vl53l5cx_api.h

 
#ifndef VL53L5CX_API_H_
#define VL53L5CX_API_H_
 
#if defined (__ARMCC_VERSION) && (__ARMCC_VERSION < 6010050)
#pragma anon_unions
#endif
 
 
 
#include "platform.h"

 
#define VL53L5CX_API_REVISION           "VL53L5CX_2.0.0"

 
#define VL53L5CX_DEFAULT_I2C_ADDRESS            ((uint16_t)0x52)

 
#define VL53L5CX_RESOLUTION_4X4         ((uint8_t) 16U)
#define VL53L5CX_RESOLUTION_8X8         ((uint8_t) 64U)
 

 
#define VL53L5CX_TARGET_ORDER_CLOSEST       ((uint8_t) 1U)
#define VL53L5CX_TARGET_ORDER_STRONGEST     ((uint8_t) 2U)

 
#define VL53L5CX_RANGING_MODE_CONTINUOUS    ((uint8_t) 1U)
#define VL53L5CX_RANGING_MODE_AUTONOMOUS    ((uint8_t) 3U)

 
#define VL53L5CX_POWER_MODE_SLEEP       ((uint8_t) 0U)
#define VL53L5CX_POWER_MODE_WAKEUP      ((uint8_t) 1U)

 
#define VL53L5CX_STATUS_OK          ((uint8_t) 0U)
#define VL53L5CX_STATUS_TIMEOUT_ERROR       ((uint8_t) 1U)
#define VL53L5CX_STATUS_CORRUPTED_FRAME     ((uint8_t) 2U)
#define VL53L5CX_STATUS_CRC_CSUM_FAILED     ((uint8_t) 3U)
#define VL53L5CX_STATUS_XTALK_FAILED        ((uint8_t) 4U)
#define VL53L5CX_MCU_ERROR          ((uint8_t) 66U)
#define VL53L5CX_STATUS_INVALID_PARAM       ((uint8_t) 127U)
#define VL53L5CX_STATUS_ERROR           ((uint8_t) 255U)

 
#if VL53L5CX_NB_TARGET_PER_ZONE == 1
 
#define VL53L5CX_START_BH               ((uint32_t)0x0000000DU)
#define VL53L5CX_METADATA_BH            ((uint32_t)0x54B400C0U)
#define VL53L5CX_COMMONDATA_BH          ((uint32_t)0x54C00040U)
#define VL53L5CX_AMBIENT_RATE_BH        ((uint32_t)0x54D00104U)
#define VL53L5CX_SPAD_COUNT_BH          ((uint32_t)0x55D00404U)
#define VL53L5CX_NB_TARGET_DETECTED_BH  ((uint32_t)0xDB840401U)
#define VL53L5CX_SIGNAL_RATE_BH         ((uint32_t)0xDBC40404U)
#define VL53L5CX_RANGE_SIGMA_MM_BH      ((uint32_t)0xDEC40402U)
#define VL53L5CX_DISTANCE_BH            ((uint32_t)0xDF440402U)
#define VL53L5CX_REFLECTANCE_BH         ((uint32_t)0xE0440401U)
#define VL53L5CX_TARGET_STATUS_BH       ((uint32_t)0xE0840401U)
#define VL53L5CX_MOTION_DETECT_BH       ((uint32_t)0xD85808C0U)
 
#define VL53L5CX_METADATA_IDX           ((uint16_t)0x54B4U)
#define VL53L5CX_SPAD_COUNT_IDX         ((uint16_t)0x55D0U)
#define VL53L5CX_AMBIENT_RATE_IDX       ((uint16_t)0x54D0U)
#define VL53L5CX_NB_TARGET_DETECTED_IDX ((uint16_t)0xDB84U)
#define VL53L5CX_SIGNAL_RATE_IDX        ((uint16_t)0xDBC4U)
#define VL53L5CX_RANGE_SIGMA_MM_IDX     ((uint16_t)0xDEC4U)
#define VL53L5CX_DISTANCE_IDX           ((uint16_t)0xDF44U)
#define VL53L5CX_REFLECTANCE_EST_PC_IDX ((uint16_t)0xE044U)
#define VL53L5CX_TARGET_STATUS_IDX      ((uint16_t)0xE084U)
#define VL53L5CX_MOTION_DETEC_IDX       ((uint16_t)0xD858U)
 
#else
#define VL53L5CX_START_BH               ((uint32_t)0x0000000DU)
#define VL53L5CX_METADATA_BH            ((uint32_t)0x54B400C0U)
#define VL53L5CX_COMMONDATA_BH          ((uint32_t)0x54C00040U)
#define VL53L5CX_AMBIENT_RATE_BH        ((uint32_t)0x54D00104U)
#define VL53L5CX_NB_TARGET_DETECTED_BH  ((uint32_t)0x57D00401U)
#define VL53L5CX_SPAD_COUNT_BH          ((uint32_t)0x55D00404U)
#define VL53L5CX_SIGNAL_RATE_BH         ((uint32_t)0x58900404U)
#define VL53L5CX_RANGE_SIGMA_MM_BH      ((uint32_t)0x64900402U)
#define VL53L5CX_DISTANCE_BH            ((uint32_t)0x66900402U)
#define VL53L5CX_REFLECTANCE_BH         ((uint32_t)0x6A900401U)
#define VL53L5CX_TARGET_STATUS_BH       ((uint32_t)0x6B900401U)
#define VL53L5CX_MOTION_DETECT_BH       ((uint32_t)0xCC5008C0U)
 
#define VL53L5CX_METADATA_IDX           ((uint16_t)0x54B4U)
#define VL53L5CX_SPAD_COUNT_IDX         ((uint16_t)0x55D0U)
#define VL53L5CX_AMBIENT_RATE_IDX       ((uint16_t)0x54D0U)
#define VL53L5CX_NB_TARGET_DETECTED_IDX ((uint16_t)0x57D0U)
#define VL53L5CX_SIGNAL_RATE_IDX        ((uint16_t)0x5890U)
#define VL53L5CX_RANGE_SIGMA_MM_IDX     ((uint16_t)0x6490U)
#define VL53L5CX_DISTANCE_IDX           ((uint16_t)0x6690U)
#define VL53L5CX_REFLECTANCE_EST_PC_IDX ((uint16_t)0x6A90U)
#define VL53L5CX_TARGET_STATUS_IDX      ((uint16_t)0x6B90U)
#define VL53L5CX_MOTION_DETEC_IDX       ((uint16_t)0xCC50U)
#endif
 

 
#define VL53L5CX_NVM_DATA_SIZE          ((uint16_t)492U)
#define VL53L5CX_CONFIGURATION_SIZE     ((uint16_t)972U)
#define VL53L5CX_OFFSET_BUFFER_SIZE     ((uint16_t)488U)
#define VL53L5CX_XTALK_BUFFER_SIZE      ((uint16_t)776U)
 
#define VL53L5CX_DCI_ZONE_CONFIG        ((uint16_t)0x5450U)
#define VL53L5CX_DCI_FREQ_HZ            ((uint16_t)0x5458U)
#define VL53L5CX_DCI_INT_TIME           ((uint16_t)0x545CU)
#define VL53L5CX_DCI_FW_NB_TARGET       ((uint16_t)0x5478)
#define VL53L5CX_DCI_RANGING_MODE       ((uint16_t)0xAD30U)
#define VL53L5CX_DCI_DSS_CONFIG         ((uint16_t)0xAD38U)
#define VL53L5CX_DCI_VHV_CONFIG         ((uint16_t)0xAD60U)
#define VL53L5CX_DCI_TARGET_ORDER       ((uint16_t)0xAE64U)
#define VL53L5CX_DCI_SHARPENER          ((uint16_t)0xAED8U)
#define VL53L5CX_DCI_INTERNAL_CP        ((uint16_t)0xB39CU)
#define VL53L5CX_DCI_SYNC_PIN           ((uint16_t)0xB5F0U)
#define VL53L5CX_DCI_MOTION_DETECTOR_CFG ((uint16_t)0xBFACU)
#define VL53L5CX_DCI_SINGLE_RANGE       ((uint16_t)0xD964U)
#define VL53L5CX_DCI_OUTPUT_CONFIG      ((uint16_t)0xD968U)
#define VL53L5CX_DCI_OUTPUT_ENABLES     ((uint16_t)0xD970U)
#define VL53L5CX_DCI_OUTPUT_LIST        ((uint16_t)0xD980U)
#define VL53L5CX_DCI_PIPE_CONTROL       ((uint16_t)0xDB80U)
#define VL53L5CX_GLARE_FILTER           ((uint16_t)0xE108U)
 
 
#define VL53L5CX_UI_CMD_STATUS          ((uint16_t)0x2C00U)
#define VL53L5CX_UI_CMD_START           ((uint16_t)0x2C04U)
#define VL53L5CX_UI_CMD_END             ((uint16_t)0x2FFFU)

 
#ifndef VL53L5CX_DISABLE_AMBIENT_PER_SPAD
#define L5CX_AMB_SIZE   260U
#else
#define L5CX_AMB_SIZE   0U
#endif
 
#ifndef VL53L5CX_DISABLE_NB_SPADS_ENABLED
#define L5CX_SPAD_SIZE  260U
#else
#define L5CX_SPAD_SIZE  0U
#endif
 
#ifndef VL53L5CX_DISABLE_NB_TARGET_DETECTED
#define L5CX_NTAR_SIZE  68U
#else
#define L5CX_NTAR_SIZE  0U
#endif
 
#ifndef VL53L5CX_DISABLE_SIGNAL_PER_SPAD
#define L5CX_SPS_SIZE ((256U * VL53L5CX_NB_TARGET_PER_ZONE) + 4U)
#else
#define L5CX_SPS_SIZE   0U
#endif
 
#ifndef VL53L5CX_DISABLE_RANGE_SIGMA_MM
#define L5CX_SIGR_SIZE ((128U * VL53L5CX_NB_TARGET_PER_ZONE) + 4U)
#else
#define L5CX_SIGR_SIZE  0U
#endif
 
#ifndef VL53L5CX_DISABLE_DISTANCE_MM
#define L5CX_DIST_SIZE ((128U * VL53L5CX_NB_TARGET_PER_ZONE) + 4U)
#else
#define L5CX_DIST_SIZE  0U
#endif
 
#ifndef VL53L5CX_DISABLE_REFLECTANCE_PERCENT
#define L5CX_RFLEST_SIZE ((64U *VL53L5CX_NB_TARGET_PER_ZONE) + 4U)
#else
#define L5CX_RFLEST_SIZE    0U
#endif
 
#ifndef VL53L5CX_DISABLE_TARGET_STATUS
#define L5CX_STA_SIZE ((64U  *VL53L5CX_NB_TARGET_PER_ZONE) + 4U)
#else
#define L5CX_STA_SIZE   0U
#endif
 
#ifndef VL53L5CX_DISABLE_MOTION_INDICATOR
#define L5CX_MOT_SIZE   144U
#else
#define L5CX_MOT_SIZE   0U
#endif

 
#define VL53L5CX_MAX_RESULTS_SIZE ( 40U \
    + L5CX_AMB_SIZE + L5CX_SPAD_SIZE + L5CX_NTAR_SIZE + L5CX_SPS_SIZE \
    + L5CX_SIGR_SIZE + L5CX_DIST_SIZE + L5CX_RFLEST_SIZE + L5CX_STA_SIZE \
    + L5CX_MOT_SIZE + 20U)

 
#if VL53L5CX_MAX_RESULTS_SIZE < 1024U
#define VL53L5CX_TEMPORARY_BUFFER_SIZE ((uint32_t) 1024U)
#else
#define VL53L5CX_TEMPORARY_BUFFER_SIZE ((uint32_t) VL53L5CX_MAX_RESULTS_SIZE)
#endif
 

 
typedef struct
{
    /* Platform, filled by customer into the 'platform.h' file */
    VL53L5CX_Platform  platform;
    /* Results streamcount, value auto-incremented at each range */
    uint8_t             streamcount;
    /* Size of data read though I2C */
    uint32_t            data_read_size;
    /* Address of default configuration buffer */
    uint8_t             *default_configuration;
    /* Address of default Xtalk buffer */
    uint8_t             *default_xtalk;
    /* Offset buffer */
    uint8_t             offset_data[VL53L5CX_OFFSET_BUFFER_SIZE];
    /* Xtalk buffer */
    uint8_t             xtalk_data[VL53L5CX_XTALK_BUFFER_SIZE];
    /* Temporary buffer used for internal driver processing */
     uint8_t            temp_buffer[VL53L5CX_TEMPORARY_BUFFER_SIZE];
    /* Auto-stop flag for stopping the sensor */
    uint8_t             is_auto_stop_enabled;
} VL53L5CX_Configuration;
 

 
typedef struct
{
    /* Internal sensor silicon temperature */
    int8_t silicon_temp_degc;
 
    /* Ambient noise in kcps/spads */
#ifndef VL53L5CX_DISABLE_AMBIENT_PER_SPAD
    uint32_t ambient_per_spad[VL53L5CX_RESOLUTION_8X8];
#endif
 
    /* Number of valid target detected for 1 zone */
#ifndef VL53L5CX_DISABLE_NB_TARGET_DETECTED
    uint8_t nb_target_detected[VL53L5CX_RESOLUTION_8X8];
#endif
 
    /* Number of spads enabled for this ranging */
#ifndef VL53L5CX_DISABLE_NB_SPADS_ENABLED
    uint32_t nb_spads_enabled[VL53L5CX_RESOLUTION_8X8];
#endif
 
    /* Signal returned to the sensor in kcps/spads */
#ifndef VL53L5CX_DISABLE_SIGNAL_PER_SPAD
    uint32_t signal_per_spad[(VL53L5CX_RESOLUTION_8X8
                    *VL53L5CX_NB_TARGET_PER_ZONE)];
#endif
 
    /* Sigma of the current distance in mm */
#ifndef VL53L5CX_DISABLE_RANGE_SIGMA_MM
    uint16_t range_sigma_mm[(VL53L5CX_RESOLUTION_8X8
                    *VL53L5CX_NB_TARGET_PER_ZONE)];
#endif
 
    /* Measured distance in mm */
#ifndef VL53L5CX_DISABLE_DISTANCE_MM
    int16_t distance_mm[(VL53L5CX_RESOLUTION_8X8
                    *VL53L5CX_NB_TARGET_PER_ZONE)];
#endif
 
    /* Estimated reflectance in percent */
#ifndef VL53L5CX_DISABLE_REFLECTANCE_PERCENT
    uint8_t reflectance[(VL53L5CX_RESOLUTION_8X8
                    *VL53L5CX_NB_TARGET_PER_ZONE)];
#endif
 
    /* Status indicating the measurement validity (5 & 9 means ranging OK)*/
#ifndef VL53L5CX_DISABLE_TARGET_STATUS
    uint8_t target_status[(VL53L5CX_RESOLUTION_8X8
                    *VL53L5CX_NB_TARGET_PER_ZONE)];
#endif
 
    /* Motion detector results */
#ifndef VL53L5CX_DISABLE_MOTION_INDICATOR
    struct
    {
        uint32_t global_indicator_1;
        uint32_t global_indicator_2;
        uint8_t  status;
        uint8_t  nb_of_detected_aggregates;
        uint8_t  nb_of_aggregates;
        uint8_t  spare;
        uint32_t motion[32];
    } motion_indicator;
#endif
 
} VL53L5CX_ResultsData;
 
 
union Block_header {
    uint32_t bytes;
    struct {
        uint32_t type : 4;
        uint32_t size : 12;
        uint32_t idx : 16;
    };
};
 
#endif //VL53L5CX_API_H_