VL53L1X_api.h

Go to the documentation of this file.

/*
* Copyright (c) 2017, STMicroelectronics - All Rights Reserved
*
* This file : part of VL53L1 Core and : dual licensed,
* either 'STMicroelectronics
* Proprietary license'
* or 'BSD 3-clause "New" or "Revised" License' , at your option.
*
********************************************************************************
*
* 'STMicroelectronics Proprietary license'
*
********************************************************************************
*
* License terms: STMicroelectronics Proprietary in accordance with licensing
* terms at www.st.com/sla0081
*
* STMicroelectronics confidential
* Reproduction and Communication of this document : strictly prohibited unless
* specifically authorized in writing by STMicroelectronics.
*
*
********************************************************************************
*
* Alternatively, VL53L1 Core may be distributed under the terms of
* 'BSD 3-clause "New" or "Revised" License', in which case the following
* provisions apply instead of the ones mentioned above :
*
********************************************************************************
*
* License terms: BSD 3-clause "New" or "Revised" License.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* 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 AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS 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  vl53l1x_api.h
 * @brief Functions definition
 */

#ifndef _API_H_
#define _API_H_

#include "vl53l1_platform.h"

#define VL53L1X_IMPLEMENTATION_VER_MAJOR       3
#define VL53L1X_IMPLEMENTATION_VER_MINOR       3
#define VL53L1X_IMPLEMENTATION_VER_SUB         0
#define VL53L1X_IMPLEMENTATION_VER_REVISION  0000

typedef int8_t VL53L1X_ERROR;

#define SOFT_RESET                                          0x0000
#define VL53L1_I2C_SLAVE__DEVICE_ADDRESS                    0x0001
#define VL53L1_VHV_CONFIG__TIMEOUT_MACROP_LOOP_BOUND        0x0008
#define ALGO__CROSSTALK_COMPENSATION_PLANE_OFFSET_KCPS      0x0016
#define ALGO__CROSSTALK_COMPENSATION_X_PLANE_GRADIENT_KCPS  0x0018
#define ALGO__CROSSTALK_COMPENSATION_Y_PLANE_GRADIENT_KCPS  0x001A
#define ALGO__PART_TO_PART_RANGE_OFFSET_MM                  0x001E
#define MM_CONFIG__INNER_OFFSET_MM                          0x0020
#define MM_CONFIG__OUTER_OFFSET_MM                          0x0022
#define GPIO_HV_MUX__CTRL                                   0x0030
#define GPIO__TIO_HV_STATUS                                 0x0031
#define SYSTEM__INTERRUPT_CONFIG_GPIO                       0x0046
#define PHASECAL_CONFIG__TIMEOUT_MACROP                     0x004B
#define RANGE_CONFIG__TIMEOUT_MACROP_A_HI                   0x005E
#define RANGE_CONFIG__VCSEL_PERIOD_A                        0x0060
#define RANGE_CONFIG__VCSEL_PERIOD_B                        0x0063
#define RANGE_CONFIG__TIMEOUT_MACROP_B_HI                   0x0061
#define RANGE_CONFIG__TIMEOUT_MACROP_B_LO                   0x0062
#define RANGE_CONFIG__SIGMA_THRESH                          0x0064
#define RANGE_CONFIG__MIN_COUNT_RATE_RTN_LIMIT_MCPS         0x0066
#define RANGE_CONFIG__VALID_PHASE_HIGH                      0x0069
#define VL53L1_SYSTEM__INTERMEASUREMENT_PERIOD              0x006C
#define SYSTEM__THRESH_HIGH                                 0x0072
#define SYSTEM__THRESH_LOW                                  0x0074
#define SD_CONFIG__WOI_SD0                                  0x0078
#define SD_CONFIG__INITIAL_PHASE_SD0                        0x007A
#define ROI_CONFIG__USER_ROI_CENTRE_SPAD                    0x007F
#define ROI_CONFIG__USER_ROI_REQUESTED_GLOBAL_XY_SIZE       0x0080
#define SYSTEM__SEQUENCE_CONFIG                             0x0081
#define VL53L1_SYSTEM__GROUPED_PARAMETER_HOLD               0x0082
#define SYSTEM__INTERRUPT_CLEAR                             0x0086
#define SYSTEM__MODE_START                                  0x0087
#define VL53L1_RESULT__RANGE_STATUS                         0x0089
#define VL53L1_RESULT__DSS_ACTUAL_EFFECTIVE_SPADS_SD0       0x008C
#define RESULT__AMBIENT_COUNT_RATE_MCPS_SD                  0x0090
#define VL53L1_RESULT__FINAL_CROSSTALK_CORRECTED_RANGE_MM_SD0               0x0096
#define VL53L1_RESULT__PEAK_SIGNAL_COUNT_RATE_CROSSTALK_CORRECTED_MCPS_SD0  0x0098
#define VL53L1_RESULT__OSC_CALIBRATE_VAL                    0x00DE
#define VL53L1_FIRMWARE__SYSTEM_STATUS                      0x00E5
#define VL53L1_IDENTIFICATION__MODEL_ID                     0x010F
#define VL53L1_ROI_CONFIG__MODE_ROI_CENTRE_SPAD             0x013E

/****************************************
 * PRIVATE define do not edit
 ****************************************/

/**
 *  @brief defines SW Version
 */
typedef struct {
    uint8_t      major;    /*!< major number */
    uint8_t      minor;    /*!< minor number */
    uint8_t      build;    /*!< build number */
    uint32_t     revision; /*!< revision number */
} VL53L1X_Version_t;

/**
 *  @brief defines packed reading results type
 */
typedef struct {
    uint8_t Status;     /*!< ResultStatus */
    uint16_t Distance;  /*!< ResultDistance */
    uint16_t Ambient;   /*!< ResultAmbient */
    uint16_t SigPerSPAD;/*!< ResultSignalPerSPAD */
    uint16_t NumSPADs;  /*!< ResultNumSPADs */
} VL53L1X_Result_t;

/**
 * @brief This function returns the SW driver version
 */
VL53L1X_ERROR VL53L1X_GetSWVersion(VL53L1X_Version_t *pVersion);

/**
 * @brief This function sets the sensor I2C address used in case multiple devices application, default address 0x52
 */
VL53L1X_ERROR VL53L1X_SetI2CAddress(uint16_t, uint8_t new_address);

/**
 * @brief This function loads the 135 bytes default values to initialize the sensor.
 * @param dev Device address
 * @return 0:success, != 0:failed
 */
VL53L1X_ERROR VL53L1X_SensorInit(uint16_t dev);

/**
 * @brief This function clears the interrupt, to be called after a ranging data reading
 * to arm the interrupt for the next data ready event.
 */
VL53L1X_ERROR VL53L1X_ClearInterrupt(uint16_t dev);

/**
 * @brief This function programs the interrupt polarity\n
 * 1=active high (default), 0=active low
 */
VL53L1X_ERROR VL53L1X_SetInterruptPolarity(uint16_t dev, uint8_t IntPol);

/**
 * @brief This function returns the current interrupt polarity\n
 * 1=active high (default), 0=active low
 */
VL53L1X_ERROR VL53L1X_GetInterruptPolarity(uint16_t dev, uint8_t *pIntPol);

/**
 * @brief This function starts the ranging distance operation\n
 * The ranging operation is continuous. The clear interrupt has to be done after each get data to allow the interrupt to raise when the next data is ready\n
 * 1=active high (default), 0=active low, use SetInterruptPolarity() to change the interrupt polarity if required.
 */
VL53L1X_ERROR VL53L1X_StartRanging(uint16_t dev);

/**
 * @brief This function stops the ranging.
 */
VL53L1X_ERROR VL53L1X_StopRanging(uint16_t dev);

/**
 * @brief This function checks if the new ranging data is available by polling the dedicated register.
 * @param : isDataReady==0 -> not ready; isDataReady==1 -> ready
 */
VL53L1X_ERROR VL53L1X_CheckForDataReady(uint16_t dev, uint8_t *isDataReady);

/**
 * @brief This function programs the timing budget in ms.
 * Predefined values = 15, 20, 33, 50, 100(default), 200, 500.
 */
VL53L1X_ERROR VL53L1X_SetTimingBudgetInMs(uint16_t dev, uint16_t TimingBudgetInMs);

/**
 * @brief This function returns the current timing budget in ms.
 */
VL53L1X_ERROR VL53L1X_GetTimingBudgetInMs(uint16_t dev, uint16_t *pTimingBudgetInMs);

/**
 * @brief This function programs the distance mode (1=short, 2=long(default)).
 * Short mode max distance is limited to 1.3 m but better ambient immunity.\n
 * Long mode can range up to 4 m in the dark with 200 ms timing budget.
 */
VL53L1X_ERROR VL53L1X_SetDistanceMode(uint16_t dev, uint16_t DistanceMode);

/**
 * @brief This function returns the current distance mode (1=short, 2=long).
 */
VL53L1X_ERROR VL53L1X_GetDistanceMode(uint16_t dev, uint16_t *pDistanceMode);

/**
 * @brief This function programs the Intermeasurement period in ms\n
 * Intermeasurement period must be >/= timing budget. This condition is not checked by the API,
 * the customer has the duty to check the condition. Default = 100 ms
 */
VL53L1X_ERROR VL53L1X_SetInterMeasurementInMs(uint16_t dev,
                     uint32_t InterMeasurementInMs);

/**
 * @brief This function returns the Intermeasurement period in ms.
 */
VL53L1X_ERROR VL53L1X_GetInterMeasurementInMs(uint16_t dev, uint16_t * pIM);

/**
 * @brief This function returns the boot state of the device (1:booted, 0:not booted)
 */
VL53L1X_ERROR VL53L1X_BootState(uint16_t dev, uint8_t *state);

/**
 * @brief This function returns the sensor id, sensor Id must be 0xEEAC
 */
VL53L1X_ERROR VL53L1X_GetSensorId(uint16_t dev, uint16_t *id);

/**
 * @brief This function returns the distance measured by the sensor in mm
 */
VL53L1X_ERROR VL53L1X_GetDistance(uint16_t dev, uint16_t *distance);

/**
 * @brief This function returns the returned signal per SPAD in kcps/SPAD.
 * With kcps stands for Kilo Count Per Second
 */
VL53L1X_ERROR VL53L1X_GetSignalPerSpad(uint16_t dev, uint16_t *signalPerSp);

/**
 * @brief This function returns the ambient per SPAD in kcps/SPAD
 */
VL53L1X_ERROR VL53L1X_GetAmbientPerSpad(uint16_t dev, uint16_t *amb);

/**
 * @brief This function returns the returned signal in kcps.
 */
VL53L1X_ERROR VL53L1X_GetSignalRate(uint16_t dev, uint16_t *signalRate);

/**
 * @brief This function returns the current number of enabled SPADs
 */
VL53L1X_ERROR VL53L1X_GetSpadNb(uint16_t dev, uint16_t *spNb);

/**
 * @brief This function returns the ambient rate in kcps
 */
VL53L1X_ERROR VL53L1X_GetAmbientRate(uint16_t dev, uint16_t *ambRate);

/**
 * @brief This function returns the ranging status error \n
 * (0:no error, 1:sigma failed, 2:signal failed, ..., 7:wrap-around)
 */
VL53L1X_ERROR VL53L1X_GetRangeStatus(uint16_t dev, uint8_t *rangeStatus);

/**
 * @brief This function returns measurements and the range status in a single read access
 */
VL53L1X_ERROR VL53L1X_GetResult(uint16_t dev, VL53L1X_Result_t *pResult);

/**
 * @brief This function programs the offset correction in mm
 * @param OffsetValue:the offset correction value to program in mm
 */
VL53L1X_ERROR VL53L1X_SetOffset(uint16_t dev, int16_t OffsetValue);

/**
 * @brief This function returns the programmed offset correction value in mm
 */
VL53L1X_ERROR VL53L1X_GetOffset(uint16_t dev, int16_t *Offset);

/**
 * @brief This function programs the xtalk correction value in cps (Count Per Second).\n
 * This is the number of photons reflected back from the cover glass in cps.
 */
VL53L1X_ERROR VL53L1X_SetXtalk(uint16_t dev, uint16_t XtalkValue);

/**
 * @brief This function returns the current programmed xtalk correction value in cps
 */
VL53L1X_ERROR VL53L1X_GetXtalk(uint16_t dev, uint16_t *Xtalk);

/**
 * @brief This function programs the threshold detection mode\n
 * Example:\n
 * VL53L1X_SetDistanceThreshold(dev,100,300,0,1): Below 100 \n
 * VL53L1X_SetDistanceThreshold(dev,100,300,1,1): Above 300 \n
 * VL53L1X_SetDistanceThreshold(dev,100,300,2,1): Out of window \n
 * VL53L1X_SetDistanceThreshold(dev,100,300,3,1): In window \n
 * @param   dev : device address
 * @param   ThreshLow(in mm) : the threshold under which one the device raises an interrupt if Window = 0
 * @param   ThreshHigh(in mm) :  the threshold above which one the device raises an interrupt if Window = 1
 * @param   Window detection mode : 0=below, 1=above, 2=out, 3=in
 * @param   IntOnNoTarget = 1 (No longer used - just use 1)
 */
VL53L1X_ERROR VL53L1X_SetDistanceThreshold(uint16_t dev, uint16_t ThreshLow,
                  uint16_t ThreshHigh, uint8_t Window,
                  uint8_t IntOnNoTarget);

/**
 * @brief This function returns the window detection mode (0=below; 1=above; 2=out; 3=in)
 */
VL53L1X_ERROR VL53L1X_GetDistanceThresholdWindow(uint16_t dev, uint16_t *window);

/**
 * @brief This function returns the low threshold in mm
 */
VL53L1X_ERROR VL53L1X_GetDistanceThresholdLow(uint16_t dev, uint16_t *low);

/**
 * @brief This function returns the high threshold in mm
 */
VL53L1X_ERROR VL53L1X_GetDistanceThresholdHigh(uint16_t dev, uint16_t *high);

/**
 * @brief This function programs the ROI (Region of Interest)\n
 * The ROI position is centered, only the ROI size can be reprogrammed.\n
 * The smallest acceptable ROI size = 4\n
 * @param X:ROI Width; Y=ROI Height
 */
VL53L1X_ERROR VL53L1X_SetROI(uint16_t dev, uint16_t X, uint16_t Y);

/**
 *@brief This function returns width X and height Y
 */
VL53L1X_ERROR VL53L1X_GetROI_XY(uint16_t dev, uint16_t *ROI_X, uint16_t *ROI_Y);

/**
 *@brief This function programs the new user ROI center, please to be aware that there is no check in this function.
 *if the ROI center vs ROI size is out of border the ranging function return error #13
 */
VL53L1X_ERROR VL53L1X_SetROICenter(uint16_t dev, uint8_t ROICenter);

/**
 *@brief This function returns the current user ROI center
 */
VL53L1X_ERROR VL53L1X_GetROICenter(uint16_t dev, uint8_t *ROICenter);

/**
 * @brief This function programs a new signal threshold in kcps (default=1024 kcps\n
 */
VL53L1X_ERROR VL53L1X_SetSignalThreshold(uint16_t dev, uint16_t signal);

/**
 * @brief This function returns the current signal threshold in kcps
 */
VL53L1X_ERROR VL53L1X_GetSignalThreshold(uint16_t dev, uint16_t *signal);

/**
 * @brief This function programs a new sigma threshold in mm (default=15 mm)
 */
VL53L1X_ERROR VL53L1X_SetSigmaThreshold(uint16_t dev, uint16_t sigma);

/**
 * @brief This function returns the current sigma threshold in mm
 */
VL53L1X_ERROR VL53L1X_GetSigmaThreshold(uint16_t dev, uint16_t *signal);

/**
 * @brief This function performs the temperature calibration.
 * It is recommended to call this function any time the temperature might have changed by more than 8 deg C
 * without sensor ranging activity for an extended period.
 */
VL53L1X_ERROR VL53L1X_StartTemperatureUpdate(uint16_t dev);

#endif