604 lines
20 KiB
C
604 lines
20 KiB
C
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/* SPDX-License-Identifier: GPL-2.0+ OR BSD-3-Clause */
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/******************************************************************************
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* Copyright (c) 2020, STMicroelectronics - All Rights Reserved
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This file is part of VL53L1 and is dual licensed,
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either GPL-2.0+
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or 'BSD 3-clause "New" or "Revised" License' , at your option.
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******************************************************************************
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*/
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/**
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* @file vl53l1_def.h
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*
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* @brief Type definitions for VL53L1 API.
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*
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*/
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#ifndef _VL53L1_DEF_H_
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#define _VL53L1_DEF_H_
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#include "vl53l1_ll_def.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/** @defgroup VL53L1_globaldefine_group VL53L1 Defines
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* @brief VL53L1 Defines
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* @{
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*/
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/** VL53L1 IMPLEMENTATION major version */
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#define VL53L1_IMPLEMENTATION_VER_MAJOR 2
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/** VL53L1 IMPLEMENTATION minor version */
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#define VL53L1_IMPLEMENTATION_VER_MINOR 4
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/** VL53L1 IMPLEMENTATION sub version */
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#define VL53L1_IMPLEMENTATION_VER_SUB 5
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/** VL53L1 IMPLEMENTATION sub version */
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#define VL53L1_IMPLEMENTATION_VER_REVISION 2548
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/****************************************
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* PRIVATE define do not edit
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****************************************/
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/** @brief Defines the parameters of the Get Version Functions
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*/
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typedef struct {
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uint32_t revision; /*!< revision number */
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uint8_t major; /*!< major number */
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uint8_t minor; /*!< minor number */
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uint8_t build; /*!< build number */
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} VL53L1_Version_t;
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#define VL53L1_DEVINFO_STRLEN 32
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/** @brief Defines the parameters of the Get Device Info Functions
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*/
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typedef struct {
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char Name[VL53L1_DEVINFO_STRLEN];
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/*!< Full Name of the Device e.g. VL53L1 cut1.1 */
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char Type[VL53L1_DEVINFO_STRLEN];
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/*!< Type of the Device e.g VL53L1 */
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char ProductId[VL53L1_DEVINFO_STRLEN];
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/*!< Product Identifier String
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* @warning Not yet implemented
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*/
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uint8_t ProductType;
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/*!< Product Type, VL53L1 = 0xCC, VL53L3 = 0xAA
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* Stands as module_type in the datasheet
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*/
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uint8_t ProductRevisionMajor;
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/*!< Product revision major */
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uint8_t ProductRevisionMinor;
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/*!< Product revision minor */
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} VL53L1_DeviceInfo_t;
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/** @defgroup VL53L1_define_PresetModes_group Defines Preset modes
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* Defines all possible preset modes for the device
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* @{
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*/
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typedef uint8_t VL53L1_PresetModes;
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#define VL53L1_PRESETMODE_AUTONOMOUS ((VL53L1_PresetModes) 3)
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#define VL53L1_PRESETMODE_LITE_RANGING ((VL53L1_PresetModes) 4)
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#define VL53L1_PRESETMODE_LOWPOWER_AUTONOMOUS ((VL53L1_PresetModes) 8)
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/* ... Modes to be added depending on device */
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/** @} VL53L1_define_PresetModes_group */
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/** @defgroup VL53L1_define_DistanceModes_group Defines Distance modes
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* Defines all possible Distance modes for the device
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* @{
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*/
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typedef uint8_t VL53L1_DistanceModes;
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#define VL53L1_DISTANCEMODE_SHORT ((VL53L1_DistanceModes) 1)
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#define VL53L1_DISTANCEMODE_MEDIUM ((VL53L1_DistanceModes) 2)
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#define VL53L1_DISTANCEMODE_LONG ((VL53L1_DistanceModes) 3)
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/** @} VL53L1_define_DistanceModes_group */
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/** @defgroup VL53L1_define_XtalkCal_group Defines Xtalk Calibration modes
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* Defines all possible Offset Calibration modes for the device
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* @{
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*/
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typedef uint8_t VL53L1_XtalkCalibrationModes;
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#define VL53L1_XTALKCALIBRATIONMODE_NO_TARGET \
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((VL53L1_OffsetCalibrationModes) 0)
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/*!< To perform Xtalk calibration with no target below 80 cm */
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#define VL53L1_XTALKCALIBRATIONMODE_SINGLE_TARGET \
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((VL53L1_OffsetCalibrationModes) 1)
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/*!< To perform Xtalk calibration with one target */
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#define VL53L1_XTALKCALIBRATIONMODE_FULL_ROI \
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((VL53L1_OffsetCalibrationModes) 2)
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/*!< To perform Xtalk calibration based on histogram with full ROI */
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/** @} VL53L1_define_XtalkCal_group */
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/** @defgroup VL53L1_define_OffsetCal_group Defines Offset Calibration modes
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* Defines all possible Offset Calibration modes for the device
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* @{
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*/
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typedef uint8_t VL53L1_OffsetCalibrationModes;
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#define VL53L1_OFFSETCALIBRATIONMODE_STANDARD \
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((VL53L1_OffsetCalibrationModes) 1)
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#define VL53L1_OFFSETCALIBRATIONMODE_PRERANGE_ONLY \
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((VL53L1_OffsetCalibrationModes) 2)
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/** @} VL53L1_define_OffsetCal_group */
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/** @defgroup VL53L1_CheckEnable_group Check Enable list
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* @brief Check Enable code
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*
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* Define used to specify the LimitCheckId.
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* Use @a VL53L1_GetLimitCheckInfo() to get the string.
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* @{
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*/
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#define VL53L1_CHECKENABLE_SIGMA_FINAL_RANGE 0
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#define VL53L1_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1
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#define VL53L1_CHECKENABLE_NUMBER_OF_CHECKS 2
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/** @} end of VL53L1_CheckEnable_group */
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/** @defgroup VL53L1_ThresholdMode_gropup Detection Functionality
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* @brief Defines the different functionalities for the detection feature
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* @{
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*/
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typedef uint8_t VL53L1_ThresholdMode;
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#define VL53L1_THRESHOLD_CROSSED_LOW \
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((VL53L1_ThresholdMode) 0)
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/*!< Trigger interrupt if value < thresh_low */
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#define VL53L1_THRESHOLD_CROSSED_HIGH \
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((VL53L1_ThresholdMode) 1)
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/*!< Trigger interrupt if value > thresh_high */
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#define VL53L1_THRESHOLD_OUT_OF_WINDOW \
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((VL53L1_ThresholdMode) 2)
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/*!< Trigger interrupt if value < thresh_low OR value > thresh_high */
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#define VL53L1_THRESHOLD_IN_WINDOW \
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((VL53L1_ThresholdMode) 3)
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/*!< Trigger interrupt if value > thresh_low AND value < thresh_high */
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/** @} end of VL53L1_ThresholdMode_gropup */
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/** @brief Defines parameters for Distance detection Thresholds configuration
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*/
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typedef struct {
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VL53L1_ThresholdMode CrossMode;
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uint16_t High; /*!< Distance threshold high limit in mm */
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uint16_t Low; /*!< Distance threshold low limit in mm */
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} VL53L1_DistanceThreshold_t;
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/** @brief Defines parameters for Signal rate detection Thresholds configuration
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*/
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typedef struct {
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VL53L1_ThresholdMode CrossMode;
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FixPoint1616_t High; /*!< Signal rate threshold high limit */
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FixPoint1616_t Low; /*!< Signal rate threshold low limit */
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} VL53L1_RateThreshold_t;
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/** @defgroup VL53L1_DetectionMode_group Gpio Functionality
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* @brief Defines conditions leading to device's IT on GPIO
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* @{
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*/
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typedef uint8_t VL53L1_DetectionMode;
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#define VL53L1_DETECTION_NORMAL_RUN \
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((VL53L1_DetectionMode) 0)
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/*!< Trigger interrupt on new measurement regardless of threshold
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* just like after a VL53L1_SetPresetMode() call
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*/
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#define VL53L1_DETECTION_DISTANCE_ONLY \
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((VL53L1_DetectionMode) 1)
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/*!< Trigger interrupt if "threshold event" occurs on distance */
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#define VL53L1_DETECTION_RATE_ONLY \
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((VL53L1_DetectionMode) 2)
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/*!< Trigger interrupt if "threshold event" occurs on signal rate */
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#define VL53L1_DETECTION_DISTANCE_AND_RATE \
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((VL53L1_DetectionMode) 3)
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/*!< Trigger interrupt if "threshold event" occurs on distance AND rate
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*/
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#define VL53L1_DETECTION_DISTANCE_OR_RATE \
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((VL53L1_DetectionMode) 4)
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/*!< Trigger interrupt if "threshold event" occurs on distance OR rate
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*/
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/** @} end of VL53L1_DetectionMode_group */
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/** @brief Defines parameters for User/object Detection configuration
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*/
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typedef struct {
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VL53L1_DetectionMode DetectionMode; /*!< See #VL53L1_DetectionMode*/
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uint8_t IntrNoTarget; /*!< 1 to trigger IT in case of no target found */
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VL53L1_DistanceThreshold_t Distance; /*!< limits in mm */
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VL53L1_RateThreshold_t Rate;/*!< limits in FixPoint1616_t */
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} VL53L1_DetectionConfig_t;
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/** @brief Defines all parameters for the device
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*/
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typedef struct {
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VL53L1_PresetModes PresetMode;
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/*!< Defines the operating mode to be used for the next measure */
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VL53L1_DistanceModes DistanceMode;
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/*!< Defines the operating mode to be used for the next measure */
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uint32_t MeasurementTimingBudgetMicroSeconds;
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/*!< Defines the allowed total time for a single measurement */
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uint8_t LimitChecksEnable[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS];
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/*!< This Array store all the Limit Check enable for this device. */
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uint8_t LimitChecksStatus[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS];
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/*!< This Array stores all the Status of the check linked to last
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* measurement.
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*/
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FixPoint1616_t LimitChecksValue[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS];
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/*!< This Array stores all the Limit Check value for this device */
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FixPoint1616_t LimitChecksCurrent[VL53L1_CHECKENABLE_NUMBER_OF_CHECKS];
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/*!< This Array stores all the Limit Check current value from latest
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* ranging
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*/
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} VL53L1_DeviceParameters_t;
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/** @defgroup VL53L1_define_State_group Defines the current status of the device
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* Defines the current status of the device
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* @{
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*/
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typedef uint8_t VL53L1_State;
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#define VL53L1_STATE_POWERDOWN ((VL53L1_State) 0)
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/*!< Device is in HW reset */
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#define VL53L1_STATE_WAIT_STATICINIT ((VL53L1_State) 1)
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/*!< Device is initialized and wait for static initialization */
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#define VL53L1_STATE_STANDBY ((VL53L1_State) 2)
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/*!< Device is in Low power Standby mode */
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#define VL53L1_STATE_IDLE ((VL53L1_State) 3)
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/*!< Device has been initialized and ready to do measurements */
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#define VL53L1_STATE_RUNNING ((VL53L1_State) 4)
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/*!< Device is performing measurement */
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#define VL53L1_STATE_RESET ((VL53L1_State) 5)
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/*!< Soft reset has been run on Device */
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#define VL53L1_STATE_UNKNOWN ((VL53L1_State) 98)
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/*!< Device is in unknown state and need to be rebooted */
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#define VL53L1_STATE_ERROR ((VL53L1_State) 99)
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/*!< Device is in error state and need to be rebooted */
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/** @} VL53L1_define_State_group */
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/**
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* @struct VL53L1_RangingMeasurementData_t
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* @brief Single Range measurement data.
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*/
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typedef struct {
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uint32_t TimeStamp;
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/*!< 32-bit time stamp.
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* @warning Not yet implemented
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*/
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uint8_t StreamCount;
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/*!< 8-bit Stream Count. */
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uint8_t RangeQualityLevel;
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/*!< indicate a quality level in percentage from 0 to 100
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* @warning Not yet implemented
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*/
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FixPoint1616_t SignalRateRtnMegaCps;
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/*!< Return signal rate (MCPS)\n these is a 16.16 fix point
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* value, which is effectively a measure of target
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* reflectance.
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*/
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FixPoint1616_t AmbientRateRtnMegaCps;
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/*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
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* value, which is effectively a measure of the ambient
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* light.
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*/
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uint16_t EffectiveSpadRtnCount;
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/*!< Return the effective SPAD count for the return signal.
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* To obtain Real value it should be divided by 256
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*/
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FixPoint1616_t SigmaMilliMeter;
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/*!< Return the Sigma value in millimeter */
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int16_t RangeMilliMeter;
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/*!< range distance in millimeter. This should be between
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* RangeMinMilliMeter and RangeMaxMilliMeter
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*/
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uint8_t RangeFractionalPart;
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/*!< Fractional part of range distance. Final value is a
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* RangeMilliMeter + RangeFractionalPart/256.
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* @warning Not yet implemented
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*/
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uint8_t RangeStatus;
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/*!< Range Status for the current measurement. This is device
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* dependent. Value = 0 means value is valid.
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*/
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} VL53L1_RangingMeasurementData_t;
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/** @brief Defines User Zone(ROI) parameters
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*
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*/
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typedef struct {
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uint8_t TopLeftX; /*!< Top Left x coordinate: 0-15 range */
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uint8_t TopLeftY; /*!< Top Left y coordinate: 0-15 range */
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uint8_t BotRightX; /*!< Bot Right x coordinate: 0-15 range */
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uint8_t BotRightY; /*!< Bot Right y coordinate: 0-15 range */
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} VL53L1_UserRoi_t;
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/** @brief Defines ROI configuration parameters
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*
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* Support up a max of 16 zones, Each Zone has the same size
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*
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*/
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/**
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* @struct VL53L1_CustomerNvmManaged_t
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*
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*/
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typedef struct {
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uint8_t global_config__spad_enables_ref_0;
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uint8_t global_config__spad_enables_ref_1;
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uint8_t global_config__spad_enables_ref_2;
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uint8_t global_config__spad_enables_ref_3;
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uint8_t global_config__spad_enables_ref_4;
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uint8_t global_config__spad_enables_ref_5;
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uint8_t global_config__ref_en_start_select;
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uint8_t ref_spad_man__num_requested_ref_spads;
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uint8_t ref_spad_man__ref_location;
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uint32_t algo__crosstalk_compensation_plane_offset_kcps;
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int16_t algo__crosstalk_compensation_x_plane_gradient_kcps;
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int16_t algo__crosstalk_compensation_y_plane_gradient_kcps;
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uint16_t ref_spad_char__total_rate_target_mcps;
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int16_t algo__part_to_part_range_offset_mm;
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int16_t mm_config__inner_offset_mm;
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int16_t mm_config__outer_offset_mm;
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} VL53L1_CustomerNvmManaged_t;
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/**
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* @struct VL53L1_CalibrationData_t
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* @brief Structure for storing the Calibration Data
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*
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*/
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typedef struct {
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uint32_t struct_version;
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VL53L1_CustomerNvmManaged_t customer;
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VL53L1_additional_offset_cal_data_t add_off_cal_data;
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VL53L1_optical_centre_t optical_centre;
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VL53L1_gain_calibration_data_t gain_cal;
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VL53L1_cal_peak_rate_map_t cal_peak_rate_map;
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} VL53L1_CalibrationData_t;
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#define VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION 0x20
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/** VL53L1 additional Calibration Data struct version final struct version
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* is given by adding it to VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION
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*/
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#define VL53L1_CALIBRATION_DATA_STRUCT_VERSION \
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(VL53L1_LL_CALIBRATION_DATA_STRUCT_VERSION + \
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VL53L1_ADDITIONAL_CALIBRATION_DATA_STRUCT_VERSION)
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/* VL53L1 Calibration Data struct version */
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/**
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* @struct VL53L1_AdditionalData_t
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* @brief Structure for storing the Additional Data
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*
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*/
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typedef VL53L1_additional_data_t VL53L1_AdditionalData_t;
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typedef uint8_t VL53L1_SequenceStepId;
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#define VL53L1_SEQUENCESTEP_VHV ((VL53L1_SequenceStepId) 0)
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/*!<VHV. */
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#define VL53L1_SEQUENCESTEP_PHASECAL ((VL53L1_SequenceStepId) 1)
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/*!<Phase Calibration. */
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#define VL53L1_SEQUENCESTEP_REFPHASE ((VL53L1_SequenceStepId) 2)
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/*!<Reference Phase. */
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#define VL53L1_SEQUENCESTEP_DSS1 ((VL53L1_SequenceStepId) 3)
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/*!<DSS1. */
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#define VL53L1_SEQUENCESTEP_DSS2 ((VL53L1_SequenceStepId) 4)
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/*!<DSS2. */
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#define VL53L1_SEQUENCESTEP_MM1 ((VL53L1_SequenceStepId) 5)
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/*!<Mode Mitigation 1. */
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#define VL53L1_SEQUENCESTEP_MM2 ((VL53L1_SequenceStepId) 6)
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/*!<Mode Mitigation 2. */
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#define VL53L1_SEQUENCESTEP_RANGE ((VL53L1_SequenceStepId) 7)
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/*!<Final Range step. */
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#define VL53L1_SEQUENCESTEP_NUMBER_OF_ITEMS 8
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/*!<Number of Sequence Step Managed by the API. */
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/** @defgroup VL53L1_define_RangeStatus_group Defines the Range Status
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* @{
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*/
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#define VL53L1_RANGESTATUS_RANGE_VALID 0
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/*!<The Range is valid. */
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#define VL53L1_RANGESTATUS_SIGMA_FAIL 1
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/*!<Sigma Fail. */
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#define VL53L1_RANGESTATUS_SIGNAL_FAIL 2
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/*!<Signal fail. */
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#define VL53L1_RANGESTATUS_RANGE_VALID_MIN_RANGE_CLIPPED 3
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/*!<Target is below minimum detection threshold. */
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#define VL53L1_RANGESTATUS_OUTOFBOUNDS_FAIL 4
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/*!<Phase out of valid limits - different to a wrap exit. */
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#define VL53L1_RANGESTATUS_HARDWARE_FAIL 5
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/*!<Hardware fail. */
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#define VL53L1_RANGESTATUS_RANGE_VALID_NO_WRAP_CHECK_FAIL 6
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/*!<The Range is valid but the wraparound check has not been done. */
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#define VL53L1_RANGESTATUS_WRAP_TARGET_FAIL 7
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/*!<Wrapped target - no matching phase in other VCSEL period timing. */
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#define VL53L1_RANGESTATUS_PROCESSING_FAIL 8
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/*!<Internal algo underflow or overflow in lite ranging. */
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#define VL53L1_RANGESTATUS_XTALK_SIGNAL_FAIL 9
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/*!<Specific to lite ranging. */
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#define VL53L1_RANGESTATUS_SYNCRONISATION_INT 10
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/*!<1st interrupt when starting ranging in back to back mode. Ignore data. */
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#define VL53L1_RANGESTATUS_RANGE_VALID_MERGED_PULSE 11
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/*!<All Range ok but object is result of multiple pulses merging together.
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* Used by RQL for merged pulse detection
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*/
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#define VL53L1_RANGESTATUS_TARGET_PRESENT_LACK_OF_SIGNAL 12
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/*!<Used by RQL as different to phase fail. */
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#define VL53L1_RANGESTATUS_MIN_RANGE_FAIL 13
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/*!<User ROI input is not valid e.g. beyond SPAD Array.*/
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#define VL53L1_RANGESTATUS_RANGE_INVALID 14
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/*!<lld returned valid range but negative value ! */
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#define VL53L1_RANGESTATUS_NONE 255
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/*!<No Update. */
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/** @} VL53L1_define_RangeStatus_group */
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/** @brief Contains the Internal data of the Bare Driver
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*/
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typedef struct {
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VL53L1_LLDriverData_t LLData;
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/*!< Low Level Driver data structure */
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VL53L1_LLDriverResults_t llresults;
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/*!< Low Level Driver data structure */
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VL53L1_State PalState; /* Store the pal state */
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VL53L1_DeviceParameters_t CurrentParameters;
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/*!< Current Device Parameter */
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} VL53L1_DevData_t;
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/* MACRO Definitions */
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/** @defgroup VL53L1_define_GeneralMacro_group General Macro Defines
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* General Macro Defines
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* @{
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*/
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/* Defines */
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#define VL53L1_SETPARAMETERFIELD(Dev, field, value) \
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(VL53L1DevDataSet(Dev, CurrentParameters.field, value))
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#define VL53L1_GETPARAMETERFIELD(Dev, field, variable) \
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(variable = VL53L1DevDataGet(Dev, CurrentParameters).field)
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#define VL53L1_SETARRAYPARAMETERFIELD(Dev, field, index, value) \
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(VL53L1DevDataSet(Dev, CurrentParameters.field[index], value))
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#define VL53L1_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \
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(variable = VL53L1DevDataGet(Dev, CurrentParameters).field[index])
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#define VL53L1_SETDEVICESPECIFICPARAMETER(Dev, field, value) \
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(VL53L1DevDataSet(Dev, DeviceSpecificParameters.field, value))
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#define VL53L1_GETDEVICESPECIFICPARAMETER(Dev, field) \
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(VL53L1DevDataGet(Dev, DeviceSpecificParameters).field)
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#define VL53L1_FIXPOINT1616TOFIXPOINT44(Value) \
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(uint16_t)((Value>>12)&0xFFFF)
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#define VL53L1_FIXPOINT44TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<12)
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#define VL53L1_FIXPOINT1616TOFIXPOINT72(Value) \
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(uint16_t)((Value>>14)&0xFFFF)
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#define VL53L1_FIXPOINT72TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<14)
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#define VL53L1_FIXPOINT1616TOFIXPOINT97(Value) \
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(uint16_t)((Value>>9)&0xFFFF)
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#define VL53L1_FIXPOINT97TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<9)
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#define VL53L1_FIXPOINT1616TOFIXPOINT88(Value) \
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(uint16_t)((Value>>8)&0xFFFF)
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#define VL53L1_FIXPOINT88TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<8)
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#define VL53L1_FIXPOINT1616TOFIXPOINT412(Value) \
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(uint16_t)((Value>>4)&0xFFFF)
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#define VL53L1_FIXPOINT412TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<4)
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#define VL53L1_FIXPOINT1616TOFIXPOINT313(Value) \
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(uint16_t)((Value>>3)&0xFFFF)
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#define VL53L1_FIXPOINT313TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<3)
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#define VL53L1_FIXPOINT1616TOFIXPOINT08(Value) \
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(uint8_t)((Value>>8)&0x00FF)
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#define VL53L1_FIXPOINT08TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<8)
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#define VL53L1_FIXPOINT1616TOFIXPOINT53(Value) \
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(uint8_t)((Value>>13)&0x00FF)
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#define VL53L1_FIXPOINT53TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<13)
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#define VL53L1_FIXPOINT1616TOFIXPOINT102(Value) \
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(uint16_t)((Value>>14)&0x0FFF)
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#define VL53L1_FIXPOINT102TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<14)
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#define VL53L1_FIXPOINT1616TOFIXPOINT142(Value) \
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(uint16_t)((Value>>14)&0xFFFF)
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#define VL53L1_FIXPOINT142TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<14)
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#define VL53L1_FIXPOINT1616TOFIXPOINT160(Value) \
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(uint16_t)((Value>>16)&0xFFFF)
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#define VL53L1_FIXPOINT160TOFIXPOINT1616(Value) \
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(FixPoint1616_t)((uint32_t)Value<<16)
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|
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#define VL53L1_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \
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(uint16_t)lsb)
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#ifndef SUPPRESS_UNUSED_WARNING
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|
#define SUPPRESS_UNUSED_WARNING(x) ((void) (x))
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#endif
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/** @} VL53L1_define_GeneralMacro_group */
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/** @} VL53L1_globaldefine_group */
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|
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#ifdef __cplusplus
|
|
}
|
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#endif
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#endif /* _VL53L1_DEF_H_ */
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