Tarek Lule / VL53L0X_Condensed

Condensed Version of Public VL53L0X

Dependents:   ToF-Only-Tryout

VL53L0X_def.h@12:aa177f0e4c10, 2019-04-10 (annotated)

Committer:
sepp_nepp
Date:
Wed Apr 10 19:03:16 2019 +0000
Revision:
12:aa177f0e4c10
Parent:
11:c6f95a42d4d7 
Troy a gain

Who changed what in which revision?

UserRevisionLine numberNew contents of line
nikapov 0:a1a69d32f310 1 /*******************************************************************************
nikapov 0:a1a69d32f310 2 Copyright © 2016, STMicroelectronics International N.V.
nikapov 0:a1a69d32f310 3 All rights reserved.
nikapov 0:a1a69d32f310 4
nikapov 0:a1a69d32f310 5 Redistribution and use in source and binary forms, with or without
nikapov 0:a1a69d32f310 6 modification, are permitted provided that the following conditions are met:
nikapov 0:a1a69d32f310 7 * Redistributions of source code must retain the above copyright
nikapov 0:a1a69d32f310 8 notice, this list of conditions and the following disclaimer.
nikapov 0:a1a69d32f310 9 * Redistributions in binary form must reproduce the above copyright
nikapov 0:a1a69d32f310 10 notice, this list of conditions and the following disclaimer in the
nikapov 0:a1a69d32f310 11 documentation and/or other materials provided with the distribution.
nikapov 0:a1a69d32f310 12 * Neither the name of STMicroelectronics nor the
nikapov 0:a1a69d32f310 13 names of its contributors may be used to endorse or promote products
nikapov 0:a1a69d32f310 14 derived from this software without specific prior written permission.
nikapov 0:a1a69d32f310 15
nikapov 0:a1a69d32f310 16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
nikapov 0:a1a69d32f310 17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
nikapov 0:a1a69d32f310 18 WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
nikapov 0:a1a69d32f310 19 NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
nikapov 0:a1a69d32f310 20 IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
nikapov 0:a1a69d32f310 21 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
nikapov 0:a1a69d32f310 22 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
nikapov 0:a1a69d32f310 23 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
nikapov 0:a1a69d32f310 24 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
nikapov 0:a1a69d32f310 25 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
nikapov 0:a1a69d32f310 26 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
nikapov 0:a1a69d32f310 27 *******************************************************************************/
nikapov 0:a1a69d32f310 28
nikapov 0:a1a69d32f310 29 /**
nikapov 0:a1a69d32f310 30 * @file VL53L0X_def.h
nikapov 0:a1a69d32f310 31 *
nikapov 0:a1a69d32f310 32 * @brief Type definitions for VL53L0X API.
nikapov 0:a1a69d32f310 33 *
nikapov 0:a1a69d32f310 34 */
nikapov 0:a1a69d32f310 35
nikapov 0:a1a69d32f310 36
nikapov 0:a1a69d32f310 37 #ifndef _VL53L0X_DEF_H_
nikapov 0:a1a69d32f310 38 #define _VL53L0X_DEF_H_
nikapov 0:a1a69d32f310 39
nikapov 0:a1a69d32f310 40
nikapov 0:a1a69d32f310 41 #ifdef __cplusplus
nikapov 0:a1a69d32f310 42 extern "C" {
nikapov 0:a1a69d32f310 43 #endif
nikapov 0:a1a69d32f310 44
nikapov 0:a1a69d32f310 45 /** @defgroup VL53L0X_globaldefine_group VL53L0X Defines
nikapov 0:a1a69d32f310 46 * @brief VL53L0X Defines
nikapov 0:a1a69d32f310 47 * @{
nikapov 0:a1a69d32f310 48 */
nikapov 0:a1a69d32f310 49
sepp_nepp 5:b95f6951f7d5 50 /****************** define for i2c configuration *******************************/
sepp_nepp 5:b95f6951f7d5 51 /** Maximum buffer size to be used in i2c */
sepp_nepp 5:b95f6951f7d5 52 #define VL53L0X_MAX_I2C_XFER_SIZE 64 /* Maximum buffer size to be used in i2c */
sepp_nepp 5:b95f6951f7d5 53 #define VL53L0X_I2C_USER_VAR /* none but could be for a flag var to get/pass to mutex interruptible return flags and try again */
sepp_nepp 5:b95f6951f7d5 54
nikapov 0:a1a69d32f310 55
sepp_nepp 11:c6f95a42d4d7 56 /** Device SPECIFICATION major version */
nikapov 0:a1a69d32f310 57 #define VL53L0X10_SPECIFICATION_VER_MAJOR 1
sepp_nepp 11:c6f95a42d4d7 58 /** Device SPECIFICATION minor version */
nikapov 0:a1a69d32f310 59 #define VL53L0X10_SPECIFICATION_VER_MINOR 2
sepp_nepp 11:c6f95a42d4d7 60 /** Device SPECIFICATION sub version */
nikapov 0:a1a69d32f310 61 #define VL53L0X10_SPECIFICATION_VER_SUB 7
sepp_nepp 11:c6f95a42d4d7 62 /** Device SPECIFICATION sub version */
nikapov 0:a1a69d32f310 63 #define VL53L0X10_SPECIFICATION_VER_REVISION 1440
nikapov 0:a1a69d32f310 64
sepp_nepp 11:c6f95a42d4d7 65 /** VL53L0X Device IMPLEMENTATION major version */
nikapov 0:a1a69d32f310 66 #define VL53L0X10_IMPLEMENTATION_VER_MAJOR 1
sepp_nepp 11:c6f95a42d4d7 67 /** VL53L0X Device IMPLEMENTATION minor version */
nikapov 0:a1a69d32f310 68 #define VL53L0X10_IMPLEMENTATION_VER_MINOR 0
sepp_nepp 11:c6f95a42d4d7 69 /** VL53L0X Device IMPLEMENTATION sub version */
nikapov 0:a1a69d32f310 70 #define VL53L0X10_IMPLEMENTATION_VER_SUB 9
sepp_nepp 11:c6f95a42d4d7 71 /** VL53L0X Device IMPLEMENTATION sub version */
nikapov 0:a1a69d32f310 72 #define VL53L0X10_IMPLEMENTATION_VER_REVISION 3673
nikapov 0:a1a69d32f310 73
sepp_nepp 11:c6f95a42d4d7 74 /** Device SPECIFICATION major version */
nikapov 0:a1a69d32f310 75 #define VL53L0X_SPECIFICATION_VER_MAJOR 1
sepp_nepp 11:c6f95a42d4d7 76 /** Device SPECIFICATION minor version */
nikapov 0:a1a69d32f310 77 #define VL53L0X_SPECIFICATION_VER_MINOR 2
sepp_nepp 11:c6f95a42d4d7 78 /** Device SPECIFICATION sub version */
nikapov 0:a1a69d32f310 79 #define VL53L0X_SPECIFICATION_VER_SUB 7
sepp_nepp 11:c6f95a42d4d7 80 /** Device SPECIFICATION sub version */
nikapov 0:a1a69d32f310 81 #define VL53L0X_SPECIFICATION_VER_REVISION 1440
nikapov 0:a1a69d32f310 82
sepp_nepp 11:c6f95a42d4d7 83 /** VL53L0X Device IMPLEMENTATION major version */
nikapov 0:a1a69d32f310 84 #define VL53L0X_IMPLEMENTATION_VER_MAJOR 1
sepp_nepp 11:c6f95a42d4d7 85 /** VL53L0X Device IMPLEMENTATION minor version */
nikapov 0:a1a69d32f310 86 #define VL53L0X_IMPLEMENTATION_VER_MINOR 1
sepp_nepp 11:c6f95a42d4d7 87 /** VL53L0X Device IMPLEMENTATION sub version */
nikapov 0:a1a69d32f310 88 #define VL53L0X_IMPLEMENTATION_VER_SUB 21
sepp_nepp 11:c6f95a42d4d7 89 /** VL53L0X Device IMPLEMENTATION sub version */
nikapov 0:a1a69d32f310 90 #define VL53L0X_IMPLEMENTATION_VER_REVISION 4823
sepp_nepp 5:b95f6951f7d5 91
sepp_nepp 5:b95f6951f7d5 92
nikapov 0:a1a69d32f310 93 #define VL53L0X_DEFAULT_MAX_LOOP 2000
nikapov 0:a1a69d32f310 94 #define VL53L0X_MAX_STRING_LENGTH 32
nikapov 0:a1a69d32f310 95
sepp_nepp 11:c6f95a42d4d7 96 /** The device model ID */
sepp_nepp 11:c6f95a42d4d7 97 #define IDENTIFICATION_MODEL_ID 0x000
sepp_nepp 11:c6f95a42d4d7 98 #define STATUS_OK 0x00
sepp_nepp 11:c6f95a42d4d7 99 #define STATUS_FAIL 0x01
sepp_nepp 11:c6f95a42d4d7 100
sepp_nepp 11:c6f95a42d4d7 101 /** default device address */
sepp_nepp 11:c6f95a42d4d7 102 #define VL53L0X_DEFAULT_ADDRESS 0x52 /* (8-bit) */
sepp_nepp 11:c6f95a42d4d7 103
sepp_nepp 11:c6f95a42d4d7 104 #define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 "VL53L0X TS0"
sepp_nepp 11:c6f95a42d4d7 105 #define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 "VL53L0X TS1"
sepp_nepp 11:c6f95a42d4d7 106 #define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 "VL53L0X TS2"
sepp_nepp 11:c6f95a42d4d7 107 #define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 "VL53L0X ES1 or later"
sepp_nepp 11:c6f95a42d4d7 108 #define VL53L0X_STRING_DEVICE_INFO_TYPE "VL53L0X"
sepp_nepp 11:c6f95a42d4d7 109
sepp_nepp 11:c6f95a42d4d7 110 #define REF_ARRAY_SPAD_0 0
sepp_nepp 11:c6f95a42d4d7 111 #define REF_ARRAY_SPAD_5 5
sepp_nepp 11:c6f95a42d4d7 112 #define REF_ARRAY_SPAD_10 10
sepp_nepp 11:c6f95a42d4d7 113
sepp_nepp 11:c6f95a42d4d7 114
sepp_nepp 11:c6f95a42d4d7 115 /* sensor operating modes */
sepp_nepp 11:c6f95a42d4d7 116 typedef enum {
sepp_nepp 11:c6f95a42d4d7 117 op_single_shot_poll = 1,
sepp_nepp 11:c6f95a42d4d7 118 op_poll, // was range_continuous_polling
sepp_nepp 11:c6f95a42d4d7 119 op_INT,
sepp_nepp 11:c6f95a42d4d7 120 op_poll_low_threshold,
sepp_nepp 11:c6f95a42d4d7 121 op_poll_high_threshold,
sepp_nepp 11:c6f95a42d4d7 122 op_poll_out_of_window,
sepp_nepp 11:c6f95a42d4d7 123 op_INT_low_threshold,
sepp_nepp 11:c6f95a42d4d7 124 op_INT_high_threshold,
sepp_nepp 11:c6f95a42d4d7 125 op_INT_out_of_window,
sepp_nepp 11:c6f95a42d4d7 126 } TOperatingMode;
nikapov 0:a1a69d32f310 127
sepp_nepp 7:41cbc431e1f4 128 /**
sepp_nepp 7:41cbc431e1f4 129 * Device specific defines. To be adapted by implementer for the targeted
sepp_nepp 7:41cbc431e1f4 130 * device.
sepp_nepp 7:41cbc431e1f4 131 */
sepp_nepp 7:41cbc431e1f4 132
sepp_nepp 7:41cbc431e1f4 133 /** use where fractional values are expected
sepp_nepp 7:41cbc431e1f4 134 *
sepp_nepp 11:c6f95a42d4d7 135 * Given a floating point value f it's 16.16 bit point is (int)(f*(1<<16))*/
sepp_nepp 11:c6f95a42d4d7 136 typedef uint32_t TFP1616;
sepp_nepp 7:41cbc431e1f4 137
sepp_nepp 7:41cbc431e1f4 138 /** @defgroup VL53L0X_DevSpecDefines_group VL53L0X cut1.1 Device Specific Defines
sepp_nepp 7:41cbc431e1f4 139 * @brief VL53L0X cut1.1 Device Specific Defines
sepp_nepp 7:41cbc431e1f4 140 * @{
sepp_nepp 7:41cbc431e1f4 141 */
sepp_nepp 7:41cbc431e1f4 142
sepp_nepp 7:41cbc431e1f4 143 /** @defgroup VL53L0X_DeviceError_group Device Error
sepp_nepp 7:41cbc431e1f4 144 * @brief Device Error code
sepp_nepp 7:41cbc431e1f4 145 *
sepp_nepp 7:41cbc431e1f4 146 * This enum is Device specific it should be updated in the implementation
sepp_nepp 7:41cbc431e1f4 147 * Use @a VL53L0X_GetStatusErrorString() to get the string.
sepp_nepp 7:41cbc431e1f4 148 * It is related to Status Register of the Device.
sepp_nepp 7:41cbc431e1f4 149 * @{
sepp_nepp 7:41cbc431e1f4 150 */
sepp_nepp 11:c6f95a42d4d7 151 typedef uint8_t TDevError;
sepp_nepp 7:41cbc431e1f4 152
sepp_nepp 11:c6f95a42d4d7 153 #define VL53L0X_DEVICEERROR_NONE ((TDevError) 0)
sepp_nepp 7:41cbc431e1f4 154 /*!< 0 NoError */
sepp_nepp 11:c6f95a42d4d7 155 #define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((TDevError) 1)
sepp_nepp 11:c6f95a42d4d7 156 #define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((TDevError) 2)
sepp_nepp 11:c6f95a42d4d7 157 #define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND ((TDevError) 3)
sepp_nepp 11:c6f95a42d4d7 158 #define VL53L0X_DEVICEERROR_MSRCNOTARGET ((TDevError) 4)
sepp_nepp 11:c6f95a42d4d7 159 #define VL53L0X_DEVICEERROR_SNRCHECK ((TDevError) 5)
sepp_nepp 11:c6f95a42d4d7 160 #define VL53L0X_DEVICEERROR_RANGEPHASECHECK ((TDevError) 6)
sepp_nepp 11:c6f95a42d4d7 161 #define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK ((TDevError) 7)
sepp_nepp 11:c6f95a42d4d7 162 #define VL53L0X_DEVICEERROR_TCC ((TDevError) 8)
sepp_nepp 11:c6f95a42d4d7 163 #define VL53L0X_DEVICEERROR_MINCLIP ((TDevError) 10)
sepp_nepp 11:c6f95a42d4d7 164 #define VL53L0X_DEVICEERROR_RANGECOMPLETE ((TDevError) 11)
sepp_nepp 11:c6f95a42d4d7 165 #define VL53L0X_DEVICEERROR_ALGOUNDERFLOW ((TDevError) 12)
sepp_nepp 11:c6f95a42d4d7 166 #define VL53L0X_DEVICEERROR_ALGOOVERFLOW ((TDevError) 13)
sepp_nepp 11:c6f95a42d4d7 167 #define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD ((TDevError) 14)
sepp_nepp 7:41cbc431e1f4 168
sepp_nepp 7:41cbc431e1f4 169 /** @} end of VL53L0X_DeviceError_group */
sepp_nepp 7:41cbc431e1f4 170
sepp_nepp 7:41cbc431e1f4 171
sepp_nepp 11:c6f95a42d4d7 172 /** @defgroup VL53L0X_CHECKEN_group Check Enable list
sepp_nepp 7:41cbc431e1f4 173 * @brief Check Enable code
sepp_nepp 7:41cbc431e1f4 174 *
sepp_nepp 7:41cbc431e1f4 175 * Define used to specify the LimitCheckId.
sepp_nepp 7:41cbc431e1f4 176 * Use @a VL53L0X_GetLimitCheckInfo() to get the string.
sepp_nepp 7:41cbc431e1f4 177 * @{
sepp_nepp 7:41cbc431e1f4 178 */
sepp_nepp 11:c6f95a42d4d7 179 #define VL53L0X_CHECKEN_SIGMA_FINAL_RANGE 0
sepp_nepp 11:c6f95a42d4d7 180 #define VL53L0X_CHECKEN_SIG_RATE_FINAL_RANGE 1
sepp_nepp 11:c6f95a42d4d7 181 #define VL53L0X_CHECKEN_SIG_REF_CLIP 2
sepp_nepp 11:c6f95a42d4d7 182 #define VL53L0X_CHECKEN_RANGE_IGNORE_THRESHOLD 3
sepp_nepp 11:c6f95a42d4d7 183 #define VL53L0X_CHECKEN_SIG_RATE_MSRC 4
sepp_nepp 11:c6f95a42d4d7 184 #define VL53L0X_CHECKEN_SIG_RATE_PRE_RANGE 5
sepp_nepp 11:c6f95a42d4d7 185 #define VL53L0X_CHECKEN_NUMBER_OF_CHECKS 6
sepp_nepp 11:c6f95a42d4d7 186 /** @} end of VL53L0X_CHECKEN_group */
sepp_nepp 7:41cbc431e1f4 187
sepp_nepp 7:41cbc431e1f4 188
sepp_nepp 11:c6f95a42d4d7 189 /** @defgroup GPIO_Func_group Gpio Functionality
sepp_nepp 7:41cbc431e1f4 190 * @brief Defines the different functionalities for the device GPIO(s)
sepp_nepp 11:c6f95a42d4d7 191 * @{ */
sepp_nepp 11:c6f95a42d4d7 192 typedef enum {
sepp_nepp 11:c6f95a42d4d7 193 GPIO_FUNC_OFF = 0, /*!< NO Interrupt */
sepp_nepp 11:c6f95a42d4d7 194 GPIO_FUNC_THRESHOLD_CROSSED_LOW, /*!< Level Low (value < thresh_low) */
sepp_nepp 11:c6f95a42d4d7 195 GPIO_FUNC_THRESHOLD_CROSSED_HIGH, /*!< Level High (value > thresh_high) */
sepp_nepp 11:c6f95a42d4d7 196 GPIO_FUNC_THRESHOLD_CROSSED_OUT, /*!< Out Of Window (value < thresh_low OR value > thresh_high) */
sepp_nepp 11:c6f95a42d4d7 197 GPIO_FUNC_NEW_MEASURE_READY /*!< New Sample Ready */
sepp_nepp 11:c6f95a42d4d7 198 } TGPIO_Func;
sepp_nepp 11:c6f95a42d4d7 199 /** @} end of GPIO_FUNC_group */
sepp_nepp 7:41cbc431e1f4 200
sepp_nepp 7:41cbc431e1f4 201
sepp_nepp 7:41cbc431e1f4 202 /* Device register map */
sepp_nepp 7:41cbc431e1f4 203
sepp_nepp 7:41cbc431e1f4 204 /** @defgroup VL53L0X_DefineRegisters_group Define Registers
sepp_nepp 7:41cbc431e1f4 205 * @brief List of all the defined registers
sepp_nepp 7:41cbc431e1f4 206 * @{
sepp_nepp 7:41cbc431e1f4 207 */
sepp_nepp 11:c6f95a42d4d7 208 #define REG_SYSRANGE_START 0x000
sepp_nepp 11:c6f95a42d4d7 209 /** mask existing bit in #REG_SYSRANGE_START*/
sepp_nepp 11:c6f95a42d4d7 210 #define REG_SYSRANGE_MODE_MASK 0x0F
sepp_nepp 11:c6f95a42d4d7 211 /** bit 0 in #REG_SYSRANGE_START write 1 toggle state in
sepp_nepp 7:41cbc431e1f4 212 * continuous mode and arm next shot in single shot mode */
sepp_nepp 11:c6f95a42d4d7 213 #define REG_SYSRANGE_MODE_START_STOP 0x01
sepp_nepp 11:c6f95a42d4d7 214 /** bit 1 write 0 in #REG_SYSRANGE_START set single shot mode */
sepp_nepp 11:c6f95a42d4d7 215 #define REG_SYSRANGE_MODE_SINGLESHOT 0x00
sepp_nepp 11:c6f95a42d4d7 216 /** bit 1 write 1 in #REG_SYSRANGE_START set back-to-back
sepp_nepp 7:41cbc431e1f4 217 * operation mode */
sepp_nepp 11:c6f95a42d4d7 218 #define REG_SYSRANGE_MODE_BACKTOBACK 0x02
sepp_nepp 11:c6f95a42d4d7 219 /** bit 2 write 1 in #REG_SYSRANGE_START set timed operation
sepp_nepp 7:41cbc431e1f4 220 * mode */
sepp_nepp 11:c6f95a42d4d7 221 #define REG_SYSRANGE_MODE_TIMED 0x04
sepp_nepp 11:c6f95a42d4d7 222 /** bit 3 write 1 in #REG_SYSRANGE_START set histogram operation
sepp_nepp 7:41cbc431e1f4 223 * mode */
sepp_nepp 11:c6f95a42d4d7 224 #define REG_SYSRANGE_MODE_HISTOGRAM 0x08
sepp_nepp 7:41cbc431e1f4 225
sepp_nepp 11:c6f95a42d4d7 226 #define REG_SYSTEM_THRESH_HIGH 0x0C
sepp_nepp 11:c6f95a42d4d7 227 #define REG_SYSTEM_THRESH_LOW 0x0E
sepp_nepp 11:c6f95a42d4d7 228 #define REG_SYSTEM_SEQUENCE_CONFIG 0x01
sepp_nepp 11:c6f95a42d4d7 229 #define REG_SYSTEM_RANGE_CONFIG 0x09
sepp_nepp 11:c6f95a42d4d7 230 #define REG_SYSTEM_MEASURE_PERIOD 0x04
sepp_nepp 7:41cbc431e1f4 231
sepp_nepp 11:c6f95a42d4d7 232 #define REG_SYSINT_CONFIG_GPIO 0x0A
sepp_nepp 11:c6f95a42d4d7 233 #define REG_SYSINT_GPIO_DISABLED 0x00
sepp_nepp 11:c6f95a42d4d7 234 #define REG_SYSINT_GPIO_LEVEL_LOW 0x01
sepp_nepp 11:c6f95a42d4d7 235 #define REG_SYSINT_GPIO_LEVEL_HIGH 0x02
sepp_nepp 11:c6f95a42d4d7 236 #define REG_SYSINT_GPIO_OUT_OF_WINDOW 0x03
sepp_nepp 11:c6f95a42d4d7 237 #define REG_SYSINT_GPIO_NEW_SAMPLE_READY 0x04
sepp_nepp 7:41cbc431e1f4 238
sepp_nepp 11:c6f95a42d4d7 239 #define REG_GPIO_HV_MUX_ACTIVE_HIGH 0x84
sepp_nepp 11:c6f95a42d4d7 240 #define REG_SYSINT_CLEAR 0x0B
sepp_nepp 7:41cbc431e1f4 241
sepp_nepp 7:41cbc431e1f4 242 /* Result registers */
sepp_nepp 11:c6f95a42d4d7 243 #define REG_RESULT_INTERRUPT_STATUS 0x13
sepp_nepp 11:c6f95a42d4d7 244 #define REG_RESULT_RANGE_STATUS 0x14
sepp_nepp 7:41cbc431e1f4 245
sepp_nepp 11:c6f95a42d4d7 246 #define REG_RESULT_CORE_PAGE 1
sepp_nepp 11:c6f95a42d4d7 247 #define REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0xBC
sepp_nepp 11:c6f95a42d4d7 248 #define REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0xC0
sepp_nepp 11:c6f95a42d4d7 249 #define REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0xD0
sepp_nepp 11:c6f95a42d4d7 250 #define REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0xD4
sepp_nepp 11:c6f95a42d4d7 251 #define REG_RESULT_PEAK_SIG_RATE_REF 0xB6
sepp_nepp 7:41cbc431e1f4 252
sepp_nepp 7:41cbc431e1f4 253 /* Algo register */
sepp_nepp 11:c6f95a42d4d7 254 #define REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x28
sepp_nepp 11:c6f95a42d4d7 255 #define REG_I2C_SLAVE_DEVICE_ADDRESS 0x8a
sepp_nepp 7:41cbc431e1f4 256
sepp_nepp 7:41cbc431e1f4 257 /* Check Limit registers */
sepp_nepp 11:c6f95a42d4d7 258 #define REG_MSRC_CONFIG_CONTROL 0x60
sepp_nepp 7:41cbc431e1f4 259
sepp_nepp 11:c6f95a42d4d7 260 #define REG_PRE_RANGE_CONFIG_MIN_SNR 0X27
sepp_nepp 11:c6f95a42d4d7 261 #define REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x56
sepp_nepp 11:c6f95a42d4d7 262 #define REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x57
sepp_nepp 11:c6f95a42d4d7 263 #define REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x64
sepp_nepp 7:41cbc431e1f4 264
sepp_nepp 11:c6f95a42d4d7 265 #define REG_FINAL_RANGE_CONFIG_MIN_SNR 0X67
sepp_nepp 11:c6f95a42d4d7 266 #define REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x47
sepp_nepp 11:c6f95a42d4d7 267 #define REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x48
sepp_nepp 11:c6f95a42d4d7 268 #define REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x44
sepp_nepp 7:41cbc431e1f4 269
sepp_nepp 11:c6f95a42d4d7 270 #define REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0x61
sepp_nepp 11:c6f95a42d4d7 271 #define REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0x62
sepp_nepp 7:41cbc431e1f4 272
sepp_nepp 7:41cbc431e1f4 273 /* PRE RANGE registers */
sepp_nepp 11:c6f95a42d4d7 274 #define REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x50
sepp_nepp 11:c6f95a42d4d7 275 #define REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x51
sepp_nepp 11:c6f95a42d4d7 276 #define REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x52
sepp_nepp 7:41cbc431e1f4 277
sepp_nepp 11:c6f95a42d4d7 278 #define REG_SYSTEM_HISTOGRAM_BIN 0x81
sepp_nepp 11:c6f95a42d4d7 279 #define REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x33
sepp_nepp 11:c6f95a42d4d7 280 #define REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x55
sepp_nepp 7:41cbc431e1f4 281
sepp_nepp 11:c6f95a42d4d7 282 #define REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x70
sepp_nepp 11:c6f95a42d4d7 283 #define REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x71
sepp_nepp 11:c6f95a42d4d7 284 #define REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x72
sepp_nepp 11:c6f95a42d4d7 285 #define REG_XTALK_COMPENS_RATE_MHz 0x20
sepp_nepp 7:41cbc431e1f4 286
sepp_nepp 11:c6f95a42d4d7 287 #define REG_MSRC_CONFIG_TIMEOUT_MACROP 0x46
sepp_nepp 7:41cbc431e1f4 288
sepp_nepp 11:c6f95a42d4d7 289 #define REG_SOFT_RESET_GO2_SOFT_RESET_N 0xbf
sepp_nepp 11:c6f95a42d4d7 290 #define REG_IDENTIFICATION_MODEL_ID 0xc0
sepp_nepp 11:c6f95a42d4d7 291 #define REG_IDENTIFICATION_REVISION_ID 0xc2
sepp_nepp 7:41cbc431e1f4 292
sepp_nepp 11:c6f95a42d4d7 293 #define REG_OSC_CALIBRATE_VAL 0xf8
sepp_nepp 7:41cbc431e1f4 294
sepp_nepp 11:c6f95a42d4d7 295 #define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE 0xffff
sepp_nepp 7:41cbc431e1f4 296 /* equivalent to a range sigma of 655.35mm */
sepp_nepp 7:41cbc431e1f4 297
sepp_nepp 11:c6f95a42d4d7 298 #define REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x32
sepp_nepp 11:c6f95a42d4d7 299 #define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0xB0
sepp_nepp 11:c6f95a42d4d7 300 #define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0xB1
sepp_nepp 11:c6f95a42d4d7 301 #define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0xB2
sepp_nepp 11:c6f95a42d4d7 302 #define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0xB3
sepp_nepp 11:c6f95a42d4d7 303 #define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0xB4
sepp_nepp 11:c6f95a42d4d7 304 #define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0xB5
sepp_nepp 7:41cbc431e1f4 305
sepp_nepp 11:c6f95a42d4d7 306 #define REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6
sepp_nepp 11:c6f95a42d4d7 307 #define REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E
sepp_nepp 11:c6f95a42d4d7 308 #define REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F
sepp_nepp 11:c6f95a42d4d7 309 #define REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80
sepp_nepp 7:41cbc431e1f4 310
sepp_nepp 7:41cbc431e1f4 311 /* Speed of light in um per 1E-10 Seconds */
sepp_nepp 7:41cbc431e1f4 312 #define VL53L0X_SPEED_OF_LIGHT_IN_AIR 2997
sepp_nepp 7:41cbc431e1f4 313
sepp_nepp 11:c6f95a42d4d7 314 #define REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x89
sepp_nepp 7:41cbc431e1f4 315
sepp_nepp 11:c6f95a42d4d7 316 #define REG_ALGO_PHASECAL_LIM 0x30
sepp_nepp 11:c6f95a42d4d7 317 #define REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x30
sepp_nepp 7:41cbc431e1f4 318
sepp_nepp 7:41cbc431e1f4 319 /** @} VL53L0X_DefineRegisters_group */
sepp_nepp 7:41cbc431e1f4 320
sepp_nepp 7:41cbc431e1f4 321 /** @} VL53L0X_DevSpecDefines_group */
sepp_nepp 7:41cbc431e1f4 322
nikapov 0:a1a69d32f310 323
nikapov 0:a1a69d32f310 324 /****************************************
nikapov 0:a1a69d32f310 325 * PRIVATE define do not edit
nikapov 0:a1a69d32f310 326 ****************************************/
nikapov 0:a1a69d32f310 327
nikapov 0:a1a69d32f310 328 /** @brief Defines the parameters of the Get Version Functions
nikapov 0:a1a69d32f310 329 */
nikapov 0:a1a69d32f310 330 typedef struct {
Davidroid 2:d07edeaff6f1 331 uint32_t revision; /*!< revision number */
Davidroid 2:d07edeaff6f1 332 uint8_t major; /*!< major number */
Davidroid 2:d07edeaff6f1 333 uint8_t minor; /*!< minor number */
Davidroid 2:d07edeaff6f1 334 uint8_t build; /*!< build number */
nikapov 0:a1a69d32f310 335 } VL53L0X_Version_t;
nikapov 0:a1a69d32f310 336
nikapov 0:a1a69d32f310 337
nikapov 0:a1a69d32f310 338 /** @brief Defines the parameters of the Get Device Info Functions
nikapov 0:a1a69d32f310 339 */
nikapov 0:a1a69d32f310 340 typedef struct {
Davidroid 2:d07edeaff6f1 341 char Name[VL53L0X_MAX_STRING_LENGTH];
Davidroid 2:d07edeaff6f1 342 /*!< Name of the Device e.g. Left_Distance */
Davidroid 2:d07edeaff6f1 343 char Type[VL53L0X_MAX_STRING_LENGTH];
Davidroid 2:d07edeaff6f1 344 /*!< Type of the Device e.g VL53L0X */
Davidroid 2:d07edeaff6f1 345 char ProductId[VL53L0X_MAX_STRING_LENGTH];
Davidroid 2:d07edeaff6f1 346 /*!< Product Identifier String */
Davidroid 2:d07edeaff6f1 347 uint8_t ProductType;
Davidroid 2:d07edeaff6f1 348 /*!< Product Type, VL53L0X = 1, VL53L1 = 2 */
Davidroid 2:d07edeaff6f1 349 uint8_t ProductRevisionMajor;
Davidroid 2:d07edeaff6f1 350 /*!< Product revision major */
Davidroid 2:d07edeaff6f1 351 uint8_t ProductRevisionMinor;
Davidroid 2:d07edeaff6f1 352 /*!< Product revision minor */
sepp_nepp 11:c6f95a42d4d7 353 } TVL53L0X_DeviceInfo;
nikapov 0:a1a69d32f310 354
nikapov 0:a1a69d32f310 355
sepp_nepp 11:c6f95a42d4d7 356 typedef TVL53L0X_DeviceInfo* PVL53L0X_DeviceInfo;
sepp_nepp 11:c6f95a42d4d7 357
nikapov 0:a1a69d32f310 358 /** @defgroup VL53L0X_define_Error_group Error and Warning code returned by API
sepp_nepp 11:c6f95a42d4d7 359 * The following DEFINE are used to identify the Device ERROR
nikapov 0:a1a69d32f310 360 * @{
nikapov 0:a1a69d32f310 361 */
nikapov 0:a1a69d32f310 362
nikapov 0:a1a69d32f310 363 typedef int8_t VL53L0X_Error;
nikapov 0:a1a69d32f310 364
sepp_nepp 11:c6f95a42d4d7 365 #define VL53L0X_OK ((VL53L0X_Error) 0)
nikapov 0:a1a69d32f310 366 #define VL53L0X_ERROR_CALIBRATION_WARNING ((VL53L0X_Error) -1)
Davidroid 2:d07edeaff6f1 367 /*!< Warning invalid calibration data may be in used
Davidroid 2:d07edeaff6f1 368 \a VL53L0X_InitData()
Davidroid 2:d07edeaff6f1 369 \a VL53L0X_GetOffsetCalibrationData
Davidroid 2:d07edeaff6f1 370 \a VL53L0X_SetOffsetCalibrationData */
nikapov 0:a1a69d32f310 371 #define VL53L0X_ERROR_MIN_CLIPPED ((VL53L0X_Error) -2)
Davidroid 2:d07edeaff6f1 372 /*!< Warning parameter passed was clipped to min before to be applied */
nikapov 0:a1a69d32f310 373 #define VL53L0X_ERROR_UNDEFINED ((VL53L0X_Error) -3)
Davidroid 2:d07edeaff6f1 374 /*!< Unqualified error */
sepp_nepp 11:c6f95a42d4d7 375 #define VL53L0X_ERROR_INVALID_PARAMS ((VL53L0X_Error) -4)
Davidroid 2:d07edeaff6f1 376 /*!< Parameter passed is invalid or out of range */
nikapov 0:a1a69d32f310 377 #define VL53L0X_ERROR_NOT_SUPPORTED ((VL53L0X_Error) -5)
Davidroid 2:d07edeaff6f1 378 /*!< Function is not supported in current mode or configuration */
nikapov 0:a1a69d32f310 379 #define VL53L0X_ERROR_RANGE_ERROR ((VL53L0X_Error) -6)
Davidroid 2:d07edeaff6f1 380 /*!< Device report a ranging error interrupt status */
nikapov 0:a1a69d32f310 381 #define VL53L0X_ERROR_TIME_OUT ((VL53L0X_Error) -7)
Davidroid 2:d07edeaff6f1 382 /*!< Aborted due to time out */
sepp_nepp 11:c6f95a42d4d7 383 #define VL53L0X_ERROR_MODE_NOT_SUPPORTED ((VL53L0X_Error) -8)
Davidroid 2:d07edeaff6f1 384 /*!< Asked mode is not supported by the device */
sepp_nepp 11:c6f95a42d4d7 385 #define VL53L0X_ERROR_BUFFER_TOO_SMALL ((VL53L0X_Error) -9)
Davidroid 2:d07edeaff6f1 386 /*!< ... */
sepp_nepp 11:c6f95a42d4d7 387 #define VL53L0X_ERROR_GPIO_NOT_EXISTING ((VL53L0X_Error) -10)
Davidroid 2:d07edeaff6f1 388 /*!< User tried to setup a non-existing GPIO pin */
sepp_nepp 11:c6f95a42d4d7 389 #define VL53L0X_ERROR_GPIO_FUNC_NOT_SUPPORTED ((VL53L0X_Error) -11)
Davidroid 2:d07edeaff6f1 390 /*!< unsupported GPIO functionality */
sepp_nepp 11:c6f95a42d4d7 391 #define VL53L0X_ERROR_INTERRUPT_NOT_CLEARED ((VL53L0X_Error) -12)
Davidroid 2:d07edeaff6f1 392 /*!< Error during interrupt clear */
sepp_nepp 11:c6f95a42d4d7 393 #define VL53L0X_ERROR_CONTROL_INTERFACE ((VL53L0X_Error) -20)
sepp_nepp 11:c6f95a42d4d7 394 #define VL53L0X_ERROR_I2C_BUF_OVERFLOW ((VL53L0X_Error) -22)
sepp_nepp 11:c6f95a42d4d7 395 #define VL53L0X_ERROR_I2C_WRONG_DEV_ID ((VL53L0X_Error) -23)
Davidroid 2:d07edeaff6f1 396 /*!< error reported from IO functions */
sepp_nepp 11:c6f95a42d4d7 397 #define VL53L0X_ERROR_INVALID_COMMAND ((VL53L0X_Error) -30)
sepp_nepp 11:c6f95a42d4d7 398 /*!< The command is not allowed in the current device state (power down) */
sepp_nepp 11:c6f95a42d4d7 399 #define VL53L0X_ERROR_DIVISION_BY_ZERO ((VL53L0X_Error) -40)
Davidroid 2:d07edeaff6f1 400 /*!< In the function a division by zero occurs */
nikapov 0:a1a69d32f310 401 #define VL53L0X_ERROR_REF_SPAD_INIT ((VL53L0X_Error) -50)
Davidroid 2:d07edeaff6f1 402 /*!< Error during reference SPAD initialization */
sepp_nepp 11:c6f95a42d4d7 403 #define VL53L0X_ERROR_NOT_IMPLEMENTED ((VL53L0X_Error) -99)
Davidroid 2:d07edeaff6f1 404 /*!< Tells requested functionality has not been implemented yet or
Davidroid 2:d07edeaff6f1 405 * not compatible with the device */
nikapov 0:a1a69d32f310 406 /** @} VL53L0X_define_Error_group */
nikapov 0:a1a69d32f310 407
nikapov 0:a1a69d32f310 408
nikapov 0:a1a69d32f310 409 /** @defgroup VL53L0X_define_DeviceModes_group Defines Device modes
nikapov 0:a1a69d32f310 410 * Defines all possible modes for the device
nikapov 0:a1a69d32f310 411 * @{
nikapov 0:a1a69d32f310 412 */
nikapov 0:a1a69d32f310 413 typedef uint8_t VL53L0X_DeviceModes;
nikapov 0:a1a69d32f310 414
nikapov 0:a1a69d32f310 415 #define VL53L0X_DEVICEMODE_SINGLE_RANGING ((VL53L0X_DeviceModes) 0)
nikapov 0:a1a69d32f310 416 #define VL53L0X_DEVICEMODE_CONTINUOUS_RANGING ((VL53L0X_DeviceModes) 1)
nikapov 0:a1a69d32f310 417 #define VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM ((VL53L0X_DeviceModes) 2)
nikapov 0:a1a69d32f310 418 #define VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING ((VL53L0X_DeviceModes) 3)
nikapov 0:a1a69d32f310 419 #define VL53L0X_DEVICEMODE_SINGLE_ALS ((VL53L0X_DeviceModes) 10)
nikapov 0:a1a69d32f310 420 #define VL53L0X_DEVICEMODE_GPIO_DRIVE ((VL53L0X_DeviceModes) 20)
nikapov 0:a1a69d32f310 421 #define VL53L0X_DEVICEMODE_GPIO_OSC ((VL53L0X_DeviceModes) 21)
Davidroid 2:d07edeaff6f1 422 /* ... Modes to be added depending on device */
nikapov 0:a1a69d32f310 423 /** @} VL53L0X_define_DeviceModes_group */
nikapov 0:a1a69d32f310 424
nikapov 0:a1a69d32f310 425 /** @defgroup VL53L0X_define_HistogramModes_group Defines Histogram modes
nikapov 0:a1a69d32f310 426 * Defines all possible Histogram modes for the device
nikapov 0:a1a69d32f310 427 * @{
nikapov 0:a1a69d32f310 428 */
nikapov 0:a1a69d32f310 429 typedef uint8_t VL53L0X_HistogramModes;
nikapov 0:a1a69d32f310 430
nikapov 0:a1a69d32f310 431 #define VL53L0X_HISTOGRAMMODE_DISABLED ((VL53L0X_HistogramModes) 0)
Davidroid 2:d07edeaff6f1 432 /*!< Histogram Disabled */
nikapov 0:a1a69d32f310 433 #define VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY ((VL53L0X_HistogramModes) 1)
Davidroid 2:d07edeaff6f1 434 /*!< Histogram Reference array only */
nikapov 0:a1a69d32f310 435 #define VL53L0X_HISTOGRAMMODE_RETURN_ONLY ((VL53L0X_HistogramModes) 2)
Davidroid 2:d07edeaff6f1 436 /*!< Histogram Return array only */
nikapov 0:a1a69d32f310 437 #define VL53L0X_HISTOGRAMMODE_BOTH ((VL53L0X_HistogramModes) 3)
Davidroid 2:d07edeaff6f1 438 /*!< Histogram both Reference and Return Arrays */
Davidroid 2:d07edeaff6f1 439 /* ... Modes to be added depending on device */
nikapov 0:a1a69d32f310 440 /** @} VL53L0X_define_HistogramModes_group */
nikapov 0:a1a69d32f310 441
nikapov 0:a1a69d32f310 442
nikapov 0:a1a69d32f310 443 /** @defgroup VL53L0X_define_PowerModes_group List of available Power Modes
nikapov 0:a1a69d32f310 444 * List of available Power Modes
nikapov 0:a1a69d32f310 445 * @{
nikapov 0:a1a69d32f310 446 */
nikapov 0:a1a69d32f310 447
nikapov 0:a1a69d32f310 448 typedef uint8_t VL53L0X_PowerModes;
nikapov 0:a1a69d32f310 449
nikapov 0:a1a69d32f310 450 #define VL53L0X_POWERMODE_STANDBY_LEVEL1 ((VL53L0X_PowerModes) 0)
Davidroid 2:d07edeaff6f1 451 /*!< Standby level 1 */
nikapov 0:a1a69d32f310 452 #define VL53L0X_POWERMODE_STANDBY_LEVEL2 ((VL53L0X_PowerModes) 1)
Davidroid 2:d07edeaff6f1 453 /*!< Standby level 2 */
nikapov 0:a1a69d32f310 454 #define VL53L0X_POWERMODE_IDLE_LEVEL1 ((VL53L0X_PowerModes) 2)
Davidroid 2:d07edeaff6f1 455 /*!< Idle level 1 */
nikapov 0:a1a69d32f310 456 #define VL53L0X_POWERMODE_IDLE_LEVEL2 ((VL53L0X_PowerModes) 3)
Davidroid 2:d07edeaff6f1 457 /*!< Idle level 2 */
nikapov 0:a1a69d32f310 458
nikapov 0:a1a69d32f310 459 /** @} VL53L0X_define_PowerModes_group */
nikapov 0:a1a69d32f310 460
nikapov 0:a1a69d32f310 461 /** @brief Defines all parameters for the device
nikapov 0:a1a69d32f310 462 */
nikapov 0:a1a69d32f310 463 typedef struct {
Davidroid 2:d07edeaff6f1 464 VL53L0X_DeviceModes DeviceMode;
Davidroid 2:d07edeaff6f1 465 /*!< Defines type of measurement to be done for the next measure */
Davidroid 2:d07edeaff6f1 466 VL53L0X_HistogramModes HistogramMode;
Davidroid 2:d07edeaff6f1 467 /*!< Defines type of histogram measurement to be done for the next
Davidroid 2:d07edeaff6f1 468 * measure */
sepp_nepp 11:c6f95a42d4d7 469 uint32_t Measure_Time_Budget_us; // was MeasurementTimingBudget_us
Davidroid 2:d07edeaff6f1 470 /*!< Defines the allowed total time for a single measurement */
sepp_nepp 11:c6f95a42d4d7 471 uint32_t Measure_Period_ms;
Davidroid 2:d07edeaff6f1 472 /*!< Defines time between two consecutive measurements (between two
Davidroid 2:d07edeaff6f1 473 * measurement starts). If set to 0 means back-to-back mode */
sepp_nepp 11:c6f95a42d4d7 474 uint8_t XTalk_Compens_En;
Davidroid 2:d07edeaff6f1 475 /*!< Tells if Crosstalk compensation shall be enable or not */
Davidroid 2:d07edeaff6f1 476 uint16_t XTalkCompensationRangeMilliMeter;
Davidroid 2:d07edeaff6f1 477 /*!< CrossTalk compensation range in millimeter */
sepp_nepp 11:c6f95a42d4d7 478 TFP1616 Xtalk_CompRate_MHz;
Davidroid 2:d07edeaff6f1 479 /*!< CrossTalk compensation rate in Mega counts per seconds.
Davidroid 2:d07edeaff6f1 480 * Expressed in 16.16 fixed point format. */
sepp_nepp 11:c6f95a42d4d7 481 int32_t Offset_Cal_um;
sepp_nepp 11:c6f95a42d4d7 482 /*!< Range offset adjustment (um) last programmed. */
nikapov 0:a1a69d32f310 483
sepp_nepp 11:c6f95a42d4d7 484 uint8_t Limit_Chk_En[VL53L0X_CHECKEN_NUMBER_OF_CHECKS];
Davidroid 2:d07edeaff6f1 485 /*!< This Array store all the Limit Check enable for this device. */
sepp_nepp 11:c6f95a42d4d7 486 uint8_t LimitChecksStatus[VL53L0X_CHECKEN_NUMBER_OF_CHECKS];
Davidroid 2:d07edeaff6f1 487 /*!< This Array store all the Status of the check linked to last
Davidroid 2:d07edeaff6f1 488 * measurement. */
sepp_nepp 11:c6f95a42d4d7 489 TFP1616 Limit_Chk_Val[VL53L0X_CHECKEN_NUMBER_OF_CHECKS];
Davidroid 2:d07edeaff6f1 490 /*!< This Array store all the Limit Check value for this device */
sepp_nepp 11:c6f95a42d4d7 491 uint8_t Wrap_Around_Chk_En;
Davidroid 2:d07edeaff6f1 492 /*!< Tells if Wrap Around Check shall be enable or not */
sepp_nepp 11:c6f95a42d4d7 493 } VL53L0X_DeviceParams_t;
nikapov 0:a1a69d32f310 494
nikapov 0:a1a69d32f310 495
nikapov 0:a1a69d32f310 496 /** @defgroup VL53L0X_define_State_group Defines the current status of the device
nikapov 0:a1a69d32f310 497 * Defines the current status of the device
nikapov 0:a1a69d32f310 498 * @{
nikapov 0:a1a69d32f310 499 */
nikapov 0:a1a69d32f310 500 typedef uint8_t VL53L0X_State;
nikapov 0:a1a69d32f310 501
sepp_nepp 11:c6f95a42d4d7 502 #define VL53L0X_STATE_POWERDOWN ((VL53L0X_State) 0)
Davidroid 2:d07edeaff6f1 503 /*!< Device is in HW reset */
nikapov 0:a1a69d32f310 504 #define VL53L0X_STATE_WAIT_STATICINIT ((VL53L0X_State) 1)
Davidroid 2:d07edeaff6f1 505 /*!< Device is initialized and wait for static initialization */
sepp_nepp 11:c6f95a42d4d7 506 #define VL53L0X_STATE_STANDBY ((VL53L0X_State) 2)
Davidroid 2:d07edeaff6f1 507 /*!< Device is in Low power Standby mode */
sepp_nepp 11:c6f95a42d4d7 508 #define VL53L0X_STATE_IDLE ((VL53L0X_State) 3)
Davidroid 2:d07edeaff6f1 509 /*!< Device has been initialized and ready to do measurements */
sepp_nepp 11:c6f95a42d4d7 510 #define VL53L0X_STATE_RUNNING ((VL53L0X_State) 4)
Davidroid 2:d07edeaff6f1 511 /*!< Device is performing measurement */
sepp_nepp 11:c6f95a42d4d7 512 #define VL53L0X_STATE_UNKNOWN ((VL53L0X_State) 98)
Davidroid 2:d07edeaff6f1 513 /*!< Device is in unknown state and need to be rebooted */
sepp_nepp 11:c6f95a42d4d7 514 #define VL53L0X_STATE_ERROR ((VL53L0X_State) 99)
Davidroid 2:d07edeaff6f1 515 /*!< Device is in error state and need to be rebooted */
nikapov 0:a1a69d32f310 516 /** @} VL53L0X_define_State_group */
nikapov 0:a1a69d32f310 517
nikapov 0:a1a69d32f310 518
nikapov 0:a1a69d32f310 519 /** @brief Structure containing the Dmax computation parameters and data
nikapov 0:a1a69d32f310 520 */
nikapov 0:a1a69d32f310 521 typedef struct {
Davidroid 2:d07edeaff6f1 522 int32_t AmbTuningWindowFactor_K;
Davidroid 2:d07edeaff6f1 523 /*!< internal algo tuning (*1000) */
Davidroid 2:d07edeaff6f1 524 int32_t RetSignalAt0mm;
Davidroid 2:d07edeaff6f1 525 /*!< intermediate dmax computation value caching */
nikapov 0:a1a69d32f310 526 } VL53L0X_DMaxData_t;
nikapov 0:a1a69d32f310 527
nikapov 0:a1a69d32f310 528 /**
nikapov 0:a1a69d32f310 529 * @struct VL53L0X_RangeData_t
nikapov 0:a1a69d32f310 530 * @brief Range measurement data.
nikapov 0:a1a69d32f310 531 */
nikapov 0:a1a69d32f310 532 typedef struct {
Davidroid 2:d07edeaff6f1 533 uint32_t TimeStamp; /*!< 32-bit time stamp. */
Davidroid 2:d07edeaff6f1 534 uint32_t MeasurementTimeUsec;
sepp_nepp 10:cd251e0fc2fd 535 /*!< Give the Measurement time needed by the device to do the measurement.*/
nikapov 0:a1a69d32f310 536
Davidroid 2:d07edeaff6f1 537 uint16_t RangeMilliMeter; /*!< range distance in millimeter. */
nikapov 0:a1a69d32f310 538
Davidroid 2:d07edeaff6f1 539 uint16_t RangeDMaxMilliMeter;
Davidroid 2:d07edeaff6f1 540 /*!< Tells what is the maximum detection distance of the device
Davidroid 2:d07edeaff6f1 541 * in current setup and environment conditions (Filled when
Davidroid 2:d07edeaff6f1 542 * applicable) */
nikapov 0:a1a69d32f310 543
sepp_nepp 11:c6f95a42d4d7 544 TFP1616 SignalRateRtnMHz;
sepp_nepp 11:c6f95a42d4d7 545 /*!< Return signal rate (MHz)\n these is a 16.16 fix point
Davidroid 2:d07edeaff6f1 546 * value, which is effectively a measure of target
Davidroid 2:d07edeaff6f1 547 * reflectance.*/
sepp_nepp 11:c6f95a42d4d7 548 TFP1616 AmbientRateRtnMHz;
sepp_nepp 11:c6f95a42d4d7 549 /*!< Return ambient rate (MHz)\n these is a 16.16 fix point
Davidroid 2:d07edeaff6f1 550 * value, which is effectively a measure of the ambien
Davidroid 2:d07edeaff6f1 551 * t light.*/
nikapov 0:a1a69d32f310 552
sepp_nepp 11:c6f95a42d4d7 553 uint16_t EffectiveSPADRtnCount;
Davidroid 2:d07edeaff6f1 554 /*!< Return the effective SPAD count for the return signal.
Davidroid 2:d07edeaff6f1 555 * To obtain Real value it should be divided by 256 */
nikapov 0:a1a69d32f310 556
Davidroid 2:d07edeaff6f1 557 uint8_t ZoneId;
Davidroid 2:d07edeaff6f1 558 /*!< Denotes which zone and range scheduler stage the range
Davidroid 2:d07edeaff6f1 559 * data relates to. */
Davidroid 2:d07edeaff6f1 560 uint8_t RangeFractionalPart;
Davidroid 2:d07edeaff6f1 561 /*!< Fractional part of range distance. Final value is a
Davidroid 2:d07edeaff6f1 562 * FixPoint168 value. */
Davidroid 2:d07edeaff6f1 563 uint8_t RangeStatus;
Davidroid 2:d07edeaff6f1 564 /*!< Range Status for the current measurement. This is device
Davidroid 2:d07edeaff6f1 565 * dependent. Value = 0 means value is valid.
Davidroid 2:d07edeaff6f1 566 * See \ref RangeStatusPage */
sepp_nepp 11:c6f95a42d4d7 567 } TRangeResults; // was VL53L0X_RangingMeasurementData_t
nikapov 0:a1a69d32f310 568
nikapov 0:a1a69d32f310 569
nikapov 0:a1a69d32f310 570 #define VL53L0X_HISTOGRAM_BUFFER_SIZE 24
nikapov 0:a1a69d32f310 571
nikapov 0:a1a69d32f310 572 /**
nikapov 0:a1a69d32f310 573 * @struct VL53L0X_HistogramData_t
nikapov 0:a1a69d32f310 574 * @brief Histogram measurement data.
nikapov 0:a1a69d32f310 575 */
sepp_nepp 10:cd251e0fc2fd 576 typedef struct { /* Histogram Measurement data */
Davidroid 2:d07edeaff6f1 577 uint32_t HistogramData[VL53L0X_HISTOGRAM_BUFFER_SIZE];
Davidroid 2:d07edeaff6f1 578 /*!< Histogram data */
Davidroid 2:d07edeaff6f1 579 uint8_t HistogramType; /*!< Indicate the types of histogram data :
nikapov 0:a1a69d32f310 580 Return only, Reference only, both Return and Reference */
Davidroid 2:d07edeaff6f1 581 uint8_t FirstBin; /*!< First Bin value */
Davidroid 2:d07edeaff6f1 582 uint8_t BufferSize; /*!< Buffer Size - Set by the user.*/
sepp_nepp 10:cd251e0fc2fd 583 uint8_t NumberOfBins;/*!< Number of bins filled by the histogram measurement */
sepp_nepp 11:c6f95a42d4d7 584 TDevError ErrorStatus;
Davidroid 2:d07edeaff6f1 585 /*!< Error status of the current measurement. \n
sepp_nepp 11:c6f95a42d4d7 586 see @a ::TDevError @a VL53L0X_GetStatusErrorString() */
nikapov 0:a1a69d32f310 587 } VL53L0X_HistogramMeasurementData_t;
nikapov 0:a1a69d32f310 588
sepp_nepp 11:c6f95a42d4d7 589 #define VL53L0X_PLL_PERIOD_PS = 1655;
sepp_nepp 11:c6f95a42d4d7 590 #define VL53L0X_MACRO_PERIOD_VCLKS = 2304;
nikapov 0:a1a69d32f310 591
nikapov 0:a1a69d32f310 592 /**
sepp_nepp 11:c6f95a42d4d7 593 * @struct VL53L0X_SPADData_t
sepp_nepp 11:c6f95a42d4d7 594 * @brief SPAD Configuration Data.
nikapov 0:a1a69d32f310 595 */
sepp_nepp 12:aa177f0e4c10 596 #define REF_SPAD_ARRAY_SIZE 6
sepp_nepp 12:aa177f0e4c10 597
nikapov 0:a1a69d32f310 598 typedef struct {
sepp_nepp 12:aa177f0e4c10 599 uint8_t RefSPADEnables[REF_SPAD_ARRAY_SIZE];
sepp_nepp 11:c6f95a42d4d7 600 /*!< Reference SPAD Enables */
sepp_nepp 12:aa177f0e4c10 601 uint8_t RefGoodSPADMap[REF_SPAD_ARRAY_SIZE];
sepp_nepp 11:c6f95a42d4d7 602 /*!< Reference SPAD Good SPAD Map */
sepp_nepp 11:c6f95a42d4d7 603 } VL53L0X_SPADData_t;
nikapov 0:a1a69d32f310 604
nikapov 0:a1a69d32f310 605
nikapov 0:a1a69d32f310 606 /** @defgroup VL53L0X_define_InterruptPolarity_group Defines the Polarity
nikapov 0:a1a69d32f310 607 * of the Interrupt
nikapov 0:a1a69d32f310 608 * Defines the Polarity of the Interrupt
nikapov 0:a1a69d32f310 609 * @{
nikapov 0:a1a69d32f310 610 */
nikapov 0:a1a69d32f310 611 typedef uint8_t VL53L0X_InterruptPolarity;
nikapov 0:a1a69d32f310 612 #define VL53L0X_INTERRUPTPOLARITY_LOW ((VL53L0X_InterruptPolarity) 0)
nikapov 0:a1a69d32f310 613 /*!< Set active low polarity best setup for falling edge. */
nikapov 0:a1a69d32f310 614 #define VL53L0X_INTERRUPTPOLARITY_HIGH ((VL53L0X_InterruptPolarity) 1)
nikapov 0:a1a69d32f310 615 /*!< Set active high polarity best setup for rising edge. */
nikapov 0:a1a69d32f310 616
nikapov 0:a1a69d32f310 617 /** @} VL53L0X_define_InterruptPolarity_group */
nikapov 0:a1a69d32f310 618
nikapov 0:a1a69d32f310 619
nikapov 0:a1a69d32f310 620 /** @defgroup VL53L0X_define_VcselPeriod_group Vcsel Period Defines
sepp_nepp 11:c6f95a42d4d7 621 * Defines the range measurement for which to access the vcsel Phase.
nikapov 0:a1a69d32f310 622 * @{
nikapov 0:a1a69d32f310 623 */
sepp_nepp 11:c6f95a42d4d7 624 typedef uint8_t VL53L0X_Range_Phase;
nikapov 0:a1a69d32f310 625
sepp_nepp 11:c6f95a42d4d7 626 #define VL53L0X_VCSEL_PRE_RANGE ((VL53L0X_Range_Phase) 0)
sepp_nepp 11:c6f95a42d4d7 627 /*!<Identifies the pre-range vcsel Phase. */
sepp_nepp 11:c6f95a42d4d7 628 #define VL53L0X_VCSEL_FINAL_RANGE ((VL53L0X_Range_Phase) 1)
sepp_nepp 11:c6f95a42d4d7 629 /*!<Identifies the final range vcsel Phase . */
nikapov 0:a1a69d32f310 630
nikapov 0:a1a69d32f310 631 /** @} VL53L0X_define_VcselPeriod_group */
nikapov 0:a1a69d32f310 632
nikapov 0:a1a69d32f310 633 /** @defgroup VL53L0X_define_SchedulerSequence_group Defines the steps
nikapov 0:a1a69d32f310 634 * carried out by the scheduler during a range measurement.
nikapov 0:a1a69d32f310 635 * @{
nikapov 0:a1a69d32f310 636 * Defines the states of all the steps in the scheduler
nikapov 0:a1a69d32f310 637 * i.e. enabled/disabled.
nikapov 0:a1a69d32f310 638 */
nikapov 0:a1a69d32f310 639 typedef struct {
Davidroid 2:d07edeaff6f1 640 uint8_t TccOn; /*!<Reports if Target Centre Check On */
Davidroid 2:d07edeaff6f1 641 uint8_t MsrcOn; /*!<Reports if MSRC On */
Davidroid 2:d07edeaff6f1 642 uint8_t DssOn; /*!<Reports if DSS On */
Davidroid 2:d07edeaff6f1 643 uint8_t PreRangeOn; /*!<Reports if Pre-Range On */
Davidroid 2:d07edeaff6f1 644 uint8_t FinalRangeOn; /*!<Reports if Final-Range On */
sepp_nepp 11:c6f95a42d4d7 645 } VL53L0X_Sequence_Steps_t;
nikapov 0:a1a69d32f310 646
nikapov 0:a1a69d32f310 647 /** @} VL53L0X_define_SchedulerSequence_group */
nikapov 0:a1a69d32f310 648
nikapov 0:a1a69d32f310 649 /** @defgroup VL53L0X_define_SequenceStepId_group Defines the Polarity
nikapov 0:a1a69d32f310 650 * of the Interrupt
nikapov 0:a1a69d32f310 651 * Defines the the sequence steps performed during ranging..
nikapov 0:a1a69d32f310 652 * @{
nikapov 0:a1a69d32f310 653 */
nikapov 0:a1a69d32f310 654 typedef uint8_t VL53L0X_SequenceStepId;
nikapov 0:a1a69d32f310 655
sepp_nepp 11:c6f95a42d4d7 656 #define VL53L0X_SEQUENCESTEP_TCC ((VL53L0X_SequenceStepId) 0)
nikapov 0:a1a69d32f310 657 /*!<Target CentreCheck identifier. */
sepp_nepp 11:c6f95a42d4d7 658 #define VL53L0X_SEQUENCESTEP_DSS ((VL53L0X_SequenceStepId) 1)
sepp_nepp 11:c6f95a42d4d7 659 /*!<Dynamic SPAD Selection function Identifier. */
sepp_nepp 11:c6f95a42d4d7 660 #define VL53L0X_SEQUENCESTEP_MSRC ((VL53L0X_SequenceStepId) 2)
nikapov 0:a1a69d32f310 661 /*!<Minimum Signal Rate Check function Identifier. */
sepp_nepp 11:c6f95a42d4d7 662 #define VL53L0X_SEQUENCESTEP_PRE_RANGE ((VL53L0X_SequenceStepId) 3)
nikapov 0:a1a69d32f310 663 /*!<Pre-Range check Identifier. */
sepp_nepp 11:c6f95a42d4d7 664 #define VL53L0X_SEQUENCESTEP_FINAL_RANGE ((VL53L0X_SequenceStepId) 4)
nikapov 0:a1a69d32f310 665 /*!<Final Range Check Identifier. */
nikapov 0:a1a69d32f310 666
nikapov 0:a1a69d32f310 667 #define VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS 5
nikapov 0:a1a69d32f310 668 /*!<Number of Sequence Step Managed by the API. */
nikapov 0:a1a69d32f310 669
nikapov 0:a1a69d32f310 670 /** @} VL53L0X_define_SequenceStepId_group */
nikapov 0:a1a69d32f310 671
nikapov 0:a1a69d32f310 672 /* MACRO Definitions */
nikapov 0:a1a69d32f310 673 /** @defgroup VL53L0X_define_GeneralMacro_group General Macro Defines
nikapov 0:a1a69d32f310 674 * General Macro Defines
nikapov 0:a1a69d32f310 675 * @{
nikapov 0:a1a69d32f310 676 */
nikapov 0:a1a69d32f310 677
nikapov 0:a1a69d32f310 678 /* Defines */
sepp_nepp 11:c6f95a42d4d7 679 #define FP1616_TO_FP97(Value) (uint16_t)((Value>>9)&0xFFFF)
sepp_nepp 11:c6f95a42d4d7 680 #define FP97_TO_FP1616(Value) (TFP1616)(Value<<9)
nikapov 0:a1a69d32f310 681
sepp_nepp 11:c6f95a42d4d7 682 #define FP1616_TO_FP88(Value) (uint16_t)((Value>>8)&0xFFFF)
sepp_nepp 11:c6f95a42d4d7 683 #define FP88_TO_FP1616(Value) (TFP1616)(Value<<8)
nikapov 0:a1a69d32f310 684
sepp_nepp 11:c6f95a42d4d7 685 #define FP1616_TO_FP412(Value) (uint16_t)((Value>>4)&0xFFFF)
sepp_nepp 11:c6f95a42d4d7 686 #define FP412_TO_FP1616(Value) (TFP1616)(Value<<4)
nikapov 0:a1a69d32f310 687
sepp_nepp 11:c6f95a42d4d7 688 #define FP1616_TO_FP313(Value) (uint16_t)((Value>>3)&0xFFFF)
sepp_nepp 11:c6f95a42d4d7 689 #define FP313_TO_FP1616(Value) (TFP1616)(Value<<3)
nikapov 0:a1a69d32f310 690
sepp_nepp 11:c6f95a42d4d7 691 #define FP1616_TO_FP08(Value) (uint8_t)((Value>>8)&0x00FF)
sepp_nepp 11:c6f95a42d4d7 692 #define FP08_TO_FP1616(Value) (TFP1616)(Value<<8)
nikapov 0:a1a69d32f310 693
sepp_nepp 11:c6f95a42d4d7 694 #define FP1616_TO_FP53(Value) (uint8_t)((Value>>13)&0x00FF)
sepp_nepp 11:c6f95a42d4d7 695 #define FP53_TO_FP1616(Value) (TFP1616)(Value<<13)
nikapov 0:a1a69d32f310 696
sepp_nepp 11:c6f95a42d4d7 697 #define FP1616_TO_FP102(Value) (uint16_t)((Value>>14)&0x0FFF)
sepp_nepp 11:c6f95a42d4d7 698 #define FP102_TO_FP1616(Value) (TFP1616)(Value<<12)
nikapov 0:a1a69d32f310 699
sepp_nepp 10:cd251e0fc2fd 700 #define VL53L0X_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + (uint16_t)lsb)
nikapov 0:a1a69d32f310 701
nikapov 0:a1a69d32f310 702 /** @} VL53L0X_define_GeneralMacro_group */
nikapov 0:a1a69d32f310 703
nikapov 0:a1a69d32f310 704 /** @} VL53L0X_globaldefine_group */
nikapov 0:a1a69d32f310 705
nikapov 0:a1a69d32f310 706 #ifdef __cplusplus
nikapov 0:a1a69d32f310 707 }
nikapov 0:a1a69d32f310 708 #endif
nikapov 0:a1a69d32f310 709
nikapov 0:a1a69d32f310 710 #endif /* _VL53L0X_DEF_H_ */