code must retain the above copyright
nikapov 0:a1a69d32f310 8 notice, this list of conditions and the following disclaimer.
nikapov 0:a1a69d32f310 9 * Redistributions in binary form must reproduce the above copyright
nikapov 0:a1a69d32f310 10 notice, this list of conditions and the following disclaimer in the
nikapov 0:a1a69d32f310 11 documentation and/or other materials provided with the distribution.
nikapov 0:a1a69d32f310 12 * Neither the name of STMicroelectronics nor the
nikapov 0:a1a69d32f310 13 names of its contributors may be used to endorse or promote products
nikapov 0:a1a69d32f310 14 derived from this software without specific prior written permission.
nikapov 0:a1a69d32f310 15
nikapov 0:a1a69d32f310 16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
nikapov 0:a1a69d32f310 17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
nikapov 0:a1a69d32f310 18 WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
nikapov 0:a1a69d32f310 19 NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
nikapov 0:a1a69d32f310 20 IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
nikapov 0:a1a69d32f310 21 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
nikapov 0:a1a69d32f310 22 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
nikapov 0:a1a69d32f310 23 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
nikapov 0:a1a69d32f310 24 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
nikapov 0:a1a69d32f310 25 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
nikapov 0:a1a69d32f310 26 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nikapov 0:a1a69d32f310 27 *******************************************************************************/
nikapov 0:a1a69d32f310 28
nikapov 0:a1a69d32f310 29 /**
nikapov 0:a1a69d32f310 30 * @file VL53L0X_def.h
nikapov 0:a1a69d32f310 31 *
nikapov 0:a1a69d32f310 32 * @brief Type definitions for VL53L0X API.
nikapov 0:a1a69d32f310 33 *
nikapov 0:a1a69d32f310 34 */
nikapov 0:a1a69d32f310 35
nikapov 0:a1a69d32f310 36
nikapov 0:a1a69d32f310 37 #ifndef _VL53L0X_DEF_H_
nikapov 0:a1a69d32f310 38 #define _VL53L0X_DEF_H_
nikapov 0:a1a69d32f310 39
nikapov 0:a1a69d32f310 40
nikapov 0:a1a69d32f310 41 #ifdef __cplusplus
nikapov 0:a1a69d32f310 42 extern "C" {
nikapov 0:a1a69d32f310 43 #endif
nikapov 0:a1a69d32f310 44
nikapov 0:a1a69d32f310 45 /** @defgroup VL53L0X_globaldefine_group VL53L0X Defines
nikapov 0:a1a69d32f310 46 * @brief VL53L0X Defines
nikapov 0:a1a69d32f310 47 * @{
nikapov 0:a1a69d32f310 48 */
nikapov 0:a1a69d32f310 49
sepp_nepp 5:b95f6951f7d5 50 /****************** define for i2c configuration *******************************/
sepp_nepp 5:b95f6951f7d5 51 /** Maximum buffer size to be used in i2c */
sepp_nepp 5:b95f6951f7d5 52 #define VL53L0X_MAX_I2C_XFER_SIZE 64 /* Maximum buffer size to be used in i2c */
sepp_nepp 5:b95f6951f7d5 53 #define VL53L0X_I2C_USER_VAR /* none but could be for a flag var to get/pass to mutex interruptible return flags and try again */
sepp_nepp 5:b95f6951f7d5 54
nikapov 0:a1a69d32f310 55
nikapov 0:a1a69d32f310 56 /** PAL SPECIFICATION major version */
nikapov 0:a1a69d32f310 57 #define VL53L0X10_SPECIFICATION_VER_MAJOR 1
nikapov 0:a1a69d32f310 58 /** PAL SPECIFICATION minor version */
nikapov 0:a1a69d32f310 59 #define VL53L0X10_SPECIFICATION_VER_MINOR 2
nikapov 0:a1a69d32f310 60 /** PAL SPECIFICATION sub version */
nikapov 0:a1a69d32f310 61 #define VL53L0X10_SPECIFICATION_VER_SUB 7
nikapov 0:a1a69d32f310 62 /** PAL SPECIFICATION sub version */
nikapov 0:a1a69d32f310 63 #define VL53L0X10_SPECIFICATION_VER_REVISION 1440
nikapov 0:a1a69d32f310 64
nikapov 0:a1a69d32f310 65 /** VL53L0X PAL IMPLEMENTATION major version */
nikapov 0:a1a69d32f310 66 #define VL53L0X10_IMPLEMENTATION_VER_MAJOR 1
nikapov 0:a1a69d32f310 67 /** VL53L0X PAL IMPLEMENTATION minor version */
nikapov 0:a1a69d32f310 68 #define VL53L0X10_IMPLEMENTATION_VER_MINOR 0
nikapov 0:a1a69d32f310 69 /** VL53L0X PAL IMPLEMENTATION sub version */
nikapov 0:a1a69d32f310 70 #define VL53L0X10_IMPLEMENTATION_VER_SUB 9
nikapov 0:a1a69d32f310 71 /** VL53L0X PAL IMPLEMENTATION sub version */
nikapov 0:a1a69d32f310 72 #define VL53L0X10_IMPLEMENTATION_VER_REVISION 3673
nikapov 0:a1a69d32f310 73
nikapov 0:a1a69d32f310 74 /** PAL SPECIFICATION major version */
nikapov 0:a1a69d32f310 75 #define VL53L0X_SPECIFICATION_VER_MAJOR 1
nikapov 0:a1a69d32f310 76 /** PAL SPECIFICATION minor version */
nikapov 0:a1a69d32f310 77 #define VL53L0X_SPECIFICATION_VER_MINOR 2
nikapov 0:a1a69d32f310 78 /** PAL SPECIFICATION sub version */
nikapov 0:a1a69d32f310 79 #define VL53L0X_SPECIFICATION_VER_SUB 7
nikapov 0:a1a69d32f310 80 /** PAL SPECIFICATION sub version */
nikapov 0:a1a69d32f310 81 #define VL53L0X_SPECIFICATION_VER_REVISION 1440
nikapov 0:a1a69d32f310 82
nikapov 0:a1a69d32f310 83 /** VL53L0X PAL IMPLEMENTATION major version */
nikapov 0:a1a69d32f310 84 #define VL53L0X_IMPLEMENTATION_VER_MAJOR 1
nikapov 0:a1a69d32f310 85 /** VL53L0X PAL IMPLEMENTATION minor version */
nikapov 0:a1a69d32f310 86 #define VL53L0X_IMPLEMENTATION_VER_MINOR 1
nikapov 0:a1a69d32f310 87 /** VL53L0X PAL IMPLEMENTATION sub version */
nikapov 0:a1a69d32f310 88 #define VL53L0X_IMPLEMENTATION_VER_SUB 21
nikapov 0:a1a69d32f310 89 /** VL53L0X PAL IMPLEMENTATION sub version */
nikapov 0:a1a69d32f310 90 #define VL53L0X_IMPLEMENTATION_VER_REVISION 4823
sepp_nepp 5:b95f6951f7d5 91
sepp_nepp 5:b95f6951f7d5 92
nikapov 0:a1a69d32f310 93 #define VL53L0X_DEFAULT_MAX_LOOP 2000
nikapov 0:a1a69d32f310 94 #define VL53L0X_MAX_STRING_LENGTH 32
nikapov 0:a1a69d32f310 95
nikapov 0:a1a69d32f310 96
sepp_nepp 7:41cbc431e1f4 97 /**
sepp_nepp 7:41cbc431e1f4 98 * Device specific defines. To be adapted by implementer for the targeted
sepp_nepp 7:41cbc431e1f4 99 * device.
sepp_nepp 7:41cbc431e1f4 100 */
sepp_nepp 7:41cbc431e1f4 101
sepp_nepp 7:41cbc431e1f4 102 /** use where fractional values are expected
sepp_nepp 7:41cbc431e1f4 103 *
sepp_nepp 7:41cbc431e1f4 104 * Given a floating point value f it's .16 bit point is (int)(f*(1<<16))*/
sepp_nepp 7:41cbc431e1f4 105 typedef uint32_t FixPoint1616_t;
sepp_nepp 7:41cbc431e1f4 106
sepp_nepp 7:41cbc431e1f4 107 /** @defgroup VL53L0X_DevSpecDefines_group VL53L0X cut1.1 Device Specific Defines
sepp_nepp 7:41cbc431e1f4 108 * @brief VL53L0X cut1.1 Device Specific Defines
sepp_nepp 7:41cbc431e1f4 109 * @{
sepp_nepp 7:41cbc431e1f4 110 */
sepp_nepp 7:41cbc431e1f4 111
sepp_nepp 7:41cbc431e1f4 112 /** @defgroup VL53L0X_DeviceError_group Device Error
sepp_nepp 7:41cbc431e1f4 113 * @brief Device Error code
sepp_nepp 7:41cbc431e1f4 114 *
sepp_nepp 7:41cbc431e1f4 115 * This enum is Device specific it should be updated in the implementation
sepp_nepp 7:41cbc431e1f4 116 * Use @a VL53L0X_GetStatusErrorString() to get the string.
sepp_nepp 7:41cbc431e1f4 117 * It is related to Status Register of the Device.
sepp_nepp 7:41cbc431e1f4 118 * @{
sepp_nepp 7:41cbc431e1f4 119 */
sepp_nepp 7:41cbc431e1f4 120 typedef uint8_t VL53L0X_DeviceError;
sepp_nepp 7:41cbc431e1f4 121
sepp_nepp 7:41cbc431e1f4 122 #define VL53L0X_DEVICEERROR_NONE ((VL53L0X_DeviceError) 0)
sepp_nepp 7:41cbc431e1f4 123 /*!< 0 NoError */
sepp_nepp 7:41cbc431e1f4 124 #define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((VL53L0X_DeviceError) 1)
sepp_nepp 7:41cbc431e1f4 125 #define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((VL53L0X_DeviceError) 2)
sepp_nepp 7:41cbc431e1f4 126 #define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND ((VL53L0X_DeviceError) 3)
sepp_nepp 7:41cbc431e1f4 127 #define VL53L0X_DEVICEERROR_MSRCNOTARGET ((VL53L0X_DeviceError) 4)
sepp_nepp 7:41cbc431e1f4 128 #define VL53L0X_DEVICEERROR_SNRCHECK ((VL53L0X_DeviceError) 5)
sepp_nepp 7:41cbc431e1f4 129 #define VL53L0X_DEVICEERROR_RANGEPHASECHECK ((VL53L0X_DeviceError) 6)
sepp_nepp 7:41cbc431e1f4 130 #define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK ((VL53L0X_DeviceError) 7)
sepp_nepp 7:41cbc431e1f4 131 #define VL53L0X_DEVICEERROR_TCC ((VL53L0X_DeviceError) 8)
sepp_nepp 7:41cbc431e1f4 132 #define VL53L0X_DEVICEERROR_MINCLIP ((VL53L0X_DeviceError) 10)
sepp_nepp 7:41cbc431e1f4 133 #define VL53L0X_DEVICEERROR_RANGECOMPLETE ((VL53L0X_DeviceError) 11)
sepp_nepp 7:41cbc431e1f4 134 #define VL53L0X_DEVICEERROR_ALGOUNDERFLOW ((VL53L0X_DeviceError) 12)
sepp_nepp 7:41cbc431e1f4 135 #define VL53L0X_DEVICEERROR_ALGOOVERFLOW ((VL53L0X_DeviceError) 13)
sepp_nepp 7:41cbc431e1f4 136 #define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD ((VL53L0X_DeviceError) 14)
sepp_nepp 7:41cbc431e1f4 137
sepp_nepp 7:41cbc431e1f4 138 /** @} end of VL53L0X_DeviceError_group */
sepp_nepp 7:41cbc431e1f4 139
sepp_nepp 7:41cbc431e1f4 140
sepp_nepp 7:41cbc431e1f4 141 /** @defgroup VL53L0X_CheckEnable_group Check Enable list
sepp_nepp 7:41cbc431e1f4 142 * @brief Check Enable code
sepp_nepp 7:41cbc431e1f4 143 *
sepp_nepp 7:41cbc431e1f4 144 * Define used to specify the LimitCheckId.
sepp_nepp 7:41cbc431e1f4 145 * Use @a VL53L0X_GetLimitCheckInfo() to get the string.
sepp_nepp 7:41cbc431e1f4 146 * @{
sepp_nepp 7:41cbc431e1f4 147 */
sepp_nepp 7:41cbc431e1f4 148
sepp_nepp 7:41cbc431e1f4 149 #define VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE 0
sepp_nepp 7:41cbc431e1f4 150 #define VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1
sepp_nepp 7:41cbc431e1f4 151 #define VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP 2
sepp_nepp 7:41cbc431e1f4 152 #define VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD 3
sepp_nepp 7:41cbc431e1f4 153 #define VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC 4
sepp_nepp 7:41cbc431e1f4 154 #define VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE 5
sepp_nepp 7:41cbc431e1f4 155 #define VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS 6
sepp_nepp 7:41cbc431e1f4 156 /** @} end of VL53L0X_CheckEnable_group */
sepp_nepp 7:41cbc431e1f4 157
sepp_nepp 7:41cbc431e1f4 158
sepp_nepp 7:41cbc431e1f4 159 /** @defgroup VL53L0X_GpioFunctionality_group Gpio Functionality
sepp_nepp 7:41cbc431e1f4 160 * @brief Defines the different functionalities for the device GPIO(s)
sepp_nepp 7:41cbc431e1f4 161 * @{
sepp_nepp 7:41cbc431e1f4 162 */
sepp_nepp 7:41cbc431e1f4 163 typedef uint8_t VL53L0X_GpioFunctionality;
sepp_nepp 7:41cbc431e1f4 164
sepp_nepp 7:41cbc431e1f4 165 #define VL53L0X_GPIOFUNCTIONALITY_OFF \
sepp_nepp 7:41cbc431e1f4 166 ((VL53L0X_GpioFunctionality) 0) /*!< NO Interrupt */
sepp_nepp 7:41cbc431e1f4 167 #define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW \
sepp_nepp 7:41cbc431e1f4 168 ((VL53L0X_GpioFunctionality) 1) /*!< Level Low (value < thresh_low) */
sepp_nepp 7:41cbc431e1f4 169 #define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH \
sepp_nepp 7:41cbc431e1f4 170 ((VL53L0X_GpioFunctionality) 2) /*!< Level High (value > thresh_high) */
sepp_nepp 7:41cbc431e1f4 171 #define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT \
sepp_nepp 7:41cbc431e1f4 172 ((VL53L0X_GpioFunctionality) 3)
sepp_nepp 7:41cbc431e1f4 173 /*!< Out Of Window (value < thresh_low OR value > thresh_high) */
sepp_nepp 7:41cbc431e1f4 174 #define VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY \
sepp_nepp 7:41cbc431e1f4 175 ((VL53L0X_GpioFunctionality) 4) /*!< New Sample Ready */
sepp_nepp 7:41cbc431e1f4 176 /** @} end of VL53L0X_GpioFunctionality_group */
sepp_nepp 7:41cbc431e1f4 177
sepp_nepp 7:41cbc431e1f4 178
sepp_nepp 7:41cbc431e1f4 179 /* Device register map */
sepp_nepp 7:41cbc431e1f4 180
sepp_nepp 7:41cbc431e1f4 181 /** @defgroup VL53L0X_DefineRegisters_group Define Registers
sepp_nepp 7:41cbc431e1f4 182 * @brief List of all the defined registers
sepp_nepp 7:41cbc431e1f4 183 * @{
sepp_nepp 7:41cbc431e1f4 184 */
sepp_nepp 10:cd251e0fc2fd 185 #define VL53L0X_REG_SYSRANGE_START 0x000
sepp_nepp 7:41cbc431e1f4 186 /** mask existing bit in #VL53L0X_REG_SYSRANGE_START*/
sepp_nepp 7:41cbc431e1f4 187 #define VL53L0X_REG_SYSRANGE_MODE_MASK 0x0F
sepp_nepp 7:41cbc431e1f4 188 /** bit 0 in #VL53L0X_REG_SYSRANGE_START write 1 toggle state in
sepp_nepp 7:41cbc431e1f4 189 * continuous mode and arm next shot in single shot mode */
sepp_nepp 7:41cbc431e1f4 190 #define VL53L0X_REG_SYSRANGE_MODE_START_STOP 0x01
sepp_nepp 7:41cbc431e1f4 191 /** bit 1 write 0 in #VL53L0X_REG_SYSRANGE_START set single shot mode */
sepp_nepp 7:41cbc431e1f4 192 #define VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT 0x00
sepp_nepp 7:41cbc431e1f4 193 /** bit 1 write 1 in #VL53L0X_REG_SYSRANGE_START set back-to-back
sepp_nepp 7:41cbc431e1f4 194 * operation mode */
sepp_nepp 7:41cbc431e1f4 195 #define VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK 0x02
sepp_nepp 7:41cbc431e1f4 196 /** bit 2 write 1 in #VL53L0X_REG_SYSRANGE_START set timed operation
sepp_nepp 7:41cbc431e1f4 197 * mode */
sepp_nepp 7:41cbc431e1f4 198 #define VL53L0X_REG_SYSRANGE_MODE_TIMED 0x04
sepp_nepp 7:41cbc431e1f4 199 /** bit 3 write 1 in #VL53L0X_REG_SYSRANGE_START set histogram operation
sepp_nepp 7:41cbc431e1f4 200 * mode */
sepp_nepp 7:41cbc431e1f4 201 #define VL53L0X_REG_SYSRANGE_MODE_HISTOGRAM 0x08
sepp_nepp 7:41cbc431e1f4 202
sepp_nepp 10:cd251e0fc2fd 203 #define VL53L0X_REG_SYSTEM_THRESH_HIGH 0x000C
sepp_nepp 10:cd251e0fc2fd 204 #define VL53L0X_REG_SYSTEM_THRESH_LOW 0x000E
sepp_nepp 7:41cbc431e1f4 205
sepp_nepp 7:41cbc431e1f4 206 #define VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG 0x0001
sepp_nepp 7:41cbc431e1f4 207 #define VL53L0X_REG_SYSTEM_RANGE_CONFIG 0x0009
sepp_nepp 7:41cbc431e1f4 208 #define VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD 0x0004
sepp_nepp 7:41cbc431e1f4 209
sepp_nepp 7:41cbc431e1f4 210 #define VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x000A
sepp_nepp 7:41cbc431e1f4 211 #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED 0x00
sepp_nepp 7:41cbc431e1f4 212 #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW 0x01
sepp_nepp 7:41cbc431e1f4 213 #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH 0x02
sepp_nepp 7:41cbc431e1f4 214 #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW 0x03
sepp_nepp 7:41cbc431e1f4 215 #define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY 0x04
sepp_nepp 7:41cbc431e1f4 216
sepp_nepp 7:41cbc431e1f4 217 #define VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x0084
sepp_nepp 7:41cbc431e1f4 218 #define VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR 0x000B
sepp_nepp 7:41cbc431e1f4 219
sepp_nepp 7:41cbc431e1f4 220 /* Result registers */
sepp_nepp 7:41cbc431e1f4 221 #define VL53L0X_REG_RESULT_INTERRUPT_STATUS 0x0013
sepp_nepp 7:41cbc431e1f4 222 #define VL53L0X_REG_RESULT_RANGE_STATUS 0x0014
sepp_nepp 7:41cbc431e1f4 223
sepp_nepp 7:41cbc431e1f4 224 #define VL53L0X_REG_RESULT_CORE_PAGE 1
sepp_nepp 7:41cbc431e1f4 225 #define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0x00BC
sepp_nepp 7:41cbc431e1f4 226 #define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0x00C0
sepp_nepp 7:41cbc431e1f4 227 #define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0x00D0
sepp_nepp 7:41cbc431e1f4 228 #define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0x00D4
sepp_nepp 7:41cbc431e1f4 229 #define VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF 0x00B6
sepp_nepp 7:41cbc431e1f4 230
sepp_nepp 7:41cbc431e1f4 231 /* Algo register */
sepp_nepp 7:41cbc431e1f4 232 #define VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x0028
sepp_nepp 7:41cbc431e1f4 233 #define VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS 0x008a
sepp_nepp 7:41cbc431e1f4 234
sepp_nepp 7:41cbc431e1f4 235 /* Check Limit registers */
sepp_nepp 7:41cbc431e1f4 236 #define VL53L0X_REG_MSRC_CONFIG_CONTROL 0x0060
sepp_nepp 7:41cbc431e1f4 237
sepp_nepp 7:41cbc431e1f4 238 #define VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR 0X0027
sepp_nepp 7:41cbc431e1f4 239 #define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x0056
sepp_nepp 7:41cbc431e1f4 240 #define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x0057
sepp_nepp 7:41cbc431e1f4 241 #define VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x0064
sepp_nepp 7:41cbc431e1f4 242
sepp_nepp 7:41cbc431e1f4 243 #define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR 0X0067
sepp_nepp 7:41cbc431e1f4 244 #define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x0047
sepp_nepp 7:41cbc431e1f4 245 #define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x0048
sepp_nepp 7:41cbc431e1f4 246 #define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x0044
sepp_nepp 7:41cbc431e1f4 247
sepp_nepp 7:41cbc431e1f4 248 #define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0X0061
sepp_nepp 7:41cbc431e1f4 249 #define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0X0062
sepp_nepp 7:41cbc431e1f4 250
sepp_nepp 7:41cbc431e1f4 251 /* PRE RANGE registers */
sepp_nepp 7:41cbc431e1f4 252 #define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x0050
sepp_nepp 7:41cbc431e1f4 253 #define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0051
sepp_nepp 7:41cbc431e1f4 254 #define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0052
sepp_nepp 7:41cbc431e1f4 255
sepp_nepp 7:41cbc431e1f4 256 #define VL53L0X_REG_SYSTEM_HISTOGRAM_BIN 0x0081
sepp_nepp 7:41cbc431e1f4 257 #define VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x0033
sepp_nepp 7:41cbc431e1f4 258 #define VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x0055
sepp_nepp 7:41cbc431e1f4 259
sepp_nepp 7:41cbc431e1f4 260 #define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x0070
sepp_nepp 7:41cbc431e1f4 261 #define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0071
sepp_nepp 7:41cbc431e1f4 262 #define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0072
sepp_nepp 7:41cbc431e1f4 263 #define VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x0020
sepp_nepp 7:41cbc431e1f4 264
sepp_nepp 7:41cbc431e1f4 265 #define VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP 0x0046
sepp_nepp 7:41cbc431e1f4 266
sepp_nepp 7:41cbc431e1f4 267 #define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N 0x00bf
sepp_nepp 7:41cbc431e1f4 268 #define VL53L0X_REG_IDENTIFICATION_MODEL_ID 0x00c0
sepp_nepp 7:41cbc431e1f4 269 #define VL53L0X_REG_IDENTIFICATION_REVISION_ID 0x00c2
sepp_nepp 7:41cbc431e1f4 270
sepp_nepp 7:41cbc431e1f4 271 #define VL53L0X_REG_OSC_CALIBRATE_VAL 0x00f8
sepp_nepp 7:41cbc431e1f4 272
sepp_nepp 7:41cbc431e1f4 273 #define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE 65535
sepp_nepp 7:41cbc431e1f4 274 /* equivalent to a range sigma of 655.35mm */
sepp_nepp 7:41cbc431e1f4 275
sepp_nepp 7:41cbc431e1f4 276 #define VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x032
sepp_nepp 7:41cbc431e1f4 277 #define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0x0B0
sepp_nepp 7:41cbc431e1f4 278 #define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0x0B1
sepp_nepp 7:41cbc431e1f4 279 #define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0x0B2
sepp_nepp 7:41cbc431e1f4 280 #define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0x0B3
sepp_nepp 7:41cbc431e1f4 281 #define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0x0B4
sepp_nepp 7:41cbc431e1f4 282 #define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0x0B5
sepp_nepp 7:41cbc431e1f4 283
sepp_nepp 7:41cbc431e1f4 284 #define VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6
sepp_nepp 7:41cbc431e1f4 285 #define VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E /* 0x14E */
sepp_nepp 7:41cbc431e1f4 286 #define VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F /* 0x14F */
sepp_nepp 7:41cbc431e1f4 287 #define VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80
sepp_nepp 7:41cbc431e1f4 288
sepp_nepp 7:41cbc431e1f4 289 /* Speed of light in um per 1E-10 Seconds */
sepp_nepp 7:41cbc431e1f4 290 #define VL53L0X_SPEED_OF_LIGHT_IN_AIR 2997
sepp_nepp 7:41cbc431e1f4 291
sepp_nepp 7:41cbc431e1f4 292 #define VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x0089
sepp_nepp 7:41cbc431e1f4 293
sepp_nepp 7:41cbc431e1f4 294 #define VL53L0X_REG_ALGO_PHASECAL_LIM 0x0030 /* 0x130 */
sepp_nepp 7:41cbc431e1f4 295 #define VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x0030
sepp_nepp 7:41cbc431e1f4 296
sepp_nepp 7:41cbc431e1f4 297 /** @} VL53L0X_DefineRegisters_group */
sepp_nepp 7:41cbc431e1f4 298
sepp_nepp 7:41cbc431e1f4 299 /** @} VL53L0X_DevSpecDefines_group */
sepp_nepp 7:41cbc431e1f4 300
nikapov 0:a1a69d32f310 301
nikapov 0:a1a69d32f310 302 /****************************************
nikapov 0:a1a69d32f310 303 * PRIVATE define do not edit
nikapov 0:a1a69d32f310 304 ****************************************/
nikapov 0:a1a69d32f310 305
nikapov 0:a1a69d32f310 306 /** @brief Defines the parameters of the Get Version Functions
nikapov 0:a1a69d32f310 307 */
nikapov 0:a1a69d32f310 308 typedef struct {
Davidroid 2:d07edeaff6f1 309 uint32_t revision; /*!< revision number */
Davidroid 2:d07edeaff6f1 310 uint8_t major; /*!< major number */
Davidroid 2:d07edeaff6f1 311 uint8_t minor; /*!< minor number */
Davidroid 2:d07edeaff6f1 312 uint8_t build; /*!< build number */
nikapov 0:a1a69d32f310 313 } VL53L0X_Version_t;
nikapov 0:a1a69d32f310 314
nikapov 0:a1a69d32f310 315
nikapov 0:a1a69d32f310 316 /** @brief Defines the parameters of the Get Device Info Functions
nikapov 0:a1a69d32f310 317 */
nikapov 0:a1a69d32f310 318 typedef struct {
Davidroid 2:d07edeaff6f1 319 char Name[VL53L0X_MAX_STRING_LENGTH];
Davidroid 2:d07edeaff6f1 320 /*!< Name of the Device e.g. Left_Distance */
Davidroid 2:d07edeaff6f1 321 char Type[VL53L0X_MAX_STRING_LENGTH];
Davidroid 2:d07edeaff6f1 322 /*!< Type of the Device e.g VL53L0X */
Davidroid 2:d07edeaff6f1 323 char ProductId[VL53L0X_MAX_STRING_LENGTH];
Davidroid 2:d07edeaff6f1 324 /*!< Product Identifier String */
Davidroid 2:d07edeaff6f1 325 uint8_t ProductType;
Davidroid 2:d07edeaff6f1 326 /*!< Product Type, VL53L0X = 1, VL53L1 = 2 */
Davidroid 2:d07edeaff6f1 327 uint8_t ProductRevisionMajor;
Davidroid 2:d07edeaff6f1 328 /*!< Product revision major */
Davidroid 2:d07edeaff6f1 329 uint8_t ProductRevisionMinor;
Davidroid 2:d07edeaff6f1 330 /*!< Product revision minor */
nikapov 0:a1a69d32f310 331 } VL53L0X_DeviceInfo_t;
nikapov 0:a1a69d32f310 332
nikapov 0:a1a69d32f310 333
nikapov 0:a1a69d32f310 334 /** @defgroup VL53L0X_define_Error_group Error and Warning code returned by API
nikapov 0:a1a69d32f310 335 * The following DEFINE are used to identify the PAL ERROR
nikapov 0:a1a69d32f310 336 * @{
nikapov 0:a1a69d32f310 337 */
nikapov 0:a1a69d32f310 338
nikapov 0:a1a69d32f310 339 typedef int8_t VL53L0X_Error;
nikapov 0:a1a69d32f310 340
nikapov 0:a1a69d32f310 341 #define VL53L0X_ERROR_NONE ((VL53L0X_Error) 0)
nikapov 0:a1a69d32f310 342 #define VL53L0X_ERROR_CALIBRATION_WARNING ((VL53L0X_Error) -1)
Davidroid 2:d07edeaff6f1 343 /*!< Warning invalid calibration data may be in used
Davidroid 2:d07edeaff6f1 344 \a VL53L0X_InitData()
Davidroid 2:d07edeaff6f1 345 \a VL53L0X_GetOffsetCalibrationData
Davidroid 2:d07edeaff6f1 346 \a VL53L0X_SetOffsetCalibrationData */
nikapov 0:a1a69d32f310 347 #define VL53L0X_ERROR_MIN_CLIPPED ((VL53L0X_Error) -2)
Davidroid 2:d07edeaff6f1 348 /*!< Warning parameter passed was clipped to min before to be applied */
nikapov 0:a1a69d32f310 349
nikapov 0:a1a69d32f310 350 #define VL53L0X_ERROR_UNDEFINED ((VL53L0X_Error) -3)
Davidroid 2:d07edeaff6f1 351 /*!< Unqualified error */
nikapov 0:a1a69d32f310 352 #define VL53L0X_ERROR_INVALID_PARAMS ((VL53L0X_Error) -4)
Davidroid 2:d07edeaff6f1 353 /*!< Parameter passed is invalid or out of range */
nikapov 0:a1a69d32f310 354 #define VL53L0X_ERROR_NOT_SUPPORTED ((VL53L0X_Error) -5)
Davidroid 2:d07edeaff6f1 355 /*!< Function is not supported in current mode or configuration */
nikapov 0:a1a69d32f310 356 #define VL53L0X_ERROR_RANGE_ERROR ((VL53L0X_Error) -6)
Davidroid 2:d07edeaff6f1 357 /*!< Device report a ranging error interrupt status */
nikapov 0:a1a69d32f310 358 #define VL53L0X_ERROR_TIME_OUT ((VL53L0X_Error) -7)
Davidroid 2:d07edeaff6f1 359 /*!< Aborted due to time out */
nikapov 0:a1a69d32f310 360 #define VL53L0X_ERROR_MODE_NOT_SUPPORTED ((VL53L0X_Error) -8)
Davidroid 2:d07edeaff6f1 361 /*!< Asked mode is not supported by the device */
nikapov 0:a1a69d32f310 362 #define VL53L0X_ERROR_BUFFER_TOO_SMALL ((VL53L0X_Error) -9)
Davidroid 2:d07edeaff6f1 363 /*!< ... */
nikapov 0:a1a69d32f310 364 #define VL53L0X_ERROR_GPIO_NOT_EXISTING ((VL53L0X_Error) -10)
Davidroid 2:d07edeaff6f1 365 /*!< User tried to setup a non-existing GPIO pin */
nikapov 0:a1a69d32f310 366 #define VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L0X_Error) -11)
Davidroid 2:d07edeaff6f1 367 /*!< unsupported GPIO functionality */
nikapov 0:a1a69d32f310 368 #define VL53L0X_ERROR_INTERRUPT_NOT_CLEARED ((VL53L0X_Error) -12)
Davidroid 2:d07edeaff6f1 369 /*!< Error during interrupt clear */
nikapov 0:a1a69d32f310 370 #define VL53L0X_ERROR_CONTROL_INTERFACE ((VL53L0X_Error) -20)
Davidroid 2:d07edeaff6f1 371 /*!< error reported from IO functions */
nikapov 0:a1a69d32f310 372 #define VL53L0X_ERROR_INVALID_COMMAND ((VL53L0X_Error) -30)
Davidroid 2:d07edeaff6f1 373 /*!< The command is not allowed in the current device state
Davidroid 2:d07edeaff6f1 374 * (power down) */
nikapov 0:a1a69d32f310 375 #define VL53L0X_ERROR_DIVISION_BY_ZERO ((VL53L0X_Error) -40)
Davidroid 2:d07edeaff6f1 376 /*!< In the function a division by zero occurs */
nikapov 0:a1a69d32f310 377 #define VL53L0X_ERROR_REF_SPAD_INIT ((VL53L0X_Error) -50)
Davidroid 2:d07edeaff6f1 378 /*!< Error during reference SPAD initialization */
nikapov 0:a1a69d32f310 379 #define VL53L0X_ERROR_NOT_IMPLEMENTED ((VL53L0X_Error) -99)
Davidroid 2:d07edeaff6f1 380 /*!< Tells requested functionality has not been implemented yet or
Davidroid 2:d07edeaff6f1 381 * not compatible with the device */
nikapov 0:a1a69d32f310 382 /** @} VL53L0X_define_Error_group */
nikapov 0:a1a69d32f310 383
nikapov 0:a1a69d32f310 384
nikapov 0:a1a69d32f310 385 /** @defgroup VL53L0X_define_DeviceModes_group Defines Device modes
nikapov 0:a1a69d32f310 386 * Defines all possible modes for the device
nikapov 0:a1a69d32f310 387 * @{
nikapov 0:a1a69d32f310 388 */
nikapov 0:a1a69d32f310 389 typedef uint8_t VL53L0X_DeviceModes;
nikapov 0:a1a69d32f310 390
nikapov 0:a1a69d32f310 391 #define VL53L0X_DEVICEMODE_SINGLE_RANGING ((VL53L0X_DeviceModes) 0)
nikapov 0:a1a69d32f310 392 #define VL53L0X_DEVICEMODE_CONTINUOUS_RANGING ((VL53L0X_DeviceModes) 1)
nikapov 0:a1a69d32f310 393 #define VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM ((VL53L0X_DeviceModes) 2)
nikapov 0:a1a69d32f310 394 #define VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING ((VL53L0X_DeviceModes) 3)
nikapov 0:a1a69d32f310 395 #define VL53L0X_DEVICEMODE_SINGLE_ALS ((VL53L0X_DeviceModes) 10)
nikapov 0:a1a69d32f310 396 #define VL53L0X_DEVICEMODE_GPIO_DRIVE ((VL53L0X_DeviceModes) 20)
nikapov 0:a1a69d32f310 397 #define VL53L0X_DEVICEMODE_GPIO_OSC ((VL53L0X_DeviceModes) 21)
Davidroid 2:d07edeaff6f1 398 /* ... Modes to be added depending on device */
nikapov 0:a1a69d32f310 399 /** @} VL53L0X_define_DeviceModes_group */
nikapov 0:a1a69d32f310 400
nikapov 0:a1a69d32f310 401 /** @defgroup VL53L0X_define_HistogramModes_group Defines Histogram modes
nikapov 0:a1a69d32f310 402 * Defines all possible Histogram modes for the device
nikapov 0:a1a69d32f310 403 * @{
nikapov 0:a1a69d32f310 404 */
nikapov 0:a1a69d32f310 405 typedef uint8_t VL53L0X_HistogramModes;
nikapov 0:a1a69d32f310 406
nikapov 0:a1a69d32f310 407 #define VL53L0X_HISTOGRAMMODE_DISABLED ((VL53L0X_HistogramModes) 0)
Davidroid 2:d07edeaff6f1 408 /*!< Histogram Disabled */
nikapov 0:a1a69d32f310 409 #define VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY ((VL53L0X_HistogramModes) 1)
Davidroid 2:d07edeaff6f1 410 /*!< Histogram Reference array only */
nikapov 0:a1a69d32f310 411 #define VL53L0X_HISTOGRAMMODE_RETURN_ONLY ((VL53L0X_HistogramModes) 2)
Davidroid 2:d07edeaff6f1 412 /*!< Histogram Return array only */
nikapov 0:a1a69d32f310 413 #define VL53L0X_HISTOGRAMMODE_BOTH ((VL53L0X_HistogramModes) 3)
Davidroid 2:d07edeaff6f1 414 /*!< Histogram both Reference and Return Arrays */
Davidroid 2:d07edeaff6f1 415 /* ... Modes to be added depending on device */
nikapov 0:a1a69d32f310 416 /** @} VL53L0X_define_HistogramModes_group */
nikapov 0:a1a69d32f310 417
nikapov 0:a1a69d32f310 418
nikapov 0:a1a69d32f310 419 /** @defgroup VL53L0X_define_PowerModes_group List of available Power Modes
nikapov 0:a1a69d32f310 420 * List of available Power Modes
nikapov 0:a1a69d32f310 421 * @{
nikapov 0:a1a69d32f310 422 */
nikapov 0:a1a69d32f310 423
nikapov 0:a1a69d32f310 424 typedef uint8_t VL53L0X_PowerModes;
nikapov 0:a1a69d32f310 425
nikapov 0:a1a69d32f310 426 #define VL53L0X_POWERMODE_STANDBY_LEVEL1 ((VL53L0X_PowerModes) 0)
Davidroid 2:d07edeaff6f1 427 /*!< Standby level 1 */
nikapov 0:a1a69d32f310 428 #define VL53L0X_POWERMODE_STANDBY_LEVEL2 ((VL53L0X_PowerModes) 1)
Davidroid 2:d07edeaff6f1 429 /*!< Standby level 2 */
nikapov 0:a1a69d32f310 430 #define VL53L0X_POWERMODE_IDLE_LEVEL1 ((VL53L0X_PowerModes) 2)
Davidroid 2:d07edeaff6f1 431 /*!< Idle level 1 */
nikapov 0:a1a69d32f310 432 #define VL53L0X_POWERMODE_IDLE_LEVEL2 ((VL53L0X_PowerModes) 3)
Davidroid 2:d07edeaff6f1 433 /*!< Idle level 2 */
nikapov 0:a1a69d32f310 434
nikapov 0:a1a69d32f310 435 /** @} VL53L0X_define_PowerModes_group */
nikapov 0:a1a69d32f310 436
nikapov 0:a1a69d32f310 437 /** @brief Defines all parameters for the device
nikapov 0:a1a69d32f310 438 */
nikapov 0:a1a69d32f310 439 typedef struct {
Davidroid 2:d07edeaff6f1 440 VL53L0X_DeviceModes DeviceMode;
Davidroid 2:d07edeaff6f1 441 /*!< Defines type of measurement to be done for the next measure */
Davidroid 2:d07edeaff6f1 442 VL53L0X_HistogramModes HistogramMode;
Davidroid 2:d07edeaff6f1 443 /*!< Defines type of histogram measurement to be done for the next
Davidroid 2:d07edeaff6f1 444 * measure */
sepp_nepp 10:cd251e0fc2fd 445 uint32_t MeasurementTimingBudget_us;
Davidroid 2:d07edeaff6f1 446 /*!< Defines the allowed total time for a single measurement */
sepp_nepp 10:cd251e0fc2fd 447 uint32_t InterMeasurementPeriod_ms;
Davidroid 2:d07edeaff6f1 448 /*!< Defines time between two consecutive measurements (between two
Davidroid 2:d07edeaff6f1 449 * measurement starts). If set to 0 means back-to-back mode */
Davidroid 2:d07edeaff6f1 450 uint8_t XTalkCompensationEnable;
Davidroid 2:d07edeaff6f1 451 /*!< Tells if Crosstalk compensation shall be enable or not */
Davidroid 2:d07edeaff6f1 452 uint16_t XTalkCompensationRangeMilliMeter;
Davidroid 2:d07edeaff6f1 453 /*!< CrossTalk compensation range in millimeter */
Davidroid 2:d07edeaff6f1 454 FixPoint1616_t XTalkCompensationRateMegaCps;
Davidroid 2:d07edeaff6f1 455 /*!< CrossTalk compensation rate in Mega counts per seconds.
Davidroid 2:d07edeaff6f1 456 * Expressed in 16.16 fixed point format. */
Davidroid 2:d07edeaff6f1 457 int32_t RangeOffsetMicroMeters;
Davidroid 2:d07edeaff6f1 458 /*!< Range offset adjustment (mm). */
nikapov 0:a1a69d32f310 459
Davidroid 2:d07edeaff6f1 460 uint8_t LimitChecksEnable[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
Davidroid 2:d07edeaff6f1 461 /*!< This Array store all the Limit Check enable for this device. */
Davidroid 2:d07edeaff6f1 462 uint8_t LimitChecksStatus[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
Davidroid 2:d07edeaff6f1 463 /*!< This Array store all the Status of the check linked to last
Davidroid 2:d07edeaff6f1 464 * measurement. */
Davidroid 2:d07edeaff6f1 465 FixPoint1616_t LimitChecksValue[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
Davidroid 2:d07edeaff6f1 466 /*!< This Array store all the Limit Check value for this device */
nikapov 0:a1a69d32f310 467
Davidroid 2:d07edeaff6f1 468 uint8_t WrapAroundCheckEnable;
Davidroid 2:d07edeaff6f1 469 /*!< Tells if Wrap Around Check shall be enable or not */
nikapov 0:a1a69d32f310 470 } VL53L0X_DeviceParameters_t;
nikapov 0:a1a69d32f310 471
nikapov 0:a1a69d32f310 472
nikapov 0:a1a69d32f310 473 /** @defgroup VL53L0X_define_State_group Defines the current status of the device
nikapov 0:a1a69d32f310 474 * Defines the current status of the device
nikapov 0:a1a69d32f310 475 * @{
nikapov 0:a1a69d32f310 476 */
nikapov 0:a1a69d32f310 477 typedef uint8_t VL53L0X_State;
nikapov 0:a1a69d32f310 478
nikapov 0:a1a69d32f310 479 #define VL53L0X_STATE_POWERDOWN ((VL53L0X_State) 0)
Davidroid 2:d07edeaff6f1 480 /*!< Device is in HW reset */
nikapov 0:a1a69d32f310 481 #define VL53L0X_STATE_WAIT_STATICINIT ((VL53L0X_State) 1)
Davidroid 2:d07edeaff6f1 482 /*!< Device is initialized and wait for static initialization */
nikapov 0:a1a69d32f310 483 #define VL53L0X_STATE_STANDBY ((VL53L0X_State) 2)
Davidroid 2:d07edeaff6f1 484 /*!< Device is in Low power Standby mode */
nikapov 0:a1a69d32f310 485 #define VL53L0X_STATE_IDLE ((VL53L0X_State) 3)
Davidroid 2:d07edeaff6f1 486 /*!< Device has been initialized and ready to do measurements */
nikapov 0:a1a69d32f310 487 #define VL53L0X_STATE_RUNNING ((VL53L0X_State) 4)
Davidroid 2:d07edeaff6f1 488 /*!< Device is performing measurement */
nikapov 0:a1a69d32f310 489 #define VL53L0X_STATE_UNKNOWN ((VL53L0X_State) 98)
Davidroid 2:d07edeaff6f1 490 /*!< Device is in unknown state and need to be rebooted */
nikapov 0:a1a69d32f310 491 #define VL53L0X_STATE_ERROR ((VL53L0X_State) 99)
Davidroid 2:d07edeaff6f1 492 /*!< Device is in error state and need to be rebooted */
nikapov 0:a1a69d32f310 493 /** @} VL53L0X_define_State_group */
nikapov 0:a1a69d32f310 494
nikapov 0:a1a69d32f310 495
nikapov 0:a1a69d32f310 496 /** @brief Structure containing the Dmax computation parameters and data
nikapov 0:a1a69d32f310 497 */
nikapov 0:a1a69d32f310 498 typedef struct {
Davidroid 2:d07edeaff6f1 499 int32_t AmbTuningWindowFactor_K;
Davidroid 2:d07edeaff6f1 500 /*!< internal algo tuning (*1000) */
Davidroid 2:d07edeaff6f1 501 int32_t RetSignalAt0mm;
Davidroid 2:d07edeaff6f1 502 /*!< intermediate dmax computation value caching */
nikapov 0:a1a69d32f310 503 } VL53L0X_DMaxData_t;
nikapov 0:a1a69d32f310 504
nikapov 0:a1a69d32f310 505 /**
nikapov 0:a1a69d32f310 506 * @struct VL53L0X_RangeData_t
nikapov 0:a1a69d32f310 507 * @brief Range measurement data.
nikapov 0:a1a69d32f310 508 */
nikapov 0:a1a69d32f310 509 typedef struct {
Davidroid 2:d07edeaff6f1 510 uint32_t TimeStamp; /*!< 32-bit time stamp. */
Davidroid 2:d07edeaff6f1 511 uint32_t MeasurementTimeUsec;
sepp_nepp 10:cd251e0fc2fd 512 /*!< Give the Measurement time needed by the device to do the measurement.*/
nikapov 0:a1a69d32f310 513
Davidroid 2:d07edeaff6f1 514 uint16_t RangeMilliMeter; /*!< range distance in millimeter. */
nikapov 0:a1a69d32f310 515
Davidroid 2:d07edeaff6f1 516 uint16_t RangeDMaxMilliMeter;
Davidroid 2:d07edeaff6f1 517 /*!< Tells what is the maximum detection distance of the device
Davidroid 2:d07edeaff6f1 518 * in current setup and environment conditions (Filled when
Davidroid 2:d07edeaff6f1 519 * applicable) */
nikapov 0:a1a69d32f310 520
Davidroid 2:d07edeaff6f1 521 FixPoint1616_t SignalRateRtnMegaCps;
Davidroid 2:d07edeaff6f1 522 /*!< Return signal rate (MCPS)\n these is a 16.16 fix point
Davidroid 2:d07edeaff6f1 523 * value, which is effectively a measure of target
Davidroid 2:d07edeaff6f1 524 * reflectance.*/
Davidroid 2:d07edeaff6f1 525 FixPoint1616_t AmbientRateRtnMegaCps;
Davidroid 2:d07edeaff6f1 526 /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
Davidroid 2:d07edeaff6f1 527 * value, which is effectively a measure of the ambien
Davidroid 2:d07edeaff6f1 528 * t light.*/
nikapov 0:a1a69d32f310 529
Davidroid 2:d07edeaff6f1 530 uint16_t EffectiveSpadRtnCount;
Davidroid 2:d07edeaff6f1 531 /*!< Return the effective SPAD count for the return signal.
Davidroid 2:d07edeaff6f1 532 * To obtain Real value it should be divided by 256 */
nikapov 0:a1a69d32f310 533
Davidroid 2:d07edeaff6f1 534 uint8_t ZoneId;
Davidroid 2:d07edeaff6f1 535 /*!< Denotes which zone and range scheduler stage the range
Davidroid 2:d07edeaff6f1 536 * data relates to. */
Davidroid 2:d07edeaff6f1 537 uint8_t RangeFractionalPart;
Davidroid 2:d07edeaff6f1 538 /*!< Fractional part of range distance. Final value is a
Davidroid 2:d07edeaff6f1 539 * FixPoint168 value. */
Davidroid 2:d07edeaff6f1 540 uint8_t RangeStatus;
Davidroid 2:d07edeaff6f1 541 /*!< Range Status for the current measurement. This is device
Davidroid 2:d07edeaff6f1 542 * dependent. Value = 0 means value is valid.
Davidroid 2:d07edeaff6f1 543 * See \ref RangeStatusPage */
nikapov 0:a1a69d32f310 544 } VL53L0X_RangingMeasurementData_t;
nikapov 0:a1a69d32f310 545
nikapov 0:a1a69d32f310 546
nikapov 0:a1a69d32f310 547 #define VL53L0X_HISTOGRAM_BUFFER_SIZE 24
nikapov 0:a1a69d32f310 548
nikapov 0:a1a69d32f310 549 /**
nikapov 0:a1a69d32f310 550 * @struct VL53L0X_HistogramData_t
nikapov 0:a1a69d32f310 551 * @brief Histogram measurement data.
nikapov 0:a1a69d32f310 552 */
sepp_nepp 10:cd251e0fc2fd 553 typedef struct { /* Histogram Measurement data */
Davidroid 2:d07edeaff6f1 554 uint32_t HistogramData[VL53L0X_HISTOGRAM_BUFFER_SIZE];
Davidroid 2:d07edeaff6f1 555 /*!< Histogram data */
Davidroid 2:d07edeaff6f1 556 uint8_t HistogramType; /*!< Indicate the types of histogram data :
nikapov 0:a1a69d32f310 557 Return only, Reference only, both Return and Reference */
Davidroid 2:d07edeaff6f1 558 uint8_t FirstBin; /*!< First Bin value */
Davidroid 2:d07edeaff6f1 559 uint8_t BufferSize; /*!< Buffer Size - Set by the user.*/
sepp_nepp 10:cd251e0fc2fd 560 uint8_t NumberOfBins;/*!< Number of bins filled by the histogram measurement */
Davidroid 2:d07edeaff6f1 561 VL53L0X_DeviceError ErrorStatus;
Davidroid 2:d07edeaff6f1 562 /*!< Error status of the current measurement. \n
Davidroid 2:d07edeaff6f1 563 see @a ::VL53L0X_DeviceError @a VL53L0X_GetStatusErrorString() */
nikapov 0:a1a69d32f310 564 } VL53L0X_HistogramMeasurementData_t;
nikapov 0:a1a69d32f310 565
nikapov 0:a1a69d32f310 566 #define VL53L0X_REF_SPAD_BUFFER_SIZE 6
nikapov 0:a1a69d32f310 567
nikapov 0:a1a69d32f310 568 /**
nikapov 0:a1a69d32f310 569 * @struct VL53L0X_SpadData_t
nikapov 0:a1a69d32f310 570 * @brief Spad Configuration Data.
nikapov 0:a1a69d32f310 571 */
nikapov 0:a1a69d32f310 572 typedef struct {
Davidroid 2:d07edeaff6f1 573 uint8_t RefSpadEnables[VL53L0X_REF_SPAD_BUFFER_SIZE];
Davidroid 2:d07edeaff6f1 574 /*!< Reference Spad Enables */
Davidroid 2:d07edeaff6f1 575 uint8_t RefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE];
Davidroid 2:d07edeaff6f1 576 /*!< Reference Spad Good Spad Map */
nikapov 0:a1a69d32f310 577 } VL53L0X_SpadData_t;
nikapov 0:a1a69d32f310 578
nikapov 0:a1a69d32f310 579 typedef struct {
Davidroid 2:d07edeaff6f1 580 FixPoint1616_t OscFrequencyMHz; /* Frequency used */
nikapov 0:a1a69d32f310 581
Davidroid 2:d07edeaff6f1 582 uint16_t LastEncodedTimeout;
Davidroid 2:d07edeaff6f1 583 /* last encoded Time out used for timing budget*/
Davidroid 2:d07edeaff6f1 584 VL53L0X_GpioFunctionality Pin0GpioFunctionality;
Davidroid 2:d07edeaff6f1 585 /* store the functionality of the GPIO: pin0 */
nikapov 0:a1a69d32f310 586
Davidroid 2:d07edeaff6f1 587 uint32_t FinalRangeTimeoutMicroSecs;
Davidroid 2:d07edeaff6f1 588 /*!< Execution time of the final range*/
Davidroid 2:d07edeaff6f1 589 uint8_t FinalRangeVcselPulsePeriod;
Davidroid 2:d07edeaff6f1 590 /*!< Vcsel pulse period (pll clocks) for the final range measurement*/
Davidroid 2:d07edeaff6f1 591 uint32_t PreRangeTimeoutMicroSecs;
Davidroid 2:d07edeaff6f1 592 /*!< Execution time of the final range*/
Davidroid 2:d07edeaff6f1 593 uint8_t PreRangeVcselPulsePeriod;
Davidroid 2:d07edeaff6f1 594 /*!< Vcsel pulse period (pll clocks) for the pre-range measurement*/
nikapov 0:a1a69d32f310 595
Davidroid 2:d07edeaff6f1 596 uint16_t SigmaEstRefArray;
Davidroid 2:d07edeaff6f1 597 /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */
Davidroid 2:d07edeaff6f1 598 uint16_t SigmaEstEffPulseWidth;
sepp_nepp 10:cd251e0fc2fd 599 /*!< Effective Pulse width for sigma estimate in 1/100th of ns e.g. 900 = 9.0ns */
Davidroid 2:d07edeaff6f1 600 uint16_t SigmaEstEffAmbWidth;
Davidroid 2:d07edeaff6f1 601 /*!< Effective Ambient width for sigma estimate in 1/100th of ns
Davidroid 2:d07edeaff6f1 602 * e.g. 500 = 5.0ns */
nikapov 0:a1a69d32f310 603
Davidroid 2:d07edeaff6f1 604 uint8_t ReadDataFromDeviceDone; /* Indicate if read from device has
nikapov 0:a1a69d32f310 605 been done (==1) or not (==0) */
Davidroid 2:d07edeaff6f1 606 uint8_t ModuleId; /* Module ID */
Davidroid 2:d07edeaff6f1 607 uint8_t Revision; /* test Revision */
Davidroid 2:d07edeaff6f1 608 char ProductId[VL53L0X_MAX_STRING_LENGTH];
Davidroid 2:d07edeaff6f1 609 /* Product Identifier String */
Davidroid 2:d07edeaff6f1 610 uint8_t ReferenceSpadCount; /* used for ref spad management */
Davidroid 2:d07edeaff6f1 611 uint8_t ReferenceSpadType; /* used for ref spad management */
Davidroid 2:d07edeaff6f1 612 uint8_t RefSpadsInitialised; /* reports if ref spads are initialised. */
Davidroid 2:d07edeaff6f1 613 uint32_t PartUIDUpper; /*!< Unique Part ID Upper */
Davidroid 2:d07edeaff6f1 614 uint32_t PartUIDLower; /*!< Unique Part ID Lower */
Davidroid 2:d07edeaff6f1 615 FixPoint1616_t SignalRateMeasFixed400mm; /*!< Peek Signal rate
nikapov 0:a1a69d32f310 616 at 400 mm*/
nikapov 0:a1a69d32f310 617
nikapov 0:a1a69d32f310 618 } VL53L0X_DeviceSpecificParameters_t;
nikapov 0:a1a69d32f310 619
nikapov 0:a1a69d32f310 620 /** @defgroup VL53L0X_define_InterruptPolarity_group Defines the Polarity
nikapov 0:a1a69d32f310 621 * of the Interrupt
nikapov 0:a1a69d32f310 622 * Defines the Polarity of the Interrupt
nikapov 0:a1a69d32f310 623 * @{
nikapov 0:a1a69d32f310 624 */
nikapov 0:a1a69d32f310 625 typedef uint8_t VL53L0X_InterruptPolarity;
nikapov 0:a1a69d32f310 626
nikapov 0:a1a69d32f310 627 #define VL53L0X_INTERRUPTPOLARITY_LOW ((VL53L0X_InterruptPolarity) 0)
nikapov 0:a1a69d32f310 628 /*!< Set active low polarity best setup for falling edge. */
nikapov 0:a1a69d32f310 629 #define VL53L0X_INTERRUPTPOLARITY_HIGH ((VL53L0X_InterruptPolarity) 1)
nikapov 0:a1a69d32f310 630 /*!< Set active high polarity best setup for rising edge. */
nikapov 0:a1a69d32f310 631
nikapov 0:a1a69d32f310 632 /** @} VL53L0X_define_InterruptPolarity_group */
nikapov 0:a1a69d32f310 633
nikapov 0:a1a69d32f310 634
nikapov 0:a1a69d32f310 635 /** @defgroup VL53L0X_define_VcselPeriod_group Vcsel Period Defines
nikapov 0:a1a69d32f310 636 * Defines the range measurement for which to access the vcsel period.
nikapov 0:a1a69d32f310 637 * @{
nikapov 0:a1a69d32f310 638 */
nikapov 0:a1a69d32f310 639 typedef uint8_t VL53L0X_VcselPeriod;
nikapov 0:a1a69d32f310 640
nikapov 0:a1a69d32f310 641 #define VL53L0X_VCSEL_PERIOD_PRE_RANGE ((VL53L0X_VcselPeriod) 0)
nikapov 0:a1a69d32f310 642 /*!<Identifies the pre-range vcsel period. */
nikapov 0:a1a69d32f310 643 #define VL53L0X_VCSEL_PERIOD_FINAL_RANGE ((VL53L0X_VcselPeriod) 1)
nikapov 0:a1a69d32f310 644 /*!<Identifies the final range vcsel period. */
nikapov 0:a1a69d32f310 645
nikapov 0:a1a69d32f310 646 /** @} VL53L0X_define_VcselPeriod_group */
nikapov 0:a1a69d32f310 647
nikapov 0:a1a69d32f310 648 /** @defgroup VL53L0X_define_SchedulerSequence_group Defines the steps
nikapov 0:a1a69d32f310 649 * carried out by the scheduler during a range measurement.
nikapov 0:a1a69d32f310 650 * @{
nikapov 0:a1a69d32f310 651 * Defines the states of all the steps in the scheduler
nikapov 0:a1a69d32f310 652 * i.e. enabled/disabled.
nikapov 0:a1a69d32f310 653 */
nikapov 0:a1a69d32f310 654 typedef struct {
Davidroid 2:d07edeaff6f1 655 uint8_t TccOn; /*!<Reports if Target Centre Check On */
Davidroid 2:d07edeaff6f1 656 uint8_t MsrcOn; /*!<Reports if MSRC On */
Davidroid 2:d07edeaff6f1 657 uint8_t DssOn; /*!<Reports if DSS On */
Davidroid 2:d07edeaff6f1 658 uint8_t PreRangeOn; /*!<Reports if Pre-Range On */
Davidroid 2:d07edeaff6f1 659 uint8_t FinalRangeOn; /*!<Reports if Final-Range On */
nikapov 0:a1a69d32f310 660 } VL53L0X_SchedulerSequenceSteps_t;
nikapov 0:a1a69d32f310 661
nikapov 0:a1a69d32f310 662 /** @} VL53L0X_define_SchedulerSequence_group */
nikapov 0:a1a69d32f310 663
nikapov 0:a1a69d32f310 664 /** @defgroup VL53L0X_define_SequenceStepId_group Defines the Polarity
nikapov 0:a1a69d32f310 665 * of the Interrupt
nikapov 0:a1a69d32f310 666 * Defines the the sequence steps performed during ranging..
nikapov 0:a1a69d32f310 667 * @{
nikapov 0:a1a69d32f310 668 */
nikapov 0:a1a69d32f310 669 typedef uint8_t VL53L0X_SequenceStepId;
nikapov 0:a1a69d32f310 670
nikapov 0:a1a69d32f310 671 #define VL53L0X_SEQUENCESTEP_TCC ((VL53L0X_VcselPeriod) 0)
nikapov 0:a1a69d32f310 672 /*!<Target CentreCheck identifier. */
nikapov 0:a1a69d32f310 673 #define VL53L0X_SEQUENCESTEP_DSS ((VL53L0X_VcselPeriod) 1)
nikapov 0:a1a69d32f310 674 /*!<Dynamic Spad Selection function Identifier. */
nikapov 0:a1a69d32f310 675 #define VL53L0X_SEQUENCESTEP_MSRC ((VL53L0X_VcselPeriod) 2)
nikapov 0:a1a69d32f310 676 /*!<Minimum Signal Rate Check function Identifier. */
nikapov 0:a1a69d32f310 677 #define VL53L0X_SEQUENCESTEP_PRE_RANGE ((VL53L0X_VcselPeriod) 3)
nikapov 0:a1a69d32f310 678 /*!<Pre-Range check Identifier. */
nikapov 0:a1a69d32f310 679 #define VL53L0X_SEQUENCESTEP_FINAL_RANGE ((VL53L0X_VcselPeriod) 4)
nikapov 0:a1a69d32f310 680 /*!<Final Range Check Identifier. */
nikapov 0:a1a69d32f310 681
nikapov 0:a1a69d32f310 682 #define VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS 5
nikapov 0:a1a69d32f310 683 /*!<Number of Sequence Step Managed by the API. */
nikapov 0:a1a69d32f310 684
nikapov 0:a1a69d32f310 685 /** @} VL53L0X_define_SequenceStepId_group */
nikapov 0:a1a69d32f310 686
nikapov 0:a1a69d32f310 687 /* MACRO Definitions */
nikapov 0:a1a69d32f310 688 /** @defgroup VL53L0X_define_GeneralMacro_group General Macro Defines
nikapov 0:a1a69d32f310 689 * General Macro Defines
nikapov 0:a1a69d32f310 690 * @{
nikapov 0:a1a69d32f310 691 */
nikapov 0:a1a69d32f310 692
nikapov 0:a1a69d32f310 693 /* Defines */
sepp_nepp 10:cd251e0fc2fd 694 #define VL53L0X_FIXPOINT1616TOFIXPOINT97(Value) (uint16_t)((Value>>9)&0xFFFF)
sepp_nepp 10:cd251e0fc2fd 695 #define VL53L0X_FIXPOINT97TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<9)
nikapov 0:a1a69d32f310 696
sepp_nepp 10:cd251e0fc2fd 697 #define VL53L0X_FIXPOINT1616TOFIXPOINT88(Value) (uint16_t)((Value>>8)&0xFFFF)
sepp_nepp 10:cd251e0fc2fd 698 #define VL53L0X_FIXPOINT88TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<8)
nikapov 0:a1a69d32f310 699
sepp_nepp 10:cd251e0fc2fd 700 #define VL53L0X_FIXPOINT1616TOFIXPOINT412(Value) (uint16_t)((Value>>4)&0xFFFF)
sepp_nepp 10:cd251e0fc2fd 701 #define VL53L0X_FIXPOINT412TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<4)
nikapov 0:a1a69d32f310 702
sepp_nepp 10:cd251e0fc2fd 703 #define VL53L0X_FIXPOINT1616TOFIXPOINT313(Value) (uint16_t)((Value>>3)&0xFFFF)
sepp_nepp 10:cd251e0fc2fd 704 #define VL53L0X_FIXPOINT313TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<3)
nikapov 0:a1a69d32f310 705
sepp_nepp 10:cd251e0fc2fd 706 #define VL53L0X_FIXPOINT1616TOFIXPOINT08(Value) (uint8_t)((Value>>8)&0x00FF)
sepp_nepp 10:cd251e0fc2fd 707 #define VL53L0X_FIXPOINT08TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<8)
nikapov 0:a1a69d32f310 708
sepp_nepp 10:cd251e0fc2fd 709 #define VL53L0X_FIXPOINT1616TOFIXPOINT53(Value) (uint8_t)((Value>>13)&0x00FF)
sepp_nepp 10:cd251e0fc2fd 710 #define VL53L0X_FIXPOINT53TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<13)
nikapov 0:a1a69d32f310 711
sepp_nepp 10:cd251e0fc2fd 712 #define VL53L0X_FIXPOINT1616TOFIXPOINT102(Value) (uint16_t)((Value>>14)&0x0FFF)
sepp_nepp 10:cd251e0fc2fd 713 #define VL53L0X_FIXPOINT102TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<12)
nikapov 0:a1a69d32f310 714
sepp_nepp 10:cd251e0fc2fd 715 #define VL53L0X_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + (uint16_t)lsb)
nikapov 0:a1a69d32f310 716
nikapov 0:a1a69d32f310 717 /** @} VL53L0X_define_GeneralMacro_group */
nikapov 0:a1a69d32f310 718
nikapov 0:a1a69d32f310 719 /** @} VL53L0X_globaldefine_group */
nikapov 0:a1a69d32f310 720
nikapov 0:a1a69d32f310 721 #ifdef __cplusplus
nikapov 0:a1a69d32f310 722 }
nikapov 0:a1a69d32f310 723 #endif
nikapov 0:a1a69d32f310 724
nikapov 0:a1a69d32f310 725 #endif /* _VL53L0X_DEF_H_ */