641 lines
23 KiB
C
641 lines
23 KiB
C
/*******************************************************************************
|
|
Copyright © 2016, STMicroelectronics International N.V.
|
|
All rights reserved.
|
|
|
|
Redistribution and use in source and binary forms, with or without
|
|
modification, are permitted provided that the following conditions are met:
|
|
* Redistributions of source code must retain the above copyright
|
|
notice, this list of conditions and the following disclaimer.
|
|
* Redistributions in binary form must reproduce the above copyright
|
|
notice, this list of conditions and the following disclaimer in the
|
|
documentation and/or other materials provided with the distribution.
|
|
* 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
|
|
NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED.
|
|
IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY
|
|
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
|
|
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
|
|
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
|
|
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 0
|
|
/** VL53L0X PAL IMPLEMENTATION sub version */
|
|
#define VL53L0X_IMPLEMENTATION_VER_SUB 2
|
|
/** VL53L0X PAL IMPLEMENTATION sub version */
|
|
#define VL53L0X_IMPLEMENTATION_VER_REVISION 4823
|
|
#define VL53L0X_DEFAULT_MAX_LOOP 2000
|
|
#define VL53L0X_MAX_STRING_LENGTH 32
|
|
|
|
|
|
#include "vl53l0x_device.h"
|
|
#include "vl53l0x_types.h"
|
|
|
|
|
|
/****************************************
|
|
* PRIVATE define do not edit
|
|
****************************************/
|
|
|
|
/** @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;
|
|
|
|
|
|
/** @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;
|
|
|
|
|
|
/** @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 */
|
|
|
|
|
|
/** @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;
|
|
|
|
|
|
/** @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 Structure containing the Dmax computation parameters and data
|
|
*/
|
|
typedef struct {
|
|
int32_t AmbTuningWindowFactor_K;
|
|
/*!< internal algo tuning (*1000) */
|
|
int32_t RetSignalAt0mm;
|
|
/*!< intermediate dmax computation value caching */
|
|
} VL53L0X_DMaxData_t;
|
|
|
|
/**
|
|
* @struct VL53L0X_RangeData_t
|
|
* @brief Range measurement data.
|
|
*/
|
|
typedef struct {
|
|
uint32_t TimeStamp; /*!< 32-bit time stamp. */
|
|
uint32_t MeasurementTimeUsec;
|
|
/*!< Give the Measurement time needed by the device to do the
|
|
* measurement.*/
|
|
|
|
|
|
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 ambien
|
|
* t 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 ZoneId;
|
|
/*!< Denotes which zone and range scheduler stage the range
|
|
* data relates to. */
|
|
uint8_t RangeFractionalPart;
|
|
/*!< Fractional part of range distance. Final value is a
|
|
* FixPoint168 value. */
|
|
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;
|
|
|
|
|
|
#define VL53L0X_HISTOGRAM_BUFFER_SIZE 24
|
|
|
|
/**
|
|
* @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 {
|
|
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*/
|
|
|
|
uint16_t SigmaEstRefArray;
|
|
/*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */
|
|
uint16_t SigmaEstEffPulseWidth;
|
|
/*!< Effective Pulse width for sigma estimate in 1/100th
|
|
* of ns e.g. 900 = 9.0ns */
|
|
uint16_t SigmaEstEffAmbWidth;
|
|
/*!< Effective Ambient width for sigma estimate in 1/100th of ns
|
|
* e.g. 500 = 5.0ns */
|
|
|
|
|
|
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*/
|
|
|
|
} VL53L0X_DeviceSpecificParameters_t;
|
|
|
|
/**
|
|
* @struct VL53L0X_DevData_t
|
|
*
|
|
* @brief VL53L0X PAL device ST private data structure \n
|
|
* End user should never access any of these field directly
|
|
*
|
|
* These must never access directly but only via macro
|
|
*/
|
|
typedef struct {
|
|
VL53L0X_DMaxData_t DMaxData;
|
|
/*!< Dmax Data */
|
|
int32_t Part2PartOffsetNVMMicroMeter;
|
|
/*!< backed up NVM value */
|
|
int32_t Part2PartOffsetAdjustmentNVMMicroMeter;
|
|
/*!< backed up NVM value representing additional offset adjustment */
|
|
VL53L0X_DeviceParameters_t CurrentParameters;
|
|
/*!< Current Device Parameter */
|
|
VL53L0X_RangingMeasurementData_t LastRangeMeasure;
|
|
/*!< Ranging Data */
|
|
VL53L0X_HistogramMeasurementData_t LastHistogramMeasure;
|
|
/*!< Histogram Data */
|
|
VL53L0X_DeviceSpecificParameters_t DeviceSpecificParameters;
|
|
/*!< Parameters specific to the device */
|
|
VL53L0X_SpadData_t SpadData;
|
|
/*!< Spad Data */
|
|
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 */
|
|
uint16_t SigmaEstRefArray;
|
|
/*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */
|
|
uint16_t SigmaEstEffPulseWidth;
|
|
/*!< Effective Pulse width for sigma estimate in 1/100th
|
|
* of ns e.g. 900 = 9.0ns */
|
|
uint16_t SigmaEstEffAmbWidth;
|
|
/*!< Effective Ambient width for sigma estimate in 1/100th of ns
|
|
* e.g. 500 = 5.0ns */
|
|
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 SignalEstimate;
|
|
/*!< Signal Estimate - based on ambient & VCSEL rates and cross talk */
|
|
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;
|
|
|
|
|
|
/** @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 */
|
|
|
|
|
|
/* MACRO Definitions */
|
|
/** @defgroup VL53L0X_define_GeneralMacro_group General Macro Defines
|
|
* General Macro Defines
|
|
* @{
|
|
*/
|
|
|
|
/* Defines */
|
|
#define VL53L0X_SETPARAMETERFIELD(Dev, field, value) \
|
|
PALDevDataSet(Dev, CurrentParameters.field, value)
|
|
|
|
#define VL53L0X_GETPARAMETERFIELD(Dev, field, variable) \
|
|
variable = PALDevDataGet(Dev, CurrentParameters).field
|
|
|
|
|
|
#define VL53L0X_SETARRAYPARAMETERFIELD(Dev, field, index, value) \
|
|
PALDevDataSet(Dev, CurrentParameters.field[index], value)
|
|
|
|
#define VL53L0X_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \
|
|
variable = PALDevDataGet(Dev, CurrentParameters).field[index]
|
|
|
|
|
|
#define VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, field, value) \
|
|
PALDevDataSet(Dev, DeviceSpecificParameters.field, value)
|
|
|
|
#define VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, field) \
|
|
PALDevDataGet(Dev, DeviceSpecificParameters).field
|
|
|
|
|
|
#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)
|
|
|
|
/** @} VL53L0X_define_GeneralMacro_group */
|
|
|
|
/** @} VL53L0X_globaldefine_group */
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
|
|
#endif /* _VL53L0X_DEF_H_ */
|