441 lines
14 KiB
C
441 lines
14 KiB
C
/**
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******************************************************************************
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* Copyright (c) 2020, STMicroelectronics - All Rights Reserved
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*
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* This software is licensed under terms that can be found in the LICENSE file
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* in the root directory of this software component.
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* If no LICENSE file comes with this software, it is provided AS-IS.
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*
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******************************************************************************
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*/
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/**
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* @file vl53lx_def.h
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*
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* @brief Type definitions for VL53LX API.
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*
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*/
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#ifndef _VL53LX_DEF_H_
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#define _VL53LX_DEF_H_
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#include "vl53lx_ll_def.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/** @defgroup VL53LX_globaldefine_group VL53LX Defines
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* @brief VL53LX Defines
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* @{
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*/
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/** VL53LX IMPLEMENTATION major version */
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#define VL53LX_IMPLEMENTATION_VER_MAJOR 1
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/** VL53LX IMPLEMENTATION minor version */
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#define VL53LX_IMPLEMENTATION_VER_MINOR 2
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/** VL53LX IMPLEMENTATION sub version */
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#define VL53LX_IMPLEMENTATION_VER_SUB 13
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/** VL53LX IMPLEMENTATION sub version */
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#define VL53LX_IMPLEMENTATION_VER_REVISION 2676
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/****************************************
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* PRIVATE define do not edit
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****************************************/
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/** @brief Defines the parameters of the Get Version Functions
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*/
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typedef struct {
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uint32_t revision; /*!< revision number */
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uint8_t major; /*!< major number */
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uint8_t minor; /*!< minor number */
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uint8_t build; /*!< build number */
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} VL53LX_Version_t;
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/** @brief Defines the parameters of the Get Device Info Functions
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*/
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typedef struct {
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uint8_t ProductType;
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/*!< Product Type, VL53LX = 0xAA
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* Stands as module_type in the datasheet
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*/
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uint8_t ProductRevisionMajor;
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/*!< Product revision major */
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uint8_t ProductRevisionMinor;
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/*!< Product revision minor */
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} VL53LX_DeviceInfo_t;
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/** @defgroup VL53LX_define_DistanceModes_group Defines Distance modes
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* Defines all possible Distance modes for the device
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* @{
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*/
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typedef uint8_t VL53LX_DistanceModes;
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#define VL53LX_DISTANCEMODE_SHORT ((VL53LX_DistanceModes) 1)
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#define VL53LX_DISTANCEMODE_MEDIUM ((VL53LX_DistanceModes) 2)
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#define VL53LX_DISTANCEMODE_LONG ((VL53LX_DistanceModes) 3)
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/** @} VL53LX_define_DistanceModes_group */
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/** @defgroup VL53LX_define_OffsetCorrectionModes_group Defines Offset Correction modes
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* Device Offset Correction Mode
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*
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* @brief Defines all possible offset correction modes for the device
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* @{
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*/
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typedef uint8_t VL53LX_OffsetCorrectionModes;
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#define VL53LX_OFFSETCORRECTIONMODE_STANDARD ((VL53LX_OffsetCorrectionModes) 1)
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#define VL53LX_OFFSETCORRECTIONMODE_PERVCSEL ((VL53LX_OffsetCorrectionModes) 3)
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/** @} VL53LX_define_OffsetCorrectionModes_group */
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/** @brief Defines all parameters for the device
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*/
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typedef struct {
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VL53LX_DistanceModes DistanceMode;
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/*!< Defines the operating mode to be used for the next measure */
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uint32_t MeasurementTimingBudgetMicroSeconds;
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/*!< Defines the allowed total time for a single measurement */
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} VL53LX_DeviceParameters_t;
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/** @defgroup VL53LX_define_Smudge_Mode_group Defines smudge correction modes
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* Defines the smudge correction modes
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* @{
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*/
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typedef uint8_t VL53LX_SmudgeCorrectionModes;
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#define VL53LX_SMUDGE_CORRECTION_NONE ((VL53LX_SmudgeCorrectionModes) 0)
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/*!< Smudge correction is disabled */
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#define VL53LX_SMUDGE_CORRECTION_CONTINUOUS ((VL53LX_SmudgeCorrectionModes) 1)
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/*!< Smudge correction is applied continuously across the rangings */
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#define VL53LX_SMUDGE_CORRECTION_SINGLE ((VL53LX_SmudgeCorrectionModes) 2)
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/*!< Smudge correction is applied only once across the rangings */
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#define VL53LX_SMUDGE_CORRECTION_DEBUG ((VL53LX_SmudgeCorrectionModes) 3)
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/*!< Smudge detection is applied continuously but Xtalk values are not
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* updated automatically within the driver
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*/
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/** @} VL53LX_define_Smudge_Correction_Mode_group */
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/**
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* @struct VL53LX_TargetRangeData_t
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* @brief One Range measurement data for each target.
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*/
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typedef struct {
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int16_t RangeMaxMilliMeter;
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/*!< Tells what is the maximum detection distance of the object
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* in current setup and environment conditions (Filled when
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* applicable)
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*/
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int16_t RangeMinMilliMeter;
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/*!< Tells what is the minimum detection distance of the object
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* in current setup and environment conditions (Filled when
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* applicable)
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*/
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FixPoint1616_t SignalRateRtnMegaCps;
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/*!< Return signal rate (MCPS)\n these is a 16.16 fix point
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* value, which is effectively a measure of target
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* reflectance.
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*/
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FixPoint1616_t AmbientRateRtnMegaCps;
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/*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
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* value, which is effectively a measure of the ambient
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* light.
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*/
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FixPoint1616_t SigmaMilliMeter;
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/*!< Return the Sigma value in millimeter */
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int16_t RangeMilliMeter;
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/*!< range distance in millimeter. This should be between
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* RangeMinMilliMeter and RangeMaxMilliMeter
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*/
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uint8_t RangeStatus;
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/*!< Range Status for the current measurement. This is device
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* dependent. Value = 0 means value is valid.
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*/
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uint8_t ExtendedRange;
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/*!< Extended range flag for the current measurement.
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* Value = 1 means timings A&B are combined to increase the
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* maximum distance range.
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*/
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} VL53LX_TargetRangeData_t;
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/**
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* @struct VL53LX_MultiRangingData_t
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* @brief Structure for storing the set of range results
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*
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*/
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typedef struct {
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uint32_t TimeStamp;
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/*!< 32-bit time stamp.
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* @warning Not yet implemented
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*/
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uint8_t StreamCount;
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/*!< 8-bit Stream Count. */
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uint8_t NumberOfObjectsFound;
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/*!< Indicate the number of objects found.
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* This is used to know how many ranging data should be get.
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* NumberOfObjectsFound is in the range 0 to
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* VL53LX_MAX_RANGE_RESULTS.
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*/
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VL53LX_TargetRangeData_t RangeData[VL53LX_MAX_RANGE_RESULTS];
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/*!< Range data each target distance */
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uint8_t HasXtalkValueChanged;
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/*!< set to 1 if a new Xtalk value has been computed whilst
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* smudge correction mode enable by with
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* VL53LX_SmudgeCorrectionEnable() function is either
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* VL53LX_SMUDGE_CORRECTION_CONTINUOUS or
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* VL53LX_SMUDGE_CORRECTION_SINGLE.
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*/
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uint16_t EffectiveSpadRtnCount;
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/*!< Return the effective SPAD count for the return signal.
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* To obtain Real value it should be divided by 256
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*/
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} VL53LX_MultiRangingData_t;
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/**
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* @struct VL53LX_UserRoi_t
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* @brief Defines User Zone(ROI) parameters
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*
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*/
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typedef struct {
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uint8_t TopLeftX; /*!< Top Left x coordinate: 0-15 range */
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uint8_t TopLeftY; /*!< Top Left y coordinate: 0-15 range */
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uint8_t BotRightX; /*!< Bot Right x coordinate: 0-15 range */
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uint8_t BotRightY; /*!< Bot Right y coordinate: 0-15 range */
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} VL53LX_UserRoi_t;
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/**
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* @struct VL53LX_CustomerNvmManaged_t
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*
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*/
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typedef struct {
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uint8_t global_config__spad_enables_ref_0;
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uint8_t global_config__spad_enables_ref_1;
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uint8_t global_config__spad_enables_ref_2;
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uint8_t global_config__spad_enables_ref_3;
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uint8_t global_config__spad_enables_ref_4;
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uint8_t global_config__spad_enables_ref_5;
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uint8_t global_config__ref_en_start_select;
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uint8_t ref_spad_man__num_requested_ref_spads;
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uint8_t ref_spad_man__ref_location;
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uint32_t algo__crosstalk_compensation_plane_offset_kcps;
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int16_t algo__crosstalk_compensation_x_plane_gradient_kcps;
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int16_t algo__crosstalk_compensation_y_plane_gradient_kcps;
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uint16_t ref_spad_char__total_rate_target_mcps;
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int16_t algo__part_to_part_range_offset_mm;
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int16_t mm_config__inner_offset_mm;
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int16_t mm_config__outer_offset_mm;
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} VL53LX_CustomerNvmManaged_t;
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/**
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* @struct VL53LX_CalibrationData_t
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* @brief Structure for storing the Calibration Data
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*
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*/
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typedef struct {
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uint32_t struct_version;
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VL53LX_CustomerNvmManaged_t customer;
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VL53LX_additional_offset_cal_data_t add_off_cal_data;
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VL53LX_optical_centre_t optical_centre;
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VL53LX_xtalk_histogram_data_t xtalkhisto;
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VL53LX_gain_calibration_data_t gain_cal;
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VL53LX_cal_peak_rate_map_t cal_peak_rate_map;
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VL53LX_per_vcsel_period_offset_cal_data_t per_vcsel_cal_data;
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uint32_t algo__xtalk_cpo_HistoMerge_kcps[VL53LX_BIN_REC_SIZE];
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} VL53LX_CalibrationData_t;
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#define VL53LX_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION 0x20
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/** VL53LX additional Calibration Data struct version final struct version
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* is given by adding it to VL53LX_LL_CALIBRATION_DATA_STRUCT_VERSION
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*/
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#define VL53LX_CALIBRATION_DATA_STRUCT_VERSION \
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(VL53LX_LL_CALIBRATION_DATA_STRUCT_VERSION + \
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VL53LX_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION)
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/* VL53LX Calibration Data struct version */
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/**
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* @struct VL53LX_AdditionalData_t
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* @brief Structure for storing the Additional Data
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*
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*/
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typedef VL53LX_additional_data_t VL53LX_AdditionalData_t;
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/** @defgroup VL53LX_define_RangeStatus_group Defines the Range Status
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* @{
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*/
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#define VL53LX_RANGESTATUS_RANGE_VALID 0
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/*!<The Range is valid. */
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#define VL53LX_RANGESTATUS_SIGMA_FAIL 1
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/*!<Sigma Fail. */
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#define VL53LX_RANGESTATUS_SIGNAL_FAIL 2
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/*!<Signal fail. */
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#define VL53LX_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED 3
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/*!<Target is below minimum detection threshold. */
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#define VL53LX_RANGESTATUS_OUTOFBOUNDS_FAIL 4
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/*!<Phase out of valid limits - different to a wrap exit. */
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#define VL53LX_RANGESTATUS_HARDWARE_FAIL 5
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/*!<Hardware fail. */
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#define VL53LX_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL 6
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/*!<The Range is valid but the wraparound check has not been done. */
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#define VL53LX_RANGESTATUS_WRAP_TARGET_FAIL 7
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/*!<Wrapped target - no matching phase in other VCSEL period timing. */
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#define VL53LX_RANGESTATUS_PROCESSING_FAIL 8
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/*!<Internal algo underflow or overflow in lite ranging. */
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#define VL53LX_RANGESTATUS_XTALK_SIGNAL_FAIL 9
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/*!<Specific to lite ranging. */
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#define VL53LX_RANGESTATUS_SYNCRONISATION_INT 10
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/*!<1st interrupt when starting ranging in back to back mode. Ignore data. */
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#define VL53LX_RANGESTATUS_RANGE_VALID_MERGED_PULSE 11
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/*!<All Range ok but object is result of multiple pulses merging together.
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* Used by RQL for merged pulse detection
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*/
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#define VL53LX_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL 12
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/*!<Used by RQL as different to phase fail. */
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#define VL53LX_RANGESTATUS_MIN_RANGE_FAIL 13
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/*!<Unexpected error in SPAD Array.*/
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#define VL53LX_RANGESTATUS_RANGE_INVALID 14
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/*!<lld returned valid range but negative value ! */
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#define VL53LX_RANGESTATUS_NONE 255
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/*!<No Update. */
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/** @} VL53LX_define_RangeStatus_group */
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/** @brief Contains the Internal data of the Bare Driver
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*/
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typedef struct {
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VL53LX_LLDriverData_t LLData;
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/*!< Low Level Driver data structure */
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VL53LX_LLDriverResults_t llresults;
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/*!< Low Level Driver data structure */
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VL53LX_DeviceParameters_t CurrentParameters;
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/*!< Current Device Parameter */
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} VL53LX_DevData_t;
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/* MACRO Definitions */
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/** @defgroup VL53LX_define_GeneralMacro_group General Macro Defines
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* General Macro Defines
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* @{
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*/
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/* Defines */
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#define VL53LX_SETPARAMETERFIELD(Dev, field, value) \
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(VL53LXDevDataSet(Dev, CurrentParameters.field, value))
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#define VL53LX_GETPARAMETERFIELD(Dev, field, variable) \
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(variable = VL53LXDevDataGet(Dev, CurrentParameters).field)
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#define VL53LX_SETARRAYPARAMETERFIELD(Dev, field, index, value) \
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(VL53LXDevDataSet(Dev, CurrentParameters.field[index], value))
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#define VL53LX_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \
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(variable = VL53LXDevDataGet(Dev, CurrentParameters).field[index])
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#define VL53LX_SETDEVICESPECIFICPARAMETER(Dev, field, value) \
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(VL53LXDevDataSet(Dev, DeviceSpecificParameters.field, value))
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#define VL53LX_GETDEVICESPECIFICPARAMETER(Dev, field) \
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(VL53LXDevDataGet(Dev, DeviceSpecificParameters).field)
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#define VL53LX_FIXPOINT1616TOFIXPOINT44(Value) \
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(uint16_t)((Value>>12)&0xFFFF)
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#define VL53LX_FIXPOINT44TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<12)
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#define VL53LX_FIXPOINT1616TOFIXPOINT72(Value) \
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(uint16_t)((Value>>14)&0xFFFF)
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#define VL53LX_FIXPOINT72TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<14)
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#define VL53LX_FIXPOINT1616TOFIXPOINT97(Value) \
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(uint16_t)((Value>>9)&0xFFFF)
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#define VL53LX_FIXPOINT97TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<9)
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#define VL53LX_FIXPOINT1616TOFIXPOINT88(Value) \
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(uint16_t)((Value>>8)&0xFFFF)
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#define VL53LX_FIXPOINT88TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<8)
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#define VL53LX_FIXPOINT1616TOFIXPOINT412(Value) \
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(uint16_t)((Value>>4)&0xFFFF)
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#define VL53LX_FIXPOINT412TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<4)
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#define VL53LX_FIXPOINT1616TOFIXPOINT313(Value) \
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(uint16_t)((Value>>3)&0xFFFF)
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#define VL53LX_FIXPOINT313TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<3)
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#define VL53LX_FIXPOINT1616TOFIXPOINT08(Value) \
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(uint8_t)((Value>>8)&0x00FF)
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#define VL53LX_FIXPOINT08TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<8)
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#define VL53LX_FIXPOINT1616TOFIXPOINT53(Value) \
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(uint8_t)((Value>>13)&0x00FF)
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#define VL53LX_FIXPOINT53TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<13)
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#define VL53LX_FIXPOINT1616TOFIXPOINT102(Value) \
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(uint16_t)((Value>>14)&0x0FFF)
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#define VL53LX_FIXPOINT102TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<14)
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#define VL53LX_FIXPOINT1616TOFIXPOINT142(Value) \
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(uint16_t)((Value>>14)&0xFFFF)
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#define VL53LX_FIXPOINT142TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<14)
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#define VL53LX_FIXPOINT1616TOFIXPOINT160(Value) \
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(uint16_t)((Value>>16)&0xFFFF)
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#define VL53LX_FIXPOINT160TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<16)
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#define VL53LX_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \
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(uint16_t)lsb)
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#ifndef SUPPRESS_UNUSED_WARNING
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#define SUPPRESS_UNUSED_WARNING(x) ((void) (x))
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#endif
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/** @} VL53LX_define_GeneralMacro_group */
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/** @} VL53LX_globaldefine_group */
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#ifdef __cplusplus
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}
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#endif
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#endif /* _VL53LX_DEF_H_ */
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