235 lines
8.2 KiB
C
235 lines
8.2 KiB
C
/**
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******************************************************************************
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* @file vl53l5cx.h
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* @author IMG SW Application Team
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* @brief This file contains all the functions prototypes for the vl53l5cx.c
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* driver.
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******************************************************************************
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* @attention
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*
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* Copyright (c) 2022 STMicroelectronics.
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* 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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/* Define to prevent recursive inclusion -------------------------------------*/
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#ifndef VL53L5CX_H
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#define VL53L5CX_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Includes ------------------------------------------------------------------*/
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#include <math.h>
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#include <stddef.h>
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#include <stdint.h>
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#include "vl53l5cx_api.h"
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#include "vl53l5cx_plugin_xtalk.h"
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#include "vl53l5cx_plugin_detection_thresholds.h"
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/** @addtogroup BSP
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* @{
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*/
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/** @addtogroup Components
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* @{
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*/
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/** @addtogroup VL53L5CX
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* @{
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*/
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/** @defgroup VL53L5CX_Exported_Constants Exported Constants
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* @{
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*/
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#define VL53L5CX_ID (0xF002U)
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#define VL53L5CX_ID_REG (0x010FU)
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#define VL53L5CX_DEVICE_ADDRESS (VL53L5CX_DEFAULT_I2C_ADDRESS)
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#define VL53L5CX_TARGET_PER_ZONE (VL53L5CX_NB_TARGET_PER_ZONE)
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#define VL53L5CX_MAX_NB_ZONES (VL53L5CX_RESOLUTION_8X8)
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/* vl53l5cx ranging profiles */
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#define VL53L5CX_PROFILE_4x4_CONTINUOUS (1U)
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#define VL53L5CX_PROFILE_4x4_AUTONOMOUS (2U)
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#define VL53L5CX_PROFILE_8x8_CONTINUOUS (3U)
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#define VL53L5CX_PROFILE_8x8_AUTONOMOUS (4U)
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/* vl53l5cx threshold/interrupt criteria */
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#define VL53L5CX_IT_DEFAULT (0xFFU) /*!< IT if new measurement is ready (thresholds are not considered) */
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#define VL53L5CX_IT_IN_WINDOW (VL53L5CX_IN_WINDOW) /*!< IT if distance > HighThreshold */
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#define VL53L5CX_IT_OUT_OF_WINDOW (VL53L5CX_OUT_OF_WINDOW) /*!< IT if distance < LowThreshold OR distance > HighThreshold */
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#define VL53L5CX_IT_BELOW_LOW (VL53L5CX_LESS_THAN_EQUAL_MIN_CHECKER) /*!< IT if distance <= LowThreshold */
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#define VL53L5CX_IT_ABOVE_HIGH (VL53L5CX_GREATER_THAN_MAX_CHECKER) /*!< IT if distance > HighThreshold */
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#define VL53L5CX_IT_EQUAL_LOW (VL53L5CX_EQUAL_MIN_CHECKER) /*!< IT if distance == LowThreshold */
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#define VL53L5CX_IT_NOT_EQUAL_LOW (VL53L5CX_NOT_EQUAL_MIN_CHECKER) /*!< IT if distance != LowThreshold */
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/* vl53l5cx ranging modes */
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#define VL53L5CX_MODE_BLOCKING_CONTINUOUS (1U)
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#define VL53L5CX_MODE_BLOCKING_ONESHOT (2U)
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#define VL53L5CX_MODE_ASYNC_CONTINUOUS (3U)
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#define VL53L5CX_MODE_ASYNC_ONESHOT (4U)
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/* vl53l5cx error codes */
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#define VL53L5CX_OK (0)
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#define VL53L5CX_ERROR (-1)
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#define VL53L5CX_INVALID_PARAM (-2)
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#define VL53L5CX_TIMEOUT (-3)
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#define VL53L5CX_NOT_IMPLEMENTED (-4)
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/**
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* @}
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*/
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/** @defgroup VL53L5CX_Exported_Types Exported Types
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* @{
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*/
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typedef int32_t (*VL53L5CX_Init_Func)(void);
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typedef int32_t (*VL53L5CX_DeInit_Func)(void);
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typedef int32_t (*VL53L5CX_GetTick_Func)(void);
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typedef int32_t (*VL53L5CX_WriteReg_Func)(uint16_t, uint16_t, uint8_t *, uint16_t);
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typedef int32_t (*VL53L5CX_ReadReg_Func)(uint16_t, uint16_t, uint8_t *, uint16_t);
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typedef struct
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{
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VL53L5CX_Init_Func Init;
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VL53L5CX_DeInit_Func DeInit;
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uint16_t Address;
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VL53L5CX_WriteReg_Func WriteReg;
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VL53L5CX_ReadReg_Func ReadReg;
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VL53L5CX_GetTick_Func GetTick;
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} VL53L5CX_IO_t;
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typedef struct
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{
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VL53L5CX_IO_t IO;
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VL53L5CX_Configuration Dev;
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uint8_t IsInitialized; /*!< NotInitialized: 0, Initialized: 1 */
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uint8_t IsRanging; /*!< Not Started: 0, Started: 1 */
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uint8_t IsBlocking; /*!< Interrupt: 0, Polling: 1 */
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uint8_t IsContinuous; /*!< One shot: 0, Continuous: 1 */
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uint8_t IsAmbientEnabled; /*!< Enabled: 0, Disabled: 1 */
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uint8_t IsSignalEnabled; /*!< Enabled: 0, Disabled: 1 */
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uint8_t RangingProfile;
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} VL53L5CX_Object_t;
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typedef struct
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{
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uint8_t NumberOfTargets;
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uint32_t Distance[VL53L5CX_NB_TARGET_PER_ZONE]; /*!< millimeters */
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uint32_t Status[VL53L5CX_NB_TARGET_PER_ZONE]; /*!< OK: 0, NOK: !0 */
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float_t Ambient[VL53L5CX_NB_TARGET_PER_ZONE]; /*!< kcps / spad */
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float_t Signal[VL53L5CX_NB_TARGET_PER_ZONE]; /*!< kcps / spad */
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} VL53L5CX_ZoneResult_t;
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typedef struct
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{
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uint32_t NumberOfZones;
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VL53L5CX_ZoneResult_t ZoneResult[VL53L5CX_MAX_NB_ZONES];
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} VL53L5CX_Result_t;
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typedef struct
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{
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uint32_t Criteria; /*!< interrupt generation criteria */
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uint32_t LowThreshold; /*!< expressed in millimeters */
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uint32_t HighThreshold; /*!< expressed in millimeters */
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} VL53L5CX_ITConfig_t;
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typedef struct
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{
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uint8_t TopLeftX; /*!< Top Left x coordinate */
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uint8_t TopLeftY; /*!< Top Left y coordinate */
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uint8_t BotRightX; /*!< Bot Right x coordinate */
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uint8_t BotRightY; /*!< Bot Right y coordinate */
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} VL53L5CX_ROIConfig_t;
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typedef struct
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{
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uint8_t RangingProfile;
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uint32_t TimingBudget; /*!< Expressed in milliseconds */
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uint32_t Frequency; /*!< Expressed in Hz */
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uint32_t EnableAmbient; /*<! Enable: 1, Disable: 0 */
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uint32_t EnableSignal; /*<! Enable: 1, Disable: 0 */
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} VL53L5CX_ProfileConfig_t;
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typedef struct
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{
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uint32_t NumberOfZones;
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uint32_t MaxNumberOfTargetsPerZone;
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uint32_t CustomROI; /*<! Not available: 0, Available: 1 */
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uint32_t ThresholdDetection; /*<! Not available: 0, Available: 1 */
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} VL53L5CX_Capabilities_t;
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typedef struct
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{
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int32_t (*Init)(VL53L5CX_Object_t *);
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int32_t (*DeInit)(VL53L5CX_Object_t *);
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int32_t (*ReadID)(VL53L5CX_Object_t *, uint32_t *);
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int32_t (*GetCapabilities)(VL53L5CX_Object_t *, VL53L5CX_Capabilities_t *);
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int32_t (*ConfigProfile)(VL53L5CX_Object_t *, VL53L5CX_ProfileConfig_t *);
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int32_t (*ConfigROI)(VL53L5CX_Object_t *, VL53L5CX_ROIConfig_t *);
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int32_t (*ConfigIT)(VL53L5CX_Object_t *, VL53L5CX_ITConfig_t *);
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int32_t (*GetDistance)(VL53L5CX_Object_t *, VL53L5CX_Result_t *);
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int32_t (*Start)(VL53L5CX_Object_t *, uint32_t);
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int32_t (*Stop)(VL53L5CX_Object_t *);
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int32_t (*SetAddress)(VL53L5CX_Object_t *, uint32_t);
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int32_t (*GetAddress)(VL53L5CX_Object_t *, uint32_t *);
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int32_t (*SetPowerMode)(VL53L5CX_Object_t *, uint32_t);
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int32_t (*GetPowerMode)(VL53L5CX_Object_t *, uint32_t *);
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} VL53L5CX_RANGING_SENSOR_Drv_t;
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/**
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* @}
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*/
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/** @defgroup VL53L5CX_Exported_Functions VL53L5CX Exported Functions
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* @{
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*/
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/* RANGING_SENSOR methods */
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int32_t VL53L5CX_RegisterBusIO(VL53L5CX_Object_t *pObj, VL53L5CX_IO_t *pIO);
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int32_t VL53L5CX_Init(VL53L5CX_Object_t *pObj);
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int32_t VL53L5CX_DeInit(VL53L5CX_Object_t *pObj);
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int32_t VL53L5CX_ReadID(VL53L5CX_Object_t *pObj, uint32_t *pId);
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int32_t VL53L5CX_GetCapabilities(VL53L5CX_Object_t *pObj, VL53L5CX_Capabilities_t *pCap);
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int32_t VL53L5CX_ConfigProfile(VL53L5CX_Object_t *pObj, VL53L5CX_ProfileConfig_t *pConfig);
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int32_t VL53L5CX_ConfigROI(VL53L5CX_Object_t *pObj, VL53L5CX_ROIConfig_t *pROIConfig);
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int32_t VL53L5CX_ConfigIT(VL53L5CX_Object_t *pObj, VL53L5CX_ITConfig_t *pITConfig);
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int32_t VL53L5CX_GetDistance(VL53L5CX_Object_t *pObj, VL53L5CX_Result_t *pResult);
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int32_t VL53L5CX_Start(VL53L5CX_Object_t *pObj, uint32_t Mode);
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int32_t VL53L5CX_Stop(VL53L5CX_Object_t *pObj);
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int32_t VL53L5CX_SetAddress(VL53L5CX_Object_t *pObj, uint32_t Address);
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int32_t VL53L5CX_GetAddress(VL53L5CX_Object_t *pObj, uint32_t *pAddress);
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int32_t VL53L5CX_SetPowerMode(VL53L5CX_Object_t *pObj, uint32_t PowerMode);
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int32_t VL53L5CX_GetPowerMode(VL53L5CX_Object_t *pObj, uint32_t *pPowerMode);
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/* additional methods */
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int32_t VL53L5CX_XTalkCalibration(VL53L5CX_Object_t *pObj, uint16_t Reflectance, uint16_t Distance);
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/**
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* @}
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*/
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/* RANGING_SENSOR driver structure */
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extern VL53L5CX_RANGING_SENSOR_Drv_t VL53L5CX_RANGING_SENSOR_Driver;
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#ifdef __cplusplus
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}
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#endif
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#endif /* VL53L5CX_H */
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/**
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* @}
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*/
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/**
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* @}
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*/
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/**
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* @}
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*/
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