1 2 /* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */ 3 /****************************************************************************** 4 * Copyright (c) 2020, STMicroelectronics - All Rights Reserved 5 6 This file is part of VL53L1 and is dual licensed, 7 either GPL-2.0+ 8 or 'BSD 3-clause "New" or "Revised" License' , at your option. 9 ****************************************************************************** 10 */ 11 12 /** 13 * @file vl53l1_def.h 14 * 15 * @brief Type definitions for VL53L1 API. 16 * 17 */ 18 19 20 #ifndef _VL53L1_DEF_H_ 21 #define _VL53L1_DEF_H_ 22 23 #include "vl53l1_ll_def.h" 24 25 #ifdef __cplusplus 26 extern "C" { 27 #endif 28 29 /** @defgroup VL53L1_globaldefine_group VL53L1 Defines 30 * @brief VL53L1 Defines 31 * @{ 32 */ 33 34 35 /** VL53L1 IMPLEMENTATION major version */ 36 #define VL53L1_IMPLEMENTATION_VER_MAJOR 2 37 /** VL53L1 IMPLEMENTATION minor version */ 38 #define VL53L1_IMPLEMENTATION_VER_MINOR 4 39 /** VL53L1 IMPLEMENTATION sub version */ 40 #define VL53L1_IMPLEMENTATION_VER_SUB 5 41 /** VL53L1 IMPLEMENTATION sub version */ 42 #define VL53L1_IMPLEMENTATION_VER_REVISION 2548 43 44 /**************************************** 45 * PRIVATE define do not edit 46 ****************************************/ 47 48 /** @brief Defines the parameters of the Get Version Functions 49 */ 50 typedef struct { 51 uint32_t revision; /*!< revision number */ 52 uint8_t major; /*!< major number */ 53 uint8_t minor; /*!< minor number */ 54 uint8_t build; /*!< build number */ 55 } VL53L1_Version_t; 56 57 58 #define VL53L1_DEVINFO_STRLEN 32 59 60 /** @brief Defines the parameters of the Get Device Info Functions 61 */ 62 typedef struct { 63 char Name[VL53L1_DEVINFO_STRLEN]; 64 /*!< Full Name of the Device e.g. VL53L1 cut1.1 */ 65 char Type[VL53L1_DEVINFO_STRLEN]; 66 /*!< Type of the Device e.g VL53L1 */ 67 char ProductId[VL53L1_DEVINFO_STRLEN]; 68 /*!< Product Identifier String 69 * @warning Not yet implemented 70 */ 71 uint8_t ProductType; 72 /*!< Product Type, VL53L1 = 0xCC, VL53L3 = 0xAA 73 * Stands as module_type in the datasheet 74 */ 75 uint8_t ProductRevisionMajor; 76 /*!< Product revision major */ 77 uint8_t ProductRevisionMinor; 78 /*!< Product revision minor */ 79 } VL53L1_DeviceInfo_t; 80 81 82 83 /** @defgroup VL53L1_define_PresetModes_group Defines Preset modes 84 * Defines all possible preset modes for the device 85 * @{ 86 */ 87 typedef uint8_t VL53L1_PresetModes; 88 89 #define VL53L1_PRESETMODE_AUTONOMOUS ((VL53L1_PresetModes) 3) 90 #define VL53L1_PRESETMODE_LITE_RANGING ((VL53L1_PresetModes) 4) 91 #define VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS ((VL53L1_PresetModes) 8) 92 93 /* ... Modes to be added depending on device */ 94 /** @} VL53L1_define_PresetModes_group */ 95 96 97 /** @defgroup VL53L1_define_DistanceModes_group Defines Distance modes 98 * Defines all possible Distance modes for the device 99 * @{ 100 */ 101 typedef uint8_t VL53L1_DistanceModes; 102 103 #define VL53L1_DISTANCEMODE_SHORT ((VL53L1_DistanceModes) 1) 104 #define VL53L1_DISTANCEMODE_MEDIUM ((VL53L1_DistanceModes) 2) 105 #define VL53L1_DISTANCEMODE_LONG ((VL53L1_DistanceModes) 3) 106 /** @} VL53L1_define_DistanceModes_group */ 107 108 109 /** @defgroup VL53L1_define_XtalkCal_group Defines Xtalk Calibration modes 110 * Defines all possible Offset Calibration modes for the device 111 * @{ 112 */ 113 typedef uint8_t VL53L1_XtalkCalibrationModes; 114 115 #define VL53L1_XTALKCALIBRATIONMODE_NO_TARGET \ 116 ((VL53L1_OffsetCalibrationModes) 0) 117 /*!< To perform Xtalk calibration with no target below 80 cm */ 118 #define VL53L1_XTALKCALIBRATIONMODE_SINGLE_TARGET \ 119 ((VL53L1_OffsetCalibrationModes) 1) 120 /*!< To perform Xtalk calibration with one target */ 121 #define VL53L1_XTALKCALIBRATIONMODE_FULL_ROI \ 122 ((VL53L1_OffsetCalibrationModes) 2) 123 /*!< To perform Xtalk calibration based on histogram with full ROI */ 124 125 /** @} VL53L1_define_XtalkCal_group */ 126 127 /** @defgroup VL53L1_define_OffsetCal_group Defines Offset Calibration modes 128 * Defines all possible Offset Calibration modes for the device 129 * @{ 130 */ 131 typedef uint8_t VL53L1_OffsetCalibrationModes; 132 133 #define VL53L1_OFFSETCALIBRATIONMODE_STANDARD \ 134 ((VL53L1_OffsetCalibrationModes) 1) 135 #define VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY \ 136 ((VL53L1_OffsetCalibrationModes) 2) 137 138 /** @} VL53L1_define_OffsetCal_group */ 139 140 141 142 143 144 /** @defgroup VL53L1_CheckEnable_group Check Enable list 145 * @brief Check Enable code 146 * 147 * Define used to specify the LimitCheckId. 148 * Use @a VL53L1_GetLimitCheckInfo() to get the string. 149 * @{ 150 */ 151 152 #define VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE 0 153 #define VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1 154 155 #define VL53L1_CHECKENABLE_NUMBER_OF_CHECKS 2 156 157 /** @} end of VL53L1_CheckEnable_group */ 158 159 160 /** @defgroup VL53L1_ThresholdMode_gropup Detection Functionality 161 * @brief Defines the different functionalities for the detection feature 162 * @{ 163 */ 164 typedef uint8_t VL53L1_ThresholdMode; 165 166 #define VL53L1_THRESHOLD_CROSSED_LOW \ 167 ((VL53L1_ThresholdMode) 0) 168 /*!< Trigger interrupt if value < thresh_low */ 169 #define VL53L1_THRESHOLD_CROSSED_HIGH \ 170 ((VL53L1_ThresholdMode) 1) 171 /*!< Trigger interrupt if value > thresh_high */ 172 #define VL53L1_THRESHOLD_OUT_OF_WINDOW \ 173 ((VL53L1_ThresholdMode) 2) 174 /*!< Trigger interrupt if value < thresh_low OR value > thresh_high */ 175 #define VL53L1_THRESHOLD_IN_WINDOW \ 176 ((VL53L1_ThresholdMode) 3) 177 /*!< Trigger interrupt if value > thresh_low AND value < thresh_high */ 178 179 /** @} end of VL53L1_ThresholdMode_gropup */ 180 181 /** @brief Defines parameters for Distance detection Thresholds configuration 182 */ 183 typedef struct { 184 VL53L1_ThresholdMode CrossMode; 185 uint16_t High; /*!< Distance threshold high limit in mm */ 186 uint16_t Low; /*!< Distance threshold low limit in mm */ 187 } VL53L1_DistanceThreshold_t; 188 189 /** @brief Defines parameters for Signal rate detection Thresholds configuration 190 */ 191 typedef struct { 192 VL53L1_ThresholdMode CrossMode; 193 FixPoint1616_t High; /*!< Signal rate threshold high limit */ 194 FixPoint1616_t Low; /*!< Signal rate threshold low limit */ 195 } VL53L1_RateThreshold_t; 196 197 /** @defgroup VL53L1_DetectionMode_group Gpio Functionality 198 * @brief Defines conditions leading to device's IT on GPIO 199 * @{ 200 */ 201 typedef uint8_t VL53L1_DetectionMode; 202 203 #define VL53L1_DETECTION_NORMAL_RUN \ 204 ((VL53L1_DetectionMode) 0) 205 /*!< Trigger interrupt on new measurement regardless of threshold 206 * just like after a VL53L1_SetPresetMode() call 207 */ 208 #define VL53L1_DETECTION_DISTANCE_ONLY \ 209 ((VL53L1_DetectionMode) 1) 210 /*!< Trigger interrupt if "threshold event" occurs on distance */ 211 #define VL53L1_DETECTION_RATE_ONLY \ 212 ((VL53L1_DetectionMode) 2) 213 /*!< Trigger interrupt if "threshold event" occurs on signal rate */ 214 #define VL53L1_DETECTION_DISTANCE_AND_RATE \ 215 ((VL53L1_DetectionMode) 3) 216 /*!< Trigger interrupt if "threshold event" occurs on distance AND rate 217 */ 218 #define VL53L1_DETECTION_DISTANCE_OR_RATE \ 219 ((VL53L1_DetectionMode) 4) 220 /*!< Trigger interrupt if "threshold event" occurs on distance OR rate 221 */ 222 223 /** @} end of VL53L1_DetectionMode_group */ 224 225 /** @brief Defines parameters for User/object Detection configuration 226 */ 227 typedef struct { 228 VL53L1_DetectionMode DetectionMode; /*!< See #VL53L1_DetectionMode*/ 229 uint8_t IntrNoTarget; /*!< 1 to trigger IT in case of no target found */ 230 VL53L1_DistanceThreshold_t Distance; /*!< limits in mm */ 231 VL53L1_RateThreshold_t Rate;/*!< limits in FixPoint1616_t */ 232 } VL53L1_DetectionConfig_t; 233 234 235 /** @brief Defines all parameters for the device 236 */ 237 typedef struct { 238 VL53L1_PresetModes PresetMode; 239 /*!< Defines the operating mode to be used for the next measure */ 240 VL53L1_DistanceModes DistanceMode; 241 /*!< Defines the operating mode to be used for the next measure */ 242 uint32_t MeasurementTimingBudgetMicroSeconds; 243 /*!< Defines the allowed total time for a single measurement */ 244 uint8_t LimitChecksEnable[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; 245 /*!< This Array store all the Limit Check enable for this device. */ 246 uint8_t LimitChecksStatus[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; 247 /*!< This Array stores all the Status of the check linked to last 248 * measurement. 249 */ 250 FixPoint1616_t LimitChecksValue[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; 251 /*!< This Array stores all the Limit Check value for this device */ 252 FixPoint1616_t LimitChecksCurrent[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS]; 253 /*!< This Array stores all the Limit Check current value from latest 254 * ranging 255 */ 256 } VL53L1_DeviceParameters_t; 257 258 259 /** @defgroup VL53L1_define_State_group Defines the current status of the device 260 * Defines the current status of the device 261 * @{ 262 */ 263 264 typedef uint8_t VL53L1_State; 265 266 #define VL53L1_STATE_POWERDOWN ((VL53L1_State) 0) 267 /*!< Device is in HW reset */ 268 #define VL53L1_STATE_WAIT_STATICINIT ((VL53L1_State) 1) 269 /*!< Device is initialized and wait for static initialization */ 270 #define VL53L1_STATE_STANDBY ((VL53L1_State) 2) 271 /*!< Device is in Low power Standby mode */ 272 #define VL53L1_STATE_IDLE ((VL53L1_State) 3) 273 /*!< Device has been initialized and ready to do measurements */ 274 #define VL53L1_STATE_RUNNING ((VL53L1_State) 4) 275 /*!< Device is performing measurement */ 276 #define VL53L1_STATE_RESET ((VL53L1_State) 5) 277 /*!< Soft reset has been run on Device */ 278 #define VL53L1_STATE_UNKNOWN ((VL53L1_State) 98) 279 /*!< Device is in unknown state and need to be rebooted */ 280 #define VL53L1_STATE_ERROR ((VL53L1_State) 99) 281 /*!< Device is in error state and need to be rebooted */ 282 283 /** @} VL53L1_define_State_group */ 284 285 286 287 /** 288 * @struct VL53L1_RangingMeasurementData_t 289 * @brief Single Range measurement data. 290 */ 291 typedef struct { 292 uint32_t TimeStamp; 293 /*!< 32-bit time stamp. 294 * @warning Not yet implemented 295 */ 296 297 uint8_t StreamCount; 298 /*!< 8-bit Stream Count. */ 299 300 uint8_t RangeQualityLevel; 301 /*!< indicate a quality level in percentage from 0 to 100 302 * @warning Not yet implemented 303 */ 304 305 FixPoint1616_t SignalRateRtnMegaCps; 306 /*!< Return signal rate (MCPS)\n these is a 16.16 fix point 307 * value, which is effectively a measure of target 308 * reflectance. 309 */ 310 311 FixPoint1616_t AmbientRateRtnMegaCps; 312 /*!< Return ambient rate (MCPS)\n these is a 16.16 fix point 313 * value, which is effectively a measure of the ambient 314 * light. 315 */ 316 317 uint16_t EffectiveSpadRtnCount; 318 /*!< Return the effective SPAD count for the return signal. 319 * To obtain Real value it should be divided by 256 320 */ 321 322 FixPoint1616_t SigmaMilliMeter; 323 /*!< Return the Sigma value in millimeter */ 324 325 int16_t RangeMilliMeter; 326 /*!< range distance in millimeter. This should be between 327 * RangeMinMilliMeter and RangeMaxMilliMeter 328 */ 329 330 uint8_t RangeFractionalPart; 331 /*!< Fractional part of range distance. Final value is a 332 * RangeMilliMeter + RangeFractionalPart/256. 333 * @warning Not yet implemented 334 */ 335 336 uint8_t RangeStatus; 337 /*!< Range Status for the current measurement. This is device 338 * dependent. Value = 0 means value is valid. 339 */ 340 } VL53L1_RangingMeasurementData_t; 341 342 343 344 /** @brief Defines User Zone(ROI) parameters 345 * 346 */ 347 typedef struct { 348 349 uint8_t TopLeftX; /*!< Top Left x coordinate: 0-15 range */ 350 uint8_t TopLeftY; /*!< Top Left y coordinate: 0-15 range */ 351 uint8_t BotRightX; /*!< Bot Right x coordinate: 0-15 range */ 352 uint8_t BotRightY; /*!< Bot Right y coordinate: 0-15 range */ 353 354 } VL53L1_UserRoi_t; 355 356 357 /** @brief Defines ROI configuration parameters 358 * 359 * Support up a max of 16 zones, Each Zone has the same size 360 * 361 */ 362 363 /** 364 * @struct VL53L1_CustomerNvmManaged_t 365 * 366 */ 367 368 typedef struct { 369 uint8_t global_config__spad_enables_ref_0; 370 uint8_t global_config__spad_enables_ref_1; 371 uint8_t global_config__spad_enables_ref_2; 372 uint8_t global_config__spad_enables_ref_3; 373 uint8_t global_config__spad_enables_ref_4; 374 uint8_t global_config__spad_enables_ref_5; 375 uint8_t global_config__ref_en_start_select; 376 uint8_t ref_spad_man__num_requested_ref_spads; 377 uint8_t ref_spad_man__ref_location; 378 uint32_t algo__crosstalk_compensation_plane_offset_kcps; 379 int16_t algo__crosstalk_compensation_x_plane_gradient_kcps; 380 int16_t algo__crosstalk_compensation_y_plane_gradient_kcps; 381 uint16_t ref_spad_char__total_rate_target_mcps; 382 int16_t algo__part_to_part_range_offset_mm; 383 int16_t mm_config__inner_offset_mm; 384 int16_t mm_config__outer_offset_mm; 385 } VL53L1_CustomerNvmManaged_t; 386 387 /** 388 * @struct VL53L1_CalibrationData_t 389 * @brief Structure for storing the Calibration Data 390 * 391 */ 392 393 typedef struct { 394 395 uint32_t struct_version; 396 VL53L1_CustomerNvmManaged_t customer; 397 VL53L1_additional_offset_cal_data_t add_off_cal_data; 398 VL53L1_optical_centre_t optical_centre; 399 VL53L1_gain_calibration_data_t gain_cal; 400 VL53L1_cal_peak_rate_map_t cal_peak_rate_map; 401 } VL53L1_CalibrationData_t; 402 403 #define VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION 0x20 404 /** VL53L1 additional Calibration Data struct version final struct version 405 * is given by adding it to VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION 406 */ 407 408 #define VL53L1_CALIBRATION_DATA_STRUCT_VERSION \ 409 (VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION + \ 410 VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION) 411 /* VL53L1 Calibration Data struct version */ 412 413 /** 414 * @struct VL53L1_AdditionalData_t 415 * @brief Structure for storing the Additional Data 416 * 417 */ 418 typedef VL53L1_additional_data_t VL53L1_AdditionalData_t; 419 420 421 typedef uint8_t VL53L1_SequenceStepId; 422 423 #define VL53L1_SEQUENCESTEP_VHV ((VL53L1_SequenceStepId) 0) 424 /*!<VHV. */ 425 #define VL53L1_SEQUENCESTEP_PHASECAL ((VL53L1_SequenceStepId) 1) 426 /*!<Phase Calibration. */ 427 #define VL53L1_SEQUENCESTEP_REFPHASE ((VL53L1_SequenceStepId) 2) 428 /*!<Reference Phase. */ 429 #define VL53L1_SEQUENCESTEP_DSS1 ((VL53L1_SequenceStepId) 3) 430 /*!<DSS1. */ 431 #define VL53L1_SEQUENCESTEP_DSS2 ((VL53L1_SequenceStepId) 4) 432 /*!<DSS2. */ 433 #define VL53L1_SEQUENCESTEP_MM1 ((VL53L1_SequenceStepId) 5) 434 /*!<Mode Mitigation 1. */ 435 #define VL53L1_SEQUENCESTEP_MM2 ((VL53L1_SequenceStepId) 6) 436 /*!<Mode Mitigation 2. */ 437 #define VL53L1_SEQUENCESTEP_RANGE ((VL53L1_SequenceStepId) 7) 438 /*!<Final Range step. */ 439 440 #define VL53L1_SEQUENCESTEP_NUMBER_OF_ITEMS 8 441 /*!<Number of Sequence Step Managed by the API. */ 442 443 444 /** @defgroup VL53L1_define_RangeStatus_group Defines the Range Status 445 * @{ 446 */ 447 #define VL53L1_RANGESTATUS_RANGE_VALID 0 448 /*!<The Range is valid. */ 449 #define VL53L1_RANGESTATUS_SIGMA_FAIL 1 450 /*!<Sigma Fail. */ 451 #define VL53L1_RANGESTATUS_SIGNAL_FAIL 2 452 /*!<Signal fail. */ 453 #define VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED 3 454 /*!<Target is below minimum detection threshold. */ 455 #define VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL 4 456 /*!<Phase out of valid limits - different to a wrap exit. */ 457 #define VL53L1_RANGESTATUS_HARDWARE_FAIL 5 458 /*!<Hardware fail. */ 459 #define VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL 6 460 /*!<The Range is valid but the wraparound check has not been done. */ 461 #define VL53L1_RANGESTATUS_WRAP_TARGET_FAIL 7 462 /*!<Wrapped target - no matching phase in other VCSEL period timing. */ 463 #define VL53L1_RANGESTATUS_PROCESSING_FAIL 8 464 /*!<Internal algo underflow or overflow in lite ranging. */ 465 #define VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL 9 466 /*!<Specific to lite ranging. */ 467 #define VL53L1_RANGESTATUS_SYNCRONISATION_INT 10 468 /*!<1st interrupt when starting ranging in back to back mode. Ignore data. */ 469 #define VL53L1_RANGESTATUS_RANGE_VALID_MERGED_PULSE 11 470 /*!<All Range ok but object is result of multiple pulses merging together. 471 * Used by RQL for merged pulse detection 472 */ 473 #define VL53L1_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL 12 474 /*!<Used by RQL as different to phase fail. */ 475 #define VL53L1_RANGESTATUS_MIN_RANGE_FAIL 13 476 /*!<User ROI input is not valid e.g. beyond SPAD Array.*/ 477 #define VL53L1_RANGESTATUS_RANGE_INVALID 14 478 /*!<lld returned valid range but negative value ! */ 479 #define VL53L1_RANGESTATUS_NONE 255 480 /*!<No Update. */ 481 482 /** @} VL53L1_define_RangeStatus_group */ 483 484 485 /** @brief Contains the Internal data of the Bare Driver 486 */ 487 488 typedef struct { 489 VL53L1_LLDriverData_t LLData; 490 /*!< Low Level Driver data structure */ 491 492 VL53L1_LLDriverResults_t llresults; 493 /*!< Low Level Driver data structure */ 494 495 VL53L1_State PalState; /* Store the pal state */ 496 VL53L1_DeviceParameters_t CurrentParameters; 497 /*!< Current Device Parameter */ 498 499 } VL53L1_DevData_t; 500 501 502 /* MACRO Definitions */ 503 /** @defgroup VL53L1_define_GeneralMacro_group General Macro Defines 504 * General Macro Defines 505 * @{ 506 */ 507 508 /* Defines */ 509 #define VL53L1_SETPARAMETERFIELD(Dev, field, value) \ 510 (VL53L1DevDataSet(Dev, CurrentParameters.field, value)) 511 512 #define VL53L1_GETPARAMETERFIELD(Dev, field, variable) \ 513 (variable = VL53L1DevDataGet(Dev, CurrentParameters).field) 514 515 516 #define VL53L1_SETARRAYPARAMETERFIELD(Dev, field, index, value) \ 517 (VL53L1DevDataSet(Dev, CurrentParameters.field[index], value)) 518 519 #define VL53L1_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \ 520 (variable = VL53L1DevDataGet(Dev, CurrentParameters).field[index]) 521 522 523 #define VL53L1_SETDEVICESPECIFICPARAMETER(Dev, field, value) \ 524 (VL53L1DevDataSet(Dev, DeviceSpecificParameters.field, value)) 525 526 #define VL53L1_GETDEVICESPECIFICPARAMETER(Dev, field) \ 527 (VL53L1DevDataGet(Dev, DeviceSpecificParameters).field) 528 529 530 #define VL53L1_FIXPOINT1616TOFIXPOINT44(Value) \ 531 (uint16_t)((Value>>12)&0xFFFF) 532 #define VL53L1_FIXPOINT44TOFIXPOINT1616(Value) \ 533 (FixPoint1616_t)((uint32_t)Value<<12) 534 535 #define VL53L1_FIXPOINT1616TOFIXPOINT72(Value) \ 536 (uint16_t)((Value>>14)&0xFFFF) 537 #define VL53L1_FIXPOINT72TOFIXPOINT1616(Value) \ 538 (FixPoint1616_t)((uint32_t)Value<<14) 539 540 #define VL53L1_FIXPOINT1616TOFIXPOINT97(Value) \ 541 (uint16_t)((Value>>9)&0xFFFF) 542 #define VL53L1_FIXPOINT97TOFIXPOINT1616(Value) \ 543 (FixPoint1616_t)((uint32_t)Value<<9) 544 545 #define VL53L1_FIXPOINT1616TOFIXPOINT88(Value) \ 546 (uint16_t)((Value>>8)&0xFFFF) 547 #define VL53L1_FIXPOINT88TOFIXPOINT1616(Value) \ 548 (FixPoint1616_t)((uint32_t)Value<<8) 549 550 #define VL53L1_FIXPOINT1616TOFIXPOINT412(Value) \ 551 (uint16_t)((Value>>4)&0xFFFF) 552 #define VL53L1_FIXPOINT412TOFIXPOINT1616(Value) \ 553 (FixPoint1616_t)((uint32_t)Value<<4) 554 555 #define VL53L1_FIXPOINT1616TOFIXPOINT313(Value) \ 556 (uint16_t)((Value>>3)&0xFFFF) 557 #define VL53L1_FIXPOINT313TOFIXPOINT1616(Value) \ 558 (FixPoint1616_t)((uint32_t)Value<<3) 559 560 #define VL53L1_FIXPOINT1616TOFIXPOINT08(Value) \ 561 (uint8_t)((Value>>8)&0x00FF) 562 #define VL53L1_FIXPOINT08TOFIXPOINT1616(Value) \ 563 (FixPoint1616_t)((uint32_t)Value<<8) 564 565 #define VL53L1_FIXPOINT1616TOFIXPOINT53(Value) \ 566 (uint8_t)((Value>>13)&0x00FF) 567 #define VL53L1_FIXPOINT53TOFIXPOINT1616(Value) \ 568 (FixPoint1616_t)((uint32_t)Value<<13) 569 570 #define VL53L1_FIXPOINT1616TOFIXPOINT102(Value) \ 571 (uint16_t)((Value>>14)&0x0FFF) 572 #define VL53L1_FIXPOINT102TOFIXPOINT1616(Value) \ 573 (FixPoint1616_t)((uint32_t)Value<<14) 574 575 #define VL53L1_FIXPOINT1616TOFIXPOINT142(Value) \ 576 (uint16_t)((Value>>14)&0xFFFF) 577 #define VL53L1_FIXPOINT142TOFIXPOINT1616(Value) \ 578 (FixPoint1616_t)((uint32_t)Value<<14) 579 580 #define VL53L1_FIXPOINT1616TOFIXPOINT160(Value) \ 581 (uint16_t)((Value>>16)&0xFFFF) 582 #define VL53L1_FIXPOINT160TOFIXPOINT1616(Value) \ 583 (FixPoint1616_t)((uint32_t)Value<<16) 584 585 #define VL53L1_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \ 586 (uint16_t)lsb) 587 588 #ifndef SUPPRESS_UNUSED_WARNING 589 #define SUPPRESS_UNUSED_WARNING(x) ((void) (x)) 590 #endif 591 592 /** @} VL53L1_define_GeneralMacro_group */ 593 594 /** @} VL53L1_globaldefine_group */ 595 596 597 598 #ifdef __cplusplus 599 } 600 #endif 601 602 603 #endif /* _VL53L1_DEF_H_ */ 604
