227 lines
7.1 KiB
C
227 lines
7.1 KiB
C
/**
|
|
******************************************************************************
|
|
* @file vl53l4cx.h
|
|
* @author IMG SW Application Team
|
|
* @brief This file contains all the functions prototypes for the vl53l4cx.c
|
|
* driver.
|
|
******************************************************************************
|
|
* @attention
|
|
*
|
|
* Copyright (c) 2022 STMicroelectronics.
|
|
* All rights reserved.
|
|
*
|
|
* This software is licensed under terms that can be found in the LICENSE file
|
|
* in the root directory of this software component.
|
|
* If no LICENSE file comes with this software, it is provided AS-IS.
|
|
*
|
|
******************************************************************************
|
|
*/
|
|
|
|
/* Define to prevent recursive inclusion -------------------------------------*/
|
|
#ifndef VL53L4CX_H
|
|
#define VL53L4CX_H
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
|
|
/* Includes ------------------------------------------------------------------*/
|
|
#include <stddef.h>
|
|
#include <math.h>
|
|
#include "vl53lx_def.h"
|
|
|
|
/** @addtogroup BSP
|
|
* @{
|
|
*/
|
|
|
|
/** @addtogroup Components
|
|
* @{
|
|
*/
|
|
|
|
/** @addtogroup VL53L4CX
|
|
* @{
|
|
*/
|
|
|
|
/** @defgroup VL53L4CX_Exported_Constants Exported Constants
|
|
* @{
|
|
*/
|
|
#define VL53L4CX_ID (0xEBAAU)
|
|
#define VL53L4CX_ID_REG (0x010FU)
|
|
|
|
#define VL53L4CX_DEVICE_ADDRESS (0x52U)
|
|
#define VL53L4CX_NB_TARGET_PER_ZONE (4U)
|
|
#define VL53L4CX_MAX_NB_ZONES (1U)
|
|
|
|
/* vl53l4cx ranging profiles */
|
|
#define VL53L4CX_PROFILE_SHORT (VL53LX_DISTANCEMODE_SHORT)
|
|
#define VL53L4CX_PROFILE_MEDIUM (VL53LX_DISTANCEMODE_MEDIUM)
|
|
#define VL53L4CX_PROFILE_LONG (VL53LX_DISTANCEMODE_LONG)
|
|
|
|
/* vl53l4cx ranging modes */
|
|
#define VL53L4CX_MODE_BLOCKING_CONTINUOUS (1U)
|
|
#define VL53L4CX_MODE_BLOCKING_ONESHOT (2U)
|
|
#define VL53L4CX_MODE_ASYNC_CONTINUOUS (3U)
|
|
#define VL53L4CX_MODE_ASYNC_ONESHOT (4U)
|
|
|
|
/* vl53l4cx error codes */
|
|
#define VL53L4CX_OK (0)
|
|
#define VL53L4CX_ERROR (-1)
|
|
#define VL53L4CX_INVALID_PARAM (-2)
|
|
#define VL53L4CX_TIMEOUT (-3)
|
|
#define VL53L4CX_NOT_IMPLEMENTED (-4)
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/** @defgroup VL53L4CX_Exported_Types Exported Types
|
|
* @{
|
|
*/
|
|
typedef int32_t (*VL53L4CX_Init_Func)(void);
|
|
typedef int32_t (*VL53L4CX_DeInit_Func)(void);
|
|
typedef int32_t (*VL53L4CX_GetTick_Func)(void);
|
|
typedef int32_t (*VL53L4CX_WriteReg_Func)(uint16_t, uint8_t *, uint16_t);
|
|
typedef int32_t (*VL53L4CX_ReadReg_Func)(uint16_t, uint8_t *, uint16_t);
|
|
|
|
typedef struct
|
|
{
|
|
VL53L4CX_Init_Func Init;
|
|
VL53L4CX_DeInit_Func DeInit;
|
|
uint16_t Address;
|
|
VL53L4CX_WriteReg_Func WriteReg;
|
|
VL53L4CX_ReadReg_Func ReadReg;
|
|
VL53L4CX_GetTick_Func GetTick;
|
|
} VL53L4CX_IO_t;
|
|
|
|
typedef struct
|
|
{
|
|
VL53LX_DevData_t Data; /*!< ranging sensor context */
|
|
} VL53LX_Dev_t;
|
|
|
|
typedef struct
|
|
{
|
|
VL53L4CX_IO_t IO;
|
|
VL53LX_Dev_t Dev;
|
|
uint8_t IsInitialized; /*!< NotInitialized: 0, Initialized: 1 */
|
|
uint8_t IsRanging; /*!< Not Started: 0, Started: 1 */
|
|
uint8_t IsBlocking; /*!< Interrupt: 0, Polling: 1 */
|
|
uint8_t IsContinuous; /*!< One shot: 0, Continuous: 1 */
|
|
uint8_t IsAmbientEnabled; /*!< Enabled: 0, Disabled: 1 */
|
|
uint8_t IsSignalEnabled; /*!< Enabled: 0, Disabled: 1 */
|
|
uint8_t RangingProfile;
|
|
} VL53L4CX_Object_t;
|
|
|
|
typedef struct
|
|
{
|
|
uint32_t NumberOfTargets;
|
|
uint32_t Distance[VL53L4CX_NB_TARGET_PER_ZONE]; /*!< millimeter */
|
|
uint32_t Status[VL53L4CX_NB_TARGET_PER_ZONE]; /*!< 0: OK, 1: NOK */
|
|
float_t Ambient[VL53L4CX_NB_TARGET_PER_ZONE]; /*!< kcps / spad */
|
|
float_t Signal[VL53L4CX_NB_TARGET_PER_ZONE]; /*!< kcps / spad */
|
|
} VL53L4CX_TargetResult_t;
|
|
|
|
typedef struct
|
|
{
|
|
uint32_t NumberOfZones;
|
|
VL53L4CX_TargetResult_t ZoneResult[VL53L4CX_MAX_NB_ZONES];
|
|
} VL53L4CX_Result_t;
|
|
|
|
typedef struct
|
|
{
|
|
uint32_t Criteria; /*!< interrupt generation criteria */
|
|
uint32_t LowThreshold; /*!< expressed in millimeters */
|
|
uint32_t HighThreshold; /*!< expressed in millimeters */
|
|
} VL53L4CX_ITConfig_t;
|
|
|
|
typedef struct
|
|
{
|
|
uint8_t TopLeftX; /*!< Top Left x coordinate: 0-15 range */
|
|
uint8_t TopLeftY; /*!< Top Left y coordinate: 0-15 range */
|
|
uint8_t BotRightX; /*!< Bot Right x coordinate: 0-15 range */
|
|
uint8_t BotRightY; /*!< Bot Right y coordinate: 0-15 range */
|
|
} VL53L4CX_ROIConfig_t;
|
|
|
|
typedef struct
|
|
{
|
|
uint8_t RangingProfile;
|
|
uint32_t TimingBudget; /*!< Expressed in milliseconds */
|
|
uint32_t Frequency; /*!< Expressed in Hz */
|
|
uint32_t EnableAmbient; /*<! Enable: 1, Disable: 0 */
|
|
uint32_t EnableSignal; /*<! Enable: 1, Disable: 0 */
|
|
} VL53L4CX_ProfileConfig_t;
|
|
|
|
typedef struct
|
|
{
|
|
uint32_t NumberOfZones;
|
|
uint32_t MaxNumberOfTargetsPerZone;
|
|
uint32_t CustomROI; /*<! Not available: 0, Available: 1 */
|
|
uint32_t ThresholdDetection; /*<! Not available: 0, Available: 1 */
|
|
} VL53L4CX_Capabilities_t;
|
|
|
|
typedef struct
|
|
{
|
|
int32_t (*Init)(VL53L4CX_Object_t *);
|
|
int32_t (*DeInit)(VL53L4CX_Object_t *);
|
|
int32_t (*ReadID)(VL53L4CX_Object_t *, uint32_t *);
|
|
int32_t (*GetCapabilities)(VL53L4CX_Object_t *, VL53L4CX_Capabilities_t *);
|
|
int32_t (*ConfigProfile)(VL53L4CX_Object_t *, VL53L4CX_ProfileConfig_t *);
|
|
int32_t (*ConfigROI)(VL53L4CX_Object_t *, VL53L4CX_ROIConfig_t *);
|
|
int32_t (*ConfigIT)(VL53L4CX_Object_t *, VL53L4CX_ITConfig_t *);
|
|
int32_t (*GetDistance)(VL53L4CX_Object_t *, VL53L4CX_Result_t *);
|
|
int32_t (*Start)(VL53L4CX_Object_t *, uint32_t);
|
|
int32_t (*Stop)(VL53L4CX_Object_t *);
|
|
int32_t (*SetAddress)(VL53L4CX_Object_t *, uint32_t);
|
|
int32_t (*GetAddress)(VL53L4CX_Object_t *, uint32_t *);
|
|
int32_t (*SetPowerMode)(VL53L4CX_Object_t *, uint32_t);
|
|
int32_t (*GetPowerMode)(VL53L4CX_Object_t *, uint32_t *);
|
|
} VL53L4CX_RANGING_SENSOR_Drv_t;
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/** @defgroup VL53L4CX_Exported_Functions VL53L4CX Exported Functions
|
|
* @{
|
|
*/
|
|
/* RANGING_SENSOR methods */
|
|
int32_t VL53L4CX_RegisterBusIO(VL53L4CX_Object_t *pObj, VL53L4CX_IO_t *pIO);
|
|
int32_t VL53L4CX_Init(VL53L4CX_Object_t *pObj);
|
|
int32_t VL53L4CX_DeInit(VL53L4CX_Object_t *pObj);
|
|
int32_t VL53L4CX_ReadID(VL53L4CX_Object_t *pObj, uint32_t *pId);
|
|
int32_t VL53L4CX_GetCapabilities(VL53L4CX_Object_t *pObj, VL53L4CX_Capabilities_t *pCap);
|
|
int32_t VL53L4CX_ConfigProfile(VL53L4CX_Object_t *pObj, VL53L4CX_ProfileConfig_t *pConfig);
|
|
int32_t VL53L4CX_ConfigROI(VL53L4CX_Object_t *pObj, VL53L4CX_ROIConfig_t *pROIConfig);
|
|
int32_t VL53L4CX_ConfigIT(VL53L4CX_Object_t *pObj, VL53L4CX_ITConfig_t *pITConfig);
|
|
int32_t VL53L4CX_GetDistance(VL53L4CX_Object_t *pObj, VL53L4CX_Result_t *pResult);
|
|
int32_t VL53L4CX_Start(VL53L4CX_Object_t *pObj, uint32_t Mode);
|
|
int32_t VL53L4CX_Stop(VL53L4CX_Object_t *pObj);
|
|
int32_t VL53L4CX_SetAddress(VL53L4CX_Object_t *pObj, uint32_t Address);
|
|
int32_t VL53L4CX_GetAddress(VL53L4CX_Object_t *pObj, uint32_t *pAddress);
|
|
int32_t VL53L4CX_SetPowerMode(VL53L4CX_Object_t *pObj, uint32_t PowerMode);
|
|
int32_t VL53L4CX_GetPowerMode(VL53L4CX_Object_t *pObj, uint32_t *pPowerMode);
|
|
|
|
/* additional methods */
|
|
int32_t VL53L4CX_OffsetCalibration(VL53L4CX_Object_t *pObj, uint32_t CalDistance);
|
|
int32_t VL53L4CX_XTalkCalibration(VL53L4CX_Object_t *pObj);
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/* RANGING_SENSOR driver structure */
|
|
extern VL53L4CX_RANGING_SENSOR_Drv_t VL53L4CX_RANGING_SENSOR_Driver;
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif /* VL53L4CX_H */
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|
|
/**
|
|
* @}
|
|
*/
|