Tarek Lule
Greatly simplified Architecture, Identical Functions Removed: Platform Interfaces, STP6001 interface
VL53L0X_def.h
- Committer:
- sepp_nepp
- Date:
- 2019-06-27
- Revision:
- 10:cd1758e186a4
- Parent:
- 8:2fd7cb217068
- Child:
- 11:d8dbe3b87f9f
File content as of revision 10:cd1758e186a4:
/*******************************************************************************
Copyright © 2016, STMicroelectronics International N.V.
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modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
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* Neither the name of STMicroelectronics nor the
names of its contributors may be used to endorse or promote products
derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*******************************************************************************/
/**
* @file VL53L0X_def.h
*
* @brief Type definitions for VL53L0X API. */
#ifndef _VL53L0X_DEF_H_
#define _VL53L0X_DEF_H_
#ifdef __cplusplus
extern "C" {
#endif
/** @defgroup VL53L0X_globaldefine_group VL53L0X Defines
* @brief VL53L0X Defines
* @{ */
/** PAL SPECIFICATION major version */
#define VL53L0X10_SPECIFICATION_VER_MAJOR 1
/** PAL SPECIFICATION minor version */
#define VL53L0X10_SPECIFICATION_VER_MINOR 2
/** PAL SPECIFICATION sub version */
#define VL53L0X10_SPECIFICATION_VER_SUB 7
/** PAL SPECIFICATION sub version */
#define VL53L0X10_SPECIFICATION_VER_REVISION 1440
/** VL53L0X PAL IMPLEMENTATION major version */
#define VL53L0X10_IMPLEMENTATION_VER_MAJOR 1
/** VL53L0X PAL IMPLEMENTATION minor version */
#define VL53L0X10_IMPLEMENTATION_VER_MINOR 0
/** VL53L0X PAL IMPLEMENTATION sub version */
#define VL53L0X10_IMPLEMENTATION_VER_SUB 9
/** VL53L0X PAL IMPLEMENTATION sub version */
#define VL53L0X10_IMPLEMENTATION_VER_REVISION 3673
/** PAL SPECIFICATION major version */
#define VL53L0X_SPECIFICATION_VER_MAJOR 1
/** PAL SPECIFICATION minor version */
#define VL53L0X_SPECIFICATION_VER_MINOR 2
/** PAL SPECIFICATION sub version */
#define VL53L0X_SPECIFICATION_VER_SUB 7
/** PAL SPECIFICATION sub version */
#define VL53L0X_SPECIFICATION_VER_REVISION 1440
/** VL53L0X PAL IMPLEMENTATION major version */
#define VL53L0X_IMPLEMENTATION_VER_MAJOR 1
/** VL53L0X PAL IMPLEMENTATION minor version */
#define VL53L0X_IMPLEMENTATION_VER_MINOR 1
/** VL53L0X PAL IMPLEMENTATION sub version */
#define VL53L0X_IMPLEMENTATION_VER_SUB 21
/** VL53L0X PAL IMPLEMENTATION sub version */
#define VL53L0X_IMPLEMENTATION_VER_REVISION 4823
/** FixPoint1616_t is used where fractional values are needed
* Given a floating point value f it's .16 bit point is (int)(f*(1<<16))*/
typedef uint32_t FixPoint1616_t;
#define VL53L0X_FIXPOINT1616TOFIXPOINT97(Value) (uint16_t)((Value>>9)&0xFFFF)
#define VL53L0X_FIXPOINT97TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<9)
#define VL53L0X_FIXPOINT1616TOFIXPOINT88(Value) (uint16_t)((Value>>8)&0xFFFF)
#define VL53L0X_FIXPOINT88TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<8)
#define VL53L0X_FIXPOINT1616TOFIXPOINT412(Value) (uint16_t)((Value>>4)&0xFFFF)
#define VL53L0X_FIXPOINT412TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<4)
#define VL53L0X_FIXPOINT1616TOFIXPOINT313(Value) (uint16_t)((Value>>3)&0xFFFF)
#define VL53L0X_FIXPOINT313TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<3)
#define VL53L0X_FIXPOINT1616TOFIXPOINT08(Value) (uint8_t)((Value>>8)&0x00FF)
#define VL53L0X_FIXPOINT08TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<8)
#define VL53L0X_FIXPOINT1616TOFIXPOINT53(Value) (uint8_t)((Value>>13)&0x00FF)
#define VL53L0X_FIXPOINT53TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<13)
#define VL53L0X_FIXPOINT1616TOFIXPOINT102(Value) (uint16_t)((Value>>14)&0x0FFF)
#define VL53L0X_FIXPOINT102TOFIXPOINT1616(Value) (FixPoint1616_t)(Value<<12)
#define VL53L0X_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + (uint16_t)lsb)
/** The device model ID */
#define IDENTIFICATION_MODEL_ID 0x000
#define VL53L0X_OsDelay(...) wait_ms(2) // 2 msec delay. can also use wait(float secs)/wait_us(int)
/** Maximum buffer size to be used in i2c */
#define VL53L0X_MAX_I2C_XFER_SIZE 64
#define VL53L0X_HISTOGRAM_BUFFER_SIZE 24
#define VL53L0X_COPYSTRING(str, ...) strcpy(str, ##__VA_ARGS__)
/* Speed of light in um per 1E-10 Seconds */
#define VL53L0X_SPEED_OF_LIGHT_IN_AIR 2997
/** default device address */
#define VL53L0X_DEFAULT_ADDRESS 0x52 /* (8-bit) */
#define VL53L0X_DEFAULT_MAX_LOOP 2000
#define VL53L0X_MAX_STRING_LENGTH 32
/* equivalent to a range sigma of 655.35mm */
#define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE 65535
#define REF_ARRAY_SPAD_0 0
#define REF_ARRAY_SPAD_5 5
#define REF_ARRAY_SPAD_10 10
static uint32_t refArrayQuadrants[4] = {REF_ARRAY_SPAD_10, REF_ARRAY_SPAD_5,
REF_ARRAY_SPAD_0, REF_ARRAY_SPAD_5 };
#define VL53L0X_STRING_DEVICE_INFO_NAME "VL53L0X cut1.0"
#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"
/* 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;
/** @defgroup VL53L0X_DeviceError_group Device Error
* @brief Device Error code
*
* This enum is Device specific it should be updated in the implementation
* Use @a VL53L0X_GetStatusErrorString() to get the string.
* It is related to Status Register of the Device.
* @{ */
typedef uint8_t VL53L0X_DeviceError;
#define VL53L0X_DEVICEERROR_NONE ((VL53L0X_DeviceError) 0)
/*!< 0 NoError */
#define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((VL53L0X_DeviceError) 1)
#define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((VL53L0X_DeviceError) 2)
#define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND ((VL53L0X_DeviceError) 3)
#define VL53L0X_DEVICEERROR_MSRCNOTARGET ((VL53L0X_DeviceError) 4)
#define VL53L0X_DEVICEERROR_SNRCHECK ((VL53L0X_DeviceError) 5)
#define VL53L0X_DEVICEERROR_RANGEPHASECHECK ((VL53L0X_DeviceError) 6)
#define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK ((VL53L0X_DeviceError) 7)
#define VL53L0X_DEVICEERROR_TCC ((VL53L0X_DeviceError) 8)
#define VL53L0X_DEVICEERROR_PHASECONSISTENCY ((VL53L0X_DeviceError) 9)
#define VL53L0X_DEVICEERROR_MINCLIP ((VL53L0X_DeviceError) 10)
#define VL53L0X_DEVICEERROR_RANGECOMPLETE ((VL53L0X_DeviceError) 11)
#define VL53L0X_DEVICEERROR_ALGOUNDERFLOW ((VL53L0X_DeviceError) 12)
#define VL53L0X_DEVICEERROR_ALGOOVERFLOW ((VL53L0X_DeviceError) 13)
#define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD ((VL53L0X_DeviceError) 14)
/** @} end of VL53L0X_DeviceError_group */
/* PAL ERROR strings */
#define VL53L0X_STRING_ERROR_NONE "No Error"
#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING "Calibration Warning Error"
#define VL53L0X_STRING_ERROR_MIN_CLIPPED "Min clipped error"
#define VL53L0X_STRING_ERROR_UNDEFINED "Undefined error"
#define VL53L0X_STRING_ERROR_INVALID_PARAMS "Invalid parameters error"
#define VL53L0X_STRING_ERROR_NOT_SUPPORTED "Not supported error"
#define VL53L0X_STRING_ERROR_RANGE_ERROR "Range error"
#define VL53L0X_STRING_ERROR_TIME_OUT "Time out error"
#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED "Mode not supported error"
#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL "Buffer too small"
#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING "GPIO not existing"
#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED "GPIO funct not supported"
#define VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED "Interrupt not Cleared"
#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE "Control Interface Error"
#define VL53L0X_STRING_ERROR_INVALID_COMMAND "Invalid Command Error"
#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO "Division by zero Error"
#define VL53L0X_STRING_ERROR_REF_SPAD_INIT "Reference Spad Init Error"
#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED "Not implemented error"
#define VL53L0X_STRING_UNKNOW_ERROR_CODE "Unknown Error Code"
/* Range Status */
#define VL53L0X_STRING_RANGESTATUS_NONE "No Update"
#define VL53L0X_STRING_RANGESTATUS_RANGEVALID "Range Valid"
#define VL53L0X_STRING_RANGESTATUS_SIGMA "Sigma Fail"
#define VL53L0X_STRING_RANGESTATUS_SIGNAL "Signal Fail"
#define VL53L0X_STRING_RANGESTATUS_MINRANGE "Min Range Fail"
#define VL53L0X_STRING_RANGESTATUS_PHASE "Phase Fail"
#define VL53L0X_STRING_RANGESTATUS_HW "Hardware Fail"
/* Range Status */
#define VL53L0X_STRING_STATE_POWERDOWN "POWERDOWN State"
#define VL53L0X_STRING_STATE_WAIT_STATICINIT "Wait for staticinit State"
#define VL53L0X_STRING_STATE_STANDBY "STANDBY State"
#define VL53L0X_STRING_STATE_IDLE "IDLE State"
#define VL53L0X_STRING_STATE_RUNNING "RUNNING State"
#define VL53L0X_STRING_STATE_UNKNOWN "UNKNOWN State"
#define VL53L0X_STRING_STATE_ERROR "ERROR State"
/* Device Specific */
#define VL53L0X_STRING_DEVICEERROR_NONE "No Update"
#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE "VCSEL Continuity Test Failure"
#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE "VCSEL Watchdog Test Failure"
#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND "No VHV Value found"
#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET "MSRC No Target Error"
#define VL53L0X_STRING_DEVICEERROR_SNRCHECK "SNR Check Exit"
#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK "Range Phase Check Error"
#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK "Sigma Threshold Check Error"
#define VL53L0X_STRING_DEVICEERROR_TCC "TCC Error"
#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY "Phase Consistency Error"
#define VL53L0X_STRING_DEVICEERROR_MINCLIP "Min Clip Error"
#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE "Range Complete"
#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW "Range Algo Underflow Error"
#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW "Range Algo Overlow Error"
#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD "Range Ignore Threshold Error"
#define VL53L0X_STRING_DEVICEERROR_UNKNOWN "Unknown error code"
/* Check Enable */
#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE "SIGMA FINAL RANGE"
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE "SIGNAL RATE FINAL RANGE"
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP "SIGNAL REF CLIP"
#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD "RANGE IGNORE THRESHOLD"
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC "SIGNAL RATE MSRC"
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE "SIGNAL RATE PRE RANGE"
/* Sequence Step */
#define VL53L0X_STRING_SEQUENCESTEP_TCC "TCC"
#define VL53L0X_STRING_SEQUENCESTEP_DSS "DSS"
#define VL53L0X_STRING_SEQUENCESTEP_MSRC "MSRC"
#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE "PRE RANGE"
#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE "FINAL RANGE"
/** @defgroup VL53L0X_CheckEnable_group Check Enable list
* @brief Check Enable code
*
* Define used to specify the LimitCheckId.
* Use @a VL53L0X_GetLimitCheckInfo() to get the string.
* @{ */
#define VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE 0
#define VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1
#define VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP 2
#define VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD 3
#define VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC 4
#define VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE 5
#define VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS 6
/** @} end of VL53L0X_CheckEnable_group */
/** @defgroup VL53L0X_DefineRegisters_group Define Registers
* @brief List of all the defined registers
* @{ */
#define VL53L0X_REG_SYSRANGE_START 0x000
/** mask existing bit in #VL53L0X_REG_SYSRANGE_START*/
#define VL53L0X_REG_SYSRANGE_MODE_MASK 0x0F
/** bit 0 in #VL53L0X_REG_SYSRANGE_START write 1 toggle state in
* continuous mode and arm next shot in single shot mode */
#define VL53L0X_REG_SYSRANGE_MODE_START_STOP 0x01
/** bit 1 write 0 in #VL53L0X_REG_SYSRANGE_START set single shot mode */
#define VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT 0x00
/** bit 1 write 1 in #VL53L0X_REG_SYSRANGE_START set back-to-back operation mode */
#define VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK 0x02
/** bit 2 write 1 in #VL53L0X_REG_SYSRANGE_START set timed operation mode */
#define VL53L0X_REG_SYSRANGE_MODE_TIMED 0x04
/** bit 3 write 1 in #VL53L0X_REG_SYSRANGE_START set histogram operation mode */
#define VL53L0X_REG_SYSRANGE_MODE_HISTOGRAM 0x08
#define VL53L0X_REG_SYSTEM_THRESH_HIGH 0x000C
#define VL53L0X_REG_SYSTEM_THRESH_LOW 0x000E
#define VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG 0x0001
#define VL53L0X_REG_SYSTEM_RANGE_CONFIG 0x0009
#define VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD 0x0004
#define VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x000A
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED 0x00
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW 0x01
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH 0x02
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW 0x03
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY 0x04
#define VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x0084
#define VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR 0x000B
/* Result registers */
#define VL53L0X_REG_RESULT_INTERRUPT_STATUS 0x0013
#define VL53L0X_REG_RESULT_RANGE_STATUS 0x0014
#define VL53L0X_REG_RESULT_CORE_PAGE 1
#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0x00BC
#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0x00C0
#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0x00D0
#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0x00D4
#define VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF 0x00B6
/* Algo register */
#define VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x0028
#define VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS 0x008a
/* Check Limit registers */
#define VL53L0X_REG_MSRC_CONFIG_CONTROL 0x0060
#define VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR 0X0027
#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x0056
#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x0057
#define VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x0064
#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR 0X0067
#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x0047
#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x0048
#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x0044
#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0X0061
#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0X0062
/* PRE RANGE registers */
#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x0050
#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0051
#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0052
#define VL53L0X_REG_SYSTEM_HISTOGRAM_BIN 0x0081
#define VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x0033
#define VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x0055
#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x0070
#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0071
#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0072
#define VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x0020
#define VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP 0x0046
#define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N 0x00bf
#define VL53L0X_REG_IDENTIFICATION_MODEL_ID 0x00c0
#define VL53L0X_REG_IDENTIFICATION_REVISION_ID 0x00c2
#define VL53L0X_REG_OSC_CALIBRATE_VAL 0x00f8
#define VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x0032
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0x00B0
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0x00B1
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0x00B2
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0x00B3
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0x00B4
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0x00B5
#define VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0x00B6
#define VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x004E /* 0x14E */
#define VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x004F /* 0x14F */
#define VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x0080
#define VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x0089
#define VL53L0X_REG_ALGO_PHASECAL_LIM 0x0030 /* 0x130 */
#define VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x0030
/** @} VL53L0X_DefineRegisters_group */
static uint8_t DefaultTuningSettings[] = {
/* update 02/11/2015_v36 */
0x01, 0xFF, 0x01, 0x01, 0x00, 0x00, 0x01, 0xFF, 0x00, 0x01, 0x09, 0x00,
0x01, 0x10, 0x00, 0x01, 0x11, 0x00, 0x01, 0x24, 0x01, 0x01, 0x25, 0xff,
0x01, 0x75, 0x00, 0x01, 0xFF, 0x01, 0x01, 0x4e, 0x2c, 0x01, 0x48, 0x00,
0x01, 0x30, 0x20, 0x01, 0xFF, 0x00, 0x01, 0x30, 0x09, /* mja changed from 0x64. */
0x01, 0x54, 0x00, 0x01, 0x31, 0x04, 0x01, 0x32, 0x03, 0x01, 0x40, 0x83,
0x01, 0x46, 0x25, 0x01, 0x60, 0x00, 0x01, 0x27, 0x00, 0x01, 0x50, 0x06,
0x01, 0x51, 0x00, 0x01, 0x52, 0x96, 0x01, 0x56, 0x08, 0x01, 0x57, 0x30,
0x01, 0x61, 0x00, 0x01, 0x62, 0x00, 0x01, 0x64, 0x00, 0x01, 0x65, 0x00,
0x01, 0x66, 0xa0, 0x01, 0xFF, 0x01, 0x01, 0x22, 0x32, 0x01, 0x47, 0x14,
0x01, 0x49, 0xff, 0x01, 0x4a, 0x00, 0x01, 0xFF, 0x00, 0x01, 0x7a, 0x0a,
0x01, 0x7b, 0x00, 0x01, 0x78, 0x21, 0x01, 0xFF, 0x01, 0x01, 0x23, 0x34,
0x01, 0x42, 0x00, 0x01, 0x44, 0xff, 0x01, 0x45, 0x26, 0x01, 0x46, 0x05,
0x01, 0x40, 0x40, 0x01, 0x0E, 0x06, 0x01, 0x20, 0x1a, 0x01, 0x43, 0x40,
0x01, 0xFF, 0x00, 0x01, 0x34, 0x03, 0x01, 0x35, 0x44, 0x01, 0xFF, 0x01,
0x01, 0x31, 0x04, 0x01, 0x4b, 0x09, 0x01, 0x4c, 0x05, 0x01, 0x4d, 0x04,
0x01, 0xFF, 0x00, 0x01, 0x44, 0x00, 0x01, 0x45, 0x20, 0x01, 0x47, 0x08,
0x01, 0x48, 0x28, 0x01, 0x67, 0x00, 0x01, 0x70, 0x04, 0x01, 0x71, 0x01,
0x01, 0x72, 0xfe, 0x01, 0x76, 0x00, 0x01, 0x77, 0x00, 0x01, 0xFF, 0x01,
0x01, 0x0d, 0x01, 0x01, 0xFF, 0x00, 0x01, 0x80, 0x01, 0x01, 0x01, 0xF8,
0x01, 0xFF, 0x01, 0x01, 0x8e, 0x01, 0x01, 0x00, 0x01, 0x01, 0xFF, 0x00,
0x01, 0x80, 0x00, 0x00, 0x00, 0x00
};
static uint8_t InterruptThresholdSettings[] = {
/* Start of Interrupt Threshold Settings */
0x1, 0xff, 0x00, 0x1, 0x80, 0x01, 0x1, 0xff, 0x01, 0x1, 0x00, 0x00,
0x1, 0xff, 0x01, 0x1, 0x4f, 0x02, 0x1, 0xFF, 0x0E, 0x1, 0x00, 0x03,
0x1, 0x01, 0x84, 0x1, 0x02, 0x0A, 0x1, 0x03, 0x03, 0x1, 0x04, 0x08,
0x1, 0x05, 0xC8, 0x1, 0x06, 0x03, 0x1, 0x07, 0x8D, 0x1, 0x08, 0x08,
0x1, 0x09, 0xC6, 0x1, 0x0A, 0x01, 0x1, 0x0B, 0x02, 0x1, 0x0C, 0x00,
0x1, 0x0D, 0xD5, 0x1, 0x0E, 0x18, 0x1, 0x0F, 0x12, 0x1, 0x10, 0x01,
0x1, 0x11, 0x82, 0x1, 0x12, 0x00, 0x1, 0x13, 0xD5, 0x1, 0x14, 0x18,
0x1, 0x15, 0x13, 0x1, 0x16, 0x03, 0x1, 0x17, 0x86, 0x1, 0x18, 0x0A,
0x1, 0x19, 0x09, 0x1, 0x1A, 0x08, 0x1, 0x1B, 0xC2, 0x1, 0x1C, 0x03,
0x1, 0x1D, 0x8F, 0x1, 0x1E, 0x0A, 0x1, 0x1F, 0x06, 0x1, 0x20, 0x01,
0x1, 0x21, 0x02, 0x1, 0x22, 0x00, 0x1, 0x23, 0xD5, 0x1, 0x24, 0x18,
0x1, 0x25, 0x22, 0x1, 0x26, 0x01, 0x1, 0x27, 0x82, 0x1, 0x28, 0x00,
0x1, 0x29, 0xD5, 0x1, 0x2A, 0x18, 0x1, 0x2B, 0x0B, 0x1, 0x2C, 0x28,
0x1, 0x2D, 0x78, 0x1, 0x2E, 0x28, 0x1, 0x2F, 0x91, 0x1, 0x30, 0x00,
0x1, 0x31, 0x0B, 0x1, 0x32, 0x00, 0x1, 0x33, 0x0B, 0x1, 0x34, 0x00,
0x1, 0x35, 0xA1, 0x1, 0x36, 0x00, 0x1, 0x37, 0xA0, 0x1, 0x38, 0x00,
0x1, 0x39, 0x04, 0x1, 0x3A, 0x28, 0x1, 0x3B, 0x30, 0x1, 0x3C, 0x0C,
0x1, 0x3D, 0x04, 0x1, 0x3E, 0x0F, 0x1, 0x3F, 0x79, 0x1, 0x40, 0x28,
0x1, 0x41, 0x1E, 0x1, 0x42, 0x2F, 0x1, 0x43, 0x87, 0x1, 0x44, 0x00,
0x1, 0x45, 0x0B, 0x1, 0x46, 0x00, 0x1, 0x47, 0x0B, 0x1, 0x48, 0x00,
0x1, 0x49, 0xA7, 0x1, 0x4A, 0x00, 0x1, 0x4B, 0xA6, 0x1, 0x4C, 0x00,
0x1, 0x4D, 0x04, 0x1, 0x4E, 0x01, 0x1, 0x4F, 0x00, 0x1, 0x50, 0x00,
0x1, 0x51, 0x80, 0x1, 0x52, 0x09, 0x1, 0x53, 0x08, 0x1, 0x54, 0x01,
0x1, 0x55, 0x00, 0x1, 0x56, 0x0F, 0x1, 0x57, 0x79, 0x1, 0x58, 0x09,
0x1, 0x59, 0x05, 0x1, 0x5A, 0x00, 0x1, 0x5B, 0x60, 0x1, 0x5C, 0x05,
0x1, 0x5D, 0xD1, 0x1, 0x5E, 0x0C, 0x1, 0x5F, 0x3C, 0x1, 0x60, 0x00,
0x1, 0x61, 0xD0, 0x1, 0x62, 0x0B, 0x1, 0x63, 0x03, 0x1, 0x64, 0x28,
0x1, 0x65, 0x10, 0x1, 0x66, 0x2A, 0x1, 0x67, 0x39, 0x1, 0x68, 0x0B,
0x1, 0x69, 0x02, 0x1, 0x6A, 0x28, 0x1, 0x6B, 0x10, 0x1, 0x6C, 0x2A,
0x1, 0x6D, 0x61, 0x1, 0x6E, 0x0C, 0x1, 0x6F, 0x00, 0x1, 0x70, 0x0F,
0x1, 0x71, 0x79, 0x1, 0x72, 0x00, 0x1, 0x73, 0x0B, 0x1, 0x74, 0x00,
0x1, 0x75, 0x0B, 0x1, 0x76, 0x00, 0x1, 0x77, 0xA1, 0x1, 0x78, 0x00,
0x1, 0x79, 0xA0, 0x1, 0x7A, 0x00, 0x1, 0x7B, 0x04, 0x1, 0xFF, 0x04,
0x1, 0x79, 0x1D, 0x1, 0x7B, 0x27, 0x1, 0x96, 0x0E, 0x1, 0x97, 0xFE,
0x1, 0x98, 0x03, 0x1, 0x99, 0xEF, 0x1, 0x9A, 0x02, 0x1, 0x9B, 0x44,
0x1, 0x73, 0x07, 0x1, 0x70, 0x01, 0x1, 0xff, 0x01, 0x1, 0x00, 0x01,
0x1, 0xff, 0x00,
0x0, 0x00, 0x00};
/** @defgroup VL53L0X_GpioFunctionality_group Gpio Functionality
* @brief Defines the different functionalities for the device GPIO(s)
* @{ */
typedef uint8_t VL53L0X_GpioFunctionality;
#define VL53L0X_GPIOFUNCTIONALITY_OFF \
((VL53L0X_GpioFunctionality) 0) /*!< NO Interrupt */
#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW \
((VL53L0X_GpioFunctionality) 1) /*!< Level Low (value < thresh_low) */
#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH \
((VL53L0X_GpioFunctionality) 2) /*!< Level High (value > thresh_high) */
#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT \
((VL53L0X_GpioFunctionality) 3)
/*!< Out Of Window (value < thresh_low OR value > thresh_high) */
#define VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY \
((VL53L0X_GpioFunctionality) 4) /*!< New Sample Ready */
/** @} end of VL53L0X_GpioFunctionality_group */
/** @brief Defines the parameters of the Get Version Functions */
typedef struct {
uint32_t revision; /*!< revision number */
uint8_t major; /*!< major number */
uint8_t minor; /*!< minor number */
uint8_t build; /*!< build number */
} VL53L0X_Version_t;
/** @defgroup VL53L0X_define_Error_group Error and Warning code returned by API
* The following DEFINE are used to identify the PAL ERROR
* @{ */
typedef int8_t VL53L0X_Error;
#define VL53L0X_ERROR_NONE ((VL53L0X_Error) 0)
#define VL53L0X_ERROR_CALIBRATION_WARNING ((VL53L0X_Error) -1)
/*!< Warning invalid calibration data may be in used
\a VL53L0X_InitData()
\a VL53L0X_GetOffsetCalibrationData
\a VL53L0X_SetOffsetCalibrationData */
#define VL53L0X_ERROR_MIN_CLIPPED ((VL53L0X_Error) -2)
/*!< Warning parameter passed was clipped to min before to be applied */
#define VL53L0X_ERROR_UNDEFINED ((VL53L0X_Error) -3)
/*!< Unqualified error */
#define VL53L0X_ERROR_INVALID_PARAMS ((VL53L0X_Error) -4)
/*!< Parameter passed is invalid or out of range */
#define VL53L0X_ERROR_NOT_SUPPORTED ((VL53L0X_Error) -5)
/*!< Function is not supported in current mode or configuration */
#define VL53L0X_ERROR_RANGE_ERROR ((VL53L0X_Error) -6)
/*!< Device report a ranging error interrupt status */
#define VL53L0X_ERROR_TIME_OUT ((VL53L0X_Error) -7)
/*!< Aborted due to time out */
#define VL53L0X_ERROR_MODE_NOT_SUPPORTED ((VL53L0X_Error) -8)
/*!< Asked mode is not supported by the device */
#define VL53L0X_ERROR_BUFFER_TOO_SMALL ((VL53L0X_Error) -9)
/*!< ... */
#define VL53L0X_ERROR_GPIO_NOT_EXISTING ((VL53L0X_Error) -10)
/*!< User tried to setup a non-existing GPIO pin */
#define VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L0X_Error) -11)
/*!< unsupported GPIO functionality */
#define VL53L0X_ERROR_INTERRUPT_NOT_CLEARED ((VL53L0X_Error) -12)
/*!< Error during interrupt clear */
#define VL53L0X_ERROR_CONTROL_INTERFACE ((VL53L0X_Error) -20)
/*!< error reported from IO functions */
#define VL53L0X_ERROR_INVALID_COMMAND ((VL53L0X_Error) -30)
/*!< The command is not allowed in the current device state
* (power down) */
#define VL53L0X_ERROR_DIVISION_BY_ZERO ((VL53L0X_Error) -40)
/*!< In the function a division by zero occurs */
#define VL53L0X_ERROR_REF_SPAD_INIT ((VL53L0X_Error) -50)
/*!< Error during reference SPAD initialization */
#define VL53L0X_ERROR_NOT_IMPLEMENTED ((VL53L0X_Error) -99)
/*!< Tells requested functionality has not been implemented yet or
* not compatible with the device */
/** @} VL53L0X_define_Error_group */
/** @defgroup VL53L0X_define_DeviceModes_group Defines Device modes
* Defines all possible modes for the device
* @{ */
typedef uint8_t VL53L0X_DeviceModes;
#define VL53L0X_DEVICEMODE_SINGLE_RANGING ((VL53L0X_DeviceModes) 0)
#define VL53L0X_DEVICEMODE_CONTINUOUS_RANGING ((VL53L0X_DeviceModes) 1)
#define VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM ((VL53L0X_DeviceModes) 2)
#define VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING ((VL53L0X_DeviceModes) 3)
#define VL53L0X_DEVICEMODE_SINGLE_ALS ((VL53L0X_DeviceModes) 10)
#define VL53L0X_DEVICEMODE_GPIO_DRIVE ((VL53L0X_DeviceModes) 20)
#define VL53L0X_DEVICEMODE_GPIO_OSC ((VL53L0X_DeviceModes) 21)
/* ... Modes to be added depending on device */
/** @} VL53L0X_define_DeviceModes_group */
/** @defgroup VL53L0X_define_HistogramModes_group Defines Histogram modes
* Defines all possible Histogram modes for the device
* @{ */
typedef uint8_t VL53L0X_HistogramModes;
#define VL53L0X_HISTOGRAMMODE_DISABLED ((VL53L0X_HistogramModes) 0)
/*!< Histogram Disabled */
#define VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY ((VL53L0X_HistogramModes) 1)
/*!< Histogram Reference array only */
#define VL53L0X_HISTOGRAMMODE_RETURN_ONLY ((VL53L0X_HistogramModes) 2)
/*!< Histogram Return array only */
#define VL53L0X_HISTOGRAMMODE_BOTH ((VL53L0X_HistogramModes) 3)
/*!< Histogram both Reference and Return Arrays */
/* ... Modes to be added depending on device */
/** @} VL53L0X_define_HistogramModes_group */
/** @defgroup VL53L0X_define_PowerModes_group List of available Power Modes
* List of available Power Modes
* @{ */
typedef uint8_t VL53L0X_PowerModes;
#define VL53L0X_POWERMODE_STANDBY_LEVEL1 ((VL53L0X_PowerModes) 0)
/*!< Standby level 1 */
#define VL53L0X_POWERMODE_STANDBY_LEVEL2 ((VL53L0X_PowerModes) 1)
/*!< Standby level 2 */
#define VL53L0X_POWERMODE_IDLE_LEVEL1 ((VL53L0X_PowerModes) 2)
/*!< Idle level 1 */
#define VL53L0X_POWERMODE_IDLE_LEVEL2 ((VL53L0X_PowerModes) 3)
/*!< Idle level 2 */
/** @} VL53L0X_define_PowerModes_group */
/** @defgroup VL53L0X_define_State_group Defines the current status of the device
* Defines the current status of the device
* @{ */
typedef uint8_t VL53L0X_State;
#define VL53L0X_STATE_POWERDOWN ((VL53L0X_State) 0)
/*!< Device is in HW reset */
#define VL53L0X_STATE_WAIT_STATICINIT ((VL53L0X_State) 1)
/*!< Device is initialized and wait for static initialization */
#define VL53L0X_STATE_STANDBY ((VL53L0X_State) 2)
/*!< Device is in Low power Standby mode */
#define VL53L0X_STATE_IDLE ((VL53L0X_State) 3)
/*!< Device has been initialized and ready to do measurements */
#define VL53L0X_STATE_RUNNING ((VL53L0X_State) 4)
/*!< Device is performing measurement */
#define VL53L0X_STATE_UNKNOWN ((VL53L0X_State) 98)
/*!< Device is in unknown state and need to be rebooted */
#define VL53L0X_STATE_ERROR ((VL53L0X_State) 99)
/*!< Device is in error state and need to be rebooted */
/** @} VL53L0X_define_State_group */
/** @brief Defines the parameters of the Get Device Info Functions */
typedef struct {
char Name[VL53L0X_MAX_STRING_LENGTH];
/*!< Name of the Device e.g. Left_Distance */
char Type[VL53L0X_MAX_STRING_LENGTH];
/*!< Type of the Device e.g VL53L0X */
char ProductId[VL53L0X_MAX_STRING_LENGTH];
/*!< Product Identifier String */
uint8_t ProductType;
/*!< Product Type, VL53L0X = 1, VL53L1 = 2 */
uint8_t ProductRevisionMajor;
/*!< Product revision major */
uint8_t ProductRevisionMinor;
/*!< Product revision minor */
} VL53L0X_DeviceInfo_t;
/** @brief Defines all parameters for the device */
typedef struct {
VL53L0X_DeviceModes DeviceMode;
/*!< Defines type of measurement to be done for the next measure */
VL53L0X_HistogramModes HistogramMode;
/*!< Defines type of histogram measurement to be done for the next
* measure */
uint32_t MeasurementTimingBudgetMicroSeconds;
/*!< Defines the allowed total time for a single measurement */
uint32_t InterMeasurementPeriodMilliSeconds;
/*!< Defines time between two consecutive measurements (between two
* measurement starts). If set to 0 means back-to-back mode */
uint8_t XTalkCompensationEnable;
/*!< Tells if Crosstalk compensation shall be enable or not */
uint16_t XTalkCompensationRangeMilliMeter;
/*!< CrossTalk compensation range in millimeter */
FixPoint1616_t XTalkCompensationRateMegaCps;
/*!< CrossTalk compensation rate in Mega counts per seconds.
* Expressed in 16.16 fixed point format. */
int32_t RangeOffsetMicroMeters;
/*!< Range offset adjustment (mm). */
uint8_t LimitChecksEnable[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
/*!< This Array store all the Limit Check enable for this device. */
uint8_t LimitChecksStatus[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
/*!< This Array store all the Status of the check linked to last
* measurement. */
FixPoint1616_t LimitChecksValue[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
/*!< This Array store all the Limit Check value for this device */
uint8_t WrapAroundCheckEnable;
/*!< Tells if Wrap Around Check shall be enable or not */
} VL53L0X_DeviceParameters_t;
/**
* @struct VL53L0X_RangeData_t
* @brief Range measurement data. */
typedef struct {
uint16_t RangeMilliMeter; /*!< range distance in millimeter. */
uint16_t RangeDMaxMilliMeter; /*!< Tells what is the maximum detection distance of the device
* in current setup and environment conditions (Filled when applicable) */
FixPoint1616_t SignalRateRtnMegaCps; /*!< Return signal rate (MCPS)\n these is a 16.16 fix point
* value, which is effectively a measure of target reflectance.*/
FixPoint1616_t AmbientRateRtnMegaCps;
/*!< Return ambient rate (MCPS)\n these is a 16.16 fix point value,
which is effectively a measure of the ambient light.*/
uint16_t EffectiveSpadRtnCount; /*!< Return the effective SPAD count for the return signal.
* To obtain Real value it should be divided by 256 */
uint8_t RangeFractionalPart;
/*!< Fractional part of range distance. Final value is a FixPoint168 value.; only noise :( */
uint8_t RangeStatus; /*!< Range Status for the current measurement. This is device
* dependent. Value = 0 means value is valid. See \ref RangeStatusPage */
} VL53L0X_RangingMeasurementData_t;
/**
* @struct VL53L0X_HistogramData_t
* @brief Histogram measurement data.
*/
typedef struct {
/* Histogram Measurement data */
uint32_t HistogramData[VL53L0X_HISTOGRAM_BUFFER_SIZE];/*!< Histogram data */
uint8_t HistogramType; /*!< Indicate the types of histogram data :Return only, Reference only, both Return and Reference */
uint8_t FirstBin; /*!< First Bin value */
uint8_t BufferSize; /*!< Buffer Size - Set by the user.*/
uint8_t NumberOfBins; /*!< Number of bins filled by the histogram measurement */
VL53L0X_DeviceError ErrorStatus; /*!< Error status of the current measurement. \n
see @a ::VL53L0X_DeviceError @a VL53L0X_GetStatusErrorString() */
} VL53L0X_HistogramMeasurementData_t;
#define VL53L0X_REF_SPAD_BUFFER_SIZE 6
/** @struct VL53L0X_SpadData_t
* @brief Spad Configuration Data. */
typedef struct {
uint8_t RefSpadEnables[VL53L0X_REF_SPAD_BUFFER_SIZE];
/*!< Reference Spad Enables */
uint8_t RefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE];
/*!< Reference Spad Good Spad Map */
} VL53L0X_SpadData_t;
typedef struct {
// merged in here all parts of "VL53L0X_DeviceSpecificParameters_t DeviceSpecificParameters;"
FixPoint1616_t OscFrequencyMHz; /* Frequency used */
uint16_t LastEncodedTimeout; /* last encoded Time out used for timing budget*/
VL53L0X_GpioFunctionality Pin0GpioFunctionality; /* store the functionality of the GPIO: pin0 */
uint32_t FinalRangeTimeoutMicroSecs;/*!< Execution time of the final range*/
uint8_t FinalRangeVcselPulsePeriod; /*!< Vcsel pulse period (pll clocks) for the final range measurement*/
uint32_t PreRangeTimeoutMicroSecs; /*!< Execution time of the final range*/
uint8_t PreRangeVcselPulsePeriod; /*!< Vcsel pulse period (pll clocks) for the pre-range measurement*/
uint8_t ReadDataFromDeviceDone; /* Indicate if read from device has been done (==1) or not (==0) */
uint8_t ModuleId; /* Module ID */
uint8_t Revision; /* test Revision */
char ProductId[VL53L0X_MAX_STRING_LENGTH]; /* Product Identifier String */
uint8_t ReferenceSpadCount; /* used for ref spad management */
uint8_t ReferenceSpadType; /* used for ref spad management */
uint8_t RefSpadsInitialised; /* reports if ref spads are initialised. */
uint32_t PartUIDUpper; /*!< Unique Part ID Upper */
uint32_t PartUIDLower; /*!< Unique Part ID Lower */
FixPoint1616_t SignalRateMeasFixed400mm; /*!< Peek Signal rate at 400 mm*/
// Merged in here all parts of DeviceParams_t
int32_t Part2PartOffsetNVMMicroMeter; /*!< backed up NVM value */
int32_t Part2PartOffsetAdjustmentNVMMicroMeter; /*!< backed up NVM value representing additional offset adjustment */
VL53L0X_RangingMeasurementData_t LastRangeMeasure; /*!< Ranging Data */
VL53L0X_HistogramMeasurementData_t LastHistogramMeasure; /*!< Histogram Data */
VL53L0X_SpadData_t SpadData; /*!< Spad Data; Enables and Good-Map */
uint8_t SequenceConfig; /*!< Internal value for the sequence config */
uint8_t RangeFractionalEnable; /*!< Enable/Disable fractional part of ranging data */
VL53L0X_State PalState; /*!< Current state of the PAL for this device */
VL53L0X_PowerModes PowerMode; /*!< Current Power Mode; Stdby1/2, Idle1/2 */
uint16_t SigmaEstRefArray; /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm; loaded from tuning settings */
uint16_t SigmaEstEffPulseWidth; /*!< Effective Pulse width for sigma estimate in 1/100th of ns e.g. 900 = 9.0ns */
uint16_t SigmaEstEffAmbWidth; /*!< Effective Ambient width for sigma estimate in 1/100th of ns e.g. 500 = 5.0ns */
uint8_t StopVariable; /*!< StopVariable used during the stop sequence */
uint16_t targetRefRate; /*!< Target Ambient Rate for Ref spad management */
FixPoint1616_t SigmaEstimate; /*!< Sigma Estimate - based on ambient & VCSEL rates and signal_total_events */
FixPoint1616_t LastSignalRefMcps; /*!< Latest Signal ref in Mcps */
uint8_t *pTuningSettingsPointer; /*!< Pointer for Tuning Settings table */
uint8_t UseInternalTuningSettings; /*!< Indicate if we use Tuning Settings table */
uint16_t LinearityCorrectiveGain; /*!< Linearity Corrective Gain value in x1000 */
uint16_t DmaxCalRangeMilliMeter; /*!< Dmax Calibration Range millimeter */
FixPoint1616_t DmaxCalSignalRateRtnMegaCps;/*!< Dmax Calibration Signal Rate Return MegaCps */
} VL53L0X_DevData_t;
/* All these macros were replaced with following regulator expressions:
a) Search for: \QVL53L0X_SETARRAYPARAMETERFIELD(\E(\s*)([A-Z\d_]+)[[:punct:]](\s*)([A-Z\d_]+)[[:punct:]](\s*)([A-Z\d_\*]+)\Q);\E
Replace by: Data.CurrentParameters.\2[\4] = \6;
to replace this: VL53L0X_SETARRAYPARAMETERFIELD(field, index, value);
by this: Data.CurrentParameters.field[index] = value;
b) Search for: \QVL53L0X_GETARRAYPARAMETERFIELD(\E(\s*)([A-Z\d_]+)[[:punct:]](\s*)([A-Z\d_]+)[[:punct:]](\s*)([A-Z\d_\*]+)\Q);\E
Replace by: \6 = Data.CurrentParameters.\2[\4];
to replace this: VL53L0X_GETARRAYPARAMETERFIELD( LimitChecksValue, limit_check_id, temp_fix1616);
by this: temp_fix1616 = Data.CurrentParameters.LimitChecksValue[limit_check_id];
c) Search for: \QVL53L0X_SETPARAMETERFIELD(\E(\s*)([A-Z\d_]+)[[:punct:]](\s*)([A-Z\d_\*]+)\Q);\E
Replace by: Data.CurrentParameters.\2 = \4;
to replace this: VL53L0X_SETPARAMETERFIELD(field, value);
by this: Data.CurrentParameters.field = value
d) Search for: \QVL53L0X_GETPARAMETERFIELD(\E(\s*)([A-Z\d_]+)[[:punct:]](\s*)([A-Z\d_\*]+)\Q);\E
Replace by: \4 = Data.CurrentParameters.\2 ;
to replace this: VL53L0X_GETPARAMET ERFIELD(field, variable);
by this: variable = Data.CurrentParameters.field;
d) Search for: \QPALDevDataSet(\E(\s*)([A-Z\d_]+)[[:punct:]](\s*)([A-Z\d_\*]+)\Q);\E
Replace by: Data.\2 = \4;
to replace this: PALDevDataSet(field, value);
by this: Data.field = value;
d) Search for: \QPALDevDataGet(\E(\s*)([A-Z\d]+)\Q)\E
Replace by: Data.\2
to replace this: PALDevDataGet(field)
by this: Data.field
#define PALDevDataSet(field, value) (Data.field)=(value)
#define PALDevDataGet(field) (Data.field)
#define VL53L0X_SETPARAMETERFIELD(field, value) Data.CurrentParameters.field = value
#define VL53L0X_GETPARAMETERFIELD(field, variable) variable = Data.CurrentParameters.field
#define VL53L0X_SETARRAYPARAMETERFIELD(field, index, value) Data.CurrentParameters.field[index] = value
#define VL53L0X_GETARRAYPARAMETERFIELD(field, index, variable) variable = Data.CurrentParameters.field[index]
#define VL53L0X_SETDEVICESPECIFICPARAMETER(field, value) Data.field = value
#define VL53L0X_GETDEVICESPECIFICPARAMETER(field) Data.field
*/
/** @defgroup VL53L0X_define_InterruptPolarity_group Defines the Polarity of the Interrupt
* Defines the Polarity of the Interrupt
* @{
*/
typedef uint8_t VL53L0X_InterruptPolarity;
#define VL53L0X_INTERRUPTPOLARITY_LOW ((VL53L0X_InterruptPolarity) 0)
/*!< Set active low polarity best setup for falling edge. */
#define VL53L0X_INTERRUPTPOLARITY_HIGH ((VL53L0X_InterruptPolarity) 1)
/*!< Set active high polarity best setup for rising edge. */
/** @} VL53L0X_define_InterruptPolarity_group */
/** @defgroup VL53L0X_define_VcselPeriod_group Vcsel Period Defines
* Defines the range measurement for which to access the vcsel period.
* @{ */
typedef uint8_t VL53L0X_VcselPeriod;
#define VL53L0X_VCSEL_PERIOD_PRE_RANGE ((VL53L0X_VcselPeriod) 0)
/*!<Identifies the pre-range vcsel period. */
#define VL53L0X_VCSEL_PERIOD_FINAL_RANGE ((VL53L0X_VcselPeriod) 1)
/*!<Identifies the final range vcsel period. */
/** @} VL53L0X_define_VcselPeriod_group */
/** @defgroup VL53L0X_define_SchedulerSequence_group Defines the steps
* carried out by the scheduler during a range measurement.
* @{
* Defines the states of all the steps in the scheduler
* i.e. enabled/disabled.
*/
typedef struct {
uint8_t TccOn; /*!<Reports if Target Centre Check On */
uint8_t MsrcOn; /*!<Reports if MSRC On */
uint8_t DssOn; /*!<Reports if DSS On */
uint8_t PreRangeOn; /*!<Reports if Pre-Range On */
uint8_t FinalRangeOn; /*!<Reports if Final-Range On */
} VL53L0X_SchedulerSequenceSteps_t;
/** @} VL53L0X_define_SchedulerSequence_group */
/** @defgroup VL53L0X_define_SequenceStepId_group Defines the Polarity
* of the Interrupt
* Defines the the sequence steps performed during ranging..
* @{ */
typedef uint8_t VL53L0X_SequenceStepId;
#define VL53L0X_SEQUENCESTEP_TCC ((VL53L0X_VcselPeriod) 0)
/*!<Target CentreCheck identifier. */
#define VL53L0X_SEQUENCESTEP_DSS ((VL53L0X_VcselPeriod) 1)
/*!<Dynamic Spad Selection function Identifier. */
#define VL53L0X_SEQUENCESTEP_MSRC ((VL53L0X_VcselPeriod) 2)
/*!<Minimum Signal Rate Check function Identifier. */
#define VL53L0X_SEQUENCESTEP_PRE_RANGE ((VL53L0X_VcselPeriod) 3)
/*!<Pre-Range check Identifier. */
#define VL53L0X_SEQUENCESTEP_FINAL_RANGE ((VL53L0X_VcselPeriod) 4)
/*!<Final Range Check Identifier. */
#define VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS 5
/*!<Number of Sequence Step Managed by the API. */
/** @} VL53L0X_define_SequenceStepId_group */
typedef enum {
Range_Config_DEFAULT,
Range_Config_LONG_RANGE,
Range_Config_HIGH_ACCURACY,
Range_Config_HIGH_SPEED
} VL53L0X_RangingConfig;
/** @} VL53L0X_define_GeneralMacro_group */
/** @} VL53L0X_globaldefine_group */
#ifdef __cplusplus
}
#endif
#endif /* _VL53L0X_DEF_H_ */