Tarek Lule
Condensed Version of Public VL53L0X
VL53L0X.h
- Committer:
- sepp_nepp
- Date:
- 2019-03-24
- Revision:
- 7:41cbc431e1f4
- Parent:
- 5:b95f6951f7d5
- Child:
- 8:abea9638127a
File content as of revision 7:41cbc431e1f4:
/*******************************************************************************
Copyright © 2016, STMicroelectronics International N.V.
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modification, are permitted provided that the following conditions are met:
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derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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*****************************************************************************/
#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 "pinmap.h"
#include "PinNames.h"
#include "VL53L0X_def.h"
#include "VL53L0X_tuning.h"
/**
* 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"
/* Classes -------------------------------------------------------------------*/
/** Helper class DevI2C providing functions for multi-register I2C communication
* common for a series of I2C devices
*/
class DevI2C : public I2C
{
private:
static const unsigned int TEMP_BUF_SIZE = 64;
public:
/** Create a DevI2C Master interface, connected to the specified pins
*
* @param sda I2C data line pin
* @param scl I2C clock line pin
*/
DevI2C(PinName sda, PinName scl) : I2C(sda, scl) {}
/**
* @brief Writes a buffer towards the I2C peripheral device.
* @param pBuffer pointer to the byte-array data to send
* @param DeviceAddr specifies the peripheral device slave address.
* @param RegisterAddr specifies the internal address register
* where to start writing to (must be correctly masked).
* @param NumByteToWrite number of bytes to be written.
* @retval 0 if ok,
* @retval -1 if an I2C error has occured, or
* @retval -2 on temporary buffer overflow (i.e. NumByteToWrite was too high)
* @note On some devices if NumByteToWrite is greater
* than one, the RegisterAddr must be masked correctly!
*/
int i2c_write(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
uint16_t NumByteToWrite) {
int ret;
uint8_t tmp[TEMP_BUF_SIZE];
if(NumByteToWrite >= TEMP_BUF_SIZE) return -2;
/* First, send device address. Then, send data and STOP condition */
tmp[0] = RegisterAddr;
memcpy(tmp+1, pBuffer, NumByteToWrite);
ret = write(DeviceAddr, (const char*)tmp, NumByteToWrite+1, false);
if(ret) return -1;
return 0;
}
/**
* @brief Reads a buffer from the I2C peripheral device.
* @param pBuffer pointer to the byte-array to read data in to
* @param DeviceAddr specifies the peripheral device slave address.
* @param RegisterAddr specifies the internal address register
* where to start reading from (must be correctly masked).
* @param NumByteToRead 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!
*/
int i2c_read(uint8_t* pBuffer, uint8_t DeviceAddr, uint8_t RegisterAddr,
uint16_t NumByteToRead) {
int ret;
/* Send device address, with no STOP condition */
ret = write(DeviceAddr, (const char*)&RegisterAddr, 1, true);
if(!ret) {
/* Read data, with STOP condition */
ret = read(DeviceAddr, (char*)pBuffer, NumByteToRead, false);
}
if(ret) return -1;
return 0;
}
};
/* 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;
/* Classes -------------------------------------------------------------------*/
/** Class representing a VL53L0 sensor component
*/
class VL53L0X
{
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 = VL53L0X_DEFAULT_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;
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; }
wait_ms(10);
}
/**
* @brief PowerOff the sensor
* @return void
*/
/* turns off the sensor */
void VL53L0X_off(void)
{
if (_gpio0) { *_gpio0 = 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();
}
/**
* @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 Initialization
}
if (status == VL53L0X_ERROR_NONE) {
//printf("Call of VL53L0X_PerformRefCalibration\r\n");
status = VL53L0X_perform_ref_calibration(
&vhv_settings, &phase_cal); // Device Initialization
}
if (status == VL53L0X_ERROR_NONE) {
//printf("Call of VL53L0X_PerformRefSpadManagement\r\n");
status = VL53L0X_perform_ref_spad_management(
&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( VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);
if (status == VL53L0X_ERROR_NONE) {
//printf ("Call of VL53L0X_StartMeasurement\r\n");
status = VL53L0X_start_measurement();
}
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( 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( 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();
/**
* @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();
/**
* @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( 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(
uint8_t *p_vhv_settings, uint8_t *p_phase_cal);
VL53L0X_Error VL53L0X_set_ref_calibration(
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(
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(
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(
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(
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(
int32_t offset_calibration_data_micro_meter);
VL53L0X_Error VL53L0X_perform_offset_calibration(
FixPoint1616_t cal_distance_milli_meter,
int32_t *p_offset_micro_meter);
VL53L0X_Error VL53L0X_perform_xtalk_calibration(
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(
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(
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(
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(
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(
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_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_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( 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( 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();
/**
* @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();
/**
* @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(
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(
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_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( 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(
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_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();
/**
* @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_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_RangingMeasurementData_t *p_ranging_measurement_data,
FixPoint1616_t *p_total_signal_rate_mcps);
VL53L0X_Error VL53L0X_get_total_xtalk_rate(
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(
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(
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( 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( 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( 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( 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( 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(
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(
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(
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( 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();
/**
* @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(
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(
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_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_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_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_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_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_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_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( 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(
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(
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_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_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_Error sequence_step_enabled(
VL53L0X_SequenceStepId sequence_step_id, uint8_t sequence_config,
uint8_t *p_sequence_step_enabled);
VL53L0X_Error VL53L0X_check_and_load_interrupt_settings(
uint8_t start_not_stopflag);
/* api_core.h functions */
VL53L0X_Error VL53L0X_get_info_from_device( uint8_t option);
VL53L0X_Error VL53L0X_device_read_strobe();
VL53L0X_Error wrapped_VL53L0X_get_measurement_timing_budget_micro_seconds(
uint32_t *p_measurement_timing_budget_micro_seconds);
VL53L0X_Error wrapped_VL53L0X_get_vcsel_pulse_period(
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(
uint16_t timeout_period_mclks,
uint8_t vcsel_period_pclks);
uint32_t VL53L0X_calc_macro_period_ps( uint8_t vcsel_period_pclks);
VL53L0X_Error VL53L0X_measurement_poll_for_completion();
VL53L0X_Error VL53L0X_load_tuning_settings(
uint8_t *p_tuning_setting_buffer);
VL53L0X_Error VL53L0X_get_pal_range_status(
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_RangingMeasurementData_t *p_ranging_measurement_data,
FixPoint1616_t *p_sigma_estimate,
uint32_t *p_dmax_mm);
uint32_t VL53L0X_calc_timeout_mclks(
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(
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(
uint32_t measurement_timing_budget_micro_seconds);
VL53L0X_Error get_sequence_step_timeout(
VL53L0X_SequenceStepId sequence_step_id,
uint32_t *p_time_out_micro_secs);
VL53L0X_Error set_sequence_step_timeout(
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_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_Error wrapped_VL53L0X_get_offset_calibration_data_micro_meter(
int32_t *p_offset_calibration_data_micro_meter);
VL53L0X_Error wrapped_VL53L0X_set_offset_calibration_data_micro_meter(
int32_t offset_calibration_data_micro_meter);
VL53L0X_Error wrapped_VL53L0X_perform_ref_spad_management(
uint32_t *ref_spad_count,
uint8_t *is_aperture_spads);
VL53L0X_Error VL53L0X_perform_ref_calibration(
uint8_t *p_vhv_settings, uint8_t *p_phase_cal, uint8_t get_data_enable);
VL53L0X_Error VL53L0X_perform_vhv_calibration(
uint8_t *p_vhv_settings, const uint8_t get_data_enable,
const uint8_t restore_config);
VL53L0X_Error VL53L0X_perform_single_ref_calibration(
uint8_t vhv_init_byte);
VL53L0X_Error VL53L0X_ref_calibration_io( 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(
uint8_t *p_phase_cal, const uint8_t get_data_enable,
const uint8_t restore_config);
VL53L0X_Error enable_ref_spads(
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( uint8_t *p_ref_spad_array);
VL53L0X_Error get_ref_spad_map( uint8_t *p_ref_spad_array);
VL53L0X_Error perform_ref_signal_measurement(
uint16_t *p_ref_signal_rate);
VL53L0X_Error wrapped_VL53L0X_set_reference_spads(
uint32_t count, uint8_t is_aperture_spads);
VL53L0X_Error VL53L0X_check_part_used(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_Error wait_stop_completed();
/* 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( 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( 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( 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( 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( 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( 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( 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( 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( 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 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 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(); /* usually best implemented as a real function */
int is_present()
{
int status;
uint8_t id = 0;
status = read_id(&id);
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( 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(
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(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(
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(
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_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_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_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(
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(
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(
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(
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(
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(
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(
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(
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_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_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(
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_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_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_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(
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(
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(
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(
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(
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(
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(
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();
/**
* 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();
/**
* @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(
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(
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(
uint32_t max_loop);
VL53L0X_Error VL53L0X_reverse_bytes(uint8_t *data, uint32_t size);
int range_meas_int_continuous_mode(void (*fptr)(void));
/* IO Device */
DevI2C *_dev_i2c;
/* Digital out pin */
DigitalOut *_gpio0;
/* Measure detection IRQ */
InterruptIn *_gpio1Int;
/* Device data */
VL53L0X_DeviceInfo_t _device_info;
VL53L0X_Dev_t _my_device;
VL53L0X_DEV _device;
};
#endif /* _VL53L0X_CLASS_H_ */