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# VL53L0X_API Notes
本文档只说明 `VL53L0X_API` 目录里我们自己写的兼容层分别负责什么，方便后续在旧工程里继续集成。
## 目录分层
### `core/`
这是 ST 官方 API 核心层，主要负责：
- 设备初始化
- 寄存器访问逻辑
- 测距流程
- 官方校准函数
- `PerformRefSpadManagement`
- `PerformRefCalibration`
- `PerformOffsetCalibration`
- `PerformXTalkCalibration`
这部分一般不要随便改，除非明确要修改 ST 官方行为。
### `platform/`
这是我们自己写的兼容层，负责把 ST API 接到 STM32 工程里。
## 我们自己写的兼容层文件说明
### `platform/vl53l0x_platform.h`
平台适配层头文件。
主要作用：
- 声明和 STM32 平台相关的接口
- 给 ST API 提供底层读写函数声明
- 提供总线、GPIO、延时、地址切换相关接口声明
### `platform/vl53l0x_platform.c`
平台适配层实现。
主要作用：
- 对接 STM32 的 `HAL I2C`
- 实现 VL53L0X 所需的寄存器读写
- 绑定每颗传感器的 I2C 句柄和地址
- 控制 `XSHUT`
- 支持运行时改 I2C 地址
简单说，这一层负责把 ST API 的“平台无关接口”落到我们实际板子上。
### `platform/vl53_board.h`
板级管理层头文件。
主要作用：
- 定义多颗 VL53 共用的管理结构体
- 定义快照结构 `Vl53BoardSnapshot_t`
- 定义硬件配置结构 `Vl53BoardHwCfg_t`
- 对外暴露板级接口，例如：
- `Vl53Board_Init`
- `Vl53Board_StartContinuous`
- `Vl53Board_StopContinuous`
- `Vl53Board_ReadAll`
- 当前版本还扩展了校准相关数据结构和接口
这一层是“上层任务代码直接调用的 API”。
### `platform/vl53_board.c`
板级管理层实现。
主要作用：
- 管理一组 VL53 传感器
- 完成多颗设备的上电、拉低/拉高 `XSHUT`、分配运行地址
- 调 ST 官方初始化流程
- 启动/停止连续测量
- 轮询读取测距结果
- 组织成统一快照给上层使用
- 对每颗测距值做简单卡尔曼滤波
如果说 `vl53l0x_platform.c` 是“底层总线适配”，那 `vl53_board.c` 就是“更贴近业务的板级封装”。
### `platform/vl53_calibration_config.h`
这是我们自己加的运行时校准配置头。
主要作用：
- 集中保存已经确认过的校准值
- 让上层在启动后把这些值写回 VL53
当前主要用于保存：
- `offset_micro_meters`
- `xtalk_compensation_rate_mcps`
- 对应的 `*_calibrated` 标志
这不是 ST 官方自带文件，是我们为了工程集成方便单独加的配置层。
### `platform/vl53l0x_types.h`
类型辅助头文件。
主要作用：
- 补充平台侧需要的公共类型定义
- 给 `platform` 层做类型适配
### `platform/vl53l0x_platform_log.h`
日志相关兼容头。
主要作用：
- 兼容 ST API 的日志宏
- 当前工程里基本属于轻量占位层
## 推荐修改边界
如果后续要继续改 VL53 集成，优先修改：
- `platform/vl53_board.c/.h`
- `platform/vl53_calibration_config.h`
如果只是换板子、换 I2C、换 XSHUT 引脚，优先修改：
- `platform/vl53l0x_platform.c/.h`
如果不是明确要动 ST 官方行为，尽量不要去改：
- `core/`
## 一句话总结
我们自己写的兼容层分两层：
- `vl53l0x_platform.*`：把 ST API 接到 STM32 HAL
- `vl53_board.*`：把多颗 VL53 封装成上层任务可直接使用的板级接口
而 `vl53_calibration_config.h` 是我们额外加的“运行时固定标定值配置文件”。

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/*******************************************************************************
* Copyright © 2016, STMicroelectronics International N.V.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* 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.
* Neither the name of STMicroelectronics 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, 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.
*******************************************************************************/
#ifndef _VL53L0X_API_CALIBRATION_H_
#define _VL53L0X_API_CALIBRATION_H_
#include "vl53l0x_def.h"
#include "vl53l0x_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
VL53L0X_Error VL53L0X_perform_xtalk_calibration(VL53L0X_DEV Dev,
FixPoint1616_t XTalkCalDistance,
FixPoint1616_t *pXTalkCompensationRateMegaCps);
VL53L0X_Error VL53L0X_perform_offset_calibration(VL53L0X_DEV Dev,
FixPoint1616_t CalDistanceMilliMeter,
int32_t *pOffsetMicroMeter);
VL53L0X_Error VL53L0X_set_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
int32_t OffsetCalibrationDataMicroMeter);
VL53L0X_Error VL53L0X_get_offset_calibration_data_micro_meter(VL53L0X_DEV Dev,
int32_t *pOffsetCalibrationDataMicroMeter);
VL53L0X_Error VL53L0X_apply_offset_adjustment(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_perform_ref_spad_management(VL53L0X_DEV Dev,
uint32_t *refSpadCount, uint8_t *isApertureSpads);
VL53L0X_Error VL53L0X_set_reference_spads(VL53L0X_DEV Dev,
uint32_t count, uint8_t isApertureSpads);
VL53L0X_Error VL53L0X_get_reference_spads(VL53L0X_DEV Dev,
uint32_t *pSpadCount, uint8_t *pIsApertureSpads);
VL53L0X_Error VL53L0X_perform_phase_calibration(VL53L0X_DEV Dev,
uint8_t *pPhaseCal, const uint8_t get_data_enable,
const uint8_t restore_config);
VL53L0X_Error VL53L0X_perform_ref_calibration(VL53L0X_DEV Dev,
uint8_t *pVhvSettings, uint8_t *pPhaseCal, uint8_t get_data_enable);
VL53L0X_Error VL53L0X_set_ref_calibration(VL53L0X_DEV Dev,
uint8_t VhvSettings, uint8_t PhaseCal);
VL53L0X_Error VL53L0X_get_ref_calibration(VL53L0X_DEV Dev,
uint8_t *pVhvSettings, uint8_t *pPhaseCal);
#ifdef __cplusplus
}
#endif
#endif /* _VL53L0X_API_CALIBRATION_H_ */

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/*******************************************************************************
* Copyright © 2016, STMicroelectronics International N.V.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* 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.
* Neither the name of STMicroelectronics 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, 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.
*******************************************************************************/
#ifndef _VL53L0X_API_CORE_H_
#define _VL53L0X_API_CORE_H_
#include "vl53l0x_def.h"
#include "vl53l0x_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
VL53L0X_Error VL53L0X_reverse_bytes(uint8_t *data, uint32_t size);
VL53L0X_Error VL53L0X_measurement_poll_for_completion(VL53L0X_DEV Dev);
uint8_t VL53L0X_encode_vcsel_period(uint8_t vcsel_period_pclks);
uint8_t VL53L0X_decode_vcsel_period(uint8_t vcsel_period_reg);
uint32_t VL53L0X_isqrt(uint32_t num);
uint32_t VL53L0X_quadrature_sum(uint32_t a, uint32_t b);
VL53L0X_Error VL53L0X_get_info_from_device(VL53L0X_DEV Dev, uint8_t option);
VL53L0X_Error VL53L0X_set_vcsel_pulse_period(VL53L0X_DEV Dev,
VL53L0X_VcselPeriod VcselPeriodType, uint8_t VCSELPulsePeriodPCLK);
VL53L0X_Error VL53L0X_get_vcsel_pulse_period(VL53L0X_DEV Dev,
VL53L0X_VcselPeriod VcselPeriodType, uint8_t *pVCSELPulsePeriodPCLK);
uint32_t VL53L0X_decode_timeout(uint16_t encoded_timeout);
VL53L0X_Error get_sequence_step_timeout(VL53L0X_DEV Dev,
VL53L0X_SequenceStepId SequenceStepId,
uint32_t *pTimeOutMicroSecs);
VL53L0X_Error set_sequence_step_timeout(VL53L0X_DEV Dev,
VL53L0X_SequenceStepId SequenceStepId,
uint32_t TimeOutMicroSecs);
VL53L0X_Error VL53L0X_set_measurement_timing_budget_micro_seconds(
VL53L0X_DEV Dev,
uint32_t MeasurementTimingBudgetMicroSeconds);
VL53L0X_Error VL53L0X_get_measurement_timing_budget_micro_seconds(
VL53L0X_DEV Dev,
uint32_t *pMeasurementTimingBudgetMicroSeconds);
VL53L0X_Error VL53L0X_load_tuning_settings(VL53L0X_DEV Dev,
uint8_t *pTuningSettingBuffer);
VL53L0X_Error VL53L0X_calc_sigma_estimate(VL53L0X_DEV Dev,
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
FixPoint1616_t *pSigmaEstimate);
VL53L0X_Error VL53L0X_calc_dmax(
VL53L0X_DEV Dev, FixPoint1616_t ambRateMeas, uint32_t *pdmax_mm);
VL53L0X_Error VL53L0X_get_total_xtalk_rate(VL53L0X_DEV Dev,
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
FixPoint1616_t *ptotal_xtalk_rate_mcps);
VL53L0X_Error VL53L0X_get_total_signal_rate(VL53L0X_DEV Dev,
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
FixPoint1616_t *ptotal_signal_rate_mcps);
VL53L0X_Error VL53L0X_get_pal_range_status(VL53L0X_DEV Dev,
uint8_t DeviceRangeStatus,
FixPoint1616_t SignalRate,
uint16_t EffectiveSpadRtnCount,
VL53L0X_RangingMeasurementData_t *pRangingMeasurementData,
uint8_t *pPalRangeStatus);
uint32_t VL53L0X_calc_timeout_mclks(VL53L0X_DEV Dev,
uint32_t timeout_period_us, uint8_t vcsel_period_pclks);
uint16_t VL53L0X_encode_timeout(uint32_t timeout_macro_clks);
#ifdef __cplusplus
}
#endif
#endif /* _VL53L0X_API_CORE_H_ */

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/*******************************************************************************
* Copyright © 2016, STMicroelectronics International N.V.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* 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.
* Neither the name of STMicroelectronics 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, 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.
*******************************************************************************/
#ifndef _VL53L0X_API_RANGING_H_
#define _VL53L0X_API_RANGING_H_
#include "vl53l0x_def.h"
#include "vl53l0x_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
#ifdef __cplusplus
}
#endif
#endif /* _VL53L0X_API_RANGING_H_ */

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/*******************************************************************************
* Copyright © 2016, STMicroelectronics International N.V.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* 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.
* Neither the name of STMicroelectronics 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, 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.
*******************************************************************************/
#ifndef VL53L0X_API_STRINGS_H_
#define VL53L0X_API_STRINGS_H_
#include "vl53l0x_def.h"
#include "vl53l0x_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV Dev,
VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo);
VL53L0X_Error VL53L0X_get_device_error_string(VL53L0X_DeviceError ErrorCode,
char *pDeviceErrorString);
VL53L0X_Error VL53L0X_get_range_status_string(uint8_t RangeStatus,
char *pRangeStatusString);
VL53L0X_Error VL53L0X_get_pal_error_string(VL53L0X_Error PalErrorCode,
char *pPalErrorString);
VL53L0X_Error VL53L0X_get_pal_state_string(VL53L0X_State PalStateCode,
char *pPalStateString);
VL53L0X_Error VL53L0X_get_sequence_steps_info(
VL53L0X_SequenceStepId SequenceStepId,
char *pSequenceStepsString);
VL53L0X_Error VL53L0X_get_limit_check_info(VL53L0X_DEV Dev,
uint16_t LimitCheckId,
char *pLimitCheckString);
#ifdef USE_EMPTY_STRING
#define VL53L0X_STRING_DEVICE_INFO_NAME ""
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 ""
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 ""
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 ""
#define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 ""
#define VL53L0X_STRING_DEVICE_INFO_TYPE ""
/* PAL ERROR strings */
#define VL53L0X_STRING_ERROR_NONE ""
#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING ""
#define VL53L0X_STRING_ERROR_MIN_CLIPPED ""
#define VL53L0X_STRING_ERROR_UNDEFINED ""
#define VL53L0X_STRING_ERROR_INVALID_PARAMS ""
#define VL53L0X_STRING_ERROR_NOT_SUPPORTED ""
#define VL53L0X_STRING_ERROR_RANGE_ERROR ""
#define VL53L0X_STRING_ERROR_TIME_OUT ""
#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED ""
#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL ""
#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING ""
#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ""
#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE ""
#define VL53L0X_STRING_ERROR_INVALID_COMMAND ""
#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO ""
#define VL53L0X_STRING_ERROR_REF_SPAD_INIT ""
#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED ""
#define VL53L0X_STRING_UNKNOW_ERROR_CODE ""
/* Range Status */
#define VL53L0X_STRING_RANGESTATUS_NONE ""
#define VL53L0X_STRING_RANGESTATUS_RANGEVALID ""
#define VL53L0X_STRING_RANGESTATUS_SIGMA ""
#define VL53L0X_STRING_RANGESTATUS_SIGNAL ""
#define VL53L0X_STRING_RANGESTATUS_MINRANGE ""
#define VL53L0X_STRING_RANGESTATUS_PHASE ""
#define VL53L0X_STRING_RANGESTATUS_HW ""
/* Range Status */
#define VL53L0X_STRING_STATE_POWERDOWN ""
#define VL53L0X_STRING_STATE_WAIT_STATICINIT ""
#define VL53L0X_STRING_STATE_STANDBY ""
#define VL53L0X_STRING_STATE_IDLE ""
#define VL53L0X_STRING_STATE_RUNNING ""
#define VL53L0X_STRING_STATE_UNKNOWN ""
#define VL53L0X_STRING_STATE_ERROR ""
/* Device Specific */
#define VL53L0X_STRING_DEVICEERROR_NONE ""
#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ""
#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ""
#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND ""
#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET ""
#define VL53L0X_STRING_DEVICEERROR_SNRCHECK ""
#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK ""
#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK ""
#define VL53L0X_STRING_DEVICEERROR_TCC ""
#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY ""
#define VL53L0X_STRING_DEVICEERROR_MINCLIP ""
#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE ""
#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW ""
#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW ""
#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD ""
#define VL53L0X_STRING_DEVICEERROR_UNKNOWN ""
/* Check Enable */
#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE ""
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE ""
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP ""
#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD ""
/* Sequence Step */
#define VL53L0X_STRING_SEQUENCESTEP_TCC ""
#define VL53L0X_STRING_SEQUENCESTEP_DSS ""
#define VL53L0X_STRING_SEQUENCESTEP_MSRC ""
#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE ""
#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE ""
#else
#define VL53L0X_STRING_DEVICE_INFO_NAME "VL53L0X cut1.0"
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS0 "VL53L0X TS0"
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS1 "VL53L0X TS1"
#define VL53L0X_STRING_DEVICE_INFO_NAME_TS2 "VL53L0X TS2"
#define VL53L0X_STRING_DEVICE_INFO_NAME_ES1 "VL53L0X ES1 or later"
#define VL53L0X_STRING_DEVICE_INFO_TYPE "VL53L0X"
/* PAL ERROR strings */
#define VL53L0X_STRING_ERROR_NONE \
"No Error"
#define VL53L0X_STRING_ERROR_CALIBRATION_WARNING \
"Calibration Warning Error"
#define VL53L0X_STRING_ERROR_MIN_CLIPPED \
"Min clipped error"
#define VL53L0X_STRING_ERROR_UNDEFINED \
"Undefined error"
#define VL53L0X_STRING_ERROR_INVALID_PARAMS \
"Invalid parameters error"
#define VL53L0X_STRING_ERROR_NOT_SUPPORTED \
"Not supported error"
#define VL53L0X_STRING_ERROR_RANGE_ERROR \
"Range error"
#define VL53L0X_STRING_ERROR_TIME_OUT \
"Time out error"
#define VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED \
"Mode not supported error"
#define VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL \
"Buffer too small"
#define VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING \
"GPIO not existing"
#define VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED \
"GPIO funct not supported"
#define VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED \
"Interrupt not Cleared"
#define VL53L0X_STRING_ERROR_CONTROL_INTERFACE \
"Control Interface Error"
#define VL53L0X_STRING_ERROR_INVALID_COMMAND \
"Invalid Command Error"
#define VL53L0X_STRING_ERROR_DIVISION_BY_ZERO \
"Division by zero Error"
#define VL53L0X_STRING_ERROR_REF_SPAD_INIT \
"Reference Spad Init Error"
#define VL53L0X_STRING_ERROR_NOT_IMPLEMENTED \
"Not implemented error"
#define VL53L0X_STRING_UNKNOW_ERROR_CODE \
"Unknown Error Code"
/* Range Status */
#define VL53L0X_STRING_RANGESTATUS_NONE "No Update"
#define VL53L0X_STRING_RANGESTATUS_RANGEVALID "Range Valid"
#define VL53L0X_STRING_RANGESTATUS_SIGMA "Sigma Fail"
#define VL53L0X_STRING_RANGESTATUS_SIGNAL "Signal Fail"
#define VL53L0X_STRING_RANGESTATUS_MINRANGE "Min Range Fail"
#define VL53L0X_STRING_RANGESTATUS_PHASE "Phase Fail"
#define VL53L0X_STRING_RANGESTATUS_HW "Hardware Fail"
/* Range Status */
#define VL53L0X_STRING_STATE_POWERDOWN "POWERDOWN State"
#define VL53L0X_STRING_STATE_WAIT_STATICINIT \
"Wait for staticinit State"
#define VL53L0X_STRING_STATE_STANDBY "STANDBY State"
#define VL53L0X_STRING_STATE_IDLE "IDLE State"
#define VL53L0X_STRING_STATE_RUNNING "RUNNING State"
#define VL53L0X_STRING_STATE_UNKNOWN "UNKNOWN State"
#define VL53L0X_STRING_STATE_ERROR "ERROR State"
/* Device Specific */
#define VL53L0X_STRING_DEVICEERROR_NONE "No Update"
#define VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE \
"VCSEL Continuity Test Failure"
#define VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE \
"VCSEL Watchdog Test Failure"
#define VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND \
"No VHV Value found"
#define VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET \
"MSRC No Target Error"
#define VL53L0X_STRING_DEVICEERROR_SNRCHECK \
"SNR Check Exit"
#define VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK \
"Range Phase Check Error"
#define VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK \
"Sigma Threshold Check Error"
#define VL53L0X_STRING_DEVICEERROR_TCC \
"TCC Error"
#define VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY \
"Phase Consistency Error"
#define VL53L0X_STRING_DEVICEERROR_MINCLIP \
"Min Clip Error"
#define VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE \
"Range Complete"
#define VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW \
"Range Algo Underflow Error"
#define VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW \
"Range Algo Overlow Error"
#define VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD \
"Range Ignore Threshold Error"
#define VL53L0X_STRING_DEVICEERROR_UNKNOWN \
"Unknown error code"
/* Check Enable */
#define VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE \
"SIGMA FINAL RANGE"
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE \
"SIGNAL RATE FINAL RANGE"
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP \
"SIGNAL REF CLIP"
#define VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD \
"RANGE IGNORE THRESHOLD"
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC \
"SIGNAL RATE MSRC"
#define VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE \
"SIGNAL RATE PRE RANGE"
/* Sequence Step */
#define VL53L0X_STRING_SEQUENCESTEP_TCC "TCC"
#define VL53L0X_STRING_SEQUENCESTEP_DSS "DSS"
#define VL53L0X_STRING_SEQUENCESTEP_MSRC "MSRC"
#define VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE "PRE RANGE"
#define VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE "FINAL RANGE"
#endif /* USE_EMPTY_STRING */
#ifdef __cplusplus
}
#endif
#endif

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/*******************************************************************************
* Copyright <20> 2016, STMicroelectronics International N.V.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* 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.
* Neither the name of STMicroelectronics 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, 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 VL53L0X_def.h
*
* @brief Type definitions for VL53L0X API.
*
*/
#ifndef _VL53L0X_DEF_H_
#define _VL53L0X_DEF_H_
#ifdef __cplusplus
extern "C" {
#endif
/** @defgroup VL53L0X_globaldefine_group VL53L0X Defines
* @brief VL53L0X Defines
* @{
*/
/** PAL SPECIFICATION major version */
#define VL53L0X10_SPECIFICATION_VER_MAJOR 1
/** PAL SPECIFICATION minor version */
#define VL53L0X10_SPECIFICATION_VER_MINOR 2
/** PAL SPECIFICATION sub version */
#define VL53L0X10_SPECIFICATION_VER_SUB 7
/** PAL SPECIFICATION sub version */
#define VL53L0X10_SPECIFICATION_VER_REVISION 1440
/** VL53L0X PAL IMPLEMENTATION major version */
#define VL53L0X10_IMPLEMENTATION_VER_MAJOR 1
/** VL53L0X PAL IMPLEMENTATION minor version */
#define VL53L0X10_IMPLEMENTATION_VER_MINOR 0
/** VL53L0X PAL IMPLEMENTATION sub version */
#define VL53L0X10_IMPLEMENTATION_VER_SUB 9
/** VL53L0X PAL IMPLEMENTATION sub version */
#define VL53L0X10_IMPLEMENTATION_VER_REVISION 3673
/** PAL SPECIFICATION major version */
#define VL53L0X_SPECIFICATION_VER_MAJOR 1
/** PAL SPECIFICATION minor version */
#define VL53L0X_SPECIFICATION_VER_MINOR 2
/** PAL SPECIFICATION sub version */
#define VL53L0X_SPECIFICATION_VER_SUB 7
/** PAL SPECIFICATION sub version */
#define VL53L0X_SPECIFICATION_VER_REVISION 1440
/** VL53L0X PAL IMPLEMENTATION major version */
#define VL53L0X_IMPLEMENTATION_VER_MAJOR 1
/** VL53L0X PAL IMPLEMENTATION minor version */
#define VL53L0X_IMPLEMENTATION_VER_MINOR 0
/** VL53L0X PAL IMPLEMENTATION sub version */
#define VL53L0X_IMPLEMENTATION_VER_SUB 4
/** VL53L0X PAL IMPLEMENTATION sub version */
#define VL53L0X_IMPLEMENTATION_VER_REVISION 4960
#define VL53L0X_DEFAULT_MAX_LOOP 2000
#define VL53L0X_MAX_STRING_LENGTH 32
#include "vl53l0x_device.h"
#include "vl53l0x_types.h"
/****************************************
* PRIVATE define do not edit
****************************************/
/** @brief Defines the parameters of the Get Version Functions
*/
typedef struct {
uint32_t revision; /*!< revision number */
uint8_t major; /*!< major number */
uint8_t minor; /*!< minor number */
uint8_t build; /*!< build number */
} VL53L0X_Version_t;
/** @brief Defines the parameters of the Get Device Info Functions
*/
typedef struct {
char Name[VL53L0X_MAX_STRING_LENGTH];
/*!< Name of the Device e.g. Left_Distance */
char Type[VL53L0X_MAX_STRING_LENGTH];
/*!< Type of the Device e.g VL53L0X */
char ProductId[VL53L0X_MAX_STRING_LENGTH];
/*!< Product Identifier String */
uint8_t ProductType;
/*!< Product Type, VL53L0X = 1, VL53L1 = 2 */
uint8_t ProductRevisionMajor;
/*!< Product revision major */
uint8_t ProductRevisionMinor;
/*!< Product revision minor */
} VL53L0X_DeviceInfo_t;
/** @defgroup VL53L0X_define_Error_group Error and Warning code returned by API
* The following DEFINE are used to identify the PAL ERROR
* @{
*/
typedef int8_t VL53L0X_Error;
#define VL53L0X_ERROR_NONE ((VL53L0X_Error) 0)
#define VL53L0X_ERROR_CALIBRATION_WARNING ((VL53L0X_Error) - 1)
/*!< Warning invalid calibration data may be in used
* \a VL53L0X_InitData()
* \a VL53L0X_GetOffsetCalibrationData
* \a VL53L0X_SetOffsetCalibrationData
*/
#define VL53L0X_ERROR_MIN_CLIPPED ((VL53L0X_Error) - 2)
/*!< Warning parameter passed was clipped to min before to be applied */
#define VL53L0X_ERROR_UNDEFINED ((VL53L0X_Error) - 3)
/*!< Unqualified error */
#define VL53L0X_ERROR_INVALID_PARAMS ((VL53L0X_Error) - 4)
/*!< Parameter passed is invalid or out of range */
#define VL53L0X_ERROR_NOT_SUPPORTED ((VL53L0X_Error) - 5)
/*!< Function is not supported in current mode or configuration */
#define VL53L0X_ERROR_RANGE_ERROR ((VL53L0X_Error) - 6)
/*!< Device report a ranging error interrupt status */
#define VL53L0X_ERROR_TIME_OUT ((VL53L0X_Error) - 7)
/*!< Aborted due to time out */
#define VL53L0X_ERROR_MODE_NOT_SUPPORTED ((VL53L0X_Error) - 8)
/*!< Asked mode is not supported by the device */
#define VL53L0X_ERROR_BUFFER_TOO_SMALL ((VL53L0X_Error) - 9)
/*!< ... */
#define VL53L0X_ERROR_GPIO_NOT_EXISTING ((VL53L0X_Error) - 10)
/*!< User tried to setup a non-existing GPIO pin */
#define VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED ((VL53L0X_Error) - 11)
/*!< unsupported GPIO functionality */
#define VL53L0X_ERROR_INTERRUPT_NOT_CLEARED ((VL53L0X_Error) - 12)
/*!< Error during interrupt clear */
#define VL53L0X_ERROR_CONTROL_INTERFACE ((VL53L0X_Error) - 20)
/*!< error reported from IO functions */
#define VL53L0X_ERROR_INVALID_COMMAND ((VL53L0X_Error) - 30)
/*!< The command is not allowed in the current device state
* (power down)
*/
#define VL53L0X_ERROR_DIVISION_BY_ZERO ((VL53L0X_Error) - 40)
/*!< In the function a division by zero occurs */
#define VL53L0X_ERROR_REF_SPAD_INIT ((VL53L0X_Error) - 50)
/*!< Error during reference SPAD initialization */
#define VL53L0X_ERROR_NOT_IMPLEMENTED ((VL53L0X_Error) - 99)
/*!< Tells requested functionality has not been implemented yet or
* not compatible with the device
*/
/** @} VL53L0X_define_Error_group */
/** @defgroup VL53L0X_define_DeviceModes_group Defines Device modes
* Defines all possible modes for the device
* @{
*/
typedef uint8_t VL53L0X_DeviceModes;
#define VL53L0X_DEVICEMODE_SINGLE_RANGING ((VL53L0X_DeviceModes) 0)
#define VL53L0X_DEVICEMODE_CONTINUOUS_RANGING ((VL53L0X_DeviceModes) 1)
#define VL53L0X_DEVICEMODE_SINGLE_HISTOGRAM ((VL53L0X_DeviceModes) 2)
#define VL53L0X_DEVICEMODE_CONTINUOUS_TIMED_RANGING ((VL53L0X_DeviceModes) 3)
#define VL53L0X_DEVICEMODE_SINGLE_ALS ((VL53L0X_DeviceModes) 10)
#define VL53L0X_DEVICEMODE_GPIO_DRIVE ((VL53L0X_DeviceModes) 20)
#define VL53L0X_DEVICEMODE_GPIO_OSC ((VL53L0X_DeviceModes) 21)
/* ... Modes to be added depending on device */
/** @} VL53L0X_define_DeviceModes_group */
/** @defgroup VL53L0X_define_HistogramModes_group Defines Histogram modes
* Defines all possible Histogram modes for the device
* @{
*/
typedef uint8_t VL53L0X_HistogramModes;
#define VL53L0X_HISTOGRAMMODE_DISABLED ((VL53L0X_HistogramModes) 0)
/*!< Histogram Disabled */
#define VL53L0X_HISTOGRAMMODE_REFERENCE_ONLY ((VL53L0X_HistogramModes) 1)
/*!< Histogram Reference array only */
#define VL53L0X_HISTOGRAMMODE_RETURN_ONLY ((VL53L0X_HistogramModes) 2)
/*!< Histogram Return array only */
#define VL53L0X_HISTOGRAMMODE_BOTH ((VL53L0X_HistogramModes) 3)
/*!< Histogram both Reference and Return Arrays */
/* ... Modes to be added depending on device */
/** @} VL53L0X_define_HistogramModes_group */
/** @defgroup VL53L0X_define_PowerModes_group List of available Power Modes
* List of available Power Modes
* @{
*/
typedef uint8_t VL53L0X_PowerModes;
#define VL53L0X_POWERMODE_STANDBY_LEVEL1 ((VL53L0X_PowerModes) 0)
/*!< Standby level 1 */
#define VL53L0X_POWERMODE_STANDBY_LEVEL2 ((VL53L0X_PowerModes) 1)
/*!< Standby level 2 */
#define VL53L0X_POWERMODE_IDLE_LEVEL1 ((VL53L0X_PowerModes) 2)
/*!< Idle level 1 */
#define VL53L0X_POWERMODE_IDLE_LEVEL2 ((VL53L0X_PowerModes) 3)
/*!< Idle level 2 */
/** @} VL53L0X_define_PowerModes_group */
#define VL53L0X_DMAX_LUT_SIZE 7
/*!< Defines the number of items in the DMAX lookup table */
/** @brief Structure defining data pair that makes up the DMAX Lookup table.
*/
typedef struct {
FixPoint1616_t ambRate_mcps[VL53L0X_DMAX_LUT_SIZE];
/*!< Ambient rate (mcps) */
FixPoint1616_t dmax_mm[VL53L0X_DMAX_LUT_SIZE];
/*!< DMAX Value (mm) */
} VL53L0X_DMaxLUT_t;
/** @brief Defines all parameters for the device
*/
typedef struct {
VL53L0X_DeviceModes DeviceMode;
/*!< Defines type of measurement to be done for the next measure */
VL53L0X_HistogramModes HistogramMode;
/*!< Defines type of histogram measurement to be done for the next
* measure
*/
uint32_t MeasurementTimingBudgetMicroSeconds;
/*!< Defines the allowed total time for a single measurement */
uint32_t InterMeasurementPeriodMilliSeconds;
/*!< Defines time between two consecutive measurements (between two
* measurement starts). If set to 0 means back-to-back mode
*/
uint8_t XTalkCompensationEnable;
/*!< Tells if Crosstalk compensation shall be enable or not */
uint16_t XTalkCompensationRangeMilliMeter;
/*!< CrossTalk compensation range in millimeter */
FixPoint1616_t XTalkCompensationRateMegaCps;
/*!< CrossTalk compensation rate in Mega counts per seconds.
* Expressed in 16.16 fixed point format.
*/
int32_t RangeOffsetMicroMeters;
/*!< Range offset adjustment (mm). */
uint8_t LimitChecksEnable[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
/*!< This Array store all the Limit Check enable for this device. */
uint8_t LimitChecksStatus[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
/*!< This Array store all the Status of the check linked to last
* measurement.
*/
FixPoint1616_t LimitChecksValue[VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS];
/*!< This Array store all the Limit Check value for this device */
VL53L0X_DMaxLUT_t dmax_lut;
/*!< Lookup table defining ambient rates and associated
* dmax values.
*/
uint8_t WrapAroundCheckEnable;
/*!< Tells if Wrap Around Check shall be enable or not */
} VL53L0X_DeviceParameters_t;
/** @defgroup VL53L0X_define_State_group Defines the current status
* of the device
* Defines the current status of the device
* @{
*/
typedef uint8_t VL53L0X_State;
#define VL53L0X_STATE_POWERDOWN ((VL53L0X_State) 0)
/*!< Device is in HW reset */
#define VL53L0X_STATE_WAIT_STATICINIT ((VL53L0X_State) 1)
/*!< Device is initialized and wait for static initialization */
#define VL53L0X_STATE_STANDBY ((VL53L0X_State) 2)
/*!< Device is in Low power Standby mode */
#define VL53L0X_STATE_IDLE ((VL53L0X_State) 3)
/*!< Device has been initialized and ready to do measurements */
#define VL53L0X_STATE_RUNNING ((VL53L0X_State) 4)
/*!< Device is performing measurement */
#define VL53L0X_STATE_UNKNOWN ((VL53L0X_State) 98)
/*!< Device is in unknown state and need to be rebooted */
#define VL53L0X_STATE_ERROR ((VL53L0X_State) 99)
/*!< Device is in error state and need to be rebooted */
/** @} VL53L0X_define_State_group */
/**
* @struct VL53L0X_RangeData_t
* @brief Range measurement data.
*/
typedef struct {
uint32_t TimeStamp; /*!< 32-bit time stamp. */
uint32_t MeasurementTimeUsec;
/*!< Give the Measurement time needed by the device to do the
* measurement.
*/
uint16_t RangeMilliMeter; /*!< range distance in millimeter. */
uint16_t RangeDMaxMilliMeter;
/*!< Tells what is the maximum detection distance of the device
* in current setup and environment conditions (Filled when
* applicable)
*/
FixPoint1616_t SignalRateRtnMegaCps;
/*!< Return signal rate (MCPS)\n these is a 16.16 fix point
* value, which is effectively a measure of target
* reflectance.
*/
FixPoint1616_t AmbientRateRtnMegaCps;
/*!< Return ambient rate (MCPS)\n these is a 16.16 fix point
* value, which is effectively a measure of the ambien
* t light.
*/
uint16_t EffectiveSpadRtnCount;
/*!< Return the effective SPAD count for the return signal.
* To obtain Real value it should be divided by 256
*/
uint8_t ZoneId;
/*!< Denotes which zone and range scheduler stage the range
* data relates to.
*/
uint8_t RangeFractionalPart;
/*!< Fractional part of range distance. Final value is a
* FixPoint168 value.
*/
uint8_t RangeStatus;
/*!< Range Status for the current measurement. This is device
* dependent. Value = 0 means value is valid.
* See \ref RangeStatusPage
*/
} VL53L0X_RangingMeasurementData_t;
#define VL53L0X_HISTOGRAM_BUFFER_SIZE 24
/**
* @struct VL53L0X_HistogramData_t
* @brief Histogram measurement data.
*/
typedef struct {
/* Histogram Measurement data */
uint32_t HistogramData[VL53L0X_HISTOGRAM_BUFFER_SIZE];
/*!< Histogram data */
/*!< Indicate the types of histogram data :
*Return only, Reference only, both Return and Reference
*/
uint8_t FirstBin; /*!< First Bin value */
uint8_t BufferSize; /*!< Buffer Size - Set by the user.*/
uint8_t NumberOfBins;
/*!< Number of bins filled by the histogram measurement */
VL53L0X_DeviceError ErrorStatus;
/*!< Error status of the current measurement. \n
* see @a ::VL53L0X_DeviceError @a VL53L0X_GetStatusErrorString()
*/
} VL53L0X_HistogramMeasurementData_t;
#define VL53L0X_REF_SPAD_BUFFER_SIZE 6
/**
* @struct VL53L0X_SpadData_t
* @brief Spad Configuration Data.
*/
typedef struct {
uint8_t RefSpadEnables[VL53L0X_REF_SPAD_BUFFER_SIZE];
/*!< Reference Spad Enables */
uint8_t RefGoodSpadMap[VL53L0X_REF_SPAD_BUFFER_SIZE];
/*!< Reference Spad Good Spad Map */
} VL53L0X_SpadData_t;
typedef struct {
FixPoint1616_t OscFrequencyMHz; /* Frequency used */
uint16_t LastEncodedTimeout;
/* last encoded Time out used for timing budget*/
VL53L0X_GpioFunctionality Pin0GpioFunctionality;
/* store the functionality of the GPIO: pin0 */
uint32_t FinalRangeTimeoutMicroSecs;
/*!< Execution time of the final range*/
uint8_t FinalRangeVcselPulsePeriod;
/*!< Vcsel pulse period (pll clocks) for the final range measurement*/
uint32_t PreRangeTimeoutMicroSecs;
/*!< Execution time of the final range*/
uint8_t PreRangeVcselPulsePeriod;
/*!< Vcsel pulse period (pll clocks) for the pre-range measurement*/
uint16_t SigmaEstRefArray;
/*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */
uint16_t SigmaEstEffPulseWidth;
/*!< Effective Pulse width for sigma estimate in 1/100th
* of ns e.g. 900 = 9.0ns
*/
uint16_t SigmaEstEffAmbWidth;
/*!< Effective Ambient width for sigma estimate in 1/100th of ns
* e.g. 500 = 5.0ns
*/
/* Indicate if read from device has been done (==1) or not (==0) */
uint8_t ReadDataFromDeviceDone;
uint8_t ModuleId; /* Module ID */
uint8_t Revision; /* test Revision */
char ProductId[VL53L0X_MAX_STRING_LENGTH];
/* Product Identifier String */
uint8_t ReferenceSpadCount; /* used for ref spad management */
uint8_t ReferenceSpadType; /* used for ref spad management */
uint8_t RefSpadsInitialised; /* reports if ref spads are initialised. */
uint32_t PartUIDUpper; /*!< Unique Part ID Upper */
uint32_t PartUIDLower; /*!< Unique Part ID Lower */
/*!< Peek Signal rate at 400 mm*/
FixPoint1616_t SignalRateMeasFixed400mm;
} VL53L0X_DeviceSpecificParameters_t;
/**
* @struct VL53L0X_DevData_t
*
* @brief VL53L0X PAL device ST private data structure \n
* End user should never access any of these field directly
*
* These must never access directly but only via macro
*/
typedef struct {
int32_t Part2PartOffsetNVMMicroMeter;
/*!< backed up NVM value */
int32_t Part2PartOffsetAdjustmentNVMMicroMeter;
/*!< backed up NVM value representing additional offset adjustment */
VL53L0X_DeviceParameters_t CurrentParameters;
/*!< Current Device Parameter */
VL53L0X_RangingMeasurementData_t LastRangeMeasure;
/*!< Ranging Data */
VL53L0X_HistogramMeasurementData_t LastHistogramMeasure;
/*!< Histogram Data */
VL53L0X_DeviceSpecificParameters_t DeviceSpecificParameters;
/*!< Parameters specific to the device */
VL53L0X_SpadData_t SpadData;
/*!< Spad Data */
uint8_t SequenceConfig;
/*!< Internal value for the sequence config */
uint8_t RangeFractionalEnable;
/*!< Enable/Disable fractional part of ranging data */
VL53L0X_State PalState;
/*!< Current state of the PAL for this device */
VL53L0X_PowerModes PowerMode;
/*!< Current Power Mode */
uint16_t SigmaEstRefArray;
/*!< Reference array sigma value in 1/100th of [mm] e.g. 100 = 1mm */
uint16_t SigmaEstEffPulseWidth;
/*!< Effective Pulse width for sigma estimate in 1/100th
* of ns e.g. 900 = 9.0ns
*/
uint16_t SigmaEstEffAmbWidth;
/*!< Effective Ambient width for sigma estimate in 1/100th of ns
* e.g. 500 = 5.0ns
*/
uint8_t StopVariable;
/*!< StopVariable used during the stop sequence */
uint16_t targetRefRate;
/*!< Target Ambient Rate for Ref spad management */
FixPoint1616_t SigmaEstimate;
/*!< Sigma Estimate - based on ambient & VCSEL rates and
* signal_total_events
*/
FixPoint1616_t SignalEstimate;
/*!< Signal Estimate - based on ambient & VCSEL rates and cross talk */
FixPoint1616_t LastSignalRefMcps;
/*!< Latest Signal ref in Mcps */
uint8_t *pTuningSettingsPointer;
/*!< Pointer for Tuning Settings table */
uint8_t UseInternalTuningSettings;
/*!< Indicate if we use Tuning Settings table */
uint16_t LinearityCorrectiveGain;
/*!< Linearity Corrective Gain value in x1000 */
} VL53L0X_DevData_t;
/** @defgroup VL53L0X_define_InterruptPolarity_group Defines the Polarity
* of the Interrupt
* Defines the Polarity of the Interrupt
* @{
*/
typedef uint8_t VL53L0X_InterruptPolarity;
#define VL53L0X_INTERRUPTPOLARITY_LOW ((VL53L0X_InterruptPolarity) 0)
/*!< Set active low polarity best setup for falling edge. */
#define VL53L0X_INTERRUPTPOLARITY_HIGH ((VL53L0X_InterruptPolarity) 1)
/*!< Set active high polarity best setup for rising edge. */
/** @} VL53L0X_define_InterruptPolarity_group */
/** @defgroup VL53L0X_define_VcselPeriod_group Vcsel Period Defines
* Defines the range measurement for which to access the vcsel period.
* @{
*/
typedef uint8_t VL53L0X_VcselPeriod;
#define VL53L0X_VCSEL_PERIOD_PRE_RANGE ((VL53L0X_VcselPeriod) 0)
/*!<Identifies the pre-range vcsel period. */
#define VL53L0X_VCSEL_PERIOD_FINAL_RANGE ((VL53L0X_VcselPeriod) 1)
/*!<Identifies the final range vcsel period. */
/** @} VL53L0X_define_VcselPeriod_group */
/** @defgroup VL53L0X_define_SchedulerSequence_group Defines the steps
* carried out by the scheduler during a range measurement.
* @{
* Defines the states of all the steps in the scheduler
* i.e. enabled/disabled.
*/
typedef struct {
uint8_t TccOn; /*!<Reports if Target Centre Check On */
uint8_t MsrcOn; /*!<Reports if MSRC On */
uint8_t DssOn; /*!<Reports if DSS On */
uint8_t PreRangeOn; /*!<Reports if Pre-Range On */
uint8_t FinalRangeOn; /*!<Reports if Final-Range On */
} VL53L0X_SchedulerSequenceSteps_t;
/** @} VL53L0X_define_SchedulerSequence_group */
/** @defgroup VL53L0X_define_SequenceStepId_group Defines the Polarity
* of the Interrupt
* Defines the the sequence steps performed during ranging..
* @{
*/
typedef uint8_t VL53L0X_SequenceStepId;
#define VL53L0X_SEQUENCESTEP_TCC ((VL53L0X_VcselPeriod) 0)
/*!<Target CentreCheck identifier. */
#define VL53L0X_SEQUENCESTEP_DSS ((VL53L0X_VcselPeriod) 1)
/*!<Dynamic Spad Selection function Identifier. */
#define VL53L0X_SEQUENCESTEP_MSRC ((VL53L0X_VcselPeriod) 2)
/*!<Minimum Signal Rate Check function Identifier. */
#define VL53L0X_SEQUENCESTEP_PRE_RANGE ((VL53L0X_VcselPeriod) 3)
/*!<Pre-Range check Identifier. */
#define VL53L0X_SEQUENCESTEP_FINAL_RANGE ((VL53L0X_VcselPeriod) 4)
/*!<Final Range Check Identifier. */
#define VL53L0X_SEQUENCESTEP_NUMBER_OF_CHECKS 5
/*!<Number of Sequence Step Managed by the API. */
/** @} VL53L0X_define_SequenceStepId_group */
/* MACRO Definitions */
/** @defgroup VL53L0X_define_GeneralMacro_group General Macro Defines
* General Macro Defines
* @{
*/
/* Defines */
#define VL53L0X_SETPARAMETERFIELD(Dev, field, value) \
PALDevDataSet(Dev, CurrentParameters.field, value)
#define VL53L0X_GETPARAMETERFIELD(Dev, field, variable) \
(variable = ((PALDevDataGet(Dev, CurrentParameters)).field))
#define VL53L0X_SETARRAYPARAMETERFIELD(Dev, field, index, value) \
PALDevDataSet(Dev, CurrentParameters.field[index], value)
#define VL53L0X_GETARRAYPARAMETERFIELD(Dev, field, index, variable) \
(variable = (PALDevDataGet(Dev, CurrentParameters)).field[index])
#define VL53L0X_SETDEVICESPECIFICPARAMETER(Dev, field, value) \
PALDevDataSet(Dev, DeviceSpecificParameters.field, value)
#define VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, field) \
PALDevDataGet(Dev, DeviceSpecificParameters).field
#define VL53L0X_FIXPOINT1616TOFIXPOINT97(Value) \
(uint16_t)((Value>>9)&0xFFFF)
#define VL53L0X_FIXPOINT97TOFIXPOINT1616(Value) \
(FixPoint1616_t)(Value<<9)
#define VL53L0X_FIXPOINT1616TOFIXPOINT88(Value) \
(uint16_t)((Value>>8)&0xFFFF)
#define VL53L0X_FIXPOINT88TOFIXPOINT1616(Value) \
(FixPoint1616_t)(Value<<8)
#define VL53L0X_FIXPOINT1616TOFIXPOINT412(Value) \
(uint16_t)((Value>>4)&0xFFFF)
#define VL53L0X_FIXPOINT412TOFIXPOINT1616(Value) \
(FixPoint1616_t)(Value<<4)
#define VL53L0X_FIXPOINT1616TOFIXPOINT313(Value) \
(uint16_t)((Value>>3)&0xFFFF)
#define VL53L0X_FIXPOINT313TOFIXPOINT1616(Value) \
(FixPoint1616_t)(Value<<3)
#define VL53L0X_FIXPOINT1616TOFIXPOINT08(Value) \
(uint8_t)((Value>>8)&0x00FF)
#define VL53L0X_FIXPOINT08TOFIXPOINT1616(Value) \
(FixPoint1616_t)(Value<<8)
#define VL53L0X_FIXPOINT1616TOFIXPOINT53(Value) \
(uint8_t)((Value>>13)&0x00FF)
#define VL53L0X_FIXPOINT53TOFIXPOINT1616(Value) \
(FixPoint1616_t)(Value<<13)
#define VL53L0X_FIXPOINT1616TOFIXPOINT102(Value) \
(uint16_t)((Value>>14)&0x0FFF)
#define VL53L0X_FIXPOINT102TOFIXPOINT1616(Value) \
(FixPoint1616_t)(Value<<12)
#define VL53L0X_MAKEUINT16(lsb, msb) (uint16_t)((((uint16_t)msb)<<8) + \
(uint16_t)lsb)
/** @} VL53L0X_define_GeneralMacro_group */
/** @} VL53L0X_globaldefine_group */
#ifdef __cplusplus
}
#endif
#define TRACE_MODULE_API 0
#define _LOG_FUNCTION_START(...) (void)0
#define _LOG_FUNCTION_END(...) (void)0
#define _LOG_FUNCTION_END_FMT(...) (void)0
#endif /* _VL53L0X_DEF_H_ */

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/*******************************************************************************
* Copyright © 2016, STMicroelectronics International N.V.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* 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.
* Neither the name of STMicroelectronics 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, 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.
*******************************************************************************/
/**
* Device specific defines. To be adapted by implementer for the targeted
* device.
*/
#ifndef _VL53L0X_DEVICE_H_
#define _VL53L0X_DEVICE_H_
#include "vl53l0x_types.h"
/** @defgroup VL53L0X_DevSpecDefines_group VL53L0X cut1.1 Device
* Specific Defines
* @brief VL53L0X cut1.1 Device Specific Defines
* @{
*/
/** @defgroup VL53L0X_DeviceError_group Device Error
* @brief Device Error code
*
* This enum is Device specific it should be updated in the implementation
* Use @a VL53L0X_GetStatusErrorString() to get the string.
* It is related to Status Register of the Device.
* @{
*/
typedef uint8_t VL53L0X_DeviceError;
#define VL53L0X_DEVICEERROR_NONE ((VL53L0X_DeviceError) 0)
/*!< 0 NoError */
#define VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE ((VL53L0X_DeviceError) 1)
#define VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE ((VL53L0X_DeviceError) 2)
#define VL53L0X_DEVICEERROR_NOVHVVALUEFOUND ((VL53L0X_DeviceError) 3)
#define VL53L0X_DEVICEERROR_MSRCNOTARGET ((VL53L0X_DeviceError) 4)
#define VL53L0X_DEVICEERROR_SNRCHECK ((VL53L0X_DeviceError) 5)
#define VL53L0X_DEVICEERROR_RANGEPHASECHECK ((VL53L0X_DeviceError) 6)
#define VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK ((VL53L0X_DeviceError) 7)
#define VL53L0X_DEVICEERROR_TCC ((VL53L0X_DeviceError) 8)
#define VL53L0X_DEVICEERROR_PHASECONSISTENCY ((VL53L0X_DeviceError) 9)
#define VL53L0X_DEVICEERROR_MINCLIP ((VL53L0X_DeviceError) 10)
#define VL53L0X_DEVICEERROR_RANGECOMPLETE ((VL53L0X_DeviceError) 11)
#define VL53L0X_DEVICEERROR_ALGOUNDERFLOW ((VL53L0X_DeviceError) 12)
#define VL53L0X_DEVICEERROR_ALGOOVERFLOW ((VL53L0X_DeviceError) 13)
#define VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD ((VL53L0X_DeviceError) 14)
/** @} end of VL53L0X_DeviceError_group */
/** @defgroup VL53L0X_CheckEnable_group Check Enable list
* @brief Check Enable code
*
* Define used to specify the LimitCheckId.
* Use @a VL53L0X_GetLimitCheckInfo() to get the string.
* @{
*/
#define VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE 0
#define VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE 1
#define VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP 2
#define VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD 3
#define VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC 4
#define VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE 5
#define VL53L0X_CHECKENABLE_NUMBER_OF_CHECKS 6
/** @} end of VL53L0X_CheckEnable_group */
/** @defgroup VL53L0X_GpioFunctionality_group Gpio Functionality
* @brief Defines the different functionalities for the device GPIO(s)
* @{
*/
typedef uint8_t VL53L0X_GpioFunctionality;
#define VL53L0X_GPIOFUNCTIONALITY_OFF \
((VL53L0X_GpioFunctionality) 0) /*!< NO Interrupt */
#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_LOW \
((VL53L0X_GpioFunctionality) 1) /*!< Level Low (value < thresh_low) */
#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_HIGH \
((VL53L0X_GpioFunctionality) 2) /*!< Level High (value>thresh_high) */
#define VL53L0X_GPIOFUNCTIONALITY_THRESHOLD_CROSSED_OUT \
((VL53L0X_GpioFunctionality) 3)
/*!< Out Of Window (value < thresh_low OR value > thresh_high) */
#define VL53L0X_GPIOFUNCTIONALITY_NEW_MEASURE_READY \
((VL53L0X_GpioFunctionality) 4) /*!< New Sample Ready */
/** @} end of VL53L0X_GpioFunctionality_group */
/* Device register map */
/** @defgroup VL53L0X_DefineRegisters_group Define Registers
* @brief List of all the defined registers
* @{
*/
#define VL53L0X_REG_SYSRANGE_START 0x000
/** mask existing bit in #VL53L0X_REG_SYSRANGE_START*/
#define VL53L0X_REG_SYSRANGE_MODE_MASK 0x0F
/** bit 0 in #VL53L0X_REG_SYSRANGE_START write 1 toggle state in
* continuous mode and arm next shot in single shot mode
*/
#define VL53L0X_REG_SYSRANGE_MODE_START_STOP 0x01
/** bit 1 write 0 in #VL53L0X_REG_SYSRANGE_START set single shot mode */
#define VL53L0X_REG_SYSRANGE_MODE_SINGLESHOT 0x00
/** bit 1 write 1 in #VL53L0X_REG_SYSRANGE_START set back-to-back
* operation mode
*/
#define VL53L0X_REG_SYSRANGE_MODE_BACKTOBACK 0x02
/** bit 2 write 1 in #VL53L0X_REG_SYSRANGE_START set timed operation
* mode
*/
#define VL53L0X_REG_SYSRANGE_MODE_TIMED 0x04
/** bit 3 write 1 in #VL53L0X_REG_SYSRANGE_START set histogram operation
* mode
*/
#define VL53L0X_REG_SYSRANGE_MODE_HISTOGRAM 0x08
#define VL53L0X_REG_SYSTEM_THRESH_HIGH 0x000C
#define VL53L0X_REG_SYSTEM_THRESH_LOW 0x000E
#define VL53L0X_REG_SYSTEM_SEQUENCE_CONFIG 0x0001
#define VL53L0X_REG_SYSTEM_RANGE_CONFIG 0x0009
#define VL53L0X_REG_SYSTEM_INTERMEASUREMENT_PERIOD 0x0004
#define VL53L0X_REG_SYSTEM_INTERRUPT_CONFIG_GPIO 0x000A
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_DISABLED 0x00
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_LOW 0x01
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_LEVEL_HIGH 0x02
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_OUT_OF_WINDOW 0x03
#define VL53L0X_REG_SYSTEM_INTERRUPT_GPIO_NEW_SAMPLE_READY 0x04
#define VL53L0X_REG_GPIO_HV_MUX_ACTIVE_HIGH 0x0084
#define VL53L0X_REG_SYSTEM_INTERRUPT_CLEAR 0x000B
/* Result registers */
#define VL53L0X_REG_RESULT_INTERRUPT_STATUS 0x0013
#define VL53L0X_REG_RESULT_RANGE_STATUS 0x0014
#define VL53L0X_REG_RESULT_CORE_PAGE 1
#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN 0x00BC
#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_RTN 0x00C0
#define VL53L0X_REG_RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF 0x00D0
#define VL53L0X_REG_RESULT_CORE_RANGING_TOTAL_EVENTS_REF 0x00D4
#define VL53L0X_REG_RESULT_PEAK_SIGNAL_RATE_REF 0x00B6
/* Algo register */
#define VL53L0X_REG_ALGO_PART_TO_PART_RANGE_OFFSET_MM 0x0028
#define VL53L0X_REG_I2C_SLAVE_DEVICE_ADDRESS 0x008a
/* Check Limit registers */
#define VL53L0X_REG_MSRC_CONFIG_CONTROL 0x0060
#define VL53L0X_REG_PRE_RANGE_CONFIG_MIN_SNR 0X0027
#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_LOW 0x0056
#define VL53L0X_REG_PRE_RANGE_CONFIG_VALID_PHASE_HIGH 0x0057
#define VL53L0X_REG_PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT 0x0064
#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_SNR 0X0067
#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_LOW 0x0047
#define VL53L0X_REG_FINAL_RANGE_CONFIG_VALID_PHASE_HIGH 0x0048
#define VL53L0X_REG_FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT 0x0044
#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_HI 0X0061
#define VL53L0X_REG_PRE_RANGE_CONFIG_SIGMA_THRESH_LO 0X0062
/* PRE RANGE registers */
#define VL53L0X_REG_PRE_RANGE_CONFIG_VCSEL_PERIOD 0x0050
#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0051
#define VL53L0X_REG_PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0052
#define VL53L0X_REG_SYSTEM_HISTOGRAM_BIN 0x0081
#define VL53L0X_REG_HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT 0x0033
#define VL53L0X_REG_HISTOGRAM_CONFIG_READOUT_CTRL 0x0055
#define VL53L0X_REG_FINAL_RANGE_CONFIG_VCSEL_PERIOD 0x0070
#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI 0x0071
#define VL53L0X_REG_FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO 0x0072
#define VL53L0X_REG_CROSSTALK_COMPENSATION_PEAK_RATE_MCPS 0x0020
#define VL53L0X_REG_MSRC_CONFIG_TIMEOUT_MACROP 0x0046
#define VL53L0X_REG_SOFT_RESET_GO2_SOFT_RESET_N 0x00bf
#define VL53L0X_REG_IDENTIFICATION_MODEL_ID 0x00c0
#define VL53L0X_REG_IDENTIFICATION_REVISION_ID 0x00c2
#define VL53L0X_REG_OSC_CALIBRATE_VAL 0x00f8
#define VL53L0X_SIGMA_ESTIMATE_MAX_VALUE 65535
/* equivalent to a range sigma of 655.35mm */
#define VL53L0X_REG_GLOBAL_CONFIG_VCSEL_WIDTH 0x032
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_0 0x0B0
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_1 0x0B1
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_2 0x0B2
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_3 0x0B3
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_4 0x0B4
#define VL53L0X_REG_GLOBAL_CONFIG_SPAD_ENABLES_REF_5 0x0B5
#define VL53L0X_REG_GLOBAL_CONFIG_REF_EN_START_SELECT 0xB6
#define VL53L0X_REG_DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD 0x4E /* 0x14E */
#define VL53L0X_REG_DYNAMIC_SPAD_REF_EN_START_OFFSET 0x4F /* 0x14F */
#define VL53L0X_REG_POWER_MANAGEMENT_GO1_POWER_FORCE 0x80
/*
* Speed of light in um per 1E-10 Seconds
*/
#define VL53L0X_SPEED_OF_LIGHT_IN_AIR 2997
#define VL53L0X_REG_VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV 0x0089
#define VL53L0X_REG_ALGO_PHASECAL_LIM 0x0030 /* 0x130 */
#define VL53L0X_REG_ALGO_PHASECAL_CONFIG_TIMEOUT 0x0030
/** @} VL53L0X_DefineRegisters_group */
/** @} VL53L0X_DevSpecDefines_group */
#endif
/* _VL53L0X_DEVICE_H_ */

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/*******************************************************************************
* Copyright © 2016, STMicroelectronics International N.V.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* 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.
* Neither the name of STMicroelectronics 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, 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.
*******************************************************************************/
#ifndef _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_
#define _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_
#ifdef __cplusplus
extern "C" {
#endif
uint8_t InterruptThresholdSettings[] = {
/* Start of Interrupt Threshold Settings */
0x1, 0xff, 0x00,
0x1, 0x80, 0x01,
0x1, 0xff, 0x01,
0x1, 0x00, 0x00,
0x1, 0xff, 0x01,
0x1, 0x4f, 0x02,
0x1, 0xFF, 0x0E,
0x1, 0x00, 0x03,
0x1, 0x01, 0x84,
0x1, 0x02, 0x0A,
0x1, 0x03, 0x03,
0x1, 0x04, 0x08,
0x1, 0x05, 0xC8,
0x1, 0x06, 0x03,
0x1, 0x07, 0x8D,
0x1, 0x08, 0x08,
0x1, 0x09, 0xC6,
0x1, 0x0A, 0x01,
0x1, 0x0B, 0x02,
0x1, 0x0C, 0x00,
0x1, 0x0D, 0xD5,
0x1, 0x0E, 0x18,
0x1, 0x0F, 0x12,
0x1, 0x10, 0x01,
0x1, 0x11, 0x82,
0x1, 0x12, 0x00,
0x1, 0x13, 0xD5,
0x1, 0x14, 0x18,
0x1, 0x15, 0x13,
0x1, 0x16, 0x03,
0x1, 0x17, 0x86,
0x1, 0x18, 0x0A,
0x1, 0x19, 0x09,
0x1, 0x1A, 0x08,
0x1, 0x1B, 0xC2,
0x1, 0x1C, 0x03,
0x1, 0x1D, 0x8F,
0x1, 0x1E, 0x0A,
0x1, 0x1F, 0x06,
0x1, 0x20, 0x01,
0x1, 0x21, 0x02,
0x1, 0x22, 0x00,
0x1, 0x23, 0xD5,
0x1, 0x24, 0x18,
0x1, 0x25, 0x22,
0x1, 0x26, 0x01,
0x1, 0x27, 0x82,
0x1, 0x28, 0x00,
0x1, 0x29, 0xD5,
0x1, 0x2A, 0x18,
0x1, 0x2B, 0x0B,
0x1, 0x2C, 0x28,
0x1, 0x2D, 0x78,
0x1, 0x2E, 0x28,
0x1, 0x2F, 0x91,
0x1, 0x30, 0x00,
0x1, 0x31, 0x0B,
0x1, 0x32, 0x00,
0x1, 0x33, 0x0B,
0x1, 0x34, 0x00,
0x1, 0x35, 0xA1,
0x1, 0x36, 0x00,
0x1, 0x37, 0xA0,
0x1, 0x38, 0x00,
0x1, 0x39, 0x04,
0x1, 0x3A, 0x28,
0x1, 0x3B, 0x30,
0x1, 0x3C, 0x0C,
0x1, 0x3D, 0x04,
0x1, 0x3E, 0x0F,
0x1, 0x3F, 0x79,
0x1, 0x40, 0x28,
0x1, 0x41, 0x1E,
0x1, 0x42, 0x2F,
0x1, 0x43, 0x87,
0x1, 0x44, 0x00,
0x1, 0x45, 0x0B,
0x1, 0x46, 0x00,
0x1, 0x47, 0x0B,
0x1, 0x48, 0x00,
0x1, 0x49, 0xA7,
0x1, 0x4A, 0x00,
0x1, 0x4B, 0xA6,
0x1, 0x4C, 0x00,
0x1, 0x4D, 0x04,
0x1, 0x4E, 0x01,
0x1, 0x4F, 0x00,
0x1, 0x50, 0x00,
0x1, 0x51, 0x80,
0x1, 0x52, 0x09,
0x1, 0x53, 0x08,
0x1, 0x54, 0x01,
0x1, 0x55, 0x00,
0x1, 0x56, 0x0F,
0x1, 0x57, 0x79,
0x1, 0x58, 0x09,
0x1, 0x59, 0x05,
0x1, 0x5A, 0x00,
0x1, 0x5B, 0x60,
0x1, 0x5C, 0x05,
0x1, 0x5D, 0xD1,
0x1, 0x5E, 0x0C,
0x1, 0x5F, 0x3C,
0x1, 0x60, 0x00,
0x1, 0x61, 0xD0,
0x1, 0x62, 0x0B,
0x1, 0x63, 0x03,
0x1, 0x64, 0x28,
0x1, 0x65, 0x10,
0x1, 0x66, 0x2A,
0x1, 0x67, 0x39,
0x1, 0x68, 0x0B,
0x1, 0x69, 0x02,
0x1, 0x6A, 0x28,
0x1, 0x6B, 0x10,
0x1, 0x6C, 0x2A,
0x1, 0x6D, 0x61,
0x1, 0x6E, 0x0C,
0x1, 0x6F, 0x00,
0x1, 0x70, 0x0F,
0x1, 0x71, 0x79,
0x1, 0x72, 0x00,
0x1, 0x73, 0x0B,
0x1, 0x74, 0x00,
0x1, 0x75, 0x0B,
0x1, 0x76, 0x00,
0x1, 0x77, 0xA1,
0x1, 0x78, 0x00,
0x1, 0x79, 0xA0,
0x1, 0x7A, 0x00,
0x1, 0x7B, 0x04,
0x1, 0xFF, 0x04,
0x1, 0x79, 0x1D,
0x1, 0x7B, 0x27,
0x1, 0x96, 0x0E,
0x1, 0x97, 0xFE,
0x1, 0x98, 0x03,
0x1, 0x99, 0xEF,
0x1, 0x9A, 0x02,
0x1, 0x9B, 0x44,
0x1, 0x73, 0x07,
0x1, 0x70, 0x01,
0x1, 0xff, 0x01,
0x1, 0x00, 0x01,
0x1, 0xff, 0x00,
0x00, 0x00, 0x00
};
#ifdef __cplusplus
}
#endif
#endif /* _VL53L0X_INTERRUPT_THRESHOLD_SETTINGS_H_ */

146
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/*******************************************************************************
* Copyright © 2016, STMicroelectronics International N.V.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* 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.
* Neither the name of STMicroelectronics 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, 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.
*******************************************************************************/
#ifndef _VL53L0X_TUNING_H_
#define _VL53L0X_TUNING_H_
#include "vl53l0x_def.h"
#ifdef __cplusplus
extern "C" {
#endif
uint8_t DefaultTuningSettings[] = {
/* update 02/11/2015_v36 */
0x01, 0xFF, 0x01,
0x01, 0x00, 0x00,
0x01, 0xFF, 0x00,
0x01, 0x09, 0x00,
0x01, 0x10, 0x00,
0x01, 0x11, 0x00,
0x01, 0x24, 0x01,
0x01, 0x25, 0xff,
0x01, 0x75, 0x00,
0x01, 0xFF, 0x01,
0x01, 0x4e, 0x2c,
0x01, 0x48, 0x00,
0x01, 0x30, 0x20,
0x01, 0xFF, 0x00,
0x01, 0x30, 0x09, /* mja changed from 0x64. */
0x01, 0x54, 0x00,
0x01, 0x31, 0x04,
0x01, 0x32, 0x03,
0x01, 0x40, 0x83,
0x01, 0x46, 0x25,
0x01, 0x60, 0x00,
0x01, 0x27, 0x00,
0x01, 0x50, 0x06,
0x01, 0x51, 0x00,
0x01, 0x52, 0x96,
0x01, 0x56, 0x08,
0x01, 0x57, 0x30,
0x01, 0x61, 0x00,
0x01, 0x62, 0x00,
0x01, 0x64, 0x00,
0x01, 0x65, 0x00,
0x01, 0x66, 0xa0,
0x01, 0xFF, 0x01,
0x01, 0x22, 0x32,
0x01, 0x47, 0x14,
0x01, 0x49, 0xff,
0x01, 0x4a, 0x00,
0x01, 0xFF, 0x00,
0x01, 0x7a, 0x0a,
0x01, 0x7b, 0x00,
0x01, 0x78, 0x21,
0x01, 0xFF, 0x01,
0x01, 0x23, 0x34,
0x01, 0x42, 0x00,
0x01, 0x44, 0xff,
0x01, 0x45, 0x26,
0x01, 0x46, 0x05,
0x01, 0x40, 0x40,
0x01, 0x0E, 0x06,
0x01, 0x20, 0x1a,
0x01, 0x43, 0x40,
0x01, 0xFF, 0x00,
0x01, 0x34, 0x03,
0x01, 0x35, 0x44,
0x01, 0xFF, 0x01,
0x01, 0x31, 0x04,
0x01, 0x4b, 0x09,
0x01, 0x4c, 0x05,
0x01, 0x4d, 0x04,
0x01, 0xFF, 0x00,
0x01, 0x44, 0x00,
0x01, 0x45, 0x20,
0x01, 0x47, 0x08,
0x01, 0x48, 0x28,
0x01, 0x67, 0x00,
0x01, 0x70, 0x04,
0x01, 0x71, 0x01,
0x01, 0x72, 0xfe,
0x01, 0x76, 0x00,
0x01, 0x77, 0x00,
0x01, 0xFF, 0x01,
0x01, 0x0d, 0x01,
0x01, 0xFF, 0x00,
0x01, 0x80, 0x01,
0x01, 0x01, 0xF8,
0x01, 0xFF, 0x01,
0x01, 0x8e, 0x01,
0x01, 0x00, 0x01,
0x01, 0xFF, 0x00,
0x01, 0x80, 0x00,
0x00, 0x00, 0x00
};
#ifdef __cplusplus
}
#endif
#endif /* _VL53L0X_TUNING_H_ */

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/*******************************************************************************
* Copyright © 2016, STMicroelectronics International N.V.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* 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.
* Neither the name of STMicroelectronics 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, 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.
******************************************************************************/
#include "vl53l0x_api.h"
#include "vl53l0x_api_core.h"
#ifndef __KERNEL__
#include <stdlib.h>
#endif
#define LOG_FUNCTION_START(fmt, ...) \
_LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
_LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
_LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__)

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/*******************************************************************************
* Copyright © 2016, STMicroelectronics International N.V.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* 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.
* Neither the name of STMicroelectronics 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, 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.
******************************************************************************/
#include "vl53l0x_api.h"
#include "vl53l0x_api_core.h"
#include "vl53l0x_api_strings.h"
#ifndef __KERNEL__
#include <stdlib.h>
#endif
#define LOG_FUNCTION_START(fmt, ...) \
_LOG_FUNCTION_START(TRACE_MODULE_API, fmt, ##__VA_ARGS__)
#define LOG_FUNCTION_END(status, ...) \
_LOG_FUNCTION_END(TRACE_MODULE_API, status, ##__VA_ARGS__)
#define LOG_FUNCTION_END_FMT(status, fmt, ...) \
_LOG_FUNCTION_END_FMT(TRACE_MODULE_API, status, fmt, ##__VA_ARGS__)
VL53L0X_Error VL53L0X_check_part_used(VL53L0X_DEV Dev,
uint8_t *Revision,
VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
uint8_t ModuleIdInt;
char *ProductId_tmp;
LOG_FUNCTION_START("");
Status = VL53L0X_get_info_from_device(Dev, 2);
if (Status == VL53L0X_ERROR_NONE) {
ModuleIdInt = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, ModuleId);
if (ModuleIdInt == 0) {
*Revision = 0;
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId, "");
} else {
*Revision = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev, Revision);
ProductId_tmp = VL53L0X_GETDEVICESPECIFICPARAMETER(Dev,
ProductId);
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->ProductId,
ProductId_tmp);
}
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53L0X_Error VL53L0X_get_device_info(VL53L0X_DEV Dev,
VL53L0X_DeviceInfo_t *pVL53L0X_DeviceInfo)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
uint8_t revision_id;
uint8_t Revision;
Status = VL53L0X_check_part_used(Dev, &Revision, pVL53L0X_DeviceInfo);
if (Status == VL53L0X_ERROR_NONE) {
if (Revision == 0) {
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
VL53L0X_STRING_DEVICE_INFO_NAME_TS0);
} else if ((Revision <= 34) && (Revision != 32)) {
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
VL53L0X_STRING_DEVICE_INFO_NAME_TS1);
} else if (Revision < 39) {
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
VL53L0X_STRING_DEVICE_INFO_NAME_TS2);
} else {
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Name,
VL53L0X_STRING_DEVICE_INFO_NAME_ES1);
}
VL53L0X_COPYSTRING(pVL53L0X_DeviceInfo->Type,
VL53L0X_STRING_DEVICE_INFO_TYPE);
}
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_RdByte(Dev,
VL53L0X_REG_IDENTIFICATION_MODEL_ID,
&pVL53L0X_DeviceInfo->ProductType);
}
if (Status == VL53L0X_ERROR_NONE) {
Status = VL53L0X_RdByte(Dev,
VL53L0X_REG_IDENTIFICATION_REVISION_ID,
&revision_id);
pVL53L0X_DeviceInfo->ProductRevisionMajor = 1;
pVL53L0X_DeviceInfo->ProductRevisionMinor =
(revision_id & 0xF0) >> 4;
}
return Status;
}
VL53L0X_Error VL53L0X_get_device_error_string(VL53L0X_DeviceError ErrorCode,
char *pDeviceErrorString)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START("");
switch (ErrorCode) {
case VL53L0X_DEVICEERROR_NONE:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_NONE);
break;
case VL53L0X_DEVICEERROR_VCSELCONTINUITYTESTFAILURE:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_VCSELCONTINUITYTESTFAILURE);
break;
case VL53L0X_DEVICEERROR_VCSELWATCHDOGTESTFAILURE:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_VCSELWATCHDOGTESTFAILURE);
break;
case VL53L0X_DEVICEERROR_NOVHVVALUEFOUND:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_NOVHVVALUEFOUND);
break;
case VL53L0X_DEVICEERROR_MSRCNOTARGET:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_MSRCNOTARGET);
break;
case VL53L0X_DEVICEERROR_SNRCHECK:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_SNRCHECK);
break;
case VL53L0X_DEVICEERROR_RANGEPHASECHECK:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_RANGEPHASECHECK);
break;
case VL53L0X_DEVICEERROR_SIGMATHRESHOLDCHECK:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_SIGMATHRESHOLDCHECK);
break;
case VL53L0X_DEVICEERROR_TCC:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_TCC);
break;
case VL53L0X_DEVICEERROR_PHASECONSISTENCY:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_PHASECONSISTENCY);
break;
case VL53L0X_DEVICEERROR_MINCLIP:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_MINCLIP);
break;
case VL53L0X_DEVICEERROR_RANGECOMPLETE:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_RANGECOMPLETE);
break;
case VL53L0X_DEVICEERROR_ALGOUNDERFLOW:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_ALGOUNDERFLOW);
break;
case VL53L0X_DEVICEERROR_ALGOOVERFLOW:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_ALGOOVERFLOW);
break;
case VL53L0X_DEVICEERROR_RANGEIGNORETHRESHOLD:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_DEVICEERROR_RANGEIGNORETHRESHOLD);
break;
default:
VL53L0X_COPYSTRING(pDeviceErrorString,
VL53L0X_STRING_UNKNOW_ERROR_CODE);
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53L0X_Error VL53L0X_get_range_status_string(uint8_t RangeStatus,
char *pRangeStatusString)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START("");
switch (RangeStatus) {
case 0:
VL53L0X_COPYSTRING(pRangeStatusString,
VL53L0X_STRING_RANGESTATUS_RANGEVALID);
break;
case 1:
VL53L0X_COPYSTRING(pRangeStatusString,
VL53L0X_STRING_RANGESTATUS_SIGMA);
break;
case 2:
VL53L0X_COPYSTRING(pRangeStatusString,
VL53L0X_STRING_RANGESTATUS_SIGNAL);
break;
case 3:
VL53L0X_COPYSTRING(pRangeStatusString,
VL53L0X_STRING_RANGESTATUS_MINRANGE);
break;
case 4:
VL53L0X_COPYSTRING(pRangeStatusString,
VL53L0X_STRING_RANGESTATUS_PHASE);
break;
case 5:
VL53L0X_COPYSTRING(pRangeStatusString,
VL53L0X_STRING_RANGESTATUS_HW);
break;
default: /**/
VL53L0X_COPYSTRING(pRangeStatusString,
VL53L0X_STRING_RANGESTATUS_NONE);
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53L0X_Error VL53L0X_get_pal_error_string(VL53L0X_Error PalErrorCode,
char *pPalErrorString)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START("");
switch (PalErrorCode) {
case VL53L0X_ERROR_NONE:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_NONE);
break;
case VL53L0X_ERROR_CALIBRATION_WARNING:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_CALIBRATION_WARNING);
break;
case VL53L0X_ERROR_MIN_CLIPPED:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_MIN_CLIPPED);
break;
case VL53L0X_ERROR_UNDEFINED:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_UNDEFINED);
break;
case VL53L0X_ERROR_INVALID_PARAMS:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_INVALID_PARAMS);
break;
case VL53L0X_ERROR_NOT_SUPPORTED:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_NOT_SUPPORTED);
break;
case VL53L0X_ERROR_INTERRUPT_NOT_CLEARED:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_INTERRUPT_NOT_CLEARED);
break;
case VL53L0X_ERROR_RANGE_ERROR:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_RANGE_ERROR);
break;
case VL53L0X_ERROR_TIME_OUT:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_TIME_OUT);
break;
case VL53L0X_ERROR_MODE_NOT_SUPPORTED:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_MODE_NOT_SUPPORTED);
break;
case VL53L0X_ERROR_BUFFER_TOO_SMALL:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_BUFFER_TOO_SMALL);
break;
case VL53L0X_ERROR_GPIO_NOT_EXISTING:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_GPIO_NOT_EXISTING);
break;
case VL53L0X_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_GPIO_FUNCTIONALITY_NOT_SUPPORTED);
break;
case VL53L0X_ERROR_CONTROL_INTERFACE:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_CONTROL_INTERFACE);
break;
case VL53L0X_ERROR_INVALID_COMMAND:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_INVALID_COMMAND);
break;
case VL53L0X_ERROR_DIVISION_BY_ZERO:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_DIVISION_BY_ZERO);
break;
case VL53L0X_ERROR_REF_SPAD_INIT:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_REF_SPAD_INIT);
break;
case VL53L0X_ERROR_NOT_IMPLEMENTED:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_ERROR_NOT_IMPLEMENTED);
break;
default:
VL53L0X_COPYSTRING(pPalErrorString,
VL53L0X_STRING_UNKNOW_ERROR_CODE);
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53L0X_Error VL53L0X_get_pal_state_string(VL53L0X_State PalStateCode,
char *pPalStateString)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START("");
switch (PalStateCode) {
case VL53L0X_STATE_POWERDOWN:
VL53L0X_COPYSTRING(pPalStateString,
VL53L0X_STRING_STATE_POWERDOWN);
break;
case VL53L0X_STATE_WAIT_STATICINIT:
VL53L0X_COPYSTRING(pPalStateString,
VL53L0X_STRING_STATE_WAIT_STATICINIT);
break;
case VL53L0X_STATE_STANDBY:
VL53L0X_COPYSTRING(pPalStateString,
VL53L0X_STRING_STATE_STANDBY);
break;
case VL53L0X_STATE_IDLE:
VL53L0X_COPYSTRING(pPalStateString,
VL53L0X_STRING_STATE_IDLE);
break;
case VL53L0X_STATE_RUNNING:
VL53L0X_COPYSTRING(pPalStateString,
VL53L0X_STRING_STATE_RUNNING);
break;
case VL53L0X_STATE_UNKNOWN:
VL53L0X_COPYSTRING(pPalStateString,
VL53L0X_STRING_STATE_UNKNOWN);
break;
case VL53L0X_STATE_ERROR:
VL53L0X_COPYSTRING(pPalStateString,
VL53L0X_STRING_STATE_ERROR);
break;
default:
VL53L0X_COPYSTRING(pPalStateString,
VL53L0X_STRING_STATE_UNKNOWN);
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53L0X_Error VL53L0X_get_sequence_steps_info(
VL53L0X_SequenceStepId SequenceStepId,
char *pSequenceStepsString)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START("");
switch (SequenceStepId) {
case VL53L0X_SEQUENCESTEP_TCC:
VL53L0X_COPYSTRING(pSequenceStepsString,
VL53L0X_STRING_SEQUENCESTEP_TCC);
break;
case VL53L0X_SEQUENCESTEP_DSS:
VL53L0X_COPYSTRING(pSequenceStepsString,
VL53L0X_STRING_SEQUENCESTEP_DSS);
break;
case VL53L0X_SEQUENCESTEP_MSRC:
VL53L0X_COPYSTRING(pSequenceStepsString,
VL53L0X_STRING_SEQUENCESTEP_MSRC);
break;
case VL53L0X_SEQUENCESTEP_PRE_RANGE:
VL53L0X_COPYSTRING(pSequenceStepsString,
VL53L0X_STRING_SEQUENCESTEP_PRE_RANGE);
break;
case VL53L0X_SEQUENCESTEP_FINAL_RANGE:
VL53L0X_COPYSTRING(pSequenceStepsString,
VL53L0X_STRING_SEQUENCESTEP_FINAL_RANGE);
break;
default:
Status = VL53L0X_ERROR_INVALID_PARAMS;
}
LOG_FUNCTION_END(Status);
return Status;
}
VL53L0X_Error VL53L0X_get_limit_check_info(VL53L0X_DEV Dev,
uint16_t LimitCheckId,
char *pLimitCheckString)
{
VL53L0X_Error Status = VL53L0X_ERROR_NONE;
LOG_FUNCTION_START("");
switch (LimitCheckId) {
case VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE:
VL53L0X_COPYSTRING(pLimitCheckString,
VL53L0X_STRING_CHECKENABLE_SIGMA_FINAL_RANGE);
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE:
VL53L0X_COPYSTRING(pLimitCheckString,
VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE);
break;
case VL53L0X_CHECKENABLE_SIGNAL_REF_CLIP:
VL53L0X_COPYSTRING(pLimitCheckString,
VL53L0X_STRING_CHECKENABLE_SIGNAL_REF_CLIP);
break;
case VL53L0X_CHECKENABLE_RANGE_IGNORE_THRESHOLD:
VL53L0X_COPYSTRING(pLimitCheckString,
VL53L0X_STRING_CHECKENABLE_RANGE_IGNORE_THRESHOLD);
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_MSRC:
VL53L0X_COPYSTRING(pLimitCheckString,
VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_MSRC);
break;
case VL53L0X_CHECKENABLE_SIGNAL_RATE_PRE_RANGE:
VL53L0X_COPYSTRING(pLimitCheckString,
VL53L0X_STRING_CHECKENABLE_SIGNAL_RATE_PRE_RANGE);
break;
default:
VL53L0X_COPYSTRING(pLimitCheckString,
VL53L0X_STRING_UNKNOW_ERROR_CODE);
}
LOG_FUNCTION_END(Status);
return Status;
}

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App/VL53L0X_API/platform/README.md Normal file
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# VL53L0X 多传感器模板（STM32H743 + FreeRTOS）
这组模板按固定顺序组织 4 颗 VL53L0X：
1. 左上
2. 左下
3. 右上
4. 右下
## 文件说明
- `vl53l0x_platform.h/.c`
- ST 官方 API 的平台适配层
- 不再把 `hi2c1` 硬编码到驱动里
- 读写失败时不会污染 `RdWord/RdDWord` 输出
- `PollingDelay()` 在调度器已启动时使用 `vTaskDelay()`
- `vl53_board.h/.c`
- 4 颗 VL53L0X 的板级管理层
- 负责 `XSHUT` 拉低/逐个拉起/逐个改地址
- 默认运行地址：0x54 / 0x56 / 0x58 / 0x5A（8-bit 写法）
- `vl53_task.h/.c`
- FreeRTOS 任务骨架
- 10ms 周期轮询一遍 4 颗传感器
- 采集结果写成一个快照，避免上层散读散写
## 你需要改的地方
只要改 `vl53_board.c` 里的 `g_vl53_hw_cfg[]`：
- `hi2c`
- `xshut_port`
- `xshut_pin`
- `gpio1_port` / `gpio1_pin`（如果暂时不用中断，可保持 `NULL/0`）
## 集成方式
1. 保留 ST 官方 API 的 `vl53l0x_api*.c`、`vl53l0x_def.h` 等核心文件不动。
2. 用本模板替换你原来的 `vl53l0x_platform.h/.c`。
3. 新增 `vl53_board.*` 和 `vl53_task.*` 到 `App/sensors/` 或你自己的目录。
4. 在 CubeMX 里保留任务壳函数，在任务壳里调用 `AppVl53_TaskLoop()`。
5. 不要把 VL53 逻辑塞进你 20ms 的 `canTxTask`。
## 建议任务频率
- `canTxTask`: 保持 20ms
- `vl53Task`: 10ms 唤醒，内部读 ready 后取数
- 估计/控制：50–100Hz
## 备注
- 地址写法用的是 **8-bit**，默认地址是 `0x52`。
- 多颗同总线时，必须所有器件先 `XSHUT=RESET`，然后逐个拉起并改地址。
- 这版模板默认走“单任务采集 + 快照共享”，适合你当前的 ASER 架构。

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#include "robot_params.h"
#if !PARAM_VL53_USE_L1X
#include "vl53_board.h"
#include "FreeRTOS.h"
#include "task.h"
#include "vl53_calibration_config.h"
/* ================= EMA滤波底层实现 ================= */
static void vl53_ema_init(Vl53EMA_t *ema, float alpha) {
ema->x = 0.0f;
ema->alpha = alpha;
ema->initialized = 0;
}
static float vl53_ema_update(Vl53EMA_t *ema, float measurement) {
if (ema->initialized == 0) {
ema->x = measurement;
ema->initialized = 1;
return ema->x;
}
// EMA公式: x_new = alpha * measurement + (1 - alpha) * x_old
ema->x = ema->alpha * measurement + (1.0f - ema->alpha) * ema->x;
return ema->x;
}
static const Vl53RuntimeCalibration_t *vl53_get_runtime_calibration(uint8_t id)
{
switch (id) {
case 0: return &k_vl53_left_calibration[0];
case 1: return &k_vl53_left_calibration[1];
case 2: return &k_vl53_right_calibration[0];
case 3: return &k_vl53_right_calibration[1];
default: return NULL;
}
}
static VL53L0X_Error vl53_apply_runtime_calibration(VL53L0X_DEV dev, uint8_t id)
{
const Vl53RuntimeCalibration_t *cal = vl53_get_runtime_calibration(id);
VL53L0X_Error status;
if (cal == NULL) return VL53L0X_ERROR_NONE;
if (cal->offset_calibrated != 0U) {
status = VL53L0X_SetOffsetCalibrationDataMicroMeter(dev, cal->offset_micro_meters);
if (status != VL53L0X_ERROR_NONE) return status;
}
if (cal->xtalk_calibrated != 0U) {
status = VL53L0X_SetXTalkCompensationRateMegaCps(dev, cal->xtalk_compensation_rate_mcps);
if (status != VL53L0X_ERROR_NONE) return status;
status = VL53L0X_SetXTalkCompensationEnable(dev, 1u);
if (status != VL53L0X_ERROR_NONE) return status;
} else {
status = VL53L0X_SetXTalkCompensationEnable(dev, 0u);
if (status != VL53L0X_ERROR_NONE) return status;
}
return VL53L0X_ERROR_NONE;
}
/* ================= ST 官方配置序列 ================= */
static VL53L0X_Error vl53_do_static_init(VL53L0X_DEV dev, uint32_t timing_budget_us)
{
VL53L0X_Error status;
uint32_t ref_spad_count = 0u;
uint8_t is_aperture_spads = 0u;
uint8_t vhv_settings = 0u;
uint8_t phase_cal = 0u;
status = VL53L0X_StaticInit(dev);
if (status != VL53L0X_ERROR_NONE) return status;
status = VL53L0X_PerformRefSpadManagement(dev, &ref_spad_count, &is_aperture_spads);
if (status != VL53L0X_ERROR_NONE) return status;
status = VL53L0X_PerformRefCalibration(dev, &vhv_settings, &phase_cal);
if (status != VL53L0X_ERROR_NONE) return status;
status = VL53L0X_SetDeviceMode(dev, VL53L0X_DEVICEMODE_CONTINUOUS_RANGING);
if (status != VL53L0X_ERROR_NONE) return status;
status = VL53L0X_SetMeasurementTimingBudgetMicroSeconds(dev, timing_budget_us);
if (status != VL53L0X_ERROR_NONE) return status;
/* 连续测量采用 back-to-back 模式，让下一次测量在上一帧完成后立即开始。
* 这样任务轮询周期变快时，能尽可能拿到最新帧，而不是被固定间隔再次拖慢。 */
status = VL53L0X_SetInterMeasurementPeriodMilliSeconds(dev, 0u);
if (status != VL53L0X_ERROR_NONE) return status;
status = VL53L0X_SetLimitCheckEnable(dev, VL53L0X_CHECKENABLE_SIGMA_FINAL_RANGE, 1u);
if (status != VL53L0X_ERROR_NONE) return status;
status = VL53L0X_SetLimitCheckEnable(dev, VL53L0X_CHECKENABLE_SIGNAL_RATE_FINAL_RANGE, 1u);
if (status != VL53L0X_ERROR_NONE) return status;
return VL53L0X_ERROR_NONE;
}
/* ================= 核心管理器 API ================= */
VL53L0X_Error Vl53Board_Init(Vl53Board_t *board, const Vl53BoardHwCfg_t *hw_cfgs, uint8_t count, uint32_t timing_budget_us)
{
if ((board == NULL) || (hw_cfgs == NULL) || (count == 0) || (count > VL53_MAX_DEVS_PER_BOARD)) {
return VL53L0X_ERROR_INVALID_PARAMS;
}
memset(board, 0, sizeof(Vl53Board_t));
board->dev_count = count;
board->timing_budget_us = (timing_budget_us == 0u) ? 33000u : timing_budget_us;
for (uint8_t i = 0; i < count; i++) {
board->dev[i].name = hw_cfgs[i].name;
board->dev[i].id = hw_cfgs[i].id;
board->dev[i].comms_type = 1u;
board->dev[i].comms_speed_khz = 400u;
board->dev[i].is_present = 0u;
VL53L0X_PlatformAttachBus(&board->dev[i], hw_cfgs[i].hi2c, VL53L0X_DEFAULT_ADDR_8BIT, 100u, NULL);
VL53L0X_PlatformAttachPins(&board->dev[i], hw_cfgs[i].xshut_port, hw_cfgs[i].xshut_pin, NULL, 0);
VL53L0X_PlatformSetXShut(&board->dev[i], GPIO_PIN_RESET);
/* 初始化EMA滤波器：alpha 从 robot_params.h 读取 */
vl53_ema_init(&board->ema[i], PARAM_VL53_EMA_ALPHA);
}
vTaskDelay(pdMS_TO_TICKS(10));
for (uint8_t i = 0; i < count; i++) {
if (VL53L0X_PlatformSetXShut(&board->dev[i], GPIO_PIN_SET) != VL53L0X_ERROR_NONE) continue;
vTaskDelay(pdMS_TO_TICKS(20));
board->dev[i].I2cDevAddr = VL53L0X_DEFAULT_ADDR_8BIT;
if (VL53L0X_PlatformChangeAddress(&board->dev[i], hw_cfgs[i].runtime_addr_8bit) != VL53L0X_ERROR_NONE) continue;
if (VL53L0X_DataInit(&board->dev[i]) != VL53L0X_ERROR_NONE) continue;
if (vl53_do_static_init(&board->dev[i], board->timing_budget_us) != VL53L0X_ERROR_NONE) continue;
if (vl53_apply_runtime_calibration(&board->dev[i], hw_cfgs[i].id) != VL53L0X_ERROR_NONE) continue;
board->init_mask |= (uint8_t)(1u << i);
board->dev[i].is_present = 1u;
}
return VL53L0X_ERROR_NONE;
}
VL53L0X_Error Vl53Board_StartContinuous(Vl53Board_t *board)
{
if (board == NULL) return VL53L0X_ERROR_INVALID_PARAMS;
for (uint8_t i = 0; i < board->dev_count; i++) {
if (board->init_mask & (1u << i)) VL53L0X_StartMeasurement(&board->dev[i]);
}
return VL53L0X_ERROR_NONE;
}
VL53L0X_Error Vl53Board_StopContinuous(Vl53Board_t *board)
{
if (board == NULL) return VL53L0X_ERROR_INVALID_PARAMS;
for (uint8_t i = 0; i < board->dev_count; i++) {
if (board->init_mask & (1u << i)) VL53L0X_StopMeasurement(&board->dev[i]);
}
return VL53L0X_ERROR_NONE;
}
VL53L0X_Error Vl53Board_ReadAll(Vl53Board_t *board, Vl53BoardSnapshot_t *snapshot)
{
if (board == NULL || snapshot == NULL) return VL53L0X_ERROR_INVALID_PARAMS;
memset(snapshot, 0, sizeof(Vl53BoardSnapshot_t));
snapshot->tick_ms = xTaskGetTickCount() * portTICK_PERIOD_MS;
for (uint8_t i = 0; i < board->dev_count; i++) {
if ((board->init_mask & (1u << i)) == 0u) {
snapshot->range_status[i] = 255u;
continue;
}
uint8_t ready = 0u;
if (VL53L0X_GetMeasurementDataReady(&board->dev[i], &ready) != VL53L0X_ERROR_NONE) continue;
if (ready) {
VL53L0X_RangingMeasurementData_t data;
memset(&data, 0, sizeof(data));
if (VL53L0X_GetRangingMeasurementData(&board->dev[i], &data) == VL53L0X_ERROR_NONE) {
/* 1. 写入原始数据 */
snapshot->range_mm[i] = data.RangeMilliMeter;
snapshot->range_status[i] = data.RangeStatus;
if (data.RangeStatus == 0u) {
/* 2. 标记有效并按开关决定是否应用EMA滤波 */
snapshot->valid_mask |= (1u << i);
#if PARAM_VL53_USE_EMA_FILTER
snapshot->range_mm_filtered[i] = vl53_ema_update(&board->ema[i], (float)data.RangeMilliMeter);
#else
snapshot->range_mm_filtered[i] = (float)data.RangeMilliMeter;
board->ema[i].x = (float)data.RangeMilliMeter;
board->ema[i].initialized = 1u;
#endif
} else {
/* 测距失败时，滤波值维持上一次的历史最佳估计不变 */
snapshot->range_mm_filtered[i] = board->ema[i].x;
}
VL53L0X_ClearInterruptMask(&board->dev[i], 0u);
}
} else {
/* 如果没准备好，把上一帧的历史值顺延下来，防止读到 0 */
snapshot->range_mm_filtered[i] = board->ema[i].x;
}
}
return VL53L0X_ERROR_NONE;
}
#endif

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#ifndef VL53_BOARD_H
#define VL53_BOARD_H
#include <stdint.h>
#include <string.h>
#include "vl53l0x_api.h"
#include "vl53l0x_platform.h"
#ifdef __cplusplus
extern "C" {
#endif
#define VL53_MAX_DEVS_PER_BOARD 4
typedef struct {
I2C_HandleTypeDef *hi2c;
GPIO_TypeDef *xshut_port;
uint16_t xshut_pin;
uint8_t runtime_addr_8bit;
const char *name;
uint8_t id;
} Vl53BoardHwCfg_t;
/* ================= 内部EMA滤波器结构 ================= */
typedef struct {
float x; // 当前滤波值 (滤波后的距离)
float alpha; // 平滑系数 (0.0~1.0, 越大响应越快)
uint8_t initialized; // 防止第一次开机从0缓慢爬升
} Vl53EMA_t;
/* ================= 快照数据结构 (对外接口) ================= */
typedef struct {
uint32_t tick_ms;
uint16_t range_mm[VL53_MAX_DEVS_PER_BOARD]; /* 接口1：原始硬件数据 */
float range_mm_filtered[VL53_MAX_DEVS_PER_BOARD]; /* 接口2：EMA平滑数据 */
uint8_t range_status[VL53_MAX_DEVS_PER_BOARD];
uint8_t valid_mask;
} Vl53BoardSnapshot_t;
typedef struct {
VL53L0X_Dev_t dev[VL53_MAX_DEVS_PER_BOARD];
Vl53EMA_t ema[VL53_MAX_DEVS_PER_BOARD]; /* 每个传感器配备一个专属EMA滤波器 */
uint8_t init_mask;
uint8_t dev_count;
uint32_t timing_budget_us;
} Vl53Board_t;
VL53L0X_Error Vl53Board_Init(Vl53Board_t *board, const Vl53BoardHwCfg_t *hw_cfgs, uint8_t count, uint32_t timing_budget_us);
VL53L0X_Error Vl53Board_StartContinuous(Vl53Board_t *board);
VL53L0X_Error Vl53Board_StopContinuous(Vl53Board_t *board);
VL53L0X_Error Vl53Board_ReadAll(Vl53Board_t *board, Vl53BoardSnapshot_t *snapshot);
#ifdef __cplusplus
}
#endif
#endif /* VL53_BOARD_H */

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#ifndef VL53_CALIBRATION_CONFIG_H
#define VL53_CALIBRATION_CONFIG_H
#include <stdint.h>
#include "vl53l0x_def.h"
typedef struct {
int32_t offset_micro_meters;
uint8_t offset_calibrated;
FixPoint1616_t xtalk_compensation_rate_mcps;
uint8_t xtalk_calibrated;
} Vl53RuntimeCalibration_t;
/*
* 运行时直接加载的 VL53 校准值。
*
* 当前已确认：
* - 左前 offset = 12000 um
* - 左后 offset = 11000 um
*
* 右侧和 XTalk 目前未写入有效标定值，因此 calibrated 标志保持 0。
*/
static const Vl53RuntimeCalibration_t k_vl53_left_calibration[2] = {
{
.offset_micro_meters = 8000,
.xtalk_compensation_rate_mcps = 0,
.offset_calibrated = 0,
.xtalk_calibrated = 0,
},
{
.offset_micro_meters = 8000,
.xtalk_compensation_rate_mcps = 0,
.offset_calibrated = 0,
.xtalk_calibrated = 0,
},
};
static const Vl53RuntimeCalibration_t k_vl53_right_calibration[2] = {
{
.offset_micro_meters = 2000,
.xtalk_compensation_rate_mcps = 0,
.offset_calibrated = 0,
.xtalk_calibrated = 0,
},
{
.offset_micro_meters = 9000,
.xtalk_compensation_rate_mcps = 0,
.offset_calibrated = 0,
.xtalk_calibrated = 0,
},
};
#endif /* VL53_CALIBRATION_CONFIG_H */

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#include "vl53l0x_platform.h"
#include "vl53l0x_api.h"
#if VL53_USE_FREERTOS_DELAY
#include "FreeRTOS.h"
#include "task.h"
#endif
#if defined(configSUPPORT_STATIC_ALLOCATION) || defined(configUSE_MUTEXES)
#include "semphr.h"
#define VL53_USE_FREERTOS_MUTEX 1
#else
#define VL53_USE_FREERTOS_MUTEX 0
#endif
static VL53L0X_Error vl53_hal_to_pal(HAL_StatusTypeDef hal_status)
{
switch (hal_status) {
case HAL_OK:
return VL53L0X_ERROR_NONE;
case HAL_TIMEOUT:
return VL53L0X_ERROR_TIME_OUT;
default:
return VL53L0X_ERROR_CONTROL_INTERFACE;
}
}
static VL53L0X_Error vl53_validate_dev(VL53L0X_DEV Dev)
{
if ((Dev == NULL) || (Dev->hi2c == NULL)) {
return VL53L0X_ERROR_CONTROL_INTERFACE;
}
return VL53L0X_ERROR_NONE;
}
static VL53L0X_Error vl53_bus_lock(VL53L0X_DEV Dev)
{
#if VL53_USE_FREERTOS_MUTEX
if ((Dev != NULL) && (Dev->bus_lock != NULL)) {
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
const TickType_t wait_ticks = pdMS_TO_TICKS((Dev->io_timeout_ms == 0u) ? 10u : Dev->io_timeout_ms);
if (xSemaphoreTake((SemaphoreHandle_t)Dev->bus_lock, wait_ticks) != pdTRUE) {
return VL53L0X_ERROR_TIME_OUT;
}
}
}
#else
(void)Dev;
#endif
return VL53L0X_ERROR_NONE;
}
static void vl53_bus_unlock(VL53L0X_DEV Dev)
{
#if VL53_USE_FREERTOS_MUTEX
if ((Dev != NULL) && (Dev->bus_lock != NULL)) {
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
(void)xSemaphoreGive((SemaphoreHandle_t)Dev->bus_lock);
}
}
#else
(void)Dev;
#endif
}
VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev)
{
(void)Dev;
/* Shared I2C bus is already serialized per I/O transaction below. */
return VL53L0X_ERROR_NONE;
}
VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev)
{
(void)Dev;
return VL53L0X_ERROR_NONE;
}
void VL53L0X_PlatformAttachBus(VL53L0X_DEV Dev,
I2C_HandleTypeDef *hi2c,
uint8_t i2c_addr_8bit,
uint16_t io_timeout_ms,
void *bus_lock)
{
if (Dev == NULL) {
return;
}
Dev->hi2c = hi2c;
Dev->I2cDevAddr = i2c_addr_8bit;
Dev->io_timeout_ms = (io_timeout_ms == 0u) ? 100u : io_timeout_ms;
Dev->bus_lock = bus_lock;
}
void VL53L0X_PlatformAttachPins(VL53L0X_DEV Dev,
GPIO_TypeDef *xshut_port,
uint16_t xshut_pin,
GPIO_TypeDef *gpio1_port,
uint16_t gpio1_pin)
{
if (Dev == NULL) {
return;
}
Dev->xshut_port = xshut_port;
Dev->xshut_pin = xshut_pin;
Dev->gpio1_port = gpio1_port;
Dev->gpio1_pin = gpio1_pin;
}
VL53L0X_Error VL53L0X_PlatformSetXShut(VL53L0X_DEV Dev, GPIO_PinState state)
{
if ((Dev == NULL) || (Dev->xshut_port == NULL)) {
return VL53L0X_ERROR_INVALID_PARAMS;
}
HAL_GPIO_WritePin(Dev->xshut_port, Dev->xshut_pin, state);
return VL53L0X_ERROR_NONE;
}
VL53L0X_Error VL53L0X_PlatformBootDevice(VL53L0X_DEV Dev, uint32_t reset_low_ms, uint32_t boot_wait_ms)
{
VL53L0X_Error status = VL53L0X_PlatformSetXShut(Dev, GPIO_PIN_RESET);
if (status != VL53L0X_ERROR_NONE) {
return status;
}
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
vTaskDelay(pdMS_TO_TICKS(reset_low_ms));
} else {
HAL_Delay(reset_low_ms);
}
status = VL53L0X_PlatformSetXShut(Dev, GPIO_PIN_SET);
if (status != VL53L0X_ERROR_NONE) {
return status;
}
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
vTaskDelay(pdMS_TO_TICKS(boot_wait_ms));
} else {
HAL_Delay(boot_wait_ms);
}
return VL53L0X_ERROR_NONE;
}
uint32_t VL53L0X_PlatformGetTick(void)
{
return HAL_GetTick();
}
VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
{
HAL_StatusTypeDef hal_status;
VL53L0X_Error status;
if ((pdata == NULL) || (count == 0u) || (count > 255u)) {
return VL53L0X_ERROR_INVALID_PARAMS;
}
status = vl53_validate_dev(Dev);
if (status != VL53L0X_ERROR_NONE) {
return status;
}
status = vl53_bus_lock(Dev);
if (status != VL53L0X_ERROR_NONE) {
return status;
}
hal_status = HAL_I2C_Mem_Write(Dev->hi2c,
Dev->I2cDevAddr,
index,
I2C_MEMADD_SIZE_8BIT,
pdata,
(uint16_t)count,
Dev->io_timeout_ms);
vl53_bus_unlock(Dev);
return vl53_hal_to_pal(hal_status);
}
VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count)
{
HAL_StatusTypeDef hal_status;
VL53L0X_Error status;
if ((pdata == NULL) || (count == 0u) || (count > 255u)) {
return VL53L0X_ERROR_INVALID_PARAMS;
}
status = vl53_validate_dev(Dev);
if (status != VL53L0X_ERROR_NONE) {
return status;
}
status = vl53_bus_lock(Dev);
if (status != VL53L0X_ERROR_NONE) {
return status;
}
hal_status = HAL_I2C_Mem_Read(Dev->hi2c,
Dev->I2cDevAddr,
index,
I2C_MEMADD_SIZE_8BIT,
pdata,
(uint16_t)count,
Dev->io_timeout_ms);
vl53_bus_unlock(Dev);
return vl53_hal_to_pal(hal_status);
}
VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data)
{
return VL53L0X_WriteMulti(Dev, index, &data, 1u);
}
VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data)
{
uint8_t buffer[2];
buffer[0] = (uint8_t)(data >> 8);
buffer[1] = (uint8_t)(data & 0xFFu);
return VL53L0X_WriteMulti(Dev, index, buffer, 2u);
}
VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data)
{
uint8_t buffer[4];
buffer[0] = (uint8_t)(data >> 24);
buffer[1] = (uint8_t)(data >> 16);
buffer[2] = (uint8_t)(data >> 8);
buffer[3] = (uint8_t)(data & 0xFFu);
return VL53L0X_WriteMulti(Dev, index, buffer, 4u);
}
VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data)
{
if (data == NULL) {
return VL53L0X_ERROR_INVALID_PARAMS;
}
return VL53L0X_ReadMulti(Dev, index, data, 1u);
}
VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data)
{
uint8_t buffer[2] = {0u, 0u};
VL53L0X_Error status;
if (data == NULL) {
return VL53L0X_ERROR_INVALID_PARAMS;
}
status = VL53L0X_ReadMulti(Dev, index, buffer, 2u);
if (status == VL53L0X_ERROR_NONE) {
*data = (((uint16_t)buffer[0]) << 8) | buffer[1];
}
return status;
}
VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data)
{
uint8_t buffer[4] = {0u, 0u, 0u, 0u};
VL53L0X_Error status;
if (data == NULL) {
return VL53L0X_ERROR_INVALID_PARAMS;
}
status = VL53L0X_ReadMulti(Dev, index, buffer, 4u);
if (status == VL53L0X_ERROR_NONE) {
*data = (((uint32_t)buffer[0]) << 24)
| (((uint32_t)buffer[1]) << 16)
| (((uint32_t)buffer[2]) << 8)
| ((uint32_t)buffer[3]);
}
return status;
}
VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData)
{
VL53L0X_Error status;
uint8_t data = 0u;
status = VL53L0X_RdByte(Dev, index, &data);
if (status != VL53L0X_ERROR_NONE) {
return status;
}
data = (uint8_t)((data & AndData) | OrData);
return VL53L0X_WrByte(Dev, index, data);
}
VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev)
{
(void)Dev;
#if VL53_USE_FREERTOS_DELAY
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
vTaskDelay(pdMS_TO_TICKS(2u));
} else {
HAL_Delay(2u);
}
#else
HAL_Delay(2u);
#endif
return VL53L0X_ERROR_NONE;
}
VL53L0X_Error VL53L0X_PlatformChangeAddress(VL53L0X_DEV Dev, uint8_t new_addr_8bit)
{
VL53L0X_Error status;
if (new_addr_8bit == 0u) {
return VL53L0X_ERROR_INVALID_PARAMS;
}
status = VL53L0X_SetDeviceAddress(Dev, new_addr_8bit);
if (status == VL53L0X_ERROR_NONE) {
Dev->I2cDevAddr = new_addr_8bit;
if (xTaskGetSchedulerState() != taskSCHEDULER_NOT_STARTED) {
vTaskDelay(pdMS_TO_TICKS(2u));
} else {
HAL_Delay(2u);
}
}
return status;
}

89
App/VL53L0X_API/platform/vl53l0x_platform.h Normal file
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#ifndef VL53L0X_PLATFORM_H
#define VL53L0X_PLATFORM_H
#include <stdint.h>
#include <string.h>
#include "main.h"
#ifndef VL53L0X_SINGLE_DEVICE_DRIVER
#define VL53L0X_SINGLE_DEVICE_DRIVER 0
#endif
#include "vl53l0x_def.h"
#ifdef __cplusplus
extern "C" {
#endif
#ifndef VL53_USE_FREERTOS_DELAY
#define VL53_USE_FREERTOS_DELAY 1
#endif
#ifndef VL53L0X_COPYSTRING
#define VL53L0X_COPYSTRING(dst, src) strcpy((dst), (src))
#endif
#ifndef VL53L0X_DEFAULT_ADDR_8BIT
#define VL53L0X_DEFAULT_ADDR_8BIT 0x52u
#endif
typedef struct {
VL53L0X_DevData_t Data;
uint8_t I2cDevAddr; /* ST API expects 8-bit address, default 0x52 */
uint8_t comms_type;
uint16_t comms_speed_khz;
I2C_HandleTypeDef *hi2c;
GPIO_TypeDef *xshut_port;
uint16_t xshut_pin;
GPIO_TypeDef *gpio1_port; /* optional */
uint16_t gpio1_pin;
void *bus_lock; /* optional shared mutex/lock handle */
const char *name;
uint8_t id; /* user label: 1=左上, 2=左下, 3=右上, 4=右下 */
uint8_t is_present;
uint16_t io_timeout_ms;
} VL53L0X_Dev_t;
typedef VL53L0X_Dev_t* VL53L0X_DEV;
#define PALDevDataGet(Dev, field) ((Dev)->Data.field)
#define PALDevDataSet(Dev, field, data) ((Dev)->Data.field = (data))
VL53L0X_Error VL53L0X_LockSequenceAccess(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_UnlockSequenceAccess(VL53L0X_DEV Dev);
VL53L0X_Error VL53L0X_WriteMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
VL53L0X_Error VL53L0X_ReadMulti(VL53L0X_DEV Dev, uint8_t index, uint8_t *pdata, uint32_t count);
VL53L0X_Error VL53L0X_WrByte(VL53L0X_DEV Dev, uint8_t index, uint8_t data);
VL53L0X_Error VL53L0X_WrWord(VL53L0X_DEV Dev, uint8_t index, uint16_t data);
VL53L0X_Error VL53L0X_WrDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t data);
VL53L0X_Error VL53L0X_RdByte(VL53L0X_DEV Dev, uint8_t index, uint8_t *data);
VL53L0X_Error VL53L0X_RdWord(VL53L0X_DEV Dev, uint8_t index, uint16_t *data);
VL53L0X_Error VL53L0X_RdDWord(VL53L0X_DEV Dev, uint8_t index, uint32_t *data);
VL53L0X_Error VL53L0X_UpdateByte(VL53L0X_DEV Dev, uint8_t index, uint8_t AndData, uint8_t OrData);
VL53L0X_Error VL53L0X_PollingDelay(VL53L0X_DEV Dev);
void VL53L0X_PlatformAttachBus(VL53L0X_DEV Dev,
I2C_HandleTypeDef *hi2c,
uint8_t i2c_addr_8bit,
uint16_t io_timeout_ms,
void *bus_lock);
void VL53L0X_PlatformAttachPins(VL53L0X_DEV Dev,
GPIO_TypeDef *xshut_port,
uint16_t xshut_pin,
GPIO_TypeDef *gpio1_port,
uint16_t gpio1_pin);
VL53L0X_Error VL53L0X_PlatformSetXShut(VL53L0X_DEV Dev, GPIO_PinState state);
VL53L0X_Error VL53L0X_PlatformBootDevice(VL53L0X_DEV Dev, uint32_t reset_low_ms, uint32_t boot_wait_ms);
VL53L0X_Error VL53L0X_PlatformChangeAddress(VL53L0X_DEV Dev, uint8_t new_addr_8bit);
uint32_t VL53L0X_PlatformGetTick(void);
#ifdef __cplusplus
}
#endif
#endif /* VL53L0X_PLATFORM_H */

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App/VL53L0X_API/platform/vl53l0x_platform_log.h Normal file
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#ifndef _VL53L0X_PLATFORM_LOG_H_
#define _VL53L0X_PLATFORM_LOG_H_
/* 1. 解决 TRACE_MODULE_API 未定义的报错 */
#define TRACE_MODULE_API 0
/* 2. 强行屏蔽官方所有【带下划线】的底层日志宏 */
#define _LOG_FUNCTION_START(...) (void)0
#define _LOG_FUNCTION_END(...) (void)0
#define _LOG_FUNCTION_END_FMT(...) (void)0
/* 3. 强行屏蔽官方所有【不带下划线】的普通日志宏 */
#define LOG_FUNCTION_START(...) (void)0
#define LOG_FUNCTION_END(...) (void)0
#define LOG_FUNCTION_END_FMT(...) (void)0
#define VL53L0X_ErrLog(...) (void)0
#endif /* _VL53L0X_PLATFORM_LOG_H_ */

15
App/VL53L0X_API/platform/vl53l0x_types.h Normal file
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#ifndef _VL53L0X_TYPES_H_
#define _VL53L0X_TYPES_H_
/* 引入现代 C 语言标准整数类型库 */
#include <stdint.h>
#include <stddef.h>
#ifndef NULL
#define NULL 0
#endif
/* 核心修复：填补 ST 官方定义的定点数类型 */
typedef uint32_t FixPoint1616_t;
#endif /* _VL53L0X_TYPES_H_ */