vl53l5cx_api.h

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#ifndef VL53L5CX_API_H_
#define VL53L5CX_API_H_
 
#if defined (__ARMCC_VERSION) && (__ARMCC_VERSION < 6010050)
#pragma anon_unions
#endif
 
 
 
#include "lidar/vl53l5cx_platform.h"
 
#define VL53L5CX_API_REVISION     "VL53L5CX_1.3.10"
 
#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_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;
  };
};
 
uint8_t vl53l5cx_is_alive(
    VL53L5CX_Configuration    *p_dev,
    uint8_t       *p_is_alive);
 
uint8_t vl53l5cx_init(
    VL53L5CX_Configuration    *p_dev);
 
uint8_t vl53l5cx_set_i2c_address(
    VL53L5CX_Configuration    *p_dev,
    uint16_t      i2c_address);
 
uint8_t vl53l5cx_get_power_mode(
    VL53L5CX_Configuration    *p_dev,
    uint8_t       *p_power_mode);
 
uint8_t vl53l5cx_set_power_mode(
    VL53L5CX_Configuration    *p_dev,
    uint8_t       power_mode);
 
uint8_t vl53l5cx_start_ranging(
    VL53L5CX_Configuration    *p_dev);
 
uint8_t vl53l5cx_stop_ranging(
    VL53L5CX_Configuration    *p_dev);
 
uint8_t vl53l5cx_check_data_ready(
    VL53L5CX_Configuration    *p_dev,
    uint8_t       *p_isReady);
 
uint8_t vl53l5cx_get_ranging_data(
    VL53L5CX_Configuration    *p_dev,
    VL53L5CX_ResultsData    *p_results);
 
uint8_t vl53l5cx_get_resolution(
    VL53L5CX_Configuration    *p_dev,
    uint8_t       *p_resolution);
 
uint8_t vl53l5cx_set_resolution(
    VL53L5CX_Configuration     *p_dev,
    uint8_t                         resolution);
 
uint8_t vl53l5cx_get_ranging_frequency_hz(
    VL53L5CX_Configuration    *p_dev,
    uint8_t       *p_frequency_hz);
 
uint8_t vl53l5cx_set_ranging_frequency_hz(
    VL53L5CX_Configuration    *p_dev,
    uint8_t       frequency_hz);
 
uint8_t vl53l5cx_get_integration_time_ms(
    VL53L5CX_Configuration    *p_dev,
    uint32_t      *p_time_ms);
 
uint8_t vl53l5cx_set_integration_time_ms(
    VL53L5CX_Configuration    *p_dev,
    uint32_t      integration_time_ms);
 
uint8_t vl53l5cx_get_sharpener_percent(
    VL53L5CX_Configuration    *p_dev,
    uint8_t       *p_sharpener_percent);
 
uint8_t vl53l5cx_set_sharpener_percent(
    VL53L5CX_Configuration    *p_dev,
    uint8_t       sharpener_percent);
 
uint8_t vl53l5cx_get_target_order(
    VL53L5CX_Configuration    *p_dev,
    uint8_t       *p_target_order);
 
uint8_t vl53l5cx_set_target_order(
    VL53L5CX_Configuration    *p_dev,
    uint8_t       target_order);
 
uint8_t vl53l5cx_get_ranging_mode(
    VL53L5CX_Configuration    *p_dev,
    uint8_t       *p_ranging_mode);
 
uint8_t vl53l5cx_set_ranging_mode(
    VL53L5CX_Configuration    *p_dev,
    uint8_t       ranging_mode);
 
uint8_t vl53l5cx_enable_internal_cp(
    VL53L5CX_Configuration          *p_dev);
 
 
uint8_t vl53l5cx_disable_internal_cp(
        VL53L5CX_Configuration          *p_dev);
 
uint8_t vl53l5cx_dci_read_data(
    VL53L5CX_Configuration    *p_dev,
    uint8_t       *data,
    uint32_t      index,
    uint16_t      data_size);
 
uint8_t vl53l5cx_dci_write_data(
    VL53L5CX_Configuration    *p_dev,
    uint8_t       *data,
    uint32_t      index,
    uint16_t      data_size);
 
uint8_t vl53l5cx_dci_replace_data(
    VL53L5CX_Configuration    *p_dev,
    uint8_t       *data,
    uint32_t      index,
    uint16_t      data_size,
    uint8_t       *new_data,
    uint16_t      new_data_size,
    uint16_t      new_data_pos);
 
#endif //VL53L5CX_API_H_