1 /******************************************************************************* 2 Copyright � 2016, STMicroelectronics International N.V. 3 All rights reserved. 4 5 Redistribution and use in source and binary forms, with or without 6 modification, are permitted provided that the following conditions are met: 7 * Redistributions of source code must retain the above copyright 8 notice, this list of conditions and the following disclaimer. 9 * Redistributions in binary form must reproduce the above copyright 10 notice, this list of conditions and the following disclaimer in the 11 documentation and/or other materials provided with the distribution. 12 * Neither the name of STMicroelectronics nor the 13 names of its contributors may be used to endorse or promote products 14 derived from this software without specific prior written permission. 15 16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND 17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED 18 WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, AND 19 NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. 20 IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. BE LIABLE FOR ANY 21 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 22 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 23 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 24 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 25 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 26 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 27 *******************************************************************************/ 28 29 /** 30 * @file VL53L0X_def.h 31 * 32 * @brief Type definitions for VL53L0X API. 33 * 34 */ 35 36 37 #ifndef _VL53L0X_DEF_H_ 38 #define _VL53L0X_DEF_H_ 39 40 41 #ifdef __cplusplus 42 extern "C" 43 { 44 #endif 45 46 /** @defgroup VL53L0X_globaldefine_group VL53L0X Defines 47 * @brief VL53L0X Defines 48 * @{ 49 */ 50 51 52 /** PAL SPECIFICATION major version */ 53 #define VL53L0X10_SPECIFICATION_VER_MAJOR 1 54 /** PAL SPECIFICATION minor version */ 55 #define VL53L0X10_SPECIFICATION_VER_MINOR 2 56 /** PAL SPECIFICATION sub version */ 57 #define VL53L0X10_SPECIFICATION_VER_SUB 7 58 /** PAL SPECIFICATION sub version */ 59 #define VL53L0X10_SPECIFICATION_VER_REVISION 1440 60 61 /** VL53L0X PAL IMPLEMENTATION major version */ 62 #define VL53L0X10_IMPLEMENTATION_VER_MAJOR 1 63 /** VL53L0X PAL IMPLEMENTATION minor version */ 64 #define VL53L0X10_IMPLEMENTATION_VER_MINOR 0 65 /** VL53L0X PAL IMPLEMENTATION sub version */ 66 #define VL53L0X10_IMPLEMENTATION_VER_SUB 9 67 /** VL53L0X PAL IMPLEMENTATION sub version */ 68 #define VL53L0X10_IMPLEMENTATION_VER_REVISION 3673 69 70 /** PAL SPECIFICATION major version */ 71 #define VL53L0X_SPECIFICATION_VER_MAJOR 1 72 /** PAL SPECIFICATION minor version */ 73 #define VL53L0X_SPECIFICATION_VER_MINOR 2 74 /** PAL SPECIFICATION sub version */ 75 #define VL53L0X_SPECIFICATION_VER_SUB 7 76 /** PAL SPECIFICATION sub version */ 77 #define VL53L0X_SPECIFICATION_VER_REVISION 1440 78 79 /** VL53L0X PAL IMPLEMENTATION major version */ 80 #define VL53L0X_IMPLEMENTATION_VER_MAJOR 1 81 /** VL53L0X PAL IMPLEMENTATION minor version */ 82 #define VL53L0X_IMPLEMENTATION_VER_MINOR 0 83 /** VL53L0X PAL IMPLEMENTATION sub version */ 84 #define VL53L0X_IMPLEMENTATION_VER_SUB 0 85 /** VL53L0X PAL IMPLEMENTATION sub version */ 86 #define VL53L0X_IMPLEMENTATION_VER_REVISION 4570 87 #define VL53L0X_DEFAULT_MAX_LOOP 200 88 #define VL53L0X_MAX_STRING_LENGTH 32 89 90 91 #include "vl53l0x_device.h" 92 #include "vl53l0x_types.h" 93 94 95 /**************************************** 96 * PRIVATE define do not edit 97 ****************************************/ 98 99 /** @brief Defines the parameters of the Get Version Functions 100 */ 101 typedef struct 102 { 103 uint32_t revision; /*!< revision number */ 104 uint8_t major; /*!< major number */ 105 uint8_t minor; /*!< minor number */ 106 uint8_t build; /*!< build number */ 107 } VL53L0X_Version_t; 108 109 110 /** @brief Defines the parameters of the Get Device Info Functions 111 */ 112 typedef struct 113 { 114 char Name[VL53L0X_MAX_STRING_LENGTH]; 115 /*!< Name of the Device e.g. Left_Distance */ 116 char Type[VL53L0X_MAX_STRING_LENGTH]; 117 /*!< Type of the Device e.g VL53L0X */ 118 char ProductId[VL53L0X_MAX_STRING_LENGTH]; 119 /*!< Product Identifier String */ 120 uint8_t ProductType; 121 /*!< Product Type, VL53L0X = 1, VL53L1 = 2 */ 122 uint8_t ProductRevisionMajor; 123 /*!< Product revision major */ 124 uint8_t ProductRevisionMinor; 125 /*!< Product revision minor */ 126 } VL53L0X_DeviceInfo_t; 127 128 129 /** @defgroup VL53L0X_define_Error_group Error and Warning code returned by 130 *API The following DEFINE are used to identify the PAL ERROR 131 * @{ 132 */ 133 134 typedef int8_t VL53L0X_Error; 135 136 #define VL53L0X_ERROR_NONE ((VL53L0X_Error)0) 137 #define VL53L0X_ERROR_CALIBRATION_WARNING ((VL53L0X_Error)-1) 138 /*!< Warning invalid calibration data may be in used 139 \a VL53L0X_InitData() 140 \a VL53L0X_GetOffsetCalibrationData 141 \a VL53L0X_SetOffsetCalibrationData */ 142 #define VL53L0X_ERROR_MIN_CLIPPED ((VL53L0X_Error)-2) 143 /*!< Warning parameter passed was clipped to min before to be applied */ 144 145 #define VL53L0X_ERROR_UNDEFINED ((VL53L0X_Error)-3) 146 /*!< Unqualified error */ 147 #define VL53L0X_ERROR_INVALID_PARAMS ((VL53L0X_Error)-4) 148 /*!< Parameter passed is invalid or out of range */ 149 #define VL53L0X_ERROR_NOT_SUPPORTED ((VL53L0X_Error)-5) 150 /*!< Function is not supported in current mode or configuration */ 151 #define VL53L0X_ERROR_RANGE_ERROR ((VL53L0X_Error)-6) 152 /*!< Device report a ranging error interrupt status */ 153 #define VL53L0X_ERROR_TIME_OUT ((VL53L0X_Error)-7) 154 /*!< Aborted due to time out */ 155 #define VL53L0X_ERROR_MODE_NOT_SUPPORTED ((VL53L0X_Error)-8) 156 /*!< Asked mode is not supported by the device */ 157 #define VL53L0X_ERROR_BUFFER_TOO_SMALL ((VL53L0X_Error)-9) 158 /*!< ... */ 159 #define VL53L0X_ERROR_GPIO_NOT_EXISTING ((VL53L0X_Error)-10) 160 /*!< User tried to setup a non-existing GPIO pin */ 161 #define VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L0X_Error)-11) 162 /*!< unsupported GPIO functionality */ 163 #define VL53L0X_ERROR_INTERRUPT_NOT_CLEARED ((VL53L0X_Error)-12) 164 /*!< Error during interrupt clear */ 165 #define VL53L0X_ERROR_CONTROL_INTERFACE ((VL53L0X_Error)-20) 166 /*!< error reported from IO functions */ 167 #define VL53L0X_ERROR_INVALID_COMMAND ((VL53L0X_Error)-30) 168 /*!< The command is not allowed in the current device state 169 * (power down) */ 170 #define VL53L0X_ERROR_DIVISION_BY_ZERO ((VL53L0X_Error)-40) 171 /*!< In the function a division by zero occurs */ 172 #define VL53L0X_ERROR_REF_SPAD_INIT ((VL53L0X_Error)-50) 173 /*!< Error during reference SPAD initialization */ 174 #define VL53L0X_ERROR_NOT_IMPLEMENTED ((VL53L0X_Error)-99) 175 /*!< Tells requested functionality has not been implemented yet or 176 * not compatible with the device */ 177 /** @} VL53L0X_define_Error_group */ 178 179 180 /** @defgroup VL53L0X_define_DeviceModes_group Defines Device modes 181 * Defines all possible modes for the device 182 * @{ 183 */ 184 typedef uint8_t VL53L0X_DeviceModes; 185 186 #define VL53L0X_DEVICEMODE_SINGLE_RANGING ((VL53L0X_DeviceModes)0) 187 #define VL53L0X_DEVICEMODE_CONTINUOUS_RANGING ((VL53L0X_DeviceModes)1) 188 #define VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM ((VL53L0X_DeviceModes)2) 189 #define VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING ((VL53L0X_DeviceModes)3) 190 #define VL53L0X_DEVICEMODE_SINGLE_ALS ((VL53L0X_DeviceModes)10) 191 #define VL53L0X_DEVICEMODE_GPIO_DRIVE ((VL53L0X_DeviceModes)20) 192 #define VL53L0X_DEVICEMODE_GPIO_OSC ((VL53L0X_DeviceModes)21) 193 /* ... Modes to be added depending on device */ 194 /** @} VL53L0X_define_DeviceModes_group */ 195 196 197 /** @defgroup VL53L0X_define_HistogramModes_group Defines Histogram modes 198 * Defines all possible Histogram modes for the device 199 * @{ 200 */ 201 typedef uint8_t VL53L0X_HistogramModes; 202 203 #define VL53L0X_HISTOGRAMMODE_DISABLED ((VL53L0X_HistogramModes)0) 204 /*!< Histogram Disabled */ 205 #define VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY ((VL53L0X_HistogramModes)1) 206 /*!< Histogram Reference array only */ 207 #define VL53L0X_HISTOGRAMMODE_RETURN_ONLY ((VL53L0X_HistogramModes)2) 208 /*!< Histogram Return array only */ 209 #define VL53L0X_HISTOGRAMMODE_BOTH ((VL53L0X_HistogramModes)3) 210 /*!< Histogram both Reference and Return Arrays */ 211 /* ... Modes to be added depending on device */ 212 /** @} VL53L0X_define_HistogramModes_group */ 213 214 215 /** @defgroup VL53L0X_define_PowerModes_group List of available Power Modes 216 * List of available Power Modes 217 * @{ 218 */ 219 220 typedef uint8_t VL53L0X_PowerModes; 221 222 #define VL53L0X_POWERMODE_STANDBY_LEVEL1 ((VL53L0X_PowerModes)0) 223 /*!< Standby level 1 */ 224 #define VL53L0X_POWERMODE_STANDBY_LEVEL2 ((VL53L0X_PowerModes)1) 225 /*!< Standby level 2 */ 226 #define VL53L0X_POWERMODE_IDLE_LEVEL1 ((VL53L0X_PowerModes)2) 227 /*!< Idle level 1 */ 228 #define VL53L0X_POWERMODE_IDLE_LEVEL2 ((VL53L0X_PowerModes)3) 229 /*!< Idle level 2 */ 230 231 /** @} VL53L0X_define_PowerModes_group */ 232 233 234 /** @brief Defines all parameters for the device 235 */ 236 typedef struct 237 { 238 VL53L0X_DeviceModes DeviceMode; 239 /*!< Defines type of measurement to be done for the next measure */ 240 VL53L0X_HistogramModes HistogramMode; 241 /*!< Defines type of histogram measurement to be done for the next 242 * measure */ 243 uint32_t MeasurementTimingBudgetMicroSeconds; 244 /*!< Defines the allowed total time for a single measurement */ 245 uint32_t InterMeasurementPeriodMilliSeconds; 246 /*!< Defines time between two consecutive measurements (between two 247 * measurement starts). If set to 0 means back-to-back mode */ 248 uint8_t XTalkCompensationEnable; 249 /*!< Tells if Crosstalk compensation shall be enable or not */ 250 uint16_t XTalkCompensationRangeMilliMeter; 251 /*!< CrossTalk compensation range in millimeter */ 252 FixPoint1616_t XTalkCompensationRateMegaCps; 253 /*!< CrossTalk compensation rate in Mega counts per seconds. 254 * Expressed in 16.16 fixed point format. */ 255 int32_t RangeOffsetMicroMeters; 256 /*!< Range offset adjustment (mm). */ 257 258 uint8_t LimitChecksEnable[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS]; 259 /*!< This Array store all the Limit Check enable for this device. */ 260 uint8_t LimitChecksStatus[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS]; 261 /*!< This Array store all the Status of the check linked to last 262 * measurement. */ 263 FixPoint1616_t LimitChecksValue[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS]; 264 /*!< This Array store all the Limit Check value for this device */ 265 266 uint8_t WrapAroundCheckEnable; 267 /*!< Tells if Wrap Around Check shall be enable or not */ 268 } VL53L0X_DeviceParameters_t; 269 270 271 /** @defgroup VL53L0X_define_State_group Defines the current status of the 272 *device Defines the current status of the device 273 * @{ 274 */ 275 276 typedef uint8_t VL53L0X_State; 277 278 #define VL53L0X_STATE_POWERDOWN ((VL53L0X_State)0) 279 /*!< Device is in HW reset */ 280 #define VL53L0X_STATE_WAIT_STATICINIT ((VL53L0X_State)1) 281 /*!< Device is initialized and wait for static initialization */ 282 #define VL53L0X_STATE_STANDBY ((VL53L0X_State)2) 283 /*!< Device is in Low power Standby mode */ 284 #define VL53L0X_STATE_IDLE ((VL53L0X_State)3) 285 /*!< Device has been initialized and ready to do measurements */ 286 #define VL53L0X_STATE_RUNNING ((VL53L0X_State)4) 287 /*!< Device is performing measurement */ 288 #define VL53L0X_STATE_UNKNOWN ((VL53L0X_State)98) 289 /*!< Device is in unknown state and need to be rebooted */ 290 #define VL53L0X_STATE_ERROR ((VL53L0X_State)99) 291 /*!< Device is in error state and need to be rebooted */ 292 293 /** @} VL53L0X_define_State_group */ 294 295 296 /** @brief Structure containing the Dmax computation parameters and data 297 */ 298 typedef struct 299 { 300 int32_t AmbTuningWindowFactor_K; 301 /*!< internal algo tuning (*1000) */ 302 int32_t RetSignalAt0mm; 303 /*!< intermediate dmax computation value caching */ 304 } VL53L0X_DMaxData_t; 305 306 /** 307 * @struct VL53L0X_RangeData_t 308 * @brief Range measurement data. 309 */ 310 typedef struct 311 { 312 uint32_t TimeStamp; /*!< 32-bit time stamp. */ 313 uint32_t MeasurementTimeUsec; 314 /*!< Give the Measurement time needed by the device to do the 315 * measurement.*/ 316 317 318 uint16_t RangeMilliMeter; /*!< range distance in millimeter. */ 319 320 uint16_t RangeDMaxMilliMeter; 321 /*!< Tells what is the maximum detection distance of the device 322 * in current setup and environment conditions (Filled when 323 * applicable) */ 324 325 FixPoint1616_t SignalRateRtnMegaCps; 326 /*!< Return signal rate (MCPS)\n these is a 16.16 fix point 327 * value, which is effectively a measure of target 328 * reflectance.*/ 329 FixPoint1616_t AmbientRateRtnMegaCps; 330 /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point 331 * value, which is effectively a measure of the ambien 332 * t light.*/ 333 334 uint16_t EffectiveSpadRtnCount; 335 /*!< Return the effective SPAD count for the return signal. 336 * To obtain Real value it should be divided by 256 */ 337 338 uint8_t ZoneId; 339 /*!< Denotes which zone and range scheduler stage the range 340 * data relates to. */ 341 uint8_t RangeFractionalPart; 342 /*!< Fractional part of range distance. Final value is a 343 * FixPoint168 value. */ 344 uint8_t RangeStatus; 345 /*!< Range Status for the current measurement. This is device 346 * dependent. Value = 0 means value is valid. 347 * See \ref RangeStatusPage */ 348 } VL53L0X_RangingMeasurementData_t; 349 350 351 #define VL53L0X_HISTOGRAM_BUFFER_SIZE 24 352 353 /** 354 * @struct VL53L0X_HistogramData_t 355 * @brief Histogram measurement data. 356 */ 357 typedef struct 358 { 359 /* Histogram Measurement data */ 360 uint32_t HistogramData[VL53L0X_HISTOGRAM_BUFFER_SIZE]; 361 /*!< Histogram data */ 362 uint8_t HistogramType; /*!< Indicate the types of histogram data : 363 Return only, Reference only, both Return and Reference */ 364 uint8_t FirstBin; /*!< First Bin value */ 365 uint8_t BufferSize; /*!< Buffer Size - Set by the user.*/ 366 uint8_t NumberOfBins; 367 /*!< Number of bins filled by the histogram measurement */ 368 369 VL53L0X_DeviceError ErrorStatus; 370 /*!< Error status of the current measurement. \n 371 see @a ::VL53L0X_DeviceError @a VL53L0X_GetStatusErrorString() */ 372 } VL53L0X_HistogramMeasurementData_t; 373 374 #define VL53L0X_REF_SPAD_BUFFER_SIZE 6 375 376 /** 377 * @struct VL53L0X_SpadData_t 378 * @brief Spad Configuration Data. 379 */ 380 typedef struct 381 { 382 uint8_t RefSpadEnables[VL53L0X_REF_SPAD_BUFFER_SIZE]; 383 /*!< Reference Spad Enables */ 384 uint8_t RefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE]; 385 /*!< Reference Spad Good Spad Map */ 386 } VL53L0X_SpadData_t; 387 388 typedef struct 389 { 390 FixPoint1616_t OscFrequencyMHz; /* Frequency used */ 391 392 uint16_t LastEncodedTimeout; 393 /* last encoded Time out used for timing budget*/ 394 395 VL53L0X_GpioFunctionality Pin0GpioFunctionality; 396 /* store the functionality of the GPIO: pin0 */ 397 398 uint32_t FinalRangeTimeoutMicroSecs; 399 /*!< Execution time of the final range*/ 400 uint8_t FinalRangeVcselPulsePeriod; 401 /*!< Vcsel pulse period (pll clocks) for the final range measurement*/ 402 uint32_t PreRangeTimeoutMicroSecs; 403 /*!< Execution time of the final range*/ 404 uint8_t PreRangeVcselPulsePeriod; 405 /*!< Vcsel pulse period (pll clocks) for the pre-range measurement*/ 406 407 uint16_t SigmaEstRefArray; 408 /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */ 409 uint16_t SigmaEstEffPulseWidth; 410 /*!< Effective Pulse width for sigma estimate in 1/100th 411 * of ns e.g. 900 = 9.0ns */ 412 uint16_t SigmaEstEffAmbWidth; 413 /*!< Effective Ambient width for sigma estimate in 1/100th of ns 414 * e.g. 500 = 5.0ns */ 415 416 417 uint8_t ReadDataFromDeviceDone; /* Indicate if read from device has 418 been done (==1) or not (==0) */ 419 uint8_t ModuleId; /* Module ID */ 420 uint8_t Revision; /* test Revision */ 421 char ProductId[VL53L0X_MAX_STRING_LENGTH]; 422 /* Product Identifier String */ 423 uint8_t ReferenceSpadCount; /* used for ref spad management */ 424 uint8_t ReferenceSpadType; /* used for ref spad management */ 425 uint8_t RefSpadsInitialised; /* reports if ref spads are initialised. */ 426 uint32_t PartUIDUpper; /*!< Unique Part ID Upper */ 427 uint32_t PartUIDLower; /*!< Unique Part ID Lower */ 428 FixPoint1616_t SignalRateMeasFixed400mm; /*!< Peek Signal rate 429 at 400 mm*/ 430 431 } VL53L0X_DeviceSpecificParameters_t; 432 433 /** 434 * @struct VL53L0X_DevData_t 435 * 436 * @brief VL53L0X PAL device ST private data structure \n 437 * End user should never access any of these field directly 438 * 439 * These must never access directly but only via macro 440 */ 441 typedef struct 442 { 443 VL53L0X_DMaxData_t DMaxData; 444 /*!< Dmax Data */ 445 int32_t Part2PartOffsetNVMMicroMeter; 446 /*!< backed up NVM value */ 447 int32_t Part2PartOffsetAdjustmentNVMMicroMeter; 448 /*!< backed up NVM value representing additional offset adjustment */ 449 VL53L0X_DeviceParameters_t CurrentParameters; 450 /*!< Current Device Parameter */ 451 VL53L0X_RangingMeasurementData_t LastRangeMeasure; 452 /*!< Ranging Data */ 453 VL53L0X_HistogramMeasurementData_t LastHistogramMeasure; 454 /*!< Histogram Data */ 455 VL53L0X_DeviceSpecificParameters_t DeviceSpecificParameters; 456 /*!< Parameters specific to the device */ 457 VL53L0X_SpadData_t SpadData; 458 /*!< Spad Data */ 459 uint8_t SequenceConfig; 460 /*!< Internal value for the sequence config */ 461 uint8_t RangeFractionalEnable; 462 /*!< Enable/Disable fractional part of ranging data */ 463 VL53L0X_State PalState; 464 /*!< Current state of the PAL for this device */ 465 VL53L0X_PowerModes PowerMode; 466 /*!< Current Power Mode */ 467 uint16_t SigmaEstRefArray; 468 /*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */ 469 uint16_t SigmaEstEffPulseWidth; 470 /*!< Effective Pulse width for sigma estimate in 1/100th 471 * of ns e.g. 900 = 9.0ns */ 472 uint16_t SigmaEstEffAmbWidth; 473 /*!< Effective Ambient width for sigma estimate in 1/100th of ns 474 * e.g. 500 = 5.0ns */ 475 uint16_t targetRefRate; 476 /*!< Target Ambient Rate for Ref spad management */ 477 FixPoint1616_t SigmaEstimate; 478 /*!< Sigma Estimate - based on ambient & VCSEL rates and 479 * signal_total_events */ 480 FixPoint1616_t SignalEstimate; 481 /*!< Signal Estimate - based on ambient & VCSEL rates and cross talk */ 482 FixPoint1616_t LastSignalRefMcps; 483 /*!< Latest Signal ref in Mcps */ 484 uint8_t *pTuningSettingsPointer; 485 /*!< Pointer for Tuning Settings table */ 486 uint8_t UseInternalTuningSettings; 487 /*!< Indicate if we use Tuning Settings table */ 488 uint16_t LinearityCorrectiveGain; 489 /*!< Linearity Corrective Gain value in x1000 */ 490 uint16_t DmaxCalRangeMilliMeter; 491 /*!< Dmax Calibration Range millimeter */ 492 FixPoint1616_t DmaxCalSignalRateRtnMegaCps; 493 /*!< Dmax Calibration Signal Rate Return MegaCps */ 494 495 } VL53L0X_DevData_t; 496 497 498 /** @defgroup VL53L0X_define_InterruptPolarity_group Defines the Polarity 499 * of the Interrupt 500 * Defines the Polarity of the Interrupt 501 * @{ 502 */ 503 typedef uint8_t VL53L0X_InterruptPolarity; 504 505 #define VL53L0X_INTERRUPTPOLARITY_LOW ((VL53L0X_InterruptPolarity)0) 506 /*!< Set active low polarity best setup for falling edge. */ 507 #define VL53L0X_INTERRUPTPOLARITY_HIGH ((VL53L0X_InterruptPolarity)1) 508 /*!< Set active high polarity best setup for rising edge. */ 509 510 /** @} VL53L0X_define_InterruptPolarity_group */ 511 512 513 /** @defgroup VL53L0X_define_VcselPeriod_group Vcsel Period Defines 514 * Defines the range measurement for which to access the vcsel period. 515 * @{ 516 */ 517 typedef uint8_t VL53L0X_VcselPeriod; 518 519 #define VL53L0X_VCSEL_PERIOD_PRE_RANGE ((VL53L0X_VcselPeriod)0) 520 /*!<Identifies the pre-range vcsel period. */ 521 #define VL53L0X_VCSEL_PERIOD_FINAL_RANGE ((VL53L0X_VcselPeriod)1) 522 /*!<Identifies the final range vcsel period. */ 523 524 /** @} VL53L0X_define_VcselPeriod_group */ 525 526 /** @defgroup VL53L0X_define_SchedulerSequence_group Defines the steps 527 * carried out by the scheduler during a range measurement. 528 * @{ 529 * Defines the states of all the steps in the scheduler 530 * i.e. enabled/disabled. 531 */ 532 typedef struct 533 { 534 uint8_t TccOn; /*!<Reports if Target Centre Check On */ 535 uint8_t MsrcOn; /*!<Reports if MSRC On */ 536 uint8_t DssOn; /*!<Reports if DSS On */ 537 uint8_t PreRangeOn; /*!<Reports if Pre-Range On */ 538 uint8_t FinalRangeOn; /*!<Reports if Final-Range On */ 539 } VL53L0X_SchedulerSequenceSteps_t; 540 541 /** @} VL53L0X_define_SchedulerSequence_group */ 542 543 /** @defgroup VL53L0X_define_SequenceStepId_group Defines the Polarity 544 * of the Interrupt 545 * Defines the the sequence steps performed during ranging.. 546 * @{ 547 */ 548 typedef uint8_t VL53L0X_SequenceStepId; 549 550 #define VL53L0X_SEQUENCESTEP_TCC ((VL53L0X_VcselPeriod)0) 551 /*!<Target CentreCheck identifier. */ 552 #define VL53L0X_SEQUENCESTEP_DSS ((VL53L0X_VcselPeriod)1) 553 /*!<Dynamic Spad Selection function Identifier. */ 554 #define VL53L0X_SEQUENCESTEP_MSRC ((VL53L0X_VcselPeriod)2) 555 /*!<Minimum Signal Rate Check function Identifier. */ 556 #define VL53L0X_SEQUENCESTEP_PRE_RANGE ((VL53L0X_VcselPeriod)3) 557 /*!<Pre-Range check Identifier. */ 558 #define VL53L0X_SEQUENCESTEP_FINAL_RANGE ((VL53L0X_VcselPeriod)4) 559 /*!<Final Range Check Identifier. */ 560 561 #define VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS 5 562 /*!<Number of Sequence Step Managed by the API. */ 563 564 /** @} VL53L0X_define_SequenceStepId_group */ 565 566 567 /* MACRO Definitions */ 568 /** @defgroup VL53L0X_define_GeneralMacro_group General Macro Defines 569 * General Macro Defines 570 * @{ 571 */ 572 573 /* Defines */ 574 #define VL53L0X_SETPARAMETERFIELD(Dev, field, value) \ 575 PALDevDataSet(Dev, CurrentParameters.field, value) 576 577 #define VL53L0X_GETPARAMETERFIELD(Dev, field, variable) \ 578 variable = PALDevDataGet(Dev, CurrentParameters).field 579 580 581 #define VL53L0X_SETARRAYPARAMETERFIELD(Dev, field, index, value) \ 582 PALDevDataSet(Dev, CurrentParameters.field[index], value) 583 584 #define VL53L0X_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \ 585 variable = PALDevDataGet(Dev, CurrentParameters).field[index] 586 587 588 #define VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, field, value) \ 589 PALDevDataSet(Dev, DeviceSpecificParameters.field, value) 590 591 #define VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, field) \ 592 PALDevDataGet(Dev, DeviceSpecificParameters).field 593 594 595 #define VL53L0X_FIXPOINT1616TOFIXPOINT97(Value) \ 596 (uint16_t)((Value >> 9) & 0xFFFF) 597 #define VL53L0X_FIXPOINT97TOFIXPOINT1616(Value) (FixPoint1616_t)(Value << 9) 598 599 #define VL53L0X_FIXPOINT1616TOFIXPOINT88(Value) \ 600 (uint16_t)((Value >> 8) & 0xFFFF) 601 #define VL53L0X_FIXPOINT88TOFIXPOINT1616(Value) (FixPoint1616_t)(Value << 8) 602 603 #define VL53L0X_FIXPOINT1616TOFIXPOINT412(Value) \ 604 (uint16_t)((Value >> 4) & 0xFFFF) 605 #define VL53L0X_FIXPOINT412TOFIXPOINT1616(Value) (FixPoint1616_t)(Value << 4) 606 607 #define VL53L0X_FIXPOINT1616TOFIXPOINT313(Value) \ 608 (uint16_t)((Value >> 3) & 0xFFFF) 609 #define VL53L0X_FIXPOINT313TOFIXPOINT1616(Value) (FixPoint1616_t)(Value << 3) 610 611 #define VL53L0X_FIXPOINT1616TOFIXPOINT08(Value) (uint8_t)((Value >> 8) & 0x00FF) 612 #define VL53L0X_FIXPOINT08TOFIXPOINT1616(Value) (FixPoint1616_t)(Value << 8) 613 614 #define VL53L0X_FIXPOINT1616TOFIXPOINT53(Value) \ 615 (uint8_t)((Value >> 13) & 0x00FF) 616 #define VL53L0X_FIXPOINT53TOFIXPOINT1616(Value) (FixPoint1616_t)(Value << 13) 617 618 #define VL53L0X_FIXPOINT1616TOFIXPOINT102(Value) \ 619 (uint16_t)((Value >> 14) & 0x0FFF) 620 #define VL53L0X_FIXPOINT102TOFIXPOINT1616(Value) (FixPoint1616_t)(Value << 12) 621 622 #define VL53L0X_MAKEUINT16(lsb, msb) \ 623 (uint16_t)((((uint16_t)msb) << 8) + (uint16_t)lsb) 624 625 /** @} VL53L0X_define_GeneralMacro_group */ 626 627 /** @} VL53L0X_globaldefine_group */ 628 629 630 #ifdef __cplusplus 631 } 632 #endif 633 634 635 #endif /* _VL53L0X_DEF_H_ */ 636