VL53L0X_def.h

00001 /*******************************************************************************
00002 Copyright © 2016, STMicroelectronics International N.V.
00003 All rights reserved.
00004 
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00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
00019 NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
00020 IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
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00022 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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00027 *******************************************************************************/
00028 
00029 /**
00030  * @file VL53L0X_def.h
00031  *
00032  * @brief Type definitions for VL53L0X API.
00033  *
00034  */
00035 
00036 
00037 #ifndef _VL53L0X_DEF_H_
00038 #define _VL53L0X_DEF_H_
00039 
00040 
00041 #ifdef __cplusplus
00042 extern "C" {
00043 #endif
00044 
00045 /** @defgroup VL53L0X_globaldefine_group VL53L0X Defines
00046  *  @brief    VL53L0X Defines
00047  *  @{
00048  */
00049 
00050 /****************** define for i2c configuration *******************************/
00051 /** Maximum buffer size to be used in i2c */
00052 #define VL53L0X_MAX_I2C_XFER_SIZE   64 /* Maximum buffer size to be used in i2c */
00053 #define VL53L0X_I2C_USER_VAR         /* none but could be for a flag var to get/pass to mutex interruptible  return flags and try again */
00054 
00055 
00056 /** Device SPECIFICATION major version */
00057 #define VL53L0X10_SPECIFICATION_VER_MAJOR   1
00058 /** Device SPECIFICATION minor version */
00059 #define VL53L0X10_SPECIFICATION_VER_MINOR   2
00060 /** Device SPECIFICATION sub version */
00061 #define VL53L0X10_SPECIFICATION_VER_SUB    7
00062 /** Device SPECIFICATION sub version */
00063 #define VL53L0X10_SPECIFICATION_VER_REVISION 1440
00064 
00065 /** VL53L0X Device IMPLEMENTATION major version */
00066 #define VL53L0X10_IMPLEMENTATION_VER_MAJOR  1
00067 /** VL53L0X Device IMPLEMENTATION minor version */
00068 #define VL53L0X10_IMPLEMENTATION_VER_MINOR  0
00069 /** VL53L0X Device IMPLEMENTATION sub version */
00070 #define VL53L0X10_IMPLEMENTATION_VER_SUB        9
00071 /** VL53L0X Device IMPLEMENTATION sub version */
00072 #define VL53L0X10_IMPLEMENTATION_VER_REVISION   3673
00073 
00074 /** Device SPECIFICATION major version */
00075 #define VL53L0X_SPECIFICATION_VER_MAJOR  1
00076 /** Device SPECIFICATION minor version */
00077 #define VL53L0X_SPECIFICATION_VER_MINOR  2
00078 /** Device SPECIFICATION sub version */
00079 #define VL53L0X_SPECIFICATION_VER_SUB    7
00080 /** Device SPECIFICATION sub version */
00081 #define VL53L0X_SPECIFICATION_VER_REVISION 1440
00082 
00083 /** VL53L0X Device IMPLEMENTATION major version */
00084 #define VL53L0X_IMPLEMENTATION_VER_MAJOR      1
00085 /** VL53L0X Device IMPLEMENTATION minor version */
00086 #define VL53L0X_IMPLEMENTATION_VER_MINOR      1
00087 /** VL53L0X Device IMPLEMENTATION sub version */
00088 #define VL53L0X_IMPLEMENTATION_VER_SUB    21
00089 /** VL53L0X Device IMPLEMENTATION sub version */
00090 #define VL53L0X_IMPLEMENTATION_VER_REVISION   4823
00091 
00092 
00093 #define VL53L0X_DEFAULT_MAX_LOOP 2000
00094 #define VL53L0X_MAX_STRING_LENGTH 32
00095 
00096 /**  The device model ID   */
00097 #define IDENTIFICATION_MODEL_ID  0x000
00098 #define STATUS_OK                0x00
00099 #define STATUS_FAIL              0x01
00100 
00101 /** default device address */
00102 #define VL53L0X_DEFAULT_ADDRESS     0x52 /* (8-bit) */
00103 
00104 #define  VL53L0X_STRING_DEVICE_INFO_NAME_TS0      "VL53L0X TS0"
00105 #define  VL53L0X_STRING_DEVICE_INFO_NAME_TS1      "VL53L0X TS1"
00106 #define  VL53L0X_STRING_DEVICE_INFO_NAME_TS2      "VL53L0X TS2"
00107 #define  VL53L0X_STRING_DEVICE_INFO_NAME_ES1      "VL53L0X ES1 or later"
00108 #define  VL53L0X_STRING_DEVICE_INFO_TYPE          "VL53L0X"
00109 
00110 #define REF_ARRAY_SPAD_0  0
00111 #define REF_ARRAY_SPAD_5  5
00112 #define REF_ARRAY_SPAD_10 10
00113 
00114 
00115 /* sensor operating modes */
00116 typedef enum {
00117     op_single_shot_poll = 1,
00118     op_poll,  // was range_continuous_polling
00119     op_INT,
00120     op_poll_low_threshold,
00121     op_poll_high_threshold,
00122     op_poll_out_of_window,
00123     op_INT_low_threshold,
00124     op_INT_high_threshold,
00125     op_INT_out_of_window,
00126 } TOperatingMode;
00127 
00128 /**
00129  * Device specific defines. To be adapted by implementer for the targeted
00130  * device.
00131  */
00132 
00133 /** use where fractional values are expected
00134  *
00135  * Given a floating point value f it's 16.16 bit point is (int)(f*(1<<16))*/
00136 typedef uint32_t TFP1616;
00137 
00138 /** @defgroup VL53L0X_DevSpecDefines_group VL53L0X cut1.1 Device Specific Defines
00139  *  @brief VL53L0X cut1.1 Device Specific Defines
00140  *  @{
00141  */
00142 
00143 /** @defgroup VL53L0X_DeviceError_group Device Error
00144  *  @brief Device Error code
00145  *
00146  *  This enum is Device specific it should be updated in the implementation
00147  *  Use @a VL53L0X_GetStatusErrorString() to get the string.
00148  *  It is related to Status Register of the Device.
00149  *  @{
00150  */
00151 typedef uint8_t TDevError;
00152 
00153 #define VL53L0X_DEVICEERROR_NONE                        ((TDevError) 0)
00154 /*!< 0  NoError  */
00155 #define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE  ((TDevError) 1)
00156 #define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE    ((TDevError) 2)
00157 #define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND             ((TDevError) 3)
00158 #define VL53L0X_DEVICEERROR_MSRCNOTARGET                ((TDevError) 4)
00159 #define VL53L0X_DEVICEERROR_SNRCHECK                    ((TDevError) 5)
00160 #define VL53L0X_DEVICEERROR_RANGEPHASECHECK             ((TDevError) 6)
00161 #define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK         ((TDevError) 7)
00162 #define VL53L0X_DEVICEERROR_TCC                         ((TDevError) 8)
00163 #define VL53L0X_DEVICEERROR_MINCLIP                     ((TDevError) 10)
00164 #define VL53L0X_DEVICEERROR_RANGECOMPLETE               ((TDevError) 11)
00165 #define VL53L0X_DEVICEERROR_ALGOUNDERFLOW               ((TDevError) 12)
00166 #define VL53L0X_DEVICEERROR_ALGOOVERFLOW                ((TDevError) 13)
00167 #define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD        ((TDevError) 14)
00168 
00169 /** @} end of VL53L0X_DeviceError_group */
00170 
00171 
00172 /** @defgroup VL53L0X_CHECKEN_group Check Enable list
00173  *  @brief Check Enable code
00174  *
00175  *  Define used to specify the LimitCheckId.
00176  *  Use @a VL53L0X_GetLimitCheckInfo() to get the string.
00177  *  @{
00178  */
00179 #define VL53L0X_CHECKEN_SIGMA_FINAL_RANGE        0
00180 #define VL53L0X_CHECKEN_SIG_RATE_FINAL_RANGE     1
00181 #define VL53L0X_CHECKEN_SIG_REF_CLIP             2
00182 #define VL53L0X_CHECKEN_RANGE_IGNORE_THRESHOLD   3
00183 #define VL53L0X_CHECKEN_SIG_RATE_MSRC            4
00184 #define VL53L0X_CHECKEN_SIG_RATE_PRE_RANGE       5
00185 #define VL53L0X_CHECKEN_NUMBER_OF_CHECKS         6
00186 /** @}  end of VL53L0X_CHECKEN_group */
00187 
00188 
00189 /** @defgroup GPIO_Func_group Gpio Functionality
00190  *  @brief Defines the different functionalities for the device GPIO(s)
00191  *  @{   */
00192 typedef enum {
00193     GPIO_FUNC_OFF  = 0, /*!< NO Interrupt  */
00194     GPIO_FUNC_THRESHOLD_CROSSED_LOW ,  /*!< Level Low (value < thresh_low)  */
00195     GPIO_FUNC_THRESHOLD_CROSSED_HIGH , /*!< Level High (value > thresh_high) */
00196     GPIO_FUNC_THRESHOLD_CROSSED_OUT , /*!< Out Of Window (value < thresh_low OR value > thresh_high)  */
00197     GPIO_FUNC_NEW_MEASURE_READY  /*!< New Sample Ready  */
00198 } TGPIO_Func ;
00199 /** @} end of GPIO_FUNC_group */
00200 
00201 
00202 /* Device register map */
00203 
00204 /** @defgroup VL53L0X_DefineRegisters_group Define Registers
00205  *  @brief List of all the defined registers
00206  *  @{
00207  */
00208 #define REG_SYSRANGE_START              0x000
00209 /** mask existing bit in #REG_SYSRANGE_START*/
00210 #define REG_SYSRANGE_MODE_MASK          0x0F
00211 /** bit 0 in #REG_SYSRANGE_START write 1 toggle state in
00212  * continuous mode and arm next shot in single shot mode */
00213 #define REG_SYSRANGE_MODE_START_STOP    0x01
00214 /** bit 1 write 0 in #REG_SYSRANGE_START set single shot mode */
00215 #define REG_SYSRANGE_MODE_SINGLESHOT    0x00
00216 /** bit 1 write 1 in #REG_SYSRANGE_START set back-to-back
00217  *  operation mode */
00218 #define REG_SYSRANGE_MODE_BACKTOBACK    0x02
00219 /** bit 2 write 1 in #REG_SYSRANGE_START set timed operation
00220  *  mode */
00221 #define REG_SYSRANGE_MODE_TIMED         0x04
00222 /** bit 3 write 1 in #REG_SYSRANGE_START set histogram operation
00223  *  mode */
00224 #define REG_SYSRANGE_MODE_HISTOGRAM     0x08
00225 
00226 #define REG_SYSTEM_THRESH_HIGH          0x0C
00227 #define REG_SYSTEM_THRESH_LOW           0x0E
00228 #define REG_SYSTEM_SEQUENCE_CONFIG      0x01
00229 #define REG_SYSTEM_RANGE_CONFIG         0x09
00230 #define REG_SYSTEM_MEASURE_PERIOD       0x04
00231 
00232 #define REG_SYSINT_CONFIG_GPIO          0x0A
00233 #define REG_SYSINT_GPIO_DISABLED        0x00
00234 #define REG_SYSINT_GPIO_LEVEL_LOW       0x01
00235 #define REG_SYSINT_GPIO_LEVEL_HIGH      0x02
00236 #define REG_SYSINT_GPIO_OUT_OF_WINDOW   0x03
00237 #define REG_SYSINT_GPIO_NEW_SAMPLE_READY 0x04
00238 
00239 #define REG_GPIO_HV_MUX_ACTIVE_HIGH     0x84
00240 #define REG_SYSINT_CLEAR                0x0B
00241 
00242 /* Result registers */
00243 #define REG_RESULT_INTERRUPT_STATUS     0x13
00244 #define REG_RESULT_RANGE_STATUS         0x14
00245 
00246 #define REG_RESULT_CORE_PAGE  1
00247 #define REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN   0xBC
00248 #define REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN    0xC0
00249 #define REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF   0xD0
00250 #define REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF    0xD4
00251 #define REG_RESULT_PEAK_SIG_RATE_REF                0xB6
00252 
00253 /* Algo register */
00254 #define REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM       0x28
00255 #define REG_I2C_SLAVE_DEVICE_ADDRESS                0x8a
00256 
00257 /* Check Limit registers */
00258 #define REG_MSRC_CONFIG_CONTROL                     0x60
00259 
00260 #define REG_PRE_RANGE_CONFIG_MIN_SNR                0X27
00261 #define REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW        0x56
00262 #define REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH       0x57
00263 #define REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT      0x64
00264 
00265 #define REG_FINAL_RANGE_CONFIG_MIN_SNR              0X67
00266 #define REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW      0x47
00267 #define REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH     0x48
00268 #define REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT   0x44
00269 
00270 #define REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI        0x61
00271 #define REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO        0x62
00272 
00273 /* PRE RANGE registers */
00274 #define REG_PRE_RANGE_CONFIG_VCSEL_PERIOD           0x50
00275 #define REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI      0x51
00276 #define REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO      0x52
00277 
00278 #define REG_SYSTEM_HISTOGRAM_BIN                    0x81
00279 #define REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT   0x33
00280 #define REG_HISTOGRAM_CONFIG_READOUT_CTRL           0x55
00281 
00282 #define REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD         0x70
00283 #define REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI    0x71
00284 #define REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO    0x72
00285 #define REG_XTALK_COMPENS_RATE_MHz                  0x20
00286 
00287 #define REG_MSRC_CONFIG_TIMEOUT_MACROP              0x46
00288 
00289 #define REG_SOFT_RESET_GO2_SOFT_RESET_N             0xbf
00290 #define REG_IDENTIFICATION_MODEL_ID                 0xc0
00291 #define REG_IDENTIFICATION_REVISION_ID              0xc2
00292 
00293 #define REG_OSC_CALIBRATE_VAL                       0xf8
00294 
00295 #define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE                    0xffff
00296 /* equivalent to a range sigma of 655.35mm */
00297 
00298 #define REG_GLOBAL_CONFIG_VCSEL_WIDTH               0x32
00299 #define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0        0xB0
00300 #define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1        0xB1
00301 #define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2        0xB2
00302 #define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3        0xB3
00303 #define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4        0xB4
00304 #define REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5        0xB5
00305 
00306 #define REG_GLOBAL_CONFIG_REF_EN_START_SELECT       0xB6
00307 #define REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD     0x4E
00308 #define REG_DYNAMIC_SPAD_REF_EN_START_OFFSET        0x4F
00309 #define REG_POWER_MANAGEMENT_GO1_POWER_FORCE        0x80
00310 
00311 /*  Speed of light in um per 1E-10 Seconds */
00312 #define VL53L0X_SPEED_OF_LIGHT_IN_AIR 2997
00313 
00314 #define REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV   0x89
00315 
00316 #define REG_ALGO_PHASECAL_LIM                   0x30
00317 #define REG_ALGO_PHASECAL_CONFIG_TIMEOUT        0x30
00318 
00319 /** @} VL53L0X_DefineRegisters_group */
00320 
00321 /** @} VL53L0X_DevSpecDefines_group */
00322 
00323 
00324 /****************************************
00325  * PRIVATE define do not edit
00326  ****************************************/
00327 
00328 /** @brief Defines the parameters of the Get Version Functions
00329  */
00330 typedef struct {
00331     uint32_t     revision; /*!< revision number */
00332     uint8_t      major;    /*!< major number */
00333     uint8_t      minor;    /*!< minor number */
00334     uint8_t      build;    /*!< build number */
00335 } VL53L0X_Version_t;
00336 
00337 
00338 /** @brief Defines the parameters of the Get Device Info Functions
00339  */
00340 typedef struct {
00341     char Name[VL53L0X_MAX_STRING_LENGTH];
00342     /*!< Name of the Device e.g. Left_Distance */
00343     char Type[VL53L0X_MAX_STRING_LENGTH];
00344     /*!< Type of the Device e.g VL53L0X */
00345     char ProductId[VL53L0X_MAX_STRING_LENGTH];
00346     /*!< Product Identifier String  */
00347     uint8_t ProductType;
00348     /*!< Product Type, VL53L0X = 1, VL53L1 = 2 */
00349     uint8_t ProductRevisionMajor;
00350     /*!< Product revision major */
00351     uint8_t ProductRevisionMinor;
00352     /*!< Product revision minor */
00353 } TVL53L0X_DeviceInfo;
00354 
00355 
00356 typedef  TVL53L0X_DeviceInfo* PVL53L0X_DeviceInfo;
00357 
00358 /** @defgroup VL53L0X_define_Error_group Error and Warning code returned by API
00359  *  The following DEFINE are used to identify the Device ERROR
00360  *  @{
00361  */
00362 
00363 typedef int8_t VL53L0X_Error;
00364 
00365 #define VL53L0X_OK                  ((VL53L0X_Error)  0)
00366 #define VL53L0X_ERROR_CALIBRATION_WARNING   ((VL53L0X_Error) -1)
00367 /*!< Warning invalid calibration data may be in used
00368     \a  VL53L0X_InitData()
00369     \a VL53L0X_GetOffsetCalibrationData
00370     \a VL53L0X_SetOffsetCalibrationData */
00371 #define VL53L0X_ERROR_MIN_CLIPPED           ((VL53L0X_Error) -2)
00372 /*!< Warning parameter passed was clipped to min before to be applied */
00373 #define VL53L0X_ERROR_UNDEFINED             ((VL53L0X_Error) -3)
00374 /*!< Unqualified error */
00375 #define VL53L0X_ERROR_INVALID_PARAMS        ((VL53L0X_Error) -4)
00376 /*!< Parameter passed is invalid or out of range */
00377 #define VL53L0X_ERROR_NOT_SUPPORTED         ((VL53L0X_Error) -5)
00378 /*!< Function is not supported in current mode or configuration */
00379 #define VL53L0X_ERROR_RANGE_ERROR           ((VL53L0X_Error) -6)
00380 /*!< Device report a ranging error interrupt status */
00381 #define VL53L0X_ERROR_TIME_OUT              ((VL53L0X_Error) -7)
00382 /*!< Aborted due to time out */
00383 #define VL53L0X_ERROR_MODE_NOT_SUPPORTED    ((VL53L0X_Error) -8)
00384 /*!< Asked mode is not supported by the device */
00385 #define VL53L0X_ERROR_BUFFER_TOO_SMALL      ((VL53L0X_Error) -9)
00386 /*!< ... */
00387 #define VL53L0X_ERROR_GPIO_NOT_EXISTING     ((VL53L0X_Error) -10)
00388 /*!< User tried to setup a non-existing GPIO pin */
00389 #define VL53L0X_ERROR_GPIO_FUNC_NOT_SUPPORTED ((VL53L0X_Error) -11)
00390 /*!< unsupported GPIO functionality */
00391 #define VL53L0X_ERROR_INTERRUPT_NOT_CLEARED ((VL53L0X_Error) -12)
00392 /*!< Error during interrupt clear */
00393 #define VL53L0X_ERROR_CONTROL_INTERFACE     ((VL53L0X_Error) -20)
00394 #define VL53L0X_ERROR_I2C_BUF_OVERFLOW      ((VL53L0X_Error) -22)
00395 #define VL53L0X_ERROR_I2C_WRONG_DEV_ID      ((VL53L0X_Error) -23)
00396 /*!< error reported from IO functions */
00397 #define VL53L0X_ERROR_INVALID_COMMAND       ((VL53L0X_Error) -30)
00398 /*!< The command is not allowed in the current device state (power down) */
00399 #define VL53L0X_ERROR_DIVISION_BY_ZERO      ((VL53L0X_Error) -40)
00400 /*!< In the function a division by zero occurs */
00401 #define VL53L0X_ERROR_REF_SPAD_INIT         ((VL53L0X_Error) -50)
00402 /*!< Error during reference SPAD initialization */
00403 #define VL53L0X_ERROR_NOT_IMPLEMENTED       ((VL53L0X_Error) -99)
00404 /*!< Tells requested functionality has not been implemented yet or
00405  * not compatible with the device */
00406 /** @} VL53L0X_define_Error_group */
00407 
00408 
00409 /** @defgroup VL53L0X_define_DeviceModes_group Defines Device modes
00410  *  Defines all possible modes for the device
00411  *  @{
00412  */
00413 typedef uint8_t VL53L0X_DeviceModes;
00414 
00415 #define VL53L0X_DEVICEMODE_SINGLE_RANGING   ((VL53L0X_DeviceModes)  0)
00416 #define VL53L0X_DEVICEMODE_CONTINUOUS_RANGING   ((VL53L0X_DeviceModes)  1)
00417 #define VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM ((VL53L0X_DeviceModes)  2)
00418 #define VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING ((VL53L0X_DeviceModes) 3)
00419 #define VL53L0X_DEVICEMODE_SINGLE_ALS       ((VL53L0X_DeviceModes) 10)
00420 #define VL53L0X_DEVICEMODE_GPIO_DRIVE       ((VL53L0X_DeviceModes) 20)
00421 #define VL53L0X_DEVICEMODE_GPIO_OSC     ((VL53L0X_DeviceModes) 21)
00422 /* ... Modes to be added depending on device */
00423 /** @} VL53L0X_define_DeviceModes_group */
00424 
00425 /** @defgroup VL53L0X_define_HistogramModes_group Defines Histogram modes
00426  *  Defines all possible Histogram modes for the device
00427  *  @{
00428  */
00429 typedef uint8_t VL53L0X_HistogramModes;
00430 
00431 #define VL53L0X_HISTOGRAMMODE_DISABLED      ((VL53L0X_HistogramModes) 0)
00432 /*!< Histogram Disabled */
00433 #define VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY    ((VL53L0X_HistogramModes) 1)
00434 /*!< Histogram Reference array only */
00435 #define VL53L0X_HISTOGRAMMODE_RETURN_ONLY   ((VL53L0X_HistogramModes) 2)
00436 /*!< Histogram Return array only */
00437 #define VL53L0X_HISTOGRAMMODE_BOTH      ((VL53L0X_HistogramModes) 3)
00438 /*!< Histogram both Reference and Return Arrays */
00439 /* ... Modes to be added depending on device */
00440 /** @} VL53L0X_define_HistogramModes_group */
00441 
00442 
00443 /** @defgroup VL53L0X_define_PowerModes_group List of available Power Modes
00444  *  List of available Power Modes
00445  *  @{
00446  */
00447 
00448 typedef uint8_t VL53L0X_PowerModes;
00449 
00450 #define VL53L0X_POWERMODE_STANDBY_LEVEL1 ((VL53L0X_PowerModes) 0)
00451 /*!< Standby level 1 */
00452 #define VL53L0X_POWERMODE_STANDBY_LEVEL2 ((VL53L0X_PowerModes) 1)
00453 /*!< Standby level 2 */
00454 #define VL53L0X_POWERMODE_IDLE_LEVEL1   ((VL53L0X_PowerModes) 2)
00455 /*!< Idle level 1 */
00456 #define VL53L0X_POWERMODE_IDLE_LEVEL2   ((VL53L0X_PowerModes) 3)
00457 /*!< Idle level 2 */
00458 
00459 /** @} VL53L0X_define_PowerModes_group */
00460 
00461 /** @brief Defines all parameters for the device
00462  */
00463 typedef struct {
00464     VL53L0X_DeviceModes DeviceMode;
00465     /*!< Defines type of measurement to be done for the next measure */
00466     VL53L0X_HistogramModes HistogramMode;
00467     /*!< Defines type of histogram measurement to be done for the next
00468      *  measure */
00469     uint32_t Measure_Time_Budget_us; // was MeasurementTimingBudget_us
00470     /*!< Defines the allowed total time for a single measurement */
00471     uint32_t Measure_Period_ms;
00472     /*!< Defines time between two consecutive measurements (between two
00473      *  measurement starts). If set to 0 means back-to-back mode */
00474     uint8_t XTalk_Compens_En;
00475     /*!< Tells if Crosstalk compensation shall be enable or not  */
00476     uint16_t XTalkCompensationRangeMilliMeter;
00477     /*!< CrossTalk compensation range in millimeter  */
00478     TFP1616 Xtalk_CompRate_MHz;
00479     /*!< CrossTalk compensation rate in Mega counts per seconds.
00480      *  Expressed in 16.16 fixed point format.  */
00481     int32_t Offset_Cal_um;
00482     /*!< Range offset adjustment (um) last programmed.  */
00483 
00484     uint8_t Limit_Chk_En[VL53L0X_CHECKEN_NUMBER_OF_CHECKS];
00485     /*!< This Array store all the Limit Check enable for this device. */
00486     uint8_t LimitChecksStatus[VL53L0X_CHECKEN_NUMBER_OF_CHECKS];
00487     /*!< This Array store all the Status of the check linked to last
00488     * measurement. */
00489     TFP1616 Limit_Chk_Val[VL53L0X_CHECKEN_NUMBER_OF_CHECKS];
00490     /*!< This Array store all the Limit Check value for this device */
00491     uint8_t Wrap_Around_Chk_En;
00492     /*!< Tells if Wrap Around Check shall be enable or not */
00493 } VL53L0X_DeviceParams_t;
00494 
00495 
00496 /** @defgroup VL53L0X_define_State_group Defines the current status of the device
00497  *  Defines the current status of the device
00498  *  @{
00499  */
00500 typedef uint8_t VL53L0X_State;
00501 
00502 #define VL53L0X_STATE_POWERDOWN       ((VL53L0X_State)  0)
00503 /*!< Device is in HW reset  */
00504 #define VL53L0X_STATE_WAIT_STATICINIT ((VL53L0X_State)  1)
00505 /*!< Device is initialized and wait for static initialization  */
00506 #define VL53L0X_STATE_STANDBY         ((VL53L0X_State)  2)
00507 /*!< Device is in Low power Standby mode   */
00508 #define VL53L0X_STATE_IDLE            ((VL53L0X_State)  3)
00509 /*!< Device has been initialized and ready to do measurements  */
00510 #define VL53L0X_STATE_RUNNING         ((VL53L0X_State)  4)
00511 /*!< Device is performing measurement */
00512 #define VL53L0X_STATE_UNKNOWN         ((VL53L0X_State)  98)
00513 /*!< Device is in unknown state and need to be rebooted  */
00514 #define VL53L0X_STATE_ERROR           ((VL53L0X_State)  99)
00515 /*!< Device is in error state and need to be rebooted  */
00516 /** @} VL53L0X_define_State_group */
00517 
00518 
00519 /** @brief Structure containing the Dmax computation parameters and data
00520  */
00521 typedef struct {
00522     int32_t AmbTuningWindowFactor_K;
00523     /*!<  internal algo tuning (*1000) */
00524     int32_t RetSignalAt0mm;
00525     /*!< intermediate dmax computation value caching */
00526 } VL53L0X_DMaxData_t;
00527 
00528 /**
00529  * @struct VL53L0X_RangeData_t
00530  * @brief Range measurement data.
00531  */
00532 typedef struct {
00533     uint32_t TimeStamp;     /*!< 32-bit time stamp. */
00534     uint32_t MeasurementTimeUsec;
00535     /*!< Give the Measurement time needed by the device to do the measurement.*/
00536 
00537     uint16_t RangeMilliMeter;   /*!< range distance in millimeter. */
00538 
00539     uint16_t RangeDMaxMilliMeter;
00540     /*!< Tells what is the maximum detection distance of the device
00541      * in current setup and environment conditions (Filled when
00542      *  applicable) */
00543 
00544     TFP1616 SignalRateRtnMHz;
00545     /*!< Return signal rate (MHz)\n these is a 16.16 fix point
00546      *  value, which is effectively a measure of target
00547      *   reflectance.*/
00548     TFP1616 AmbientRateRtnMHz;
00549     /*!< Return ambient rate (MHz)\n these is a 16.16 fix point
00550      *  value, which is effectively a measure of the ambien
00551      *  t light.*/
00552 
00553     uint16_t EffectiveSPADRtnCount;
00554     /*!< Return the effective SPAD count for the return signal.
00555      *  To obtain Real value it should be divided by 256 */
00556 
00557     uint8_t ZoneId;
00558     /*!< Denotes which zone and range scheduler stage the range
00559      *  data relates to. */
00560     uint8_t RangeFractionalPart;
00561     /*!< Fractional part of range distance. Final value is a
00562      *  FixPoint168 value. */
00563     uint8_t RangeStatus;
00564     /*!< Range Status for the current measurement. This is device
00565      *  dependent. Value = 0 means value is valid.
00566      *  See \ref RangeStatusPage */
00567 } TRangeResults; // was VL53L0X_RangingMeasurementData_t
00568 
00569 
00570 #define VL53L0X_HISTOGRAM_BUFFER_SIZE 24
00571 
00572 /**
00573  * @struct VL53L0X_HistogramData_t
00574  * @brief Histogram measurement data.
00575  */
00576 typedef struct {  /* Histogram Measurement data */
00577     uint32_t HistogramData[VL53L0X_HISTOGRAM_BUFFER_SIZE];
00578     /*!< Histogram data */
00579     uint8_t HistogramType; /*!< Indicate the types of histogram data :
00580     Return only, Reference only, both Return and Reference */
00581     uint8_t FirstBin; /*!< First Bin value */
00582     uint8_t BufferSize; /*!< Buffer Size - Set by the user.*/
00583     uint8_t NumberOfBins;/*!< Number of bins filled by the histogram measurement */
00584     TDevError ErrorStatus;
00585     /*!< Error status of the current measurement. \n
00586     see @a ::TDevError @a VL53L0X_GetStatusErrorString() */
00587 } VL53L0X_HistogramMeasurementData_t;
00588 
00589 #define VL53L0X_PLL_PERIOD_PS = 1655;
00590 #define VL53L0X_MACRO_PERIOD_VCLKS = 2304;
00591 
00592 /**
00593  * @struct VL53L0X_SPADData_t
00594  * @brief SPAD Configuration Data.
00595  */
00596  #define REF_SPAD_ARRAY_SIZE 6
00597 
00598 typedef struct {
00599     uint8_t RefSPADEnables[REF_SPAD_ARRAY_SIZE];
00600     /*!< Reference SPAD Enables */
00601     uint8_t RefGoodSPADMap[REF_SPAD_ARRAY_SIZE];
00602     /*!< Reference SPAD Good SPAD Map */
00603 } VL53L0X_SPADData_t;
00604 
00605 
00606 /** @defgroup VL53L0X_define_InterruptPolarity_group Defines the Polarity
00607  * of the Interrupt
00608  *  Defines the Polarity of the Interrupt
00609  *  @{
00610  */
00611 typedef uint8_t VL53L0X_InterruptPolarity;
00612 #define VL53L0X_INTERRUPTPOLARITY_LOW      ((VL53L0X_InterruptPolarity) 0)
00613 /*!< Set active low polarity best setup for falling edge. */
00614 #define VL53L0X_INTERRUPTPOLARITY_HIGH     ((VL53L0X_InterruptPolarity) 1)
00615 /*!< Set active high polarity best setup for rising edge. */
00616 
00617 /** @} VL53L0X_define_InterruptPolarity_group */
00618 
00619 
00620 /** @defgroup VL53L0X_define_VcselPeriod_group Vcsel Period Defines
00621  *  Defines the range measurement for which to access the vcsel Phase.
00622  *  @{
00623  */
00624 typedef uint8_t VL53L0X_Range_Phase;
00625 
00626 #define VL53L0X_VCSEL_PRE_RANGE  ((VL53L0X_Range_Phase) 0)
00627 /*!<Identifies the pre-range vcsel Phase. */
00628 #define VL53L0X_VCSEL_FINAL_RANGE ((VL53L0X_Range_Phase) 1)
00629 /*!<Identifies the final range vcsel Phase . */
00630 
00631 /** @} VL53L0X_define_VcselPeriod_group */
00632 
00633 /** @defgroup VL53L0X_define_SchedulerSequence_group Defines the steps
00634  * carried out by the scheduler during a range measurement.
00635  *  @{
00636  *  Defines the states of all the steps in the scheduler
00637  *  i.e. enabled/disabled.
00638  */
00639 typedef struct {
00640     uint8_t      TccOn;    /*!<Reports if Target Centre Check On  */
00641     uint8_t      MsrcOn;       /*!<Reports if MSRC On  */
00642     uint8_t      DssOn;        /*!<Reports if DSS On  */
00643     uint8_t      PreRangeOn;   /*!<Reports if Pre-Range On  */
00644     uint8_t      FinalRangeOn; /*!<Reports if Final-Range On  */
00645 } VL53L0X_Sequence_Steps_t;
00646 
00647 /** @} VL53L0X_define_SchedulerSequence_group */
00648 
00649 /** @defgroup VL53L0X_define_SequenceStepId_group Defines the Polarity
00650  *  of the Interrupt
00651  *  Defines the the sequence steps performed during ranging..
00652  *  @{
00653  */
00654 typedef uint8_t VL53L0X_SequenceStepId;
00655 
00656 #define  VL53L0X_SEQUENCESTEP_TCC        ((VL53L0X_SequenceStepId) 0)
00657 /*!<Target CentreCheck identifier. */
00658 #define  VL53L0X_SEQUENCESTEP_DSS        ((VL53L0X_SequenceStepId) 1)
00659 /*!<Dynamic SPAD Selection function Identifier. */
00660 #define  VL53L0X_SEQUENCESTEP_MSRC       ((VL53L0X_SequenceStepId) 2)
00661 /*!<Minimum Signal Rate Check function Identifier. */
00662 #define  VL53L0X_SEQUENCESTEP_PRE_RANGE  ((VL53L0X_SequenceStepId) 3)
00663 /*!<Pre-Range check Identifier. */
00664 #define  VL53L0X_SEQUENCESTEP_FINAL_RANGE ((VL53L0X_SequenceStepId) 4)
00665 /*!<Final Range Check Identifier. */
00666 
00667 #define  VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS           5
00668 /*!<Number of Sequence Step Managed by the API. */
00669 
00670 /** @} VL53L0X_define_SequenceStepId_group */
00671 
00672 /* MACRO Definitions */
00673 /** @defgroup VL53L0X_define_GeneralMacro_group General Macro Defines
00674  *  General Macro Defines
00675  *  @{
00676  */
00677 
00678 /* Defines */
00679 #define FP1616_TO_FP97(Value) (uint16_t)((Value>>9)&0xFFFF)
00680 #define FP97_TO_FP1616(Value) (TFP1616)(Value<<9)
00681 
00682 #define FP1616_TO_FP88(Value) (uint16_t)((Value>>8)&0xFFFF)
00683 #define FP88_TO_FP1616(Value) (TFP1616)(Value<<8)
00684 
00685 #define FP1616_TO_FP412(Value) (uint16_t)((Value>>4)&0xFFFF)
00686 #define FP412_TO_FP1616(Value) (TFP1616)(Value<<4)
00687 
00688 #define FP1616_TO_FP313(Value) (uint16_t)((Value>>3)&0xFFFF)
00689 #define FP313_TO_FP1616(Value) (TFP1616)(Value<<3)
00690 
00691 #define FP1616_TO_FP08(Value) (uint8_t)((Value>>8)&0x00FF)
00692 #define FP08_TO_FP1616(Value) (TFP1616)(Value<<8)
00693 
00694 #define FP1616_TO_FP53(Value) (uint8_t)((Value>>13)&0x00FF)
00695 #define FP53_TO_FP1616(Value) (TFP1616)(Value<<13)
00696 
00697 #define FP1616_TO_FP102(Value) (uint16_t)((Value>>14)&0x0FFF)
00698 #define FP102_TO_FP1616(Value) (TFP1616)(Value<<12)
00699 
00700 #define VL53L0X_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + (uint16_t)lsb)
00701 
00702 /** @} VL53L0X_define_GeneralMacro_group */
00703 
00704 /** @} VL53L0X_globaldefine_group */
00705 
00706 #ifdef __cplusplus
00707 }
00708 #endif
00709 
00710 #endif /* _VL53L0X_DEF_H_ */