/* * Copyright (c) 2017, STMicroelectronics - All Rights Reserved * * This file is part of VL53L1 Core and is dual licensed, * either 'STMicroelectronics * Proprietary license' * or 'BSD 3-clause "New" or "Revised" License' , at your option. * ******************************************************************************** * * 'STMicroelectronics Proprietary license' * ******************************************************************************** * * License terms: STMicroelectronics Proprietary in accordance with licensing * terms at www.st.com/sla0081 * * STMicroelectronics confidential * Reproduction and Communication of this document is strictly prohibited unless * specifically authorized in writing by STMicroelectronics. * * ******************************************************************************** * * Alternatively, VL53L1 Core may be distributed under the terms of * 'BSD 3-clause "New" or "Revised" License', in which case the following * provisions apply instead of the ones mentioned above : * ******************************************************************************** * * License terms: BSD 3-clause "New" or "Revised" License. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * 1. Redistributions of source code must retain the above copyright notice, this * list of conditions and the following disclaimer. * * 2. 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. * * 3. Neither the name of the copyright holder 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 AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS 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 vl53l1_def.h * * @brief Type definitions for VL53L1 API. * */ #ifndef _VL53L1_DEF_H_ #define _VL53L1_DEF_H_ #include "vl53l1_ll_def.h" #ifdef __cplusplus extern "C" { #endif /** @defgroup VL53L1_globaldefine_group VL53L1 Defines * @brief VL53L1 Defines * @{ */ /** VL53L1 IMPLEMENTATION major version */ #define VL53L1_IMPLEMENTATION_VER_MAJOR 2 /** VL53L1 IMPLEMENTATION minor version */ #define VL53L1_IMPLEMENTATION_VER_MINOR 3 /** VL53L1 IMPLEMENTATION sub version */ #define VL53L1_IMPLEMENTATION_VER_SUB 3 /** VL53L1 IMPLEMENTATION sub version */ #define VL53L1_IMPLEMENTATION_VER_REVISION 1885 /**************************************** * 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 */ } VL53L1_Version_t; #define VL53L1_DEVINFO_STRLEN 32 /** @brief Defines the parameters of the Get Device Info Functions */ typedef struct { char Name[VL53L1_DEVINFO_STRLEN]; /*!< Name of the Device e.g. Left_Distance */ char Type[VL53L1_DEVINFO_STRLEN]; /*!< Type of the Device e.g VL53L1 */ char ProductId[VL53L1_DEVINFO_STRLEN]; /*!< Product Identifier String * @warning Not yet implemented */ uint8_t ProductType; /*!< Product Type, VL53L1 = 1, VL53L1 = 2*/ uint8_t ProductRevisionMajor; /*!< Product revision major */ uint8_t ProductRevisionMinor; /*!< Product revision minor */ } VL53L1_DeviceInfo_t; /** @defgroup VL53L1_define_PresetModes_group Defines Preset modes * Defines all possible preset modes for the device * @{ */ typedef uint8_t VL53L1_PresetModes; #define VL53L1_PRESETMODE_AUTONOMOUS ((VL53L1_PresetModes) 3) #define VL53L1_PRESETMODE_LITE_RANGING ((VL53L1_PresetModes) 4) #define VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS ((VL53L1_PresetModes) 8) /* ... Modes to be added depending on device */ /** @} VL53L1_define_PresetModes_group */ /** @defgroup VL53L1_define_DistanceModes_group Defines Distance modes * Defines all possible Distance modes for the device * @{ */ typedef uint8_t VL53L1_DistanceModes; #define VL53L1_DISTANCEMODE_SHORT ((VL53L1_DistanceModes) 1) #define VL53L1_DISTANCEMODE_MEDIUM ((VL53L1_DistanceModes) 2) #define VL53L1_DISTANCEMODE_LONG ((VL53L1_DistanceModes) 3) /** @} VL53L1_define_DistanceModes_group */ /** @defgroup VL53L1_define_XtalkCal_group Defines Xtalk Calibration modes * Defines all possible Offset Calibration modes for the device * @{ */ typedef uint8_t VL53L1_XtalkCalibrationModes; #define VL53L1_XTALKCALIBRATIONMODE_NO_TARGET \ ((VL53L1_OffsetCalibrationModes) 0) /*!< To perform Xtalk calibration with no target below 80 cm */ #define VL53L1_XTALKCALIBRATIONMODE_SINGLE_TARGET \ ((VL53L1_OffsetCalibrationModes) 1) /*!< To perform Xtalk calibration with one target */ #define VL53L1_XTALKCALIBRATIONMODE_FULL_ROI \ ((VL53L1_OffsetCalibrationModes) 2) /*!< To perform Xtalk calibration based on histogram with full ROI */ /** @} VL53L1_define_XtalkCal_group */ /** @defgroup VL53L1_define_OffsetCal_group Defines Offset Calibration modes * Defines all possible Offset Calibration modes for the device * @{ */ typedef uint8_t VL53L1_OffsetCalibrationModes; #define VL53L1_OFFSETCALIBRATIONMODE_STANDARD \ ((VL53L1_OffsetCalibrationModes) 1) #define VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY \ ((VL53L1_OffsetCalibrationModes) 2) /** @} VL53L1_define_OffsetCal_group */ /** @defgroup VL53L1_CheckEnable_group Check Enable list * @brief Check Enable code * * Define used to specify the LimitCheckId. * Use @a VL53L1_GetLimitCheckInfo() to get the string. * @{ */ #define VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE 0 #define VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1 #define VL53L1_CHECKENABLE_NUMBER_OF_CHECKS 2 /** @} end of VL53L1_CheckEnable_group */ /** @defgroup VL53L1_ThresholdMode_gropup Detection Functionality * @brief Defines the different functionalities for the detection feature * @{ */ typedef uint8_t VL53L1_ThresholdMode; #define VL53L1_THRESHOLD_CROSSED_LOW \ ((VL53L1_ThresholdMode) 0) /*!< Trigger interrupt if value < thresh_low */ #define VL53L1_THRESHOLD_CROSSED_HIGH \ ((VL53L1_ThresholdMode) 1) /*!< Trigger interrupt if value > thresh_high */ #define VL53L1_THRESHOLD_OUT_OF_WINDOW \ ((VL53L1_ThresholdMode) 2) /*!< Trigger interrupt if value < thresh_low OR value > thresh_high */ #define VL53L1_THRESHOLD_IN_WINDOW \ ((VL53L1_ThresholdMode) 3) /*!< Trigger interrupt if value > thresh_low AND value < thresh_high */ /** @} end of VL53L1_ThresholdMode_gropup */ /** @brief Defines parameters for Distance detection Thresholds configuration */ typedef struct { VL53L1_ThresholdMode CrossMode; uint16_t High; /*!< Distance threshold high limit in mm */ uint16_t Low; /*!< Distance threshold low limit in mm */ } VL53L1_DistanceThreshold_t; /** @brief Defines parameters for Signal rate detection Thresholds configuration */ typedef struct { VL53L1_ThresholdMode CrossMode; FixPoint1616_t High; /*!< Signal rate threshold high limit */ FixPoint1616_t Low; /*!< Signal rate threshold low limit */ } VL53L1_RateThreshold_t; /** @defgroup VL53L1_DetectionMode_group Gpio Functionality * @brief Defines conditions leading to device's IT on GPIO * @{ */ typedef uint8_t VL53L1_DetectionMode; #define VL53L1_DETECTION_NORMAL_RUN \ ((VL53L1_DetectionMode) 0) /*!< Trigger interrupt on new measurement regardless of threshold * just like after a VL53L1_SetPresetMode() call */ #define VL53L1_DETECTION_DISTANCE_ONLY \ ((VL53L1_DetectionMode) 1) /*!< Trigger interrupt if "threshold event" occurs on distance */ #define VL53L1_DETECTION_RATE_ONLY \ ((VL53L1_DetectionMode) 2) /*!< Trigger interrupt if "threshold event" occurs on signal rate */ #define VL53L1_DETECTION_DISTANCE_AND_RATE \ ((VL53L1_DetectionMode) 3) /*!< Trigger interrupt if "threshold event" occurs on distance AND rate */ #define VL53L1_DETECTION_DISTANCE_OR_RATE \ ((VL53L1_DetectionMode) 4) /*!< Trigger interrupt if "threshold event" occurs on distance OR rate */ /** @} end of VL53L1_DetectionMode_group */ /** @brief Defines parameters for User/object Detection configuration */ typedef struct { VL53L1_DetectionMode DetectionMode; /*!< See #VL53L1_DetectionMode*/ uint8_t IntrNoTarget; /*!< 1 to trigger IT in case of no target found */ VL53L1_DistanceThreshold_t Distance; /*!< limits in mm */ VL53L1_RateThreshold_t Rate;/*!< limits in FixPoint1616_t */ } VL53L1_DetectionConfig_t; /** @brief Defines all parameters for the device */ typedef struct { VL53L1_PresetModes PresetMode; /*!< Defines the operating mode to be used for the next measure */ VL53L1_DistanceModes DistanceMode; /*!< Defines the operating mode to be used for the next measure */ VL53L1_DistanceModes InternalDistanceMode; /*!< Defines the internal operating mode to be used for the next * measure */ VL53L1_DistanceModes NewDistanceMode; /*!< Defines the new operating mode to be programmed for the next * measure */ uint32_t MeasurementTimingBudgetMicroSeconds; /*!< Defines the allowed total time for a single measurement */ uint8_t LimitChecksEnable[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; /*!< This Array store all the Limit Check enable for this device. */ uint8_t LimitChecksStatus[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; /*!< This Array stores all the Status of the check linked to last * measurement. */ FixPoint1616_t LimitChecksValue[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; /*!< This Array stores all the Limit Check value for this device */ FixPoint1616_t LimitChecksCurrent[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; /*!< This Array stores all the Limit Check current value from latest * ranging */ } VL53L1_DeviceParameters_t; /** @defgroup VL53L1_define_State_group Defines the current status of the device * Defines the current status of the device * @{ */ typedef uint8_t VL53L1_State; #define VL53L1_STATE_POWERDOWN ((VL53L1_State) 0) /*!< Device is in HW reset */ #define VL53L1_STATE_WAIT_STATICINIT ((VL53L1_State) 1) /*!< Device is initialized and wait for static initialization */ #define VL53L1_STATE_STANDBY ((VL53L1_State) 2) /*!< Device is in Low power Standby mode */ #define VL53L1_STATE_IDLE ((VL53L1_State) 3) /*!< Device has been initialized and ready to do measurements */ #define VL53L1_STATE_RUNNING ((VL53L1_State) 4) /*!< Device is performing measurement */ #define VL53L1_STATE_RESET ((VL53L1_State) 5) /*!< Soft reset has been run on Device */ #define VL53L1_STATE_UNKNOWN ((VL53L1_State) 98) /*!< Device is in unknown state and need to be rebooted */ #define VL53L1_STATE_ERROR ((VL53L1_State) 99) /*!< Device is in error state and need to be rebooted */ /** @} VL53L1_define_State_group */ /** * @struct VL53L1_RangingMeasurementData_t * @brief Single Range measurement data. */ typedef struct { uint32_t TimeStamp; /*!< 32-bit time stamp. * @warning Not yet implemented */ uint8_t StreamCount; /*!< 8-bit Stream Count. */ uint8_t RangeQualityLevel; /*!< indicate a quality level in percentage from 0 to 100 * @warning Not yet implemented */ 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 */ FixPoint1616_t SigmaMilliMeter; /*!< Return the Sigma value in millimeter */ int16_t RangeMilliMeter; /*!< range distance in millimeter. This should be between * RangeMinMilliMeter and RangeMaxMilliMeter */ uint8_t RangeFractionalPart; /*!< Fractional part of range distance. Final value is a * RangeMilliMeter + RangeFractionalPart/256. * @warning Not yet implemented */ uint8_t RangeStatus; /*!< Range Status for the current measurement. This is device * dependent. Value = 0 means value is valid. */ } VL53L1_RangingMeasurementData_t; /** @brief Defines User Zone(ROI) parameters * */ 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 */ } VL53L1_UserRoi_t; /** @brief Defines ROI configuration parameters * * Support up a max of 16 zones, Each Zone has the same size * */ /** * @struct VL53L1_CustomerNvmManaged_t * */ typedef struct { uint8_t global_config__spad_enables_ref_0; uint8_t global_config__spad_enables_ref_1; uint8_t global_config__spad_enables_ref_2; uint8_t global_config__spad_enables_ref_3; uint8_t global_config__spad_enables_ref_4; uint8_t global_config__spad_enables_ref_5; uint8_t global_config__ref_en_start_select; uint8_t ref_spad_man__num_requested_ref_spads; uint8_t ref_spad_man__ref_location; uint32_t algo__crosstalk_compensation_plane_offset_kcps; int16_t algo__crosstalk_compensation_x_plane_gradient_kcps; int16_t algo__crosstalk_compensation_y_plane_gradient_kcps; uint16_t ref_spad_char__total_rate_target_mcps; int16_t algo__part_to_part_range_offset_mm; int16_t mm_config__inner_offset_mm; int16_t mm_config__outer_offset_mm; } VL53L1_CustomerNvmManaged_t; /** * @struct VL53L1_CalibrationData_t * @brief Structure for storing the Calibration Data * */ typedef struct { uint32_t struct_version; VL53L1_CustomerNvmManaged_t customer; VL53L1_additional_offset_cal_data_t add_off_cal_data; VL53L1_optical_centre_t optical_centre; VL53L1_gain_calibration_data_t gain_cal; VL53L1_cal_peak_rate_map_t cal_peak_rate_map; } VL53L1_CalibrationData_t; #define VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION 0x10 /** VL53L1 additional Calibration Data struct version final struct version * is given by adding it to VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION */ #define VL53L1_CALIBRATION_DATA_STRUCT_VERSION \ (VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION + \ VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION) /* VL53L1 Calibration Data struct version */ /** * @struct VL53L1_AdditionalData_t * @brief Structure for storing the Additional Data * */ typedef VL53L1_additional_data_t VL53L1_AdditionalData_t; typedef uint8_t VL53L1_SequenceStepId; #define VL53L1_SEQUENCESTEP_VHV ((VL53L1_SequenceStepId) 0) /*!>12)&0xFFFF) #define VL53L1_FIXPOINT44TOFIXPOINT1616(Value) \ (FixPoint1616_t)((uint32_t)Value<<12) #define VL53L1_FIXPOINT1616TOFIXPOINT72(Value) \ (uint16_t)((Value>>14)&0xFFFF) #define VL53L1_FIXPOINT72TOFIXPOINT1616(Value) \ (FixPoint1616_t)((uint32_t)Value<<14) #define VL53L1_FIXPOINT1616TOFIXPOINT97(Value) \ (uint16_t)((Value>>9)&0xFFFF) #define VL53L1_FIXPOINT97TOFIXPOINT1616(Value) \ (FixPoint1616_t)((uint32_t)Value<<9) #define VL53L1_FIXPOINT1616TOFIXPOINT88(Value) \ (uint16_t)((Value>>8)&0xFFFF) #define VL53L1_FIXPOINT88TOFIXPOINT1616(Value) \ (FixPoint1616_t)((uint32_t)Value<<8) #define VL53L1_FIXPOINT1616TOFIXPOINT412(Value) \ (uint16_t)((Value>>4)&0xFFFF) #define VL53L1_FIXPOINT412TOFIXPOINT1616(Value) \ (FixPoint1616_t)((uint32_t)Value<<4) #define VL53L1_FIXPOINT1616TOFIXPOINT313(Value) \ (uint16_t)((Value>>3)&0xFFFF) #define VL53L1_FIXPOINT313TOFIXPOINT1616(Value) \ (FixPoint1616_t)((uint32_t)Value<<3) #define VL53L1_FIXPOINT1616TOFIXPOINT08(Value) \ (uint8_t)((Value>>8)&0x00FF) #define VL53L1_FIXPOINT08TOFIXPOINT1616(Value) \ (FixPoint1616_t)((uint32_t)Value<<8) #define VL53L1_FIXPOINT1616TOFIXPOINT53(Value) \ (uint8_t)((Value>>13)&0x00FF) #define VL53L1_FIXPOINT53TOFIXPOINT1616(Value) \ (FixPoint1616_t)((uint32_t)Value<<13) #define VL53L1_FIXPOINT1616TOFIXPOINT102(Value) \ (uint16_t)((Value>>14)&0x0FFF) #define VL53L1_FIXPOINT102TOFIXPOINT1616(Value) \ (FixPoint1616_t)((uint32_t)Value<<14) #define VL53L1_FIXPOINT1616TOFIXPOINT142(Value) \ (uint16_t)((Value>>14)&0xFFFF) #define VL53L1_FIXPOINT142TOFIXPOINT1616(Value) \ (FixPoint1616_t)((uint32_t)Value<<14) #define VL53L1_FIXPOINT1616TOFIXPOINT160(Value) \ (uint16_t)((Value>>16)&0xFFFF) #define VL53L1_FIXPOINT160TOFIXPOINT1616(Value) \ (FixPoint1616_t)((uint32_t)Value<<16) #define VL53L1_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \ (uint16_t)lsb) #ifndef SUPPRESS_UNUSED_WARNING #define SUPPRESS_UNUSED_WARNING(x) ((void) (x)) #endif #define CHECK_ERROR_GO_ENDFUNC do {\ if (Status != VL53L1_ERROR_NONE) \ goto ENDFUNC; \ } while (0) /** @} VL53L1_define_GeneralMacro_group */ /** @} VL53L1_globaldefine_group */ #ifdef __cplusplus } #endif #endif /* _VL53L1_DEF_H_ */