Tarek Lule
Condensed Version of Public VL53L0X
Diff: VL53L0X_def.h
- Revision:
- 11:c6f95a42d4d7
- Parent:
- 10:cd251e0fc2fd
- Child:
- 12:aa177f0e4c10
--- a/VL53L0X_def.h Sun Mar 24 22:24:16 2019 +0000
+++ b/VL53L0X_def.h Mon Apr 08 16:26:19 2019 +0000
@@ -53,46 +53,77 @@
#define VL53L0X_I2C_USER_VAR /* none but could be for a flag var to get/pass to mutex interruptible return flags and try again */
-/** PAL SPECIFICATION major version */
+/** Device SPECIFICATION major version */
#define VL53L0X10_SPECIFICATION_VER_MAJOR 1
-/** PAL SPECIFICATION minor version */
+/** Device SPECIFICATION minor version */
#define VL53L0X10_SPECIFICATION_VER_MINOR 2
-/** PAL SPECIFICATION sub version */
+/** Device SPECIFICATION sub version */
#define VL53L0X10_SPECIFICATION_VER_SUB 7
-/** PAL SPECIFICATION sub version */
+/** Device SPECIFICATION sub version */
#define VL53L0X10_SPECIFICATION_VER_REVISION 1440
-/** VL53L0X PAL IMPLEMENTATION major version */
+/** VL53L0X Device IMPLEMENTATION major version */
#define VL53L0X10_IMPLEMENTATION_VER_MAJOR 1
-/** VL53L0X PAL IMPLEMENTATION minor version */
+/** VL53L0X Device IMPLEMENTATION minor version */
#define VL53L0X10_IMPLEMENTATION_VER_MINOR 0
-/** VL53L0X PAL IMPLEMENTATION sub version */
+/** VL53L0X Device IMPLEMENTATION sub version */
#define VL53L0X10_IMPLEMENTATION_VER_SUB 9
-/** VL53L0X PAL IMPLEMENTATION sub version */
+/** VL53L0X Device IMPLEMENTATION sub version */
#define VL53L0X10_IMPLEMENTATION_VER_REVISION 3673
-/** PAL SPECIFICATION major version */
+/** Device SPECIFICATION major version */
#define VL53L0X_SPECIFICATION_VER_MAJOR 1
-/** PAL SPECIFICATION minor version */
+/** Device SPECIFICATION minor version */
#define VL53L0X_SPECIFICATION_VER_MINOR 2
-/** PAL SPECIFICATION sub version */
+/** Device SPECIFICATION sub version */
#define VL53L0X_SPECIFICATION_VER_SUB 7
-/** PAL SPECIFICATION sub version */
+/** Device SPECIFICATION sub version */
#define VL53L0X_SPECIFICATION_VER_REVISION 1440
-/** VL53L0X PAL IMPLEMENTATION major version */
+/** VL53L0X Device IMPLEMENTATION major version */
#define VL53L0X_IMPLEMENTATION_VER_MAJOR 1
-/** VL53L0X PAL IMPLEMENTATION minor version */
+/** VL53L0X Device IMPLEMENTATION minor version */
#define VL53L0X_IMPLEMENTATION_VER_MINOR 1
-/** VL53L0X PAL IMPLEMENTATION sub version */
+/** VL53L0X Device IMPLEMENTATION sub version */
#define VL53L0X_IMPLEMENTATION_VER_SUB 21
-/** VL53L0X PAL IMPLEMENTATION sub version */
+/** VL53L0X Device IMPLEMENTATION sub version */
#define VL53L0X_IMPLEMENTATION_VER_REVISION 4823
#define VL53L0X_DEFAULT_MAX_LOOP 2000
#define VL53L0X_MAX_STRING_LENGTH 32
+/** The device model ID */
+#define IDENTIFICATION_MODEL_ID 0x000
+#define STATUS_OK 0x00
+#define STATUS_FAIL 0x01
+
+/** default device address */
+#define VL53L0X_DEFAULT_ADDRESS 0x52 /* (8-bit) */
+
+#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"
+
+#define REF_ARRAY_SPAD_0 0
+#define REF_ARRAY_SPAD_5 5
+#define REF_ARRAY_SPAD_10 10
+
+
+/* sensor operating modes */
+typedef enum {
+ op_single_shot_poll = 1,
+ op_poll, // was range_continuous_polling
+ op_INT,
+ op_poll_low_threshold,
+ op_poll_high_threshold,
+ op_poll_out_of_window,
+ op_INT_low_threshold,
+ op_INT_high_threshold,
+ op_INT_out_of_window,
+} TOperatingMode;
/**
* Device specific defines. To be adapted by implementer for the targeted
@@ -101,8 +132,8 @@
/** use where fractional values are expected
*
- * Given a floating point value f it's .16 bit point is (int)(f*(1<<16))*/
-typedef uint32_t FixPoint1616_t;
+ * Given a floating point value f it's 16.16 bit point is (int)(f*(1<<16))*/
+typedef uint32_t TFP1616;
/** @defgroup VL53L0X_DevSpecDefines_group VL53L0X cut1.1 Device Specific Defines
* @brief VL53L0X cut1.1 Device Specific Defines
@@ -117,63 +148,55 @@
* It is related to Status Register of the Device.
* @{
*/
-typedef uint8_t VL53L0X_DeviceError;
+typedef uint8_t TDevError;
-#define VL53L0X_DEVICEERROR_NONE ((VL53L0X_DeviceError) 0)
+#define VL53L0X_DEVICEERROR_NONE ((TDevError) 0)
/*!< 0 NoError */
-#define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((VL53L0X_DeviceError) 1)
-#define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((VL53L0X_DeviceError) 2)
-#define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND ((VL53L0X_DeviceError) 3)
-#define VL53L0X_DEVICEERROR_MSRCNOTARGET ((VL53L0X_DeviceError) 4)
-#define VL53L0X_DEVICEERROR_SNRCHECK ((VL53L0X_DeviceError) 5)
-#define VL53L0X_DEVICEERROR_RANGEPHASECHECK ((VL53L0X_DeviceError) 6)
-#define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK ((VL53L0X_DeviceError) 7)
-#define VL53L0X_DEVICEERROR_TCC ((VL53L0X_DeviceError) 8)
-#define VL53L0X_DEVICEERROR_MINCLIP ((VL53L0X_DeviceError) 10)
-#define VL53L0X_DEVICEERROR_RANGECOMPLETE ((VL53L0X_DeviceError) 11)
-#define VL53L0X_DEVICEERROR_ALGOUNDERFLOW ((VL53L0X_DeviceError) 12)
-#define VL53L0X_DEVICEERROR_ALGOOVERFLOW ((VL53L0X_DeviceError) 13)
-#define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD ((VL53L0X_DeviceError) 14)
+#define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((TDevError) 1)
+#define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((TDevError) 2)
+#define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND ((TDevError) 3)
+#define VL53L0X_DEVICEERROR_MSRCNOTARGET ((TDevError) 4)
+#define VL53L0X_DEVICEERROR_SNRCHECK ((TDevError) 5)
+#define VL53L0X_DEVICEERROR_RANGEPHASECHECK ((TDevError) 6)
+#define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK ((TDevError) 7)
+#define VL53L0X_DEVICEERROR_TCC ((TDevError) 8)
+#define VL53L0X_DEVICEERROR_MINCLIP ((TDevError) 10)
+#define VL53L0X_DEVICEERROR_RANGECOMPLETE ((TDevError) 11)
+#define VL53L0X_DEVICEERROR_ALGOUNDERFLOW ((TDevError) 12)
+#define VL53L0X_DEVICEERROR_ALGOOVERFLOW ((TDevError) 13)
+#define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD ((TDevError) 14)
/** @} end of VL53L0X_DeviceError_group */
-/** @defgroup VL53L0X_CheckEnable_group Check Enable list
+/** @defgroup VL53L0X_CHECKEN_group Check Enable list
* @brief Check Enable code
*
* Define used to specify the LimitCheckId.
* Use @a VL53L0X_GetLimitCheckInfo() to get the string.
* @{
*/
-
-#define VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE 0
-#define VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1
-#define VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP 2
-#define VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD 3
-#define VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC 4
-#define VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE 5
-#define VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS 6
-/** @} end of VL53L0X_CheckEnable_group */
+#define VL53L0X_CHECKEN_SIGMA_FINAL_RANGE 0
+#define VL53L0X_CHECKEN_SIG_RATE_FINAL_RANGE 1
+#define VL53L0X_CHECKEN_SIG_REF_CLIP 2
+#define VL53L0X_CHECKEN_RANGE_IGNORE_THRESHOLD 3
+#define VL53L0X_CHECKEN_SIG_RATE_MSRC 4
+#define VL53L0X_CHECKEN_SIG_RATE_PRE_RANGE 5
+#define VL53L0X_CHECKEN_NUMBER_OF_CHECKS 6
+/** @} end of VL53L0X_CHECKEN_group */
-/** @defgroup VL53L0X_GpioFunctionality_group Gpio Functionality
+/** @defgroup GPIO_Func_group Gpio Functionality
* @brief Defines the different functionalities for the device GPIO(s)
- * @{
- */
-typedef uint8_t VL53L0X_GpioFunctionality;
-
-#define VL53L0X_GPIOFUNCTIONALITY_OFF \
- ((VL53L0X_GpioFunctionality) 0) /*!< NO Interrupt */
-#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW \
- ((VL53L0X_GpioFunctionality) 1) /*!< Level Low (value < thresh_low) */
-#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH \
- ((VL53L0X_GpioFunctionality) 2) /*!< Level High (value > thresh_high) */
-#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT \
- ((VL53L0X_GpioFunctionality) 3)
-/*!< Out Of Window (value < thresh_low OR value > thresh_high) */
-#define VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY \
- ((VL53L0X_GpioFunctionality) 4) /*!< New Sample Ready */
-/** @} end of VL53L0X_GpioFunctionality_group */
+ * @{ */
+typedef enum {
+ GPIO_FUNC_OFF = 0, /*!< NO Interrupt */
+ GPIO_FUNC_THRESHOLD_CROSSED_LOW, /*!< Level Low (value < thresh_low) */
+ GPIO_FUNC_THRESHOLD_CROSSED_HIGH, /*!< Level High (value > thresh_high) */
+ GPIO_FUNC_THRESHOLD_CROSSED_OUT, /*!< Out Of Window (value < thresh_low OR value > thresh_high) */
+ GPIO_FUNC_NEW_MEASURE_READY /*!< New Sample Ready */
+} TGPIO_Func;
+/** @} end of GPIO_FUNC_group */
/* Device register map */
@@ -182,117 +205,116 @@
* @brief List of all the defined registers
* @{
*/
-#define VL53L0X_REG_SYSRANGE_START 0x000
-/** mask existing bit in #VL53L0X_REG_SYSRANGE_START*/
-#define VL53L0X_REG_SYSRANGE_MODE_MASK 0x0F
-/** bit 0 in #VL53L0X_REG_SYSRANGE_START write 1 toggle state in
+#define REG_SYSRANGE_START 0x000
+/** mask existing bit in #REG_SYSRANGE_START*/
+#define REG_SYSRANGE_MODE_MASK 0x0F
+/** bit 0 in #REG_SYSRANGE_START write 1 toggle state in
* continuous mode and arm next shot in single shot mode */
-#define VL53L0X_REG_SYSRANGE_MODE_START_STOP 0x01
-/** bit 1 write 0 in #VL53L0X_REG_SYSRANGE_START set single shot mode */
-#define VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT 0x00
-/** bit 1 write 1 in #VL53L0X_REG_SYSRANGE_START set back-to-back
+#define REG_SYSRANGE_MODE_START_STOP 0x01
+/** bit 1 write 0 in #REG_SYSRANGE_START set single shot mode */
+#define REG_SYSRANGE_MODE_SINGLESHOT 0x00
+/** bit 1 write 1 in #REG_SYSRANGE_START set back-to-back
* operation mode */
-#define VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK 0x02
-/** bit 2 write 1 in #VL53L0X_REG_SYSRANGE_START set timed operation
+#define REG_SYSRANGE_MODE_BACKTOBACK 0x02
+/** bit 2 write 1 in #REG_SYSRANGE_START set timed operation
* mode */
-#define VL53L0X_REG_SYSRANGE_MODE_TIMED 0x04
-/** bit 3 write 1 in #VL53L0X_REG_SYSRANGE_START set histogram operation
+#define REG_SYSRANGE_MODE_TIMED 0x04
+/** bit 3 write 1 in #REG_SYSRANGE_START set histogram operation
* mode */
-#define VL53L0X_REG_SYSRANGE_MODE_HISTOGRAM 0x08
+#define REG_SYSRANGE_MODE_HISTOGRAM 0x08
-#define VL53L0X_REG_SYSTEM_THRESH_HIGH 0x000C
-#define VL53L0X_REG_SYSTEM_THRESH_LOW 0x000E
-
-#define VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG 0x0001
-#define VL53L0X_REG_SYSTEM_RANGE_CONFIG 0x0009
-#define VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD 0x0004
+#define REG_SYSTEM_THRESH_HIGH 0x0C
+#define REG_SYSTEM_THRESH_LOW 0x0E
+#define REG_SYSTEM_SEQUENCE_CONFIG 0x01
+#define REG_SYSTEM_RANGE_CONFIG 0x09
+#define REG_SYSTEM_MEASURE_PERIOD 0x04
-#define VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x000A
-#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED 0x00
-#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW 0x01
-#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH 0x02
-#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW 0x03
-#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY 0x04
+#define REG_SYSINT_CONFIG_GPIO 0x0A
+#define REG_SYSINT_GPIO_DISABLED 0x00
+#define REG_SYSINT_GPIO_LEVEL_LOW 0x01
+#define REG_SYSINT_GPIO_LEVEL_HIGH 0x02
+#define REG_SYSINT_GPIO_OUT_OF_WINDOW 0x03
+#define REG_SYSINT_GPIO_NEW_SAMPLE_READY 0x04
-#define VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x0084
-#define VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR 0x000B
+#define REG_GPIO_HV_MUX_ACTIVE_HIGH 0x84
+#define REG_SYSINT_CLEAR 0x0B
/* Result registers */
-#define VL53L0X_REG_RESULT_INTERRUPT_STATUS 0x0013
-#define VL53L0X_REG_RESULT_RANGE_STATUS 0x0014
+#define REG_RESULT_INTERRUPT_STATUS 0x13
+#define REG_RESULT_RANGE_STATUS 0x14
-#define VL53L0X_REG_RESULT_CORE_PAGE 1
-#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0x00BC
-#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0x00C0
-#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0x00D0
-#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0x00D4
-#define VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF 0x00B6
+#define REG_RESULT_CORE_PAGE 1
+#define REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0xBC
+#define REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0xC0
+#define REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0xD0
+#define REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0xD4
+#define REG_RESULT_PEAK_SIG_RATE_REF 0xB6
/* Algo register */
-#define VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x0028
-#define VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS 0x008a
+#define REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x28
+#define REG_I2C_SLAVE_DEVICE_ADDRESS 0x8a
/* Check Limit registers */
-#define VL53L0X_REG_MSRC_CONFIG_CONTROL 0x0060
+#define REG_MSRC_CONFIG_CONTROL 0x60
-#define VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR 0X0027
-#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x0056
-#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x0057
-#define VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x0064
+#define REG_PRE_RANGE_CONFIG_MIN_SNR 0X27
+#define REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x56
+#define REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x57
+#define REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x64
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR 0X0067
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x0047
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x0048
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x0044
+#define REG_FINAL_RANGE_CONFIG_MIN_SNR 0X67
+#define REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x47
+#define REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x48
+#define REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x44
-#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0X0061
-#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0X0062
+#define REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0x61
+#define REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0x62
/* PRE RANGE registers */
-#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x0050
-#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0051
-#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0052
+#define REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x50
+#define REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x51
+#define REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x52
-#define VL53L0X_REG_SYSTEM_HISTOGRAM_BIN 0x0081
-#define VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x0033
-#define VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x0055
+#define REG_SYSTEM_HISTOGRAM_BIN 0x81
+#define REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x33
+#define REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x55
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x0070
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0071
-#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0072
-#define VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x0020
+#define REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x70
+#define REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x71
+#define REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x72
+#define REG_XTALK_COMPENS_RATE_MHz 0x20
-#define VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP 0x0046
+#define REG_MSRC_CONFIG_TIMEOUT_MACROP 0x46
-#define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N 0x00bf
-#define VL53L0X_REG_IDENTIFICATION_MODEL_ID 0x00c0
-#define VL53L0X_REG_IDENTIFICATION_REVISION_ID 0x00c2
+#define REG_SOFT_RESET_GO2_SOFT_RESET_N 0xbf
+#define REG_IDENTIFICATION_MODEL_ID 0xc0
+#define REG_IDENTIFICATION_REVISION_ID 0xc2
-#define VL53L0X_REG_OSC_CALIBRATE_VAL 0x00f8
+#define REG_OSC_CALIBRATE_VAL 0xf8
-#define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE 65535
+#define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE 0xffff
/* equivalent to a range sigma of 655.35mm */
-#define VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x032
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0x0B0
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0x0B1
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0x0B2
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0x0B3
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0x0B4
-#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0x0B5
+#define REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x32
+#define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0xB0
+#define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0xB1
+#define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0xB2
+#define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0xB3
+#define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0xB4
+#define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0xB5
-#define VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6
-#define VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E /* 0x14E */
-#define VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F /* 0x14F */
-#define VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80
+#define REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6
+#define REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E
+#define REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F
+#define REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80
/* Speed of light in um per 1E-10 Seconds */
#define VL53L0X_SPEED_OF_LIGHT_IN_AIR 2997
-#define VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x0089
+#define REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x89
-#define VL53L0X_REG_ALGO_PHASECAL_LIM 0x0030 /* 0x130 */
-#define VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x0030
+#define REG_ALGO_PHASECAL_LIM 0x30
+#define REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x30
/** @} VL53L0X_DefineRegisters_group */
@@ -328,17 +350,19 @@
/*!< Product revision major */
uint8_t ProductRevisionMinor;
/*!< Product revision minor */
-} VL53L0X_DeviceInfo_t;
+} TVL53L0X_DeviceInfo;
+typedef TVL53L0X_DeviceInfo* PVL53L0X_DeviceInfo;
+
/** @defgroup VL53L0X_define_Error_group Error and Warning code returned by API
- * The following DEFINE are used to identify the PAL ERROR
+ * The following DEFINE are used to identify the Device ERROR
* @{
*/
typedef int8_t VL53L0X_Error;
-#define VL53L0X_ERROR_NONE ((VL53L0X_Error) 0)
+#define VL53L0X_OK ((VL53L0X_Error) 0)
#define VL53L0X_ERROR_CALIBRATION_WARNING ((VL53L0X_Error) -1)
/*!< Warning invalid calibration data may be in used
\a VL53L0X_InitData()
@@ -346,10 +370,9 @@
\a VL53L0X_SetOffsetCalibrationData */
#define VL53L0X_ERROR_MIN_CLIPPED ((VL53L0X_Error) -2)
/*!< Warning parameter passed was clipped to min before to be applied */
-
#define VL53L0X_ERROR_UNDEFINED ((VL53L0X_Error) -3)
/*!< Unqualified error */
-#define VL53L0X_ERROR_INVALID_PARAMS ((VL53L0X_Error) -4)
+#define VL53L0X_ERROR_INVALID_PARAMS ((VL53L0X_Error) -4)
/*!< Parameter passed is invalid or out of range */
#define VL53L0X_ERROR_NOT_SUPPORTED ((VL53L0X_Error) -5)
/*!< Function is not supported in current mode or configuration */
@@ -357,26 +380,27 @@
/*!< Device report a ranging error interrupt status */
#define VL53L0X_ERROR_TIME_OUT ((VL53L0X_Error) -7)
/*!< Aborted due to time out */
-#define VL53L0X_ERROR_MODE_NOT_SUPPORTED ((VL53L0X_Error) -8)
+#define VL53L0X_ERROR_MODE_NOT_SUPPORTED ((VL53L0X_Error) -8)
/*!< Asked mode is not supported by the device */
-#define VL53L0X_ERROR_BUFFER_TOO_SMALL ((VL53L0X_Error) -9)
+#define VL53L0X_ERROR_BUFFER_TOO_SMALL ((VL53L0X_Error) -9)
/*!< ... */
-#define VL53L0X_ERROR_GPIO_NOT_EXISTING ((VL53L0X_Error) -10)
+#define VL53L0X_ERROR_GPIO_NOT_EXISTING ((VL53L0X_Error) -10)
/*!< User tried to setup a non-existing GPIO pin */
-#define VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L0X_Error) -11)
+#define VL53L0X_ERROR_GPIO_FUNC_NOT_SUPPORTED ((VL53L0X_Error) -11)
/*!< unsupported GPIO functionality */
-#define VL53L0X_ERROR_INTERRUPT_NOT_CLEARED ((VL53L0X_Error) -12)
+#define VL53L0X_ERROR_INTERRUPT_NOT_CLEARED ((VL53L0X_Error) -12)
/*!< Error during interrupt clear */
-#define VL53L0X_ERROR_CONTROL_INTERFACE ((VL53L0X_Error) -20)
+#define VL53L0X_ERROR_CONTROL_INTERFACE ((VL53L0X_Error) -20)
+#define VL53L0X_ERROR_I2C_BUF_OVERFLOW ((VL53L0X_Error) -22)
+#define VL53L0X_ERROR_I2C_WRONG_DEV_ID ((VL53L0X_Error) -23)
/*!< error reported from IO functions */
-#define VL53L0X_ERROR_INVALID_COMMAND ((VL53L0X_Error) -30)
-/*!< The command is not allowed in the current device state
- * (power down) */
-#define VL53L0X_ERROR_DIVISION_BY_ZERO ((VL53L0X_Error) -40)
+#define VL53L0X_ERROR_INVALID_COMMAND ((VL53L0X_Error) -30)
+/*!< The command is not allowed in the current device state (power down) */
+#define VL53L0X_ERROR_DIVISION_BY_ZERO ((VL53L0X_Error) -40)
/*!< In the function a division by zero occurs */
#define VL53L0X_ERROR_REF_SPAD_INIT ((VL53L0X_Error) -50)
/*!< Error during reference SPAD initialization */
-#define VL53L0X_ERROR_NOT_IMPLEMENTED ((VL53L0X_Error) -99)
+#define VL53L0X_ERROR_NOT_IMPLEMENTED ((VL53L0X_Error) -99)
/*!< Tells requested functionality has not been implemented yet or
* not compatible with the device */
/** @} VL53L0X_define_Error_group */
@@ -442,32 +466,31 @@
VL53L0X_HistogramModes HistogramMode;
/*!< Defines type of histogram measurement to be done for the next
* measure */
- uint32_t MeasurementTimingBudget_us;
+ uint32_t Measure_Time_Budget_us; // was MeasurementTimingBudget_us
/*!< Defines the allowed total time for a single measurement */
- uint32_t InterMeasurementPeriod_ms;
+ uint32_t Measure_Period_ms;
/*!< Defines time between two consecutive measurements (between two
* measurement starts). If set to 0 means back-to-back mode */
- uint8_t XTalkCompensationEnable;
+ uint8_t XTalk_Compens_En;
/*!< Tells if Crosstalk compensation shall be enable or not */
uint16_t XTalkCompensationRangeMilliMeter;
/*!< CrossTalk compensation range in millimeter */
- FixPoint1616_t XTalkCompensationRateMegaCps;
+ TFP1616 Xtalk_CompRate_MHz;
/*!< CrossTalk compensation rate in Mega counts per seconds.
* Expressed in 16.16 fixed point format. */
- int32_t RangeOffsetMicroMeters;
- /*!< Range offset adjustment (mm). */
+ int32_t Offset_Cal_um;
+ /*!< Range offset adjustment (um) last programmed. */
- uint8_t LimitChecksEnable[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
+ uint8_t Limit_Chk_En[VL53L0X_CHECKEN_NUMBER_OF_CHECKS];
/*!< This Array store all the Limit Check enable for this device. */
- uint8_t LimitChecksStatus[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
+ uint8_t LimitChecksStatus[VL53L0X_CHECKEN_NUMBER_OF_CHECKS];
/*!< This Array store all the Status of the check linked to last
* measurement. */
- FixPoint1616_t LimitChecksValue[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
+ TFP1616 Limit_Chk_Val[VL53L0X_CHECKEN_NUMBER_OF_CHECKS];
/*!< This Array store all the Limit Check value for this device */
-
- uint8_t WrapAroundCheckEnable;
+ uint8_t Wrap_Around_Chk_En;
/*!< Tells if Wrap Around Check shall be enable or not */
-} VL53L0X_DeviceParameters_t;
+} VL53L0X_DeviceParams_t;
/** @defgroup VL53L0X_define_State_group Defines the current status of the device
@@ -476,19 +499,19 @@
*/
typedef uint8_t VL53L0X_State;
-#define VL53L0X_STATE_POWERDOWN ((VL53L0X_State) 0)
+#define VL53L0X_STATE_POWERDOWN ((VL53L0X_State) 0)
/*!< Device is in HW reset */
#define VL53L0X_STATE_WAIT_STATICINIT ((VL53L0X_State) 1)
/*!< Device is initialized and wait for static initialization */
-#define VL53L0X_STATE_STANDBY ((VL53L0X_State) 2)
+#define VL53L0X_STATE_STANDBY ((VL53L0X_State) 2)
/*!< Device is in Low power Standby mode */
-#define VL53L0X_STATE_IDLE ((VL53L0X_State) 3)
+#define VL53L0X_STATE_IDLE ((VL53L0X_State) 3)
/*!< Device has been initialized and ready to do measurements */
-#define VL53L0X_STATE_RUNNING ((VL53L0X_State) 4)
+#define VL53L0X_STATE_RUNNING ((VL53L0X_State) 4)
/*!< Device is performing measurement */
-#define VL53L0X_STATE_UNKNOWN ((VL53L0X_State) 98)
+#define VL53L0X_STATE_UNKNOWN ((VL53L0X_State) 98)
/*!< Device is in unknown state and need to be rebooted */
-#define VL53L0X_STATE_ERROR ((VL53L0X_State) 99)
+#define VL53L0X_STATE_ERROR ((VL53L0X_State) 99)
/*!< Device is in error state and need to be rebooted */
/** @} VL53L0X_define_State_group */
@@ -518,16 +541,16 @@
* in current setup and environment conditions (Filled when
* applicable) */
- FixPoint1616_t SignalRateRtnMegaCps;
- /*!< Return signal rate (MCPS)\n these is a 16.16 fix point
+ TFP1616 SignalRateRtnMHz;
+ /*!< Return signal rate (MHz)\n these is a 16.16 fix point
* value, which is effectively a measure of target
* reflectance.*/
- FixPoint1616_t AmbientRateRtnMegaCps;
- /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
+ TFP1616 AmbientRateRtnMHz;
+ /*!< Return ambient rate (MHz)\n these is a 16.16 fix point
* value, which is effectively a measure of the ambien
* t light.*/
- uint16_t EffectiveSpadRtnCount;
+ uint16_t EffectiveSPADRtnCount;
/*!< Return the effective SPAD count for the return signal.
* To obtain Real value it should be divided by 256 */
@@ -541,7 +564,7 @@
/*!< Range Status for the current measurement. This is device
* dependent. Value = 0 means value is valid.
* See \ref RangeStatusPage */
-} VL53L0X_RangingMeasurementData_t;
+} TRangeResults; // was VL53L0X_RangingMeasurementData_t
#define VL53L0X_HISTOGRAM_BUFFER_SIZE 24
@@ -558,63 +581,59 @@
uint8_t FirstBin; /*!< First Bin value */
uint8_t BufferSize; /*!< Buffer Size - Set by the user.*/
uint8_t NumberOfBins;/*!< Number of bins filled by the histogram measurement */
- VL53L0X_DeviceError ErrorStatus;
+ TDevError ErrorStatus;
/*!< Error status of the current measurement. \n
- see @a ::VL53L0X_DeviceError @a VL53L0X_GetStatusErrorString() */
+ see @a ::TDevError @a VL53L0X_GetStatusErrorString() */
} VL53L0X_HistogramMeasurementData_t;
-#define VL53L0X_REF_SPAD_BUFFER_SIZE 6
+#define REF_SPAD_BUFFER_SIZE 6
+
+#define VL53L0X_PLL_PERIOD_PS = 1655;
+#define VL53L0X_MACRO_PERIOD_VCLKS = 2304;
/**
- * @struct VL53L0X_SpadData_t
- * @brief Spad Configuration Data.
+ * @struct VL53L0X_SPADData_t
+ * @brief SPAD Configuration Data.
*/
typedef struct {
- uint8_t RefSpadEnables[VL53L0X_REF_SPAD_BUFFER_SIZE];
- /*!< Reference Spad Enables */
- uint8_t RefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE];
- /*!< Reference Spad Good Spad Map */
-} VL53L0X_SpadData_t;
+ uint8_t RefSPADEnables[REF_SPAD_BUFFER_SIZE];
+ /*!< Reference SPAD Enables */
+ uint8_t RefGoodSPADMap[REF_SPAD_BUFFER_SIZE];
+ /*!< Reference SPAD Good SPAD Map */
+} VL53L0X_SPADData_t;
typedef struct {
- FixPoint1616_t OscFrequencyMHz; /* Frequency used */
-
+ TFP1616 OscFrequencyMHz;
+ /* Frequency used */
uint16_t LastEncodedTimeout;
/* last encoded Time out used for timing budget*/
- VL53L0X_GpioFunctionality Pin0GpioFunctionality;
+ TGPIO_Func GpioFunctionality;
/* store the functionality of the GPIO: pin0 */
-
uint32_t FinalRangeTimeoutMicroSecs;
/*!< Execution time of the final range*/
- uint8_t FinalRangeVcselPulsePeriod;
+ uint8_t FinalRangeVcselPPeriod;
/*!< Vcsel pulse period (pll clocks) for the final range measurement*/
uint32_t PreRangeTimeoutMicroSecs;
/*!< Execution time of the final range*/
- uint8_t PreRangeVcselPulsePeriod;
+ uint8_t PreRangeVcselPPeriod;
/*!< Vcsel pulse period (pll clocks) for the pre-range measurement*/
-
uint16_t SigmaEstRefArray;
/*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */
uint16_t SigmaEstEffPulseWidth;
/*!< Effective Pulse width for sigma estimate in 1/100th of ns e.g. 900 = 9.0ns */
uint16_t SigmaEstEffAmbWidth;
- /*!< Effective Ambient width for sigma estimate in 1/100th of ns
- * e.g. 500 = 5.0ns */
-
+ /*!< Effective Ambient width for sigma estimate in 1/100th of ns e.g. 500 = 5.0ns */
uint8_t ReadDataFromDeviceDone; /* Indicate if read from device has
been done (==1) or not (==0) */
uint8_t ModuleId; /* Module ID */
uint8_t Revision; /* test Revision */
- char ProductId[VL53L0X_MAX_STRING_LENGTH];
- /* Product Identifier String */
- uint8_t ReferenceSpadCount; /* used for ref spad management */
- uint8_t ReferenceSpadType; /* used for ref spad management */
- uint8_t RefSpadsInitialised; /* reports if ref spads are initialised. */
+ char ProductId[VL53L0X_MAX_STRING_LENGTH]; /* Product Identifier String */
+ uint8_t ReferenceSPADCount; /* used for ref SPAD management */
+ uint8_t ReferenceSPADType; /* used for ref SPAD management */
+ uint8_t RefSPADSInitialised; /* reports if ref SPADS are initialised. */
uint32_t PartUIDUpper; /*!< Unique Part ID Upper */
uint32_t PartUIDLower; /*!< Unique Part ID Lower */
- FixPoint1616_t SignalRateMeasFixed400mm; /*!< Peek Signal rate
- at 400 mm*/
-
+ TFP1616 SignalRateMeasFixed400mm; /*!< Peek Signal rate at 400 mm*/
} VL53L0X_DeviceSpecificParameters_t;
/** @defgroup VL53L0X_define_InterruptPolarity_group Defines the Polarity
@@ -623,7 +642,6 @@
* @{
*/
typedef uint8_t VL53L0X_InterruptPolarity;
-
#define VL53L0X_INTERRUPTPOLARITY_LOW ((VL53L0X_InterruptPolarity) 0)
/*!< Set active low polarity best setup for falling edge. */
#define VL53L0X_INTERRUPTPOLARITY_HIGH ((VL53L0X_InterruptPolarity) 1)
@@ -633,15 +651,15 @@
/** @defgroup VL53L0X_define_VcselPeriod_group Vcsel Period Defines
- * Defines the range measurement for which to access the vcsel period.
+ * Defines the range measurement for which to access the vcsel Phase.
* @{
*/
-typedef uint8_t VL53L0X_VcselPeriod;
+typedef uint8_t VL53L0X_Range_Phase;
-#define VL53L0X_VCSEL_PERIOD_PRE_RANGE ((VL53L0X_VcselPeriod) 0)
-/*!<Identifies the pre-range vcsel period. */
-#define VL53L0X_VCSEL_PERIOD_FINAL_RANGE ((VL53L0X_VcselPeriod) 1)
-/*!<Identifies the final range vcsel period. */
+#define VL53L0X_VCSEL_PRE_RANGE ((VL53L0X_Range_Phase) 0)
+/*!<Identifies the pre-range vcsel Phase. */
+#define VL53L0X_VCSEL_FINAL_RANGE ((VL53L0X_Range_Phase) 1)
+/*!<Identifies the final range vcsel Phase . */
/** @} VL53L0X_define_VcselPeriod_group */
@@ -657,7 +675,7 @@
uint8_t DssOn; /*!<Reports if DSS On */
uint8_t PreRangeOn; /*!<Reports if Pre-Range On */
uint8_t FinalRangeOn; /*!<Reports if Final-Range On */
-} VL53L0X_SchedulerSequenceSteps_t;
+} VL53L0X_Sequence_Steps_t;
/** @} VL53L0X_define_SchedulerSequence_group */
@@ -668,15 +686,15 @@
*/
typedef uint8_t VL53L0X_SequenceStepId;
-#define VL53L0X_SEQUENCESTEP_TCC ((VL53L0X_VcselPeriod) 0)
+#define VL53L0X_SEQUENCESTEP_TCC ((VL53L0X_SequenceStepId) 0)
/*!<Target CentreCheck identifier. */
-#define VL53L0X_SEQUENCESTEP_DSS ((VL53L0X_VcselPeriod) 1)
-/*!<Dynamic Spad Selection function Identifier. */
-#define VL53L0X_SEQUENCESTEP_MSRC ((VL53L0X_VcselPeriod) 2)
+#define VL53L0X_SEQUENCESTEP_DSS ((VL53L0X_SequenceStepId) 1)
+/*!<Dynamic SPAD Selection function Identifier. */
+#define VL53L0X_SEQUENCESTEP_MSRC ((VL53L0X_SequenceStepId) 2)
/*!<Minimum Signal Rate Check function Identifier. */
-#define VL53L0X_SEQUENCESTEP_PRE_RANGE ((VL53L0X_VcselPeriod) 3)
+#define VL53L0X_SEQUENCESTEP_PRE_RANGE ((VL53L0X_SequenceStepId) 3)
/*!<Pre-Range check Identifier. */
-#define VL53L0X_SEQUENCESTEP_FINAL_RANGE ((VL53L0X_VcselPeriod) 4)
+#define VL53L0X_SEQUENCESTEP_FINAL_RANGE ((VL53L0X_SequenceStepId) 4)
/*!<Final Range Check Identifier. */
#define VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS 5
@@ -691,26 +709,26 @@
*/
/* Defines */
-#define VL53L0X_FIXPOINT1616TOFIXPOINT97(Value) (uint16_t)((Value>>9)&0xFFFF)
-#define VL53L0X_FIXPOINT97TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<9)
+#define FP1616_TO_FP97(Value) (uint16_t)((Value>>9)&0xFFFF)
+#define FP97_TO_FP1616(Value) (TFP1616)(Value<<9)
-#define VL53L0X_FIXPOINT1616TOFIXPOINT88(Value) (uint16_t)((Value>>8)&0xFFFF)
-#define VL53L0X_FIXPOINT88TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<8)
+#define FP1616_TO_FP88(Value) (uint16_t)((Value>>8)&0xFFFF)
+#define FP88_TO_FP1616(Value) (TFP1616)(Value<<8)
-#define VL53L0X_FIXPOINT1616TOFIXPOINT412(Value) (uint16_t)((Value>>4)&0xFFFF)
-#define VL53L0X_FIXPOINT412TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<4)
+#define FP1616_TO_FP412(Value) (uint16_t)((Value>>4)&0xFFFF)
+#define FP412_TO_FP1616(Value) (TFP1616)(Value<<4)
-#define VL53L0X_FIXPOINT1616TOFIXPOINT313(Value) (uint16_t)((Value>>3)&0xFFFF)
-#define VL53L0X_FIXPOINT313TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<3)
+#define FP1616_TO_FP313(Value) (uint16_t)((Value>>3)&0xFFFF)
+#define FP313_TO_FP1616(Value) (TFP1616)(Value<<3)
-#define VL53L0X_FIXPOINT1616TOFIXPOINT08(Value) (uint8_t)((Value>>8)&0x00FF)
-#define VL53L0X_FIXPOINT08TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<8)
+#define FP1616_TO_FP08(Value) (uint8_t)((Value>>8)&0x00FF)
+#define FP08_TO_FP1616(Value) (TFP1616)(Value<<8)
-#define VL53L0X_FIXPOINT1616TOFIXPOINT53(Value) (uint8_t)((Value>>13)&0x00FF)
-#define VL53L0X_FIXPOINT53TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<13)
+#define FP1616_TO_FP53(Value) (uint8_t)((Value>>13)&0x00FF)
+#define FP53_TO_FP1616(Value) (TFP1616)(Value<<13)
-#define VL53L0X_FIXPOINT1616TOFIXPOINT102(Value) (uint16_t)((Value>>14)&0x0FFF)
-#define VL53L0X_FIXPOINT102TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<12)
+#define FP1616_TO_FP102(Value) (uint16_t)((Value>>14)&0x0FFF)
+#define FP102_TO_FP1616(Value) (TFP1616)(Value<<12)
#define VL53L0X_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + (uint16_t)lsb)