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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, FITNESS FOR A PARTICULAR PURPOSE, AND NON-INFRINGEMENT OF INTELLECTUAL PROPERTY RIGHTS ARE DISCLAIMED. IN NO EVENT SHALL STMICROELECTRONICS INTERNATIONAL N.V. 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 vl53l0_api.h * $Date: 2014-12-04 16:15:06 +0100 (Thu, 04 Dec 2014) $ * Revision: 1906 */ #ifndef _VL53L010_API_H_ #define _VL53L010_API_H_ #include "vl53l010_device.h" #include "vl53l010_strings.h" #include "vl53l0_def.h" #include "vl53l0_platform.h" #ifdef __cplusplus extern "C" { #endif #ifdef _MSC_VER # ifdef VL53L0_API_EXPORTS # define VL53L010_API __declspec(dllexport) # else # define VL53L010_API # endif #else # define VL53L010_API #endif /** @defgroup VL53L010_cut10_group VL53L010 cut1.0 Function Definition * @brief VL53L010 cut1.0 Function Definition * @{ */ /** @defgroup VL53L010_general_group VL53L010 General Functions * @brief VL53L010 General functions and definitions * @{ */ /** * @brief Return the VL53L0 PAL Implementation Version * * @note This function doesn't access to the device * * @param pVersion Pointer to current PAL Implementation Version * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetVersion(VL53L0_Version_t *pVersion); /** * @brief Return the PAL Specification Version used for the current * implementation. * * @note This function doesn't access to the device * * @param pPalSpecVersion Pointer to current PAL Specification Version * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetPalSpecVersion( VL53L0_Version_t *pPalSpecVersion); /** * @brief Reads the Device information for given Device * * @note This function Access to the device.\n * Use ProductRevisionMajor and ProductRevisionMinor to know the cut * of the device used. * * @param Dev Device Handle * @param pVL53L0_DeviceInfo Pointer to current device info for a given * Device * * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetDeviceInfo(VL53L0_DEV Dev, VL53L0_DeviceInfo_t *pVL53L0_DeviceInfo); /** * @brief Read current status of the error register for the selected device * * @note This function Access to the device * * @param Dev Device Handle * @param pDeviceErrorStatus Pointer to current error code of the device * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetDeviceErrorStatus(VL53L0_DEV Dev, VL53L010_DeviceError * pDeviceErrorStatus); /** * @brief Human readable error string for a given Error Code * * @note This function doesn't access to the device * * @param ErrorCode The error code as stored on * ::VL53L0_DeviceError * @param pDeviceErrorString The error string corresponding to the * ErrorCode * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetDeviceErrorString( VL53L010_DeviceError ErrorCode, char *pDeviceErrorString); /** * @brief Human readable error string for current PAL error status * * @note This function doesn't access to the device * * @param PalErrorCode The error code as stored on @a VL53L0_Error * @param pPalErrorString The error string corresponding to the * PalErrorCode * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetPalErrorString(VL53L0_Error PalErrorCode, char *pPalErrorString); /** * @brief Reads the internal state of the PAL for a given Device * * @note This function doesn't access to the device * * @param Dev Device Handle * @param pPalState Pointer to current state of the PAL for a * given Device * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetPalState(VL53L0_DEV Dev, VL53L0_State * pPalState); /** * @brief Set the power mode for a given Device * The power mode can be Standby or Idle. Different level of both Standby and * Idle can exists. * This function should not be used when device is in Ranging state. * * @note This function Access to the device * * @param Dev Device Handle * @param PowerMode The value of the power mode to set. * see ::VL53L0_PowerModes Valid values are: * VL53L0_POWERMODE_STANDBY_LEVEL1, VL53L0_POWERMODE_IDLE_LEVEL1 * @return VL53L0_ERROR_NONE Success * @return VL53L0_ERROR_MODE_NOT_SUPPORTED This error occurs when PowerMode * is not in the supported list * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_SetPowerMode(VL53L0_DEV Dev, VL53L0_PowerModes PowerMode); /** * @brief Get the power mode for a given Device * * @note This function Access to the device * * @param Dev Device Handle * @param pPowerMode Pointer to the current value of the power * mode. see ::VL53L0_PowerModes. Valid values are: * VL53L0_POWERMODE_STANDBY_LEVEL1, VL53L0_POWERMODE_IDLE_LEVEL1 * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetPowerMode(VL53L0_DEV Dev, VL53L0_PowerModes * pPowerMode); /** * Set or over-hide part to part calibration offset * \sa VL53L0_DataInit() VL53L0_GetOffsetCalibrationDataMicroMeter() * * @note This function Access to the device * * @param Dev Device Handle * @param OffsetCalibrationDataMicroMeter Offset (in micrometer) * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_SetOffsetCalibrationDataMicroMeter( VL53L0_DEV Dev, int32_t OffsetCalibrationDataMicroMeter); /** * @brief Get part to part calibration offset * * @par Function Description * Should only be used after a successful call to @a VL53L0_DataInit to backup * device NVM value * * @note This function Access to the device * * @param Dev Device Handle * @param pOffsetCalibrationDataMicroMeter Return part to part calibration * offset from device (in micro meter) * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetOffsetCalibrationDataMicroMeter( VL53L0_DEV Dev, int32_t *pOffsetCalibrationDataMicroMeter); /** * Set Group parameter Hold state * * @par Function Description * Set or remove device internal group parameter hold * * @note This function is not Implemented * * @param Dev Device Handle * @param GroupParamHold Group parameter Hold state to be set (on/off) * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented */ VL53L010_API VL53L0_Error VL53L010_SetGroupParamHold(VL53L0_DEV Dev, uint8_t GroupParamHold); /** * @brief Get the maximal distance for actual setup * @par Function Description * Device must be initialized through @a VL53L0_SetParameters() prior calling * this function. * * Any range value more than the value returned is to be considered as "no * target detected" * or "no target in detectable range"\n * @warning The maximal distance depends on the setup * * @note This function is not Implemented * * @param Dev Device Handle * @param pUpperLimitMilliMeter The maximal range limit for actual setup * (in millimeter) * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented */ VL53L010_API VL53L0_Error VL53L010_GetUpperLimitMilliMeter(VL53L0_DEV Dev, uint16_t *pUpperLimitMilliMeter); /** @} VL53L010_general_group */ /** @defgroup VL53L010_init_group VL53L010 Init Functions * @brief VL53L010 Init Functions * @{ */ /** * @brief Set new device address * * After completion the device will answer to the new address programmed. This * function should be called when several devices are used in parallel * before start programming the sensor. * When a single device us used, there is no need to call this function. * * @note This function Access to the device * * @param Dev Device Handle * @param DeviceAddress The new Device address * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_SetDeviceAddress(VL53L0_DEV Dev, uint8_t DeviceAddress); /** * * @brief One time device initialization * * To be called once and only once after device is brought out of reset (Chip * enable) and booted see @a VL53L0_WaitDeviceBooted() * * @par Function Description * When not used after a fresh device "power up" or reset, it may return @a * #VL53L0_ERROR_CALIBRATION_WARNING * meaning wrong calibration data may have been fetched from device that can * result in ranging offset error\n * If application cannot execute device reset or need to run VL53L0_DataInit * multiple time * then it must ensure proper offset calibration saving and restore on its own * by using @a VL53L0_GetOffsetCalibrationData() on first power up and then @a * VL53L0_SetOffsetCalibrationData() in all subsequent init * This function will change the VL53L0_State from VL53L0_STATE_POWERDOWN to * VL53L0_STATE_WAIT_STATICINIT. * * @note This function Access to the device * * @param Dev Device Handle * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_DataInit(VL53L0_DEV Dev); /** * @brief Do basic device init (and eventually patch loading) * This function will change the VL53L0_State from VL53L0_STATE_WAIT_STATICINIT * to VL53L0_STATE_IDLE. * In this stage all defalut setting will be applied. * * @note This function Access to the device * * @param Dev Device Handle * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_StaticInit(VL53L0_DEV Dev); /** * @brief Wait for device booted after chip enable (hardware standby) * This function can be run only when VL53L0_State is VL53L0_STATE_POWERDOWN. * * @note This function is not Implemented * * @param Dev Device Handle * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented * */ VL53L010_API VL53L0_Error VL53L010_WaitDeviceBooted(VL53L0_DEV Dev); /** * @brief Do an hard reset or soft reset (depending on implementation) of the * device \n * After call of this function, device must be in same state as right after a * power-up sequence. * This function will change the VL53L0_State to VL53L0_STATE_POWERDOWN. * * @note This function Access to the device * * @param Dev Device Handle * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_ResetDevice(VL53L0_DEV Dev); /** @} VL53L010_init_group */ /** @defgroup VL53L010_parameters_group VL53L010 Parameters Functions * @brief VL53L010 Functions used to prepare and setup the device * @{ */ /** * @brief Prepare device for operation * @par Function Description * Update device with provided parameters * @li Then start ranging operation. * * @note This function Access to the device * * @param Dev Device Handle * @param pDeviceParameters Pointer to store current device parameters. * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_SetDeviceParameters(VL53L0_DEV Dev, const VL53L0_DeviceParameters_t *pDeviceParameters); /** * @brief Retrieve current device parameters * @par Function Description * Get actual parameters of the device * @li Then start ranging operation. * * @note This function Access to the device * * @param Dev Device Handle * @param pDeviceParameters Pointer to store current device parameters. * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetDeviceParameters(VL53L0_DEV Dev, VL53L0_DeviceParameters_t *pDeviceParameters); /** * @brief Set a new device mode * @par Function Description * Set device to a new mode (ranging, histogram ...) * * @note This function doesn't Access to the device * * @param Dev Device Handle * @param DeviceMode New device mode to apply * Valid values are: * VL53L0_DEVICEMODE_SINGLE_RANGING * VL53L0_DEVICEMODE_CONTINUOUS_RANGING * VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING * VL53L0_DEVICEMODE_SINGLE_HISTOGRAM * (functionality not available) * * @return VL53L0_ERROR_NONE Success * @return VL53L0_ERROR_MODE_NOT_SUPPORTED This error occurs when * DeviceMode is not in the supported list */ VL53L010_API VL53L0_Error VL53L010_SetDeviceMode(VL53L0_DEV Dev, VL53L0_DeviceModes DeviceMode); /** * @brief Get current new device mode * @par Function Description * Get actual mode of the device(ranging, histogram ...) * * @note This function doesn't Access to the device * * @param Dev Device Handle * @param pDeviceMode Pointer to current apply mode value * Valid values are: * VL53L0_DEVICEMODE_SINGLE_RANGING * VL53L0_DEVICEMODE_CONTINUOUS_RANGING * VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING * VL53L0_DEVICEMODE_SINGLE_HISTOGRAM * (functionality not available) * * @return VL53L0_ERROR_NONE Success * @return VL53L0_ERROR_MODE_NOT_SUPPORTED This error occurs when * DeviceMode is not in the supported list */ VL53L010_API VL53L0_Error VL53L010_GetDeviceMode(VL53L0_DEV Dev, VL53L0_DeviceModes * pDeviceMode); /** * @brief Set a new Histogram mode * @par Function Description * Set device to a new Histogram mode * * @note This function doesn't Access to the device * * @param Dev Device Handle * @param HistogramMode New device mode to apply * Valid values are: * VL53L0_HISTOGRAMMODE_DISABLED * @return VL53L0_ERROR_NONE Success * @return VL53L0_ERROR_MODE_NOT_SUPPORTED This error occurs when * HistogramMode is not in the supported list * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_SetHistogramMode(VL53L0_DEV Dev, VL53L0_HistogramModes HistogramMode); /** * @brief Get current new device mode * @par Function Description * Get current Histogram mode of a Device * * @note This function doesn't Access to the device * * @param Dev Device Handle * @param pHistogramMode Pointer to current Histogram Mode value * Valid values are: * VL53L0_HISTOGRAMMODE_DISABLED * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetHistogramMode(VL53L0_DEV Dev, VL53L0_HistogramModes * pHistogramMode); /** * @brief Set Ranging Timing Budget in microseconds * * @par Function Description * Defines the maximum time allowed by the user to the device to run a full * ranging sequence * for the current mode (ranging, histogram, ASL ...) * * @note This function Access to the device * * @param Dev Device Handle * @param MeasurementTimingBudgetMicroSeconds Max measurement time in * microseconds. * Valid values are: * >= 17000 microseconds when * wraparound is enabled * >= 12000 microseconds when * wraparound is disabled * @return VL53L0_ERROR_NONE Success * @return VL53L0_ERROR_INVALID_PARAMS This error is returned if * MeasurementTimingBudgetMicroSeconds is out of range * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_SetMeasurementTimingBudgetMicroSeconds( VL53L0_DEV Dev, uint32_t MeasurementTimingBudgetMicroSeconds); /** * @brief Get Ranging Timing Budget in microseconds * * @par Function Description * Returns the programmed the maximum time allowed by the user to the device to * run a full ranging sequence * for the current mode (ranging, histogram, ASL ...) * * @note This function Access to the device * * @param Dev Device Handle * @param pMeasurementTimingBudgetMicroSeconds Max measurement time in * microseconds. * Valid values are: * >= 17000 microseconds when * wraparound is enabled * >= 12000 microseconds when * wraparound is disabled * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetMeasurementTimingBudgetMicroSeconds( VL53L0_DEV Dev, uint32_t *pMeasurementTimingBudgetMicroSeconds); /** * Program continuous mode Inter-Measurement period in milliseconds * * @par Function Description * When trying to set too short time return INVALID_PARAMS minimal value * * @note This function Access to the device * * @param Dev Device Handle * @param InterMeasurementPeriodMilliSeconds Requires Inter-Measurement * Period in milliseconds. * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_SetInterMeasurementPeriodMilliSeconds( VL53L0_DEV Dev, uint32_t InterMeasurementPeriodMilliSeconds); /** * Get continuous mode Inter-Measurement period in milliseconds * * @par Function Description * When trying to set too short time return INVALID_PARAMS minimal value * * @note This function Access to the device * * @param Dev Device Handle * @param pInterMeasurementPeriodMilliSeconds Pointer to programmed * Inter-Measurement Period in milliseconds. * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetInterMeasurementPeriodMilliSeconds( VL53L0_DEV Dev, uint32_t *pInterMeasurementPeriodMilliSeconds); /** * @brief Enable/Disable Cross talk compensation feature * * @note This function Access to the device * * @param Dev Device Handle * @param XTalkCompensationEnable Cross talk compensation to be set * 0=disabled else = enabled * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_SetXTalkCompensationEnable( VL53L0_DEV Dev, uint8_t XTalkCompensationEnable); /** * @brief Get Cross talk compensation rate * * @note This function Access to the device * * @param Dev Device Handle * @param pXTalkCompensationEnable Pointer to the Cross talk compensation * state 0=disabled or 1 = enabled * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetXTalkCompensationEnable( VL53L0_DEV Dev, uint8_t *pXTalkCompensationEnable); /** * @brief Set Cross talk compensation rate * * @par Function Description * Set Cross talk compensation rate. * * @note This function Access to the device * * @param Dev Device Handle * @param XTalkCompensationRateMegaCps Compensation rate in Mega counts per * second (16.16 fix point) see datasheet for details * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_SetXTalkCompensationRateMegaCps( VL53L0_DEV Dev, FixPoint1616_t XTalkCompensationRateMegaCps); /** * @brief Get Cross talk compensation rate * * @par Function Description * Get Cross talk compensation rate. * * @note This function Access to the device * * @param Dev Device Handle * @param pXTalkCompensationRateMegaCps Pointer to Compensation rate in Mega * counts per second (16.16 fix point) see datasheet for details * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetXTalkCompensationRateMegaCps( VL53L0_DEV Dev, FixPoint1616_t *pXTalkCompensationRateMegaCps); /** * @brief Get the number of the check limit managed by a given Device * * @par Function Description * This function give the number of the check limit managed by the Device * * @note This function doesn't Access to the device * * @param pNumberOfLimitCheck Pointer to the number of check limit. * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetNumberOfLimitCheck( uint16_t *pNumberOfLimitCheck); /** * @brief Return a description string for a given limit check number * * @par Function Description * This function returns a description string for a given limit check number. * The limit check is identified with the LimitCheckId. * * @note This function doesn't Access to the device * * @param Dev Device Handle * @param LimitCheckId Limit Check ID (0<= LimitCheckId < * VL53L0_GetNumberOfLimitCheck() ). * @param pLimitCheckString Pointer to the description string of * the given check limit. * @return VL53L0_ERROR_NONE Success * @return VL53L0_ERROR_INVALID_PARAMS This error is returned when * LimitCheckId value is out of range. * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetLimitCheckInfo(VL53L0_DEV Dev, uint16_t LimitCheckId, char *pLimitCheckString); /** * @brief Enable/Disable a specific limit check * * @par Function Description * This function Enable/Disable a specific limit check. * The limit check is identified with the LimitCheckId. * * @note This function doesn't Access to the device * * @param Dev Device Handle * @param LimitCheckId Limit Check ID (0<= LimitCheckId < * VL53L0_GetNumberOfLimitCheck() ). * @param LimitCheckEnable if 1 the check limit corresponding to * LimitCheckId is Enabled * if 0 the check limit corresponding to * LimitCheckId is disabled * @return VL53L0_ERROR_NONE Success * @return VL53L0_ERROR_INVALID_PARAMS This error is returned when * LimitCheckId value is out of range. * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_SetLimitCheckEnable(VL53L0_DEV Dev, uint16_t LimitCheckId, uint8_t LimitCheckEnable); /** * @brief Get specific limit check enable state * * @par Function Description * This function get the enable state of a specific limit check. * The limit check is identified with the LimitCheckId. * * @note This function Access to the device * * @param Dev Device Handle * @param LimitCheckId Limit Check ID (0<= LimitCheckId < * VL53L0_GetNumberOfLimitCheck() ). * @param pLimitCheckEnable Pointer to the check limit enable * value. * if 1 the check limit corresponding to * LimitCheckId is Enabled * if 0 the check limit corresponding to * LimitCheckId is disabled * @return VL53L0_ERROR_NONE Success * @return VL53L0_ERROR_INVALID_PARAMS This error is returned when * LimitCheckId value is out of range. * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetLimitCheckEnable(VL53L0_DEV Dev, uint16_t LimitCheckId, uint8_t *pLimitCheckEnable); /** * @brief Set a specific limit check value * * @par Function Description * This function set a specific limit check value. * The limit check is identified with the LimitCheckId. * * @note This function Access to the device * * @param Dev Device Handle * @param LimitCheckId Limit Check ID (0<= LimitCheckId < * VL53L0_GetNumberOfLimitCheck() ). * @param LimitCheckValue Limit check Value for a given * LimitCheckId * @return VL53L0_ERROR_NONE Success * @return VL53L0_ERROR_INVALID_PARAMS This error is returned when either * LimitCheckId or LimitCheckValue value is out of range. * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_SetLimitCheckValue(VL53L0_DEV Dev, uint16_t LimitCheckId, FixPoint1616_t LimitCheckValue); /** * @brief Get a specific limit check value * * @par Function Description * This function get a specific limit check value from device then it updates * internal values and check enables. * The limit check is identified with the LimitCheckId. * * @note This function Access to the device * * @param Dev Device Handle * @param LimitCheckId Limit Check ID (0<= LimitCheckId < * VL53L0_GetNumberOfLimitCheck() ). * @param pLimitCheckValue Pointer to Limit check Value for a * given LimitCheckId. * @return VL53L0_ERROR_NONE Success * @return VL53L0_ERROR_INVALID_PARAMS This error is returned when * LimitCheckId value is out of range. * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetLimitCheckValue(VL53L0_DEV Dev, uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckValue); /** * @brief Get the current value of the signal used for the limit check * * @par Function Description * This function get a the current value of the signal used for the limit check. * To obtain the latest value you should run a ranging before. * The value reported is linked to the limit check identified with the * LimitCheckId. * * @note This function Access to the device * * @param Dev Device Handle * @param LimitCheckId Limit Check ID (0<= LimitCheckId < * VL53L0_GetNumberOfLimitCheck() ). * @param pLimitCheckCurrent Pointer to current Value for a * given LimitCheckId. * @return VL53L0_ERROR_NONE Success * @return VL53L0_ERROR_INVALID_PARAMS This error is returned when * LimitCheckId value is out of range. * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetLimitCheckCurrent(VL53L0_DEV Dev, uint16_t LimitCheckId, FixPoint1616_t *pLimitCheckCurrent); /** * @brief Enable (or disable) Wrap around Check * * @note This function Access to the device * * @param Dev Device Handle * @param WrapAroundCheckEnable Wrap around Check to be set 0=disabled, * other = enabled * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_SetWrapAroundCheckEnable(VL53L0_DEV Dev, uint8_t WrapAroundCheckEnable); /** * @brief Get setup of Wrap around Check * * @par Function Description * This function get the wrapAround check enable parameters * * @note This function Access to the device * * @param Dev Device Handle * @param pWrapAroundCheckEnable Pointer to the Wrap around Check state * 0=disabled or 1 = enabled * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetWrapAroundCheckEnable(VL53L0_DEV Dev, uint8_t *pWrapAroundCheckEnable); /** @} VL53L010_parameters_group */ /** @defgroup VL53L010_measurement_group VL53L010 Measurement Functions * @brief VL53L010 Functions used for the measurements * @{ */ /** * @brief Single shot measurement. * * @par Function Description * Perform simple measurement sequence (Start measure, Wait measure to end, and * returns when measurement is done). * Once function returns, user can get valid data by calling * VL53L0_GetRangingMeasurement or VL53L0_GetHistogramMeasurement depending on * defined measurement mode * User should Clear the interrupt in case this are enabled by using the * function VL53L0_ClearInterruptMask(). * * @warning This function is a blocking function * * @note This function Access to the device * * @param Dev Device Handle * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_PerformSingleMeasurement(VL53L0_DEV Dev); /** * @brief Perform Reference Calibration * * @details Perform a reference calibration of the Device. * This function should be run from time to time before doing a ranging * measurement. * This function will launch a special ranging measurement, so if interrupt are * enable an interrupt will be done. * This function will clear the interrupt generated automatically. * * @warning This function is a blocking function * * @note This function Access to the device * * @param Dev Device Handle * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_PerformRefCalibration(VL53L0_DEV Dev); /** * @brief Perform XTalk Calibration * * @details Perform a XTalk calibration of the Device. * This function will launch a ranging measurement, if interrupts are enabled * an interrupt will be done. * This function will clear the interrupt generated automatically. * This function will program a new value for the XTalk compensation and it * will enable the cross talk before exit. * * @warning This function is a blocking function * * @note This function Access to the device * * @note This function change the device mode to * VL53L0_DEVICEMODE_SINGLE_RANGING * * @param Dev Device Handle * @param XTalkCalDistance XTalkCalDistance value used for the * XTalk computation. * @param pXTalkCompensationRateMegaCps Pointer to new XTalkCompensation * value. * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_PerformXTalkCalibration(VL53L0_DEV Dev, FixPoint1616_t XTalkCalDistance, FixPoint1616_t *pXTalkCompensationRateMegaCps); /** * @brief Perform Offset Calibration * * @details Perform a Offset calibration of the Device. * This function will launch a ranging measurement, if interrupts are * enabled an interrupt will be done. * This function will clear the interrupt generated automatically. * This function will program a new value for the Offset calibration value and * * @warning This function is a blocking function * * @note This function Access to the device * * @note This function does not change the device mode. * * @param Dev Device Handle * @param CalDistanceMilliMeter Calibration distance value used for the * offset compensation. * @param pOffsetMicroMeter Pointer to new Offset value computed by the * function. * * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_PerformOffsetCalibration(VL53L0_DEV Dev, FixPoint1616_t CalDistanceMilliMeter, int32_t *pOffsetMicroMeter); /** * @brief Start device measurement * * @details Started measurement will depend on device parameters set through @a * VL53L0_SetParameters() * This is a non-blocking function * This function will change the VL53L0_State from VL53L0_STATE_IDLE to * VL53L0_STATE_RUNNING. * * @note This function Access to the device * * @param Dev Device Handle * @return VL53L0_ERROR_NONE Success * @return VL53L0_ERROR_MODE_NOT_SUPPORTED This error occurs when * DeviceMode programmed with @a VL53L0_SetDeviceMode is not in the supported * list: * Supported mode are: * VL53L0_DEVICEMODE_SINGLE_RANGING, VL53L0_DEVICEMODE_CONTINUOUS_RANGING, * VL53L0_DEVICEMODE_CONTINUOUS_TIMED_RANGING * @return VL53L0_ERROR_TIME_OUT Time out on start measurement * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_StartMeasurement(VL53L0_DEV Dev); /** * @brief Stop device measurement * * @details Will set the device in standby mode at end of current measurement \n * Not necessary in single mode as device shall return automatically * in standby mode at end of measurement. * This function will change the VL53L0_State from * VL53L0_STATE_RUNNING to VL53L0_STATE_IDLE. * * @note This function Access to the device * * @param Dev Device Handle * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_StopMeasurement(VL53L0_DEV Dev); /** * @brief Return Measurement Data Ready * * @par Function Description * This function indicate that a measurement data is ready. * This function check if interrupt mode is used then check is done accordingly. * If perform function clear the interrupt, this function will not work, like * in case of @a VL53L0_PerformSingleRangingMeasurement(). * The previous function is blocking function, VL53L0_GetMeasurementDataReady * is used for non-blocking capture. * * @note This function Access to the device * * @param Dev Device Handle * @param pMeasurementDataReady Pointer to Measurement Data Ready. 0=data * not ready, 1 = data ready * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetMeasurementDataReady(VL53L0_DEV Dev, uint8_t *pMeasurementDataReady); /** * @brief Wait for device ready for a new measurement command. Blocking * function. * * @note This function is not Implemented * * @param Dev Device Handle * @param MaxLoop Max Number of polling loop (timeout). * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented */ VL53L010_API VL53L0_Error VL53L010_WaitDeviceReadyForNewMeasurement( VL53L0_DEV Dev, uint32_t MaxLoop); /** * @brief Retrieve the measurements from device for a given setup * * @par Function Description * Get data from last successful Ranging measurement * @warning USER should take care about @a VL53L0_GetNumberOfROIZones() before * get data. * PAL will fill a NumberOfROIZones times the corresponding data structure used * in the measurement function. * * @note This function Access to the device * * @param Dev Device Handle * @param pRangingMeasurementData Pointer to the data structure to fill up. * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetRangingMeasurementData(VL53L0_DEV Dev, VL53L0_RangingMeasurementData_t *pRangingMeasurementData); /** * @brief Retrieve the measurements from device for a given setup * * @par Function Description * Get data from last successful Histogram measurement * @warning USER should take care about @a VL53L0_GetNumberOfROIZones() before * get data. * PAL will fill a NumberOfROIZones times the corresponding data structure used * in the measurement function. * @note This function is not Implemented * @param Dev Device Handle * @param pHistogramMeasurementData Pointer to the data structure to fill * up. * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented */ VL53L010_API VL53L0_Error VL53L010_GetHistogramMeasurementData(VL53L0_DEV Dev, VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData); /** * @brief Performs a single ranging measurement and retrieve the ranging * measurement data * * @par Function Description * This function will change the device mode to * VL53L0_DEVICEMODE_SINGLE_RANGING with @a VL53L0_SetDeviceMode(), * It performs measurement with @a VL53L0_PerformSingleMeasurement() * It get data from last successful Ranging measurement with @a * VL53L0_GetRangingMeasurementData. * Finally it clear the interrupt with @a VL53L0_ClearInterruptMask(). * @note This function Access to the device * * @note This function change the device mode to * VL53L0_DEVICEMODE_SINGLE_RANGING * * @param Dev Device Handle * @param pRangingMeasurementData Pointer to the data structure to fill up. * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_PerformSingleRangingMeasurement( VL53L0_DEV Dev, VL53L0_RangingMeasurementData_t *pRangingMeasurementData); /** * @brief Performs a single histogram measurement and retrieve the histogram * measurement data * Is equivalent to VL53L0_PerformSingleMeasurement + * VL53L0_GetHistogramMeasurementData * * @par Function Description * Get data from last successful Ranging measurement. * This function will clear the interrupt in case of these are enabled. * * @note This function is not Implemented * * @param Dev Device Handle * @param pHistogramMeasurementData Pointer to the data structure to fill * up. * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented */ VL53L010_API VL53L0_Error VL53L010_PerformSingleHistogramMeasurement( VL53L0_DEV Dev, VL53L0_HistogramMeasurementData_t *pHistogramMeasurementData); /** * @brief Set the number of ROI Zones to be used for a specific Device * * @par Function Description * Set the number of ROI Zones to be used for a specific Device. * The programmed value should be less than the max number of ROI Zones given * with @a VL53L0_GetMaxNumberOfROIZones(). * This version of API manage only one zone. * * @param Dev Device Handle * @param NumberOfROIZones Number of ROI Zones to be used for a * specific Device. * @return VL53L0_ERROR_NONE Success * @return VL53L0_ERROR_INVALID_PARAMS This error is returned if * NumberOfROIZones != 1 */ VL53L010_API VL53L0_Error VL53L010_SetNumberOfROIZones(VL53L0_DEV Dev, uint8_t NumberOfROIZones); /** * @brief Get the number of ROI Zones managed by the Device * * @par Function Description * Get number of ROI Zones managed by the Device * USER should take care about @a VL53L0_GetNumberOfROIZones() before get data * after a perform measurement. * PAL will fill a NumberOfROIZones times the corresponding data structure used * in the measurement function. * * @note This function doesn't Access to the device * * @param Dev Device Handle * @param pNumberOfROIZones Pointer to the Number of ROI Zones * value. * @return VL53L0_ERROR_NONE Success */ VL53L010_API VL53L0_Error VL53L010_GetNumberOfROIZones(VL53L0_DEV Dev, uint8_t *pNumberOfROIZones); /** * @brief Get the Maximum number of ROI Zones managed by the Device * * @par Function Description * Get Maximum number of ROI Zones managed by the Device. * * @note This function doesn't Access to the device * * @param Dev Device Handle * @param pMaxNumberOfROIZones Pointer to the Maximum Number of ROI * Zones value. * @return VL53L0_ERROR_NONE Success */ VL53L010_API VL53L0_Error VL53L010_GetMaxNumberOfROIZones(VL53L0_DEV Dev, uint8_t *pMaxNumberOfROIZones); /** @} VL53L010_measurement_group */ /** @defgroup VL53L010_interrupt_group VL53L010 Interrupt Functions * @brief VL53L010 Functions used for interrupt managements * @{ */ /** * @brief Set the configuration of GPIO pin for a given device * * @note This function Access to the device * * @param Dev Device Handle * @param Pin ID of the GPIO Pin * @param Functionality Select Pin functionality. Refer to * ::VL53L0_GpioFunctionality * @param DeviceMode Device Mode associated to the Gpio. * @param Polarity Set interrupt polarity. Active high or active * low see ::VL53L0_InterruptPolarity * @return VL53L0_ERROR_NONE Success * @return VL53L0_ERROR_GPIO_NOT_EXISTING Only Pin=0 is * accepted. * @return VL53L0_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED This error occurs * when Functionality programmed is not in the supported list: * Supported value * are: * * VL53L0_GPIOFUNCTIONALITY_OFF, VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW, * VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH, * VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT, * * VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_SetGpioConfig(VL53L0_DEV Dev, uint8_t Pin, VL53L0_DeviceModes DeviceMode, VL53L0_GpioFunctionality Functionality, VL53L0_InterruptPolarity Polarity); /** * @brief Get current configuration for GPIO pin for a given device * * @note This function Access to the device * * @param Dev Device Handle * @param Pin ID of the GPIO Pin * @param pDeviceMode Pointer to Device Mode associated to the Gpio. * @param pFunctionality Pointer to Pin functionality. * Refer to ::VL53L0_GpioFunctionality * @param pPolarity Pointer to interrupt polarity. Active high or * active low see ::VL53L0_InterruptPolarity * @return VL53L0_ERROR_NONE Success * @return VL53L0_ERROR_GPIO_NOT_EXISTING Only Pin=0 is accepted. * @return VL53L0_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED This error occurs * when Functionality programmed is not in the supported list: * Supported value are: * VL53L0_GPIOFUNCTIONALITY_OFF, VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW, * VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH, * VL53L0_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT, * VL53L0_GPIOFUNCTIONALITY_NEW_MEASURE_READY * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetGpioConfig(VL53L0_DEV Dev, uint8_t Pin, VL53L0_DeviceModes * pDeviceMode, VL53L0_GpioFunctionality * pFunctionality, VL53L0_InterruptPolarity * pPolarity); /** * @brief Set low and high Interrupt thresholds for a given mode (ranging, ALS, * ...) for a given device * * @par Function Description * Set low and high Interrupt thresholds for a given mode (ranging, ALS, ...) * for a given device * * @note This function Access to the device * * @note DeviceMode is ignored for the current device * * @param Dev Device Handle * @param DeviceMode Device Mode for which change thresholds * @param ThresholdLow Low threshold (mm, lux ..., depending on the * mode) * @param ThresholdHigh High threshold (mm, lux ..., depending on the * mode) * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_SetInterruptThresholds(VL53L0_DEV Dev, VL53L0_DeviceModes DeviceMode, FixPoint1616_t ThresholdLow, FixPoint1616_t ThresholdHigh); /** * @brief Get high and low Interrupt thresholds for a given mode (ranging, * ALS, ...) for a given device * * @par Function Description * Get high and low Interrupt thresholds for a given mode (ranging, ALS, ...) * for a given device * * @note This function Access to the device * * @note DeviceMode is ignored for the current device * * @param Dev Device Handle * @param DeviceMode Device Mode from which read thresholds * @param pThresholdLow Low threshold (mm, lux ..., depending on the * mode) * @param pThresholdHigh High threshold (mm, lux ..., depending on the * mode) * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetInterruptThresholds(VL53L0_DEV Dev, VL53L0_DeviceModes DeviceMode, FixPoint1616_t *pThresholdLow, FixPoint1616_t *pThresholdHigh); /** * @brief Clear given system interrupt condition * * @par Function Description * Clear given interrupt(s). * * @note This function Access to the device * * @param Dev Device Handle * @param InterruptMask Mask of interrupts to clear * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_ClearInterruptMask(VL53L0_DEV Dev, uint32_t InterruptMask); /** * @brief Return device interrupt status * * @par Function Description * Returns currently raised interrupts by the device. * User shall be able to activate/deactivate interrupts through * @a VL53L0_SetGpioConfig() * * @note This function Access to the device * * @param Dev Device Handle * @param pInterruptMaskStatus Pointer to status variable to update * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetInterruptMaskStatus(VL53L0_DEV Dev, uint32_t *pInterruptMaskStatus); /** * @brief Configure ranging interrupt reported to system * * @note This function is not Implemented * * @param Dev Device Handle * @param InterruptMask Mask of interrupt to Enable/disable * (0:interrupt disabled or 1: interrupt enabled) * @return VL53L0_ERROR_NOT_IMPLEMENTED Not implemented */ VL53L010_API VL53L0_Error VL53L010_EnableInterruptMask(VL53L0_DEV Dev, uint32_t InterruptMask); /** @} VL53L010_interrupt_group */ /** @defgroup VL53L010_SPADfunctions_group VL53L010 SPAD Functions * @brief VL53L010 Functions used for SPAD managements * @{ */ /** * @brief Set the SPAD Ambient Damper Threshold value * * @par Function Description * This function set the SPAD Ambient Damper Threshold value * * @note This function Access to the device * * @param Dev Device Handle * @param SpadAmbientDamperThreshold SPAD Ambient Damper Threshold value * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_SetSpadAmbientDamperThreshold(VL53L0_DEV Dev, uint16_t SpadAmbientDamperThreshold); /** * @brief Get the current SPAD Ambient Damper Threshold value * * @par Function Description * This function get the SPAD Ambient Damper Threshold value * * @note This function Access to the device * * @param Dev Device Handle * @param pSpadAmbientDamperThreshold Pointer to programmed SPAD Ambient * Damper Threshold value * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetSpadAmbientDamperThreshold(VL53L0_DEV Dev, uint16_t *pSpadAmbientDamperThreshold); /** * @brief Set the SPAD Ambient Damper Factor value * * @par Function Description * This function set the SPAD Ambient Damper Factor value * * @note This function Access to the device * * @param Dev Device Handle * @param SpadAmbientDamperFactor SPAD Ambient Damper Factor value * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_SetSpadAmbientDamperFactor(VL53L0_DEV Dev, uint16_t SpadAmbientDamperFactor); /** * @brief Get the current SPAD Ambient Damper Factor value * * @par Function Description * This function get the SPAD Ambient Damper Factor value * * @note This function Access to the device * * @param Dev Device Handle * @param pSpadAmbientDamperFactor Pointer to programmed SPAD Ambient * Damper Factor value * @return VL53L0_ERROR_NONE Success * @return "Other error code" See ::VL53L0_Error */ VL53L010_API VL53L0_Error VL53L010_GetSpadAmbientDamperFactor(VL53L0_DEV Dev, uint16_t *pSpadAmbientDamperFactor); /** @} VL53L010_SPADfunctions_group */ /** @} VL53L010_cut10_group */ #define VL53L010_EXTERNAL /* Internal functions declaration */ VL53L010_EXTERNAL VL53L0_Error VL53L010_get_vcsel_pulse_period(VL53L0_DEV Dev, uint8_t *pVCSELPulsePeriod, uint8_t RangeIndex); VL53L010_EXTERNAL uint8_t VL53L010_encode_vcsel_period( uint8_t vcsel_period_pclks); VL53L010_EXTERNAL uint8_t VL53L010_decode_vcsel_period(uint8_t vcsel_period_reg); VL53L010_EXTERNAL uint16_t VL53L010_calc_encoded_timeout(VL53L0_DEV Dev, uint32_t timeout_period_us, uint8_t vcsel_period); VL53L010_EXTERNAL uint32_t VL53L010_calc_ranging_wait_us(VL53L0_DEV Dev, uint16_t timeout_overall_periods, uint8_t vcsel_period); VL53L010_EXTERNAL VL53L0_Error VL53L010_load_additional_settings1(VL53L0_DEV Dev); VL53L010_EXTERNAL VL53L0_Error VL53L010_load_additional_settings3(VL53L0_DEV Dev); VL53L010_EXTERNAL VL53L0_Error VL53L010_check_part_used(VL53L0_DEV Dev, uint8_t *Revision, VL53L0_DeviceInfo_t * pVL53L0_DeviceInfo); VL53L010_EXTERNAL VL53L0_Error VL53L010_get_info_from_device(VL53L0_DEV Dev); VL53L010_EXTERNAL VL53L0_Error VL53L010_device_read_strobe(VL53L0_DEV Dev); VL53L010_EXTERNAL VL53L0_Error VL53L010_get_pal_range_status(VL53L0_DEV Dev, uint8_t DeviceRangeStatus, FixPoint1616_t SignalRate, FixPoint1616_t CrosstalkCompensation, uint16_t EffectiveSpadRtnCount, VL53L0_RangingMeasurementData_t * pRangingMeasurementData, uint8_t * pPalRangeStatus); VL53L010_EXTERNAL uint32_t VL53L010_calc_macro_period_ps(VL53L0_DEV Dev, uint8_t vcsel_period); VL53L010_EXTERNAL uint16_t VL53L010_encode_timeout(uint32_t timeout_mclks); VL53L010_EXTERNAL uint32_t VL53L010_decode_timeout(uint16_t encoded_timeout); #ifdef __cplusplus } #endif #endif /* _VL53L010_API_H_ */