1 /* 2 * Copyright (c) 2017, STMicroelectronics - All Rights Reserved 3 * 4 * This file is part of VL53L1 Core and is dual licensed, 5 * either 'STMicroelectronics 6 * Proprietary license' 7 * or 'BSD 3-clause "New" or "Revised" License' , at your option. 8 * 9 ******************************************************************************** 10 * 11 * 'STMicroelectronics Proprietary license' 12 * 13 ******************************************************************************** 14 * 15 * License terms: STMicroelectronics Proprietary in accordance with licensing 16 * terms at www.st.com/sla0081 17 * 18 * STMicroelectronics confidential 19 * Reproduction and Communication of this document is strictly prohibited unless 20 * specifically authorized in writing by STMicroelectronics. 21 * 22 * 23 ******************************************************************************** 24 * 25 * Alternatively, VL53L1 Core may be distributed under the terms of 26 * 'BSD 3-clause "New" or "Revised" License', in which case the following 27 * provisions apply instead of the ones mentioned above : 28 * 29 ******************************************************************************** 30 * 31 * License terms: BSD 3-clause "New" or "Revised" License. 32 * 33 * Redistribution and use in source and binary forms, with or without 34 * modification, are permitted provided that the following conditions are met: 35 * 36 * 1. Redistributions of source code must retain the above copyright notice, this 37 * list of conditions and the following disclaimer. 38 * 39 * 2. Redistributions in binary form must reproduce the above copyright notice, 40 * this list of conditions and the following disclaimer in the documentation 41 * and/or other materials provided with the distribution. 42 * 43 * 3. Neither the name of the copyright holder nor the names of its contributors 44 * may be used to endorse or promote products derived from this software 45 * without specific prior written permission. 46 * 47 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 48 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 49 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 50 * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 51 * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 52 * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 53 * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 54 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 55 * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 56 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 57 * 58 * 59 ******************************************************************************** 60 * 61 */ 62 63 /** 64 * @file vl53l1_def.h 65 * 66 * @brief Type definitions for VL53L1 API. 67 * 68 */ 69 70 71 #ifndef _VL53L1_DEF_H_ 72 #define _VL53L1_DEF_H_ 73 74 #include "vl53l1_ll_def.h" 75 76 #ifdef __cplusplus 77 extern "C" { 78 #endif 79 80 /** @defgroup VL53L1_globaldefine_group VL53L1 Defines 81 * @brief VL53L1 Defines 82 * @{ 83 */ 84 85 86 /** VL53L1 IMPLEMENTATION major version */ 87 #define VL53L1_IMPLEMENTATION_VER_MAJOR 2 88 /** VL53L1 IMPLEMENTATION minor version */ 89 #define VL53L1_IMPLEMENTATION_VER_MINOR 3 90 /** VL53L1 IMPLEMENTATION sub version */ 91 #define VL53L1_IMPLEMENTATION_VER_SUB 3 92 /** VL53L1 IMPLEMENTATION sub version */ 93 #define VL53L1_IMPLEMENTATION_VER_REVISION 1885 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 uint32_t revision; /*!< revision number */ 103 uint8_t major; /*!< major number */ 104 uint8_t minor; /*!< minor number */ 105 uint8_t build; /*!< build number */ 106 } VL53L1_Version_t; 107 108 109 #define VL53L1_DEVINFO_STRLEN 32 110 111 /** @brief Defines the parameters of the Get Device Info Functions 112 */ 113 typedef struct { 114 char Name[VL53L1_DEVINFO_STRLEN]; 115 /*!< Name of the Device e.g. Left_Distance */ 116 char Type[VL53L1_DEVINFO_STRLEN]; 117 /*!< Type of the Device e.g VL53L1 */ 118 char ProductId[VL53L1_DEVINFO_STRLEN]; 119 /*!< Product Identifier String 120 * @warning Not yet implemented 121 */ 122 uint8_t ProductType; 123 /*!< Product Type, VL53L1 = 1, VL53L1 = 2*/ 124 uint8_t ProductRevisionMajor; 125 /*!< Product revision major */ 126 uint8_t ProductRevisionMinor; 127 /*!< Product revision minor */ 128 } VL53L1_DeviceInfo_t; 129 130 131 132 /** @defgroup VL53L1_define_PresetModes_group Defines Preset modes 133 * Defines all possible preset modes for the device 134 * @{ 135 */ 136 typedef uint8_t VL53L1_PresetModes; 137 138 #define VL53L1_PRESETMODE_AUTONOMOUS ((VL53L1_PresetModes) 3) 139 #define VL53L1_PRESETMODE_LITE_RANGING ((VL53L1_PresetModes) 4) 140 #define VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS ((VL53L1_PresetModes) 8) 141 142 /* ... Modes to be added depending on device */ 143 /** @} VL53L1_define_PresetModes_group */ 144 145 146 /** @defgroup VL53L1_define_DistanceModes_group Defines Distance modes 147 * Defines all possible Distance modes for the device 148 * @{ 149 */ 150 typedef uint8_t VL53L1_DistanceModes; 151 152 #define VL53L1_DISTANCEMODE_SHORT ((VL53L1_DistanceModes) 1) 153 #define VL53L1_DISTANCEMODE_MEDIUM ((VL53L1_DistanceModes) 2) 154 #define VL53L1_DISTANCEMODE_LONG ((VL53L1_DistanceModes) 3) 155 /** @} VL53L1_define_DistanceModes_group */ 156 157 158 /** @defgroup VL53L1_define_XtalkCal_group Defines Xtalk Calibration modes 159 * Defines all possible Offset Calibration modes for the device 160 * @{ 161 */ 162 typedef uint8_t VL53L1_XtalkCalibrationModes; 163 164 #define VL53L1_XTALKCALIBRATIONMODE_NO_TARGET \ 165 ((VL53L1_OffsetCalibrationModes) 0) 166 /*!< To perform Xtalk calibration with no target below 80 cm */ 167 #define VL53L1_XTALKCALIBRATIONMODE_SINGLE_TARGET \ 168 ((VL53L1_OffsetCalibrationModes) 1) 169 /*!< To perform Xtalk calibration with one target */ 170 #define VL53L1_XTALKCALIBRATIONMODE_FULL_ROI \ 171 ((VL53L1_OffsetCalibrationModes) 2) 172 /*!< To perform Xtalk calibration based on histogram with full ROI */ 173 174 /** @} VL53L1_define_XtalkCal_group */ 175 176 /** @defgroup VL53L1_define_OffsetCal_group Defines Offset Calibration modes 177 * Defines all possible Offset Calibration modes for the device 178 * @{ 179 */ 180 typedef uint8_t VL53L1_OffsetCalibrationModes; 181 182 #define VL53L1_OFFSETCALIBRATIONMODE_STANDARD \ 183 ((VL53L1_OffsetCalibrationModes) 1) 184 #define VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY \ 185 ((VL53L1_OffsetCalibrationModes) 2) 186 187 /** @} VL53L1_define_OffsetCal_group */ 188 189 190 191 192 193 /** @defgroup VL53L1_CheckEnable_group Check Enable list 194 * @brief Check Enable code 195 * 196 * Define used to specify the LimitCheckId. 197 * Use @a VL53L1_GetLimitCheckInfo() to get the string. 198 * @{ 199 */ 200 201 #define VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE 0 202 #define VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1 203 204 #define VL53L1_CHECKENABLE_NUMBER_OF_CHECKS 2 205 206 /** @} end of VL53L1_CheckEnable_group */ 207 208 209 /** @defgroup VL53L1_ThresholdMode_gropup Detection Functionality 210 * @brief Defines the different functionalities for the detection feature 211 * @{ 212 */ 213 typedef uint8_t VL53L1_ThresholdMode; 214 215 #define VL53L1_THRESHOLD_CROSSED_LOW \ 216 ((VL53L1_ThresholdMode) 0) 217 /*!< Trigger interrupt if value < thresh_low */ 218 #define VL53L1_THRESHOLD_CROSSED_HIGH \ 219 ((VL53L1_ThresholdMode) 1) 220 /*!< Trigger interrupt if value > thresh_high */ 221 #define VL53L1_THRESHOLD_OUT_OF_WINDOW \ 222 ((VL53L1_ThresholdMode) 2) 223 /*!< Trigger interrupt if value < thresh_low OR value > thresh_high */ 224 #define VL53L1_THRESHOLD_IN_WINDOW \ 225 ((VL53L1_ThresholdMode) 3) 226 /*!< Trigger interrupt if value > thresh_low AND value < thresh_high */ 227 228 /** @} end of VL53L1_ThresholdMode_gropup */ 229 230 /** @brief Defines parameters for Distance detection Thresholds configuration 231 */ 232 typedef struct { 233 VL53L1_ThresholdMode CrossMode; 234 uint16_t High; /*!< Distance threshold high limit in mm */ 235 uint16_t Low; /*!< Distance threshold low limit in mm */ 236 } VL53L1_DistanceThreshold_t; 237 238 /** @brief Defines parameters for Signal rate detection Thresholds configuration 239 */ 240 typedef struct { 241 VL53L1_ThresholdMode CrossMode; 242 FixPoint1616_t High; /*!< Signal rate threshold high limit */ 243 FixPoint1616_t Low; /*!< Signal rate threshold low limit */ 244 } VL53L1_RateThreshold_t; 245 246 /** @defgroup VL53L1_DetectionMode_group Gpio Functionality 247 * @brief Defines conditions leading to device's IT on GPIO 248 * @{ 249 */ 250 typedef uint8_t VL53L1_DetectionMode; 251 252 #define VL53L1_DETECTION_NORMAL_RUN \ 253 ((VL53L1_DetectionMode) 0) 254 /*!< Trigger interrupt on new measurement regardless of threshold 255 * just like after a VL53L1_SetPresetMode() call 256 */ 257 #define VL53L1_DETECTION_DISTANCE_ONLY \ 258 ((VL53L1_DetectionMode) 1) 259 /*!< Trigger interrupt if "threshold event" occurs on distance */ 260 #define VL53L1_DETECTION_RATE_ONLY \ 261 ((VL53L1_DetectionMode) 2) 262 /*!< Trigger interrupt if "threshold event" occurs on signal rate */ 263 #define VL53L1_DETECTION_DISTANCE_AND_RATE \ 264 ((VL53L1_DetectionMode) 3) 265 /*!< Trigger interrupt if "threshold event" occurs on distance AND rate 266 */ 267 #define VL53L1_DETECTION_DISTANCE_OR_RATE \ 268 ((VL53L1_DetectionMode) 4) 269 /*!< Trigger interrupt if "threshold event" occurs on distance OR rate 270 */ 271 272 /** @} end of VL53L1_DetectionMode_group */ 273 274 /** @brief Defines parameters for User/object Detection configuration 275 */ 276 typedef struct { 277 VL53L1_DetectionMode DetectionMode; /*!< See #VL53L1_DetectionMode*/ 278 uint8_t IntrNoTarget; /*!< 1 to trigger IT in case of no target found */ 279 VL53L1_DistanceThreshold_t Distance; /*!< limits in mm */ 280 VL53L1_RateThreshold_t Rate;/*!< limits in FixPoint1616_t */ 281 } VL53L1_DetectionConfig_t; 282 283 284 /** @brief Defines all parameters for the device 285 */ 286 typedef struct { 287 VL53L1_PresetModes PresetMode; 288 /*!< Defines the operating mode to be used for the next measure */ 289 VL53L1_DistanceModes DistanceMode; 290 /*!< Defines the operating mode to be used for the next measure */ 291 VL53L1_DistanceModes InternalDistanceMode; 292 /*!< Defines the internal operating mode to be used for the next 293 * measure 294 */ 295 VL53L1_DistanceModes NewDistanceMode; 296 /*!< Defines the new operating mode to be programmed for the next 297 * measure 298 */ 299 uint32_t MeasurementTimingBudgetMicroSeconds; 300 /*!< Defines the allowed total time for a single measurement */ 301 uint8_t LimitChecksEnable[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; 302 /*!< This Array store all the Limit Check enable for this device. */ 303 uint8_t LimitChecksStatus[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; 304 /*!< This Array stores all the Status of the check linked to last 305 * measurement. 306 */ 307 FixPoint1616_t LimitChecksValue[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; 308 /*!< This Array stores all the Limit Check value for this device */ 309 FixPoint1616_t LimitChecksCurrent[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; 310 /*!< This Array stores all the Limit Check current value from latest 311 * ranging 312 */ 313 } VL53L1_DeviceParameters_t; 314 315 316 /** @defgroup VL53L1_define_State_group Defines the current status of the device 317 * Defines the current status of the device 318 * @{ 319 */ 320 321 typedef uint8_t VL53L1_State; 322 323 #define VL53L1_STATE_POWERDOWN ((VL53L1_State) 0) 324 /*!< Device is in HW reset */ 325 #define VL53L1_STATE_WAIT_STATICINIT ((VL53L1_State) 1) 326 /*!< Device is initialized and wait for static initialization */ 327 #define VL53L1_STATE_STANDBY ((VL53L1_State) 2) 328 /*!< Device is in Low power Standby mode */ 329 #define VL53L1_STATE_IDLE ((VL53L1_State) 3) 330 /*!< Device has been initialized and ready to do measurements */ 331 #define VL53L1_STATE_RUNNING ((VL53L1_State) 4) 332 /*!< Device is performing measurement */ 333 #define VL53L1_STATE_RESET ((VL53L1_State) 5) 334 /*!< Soft reset has been run on Device */ 335 #define VL53L1_STATE_UNKNOWN ((VL53L1_State) 98) 336 /*!< Device is in unknown state and need to be rebooted */ 337 #define VL53L1_STATE_ERROR ((VL53L1_State) 99) 338 /*!< Device is in error state and need to be rebooted */ 339 340 /** @} VL53L1_define_State_group */ 341 342 343 344 /** 345 * @struct VL53L1_RangingMeasurementData_t 346 * @brief Single Range measurement data. 347 */ 348 typedef struct { 349 uint32_t TimeStamp; 350 /*!< 32-bit time stamp. 351 * @warning Not yet implemented 352 */ 353 354 uint8_t StreamCount; 355 /*!< 8-bit Stream Count. */ 356 357 uint8_t RangeQualityLevel; 358 /*!< indicate a quality level in percentage from 0 to 100 359 * @warning Not yet implemented 360 */ 361 362 FixPoint1616_t SignalRateRtnMegaCps; 363 /*!< Return signal rate (MCPS)\n these is a 16.16 fix point 364 * value, which is effectively a measure of target 365 * reflectance. 366 */ 367 368 FixPoint1616_t AmbientRateRtnMegaCps; 369 /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point 370 * value, which is effectively a measure of the ambien 371 * t light. 372 */ 373 374 uint16_t EffectiveSpadRtnCount; 375 /*!< Return the effective SPAD count for the return signal. 376 * To obtain Real value it should be divided by 256 377 */ 378 379 FixPoint1616_t SigmaMilliMeter; 380 /*!< Return the Sigma value in millimeter */ 381 382 int16_t RangeMilliMeter; 383 /*!< range distance in millimeter. This should be between 384 * RangeMinMilliMeter and RangeMaxMilliMeter 385 */ 386 387 uint8_t RangeFractionalPart; 388 /*!< Fractional part of range distance. Final value is a 389 * RangeMilliMeter + RangeFractionalPart/256. 390 * @warning Not yet implemented 391 */ 392 393 uint8_t RangeStatus; 394 /*!< Range Status for the current measurement. This is device 395 * dependent. Value = 0 means value is valid. 396 */ 397 } VL53L1_RangingMeasurementData_t; 398 399 400 401 /** @brief Defines User Zone(ROI) parameters 402 * 403 */ 404 typedef struct { 405 406 uint8_t TopLeftX; /*!< Top Left x coordinate: 0-15 range */ 407 uint8_t TopLeftY; /*!< Top Left y coordinate: 0-15 range */ 408 uint8_t BotRightX; /*!< Bot Right x coordinate: 0-15 range */ 409 uint8_t BotRightY; /*!< Bot Right y coordinate: 0-15 range */ 410 411 } VL53L1_UserRoi_t; 412 413 414 /** @brief Defines ROI configuration parameters 415 * 416 * Support up a max of 16 zones, Each Zone has the same size 417 * 418 */ 419 420 /** 421 * @struct VL53L1_CustomerNvmManaged_t 422 * 423 */ 424 425 typedef struct { 426 uint8_t global_config__spad_enables_ref_0; 427 uint8_t global_config__spad_enables_ref_1; 428 uint8_t global_config__spad_enables_ref_2; 429 uint8_t global_config__spad_enables_ref_3; 430 uint8_t global_config__spad_enables_ref_4; 431 uint8_t global_config__spad_enables_ref_5; 432 uint8_t global_config__ref_en_start_select; 433 uint8_t ref_spad_man__num_requested_ref_spads; 434 uint8_t ref_spad_man__ref_location; 435 uint32_t algo__crosstalk_compensation_plane_offset_kcps; 436 int16_t algo__crosstalk_compensation_x_plane_gradient_kcps; 437 int16_t algo__crosstalk_compensation_y_plane_gradient_kcps; 438 uint16_t ref_spad_char__total_rate_target_mcps; 439 int16_t algo__part_to_part_range_offset_mm; 440 int16_t mm_config__inner_offset_mm; 441 int16_t mm_config__outer_offset_mm; 442 } VL53L1_CustomerNvmManaged_t; 443 444 /** 445 * @struct VL53L1_CalibrationData_t 446 * @brief Structure for storing the Calibration Data 447 * 448 */ 449 450 typedef struct { 451 452 uint32_t struct_version; 453 VL53L1_CustomerNvmManaged_t customer; 454 VL53L1_additional_offset_cal_data_t add_off_cal_data; 455 VL53L1_optical_centre_t optical_centre; 456 VL53L1_gain_calibration_data_t gain_cal; 457 VL53L1_cal_peak_rate_map_t cal_peak_rate_map; 458 459 } VL53L1_CalibrationData_t; 460 461 #define VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION 0x10 462 /** VL53L1 additional Calibration Data struct version final struct version 463 * is given by adding it to VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION 464 */ 465 466 #define VL53L1_CALIBRATION_DATA_STRUCT_VERSION \ 467 (VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION + \ 468 VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION) 469 /* VL53L1 Calibration Data struct version */ 470 471 /** 472 * @struct VL53L1_AdditionalData_t 473 * @brief Structure for storing the Additional Data 474 * 475 */ 476 typedef VL53L1_additional_data_t VL53L1_AdditionalData_t; 477 478 479 typedef uint8_t VL53L1_SequenceStepId; 480 481 #define VL53L1_SEQUENCESTEP_VHV ((VL53L1_SequenceStepId) 0) 482 /*!<VHV. */ 483 #define VL53L1_SEQUENCESTEP_PHASECAL ((VL53L1_SequenceStepId) 1) 484 /*!<Phase Calibration. */ 485 #define VL53L1_SEQUENCESTEP_REFPHASE ((VL53L1_SequenceStepId) 2) 486 /*!<Reference Phase. */ 487 #define VL53L1_SEQUENCESTEP_DSS1 ((VL53L1_SequenceStepId) 3) 488 /*!<DSS1. */ 489 #define VL53L1_SEQUENCESTEP_DSS2 ((VL53L1_SequenceStepId) 4) 490 /*!<DSS2. */ 491 #define VL53L1_SEQUENCESTEP_MM1 ((VL53L1_SequenceStepId) 5) 492 /*!<Mode Mitigation 1. */ 493 #define VL53L1_SEQUENCESTEP_MM2 ((VL53L1_SequenceStepId) 6) 494 /*!<Mode Mitigation 2. */ 495 #define VL53L1_SEQUENCESTEP_RANGE ((VL53L1_SequenceStepId) 7) 496 /*!<Final Range step. */ 497 498 #define VL53L1_SEQUENCESTEP_NUMBER_OF_ITEMS 8 499 /*!<Number of Sequence Step Managed by the API. */ 500 501 502 /** @defgroup VL53L1_define_RangeStatus_group Defines the Range Status 503 * @{ 504 */ 505 #define VL53L1_RANGESTATUS_RANGE_VALID 0 506 /*!<The Range is valid. */ 507 #define VL53L1_RANGESTATUS_SIGMA_FAIL 1 508 /*!<Sigma Fail. */ 509 #define VL53L1_RANGESTATUS_SIGNAL_FAIL 2 510 /*!<Signal fail. */ 511 #define VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED 3 512 /*!<Target is below minimum detection threshold. */ 513 #define VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL 4 514 /*!<Phase out of valid limits - different to a wrap exit. */ 515 #define VL53L1_RANGESTATUS_HARDWARE_FAIL 5 516 /*!<Hardware fail. */ 517 #define VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL 6 518 /*!<The Range is valid but the wraparound check has not been done. */ 519 #define VL53L1_RANGESTATUS_WRAP_TARGET_FAIL 7 520 /*!<Wrapped target - no matching phase in other VCSEL period timing. */ 521 #define VL53L1_RANGESTATUS_PROCESSING_FAIL 8 522 /*!<Internal algo underflow or overflow in lite ranging. */ 523 #define VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL 9 524 /*!<Specific to lite ranging. */ 525 #define VL53L1_RANGESTATUS_SYNCRONISATION_INT 10 526 /*!<1st interrupt when starting ranging in back to back mode. Ignore data. */ 527 #define VL53L1_RANGESTATUS_RANGE_VALID_MERGED_PULSE 11 528 /*!<All Range ok but object is result of multiple pulses merging together. 529 * Used by RQL for merged pulse detection 530 */ 531 #define VL53L1_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL 12 532 /*!<Used by RQL as different to phase fail. */ 533 #define VL53L1_RANGESTATUS_MIN_RANGE_FAIL 13 534 /*!<User ROI input is not valid e.g. beyond SPAD Array.*/ 535 #define VL53L1_RANGESTATUS_RANGE_INVALID 14 536 /*!<lld returned valid range but negative value ! */ 537 #define VL53L1_RANGESTATUS_NONE 255 538 /*!<No Update. */ 539 540 /** @} VL53L1_define_RangeStatus_group */ 541 542 543 /** @brief Contains the Internal data of the Bare Driver 544 */ 545 546 typedef struct { 547 VL53L1_LLDriverData_t LLData; 548 /*!< Low Level Driver data structure */ 549 550 VL53L1_LLDriverResults_t llresults; 551 /*!< Low Level Driver data structure */ 552 553 VL53L1_State PalState; /* Store the pal state */ 554 VL53L1_DeviceParameters_t CurrentParameters; 555 /*!< Current Device Parameter */ 556 557 } VL53L1_DevData_t; 558 559 560 /* MACRO Definitions */ 561 /** @defgroup VL53L1_define_GeneralMacro_group General Macro Defines 562 * General Macro Defines 563 * @{ 564 */ 565 566 /* Defines */ 567 #define VL53L1_SETPARAMETERFIELD(Dev, field, value) \ 568 (VL53L1DevDataSet(Dev, CurrentParameters.field, value)) 569 570 #define VL53L1_GETPARAMETERFIELD(Dev, field, variable) \ 571 (variable = VL53L1DevDataGet(Dev, CurrentParameters).field) 572 573 574 #define VL53L1_SETARRAYPARAMETERFIELD(Dev, field, index, value) \ 575 (VL53L1DevDataSet(Dev, CurrentParameters.field[index], value)) 576 577 #define VL53L1_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \ 578 (variable = VL53L1DevDataGet(Dev, CurrentParameters).field[index]) 579 580 581 #define VL53L1_SETDEVICESPECIFICPARAMETER(Dev, field, value) \ 582 (VL53L1DevDataSet(Dev, DeviceSpecificParameters.field, value)) 583 584 #define VL53L1_GETDEVICESPECIFICPARAMETER(Dev, field) \ 585 (VL53L1DevDataGet(Dev, DeviceSpecificParameters).field) 586 587 588 #define VL53L1_FIXPOINT1616TOFIXPOINT44(Value) \ 589 (uint16_t)((Value>>12)&0xFFFF) 590 #define VL53L1_FIXPOINT44TOFIXPOINT1616(Value) \ 591 (FixPoint1616_t)((uint32_t)Value<<12) 592 593 #define VL53L1_FIXPOINT1616TOFIXPOINT72(Value) \ 594 (uint16_t)((Value>>14)&0xFFFF) 595 #define VL53L1_FIXPOINT72TOFIXPOINT1616(Value) \ 596 (FixPoint1616_t)((uint32_t)Value<<14) 597 598 #define VL53L1_FIXPOINT1616TOFIXPOINT97(Value) \ 599 (uint16_t)((Value>>9)&0xFFFF) 600 #define VL53L1_FIXPOINT97TOFIXPOINT1616(Value) \ 601 (FixPoint1616_t)((uint32_t)Value<<9) 602 603 #define VL53L1_FIXPOINT1616TOFIXPOINT88(Value) \ 604 (uint16_t)((Value>>8)&0xFFFF) 605 #define VL53L1_FIXPOINT88TOFIXPOINT1616(Value) \ 606 (FixPoint1616_t)((uint32_t)Value<<8) 607 608 #define VL53L1_FIXPOINT1616TOFIXPOINT412(Value) \ 609 (uint16_t)((Value>>4)&0xFFFF) 610 #define VL53L1_FIXPOINT412TOFIXPOINT1616(Value) \ 611 (FixPoint1616_t)((uint32_t)Value<<4) 612 613 #define VL53L1_FIXPOINT1616TOFIXPOINT313(Value) \ 614 (uint16_t)((Value>>3)&0xFFFF) 615 #define VL53L1_FIXPOINT313TOFIXPOINT1616(Value) \ 616 (FixPoint1616_t)((uint32_t)Value<<3) 617 618 #define VL53L1_FIXPOINT1616TOFIXPOINT08(Value) \ 619 (uint8_t)((Value>>8)&0x00FF) 620 #define VL53L1_FIXPOINT08TOFIXPOINT1616(Value) \ 621 (FixPoint1616_t)((uint32_t)Value<<8) 622 623 #define VL53L1_FIXPOINT1616TOFIXPOINT53(Value) \ 624 (uint8_t)((Value>>13)&0x00FF) 625 #define VL53L1_FIXPOINT53TOFIXPOINT1616(Value) \ 626 (FixPoint1616_t)((uint32_t)Value<<13) 627 628 #define VL53L1_FIXPOINT1616TOFIXPOINT102(Value) \ 629 (uint16_t)((Value>>14)&0x0FFF) 630 #define VL53L1_FIXPOINT102TOFIXPOINT1616(Value) \ 631 (FixPoint1616_t)((uint32_t)Value<<14) 632 633 #define VL53L1_FIXPOINT1616TOFIXPOINT142(Value) \ 634 (uint16_t)((Value>>14)&0xFFFF) 635 #define VL53L1_FIXPOINT142TOFIXPOINT1616(Value) \ 636 (FixPoint1616_t)((uint32_t)Value<<14) 637 638 #define VL53L1_FIXPOINT1616TOFIXPOINT160(Value) \ 639 (uint16_t)((Value>>16)&0xFFFF) 640 #define VL53L1_FIXPOINT160TOFIXPOINT1616(Value) \ 641 (FixPoint1616_t)((uint32_t)Value<<16) 642 643 #define VL53L1_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \ 644 (uint16_t)lsb) 645 646 #ifndef SUPPRESS_UNUSED_WARNING 647 #define SUPPRESS_UNUSED_WARNING(x) ((void) (x)) 648 #endif 649 650 #define CHECK_ERROR_GO_ENDFUNC do {\ 651 if (Status != VL53L1_ERROR_NONE) \ 652 goto ENDFUNC; \ 653 } while (0) 654 655 /** @} VL53L1_define_GeneralMacro_group */ 656 657 /** @} VL53L1_globaldefine_group */ 658 659 660 661 #ifdef __cplusplus 662 } 663 #endif 664 665 666 #endif /* _VL53L1_DEF_H_ */ 667
