初始提交：龙芯2K0300智能车卖家Demo完整代码
This commit is contained in:
spdis
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/*
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* @Author: ilikara 3435193369@qq.com
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* @Date: 2024-10-10 15:02:00
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* @LastEditors: ilikara 3435193369@qq.com
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* @LastEditTime: 2024-12-01 03:49:47
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* @FilePath: /smartcar/lib/GPIO.h
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* @Description:
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*
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* Copyright (c) 2024 by ilikara 3435193369@qq.com, All Rights Reserved.
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*/
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#ifndef GPIO_H
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#define GPIO_H
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#include <string>
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#include <fcntl.h>
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#include <unistd.h>
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#include <stdexcept>
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#include <iostream>
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#include <fstream>
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#include <sstream>
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#include <cstring>
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class GPIO
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{
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public:
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GPIO(int gpioNum);
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~GPIO();
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bool setDirection(const std::string &direction);
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bool setEdge(const std::string &edge);
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bool setValue(bool value); // 设置 GPIO 输出值
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bool readValue(); // 读取 GPIO 输入值
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int getFileDescriptor() const; // 获取 GPIO 文件描述符
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private:
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int gpioNum;
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int fd; // 文件描述符
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std::string gpioPath;
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bool writeToFile(const std::string &path, const std::string &value);
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};
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#endif // GPIO_H
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@@ -0,0 +1,37 @@
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/*
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* @Author: ilikara 3435193369@qq.com
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* @Date: 2024-10-10 14:36:47
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* @LastEditors: ilikara 3435193369@qq.com
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* @LastEditTime: 2025-03-21 10:42:00
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* @FilePath: /smartcar/lib/MotorController.h
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* @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
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*/
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#ifndef MOTOR_CONTROLLER_H
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#define MOTOR_CONTROLLER_H
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#include "PwmController.h"
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#include "PIDController.h"
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#include "GPIO.h"
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#include "encoder.h"
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class MotorController
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{
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public:
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MotorController(int pwmchip, int pwmnum, int gpioNum, unsigned int period_ns,
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double kp, double ki, double kd, double targetSpeed,
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int encoder_pwmNum, int encoder_gpioNum, int encoder_dir_);
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~MotorController(void);
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void updateSpeed(void);
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void updateTarget(int speed);
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void updateduty(double dutyCycle);
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PIDController pidController;
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private:
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PwmController pwmController;
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ENCODER encoder;
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GPIO directionGPIO;
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int encoder_dir;
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};
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#endif // MOTOR_CONTROLLER_H
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#ifndef PIDCONTROLLER_H
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#define PIDCONTROLLER_H
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#include <algorithm> // 用于 std::clamp
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enum PIDMode
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{
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POSITION, // 位置式 PID
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INCREMENTAL // 增量式 PID
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};
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class PIDController
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{
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public:
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// 构造函数，初始化 PID 参数
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PIDController(double kp, double ki, double kd, double target, PIDMode mode = POSITION,
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double output_limit = 100.0, double integral_limit = 100.0);
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// 更新 PID 控制器
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double update(double measured_value);
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// 设置新的目标值
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void setTarget(double target);
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// 设置 PID 参数
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void setPID(double kp, double ki, double kd);
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// 设置 PID 控制模式（位置式或增量式）
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void setMode(PIDMode mode);
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// 设置输出和积分的限幅值
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void setLimits(double output_limit, double integral_limit);
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private:
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// 位置式 PID 实现
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double positionPID(double error);
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// 增量式 PID 实现
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double incrementalPID(double error);
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double kp_; // 比例增益
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double ki_; // 积分增益
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double kd_; // 微分增益
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double target_; // 目标值
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double prev_error_; // 前一次误差
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double prev_prev_error_; // 前两次误差 (用于增量式)
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double integral_; // 积分项
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double prev_output_; // 前一次的控制器输出 (用于增量式)
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PIDMode mode_; // 控制模式 (位置式或增量式)
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double output_limit_; // 输出限幅
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double integral_limit_; // 积分限幅
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};
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#endif // PIDCONTROLLER_H
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/*
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* @Author: ilikara 3435193369@qq.com
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* @Date: 2025-02-23 09:08:09
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* @LastEditors: ilikara 3435193369@qq.com
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* @LastEditTime: 2025-03-20 11:38:33
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* @FilePath: /smartcar/lib/PwmController.h
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* @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
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*/
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#ifndef PWM_CONTROLLER_H
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#define PWM_CONTROLLER_H
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#include <string>
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#include <fstream>
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#include <iostream>
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class PwmController
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{
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public:
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PwmController(int pwmchip, int pwmnum, bool polarity = true);
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~PwmController();
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bool enable();
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bool disable();
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bool setPeriod(unsigned int period_ns);
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bool setDutyCycle(unsigned int duty_cycle_ns);
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bool setPolarity(bool polarity);
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bool initialize();
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int readPeriod();
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int readDutyCycle();
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private:
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std::string pwmPath; // PWM设备的路径
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int pwmchip;
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int pwmnum;
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int period;
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int duty_cycle;
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bool writeToFile(const std::string &path, const std::string &value);
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};
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#endif
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+28
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#ifndef TIMER_H
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#define TIMER_H
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#include <thread>
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#include <chrono>
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#include <atomic>
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#include <functional>
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#include <iostream>
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class Timer
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{
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public:
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Timer(int interval_ms, std::function<void()> task);
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~Timer();
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void start();
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void stop();
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private:
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void run();
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int interval; // Interval in milliseconds
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std::function<void()> task;
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std::atomic<bool> running;
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std::thread worker;
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};
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#endif // TIMER_H
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@@ -0,0 +1,44 @@
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/*
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* @Author: ilikara 3435193369@qq.com
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* @Date: 2024-10-10 08:28:56
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* @LastEditors: ilikara 3435193369@qq.com
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* @LastEditTime: 2025-01-07 09:35:04
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* @FilePath: /smartcar/lib/camera.h
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* @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
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*/
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#ifndef CAMERA_H_
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#define CAMERA_H_
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#include <opencv2/opencv.hpp>
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#include <iostream>
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#include <fstream>
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#include <sstream>
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#include <iomanip>
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#include <mutex>
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#include <fcntl.h>
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#include <unistd.h>
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#include <sys/mman.h>
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#include <sys/ioctl.h>
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#include <linux/fb.h>
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#include <algorithm>
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#include <chrono>
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#include "image_cv.h"
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#include "PIDController.h"
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#include "PwmController.h"
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#include "global.h"
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#include "frame_buffer.h"
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#include "serial.h"
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int CameraInit(uint8_t camera_id, double dest_fps, int width, int height);
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int CameraHandler(void);
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void streamCapture(void);
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void cameraDeInit(void);
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extern bool streamCaptureRunning;
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extern double kp;
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extern double ki;
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extern double kd;
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#endif
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#ifndef CONTROL_H
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#define CONTROL_H
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#include <unistd.h>
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#include "MotorController.h"
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#include "global.h"
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#include "serial.h"
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void ControlInit();
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void ControlMain();
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void ControlExit();
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extern double mortor_kp;
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extern double mortor_ki;
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extern double mortor_kd;
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#endif
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@@ -0,0 +1,75 @@
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/*
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* @Author: ilikara 3435193369@qq.com
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* @Date: 2024-10-11 06:20:04
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* @LastEditors: ilikara 3435193369@qq.com
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* @LastEditTime: 2024-12-01 03:48:28
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* @FilePath: /smartcar/lib/encoder.h
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* @Description:
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*
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* Copyright (c) 2024 by ilikara 3435193369@qq.com, All Rights Reserved.
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*/
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#ifndef ENCODER_H
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#define ENCODER_H
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#include <stdio.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <unistd.h>
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#include <fcntl.h>
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#include <sys/mman.h>
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <errno.h>
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#include <string.h>
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#include "GPIO.h"
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#define PWM_BASE_ADDR 0x1611B000
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#define PWM_OFFSET 0x10
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#define LOW_BUFFER_OFFSET 0x4
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#define FULL_BUFFER_OFFSET 0x8
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#define CONTROL_REG_OFFSET 0xC
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#define CNTR_ENABLE_BIT (1 << 0) // 计数器使能
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#define PULSE_OUT_ENABLE_BIT (1 << 3) // 脉冲输出使能（低有效）
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#define SINGLE_PULSE_BIT (1 << 4) // 单脉冲控制位
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#define INT_ENABLE_BIT (1 << 5) // 中断使能
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#define INT_STATUS_BIT (1 << 6) // 中断状态
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#define COUNTER_RESET_BIT (1 << 7) // 计数器重置
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#define MEASURE_PULSE_BIT (1 << 8) // 测量脉冲使能
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#define INVERT_OUTPUT_BIT (1 << 9) // 输出翻转使能
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#define DEAD_ZONE_ENABLE_BIT (1 << 10) // 防死区使能
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#define LOW_BUFFER_ADDR (PWM_BASE_ADDR + LOW_BUFFER_OFFSET)
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#define FULL_BUFFER_ADDR (PWM_BASE_ADDR + FULL_BUFFER_OFFSET)
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#define CONTROL_REG_ADDR (PWM_BASE_ADDR + CONTROL_REG_OFFSET)
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#define GPIO_PIN 73
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#define GPIO_PATH "/sys/class/gpio/gpio73/value"
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#define PAGE_SIZE 0x10000
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#define REG_READ(addr) (*(volatile uint32_t *)(addr))
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#define REG_WRITE(addr, val) (*(volatile uint32_t *)(addr) = (val))
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class ENCODER
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{
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public:
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ENCODER(int pwmNum, int gpioNum);
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~ENCODER();
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double pulse_counter_update(void);
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private:
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uint32_t base_addr;
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GPIO directionGPIO;
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void *low_buffer;
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void *full_buffer;
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void *control_buffer;
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void *map_register(uint32_t physical_address, size_t size);
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void PWM_Init(void);
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void reset_counter(void);
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};
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#endif
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@@ -0,0 +1,8 @@
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#ifndef _FRAME_BUFFER_H
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#define _FRAME_BUFFER_H
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#include <opencv2/opencv.hpp>
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void convertMatToRGB565(const cv::Mat &frame, uint16_t *buffer, int width, int height);
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#endif
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@@ -0,0 +1,37 @@
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#ifndef GLOBAL_H
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#define GLOBAL_H
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#include <string>
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#include <iostream>
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#include <fstream>
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#include <atomic>
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const std::string kp_file = "./kp";
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const std::string ki_file = "./ki";
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const std::string kd_file = "./kd";
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const std::string mortor_kp_file = "./mortor_kp";
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const std::string mortor_ki_file = "./mortor_ki";
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const std::string mortor_kd_file = "./mortor_kd";
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const std::string start_file = "./start";
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const std::string showImg_file = "./showImg";
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const std::string destfps_file = "./destfps";
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const std::string foresee_file = "./foresee";
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const std::string saveImg_file = "./saveImg";
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const std::string speed_file = "./speed";
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const std::string deadband_file = "./deadband";
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const std::string steer_gain_file = "./steer_gain";
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const std::string center_bias_file = "./center_bias";
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// 从文件读取双精度值
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double readDoubleFromFile(const std::string &filename);
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// 从文件中读取标志
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bool readFlag(const std::string &filename);
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extern std::atomic<double> PID_rotate;
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extern double target_speed;
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#endif
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@@ -0,0 +1,28 @@
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/*
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* @Author: ilikara 3435193369@qq.com
|
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* @Date: 2025-01-04 06:51:37
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* @LastEditors: ilikara 3435193369@qq.com
|
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* @LastEditTime: 2025-03-13 08:05:00
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* @FilePath: /smartcar/lib/image_main.h
|
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* @Description: 这是默认设置,请设置`customMade`, 打开koroFileHeader查看配置 进行设置: https://github.com/OBKoro1/koro1FileHeader/wiki/%E9%85%8D%E7%BD%AE
|
||||
*/
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#include <opencv2/opencv.hpp>
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#include <iostream>
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#include <vector>
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void image_main();
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extern cv::Mat raw_frame;
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extern cv::Mat grayFrame;
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extern cv::Mat binarizedFrame;
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extern cv::Mat morphologyExFrame;
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extern cv::Mat track;
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extern std::vector<int> left_line; // 左边缘列号数组
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extern std::vector<int> right_line; // 右边缘列号数组
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extern std::vector<int> mid_line; // 中线列号数组
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extern std::vector<double> left_line_filtered; // 中线列号数组
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extern std::vector<double> right_line_filtered; // 中线列号数组
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extern std::vector<double> mid_line_filtered; // 中线列号数组
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||||
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extern int line_tracking_height, line_tracking_width;
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@@ -0,0 +1,61 @@
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#ifndef _SERIAL_H
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#define _SERIAL_H
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#include <iostream>
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#include <fstream>
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||||
#include <string>
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||||
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||||
// class Serial{
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// public:
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// Serial();
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// ~Serial();
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||||
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||||
// private:
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// }
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extern char vofa_buffer[64];
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extern bool vofa_justfloat(int CH_count);
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||||
enum ImgFormat
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{
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||||
Format_Invalid,
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||||
Format_Mono,
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||||
Format_MonoLSB,
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Format_Indexed8,
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Format_RGB32,
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Format_ARGB32,
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Format_ARGB32_Premultiplied,
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Format_RGB16,
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Format_ARGB8565_Premultiplied,
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||||
Format_RGB666,
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||||
Format_ARGB6666_Premultiplied,
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||||
Format_RGB555,
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||||
Format_ARGB8555_Premultiplied,
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||||
Format_RGB888,
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||||
Format_RGB444,
|
||||
Format_ARGB4444_Premultiplied,
|
||||
Format_RGBX8888,
|
||||
Format_RGBA8888,
|
||||
Format_RGBA8888_Premultiplied,
|
||||
Format_BGR30,
|
||||
Format_A2BGR30_Premultiplied,
|
||||
Format_RGB30,
|
||||
Format_A2RGB30_Premultiplied,
|
||||
Format_Alpha8,
|
||||
Format_Grayscale8,
|
||||
|
||||
// 以下格式发送时，IMG_WIDTH和IMG_HEIGHT不需要强制指定，设置为-1即可
|
||||
Format_BMP,
|
||||
Format_GIF,
|
||||
Format_JPG,
|
||||
Format_PNG,
|
||||
Format_PBM,
|
||||
Format_PGM,
|
||||
Format_PPM,
|
||||
Format_XBM,
|
||||
Format_XPM,
|
||||
Format_SVG,
|
||||
};
|
||||
extern bool vofa_image(int IMG_ID, int IMG_SIZE, int IMG_WIDTH, int IMG_HEIGHT, ImgFormat IMG_FORMAT, char *image);
|
||||
|
||||
#endif
|
||||
+35
@@ -0,0 +1,35 @@
|
||||
#ifndef VIDEO_H_
|
||||
#define VIDEO_H_
|
||||
|
||||
#include <opencv2/opencv.hpp>
|
||||
#include <unistd.h>
|
||||
#include <iostream>
|
||||
#include <iomanip>
|
||||
#include <fcntl.h>
|
||||
#include <sys/ioctl.h>
|
||||
#include <linux/fb.h>
|
||||
|
||||
#include "Timer.h"
|
||||
#include "frame_buffer.h"
|
||||
|
||||
class Video
|
||||
{
|
||||
public:
|
||||
Video(const std::string &filename, double fps);
|
||||
~Video(void);
|
||||
|
||||
Timer timer;
|
||||
cv::Mat frame;
|
||||
std::mutex frameMutex;
|
||||
private:
|
||||
cv::VideoCapture cap;
|
||||
cv::Mat fbImage;
|
||||
cv::Mat resizedFrame;
|
||||
void streamCapture(void);
|
||||
int screenHeight, screenWidth;
|
||||
int newWidth, newHeight;
|
||||
int fb;
|
||||
uint16_t *fb_buffer;
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,22 @@
|
||||
#ifndef VL53L0X_H
|
||||
#define VL53L0X_H
|
||||
|
||||
#include <cstdint>
|
||||
#include "vl53l0x_def.h"
|
||||
|
||||
class VL53L0X
|
||||
{
|
||||
public:
|
||||
VL53L0X();
|
||||
~VL53L0X();
|
||||
|
||||
bool init();
|
||||
bool readRange(VL53L0X_RangingMeasurementData_t &data);
|
||||
bool stop();
|
||||
bool isOpen() const { return fd > 0; }
|
||||
|
||||
private:
|
||||
int fd;
|
||||
};
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,640 @@
|
||||
/*******************************************************************************
|
||||
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.
|
||||
*******************************************************************************/
|
||||
|
||||
/**
|
||||
* @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 1
|
||||
/** VL53L0X PAL IMPLEMENTATION sub version */
|
||||
#define VL53L0X_IMPLEMENTATION_VER_REVISION 4606
|
||||
#define VL53L0X_DEFAULT_MAX_LOOP 200
|
||||
#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 */
|
||||
|
||||
|
||||
/** @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 */
|
||||
|
||||
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 */
|
||||
|
||||
|
||||
/** @brief Structure containing the Dmax computation parameters and data
|
||||
*/
|
||||
typedef struct {
|
||||
int32_t AmbTuningWindowFactor_K;
|
||||
/*!< internal algo tuning (*1000) */
|
||||
int32_t RetSignalAt0mm;
|
||||
/*!< intermediate dmax computation value caching */
|
||||
} VL53L0X_DMaxData_t;
|
||||
|
||||
/**
|
||||
* @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 */
|
||||
uint8_t HistogramType; /*!< 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 */
|
||||
|
||||
|
||||
uint8_t ReadDataFromDeviceDone; /* Indicate if read from device has
|
||||
been done (==1) or not (==0) */
|
||||
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 */
|
||||
FixPoint1616_t SignalRateMeasFixed400mm; /*!< Peek Signal rate
|
||||
at 400 mm*/
|
||||
|
||||
} 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 {
|
||||
VL53L0X_DMaxData_t DMaxData;
|
||||
/*!< Dmax Data */
|
||||
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 */
|
||||
uint16_t DmaxCalRangeMilliMeter;
|
||||
/*!< Dmax Calibration Range millimeter */
|
||||
FixPoint1616_t DmaxCalSignalRateRtnMegaCps;
|
||||
/*!< Dmax Calibration Signal Rate Return MegaCps */
|
||||
|
||||
} 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
|
||||
|
||||
|
||||
#endif /* _VL53L0X_DEF_H_ */
|
||||
@@ -0,0 +1,257 @@
|
||||
/*******************************************************************************
|
||||
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_ */
|
||||
|
||||
|
||||
@@ -0,0 +1,69 @@
|
||||
/*******************************************************************************
|
||||
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_TYPES_H_
|
||||
#define VL53L0X_TYPES_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stddef.h>
|
||||
|
||||
#ifndef NULL
|
||||
#define NULL 0
|
||||
#endif
|
||||
/** use where fractional values are expected
|
||||
*
|
||||
* Given a floating point value f it's .16 bit point is (int)(f*(1<<16))*/
|
||||
typedef unsigned int FixPoint1616_t;
|
||||
|
||||
#if !defined(STDINT_H) && !defined(_GCC_STDINT_H) \
|
||||
&& !defined(_STDINT_H) && !defined(_LINUX_TYPES_H)
|
||||
|
||||
#pragma message("Please review type definition of STDINT define for your \
|
||||
platform and add to list above ")
|
||||
|
||||
/*
|
||||
* target platform do not provide stdint or use a different #define than above
|
||||
* to avoid seeing the message below addapt the #define list above or implement
|
||||
* all type and delete these pragma
|
||||
*/
|
||||
|
||||
typedef unsigned int uint32_t;
|
||||
typedef int int32_t;
|
||||
|
||||
typedef unsigned short uint16_t;
|
||||
typedef short int16_t;
|
||||
|
||||
typedef unsigned char uint8_t;
|
||||
|
||||
typedef signed char int8_t;
|
||||
|
||||
#else
|
||||
#include <stdint.h>
|
||||
#endif /* _STDINT_H */
|
||||
|
||||
#endif /* VL53L0X_TYPES_H_ */
|
||||
Reference in New Issue
Block a user